melfa technical news bfp-a6079-0211e-* · mitsubishi electric corporation industrial robot melfa...

Subject: Precautions of replacement from RV-3SD/3SDJ to RV-4FR-D/4FRL-D

Applicable to: RV-3SD, RV-3SDJRV-4FR-D, RV-4FRL-D

Thank you for your continued support of Mitsubishi industrial MELFA series robots.This Technical News explains in detail the precautions for the replacement of RV-3SD/3SDJvertical multiple-joint type robots with RV-4FR-D or RV-4FRL-D robots.

Contents

1. Configurations of the models (Compatible model for replacement) .. 2

2. Specifications comparison ....... 22. 1 Specifications of the robot arm .. 22. 2 Dimensions of the robot arm and diagram of the operating range ... 32. 3 Specifications of the controller ...... 62. 4 Outside dimensions of the controller . 62. 5 Options ...... 7

3. Compatibility ...... 83. 1 Compatibility of the robot arm .. 83. 2 Compatibility of the controller ....... 83. 3 Precautions of the extension function for GOT direct connection ...... 8

MITSUBISHI ELECTRIC CORPORATION

MELFA Technical News BFP-A6079-0211E-*January 2018

(1/8)

Changes for the Better

Mitsubishi Electric Corporation RobotIndustrial

Model ControllerRV-4FR-D, RV-4FRL-D CR800-04VD

Model ControllerRV-3SD CR1DA-721RV-3SDJ CR1DA-731

1. Configurations of the models (Compatible model for replacement)

The following shows the compatible models of robot arms and controllers for the replacement of RV-3SD/3SDJ to RV-4FR-D or RV-4FRL-D.

Precautions for the replacement of RV-3SD/3SDJ with RV-4FR-D or RV-4FRL-D.

(2/8)

Mitsubishi Electric Corporation Industrial ROBOT MELFA Technical News No.BFP-A6079-0211-*

2.1 Specifications of the robot armThe following table compares the robot arm specifications between old and new models.

2. Specifications comparison

6 5

kgArm length mm 245 + +270 245 + +300 235 + +275 310 + +335

mm 642 641 515 649J1J2J3 191 (-20 to +171) 273 (-100 to +173) 161 (0 to +161) 164 (0 to +164)J4 320 (160) -J5J6J1 450 420J2 450 336J3 300 250J4 412 -J5J6

mm/sec 5500 5300 9027 9048sec 0.63 0.61 0.36 0.36mmCkg 37 33 39 41

J4 5.83 -J5 5.83 5.83J6 3.9 3.9J4 0.137 -J5 0.137 0.137J6 0.047 0.047

Note 1) Value of mechanical interface side when synthesizing all axesNote 2) Value of 1kg of load and back-and-forth movement for a vertical distance of 25mm and horizontal distance of 300mmNote 3) Can also be used a as a spare line (0.2sq 4-pair cable) for conventional models.Note 4) Please contact a Mitsubishi Electric dealer since the environment resistance may not be secured depending on the characteristics of oil you use. In addition, an air purge is required. For the details, refer to the specifications manual.

Note 6) In the wall type specification, operation range of the J1-axis is restricted.

Note 5) Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3m/s in the clean room and internal robot suctioning. A 8-mm coupler for suctioning is provided at the back of the base.

6Floor type, ceiling type, (wall type Note 6)

Vertical multiple-joint typeAC servo motor

(with J1 to J3, J5 axis brake)

Floor type, ceiling type, (wall type Note 6)Vertical multiple-joint type

AC servo motor(with all axes brake)

720 (360)240 (120)

240 (120)

400 (200)

Absolute encoder

3.966.666.66

0.020 to 40

623

None: Standard (oil mist) Note 4)/C: Clean Note 5)

3

660

Hand: 8 input points/8 output points (forearm),8 spare wires: AWG#27 (0.1mm2)

0.020 to 40

Standard: IP65/C: Class 10 (0.3m)

Absolute encoder

412

250

None: Standard/M: Oil mist Note 4)/C: Clean Note 5)

480 (240)

4

Tool wiring0.1

Hand: 8 input points/8 output pointsSignal line of the multi-function hand sensor and force sensor

(24-pin)

0.20.2

Tolerable moment

Tolerable inertiakg, m2

187

Nm

Mass

Positioning repeatabilityCycle time Note 2)

degree/sec

250

Ambient temperature

Maximum speed

Maximum reach radius

Structure

Standard: IP40/M: IP67/C: ISO class 3

Position detection method

340 (170)

720

540

225 (-90 to +135)

240 (120)720 (360)

Color: Light gray(Reference Munsell color: 0.6B7.6/0.2)

Tool pneumatic piping

PaintMachine cable

Primary: 6 2 Secondary: 6 8, 4 4 (wrist inside)Primary: 6 2 Secondary: 4 8

Color: Light gray(Reference Munsell color: 0.08GY7.64/0.81)

5m (connector on both ends) 5m (connector on both ends)

RV-3SD/3SDC RV-4FR/4FRM/4RFC-D RV-4FRL/4FRLM/4FRLC-D

Old models

RV-3SDJ/3SDJCModel

TypeFR series

UnitSpecifications

Machine classProtection degreeDegree of freedom

Maximum composite speed Note 1)

Installation style

Load capacity

Drive system

deg

Operating range

RV-6SRV-6SIP54IP65 CR2B-574RV-6SDRV-6SDIP54IP65 CR2D-711

RV-6SL RV-6SDL

RV-6SC10 RV-6SDC10

RV-6SLC RV-6SDLC

RV-6S-SM CR3-535MRV-6SD-SM CR3D-711M

RV-6SL-SM RV-6SDL-SM

RV-12SRV-12SIP54IP65 CR3-535MRV-12SDRV-12SDIP54IP65 CR3D-701M

RV-12SL RV-12SDL

RV-12SC10 CR3-535RV-12SDC10 CR3D-701

RV-12SLC RV-12SDLC

RV-3SRV-3SIP65 CR1B-571RV-3SDRV-3SDIP65 CR1D-721

RV-3SJIP65 RV-3SDJIP65

ModelController

RV-12SCR3-535(M)RV-4FR-D, RV-4FRL-DCR800-04VD

RV-6SCR2B-574RV-4F-D, RV-4FL-DCR750-04VD-1

RV-6S-SMCR3-535MRV-4F-Q, RV-4FL-QCR750-04VQ-1

RV-3SCR1-571RV-4F-Q, RV-4FL-QCR750-04VQ-1

RV-3SJCR1-571

RH-6SHCR1-571

RH-12SHCR2B-574

RH-18SHCR2B-574

SQ SD

CR1B-571CR2B-574CR3-535CR1Q-7xx1CR2Q-7xxCR3Q-7xxCR1D-7xx1CR2D-7xxCR3D-7xx

MELFA-BASICMELFA-BASIC

2,50013,000

step5,00026,000

88256

32/320/0IO

1

8/0

1

1

1 1

1

1

1

1

RS-232101

RS-4221

SLOT1

SLOT303

SLOT101

ch101

ch010BASE-T0110BASE-T100BASE-Tx

USB01

ch0MR-J2S 1MR-J3

ch002

RoHS

133A

CR1Vac/ kVA180253 / 1.0

CR2180253 / 2.0

CR3180253 / 3.0

CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)

CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)

CR3mm450(W)x440(D)x625(H)CR3M450(W)x380(D)x625(H)

CR1kg10 8

CR2kg20

CR3kg60

CR1CR2IP20CR3IP54

S/SQ S/SD

S SQ SD

2A-RZ365

2A-RZ3612A-RZ361S/SD

2A-CBLxx2A-CBLxxS/SD

R28TBR32TBTB

R56TBTB

2D-TZ368

CC-Link2A-HR5752D-TZ576

2A-RZ541

2A-HR533

2A-RZ581

2A-RZ581

2A-HR4322D-TZ454

2D-CBLxx

RS-232RS-MAXY-CBL2D-232CBL03M

3A-0xC-WINJ3D-1xC-WINJ

[s]

RV-6S0.4960.471

RV-6SL0.5950.525

RV-12S0.6950.656

RV-12SL0.7910.740

RV-3S0.7180.668

Vac180253

kVA2

M5

mm310(W)x260(D)

mm760(W)x700(D)x210(H)CR2D10mm

TB R28TBR32TB

TB R56TBGUI

S/WRT ToolBoxRT ToolBox2RT ToolBox2

I/O 2A-CBLxx

I/O 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

A6BAT

ER6Q6BAT

(2)

Vac180253

kVA2

M5

mm310(W)x260(D)

mm760(W)x700(D)x210(H)

TB R28TBR32TB

TB R56TB

I/O


I/O 2A-CBLxx

I/OI/F 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

ER6Q6BAT

(3)

A6BAT

90 HC-SWSHF-SWSHF-SWS

(4)

S SQ SD

TB R28TBR32TB

TB R56TB

TB

I/O



ER6Q6BAT

Sheet3


RV-6SL RV-6SDL

RV-6SC10 RV-6SDC10

RV-6SLC RV-6SDLC




RV-12SL RV-12SDL

RV-12SC10 CR3-535RV-12SDC10 CR3D-701

RV-12SLC RV-12SDLC



ModelController

RV-3SDCR1DA-721RV-12SDCR3D-701(M)

RV-3SDJCR1DA-731RV-6SDCR2D-711

RV-3SDJCR1D-731

RH-6SDHCR1D-761

RH-12SDHCR2D-741

RH-18SDHCR2D-751

CR2B-574CR2D-711


2,50013,000

step5,00026,000

88256

32/320/0IO

1

8/0

1

1

1 1

1

1

1

1

RS-2321

RS-4221

SLOT1

SLOT3

SLOT1

ch1

ch010BASE-T110BASE-T100BASE-Tx

USB1

ch0MR-J2S 1MR-J3

ch02

Vac180253

kVA2.0

mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)10mm

kg20

IP20

2A-RZ365

2A-RZ361

2A-CBLxx

R28TBR32TBTB

R56TBTB

2D-TZ368

CC-Link2A-HR5752D-TZ576

2A-RZ541

2A-HR533

2A-RZ581

2A-RZ581

2A-HR4322D-TZ454

2D-CBLxx



[s]

RV-6S0.4960.471

RV-6SL0.5950.525

RV-12S0.6950.656

RV-12SL0.7910.740

RV-3S0.7180.668

Vac180253

kVA2

M5

mm310(W)x260(D)


TB R28TBR32TB

TB R56TBGUI


I/O 2A-CBLxx

I/O 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

A6BAT

ER6Q6BAT

(2)

Vac180253

kVA2

M5

mm310(W)x260(D)

mm760(W)x700(D)x210(H)

TB R28TBR32TB

TB R56TB

I/O


I/O 2A-CBLxx

I/OI/F 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

ER6Q6BAT

(3)

mm160(W)x205(D)

A6BAT

J1 HC-SWSHF-SWS

J26

Sheet3

Sheet1

TypeUnitSpecifications

Old modelsFR series

ModelRV-3SD/3SDCRV-3SDJ/3SDJCRV-4FR/4FRM/4RFC-DRV-4FRL/4FRLM/4FRLC-D

Machine classNone: Standard (oil mist) Note 4)/C: Clean Note 5)None: Standard/M: Oil mist Note 4)/C: Clean Note 5)

Protection degreeStandard: IP65/C: Class 10 (0.3m)Standard: IP40/M: IP67/C: ISO class 3

Degree of freedom656

Installation styleFloor type, ceiling type, (wall type Note 6)Floor type, ceiling type, (wall type Note 6)

StructureVertical multiple-joint typeVertical multiple-joint type

Drive systemAC servo motor(with J1 to J3, J5 axis brake)AC servo motor(with all axes brake)

Position detection methodAbsolute encoderAbsolute encoder

Load capacitykg34

Arm lengthmm245 + +270245 + +300235 + +275310 + +335

Maximum reach radiusmm642641515649

Operating rangeJ1deg340 (170)480 (240)

J2225 (-90 to +135)240 (120)

J3191 (-20 to +171)273 (-100 to +173)161 (0 to +161)164 (0 to +164)

J4320 (160)-400 (200)

J5240 (120)240 (120)

J6720 (360)720 (360)

Maximum speedJ1degree/sec250450420

J2187450336

J3250300250

J4412-540

J5412623

J6660720

Maximum composite speed Note 1)mm/sec5500530090279048

Cycle time Note 2)sec0.630.610.360.36

Positioning repeatabilitymm0.020.02

Ambient temperatureC0 to 400 to 40

Masskg37333941

Tolerable momentJ4Nm5.83-6.66

J55.835.836.66

J63.93.93.96

Tolerable inertiaJ4kg, m20.137-0.2

J50.1370.1370.2

J60.0470.0470.1

Tool wiringHand: 8 input points/8 output points (forearm),8 spare wires: AWG#27 (0.1mm2)Hand: 8 input points/8 output pointsSignal line of the multi-function hand sensor and force sensor (24-pin)LAN 1 (8-pin) Note 3)

Tool pneumatic pipingPrimary: 6 2 Secondary: 4 8Primary: 6 2 Secondary: 6 8, 4 4 (wrist inside)

Machine cable5m (connector on both ends)5m (connector on both ends)

PaintColor: Light gray(Reference Munsell color: 0.08GY7.64/0.81)Color: Light gray(Reference Munsell color: 0.6B7.6/0.2)

Note 1) Value of mechanical interface side when synthesizing all axes

Note 2) Value of 1kg of load and back-and-forth movement for a vertical distance of 25mm and horizontal distance of 300mm

Note 3) Can also be used a as a spare line (0.2sq 4-pair cable) for conventional models.

