Melfa: Industrial Robot Standard Specifications Manual

MITSUBISHI ELECTRIC
MELFA
Industrial Robot
Standard Specifications Manual
RV-1A/RV-2AJ
Art.No.: 132309
2001 05 22
BFP-A8050-B
MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION
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 oper-
ating the robot, and to the measures to be taken when an error occurs or when restart-
ing. 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 follow
this method.
→ Signaling of operation start
CAUTION As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
→ Indication 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 environ-
ment, 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. Failure 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 malfunc-
tioning 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 pri-
ority right for the robot control. Failure to observe this could lead to personal injuries 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 peripheral
devices because of programming mistakes, etc.
CAUTION Make sure that if the safety fence entrance door is opened during automatic operation,
the door is locked or that the robot will automatically stop. Failure to do so could lead to
personal injuries.
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 fingers catching
depending on the posture.
CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF.
If the robot controller main power is turned OFF during automatic operation, the robot
accuracy could be adversely affected.
C.Precautions for the basic configuration are shown below.(When CR1-571 is used for the controller.)
CAUTION Provide an earth leakage breaker that packed together on the primary power
supply of the controller as protection against electric leakage.
Failure to do so could lead to electric shock accidents.
Power supply :Single phase 90-132VAC,180-253VAC.
Rear side of controller
Earth leakage
breaker
(NV)
Cover
Terminal
Cover
Terminal cover
Protective earth
terminal
(PE)
■ Revision history
Date of print Specifications No. Details of revisions
2000-02-08 BFP-A8050Z First print
2000-04-05 BFP-A8050 Formal style
2000-06-09 BFP-A8050-A The power supply voltage of CR1 controller was corrected
2001-03-12 BFP-A8050-B Error in writing correction.

■ Introduction
The "RV-1A" and "RV-2AJ" are compact industrial robots developed with Mitsubishi's advanced technology.
These robots respond to users needs for compact and flexible production facilities generated due to the recent
diffusion of compact and highly accuracy products such as personal computer related devices, information termi-
nal devices and compact electronic devices for mounting on vehicles, and due to shorter product life cycles.
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.
In this manual, the specifications regarding the robot arm are given in Page 5, "2 Robot arm" and following, and the
specifications regarding the controller are given in Page 35, "3 Controller" and following. Refer to the correspond-
ing sections for details on the specifications, options and maintenance parts, etc.
Note:
・ 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 inter-
pret that items not described in this document "cannot be performed.".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
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
1.3 Controller .................................................................................................................................................................................... 1-3
1.4 Contents of the Option equipment and special specification .............................................................................. 1-4
2 Robot arm ........................................................................................................................................................................................... 2-5

2.1 Standard specifications ........................................................................................................................................................ 2-5
2.2 Definition of specifications .................................................................................................................................................. 2-6
2.2.1 Pose repeatability and distance accuracy ............................................................................................................ 2-6
2.2.2 Rated load (mass capacity) ......................................................................................................................................... 2-7
2.2.3 Protection specifications and working environment ......................................................................................... 2-8
(1) Types of protection specifications ...................................................................................................................... 2-8
2.3 Names of each part of the robot ...................................................................................................................................... 2-9
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-10
(1) RV-1A ............................................................................................................................................................................ 2-10
(2) RV-2AJ ......................................................................................................................................................................... 2-11
(3) Mechanical interface and Installation surface of RV-1A/2AJ ............................................................. 2-12
2.5 Tooling ........................................................................................................................................................................................ 2-13
2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-13
2.5.2 Internal air piping ............................................................................................................................................................ 2-14
2.5.3 Internal wiring for the pneumatic hand output cable ...................................................................................... 2-14
2.5.4 Internal wiring for the hand check input cable .................................................................................................. 2-14
2.5.5 Electrical specifications of hand input/output .................................................................................................. 2-17
2.5.6 Air supply circuit example for the hand ............................................................................................................... 2-18
2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-19
2.6.1 Shipping special specifications ................................................................................................................................. 2-19
(1) Machine cable extension ........................................................................................................................................ 2-20
2.7 Options ....................................................................................................................................................................................... 2-22
(1) Motorized hand set ................................................................................................................................................... 2-23
(2) Pneumatic hand set .................................................................................................................................................. 2-25
(3) Solenoid valve set ..................................................................................................................................................... 2-27
(4) Hand input cable ........................................................................................................................................................ 2-29
(5) Hand output cable ..................................................................................................................................................... 2-30
(6) Hand curl tube ............................................................................................................................................................ 2-31
(7) Hand adapter ............................................................................................................................................................... 2-32
2.8 Maintenance parts ................................................................................................................................................................. 2-33
3 Controller .......................................................................................................................................................................................... 3-35

3.1 Standard specifications ...................................................................................................................................................... 3-35
3.1.1 Standard specifications ............................................................................................................................................... 3-35
3.1.2 Protection specifications and operating supply ................................................................................................ 3-36
3.2 Names of each part .............................................................................................................................................................. 3-37
3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-39
3.3.1 Outside dimensions ....................................................................................................................................................... 3-39
3.3.2 Installation dimensions ................................................................................................................................................. 3-40
3.4 External input/output .......................................................................................................................................................... 3-41
3.4.1 Types .................................................................................................................................................................................. 3-41
3.4.2 Explanation ....................................................................................................................................................................... 3-41
3.5 Dedicated input/output ...................................................................................................................................................... 3-42
i
Page
3.6 Emergency stop input ......................................................................................................................................................... 3-44
3.6.1 Connection of the external emergency stop ..................................................................................................... 3-44
3.6.2 Door switch function ................................................................................................................................................... 3-45
3.7 Parallel input/output unit .................................................................................................................................................. 3-46
3.8 Options ...................................................................................................................................................................................... 3-50
(1) Teaching pendant (T/B) ........................................................................................................................................ 3-51
(2) Pneumatic hand interface ..................................................................................................................................... 3-54
(3) Expansion option box .............................................................................................................................................. 3-56
(4) Parallel I/O unit ......................................................................................................................................................... 3-58
(5) External I/O cable .................................................................................................................................................... 3-66
(6) Personal computer cable ....................................................................................................................................... 3-68
(7) Personal computer support software/Personal computer support software mini ....................... 3-70
3.9 Maintenance parts ................................................................................................................................................................ 3-72
4 Software ........................................................................................................................................................................................... 4-73

4.1 List of commands ................................................................................................................................................................. 4-73
(1) MELFA-BASIC Ⅳ commands ............................................................................................................................. 4-73
(2) MOVEMASTER commands ................................................................................................................................... 4-75
4.2 List of parameters ................................................................................................................................................................ 4-78
5 Safety ................................................................................................................................................................................................ 5-81

5.1 Safety ........................................................................................................................................................................................ 5-81
5.1.1 Self-diagnosis stop functions .................................................................................................................................. 5-81
5.1.2 External input/output signals that can be used for safety protection measures ............................. 5-81
5.1.3 Precautions for using robot ...................................................................................................................................... 5-82
5.1.4 Safety measures for automatic operation .......................................................................................................... 5-82
5.1.5 Safety measures for teaching .................................................................................................................................. 5-82
5.1.6 Safety measures for maintenance and inspections, etc. ............................................................................. 5-83
5.1.7 Examples of safety measures .................................................................................................................................. 5-84
5.2 Working environment ........................................................................................................................................................... 5-85
5.3 Precautions for handling .................................................................................................................................................... 5-86
6Appendix ..............................................................................................................................................................................Appendix-87
Appendix 1 ： Specifications discussion material ........................................................................................... Appendix-87
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
(4) Robot arm installation bolts
(5) Instruction manual, Safety 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.
Structural equipment 1-1

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 Vertical five-axis Machine cable fixed type 5m

(RV-1A) multiple-jointed type ・ 1A-5CBL-1
(RV-2AJ)
or
Machine cable
・ Fixed type:1A- □□ CBL-1
・ Flexed type:1A- □□ LCBL-1
Note) □□ refer the length.
Refer to section "1.4" for datails.
Pneumatic hand set ：

Solenoid valve set 4A-HP01(sink type)/4A-HP01E (source type)
<sink type> The set consists of the following parts.
・ 1 set: 1E-VD01 ・ Pneumatic hand ： 1A-HP01/1A-HP01E
・ 2 set: 1E-VD02 ・ Solenoid valve set (1 pc.) ： 1E-VD01/1E-VD01E
<source type> ・ Curl cable ： 1A-GHCD/1A-GHCD
・ 1 set: 1E-VD01E ・ Hand curl tube ： 1A-ST0402C/1A-ST0402C
・ 2 set: 1E-VD02E ・ Pneumatic hand I/F ： 2A-RZ365/2A-RZ375
・ Hand adapter ： 1A-HA01/1A-HA01
Note) With installation bolts.

Hand output cable
・ 1E-GR35S
Motorized hand set ： 4A-HM01
Pneumatic hand customer-manufactured parts
・ Motorized hand ： 1A-HM01

・ Curl cable ： 1A-GHCD
・ Motorized hand I/F ： 2A-RZ364
・ Hand adapter ： 1A-HA01
Hand input cable

・ 1A-HC20
Hand adapter ［Caution］

Hand curl tube Standard configuration
： 1A-HA01
・ 1 set, 2pc. ： 1E-ST0402C equipment
・ 2 set, 4pc. ： 1E-ST0404C
Special shipping
specifications
Note) With installa- Option
tion bolts.
Prepared by customer
Fig.1-1 ： Structural equipment (Robot arm)
1-2 Contents of the structural equipment

1.3 Controller
The devices shown below can be installed on the controller.
Controller
・ CR1-571 Teaching pendant(T/B)
・ R28TB
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
Expansion option box Extended serial I/F CC-LINK I/F ETHERNET I/F Additional axis I/F
・ CR1-EB3 ・ 2A-RZ581-E ・ 2A-HR575-E ・ 2A-HR533-E ・ 2A-RZ541-E
Personal computer support software

Personal computer Personal computer (MS-Windows95/98/NT4.0)
cable Prepared ･ 3A-01C-WINE(CD-ROM)
・ RS-MAXY-CBL by customer Personal computer support software mini
・ RS-AT-RCBL (MS-Windows95/98/NT4.0)
･ 3A-02C-WINE(CD-ROM)
［Caution］
Standard configuration
equipment
Special shipping
specifications
Option
Fig.1-2 ： Structural equipment(Controller)
Controller 1-3
1.4 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

