melfa technical news bfp-a6079-0211e-* · mitsubishi electric corporation industrial robot melfa...
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Subject: Precautions of replacement from RV-3SD/3SDJ to RV-4FR-D/4FRL-D
Applicable to: RV-3SD, RV-3SDJRV-4FR-D, RV-4FRL-D
Thank you for your continued support of Mitsubishi industrial MELFA series robots.This Technical News explains in detail the precautions for the replacement of RV-3SD/3SDJvertical multiple-joint type robots with RV-4FR-D or RV-4FRL-D robots.
Contents
1. Configurations of the models (Compatible model for replacement) .. 2
2. Specifications comparison ....... 22. 1 Specifications of the robot arm .. 22. 2 Dimensions of the robot arm and diagram of the operating range ... 32. 3 Specifications of the controller ...... 62. 4 Outside dimensions of the controller . 62. 5 Options ...... 7
3. Compatibility ...... 83. 1 Compatibility of the robot arm .. 83. 2 Compatibility of the controller ....... 83. 3 Precautions of the extension function for GOT direct connection ...... 8
MITSUBISHI ELECTRIC CORPORATION
MELFA Technical News BFP-A6079-0211E-*January 2018
(1/8)
Changes for the Better
Mitsubishi Electric Corporation RobotIndustrial
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Model ControllerRV-4FR-D, RV-4FRL-D CR800-04VD
Model ControllerRV-3SD CR1DA-721RV-3SDJ CR1DA-731
1. Configurations of the models (Compatible model for replacement)
The following shows the compatible models of robot arms and controllers for the replacement of RV-3SD/3SDJ to RV-4FR-D or RV-4FRL-D.
Precautions for the replacement of RV-3SD/3SDJ with RV-4FR-D or RV-4FRL-D.
(2/8)
Mitsubishi Electric Corporation Industrial ROBOT MELFA Technical News No.BFP-A6079-0211-*
2.1 Specifications of the robot armThe following table compares the robot arm specifications between old and new models.
2. Specifications comparison
6 5
kgArm length mm 245 + +270 245 + +300 235 + +275 310 + +335
mm 642 641 515 649J1J2J3 191 (-20 to +171) 273 (-100 to +173) 161 (0 to +161) 164 (0 to +164)J4 320 (160) -J5J6J1 450 420J2 450 336J3 300 250J4 412 -J5J6
mm/sec 5500 5300 9027 9048sec 0.63 0.61 0.36 0.36mmCkg 37 33 39 41
J4 5.83 -J5 5.83 5.83J6 3.9 3.9J4 0.137 -J5 0.137 0.137J6 0.047 0.047
Note 1) Value of mechanical interface side when synthesizing all axesNote 2) Value of 1kg of load and back-and-forth movement for a vertical distance of 25mm and horizontal distance of 300mmNote 3) Can also be used a as a spare line (0.2sq 4-pair cable) for conventional models.Note 4) Please contact a Mitsubishi Electric dealer since the environment resistance may not be secured depending on the characteristics of oil you use. In addition, an air purge is required. For the details, refer to the specifications manual.
Note 6) In the wall type specification, operation range of the J1-axis is restricted.
Note 5) Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3m/s in the clean room and internal robot suctioning. A 8-mm coupler for suctioning is provided at the back of the base.
6Floor type, ceiling type, (wall type Note 6)
Vertical multiple-joint typeAC servo motor
(with J1 to J3, J5 axis brake)
Floor type, ceiling type, (wall type Note 6)Vertical multiple-joint type
AC servo motor(with all axes brake)
720 (360)240 (120)
240 (120)
400 (200)
Absolute encoder
3.966.666.66
0.020 to 40
623
None: Standard (oil mist) Note 4)/C: Clean Note 5)
3
660
Hand: 8 input points/8 output points (forearm),8 spare wires: AWG#27 (0.1mm2)
0.020 to 40
Standard: IP65/C: Class 10 (0.3m)
Absolute encoder
412
250
None: Standard/M: Oil mist Note 4)/C: Clean Note 5)
480 (240)
4
Tool wiring0.1
Hand: 8 input points/8 output pointsSignal line of the multi-function hand sensor and force sensor
(24-pin)
0.20.2
Tolerable moment
Tolerable inertiakg, m2
187
Nm
Mass
Positioning repeatabilityCycle time Note 2)
degree/sec
250
Ambient temperature
Maximum speed
Maximum reach radius
Structure
Standard: IP40/M: IP67/C: ISO class 3
Position detection method
340 (170)
720
540
225 (-90 to +135)
240 (120)720 (360)
Color: Light gray(Reference Munsell color: 0.6B7.6/0.2)
Tool pneumatic piping
PaintMachine cable
Primary: 6 2 Secondary: 6 8, 4 4 (wrist inside)Primary: 6 2 Secondary: 4 8
Color: Light gray(Reference Munsell color: 0.08GY7.64/0.81)
5m (connector on both ends) 5m (connector on both ends)
RV-3SD/3SDC RV-4FR/4FRM/4RFC-D RV-4FRL/4FRLM/4FRLC-D
Old models
RV-3SDJ/3SDJCModel
TypeFR series
UnitSpecifications
Machine classProtection degreeDegree of freedom
Maximum composite speed Note 1)
Installation style
Load capacity
Drive system
deg
Operating range
RV-6SRV-6SIP54IP65 CR2B-574RV-6SDRV-6SDIP54IP65 CR2D-711
RV-6SL RV-6SDL
RV-6SC10 RV-6SDC10
RV-6SLC RV-6SDLC
RV-6S-SM CR3-535MRV-6SD-SM CR3D-711M
RV-6SL-SM RV-6SDL-SM
RV-12SRV-12SIP54IP65 CR3-535MRV-12SDRV-12SDIP54IP65 CR3D-701M
RV-12SL RV-12SDL
RV-12SC10 CR3-535RV-12SDC10 CR3D-701
RV-12SLC RV-12SDLC
RV-3SRV-3SIP65 CR1B-571RV-3SDRV-3SDIP65 CR1D-721
RV-3SJIP65 RV-3SDJIP65
ModelController
RV-12SCR3-535(M)RV-4FR-D, RV-4FRL-DCR800-04VD
RV-6SCR2B-574RV-4F-D, RV-4FL-DCR750-04VD-1
RV-6S-SMCR3-535MRV-4F-Q, RV-4FL-QCR750-04VQ-1
RV-3SCR1-571RV-4F-Q, RV-4FL-QCR750-04VQ-1
RV-3SJCR1-571
RH-6SHCR1-571
RH-12SHCR2B-574
RH-18SHCR2B-574
SQ SD
CR1B-571CR2B-574CR3-535CR1Q-7xx1CR2Q-7xxCR3Q-7xxCR1D-7xx1CR2D-7xxCR3D-7xx
MELFA-BASICMELFA-BASIC
2,50013,000
step5,00026,000
88256
32/320/0IO
1
8/0
1
1
1 1
1
1
1
1
RS-232101
RS-4221
SLOT1
SLOT303
SLOT101
ch101
ch010BASE-T0110BASE-T100BASE-Tx
USB01
ch0MR-J2S 1MR-J3
ch002
RoHS
133A
CR1Vac/ kVA180253 / 1.0
CR2180253 / 2.0
CR3180253 / 3.0
CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)
CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)
CR3mm450(W)x440(D)x625(H)CR3M450(W)x380(D)x625(H)
CR1kg10 8
CR2kg20
CR3kg60
CR1CR2IP20CR3IP54
S/SQ S/SD
S SQ SD
2A-RZ365