Note 4) Please contact a Mitsubishi Electric dealer since the environment resistance may not be secured depending on the characteristics of oil you use.

In addition, an air purge is required. For the details, refer to the specifications manual.

Note 5) Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3m/s in the clean room and internal robot suctioning. A 8-mm coupler for suctioning is provided at the back of the base.

Note 6) In the wall type specification, operation range of the J1-axis is restricted.

Sheet2

Sheet3

Precautions for the replacement of RV-3SD/3SDJ with RV-4FR-D or RV-4FRL-D.

(3/8)

Mitsubishi Electric Corporation Industrial ROBOT MELFA Technical News No.BFP-A6079-0211*

2.2 Dimensions of the robot arm and diagram of the operating range2.2.1 Robot arm installation dimensions and mechanical interface

The installation dimensions and mechanical interface have changed. Refer to the following diagrams.

Mechanical interface

New models: RV-4FR-D, RV-4FRL-DOld models: RV-3SD/3SDJ

Installation dimensions of the robot arm Installation dimensions of the robot arm

Note 1)

Note 1) Thread engagement should be within 7.5 to 8.5mm.Note 1) Thread engagement should be within 7.5 to 8mm.

Note 2) This value indicates the dimensions of standard specification. The dimensions for oil mist specification and clean specification are 3.5mm, and 6.5mm for SH** specification.

Note 1)

Note 2)

Mechanical interface

2-6 hole (8 prepared hole for positioning)

4-9installation hole

(Installation reference surface)



(Inst

alla

tion

refe

renc

e su

rface

)

4-9installation hole

5H7 depth 9

4-M5 screw depth 95H7 depth 8

4-M5 screw depth 8

(4/8)


2.2.2 Dimensions of the robot arm and diagram of the operating range1) Comparison between RV-4FRL-D and RV-3SD

The major differences in dimensions of the robot and operating range are described below.

2) Comparison between RV-4FR-D and RV-3SDThe major differences in dimensions of the robot and operating range are described below.

Arm downward facing limit line

Arm downward facing singular point boundary line

Robot installation surface

RV-4FR-D

RV-3SD




RV-4FRL-D

RV-3SD

RV-4FRL-D (shaded area)(Area in -240 to +240)

RV-3SD (hatching area)(Area in -170 to +170)

RV-4FR-D (shaded area)(Area in -240 to +240)

RV-3SD (hatching area)(Area in -170 to +170)

RV-3SD can be replaced with RV-4FR-D because its operating range is within the one of RV-4FR-D.

The operating range of RV-3SDexceeds the one of RV-4FR-D.

The model whose operating range is within the one of RV-4FR-D can be replaced.

(5/8)


3) Comparison between RV-4FRL-D and RV-3SDJThe major differences in dimensions of the robot and operating range are described below.




Area below the singular point (Note 1)

RV-4FRL-D

RV-3SDJ




Area below the singular point (Note 1)

RV-4FR-D

RV-3SDJ

4) Comparison between RV-4FR-D and RV-3SDJThe major differences in dimensions of the robot and operating range are described below.

RV-4FRL-D (shaded area)(Area in -240 to +240)

RV-3SDJ (hatching area)(Area in -170 to +170)

RV-4FR-D (shaded area)(Area in -240 to +240)

RV-3SDJ (hatching area)(Area in -170 to +170)

Note 1: Since RV-4FRL-D is a 6-axis robot, it has a singular point in the lower part of the operating area. At and around the singular point, the

operation is disabled due to the restriction.

To operate the arm in the lower area out of the singular point and its surroundings, use the singular point passing function (which enables passing only when the arm passes on the singular point, and disables passing only when the arm passes around the singular point) and move the arm to the lower area.Consider using this method.

RV-3SDJ can be replaced with RV-4FR-D because its operating range is within the one of RV-4FR-D.However, note that the operation is restricted (Note 1) around and below the singular point.

The operating range of RV-3SDJ exceeds the one of RV-4FR-D.

The model whose operating range is within the one of RV-4FR-D can be replaced.However, note that the operation is restricted (Note 1) around and below the singular point.

Note 1: Since RV-4FR-D is a 6-axis robot, it has a singular point in the lower part of the operating area. At and around the singular point, the

operation is disabled due to the restriction.

To operate the arm in the lower area out of the singular point and its surroundings, use the singular point passing function (which enables passing only when the arm passes on the singular point, and disables passing only when the arm passes around the singular point) and move the arm to the lower area.Consider using this method.

2.3 Specifications of the controllerPlease note that the controller model is new, and the dimensions and others have changed. For the details, refer to the following.

*1: The rate of power-supply voltage fluctuation is within 10%.

(6/8)


2.4 Outside dimensions of the controllerThe controllers outside dimensions have changed. (Left drawing: RV-3SD/3SDJ controller, right drawing: RV-4FR-D, RV-4FRL-D controller)

New model CR800-04VD

Old models CR1DA-721/731

Item UnitSpecifications

Old models FR seriesRV-3SD/3SDJ RV-4FR-D, RV-4FRL-D

Controller model CR1DA-721/731 CR800-04VDRouting control method PTP control, CP control PTP control, CP controlNumber of control axis Simultaneously 6 Simultaneously 6Programming language MELFA-BASIC IV, V MELFA-BASIC V, VIMemory capacity

Programmed positions point 13,000 39,000 Number of steps step 26,000 78,000 Number of programs 256 512

Ext

erna

l inp

ut/o

utpu

t (s

tand

ard)

General-purpose input/output

point

Input 0/output 0(Max. 256/256: option)

Input 0/output 0(Max. 256/256: option)

Dedicated input/output Assigned to general-purpose input/output Assigned to general-purpose input/outputDedicated stop input 1 1

Hand open/close Input 8/output 0 (when using pneumatic hand interface: 8/8) Input 8/output 8

Emergency stop input 1 (duplication) 1 (duplication)Door switch input 1 (duplication) 1 (duplication)