Classifi
Item Type Specifications Descripsion
cation
Pneumatic hand set 4A-HP01 Pneumatic hand, Solenoid valve set (1 The pneumatic hand and required parts
○
pc.), Curl cable, Hand curl tube, Pneu- are prepared in a set.(sink type)
matic hand I/F, Hand adapter, Installation The pneumatic hand and required parts
4A-HP01E bolts ○ are prepared in a set.(source type)
Motorized hand set 4A-HM01 Motorized hand, Curl cable, Motorized The motorized hand and required parts
○
hand I/F, Hand adapter, Installation bolts are prepared in a set.
Solenoid valve set 1E-VD01 1 set(Sink type) ○ A solenoid valve set for the pneumatic
1E-VD02 2 set(Sink type) ○ hand.
1E-VD01E 1 set(Source type) ○
1E-VD02E 2 set(Source type) ○
Hand output cable 1E-GR35S Length 350mm with robot side connector. The cable is connected to the hand
One terminal is not treated. ○
output connector by the customer.
Hand input cable 1A-HC20 Length 200mm with robot side connector. The cable is connected to the sensor
○
One terminal is not treated. by the customer.
Hand curl tube 1E-ST0402C For solenoid valve 1set.:Φ4x2 ○
1E-ST0404C For solenoid valve 2set.:Φ4x4 ○ Curl type air tube
Extended machine cables 1A-10CBL-1 For fixing □ 10ｍ
1A-15CBL-1 (Two sets for power and signal) □ 15ｍ
1A-05LCBL-1 □ 5m
For bending
1A-10LCBL-1 □ 10ｍ
(Two sets for power and signal)
1A-15LCBL-1 □ 15ｍ
Hand adapter 1A-HA01 For RV-M1 hand installation flange conver-
○
sion.
Teaching pendant With 3-position deadman switch/ IP
R28TB Cable length 7m ○
65
Pneumatic hand interface 2A-RZ365 DO: 8 point (Sink type) *1) ○ It is necessary when the hand out-
put signal of the robot arm is used.
(Integrated in the controller.)
2A-RZ375 DO: 8 point (Source type) *1) ○ *1)In RV-1A/2AJ type, even four
points are effective.
Parallel I/O interface DO: 32 point (Sink type)/
2A-RZ361 ○
DI : 32 point (Sink type) Electrical isolated Type
DO: 32 point (Source type)/ (100mA/Point)
2A-RZ371 ○
DI : 32 point (Source type)
External I/O cable 2A-CBL05 5m ○
2A-CBL15 15m ○
Personal computer cable RS-MAXY-CBL 3m for PC-AT compatible model ○
RS-AT-RCBL ○
Personal computer MS-Windows95/98/NT4.0
3A-01C-WINE CD-ROM ○
Support software (With the simulation function)
Personal computer MS-Windows95/98/NT4.0
Support software mini 3A-02C-WINE CD-ROM ○
(Without the simulation function)
Expansion option box CR1-EB3 Up to three option cards can be
○ Install on the side of the controller
mounted
Extended serial interface RS-232C x 1 CR-EB3 is need.
2A-RZ581-E ○
RS-232C or RS-422 x 1
CC-Link interface 2A-HR575-E Local station (The local station alone is for MELSEC PLC with CC-Link
○
supported.) connection. CR-EB3 is need.
ETHERNET interface 2A-HR533-E ETHERNET x 1 ○ CR-EB3 is need.
Addthonal axis interface 2A-RZ541-E SSC x 1 MR-J2 servoAmplifer Unit connec-
○
Up to 8 axises can be added tion. CR-EB3 is need.
Note) In the classification column, ○ refers to an option,and □ to a Sipping special specifications.
1-4 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-1A RV-2AJ
Degree of freedom 6 5
Installation posture On floor, hanging
Structure Vertical, multiple-joint type
Drive system ACservo motor
Position detection method J1 toJ3:50W with brake, J4,J6:15W no brake, J5:15Wwith brake
Type Absolute encoder
Shoulder shift 0
Upper arm 250
Arm length Fore arm ｍｍ 160
Elbow shift 90 0
Wrist length 72
J1 300(-150 to +150)
J2 180(-60 to +120)
Operating J3 　 95(+60 to +155) 230(-110 to +120)
Degree
range J4 320(-160 to +160) －
J5 180(-90 to +90)
J6 400(-200 to +200)
J1 180
J2 90
Speed of J3 Degree/ 135
motion J4 s 180 －
J5 180
J6 210
Maximum resultant velocity mm/s Approx. 2200 Approx. 2100
Maximum
Note1) 1.5 2
Load kg
Rating 1 1.5
Note2) ｍｍ ± 0.02
Pose repeatability
Ambient temperature ℃ 0 to 40
mass kg Approx. 19 Approx. 17
J4 1.44 －
Allowable
J5 N･m 1.44 2.16
moment load
J6 0.73 1.10
J4 2.16x10-2 －
Allowable 2 -2
J5 kg ･ｍ 2.16x10 3.24x10-2
inertia
-3
J6 5.62x10 8.43x10-3
Arm reachable radius
mm 418 410
(front p-axis center point)
Four input signals (Hand section), Four output signals (Base section),
Tool wiring Note3)
Motorized hand output (Hand section)
Tool pneumatic pipes Φ4x4 (Base to hand section)
Supply pressure MPa 0.5 ± 10%
Protection specifica-
IP30
tionNote4)
Note1)The maximum load capacity is the mass with the flange posture facing downword at the ± 10 degree
limit.
Note2)The pose repeatability details are given in Page 6, "2.2.1 Pose repeatability and distance accuracy"
Note3)When using the 4-point hand output, the pneumatic hand interface (option) is required.
Note4)The protection specification details are given in Page 8, "2.2.3 Protection specifications and working envi-
ronment" .
Standard specifications 2-5

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.
(1) The pose accuracy in terms of coordinates (XYZ) for the standard point which is obtained repeatedly under
the same conditions and motions when the robot is on an operating course.
(2) The standard point is the intersection between the J6 axis and the flange surface for tooling installation.
2.2.1 Pose repeatability and distance accuracy

This robot, the pose repeatability and distance accuracy are defined and calculated in Table 2-2.
Table 2-2 ： Specified accuracy

Item Specified conditionds
pose repeatability The value equal to the average of the maximum value and the minimum value of the group of
attained poses, with (+) or (-) added.
Distance accuracy The distance from the teaching point to the point that is equal to the average of the maximum
value and the minimum value of the group of attained poses.
Group of attained poses

Programmed pose (X, Y, Z)
Min. Max. Measuring conditions

Load ................................................................A load equal to the rated
load at the mass capacity
reference point
Double of pose repeatability
The number of repitition and speed ..100 times at 100% speed
Measuring instrument ..............................Non-contact displace-
Distance
accuracy ment meter
Fig.2-1 ： Specified accuracy
[Caution] The pose accuracy given in the specifications is the accuracy measured under the same conditions. It
does not include the effect of the robot working environment or conditions. Thus, even when used on
the same path, the repeatability according to the presence of a workpiece, or the repeatability when the
temperature changes will cause arm slack or expansion, so the accuracy will drop slightly. This also
applies to when the teaching speed and actual speed are different or when the coordinates set with val-
ues.
2-6 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. 2-2 and Fig. 2-3 shows the distribution dimensions for the center of gravity in the case where the vol-
ume 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.
Maximum load capacity

with the flange posture facing downword
150
136
0.3kg
106
100
0.5kg
75
1.0kg
50
1.5
kg
300 250 200 150 100 72 0
50
75 Rotation center for J6 axis
100
106

150
268 207 147 97
Fig.2-2 ： Position of center of gravity for loads (for loads with comparatively small volume) ： RV-1A
Maximum load capacity

with the flange posture facing downword
150
129
0.5kg 100
91
1.0kg 75
1.5kg
56
2kg
300 250 200 150 100 72 0
56
Rotation center for J6 axis
75
91
100
150
254 180 147 110
Fig.2-3 ： Position of center of gravity for loads (for loads with comparatively small volume) ： RV-2AJ
Definition of specifications 2-7

２ Robot arm
2.2.3 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 2-3.
Table 2-3 ： Protection specifications and applicable fields

Protection IEC Standards
Applicable field Remarks
specifications value
General-purpose envi- IP30 General assembly

ronment specifications Slightly dusty environment
【Information】
・ The IEC IP30
IP30 refers to a protective structure with which the tip of a solid object, such as a tool or wire, having a
diameter or thickness exceeding 2.5mm cannot enter. No particular protection is provided against the entry of
water.
The warranty is invalid for any faults that occur when the robot is used under the following conditions.
1) In surroundings that generate inflammable gases or corrosive gasses.
2) In surroundings where water, oil, and chips fall directly on the robot.
3) In surroundings that generate a large amount of dust or oil mist.
2-8 Definition of specifications

２ Robot arm
2.3 Names of each part of the robot
Fore arm
＋
＋
Elbow block
J5-axis Note)
J4-axis
－
＋
－
＋
－ J3-axis
J6-axis
－
Mechanical interface
(Hand installation flange surface) Upper arm
Shoulder
－＋－ J2-axis
J1-axis
Base
Note)J4-axis dosen't exist for 5-axis type.
Fig.2-4 ： Names of each part of the robot
Names of each part of the robot 2-9

２ Robot arm
2.4 Outside dimensions ・ Operating range diagram

(1) RV-1A
Ｐ point path
Operating range at section of X-X
Flange downward
limit line(dotted line)
X X
Machine cable
(Connect to
the controller)
(Front)
Approx. 70
Flange downward
singular point path 150 or more
(Back projects)
Solenoid valve (optional)
installation position Ｐ point path
pose
Note 1) Refer to Fig. 2-7 for the hand installation flange section and installation base section dimensions.
Fig.2-5 ： Outside dimensions for RV-1A
2-10 Outside dimensions ・ Operating range diagram

２ Robot arm
(2) RV-2AJ
Ｐ point path
Operating range at section of X-X
Flange downward
limit line(dotted line) P
X X
Machine cable
(Connect to Back side limitations
the controller) (Two dotted line)
(Front)
Approx. 70
150 or more
Ｐ point path
Solenoid valve (optional)
installation position
pose
Note 1) Refer to Fig. 2-7 for the hand installation flange section and installation base section dimensions.
Fig.2-6 ： Outside dimensions for RV-2AJ
Outside dimensions ・ Operating range diagram 2-11

２ Robot arm
(3) Mechanical interface and Installation surface of RV-1A/2AJ
φ 5H7, depth 8
( reference hole )
4-M5 screw,depth 8
4-M3 screw, depth 6
depth 4
depth 6.5
φ20H7,
φ40H8,
View from A
Detail of Mechanical interface

(ISO9409-1 )
Front
4-φ9 hole
(Installation bolts for M8×35)
Installation
reference surface
View from B : Installation dimension details
・The contact section shown with shading on the robot installation surface must be finished to ▽▽.
・The section marked with * must be contacted against the installation surface to ensure the robot rigidity.
Fig.2-7 ： Mechanical interface and Installation surface of RV-1A/2AJ
2-12 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.
Number of coupling for hand

AIR OUT (3) 1 to 4 : Secondary piping
1 2 3 4 couplings (φ4)
Note) This parts dosn't exist for 5-axis type
Note) Solenoid valve set(optional)

installation section
a)
(1) Hand input signal or
motorized hand
connectors
b)
987654321
Secondary piping GR1 to GR4 : Connect to the b)

