RV-2A, RV-3AJ Specifications Manual 146525
RV-2A, RV-3AJ Specifications Manual 146525
RV-2A, RV-3AJ Specifications Manual 146525
MELFA
Industrial Robots
Specifications Manual
RV-2A/RV-3AJ
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. Confirm the set-
ting connector of the input power supply voltage of the controller, if the type
which more than one power supply voltage can be used. Then connect the
power supply.
Failure to do so could lead to electric shock accidents.
Power supply *RV-1A/2AJ series and RP-1AH/3AH/5AH series: Single phase 90-132VAC, 180-253VAC.
*Except the above: Single phase 180-253VAC.
Earth leakage
breaker
(NV)
Cover
Terminal
Cover
Terminal cover
Protective earth
terminal
(PE)
■ Revision history
Date of print Specifications No. Details of revisions
The "RV-2A/3AJ Series" is a vertical articulated compact robot, based on the <E Series> that has been greatly
upgraded. 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
terminal devices and compact electronic devices for mounting on vehicles, and due to shorter product life cycles.
The protect and clean specifications are prepared for in addition to the general environment specification in the
same way as the usual series.
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 41, "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
i
Page
3.1.2 Protection specifications and operating supply ............................................................................................... 3-42
3.2 Names of each part ............................................................................................................................................................. 3-43
3.3 Outside dimensions/Installation dimensions ............................................................................................................. 3-45
3.3.1 Outside dimensions ...................................................................................................................................................... 3-45
3.3.2 Installation dimensions ................................................................................................................................................ 3-46
3.4 External input/output ......................................................................................................................................................... 3-47
3.4.1 Types .................................................................................................................................................................................. 3-47
3.4.2 Explanation ....................................................................................................................................................................... 3-47
3.5 Dedicated input/output ...................................................................................................................................................... 3-48
3.6 Emergency stop input/output ......................................................................................................................................... 3-50
3.6.1 Connection of the external emergency stop ..................................................................................................... 3-50
3.6.2 Door switch function ................................................................................................................................................... 3-51
3.7 Parallel input/output unit .................................................................................................................................................. 3-52
3.8 Options ...................................................................................................................................................................................... 3-56
(1) Teaching pendant (T/B) ........................................................................................................................................ 3-57
(2) Pneumatic hand interface ..................................................................................................................................... 3-60
(3) Controller protection box ...................................................................................................................................... 3-62
(4) Expansion option box .............................................................................................................................................. 3-65
(5) Parallel I/O unit ......................................................................................................................................................... 3-67
(6) External I/O cable .................................................................................................................................................... 3-75
(7) Personal computer cable ....................................................................................................................................... 3-77
(8) Personal computer support software/Personal computer support software mini ....................... 3-79
3.9 Maintenance parts ................................................................................................................................................................ 3-81
ii
1General configuration
1 General configuration
1.1 Structural equipment
Structural equipment consists of the following types.
1.1.3 Options
Installation is possible after shipment. Customer needs to perform the installation work.
or
Machine cable
・ Fixed type:1A- □□ CBL-1
RV-2A : General environment RV-3AJ : General environment
RV-2AM : Protection specification RV-3AJM : Protection specification
・ Flexed type:1A- □□ LCBL-1
RV-2AC : Clean specification RV-3AJC : Clean specification Note) □□ refer the length.
Refer to section "1.4" for datails.
Prepared by customer
1.3 Controller
The devices shown below can be installed on the controller.
Controller
・ CR1-571 Teaching pendant(T/B) Controller protection box
・ R28TB ・ CR1-MB
Prepared by customer
Expansion option box Extended serial I/F CC-LINK I/F ETHERNET I/F Additional axis I/F
・ CR1-EB3 ・ 2A-RZ581E ・ 2A-HR575E ・ 2A-HR533E ・ 2A-RZ541E
[Caution]
Standard configuration
equipment
Special shipping
specifications
Option
Prepared by customer
Controller 1-3
1General configuration
Pneumatic hand interface 2A-RZ365 DO: 8 point (Sink type) ○ It is necessary when the hand output signal of the
robot arm is used. (Integrated in the controller.)
2A-RZ375 DO: 8 point (Source type) ○
Parallel I/O interface 2A-RZ361 DO: 32 point (Sink type)/ ○ The unit for expansion the external input/output.
DI : 32 point (Sink type) Electrical isolated Type
(100mA/Point)
DO: 32 point (Source type)/
2A-RZ371 DI : 32 point (Source type) ○
External I/O cable 2A-CBL05 5m ○ Use to connect the external peripheral device to
the parallel input/output unit
2A-CBL15 15m ○
Personal computer cable RS-MAXY-CBL RS-232C cable 3m for PC-AT compati- ○ Use RS-AT-RCBL for the connection from the
ble model expansion option box.
RS-AT-RCBL ○
Personal computer 3A-01C-WINE CD-ROM ○ MS-Windows95/98/NT4.0
Support software (With the simulation function)
Personal computer MS-Windows95/98/NT4.0
3A-02C-WINE CD-ROM ○ (Without the simulation function)
Support software mini
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-RZ581E ○
RS-232C or RS-422 x 1
CC-Link interface 2A-HR575E Local station (The local station alone is for MELSEC PLC with CC-Link connection. CR-
○
supported.) EB3 is need.
ETHERNET interface 2A-HR533E ETHERNET x 1 ○ CR-EB3 is need.
Additional axis interface 2A-RZ541E SSC x 1 ○ MR-J2 servoAmplifer Unit connection. CR-EB3 is
Up to 8 axises can be added need.
The controller protection box is used to protect
Controller protection box CR1-MB IP54 □ the controller from an oil mist or other operating
environment. Note2)
Note1) In the classification column, ○ refers to an option,and □ to a Sipping special specifications.
Note2) Use this option to protect the controller from the oil mist when the controller will be installed in the environ-
ment such as the oil mist.
2 Robot arm
2.1 Standard specifications
2.1.1 Standard specifications
Table 2-1 : Standard specifications of robot arm
Item Unit Specifications
RV-2AC RV-2AC RV- RV-3AJC RV-3AJC
Type RV-2A RV-2AM RV-3AJ
-SB -SA 3AJM -SB -SA
Degree of freedom 6 5
Installation posture On floor
Structure Vertical, multiple-joint type
Drive system ACservo motor (J1 to J3 : 80W with brake, J4,J6 : 40W no brake, J5 : 40Wwith brake)
Position detection method Absolute encoder
Shoulder shift 100
Upper arm 250
Arm length Fore arm mm 250 280
Elbow shift 130 20
Wrist length 85
J1 320(-160 to +160)
J2 180(-45 to +135)
Operating J3 Degre 120(+50 to +170) 135(0 to +135)
range J4 e 320(-160 to +160) -
J5 240(-120 to +120)
J6 400(-200 to +200)
J1 150
J2 150
Speed of J3 Degre 180
motion J4 e/s 240 -
J5 180
J6 330
Maximum resultant velocity mm/s Approx. 3500
Load Rating 2 3
Pose repeatability Note1) mm ± 0.04
Ambient temperature ℃ 0 to 40
Approx. Approx. Approx. Approx. Approx. Approx.
