RV-2SDB/RV-2SQB Series
Contents
1. RV 2SDB RV 2SQB Mitsubishi Electric Corporation Nagoya Works is a factory certified for 15014001 standards for environmental management systems and ISO9001 standards for quality assurance managememt systems ma MELSOFT Platform 0 ISO 9001 MELFANS BUREAU VERITAS Certification ENVIRONMENTAL MANAGEMENT MITSUBISHI ELECTRIC FA NETWORK SERVICE ON WORLD WIDE we 0 MANAGEMENT http MitsubishiElectric co jp melfansweb english EC97J1113 MELFA RV 2SDB RV 2SQB Series Coming Along A Slim High speed High functionality Robot with a 2 kg Carrying Capacity A compactly built vertical multi axis articulated arm robot ideally suited for future oriented assembly cells manufacturing a wide variety of products each in varying quantities Features ie l Reduced in profile yet has a large operating radius e The length and shape of the arm are designed for optimum performance with a maximum reach being further extended yet the ability retained to tii ia cover work area near to the unit e A greater operating radius is insured in applications calling for a ceiling hung unit as well The robot has an enlarged swing area 240 to 240 enabling the rear space to be put to good use too CR1DA 771 RV 2SDB RV 2SQB CR1QA 771 A large variety of interfaces are offered to assure a high degree of scalability e The robot comes standard with additional axis control interface Ethernet interfac2. 150 deg 90 deg Q O ez Stopper for changing motion space 1S DH 11J2 For effecting change to J2 axis mechanism 30 deg O O 1S DH 11J3 For effecting change to J3 axis mechanism 70 deg Q O m 1S 10CBL 03 Replacement type 10m O O Machine cable for extension fixed 15 15CBL03 Replacement type 15m O A l 1S 10LCBL 03 Replacement type 10m O Machine cable for extension flexible 15 15LCBL 03 Pekasam eniiyge i m O Teaching pendant standard version R32TB 7m Standard 15m Custom O O High function teaching pendant R56TB 7m Standard 15m Custom O Air hand interface 2A RZ365 375 8 output points used exclusively for hand sink source O Parallel I O unit 2A RZ361 371 32 output points 32 input points sink source x External I O cable 2A CBLO5 2A CBL15 Cable length 5m 15m not terminated at one end for 2A RZ361 371 O x 2D 1TZ368 378 32 output points 32 input points sink source Oe x 5 External I O cable 2D CBL05 2D CBL15 Cable length 5m 15m not terminated at one end for 2D TZ368 378 x 2 CC Link interface 2D TZ576 CC Link intelligent device station Version 2 0 1 to 4 stations x S PROFIBUS interface 2A RZ577 Slave station combined total number of input and output data 192 words X DeviceNet Slave interface 2D 7Z571 Slave station Release 2 0 is supported o O x 2D TZ454 User program area with additional memory 2MB O x Perssonal computer support softwware 3D 11C WINJ With simulation functio
3. e Reduced protrusion of the elbow arm lessens possible interference in the rear space e The wrist section which is made less bulky provides easy access through a narrow opening Robot Arm J The robot can quickly change its posture in response to needs frequently arising during assembly operation The robot s ability to handle work near at hand permits a compact layout The robot can cover a larger operating area with its arm oriented as it Is Robot has an omnidirectional 360 degree reach Our assembly operation requires robot to take different posture from one step to another We have had to allow some of the space adjacent to the robot to be wasted Even with a ceiling hung unit used with a compactly built assembly cell We want to set up a work position in four directions to render our system compact Axes at the end of the robot arm J4 through J6 move at a high speed The upper No 1 arm between J2 and J3 axes employs a flap collapsible construction The shoulder J2 axis is provided with an extended motion space The waist J1 axis is provided with a motion space beyond 360 Unlike its conventional SS Close proximity N The arm is of flap 700mm is permitted construction Robot s can even extend EET W forward back into its rear i i direction A 1 Work ro Eh he n E ai as A Apparatus 3 a Assembly cell
4. Analyses indicate that making the Robot s Outer Dimensions and Motion Space Motion space at Point P Motion space at Point P Wrist s downward limit 504 J 504 T 160 I iN 100 View A A Detail of mechanical interface section S g 7 5 82 Motion space 9 So ve at Point P AL m zg M 136 j R Zee 675 a a D z _ 140 3 Installation 40 instration hole a504 reference surface T z 7 ZN A 3 l i 8 E e 6 i i y 160 Wrist s downward 280 TAE i singularity E Side View Vawe a Too vi B Rear view details of installation dimensions op view a a a C Specification Controller Robot A Item Unit Specification Remark ODO rm Type designation CR1DA 771 RV 2SDB CR1QA 771 RV 2SQB Item Unit Specification Robot language MELFA BASIC V Type RV 2SDB RV 2SQB Position teaching method Teaching method MDI method Protection class IP30 0 input 0 output 8192 8192 Input output Point reece Floorstanding ceiling hung maximum 256 256 available as option between sequencer and robot and wall mounted 1 Dedicated input output Point Assigned according to general purpose I O St