ＣＯＮ１Ｈ pneumatic hoses(φ4) Hand output connector
Hand connector pin assignment Note2)
Primary piping
pneumatic hoses(φ6*1)
Hand input signal and Note2)
motorized hand
cables
Secondary piping hoses

(φ4*4)
CN2 CN1
Magnification Machine cable connector

(Power supply)
GR1 GR2 GR3 GR4
Note1)When using the hand output signal, it is necessary Machine cable connector
to use the optional pneumatic hand interface (Signals)
(2A-RZ365/2A-RZ375)
Note2)The user must prepare the φ4 and φ6 1 2 3 4 (2)GR1 to GR4:Connect to the b)
　　　　 pneumatic hoses for connecting to the solenoid AIR IN Hand output connector
valve set. Number of connector
for hand output. (4) AIR IN 1 to 4:Connect to the a)
Number of coupling for hand. Secondary piping air coupling(φ4)
Connector and pneumatic coupling

Robot side(Robot arm side) Counter side (customer-prepared)
No Name Qty. Connectors, Manufacturer
Connector pins Connector Connector pins
couplings
(1) Connector 1 SMP-09V-BC BHF-001GU-0.8BS SMP-09V-B BYM-001T-0.6 Japan solderless ter-
minal MFG. Co.,LTD
(2) Connector 4 SMP-02V-BC BHF-001GU-0.8BS SMR-02V-B BYM-001T-0.6
(3) Coupling 4 TSH4-M5M －－－ Koganei
(4) Coupling 4 UKBL4 －－－
Fig.2-8 ： Wiring and piping for hand
Tooling 2-13
２ Robot arm
2.5.2 Internal air piping

(1) The robot has four φ4 x 2.5 urethane hoses from the pneumatic entrance on the base section to the foure-
arm side.
(2) The hose end section has four coupling bridges for a φ4 hose on both the base and forearm side.
(3) The robot can have up to two pneumatic valve sets on the side of base (optional).
(4) Refer to Page 27, "Solenoid valve set" for details on the electronic valve set (optional).
2.5.3 Internal wiring for the pneumatic hand output cable

(1) The hand output cable extends from the connector of the base section to the side of the base section.
(0.2mm2 x 2 : 4 cables) The cable terminals have connector bridges for four hand outputs. The connector
names are GR1 to GR4.
2.5.4 Internal wiring for the hand check input cable

(1) The hand check input cable is wired to four points on the forearm side from the base.
2-14 Tooling
２ Robot arm
During use of
pneumatic
hand I/F.
General-purpose
input No.
<Hand check 1> White 900

1 1
<Hand check 2> Black 901
2 2
3 3
4 4 <Hand check 4> Black 903
White Robot
5 5 <+24V> controller
<COM> Black
6 6
<DC+> White *1
7 7
<DC-> Black *1
8 8
9 9
During use of Note1）*1 is dedicated for the motorized
motorized hand.
hand I/F(optional) It is valid when the motorized
hand interface is installed.
1 <Hand check 1>

2 <Hand check 1> GR1
White
900 １
3 General-purpose output +24V ２ Black
4 Hand 1 GR2
5 <+24> ON/OFF 901
901 １ White
General-purpose output +24V ２ Black
6 <COM>
GR3 White
7
General-purpose output 902
902 １
Black
8 Hand 2 +24V ２
9 ON/OFF GR4
903
903 １ White
General-purpose output ２ Black
+24V
During use of
pneumatic
hand I/F(optional)
Solenoid valve
φ4 quick coupling bridge(1 to 4) section
φ４ quick
coupling
AIR OUT1
φ4 hose(4 hoses) AIR IN1 Solenoid valve
OUT1 AIR IN2
IN2
AIR OUT2
OUT2 installation Solenoid valve
AIR OUT3
OUT3 AIR IN3
IN3 section manifold
AIR OUT4 AIR IN4
IN4 (optional) Connect to the
OUT4
primary air supply
(φ6 hose)
Wrist section Shoulder section Base section
*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 2-15
２ Robot arm
During use of
pneumatic
hand I/F.
General-purpose
input No.

1 1
<Hand check 2> Black 901
2 2
3 3
4 4 <Hand check 4> Black 903
White Robot
5 5 <COM> controller
<+24V> Black
6 6
<DC+> White *1
7 7
<DC-> Black *1
8 8
9 9
During use of Note1） *1 is dedicated for the motorized
motorized hand.
hand I/F(optional) It is valid when the motorized
hand interface is installed.
1 <Hand check 1>

2 <Hand check 1> GR1
White
900 １
3 General-purpose output 24G ２ Black
4 Hand 1 GR2
5 <COM> ON/OFF 901
901 １ White
General-purpose output 24G ２ Black
6 <+24>
GR3 White
7 902
902 １
General-purpose output Black
8 Hand 2 24G ２
9 ON/OFF GR4
903
903 １ White
General-purpose output ２ Black
24G
During use of
pneumatic
hand I/F(optional)
Solenoid valve
φ4 quick coupling bridge(1 to 4) section
φ４ quick
coupling
AIR OUT1
φ4 hose(4 hoses) AIR IN1 Solenoid valve
OUT1 AIR IN2
IN2
AIR OUT2
OUT2 installation Solenoid valve
AIR OUT3
OUT3 AIR IN3
IN3 section manifold
AIR OUT4 AIR IN4
IN4 (optional) Connect to the
OUT4
primary air supply
(φ6 hose)
Wrist section Shoulder section Base section
*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)
2-16 Tooling
２ Robot arm
2.5.5 Electrical specifications of hand input/output
Table 2-4 ： Electrical specifications of input circuit

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

Item Specification Internal circuit
Type Transistor output <Sink type>
No. of output points 4
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) Cannot be exchanged 1.6A
RG
(24V-GND)
<Source type>
Fuse
1.6A 24/12V
GRn
* GRn ＝ GR1 ～ GR8

Note) An optional air hand interface (2A-RZ365) is required to use hand output.
Tooling 2-17
2 Robot arm
2.5.6 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.
Pressure switch
To the solenoid valve

primary air supply port
（0.5MPa ±10%）
Pneumatic source
0.7MPa less Filter Regurater
Fig.2-11 ： Air supply circuit example for the hand
2-18
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 2-19

２ Robot arm
(1) Machine cable extension
■ Order model ： ● Fixed type(10m) :1A-10CBL-1

● Fixed type(15m) :1A-15CBL-1
● Flexed type(5m) :1A-05LCBL-1
■ Outline
This cable is exchanged with the standard machine cable (5m) accessory 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 2-6 ： Configuration equipments and types
Qty.
Part name Model Remarks
Fixed Flexed
Motor signal cable (for fixed type) 1E- □□ CBL(S)-N 1 cable － 10m, or 15m each
Motor power cable (for fixed type) 1A- □□ CBL(P)-1 1 cable － 10m, or 15m each
Motor signal cable (for flexed type) 1E- □□ LCBL(S)-N － 1 cable 5m, 10m, or 15m each
Motor power cable (for flexed type) 1A- □□ LCBL(P)-1 － 1 cable 5m, 10m, or 15m each
Nylon clamp NK-18N － 2 pcs.
Nylon clamp NK-14N － 2 pcs.
Silicon rubber － 4 pcs.
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 2-7.
Table 2-7 ： Conditions for the flexed type cables

Item Specifications
Minimum bending radius 100R or more

Cable bear isovolumetric ration 50% or less
Maximum movement speed 2000mm/s or less
Warranty life (no.) 7.5 million times
Environmental proof Oil-proof specification sheath
(for silicon grease, cable sliding lubricant type)
Cable configuration Motor power cable Φ6.5x10
Motor signal cable Φ7x6 Φ1.7x1
[Caution] The warranty life may greatly differ according to the usage state (items related to Table 2-7 and to the
amount of silicon grease applied in the cable conduit.
2-20 Shipping special specifications, options, and maintenance parts

２ Robot arm
■ Cable configuration
The configuration of the flexible cable is shown in Table 2-8. Refer to this table when selecting the cable bare.
Table 2-8 ： Cable configuration

Motor signal cable Motor power cable
Item 1A- □□ LCBL(P)-1
1E- □□ LCBL(S)-N
No. of cores 0.2mm2-4P 0.75mm2 0.75mm2-3C

Finish dimensions Approx. φ7mm Approx. φ1.7mm Approx. φ6.5mm
No.of cables used 6 cables 1 cable 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 and controller.
(2) Wind the silicon rubber around the cable at a position 300 to 400 mm from the robot arm and controller as
shown in Fig. 2-12, and fix with the nylon clamp to protect the cable from external stress.
300 mm
～4
00m ～ 400
m 300
1A-□□LCBL(P)-1
-□□LCBL(P)-1
1E-□□LCBL(S)-N
Nylon clamp
NK-14N
Nylon clamp
NK-14N
Nylon clamp Nylon clamp
NK-18N NK-18N
Nylon clamp
Silicon rubber
Fig.2-12 ： Fixing the flexible cable
Shipping special specifications, options, and maintenance parts 2-21

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.
2-22 Options
２ Robot arm
(1) Motorized hand set

■ Order type ： 4A-HM01
■ Outline
・ Motorized hand and the required parts come in a set.

・ As air is not required, the hand can be used in laboratories.
・ The gripping force can be adjusted.
・ The life is 10,000,000 times at a 50% load. The 50% load refers to when the max. load
mass in Table 2-10 are all within 50%.
■ Configuration
Table 2-9 ： Configuration equipment
Part name Type Qty. Remarks
Motorized hand 1A-HM01 1 pc.

Curl cable 1A-GHCD 1 pc.
Motorized hand I/F 2A-RZ364 1 pc.
Installation bolt (with hole) M3x8 4 bolts
M3x12 2 bolts
Hand adapter 1A-HA01 1 pc. The adapter for installing the motorized hand to the
robot's mechanical interface.
■ Specifications
Table 2-10 ： Motorized hand specifications
Item Spacifications Remarks
Drive method DC servo motor

Grip force 4.9 ～ 68.6N
（Each side grip is2.45 ～ 34.3N）
Life 1,000,000 times cycle 100% load.
10,000,000 times cycle 50% load.
Repetition accuracy 0.03mm
Ambient temperature 0 to 40 ℃
Ambient humidity 45 to 85%
Atomosphere With no of oil mist, chip, powder dust.
Operation confirmation sensors None
Mass 0.59kg Including the adapter.
Maximum load per fin- Radial 300N
ger Mpo moment 6.2N ・ m When installing the finger attachment, avoid
Mro moment 10.8N ・ m shock or excessive moment to the tips.
Myo moment 6.0N ・ m

Radial
Fp Fr
Mro Fy
Mpo
Lp
Lr
(=Lr*Fr) Myo
(=Lp*Fp)
Ly
(=Ly*Fy)
The stroke cannot be adjusted.