2A-RZ3612A-RZ361S/SD
2A-CBLxx2A-CBLxxS/SD
R28TBR32TBTB
R56TBTB
2D-TZ368
CC-Link2A-HR5752D-TZ576
2A-RZ541
2A-HR533
2A-RZ581
2A-RZ581
2A-HR4322D-TZ454
2D-CBLxx
RS-232RS-MAXY-CBL2D-232CBL03M
3A-0xC-WINJ3D-1xC-WINJ
[s]
RV-6S0.4960.471
RV-6SL0.5950.525
RV-12S0.6950.656
RV-12SL0.7910.740
RV-3S0.7180.668
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)CR2D10mm
TB R28TBR32TB
TB R56TBGUI
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/O 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
A6BAT
ER6Q6BAT
(2)
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)
TB R28TBR32TB
TB R56TB
I/O
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/OI/F 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
ER6Q6BAT
(3)
A6BAT
90 HC-SWSHF-SWSHF-SWS
(4)
S SQ SD
TB R28TBR32TB
TB R56TB
TB
I/O
MELFA-BASICMELFA-BASIC
S/WRT ToolBoxRT ToolBox2RT ToolBox2
ER6Q6BAT
Sheet3
RV-6SRV-6SIP54IP65 CR2B-574RV-6SDRV-6SDIP54IP65 CR2D-711
RV-6SL RV-6SDL
RV-6SC10 RV-6SDC10
RV-6SLC RV-6SDLC
RV-6S-SM CR3-535MRV-6SD-SM CR3D-711M
RV-6SL-SM RV-6SDL-SM
RV-12SRV-12SIP54IP65 CR3-535MRV-12SDRV-12SDIP54IP65 CR3D-701M
RV-12SL RV-12SDL
RV-12SC10 CR3-535RV-12SDC10 CR3D-701
RV-12SLC RV-12SDLC
RV-3SRV-3SIP65 CR1B-571RV-3SDRV-3SDIP65 CR1D-721
RV-3SJIP65 RV-3SDJIP65
ModelController
RV-3SDCR1DA-721RV-12SDCR3D-701(M)
RV-3SDJCR1DA-731RV-6SDCR2D-711
RV-3SDJCR1D-731
RH-6SDHCR1D-761
RH-12SDHCR2D-741
RH-18SDHCR2D-751
CR2B-574CR2D-711
MELFA-BASICMELFA-BASIC
2,50013,000
step5,00026,000
88256
32/320/0IO
1
8/0
1
1
1 1
1
1
1
1
RS-2321
RS-4221
SLOT1
SLOT3
SLOT1
ch1
ch010BASE-T110BASE-T100BASE-Tx
USB1
ch0MR-J2S 1MR-J3
ch02
Vac180253
kVA2.0
mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)10mm
kg20
IP20
2A-RZ365
2A-RZ361
2A-CBLxx
R28TBR32TBTB
R56TBTB
2D-TZ368
CC-Link2A-HR5752D-TZ576
2A-RZ541
2A-HR533
2A-RZ581
2A-RZ581
2A-HR4322D-TZ454
2D-CBLxx
RS-232RS-MAXY-CBL2D-232CBL03M
3A-0xC-WINJ3D-1xC-WINJ
[s]
RV-6S0.4960.471
RV-6SL0.5950.525
RV-12S0.6950.656
RV-12SL0.7910.740
RV-3S0.7180.668
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)CR2D10mm
TB R28TBR32TB
TB R56TBGUI
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/O 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
A6BAT
ER6Q6BAT
(2)
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)
TB R28TBR32TB
TB R56TB
I/O
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/OI/F 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
ER6Q6BAT
(3)
mm160(W)x205(D)
A6BAT
J1 HC-SWSHF-SWS
J26
Sheet3
Sheet1
TypeUnitSpecifications
Old modelsFR series
ModelRV-3SD/3SDCRV-3SDJ/3SDJCRV-4FR/4FRM/4RFC-DRV-4FRL/4FRLM/4FRLC-D
Machine classNone: Standard (oil mist) Note 4)/C: Clean Note 5)None: Standard/M: Oil mist Note 4)/C: Clean Note 5)
Protection degreeStandard: IP65/C: Class 10 (0.3m)Standard: IP40/M: IP67/C: ISO class 3
Degree of freedom656
Installation styleFloor type, ceiling type, (wall type Note 6)Floor type, ceiling type, (wall type Note 6)
StructureVertical multiple-joint typeVertical multiple-joint type
Drive systemAC servo motor(with J1 to J3, J5 axis brake)AC servo motor(with all axes brake)
Position detection methodAbsolute encoderAbsolute encoder
Load capacitykg34
Arm lengthmm245 + +270245 + +300235 + +275310 + +335
Maximum reach radiusmm642641515649
Operating rangeJ1deg340 (170)480 (240)
J2225 (-90 to +135)240 (120)
J3191 (-20 to +171)273 (-100 to +173)161 (0 to +161)164 (0 to +164)
J4320 (160)-400 (200)
J5240 (120)240 (120)
J6720 (360)720 (360)
Maximum speedJ1degree/sec250450420
J2187450336
J3250300250
J4412-540
J5412623
J6660720
Maximum composite speed Note 1)mm/sec5500530090279048
Cycle time Note 2)sec0.630.610.360.36
Positioning repeatabilitymm0.020.02
Ambient temperatureC0 to 400 to 40
Masskg37333941
Tolerable momentJ4Nm5.83-6.66
J55.835.836.66
J63.93.93.96
Tolerable inertiaJ4kg, m20.137-0.2
J50.1370.1370.2
J60.0470.0470.1
Tool wiringHand: 8 input points/8 output points (forearm),8 spare wires: AWG#27 (0.1mm2)Hand: 8 input points/8 output pointsSignal line of the multi-function hand sensor and force sensor (24-pin)LAN 1 (8-pin) Note 3)
Tool pneumatic pipingPrimary: 6 2 Secondary: 4 8Primary: 6 2 Secondary: 6 8, 4 4 (wrist inside)
Machine cable5m (connector on both ends)5m (connector on both ends)
PaintColor: Light gray(Reference Munsell color: 0.08GY7.64/0.81)Color: Light gray(Reference Munsell color: 0.6B7.6/0.2)
Note 1) Value of mechanical interface side when synthesizing all axes
Note 2) Value of 1kg of load and back-and-forth movement for a vertical distance of 25mm and horizontal distance of 300mm
Note 3) Can also be used a as a spare line (0.2sq 4-pair cable) for conventional models.
Note 4) Please contact a Mitsubishi Electric dealer since the environment resistance may not be secured depending on the characteristics of oil you use.
In addition, an air purge is required. For the details, refer to the specifications manual.
Note 5) Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3m/s in the clean room and internal robot suctioning. A 8-mm coupler for suctioning is provided at the back of the base.
Note 6) In the wall type specification, operation range of the J1-axis is restricted.
Sheet2
Sheet3
-
Precautions for the replacement of RV-3SD/3SDJ with RV-4FR-D or RV-4FRL-D.
(3/8)
Mitsubishi Electric Corporation Industrial ROBOT MELFA Technical News No.BFP-A6079-0211*
2.2 Dimensions of the robot arm and diagram of the operating range2.2.1 Robot arm installation dimensions and mechanical interface
The installation dimensions and mechanical interface have changed. Refer to the following diagrams.
Mechanical interface
New models: RV-4FR-D, RV-4FRL-DOld models: RV-3SD/3SDJ
Installation dimensions of the robot arm Installation dimensions of the robot arm
Note 1)
Note 1) Thread engagement should be within 7.5 to 8.5mm.Note 1) Thread engagement should be within 7.5 to 8mm.
