BFP-A8117-F
Contents
1.2. 5 2 36 3
3. MELFA MELFA 052 721 0100 FAX 052 722 0384 9 00 12 00 13 05 16 30 1 1 3 1 1 4 12 Fp a 1 4 AM 1 1
4. 2 1 18 2 18 23 TTTTT 022 238 1761 3 19 22 03 3454 2561 344 1 ee 043 232 6101 2 21 2 042 779 9711 2 173 10 TIT 048 652 0378 752 9 TTTTTTTTT 025 274 9165 255 5 1 14 2 12 20 62 5 10 18 5 5 6 1 2 29 8 1 1 27 6 76 4 3 26
5. L E OFF
6. The language to display on the LCD display of teaching pendant can be changed by the display language parameter Japanese or English Show the details of the parameter in the Table 4 2 Refer to the separate Instruction Manual Detailed Explanation of Functions and Operations for details on changing the parameter The parameter is set up based on the order specifications before shipment Order to dealer when the instruction manual of the other language is necessity More the caution seals that stuck on the robot arm and the controller are made based on the language of the order specification Use it carefully when selecting the other language Table 4 2 Display language parameter y a Ek A Parameter No of arrays Details explanation Default name No of characters setting LNG
7. 3 7 DC 32 DC12V DC24V 24V 12V 3mA 7mA COM DC10 2 26 4V 5 ON ON DC8V 2mA OFF OFF DC4V 1mA 3 3kQ 3 3K OFF ON 10ms DC24V ON OFF 10ms DC24V 8 1 3 8 32 DC12V DC24V DC10 2 30V DC30V 0 1A
8. 2 3
9. 3 D 5 6
10. 3 3 a b c 3 58 LCD MITSUBISHI TOoL JOINT xrz MENU 5 F 8 me
11. 2 1 1009 100 OFF 2 6 2 2 2 2 2 2 2 5
12. 5 1 2 1mA 100mA 24V 15m 5 1 RA1 RA2 DC24V 10 12 5mA _ 109 at25 C 2 tb
13. 1 1 3 1 1 4 1 1 7 1 2 1 2 1 RV 100TH RV 150TH RV 100THL RV 150THL R 7m 4 2T CBL 1 RV 100TH 150TH 2T CBL 2 RV 100THL 150THL J1 AE 9
14. 3 76 3 30 O Microsoft Windows95 98 2000 NT 4 0 Me XP MELFA BASIC IV o o o o
15. ON 0 5 OFF 1 3 74 2 R6x2CPU 1 2 OFF ai OFF 3 4 3 25
16. I O 7 3 2 3 2 2 5 6 2 5 6 63 3 3 48 3 5 3 5 CR1 CR2 CR3 CR4 CR7 CR8
17. 2 6 RV 1001TH kg 0 20 40 60 80 100 120 140 160 180 200 220 mm J4 400mm 2 2 RV 100TH 2 7 2 RV 1501TH kg m2 kg 0 20 40 60 80 100 120 140 160 180 200 220 mm 350mm 8 2 3 RV 150TH 2 8 2 RV 100 THL 5 kg 0 20 40 60 80 100 120 140 160 180 200 220 mm
18. J Df Df L E 4 D
19. 12 250 2 11 RV 150THL 2 17 2 2 5 2 5 1 2 12 2 13 HD1 2 14 HD1 1 JMR2528F JMRC25
20. 1 16 1 6 0 3 2 3 2 2 3 23 2A CBL 1 5m 15m 3 24 x 50 x AW G 28 5m 15m 3 25 E E E E 1 A 11 C 21 E 31 B 41 D 2 A 12 C 22 E 32 B 42 D 3 A 13 C 23 E 33 B 43 D 4 A 14 C 24 E 34 B 44 D 5 A 15 C 25 E 35 B 45 D B 16 D 26 A 36 C 46 E 7 B 17 D 27 A 37 C 47 E 8 B 18 D 28 A 38 C 48 E 9 B 19 D 29 A 39 C 49 E 10 B 20
21. O oO 2 CG x 3 oO O O oO o o
22. 5 3 5 1 4 1 2 5 1 5 1 2
23. 3 61 2 1 1 1 32 6 32 4 3 4 2 61 2
24. 2 24 RV 100THL RV 150THL 2 34 2 2 8 2 12 2 12 1 A 6BAT 5 2 RE No 0 2kg 1 J 3 3 SK 1 A 1kg J 4 2 35 3 3 1
25. mini 3A 02C WINJ 3A 01C WINJ mini O x 2 mini 3 MELFA BASIC IV 3 77 3 9 3 31 3 31
26. 2 3 4 49
27. 0 1 CN100 gt CN300 gt 0 15 16 31 0 15 16 31 32 32 1 3 13 3 56 2 3 8 2 1 2