Others
Prepare the finger procured by the customer.
Options 2-23
２ Robot arm
Motorized hand body
Adapter 4-Φ3.4 hole

1A-HA01
4-M3x8 (90 degree division)PCD70
(Hexagon socket bolt) (Φ6.5x4 spot facing
Approx. 70 on the reverse side)
2-M3x12
(Hexagon socket bolt)
4*2-M3
Hand body
(From finger center)
Hand curl cable
Connector Connector
(150) [Wiring system diagram]

Yellow
For Purple
Curl cable for bending Curl cable pneumatic Brown
Type 1A-GHCD hand Blue
Red
Black
Spare
Spare
Spare
Fig.2-13 ： Motorized hand outside dimensional drawing
2-24 Options
２ Robot arm
(2) Pneumatic hand set
■ Order type: 4A-HP01 (Sink type)

4A-HP01E (Source type)
■ Outline
Pneumatic hand and the required parts come in a set.
The hand has a life of 10 million cycles.
There is a sensor at the open/close end.
■ Configuration
Qty.
Part name Type Remarks
4A-HP01 4A-HP01E
Pneumatic hand 1A-HP01 1 pc. -

Pneumatic hand body.
1A-HP01E - 1 pc.
Hand curl tube (1 set: 2pc.) 1A-ST0402C 1 pc. 1 pc. Refer to the section on Page 31, "(6) Hand curl tube".
Curl cable 1A-GHCD 1 pc. 1 pc.
Pneumatic hand interface 2A-RZ365 1 pc. - Refer to the section on Page 54, "(2) Pneumatic hand inter-
2A-RZ375 - 1 pc. face"
Solenoid valve set (1 set) 1E-VD01 1 pc. -

Refer to the section on Page 27, "(3) Solenoid valve set".
1E-VD01E - 1 pc.
Installation bolt (with hole) M3 x 8 4 bolts 4 bolts
M3 x 12 4 bolts 4 bolts
Adapter 1A-HA01 1 pc. 1 pc. The adapter for installing the pneumatic hand to the robot's
mechanical interface.
■ Specifications
Table 2-12 ： Pneumatic hand specifications
Item Spacifications Remarks
Operating fluid Clean air

Operating pressure range 0.04 to 0.7MPa
Operating temperature range 0 to 40 ℃
Open/close stroke 12+2
0 mm
Life 10 million cycles or more

Operating method Double action
Mass 0.45kg Includes the adapter
Open/close confirmation sensor Open edge and close edge
Pneumatic coupling size Φ4 (quick coupling) Connection hose diameter: Φ4
Maximum load per finger Radial 686N
Mpo moment 6.07N ・ m When installing the finger attachment, avoid shock or
Mro moment 10.6N ・ m excessive moment to the tips.
Myo moment 5.88N ・ m

Radial
Fp Fr
Mro Fy
Mpo
Lp
Lr
(=Lr*Fr) Myo
(=Lp*Fp)
Ly
(=Ly*Fy)
Options 2-25
２ Robot arm
Pneumatic hand body
Adapter
Type:1A-HA01 4-M3x8 4-Φ3.4 hole
(Hexagon socket bolt) (90 degree division)PCD70
Approx. 70 (Φ6.5x4 spot facing
on the reverse side)
4-M3x12
(Hexagon socket bolt)
Hand body
24.5
8 5
(From finger center)
Hand curl cable
Connector Connector
[Wiring system diagram]
IN1(open) Yellow
(150) Purple
IN2(close)
Brown
Blue
Curl cable for bending Curl cable Red
For motorized hand
Type 1A-GHCD Black
Spare
Spare
Spare
70
60
Attachment maximum length L cm
50 10
Gripping force N
40 20
30 30
20 40
10 50
0.1 0.2 0.3 0.4 0.5 0.6 0.7

Pneumatic pressure MPa
Indication of gripping force and maximum

length of finger attachment
Fig.2-14 ： Pneumatic hand outside dimensional drawing
2-26 Options
２ Robot arm
(3) Solenoid valve set
■ Order type: One set: 1E-VD01(Sink type)/1E-VD01E(Source type)

Two sets: 1E-VD02(Sink type)/1E-VD02E(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
Qty.
Part name Type Remark
One set Two sets
Solenoid valve set (1 set) 1E-VD01/ Connecting the Page 30, "(5) Hand output cable".
1 pc. －
1E-VD01E M3x25 Two screws (Installation screws)
Solenoid valve set (2 sets) 1E-VD02/ 1E-VD01/VD02 are the sink type.
－ 1 pc. 1E-VD01E/VD02E are the source type.
1E-VD02E
■ Specifications
Table 2-14 ： Valve specifications
Item Specifications
Number of positions 2
Port 5
Valve function Double solenoid
Operating fluid Clean air
Operating method Pilot type
Effective sectional area (CV value) 1.5mm(0.08)
Oiling Unnecessary
Operating pressure range 0.2 to 0.7MPa
Guaranteed proof of pressure 1.0MPa or more
Response time 12msec or less
Max. operating frequency 5c/s
Ambient temperature -5 to 50 ℃
Table 2-15 ： Solenoid specifications

Item Specifications
Method Built-in fly-wheel diodes with surge protection

Operation voltage DC24V ± 10%
Current value 40mA
Insulation B type
Insulation resistance 100MΩ or more
Surge protection Fly-wheel diode
Options 2-27
２ Robot arm
(1)(4) (2) (6) 35.6

GR3
(1)
GR1 SOL2A
SOL1A
2- φ 3.3
(24)
(30)
(82)
(3)
(28)
GR2 SOL1B
SOL2B
(5)
GR4 28.4
36.4 (20)or less (45)or less
(10)(11)
Part 1 2
Part name Specifications
no. sets sets
(1) Solenoid valve 1 2
(2) Manifold block 1 1
(3) Quick coupling 2 4 φ4
(4) Block plate 1 0
(5) Quick coupling 1 1 φ6
(6) Silencer 1 1
(10) Connector 2 4 SMR-09V-B
(11) contact 4 8 SYM-001T-0.6
(12) Installation screw 2 2 M3x25
<Sink type> Connector name

<Source type> Connector name
Black Black
1 　Hand1ON GR1 1 　Hand1ON GR1
SOL1A Red 2 　+24V
SOL1A Red 2 　24G
Black 1 　Hand1OFF
Black 1 　Hand1OFF
SOL1B Red 2 　+24V GR2 SOL1B Red 2 　24G GR2
Black Black
1 　Hand2ON 1 　Hand2ON
SOL2A Red 2 　+24V
GR3 SOL2A Red 2 　24G
GR3
Black Black
1 　Hand2OFF 1 　Hand2OFF
SOL2B Red 2 　+24V
GR4 SOL2B Red 2 　24G
GR4
Fig.2-15 ： Outline dimensional drawing
2-28 Options
２ Robot arm
(4) Hand input cable
■ Order type: 1A-HC20
■ 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
Hand input cable 1A-HC20 1 cable
■ Specifications
Table 2-17 ： Specifications
Item Specifications Remarks
Size x cable core 0.2mm2 x 8 cores

Total length 370mm (Including the curl section, which is 150mmlong）
(1)
φ11
SMR-09V-N
60 ± 10 150 ± 10 160 ±10
Sink Source
type type
(Yellow) 1 IN1 IN1
(Purple) 2 IN2 IN2
(Green) 3 IN3 IN3
(White) 4 IN4 IN4
(Brown) 5 24V COM
(Blue) 6 COM 24G
(Red) 7 Not use Not use
(Black) 8 Not use Not use
9 Not use Not use
Fig.2-16 ： Outside dimensional drawing and pin assignment
Options 2-29
２ Robot arm
(5) Hand output cable
■ Order type: 1E-GR35S
■ 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 connector on the back of
the robot arm. The other end of the cable is connected.
■ Configuration
Hand output cable 1E-GR35S 1 cable
■ Specifications
Item Specifications Remarks
Size x Cable core 0.3mm2 2 cores x 4 sets (total 8 cores) One side connector and one side cable connection
Total length 350mm
(1)(2)
(3)
0
35
＊
＊＊ * End cable connection
・ Configuration Connector Sink
type
Source
type
White 1
Part Black GR1 Hand 1 ON Hand 1 ON
Part name Qty. Specifications 2 +24V 24G
no. White
1 Hand 1 OFF Hand 1 OFF
Black GR2
(1) Connector 4 SMR-02V-B 2 +24V 24G
White Hand 2 ON
(2) Connector 8 BYM-001T-0 Black
1 GR3 Hand 2 ON 24G
2 +24V
(3) Twisted cable 4 0.3mm2 x 2 cores White
1 GR4 Hand 2 OFF Hand 2 OFF
Black +24V 24G
2
Fig.2-17 ： Outline dimensional drawing and pin assignment
2-30 Options
２ Robot arm
(6) Hand curl tube
■ Order type: One set (2 pcs.) : 1E-ST0402C

Two sets (4 pcs.) : 1E-ST0404C
■ Outline
The hand curl tube is a curl tube for the pneumatic hand.
■ Configuration
Hans curl tube (One set: 2 pcs.) 1E-ST0402C 1 pc. For single-hand: Φ4 tube, 2pcs.
Hans curl tube (Two set: 4 pcs.) 1E-ST0404C 1 pc. For double hand: Φ4 tube, 4pcs.
■ Specifications
This option can be installed on clean-type, but its cleanliness is not under warranty.

Item Specifications
Material Urethane
Size Outside diameter: Φ4 x Inside diameterΦ2.5
180 (Robot side)
250
200
(Tooling side)
wo s t),
ets)
e
φ 3 (One s
6 (T
8
φ2
Options 2-31
２ Robot arm
(7) Hand adapter
■ Order type ： 1A-HA01
■ Outline
This is installed on the robot arm's mechanical interface.
The conventional model RV-M1 and the mechanical interface are compatible.
This is also included with the optional motorized hand set and pneumatic hand set.
■ Configuration
Adapter BU164D693H01 1 pc.

