Mitsubishi Industrial Robot

RV-4F-D/7F-D/13F-D/20F-D Series
Standard Specifications Manual
(CR750-D Controller)

BFP-A8931-G
 Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.

CAUTION All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned
ON.)
Enforcement of safety training

CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan. (This also applies to
maintenance work with the power source turned ON.)
Preparation of work plan

WARNING Prepare a device that allows operation to be stopped immediately during

teaching work. (This also applies to maintenance work with the power source
turned ON.)
Setting of emergency stop switch

CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc. (This also applies to maintenance work with the power
source turned ON.)
Indication of teaching work in progress

WARNING Provide a fence or enclosure during operation to prevent contact of the

operator and robot.
Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work, and
follow this method.
Signaling of operation start

CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress

CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
Inspection before starting work
 The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.

CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to a drop or reliability or faults. (Temperature, humidity,
atmosphere, noise environment, etc.)

CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.

CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.

CAUTION Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.

CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.

CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.

WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.

WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.

CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.

WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.

CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation
before starting automatic operation. Failure to do so could lead to interference
with peripheral devices because of programming mistakes, etc.

CAUTION Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to
do so could lead to personal injuries.

CAUTION Never carry out modifications based on personal judgments, or use non-
designated maintenance parts.
Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not
place hands or fingers in the openings. Failure to observe this could lead to
hands or fingers catching depending on the posture.
CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during
automatic operation, the robot accuracy could be adversely affected. Moreover,
it may interfere with the peripheral device by drop or move by inertia of the arm.

CAUTION Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of the
robot controller may be damaged.

CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments
connected to USB. When using network equipment, measures against the noise,
such as measures against EMI and the addition of the ferrite core, may be
necessary. Please fully confirm the operation by customer. Guarantee and
maintenance of the equipment on the market (usual office automation
equipment) cannot be performed.
■Revision history
Date of print Specifications No. Details of revisions

2012-10-04 BFP-A8931 ・ First print.

2012-10-16 BFP-A8931-A ・ ”1.3 CE marking specifications” was added.

・ ”Declaration of Incorporation” was added.
・ The user's guide of KC mark was added.
2012-11-20 BFP-A8931-B ・ The statement about trademark registration was added.
･ The notes of "set the Optimization of overload detection level parameter OLTMX" were
added. (Environmental temperature in the table of Standard specifications of robot)
･ The notes about the input-output connected to the controller were added. (do not ground
the + side of 24V power supply prepared by customer)
・ ”Declaration of Incorporation” was updated.
・ ”Fig. 2-18: Outline dimensional drawing” was added.
2012-12-05 BFP-A8931-C ・The terminal name to connect when using the three phase specification by the single phase
power supply was added.
・ EC-Statement of Compliance was updated.
2013-01-17 BFP-A8931-D ・ Note of the external emergency stop were added (opens the connector terminal at factory
shipping).
・ J1 axis operating range change (option) was added.
･ The connector name and pin assignment were added to Wiring and piping system diagram for
hand.
･ The description of SH04 and SH05 of Internal wiring and piping specification types was
added.
･ ”Table 2-23: Pin assign of hand input cable” and “Table 2-26: Pin assign of hand output
cable” were added.
・ The specification description of CR750-MB was added.
・ The outside dimensions and operating ranges of RV-4F/4FL, RV-7F/7FL were changed.
2013-03-22 BFP-A8931-E ・ The specification description of RV-7FLL, RV-13F and RV-20F were added.
・ The metal plate which fixes CR750 controller vertically was changed. (upward compatibility)
・ The mass of the controller was shown which was divided by each robot type.
・ The type name of “J1 axis operating range change” for RV-7F series was corrected.
(formerly: 1F-DH-04)
2013-04-04 BFP-A8931-F ・ The diameter of A/B ports on the optional solenoid valve set for RV-13F/20F series were
corrected. (formerly: φ4)
・ The values of "Allowable moment load" and "Allowable inertia" of RV-20F were corrected.
・ ”Table 2-4: Position of center of gravity for loads (for loads with comparatively small
volume): RV-20F” was added.
2013-07-19 BFP-A8931-G ・ The length of the machine cable of a RV-13F series standard configuration equipment was
added.
・ ”Declaration of Incorporation” and “EC-Statement of Compliance” were updated.
・ ”Table 2-28 ： Pin assign of hand input cable” was corrected.
・ The variations of an optional hand curl tube for RV-13F/13FL/20F were added.
・ ”6.4 EMC installation guideline” was added.
・ Outside dimensions and operating range diagrams of RV-7FLL, RV-13F/20F and RV-13FL
were changed.
・ The values of RV-4F series in "Table 2-5: Value of each counter-force" were corrected.
・ The outside dimension and shape of the optional solenoid valve set for RV-13F series was
changed.
・ The color of wires of GR2 connector in "2.5.6 Wiring and piping system diagram for hand"
was corrected.
・ The caution of operating in a low temperature environment or after a prolonged stop in
”6.3 Precautions for handling” were modified.
・ The caution about fumigation of wood packing was added to ”6.3 Precautions for handling”.
・ The caution about reduction gear of J1 to J3 axes of the RV-13F series was added.
・ The cable length of Forearm external wiring set/Base external wiring set were added.
■ Introduction

This series is a full-scale industrial vertical multi-joint type robot that is designed for use in machining
processes and assembling. This series supports varied environments, offering a variety of specifications
including clean specification, oil mist specification and long-arm specification.
However, to comply with the target application, a work system having a well-balanced robot arm, periph-
eral devices or robot and hand section must be structured.
When creating these standard specifications, we have edited them so that the Mitsubishi robot's charac-
teristics and specifications can be easily understood by users considering the implementation of robots.
However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer.
Mitsubishi hopes that you will consider these standard specifications and use our robots.

Note that in this specification document the specifications related to the robot arm is described Page 10,
"2 Robot arm", the specifications related to the controllerPage 78, "3 Controller", and software functions
and a command list Page 135, "4 Software" separately.

This document has indicated the specification of the following types robot.

*RV-4F-D/RV-4FL-D (CR750-D controller) series

Note) Indicates it as RV-4F series.
*RV-7F-D/RV-7FL-D (CR750-D controller) series
Note) Indicates it as RV-7F series.
*RV-7FLL-D (CR750-D controller) series *1)
*RV-13F-D (CR750-D controller) series *1)
*RV-20F-D (CR750-D controller) series *1)
Note) *1) Indicates it as "RV-13F series" for a general name of these robots.

・ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The contents of this manual are subject to change without notice.
・ The specifications values are based on Mitsubishi standard testing methods.
・ The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm
may occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
・ This specifications is original.
・ Microsoft, Windows, Microsoft Windows NT are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries.
・ The ETHERNET is a registered trademark of the Xerox Corp.
・All other company names and production names in this document are the trademarks or registered
trademarks of their respective owners.

Copyright(C) 2012-2013 MITSUBISHI ELECTRIC CORPORATION

 Contents
Page
1 General configuration .................................................................................................................................................................... 1-1
1.1 Structural equipment ............................................................................................................................................................. 1-1
1.1.1 Standard structural equipment .................................................................................................................................. 1-1
1.1.2 Special specifications .................................................................................................................................................... 1-1
1.1.3 Options ................................................................................................................................................................................. 1-1
1.1.4 Maintenance parts ........................................................................................................................................................... 1-1
1.2 Model type name of robot .................................................................................................................................................... 1-2
1.2.1 How to identify the robot model ................................................................................................................................ 1-2
1.2.2 Combination of the robot arm and the controller .............................................................................................. 1-3
1.2.3 Internal wiring and piping specification types ...................................................................................................... 1-3
1.3 CE marking specifications .................................................................................................................................................... 1-4
1.4 Contents of the structural equipment ............................................................................................................................ 1-5
1.4.1 Robot arm ........................................................................................................................................................................... 1-5
1.4.2 Controller ............................................................................................................................................................................ 1-6
1.5 Contents of the Option equipment and special specification .............................................................................. 1-7

2 Robot arm ......................................................................................................................................................................................... 2-10

2.1 Standard specifications ...................................................................................................................................................... 2-10
2.1.1 Basic specifications ...................................................................................................................................................... 2-10
(1) RV-4F/7F series ....................................................................................................................................................... 2-10
(2) RV-13F series ............................................................................................................................................................ 2-14
2.1.2 The counter-force applied to the installation surface ................................................................................... 2-17
2.2 Definition of specifications ................................................................................................................................................ 2-18
2.2.1 Pose repeatability .......................................................................................................................................................... 2-18
2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-19
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-22
(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-22
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-22
2.2.5 Collision detection ......................................................................................................................................................... 2-22
2.2.6 Protection specifications ............................................................................................................................................ 2-23
(1) Types of protection specifications .................................................................................................................... 2-23
(2) About the use with the bad environment ........................................................................................................ 2-23
2.2.7 Clean specifications ...................................................................................................................................................... 2-24
(1) Types of clean specifications ............................................................................................................................... 2-24
2.3 Names of each part of the robot .................................................................................................................................... 2-25
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-26
(1) RV-4F ............................................................................................................................................................................ 2-26
(2) RV-4FL .......................................................................................................................................................................... 2-28
(3) RV-7F ............................................................................................................................................................................ 2-30
(4) RV-7FL .......................................................................................................................................................................... 2-32
(5) RV-7FLL ....................................................................................................................................................................... 2-34
(6) RV-13F/20F ................................................................................................................................................................ 2-36
(7) RV-13FL ....................................................................................................................................................................... 2-38
2.5 Tooling ........................................................................................................................................................................................ 2-40
2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-40
(1) Standard specification (with no internal wiring and piping) ..................................................................... 2-40
(2) Internal wiring and piping specification (SH01) ............................................................................................. 2-41
(3) Internal wiring and piping specification (SH02) ............................................................................................. 2-42
(4) Internal wiring and piping specification (SH03) ............................................................................................. 2-43
(5) Internal wiring and piping specification (SH04) ............................................................................................. 2-44
(6) Internal wiring and piping specification (SH05) ............................................................................................. 2-45
2.5.2 Internal air piping ............................................................................................................................................................ 2-46
(1) Standard type ............................................................................................................................................................. 2-46
(2) Clean type .................................................................................................................................................................... 2-46
2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-46
2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-46

i
 Contents
Page
2.5.5 Ethernet cable, option wiring cable ........................................................................................................................ 2-46
2.5.6 Wiring and piping system diagram for hand ......................................................................................................... 2-47
(1) Standard specification (with no internal wiring and piping) ..................................................................... 2-47
(2) Internal wiring and piping specification (SH01) ............................................................................................. 2-48
(3) Internal wiring and piping specification (SH02) ............................................................................................. 2-49
(4) Internal wiring and piping specification (SH03) ............................................................................................. 2-50
(5) Internal wiring and piping specification (SH04) ............................................................................................. 2-51
(6) Internal wiring and piping specification (SH05) ............................................................................................. 2-52
2.5.7 Electrical specifications of hand input/output .................................................................................................. 2-53
2.5.8 Air supply circuit example for the hand ............................................................................................................... 2-54
2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-55
2.6.1 Shipping special specifications ................................................................................................................................. 2-55
(1) Machine cable ............................................................................................................................................................. 2-56
2.7 Options ....................................................................................................................................................................................... 2-57
(1) Machine cable extension ........................................................................................................................................ 2-58
(2) J1 axis operating range change ........................................................................................................................... 2-60
(3) Solenoid valve set ..................................................................................................................................................... 2-66
(4) Hand input cable ........................................................................................................................................................ 2-69
(5) Hand output cable ..................................................................................................................................................... 2-70
(6) Hand curl tube ............................................................................................................................................................ 2-71
(7) Forearm external wiring set/ Base external wiring set ............................................................................. 2-73
2.8 About Overhaul ...................................................................................................................................................................... 2-76
2.9 Maintenance parts ................................................................................................................................................................. 2-77

3 Controller .......................................................................................................................................................................................... 3-78

3.1 Standard specifications ...................................................................................................................................................... 3-78
3.2 Protection specifications and operating supply ....................................................................................................... 3-79
3.3 Names of each part .............................................................................................................................................................. 3-80
3.4 Outside dimensions/Installation dimensions .............................................................................................................. 3-82
3.4.1 Outside dimensions ....................................................................................................................................................... 3-82
3.4.2 Installation dimensions ................................................................................................................................................. 3-83
3.5 External input/output .......................................................................................................................................................... 3-85
3.5.1 Types .................................................................................................................................................................................. 3-85
3.6 Dedicated input/output ...................................................................................................................................................... 3-86
3.7 Emergency stop input and output etc. ......................................................................................................................... 3-89
3.7.1 Connection of the external emergency stop ...................................................................................................... 3-89
3.7.2 Special stop input (SKIP) ........................................................................................................................................... 3-94
3.7.3 Door switch function .................................................................................................................................................... 3-95
3.7.4 Enabling device function ............................................................................................................................................. 3-95
(1) When door is opening ............................................................................................................................................... 3-95
(2) When door is closing ................................................................................................................................................ 3-95
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-96
3.8 Additional Axis Function ..................................................................................................................................................... 3-97
3.8.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-97
3.9 Magnet contactor control connector output (AXMC) for addition axes ..................................................... 3-100
3.10 Options ................................................................................................................................................................................. 3-101
(1) Teaching pendant (T/B) ...................................................................................................................................... 3-102
(2) Parallel I/O interface ............................................................................................................................................ 3-105
(3) External I/O cable .................................................................................................................................................. 3-110
(4) Parallel I/O unit ...................................................................................................................................................... 3-112
(5) External I/O cable .................................................................................................................................................. 3-121
(6) CC-Link interface .................................................................................................................................................. 3-123
(7) Controller protection box .................................................................................................................................... 3-126
(8) RT ToolBox2/RT ToolBox2 mini ...................................................................................................................... 3-131
(9) Instruction Manual(bookbinding) ....................................................................................................................... 3-133
3.11 Maintenance parts ........................................................................................................................................................... 3-134

ii
 Contents
Page
4 Software ......................................................................................................................................................................................... 4-135
4.1 List of commands ............................................................................................................................................................... 4-135
4.2 List of parameters .............................................................................................................................................................. 4-138

5 Instruction Manual ..................................................................................................................................................................... 5-140

5.1 The details of each instruction manuals ................................................................................................................... 5-140

6 Safety .............................................................................................................................................................................................. 6-141

6.1 Safety ...................................................................................................................................................................................... 6-141
6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-141
6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-142
6.1.3 Precautions for using robot .................................................................................................................................... 6-142
6.1.4 Safety measures for automatic operation ........................................................................................................ 6-143
6.1.5 Safety measures for teaching ............................................................................................................................... 6-143
6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-143
6.1.7 Examples of safety measures ................................................................................................................................ 6-144
(1) CR750 controller .................................................................................................................................................... 6-144
(2) External emergency stop connection [supplementary explanation] ................................................. 6-149
6.2 Working environment ......................................................................................................................................................... 6-151
6.3 Precautions for handling .................................................................................................................................................. 6-151
6.4 EMC installation guideline ............................................................................................................................................... 6-153
6.4.1 Outlines ........................................................................................................................................................................... 6-153
6.4.2 EMC directive ............................................................................................................................................................... 6-153
6.4.3 EMC measures ............................................................................................................................................................. 6-154
6.4.4 Component parts for EMC measures ................................................................................................................. 6-154
(1) Ferrite core ............................................................................................................................................................... 6-154
(2) Line noise filter ....................................................................................................................................................... 6-154
7Appendix ........................................................................................................................................................................... Appendix-155
Appendix 1 ： Specifications discussion material (RV-4F/7F series) ................................................. Appendix-155
Appendix 2 ： Specifications discussion material (RV-7FLL) ................................................................. Appendix-156
Appendix 3 ： Specifications discussion material (RV-13F/13FL) ....................................................... Appendix-157
Appendix 4 ： Specifications discussion material (RV-20F) ................................................................... Appendix-158

iii
 1General configuration

1 General configuration
1.1 Structural equipment
Structural equipment consists of the following types.

1.1.1 Standard structural equipment

The following items are enclosed as a standard.
(1) Robot arm
(2) Controller
(3) Machine cable
(4) Robot arm installation bolts
(5) Safety manual, CD-ROM (Instruction manual)
(6) Guarantee card

1.1.2 Special specifications

For the special specifications, some standard configuration equipment and specifications have to be changed
before factory shipping. Confirm the delivery date and specify the special specifications at the order.

1.1.3 Options
User can install options after their delivery.

1.1.4 Maintenance parts

Materials and parts for the maintenance use.

Structural equipment 1-1

1General configuration

1.2 Model type name of robot

This robot has arranged the type name corresponding to load mass, arm length, and environment specification.
Details are shown below, please select the robot suitable for the customer's use.

1.2.1 How to identify the robot model

RV - ◇ F L ● - D -Sxx
(a) (b) (c) (d) (e) (f) (g)

(a). RV .............................................. Indicates the vertical multiple-joint robot.

Ex.）
RV: Vertical multiple-joint type.
RH: Horizontal multiple-joint type.

(b). ◇ ............................................... Indicates the maximum load.

Ex)
4: 4kg
7: 7kg
13: 13kg
20: 20kg

(c). F.................................................. Indicates the F series.

(d). L.................................................. Indicates long arm type.

Ex)
Omitted: Standard type
L or LL: Long arm type

(e). ●................................................ Indicates environment specification.

Ex)
Omitted: General specifications (IP40)
M: Oil mist specifications (IP67)
C: Clean specifications (ISO class3)
Note) RV-7FLL has only general environment specification.

(f). D .................................................. Indicates the controller type.

D: Stand alone type

(g). -Sxx........................................... Indicates a special model. In order, limit special specification.

Ex)
-SHxx: Indicates the internal wiring and piping specification.
-Sxx: Indicates a special model.

1-2 Model type name of robot

 1General configuration

1.2.2 Combination of the robot arm and the controller

Table 1-1 ： Combination of the robot arm and the controller
Robot arm
Note1)
Controller
Type name Protection Arm length Internal wiring and piping
RV- □ F-D
Standard arm
RV-20F-D
-
RV- □ FL-D
Long arm
RV-7FLL-D
Standard specification
RV- □ F-D-SH
Standard arm
RV-20F-D-SH
equipped Note2)
RV- □ FL-D-SH
Long arm CR750- □ VD-1
RV-7FLL-D-SH
RV- □ FM-D Protection specifica-
Standard arm
RV-20FM-D tion Note3)
RV- □ FLM-D Long arm
-
RV- □ FC-D Clean specification
Note4) Standard arm
RV-20FC-D
RV- □ FLC-D Long arm
Note1) The " □ " indicates the load mass."4" for 4kg, "7" for 7kg, "13" for 13kg. (" □ " of the controller type name is
"04", "07" or "13".)
Note2) The types of the internal wiring and piping specification models are shown in Page 3, "1.2.3 Internal wiring and pip-
ing specification types". This robot arm is a shipping special specification model. Check the delivery date.
Note3) This robot arm's protective structure is IP67. The protective structure of all the controllers is IP20 (open type).
To protect a controller, use the optional controller protection box (IP54).
Note4) The protective structure of all the controllers is IP20 (open type). To use a controller in a clean environment,
install the controller to a place that does not violate the cleanliness.

1.2.3 Internal wiring and piping specification types

The robot arm with in-wrist cables and piping is available. Before the robot arm is shipped from the factory, the
tool cables/piping are built into the robot arm's wrist and pulled out from the side of the mechanical interface. This
robot arm model eases wiring/piping tasks at the customer's side and improves the reliability against cable
disconnections, etc. The following section shows the types. For wiring/piping system diagram for hand of each
models, refer to Page 47, "2.5.6 Wiring and piping system diagram for hand".
(The unlisted robot arms do not have internal cables/pipes. However, they can use the hand input signals and
devices such as a visual sensor.)

Table 1-2 ： Internal wiring and piping specification types

Robot-arm type Note1) Wiring (cable for the connection to each equipment)
RV- □ F-D-SH** Base section external
RV- □ FL-D-SH** Piping Hand input Vision sensor Force sensor
RV-7FLL-D-SH** wiring set Note2)
signal camera unit
RV-20F-D-SH**
01 φ4x4 Note3) 8 points Not available Not available

02 Not available 8 points 1 1 1F-HA01S-01

03 Not available Not available 1 1 1F-HA02S-01
04 φ4x2 8 points - 1 1F-HA01S-01
05 φ4x2 8 points 1 - 1F-HA01S-01

Note1) " □ " shows the load. 4kg: "4", 7kg: "7", 13kg: "13". The numeral in the table shows the applicable numeral to
"**" of the type.
Example) When internal wiring/piping specification is "01" in the standard arm and load is 4 kg, the type name is
RV-4F-D-SH01.
Note2) The corresponding base external wiring set is attached.
Note3) It can use as a secondary piping of the solenoid-valve set option.

Model type name of robot 1-3

1General configuration

1.3 CE marking specifications

The robot shown in the Table 1-3 is the CE Marking specification.

Table 1-3 ： Robot models with CE marking specifications

Robot type Controller External signal logic Language setting

RV- □ F-D1-S15
RV- □ FL-D1-S15
RV- □ FM-D1-S15
CR750- □ VD1-1-S15
RV- □ FLM-D1-S15
RV- □ FC-D1-S15
RV- □ FLC-D1-S15
RV- □ F-D1-SH15xx
CR750- □ VD1-1-S15xx Source type English (ENG)
RV- □ FL-D1-SH15xx
RV-7FLL-D1-S15 CR750-07VLD1-1-S15
RV-20F-D1-S15
RV-20FM-D1-S15 CR750-20VD1-1-S15
RV-20FC-D1-S15
RV-20F-D1-SH15xx CR750-20VD1-1-S15xx
Note 1) " □ " shows the load. 4kg: "04", 7kg: "07", 13kg: "13".
Note 2) "xx" shows the number of the special specification.

1-4 CE marking specifications

1.4 Contents of the structural equipment
1.4.1 Robot arm
The list of structural equipment is shown in below.

Vertical six-axis multiple- Vertical six-axis multiple-jointed Machine cable

jointed type type Fixed type: RV-4F/7F series..................... 5m
(RV-4F-D/4FL-D、 (RV-13F-D/13FL-D, RV-13F series........................... 7m
RV-7F-D/7FL-D) RV-7FLL-D/RV-20F-D)

Machine cable
(Fixed type: 2m)
・ 1S-02UCBL-01
Either one
Machine cable extension
・ Fixed type: 1S- □□ CBL-01
・ Flexed type: 1S- □□ LCBL-01
Note1) □□ refer the length.
Refer to Table 1-4 for details.
Note2) Extend by adding to the arm side of
Internal wiring and piping specification
the standard accessory cable (for fix-
The robot of the factory-shipments special specification which ing).
equipped the inside of the wrist with wiring and the piping, and
was pulled out from the mechanical interface Pulled out from robot arm
Refer to Page 3, "1.2.3 Internal wiring and piping specification ・ Forearm external wiring set/ Base
types" for details. external wiring set
*The figure is an
example.
Solenoid valve set
(Special hand output cable is attached)
<Sink type/Source type>
・ 1 set: 1F-VD01-**/1F-VD01E-**
Note) "**" differs by
・ 2 set: 1F-VD02-**/1F-VD02E-** robot arm.
・ 3 set: 1F-VD03-**/1F-VD03E-** Refer to Table
・ 4 set: 1F-VD04-**/1F-VD04E-** 1-4 for details.
Pneumatic hand customer-manufactured parts

1F-VD04-02 1F-VD04-03 Forearm

Option attachment positions

Base
(Opposite side)

Hand output cable J1 axis operating range change

・ 1F-GR35S-02 (Stopper parts)
・ RV-4F series: 1F-DH-03
・ RV-7F series: 1F-DH-04
Hand input cable
・ 1F-HC35S-02 ・ RV-13F series: 1F-DH-05J1
* Installed by customer.

［Caution］
Hand curl tube Standard configuration
RV-4F/7F series, RV-7FLL equipment
・ 1E-ST040*C (1 - 4 set)
Special specifications
RV-13F/13FL/20F
・ 1N-ST060*C (1 - 4 set) Option
Note) "*" differs by 1 - 4 set. Refer to Table 1-4 for details. Prepared by customer

Fig.1-1 ： Structural equipment (Robot arm)

Contents of the structural equipment 1-5

1 General configuration

1.4.2 Controller
The devices shown below can be installed on the controller.
The controllers that can be connected differ depending on the specification of the robot. (Refer to Page 2, "1.2
Model type name of robot".)

Controller
・ RV-4F ： CR750-04VD-1
・ RV-7F ： CR750-07VD-1
・ RV-7FLL ： CR750-07VLD-1 Controller protection box
・ RV-13F ： CR750-13VD-1 ・ CR750-MB
・ RV-20F ： CR750-20VD-1 Teaching pendant (T/B)
R32TB

CC-Link interface Parallel I/O interface Parallel I/O unit

2D-TZ576 2D-TZ368(Sink)/ 2A-RZ361(Sink)/
2D-TZ378(Source) 2A-RZ371(Source)
R56TB

External I/O cable External I/O cable

・ 2D-CBL05 (5m) ・ 2A-CBL05 (5m)
・ 2D-CBL15 (15m) ・ 2A-CBL15 (15m)
PLC(Programmable
Logic Controller)
External device

Prepared by
customer

Personal computer RT ToolBox2/RT ToolBox2 mini

Prepared by customer
RT ToolBox2
・ 3D-11C-WINE(CD-ROM)
(MS-Windows2000/XP/Vista/7)
RT ToolBox2 mini
・ 3D-12C-WINE(CD-ROM)
*)Refer to Table (MS-Windows2000/XP/Vista/7)
1-5 for USB
cable.

Instruction Manual(bookbinding) ［Caution］

・ RV-4F-D/7F-D/13F-D: Standard configuration
5F-FF01-PE01
equipment
Special specifications

Options

Prepared by customer
The photograph is the image figure.

Fig.1-2 ： Structural equipment

1-6
 1 General configuration

1.5 Contents of the Option equipment and special specification

A list of all Optional equipment and special specifications are shown below.

Table 1-4 ： The list of Option equipment and special specification

Classification
Item Type Specifications Note1) Description

Internal wiring and piping RV- □ F-D-SH01 Functions equipped inside of wrist:
specification RV- □ FL-D-SH01 Air-hose φ4 x 4, Eight hand input
signals. ○
(robot arm) RV-7FLL-D-SH01
RV-20F-D-SH01
RV- □ F-D-SH02 Functions equipped inside of wrist: The connection with the force sensor unit
RV- □ FL-D-SH02 Eight hand input signals, connec- uses the attached adapter cable in the
tion cable for vision-sensor cam- ○
RV-7FLL-D-SH02 era, connection cable for force force-sensor option.
RV-20F-D-SH02 sensor unit. Note) The corresponding base external
wiring set is attached.
RV- □ F-D-SH03 Functions equipped inside of wrist:
RV- □ FL-D-SH03 Connection cable for vision-sen-
sor camera and force sensor unit. ○
RV-7FLL-D-SH03
RV-20F-D-SH03
RV- □ F-D-SH04 Functions equipped inside of wrist:
RV- □ FL-D-SH04 Air-hose φ4 x 2, Eight hand input
signals, connection cable for force ○
RV-7FLL-D-SH04 sensor unit.
RV-20F-D-SH04
RV- □ F-D-SH05 Functions equipped inside of wrist:
RV- □ FL-D-SH05 Air-hose φ4 x 2, Eight hand input
signals, connection cable for ○
RV-7FLL-D-SH05 vision-sensor camera.
RV-20F-D-SH05
J1 axis operating range 1F-DH-03 Stopper part for RV-4F series: This must be installed and setting the
change Sets as the + side/- side each by parameter by the customer.
○
the combination within 30, 73, 103 * Refer to Page 60, "(2) J1 axis
and 146. operating range change" for details.
1F-DH-04 Stopper part for RV-7F series:
Sets as the + side/- side each by
○
the combination within 35, 77, 99
and 141.
1F-DH-05J1 Stopper part for RV-13F series:
Sets as the + side/- side each by
○
the combination within 30, 73, 103
and 146.
Machine cable 1S-02UCBL-01 For fixing ○・□ 2m (A 2m cable is supplied instead of
(Replaced to shorter cable) (Set of power and signal) the supplied standard cable.)
Extended machine cable 1S- □□ CBL-01 For fixing ○ 5, 10, 15ｍ
(Set of power and signal)
1S- □□ LCBL-01 For flexing ○ 5, 10, 15ｍ
(Set of power and signal)
Solenoid valve set 1F-VD01-02/VD01E-02 1 set (Sink type)/(Source type) ○ The solenoid-valve set for the hand of
1F-VD02-02/VD02E-02 2 set (Sink type)/(Source type) ○ the customer setup.
Use for RV-4F/7F series and RV-7FLL.
1F-VD03-02/VD03E-02 3 set (Sink type)/(Source type) ○
1F-VD04-02/VD04E-02 4 set (Sink type)/(Source type) ○
1F-VD01-03/VD01E-03 1 set (Sink type)/(Source type) ○ The solenoid-valve set for the hand of
1F-VD02-03/VD02E-03 2 set (Sink type)/(Source type) ○ the customer setup.
Use for RV-13F/13FL and RV-20F.
1F-VD03-03/VD03E-03 3 set (Sink type)/(Source type) ○
1F-VD04-03/VD04E-03 4 set (Sink type)/(Source type) ○
Hand input cable 1F-HC35S-02 Robot side: connector. ○ The cable is connected to the sensor by
Hand side: wire. the customer.
Hand output cable 1F-GR35S-02 Robot side: connector. This cable can be used for the solenoid
Hand side: wire ○
valve prepared by the customer.

Contents of the Option equipment and special specification 1-7

1 General configuration

Classification
Item Type Specifications Note1) Description

Hand curl tube 1E-ST0402C For solenoid valve 1set.: φ4x2 ○ Curl type air tube
1E-ST0404C For solenoid valve 2set.: φ4x4 ○ For RV-4F/7F series and RV-7FLL.
1E-ST0406C For solenoid valve 3set.: φ4x6 ○
1E-ST0408C For solenoid valve 4set.: φ4x8 ○
1N-ST0602C For solenoid valve 1set.: φ6x2 ○ Curl type air tube
1N-ST0604C For solenoid valve 2set.: φ6x4 ○ For RV-13F/13FL and RV-20F.
1N-ST0606C For solenoid valve 3set.: φ6x6 ○
1N-ST0608C For solenoid valve 4set.: φ6x8 ○
Forearm external wiring 1F-HB01S-01 The following cables can be wired outside:
set hand input signals, force sensor and vision ○
sensor. Pulls out from forearm lower part.
1F-HB02S-01 The following cables can be wired outside:
○
force sensor and vision-sensor.
Base external wiring set 1F-HA01S-01 The following cables can be wired outside:
○
force sensor and vision-sensor.
Pulls out from base side.
1F-HA02S-01 The following cables can be wired outside:
○
force sensor and vision-sensor.
Simple teaching pendant R32TB Cable length 7m ○ With 3-position enable switch IP65
R32TB-15 Cable length 15m ○
Highly efficient teaching R56TB Cable length 7m ○
pendant R56TB-15 Cable length 15m ○
Parallel I/O Interface 2D-TZ368(Sink type)/ DO: 32 point The card type external input-and-output.
DI: 32 point Interface. Install to the slot of controller.
2D-TZ378(Source type) Insulated type output signal
(0.1A/24V /point) ○
Insulated type input signal
(9mA/ 24V /point)
External I/O cable 2D-CBL05 5m ○ Use to connect the external peripheral
(For Parallel I/O Interface) device to the parallel input/output
2D-CBL15 15m ○ interface.
Parallel I/O Unit 2A-RZ361(Sink type)/ DO: 32 point/ The unit for expansion the external
2A-RZ371(Source type) DI: 32 point input/output.
Insulated type output signal Electrical isolated Type
(0.1A/24V /point) ○ (100mA/Point)
Insulated type input signal
(7mA/ 24V /point)
External I/O cable 2A-CBL05 5m ○ Use to connect the external peripheral
(For Parallel I/O Unit) device to the parallel input/output unit
2A-CBL15 15m ○
CC-Link interface 2D-TZ576 Only Intelligent device station, ○ For MELSEC PLC with CC-Link con-
Local station nection.
Controller protection box CR750-MB IP54 The controller protection box is used to
○ protect the controller from an oil mist or
other operating environment.
RT ToolBox2 3D-11C-WINE CD-ROM MS-Windows2000/XP/Vista/7
(Personal computer Sup- ○ (With the simulation function)
port software)
RT ToolBox2 mini 3D-12C-WINE CD-ROM MS-Windows2000/XP/Vista/7
(Personal computer Sup- ○
port software mini)
Instruction Manual 5F-FF01-PE01 RV-4F/7F/13F-D (CR750 control-
○
ler) series

Note1) ○ : option, □ : special specifications.

1-8 Contents of the Option equipment and special specification

 1 General configuration

[Reference]:The recommendation products of the USB cable are shown below

Table 1-5 ： Recommendation article of the USB cable
Name Type name Supplier
USB cable KU-AMB530 SANWA SUPPLY INC.
(USB A type-USB mini B type)
USB-M53 ELECOM CO., LTD.
MITSUBISHI ELECTRIC SYSTEM & SERVICE CO.,
GT09-C30USB-5P
LTD.
MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD.
USB adapter
AD-USBBFTM5M ELECOM CO., LTD.
(USB B type-USB mini B type)

Caution Be careful to the USB cable to apply neither the static electricity nor the noise.
Otherwise, it becomes the cause of malfunction.

Caution Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer.
The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in
the equipments connected to USB. When using network equipment, measures against the noise, such
as measures against EMI and the addition of the ferrite core, may be necessary. Please fully confirm
the operation by customer. Guarantee and maintenance of the equipment on the market (usual office
automation equipment) cannot be performed.

Contents of the Option equipment and special specification 1-9

2Robot arm

2 Robot arm
2.1 Standard specifications
2.1.1 Basic specifications
(1) RV-4F/7F series
Table 2-1 ： Standard specifications of robot (with no internal wiring and piping)
Item Unit Specifications
Type RV-4F RV-4FL RV-7F RV-7FL
Environment Omitted: Standard specification
C: Clean specification
M: Oil mist specification
Degree of freedom 6
Note1)
Installation posture On floor, hanging, (against wall )
Structure Vertical, multiple-joint type
Drive system AC servo motor (brake provided on all axes)
Position detection method Absolute encoder
Motor capac- Waist (J1) W 400 750
ity
Shoulder (J2) 400 750
Elbow (J3) 100 400
Wrist twist (J4) 100 100
Wrist pitch (J5) 100 100
Wrist roll (J6) 50 50
Operating Waist (J1) Degree ±240 ±240
range
Shoulder (J2) ±120 -115 to 125 -110 to 130
Elbow (J3) 0 to 161 0 to 164 0 to 156 0 to 162
Wrist twist (J4) ±200
Wrist pitch (J5) ±120
Wrist roll (J6) ±360
Speed of Waist (J1) Degree/s 450 420 360 288
motion
Shoulder (J2) 450 336 401 321
Elbow (J3) 300 250 450 360
Wrist twist (J4) 540 337
Wrist pitch (J5) 623 450
Wrist roll (J6) 720 720
Maximum reach radius (P point) mm 514.5 648.7 713.4 907.7
Note2)
Maximum resultant velocity mm/sec 9,000 11,000
Load kg(N) 4 7
Note3)
Pose repeatability mm ±0.02
Cycle time Note4) sec 0.36 0.32 0.35
Note5)
Ambient temperature ℃ 0 to 40
Mass kg 39 41 65 67
Allowable Wrist twist (J4) 6.66 16.2
moment load
Wrist pitch (J5) N･m 6.66 16.2
Wrist roll (J6) 3.90 6.86
Allowable Wrist twist (J4) 0.20 0.45
inertia
Wrist pitch (J5) kg ･ m2 0.20 0.45
Wrist roll (J6) 0.10
Tool wiring Hand input/output Hand input eight points / hand output eight points
LAN cable Equipped (eight cores) <100BASE-TX>
Wiring for user Equipped (24 cores) <Force sensor etc.>

Tool pneu- Primary piping φ6×2

matic pipes Secondary piping φ4×8
Supply pressure MPa 0.54

2-10 Standard specifications

 2Robot arm

Item Unit Specifications

Standard specification: IP20
Note6) Clean specification: ISO class 3 Note7)
Protection specification
Oil mist specification: IP67 Note8) Note9)
Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2)

Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.
Please give an order separately.
Note2) This is the value on the mechanical interface surface when all axes are combined.
Note3) The pose repeatability details are given in Page 18, "2.2.1 Pose repeatability"
Note4) The required time period to execute one cycle of the following operation pattern with 1kg load. The cycle time may be
longer depending on the required positioning accuracy for the workpiece and the operating position.
300

25
Note5) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the
continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the
overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed
explanations of functions and operations for details.)
Note6) The protection specification details are given in Page 23, "2.2.6 Protection specifications".
Note7) The details of the clean specifications are described in Page 24, "2.2.7 Clean specifications".
Note8) The protection performance cannot be ensured with some oil characteristics. Contact the dealer.
Note9) If you use the controller in oil mist or similar environments, use the controller protection box to protect the controller
from the operation environment. A robot equipped with the controller protection box as standard is available.