28. 5 ON C 0011 MB4 rPRM 2 3 25 3 75 9 7 mini
29. 1 A FG 26 A FG 2 A OV 4 7 27 A OV 29 32 3 A 12V 24V 4 7 28 A 12V 24V 29 32 4 A 48 29 A 52 5 A 49 30 A 53 6 B 50 31 B 54 7 B 51 32 B 55 8 B ov 10 13 33 B OV 35 38 9 B 12V 24V 10 13 34 B 12V 24V 35 38 10 B 56 35 B 60 11 C 57 36 C 61 12 C 58 37 C 62 13 C 59 38 C 63 14 C COMO 12V 24V COM 15 22 39 C COM1 12V 24V COM 40 47 15 C 48 40 C 56 16 D 49 41 D 57 17 D 50 42 D 58 18 D 51 43 D 59 19 D 52 44 D
30. A B
31. SD D 900 B INB A B USERORG SLOTON 4 81 CBAU232 CLEN232 CPRTY232 CSTOP232 CTERM232 SLT1 SLT32 TASKMAX 32
32. 2 3 4 5 6 5 85 2 5 1 5 86 7 2 gt gt MC1 MC2
33. 87 5 2 3 37 3 2 CR8 533M 3 1 POWER ON OFF T B T B
34. 6 CPU CPU 7 1 2 5 2 j 5 a 6
35. 1 2A CBL05 2A CBL15 3 15 2A RZ361 1 3 2 3 2 I O NETcable 1 2 DCcable 2 1 R TM 1 150Q 1 4W 1 8 1 1 1 7 2 2 4 V DCcable 2 2 4 V
36. 53 3 7 3 16 DC 32 DC12V DC24V 3mA 7mA i 24V 12V DC10 2 26 4V 5 5 COM ON ON DC8V 2mA OFF OFF DC4V 1mA 3 3kQ OFF ON 10ms DC24V 3 3K ON OFF 10ms DC24V 8 1 3 63 3 17 32 DC12V DC24V DC10 2 30V DC30V 0 1A 1 100 OFF 0 1mA ON DC0 9V TYP OFF ON 2ms ON OFF 2ms
37. A6BAT ER6 LA UL kg kg 89 6 77 2 MELFA MELFA gt
38. FORWD gt BACKWD gt E lt COND gt lt ERROR RESET gt lt ADD 1 gt lt RPL gt lt DEL gt lt HAND gt lt INP EXE gt
39. 2 12 2 2 3 ml NN J1 2 7 2 13 2 2 4 RV 100TH A NN 12 J 1 24 2 8 RV 100TH 2 14 2 A 8 24 8H7 10 940
40. 5 1 2 5 3 STOP SRVOFF AUTOENA SRVON STOP
41. 6 3 2 W1 W deg 20 CR8 W deg 4 0 CR8 6 0 3 2 10deg 600W 20 W deg 40 W deg x 10 deg 600 W 3 45 9 lt gt 1 55 Ta 0 40C 3 AT T Ta max 15 deg
42. 2 17 2 25 2 3 12 2 1 1 amp 8 ND 2 6 1
43. ERRRESET b 5 84 5 1 5 1 3 1
44. 1 ER6 BKO NC2157H01 3 78 4 4 1 1 MELFA BASIC IV 4 1 MELFA BASIC V MOV P1 MVS P1 3 360 MVC P1 P2 P1 3 MVR P1 P2 P3 3 MVR2 P1 P9 P3 3 MVR3 P1 P9 P3 0 1 OVRD 100 0 1 JOVRD 100 mm s
45. 3 14 TB 3 59 9 3 MITSUBISHI R28TB 3 rm CO 8 xi STOP TX EMG STOP uo J1 J1 7 ss Zz i BACKWD 03 Q3 A A lt DE CHAR J5 J5 T B T B lt TOOL JOINT XYZ gt 3 lt MENU gt lt STOP gt lt STEP MOVE gt
46. 3 AIR IN 0 5Mpa 10 0 7Mpa 2 15 2 2 6 2 6 1 1 2 3 2 23 2
47. mm 0 5 kg 960 1100 1470 1520 c 0 40 RH 20 90 0 14 Hz 0 7 mm 14 Hz 3 5m S2 IP50 No 4 9GY5 170 4 No 7 7Y7 6 0 7 2 5 2 2 2 2 2 1 2 2 1 X Y Z 2 2 1 2
48. 3 2A 1 1 4 1 4 DC12 24V DO10 2 30V 60mA TYP DC24V 1 NETcable 1 1 TXRXH RO TXRXH 1 2 TXRXL 2 1 2 4 V 24G RG FG PE TXRXH TXRXL SG GND NETcable 1 1 178288 3 2 175218 3 6 AMP DCcable 2 2 178288 3 1 175218 3 3 AMP R TM 1 178288 3 1 175218 3 2 150Q 1 4W 1 KOA 1 24V 0 3A 2 AWG 22 0 3mmZ 3 17
49. 1b 1 2 5 6 5 2 1 20ms 2 1000V 1gs
50. Windows CD ROM 3A 01C WINJ mini Windows CD ROM 3A 02C WINJ mm mini 3 29 3A 01C WINJ CD ROM 1 mini 3A 02C WINJ CD ROM 1 1 amp
51. 3 57 9 1 T B e R28TB 7 m R28TB 15 15m 1 5 m R28TB 15 3 1 EF a 3 11 R28TB 7 m R28TB 15 1 5 m 3 12 95 W x 236 H x 34 D 7 65Y7 64 0 73 0 5kg
52. END SVO ON SVO OFF STATUS NUMBER T B T B RS 232C MODE AUTO Op T B TEACH T B T B AUTO Ext T B UP DOWN i