1 (duplication) 0Enabling device input1 (duplication) 1 (duplication)Emergency stop output

Mode output 1 (duplication) 1 (duplication)Robot error output 1 (duplication) 1 (duplication)Mode selector switch input 0 1 (duplication)Additional axis synchronization 1 (duplication) 1 (duplication)

Inte

rface

RS-232 port 1 -RS-422 port 1 (for T/B) 1 (for T/B)

Ethernet port 1 (for T/B)/ 1 (for customer)10BASE-T/100BASE-TX1 (for T/B)/ 1 (for customer)

10BASE-T/100BASE-TX/1000BASE-TUSB port 1 1

Memory expansion slot SLOT 1 -

Expansion slot SLOT 1 2Robot input/output link ch 1 1Additional axis function ch 1 (SSCNETIII) 1 (SSCNETIII/H)Communication I/F between R/C ch - 2

Encoder input ch 2 2Input power supply

Voltage range V Single phase, 180 to 253 VAC (*1) Single phase, 200 to 230 VAC (*1)Power capacity kVA 1 1

Outside dimensions mm 240(W)290(D)200(H) 430(W)425(D)99.5(H)Mass kg Approx. 9 Approx. 12.5Construction [Protection specification] Self-contained floor type, open type [IP20] Self-contained floor type, open type [IP20]Grounding 100 or less (D class grounding) 100 or less (D class grounding)

2.5 Options

Meaning of symbols in table : Compatible, : Standard equipment, : Incompatible, -: Not supported

(7/8)

(2) Robot controller options comparison

Old models New models Specif ications and supplementary explanation

RV-3SD/3SDJ RV-4FR-D, RV-4FRL-D

Solenoid valve set1S-VD0-02 (Sink type)

1S-VD0E-02 (Source type): 1 to 4

1F-VD0-02 (Sink type)1F-VD0E-02 (Source type)

: 1 to 4

Solenoid valve set for the pneumatic hand (1 to 4 sets, sink type)Solenoid valve set for the pneumatic hand (1 to 4 sets, source type)

Hand output cable 1S-GR35S-01 1F-GR35S-02 The robot side has a connector, and the other side has output cables forunprocessed solenoid valve connection. (Total length: 300mm)

Hand input cable 1S-HC25C-01 1F-HC35S-02 The robot side has a connector, and the other side has input cables forunprocessed hand sensor connection. (Total length: 300mm)

Hand curl tube 1E-ST040C 1E-ST04C 4 x pics, curl pneumatic tube for up to 4-set solenoid valve connection External w iring set 1 forthe forearm

- 1F-HB01S-01 For forearm: An external wiring box to which the hand input cable, Ethernetcable, and electrical hand/force sensor cable are connected -

External w iring set 2 forthe forearm

- 1F-HB02S-01 For forearm: An external wiring box to which the force sensor, electrical hand,and Ethernet cable are connected -

External w iring set 1 forthe base - 1F-HA01S-01

For base: An external wiring box to which the electrical hand communicationsignal output, electrical hand/force sensor cable, and Ethernet cable areconnected Hand input provided.

-

External w iring set 2 forthe base - 1F-HA02S-01

For base: An external wiring box to which the electrical hand communicationsignal output, electrical hand, force sensor, and Ethernet cable are connectedHand input not provided.

-

J1-axis operating rangechange

1S-DH-03 1F-DH-03 Stopper part for J1-axis operating range change

2m machine cable(replacement type)

1S-02UCBL-03 - Fixed type (Set of 2 cables for power supply and signals), 2m(Provided as substitute for standard 5m cables.) -

Machine cable(replacement type) -

1F- UCBL-41: 02, 10, 15, 20

Fixed type: 2m, 10m, 15m. 20m -

Machine cable(replacement type) -

1F-LUCBL-41: 10, 15, 20

Flexed type: 10m, 15m, 20m -

Specif ications

Fixed type (Set of 2 cables for power supply and signals), 5m, 10m, 15m(Used for adding to standard 5m cables.)

Flexed type (Set of 2 cables for power supply and signals), 5m, 10m, 15m(Used for adding to standard 5m cables.)

Machine cable extension(Fixed type)

1S-CBL-03: 05, 10, 15 -

Machine cable extension(Flexed type)

1S-LCBL-03: 05, 10, 15 -

Item

-

-

Compatibility

(1) Robot arm options comparison

Pneumatic hand interface

Expansion I/O unit

External I/O cable For expansion I/O unit

Build-in I/O interface

External I/O cable For built-in I/O interfaceCC-Link interface Ver. 2 compatibleAdditional axis interfaceTracking functionExpansion memoryController protection boxTeaching boxHigh-functionality teaching boxRS-232 cable (for PC support)Force sensor set SSCNETIII/H compatible

RT ToolBox3 StandardRT ToolBox3minRT ToolBox3Pro

Simulator (MELFA-Works)

PC support softw are 3D-1C-WINJ3F-14C-WINJ

3F-16D-WINJ

-

-4F-FS002H-W200/4F-FS002H-W1000-

R32TBR56TB

-3D-21C-WINJ

3F-15C-WINJ

-

2A-RZ361 (Sink)2A-RZ371 (Source)

2A-CBL2D-TZ368 (Sink)

2D-TZ378 (Source)2D-CBL2D-TZ576

---

-


2A-CBL2D-TZ368 (Sink)

2D-TZ378 (Source)2D-CBL2D-TZ576

-

-

CR800-MB

CR1D-MB

CR800-04VD

CR1DA-7**/CR800-Dcompatibility

2D-TZ454

2D-232CBL03M


Item RemarksSpecifications

New modelOld models

CR1DA-721/731


Meaning of symbols in table : Same product, : Incompatible, -: Not supported


RV-6SL RV-6SDL

RV-6SC10 RV-6SDC10

RV-6SLC RV-6SDLC




RV-12SL RV-12SDL

RV-12SC10 CR3-535RV-12SDC10 CR3D-701

RV-12SLC RV-12SDLC



RV-12SCR3-535(M)RV-12SxCR3x-701(M)

RV-6SCR2B-574RV-6SxCR2x-711

RV-6S-SMCR3-535MRV-6Sx-SMCR3x-711M

RV-3SCR1-571RV-3SxCR1x-721

RV-3SJCR1-571RV-3SxJCR1x-731

RH-6SHCR1-571RH-6SxHCR1x-761

RH-12SHCR2B-574RH-12SxHCR2x-741


SDSQ

CR1B-571CR2B-574CR3-535CR1D-7xx1CR2D-7xxCR3D-7xxCR1Q-7xx1CR2Q-7xxCR3Q-7xx


2,50013,000

step5,00026,000

88256

32/320/0IO

1

8/0

1

1

1 1

1

1

1

1

RS-23210

RS-4221

SLOT1

SLOT30

SLOT10

ch10

ch010BASE-T110BASE-T100BASE-Tx0

USB10

ch0MR-J2S 1MR-J3

ch020

RoHS

133A

CR1Vac/ kVA180253 / 1.0

CR2180253 / 2.0

CR3180253 / 3.0

CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)

CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)


CR1CR2IP20CR3IP54

ItemSpecificationsCompatibility

Old modelsNew modelsSpecifications and supplementary explanation

RV-3SD/3SDJRV-4FR-D, RV-4FRL-D

Solenoid valve set1S-VD0o-02 (Sink type)1S-VD0oE-02 (Source type)o: 1 to 41F-VD0o-02 (Sink type)1F-VD0oE-02 (Source type)o: 1 to 4Solenoid valve set for the pneumatic hand (1 to 4 sets, sink type)Solenoid valve set for the pneumatic hand (1 to 4 sets, source type)

Hand output cable1S-GR35S-011F-GR35S-02The robot side has a connector, and the other side has output cables for unprocessed solenoid valve connection. (Total length: 300mm)

Hand input cable1S-HC25C-011F-HC35S-02The robot side has a connector, and the other side has input cables for unprocessed hand sensor connection. (Total length: 300mm)

Hand curl tube1E-ST040oC1E-ST04oC4 x o pics, curl pneumatic tube for up to 4-set solenoid valve connection

External wiring set 1 for the forearm-1F-HB01S-01For forearm: An external wiring box to which the hand input cable, Ethernet cable, and electrical hand/force sensor cable are connected-

External wiring set 2 for the forearm-1F-HB02S-01For forearm: An external wiring box to which the force sensor, electrical hand, and Ethernet cable are connected-

External wiring set 1 for the base-1F-HA01S-01For base: An external wiring box to which the electrical hand communication signal output, electrical hand/force sensor cable, and Ethernet cable are connected Hand input provided.-

External wiring set 2 for the base-1F-HA02S-01For base: An external wiring box to which the electrical hand communication signal output, electrical hand, force sensor, and Ethernet cable are connected Hand input not provided.-

J1-axis operating range change1S-DH-031F-DH-03Stopper part for J1-axis operating range change

2m machine cable(replacement type)1S-02UCBL-03-Fixed type (Set of 2 cables for power supply and signals), 2m(Provided as substitute for standard 5m cables.)-

Machine cable (replacement type)-1F- oo UCBL-41oo: 02, 10, 15, 20Fixed type: 2m, 10m, 15m. 20m-

Machine cable (replacement type)-1F-ooLUCBL-41oo: 10, 15, 20Flexed type: 10m, 15m, 20m-

Machine cable extension(Fixed type)1S-ooCBL-03oo: 05, 10, 15-Fixed type (Set of 2 cables for power supply and signals), 5m, 10m, 15m(Used for adding to standard 5m cables.)-

Machine cable extension(Flexed type)1S-ooLCBL-03oo: 05, 10, 15-Flexed type (Set of 2 cables for power supply and signals), 5m, 10m, 15m(Used for adding to standard 5m cables.)-

S/SD S/SQ

SDSQ

2A-RZ365

2A-RZ361S/SD

2A-CBLxxS/SD

R28TBR32TBTB

R56TBTB

() 2D-TZ368

CC-Link2A-HR5752D-TZ576SD:ver2

2A-RZ541

2A-HR533

2A-RZ581

2A-RZ581

2A-HR4322D-TZ454

BOXCR1) CR1B-MBCR1D-MB

2D-CBLxx

RS-232 RS-MAXY-CBL2D-232CBL03M


[s]

RV-6S0.4960.471

RV-6SL0.5950.525

RV-12S0.6950.656

RV-12SL0.7910.740

RV-3S0.7180.668

Vac180253

kVA2

M5

mm310(W)x260(D)


TB R28TBR32TB

TB R56TBGUI


I/O 2A-CBLxx

I/O 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

A6BAT

ER6Q6BAT

(2)

Vac180253

kVA2

M5

mm310(W)x260(D)

mm760(W)x700(D)x210(H)

TB R28TBR32TB

TB R56TB

I/O


I/O 2A-CBLxx

I/OI/F 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

ER6Q6BAT

(3)

A6BAT


(4)

S SD SQ

TB R28TBR32TB

TB R56TB

TB

I/O0-999910000-18191



ER6Q6BAT

NARC-AG

I/O

NARC

GOT

() () ()

(32)(*1)0255256X00XFFY00YFF256

i/F()*2) 03132X00X1FY00Y1F32

i/F()*2) 326332X20X3FY20Y3F32

i/F()*2) 649532X40X5FY40Y5F32

GOT*2)0255256PIO(*3)X00XFFY00YFF 256

256799

(SKIP0)8001X3208001

SKIP17 8018077X321X3278018077

8401X3488401

8501X3528501

8601X35C8601

(8)9009078X384X38BY384Y38B9009078

(8)9109178X38EX395Y38EY3959109178

(8)9209278X398X39FY388Y39F9209278

(8)9309378X3A2X3A9Y3A2Y3A99309378

(8)9409478X3ACX3B3Y3ACY3B39409478

Q-Bus I/F(*2)90009511512???(*5)???X2328X2527Y2328Y2527512

(*2)200050713072X7D0X13CFY7D0Y13CF3072

(*2)60008047204860006255(*6)256X1770X1F6FY1770Y1F6F2048D0D255D256D511 256

(*4)10000181918192

(*1)

32

(*2)

NARC

(*3)

NARC

(*4)

(*5)

(*6)

Ver.2CCFIX128

M_DIN( )M_DOUT( )

IO

S SD SQ

0255

20005071

60008047

1000018191

900907

90

J1J2J3J4J5J6

RV-6S

RV-12S

RV-3S

RH-6SH

RH-12SH

RH-18SH

or

NoSQSD

1S/W I/O

2R/C PIO

3 SD

4

5I/OAsi

6

7I/O I/O

8GOTR/C SQ/SDGOTSQ

R/C

Sheet3


RV-6SL RV-6SDL

RV-6SC10 RV-6SDC10

RV-6SLC RV-6SDLC




RV-12SL RV-12SDL

RV-12SC10 CR3-535RV-12SDC10 CR3D-701

RV-12SLC RV-12SDLC











SDSQ



2,50013,000

step5,00026,000

88256

32/320/0IO

1

8/0

1

1

1 1

1

1

1

1

RS-23210

RS-4221

SLOT1

SLOT30

SLOT10

ch10


USB10

ch0MR-J2S 1MR-J3

ch020

RoHS

133A

CR1Vac/ kVA180253 / 1.0

CR2180253 / 2.0

CR3180253 / 3.0

CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)

CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)


CR1CR2IP20CR3IP54

ItemSpecificationsCR1DA-7**/CR800-D compatibilityRemarks

Old modelsNew model

CR1DA-721/731CR800-04VD

Pneumatic hand interface2A-RZ365 (Sink)2A-RZ375 (Source)

Expansion I/O unit2A-RZ361 (Sink)2A-RZ371 (Source)2A-RZ361 (Sink)2A-RZ371 (Source)

External I/O cable2A-CBLoo2A-CBLooFor expansion I/O unit

Build-in I/O interface2D-TZ368 (Sink)2D-TZ378 (Source)2D-TZ368 (Sink)2D-TZ378 (Source)

External I/O cable2D-CBLoo2D-CBLFor built-in I/O interface

CC-Link interface2D-TZ5762D-TZ576Ver. 2 compatible

Additional axis interface

Tracking function

Expansion memory2D-TZ454--

2D-TZ535-EIP-2D-TZ535-EIP--

2D-TZ5712D-TZ571

2D-TZ5772D-TZ577

Controller protection boxCR1D-MBCR800-MB

Teaching boxR32TB

High-functionality teaching boxR56TB

RS-232 cable (for PC support)2D-232CBL03M--

Force sensor set-4F-FS002H-W200/4F-FS002H-W1000-SSCNETIII/H compatible

PC support software3D-1oC-WINJ3F-14C-WINJ-RT ToolBox3 Standard

3F-15C-WINJ-RT ToolBox3min

3F-16D-WINJ-RT ToolBox3Pro

Simulator (MELFA-Works)3D-21C-WINJ--

[s]

RV-6S0.4960.471

RV-6SL0.5950.525

RV-12S0.6950.656

RV-12SL0.7910.740

RV-3S0.7180.668

Vac180253

kVA2

M5

mm310(W)x260(D)


TB R28TBR32TB

TB R56TBGUI


I/O 2A-CBLxx

I/O 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

A6BAT

ER6Q6BAT

(2)

Vac180253

kVA2

M5

mm310(W)x260(D)

mm760(W)x700(D)x210(H)

TB R28TBR32TB

TB R56TB

I/O


I/O 2A-CBLxx

I/OI/F 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

ER6Q6BAT

(3)

A6BAT


(4)

S SD SQ

TB R28TBR32TB

TB R56TB

TB

I/O0-999910000-18191



ER6Q6BAT

NARC-AG

I/O

NARC

GOT

() () ()

(32)(*1)0255256X00XFFY00YFF256

i/F()*2) 03132X00X1FY00Y1F32

i/F()*2) 326332X20X3FY20Y3F32

i/F()*2) 649532X40X5FY40Y5F32

GOT*2)0255256PIO(*3)X00XFFY00YFF 256

256799

(SKIP0)8001X3208001

SKIP17 8018077X321X3278018077

8401X3488401

8501X3528501

8601X35C8601

(8)9009078X384X38BY384Y38B9009078

(8)9109178X38EX395Y38EY3959109178

(8)9209278X398X39FY388Y39F9209278

(8)9309378X3A2X3A9Y3A2Y3A99309378

(8)9409478X3ACX3B3Y3ACY3B39409478

Q-Bus I/F(*2)90009511512???(*5)???X2328X2527Y2328Y2527512

(*2)200050713072X7D0X13CFY7D0Y13CF3072

(*2)60008047204860006255(*6)256X1770X1F6FY1770Y1F6F2048D0D255D256D511 256

(*4)10000181918192

(*1)

32

(*2)

NARC

(*3)

NARC

(*4)

(*5)

(*6)

Ver.2CCFIX128

M_DIN( )M_DOUT( )

IO

S SD SQ

0255

20005071

60008047

1000018191

900907

90

J1J2J3J4J5J6

RV-6S

RV-12S

RV-3S

RH-6SH

RH-12SH

RH-18SH

or

NoSQSD

1S/W I/O

2R/C PIO

3 SD

4

5I/OAsi

6

7I/O I/O

8GOTR/C SQ/SDGOTSQ

R/C

Sheet3


The following table provides compatibility between old and new models.3.1 Compatibility of the robot arm

3. Compatibility

3.2 Compatibility of the controller

TB High-functionality TB I/O map Programming language PC support software

Maintenance Backup battery : Fully compatible : Incompatible

Q6BAT

MELFA-BASIC VIRT ToolBox3

-

Compatibility RemarksOld models

R32TBR56TB

CR1DA-721/731

0 to 9999 0 to 9999

CR800-04VD

MELFA-BASIC V

CategorySpecifications

Item

Operation

FR series

RT ToolBox2

(8/8)

3.3 Precautions of the extension function for GOT direct connection

The start addresses of the GOT shared memory (CPU buffer memory) I/O are different between old and new models.

GOT output start address (to robot)Robot input signal start addressRobot output signal start addressGOT input start address (from robot)Memory configuration

Item FR series

100001000010000

Shared memory among GOTs CPU buffer memoryU3E1\G10000 U3E1\HG0

U3E0\G10000

RemarksOld modelsCR1DA-721/731 CR800-04VD

10000

Specifications

U3E0\G0

Precautions of controller specifications

Robot language

Serial number of robot

Origin setting

Hand type

Mode selector input

Enabling device switch inputBattery

TB dummy connector

Item FR series

Necessary to input(by using the T/B or RT2)

Not necessary to input(The data has been stored in the robot's internal ROM.)

NecessaryNot necessary

After deadman turns on, the T/B can be removed without stopping therobot even during operation.

Necessary to input(by using the T/B or RT2)

Not necessary to input(The data has been stored in the robot's internal ROM.)

MELFA-BASIC IVMELFA-BASIC V

Using (Q6BAT, 1 pc.)

Old modelsCR1DA-721/731 CR800-04VD

Specifications

MELFA-BASIC IV cannot be used directly.(RT3 converts MELFA-BASIC IV into MELFA-BASIC V or VI.)

MELFA-BASIC VMELFA-BASIC VI (upper-compatible of MELFA-BASIC V)

* In MELFA-BASIC VI, the description method of program is the sameas MELFA-BASIC V unless the Function or Include commands are

Not using (Not necessary to replace the battery)

Sink type (initial value)It is necessary to set a parameter

for selecting the source type.