Standard specifications 2-11

2Robot arm

Table 2-2 ： Standard specifications of robot (with internal wiring and piping)
Item Unit Specifications
Type RV-4F-SH RV-4FL-SH RV-7F-SH RV-7FL-SH
Environment Standard specification
Degree of freedom 6
Note1)
Installation posture On floor, hanging, (against wall )
Structure Vertical, multiple-joint type
Drive system AC servo motor (brake provided on all axes)
Position detection method Absolute encoder
Motor capac- Waist (J1) W 400 750
ity
Shoulder (J2) 400 750
Elbow (J3) 100 400
Wrist twist (J4) 100 100
Wrist pitch (J5) 100 100
Wrist roll (J6) 50 50
Operating Waist (J1) Degree ±240 ±240
range
Shoulder (J2) ±120 -115 ～ 125 -110 ～ 130
Elbow (J3) 0 ～ 161 0 ～ 164 0 ～ 156 0 ～ 162
Wrist twist (J4) ±200
Wrist pitch (J5) ±120
Wrist roll (J6) Note2)
±200
Speed of Waist (J1) Degree/s 450 420 360 288
motion
Shoulder (J2) 450 336 401 321
Elbow (J3) 300 250 450 360
Wrist twist (J4) 540 337
Wrist pitch (J5) 623 450
Wrist roll (J6) 720 720
Maximum reach radius (P point) mm 514.5 648.7 713.4 907.7
Maximum resultant velocity Note3) mm/sec 10,000 9,900 12,000 11,700
Load kg(N) 4 7
Note4)
Pose repeatability mm ±0.02
Cycle time Note5) sec 0.36 0.32 0.35
Note6)
Ambient temperature ℃ 0 to 40
Mass kg 40 42 66 68
Allowable Wrist twist (J4) 6.66 16.2
moment load
Wrist pitch (J5) N･m 6.66 16.2
Wrist roll (J6) 3.90 6.86
Allowable Wrist twist (J4) 0.20 0.45
inertia
Wrist pitch (J5) kg ･ m2 0.20 0.45
Wrist roll (J6) 0.10
Tool wiring Hand input/output Hand input eight points / hand output eight points
LAN cable Equipped (eight cores) <100BASE-TX>
Wiring for user Equipped (24 cores) <Force sensor etc.>
Promary piping φ6×2
Tool pneu-
matic pipes φ4×4: forearm section
Secondary piping φ4×4: passes through in the wrist. Note7)
Supply pressure MPa 0.54
Protection specification Note8) Standard specification: IP40
Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2)

Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.
Please give an order separately.
Note2) The operating range of the wrist roll is small compared to the model without internal cables/pipes.
Note3) This is the value on the mechanical interface surface when all axes are combined.
Note4) The pose repeatability details are given in Page 18, "2.2.1 Pose repeatability"

2-12 Standard specifications

 2Robot arm

Note5) The required time period to execute one cycle of the following operation pattern with 1kg load. The cycle time may be
longer depending on the required positioning accuracy for the workpiece and the operating position.
300

25
Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the
continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the
overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed
explanations of functions and operations for details.)
Note7) The internal wiring and piping specification is φ4x4.
Note8) The protection specification details are given in Page 23, "2.2.6 Protection specifications".

Standard specifications 2-13

2Robot arm

(2) RV-13F series

Table 2-3 ： Standard specifications of robot (with no internal wiring and piping)
Item Unit Specifications

Type RV-13F RV-13FL RV-20F RV-7FLL

Environment Omitted: Standard specification

Standard specifica-
C: Clean specification tion
M: Oil mist specification

Degree of freedom 6

Installation posture On floor, hanging (against wallNote1) )

Structure Vertical, multiple-joint type

Drive system AC servo motor (brake provided on all axes)

Position detection method Absolute encoder

Motor capac- Waist (J1) W 1500

ity
Shoulder (J2) 1500

Elbow (J3) 750

Wrist twist (J4) 400

Wrist pitch (J5) 200 100

Wrist roll (J6) 100 50

Operating Waist (J1) Degree ±190

range
Shoulder (J2) -90 to +150

Elbow (J3) -10 to +157.5

Wrist twist (J4) ±200

Wrist pitch (J5) ±120

Wrist roll (J6) ±360

Speed of Waist (J1) Degree/s 290 234 110 234

motion
Shoulder (J2) 234 164 110 164

Elbow (J3) 312 219 110 219

Wrist twist (J4) 375 124 375

Wrist pitch (J5) 375 125 450

Wrist roll (J6) 720 360 720

Maximum reach radius (P point) mm 1,094 1,388 1,094 1,503

Maximum resultant velocityNote2) mm/sec 10,450 9,700 4,200 15,300

Load 　 Rating (Maximum) kg 12(13) 15(20) 7(7)

Pose repeatabilityNote3) mm ±0.05 ±0.06

Cycle timeNote4) sec 0.53 0.68 0.70 0.63

Ambient temperatureNote5) ℃ 0 to 40

Mass kg 120 130 120 130

Allowable Wrist twist (J4) N･m 19.3 49 16.2

moment load
Wrist pitch (J5) 19.3 49 16.2

Wrist roll (J6) 11 6.86

Allowable Wrist twist (J4) kg ･ m2 0.47 1.4 0.45

inertia
Wrist pitch (J5) 0.47 1.4 0.45

Wrist roll (J6) 0.14 0.1

2-14 Standard specifications

 2Robot arm

Item Unit Specifications

Tool wiring Hand input/output Hand input eight points / hand output eight points

LAN cable Equipped (eight cores) <100BASE-TX>

Wiring for user Equipped (24 cores) <Force sensor etc.>

Tool pneu- Promary piping φ6×2

matic pipes Secondary piping φ6×8

Supply pressure MPa 0.54

Note6)
Protection specification Standard specification: IP40
Clean specification: ISO class 3 Note7) IP40
Oil mist specification: IP67 Note8) Note9)

Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2)

Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.
Please give an order separately.
Note2) This is the value on the mechanical interface surface when all axes are combined.
Note3) The pose repeatability details are given in Page 18, "2.2.1 Pose repeatability"
Note4) The required time period to execute one cycle of the following operation pattern with 5kg load. The cycle time may be
longer depending on the required positioning accuracy for the workpiece and the operating position.
300
25

Note5) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the
continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the
overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed expla-
nations of functions and operations for details.)
Note6) The protection specification details are given in Page 23, "2.2.6 Protection specifications".
Note7) The details of the clean specifications are described in Page 24, "2.2.7 Clean specifications".
Note8) The protection performance cannot be ensured with some oil characteristics. Contact the dealer.
Note9) To use a controller in an oil mist environment, use the optional controller protection box and protect the controller from
oil mists.

Standard specifications 2-15

2Robot arm

Table 2-4 ： Standard specifications of robot (with internal wiring and piping)
Item Unit Specifications

Type RV-13F-SH RV-13FL-SH RV-20F-SH RV-7FLL-SH

Environment Standard specification

Degree of freedom 6

Installation posture On floor, hanging (against wallNote1) )

Structure Vertical, multiple-joint type

Drive system AC servo motor (brake provided on all axes)

Position detection method Absolute encoder

Motor capac- Waist (J1) W 1500

ity
Shoulder (J2) 1500

Elbow (J3) 750

Wrist twist (J4) 400

Wrist pitch (J5) 200 100

Wrist roll (J6) 100 50

Operating Waist (J1) Degree ±190

range
Shoulder (J2) -90 to +150

Elbow (J3) -10 to +157.5

Wrist twist (J4) ±200

Wrist pitch (J5) ±120

Wrist roll (J6) ±200Note2)

Speed of Waist (J1) Degree/s 290 234 110 234

motion
Shoulder (J2) 234 164 110 164

Elbow (J3) 312 219 110 219

Wrist twist (J4) 375 124 375

Wrist pitch (J5) 375 125 450

Wrist roll (J6) 720 360 720

Maximum reach radius (P point) mm 1,094 1,388 1,094 1,503

Maximum resultant velocityNote3) mm/sec 10,450 9,700 4,200 15,300

Load 　 Rating (Maximum) kg 12(13) 15(20) 7(7)

Pose repeatabilityNote4) mm ±0.05 ±0.06

Note5) sec 0.53 0.68 0.70 0.63
Cycle time

Ambient temperatureNote6) ℃ 0-40

Mass kg 120 130 120 130

Allowable Wrist twist (J4) N･m 19.3 49 16.2

moment load
Wrist pitch (J5) 19.3 49 16.2

Wrist roll (J6) 11 6.86

Allowable Wrist twist (J4) kg ･ m2 0.47 1.4 0.45

inertia
Wrist pitch (J5) 0.47 1.4 0.45

Wrist roll (J6) 0.14 0.1

Tool wiring Hand input/output Hand input eight points / hand output eight points

LAN cable Equipped (eight cores) <100BASE-TX>

Wiring for user Equipped (24 cores) <Force sensor etc.>

2-16 Standard specifications

 2Robot arm

Item Unit Specifications

Promary piping φ6×2

Tool pneu-
matic pipes
Secondary piping φ4×4Note7)

Supply pressure MPa 0.54

Note8)
Protection specification Standard specification: IP40

Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2)

Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.
Please give an order separately.
Note2) The operating range of the wrist roll is small compared to the model without internal cables/pipes.
Note3) This is the value on the mechanical interface surface when all axes are combined.
Note4) The pose repeatability details are given in Page 18, "2.2.1 Pose repeatability"
Note5) The required time period to execute one cycle of the following operation pattern with 5kg load. The cycle time may be
longer depending on the required positioning accuracy for the workpiece and the operating position.
300
25

Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the
continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the
overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed expla-
nations of functions and operations for details.)
Note7) The internal wiring and piping specification is φ4x4.
Note8) The protection specification details are given in Page 23, "2.2.6 Protection specifications".

2.1.2 The counter-force applied to the installation surface

The counter-force applied to the installation surface for the strength design of the robot installation surface is
shown.
Table 2-5 ： Value of each counter-force
Value
Item Unit
RV-4F series RV-7F series RV-13F series
Falls moment: ML N･m 410 900 2,060
Torsion moment: MT N･m 400 900 2,060
Horizontal translation force: 700 1,000 1,750
N
FH
Vertical translation force: FV N 1,200 1,700 2,900

Standard specifications 2-17

2 Robot arm

2.2 Definition of specifications

The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows.

2.2.1 Pose repeatability

For this robot, the pose repeatability is given in accordance with JIS 8432 (Pose repeatability). Note that the value
is based on 100 measurements (although 30 measurements are required according to JIS).

［Caution］ The specified "pose repeatability" is not guaranteed to be satisfied under the following conditions.

[1] Operation pattern factors

1) When an operation that approaches from different directions and orientations are included in rela-
tion to the teaching position during repeated operations
2) When the speed at teaching and the speed at execution are different

[2] Load fluctuation factor

1) When work is present/absent in repeated operations

[3] Disturbance factor during operation

1) Even if approaching from the same direction and orientation to the teaching position, when the
power is turned OFF or a stop operation is performed halfway

[4] Temperature factors

1) When the operating environment temperature changes
2) When accuracy is required before and after a warm-up operation

[5] Factors due to differences in accuracy definition

1) When accuracy is required between a position set by a numeric value in the robot's internal coor-
dinate system and a position within the actual space
2) When accuracy is required between a position generated by the pallet function and a position
within the actual space

2-18 Definition of specifications

 ２ Robot arm

2.2.2 Rated load (mass capacity)

The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar mass,
eccentric loads will have some restrictions When designing the tooling or when selecting a robot, consider the fol-
lowing issues.
(1) The tooling should have the value less or equal than the smaller of the tolerable inertia and the tolerable
moment found in Page 10, "2.1.1 Basic specifications".
(2) Fig. 2-1, Fig. 2-2, Fig. 2-3 and Fig. 2-4 shows the distribution dimensions for the center of gravity in the
case where the volume of the load is relatively small. Use this figure as a reference when designing the
tooling.
(3) Even if the load is force, not the mass, design the tooling so that moment does not exceed the allowable
moment. Refer to Page 10, "2.1 Standard specifications" for details of allowable moment value.

[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion posture.
Even if you are within the allowable range mentioned previously, an overload or generate an overcurrnt
alarm could occur. In such cases, it will be necessary to change the time setting for acceleration/deceler-
ation, the operating speed, and the motion posture.
[Caution] The overhang amount of the load, such as the mass capacity and the allowable moment of inertia
defined in this section, are dynamic limit values determined by the capacity of the motor that drives axes
or the capacity of the speed reducer. Therefore, it does not guarantee the accuracy on all areas of tooling.
Guaranteed accuracy is measured from the center point of the mechanical interface surface. Please note
that if the point of operation is kept away from the mechanical interface surface by long and low-rigid
tooling, the positioning accuracy may deteriorate or may cause vibration.
[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an ascend-
ing operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending
speed.

1kg Unit: :mm

単位 mm

200
220 J5軸回転中心
Rotation center
for J5 axis
2kg
150
3kg 155
4kg 120
100
100

50
405 290 225 170

400 300 200 100 0

Rotation
J6軸回転中心center
for J6 axis

Fig.2-1 ： Position of center of gravity for loads (for loads with comparatively small volume): RV-4F/4FL

2-19
２ Robot arm

Unit: :mm
単位 mm
1kg
300
310 J5軸回転中心
Rotation center
for J5 axis
2kg
200 175
3kg 220 155
4kg 135
5kg 115
6kg
100
7kg
100

600 430 310 240

600 500 400 300 200 100

355 280 255
Rotation
J6軸回転中心 center
for J6 axis

Fig.2-2 ： Position of center of gravity for loads (for loads with comparatively small volume): RV-7F/7FL

Unit:: mm
単位 mm

300
Rotation
J5軸回転中心 center
for J5 axis
3kg 210
200

6kg 150
120
9kg
100
12kg 90

390 275 215 160

600 500 400 300 200 100

Rotation
J6軸回転中心 center
for J6 axis

Fig.2-3 ： Position of center of gravity for loads (for loads with comparatively small volume): RV-13F/13FL

2-20
 ２ Robot arm

Unit:: mm
単位 mm

300
Rotation center
J5軸回転中心
for J5 axis

200

6kg 150
120
9kg
12kg
100
90
70
15kg
475 390 335 300

600 500 400 300 200 100

J6軸回転中心
Rotation center
for J6 axis

Fig.2-4 ： Position of center of gravity for loads (for loads with comparatively small volume): RV-20F

2-21
２ Robot arm

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed

This robot automatically sets the optimum acceleration and deceleration speeds and maximum speed, according
to the load capacity and size that have been set, and operates using these automatically set speeds.
To achieve that, it is necessary to correctly set the actual load data (mass and size of hand and work) to be used.
However, vibration, overheating and errors such as excessive margin of error and overload may occur, depending
on the robot operation pattern or ambient temperature.
In such a case, change the setting value to the +20% range.
If a setting is performed in such a way that it falls below the mounted load, the life span of the mechanism ele-
ments used in the robot may be shortened. In the case of a work requiring a high degree of accuracy, set up the
load correctly and use the robot by lowering the ratios of the acceleration and deceleration speeds.

(1) Setting Load Capacity and Size (Hand Conditions)

Set up the capacity and size of the hand with the "HNDDAT*" parameter (optimum acceleration/deceleration
setting parameter), and set up the capacity and size of the work with the "WRKDAT*" parameter. Numbers 0 to 8
can be used for the asterisk (*) part. Designate the "HNDDAT*" and "WRKDAT*" parameters to be used using
the "LoadSet" command in a program.
For more details, refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations."
It is the same meaning as "LoadSet 0.0" if not using the "LoadSet".

2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot
Vibrations at the tip of the arm may increase substantially during the low-speed operation of the robot, depending
on the combination of robot operation, hand mass and hand inertia. This problem occurs when the vibration count
specific to the robot arm and the vibration count of the arm driving force are coming close to each other. These
vibrations at the tip of the arm can be reduced by taking the following measures:
1) Lower the robot's operating speed by approximately 5% from high speed using the Ovrd command.
2) Change and move the teaching points of the robot.
3) Change the hand mass and hand inertia.

2.2.5 Collision detection

This series have the "collision detection function" which detects the abnormalities by the collision of the robot
arm, however initial setting is in invalid condition.
The enable/disable of this function can be changed by parameter: COL and command: ColChk, this function is
effective for protect of the robot and of the peripheral equipment.
The abnormalities are detected by the robot's kinetics model, presuming torque necessary for movement at any
time. Therefore, the setting parameter (HNDDAT*, WRKDAT*) of the hand and the work piece conditions should
be right. And, it may be detected as the collision in movement as speed and motor torque are changed rapidly. (for
example, the movement near the place of the origin by linear interpolation, the reversal movement, the cold con-
dition, the operation after long term stoppage)
In such a case, by adjusting the value of the setting parameter (COLLVL, COLLVLJG) of the collision detection
level according to actual use environment, the sensitivity of collision detection can be optimized and the damage
risk can be reduced further. And, in the operation after the low temperature or long term stoppage, please operate
by accustoming at low speed (warm-up), or use the warm-up operation mode.
Refer to the separate instruction manual "Detailed explanations of functions and operations" for details of related
parameter.

2-22
 ２ Robot arm

2.2.6 Protection specifications

(1) Types of protection specifications
The robot arm has protection specifications that comply with the IEC Standards. The protection specifications
and applicable fields are shown in Table 2-6.
Even oil mist environment can be used in addition to the general environment.

Table 2-6 ： Protection specifications and applicable fields

Protection
Type specifications Classification Applicable field Remarks
(IEC Standards value)
RV-4F-D/4FL-D General environ- General assembly
RV-7F-D/7FL-D ment specifications Slightly dusty environment
RV-7FLL-D IP40
RV-13F-D/13FL-D
RV-20F-D
RV-4FM-D/4FLM-D Oil mist specifica- Machine tool (cutting)
RV-7FM-D/7FLM-D tions Machine shop with heavy oil mist
IP67
RV-13FM-D/13FLM-D Dusty work shop
RV-20FM-D

CAUTION Use the controller protection box to protect the controller from the environment
when the controller will be used in the environment such as the oil mist shown in the
Table 2-6.

The IEC IP symbols define the degree of protection against solids and fluids, and do not indicate a protective
structure against the entry of oil or water.
The IEC standard is described by the following "Information" And, the corrosion of the rust etc. may occur to the
robot with the liquids, such as the water and the oil.

【Information】
・ The IEC IP40
The protection standard for approach in the dangerous spot in the tool. It indicates the protective structure
that the proximity probe 2.5mm in diameter must not advance.
・ The IEC IP67
Protection against water infiltration as specified in IP67 indicates a protective structure that is not harmfully
affected, even if the test device dives underwater for the 30 minutes. The diving depth is shown below. When
the height of the test device is less than 850 mm, the position of the lowest part is 1 m from the water sur-
face.
When the height of the test device is 850 mm or more, the position of the highest part is 150 mm from the
water surface.

(2) About the use with the bad environment

The robot arm with protection specification (oil mist specification) is made by order. This robot has protection
methods that conform to IEC's IP67 standards (splashproof type). Recommended usage conditions.
1) The robot is designed for use in combination with machining device.
2) To ensure IP67 over the warranty period and further, the inside of the robot arm needs to be pressurized.
Use the provided φ8 joint (AIR PURGE) to supply dry air for pressurizing. The φ8 joint (AIR PURGE) can
be found at the base rear part of the robot arm.
Table 2-7 ： Specification of the dry air for pressurization
Item Dew point Pressure

Specification The atmospheric pressure dew point is - 0.01MPa or less

20 degree or less.

3) We are confirming examining with the cutting oil, and satisfying protection specification. Our warranty does
not cover damages or failure resulting from the robot being operated in any environment where other cutting
oils than those listed in the table are used (except cutting oils with respect to which the robot's compatibil-
ity with the protection specification is verified through our operability evaluation) or where the robot body

2-23
２ Robot arm

may be directly splashed with water, oil or dust in quantities larger than stated in the protection specifica-
tion.
4) Take measures so that the robot will not be exposed to water, oil and/or chips for a long period of time.

Also, entrained water droplets lead to the formation of rust on the robot, but would not usually affect the robot's
ability to operate normally.
The warranty is invalid for any faults that occur when the robot is used under the following conditions.
Also, if the cover and/or other parts are damaged by interferences caused by the peripheral devices and the
robot, the protection specification (seal performance, etc.) may be degraded. Therefore, please pay extra attention
when handling the robot.
Refer to Page 151, "6.2 Working environment".
1) In surroundings that generate inflammable gases or corrosive gasses.
2) Atmosphere of the mist containing polish liquid etc.
3) Atmosphere in which the water, the oil, and the dust exceeding protection specification fall on the robot arm
directly.
4) Pressurization by the dry air exceeding the specification of Table 2-7.

2.2.7 Clean specifications

(1) Types of clean specifications
The robot arm with clean specification is made by order. Please check the delivery schedule.

Table 2-8 ： Clean specifications

Type Degree of cleanliness Internal suction Remarks

RV-4FC-D/4FLC-D ISO class3 Concentrated suction with vacuum The use of a vacuum generating valve
RV-7FC-D/7FLC-D generating valve. is recommended.
RV-13FC-D/13FLC-D Use it in the clean room with the
RV-20FC-D down flow (flow velocity 0.3 m/s
above).

■ Precautions for use

1) A φ8 VACUUM coupling is provided in the base section of the robot arm for vacuum inside the robot arm.
(Refer to Fig. 2-20) When using the robot, connect this coupling with the vacuum generating valve (Refer to
Table 2-9) and vacuum pump (furnished by the customer).
2) To suck in the robot arm, use the vacuum generator of the specification shown in following a) and b).
a) When using the vacuum generator
Table 2-9 ： Specifications of vacuum generation valve (Confirmed in our company）
Type Maker Air pressure Note1) Quantity
MEDT 14 KONEGAI CORPORATION ・ Vacuum rate: 90.0 L/min(ANR) 1

Note1) It is the vacuum pump maker's written specification.

b) When using the vacuum pump
Assure the vacuum flow rate of more than 30 L/min. And, secure the exhaust course from the pump not
to affect the power supply and the cleanness for the vacuum pumps.

2-24
 ２ Robot arm

2.3 Names of each part of the robot

リスト
Wrist
フォアアーム
Fore arm
J4J4軸
axis (No.2 arm)
（No.2アーム）
＋
J5 axis
J5軸 Elbow block
エルボブロック
－
＋
メカニカルインタフェース
Mechanical interface
(Hand installation flange surface) ＋
（ハンド取付フランジ面）

－ － J3 axis
J3軸
＋
axis －
J6 J6軸 エルボ
Elbow

Upper arm
アッパーアーム
＋ (No.1 arm)
（No.1アーム）

ショルダ
Shoulder
－
J2 axis
J2軸
－

＋
J1軸
J1 axis

ベース
Base

Note) Although the figure is RV-4F, and RV-7F/13F series is also the same.
Fig.2-5 ： Names of each part of the robot

Names of each part of the robot 2-25

２ Robot arm

2.4 Outside dimensions ・ Operating range diagram

(1) RV-4F

Notes
Rev. A
1. *1) Ensure the cable connection space to connect machine cables.
2. *2) Ensure the maintenance space to take out the cover.
3. *3) The screw should go in to a depth of 7.5mm to 8mm.
4. *4) Screw hole (M4 depth 8) for securing the user cables/piping.
5. *5) The size of the internal wiring and piping specification model (-SHxx).
6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH**
specification.

Standard
specification

Clean/oil mist
specification

-SH**
specification

-SH** Clean/oil mist

specification specification
Clean/oil mist
specification

-SH**
specification

Approx. 100
Minimum
*2)
Maintenance
space Cable connection space

Standard
specification
(Installation surface)

Clean/oil mist
specification

-SH**
specification
(Installation surface)
4-φ9 installation hole
depth 8
*3)
4-M5 screw depth 8

φ20H
7 depth
6

View A: Detail of mechanical interface View B bottom view drawing: Detail of installation dimension

Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-6 ： Outside dimensions: RV-4F

2-26 Outside dimensions ・ Operating range diagram

 ２ Robot arm

Rev. A
Notes
1. *1) Rear face operation limit: When the J axis angle is -35° <= J1 <= +115°, the J2 axis operation is limited to -113° <=
J2 <= +120°.
2. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
3. *3) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
Operating range of each axis:
P-point path

J6 (-SH** specification): ±200°

The area which

P point cannot
be moved

Top view
*3)
The area which P point cannot be moved

(240 from the

When Internal wiring installation surface)
and piping specification
(-SH**)
Flange downward
limit line
Control point *1)
(R point) Rear-face/side-face
operating area
Control point of
"-SH**" specifi- The area which P point
cation (R point) cannot be moved

P-point
P-point path

The boundary of the singular- The area which P point

point of flange downward cannot be moved
The area which P point
cannot be moved
Side view

Fig.2-7 ： Operating range diagram: RV-4F

Outside dimensions ・ Operating range diagram 2-27

２ Robot arm

(2) RV-4FL

Notes Rev. A
1. *1) Ensure the cable connection space to connect machine cables.
2. *2) Ensure the maintenance space to take out the cover.
3. *3) The screw should go in to a depth of 7.5mm to 8mm.
4. *4) Screw hole (M4 depth 8) for securing the user cables/piping.
5. *5) The size of the internal wiring and piping specification model (-SHxx).
6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH**
specification.

Standard
specification

Clean/oil mist
specification

-SH**
specification

-SH** Clean/oil mist

specification specification

Clean/oil mist
specification

-SH**
specification

Approx. 100 Cable connection space

Minimum
*2)
Maintenance
space

Standard
specification

Clean/oil mist
(Installation surface)

specification

-SH**
specification

(Installation surface)
4-φ9 installation hole

depth 8
*3)
4-M5 screw depth 8

φ20H
7 dep
th 6

View A: Detail of mechanical interface View B bottom view drawing: Detail of installation dimension
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-8 ： Outside dimensions: RV-4FL

2-28 Outside dimensions ・ Operating range diagram

 ２ Robot arm

Rev. A

Notes
1. *1) Rear face operation limit: When the J axis angle is -35° <= J1 <= +110°, the J2 axis operation is limited to -114° <=
J2 <= +120°.
2. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
3. *3) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.

P-point path

Operating range of each axis:

P-point

J6 (-SH** specification): ±200°

The area which P point

cannot be moved
Top view *3)
The area which P point cannot be moved
When Internal wiring (240 from the
and piping specification *1) installation surface)
(-SH**)
Rear-face
operating area

Flange downward
limit line
Control point
(R point)
Control point of The area which P point
"-SH**" specifi- cannot be moved
cation (R point)

P-point path P-point

The area which The area which P point

The boundary of the singular- P point cannot cannot be moved
point of flange downward be moved

Side view

Fig.2-9 ： Operating range diagram: RV-4FL

Outside dimensions ・ Operating range diagram 2-29

２ Robot arm

(3) RV-7F

Notes
Rev. A
1. *1) Ensure the cable connection space to connect machine cables.
2. *2) Ensure the maintenance space to take out the cover.
3. *3) The screw should go in to a depth of 7.5mm to 8mm.
4. *4) Screw hole (M4 depth 8) for securing the user cables/piping.
5. *5) The size of the internal wiring and piping specification model (-SHxx).
6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH**
specification.

Standard
specification

Clean/oil mist
specification

-SH**
specification

-SH** Clean/oil mist

specification specification

Clean/oil mist
specification

-SH**
specification

Approx. 100
Cable connection space
Minimum
*2)
Maintenance
space

Standard
(Installation surface)

specification

Clean/oil mist
specification

(Installation surface)
4-φ9 installation hole
-SH**
specification

depth 8
*3)
4-M5 screw depth 8

φ20H
7 dep
th 6

View A: Detail of mechanical interface View B bottom view drawing: Detail of installation dimension
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-10 ： Outside dimensions: RV-7F

2-30 Outside dimensions ・ Operating range diagram

 ２ Robot arm

Rev. A
Notes
1. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
2. *1) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.

P-point path

Operating range of each axis:

P-point

J6 (-SH** specification): ±200°

The area which P

point cannot be moved

Top view *1)

The area which P point cannot be moved
When Internal wiring
and piping specification
(-SH**) (271 from the
installation surface)

Flange downward
limit line
Control point
(R point)
Control point of
"-SH**" specifi-
cation (R point)
The area which P point
cannot be moved

P-point path
P-point

The area which P

The boundary of the singular- point cannot be Side view The area which P point
point of flange downward moved cannot be moved

Fig.2-11 ： Operating range diagram: RV-7F

Outside dimensions ・ Operating range diagram 2-31

２ Robot arm

(4) RV-7FL

Notes Rev. A
1. *1) Ensure the cable connection space to connect machine cables.
2. *2) Ensure the maintenance space to take out the cover.
3. *3) The screw should go in to a depth of 7.5mm to 8mm.
4. *4) Screw hole (M4 depth 8) for securing the user cables/piping.
5. *5) The size of the internal wiring and piping specification model (-SHxx).
6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH**
specification.

Standard
specification

Clean/oil mist
specification

-SH**
specification

-SH** Clean/oil mist

specification specification
Clean/oil mist
specification

-SH**
specification

Approx. 100

*2) Minimum
Maintenance
space Cable connection space
(Installation surface)

Standard
specification

Clean/oil mist
specification

(Installation surface) 4-φ9 installation hole

-SH**
specification

depth 8
*3)
4-M5 screw depth 8

φ20H
7 dep
th 6

View A: Detail of mechanical interface View B bottom view drawing: Detail of installation dimension
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-12 ： Outside dimensions: RV-7FL

2-32 Outside dimensions ・ Operating range diagram

 ２ Robot arm

Notes
Rev. A
1. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
2. *1) Front face operation limit: When the J1 axis angle is +145° <= J1 <= +215° or -145° <= J1 <= -215°, the J2 axis
operation is limited to -110° <= J2 <= +120°.
3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.

P-point path

P-point
Operating range of each axis:

J6 (-SH** specification): ±200°

The area which P point cannot be moved

Top view *2)

The area which P point cannot be moved

When Internal wiring (271 from the

and piping specification installation surface)
(-SH**)
Flange downward
limit line
Control point (R point)

Control point of "-SH**" The area which P point

specification (R point) cannot be moved

P-point path P-point

The area which P point

cannot be moved

The area which P point

The boundary of the singular-
point of flange downward Side view cannot be moved

*1)
Front-face/side-face
operating area

Fig.2-13 ： Operating range diagram: RV-7FL

Outside dimensions ・ Operating range diagram 2-33

２ Robot arm

(5) RV-7FLL

Notes Rev. A
1. *1) Ensure the cable connection space to connect machine cables.
2. *2) The screw should go in to a depth of 7.5mm to 8mm.
3. *3) Screw hole (M4 depth 8) for securing the user cables/piping.
4. *4) The size of the internal wiring and piping specification model (-SHxx).
5. *5) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH**
specification.

Standard
specification

Clean/oil mist
specification

-SH**
specification

(The holes are on opposite sides.)

-SH** Clean/oil mist

specification specification
Clean/oil mist
specification

-SH**
specification

Min.
(Installation surface)

reamer 4-φ14 installation hole

(Installation surface)

depth 8
*2)
4-M5 screw depth 8

φ20H
7 dep
th 6

View A: Detail of mechanical interface View B bottom view drawing: Detail of installation dimension

Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-14 ： Outside dimensions: RV-7FLL

2-34 Outside dimensions ・ Operating range diagram

 ２ Robot arm

Notes
Rev. *
1. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
2. *1) Front face operation limit: When the J1 axis angle is +120° <= J1 or J1 <= -120°, the J2 axis operation is limited to -
90° <= J2 <= +130°.
3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
P-point
P-point path (- side)
P-point path (+ side)

Operating range of each axis:

J6 (-SH** specification): ±200°

Top view

Flange downward
limit line

P-point The area which P

point cannot be moved
Control point (R point) *2)

Top view

Front-face/side-face The area which P point

cannot be moved
Side view
operating area
*1)
*1)

Fig.2-15 ： Operating range diagram: RV-7FLL

Outside dimensions ・ Operating range diagram 2-35

２ Robot arm

(6) RV-13F/20F

Notes Rev. A
1. *1) Ensure the cable connection space to connect machine cables.
2. *2) The screw should go in to a depth of 9mm to 10mm.
3. *3) Screw hole (M4 depth 8) for securing the user cables/piping.
4. *4) The size of the internal wiring and piping specification model (-SHxx).

-SHxx
specification

(The holes are on opposite sides.)

-SHxx
specification
(The holes are on opposite sides.)

-SHxx
specification

Min.
(Installation surface)

rimer 4-φ14 installation hole

(Installation surface)
depth 8
*2)
4-M6 screw depth 10
depth 10
depth 6
(-SHxx specification)

depth 6.5
depth 8
(-SHxx specification)

View A: Detail of mechanical interface

View B bottom view drawing: Detail of installation dimension

Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-16 ： Outside dimensions: RV-13F/20F

2-36 Outside dimensions ・ Operating range diagram

 ２ Robot arm

Notes Rev. A
1. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
2. *1) Front face operation limit: When the J1 axis angle is +120° <= J1 or J1 <= -130°, the J2 axis operation is limited to
-90° <= J2 <= +130°.
3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.

P-point

P-point path (- side)

P-point path (+ side)

Operating range of each axis:

J6 (-SHxx specification): ±200°

(-SHxx specification) Top view

The area which P

Flange downward limit line point cannot be moved

P-point
R-point
(control point)

R-point
(control point)
(-SHxx specification)

Top view

The area which P point

Front-face/side-face cannot be moved
operating area Side view

Fig.2-17 ： Operating range diagram: RV-13F/20F

Outside dimensions ・ Operating range diagram 2-37

２ Robot arm

(7) RV-13FL

Notes Rev. A
1. *1) Ensure the cable connection space to connect machine cables.
2. *2) The screw should go in to a depth of 9mm to 10mm.
3. *3) Screw hole (M4 depth 8) for securing the user cables/piping.
4. *4) The size of the internal wiring and piping specification model (-SHxx).

-SHxx
specification

-SHxx (The holes are on

specification opposite sides.)
(The holes are on opposite sides.)

-SHxx
specification

Min.
(Installation surface)

4-φ14 installation hole

rimer
(Installation surface)
depth 8
*2)
4-M6 screw depth 10
depth 10
depth 6
(-SHxx specification)

depth 6.5
depth 8
(-SHxx specification)

View A: Detail of mechanical interface

View B bottom view drawing: Detail of installation dimension

Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.

Fig.2-18 ： Outside dimensions: RV-13FL

2-38 Outside dimensions ・ Operating range diagram

 ２ Robot arm

Notes Rev. *
1. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
2. *1) Front face operation limit: When the J1 axis angle is +130° <= J1 or J1 <= -140°, the J2 axis operation is limited to
-90° <= J2 <= +130°.
3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.

