Mitsubishi Industrial Robot

RV-6S Series
Standard Specifications Manual
(CR3-535M/CR2B-574 Controller)

BFP-A8322-H
 Safety Precautions
Always read the following precautions and the separate
"Safety Manual" before starting use of the robot to learn the
required measures to be taken.

CAUTION 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.)
Enforcement of safety training

CAUTION For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance
work with the power source turned ON.)
Preparation of work plan

WARNING 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 of emergency stop switch

CAUTION 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 of teaching work in progress

WARNING Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work, and fol-
low this method.
Signaling of operation start

CAUTION As a principle turn the power OFF during maintenance work. Place a sign indicat-
ing that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress

CAUTION Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.

CAUTION Use the robot within the environment given in the specifications. Failure to do so
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere,
noise environment, etc.)

CAUTION Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from
dropping.

CAUTION Always use the robot installed on a secure table. Use in an instable posture could
lead to positional deviation and vibration.

CAUTION Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.

CAUTION Do not apply excessive force on the connector or excessively bend the cable. Fail-
ure to observe this could lead to contact defects or wire breakage.

CAUTION 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
faults.

WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.

WARNING Securely ground the robot and controller. Failure to observe this could lead to mal-
functioning by noise or to electric shock accidents.

CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.

WARNING When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal inju-
ries or damage if the robot is started with external commands.

CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with periph-
eral devices because of programming mistakes, etc.

CAUTION Make sure that if the safety fence entrance door is opened during automatic opera-
tion, the door is locked or that the robot will automatically stop. Failure to do so
could lead to personal injuries.

CAUTION Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.

WARNING When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fin-
gers catching depending on the posture.
CAUTION Do not stop the robot or apply emergency stop by turning the robot control-
ler's main power OFF. If the robot controller main power is turned OFF dur-
ing automatic operation, the robot accuracy could be adversely
affected.Moreover, it may interfere with the peripheral device by drop or
move by inertia of the arm.

CAUTION Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or parame-
ters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of
the robot controller may be damaged.
■ Revision history
Date of print Specifications No. Details of revisions

2003-10-10 BFP-A8322 First print.

2004-03-02 BFP-A8322-A Error in writing correction.

2006-01-16 BFP-A8322-B Error in writing correction.

2006-06-05 BFP-A8322-C Error in writing correction.

2006-07-12 BFP-A8322-D Error in writing correction.

2007-07-10 BFP-A8322-E Error in writing correction.

2009-06-23 BFP-A8322-F The EC Declaration of Conformity was changed.

(Correspond to the EMC directive; 2004/108/EC)

2009-07-29 BFP-A8322-G The EC-Statement of Compliance was added.

2009-09-02 BFP-A8322-H The EC Declaration of Conformity was changed.
(Correspond to the EMC directive; 2006/42/EC)
The tracking function was added.
■ Introduction

This series is a full-scale industrial vertical multi-joint type robot that is designed for use in machining processes
and assembling. This series supports the oil mist environment as standard, offering a variety of specifications
including clean specification and long-arm specification.

However, to comply with the target application, a work system having a well-balanced robot arm, peripheral
devices or robot and hand section must be structured.
When creating these standard specifications, we have edited them so that the Mitsubishi robot's characteristics
and specifications can be easily understood by users considering the implementation of robots. However, if there
are any unclear points, please contact your nearest Mitsubishi branch or dealer.
Mitsubishi hopes that you will consider these standard specifications and use our robots.

Note that in this specification document the specifications related to the robot arm is described "2 Robot arm" on
page 5 , the specifications related to the controller "3 Controller" on page 39 , and software functions and a com-
mand list "4 Software" on page 102 separately.

The contents of this manual correspond to the following robot types.

<Type> ・ RV-6S
・ RV-6SC
・ RV-6SL
・ RV-6SLC

・ No part of this manual may be reproduced by any means or in any form, without prior consent
from Mitsubishi.
・ The contents of this manual are subject to change without notice.
・ The specifications values are based on Mitsubishi standard testing methods.
・ The information 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 performed." or "alarm
may occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
・ This Specifications Manual is original.

・ Microsoft, Windows, Microsoft Windows NT are either registered trademarks or trademarks of

Microsoft Corporation in the United States and/or other countries.

Copyright(C) 2005-2009 MITSUBISHI ELECTRIC CORPORATION

 Contents
Page
1 General configuration .................................................................................................................................................................... 1-1
1.1 Structural equipment ............................................................................................................................................................. 1-1
1.1.1 Standard structural equipment .................................................................................................................................. 1-1
1.1.2 Shipping special specifications ................................................................................................................................... 1-1
1.1.3 Options ................................................................................................................................................................................. 1-1
1.1.4 Maintenance parts ........................................................................................................................................................... 1-1
1.2 Contents of the structural equipment ............................................................................................................................ 1-2
1.2.1 Robot arm ........................................................................................................................................................................... 1-2
1.2.2 Controller ............................................................................................................................................................................ 1-3
1.3 Contents of the Option equipment and special specification .............................................................................. 1-4

2 Robot arm ........................................................................................................................................................................................... 2-6

2.1 Standard specifications ........................................................................................................................................................ 2-6
2.2 Definition of specifications .................................................................................................................................................. 2-7
2.2.1 Pose repeatability ............................................................................................................................................................ 2-7
2.2.2 Rated load (mass capacity) ......................................................................................................................................... 2-8
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ........................ 2-9
(1) Setting Load Capacity and Size (Hand Conditions) ...................................................................................... 2-9
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ....................................... 2-9
2.2.5 Protection specifications and working environment ....................................................................................... 2-10
(1) Types of protection specifications .................................................................................................................... 2-10
(2) About the use with the bad environment ........................................................................................................ 2-10
2.2.6 Clean specifications ...................................................................................................................................................... 2-12
(1) Types of clean specifications ............................................................................................................................... 2-12
2.3 Names of each part of the robot .................................................................................................................................... 2-13
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-14
(1) RV-6S/6SC ................................................................................................................................................................. 2-14
(2) RV-6SL/6SLC ............................................................................................................................................................ 2-16
2.5 Tooling ........................................................................................................................................................................................ 2-18
2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-18
2.5.2 Internal air piping ............................................................................................................................................................ 2-19
(1) Standard type ............................................................................................................................................................. 2-19
(2) Clean type .................................................................................................................................................................... 2-19
2.5.3 Internal wiring for the pneumatic hand output cable(Standard type/Clean type) ............................. 2-19
2.5.4 Internal wiring for the hand check input cable(Standard type/Clean type) .......................................... 2-19
2.5.5 Spare Wiring ..................................................................................................................................................................... 2-19
(1) Standard type ............................................................................................................................................................. 2-19
(2) Clean type .................................................................................................................................................................... 2-19
2.5.6 Wiring and piping system diagram for hand ......................................................................................................... 2-20
(1) Standard type ............................................................................................................................................................. 2-20
(2) Clean type .................................................................................................................................................................... 2-22
2.5.7 Electrical specifications of hand input/output .................................................................................................. 2-24
2.5.8 Air supply circuit example for the hand ............................................................................................................... 2-25
2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-26
2.6.1 Shipping special specifications ................................................................................................................................. 2-26
(1) Machine cable ............................................................................................................................................................. 2-27
2.7 Options ....................................................................................................................................................................................... 2-28
(1) Machine cable extension ........................................................................................................................................ 2-29
(2) Changing the operating range .............................................................................................................................. 2-32
(3) Solenoid valve set ..................................................................................................................................................... 2-33
(4) Hand input cable ........................................................................................................................................................ 2-35
(5) Hand output cable ..................................................................................................................................................... 2-36
(6) Hand curl tube ............................................................................................................................................................ 2-37
2.8 Maintenance parts ................................................................................................................................................................. 2-38

3 Controller .......................................................................................................................................................................................... 3-39

3.1 Standard specifications ...................................................................................................................................................... 3-39
3.1.1 Standard specifications ............................................................................................................................................... 3-39

i
 Contents
Page
3.1.2 Protection specifications and operating supply ............................................................................................... 3-40
3.2 Names of each part ............................................................................................................................................................. 3-41
3.3 Outside dimensions/Installation dimensions ............................................................................................................. 3-45
3.3.1 Outside dimensions ...................................................................................................................................................... 3-45
3.3.2 Installation dimensions ................................................................................................................................................ 3-48
3.4 External input/output ......................................................................................................................................................... 3-50
3.4.1 Types .................................................................................................................................................................................. 3-50
3.4.2 Explanation ....................................................................................................................................................................... 3-50
3.5 Dedicated input/output ...................................................................................................................................................... 3-51
3.6 Emergency stop input/output ......................................................................................................................................... 3-53
3.6.1 Connection of the external emergency stop ..................................................................................................... 3-53
3.6.2 Door switch function ................................................................................................................................................... 3-55
3.7 Additional Axis Function (CR3-535M controller only) .......................................................................................... 3-56
3.7.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-56
3.8 Magnet contactor control connector output (AXMC) for addition axes ....................................................... 3-57
3.9 Parallel input/output unit .................................................................................................................................................. 3-59
3.10 Options ................................................................................................................................................................................... 3-64
(1) Teaching pendant (T/B) ........................................................................................................................................ 3-65
(2) Pneumatic hand interface ..................................................................................................................................... 3-68
(3) Parallel I/O unit ......................................................................................................................................................... 3-71
(4) External I/O cable .................................................................................................................................................... 3-82
(5) Personal computer cable ....................................................................................................................................... 3-84
(6) Extended serial interface ....................................................................................................................................... 3-85
(7) CC-Link interface ..................................................................................................................................................... 3-88
(8) Ethernet interface .................................................................................................................................................... 3-91
(9) Additional axis interface ........................................................................................................................................ 3-93
(10) Extension memory cassette .............................................................................................................................. 3-95
(11) Personal computer support software/Personal computer support software mini ..................... 3-98
(12) Instruction Manual(bound edition) ................................................................................................................. 3-100
3.11 Maintenance parts ........................................................................................................................................................... 3-101

4 Software ......................................................................................................................................................................................... 4-102

4.1 List of commands ............................................................................................................................................................... 4-102
(1) MELFA-BASIC Ⅳ commands ........................................................................................................................... 4-103
4.2 List of parameters .............................................................................................................................................................. 4-105
(1) List of parameters .................................................................................................................................................. 4-105
(2) Change the display language / 表示言語の切 り 替え ............................................................................ 4-107

5 Instruction Manual ...................................................................................................................................................................... 5-108

5.1 The details of each instruction manuals ................................................................................................................... 5-108

6 Safety .............................................................................................................................................................................................. 5-110

6.1 Safety ...................................................................................................................................................................................... 5-110
6.1.1 Self-diagnosis stop functions ................................................................................................................................ 5-110
6.1.2 External input/output signals that can be used for safety protection measures ........................... 5-110
6.1.3 Precautions for using robot .................................................................................................................................... 5-111
6.1.4 Safety measures for automatic operation ........................................................................................................ 5-111
6.1.5 Safety measures for teaching ................................................................................................................................ 5-111
6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 5-111
6.1.7 Examples of safety measures ................................................................................................................................ 5-112
6.2 Working environment ......................................................................................................................................................... 5-114
6.3 Precautions for handling .................................................................................................................................................. 5-115
7Appendix ........................................................................................................................................................................... Appendix-116
Appendix 1 ： Specifications discussion material ......................................................................................... Appendix-116

ii
1General configuration

1 General configuration
1.1 Structural equipment
Structural equipment consists of the following types.

1.1.1 Standard structural equipment

The following items are enclosed as a standard.
(1) Robot arm
(2) Controller
(3) Machine cable
･ In the case of the CR3-535M, it is connected to the controller.
･ In the case of the CR2B-574, it is disconnected from the controller.
(4) Robot arm installation bolts
(5) Safety manual, CD-ROM (Instruction manual)
(6) Guarantee card

1.1.2 Shipping special specifications

Part of the standard structural equipment is changed at the time of factory shipment. Consequently, kindly con -
firm the delivery date.
To make changes to the specifications after shipment, service work must be performed at the work site or the
robot must be returned for service.

1.1.3 Options
Installation is possible after shipment. Customer needs to perform the installation work.

1.1.4 Maintenance parts

Consumable parts and spare parts for maintenance use.
For items not listed, contact the dealer where you made your purchase.

1-1 Structural equipment

 1General configuration

1.2 Contents of the structural equipment

1.2.1 Robot arm
The list of structural equipment is shown in Fig. 1-1.

Vertical six-axis Machine cable

multiple-jointed type (Standard product: 7m(CR3-535M) accessory,
5m(CR2B-574) attachment)

Machine cable: CR2B-574 only

(Fixed type: 2m)
・ 1S-02CBL-01

Machine cable extension

・ Fixed type: 1S- □□ CBL-01
RV-6S/6SL/6SC/6SLC ・ Flexed type: 1S- □□ LCBL-01
*Refer to Page 5, "2.1.1 Standard Note1) □□ refer the length.
specifications" for ditails on the Refer to Table 1-1 for datails.
specifications. Note2) Extend by adding to the arm side of the
standard accessory cable (for fastening).

Solenoid valve set

(Hand output cable is attached)
<Sink type/Source type>
・ 1 set: 1S-VD01-02/1S-VD01-02E
・ 2 set: 1S-VD02-02/1S-VD02-02E Stopper for changing the operating range
・ 3 set: 1S-VD03-02/1S-VD03-02E of the J1 axis
・ 4 set: 1S-VD04-02/1S-VD04-02E ・ Stopper part: 1S-DH-02
*This must be installed by the customer.
Pneumatic hand customer-manufactured parts

Hand output cable

・ 1S-GR35S-01 (4sets)

Hand input cable

・ 1S-HC25C-01

［Caution］
Standard configuration
Hand curl tube equipment
・1 set: 1E-ST0402C
Special shipping
・2 set: 1E-ST0404C
specifications
・3 set: 1E-ST0406C
・4 set: 1E-ST0408C Option

Prepared by customer

Fig.1-1 ： Structural equipment (Robot arm)

Contents of the structural equipment 1-2

1General configuration

1.2.2 Controller
The devices shown below can be installed on the controller.

Controller Controller Caster specification Teaching pendant

・ CR2B-574 ・ CR3-535M controller (T/B)
（Protection specification）
・ R28TB

*1)

*1)"-SM" specification (Pro-

tection specification) is the
CR3-535M controller.
Pneumatic I/F Parallel I/O unit External I/O cable
・ 2A-RZ365 (Sink) ・ 2A-RZ361 (Sink) ・ 2A-CBL05 (5m)
・ 2A-RZ375 (Source) ・ 2A-RZ371 (Source) ・ 2A-CBL15 (15m)
PLC(Programmable Logic
Controller)
External device

Prepared by customer

*2) *2) *2) *3) *2)

E x t e n d e d CC-LINK I/F ETHERNET I/F Additional PROFIBUS Expansion
serial I/F ・ 2A-HR575E ・ 2A-HR533E axis I/F I/F memory cas-
・ 2A-RZ581E ・ 2A-RZ541E ・ 2A-RZ577 sette
・ 2A-HR432

Personal computer Personal computer Personal computer support software

cable
(MS-Windows95/98/NT4.0)
Preparedby customer
・ RS-MAXY-CBL ･ 3A-01C-WINE(CD-ROM)
・ RS-AT-RCBL Personal computer support software
mini
(MS-Windows95/98/NT4.0)
･ 3A-02C-WINE(CD-ROM)

*2) There are some restrictions on

the number of optional interfaces and ［Caution］
their combinations.
Refer to the separate "Controller Standard configuration
setup, basic operation, and mainte- equipment
nance" for details. Special shipping
specifications
*3) The addition axis function is Option
mounted in the CR3-535M controller
as standard. Usage of this option is Prepared by customer
unnecessary.

1-3 Contents of the structural equipment

 1General configuration

1.3 Contents of the Option equipment and special specification

A list of all Optional equipments and special specifications are shown below.
Table 1-1 ： The list of Option equipment and special specification
Classificati
Item Type Specifications Descripsion
on Note1)
Stopper for changing the 1S-DH-02 Stopper part
operating range of the J1 + side: +135, +90, or +45 deg.
axis - side: -135, -90, or -45 deg. ○ This must be installed by the customer.
One each of the following can be
selected: ± 170 deg. are used for
the standard specification.
Machine cable(Replaced 1S-02CBL-1 For fixing 2m(A 2 m cable is supplied instead of the 5 m
with shorter cable)Note2) (Two sets for power and signal) ○・□ cable that is supplied as standard)
Extended machine cable 1S- □□ CBL-01 For fixing ○ 5, 10, 15ｍ
(Extension type) (Two sets for power and signal)
1S- □□ LCBL-01 For bending ○ 5, 10, 15ｍ
(Two sets for power and signal)
Solenoid valve set 1S-VD01-02 1 set (Sink type) ○
1S-VD02-02 2 set (Sink type) ○
1S-VD03-02 3 set (Sink type) ○
1S-VD04-02 4 set (Sink type) ○
A solenoid valve set for the pneumatic hand
1S-VD01E-02 1 set (Source type) ○
1S-VD02E-02 2 set (Source type) ○
1S-VD03E-02 3 set (Source type) ○
1S-VD04E-02 4 set (Source type) ○
Hand output cable 1S-GR35S-01 Length 350mm with robot side con- ○ The cable is connected to the hand output con-
nector. One terminal is not treated. nector by the customer.
Hand input cable 1S-HC25C-01 One terminal is not treated. ○ The cable is connected to the sensor by the cus-
tomer.
Hand curl tube 1E-ST0402C For solenoid valve 1set.:Φ4x2 ○
1E-ST0404C For solenoid valve 2set.:Φ4x4 ○
Curl type air tube
1E-ST0406C For solenoid valve 3set.:Φ4x6 ○
1E-ST0408C For solenoid valve 4set.:Φ4x8 ○
Teaching pendant R28TB Cable length 7m ○
R28TB-15 Cable length 15m ○
(special specification) With 3-position deadman switch/ IP 65
Pneumatic hand interface 2A-RZ365 DO: 8 point (Sink type) ○
2A-RZ375 DO: 8 point (Source type) ○
Parallel I/O Unit 2A-RZ361 DO: 32 point (Sink type)/ ○ The unit for expansion the external input/output.
DI : 32 point (Sink type) Electrical isolated Type
(100mA/Point)
2A-RZ371 DO: 32 point (Source type)/ ○
DI : 32 point (Source type)
External I/O cable 2A-CBL05 5m ○ Use to connect the external peripheral device to
(For Parallel I/O Unit) the parallel input/output unit
2A-CBL15 15m ○
Personal computer cable RS-MAXY-CBL RS-232C cable 3m for PC-AT com- ○
patible model
Personal computer 3A-01C-WINE CD-ROM ○ MS-Windows98/2000/NT4.0/Me/XP
Support software (With the simulation function)
Personal computer 3A-02C-WINE CD-ROM ○ MS-Windows98/2000/NT4.0/Me/XP
Support software mini
RT ToolBox2 MS-Windows2000/XP/Vista
(Personal computer Sup- 3D-11C-WINE CD-ROM ○ (With the simulation function)
port software)
RT ToolBox2 mini
(Personal computer Sup- 3D-12C-WINE CD-ROM ○ MS-Windows2000/XP/Vista
port software mini)
Extended serial interface 2A-RZ581-E RS-232C x 1 ○
RS-232C or RS-422 x 1
CC-Link interface 2A-HR575-E Local station (The local station alone ○ for MELSEC PLC with CC-Link connection.
is supported.)
Ethernet interface 2A-HR533-E ETHERNET x 1 ○
Additional axis interface SSC x 1 MR-J2 servoAmplifer Unit connection. CR-EB3 is
Note3) 2A-RZ541-E Up to 8 axises can be added ○ need.
PROFIBUS interface 2A-RZ577-E PROFIBUS-DP slave ○ GSD file (FD) attached.
CR-EB3 is need.
Extended memory cassette Teaching point number: 25,400 The battery backup function is provided.
2A-HR432 Steps number: 101,600 ○ Together with 2,500 points of standard teaching
Program number: 100 positions, the total number of teaching positions is
27,900 points.
Controller specification with
countermeasure against oil CR3-535M Self-contained floor type, Closed □
type (IP54)
mist Note4)
Caster specifications The controller height
CR3-535M Specifications with casters □
controller Note5) will be h =615.

Contents of the Option equipment and special specification 1-4

1General configuration

Classificati
Item Type Specifications Descripsion
on Note1)
Instruction Manual A set of the instructions manual
4S-MAP-102 ○ For the CR2B-574 controller
bookbinding editions.
4S-MAP-105 ○ For the CR3-535M controller

Note1)In the classification column, ○ refers to an option,and □ to a Shipping special specifications.

Note2)This option only applies to the CR2B-574 controller.
Note3)The CR3-535M controller is installed with the additional axis function as standard. This optional function is
applicable to the CR2B-574 controller only.
Note4)Be sure to select the CR3-535M controller (-SM specification) if you intend to use the controller in environ-
ments where oil mist is present.
Note5)This option only applies to the CR3-535M controller (-SM specification).

1-5 Contents of the Option equipment and special specification

 2Robot arm

2 Robot arm
2.1 Standard specifications
2.1.1 Standard specifications
Table 2-1 ： Tab Standard specifications of robot
Item Unit Specifications
Type RV-6S RV-6SC RV-6SL RV-6SLC
6-axis standard arm 6-axis long arm
Type of robot Clean Clean
Standard Standard
(Special Specifications) (Special Specifications)
Degree of freedom 6
Installation posture On floor, hanging On floor On floor, hanging On floor
Structure Vertical, multiple-joint type
Drive system AC servo motor (brake provided on all axes)
Position detection method Absolute encoder
Upper arm 280 380
Arm length mm
Fore arm 315 425
Waist (J1) 340(-170 to +170)
Shoulder (J2) 227(-92 to +135)
Operating Elbow (J3) 273(-107 to +166) 295(-129 to +166)
Degree
range Wrist twist (J4) 320(-160 to +160)
Wrist pitch (J5) 240(-120 to +120)
Wrist roll (J6) 720(-360 to +360)
Waist (J1) 401 250
Shoulder (J2) 321 267
Speed of Elbow (J3) Degree/ 401 267
motion Wrist twist (J4) s 352
Wrist pitch (J5) 450
Wrist roll (J6) 660
Maximum resultant velocity Note1) mm/sec Approx. 9,300 Approx. 8,500
Load Maximum Note2) 6
kg
Rating 5
Pose repeatability Note3) mm ± 0.02
Ambient temperature ℃ 0 to 40
Mass kg Approx. 58 Approx. 60
Wrist twist (J4) 12
Allowable
moment load Wrist pitch (J5) N･m 12
Wrist roll (J6) 4.5
Wrist twist (J4) 0.29
Allowable
inertia Wrist pitch (J5) kg ･ m2 0.29
Wrist roll (J6) 0.046 Note4)
Arm reachable radius froot p-axis
center point mm 696 902
Tool wiring Note5) Hand input 8 point / hand output 8 point
Eight spare wires : AWG#27(0.1mm2)
(shielded)
Tool pneumatic pipes Primary side: Φ6 × 2 (Base to fore arm section)
Supply pressure MPa 0.49 ± 10%
Note6) J1 to J3 axis : IP54 J1 to J3 axis : IP54
Protection specification J4 to J6 axis : IP65 - J4 to J6 axis : IP65 -
10(0.3μm) 10(0.3μm)
Degree of cleanlinessNote7) - Internal suction - Internal suction
requirement requirement
Painting color Light gray （Equivalent to Munsell: 0.8GY7.64/0.81)
Note1) This is the value on the hand flange surface when all axes are combined.
Note2) The maximum load capacity is the mass with the flange posture facing downword at the ± 10°limit.
Note3) The pose repeatability details are given in Page 7, "2.2.1 Pose repeatability"
Note4) Up to 0.092kg ･ m2 can be supported by performing variable acceleration/deceleration control and also by setting the
load inertia.
Note5) The air hand interface (option) is required when the tool (hand) output is used. Also, if the solenoid set (option) is
used, eight points of hand outputs are used for other options. ｡
Note6) The protection specification details are given in Page 9, "2.2.5 Protection specifications and working environment".
Note7) The clean specification details are given in Page 10, "2.2.6 Clean specifications" .A down flow(0.3m/s or more) in the
clean room is the necessary conditions for the cleanliness.

Standard specifications 2-6

2 Robot arm

2.2 Definition of specifications

The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows.

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 specified "pose repeatability" is not guaranteed to be satisfied under the following conditions.

[1] Operation pattern factors

1) When an operation that approaches from different 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 different

[2] Load fluctuation factor

1) When work is present/absent in repeated operations

[3] Disturbance factor during operation

1) Even if approaching from the same direction and orientation to the teaching position, when the
power is turned OFF or a stop operation is performed halfway

[4] Temperature factors

1) When the operating environment temperature changes
2) When accuracy is required before and after a warm-up operation

[5] Factors due to differences in accuracy definition

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 function Note1) and a posi-
tion within the actual space

Note1)
The pallet function is a function that teaches only the position of the work used as reference (3 to 4 points) and
obtains the remaining positions by calculations, for an operation that arranges works orderly or for an operation
that unloads orderly arranged works. By using this function, for example, in the case of an operation that arranges
works on grid points of 100 x 100, by teaching only three points of four corners, the remaining grid points are
automatically generated; thus, it is not necessary to teach all 10,000 points. For more information about the pallet
function, refer to the separate volume, "Instruction Manual/Detailed Explanation of Functions and Operations."