Mass Note2) kg
37 38 41 33 34 37
Allowable J4 3.6 -
moment J5 N・m 3.6 5.4
load J6 2.6 3.9
J4 1.1x10-1 -
Allowable
J5 kg ・ m2 1.1x10-1
inertia
J6 4.1x10-2
Arm reachable radius
mm 621 630
(front J5 axis center point)
Six cables for hand check (For four input signals contains the two power cable, Hand section),
Four output signal for pneumatic hand(Shoulder section),
Tool wiring Note3)
One output signal for Motorized hand.(Hand section)
Four spare wires (stored between the base to the tip of the fore arm : A.W.G#22(0.3mm2))
Primary Primary Primary Primary
Primary side:Φ6x2 Primary side:Φ6x2
side:Φ6x2 side:Φ6x2 side:Φ6x2 side:Φ6x2
Tool pneumatic pipes Secondary side:Φ4x5 Secondary side:Φ4x5
Secondary Secondary Secondary Secondary
Suction:Φ4x1 Suction:Φ4x1
side:Φ4x4 side:Φ4x6 side:Φ4x4 side:Φ4x6
Supply pressure MPa 0.5 ± 10%
Protection specificationNote4) IP30 IP54 - IP30 IP54 -
Cleanness J1 to J3 1000(0.3μm) 1000(0.3μm)
Note5) - 10(0.3μm) - 10(0.3μm)
J4 to J6 100(0.3μm) 100(0.3μm)
Paint color Arm section: Light gray (Equivalent to Munsell: 7.65Y7.6/0.73)
Base section: Dark gray (Equivalent to Munsell: 4.94GYS13/0.39)
Note1)The pose repeatability details are given in Page 6, "2.2.1 Pose repeatability and distance accuracy"
Note2)The mass of RV-2AC-SA and RV-3AJC-SA are include the blower base.
Note3)When using the 4-point hand output, the pneumatic hand interface (option) is required.
Note4)The protection specification details are given in Page 9, "2.2.3 Protection specifications and working
environment" .
Note5)The clean specification details are given in Page 10, "2.2.4 Clean specifications" . Please confirm the
delivery date, because both are special specifications. A down flow (0.3m/s or more) in the clean room is
the necessary conditions for the cleanliness.
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.
[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.
[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.
Unit : mm
200
1.0kg
160
Rotation center for J5 axis
1.5kg
135
2.0kg
100
0
300 200 100
100
135
160
200
330 245 185 85
Fig.2-2 : Position of center of gravity for loads (for loads with comparatively small volume) : RV-2A/2AM/2AC-S*
Unit : mm
200
1.0kg
Rotation center for J5 axis
140
2.0kg 115
3.0kg 100
0
300 200 100
100
115
140
200
330 230 185 85
Fig.2-3:Position of center of gravity for loads(for loads with comparatively small volume): RV-3AJ/3AJM/3AJC-S*
CAUTION Use the controller protection box (CR1-MB) optional to protect the controller from
the environment when the controller will be used in the environment such as the oil
mist shown in the Table 2-3. Refer to the section Page 62, "(3) Controller protection
box" for details on the controller protection box.
The IEC IP symbols define the degree of protection against solids and fluids, and do not indicate a protective
structure against the entry of oil or water.
The evaluation regarding oil mist specifications has been confirmed with Mitsubishi's standard testing methods
using the cutting oils shown in Table 2-4.
Table 2-4 : Tested cutting oil for oil mist specifications
Name Maker Relevant JIS Main characteristics Application
Emulcut Kyodo Yushi Co., Ltd Equivalent to Water soluble cutting oil Water soluble cutting oil
FA-800 Class W1 No. 1 ・ Base oil ........................................................50-60% Emulcut
・ Surfactant and rust inhibitor ..............30-40%
・ Additives......................................................5% or less
・ Water ...........................................................The rest
【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 IEC IP54
The IEC IP54 standard refers to protection structure designed to prevent any harmful effects by fresh water
scattering vertically onto the testing equipment in a radius of 180 degrees from a distance of 300 to 500 mm,
with 10 ± 0.5 liters of water every minute, at a water pressure of 80 to 100kPa , covering the entire area of
the robot with the exception of the installation section at 1 ㎡ per minute, for a total of 5 minutes or more.
The 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) Robot is used for cutting.
3) Atmosphere used excluding cutting oil shown in Table 2-4.
4) In surroundings where water, oil, and chips fall directly on the robot.
5) In surroundings where chips fall directly on the robot.In surroundings where the minimum diameter of chips
is less than 0.5mm.
6) Mist atmosphere exceeding the specification.
Type SA RV-2AC-SA 10(0.3μm) Combination of internal suction with fan blower (installed A fan and vacuum gen-
RV-3AJC-SA in fan blower base), and concentrated suction with vac- erating valve (refer to
uum generating valve. (The concentrated suction is pro- Table 2-6) are enclosed.
vided only for the 2nd arm section.)
Black Lock sensor output (Fan no. 1) Rotary state of fan No. 1 is checked.
The specifications are shown in Fig. 2-5.
White Lock sensor output (Fan no. 2) Rotary state of fan No. 2 is checked.
Red +24V
Power is supplied for operation.
Blue GND
Output circuit
VCE = +27.6V max
(VCE(SAT) = 0.4V or less)
Inside blower base for Load
suction use
Ic = 5mA max
Sensor output
Note) When not using the sensor signals, fasten the ends of them
so that they do not come in contact with anything.
Output waveform
Blade is Blade is Blade is
revolving stopped revolving
5 or less 3 or less
V0H
V0L
0V
sec
Note) When the sensor output is completely V0L, it is within 0.5 sec
from the supply of power to the fan.
−
J6 axis + J3 axis
−
+ −
−
Elbow
Upper arm
J2 axis
+
−
Shoulder
− J1 axis
+
Base
Note) J4-axis dosen't exist for 5-axis type.
160°
Q point locus
07
R2
Q
73
R273
1
R62
160°
252
240 Frange downward limit line
85 250 204
208 (dotted line) 170 80
50
R2
180 100
R80
Q
53 55
Q point locus B
0°
17
130
°
10° 50°
45
R90
521
80°
(5
437
110
3)
40°
R282
250
45 ° R75
238
5°
R35 R100
100
13
X X
36
3
R17
282
270
214
350
1 R2
R52 50
40
459
80°
R282
80
(242) 3
250 min
230
(2) RV-2AC-SA
Q point locus
73
180 100
R80
Q
53 55
B
Q point locus 0°
17
130
°
10 ° 50°
45
R90
521
80°
(5
437
110
3)
40°
R282
250
45 ° R75
238
5°
R35 R100
100
13
X X
36
3
R17
282
270
214
350
1 R2
R52 50 Base coordinate
40
459
80
(242) 3
15
230 5000
88
A 348 273 184
Suction blower base
Frange upward limit line Exhaust direction:
Downward
(dotted line)
Suction fan wiring
(0.3mm2:4-core)
(End strand transfer)
1:The exhaust direction of the robot arm internal suction by the blower base is downward from the installation sur-
face.
2:Please secure the above-mentioned exhaust hole size for the area such as ducts.
3:The exhaust fan power wiring and fan stop signal wiring are lead out and stand-transferred with the enclosed wire
from blower base. The supply of power to the fan and sensor, and the leading in of the stop signal to the control
unit are work to be done by the customer.
4: Refer to Fig. 2-12 for the hand installation flange section and installation base section dimensions.