Note 2) This value indicates the dimensions of standard specification. The dimensions for oil mist specification and clean specification are 3.5mm, and 6.5mm for SH** specification.
Note 1)
Note 2)
Mechanical interface
2-6 hole (8 prepared hole for positioning)
4-9installation hole
(Installation reference surface)
(Installation reference surface)
(Installation reference surface)
(Inst
alla
tion
refe
renc
e su
rface
)
4-9installation hole
5H7 depth 9
4-M5 screw depth 95H7 depth 8
4-M5 screw depth 8
-
(4/8)
Mitsubishi Electric Corporation Industrial ROBOT MELFA Technical News No.BFP-A6079-0211*
2.2.2 Dimensions of the robot arm and diagram of the operating range1) Comparison between RV-4FRL-D and RV-3SD
The major differences in dimensions of the robot and operating range are described below.
2) Comparison between RV-4FR-D and RV-3SDThe major differences in dimensions of the robot and operating range are described below.
Arm downward facing limit line
Arm downward facing singular point boundary line
Robot installation surface
RV-4FR-D
RV-3SD
Arm downward facing limit line
Arm downward facing singular point boundary line
Robot installation surface
RV-4FRL-D
RV-3SD
RV-4FRL-D (shaded area)(Area in -240 to +240)
RV-3SD (hatching area)(Area in -170 to +170)
RV-4FR-D (shaded area)(Area in -240 to +240)
RV-3SD (hatching area)(Area in -170 to +170)
RV-3SD can be replaced with RV-4FR-D because its operating range is within the one of RV-4FR-D.
The operating range of RV-3SDexceeds the one of RV-4FR-D.
The model whose operating range is within the one of RV-4FR-D can be replaced.
-
(5/8)
Mitsubishi Electric Corporation Industrial ROBOT MELFA Technical News No.BFP-A6079-0211*
3) Comparison between RV-4FRL-D and RV-3SDJThe major differences in dimensions of the robot and operating range are described below.
Arm downward facing limit line
Arm downward facing singular point boundary line
Robot installation surface
Area below the singular point (Note 1)
RV-4FRL-D
RV-3SDJ
Arm downward facing limit line
Arm downward facing singular point boundary line
Robot installation surface
Area below the singular point (Note 1)
RV-4FR-D
RV-3SDJ
4) Comparison between RV-4FR-D and RV-3SDJThe major differences in dimensions of the robot and operating range are described below.
RV-4FRL-D (shaded area)(Area in -240 to +240)
RV-3SDJ (hatching area)(Area in -170 to +170)
RV-4FR-D (shaded area)(Area in -240 to +240)
RV-3SDJ (hatching area)(Area in -170 to +170)
Note 1: Since RV-4FRL-D is a 6-axis robot, it has a singular point in the lower part of the operating area. At and around the singular point, the
operation is disabled due to the restriction.
To operate the arm in the lower area out of the singular point and its surroundings, use the singular point passing function (which enables passing only when the arm passes on the singular point, and disables passing only when the arm passes around the singular point) and move the arm to the lower area.Consider using this method.
RV-3SDJ can be replaced with RV-4FR-D because its operating range is within the one of RV-4FR-D.However, note that the operation is restricted (Note 1) around and below the singular point.
The operating range of RV-3SDJ exceeds the one of RV-4FR-D.
The model whose operating range is within the one of RV-4FR-D can be replaced.However, note that the operation is restricted (Note 1) around and below the singular point.
Note 1: Since RV-4FR-D is a 6-axis robot, it has a singular point in the lower part of the operating area. At and around the singular point, the
operation is disabled due to the restriction.
To operate the arm in the lower area out of the singular point and its surroundings, use the singular point passing function (which enables passing only when the arm passes on the singular point, and disables passing only when the arm passes around the singular point) and move the arm to the lower area.Consider using this method.
-
2.3 Specifications of the controllerPlease note that the controller model is new, and the dimensions and others have changed. For the details, refer to the following.
*1: The rate of power-supply voltage fluctuation is within 10%.
(6/8)
Mitsubishi Electric Corporation Industrial ROBOT MELFA Technical News No.BFP-A6079-0211*
2.4 Outside dimensions of the controllerThe controllers outside dimensions have changed. (Left drawing: RV-3SD/3SDJ controller, right drawing: RV-4FR-D, RV-4FRL-D controller)
New model CR800-04VD
Old models CR1DA-721/731
Item UnitSpecifications
Old models FR seriesRV-3SD/3SDJ RV-4FR-D, RV-4FRL-D
Controller model CR1DA-721/731 CR800-04VDRouting control method PTP control, CP control PTP control, CP controlNumber of control axis Simultaneously 6 Simultaneously 6Programming language MELFA-BASIC IV, V MELFA-BASIC V, VIMemory capacity
Programmed positions point 13,000 39,000 Number of steps step 26,000 78,000 Number of programs 256 512
Ext
erna
l inp
ut/o
utpu
t (s
tand
ard)
General-purpose input/output
point
Input 0/output 0(Max. 256/256: option)
Input 0/output 0(Max. 256/256: option)
Dedicated input/output Assigned to general-purpose input/output Assigned to general-purpose input/outputDedicated stop input 1 1
Hand open/close Input 8/output 0 (when using pneumatic hand interface: 8/8) Input 8/output 8
Emergency stop input 1 (duplication) 1 (duplication)Door switch input 1 (duplication) 1 (duplication)
1 (duplication) 0Enabling device input1 (duplication) 1 (duplication)Emergency stop output
Mode output 1 (duplication) 1 (duplication)Robot error output 1 (duplication) 1 (duplication)Mode selector switch input 0 1 (duplication)Additional axis synchronization 1 (duplication) 1 (duplication)
Inte
rface
RS-232 port 1 -RS-422 port 1 (for T/B) 1 (for T/B)
Ethernet port 1 (for T/B)/ 1 (for customer)10BASE-T/100BASE-TX1 (for T/B)/ 1 (for customer)
10BASE-T/100BASE-TX/1000BASE-TUSB port 1 1
Memory expansion slot SLOT 1 -
Expansion slot SLOT 1 2Robot input/output link ch 1 1Additional axis function ch 1 (SSCNETIII) 1 (SSCNETIII/H)Communication I/F between R/C ch - 2
Encoder input ch 2 2Input power supply
Voltage range V Single phase, 180 to 253 VAC (*1) Single phase, 200 to 230 VAC (*1)Power capacity kVA 1 1
Outside dimensions mm 240(W)290(D)200(H) 430(W)425(D)99.5(H)Mass kg Approx. 9 Approx. 12.5Construction [Protection specification] Self-contained floor type, open type [IP20] Self-contained floor type, open type [IP20]Grounding 100 or less (D class grounding) 100 or less (D class grounding)
-
2.5 Options
Meaning of symbols in table : Compatible, : Standard equipment, : Incompatible, -: Not supported
(7/8)
(2) Robot controller options comparison
Old models New models Specif ications and supplementary explanation
RV-3SD/3SDJ RV-4FR-D, RV-4FRL-D
Solenoid valve set1S-VD0-02 (Sink type)
1S-VD0E-02 (Source type): 1 to 4
1F-VD0-02 (Sink type)1F-VD0E-02 (Source type)
: 1 to 4
Solenoid valve set for the pneumatic hand (1 to 4 sets, sink type)Solenoid valve set for the pneumatic hand (1 to 4 sets, source type)
Hand output cable 1S-GR35S-01 1F-GR35S-02 The robot side has a connector, and the other side has output cables forunprocessed solenoid valve connection. (Total length: 300mm)
Hand input cable 1S-HC25C-01 1F-HC35S-02 The robot side has a connector, and the other side has input cables forunprocessed hand sensor connection. (Total length: 300mm)
Hand curl tube 1E-ST040C 1E-ST04C 4 x pics, curl pneumatic tube for up to 4-set solenoid valve connection External w iring set 1 forthe forearm
- 1F-HB01S-01 For forearm: An external wiring box to which the hand input cable, Ethernetcable, and electrical hand/force sensor cable are connected -
External w iring set 2 forthe forearm
- 1F-HB02S-01 For forearm: An external wiring box to which the force sensor, electrical hand,and Ethernet cable are connected -
External w iring set 1 forthe base - 1F-HA01S-01
For base: An external wiring box to which the electrical hand communicationsignal output, electrical hand/force sensor cable, and Ethernet cable areconnected Hand input provided.