2-7 Definition of specifications

 ２ Robot arm

2.2.2 Rated load (mass capacity)

The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar mass,
eccentric loads will have some restrictions. When designing the tooling or when selecting a robot, consider the fol -
lowing issues.
(1) The tooling should have the value less or equal than the smaller of the tolerable inertia and the tolerable
moment found in Page 5, "Table 2-1 ： Tab Standard specifications of robot"
(2) Fig. 2-1shows the distribution dimensions for the center of gravity in the case where the volume of the load
is relatively small. Use this figure as a reference when designing the tooling.
(3) When the load is not mass, but force, you should design the tooling so that it does not exceed the value for
allowable moment described in Page 5, "Table 2-1 ： Tab Standard specifications of robot"

[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion posture.
Even if 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 for acceleration/decel-
eration, the operating speed, and the motion posture.
[Caution] The overhang amount of the load for the specified moment and inertia in this section is the dynamic limit
value determined by the motor driving each axis and by the capacity of the reduction gears. Conse-
quently, accuracy cannot be guaranteed for the entire tooling area. Since accuracy is based on the cen-
ter point of the mechanical interface surface, position accuracy can diminish as you go away from the
flange surface, or vibration can result, with tooling that is not rigid or that is long.
[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an ascend -
ing operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending
speed.

Unit : mm

200

Rotation center for J5 axis

125

2.5kg 100
90
5.0kg

0
400 300 200 100

Rotation center for J6 axis

90
100

125

85 200
340 245

Fig.2-1 ： Position of center of gravity for loads (for loads with comparatively small volume):RV-6S/6SL Series

Definition of specifications 2-8

２ Robot arm

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed

This robot automatically sets the optimum acceleration and deceleration speeds and maximum speed, according
to the load capacity and size that have been set, and operates using these automatically set speeds.
To achieve that, it is necessary to correctly set the actual load data (mass and size of hand and work) to be used.
However, vibration, overheating and errors such as excessive margin of error and overload may occur,depending
on the robot operation pattern or ambient temperature. In such a case, change the setting value to the +20%
range. If a setting is performed in such a way that it falls below the mounted load, the life span of the mechanism
elements used in the robot may be shortened. In the case of a work requiring a high degree of accuracy, set up the
load correctly and use the robot by lowering the ratios of the acceleration and deceleration speeds.

(1) Setting Load Capacity and Size (Hand Conditions)

Set up the capacity and size of the hand with the "HNDDAT*" parameter (optimum acceleration/deceleration
setting parameter), and set up the capacity and size of the work with the "WRKDAT*" parameter. Numbers 0 to 8
can be used for the asterisk (*) part. Designate the "HNDDAT*" and "WRKDAT*" parameters to be used using
the "LOADSET" command in a program.
For more details, refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations."
It is the same meaning as "LOADSET 0.0" if not using the "LOADSET".

2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot
Vibrations at the tip of the arm may increase substantially during the low-speed operation of the robot, depending
on the combination of robot operation, hand mass and hand inertia. This problem occurs when the vibration count
specific to the robot arm and the vibration count of the arm driving force are coming close to each other. These
vibrations at the tip of the arm can be reduced by taking the following measures:
1) Lower the robot's operating speed by approximately 5% from high speed using the OVRD instruction.
2) Change and move the teaching points of the robot.
3) Change the hand mass and hand inertia.

2-9 Definition of specifications

 ２ Robot arm

2.2.5 Protection specifications and working environment

(1) Types of protection specifications
The robot arm has protection specifications that comply with the IEC Standards. The protection specifications
and applicable fields are shown in Table 2-2.
Even oil mist environment can be used in addition to the general environment.

Table 2-2 ： Protection specifications and applicable fields

Protection
Type specifications Classification Applicable field Remarks
(IEC Standards value)
RV-6S IP54 General-purpose General assembly
RV-6SL (J1 to J3 axis) environment speci- Slightly dusty environment
fications
IP65 Oil mist specifica- Machine tool (cutting) Note that if the cutting machine
(J4 to J6 axis) tions Machine shop with heavy oil mist contains abrasive materials, the
Dusty work shop machine line will be shortened.

The IEC IP symbols define the degree of protection against solids and fluids, and do not indicate a protective
structure against the entry of oil or water.

The evaluation regarding oil mist specifications has been confirmed with Mitsubishi's standard testing methods
using the cutting oils shown in Table 2-3

Table 2-3 ： Tested cutting oil for oil mist specifications

Name Maker Relevant JIS Main characteristics Application
Emulcut Kyodo Yushi Co., Ltd Class A1 No. 2 Water soluble cutting oil Water soluble cutting oil
FA-800 ・ Base oil ........................................................50-60％ Emulcut
・ Surfactant and rust inhibitor ..............30-40％
・ Additives......................................................5％ or less
・ Water ...........................................................The rest

【Information】
・ The IEC IP54
The IEC IP54 standard refers to protection structure designed to prevent any harmful effects by fresh water
scattering vertically onto the testing equipment in a radius of 180 degrees from a distance of 300 to 500 mm,
with 10 ± 0.5 liters of water every minute, at a water pressure of 80 to 100kPa , covering the entire area of
the robot with the exception of the installation section at 1 ㎡ per minute, for a total of 5 minutes or more.
・ The IEC IP65
Protection against water infiltration as specified in IP65 indicates a protective structure that is not harmfully
affected when 12.5 ± 5% liters of water is supplied from a test device at a position approx. 3m away in various
directions and a water pressure of 30kPa at the nozzle section. The water is filled one minute per 1m 2 of test
device surface area for a total of three minutes.

(2) About the use with the bad environment

This robot has protection methods that conform to IEC'sIP54 (for J1 to J3 axis) and IP65 (for J4 to J6 axis) stan -
dards (splashproof type). Recommended usage conditions.
1) The robot is designed for use in combination with machining device.
2) Please examine cutting oil referring to Table 2-3 used by a standard examination of our company.
3) Take measures so that the robot will not be exposed to water, oil and/or chips for a long period of time.
4) Protection performance can be improved by pressurizing the inside of the robot arm. Since the joint (AIR
PURGE) of phi 8 is prepared at the rear of the base section, please supply the dry air for pressurization from
The specification of the dry air for pressurization is shown in Table 2-4.

Table 2-4 ： Specification of the dry air for pressurization

Item Dew point Pressure

Specification The atmospheric pressure 0 to 0.01MPa

dew point is -20 degree or
less.

The warranty is invalid for any faults that occur when the robot is used under the following conditions.

Definition of specifications 2-10

２ Robot arm

Also, if the cover and/or other parts are damaged by interferences caused by the peripheral devices and the
robot, the protection specification (seal performance, etc.) may be degraded. Therefore, please pay extra attention
when handling the robot.
Refer to Page 114, "6.2 Working environment".
1) In surroundings that generate inflammable gases or corrosive gasses.
2) Atmosphere used excluding cutting oil shown in Table 2-3
3) Environment where the robot is exposed to water, oil and/or chips for a long period of time.
4) In surroundings where chips fall directly on the robot.In surroundings where the minimum diameter of chips
is less than 0.5mm.
5) Mist atmosphere exceeding the specification.
6) Pressurization by the dry air exceeding the specification of Table 2-6

2-11 Definition of specifications

 ２ Robot arm

2.2.6 Clean specifications

(1) Types of clean specifications
The robot arm with clean specification is made by order. Please check the delivery schedule.

Table 2-5 ： Clean specifications

Clean specifications Type Degree of cleanliness Internal suction

RV-6SC-SA 10(0.3μm) Concentrated suction with vaccum generating valve. The use of a vacuum generating valve
RV-6SLC-SA is recommended.

Table 2-6 ： Specifications of vacuum generation valve

Type Maker Air pressure
MEDT 14 KONEGAI CORPORATION 0.2 to 0.6 MPa

■ Precautions for use

1) When using a device that moves or rotates the robot arm, the down flow may not be secured because of the
air flow. In this case, the degree of cleanliness cannot be ensured.
2) A Φ8 coupling is provided in the base section of the robot arm for suction inside the robot arm. When using
the robot, connect this coupling with the vacuum generating valve and vacuum pump (furnished by the cus-
tomer).
* Install the vacuum generating valve downstream of the downflow or install a filter in the exhaust air sec-
tion so that the exhaust air from the vacuum generating valve does not affect cleanness.
Recommended filter: Exhaust filter EF300-02, Koganei Corporation
* If any vacuum pump is prepared by the customer, assure on the vacuum side flow rate 30 liters/min.(ANR)
or more .
3) When using the Mitsubishi standard option solenoid valve set, use the spare piping (Φ6 pneumatic hose) of
the primary piping to exhaust the air.
If the exhaust leaks into the robot arm, the degree of cleanliness could be affected.

Definition of specifications 2-12

２ Robot arm

2.3 Names of each part of the robot

Fore arm
Elbow block
＋ J4 axis
J5 axis
－
＋
Mechanical interface
＋
(Hand installation flange surface)

－ －
＋ J3 axis
J6 axis －

Upper arm
＋
Shoulder
－
－
J2 axis
J1 axis ＋

Base

Fig.2-2 ： Names of each part of the robot

2-13 Names of each part of the robot

 ２ Robot arm

2.4 Outside dimensions ・ Operating range diagram

(1) RV-6S/6SC

4-φ9 installation hole 2-φ6 holes

(prepared holes for φ8 positioning pins)

45°

115
φ5H7 +0.012
0 depth 9

204
160
4-M5 screw, depth 9

122
φ31.5

6.3a (Installation)

6.3a (Installation)
96
102.5
φ20H7 +0.021
0 depth 8.5 205
0
φ40ｈ8 -0.039 depth 6.5 115 140

View A: Detail of mechanical interface View D bottom view drawing : Detail of installation dimension

340

R2
78 84

11
165 20
37
85
φ70
51.5

54
78 73
200
110
50
80

58.5
32

61
Screw holes for fixing wiring hookup (M4)
(for customer use)
View C: Detail of screw holes for fixing wiring hookup
140
162 165 85 315 85
90
120

C
90

63

*
100 80.5

A
φ53

58
φ1
280

200
φ158 Machine cable

8
R9
350

20

B
* Dimensions when installing a solenoid valve (optional)
204 115 140 200
(Maintenance space)

Fig.2-3 ： Outside dimensions : RV-6S/6SC

Outside dimensions ・ Operating range diagram 2-14

２ Robot arm

170° P-point path: Reverse range

170° (alternate long and short dash line)
P-point path: Entire range
(solid line)

R5
26

02
R2
R2
58
96
R6

170°
170°

85 315 85
Flange downward 308 238
limit line(dotted line)

P
Restriction on wide angle
R280

in the rear section Note2)

Restriction on wide angle Restriction on wide angle

0
R28

in the front section Note5) in the rear section Note3)

87
R2

Restriction on wide angle

100

in the rear section Note1)

961
280

R3
°

31
92°
135
594

R173
421
350

294

R611
R331
179

17

Areas as restricted by Note1) and Note3)

°

within the operating range

76°
Restriction on wide angle
in the front section Note4)
444
437 258 474

Restriction on wide angle in the rear section

Note1) J2＋Ｊ3×2 ≧ -200 degree when -45 degree≦ J2 ＜ 15 degree.
Note2) J2＋Ｊ3 ≧ 8 degree when ｜J1｜≦ 75 degree, Ｊ2 ＜ -45 degree.
Note3) J2＋Ｊ3 ≧ -40 degree when ｜J1｜＞ 75 degree, Ｊ2 ＜ -45 degree.
Restriction on wide angle in the front section
Note4) J3 ≧ -40 degree when -105 degree≦ J1 ≦ 95 degree, J2 ≧ 123 degree.
Note5) J2 ≧ 110 degree when J1 ＜ -105 degree, J1 ＜ -95 degree.
However, J2 - J3 ≦ 150 degree when 85 degree J2 ≦ 110 degree.

Fig.2-4 ： Operating range diagram : RV-6S/6SC

2-15 Outside dimensions ・ Operating range diagram

 ２ Robot arm

(2) RV-6SL/6SLC

4-φ9 installation hole 2-φ6 holes

(prepared holes for φ8 positioning pins)

45°

115
φ5H7 +0.012
0 depth 5

4-M5 screw, depth 9

204
160
φ31.5

122
6.3a (Installation)

6.3a (Installation)
96
102.5
φ20H7 +0.021
0 depth 7.5
205
0
φ40ｈ8 -0.039 depth 6.5
115 140

View A: Detail of mechanical interface View D bottom view drawing : Detail of installation dimension

413

R2
78 84

11
165 20
37 47

85
φ70

54
51.5

78 73
200
110
80

50
32

58.5

61
Screw holes for fixing wiring hookup (M4)
(for customer use)
View C: Detail of screw holes for fixing wiring hookup 70

162 165 85 425 85

90
C
120
90

63

*
100 80.5

A
φ53

58
φ1
380

200
φ158 Machine cable

8
R9
350

239
20

B
* Dimensions when installing a solenoid valve (optional)
204 115 140 200
(Maintenance space)

Fig.2-5 ： Outside dimensions : RV-6SL/6SLC

Outside dimensions ・ Operating range diagram 2-16

２ Robot arm

170° P-point path: Reverse range

(alternate long and short dash line)
170°
P-point path: Entire range
(solid line)

R7
32

85
R1
R2
85
02
R9

170°
170°

Flange downward
limit line(dotted line) 85 425 85
403 333
P

R38 Restriction on wide angle

80

8 in the rear section Note3)

R3
100

70
R2
1167

R4
380

37
92
°

°
649

13 5

476

7 R437
R81 98
350

R1
39°

100
R4
37

76°
355

Restriction on wide angle

in the rear section Note2)

Restriction on wide angle Restriction on wide angle

in the front section Note5) 617 285 185 547 in the rear section Note1)
Areas as restricted by Note2) and Note4) Restriction on wide angle
within the operating range in the rear section Note4)
Restriction on wide angle in the rear section
Note1) J2＋Ｊ3×2 ≧ -254 degree when -38 degree≦ J2 ＜ 4 degree.
Note2) J2×1.5＋J3 ≧ -165 degree when ｜J1｜≦ 70 degree, -80 dgree ≦ Ｊ2 ＜ -38 degree.
Note3) J2＋Ｊ3 ≧ -47 degree when ｜J1｜≦ 70 degree, Ｊ2 ＜ -80 degree.
Note4) J2＋Ｊ3×2 ≧ -254 degree when ｜J1｜＞ 70 degree, J2 ＜ -38 degree.
Restriction on wide angle in the front section
Note5) J2 ≦ 110 degree when J1 - 120 degree, J1 ＞ 95 degree.

Operating range diagram : RV-6SL/6SLC

2-17 Outside dimensions ・ Operating range diagram

 ２ Robot arm

2.5 Tooling
2.5.1 Wiring and piping for hand
Shows the wiring and piping configuration for a standard-equipped hand.

Secondary piping pneumatic hose (φ4)

(customer-prepared)
(1)φ4 quick coupling
Solenoid valve set (option)
* Use by connecting it with the hand
output signal connector.

Primary piping pneumatic hose

(4)Hand output signal connector

(3)Hand input signal connector
Hand input signal cable
CN1 CN2
Hand output signal cable VACUUM（φ8） Note1）

AIRIN（φ6）
RETURN（φ6）

SPARE WIRE INLET

Spare wiring

AIRIN
RETURN

(2)φ6 quick coupling

(5)φ8 quick coupling Note1）
Connector and pneumatic coupling
Robot side (Robot arm side) Counter side (customer-prepared)
No Name Qty. Manufacturer
Connectors, couplings Connector pins Connector Connector pins
(1) Coupling 4 KJW04-M3 － － － SMC Corporation
4 KJL04-M3 － － －
(2) Coupling 2 UKBL6 － － － Koganei Corporation
(3) Connector 2 1-1717834-3 1318108-1 1-1318115-3 1318112-1 Tyco Electronics
AMP K.K.
(4) Connector 2 1-1717834-4 1318108-1 1-1318115-4 1318112-1 Tyco Electronics
AMP K.K.
(5) Coupling 1 UKBL8 － － － Koganei Corporation
Note1)

Note1) For dust suction in the clean specification

Fig.2-6 ： Wiring and piping for hand

Tooling 2-18
２ Robot arm

2.5.2 Internal air piping

(1) Standard type
1) The robot has two φ6 x 4 urethane hoses from the pneumatic entrance on the base section to the shoulder
cover.
2) One hose is the primary piping for the pneumatic equipment. The remaining pipe is used for air exhaust.
3) The optional solenoid is provided with a maximum of eight couplings for the φ4 air hose.
4) The pneumatic inlet in the base section has a φ6 pneumatic coupling bridge.
5) Refer to Page 24, "(3) Solenoid valve set" for details on the electronic valve set (optional).

(2) Clean type

1) The clean type basically includes the same piping as the standard type.
2) With the clean specification, a φ8 coupling is provided in the base section for suction inside the machine.
For use, connect it to the suction port of the vacuum pump or the coupling on the "VACUUM" side of the
vacuum generating valve. Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use
the exhaust filter (prepared by the customer). Table 2-7 shows the specifications of the vacuum generat-
ing valve.
3) To use the vacuum pump, assure a flow rate of 30 liters/min. or more.
4) Use clean air as the air supplied to the vacuum generator.

Table 2-7 ： Vacuum generating valve specifications

Type Maker Air pressure
MEDT14 KONEGAI CORPORATION 0.2 to 0.6 MPa

2.5.3 Internal wiring for the pneumatic hand output cable(Standard type/Clean type)
1) When the controller uses the optional pneumatic hand interface (2A-RZ365/RZ375), the hand output signal
works as the pneumatic hand cable.
2) The hand output primary cable extends from the connector PCB of the base section to the inside of the
forearm. (AWG#24(0.2mm2)x 2 : 8 cables) The cable terminals have connector bridges for eight hand out-
puts. The connector names are GR1 and GR2.
To extend the wiring to the outside of the arm, a separate cable (optional "hand output cable 1S-GR35S-
01" IP65 is recommended) is required.

2.5.4 Internal wiring for the hand check input cable(Standard type/Clean type)
1) The hand output primary cable extends from the connector PCB of the base section to the inside of the
forearm. (AWG#24(0.2mm2)x 2 : 8 cables) The cable terminals have connector bridges for eight hand inputs.
The connector names are HC1 and HC2. The terminal section is connected to the connector in the fore-
arm section.
2) The hand check signal of the pneumatic hand is input by connecting this connector.
To extend the wiring to the outside of the arm, a separate cable (optional "hand input cable 1S-HC25C-
01" IP65 is recommended) is required.

2.5.5 Spare Wiring

(1) Standard type
As spare wiring, three pairs of AWG#28(0.1mm2) cab tire cables (total of six cores) are preinstalled between the
base section and the forearm side section.
Both ends of the wire terminals are unprocessed. Use them under the following circumstances:
● For folding as the hand output cable when installing the solenoid valve in outside the robot.
● For when installing six or more hand I/O points for the sensor in the hand section
(Connects to the parallel I/O general purpose input.)

(2) Clean type

As spare wiring, four cables of AWG#24(0.2mm2) are preinstalled between the base section and the forearm side
section.

2-19 Tooling
 ２ Robot arm

2.5.6 Wiring and piping system diagram for hand

Shows the wiring and piping configuration for a standard-equipped hand.
(1) Standard type

Hand signal input connection connector

1-1318115-3
(Tyco Electronics AMP)
Hand signal input connector (HC1 connector)
1-1717834-3
(Tyco Electronics AMP)
White
A1 <+24V>
Black
Hand
A2 <Reserved> r
A3 <HC 1> White d
r e
l
prepared Black a l
o
by customer B1 <HC 2> o
b r
t
B2 <HC 3> White n
Black y
a o
c
B3 <HC 4> l
e t
Hand signal input connector (HC2 connector) r o
g b
o
White n
i R
A1 <Reserved> r
i
Hand input cable A2 <24GND>
Black w
A3 <HC 5>
White m
(option) Black r
a
B1 <HC 6> t
<HC 7> White o
b
Hand signal output
B2 Black o
connection connector B3 <HC 8> R
1-1318115-4 Hand signal output connector (GR1 connector)
(Tyco Electronics AMP) 1-1717834-4
(Tyco Electronics AMP)
White
Hand output cable A1 <+24V(COM)> Black
(option) A2 <Reserved>
White
A3 <GR 1>
Black
A4 <GR 2>
White
B1 <GR 3>
Black
B2 <GR 4>
B3
B4
Hand signal output connector (GR2 connector)
White
A1 <+24V(COM)> Black
A2 <Reserved> White
A3 <GR 5> Black
A4 <GR 6>
White
Driving devices, B1 <GR 7>
Black
such as solenoid B2 <GR 8>
and hand, provided B3
by the customer
B4
Yellow Spare wiring AWG#28(0.1mm2)×6 (cab tire cables with the shield)
White
Hand output cable Red
attached to the solenoid set Blue
Green
φ4 quick coupling (1 to 8) Orange
Primary piping pneumatic hoses
1
2 φ6 hose AIR IN
3 Solenoid set φ6 hose RETURN
4 (option)
5 valve mounting
section φ6 quick coupling φ6 quick coupling
6
7
8

Forearm Base

Secondary pneumatic hose piping (customer-prepared) *Refer to Fig. 2-11 for Air
φ4 hose
supply circuit example.

Fig.2-7 ： Wiring and piping system diagram for hand and example the solenoid valve installation(Sink type)

Tooling 2-20
２ Robot arm

Hand signal input connection connector

1-1318115-3
(Tyco Electronics AMP)
Hand signal input connector (HC1 connector)
1-1717834-3
(Tyco Electronics AMP)
White
A1 <+24V>
Black
Hand
A2 <Reserved> r
A3 <HC 1> White d
r e
l
prepared Black a l
o
by customer B1 <HC 2> o r
t
White b n
B2 <HC 3> y o
<HC 4> Black a
l c
B3 e t
Hand signal input connector (HC2 connector) r o
g b
White n
i o
A1 <Reserved> r
i R
Hand input cable A2 <24GND> Black w
A3 <HC 5>
White m
(option) Black r
a
B1 <HC 6> t
White o
B2 <HC 7> b
Hand signal output Black o
connection connector B3 <HC 8> R
1-1318115-4 Hand signal output connector (GR1 connector)
(Tyco Electronics AMP) 1-1717834-4
(Tyco Electronics AMP)
White
Hand output cable A1 <24GND(COM)> Black
(option) A2 <Reserved>
White
A3 <GR 1>
Black
A4 <GR 2>
White
B1 <GR 3>
Black
B2 <GR 4>
B3
B4
Hand signal output connector (GR2 connector)
White
A1 <24GND(COM)> Black
A2 <Reserved> White
A3 <GR 5>
Black
A4 <GR 6>
White
Driving devices, B1 <GR 7>
Black
such as solenoid B2 <GR 8>
and hand, provided B3
by the customer
B4
Yellow Spare wiring AWG#28(0.1mm2)×6 (cab tire cables with the shield)
White
Hand output cable Red
attached to the solenoid set Blue
Green
φ4 quick coupling (1 to 8) Orange
Primary piping pneumatic hoses
1
2 φ6 hose AIR IN
3 Solenoid set φ6 hose RETURN
4 (option)
5 valve mounting
section φ6 quick coupling φ6 quick coupling
6
7
8

Forearm Base

Secondary pneumatic hose piping (customer-prepared) *Refer to Fig. 2-11 for Air
φ4 hose
supply circuit example.

Fig.2-8 ： Wiring and piping system diagram for hand and example the solenoid valve installation(Source type)

2-21 Tooling
 ２ Robot arm

(2) Clean type

Hand signal input connection connector

1-1318115-3
(Tyco Electronics AMP)
Hand signal input connector (HC1 connector)
1-1717834-3
(Tyco Electronics AMP)
A1 <+24V> White
Black
A2 <Reserved> d r
Hand
A3 <HC 1> White r e
l
prepared Black
a
o l
o
B1 <HC 2> b r
t
by customer White y n
B2 <HC 3> a o
<HC 4> Black l
e c
B3 r t
o
Hand signal input connector (HC2 connector) g
n b
i
r o
A1 <Reserved> White i R
Black w
Hand input cable A2 <24GND> m
(option) A3 <HC 5> White r
a
B1 <HC 6> Black t
o
<HC 7> White b
B2 o
Hand signal output
<HC 8> Black R
connection connector B3
1-1318115-4 Hand signal output connector (GR1 connector)
(Tyco Electronics AMP) 1-1717834-4
(Tyco Electronics AMP)
White
Hand output cable A1 <+24V(COM)>
Black
(option) A2 <Reserved>
White
A3 <GR 1>
Black
A4 <GR 2>
White
B1 <GR 3>
Black
B2 <GR 4>
B3
B4
Hand signal output connector (GR2 connector)
White
A1 <+24V(COM)> Black
A2 <Reserved> White
A3 <GR 5>
Black
A4 <GR 6>
White
Driving devices, B1 <GR 7> Black
such as solenoid B2 <GR 8>
and hand, provided B3
by the customer
B4
White Spare wiring AWG#24(0.2mm2)×4
Hand output cable Black
attached to the solenoid set White
Black
φ4 quick coupling (1 to 8)

Primary piping pneumatic hoses

1
φ6 hose AIR IN
2
3 Solenoid set φ6 hose RETURN
4 (option)
5 valve mounting
φ6 quick coupling φ6 quick coupling
6 section
7 VACUUM
8 φ8 quick coupling
(Internal suction)
Forearm Base

Secondary pneumatic hose piping (customer-prepared)

φ4 hose
*Refer to Fig. 2-11 for Air
supply circuit example.