P-point
P-point path (+ side) P-point path (- side)

Operating range of each axis:

J6 (-SHxx specification): ±200°

(-SHxx specification) Top view

The area which P

Flange downward limit line point cannot be moved
P-point

R-point
(control point)

R-point
(control point)
(-SHxx specification)

Top view

Front-face/side-face The area which P

operating area point cannot be moved

Side view *2)

Fig.2-19 ： Operating range diagram: RV-13FL

Outside dimensions ・ Operating range diagram 2-39

２ Robot arm

2.5 Tooling
2.5.1 Wiring and piping for hand
Shows the wiring and piping configuration for a standard-equipped hand.
(1) Standard specification (with no internal wiring and piping)

Fore arm
Primary piping pneumatic hose (AIR IN, RETURN)
Hand output signal connector (GR1, GR2)

P
R
GR1
GR2
OP１ Upper arm
Note 1) OP3
OP2
OP4
LAN

Mechanical interface <A> Pull out the cables/ piping

When using the Hand input cable or the Hand output
cable (option), the cables can be pulled out from the
underneath of the forearm (shown as <A> in the
*1) Descriptions of cable connectors figure).
OP1: Connector for option signals When using the Forearm external wiring set or the
(hand input signals HC1 to HC8) Base external wiring set (option), the cables/piping
OP2: Connector for option signals can be pulled out from the underneath of the
forearm and the side of the base area. (For the pull-
OP3: Connector for option power supply
out position, refer to Page 73, "(7) Forearm external
(power supply for hand input signals) wiring set/ Base external wiring set".
OP4: Connector for option power supply The shipping special specification model, which the
LAN: Connector for Ethernet options cables/piping equipped into its wrist and pulled out
from the mechanical interface, is also available.
* For details, refer to Page 47, "2.5.6 Wiring The details on the wiring and piping specification can
and piping system diagram for hand". be found on Page 47, "2.5.6 Wiring and piping system
diagram for hand".

Primary piping pneumatic coupling (φ6)

（AIR IN, RETURN）
}

OP１
φ8 coupling
OP3 （Only for oil mist specification (AIR PURGE)
Base OP2
or clean specification (VACUUM))
OP4
LAN

Fig.2-20 ： Wiring and piping for hand

2-40 Tooling
 ２ Robot arm

(2) Internal wiring and piping specification (SH01)

Installation position of the solenoid valve option

Mechanical interface Note1)
Fore arm Hand output signal connector
(GR1, GR2)
Secondary piping pneumatic hose
Primary piping pneumatic hose
(four φ4 hoses) P
R (AIR IN, RETURN)
GR1
GR2
OP１
OP3
OP2
OP4 Upper arm
LAN

Hand input signal cable connector (HC)

Note1)
Mechanical interface (Front view)
Hand input cable *3)
(HC)
Cable length of outside the robot arm

*1)
depth 8 screw
depth 8
*2)
Air hoses

Primary piping pneumatic coupling (φ6)

150mm

（AIR IN, RETURN）

depth 6

Cable outlet *4) OP１

OP3
OP2
*1) The screws should go in to a depth of 7.5mm to 8mm. OP4
*2) Four air tubes have numbered marking tube. Those lengths from the cable LAN

outlet are 300 mm.

*3) Refer to Fig. 2-27 for pin assignment of the hand input cable (HC). Base
*4) The hand input cable and two air tubes are fixed on the surface of
mechanical interface. And, all cables and hoses are fixed also in the cable
outlet section.

* For details, refer to Page 47, "2.5.6 Wiring and piping system diagram for hand".

Fig.2-21 ： Wiring and piping for hand (SH01)

Tooling 2-41
２ Robot arm

(3) Internal wiring and piping specification (SH02)

Mechanical interface Note1)

Hand input signal cable Hand output signal connector
Fore arm (GR1, GR2)
connector (HC)
Primary piping pneumatic hose
Force sensor unit P
R (AIR IN, RETURN)
(E ・ F1) GR1
GR2
OP１
OP3
OP2
OP4 Upper arm
LAN
Vision sensor (LAN)
(Ethernet)
Note1)
Mechanical interface (Front view)
Force sensor unit (E ・ F1)
Hand input cable
(HC)
Cable length of outside the robot arm

*1)
depth 8 screw
depth 8
Vision sensor (LAN)
(Ethernet)

Primary piping pneumatic coupling (φ6)

150mm

（AIR IN, RETURN）

depth 6

Cable outlet *2)

RIO
*1) The screws should go in to a depth of 7.5mm to 8mm. OP１
OP3
*2) The hand input cable and two air tubes are fixed on the surface of OP2
OP4 E・F1
mechanical interface. And, all cables and hoses are fixed also in the cable LAN LAN
outlet section.

Base

* For details, refer to Page 47, "2.5.6 Wiring and piping system diagram for hand".

Fig.2-22 ： Wiring and piping for hand (SH02)

2-42 Tooling
 ２ Robot arm

(4) Internal wiring and piping specification (SH03)

Mechanical interface Note1)

Fore arm Hand output signal connector
Reserved (E ・ F1) (GR1, GR2)
Primary piping pneumatic hose
P
Force sensor unit R (AIR IN, RETURN)
GR1
(E ・ F2) OP１
GR2

OP3
OP2
OP4 Upper arm
LAN
Vision sensor (LAN)
(Ethernet)

Note1)
Mechanical interface (Front view)
Reserved Force sensor unit
Cable length of outside the robot arm

(E ・ F1) (E ・ F2)

*1)
depth 8 screw
depth 8
Vision sensor (LAN)
(Ethernet)
150mm

Primary piping pneumatic coupling (φ6)

depth 6
（AIR IN, RETURN）

Cable outlet
*2)
RIO
*1) The screws should go in to a depth of 7.5mm to 8mm. OP１
E・F1
*2) The hand input cable and two air tubes are fixed on the surface of OP3
OP2 E・F2
mechanical interface. And, all cables and hoses are fixed also in the cable OP4
LAN
outlet section. LAN

Base

* For details, refer to Page 47, "2.5.6 Wiring and piping system diagram for hand".
Fig.2-23 ： Wiring and piping for hand (SH03)

Tooling 2-43
２ Robot arm

(5) Internal wiring and piping specification (SH04)

Mechanical interface Note1)

Fore arm Hand output signal connector
Secondary piping pneumatic hose (GR1, GR2)
(two φ4 hoses)
Primary piping pneumatic hose
Hand input signal cable P
R (AIR IN, RETURN)
connector (HC) GR1
GR2
OP１
OP3
Upper arm
OP2
OP4
Force sensor unit LAN

(E ・ F2)

Note1)
Mechanical interface (Front view)
Hand input cable *3) Force sensor unit
(HC) (E ・ F2)
Cable length of outside the robot arm

*1)
depth 8 screw
depth 8
*2)
Air hoses

Primary piping pneumatic coupling (φ6)

150mm

（AIR IN, RETURN）

depth 6

Cable outlet *4) OP１

RIO

OP3
OP2 E・F2
*1) The screws should go in to a depth of 7.5mm to 8mm. OP4
*2) Two air tubes have numbered marking tube. Those lengths from the LAN
cable outlet are 300 mm.
*3) Refer to Fig. 2-30 for pin assignment of the hand input cable (HC).
*4) The hand input cable and force sensor cable are fixed on the surface Base
of mechanical interface. And, all cables and hoses are fixed also in the
cable outlet section.

* For details, refer to Page 47, "2.5.6 Wiring and piping system diagram for hand".

Fig.2-24 ： Wiring and piping for hand (SH04)

2-44 Tooling
 ２ Robot arm

(6) Internal wiring and piping specification (SH05)

Mechanical interface Note1)

Fore arm Hand output signal connector
Secondary piping pneumatic hose (GR1, GR2)
(two φ4 hoses)
Primary piping pneumatic hose
Hand input signal cable P
R (AIR IN, RETURN)
connector (HC) GR1
GR2
OP１
OP3
Upper arm
OP2
OP4
LAN
Vision sensor (LAN)
(Ethernet)

Note1)
Mechanical interface (Front view)
Hand input cable *3) Vision sensor
(HC)
Cable length of outside the robot arm

(LAN)

*1)
depth 8 screw
depth 8
*2)
Air hoses

Primary piping pneumatic coupling (φ6)

150mm

（AIR IN, RETURN）

depth 6

Cable outlet *4) RIO

OP１
*1) The screws should go in to a depth of 7.5mm to 8mm. OP3
OP2
*2) Two air tubes have numbered marking tube. Those lengths from the OP4
cable outlet are 300 mm. LAN LAN
*3) Refer to Fig. 2-31 for pin assignment of the hand input cable (HC).
*4) The hand input cable and force sensor cable are fixed on the surface
of mechanical interface. And, all cables and hoses are fixed also in
the cable outlet section. Base

* For details, refer to Page 47, "2.5.6 Wiring and piping system diagram for hand".

Fig.2-25 ： Wiring and piping for hand (SH05)

Tooling 2-45
２ Robot arm

2.5.2 Internal air piping

(1) Standard type
1) The robot has two φ6 x 4 urethane hoses from the pneumatic entrance on the base section to the shoulder
cover. One hose is the primary piping for the pneumatic equipment, and the other pipe is used for air
exhaust.
2) The optional solenoid is provided with a maximum of eight couplings for the air hose. The diameter of the
couplings are shown below.
1F-VD0*-02 (Sink type)/1F-VD0*E-02 (Source type): φ4
1F-VD0*-03 (Sink type)/1F-VD0*E-03 (Source type): φ6
3) The pneumatic inlet in the base section has a φ6 pneumatic coupling bridge.
4) Refer to Page 66, "(3) Solenoid valve set" for details on the electronic valve set (optional).
5) Protection performance can be improved by pressurizing the inside of the robot arm. Since the joint (AIR
PURGE) of φ8 is prepared at the rear of the base section, please supply the dry air for pressurization from
this joint. Refer to Page 23, "2.2.6 Protection specifications" for the details of dry air.

(2) Clean type

1) The clean specification basically includes the same piping as the standard type.
2) With the clean specification, a φ8 coupling is provided in the base section for suction inside the machine.
For use, connect it to the suction port of the vacuum pump or the coupling on the "VACUUM" side of the
vacuum generating valve. Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use
the exhaust filter (prepared by the customer).
3) Refer to Page 24, "2.2.7 Clean specifications" for details of the vacuum for suction.
4) Supply clean air to the vacuum generator.

2.5.3 Internal wiring for the hand output cable

1) The hand output primary cable extends from the connector PCB of the base section to the inside of the
forearm. (AWG#24(0.2mm2) x 2 cores: 8 cables) The cable terminals have connector bridges for eight hand
outputs.The connector names are GR1 and GR2.
To extend the wiring to the outside of the arm, a separate cable (optional "hand output cable 1F-GR35S-
02" ) is required.

2.5.4 Internal wiring for the hand input cable

1) The hand input cable extends from the connector PCB of the base section to the inside of the forearm.
(AWG#24(0.2mm2) for eight points) The cable terminals have connector bridges for eight hand inputs. The
connector names are OP1 and OP3.
2) The hand check signal of the pneumatic hand is input by connecting this connector.
To extend the wiring to the outside of the arm, a separate cable (optional "hand input cable "1F-HC35C-
02") is required.

2.5.5 Ethernet cable, option wiring cable

Ethernet cables, eight option signal cables, and four power supply cables internally run from the robot’s base
section up to the forearm area.
These cables can be also pulled out from the underneath of the forearm or from the side of the base area by using
options. (Options "Forearm external wiring set" and "Base external wiring set".)

Table 2-10 ： Ethernet cable specification

Item Specification
Communication speed 100BASE-TX
Size AWG #26 (0.13mm2) x four pair (total eight cores)
Externality of insulator Approx. 0.98 mm

2-46 Tooling
 ２ Robot arm

2.5.6 Wiring and piping system diagram for hand

Shows the wiring and piping configuration for a standard-equipped hand.
(1) Standard specification (with no internal wiring and piping)

Hand signal output connector (GR1)

ハンド信号出力用コネクタ（GR1コネクタ）

White
白
A1 <+24V(COM)>
A2 White
白
A3 <GR 1>
Hand output signal Black
黒

コントローラ
ロボット本体配線中継ボード
GR1 A4 <GR 2>

Robot arm wiring relay board

White
白
B1 <GR 3> Black
黒
Connect to the optional solenoid B2 <GR 4>
valve set directly B3

Controller
B4 Hand signal output connector (GR2)
ハンド信号出力用コネクタ（GR2コネクタ）
　 or
Connect with customer's tool Black
黒
A1 <+24V(COM)>
drive equipment (solenoid valve, A2 White
白
etc), by the optional hand output A3 <GR 5> Black
黒
GR2 A4 <GR 6> White
cable. B1 <GR 7>
白
Black
黒
B2 <GR 8>
B3 <+24V>
B4 <+24G(RG)>
<HC 1>
　　：
　　：
<HC 8>

<TXRXH>
<TXRXL>

A1 <TXRXH>
A2 <TXRXL>

A1 <+24V> A9
OP3 A2 <+24G(RG)> A10
B1 <+24V> B9
B2 <+24G(RG)> B10
Pull out the cables
Note1) A1 <HC1> A11
A2 <HC2> A12
A3 <HC3> A13
OP1 A4 <HC4> A14
B1 <HC5> B11
B2 <HC6> B12
B3 <HC7> B13
B4 <HC8> B14
A1 A15
A2 A16
A3 A17
OP2 A4 A18
B1 B15
B2 B16
B3 B17
B4 B18
A1 A19
A2 A20
OP4 B19
B1
B2 B20
100 BASETX Either net cable
100BASETXイーサネットケーブル
A1 白橙
White/Orange
A1
A2 橙
Orange
A2
A3 白緑
White/Green
A3
A4 緑
Green
A4
B1 青
Blue
B1
B2 白青
White/Blue
B2
B3 白茶
White/Brown
茶
Brown
B3
B4 B4
Primary piping pneumatic hose
1次配管エアホース
φ6 hose
φ6ホース AIR IN
Solenoid
電磁弁
セット
valve set φ6 hose
φ6ホース RETURN
(ｵﾌﾟｼｮﾝ)
(Option)
φ6 φ6クイック継手
quick coupling φ6クイック継手
φ6 quick coupling

φ8 quick coupling VACCUM : Clean specification

オイルミスト仕様(加圧)
φ8クイック継手 クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
のみ
Fore arm
フォアアーム内 Base
ベース部

Note1) The forearm side has the structural which can pull out the hand output cable and the hand input cable (respectively option
cable) as standard.

Fig.2-26 ： Wiring and piping system diagram for hand and example the solenoid valve installation

Tooling 2-47
２ Robot arm

(2) Internal wiring and piping specification (SH01)

Hand signal output connector (GR1)

ハンド信号出力用コネクタ（GR1コネクタ）

White
白
A1 <+24V(COM)>
A2 White
白
A3 <GR 1>
Hand output signal Black
黒

コントローラ
ロボット本体配線中継ボード
GR1 A4 <GR 2>

Robot arm wiring relay board

White
白
B1 <GR 3> Black
黒
Connect to the optional solenoid B2 <GR 4>
valve set directly B3

Controller
B4 Hand signal output connector (GR2)
ハンド信号出力用コネクタ（GR2コネクタ）
　 or
Connect with customer's tool Black
黒
A1 <+24V(COM)>
drive equipment (solenoid valve, A2 White
白
etc), by the optional hand output A3 <GR 5>
Black
黒
<GR 6>
cable. GR2 A4 <GR 7>
White
白
B1 Black
黒
B2 <GR 8>
B3 <+24V>
B4 <+24G(RG)>
<HC 1>
　　：
　　：
<HC 8>
Note1) The pin assignment of hand
input signal connector. <TXRXH>
<TXRXL>
A1 <HC1>
A2 <HC2>
A3 <HC3> A1 <TXRXH>
A4 <HC4> A2 <TXRXL>
A6 <24V> A1 <+24V> A9
B1 <HC5> A2 <+24G(RG)> A10
B2 <HC6> OP3 <+24V>
B1 B9
B3 <HC7> B2 <+24G(RG)> B10
B4 <HC8>
B6 <24G(RG)> A1 <HC1> A11
A2 <HC2> A12
Connector A3 <HC3> A13
Manufacturer: OP1 A4 <HC4> A14
Tyco Electronics AMP B1 <HC5> B11
Robot arm side: B2 <HC6> B12
1-1827864-6 B3 <HC7> B13
B4 <HC8> B14
Customer-prepared side:
1-1903130-6 A1 A15
A2 A16
A3 A17
OP2 A4 A18
B1 B15
B2 B16
B3 B17
B4 B18
A1 A19
Mechanical interface A2 A20
OP4 B19
B1
B2 B20
100 BASETX Either net cable
100BASETXイーサネットケーブル
A1 白橙
White/Orange
A1
A2 橙
Orange
A2
A3 白緑
White/Green
A3
A4 緑
Green
A4
B1 青
Blue
B1
B2 白青
White/Blue
白茶
White/Brown
B2
B3 B3
B4 茶
Brown
B4
Primary piping pneumatic hose
1次配管エアホース
φ6 hose
φ6ホース AIR IN
1 2 3 4 Solenoid
Air tube (φ4x4)
電磁弁
セット
valve set φ6 hose
φ6ホース RETURN
(ｵﾌﾟｼｮﾝ)
(Option)
Note1) φ6 φ6クイック継手
quick coupling φ6クイック継手
φ6 quick coupling
HC VACCUM : Clean specification
オイルミスト仕様(加圧)
φ8 quick coupling
φ8クイック継手 クリーン仕様(吸引)
Hand input signals AIR PURGE: Oil-mist specification
のみ
Fore arm
フォアアーム内 Base
ベース部

Fig.2-27 ： Wiring and piping system diagram for hand and example the solenoid valve installation: SH01

2-48 Tooling
 ２ Robot arm

(3) Internal wiring and piping specification (SH02)

Hand signal output connector (GR1)

ハンド信号出力用コネクタ（GR1コネクタ）

White
白
A1 <+24V(COM)>
A2 White
白
A3 <GR 1> Black
黒
Hand output signal

コントローラ
ロボット本体配線中継ボード
GR1 A4 <GR 2> White

Robot arm wiring relay board

白
B1 <GR 3>
Connect to the optional solenoid Black
黒
B2 <GR 4>
valve set directly B3

Controller
B4 Hand signal output connector (GR2)
ハンド信号出力用コネクタ（GR2コネクタ）
　 or
Black
黒
Connect with customer's tool A1 <+24V(COM)>
drive equipment (solenoid valve, A2 White
白
A3 <GR 5>
etc), by the optional hand output <GR 6>
Black
黒
cable. GR2 A4 <GR 7>
White
白
B1 Black
黒
B2 <GR 8>
B3 <+24V>
B4 <+24G(RG)>
<HC 1>
　　：
　　：
<HC 8>
Note2) The pin assignment of hand Option (attached):
input signal connector. <TXRXH> 1F-HA01S-01
<TXRXL>
A1 <HC1> RIO
A2 <HC2> A1 <TXRXH>
A3 <HC3> A2 <TXRXL>
A4 <HC4> Reserved
A3 <+24G(RG)>
A6 <24V> A4 <+24V>
B1 <HC5>
B2 <HC6> A1 <+24V> A9
B3 <HC7> OP3 A2 <+24G(RG)> A10
B4 <HC8> B1 <+24V> B9
B6 <24G(RG)> B2 <+24G(RG)> B10

Connector A1 <HC1> A11

A2 <HC2> A12
Manufacturer: A3 A13
<HC3>
Tyco Electronics AMP A4 <HC4> A14
Robot arm side: OP1
B1 <HC5> B11
1-1827864-6 B2 <HC6> B12
Customer-prepared side: B3 <HC7> B13
1-1903130-6 B4 <HC8> B14
A1 A15
A2 A16
A3 A17
OP2 A4 A18
B1 B15 E ・ F1
B2 B16
B3 B17
B4 B18 Connects with
Mechanical interface force sensor
A1 A19
A2 A20 interface Note1)
OP4 B19
B1
B2 B20
100 BASETX Either net cable
100BASETXイーサネットケーブル
White/Orange
白橙
A1 A1
A2 橙
Orange
A2
A3 白緑
White/Green
A3 LAN
A4 緑
Green
A4
B1 青
Blue
B1
B2 白青
White/Blue
B2 Connects with
B3 白茶
White/Brown the vision-sen-
茶
Brown
B3
B4 B4 sor controller
LAN
Primary piping pneumatic hose
1次配管エアホース
Vision-sensor
φ6 hose
φ6ホース AIR IN
camera. (Ethernet)
Solenoid
電磁弁
E ・ F1 valve
セット set φ6 hose
φ6ホース RETURN

Note1)
(ｵﾌﾟｼｮﾝ)
(Option)
Force sensor φ6 φ6クイック継手
quick coupling φ6 quick coupling
φ6クイック継手
HC φ8 quick coupling
φ8クイック継手
VACCUM : Clean specification
オイルミスト仕様(加圧)
クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
Hand input signals Note2) のみ
Fore arm
フォアアーム内 Base
ベース部

Note1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.

Fig.2-28 ： Wiring and piping system diagram for hand and example the solenoid valve installation: SH02

Tooling 2-49
２ Robot arm

(4) Internal wiring and piping specification (SH03)

Hand signal output connector (GR1)

ハンド信号出力用コネクタ（GR1コネクタ）

White
白
A1 <+24V(COM)>
A2 White
白
A3 <GR 1> Black
黒
Hand output signal

コントローラ
ロボット本体配線中継ボード
GR1 A4 <GR 2> White

Robot arm wiring relay board

白
B1 <GR 3>
Connect to the optional solenoid Black
黒
B2 <GR 4>
valve set directly B3

Controller
B4 Hand signal output connector (GR2)
ハンド信号出力用コネクタ（GR2コネクタ）
　 or
Black
黒
Connect with customer's tool A1 <+24V(COM)>
drive equipment (solenoid valve, A2 White
白
A3 <GR 5>
etc), by the optional hand output <GR 6>
Black
黒
cable. GR2 A4 <GR 7>
White
白
B1 Black
黒
B2 <GR 8>
B3 <+24V>
B4 <+24G(RG)>
<HC 1>
　　：
　　：
<HC 8>
Option (attached):
<TXRXH> 1F-HA01S-01
<TXRXL>
RIO
A1 <TXRXH>
A2 <TXRXL> Reserved
A3 <+24G(RG)>
A4 <+24V>
A1 <+24V> A9
OP3 A2 <+24G(RG)> A10
B1 <+24V> B9
B2 <+24G(RG)> B10
E ・ F1
A1 <HC1> A11
A2 A12 Reserved
<HC2>
A3 <HC3> A13
OP1 A4 <HC4> A14
B1 <HC5> B11
B2 <HC6> B12
B3 <HC7> B13
B4 <HC8> B14
A1 A15
A2 A16
A3 A17
OP2 A4 A18
B1 B15 E ・ F2
B2 B16
B3 B17
B4 B18 Connects with
Mechanical interface force sensor
A1 A19
A20 interface Note1)
OP4 A2
B1 B19
B2 B20
100 BASETX Either net cable
100BASETXイーサネットケーブル
White/Orange
白橙
A1 A1
A2 橙
Orange
A2
A3 白緑
White/Green
A3 LAN
A4 緑
Green
A4
B1 青
Blue
B1
白青
White/Blue Connects with
B2 B2 the vision-sen-
B3 白茶
White/Brown
茶
Brown
B3 sor controller
B4 B4
LAN
Primary piping pneumatic hose
1次配管エアホース
Vision-sensor
φ6 hose
φ6ホース AIR IN
camera. (Ethernet)
Solenoid
電磁弁
E ・ F2 valve
セット set φ6 hose
φ6ホース RETURN

Note1)
(ｵﾌﾟｼｮﾝ)
(Option)
Force sensor φ6 φ6クイック継手
quick coupling φ6 quick coupling
φ6クイック継手

φ8 quick coupling
φ8クイック継手
VACCUM : Clean specification
オイルミスト仕様(加圧)
E ・ F1 クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
Reserved のみ
Fore arm
フォアアーム内 Base
ベース部

Note1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.

Fig.2-29 ： Wiring and piping system diagram for hand and example the solenoid valve installation:SH03

2-50 Tooling
 ２ Robot arm

(5) Internal wiring and piping specification (SH04)

Hand signal output connector (GR1)

ハンド信号出力用コネクタ（GR1コネクタ）

White
白
A1 <+24V(COM)>
A2 White
白
A3 <GR 1>
Hand output signal Black
黒

コントローラ
ロボット本体配線中継ボード
GR1 A4 <GR 2>
White

Robot arm wiring relay board

白
B1 <GR 3>
Connect to the optional solenoid Black
黒
B2 <GR 4>
valve set directly B3
B4

Controller
Hand signal output connector (GR2)
ハンド信号出力用コネクタ（GR2コネクタ）
　 or
Black
黒
Connect with customer's tool A1 <+24V(COM)>
drive equipment (solenoid valve, A2 White
白
A3 <GR 5>
etc), by the optional hand output <GR 6> Black
黒
GR2 A4 White
白
cable. B1 <GR 7>
Black
黒
B2 <GR 8>
B3 <+24V>
B4 <+24G(RG)>
<HC 1>
　　：
　　：
Note2) The pin assignment of hand <HC 8>
input signal connector. Option (attached):
<TXRXH> 1F-HA01S-01
<TXRXL>
A1 <HC1>
A2 <HC2> RIO
A3 <HC3> A1 <TXRXH>
A4 <HC4> A2 <TXRXL> Reserved
A6 <24V> A3 <+24G(RG)>
B1 <HC5> A4 <+24V>
B2 <HC6>
B3 <HC7> A1 <+24V> A9
OP3 A2 <+24G(RG)> A10
B4 <HC8> B1 <+24V> B9
B6 <24G(RG)> B2 <+24G(RG)> B10
Connector A1 <HC1> A11
Manufacturer: A2 <HC2> A12
Tyco Electronics AMP A3 <HC3> A13
Robot arm side: OP1 A4 <HC4> A14
1-1827864-6 B1 <HC5> B11
Customer-prepared side: B2 <HC6> B12
B3 <HC7> B13
1-1903130-6 B4 <HC8> B14
A1 A15
A2 A16
A3 A17
OP2 A4 A18
B1 B15 E ・ F2
B2 B16
B3 B17
B4 B18 Connects with
Mechanical interface force sensor
A1 A19
A2 A20 interface Note1)
OP4 B19
B1
B2 B20
100 BASETX Either net cable
100BASETXイーサネットケーブル
White/Orange
白橙
A1 A1
A2 橙
Orange
A2
A3 白緑
White/Green
A3
A4 緑
Green
A4
B1 青
Blue
B1
B2 白青
White/Blue
B2
B3 白茶
White/Brown
茶
Brown
B3
B4 B4
Primary piping pneumatic hose
1次配管エアホース
φ6 hose
φ6ホース AIR IN
1 2 Solenoid
電磁弁
セット
valve set φ6 hose
φ6ホース RETURN
Air tube (φ4x2)
(ｵﾌﾟｼｮﾝ)
(Option)
φ6φ6クイック継手
quick coupling φ6 quick coupling
φ6クイック継手

E ・ F2 VACCUM : Clean specification

オイルミスト仕様(加圧)
φ8 quick coupling
φ8クイック継手 クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
Force sensor Note1) のみ
HC Fore arm
フォアアーム内 Base
ベース部
Hand input signals Note2)
Note1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.

Fig.2-30 ： Wiring and piping system diagram for hand and example the solenoid valve installation:SH04

Tooling 2-51
２ Robot arm

(6) Internal wiring and piping specification (SH05)

Hand signal output connector (GR1)

ハンド信号出力用コネクタ（GR1コネクタ）

White
白
A1 <+24V(COM)>
A2 White
白
A3 <GR 1>
Hand output signal Black
黒

コントローラ
ロボット本体配線中継ボード
GR1 A4 <GR 2>
White

Robot arm wiring relay board

白
B1 <GR 3>
Connect to the optional solenoid Black
黒
B2 <GR 4>
valve set directly B3
B4

Controller
Hand signal output connector (GR2)
ハンド信号出力用コネクタ（GR2コネクタ）
　 or
Black
黒
Connect with customer's tool A1 <+24V(COM)>
drive equipment (solenoid valve, A2 White
白
A3 <GR 5>
etc), by the optional hand output <GR 6> Black
黒
GR2 A4 White
白
cable. B1 <GR 7>
Black
黒
B2 <GR 8>
B3 <+24V>
B4 <+24G(RG)>
<HC 1>
　　：
　　：
Note1) The pin assignment of hand <HC 8>
input signal connector. Option (attached):
<TXRXH> 1F-HA01S-01
<TXRXL>
A1 <HC1>
A2 <HC2> RIO
A3 <HC3> A1 <TXRXH>
A4 <HC4> A2 <TXRXL> Reserved
A6 <24V> A3 <+24G(RG)>
B1 <HC5> A4 <+24V>
B2 <HC6>
B3 <HC7> A1 <+24V> A9
OP3 A2 <+24G(RG)> A10
B4 <HC8> B1 <+24V> B9
B6 <24G(RG)> B2 <+24G(RG)> B10
Connector A1 <HC1> A11
Manufacturer: A2 <HC2> A12
Tyco Electronics AMP A3 <HC3> A13
Robot arm side: OP1 A4 <HC4> A14
1-1827864-6 B1 <HC5> B11
Customer-prepared side: B2 <HC6> B12
B3 <HC7> B13
1-1903130-6 B4 <HC8> B14
A1 A15
A2 A16
A3 A17
OP2 A4 A18
B1 B15
B2 B16
B3 B17
B4 B18
Mechanical interface A19
A1
A2 A20
OP4 B19
B1
B2 B20
100 BASETX Either net cable
100BASETXイーサネットケーブル
A1 白橙
White/Orange
A1
A2 橙
Orange
A2 LAN
A3 白緑
White/Green
A3
A4 緑
Green
A4
B1 青
Blue
B1 Connects with
B2 白青
White/Blue vision sensor
白茶
White/Brown
B2
B3 B3 controller
B4 茶
Brown
B4
Primary piping pneumatic hose
1次配管エアホース
φ6 hose
φ6ホース AIR IN
1 2 Solenoid
電磁弁
セット
valve set φ6 hose
φ6ホース RETURN
Air tube (φ4x2)
(ｵﾌﾟｼｮﾝ)
(Option)
φ6φ6クイック継手
quick coupling φ6 quick coupling
φ6クイック継手

LAN φ8 quick coupling

φ8クイック継手
VACCUM : Clean specification
オイルミスト仕様(加圧)
クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
Vision-sensor camera. のみ
(Ethernet) Fore arm
フォアアーム内 Base
ベース部
HC
Hand input signals Note1)

Fig.2-31 ： Wiring and piping system diagram for hand and example the solenoid valve installation:SH05

2-52 Tooling
 ２ Robot arm

2.5.7 Electrical specifications of hand input/output

Table 2-11 ： Electrical specifications of input circuit

Item Specifications Internal circuit
Type DC input <Sink type>
No. of input points 8 +24V
Insulation method Photo-coupler insulation +24V
Rated input voltage 24VDC
Rated input current approx. 7mA 820
HCn *
Working voltage range DC10.2 to 26.4V (ripple rate within 5%)
ON voltage/ON current 8VDC or more/2mA or more 3.3K 24GND
OFF voltage/OFF current 4VDC or less/1mA or less
Input resistance Approx. 3.3kΩ <Source type>
Response time OFF-ON 10ms or less (DC24V) +24V
ON-OFF 10ms or less (DC24V) +24V

3.3K HCn*

820

24GND

* HCn ＝ HC1 to HC8

Table 2-12 ： Electrical specifications of output circuit

Item Specification Internal circuit
Type Transistor output <Sink type>
No. of output points 8 +24V(COM)
(Initial
（内部電源） power supply)
Insulation method Photo coupler insulation
Rated load voltage DC24V
Rated load voltage range DC21.6 to 26.4VDC
Max. current load 0.1A/ 1 point (100%) GRn*

Current leak with power OFF 0.1mA or less

Maximum voltage drop with power ON DC0.9V(TYP.)
Response time OFF-ON 2ms or less (hardware response time)
Protection
過電流 of
ON-OFF 2 ms or less (resistance load) (hardware response time) over-current
保護機能
Protects Protects the over-current (0.9A)
24GND
<Source type>
+24V
Protection
過電流of
over-current
保護機能

GRn*

24GND(COM)
* GRn ＝ GR1 to GR8

Tooling 2-53
2 Robot arm

2.5.8 Air supply circuit example for the hand

Fig. 2-32 shows an example of pneumatic supply circuitry for the hand.
(1) Place diodes parallel to the solenoid coil.
(2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be
damage to the work. To prevent it, install a pressure switch to the source of the air as shown in Fig. 2-32 and
use the circuit described so that the robot stops when pressure drops. Use a hand with a spring-pressure
clamp, or a mechanical lock-type hand, that can be used in cases where the pressure switch becomes dam-
aged.
(3) The optional hand and solenoid valve are of an oilless type. If they are used, don't use any lubricator.
(4) Supply clean air to the vacuum generation valve when you use clean type robot.
(5) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the
dew condensation may occur on the coupling or the hose surface.

Pressure switch

To the AIR IN (Robot arm)

（MAX0.54MPa)
Pneumatic source
(Clean) Filter Regurater
0.7MPa less

Fig.2-32 ： Air supply circuit example for the hand

2-54
 ２ Robot arm

2.6 Shipping special specifications, options, and maintenance parts

2.6.1 Shipping special specifications

■ What are sipping special specifications?

Shipping special specifications are changed before shipping from the factory. Consequently, it is necessary to
confirm the delivery date by the customer.
To make changes to the specifications after shipment, service work must be performed at the work site or the
robot must be returned for service.

■ How to order
(1) Confirm beforehand when the factory special specifications can be shipped, because they may not be
immediately available.
(2) Specify, before shipping from our company.
(3) Specified method …… Specify the part name, model, and robot model type.

Shipping special specifications, options, and maintenance parts 2-55

２ Robot arm

(1) Machine cable

■ Order type: ● Fixed type .........1S-02UCBL-1 (2m)

■ Outline

This cable is exchanged for the machine cable that was supplied as standard to
shorten the distance between the controller and the robot arm.

■ Configuration
Table 2-13 ： Configuration equipment and types
Part name Type Qty. Mass(kg)Note1) RemarksNote2)

Fixed Set of signal and power cables 1S-02UCBL-01 1 set 3.4 2ｍ

Motor signal cable BKO-FA0741H02 (1 cable) -
Motor power cable BKO-FA0739H02 (1 cable) -

Note1) Mass indicates one set.

Note2) A standard machine cable (for fixed type) is not attached.

[Caution] Orders made after purchasing a robot are treated as purchases of optional equipment. In this case, the
machine cable that was supplied as standard is not reclaimed.

2-56 Shipping special specifications, options, and maintenance parts

 ２ Robot arm

2.7 Options
■ What are options?
There are a variety of options for the robot designed to make the setting up process easier for customer needs.
customer installation is required for the options. Options come in two types: "set options" and "single options".

1. Set options .......................................A combination of single options and parts that together, from a set for serving
some purpose.
2. Single options ..................................That are configured from the fewest number of required units of a part.
Please choose customer's purpose additionally.

Options 2-57
２ Robot arm

(1) Machine cable extension

■ Order type: ● Fixed type 1S- □□ CBL-01

● Flexed type 1S- □□ LCBL-01 Note) The numbers in the boxes □□ refer the length.

■ Outline

The distance between the robot controller and the robot arm is extensible by this
option. This cable is extended to the machine cable attached as standard.
A fixed type and flexible type are available.
The extended method is discriminated as follows.
Fixed type/Flexed type:
・ Adds to the machine cable attached in the standards.
The fix and flexible types are both configured of the motor signal cable and motor
power cable.

