Product Short Description

Product Overview

CR1-571 is Mitsubishi’s early-generation compact robot dedicated controller, matched with MELFA 4-axis SCARA robot series (RP/RH small payload handling robots). It integrates servo drive unit, motion control CPU, I/O processing and teaching operation panel, realizing full closed-loop multi-axis synchronous positioning, pick-and-place and assembly motion control for small automation equipment.
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Mitsubishi MELFA CR1-571
Mitsubishi MELFA CR1-571 - Image 2

Description

Core Technical Specifications

  • Simultaneous Control Axis: Maximum 4 coordinated robot axes
  • Core Processor: 64-bit RISC main CPU + dedicated motion DSP coprocessor
  • Program Storage Capacity: 2,500 position points, 5,000 program steps; support 88 independent robot programs
  • Robot Programming Language: MELFA-BASIC IV motion command language
  • Teaching Modes: Handheld pendant pose teaching, MDI manual direct input
  • Standard Digital I/O: Built-in 16 input / 16 output points; expandable to max 240IN / 240OUT via parallel I/O expansion modules
  • Dedicated Safety I/O: Fixed emergency stop input, robot hand open/close dedicated signal terminals
  • Supply Power: Single-phase 200–230 VAC 50/60 Hz
  • Protection Grade: IP20 (indoor cabinet installation only)
  • Controller Weight: 7.66 kg
  • Ambient Operating Temperature: 0°C ~ +40°C
  • Communication Interfaces: RS232C serial port, external teach pendant connector, robot motor power & encoder multi-core connectors
  • Safety Standard: IEC 60204-1 machine safety compliance, CE certified

Function Features

  1. 4-axis high-precision synchronous motion control, support linear, circular and joint interpolation trajectory
  2. Lightweight handheld teaching pendant with real-time coordinate display, easy on-site trajectory programming
  3. Built-in multi-layer safety protection logic: emergency stop overtravel, soft limit, overload torque protection
  4. Flexible I/O expansion, compatible with peripheral conveyor, sensor, cylinder and vision trigger signals
  5. Fast program switching function, realize rapid production model switching without re-teaching
  6. Real-time motion status digital display on front panel, fault code automatic alarm output
  7. Support external PLC communication linkage via digital I/O signals for full automation line coordination
  8. Compact integrated cabinet design, saves installation space for small automated workstations

Working Principle

User compiles robot motion program via MELFA-BASIC IV language on teaching pendant, stored in controller internal flash memory. 64-bit RISC CPU parses motion instructions, DSP coprocessor calculates multi-axis interpolation trajectory and outputs real-time speed/torque commands to built-in servo drive modules. Drive units send three-phase power to robot arm servo motors, encoder feedback position signals back to controller to form full closed-loop position control. Digital I/O circuit collects external sensor trigger signals and outputs control signals to peripheral actuators, realizing coordinated linkage between robot and auxiliary automation equipment. Emergency stop and overtravel safety circuits cut off motor power instantly to prevent mechanical collision when abnormal conditions occur.

Material & Structural Characteristics

  • Outer Cabinet: Cold rolled steel sheet with matte gray anti-rust paint, integrated front operation panel
  • Front Operation Panel: Digital status display, mode switch key, SV ON/OFF, START/STOP, RESET function buttons, emergency stop red mushroom button
  • Internal Structure: Independent servo drive compartment, CPU mainboard compartment, I/O terminal compartment with heat dissipation fans
  • Connectors: Multi-pin circular aviation connectors for robot motor power and encoder feedback lines
  • Terminal Block: Screw-type industrial terminal blocks for external 230VAC power and peripheral I/O wiring
  • Cooling System: Built-in axial flow cooling fan with dust filter cotton at air outlet

Installation Requirements

  1. Horizontal cabinet installation, vertical placement forbidden, keep fan air inlet unobstructed
  2. Reserve ≥150 mm ventilation space at left, right and rear sides of controller for heat dissipation
  3. Robot motor power cable and encoder feedback cable must use original Mitsubishi shielded dedicated cables
  4. Controller cabinet ground wire connected to equipment main earth bar, ground resistance ≤4 Ω
  5. Ambient installation environment without oil mist, dense dust and corrosive gas
  6. Install at height ≥300 mm above ground to avoid water vapor and ground dust inhalation

Application Scenarios

  • Electronic industry PCB board plug-in, small component pick-and-place assembly
  • Packaging industry small box sorting, carton label sticking and lightweight loading
  • 3C product mobile phone shell, connector precise assembly
  • Food industry small box product sorting and plastic part handling
  • Laboratory automatic sample transfer and precision testing positioning
  • Small injection molding machine finished product automatic take-out

Operation & Maintenance Notes

  1. Complete robot mechanical origin homing after each power-on restart to ensure coordinate accuracy
  2. Clean cooling fan filter cotton every 2 months to prevent overheating shutdown
  3. Do not plug/unplug motor aviation connectors under power-on state, avoid encoder circuit damage
  4. Regularly back up robot programs to external storage via RS232 port to prevent data loss
  5. Strictly follow load weight limit of matched robot arm, overload operation will trigger servo torque lock
  6. If emergency stop alarm occurs, eliminate mechanical obstacle before resetting and restarting motion

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