Fig.2-9 ： Wiring and piping system diagram for hand and example the solenoid valve installation(Sink type)

Tooling 2-22
２ Robot arm

Hand signal input connection connector

1-1318115-3
(Tyco Electronics AMP)
Hand signal input connector (HC1 connector)
1-1717834-3
(Tyco Electronics AMP)
A1 <+24V> White
Black
A2 <Reserved> d r
Hand
A3 <HC 1> White r e
l
prepared Black
a
o l
o
B1 <HC 2> b r
t
by customer White y n
B2 <HC 3> a o
<HC 4> Black l
e c
B3 r t
o
Hand signal input connector (HC2 connector) g
n b
i
r o
A1 <Reserved> White i R
Black w
Hand input cable A2 <24GND> m
(option) A3 <HC 5> White r
a
B1 <HC 6> Black t
o
<HC 7> White b
B2 o
Hand signal output
<HC 8> Black R
connection connector B3
1-1318115-4 Hand signal output connector (GR1 connector)
(Tyco Electronics AMP) 1-1717834-4
(Tyco Electronics AMP)
White
Hand output cable A1 <24GND(COM)>
Black
(option) A2 <Reserved>
White
A3 <GR 1>
Black
A4 <GR 2>
White
B1 <GR 3>
Black
B2 <GR 4>
B3
B4
Hand signal output connector (GR2 connector)
White
A1 <24GND(COM)> Black
A2 <Reserved> White
A3 <GR 5>
Black
A4 <GR 6>
White
Driving devices, B1 <GR 7> Black
such as solenoid B2 <GR 8>
and hand, provided B3
by the customer
B4
White Spare wiring AWG#24(0.2mm2)×4
Hand output cable Black
attached to the solenoid set White
Black
φ4 quick coupling (1 to 8)

Primary piping pneumatic hoses

1
φ6 hose AIR IN
2
3 Solenoid set φ6 hose RETURN
4 (option)
5 valve mounting
φ6 quick coupling φ6 quick coupling
6 section
7 VACUUM
8 φ8 quick coupling
(Internal suction)
Forearm Base

Secondary pneumatic hose piping (customer-prepared)

φ4 hose
*Refer to Fig. 2-11 for Air
supply circuit example.

Fig.2-10 ： Wiring and piping system diagram for hand and example the solenoid valve installation(Source type)

2-23 Tooling
 ２ Robot arm

2.5.7 Electrical specifications of hand input/output

Table 2-8 ： Electrical specifications of input circuit

Item Specifications Internal circuit
Type DC input <Sink type>
No. of input points 8
24V
Insulation method Photo-coupler insulation
24V
Rated input voltage 12VDC/24VDC
Rated input current Approx. 3mA/approx. 7mA 820
Working voltage range DC10.2 to 26.4V(ripple rate within 5%) HCn*
ON voltage/ON current 8VDC or more/2mA or more 3.3K 0V(COM)
OFF voltage/OFF current 4VDC or less/1mA or less
Input resistance Approx. 3.3kΩ
<Source type>
Response time OFF-ON 10ms or less(DC24V)
+24V
ON-OFF 10ms or less(DC24V)
+24V

3.3K HCn*

820

24GND

* HCn ＝ HC1 ～ HC8

Table 2-9 ： Electrical specifications of output circuit

Item Specification Internal circuit
Type Transistor output <Sink type>
No. of output points 8 24V
Insulation method Photo coupler insulation （Internal power supply）
Rated load voltage DC24V
Rated load voltage range DC21.6 to 26.4VDC
Max. current load 0.1A/ 1 point (100%) *
GRn
Current leak with power OFF 0.1mA or less
Maximum voltage drop with power ON DC0.9V(TYP.)
Response time OFF-ON 2ms or less (hardware response time)
ON-OFF 2 ms or less (resistance load) (hardware response time) Fuse
1.6A
Fuse rating 1.6A (each one common) Cannot be exchanged

0V

<Source type>
Fuse +24V
1.6A

GRn*

24GND(COM)
* GRn ＝ GR1 ～ GR8
Note) An optional air hand interface (2A-RZ365/RZ375) is required to use hand output.

Tooling 2-24
2 Robot arm

2.5.8 Air supply circuit example for the hand

Fig. 2-11 shows an example of pneumatic supply circuitry for the hand.
(1) Place diodes parallel to the solenoid coil.
(2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be
damage to the work. To prevent it, install a pressure switch to the source of the air as shown in Fig. 2-11 and
use the circuit described so that the robot stops when pressure drops. Use a hand with a spring-pressure
clamp, or a mechanical lock-type hand, that can be used in cases where the pressure switch becomes dam-
aged.
(3) The optional hand and solenoid valve are of an oilless type. If they are used, don't use any lubricator.

Pressure switch

To the robot's air intake

（0.5MPa ±10%）
Pneumatic source
0.7MPa less Filter Regurater

Fig.2-11 ： Air supply circuit example for the hand

2-25
 ２ Robot arm

2.6 Shipping special specifications, options, and maintenance parts

2.6.1 Shipping special specifications

■ What are sipping special specifications?

Shipping special specifications are changed at the time of shipment from the factory. Consequently, customer
need to confirm the delivery date.
To make changes to the specifications after shipment, service work must be performed at the work site or the
robot must be returned for service.

■ How to order
(1) Confirm beforehand when the factory special specifications can be shipped, because they may not be
immediately available.
(2) Order before the factory shipping date.
(3) Specified method …… Specify the part name, model, and robot model type.

Shipping special specifications, options, and maintenance parts 2-26

２ Robot arm

(1) Machine cable

（CR2B-574 contoroller only）

■ Order type: ● Fixed type 1S-02CBL-1 (2m)

■ Outline

This cable is exchanged for the machine cable (5 m for fixed type) that was supplied
as standard to shorten the distance between the controller and the robot arm.

■ Configuration
Table 2-10 ： Configuration equipments and types
Mass(kg)
Part name Type Qty. Note1) Remarks

Fixed Set of signal and power cables 1S-02CBL-1 1 set 3.4 2ｍ

Motor signal cable BKO-FA0741H02 (1 cable) -
Motor power cable BKO-FA0768H02 (1 cable) -

Note1)Mass indicates one set.

Note) Standard 5 m (for fixed type) is not attached.

[Caution] Orders made after purchasing a robot are treated as purchases of optional equipment. In this case, the
machine cable (5 m for fixed type) that was supplied as standard is not reclaimed.
Please keep it in storage.

2-27 Shipping special specifications, options, and maintenance parts

 ２ Robot arm

2.7 Options
■ What are options?
There are a variety of options for the robot designed to make the setting up process easier for customer needs.
customer installation is required for the options. Options come in two types: "set options" and "single options".

1. Set options .......................................A combination of single options and parts that together, from a set for serving
some purpose.
2. Single options ..................................That are configured from the fewest number of required units of a part.
Please choose customer's purpose additionally.

Options 2-28
２ Robot arm

(1) Machine cable extension

■ Order type : ● Fixed type 1S- □□ CBL-01

● Flexed type 1S- □□ LCBL-01 Note) The numbers in the boxes □□ refer the length.

■ Outline

This cable is exchanged for the machine cable (5 m) that was supplied as standard to
extend the distance between the controller and the robot arm.
A fixed type and flexible type are available.
Exchanges after shipment will be charged (for packaging, shipping costs).
The fixing and flexible types are both configured of the motor signal cable and motor
power cable.

■ Configuration
Table 2-11 ： Configuration equipments and types
Qty. Mass(kg)
Part name Type Note1) Remarks
Fixed Flexed
Fixed Set of signal and power cables 1S- □□ CBL-01 1 set - 12(10m) 10m, or 15m each
Motor signal cable 1S- □□ CBL(S)-01 (1 cable) - 17(15m)

Motor power cable 1S- □□ CBL(P)-01 (1 cable) -

Flexed Set of signal and power cables 1S- □□ LCBL-01 - 1 set 7(5m) 5m, 10m, or 15m each
Motor signal cable 1S- □□ LCBL(S)-01 - (1 cable) 13(10m)
17(15m)
Motor power cable 1S- □□ LCBL(P)-01 - (1 cable)
Nylon clamp NK-14N - 2 pcs. - for motor signal cable
Nylon clamp NK-18N - 2 pcs. - for motor power cable
Silicon rubber - 4 pcs. -

Note1)Mass indicates one set.

Note) The numbers in the boxes □□ refer the length.

■ Specifications
The specifications for the fixed type cables are the same as those for standard cables.
Shows usage conditions for flexed type cables in Table 2-12.

Table 2-12 ： Conditions for the flexed type cables

Item Specifications

Minimum flexed radius 100R or more

Cable bare, etc., occupation rate 50% or less
Maximum movement speed 2000mm/s or less
Guidance of life count 7.5 million times
Environmental proof Oil-proof specification sheath
(for silicon grease, cable sliding lubricant type)
Cable configuration Motor signal cable φ6 x 5, φ8.5 x 1 and φ1.7 x 1
Motor power cable φ8.9 x 2 and φ6.5 x 8

[Caution] The guidance of life count may greatly differ according to the usage state (items related to Table 2-12
and to the amount of silicon grease applied in the cable conduit.
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

2-29 Options
 ２ Robot arm

■ Cable configuration
The configuration of the flexible cable is shown in Table 2-13. Refer to this table when selecting the cable bare.

Table 2-13 ： Cable configuration

Motor signal cable Motor power cable
Item
1S- □□ LCBL(S)-01 1S- □□ LCBL(P)-01
No. of cores AWG#24(0.2mm2)-4P AWG#24(0.2mm2)-7P AWG#18(0.75mm2) AWG#16(1.25mm2)-4C AWG#18(0.75mm2)-4C
Finish dimensions Approx. φ6mm Approx. φ8.5mm Approx. φ1.7mm Approx. φ8.9mm Approx. φ6.5mm
No.of cables used 5 cables 1 cable 1 cable 2 cable 8 cable
No. in total 7 cables 10 cables
Note) The square in the cable name indicates the cable length.

■ Fixing the flexible cable

(1) Connect the connector to the robot arm .
(2) Wind the silicon rubber around the cable at a position 300 to 400 mm from the side of robot arm and exten-
sion section as shown in Fig. 2-12, and fix with the nylon clamp to protect the cable from external stress.

Options 2-30
２ Robot arm

<When using the CR2B-574 controller>

Robot arm

Nylon clamp CR2B-574 controller

NK-18N

1S-□□LCBL(P)-01

1S-□□LCBL(S)-01

300～400ｍｍ
300～400ｍｍ

Nylon clamp
NK-18N Nylon clamp
Nylon clamp NK-14N
NK-14N Extended flexible cable The fixed cable 5m
(option) (standard attachment)
Nylon clamp
Extension section

Silicon rubber

<When using the CR3-535M controller>

CR3-535M controller

Robot arm
Robot arm
1S-□□LCBL(S)-01

Nylon clamp
1S-□□LCBL(P)-01
NK-18N

300～400ｍｍ
300～400ｍｍ

Nylon clamp
NK-18N
Nylon clamp
Nylon clamp
NK-14N
NK-14N Extended flexible cable The fixed cable 7m
(option) (standard attachment)
Extension section

Fig.2-12 ： Fixing the flexible cable

2-31 Options
 ２ Robot arm

(2) Changing the operating range

■ Order type: 1S-DH -02

■ Outline

The J1 axis operating range is limited by the robot arm's mechanical stopper and the
controller parameters.
If the axis could interfere with the peripheral devices, etc., and the operating range
need to be limited, use this.

■ Configuration
Table 2-14 ： Configuration devices
Part name Type Qty. Mass(Kg) Remarks

Stopper for changing the operating range 1S-DH-02 2 pcs. 0.1 Hexagon socket bolt: M10 x 20 plating (strength classi-
fication 10.9)

■ Specifications
Table 2-15 ： Specifications
Axis Standard Changeable angle

+ side +170 degree One point from +135°, +90°, +45°

J1
- side -170 degree One point from -135°, -90°, -45°

(1) The changeable angle shown in Table 2-15indicates the operation range by the software.
The limit by the mechanical stopper is positioned 1 degrees outward from that angle, so take care when
designing the layout.
(2) The changeable angle can be set independently on the + side and - side.
(3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explanation
of Functions and Operations" for details.

Options 2-32
２ Robot arm

(3) Solenoid valve set

■ Order type: One set: 1S-VD01-02(Sink type)/1S-VD01E-02(Source type)

Two sets: 1S-VD02-02(Sink type)/1S-VD02E-02(Source type)
Three sets: 1S-VD03-02(Sink type)/1S-VD03E-02(Source type)
Four sets: 1S-VD04-02(Sink type)/1S-VD04E-02(Source type)
■ Outline

The solenoid valve set is an option that is used for controlling toolings when various
toolings, such as the hand, are installed at the end of the arm. All have double sole-
noid specification, and either one or two or three sets can be selected. This solenoid
valve set has a hand output cable attached to the solenoid valve. Also, for easy
installation of this electromaagnetic set onto the robot, it comes equipped with a
manifold, couplings, silencers, among other things.
When using the robot arm's hand output signal, the pneumatic hand interface option
must be installed on the separate controller.

■ Configuration
Table 2-16 ： Configuration equipment
Q'ty Mass
Part name Type (kg) Remark
One set Two sets Three sets Four sets Note1)

Solenoid valve set (1 set) 1S-VD01-02/

1 pc. － － － 0.3
1S-VD01E-02
M4x8 four screws (installation screws).
Solenoid valve set (2 sets) 1S-VD02-02/
－ 1 pc. － － 0.4 1S-VD01-02/VD02-02/VD03-02/
1S-VD02E-02
VD04-02 are the sink type.
Solenoid valve set (3 sets) 1S-VD02-02/
－ － 1 pc. － 0.4 1S-VD01E-02/VD02E-02/VD03E-02/
1S-VD02E-02
VD04E-02 are the source type.
Solenoid valve set (4 sets) 1S-VD02-02/
－ － － 1 pc. 0.5
1S-VD02E-02

Note1)Mass indicates one set.

■ Specifications
Table 2-17 ： Valve specifications
Item Specifications
Number of positions 2
Port 5Note1) )
Valve function Double solenoid
Operating fluid Clean air Note2)
Operating method Internal pilot method
Effective sectional area (CV value) 0.64mm
Oiling Unnecessary
Operating pressure range 0.1 to 0.7MPa
Guaranteed proof of pressure 1.0MPa or more
Response time 22msec or less (at 0.5 MPa)
Max. operating frequency 5c/s
Ambient temperature -5 to 50 ℃ (However, there must be no condensation.)

Note1) Couplings of unused solenoid valves must be blocked with plugs. If they are not blocked, supplied
air will blow out from the couplings, lowering the air pressure of the solenoid valves being used
and making them nonfunctional
(recommended plugs: KQ2P-04 plugs made by SMC).

CAUTION Note2) The air to be provided must be clean, i.e., filtered with a mist separator or air
filter. Failing to do so may lead to malfunctions.

Table 2-18 ： Solenoid specifications

Item Specifications
Coil rated voltage DC24V ± 10%
Power consumption 0.55W
Voltage protection circuit with power surge Diode
protection

2-33 Options
 ２ Robot arm

81
⑦⑧ 73 4

GR1

24 44

⑨
φ4.8
③

② ⑥

108.5
GR2

100
①

φ4.8
4.5

1.6

13.5 54 3.5
10 61

Part no. Part name 1 sets 2 sets 3 sets 4 sets Specifications

① Solenoid valve 1 2 3 4
② Manifold block 1 1 1 1
③ Quick coupling 2 4 6 8 φ4
④ Block plate 1 1 1 1
⑤ Quick coupling 1 1 1 1 φ6
⑥ Quick coupling 1 1 1 1 φ6
⑦ Connector 1 1 2 2 1-1318115-4
⑧ Contact 3 5 8 10 1318112-1
⑨ Installation screw 4 4 4 4 M4 × 8
<Sink type> <Source type>
Connector name Connector name
<GR1> <GR1>
White White
+24V (COM) A1 24V (RG) A1
Reserve A2 Reserve A2
GR1 Black GR1 Red
A3 A3
GR2 A4 Red SOL1B GR2 A4 Black SOL1B
Black Red
Red SOL1A Black SOL1A
GR3 B1 GR3 B1
GR4 Black GR4 Red
B2 B2
Red SOL2B Black SOL2B
Reserve B3 Reserve B3
Reserve B4 Black Reserve B4 Red
Red SOL2A Black SOL2A
<GR2> <GR2>
White White
+24V (COM) A1 24V (RG) A1
Reserve A2 Reserve A2
GR5 Black GR5 Red
A3 A3
GR6 A4 Red SOL3B GR6 A4 Black SOL3B
Black Red
Red SOL3A Black SOL3A
GR7 B1 GR7 B1
GR8 Black GR8 Red
B2 B2
Reserve B3 Red SOL4B Reserve B3 Black SOL4B
Reserve B4 Black Reserve B4 Red
Red SOL4A Black SOL4A

Fig.2-13 ： Outline dimensional drawing

Options 2-34
２ Robot arm

(4) Hand input cable

■ Order type: 1S-HC25C-01

■ Outline

The hand input cable is used for customer-designed pneumatic hands.

It is necessary to use this to receive the hand's open/close confirmation signals and
grasping confirmation signals, at the controller.
One end of the cable connects to the connector for hand input signals, which is in
the wrist section of the hand. The other end of the cable connects to the sensor
inside the hand customer designed.

■ Configuration
Table 2-19 ： Configuration equipment
Part name Type Qty. Mass(kg) Remarks
Hand input cable 1S-HC25C-01 1 cable 0.2

■ Specifications
Table 2-20 ： Specifications
Item Specifications Remarks
Size x cable core AWG#24 (0.2mm2) × 12 One-sided connector, one-sided cable bridging
Total length 800mm (Including the curl section, which is 300mmlong）

100
φ25

HC1

HC
HC2

15
1-1318115-3
(Tyco Electronics AMP)
200 300 200±10

<HC1>
(Yellow) A1 +24V
A2 Reserve
(Purple) A3 HC1
(Brown) B1 HC2
(Blue) B2 HC3
(Black) B3 HC4

<HC2>
A1 Reserve
(Green) A2 24G（RG）
(Red) A3 HC5
(White) B1 HC6
(Gray) B2 HC7
（Pink） B3 HC8

Fig.2-14 ： Outside dimensional drawing and pin assignment

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

2-35 Options
 ２ Robot arm

(5) Hand output cable

■ Order type: Four sets:1S-GR35S-01

■ Outline

The hand output cable (solenoid valve connection cable) is an option that is used
when an solenoid valve other than one of the solenoid valve set options, is used.
One end of the cable has a connector that connects to the input terminal inside the
robot. The other end of the cable is connected.

■ Configuration
Table 2-21 ： Configuration equipment
Part name Type Qty. Mass(kg) Remarks
Hand output cable 1S-GR35S-01 1 cable 0.1 For four sets

■ Specifications
Table 2-22 ： Specifications
Item Specifications Remarks
Size x Cable core AWG#24(0.2mm2) x 12 cores One side connector and one side cable connection
Total length 400mm

100
GR1

GR
GR2

15
1-1318115-4
300 (Tyco Electronics AMP)

Sink Source
<GR1> type type
(Yellow) A1 +24V (COM) 24G (RG)
A2 Reserve Reserve
(Purple) A3 GR1 GR1
(Brown) A4 GR2 GR2
(Blue) B1 GR3 GR3
(Black) B2 GR4 GR4
B3 Reserve Reserve
B4 Reserve Reserve
<GR2>
(Green) A1 +24V（COM） 24G（RG）
A2 Reserve Reserve
(Red) A3 GR5 GR5
(White) A4 GR6 GR6
(Gray) B1 GR7 GR7
（Pink） B2 GR8 GR8
B3 Reserve Reserve
B4 Reserve Reserve

Fig.2-15 ： Outline dimensional drawing and pin assignment

Options 2-36
２ Robot arm

(6) Hand curl tube

■ Order type: One set :1E-ST0402C

Two sets :1E-ST0404C
Three sets :1E-ST0406C
Four sets :1E-ST0408C

■ Outline

The hand curl tube is a curl tube for the pneumatic hand.

■ Configuration
Table 2-23 ： Configuration equipment
Part name Type Qty. Mass(kg) Remarks
Hans curl tube (One set: 2 pcs.) 1E-ST0402C 1 pc. 0.1 Φ4 tube, 2pcs.
Hans curl tube (Two set: 4 pcs.) 1E-ST0404C 1 pc. 0.1 Φ4 tube, 4pcs.
Hans curl tube (Three set: 6 pcs.) 1E-ST0406C 1 pc 0.1 Φ4 tube, 6pcs.
Hans curl tube (Four set: 8 pcs.) 1E-ST0408C 1 pc. 0.1 Φ4 tube, 8pcs.

■ Specifications
This option can be installed on clean-type, but its cleanliness is not under warranty.

Table 2-24 ： Specifications

Item Specifications
Material Urethane
Size Outside diameter: φ4 x Inside diameter: φ2.5

250 (Robot side)

600

300

(Tooling side)

Fig.2-16 ： Outline dimensional drawing

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

2-37 Options
 ２ Robot arm

2.8 Maintenance parts

The consumable parts used in the robot arm are shown in Table 2-25. Purchase these parts from the designated
maker or dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus,
confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer.

Table 2-25 ： Consumable part list

No. Part name Type Note1) Usage place Qty. Supplier

1 Grrase SK-1A Reduction gears of each axis As needed Mitsubishi Electric System &
2 Lithium battery A6BAT In the battery cover 5 pcs. Service;Co.,Ltd.

Note1)Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for
the type.

Maintenance parts 2-38

3Controller

3 Controller
3.1 Standard specifications
3.1.1 Standard specifications
Table 3-1 ： Standard specifications of controller
Item Unit Specification Remarks
Type CR3-535M CR2B-274
Number of control axis Simultaneously 6(Maximum)
CPU 64 bit RISC, and DSP
Memory Programmed positions and No. point 2,500
capacity of steps step 5,000
Number of programs 88
Robot language MELFA-BASIC Ⅳ
or
MOVEMASTER COMMAND
Teaching method Pose teaching method ,MDI method
External input and output point 32/32 Max. 256/256Note1)
input and Dedicated input/output point Assigned with general-purpose input/output "STOP" 1 point is fixed
output
Hand open/close input/output Up to 8 output points can be added
point Input 8 point/Output 0 point
as an optionNote2)
Emergency stop input point 1 Dual emergency line
Door switch input point 1 Dual door switch line
Emergency stop output point 1 Dual emergency line
Interface RS-232C port For expansion such as the personal
1
cpmputer, Vision sensor
RS-422 port 1 Dedicated for T/B
Dedicated for pneumatic hand
Hand dedicated slot slot 1
interface
Expansion slot slot 2 3
Memory expand slot slot 1 Memory option
Used for general-purpose input/
Robot input/output link channel 1
output (Max. 256/256)
Additional axis interface 1 0 SSCNET
Power Input voltage range V 3-phase, AC180 to 253 1-phase, AC180 to 253
source Power capacity KVA Does not include rush current
2.0 Note3)

Outline dimensions mm 450(Ｗ)x380(D)x625( Ｈ ) Excluding protrusions

Note4) 460(Ｗ)x400(D)x200( Ｈ )

Mass kg Approx. 60 Approx. 20

Construction Self-contained floor Self-contained floor
type, Closed type (IP54) type, Opened type
Note5)
(IP20) Note6)
Operating temperature range deg. 0 to 40
Ambient humidity %RH 45 to 85 Without dew drops
Grounding Ω 100 or less D class grounding earthNote7)
Paint color Light gray Munsell 0.08GY7.64/0.81

Note1) It is the value when seven maximums expand (224/224) the Parallel I/O unit.
(2A-RZ361 or 2A-RZ371:Input 32 points / Output 32 points.)
Note2) It is when an pneumatic hand interface (2A-RZ365 or 2A-RZ375) is installed.
Note3) The power capacity is the rating value for normal operation. The power capacity does not include the rush
current when the power is turned ON. The power capacity is a guideline and the actual operation is
affected by the input power voltage. The power consumption in the specific operation pattern with the
RV-6S/6SL series is approx. 0.64kW. The peak value at the robot's maximum speed is 2.72 kW.
Note4) Becomes 615(H) at the caster specification (CR3-535M controller only).
Note5) CR3-535M controller exchanges heat using the internal air circulation self-cooling method. Furthermore,
the rear side sucks in the outside air and the top and bottom sections of the rear side discharges the
inside air. This controller can also be used in the oil-mist environment.
Note6) The CR2B-574 controller of this robot is a general environment specification. For use in an oil-mist
environment or in an environment with excess dust, use the CR3-535M controller instead.
Note7) The robot must be grounded by the customer.

3-39 Standard specifications

 3Controller

3.1.2 Protection specifications and operating supply

A protection method complying with the IEC Standard CR3-535M: IP54(Closed type), CR2B-574: IP20(Opened
type) is adopted for the controller.

The IEC IP symbols refer only to the degree of protection between the solid and the fluids, and don't indicated
that any special protection has been constructed for the prevention against oil and water.

【Information】
<CR2B-574 controller>
・ The IEC IP20
It indicates the protective structure that prevents an iron ball 12 +0.05
0 mm diameter, which is being pressed with the
power of 3.1 kg ± 10%, from going through the opening in the outer sheath of the supplied equipment.

<CR3-535M controller>
・ The IEC IP54
The IEC IP54 standard refers to protection structure designed to prevent any harmful effects by fresh water
scattering vertically onto the testing equipment in a radius of 180 degrees from a distance of 300 to 500 mm, with
10 ± 0.5 liters of water every minute, at a water pressure of 80 to 100kPa , covering the entire area of the robot
with the exception of the installation section at 1 ㎡ per minute, for a total of 5 minutes or more.

Refer to the section Page 114, "6.2 Working environment" for details on the working environment.