Installation bolt (with hole) M3 x 8 4 pc.
■ Specifications
Item Specifications
Mass 0.07kg
Material Aluminum alloy
4-M3 screw hole

(4-constant pitch)
*For installation
4-3.4 reamer through
Φ6.5 counterbore
depth 4
(4-constant pitch)
Cross-section A-A
2-32 Options
２ Robot arm
2.8 Maintenance parts

The consumable parts used in the robot arm are shown in Table 2-24. 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 2-24 ： Consumable part list

No. Part name Type Qty. Usage place Supplier
1 Lithium battery A6BAT 5 In the shoulder cover

Mitsubishi Electric
2 Grrase SK-1A As needed Reduction gears of each axis
Maintenance parts 2-33

２ Robot arm
2-34 Maintenance parts

3Controller
3 Controller
3.1 Standard specifications
3.1.1 Standard specifications
Table 3-1 ： Standard specifications of controller
Item Unit Specification Remarks
Type CR1-571
Number of control axis Simultaneously 6(Maximum)
CPU 64 bit RISC, and DSP
Memory Programmed positions and point 2,500
capacity No. of steps step 5,000
Number of programs 88
Robot language MELFA-BASIC Ⅳ
MOVEMASTER COMMAND
Teaching method Pose teaching method ,MDI method
External input and output point 16/16 Max. 240/240 Note1)
input and
Dedicated input/output point Assigned with general-purpose input/output "STOP" 1 point is fixed
output
Hand open/close input/ Up to 4 output points can be added
point Input 4 point/Output 0 point
output as an optionNote2)
Emergency stop input point 1 Single emergency line
Door switch input point 1 Single door switch line
Interface RS-232C port 1
RS-422 port 1 Dedicated for T/B
Dedicated for pneumatic hand inter-
Hand dedicated slot slot 1
face
Expansion slot slot 3 Expansion option box used
used for general-purpose input/out-
Robot input/output link channel 1
put
Power Input voltage range V 1-phase,AC90 to 132 Note3)
source 1-phase, AC180 to 253
Power capacity KVA 0.7 Does not include rush current Note4)
Outline dimensions mm 212(W)x290(D)x151(H) Excluding protrusions
Mass kg Approx.8
Construction Self-contained floor type, Opened type IP20
Operating temperature range ℃ 0 to 40
Ambient humidity %RH 45 to 85 Without dew drops
Grounding Ω 100 or less D class grounding earthNote5)
Paint color Light gray Munsell7.65Y7.64/0.73
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. Note that the pneumatic
hand interface has 8 output points, but the robot arm side has 4 points.
Note3) Input voltage is restricted for the specification of an earth leakage beaker (NV30-**).
The voltage of the underline part is default.
･ 90 to 132VAC, or 180 to 253VAC ("NV30-FA", standard spec.)
･ 230VAC ± 10 ％ ("NV30-FAU", CE spec.)
･ 90 to 132VAC, or 180 to 253VAC ("NV30-FAU", except CE spec.).
Note4) The power capacity (0.7kVA) is the maximum 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-1A/2AJ is approx. 0.2kw.
Note5) The robot must be grounded by the customer.
Standard specifications 3-35

3Controller
3.1.2 Protection specifications and operating supply

A protection method complying with the IEC Standard IP20 （Opened type） is adopted for the controller.
IEC's 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.
Refer to the section Page 85, "5.2 Working environment" for details on the working environment.
3-36 Standard specifications

3Controller
3.2 Names of each part
<Front> <Front side of operation panel>

9) 2) 7) 4) 15) 5)
EMG.STOP
STATUS NUMBER CHANG DISP
UP
11) DOWN
MODE SVO ON START RESET
TEACH
AUTO AUTO
(Op.) (Ext.) REMOVE T/B
SVO OFF STOP END
14) 6)
1)
Front operation panel 12) 10) 13) 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.
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.
Names of each part 3-37

3Controller
(6)
(7)
(5)
(1)
(2)
(4)
(3)
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 signals)........ Connects to the robot arm base. (CN2 connector)
(3)Power supply terminals.
(4)Fuse box.
(5)External input/output signal connector.
(6)Network cable connector for parallel I/O unit expansion.
(7)Emergency stop switch and door switch terminals.
3-38 Names of each part

3Controller
3.3 Outside dimensions/Installation dimensions

3.3.1 Outside dimensions
(170 or more)
(13)
(40)
290
200
49
(38)
EMG.STOP
STATUS NUMBER CHANG DISP
UP
DOWN

151
TEACH
AUTO AUTO
SVO OFF STOP END
(15)
(31) 150 (31)

(2.5) 212 (2.5)
Fig.3-3 ： Outside dimensions of controller
Outside dimensions/Installation dimensions 3-39

3Controller
3.3.2 Installation dimensions
50 STATUS NUMBER
EMG.STOP
50
CHANG DISP
UP
DOWN
TEACH
AUTO AUTO
SVO OFF STOP END
170 or more
Fig.3-4 ： Installation of controller
3-40 Outside dimensions/Installation dimensions

3Controller
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.
(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 54, "(2) Pneumatic
hand interface" is required.)
No. of input/output points Connection

Class Name
Input Output format
Standard Emergency stop 1 1 Terminal block

Standard Parallel input/output Occupies 16 general-purpose points/(6) Occupies 16 general-purpose points/(4)
Connector
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 54, "(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 240
points and output 240 points of maximums can be used including 16 points input and 16 points output of standard.
Refer to Page 58, "(4) Parallel I/O unit" for details on the parallel input/output unit.
External input/output 3-41

3Controller
3.5 Dedicated input/output

The functions shown in Table 3-2 are provided for the dedicated input/output functions.
Each parameter indicated 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.
AUTOENA Automatic opera- Disables automatic operation when Automatic operation Outputs the automatic operation
tion enabled input inactive, and enables automatic Ｌ enabled output signal enabled state.
signal operation when active.
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 Slot initialization Resets the wait state, and initial- Program selection Outputs that the slot is in the program
Ｅ
input signal izes all slots. 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-
Ｌ
signal tion output signal ing.
SRVOFF Servo ON enabled Sets all mechanisms to servo ON Servo ON enabled Outputs the servo ON enabled state.
Ｌ
input signal enabled. 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
Ｅ
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 esignates the setting value for the
input signal program No. with numeric value Ｅ None
input signals.
OVRDSEL Override selection esignates the setting value for the
input signal override with the numeric value Ｅ None
input signals.
3-42 Dedicated input/output

3Controller
Parameter Input Note1) Output

name Name Function Level Name Function
IODATA Numeric value input Used to designate the program No., Numeric value output Used to output the program No., over-
Note2) Ｌ
(start No., end No.) override value., mechanism value. (start No., end No.) ride value., mechanism No.
PRGOUT Program No. out- Requests output of the program Outputs that the program No. is being
Program No. output
put request No. Ｅ output to the numeric value output sig-
signal
nal.
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
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.
HNDERR5 Mechanism 5 hand Mechanism 5 hand
error input signal error output signal
AIRERR1 Mechanism 1 pneu- Mechanism 1 pneu-
matic pressure matic pressure error
error input signal output signal.
Request the pneumatic pressure Outputs that a pneumatic pressure
：：Ｌ：
error occurrence. error is occurring.
AIRERR5 Mechanism 5 pneu- Mechanism 5 pneu-
matic pressure matic pressure error
error input signal output signal.
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
signal 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 3-43

3Controller
3.6 Emergency stop input

This signal is input from the "emergency stop input" terminal in the controller.
Table 3-3 ： Dedicated input terminals in controller

Class Name Details
Input Emergency stop Applies the emergency stop (1b contact).
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. 3-5.
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.
24V
1
Short piece 1
2
RA1 Emergency stop input
3
Short piece 2
4
RA2 Door switch input
5
RA3
6
RG (24G)
Emergency stop output
Composition of external emergency stop and door switch
DOOR EMG.
Switch STOP
1
2
3
4 Wire insert
24V
5 Controller rear side
①
System emergency 6 ② Wire fixing screw
stop line RA2
(Prepared by user) ③
④
⑤
RG (24G) ⑥
Example of wiring for external emergency stop and door switch
Terminal block array of
external emergency stop
Output the system emergency stop output when either following the switch or the signal is turned on.
・Emergency stop switch of the controller
・Emergency stop switch or deadman switch of the T/B
・External emergency stop input signal
・External door input signal
Fig.3-5 ： Connection of the external emergency stop
[Note] Refer to Page 84, "5.1.7 Examples of safety measures" together, and carry out wiring to the emergency
stop.
3-44 Emergency stop input

3Controller
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. 3-5, 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 box.
① Auto executing
Safeguard
STOP!!
TEACH
AUTO AUTO
(Op.) (Ext.)
Open
Turns OFF the servo
② Teaching
Safeguard
TEACH
AUTO AUTO
(Op.) (Ext.)
Teaching
Open pendant
The door can be turned ON/Off

by turning the deadman switch ON/OFF.
Fig.3-6 ： Door switch function
Emergency stop input 3-45

3Controller
3.7 Parallel input/output unit

・ A parallel input/output card is mounted as a standard in the controller's control unit.
・ The external input/output circuit specifications are shown in Table 3-4 and Table 3-5.
・ 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 48, "Table 3-6". Refer to Page 66, "(5) 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 out-
side the controller.
Table 3-4 ： Electrical specifications of input circuit

No. of input points 16
Rated input voltage 12VDC/24VDC
(COM)
Rated input current Approx. 3mA/approx. 7mA
820
Working voltage range 10.2VDC to 26.4VDC(ripple rate within 5%)
ON voltage/ON current 8VDC or more/2mA or more 3.3K Input
OFF voltage/OFF current 4VDC or more/1mA or more
<Source type>
Response time OFF-ON 10ms or less(DC24V)
ON-OFF 10ms or less(DC24V)
Common method 8 points per common
3.3K Input
External wire connection
Connector
method 820
(COM)
Table 3-5 ： Electrical specifications of output circuit

Rated load voltage DC12V/DC24V (24/12V)
Rated load voltage range DC10.2 ～ 30V(peak voltage 30VDC)
Max. load current 0.1A/point (100％)
Leakage current at OFF 0.1mA or less
Outline
Max. voltage drop at ON DC0.9V(TYP.)
2ms or less
OFF-ON
(hardware response time)
Fuse (0V)
Response time
2ms or less <Source type>
ON-OFF
(Resistance load) (hardware response time)
Fuse rating Fuse 3.2A (one per common) Replacement not pos-
sible Fuse (24/12V)
Common method 4 points per common (common terminal: 4 points)
Connector
method
Outline
Voltage DC12/24V(DC10.2 ～ 30V)
External power
supply 60mA (TYP. 24VDC per common)
(0V)
Current
(base drive current)
3-46 Parallel input/output unit

3Controller
<Sink type>
AX41C
Parallel I/O interface (Mitsubishi programmable
（Output） controller)
＋24V
60mA COM
(24/12V)
X
Output
…
24V
Output 24G
Fuse
(0V)
External
power supply
AY51C
(Mitsubishi programmable
(Input) controller)
(COM) CTL＋
24V
3.3K Y
Input
…
24V
Input
COM
CTLG
External 24G
power supply
Fig.3-7 ： 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
X
Output
24V
…
Output COM
(0V) 24G
External
power supply
(Input) CTL ＋
24V
3.3K Input Y
(COM)
CTLG
24V 24G
AY81C
External
power supply
Fig.3-8 ： Connection with a Mitsubishi PLC (Example of source type)
*The input/output circuit external power supply (24 VDC) must be prepared by the customer.
Parallel input/output unit 3-47