Fig.2-8 : Outside dimensions for RV-2AC-SA
(3) RV-3AJ/3AJM/3AJC-SB
160°
Q point locus
07
R2
Q
110
73
30
R322
R6
°
160
81
Q
Q point locus
°
R80 10°
135°
45
90° 45°
20
55
530
B
110
361
(5
R90
3)
250
45° R75
5°
100 R100
157
13
36 °
R35
X X
126 R530
R222
196
R83
252
270
214
350
457
°
45° 90
80
R28
1
(242) 23
50
R2 3 250 min
230
333
A 308 322 289
Frange upward limit line
(dotted line) (Unit:mm)
Note 1) Refer to Fig. 2-11 for the hand installation flange section and installation base section dimensions.
(4) RV-3AJC-SA
160 °
Q point locus
07
R2
Q
110
73
30
R322
R6
°
160
81
Q
°
90° 45°
55
20
530
B
110
361
R90
(5
250
45°
3)
R75
5°
100 R100
157
13
°
R35 X X
36
126 R530
R222
196
R83
252
270
350
457
50
R2
23
(242)
15
3
230 5000
333
308 322 289
A Suction blower base
Frange upward limit line Exhaust direction:
(dotted line) Downward
1:The exhaust direction of the robot arm internal suction by the blower base is downward from the installation sur-
face.
2:Please secure the above-mentioned exhaust hole size for the area such as ducts.
3:The exhaust fan power wiring and fan stop signal wiring are lead out and stand-transferred with the enclosed wire
from blower base. The supply of power to the fan and sensor, and the leading in of the stop signal to the control
unit are work to be done by the customer.
4: Refer to Fig. 2-12 for the hand installation flange section and installation base section dimensions.
Fig.2-10 : Outside dimensions for RV-3AJC-SA
φ5H7 hole
Depth8
45°
h8
40 pth2
φ De
7
φ20H
Dep 3
th
242
122
122 160
6.3a
Installation
6.3a reference plane
115
C
205
230
50
102.5
Enlarged view of C
4-φ9 installation hole
View from A (Outside dimensions Fig. 2-7, Fig. 2-9)
φ5H7 hole
Depth8
45°
h8
40 pth2
φ De
7
φ20H
Dep 3
th
205
122
(Installation)
122
127 121
View from A (Outside dimensions Fig. 2-8, Fig. 2-10)
2.5 Tooling
2.5.1 Wiring and piping for hand
Shows the wiring and piping configuration for a standard-equipped hand.
(1) RV-2A/2AM, RV-3AJ/3AJM (General environment, Protection specifications)
Tooling 2-19
2 Robot arm
1 5
CONIH
2 B
6:Spare manifold
3 Plug (M3 screw)
4 6
A 「GR1 to GR4」
(1)Hand input signal
(2)Hand output
connector
B primary cable
(3)1 to 5:Secondary pipe coupling
φ4 pneumatic hose
Primary pneumatic hose piping
φ6×1
Spare pneumatic hose piping Note1)
φ6×1
2-20 Tooling
2 Robot arm
(1) Two φ6x4 urethane hoses are provided from the pneumatic inlet on the base section to the shoulder cover
for the primary piping. One hose is the primary piping for the pneumatic device. The other hose is spare piping
for the air blowing. forced exhausting or the suction hand, etc.
The air inlet of the base section is pneumatic pipe coupling for Φ6.
(2) A φ4x 2.5 urethane hose is provided from inside the shoulder cover to the forearm side for the secondary
piping. The number of the hoses will differ according to the type as shown below.
・ RV-2A/RV-3AJ (General purpose)...............................................................4 hoses
・ RV-2AM/RV-3AJM (Protection specifications) .................................6 hoses: Two are for the blower.
・ RV-2AC-SA/SB, RV-3AJC-SA/SB (Clean specifications)...........5 hoses: One is for the spare.
All hose terminals have a hose bridge in the shoulder base. n the fore arm, there are pneumatic coupling
bridges for Φ4-hoses.
(3) In the RV-2AC-SA/SB and RV-3AJC-SA/SB type, the one urethane hose of φ6x2.5 is provided from the
pneumatic inlet on the base section to the inside of fore arm for the suction.
The hose terminal have a hose bridge at the back of base. (hose head 300mm) For use, connect it to the
suction port of the vacuum pump or the coupling on the "VACUUM" side of the vacuum generating valve.
Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use the exhaust filter (prepared
by the customer). Table 2-9 shows the specifications of the vacuum generating valve.
(4) A maximum for two solenoid valve sets (option) can be installed in the shoulder base.
Refer to Page 35, "(3) Solenoid valve set" for details on the electronic valve set (optional).
Tooling 2-21
2 Robot arm
<Sink type>
Robot controller
Robot arm wiring relay board
2 <Hand check2> General-purpose input 901
<Hand check3> White General-purpose input 902
3
4 <Hand check4> Black General-purpose input 903
5 <+24V> White
Black
6 <0V(COM)>
<Motorized hand> White <DC+> *1
7
<Motorized hand> Black <DC-> *1
8
*1) Dedicated for the motorized
hand.
It is valid when the motorized
hand interface is installed.
White General-purpose output 900
1 Black
GR1 2 +24V Hand1
Connect to the solenoid valve. 1 Black General-purpose output 901 ON/OFF
*It is valid when only the GR2 2 White +24V
φ4 quick coupling (1 to 6)
The M3 plug is being inserted *Refer to Fig. 2-17 for Air
of the robot type shown below. supply circuit example.
RV-2A/3AJ: 5 and 6
RV-2AC-SA/SB,RV-3AJC-SA/SB: 6 only
Fig.2-15 : Wiring and piping system diagram for hand and example the solenoid valve installation(Sink type)
2-22 Tooling
2 Robot arm
<Source type>
Robot controller
Robot arm wiring relay board
2 <Hand check2> General-purpose input 901
<Hand check3> White General-purpose input 902
3
Black
4 <Hand check4> General-purpose input 903
White
5 <+24V(COM)>
Black
6 <0V>
<Motorized hand> White <DC+> *1
7
<Motorized hand> Black <DC-> *1
8
φ4 quick coupling (1 to 6)
The M3 plug is being inserted
of the robot type shown below. *Refer to Fig. 2-17 for Air
RV-2A/3AJ: 5 and 6 supply circuit example.
RV-2AC-SA/SB,RV-3AJC-SA/SB: 6 only
Fig.2-16 : Wiring and piping system diagram for hand and example the solenoid valve installation(Source type)
Tooling 2-23
2 Robot arm
3.3K HCn*
820
0V
0V
<Source type>
24V
Fuse
1.6A
GRn*
0V
* GRn = GR1 ~ GR4
Note) An optional air hand interface (2A-RZ365/RZ375) is required to use hand output.
2-24 Tooling
2 Robot arm
Pressure switch
2-25
2 Robot arm
■ 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.
■ 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 2-12 : 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-14N - 2 pcs.
Nylon clamp NK-28N - 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 except the length.
Shows usage conditions for flexed type cables in Table 2-13.
■ Cable configuration
The configuration of the flexible cable is shown in Table 2-14. Refer to this table when selecting the cable bare.
mm
~400
30 0
1E-□□LCBL(S)-N
1A-□□LCBL(P)-1
Nylon clamp
NK-14N
Nylon clamp
NK-18N
Nylon clamp Nylon clamp
NK-14N NK-18N
Nylon clamp
Silicon rubber
■ Order type: 1E-DH □□□ - □□□ Note) □□□ indicates the [+ side angle]- [- side angle].
