Mitsubishi Electric Melfa RH3FHD Series Specifications Manual PDF

Mitsubishi Industrial Robot CR750-D/CR751-D Controller

RH-3FH-D Series Standard Specifications Manual

BFP-A8878-AK

All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.) Enforcement of safety training

For teaching work, prepare a work plan related to the methods and procedures of operating the robot, and to the measures to be taken when an error occurs or when restarting. Carry out work following this plan. (This also applies to maintenance work with the power source turned ON.) Preparation of work plan

Prepare a device that allows operation to be stopped immediately during teaching work. (This also applies to maintenance work with the power source turned ON.) Setting of emergency stop switch

During teaching work, place a sign indicating that teaching work is in progress on the start switch, etc. (This also applies to maintenance work with the power source turned ON.) Indication of teaching work in progress

Provide a fence or enclosure during operation to prevent contact of the operator and robot. Installation of safety fence

Establish a set signaling method to the related operators for starting work, and follow this method. Signaling of operation start

As a principle turn the power OFF during maintenance work. Place a sign indicating that maintenance work is in progress on the start switch, etc. Indication of maintenance work in progress

Before starting work, inspect the robot, emergency stop switch and other related devices, etc., and confirm that there are no errors. Inspection before starting work

Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken.

Safety Precautions

CAUTION

CAUTION

WARNING

CAUTION

DANGER

CAUTION

CAUTION

CAUTION

The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details.

When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc. must be designed by the customer.

Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.)

Transport the robot with the designated transportation posture. Transporting the robot in a non-designated posture could lead to personal injuries or faults from dropping.

Always use the robot installed on a secure table. Use in an instable posture could lead to positional deviation and vibration.

Wire the cable as far away from noise sources as possible. If placed near a noise source, positional deviation or malfunction could occur.

Do not apply excessive force on the connector or excessively bend the cable. Failure to observe this could lead to contact defects or wire breakage.

Make sure that the workpiece weight, including the hand, does not exceed the rated load or tolerable torque. Exceeding these values could lead to alarms or faults.

Securely install the hand and tool, and securely grasp the workpiece. Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation.

Securely ground the robot and controller. Failure to observe this could lead to malfunctioning by noise or to electric shock accidents.

Indicate the operation state during robot operation. Failure to indicate the state could lead to operators approaching the robot or to incorrect operation.

When carrying out teaching work in the robot's movement range, always secure the priority right for the robot control. Failure to observe this could lead to personal injuries or damage if the robot is started with external commands.

Keep the jog speed as low as possible, and always watch the robot. Failure to do so could lead to interference with the workpiece or peripheral devices.

After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc.

Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop. Failure to do so could lead to personal injuries.

Never carry out modifications based on personal judgments, or use non- designated maintenance parts. Failure to observe this could lead to faults or failures.

DANGER

CAUTION

CAUTION

CAUTION

CAUTION

CAUTION

CAUTION

WARNING

WARNING

CAUTION

WARNING

CAUTION

CAUTION

CAUTION

CAUTION

When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture.

Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. Moreover, it may interfere with the peripheral device by drop or move by inertia of the arm.

Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters.

If the main power to the robot controller is turned off while in automatic operation or rewriting the program or parameters, the internal information of the robot controller may be damaged.

Do not connect the Handy GOT when using the GOT direct connection function of this product. Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not.

Do not remove the SSCNET III cable while power is supplied to the controller. Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables. Eye discomfort may be felt if exposed to the light. (Reference: SSCNET III employs a Class 1 or equivalent light source as specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable. If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in deterioration connector properties, and leading to malfunction.

Make sure there are no mistakes in the wiring. Connecting differently to the way

specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions (such as the teaching box emergency stop, customer emer- gency stop, and door switch) are working properly after the wiring setup is com- pleted.

Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary. Please fully confirm the operation by customer. Guarantee and maintenance of the equipment on the market (usual office automation equipment) cannot be performed.

To maintain the security (confidentiality, integrity, and availability) of the robot

and the system against unauthorized access, DoS*1 attacks, computer viruses, and other cyberattacks from unreliable networks and devices via network, take appropriate measures such as firewalls, virtual private networks (VPNs), and antivirus solutions.

Mitsubishi Electric shall have no responsibility or liability for any problems involving robot trouble and system trouble by unauthorized access, DoS attacks, computer viruses, and other cyberattacks.

*1 DoS: A denial-of-service (DoS) attack disrupts services by overloading sys- tems or exploiting vulnerabilities, resulting in a denial-of-service (DoS) state.

WARNING

CAUTION

CAUTION

DANGER

DANGER

DANGER

CAUTION

CAUTION

CAUTION

*CR751-D or CR751-Q controller

Notes of the basic component are shown.

Please install the earth leakage breaker in the primary side supply power supply of the controller of CR751-D or CR751-Q because of leakage protection.

1) Please prepare the following: Leakage current breaker (with the terminal cover), cable for connecting the primary power supply (AWG #14 (2mm2 or above), cables to ground the primary power supply (AWG #12 (3.5mm2 or above). The secondary power cable (with the ACIN connector) for single phase or three phase power is supplied with the product to match the specifications. When you build a cable suitable for your environment using the ACIN connector and the ACIN terminal supplied, prepare a secondary power cable (AWG #14 (2mm2) or above).

2) Confirm that the primary power matches the specifications. 3) Confirm that the primary power is OFF and that the earth leakage breaker power switch is OFF. 4) Connect the secondary power cable.

a) When using the supplied power cable with the ACIN connector Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.

b) When building a power cable using the ACIN connector and the ACIN terminals supplied Connect the ACIN terminals with the secondary power cable (prepared by customers), and insert the ACIN terminals to the ACIN connector pins with the following numbers. Crimping caulking is recommended to connect the ACIN terminals. For single phase: 1 and 3 For three phase: 1, 2, and 3

Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker. 5) Connect this ACIN connector to the ACIN connector on the front of the controller. 6) Connect the grounding cable to the PE terminal. (M4 screw) 7) Connect the primary power cable to the primary side terminal of the earth leakage breaker.

CAUTION

PE terminal

Grounding screw

Controller

ACIN connector

AC200V AC200V

Primary

Secondary

PE terminal

Grounding screw

1 2 3 1 2 3

ACIN connector

ACIN connector

Note 2)

Note 1) Crimping swage is recommended for connecting the attachment ACIN connector (soldering is also possible) Recommendation compression tools: 234171-1(Tyco Electronics)

Note 2) The earth leakage breaker is the customer preparation. Always use the cover below. Recommendation: For single primary power supply ......... NV30FAU-2P-10A-AC100-240V-30mA, (Cover: TCS-05FA2)

For three primary power supply .......... NV30FAU-3P-10A-AC100-240V-30mA, (Cover: TCS-05FA3) Note 3) If necessary, as shown in the figure, connects the noise filter between ACIN terminal blocks and primary power supply.

(Recommended noise filter: SUP-EL20-ER6 *OKAYA ELECTRIC INDUSTRIES)

Controller

<4> LINE/LOAD

<3> LINE/LOAD <1> LINE/LOAD

<2> LINE/LOAD

Noise filter

Label

ACIN connector or power cable (Attachment)

Note 1)

For three phaseFor single phase

Three phase Single phase

Earth leak- age breaker

(NV)

Note 3)

* The controller is an example.

Be careful of interference with peripheral equipment. Especially don't give a shock to the shaft (J3 axis). When you install the hand, be careful not to knock at the shaft end by the hammer etc. The shaft may be damaged.

Take care also of the following items.

(1)The robot's locus of movement may change with specified speed. Especially as for the corner section, short cut distance may change. Therefore, when begin- ning automatic operation, moves at low speed at first, and you should gather speed slowly with being careful of interference with peripheral equipment.

(2)It can be confirmed whether the specified position exist in the defined area by using the instruc- tion command "Zone". It can utilize as one of the methods for collision evasion. Refer to the "detailed description of the instructions manual/function, and operation" of the separate volume for the details of the instruction command.

CAUTION

Short cut

Arch movement (example)

Revision history

Date of print Specifications No. Details of revisions

2012-03-13 BFP-A8878 First print.

2012-03-21 BFP-A8878-A The painting color was corrected. (Error in writing)

Notes were added to the example of safety measures. (The measure against the noise, The

electric specification of the output terminal)

2012-04-04 BFP-A8878-B CE marking specification was added.

2012-05-17 BFP-A8878-C The position repeatability was corrected (improvement).

ON voltage/ON current and OFF voltage/ OFF current of the parallel input-and-output

interface were corrected (error in writing).

The mechanical stopper position to change the operating range to +/-130 degree was

corrected to N12 (Error in writing)

2012-06-05 BFP-A8878-D Limitation of the electric current value of the relays (coil) connected to the external

emergency stop input was added.

The connection method of the Fig.3-27 AXMC terminal connector (CR750) corrected to

"soldering."

The description of the capability value of pose repeatability was deleted.

2012-09-03 BFP-A8878-E The connector name of hand input signal/output signal of "Fig.2-24: Wiring and piping for

hand" was corrected.

The power supply capacity was corrected.

2012-10-04 BFP-A8878-F The notes were added to "Fig 3-24: Example of EMC noise filter installation".

The lithium battery (ER6) was added to The United NationsRecommendations on the

Transport of Dangerous Goods.

The notes about installation of the controller and the robot arm were added. (neither direct

rays nor the heat of lighting)

2012-10-11 BFP-A8878-G Table 1-1: Combination of the robot arm and the controller was corrected.

2012-11-20 BFP-A8878-H The statement about trademark registration was added.

The notes about the input-output connected to the controller were added. (do not ground

the + side of 24V power supply prepared by customer)

Declaration of Incorporation was updated.

The metal plate which fixes "Hand internal wiring and piping set (option)" was changed to

attachment of the robot arm in standard.

2013-01-11 BFP-A8878-J EC-Statement of Compliance was updated.

Note of the external emergency stop were added (opens the connector terminal at factory

shipping).

The connectors of RH-3FH series machine cable (AMP1, AMP2, BRK) were combined as

CN1 connector.

Type names of machine cables (option, special specifications) were changed. (No-CE

specification)

2013-02-15 BFP-A8878-K Type name of CR751 controller was corrected. (formerly: CR751-03HD-0)

2013-07-19 BFP-A8878-M The simple spanner for resin nuts was added to the attachments of the external wiring/

piping box (option).

Declaration of Incorporation and EC-Statement of Compliance were updated.

Fig.2-28: Wiring and piping system diagram for hand and example the solenoid valve instal- lation was modified.

The cautions of operating in a low temperature environment or after a prolonged stop in 6.3

Precautions for handling were modified.

The caution about fumigation of wood packing was added to 6.3 Precautions for handling.

2013-09-19 BFP-A8878-N Fig.6-11: Limitations when connecting the relay etc. (CR750) and Fig.6-12: Limitations

when connecting the relay etc. (CR751) were corrected.

(Error output Emergency stop output, Contactor controleoutput for additional axes

Error output)

The descriptions of CR751-03HD1-0-S15 (CE marking specification controller) were added.

Type name of CR751 controller was corrected. (formerly: CR751-03HD)

The dimensions of screw hole position for fixing user wiring/piping were added.

The following descriptions of (5) in Fig.2-24 Wiring and piping for hand were corrected.

The power source wire only for the multifunctional hand Spare wire

The connector pins name of robot side and connector name of counter side were added.

The connector pins name of counter side was corrected.

The descriptions of solenoid valve set were corrected, and explanations were added.

Fig.2-28 Wiring and piping system diagram for hand and example the solenoid valve

installation was corrected.

The useable length from the shaft end of Internal Wiring/Piping set for hand was corrected.

The descriptions about the ventilation duct which the robot of clean specification has were

corrected.

2014-01-08 BFP-A8878-P The cable fixation plate was added to Fig.3-4: Outside dimensions of controller (CR751).

The type name of the stopper for changing the operating range (J1 axis) in Table 1-3: The

list of robot option equipment and special specification was corrected. (formerly: 1S-DH-

02)

Fig. 2-5: Relationship of the offset length and maximum velocity was corrected.

Conditions for the flexed type cables were corrected.

The note about an ambient temperature was added to 2.1.1 Basic specifications.

The station numbers of the parallel I/O interface and the parallel I/O unit was corrected.

The description of "MELFA BASIC IV" was added to Table 3-1: Specifications of control- ler.

2014-03-31 BFP-A8878-R The grounding representation was corrected.

The types of the ACIN terminal were added.

The dimension of pilot holes for positioning pin was added.

2014-08-20 BFP-A8878-S The cover and corporate logo mark of this manual was changed.

The statement about trademark registration was modified.

The explanation of CR751 controller was modified.

The description about screw holes using for tooling wiring and piping was added.

The note of turning ON the power supply for control (DCcable-2) for parallel I/O unit was

added.

A safety relay in example of safety measures wiring example 5 both CR750 and

CR751 controller were changed.

Declaration of Incorporation and EC-Statement of Compliance were updated.

2014-12-17 BFP-A8878-T Allowance value of the offset amount was added to "2.2.2 Mass capacity".

The description of how to change the operating range moved into INSTRUCTION MAN- UAL/ROBOT ARM SETUP & MAINTENANCE.

Correction of errors in the Specifications discussion materials. (Network vision sensor: 4D-

2CG5***-PKG was deleted.)

The corporate logo mark of illustrations in this manual was changed.

2015-02-10 BFP-A8878-U The description in case the ethernet cable is used as a backup wiring for data communica- tion was added.

2015-11-17 BFP-A8878-V Declaration of Incorporation and EC-Statement of Compliance were updated.

Transportation precaution of the lithium battery was modified.

List of parts and manufacturer of parallel I/O unit was corrected.

Note1) in Table3-6: Function of the key switch interface was corrected.

2015-12-14 BFP-A8878-W Circuit diagrams in 3.6.1 Connection of the external emergency stop and 6.1.7 Examples

of safety measures were modified.

2016-04-07 BFP-A8878-X Windows10 was supported by RT ToolBox2.

EC DECLARATION OF CONFORMITY pages were deleted.

2017-05-22 BFP-A8878-Y Configuration device of CC-Link interface option was modified.

Contact information of the authorized representative was updated.

2017-09-25 BFP-A8878-AA "2.8 About Overhaul" was modified.

2018-06-01 BFP-A8878-AB Description of countermeasures against unauthorized access was added.

Referenced Standard (Requirement of Chinese standardized law) was added.

Notes were added to section 3.6.

Environmental conditions of electromagnetic noise was modified.

3.9 Magnet contactor control connector output (AXMC) for addition axes was modified.

2018-12-25 BFP-A8878-AC The attachments for the external wiring/piping box were corrected.

3.7 Mode changeover switch input was modified.

2019-04-19 BFP-A8878-AD Installation dimensions in Fig. 2-22 was corrected.

2020-01-24 BFP-A8878-AE Added information on the space required for installing and removing the cover. (Fig. 2-10, 12,

14, 16, 18, 20)

Correction of errors.

Corrected the specifications of valves for solenoid valve sets. (Table 2-19)

2020-10-30 BFP-A8878-AF Amended the precautions regarding the prevention of unauthorized access.

Added "Appendix 1: Origin position adjustment of J2 axis".

Corrected the battery name. (ER6 ER6V)

Corrected other mistakes and changed some sections.

2021-01-29 BFP-A8878-AG Updated contents for the optional product "MELFA-3D Vision 3.0 (3F-53U-WINM)".

2021-06-25 BFP-A8878-AH Corrected examples of safety measures. (Fig. 6-1 to 6-4, 6-6 to 6-9)

Corrected limitations when connecting the relay etc. (Fig. 6-11, 12)

Added "Appendix 1: Classification of functions using external input/output signals".

2021-11-30 BFP-A8878-AJ Corrected the explanation of the parameter "SRVON".

Corrected other mistakes and changed some sections.

Date of print Specifications No. Details of revisions

2022-01-31 BFP-A8878-AK Revised "6.4 EMC installation guideline".

Corrected other mistakes and changed some sections.

Date of print Specifications No. Details of revisions

Introduction

This series offers small-size industrial robots developed using Mitsubishi's latest technology. They are especially designed to handle and assemble mechanical parts. They are Mitsubishi's answer to the cus- tomer's need to achieve a compact manufacturing facility capable of highly flexible production, as neces- sitated by the diffusion of high-density product groups and the shorter product life cycles that have become common-place in recent years.

However, to comply with the target application, a work system having a well-balanced robot arm, periph- eral devices or robot and hand section must be structured.

When creating these standard specifications, we have edited them so that the Mitsubishi robot's charac- teristics and specifications can be easily understood by users considering the implementation of robots. However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer.

Mitsubishi hopes that you will consider these standard specifications and use our robots.

Note that in this specification document the specifications related to the robot arm is described Page 9, "2 Robot arm", the specifications related to the controller Page 63, "3 Controller", and software func- tions and a command list Page 132, "4 Software" separately.

This document has indicated the specification of the following types robot.

*RH-3FH-D series

About CE Marking in the automization system The Guidelines of the measures against EMC in the automization system manufactured by the cus- tomer is shown in Page 156, "6.4 EMC installation guideline". Please refer to it and carry out the measures against EMC of the automization system of the cus- tomer.

No part of this manual may be reproduced by any means or in any form, without prior consent from Mit- subishi.

The contents of this manual are subject to change without notice. The specifications values are based on Mitsubishi standard testing methods. The information contained in this document has been written to be accurate as much as possible.

Please interpret that items not described in this document "cannot be performed." or "alarm may occur". Please contact your nearest dealer if you find any doubtful, wrong or skipped point.

This specifications is original. Microsoft, Windows, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 8.1, Windows 10 are

either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

The official name of Windows is MicrosoftWindowsOperating System. WindowsXP, Windows Vista, Windows 7, Windows 8, Windows 8.1, Windows 10 are either prod-

uct names of Microsoft Corporation in the United States. Ethernet is registered trademarks or trademarks of Xerox Corporation in the United States. All other company names and production names in this document are the trademarks or registered

trademarks of their respective owners. Referenced Standard (Requirement of Chinese standardized law): This Product is designed and manu-

factured accordance with GB 11291.1. Illustrations in this Instruction Manual may differ from the actual products.

Copyright(C) 2012-2022 MITSUBISHI ELECTRIC CORPORATION

Contents

i

Page

1 General configuration .................................................................................................................................................................... 1-1

1.1 Structural equipment ............................................................................................................................................................. 1-1 1.1.1 Standard structural equipment .................................................................................................................................. 1-1 1.1.2 Special specifications .................................................................................................................................................... 1-1 1.1.3 Options ................................................................................................................................................................................. 1-1 1.1.4 Maintenance parts ........................................................................................................................................................... 1-1

1.2 Model type name of robot .................................................................................................................................................... 1-2 1.2.1 How to identify the robot model ................................................................................................................................ 1-2 1.2.2 Combination of the robot arm and the controller .............................................................................................. 1-3

1.3 CE marking specifications .................................................................................................................................................... 1-3

1.4 Indirect export .......................................................................................................................................................................... 1-3

1.5 Instruction manuals ................................................................................................................................................................ 1-3

1.6 Contents of the structural equipment ............................................................................................................................ 1-4 1.6.1 Robot arm ........................................................................................................................................................................... 1-4 1.6.2 Controller ............................................................................................................................................................................ 1-5

1.7 Contents of the Option equipment and special specification .............................................................................. 1-6

2 Robot arm ........................................................................................................................................................................................... 2-9

2.1 Standard specifications ........................................................................................................................................................ 2-9 2.1.1 Basic specifications ........................................................................................................................................................ 2-9

(1) Standard specification ............................................................................................................................................... 2-9 (2) Clean specification ................................................................................................................................................... 2-11

2.1.2 The counter-force applied to the installation surface ................................................................................... 2-12

2.2 Definition of specifications ................................................................................................................................................ 2-13 2.2.1 Pose repeatability .......................................................................................................................................................... 2-13 2.2.2 Mass capacity .................................................................................................................................................................. 2-14 2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-15

(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-15 2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-15 2.2.5 Vibration of shaft (J3 axis) position and arm end ............................................................................................ 2-16

(1) Relationship Between Mass Capacity and Speed ....................................................................................... 2-16 (2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed ........... 2-17 (3) Relation between offset length and the maximum speed ......................................................................... 2-18 (4) Time to reach the position repeatability ......................................................................................................... 2-19

2.2.6 Collision detection ......................................................................................................................................................... 2-19 2.2.7 Protection specifications ............................................................................................................................................ 2-20

(1) Types of protection specifications .................................................................................................................... 2-20 2.2.8 Clean specifications ...................................................................................................................................................... 2-20

(1) Types of clean specifications ............................................................................................................................... 2-20

2.3 Names of each part of the robot .................................................................................................................................... 2-22

2.4 Outside dimensions Operating range diagram ........................................................................................................ 2-23 2.4.1 Outside dimensions Operating range diagram ................................................................................................ 2-23

(1) Standard Specification ............................................................................................................................................ 2-23 (2) Clean Specification ................................................................................................................................................... 2-29

2.4.2 Mechanical interface and Installation surface ................................................................................................... 2-35 2.4.3 Outside dimensions of machine cables ................................................................................................................ 2-36

(1) Connection with the CR750 controller ............................................................................................................ 2-36 (2) Connection with the CR751 controller ............................................................................................................ 2-36

2.5 Tooling ........................................................................................................................................................................................ 2-37 2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-37 2.5.2 Internal air piping ............................................................................................................................................................ 2-38

(1) Standard type ............................................................................................................................................................. 2-38 (2) Clean type .................................................................................................................................................................... 2-38

2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-38 2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-38 2.5.5 Ethernet cable ............................................................................................................................................................... 2-38

Contents

ii

Page

2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) ....................... 2-39 (1) Example of wiring and piping <1> ........................................................................................................................ 2-40 (2) Wiring and piping example <2> ............................................................................................................................. 2-40 (3) Precautions for the clean specification ........................................................................................................... 2-41

2.5.7 Wiring and piping system diagram for hand ......................................................................................................... 2-42 2.5.8 Electrical specifications of hand input/output .................................................................................................. 2-43 2.5.9 Air supply circuit example for the hand ............................................................................................................... 2-44

2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-45 2.6.1 Shipping special specifications ................................................................................................................................. 2-45

(1) Machine cable ............................................................................................................................................................. 2-46

2.7 Options ....................................................................................................................................................................................... 2-47 (1) Machine cable extension ........................................................................................................................................ 2-48 (2) Changes J1 axis operating range ....................................................................................................................... 2-52 (3) Solenoid valve set ..................................................................................................................................................... 2-53 (4) Hand input cable ........................................................................................................................................................ 2-55 (5) Hand output cable ..................................................................................................................................................... 2-56 (6) Hand curl tube ............................................................................................................................................................ 2-57 (7) Internal Wiring/Piping set for hand .................................................................................................................... 2-58 (8) External Wiring/Piping box .................................................................................................................................... 2-59

2.8 About Overhaul ...................................................................................................................................................................... 2-61

2.9 Maintenance parts ................................................................................................................................................................. 2-62

3 Controller .......................................................................................................................................................................................... 3-63

3.1 Standard specifications ...................................................................................................................................................... 3-63 3.1.1 Basic specifications ...................................................................................................................................................... 3-63 3.1.2 Protection specifications and operating supply ................................................................................................ 3-64

3.2 Names of each part .............................................................................................................................................................. 3-65 3.2.1 Controller .......................................................................................................................................................................... 3-65

(1) CR750 controller ....................................................................................................................................................... 3-65 (2) CR751 controller ....................................................................................................................................................... 3-67

3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-69 3.3.1 Outside dimensions ....................................................................................................................................................... 3-69

(1) CR750 controller ....................................................................................................................................................... 3-69 (2) CR751 controller ....................................................................................................................................................... 3-70

3.3.2 Installation dimensions ................................................................................................................................................. 3-71 (1) CR750 controller ....................................................................................................................................................... 3-71 (2) CR751 controller ....................................................................................................................................................... 3-73

3.4 External input/output .......................................................................................................................................................... 3-75 3.4.1 Types .................................................................................................................................................................................. 3-75

3.5 Dedicated input/output ...................................................................................................................................................... 3-76

3.6 Emergency stop input and output etc. ......................................................................................................................... 3-79 3.6.1 Connection of the external emergency stop ...................................................................................................... 3-79

(1) CR750 controller ....................................................................................................................................................... 3-80 (2) CR751 controller ....................................................................................................................................................... 3-84

3.6.2 Special stop input (SKIP) ........................................................................................................................................... 3-87 (1) CR750 controller ....................................................................................................................................................... 3-87 (2) CR751 controller ....................................................................................................................................................... 3-88

3.6.3 Door switch function .................................................................................................................................................... 3-89 3.6.4 Enabling device function ............................................................................................................................................. 3-89

(1) When door is opening ............................................................................................................................................... 3-89 (2) When door is closing ................................................................................................................................................ 3-90 (3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-90

3.7 Mode changeover switch input ........................................................................................................................................ 3-91 (1) Specification of the key switch interface ....................................................................................................... 3-91 (2) Connection of the mode changeover switch input ..................................................................................... 3-93

3.8 Additional Axis Function ..................................................................................................................................................... 3-94

Contents

iii

Page

3.8.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-94 (1) CR750 controller ....................................................................................................................................................... 3-94 (2) CR751 controller ....................................................................................................................................................... 3-95 (3) Example of the installation of the noise filter ............................................................................................... 3-96

3.9 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-98 (1) Example circuit ........................................................................................................................................................... 3-98 (2) Image of how to connect the controller connector ................................................................................. 3-100

3.10 Options ................................................................................................................................................................................. 3-101 (1) Teaching pendant (T/B) ...................................................................................................................................... 3-102 (2) Parallel I/O interface ............................................................................................................................................ 3-105 (3) External I/O cable .................................................................................................................................................. 3-110 (4) Parallel I/O unit ...................................................................................................................................................... 3-112 (5) External I/O cable .................................................................................................................................................. 3-123 (6) CC-Link interface .................................................................................................................................................. 3-125 (7) MELSOFT RT ToolBox2/RT ToolBox2 mini ............................................................................................... 3-128 (8) Instruction Manual (bookbinding) ..................................................................................................................... 3-130

3.11 Maintenance parts ........................................................................................................................................................... 3-131

4 Software ......................................................................................................................................................................................... 4-132

4.1 List of commands ............................................................................................................................................................... 4-132

4.2 List of parameters .............................................................................................................................................................. 4-135

5 Instruction Manual ..................................................................................................................................................................... 5-137

5.1 The details of each instruction manuals ................................................................................................................... 5-137

6 Safety .............................................................................................................................................................................................. 6-138

6.1 Safety ...................................................................................................................................................................................... 6-138 6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-138 6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-139 6.1.3 Precautions for using robot .................................................................................................................................... 6-139

(1) Robot installation .................................................................................................................................................... 6-139 (2) Prevention of contact with operator .............................................................................................................. 6-139 (3) Work procedures ..................................................................................................................................................... 6-139 (4) Training ....................................................................................................................................................................... 6-139 (5) Daily inspection and periodic inspection ...................................................................................................... 6-140

6.1.4 Safety measures for automatic operation ........................................................................................................ 6-140 6.1.5 Safety measures for teaching ............................................................................................................................... 6-140 6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-140 6.1.7 Examples of safety measures ................................................................................................................................ 6-141

(1) CR750 controller .................................................................................................................................................... 6-141 (2) CR751 controller .................................................................................................................................................... 6-146 (3) External emergency stop connection [supplementary explanation] ................................................. 6-151

6.2 Working environment ......................................................................................................................................................... 6-154 (1) Power supply ............................................................................................................................................................ 6-154 (2) Noise ............................................................................................................................................................................ 6-154 (3) Temperature and humidity .................................................................................................................................. 6-154 (4) Vibration ..................................................................................................................................................................... 6-154 (5) Installation environment ...................................................................................................................................... 6-154

6.3 Precautions for handling .................................................................................................................................................. 6-154

6.4 EMC installation guideline ............................................................................................................................................... 6-156 6.4.1 Outlines ........................................................................................................................................................................... 6-156 6.4.2 EMC .................................................................................................................................................................................. 6-156 6.4.3 EMC measures ............................................................................................................................................................. 6-157 6.4.4 Component parts for EMC measures ................................................................................................................. 6-157

(1) Ferrite core ............................................................................................................................................................... 6-157 (2) Line noise filter ....................................................................................................................................................... 6-157

Contents

iv

Page

7Appendix ........................................................................................................................................................................... Appendix-158 Appendix 1 Classification of functions using external input/output signals ................................ Appendix-158 Appendix 2 Origin position adjustment of J2 axis .................................................................................. Appendix-159 Appendix 3 Specifications discussion material ........................................................................................ Appendix-160

1-1 Structural equipment

1General configuration

1 General configuration

1.1 Structural equipment

Structural equipment consists of the following types.