Standard specifications 3-40

3 Controller

3.2 Names of each part

CR3-535M controller 7)
9) 4) 15)
11) 2)
16)
5)
1) 6)
12)

14)10) 3) 8)
13)

Front operation panel

CR2B-574 controller 9) 2) 4)
14) 7)
11) 15) 5)

6)

1)
Front operation panel 13) 12)
10) 3) 8)
Fig.3-1 ： Names of controller parts

1) POWER switch ..................................... This turns the control power ON/OFF.

2) START button ...................................... This executes the program and operates the robot. The program is run continuously.
3) STOP button......................................... This stops the robot immediately. The servo does not turn OFF.
4) RESET button....................................... This resets the error. This also resets the program's halted state and resets the program.
5) Emergency stop switch .................... This stops the robot in an emergency state. The servo turns OFF.
6) T/B remove switch ............................ This is used to connect/disconnect the T/B without turning OFF the controller's control
power.
7) CHNGDISP button.............................. This changes the details displayed on the display panel in the order of "Override" → "Pro-
gram No." → "Line No.".
8) END button............................................ This stops the program being executed at the last line or END statement.
9) SVO.ON button.................................... This turns ON the servo power. (The servo turns ON.)
10) SVO.OFF button ............................... This turns OFF the servo power. (The servo turns OFF.)
11) STATUS NUMBER
(display panel)...................................... The alarm No., program No., override value (%), etc., are displayed.
12) T/B connection connector ......... This is a dedicated connector for connecting the T/B.
13) Personal computer
connection connector ...................... This is an RS-232C specification connector for connecting the personal computer.
14) MODE key switch ............................. This changes the robot's operation mode. Note)
AUTO (Op.).................................. Only operations from the controller are valid. Operations for which the operation mode
must be at the external device or T/B are not possible.
TEACH........................................... When the T/B is valid, only operations from the T/B are valid. Operations for which the
operation mode must be at the external device or controller are not possible.
AUTO (Ext.)................................. Only operations from the external device are valid. Operations for which the operation
mode must be at the T/B or controller are not possible.
15) UP/DOWN button ............................ This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel.
16) Power cable clamp........................... Fix the primary power cable.

3-41 Names of each part

 3 Controller

CAUTION Note) The servo will turn OFF when the controller's [MODE] switch is changed.
Note that axes not provided with brakes could drop with their own weight.

Carry out the following operations to prevent the servo from turning OFF
whenthe [MODE] switch is changed.

The servo on status can be maintained by changing the mode with keeping pressing
lightly the deadman switch of T/B. The operating method is shown below.

■ When the mode is changed from TEACH to AUTO.

1) While holding down the deadman switch on the T/B, set the [ENABLE/DISABLE]
switch to "DISABLE".
2) While holding down the deadman switch on the T/B, set the controller [MODE]
switch to "AUTO".
3) Release the T/B deadman switch.

■ When the mode is changed from AUTO to TEACH.

1) While the [ENABLE/DISABLE] switch on the T/B is "DISABLE", hold down the
deadman switch.
2) While holding down the deadman switch on the T/B, set the controller [MODE]
switch to "TEACH".
3) While holding down the deadman switch on the T/B, set the [ENABLE/DISABLE]
switch to "ENABLE", then do the operation of T/B that you wish.

Names of each part 3-42

3 Controller

CR3-535M controller

CN2

2)

CN1
1)
CR2B-574 controller

1)
6)
8) 7)
5)
3) 4) 2)

Fig.3-2 ： Names of each controller part (Rear side)

1) Machine cable connector (for motor power)........... Connects to the robot arm base. (CN1 connector)
2) Machine cable connector (for motor signal)............ Connects to the robot arm base. (CN2 connector)
3) External input/output signal connector.
4) Network cable connector for parallel I/O unit expansion.
5) Emergency stop switch and door switch terminals.
6) Magnet contactor control connector for additional axis (AXMC1)
7) Memory cassette entry
8) Optional cable inlet

3-43 Names of each part

 3 Controller

1)
2)

3)

4)

Control unit
5) (R6x2CPU)

Fig.3-3 ： Names of each controller part (interior)(CR3-535M controller)

1) External input/output signal connector.

2) Memory cassette entry
3) Network cable connector for parallel I/O unit expansion.
4) Emergency stop switch and door switch terminals.
5) Magnet contactor control connector for additional axis (AXMC1)

Names of each part 3-44

3 Controller

3.3 Outside dimensions/Installation dimensions

3.3.1 Outside dimensions

<CR2B-574>

4-M5 screw

Fig.3-4 ： Outside dimensions of controller (CR2B-574 controller)

3-45 Outside dimensions/Installation dimensions

 3 Controller

<CR3-535M>
55 340 (55)

450

Eye bolt 2-M10

(35) （50） 380 60
(45)

95
(134)

288
550
625
(75)
3.2

2×2-φ15
380 （40.5） 320 （79.5）
（15） 420 （15） 440
（65） 550
615

←（When specifications with casters）

Fig.3-5 ： Outside dimensions of controller (CR3-535M controller)

Outside dimensions/Installation dimensions 3-46

3 Controller

<CR3-535M>
60

Exhaust

FAN

(625)
FAN

Suction 123 70
Exhaust

140
122

(75)
(380) (7,000) CN2 CN1

（Right side drawing） （Back drawing）

Fig.3-6 ： Outside dimensions of controller (Supplement)

3-47 Outside dimensions/Installation dimensions

 3 Controller

3.3.2 Installation dimensions

150 150

250 or more
7 or more

Horizontal placement

CAUTION Use the rubber foot (4 positions) at the bottom of the controller as it is, or put the
spacer, and leave the space between the installation side and the controller
installation side more than 7mm when you fix the controller with the installation
screw.In the other case, the air intake hole at the bottom of the controller is
occupied, and temperature rises in the board, and causes the trouble.

Fig.3-7 ： Installation of controller (CR2B-574 controller)

Note1) <CR3-535M>
Approx. 500

Side Side
Back

Approx. Approx.
200 450 300

STA
TUS
NUM
BER

CHA
NG DISP
440

Controller
MOD UP
E EMG
.STO
SVO DOW P
A UTO T EAC
H
ON N
(O p.)
STA
AU TO RT
(E xt.)
RES
SVO ET

(upside)
OFF
STO
P
END
REM
OVE
T/B
Approx. 500
450
Front

11
0

The mold cover

for the RS-232C connector
Maintenance area
The rubber cover
for the T/B connector

(View from upside) (Anchor bolt installation: 4 places)

Note1) The controller sucks in the outside air and discharges the inside air after cooling (Fig. 3-4).
The space required for cooling is 100 mm minimum. Reserve approximately 500 mm of space
behind the unit as the maintenance work area.
Fig.3-8 ： Installation of controller (CR3-535M controller)

Outside dimensions/Installation dimensions 3-48

3 Controller

The controller has the openings (1) to (4) as shown in Fig. 3-9.

Capcon installing panel 67

45
STATUS NUMBER CHANG DISP EMG.STOP
UP

DOWN

(1) φ28
MODE SVO ON START RESET

199
TEACH
AUTO AUTO
(Op.) (Ext.) REMOVE T/B
SVO OFF STOP END

(4)
(3) φ34 □40×90

Left side drawing Front drawing Right side drawing

Cable lead in port 273

(1) Left surface input power supply Enlarged view of A section

36
lead-in port
(2) Bottom surface input/output signal
lead-in port (with sponge)

5
(3) Left surface cable outlet (2)
(4) Right surface input/output signal
40
□40×81
lead-in port
(no sponge, with cabl fixing plate)

5
・Use (1) to lead in the input
（45）

power cable.
・Use (2) or (4) to lead in the
input/output signal cable.

Bottom view
(39) 90

Fig.3-9 ： Cable lead-in ports and dimensions (CR3-535M controller)

3-49 Outside dimensions/Installation dimensions

 3 Controller

3.4 External input/output

3.4.1 Types
(1) Dedicated input/output...............................These inputs and outputs carry out the robot remote operation and
status display.
(2) General-purpose input/output.................These are inputs and outputs that the customer can program for
peripheral device control. Moreover, it is possible to use parallel input/
output units and input/output signals via CC-Link.
(3) Hand input/output .........................................These are inputs and outputs related to the hand that the customer can
program. (The hand output is an option. The Page 68, "(2) Pneumatic
hand interface" is required.)

No. of input/output points Connection

Class Name
Input Output format

Standard Emergency stop 1 1 Connector

Standard Door switch 1 -
Standard Parallel input/output Occupies 32 general-purpose points/(6) Occupies 32 general-purpose points/(4)
dedicated points in general-purpose dedicated points in general-purpose

3.4.2 Explanation
The parallel input/output unit uses connector bridging. Purchase the "External I/O cable" for connection with
external devices.

The hand output is an option. Refer to Page 68, "(2) Pneumatic hand interface" for details

The parallel input/output unit can be expanded outside of the controller.

The expansion parallel input/output unit is connected with the control unit in the controller using a robot I/O link
cable. Parallel input and output units can be expand as an option to seven maximums. With allows up to input 256
points and output 256 points of maximums can be used including 32 points input and 32 points output of standard.

Refer to Page 71, "(3) Parallel I/O unit" for details on the parallel input/output unit.

External input/output 3-50

3 Controller

3.5 Dedicated input/output

Show the main function of dedicated input/output in the Table 3-2. Refer to attached instruction manual
"Detailed explanations of functions and operations" in the product for the other functions. Each parameter indi-
cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and
output signal No. If the number of dedicated inputs and general-purpose input points used exceeds the standard
No. of input/output points, install the parallel input /output unit (1st to 7th station: option).

Table 3-2 ： Dedicated input/output list

Parameter Input Note1) Output
name Name Function Level Name Function
TEACHMD None Teaching mode out- Outputs that the teaching mode is
put signal entered.
ATTOPMD None Automatic mode out- Outputs that the automatic mode is
put signal entered.
ATEXTMD None Remote mode output Outputs that the remote mode is
signal entered.
RCREADY None Controller power ON Outputs that external input signals can
complete signal be received.
AUTOENA Automatic opera- Allows automatic operation. Automatic operation Outputs the automatic operation
tion enabled input Ｌ enabled output signal enabled state.
signal
START Start input signal Starts all slots. Operating output sig- Outputs that the slot is operating.
Ｅ
nal
STOP Stop input signal Stops all slots. Wait output signal Outputs that the slot is temporarily
The input signal No. is fixed to 0. stopped.
Note) Use the emergency stop Ｌ
input for stop inputs related
to safety.
SLOTINIT Program reset input Resets the wait state. Program selection Outputs that the slot is in the program
E
signal enabled output signal selection enabled state.
ERRRESET Error reset input Resets the error state. Error occurring out- Outputs that an error has occurred.
E
signal put signal
CYCLE Cycle stop input Carries out cycle stop. In cycle stop opera- Outputs that the cycle stop is operat-
E
signal tion output signal ing.
SRVOFF Servo ON enabled Turns the servo OFF for all mech- Servo ON enabled Outputs servo-on disable status.
Ｌ
input signal anisms. output signal (Echo back)
SRVON Servo ON input Turns the servo ON for all mecha- In servo ON output Outputs the servo ON state.
Ｅ
signal nisms. signal
IOENA Operation rights Requests the operation rights for Operation rights out- Outputs the operation rights valid state
Ｌ
input signal the external signal control. put signal for the external signal control.
MELOCK Machine lock input Sets/resets the machine lock In machine lock out- Outputs the machine lock state.
Ｅ
signal state for all mechanisms. put signal
SAFEPOS Evasion point Requests the evasion point return In evasion point Outputs that the evasion point return
Ｅ
return input signal operation. return output signal is taking place.
OUTRESET General-purpose Resets the general-purpose output
Ｅ None
output signal reset signal.
EMGERR Emergency stop out- Outputs that an emergency stop has
None
put signal occurred.
S1START
Outputs the operating state for each
： Start input Starts each slot. Ｅ In operation output
slot.
S32START
S1STOP
Outputs that each slot is temporarily
： Stop input Stops each slot. Ｌ In wait output
stopped.
S32STOP
PRGSEL Program selection Designates the setting value for
input signal the program No. with numeric value Ｅ None
input signals.
OVRDSEL Override selection Designates the setting value for
input signal the override with the numeric value Ｅ None
input signals.

3-51 Dedicated input/output

 3 Controller

Parameter Input Note1) Output

name Name Function Level Name Function
IODATA Numeric value input Used to designate the program Used to output the program name,
Note2) Numeric value output
(start No., end No.) name, override value., mechanism Ｌ override value., mechanism No.
(start No., end No.)
value.
PRGOUT Program No. out- Requests output of the program Outputs that the program name is
Program No. output
put request name. Ｅ being output to the numeric value out-
signal
put signal.
LINEOUT Line No. output Requests output of the line No. Outputs that the line No. is being out-
Ｅ Line No. output signal
request put to the numeric value output signal.
OVRDOUT Override value out- Requests the override output. Override value out- Outputs that the override value is being
put request Ｅ put signal output to the numeric value output sig-
nal.
ERROUT Error No. output Requests the error No. output. Error No. output sig- Outputs that the error No. is being out-
Ｅ
request nal put to the numeric value output signal.
JOGENA Jog valid input sig- Validates jog operation with the Jog valid output sig- Outputs that the jog operation with
Ｅ
nal external signals nal external signals is valid.
JOGM Jog mode input 2- Designates the jog mode. Jog mode output 2- Outputs the current jog mode.
Ｌ
bit bit
JOG+ Jog feed + side for
Requests the + side jog operation. Ｌ None
8-axes
JOG- Jog feed - side for
Requests the - side jog operation. Ｌ None
8-axes
HNDCNTL1 Mechanism 1 hand Mechanism 1: Outputs the status of
output signal status general-purpose outputs
： ： 900 to 907.
HNDCNTL3 Mechanism 3 hand Mechanism 2: Outputs the status of
None output signal status general-purpose outputs
910 to 917.
Mechanism 3: Outputs the status of
general-purpose outputs
920 to 927.
HNDSTS1 Mechanism 1 hand Mechanism 1: Outputs the status of
input signal status hand inputs 900 to 907.
： ： Mechanism 2: Outputs the status of
None
HNDSTS3 Mechanism 3 hand hand inputs 910 to 917.
input signal status Mechanism 3: Outputs the status of
hand inputs 920 to 927.
HNDERR1 Mechanism 1 hand Mechanism 1 hand
error input signal error output signal
Requests the hand error occur-
： ： Ｌ ： Outputs that a hand error is occurring.
rence.
HNDERR3 Mechanism 3 hand Mechanism 3 hand
error input signal error output signal
AIRERR1 Pneumatic pressure Pneumatic pressure
error 1 input signal error 1 output signal.
Request the pneumatic pressure Outputs that a pneumatic pressure
： Ｌ ：
error occurrence. error is occurring.
： Pneumatic pressure Pneumatic pressure
AIRERR3 error 3 input signal error 3 output signal.
M1PTEXC Maintenance parts
replacement time Outputs that the maintenance parts
None Ｌ
： warning signal have reached the replacement time.
M3PTEXC
USER- User-designated area Outputs that the robot is in the user-
None
AREANote3) 8-points designated area.

Note1) The level indicates the signal level.

L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the sig-
nal is OFF.
E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state, and
the function maintains the original state even when the signal then turns OFF.
Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No.
Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.

Dedicated input/output 3-52

3 Controller

3.6 Emergency stop input/output

Input from the "emergency stop input" terminal, which is located inside the CR3-535M controller, or on the rear
of the CR2B-572 controller.

Table 3-3 ： Dedicated input terminals in controller

Class Name Details
Input Emergency stop Applies the emergency stop (Dual emergency line.)
Input Door switch The servo turns OFF.
Output Emergency stop This output indicates that the emergency stop is being input.

3.6.1 Connection of the external emergency stop

The external emergency stop input and door switch input are short-circuited with a short cable at shipment as
shown in Fig. 3-10.
Connect the external emergency stop switch and door switch with the following procedure.

1) Prepare the "emergency stop switch" and "door switch".

2) Remove the two short pieces 1 and 2.
3) Securely connect the external emergency stop's contacts across "1)-2), and the door switch's contacts
across 3)-4)" on the terminal block.

[Caution] When wiring the emergency stop switch (duble emergency line type), wire both contacts to the two ter-
minal blocks on the controller. If both contacts are wired to only one of the terminal blocks, errors can-
not be cancelled using the door switch.

EMG. DOOR
STOP SWITCH
System emergency 24V
EXTEMG1 EXTEMG1
stop line
6 6
RA3:Emergency stop output Note1) (Prepared
5 by cusotmer) 5
RA Relay
4 4
Short piece 2 24V
3 RA2 3
2 External door switch input 2
Short piece 1 RA1
1 External emergency stop input 1

RG (24G) GND (24G)

24V
EXTEMG2 System emergency EXTEMG2
stop line
6 6
RA31:Emergency stop output Note1) (Prepared
5 by cusotmer) 5
RA Relay
4 4
Short piece 2 24V
3 3
RA21
2 External door switch input 2
Short piece 1 RA11
1 1
External emergency stop input

(Customer-prepared wiring) (Controller side) GND (24G)

Internal circuit composition of Example of wiring for

external emergency stop and door switch external emergency stop and door switch
(customer-prepared wiring)
Wire fixing screw
Do not check the voltage which withstand insulation.
Warning And, failure will be caused if it connects incorrectly.
EXTEMG1 Control unit
EXTEMG2

Note 1) Emergency stop output opens

6 × ×

when either one of the emergency stop switches 5 Wire insert

× ×

4
shown below or an input signal turns on.
× ×

3
AWG#24 to #12
× ×

･Emergency stop switch of the controller. 2 (0.2 to 2.5mm2)

× ×

Maker:Phoenix Contact
× ×
1
･Emergency stop switch of the T/B (option). Type:FRONT-MSTB2.5/6-ST-5.08
･External emergency stop input.
･External door input. EXTEMG connector
･The T/B mount/dismount switch is OFF (Same for both left and right outputs)
when the T/B is unconnected.

Fig.3-10 ： Connection of the external emergency stop (CR3-535M controller)

3-53 Emergency stop input/output

 3 Controller

Upside terminal block DOOR EMG.

24V Switch STOP
1 1
Short piece 1
2 2
RA1 Emergency stop input
3 3
Short piece 2
4 4
RA2 Door switch input 24V
5 5
RA3
6 System emergency 6
stop line RA5
RG (24G) (Prepared by cusotmer)
Note1)
Emergency stop output
RG (24G)
(Customer-prepared wiring) (Controller side)

Bottom side terminal block

24V EMG.
STOP
1 1
Short piece 1 DOOR
2 2
Emergency stop input Switch
RA11
3 3
Short piece 2
4 4
RA21 Door switch input 24V
5 5
RA31
6 System emergency 6
RA51
stop line
RG (24G)
(Prepared by cusotmer)
Note1)
Emergency stop output
RG (24G)
Internal circuit composition of
Example of wiring for external emergency stop and door switch
external emergency stop and door switch
(customer-prepared wiring)

Note 1) Emergency stop output opens

when either one of the emergency stop switches
shown below or an input signal turns on.
･Emergency stop switch of the controller.
･Emergency stop switch of the T/B (option).
･External emergency stop input.
･External door input.
･The T/B mount/dismount switch is OFF
when the T/B is unconnected.
Wire fixing screw Controller rear side

①② Maker:Phoenix Contact
Wire insert ③④
⑤⑥ Type:FRONT-MSTB2.5/6-ST-5.08

EXTEMG connector (Same for both top and bottom outputs)

Fig.3-11 ： Connection of the external emergency stop (CR2B-574 controller)

[Note] Refer to Page 112, "6.1.7 Examples of safety measures" together, and carry out wiring to the emergency stop.

Emergency stop input/output 3-54

3 Controller

3.6.2 Door switch function

This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot
when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is
opened and an error does not occur. Follow the wiring example shown in Fig. 3-10, and wire so that the contact
closes when the door is closed. Details of this function according to the robot status are shown below.
・ During automatic operation .............When the door is opened, the servo turns OFF and the robot stops. An error
occurs.
The process of the restoration : Close the door, reset the alarm, turn on the
servo, and restart
・ During teaching.......................................Even when the door is opened, the servo can be turned ON and the robot
moved using the teaching pendant.

① Auto executing

Safeguard

STOP!!
TEACH
AUTO AUTO
(Op.) (Ext.)

Robot arm
Open
(Example)

Turns OFF the servo

② Teaching
Safeguard

TEACH
AUTO AUTO
(Op.) (Ext.)

Teaching
Open Robot arm pendant
(Example)

The servo can be turned ON/Off

by turning the deadman switch ON/OFF.

Fig.3-12 ： Door switch function

3-55 Emergency stop input/output

 3 Controller

3.7 Additional Axis Function (CR3-535M controller only)

The CR3-535M controller is equipped with an additional axis interface for controlling an additional axis when a
traveling axis or rotary table is added to the robot. A maximum of eight axes of servo motors can be controlled at
the same time by connecting a general-purpose servo amplifier (MR-J2S-B, MR-J2M series) that supports Mit -
subishi's SSC Net.
Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.

3.7.1 Wiring of the Additional Axis Interface

Table 3-4 shows the connectors for additional axes inside the controller and Fig. 3-5 shows a connection example
(configuration example). The magnet contactor control connector for additional axes, AXMC1, is designed to
accommodate circuit connection with improved safety in Mitsubishi's industrial robot systems connecting addi-
tional axes. Please implement the appropriate circuit connection by refere to Page 57, "3.8 Magnet contactor con-
trol connector output (AXMC) for addition axes".

Table 3-4 ： Dedicated Connectors inside the Controller

Name Connector name Details
Note1)
Connector for additional axes CN1B This connector is used to connect between general-purpose servo
amplifiers and the controller.
Magnet contactor control connector AXMC1 This contact output is used to turn ON/OFF the motor power by
for additional axes connecting to general-purpose servo amplifiers.

Note1) The CN1A connector has already been in use.

Control unit
(R6x2CPU)

CN1A connector

AXMC1 connector CN1B connector

Control unit
(R6x2CPU)
Servo amplifier Servo amplifier

Bus cable between

controller and amplifier Bus cable between amplifiers Terminator

CN1B connector CN1A connector CN1B connector CN1A connector CN1B connector

Illegible

Table 3-5 ： Connection Example of Additional Axis Interface Connection (Configuration Example)

Additional Axis Function (CR3-535M controller only) 3-56

3 Controller

3.8 Magnet contactor control connector output (AXMC) for addition axes
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the
servo ON/OFF status of the robot itself by using the output contact (AXMC1) provided on the rear or inside of
the controller and configuring a circuit so that the power to the servo amplifier for the additional axis can be
turned off when this output is open. Fig. 3-14 and Fig. 3-13 shows an example of its circuit, and Fig. 3-16 and Fig.
3-16 show the layout drawings of the output contact (AXMC1). When you are using an additional axis, please per-
form appropriate circuit connections by referring to these drawings.
Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.

1) Get the power supply for the controller from the secondary erminal
of short circuit breaker (NV) built in the addition axis amplifier box.

2) Get the power supply for the MC synchronization from the secondary MC
terminal of short circuit breaker (NV) built in the controller.
NV MC 88

NV

To the internal circuit

Note)
AXMC1
1
2 <Addition axis amplifier box>
AXMC is outputted Note) This output is opened, if the robot turns off the servo
from the contact
for internal servo by occurrence of alarm etc.
power supplies.
<Electric specification>
AC3 class(AC200 to 220V) 6A
<Robot controller>
AC2 class(DC24V)12A

Fig.3-13 ： Example of circuit for addition axes of Magnet contactor control output (CR2B-574 controller)

1) Get the power supply for the controller from the secondary erminal
of short circuit breaker (NV) built in the addition axis amplifier box.

2) Get the power supply for the MC synchronization from the secondary
terminal of short circuit breaker (NV) built in the controller. NV MC MC 88

NV

To the internal circuit

Note)
AXMC1
1
2 <Addition axis amplifier box>
AXMC is outputted Note) This output is opened, if the robot turns off the servo
from the contact
for internal servo by occurrence of alarm etc.
power supplies.
<Electric specification>
AC15 class(AC200V) 5A
<Robot controller>
AC13 class(DC48V)3A
Fig.3-14 ： Example of circuit for addition axes of Magnet contactor control output (CR3-535M controller)

3-57 Magnet contactor control connector output (AXMC) for addition axes
 3 Controller

CR2A-572 controller of backside <Connector type>

Plug side (user) : FRONT-MSTB2.5/2-STF-5.08
Socket side (controller) : DFK-MSTB2.5/2-GF-5.08
(Connector maker name : Phoenix Contact)

Fig.3-15 ： Arrangement figure of the AXMC1 connector (CR2B-574 controller)

AXMC1 connector

Enlargement

Fig.3-16 ： Arrangement figure of the AXMC1 connector (CR3-535M controller)

Magnet contactor control connector output (AXMC) for addition axes 3-58
3 Controller

3.9 Parallel input/output unit

・ A parallel input/output unit or card is mounted as a standard in the controller's control unit.
・ The external input/output circuit specifications are shown in Table 3-6 and Table 3-7.
・ The correspondence of the external input/output connector pin No. and the colors of the connected "external
input/output cable" wires (separate option) is as shown in Page 62, "Table 3-8"and Table 3-9. Refer to Page
82, "(4) External I/O cable" for details of external I/O cable.
・ Pin Nos. described as both general-purpose signal and dedicated signal can be shared.
・ The other dedicated input/output signals that are not assigned can be assigned to required general-purpose
input/output pins when creating the program.
・If the standard inputs and outputs are insufficient, install the parallel input/output unit connection option outside
the controller.