-
External w iring set 2 forthe base - 1F-HA02S-01
For base: An external wiring box to which the electrical hand communicationsignal output, electrical hand, force sensor, and Ethernet cable are connectedHand input not provided.
-
J1-axis operating rangechange
1S-DH-03 1F-DH-03 Stopper part for J1-axis operating range change
2m machine cable(replacement type)
1S-02UCBL-03 - Fixed type (Set of 2 cables for power supply and signals), 2m(Provided as substitute for standard 5m cables.) -
Machine cable(replacement type) -
1F- UCBL-41: 02, 10, 15, 20
Fixed type: 2m, 10m, 15m. 20m -
Machine cable(replacement type) -
1F-LUCBL-41: 10, 15, 20
Flexed type: 10m, 15m, 20m -
Specif ications
Fixed type (Set of 2 cables for power supply and signals), 5m, 10m, 15m(Used for adding to standard 5m cables.)
Flexed type (Set of 2 cables for power supply and signals), 5m, 10m, 15m(Used for adding to standard 5m cables.)
Machine cable extension(Fixed type)
1S-CBL-03: 05, 10, 15 -
Machine cable extension(Flexed type)
1S-LCBL-03: 05, 10, 15 -
Item
-
-
Compatibility
(1) Robot arm options comparison
Pneumatic hand interface
Expansion I/O unit
External I/O cable For expansion I/O unit
Build-in I/O interface
External I/O cable For built-in I/O interfaceCC-Link interface Ver. 2 compatibleAdditional axis interfaceTracking functionExpansion memoryController protection boxTeaching boxHigh-functionality teaching boxRS-232 cable (for PC support)Force sensor set SSCNETIII/H compatible
RT ToolBox3 StandardRT ToolBox3minRT ToolBox3Pro
Simulator (MELFA-Works)
PC support softw are 3D-1C-WINJ3F-14C-WINJ
3F-16D-WINJ
-
-4F-FS002H-W200/4F-FS002H-W1000-
R32TBR56TB
-3D-21C-WINJ
3F-15C-WINJ
-
2A-RZ361 (Sink)2A-RZ371 (Source)
2A-CBL2D-TZ368 (Sink)
2D-TZ378 (Source)2D-CBL2D-TZ576
---
-
2A-RZ361 (Sink)2A-RZ371 (Source)
2A-CBL2D-TZ368 (Sink)
2D-TZ378 (Source)2D-CBL2D-TZ576
-
-
CR800-MB
CR1D-MB
CR800-04VD
CR1DA-7**/CR800-Dcompatibility
2D-TZ454
2D-232CBL03M
2A-RZ365 (Sink)2A-RZ375 (Source)
Item RemarksSpecifications
New modelOld models
CR1DA-721/731
Mitsubishi Electric Corporation Industrial ROBOT MELFA Technical News No.BFP-A6079-0211*
Meaning of symbols in table : Same product, : Incompatible, -: Not supported
RV-6SRV-6SIP54IP65 CR2B-574RV-6SDRV-6SDIP54IP65 CR2D-711
RV-6SL RV-6SDL
RV-6SC10 RV-6SDC10
RV-6SLC RV-6SDLC
RV-6S-SM CR3-535MRV-6SD-SM CR3D-711M
RV-6SL-SM RV-6SDL-SM
RV-12SRV-12SIP54IP65 CR3-535MRV-12SDRV-12SDIP54IP65 CR3D-701M
RV-12SL RV-12SDL
RV-12SC10 CR3-535RV-12SDC10 CR3D-701
RV-12SLC RV-12SDLC
RV-3SRV-3SIP65 CR1B-571RV-3SDRV-3SDIP65 CR1D-721
RV-3SJIP65 RV-3SDJIP65
RV-12SCR3-535(M)RV-12SxCR3x-701(M)
RV-6SCR2B-574RV-6SxCR2x-711
RV-6S-SMCR3-535MRV-6Sx-SMCR3x-711M
RV-3SCR1-571RV-3SxCR1x-721
RV-3SJCR1-571RV-3SxJCR1x-731
RH-6SHCR1-571RH-6SxHCR1x-761
RH-12SHCR2B-574RH-12SxHCR2x-741
RH-18SHCR2B-574RH-18SxHCR2x-751
SDSQ
CR1B-571CR2B-574CR3-535CR1D-7xx1CR2D-7xxCR3D-7xxCR1Q-7xx1CR2Q-7xxCR3Q-7xx
MELFA-BASICMELFA-BASIC
2,50013,000
step5,00026,000
88256
32/320/0IO
1
8/0
1
1
1 1
1
1
1
1
RS-23210
RS-4221
SLOT1
SLOT30
SLOT10
ch10
ch010BASE-T110BASE-T100BASE-Tx0
USB10
ch0MR-J2S 1MR-J3
ch020
RoHS
133A
CR1Vac/ kVA180253 / 1.0
CR2180253 / 2.0
CR3180253 / 3.0
CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)
CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)
CR3mm450(W)x440(D)x625(H)CR3M450(W)x380(D)x625(H)
CR1CR2IP20CR3IP54
ItemSpecificationsCompatibility
Old modelsNew modelsSpecifications and supplementary explanation
RV-3SD/3SDJRV-4FR-D, RV-4FRL-D
Solenoid valve set1S-VD0o-02 (Sink type)1S-VD0oE-02 (Source type)o: 1 to 41F-VD0o-02 (Sink type)1F-VD0oE-02 (Source type)o: 1 to 4Solenoid valve set for the pneumatic hand (1 to 4 sets, sink type)Solenoid valve set for the pneumatic hand (1 to 4 sets, source type)
Hand output cable1S-GR35S-011F-GR35S-02The robot side has a connector, and the other side has output cables for unprocessed solenoid valve connection. (Total length: 300mm)
Hand input cable1S-HC25C-011F-HC35S-02The robot side has a connector, and the other side has input cables for unprocessed hand sensor connection. (Total length: 300mm)
Hand curl tube1E-ST040oC1E-ST04oC4 x o pics, curl pneumatic tube for up to 4-set solenoid valve connection
External wiring set 1 for the forearm-1F-HB01S-01For forearm: An external wiring box to which the hand input cable, Ethernet cable, and electrical hand/force sensor cable are connected-
External wiring set 2 for the forearm-1F-HB02S-01For forearm: An external wiring box to which the force sensor, electrical hand, and Ethernet cable are connected-
External wiring set 1 for the base-1F-HA01S-01For base: An external wiring box to which the electrical hand communication signal output, electrical hand/force sensor cable, and Ethernet cable are connected Hand input provided.-