Example) 1E-DH120-90: + angle is +120 degrees, - side is -90 degrees.
■ Outline
The J1 axis operating range is limited by the robot arm's mechanical stopper and the
controller parameters.
If the axis could interfere with the peripheral devices, etc., and the operating range
need to be limited, use this.
■ Configuration
Table 2-15 : Configuration devices
Part name Type Qty. Remarks
Operating range change 1E-DH □□□ - □□□ 1 pc. The following work is done in our company.
・ The installation of the mecha stopper.
・ The change of the S/W parameter.
■ Specifications
Table 2-16 : Robot arm operating range changeable angle
Axis Standard Changeable angle
(1) The changeable angle shown in Table 2-16indicates the operation range by the software.
The limit by the mechanical stopper is positioned five degrees outward from that angle, so take care when
designing the layout.
(2) The changeable angle can be set independently on the + side and - side.
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.
■ Precautions for optional of motorized hand, pneumatic hand and solenoid valve
(1) About clean specification robot
The motorized hand and pneumatic hand can be installed, but its cleanliness is not under warranty.
Though the solenoid valve set can be installed, the exhaust of solenoid valve must be discharged to outside of
clean room by using spare hose etc.
2-30 Options
2 Robot arm
■ 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 2-18 are all within 50%.
・Installation on the protection specification or clean specification is possible, but qual-
ity and cleanness cannot be guaranteed.
■ Configuration
Table 2-17 : Configuration equipment
Part name Type Qty. Remarks
■ Specifications
Table 2-18 : Motorized hand specifications
Item Spacifications Remarks
Fp Fr
Mro Fy
Mpo
Lp
Lr
(=Lr*Fr) Myo
(=Lp*Fp)
Ly
(=Ly*Fy)
Options 2-31
2 Robot arm
4-5.5 hole
Motorized hand body (90 degree division)PCD31.5
(Φ10x5.5 spot facing
on the reverse side)
68
4-M5x16 58
4
(Hexagon socket bolt) φ40 Adapter 6
φ20h7 φ80
70
2.5
6
16
6
25
5 2-M3x12
73
15
Lmm
Hand body 1
34
34
4×2-M3
26
15
5 10 5
5
+2
20 10 Open 60 0 10
Close 0 Mpo
Radial
Myo
Mro
Connector
Connector
2 cores curl flex cable 40±10 (140) 40±10
Curl cable 2
Type 1A-GHCD-1
Black
A White 7 DC+
[Wiring system diagram]
B 8 DC-
Motorized hand side Robot side
2-32 Options
2 Robot arm
■ Configuration
Table 2-19 : Configuration equipment
Qty.
Part name Type Remarks
4A-HP02 4A-HP02E
Fp Fr
Mro Fy
Mpo
Lp
Lr
(=Lr*Fr) Myo
(=Lp*Fp)
Ly
(=Ly*Fy)
Options 2-33
2 Robot arm
Sink Source 72 7
type type
(Open) 1 HC1(OPEN) HC1(OPEN)
(Close) 2 HC1(CLOSE) HC1(CLOSE) M5 depth 7
5 +24V +24V(COM)
6 0V(COM) 0V
44
28
Hand-side Robot side
open/close 4-φ3.4 through
sensor 4-pitch PCD68
Inside the hand
Adapter
Installation bolts 58
M5×16: 4 bolts 4-core sensor cableφ3.5, outlet
φ40 Cross-section AA
φ20h7
φ80
2.5
φ11
A A
6
16
φ4 (two
6
locations)
CLOSE Pneumatic
coupling (1)
14
OPEN
90.5
5.5
84.5
Installation bolts
M3×12: 4 bolts
5
24.5
8
4-M4 Lcm
5
70
Attachment maximum length L cm
60
50 10
Gripping force N
40 20
30 30
20 40
10 50
2-34 Options
2 Robot arm
■ Outline
The solenoid valve set is an option that is used for controlling toolings when various
toolings, such as the hand, are installed at the end of the arm. All have double sole-
noid specification, and either one or two or three sets can be selected. This solenoid
valve set has a hand output cable attached to the solenoid valve. Also, for easy
installation of this electromaagnetic set onto the robot, it comes equipped with a
manifold, couplings, silencers, among other things.
When using the robot arm's hand output signal, the pneumatic hand interface option
must be installed on the separate controller.
■ Configuration
Table 2-21 : Configuration equipment
Qty.
Part name Type Remark
One set Two sets
Solenoid valve set (1 set) 1E-VD01/ Connecting the Page 38, "(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 2-22 : 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 ℃
Options 2-35
2 Robot arm
(12) 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
Part name 1 sets 2 sets Specifications
no.
(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
2-36 Options
2 Robot arm
■ Outline
■ Configuration
Table 2-24 : Configuration equipment
Part name Type Qty. Remarks
■ Specifications
Table 2-25 : Specifications
Item Specifications Remarks
(1)
φ11
HR10A-10WTP-12P
(Hirose)
160 ± 10 150 ± 10 40 ± 10
Sink Source
type type
(Yellow) 1 HC1 HC1
(Purple) 2 HC2 HC2
(Brown) 3 HC3 HC3
(Blue) 4 HC4 HC4
(Black) 5 +24V +24V(COM)
(Green) 6 0V(COM) 0V
7 Reserve Reserve
8 Reserve Reserve
(Red) 9 Reserve Reserve
(White) 10 Reserve Reserve
11 Reserve Reserve
12 Reserve Reserve
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
Options 2-37
2 Robot arm
■ Outline
The hand output cable (solenoid valve connection cable) is an option that is used
when an solenoid valve other than one of the solenoid valve set options, is used.
One end of the cable has a connector that connects to the input terminal inside the
robot. The other end of the cable is connected.
■ Configuration
Table 2-26 : Configuration equipment
Part name Type Qty. Remarks
■ Specifications
Table 2-27 : Specifications
Item Specifications Remarks
Size x Cable core AWG#22(0.3mm2) x 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 Source
general-purpose
type type
Part no. Part name Qty. Specifications White output 900
Black 1 GR1 Hand 1 ON Hand 1 ON
(1) Connector 4 SMR-02V-B 2 +24V +24G
general-purpose
White output 901
(2) Contact 8 BYM-001T-0.6 Black 1 GR2 Hand 1 OFF Hand 1 OFF
2 2 +24V +24G
(3) Twisted cable 4 AWG#22(0.3mm ) x 2 cores general-purpose
White output 902
Black 1 GR3 Hand 2 ON Hand 2 ON
2 +24V +24G
general-purpose
White output 903
Black 1 GR4
Hand 2 OFF Hand 2 OFF
2 +24V +24G
2-38 Options
2 Robot arm
■ Outline
The hand curl tube is a curl tube for the pneumatic hand.
■ Configuration
Table 2-28 : Configuration equipment
Part name Type Qty. Remarks
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.