■ Configuration
Table 2-14 ： Configuration equipment and types
Qty. Mass(kg)
Part name TypeNote1) Note2) Remarks
Fixed Flexed
Fixed Set of signal and power cables 1S- □□ CBL-01 1 set - 6.7(5m) 5m, 10m, or 15m each
12(10m)
Motor signal cable 1S- □□ CBL(S)-01 (1 cable) -
17(15m)
Motor power cable 1S- □□ CBL(P)-01 (1 cable) -
Flexed Set of signal and power cables 1S- □□ LCBL-01 - 1 set 7(5m) 5m, 10m, or 15m each
13(10m)
Motor signal cable 1S- □□ LCBL(S)-01 - (1 cable)
17(15m)
Motor power cable 1S- □□ LCBL(P)-01 - (1 cable)
Nylon clamp NK-14N - 2 pcs. - for motor signal cable
Nylon clamp NK-18N - 2 pcs. - for motor power cable
Silicon rubber - 4 pcs. -

Note1) The numbers in the boxes □□ refer the length.

Note2) Mass indicates one set.

■ Specifications
The specifications for the fixed type cables are the same as those for standard cables.
Shows usage conditions for flexed type cables in Table 2-15.
Table 2-15 ： Conditions for the flexed type cables
Item Specifications

Minimum flexed radius 100R or more

Cableveyor, etc., occupation rate 50% or less
Maximum movement speed 2,000mm/s or less
Guidance of life count 7.5 million times
Environmental proof Oil-proof specification sheath
(for silicon grease, cable sliding lubricant type) IP54
Cable configuration Motor signal cable φ6 x 5, φ8.5 x 1 and φ1.7 x 1
Motor power cable φ8.9 x 2 and φ6.5 x 8

[Caution] The guidance of life count may greatly differ according to the usage state (items related to Table 2-15
and to the amount of silicon grease applied in the cableveyor.

2-58 Options
 ２ Robot arm

■ Cable configuration
The configuration of the flexible cable is shown in Table 2-16. Refer to this table when selecting the cableveyor.

Table 2-16 ： Cable configuration (Flexed type)

Motor signal cable Motor power cable
Item
1S- □□ LCBL(S)-01 1D- □□ LCBL(P)-01

No. of cores AWG#24(0.2mm2)-4P AWG#24(0.2mm2)-7P AWG#18(0.75mm2) AWG#17(1.25mm2)-4C AWG#19(0.75mm2)-4C

Finish dimensions Approx. φ6mm Approx. φ8.5mm Approx. φ1.7mm Approx. φ8.9mm Approx. φ6.5mm
No.of cables used 5 cables 1 cable 1 cable 2 cable 8 cable
No. in total 7 cables 10 cables
Note) The square in the cable name indicates the cable length.

Options 2-59
２ Robot arm

(2) J1 axis operating range change

■ Order type RV-4F series: 1F-DH-03

RV-7F series: 1F-DH-04
RV-13F series: 1F-DH-05J1

■ Outline

The operating range of J1 axis is limited by the robot arm's mechanical stopper and
the controller parameters.
If the axis could interfere with the peripheral devices, etc., and the operating range
need to be limited, use this.

■ Configuration
(1) RV-4F series (1F-DH-03)
Table 2-17 ： Configuration devices (RV-4F series)
No. Part name Qty. Mass (kg) Remarks

<1> Stopper plate 2 One piece each for + side/- side

<2> Fixing block A 2 One piece each for + side/- side

<3> Fixing block B 1 + side

<4> Fixing block C 1 - side

1.1
<5> Variable stopper block 2 One piece each for + side/- side

<6> Screw (M10x20) 2 Use for mechanical stopper screw A and B

<7> Screw (M6x25) 2 For fixing

<8> Screw (M6x20) 16 For fixing

- (minus) side
<4>

<3>
<1>
<2>
+ (plus) side

<5> Install each parts to the upper arm lower part

with attached screw.

2-60 Options
 ２ Robot arm

Table 2-18 ： Changeable angle (RV-4F series)

Item Standard Changeable angle (combination of + side/- side) (Unit: Degree)

+ (plus) side +240 +30 +73 +103 +146

Variable stopper block angle - +33 +76 +106 +149

Variable stopper block position Note1) - (a) (b) (a) (b)

Note2) - Use Note3)
Mechanical stopper screw A Disuse
Parameter (MEJAR) setting value +240 +30 +73 +103 +146
- (minus) side -240 -30 -73 -103 -146
Variable stopper block angle - -33 -76 -106 -149

Variable stopper block position Note1) - (d) (c) (d) (c)

Mechanical stopper screw B Note2) - Use Disuse Note3)

Parameter (MEJAR) setting value -240 -30 -73 -103 -146

Note1) Symbol: “(a)” - “(d)” are related with the symbol of Page 63 "Fig. 2-33: Installation image of J1axis operating
range change option (RV-4F/7F series)".
Note2) In the table, it means that “Disuse” does not install the screw, and “Use” does install the screw.
Note3) Mechanical stopper screw which is either one of the two is always necessary. For this reason, the combination
enclosed by the thick line of the square in the table (both of + (plus) side and - (minus) side are 103 or 146) cannot
be used.
Example) It cannot be used that set +146 as the plus side and set -103 as the minus side simultaneously. The other
combination can be set up.

1) The changeable angle of RV-4F series is shown in Table 2-18. The changeable angle shown in Table 2-18
indicates the operation range by the software. The limit by the mechanical stopper is positioned three
degrees outward from that angle, so take care when designing the layout.
2) The changeable angle can be set independently on the + (plus) side/ - (minus) side, within the condition
shown in Table 2-18.
3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explanation
of Functions and Operations" for details.

Options 2-61
２ Robot arm

(2) RV-7F series (1F-DH-04)

Table 2-19 ： Configuration devices
No. Part name Qty. Mass (kg) Remarks

<1> Stopper plate 2 One piece each for + side/- side

<2> Fixing block A 2 One piece each for + side/- side

<3> Fixing block B 1 + side

<4> Fixing block C 1 - side
1.1
<5> Variable stopper block 2 One piece each for + side/- side

<6> Screw (M12x25) 2 Use for mechanical stopper screw A and B

<7> Screw (M8x25) 14 For fixing

<8> Screw (M8x20) 4 For fixing

- (minus) side
<4>

<3>
<1>
<2>
+ (plus) side

<5> Install each parts to the upper arm lower part

with attached screw.

Table 2-20 ： Changeable angle (RV-7F series)

Item Standard Changeable angle (combination of + side/- side) (Unit: Degree)

+ (plus) side +240 +35 +77 +99 +141

Variable stopper block angle - +38 +80 +102 +144

Variable stopper block position Note1) - (a) (b) (a) (b)

Note2) - Use Note3)
Mechanical stopper screw A Disuse
Parameter (MEJAR) setting value +240 +35 +77 +99 +141
- (minus) side -240 -35 -77 -99 -141
Variable stopper block angle - -38 -80 -102 -144

Variable stopper block position Note1) - (d) (c) (d) (c)

Mechanical stopper screw B Note2) - Use Disuse Note3)

Parameter (MEJAR) setting value -240 -35 -77 -99 -141

Note1) Symbol: “(a)” - “(d)” are related with the symbol of Page 63 "Fig. 2-33: Installation image of J1axis oper-
ating range change option (RV-4F/7F series)".
Note2) In the table, it means that “Disuse” does not install the screw, and “Use” does install the screw.
Note3) Mechanical stopper screw which is either one of the two is always necessary. For this reason, the
combination enclosed by the thick line of the square in the table (both of + (plus) side and - (minus) side are
99 or 141) cannot be used.
Example) It cannot be used that set +141 as the plus side and set -99 as the minus side simultaneously. The
other combination can be set up.

1) The changeable angle of RV-7F series is shown in Table 2-20. The changeable angle shown in Table 2-
20 indicates the operation range by the software. The limit by the mechanical stopper is positioned
three degrees outward from that angle, so take care when designing the layout.
2) The changeable angle can be set independently on the + (plus) side/ - (minus) side, within the condition
shown in Table 2-20.

2-62 Options
 ２ Robot arm

3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explana-
tion of Functions and Operations" for details.

(3) Installation image (RV-4F/7F series)

RV-4F/7F series installation image

(Top-view of J1 axis)
(d) <5> The installation position of Variable stopper block
(a) - (d)
(c)
Mechanical stopper screw B
- (minus) side

+ (plus) side

(b)
Mechanical stopper screw A
(a)
Fig.2-33 ： Installation image of J1axis operating range change option (RV-4F/7F series)

[Example] In the RV-7F series, when limiting the +side to +35 degree, and the -side to -141 degree, install as
following.
Variable stopper block: Installs in the position of (a), and the position of (c).
Mechanical stopper screw A: Install.
Mechanical stopper screw B: Do not install.

Options 2-63
２ Robot arm

(4) RV-13F series (1F-DH-05J1)

Table 2-21 ： Configuration devices
No. Part name Qty. Mass (kg) Remarks

<1> Stopper Block J1 1

<2> Resin Stopper B 2 One piece each for + side/- side

<3> Screw (M12×20) 2 0.3 Mechanical Stopper screw

<4> Screw (M10×40) 2 For Stopper Block J1 fixing

<5> Screw (M4×12) 4 For Resin Stopper B fixing

<1>Stopper Block J1 <2>Resin Stopper B

Install each parts to behind the J1 axis of

robot arm with attached screw.

Table 2-22 ： Changeable angle (RV-13F series)

Item Standard Changeable angle

+ (plus) side +190 +30 +120

Note1) - (A) (B)
Mechanical Stopper screw position
Mechanical Stopper position +193 +32.5 +122.5
Parameter (MEJAR) setting value +190 +30 +120
+ (minus) side -190 -30 -120

Mechanical Stopper screw positionNote1) - (D) (C)

Mechanical Stopper position -193 -32.5 -122.5

Parameter (MEJAR) setting value -190 -30 -120

Note1) Symbol: “(A)” - “(D)” in the Table 2-22 is related with the symbol of "Fig. 2-34: Installation
image of J1axis operating range change option (RV-13F series)".

1) The changeable angle of RV-13F series is shown in Table 2-22. The changeable angle shown in Table 2-
22 indicates the operation range by the software. The limit by the mechanical stopper is positioned
three degrees outward from that angle, so take care when designing the layout.
2) The changeable angle can be set independently on the + (plus) side/ - (minus) side, within the condition
shown in Table 2-22.
3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explana-
tion of Functions and Operations" for details.

2-64 Options
 ２ Robot arm

Installation image
(Top-view of J1 axis)
Mechanical Stopper screw A

Mechanical Stopper
screw B The installation position of Stopper
Block J1
(Back side)

Mechanical Stopper screw C Mechanical Stopper screw D

Fig.2-34 ： Installation image of J1axis operating range change option (RV-13F series)

[Example] In the RV-13F series, when limiting + side to +32.5 degree and - side to -122.5 degree, install the
Mechanical Stopper screw in the position of (A) and (C).

Options 2-65
２ Robot arm

(3) Solenoid valve set

■ Order type: One set: 1F-VD01-**(Sink type)/1F-VD01E-**(Source type)

Two sets: 1F-VD02-**(Sink type)/1F-VD02E-**(Source type)
Three sets: 1F-VD03-**(Sink type)/1F-VD03E-**(Source type)
Four sets: 1F-VD04-**(Sink type)/1F-VD04E-**(Source type)
Note） "-**" differs by robot arm.
･ RV-4F/7F series and RV-7FLL ......... ”-02”
･ RV-13F/13FL and RV-20F................... ”-03”
■ Outline
1F-VD0*-02 1F-VD0*-03
The solenoid valve set is an option that is used for controlling
toolings when various toolings, such as the hand, are installed
at the end of the arm.
Also, for easy installation of this electromagnetic set onto the
robot, it comes equipped with a manifold, couplings, silencers,
among other things.

■ Configuration
Table 2-23 ： Configuration equipment
Q'ty Mass(kg)
Part name TypeNote1) One Two Three Four
Note2) Remark
set sets sets sets
Solenoid valve set (1 set) 1F-VD01-**/ Hand output cable is already connected.
1 pc. － － － 0.3
1F-VD01E-** Refer to Page 70, "(5) Hand output cable".
Solenoid valve set (2 sets) 1F-VD02-**/ 1F-VD0*-01: Sink type
－ 1 pc. － － 0.4
1F-VD02E-** 1F-VD0*E-01: Source type.
Solenoid valve set (3 sets) 1F-VD03-**/ Coupling size of A/B-port (output side of sole-
－ － 1 pc. － 0.4
1F-VD03E-** noid valve)
Solenoid valve set (4 sets) 1F-VD04-**/ ･ 1F-VD0*-02/1F-VD0*E-02 ： Φ4
－ － － 1 pc. 0.5
1F-VD04E-** ･ 1F-VD0*-03/1F-VD0*E-03 ： Φ6

Note1) "-**" differs by robot arm. (Refer to " ■ Order type"above)

Note2) Mass indicates one set.
■ Specifications
Table 2-24 ： Valve specifications
Item Specifications
Number of positions 2
Note1)
Port 5
Valve function Double solenoid
Operating fluid Clean air Note2)
Operating method Internal pilot method
Effective sectional area (CV value) 1.1mm2 (0.06)
Oiling Unnecessary
Operating pressure range 0.1 to 0.7MPa
Response time 22msec or less (at 0.5 MPa)
Max. operating frequency 5Hz
Ambient temperature -10 to 50 ℃ (However, there must be no condensation.)

Note1) Couplings of unused solenoid valves must be blocked with plugs. If they are not blocked, supplied air will
blow out from the couplings, lowering the air pressure of the solenoid valves being used and making them
nonfunctional
(recommended plugs: KQ2P-04 plugs made by SMC).
Note2)
CAUTION The air to be provided must be clean, i.e., filtered with a mist
separator or air filter. Failing to do so may lead to malfunctions.
Table 2-25 ： Solenoid specifications
Item Specifications
Method Built-in fly-wheel diodes with surge protection
Coil rated voltage DC24V ±10%
Power consumption 0.55W
Voltage protection circuit with power surge protection Diode

2-66 Options
 ２ Robot arm

74.5
60 3.5
<6>
40 13.2

4.5
21 11.5

4. 5
-φ
4
<2> <3>
GR1

GR2

116
126
A 7 5 3 1
B 8 6 4 2

<7><8>
<5>

<1> <4>

10 6.8 <9>
41.5
<Sink type> <Source type>
Connector name Connector name
<GR1> <GR1>
White White
+24V (COM) A1 24V (RG) A1
Reserve A2 Reserve A2
GR1 Black GR1 Red
A3 A3
GR2 A4 Red SOL1A GR2 A4 Black SOL1A
Black Red
GR3 Red SOL1B GR3 Black SOL1B
B1 B1
GR4 Black GR4 Red
B2 B2
Red SOL2A Black SOL2A
Reserve B3 Reserve B3
Reserve B4 Black Reserve B4 Red
Red SOL2B Black SOL2B
<GR2> <GR2>
White White
+24V (COM) A1 24V (RG) A1
Reserve A2 Reserve A2
GR5 Black GR5 Red
A3 A3
GR6 A4 Red SOL3A GR6 A4 Black SOL3A
Black Red
GR7 Red SOL3B GR7 Black SOL3B
B1 B1
GR8 Black GR8 Red
B2 B2
Reserve B3 Red SOL4A Reserve B3 Black SOL4A
Reserve B4 Black Reserve B4 Red
Red SOL4B Black SOL4B

Part no. Part name 1 sets 2 sets 3 sets 4 sets Specifications

<1> Solenoid valve 1 2 3 4
<2> Manifold block 1 1 1 1
<3> Quick coupling 8 8 8 8 φ4
<4> Housing 1 1 1 1
<5> Quick coupling 2 2 2 2 φ6
<6> Plug 4 4 4 4
<7> Connector 1 1 2 2 1-1318115-4
<8> Contact 3 5 8 10 1318112-1
<9> Installation screw 4 4 4 4 M4×12

Fig.2-35 ： Outline dimensional drawing (1F-VD0*-02/1F-VD0*E-02)

Options 2-67
２ Robot arm

106.5 53.4 37.6

95 5 28.8 <10>

5
<9>
<11>
4.8
φ
4- <3>

GR1

GR2

137
147
<5>
<6><7>

<2>

<1>
<4>

15 27
<8>
63
<Sink type> <Source type>
Connector name Connector name
<GR1> <GR1>
White White
+24V (COM) A1 24V (RG) A1
Reserve A2 Reserve A2
GR1 Black GR1 Red
A3 A3
GR2 A4 Red SOL1A GR2 A4 Black SOL1A
Black Red
GR3 Red SOL1B GR3 Black SOL1B
B1 B1
GR4 Black GR4 Red
B2 B2
Red SOL2A Black SOL2A
Reserve B3 Reserve B3
Reserve B4 Black Reserve B4 Red
Red SOL2B Black SOL2B
<GR2> <GR2>
White White
+24V (COM) A1 24V (RG) A1
Reserve A2 Reserve A2
GR5 Black GR5 Red
A3 A3
GR6 A4 Red SOL3A GR6 A4 Black SOL3A
Black Red
GR7 Red SOL3B GR7 Black SOL3B
B1 B1
GR8 Black GR8 Red
B2 B2
Reserve B3 Red SOL4A Reserve B3 Black SOL4A
Reserve B4 Black Reserve B4 Red
Red SOL4B Black SOL4B

Part no. Part name 1 sets 2 sets 3 sets 4 sets Specifications

<1> Solenoid valve 1 2 3 4
<2> Manifold block 1 1 1 1
<3> Quick coupling 8 8 8 8 φ6
<4> Plate 1 1 1 1
<5> Quick coupling 2 2 2 2 φ6
<6> Connector 1 1 2 2 1-1318115-4
<7> Contact 3 5 8 10 1318112-1
<8> Installation screw 4 4 4 4 M4x12
<9> Extra low head cap screw 4 4 4 4 M8x12
<10> Sealing washer 4 4 4 4
<11> Jam nut 4 4 4 4 M8

Fig.2-36 ： Outline dimensional drawing (1F-VD0*-03/1F-VD0*E-03)

2-68 Options
 ２ Robot arm

(4) Hand input cable

■ Order type: 1F-HC35S-02

■ Outline

The hand input cable is used for customer-designed pneumatic hands.

It is necessary to use this to receive the hand's open/close confirmation signals and
grasping confirmation signals, at the controller.
One end of the cable connects to the connector for hand input signals, which is in
the wrist section of the hand. The other end of the cable connected to the sensor
inside the hand customer designed.

■ Configuration
Table 2-26 ： Configuration equipment
Part name Type Qty. Mass (kg) Note1) Remarks

Hand input cable 1F-HC35S-02 1 cable 0.2

Note1) Mass indicates one set.

■ Specifications
Table 2-27 ： Specifications
Item Specifications Remarks

Size x cable core AWG#24 (0.2 mm2)×10 cores One-sided connector, one-sided cable bridging
Total length 1,000 mm

Pin assign of the hand input cable is shown in Table 2-28.

Table 2-28 ： Pin assign of hand input cable

Color Connector Note1) Pin number: names Color Connector Note1) Pin number: names
Purple A1: HC1 Yellow A1: +24V
Brown A2: HC2 Green A2: +24G (RG)
OP3
Blue A3: HC3 - Reserved
Black A4: HC4 - Reserved
OP1
Red B1: HC5
White B2: HC6
Gray B3: HC7
Pink B4: HC8
Note1) The connector shows the connector name connected to the robot-arm side.

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Options 2-69
２ Robot arm

(5) Hand output cable

■ Order type: 1F-GR35S-02

■ Outline

The hand output cable (solenoid valve connection cable) is an option that is used
when a solenoid valve other than one of the solenoid valve set options, is used.
One end of the cable has a connector that connects to the input terminal inside the
robot. The other end of the cable is connected.

■ Configuration
Table 2-29 ： Configuration equipment
Part name Type Qty. Mass (kg) Note1) Remarks

Hand output cable 1F-GR35S-02 1 cable 0.1

Note1) Mass indicates one set.

■ Specifications
Table 2-30 ： Specifications
Item Specifications Remarks
2)
Size x Cable core AWG#24(0.2 mm x 10 cores One side connector and one side cable connection
Total length 500 mm

Pin assign of the hand output cable is shown in Table 2-31.

Table 2-31 ： Pin assign of hand output cable

Color Connector Pin number: names Color Connector Pin number: names
Yellow A1: +24V Green A1: +24V
- A2: Reserved - A2: Reserved
Purple A3: GR1 (Hand output 1) Red A3: GR5 (Hand output 5)
Brown A4: GR2 (Hand output 2) White A4: GR6 (Hand output 6)
GR1 GR2
Blue B1: GR3 (Hand output 3) Gray B1: GR7 (Hand output 7)
Black B2: GR4 (Hand output 4) Pink B2: GR8 (Hand output 8)
- B3: Reserved - B3: Reserved
- B4: Reserved - B4: Reserved

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

2-70 Options
 ２ Robot arm

(6) Hand curl tube

■ Order type: RV-4F/7F series, RV-7FLL ............One set: 1E-ST0402C

Two sets: 1E-ST0404C
Three sets: 1E-ST0406C
Four sets: 1E-ST0408C
RV-13F/13FL/20F..............................One set: 1N-ST0602C
Two sets: 1N-ST0604C
Three sets: 1N-ST0606C
Four sets: 1N-ST0608C

■ Outline

The hand curl tube is a curl tube for the pneumatic hand.

■ Configuration
Table 2-32 ： Configuration equipment
Part name Type Qty. Mass(kg)Note1) Remarks

For RV-4F/7F series, RV-7FLL

Hans curl tube (One set: 2 pcs.) 1E-ST0402C 1 pc. 0.1 φ4 tube, 2pcs.
Hans curl tube (Two sets: 4 pcs.) 1E-ST0404C 1 pc. 0.1 φ4 tube, 4pcs.
Hans curl tube (Three sets: 6 pcs.) 1E-ST0406C 1 pc. 0.1 φ4 tube, 6pcs.
Hans curl tube (Four sets: 8 pcs.) 1E-ST0408C 1 pc. 0.1 φ4 tube, 8pcs.
For RV-13F/13FL/20F
Hans curl tube (One set: 2 pcs.) 1N-ST0602C 1 pc. 0.1 φ6 tube, 2pcs.
Hans curl tube (Two sets: 4 pcs.) 1N-ST0604C 1 pc. 0.1 φ6 tube, 4pcs.
Hans curl tube (Three sets: 6 pcs.) 1N-ST0606C 1 pc. 0.1 φ6 tube, 6pcs.
Hans curl tube (Four sets: 8 pcs.) 1N-ST0608C 1 pc. 0.1 φ6 tube, 8pcs.

Note1) Mass indicates one set.

■ Specifications
Table 2-33 ： Specifications
Item Specifications
Material Urethane
Size 1E-ST040*C ： Outside diameterφ4× Inside diameterφ2.5
1N-ST060*C ： Outside diameterφ6× Inside diameterφ4

Options 2-71
２ Robot arm

RV-4F/7F series, RV-7FLL: 1E-ST040*C (φ4)

180 (Robot side)
(ロボット側)

250

200

(Tooling
(ツーリング側) side)

RV-13F/13FL/20F: 1N-ST060*C (φ6)

250 (Robot side)
(ロボット側)

600

300

(Tooling
(ツーリング側) side)

Fig.2-37 ： Outline dimensional drawing

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

2-72 Options
 ２ Robot arm

(7) Forearm external wiring set/ Base external wiring set

■ Order type
Forearm external wiring set: 1F-HB01S-01 (Hand input signals, force sensor and vision sensor)
1F-HB02S-01 (Force sensor and vision-sensor)
Base external wiring set: 1F-HA01S-01 (Force sensor and vision-sensor)
1F-HA02S-01 (Force sensor and vision-sensor)
Note) In the Internal wiring and piping specification, the corresponding base external wiring
set is attached.
■ Outline

The Forearm external wiring set and the Base external wiring set are used to pull
out the hand input signal cables and communication cables etc. from the
underneath of the forearm and the side of the base.
This option consists of the cable clamp box and the cable for hand input signals or
the cable for communication.
*The figure 1) Hand input cable
is an exam- The hand input cable of the option (equivalent of 1F-HC35C-02) is installed.
ple. Connect to the connectors OP1 and OP3 of the hand input cable, which is built into
the forearm. Connect the user connection side of pulled-out cable to the tools etc,
and input the signals.
Forearm
2) Communication cable
Pulls out the cable which attached the connector for connecting with vision sensor
Option attachment
positions etc.
The pulled out cables from the underneath of the forearm are connected with a
Base vision sensor camera, or a force sensor. The pulled out cables from the side of the
(Opposite side) base are connected with a vision sensor controller, or a force sensor interface. (To
connect to a force sensor, use the adaptor cable that is supplied in the force sensor
option.)
■ Configuration
Table 2-34 ： Configuration equipment
Part name Type Qty. Remarks
Forearm external wiring set 1F-HB01S-01 Either one
1F-HB02S-01 pc.

Base external wiring set 1F-HA01S-01 Either one

pc.
1F-HA02S-01

■ Specification
The kind of cable which can be pulled out for each option is shown in Table 2-35. Because to pull out the cable
of the same purpose also as the forearm side and the base side, you should use the option in pair shown in "the
pairing (recommendation)" of the table. And, each wiring system figure is shown after the following page.

Table 2-35 ： Internal wiring and piping specification types

Pairing Cable length Wiring (cable for the connection to each equipment)
Option type
(recommendation) (mm) Note1) Hand input signal Note2) Vision sensor camera Force sensor unit
1F-HB01S-01 (Forearm) 1,000 eight points 1 Either one unit
1
1F-HA01S-01 (Base) 500 Not available 1 Either one unit
1F-HB02S-01 (Forearm) 1,000 Not available 1 1
2
1F-HA02S-01 (Base) 500 Not available 1 1

Note1) The length from the cable clamp box to the connector.
Note2) Although the connector is attached to the customer wiring side of hand input cable, the connector can be cut, and con-
nect to the tool of the customer preparation. The color and signal name of the wire are shown in Table 2-36.
Table 2-36 ： Color of the wire and signal name (hand input cable)
Signal Connector Signal Connector Signal Connector Signal Connector
Color Color Color Color
name (HC) name (HC) name (HC) name (HC)
Violet HC1 A1 Brown HC2 A2 Blue HC3 A3 Black HC4 A4

Red HC5 B1 White HC6 B2 Gray HC7 B3 Pink HC8 B4

Yellow +24V A6 Green +24G(RG) B6 -

Options 2-73
２ Robot arm

1) Wiring system diagram (1F-H*01S-01: Hand input signals, force sensor and vision sensor)

Hand signal output connector (GR1)

ハンド信号出力用コネクタ（GR1コネクタ）

White
白
A1 <+24V(COM)>
A2 White
白
A3 <GR 1> Black
黒
Hand output signal

コントローラ
ロボット本体配線中継ボード
GR1 A4 <GR 2>
White

Robot arm wiring relay board

白
B1 <GR 3>
Connect to the optional solenoid Black
黒
B2 <GR 4>
valve set directly B3
B4

Controller
Hand signal output connector (GR2)
ハンド信号出力用コネクタ（GR2コネクタ）
　 or
Black
黒
Connect with customer's tool A1 <+24V(COM)>
drive equipment (solenoid valve, A2 White
白
A3 <GR 5> Black
黒
etc), by the optional hand output <GR 6>
GR2 A4 <GR 7>
White
白
cable. B1 Black
黒
B2 <GR 8>
B3 <+24V>
B4 <+24G(RG)>
<HC 1>
　　：
　　：
<HC 8> Option (Base):
1F-HA01S-01
Option (Forearm): <TXRXH>
1F-HB01S-01 <TXRXL>

A1 <TXRXH>
A2 <TXRXL> RIO
A3 <+24(RG)>
A4 <+24V>
Reserved
A1 <+24V> A9
OP3 A2 <+24G(RG)> A10
Cable clamp B1 <+24V> B9
B2 <+24G(RG)> B10
A1 <HC1> A11
A2 <HC2> A12
A3 <HC3> A13
OP1 A4 <HC4> A14
B1 <HC5> B11
B2 <HC6> B12
B3 <HC7> B13
B4 <HC8> B14
A1 A15
A2 A16
LAN A3 A17
Vision-sensor camera. OP2 A4 A18
(Ethernet) B1 B15
B2 B16
B3 E ・ F1
E ・ F1 B17
B4 B18 Connects with
Force sensor Note 1) the force sensor
A1 A19
A2 A20 interface Note 1)
HC OP4 B19
B1
Hand input signal B2 B20
100 BASETX Either net cable
100BASETXイーサネットケーブル
A1 白橙
White/Orange
A1
A2 橙
Orange
A2
A3 白緑
White/Green
A3
A4 緑
Green
A4
LAN B1 青
Blue LAN
B1
B2 白青
White/Blue
B2 Connects with
B3 白茶
White/Brown
B3 the vision-sensor
B4 茶
Brown controller
B4
Primary piping pneumatic hose
1次配管エアホース
φ6 hose
φ6ホース AIR IN
Solenoid
電磁弁
セット
valve set φ6 hose
φ6ホース RETURN
(ｵﾌﾟｼｮﾝ)
(Option)
φ6 φ6クイック継手
quick coupling φ6 quick coupling
φ6クイック継手
オイルミスト仕様(加圧)
VACCUM : Clean specification
φ8 quick coupling
φ8クイック継手 クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
のみ
Fore arm
フォアアーム内 Base
ベース部
Note 1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.

Fig.2-38 ： Wiring system diagram (1F-H*01S-01)

2-74 Options
 ２ Robot arm

2)Wiring system diagram ( 1F-H*02S-01: Force sensor and vision-sensor)

Hand signal output connector (GR1)

ハンド信号出力用コネクタ（GR1コネクタ）

White
白
A1 <+24V(COM)>
A2 White
白
A3 <GR 1> Black
黒
Hand output signal

コントローラ
ロボット本体配線中継ボード
GR1 A4 <GR 2> White

Robot arm wiring relay board

白
B1 <GR 3>
Black
黒
Connect to the optional solenoid B2 <GR 4>
valve set directly B3
B4

Controller
Hand signal output connector (GR2)
ハンド信号出力用コネクタ（GR2コネクタ）
　 or
Black
黒
Connect with customer's tool A1 <+24V(COM)>
drive equipment (solenoid valve, A2 White
白
A3 <GR 5> Black
黒
etc), by the optional hand output <GR 6>
GR2 A4 <GR 7>
White
白
cable. B1 Black
黒
B2 <GR 8>
B3 <+24V>
B4 <+24G(RG)>
<HC 1>
　　：
　　：
<HC 8> Option (Base):
1F-HA02S-01
Option (Fore arm): <TXRXH>
1F-HB02S-01 <TXRXL>

A1 <TXRXH>
A2 <TXRXL> RIO
A3 <+24(RG)>
A4 <+24V>
Reserved
A1 <+24V> A9
OP3 A2 <+24G(RG)> A10
Cable clamp B1 <+24V> B9
B2 <+24G(RG)> B10
A1 <HC1> A11 E ・ F1
A2 <HC2> A12 Reserved
A3 <HC3> A13
OP1 A4 <HC4> A14
B1 <HC5> B11
B2 <HC6> B12
B3 <HC7> B13
B4 <HC8> B14
A1 A15
A2 A16
LAN A3 A17
Vision-sensor camera. OP2 A4 A18
(Ethernet) B1 B15
B2 B16
B3 E ・ F2
B17
E ・ F2 B4 B18 Connects with
Force sensor Note 1) A19
the force sensor
A1 interface Note 1)
A2 A20
OP4 B19
E ・ F1 B1
B2 B20
Reserved 100 BASETX Either net cable
100BASETXイーサネットケーブル
A1 白橙
White/Orange
A1
A2 橙
Orange
A2
A3 白緑
White/Green
A3
A4 緑
Green
A4
LAN B1 青
Blue LAN
B1
B2 白青
White/Blue
B2 Connects with
B3 白茶
White/Brown
B3 the vision-sensor
B4 茶
Brown controller
B4
Primary piping pneumatic hose
1次配管エアホース
φ6 hose
φ6ホース AIR IN
Solenoid
電磁弁
valve
セットset φ6 hose
φ6ホース RETURN
(Option)
(ｵﾌﾟｼｮﾝ)
φ6 φ6クイック継手
quick coupling φ6 quick coupling
φ6クイック継手
VACCUM : Clean specification
オイルミスト仕様(加圧)
φ8 quick coupling
φ8クイック継手 クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
のみ
Fore arm
フォアアーム内 Base
ベース部
Note 1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.

Fig.2-39 ： Wiring system diagram (1F-H*02S-01)

Options 2-75
２ Robot arm

2.8 About Overhaul

Robots which have been in operation for an extended period of time can suffer from wear and other forms of
deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of speci-
fied service life or other parts which have been damaged, so that the robots may be put back in shape for contin-
ued use. Overhaul interval for robots presumably varies with their operating conditions and thus with the degree of
the equipment's wear and loss of performance. As a rule of thumb, however, it is recommended that overhaul be
carried out before the total amount of servo-on time reaches the predetermined levels (24,000 hours for the robot
body and 36,000 hours for the controller). (See Fig. 2-40.) For specific information about parts to be replaced and
timing of overhaul, contact your local service representative.

If overhaul is not performed

Shipment

Predetermined time period

Failure rate λ

Over-
Periodic inspection haul
If overhaul is performed

Servo-on time

Fig.2-40 ： Periodic inspection/overhaul periods

2-76 About Overhaul

 ２ Robot arm

2.9 Maintenance parts

The consumable parts used in the robot arm are shown in Table 2-37. Purchase these parts from the designated
maker or dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus,
confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer.

Table 2-37 ： Consumable part list

No. Part name Type Note1) Usage place Qty. Supplier

1 Grease Reduction gears of each axis As needed

Mitsubishi Electric
2 Lithium battery ER6 Inside the CONBOX cover 3 pcs.

Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.

Maintenance parts 2-77

3Controller

3 Controller
3.1 Standard specifications
Table 3-1 ： Specifications of controller
Item Unit Specification Remarks
Type CR750- □ VD-1 " □ "in type name shows the load
CR750-07VLD-1 (04, 07, 13 or 20) of robot arm.
CR750-07VLD-1 controller is only for
RV-7FLL.
Number of control axis Simultaneously 6
Memory Programmed positions point 39,000
capacity No. of steps step 78,000
Number of program 512
Robot language MELFA-BASIC V
Teaching method Pose teaching method, MDI method Note1)
External Input and output point 0/0 Max. 256/256 by option
input and
output Assigned with general-purpose The signal number of "STOP" input
Dedicated input/output
input/output signals is fixing.
Hand open/close input/output point 8/8 Built-in

Emergency stop input point 1 Dual line

Door switch input point 1 Dual line
Enabling device input point 1 Dual line
Emergency stop output point 1 Dual line
Mode output point 1 Dual line
Robot error output point 1 Dual line
Addition axis synchronization point 1 Dual line
Interface RS-422 port 1 Only for T/B
Ethernet port 1 10BASE-T/100BASE-Tx
Ver.2.0 FullSpeed
USB port 1
Only device function
SSCNET III (Connects with MR-J3-
Additional axis interface Channel 1
BS, MR-J4-B series)
Tracking interface Channel 2
Option slot slot 2 For option interface
Power Input voltage range V RV-4F series:
source Single phase AC180 to 253
RV-7F/13F seriesNote2) :
Three phase AC180 to 253, or
Single phase AC207 to 253
Power capacity kVA RV-4F series : 1.0 Does not include rush current Note3)
RV-7F series : 2.0
RV-13F series : 3.0
Power supply frequency Hz 50/60
Outline dimensions Note4) mm 430(W) x 425(D) x 174(H) Excluding protrusions
Mass kg Approx. 18
Construction Self-contained floor type, Opened type. Note5)
IP20
Installation vertically or horizontally
Operating temperature range ℃ 0 to 40
Ambient humidity %RH 45 to 85 Without dew drops
Grounding Ω 100 or less 100Ωor less (class D grounding)Note6)
Paint color Dark gray Equivalent to Munsell: 3.5PB3.2/0.8

Note1) Pose teaching method: The method to register the current position of the robot arm.
MDI method: The method to register by inputting the numerical value Immediate.
Note2) Both the three phase power supply and the single phase power supply can use this product according to voltage condi-
tions.

