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RV-2F-D Series
Mitsubishi RV-2F-D Series User Manual
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Oct., 2012 MEE Printed in Japan on recycled paper.
Specifications are subject to change wi
thout notice.
HEAD OFFICE: T
OKYO BUILDING, 2-7-
3, MARUNOUCHI, CHIYODA-KU, TOK
YO 100-8310, JAP
AN
NAGOYA W
ORKS: 5-1
-14, YADA-MINAMI, HIGASHI-KU, NA
GOYA 461-8670
, JAPAN
Authorised represent
ative:
MITSUBIS
HI ELECTRIC EU
ROPE B.V. GER
MANY
Gothaer St
r. 8, 40880 Ratingen / P.O
. Box 1548, 40835 Ratinge
n, Germany
139
Table of Contents
1 General configuration
11
1.1 Structural equipment
11
1.1.1 Standard structural equipment
11
1.1.2 Special specifications
11
1.1.3 Options
11
1.1.4 Maintenance parts
11
1.2 Model type name of robot
12
1.2.1 How to identify the robot model
12
1.2.2 Combination of the robot arm and the controller
12
1.3 Contents of the structural equipment
13
1.3.1 Robot arm
13
1.3.2 Controller
14
1.4 Contents of the Option equipment and special specification
15
2 Robot arm
18
2.1 Standard specifications
18
2.1.1 Basic specifications
18
2.2 Definition of specifications
19
2.2.1 Pose repeatability
19
2.2.2 Rated load (mass capacity)
20
2.2.3 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot
21
2.2.4 Collision detection
21
2.2.5 Protection specifications
21
(1) Types of protection specifications
21
2.3 Names of each part of the robot
22
2.4 Outside dimensions・Operating range diagram
23
(1) Outside dimension
23
(2) Operating range
24
2.5 Tooling
25
2.5.1 Wiring and piping for hand
25
2.5.2 Internal air piping
26
2.5.3 Internal wiring for the hand output cable
26
2.5.4 Internal wiring for the hand input cable
26
2.5.5 Wiring and piping system diagram for hand
27
2.5.6 Electrical specifications of hand input/output
29
2.5.7 Air supply circuit example for the hand
30
2.6 Shipping special specifications, options, and maintenance parts
31
2.6.1 Shipping special specifications
31
2.7 Options
32
(1) Machine cable extension
33
(2) Stopper for changing the operating range
37
(3) Solenoid valve set
38
(4) Hand input cable
40
(5) Hand output cable
41
(6) Hand curl tube
42
2.8 About Overhaul
43
2.9 Maintenance parts
44
3 Controller
45
3.1 Standard specifications
45
3.2 Protection specifications and operating supply
46
3.3 Names of each part
47
3.3.1 Controller
47
(1) CR750 controller
47
(2) CR751 controller
49
3.4 Outside dimensions/Installation dimensions
51
3.4.1 Outside dimensions
51
(1) CR750 controller
51
(2) CR751 controller
52
3.4.2 Installation dimensions
53
(1) CR750 controller
53
(2) CR751 controller
55
3.5 External input/output
57
3.5.1 Types
57
3.6 Dedicated input/output
58
3.7 Emergency stop input and output etc.
61
3.7.1 Connection of the external emergency stop
61
(1) CR750 controller
63
(2) CR751 controller
67
3.7.2 Special stop input (SKIP)
70
(1) CR750 controller
70
(2) CR751 controller
71
3.7.3 Door switch function
72
3.7.4 Enabling device function
72
(1) When door is opening
72
(2) When door is closing
73
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
73
3.8 Mode changeover switch input
74
(1) Specification of the key switch interface
74
(2) Connection of the mode changeover switch input
75
3.9 Additional Axis Function
76
3.9.1 Wiring of the Additional Axis Interface
76
(1) CR750 controller
76
(2) CR751 controller
77
3.10 Magnet contactor control connector output (AXMC) for addition axes
80
(1) CR750 controller
80
(2) CR751 controller
81
3.11 Options
82
(1) Teaching pendant (T/B)
83
(2) Parallel I/O interface
86
(3) External I/O cable
91
(4) Parallel I/O unit
93
(5) External I/O cable
104
(6) CC-Link interface
106
(7) RT ToolBox2/RT ToolBox2 mini
109
(8) Instruction Manual(bookbinding)
111
3.12 Maintenance parts
112
4 Software
113
4.1 List of commands
113
4.2 List of parameters
116
5 Instruction Manual
118
5.1 The details of each instruction manuals
118
6 Safety
119
6.1 Safety
119
6.1.1 Self-diagnosis stop functions
119
6.1.2 External input/output signals that can be used for safety protection measures
120
6.1.3 Precautions for using robot
120
6.1.4 Safety measures for automatic operation
121
6.1.5 Safety measures for teaching
121
6.1.6 Safety measures for maintenance and inspections, etc.
121
6.1.7 Examples of safety measures
122
(1) CR750 controller
122
(2) CR751 controller
127
(3) External emergency stop connection [supplementary explanation]
132
6.2 Working environment
135
6.3 Precautions for handling
135
7 Appendix
137
Appendix 1 ： Specifications discussion material
137
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Mitsubishi RV-2F-D Series Specifications
General
Brand
Mitsubishi
Model
RV-2F-D Series
Category
Robotics
Language
English
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