1.1.1 Standard structural equipment The following items are enclosed as a standard.

(1) Robot arm (2) Controller (3) Machine cable (4) Robot arm installation bolts (5) Safety manual, CD-ROM (Instruction manual) (6) Guarantee card

1.1.2 Special specifications For the special specifications, some standard configuration equipment and specifications have to be changed before factory shipping. Confirm the delivery date and specify the special specifications at the order.

1.1.3 Options User can install options after their delivery.

1.1.4 Maintenance parts Materials and parts for the maintenance use.

1General configuration

Model type name of robot 1-2

1.2 Model type name of robot This robot has arranged the type name corresponding to load mass, arm length, and environment specification. Details are shown below, please select the robot suitable for the customer's use.

1.2.1 How to identify the robot model

RH - 3 FH - 1 D - Sxx (a) (b) (c) (d) (e) (f) (g) (h) ( i ) j

(a). RH ..............................................Indicates the horizontal multiple-joint robot.

(b). 3..................................................Indicates the maximum load. 3: 3kg

(c). FH..............................................Indicates the FH series.

(d). ..........................................Indicates the arm length. Ex.

35: 350mm 45: 450mm 55: 550mm

(e). ..........................................Indicates the vertical stroke length. Ex.

12: 120mm stroke 15: 150mm stroke

(f). ................................................Indicates environment specification. Ex.

Omitted: General specifications C: Clean specifications

(g). 1 ..................................................Indicates the controller series. Ex.

Omitted: CR750 controller 1: CR751 controller

(h). D .................................................Indicates the controller type. D: Stand alone type

(i). .................................................Technical standard of Conformity. Ex.

Omitted: No conformity of technical standard. 1: Conforms to the CE Marking

(j). - S xx ....................................Indicates a special model. In order, limit special specification.

1-3 CE marking specifications

1General configuration

1.2.2 Combination of the robot arm and the controller Table 1-1 Combination of the robot arm and the controller

1.3 CE marking specifications The robot shown in Table 1-2 is the CE marking specification.

Table 1-2 Robot models with CE marking specifications

1.4 Indirect export The display in English is available by setting parameter LNG as "ENG."

1.5 Instruction manuals The instruction manuals supplied in CD-ROM, except for the Safety Manual. This CD-ROM (electronic manual) includes instruction manuals in both Japanese and English versions.

Protection specification Robot arm Arm

length (mm)

J3-axis stroke (mm)

Controller

General-purpose environment RH-3FH3515-1D 350 150

CR751-03HD-0

RH-3FH4515-1D 450 RH-3FH5515-1D 550

Clean specifications RH-3FH3512C-1D 350 120RH-3FH4512C-1D 450

RH-3FH5512C-1D 550

Robot type Note1)

Note1) The "xx" indicate the arm length, "yy"indicate J3-axis stroke.

Controller External signal logic Language setting

RH-3FHxxyy-D1-S15 CR750-03HD1-1-S15 Note2)

Note2) The specification and the handling method of the controller are the same as standard type controller CR750-03HD-1.

Source type English (ENG) RH-3FHxxyyC-D1-S15 Note3)

Note3) This robot is the clean specification. As long as there is no special description, refers to the contents of RH-3FHxxyyC (clean specification).

RH-3FHxxyy-1D1-S15 CR751-03HD1-0-S15 Note4)

Note4) The specification and the handling method of the controller are the same as standard type controller CR751-03HD-0.

RH-3FHxxyyC-1D1-S15 Note3)

1 General configuration

Contents of the structural equipment 1-4

1.6 Contents of the structural equipment

1.6.1 Robot arm The list of structural equipment is shown in below.

Fig.1-1 Structural equipment

* Refer to Page 9, "2.1 Standard specifica- tions" for details on the specifications.

Horizontal four-axis multiple-jointed type RH-3FH series

Hand output cable 1F-GR60S-01 4sets

Hand input cable 1F-HC35C-01

Hand curl tube 1E-ST0408C-300

Machine cable extension CR751 controller Fixed type: 1F- UCBL-02 (direct type) Flexed type: 1F- LUCBL-02 (direct type)

CR750 controller Fixed type: 1S- CBL-03 (extension type) Flexed type: 1S- LCBL-03 (extension type) Flexed type: 1S- LUCBL-03 (direct type)

Note1) refer the length. Refer to Table 1-3 for details.

Machine cable (Fix type 2m) CR751 controller: 1F-02UCBL-02 CR750 controller: 1S-02UCBL-03

Solenoid valve set 1F-VD0*-01 (Sink type) 1F-VD0*E-01 (Source type) (*: 1 to 4 = 1 set to 4 set)

*With hand output cable.

Machine cable Standard product:

5m attachment

Pneumatic hand customer-manu- factured parts

Caution Standard configuration

Special specifications

Option equipment

Prepared by customer

Changes J1 axis operating range 1F-DH-01

Internal Wiring/Piping set for hand 1F-HS304S-01

This option

External Wiring/Piping box 1F-UT-BOX

Pull out Wiring/Piping

This option

For CR751 controller For CR750 controller

1-5

1 General configuration

1.6.2 Controller The devices shown below can be installed on the controller.

The controllers that can be connected differ depending on the specification of the robot. (Refer to Page 2, "1.2 Model type name of robot".)

Fig.1-2 Structural equipment

Personal computer Prepared by customer

*)Refer to Table

1-5 for USB

cable

Instruction Manual (bookbinding) 5F-FA01-PE01

Parallel I/O interface 2D-TZ368(Sink)/ 2D-TZ378(Source)

CC-Link interface 2D-TZ576

Teaching pendant (T/B)

Simple T/B R32TB: For CR750 controller R33TB: For CR751 controller

Highly efficient T/B R56TB: For CR750 controller R57TB: For CR751 controller

Controller

CR751-03HD-0 CR751-03HD1-0-S15

CR750-03HD1-1-S15

External I/O cable 2D-CBL05 (5m) 2D-CBL15 (15m)

Parallel I/O unit 2A-RZ361(Sink)/ 2A-RZ371(Source)

External I/O cable 2A-CBL05 (5m) 2A-CBL15 (15m)

MELSOFT RT ToolBox2/RT ToolBox2 mini RT ToolBox2 3D-11C-WINE(CD-ROM)

(Windows XP, Windows Vista, Windows 7,

Windows 8, Windows 8.1, Windows 10)

RT ToolBox2 mini 3D-12C-WINE(CD-ROM)

(Windows XP, Windows Vista, Windows 7,

Windows 8, Windows 8.1, Windows 10)

PLC (Programmable Logic Controller) External device Prepared by customer

Standard configuration

Special specifications

Options

Prepared by

Caution

equipment

customer

1 General configuration

Contents of the Option equipment and special specification 1-6

1.7 Contents of the Option equipment and special specification

A list of all Optional equipment and special specifications are shown below.

Table 1-3 The list of robot option equipment and special specification

Item Type Specifications Classification Note1)

Note1) Distinction of (is option) and (is special specification at shipping) is shown for each pair with the controller.

Description CR750 CR751

Stopper for changing the

operating range (J1 axis)

1F-DH-01 The stopper parts for J1 axis

This must be installed by the customer.

Machine cable (Replaced to shorter cable)

1S-02UCBL-03 For fixing (Set of power and sig- nal)

- 2m (A 2m cable is supplied instead of the 5m cable that is supplied as standard)

1F-02UCBL-02 For fixing (Set of power and sig- nal)

-

Machine cable extension (extension type)

1S- CBL-03 For fixing (Set of power and sig- nal)

- " " in type shows the length of the cables as follows.

05=5m, 10=10m, 15=15m 1S- LCBL-03 For flexing (Set of power and

signal) -

Machine cable extension

(direct type)

1S- LUCBL-03 For flexing (Set of power and

signal) -

1F- UCBL-02 For fixing (Set of power and sig- nal)

- " " in type shows the length of the cables as follows.

10=10m, 15=15m, 20=20m 1F- LUCBL-02 For flexing (Set of power and

signal) -

Solenoid valve set 1F-VD01-01/VD01E-01 1 set (Sink type)/(Source type) The solenoid-valve set for the hand of

the customer setup

1F-VD0*-01: Sink type

1F-VD0*E-01: Source type

1F-VD02-01/VD02E-01 2 set (Sink type)/(Source type)

1F-VD03-01/VD03E-01 3 set (Sink type)/(Source type)

1F-VD04-01/VD04E-01 4 set (Sink type)/(Source type)

Hand input cable 1F-HC35C-01 Robot side: connector. Hand side: wire.

The cable is connected to the sensor by the customer. Attaches the cable clamp (drip proof

type)

Hand output cable 1F-GR60S-01 Robot side: connector Hand side: wire

The cable is connected to the hand out- put connector by the customer.

Attaches the cable clamp (drip proof type) Straight cable 600mm (total length)

Hand curl tube 1E-ST0408C-300 For solenoid valve 4set.:4x8

Curl type air tube

External Wiring/Piping box 1F-UT-BOX For solenoid valve 4set.:4x8

Box which pulls out the Wire/Piping

(Hand I/O cable, Hand curl tube)

Internal Wiring/Piping set for hand

1F-HS304S-01 Hand input cable (four signal lines and two power lines), 3 four hoses

Wiring/Piping to pass in the shaft Reducers (4 to 3: 8pcs) are Attached.

1-7 Contents of the Option equipment and special specification

1 General configuration

Table 1-4 The list of controller option equipment and special specification

Item Type Specifications

Classification Note1)

Note1) Distinction of (is option) and (is special specification at shipping) is shown for each pair with the controller.

Description

CR750 CR751

Simple teaching pendant R32TB Cable length 7m - With 3-position enable switch IP65

R32TB-15 Cable length 15m -

R33TB Cable length 7m -

R33TB-15 Cable length 15m -

Highly efficient teaching

pendant

R56TB Cable length 7m -

R56TB-15 Cable length 15m -

R57TB Cable length 7m -

R57TB-15 Cable length 15m -

Parallel I/O Interface 2D-TZ368

(Sink type)

DO: 32 point DI: 32 point Insulated type output signal

(0.1A/24V /point)

The card type external input-and-output.

Interface. Install to the slot of controller.

2D-TZ378

(Source type)

DO: 32 point/ DI: 32 point Insulated type output signal

(9mA/ 24V /point)

External I/O cable

(For Parallel I/O Interface) 2D-CBL05 5m Use to connect the external peripheral

device to the parallel input/output

interface. 2D-CBL15 15m

Parallel I/O Unit 2A-RZ361 (Sink type)

DO: 32 point/ DI: 32 point Insulated type output signal (0.1A/24V /point)

The unit for expansion the external input/output. Electrical isolated Type (100mA/Point)

2A-RZ371 (Source type)

DO: 32 point/ DI: 32 point Insulated type output signal (7mA/ 24V /point)

External I/O cable (For Parallel I/O Unit)

2A-CBL05 5m Use to connect the external peripheral device to the parallel input/output unit

2A-CBL15 15m

CC-Link interface 2D-TZ576 Only Intelligent device station, Local station For MELSEC PLC with CC-Link con-

nection.

RT ToolBox2 (Personal computer Sup- port software)

3D-11C-WINE CD-ROM

Windows XP, Windows Vista, Windows 7, Windows 8, Windows 8.1, Windows 10 (With the simulation function)

RT ToolBox2 mini (Personal computer Sup- port software mini)

3D-12C-WINE CD-ROM

Windows XP, Windows Vista, Windows 7, Windows 8, Windows 8.1, Windows 10

Instruction Manual 5F-FA01-PE01 RH-3FH-D series

1 General configuration

Contents of the Option equipment and special specification 1-8

[Reference]:The recommendation products of the USB cable are shown below

Table 1-5 Recommendation article of the USB cable

Be careful to the USB cable to apply neither the static electricity nor the noise. Otherwise, it becomes the cause of malfunction.

Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary. Please fully confirm the operation by customer. Guarantee and maintenance of the equipment on the market (usual office

automation equipment) cannot be performed.

Name Type name Supplier

USB cable

(USB A type-USB mini B type) KU-AMB530 SANWA SUPPLY INC.

USB-M53 ELECOM CO., LTD.

GT09-C30USB-5P MITSUBISHI ELECTRIC SYSTEM & SERVICE CO.,

LTD.

MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD.

USB adapter

(USB B type-USB mini B type) AD-USBBFTM5M ELECOM CO., LTD.

Caution

Caution

2-9 Standard specifications

2Robot arm

2 Robot arm 2.1 Standard specifications 2.1.1 Basic specifications

(1) Standard specification Table 2-1 Standard specifications of robot arm

Item Unit Specifications

Type RH-3FH3515 RH-3FH4515 RH-3FH5515

Environment Standard specification

Installation posture On floor

Degree of freedom 4

Structure Horizontal, multiple-joint type

Drive system AC servo motor

Position detection method Absolute encoder

Motor capacity J1 200

J2 100

J3 (Z) 100

J4 (axis) 50

Brake J1, J2, J4: no brake, J3: with brake

Arm length 1 arm mm 125 225 325

2 arm mm 225

Max.reach radius( 1+ 2) mm 350 450 550

Operating range J1 deg 170

J2 deg 145

J3 (Z) mm 150

J4 (axis) deg 360

Speed of motion Note1)

Note1) The maximum speed is the value which applied MvTune2 (high-speed movement mode).

J1 deg/s 400

J2 deg/s 720

J3 (Z) mm/s 1,100

J4 (axis) deg/s 3,000

Maximum horizontal composite speed Note2)

Note2) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2, and J4. The control point is the position offset by the rated inertia from the flange.

mm/s 6,800 7,500 8,300

Cycle time Note3) sec 0.41 0.46 0.51

Load Rating kg

(N)

1

Maximum 3

Z axis pressing force Note4)

Maximum N 82

Allowable inertia Rating kg m2 0.005

Maximum 0.06

Pose repeatability Note5) X-Y

direction mm 0.010 0.010 0.012

J3 (Z) mm 0.010

J4 (axis) deg 0.004

Ambient temperatureNote6) 0 to 40

Mass k 29 32

Tool wiring Input 8 points/Output 8 points, (total 20 cores)

Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)

Ethernet cable one cable (100BASE-TX, eight cores) Note7)

Tool pneumatic pipes Primary: 6 x two hoses, Secondary: 4 x eight hoses Note8)

Supply pressure MPa 0.510%

Protection specification Note9) IP20

Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2)

2Robot arm

Standard specifications 2-10

Note3) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 2kg.

The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position.

Note4) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load error may occur. Please operate in a manner that does not cause errors.

Note5) The pose repeatability details are given in Page 13, "2.2.1 Pose repeatability". Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the con-

tinuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the over- load level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)

Note7) The 8-wire cable designated for LAN wiring can also be used for backup wiring. Note8) The 4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromag-

netic valve (optional) are shown on Page 53, "(3) Solenoid valve set". Note9) The protection specification details are given in Page 20, "2.2.7 Protection specifications".

300

2 5

2-11 Standard specifications

2Robot arm

(2) Clean specification

Table 2-2 Standard specifications of robot arm (Clean specification)

Item Unit Specifications

Type RH-3FH3512C RH-3FH4512C RH-3FH5512C

Environment Clean specification

Installation posture On floor

Degree of freedom 4

Structure Horizontal, multiple-joint type

Drive system AC servo motor

Position detection method Absolute encoder

Motor capacity J1 200

J2 100

J3 (Z) 100

J4 (axis) 50

Brake J1, J2, J4: no brake, J3: with brake

Arm length 1 arm mm 125 225 325

2 arm mm 225

Max.reach radius( 1+ 2) mm 350 450 550

Operating range J1 deg 170

J2 deg 145

J3 (Z) mm 120

J4 (axis) deg 360

Speed of motion Note1)

Note1) The maximum speed is the value which applied MvTune2 (high-speed movement mode).

J1 deg/s 420

J2 deg/s 720

J3 (Z) mm/s 1,100

J4 (axis) deg/s 3,000

Maximum horizontal composite speed Note2)

Note2) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2, and J4. The control point is the position offset by the rated inertia from the flange.

mm/s 6,800 7,500 8,300

Cycle time Note3) sec 0.41 0.46 0.51

Load Rating kg

(N)

1

Maximum 3

Z axis pressing force Note4)

Maximum N 82

Allowable inertia Rating kg m2 0.005

Maximum 0.06

Pose repeatability Note5) X-Y

direction mm 0.010 0.010 0.012

J3 (Z) mm 0.010

J4 (axis) deg 0.004

Ambient temperature Note6) 0 to 40

Mass k 29 32

Tool wiring Input 8 points/Output 8 points, (total 20 cores)

Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)

Ethernet cable one cable (100BASE-TX, eight cores) Note7)

Tool pneumatic pipes Primary: 6 x two hoses, Secondary: 4 x eight hoses Note8)

Supply pressure MPa 0.510%

Protection specification Note9) Clean specification: ISO class 3

Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2)

2Robot arm

Standard specifications 2-12

2.1.2 The counter-force applied to the installation surface The counter-force applied to the installation surface for the strength design of the robot installation surface is shown.

Table 2-3 Value of each counter-force

Note3) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 2kg.

The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position.

Note4) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load error may occur. Please operate in a manner that does not cause errors.

Note5) The pose repeatability details are given in Page 13, "2.2.1 Pose repeatability". Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the con-

tinuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the over- load level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)

Note7) The 8-wire cable designated for LAN wiring can also be used for backup wiring. Note8) The 4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromag-

netic valve (optional) are shown on Page 53, "(3) Solenoid valve set". Note9) The details of the clean specifications are described in Page 20, "2.2.8 Clean specifications". The conditions neces-

sary to guarantee cleanliness are as follows: clean room down flow greater then 0.3 m/s, robot internal suction of 30 to 50 L/min, and installation of an exhaust duct at the rear of the robots main base. A 8 joint has been prepared at the rear of the base for suction. The protection specification details are given in Page 20, "2.2.7 Protection specifications".

Item Unit Value

Falls moment: ML N m 240

Torsion moment: MT N m 255

Horizontal translation force: FH N 810

Vertical translation force: FV N 380

300

2 5

2-13 Definition of specifications

2 Robot arm

2.2 Definition of specifications

The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows.

2.2.1 Pose repeatability For this robot, the pose repeatability is given in accordance with JIS B 8432 (Pose repeatability). Note that the value is based on 100 measurements (although 30 measurements are required according to JIS).

Caution The specified "pose repeatability" is not guaranteed to be satisfied under the following conditions.

[1] Operation pattern factors 1) When an operation that approaches from different directions and orientations are included in rela-

tion to the teaching position during repeated operations

2) When the speed at teaching and the speed at execution are different

[2] Load fluctuation factor 1) When work is present/absent in repeated operations

[3] Disturbance factor during operation 1) Even if approaching from the same direction and orientation to the teaching position, when the

power is turned OFF or a stop operation is performed halfway

[4] Temperature factors 1) When the operating environment temperature changes

2) When accuracy is required before and after a warm-up operation

[5] Factors due to differences in accuracy definition 1) When accuracy is required between a position set by a numeric value in the robot's internal coor-

dinate system and a position within the actual space

2) When accuracy is required between a position generated by the pallet function and a position within the actual space

Robot arm

2-14

2.2.2 Mass capacity The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar mass, eccentric loads will have some restrictions When designing the tooling or when selecting a robot, consider the fol- lowing issues.

(1) The tooling should have the value less or equal than the smaller of the allowable moment of inertia found in Page 9, "2.1.1 Basic specifications".

(2) Fig. 2-1 shows the distribution dimensions for the center of gravity in the case where the volume of the load is relatively small. Use this figure as a reference when designing the tooling. Please use the robot in the allowable moment of inertia of maximum moment of inertia shown in Fig. 2-1.

[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion posture. Even if you are within the allowable range mentioned previously, a vibration, an overload or generate an overcurrnt alarm could occur. In such cases, please reduce acceleration and deceleration (Accel com- mand) speeds and movement speed (Ovrd command). Although the standard value to reduce is 50% for each command, please adjust corresponding to the movement posture. Refer to separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details of each command. Moreover, if hand/workpiece parameters are not set exactly, the similar phenomenon will be easier to occur.

[Caution] Refer to Page 15, "2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed", and set the values of the mass, magnitude, and distance to the centroid of a tool and a workpiece to parameters. If parameters are not set exactly, the lifetime of reduction gears, a belt, etc. is affected.

[Caution] The overhang amount of the load, such as the mass capacity and the allowable moment of inertia defined in this section, are dynamic limit values determined by the capacity of the motor that drives axes or the capacity of the speed reducer. Therefore, it does not guarantee the accuracy on all areas of tooling. Guaranteed accuracy is measured from the center point of the mechanical interface surface. Please note that if the point of operation is kept away from the mechanical interface surface by long and low-rigid tooling, the positioning accuracy may deteriorate or may cause vibration. Note that the allowable offset value (Z direction) from the lower edge of the shaft to the position of center of gravity is 100 mm.

[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an ascend- ing operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending speed.

[Caution] This robot will restrict speed automatically by internal controls when the load center-of-gravity position separates from the shaft center. Refer to Page 15, "2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed" in detail. The allowance distance (allowance offset amount) from the center of the shaft to the gravity center of loading weight is 100mm.

Fig.2-1 Position of center of gravity for loads (for loads with comparatively small volume)

mm

20mm(1kg)

100mm(3kg)

Unit: mm

Shaft center

Allowable moment of inertia

Maximum

Rating

100 less than 3kg)

2-15

Robot arm

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed This robot automatically sets the optimum acceleration and deceleration speeds and maximum speed, according to the load capacity and size that have been set, and operates using these automatically set speeds. To achieve that, it is necessary to correctly set the actual load data (mass and size of hand and work) to be used. However, vibration, overheating and errors such as excessive margin of error and overload may occur, depending on the robot operation pattern or ambient temperature.

In this case, reduce the speed and the acceleration and deceleration rate before continuing to use. This is done by accessing the robot program and adjusting the speed settings (Ovrd) and the acceleration and deceleration set- tings (Accel).

If a setting is performed in such a way that it falls below the mounted load, the life span of the mechanism ele- ments used in the robot may be shortened. In the case of a work requiring a high degree of accuracy, set up the load correctly and use the robot by lowering the ratios of the acceleration and deceleration speeds.

(1) Setting Load Capacity and Size (Hand Conditions) Set up the capacity and size of the hand with the "HNDDAT*" parameter (optimum acceleration/deceleration setting parameter), and set up the capacity and size of the work with the "WRKDAT*" parameter. Numbers 0 to 8 can be used for the asterisk (*) part. Designate the "HNDDAT*" and "WRKDAT*" parameters to be used using the "LoadSet" command in a program. For more details, refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations." It is the same meaning as "LoadSet 0.0" if not using the "LoadSet".

Note) The position of the center of gravity is located at the center of the surface at the bottom of the shaft. Set the X, Y and Z center of gravity positions for the tool coordinate directions (the Z center of gravity position will be a plus for downward directions).

2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot Vibrations at the tip of the arm may increase substantially during the low-speed operation of the robot, depending on the combination of robot operation, hand mass and hand inertia. This problem occurs when the vibration count specific to the robot arm and the vibration count of the arm driving force are coming close to each other. These vibrations at the tip of the arm can be reduced by taking the following measures:

1) Change the robot's operating speed by using the Ovrd command. 2) Change and move the teaching points of the robot. 3) Change the hand mass and hand inertia.

Hand mass kg

size X mm

size Y mm

size Z mm

center-of-gravity position X mm

center-of-gravity position Y mm

center-of-gravity position Z mm

HNDDAT* 3.0 99.0 99.0 76.0 0.0 0.0 38.0

WRKDAT* 0.0 0.0 0.0 0.0 0.0 0.0 0.0

Robot arm

2-16

2.2.5 Vibration of shaft (J3 axis) position and arm end Vibrations at the tip of the arm may increase substantially during operation under the shaft position near the

low end or the high end of the robot, depending on the combination of hand mass and hand inertia. This problem occurs according to that inertia, because the distance from the shaft support section to the shaft end becomes long. When this vibration affects the robot's operations, please change operating speed etc. like the above Page 15, "2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot".

(1) Relationship Between Mass Capacity and Speed A function to optimize the maximum speed of each axis according to the setting value of the load capacity will be activated (Refer to Fig. 2-2).

However, this function does not work with the setting of 1kg or lighter load mass. When the load mass is changed to exceed 1kg, the maximum speed is compensated according to the load mass.

[CAUTION] Depending on the operation pattern, the speed and/or acceleration/deceleration at the front edge may not be parallel with the speed and the rate of change of acceleration/deceleration specified in a program.

Fig.2-2 Automatic compensation of speed

100

60

0 0

1

3

(%)

RH-3FH series

M ax

im u m

s pe

ed r

at io

( % )

Load capacity (kg)

2-17

Robot arm

(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed A function to optimize the acceleration/deceleration speed according to the height of the shaft (Refer to Fig. 2-3, Fig. 2-4) will be activated. This function is invalid if the shaft (axis J3) operates at a position above P3 in Fig. 2-3. Acceleration/deceleration is compensated for at a position below P3 in Fig. 2-3 if the position of the center of gravity of the load is located at the front edge of the shaft.

Fig.2-3 Area in which acceleration/deceleration speed is compensated

Table 2-4 Area in which acceleration/deceleration speed is compensated

Fig.2-4 Automatic compensation of acceleration/deceleration speed

J3 axis stroke (mm) Compensation area

(P2 to P3)Stroke length P1

(Upper end) P2

(Lower end)

120 340 220 220 310

150 370 220 220 310

P3

(J3)

P1

P2 Shaft (J axis)

Area in which speed and acceleration/deceleration speed are not compensated

Area in which speed and acceleration/deceleration speed are compensated

100

36

0 370 310 220

mm

(%)

250

24

J3 axis (Z) stroke 120mm/150mm

A cc

e le

ra ti o n / de

c e le

ra -

ti o n s

pe e d

ra ti o (%

)

Shaft position (mm)

(Standard Acceleration/deceleration speed)

Robot arm

2-18

(3) Relation between offset length and the maximum speed A function to optimize the maximum speed of each axis according to the offset length will be activated. (Refer to Fig. 2-5)

Fig.2-5 Relationship of the offset length and maximum velocity

[Supplementary explanation 1]: The setting which shortens execution time The execution time can be improved by using the following methods.

1) Perform continuous path operation using the Cnt command. 2) Control the optimum acceleration/deceleration using the Oadl command. 3) Control the optimum speed using the Spd command. 4) Setting a larger value in the optimum acceleration/deceleration adjustment rate parameter: JADL. (Maxi-

mum 100) The moving time can be shortened by setting a larger value in the optimum acceleration/deceleration adjustment rate parameter (JADL). In this robot, the acceleration/deceleration speed is initialized to allow continuous moving with a short wait time (setting of B in the Fig. 2-6). This setting is suited for continuous operations that have a short tact time, such as palletizing work. Conversely, if quick moves (short moving time) are required, such as L/UL work on machined parts, the acceleration/ deceleration speed can be increased by initial setting (setting of A in the Fig. 2-6). However, please note that some setting values of acceleration/deceleration speed tend to cause overload and overheat errors. In such a case, extend the wait time, reduce the acceleration/deceleration speed, or decrease the moving speed.

Fig.2-6 Relationship between Acceleration/deceleration Speed and Tact Time (Conceptual Drawing)

100

42

0 0 100

mm

(%)

40

60

60

A c c e le

ra ti o n /d

e c el

e ra

ti o n

sp e e d

ra ti o (%

)

Offset length (mm)

Tact time/ 1 cycle Operation time

Wait time B

A

Increased acceleration/deceleration speed

x Accel instruction [%] x parameter JADL [%]

Acceleration/deceleration speed [m/sec2] = optimum acceleration/deceleration speed [m/sec2]

2-19

Robot arm

(4) Time to reach the position repeatability When using this robot, the time to reach the position repeatability may be prolonged due to the effect of residual vibration at the time of stopping. If this happens, take the following measures:

1) Change the operation position of the Z axis to the location near the top as much as possible. 2) Increase the operation speed prior to stopping. 3) When positioning the work near the bottom edge of the Z axis, if no effectiveness is achieved in step "2)"

above, perform operation (robot path: O A C). In the case of operation (robot path: O B

C), residual vibration may occur. (Refer to Fig. 2-7.)