3-78 Standard specifications

 3Controller

Note3) The power capacity is the rating value for normal operation. The power capacity does not include the rush current when
the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power volt-
age. The short circuit breaker should use the following.
* Operate by the current leakage under the commercial frequency domain (50-60Hz). If sensitive to the high frequency
ingredient, it will become the cause in which below the maximum leak current value carries out the trip.
Note4) Refer to Page 82, "3.4 Outside dimensions/Installation dimensions" for details.
Note5) This controller is standard specification. (Refer to Page 79, "3.2 Protection specifications and operating supply".)
Note6) The robot must be grounded by the customer.

3.2 Protection specifications and operating supply

A protection method complying with the IEC Standard IP20 (Opened type) is adopted for the controller.
The IEC IP symbols refer only to the degree of protection between the solid and the fluids, and don't indicated
that any special protection has been constructed for the prevention against oil and water.

【Information】
・ The IEC IP20
It indicates the protective structure that prevents an iron ball 12 +0.05
0 mm diameter, which is being pressed with
the power of 3.1 kg±10%, from going through the opening in the outer sheath of the supplied equipment.

Refer to the section Page 151, "6.2 Working environment" for details on the working environment.

Protection specifications and operating supply 3-79

3 Controller

3.3 Names of each part

Controller (Front side)

<15> <16> <17> <3>

<18>

<6> <20> Fan, Air suction

Controller (Rear side)

<4> <5> <7> <8> <9> <10>
Attached cover

<19>

Exhaust downward
(Bottom)
<2> <1> <13> <12> <11> <14>

<1>: ACIN terminal

RV-4F: Single phase RV-7F/13F: Single phase/Three phase

L1 L2: no-CE specifications L1 L2 L3

N: CE specifications
<21> <22> <23>

<20>: The operation panel

<24> <25> <26> <27> <28> <29>

Fig.3-1 ： Names of controller parts (CR750)

3-80 Names of each part

 3 Controller

<1> ACIN terminal ................................................The terminal box for AC power source (single phase or single phase/
three phase, AC200V) input. (Inner side of a cover)
Note)When using the RV-4F series, connect the primary power supply to
L1 and L2 terminal.
When using the RV-7F/13F series, connect the primary power
supply to L1, L2 and L3 terminal when using the three phase
primary power supply, and connect the primary power supply to L1
and L3 terminal when using the single phase primary power supply.
<2> PE terminal .....................................................The screw for grounding of the cable. (M4 screw x 2 place)
<3> Power switch .................................................This turns the control power ON/OFF
<4> Machine cable connector (motor signal) (CN1)
Connect with the CN1 connector of the robot arm.
<5> Machine cable connector (motor power) (CN2)
Connect with the CN2 connector of the robot arm.
<6> T/B connection connector (TB) ...........This is a dedicated connector for connecting the T/B. When not using T/
B, connect the attached dummy connector.
<7><8><9><10> CNUSR connector ..............The connector for input/ output connection dedicated for robot. (a plug
connector attached)
<7>: CNUSR11, <8>: CNUSR12, <9>: CNUSR13, <10>: CNUSR2
<11> LAN connector (LAN)......................... For LAN connection
<12> ExtOPT connector (ExtOPT) .......... Connect the cable for addition axis control.
<13> RIO connector (RIO) ........................... Connect the extension parallel input/output unit.
<14> Option slot (SLOT1, SLOT2)........... Install the interface optional. (Install the cover, when not using.)
<15> Interface cover ...................................... USB interface and battery are mounted.
<16> Mode key switch ................................... This key switch changes the robot's operation mode.
AUTOMATIC ..........Operations from the controller or external equipment are valid. Operations for which the
operation mode must be at the external device or T/B are not possible. (Exclude the start
of automatic operation.)
MANUAL ..................When the T/B is valid, only operations from the T/B are valid. Operations for which the
operation mode must be at the external device or controller are not possible.
<17> Emergency stop switch...................... This switch stops the robot in an emergency state. The servo turns OFF.
<18> Filter cover.............................................. There is an air filter inside the cover.
<19> Grounding terminal............................... The grounding terminal for connecting cables of option card. (M3 screw x 2
places)
<20> Operation panel..................................... The operation panel for servo ON/OFF, START/STOP the program etc.
<21> Display panel (STATUS.NUMBER) ........... The alarm No., program No., override value (%), etc., are displayed.
<22> CHNGDISP button ............................... This button changes the details displayed on the display panel in the order
of "Override" → "Program No." → "Line No.".
<23> UP/DOWN button............................... This scrolls up or down the details displayed on the "STATUS. NUMBER"
display panel.
<24> SVO.ON button ..................................... This turns ON the servo power. (The servo turns ON.)
<25> SVO.OFF button.................................. This turns OFF the servo power. (The servo turns OFF.)
<26> START button........................................ This executes the program and operates the robot. The program is run
continuously.
<27> STOP button .......................................... This stops the robot immediately. The servo does not turn OFF.
<28> RESET button ........................................ This resets the error. This also resets the program's halted state and
resets the program.
<29> END button ............................................. This stops the program being executed at the last line or END statement.

Caution Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by
manufacturer. The thing unsuitable for the FA environment (related with conformity,
temperature or noise) exists in the equipments connected to USB. When using network
equipment, measures against the noise, such as measures against EMI and
the addition of the ferrite core, may be necessary. Please fully confirm the operation by
customer. Guarantee and maintenance of the equipment on the market (usual office
automation equipment) cannot be performed.

Names of each part 3-81

3 Controller

3.4 Outside dimensions/Installation dimensions

3.4.1 Outside dimensions

Fig.3-2 ： Outside dimensions of controller (CR750)

3-82 Outside dimensions/Installation dimensions

 3 Controller

3.4.2 Installation dimensions

<Placed horizontally>

145mm 145mm

Intake vent
吸気口

250mm or以more
250mm 上

<Placed vertically>

150mm以上
or more
250mm or more
250mm以上

150mm

50mm or more
50mm以上 20mm20mm以上
or more

Fig.3-3 ： Installation of controller (CR750)

CAUTION Fixing installation section sure for prevention from the fall, when using the controller
placing vertically. The reference figure of the metal plate for fixing is shown in Fig. 3-4.
You should install the metal plate for fixation to the controller with M4 x 8 or the shorter
screw. The screw projection length inside the controller (side board thickness is 1.2 mm)
surely makes 6.8 mm or less.

CAUTION When storing the controller in a cabinet, etc., take special care to the heat radiating
properties and ventilation properties so that the ambient temperature remains within the
specification values. And, don't install the controller in the position where direct rays or
the heat of lighting hits. The skin temperature of the controller may rise, and the error
may occur.

Outside dimensions/Installation dimensions 3-83

3 Controller

hole
hole
hole (Controller fixation hole)

Fig.3-4 ： Metal plate for fixation to placing vertically (Reference for CR750)

3-84 Outside dimensions/Installation dimensions

 3 Controller

3.5 External input/output

3.5.1 Types
(1) Dedicated input/output...............................These inputs and outputs carry out the robot remote operation and
status display.
(2) General-purpose input/output.................These are inputs and outputs that the customer can program for
peripheral device control.
(3) Hand input/output .........................................These are inputs and outputs related to the hand that the customer can
program.
(4)Emergency stop/Door switch input.........The wiring for the safe security of the emergency stop etc. is shown in
on Page 89, "3.7 Emergency stop input and output etc." and on Page
144, "6.1.7 Examples of safety measures".

<For Reference>
Linking our GOT1000 Series (GT15) display equipment to the robot controller over the Ethernet permits you to
control robot controller's input/output from a GOT (graphic operation terminal).

External input/output 3-85

3 Controller

3.6 Dedicated input/output

Show the main function of dedicated input/output in the Table 3-2. Refer to attached instruction manual
"Detailed explanations of functions and operations" in the product for the other functions. Each parameter indi-
cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and
output signal No.

Table 3-2 ： Dedicated input/output list

Parameter Input Note1) Output

name Name Function Level Name Function
TEACHMD None Teaching mode out- Outputs that the teaching mode is
put signal entered.
ATTOPMD None Automatic mode out- Outputs that the automatic mode is
put signal entered.
ATEXTMD None Remote mode output Outputs that the remote mode is
signal entered.
RCREADY None Controller power ON Outputs that external input signals can
complete signal be received.
AUTOENA Automatic opera- Allows automatic operation. Automatic operation Outputs the automatic operation
tion enabled input L enabled output signal enabled state.
signal
START Start input signal Starts all slots. Operating output sig- Outputs that the slot is operating.
E
nal
STOP Stop input signal Stops all slots. Wait output signal Outputs that the slot is temporarily
The input signal No. is fixed to 0. stopped.
Note) Use the emergency stop L
input for stop inputs related
to safety.
STOP2 Stop input signal The program during operation is Wait output signal Outputs that the slot is temporarily
stopped. stopped.
Unlike the STOP parameter, Notes) Specification is the same as the
change of the signal number is L STOP parameter.
possible.
Notes) Specification is the same as
the STOP parameter.
SLOTINIT Program reset input Resets the wait state. Program selection Outputs that the slot is in the program
E
signal enabled output signal selection enabled state.
ERRRESET Error reset input Resets the error state. Error occurring out- Outputs that an error has occurred.
E
signal put signal
CYCLE Cycle stop input Carries out cycle stop. In cycle stop opera- Outputs that the cycle stop is operat-
E
signal tion output signal ing.
SRVOFF Servo ON enabled Turns the servo OFF for all mech- Servo ON enabled Outputs servo-on disable status.
L
input signal anisms. output signal (Echo back)
SRVON Servo ON input Turns the servo ON for all mecha- In servo ON output Outputs the servo ON state.
E
signal nisms. signal
IOENA Operation rights Requests the operation rights for Operation rights out- Outputs the operation rights valid state
L
input signal the external signal control. put signal for the external signal control.
MELOCK Machine lock input Sets/resets the machine lock In machine lock out- Outputs the machine lock state.
E
signal state for all mechanisms. put signal
SAFEPOS Evasion point Requests the evasion point return In evasion point Outputs that the evasion point return
E
return input signal operation. return output signal is taking place.
OUTRESET General-purpose Resets the general-purpose output
E None
output signal reset signal.
EMGERR Emergency stop out- Outputs that an emergency stop has
None
put signal occurred.
S1START
Outputs the operating state for each
: Start input Starts each slot. E In operation output
slot.
S32START

3-86 Dedicated input/output

 3 Controller

Parameter Input Note1) Output

name Name Function Level Name Function
S1STOP
Outputs that each slot is temporarily
: Stop input Stops each slot. L In wait output
stopped.
S32STOP
PRGSEL Program selection Designates the setting value for
input signal the program No. with numeric value E None
input signals.
OVRDSEL Override selection Designates the setting value for
input signal the override with the numeric value E None
input signals.
IODATA Numeric value input Used to designate the program Used to output the program name,
Note2) Numeric value output
(start No., end No.) name, override value., mechanism L override value., mechanism No.
(start No., end No.)
value.
PRGOUT Program No. out- Requests output of the program Outputs that the program name is
Program No. output
put request name. E being output to the numeric value out-
signal
put signal.
LINEOUT Line No. output Requests output of the line No. Outputs that the line No. is being out-
E Line No. output signal
request put to the numeric value output signal.
OVRDOUT Override value out- Requests the override output. Override value out- Outputs that the override value is being
put request E put signal output to the numeric value output sig-
nal.
ERROUT Error No. output Requests the error No. output. Error No. output sig- Outputs that the error No. is being out-
E
request nal put to the numeric value output signal.
JOGENA Jog valid input sig- Validates jog operation with the Jog valid output sig- Outputs that the jog operation with
E
nal external signals nal external signals is valid.
JOGM Jog mode input 2- Designates the jog mode. Jog mode output 2- Outputs the current jog mode.
L
bit bit
JOG+ Jog feed + side for
Requests the + side jog operation. L None
8-axes
JOG- Jog feed - side for
Requests the - side jog operation. L None
8-axes
HNDCNTL1 Mechanism 1 hand Mechanism 1: Outputs the status of
output signal status general-purpose outputs
: : 900 to 907.
HNDCNTL3 Mechanism 3 hand Mechanism 2: Outputs the status of
None output signal status general-purpose outputs
910 to 917.
Mechanism 3: Outputs the status of
general-purpose outputs
920 to 927.
HNDSTS1 Mechanism 1 hand Mechanism 1: Outputs the status of
input signal status hand inputs 900 to 907.
: : Mechanism 2: Outputs the status of
None
HNDSTS3 Mechanism 3 hand hand inputs 910 to 917.
input signal status Mechanism 3: Outputs the status of
hand inputs 920 to 927.
HNDERR1 Mechanism 1 hand Mechanism 1 hand
error input signal error output signal
Requests the hand error occur-
: : L : Outputs that a hand error is occurring.
rence.
HNDERR3 Mechanism 3 hand Mechanism 3 hand
error input signal error output signal

Dedicated input/output 3-87

3 Controller

Parameter Input Note1) Output

name Name Function Level Name Function
AIRERR1 Pneumatic pressure Pneumatic pressure
error 1 input signal error 1 output signal.
Request the pneumatic pressure Outputs that a pneumatic pressure
: L :
error occurrence. error is occurring.
: Pneumatic pressure Pneumatic pressure
AIRERR3 error 3 input signal error 3 output signal.
M1PTEXC Maintenance parts
replacement time Outputs that the maintenance parts
None L
: warning signal have reached the replacement time.
M3PTEXC
USERAREA User-designated area Outputs that the robot is in the user-
Note3) None
8-points designated area.

Note1) The level indicates the signal level.

L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the
signal is OFF.
E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state,
and the function maintains the original state even when the signal then turns OFF.
Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No.
Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.

3-88 Dedicated input/output

 3 Controller

3.7 Emergency stop input and output etc.

Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from
the "special input/output" terminal connector.

Table 3-3 ： Special input/output terminal

Item Name Function
Input Emergency stop Applies the emergency stop. Dual emergency line
Input Special stop input Applies the stop. （Refer to Page 94, "3.7.2 Special stop input (SKIP)"）
Input Door switch Servo-off. Dual line, normal close (Page 95, "3.7.3 Door switch function")
Input Enabling device Servo-off. Dual line, normal close (Page 95, "3.7.4 Enabling device function")
Output Robot error output Contactor is opening during error occurrence.
Output Emergency stop output The point of contact opens under occurrence of emergency stop of external input signal, emergency
stop of OP, emergency stop of T/B.
Output Mode output MANUAL mode: contactor is opening, AUTOMATIC mode: contactor is closing.
Output Magnet contactor control When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized
connector output for addi- with the robot arm. (Page 100, "3.9 Magnet contactor control connector output (AXMC) for addition
tion axes axes")
*At the time of the power supply OFF, the output point of contact is always open.

[Note] The contact capacity of each input/output terminal is DC24V/10mA - 100mA. Don't connect the
equipment except for this range. The use exceeding contact capacity causes failure.
In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect
to the controller. (related with emergency stop and parallel input/output) If it connects with the controller
under the condition that the + side is grounded, it will lead to failure of controller.

Pin number assignment of each terminal and the circuit diagram are shown in Fig. 3-6.

3.7.1 Connection of the external emergency stop

The external emergency stop input and door switch input and enabling device input are opened at shipment as
shown in Fig. 3-6.
Connect the external emergency stop switch and door switch with the following procedure.
And, the example of the connection and notes of the emergency stop are described in Page 144, "6.1.7 Examples
of safety measures" Refer to it together

[Caution] The emergency stop circuit is duplicated inside the controller. The emergency stop switch uses a double
contact-type switch, so please be sure to fix both of the contacts to the connector pins as shown below
in order to ensure the wiring is duplicated. An error will continue to occur in the event that only one of
the pins is connected.

1) Please prepare the emergency stop switch, door switch and enabling device.
a) External emergency switch
・ CR750 controller .......... CNUSR11 connector "between 3 and 4" and CNUSR12 Connector "between 3 and 4".
b) Door switch
・ CR750 controller .......... CNUSR11 connector "between 7 and 8" and CNUSR12 connector "between 7 and 8".
c) Enabling device
・ CR750 controller .......... CNUSR11 connector "between 9 and 10" and CNUSR12 connector "between 9 and 10".

[Caution] Be sure to use a shield cable for the emergency stop wiring cable. And when operating in an environ-
ment that is easily affected by noise, be sure to fix the attached ferrite core (model number:
E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core more than
30 cm from the connecting terminal section.

CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not being
released. In order to prevent errors occurring, please be sure to check that all functions
(such as the teaching box emergency stop, customer emergency stop, and door switch)
are working properly after the wiring setup is completed.

Emergency stop input and output etc. 3-89

3 Controller

CAUTION You should always connect doubly connection of the emergency stop, the door switch,
and the enabling switch. In connection of only one side, if the relay of customer use
should break down, it may not function correctly.
And, the output contacts from the robot controller (robot error output, emergency stop
output, mode output, addition axis contactor control output) are dual contacts (syn-
chronizes). You should connect surely by dual line with the customer's equipment as
well as connection of the emergency stop and the door switch.

CAUTION Please make sure to wire the multiple emergency stop switches so that they each
function independently. Check and make sure that the emergency stop doesn't only
function under an AND condition (when multiple emergency stop switches are ON at
the same time).

CNUSR11 connector
CNUSR11コネクタ
CNUSR12 connector
CNUSR12コネクタ

Within 30 cm
30cm以内

Ferrite
フェライトコアcore
Pass
2回通し twice

Fig.3-5 ： Emergency stop cable connection (CR750)

3-90 Emergency stop input and output etc.

 3 Controller

Internal
内部回路構成
内部回路構成 circuit structure
（お客様配線側）
(Customer) ((Controller
コ ン ト ロー
（コントローラ側） side)
ラ側 ) (Customer)
（お客様配線側）
OP - TBTB
OP emer emer-
gency
非常停止stop 非常停止
gency stop
CNUSR11 +24V CNUSR11
11 1 *1)
Mode output
モード出力 Short
短絡
12 2
13 Emergency 3 External emergency
非常停止出力 Relay 外部非常停止入力
14 stop output RA 4 stop input
CNUSR12 5 *1)
Short
短絡
11 6
Mode output
モード出力
12
24GND +24V
13 Emergency 7
非常停止出力 Relay Door switch input
ドアスイッチ入力
14 stop output RA 8
+24V
9 Enabling device
イネーブリング
24GND Relay
RA 10 input
デバイス入力

24GND +24V
CNUSR12
CNUSR2 1 *1)
Short
短絡
2
16 Robot error
ロボットエラー出力
41 output 3 External emergency
RA Relay
外部非常停止入力
stop input
17 4
Robot error
ロボットエラー出力
output 5 *1)
Short
短絡
6

24GND +24V
7
Relay Door switch input
ドアスイッチ入力
RA 8
+24V
9 Enabling device
イネーブリング
24GND Relay
RA 10 input
デバイス入力

24GND

CAUTION Please do not carry out an insulation pressure test.

警告 絶縁耐圧試験は行なわないでください。
Please refer to the example of safety measures
Moreover, it becomes the cause of failure if it of "Standard Specifications Manual".
また誤って接続した場合は故障の原因となります。
connects incorrectly.
*1) This terminal is opened at factory shipping (unconnected). If power supply inside the controller is used, short-circuit the terminal.
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the con-
troller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that
the + side is grounded, it will lead to failure of controller.
Fig.3-6 ： External emergency stop connection (CR750)

CAUTION Place the emergency stop switch in an easily operable position, and be sure to wire it
to the emergency stop correctly by referencing Page 144, "6.1.7 Examples of safety
measures".
This is a necessary measure in order to ensure safe operation so that the robot can be
stopped immediately by pressing the emergency stop switch in the event that the
robot malfunctions.

Emergency stop input and output etc. 3-91

3 Controller

<CR750 controller> CNUSR11

CNUSR11/12 connector
CNUSR12

Reference: CNUSR13
(Connect the encoder,
when using the
tracking function)

Driver
Connector for user wiring
*Recommendation driver
size: 2.5mm.
Connector fixing screw
(Two places) Cable fixing screw

Pin number of connector

A Cable insert point

16 7mm
1
View A
Connecting cable
(AWG #26-16 (0.14mm-1.5mm2))
Connection procedure
Insert the connection cable into the appropriate pin of the user wiring connector that accompanies the product. Fix
it securely with a screw and connect the connector to the CNUSR11/CNUSR12 connector at the back of the
controller.
Please use an AWG #26 to 16 (0.14 to 1.5mm2) connector cable.
1) Prepare the user wiring connector that accompanies the product.
2) Loosen the cable fixing screw at the point where the cable is to be inserted. Please use a screwdriver head
with a width of 2.5mm to loosen the screw.
3) Peel the insulation of the connecting cable to 7mm, and insert it into the cable slot of the corresponding con-
nector.
4) Be sure to fix the inserted cable securely by fastening a cable fixing screw.
(tightening torque of 0.22 to 0.25Nm)
5) After the necessary cables save been fixed, connect the connector to the connector (CNUSR11/12) that cor-
responds with the controller. Connect so that the cable fixing screw is comes on top, and make sure to fix
securely by fastening connector fixing screws in two places. A screwdriver head with a width of 2.5mm should
be used to fix screws (tightening torque of 0.22 to 0.25Nm).
This concludes the connection procedure.

Fig.3-7 ： Method of wiring for external emergency stop connection (CR750 (CNUSR11/12))

CAUTION The connector on the controller side that connects to the user wiring connector is
CNUSR11 or CNUSR12. Be careful not to connect to CNUSR13 as the robot will not
operate properly.

3-92 Emergency stop input and output etc.

 3 Controller

<CR750 controller>
CNUSR2 connector

Cover fixing screw (Two places) CNUSR2

Connector cover View A
Plug Pin number of plug
25 1

Connector for Soldering

Remove the connector cover user wiring 50 26
A
3mm

Connecting cable
(AWG #30-24 (0.05mm2-0.2mm2))
Connection procedure
Solder the pins of the user wiring connector that accompanies the product, and connect the connector to the
CNUSR2 connector at the back of the controller. For the connection cables, please use AWG #30 to 24 (0.05 to
0.2mm2).

1) Loosen the two fixing screws on the user wiring connector that accompanies the product, and remove the con-
nector cover.
2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.
3) After the necessary cables have been soldered, re-fix the connector cover using the same fixing screws and
make sure it is fastened securely.
4) Connect the connector to the corresponding connector (CNUSR2) on the controller. With pin number 1 facing
to the upper right, insert firmly until you hear the connector’s latch click in to place.

This concludes the connection procedure.

Fig.3-8 ： Method of wiring for external emergency stop connection (CR750 (CNUSR2))

CAUTION When soldering please take care to only connect to the specified pin number.
Connecting to a different pin number or short-circuiting with another pin will result in
the robot breaking down or malfunctioning.

Emergency stop input and output etc. 3-93

3 Controller

3.7.2 Special stop input (SKIP)

The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in Fig. 3-9.

Table 3-4 ： Special stop input electric specification

Item Specifications Internal circuit

Type DC input

No. of input point 1

Insulation method Photo-coupler insulation

Rated input voltage DC24V

Rated input current Approx. 11mA 91A

＋２４V(COM)
Working voltage range DC 21.6 ～ 26.4V
（Ripple rate within 5%） 330
34
1B
ON voltage/ON current DC 8V or more / 2mA or more Input
入力
2.2k
OFF voltage/OFF current DC 4V or less / 1mA or less

Input resistance Approx. 2.2 ｋ Ω

Response OFF → ON 1ms or less

time
ON → OFF 1ms or less

Common method 1 point per common

External wire connection method Connector

CNUSR2 connector
CNUSR2
Within30cm以内
30cm

Ferrite
フェライトコア core
* Connects with CNUSR2 connector Pass
2回通し twice
with soldering.
Refer to Page 93 "Fig. 3-8: Method of
wiring for external emergency stop
connection (CR750 (CNUSR2))".

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con-
nect to the controller. (related with emergency stop and parallel input/output) If it connects with the con-
troller under the condition that the + side is grounded, it will lead to failure of controller.
Fig.3-9 ： Connection of the special-stop-input (CR750)

3-94 Emergency stop input and output etc.

 3 Controller

3.7.3 Door switch function

This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot
when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is
opened and an error does not occur. Follow the wiring example shown in Page 91 "Fig. 3-6: External emergency
stop connection (CR750)" and Page 144, "6.1.7 Examples of safety measures". Those figure explains the wire is
contact closes when the door is closed. Details of this function according to the robot status are shown below.
*During automatic operation .............. When the door is opened, the servo turns OFF and the robot stops. An error
occurs.
The process of the restoration: Close the door, reset the alarm, turn on the
servo, and restart
*During teaching........................................ Even when the door is opened, the servo can be turned ON and the robot
moved using the teaching pendant.

① Auto executing

Safeguard

STOP!!
MODE
TEACH
AUTO AUTO
MANUAL AUTOMATIC
(Op.) (Ext.)

Robot arm
Open
(Example)

Turns OFF the servo

② Teaching
Safeguard

MODE
TEACH
AUTO AUTO
MANUAL
(Op.) AUTOMATIC
(Ext.)

Teaching
Open Robot arm pendant
(Example)

The servo can be turned ON/Off

by turning the enable switch ON/OFF.

Fig.3-10 ： Door switch function

3.7.4 Enabling device function

When the abnormalities occur in teaching operations etc., the robot's servo power can be immediately cut only by
switch operation of the enabling device*1) (servo-off), and the safety increases. To use the robot safely, please be
sure to connect the enabling device.

(1) When door is opening

Please do teaching by two-person operations. One person has T/B, the other has enabling device. Turn on the
servo power, in the condition that both of switches are pushed. (Enable switch of T/B and enabling device) Then
the jog operation will be available. You can off the servo power only by releasing the switch of the enabling device.
And, care that the servo-on and releasing the brake cannot be done in the condition that the switch of the
enabling device is released.
(2) When door is closing
You can turn on the servo power by operation of only T/B. In this case perform jog operation outside the
safeguard sure.

*1) Recommendation products: HE1G-L20MB (IDEC)

Emergency stop input and output etc. 3-95

3 Controller

(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings

The following is a description of various operations performed on the robot and switch settings that are required.

Table 3-5 ： Various operations and necessary switch settings

Related switch settings Note1)

No Operation Mode of T/B T/B Enabling Door switch Description

controller enable/ enable switch device input input terminal
disable terminal
If the enabling device input is set to
1 Jog operation Manual Enable ON Close(ON) － Close (On), the state of door switch
input does not matter.
If the enabling device input is set to
Jog operation Close
2 Note2) Manual Enable ON Open(OFF) Open (Off), door switch input must be
(Door Close)
in a state of Close
Irrespective of the state of door
Brake release
3 Note3) Manual Enable ON Close(ON) － switch input, enabling device input
must be in a state of Close (On).
Automatic Close Door switch input must always be in a
4 Automatic Disable － －
operation (Door Close) state of Close (Door Close).

Note1) "-" in the table indicates that the state of switch concerned does not matter.
Refer to the following for operation of each switch.
･ Mode of controller: ................................................................................................ Page 80, "3.3 Names of each part"
･ T/B enable/disable:..................................................................................... Page 102, "(1) Teaching pendant (T/B)"
･ T/B enable switch:....................................................................................... Page 102, "(1) Teaching pendant (T/B)"
･ Enabling device input terminal: .................................................Page 144, "6.1.7 Examples of safety measures"
･ Door switch input terminal: ........................................................Page 144, "6.1.7 Examples of safety measures"
Note2) Jog operation, if door switch input is set for Close (Door Close), must be performed outside the safety bar-
rier.
Note3) It is imperative that brake release operation be carried out by two persons. One person turns on the
enabling device ("Close" on the enabling device input terminal) while the other manipulates the T/B. Brake
release can be effected only when both of the enabling switch device and the T/B enable switch are placed
in intermediate position (lightly gripped position). At this point, the state of door switch input does not mat-
ter.
T/B being manipulated

Door in
CAUTION
Open state
Upon the release of brake, the
robot arm may fall under its own
weight depending on the axis
which has been released. For
added safety, provide support or
take other precaution to prevent
the falling of the arm.

Enabling device being manipulated

Fig.3-11 ： Brake release operation

3-96 Emergency stop input and output etc.

 3 Controller

3.8 Additional Axis Function

This controller is equipped with an additional axis interface for controlling an additional axis when a traveling axis
or rotary table is added to the robot. A maximum of eight axes of servo motors can be controlled at the same time
by connecting a general-purpose servo amplifier (MR-J3-B, MR-J4-B series) that supports Mitsubishi's SSCNET
III.
Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.

3.8.1 Wiring of the Additional Axis Interface

Table 3-6 shows the connectors for additional axes inside the controller. Fig. 3-12 shows a connection example
(configuration example).

Table 3-6 ： Dedicated connectors inside the controller

Name Connector name Details

Connector for additional axes ExtOpt The connector for connecting the general-purpose servo amplifier.

CNUSR11 connector
CNUSR11コネクタ
CNUSR12 connector
CNUSR12コネクタ

ExtOPT

Servo amplifier
サーボアンプ Servo amplifier
サーボアンプ

SSCNET III cable

SSCNETⅢケーブル
SSCNET III cable
SSCNETⅢケーブル
To CN1A To CN1A
connector
CN1Aコネクタへ connector
CN1Aコネクタへ

To CN1B To CN1B
To ExtOPT connector
ExtOPTコネクタへ connector
CN1Bコネクタへ
connector
CN1Bコネクタへ
Cap
キャップ

Magnetic
電磁接触器contact

* It cannot communicate, if connection of CN1A and CN1B is mistaken.

※CN1A、CN1Bの接続を間違えると、通信できません。

Fig.3-12 ： Example of addition axis connection (CR750)

Additional Axis Function 3-97

3 Controller

(1) Example of the installation of the noise filter

1) EMC filter (recommended)
Please install the recommendation filter shown below according to the example of connection.

1)

2)

Note1) For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120 VAC power supply.
Note2) The example is when a surge protector is connected.

Fig.3-13 ： Example of EMC noise filter installation

3-98 Additional Axis Function

 3 Controller

2) Line noise filter

This filter is effective in suppressing noises radiated from the power supply side and output side of the
servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially
within 0.5MHz to 5MHz band.

Fig.3-14 ： Example of noise filter installation

Additional Axis Function 3-99

3 Controller

3.9 Magnet contactor control connector output (AXMC) for addition axes
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the
servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the
controller and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned
off when this output is open.
An example circuit and an image of how to connect the controller connector are shown below. When you are using
an additional axis, please perform appropriate circuit connections by referring to these drawings.
Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.
Note1) you use the addition axis function as a user mechanism who became independent of the robot arm, please
do not connect this output signal. Servo-on of the user mechanism may be unable.

1) Get the power supply for the controller from the secondary terminal
of short circuit breaker (NV) built in the addition axis amplifier box.
１）付加軸アンプボックス内蔵漏電遮断器（NV）の２次側より、コントローラ電源を取り出す。
Amplifier
アンプ
power supply for the MC synchronization from the sec-
2) Get the２）コントローラ内蔵漏電遮断器（NV）の２次側より、 NV
ondary terminal of short circuit breaker (NV) built in the control-
MC同期用電源を取り出す。 MC MC1 MC2 88

ler.

Note1)
注1) DC24V
CNUSR connector
CNUSRコネクタ
NV
To the AXMC11
Note2)
注2)
internal
内部回路へ AXMC12
circuit Note2)
注2)
AXMC21 <Addition axis amplifier box>
<走行軸（付加軸）アンプボックス>
AXMC22
AXMC
内部サーボ電源用is output
from the contact Note1) Connector and Pin number
注1)コネクタとピン番号を以下に示します。
コンタクタ接点より
for internal servo
powerAXMC出力
supplies. Signal
信号名 Connector
コネクタ Pin
ピン番号number
AXMC11 CNUSR2 20
<Controller>
<コントローラ> AXMC12 45
AXMC21 19
CNUSR2
AXMC22 44
Note2) This output is opened, if the robot turns off the servo by occurrence of alarm etc.
注2)ロボットがアラームの発生などでサーボOFFしたとき、本出力(接点)が開放します。
<Electric specification>
<接点容量>
DC24V/10mA to 100mA
DC24V/10mA～100mA
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the con-
troller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that
the + side is grounded, it will lead to failure of controller.
Fig.3-15 ： Example of circuit for addition axes of Magnet contactor control output

CNUSR2 connector
CNUSR2コネクタ
Within 30cm
30cm以内
*Connects with CNUSR2 connector
with soldering. Refer to Page 93 "Fig.
3-8: Method of wiring for external
emergency stop connection (CR750
(CNUSR2))".
Ferrite
フェライトコアcore
Pass
2回通し twice

Fig.3-16 ： AXMC terminal connector (CR750)

3-100 Magnet contactor control connector output (AXMC) for addition axes
 3 Controller

3.10 Options
■ What are options?
There are a variety of options for the robot designed to make the setting up process easier for user needs.
User installation is required for the options.
Options come in two types: "set options" and "single options".

1． Set options......................................A combination of single options and parts that together, form a set for serving
some purpose.
2． Single options.................................That are configured from the fewest number of required units of a part.
Please choose user's purpose additionally.

3-101
3 Controller

(1) Teaching pendant (T/B)

■ Order type: R32TB :Cable length 7m

R32TB-15 :Cable length 15m

■ Outline
This is used to create, edit and control the program, teach the operation position and
for jog feed, etc.
For safety proposes, a 3-position enable switch is mounted.*1)

■ Configuration
Table 3-7 ： Configuration device
Part name Type Qty. Mass (kg) Note1) Remarks
Teaching pendant R32TB 1.7 Cable length is 7m. Hand strap is attached.
Either one pc.
R32TB-15 2.8 Cable length is 15m. Hand strap is attached.

Note1) Mass indicates one set.

■ Specifications
Table 3-8 ： Specifications
Items Specifications Remarks
Outline dimensions 195(W) x 292(H) x 106(D) (refer to outline drawing)
Body color Dark gray
Mass Approx. 0.9kg (only arm, excluding cable)
Connection method Connection with controller and connector.
Interface RS-422
Display method LCD method: 24 characters x 8 lines, LCD illumination: with backlight At 8x8 font
Operation section 36 keys

*1) <3-position enable switch>

In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the
robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position.
With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch"
and "Enable switch".
The 3-position enable switch has three statuses. The following modes are entered according to the switch state.
a) "Not pressed".......................... The robot does not operate. *)
b) "Pressed lightly" .................... The robot can be operated and teaching is possible.
c) "Pressed with force"............ The robot does not operate. *)
*) Operations, such as program editing and status display, other than robot operation are possible.
Safety is secured as the servo power is turned OFF simultaneously with the input of the emergency stop.

3-102 Teaching pendant (T/B)

 3 Controller

195.2
133 105.5 Enable/Disable switch

LCD Emergency stop

Operetion key
291.9

Body
Enable switch
Cable (with connector)

<Front> <side> <Back>

63.5

<Bottom>

Fig.3-17 ： Outside dimensions of teaching pendant

■ Installation method
The teaching pendant is connected to the T/B connector on the front of the controller.