External wiring set 2 for the base-1F-HA02S-01For base: An external wiring box to which the electrical hand communication signal output, electrical hand, force sensor, and Ethernet cable are connected Hand input not provided.-
J1-axis operating range change1S-DH-031F-DH-03Stopper part for J1-axis operating range change
2m machine cable(replacement type)1S-02UCBL-03-Fixed type (Set of 2 cables for power supply and signals), 2m(Provided as substitute for standard 5m cables.)-
Machine cable (replacement type)-1F- oo UCBL-41oo: 02, 10, 15, 20Fixed type: 2m, 10m, 15m. 20m-
Machine cable (replacement type)-1F-ooLUCBL-41oo: 10, 15, 20Flexed type: 10m, 15m, 20m-
Machine cable extension(Fixed type)1S-ooCBL-03oo: 05, 10, 15-Fixed type (Set of 2 cables for power supply and signals), 5m, 10m, 15m(Used for adding to standard 5m cables.)-
Machine cable extension(Flexed type)1S-ooLCBL-03oo: 05, 10, 15-Flexed type (Set of 2 cables for power supply and signals), 5m, 10m, 15m(Used for adding to standard 5m cables.)-
S/SD S/SQ
SDSQ
2A-RZ365
2A-RZ361S/SD
2A-CBLxxS/SD
R28TBR32TBTB
R56TBTB
() 2D-TZ368
CC-Link2A-HR5752D-TZ576SD:ver2
2A-RZ541
2A-HR533
2A-RZ581
2A-RZ581
2A-HR4322D-TZ454
BOXCR1) CR1B-MBCR1D-MB
2D-CBLxx
RS-232 RS-MAXY-CBL2D-232CBL03M
3A-0xC-WINJ3D-1xC-WINJ
[s]
RV-6S0.4960.471
RV-6SL0.5950.525
RV-12S0.6950.656
RV-12SL0.7910.740
RV-3S0.7180.668
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)CR2D10mm
TB R28TBR32TB
TB R56TBGUI
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/O 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
A6BAT
ER6Q6BAT
(2)
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)
TB R28TBR32TB
TB R56TB
I/O
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/OI/F 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
ER6Q6BAT
(3)
A6BAT
90 HC-SWSHF-SWSHF-SWS
(4)
S SD SQ
TB R28TBR32TB
TB R56TB
TB
I/O0-999910000-18191
MELFA-BASICMELFA-BASIC
S/WRT ToolBoxRT ToolBox2RT ToolBox2
ER6Q6BAT
NARC-AG
I/O
NARC
GOT
() () ()
(32)(*1)0255256X00XFFY00YFF256
i/F()*2) 03132X00X1FY00Y1F32
i/F()*2) 326332X20X3FY20Y3F32
i/F()*2) 649532X40X5FY40Y5F32
GOT*2)0255256PIO(*3)X00XFFY00YFF 256
256799
(SKIP0)8001X3208001
SKIP17 8018077X321X3278018077
8401X3488401
8501X3528501
8601X35C8601
(8)9009078X384X38BY384Y38B9009078
(8)9109178X38EX395Y38EY3959109178
(8)9209278X398X39FY388Y39F9209278
(8)9309378X3A2X3A9Y3A2Y3A99309378
(8)9409478X3ACX3B3Y3ACY3B39409478
Q-Bus I/F(*2)90009511512???(*5)???X2328X2527Y2328Y2527512
(*2)200050713072X7D0X13CFY7D0Y13CF3072
(*2)60008047204860006255(*6)256X1770X1F6FY1770Y1F6F2048D0D255D256D511 256
(*4)10000181918192
(*1)
32
(*2)
NARC
(*3)
NARC
(*4)
(*5)
(*6)
Ver.2CCFIX128
M_DIN( )M_DOUT( )
IO
S SD SQ
0255
20005071
60008047
1000018191
900907
90
J1J2J3J4J5J6
RV-6S
RV-12S
RV-3S
RH-6SH
RH-12SH
RH-18SH
or
NoSQSD
1S/W I/O
2R/C PIO
3 SD
4
5I/OAsi
6
7I/O I/O
8GOTR/C SQ/SDGOTSQ
R/C
Sheet3
RV-6SRV-6SIP54IP65 CR2B-574RV-6SDRV-6SDIP54IP65 CR2D-711
RV-6SL RV-6SDL
RV-6SC10 RV-6SDC10
RV-6SLC RV-6SDLC
RV-6S-SM CR3-535MRV-6SD-SM CR3D-711M
RV-6SL-SM RV-6SDL-SM
RV-12SRV-12SIP54IP65 CR3-535MRV-12SDRV-12SDIP54IP65 CR3D-701M
RV-12SL RV-12SDL
RV-12SC10 CR3-535RV-12SDC10 CR3D-701
RV-12SLC RV-12SDLC
RV-3SRV-3SIP65 CR1B-571RV-3SDRV-3SDIP65 CR1D-721
RV-3SJIP65 RV-3SDJIP65
RV-12SCR3-535(M)RV-12SxCR3x-701(M)
RV-6SCR2B-574RV-6SxCR2x-711
RV-6S-SMCR3-535MRV-6Sx-SMCR3x-711M
RV-3SCR1-571RV-3SxCR1x-721
RV-3SJCR1-571RV-3SxJCR1x-731
RH-6SHCR1-571RH-6SxHCR1x-761
RH-12SHCR2B-574RH-12SxHCR2x-741
RH-18SHCR2B-574RH-18SxHCR2x-751
SDSQ
CR1B-571CR2B-574CR3-535CR1D-7xx1CR2D-7xxCR3D-7xxCR1Q-7xx1CR2Q-7xxCR3Q-7xx
MELFA-BASICMELFA-BASIC
2,50013,000
step5,00026,000
88256
32/320/0IO
1
8/0
1
1
1 1
1
1
1
1
RS-23210
RS-4221
SLOT1
SLOT30
SLOT10
ch10
ch010BASE-T110BASE-T100BASE-Tx0
USB10
ch0MR-J2S 1MR-J3
ch020
RoHS
133A
CR1Vac/ kVA180253 / 1.0
CR2180253 / 2.0
CR3180253 / 3.0
CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)
CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)
CR3mm450(W)x440(D)x625(H)CR3M450(W)x380(D)x625(H)
CR1CR2IP20CR3IP54
ItemSpecificationsCR1DA-7**/CR800-D compatibilityRemarks
Old modelsNew model
CR1DA-721/731CR800-04VD
Pneumatic hand interface2A-RZ365 (Sink)2A-RZ375 (Source)
Expansion I/O unit2A-RZ361 (Sink)2A-RZ371 (Source)2A-RZ361 (Sink)2A-RZ371 (Source)
External I/O cable2A-CBLoo2A-CBLooFor expansion I/O unit
Build-in I/O interface2D-TZ368 (Sink)2D-TZ378 (Source)2D-TZ368 (Sink)2D-TZ378 (Source)
External I/O cable2D-CBLoo2D-CBLFor built-in I/O interface
CC-Link interface2D-TZ5762D-TZ576Ver. 2 compatible
Additional axis interface
Tracking function
Expansion memory2D-TZ454--
2D-TZ535-EIP-2D-TZ535-EIP--
2D-TZ5712D-TZ571
2D-TZ5772D-TZ577