Table 3-6 ： Electrical specifications of input circuit

Item Specifications Internal circuit
Type DC input <Sink type>
No. of input points 32
Insulation method Photo-coupler insulation
24V/12V
Rated input voltage 12VDC/24VDC (COM)
Rated input current Approx. 3mA/approx. 7mA
Working voltage range 10.2VDC to 26.4VDC(ripple rate within 5%)
ON voltage/ON current 8VDC or more/2mA or more 820
OFF voltage/OFF current 4VDC or less/1mA or less
Input resistance Approx. 3.3kΩ 3.3K Input
Response time OFF-ON 10ms or less(DC24V)
ON-OFF 10ms or less(DC24V) <Source type>
Common method 8 points per common
External wire connection
Connector
method
3.3K Input

820

0V(COM)

Table 3-7 ： Electrical specifications of output circuit

Item Specifications Internal circuit
Type Transistor output <Sink type>
No. of output points 32
Insulation method Photo-coupler insulation
Rated load voltage DC12V/DC24V
Rated load voltage range DC10.2 ～ 30V(peak voltage 30VDC)
(24/12V)
Max. load current 0.1A/point (100％)
Leakage current at OFF 0.1mA or less
Max. voltage drop at ON DC0.9V(TYP.) Outline
2ms or less
OFF-ON
(hardware response time)
Response time
ON-OFF
2ms or less Fuse (0V)
(Resistance load) (hardware response time)
Fuse rating Fuse 3.2A (one per common) Replacement not pos- <Source type>
sible
Common method 8 points per common (common terminal: 8 points) Fuse (24/12V)
External wire connection
Connector
method
Voltage DC12/24V(DC10.2 ～ 30V) Outline
External power
supply 60mA (TYP. 24VDC per common)
Current
(base drive current) (0V)

3-59 Parallel input/output unit

 3 Controller

[Caution] When connecting the phototransistor output to the input circuit, be sure to allocate an input current of
approximately 7 mA at 24 VDC. Especially when using a photo diode and a phototransistor (sensor)
away from each other, it is recommended to verify the current that can be carried in the design stage.

CAUTION The output circuit protective fuses prevent failure in case of load short-circuit and
improper connections. Please do not connect loads that cause the current to exceed
the maximum rated current. If the maximum rated current is exceeded, the internal
transistors may be damaged.

Parallel input/output unit 3-60

3 Controller

<Sink type>

AX41C
Parallel I/O interface (Mitsubishi programmable
（Output） controller)
＋24V
60mA COM
(24/12V)
Output
X

……
Output
24V
24G
Fuse
(0V)
External
power supply
AY51C
(Mitsubishi programmable
(Input) controller)
(COM) CTL＋
24V
3.3K Input Y
……

Input
24V

COM
CTLG
External 24G
power supply

Fig.3-17 ： Connection with a Mitsubishi PLC (Example of sink type)

*The input/output circuit external power supply (24 VDC) must be prepared by the customer.

<Source type>

(Output) AX81C

60mA
Fuse (24/12V)
＋24V
Output X
……

Output 24V
COM
(0V) 24G
External
power supply
(Input) CTL ＋
24V

3.3K Input Y
……

Input
CTLG
(COM)
24V 24G

AY81C
External
power supply

Fig.3-18 ： Connection with a Mitsubishi PLC (Example of source type)

*The input/output circuit external power supply (24 VDC) must be prepared by the customer.

3-61 Parallel input/output unit

 3 Controller

Table 3-8 ： Standard parallel I/O interface CN100pin No. and signal assignment list (2A-CBL □□ )
Function name Function name
Pin Pin
Line color Line color Dedicated/power supply,
No. General-purpose Dedicated/power supply, common No. General-purpose
common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38
3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32
4 Yellow/Red A General-purpose output 0 Running 29 Yellow/Blue A General-purpose output 4
5 Pink/Red A General-purpose output 1 Servo on 30 Pink/Blue A General-purpose output 5
6 Orange/Red B General-purpose output 2 Error 31 Orange/Blue B General-purpose output 6
7 Gray/Red B General-purpose output 3 Operation rights 32 Gray/Blue B General-purpose output 7
8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38
9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38
10 Pink/Red B General-purpose output 8 35 Pink/Blue B General-purpose output
12
11 Orange/Red C General-purpose output 9 36 Orange/Blue C General-purpose output
13
12 Gray/Red C General-purpose output 10 37 Gray/Blue C General-purpose output
14
13 White/Red C General-purpose output 11 38 White/Blue C General-purpose output
15
14 Yellow/Red C COM0:For pins 15-22 Note1) 39 Yellow/Blue C Note1)
COM1:For pins 40-47
15 Pink/Red C General-purpose input 0 Stop(All slot) Note2) 40 Pink/Blue C General-purpose input 8
16 Orange/Red D General-purpose input 1 Servo off 41 Orange/Blue D General-purpose input 9
17 Gray/Red D General-purpose input 2 Error reset 42 Gray/Blue D General-purpose input 10
18 White/Red D General-purpose input 3 Start 43 White/Blue D General-purpose input 11
19 Yellow/Red D General-purpose input 4 Servo on 44 Yellow/Blue D General-purpose input 12
20 Pink/Red D General-purpose input 5 Operation rights 45 Pink/Blue D General-purpose input 13
21 Orange/Red E General-purpose input 6 46 Orange/Blue E General-purpose input 14
22 Gray/Red E General-purpose input 7 47 Gray/Blue E General-purpose input 15
23 White/Red E Reserved 48 White/Blue E Reserved
24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved
25 Pink/Red E Reserved 50 Pink/Blue E Reserved

Note1)Sink type:24V/12V(COM), Source type:0V(COM)

Note2)The assignment of the dedicated input signal "STOP" is fixed.

Table 3-9 ： Standard parallel I/O interface CN300pin No. and signal assignment list (2A-CBL □□ )
Function name Function name
Pin Pin
Line color Dedicated/power supply, Line color Dedicated/power supply,
No. General-purpose No. General-purpose
common common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38
3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32
4 Yellow/Red A General-purpose output 16 29 Yellow/Blue A General-purpose output 20
5 Pink/Red A General-purpose output 17 30 Pink/Blue A General-purpose output 21
6 Orange/Red B General-purpose output 18 31 Orange/Blue B General-purpose output 22
7 Gray/Red B General-purpose output 19 32 Gray/Blue B General-purpose output 23
8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38
9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38
10 Pink/Red B General-purpose output 24 35 Pink/Blue B General-purpose output 28
11 Orange/Red C General-purpose output 25 36 Orange/Blue C General-purpose output 29
12 Gray/Red C General-purpose output 26 37 Gray/Blue C General-purpose output 30
13 White/Red C General-purpose output 27 38 White/Blue C General-purpose output 31
Note1) Note1)
14 Yellow/Red C COM0:For pins 15-22 39 Yellow/Blue C COM1:For pins 40-47
15 Pink/Red C General-purpose input 16 40 Pink/Blue C General-purpose input 24
16 Orange/Red D General-purpose input 17 41 Orange/Blue D General-purpose input 25
17 Gray/Red D General-purpose input 18 42 Gray/Blue D General-purpose input 26
18 White/Red D General-purpose input 19 43 White/Blue D General-purpose input 27
19 Yellow/Red D General-purpose input 20 44 Yellow/Blue D General-purpose input 28
20 Pink/Red D General-purpose input 21 45 Pink/Blue D General-purpose input 29
21 Orange/Red E General-purpose input 22 46 Orange/Blue E General-purpose input 30
22 Gray/Red E General-purpose input 23 47 Gray/Blue E General-purpose input 31
23 White/Red E Reserved 48 White/Blue E Reserved
24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved
25 Pink/Red E Reserved 50 Pink/Blue E Reserved

Note1)Sink type:24V/12V(COM), Source type:0V(COM)

Parallel input/output unit 3-62

3 Controller

・The signals assigned as dedicated inputs can be used as general-purpose inputs during program execution. Note
that for safety proposes, these should not be shared with the general-purpose inputs other than for numeric
value inputs. The signals assigned as dedicated outputs cannot be used in the program. An alarm will occur dur-
ing operation if used.

(Channel No. is set to 0 at shipment) [*1]

＜CN100＞ ＜CN300＞ 50 25
Input 0 to 15 Input 16 to 31
Output 0 to 15 Output 16 to 31

26 1

Connection and pin layout

Control unit
*The I/O card in the control unit is equal to the PIO unit of the option.
(Occupies one channel)
Fig.3-19 ： Parallel input/output unit (in the control unit) connection and pin layout (CR3-535M controller)

1 26

＜CN100＞
Output 0 to 15
Input 0 to 15
25 50 ＜CN300＞
Output 16 to 31
Input 16 to 31

Connector pin layout Controller back side

*The I/O card in the control unit is equal to the PIO unit of the option.
(Input 32/Output 32 points)
Fig.3-20 ： Parallel input/output unit (in the control unit) connection and pin layout (CR2B-574 controller)

3-63 Parallel input/output unit

 3 Controller

3.10 Options
■ What are options?
There are a variety of options for the robot designed to make the setting up process easier for user needs.
User installation is required for the options.
Options come in two types: "set options" and "single options".

1． Set options......................................A combination of single options and parts that together, form a set for serving
some purpose.
2． Single options.................................That are configured from the fewest number of required units of a part.
Please choose user's purpose additionally.

3-64
3 Controller

(1) Teaching pendant (T/B)

■ Order type: R28TB :Cable length 7m

R28TB-15 :Cable length 15m
Note) There is a cable length 15m as special spcification. Confirm the delivery date.

■ Outline
This is used to create, edit and control the program, teach the operation position and
for jog feed, etc.
For safety proposes, a 3-position deadman switch is mounted.Note1)

If there are several robots, one teaching pendant can be used by connecting it to the
respective robot.

■ Configuration
Table 3-10 ： Configuration device
Part name Type Qty. Mass(kg) Remarks
Teaching pendant R28TB Either one pc. 2.0 Cable length is 7m. Hand strap is attached.
R28TB-15 2.3 Cable length is 15m. Hand strap is attached.

■ Specifications
Table 3-11 ： Specifications
Items Specifications Remarks
Outline dimensions 153(W) x 203(H) x 70(D) (refer to outline drawing)
Body color Light gray (reference Munsell color: 0.08GY7.64/0.81)
Mass Approx. 0.8kg (only arm, excluding cable)
Connection method Connection with controller and round connector (30-pin)
Interface RS-422
Display method LCD method: 16 characters x 4 lines, LCD illumination: with backlight
Operation section 28 keys
Protection specifications IP65 Note2)

Note2) The manual operation section of the teaching pendant has a protection method that complies with the IEC
Standards IP65 (protection type).
[Reference] IProtection against water infiltration as specified in IP65 indicates a protective structure that is
not harmfully affected when 12.5 ± 5% liters of water is supplied from a test device at a position
approx. 3m away in various directions and a water pressure of 30kPa at the nozzle section. The
water is filled one minute per 1m2 of test device surface area for a total of three minutes.
.

Note1) <3-position deadman switch>

In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the
robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position.
With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch"
and "Deadman switch".
The 3-position deadman switch has three statuses. The following modes are entered according to the switch state.
"Not pressed" ............................... The robot does not operate. *)
"Pressed lightly".......................... The robot can be operated and teaching is possible.
"Pressed with force" ................. The robot does not operate. *)
*) Operations, such as program editing and status display, other than robot operation are possible.
Safety is secured as the servo power is turned OFF simultaneously with the input of the emergency stop.

3-65 Teaching pendant (T/B)

 3 Controller

Hand strap

Contrast adjusting
switch Display LCD Enable/Disable switch

DISABLE ENABLE
R28TB

TOOL JOINT XYZ MENU

=＊/ ( )？ $" : #%! STOP

SVO ON
EMG.STOP
203

STEP －X ＋X
MOVE (J1) (J1)
ADD

Emergency stop
＋ －Y ＋Y ↑
FORWD (J2) (J2)

－ －Z ＋Z
RPL
↓ switch
BACKWD (J3) (J3)
DEL
－A ＋A ←
COND
(J4) (J4)
HAND
POS
CHAR
－B
(J5)
＋B
(J5)
→ Teaching pendant
INP
－C ＋C
ERROR
RESET (J6) (J6) EXE
Operation keys

Dead man switch

Cable
(with connection connector)

55 153
70
Hand strap
<Side> <Front> <Back>

Fig.3-21 ： Outside dimensions of teaching pendant

■ Installation method
The teaching pendant is connected to the T/B connector on the front of the controller.

Teaching pendant (T/B) 3-66

3 Controller

■ Key layout and main functions

DISABLE ENABLE
3) R28TB 2)

5)
4) 1)
6)
19) TOOL JOINT XYZ MENU
STOP
Back =＊/ ( )？ $" : #%!

SVO ON
EMG.STOP
7) STEP －X ＋X
MOVE (J1) (J1)

8) ＋ －Y ＋Y
ADD
↑
13)
FORWD (J2) (J2)
9) RPL 14)
－ －Z ＋Z ↓
BACKWD (J3) (J3)
15)
10) －A ＋A
DEL
←
COND
18)
(J4) (J4)
HAND
16)
POS －B ＋B →

11) CHAR (J5) (J5)

INP 17)
－C ＋C
ERROR
RESET (J6) (J6) EXE

12)

1) : Emergency stop switch...................The robot servo turns OFF and the operation stops immediately.
2) : T/B enable/disable
changeover switch ............................This switch changes the T/B key operation between enable and dis-
able.
3) : LCD display panel .............................The robot status and various menus are displayed.
4) : <TOOL, JOINT, XYZ> key .............This selects the jog mode (JOINT, XYZ, 3-AXIS XYZ, CYLINDER,
TOOL).
5) : <MENU> key........................................This returns the display screen to the menu screen.
6) : <STOP> key ........................................This stops the program and decelerates the robot to a stop.
7) : <STEP/MOVE> key..........................Jog operation is carried out when this key is pressed simultaneously
with the jog operation key. This also turns the Servo ON and carries
out step jump.
8) : <( ＋ FORWD> key............................This carries out step feed and increases the override.
9) : <( － BACKWD> key.........................This carries out step return (return along operation path) and
decreases the override.
10) : <COND> key .....................................This sets the program.
11) : <ERROR RESET> key...................This resets the error, and releases the software limit.
12) : Jog operation key ...........................This operates the robot according to the jog mode. When inputting
numeric values, this inputs each numeric value.
13) : <ADD/ ↑ > key...............................This additionally registers the position data. It also moves the cursor
upward.
14) : <RPL/ ↓ > key................................It also moves the cursor downward.
15) : <DEL/ ← > key................................This deletes the position data. It also moves the cursor to the left.
16) : <HAND/ → > key............................This opens and closes the hand. It also moves the cursor to the right.
17) : <INP/EXE> key................................This inputs the program, and carries out step feed/return.
18) : <POS CHAR> key...........................This changes the edit screen, and changes between numbers and
alphabetic characters.
19) : Deadman switch ..............................When the [Enable/Disable] switch "2)" is enabled, and this key is
released or pressed with force, the servo will turn OFF, and the oper-
ating robot will stop immediately.
Fig.3-22 ： Teaching pendant key layout and main functions

3-67 Teaching pendant (T/B)

 3 Controller

(2) Pneumatic hand interface

■ Order type: 2A-RZ365(Sink type)

2A-RZ375(Source type)

■ Outline
This interface is required to use the robot arm's hand output signals. This interface is
pre-installed on the controller.
・ Up to eight hand output points can be used with this interface.
・ The eight hand input points can be used without this interface.
・ When using more than eight hand input/output points, install the "Parallel I/O
unit". Refer to Page 71, "Parallel I/O unit" for detail.

■ Configuration
Table 3-12 ： Configuration device
Part name Type Qty. Mass(kg) Remarks
Pneumatic hand interface 2A-RZ365/ 1pc. 0.1/0.1 Output 8 points expansion. 2A-RZ365 is the sink type.
2A-RZ375 2A-RZ375 is the source type.

■ Specifications
Table 3-13 ： Specifications
Item Specification Internal circuit
Type Transistor output <Sink type>
No. of output points 8 24V
Insulation method Photo coupler insulation （Internal power supply）
Rated load voltage DC24V
Rated load voltage range DC21.6 to 26.4VDC
Max. current load 0.1A/ 1 point (100%) *
GRn
Current leak with power OFF 0.1mA or less
Maximum voltage drop with power ON DC0.9V(TYP.)
Response time OFF-ON 2ms or less (hardware response time)
ON-OFF 2 ms or less (resistance load) (hardware response time) Fuse
Fuse rating Fuses 1.6A (each one common) 1.6A
Common method 8 points, 1 common
0V

<Source type>
+24V
Fuse
1.6A

GRn*

24GND(COM)
* GRn ＝ GR1 ～ GR8

Pneumatic hand interface 3-68

3 Controller

■ Installation method
This is mounted on the control unit (RZ181/RZ326A/RZ327 card) in the controller.
Securely insert the pneumatic hand interface (2A-RZ365/375) into the CNHNDOUT/CNHND connector on the
control unit.

Control unit （RZ181 card）

＜RZ181＞

CNHND
CNHND

CNHNDOUT

2A-RZ365 CNHNDOUT
or Jumper
2A-RZ375

Fig.3-23 ： Installation of pneumatic hand interface(CR3-535M controller)

3-69 Pneumatic hand interface

 3 Controller

Pneumatic hand interface

A
RZ326A/327 card

CNHNDOUT ＜RZ326A/327＞
CNHND

CNHNDOUT CNHND
2A-RZ365/375

View A

Fig.3-24 ： Installation of pneumatic hand interface (CR2B-574 controller)

Pneumatic hand interface 3-70

3 Controller

(3) Parallel I/O unit

■ Order type: 2A-RZ361(Sink type)

2A-RZ371(Source type)

■ Outline
This is used to expand the external inputs and outputs. One one equal with this unit
is built into the control unit among controllers the standard.
・ The connection cable is not included. Prepare the optional external input/output
cable (2A-CBL05 or 2A-CBL15).

■ Configuration
Table 3-14 ： Configuration device
Mass(kg)
Part name Type Qty. Note1) Remarks

Parallel I/O unit Input/output 32 points/32 points

2A-RZ361/
1 pc. 0.7/0.7 2A-RZ361 is the sink type.
2A-RZ371
2A-RZ371 is the source type.
Robot I/O link connection connector Connector with pins.
NETcable-1 2 sets - The cable must be prepared and wired by the
customer.
Power connection connector Connector with pins.
DCcable-2 1 set - The cable must be prepared and wired by the
customer.
Terminator R-TM 1 pc. - 100Ω(1/4W)
Note1)Mass indicates one set.

■ Specifications
1) Up to eight stations can be connected to this unit. (One station occupies one unit.)
One unit is built into the controller as a standard, so up to seven units can be installed as expansions.
2) The power supply (24V) must be prepared by the customer and connected with the power connection cable
(DCcable-2)
A separate 24V power supply is required for the input/output circuit wiring.

The detailed specifications of the input/output circuit are the same as the parallel input/output unit mounted as a
standard. Refer to Page 59, "3.9 Parallel input/output unit" for details.

3-71 Parallel I/O unit

 3 Controller

Table 3-15 ： Electrical specifications of input circuits

Item Specification Internal circuit
Type DC input <Sink type>
Number of input points 32
Insulation method Photo coupler insulation 24V/12V
(COM)
Rated input voltage 12VDC/24VDC
Rated input current Approx 3mA/7mA
820
Working voltage range 10.2 to 26.4VDC(Ripple factor should be less than 5%.)
ON voltage/ON current 8VDC or more/ 2mA or more 3.3K Input
OFF voltage/ OFF current 4VDC or less/ 1mA or less
Input resistance Approx. 3.3kΩ
<Source type>
Response time OFF-ON 10ms or less (24VDC)
ON-OFF 10ms or less (24VDC)
Common method 8 points per common 3.3K Input
External cable connection method Connector
820

0V(COM)

Table 3-16 ： Electrical specifications for the output circuits

Item Specification Internal circuit
Type Transistor output <Sink type>
No. of output points 32
Insulation method Photo-coupler insulation
Rated load voltage 12VDC/24VDC (24/12V)
Rated load voltage range 10.2 to 30VDC(peak voltage 30VDC)
Max. load current 0.1A/point (100％)
Outline
Leakage current at OFF 0.1mA or less
Max. voltage drop at ON 0.9VDC(TYP.)
2ms or less (0V)
OFF-ON Fuse
(hardware response time)
Response time <Source type>
2ms or less
ON-OFF
(Resistance load) (hardware response time)
Fuse rating Fuse 3.2A (one per common) Replacement not possible Fuse (24/12V)
Common method 8 points per common (common terminal: 8 points)
External wire connection Outline
Connector
method

External power Voltage 12VDC/24VDC(10.2 to 30VDC)

supply (0V)
Current 60mA (TYP. 24VDC per common) (base drive current)

CAUTION The output circuit protective fuses prevent failure in case of load short-circuit and
improper connections. Please do not connect loads that cause the current to exceed
the maximum rated current. If the maximum rated current is exceeded, the internal
transistors may be damaged.

Parallel I/O unit 3-72

3 Controller

NETcable-1 (Network cable)

Pin No. RIO1/2 Note 2) RIO1/2 Pin No.
１ TXRXH TXRXH １
２ TXRXL TXRXL ２

３ SG(GND) SG(GND) ３

FG
DCcable-2 (Power cable)
Pin No. DCIN
１ 24V ＋ Note 1)
24V Power
２ 24G(RG) －
３ FG(PE)
Connected the frame ground or protect ground
R-TM (Terminator)
Pin No. RIO1/2 100Ω
１ TXRXH

２ TXRXL
３ SG(GND)

List of parts and manufacturer

Type Connector type Contact type Resistant Manufacturer
NETcable-1 1-178288-3 (2) 175218-3 (6) － AMP
DCcable-2 2-178288-3 (1) 175218-3 (3) － AMP
R-TM 1-178288-3 (1) 175218-3 (2) 100Ω(1/4W) (1) Equivalent to KOA.

Note 1) The 24V power supply is prepared by customer (The power consumption is approx. 0.3A.)
Note 2) The cable for general purpose can be used to the network cable. However, use the twisted shield cable of
AWG#22(0.3mm2) or more.
Fig.3-25 ： Spacifications for the connection cable

3-73 Parallel I/O unit

 3 Controller

■ Installation method
The expansion parallel input/output unit is installed outside of the controller. Connect with the network connec-
tion cable (NETcable-1) from the RIO1 connector in the into of the controller.(Terminator is connected at the
time of shipment)

RIO1 connector

Control unit
(R6x2CPU)

upside
Heat radiation space

(40) (175)
100

Wiring
space 128
6 2-Ｍ５ screw
6
156
168
6
Radiation/wiring space

54 6
<2A-RZ361> 60
<2A-RZ371>
Control panel installation dimensions
150

downside

Installation dimensions of 2A-RZ361/2A-RZ371 The controller outside installation.

Fig.3-26 ： Installing the parallel input/output unit (CR3-535M controller)

Parallel I/O unit 3-74

3 Controller

RIO1 connector

upside

Heat radiation space

(40) (175)
Wiring 100
space 128
6 2-Ｍ５ screw

6
156
168
6
Radiation/wiring space

54 6
<2A-RZ361> 60
<2A-RZ371>
Control panel installation dimensions
150

downside

Installation dimensions of 2A-RZ361/2A-RZ371

(The controller outside installation.）

Fig.3-27 ： Installing the parallel input/output unit (CR2B-574 controller)

3-75 Parallel I/O unit

 3 Controller

Parallel I/O unit 1 . . . 6 Parallel I/O unit 7

Control unit R6x2CPU

Station No. setting Station No. setting

1...6 7

RIO1 connector (R6)

＜CN300＞ ＜CN300＞
＜CN100＞ ＜CN100＞

RIO1connector RIO2 connector RIO1 connector RIO2 connector

Note) Note)
NETcable-1 DCIN connector NETcable-1 DCIN connector R-TM
cable FG cable FG terminator
DCcable-2 DCcable-2
cable cable

Front
RIO1 connector

RIO2 connector

DCIN connector

I/O unit the bottom

Connecta layout

Connect the NET cable-1 to the RIO1 connector (R6) on the front of the control unit
(R6x2CPU) in the controller. Each unit is connected to from a daisy chain.
Always install a terminator (R-TM) to the last unit.
Note) Use a shield cable for NET cable-1 as a measure against noise.
Always connect the shield to FG.
The unit could malfunction because of noise if the shield cable is not used.

Fig.3-28 ： Connection method of expansion parallel input/output unit (CR3-535M controller)

Parallel I/O unit 3-76

3 Controller

RIO1 connector
Parallel I/O unit 1 . . . 6 Parallel I/O unit 7
Controller back side
Station No. setting Station No. setting
1...6 7

Note)
NETcable-1
cable

＜CN300＞ ＜CN300＞
＜CN100＞ ＜CN100＞

RIO1 connector RIO2 connector RIO1 connector RIO2 connector

DCIN Note) DCIN

connector NETcable-1 connector R-TM
FG cable FG terminator
DCcable-2 DCcable-2
cable cable

Front
RIO1 connector

RIO2 connector

DCIN connector

I/O unit the bottom

Connecta layout

Connect the NET cable-1 to the RIO1 connector on the back of the controller. Each unit is
connected to from a daisy chain.
Always install a terminator (R-TM) to the last unit.
Note) Use a shield cable for NET cable-1 as a measure against noise.
Always connect the shield to FG.
The unit could malfunction because of noise if the shield cable is not used.