Teaching pendant (T/B) 3-103

3 Controller

■ Key layout and main functions

②
④
①

③
⑤ ⑤
⑥ ⑥
⑦ ⑧
⑨ ⑩
⑪ ⑰
⑫
⑬ ⑱
⑭
⑲
⑮
⑯
⑳

① [Emergency stop] switch ................ The robot servo turns OFF and the operation stops immediately.
② [Enable/Disable] switch .................. This switch changes the T/B key operation between enable and dis-
able.
③ [Enable] switch.................................... When the [Enable/Disable] switch " ② " is enabled, and this key is
released or pressed with force, the servo will turn OFF, and the oper-
ating robot will stop immediately.
④ LCD display panel .............................. The robot status and various menus are displayed.
⑤ Status display lamp ........................... Display the state of the robot or T/B.
⑥ [F1], [F2], [F3], [F4].......................... Execute the function corresponding to each function currently dis-
played on LCD.
⑦ [FUNCTION] key ................................ Change the function display of LCD.
⑧ [STOP] key........................................... This stops the program and decelerates the robot to a stop.
⑨ [OVRD ↑ ][OVRD ↓ ] key ........... Change moving speed. Speed goes up by [OVRD ↑ ] key. Speed goes
down by [OVRD ↓ ] key
⑩ [JOG] operation key......................... Move the robot according to jog mode. And, input the numerical value.
⑪ [SERVO] key........................................ Press this key with holding AA key lightly, then servo power will turn
on.
⑫ [MONITOR] key .................................. It becomes monitor mode and display the monitor menu.
⑬ [JOG] key.............................................. It becomes jog mode and display the jog operation.
⑭ [HAND] key........................................... It becomes hand mode and display the hand operation.
⑮ [CHARCTER] key............................... This changes the edit screen, and changes between numbers and
alphabetic characters.
⑯ [RESET] key......................................... This resets the error. The program reset will execute, if this key and
the EXE key are pressed.
⑰ [ ↑ ][ ↓ ][ ← ][ → ] key................ Moves the cursor each direction .
⑱ [CLEAR] key ........................................ Erase the one character on the cursor position.
⑲ [EXE] key............................................... Input operation is fixed. And, while pressing this key, the robot moves
when direct mode.
⑳ Number/Character key.................... Erase the one character on the cursor position . And, inputs the num-
ber or character

Fig.3-18 ： Teaching pendant key layout and main functions

3-104 Teaching pendant (T/B)

 3 Controller

(2) Parallel I/O interface

■ Order type ： ● 2D-TZ368 (Sink type)/2D-TZ378 (Source type)

■ Outline

This is used to expand the external inputs and outputs

・ The connecting cable with external equipment is not attached. Since we are preparing
the external input-and-output cable (2D-CBL05 or 2D-CBL15) as the option, please use.
Notes)Although the combined use with the parallel input-and-output unit (2A-RZ361/2A-
RZ371) of another option is also possible, please use the setup of the station
number by the different number separately. The station number is automatically
determined by the position of the option slot which installed this interface. (station
number 0 to 2)
■ Configuration
Table 3-9 ： Configuration device
Part name Type Qty. Mass (kg) Note1) Remarks

Parallel I/O interface 2D-TZ368 Either 0.4 Input/output 32 points/32 points

one pc. 2D-TZ368 is sink type. 2D-TZ378 is source type.
2D-TZ378

Note1) Mass indicates one set.

■ Specifications
Table 3-10 ： Electrical specifications of input circuits
Item Specification Internal circuit
Type DC input <Sink type>
Number of input points 32
+24V/+12V
Insulation method Photo coupler insulation (COM)
Rated input voltage DC12V DC24V
Rated input current Approx. 3mA Approx.9mA 820
Input
Working voltage range DC10.2 ～ 26.4V
(Ripple factor should be less than 5％) 2.7K
ON voltage/ON current DC8V or more/2mA or more
OFF voltage/ OFF current DC4V or less/1mA or less
<Source type>
Input resistance Approx. 2.7kΩ 2.7K Input
Response time OFF-ON 10ms or less(DC24V)
820
ON-OFF 10ms or less(DC24V)
Common method 32 points per common 0V(COM)
External cable connection Connector
method

Parallel I/O interface 3-105

3 Controller

Table 3-11 ： Electrical specifications for the output circuits

Item Specification Internal circuit
Type Transistor output <Sink type>
No. of output points 32
+24V/+12V
Insulation method Photo-coupler insulation
Rated load voltage DC12V/DC24V Output
Rated load voltage range DC10.2 ～ 30V (peak voltage DC30V)
Max. load current 0.1A/point (100%)
Leakage current at OFF Within 0.1mA 0V
Max. voltage drop at ON DC0.9V(TYP.) Note1) Fuse

Respons OFF-ON 10ms or less(Resistance load) (hardware response time)

<Source type>
e time ON-OFF 10ms or less(Resistance load) (hardware response time)
Fuse +24V/+12V
Fuse rating Fuse 1.6A(one per common)
Replacement possible （max. 3）
Output
Common method 16 points per common (common terminal: 2points)
External wire connection Connector
method
0V
External Voltage DC12/24V(DC10.2 ～ 30V)
power 60mA(TYP.DC24V per common)(base drive current)
supply Current

Note1) The maximum voltage drop value at signal ON.

Refer to it for the equipment connected to the output circuit.

Caution The protection fuse of the output circuit prevents the failure at the time of the load short
circuit and incorrect connection. The load connected of the customer should be careful
not to exceed maximum rating current. The internal transistor may be damaged if
maximum rating current is exceeded.
■ Installation method
The expansion parallel input/output interface is installed in the controller. Refer to separate "Instruction Manual/
Controller setup, basic operation, and maintenance" for details on the installing method.
If it installs in the option SLOT of the controller, the station number will be assigned automatically.
SLOT1: station number 0(0 to 31)
SLOT2: station number 1(32 to 63)

Caution If it uses together with parallel input-and-output unit 2A-RZ361/2A-RZ371, please do

not overlap with the station number of the parallel input-and-output interface.

<CR750 controller>

SLOT1

SLOT2

Fig.3-19 ： Parallel I/O interface installation position (CR750)

3-106 Parallel I/O interface

 3 Controller

■ Pin layout of connector

1B 20B
Connector<2>
Output 16 to 31
1A 20A Input 16 to 31
1D 20D (when station number 0)
Connector<1>
1C 20C Output 0 to 15
Input 0 to 15
(when station number 0)
Fig.3-20 ： Pin layout of connector

■ Connector pin No. and signal assignment

The station number is fixed by the slot to install and the allocation range of the general-purpose input-and-
output signal is fixed.

Table 3-12 ： The slot number and the station number

Station Range of the general-purpose input-and-output signal
Slot number
number Connector <1> Connector <2>
SLOT1 0 Input ： 0 to 15 Input ： 16 to 31
Output ： 0 to 15 Output ： 16 to 31
SLOT2 1 Input ： 32 to 47 Input ： 48 to 63
Output ： 32 to 47 Output ： 48 to 63

The connector pin number of the parallel input-and-output interface installed in SLOT1 and signal number
allocation are shown in Table 3-13 and Table 3-14. If it installs in other slots, please interpret and utilize.

Parallel I/O interface 3-107

3 Controller

Table 3-13 ： Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)
Function name Function name
Pin Pin
Line color Dedicated/power supply, Line color Dedicated/power supply,
No. General-purpose No. General-purpose
common common
1C Orange/Red a 0V ： For pins 5D-20D 1D Orange/Black a 12V/24V ： For pins
5D-20D
2C Gray/Red a COM ： For pins 2D Gray/Black a Reserved
5C-20CNote1)
3C White/Red a Reserved 3D White/Black a Reserved
4C Yellow/Red a Reserved 4D Yellow/Black a Reserved
5C Pink/Red a General-purpose input 15 5D Pink/Black a General-purpose output 15
6C Orange/Red b General-purpose input 14 6D Orange/Black b General-purpose output 14
7C Gray/Red b General-purpose input 13 7D Gray/Black b General-purpose output 13
8C White/Red b General-purpose input 12 8D White/Black b General-purpose output 12
9C Yellow/Red b General-purpose input 11 9D Yellow/Black b General-purpose output 11
10C Pink/Red b General-purpose input 10 10D Pink/Black b General-purpose output 10
11C Orange/Red c General-purpose input 9 11D Orange/Black c General-purpose output 9
12C Gray/Red c General-purpose input 8 12D Gray/Black c General-purpose output 8
13C White/Red c General-purpose input 7 13D White/Black c General-purpose output 7
14C Yellow/Red c General-purpose input 6 14D Yellow/Black c General-purpose output 6
15C Pink/Red c General-purpose input 5 Operation rights input 15D Pink/Black c General-purpose output 5
signal Note2)
16C Orange/Red d General-purpose input 4 Servo ON input signal 16D Orange/Black d General-purpose output 4
Note2)
17C Gray/Red d General-purpose input 3 Start input Note2) 17D Gray/Black d General-purpose output 3 Operation rights output
signal Note2)
18C White/Red d General-purpose input 2 Error reset input signal 18D White/Black d General-purpose output 2 Error occurring output
Note2)
signal Note2)
19C Yellow/Red d General-purpose input 1 Servo OFF input signal 19D Yellow/Black d General-purpose output 1 In servo ON output
Note2)
signal Note2)
20C Pink/Red d General-purpose input 0 Stop input Note3) 20D Pink/Black d General-purpose output 0 Note2)
Operating output

Note1) Sink type:12V/24V(COM),Source type:0V(COM)

Note2) The dedicated signal is assigned at shipping. It can change with the parameter.
Note3) The dedicated input signal (STOP) is assigned at shipping. The signal number is fixing.

Table 3-14 ： Connector<2> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)
Function name Function name
Pin Pin
Line color Dedicated/power supply, Line color Dedicated/power supply,
No. General-purpose No. General-purpose
common common
1A Orange/Red a 0V ： For pins 5B-20B 1B Orange/Black a 12V/24V ： For pins 5B-
20B
2A Gray/Red a COM ： For pins 5A- 2B Gray/Black a Reserved
20ANote1)
3A White/Red a Reserved 3B White/Black a Reserved
4A Yellow/Red a Reserved 4B Yellow/Black a Reserved
5A Pink/Red a General-purpose input 31 5B Pink/Black a General-purpose output 31
6A Orange/Red b General-purpose input 30 6B Orange/Black b General-purpose output 30
7A Gray/Red b General-purpose input 29 7B Gray/Black b General-purpose output 29
8A White/Red b General-purpose input 28 8B White/Black b General-purpose output 28
9A Yellow/Red b General-purpose input 27 9B Yellow/Black b General-purpose output 27
10A Pink/Red b General-purpose input 26 10B Pink/Black b General-purpose output 26
11A Orange/Red c General-purpose input 25 11B Orange/Black c General-purpose output 25
12A Gray/Red c General-purpose input 24 12B Gray/Black c General-purpose output 24
13A White/Red c General-purpose input 23 13B White/Black c General-purpose output 23
14A Yellow/Red c General-purpose input 22 14B Yellow/Black c General-purpose output 22
15A Pink/Red c General-purpose input 21 15B Pink/Black c General-purpose output 21
16A Orange/Red d General-purpose input 20 16B Orange/Black d General-purpose output 20
17A Gray/Red d General-purpose input 29 17B Gray/Black d General-purpose output 19
18A White/Red d General-purpose input 18 18B White/Black d General-purpose output 18
19A Yellow/Red d General-purpose input 17 19B Yellow/Blackc d General-purpose output 17
20A Pink/Red d General-purpose input 16 20B Pink/Black d General-purpose output 16

Note1) Sink type:12V/24V(COM),Source type:0V(COM)

3-108 Parallel I/O interface

 3 Controller

<Reference> The example of connection with our PLC

<Sink> QX41
Parallel I/O interface (Mitsubishi programmable
（Output） controller)
60mA COM
(24/12V)
Output
X

……
Output
24V

Fuse
(0V)
External
power supply *The input/output circuit external
QY41P
(Mitsubishi programmable power supply (24 VDC) must be
(Input) controller) prepared by the customer.
(COM)
+24V Note) In the customer's system, do not
ground the + side of 24V power
3.3K Input Y supply prepared by customer for
……

connect to the controller.

Input (related with emergency stop and
24V
parallel input/output) If it
connects with the controller
COM
24G(24GND) under the condition that the +
External side is grounded, it will lead to
power supply failure of controller.
Table 3-15 ： Connection with a Mitsubishi PLC (Example of sink type)

<Source>
Parallel I/O interface
(Output) QX41
(Output) (Mitsubishi programmable
60mA controller)
Fuse (24/12V)
Output X
……

Output 24V
COM
(0V)
External *The input/output circuit external
power supply QY81P (Mitsubishi
programmable power supply (24 VDC) must be
(Input) +24V controller) prepared by the customer.

3.3K Input Note) In the customer's system, do

Y
……

not ground the + side of 24V

Input power supply prepared by
24G(24GND) customer for connect to the
(COM) controller. (related with
24V emergency stop and parallel
input/output) If it connects
with the controller under the
External condition that the + side is
power supply
grounded, it will lead to
failure of controller.
Table 3-16 ： Connection with a Mitsubishi PLC (Example of source type)

Parallel I/O interface 3-109

3 Controller

(3) External I/O cable

■ Order type ： ● 2D-CBL □□ 　 Note） The numbers in the boxes □□ refer to the length. （05: 5m, 15: 15m）

■ Outline
This is the dedicated cable used to connect an external peripheral device to the con-
nector on the parallel I/O interface. For parallel I/O unit is another option 2A-CBL.**.
One end matches the connector on the parallel input/output unit, and the other end is
free. Connect the peripheral device's input/output signal using the free end.
One cable correspond to the input 16 points and output 16 points.
Two cables are needed to connection of (input 32 points and output 32 points) with
built-in standard.

■ Configuration
Table 3-17 ： Configuration device
Part name Type Qty. Mass (kg) Note1) Remarks

External I/O cable 2D-CBL □□ 1 pc. 0.7(5m)

5m or 15m
1.84(15m)

Note1) Mass indicates one set.

■ Specifications
Table 3-18 ： Specifications
Items Specifications

Number of cables x cable size AWG #28 x 20P （40 pairs）

Total length 5m, 15m

■ Connector pin numbers and cable colors

Table 3-19 ： Connector pin numbers and cable colors
Pin no. Cable colors Pin no. Cable colors Pin no. Cable colors Pin no. Cable colors

1A/C Orange/Red a 11A/C Orange/Red c 1B/D Orange/Black a 11B/D Orange/Black c

2A/C Gray/Red a 12A/C Gray/Red c 2B/D Gray/Black a 12B/D Gray/Black c

3A/C White/Red a 13A/C White/Red c 3B/D White/Black a 13B/D White/Black c

4A/C Yellow/Red a 14A/C Yellow/Red c 4B/D Yellow/Black a 14B/D Yellow/Black c

5A/C Pink/Red a 15A/C Pink/Red c 5B/D Pink/Black a 15B/D Pink/Black c

6A/C Orange/Red b 16A/C Orange/Red d 6B/D Orange/Black b 16B/D Orange/Black d

7A/C Gray/Red b 17A/C Gray/Red d 7B/D Gray/Black b 17B/D Gray/Black d

8A/C White/Red b 18A/C White/Red d 8B/D White/Black b 18B/D White/Black d

9A/C Yellow/Red b 19A/C Yellow/Red d 9B/D Yellow/Black b 19B/D Yellow/Black d

10A/C Pink/Red b 20A/C Pink/Red d 10B/D Pink/Black b 20B/D Pink/Black d

Notes） Pin number of connector<1> are 1C, 2C, ....20C, 1D, 2D, ....20D, connector<2> are 1A, 2A, ....20A, 1B,
2B, ....20B.

3-110 External I/O cable

 3 Controller

■ Connections and outside dimensions

The sheath of each signal cable (40 lines) is color indicated and marked with dots. Refer to the cable color speci-
fications in "Table 3-30: Connector pin numbers and cable colors" when making the connections.

(Eg.) Pin number: color indication

１ ： Orange ／ Red ／ Ａ

Type of dot mark (see figure below)

Color of dot mark
Color of sheath

Line color Pattern of the print mark

type

a type One dot

b type
Two dots

c type
Three dots

d type
Four dots

or

20A/C 20B/D

1A/C 1B/D

Plug (Fujitsu Ltd) Connector ： FCN-361J040-AU

Cover ： FCN-360C040-B

Fig.3-21 ： Connections and outside dimensions

External I/O cable 3-111

3 Controller

(4) Parallel I/O unit

■ Order type: 2A-RZ361(Sink type)

2A-RZ371(Source type)

■ Outline
This is used to expand the external inputs and outputs. One one equal with this unit
is built into the control unit among controllers the standard.
・ The connection cable is not included. .Prepare the optional external input/output
cable (2A-CBL05 or 2A-CBL15).
・ Use 2A-RZ361 if the external input/output signal logic is of the sink type and 2A-
RZ371 for source type signal logic.

Notes) Although the combined use with the parallel I/O interface (2D-TZ368) of another option is also possible,
please use the setup of the station number by the different number separately. The station number is auto-
matically fixed by the position of the option slot which installed the parallel I/O interface in 0-2.

■ Configuration
Table 3-20 ： Configuration device
Part name Type Qty. Mass (kg) Note1) Remarks
Parallel I/O unit 2A-RZ361 Either one 0.7 Input/output 32 points/32 points
pc. 2A-RZ361 is the sink type.
2A-RZ371 0.7 2A-RZ371 is the source type.
Robot I/O link connec- Connector with pins.
NETcable-1 2 sets -
tion connector The cable must be prepared and wired by the customer.
Power connection con- Connector with pins.
DCcable-2 1 set -
nector The cable must be prepared and wired by the customer.
Terminator R-TM 1 pc. - 100Ω(1/4W)

Note1) Mass indicates one set.

■ Specifications
1) The parallel I/O interface (2D-TZ368) of another option, and the a maximum of eight pieces in all. (One station
occupies one unit.)
2) The power supply (24V) must be prepared by the customer and connected with the power connection cable
(DCcable-2)
A separate 24V power supply is required for the input/output circuit wiring.

Table 3-21 ： Electrical specifications of input circuits

Item Specification Internal circuit
Type DC input <Sink type>
Number of input points 32 +24V/+12V
Insulation method Photo coupler insulation (COM)
Rated input voltage 24VDC 24VDC
Rated input current Approx 3mA Approx 7mA 820
Working voltage range 10.2 to 26.4VDC(Ripple factor should be less than 5%.) Input
入力
ON voltage/ON current 8VDC or more/ 2mA or more 3.3K
OFF voltage/ OFF current 4VDC or less/ 1mA or less
<Source type>
Input resistance Approx. 3.3kΩ
Response time OFF-ON 10ms or less (24VDC) 3.3K Input
入力
ON-OFF 10ms or less (24VDC)
Common method 8 points per common 820
External cable connection method Connector
0V(COM)

3-112 Parallel I/O unit

 3 Controller

Table 3-22 ： Electrical specifications for the output circuits

Item Specification Internal circuit
Type Transistor output <Sink type>
No. of output points 32
Insulation method Photo-coupler insulation +24V/+12V
Rated load voltage 12VDC/24VDC
Output
出力
Rated load voltage range 10.2 to 30VDC(peak voltage 30VDC)
Max. load current 0.1A/point (100％)
Leakage current at OFF 0.1mA or less
Max. voltage drop at ON 0.9VDC(TYP.) Note1) 0V
2ms or less
Fuse
ヒューズ
OFF-ON
(hardware response time)
Response time <Source type>
2ms or less
ON-OFF
(Resistance load) (hardware response time) Fuse +24V/+12V
ヒューズ
Fuse rating Fuse 3.2A (one per common) Replacement not possible
Common method 8 points per common (common terminal: 4 points)
Output
出力
External wire connection
Connector
method

Voltage 12VDC/24VDC(10.2 to 30VDC)

0V
External power
supply
Current 60mA (TYP. 24VDC per common) (base drive current)

Note1) The maximum voltage drop value at signal ON.

Refer to it for the equipment connected to the output circuit.

CAUTION The output circuit protective fuses prevent failure in case of load short-circuit and
improper connections. Please do not connect loads that cause the current to exceed
the maximum rated current. If the maximum rated current is exceeded, the internal
transistors may be damaged.

Parallel I/O unit 3-113

3 Controller

NETcable-1 (Network cable)

Pin No. RIO1/2 Note 2) RIO1/2 Pin No.
１ TXRXH TXRXH １
２ TXRXL TXRXL ２

３ SG(GND) SG(GND) ３

FG
DCcable-2 (Power cable)
Pin No. DCIN
１ 24V ＋ Note 1)
24V Power
２ 24G(RG) －
３ FG(PE)
Connected the frame ground or protect ground
R-TM (Terminator)
Pin No. RIO1/2 100Ω
１ TXRXH

２ TXRXL
３ SG(GND)

List of parts and manufacturer

Type Connector type Contact type Resistant Manufacturer
NETcable-1 51103-0300 (1) 50351-8100 (3) － MOLEX (White connector)
DCcable-2 2-178288-3 (1) 175218-3 (3) － Tyco Electronics (Black connector)
R-TM 1-178288-3 (1) 175218-3 (2) 100Ω(1/4W) (1) Equivalent to KOA.

Note 1) The 24V power supply is prepared by customer (The power consumption is approx. 0.3A.)
In the customer's system, do not ground the + side of 24V power supply prepared by customer for con-
nect to the controller. (related with emergency stop and parallel input/output) If it connects with the
controller under the condition that the + side is grounded, it will lead to failure of controller.
Note 2) The cable for general purpose can be used to the network cable. However, use the twisted shield cable of
AWG#22(0.3mm2) or more.
Fig.3-22 ： Spacifications for the connection cable

3-114 Parallel I/O unit

 3 Controller

■ Installation method
The expansion parallel input/output unit is installed outside of the controller. Connect with the network
connection cable (NETcable-1) from the RIO connector in the rear/into of the controller.(Terminator is connected
at the time of shipment)

RIO connector
RIOコネクタ

Upside
天
radiation
放熱余裕

(4 0 ) (1 7 5 )
space
100

Wiring
配線余 space
裕
128
Heat

6 22-M5
- Ｍ ５screw
ネジ

6
156

168
6

54 6
Radiation/wiring
放熱、配線余裕

<2A-RZ361> 60
space

Control
制 御 盤panel
取 付 installation
寸法 dimensions
150

地
Downside
Installation dimensions of 2A-RZ361/371 (The controller outside installation.)
2A-RZ361の 取 付 寸 法
Fig.3-23 ： Installing the parallel I/O unit (CR750)

Parallel I/O unit 3-115

3 Controller

Grounding terminal
*2)　ケーブルアースクランプ position

Sheath
シース Sheath
シース
20～30mm
Metal braid section
金属製ブレード部
Peel the sheath in the position about 200-300mm from the connector
ｼｰｽはｹｰﾌﾞﾙのｺﾈｸﾀ端から200～300mmの箇所を目安に
end ofｶﾊﾞｰの着脱ができる程度の位置で剥いてください。
the cable, so you can install and remove the cover.
※ｼｰﾙﾄﾞ線に傷をつけないようにご注意願います。
* Don't damage the shield line.
RIO
RIOコネクタ

*1) Parallel I/O unit 1 . 1. .. . 6. . 6

パラレル入出力ユニット Parallel I/O unit 7
パラレル入出力ユニット7
Within 100mm
100mm以内 Station
局番設定 No. Station
局番設定No.
1...6 setting7
setting
1...6 7

Ferrite
フェライトコア
（CEのみ）
core
（Only for the CE marking/
KC mark specification）
Pass twice FG
*2) ＜CN300＞ ＜CN300＞
＜CN100＞ ＜CN100＞

Note)
注)
NETcable-1
NETcable-1
ケーブル
cable

RIO1RIO1コネクタ
connector RIO2 connector RIO1
RIO2コネクタ connector
RIO1コネクタ RIO2 connector
RIO2コネクタ

DCIN 注) DCIN
DCINコネクタ
connector Note)
NETcable-1 DCINコネクタ
connector R-TM
R-TM
FG ケーブル FG ターミネータ
terminator
DCcable-2
DCcable-2 NETcable-1
ケーブル DCcable-2
DCcable-2
cable ケーブル
cable
cable
Front
前 面 side
RIO1 connector
RIO1ｺﾈｸﾀ

RIO2 connector
RIO2ｺﾈｸﾀ

DCIN connector
DCINｺﾈｸﾀ
*1) Install the ferrite core in within
100mm from each connector. I/O入出力ユニット底面
unit the bottom
connector
コネクタ配置図 layout

Connect the NET cable-1 to the RIO connector on the back of the controller. Each unit is connected to from a
daisy chain.
Always install a terminator (R-TM) to the last unit.
Note) Use a shield cable for NET cable-1 as a measure against noise.
Always connect the shield to FG. Install the attached ferrite core in both ends.
The unit could malfunction because of noise if the shield cable is not used.

Fig.3-24 ： Connection method of expansion parallel I/O unit (CR750)

3-116 Parallel I/O unit

 3 Controller

■ Pin arrangement of the connector

Channel No. setting

TXD
LED display 50 25

＜CN300＞
Input 16 to 31
Output 16 to 31
＜CN100＞
Input 0 to 15
Output 0 to 15
26 1

*2A-RZ361/2 A-RZ371 are 32/32 input-and-output units. (One-station occupancy)

Fig.3-25 ： Pin arrangement of the parallel I/O unit

■ Assignment of pin number and signal

The assignment range of the general-purpose input-and-output signal is fixed by the setup of the station number.

Table 3-23 ： Assignment of pin number and signal

Unit Number Station CN100 CN300

number
1st set 0 Input ： 0 to 15 Input ： 16 to 31
Output ： 0 to 15 Output ： 16 to 31
2nd set 1 Input ： 32 to 47 Input ： 48 to 63
Output ： 32 to 47 Output ： 48 to 63
3rd set 2 Input ： 64 to 79 Input ： 80 to 95
Output ： 64 to 79 Output ： 80 to 95
4th set 3 Input ： 96 to 111 Input ： 112 to 127
Output ： 96 to 111 Output ： 112 to 127
5th set 4 Input ： 128 to 143 Input ： 144 to 159
Output ： 128 to 143 Output ： 144 to 159
6th set 5 Input ： 160 to 175 Input ： 176 to 191
Output ： 160 to 175 Output ： 176 to 191
7th set 6 Input ： 192 to 207 Input ： 208 to 223
Output ： 192 to 207 Output ： 208 to 223
8th set 7 Input ： 224 to 239 Input ： 240 to 255
Output ： 224 to 239 Output ： 240 to 255

The connector pin number of the parallel I/O unit of the station number 0 and signal number assignment are
shown in Table 3-24 and Table 3-25. If it is set as other station number, please interpret and utilize.

Parallel I/O unit 3-117

3 Controller

■ Parallel I/O interface (First expansion unit)

Table 3-24 ： Connector CN100pin No. and signal assignment list (2A-CBL □□ )
Function name Function name
Pin Pin
Line color Dedicated/power supply, Line color Dedicated/power supply,
No. General-purpose No. General-purpose
common common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38
3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32
4 Yellow/Red A General-purpose output 0 Operating output Note1) 29 Yellow/Blue A General-purpose output 4
5 Pink/Red A General-purpose output 1 In servo ON output signal 30 Pink/Blue A General-purpose output 5
Note1)

6 Orange/Red B General-purpose output 2 Error occurring output signal 31 Orange/Blue B General-purpose output 6
Note1)

7 Gray/Red B General-purpose output 3 Operation rights output sig- 32 Gray/Blue B General-purpose output 7
nal Note1)
8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38
9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38
10 Pink/Red B General-purpose output 8 35 Pink/Blue B General-purpose output 12
11 Orange/Red C General-purpose output 9 36 Orange/Blue C General-purpose output 13
12 Gray/Red C General-purpose output 10 37 Gray/Blue C General-purpose output 14
13 White/Red C General-purpose output 11 38 White/Blue C General-purpose output 15
Note2)
14 Yellow/Red C COM0:For pins 15-22 39 Yellow/Blue C COM1:For pins 40-47 Note2)
15 Pink/Red C General-purpose input 0 Stop input Note3) 40 Pink/Blue C General-purpose input 8
16 Orange/Red D General-purpose input 1 Servo OFF input signal 41 Orange/Blue D General-purpose input 9
Note1)

17 Gray/Red D General-purpose input 2 Error reset input signal 42 Gray/Blue D General-purpose input 10
Note1)

18 White/Red D General-purpose input 3 Start input Note1) 43 White/Blue D General-purpose input 11

19 Yellow/Red D General-purpose input 4 Servo ON input signal Note1) 44 Yellow/Blue D General-purpose input 12
20 Pink/Red D General-purpose input 5 Operation rights input sig- 45 Pink/Blue D General-purpose input 13
nal Note1)
21 Orange/Red E General-purpose input 6 46 Orange/Blue E General-purpose input 14
22 Gray/Red E General-purpose input 7 47 Gray/Blue E General-purpose input 15
23 White/Red E Reserved 48 White/Blue E Reserved
24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved
25 Pink/Red E Reserved 50 Pink/Blue E Reserved

Note1) The dedicated signal is assigned at shipping. It can change with the parameter.
Note2) Sink type:12V/24V(COM),Source type:0V(COM)
Note3) The dedicated input signal (STOP) is assigned at shipping. The signal number is fixing.

3-118 Parallel I/O unit

 3 Controller

Table 3-25 ： Connector CN300pin No. and signal assignment list (2A-CBL □□ )
Function name Function name
Pin Pin
Line color Dedicated/power supply, Line color Dedicated/power supply,
No. General-purpose No. General-purpose
common common
1 Orange/Red A FG 26 Orange/Blue A FG
2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38
3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32
4 Yellow/Red A General-purpose output 16 29 Yellow/Blue A General-purpose output 20
5 Pink/Red A General-purpose output 17 30 Pink/Blue A General-purpose output 21
6 Orange/Red B General-purpose output 18 31 Orange/Blue B General-purpose output 22
7 Gray/Red B General-purpose output 19 32 Gray/Blue B General-purpose output 23
8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38
9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38
10 Pink/Red B General-purpose output 24 35 Pink/Blue B General-purpose output 28
11 Orange/Red C General-purpose output 25 36 Orange/Blue C General-purpose output 29
12 Gray/Red C General-purpose output 26 37 Gray/Blue C General-purpose output 30
13 White/Red C General-purpose output 27 38 White/Blue C General-purpose output 31
14 Yellow/Red C COM0:For pins 15-22Note1) 39 Yellow/Blue C COM1:For pins 40-47 Note1)
15 Pink/Red C General-purpose input 16 40 Pink/Blue C General-purpose input 24
16 Orange/Red D General-purpose input 17 41 Orange/Blue D General-purpose input 25
17 Gray/Red D General-purpose input 18 42 Gray/Blue D General-purpose input 26
18 White/Red D General-purpose input 19 43 White/Blue D General-purpose input 27
19 Yellow/Red D General-purpose input 20 44 Yellow/Blue D General-purpose input 28
20 Pink/Red D General-purpose input 21 45 Pink/Blue D General-purpose input 29
21 Orange/Red E General-purpose input 22 46 Orange/Blue E General-purpose input 30
22 Gray/Red E General-purpose input 23 47 Gray/Blue E General-purpose input 31
23 White/Red E Reserved 48 White/Blue E Reserved
24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved
25 Pink/Red E Reserved 50 Pink/Blue E Reserved

Note1) Sink type:12V/24V(COM),Source type:0V(COM)

Parallel I/O unit 3-119

3 Controller

<Reference> The example of connection with our PLC

<Sink> QX41
Parallel I/O interface (Mitsubishi programmable
（Output） controller)
60mA COM
(24/12V)
Output
X

……
Output
24V

Fuse
(0V)
External
power supply *The input/output circuit external
QY41P
(Mitsubishi programmable power supply (24 VDC) must be
(Input) controller) prepared by the customer.
(COM)
+24V Note) In the customer's system, do not
ground the + side of 24V power
3.3K Input Y supply prepared by customer
……

for connect to the controller.

Input (related with emergency stop
24V
and parallel input/output) If it
connects with the controller
COM under the condition that the +
24G(24GND)
External side is grounded, it will lead to
power supply failure of controller.

Table 3-26 ： Connection with a Mitsubishi PLC (Example of sink type)

<Source>
Parallel I/O interface
(Output) QX41
(Output) (Mitsubishi programmable
60mA controller)
Fuse (24/12V)
Output X
……

Output 24V
COM
(0V)
External
power supply QY81P (Mitsubishi *The input/output circuit external
(Input) power supply (24 VDC) must be
+24V programmable
controller) prepared by the customer.

3.3K Input Y Note) In the customer's system, do not

……

ground the + side of 24V power

Input supply prepared by customer
24G(24GND) for connect to the controller.
(COM) (related with emergency stop
24V
and parallel input/output) If it
connects with the controller
under the condition that the +
External
power supply side is grounded, it will lead to
failure of controller.

Table 3-27 ： Connection with a Mitsubishi PLC (Example of source type)

3-120 Parallel I/O unit

 3 Controller

(5) External I/O cable

■ Order type: 2A-CBL □□ 　 　 Note） The numbers in the boxes □□ refer to the length. （05: 5m、 15: 15m）

■ Outline
This is the dedicated cable used to connect an external peripheral device to the con-
nector on the parallel input/output unit.
One end matches the connector on the parallel input/output unit, and the other end
is free. Connect the peripheral device's input/output signal using the free end.
One cable correspond to the input 16 points and output 16 points.
Two cables are needed to connection of (input 32 points and output 32 points) with
built-in standard.

■ Configuration
Table 3-28 ： Configuration device
Part name Type Qty. Mass(kg)Note1) Remarks
External I/O cable 2A-CBL □□ 1pc. 0.7(5m)
5m or 15m
1.84(15m)

Note1) Mass indicates one set.

■ Specifications
Table 3-29 ： Specifications
Items Specifications
Number of cables x cable size 50 pairs x AWG #28
Total length 5m or 15m

■ Connector pin numbers and cable colors

Table 3-30 ： Connector pin numbers and cable colors
Pin Cable colors Pin Cable colors Pin Cable colors Pin Cable colors Pin Cable colors
no. no. no. no. no.
1 Orange/Red A 11 Orange/Red C 21 Orange/Red E 31 Orange/Blue B 41 Orange/Blue D
2 Gray/Red A 12 Gray/Red C 22 Gray/Red E 32 Gray/Blue B 42 Gray/Blue D
3 White/Red A 13 White/Red C 23 White/Red E 33 White/Blue B 43 White/Blue D
4 Yellow/Red A 14 Yellow/Red C 24 Yellow/Red E 34 Yellow/Blue B 44 Yellow/Blue D
5 Pink/Red A 15 Pink/Red C 25 Pink/Red E 35 Pink/Blue B 45 Pink/Blue D
6 Orange/Red B 16 Orange/Red D 26 Orange/Blue A 36 Orange/Blue C 46 Orange/Blue E
7 Gray/Red B 17 Gray/Red D 27 Gray/Blue A 37 Gray/Blue C 47 Gray/Blue E
8 White/Red B 18 White/Red D 28 White/Blue A 38 White/Blue C 48 White/Blue E
9 Yellow/Red B 19 Yellow/Red D 29 Yellow/Blue A 39 Yellow/Blue C 49 Yellow/Blue E
10 Pink/Red B 20 Pink/Red D 30 Pink/Blue A 40 Pink/Blue C 50 Pink/Blue E

External I/O cable 3-121

3 Controller

■ Connections and outside dimensions

The sheath of each signal cable (50 lines) is color indicated and marked with dots. Refer to the cable color speci-
fications in "Table 3-30: Connector pin numbers and cable colors" when making the connections.