Fig.2-7 Recommended path when positioning at the bottom edge of the Z axis

2.2.6 Collision detection This series have the "collision detection function" which detects the abnormalities by the collision of the robot arm, and the initial setting has set this function as the enable to suppress damage to the minimum. Although the enable/disable of this function can be changed by parameter: COL and command: ColChk, you should use in valid condition of this function for protection of the robot and of the peripheral equipment.

The abnormalities are detected by the robot's kinetics model, presuming torque necessary for movement at any time. Therefore, the setting parameter (HNDDAT*, WRKDAT*) of the hand and the work piece conditions should be right. And, it may be detected as the collision in movement as speed and motor torque are changed rapidly. (for example, the movement near the place of the origin by linear interpolation, the reversal movement, the cold con- dition, the operation after long term stoppage)

In such a case, by adjusting the value of the setting parameter (COLLVL, COLLVLJG) of the collision detection level according to actual use environment, the sensitivity of collision detection can be optimized and the damage risk can be reduced further. And, in the operation after the low temperature or long term stoppage, please operate by accustoming at low speed (warm-up), or use the warm-up operation mode.

Refer to the separate instruction manual "Detailed explanations of functions and operations" for details of related

parameter.

Table 2-5 Factory-shipments condition

JOG operation Automatic

RH-3FH series Valid Invalid

A

1 00 m m

B

O

M o re

t ha

n 1 00

m m

Robot arm

2-20

2.2.7 Protection specifications (1) Types of protection specifications

The robot arm has protection specifications that comply with the IEC Standards. The protection specifications and applicable fields are shown in Table 2-6.

Table 2-6 Protection specifications and applicable fields

The IEC IP symbols define the degree of protection against solids and fluids, and do not indicate a protective structure against the entry of oil.

The IEC standard is described by the following "Information" And, the corrosion of the rust etc. may occur to the robot with the liquids.

Information

The IEC IP20

It indicates the protective structure that prevents an iron ball 12 0 +0.05mm diameter, which is being pressed

with the power of 3.1 kg10%, from going through the opening in the outer sheath of the supplied equipment.

2.2.8 Clean specifications (1) Types of clean specifications

The robot arm with clean specification is made by order. Please check the delivery schedule.

Table 2-7 Clean specifications

Precautions for use 1) A 8 VACUUM coupling is provided in the base section of the robot arm for vacuum inside the robot arm.

(Refer to Fig. 2-23) When using the robot, connect this coupling with the vacuum generating valve (Refer to Table 2-8) and vacuum pump (furnished by the customer).

2) To suck in the robot arm, use the vacuum generator of the specification shown in following a) and b). a) When using the vacuum generator

Table 2-8 Specifications of vacuum generation valve (Confirmed in our company

b) When using the vacuum pump Assure the vacuum flow rate of 30-50L/min. And, secure the exhaust course from the pump not to affect the power supply and the cleanness for the vacuum pumps.

Type Protection

specifications (IEC Standards value)

Classification Applicable field Remarks

RH-3FHxx15 Robot arm: IP20

General-purpose environment speci- fications

General assembly Slightly dusty environment

Type Degree of cleanliness Internal suction Remarks

RH-3FHxx12C ISO class 3 Note1)

Note1) The conditions necessary to guarantee cleanliness are as follows: clean room down flow greater then 0.3 m/s, robot internal suction of 30 to 50 L/min, and installation of an exhaust duct at the rear of the robots main base. A 8 joint has been prepared at the rear of the base for suction.

Suck the inside of robot arm with

vacuum pump. (prepared by cus- tomer)

Use it in the clean room with the

down flow (flow velocity 0.3 m/s

above).

The use of a vacuum generating valve

is recommended.

Type Maker Air pressure Note1)

Note1) It is the vacuum pump maker's written specification.

Quantity

MEDT 14 KOGANEI CORPORATION Vacuum rate: 90.0 L/min(ANR) 1

2-21

Robot arm

3) The ventilation duct is attached to the robot arm rear (refer to Fig. 2-8). As the Z axis moves up and down the volume of the bellows varies, and air is sucked in and released out of the robots ventilation duct opening. Be sure to locate the ventilation ducts opening in a position that will not affect the robots clean- liness. Furthermore, whilst it is only a small amount, internal suction results in external air flows into the robot through the ventilation ducts opening, and therefore the following two points should be considered when deciding where to locate the ventilation ducts opening.

The opening should be facing downwards The opening should not be located in the vicinity of dust/dirt or liquids, etc.

(Recommended cleanliness of surrounding area: less than ISO class 5)

Fig.2-8 Installation of Ventilation Duct

4) When using the optional electromagnetic valve set, we recommend using the primary pipings spare piping (6 air hose) to release the exhaust fumes. Please take care as leaking exhaust fumes inside the robot may have an impact on the robots cleanliness.

Robot base

Internal suction

Opening

Machine cable

Ventilation duct

Robot arm

Names of each part of the robot 2-22

2.3 Names of each part of the robot

Fig.2-9 Names of each part of the robot

2

J4

J2

J1

J3

View A

Note 1) The operation method of the brake release switch. The brake of J3 axis can be released with this switch and the enabling switch of T/B. Please be sure to perform brake release operation by two-person operations. Always assign an operator other than the switch operator to prevent the arm from dropping. This operation must be carried out with the switch operator giving signals.

When releasing the brake the J3 axis will drop. Be sure to perform brake release operation by two- person operations.

(1) One person supports so that the J3 axis may not drop. (2) The one more person pushes the brake release switch of the robot arm, in the

condition that the enabling switch of T/B is turned on.

CAUTION

Brake release switch

No.1 arm

No.2 arm

J1 axis

J2 axis

Base

J3 axis

Shaft

J4 axis

T/B

Enabling switch

(Hold down to the left or the right.)

Brake release switch

A Note1)

2-23 Outside dimensions Operating range diagram

Robot arm

2.4 Outside dimensions Operating range diagram

2.4.1 Outside dimensions Operating range diagram (1) Standard Specification

Fig.2-10 Outside dimensions of RH-3FH3515

310mm

Note *1) Indicates the space necessary

to replace the battery. *2) Indicates screw holes (M4 depth

6mm) for fixing user wiring/ piping. Six places on both-sides of No.2 arm, Two places on front surface.

*3) The distance to a minimum bendable radius of the machine cable for CR750/751 controller.

*4) Indicates the space necessary to connect the machine cable for CR750/751 controller.

*5) Required space to installing/ removing the cover.

Note) The drawing shows an example of the CR751 controller connection robot.

Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

Robot arm

Outside dimensions Operating range diagram 2-24

Fig.2-11 Operating range diagram of RH-3FH3515

Installation surface

2-25 Outside dimensions Operating range diagram

Robot arm

Fig.2-12 Outside dimensions of RH-3FH4515

310mm

Note *1) Indicates the space necessary

to replace the battery. *2) Indicates screw holes (M4 depth

6mm) for fixing user wiring/ piping. Six places on both-sides of No.2 arm, Two places on front surface.

*3) The distance to a minimum bendable radius of the machine cable for CR750/751 controller.

*4) Indicates the space necessary to connect the machine cable for CR750/751 controller.

*5) Required space to installing/ removing the cover.

Note) The drawing shows an example of the CR751 controller connection robot.

Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

Robot arm

Outside dimensions Operating range diagram 2-26

Fig.2-13 Operating range diagram of RH-3FH4515

Installation surface

2-27 Outside dimensions Operating range diagram

Robot arm

Fig.2-14 Outside dimensions of RH-3FH5515

310mm

Note *1) Indicates the space

necessary to replace the battery.

*2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, Two places on front surface.

*3) The distance to a minimum bendable radius of the machine cable for CR750/ 751 controller.

*4) Indicates the space neces- sary to connect the machine cable for CR750/751 con- troller.

*5) Required space to installing/ removing the cover.

Note) The drawing shows an example of the CR751 controller connection robot.

Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

Robot arm

Outside dimensions Operating range diagram 2-28

Fig.2-15 Operating range diagram of RH-3FH5515

Installation surface

2-29 Outside dimensions Operating range diagram

Robot arm

(2) Clean Specification

Fig.2-16 Outside dimensions of RH-3FH3512C

310mm

Note *1) Indicates the space necessary

to replace the battery. *2) Indicates screw holes (M4 depth

6mm) for fixing user wiring/ piping. Six places on both-sides of No.2 arm, Two places on front surface.

*3) The duct is attached to the clean specification.

*4) The distance to a minimum bendable radius of the machine cable for CR750/751 controller.

*5) Indicates the space necessary to connect the machine cable for CR750/751 controller.

*6) Required space to installing/ removing the cover.

Note) The drawing shows an example of the CR751 controller connection robot.

Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

Robot arm

Outside dimensions Operating range diagram 2-30

Fig.2-17 Operating range diagram of RH-3FH3512C

Installation surface

2-31 Outside dimensions Operating range diagram

Robot arm

Fig.2-18 Outside dimensions of RH-3FH4512C

310mm

Note *1) Indicates the space necessary

to replace the battery. *2) Indicates screw holes (M4 depth

6mm) for fixing user wiring/ piping. Six places on both-sides of No.2 arm, Two places on front surface.

*3) The duct is attached to the clean specification.

*4) The distance to a minimum bendable radius of the machine cable for CR750/751 controller.

*5) Indicates the space necessary to connect the machine cable for CR750/751 controller.

*6) Required space to installing/ removing the cover.

Note) The drawing shows an example of the CR751 controller connection robot.

Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

Robot arm

Outside dimensions Operating range diagram 2-32

Fig.2-19 Operating range diagram of RH-3FH4512C

Installation surface

2-33 Outside dimensions Operating range diagram

Robot arm

Fig.2-20 Outside dimensions of RH-3FH5512C

310mm

Note *1) Indicates the space necessary

to replace the battery. *2) Indicates screw holes (M4

depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, Two places on front surface.

*3) The duct is attached to the clean specification.

*4) The distance to a minimum bendable radius of the machine cable for CR750/751 controller.

*5) Indicates the space necessary to connect the machine cable for CR750/751 controller.

*6) Required space to installing/ removing the cover.

Note) The drawing shows an example of the CR751 controller connection robot.

Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

Robot arm

Outside dimensions Operating range diagram 2-34

Fig.2-21 Operating range diagram of RH-3FH5512C

Installation surface

2-35 Outside dimensions Operating range diagram

Robot arm

2.4.2 Mechanical interface and Installation surface

Fig.2-22 Mechanical interface and Installation surface

Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.

(Base section of a robot arm)

Robot arm

Outside dimensions Operating range diagram 2-36

2.4.3 Outside dimensions of machine cables

(1) Connection with the CR750 controller 1) Power cable

2) Signal cable

(2) Connection with the CR751 controller 1) Power cable

2) Signal cable

Approx. 80

[Controller side] [Robot arm side]

Approx. 50

A p pr

o x.

7 0

Approx. 90

A p pr

o x.

15

Approx. 90

A p pr

o x.

7 0

Approx. 50

Approx. 80

Note) If using an optional machine cable extension, refer to Page 48, "(1) Machine cable extension" in a diameter of the cable.

Approx. 78

A pp

ro x.

7 0

A pp

ro x.

7 0

Approx. 90

Approx. 90

A pp

ro x.

1 6

[Controller side] [Robot arm side]

Approx. 45

Approx. 78

Approx. 45

Note) If using an optional machine cable extension, refer to Page 48, "(1) Machine cable extension" in a diameter of the cable.

A pp

ro x.

88

[Controller side] [Robot arm side]

58

7 1

Approx. 15

Approx. 45 Approx. 90

A p p ro

x. 1

4 7

A p p ro

x.

1 5

Approx. 55 Approx. 23 Approx. 12

A p p ro

x. 1

6

Approx. 20

Note) If using an optional machine cable extension, refer to Page 48, "(1) Machine cable extension" in a diameter of the cable.

[Controller side] [Robot arm side]

A p p ro

x.

9

Approx. 45

7 1

52

Approx. 12

A pp

ro x.

85

Approx. 14

A p p ro

x. 4

5

Approx. 40 Approx. 40

Note) If using an optional machine cable extension, refer to Page 48, "(1) Machine cable extension" in a diameter of the cable.

2-37 Tooling

Robot arm

2.5 Tooling

2.5.1 Wiring and piping for hand Shows the wiring and piping configuration for a standard-equipped hand.

Fig.2-23 Wiring and piping for hand

Connector and pneumatic coupling

No. Name Qty.

Robot side (Robot arm side) Counter side (customer-prepared)

ManufacturerConnectors, couplings Connector pins Connector Connector pins

(1) Coupling 2 UKBL6 - - - Koganei Corporation

(2) Coupling 1 UKBL8 - - - Koganei Corporation

(3) Connector 2 1-1717834-4 1318108-1 1-1318115-4 1318112-1 Tyco Electronics AMP

(4) Connector 2 1-1717834-3 1318108-1 1-1318115-3 1318112-1 Tyco Electronics AMP

(5) Connector 1 1-1318117-3 1318112-1 1-1318120-3 1318108-1 Tyco Electronics AMP

(6) Connector 1 2-1717834-4 1318108-1 2-1318115-4 1318112-1 Tyco Electronics AMP

(7) Connector 1 TM21P-88P - - -

View A

A

(4)Hand input signal connector (HC1, 2)

(3)Hand output signal connector (GR1, 2)

Secondary piping pneumatic hose (Option, or customer prepared) 4 hose (Max. 8 hoses)

Primary piping pneumatic hose (AIR OUT, RETURN)

Solenoid valve set (Option)

(3)Hand output signal connector (GR1, 2)

Primary piping pneumatic hose

(AIR OUT, RETURN)

(6)The signal wire only for the multifunctional hand.

(7)Ethernet cable (8 cores)

(5)Spare wire

* If the LAN connector is cut and connector of customer preparation is connected, it can be use as other usages.

Pulling out wiring and piping

Wiring and piping can be passed through the inside of the shaft. It can also be pulled out externally from the rear of the No. 2 arm by using the Page 59, "(8) External Wiring/Piping box". Ethernet cables and the power supply chord for remote input/output can be pulled out from the grommet at the rear of the base section. Note) On the clean specifications it is

necessary to seal the cable aperture closed.

(Robot arm side)

(Robot arm side)

No.2 arm

No.1 arm

Robot base

(two cores + two wires)

(two wires)

(1) Primary piping pneumatic coupling (6) AIR IN, RETURN

Cable apertures of Ethernet cable and signal wire only for the multifunctional hand (Grommet)

Machine cable connector

(power supply) (AMP1, AMP2) (Inside the cover)

Machine cable connector

(for signal) (CN2) (Inside the cover)(2)Vacuum (VACUUM) (8)

(Only for clean specification)

Machine cable connector (for

brake) (BRK) (Inside the cover)

Machine cable con- nector (for signal)

(CN2)

Machine cable con- nector (power supply)

(CN1)

Robot arm rear side: View B

B

Robot arm

Tooling 2-38

2.5.2 Internal air piping (1) Standard type

1) The robot has two 6 urethane hoses from the pneumatic entrance on the base section to the No.2 arm. One hose is the primary piping for the pneumatic equipment, and the other pipe is used for air exhaust.

2) The pneumatic inlet in the base section has a 6 pneumatic coupling bridge. 3) The solenoid valve set (optional) can be installed to the side on No.2 arm. 4) Refer to Page 53, "(3) Solenoid valve set" for details on the electronic valve set (optional).

(2) Clean type 1) The primary piping is the same piping as the standard type. 2) With the clean specification, a 8 coupling is provided in the base section for suction inside the machine.

For use, connect it to the suction port of the vacuum pump or the coupling on the "VACUUM" side of the vacuum generating valve. Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use the exhaust filter (prepared by the customer).

3) Refer to Page 20, "2.2.8 Clean specifications" for details of the vacuum for suction. 4) Supply clean air to the vacuum generator.

2.5.3 Internal wiring for the hand output cable 1) The hand output primary cable extends from the connector PCB of the base section to the back side of the

No.2 arm. (AWG#24(0.2mm2): 10 cables) The cable terminals have connector bridges for eight hand out- puts.The connector names are GR1 and GR2. To pull the wiring out of the arm, following separate options are required.

Hand output cable ....................................1F-GR60S-01

External wiring and piping box .............1F-UT-BOX

2.5.4 Internal wiring for the hand input cable 1) The hand input cable extends from the connector PCB of the base section to the No.2 arm.

(AWG#24(0.2mm2): 10 cables) The cable terminals have connector bridges for eight hand inputs. The con- nector names are HC1 and HC2.

2) The hand check signal of the pneumatic hand is input by connecting this connector. To extend the wiring to the outside of the arm, following separate options are required.

Hand input cable .......................................1F-HC35C-01

External wiring and piping box .............1F-UT-BOX

2.5.5 Ethernet cable Ethernet cables are installed from the robots base section up to the No. 2 arm section, and can be used.

Similar to on our previous models, these cables can also be used for backup wiring. For further details please refer to the separate Instruction Manual/Robot Arm Setup.

Example of use for backup wiring.

When connecting previously used tools to the robot

Folding back the hand output cable when attaching the electromagnetic valve to the robots exterior.

When attaching 8 devices or more to the hand section such as sensors, (8 input and 8 output dedicated points are available for hand signals.). In this case connect the signals (of the sensors, etc.) to parallel input/output signals.

When shipped from the factory, both ends are LAN connectors.

When using it as backup wiring, cut the LAN connectors off and use with user supplied connectors.

When using it as backup wiring for data communication, the shield wire must be grounded. If the shield wire is not grounded, it may cause a communication abnormality by noise superposed on the cable.

Table 2-9 Ethernet cable specification

Item Specification

Communication speed 100BASE-TX

Size AWG #26 (0.13mm2) x four pair (total eight cores)

Externality of insulator Approx. 0.98 mm

2-39 Tooling

Robot arm

2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) The customer is required to provide tooling wiring, piping and metal fixtures. Screw holes are provided on the robot arm for the installation of tooling wiring, piping and metal fixtures. (Refer to the Fig. 2-24.) The length of wiring and piping and the installation position on the robot must be adjusted according to the work to be done by the robot. Please use the following example as reference.

A hand input cable and a hand curl cable are available as optional accessories for your convenience. After performing wiring and piping to the robot, operate the robot at low speed to make sure that each part does not interfere with the robot arm and the peripheral devices. Confirm that there is no interference also with bellows of the shaft section by clean specification .

Please be aware that dust may be generated from friction if wires and pipes come into contact with the robot arm when using it according to the clean specifications.

If you install metal fixtures and a solenoid valve using the screw holes on the No.2 arm portion, add the mass of the metal fixtures and the solenoid valve to mass of a hand then set the HNDDAT parameter. Moreover, Fix the parts, such as a solenoid valve, firmly to prevent the parts getting shaky during operation of a robot.

Fig.2-24 Location of screw holes for fixing wiring/piping

164 102

2-M46 () 10

2-M48 ()

2-M48 ()

25

55

2-M48

20

11

11 0

4- M5

11

B

B A

A

(Usable on opposite side too.)

2-M4, depth 8

View

View

4- M5 s

cre w, d

ep th

11

2-M4, depth 8

(Usable on opposite side too.)

2-M4, depth 6

2-M4, depth 8 (Usable on opposite side too.)

Robot arm

Tooling 2-40

(1) Example of wiring and piping <1> By feeding wiring and piping through the inside of the shaft, the wiring and piping to the hand becomes compact.

Fig.2-25 Example of wiring and piping <1>

(2) Wiring and piping example <2> This is an effective method in cases where the wiring and piping is often changed, or when the hand rotation is minimal (within 90), etc.

Fig.2-26 Example of wiring and piping <2>

2 () (34(42)) ()

()

1(AIR OUTRETURN)(2)

(GR1GR2)()

(GR1GR2)(2)

()

Solenoid valve set (Option)

Cable fixed plate for Internal Wiring/Piping set for hand (Option)

Primary piping air hose (AIR OUT, RETURN)

Inside the No.2 arm

Hand output signal connector ( 1, GR2)

(Solenoid valve (option) side)

Hand output signal connector (GR1, GR2)

(Inside the No.2 arm)

Example of the customer preparation tool

Secondary piping air hose, etc Internal Wiring/Piping set for hand (Option)

(Hand tube: 3 x 4 hoses, Hand input cable (For signal: 4 cable, For power: 2 cable) or

Hand tube (Customer prepared)

()

()

() ()

()

() ()

Example of the customer preparation tool

Fixing plate (Customer preparation) Wiring/Piping (Customer preparation) or Hand input cable (Option)

External Wiring/Piping box (Option)

Wiring/Piping (Customer preparation) or Hand curl tube (Option)

Metal fittings (customer preparation)

2-41 Tooling

Robot arm

(3) Precautions for the clean specification The through hole of the top part of the tip shaft are taped at shipment.

Perform the following actions as necessary in order to ensure that the robot keeps sufficiently protective performance during the operation:

1) When the through hole of the shaft is not used Keep the top part of the tip shaft taped while the robot is in use.

2) When the through hole of the shaft is used for wiring. Remove the rubber cap on top of the tip shaft and perform the necessary wiring. Once the wiring is com-

pleted, seal the bottom part of the tip shaft using liquid seal in order to avoid accumulation of dust

Perform the wiring in such a way that the wires around the area below the tip shaft will not get into contact with other parts while the robot is operating.

Robot arm

Tooling 2-42

2.5.7 Wiring and piping system diagram for hand Shows the wiring and piping configuration for a standard-equipped hand.

Fig.2-27 Wiring and piping system diagram for hand and example the solenoid valve installation

A1 A2 A3 A4 B1 B2 B3 B4

<+24V> <>

A1 A2 A3 B1 B2 B3

<+24V(COM)>

A1 A2 A3 A4 B1 B2 B3 B4

<+24V(COM)>

GR2

GR1

HC1

<> <24G>

A1 A2 A3 B1 B2 B3

HC2

<> <> <> <>

6

1

6

6

6

AIR IN

RETURN ()

2

8

A1 A2 A3 A4 B1 B2 B3 B4

1 2 3 4 5 6 7 8

GR1

GR2

HC1

HC2

RIO/ ADD

LAN

ADD

LAN

1 2 3 4 5 6 7 8

1 2 3

* Refer to Fig. 2-28 for air

supply circuit example.

*1)

*1) Using the External Wiring/Piping box, the hand output/input signal cable and the air hose can be pulled out externally.

(This option comes equipped with two 6 joints for primary piping, eight 4 joints for secondary piping, and holes for pulling out the cables.)

*2) Using the Internal Wiring/Piping set for hand, the hand input signal cable and air hose can be fed through the inside of the shaft.

(This option comes as a set that includes 3 x 4 air hoses, hand input cables (4 x signal lines, 2 x power chords), and fixing tools.

*1), *2)

Hand output signal

Connect to the optional solenoid

valve set directly

or

Connect with customer's tool

drive equipment (solenoid valve,

etc), by the optional hand output

cable.

Hand input signal

Connect with customer's tool

drive equipment (hand, etc), by

the optional hand input cable.

Piping

Connect with customer's hand,

etc.

*1), *2)

VACCUM

Note) Only Clean specification.

Hand signal output connector (GR1)

Hand signal output connector (GR2)

Hand signal input connector (HC1)

Hand signal input connector (HC2)

Solenoid

valve set

(Option)

No.2 arm Base

6 quick coupling 6 quick coupling

8 quick coupling

Primary piping pneumatic hose 6 hose

6 hose

Reserved>

Reserved>

White

White Black White Black

Black

White Black White Black

White Black White Black White Black

White Black White Black White Black

R o bo

t ar

m w

ir in

g re

la y

bo ar

d

C o n tr

o lle

r

Power line> Power line>

Ethernet cable AWG#24(0.2mm2)x8 (Both ends are LAN connectors) (Cab tire cables with the shield)

Spare line> Spare line>

Black White

Black White

Black White

Brown White/ Brown Green White/Blue Blue White/Green Orange White/Orange

2-43 Tooling

Robot arm

2.5.8 Electrical specifications of hand input/output

Table 2-10 Electrical specifications of input circuit

Table 2-11 Electrical specifications of output circuit

Item Specifications Internal circuit

Type DC input

* HCn HC1 to HC8

No. of input points 8

Insulation method Photo-coupler insulation

Rated input voltage 24VDC

Rated input current approx. 7mA

Working voltage range DC10.2 to 26.4V (ripple rate within 5%)

ON voltage/ON current 8VDC or more/2mA or more

OFF voltage/OFF current 4VDC or less/1mA or less

Input resistance Approx. 3.3k

Response time

OFF-ON 10ms or less (DC24V)

ON-OFF 10ms or less (DC24V)

Item Specification Internal circuit

Type Transistor output

* GRn GR1 to GR8

No. of output points 8

Insulation method Photo coupler insulation

Rated load voltage DC24V

Rated load voltage range DC21.6 to 26.4VDC

Max. current load 0.1A/ 1 point (100%)

Current leak with power OFF 0.1mA or less

Maximum voltage drop with power ON DC0.9V(TYP.)

Response time OFF-ON 2ms or less (hardware response time)

ON-OFF 2ms or less (resistance load) (hardware response time)

Protects Protects the over-current (0.9A)

3.3K

+24V

24G

820 HCn*

+24V

3.3K

820

24G

+24V

HCn*

+24V

+24V(COM)

*GRn

24G

Protection of over-current

(Initial power supply)

* GRn

+24V

24G

Protection of over-current

2 Robot arm

2-44

2.5.9 Air supply circuit example for the hand An example of pneumatic supply circuitry for the hand is shown below.

(1) Make sure that a surge voltage protection circuit such as a diode is connected to the solenoid coil in parallel. (2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be

damage to the work. To prevent it, install a pressure switch to the source of the air as shown in Fig. 2-28 and use the circuit described so that the robot stops when pressure drops. Use a hand with a spring-pressure clamp, or a mechanical lock-type hand, that can be used in cases where the pressure switch becomes dam- aged.

(3) The optional hand and solenoid valve are of an oilless type. If they are used, don't use any lubricator. (4) Supply clean air to the vacuum generation valve when you use clean type robot. (5) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the

dew condensation may occur on the coupling or the hose surface.

Fig.2-28 Air supply circuit example for the hand

() 0.7MPa

AIR IN (0.5MPa%)

Pneumatic source (Clean) 0.7MPa less Filter Regulator

Pressure switch

To the AIR IN (Robot arm) (0.5 10 )

2-45 Shipping special specifications, options, and maintenance parts

Robot arm

2.6 Shipping special specifications, options, and maintenance parts

2.6.1 Shipping special specifications

What are sipping special specifications? Shipping special specifications are changed before shipping from the factory. Consequently, it is necessary to confirm the delivery date by the customer.

To make changes to the specifications after shipment, service work must be performed at the work site or the robot must be returned for service.

How to order (1) Confirm beforehand when the factory special specifications can be shipped, because they may not be

immediately available. (2) Specify, before shipping from our company. (3) Specified method Specify the part name, model, and robot model type.

Robot arm

Shipping special specifications, options, and maintenance parts 2-46

(1) Machine cable

Order type Fixed type .........CR750 controller: 1S-02UCBL-03 (2m) CR751 controller: 1F-02UCBL-02 (2m)

Outline

This cable is exchanged for the machine cable (5 m for fixed type) that was supplied as standard to shorten the distance between the controller and the robot arm.

Configuration Table 2-12 Configuration equipment and types

[Caution] Orders made after purchasing a robot are treated as purchases of optional equipment. In this case, the machine cable (5 m for fixed type) that was supplied as standard is not reclaimed.

Part name Type Qty. Mass (Kg) Note1)

Note1) Mass indicates one set.

Remarks Note2)

Note2) Standard 5 m (for fixed type) is not attached.

