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>

Unit	Item
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>

Unit	Item
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

 

Documents / Resources

MELFA CR800-R Compatible Robot Controller [pdf] Instruction Manual CR800-R, CR800-R Compatible Robot Controller, Compatible Robot Controller, Robot Controller, Controller

References

• User Manual