5. dimensions mm 240 W x 290 D x 200 H Protrusions excluded Position repeatability mm 0 02 Weight kg Approx 9 Mass kg 19 Structure Self contained floor type open structure IP20 1 There are limits to the motion space of J1 CPU Type designation Q172DRCPU iQ Platform compliant 2 All axes are equipped with a brake C SQ Series Controller New Capabilities D iQ Platform Compliant High Speed Communications Robot CPU mounted on the basis of an iQ Platform compliant sequencer enables data communications between the sequencer which controls and the robot which is controlled to occur much faster and in much greater volumes Input output to and from external apparatuses can be controlled by each sequencer This leads to a neat clutter free cabling Easily legible information rich robot status indication The operational status of the robot is expanded on the sequencer side memory without the intervention of software programs Connection of GOT enables the robot s current data values error description etc to be indicated on screen The result is a vividly expressed human friendly display system Robot can be readily operated under the control of sequencer language alone Robot can be readily operated under the control of sequencer language alone Programming can be accomplished by the e AATA sequencer language you language wouldn t are accustomed justify to use We wonder if time it takes for u
6. e and encoder interface for tracking purpose available with SD Series only This makes it easy to build a manufacturing system with robot placed at its heart e Input output to and from the robot can be controlled directly from GOT without the intermediary of a sequencer A simplified operating panel can be created without using ladder programs This feature is available with SD Series only Advanced servo control backs up a high speed high accuracy operation e Maximum combined speed is 4 400 mm sec Furthermore the speed at which the wrist section Secondary arm moves is boosted to cut down on cycle time in assembly operation e A positioning repeatability of as high as 0 02 mm is realized High rigidity arm and active gain control are combined to achieve a high straight ahead motion accuracy A rich new selection of software programs that guide users through their startup phases e RT ToolBox2 A computer software containing varied features essential for startup such as program editing debugging and cycle time planning optional e MELFA Vision Software designed to employ vision system for maximum ease of use optional e MELFA Works A 3D robot simulator that provides powerful support for system design and preliminary study optional Arm design that allows for coordination with the peripheral apparatuses e Flap arm construction further cuts back robot s minimum operating radius securing a necessary motion space
7. multi CPUs Sample graphics data can be downloaded from MELFANSWeb website Mitsubishi Industrial Robot MELFA RV 2SDB RV 2SGB Series Product Configuration RV 2SDB RV 2SQB MR J3 lt Must be prepared by the customer gt Robot arm iQ Platform compliant el RV 2SQ programmable controller H hma i Vision system Robot arm RV 2SD 3 Optical communications 1 F F OOR CR1DA 771 3 ai EN A SE Pulse encoder Drive unit MR J3 Standard High functionality Equipped with various l Standard High functionality DU1A version version interfaces as standard lt Must be prepared version version lt Must be prepared Teaching pendant by the customer gt Teaching pendant by the customer gt C Configurations Options Classification NETL Type Specification overview RV 2SDB_ _ RV 2SQB Sanna encreet 1E VD01 VDO1E Solenoid valve with an output cable 1 valve sink source O 1E VD02 VD02E Solenoid valve with an output cable 2 valves sink source O Hand output cable 1E GR35S With a robot side connector not terminated at another end O Hand input cable 1 HC30C 11 With a robot side connector not terminated at another end O eats Estoc patube numberofsets 2 dE OO S 1E ST0404C 4 tube number of sets 4 O Q 8 1S DH 11J1 For effecting change to J1 axis mechanism 210 deg