Fig.3-29 ： Connection method of expansion parallel input/output unit (CR2B-574 controller)

3-77 Parallel I/O unit

 3 Controller

■ Parallel I/O interface (First expansion unit)

Table 3-17 ： Connector CN100pin No. and signal assignment list (2A-CBL □□ )
Function name Function name
Pin Pin
Line color Dedicated/power supply, Line color Dedicated/power supply,
No. General-purpose No. General-purpose
common common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38
3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32
4 Yellow/Red A General-purpose output 32 29 Yellow/Blue A General-purpose output 36
5 Pink/Red A General-purpose output 33 30 Pink/Blue A General-purpose output 37
6 Orange/Red B General-purpose output 34 31 Orange/Blue B General-purpose output 38
7 Gray/Red B General-purpose output 35 32 Gray/Blue B General-purpose output 39
8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38
9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38
10 Pink/Red B General-purpose output 40 35 Pink/Blue B General-purpose output 44
11 Orange/Red C General-purpose output 41 36 Orange/Blue C General-purpose output 45
12 Gray/Red C General-purpose output 42 37 Gray/Blue C General-purpose output 46
13 White/Red C General-purpose output 43 38 White/Blue C General-purpose output 47
Note1)
14 Yellow/Red C COM0:For pins 15-22 39 Yellow/Blue C COM1:For pins 40-47 Note1)
15 Pink/Red C General-purpose input 32 40 Pink/Blue C General-purpose input 40
16 Orange/Red D General-purpose input 33 41 Orange/Blue D General-purpose input 41
17 Gray/Red D General-purpose input 34 42 Gray/Blue D General-purpose input 42
18 White/Red D General-purpose input 35 43 White/Blue D General-purpose input 43
19 Yellow/Red D General-purpose input 36 44 Yellow/Blue D General-purpose input 44
20 Pink/Red D General-purpose input 37 45 Pink/Blue D General-purpose input 45
21 Orange/Red E General-purpose input 38 46 Orange/Blue E General-purpose input 46
22 Gray/Red E General-purpose input 39 47 Gray/Blue E General-purpose input 47
23 White/Red E Reserved 48 White/Blue E Reserved
24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved
25 Pink/Red E Reserved 50 Pink/Blue E Reserved

Note1)Sink type:24V/12V(COM), Source type:0V(COM)

Table 3-18 ： Connector CN300pin No. and signal assignment list (2A-CBL □□ )
Function name Function name
Pin Pin
Line color Dedicated/power supply, Line color Dedicated/power supply,
No. General-purpose No. General-purpose
common common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38
3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32
4 Yellow/Red A General-purpose output 48 29 Yellow/Blue A General-purpose output 52
5 Pink/Red A General-purpose output 49 30 Pink/Blue A General-purpose output 53
6 Orange/Red B General-purpose output 50 31 Orange/Blue B General-purpose output 54
7 Gray/Red B General-purpose output 51 32 Gray/Blue B General-purpose output 55
8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38
9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38
10 Pink/Red B General-purpose output 56 35 Pink/Blue B General-purpose output 60
11 Orange/Red C General-purpose output 57 36 Orange/Blue C General-purpose output 61
12 Gray/Red C General-purpose output 58 37 Gray/Blue C General-purpose output 62
13 White/Red C General-purpose output 59 38 White/Blue C General-purpose output 63
14 Yellow/Red C COM0:For pins 15-22 Note1) 39 Yellow/Blue C COM1:For pins 40-47 Note1)
15 Pink/Red C General-purpose input 48 40 Pink/Blue C General-purpose input 56
16 Orange/Red D General-purpose input 49 41 Orange/Blue D General-purpose input 57
17 Gray/Red D General-purpose input 50 42 Gray/Blue D General-purpose input 58
18 White/Red D General-purpose input 51 43 White/Blue D General-purpose input 59
19 Yellow/Red D General-purpose input 52 44 Yellow/Blue D General-purpose input 60
20 Pink/Red D General-purpose input 53 45 Pink/Blue D General-purpose input 61
21 Orange/Red E General-purpose input 54 46 Orange/Blue E General-purpose input 62
22 Gray/Red E General-purpose input 55 47 Gray/Blue E General-purpose input 63
23 White/Red E Reserved 48 White/Blue E Reserved
24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved
25 Pink/Red E Reserved 50 Pink/Blue E Reserved

Note1)Sink type:24V/12V(COM), Source type:0V(COM)

Parallel I/O unit 3-78

3 Controller

Channel No. setting (Set channel No. to 1.) [*1]

TXD
LED display 50 25

＜CN300＞
Input 48 to 63
Output 48 to 63
＜CN100＞
Input 32 to 47
Output 32 to 47
26 1

*The 2A-RZ361/2A-RZ371 has 32 input and 32 output points unit

(Occupies one channel)

Fig.3-30 ： Parallel input/output unit <2A-RZ361/2A-RZ371:First expansion> connection and pin layout

CAUTION [*1] For the 1st expansion unit, set the channel No. to "1".
The channel No. of 8 to F is used for the maker test. If any value of 8 to F is set, it may
be dangerous since the robot unexpectedly moves. Don't set any value of 8 to F.

3-79 Parallel I/O unit

 3 Controller

■ Parallel I/O interface (Second expansion unit)

Table 3-19 ： Connector CN100pin No. and signal assignment list (2A-CBL □□ )
Function name Function name
Pin Pin
Line color Dedicated/power supply, Line color Dedicated/power supply,
No. General-purpose No. General-purpose
common common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38
3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32
4 Yellow/Red A General-purpose output 64 29 Yellow/Blue A General-purpose output 68
5 Pink/Red A General-purpose output 65 30 Pink/Blue A General-purpose output 69
6 Orange/Red B General-purpose output 66 31 Orange/Blue B General-purpose output 70
7 Gray/Red B General-purpose output 67 32 Gray/Blue B General-purpose output 71
8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38
9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38
10 Pink/Red B General-purpose output 72 35 Pink/Blue B General-purpose output 76
11 Orange/Red C General-purpose output 73 36 Orange/Blue C General-purpose output 77
12 Gray/Red C General-purpose output 74 37 Gray/Blue C General-purpose output 78
13 White/Red C General-purpose output 75 38 White/Blue C General-purpose output 79
14 Yellow/Red C COM0:For pins 15-22 Note1) 39 Yellow/Blue C COM1:For pins 40-47 Note1)
15 Pink/Red C General-purpose input 64 40 Pink/Blue C General-purpose input 72
16 Orange/Red D General-purpose input 65 41 Orange/Blue D General-purpose input 73
17 Gray/Red D General-purpose input 66 42 Gray/Blue D General-purpose input 74
18 White/Red D General-purpose input 67 43 White/Blue D General-purpose input 75
19 Yellow/Red D General-purpose input 68 44 Yellow/Blue D General-purpose input 76
20 Pink/Red D General-purpose input 69 45 Pink/Blue D General-purpose input 77
21 Orange/Red E General-purpose input 70 46 Orange/Blue E General-purpose input 78
22 Gray/Red E General-purpose input 71 47 Gray/Blue E General-purpose input 79
23 White/Red E Reserved 48 White/Blue E Reserved
24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved
25 Pink/Red E Reserved 50 Pink/Blue E Reserved

Note1)Sink type:24V/12V(COM), Source type:0V(COM)

Table 3-20 ： Connector CN300pin No. and signal assignment list (2A-CBL □□ )
Function name Function name
Pin Pin
Line color Dedicated/power supply, Line color Dedicated/power supply,
No. General-purpose No. General-purpose
common common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38
3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32
4 Yellow/Red A General-purpose output 80 29 Yellow/Blue A General-purpose output 84
5 Pink/Red A General-purpose output 81 30 Pink/Blue A General-purpose output 85
6 Orange/Red B General-purpose output 82 31 Orange/Blue B General-purpose output 86
7 Gray/Red B General-purpose output 83 32 Gray/Blue B General-purpose output 87
8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38
9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38
10 Pink/Red B General-purpose output 88 35 Pink/Blue B General-purpose output 92
11 Orange/Red C General-purpose output 89 36 Orange/Blue C General-purpose output 93
12 Gray/Red C General-purpose output 90 37 Gray/Blue C General-purpose output 94
13 White/Red C General-purpose output 91 38 White/Blue C General-purpose output 95
14 Yellow/Red C COM0:For pins 15-22 Note1) 39 Yellow/Blue C COM1:For pins 40-47 Note1)
15 Pink/Red C General-purpose input 80 40 Pink/Blue C General-purpose input 88
16 Orange/Red D General-purpose input 81 41 Orange/Blue D General-purpose input 89
17 Gray/Red D General-purpose input 82 42 Gray/Blue D General-purpose input 90
18 White/Red D General-purpose input 83 43 White/Blue D General-purpose input 91
19 Yellow/Red D General-purpose input 84 44 Yellow/Blue D General-purpose input 92
20 Pink/Red D General-purpose input 85 45 Pink/Blue D General-purpose input 93
21 Orange/Red E General-purpose input 86 46 Orange/Blue E General-purpose input 94
22 Gray/Red E General-purpose input 87 47 Gray/Blue E General-purpose input 95
23 White/Red E Reserved 48 White/Blue E Reserved
24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved
25 Pink/Red E Reserved 50 Pink/Blue E Reserved

Note1)Sink type:24V/12V(COM), Source type:0V(COM)

Parallel I/O unit 3-80

3 Controller

[*1]
Channel No. setting (Set channel No. to 2.)

TXD
LED display 50 25

＜CN300＞
Input 80 to 95
Output 80 to 95
＜CN100＞
Input 64 to 79
Output 64 to 79
26 1

*The 2A-RZ361/2A-RZ371 has 32 input and 32 output points unit

(Occupies one Channel)

Fig.3-31 ： Parallel input/output unit <2A-RZ361/2A-RZ371:Second expansion unit> connection and pin layout

CAUTION [*1] For the 2nd expansion unit, set the channel No. to "2".
The channel No. of 8 to F is used for the maker test. If any value of 8 to F is set, it may
be dangerous since the robot unexpectedly moves. Don't set any value of 8 to F.

Table 3-21 lists the correspondence between the station numbers to be set and the I/O signal assignment.
Refer to this table when the third and subsequent units are used.

Table 3-21 ： Station Number Settings and I/O Signal Assignment

Unit No. Station number setting CN100 CN300
1st unit 1 Input: 32 ～ 47 Input: 48 ～ 63
Output: 32 ～ 47 Output: 48 ～ 63
2nd unit 2 Input: 64 ～ 79 Input: 80 ～ 95
Output: 64 ～ 79 Output: 80 ～ 95
3rd unit 3 Input: 96 ～ 111 Input: 112 ～ 127
Output: 96 ～ 111 Output: 112 ～ 127
4th unit 4 Input: 128 ～ 143 Input: 144 ～ 159
Output: 128 ～ 143 Output: 144 ～ 159
5th unit 5 Input: 160 ～ 175 Input: 176 ～ 191
Output: 160 ～ 175 Output: 176 ～ 191
6th unit 6 Input: 192 ～ 207 Input: 208 ～ 223
Output: 192 ～ 207 Output: 208 ～ 223
7th unit 7 Input: 224 ～ 239 Input: 240 ～ 255
Output: 224 ～ 239 Output: 240 ～ 255

3-81 Parallel I/O unit

 3 Controller

(4) External I/O cable

■ Order type: 2A-CBL □□ Note） The numbers in the boxes □□ refer to the length. （05: 5m、 15: 15m）

■ Outline
This is the dedicated cable used to connect an external peripheral device to the
connector on the parallel input/output unit.
One end matches the connector on the parallel input/output unit, and the other end
is free. Connect the peripheral device's input/output signal using the free end.
One cable correspond to the input 16 points and output 16 points.
Two cables are needed to connection of (input 32 points and output 32 points) with
built-in standard.

■ Configuration
Table 3-22 ： Configuration device
Part name Type Qty. Mass(kg) Remarks
External I/O cable 2A-CBL □□ 1pc. 0.7(5m)
5m or 15m
1.84(15m)

■ Specifications
Table 3-23 ： Specifications
Items Specifications
Number of cables x cable size 50 pairs x AWG #28
Total length 5m or 15m

■ Connector pin numbers and cable colors

Table 3-24 ： Connector pin numbers and cable colors
Pin Cable colors Pin Cable colors Pin Cable colors Pin Cable colors Pin Cable colors
no. no. no. no. no.
1 Orange/Red A 11 Orange/Red C 21 Orange/Red E 31 Orange/Blue B 41 Orange/Blue D
2 Gray/Red A 12 Gray/Red C 22 Gray/Red E 32 Gray/Blue B 42 Gray/Blue D
3 White/Red A 13 White/Red C 23 White/Red E 33 White/Blue B 43 White/Blue D
4 Yellow/Red A 14 Yellow/Red C 24 Yellow/Red E 34 Yellow/Blue B 44 Yellow/Blue D
5 Pink/Red A 15 Pink/Red C 25 Pink/Red E 35 Pink/Blue B 45 Pink/Blue D
6 Orange/Red B 16 Orange/Red D 26 Orange/Blue A 36 Orange/Blue C 46 Orange/Blue E
7 Gray/Red B 17 Gray/Red D 27 Gray/Blue A 37 Gray/Blue C 47 Gray/Blue E
8 White/Red B 18 White/Red D 28 White/Blue A 38 White/Blue C 48 White/Blue E
9 Yellow/Red B 19 Yellow/Red D 29 Yellow/Blue A 39 Yellow/Blue C 49 Yellow/Blue E
10 Pink/Red B 20 Pink/Red D 30 Pink/Blue A 40 Pink/Blue C 50 Pink/Blue E

External I/O cable 3-82

3 Controller

■ Connections and outside dimensions

The sheath of each signal cable (50 lines) is color indicated and marked with dots. Refer to the cable color speci-
fications in "Table 3-24: Connector pin numbers and cable colors" when making the connections.

(Eg.) Pin number: color indication

１ ： Orange ／ Red ／ Ａ

Type of dot mark (see figure below)

Color of dot mark
Color of sheath

Type of dot mark Dot pattern Type of dot mark Dot pattern

1 3
A type F type

18.5 18.5

1.5 3
B type G type

18.5 18.5

1.5 3
C type H type

18.5 18.5

1.5 7.5
D type I type
18.5 18.5

1.5 7.5
E type J type
Continuous Continuous

5000

26 1
51.816
76.74
64.53

66
2.159

50 25

13.54
16.2 9.27 35.7
Maker
Receptacle type (PCB side)：57AE-40500-21D(D8) ……DDK
Plug type （cable side）：57YE-30500-2(D8) Note1) ……DDK

Note1) The type of the plug shows the specification of this cable.
The following connector is recommended when user make the cable.
・Plug type (cable side) : 57E series (Soldering type).....................................................DDK
57FE series (Flat cable pressure connection type)......DDK

Fig.3-32 ： Connections and outside dimensions

3-83 External I/O cable

 3 Controller

(5) Personal computer cable

■ Order type: ● For PC/AT ： RS-MAXY-CBL

■ Outline
This is the RS-232C interface cable used for connecting the controller with a personal
computer. The personal computer on hand may be usable with the above interface cable.
Confirm the connection specifications when placing an order.
Personal computer cables for the PC/AT compatible model is available.
The cable for the NEC PC9821 (half-pitch 14-pin) must be manufactured by the customer.

■ Configuration
Table 3-25 ： Configuration device
Part name Type Qty. Mass(kg) Remarks
Personal computer cable (for PC/AT) RS-MAXY-CBL 1pc. 4 3m, D-SUB 9 pinNote1)

Note1)The personal computer cable is the same as that for use with "Movemaster M1/M2/E/EN series".

■ Specifications

（1） For PC/AT

Controller side RS-MAXY-CBL Personal computer side
(Signal name, pin No.) (Signal name, pin No.)

(FG) 1 1 (CD)
(SD) 2 2 (RD)
(RD) 3 3 (SD)
(RS) 4 4 (DTR)
(CS) 5 6 (DSR)
(DR) 6 8 (CTS)
(ER)20 7 (RTS)
(SG) 7 5 (GND)
（2） For PC98
Personal computer side
Controller side 25 pin connector
(Signal name, pin No.) (Signal name, pin No.)
(FG) 1 1 (FG)
(SD) 2 2 (SD)
(RD) 3 3 (RD)
(RS) 4 4 (RS)
(CS) 5 5 (CS)
(DR) 6 6 (DR)
(ER)20 20 (ER)
(SG) 7 7 (SG)

Fig.3-33 ： Personal computer cabe connection

RS-MAXY-CBL
25
13
1
6
31
54

9
5
1 P/C side
14
15 15
39

Robot side
Type:17JE-23250-02(D8A6)-CG (DDK)
Fig.3-34 ： Personal computer cabe connector

Personal computer cable 3-84

3 Controller

(6) Extended serial interface

■ Order type: ● 2A-RZ581-E

■ Outline
The extension serial interface is the option to add a serial communication function to
the robot controller. One channel of RS-232C interface is provided in the front of the
controller. By using the extension serial interface, more channels can be added in
order to allow the use of a personal computer, vision sensor and PLC at the same
time. Also, in addition to RS-232C communication, RS-422 communication, which is
superior in noise resistance, is also supported.
Caution) 1)This option can only be used with the robot controller's main unit
software version E1 or later.
2)It is now possible to install up to three expansion serial interface cards
per controller from version B. In addition, the software version of the
controller is K8 edition or later, the tracking function has been added

■ Configuration
Table 3-26 ： Configuration device
Mass(kg)
Part name Type Qty. Note1) Remarks

Extended serial interface card RZ581? 1 0.6 The "?" show the version of card.
Instruction Manual BFP-A8106 1 -
Tracking Function Manual BFP-A8524 1 - Refer to this manual, if the tracking function is used.
Ferrite core E04SR301334 4 - Be sure to install this for noise countermeasure.

Note1)Mass indicates one set.

Table 3-27 ： Procured by the customer

Part name Type Qty. Remarks
Personal computer, vision sensor, etc. From 1 unit. Two channel per one board.
Communication cable RS-232C or RS-422 From 1 cable.
(used when the length of the standard RS-232C cable is too
short, or when RS-422 communication is implemented)

■ Specifications
Table 3-28 ： Specifications
Item Specifications Remarks
Mountable optional slots Slot 1 or 2
Number of mountable interface cards Maximum 2
Number of channels 2 Channel 1: Dedicated to RS-232C
Channel 2: Either RS-232C or RS-422
Communication data Note1)
ASCII data
Communication baud rate 2400 / 4800 / 9600 / 19200 This has been set to "9600" at shipment.
Parity Notiong / Odd/ Even This has been set to "even" at shipment.
Stop bit 1/2 This has been set to "2" at shipment.
End code CR code/ CR code + LF code This has been set to "CR code" at shipment.
Protocol Nonprocedural / Procedural / Data link Note2) This has been set to "nonprocedural" at shipment.
Remarks Capable of offering the same functions as
provided by the standard RS-232C interface in
the front of the controller

Note1)Binary data communication is not supported.

3-85 Extended serial interface

 3 Controller

Note2)Nonprocedural: Nonprocedural protocol with the personal computer support software

Procedural: Procedural protocol with the personal computer support software
Data link: Nonprocedural (ASCII data) protocol for data link between robot programs and a personalcom-
puter/PLC/vision sensor, etc.

Three cards can be installed on one controller.

(The communication line of maximum 6 channels cable connected.)

Table 3-29 ： Difference by the card version

Supporting software version
Type Rmarks
From the E1 to K6 K7 or later
RZ581A or earlier Unrelated to the software version, up to two boards can be
△ △
used. (Slot 1(OPY1)/ 2(OPT2))
RZ581B or later Up to three boards can be used, by using with version K7 or
△ (*1) ○
later. (Slot 1(OPY1)/ 2(OPT2)/ 3(OPT3))
△ : The option slot 1(OPT1) or 2(OPT2) is available. (Up to two boards can be used.)
○ : Every option slot is available. (Up to three boards can be used.)
(*1) Operation is compatible with RZ581A.

■ Functions
(1) Controller communication function
・ This function allows to update and download programs as well as to monitor various statuses.
・The personal computer support software (sold separately) is available as a robot controller programming support
tool. Refer to (9), Page 98, "(11) Personal computer support software/Personal computer support software mini"
of details.
(2) Data link function
・ The data link function allows to link numerical values and position data between robot programs and a personal
computer using the MELFA-BASIC IV language (OPEN/PRINT/INPUT instruction).
・ Data can be exchanged one to one by specifying the COM number at the communication open destination.

■ Pin assignment
(1) RS-232C pin assignment
Refer to Page 84, "(5) Personal computer cable".

(2) RS-422 pin assignment

13 1

25 14

Fig.3-35 ： D-SUB25 Pin Female Connector (RZ581 Board Side)

Signal direction
Pin no. Abbreviated signal name Signal name
2A-RZ581 ⇔ Device on other end

1 FG Frame ground

7, 9 SG Signal ground

13 TXD+(SDA) Transmission data (+)

25 TXD-(SDB) Transmission data (-)

11 DTR+(RSA) Terminal ready (+)

23 DTR-(RSB) Terminal ready (-)

12 RXD+(RDA) Reception data (+)

24 RXD-(RDB) Reception data (-)

Extended serial interface 3-86

3 Controller

Signal direction
Pin no. Abbreviated signal name Signal name
2A-RZ581 ⇔ Device on other end

10 DSR+(CSA) Data set ready (+)

22 DSR-(CSB) Data set ready (-)

3-87 Extended serial interface

 3 Controller

(7) CC-Link interface

■ Order type: ● 2A-HR575-E

■ Outline
The CC-Link interface is the option to not only add bit data to the robot controller.
but also to add CC-Link field network function that allows cyclic transmission of
word data.
Caution) This option can only be used with the robot controller's main unit software
version E1 or later.

■ Configuration
Table 3-30 ： Configuration deviceon
Mass(kg)
Part name Type Qty. Note1) Remarks

CC-Link interface 2A-HR575-E 1 0.4

Instruction Manual BFP-A8105 1 -
Ferrite core E04SR301334 2 - Be sure to install this for noise countermeasure.

Note1)Mass indicates one set.

Table 3-31 ： Procured by the customer

Part name Type Qty. Remarks
QJ61BT11(Q series)
AJ61QBT11(QnA series)
A1SJ61QBT11(QnAS series)
Master station AJ61BT11(A series) 1 FX series products are not supported.

A1SJ61BT11(AnS series)
A80BD-J61BT11(personal computer
board)
Shielded 3-core twisted cable
Communication cable - 1
This cable may be manufactured by the customer.
Terminal resistor - 1 110Ω or 130Ω is recommended.

CC-Link interface 3-88

3 Controller

Display Sequencer

I/O unit
Robot arm Inverter

Partner manufacturers' devices Personal computer

Cc-Link interface
(this option)

Controller
Fig.3-36 ： Example of CC-Link Product Configuration
■ Specifications
Table 3-32 ： Specifications
Item Specifications Remarks
Communication function Bit data and word data can be transmitted. Word data are used by the registers.
Station type Note1)
Intelligent device station
Support station Local station No master station function
Mountable option slot Slot 2 only
Number of mountable CC-Link interface cards 1 Multiple CC-Link interface cards cannot be
inserted. Note2)
Number of stations 1 to 64 stations When four stations are occupied, continuous
station numbers are used. The station
numbers are set by a DIP switch.
Transmission speed 10M/5M/2.5M/625K/156K bps This is set by the rotary SW.
Number of occupied stations One or four occupied stations can be set. When four stations are occupied, continuous
station numbers are used. The station
numbers are set by a DIP switch.
When one station is Input: 30 points Output: 30 points The last two points of 32 points cannot be
occupied used.
Remote I/O
When four stations Input: 126 points Output: 126 points The last two points of 128 points cannot be
Number of are occupied used.
I/O points When one station is Input: 4 registers Output: 4 registers One register consists of 16 bits.
Remote occupied
registers When four stations Input: 16 registers Output: 16 registers
are occupied

Note1)The CC-Link interface supports neither the transient transmission function nor the FX series.
Note2)This product cannot be used together with a PROFIBUS interface card.

■ Functions
(1) Communication function
・ The number of usable points is 126 points maximum for bit control and 16 points maximum for word control.
・ Up to 2,048 points of input bit data can be monitored by a unit being connected. (Input only, output is disabled.)
・ Up to 256 points of input word data can be monitored by a unit being connected. (Input only, output is disabled.)

(2) Easy setup

・ The CC-Link interface card can be set by a rotary switch or DIP switch.

3-89 CC-Link interface

 3 Controller

・No separate space is required to mount the CC-Link interface card as it is embedded in the robot controller (can
only be mounted into slot 2).
・ Easy wiring since only four terminals need to be connected.
・ Dedicated commands have been added to MELFA-BASIC IV (robot programming language); thus, no complex
interface programming is required.

(3) High-speed response

・The link scan time when connecting 64 stations is approximately 7.2 ms, achieving superior high-speed response
performance.
・ A transmission speed can be selected from 10M, 5M, 2.5M, 625K and 156K bps according to the transmission
distance.

CC-Link interface 3-90

3 Controller

(8) Ethernet interface

■ Order type: ● 2A-HR533-E

■ Outline
The Ethernet interface is the option to add an Ethernet communication function to
the robot controller.
Caution) This option can only be used with the robot controller's main unit software
version E2 or later.
Also, compatible version differs for each function. Refer to "Table 3-37:
Software Versions and Functions of the Controller" for details.

■ Configuration
Table 3-33 ： Configuration deviceon
Mass(kg)
Part name Type Qty. Note1) Remarks

Ethernet interface 2A-HR533-E 1 0.3

Instruction Manual BFP-A8108 1 -
Ferrite core E04SR301334 1 - Be sure to install this for noise countermeasure.

Note1)Mass indicates one set.

Table 3-34 ： Procured by the customer

Part name Type Qty. Remarks
Personal computer Windows 95/98/Me/NT 4.0/2000/XP compatible. Installed From 1 unit.
(A network interface is required.) with TCP/IP network functions, including Linux OS
(However, operation has not be verified.)
Ethernet cable 10BASE-T or 10BASE-5 From 1 cable.
(Select either straight cable or cross cable
depending on the connection mode.)