3Controller
Table 3-6 ： Standard parallel I/O interface CN100pin No. and signal assignment list <Sink type> (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 27 Gray/Blue A 0V:For pins 29-32
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 10-13 33 White/Blue B 0V:For pins 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 39 Yellow/Blue C COM1:For pins 40-47
15 Pink/Red C General-purpose input 0 Note1) 40 Pink/Blue C General-purpose input 8
Stop(All slot)
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)The assignment of the dedicated input signal "STOP" is fixed.
Table 3-7 ： Standard parallel I/O interface CN100pin No. and signal assignment list <Source type> (2A-CBL □□ )
Pin Pin
common common
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, 10-13 28 White/Blue A 12V/24V:For pins 29-32,
35-38
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 Reserved 33 White/Blue B Reserved
9 Yellow/Red B Reserved 34 Yellow/Blue B Reserved
15 Pink/Red C General-purpose input 0 Note1) 40 Pink/Blue C General-purpose input 8
Stop(All slot)
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
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)The assignment of the dedicated input signal "STOP" is fixed.
3-48 Parallel input/output unit

3Controller
・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.
50 25
＜CN100＞
26 1
Output 0 to 15
Input 0 to 15
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.3-9 ： Parallel input/output unit (in the control unit) connection and pin layout
Parallel input/output unit 3-49

3Controller
3.8 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.
3-50 Options
3Controller
(1) Teaching pendant (T/B)
■ Order type: R28TB :Cable length 7m
■ 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 3-8 ： Configuration device
Teaching pendant R28TB One pc. Including 7m cable and hand strap
■ Specifications
Items Specifications Remarks
Outline dimensions 95(W) x 236(H) x 34(D) (refer to outline drawing)
Body color Light gray (reference Munsell color: 7.65Y7.64/0.73)
Mass Approx. 0.5kg (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] The IEC Standards IP65 refers to installing the test device in the testing room, and suspending talc powder,
which passes through a nominal dimension 75μm mesh sieve, as specified with JISZ8001 (standard sieve).
This powder is continuously suspended around the device at a rate of 2kg per 1m3 volume of the testing
room. The air in the testing device is discharged at a discharge rate less than 60-times the volume per
hour. When the air is discharged at 80-times the test device capacity, the talc powder does not accumu-
late inside the test device even after eight hours.
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.
Options 3-51
3Controller
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

7m cable
(with connection connector)
55 153
70
Hand strap
<Side> <Front> <Back>
Fig.3-10 ： Outside dimensions of teaching pendant
■ Installation method
The teaching pendant is connected to the T/B connector on the front of the controller.
3-52 Options
3Controller
■ 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................................This corrects the position data. 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.3-11 ： Teaching pendant key layout and main functions
Options 3-53
3Controller
(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.
・ 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 58, "Parallel I/O unit" for detail.
■ Configuration
Pneumatic hand interface 2A-RZ365/ 1pc. Output 8 point expansion. 2A-RZ365 is the sink type.
2A-RZ375 2A-RZ375 is the source type.
■ Specifications
No. of output points Note1)
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 RG
(24V-GND)
External cable connection method Connector (Connected from RZ386 or RZ387)Note2)
Supply voltage DC5V (Supplied from RZ386 or RZ387)Note2) <Source type>
Fuse
1.6A 24V
GRn
0V
RG
* GRn ＝ GR1 ～ GR8
Note1)Wiring to the robot side will differ according to the model. The No. of output points that can be used will differ according
to the state of the wiring on the robot arm side. Example) RV-1A/2AJ has 4 points.
Note2)RZ386:The control card mounted on the controller of the sink type.
RZ387:The control card mounted on the controller of the source type.
3-54 Options
3Controller
This is mounted on the control unit (RZ386 or RZ387 card) in the controller.
Securely insert the pneumatic hand interface (2A-RZ365/375) into the CNHNDOUT/CNHND connector on the
control unit.
RZ386 or RZ387 card
Control unit A
＜RZ386＞
or
＜RZ387＞
CNHND
CNHND
CNHNDOUT
2A-RZ365 CNHNDOUT
or
2A-RZ375
View A
Fig.3-12 ： Installation of pneumatic hand interface
Note)The hand output doesn't work correctly in the case of "RZ386" + "RZ365" or "RZ387" + "RZ375" combi-
nation.
Choose either of sink type/source type properly, and use it.
Options 3-55
3Controller
(3) Expansion option box
■ Order type ： ● CR1-EB3
■ Outline
By installing this expansion option box to the side of the CR1-571 controller, the
expansion serial interface, CC-Link interface and Ethernet interface can be used.
Up to three option cards can be mounted.
■ Configuration
Expansion option box CR1-EB3 1 With rubber foot
Installation screw 4
■ Specifications
Item Unit Specifications Remarks
Number of slot slot 3 RT-Bus 1, 2, 3
Power supply method Power supply is supplied from controller by
the RT-Bus coupling(+5V/SG)
Current value A Max. 3 Max. 1A/slot
Ambient temperature ℃ 0 to 40
Ambient humidity %RH 45 to 85 Without dew drops
Grounding D class grounding earth Grounding from external terminal
Structure Self-contained floor type opened structure Note1)
Outside dimensions mm 85(W) x 290(D) x 165(H)

Mass kg Approx. 3
Note1) Self-contained floor type, under the condition combined with the body.
3-56 Options
3Controller
Installation of expansion option box
Expansion option box CR1-571 controller

60
65
Positioning latch Positioning latch
24
Rear side
cable outlet
299.7
87.5 （38） 290 （13）
Installation
screw
Four
151
positions
（15）
42
Layout of expansion option box

Plates with rails Slot１
Slot２ Controller connection connector
(Two positions)
Slot３ Positioning latch
Installation screw(Four positions)
The example which an option

card was mounted to.
Fan
Grounding terminal(M4)
Fig.3-13 ： Outside dimensions and layout
Remove the side plate of the CR1-571 controller, connect the connectors, and fix to the controller with the four
fixing screws in the expansion option box.
The option cards mounted in the slot are fixed with the plates with rails.
The cables required for the option card are lead out from the cable outlet on the rear side.
Options 3-57
3Controller
(4) 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.
・ The connection cable is not included. Prepare the optional external input/output
cable (2A-CBL05 or 2A-CBL15).
■ Configuration
Parallel I/O unit Input/output 32 points/32 points
2A-RZ361/
1 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 sets
The cable must be prepared and wired by the customer.
Terminator R-TM 1 150Ω(1/4W)
■ 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 46, "3.7 Parallel input/output unit" for details.
Table 3-15 ： Electrical specifications of input circuits

Number of input points 32
Insulation method Photo coupler insulation
(COM)
Rated input voltage DC12V/DC24V
Rated input current Approx 3mA/7mA 820
Working voltage range DC10.2 to 26.4V(Ripple factor should be less than 5%.)
3.3K Input
ON voltage/ON current 8VDC or more/ 2mA or more
OFF voltage/ OFF current 4VDC or less/ 1mA or less
<Source type>
Response time OFF-ON 10ms or less (24VDC)
ON-OFF 10ms or less (24VDC) 3.3K Input
Common method 8 point 1 common
External cable connection method Connector
820
(COM)
3-58 Options
3Controller
Table 3-16 ： Electrical specifications for the output circuits

Insulation method Photo-coupler insulation (24/12V)
Rated load voltage DC12V/DC24V
Rated load voltage range DC10.2 ～ 30V(peak voltage 30VDC)
Max. load current 0.1A/point (100％) Outline
Leakage current at OFF 0.1mA or less
Max. voltage drop at ON DC0.9V(TYP.)
Fuse (0V)
2ms or less
OFF-ON
(hardware response time)
Response time
2ms or less <Source type>
ON-OFF
(Resistance load) (hardware response time)
Fuse rating Fuse 3.2A (one per common) Replacement not possible
Fuse (24/12V)
Common method 4 points per common (common terminal: 4 points)
Connector
method
Voltage DC12/24V(DC10.2 ～ 30V) Outline

External power
supply
Current 60mA (TYP. 24VDC per common) (base drive current) (0V)
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 150Ω
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) 150Ω(1/4W) (1) Equivalent to KOA.
Note 1) The 24V power supply is prepared by customer

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.3-14 ： Spacifications for the connection cable
Options 3-59
3Controller
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 rear of the controller.(Terminator is connected at the
time of shipment)
RIO1 connector
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.3-15 ： Installing the parallel input/output unit
3-60 Options
3Controller
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.3-16 ： Connection method of expansion parallel input/output unit
Options 3-61
3Controller
■ Parallel I/O interface (First expansion unit)

Table 3-17 ： Connector CN100pin No. and signal assignment list (2A-CBL □□ )
Pin Pin
common common
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
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
23 White/Red E 48 White/Blue E
24 Yellow/Red E 49 Yellow/Blue E
25 Pink/Red E 50 Pink/Blue E
Pin Pin
Line color Dedicated/power supply,
Line color
Dedicated/power supply,
No. No.
General-purpose General-purpose
common common
3-62 Options
3Controller
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.3-17 ： 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.
Options 3-63
3Controller
■ Parallel I/O interface (Second expansion unit)

Pin Pin
common common
Pin Pin
Line color Dedicated/power supply,
Line color
Dedicated/power supply,
No. No.
General-purpose General-purpose
common common
3-64 Options
3Controller
[*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.3-18 ： 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.
Options 3-65
3Controller
(5) 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 con-
nector 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
External I/O cable 2A-CBL □□ 1pc. 5m or 15m
■ Specifications
Items Specifications
Number of cables x cable size 25 pairs x A.W.G #28
Total length 5m or 15m
■ Connector pin numbers and cable colors

Table 3-23 ： 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
3-66 Options
3Controller
■ 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 3-23Connector 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.3-19 ： Connections and outside dimensions
Options 3-67
3Controller
(6) Personal computer cable
■ Order type: ● For PC/AT ： RS-MAXY-CBL

RS-AT-RCBL (For expansion option box(CR1-EB3).)
■ 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.
Use "RS-AT-RCBL" when you use expansion serial I/F with the expansion option box.
■ Configuration
Personal computer cable (for PC/AT) RS-MAXY-CBL 1pc. 3m, D-SUB 9 pinNote1)
RS-AT-RCBL 1pc. 3m, D-SUB 9 pin
For expansion serial I/F at expansion option box(CR1-EB3).
Note1)The personal computer cable is the same as that for use with "Movemaster M1/M2/E/EN series".
■ Specifications
（1） For PC/AT

RS-MAXY-CBL
RS-AT-RCBL
Controller side 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.3-20 ： Personal computer cabe connection
3-68 Options
3Controller
RS-MAXY-CBL
25
13
1
6
31
54
9
5
1 P/C side
14
15 15
39
Robot side
Type:17JE-23250(D8A6) (DDK)
RS-AT-RCBL 1
31 6
39
9
15
5
P/C side
25 14
15
54
13 1
Robot side
Type:17JE-23250-02(D18A1) (DDK)
Fig.3-21 ： Personal computer cabe connector
Options 3-69
3Controller
(7) Personal computer support software/Personal computer support software mini
■ 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 3-25 ： Product configuration
Part name Type Medium Remarks
Personal computer support software 3A-01C-WINE CD-ROM One operation manual included
Personal computer support software mini 3A-02C-WINE CD-ROM 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.
3-70 Options
3Controller
■ Functions
Table 3-26 ： Functions
Function Functional existenceNote1) Details
Compatible model ○ ○ Personal computer running Microsoft Windows 95/98/NT 4.0
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-01C-WINE）
Personal computer support software
（3A-02C-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 ".
Options 3-71
3Controller
3.9 Maintenance parts

The consumable parts used in the controller are shown in Table 3-27. 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 3-27 ： Contloller consumable parts list

No. Part name Type Qty. Usage place Manufacturer
1 Lithium battery ER6 BKO-NC2157H01 1 RZ182 card Mitsubishi Electrric
3-72 Maintenance parts

4Software
4 Software
4.1 List of commands
Either "MELFA-BASIC IV" or "MOVEMASTER language (MOVEMASTER commands)" can be used for the robot
language.
Use of "MELFA-BASIC IV" is recommended to effectively use this controller's functions.
(1) MELFA-BASIC Ⅳ commands
Table 4-1 ： 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 interpola- Moves along a designated arc (start point → passing point → start point (end
MVC P1,P2,P1
tion 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
Position and operation control
value (0.1mm/s unit).