(Eg.) Pin number: color indication

１ ： Orange ／ Red ／ Ａ

Type of dot mark (see figure below)

Color of dot mark
Color of sheath

Type of dot mark Dot pattern Type of dot mark Dot pattern

1 3
A type F type

18.5 18.5

1.5 3
B type G type

18.5 18.5

1.5 3
C type H type

18.5 18.5

1.5 7.5
D type I type
18.5 18.5

1.5 7.5
E type J type
Continuous Continuous

5000

26 1
51.816
76.74
64.53

66
2.159

50 25

13.54
16.2 9.27 35.7
Maker
Receptacle type (PCB side)：57AE-40500-21D(D8) ……DDK
Plug type　　 　（cable side）：57YE-30500-2(D8) Note1) ……DDK

Note1) The type of the plug shows the specification of this cable.
The following connector is recommended when user make the cable.
・Plug type (cable side) : 57E series (Soldering type).....................................................DDK
57FE series (Flat cable pressure connection type)......DDK

Fig.3-26 ： Connections and outside dimensions

3-122 External I/O cable

 3 Controller

(6) CC-Link interface

■ Order type: ● 2D-TZ576

■ Outline
The CC-Link interface is the optioninterface to not only add bit data to the robot
controller. but also to add CC-Link field network function that allows cyclic
transmission of word data.

■ Configuration
Table 3-31 ： Configuration device
Part name Type Qty. Mass(kg)Note1) Remarks
CC-Link interface TZ576 1 0.6
Manual BFP-A8701 1 -
Ferrite core E04SR301334 2 -
Cable clamp AL4 2 - Be sure to install this for noise countermeasure.
AL5 2 -

Note1) Mass indicates one set.

Table 3-32 ： Procured by the customer

Part name Type Qty. Remarks
QJ61BT11(Q series)
QJ61BT11N(Q series)
AJ61QBT11(QnA series)
Master station A1SJ61QBT11(QnAS series) 1 FX series products are not supported.
AJ61BT11(A series)
A1SJ61BT11(AnS series)
A80BD-J61BT11(personal computer board)
Shielded 3-core twisted cable
Communication cable - 1
This cable may be manufactured by the customer.
Terminal resistor - 1 110Ω or 130Ω is recommended.

Display
表示器 Sequencer
シーケンサ

I/O unit
I/Oユニット
Inverter
インバータ
Robot arm
ロボット本体

Partner manufacturer’s Personal

パソコン computer
パートナーメーカーの機器
device
CC-Link
CC-Link interface
インタフェースカード
（本オプション）
(This option)
Controller
ロボットコントローラ
(The(図はCR751)
figure is CR751)
Fig.3-27 ： Example of CC-Link Product Configuration

CC-Link interface 3-123

3 Controller

■ Specifications
Table 3-33 ： Specifications
Item Specifications Remarks
Communication function Bit data and word data can be transmitted. Word data are used by the registers.
Station type Intelligent device station Note1)
Support station Local station No master station function
The version corresponding to CC-Link Ver.2 The extended cyclic setup is possible.
Mountable option slot Slot 1, 2
Number of mountable CC-Link interface cards 1 Multiple CC-Link interface cards cannot be
inserted.
Number of stations 1 to 64 stations When four stations are occupied, continuous
station numbers are used. The station
numbers are set by a DIP switch.
Transmission speed 10M/5M/2.5M/625K/156K bps This is set by the rotary SW.
Station number 1 to 64 When two or more stations are occupied,
Number of occupied stations 1/2/3/4 continuous station numbers are used.

Extended cyclic setup 1/2/4/8

Maximum link point Remote I/O Each 896 points The two last cannot be used.
(RX, RY).
Remote register Each 128 register 16 bits/register
(RWr, RWw)
Extended cyclic setup - 1 fold 2 fold 3 fold 4 fold
setup setup setup setup
Link point When one Remote I/O 32 point 32 point 64 point 128 point
per set station is (RX, RY).
occupied Remote register 4 word 8 word 16 word 32 word
( RWw)
Remote register 4 word 8 word 16 word 32 word
(RWr)
When two Remote I/O 64 point 96 point 192 point 384 point
stations is (RX, RY).
occupied
Remote register 8 word 16 word 32 word 64 word
( RWw)
Remote register 8 word 16 word 32 word 64 word
(RWr)
When three Remote I/O 96 point 160 point 320 point 640 point
stations is (RX, RY).
occupied Remote register 12 word 24 word 48 word 96 word
( RWw)
Remote register 12 word 24 word 48 word 96 word
(RWr)
When four Remote I/O 128 point 224 point 448 point 896 point
stations is (RX, RY).
occupied
Remote register 16 word 32 word 64 word 128 word
( RWw)
Remote register 16 word 32 word 64 word 128 word
(RWr)
Number of the maximum occupancy station 4 stations
The I/O first number of the robot controller. No. 6000 -.
The number corresponding to the station
number by the setup of the parameter
"CCFIX."

Note1) The CC-Link interface supports neither the transient transmission function nor the FX series.

3-124 CC-Link interface

 3 Controller

■ Functions
(1) Communication function
・ The number of usable points is 896 points maximum for bit control and 128 points maximum for word control.

(2) Easy setup

・ The CC-Link interface card can be set by a rotary switch or DIP switch.
・No separate space is required to mount the CC-Link interface card as it is embedded in the robot controller (can
only be mounted into slot 2).
・ Easy wiring since only four terminals need to be connected.
・ Dedicated commands have been added to MELFA-BASIC V (robot programming language); thus, no complex
interface programming is required.

(3) High-speed response

・The link scan time when connecting 64 stations is approximately 7.2 ms, achieving superior high-speed response
performance.
・ A transmission speed can be selected from 10M, 5M, 2.5M, 625K and 156K bps according to the transmission
distance.

CC-Link interface 3-125

3 Controller

(7) Controller protection box

■ Order type: ● CR750-MB

■ Outline

By putting the controller in this box, the controller can be protected from oil mist
environment.
Use this option, when the controller is installed where environment is oil mist such as
machine shop etc. Therefore, the operation of installing and removing the T/B, and
changing the mode switch can be done, with the controller put in.

■ Configuration
Table 3-34 ： Configuration equipment and types
Part name Type Qty. Mass (Kg)Note1) 備考

Controller protection box CR750-MB 1

power supply wiring cable 3 For connection between the power supply relay
terminal and controller inside this box
Grounding cable 1 For connection between the grounding terminal and
controller inside this box
22
Seal for the serial number copy 1
Protection seal clear 1
Cable tie T50L 4
Screw for fixing of the controller M4x8 4
mounting plate

Note1) Mass indicates one set.

■ Specifications
Table 3-35 ： Specifications
Item Unit Specifications Remarks

Outside dimension mm 500(W)×725(D)×250(H) Excluding protrusions

Mass Kg 22
Construction Self-contained floor type IP54
Grounding Ω 100 or less (class D grounding)
Paint color Dark gray

(1) The robot must be grounded by the customer.

(2) The cable for primary power supply connection and the grounding cable are customer preparations.

3-126 Controller protection box

 3 Controller

■ Outside dimension and controller setting position

Cable cover

Drain hole

Controller setting position

Rubber foot fixa-

tion screw for
placing vertically
(Four places)

Fig.3-28 ： Outside dimension and controller setting position

Controller protection box 3-127

3 Controller

■ Names of each part

Window

Mode key switch

Seal for the serial number copy

Protection seal clear
T/B connector

Front view

Mode change SW Controller Power supply relay terminal

Fixing lever
extension cable (M4 screw)
Grounding terminal (M4 screw)

Cable cover
Cable tie
T/B junction
cable
External emergency stop
Front side wiring (customer preparation)
of the
controller
Machine cable CN2

Power supply cable,

Grounding cable
(customer preparation)
Machine cable CN1

Controller mounting plate Power supply wiring Grounding cable

Upper view
Fig.3-29 ： Names of each part

3-128 Controller protection box

 3 Controller

■ Wiring system diagram

<Single phase: RV-4F series>

Controller protection box Terminal Power supply wiring
Controller

(L1) (L1)

Power supply cable (L2) (L2)

ACIN

Grounding cable CN1

CN2
FG CNUSR
11/12

AC fan

FG FG FG

Grounding cable
Grounding terminal

<Single phase/Three phase: RV-7F/13F series>

Controller protection box Terminal Note1) Power supply wiring
Controller

(L1) (L1)
(L2)
Power supply cable (L2)
ACIN
(L3)
Grounding cable CN1
(L3) CN2
FG CNUSR
11/12

AC fan

FG FG FG

Grounding cable
Grounding terminal

Note1) When using the controller for the three phases with the single-phase power supply, connect the primary power
supply to L1 and L2 electric terminal of the protection box so that the power supply may be supplied to the
heat-exchanger AC fan of the protection box.
Connects with L1 and L3 electric terminal to the ACIN terminal block of the controller. Refer to the separate
manual "Controller setup, basic operation, and maintenance" for detail of connecting the power cable and the
grounding cable.
Fig.3-30 ： Wiring system diagram

Controller protection box 3-129

3 Controller

■ Installation dimensions

<<Placed horizontally>

150mm
or more 30mm or more

150mm
or more

<Placed vertically>

150mm
150mm or more or more
150mm or more

30mm 150mm
or more or more

Fig.3-31 ： Installation dimensions

3-130 Controller protection box

 3 Controller

(8) RT ToolBox2/RT ToolBox2 mini

■ Order type ： ● RT ToolBox2

*For windows CD-ROM : 3D-11C-WINE
● RT ToolBox2 mini
*For windows CD-ROM : 3D-12C-WINE

■ Outline
This is handy software that fully uses the personal computer functions. It can be used in
various stages from the robot specifications study (tact study, etc.) to the design support
(creation and editing of programs), start up support (execution, control and debugging of
program), and maintenance.
The "personal computer support software" which supports these function fully, and the
"personal computer support software mini" which does not have the simulation function
are available.

■ Configuration
Table 3-36 ： Product configuration
Part name Type Medium Mass (kg) Note1) Remarks
RT ToolBox2 3D-11C-WINE CD-ROM 0.2
RT ToolBox2 mini 3D-12C-WINE CD-ROM 0.2

Note1) Mass indicates one set.

■ Features
(1) Simple operation with guidance method and menu method
The Windows standard is used for windows operation, so the controller initialization and startup operations
can be carried out easily by following the instructions given on the screen. Even a beginner can easily carry
out the series of operations from program creation to execution.
(2) Increased work efficiency with ample support functions
The work efficiency is greatly improved with the multi-window method that carries out multiple steps and dis-
plays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially
sufficient, and are extremely useful when editing or debugging the program.
With the simulation function support, the program can be debugged and the tact checked before starting the
machine at the site. This allows the on-site startup work efficiently to be greatly improved.
(3) The maintenance forecast function increases the efficiency of maintenance work. Analyze the load condition
while the robot is actually operating. Based on this analysis, calculate the time for maintenance, such as lubri-
cation and belt replacement. By utilizing this information, the line stop time as well as the maintenance costs
can be reduced.
(4) The position recovery support function increases the recovery efficiency in the event of origin position dis-
placement. This function compensates the origin settings and position data by just reproducing several previ-
ous teaching points when hand and/or arm displacement occurs, when replacing the motor and the belts, or
when reloading the robot. This function can reduce the time required for recovery.

RT ToolBox2/RT ToolBox2 mini 3-131

3 Controller

■ Functions
Table 3-37 ： Functions
Function Functional existenceNote1) Details
Compatible model ○ ○ Personal computer running Microsoft Windows2000/XP/Vista/7. Note2)
Program editing Editing functions ・ MELFA BASIC V language compatible
functions ・ Multiple editing screen simultaneously display
・ Command input, comment writing
・ Position data editing
・ File operation (writing to controller, floppy disk, personal computer)
・ Search and replace function (using characters, line Nos., labels)
・ Copy, cut, paste, insert (per character, line), undo (per command
○ ○
statement, position conversion)
・ Line No. automatic generation, renumbering
・ Batch syntax check
・ Command template
・ Position conversion batch editing
・ Position variable template
・ Print, print preview
Control func- ・ Program file control (list, copy, movement, delete, content compari-
○ ○
tions son, name change, protect)
Debugging func- ・ Direct editing of program in controller
tions ○ ○ ・ Confirmation of robot program operation (step execution, direct exe-
cution)
Simulation func- ・ Off-line simulation of robot program operation using CG (computer
tion ○ × graphics)
・ Tact time calculation
Monitor func- ・ Robot operation monitor (robot operation state, stop signal, error
tions monitor, program monitor (execution program, variables), general-pur-
pose input/output signals (forced output possible), dedicated input/
output signals, operation confirmation (operation range, current posi-
○ ○
tion, hand, etc.)
・ Operation monitor (working time statistics, production information,
robot version)
・ Servo monitor (load)
Maintenance ・ Parameter setting
○ ○
function ・ Batch, divided backup
RT ToolBox2 mini
（3D-12C-WINE）
RT ToolBox2
（3D-11C-WINE）

Note1) The functions included with the RT ToolBox2 and the RT ToolBox2 mini are shown below.
○ : Function provided ×: Function not provided
Note2) Recommend corresponding to CE Marking, an FCC standard, and a VCCI standard.

3-132 RT ToolBox2/RT ToolBox2 mini

 3 Controller

(9) Instruction Manual(bookbinding)

■ Order type: ● 5F-FF01-PE01...............RV-4F-D/7F-D/13F-D series

■ Outline

This is a printed version of the CD-ROM (instruction manual) supplied with this
product.

■ Configuration
Table 3-38 ： Product configuration
Mass (Kg)
Name Type Note1) Specifications

RV-4F-D/7F-D/13F-D: The instructions manual set of RV-4F-D series, RV-

Instruction Manual 2.6
5F-FF01-PE01 7F-D series and RV-13F-D series.
Safety Manual BFP-A8006 - Items relating to safety in handling the robot
Standard Specifications BFP-A8931 - Specification of the robot arm and controller
Installation method of the robot arm, jog operation, and
Robot Arm Setup & Maintenance BFP-A8935 -
maintenance and inspection procedures
Installation method of the controller, basic operation,
Controller Setup, Basic Operation and Maintenance BFP-A8867 -
and maintenance and inspection procedures
Functions of the controller and T/B, operation
Detailed Explanation of Functions and Operations BFP-A8869 -
method, and explanation of MELFA-BASIC V
Troubleshooting BFP-A8871 - Causes of errors occurred and their countermeasures
Additional axis function BFP-A8863 - Function of the additional axis, operation method.
Tracking Function Manual BFP-A8664 - Function of the Tracking, operation method.
Explains of data configuration of shared memory,
GOT Direct Connection Extended Function BFP-A8849 - monitoring, and operating procedures, between the
GOT and controller.

Note1) Mass indicates one set.

Instruction Manual(bookbinding) 3-133

3 Controller

3.11 Maintenance parts

The consumable parts used in the controller are shown in Table 3-39. Purchase these parts from your dealer
when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part
name, robot arm and controller serial No. and purchase the parts from your dealer.

Table 3-39 ： Controller consumable parts list

No. Name Type Note1) Qty. Usage place Supplier

1 Lithium battery Q6BAT 1 Inside of the interface

cover Mitsubishi Electric
2 Filter 1 Inside the filter cover

Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.

3-134 Maintenance parts

 4Software

4 Software
4.1 List of commands
The available new functions in MELFA-BASIC V are given in Table 4-1.

Table 4-1 ： List of MELFA-BASIC V commands

Type Class Function Input format (example)
Joint interpolation Moves to the designated position with joint interpolation. Mov P1
Linear interpolation Moves to the designated position with linear interpolation. Mvs P1
Circular interpolation Moves along a designated arc (start point → passing point → start point
Mvc P1,P2,P1
(end point)) with 3-dimensional circular interpolation (360 degrees).
Moves along a designated arc (start point → passing point → end point)
Mvr P1,P2,P3
with 3-dimensional circular interpolation.
Moves along the arc on the opposite side of a designated arc (start point
→ reference point → end point) with 3-dimensional circular interpola- Mvr2 P1,P9,P3
tion.
Moves along a set arc (start point → end point) with 3-dimensional cir-
Mvr3 P1,P9,P3
cular interpolation.
Speed designation Designates the speed for various interpolation operations with a per-
Ovrd 100
centage (0.1% unit).
Designate the speed for joint interpolation operation with a percentage
JOvrd 100
(0.1% unit).
Designates the speed for linear and circular interpolation with a numeri-
Spd 123.5
cal value (mm/s unit).
Designates the acceleration/deceleration time as a percentage in
respect to the predetermined maximum acceleration/deceleration. (1% Accel 50,80
unit)
Position and operation control

Automatically adjusts the acceleration/deceleration according to the

Oadl ON
parameter setting value.
Sets the hand and work conditions for automatic adjustment of the
Loadset 1,1
acceleration/deceleration.
Operation Adds a process unconditionally to the operation. Wth
Adds a process conditionally to the operation. WthIf
Designates smooth operation. Cnt 1,100,200
Performance of movement is upgraded corresponding to the application. MvTune 4
Designates the positioning completion conditions with a No. of pulses. Fine 200
Designates the positioning completion conditions with a distance in a
Fine 1, P
straight line
Designates the positioning completion conditions with a joint interpola-
Fine 0.5, J, 2
tion.
Turns the servo power ON/OFF for all axes. Servo OFF
Limits the operation of each axis so that the designated torque is not
Torq 4,10
exceeded.
Position control Designates the base conversion data. Base P1
Designates the tool conversion data. Tool P1
Float control The robot arm rigidity is lowered and softened. (XYZ coordinate system) Cmp Pos ,&B00000011
The robot arm rigidity is lowered and softened. (JOINT coordinate sys-
Cmp Jnt ,&B00000011
tem)
The robot arm rigidity is lowered and softened. (TOOL coordinate sys-
Cmp Tool ,&B00000011
tem)
The robot arm rigidity is returned to the normal state. Cmp Off
The robot arm rigidity is designated. CmpG 1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0
Pallet Defines the pallet. Def Plt 1,P1,P2,P3,P4,5,3,1
Operates the pallet grid point position. Plt 1,M1
Singular point pas- Move to a specified position using linear interpolation passing through a
Mvs P1 Type 0,2
sage singular point.

List of commands 4-135

4Software

Type Class Function Input format (example)

Branching Branches unconditionally to the designated place. GoTo 120
Branches according to the designated conditions. If M1=1 Then GoTo *L100
Else GoTo 20
End If
Repeats until the designated end conditions are satisfied. For M1=1 TO 10

Next M1
Repeats while the designated conditions are satisfied. While M1<10

WEnd
Branches corresponding to the designated expression value. On M1 GoTo *La1, *Lb2, *Lc3
Executes program block corresponding to the designated expression Select
value.. Case 1

Break
Case 2

Break
End Select
Program control

Moves the program process to the next line. Skip

Collision detection Set to enable/disable the collision detection. ColChk ON/OFF
Set the detection level of the collision detection. ColLvl 100,80,,,,,,
Subroutine Executes the designated subroutine. (Within program) GoSub *L200
Returns from the subroutine. Return
Executes the designated program. CallP "P10",M1,P1
Defines the program argument executed with the CALLP command. FPrm M10,P10
Executes the subroutine corresponding to the designated expression
On M1 GoSub *La1, *Lb2, *Lc3
value.
Interrupt Defines the interrupt conditions and process. Def Act 1, M1=1 GoTo *L100
Enables/disables the interrupt. Act 1=1
Defines the start line of the program to be executed when an interrupt is
On Com(1) GoSub *L100
generated from the communication line.
Enables the interrupt from the communication line. Com(1) On
Disables the interrupt from the communication line. Com(1) Off
Stops the interrupt from the communication line. Com(1) Stop
Wait Designates the wait time, and the output signal pulse output time. (0.01s
Dly 0.5
unit)
Waits until the variable becomes the designated value. Wait M_In(1)=1
Stop Stops the program execution. Hlt
Generates an error. During program execution, continue, stop or servo
Error 9000
OFF can be designated.
End Ends the program execution. End
Hand open Opens the designated hand. HOpen 1
Hand

Hand close Closes the designated hand. HClose 1

Assignment Defines the input/output variables. Def IO PORT1=BIT,0
Input/output

Input Retrieves the general-purpose input signal. M1=M_In(1)

Output Calls out the general-purpose output signal.
M_Out(1) =0

Mechanism designa- Acquires the mechanism with the designated mechanism No. GetM 1
Parallel execution

tion Releases the mechanism with the designated mechanism No. RelM 1
Selection Selects the designated program for the designated slot. XLoad 2,"P102"
Start/stop Carries out parallel execution of the designated program. XRun 3,"100",0
Stops parallel execution of the designated program. XStp 3
Returns the designated program's execution line to the head and enters
XRst 3
the program selection enabled state.

4-136 List of commands

 4Software

Type Class Function Input format (example)

Definition Defines the integer type or real number type variable. Def Inte KAISUU
Defines the character string variable. Def Char MESSAGE
efines the layout variable. (Up to 3-dimensional possible) Dim PDATA(2,3)
Defines the joint variable. Def Jnt TAIHI
Defines the position variable. Def Pos TORU
Defines the function. Def FN TASU(A,B)=A+B
Others

Clear Clears the general-purpose output signal, variables in program, variables

Clr １
between programs, etc.
File Opens a file. Open "COM1:" AS #1
Closes a file. Close #1
Inputs data from a file. Input# 1,M1
Outputs data to a file. Print# 1,M1
Comment Describes a comment. Rem "ABC"
Label Indicates the branching destination. *SUB1

List of commands 4-137

4Software

4.2 List of parameters

Show the main parameter in the Table 4-2.

Table 4-2 ： List of parameters

Parameter Details

Standard tool coordinates. MEXTL Set the default value for the tool data.
Unit: mm or deg.
Standard base coordinates MEXBS Set the relation of the world coordinate system and robot coordinate system.
Unit: mm or deg.
XYZ operation range MEPAR Designate the overrun limit value for the world coordinate system.

JOINT operation range MEJAR Set the overrun limit value for each joint axis.

Free plane limit This is the overrun limit set with the free plane.
Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of
the plane as the outside operation range (error). The following three types of parameters are
used.

SFC1P Eight types of free plane limits can be set in SFC1P to SFC8P.
: There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.
SFC8P

SFC1ME Designate which mechanism to use eight types of set free plane limits.
: The mechanism No. to use is set with 1 to 3.
SFC8ME

SFC1AT Set the validity of the eight types of set free plane limits.
: (Valid 1/Valid 2/invalid = 1/-1/0)
SFC8AT
User-defined area An area (cube) defined with two XYZ coordinate points can be designated and that area set
as the outside operation range. Furthermore, a signal can be output when the axis enters
that area. Up to 32 types of area can be designated.
AREA1CS Specify the coordinate system of the user definition area *.
: 0: Base coordinate system (conventional compatibility)
AREA32CS 1: Robot coordinate system

AREA1P1 Designated the 1st point of the area.

: There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
AREA32P1 (L1 and L2 are the additional axes.)

AREA1P2 Designated the 2nd point of the area.

: There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
AREA32P2 (L1 and L2 are the additional axes.)

AREA1ME Designate which mechanism to use the 32 types of set area.

: The mechanism No. to use is set with 1 to 3.
AREA32ME
AREA1AT Designate the area check type.
: (Invalid/zone/interference = 0/1/2)
AREA32AT Zone: The dedicated output signal USRAREA turns ON.
Interference: An error occurs..

Automatic return setting RETPATH Set to restart the program after returning to the interrupt position when resuming operation
after an interruption.

Buzzer ON/OFF BZR Designate whether to the turn buzzer ON or OFF.

Jog setting JOGJSP Designate the joint jog and step operation speed.
(Set dimension H/L amount, max. override.)

JOGPSP Designate the linear jog and step operation speed.

(Set dimension H/L amount, max. override.)

Jog speed limit value JOGSPMX Limit the operation speed during the teaching mode. Max. 250[mm/s]

4-138 List of parameters

 4Software

Parameter Details

Hand type HANDTYPE Set the hand type of the single/double solenoid, and the signal No.
(Single/double = S/D)
Set the signal No. after the hand type. Example) D900

Stop input B contact desig- INB Change the dedicated input (stop) to either of normal open or normal close.
nation
User-designated origin USERORG Designate the user-designated origin position.

Program selection memory SLOTON Select the program selected previously when initializing the slot. The non-selected state will
be entered when not set.

Communication setting CBAU232 Set the baud rate.

CLEN232 Set the character length.

CPRTY232 Set the parity.

CSTOP232 Set the stop bit.

CTERM232 Set the end code.

Slot table SLT1 Make settings (program name, operation type, order of priority, etc.) for each slot during slot
: initialization.
SLT32

No. of multi-tasks TASKMAX Designate the No. of programs to be executed simultaneously. (Max. 32)
Select the function of MESNGLSW Designate the valid/invalid of the singular point adjacent alarm.
singular point adjacent alarm （Invalid/Valid ＝ 0/1）
When this parameter is set up "VALID", this warning sound is buzzing even if parameter:
BZR (buzzer ON/OFF) is set up "OFF".

Display language. LNG Change the language to display on the LCD display of teaching pendant.

List of parameters 4-139

5Instruction Manual

5 Instruction Manual
5.1 The details of each instruction manuals
The contents and purposes of the documents enclosed with this product are shown below. Use these documents
according to the application.
Instruction manuals enclosed in dashed lines in the list below are for optional products.
For special specifications, a separate instruction manual describing the special section may be enclosed.

Safety Manual Explains the common precautions and safety measures to be taken for robot handling, sys-
tem design and manufacture to ensure safety of the operators involved with the robot.

Explains the product's standard specifications, factory-set special specifications, option

Standard
configuration and maintenance parts, etc. Precautions for safety and technology, when
Specifications
incorporating the robot, are also explained.

Robot Arm Explains the procedures required to operate the robot arm (unpacking, transportation,
Setup & installation, confirmation of operation), and the maintenance and inspection procedures.
Maintenance

Explains the procedures required to operate the controller (unpacking, transportation,

Controller
installation, confirmation of operation), basic operation from creating the program to auto-
Setup, Basic
matic operation, and the maintenance and inspection procedures.
Operation and
Maintenance

Detailed Explains details on the functions and operations such as each function and operation, com-
Explanation of mands used in the program, connection with the external input/output device, and parame-
Functions and ters, etc.
Operations

Explains the causes and remedies to be taken when an error occurs. Explanations are given
Troubleshooting
for each error No.

Additional axis Explains the specifications, functions and operations of the additional axis control.
function

Tracking Func-
Explains the control function and specifications of conveyor tracking
tion Manual

Extended Func- Explains the detailed description of data configuration of shared memory, monitoring, and
tion Instruc- operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750-
tion Manual D/CR751-D controller).

5-140 The details of each instruction manuals

 6Safety

6 Safety
6.1 Safety
Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation
Rules". Always follow these rules when using the robot to ensure safety.

6.1.1 Self-diagnosis stop functions

This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-2
for safe use.

Table 6-1 ： Self-diagnosis stop functions

No. Function Details Remarks
1 Overload protection func- Activates when the total servo current time exceeds The drive circuit is shut off. The robot stops, and
tion the specified value. an alarm displays.
2 Overcurrent diagnosis Activates when an overcurrent flows to the motor The drive circuit is shut off. The robot stops, and
function circuit. an alarm displays.
3 Encoder disconnection Activates when the encoder cable is disconnected. The drive circuit is shut off. The robot stops, and
diagnosis function an alarm displays.
4 Deflection over diagnosis Activates when an error occurs between the com-
The drive circuit is shut off. The robot stops, and
function mand value and actual position, and the error
an alarm displays.
exceeds the specified amount.
5 AC power voltage drop Activates when the AC power voltage drops below The drive circuit is shut off. The robot stops, and
diagnosis function the specified value. an alarm displays.
6 CPU error detection func- Activates when an error occurs in the CPU. The drive circuit is shut off. The robot stops, and
tion an alarm displays.
7 Overrun Software limit This is the limit provided by the software to enable The drive circuit is shut off. The robot stops, and
prevention detection operation only in the operation range. an alarm displays.
function
Mechanical This is the mechanical stopper provided outside the The robot mechanically stops, and function 1 or 2
stopper software. activates.

Table 6-2 ： List of stop functions

Stop Operation Teaching External
function panel pendant input Details

This is the stop with the highest degree of emergency. The servo power is shut off,
Emergency ◯ ◯ ◯ and the mechanical brakes (all axes) activate to stop the robot.
stop
To recover, reset the alarm, and turn the servo ON with the servo ON command.
This is a stop operation with a high degree of emergency. The robot immediately
decelerates and stops.
Stop ◯ ◯ ◯
Note that the servo power is not shut off. Use this when using the collision evasion
sensor, etc.

Safety 6-141
6Safety

6.1.2 External input/output signals that can be used for safety protection measures
Table 6-3 ： External input/output signals that can be used for safety protection measures
Connection
Signal Parameter Functions Usage method
point
External emer- Connector - This servo power is shut off, and the Externally installed emergency stop switch.
gency stop (CNUSR11/12) robot stops immediately. Door switch on safety protection fence.
Note1) Stopping at high-level error occurrence.
Door switch - The door switch of the safe protection
fence
Enabling device - Enabling device.
input The safety switch during teaching work
Input

Stop Parallel I/O unit STOP The program execution is stopped, and The robot is stopped when a peripheral
or interface the robot stops. The servo power is not device fault occurs. The servo power is
shut off. not shut off.
Servo OFF SRVOFF The servo power can be shut off. The robot is stopped when a peripheral
device fault occurs. The servo power is
not shut off.
Automatic oper- AUTOENA Disables automatic operation when inac- Door switch on safety protection fence
ation enable tive.
Emergency stop Connector - Outputs the input signal of external Display and warn the pilot lamp, the input
output (CNUSR11/12) emergency stop or emergency stop signal of external emergency stop or the
switch of T/B turned on. emergency stop switch of T/B turned on.
In servo ON Parallel I/O unit SRVON The servo power ON/OFF state is out- The servo power ON/OFF state is shown
Output

or interface put. and alerted with the display lamps.

Waiting STOP Outputs that the robot is temporarily The temporary stop state is shown and
stopped. alerted with the display lamps.
In alarm Connector ERRRESET Outputs when an alarm occurs in the The alarm state is shown and alerted with
(CNUSR2)
- robot. the display lamps.

Note1) The external emergency stop input is prepared as a normal close for safety proposes. Thus, if the emergency stop
input circuit is opened when the robot is started up, the robot will not operate. Refer to Page 144, "6.1.7 Exam-
ples of safety measures"for details.
And, refer to Page 96, "(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Set-
tings"for the function of the door switch input and the enabling device input.

6.1.3 Precautions for using robot

The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of
the rules is given below.
(1) Robot installation
・ Secure sufficient work space required to safely perform work such as teaching and maintenance related to the
robot.
・ Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.)
・ Install the controller where the entire robot operation can be viewed.
・ Install display lamps, etc., to indicate the robot's operation state.
・ Securely fix the robot arm onto the fixing table with the designated bolts.

(2) Prevention of contact with operator

・ Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space.
・ Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.

(3) Work procedures

・ Create and observe work procedures for the robot teaching, operation, inspection and emergencies.
・ Create hand signals to be followed when several operators are working together.
・ Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is
in the robot's motion space so that other operators will not operate the operation panel (controller, control
panel).

(4) Training
・ Train the operators about the operations, maintenance and safety required for the robot work.
・ Only trained and registered operators must operate the robot.
Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Com-
mittee, etc., is recommended for safety training.

6-142 Safety
 6Safety

(5) Daily inspection and periodic inspection

・ Always inspect the robot before starting daily operations and confirm that there are no abnormalities.
・ Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and
perform periodic inspections.
・ Make records when periodic inspections and repairs have been done, and store the records for three or more
years.

6.1.4 Safety measures for automatic operation

(1) Install safety fences so that operators will not enter the operation area during operation and indicate that
automatic operation is in progress with lamps, etc.
(2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the
operator follows the signals.

6.1.5 Safety measures for teaching

Observe the following measures when teaching, etc., in the robot's operation range.
(1) Specify and follow items such as procedures related to teaching work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper-
ation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that teaching work is being done.
(4) Always inspect that stop functions such as the emergency stop device before starting the work.
(5) Immediately stop the work when trouble occurs, and correct the trouble.
(6) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(7) The teaching operator must have completed special training regarding safety. (Training regarding industrial
robots and work methods, etc.)
(8) Create signals to be used when several operators are working together.

6.1.6 Safety measures for maintenance and inspections, etc.

Turn the power OFF and take measures to prevent operators other than the relevant operator from pressing the
start switch when performing inspections, repairs, adjustments, cleaning or oiling.
If operation is required, take measures to prevent hazards caused by unintentional or mistaken operations.
(1) Specify and follow items such as procedures related to maintenance work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper-
ation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that work is being done.
(4) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(5) The operator must have completed special training regarding safety. (Training regarding industrial robots and
work methods, etc.)
(6) Create signals to be used when several operators are working together.

Safety 6-143
6Safety

6.1.7 Examples of safety measures

Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller. Create a cir-
cuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emer-
gency stop state.
[Caution] Since we have omitted the information in part because of explanation, there is the section different
from the product. Also refer to Page 149, "(2) External emergency stop connection [supplementary
explanation]".
[Note] ･ In the emergency-stop related wiring by the customer, if the coil (is not the contact points) of the relay
prepared by the customer is connected to the controller, please be sure to implement the measure
against the noise by the customer in the coil section. And, please also take the lifetime of noise suppres-
sion parts into consideration.
･ Electric specification of the emergency-stop-related output terminal: 100mA/24V or less
･ In the customer's system, do not ground the + side of 24V power supply prepared by customer for con-
nect to the controller. (related with emergency stop and parallel input/output) If it connects with the
controller under the condition that the + side is grounded, it will lead to failure of controller.

(1) CR750 controller

<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller.
The power supply for emergency stop input uses the power supply in the controller.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Emergency
非常停止スイッチstop switch
Controller (2- （2接点タイプ）
contact type)
*1) Peripheral
Power supply in the CNUSR11/CNUSR12 周辺装置
equipment
robot controller
内部電源 24V24V
1
2 Not
短絡connected
OP Emergency
OP非常停止
stop button 3
ボタン*6) *4) 4
RA
5
Short circuit
6 短絡
(Short-circuited)
TB Emergency
TB非常停止
stop button 7 Safety
ボタン 安全柵のドア
fence door
*3) 8 Door switch input
ﾄﾞｱｽｲｯﾁ入力
RA
9
10
RA
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*5)
*7)
13
Safety
安全リレー relay 14 }Emergency
非常停止出力 stop output
*1) Each of the connectors,
11 CNUSR11 and CNUSR12, are
12 } Mode
モード出力output assigned with the same pin
Internal emergency stop number, creating two systems for
内部非常停止回路
circuit each terminal. It is absolutely
necessary to connect the two
*2) systems.
CNUSR2 *2) You can see in the diagram that
16/17 connector CNUSR2 has two
41/42 }Error
エラー出力 output terminals and two systems (16/
17 indicates two terminals at pin
number 16 and pin number 17).
It is absolutely necessary to
connect the two systems.
*3) The T/B emergency stop button connected with the controller.
*4) Emergency stop input relay.
*5) Refer to Standard specification manual for the enabling device.
*6) The emergency stop button of the robot controller. (Only specification with the operation panel.)
*7) The emergency stop input detection relay is used the controller’s internal safety relay control. If the
emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also
switched OFF.
Fig.6-1 ： Example of safety measures （CR750 wiring example 1）

6-144 Safety
 6Safety

<Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller.
The power supply for emergency stop input uses the power supply of peripheral equipment.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.