Not set (initial value)It is necessary to select either sink or source type by setting a

parameter. (If not set, an error will occur.)

Provided

Provided(Customer needs to prepare a mode selector switch.)

Recommended key switch: HA1K-2C2A-2 (manufactured by IDEC)

Provided Not provided

Category ItemSpecifications

Compatibility RemarksOld models FR seriesRV-3SD/3SDJ RV-4FRL-D, RV-4FR-D

Outside dimensions

Installation dimensions Changed Base depth dimension is incompatible.

Mechanical interface Changed Compatible, however, note that the screw depth and hole depth are changed.

Operating range Changed

ToolingHand wiring Changed IncompatibleHand piping No change Backup wiring Changed

Maintenance Backup battery A6BAT MR-BAT6V1

: Fully compatible : Incompatible


RV-6SL RV-6SDL

RV-6SC10 RV-6SDC10

RV-6SLC RV-6SDLC




RV-12SL RV-12SDL

RV-12SC10 CR3-535RV-12SDC10 CR3D-701

RV-12SLC RV-12SDLC











SDSQ



2,50013,000

step5,00026,000

88256

32/320/0IO

1

8/0

1

1

1 1

1

1

1

1

RS-23210

RS-4221

SLOT1

SLOT30

SLOT10

ch10


USB10

ch0MR-J2S 1MR-J3

ch020

RoHS

133A

CR1Vac/ kVA180253 / 1.0

CR2180253 / 2.0

CR3180253 / 3.0

CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)

CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)


CR1CR2IP20CR3IP54

S/SD S/SQ

S

SDSQ

2A-RZ365

2A-RZ361S/SD

2A-CBLxxS/SD

R28TBR32TBTB

R56TBTB

2D-TZ368


2A-RZ541

2A-HR533

2A-RZ581

2A-RZ581

2A-HR4322D-TZ454

2D-CBLxx



[s]

RV-6S0.4960.471

RV-6SL0.5950.525

RV-12S0.6950.656

RV-12SL0.7910.740

RV-3S0.7180.668

Vac180253

kVA2

M5

mm310(W)x260(D)


TB R28TBR32TB

TB R56TBGUI


I/O 2A-CBLxx

I/O 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

A6BAT

ER6Q6BAT

(2)

Vac180253

kVA2

M5

mm310(W)x260(D)

mm760(W)x700(D)x210(H)

TB R28TBR32TB

TB R56TB

I/O


I/O 2A-CBLxx

I/OI/F 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

ER6Q6BAT

(3)

A6BAT


(4)

CategoryItemSpecificationsCompatibilityRemarks

Old modelsFR series

CR1DA-721/731CR800-04VD

OperationTBR32TB

High-functionality TBR56TB

I/O map0 to 99990 to 9999

Programming languageMELFA-BASIC VMELFA-BASIC VI

PC support softwareRT ToolBox2RT ToolBox3

MaintenanceBackup batteryQ6BAT-

: Fully compatible : Incompatible

NARC-AG

I/O

NARC

GOT

() () ()

(32)(*1)0255256X00XFFY00YFF256

i/F()*2) 03132X00X1FY00Y1F32

i/F()*2) 326332X20X3FY20Y3F32

i/F()*2) 649532X40X5FY40Y5F32

GOT*2)0255256PIO(*3)X00XFFY00YFF 256

256799

(SKIP0)8001X3208001

SKIP17 8018077X321X3278018077

8401X3488401

8501X3528501

8601X35C8601

(8)9009078X384X38BY384Y38B9009078

(8)9109178X38EX395Y38EY3959109178

(8)9209278X398X39FY388Y39F9209278

(8)9309378X3A2X3A9Y3A2Y3A99309378

(8)9409478X3ACX3B3Y3ACY3B39409478

Q-Bus I/F(*2)90009511512???(*5)???X2328X2527Y2328Y2527512

(*2)200050713072X7D0X13CFY7D0Y13CF3072

(*2)60008047204860006255(*6)256X1770X1F6FY1770Y1F6F2048D0D255D256D511 256

(*4)10000181918192

(*1)

32

(*2)

NARC

(*3)

NARC

(*4)

(*5)

(*6)

Ver.2CCFIX128

M_DIN( )M_DOUT( )

IO

S SD SQ

0255

20005071

60008047

1000018191

900907

90

J1J2J3J4J5J6

RV-6S

RV-12S

RV-3S

RH-6SH

RH-12SH

RH-18SH

or

NoSQSD

1S/W I/O

2R/C PIO

3 SD

4

5I/OAsi

6

7I/O I/O

8GOTR/C SQ/SDGOTSQ

R/C

Sheet3


RV-6SL RV-6SDL

RV-6SC10 RV-6SDC10

RV-6SLC RV-6SDLC




RV-12SL RV-12SDL

RV-12SC10 CR3-535RV-12SDC10 CR3D-701

RV-12SLC RV-12SDLC











SDSQ



2,50013,000

step5,00026,000

88256

32/320/0IO

1

8/0

1

1

1 1

1

1

1

1

RS-23210

RS-4221

SLOT1

SLOT30

SLOT10

ch10


USB10

ch0MR-J2S 1MR-J3

ch020

RoHS

133A

CR1Vac/ kVA180253 / 1.0

CR2180253 / 2.0

CR3180253 / 3.0

CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)

CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)


CR1CR2IP20CR3IP54

S/SD S/SQ

S

SDSQ

2A-RZ365

2A-RZ361S/SD

2A-CBLxxS/SD

R28TBR32TBTB

R56TBTB

2D-TZ368


2A-RZ541

2A-HR533

2A-RZ581

2A-RZ581

2A-HR4322D-TZ454

2D-CBLxx



[s]

RV-6S0.4960.471

RV-6SL0.5950.525

RV-12S0.6950.656

RV-12SL0.7910.740

RV-3S0.7180.668

Vac180253

kVA2

M5

mm310(W)x260(D)


TB R28TBR32TB

TB R56TBGUI


I/O 2A-CBLxx

I/O 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

A6BAT

ER6Q6BAT

(2)

Vac180253

kVA2

M5

mm310(W)x260(D)

mm760(W)x700(D)x210(H)

TB R28TBR32TB

TB R56TB

I/O


I/O 2A-CBLxx

I/OI/F 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

ER6Q6BAT

(3)

A6BAT


(4)

ItemSpecificationsRemarks

Old modelsFR series

CR1DA-721/731CR800-04VD

GOT output start address (to robot)U3E0\G10000U3E0\G0

Robot input signal start address1000010000

Robot output signal start address1000010000

GOT input start address (from robot)U3E1\G10000U3E1\HG0

Memory configurationShared memory among GOTsCPU buffer memory

NARC-AG

I/O

NARC

GOT

() () ()