53. OF F OFF OF F 2000 06 15 BFP A8117Z 2000 08 10 BFP A8117 2001 03 07 BFP A8117 A 2001 08 22 BFP A8117 B 2001 10 12 BFP A8117 C LNG 2002 07 05 BFP A8117 D 2002 07 29 BFP A8117 E 2003 03 26 BFP A8117 F CR8 533M CPU R6x2CPU A R6x2CPU B
54. 7m 2 7 2 7 N 2T CBL 1 2T CBL 2 RV 100TH 150TH RV 100THL 150THL CN1 2G CN1 CBL 1 CN1 2T CN1 CBL 1 5 15m CN2 2G CN2 CBL 1 1 CN3 2T CN3 CBL 1 1 1 12 22m 1 2 5m 12m 15m 22m 2 28 2 2 6 9 H
55. Ea 3 38 1 MopE OFF MODE OFF T B ON 1 TEACH AUTO T B ENABLE DISABLE DISABLE T B MODE AUTO T B 2 AUTO TEACH T B ENABLE DISABLE
56. 30 RS 422 LOD 16 x 4 LCD 28 IP65 2 2 IEC IP65 IEC IP65 JISZ8001 75um 1n3 2kg 6 0 8 0 8 1 3 ISO 10218 1992 JIS B8433 1993
57. GRn GR1 GR8 8 24V DC24V DC21 6 26 4V 0 1A 1 100 GRn OFF 0 1mA ON DC0 9V TYP OFF ON 2ms ON OFF 2ms Fuse 1 6A 1 1 1 6A 8 1 ov RZ181 3 61 RZ181 CNHNDOUT CNHND 2A RZ365 RZ181 RZ181 gt 2A RZ365 CNHNDOUT 3 16 3 62 3 2A RZ361
58. 5 1 5 2 5 1 1 2 3 4 5 AC AC
59. 1350 187 8 TS SNS NM 8 SN Ns 650 1 4 a 8 J ka CN i 1 1 14 8 a IN 12 8 250 800 1350 516 1844 J 1 24 2 9 RV 150TH 2 15 2 RV 100THL A 0 030 80H7 6 M10 18 10H7 18 12 NN FT Y_V 12 250 2 10 RV 100THL 2 16 2 RV 150THL A 6 M10 18 10H7 18
60. 3 44 4 C 3 8 C 5 A B C 6
61. COM 1 STOP 0 01s DLY 0 5 WAIT MN 1 1 HLT OFF ERROR 9000 END HOPEN 1 HCLOSE 1 DEF IO PORT1 BIT 0 M1 MIN 1 M_OUT 1 0 GETM 1 RELM 1 Pe XLOAD 2 P102 XRUN 3 100 0 XSTP 3 XRST 3
62. ON M1 GOTO 100 200 300 SELECT CASE 1 BREAK CASE 2 BREAK END SELECT SKIP 4 79 GOSUB 200 2 RETURN CALLP P10 M1 P1 CALLP FPRM M10 P10 ON M1 GOSUB 100 200 300 DEF ACT 1 M1 1 GOTO 100 ACT 1 1 ON COM 1 GOSUB 100 COM 1 ON COM 1 OFF
63. 1 3 7 14 1 1 100 J1 180 2T DH180 180 1 RV 100TH RV 150TH 160 2T DH180 180 2 RV 100THL RV 150THL J1 2T DH 160 125 115 105 70 HH 30 20 160 125 115 105 70 30 20 No 12 1 2T CBL 1 RV 100TH 150TH 5m 15m O 2T 05CBL 1 2T CBL 2 RV 100THL 150THL 7m 5m 5m 15m bms
64. RV 100THL 150THL RV 100TH 150TH 3 40 3 3 3 3 1 lt CR8 533M gt A MITSUBISHI 6 AX 3 3 3 41 9 3 3 2 200 750 300 4 3 4 3 42 3 3 3 CR8 PLC 1
65. lt CR8 533M gt A 7 750 1 BOX x FAN 0C 1020 HI A 50Hz80W 60Hz100W C M12 750 i kc B 59 3 D MAX RR 12 1 A A 3 5 A B C 1 2 3 43 2 A 3 6 A 3 3 7 B
66. 2 2 JOG L 0 L HNDERR1 1 1 SI L NR KS 0 HNDERR3 3 3 AIRERR1 1 1 25 0 L RE AIRERR5 3 3 USERAREA 3 d 8 1 L ON OFF E OFF ON OFF 2
67. ND A 0 cs 3 1 1 1 2 7 1 3 CR8 533M 2A RZ361 2A CBL 2A RZ365 LN gt 2A HR432 2A RZ581 rT 6 3A 01C WINJ CD ROM MS Windows95 98 2000 NT4 0 Me XP mini 3A 02C WINJ CD ROM MS Windows95 98 2000 NT4 0 Me XP 1 2
68. i a T B i S W gt K1 24V RA4 MC1 Pr gt RA21 6 5 1 1 2 2 a ON OFF 3 2b 4
69. 3 40 C 0 859 459 34m s 5m s 5 19 600N m lt 5 87 2 5 3 1 J1 J3 RV 100TH 150TH RV 100THL 150THL 2
70. 160 125 115 105 7 0 30 20 P 1 N 1 P2 P3 P3 P4 p4 p5 P 6 P 7 P8 P9 P10 N10 1 160 125 SS 105 7 0 30 2 0 P 1 N 1 N 2 N 3 N 3 N 4 N 4 N5 N 6 N 7 N 8 N9 P10 N10 1 2 4 5 2 2 24 2 2 No 4 9GY5 1 0 4 No 7 7Y7 6 0 7 2 5 1
