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RV-FR & RH-FH Controllers

(11/27/2017)

Controllers for FR-Series (Included with Robot Arm)

Screen_Shot_20171127_at_9.16.30_AM

Controller Specifications

Model Number

CR800-R (With optional 4F-R16RTCPU)

CR800-D

Robot CPU

4F-R16RTCPU

Built-in

Path Control Method

PTP control and CP control

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 Capacity

Number of Teaching Points

39000

Number of Steps

78000

Number of Programs (Unit)

512

External Input/Output (Points)

General-Purpose I/O

0 input/0 output (8192 input points/8192 output points with the multiple CPU common device)

0 input/0 output (Up to 256/256 when options are used)

Dedicated I/O

Assigned to multiple CPU common device

Assigned to general-purpose I/O

Gripper Open/Close

8 input / 8 output (*6)

Emergency Stop Input

1 (redundant)

Door Switch Input

1 (redundant)

Enabling Device Input (*7)

1 (redundant)

Emergency Stop Output

1 (redundant)

Mode Output

1 (redundant)

Robot Error Output

1 (redundant)

Sync. of Additional Axes

1 (redundant)

Encoder Input

1 (dedicated T/B)

Interface

RS-422

2

Ethernet

1 (dedicated T/B); 1 (for customer) 10BASE-T/100BASE-TX/1000BASE-T

USB (*5)

1 (USB port of programmable controller CPU unit)

1 (Ver. 2.0 device functions only, mini B terminal)

Additional-Axis Interface

1 (SSCNET III/H)

Extension Slot (*1)

-

2

R/C Communication Interface

2 (daisy chain)

Remote I/O

1 (Ver.2)

Memory Extension Slot

1

Ambient Temperature (°C)

0 to 40 (controller) / 0 to 55 (robot CPU)

0 to 40

Relative Humidity (%RH)

45 to 85

Power Supply

Input Voltage Range (V) (*2)

RV: 2FR/4FR/7FR/13FR/20FR, RH:1FRHR/3FRH/3FRHR/6FRH/12FRH/20FRH
Single-Phase AC 200V to 230V

Power Capacity kVA (*3)

RV2FR, RH3FRH: 0.5; RH3FRHR, RV4FR, RH6FRH: 1.0; RH1FRHR/RH12FRH/20FRH: 1.5; RV7FR (except RV7FRLL): 2.0
RV7RLL, RV13FR/RV20FR: 3.0

External Dimensions (Including Legs) (W x D x H)

mm

430 x 425 x 99.5

Weight (kg)

Approx. 12.5

Structure (Protective Specification)

Self-contained floor type/open structure (Vertical and horizontal mounting) [IP20]

Grounding Ω (*4)

100 or less (class D grounding)

Notes:
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. Note the power capacity does not include in-rush current. The power capacity is only a rough guide and whether or not operation can be guaranteed depends on the input power-supply voltage.
4. Electrical grounding is 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. I/O connections on robot arm. RV-2FR Series has 4 inputs and 4 outputs
7. Mode selection switch provided by the customer.

CR800-R
CR800-D

4F-R16RTCPU


CR-800-R_4F_CONTROLLER_DIMENSIONS.png

Multiple_CPU_art

Multiple CPU Environment (*1, *2)

Unit

Type

Base

R35B - 5 Slot

R38B - 8 slot

R312B - 12 slot

Power Supply

R61P

R62P

R63P

R64P

PLC CPU

R04CPU

R08CPU

R16CPU

R32CPU

R120CPU

Notes:
1. For details of the PLC units, refer to the PLC manual or the Mitsubishi Electric FA website, etc.
2. Not included with robot part numbers.