Material Urethane
Size Outside diameter: Φ4 x Inside diameter: Φ2.5
250
200
(Tooling side)
wo s t),
ets)
e
φ 3 (One s
6 (T
8
φ2
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
Options 2-39
2 Robot arm
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 No. point 2,500
capacity of steps step 5,000
Number of programs 88
Robot language MELFA-BASIC Ⅳ
or
MOVEMASTER COMMAND
Teaching method Pose teaching method ,MDI method
External input and output point 16/16 Max. 240/240Note1)
input and Dedicated input/output point Assigned with general-purpose input/output "STOP" 1 point is fixed
output
Hand open/close input/output Up to output points can be added as
point Input 4 point/Output 0 point
an optionNote2)
Emergency stop input/output point 1 Single emergency line
Door switch input point 1 Single door switch line
Interface RS-232C port For expansion such as the personal
1
cpmputer, Vision sensor
RS-422 port 1 Dedicated for T/B
Dedicated for pneumatic hand/
Hand dedicated slot slot 1
motorized hand interface
Expansion slot slot 0 3 slot expansion is possible when
using expansion option box.
Used for general-purpose input/out-
Robot input/output link channel 1
put (Max. 240/240)
Power Input voltage range V 1-phase, AC180 to 253 Note3)Note4)
source Power capacity KVA 0.7 Does not include rush current Note5)
Outline dimensions mm 212(W)x290(D)x151(H) Excluding protrusions
Mass kg Approx. 8
Construction Self-contained floor type, Opened type IP20Note6)
Operating temperature range deg. 0 to 40
Ambient humidity %RH 45 to 85 Without dew drops
Grounding Ω 100 or less D class grounding earthNote7)
Paint color Light gray Munsell 7.65Y7.64/0.73
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) 1-phase,AC180 to 253. This specification is changed for CE-Marking model.
Note4) It can be used with single phase 95 VAC to 132 VAC. However, with 100 VAC power supply, an alarm
may be generated due to the robot arm's lift operation, etc. even if the acceleration/deceleration
time, the maximum speed and other items are set within the range of the robot's standard specifica-
tion. As a result, the robot's maximum performance may not be achieved. Therefore, use the standard
specification when a production line requires stringent conditions for the tact time, load, speed and
duty.
Input voltage is restricted for the specification of an earth leakage beaker (NV30-**).
The voltage of the underline part is default.
・ 95 to 132VAC, or 180 to 242VAC ("NV30-FA", Japan spec.).
・ 230VAC ± 10 % ("NV30-FAU", CE spec.)
・ 95 to 132VAC, or 180 to 253VAC ("NV30-FAU", except CE spec.).
Note5) 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-2A/3AJ is approx. 0.6kw.
Note6) The controller (CR1-571) of this robot is a general environment specification. If the robot is used in an oil
mist environment, use the optional controller protection box (CR1-MB) to protect the controller from the
oil mist environment. (Refer to Page 9, "2.2.3 Protection specifications and working environment")
Install to the place not to influence the cleanliness when using in the clean environment. (Refer to Page 10,
"2.2.4 Clean specifications")
Note7) The robot must be grounded by the customer.
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 96, "5.2 Working environment" for details on the working environment.
If the robot is used in an oil mist environment, use the optional contorller protection box
CAUTION (CR1-MB) to protect the controller from the oil mist environment.
Refer to the section Page 62, "(3) Controller protection box"for details on the controller
protection box.
EMG.STOP
STATUS NUMBER CHANG DISP
UP
11) DOWN
TEACH
AUTO AUTO
(Op.) (Ext.) REMOVE T/B
SVO OFF STOP END
14) 6)
1)
CAUTION Note) The servo will turn OFF when the controller's [MODE] switch is changed.
Note that axes not provided with brakes could drop with their own weight.
Carry out the following operations to prevent the servo from turning OFF when
the [MODE] switch is changed.
The servo on status can be maintained by changing the mode with keeping pressing
lightly the deadman switch of T/B. The operating method is shown below.
(6)
(7)
(5)
(1)
(2)
(4)
(3)
(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.
(170 or more)
(13)
(40)
290
200
49
(38)
EMG.STOP
STATUS NUMBER CHANG DISP
UP
DOWN
TEACH
AUTO AUTO
(Op.) (Ext.) REMOVE T/B
SVO OFF STOP END
(15)
50 STATUS NUMBER
EMG.STOP
50
CHANG DISP
UP
DOWN
TEACH
AUTO AUTO
(Op.) (Ext.) REMOVE T/B
SVO OFF STOP END
170 or more
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 60, "(2) Pneumatic hand interface" for details
Refer to Page 67, "(5) Parallel I/O unit" for details on the parallel input/output unit.
24V
1
Short piece 1
2
RA1 Emergency stop input
3
Short piece 2
4
RA2 Door switch input
5
RA3
6
RG (24G)
Note1)
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 customer) 3)
4)
5)
RG (24G) 6)
Example of wiring for external emergency stop and door switch
Terminal block array of
external emergency stop
Note1) 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
・External door input
[Note] Refer to Page 95, "5.1.7 Examples of safety measures" together, and carry out wiring to the emergency stop.
① Auto executing
Safeguard
STOP!!
TEACH
AUTO AUTO
(Op.) (Ext.)
Robot arm
Open
(Example)
② Teaching
Safeguard
TEACH
AUTO AUTO
(Op.) (Ext.)
Teaching
Open Robot arm pendant
(Example)
0V(COM)
<Sink type>
AX41C
Parallel I/O interface (Mitsubishi programmable
(Output) controller)
+24V
60mA COM
(24/12V)
Output
X
……
Output
24V
24G
Fuse
(0V)
External
power supply
AY51C
(Mitsubishi programmable
(Input) controller)
(COM) CTL+
24V
3.3K Input Y
……
Input
24V
COM
CTLG
External 24G
power supply
<Source type>
(Output) AX81C
60mA
Fuse (24/12V)
+24V
Output X
……
Output 24V
COM
(0V) 24G
External
power supply
(Input) CTL +
24V
3.3K Input Y
……
Input
CTLG
(COM)
24V 24G
AY81C
External
power supply
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 Line color Dedicated/power supply,
No. General-purpose Dedicated/power supply, common No. General-purpose
common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7 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 Note1) 39 Yellow/Blue C Note1)
COM0:For pins 15-22 COM1:For pins 40-47
15 Pink/Red C General-purpose input 0 Note2) 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
Table 3-7 : Standard parallel I/O interface CN100pin No. and signal assignment list <Source type> (2A-CBL □□ )
Function name Function name
Pin Pin
Line color Line color Dedicated/power supply,
No. General-purpose Dedicated/power supply, common No. General-purpose
common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38
3 White/Red A 12V/24V:For pins 4-7, 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
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 37 Gray/Blue C General-purpose output 14
10
13 White/Red C General-purpose output 38 White/Blue C General-purpose output 15
11
14 Yellow/Red C Note1) 39 Yellow/Blue C Note1)
COM0:For pins 15-22 COM1:For pins 40-47
15 Pink/Red C General-purpose input 0 Stop(All slot) Note2) 40 Pink/Blue C General-purpose input 8
16 Orange/Red D General-purpose input 1 Servo off 41 Orange/Blue D General-purpose input 9
17 Gray/Red D General-purpose input 2 Error reset 42 Gray/Blue D General-purpose input 10
18 White/Red D General-purpose input 3 Start 43 White/Blue D General-purpose input 11
19 Yellow/Red D General-purpose input 4 Servo on 44 Yellow/Blue D General-purpose input 12
20 Pink/Red D General-purpose input 5 Operation rights 45 Pink/Blue D General-purpose input 13
21 Orange/Red E General-purpose input 6 46 Orange/Blue E General-purpose input 14
22 Gray/Red E General-purpose input 7 47 Gray/Blue E General-purpose input 15
23 White/Red E Reserved 48 White/Blue E Reserved
24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved
25 Pink/Red E Reserved 50 Pink/Blue E Reserved
・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
*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
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.