Controller protection boxCR1D-MBCR800-MB
Teaching boxR32TB
High-functionality teaching boxR56TB
RS-232 cable (for PC support)2D-232CBL03M--
Force sensor set-4F-FS002H-W200/4F-FS002H-W1000-SSCNETIII/H compatible
PC support software3D-1oC-WINJ3F-14C-WINJ-RT ToolBox3 Standard
3F-15C-WINJ-RT ToolBox3min
3F-16D-WINJ-RT ToolBox3Pro
Simulator (MELFA-Works)3D-21C-WINJ--
[s]
RV-6S0.4960.471
RV-6SL0.5950.525
RV-12S0.6950.656
RV-12SL0.7910.740
RV-3S0.7180.668
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)CR2D10mm
TB R28TBR32TB
TB R56TBGUI
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/O 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
A6BAT
ER6Q6BAT
(2)
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)
TB R28TBR32TB
TB R56TB
I/O
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/OI/F 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
ER6Q6BAT
(3)
A6BAT
90 HC-SWSHF-SWSHF-SWS
(4)
S SD SQ
TB R28TBR32TB
TB R56TB
TB
I/O0-999910000-18191
MELFA-BASICMELFA-BASIC
S/WRT ToolBoxRT ToolBox2RT ToolBox2
ER6Q6BAT
NARC-AG
I/O
NARC
GOT
() () ()
(32)(*1)0255256X00XFFY00YFF256
i/F()*2) 03132X00X1FY00Y1F32
i/F()*2) 326332X20X3FY20Y3F32
i/F()*2) 649532X40X5FY40Y5F32
GOT*2)0255256PIO(*3)X00XFFY00YFF 256
256799
(SKIP0)8001X3208001
SKIP17 8018077X321X3278018077
8401X3488401
8501X3528501
8601X35C8601
(8)9009078X384X38BY384Y38B9009078
(8)9109178X38EX395Y38EY3959109178
(8)9209278X398X39FY388Y39F9209278
(8)9309378X3A2X3A9Y3A2Y3A99309378
(8)9409478X3ACX3B3Y3ACY3B39409478
Q-Bus I/F(*2)90009511512???(*5)???X2328X2527Y2328Y2527512
(*2)200050713072X7D0X13CFY7D0Y13CF3072
(*2)60008047204860006255(*6)256X1770X1F6FY1770Y1F6F2048D0D255D256D511 256
(*4)10000181918192
(*1)
32
(*2)
NARC
(*3)
NARC
(*4)
(*5)
(*6)
Ver.2CCFIX128
M_DIN( )M_DOUT( )
IO
S SD SQ
0255
20005071
60008047
1000018191
900907
90
J1J2J3J4J5J6
RV-6S
RV-12S
RV-3S
RH-6SH
RH-12SH
RH-18SH
or
NoSQSD
1S/W I/O
2R/C PIO
3 SD
4
5I/OAsi
6
7I/O I/O
8GOTR/C SQ/SDGOTSQ
R/C
Sheet3
-
Mitsubishi Electric Corporation Industrial ROBOT MELFA Technical News No.BFP-A6079-0211*
The following table provides compatibility between old and new models.3.1 Compatibility of the robot arm
3. Compatibility
3.2 Compatibility of the controller
TB High-functionality TB I/O map Programming language PC support software
Maintenance Backup battery : Fully compatible : Incompatible
Q6BAT
MELFA-BASIC VIRT ToolBox3
-
Compatibility RemarksOld models
R32TBR56TB
CR1DA-721/731
0 to 9999 0 to 9999
CR800-04VD
MELFA-BASIC V
CategorySpecifications
Item
Operation
FR series
RT ToolBox2
(8/8)
3.3 Precautions of the extension function for GOT direct connection
The start addresses of the GOT shared memory (CPU buffer memory) I/O are different between old and new models.
GOT output start address (to robot)Robot input signal start addressRobot output signal start addressGOT input start address (from robot)Memory configuration
Item FR series
100001000010000
Shared memory among GOTs CPU buffer memoryU3E1\G10000 U3E1\HG0
U3E0\G10000
RemarksOld modelsCR1DA-721/731 CR800-04VD
10000
Specifications
U3E0\G0
Precautions of controller specifications
Robot language
Serial number of robot
Origin setting
Hand type
Mode selector input
Enabling device switch inputBattery
TB dummy connector
Item FR series
Necessary to input(by using the T/B or RT2)
Not necessary to input(The data has been stored in the robot's internal ROM.)
NecessaryNot necessary
After deadman turns on, the T/B can be removed without stopping therobot even during operation.
Necessary to input(by using the T/B or RT2)
Not necessary to input(The data has been stored in the robot's internal ROM.)
MELFA-BASIC IVMELFA-BASIC V
Using (Q6BAT, 1 pc.)
Old modelsCR1DA-721/731 CR800-04VD
Specifications
MELFA-BASIC IV cannot be used directly.(RT3 converts MELFA-BASIC IV into MELFA-BASIC V or VI.)
MELFA-BASIC VMELFA-BASIC VI (upper-compatible of MELFA-BASIC V)
* In MELFA-BASIC VI, the description method of program is the sameas MELFA-BASIC V unless the Function or Include commands are
Not using (Not necessary to replace the battery)
Sink type (initial value)It is necessary to set a parameter
for selecting the source type.
Not set (initial value)It is necessary to select either sink or source type by setting a
parameter. (If not set, an error will occur.)
Provided
Provided(Customer needs to prepare a mode selector switch.)
Recommended key switch: HA1K-2C2A-2 (manufactured by IDEC)
Provided Not provided
Category ItemSpecifications
Compatibility RemarksOld models FR seriesRV-3SD/3SDJ RV-4FRL-D, RV-4FR-D
Outside dimensions
Installation dimensions Changed Base depth dimension is incompatible.
Mechanical interface Changed Compatible, however, note that the screw depth and hole depth are changed.