71. J1 180 2T DH180 180 1 RV 100TH 150TH 2T DH180 180 2 RV 100THL 150THL J1 2T DH 160 70 2T DH160 70 J1 2 4 180 2 3 J1 180 2T DH180 180 1 RV 100TH 150TH 2T DH180 180 2 i RV 100THL 150THL J1 2T DH RV 100TH 150TH RV 100THL 150THL 125 125 N10 P10 160 125 2 16 2 4
72. 1 8 8 JM 2 5 5 1 6 6 1 4 4 Y 1 Y 4 Y 2 21 2 2 5 6 2 15 1 2 2 15
73. Eg ERRRESET E CYCLE E SRVOFF SRVON ON E ON IOENA MELOCK E
74. 1 7 3 5 1 TEACHMD ATTOPMD ATEXTMD AUTOENA START STOP 0 L SLOTINIT
75. 400mm 2 4 RV 100THL 2 9 2 RV 150THL ck 1 ke 8 110 100 90 0 20 40 60 80 100 120 140 160 180 200 220 mm J4 gt 350mm i 2 5 RV 150THL 2 10 2 lI Hzi lz2 WiR1 WsR2 zi 30 12 325000kg mm2 Ri 30 10 100 25mm Rs 100 25 75mm 1 325000 200000 30X25 10 Xx 75 600000 kg mm2 lt 0 6 kg m lt 2 6 _300 200 200 ee Iz 10 2 200000kg mm2 2 11 2 J 2 4 0 9 6
76. gt gt lt ON gt gt STOP TEACH AUTO AurTo Op Ext TEACH RL AUTO AUTO Ext I 3 11 3 52 3 7 3 7 3 8 3 9 3 10 71
77. lt POS CHAR gt i 3 15 3 60 2 2 2A RZ365 8 8 8 63 3 3 13 2A RZ365 1 8 3 14
78. 1 2 1 2 2 3 EMG DOOR STOP SWITCH 24V EXTEMG1 EXTEMG1 RA3 RA Relay RG 24G GND 24G RA3 3 GND 24G a a 1
79. 3 4 5 6 7 8 5 1 6 OFF 1
80. 052 721 O100 FAX 052 722 0384 9 00 12 00 13 05 16 30 3 90 004 0041 60S ono er 984 0042 TTTTTT 108 0022 264 0022
81. DEF INTE KAISUU DEF CHAR MESSAGE 3 DIM PDATA 2 3 DEF JNT TAIHI DEF POS TORU DEF FNTASU A B A B CLR 1 OPEN COM1 AS 1 CLOSE 1 INPUT 1 M1 PRINT 1 M1 REM ABC SUB1 4 80 4 2 4 2 MEXTL mm deg MEXBS mm deg MEPAR ME
82. RV 100THL RV 150THL 2 21 2 31 2 5 2 11 1 RV 100TH J2 30 J3 90 960kg 2 22 RV 100TH 2 32 2 RV 150TH J2 30 J3 75 1100kg 2 23 RV 150TH 2 33 2 RV 100THL RV 150THL J2 23 J3 63 RV 100THL 1470kgf RV 150THL 1520kgf
83. R6x2CPU RIO1 R6 NETcable 1 R TM NETcable 1 FG 3 19 3 66 1 3 18 CN100 2A CBL ek is 1 A FG 26 A FG 2 A OV 4 7 27 A OV 29 32 3 A 12V 24V 4 7 28 A 12V 24V 29 32 4 A 32 29 A 36 5 A 33 30
84. 3 1 1 3 1 CR 8 533M 4 CPU 64bitRISCDSP 2 500 5 000 8 8 MELFA BASICMV MD I 32 32 256 25e STOP 1 8 0 8 1 2b 1 2 a 1 2b RS 232C 1 RS 422 1 1 y 2 1 gt 1 RE V 3 AC 180 253V kVA 6 RV 100TH 150TH 3 15 RV 100THL 150THL mm 750 W x650D x1650 H
85. SAFEPOS E OUTRESET E EMGERR S1START WE S32START S1STOP 6 S32STOP 1 PRGSEL E OVRDSEL E 3 49 9 1 IODATA 2
86. MESNGLSW 0 1 BZR ON OFF OFF LNG LCD Display language Vote1 Change the language to display on the LCD display of teaching pendant 1 1 Change the display Ianguage Note 1 The procedure of Language as shown in 1 Change the display language 4 82 1 Change the display language LCD Table 4 2
87. kg 2 0 5 RV 100TH 150TH 2 2 0 RV 100THL 150THL IP54 0 40 RH 45 85 Q 10 0 D 9 7 65Y7 64 0 73 1 2A RZ361 3 2 3 2 7 224 224 2 2A RZ365 3 6 15kVA 4 D 3 3 36 3 1 2 IEC IP54 IEC IP
88. 19 6 0 0 N m lt 2 8 1 8 M20 A M20 x 65 196245N m 9 28 C 180 120 HB ee BB A A Ge 1 20 2 A 70 eA A 3 D HB SY 590 100S 900 32 4 M8 20 1000 6 M20 3 D B 2 19 2 29 2 3 3 3 fe r Hn
89. 229 1112 330 0031 7TTTTTTT 950 0867 920 0811 rrr 461 8675 sw 422 8041 435 0048 567 0053 553 0001 590 0939 612 8444 652 0885 670 0836 732 0802 712 8011 760 0072 81 2 0007 806 0045 850 0078 re 461 8670 230 0051 661 0001 FrA 461 8670 FA
