MELFA CR800-R Compatible Robot Controller Instruction Manual

MELFA CR800-R Compatible Robot Controller

• CR800-R
• CR800-Q
• CR800-D

MELSEC iQ-R/Q compatible robot controller
Uses a multi-CPU configuration that dramatically im­proves its interaction with FA equipment and also offers highly precise control and fast yet simple information management.

Standalone type robot controller
Can be constructed as the control nucleus for robot con­trollers.

Specifications

Robot CPU|  | R16RTCPU Q172DSRCPU|  | Built- in|
---|---|---|---|---|---
Number of axes controlled|  | Maximum 6 axes+ additional 8 axes available|
Robot language|  | MELFA-BASIC V, VI|
Position teaching method|  | Teaching method, MDI method|
Memory| Number of teaching points| points| 39000 ** I                    26000**

I

| II| 39000|
Number of steps| step| 78000 52000|  | 78000|
capacity|
Number of programs| unit| 512|
 |
 | General-purpose 1/0| points| OinpuVOoutput

(8192 input points/8192 output points with the multiple CPU common device)

| I| OinpuVOoutput

(Up to 256/256 when options are used)

|
 | Dedicated 1/0| points| Assigned to multiple CPU common device| I| Assigned to general-purpose 1/0|
 | Gripper open/close| points| 8 input 18 output’6|
External| Emergency stop input| points| 1 (redundant)|
Door switch input| points| 1 (redundant)|
inpuU|
output|
Enabling device input .,,7| points| 1 (redundant)|
 | Emergency stop output| points| 1 (redundant)|
 | Mode output| points| 1 (redundant)|
 | Robot error output| points| 1 (redundant)|
 | Synctrorizationcla:tlilionalaxes| points| 1 (redundant)|  | |
 |  |  |  |
 | Encoder input| channels| 2 Q173DPX (optional)|  | 2|

Interface

| RS- 422| ports| 1 (dedicated TIB)|
Ethernet| ports| 1 (dedicated TIB)

1 (for customer) 10BASE-T/100BASE-TX/1000BASE-T Correspondence with CC-Link IE Field Basic (Ver.A1d or later)

|
USB’5| ports| 1 (USB port of programmable controller CPU unit)|  | 1 (Ver. 2.0 device functions only, mini B terminal)|
Additional-axis function| channels| 1 (SSCNET 111/H)|
Extension slot .,, ,| slots| 1 (Avaiable only for function expansion option card)|  | 2|
RIC communication interface| channels|  | I| 2 (daisy chain)|
Remote 1/0| channels| –                    1 (Ver.2)|
Memory extension slot| slots|  | II| 1|
Ambient temperature| ·c| Oto 40 (controller) IOto 55 (robot CPU)|  | 01040|
Relative humidity| %RH| 45 to 85|
 | Input voltage range *2| V| RV-2FR/4FR/7FR, RH- 3FRH/3FRHR/6FRH/12FRH/20FRH: Single-phase AC 200V to 230V

RV-13FR/20FR/7FRLL, RH-1FRHR: Three-phase AC 200V to 230V or Single-phase AC 230V

|

Power supply

| ****

Power capacity •3

| ****

KVA

| RV-2FR, RH-3FRH: 0.5

RH-3FRHR, RV-4FR, RH-6FRH: 1.0 RH-12FRH/20FRH: 1.5

|
 |  |  | RV-7FR (except RV-7FRLL): 2.0|
 |  |  | RV-7FRLL, RV-13FR, RV-20FR: 3.0|
External dimensions (including legs)| mm| 430(W) x 425(D) x 99.5(H)|
Mass| kg| Approx. 12.5|
Structure [protective specification]|  | Self-contained floor type/open structure (Vertical and horizontal position can be placed) [IP20]|
Grounding *4| g| 100 or less (class D grounding)|

1. For installing option interface.

2. The rate of power-supply voltage fluctuation is within 10%.

3. The power capacity indicates the rating for normal operation. Take note that the power capacity does not include the inrush current when the power is turned on.
   The power capacity is only a rough guide and whether or not operation can be guaranteed depends on the input power-supply voltage.