Designates the acceleration/deceleration time as a percentage in respect to
ACCEL 50,80
the predetermined maximum acceleration/deceleration. (1% unit)
Automatically adjusts the acceleration/deceleration according to the param-
OADL 1,5,20
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 4,60
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. CMP POSE ,00000011
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 IN1=1 THEN GOTO 100
ELSE GOTO 20
Program control
Repeats until the designated end conditions are satisfied. FOR M1=1 to 10
NEXT
Repeats while the designated conditions are satisfied. WHILE M1<10
WEND
Branches corresponding to the designated expression value. ON M1 GOTO 100,200,300
List of commands 4-73

4Software

Branching Executes program block corresponding to the designated expression value.. SELECT
CASE 1
CASE 2
END SELECT
Moves the program process to the next line. SKIP
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
Program control
Interrupt Defines the interrupt conditions and process. DEF ACT 1 IN1=1 GOTO 100
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
Pre-read Stops the execution of pre-read. SYNC
Wait Designates the wait time, and the output signal pulse output time. (0.01s unit) DLY 0.5
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
Hand
Hand close Closes the designated hand. HCLOSE

Assignment Defines the input/output variables. DEF IO PORT1=BIT,0
Input/output
Input Retrieves the general-purpose input signal. M1=IN 1

Output Calls out the general-purpose output signal.
OUT 1=0
Mechanism desig- Acquires the mechanism with the designated mechanism No. GETM 1
nation
Parallel execution
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 INT 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
4-74 List of commands

4Software
(2) MOVEMASTER commands

Table 4-2 ： List of MOVEMASTER command
Joint inter- Moves to the designated position variable with joint interpolation. MO 1
polation Moves to the designated position with joint interpolation. MP 100,200,125.3,0,90,0,
Moves to a position obtained by adding two position variables. MA 1,2
Turns the joint by the specified angle from the current position. MJ 10,20,0,0,0,0
Moves the axis by the designated amount from the current position. DJ 1,15
Moves by the specified distance from current position. DW 100,80,0
Moves to the next position in number from current position. IP
Moves to the previous position in number from current position. DP
Moves to a position separated by the designated distance (+/- direction) in the Z axis direc-
MT 1,-50
tion of the tool coordinates from the designated position variable's position.
Moves to the origin in the axis order designated in the parameters. NT
Moves to the user specified origin position. OG
Linear Moves to the designated position variable with linear interpolation. MS 1
interpola- Moves by the specified distance from current position. DS 10,20,0
tion
Continuously moves the position variable with linear interpolation between the two designated
MC 10,20
position variables.
Position and operation control
Moves to a position separated by the designated distance (+/- direction) in the Z axis direc-
MTS 1,-50
tion of the tool coordinates from the designated position variable position.
Circular Moves along a designated arc (start point → transient point → end point) with three-dimen-
MR 1,2,3
interpola- sional circular interpolation.
tion Moves with circular interpolation with the position data of two MRA commands designated
MRA 4
previously or subsequently.
Speed des- Establishes program over-ride。 (0.1% unit) OVR 100
ignation Designate the speed level and acceleration/deceleration rate for various interpolation opera-
SP 25,H
tions.
Designate the speed, time constant, acceleration/deceleration rate and CNT setting validity
SD 123.5,50,50,0
for linear and circular interpolation.
Position It establishes die length to hand nose from hand installation. TL 128
control Designates the tool matrix. TLM 0,0,128,0,0,0
Waits for in position till all axis ring inward pulse appointing. PW 10
Adds ± 360 degrees to current R axis joint position and rewrites current position. JRC +1
Memorizes current position as the position number. HE 1
Memorizes current position as the origin. HO
Sets the designated coordinate value (x, y, z, a, b, c) in the designated position variable. PD 1,100,200,300,0,90,0
Deletes the position variable between two designated position variables. PC 1,20
Changes the pose of the robot at position。 CF 1,R,A,F
Pallet Defines the pallet. PA 1,5,3
Operates the designated pallet No. grid point position, and substitutes into the corresponding
PT 1
position variable.

4Software

Branching Jump to line number. GT 120
Jump to line number if internal register value/strings equals specified value/strings. EQ 20,120
EQ "OK",120
Jump to line number if internal register value/strings does not equal specified value/strings. NE 20,120
NE "NG",120
Jump to line number if internal register value/strings is greater than specified value/strings. LG 20,120
Program control
LG "NG",120
Jump to line number if internal register value/strings is smaller than specified value/strings. SM 20,120
SM "NG",120
Jump to line number by internal register bit status. TB +5,100
Jump to line number by external input signal bit status. TBD +5,100
Repeats the loop specified by command NX. RC 8
Specifies the range of a loop in a program by command RC. NX
Subroutine Executes the subroutine of the line designated in the designated program. GS 3,10
Returns from the subroutine. (The return line No. can be designated.) RT
RT 200
Interrupt Validates the interrupt by the bit designated by the external input terminal, and designated
EA +16,100,1
the branching method and branching line at the interrupt.
Program control
Disables interrupt by the bit of external input signal. DA 16

Wait Stops the operation for the designated time. (0.1 sec unit) TI 50
Select Selects the program. N1
Start Executes the program between the designated line numbers. RN 10,50
Stop Halts the program. HLT
End Ends the program. ED
Open Opens the specified hand. GO
Close Closes the specified hand. GC
Hand
Setting Sets the motorized hand's gripping force and open/close time. GP 40,30,50
Sets the hand open/close state when the "PD" command is executed. GF 1
Input Gets signal from external input. ID
Input/output
Output Outputs data to external output signal. OD 20

Outputs the counter value to external output signal. OC 1
Sets the output signal bit status. OB +16
addition Adds the designated value to the internal register value. ADD 10
Adds 1 to the designated number's counter. IC 5
Adds the coordinate values of the designated position variable to the coordinate values of the
SF 1,2
designated position variable.
Subtraction Subtracts the designated value from the designated register value. SUB 10
Subtracts one from the designated number's counter. DC 5
Multiplica- Multiples the designated value to the internal register value.
Operation/Substitution
MUL 2
tion
Division Divides the internal register value by the designated value. DIV 10
AND Logical AND of the internal register value and specified value. AN 7
OR Logical OR of the internal register value and specified value. OR 3
XOR Logical exclusive OR of the internal register value and specified value. XO 2
Substitution Substitutes the designated value (character string) in the designated counter. SC 1,10
SC $1,"OK"
Substitutes the designated position variable coordinate value in the designated position vari-
PL 1,2
able.
Substitutes the internal register value (character string) in the designated number's counter. CL 1
Sets the designated number's counter value (character string) in the internal register. CP 1
Exchange Exchanges the coordinate values of two designated position variables. PX 1,2
4-76 List of commands

4Software

RS-232C Reads the selected program No. or designated program information. QN 1
read Reads the program of specified line number. LR 10
Reads the program of specified step number. STR 10
Reads the coordinate value of specified position number. PR 1
Reads the value/strings of specified counter number. CR 1
Reads the hand input signal, internal register value and the 16-bit width data from the desig-
DR 16
nated external output signal bit.
Reads the current error No. or error history. ER 10
Reads the coordinate value of current position. WH
Reads the value of current tool length. WT
Other
Reads the current tool matrix. WTM

Reads the name of system software version. VR
Reads the value of specified parameter. PMR "HANDINIT"
Clear Deletes the program between the designated line numbers. DL 10,90
Deletes the selected program and position variables. NW
File Opens the file. OPEN 1,1
Reads the data from the file. INP 1,2,0
Sends the value to the file. PRN 2
Sets the contents of the designated parameter. PMW 1,0,1,0,1,0,1,0
Reset Resets the error, or program line number. RS
Comment Describes a comment. '

4Software
4.2 List of parameters

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/invalid = 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]
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.
4-78 List of parameters

4Software
Parameter Details
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 SLT 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.
List of parameters 4-79

4Software
4-80 List of parameters

5Safety
5 Safety
5.1 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.
5.1.1 Self-diagnosis stop functions

This robot has the self-diagnosis stop functions shown in Table 5-1 and the stop functions shown in Table 5-2
for safe use.
Table 5-1 ： 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 5-2 ： List of stop functions

Stop Operation Teaching External
function panel pendant input Details
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.
5.1.2 External input/output signals that can be used for safety protection measures
Table 5-3 ： 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. 5-1 Example of safety measures"for details.
Safety 5-81
5Safety
5.1.3 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.
5.1.4 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.
5.1.5 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.
5-82 Safety
5Safety
5.1.6 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.
Safety 5-83
5Safety
5.1.7 Examples of safety measures

Emergency stop input circuits are prepared on the user wiring terminal block of the controller. Create a circuit as
shown below for safety measures
.
<Customer-prepared wiring> <Robot controller system>
MC1
＋
To servo main circuit power
RA1 External emergency

stop input
RA3
S/W-EMG
Teaching pendant
RA2 deadman switch
Door switch
input
Door switch Operation panel
External emergency emergency stop
stop
24V
1 T/B remove Teaching pendant

switch emergency stop
2
RA1
RA1 Teaching pendant
deadman switch
3
4
RA2
RA2 RA3 Software emergency
stop
5
External emergency
stop output
6 MC1
RA4
MC1
[Caution] Some information has been omitted for explanation proposes, so some parts may differ.
Fig.5-1 ： Example of safety measures
(1) 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.
(2) Use a b contact manual-return type operator emergency stop switch.
(3) 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. 5-1. Note that there are limits to the No. of switch contacts, capacity and
cable length, so refer to the following and install.
・ Switch contact 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.
[Reference] The specifications of the RA1 and RA2 coil shown in Fig. 5-1 are as follow.
・ Rated voltage ............................ DC24V 　 ± 10％
・ Rated excitation current ...... 12.5mA 　 ± 10％（@ 25 ℃）
* Note that these specifications are subject to change without prior notice for modification purposes.
5-84 Safety
5Safety
5.2 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.
(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 ℃ , lower than 0 ℃ .
・ 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 5-85