Table 3-35 ： Items required as needed

Part name Type Qty. Remarks
Hub (Required for use in LAN environment) (Commercially sold) 1
Windows compatible robot controller (Separately sold) Personal computer support software 1
programming support tool for Mitsubishi CRn-
500 series controllers
Windows compatible development tool (Commercially sold) Microsoft Visual C++, Visual Basic, etc. 1

■ Specifications
Table 3-36 ： Specifications
Item Specifications Remarks
Mountable optional slots Slot 1 only
Number of mountable interface cards 1
LAN interface 10BASE-T or 10BASE-5(changeover type)
Transmission speed 10Mbps
Connector specification RJ-45
A personal computer and the robot controller that communicates with that personal computer must be located on
the same network. They cannot communication with each other crossing a firewall (from the Internet) or gateway
(from another adjacent network, etc,). If such form of communication must be implemented, consider communicat-
ing via a server connected to the same network as that of the robot controller. Be cautious about safety and
response performance in this case.

3-91 Ethernet interface

 3 Controller

■ Functions
(1) Controller communication function
・ This function allows communication with the robot controller via Ethernet.
(Program upload/download, status monitoring, etc.)
The personal computer support software (sold separately) is available as a robot controller programming support
tool.
・ This function allows communication with a maximum of 16 clients on other end.

(2) Data link function

・ The data link function allows to link numerical values and position data between robot programs and a personal
computer using the MELFA-BASIC IV language (OPEN/PRINT/INPUT instruction).
・ Data can be exchanged one to one by specifying the COM number at the communication open destination.
・ This function allows to communicate with up to eight applications of clients on other end by changing COM
numbers.
・ Either server mode or client mode can be selected as the TCP/IP function.
・ The customer needs to write application programs on the personal computer side.

(3) Real-time external control function

・The real-time external control function loads the position command data and performs operation in control cycle
units of the robot. The joint, orthogonality and motor pulse can be specified as the position data. Also, this
function monitors I/O signals and outputs signals at the same time.
・The data that can be monitored include the encoder feedback values, current command, and current feedback of
the position data type mentioned above.
・ This function is valid only for the following models:
RP-1AH/3AH/5AH series
RV-1A series
RV-2A/3AJ series
RV-4A/5AJ/3AL/4AJL series
RH-5AH/10AH/15AH series
RV-6S/6SL/12S/12SL series
RV-3S/3SJ/3SB/3SJB series
・ In order to control the robot, an application program on the personal computer side must be created by the
customer. It must communicate one to one.

Table 3-37 ： Software Versions and Functions of the Controller

Software version of the Controller communication Data link function Data link function Real-time external control
robot controller function (server) (server/client) function
Versions A*, B*, C*, D*
The Ethernet option is disabled.
and E1
Versions E2 to E4 ○ ○ × ×
Versions F*, G* and H1 to
○ ○ × ○
H6
Versions H7 and later ○ ○ ○ ○

○ ..... Can be used.

× ..... Cannot be used.

Ethernet interface 3-92

3 Controller

(9) Additional axis interface

■ Order type: ● 2A-RZ541-E

■ Outline
The additional axis interface is an interface, which uses the general-purpose servo
amplifier of Mitsubishi and the corresponding servomotors in order to allow the plural
above servomotors to be controlled from the robot controller.

Caution) Additional axis interface can be used with a robot controller software
version of G9 or later.

Servo systems that can be used with the additional axis interface are shown in Table
3-38.

Table 3-38 ： Applicable servo systems

Mass(kg)
Servo amplifier name Type Note1) Maker name

MELSERVO-J2-Super series Note2) MR-J2S- □ B (ABS must be designated.) 0.3 Mitsubishi Electric

Note1)Mass indicates one set.

Note2) The J2-Super Series servo amplifiers, use the servo amplifiers with software version of B0 or later.

■ Configuration
Table 3-39 ： Configuration deviceon
Part name Type Qty. Remarks
Additional interface 2A-RZ541-E 1
Instruction Manual BFP-A8107 1
Ferrite core E04SR301334 2 Be sure to install this for noise countermeasure.

The products necessary in addition to the additional axis interface are listed in Table 3-40.
For these main products, refer to "Instruction Manual for Servo Amplifier and Servomotor".

Table 3-40 ： Procured by the customer

Part name Type Qty. Remarks
Servo amplifier, servomotor, option, peripheral Refer to "Instruction Manual for Servo Amplifier and -
device Servomotor".
Battery (for absolute position detection system) MR-BAT or A6BAT Amplifier
quantity
Setup software MRZJW3-SETUP131 if the MELSERVO-J2-Super is used. 1
(For setup the parameter of servo amplifier and MRZJW3-SETUP41 or later if the MELSERVO-J2-B is used.
the graph indication, etc. )
Communication cable MR-CPCATCBL3M 1
(Communication cable between personal
computer and servo amplifier for setup software)
Bus cable between controller and amplifier MR-J2HBUS □ M 1
(Exclusive cable for communication between (Cable length in : 0.5, 1 and 5 [m])
controller and servo amplifier) Note) The MR-J2HBUS □ M-A can't be used, caution.
Terminator MR-A-TM 1
Bus cable between amplifier and amplifier MR-J2HBUS □ M Amplifier
(Exclusive cable for communication between (Cable length in : 0.5, 1 and 5 [m]) quantity-1
servo amplifier and servo amplifier)

3-93 Additional axis interface

 3 Controller

■ Specifications
Table 3-41 ： Specifications
Item Specifications Specification of user mechanism
Number of controllable robots (mechanisms) 3
Number of control axes (total) 8 axes
Number of control axes (for each mechanism) 2 axes 3 axes
Applicable amplifier MELSERVO-J2-Super series
Applicable encoder ABS method only (absolute value encoder)
Communication method SSCNET (differential communication) of Mitsubishi
Mountable optional slots Slot 1 or 3
Number of mountable interface cards 1
Control function Synchronous interpolation control
Path control method CP control/PTP control PTP control
Acceleration/deceleration The trapezoidal method/acceleration/deceleration time pattern can be set.
Position control Distance control/angle control can be selected.
Actual value control with pitch/deceleration ratio setting
Minimum command value 0.01mm or 0.001mm (can be changed by a parameter)
Maximum motion range Max. .80000.00(0) deg. to +80000.00 (0) deg.

■ Functions
(1) Additional robot axis function
・ The robot controller can control a maximum of 2 axes such the travel axis, etc., as the 7th and 8th axes of the
robot arm.
・ Additional axes are controlled in such a way that they start moving and stop simultaneously with the standard
robot axes.

(2) Multi-mechanism function

・ The robot controller can control user-created mechanisms, such as a rotation axis and a linear driving axis, for up
to 2 units as multi-mechanisms.
・The robot controller controls multi-mechanisms independent of the standard robot axes (asynchronous control). It
can control up to 3 axes of user-created mechanisms per unit.

(3) Programming language

・ The additional axes can be programmed with MELFA-BASICIV language method and MOVEMASTER command
method.
・ User-created mechanisms can only be controlled using the MELFA-BASIC IV language.

Additional axis interface 3-94

3 Controller

(10) Extension memory cassette

■ Order type: ● 2A-HR432

■ Outline
Used to increase the total number of teaching points in the robot program.

■ Configuration
Table 3-42 ： Configuration device
Part name Type Qty. Mass(kg) Remarks

27,900 total teaching points

Extension memory cassette 2A-HR432 1 0.1
With a battery backup feature

■ Specifications
Table 3-43 ： Specifications
Items Specifications Remarks

External dimensions Approx. 95(W)X65(D)X15(H) mm Excluding the connection connector

Mass Approx. 0.2 kg

Connection method Connection using a special connector
Note1) Teaching point number: 25,400 The battery backup function is provided.
Memory size
Steps number: 50,800 Together with 2,500 points of standard teaching
Program number: 100 positions, the total number of teaching positions is
27,900 points.
Backup Backup using the controller's internal battery

Note1) As for the standard 2,500 points, after adding an expansion memory cassette, the information in all backup
memory areas in the controller is copied into the expansion memory cassette. Therefore, please note that
if the expansion memory cassette is removed after it has been added, there will be no program left in the
controller.

［CAUTION］
･ Inserting and removing the memory cassette
A memory cassette cannot be inserted or removed while the control power is on. Please turn off the control
power before handling the memory cassette to avoid destroying the memory information in the cassette.

･ Memory backup
Retaining the contents of memory in a memory cassette is not covered by the warrantee when the memory
cassette is removed from the control unit. Nonetheless, memory is retained under the following conditions.
(Conditions) If the power has been on for at least a half-hour before the power is turned off and the cassette
is removed, the contents of memory can be retained for approximately one hour. (Not covered by
the warrantee.)

3-95 Extension memory cassette

 3 Controller

■ Installation
<When using the CR2B-574 controller>
The installation method to the CR2B-574 controller is shown below.
1) Completely back up the memory information in the robot controller using the personal computer support
software. (This must be performed as a preventive measure in case the contents of the internal memory are
destroyed while inserting a memory cassette.)
2) Turn off the controller power.
3) Remove the dust-proof cover installed in the rear of the controller.
4) Install the attached fixing plate of memory cassette with the screw which fixed the dust-proof cover.
5) Attach a memory cassette to the controller.
・ As shown in Fig. 3-37, insert the memory cassette all the way to the back with the ” ▲
L ” facing up.
・ Securely tighten the fixing screws.
Note) Be careful not to over-tighten the screws, as it may deform the memory cassette.
6) Turn on the controller power.
Error C.0023 will occur when using the software version J1 edition.
Press the reset button to clear the error.

At this point, a new file system has been created in the memory cassette.

[CAUTION]
The programs that are stored in the control unit will be copied into the memory cassette; they will be deleted from
the memory in the control unit. Please be careful not to remove the memory cassette, since if you remove it,
there will be no program information residing in the controller (the information is in the memory cassette).
Although the program information (****.MB4) is copied into the memory cassette, the parameter information
(****.PRM) is still stored in the control unit.

CR2A-572 controller
Dust-proof cover Remove

Memory cassette
(Option)

Fixing screw
two places
Fixing plate of memory cassette
▲ M4 screw (2)
(Attachment)
L

Fig.3-37 ： Installation method of extension memory cassette

Extension memory cassette 3-96

3 Controller

<When using the CR3-535M controller>

The following describes a sample installation to the R6x2CPU.
7) Completely back up the memory information in the robot controller using the personal computer support
software. (This must be performed as a preventive measure in case the contents of the internal memory are
destroyed while inserting a memory cassette.)
8) Turn off the control power.

CAUTION Turn off the primary power.

Failure to observe this could lead to electric shock accidents.

9) Open the controller front door.

10) Attach a memory cassette to the control unit.
・ As shown in Fig. 3-38, insert the memory cassette all the way to the back with the ” ▲
R ” facing up.
・ Securely tighten the fixing screws.
Note) Be careful not to over-tighten the screws, as it may deform the memory cassette.
11) Turn on the control power.
Error C.0023 will occur when using the software version J1 edition.
Press the reset button to clear the error.

At this point, a new file system has been created in the memory cassette.

[CAUTION]
The programs that are stored in the control unit will be copied into the memory cassette; they will be deleted from
the memory in the control unit. Please be careful not to remove the memory cassette, since if you remove it,
there will be no program information residing in the controller (the information is in the memory cassette).
Although the program information (****.MB4) is copied into the memory cassette, the parameter information
(****.PRM) is still stored in the control unit.

Fixing screw.
Two places.

Fig.3-38 ： Installation of extension memory cassette

3-97 Extension memory cassette

 3 Controller

(11) Personal computer support software/Personal computer support software mini

(MELSOFT RT ToolBox)

■ Order type ： ● Personal computer support software

*For windows CD-ROM : 3A-01C-WINE
● Personal computer support software mini
*For windows CD-ROM : 3A-02C-WINE

■ Outline
This is handy software that fully uses the personal computer functions. It can be used in
various stages from the robot specifications study (tact study, etc.) to the design support
(creation and editing of programs), start up support (execution, control and debugging of
program), and maintenance (remote maintenance.)
The "personal computer support software" which supports these function fully, and the
"personal computer support software mini" which does not have the simulation function
are available. Select according to the required application.

■ Configuration
Table 3-44 ： Product configuration
Part name Type Medium Mass(kg) Remarks
Personal computer support software 3A-01C-WINE CD-ROM 0.2 One operation manual included
Personal computer support software mini 3A-02C-WINE CD-ROM 0.2 One operation manual included

■ Features
(1) Simple operation with guidance method and menu method
The Windows standard is used for windows operation, so the controller initialization and startup operations
can be carried out easily by following the instructions given on the screen. Even a beginner can easily carry
out the series of operations from program creation to execution.
(2) Increased work efficiency with ample support functions
The work efficiency is greatly improved with the multi-window method that carries out multiple steps and dis-
plays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially
sufficient, and are extremely useful when editing or debugging the program.
With the simulation function support, the program can be debugged and the tact checked before starting the
machine at the site. This allows the on-site startup work efficiently to be greatly improved.
(3) Increased maintenance efficiency with remote maintenance function
With remote operations over a telephone line, the robot's operation status can be monitored without going to
the site. Losses incurred while moving to the site can be reduced, and the time required to investigate the
trouble and determine measures to be taken can be shortened.
(4) The maintenance forecast function increases the efficiency of maintenance work. Analyze the load condition
while the robot is actually operating. Based on this analysis, calculate the time for maintenance, such as lubri-
cation and belt replacement. By utilizing this information, the line stop time as well as the maintenance costs
can be reduced.
Note) The maintenance forecast function is supported by Personal Computer Support Software Version E1 or
later.
(5) The position recovery support function increases the recovery efficiency in the event of origin position dis -
placement. This function compensates the origin settings and position data by just reproducing several previ-
ous teaching points when hand and/or arm displacement occurs, when replacing the motor and the belts, or
when reloading the robot. This function can reduce the time required for recovery.
Note) The position recovery support function is supported by Personal Computer Support Software Version
E1 or later.

Personal computer support software/Personal computer support software mini 3-98

3 Controller

■ Functions
Table 3-45 ： Functions
Function Functional existenceNote1) Details
Compatible model ○ ○ Personal computer running Microsoft Windows98/2000/NT 4.0/Me/XP.
Program editing Editing functions ・ MELFA BASIC IV language compatible
functions ・ Multiple editing screen simultaneously display
・ Command input, comment writing
・ Position data editing
・ File operation (writing to controller, floppy disk, personal computer)
・ Search and replace function (using characters, line Nos., labels)
・ Copy, cut, paste, insert (per character, line), undo (per command
○ ○
statement, position conversion)
・ Line No. automatic generation, renumbering
・ Batch syntax check
・ Command template
・ Position conversion batch editing
・ Position variable template
・ Print, print preview
Control func- ・ Program file control (list, copy, movement, delete, content compari-
○ ○
tions son, name change, protect)
Debugging func- ・ Direct editing of program in controller
tions ・ Confirmation of robot program operation (step execution, direct exe-
○ ○
cution)
・ Tact time measurementNote2)
Simulation func- ・ Off-line simulation of robot program operation using CG (computer
tionNote3) ○ × graphics)
・ Tact time calculation
Monitor func- ・ Robot operation monitor (robot operation state, stop signal, error
tions monitor, program monitor (execution program, variables), general-pur-
pose input/output signals (forced output possible), dedicated input/
output signals, operation confirmation (operation range, current posi-
○ ○
tion, hand, etc.)
・ Operation monitor (working time statistics, production information,
robot version)
・ Servo monitor (position, speed, current, load, power)
Maintenance ・ Parameter setting
○ ○
function ・ Batch, divided backup
Remote mainte- ・ Monitoring and maintenance of robot state at remote site using tele-
nance function ○ ○ phone line.
(A separate modem is required for this function.)
Personal computer support software mini
（3A-02C-WINE）
Personal computer support software
（3A-01C-WINE）

Note1)The functions included with the personal computer support software and the personal computer support
software mini are shown below. ○ : Function provided × : Function not provided
Note2)When using the "personal computer support software mini", connect with the controller and measure.
Note3)A simulation function is available only with "MELFA-BASIC Ⅳ ".

3-99 Personal computer support software/Personal computer support software mini

 3 Controller

(12) Instruction Manual(bound edition)

■ Order type ： ● 4S-MAP-102 ： In the case of CR2B-574controller

● 4S-MAP-105 ： In the case of CR3-535M controller

■ Outline

This is a printed version of the CD-ROM (instruction manual) supplied with this
product.

■ Configuration
Table 3-46 ： Product configuration
Part name Type Mass(kg)Note1) Specifications
Instruction Manual(CR2B-574 controller version） 4A-MAP-102 2.2 Instruction manual set for the CR2B-574 controller
Safety Manual BFP-A8006 - Items relating to safety in handling the robot
Standard Specifications BFP-A8322 - Specification of the robot arm and controller
Installation method of the robot arm, jog operation, and
Robot Arm Setup & Maintenance BFP-A8323 -
maintenance and inspection procedures
Installation method of the controller, basic operation, and
Controller Setup, Basic Operation and Maintenance BFP-A5991 -
maintenance and inspection procedures
Functions of the controller and T/B, operation method, and
Detailed Explanation of Functions and Operations BFP-A5992 -
explanation of MELFA-BASIC Ⅳ
Troubleshooting BFP-A5993 - Causes of errors occurred and their countermeasures
Instruction Manual(CR3-535M controller version） 4A-MAP-105 2.4 Instruction manual set for the CR3-535M controller
Safety Manual BFP-A8006 - Items relating to safety in handling the robot
Standard Specifications BFP-A8322 - Specification of the robot arm and controller
Installation method of the robot arm, jog operation, and
Robot Arm Setup & Maintenance BFP-A8323 -
maintenance and inspection procedures
Installation method of the controller, basic operation, and
Controller Setup, Basic Operation and Maintenance BFP-A8324 -
maintenance and inspection procedures
Functions of the controller and T/B, operation method, and
Detailed Explanation of Functions and Operations BFP-A5992 -
explanation of MELFA-BASIC Ⅳ
Troubleshooting BFP-A5993 - Causes of errors occurred and their countermeasures
Additional axis interface BFP-A8107 - Functions and operation method of the additional axis interface.

Note1)Mass indicates one set.

Instruction Manual(bound edition) 3-100

3 Controller

3.11 Maintenance parts

The consumable parts used in the controller are shown in Table 3-47. Purchase these parts from your dealer
when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part
name, robot arm and controller serial No. and purchase the parts from your dealer.

Table 3-47 ： Contloller consumable parts list

No. Part name Type Note1) Qty. Usage place Manufacturer
CR2B-574 controller
1 Lithium battery ER6 1 Control unit Mitsubishi Electric System
& Service;Co.,Ltd
2 Filter 1 Bottom of the controller
CR3-535M controller
3 Lithium battery ER6 1 Control unit Mitsubishi Electric System
& Service;Co.,Ltd
4 Fan (40 square) 5 Amplifier unit
Converter unit
5 Fan (90 square) 1 Inside of the controller
6 Filter 1 Rear of the controller

Note1)Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for
the type.

3-101 Maintenance parts

 4Software

4 Software
4.1 List of commands
The available new functions in MELFA-BASIC IV are given in Table 4-1.

Table 4-1 ： The available new functions in MELFA-BASIC IV

Class Command example Function

Robot Status Variable P_TOOL keep current tool length

M_SPD keep current speed (linear/circular interpolation)

Built-in functions ABS Produces the absolute value

VAL Converts a character string into a numeric value

ATN Calculates the arc tangent

STR$ Converts the numeric expression value into a decimal character string

ZONE Check current position area

Operation function P1=P1*P2 Relative calculation of position data

M1=M1*M2 Multiplication of numerical variable

P1.X=10 Operation of the position element data

Conditional branching SELECT CASE More than one condition branch

ON GOSUB Condition branch by the value

WHILE WEND Repeat with condition

Optimum acceleration/ LOADSET Load condition setting

deceleration control
OADL valid/invalid setting for the optimum acceleration/deceleration
Float control CMP POS Compliance control
(compliance in the XYZ
coordinate system) CMPG Force control

Parallel execution XRUN, XSTP, XRST, Parallel executions of another task, the stops, the resets the clear, and, the loads
(Multitask) XLOAD, XCLR
Conveyor trucking TRKON, TRKOFF Valid/invalid of the trucking
[Special specification]
TRBASE Setting the base coordinate for the trucking
Impact detection COLCHK Set to enable/disable the impact detection.

COLLVL Set the detection level of the impact detection.

Singular point passage MVS P1 TYPE 0,2 Pass a singular point using linear interpolation.

List of commands 4-102

4Software

(1) MELFA-BASIC Ⅳ commands

Table 4-2 ： List of MELFA-BASIC IV commands
Type Class Function Input format (example)
Joint interpolation Moves to the designated position with joint interpolation. MOV P1
Linear interpolation Moves to the designated position with linear interpolation. MVS P1
Circular interpolation Moves along a designated arc (start point → passing point → start point
MVC P1,P2,P1
(end point)) with 3-dimensional circular interpolation (360 degrees).
Moves along a designated arc (start point → passing point → end point) with
MVR P1,P2,P3
3-dimensional circular interpolation.
Moves along the arc on the opposite side of a designated arc (start point →
MVR2 P1,P9,P3
reference point → end point) with 3-dimensional circular interpolation.
Moves along a set arc (start point → end point) with 3-dimensional circular
MVR3 P1,P9,P3
interpolation.
Speed designation Designates the speed for various interpolation operations with a percentage
OVRD 100
(0.1% unit).
Designate the speed for joint interpolation operation with a percentage
JOVRD 100
(0.1% unit).
Designates the speed for linear and circular interpolation with a numerical
SPD 123.5
value (mm/s unit).
Designates the acceleration/deceleration time as a percentage in respect to
ACCEL 50,80
the predetermined maximum acceleration/deceleration. (1% unit)
Position and operation control

Automatically adjusts the acceleration/deceleration according to the param-

OADL ON
eter setting value.
ets the hand and work conditions for automatic adjustment of the accelera-
LOADSET 1,1
tion/deceleration.
Operation Adds a process unconditionally to the operation. WTH
Adds a process conditionally to the operation. WTHIF
Designates smooth operation. CNT 1,100,200
Designates the positioning completion conditions with a No. of pulses. FINE 200
Turns the servo power ON/OFF for all axes. SERVO OFF
Limits the operation of each axis so that the designated torque is not
TORQ 4,10
exceeded.
Position control Designates the base conversion data. BASE P1
Designates the tool conversion data. TOOL P1
Float control The robot arm rigidity is lowered and softened. (XYZ coordinate system) CMP POS ,&B00000011
The robot arm rigidity is lowered and softened. (TOOL coordinate system) CMP TOOL ,&B00000011
The robot arm rigidity is returned to the normal state. CMP OFF
The robot arm rigidity is designated. CMPG
1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0
Pallet Defines the pallet. DEF PLT
1,P1,P2,P3,P4,5,3,1
Operates the pallet grid point position. PLT 1,M1
Branching Branches unconditionally to the designated place. GOTO 120
Branches according to the designated conditions. IF M1=1 THEN GOTO 100
ELSE GOTO 20
END IF
Repeats until the designated end conditions are satisfied. FOR M1=1 TO 10

NEXT M1
Repeats while the designated conditions are satisfied. WHILE M1<10
Program control

WEND
Branches corresponding to the designated expression value. ON M1 GOTO 100,200,300
Executes program block corresponding to the designated expression value.. SELECT
CASE 1

BREAK
CASE 2

BREAK
END SELECT
Moves the program process to the next line. SKIP
Impact detection Set to enable/disable the impact detection. COLCHK ON/OFF
Set the detection level of the impact detection. COLLVL 100,80,,,,,,

4-103 List of commands

 4Software

Type Class Function Input format (example)

Subroutine Executes the designated subroutine. (Within program) GOSUB 200
Returns from the subroutine. RETURN
Executes the designated program. CALLP "P10",M1,P1
Defines the program argument executed with the CALLP command. FPRM M10,P10
Executes the subroutine corresponding to the designated expression value. ON M1 GOSUB
100,200,300
Interrupt Defines the interrupt conditions and process. DEF ACT 1, M1=1 GOTO
100
Program control

Enables/disables the interrupt. ACT 1=1

Defines the start line of the program to be executed when an interrupt is
ON COM(1) GOSUB 100
generated from the communication line.
Enables the interrupt from the communication line. COM(1) ON
Disables the interrupt from the communication line. COM(1) OFF
Stops the interrupt from the communication line. COM(1) STOP
Wait Designates the wait time, and the output signal pulse output time. (0.01s
DLY 0.5
unit)
Waits until the variable becomes the designated value. WAIT M_IN(1)=1
Stop Stops the program execution. HLT
Generates an error. During program execution, continue, stop or servo OFF
ERROR 9000
can be designated.
End Ends the program execution. END
Hand open Opens the designated hand. HOPEN 1
Hand

Hand close Closes the designated hand. HCLOSE 1

Assignment Defines the input/output variables. DEF IO PORT1=BIT,0
Input/output

Input Retrieves the general-purpose input signal. M1=M_IN (1)

Output Calls out the general-purpose output signal.
M_OUT(1) =0

Mechanism designa- Acquires the mechanism with the designated mechanism No. GETM 1
Parallel execution

tion Releases the mechanism with the designated mechanism No. RELM 1
Selection Selects the designated program for the designated slot. XLOAD 2,"P102"
Start/stop Carries out parallel execution of the designated program. XRUN 3,"100",0
Stops parallel execution of the designated program. XSTP 3
Returns the designated program's execution line to the head and enters the
XRST 3
program selection enabled state.
Definition Defines the integer type or real number type variable. DEF INTE KAISUU
Defines the character string variable. DEF CHAR MESSAGE
efines the layout variable. (Up to 3-dimensional possible) DIM PDATA(2,3)
Defines the joint variable. DEF JNT TAIHI
Defines the position variable. DEF POS TORU
Defines the function. DEF FNTASU(A,B)=A+B
Others

Clear Clears the general-purpose output signal, variables in program, variables

CLR １
between programs, etc.
File Opens a file. OPEN "COM1:" AS #1
Closes a file. CLOSE #1
Inputs data from a file. INPUT# 1,M1
Outputs data to a file. PRINT# 1,M1
Comment Describes a comment. REM "ABC"
Label Indicates the branching destination. *SUB1

List of commands 4-104

4Software

4.2 List of parameters

(1) List of parameters
show the main parameter in the Table 4-3.