3-56 Options
3Controller
■ 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
Part name Type Qty. Remarks
Teaching pendant R28TB Either one pc. Cable length is 7m. Hand strap is attached.
R28TB-15 Cable length is 15m. Hand strap is attached.
■ Specifications
Table 3-9 : 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.
Options 3-57
3Controller
Hand strap
Contrast adjusting
switch Display LCD Enable/Disable switch
DISABLE ENABLE
R28TB
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
55 153
70
Hand strap
<Side> <Front> <Back>
■ Installation method
The teaching pendant is connected to the T/B connector on the front of the controller.
3-58 Options
3Controller
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 →
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.
Options 3-59
3Controller
■ 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 67, "Parallel I/O unit" for detail.
■ Configuration
Table 3-10 : Configuration device
Part name Type Qty. Remarks
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
Table 3-11 : Specifications
Item Specification Internal circuit
Type Transistor output <Sink type>
No. of output points 8Note1) 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
External cable connection method Connector (Connected from RZ386 or RZ387)Note2)
0V
GRn*
0V
* 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-2A/3AJ 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.
3-60 Options
3Controller
■ Installation method
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. Refer to separate "Instruction Manual/CR1 controller Controller setup, basic operation, and
maintenance" for details on the installing method.
Control unit A
<RZ386>
or
<RZ387>
CNHND
CNHND
CNHNDOUT
2A-RZ365 CNHNDOUT
or
2A-RZ375
View A
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 3-61
3Controller
■ Outline
The controller protection box is used to protect the CR1-571 controller from an oil
mist or other operating environment. Put the controller and the earth leakage
breaker, etc. in controller protection box, and use it. Since the front cover of the
controller protection box can be removed, it is possible to operate the controller's
front panel and to install and remove the T/B.
■ Configuration
Table 3-12 : Configuration device
Part name Type Qty. Remarks
Controller protection box CR1-MB 1 unit
Serial number posting label 1
Protection seal transparent 1 Protection for the serial number posting label.
Cable tie 2
Power supply wiring cable 1 For connecting the power relay terminal and the controller inside the box.
Grounding cable 1 For connecting the FG terminal and the controller inside the box.
External emergency stop box HW1X-BV401R 1 unit Single emergency line. Install at a location outside the controller protection
(Controll box) box where operation can be performed easily. The outside dimensions is
shown in Fig. 3-15.
■ Specifications
Table 3-13 : Specifications
Item Unit Specifications Remarks
Outside dimensions mm 414(W) × 492(D) × 202(H) Excluding protrusions
Mass Kg 10
Structure Self-contained floor type IP54
Grounding D class grounding earth
Coating color Light gray Munsell 7.65Y7.64/0.73
(1) The installation of the controller, earth leakage breaker and wiring are constructed by customer.
(2) Prepare the 2 power cable and 1 grounding cable (both AWG#14(2mm2) or more).
(3) The emergency stop box does not come with a cable clamp (wiring connector). The cable clamp must be
provided by the customer according to the size of the cable.
The following table shows recommended cable clamps for your reference.
Table 3-14 : Cable clamp for external emergency stop box (recommendation)
Type JIS wiring tube Adaptation cable outside diameter Manufacturer
OA-W1606 4 ~ 6φ
OA-W1608 6 ~ 8φ
OA-W1609 G1/2 7 ~ 9φ OHM electric Corp
OA-W1611 9 ~ 11φ
OA-W1613 11 ~ 13φ
3-62 Options
3Controller
<Front> <Rear>
Window
Front panel
Cable cover
Corner type catch clip
(Machine cable for signal)
Cable cover
100
91.2
492
306
CR1-571 controller
arrangement place
92.2
Window
187
(15)
Options 3-63
3Controller
□ 70.0
TOP
TOP
2-φ4.6 42.4
(Two M4 installation *The M4 screw prepared by customer
screw holes)
58.0
■ Installation dimensions
Note)
150mm or more Note) 150mm or more Note) Keep the space of
150mm or more for
opening and closing
the corner type catch clip.
150mm or more
3-64 Options
3Controller
■ 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
Table 3-15 : Configuration device
Part name Type Qty. Remarks
Expansion option box CR1-EB3 1 With rubber foot
Installation screw 4
■ Specifications
Table 3-16 : 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 deg. 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)
Note1) Self-contained floor type, under the condition combined with the body.
Options 3-65
3Controller
65
Positioning latch Positioning latch
24
Rear side
cable outlet
299.7
87.5 (38) 290 (13)
Installation
screw
Four
151
positions
(15)
42
Fan
Grounding terminal(M4)
■ Installation method
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.
3-66 Options
3Controller
■ 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
Table 3-17 : Configuration device
Part name Type Qty. Remarks
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 52, "3.7 Parallel input/output unit" for details.
0V(COM)
Options 3-67
3Controller
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)
Note 1) The 24V power supply is prepared by customer (The power consumption is approx. 0.3A.)
Note 2) The cable for general purpose can be used to the network cable. However, use the twisted shield cable of
AWG#22(0.3mm2) or more.
Fig.3-18 : Spacifications for the connection cable
3-68 Options
3Controller
■ Installation method
The expansion parallel input/output unit is installed outside of the controller. Connect with the network connec-
tion cable (NETcable-1) from the RIO1 connector in the 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
downside
Options 3-69
3Controller
RIO1 connector
Note)
NETcable-1
cable
<CN300> <CN300>
<CN100> <CN100>
Front
RIO1 connector
RIO2 connector
DCIN connector
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.
3-70 Options
3Controller
Table 3-21 : Connector CN300pin No. and signal assignment list (2A-CBL □□ )
Function name Function name
Pin Pin
Line color Dedicated/power supply, Line color Dedicated/power supply,
No. General-purpose No. General-purpose
common common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7 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 48 29 Yellow/Blue A General-purpose output 52
5 Pink/Red A General-purpose output 49 30 Pink/Blue A General-purpose output 53
6 Orange/Red B General-purpose output 50 31 Orange/Blue B General-purpose output 54
7 Gray/Red B General-purpose output 51 32 Gray/Blue B General-purpose output 55
8 White/Red B 0V:For pins 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 56 35 Pink/Blue B General-purpose output 60
11 Orange/Red C General-purpose output 57 36 Orange/Blue C General-purpose output 61
12 Gray/Red C General-purpose output 58 37 Gray/Blue C General-purpose output 62
13 White/Red C General-purpose output 59 38 White/Blue C General-purpose output 63
14 Yellow/Red C COM0:For pins 15-22 Note1) 39 Yellow/Blue C COM1:For pins 40-47 Note1)
15 Pink/Red C General-purpose input 48 40 Pink/Blue C General-purpose input 56
16 Orange/Red D General-purpose input 49 41 Orange/Blue D General-purpose input 57
17 Gray/Red D General-purpose input 50 42 Gray/Blue D General-purpose input 58
18 White/Red D General-purpose input 51 43 White/Blue D General-purpose input 59
19 Yellow/Red D General-purpose input 52 44 Yellow/Blue D General-purpose input 60
20 Pink/Red D General-purpose input 53 45 Pink/Blue D General-purpose input 61
21 Orange/Red E General-purpose input 54 46 Orange/Blue E General-purpose input 62
22 Gray/Red E General-purpose input 55 47 Gray/Blue E General-purpose input 63
23 White/Red E Reserved 48 White/Blue E Reserved
24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved
25 Pink/Red E Reserved 50 Pink/Blue E Reserved
Options 3-71
3Controller
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
Fig.3-21 : Parallel input/output unit <2A-RZ361/2A-RZ371:First expansion> connection and pin layout
CAUTION [*1] For the 1st expansion unit, set the channel No. to "1".