90. SPD 123 5 RI ACCEL 50 80 OADL ON LOADSET 1 1 WTH WTHIF CNT 1 100 200 FINE 200 ON OFF SERVO OFF TORQ 4 10 BASE P1 TOOL P1 DEF PLT 1 P1 P2 P3 P4 5 3 1 PLT 1 M1 GOTO 120 IF M1 1 THEN GOTO 100 ELSE GOTO 20 END IF FOR M1 1 TO 10 NEXT M1 WHILE M1 lt 10 WEND
91. HD1 JMR2528F JMRC25 2 12 2 18 2 HD1 o VH HD1 JMSP 25 28 M HD1 HD1 12 12 AIR1 IARI AR2 12 12 Ame AIR2 2 2 13 2 19 2 JMR 25 28 F JMSP 25 28 M 1 HG1 1 2 HC2 2 3 HoC3 3 4 HC4 4 5 HC5
92. 445 5 1 9 38 3 12 16 2 7 3 1 343 1 5 1 14 TTTTT 052 712 2212 3 10 20 045 504 5851 6 7 1 Oe 06 6423 1072 5 1 14 052 712 2854 011 890 7515 054 287 8866 2 053 463 8455 0726 41 8011 WM 06 6458 9728 0722 29 5992 075 611 6211 078 651 0332 0792 81 1141 082 285 2111 086 448 5532 HE 087 831 3186 a 092 483 8208 093 642 8825 Sn 095 865 3667 100 8310 2 2 3 ao SO FA EE 2003 03 2003 03 104 0031 1 8 12
93. CC Link 2A HR533 ETHERNET x 1 O 25 400 2A HR432 50 800 1 1 4 2 2 1 2 1 1 2 1 RV 100TH RV 150 TH Mi 4 AC J1 J3 kg 100 150 100 150 mm 1000 1350 1000 1730 mm 165 Net WE mm 2360 2730 J 1 320 160 J 2 mm 1350 mm 1350 mm J3 2 1900 mm 2150 mm J 4 540 270 N m 7 2 2 2
94. I _ 18 5 18 5 75 yd E J _ l 5000 26 4 50 25 9 27 35 7 57AE 40500 21D D8 DDK 57YE 30500 2 D8 mt DDK K PPE DDK 3 22 3 72 2 5 PC AT RS MAXY CBL RS 232C PC AT NEC PC9821 14 3 26 PC AT RS MAXY CBL 1 3 m D SUB 9 D 1 M1 M2 E EN gt
95. SD N50 DC24V 24 0 1 24 0 1 24 MC3 16 1 LY 2 DC24V 1 1 6 6 6 6 6 6 6 6 6 6 6 6 17 2 G7L 2A TUB AC200V 2 3 6 3 6 3 6 3 6 18 Pnoz XV2 1 5 1 1 5 1 1 5 1 1 5 1 1 5 19 RZ242A 5 1 5 1 5 1 5 1 5 20 IO RZ361 5 1 5 1 5 1 5 1 5 W 338 1 387 1 529 1 578 1 W2 CR8 3 4 BOXFAN 0OC 1020H1 50Hz 80 W deg 60Hz 100 W deg TEL 053 522 5560 FAX 053 522 5567 E mail hanyou ohm cojp 2 3 47 9 3 4 3 4 1 1 EKAMo 2
96. 7 5 88 6 6 1 RV 100TH RV 150TH RV 100THL RV 150THL 160 125 115 105 70 30 20 160 160 125 115 105 70 30 20 180 1 2T CBL 1
97. 3 27 2A HR432 1 3 28 95 W X 65 D X 15 H mm 0 2 kg 25 400 50 800 100 1 2 500 ON OFF
98. HHHHHHHHHHH HHHHHHHHHHH HHHHHHHHHHH HHHHH BFP A8226 04 HTT AH HHHHHHHHHHHHHHHHHHH HH 1 HHHH 1HHHHHHHHHHHHH IlHHHHHHHHHHHHHHHHHHHHHHHHH HH HH HHHHHHHHHHHH R6x2 CPU C R6x2 CPU B HH HIHHHHHHHHHHHH 2A RZ361 A
99. 4 2 CR8 533M RV 100TH RV 100TH 150TH RV 100THL RV 100THL 150THL 150TH 150THL W W W W W 1 CPU R6x2CPU 30 1 30 1 30 1 30 1 30 2 MDS C1 CV185 42 0 0 1 42 1 42 3 MDS A CR75 52 7 1 52 7 1 52 7 0 0 4 MDS C1 V1 90 34 1 0 0 1 34 1 1 34 1 J1 5 MDS C1 V1 110 72 8 0 0 2 145 6 2 145 6 J2 J3 6 MDS C1 V1 10 11 3 0 0 1 11 3 1 11 3 J4 7 MDS C1 V2 4535 28 4 1 28 4 1 28 4 0 0 J1 J2 8 MDS C1 V2 3510 20 9 1 20 9 1 20 9 0 0 J3 J4 9 gt J7 MR J2 70B 25 0 1 25 0 1 25 10 J8 MR H500B 55 0 0 0 0 11 AC B AL 18 5K 110 0 0 1 110 1 110 12 AC B AL 7 5K 50 1 50 1 50 13 AVR1 JWS300 24 84 1 84 1 84 1 84 1 84 14 SD N65 DC24V 24 2 48 2 48 2 48 2 48 MC1 2 15
