Mitsubishi Electric CR800-R - Page 16

1 FUNCTIONS AND CONFIGURATION
1-4 System Configuration
Table 1-3 Overview of the system architecture
Item
Details and supported version
Number in Fig.
1-1
Remarks
MITSUBISHI ELECTRIC industrial robot (Note 1)
-
-
Robot arm
RV-FR series, RH-FRH series (Note 2)
<10>
-
Robot controller
CR800-R controller
Ver.C2 or later
<7>, <9>
-
CR860-R controller
Ver.C2z
-
MITSUBISHI ELECTRIC programmable controller MELSEC iQ-R series
-
-
Programmable controller
CPU module (Note 1)
R04/R08/R16/
R32/R120CPU
Ver.43 or later
<6>
-
R00/R01/R02CPU
Ver.11 or later
-
R08/R16/R32/R120SFCPU-
SET (Note 4)
Ver.20 or later
-
Master/local module
RJ71GN11-T2
Ver.10 or later
<8>
-
MITSUBISHI ELECTRIC safety programmable controller MELSEC iQ-R series
-
-
Safety CPU set (Note 3)
RnSFCPU-SET
Ver.20 or later
<1>, <2>
-
Master/local module
RJ71GN11-T2
Ver.10 or later
<3>
-
RT ToolBox3
RT ToolBox3 mini
RT ToolBox3 Pro
3F-15C-WINE
3F-14C-WINE
3F-16D-WINE
Ver.1.90U or
later
<4>
Used to enable
safety monitoring
functions.
GX Works3
SW1DND-GXW3-E
Ver.1.075D or
later
<5>
-
External safety device
Light curtains, safety switches, etc.
-
Use devices
specific to the
system being
constructed.
Note 1: This is the standard equipment of the CR800-R series. Devices such as a power supply module and base
unit are required separately. Refer to the following manuals.
□ CR800 Controller RV-FR Series Standard Specifications Manual (BFP-A3470)
□ CR800 Controller RH-FRH Series Standard Specifications Manual (BFP-A3468)
□ CR860 Controller RV-35FR/50FR/80FR Series Standard Specifications Manual (BFP-A3779)
Note 2: The following table shows the compatible robot models.
Series
Model
RV-FR series
RV-2FRB, RV-2FRLB, RV-4FR, RV-4FRL, RV-4FRJL, RV-7FR, RV-7FRL, RV-
7FRLL, RV-13FR, RV-13FRL, RV-20FR, RV-35FR, RV-50FR, RV-80FR
RH-FRH series
RH-3FRH, RH-6FRH, RH-12FRH, RH-20FRH, RH-3FRHR, RH-1FRHR
Note 3: This set is composed of a safety CPU module and safety function module (R6SFM). Devices such as a
power supply module and base unit are required separately. Refer to the following manuals.
□ MELSEC iQ-R MELSEC iQ-R Module Configuration Manual (SH-081262ENG)
Note 4: If using a safety CPU module for multi-CPU system No.1, safety CPU module No.1 does not allow robot
controllers No.2 to 4 to perform safety communications using the CC-Link IE TSN master/local modules
that use safety communications.
To perform the safety communications of both safety CPU module No.1 and robot controllers No.2 to 4,
incorporate two master/local modules (refer to the figure below).
Standard
communications
Safety
communications
Multi-CPU system
Safety communication
function
RnSFCPU
(Control CPU)
CPUs No.2 to 4
Master/local modules
Master/local
modules
Standard communications
Safety communications