(32)(*1)0255256X00XFFY00YFF256

i/F()*2) 03132X00X1FY00Y1F32

i/F()*2) 326332X20X3FY20Y3F32

i/F()*2) 649532X40X5FY40Y5F32

GOT*2)0255256PIO(*3)X00XFFY00YFF 256

256799

(SKIP0)8001X3208001

SKIP17 8018077X321X3278018077

8401X3488401

8501X3528501

8601X35C8601

(8)9009078X384X38BY384Y38B9009078

(8)9109178X38EX395Y38EY3959109178

(8)9209278X398X39FY388Y39F9209278

(8)9309378X3A2X3A9Y3A2Y3A99309378

(8)9409478X3ACX3B3Y3ACY3B39409478

Q-Bus I/F(*2)90009511512???(*5)???X2328X2527Y2328Y2527512

(*2)200050713072X7D0X13CFY7D0Y13CF3072

(*2)60008047204860006255(*6)256X1770X1F6FY1770Y1F6F2048D0D255D256D511 256

(*4)10000181918192

(*1)

32

(*2)

NARC

(*3)

NARC

(*4)

(*5)

(*6)

Ver.2CCFIX128

M_DIN( )M_DOUT( )

IO

S SD SQ

0255

20005071

60008047

1000018191

900907

90

J1J2J3J4J5J6

RV-6S

RV-12S

RV-3S

RH-6SH

RH-12SH

RH-18SH

or

NoSQSD

1S/W I/O

2R/C PIO

3 SD

4

5I/OAsi

6

7I/O I/O

8GOTR/C SQ/SDGOTSQ

R/C

Sheet3


RV-6SL RV-6SDL

RV-6SC10 RV-6SDC10

RV-6SLC RV-6SDLC




RV-12SL RV-12SDL

RV-12SC10 CR3-535RV-12SDC10 CR3D-701

RV-12SLC RV-12SDLC











SDSQ



2,50013,000

step5,00026,000

88256

32/320/0IO

1

8/0

1

1

1 1

1

1

1

1

RS-23210

RS-4221

SLOT1

SLOT30

SLOT10

ch10


USB10

ch0MR-J2S 1MR-J3

ch020

RoHS

133A

CR1Vac/ kVA180253 / 1.0

CR2180253 / 2.0

CR3180253 / 3.0

CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)

CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)


CR1CR2IP20CR3IP54

S/SD S/SQ

S

SDSQ

2A-RZ365

2A-RZ361S/SD

2A-CBLxxS/SD

R28TBR32TBTB

R56TBTB

2D-TZ368


2A-RZ541

2A-HR533

2A-RZ581

2A-RZ581

2A-HR4322D-TZ454

2D-CBLxx



[s]

RV-6S0.4960.471

RV-6SL0.5950.525

RV-12S0.6950.656

RV-12SL0.7910.740

RV-3S0.7180.668

Vac180253

kVA2

M5

mm310(W)x260(D)


TB R28TBR32TB

TB R56TBGUI


I/O 2A-CBLxx

I/O 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

A6BAT

ER6Q6BAT

(2)

Vac180253

kVA2

M5

mm310(W)x260(D)

mm760(W)x700(D)x210(H)

TB R28TBR32TB

TB R56TB

I/O


I/O 2A-CBLxx

I/OI/F 2D-CBLxxPIO

CC-Link

CC-Link1.12.0

ER6Q6BAT

(3)

A6BAT


(4)

ItemSpecifications

Old modelsFR series

CR1DA-721/731CR800-04VD

Robot languageMELFA-BASIC IVMELFA-BASIC VMELFA-BASIC IV cannot be used directly.(RT3 converts MELFA-BASIC IV into MELFA-BASIC V or VI.)MELFA-BASIC VMELFA-BASIC VI (upper-compatible of MELFA-BASIC V)* In MELFA-BASIC VI, the description method of program is the same as MELFA-BASIC V unless the Function or Include commands are used.

Serial number of robotNecessary to input (by using the T/B or RT2)Not necessary to input (The data has been stored in the robot's internal ROM.)

Origin settingNecessary to input (by using the T/B or RT2)Not necessary to input (The data has been stored in the robot's internal ROM.)

Hand typeSink type (initial value)It is necessary to set a parameter for selecting the source type.Not set (initial value)It is necessary to select either sink or source type by setting a parameter. (If not set, an error will occur.)

Mode selector inputProvidedProvided(Customer needs to prepare a mode selector switch.)Recommended key switch: HA1K-2C2A-2 (manufactured by IDEC)

Enabling device switch inputProvidedNot provided

BatteryUsing (Q6BAT, 1 pc.)Not using (Not necessary to replace the battery)

TB dummy connectorNecessaryNot necessaryAfter deadman turns on, the T/B can be removed without stopping the robot even during operation.

NARC-AG

I/O

NARC

GOT

() () ()

(32)(*1)0255256X00XFFY00YFF256

i/F()*2) 03132X00X1FY00Y1F32

i/F()*2) 326332X20X3FY20Y3F32

i/F()*2) 649532X40X5FY40Y5F32

GOT*2)0255256PIO(*3)X00XFFY00YFF 256

256799

(SKIP0)8001X3208001

SKIP17 8018077X321X3278018077

8401X3488401

8501X3528501

8601X35C8601

(8)9009078X384X38BY384Y38B9009078

(8)9109178X38EX395Y38EY3959109178

(8)9209278X398X39FY388Y39F9209278

(8)9309378X3A2X3A9Y3A2Y3A99309378

(8)9409478X3ACX3B3Y3ACY3B39409478

Q-Bus I/F(*2)90009511512???(*5)???X2328X2527Y2328Y2527512

(*2)200050713072X7D0X13CFY7D0Y13CF3072

(*2)60008047204860006255(*6)256X1770X1F6FY1770Y1F6F2048D0D255D256D511 256

(*4)10000181918192

(*1)

32

(*2)

NARC

(*3)

NARC

(*4)

(*5)

(*6)

Ver.2CCFIX128

M_DIN( )M_DOUT( )

IO

S SD SQ

0255

20005071

60008047

1000018191

900907

90

J1J2J3J4J5J6

RV-6S

RV-12S

RV-3S

RH-6SH

RH-12SH

RH-18SH

or

NoSQSD

1S/W I/O

2R/C PIO

3 SD

4

5I/OAsi

6

7I/O I/O

8GOTR/C SQ/SDGOTSQ

R/C

Sheet3

1 2 3 4 5 6 7 8

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