100. 88 16 D 81 41 DI 89 17 D 82 42 DI 90 18 D 83 43 DI 91 19 D 84 44 D 92 20 D 85 45 DI 93 21 E 86 46 E 94 22 E 87 47 E 95 23 E 48 E 24 E 49 E 25 E 50 E 3 69 9 2 1 TXD LED L CN300 gt 80 95 80 95 CN100 gt 64 79 64 79 2A RZ361 32 32 1 3 21 2A RZ361 2 NO 8 F 8 F 8 F 3 22
101. ON OFF 2 Phoenix Contact J FRONT MSTB2 5 6 ST 5 08 Pi EXTENG 2 3 10 86 5 1 7 3 51 3 6 2 OFF 3 10 3 11
102. 1 PC AT RS MAXY CBL FG 1 1 CD SD 2 2 RD RD 3 3 SD RS 4 4 DTR CS 5 6 DSR DR 6 8 CTS ER 20 7 RTS SG 7 5 GND 2 PC98 25 FG 1 1 FG SD 2 2 SD RD 3 3 RD RS 4 4 RS CS 5 5 CS DR 6 6 DR ER 20 20 ER SG 7 7 SG 3 23 RS MAXY CBL 54 17JE 23250 D8A6 3 24 3 73 9 6 2A HR432
103. D 30 A 40 C 50 E 3 71 9 50 3 25 1 A a iE 57E 57FE DDK TELO3 3494 6611 1 3 A leg F 18 5 18 5 1 5 3 B NH G TT 18 5 18 5 1 5 _3 c NNE a H EE 18 5 18 5 1 5 2 D HHf
104. DISABLE T B T B MODE TEACH T B T B ENABLE DISABLE ENABLE T B CR1 CR2A CPU R6x2CPU B CR2 CR4 CR7 CR8 CR9 CPU 3 39 CR8 533M gt 3 2 CN1 CN2 CN3
105. 4 3 1 8 3 50 2 3 6 3 6 2b 3 6 1 3 10 2 2
106. 60 20 D 53 45 D 61 21 E 54 46 E 62 22 E 55 47 E 63 23 E 48 E 24 E 49 E 25 E 50 E 3 67 1 1 TXD LED CN300 gt 48 63 48 63 CN100 gt 32 47 32 47 2A RZ361 32 32 1 3 20 2A RZ361 1 NN a Ck 8 F 8 F 8 F 3 68 2 3 20 CN100 2A CBL 5 1 A FG 26 A FG
107. EIHHHH 14 22 DO EIHHHH 7 47 EIHHHH 15 23 E 48 E 24 HH E 49 HH E 25 E 50 OE HHHHHHHH 12V24V COMHHHHHHHH OV COM 2HHHHHH HHHHHHHHHH BFP A8226 07 22HHHHHHHHHHHHHHHHHH R6x2CPU C MITSUBISHI 2A RZ361 Q sg ID SELECT op y HHHHHHHHHHHHHHHHH HHHHHHHHHHHH HH HH HH 4 7 F101 10 13 CN100 29H 32HH 35H 38H F102 4 7HH 406 3 F301 CN300 5 S5HH38H F302 BFP A8226 07 A 36 104 150 151
108. 3 3 22 CN100 CN300 1 1 32 47 48 63 32 47 48 63 2 2 64 79 80 95 64 79 80 95 3 3 96 111 112 127 96 111 112 127 4 4 128 143 144 159 128 143 144 159 5 5 160 175 176 191 160 175 176 191 6 6 192 207 208 223 192 207 208 223 7 7 224 239 240 255 224 239 240 255 8 8 256 271 272 287 256 271 272 287 3 70 4 2A CBL 05 5m 15 15m
109. EI 79 23 E 48 E 24 E 49 E 25 E 50 E 3 21 CN300 2A CBL 1 A FG 26 A FG 2 A 0V 4 7 27 A OV 29 32 3 A 12V 24V 4 7 28 A 12V 24V 29 32 4 A 80 29 AI 84 5 A 81 30 Al 85 6 B 82 31 BI 86 7 B 83 32 Bl 87 8 B ov 10 13 33 B OV 35 38 9 B 12V 24V 10 13 34 B 12V 24V 35 38 10 B 88 35 BI 92 11 C 89 36 CI 93 12 C 90 37 CI 94 13 C 91 38 CI 95 14 C COMO 12V 24V COM 15 22 39 C COM1 12V 24V COM 40 47 15 C 80 40 CI
110. L PRGOUT E LINEOUT E OVRDOUT E ERROUT E JOGENA JOGM L
111. 2 03 6221 6112 060 0002 2 4 1 011 212 3785 980 0011 1 17 7 022 216 4546 920 0031 3 1 1 076 233 5538 450 8522 3 28 12 052 565 3128 420 0837 2 1 ELLEL 054 251 2857 471 0034 1 5 10 0565 34 4112 530 8206 2 2 2 06 6347 2146 730 0037 7 32 082 248 5228 700 0901 6 36 086 225 5171 760 8654 1 1 8 I 087 825 0055 810 8686 2 12 1 092 721 2356 230 0051 3 10 20 045 504 5851 661 0001 6 06 6423 1072 461 8670 5 1 14 052 712 2854 461 8670 5 1 14 lt 052 712 2212 0303 MEE
112. 2 4 222 WE WOE 2 4 2 254 3 1 312 3 2 3 3 3 3 1 3 3 2 3 3 3 37 T 3 5 6 7 mini 3 76 3 9 2 58 3EREEREDS8BE 4 1 Wn SIC 3 ue 7 1 1 1 1 1 1 1 2 3 4 5 1 1 2