Controller Emergency
非常停止スイッチstop switch
(2- contact
（2接点タイプ） type)
*1) Peripheral
Power supply in the CNUSR11/CNUSR12 equipment
周辺装置
robot内部電源
controller24V
24V
1
未接続
Not connected
OP Emergency 2
stop button
OP非常停止 3
ボタン
*6) *4)
RA
4
5
TB Emergency 6 Power supply in
周辺装置側電源
stop button
TB非常停止 7 Safety the
24VPeripheral
ボタン 安全柵のドア
fence door equipment 24V
*3) 8 Door switch input
ﾄﾞｱｽｲｯﾁ入力
RA
9
10
RA
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*5)
*7)
13
Safety
安全リレー relay 14 }Emergency
非常停止出力 stop output

11 *1) Each of the connectors,

12 } Mode
モード出力output CNUSR11 and CNUSR12, are
Internal emergency stop assigned with the same pin
内部非常停止回路
circuit number, creating 2 systems in
each terminal. It is absolutely
*2) necessary to connect the 2
CNUSR2 systems.
16/17 *2) You can see in the diagram that
connector CNUSR2 has 2
41/42 } Error
エラー出力 output
terminals and 2 systems (16/17
indicates 2 terminals at pin
number 16 and pin number 17).
It is absolutely necessary to
connect the 2 systems.
*3) The T/B emergency stop button connected with the controller.
*4) Emergency stop input relay.
*5) Refer to Standard specification manual for the enabling device.
*6) The emergency stop button of the robot controller.
(Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the controller’s internal safety relay control. If the
emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay
is also switched OFF.
Fig.6-2 ： Example of safety measures （CR750 wiring example 2）

Safety 6-145
6Safety

<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con-
troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor
the emergency stop state by the peripheral equipment side.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of con-
troller OFF, peripheral equipment state can be the emergency stop also.

Controller Emergency stop switch

非常停止スイッチ
(2- （2接点タイプ）
contact type)
*1) Peripheral
Power supply in the CNUSR11/CNUSR12 周辺装置
equipment
robot内部電源 24V
controller 24V
1 Not connected Power
周辺装置側sup-
未接続 ply 24V
電源24V
OP Emergency 2
OP非常停止
stop button 3
ボタン
*6) *4) 4
RA
5
TB Emergency 6
stop button
TB非常停止 7 Safety
ボタン
*3) 安全柵のドア
fence door
8 Door switch input
ﾄﾞｱｽｲｯﾁ入力
RA
周
Circuit
9 辺
10 装
RA 置
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ 側
device
ﾃﾞﾊﾞｲｽ 内
*5) 部
回
*7) 路
13
Safety
安全リレー relay Monitor
監視
14 Emergency
非常停止出力 stop output

11
12 } Mode
モード出力output Monitor
監視

Internal emergency stop

内部非常停止回路
circuit

*2)
CNUSR2
16/17
41/42 }Error
エラー出力 output

*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with the same pin number, creating 2
systems in each terminal. It is absolutely necessary to connect the 2 systems.
*2) You can see in the diagram that connector CNUSR2 has 2 terminals and 2 systems (16/17 indicates 2
terminals at pin number 16 and pin number 17). It is absolutely necessary to connect the 2 systems.
*3)The T/B emergency stop button connected with the controller.
*4) Emergency stop input relay.
*5) Refer to Standard specification manual for the enabling device.
*6) The emergency stop button of the robot controller.
(Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the controller’s internal safety relay control. If the
emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay
is also switched OFF.
Fig.6-3 ： Example of safety measures （CR750 wiring example 3）

6-146 Safety
 6Safety

<Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it
interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input
uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral
equipment side.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of con-
troller OFF, peripheral equipment state can be the emergency stop also.
Emergency
非常停止スイッチ stop switch
(2- contact type)
（4接点タイプ）
Peripheral equipment
周辺装置
Controller #1
Power supply in the robot CNUSR11/CNUSR12*1)
controller 24V
内部電源 24V 周辺装置 Power supply
OP 1 の非常停止 周辺装置側
Not connected
未接続
出力
24V
電源24V
Emer- 2
gency stop
OP非常停止 3 周辺装置内部
button
ボタン
*4) 4 非常停止回路
Circuit
*6) RA
5
6
TB非常停止 7
*3)
ボタン
Door switch input
ﾄﾞｱｽｲｯﾁ入力
TB 8
RA
Emer- 9
gency stop 10 ドアスイッチ出力
button RA
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ Safety fence
device
ﾃﾞﾊﾞｲｽ door
安全柵のドア
*5)
*7)
13
Safety
安全リレー relay 14 Emergency
非常停止出力 stop output
Monitor
監視
11

Internal emergency
12 } Mode
モード出力output
内部非常停止回路 Monitor
監視
stop circuit
*2)
CNUSR2
16/17
41/42 } Error
エラー出力 output

Controller #2
Power supply in the robot CNUSR11/CNUSR12*1)
controller 24V
内部電源 24V 周辺装置
1 Not connected の非常停止
OP 未接続
Emer- 2 出力
OP非常停止
gency stop 3
ボタン
button
RA
*4) 4
*6) 5
6
TB非常停止
*3)
ボタン
7
TB 8 Door switch input
ﾄﾞｱｽｲｯﾁ入力
RA
Emer- 9
gency stop
button 10
RA
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*5)
*7)
13
Safety
安全リレー relay 14 Emergency stop output
非常停止出力 Monitor
監視
11
12 } Mode
モード出力output *1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with
Internal emergency the same pin number, creating 2 systems in each terminal. It is
内部非常停止回路
stop circuit absolutely necessary to connect the 2 systems.
*2) You can see in the diagram that connector CNUSR2 has 2 terminals
CNUSR2
*2) and 2 systems (16/17 indicates 2 terminals at pin number 16 and
pin number 17). It is absolutely necessary to connect the 2
16/17 systems.
41/42 }Error
エラー出力 output *3) The T/B emergency stop button connected with the controller.
*4) Emergency stop input relay.

*5) Refer to Standard specification manual for the enabling device.

*6) The emergency stop button of the robot controller. (Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the controller’s internal safety relay control. If the emergency stop input detection
relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

Fig.6-4 ： Example of safety measures （CR750 wiring example 4）

Safety 6-147
6Safety

<Wiring example 5>: Connect the controller to the safety relay

Use the controller’s emergency stop button command as an input to the safety relay.

Controller Customer equipment

お客様装置

CNUSR11
1
OP TB No connection
E-stop E-stop 24V DC
2
外部非常停止スイッチ
External emergency stop switch Safety
安全リレー relay
3
ex)
例）オムロン社　G9SX-AD
Internal
内部リレー relay 4 G9SX-AD series *OMRON

No connection T11
5 Safety input 1
安全入力1
T12
6
Safety
安全リレー relay 0V DC
Emergency stop
非常停止出力
output 13
24V DC
14 No connection T21
安全入力2
Safety input 2
CNUSR12 T22
1
No connection
24V DC A1 A2
2
External emergency stop
外部非常停止スイッチ
switch
3
*2)
Internal
内部リレー relay
4

6
Emergency stop 0V DC
非常停止出力
output
13
24V DC
14 24V DC 0V DC
Customer Power Supply
お客様電源（DC (DC 24V)
24V）

[Caution]
1) This product has category 3 functionality and therefore the robot’s whole unit cannot be set to category 4.
2) The controller’s internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples,
particularly for emergency stop button output when using user equipment. Connect the positive side of the
user equipment (24V DC) to the terminal 2 of CNUSR11/12, then connect the emergency stop button (or
contact points) in the user equipment to across the terminals 3 and 4 of CNUSR11/12, and ultimately con-
nect the negative side (0V DC).
3) When installing a safety relay to use it as an input point of the controller's emergency stop button command,
use a safety relay that is activated by an input from one of the two systems (i.e. Omron’s G9S Series).
4) The emergency stop input detection relay (internal relay) uses the controller’s internal safety relay control.
If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety
relay is also switched OFF.
5) When connecting emergency stop button output to an external safety relay, please take note of the polarity
and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the
two places in the diagram. If the polarity is setup incorrectly, this function will not operate correctly. Please
connect the terminal 13 of CNUSR11/12 to 24V.

Fig.6-5 ： Example of safety measures （CR750 wiring example 5）

6-148 Safety
 6Safety

(2) External emergency stop connection [supplementary explanation]

(1) Use a 2-contact type switch for all switches.
(2) Install a limit switch on the safety fence's door. With a constantly open contact (normal open), wire to the
door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF
(is opened) when the door is open.
(3) Use a manual-return type of normal close which have two lines for the emergency stop button.
(4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and
major faults (faults that cause the entire system to stop immediately, and that require care in restoration),
and wire accordingly.
[Caution] The emergency stop input (terminal block) on the user wiring in the controller can be used for safety
measures as shown in figure above. Note that there are limits to the No. of switch contacts, capacity
and cable length, so refer to the following and install.
・ Switch contact ..........................Prepare a 2-contact type.*1)
・ Switch contact capacity........Use a normal open contact that operates with a switch contact
capacity of approx. 1mA to 100mA/24V. *1)
If you connect the relay etc., rated current of the coil should use the
relay which is 100mA/24V or less. (Refer to Fig. 6-6)
・ Cable length................................The length of the wire between the switch and terminal block must be
max. 15m or less. Please use the shield line, in case of the cable may
receive the noise etc. by other equipment, such as servo amplifier.
And, since the ferrite core is attached as noise measures parts, please
utilize.
The size of the wire that fits to use is shown below.
・ CR750 controller................................... CNUSR11/12/13 connector:
AWG #26 to #16 (0.14mm2 to 1.5mm2)
・ CR750 controller................................... CNUSR2 connector:
AWG #30 to #24 (0.05mm2 to 0.2mm2)
Electric specification of the emergency stop related output circuit is 100mA/24V or less. Don't connect
the equipment except for this range.

The electric-current value limitation when connecting the coils, such as the Relays (CR750 controller)
Internal fuse 非常停止スイッチ
Robot controller
ロボットコントローラ Emergency stop switch
（2接点タイプ）
(2- contact type)

OP ロボットコント
Power supply in the CNUSR11/12
Emergency ローラ内電源
robot controller 周辺装置
Peripheral equipment
OP非常停止
stop button 　　 24V F2 1 Power
周辺装置
ボタン 未接続
Not connected supply24V
側電源24V
F1 2
3 RA
TB 4
Emergency RA
TB非常停止
stop button 5 Note)
ボタン Relay
6
Rated-current is 100mA
Monitor
監視 or less
7 Door switch input
ﾄﾞｱｽｲｯﾁ入力
Safety
安全柵のドア fence door
周
RA
8 辺
装
9 置
Circuit

側
10 内
RA
Enabling device
ｲﾈｰﾌﾞﾘﾝｸﾞ 部
ﾃﾞﾊﾞｲｽ 回
路

13 Monitor
監視
Safety relay
安全リレー 14 } Error
エラー出力 output
11
12 } Mode
モード出力output

Note) If you connect the relay etc., rated current of the coil
Internal emergency should use the relay which is 100mA/24V or less.
内部非常停止回路
stop circuit
CNUSR2 If the electric current of the further flows, internal fuse 1
16/17 may cut. And, although the example of the connection
which uses the external power source is shown in the
41/42 } 付加軸用コンタクタ
Contactor
put for
コントロール出力
control out-
additional axes
figure, if the coil is connected using the internal power
supply of the robot controller, internal fuse 2 may cut.

Fig.6-6 ： Limitations when connecting the relay etc. (CR750)

*1) The minimum load electric current of the switch is more than 5mA/24V.

Safety 6-149
6Safety

[Supplementary explanation regarding emergency stop circuit]

The controller’s internal circuit is as shown in the below diagram. Be sure to build a circuit that properly
shuts off the emergency stop detection relay when the emergency stop button is pressed.

OP TB 24V
OP
emergency TB
emergency
非常停止 非常停止
stop stop

+
Emergency stop
非常停止検出
detection relay
リレー
-

0V
OPOP TB
TB External
外部
emergency
非常停止 emergency
非常停止 emergency
非常停止
stop
検出 stop
検出 stop
検出
detection detection detection

Input
入力
Safety
安全リレー relay

CAUTION Be sure to perform wiring correctly. If there are mistakes in the wiring, the robot may
not stop when the emergency stop button is pressed and there will be a risk of damage
or personal injury occurring.
After wiring, be sure to press each of the installed emergency stop switches and check
whether the emergency stop circuit works properly.

CAUTION Be sure to duplicate connection of the emergency stop, door switch and enabling
switch. If not duplicated, these functions may fail due to a broken relay used by
customer, etc.

6-150 Safety
 6Safety

6.2 Working environment

Avoid installation in the following places as the equipment's life and operation will be affected by the ambient
environment conditions. When using in the following conditions, the customer must pay special attention to the
preventive measures.

(1) Power supply

・ Where the voltage fluctuation will exceed the input voltage range.
・ Where a momentary power failure exceeding 20ms may occur.
・ Where the power capacity cannot be sufficiently secured.

CAUTION Please use the controller with an input power supply voltage fluctuation rate of 10% or
less. In the case of 200 VAC input, for example, if the controller is used with 180 VAC
during the day and 220 VAC during the night, turn the servo off once and then on again.
If this is not performed, an excessive regeneration error may occur.

(2) Noise
・ Where a surge voltage exceeding 1000V, 1μs may be applied on the primary voltage. Near large inverters, high
output frequency oscillator, large contactors and welding machines. Static noise may enter the lines when this
product is used near radios or televisions. Keep the robot away from these items.

(3) Temperature and humidity

・ Where the atmospheric temperature exceeds 40 degree , lower than 0 degree.
・ Where the relative humidity exceeds 85%, lower than 45%, and where dew may condense.
・ Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.

(4) Vibration
・ Where excessive vibration or impact may be applied. (Use in an environment of 34m/s2 or less during transpor-
tation and 5m/s2 or less during operation.)

(5) Installation environment

・ Where strong electric fields or magnetic fields are generated.
・ Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.)
･ Where there is heavy powder dust and oil mist present.

6.3 Precautions for handling

(1) This robot has brakes on all axes. The precision of the robot may drop, looseness may occur and the reduction
gears may be damaged if the robot is moved with force with the brakes applied.
(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accu-
racy may drop due to an excessive backlash, or the backed up data may be destroyed.
(3) Note that depending on the posture, even when within the movement range, the wrist section could interfere
with the base section. Take care to prevent interference during jog. *1)
(4) The robot arm consists of precision parts such as bearing. Lubricants such as grease are also applied on the
moving parts to keep the mechanical accuracy. In a cold start under low temperature or in the first start after
being stored for one month or longer, lubricants may not be spread enough. Such condition may lower the posi-
tioning accuracy, cause servo and overload alarms, and early wearing of the moving parts. To avoid such situ-
ation, perform warm-up operation of the machine at a low speed (at about 20% of normal operation speed).
Move the robot arm from the lower to the upper limit of the movable range with the 30 degree joint angle or
more for about 10 minutes. After that, speed up the operation gradually.
Please use the warm-up operation. (About the details of the warm-up operation, refer to "INSTRUCTION
MANUAL/Detailed explanations of functions and operations".)
(5) The robot arm and controller must be grounded with 100Ω or less (class D grounding) to secure the noise
resistance and to prevent electric shocks.

*1) Jog operation refers to operating the robot manually using the teaching pendant.

Working environment 6-151

6Safety

(6) The items described in these specifications are conditions for carrying out the periodic maintenance and
inspections described in the instruction manual.
(7) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard config-
uration may break due to the fixed installation specifications. In this case, use "the machine cable extension
(for flexed)" factory shipment special specifications or options.
(8) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc.
Take care to prevent interference with the workpiece or peripheral devices during operation.
(9) The hanging installation jig can be borrowed from the maker. Order to dealer when need.
(10) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhesive
power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the
coated surface may be damaged when such tape or label is peeled off.
(11) If the robot is operated with a heavy load and at a high speed, the surface of the robot arm gets very hot. It
would not result in burns, however, it may cause secondary accidents if touched carelessly.
(12) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during
a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the pro-
gram data may be destroyed.
(13) If the J1, J2 and J3 axes collide with the mechanical stopper during the automatic operation of the robot, it is
necessary to replace the resin part of the mechanical stopper unit. For the replacement of the resin parts,
please contact Mitsubishi or Mitsubishi's dealer.
If the resin part is not replaced, the mechanism unit and the speed reducer may be damaged significantly when
the axes collide with the mechanical stopper next or subsequent time.
(14) During the robot's automatic operation, a break is applied to the robot arm when the input power supply is
shut down by a power failure, for instance. When a break is applied, the arm may deviate from the operation
path predetermined by automatic operation and, as a result, it may interfere with the mechanical stopper
depending on the operation at shutdown. In such a case, take an appropriate measure in advance to prevent
any dangerous situation from occurring due to the interference between the arm and peripheral devices.
Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to reduce
interference.
(15) The J1 to J3 axes of the RV-13F series generate loud noise during high-speed operation because of their
reduction gear structure, but it does not affect the robot's function, performance, and a life.
(16) Do not conduct an insulated voltage test. If conducted by mistake, it may result in a breakdown.
(17) Fretting may occur on the axis which moving angle or moving distance move minutely, or not moves. Fretting
is that the required oil film becomes hard to be formed if the moving angle is small, and wear occurs. The axis
which not moved is moving slightly by vibration etc. To make no fretting recommends to move these axes
about once every day the 30 degree or more, or the 20mm or more.
(18) The United Nations’ Recommendations on the Transport of Dangerous Goods must be observed for trans-
border transportation of lithium batteries by air, sea, and land. The lithium batteries (ER6, Q6BAT) used in Mit-
subishi industrial robots contain less than 1 g of lithium and are not classified as dangerous goods. However, if
the quantity of lithium batteries exceeds 24 batteries for storage, etc., they will be classified as Class 9: Mis-
cellaneous dangerous substances and articles. Shipping less than 24 batteries is recommended to avoid having
to carry out transport safety measures as the customer’s consignor. Note that some transportation compa-
nies may request an indication that the batteries are not dangerous goods be included on the invoice. For ship-
ping requirement details, please contact your transportation company.
(19) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the
dew condensation may occur on the coupling or the hose surface.
(20) When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for dis-
infecting and protecting wooden packaging from insects, they cause malfunction when entering our products.
Please take necessary precautions to ensure that remaining materials from fumigant do not enter our prod-
ucts, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect
wood from insects before packing products.

6-152 Precautions for handling

 6Safety

6.4 EMC installation guideline

6.4.1 Outlines
The EMC directive is coerced from January 1, 1996, and it is necessary to attach the CE mark which shows that
the product is in conformity to directive.
Since the industrial robot is the component of the automation system, it considers that the EMC directive is not
the target product of the direct. However, because it is one of the main components, introduces the method and
components of the measures for conforming the automation system to the EMC directive.
And also we are carrying out the qualification test about the conformity of the EMC directive under the environ-
ment based on the contents of this document. However, the noise level is changed by the kind of equipment to be
used, the layout, the construction of the controlling board, the course of wiring, etc. Therefore, please confirm by
the customer eventually.

6.4.2 EMC directive

The Mitsubishi Electric industrial robot follows the European EMC directive. This technical standard regulates the
following two items.
(1) Emission (EMI ： Electromagnetic Interference) ..............The capacity not to generate the disturbance noise
which has a bad influence outside.
(2) Immunity (EMS ： Electromagnetic Susceptibility)..........The capacity which does not malfunction for the dis-
turbance noise from the outside.
Each contents are shown below.
Testing technical-
Item Name Contents
standard number

Emission Radiative noise disturbance The electromagnetic noise etc. which are emitted to EN61000-6-2 ： 2005
(EMI) environs. EN61000-6-4 ： 2007
EN62061:2005(Annex E)
Electrical-conduction noise disturbance The electromagnetism noise etc. which flow out of
the power-supply line.
Immunity Electrostatic discharge immunity test The noise from the electrified human body.
(EMS)
Radiated, radio-frequency, electromagnetic The electromagnetism noise from the transceiver,
field immunity test susceptibility test the broadcasting station, etc.
Electrical fast transient burst immunity The relay noise or the electromagnetism noise etc.
test which are caused in power-supply ON/OFF.
Immunity to conducted distrurbances The electromagnetism noise etc. which flow in
induced radio-frequency fields through the power source wire and the grounding
wire.
Power frequency magnetic field immunity The electromagnetism noise with a power supply
test frequency of 50/60 Hz etc.
Voltage dips, short interruptions and The noise in the variation of the source voltage of
voltage variations immunity test the power dispatching, etc.

Surge immunity test The electromagnetism noise by the thunderbolt, etc.

EMC installation guideline 6-153

6Safety

6.4.3 EMC measures

There are mainly following items in the EMC measures.
(1) Store into the sealed metal board.
(2) Grounding all the conductor that have floated electrically (makes the impedance low).
(3) Wiring so that the power source wire and signal wire are separated.
(4) Use the shield cable for the cable which wired outside of the metal board.
(5) Install the noise filter.

To suppress the noise emitted out of the board, be careful of the following item.
(1) Ensure grounding of the equipment.
(2) Use the shield cable.
(3) Separate the metal board electrically. Narrows the distance/hole.
The strength of electromagnetic noise emitted to environment is changed a lot by the shielding efficiency
of cable and the distance of metal board, so it should be careful.

6.4.4 Component parts for EMC measures

(1) Ferrite core
The ferrite core is mounted by the plastics case as one. It can attach by the one-touch, without cutting the cable.
This has the effect in the common-mode noise. The measures against the noise are made not influential in the
quality of the signal.
There are the following as an example.
Maker: SEIWA ELECTRIC MFG. Co.,Ltd.
Outside dimension (mm) Diameter of the
Type adaptation cable
A B C D [max] (mm)

E04SR401938 61 38 19 40 19.0
E04SR301334 39 34 13 30 13.0

Maker: TAKACHI ELECTRONICS ENCLOSURE CO., LTD.

Outside dimension (mm) Diameter of the
Type adaptation cable
A B C D [max] (mm)
TFT-274015S 43.8 27.4 20.7 - φ26.5

(2) Line noise filter

Type ： FR-BLF （Mitsubishi Electric Corp.）

6-154 EMC installation guideline

 7Appendix

7 Appendix
Appendix 1 ： Specifications discussion material (RV-4F/7F series)
■ Customer information
Company name Name
Address Telephone

■ Purchased mode
Type Note1)
□ RV-4F-D □ RV-4FL-D □ RV-7F-D □ RV-7FL-D

Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name.
■ Purchased mode
Item Standard specifications Shipping special specifications
Robot arm Oil mist specification (IP67) General environment □ Not provided □ Provided
specification (IP40)
Clean specification General environment □ Not provided □ Provided
(ISO class3) specification (IP40)
Internal wiring and piping Equipped to the forearm □ Not provided □ -SH01 □ -SH02 □ -SH03
specificationNote1) □ -SH04 □ -SH05
Machine cable □ 5m fixed type □ 2m fixed type: 1S-02UCBL-01

Note1) The corresponding base external wiring set is attached.

■ Options (Installable after shipment)
Item Type Provision, and specifications when provided.
J1 axis operating range change 1F-DH-03 For RV-4F series: □ Not provided □ Provided
1F-DH-04 For RV-7F series: □ Not provided □ Provided
Machine cable extension 1S- □□ CBL-01 Fixed type: □ Not provide □ 5m □ 10m □ 15m
arm

1S- □□ LCBL-01 Flexed type: □ Not provide □ 5m □ 10m □ 15m

Solenoid valve set 1F-VD0 □ -02 □ Not provide
Robot

1F-VD0 □ E-02 1F-VD0 □ -02 (Sink type): □ 1set □ 2set □ 3set □ 4set
1F-VD0 □ E-02 (Source type): □ 1set □ 2set □ 3set □ 4set
Hand input cable 1F-HC35S-02 □ Not provided □ Provided
Hand output cable 1F-GR35S-02 □ Not provided □ Provided
Hand curl tube 1E-ST040 □ C □ Not provided □ 1set □ 2set □ 3set □ 4set
Forearm external wiring set 1F-HB0 □ S-01 □ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01
Base external wiring set 1F-HA0 □ S-01 □ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01
Simple teaching pendant R32TB- □□ □ Not provided □ 7m □ 15m
Controller

Highly efficient teaching pendant R56TB- □□ □ Not provided □ 7m □ 15m

Parallel I/O interface 2D-TZ368/ □ Not provided 2D-TZ368(Sink type)/ □ -1pc. □ -2pc.
2D-TZ378 2D-TZ378(Source type)/ □ -1pc. □ -2pc.
External I/O cable 2D-CBL □□ □ Not provided □ 5m-( )pc. □ 15m-( )pc.
(For parallel I/O interface) (2D-TZ368/TZ378)
Parallel I/O unit 2A-RZ361/ □ Not provided □ 2A-RZ361(Sink type)/( ) unit
2A-RZ371 □ 2A-RZ371(Source type)/( ) unit
External I/O cable 2A-CBL □□ □ Not provided □ 5m-( )pc. □ 15m-( )pc.
(For Parallel I/O unit) (2A-RZ361/RZ371)
CC-Link interface 2D-TZ576 □ Not provided □ Provided
Controller protection box CR750-MB □ Not provided □ Provided
RT ToolBox2 3D-11C-WINE □ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
RT ToolBox2 mini 3D-12C-WINE □ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
Network vision sensor 4D-2CG5***-PKG □ Not provided □ Provided
Instructions manual 5F-FF01-PE01 □ Not provided □ Provided ( ) sets
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 ( ) pcs. □ Backup batteries Q6BAT ( ) pcs. □ Grease ( ) cans

■ Robot selection check list

Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other ( )
Atmosphere □ General environment □ Clean
□ Oil mist:
Workpiece mass ( ) ｇ Hand mass ( )ｇ
Confirm oil proof □ request (Oil name: )/ □ not request Note1)
□ Other ( )
Remarks
Note1) Refer to Page 23, "2.2.6 Protection specifications" about oil resistance.

Specifications discussion material (RV-4F/7F series) Appendix-155

7Appendix

Appendix 2 ： Specifications discussion material (RV-7FLL)

■ Customer information
Company name Name
Address Telephone

■ Purchased mode
Type Note1)
■ RV-7FLL-D (General environment specification (IP40))

Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name.
■ Purchased mode
Item Standard specifications Shipping special specifications
Robot arm Internal wiring and piping Equipped to the forearm □ Not provided □ -SH01 □ -SH02 □ -SH03
specificationNote1) □ -SH04 □ -SH05
Machine cable □ 7m fixed type □ 2m fixed type: 1S-02UCBL-01

Note1) The corresponding base external wiring set is attached.

■ Options (Installable after shipment)
Item Type Provision, and specifications when provided.
J1 axis operating range change 1F-DH-05J1 □ Not provided □ Provided
Machine cable extension 1S- □□ CBL-01 Fixed type: □ Not provide □ 5m □ 10m □ 15m
Robot arm

1S- □□ LCBL-01 Flexed type: □ Not provide □ 5m □ 10m □ 15m

Solenoid valve set 1F-VD0 □ -02 □ Not provide
1F-VD0 □ E-02 1F-VD0 □ -02 (Sink type): □ 1set □ 2set □ 3set □ 4set
1F-VD0 □ E-02 (Source type): □ 1set □ 2set □ 3set □ 4set
Hand input cable 1F-HC35S-02 □ Not provided □ Provided
Hand output cable 1F-GR35S-02 □ Not provided □ Provided
Hand curl tube 1E-ST040 □ C □ Not provided □ 1set □ 2set □ 3set □ 4set
Forearm external wiring set 1F-HB0 □ S-01 □ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01
Base external wiring set 1F-HA0 □ S-01 □ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01
Simple teaching pendant R32TB- □□ □ Not provided □ 7m □ 15m
Controller

Highly efficient teaching pendant R56TB- □□ □ Not provided □ 7m □ 15m

Parallel I/O interface 2D-TZ368/ □ Not provided 2D-TZ368(Sink type)/ □ -1pc. □ -2pc.
2D-TZ378 2D-TZ378(Source type)/ □ -1pc. □ -2pc.
External I/O cable 2D-CBL □□ □ Not provided □ 5m-( )pc. □ 15m-( )pc.
(For parallel I/O interface) (2D-TZ368/TZ378)
Parallel I/O unit 2A-RZ361/ □ Not provided □ 2A-RZ361(Sink type)/( ) unit
2A-RZ371 □ 2A-RZ371(Source type)/( ) unit
External I/O cable 2A-CBL □□ □ Not provided □ 5m-( )pc. □ 15m-( )pc.
(For Parallel I/O unit) (2A-RZ361/RZ371)
CC-Link interface 2D-TZ576 □ Not provided □ Provided
Controller protection box CR750-MB □ Not provided □ Provided
RT ToolBox2 3D-11C-WINE □ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
RT ToolBox2 mini 3D-12C-WINE □ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
Network vision sensor 4D-2CG5***-PKG □ Not provided □ Provided
Instructions manual 5F-FF01-PE01 □ Not provided □ Provided ( ) sets
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 ( ) pcs. □ Backup batteries Q6BAT ( ) pcs. □ Grease ( ) cans

■ Robot selection check list

Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other ( )
Workpiece mass ( ) ｇ Hand mass ( ) ｇ Atmosphere □ General environment
□ Other ( )
Remarks

Appendix-156 Specifications discussion material (RV-7FLL)

 7Appendix

Appendix 3 ： Specifications discussion material (RV-13F/13FL)

■ Customer information
Company name Name
Address Telephone

■ Purchased mode
Type Note1)
□ RV-13F-D □ RV-13FL-D

Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name.
■ Purchased mode
Item Standard specifications Shipping special specifications
Robot arm Oil mist specification (IP67) General environment □ Not provided □ Provided
specification (IP40)
Clean specification General environment □ Not provided □ Provided
(ISO class3) specification (IP40)
Internal wiring and piping Equipped to the forearm □ Not provided □ -SH01 □ -SH02 □ -SH03
specificationNote1) □ -SH04 □ -SH05
Machine cable □ 7m fixed type □ 2m fixed type: 1S-02UCBL-01

Note1) The corresponding base external wiring set is attached.

■ Options (Installable after shipment)
Item Type Provision, and specifications when provided.
J1 axis operating range change 1F-DH-05J1 □ Not provided □ Provided
Machine cable extension 1S- □□ CBL-01 Fixed type: □ Not provide □ 5m □ 10m □ 15m
Robot arm

1S- □□ LCBL-01 Flexed type: □ Not provide □ 5m □ 10m □ 15m

Solenoid valve set 1F-VD0 □ -03 □ Not provide
1F-VD0 □ E-03 1F-VD0 □ -03 (Sink type): □ 1set □ 2set □ 3set □ 4set
1F-VD0 □ E-03 (Source type): □ 1set □ 2set □ 3set □ 4set
Hand input cable 1F-HC35S-02 □ Not provided □ Provided
Hand output cable 1F-GR35S-02 □ Not provided □ Provided
Hand curl tube 1N-ST060 □ C □ Not provided □ 1set □ 2set □ 3set □ 4set
Forearm external wiring set 1F-HB0 □ S-01 □ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01
Base external wiring set 1F-HA0 □ S-01 □ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01
Simple teaching pendant R32TB- □□ □ Not provided □ 7m □ 15m
Controller

Highly efficient teaching pendant R56TB- □□ □ Not provided □ 7m □ 15m

Parallel I/O interface 2D-TZ368/ □ Not provided 2D-TZ368(Sink type)/ □ -1pc. □ -2pc.
2D-TZ378 2D-TZ378(Source type)/ □ -1pc. □ -2pc.
External I/O cable 2D-CBL □□ □ Not provided □ 5m-( )pc. □ 15m-( )pc.
(For parallel I/O interface) (2D-TZ368/TZ378)
Parallel I/O unit 2A-RZ361/ □ Not provided □ 2A-RZ361(Sink type)/( ) unit
2A-RZ371 □ 2A-RZ371(Source type)/( ) unit
External I/O cable 2A-CBL □□ □ Not provided □ 5m-( )pc. □ 15m-( )pc.
(For Parallel I/O unit) (2A-RZ361/RZ371)
CC-Link interface 2D-TZ576 □ Not provided □ Provided
Controller protection box CR750-MB □ Not provided □ Provided
RT ToolBox2 3D-11C-WINE □ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
RT ToolBox2 mini 3D-12C-WINE □ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
Network vision sensor 4D-2CG5***-PKG □ Not provided □ Provided
Instructions manual 5F-FF01-PE01 □ Not provided □ Provided ( ) sets
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 ( ) pcs. □ Backup batteries Q6BAT ( ) pcs. □ Grease ( ) cans

■ Robot selection check list

Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other ( )
Atmosphere □ General environment □ Clean
□ Oil mist:
Workpiece mass ( ) ｇ Hand mass ( )ｇ
Confirm oil proof □ request (Oil name: )/ □ not request Note1)
□ Other ( )
Remarks
Note1) Refer to Page 23, "2.2.6 Protection specifications" about oil resistance.

Specifications discussion material (RV-13F/13FL) Appendix-157

7Appendix

Appendix 4 ： Specifications discussion material (RV-20F)

■ Customer information
Company name Name
Address Telephone

■ Purchased mode
Type Note1)
■ RV-20F-D

Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name.
■ Purchased mode
Item Standard specifications Shipping special specifications
Robot arm Oil mist specification (IP67) General environment □ Not provided □ Provided
specification (IP40)
Clean specification General environment □ Not provided □ Provided
(ISO class3) specification (IP40)
Internal wiring and piping Equipped to the forearm □ Not provided □ -SH01 □ -SH02 □ -SH03
specificationNote1) □ -SH04 □ -SH05
Machine cable □ 7m fixed type □ 2m fixed type: 1S-02UCBL-01

Note1) The corresponding base external wiring set is attached.

■ Options (Installable after shipment)
Item Type Provision, and specifications when provided.
J1 axis operating range change 1F-DH-05J1 □ Not provided □ Provided
Machine cable extension 1S- □□ CBL-01 Fixed type: □ Not provide □ 5m □ 10m □ 15m
Robot arm

1S- □□ LCBL-01 Flexed type: □ Not provide □ 5m □ 10m □ 15m

Solenoid valve set 1F-VD0 □ -03 □ Not provide
1F-VD0 □ E-03 1F-VD0 □ -03 (Sink type): □ 1set □ 2set □ 3set □ 4set
1F-VD0 □ E-03 (Source type): □ 1set □ 2set □ 3set □ 4set
Hand input cable 1F-HC35S-02 □ Not provided □ Provided
Hand output cable 1F-GR35S-02 □ Not provided □ Provided
Hand curl tube 1N-ST060 □ C □ Not provided □ 1set □ 2set □ 3set □ 4set
Forearm external wiring set 1F-HB0 □ S-01 □ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01
Base external wiring set 1F-HA0 □ S-01 □ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01
Simple teaching pendant R32TB- □□ □ Not provided □ 7m □ 15m
Controller

Highly efficient teaching pendant R56TB- □□ □ Not provided □ 7m □ 15m

Parallel I/O interface 2D-TZ368/ □ Not provided 2D-TZ368(Sink type)/ □ -1pc. □ -2pc.
2D-TZ378 2D-TZ378(Source type)/ □ -1pc. □ -2pc.
External I/O cable 2D-CBL □□ □ Not provided □ 5m-( )pc. □ 15m-( )pc.
(For parallel I/O interface) (2D-TZ368/TZ378)
Parallel I/O unit 2A-RZ361/ □ Not provided □ 2A-RZ361(Sink type)/( ) unit
2A-RZ371 □ 2A-RZ371(Source type)/( ) unit
External I/O cable 2A-CBL □□ □ Not provided □ 5m-( )pc. □ 15m-( )pc.
(For Parallel I/O unit) (2A-RZ361/RZ371)
CC-Link interface 2D-TZ576 □ Not provided □ Provided
Controller protection box CR750-MB □ Not provided □ Provided
RT ToolBox2 3D-11C-WINE □ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
RT ToolBox2 mini 3D-12C-WINE □ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
Network vision sensor 4D-2CG5***-PKG □ Not provided □ Provided
Instructions manual 5F-FF01-PE01 □ Not provided □ Provided ( ) sets
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 ( ) pcs. □ Backup batteries Q6BAT ( ) pcs. □ Grease ( ) cans

■ Robot selection check list

Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other ( )
Atmosphere □ General environment □ Clean
□ Oil mist:
Workpiece mass ( ) ｇ Hand mass ( )ｇ
Confirm oil proof □ request (Oil name: )/ □ not request Note1)
□ Other ( )
Remarks
Note1) Refer to Page 23, "2.2.6 Protection specifications" about oil resistance.

Appendix-158 Specifications discussion material (RV-20F)

 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU, NAGOYA 461-8670, JAPAN

Authorised representative:
MITSUBISHI ELECTRIC EUROPE B.V. GERMANY
Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany

Jun., 2013 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.