4. Grounding workS are the customer’s responsibility.

5. Recommended USB cable (USB A-to-USB mini B): MR-J3USBCBL3M (Mitsubishi Electric), GT09-C30USB-5P (Mitsubishi Electric System & Service Co., Ltd)

6. RV·2FR series has 4 inputs and 4 outputs.

7.  Mode selection switch provided by the customer.

Controller

R16RTCPU

Q172DSRCPU

Multiple CPU environment

< CR8OO-R>

Base

| R35B     5-slot
R38B     a-slot
R312B 12-slot

Power supply

| R61P
R62P
R63P
R64P

PLC CPU

| ROOCPU
R01CPU
R02CPU
R04CPU
R08CPU
R16CPU
R32CPU
R120CPU

Safety

CPU

| R08SFCPU-SET
R16SFCPU-SET
R32SFCPU-SET
R120SFCPU-SET

< CRSOO-0>

Base

| High-speed standard base between multiple CPU
0350B     5-slot
0380B     8-slot
03120B  12-slot

Power supply

| 061P
062P
063P
064PN

PLC CPU

| Universal Model
003UD(EN)CPU
004UD(EN)HCPU
006UD(EN)HCPU
010UD(E)HCPU
013UD(EN)HCPU
020UD(E)HCPU
026UD(EN)HCPU
01 OOUD(E)HCPU

MELSEC iQ-R/Q compatible robot controller
CR860-R/Q: Uses a multi-CPU configuration that dramatically improves its interaction with FA equipment and also offers highly precise control and fast yet simple information management.
CR860-D: Can be constructed as the control nucleus for robot controllers.

Specifications

 |  | ****

R16RTCPU

|  | ****

I       Q172DSRCPU

| ****

Built-in

---|---|---|---|---|---
Robot CPU
Number of axes|  | Maximum 6 axes + additional 8 axes availble
Programming language|  | MELFA-BASIC V,VI
Position teaching method|  | Teaching or MDI

Memory capasity

| Number of teaching positions| point| 39000| 26000| I| 39000
Number of steps| step| 78000| 52000|  | 78000
Number of programs| point| 512

External input/ output

| ****

General-purpose 1/0

| ****

point

| O input/ O output

(8192 input/ 8192 output with the multiple CPU common device)

| O input/ O output

(Up to256 / 256 when options are used)

Dedicated 1/0| point| Assigned to multiple CPU common divice| Assigned to general-purpose 1/0
Hand 1/0| point| 12 input points/ 8 output points
External emergecy stop input| point| 1 (redundant)
Emergency stop output| point| 1 (redundant)
Enabling device input| point| 1 (redundant)
Mode output| point| 1 (redundant)
Robot error output| point| 1 (redundant)
Additional axis synchronization output| point|
Door switch input| point|
Encoder input| point| 2| 2

Interface

| Additional axis| channel|
****| channel|

USB

| ****

port

|  | 1(Only the Ver.2.0 High Speed device function is supported.USS mini-B)

Ethernet

| ****

port

| 1 (Dedica1ed T/B)

1 (1000BASE-T / 100BASE-TX I 10BASE-T)

Option slot| slot| 2 (Available only for function extension option card)| 2
SD memory card slot| slot| 1(Unusable)| 1
RS-422| port| ****
 | Emergency stop switch|  | 1
Mode selector|  | 1

Power supply

|  | ****

Input voltage range

| ****

V

| Three-phase 200 to 240

(The rate of power-supply voltage fluctuation is within+ 10% to -15%)

Power capacity| kVA| 7.5 (Inrush current is not included)
External dimensions| mm| 670(W) X 500(0) X 670(H)
Mass| kg|
Ambient temperature| oc| Oto 45 (Controller) IO to 55 (Robot CPU) Oto45
Ambient humidity| %RH|
Structure|  |
Grounding| n| r less (Class D grounding)

CR860-R/CR860-Q/R860-D

Transformer unit(option)

By using this transformer unit, the robot can be operated with 400V power supply.
This transformer unit is used to step down the voltage from 400V to 200V.This transformer unit is designed only for the CR860 controller. and is not used for other controllers.

Specification

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