113. A 37 6 B 34 31 B 38 7 B 35 32 B 39 8 B ov 10 13 33 B OV 35 38 9 B 12V 24V 10 13 34 B 12V 24V 35 38 10 B 40 35 B 44 11 C 41 36 C 45 12 C 42 37 C 46 13 C 43 38 C 47 14 C COMO 12V 24V COM 15 22 39 C COM1 12V 24V COM 40 47 15 C 32 40 C 40 16 D 33 41 D 41 17 D 34 42 D 42 18 D 35 43 D 43 19 D 36 44 D 44 20 D 37 45 D 45 21 E 38 46 E 46 22 E 39 47 E 47 23 E 48 E 24 E 49 E 25 E 50 E 3 19 CN300 2A CBL
114. 2A RZ361 HHHH 2A RZ371 A 2A RZ371 HHHHHHHHHH 8 1 HHHHH 8H 4 1 HHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHUHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHP2HHHHHHHHHHHHHHHHHHTHHHHHHHHHHHHH 2 HHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHCN100HHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHH2HHHHHHHHHHHHHH CN100 CR2 CR3 CR4 CR7 CR8 CR9 HH HH HHHHHHHHH HHHHHHHHH HH A FG HI A FG ovn 47 nnnKLO ShHHH HH A ovn 2932 nH KSS 38 HH HH A 12V724VH 4 7 HH 28 HH A 12V724VH 29 32 HH 4 HHAIHHHH 0HHH 29 AIHHHH 4 5 AIHHHH 1HHHHHH 30 AIHHHH 5 6 HHBIHHHH 2HHHHHH 31 BIHHHH 6 I BODO 3HHH BIHHHH 7 bi B Cez nnnD ot ann Cyan B ovte32 nlD3538 nn 9 HB 12V 24V 10 13 HHH 34 B 12V 24V 35 38 HHH 10 HHBIHHHH 8 35 BIHHHH 12 11 CHHHH 9 36 CHHHHH 13 12 HO CHHHH 10 37 CHHHHH 14 13 HO CHHHH 11 38 CHHHHH 15 14 IHHC CoOM0 12V 24V COM H 15 22 HHH 39 HHC COM1 12V 24V COM 40 47H HH hy hy 15 HH CIHHHH 0HHUHTTH 40 HH CIHHHH 8 16 DIHHHH 1HHHHH 41 DIHHHH 9 17 DHHHH 2HHHHHHH 42 DIHHHH 10 18 DIHHHH 3HH 43 DIHHHH 11 19 DHHHH 4HHHHH 44 DIHHHH 12 20 DIHHHH 5HHH 45 DIHHHH 13 21 EHHHH 6 46
115. 5m 15m 2T CBL 2 5m 15m 3 R28TB Im 15m 2A RZ365 2A RZ361 1 2 3 4 5 6 7 1 2A CBL 5m 1 5m 2 5m 3 15m 1 15m 2 15m 3 CC Link 2A HR575 2A HR533 2A RZ581 2A HR432 RS MAXY CBL 3A 01C WINJ Windows95 98 2000 NT4 0 Me XP CD ROM 3A 02C WINJ Windows95 98 2000 NT4 0 Me XP CD ROM mini 1 1 8
116. YR106C323 01 YR106C928G02 3 YR411C656G02 YR107D336G01 RV 100TH RV 150TH YR107D579G01 RV 100THL RV 150THL R28TB 7m O 3 IP65 R28TB 15 15m _ 2A RZ365 8 2 32 32 2A RZ361 O 100mA 2A CBL05 5m 2A CBL15 15m O PC AT RS 232C RS MAXY CBL 23 O MS WINDOWS95 98 2000 NT4 0 Me XP MA CD ROM O MS WINDOWS95 98 2000 NT4 0 Me XP mini 2 CD ROM RS 232C x 2 eA RD RS 422 x 1 CC Link Mi oO MELSEC
117. 2 A OV 4 7 27 A OV 29 32 3 A 12V 24V 4 7 28 A 12V 24V 29 32 4 A 64 29 AI 68 5 A 65 30 Al 69 6 B 66 31 BI 70 7 B 67 32 BI 71 8 B ov 10 13 33 B OV 35 38 9 B 12V 24V 10 13 34 B 12V 24V 35 38 10 B 72 35 BI 76 11 C 73 36 CI 77 12 C 74 37 CI 78 13 C 75 38 CI 79 14 C COMO 12V 24V COM 15 22 39 C COM1 12V 24V COM 40 47 15 C 64 40 CI 72 16 D 65 41 DI 73 17 D 66 42 DI 74 18 D 67 43 DI 75 19 D 68 44 D 76 20 D 69 45 DI 77 21 E 70 46 EI 78 22 E 71 47
118. 2 18 2 26 2 2 7 2 1 uaa 2 2 27 2 1 2T CBL 1 RV 100TH 150TH 2T CBL 2 RV 100THL 150THL RV 100TH 5m 2T 05CBL 1
119. 3 64 2 2 O RIO01 40 lt 2A RZ361 gt 2A RZ361 3 18 3 65 R6x2CPU 1 6 7 RIO 1 R6 CN300 gt CN300 gt CN100 gt CN100 gt RIO1 2 RiOm2 2 RIO2 Ro RIO2 NETcable 1 DCIN NETcable 1 DCIN FG FG Dccable 2 pccables 2 RIO1 2 RIO2 2 DCIN