Operating range Changed
ToolingHand wiring Changed IncompatibleHand piping No change Backup wiring Changed
Maintenance Backup battery A6BAT MR-BAT6V1
: Fully compatible : Incompatible
RV-6SRV-6SIP54IP65 CR2B-574RV-6SDRV-6SDIP54IP65 CR2D-711
RV-6SL RV-6SDL
RV-6SC10 RV-6SDC10
RV-6SLC RV-6SDLC
RV-6S-SM CR3-535MRV-6SD-SM CR3D-711M
RV-6SL-SM RV-6SDL-SM
RV-12SRV-12SIP54IP65 CR3-535MRV-12SDRV-12SDIP54IP65 CR3D-701M
RV-12SL RV-12SDL
RV-12SC10 CR3-535RV-12SDC10 CR3D-701
RV-12SLC RV-12SDLC
RV-3SRV-3SIP65 CR1B-571RV-3SDRV-3SDIP65 CR1D-721
RV-3SJIP65 RV-3SDJIP65
RV-12SCR3-535(M)RV-12SxCR3x-701(M)
RV-6SCR2B-574RV-6SxCR2x-711
RV-6S-SMCR3-535MRV-6Sx-SMCR3x-711M
RV-3SCR1-571RV-3SxCR1x-721
RV-3SJCR1-571RV-3SxJCR1x-731
RH-6SHCR1-571RH-6SxHCR1x-761
RH-12SHCR2B-574RH-12SxHCR2x-741
RH-18SHCR2B-574RH-18SxHCR2x-751
SDSQ
CR1B-571CR2B-574CR3-535CR1D-7xx1CR2D-7xxCR3D-7xxCR1Q-7xx1CR2Q-7xxCR3Q-7xx
MELFA-BASICMELFA-BASIC
2,50013,000
step5,00026,000
88256
32/320/0IO
1
8/0
1
1
1 1
1
1
1
1
RS-23210
RS-4221
SLOT1
SLOT30
SLOT10
ch10
ch010BASE-T110BASE-T100BASE-Tx0
USB10
ch0MR-J2S 1MR-J3
ch020
RoHS
133A
CR1Vac/ kVA180253 / 1.0
CR2180253 / 2.0
CR3180253 / 3.0
CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)
CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)
CR3mm450(W)x440(D)x625(H)CR3M450(W)x380(D)x625(H)
CR1CR2IP20CR3IP54
S/SD S/SQ
S
SDSQ
2A-RZ365
2A-RZ361S/SD
2A-CBLxxS/SD
R28TBR32TBTB
R56TBTB
2D-TZ368
CC-Link2A-HR5752D-TZ576SD:ver2
2A-RZ541
2A-HR533
2A-RZ581
2A-RZ581
2A-HR4322D-TZ454
2D-CBLxx
RS-232RS-MAXY-CBL2D-232CBL03M
3A-0xC-WINJ3D-1xC-WINJ
[s]
RV-6S0.4960.471
RV-6SL0.5950.525
RV-12S0.6950.656
RV-12SL0.7910.740
RV-3S0.7180.668
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)CR2D10mm
TB R28TBR32TB
TB R56TBGUI
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/O 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
A6BAT
ER6Q6BAT
(2)
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)
TB R28TBR32TB
TB R56TB
I/O
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/OI/F 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
ER6Q6BAT
(3)
A6BAT
90 HC-SWSHF-SWSHF-SWS
(4)
CategoryItemSpecificationsCompatibilityRemarks
Old modelsFR series
CR1DA-721/731CR800-04VD
OperationTBR32TB
High-functionality TBR56TB
I/O map0 to 99990 to 9999
Programming languageMELFA-BASIC VMELFA-BASIC VI
PC support softwareRT ToolBox2RT ToolBox3
MaintenanceBackup batteryQ6BAT-
: Fully compatible : Incompatible
NARC-AG
I/O
NARC
GOT
() () ()
(32)(*1)0255256X00XFFY00YFF256
i/F()*2) 03132X00X1FY00Y1F32
i/F()*2) 326332X20X3FY20Y3F32
i/F()*2) 649532X40X5FY40Y5F32
GOT*2)0255256PIO(*3)X00XFFY00YFF 256
256799
(SKIP0)8001X3208001
SKIP17 8018077X321X3278018077
8401X3488401
8501X3528501
8601X35C8601
(8)9009078X384X38BY384Y38B9009078
(8)9109178X38EX395Y38EY3959109178
(8)9209278X398X39FY388Y39F9209278
(8)9309378X3A2X3A9Y3A2Y3A99309378
(8)9409478X3ACX3B3Y3ACY3B39409478
Q-Bus I/F(*2)90009511512???(*5)???X2328X2527Y2328Y2527512
(*2)200050713072X7D0X13CFY7D0Y13CF3072
(*2)60008047204860006255(*6)256X1770X1F6FY1770Y1F6F2048D0D255D256D511 256
(*4)10000181918192
(*1)
32
(*2)
NARC
(*3)
NARC
(*4)
(*5)
(*6)
Ver.2CCFIX128
M_DIN( )M_DOUT( )
IO
S SD SQ
0255
20005071
60008047
1000018191
900907
90
J1J2J3J4J5J6
RV-6S
RV-12S
RV-3S
RH-6SH
RH-12SH
RH-18SH
or
NoSQSD
1S/W I/O
2R/C PIO
3 SD
4
5I/OAsi
6
7I/O I/O
8GOTR/C SQ/SDGOTSQ
R/C
Sheet3
RV-6SRV-6SIP54IP65 CR2B-574RV-6SDRV-6SDIP54IP65 CR2D-711
RV-6SL RV-6SDL
RV-6SC10 RV-6SDC10
RV-6SLC RV-6SDLC
RV-6S-SM CR3-535MRV-6SD-SM CR3D-711M
RV-6SL-SM RV-6SDL-SM
RV-12SRV-12SIP54IP65 CR3-535MRV-12SDRV-12SDIP54IP65 CR3D-701M
RV-12SL RV-12SDL
RV-12SC10 CR3-535RV-12SDC10 CR3D-701
RV-12SLC RV-12SDLC
RV-3SRV-3SIP65 CR1B-571RV-3SDRV-3SDIP65 CR1D-721
RV-3SJIP65 RV-3SDJIP65
RV-12SCR3-535(M)RV-12SxCR3x-701(M)
RV-6SCR2B-574RV-6SxCR2x-711
RV-6S-SMCR3-535MRV-6Sx-SMCR3x-711M
RV-3SCR1-571RV-3SxCR1x-721
RV-3SJCR1-571RV-3SxJCR1x-731
RH-6SHCR1-571RH-6SxHCR1x-761
RH-12SHCR2B-574RH-12SxHCR2x-741
RH-18SHCR2B-574RH-18SxHCR2x-751
SDSQ
CR1B-571CR2B-574CR3-535CR1D-7xx1CR2D-7xxCR3D-7xxCR1Q-7xx1CR2Q-7xxCR3Q-7xx
MELFA-BASICMELFA-BASIC
2,50013,000
step5,00026,000
88256
32/320/0IO
1
8/0
1
1
1 1
1
1
1
1
RS-23210
RS-4221
SLOT1
SLOT30
SLOT10
ch10
ch010BASE-T110BASE-T100BASE-Tx0
USB10
ch0MR-J2S 1MR-J3
ch020
RoHS
133A
CR1Vac/ kVA180253 / 1.0
CR2180253 / 2.0
CR3180253 / 3.0
CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)
CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)
CR3mm450(W)x440(D)x625(H)CR3M450(W)x380(D)x625(H)
CR1CR2IP20CR3IP54
S/SD S/SQ
S
SDSQ
2A-RZ365
2A-RZ361S/SD
2A-CBLxxS/SD
R28TBR32TBTB
R56TBTB
2D-TZ368
CC-Link2A-HR5752D-TZ576SD:ver2
2A-RZ541
2A-HR533
2A-RZ581
2A-RZ581
2A-HR4322D-TZ454
2D-CBLxx
RS-232RS-MAXY-CBL2D-232CBL03M
3A-0xC-WINJ3D-1xC-WINJ
[s]
RV-6S0.4960.471
RV-6SL0.5950.525
RV-12S0.6950.656
RV-12SL0.7910.740
RV-3S0.7180.668
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)CR2D10mm
TB R28TBR32TB
TB R56TBGUI
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/O 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
A6BAT
ER6Q6BAT
(2)
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)
TB R28TBR32TB
TB R56TB
I/O
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/OI/F 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
ER6Q6BAT
(3)
A6BAT
90 HC-SWSHF-SWSHF-SWS
(4)
ItemSpecificationsRemarks
Old modelsFR series
CR1DA-721/731CR800-04VD