CR750 controller

Fixed Set of signal and power cables 1S-02UCBL-03 1 set 2.6 2m

Motor signal cable (1 cable) -

Motor power cable (1 cable) -

RCR751 controller

Fixed Set of signal and power cables 1F-02UCBL-02 1 set 2.6 2m

Motor signal cable (1 cable) -

Motor power cable (1 cable) -

2-47 Options

Robot arm

2.7 Options

What are options? There are a variety of options for the robot designed to make the setting up process easier for customer needs.

customer installation is required for the options. Options come in two types: "set options" and "single options".

1. Set options .......................................A combination of single options and parts that together, from a set for serving some purpose.

2. Single options ..................................That are configured from the fewest number of required units of a part. Please choose customer's purpose additionally.

Robot arm

Options 2-48

(1) Machine cable extension

Order type: CR750 controller .........Fixed type: 1S- CBL-03 (extension type) Flexed type: 1S- LCBL-03 (extension type)

Flexed type: 1S- LUCBL-03 (direct type)

CR751 controller .........Fixed type: 1F- UCBL-02 (direct type)

Flexed type: 1F- LUCBL-02 (direct type)

Note) refer the length.

Outline

The distance between the robot controller and the robot arm is extensible by this option.

A fixed type and flexible type are available.

The fix and flexible types are both configured of the motor signal cable and motor power cable.

The extended method is discriminated as follows.

Direct type ............ Exchanges with the machine cable attached in the standards.

Extension type..... Adds to the machine cable attached in the standards.

Configuration Table 2-13 Configuration equipment and types

Part name Type Note1)

Note1) The numbers in the boxes refer the length.

Qty. Mass (kg) Note2)

Note2) Mass indicates one set.

Remarks Fixed Flexed

CR750 controller

Fixed Set of signal and power cables 1S- CBL-03 1 set - 4.3(5m)

7.6(10m)

11(15m)

5m, 10m or 15m each

Extension typeMotor signal cable (1 cable) -

Motor power cable (1 cable) -

Flexed Set of signal and power cables 1S- LCBL-03 - 1 set 6.2(5m)

11(10m)

15.4(15m)

5m, 10m or 15m each

Extension typeMotor signal cable - (1 cable)

Motor power cable - (1 cable)

Flexed Set of signal and power cables 1S- LUCBL-03 - 1 set 6.2(5m)

11(10m)

15.4(15m)

5m, 10m or 15m each

Direct typeMotor signal cable - (1 cable)

Motor power cable - (1 cable)

Nylon clamp NK-14N - 2 pcs. - for motor signal cable

Nylon clamp NK-18N - 2 pcs. - for motor power cable

Silicon rubber - 4 pcs -

CR751 controller

Fixed Set of signal and power cables 1F- UCBL-02 1 set - 6.7(10m)

12(15m)

17(20m)

10m, 15m or 20m each

Direct typeMotor signal cable (1 cable) -

Motor power cable (1 cable) -

Flexed Set of signal and power cables 1F- LUCBL-02 - 1 set 7(10m)

13(15m)

17(20m)

10m, 15m or 20m each

Direct typeMotor signal cable - (1 cable)

Motor power cable - (1 cable)

Nylon clamp NK-14N - 2 pcs. - for motor signal cable

Nylon clamp NK-18N - 2 pcs. - for motor power cable

Silicon rubber - 4 pcs -

2-49 Options

Robot arm

Specifications The specifications for the fixed type cables are the same as those for standard cables.

Shows usage conditions for flexed type cables in Table 2-14.

Table 2-14 Conditions for the flexed type cables

[Caution] The guidance of life count may greatly differ according to the usage state items related to Table 2-14 and to the amount of silicon grease applied in the cableveyor. Recommendation grease: G-501 (Supplier: Shin-Etsu Chemical Co., Ltd.)

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty. [Caution] When a cableveyor is used, partitions are required to avoid overlapping or riding up of the cables. Also,

adjust the cable length to eliminate tension or excessive looseness, and fix it securely.

Cable configuration The configuration of the flexible cable is shown in Table 2-15. Refer to this table when selecting the cableveyor.

The configuration is the same between the length difference in the cable, and CR750 controller / CR751 control- ler.

Table 2-15 Cable configuration (Flexed type)

Item Specifications

Cable Note1)

Note1) The square in the cable name indicates the cable length.

1S- LCBL-03, 1S- LUCBL-03 1F- LUCBL-02

Minimum flexed radius 100mm or more

Cableveyor, etc., occupation rate 50% or less

Maximum movement speed 2,000mm/s or less

Guidance of life count 7.5 million times (With silicone grease coating)

Environmental proof IP54 IP54 (except for the area approximately

500 mm from the end of the connector on

the controller side)

Cable configuration Motor signal cable 6 x 5, 8.5 x 1, and 1.7 x 1 6 x 7 and 1.7 x 1

Motor power cable 6.5 x 10 6.5 x 8 and 8.9 x 2

Item Motor signal cable Motor power cable

C R

7 50

c o n tr

o lle

r

No. of cores AWG#24

(0.2mm2)-4P

AWG#24

(0.2mm2)-7P

AWG#18

(0.75mm2)

AWG#18

(0.75mm2)-3C

Finish dimensions Approx. 6mm Approx. 8.5mm Approx. 1.7mm Approx. 6.5mm

No.of cables used 7 cables 1 cable 1 cable 10 cables

No. in total 7 cables 10 cables

C R

7 5 1

c o n tr

o lle

r

No. of cores AWG#24

(0.2mm2)-4P

AWG#18

(0.75mm2)

AWG#16

(1.25mm2)-4C

AWG#18

(0.75mm2)-3C

Finish dimensions Approx. 6mm Approx. 1.7mm Approx. 8.9mm Approx. 6.5mm

No.of cables used 7 cables 1 cable 2 cable 8 cable

No. in total 8 cables 10 cables

Robot arm

Options 2-50

Fixing the flexible cable

Fig.2-29 Fixing the flexible cable (CR750)

CN1

CN2

CN1

CN2

5m

NK-14N

NK-18N

NK-18N

NK-14N 300400mm

300400mm

The cable should bend and the size should be 200mm or more. And a connection space for a machine cable needs 250mm or more.

Note1) When direct type, exchanges with the standard cable and connect directly.

Controller

Nylon clamp

Silicon rubber

Robot arm

Cover the extension terminal area with the cover etc. so that it may not be easily touched to the latch lever.

CAUTION

Nylon clamp

Nylon clamp

Nylon clamp

Nylon clamp

Extended flexible cable (Option)

The fixed cable (Standard attachment) Motor power cable Motor signal cable

Note1)

(1) Connect the connector to the robot arm. (2) Wind the silicon rubber around the cable at a position 300 to 400 mm from the side of robot arm and

extension section as shown in Fig. 2-29, and fix with the nylon clamp to protect the cable from external stress.

200

250

Min.

Extension section

2-51 Options

Robot arm

Fig.2-30 Fixing the flexible cable (CR751)

CN2

NK-14N

NK-18N

NK-18N

NK-14N

300500mm

300 500mm

AMP1AMP2

BRK

CN2

CN1

(CN2)(CN1)

AMP1 AMP2 BRK

( 2)

( 2)

*1) Connect the robot arm side connector to the connector which is inside the CONBOX cover.

*2) The flexible cable area is the area between the heat shrink tubes on the robot and the controller sides.

*1)

Controller

Nylon clamp

Silicon rubber

Robot arm

Nylon clamp Motor signal cable

Motor power cable

Nylon clamp

Nylon clamp

Two fixing screws

Two fixing screws

Controller connector face

Motor power ( ) Motor signal (CN2)

Nylon clamp

(1) Connect the connector to the robot arm. (2) For protection of wires from external stress, refer to Fig. 2-30. Wrap the cable with the supplied silicon

rubber and fix the cable with nylon clamps in the area between the heat shrink tubes on the robot and the controller sides (flexible cable area).

Heat shrink tube *2)

Heat shrink tube *2)

200

250 The cable should bend and the size should be 200mm or more. And a connection space for a machine cable needs 250mm or more.

Min.

Robot arm

Options 2-52

(2) Changes J1 axis operating range

Order type: 1F-DH-01

Outline

The operating range of J1 axis is limited by the robot arm's mechanical stopper and the controller parameters.

If the axis could interfere with the peripheral devices, etc., and the operating range need to be limited, use this.

Configuration Table 2-16 Configuration devices

Specifications Table 2-17 Specifications

(1) The changeable angle shown in Table 2-17 indicates the operation range by the software. The limit by the mechanical stopper is positioned 3 degrees outward from that angle, so take care when designing the layout.

(2) The operating range is changed with robot arm settings (insertion of the pin) and parameter settings. Refer to the separate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" and "Instruction Manual/ Detailed Explanation of Functions and Operations" for details.

(3) If the arm collides with mechanical stopper for operating range change at the automatic operation, replace- ment of the mechanical stopper is necessary.

Part name Type Qty. Mass(kg) Remarks

Stopper for changing the operat- ing range

1F-DH-01 1 set 0.05 hexagon socket head bolt (M10 x 20): 2 bolts

Axis Standard Changeable angle

J1 +/- side +/- 170 deg +/- 130 deg, +/- 150 deg

2-53 Options

Robot arm

(3) Solenoid valve set

Order type: One set: 1F-VD01-01(Sink type)/1F-VD01E-01(Source type) Two sets: 1F-VD02-01(Sink type)/1F-VD02E-01(Source type)

Three sets: 1F-VD03-01(Sink type)/1F-VD03E-01(Source type)

Four sets: 1F-VD04-01(Sink type)/1F-VD04E-01(Source type)

Outline

The solenoid valve set is an option that is used for controlling toolings when various toolings, such as the hand, are installed at the end of the arm. Also, for easy installation of this electromaagnetic set onto the robot, it comes equipped with a manifold, couplings, connectors, among other things.

Configuration Table 2-18 Configuration equipment

Specifications Table 2-19 Valve specifications

Table 2-20 Solenoid specifications

Part name Type Q'ty Mass (kg)

Note1)

Note1) Mass indicates one set.

Remark

Solenoid valve set (1 sets) 1F-VD01-01/

1F-VD01E-01

Either

one pc.

1.0

Hand output cable is already connected.

Refer to Page 56, "(5) Hand output cable".

M4 x 30 Two screws (Installation screws)

1F-VD0*-01: Sink type 1F-VD0*E-01: Source type.

Solenoid valve set (2 sets) 1F-VD02-01/

1F-VD02E-01

Either

one pc.

1.0

Solenoid valve set (3 sets) 1F-VD03-01/

1F-VD03E-01

Either

one pc.

1.0

Solenoid valve set (4 sets) 1F-VD04-01/

1F-VD04E-01

Either

one pc.

1.0

Item Specifications

Number of positions 2

Port 5 Note1)

Note1) Couplings of unused solenoid valves must be blocked with plugs. If they are not blocked, supplied air will blow out from the couplings, lowering the air pressure of the solenoid valves being used and making them nonfunctional.

Recommended plugs: KQ2P-04 plug made by SMC

Valve function Double solenoid

Operating fluid Clean air Note2)

Note2)

Operating method Internal pilot method

Effective sectional area (CV value) 1.1mm2 (0.06)

Oiling Unnecessary

Operating pressure range 0.1 to 0.7MPa

Response time 15msec or less (at 0.5 MPa)

Max. operating frequency 10Hz

Ambient temperature -10 to 50 (However, there must be no condensation.)

Item Specifications

Method Built-in fly-wheel diodes with surge protection

Coil rated voltage DC24V 10%

Power consumption 0.55W

Voltage protection circuit with power surge protection Diode

CAUTION The air to be provided must be clean, i.e., filtered with a mist separator or air filter. Failing to do so may lead to malfunctions.

Robot arm

Options 2-54

Fig.2-31 Outline dimensional drawing

SOL1A

SOL1B

SOL2A

SOL2B

A3

A4

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

A3

A4

A1 A2

B3 B4

B1 B2

<><>

SOL1A

SOL1B

SOL2A

SOL2B

A3

A4

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

A3

A4

A1 A2

B3 B4

B1 B2

GR1

GR2

+24V (COM)

GR3

GR4

GR5

GR6

+24V (COM)

GR7

GR8

GR1

GR2

24G

GR3

GR4

GR5

GR6

24G

GR7

GR8

50mm80mm

Part name 1 set 2 sets 3 sets 4 sets Specification

Solenoid valve 1 2 3 4

Manifold block 1 1 1 1

Quick coupling (A/B port) 8 8 8 8 4

Quick coupling (P/R port) 2 2 2 2 6

Connector 1 1 2 2 1-1318115-4

Contact 3 5 8 10 1318112-1

Installation screw (Combination slotted-cross recessed pan head machine screw)

2 2 2 2 M4x30

Note) The hand output cable (1F-GR60S-01: Option) is unnecessary.

Sink type> Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

White

Black

Red Black

Red Black

Red Black

Red

Black

Red Black

Red Black

Red Black

Red

Source type Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

White

Red

Black

Red

Black Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

2-55 Options

Robot arm

(4) Hand input cable

Order type: 1F-HC35C-01

Outline

The hand input cable is used for customer-designed pneumatic hands.

It is necessary to use this to receive the hand's open/close confirmation signals and grasping confirmation signals, at the controller.

One end of the cable connects to the connector for hand input signals, which is in the wrist section of the hand. The other end of the cable connected to the sensor inside the hand customer designed.

To extend the wiring to the outside of the robot arm, optional external wiring and pip- ing box (1F-UT-BOX) is required.

Configuration Table 2-21 Configuration equipment

Specifications Table 2-22 Specifications

Fig.2-32 Outside dimensional drawing and pin assignment

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

Hand input cable 1F-HC35C-01 1 cable 0.2

Item Specifications Remarks

Size x cable core AWG#24 (0.2mm2)12 One-sided connector, one-sided cable bridging

Total length 1,650mm (Including the curl section, which is 350mm long

15

400 350 45010

450

25

1-1318115-3 (

HC H C

1 H

C 2

HC1 HC2 HC3 HC4

+24V

24G HC5 HC6

( 1)

( 2)

( 3)

( 4)

( 5)

( 6)

A1

A2 A3 B1 B2 B3

A1 A2 A3 B1 B2 B3

HC7 HC8

( 7)

( 8)

100

* Pin assignment of sink and source is the same.

(Tyco Electronics AMP)

(Purple) (Brown) (Blue) (Black)

(Yellow)

(Green) (Red) (White) (Gray) (Pink)

+24V Reserve

1 2 3 4

Reserve 24G HC5 HC6 HC7 HC8

Robot arm

Options 2-56

(5) Hand output cable

Order type: 1F-GR60S-01

Outline

The hand output cable (solenoid valve connection cable) is an option that is used when a solenoid valve other than one of the solenoid valve set options, is used.

One end of the cable has a connector that connects to the input terminal inside the robot. The other end of the cable is connected.

To extend the wiring to the outside of the robot arm, optional external wiring and pip- ing box (1F-UT-BOX) is required.

Configuration Table 2-23 Configuration equipment

Specifications

Table 2-24 Specifications

Fig.2-33 Outline dimensional drawing and pin assignment

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

Hand output cable 1F-GR60S-01 1 cable 0.3

Item Specifications Remarks

Size x Cable core AWG#24(0.2mm2) x 12 cores One side connector and one side cable connection

Total length 1,050mm

15

600

(100)

1-1318115-4 ( ())

G R

1 G

R 2

GR

GR1

GR3 GR4

+24V (COM)

+24VCOM

GR5

GR7

( 1)

( 3)

( 4)

( 5)

( 7)

A1

A2 A3

B1 B2 B3

A1 A2 A3

B1 B2 B3

GR8

( 8)

B4

GR2 2) A4

GR6 ( 6) A4

B4

GR1

GR3 GR4

24GND (COM)

24GNDCOM

GR5

GR7

( 1)

( 3)

( 4)

( 5)

( 7)

GR8

( 8)

GR2 2)

GR6 ( 6)

450 (Tyco Electronics AMP)

(Yellow) Reserve

Reserve Reserve

(Purple) (Brown) (Blue) (Black)

(Green)

(Red) (White) (Gray) (Pink)

+2 ( ) Reserve

Reserve Reserve

Reserve

Reserve Reserve

Reserve

Reserve Reserve

Sink type Source type

2-57 Options

Robot arm

(6) Hand curl tube

Order type: Four sets............1E-ST0408C-300

Outline

The hand curl tube is a curl tube for the pneumatic hand.

Configuration Table 2-25 Configuration equipment

Specifications Table 2-26 Specifications

Fig.2-34 Outline dimensional drawing

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

Hand curl tube (Four set: 8 pcs.) 1E-ST0408C-300 1 pc. 0.1 4 tube, 8pcs

Item Specifications

Material Urethane

Size Outside diameter: 4 x Inside diameter: 2.5

100

()

300

600

()

1E-ST0408C-300 (4 x 8 pcs)

Tooling side)

(Robot side)

Robot arm

Options 2-58

(7) Internal Wiring/Piping set for hand

Order type: 1F-HS304S-01

Outline

This set, consisting of air hoses and cables, is for feeding air hoses and hand input signal cables from the No. 2 arm through to the shaft tip. A plate is already attached to be fixed onto the No. 2 arm, and therefore it is easy to ensure the necessary space for wiring and piping.

This can be used together with the separately sold electromagnetic valve set option.

Configuration Table 2-27 Configuration equipment

Specification Table 2-28 Specification

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Fig.2-35 Outline dimension drawing and pin assignment (Hand input cable)

Item Type Qty. Mass (Kg) Note1)

Note1) Mass indicates one set.

Remarks

Internal Wiring/Piping set

for hand

1F-HS304S-01 1 0.4 The air hose and the cable for hand input signals are

contained.

The grease (for application to shaft top) and the

union band (for fixation of the hose and the cable)

are attached.

Item Specification Remarks

Air hose 3 x 4pcs Both ends are free.

Eight reducers (3 to 4) are attached.

Hand input signal cable AWG #24(0.2mm2)6pcs The robot arm side is connector (HC1, HC2), and one side is free.

Useable length from the shaft end 400mm The length from the shaft end which can be used of customer.

This option

HC1 HC2 HC3 HC4

+24V

24G

()

()

()

()

A1

A2 A3 B1 B2 B3

A1 A2 A3 B1 B2 B3

1-1318115-3 (())

() 70

HC *1)

*1) The signal name is printed at the mark tube.

(Customer usable length)

(Tyco Electronics AMP)

+24V Reserve

1 2 3 4

(White)

(White) (Black) (White)

(Black)

(Black)

Pin assignment

Reserve 24 Reserve Reserve Reserve Reserve

2-59 Options

Robot arm

(8) External Wiring/Piping box

Order type: 1F-UT-BOX

Outline

This is a very useful option when removing the air hoses and signal lines from the rear of the No. 2 arm, and pulling hand wiring and piping out to the robots exterior.

The joint for connects to the external hose is prepared, and the holes which fixes the signal cable to pull out with cable clamp are prepared. Optional hand output cables and hand input cables can be fixed here.

This option can also be used on the clean specifications.

Configuration Table 2-29 Configuration equipment

Specification Table 2-30 Specification

An outside dimension and a component are shown in Fig. 2-36.

Part name Type Qty. Mass (Kg) Note1)

Note1) Mass indicates one set.

Remarks

External Wiring/Piping box 1F-UT-BOX 1 0.6 Attachments:

Air hose (black) 4-8

Air hose (black) 6-1

Air hose (white) 6-1

Installation screw M4x8: 4 (Plain washer)

Cable tie: 4

Coupling: 2

Simple spanner for resin nuts

Item Specification Remarks

Outline 106(W) x 73.6(D) x 72(H) The coupling is included.

The hole for wiring drawers 21 x 4 places Fix the cable by cable clamp etc.

Coupling For 4 air hose x 8pcs Installed previously

For 6 air hose x 2pcs

Pull out Wiring/Piping

Robot arm

Options 2-60

Fig.2-36 Outline dimension and configurations

Configuration

Part name Qty. Specification

<1> External Wiring/Piping box housing 1

<2> Quick coupling 8 4 (Elbow)

<3> Quick coupling 2 6 (Elbow)

<4> 21 hole 4 The grommet is attached to each hole. (Two holes are in the right and the left.)

<5> Manifold block 1

<6> Plug 8 Stopper for 4 quick coupling

<7> Plug 2 Stopper for 6 quick coupling

- Simple spanner for resin nuts 1 Attachment

- Installation screw 4 Attachment, M4x8 (Plain washer)

- Air hose 8 Attachment, 4 (Black)

- Air hose 1 Attachment, 6 (Black)

- Air hose 1 Attachment, 6 (White)

- Cable tie 4 Attachment

- Coupling 2 Attachment, 6 (Elbow)

2-61 About Overhaul

Robot arm

2.8 About Overhaul

Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of speci- fied service life or other parts which have been damaged, so that the robots may be put back in shape for contin- ued use. As a rule of thumb, it is recommended that overhaul be carried out before the total amount of servo-on time reaches the specified time (24,000 hours for the robot arm and 36,000 hours for the controller) (See Fig. 2- 37.). However, the degree of the equipment's wear and deterioration presumably varies depending on their operat- ing conditions. Especially for operation with high load and frequency, the maintenance cycle may be shorter. For details on the part selection for replacement and the timing of overhaul, contact your dealer.

Fig.2-37 Periodic inspection/overhaul periods

Shipment

F ai

lu re

r at

e

Predetermined time period

If overhaul is performed

Servo-on time

If overhaul is not performed

Periodic inspection Over- haul

Robot arm

Maintenance parts 2-62

2.9 Maintenance parts

The consumable parts used in the robot arm are shown in Table 2-31. Purchase these parts from the designated maker or dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer.

Table 2-31 Consumable part list

No. Part name Type Note1)

Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.

Usage place Qty. Supplier

1 Grease Reduction gears of each axis As needed

Mitsubishi Electric 2 Ball screw spline As needed

3 Lithium battery ER6V Front section of the base 3

4 Timing belt J3 axis 1

Mitsubishi Electric 5 J4 axis motor side 1

6 J4 axis shaft side 1

3-63 Standard specifications

3Controller

3 Controller

3.1 Standard specifications

3.1.1 Basic specifications Table 3-1 Specifications of controller

Item Unit Specification Remarks

Type CR751-03HD-0

CR751-03HD1-0-S15

CR750-03HD1-1-S15

-S15 means CE marking specifica- tion.

Number of control axis Simultaneously 4

Memory

capacity

Programmed positions point 39,000

No. of steps step 78,000

Number of program 512

Robot language MELFA-BASIC IV, V

Teaching method Pose teaching method, MDI method Note1)

Note1) Pose teaching method: The method to register the current position of the robot arm. MDI method: The method to register by inputting the numerical value Immediate.

External input and output

Input and output point 0/0 Max. 256/256 by option

Dedicated input/output Assigned with general-purpose

input/output

The signal number of "STOP" input

signals is fixing.

Hand open/close input/output point 8/8 Built-in

Emergency stop input point 1 Duplicated

Door switch input point 1 Duplicated

Enabling device input point 1 Duplicated

Emergency stop output point 1 Duplicated

Mode output point 1 Duplicated

Robot error output point 1 Duplicated

Addition axis synchronization point 1 Duplicated

Mode changeover switch input point 1 Duplicated

(CR751 controller only)

Interface RS-422 port 1 Only for T/B

Ethernet port 1 10BASE-T/100BASE-Tx

USB port 1 Ver.2.0 FullSpeed

Only device function

Additional axis interface Channel 1 SSCNET III (Connects with MR-J3-

BS, MR-J4-B series)

Tracking interface Channel 2

Option slot slot 2 For option interface

Power

source

Input voltage range V Single phase, AC180 to 253

Power capacity kVA 0.5 Does not include rush current. Note2)

Power supply frequency Hz 50/60

Outline dimensions Note3) mm CR750 controller

430(W) x 425(D) x 174(H)

Excluding protrusions

CR751 controller

430(W) x 425(D) x 98(H)

Mass kg CR750: Approx. 16

CR751: Approx. 12

Construction Self-contained floor type, Opened type. Installation vertically or horizontally

IP20 Note4)

Operating temperature range 0 to 40

Ambient humidity %RH 45 to 85 Without dew drops

Grounding 100 or less 100or less (class D grounding)Note5)

Paint color Dark gray Equivalent to Munsell: 3.5PB3.2/0.8

3Controller

Standard specifications 3-64

3.1.2 Protection specifications and operating supply A protection method complying with the IEC Standard IP20 (Opened type) is adopted for the controller.

The IEC IP symbols refer only to the degree of protection between the solid and the fluids, and don't indicated that any special protection has been constructed for the prevention against oil and water.

Information

The IEC IP20

It indicates the protective structure that prevents an iron ball 12 0 +0.05mm diameter, which is being pressed with

the power of 3.1 kg10%, from going through the opening in the outer sheath of the supplied equipment.

Refer to the section Page 154, "6.2 Working environment" for details on the working environment.

Note2) The power capacity is the rating value for normal operation. The power capacity does not include the rush current when the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power volt- age. The power consumption in the specific operation pattern with the RH-3FH is approx. 0.3kW. The short circuit breaker should use the following. * Operate by the current leakage under the commercial frequency domain (50-60Hz). If sensitive to the high frequency

ingredient, it will become the cause in which below the maximum leak current value carries out the trip. Note3) Refer to Page 69, "3.3.1 Outside dimensions" for details. Note4) This controller is standard specification. (Refer to Page 64, "3.1.2 Protection specifications and operating supply".) Note5) The robot must be grounded by the customer.

3-65 Names of each part

3 Controller

3.2 Names of each part

3.2.1 Controller (1) CR750 controller

Fig.3-1 Names of controller parts (CR750)

Controller (Front side) <15>

<6>

<16> <17> <3>

<18>

<20> Fan, Air suction

<7> <10><8> <9>

<1><2>

<19>

Attached cover

Controller (Rear side)

Exhaust downward (Bottom)

<5><4>

<13> <12> <11> <14>

<1>: ACIN terminal

<20>: The operation panel

<24> <25> <26> <27> <28> <29>

<23><22><21>

There are two types (Type A and C) of terminal. Refer to next page for details.

3 Controller

Names of each part 3-66

<1> ACIN terminal ................................................The terminal box for AC power source (single phase, AC200V) input. (Inner side of a cover) There are two types of the terminal and the terminal differs depending on the specification (CE or non-CE).

Refer to a separate manual INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance for how to connect a power cable.

<2> PE terminal .....................................................The screw for grounding of the cable. (M4 screw x 2 place) <3> Power switch .................................................This turns the control power ON/OFF. (With earth leakage breaker function)

<4> Machine cable connector (motor signal) (CN1)

Connect with the CN1 connector of the robot arm. <5> Machine cable connector (motor power) (CN2)

Connect with the CN2 connector of the robot arm. <6> T/B connection connector (TB) ...........This is a dedicated connector for connecting the T/B. When not using T/

B, connect the attached dummy connector. <7><8><9><10> CNUSR connector ..............The connector for input/ output connection dedicated for robot. (a plug

connector attached) <7>: CNUSR11, <8>: CNUSR12, <9>: CNUSR13, <10>: CNUSR2 Refer to a separate manual INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance for the connection method and the further description of pin assign.

<11> LAN connector (LAN)......................... For LAN connection <12> ExtOPT connector (ExtOPT) .......... Connect the cable for addition axis control. <13> RIO connector (RIO) ........................... Connect the extension parallel input/output unit. <14> Option slot (SLOT1, SLOT2)........... Install the interface optional. (Install the cover, when not using.) <15> Interface cover ...................................... USB interface and battery are mounted. <16> Mode key switch ................................... This key switch changes the robot's operation mode.

AUTOMATIC ..........Operations from the controller or external equipment are valid. Operations for which the operation mode must be at the external device or T/B are not possible. (Exclude the start of automatic operation.)

MANUAL ..................When the T/B is valid, only operations from the T/B are valid. Operations for which the operation mode must be at the external device or controller are not possible.

<17> Emergency stop switch...................... This switch stops the robot in an emergency state. The servo turns OFF. <18> Filter cover.............................................. There is an air filter inside the cover. <19> Grounding terminal............................... The grounding terminal for connecting cables of option card. (M3 screw x 2

places) <20> Operation panel ..................................... The operation panel for servo ON/OFF, START/STOP the program etc. <21> Display panel (STATUS.NUMBER) ........... The alarm No., program No., override value (%), etc., are displayed. <22> CHNGDISP button ............................... This button changes the details displayed on the display panel in the order

of "Override" "Line No." "Program No." "User information." "Maker information..