120. D 11 19 D 4 44 D 12 20 D 5 45 D 13 21 E 6 46 E 14 22 E 7 47 E 15 23 E 48 E 24 E 49 E 25 E 50 E 1 3 10 CN300 2A CBL 1 5 EE 5 1 A FG 26 A FG 2 A OV 4 7 27 A OV 29 32 3 A 12V 24V 4 7 28 A 12V 24V 29 32 4 A 16 29 A 20 5 A 17 30 A 21 6 B 18 31 B 22 7 B 19 32 B 23 8 B 0V 10 13 33 B OV 35 38 9 B 12V 24V 10 13 34 B 12V
121. EN 2 9 3 3 1 Rc PT 3 8 0 5 0 7 Mpa 5 4 5 2 20 3 2 30 2 4 J 4 2 10 1 RV 100TH RV 150TH
122. 5 1 A FG 26 A FG 2 A OV 4 7 27 A OV 29 32 3 A 12V 24V 4 7 28 A 12V 24V 29 32 4 A 0 29 A 4 5 A 1 30 A 5 6 B 2 31 B 6 7 B 3 32 B 7 8 B ov 10 13 33 B OV 35 38 9 B 12V 24V 10 13 34 B 12V 24V 35 38 10 B 8 35 B 12 11 C 9 36 C 13 12 C 10 37 C 14 13 C 11 38 C 15 14 C COMO 12V 24V COM 15 22 39 C COM1 12V 24V COM 40 47 15 C 0 Any 40 C 8 16 D 1 41 D 9 17 D 2 42 D 10 18 D 3 43
123. L1LL2 AREA1P2 2 1 8 xy zab c L1 L2 AREA8P2 L1LL2 AREA1ME 8 1 1 8 AREA8ME AREA1AT 01 2 AREA8AT USRAREA RETPATH ON OFF BZR ON OFF JOGJSP H L JOGPSP HL JOGSPMX 250 mm s HANDTYPE
124. 1 1 Display 1 Character string 1 JPN guage ENG 1 LCD 2 3 RS232C Set up the display language JPN Japanese ENG English The following language is changed 1 The display LCD of teaching pendant 2 Personal computer support software alarm message of the robot Parameter explanation list 3 Alarm message that read from the robot with external communication Standard RS232C Extended serial 1 F Ethernet I F 4 83 2 5 51 5 1 1
125. 1 10096 OFF 0 1mA ON DC0 9V TYP OFF ON 2ms ON OFF 2ms 3 2A 1 1 4 1 4 DC12 24V DC10 2 30V 60mA TYP DC24V 1 3 53 60mA 24 12V X AX41C 24V COM Hs 0V AY51C CTL 24V 3 12 DC24V 3 54 3 9 CN100 2A CBL 5
126. 24V 35 38 10 B 24 35 B 28 11 C 25 36 C 29 12 C 26 37 C 30 13 C 27 38 C 31 14 C COMO 12V 24V COM 15 22 39 C COM1 12V 24V COM 40 47 15 C 16 40 C 24 16 D 17 41 D 25 17 D 18 42 D 26 18 D 19 43 D 27 19 D 20 44 D 28 20 D 21 45 D 29 21 E 22 46 E 30 22 E 23 47 E 31 23 E 48 E 24 E 49 E 25 E 50 E NA 3 55
127. 5 6 HoC6 6 7 Hc7 7 8 Hc8 8 _ 9 5 5 11 soLcoM 12 soLCoM 24V 13 8 LS gt 23 RG 24G IRG COM OV 24 A _ 1 1 _ B 2 2 3 D 4 4 2 14 NS IN oo 1 IO 1 2 20 2 2 5 2 1 2 1 1 2 5 3 1 8 8 JM 2 5 4
128. JAR x1y1 z1 x3 y3 z3 3 3 SFC1P SFC1P SFC8P 8 9 x1y1 z1 x2 y2 z2 x3 y3 z3 SFC8P SFC1ME 8 1 1 8 SFC8ME SFC1AT 8 1 1 2 1 1 0 SFC8AT 2 8 AREA1P1 1 8 xy zab c L1 L2 AREA8P1
129. MIISUBISHI RV 100TH 150TH RV 100THL 150THL CR8 533M M BFP A8117 F H 2005 11 7HHHH 104 6212 1 8 12 Z 14F TEL 03 6221 6112 100 8310 2 7 3 TEL 03 3218 6555 2005 11H 1HHHH 730 0037 7 32 TEL 082 248 5228 730 8657HHHHHHHH325S HHHHHHHHHH TEL 082 248 5236 HHHHHHHHH 2005 11 1HHHH HH 230 0051 3 10 TEL 045 504 5851 OO OO 336 0027 HHHHHHHHHHHH 1 TEL 048 710 5750 18 6 BFP A8226 05A
130. WO W1 WO W Y W1 W W1 worw gt Wi W2 WO W lt W1 W2 Worw W1 W2 WO W gt W1 W2 gt 1 3 3 2 CR8 20 W deg CR8 40 W deg 3 4 2 AT 15deg ATmax 20deg R ATmax ATmin 10deg AT lt 15deg AT gt 15deg 3 9 a 3 46 W0 3 3
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