Mitsubishi Electric MELFA RV-6SDL Series - Page 10

Contents
ii
Page
2.9 Maintenance parts ................................................................................................................................................................. 2-37
3 Controller .......................................................................................................................................................................................... 3-39
3.1 Standard specifications ...................................................................................................................................................... 3-39
3.1.1 Standard specifications ............................................................................................................................................... 3-39
3.1.2 Protection specifications and operating supply ................................................................................................ 3-41
3.2 Names of each part .............................................................................................................................................................. 3-42
(1) Padlock specification ............................................................................................................................................... 3-44
3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-50
3.3.1 Outside dimensions ....................................................................................................................................................... 3-50
3.3.2 Installation dimensions ................................................................................................................................................. 3-54
3.3.3 Cable lead-in and dimension ..................................................................................................................................... 3-56
3.4 External input/output .......................................................................................................................................................... 3-58
3.4.1 Types .................................................................................................................................................................................. 3-58
3.5 Dedicated input/output ...................................................................................................................................................... 3-59
3.6 Emergency stop input and output etc. ......................................................................................................................... 3-61
3.6.1 Connection of the external emergency stop ...................................................................................................... 3-61
3.6.2 Special stop input(SKIP) ............................................................................................................................................. 3-65
3.6.3 Door switch function .................................................................................................................................................... 3-67
3.6.4 Enabling device function ............................................................................................................................................. 3-67
(1) When door is opening ............................................................................................................................................... 3-67
(2) When door is closing ................................................................................................................................................ 3-67
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-68
3.7 Additional Axis Function ..................................................................................................................................................... 3-69
3.7.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-69
3.8 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-73
3.9 Options ....................................................................................................................................................................................... 3-76
(1) Teaching pendant (T/B) ......................................................................................................................................... 3-77
(2) Pneumatic hand interface ...................................................................................................................................... 3-80
(3) Parallel I/O interface ............................................................................................................................................... 3-83
(4) External I/O cable ..................................................................................................................................................... 3-89
(5) Parallel I/O unit ......................................................................................................................................................... 3-91
(6) External I/O cable .................................................................................................................................................. 3-102
(7) Personal computer cable .................................................................................................................................... 3-104
(8) CC-Link interface .................................................................................................................................................. 3-105
(9) Extension memory cassette .............................................................................................................................. 3-108
(10) RT ToolBox2/RT ToolBox2 mini ................................................................................................................... 3-109
(11) Instruction Manual(bound edition) ................................................................................................................ 3-111
3.10 Maintenance parts ........................................................................................................................................................... 3-112
4 Software ......................................................................................................................................................................................... 4-113
4.1 List of commands ............................................................................................................................................................... 4-113
4.2 List of parameters .............................................................................................................................................................. 4-116
5 Instruction Manual ..................................................................................................................................................................... 5-118
5.1 The details of each instruction manuals ................................................................................................................... 5-118
6 Safety .............................................................................................................................................................................................. 6-120
6.1 Safety ...................................................................................................................................................................................... 6-120
6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-120
6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-121
6.1.3 Precautions for using robot .................................................................................................................................... 6-121
6.1.4 Safety measures for automatic operation ........................................................................................................ 6-122
6.1.5 Safety measures for teaching ............................................................................................................................... 6-122
6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-122
6.1.7 Examples of safety measures ................................................................................................................................ 6-123