<23> UP/DOWN button............................... This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel.

<24> SVO.ON button ..................................... This turns ON the servo power. (The servo turns ON.) <25> SVO.OFF button.................................. This turns OFF the servo power. (The servo turns OFF.) <26> START button........................................ This executes the program and operates the robot. The program is run

continuously. <27> STOP button .......................................... This stops the robot immediately. The servo does not turn OFF. <28> RESET button ........................................ This resets the error. This also resets the program's halted state and

resets the program. <29> END button ............................................. This stops the program being executed at the last line or End statement.

Specification Non-CE specification CE specification

Type of ACIN terminal

Type A: For single phase

Connect the primary power supply to L1 and L2 terminal.

Type C: For single phase

Connect the primary power supply to L1 and N terminal.

L1 L2 L1 N

3-67 Names of each part

3 Controller

(2) CR751 controller

Fig.3-2 Names of controller parts (CR751)

<1> ACIN connector .......................................The connector for AC power source (single phase, AC200V) input (a socket housing and a terminal are attached). Refer to a separate manual INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance for how to connect a power cable.

<2> PE terminal ................................................The screw for grounding of the cable. (M4 screw x 2 place) <3> POWER lamp .............................................Lamp of control power source <4> Machine cable connector (motor power)

AMP1, AMP2: Motor power, BRK: Motor brake <5> Machine cable connector (motor signal)

CN2: Motor signal <6>T/B connection connector (TB) ........This is a dedicated connector for connecting the R33TB. When not using T/

B, connect the attached dummy plug. <7>Filter cover..................................................There is an air filter and buttery inside this cover. <8>CNUSR connector....................................The connector for input/ output connection dedicated for robot.

(CNUSR1 CNUSR2) (a plug connector attached) Refer to a separate manual INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance for the connection method and thefurther description of pin assign.

<9>Grounding terminal ...................................The grounding terminal for connecting cables of option card. (M3 screw x 2 places)

<10>Power supply charge lamp (CRARGE) The lamp is to ensure safe timing (prevent electric shocks) when removing the cover (users are not normally required to remove the cover). This lamp is illuminated (red) when electrical energy accumulates on the controllers power supply circuit board due to the robots servo being ON.

<2> <1> <3>

<4> <15> <9>

<5> <6> <14> <13> <12><11> <8>

<10><7>

Controller (Front side)

Exhaust

Controller (Rear side)

3 Controller

Names of each part 3-68

After turning the control power OFF and allowing a few minutes to pass, the lamp will go out.

<11>USB connecting connector (USB)..For USB connection <12>LAN connector (LAN) ..........................For LAN connection <13>ExtOPT connector (ExtOPT)............Connect the cable for addition axis control. <14>RIO connector (RIO).............................Connect the extension parallel input/output unit. <15>Option slot ................................................ Install the interface optional. (Install the cover, when not using.)

(SLOT1 SLOT2)

Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and

the addition of the ferrite core, may be necessary. Please fully confirm the operation by customer. Guarantee and maintenance of the equipment on the market (usual office automation equipment) cannot be performed.

Caution

3-69 Outside dimensions/Installation dimensions

3 Controller

3.3 Outside dimensions/Installation dimensions

3.3.1 Outside dimensions (1) CR750 controller

Fig.3-3 Outside dimensions of controller (CR750)

3 Controller

Outside dimensions/Installation dimensions 3-70

(2) CR751 controller

Fig.3-4 Outside dimensions of controller (CR751)

Cable fixation plate (Attachment) This plate must be installed by customers.

3-71 Outside dimensions/Installation dimensions

3 Controller

3.3.2 Installation dimensions (1) CR750 controller

Fig.3-5 Installation of controller (CR750)

Fixing installation section sure for prevention from the fall, when using the controller placing vertically. The reference figure of the metal plate for fixing is shown in Fig. 3-6.

You should install the metal plate for fixation to the controller with M4 x 8 or the shorter screw. The screw projection length inside the controller (side board thickness is 1.2 mm) surely makes 6.8 mm or less.

When storing the controller in a cabinet, etc., take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values. And, don't install the controller in the position where direct rays or the heat of lighting hits. The skin temperature of the controller may rise, and the error may occur.

15 0m

m

50mm 20mm

250mm

145mm 145mm

250mm

Intake vent

250mm or more

or more 20mm or more

1 50

m m

o r

m o re

250mm or more

* Do not stack controllers.

CAUTION

CAUTION

3 Controller

Outside dimensions/Installation dimensions 3-72

Fig.3-6 Metal plate for fixation to placing vertically (Reference for CR750)

hole (Controller fixation hole)

hole

hole

3-73 Outside dimensions/Installation dimensions

3 Controller

(2) CR751 controller

Fig.3-7 Installation of controller (CR751)

Fixing installation section sure for prevention from the fall, when using the controller placing vertically. The reference figure of the metal plate for fixing is shown in Fig. 3-8.

You should install the metal plate for fixation to the controller with M4 x 8 or the shorter screw. The screw projection length inside the controller (side board thickness is 1.2mm) surely makes 6.8mm or less.

When storing the controller in a cabinet, etc., take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values. And, don't install the controller in the position where direct rays or the heat of lighting hits. The skin temperature of the controller may rise, and the error may occur.

15 0m

m

50mm 20mm250mm

145mm 145mm

250mm

Intake vent

250 m or more

250m or more or more 20mm or more

1 50

m m

o r

m o re

* Stackable at most 2 controllers.

CAUTION

CAUTION

3 Controller

Outside dimensions/Installation dimensions 3-74

Fig.3-8 Metal plate for fixation to placing vertically (Reference for CR751)

hole

hole hole (Controller fixation hole)

3-75 External input/output

3 Controller

3.4 External input/output

3.4.1 Types (1) Dedicated input/output .............................. These inputs and outputs carry out the robot remote operation and

status display. (2) General-purpose input/output ................ These are inputs and outputs that the customer can program for

peripheral device control. (3) Hand input/output ........................................ These are inputs and outputs related to the hand that the customer

can program. (4)Emergency stop/Door switch input........ Information on wiring the emergency stop and wiring used to ensure

safety can be found on Page 79, "3.6 Emergency stop input and output etc." and on Page 141, "6.1.7 Examples of safety measures".

Linking our GOT1000 Series (GT15) display equipment to the robot controller over the Ethernet permits you to control robot controller's input/output from a GOT (graphic operation terminal).

3 Controller

Dedicated input/output 3-76

3.5 Dedicated input/output

Show the main function of dedicated input/output in the Table 3-2. Refer to attached instruction manual "Detailed explanations of functions and operations" in the product for the other functions. Each parameter indi- cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No.

Table 3-2 Dedicated input/output list

Parameter name

Input Note1) Output

Name Function Level Name Function

TEACHMD None Teaching mode out- put signal

Outputs that the teaching mode is

entered.

ATTOPMD None Automatic mode out- put signal

Outputs that the automatic mode is

entered.

ATEXTMD None Remote mode output

signal

Outputs that the remote mode is

entered.

RCREADY None Controller power ON

complete signal

Outputs that external input signals can

be received.

AUTOENA Automatic opera- tion enabled input

signal

Allows automatic operation.

L

Automatic operation

enabled output signal

Outputs the automatic operation

enabled state.

START Start input signal Starts all slots. E

Operating output sig- nal

Outputs that the slot is operating.

STOP Stop input signal Stops all slots.

The input signal No. is fixed to 0.

Note) Use the emergency stop

input for stop inputs related

to safety.

L

Wait output signal Outputs that the slot is temporarily

stopped.

STOP2 Stop input signal The program during operation is

stopped.

Unlike the STOP parameter,

change of the signal number is

possible.

Notes) Specification is the same as

the STOP parameter.

L

Wait output signal Outputs that the slot is temporarily

stopped.

Notes) Specification is the same as the

STOP parameter.

SLOTINIT Program reset input

signal

Resets the wait state. E

Program selection

enabled output signal

Outputs that the slot is in the program

selection enabled state.

ERRRESET Error reset input

signal

Resets the error state. E

Error occurring out- put signal

Outputs that an error has occurred.

CYCLE Cycle stop input

signal

Carries out cycle stop. E

In cycle stop opera- tion output signal

Outputs that the cycle stop is operat- ing.

SRVOFF Servo ON enabled

input signal

Turns the servo OFF for all mech- anisms.

L Servo ON enabled

output signal

Outputs servo-on disable status.

(Echo back)

SRVON Servo ON input

signal

Powers on the robot servos.

For multiple mechanisms, it powers

on the servos of all the mecha- nisms.

E

In servo ON output

signal

Outputs the servo ON state.

For multiple mechanisms, the output is

performed when at least one of the

mechanisms is in the servo ON state.

IOENA Operation rights

input signal

Requests the operation rights for

the external signal control. L

Operation rights out- put signal

Outputs the operation rights valid state

for the external signal control.

MELOCK Machine lock input

signal

Sets/resets the machine lock

state for all mechanisms. E

In machine lock out- put signal

Outputs the machine lock state.

SAFEPOS Evasion point

return input signal

Requests the evasion point return

operation. E

In evasion point

return output signal

Outputs that the evasion point return

is taking place.

OUTRESET General-purpose

output signal reset

Resets the general-purpose output

signal. E None

EMGERR None

Emergency stop out- put signal

Outputs that an emergency stop has

occurred.

S1START

:

S32START

Start input Starts each slot. E In operation output Outputs the operating state for each

slot.

3-77 Dedicated input/output

3 Controller

S1STOP

:

S32STOP

Stop input Stops each slot. L In wait output Outputs that each slot is temporarily

stopped.

PRGSEL Program selection

input signal

Designates the setting value for

the program No. with numeric value

input signals.

E None

OVRDSEL Override selection

input signal

Designates the setting value for

the override with the numeric value

input signals.

E None

IODATA Note2)

Numeric value input

(start No., end No.)

Used to designate the program

name, override value., mechanism

value.

L Numeric value output

(start No., end No.)

Used to output the program name,

override value., mechanism No.

PRGOUT Program No. out- put request

Requests output of the program

name. E Program No. output

signal

Outputs that the program name is

being output to the numeric value out- put signal.

LINEOUT Line No. output

request

Requests output of the line No. E Line No. output signal

Outputs that the line No. is being out- put to the numeric value output signal.

OVRDOUT Override value out- put request

Requests the override output.

E

Override value out- put signal

Outputs that the override value is being

output to the numeric value output sig- nal.

ERROUT Error No. output

request

Requests the error No. output. E

Error No. output sig- nal

Outputs that the error No. is being out- put to the numeric value output signal.

JOGENA Jog valid input sig- nal

Validates jog operation with the

external signals E

Jog valid output sig- nal

Outputs that the jog operation with

external signals is valid.

JOGM Jog mode input 2-

bit

Designates the jog mode. L

Jog mode output 2-

bit

Outputs the current jog mode.

JOG+ Jog feed + side for

8-axes Requests the + side jog operation. L None

JOG- Jog feed - side for

8-axes Requests the - side jog operation. L None

HNDCNTL1

:

HNDCNTL3

None

Mechanism 1 hand

output signal status

:

Mechanism 3 hand

output signal status

Mechanism 1: Outputs the status of

general-purpose outputs

900 to 907.

Mechanism 2: Outputs the status of

general-purpose outputs

910 to 917.

Mechanism 3: Outputs the status of

general-purpose outputs

920 to 927.

HNDSTS1

:

HNDSTS3 None

Mechanism 1 hand

input signal status

:

Mechanism 3 hand

input signal status

Mechanism 1: Outputs the status of

hand inputs 900 to 907.

Mechanism 2: Outputs the status of

hand inputs 910 to 917.

Mechanism 3: Outputs the status of

hand inputs 920 to 927.

HNDERR1

:

HNDERR3

Mechanism 1 hand

error input signal

:

Mechanism 3 hand

error input signal

Requests the hand error occur- rence.

L

Mechanism 1 hand

error output signal

:

Mechanism 3 hand

error output signal

Outputs that a hand error is occurring.

Parameter name

Input Note1) Output

Name Function Level Name Function

3 Controller

Dedicated input/output 3-78

AIRERR1

:

AIRERR3

Pneumatic pressure

error 1 input signal

:

Pneumatic pressure

error 3 input signal

Request the pneumatic pressure

error occurrence. L

Pneumatic pressure

error 1 output signal.

:

Pneumatic pressure

error 3 output signal.

Outputs that a pneumatic pressure

error is occurring.

M1PTEXC

:

M3PTEXC

None L

Maintenance parts

replacement time

warning signal

Outputs that the maintenance parts

have reached the replacement time.

USER- AREANote3) None

User-designated area

8-points

Outputs that the robot is in the user-

designated area.

Note1) The level indicates the signal level. L: Level signal The designated function is validated when the signal is ON, and is invalidated when the

signal is OFF. E: Edge signal The designated function is validated when the signal changes from the OFF to ON state,

and the function maintains the original state even when the signal then turns OFF. Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No. Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.

Parameter name

Input Note1) Output

Name Function Level Name Function

3-79 Emergency stop input and output etc.

3 Controller

3.6 Emergency stop input and output etc.

Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from the "special input/output" terminal connector.

Table 3-3 Special input/output terminal

*At the time of the power supply OFF, the output point of contact is always open.

[Note] The contact capacity of each input/output terminal is DC24V/10mA - 100mA. Don't connect the equipment except for this range. The use exceeding contact capacity causes failure. In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

[Note] If a stop signal or servo OFF signal is input simultaneously with a door switch open/emergency stop input, the error, H056n Servo sys. error (A/D) may occur. When a door switch open/emergency stop is input, the robot turns off the servo after it stops. It is unnecessary to input a stop signal or servo OFF signal. To input a stop signal or servo OFF signal with a door switch open/emergency stop input, wait for 100ms or more after a door switch open/emergency stop input.

Pin number assignment of each terminal and the circuit diagram are shown in Fig. 3-10 (CR750) or Fig. 3-14 (CR751).

3.6.1 Connection of the external emergency stop The external emergency stop input and door switch input and enabling device input are opened at shipment as shown in Fig. 3-10 (CR750) or Fig. 3-14 (CR751). Connect the external emergency stop switch and door switch with the following procedure.

And, the example of the connection and notes of the emergency stop are described in Page 141, "6.1.7 Examples of safety measures" Refer to it together

[Caution] The emergency stop circuit is duplicated inside the controller. The emergency stop switch uses a double contact-type switch, so please be sure to fix both of the contacts to the connector pins as shown below in order to ensure the wiring is duplicated. An error will continue to occur in the event that only one of the pins is connected.

1) Please prepare the emergency stop switch, door switch and enabling device. a) External emergency switch

CR750 controller...........CNUSR11 connector "between 3 and 4" and CNUSR12 Connector "between 3 and 4". CR751 controller...........CNUSR1 connector "between 2 and 27" and "between 7 and 32".

b) Door switch CR750 controller...........CNUSR11 connector "between 7 and 8" and CNUSR12 connector "between 7 and 8". CR751 controller...........CNUSR1 connector "between 4 and 29" and "between 9 and 34".

c) Enabling device CR750 controller...........CNUSR11 connector "between 9 and 10" and CNUSR12 connector "between 9 and 10". CR751 controller...........CNUSR1 connector "between 5 and 30" and "between 10 and 35".

[Caution] Be sure to use a shield cable for the emergency stop wiring cable. And when operating in an environ- ment that is easily affected by noise, be sure to fix the attached ferrite core (model number:

Item Name Function

Input Emergency stop Applies the emergency stop. Dual emergency line

Input Special stop input Applies the stop. Refer to Page 87, "3.6.2 Special stop input (SKIP)"

Input Door switch Servo-off. Dual line, normal close (Page 89, "3.6.3 Door switch function")

Input Enabling device Servo-off. Dual line, normal close (Page 89, "3.6.4 Enabling device function")

Output Robot error output Contactor is opening during error occurrence.

Output Emergency stop output The point of contact opens under occurrence of emergency stop of external input signal, emergency

stop of OP, emergency stop of T/B.

Output Mode output MANUAL mode: contactor is opening, AUTOMATIC mode: contactor is closing.

Output Magnet contactor control

connector output for addi- tion axes

When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized

with the robot arm. (Page 98, "3.9 Magnet contactor control connector output (AXMC) for addition

axes")

3 Controller

Emergency stop input and output etc. 3-80

E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core more than 30 cm from the connecting terminal section.

Make sure there are no mistakes in the wiring. Connecting differently to the way specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions (such as the teaching box emergency stop, customer emergency stop, and door switch) are working properly after the wiring setup is completed.

You should always connect doubly connection of the emergency stop, the door switch, and the enabling switch. In connection of only one side, if the relay of customer use should break down, it may not function correctly. The robot output contacts (error output, emergency stop output, mode output, addition axis contactor control output) are duplicated output contacts that are wired in series. As with emergency stop switches and door switches, ensure that all connections to customer devices are duplicated to achieve redundancy.

Please make sure to wire the multiple emergency stop switches so that they each function independently. Check and make sure that the emergency stop doesn't only function under an AND condition (when multiple emergency stop switches are ON at the same time).

(1) CR750 controller

Fig.3-9 Emergency stop cable connection (CR750)

CAUTION

CAUTION

CAUTION

30cm

2

CNUSR11

CNUSR12

CNUSR11 connector

Within 30 cm

Ferrite core

Pass twice

CNUSR12 connector

3-81 Emergency stop input and output etc.

3 Controller

Fig.3-10 External emergency stop connection (CR750)

Place the emergency stop switch in an easily operable position, and be sure to wire it to the emergency stop correctly by referencing Page 141, "6.1.7 Examples of safety measures". This is a necessary measure in order to ensure safe operation so that the robot can be stopped immediately by pressing the emergency stop switch in the event that the robot malfunctions.

CNUSR11

CNUSR2

10

9

8

7

3

4

2

CNUSR11+24V

Relay

+24V

24G

24G

24G

RA +24V

Relay RA

Relay RA

TB

+24V

Relay

+24V

24G

24G

24G

RA +24V

RelayRA

Relay RA

14

13

12

11

17

41

16

CNUSR12

14

13

12

11

1

5

6

10

9

8

7

3

4

2

1

5

6

CNUSR12

OP

24G

10F

24G

10F

Please refer to the example of safety measures of "Standard Specifications Manual".

()

Please do not carry out an insulation pressure test. Moreover, it becomes the cause of failure if it connects incorrectly.

CAUTION

Internal circuit structure (Controller side)(Customer) (Customer)

Mode output

Mode output

Robot error output

Robot error output

Emergency stop output

Emergency stop output

Short

External emergency stop input

Short

Door switch input

Enabling device input

Short

External emergency stop input

Short

Door switch input

Enabling device input

TB emer- gency stop

OP emer- gency stop

*1) This terminal is opened at factory shipping (unconnected). If power supply inside the controller is used, short-circuit the terminal. *2) This terminal can be used only for the external emergency stop input to the controller. The terminal cannot be used for the output

signal of OP emergency stop or TB emergency stop because the controller's internal circuit contains the input detection circuit and a capacitor. (Do not use the terminal for other purposes such as monitoring the test pulse outputs, or a false detection may occur.)

*1)

*1)

*1)

*1)

[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the con- troller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

Input detection

circuit

*2)

*2) Input detection

circuit

CAUTION

3 Controller

Emergency stop input and output etc. 3-82

Fig.3-11 Method of wiring for external emergency stop connection (CR750 (CNUSR11/12))

Makes sure that there is no mistake when connecting to the target connectors. Connecting incorrectly will result in the robot breaking down or malfunctioning. The connector on the controller side that connects to the user wiring connector is CNUSR11 or CNUSR12. Be careful not to connect to CNUSR13 as the robot will not operate properly.

CNUSR11/12 connector

CNUSR11

CNUSR12

Driver

*Recommendation driver size: 2.5mm.

Cable fixing screw

Cable insert point

7mm

A

View A

161

Connector fixing screw

(Two places)

Pin number of connector

Connecting cable

(AWG #26-16 (0.14mm-1.5mm2))

Connection procedure Insert the connection cable into the appropriate pin of the user wiring connector that accompanies the product. Fix it securely with a screw and connect the connector to the CNUSR11/CNUSR12 connector at the back of the controller.

Please use an AWG #26 to 16 (0.14 to 1.5mm2) connector cable.

1) Prepare the user wiring connector that accompanies the product. 2) Loosen the cable fixing screw at the point where the cable is to be inserted. Please use a screwdriver head

with a width of 2.5mm to loosen the screw. 3) Peel the insulation of the connecting cable to 7mm, and insert it into the cable slot of the corresponding con-

nector. 4) Be sure to fix the inserted cable securely by fastening a cable fixing screw.

(tightening torque of 0.22 to 0.25Nm) 5) After the necessary cables save been fixed, connect the connector to the connector (CNUSR11/12) that cor-

responds with the controller. Connect so that the cable fixing screw is comes on top, and make sure to fix securely by fastening connector fixing screws in two places. A screwdriver head with a width of 2.5mm should be used to fix screws (tightening torque of 0.22 to 0.25Nm).

This concludes the connection procedure.

Connector for user wiring

Reference: CNUSR13 (Connect the encoder, when using the tracking function)

* The controller is an example.

CAUTION

3-83 Emergency stop input and output etc.

3 Controller

Fig.3-12 Method of wiring for external emergency stop connection (CR750 (CNUSR2))

When soldering please take care to only connect to the specified pin number. Connecting to a different pin number or short-circuiting with another pin will result in the robot breaking down or malfunctioning.

CNUSR2 connector

CNUSR2

3mm

A

View A Plug

Connector cover

Connecting cable

(AWG #30-24 (0.05mm2-0.2mm2))

Connection procedure Solder the pins of the user wiring connector that accompanies the product, and connect the connector to the CNUSR2 connector at the back of the controller. For the connection cables, please use AWG #30 to 24 (0.05 to

0.2mm2).

1) Loosen the two fixing screws on the user wiring connector that accompanies the product, and remove the con- nector cover.

2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number. 3) After the necessary cables have been soldered, re-fix the connector cover using the same fixing screws and

make sure it is fastened securely. 4) Connect the connector to the corresponding connector (CNUSR2) on the controller. With pin number 1 facing

to the upper right, insert firmly until you hear the connectors latch click in to place.

This concludes the connection procedure.

Cover fixing screw (Two places)

Remove the connector cover

Pin number of plug25 1

50 26

SolderingConnector for user wiring

* The controller is an example.

CAUTION

3 Controller

Emergency stop input and output etc. 3-84

(2) CR751 controller

Fig.3-13 Emergency stop cable connection (CR751)

CNUSR1

30cm

2

CNU connector

Within 30 cm

Ferrite core

Pass twice

3-85 Emergency stop input and output etc.

3 Controller

Fig.3-14 External emergency stop connection (CR751)

Place the emergency stop switch in an easily operable position, and be sure to wire it to the emergency stop correctly by referencing Page 141, "6.1.7 Examples of safety measures". This is a necessary measure in order to ensure safe operation so that the robot can be stopped immediately by pressing the emergency stop switch in the event that the robot malfunctions.

CNUSR1

CNUSR2

CNUSR1+24V

Relay

+24V

24G

24G

24G

RA +24V

Relay RA

Relay RA

TB

+24V

Relay

+24V

24G

24G

24G

RA +24V

Relay RA

Relay RA

43

18

17

41

16

44

19

42

17

20

45 27

28

4

29

5

30

3

2

1

26

32

33

9

34

35

8

7

6

31

10

24G

10F

24G

10F

Please refer to the example of safety measures of "Standard Specifications Manual".

Please do not carry out an insulation pressure test. Moreover, it becomes the cause of failure if it connects incorrectly.

CAUTION

Internal circuit structure (Controller side) (Customer)

Mode output

Mode output

Robot error output

Robot error output

Emergency stop output

Emergency stop output

Short

External emergency stop input

Short

Door switch input

Enabling device input

Short

External emergency stop input

Short

Door switch input

Enabling device input

TB emergency stop

(Customer)

*1)

*1)

*1)

*1)

*2)

*2)

Input detection

circuit

Input detection

circuit

*1) This terminal is opened at factory shipping (unconnected). If power supply inside the controller is used, short-circuit the terminal. *2) This terminal can be used only for the external emergency stop input to the controller. The terminal cannot be used for the output

signal of OP emergency stop or TB emergency stop because the controller's internal circuit contains the input detection circuit and a capacitor. (Do not use the terminal for other purposes such as monitoring the test pulse outputs, or a false detection may occur.)

[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the con- troller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

CAUTION

3 Controller

Emergency stop input and output etc. 3-86

Fig.3-15 Method of wiring for external emergency stop connection (CR751 (CNUSR1/2))

When soldering please take care to only connect to the specified pin number. Connecting to a different pin number or short-circuiting with another pin will result in the robot breaking down or malfunctioning. The connectors on the controller side are CNUSR1 (upper side) and CNUSR2 (lower side). Makes sure that there is no mistake when connecting to the target connectors. Connecting incorrectly will result in the robot breaking down or malfunctioning.

CNUSR1

CNUSR2

3mm

A

View APlug Connector cover

Connecting cable

(AWG #30#24(0.05mm0.2mm2))

Cover fixing screw (Two places)

Remove the connector cover

Pin number of plug25 1

50 26

SolderingConnector for user wiring

CNUSR1/2 connector

Connection procedure Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the CNUSR1 or CNUSR2 connector at the back of the controller. For the connection cable, please use AWG #30 to 24

(0.05 to 0.2mm2).

1) Loosen the 2 fixing screws on the user wiring connector that accompanies the product, and remove the con- nector cover.

2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number. 3) After the necessary cable has been soldered, re-fix the connector cover sing the same fixing screws and make

sure it is fastened securely. 4) Connect the connector to the corresponding connector (CNUSR1 or CNUSR2) on the controller. With pin num-

ber 1 facing to the upper right, insert firmly until you hear the connectors latch click in to place.

This concludes the connection procedure.

CAUTION

3-87 Emergency stop input and output etc.

3 Controller

3.6.2 Special stop input (SKIP) The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in Fig. 3-16

(CR750) or Fig. 3-17 (CR751).

Table 3-4 Special stop input electric specification

(1) CR750 controller

Fig.3-16 Connection of the special-stop-input (CR750)

Item Specifications Internal circuit

Type DC input

No. of input point 1

Insulation method Photo-coupler insulation

Rated input voltage DC24V

Rated input current Approx. 11mA

Working voltage range DC 21.6 26.4V

Ripple rate within 5%

ON voltage/ON current DC 8V or more / 2mA or more

OFF voltage/OFF current DC 4V or less / 1mA or less

Input resistance Approx. 2.2

Response

time

OFF ON 1ms or less

ON OFF 1ms or less

Common method 1 point per common

External wire connection method Connector

330

2.2k

V(COM)

1A

1B

Input

9

34

CNUSR2

2

30cm

* Connects with CNUSR2 connector with soldering. Refer to Page 83 "Fig. 3-12: Method of wiring for external emergency stop connection (CR750 (CNUSR2))".

Within 30cm

CNUSR2 connector

Ferrite core

Pass twice

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con- nect to the controller. (related with emergency stop and parallel input/output) If it connects with the con- troller under the condition that the + side is grounded, it will lead to failure of controller.

3 Controller

Emergency stop input and output etc. 3-88

(2) CR751 controller

Fig.3-17 Connection of the special-stop-input (CR751)

30cm

2

CNUSR2

* Connects with CNUSR2 connector with soldering. Refer to Page 86 "Fig. 3-15: Method of wiring for external emergency stop connection (CR751 (CNUSR1/2))".

Within 30cm CNUSR2 connector

Ferrite core

Pass twice

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con- nect to the controller. (related with emergency stop and parallel input/output) If it connects with the con- troller under the condition that the + side is grounded, it will lead to failure of controller.

3-89 Emergency stop input and output etc.

3 Controller

3.6.3 Door switch function This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is opened and an error does not occur. Follow the wiring example shown in Page 81 "Fig. 3-10: External emergency stop connection (CR750)" or Page 85 "Fig. 3-14: External emergency stop connection (CR751)", and Page 141, "6.1.7 Examples of safety measures". Those figure explains the wire is contact closes when the door is closed. Details of this function according to the robot status are shown below.