The channel No. of 8 to F is used for the maker test. If any value of 8 to F is set, it may
be dangerous since the robot unexpectedly moves. Don't set any value of 8 to F.
3-72 Options
3Controller
Table 3-23 : Connector CN300pin No. and signal assignment list (2A-CBL □□ )
Function name Function name
Pin Pin
Line color Dedicated/power supply, Line color Dedicated/power supply,
No. General-purpose No. General-purpose
common common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7 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 80 29 Yellow/Blue A General-purpose output 84
5 Pink/Red A General-purpose output 81 30 Pink/Blue A General-purpose output 85
6 Orange/Red B General-purpose output 82 31 Orange/Blue B General-purpose output 86
7 Gray/Red B General-purpose output 83 32 Gray/Blue B General-purpose output 87
8 White/Red B 0V:For pins 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 88 35 Pink/Blue B General-purpose output 92
11 Orange/Red C General-purpose output 89 36 Orange/Blue C General-purpose output 93
12 Gray/Red C General-purpose output 90 37 Gray/Blue C General-purpose output 94
13 White/Red C General-purpose output 91 38 White/Blue C General-purpose output 95
14 Yellow/Red C COM0:For pins 15-22 Note1) 39 Yellow/Blue C COM1:For pins 40-47 Note1)
15 Pink/Red C General-purpose input 80 40 Pink/Blue C General-purpose input 88
16 Orange/Red D General-purpose input 81 41 Orange/Blue D General-purpose input 89
17 Gray/Red D General-purpose input 82 42 Gray/Blue D General-purpose input 90
18 White/Red D General-purpose input 83 43 White/Blue D General-purpose input 91
19 Yellow/Red D General-purpose input 84 44 Yellow/Blue D General-purpose input 92
20 Pink/Red D General-purpose input 85 45 Pink/Blue D General-purpose input 93
21 Orange/Red E General-purpose input 86 46 Orange/Blue E General-purpose input 94
22 Gray/Red E General-purpose input 87 47 Gray/Blue E General-purpose input 95
23 White/Red E Reserved 48 White/Blue E Reserved
24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved
25 Pink/Red E Reserved 50 Pink/Blue E Reserved
Options 3-73
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
Fig.3-22 : 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.
3-74 Options
3Controller
■ 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
Table 3-24 : Configuration device
Part name Type Qty. Remarks
External I/O cable 2A-CBL □□ 1pc. 5m or 15m
■ Specifications
Table 3-25 : Specifications
Items Specifications
Number of cables x cable size 50 pairs x AWG #28
Total length 5m or 15m
Options 3-75
3Controller
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
3-76 Options
3Controller
■ Configuration
Table 3-27 : Configuration device
Part name Type Qty. Remarks
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
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)
Options 3-77
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.3-25 : Personal computer cabe connector
3-78 Options
3Controller
■ 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 3-28 : 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.
Options 3-79
3Controller
■ Functions
Table 3-29 : 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 ".
3-80 Options
3Controller
4 Software
4.1 List of commands
The robot language to use can choose "MELFA-BASIC Ⅳ " (default setting) or "MOVEMASTER language
(MOVEMASTER commands)" by changing the parameter.
Use of "MELFA-BASIC IV" is recommended to effectively use this controller's functions.
The available new functions in MELFA-BASIC IV are given in Table 4-1.
STR$ Converts the numeric expression value into a decimal character string
Parallel execution XRUN, XSTP, XRST, Parallel executions of another task, the stops, the resets, and, the loads
(Multitask) XLOAD
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
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
Program control
Executes the subroutine corresponding to the designated expression value. ON M1 GOSUB 100,200,300
Interrupt Defines the interrupt conditions and process. DEF ACT 1 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
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
Mechanism desig- Acquires the mechanism with the designated mechanism No. GETM 1
nation
Parallel execution
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.
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
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
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
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.
AREA1ME Designate which mechanism to use the eight types of set area.
: The mechanism No. to use is set with 1 to 8
AREA8ME
Automatic return setting RETPATH Set to restart the program after returning to the interrupt position when resuming operation
after an interruption.
Automatic operation speed. SPI Designate the initial level for the automatic operation speed.
Automatic operation override EOV Designate the initial override for automatic operation.
(External override, program override)
Jog setting JOGJSP Designate the joint 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
Parameter Details
Stop input B contact desig- INB Change the dedicated input (stop) between the A contact and B contact.
nation
Program selection memory SLOTON Select the program selected previously when initializing the slot. The non-selected state will
be entered when not set.
Slot table SLT Make settings (program name, operation type, order of priority, etc.) for each slot during slot
: initialization.
SLT32
Robot language setting RLNG Select the robot language ("MELFA-BASIC Ⅳ "/"MOVEMASTER COMMAND")
Select the function of MESNGLSW Designate the valid/invalid of the singular point adjacent alarm.
singular point adjacent alarm (Invalid/Valid = 0/1)
When this parameter is set up "VALID", this warning sound is buzzing even if parameter:
BZR (buzzer ON/OFF) is set up "OFF".
Display language.Note1) LNG Change the language to display on the LCD display of teaching pendant.
表示言語 Note1) テ ィ ーチ ン グボ ッ ク スの表示 LCD な ど に表示する言語を切 り 替え ます。
Note1)The procedure of Language as shown in "(2) Change the display language / 表示言語の切 り 替え ".
注 1) 表示言語切 り 替え方法の詳細を "(2) Change the display language / 表示言語の切 り 替え " に示 し ます。
表示言語を設定 し ます。
"JPN" : 日本語表示
"ENG" : 英語表示
以下に示す表示言語が変更 さ れます。
(1) テ ィ ーチ ングボ ッ ク スの表示 LCD
(2) パ ソ コ ンサポー ト ソ フ ト ウ ェ ア
・ ロボ ッ ト のア ラ ーム メ ッ セージ
・ パラ メ ー タ 説明 リ ス ト
(3) 外部通信で ロボ ッ ト か ら読み出 し たア ラ ーム メ ッ
セージ (標準 RS232C、 増設シ リ アルイ ン タ
フ ェ ース、 イ ーサネ ッ ト イ ン タ フ ェ ース)
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.
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 5-93
5Safety
(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.
5-94 Safety
5Safety
MC1
+
To servo main circuit power
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.
(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% (at25 deg.)
* Note that these specifications are subject to change without prior notice for modification purposes.
Safety 5-95
5Safety
(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.
(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.)
Note1)Jog operation refers to operating the robot manually using the teaching pendant.