Table 4-3 ： List of parameters

Parameter Details

Standard tool coordinates. MEXTL Set the default value for the tool data.
Unit: mm or deg.

Standard base coordinates MEXBS Set the relation of the world coordinate system and robot coordinate system.
Unit: mm or deg.

XYZ operation range MEPAR Designate the overrun limit value for the world coordinate system.

JOINT operation range MEJAR Set the overrun limit value for each joint axis.
Free plane limit This is the overrun limit set with the free plane.
Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of
the plane as the outside operation range (error). The following three types of parameters are
used.

SFC1P Eight types of free plane limits can be set in SFC1P to SFC8P.
: There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.
SFC8P
SFC1ME Designate which mechanism to use eight types of set free plane limits.
: The mechanism No. to use is set with 1 to 8.
SFC8ME
SFC1AT Set the validity of the eight types of set free plane limits.
: (Valid 1/Valid 2/invalid = 1/-1/0)
SFC8AT

User-defined area An area (cube) defined with two XYZ coordinate points can be designated and that area set
as the outside operation range. Furthermore, a signal can be output when the axis enters
that area. Up to eight types of area can be designated.

AREA1P1 Designated the 1st point of the area.

: There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
AREA8P1 (L1 and L2 are the additional axes.)

AREA1P2 Designated the 2nd point of the area.

: There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
AREA8P2 (L1 and L2 are the additional axes.)
AREA1ME Designate which mechanism to use the eight types of set area.
: The mechanism No. to use is set with 1 to 8
AREA8ME
AREA1AT Designate the area check type.
: (Invalid/zone/interference = 0/1/2)
AREA8AT Zone: The dedicated output signal USRAREA turns ON.
Interference: An error occurs..

Automatic return setting RETPATH Set to restart the program after returning to the interrupt position when resuming operation
after an interruption.

Buzzer ON/OFF BZR Designate whether to the turn buzzer ON or OFF.

Jog setting JOGJSP Designate the joint jog and step operation speed.
(Set dimension H/L amount, max. override.)

JOGPSP Designate the linear jog and step operation speed.

(Set dimension H/L amount, max. override.)

Jog speed limit value JOGSPMX Limit the operation speed during the teaching mode. Max. 250[mm/s]

4-105 List of parameters

 4Software

Parameter Details

Hand type HANDTYPE Set the hand type of the single/double solenoid, and the signal No.
(Single/double = S/D)
Set the signal No. after the hand type. Example) D900

Stop input B contact desig- INB Change the dedicated input (stop) between the A contact and B contact.
nation
User-designated origin USERORG Designate the user-designated origin position.

Program selection memory SLOTON Select the program selected previously when initializing the slot. The non-selected state will
be entered when not set.

Communication setting CBAU232 Set the baud rate.

CLEN232 Set the character length.

CPRTY232 Set the parity.

CSTOP232 Set the stop bit.

CTERM232 Set the end code.

Slot table SLT1 Make settings (program name, operation type, order of priority, etc.) for each slot during slot
: initialization.
SLT32

No. of multi-tasks TASKMAX Designate the No. of programs to be executed simultaneously. (Max. 32)
Select the function of MESNGLSW Designate the valid/invalid of the singular point adjacent alarm.
singular point adjacent alarm （Invalid/Valid ＝ 0/1）
When this parameter is set up "VALID", this warning sound is buzzing even if parameter:
BZR (buzzer ON/OFF) is set up "OFF".

Specification of singular point FSPJOGMD Specify an operation mode for singular point passage jog.
passage jog mode

Display language.Note1) LNG Change the language to display on the LCD display of teaching pendant.
表示言語 Note1) テ ィ ーチ ングボ ッ ク スの表示 LCD な どに表示する言語を切 り 替え ます。

Note1)The procedure of Language as shown in "(2) Change the display language / 表示言語の切 り 替え ".
注 1) 表示言語切 り 替え方法の詳細を "(2) Change the display language / 表示言語の切 り 替え " に示 し ます。

List of parameters 4-106

4Software

(2) Change the display language / 表示言語の切 り 替え

The language to display on the LCD display of teaching pendant can be changed by "the display language param-
eter". (Japanese or English)
Show the details of the parameter in the Table 4-3. Refer to the separate "Instruction Manual/Detailed Explana-
tion of Functions and Operations" for details on changing the parameter.
The parameter is set up based on the order specifications before shipment. Order to dealer when the instruction
manual of the other language is necessity.
More, the caution seals that stuck on the robot arm and the controller are made based on the language of the
order specification. Use it carefully when selecting the other language.
表示言語設定パラ メ ー タ によ っ て、 テ ィ ーチ ングボ ッ ク スの表示 LCD な どに表示する言語を切 り 替え る
こ と がで き ます。 （日本語、 または英語） Table 4-3 にそのパラ メ ー タ の詳細を示 し ます。 パラ メ ー タ の変
更方法は、 別冊の 「取扱説明書／機能 と 操作の詳細解説」 を参照願います。
なお、 出荷時はご注文仕様に基づき弊社で設定いた し ます。 別の言語の取扱説明書を ご希望の場合はご
用命願います。
また、 ロボ ッ ト 本体 と コ ン ト ロー ラ に貼 り 付けてある注意シールは、 ご注文仕様に基づいた言語で製作
いた し ます。 本パラ メ ー タ を変更 し て言語を切 り 替えてご使用の場合はご注意願います。

Table 4-4 ： Display language parameter / 表示言語設定パラ メ ー タ

No. of arrays Default
Parameter
Parameter No. of characters Details explanation setting
name
パラ メ ー タ 配列数 内容説明 出荷時
パラ メ ー タ 名
文字数 設定

Display lan- LNG Character string 1 Set up the display language. 1

guage 文字列 １ "JPN" ： Japanese
表示言語設定 "ENG" ： English
The following language is changed.
(1)The display LCD of teaching pendant.
(2) Personal computer support software.
*alarm message of the robot.
*Parameter explanation list.
(3)Alarm message that read from the robot with external
communication. (Standard RS232C, Extended serial I/
F, Ethernet I/F)

表示言語を設定 し ます。
"JPN" ： 日本語表示
"ENG" ： 英語表示
以下に示す表示言語が変更 さ れます。
(1) テ ィ ーチ ングボ ッ ク スの表示 LCD
(2) パソ コ ンサポー ト ソ フ ト ウ ェ ア
・ ロボ ッ ト のア ラ ーム メ ッ セージ
・ パラ メ ー タ 説明 リ ス ト
(3) 外部通信で ロボ ッ ト から 読み出 し たア ラ ーム メ ッ
セージ （標準 RS232C、 増設シ リ アルイ ン タ
フ ェ ース、 イ ーサネ ッ ト イ ン タ フ ェ ース）

4-107 List of parameters

 5Instruction Manual

5 Instruction Manual

5.1 The details of each instruction manuals

The contents and purposes of the documents enclosed with this product are shown below. Use these documents
according to the application.
Instruction manuals enclosed in dashed lines in the list below are for optional products.
For special specifications, a separate instruction manual describing the special section may be enclosed.

Safety Manual Explains the common precautions and safety measures to be taken for robot handling, sys-
tem design and manufacture to ensure safety of the operators involved with the robot.

Explains the product's standard specifications, factory-set special specifications, option

Standard
configuration and maintenance parts, etc. Precautions for safety and technology, when
Specifications
incorporating the robot, are also explained.

Explains the procedures required to operate the robot arm (unpacking, transportation,
Robot Arm
installation, confirmation of operation), and the maintenance and inspection procedures.
Setup &
Maintenance

Controller Explains the procedures required to operate the controller (unpacking, transportation,
Setup, Basic installation, confirmation of operation), basic operation from creating the program to auto-
Operation and matic operation, and the maintenance and inspection procedures.
Maintenance

Detailed Explains details on the functions and operations such as each function and operation, com-
Explanation of mands used in the program, connection with the external input/output device, and parame-
Functions and ters, etc.
Operations

Explains the causes and remedies to be taken when an error occurs. Explanations are given
Troubleshooting
for each error No.

Extended serial Explains the specifications, functions and operations of the expansion serial interface
interface optional.

The details of each instruction manuals 5-108

5Instruction Manual

CC-Link inter- Explains the specifications, functions and operations of the CC-Link interface optional.
face

ETHERNET Explains the specifications, functions and operations of the ETHERNET interface optional.
interface

Additional axis Explains the specifications, functions and operations of the additional axis interface optional.
interface

Personal com- Explains the specifications, functions and operations of the Personal computer Support soft-
puter Support ware optional.
software

5-109 The details of each instruction manuals

 6Safety

6 Safety
6.1 Safety
Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation
Rules". Always follow these rules when using the robot to ensure safety.

6.1.1 Self-diagnosis stop functions

This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-2
for safe use.

Table 6-1 ： Self-diagnosis stop functions

No. Function Details Remarks
1 Overload protection func- Activates when the total servo current time exceeds The drive circuit is shut off. The robot stops, and
tion the specified value. an alarm displays.
2 Overcurrent diagnosis Activates when an overcurrent flows to the motor The drive circuit is shut off. The robot stops, and
function circuit. an alarm displays.
3 Encoder disconnection Activates when the encoder cable is disconnected. The drive circuit is shut off. The robot stops, and
diagnosis function an alarm displays.
4 Deflection over diagnosis Activates when an error occurs between the com-
The drive circuit is shut off. The robot stops, and
function mand value and actual position, and the error
an alarm displays.
exceeds the specified amount.
5 AC power voltage drop Activates when the AC power voltage drops below The drive circuit is shut off. The robot stops, and
diagnosis function the specified value. an alarm displays.
6 CPU error detection func- Activates when an error occurs in the CPU. The drive circuit is shut off. The robot stops, and
tion an alarm displays.
7 Overrun Software limit This is the limit provided by the software to enable The drive circuit is shut off. The robot stops, and
prevention detection operation only in the operation range. an alarm displays.
function
Mechanical This is the mechanical stopper provided outside the The robot mechanically stops, and function 1 or 2
stopper software. activates.

Table 6-2 ： List of stop functions

Stop Operation Teaching External
Details
function panel pendant input
This is the stop with the highest degree of emergency. The servo power is shut off,
Emergency
stop ◯ ◯ ◯ and the mechanical brakes (all axes) activate to stop the robot.
To recover, reset the alarm, and turn the servo ON with the servo ON command.
This is a stop operation with a high degree of emergency. The robot immediately
Stop ◯ ◯ ◯ decelerates and stops.
Note that the servo power is not shut off. Use this when using the collision evasion
sensor, etc.

6.1.2 External input/output signals that can be used for safety protection measures
Table 6-3 ： External input/output signals that can be used for safety protection measures
Signal Command Functions Usage method
External emer- (Input signal) This servo power is shut off, and the robot Externally installed emergency stop switch.
gency stop stops immediately. Door switch on safety protection fence.
Stopping at high-level error occurrence.
Stop STOP The program execution is stopped, and the The robot is stopped when a peripheral device
Input

robot stops. The servo power is not shut off. fault occurs. The servo power is not shut off.
Servo OFF SRVOFF The servo power can be shut off. The robot is stopped when a peripheral device
fault occurs. The servo power is not shut off.
Automatic opera- AUTOENA Disables automatic operation when inactive. Door switch on safety protection fence
tion enable
In servo ON SRVON The servo power ON/OFF state is output. The servo power ON/OFF state is shown and
alerted with the display lamps.
Output

Waiting STOP Outputs that the robot is temporarily stopped. The temporary stop state is shown and alerted
with the display lamps.
In alarm ERRRESET Outputs when an alarm occurs in the robot. The alarm state is shown and alerted with the dis-
play lamps.
［Caution］ The external emergency stop input is prepared as a b contact for safety proposes. Thus, if the emer-
gency stop input circuit is opened when the robot is started up, the robot will not operate. Refer to
"Fig. 6-1 Example of safety measures"for details.

Safety 5-110
6Safety

6.1.3 Precautions for using robot

The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of
the rules is given below.
(1) Robot installation
・ Secure sufficient work space required to safely perform work such as teaching and maintenance related to the
robot.
・ Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.)
・ Install the controller where the entire robot operation can be viewed.
・ Install display lamps, etc., to indicate the robot's operation state.
・ Securely fix the robot arm onto the fixing table with the designated bolts.

(2) Prevention of contact with operator

・ Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space.
・ Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.

(3) Work procedures

・ Create and observe work procedures for the robot teaching, operation, inspection and emergencies.
・ Create hand signals to be followed when several operators are working together.
・ Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is
in the robot's motion space so that other operators will not operate the operation panel (controller, control
panel).

(4) Training
・ Train the operators about the operations, maintenance and safety required for the robot work.
・ Only trained and registered operators must operate the robot.
Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Com-
mittee, etc., is recommended for safety training.

(5) Daily inspection and periodic inspection

・ lways inspect the robot before starting daily operations and confirm that there are no abnormalities.
・ Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and
perform periodic inspections.
・ Make records when periodic inspections and repairs have been done, and store the records for three or more
years.

6.1.4 Safety measures for automatic operation

(1) Install safety fences so that operators will not enter the operation area during operation and indicate that
automatic operation is in progress with lamps, etc.
(2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the
operator follows the signals.

6.1.5 Safety measures for teaching

Observe the following measures when teaching, etc., in the robot's operation range.
(1) Specify and follow items such as procedures related to teaching work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper-
ation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that teaching work is being done.
(4) Always inspect that stop functions such as the emergency stop device before starting the work.
(5) Immediately stop the work when trouble occurs, and correct the trouble.
(6) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(7) The teaching operator must have completed special training regarding safety. (Training regarding industrial
robots and work methods, etc.)
(8) Create signals to be used when several operators are working together.

6.1.6 Safety measures for maintenance and inspections, etc.

Turn the power OFF and take measures to prevent operators other than the relevant operator from pressing the
start switch when performing inspections, repairs, adjustments, cleaning or oiling.
If operation is required, take measures to prevent hazards caused by unintentional or mistaken operations.
(1) Specify and follow items such as procedures related to maintenance work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper-
ation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that work is being done.
(4) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(5) The operator must have completed special training regarding safety. (Training regarding industrial robots and
work methods, etc.)
(6) Create signals to be used when several operators are working together.

5-111 Safety
 6Safety

6.1.7 Examples of safety measures

Two emergency stop input circuits are prepared on the user wiring terminal block of the controller. Create a cir-
cuit as shown below for safety measures
.

<Customer-prepared wiring> <Robot controller system>

MC1 MC2

＋
To servo main circuit power

RA1 External emergency RA11 External emergency

stop input stop input
RA3 RA31
S/W-EMG
Operation panel Operation panel
emergency stop emergency stop

Door switch T/B remove Teaching pendant T/B remove Teaching pendant
External emergency switch emergency stop switch emergency stop
stop
24V

1 Teaching pendant Teaching pendant

deadman switch deadman switch

2
RA1
RA1
3 RA2 Teaching pendant RA21 Teaching pendant
deadman switch deadman switch
Door switch Door switch
4 input input
RA2
RA2 RA3 Software emergency RA31
Software emergency
stop stop
5
External emergency
stop output
MC1 MC2
6
RA4 MC1 MC2

24V

2
RA11
RA11
3

4
RA21
RA21
5
External emergency
stop output
6
RA41

[Caution] Some information has been omitted for explanation proposes, so some parts may differ.

Fig.6-1 ： Example of safety measures

(1) Use a 2-contact type switch for all switches.
(2) Install a limit switch on the safety fence's door. With a constantly open contact (a contact), wire to the door
switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is
opened) when the door is open.
(3) Use a manual-return type 2b-contact for the emergency stop button.
(4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and
major faults (faults that cause the entire system to stop immediately, and that require care in restoration),
and wire accordingly.
[Caution] The emergency stop input(terminal block) on the user wiring in the controller can be used for safety
measures as shown in Fig. 6-1. Note that there are limits to the No. of switch contacts, capacity and
cable length, so refer to the following and install.
・ Switch contact .......................................... Prepare a 2-contact type.
・ Switch contact capacity........................ Use a contact that operates with a switch contact capacity of
approx. 1mA to 100mA/24V.
・ Cable length................................................ The length of the wire between the switch and terminal block
must be max. 15m or less.
・ Emergency stop output capacity....... Set it within 300 mA/24 VDC.
Connecting an external device outside of the above range will
cause a controller failure.

Safety 5-112
6Safety

[Reference] The specifications of the RA1 and RA2 coil shown in Fig. 6-1 are as follow.
・ Rated voltage ............................ DC24V ± 10％
・ Rated excitation current ...... 12.5mA ± 10％ （at25 deg.）
* Note that these specifications are subject to change without prior notice for modification purposes.

The emergency stop circuit in the robot is a duplex type to ensure safety.
Thus, if a 1b contact type is used, faults such as fusing in the emergency stop circuit will not be detected, and
could lead to fires.
If a 1b contact type is used and the emergency stop is input with only one side (across No. 1-2 or No. 5-6), the
contact fusing alarm will occur, and resetting of the alarm will not be possible.

5-113 Safety
 6Safety

6.2 Working environment

Avoid installation in the following places as the equipment's life and operation will be affected by the ambient
environment conditions. When using in the following conditions, the customer must pay special attention to the
preventive measures.
(1) Power supply
・ Where the voltage fluctuation will exceed the input voltage range.
・ Where a momentary power failure exceeding 20ms may occur.
・ Where the power capacity cannot be sufficiently secured.

CAUTION Please use the controller with an input power supply voltage fluctuation rate of 10% or
less. In the case of 200 VAC input, for example, if the controller is used with 180 VAC
during the day and 220 VAC during the night, turn the servo off once and then on again.
If this is not performed, an excessive regeneration error may occur.
(2) Noise
・ Where a surge voltage exceeding 1000V, 1μs may be applied on the primary voltage. Near large inverters, high
output frequency oscillator, large contactors and welding machines. Static noise may enter the lines when this
product is used near radios or televisions. Keep the robot away from these items.
(3) Temperature and humidity
・ Where the atmospheric temperature exceeds 40 degree , lower than 0 degree.
・ Where the relative humidity exceeds 85%, lower than 45%, and where dew may condense.
・ Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.
(4) Vibration
・ Where excessive vibration or impact may be applied. (Use in an environment of 34m/s2 or less during transpor-
tation and 5m/s2 or less during operation.)
(5) Installation environment
・ Where strong electric fields or magnetic fields are generated.
・ Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.)

Working environment 5-114

6Safety

6.3 Precautions for handling

(1) This robot has brakes on all axes. The precision of the robot may drop, looseness may occur and the reduction
gears may be damaged if the robot is moved with force with the brakes applied.
(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accu-
racy may drop due to an excessive backlash, or the backed up data may be destroyed.
(3) Note that depending on the posture, even when within the movement range, the wrist section could interfere
with the base section. Take care to prevent interference during jog. Note1)
(4) The robot arm is configured of precision parts such as bearings. Grease is used for lubricating these parts.
When cold starting at low temperatures or starting operation after long-term stoppage, the position accuracy
may drop or servo alarms may occur. If these problems occur, perform a 5 to 10 minute running-in operation at
a low speed (about a half of normal operating speed).
(5) The robot arm and controller must be grounded with Class D grounding to secure the noise resistance and to
prevent electric shocks.
(6) The items described in these specifications are conditions for carrying out the periodic maintenance and
inspections described in the instruction manual.
(7) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard config-
uration may break due to the fixed installation specifications. In this case, use the machine cable extension (for
flexed)" factory shipment special specifications or options.
(8) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc.
Take care to prevent interference with the workpiece or peripheral devices during operation.
(9) The hanging installation jig can be borrowed from the maker. Order to dealer when need.
(10) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhesive
power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the
coated surface may be damaged when such tape or label is peeled off.
(11) If the robot is operated with a heavy load and at a high speed, the surface of the robot arm gets very hot. It
would not result in burns, however, it may cause secondary accidents if touched carelessly.
(12) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during
a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the pro-
gram data may be destroyed.
(13) If the J1, J2 and J3 axes collide with the mechanical stopper during the automatic operation of the robot, it is
necessary to replace the resin part of the mechanical stopper unit. For the replacement of the resin parts,
please contact Mitsubishi or Mitsubishi's dealer.
If the resin part is not replaced, the mechanism unit and the speed reducer may be damaged significantly when
the axes collide with the mechanical stopper next or subsequent time.
(14) During the robot's automatic operation, a break is applied to the robot arm when the input power supply is
shut down by a power failure, for instance. When a break is applied, the arm may deviate from the operation
path predetermined by automatic operation and, as a result, it may interfere with the mechanical stopper
depending on the operation at shutdown. In such a case, take an appropriate measure in advance to prevent
any dangerous situation from occurring due to the interference between the arm and peripheral devices.
Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to reduce
interference.
(15) Do not conduct an insulated voltage test. If conducted by mistake, it may result in a breakdown. If conducting
an insulation test, although it is not covered by warranty, set the leakage current to 100 mA. If a leakage cur-
rent of 10 mA is set, a low measurement value will be shown due to the leakage current of the built-in AC line
filter.
(16) The fretting may occur on the axis which moving angle is the 30 degree or less, or moving distance is the
30mm or less, or not moves. The fretting is that the required oil film becomes hard to be formed if the moving
angle is small, and wear occurs. The axis which not moved is moving slightly by vibration etc. To prevent the
fretting, recommends to move these axes about once every day the 30 degree or more, or the 30mm or more.

Note1) Jog operation refers to operating the robot manually using the teaching pendant.

5-115 Precautions for handling

 7Appendix

7 Appendix
Appendix 1 ： Specifications discussion material
■ Customer information
Company name Name
Address Telephone

■ Purchased mode
Specification Type
Standard specification Note1) □ RV-6S □ RV-6SL □ RV-6S-SM □ RV-6SL-SM
Clean specification □ RV-6SC □ RV-6SLC

Note1) Replaced with the CR3-535M controller in the case of the "-SM" specification.

■ Shipping special specifications (Settings can be made only at time of shipment)

Item Standard specifications Special shipping specifications
Robot arm Machine cable Note1) □ 5m fixed type □ 2m fixed type: 1S-02CBL-1
Controller Controller structure □ CR2B-574 controller : □ CR3-535M controller :
■ Floor type □ Floor type □ Caster specifications controller

Note1) This specification only applies to the CR2B-574 controller.

■ Options (Installable after shipment)

Item Type Provision, and specifications when provided.
Stopper for changing the 1A-DH-02 J1 axis + side: □ +135° □ +90° □ +45°
Robot arm

operating range of the J1 axis J1 axis - side: □ -135° □ -90° □ -45°

Solenoid valve set 1S-VD0 □ -02/ □ 1 set □ 2 set □ 3 set □ 4 set

1S-VD0 □ E-02
Hand input cable 1S-HC25C-01 □ Not provided □ Provided
Hand output cable 1S-GR35S-01 □ Not provided □ Provided
Hand curl tube 1E-ST040 □ C □ Not provided □ 1 set □ 2 set □ 3 set □ 4 set
Teaching pendant R28TB- □□ □ Not provided □ 7m □ 15m
Pneumatic hand interface 2A-RZ365/2A-RZ375 □ Not provided □ Provided
Parallel I/O interfaceNote1) 2A-RZ361/2A-RZ371 □ Not provided □ 1pc. □ 2pcs. □ 3pcs. □ 4pcs. □ 5pcs. □ 6pcs. □ 7pcs.
External I/O cable 2A-CBL □□ □ Not provided □ 5m-1pc. □ 5m-2pcs. □ 5m-3pcs.
Controller

□ 15m-1pcs. □ 15m-2pcs. □ 15m-3pcs.

CC-Link interface 2A-HR575-E □ Not provided □ Provided
Ethernet interface 2A-HR533-E □ Not provided □ Provided
Extended serial interface 2A-RZ581-E □ Not provided □ Provided
Extended memory cassette 2A-HR432 □ Not provided □ Provided
Personal computer cable RS-MAXY-CBL □ Not provided □ Provided
Personal computer support
3A-01C-WINE □ Not provided □ Windows98/2000/NT4.0/Me/XP CD-ROM
software
Personal computer support
3A-02C-WINE □ Not provided □ Windows98/2000/NT4.0/Me/XP CD-ROM
software mini
Note1) Up to eight units, including the one unit mounted as a standard.

Maintenance parts (Consumable parts)

Maintenance parts □ Backup batteries A6BAT ( ) pcs. □ Backup batteries ER6 ( ) pcs. □ Grease ( ) cans

■ Robot selection check list

Work description □ Material handring □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other ( )
Workpiece mass ( )ｇ Hand mass ( )ｇ Atmosphere □ General enveronment □ Clean □ Dust provided □ Other( )
Remarks
Copy this page and use the copy.

Specifications discussion material Appendix-116

 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU, NAGOYA 461-8670, JAPAN

Authorised representative:
MITSUBISHI ELECTRIC EUROPE B.V. GERMANY
Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany

Oct..2009 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.