*During automatic operation ...............When the door is opened, the servo turns OFF and the robot stops. An error occurs. The process of the restoration: Close the door, reset the alarm, turn on the servo, and restart

*During teaching........................................Even when the door is opened, the servo can be turned ON and the robot moved using the teaching pendant.

Fig.3-18 Door switch function

3.6.4 Enabling device function When the abnormalities occur in teaching operations etc., the robot's servo power can be immediately cut only by

switch operation of the enabling device*1) (servo-off), and the safety increases. To use the robot safely, please be sure to connect the enabling device.

(1) When door is opening Please do teaching by two-person operations. One person has T/B, the other has enabling device. Turn on the servo power, in the condition that both of switches are pushed. (Enable switch of T/B and enabling device) Then the jog operation will be available. You can off the servo power only by releasing the switch of the enabling device. And, care that the servo-on and releasing the brake cannot be done in the condition that the switch of the enabling device is released.

*1) Recommendation products: HE1G-L20MB (IDEC)

Safeguard

Turns OFF the servo

STOP!!

Open

TEACH

AUTO (Ext.)

AUTO (Op.)

Open

TEACH

AUTO (Ext.)

AUTO (Op.)

The servo can be turned ON/Off by turning the enable switch ON/OFF.

Safeguard

Teaching pendant

Robot arm (Example)

Robot arm (Example)

MODE MANUAL AUTOMATIC

Auto executing

Teaching

MODE MANUAL AUTOMATIC

3 Controller

Emergency stop input and output etc. 3-90

(2) When door is closing You can turn on the servo power by operation of only T/B. In this case perform jog operation outside the safeguard sure.

(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings The following is a description of various operations performed on the robot and switch settings that are required.

Table 3-5 Various operations and necessary switch settings

Fig.3-19 Brake release operation

No Operation

Related switch settings Note1)

Note1) "-" in the table indicates that the state of switch concerned does not matter. Refer to the following for operation of each switch.

Mode of CR750 controller: ..................................................................................Page 65, "3.2 Names of each part" Mode of CR751 controller: ............................................................Page 91, "3.7 Mode changeover switch input"

T/B enable/disable:......................................................................................Page 102, "(1) Teaching pendant (T/B)" T/B enable switch: .......................................................................................Page 102, "(1) Teaching pendant (T/B)" Enabling device input terminal: .................................................Page 141, "6.1.7 Examples of safety measures" Door switch input terminal: ........................................................Page 141, "6.1.7 Examples of safety measures"

DescriptionMode of

controller

T/B

enable/

disable

T/B

enable switch

Enabling

device input

terminal

Door switch

input terminal

1 Jog operation Manual Enable ON Close(ON)

If the enabling device input is set to

Close (On), the state of door switch input does not matter.

2 Jog operation Note2)

Note2) Jog operation, if door switch input is set for Close (Door Close), must be performed outside the safety bar- rier.

Manual Enable ON Open(OFF) Close

(Door Close)

If the enabling device input is set to

Open (Off), door switch input must be in a state of Close

3 Brake release Note3)

Note3) It is imperative that brake release operation be carried out by two persons. One person turns on the enabling device ("Close" on the enabling device input terminal) while the other manipulates the T/B. Brake release can be effected only when both of the enabling switch device and the T/B enable switch are placed in intermediate position (lightly gripped position). At this point, the state of door switch input does not mat- ter.

Manual Enable ON Close(ON)

Irrespective of the state of door

switch input, enabling device input must be in a state of Close (On).

4 Automatic

operation Automatic Disable

Close

(Door Close)

Door switch input must always be in a

state of Close (Door Close).

Door in Open state

Upon the release of brake, the robot arm may fall under its own weight depending on the axis which has been released. For added safety, provide support or take other precaution to prevent the falling of the arm.

CAUTION

T/B being manipulated

Enabling device being manipulated

3-91 Mode changeover switch input

3 Controller

3.7 Mode changeover switch input

Connect the key switch of customer prepared and change the right of robots operation by switch operation.

The key switch can be installed in the operation panel of customer preparation.

AUTOMATIC.......................The operation from external equipment becomes available. Operation which needs the right of operation from T/B cannot be performed. It is necessary to set the parameter for the rights of operation to connection with external equipment. Refer to the separate volume, "Instruction Manual/Detailed Explanation of Functions and Operations" for detail.

MANUAL ..............................When T/B is available, only the operation from T/B becomes available. Operation which needs the right of operation from external equipment cannot be performed.

Fig.3-20 Mode changeover switch image figure (CR751)

(1) Specification of the key switch interface The function and specification of the key switch interface are shown below.

MODE MANUAL AUTOMATIC

Mode changeover switch (Customer-prepared)

CNUSR1

Table 3-6 Function of the key switch interface

Pin number and Function (Connector: CNUSR1) Change mode Note1)

Note1) The mode changes by both opening or both closing between 49-24 pin and between 50-25 pin. When input

states differ between two lines, error H0044 (OP Mode key line is faulty) will occur.

Pin number Function MANUAL AUTOMATIC

49 1st line KEY input

Open Close24 Internal power supply of 1st line KEY input

+24V output

50 2nd line KEY input

Open Close25 Internal power supply of 2nd line KEY input

+24V output

[Note] For the input/output cable (CNUSR connector cable) that connects customer's system and the controller, prevent ground faults from occurring at the + side of the 24V power supply prepared by customer. A ground fault may lead to a failure of the protection device in the controller.

3 Controller

Mode changeover switch input 3-92

Fig.3-21 Mode selector switch connection diagram

Table 3-7 Specification of the mode changeover switch input

Item Specification Remarks

Rated voltage DC24V Supply from the controller.

Current rating Approx. 10mA Select the switch or button which operates normally in 24V/10mA.

Input resistance Approx. 2.2k

Response time (OFF->ON) Approx. 15ms Example: The response time the program starts, after pushing the run button.

Common method 1 point per common

Connection method Connector

Conformity electric wire size AWG#24 to #30 0.2 to 0.05 mm2

Maker/Type - Manufacturer: 3M / 10150-3000PE, 10350-52Y0-008 (cover)

+24V

24

49

25

50

+24V

Input detection circuit

Input detection circuit

Limiting resistor

Limiting resistor

Mode selector switch

Mode selector switch

Limiting resistor

Limiting resistor

3-93 Mode changeover switch input

3 Controller

(2) Connection of the mode changeover switch input

Fig.3-22 Connection of the mode changeover switch input (CR751)

CNUSR1

3mm

Connection procedure Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the CNUSR1 connector at the back of the controller. For the connection cable, please use AWG #30 to 24 (0.05 to

0.2mm2).

1) Loosen the 2 fixing screws on the user wiring connector that accompanies the product, and remove the con- nector cover.

2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number. 3) After the necessary cable has been soldered, re-fix the connector cover sing the same fixing screws and

make sure it is fastened securely. 4) Connect the connector to the corresponding connector (CNUSR1) on the controller. With pin number 1 facing

to the upper right, insert firmly until you hear the connectors latch click in to place.

This concludes the connection procedure.

Cover fixing screw (Two places)

25 1

50 26

Connector cover

A

Plug

Remove the connector cover Connector for user wiring

View A Pin number of plug

Soldering

Connecting cable

(AWG #30 #24(0.05mm2 to 0.2mm2))

3 Controller

Additional Axis Function 3-94

3.8 Additional Axis Function

This controller is equipped with an additional axis interface for controlling an additional axis when a traveling axis or rotary table is added to the robot. A maximum of eight axes of servo motors can be controlled at the same time by connecting a general-purpose servo amplifier (MR-J3-B, MR-J4-B series) that supports Mitsubishi's SSCNET III. Refer to the separate "Additional axis function Instruction Manual" for details on the additional axis function.

3.8.1 Wiring of the Additional Axis Interface Table 3-8 shows the connectors for additional axes inside the controller. Fig. 3-23 (CR750) and Fig. 3-24 (CR751) shows a connection example (configuration example).

Table 3-8 Dedicated connectors inside the controller

(1) CR750 controller

Fig.3-23 Example of addition axis connection (CR750)

Name Connector name Details

Connector for additional axes ExtOPT The connector for connecting the general-purpose servo amplifier.

ExtOPT

CN1ACN1B

CN1A CN1A

CN1B

SSCNET

SSCNET

CN1B

ExtOPT

CNUSR11

CNUSR12

Servo amplifier

SSCNET III cable

Cap

* It cannot communicate, if connection of CN1A and CN1B is mistaken.

To CN1A connector

CN R 1 connector

CNU 12 connector

Servo amplifier

SSCNET III cable

To CN1B connector

To CN1A connector

To ExtOP connector To CN1B connector

Emergency stop output (Refer to "3.6Emergency stop input and output etc.") * Connect with a forced stop input of a servo ampli-

fier.

Magnet contactor control connector output (AXMC) for addition axes (Refer to "3.9Magnet contactor control connector output (AXMC) for addition axes")

3-95 Additional Axis Function

3 Controller

(2) CR751 controller

Fig.3-24 Example of addition axis connection (CR751)

ExtOPT

CN1ACN1B

CN1A CN1A

CN1B

SSCNET

SSCNET

CN1B

ExtOPT

CNUSR1

CNUSR2

Servo amplifier Servo amplifier

SSCNET III cable

S CNET III cable

To ExtOPT connector

To CN1A con- nector

To CN1A connector

To CN1B connector

To CN1B connector

Cap

* It cannot communicate, if connection of CN1A and CN1B is mistaken.

CNUSR1 connector

C 2 connector

Emergency stop output (Refer to "3.6Emergency stop input and output etc.") * Connect with a forced stop input of a servo amplifier.

Magnet contactor control connector output (AXMC) for addition axes (Refer to "3.9Magnet contactor control connector output (AXMC) for addition axes")

3 Controller

Additional Axis Function 3-96

(3) Example of the installation of the noise filter 1) EMC filter (recommended)

Please install the recommendation filter shown below according to the example of connection.

Fig.3-25 Example of EMC noise filter installation

1)

2)

Note1) For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and leave L3 open. There is no L3 for 1-phase 100 to 120 VAC power supply.

Note2) The example is when a surge protector is connected.

3-97 Additional Axis Function

3 Controller

2) Line noise filter

This filter is effective in suppressing noises radiated from the power supply side and output side of the

servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially

within 0.5MHz to 5MHz band.

Fig.3-26 Example of noise filter installation

3 Controller

Magnet contactor control connector output (AXMC) for addition axes 3-98

3.9 Magnet contactor control connector output (AXMC) for addition axes

When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the controller and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned off when this output is open. An example circuit is shown in "(1)Example circuit". An image of how to connect the controller connector is shown in "(2)Image of how to connect the controller connector". When you are using an additional axis, please perform appropriate circuit connections by referring to these draw- ings.

Refer to the separate "Additional axis function Instruction Manual" for details on the additional axis function.

Note1) you use the addition axis function as a user mechanism who became independent of the robot arm, please do not connect this output signal. Servo-on of the user mechanism may be unable.

(1) Example circuit CR750 controller

Fig.3-27 Example of circuit for addition axes of Magnet contactor control output (CR750 controller)

[Note] For the input/output cable (CNUSR connector cable) that connects customer's system and the controller, prevent ground faults from occurring at the + side of the 24V power supply prepared by customer. A ground fault may lead to a failure of the protection device in the controller. Bending or frictional forces may be applied to the input/output cable repeatedly depending on the system configuration or layout. In this case, use a flexible cable for the input/output cable. Note that a fixed cable may be broken, resulting in a ground fault.

3-99 Magnet contactor control connector output (AXMC) for addition axes

3 Controller

CR751 controller

Fig.3-28 Example of circuit for addition axes of Magnet contactor control output (CR751 controller)

[Note] For the input/output cable (CNUSR connector cable) that connects customer's system and the controller, prevent ground faults from occurring at the + side of the 24V power supply prepared by customer. A ground fault may lead to a failure of the protection device in the controller. Bending or frictional forces may be applied to the input/output cable repeatedly depending on the system configuration or layout. In this case, use a flexible cable for the input/output cable. Note that a fixed cable may be broken, resulting in a ground fault.

3 Controller

Magnet contactor control connector output (AXMC) for addition axes 3-100

(2) Image of how to connect the controller connector CR750 controller

Fig.3-29 AXMC terminal connector (CR750)

CR751 controller

Fig.3-30 AXMC terminal connector (CR751)

30cm

2

CNUSR2

*Connects with CNUSR2 connector with soldering. Refer to Page 83 "Fig. 3-12: Method of wiring for external emergency stop connection (CR750

(CNUSR2))".

Within 30cm

Ferrite core Pass twice

CNUSR2 connector

30cm

2

CNUSR2

* The CNUSR2 connector is connected by soldering. Refer to Page 86 "Fig. 3-15: Method of wiring for external emergency stop connection (CR751 (CNUSR1/2))".

Within 30cm

Ferrite core Pass twice

CNUSR2 connector

3-101

3 Controller

3.10 Options

What are options? There are a variety of options for the robot designed to make the setting up process easier for user needs.

User installation is required for the options. Options come in two types: "set options" and "single options".

1 Set options ......................................A combination of single options and parts that together, form a set for serving some purpose.

2 Single options .................................That are configured from the fewest number of required units of a part. Please choose user's purpose additionally.

3 Controller

Teaching pendant (T/B) 3-102

(1) Teaching pendant (T/B)

Order type: CR750 controller ......................... R32TB: Cable length 7m R32TB-15: Cable length 15m

CR751 controller......................... R33TB: Cable length 7m R33TB-15: Cable length 15m

Outline This is used to create, edit and control the program, teach the operation position and for jog feed, etc.

For safety proposes, a 3-position enable switch is mounted.*1)

Configuration Table 3-9 Configuration device

Specifications Table 3-10 Specifications

*1) <3-position enable switch>

In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position.

With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Enable switch".

The 3-position enable switch has three statuses. The following modes are entered according to the switch state.

a) "Not pressed" ..........................The robot does not operate. *)

b) "Pressed lightly" .....................The robot can be operated and teaching is possible.

c) "Pressed with force" ............The robot does not operate. *)

*) Releasing or forcefully pressing the 3-position enable switch cuts power to the servos in the same way as when the emergency stop is input. This helps to ensure safety. Operations such as editing programs and displaying the robot's status are possible while the 3-position enable switch is released or forcefully pressed (excludes operating the robot).

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

CR750 controller

Teaching pendant R32TB Either one pc.

1.7 Cable length is 7m. Hand strap is attached.

R32TB-15 2.8 Cable length is 15m. Hand strap is attached.

CR751 controller

Teaching pendant R33TB Either one pc.

1.7 Cable length is 7m. Hand strap is attached.

R33TB-15 2.8 Cable length is 15m. Hand strap is attached.

Items Specifications Remarks

Outline dimensions 195(W) x 292(H) x 106(D) (refer to outline drawing)

Body color Dark gray

Mass Approx. 0.9kg (only arm, excluding cable)

Connection method Connection with controller and connector.

Interface RS-422

Display method LCD method: 24 characters x 8 lines, LCD illumination: with backlight At 8x8 font

Operation section 36 keys

3-103 Teaching pendant (T/B)

3 Controller

Fig.3-31 Outside dimensions of teaching pendant

Installation method The teaching pendant is connected to the T/B connector on the front of the controller.

Enable/Disable switch

Emergency stop

Enable switch

Operetion key

Body

Cable (with connector)

63 .5

LCD

2 9 1 .9

195.2

133

105.5

3 Controller

Teaching pendant (T/B) 3-104

Key layout and main functions

Fig.3-32 Teaching pendant key layout and main functions

[Emergency stop] switch ................ The robot servo turns OFF and the operation stops immediately. [Enable/Disable] switch .................. This switch changes the T/B key operation between enable and dis-

able. [Enable] switch.................................... When the [Enable/Disable] switch " " is enabled, and this key is

released or pressed with force, the servo will turn OFF, and the oper- ating robot will stop immediately.

LCD display panel .............................. The robot status and various menus are displayed. Status display lamp ........................... Display the state of the robot or T/B. [F1], [F2], [F3], [F4].......................... Execute the function corresponding to each function currently dis-

played on LCD. [FUNCTION] key ................................ Change the function display of LCD. [STOP] key........................................... This stops the program and decelerates the robot to a stop. [OVRD ][OVRD ] key ........... Change moving speed. Speed goes up by [OVRD ] key. Speed goes

down by [OVRD ] key [JOG] operation key......................... Move the robot according to jog mode. And, input the numerical value. [SERVO] key........................................ Press this key with holding AA key lightly, then servo power will turn

on. [MONITOR] key .................................. It becomes monitor mode and display the monitor menu. [JOG] key.............................................. It becomes jog mode and display the jog operation. [HAND] key........................................... It becomes hand mode and display the hand operation. [CHARCTER] key............................... This changes the edit screen, and changes between numbers and

alphabetic characters. [RESET] key......................................... This resets the error. The program reset will execute, if this key and

the EXE key are pressed. [ ][ ][ ][ ] key................ Moves the cursor each direction . [CLEAR] key ........................................ Erase the one character on the cursor position. [EXE] key............................................... Input operation is fixed. And, while pressing this key, the robot moves

when direct mode. Number/Character key.................... Erase the one character on the cursor position. And, inputs the num-

ber or character

3-105 Parallel I/O interface

3 Controller

(2) Parallel I/O interface

Order type 2D-TZ368 (Sink type)/2D-TZ378 (Source type)

Outline

This is used to expand the external inputs and outputs

The connecting cable with external equipment is not attached. Since we are preparing the external input-and-output cable (2D-CBL05 or 2D-CBL15) as the option, please use.

Notes)Although the combined use with the parallel input-and-output unit (2A-RZ361/2A- RZ371) of another option is also possible, please use the setup of the station number by the different number separately. The station number is automatically determined by the position of the option slot which installed this interface. (station number 0 to 1)

Configuration Table 3-11 Configuration device

Specifications Table 3-12 Electrical specifications of input circuits

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

Parallel I/O interface 2D-TZ368 Either

one pc.

0.4 Input/output 32 points/32 points 2D-TZ368 is sink type. 2D-TZ378 is source type.

2D-TZ378

Item Specification Internal circuit

Type DC input

Number of input points 32

Insulation method Photo coupler insulation

Rated input voltage DC12V DC24V

Rated input current Approx. 3mA Approx.9mA

Working voltage range DC10.2 26.4V

(Ripple factor should be less than 5)

ON voltage/ON current DC8V or more/2mA or more

OFF voltage/ OFF current DC4V or less/1mA or less

Input resistance Approx. 2.7k

Response time OFF-ON 10ms or less(DC24V)

ON-OFF 10ms or less(DC24V)

Common method 32 points per common

External cable connection

method

Connector

Input

+24V/+12V (COM)

2.7K

820

2.7K

820

24G/12G

Input

3 Controller

Parallel I/O interface 3-106

Table 3-13 Electrical specifications for the output circuits

The protection fuse of the output circuit prevents the failure at the time of the load short circuit and incorrect connection. The load connected of the customer should be careful not to exceed maximum rating current. The internal transistor may be damaged if maximum rating current is exceeded.

Installation method The expansion parallel input/output interface is installed in the controller. Refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance" for details on the installing method.

If it installs in the option SLOT of the controller, the station number will be assigned automatically.

SLOT1: station number 0 (0 to 31)

SLOT2: station number 1 (32 to 63)

If it uses together with parallel input-and-output unit 2A-RZ361/2A-RZ371, please do not overlap with the station number of the parallel input-and-output interface.

Fig.3-33 Parallel I/O interface installation position (CR750)

Item Specification Internal circuit

Type Transistor output

No. of output points 32

Insulation method Photo-coupler insulation

Rated load voltage DC12V/DC24V

Rated load voltage range DC10.2 30V (peak voltage DC30V)

Max. load current 0.1A/point (100%)

Leakage current at OFF Within 0.1mA

Max. voltage drop at ON DC0.9V(TYP.) Note1)

Note1) The maximum voltage drop value at signal ON. Refer to it for the equipment connected to the output circuit.

Respons

e time

OFF-ON 10ms or less(Resistance load) (hardware response time)

ON-OFF 10ms or less(Resistance load) (hardware response time)

Fuse rating Fuse 1.6A(one per common)

Replacement possible max. 3

Common method 16 points per common (common terminal: 2points)

External wire connection

method

Connector

External

power

supply

Voltage DC12/24V(DC10.2 30V)

Current 60mA(TYP.DC24V per common)(base drive current)

+24V/+12V

Output

24G/12G Fuse

+24V/+12V

24G/12G

Fuse

Output

Caution

Caution

SLOT2

SLOT1

3-107 Parallel I/O interface

3 Controller

Fig.3-34 Parallel I/O interface installation position (CR751)

Pin layout of connector

Fig.3-35 Pin layout of connector

Connector pin No. and signal assignment The station number is fixed by the slot to install and the allocation range of the general-purpose input-and- output signal is fixed.

Table 3-14 The slot number and the station number

The connector pin number of the parallel input-and-output interface installed in SLOT1 and signal number allocation are shown in Table 3-15 and Table 3-16. If it installs in other slots, please interpret and utilize.

Slot number Station number

Range of the general-purpose input-and-output signal

Connector <1> Connector <2>

SLOT1 0 Input 0 to 15 Output 0 to 15

Input 16 to 31 Output 16 to 31

SLOT2 1 Input 32 to 47 Output 32 to 47

Input 48 to 63 Output 48 to 63

SLOT1

SLOT2

1B

1A 20A

20B

1D

1C 20C

20D

Connector<2> Output 16 to 31 Input 16 to 31 (when station number 0)

Connector<1> Output 0 to 15 Input 0 to 15 (when station number 0)

3 Controller

Parallel I/O interface 3-108

Table 3-15 Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)

Table 3-16 Connector<2> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)

Pin No.

Line color

Function name Pin No.

Line color

Function name

General-purpose Dedicated/power supply,

common General-purpose

Dedicated/power supply, common

1C Orange/Red a 24G/12G: For pins 5D-

20D

1D Orange/Black a +24V/+12V(COM): For

pins 5D-20D

2C Gray/Red a COM For pins

5C-20CNote1)

Note1) Sink type: +24V/+12V(COM), Source type: 24G/12G

2D Gray/Black a Reserved

3C White/Red a Reserved 3D White/Black a Reserved

4C Yellow/Red a Reserved 4D Yellow/Black a Reserved

5C Pink/Red a General-purpose input 15 5D Pink/Black a General-purpose output 15

6C Orange/Red b General-purpose input 14 6D Orange/Black b General-purpose output 14

7C Gray/Red b General-purpose input 13 7D Gray/Black b General-purpose output 13

8C White/Red b General-purpose input 12 8D White/Black b General-purpose output 12

9C Yellow/Red b General-purpose input 11 9D Yellow/Black b General-purpose output 11

10C Pink/Red b General-purpose input 10 10D Pink/Black b General-purpose output 10

11C Orange/Red c General-purpose input 9 11D Orange/Black c General-purpose output 9

12C Gray/Red c General-purpose input 8 12D Gray/Black c General-purpose output 8

13C White/Red c General-purpose input 7 13D White/Black c General-purpose output 7

14C Yellow/Red c General-purpose input 6 14D Yellow/Black c General-purpose output 6

15C Pink/Red c General-purpose input 5 Operation rights input

signal Note2)

Note2) The dedicated signal is assigned at shipping. It can change with the parameter.

15D Pink/Black c General-purpose output 5

16C Orange/Red d General-purpose input 4 Servo ON input signal Note2)

16D Orange/Black d General-purpose output 4

17C Gray/Red d General-purpose input 3 Start input Note2) 17D Gray/Black d General-purpose output 3 Operation rights output

signal Note2)

18C White/Red d General-purpose input 2 Error reset input signal Note2)

18D White/Black d General-purpose output 2 Error occurring output

signal Note2)

19C Yellow/Red d General-purpose input 1 Servo OFF input signal Note2)

19D Yellow/Black d General-purpose output 1 In servo ON output

signal Note2)

20C Pink/Red d General-purpose input 0 Stop input Note3)

Note3) The dedicated input signal (STOP) is assigned at shipping. The signal number is fixing.

20D Pink/Black d General-purpose output 0 Operating output Note2)

Pin No.

Line color

Function name Pin No.

Line color

Function name

General-purpose Dedicated/power supply,

common General-purpose

Dedicated/power supply, common

1A Orange/Red a 24G/12G: For pins 5B-

20B

1B Orange/Black a +24V/+12V(COM): For

pins 5B-20B

2A Gray/Red a COM For pins 5A-

20ANote1)

Note1) Sink type: +24V/+12V(COM), Source type: 24G/12G

2B Gray/Black a Reserved

3A White/Red a Reserved 3B White/Black a Reserved

4A Yellow/Red a Reserved 4B Yellow/Black a Reserved

5A Pink/Red a General-purpose input 31 5B Pink/Black a General-purpose output 31

6A Orange/Red b General-purpose input 30 6B Orange/Black b General-purpose output 30

7A Gray/Red b General-purpose input 29 7B Gray/Black b General-purpose output 29

8A White/Red b General-purpose input 28 8B White/Black b General-purpose output 28

9A Yellow/Red b General-purpose input 27 9B Yellow/Black b General-purpose output 27

10A Pink/Red b General-purpose input 26 10B Pink/Black b General-purpose output 26

11A Orange/Red c General-purpose input 25 11B Orange/Black c General-purpose output 25

12A Gray/Red c General-purpose input 24 12B Gray/Black c General-purpose output 24

13A White/Red c General-purpose input 23 13B White/Black c General-purpose output 23

14A Yellow/Red c General-purpose input 22 14B Yellow/Black c General-purpose output 22

15A Pink/Red c General-purpose input 21 15B Pink/Black c General-purpose output 21

16A Orange/Red d General-purpose input 20 16B Orange/Black d General-purpose output 20

17A Gray/Red d General-purpose input 29 17B Gray/Black d General-purpose output 19

18A White/Red d General-purpose input 18 18B White/Black d General-purpose output 18

19A Yellow/Red d General-purpose input 17 19B Yellow/Black d General-purpose output 17

20A Pink/Red d General-purpose input 16 20B Pink/Black d General-purpose output 16

3-109 Parallel I/O interface

3 Controller

The example of connection with our PLC

Fig.3-36 Connection with a Mitsubishi PLC (Example of sink type)

Fig.3-37 Connection with a Mitsubishi PLC (Example of source type)

Parallel I/O interface (Output)

(Input)

60mA (+24V/+12V)

Output

Output

Fuse (24G/12G)

+24V

External power supply

X

COM

QX41(Mitsubishi programmable controller)

(COM)

Input2.7K

Input

External power supply

+24V

Y

+24V

QY41P (Mitsubishi programmable controller)

COM 24G

* The input/output circuit external power supply (24 VDC) must be prepared by the customer.

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

Parallel I/O interface

(Output)

(Input)

60mA (+24V/+12V)

Output

Output

Fuse

(24G/12G)

+24V

External power supply

X

QX81 (Mitsubishi programmable controller)

(COM)

Input2.7K

Input

External power supply

+24V

Y

+24V

QY81P (Mitsubishi programmable controller)

24G

* The input/output circuit external power supply (24 VDC) must be prepared by the customer.

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

COM

3 Controller

External I/O cable 3-110

(3) External I/O cable

Order type 2D-CBL Note The numbers in the boxes refer to the length. 05: 5m, 15: 15m

Outline This is the dedicated cable used to connect an external peripheral device to the con- nector on the parallel I/O interface. For parallel I/O unit is another option 2A-CBL.**. One end matches the connector on the parallel input/output unit, and the other end is free. Connect the peripheral device's input/output signal using the free end.

One cable correspond to the input 16 points and output 16 points.

Two cables are needed to connection of (input 32 points and output 32 points) with built-in standard.

Configuration Table 3-17 Configuration device

Specifications Table 3-18 Specifications

Connector pin numbers and cable colors Table 3-19 Connector pin numbers and cable colors

Notes Pin number of connector<1> are 1C, 2C, ....20C, 1D, 2D, ....20D, connector<2> are 1A, 2A, ....20A, 1B, 2B, ....20B.