6 Appendix
Appendix 1 : Specifications discussion material
■ Customer information
Company name Name
Address Telephone
■ Purchased mode
Specification Type
General environment □ RV-2A □ RV-3AJ
Protection specification □ RV-2AM □ RV-3AJM
Clean specification □RV-2AC-SA □ RV-3AJC-SA □ RV-2AC-SB □ RV-3AJC-SB
MITSUBISHI ELECTRIC EUROPE GEVA AUSTRIA MITSUBISHI ELECTRIC IRELAND Elektrostyle RUSSIA
EUROPE B.V. Wiener Straße 89 EUROPE B.V. – Irish Branch Ul Garschina 11
German Branch A-2500 Baden Westgate Business Park RUS-140070 Moscowskaja Oblast
Gothaer Straße 8 Phone: +43 (0) 2252 / 85 55 20 Ballymount Pos. Tomilino
D-40880 Ratingen Fax: +43 (0) 2252 / 488 60 IRL-Dublin 24 Phone: +7 095 / 261 3808
Phone: +49 (0) 21 02 / 486-0 e mail: [email protected] Phone: +353 (0) 1 / 419 88 00 Fax: +7 095 / 261 3808
Fax: +49 (0) 21 02 / 4 86-1120 Getronics b.v. BELGIUM Fax: +353 (0) 1 / 419 88 90 e mail: —
e mail: [email protected] Control Systems e mail: [email protected] ICOS RUSSIA
MITSUBISHI ELECTRIC FRANCE Pontbeeklaan 43 Getronics NETHERLANDS Ryazanskij Prospekt, 8A, Office 100
EUROPE B.V. B-1731 Asse-Zellik Industrial Automation B.V. RUS-109428 Moscow
French Branch Phone: +32 (0) 2 / 4 67 17 51 Donauweg 2 B Phone: +7 095 / 232 0207
25, Boulevard des Bouvets Fax: +32 (0) 2 / 4 67 17 45 NL-1043 AJ Amsterdam Fax: +7 095 / 232 0327
F-92741 Nanterre Cedex e mail: [email protected] Phone: +31 (0) 20 / 587 6700 e mail: [email protected]
Phone: +33 1 55 68 55 68 INEA CR d.o.o. CROATIA Fax: +31 (0) 20 / 587 6839
Fax: +33 1 55 68 56 85 Drvinje 63 e mail: [email protected]
e mail: [email protected] HR-10000 Zagreb Beijer Electronics AS NORWAY
MITSUBISHI ELECTRIC . ITALY Phone: +385 (0)1/ 36 67 140 Teglverksveien 1 MIDDLE EAST REPRESENTATIVE
EUROPE B.V Fax: +385 (0)1/ 36 67 140 N-3002 Drammen
Italian Branch e mail: — Phone: +47 (0) 32 / 24 30 00 ILAN & GAVISH LTD ISRAEL
Via Paracelso 12 AutoCont CZECHIA Fax: +47 (0) 32 / 84 85 77 Automation Service
I-20041 Agrate Brianza (MI) Control Systems s.r.o. e mail: [email protected] 24 Shenkar St., Kiryat Arie
Phone: +39 (0) 39 / 60 53 1 Nemocnicni 12 MPL Technology Sp. z o.o. POLAND IL-49001 Petach-Tiqva
Fax: +39 (0) 39 / 60 53 312 CZ-702 00 Ostrava 2 ul. Sliczna 36 Phone: +972 (0) 3 / 922 18 24
e mail: [email protected] Phone: +420 (0) 69 / 615 21 11 PL-31-444 Kraków Fax: +972 (0) 3 / 924 07 61
MITSUBISHI ELECTRIC SPAIN Fax: +420 (0) 69 / 615 25 62 Phone: +48 (0) 12 / 632 28 85 e mail: [email protected]
EUROPE B.V. e mail: [email protected] Fax: +48 (0) 12 / 632 47 82
Spanish Branch louis poulsen DENMARK e mail: [email protected]
Carretera de Rubí 76-80 industri & automation ACP Autocomp a.s. SLOVAKIA
E-08190 Sant Cugat del Vallés Geminivej 32 Chalupkova 7 AFRICAN REPRESENTATIVE
(Barcelona) DK-2670 Greve SK-81109 Bratislava
Phone: +34 9 3 / 565 3131 Phone: +45 (0) 43 / 95 95 95 Phone: +421 (02) / 5292- 22 54/55
Fax: +34 9 3 / 589 2948 CBI Ltd SOUTH AFRICA
Fax: +45 (0) 43 / 95 95 91 Fax: +421 (02) / 5292- 22 48 Private Bag 2016
e mail: [email protected] e mail: [email protected] e mail: [email protected] ZAF-1600 Isando
MITSUBISHI ELECTRIC UK Beijer Electronics OY FINLAND INEA d.o.o. SLOVENIA Phone: +27 (0) 11 / 928 2000
EUROPE B.V. Ansatie 6a Stegne 11 Fax: +27 (0) 11 / 392 2354
UK Branch FIN-01740 Vantaa SI-1000 Ljubljana e mail: [email protected]
Travellers Lane Phone: +358 (0) 9 / 886 77 500 Phone: +386 (0) 1- 513 8100
GB-Hatfield Herts. AL10 8 XB Fax: +358 (0) 9 / 886 77 555 Fax: +386 (0) 1- 513 8170
Phone: +44 (0) 1707 / 27 61 00 e mail: [email protected] e mail: [email protected]
Fax: +44 (0) 1707 / 27 86 95
Kouvalias s GREECE Beijer Electronics AB SWEDEN
MITSUBISHI ELECTRIC JAPAN Industrial Robot Box 426
CORPORATION 25, El. Venizelou Ave. S-20124 Malmö
Office Tower “Z” 14 F GR-17671 Kallithea Phone: +46 (0) 40 / 35 86 00
8-12,1 chome, Harumi Chuo-Ku Phone: +302 (0) 10 / 958 92 43 Fax: +46 (0) 40 / 35 86 02
Tokyo 104-6212 Fax: +302 (0) 10 / 953 65 14 e mail: [email protected]
Phone: +81 3 6221 6060 e mail: [email protected]
Fax: +81 3 6221 6075 ECONOTEC AG SWITZERLAND
Axicont Automatika Kft. HUNGARY Postfach 282
MITSUBISHI ELECTRIC USA Reitter F. U. 132 CH-8309 Nürensdorf
AUTOMATION H-1131 Budapest Phone: +41 (0) 1 / 838 48 11
500 Corporate Woods Parkway Phone: +36 (0)1 / 412-0882 Fax: +41 (0) 1 / 838 48 12
Vernon Hills, IL 60061 Fax: +36 (0)1 / 412-0883 e mail: [email protected]
Phone: +1 847 / 478 21 00 e mail: [email protected]
Fax: +1 847 / 478 22 83 GTS TURKEY
Meltrade Automatika Kft. HUNGARY Darülaceze Cad. No. 43A KAT: 2
55, Harmat St. TR-80270 Okmeydani-Istanbul
HU-1105 Budapest Phone: +90 (0) 212 / 320 1640
Phone: +36 (0)1 / 2605 602 Fax: +90 (0) 212 / 320 1649
Fax: +36 (0)1 / 2605 602 e mail: [email protected]
e mail: [email protected]