8. n CD ROM O Perssonal computer support softwware mini 3D 12C WINJ Simple version CD ROM Personal computer cable 2D 232CBL03M For PC AT compatible machine 3m Xx MELFA Vision SD 5SIC WINJ COGNEX Vision System compliant O O 3D simulator MELFA Works 3D 21C WINJ Add in to Solidworks software 2 O r ER6 Installed in the robot arm Quantity 4pcs O ca sar Installed in the controller Quantity 1p OL O a MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN http Global MitsubishiElectric com This brochure has been issued in Mar 2010 The contents of this brochure are subject to change L NA 09044ENG 1003 MEE for improvements without notice Contact with Mitsubishi when referring to this brochure Date of issue Mar 2010
9. osition posture at minimum a i H Removal more compact operating radius CL 2 The motion space for the wais J1 axis is broadened to 480 240 so that it can rotate 360 and more 360 a Shortest motion distance cuts back on cycle time and raises degree of freedom in robot arrangement You do not have to get acquainted with robot language MELFA Series RV 2SDB 2SQB comes provided with features which let the sequencer control the robot as if it were a single piece of actuator thus doing away with the intervention of robot language Sequencer language is all that is needed to control the robot as it performs varied tasks including pick and place and aligning of workpieces MELFA Series can run just as well on ordinary robot language too language Conveyor i A Work MELFA Series RV S2SDB 2SQB come with features capable of implementing robot control directly from a sequencer You can save on the time required to get acquainted with robot language Your robot system can be started simply and quickly by a sequencer language IE PAREREA EEN GOT without the programs Ein Pra intervention of robot Various essential data and information on the robot are displayed on Ee EEEO cic ie e Robot operation window e Current values display window e Maintenance forecast window User Manual window CN Error indication Various data is stored in a memory shared by sequencer
10. ructure Vertical articulated arm robot Input for shutdown purpose only Point 1 Degrees of freedom 6 External Hand open close input output Point 4 inputs 0 output 4 additional outputs are available as option Arm length mm 230 270 input External emergency shutdown input Point 1 Double redundant Maximum reach radius mm 504 output Door switch input Point 1 Double redundant Ji 480 240 to 240 Enabling device input Point 1 Double redundant J2 240 120 to 120 Synchronization of additional axes Point 1 Double redundant Operating J3 a 160 0 to 160 Mode output Point 1 Double redundant range J4 9 400 200 to 200 Error output Point 1 Double redundant J5 240 120 to 120 RS 232 ports 1 Extensions for computer vision sensor etc J6 720 360 to 360 RS 422 ports 1 F dedicated to TB J1 225 Ethernet ports 1 1 dual use user and TB 10BASE T 100BASE TX J2 150 ee E ports Device function only mini B terminal Maximum J3 oe 275 Additional axis I F channels 1 SSCNET III speed J4 9 412 Tracking I F channels 1 For connecting encoder cable J5 450 Slot for hand slots Slot dedicated to air hand I F J6 720 Extension slot slots For installing optional I F Maximum composite speed mm s 4400 RA Input voltage range Single phase AC200 to 230 10 180 to 253 Cycle time On the order of 0 6 sec ae Power capacity Not including in rush current Mass load Rated kg 2 0 a Frequency 50 60 capacity Maximum kg 3 0 wrist downward External
11. s to get pec No robot 7 1 programs are Pej ae needed Operation commands Lag m are issued to the robot in sequencer Setting of robot s internal data can be easily achieved and displayed on GOT It would be nice if we can keep track of robot information together with all other associated information on a single system operation console GOT display panels P Tiar I nn m arm change its posture faster is effective at achieving speedup of assembly operation Therefore provision is made to let axes at the end of the robot arm J4 J5 and J6 move at a greater speed Cycle time has been reduced by increasing the speed of axes J4 J5 and J6 up about 10 from our high end model RB 3SDB The arm of flap construction further cuts back on minimum operating radius R139 5mm Also abroad motion space maximum radius minimum radius is insured despite of reduced operating radius About 360mm A compact layout can be obtained by making the most of the motion space thus secured The motion space of the shoulder J2 axis is extended on the minus side so that it can be rotated into a space in the backward direction An ample work area is insured in a ceiling hung installation too A larger operating area obtained without the need to change the orientation of the robot means that needless motion will be lessened and cycle time will be shortened aly LJ x L Layout is made P
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