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

External I/O cable 2D-CBL 1 pc. 0.7(5m)

1.84(15m) 5m or 15m

Items Specifications

Number of cables x cable size AWG #28 x 20P 40 cores

Total length 5m, 15m

Pin no. Cable colors Pin no. Cable colors Pin no. Cable colors Pin no. Cable colors

1A/C Orange/Red a 11A/C Orange/Red c 1B/D Orange/Black a 11B/D Orange/Black c

2A/C Gray/Red a 12A/C Gray/Red c 2B/D Gray/Black a 12B/D Gray/Black c

3A/C White/Red a 13A/C White/Red c 3B/D White/Black a 13B/D White/Black c

4A/C Yellow/Red a 14A/C Yellow/Red c 4B/D Yellow/Black a 14B/D Yellow/Black c

5A/C Pink/Red a 15A/C Pink/Red c 5B/D Pink/Black a 15B/D Pink/Black c

6A/C Orange/Red b 16A/C Orange/Red d 6B/D Orange/Black b 16B/D Orange/Black d

7A/C Gray/Red b 17A/C Gray/Red d 7B/D Gray/Black b 17B/D Gray/Black d

8A/C White/Red b 18A/C White/Red d 8B/D White/Black b 18B/D White/Black d

9A/C Yellow/Red b 19A/C Yellow/Red d 9B/D Yellow/Black b 19B/D Yellow/Black d

10A/C Pink/Red b 20A/C Pink/Red d 10B/D Pink/Black b 20B/D Pink/Black d

3-111 External I/O cable

3 Controller

Connections and outside dimensions The sheath of each signal cable (40 lines) is color indicated and marked with dots. Refer to the cable color speci- fications in "Table 3-28: Connector pin numbers and cable colors" when making the connections.

Fig.3-38 Connections and outside dimensions

(Eg.) Pin number: color indication

Orange Red a

Type of dot mark (see figure below)

Color of dot mark

Color of sheath

Line color type

a type

Pattern of the print mark

One dot

Two dots

Three dots

Four dots

b type

c type

d type

1A/C 1B/D

20A/C 20B/D

or

Plug (Fujitsu Ltd) Connector FCN-361J040-AU

Cover FCN-360C040-B

3 Controller

Parallel I/O unit 3-112

(4) Parallel I/O unit

Order type: 2A-RZ361(Sink type) 2A-RZ371(Source type)

Outline This is used to expand the external inputs and outputs. One one equal with this unit is built into the control unit among controllers the standard.

The connection cable is not included. .Prepare the optional external input/output cable (2A-CBL05 or 2A-CBL15).

Use 2A-RZ361 if the external input/output signal logic is of the sink type and 2A- RZ371 for source type signal logic.

Notes) Although the combined use with the parallel I/O interface (2D-TZ368) of another option is also possible, please use the setup of the station number by the different number separately. The station number is auto- matically fixed by the position of the option slot which installed the parallel I/O interface in 0-1.

Configuration Table 3-20 Configuration device

Specifications 1) The parallel I/O interface (2D-TZ368) of another option, and the a maximum of eight pieces in all. (One station

occupies one unit.) 2) The power supply (24V) must be prepared by the customer and connected with the power connection cable

(DCcable-2) A separate 24V power supply is required for the input/output circuit wiring.

Table 3-21 Electrical specifications of input circuits

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

Parallel I/O unit 2A-RZ361 Either one

pc.

0.7 Input/output 32 points/32 points 2A-RZ361 is the sink type. 2A-RZ371 is the source type.2A-RZ371 0.7

Robot I/O link connec- tion connector

NETcable-1 2 sets - Connector with pins. The cable must be prepared and wired by the customer.

Power connection con- nector

DCcable-2 1 set - Connector with pins. The cable must be prepared and wired by the customer.

Terminator R-TM 1 pc. - 100(1/4W)

Item Specification Internal circuit

Type DC input

Number of input points 32

Insulation method Photo coupler insulation

Rated input voltage 12VDC 24VDC

Rated input current Approx 3mA Approx 7mA

Working voltage range 10.2 to 26.4VDC(Ripple factor should be less than 5%.)

ON voltage/ON current 8VDC or more/ 2mA or more

OFF voltage/ OFF current 4VDC or less/ 1mA or less

Input resistance Approx. 3.3k

Response time OFF-ON 10ms or less (24VDC)

ON-OFF 10ms or less (24VDC)

Common method 8 points per common

External cable connection method Connector

+24V/+12V (COM)

3.3K

820 Input

3.3K

820

24G/12G

Input

3-113 Parallel I/O unit

3 Controller

Table 3-22 Electrical specifications for the output circuits

The output circuit protective fuses prevent failure in case of load short-circuit and improper connections. Please do not connect loads that cause the current to exceed the maximum rated current. If the maximum rated current is exceeded, the internal transistors may be damaged.

Inputs the power supply for control (DCcable-2) then inputs the controllers power supply.

Item Specification Internal circuit

Type Transistor output

No. of output points 32

Insulation method Photo-coupler insulation

Rated load voltage 12VDC/24VDC

Rated load voltage range 10.2 to 30VDC(peak voltage 30VDC)

Max. load current 0.1A/point (100)

Leakage current at OFF 0.1mA or less

Max. voltage drop at ON 0.9VDC(TYP.) Note1)

Note1) The maximum voltage drop value at signal ON. Refer to it for the equipment connected to the output circuit.

Response time

OFF-ON 2ms or less

(hardware response time)

ON-OFF 2ms or less

(Resistance load) (hardware response time)

Fuse rating Fuse 3.2A (one per common) Replacement not possible

Common method 8 points per common (common terminal: 4 points)

External wire connection

method Connector

External power

supply

Voltage 12VDC/24VDC(10.2 to 30VDC)

Current 60mA (TYP. 24VDC per common) (base drive current)

+24V/+12V

24G/12G

Output

Fuse

+24V/+12V

24G/12G

Output

Fuse

CAUTION

CAUTION

3 Controller

Parallel I/O unit 3-114

Fig.3-39 Specifications for the connection cable

NETcable-1 (Network cable)

Pin No. RIO1/2 RIO1/2 Pin No.

TXRXH TXRXH

TXRXL TXRXL

SG(GND) SG(GND)

FG

DCcable-2 (Power cable)

Pin No. DCIN

24V 24V Power

24G

FG(PE)

Connected the frame ground or protect ground

R-TM (Terminator)

Pin No. RIO1/2 100

TXRXH

TXRXL

SG(GND)

List of parts and manufacturer

Type Connector type Contact type Resistant Manufacturer

NETcable-1 1-178288-3 (2) 1-175218-2 (6) Tyco Electronics (Black connector)

51103-0300 (1) 50351-8100 (3) MOLEX (White connector)

DCcable-2 2-178288-3 (1) 1-175218-5 (3) Tyco Electronics (Black connector)

R-TM 1-178288-3 (1) 1-175218-3 (2) 100(1/4W) (1) Equivalent to KOA.

Note 2)

Note 1)

Note 1) The 24V power supply is prepared by customer (The power consumption is approx. 0.3A.) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con- nect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

Note 2) The cable for general purpose can be used to the network cable. However, use the twisted shield cable of

AWG#22(0.3mm2) or more.

Connector for CR750/CR751: 51103-0300

3-115 Parallel I/O unit

3 Controller

Installation method The expansion parallel input/output unit is installed outside of the controller. Connect with the network

connection cable (NETcable-1) from the RIO connector in the rear/into of the controller.(Terminator is connected at the time of shipment)

Fig.3-40 Installing the parallel I/O unit (CR750)

6 0 5 4 6

1 5 0

6 1 56

2 -

6

1 68

1 2 8

(1 7 5 )

1 00

(40 )

<2 A -R Z 3 61 >

2A - R Z 36 1/ 2 A - R Z 37 1

6

<2 A -R Z 3 71 >

RIO

Installation dimensions of 2A-RZ361/2ARZ-371 (The controller outside installation.)

RIO connector

Upside

Wiring space

H e at

r ad

ia ti o n

sp ac

e

2-M5 screw

Downside

R ad

ia ti o n /w

ir in

g sp

ac e

Control panel installation dimensions

3 Controller

Parallel I/O unit 3-116

Fig.3-41 Installing the parallel I/O unit (CR751)

6 0 5 4 6

1 5 0

6 1 5 6

2 -

6

1 6 8

1 2 8

(17 5 )

1 00

(40 )

< 2A - R Z 361 >

2 A -R Z 3 61/ 2 A - R Z 37 1

6

< 2A - R Z 371 >

RIORIO connector

Upside

Wiring space

H e at

r ad

ia ti o n

sp ac

e

2 M5 screw

Downside

R ad

ia ti o n / w

ir in

g sp

ac e

Control panel installation dimensions

Installation dimensions of 2A-RZ361/2ARZ-371 (The controller outside installation.)

3-117 Parallel I/O unit

3 Controller

Fig.3-42 Connection method of expansion parallel I/O unit (CR750)

1 . . . 6

CN100 CN300

7

CN100

CN300

NETcable-1

R-TM

1 . . . . 6 7

RIO

DCIN

RIO2RIO1

NETcable-1

DCcable-2

RIO2

RIO1

DCIN

FGFG

)

)

RIO2RIO1

DCIN

DCcable-2

100mm *1)

CE

FG

*2)

2030mm

*2)

200300mm

Connect the NET cable-1 to the RIO connector on the back of the controller. Each unit is connected to from a daisy chain. Always install a terminator (R-TM) to the last unit. Note) Use a shield cable for NET cable-1 as a measure against noise.

Always connect the shield to FG. Install the attached ferrite core in both ends. The unit could malfunction because of noise if the shield cable is not used.

RI

Parallel I/O unit 1 . . . 6 Parallel I/O unit 7

Note) NETc l -1 cable

connector

RIO1 connector RIO2 connector RIO1 connector RI connector

Note) NETcable-1 cable

DCcable-2 cable

DCcable-2 cable

RI connector

D I connector

terminator

I/O unit the bottom connector layout

Within 100mm

Front side

Metal braid section

Sheath Sheath

Peel the sheath in the position about 2 0-300mm from the connector end of the cable, so you can install and remove the cover. * Don't damage the shield line.

Grounding terminal position

Station No.

setting

1 . . . 6

Station No.

setting

7

DCIN connector

DCIN connector

*1) Install the ferrite core in within 100mm from each connector.

Ferrite core Only for the CE marking/ KC mark specification Pass twice

3 Controller

Parallel I/O unit 3-118

Fig.3-43 Connection method of expansion parallel I/O unit (CR751)

1 . . . 6

CN100 CN300

7

CN100

CN300

NETcable-1

R-TM

1 . . . . 6 7

RIO

DCIN

RIO2RIO1

NETcable-1

DCcable-2

RIO2

RIO1

DCIN

FGFG

)

)

RIO2RIO1

DCIN

DCcable-2

100mm *1)

CE

FG *2)

2030mm

*2)

200300mm

*1) Install the ferrite core in within 100mm from each connector.

Parallel I/O unit 1 . . . 6 Parallel I/O unit 7 Station No.

setting

1 . . . 6

Station No.

setting

7

Note) NE cable

1 connector

RIO1 connector RIO2 connector RIO1 connector RIO2 connector

Note) NETcable-1 cable

DCIN connector

DCcable-2 cable DCcable-2

cable

DCIN connector

RI connector

D I connector

R-TM terminator

I/O unit the bottom connecter layout

Connect the NET cable-1 to the RIO connector on the back of the controller. Each unit is connected to from a daisy chain. Always install a terminator (R-TM) to the last unit. Note) Use a shield cable for NET cable-1 as a measure against noise.

Always connect the shield to FG. Install the attached ferrite core in both ends. The unit could malfunction because of noise if the shield cable is not used.

Within 100mm

Ferrite core Only for the CE marking/ KC mark specification Pass twice

Front side

Metal braid section

Sheath Sheath

Peel the sheath in the position about 200-300mm from the connector end of the cable, so you can install and remove the cover. * Don't damage the shield line.

Grounding terminal position

3-119 Parallel I/O unit

3 Controller

Pin arrangement of the connector

Fig.3-44 Pin arrangement of the parallel I/O unit

Assignment of pin number and signal The assignment range of the general-purpose input-and-output signal is fixed by the setup of the station number.

Table 3-23 Assignment of pin number and signal

The connector pin number of the parallel I/O unit of the station number 0 and signal number assignment are shown in Table 3-24 and Table 3-25. If it is set as other station number, please interpret and utilize.

Unit Number Station number

CN100 CN300

1st set 0 Input 0 to 15 Output 0 to 15

Input 16 to 31 Output 16 to 31

2nd set 1 Input 32 to 47 Output 32 to 47

Input 48 to 63 Output 48 to 63

3rd set 2 Input 64 to 79 Output 64 to 79

Input 80 to 95 Output 80 to 95

4th set 3 Input 96 to 111 Output 96 to 111

Input 112 to 127 Output 112 to 127

5th set 4 Input 128 to 143 Output 128 to 143

Input 144 to 159 Output 144 to 159

6th set 5 Input 160 to 175 Output 160 to 175

Input 176 to 191 Output 176 to 191

7th set 6 Input 192 to 207 Output 192 to 207

Input 208 to 223 Output 208 to 223

8th set 7 Input 224 to 239 Output 224 to 239

Input 240 to 255 Output 240 to 255

*2A-RZ361/2 A-RZ371 are 32/32 input-and-output units. (One-station occupancy)

50

26

25

1

Channel No. setting

TXD LED display

Input 0 to 15 Output 0 to 15

CN100

CN300 Input 16 to 31 Output 16 to 31

3 Controller

Parallel I/O unit 3-120

Parallel I/O interface (First expansion unit) Table 3-24 Connector CN100pin No. and signal assignment list (2A-CBL )

Pin No.

Line color

Function name Pin No.

Line color

Function name

General-purpose Dedicated/power supply,

common General-purpose

Dedicated/power supply, common

1 Orange/Red A FG 26 Orange/Blue A FG

2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38

3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32

4 Yellow/Red A General-purpose output 0 Operating output Note1)

Note1) The dedicated signal is assigned at shipping. It can change with the parameter.

29 Yellow/Blue A General-purpose output 4

5 Pink/Red A General-purpose output 1 In servo ON output signal Note1)

30 Pink/Blue A General-purpose output 5

6 Orange/Red B General-purpose output 2 Error occurring output signal Note1)

31 Orange/Blue B General-purpose output 6

7 Gray/Red B General-purpose output 3 Operation rights output sig-

nal Note1) 32 Gray/Blue B General-purpose output 7

8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38

9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38

10 Pink/Red B General-purpose output 8 35 Pink/Blue B General-purpose output 12

11 Orange/Red C General-purpose output 9 36 Orange/Blue C General-purpose output 13

12 Gray/Red C General-purpose output 10 37 Gray/Blue C General-purpose output 14

13 White/Red C General-purpose output 11 38 White/Blue C General-purpose output 15

14 Yellow/Red C COM0:For pins 15-22 Note2)

Note2) Sink type:12V/24V(COM),Source type:0V(COM)

39 Yellow/Blue C COM1:For pins 40-47 Note2)

15 Pink/Red C General-purpose input 0 Stop input Note3)

Note3) The dedicated input signal (STOP) is assigned at shipping. The signal number is fixing.

40 Pink/Blue C General-purpose input 8

16 Orange/Red D General-purpose input 1 Servo OFF input signal Note1)

41 Orange/Blue D General-purpose input 9

17 Gray/Red D General-purpose input 2 Error reset input signal Note1)

42 Gray/Blue D General-purpose input 10

18 White/Red D General-purpose input 3 Start input Note1) 43 White/Blue D General-purpose input 11

19 Yellow/Red D General-purpose input 4 Servo ON input signal Note1) 44 Yellow/Blue D General-purpose input 12

20 Pink/Red D General-purpose input 5 Operation rights input sig-

nal Note1) 45 Pink/Blue D General-purpose input 13

21 Orange/Red E General-purpose input 6 46 Orange/Blue E General-purpose input 14

22 Gray/Red E General-purpose input 7 47 Gray/Blue E General-purpose input 15

23 White/Red E Reserved 48 White/Blue E Reserved

24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved

25 Pink/Red E Reserved 50 Pink/Blue E Reserved

3-121 Parallel I/O unit

3 Controller

Table 3-25 Connector CN300pin No. and signal assignment list (2A-CBL )

Pin No.

Line color

Function name Pin No.

Line color

Function name

General-purpose Dedicated/power supply,

common General-purpose

Dedicated/power supply, common

1 Orange/Red A FG 26 Orange/Blue A FG

2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38

3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32

4 Yellow/Red A General-purpose output 16 29 Yellow/Blue A General-purpose output 20

5 Pink/Red A General-purpose output 17 30 Pink/Blue A General-purpose output 21

6 Orange/Red B General-purpose output 18 31 Orange/Blue B General-purpose output 22

7 Gray/Red B General-purpose output 19 32 Gray/Blue B General-purpose output 23

8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38

9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38

10 Pink/Red B General-purpose output 24 35 Pink/Blue B General-purpose output 28

11 Orange/Red C General-purpose output 25 36 Orange/Blue C General-purpose output 29

12 Gray/Red C General-purpose output 26 37 Gray/Blue C General-purpose output 30

13 White/Red C General-purpose output 27 38 White/Blue C General-purpose output 31

14 Yellow/Red C COM0:For pins 15-22Note1)

Note1) Sink type:12V/24V(COM),Source type:0V(COM)

39 Yellow/Blue C COM1:For pins 40-47 Note1)

15 Pink/Red C General-purpose input 16 40 Pink/Blue C General-purpose input 24

16 Orange/Red D General-purpose input 17 41 Orange/Blue D General-purpose input 25

17 Gray/Red D General-purpose input 18 42 Gray/Blue D General-purpose input 26

18 White/Red D General-purpose input 19 43 White/Blue D General-purpose input 27

19 Yellow/Red D General-purpose input 20 44 Yellow/Blue D General-purpose input 28

20 Pink/Red D General-purpose input 21 45 Pink/Blue D General-purpose input 29

21 Orange/Red E General-purpose input 22 46 Orange/Blue E General-purpose input 30

22 Gray/Red E General-purpose input 23 47 Gray/Blue E General-purpose input 31

23 White/Red E Reserved 48 White/Blue E Reserved

24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved

25 Pink/Red E Reserved 50 Pink/Blue E Reserved

3 Controller

Parallel I/O unit 3-122

The example of connection with our PLC

Fig.3-45 Connection with a Mitsubishi PLC (Example of sink type)

Fig.3-46 Connection with a Mitsubishi PLC (Example of source type)

Parallel I/O unit (Output)

(Input)

60mA (+24V/+12V)

Output

Output

Fuse (24G/12G)

+24V

External power supply

X

COM

QX41(Mitsubishi programmable controller)

(COM)

Input3.3K

Input

External power supply

+24V

Y

+24V

QY41P (Mitsubishi programmable controller)

COM 24G

* The input/output circuit external power supply (24 VDC) must be prepared by the customer.

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

Parallel I/O unit

(Output)

(Input)

60mA (+24V/+12V)

Output

Output

Fuse

(24G/12G)

+24V

External power supply

X

QX81 (Mitsubishi programmable controller)

(COM)

Input3.3K

Input

External power supply

+24V

Y

+24V

QY81P (Mitsubishi programmable controller)

24G

* The input/output circuit external power supply (24 VDC) must be prepared by the customer.

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

COM

3-123 External I/O cable

3 Controller

(5) External I/O cable

Order type: 2A-CBL Note The numbers in the boxes refer to the length. 05: 5m 15: 15m

Outline This is the dedicated cable used to connect an external peripheral device to the con- nector on the parallel input/output unit.

One end matches the connector on the parallel input/output unit, and the other end is free. Connect the peripheral device's input/output signal using the free end.

One cable correspond to the input 16 points and output 16 points.

Two cables are needed to connection of (input 32 points and output 32 points) with built-in standard.

Configuration Table 3-26 Configuration device

Specifications Table 3-27 Specifications

Connector pin numbers and cable colors Table 3-28 Connector pin numbers and cable colors

Part name Type Qty. Mass(kg)Note1)

Note1) Mass indicates one set.

Remarks

External I/O cable 2A-CBL 1pc. 0.7(5m)

1.84(15m) 5m or 15m

Items Specifications

Number of cables x cable size 50 cores x AWG #28

Total length 5m or 15m

Pin no. Cable colors Pin

no. Cable colors Pin no. Cable colors Pin

no. Cable colors Pin no. Cable colors

1 Orange/Red A 11 Orange/Red C 21 Orange/Red E 31 Orange/Blue B 41 Orange/Blue D

2 Gray/Red A 12 Gray/Red C 22 Gray/Red E 32 Gray/Blue B 42 Gray/Blue D

3 White/Red A 13 White/Red C 23 White/Red E 33 White/Blue B 43 White/Blue D

4 Yellow/Red A 14 Yellow/Red C 24 Yellow/Red E 34 Yellow/Blue B 44 Yellow/Blue D

5 Pink/Red A 15 Pink/Red C 25 Pink/Red E 35 Pink/Blue B 45 Pink/Blue D

6 Orange/Red B 16 Orange/Red D 26 Orange/Blue A 36 Orange/Blue C 46 Orange/Blue E

7 Gray/Red B 17 Gray/Red D 27 Gray/Blue A 37 Gray/Blue C 47 Gray/Blue E

8 White/Red B 18 White/Red D 28 White/Blue A 38 White/Blue C 48 White/Blue E

9 Yellow/Red B 19 Yellow/Red D 29 Yellow/Blue A 39 Yellow/Blue C 49 Yellow/Blue E

10 Pink/Red B 20 Pink/Red D 30 Pink/Blue A 40 Pink/Blue C 50 Pink/Blue E

3 Controller

External I/O cable 3-124

Connections and outside dimensions The sheath of each signal cable (50 lines) is color indicated and marked with dots. Refer to the cable color speci- fications in "Table 3-28: Connector pin numbers and cable colors" when making the connections.

Fig.3-47 Connections and outside dimensions

(Eg.) Pin number: color indication

Orange Red

Type of dot mark (see figure below)

Color of dot mark

Color of sheath

Type of dot mark

A type

B type

C type

D type

E type

F type

G type

H type

I type

J type

Dot pattern

Receptacle type (PCB side)57AE-40500-21D(D8)

Plug type cable side57YE-30500-2(D8)

DDK

Maker

DDK

26

5000

6 6

50 25

1

18.5

1

18.5

18.5

Continuous

18.5

1.5

1.5

1.5

1.5

18.5

3

3

3

18.5

18.5

18.5

7.5

7.5

Continuous

35.7

13.54

16.2 9.27

7 6 . 7

4

6 4 .5

3

5 1 .8

1 6

2 .1

59

Type of dot mark Dot pattern

Note1) The type of the plug shows the specification of this cable. The following connector is recommended when user make the cable. Plug type (cable side) : 57E series (Soldering type).....................................................DDK 57FE series (Flat cable pressure connection type)......DDK

Note1)

3-125 CC-Link interface

3 Controller

(6) CC-Link interface

Order type: 2D-TZ576

Outline The CC-Link interface is the optioninterface to not only add bit data to the robot controller. but also to add CC-Link field network function that allows cyclic transmission of word data.

Configuration Table 3-29 Configuration device

Table 3-30 Procured by the customer

Fig.3-48 Example of CC-Link Product Configuration

Part name Type Qty. Mass(kg)Note1)

Note1) Mass indicates one set.

Remarks

CC-Link interface TZ576 1 0.6

Manual BFP-A8634 1 - CD-ROM

Ferrite core E04SR301334 2 -

Be sure to install this for noise countermeasure.Cable clamp AL4 2 -

AL5 2 -

On-line connector for

communication

A6CON-LJ5P 1 -

Terminal resistor A6CON-TR11N 1 - Resistance value: 100

One-touch connector plug

for communication

A6CON-L5P 2 -

Part name Type Qty. Remarks

Master station

QJ61BT11(Q series)

1 FX series products are not supported.

QJ61BT11N(Q series)

AJ61QBT11(QnA series)

A1SJ61QBT11(QnAS series)

AJ61BT11(A series)

A1SJ61BT11(AnS series)

A80BD-J61BT11(personal computer board)

Communication cable - 1 Shielded 3-core twisted cable

This cable may be manufactured by the customer.

CC-Link

I/O

Robot arm Inverter

I/O unit

Display Sequencer

Personal computer

Partner manufac- turers device

-Link interface card (This option)

Controller

3 Controller

CC-Link interface 3-126

Specifications Table 3-31 Specifications

Item Specifications Remarks

Communication function Bit data and word data can be transmitted. Word data are used by the registers.

Station type Intelligent device station Note1)

Note1) Not available for the transient transmission function and FX-series models that do not support intelligent devices.

Support station Local station No master station function

The version corresponding to CC-Link Ver.2 The extended cyclic setup is possible.

Mountable option slot Slot 1, 2

Number of mountable CC-Link interface cards 1 Multiple CC-Link interface cards cannot be

inserted.

Number of stations 1 to 64 stations When four stations are occupied, continuous

station numbers are used. The station

numbers are set by a DIP switch.

Transmission speed 10M/5M/2.5M/625K/156K bps This is set by the rotary SW.

Station number 1 to 64 When two or more stations are occupied,

continuous station numbers are used.Number of occupied stations 1/2/3/4

Extended cyclic setup 1/2/4/8

Maximum link point Remote I/O

(RX, RY).

Each 896 points The two last cannot be used.

Remote register

(RWr, RWw)

Each 128 register 16 bits/register

Extended cyclic setup - 1 fold

setup

2 fold

setup

3 fold

setup

4 fold

setup

Link point

per set

When one

station is

occupied

Remote I/O

(RX, RY).

32 point 32 point 64 point 128 point

Remote register

( RWw)

4 word 8 word 16 word 32 word

Remote register

(RWr)

4 word 8 word 16 word 32 word

When two

stations is

occupied

Remote I/O

(RX, RY).

64 point 96 point 192 point 384 point

Remote register

( RWw)

8 word 16 word 32 word 64 word

Remote register

(RWr)

8 word 16 word 32 word 64 word

When three

stations is

occupied

Remote I/O

(RX, RY).

96 point 160 point 320 point 640 point

Remote register

( RWw)

12 word 24 word 48 word 96 word

Remote register

(RWr)

12 word 24 word 48 word 96 word

When four

stations is

occupied

Remote I/O

(RX, RY).

128 point 224 point 448 point 896 point

Remote register

( RWw)

16 word 32 word 64 word 128 word

Remote register

(RWr)

16 word 32 word 64 word 128 word

Number of the maximum occupancy station 4 stations

The I/O first number of the robot controller. No. 6000 -.

The number corresponding to the station

number by the setup of the parameter

"CCFIX."

3-127 CC-Link interface

3 Controller

Functions (1) Communication function

The number of usable points is 896 points maximum for bit control and 128 points maximum for word control.

(2) Easy setup The CC-Link interface card can be set by a rotary switch or DIP switch. No separate space is required to mount the CC-Link interface card as it is embedded in the robot controller (can only be mounted into slot 2).

Easy wiring since only four terminals need to be connected. Dedicated commands have been added to MELFA-BASIC V (robot programming language); thus, no complex interface programming is required.

(3) High-speed response The link scan time when connecting 64 stations is approximately 7.2 ms, achieving superior high-speed response performance.

A transmission speed can be selected from 10M, 5M, 2.5M, 625K and 156K bps according to the transmission distance.

3 Controller

MELSOFT RT ToolBox2/RT ToolBox2 mini 3-128

(7) MELSOFT RT ToolBox2/RT ToolBox2 mini

Order type MELSOFT RT ToolBox2 *For windows CD-ROM : 3D-11C-WINE

MELSOFT RT ToolBox2 mini *For windows CD-ROM : 3D-12C-WINE

Outline This is handy software that fully uses the personal computer functions. It can be used in various stages from the robot specifications study (tact study, etc.) to the design support (creation and editing of programs), start up support (execution, control and debugging of program), and maintenance.

The "personal computer support software" which supports these function fully, and the "personal computer support software mini" which does not have the simulation function are available.

Configuration Table 3-32 Product configuration

Features (1) Simple operation with guidance method and menu method

The Windows standard is used for windows operation, so the controller initialization and startup operations can be carried out easily by following the instructions given on the screen. Even a beginner can easily carry out the series of operations from program creation to execution.

(2) Increased work efficiency with ample support functions The work efficiency is greatly improved with the multi-window method that carries out multiple steps and dis- plays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially sufficient, and are extremely useful when editing or debugging the program. With the simulation function support, the program can be debugged and the tact checked before starting the machine at the site. This allows the on-site startup work efficiently to be greatly improved.