GOT output start address (to robot)U3E0\G10000U3E0\G0
Robot input signal start address1000010000
Robot output signal start address1000010000
GOT input start address (from robot)U3E1\G10000U3E1\HG0
Memory configurationShared memory among GOTsCPU buffer memory
NARC-AG
I/O
NARC
GOT
() () ()
(32)(*1)0255256X00XFFY00YFF256
i/F()*2) 03132X00X1FY00Y1F32
i/F()*2) 326332X20X3FY20Y3F32
i/F()*2) 649532X40X5FY40Y5F32
GOT*2)0255256PIO(*3)X00XFFY00YFF 256
256799
(SKIP0)8001X3208001
SKIP17 8018077X321X3278018077
8401X3488401
8501X3528501
8601X35C8601
(8)9009078X384X38BY384Y38B9009078
(8)9109178X38EX395Y38EY3959109178
(8)9209278X398X39FY388Y39F9209278
(8)9309378X3A2X3A9Y3A2Y3A99309378
(8)9409478X3ACX3B3Y3ACY3B39409478
Q-Bus I/F(*2)90009511512???(*5)???X2328X2527Y2328Y2527512
(*2)200050713072X7D0X13CFY7D0Y13CF3072
(*2)60008047204860006255(*6)256X1770X1F6FY1770Y1F6F2048D0D255D256D511 256
(*4)10000181918192
(*1)
32
(*2)
NARC
(*3)
NARC
(*4)
(*5)
(*6)
Ver.2CCFIX128
M_DIN( )M_DOUT( )
IO
S SD SQ
0255
20005071
60008047
1000018191
900907
90
J1J2J3J4J5J6
RV-6S
RV-12S
RV-3S
RH-6SH
RH-12SH
RH-18SH
or
NoSQSD
1S/W I/O
2R/C PIO
3 SD
4
5I/OAsi
6
7I/O I/O
8GOTR/C SQ/SDGOTSQ
R/C
Sheet3
RV-6SRV-6SIP54IP65 CR2B-574RV-6SDRV-6SDIP54IP65 CR2D-711
RV-6SL RV-6SDL
RV-6SC10 RV-6SDC10
RV-6SLC RV-6SDLC
RV-6S-SM CR3-535MRV-6SD-SM CR3D-711M
RV-6SL-SM RV-6SDL-SM
RV-12SRV-12SIP54IP65 CR3-535MRV-12SDRV-12SDIP54IP65 CR3D-701M
RV-12SL RV-12SDL
RV-12SC10 CR3-535RV-12SDC10 CR3D-701
RV-12SLC RV-12SDLC
RV-3SRV-3SIP65 CR1B-571RV-3SDRV-3SDIP65 CR1D-721
RV-3SJIP65 RV-3SDJIP65
RV-12SCR3-535(M)RV-12SxCR3x-701(M)
RV-6SCR2B-574RV-6SxCR2x-711
RV-6S-SMCR3-535MRV-6Sx-SMCR3x-711M
RV-3SCR1-571RV-3SxCR1x-721
RV-3SJCR1-571RV-3SxJCR1x-731
RH-6SHCR1-571RH-6SxHCR1x-761
RH-12SHCR2B-574RH-12SxHCR2x-741
RH-18SHCR2B-574RH-18SxHCR2x-751
SDSQ
CR1B-571CR2B-574CR3-535CR1D-7xx1CR2D-7xxCR3D-7xxCR1Q-7xx1CR2Q-7xxCR3Q-7xx
MELFA-BASICMELFA-BASIC
2,50013,000
step5,00026,000
88256
32/320/0IO
1
8/0
1
1
1 1
1
1
1
1
RS-23210
RS-4221
SLOT1
SLOT30
SLOT10
ch10
ch010BASE-T110BASE-T100BASE-Tx0
USB10
ch0MR-J2S 1MR-J3
ch020
RoHS
133A
CR1Vac/ kVA180253 / 1.0
CR2180253 / 2.0
CR3180253 / 3.0
CR1mm212(W)x290(D)x150(H)240(W)x290(D)x200(H)
CR2mm460(W)x400(D)x200(H)470(W)x400(D)x200(H)
CR3mm450(W)x440(D)x625(H)CR3M450(W)x380(D)x625(H)
CR1CR2IP20CR3IP54
S/SD S/SQ
S
SDSQ
2A-RZ365
2A-RZ361S/SD
2A-CBLxxS/SD
R28TBR32TBTB
R56TBTB
2D-TZ368
CC-Link2A-HR5752D-TZ576SD:ver2
2A-RZ541
2A-HR533
2A-RZ581
2A-RZ581
2A-HR4322D-TZ454
2D-CBLxx
RS-232RS-MAXY-CBL2D-232CBL03M
3A-0xC-WINJ3D-1xC-WINJ
[s]
RV-6S0.4960.471
RV-6SL0.5950.525
RV-12S0.6950.656
RV-12SL0.7910.740
RV-3S0.7180.668
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)CR2D10mm
TB R28TBR32TB
TB R56TBGUI
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/O 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
A6BAT
ER6Q6BAT
(2)
Vac180253
kVA2
M5
mm310(W)x260(D)
mm760(W)x700(D)x210(H)
TB R28TBR32TB
TB R56TB
I/O
S/WRT ToolBoxRT ToolBox2RT ToolBox2
I/O 2A-CBLxx
I/OI/F 2D-CBLxxPIO
CC-Link
CC-Link1.12.0
ER6Q6BAT
(3)
A6BAT
90 HC-SWSHF-SWSHF-SWS
(4)
ItemSpecifications
Old modelsFR series
CR1DA-721/731CR800-04VD
Robot languageMELFA-BASIC IVMELFA-BASIC VMELFA-BASIC IV cannot be used directly.(RT3 converts MELFA-BASIC IV into MELFA-BASIC V or VI.)MELFA-BASIC VMELFA-BASIC VI (upper-compatible of MELFA-BASIC V)* In MELFA-BASIC VI, the description method of program is the same as MELFA-BASIC V unless the Function or Include commands are used.
Serial number of robotNecessary to input (by using the T/B or RT2)Not necessary to input (The data has been stored in the robot's internal ROM.)
Origin settingNecessary to input (by using the T/B or RT2)Not necessary to input (The data has been stored in the robot's internal ROM.)
Hand typeSink type (initial value)It is necessary to set a parameter for selecting the source type.Not set (initial value)It is necessary to select either sink or source type by setting a parameter. (If not set, an error will occur.)
Mode selector inputProvidedProvided(Customer needs to prepare a mode selector switch.)Recommended key switch: HA1K-2C2A-2 (manufactured by IDEC)
Enabling device switch inputProvidedNot provided
BatteryUsing (Q6BAT, 1 pc.)Not using (Not necessary to replace the battery)
TB dummy connectorNecessaryNot necessaryAfter deadman turns on, the T/B can be removed without stopping the robot even during operation.
NARC-AG
I/O
NARC
GOT
() () ()
(32)(*1)0255256X00XFFY00YFF256
i/F()*2) 03132X00X1FY00Y1F32
i/F()*2) 326332X20X3FY20Y3F32
i/F()*2) 649532X40X5FY40Y5F32
GOT*2)0255256PIO(*3)X00XFFY00YFF 256
256799
(SKIP0)8001X3208001
SKIP17 8018077X321X3278018077
8401X3488401
8501X3528501
8601X35C8601
(8)9009078X384X38BY384Y38B9009078
(8)9109178X38EX395Y38EY3959109178
(8)9209278X398X39FY388Y39F9209278
(8)9309378X3A2X3A9Y3A2Y3A99309378
(8)9409478X3ACX3B3Y3ACY3B39409478
Q-Bus I/F(*2)90009511512???(*5)???X2328X2527Y2328Y2527512
(*2)200050713072X7D0X13CFY7D0Y13CF3072
(*2)60008047204860006255(*6)256X1770X1F6FY1770Y1F6F2048D0D255D256D511 256
(*4)10000181918192
(*1)
32
(*2)
NARC
(*3)
NARC
(*4)
(*5)
(*6)
Ver.2CCFIX128
M_DIN( )M_DOUT( )
IO
S SD SQ
0255
20005071
60008047
1000018191
900907
90
J1J2J3J4J5J6
RV-6S
RV-12S
RV-3S
RH-6SH
RH-12SH
RH-18SH
or
NoSQSD
1S/W I/O
2R/C PIO
3 SD
4
5I/OAsi
6
7I/O I/O
8GOTR/C SQ/SDGOTSQ
R/C
Sheet3
1 2 3 4 5 6 7 8
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