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Mitsubishi Electric RV-8CRL User Manual
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Mitsubishi Electric Industrial Robot
CR800-D Controller
R
V
-8CRL
Standard Specifications Manual
BFP-A3678-C
2
Table of Contents
1 General configuration
13
1.1 Structural equipment
13
1.1.1 Standard structural equipment
13
1.1.2 Special specifications
13
1.1.3 Options
13
1.1.4 Maintenance parts
13
1.2 Model type name of robot
14
1.2.1 How to identify the robot model
14
1.2.2 Combination of the robot arm and the controller
14
1.3 Contents of the structural equipment
15
1.3.1 Robot arm
15
1.3.2 Controller
16
1.3.3 Function extension device
17
1.4 Contents of the Option equipment and special specification
18
1.4.1 List of the robot arm option equipment and special specification
18
1.4.2 List of the controller option equipment and special specification
18
1.4.3 Function extension device
19
2 Robot arm
21
2.1 Standard specifications
21
2.1.1 Basic specifications
21
2.1.2 The counter-force applied to the installation surface
22
2.2 Definition of specifications
23
2.2.1 Pose repeatability
23
2.2.2 Rated load (mass capacity)
24
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed
25
(1) Setting Load Capacity and Size (Hand Conditions)
25
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot
25
2.2.5 Collision detection
25
2.2.6 Protection specifications
26
(1) Types of protection specifications
26
(2) About the use with the bad environment
27
2.3 Names of each part of the robot
28
2.4 Outside dimension • Operating range diagram
29
2.4.1 Outside dimensions of machine cables
31
2.5 Tooling
32
2.5.1 Wiring and piping for hand
32
2.5.2 Internal wiring and piping
33
2.5.3 Internal wiring for the hand cable
33
2.5.4 Air supply circuit example for the hand
34
2.5.5 About the Installation of Tooling Wiring and Piping
34
2.6 Options
36
(1) Machine cable (replaceable): Fixed type
37
(2) Machine cable (replaceable): Flexed type
38
2.7 About Overhaul
40
2.8 Maintenance parts
41
3 Controller
42
3.1 Standard specifications
42
3.1.1 Basic specifications
42
3.1.2 Protection specifications and operating supply
44
(1) Protection specifications
44
(2) Operating supply
44
3.2 Names of each part
45
3.2.1 Controller
45
3.3 Outside dimensions/Installation dimensions
47
3.3.1 Outside dimensions
47
3.3.2 Installation dimensions
48
3.4 External input/output
50
3.4.1 Types
50
3.5 Dedicated input/output
51
3.6 Emergency stop input and output etc.
54
3.6.1 Connection of the external emergency stop and mode selector switch
54
3.6.2 Special stop input (SKIP)
58
3.6.3 Door switch function
59
3.6.4 Mode selector switch function
59
(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
60
3.7 Additional Axis Function
61
3.7.1 Wiring of the Additional Axis Interface
61
3.7.2 Example of the installation of the noise filter
62
(1) Line noise filter
63
3.8 Additional axis synchronization output
64
(1) Example circuit
64
(2) Image of how to connect the controller connector
65
3.9 Options
66
(1) Teaching pendant (T/B)
67
(2) High efficient teaching pendant (T/B)
70
(3) Controller protection box
72
(4) MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini/MELSOFT RT ToolBox3 Pro
77
(5) Instruction Manual (bookbinding)
79
(6) Parallel I/O interface
80
(7) External I/O cable
85
(8) Parallel I/O unit
87
(9) External I/O cable
96
(10) CC-Link interface
98
(11) SD memory card
101
3.10 Maintenance parts
102
4 Software
103
4.1 List of commands
103
4.2 List of parameters
106
5 Instruction Manual
108
5.1 The details of each instruction manuals
108
6 Safety
109
6.1 Safety
109
6.1.1 Self-diagnosis stop functions
109
6.1.2 External input/output signals that can be used for safety protection measures
110
6.1.3 Precautions for using robot
110
(1) Robot installation
110
(2) Prevention of contact with operator
110
(3) Work procedures
110
(4) Training
111
(5) Daily inspection and periodic inspection
111
6.1.4 Safety measures for automatic operation
111
6.1.5 Safety measures for teaching
111
6.1.6 Safety measures for maintenance and inspections, etc.
111
6.1.7 Examples of safety measures
112
(1) External emergency stop connection [supplementary explanation]
116
6.2 Working environment
117
(1) Power supply
117
(2) Noise
117
(3) Temperature and humidity
117
(4) Vibration
117
(5) Installation environment
117
6.3 Precautions for handling
117
6.4 EMC installation guideline
119
6.4.1 Outlines
119
6.4.2 EMC directive
119
6.4.3 EMC measures
119
6.4.4 Component parts for EMC measures
120
7 Appendix
121
Appendix 1: Inertia calculation method
121
(1) Load moment calculation example (for J5 axis with flange facing downwards)
121
(2) Load inertia calculation example (for J6 axis)
121
Appendix 2: Classification of functions using external input/output signals
122
Appendix 3: Safety diagnosis function (Test pulse diagnosis)
123
Appendix 4: Safety block diagram
124
Appendix 5: Specifications discussion material
125
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Mitsubishi Electric RV-8CRL Specifications
General
Brand
Mitsubishi Electric
Model
RV-8CRL
Category
Controller
Language
English
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