5Safety
5.3 Precautions for handling

(1) This robot has brakes J1 to J3 and J5 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 types of phenomena occur, run the robot with row-speed oper-
ation for a short time.
(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
bending)" 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.
Note1)Jog operation refers to operating the robot manually using the teaching pendant.
5-86 Precautions for handling

6Appendix
6 Appendix
Appendix 1 ： Specifications discussion material
■ Customer information
Company name Name
Address Telephone
■ Purchased mode
Specification Type
Standard specification □ RV-1A □ RV-2AJ
■ Shipping special specifications (Settings can be made only at time of shipment)

Item Standard Special shipping specifications
specifications
Robot arm Machine cable □ 5m fixed type □ 10m fixed type □ 15m fixed type
□ 5m flexed type □ 10m flexed type □ 15m flexed type
Controller Controller structure □ Floor type
■ Options (Installable after shipment

Item Provision, and specifications when provided.
Pneumatic hand set 4A-HP01/4A-HP01E □ Not provided □ 4A-HP01 □ 4A-HP01E
Motorized hand set 4A-HM01 □ Not provided □ Provided
Solenoid valve set 1E-VD0 □ /1E-VD0 □ E □ Not provided 1E-VD0 □ : □ 1 set □ 2 sets
Robot arm
1E-VD0 □ E: □ 1 set □ 2 sets
Hand input cable 1E-HC20 □ Not provided □ Provided
Hand output cable 1E-GR35S □ Not provided □ Provided
Hand curl tube 1A-ST040 □ C □ Not provided □ 1 pc. □ 2 pc.
Hand adapter 1A-HA01 □ Not provided □ Provided

Teaching pendant R28TB □ Not provided □ Provided
Pneumatic hand interface 2A-RZ365/2A-RZ375 □ Not provided □ Provided
Note1) 2A-RZ361/2A-RZ371 □ Not provided □ 1pc. □ 2pc. □ 3pc. □ 4pc. □ 5pc. □ 6pc. □ 7pc.
Parallel I/O interface
External I/O cable 2A-CBL □□ □ Not provided □ 5m-1pc. □ 5m-2pc. □ 5m-3pc.
□ 15m-1pc. □ 15m-2pc. □ 15m-3pc. 　
CC-LINK interface 2A-HR575-E □ Not provided □ Provided
ETHERNET interface 2A-HR533-E □ Not provided □ Provided
Controller
Extended serial interface 2A-RZ581-E □ Not provided □ Provided

Additional axis interface 2A-RZ541-E □ Not provided □ Provided
Personal computer cable RS-MAXY-CBL/ □ Not provided □ RS-MAXY-CBL □ RS-AT-RCBL
RS-AT-RCBL
Personal computer support
3A-01C-WINE □ Not provided □ Windows95/98/NT4.0 CD-ROM
software
Personal computer support
3A-02C-WINE □ Not provided □ Windows95/98/NT4.0 CD-ROM
software mini
Expansion option box CR1-EB3 □ Not provided □ Provided
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-87

6Appendix
Appendix-88 Specifications discussion material

MITSUBISHI ELECTRIC
Headquarters European Representatives
EUROPE GEVA AUSTRIA Mitsubishi Electric Europe B.V. RUSSIA
MITSUBISHI ELECTRIC EUROPE B.V. Wiener Straße 89 12/1 Goncharnaya St, suite 3C
Gothaer Str. 8 A-2500 Baden RUS-109240 Moscow
D-40880 Ratingen Phone: +43 (0) 2252 / 85 55 20 Phone: +7 (0) 95 / 915-8624/02
GERMANY Fax: +43 (0) 2252 / 488 60 Fax: +7 (0) 95 / 915-8603
Phone: +49 (0) 2102/486-0 N.V. GETRONICS Belgium S.A. BELGIUM INEA d.o.o. SLOVENIA
Fax: +49 (0) 2102/486-112 Pontbeeklaan 43 Ljubljanska 80
ITALY B-1731 Asse-Zellik SI-1230 Domzale
Phone: +32 (0) 2 / 467 17 51 Phone: +386 (0) 17 21 80 00
MITSUBISHI ELECTRIC EUROPE B.V.
C.D. Colleoni - P. Perseo Ing. 2, Via Paracelso 12 Fax: +32 (0) 2 / 467 17 45 Fax: +386 (0) 17 24 16 72
I-20041 Agrate Brianza (MI) AutoCont Control Systems s.r.o. CZECHIA Beijer Electronics AB SWEDEN
ITALY Nemocnicni 12 Box 426

Phone: +39 (0)39 60 53 1 CZ-702 00 Ostrava 2 S-20124 Malmö
Fax: +39 (0) 39 60 53 312 Phone: +420 (0) 69 / 615 21 11 Phone: +46 (0) 40 / 35 86 00
Fax: +420 (0) 69 / 615 21 12 Fax: +46 (0) 40 / 93 23 01
SPAIN
louis poulsen DENMARK ECONOTEC AG SWITZERLAND
MITSUBISHI ELECTRIC EUROPE B.V. Geminivej 32 Postfach 282
Carretera de Rubi 76-80
DK-2670 Greve CH-8309 Nürensdorf
E-08190 Sant Cugat del Vallés (Barcelona)
Phone: +45 (0) 43 / 95 95 95 Phone: +41 (0) 1 / 838 48 11
SPAIN
Fax: +45 (0) 43 / 95 95 91 Fax: +41 (0) 1 / 838 48 12
Phone: +34 9 3/565 31 31
Beijer Electronics OY FINLAND GTS TURKEY
Fax: +34 9 3/589 29 48
Elannontie 5 Darülaceze Cad. No. 43A KAT: 2
UK FIN-01510 Vantaa TR-80270 Okmeydani-Istanbul
MITSUBISHI ELECTRIC EUROPE B.V. Phone: +358 (0) 9 / 615 20 11 Phone: +90 (0) 212 / 320 1640
Travellers Lane Fax: +358 (0) 9 / 615 20 500 Fax: +90 (0) 212 / 320 1649
GB-Hatfield Herts. AL10 8 XB IP Systèmes FRANCE
UK 8, Rue du Colonel Chambonnet
Phone: +44 (0) 1707/27 61 00 F-69672 Lyon Bron Cedex
Fax: +44 (0) 1707/27 86 95 Phone: +33 (0) 4 / 72 14 18 00
JAPAN Fax: +33 (0) 4 / 72 14 18 01
MITSUBISHI ELECTRIC CORPORATION MITSUBISHI ELECTRIC EUROPE B.V IRELAND
Mitsubishi Denki Bldg., 2-2-3 Marunouchi Westgate Business Park, Ballymount
Tokyo 100-8310 IRL-Dublin 24
JAPAN Phone: +353 (0) 1 / 419 88 00
Phone: +81 (0) 3/32 18 31 76 Fax: +353 (0) 1 / 419 88 90
Fax: +81 (0) 3/32 18 24 22 ILAN & GAVISH Automation Service ISRAEL
24 Shenkar St., Qiryat-Arie 49513
USA
IL-49001 Petach-Tikva
MITSUBISHI ELECTRIC AUTOMATION INC.
Phone: +972 (0) 3 / 922 18 24
500, Corporate Woods Parkway
Fax: +972 (0) 3 / 972 39 24 07 61
Vernon Hills, Illinois 60061
USA Getronics Industrial Automation B.V. NETHERLANDS
Donauweg 10
Phone: +1 (0) 847/478 21 00
Fax: +1 (0) 847 / 478 22 83 NL-1043 AJ Amsterdam
Phone: +31 (0) 20 / 586 15 92
Fax: +31 (0) 20 / 586 19 27
Beijer Electronics AS NORWAY
Teglverksveien 1
N-3002 Drammen
Phone: +47 32 / 24 30 00
Fax: +47 32 / 84 85 77
MPL Technology Sp. z o.o. POLAND
ul. Wroclawska 53
PL-30-011 Kraków
Phone: +48 (0) 12 / 632 28 85
Fax: +48 (0) 12 / 632 47 82
22.5.2001 ROB - Printed in Germany
MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION

Gothaer Straße 8 Phone: +49 2102 486-0 Fax: +49 2102 486-717 www.mitsubishi-automation.de
D-40880 Ratingen Hotline: +49 1805 000-766/765 Faxback: +49 2102 486-485/790 [email protected]

Melfa: Industrial Robot Standard Specifications Manual

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MITSUBISHI ELECTRIC

Standard Specifications Manual

Power supply :Single phase 90-132VAC,180-253VAC.

Rear side of controller

2000-02-08 BFP-A8050Z First print

2000-04-05 BFP-A8050 Formal style

2001-03-12 BFP-A8050-B Error in writing correction.

2 Robot arm ........................................................................................................................................................................................... 2-5

3 Controller .......................................................................................................................................................................................... 3-35

4 Software ........................................................................................................................................................................................... 4-73

5 Safety ................................................................................................................................................................................................ 5-81

1.1.1 Standard structural equipment

1.1.2 Shipping special specifications

1.1.4 Maintenance parts

Structural equipment 1-1

1.2 Contents of the structural equipment

Vertical six-axis Vertical five-axis Machine cable fixed type 5m

Pneumatic hand set ：

Note) With installation bolts.

Note) With installation bolts.

・ Motorized hand ： 1A-HM01

Hand input cable

Note) With installation bolts.

Hand adapter ［Caution］

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

1-2 Contents of the structural equipment

Pneumatic I/F Parallel I/O unit External I/O cable

Personal computer support software

Fig.1-2 ： Structural equipment(Controller)

1.4 Contents of the Option equipment and special specification

Table 1-1 ： The list of Option equipment and special specification

1-4 Contents of the Option equipment and special specification

Standard specifications 2-5

2.2 Definition of specifications

2.2.1 Pose repeatability and distance accuracy

Table 2-2 ： Specified accuracy

Group of attained poses

Min. Max. Measuring conditions

Fig.2-1 ： Specified accuracy

2-6 Definition of specifications

2.2.2 Rated load (mass capacity)

Maximum load capacity

136 Rotation center for J5 axis

Maximum load capacity

300 250 200 150 100 72 0

Definition of specifications 2-7

2.2.3 Protection specifications and working environment

Table 2-3 ： Protection specifications and applicable fields

General-purpose envi- IP30 General assembly

2-8 Definition of specifications

2.3 Names of each part of the robot

Note)J4-axis dosen't exist for 5-axis type.

Fig.2-4 ： Names of each part of the robot

Names of each part of the robot 2-9

2.4 Outside dimensions ・ Operating range diagram

Operating range at section of X-X

Fig.2-5 ： Outside dimensions for RV-1A

2-10 Outside dimensions ・ Operating range diagram