(3) The maintenance forecast function increases the efficiency of maintenance work. Analyze the load condition while the robot is actually operating. Based on this analysis, calculate the time for maintenance, such as lubri- cation and belt replacement. By utilizing this information, the line stop time as well as the maintenance costs can be reduced.

(4) The position recovery support function increases the recovery efficiency in the event of origin position dis- placement. This function compensates the origin settings and position data by just reproducing several previ- ous teaching points when hand and/or arm displacement occurs, when replacing the motor and the belts, or when reloading the robot. This function can reduce the time required for recovery.

Part name Type Medium Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

RT ToolBox2 3D-11C-WINE CD-ROM 0.2

RT ToolBox2 mini 3D-12C-WINE CD-ROM 0.2

3-129 MELSOFT RT ToolBox2/RT ToolBox2 mini

3 Controller

Functions Table 3-33 Functions

Function Functional existenceNote1)

Note1) The functions included with the RT ToolBox2 and the RT ToolBox2 mini are shown below. : Function provided : Function not provided

Details

Compatible model

Personal computer running Windows XP, Windows Vista, Windows 7,

Windows 8, Windows 8.1, or Windows 10. Note2)

Note2) Recommend corresponding to CE Marking, an FCC standard, and a VCCI standard.

Program editing

functions

Editing functions

MELFA BASIC V language compatible

Multiple editing screen simultaneously display

Command input, comment writing

Position data editing

File operation (writing to controller, floppy disk, personal computer)

Search and replace function (using characters, line Nos., labels)

Copy, cut, paste, insert (per character, line), undo (per command

statement, position conversion)

Line No. automatic generation, renumbering

Batch syntax check

Command template

Position conversion batch editing

Position variable template

Print, print preview

Control func- tions

Program file control (list, copy, movement, delete, content compari- son, name change, protect)

Debugging func- tions

Direct editing of program in controller

Confirmation of robot program operation (step execution, direct exe- cution)

Simulation func- tion

Off-line simulation of robot program operation using CG (computer

graphics)

Tact time calculation

Monitor func- tions

Robot operation monitor (robot operation state, stop signal, error

monitor, program monitor (execution program, variables), general-pur- pose input/output signals (forced output possible), dedicated input/

output signals, operation confirmation (operation range, current posi- tion, hand, etc.)

Operation monitor (working time statistics, production information,

robot version)

Servo monitor (load)

Maintenance

function

Parameter setting

Batch, divided backup

RT ToolBox2 mini

3D-12C-WINE

RT ToolBox2

3D-11C-WINE

3 Controller

Instruction Manual (bookbinding) 3-130

(8) Instruction Manual (bookbinding)

Order type: 5F-FA01-PE01 ..............RH-3FH-D series

Outline

This is a printed version of the CD-ROM (instruction manual) supplied with this product.

Configuration Table 3-34 Product configuration

Name Type Mass (Kg) Note1)

Note1) Mass indicates one set.

Specifications

Instruction Manual 5F-FA01-PE01 2.6 The instructions manual set of "RH-3FH-D series".

Safety Manual BFP-A8006 - Items relating to safety in handling the robot

Standard Specifications BFP-A8878 - Specification of the robot arm and controller

Robot Arm Setup & Maintenance BFP-A8865 - Installation method of the robot arm, jog operation, and

maintenance and inspection procedures

Controller Setup, Basic Operation and Maintenance BFP-A8867 - Installation method of the controller, basic operation,

and maintenance and inspection procedures

Detailed Explanation of Functions and Operations BFP-A8869 - Functions of the controller and T/B, operation

method, and explanation of MELFA-BASIC V

Troubleshooting BFP-A8871 - Causes of errors occurred and their countermeasures

Additional axis function BFP-A8663 - Function of the additional axis, operation method.

Tracking Function Manual BFP-A8664 - Function of the Tracking, operation method.

GOT Direct Connection Extended Function BFP-A8849 -

Explains of data configuration of shared memory,

monitoring, and operating procedures, between the

GOT and controller.

3-131 Maintenance parts

3 Controller

3.11 Maintenance parts

The consumable parts used in the controller are shown in Table 3-35. Purchase these parts from your dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from your dealer.

Table 3-35 Controller consumable parts list

No. Name Type Note1)

Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.

Qty. Usage place Supplier

1 Lithium battery Q6BAT 1 CR750 controller:

Inside of the interface

cover

CR751 controller:

Inside of the filter cover Mitsubishi Electric

2 Filter CR750 controller:

BKOFA0773H42

CR751 controller:

BKOFA0773H41

1 Inside the filter cover

4Software

List of commands 4-132

4 Software

4.1 List of commands

The available new functions in MELFA-BASIC V are given in Table 4-1.

Table 4-1 List of MELFA-BASIC V commands

Type Class Function Input format (example)

P o si

ti o n a

n d

o pe

ra ti o n c

o n tr

o l

Joint interpolation Moves to the designated position with joint interpolation. Mov P1

Linear interpolation Moves to the designated position with linear interpolation. Mvs P1

Circular interpolation Moves along a designated arc (start point passing point start point

(end point)) with 3-dimensional circular interpolation (360 degrees). Mvc P1,P2,P1

Moves along a designated arc (start point passing point end point)

with 3-dimensional circular interpolation. Mvr P1,P2,P3

Moves along the arc on the opposite side of a designated arc (start point

reference point end point) with 3-dimensional circular interpola- tion.

Mvr2 P1,P9,P3

Moves along a set arc (start point end point) with 3-dimensional cir- cular interpolation.

Mvr3 P1,P9,P3

Speed designation Designates the speed for various interpolation operations with a per- centage (0.1% unit).

Ovrd 100

Designate the speed for joint interpolation operation with a percentage

(0.1% unit). JOvrd 100

Designates the speed for linear and circular interpolation with a numeri- cal value (mm/s unit).

Spd 123.5

Designates the acceleration/deceleration time as a percentage in

respect to the predetermined maximum acceleration/deceleration. (1%

unit)

Accel 50,80

Automatically adjusts the acceleration/deceleration according to the

parameter setting value. Oadl ON

Sets the hand and work conditions for automatic adjustment of the

acceleration/deceleration. Loadset 1,1

Operation Adds a process unconditionally to the operation. Wth

Adds a process conditionally to the operation. WthIf

Designates smooth operation. Cnt 1,100,200

Performance of movement is upgraded corresponding to the application. MvTune 4

Designates the positioning completion conditions with a No. of pulses. Fine 200

Designates the positioning completion conditions with a distance in a

straight line Fine 1, P

Designates the positioning completion conditions with a joint interpola- tion.

Fine 0.5, J, 2

Turns the servo power ON/OFF for all axes. Servo OFF

Limits the operation of each axis so that the designated torque is not

exceeded. Torq 4,10

Position control Designates the base conversion data. Base P1

Designates the tool conversion data. Tool P1

Float control The robot arm rigidity is lowered and softened. (XYZ coordinate system) Cmp Pos ,&B00000011

The robot arm rigidity is lowered and softened. (JOINT coordinate sys- tem)

Cmp Jnt ,&B00000011

The robot arm rigidity is lowered and softened. (TOOL coordinate sys- tem)

Cmp Tool ,&B00000011

The robot arm rigidity is returned to the normal state. Cmp Off

The robot arm rigidity is designated. CmpG 1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0

Pallet Defines the pallet. Def Plt 1,P1,P2,P3,P4,5,3,1

Operates the pallet grid point position. Plt 1,M1

Singular point pas- sage

Move to a specified position using linear interpolation passing through a

singular point. Mvs P1 Type 0,2

4-133 List of commands

4Software

P ro

gr am

c o n tr

o l

Branching Branches unconditionally to the designated place. GoTo 120

Branches according to the designated conditions. If M1=1 Then GoTo *L100

Else GoTo 20

End If

Repeats until the designated end conditions are satisfied. For M1=1 TO 10

Next M1

Repeats while the designated conditions are satisfied. While M1<10

WEnd

Branches corresponding to the designated expression value. On M1 GoTo *La1, *Lb2, *Lc3

Executes program block corresponding to the designated expression

value..

Select

Case 1

Break

Case 2

Break

End Select

Moves the program process to the next line. Skip

Collision detection Set to enable/disable the collision detection. ColChk ON/OFF

Set the detection level of the collision detection. ColLvl 100,80,,,,,,

Subroutine Executes the designated subroutine. (Within program) GoSub *L200

Returns from the subroutine. Return

Executes the designated program. CallP "P10",M1,P1

Defines the program argument executed with the CALLP command. FPrm M10,P10

Executes the subroutine corresponding to the designated expression

value. On M1 GoSub *La1, *Lb2, *Lc3

Interrupt Defines the interrupt conditions and process. Def Act 1, M1=1 GoTo *L100

Enables/disables the interrupt. Act 1=1

Defines the start line of the program to be executed when an interrupt is

generated from the communication line. On Com(1) GoSub *L100

Enables the interrupt from the communication line. Com(1) On

Disables the interrupt from the communication line. Com(1) Off

Stops the interrupt from the communication line. Com(1) Stop

Wait Designates the wait time, and the output signal pulse output time. (0.01s

unit) Dly 0.5

Waits until the variable becomes the designated value. Wait M_In(1)=1

Stop Stops the program execution. Hlt

Generates an error. During program execution, continue, stop or servo

OFF can be designated. Error 9000

End Ends the program execution. End

H an

d Hand open Opens the designated hand. HOpen 1

Hand close Closes the designated hand. HClose 1

In p u t/

o ut

p u t Assignment Defines the input/output variables. Def IO PORT1=BIT,0

Input Retrieves the general-purpose input signal. M1=M_In(1)

Output Calls out the general-purpose output signal. M_Out(1) =0

P ar

al le

l e xe

c u ti o n

Mechanism designa- tion

Acquires the mechanism with the designated mechanism No. GetM 1

Releases the mechanism with the designated mechanism No. RelM 1

Selection Selects the designated program for the designated slot. XLoad 2,"P102"

Start/stop Carries out parallel execution of the designated program. XRun 3,"100",0

Stops parallel execution of the designated program. XStp 3

Returns the designated program's execution line to the head and enters

the program selection enabled state. XRst 3

Type Class Function Input format (example)

4Software

List of commands 4-134

O th

e rs

Definition Defines the integer type or real number type variable. Def Inte KAISUU

Defines the character string variable. Def Char MESSAGE

efines the layout variable. (Up to 3-dimensional possible) Dim PDATA(2,3)

Defines the joint variable. Def Jnt TAIHI

Defines the position variable. Def Pos TORU

Defines the function. Def FN TASU(A,B)=A+B

Clear Clears the general-purpose output signal, variables in program, variables

between programs, etc. Clr

File Opens a file. Open "COM1:" AS #1

Closes a file. Close #1

Inputs data from a file. Input# 1,M1

Outputs data to a file. Print# 1,M1

Comment Describes a comment. Rem "ABC"

Label Indicates the branching destination. *SUB1

Type Class Function Input format (example)

4-135 List of parameters

4Software

4.2 List of parameters

Show the main parameter in the Table 4-2.

Table 4-2 List of parameters

Parameter Details

Standard tool coordinates. MEXTL Set the default value for the tool data.

Unit: mm or deg.

Standard base coordinates MEXBS Set the relation of the world coordinate system and robot coordinate system.

Unit: mm or deg.

XYZ operation range MEPAR Designate the overrun limit value for the world coordinate system.

JOINT operation range MEJAR Set the overrun limit value for each joint axis.

Free plane limit This is the overrun limit set with the free plane.

Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of

the plane as the outside operation range (error). The following three types of parameters are

used.

SFC1P

:

SFC8P

Eight types of free plane limits can be set in SFC1P to SFC8P.

There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.

SFC1ME

:

SFC8ME

Designate which mechanism to use eight types of set free plane limits.

The mechanism No. to use is set with 1 to 3.

SFC1AT

:

SFC8AT

Set the validity of the eight types of set free plane limits.

(Valid 1/Valid 2/invalid = 1/-1/0)

User-defined area An area (cube) defined with two XYZ coordinate points can be designated and that area set

as the outside operation range. Furthermore, a signal can be output when the axis enters

that area. Up to 32 types of area can be designated.

AREA1CS

:

AREA32CS

Specify the coordinate system of the user definition area *.

0: Base coordinate system (conventional compatibility)

1: Robot coordinate system

AREA1P1

:

AREA32P1

Designated the 1st point of the area.

There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.

(L1 and L2 are the additional axes.)

AREA1P2

:

AREA32P2

Designated the 2nd point of the area.

There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.

(L1 and L2 are the additional axes.)

AREA1ME

:

AREA32ME

Designate which mechanism to use the 32 types of set area.

The mechanism No. to use is set with 1 to 3.

AREA1AT

:

AREA32AT

Designate the area check type.

(Invalid/zone/interference = 0/1/2)

Zone: The dedicated output signal USRAREA turns ON.

Interference: An error occurs..

Automatic return setting RETPATH Set to restart the program after returning to the interrupt position when resuming operation

after an interruption.

Buzzer ON/OFF BZR Designate whether to the turn buzzer ON or OFF.

Jog setting JOGJSP Designate the joint jog and step operation speed.

(Set dimension H/L amount, max. override.)

JOGPSP Designate the linear jog and step operation speed.

(Set dimension H/L amount, max. override.)

Jog speed limit value JOGSPMX Limit the operation speed during the teaching mode. Max. 250[mm/s]

Hand type HANDTYPE Set the hand type of the single/double solenoid, and the signal No.

(Single/double = S/D)

Set the signal No. after the hand type. Example) D900

Stop input B contact desig- nation

INB Change the dedicated input (stop) to either of normal open or normal close.

4Software

List of parameters 4-136

User-designated origin USERORG Designate the user-designated origin position.

Program selection memory SLOTON Select the program selected previously when initializing the slot. The non-selected state will

be entered when not set.

Communication setting CBAU232 Set the baud rate.

CLEN232 Set the character length.

CPRTY232 Set the parity.

CSTOP232 Set the stop bit.

CTERM232 Set the end code.

Slot table SLT1

:

SLT32

Make settings (program name, operation type, order of priority, etc.) for each slot during slot

initialization.

No. of multi-tasks TASKMAX Designate the No. of programs to be executed simultaneously. (Max. 32)

Select the function of

singular point adjacent alarm

MESNGLS

W

Designate the valid/invalid of the singular point adjacent alarm.

Invalid/Valid 0/1

When this parameter is set up "VALID", this warning sound is buzzing even if parameter:

BZR (buzzer ON/OFF) is set up "OFF".

Display language. LNG Change the language to display on the LCD display of teaching pendant.

Parameter Details

5-137 The details of each instruction manuals

5Instruction Manual

5 Instruction Manual

5.1 The details of each instruction manuals

The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application.

Instruction manuals enclosed in dashed lines in the list below are for optional products.

For special specifications, a separate instruction manual describing the special section may be enclosed.

Explains the common precautions and safety measures to be taken for robot handling, sys- tem design and manufacture to ensure safety of the operators involved with the robot.

Explains the product's standard specifications, factory-set special specifications, option configuration and maintenance parts, etc. Precautions for safety and technology, when incorporating the robot, are also explained.

Explains the procedures required to operate the robot arm (unpacking, transportation, installation, confirmation of operation), and the maintenance and inspection procedures.

Explains the procedures required to operate the controller (unpacking, transportation, installation, confirmation of operation), basic operation from creating the program to auto- matic operation, and the maintenance and inspection procedures.

Explains details on the functions and operations such as each function and operation, com- mands used in the program, connection with the external input/output device, and parame- ters, etc.

Explains the causes and remedies to be taken when an error occurs. Explanations are given for each error No.

Explains the specifications, functions and operations of the additional axis control.

Explains the control function and specifications of conveyor tracking

Explains the detailed description of data configuration of shared memory, monitoring, and operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750- D/CR751-D controller).

Safety Manual

Standard Specifications

Robot Arm Setup & Maintenance

Controller Setup, Basic Operation and Maintenance

Detailed Explanation of Functions and Operations

Troubleshooting

Additional axis function

Tracking Func- tion Manual

Extended Func- tion Instruc- tion Manual

6Safety

Safety 6-138

6 Safety

6.1 Safety

Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation Rules". Always follow these rules when using the robot to ensure safety.

6.1.1 Self-diagnosis stop functions This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-2 for safe use.

Table 6-1 Self-diagnosis stop functions

Table 6-2 List of stop functions

No. Function Details Remarks

1 Overload protection func- tion

Activates when the total servo current time exceeds the specified value.

The drive circuit is shut off. The robot stops, and an alarm displays.

2 Overcurrent diagnosis function

Activates when an overcurrent flows to the motor circuit.

The drive circuit is shut off. The robot stops, and an alarm displays.

3 Encoder disconnection diagnosis function

Activates when the encoder cable is disconnected. The drive circuit is shut off. The robot stops, and an alarm displays.

4 Deflection over diagnosis function

Activates when an error occurs between the com- mand value and actual position, and the error exceeds the specified amount.

The drive circuit is shut off. The robot stops, and an alarm displays.

5 AC power voltage drop diagnosis function

Activates when the AC power voltage drops below the specified value.

The drive circuit is shut off. The robot stops, and an alarm displays.

6 CPU error detection func- tion

Activates when an error occurs in the CPU. The drive circuit is shut off. The robot stops, and an alarm displays.

7 Overrun prevention function

Software limit detection

This is the limit provided by the software to enable operation only in the operation range.

The drive circuit is shut off. The robot stops, and an alarm displays.

Mechanical stopper

This is the mechanical stopper provided outside the software.

The robot mechanically stops, and function 1 or 2 activates.

Stop function

Operation panel Note1)

Note1) Only CR750 controller has operation panel.

Teaching pendant

External input Details

Emergency stop

This is the stop with the highest degree of emergency. The servo power is shut off, and the mechanical brakes (all axes) activate to stop the robot. To recover, reset the alarm, and turn the servo ON with the servo ON command.

Stop

This is a stop operation with a high degree of emergency. The robot immediately decelerates and stops. Note that the servo power is not shut off. Use this when using the collision evasion sensor, etc.

6-139 Safety

6Safety

6.1.2 External input/output signals that can be used for safety protection measures

Table 6-3 External input/output signals that can be used for safety protection measures

6.1.3 Precautions for using robot The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of the rules is given below.

(1) Robot installation Secure sufficient work space required to safely perform work such as teaching and maintenance related to the

robot. Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.) Install the controller where the entire robot operation can be viewed. Install display lamps, etc., to indicate the robot's operation state. Securely fix the robot arm onto the fixing table with the designated bolts.

(2) Prevention of contact with operator Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space. Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.

(3) Work procedures Create and observe work procedures for the robot teaching, operation, inspection and emergencies. Create hand signals to be followed when several operators are working together. Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is

in the robot's motion space so that other operators will not operate the operation panel (controller, control panel).

(4) Training Train the operators about the operations, maintenance and safety required for the robot work.

Signal Connection

point Parameter Functions Usage method

In pu

t

External emer- gency stop Note1)

Note1) The external emergency stop input is prepared as a normal close for safety proposes. Thus, if the emergency stop input circuit is opened when the robot is started up, the robot will not operate. Refer to Page 141, "6.1.7 Exam- ples of safety measures"for details. And, refer to Page 90, "(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Set- tings"for the function of the door switch input and the enabling device input.

Connector (CR750 controller: CNSUSR11/12) (CR751 controller: CNSUSR1)

- This servo power is shut off, and the

robot stops immediately.

Externally installed emergency stop switch.

Door switch on safety protection fence.

Stopping at high-level error occurrence.

Door switch - The door switch of the safe protection

fence

Enabling device

input

- Enabling device.

The safety switch during teaching work

Stop Parallel I/O unit

or interface

STOP The program execution is stopped, and

the robot stops. The servo power is not

shut off.

The robot is stopped when a peripheral

device fault occurs. The servo power is

not shut off.

Servo OFF SRVOFF The servo power can be shut off. The robot is stopped when a peripheral

device fault occurs. The servo power is

not shut off.

Automatic oper- ation enable

AUTOENA Disables automatic operation when inac- tive.

Door switch on safety protection fence

O u tp

u t

Emergency stop output

Connector (CR750 controller: CNSUSR11/12) (CR751 controller: CNSUSR1)

- Outputs the input signal of external emergency stop or emergency stop switch of T/B turned on.

Display and warn the pilot lamp, the input signal of external emergency stop or the emergency stop switch of T/B turned on.

In servo ON Parallel I/O unit or interface

SRVON The servo power ON/OFF state is out- put.

The servo power ON/OFF state is shown and alerted with the display lamps.

Waiting STOP Outputs that the robot is temporarily stopped.

The temporary stop state is shown and alerted with the display lamps.

In alarm Connector (CR750/CR751 controller: CNUSR2)

ERRRESET Outputs when an alarm occurs in the robot.

The alarm state is shown and alerted with the display lamps.

-

6Safety

Safety 6-140

Only trained and registered operators must operate the robot. Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Com- mittee, etc., is recommended for safety training.

(5) Daily inspection and periodic inspection Always inspect the robot before starting daily operations and confirm that there are no abnormalities. Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and

perform periodic inspections. Make records when periodic inspections and repairs have been done, and store the records for three or more

years.

6.1.4 Safety measures for automatic operation (1) Install safety fences so that operators will not enter the operation area during operation and indicate that

automatic operation is in progress with lamps, etc. (2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the

operator follows the signals.

6.1.5 Safety measures for teaching Observe the following measures when teaching, etc., in the robot's operation range. (1) Specify and follow items such as procedures related to teaching work, etc. (2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper-

ation can be restarted. (3) Take measures with the robot start switch, etc., to indicate that teaching work is being done. (4) Always inspect that stop functions such as the emergency stop device before starting the work. (5) Immediately stop the work when trouble occurs, and correct the trouble. (6) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs. (7) The teaching operator must have completed special training regarding safety. (Training regarding industrial

robots and work methods, etc.) (8) Create signals to be used when several operators are working together.

6.1.6 Safety measures for maintenance and inspections, etc. Turn the power OFF and take measures to prevent operators other than the relevant operator from pressing the start switch when performing inspections, repairs, adjustments, cleaning or oiling. If operation is required, take measures to prevent hazards caused by unintentional or mistaken operations. (1) Specify and follow items such as procedures related to maintenance work, etc. (2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper-

ation can be restarted. (3) Take measures with the robot start switch, etc., to indicate that work is being done. (4) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs. (5) The operator must have completed special training regarding safety. (Training regarding industrial robots and

work methods, etc.) (6) Create signals to be used when several operators are working together.

6-141 Safety

6Safety

6.1.7 Examples of safety measures The controller's dedicated I/O terminal connector has a duplicate emergency stop circuit. Create a circuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emergency stop state. [Caution] Since we have omitted the information in part because of explanation, there is the section different

from the product. Also refer to Page 151, "(3) External emergency stop connection [supplementary explanation]".

[Note] In the emergency-stop related wiring by the customer, if the coil (is not the contact points) of the relay prepared by the customer is connected to the controller, please be sure to implement the measure against the noise by the customer in the coil section. And, please also take the lifetime of noise suppres- sion parts into consideration.

Electric specification of the emergency-stop-related output terminal: 100mA/24V or less In the customer's system, do not ground the + side of 24V power supply prepared by customer for con-

nect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

(1) CR750 controller

Fig.6-1 Example of safety measures CR750 wiring example 1

*6) OP emergency stop switch

*3) TB emergency stop switch

Power supply in the robot controller 24V

10F

*1) CNUSR11/CNUSR12

*2) CNUSR2

2

3

4

5

6

7

8

9

10

13

14

11

12

41/42

16/17

1

Input detection

circuit

Safety relay

Internal emergency stop circuit

Short circuit (Short-circuited)

Short circuit (Short-circuited)

Mode output

Error output

Door switch input

*5) Enabling device

Safety fence door

Emergency stop switch (2-contact type)

Peripheral equipment

*7)

*4)

Emergency stop output

: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller.

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.

Controller

*3) The T/B emergency stop switch connected with the controller. *4) Emergency stop input relay. *5) Refer to the Standard specification manual or Special specification manualfor the enabling device. *6) The emergency stop switch of the robot controller. (Only specification with the operation panel.) *7) The emergency stop input detection relay is used the controllers internal safety relay control. If the

emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with the same pin number, creating two systems for each terminal. It is absolutely necessary to connect the two systems.

*2) You can see in the diagram that connector CNUSR2 has two terminals and two systems (16/ 17 indicates two terminals at pin number 16 and pin number 17). It is absolutely necessary to connect the two systems.

6Safety

Safety 6-142

Fig.6-2 Example of safety measures (CR750 wiring example 2

*6) OP emergency stop switch

*3) TB emergency stop switch

Power supply in the robot controller 24V

10F

*1) CNUSR11/CNUSR12

*2) CNUSR2

2

3

4

5

6

7

8

9

10

13

14

11

12

41/42

16/17

1

Input detection

circuit

Safety relay

Internal emergency stop circuit

Not connected

Emergency stop output

Mode output

Error output

Door switch input

*5) Enabling device

Safety fence door

Emergency stop switch (2-contact type)

Peripheral equipment

*7)

*4)

Power supply in the peripheral equipment 24V

*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems.

*2) You can see in the diagram that connector CNUSR2 has 2 terminals and 2 systems (16/17 indicates 2 terminals at pin number 16 and pin number 17). It is absolutely necessary to connect the 2 systems.

: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment.

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.

*3) The T/B emergency stop switch connected with the controller. *4) Emergency stop input relay. *5) Refer to the Standard specification manual or the Special specification manual for the enabling device. *6) The emergency stop switch of the robot controller.

(Only specification with the operation panel.) *7) The emergency stop input detection relay uses the controllers internal safety relay control. If the

emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

Controller

6-143 Safety

6Safety

Fig.6-3 Example of safety measures (CR750 wiring example 3

*6) OP emergency stop switch

*3) TB emergency stop switch

Power supply in the robot controller 24V

10F

Input detection

circuit

Safety relay

Internal emergency stop circuit

Not connected

Emergency stop output

Mode output

Error output

Door switch input

*5) Enabling device

Safety fence door

Emergency stop switch (2-contact type)

Peripheral equipment

*7)

*4)

Circuit

Monitor

Monitor

*1) CNUSR11/CNUSR12

*2) CNUSR2

2

3

4

5

6

7

8

9

10

13

14

11

12

41/42

16/17

1 Power supply 24V

: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con- troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of con- troller OFF, peripheral equipment state can be the emergency stop also.

Controller

*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems.

*2) You can see in the diagram that connector CNUSR2 has 2 terminals and 2 systems (16/17 indicates 2 terminals at pin number 16 and pin number 17). It is absolutely necessary to connect the 2 systems.

*3)The T/B emergency stop switch connected with the controller. *4) Emergency stop input relay. *5) Refer to the Standard specification manual or the Special specification manual for the enabling device. *6) The emergency stop switch of the robot controller.

(Only specification with the operation panel.) *7) The emergency stop input detection relay uses the controllers internal safety relay control. If the

emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

6Safety

Safety 6-144

Fig.6-4 Example of safety measures (CR750 wiring example 4

*6) OP emergency stop switch

*3) TB emergency stop switch

Power supply in the robot controller 24V

10F

Input detection

circuit

Safety relay

Internal emergency stop circuit

Not connected

Emergency stop output

Mode output

Error output

Door switch input

Door switch output

*5) Enabling device Safety fence

door

Emergency stop switch (4-contact type)

Peripheral equipment

*7)

*4) Circuit

Monitor

Monitor

Monitor

Power supply 24V

*1) CNUSR11/CNUSR12

*2) CNUSR2

2

3

4

5

6

7

8

9

10

13

14

11

12

41/42

16/17

1

*6) OP emergency stop switch

*3) TB emergency stop switch

Power supply in the robot controller 24V

10F

Input detection

circuit

Safety relay

Internal emergency stop circuit

Not connected

Emergency stop output

Mode output

Error output

Door switch input

*5) Enabling device

*7)

*4)

*1) CNUSR11/CNUSR12

*2) CNUSR2

2

3

4

5

6

7

8

9

10

13

14

11

12

41/42

16/17

1 Emergency stop output of peripheral equipment

Emergency stop output of peripheral equipment

Controller #1

*5) Refer to the Standard specification manual or the Special specification manual for the enabling device. *6) The emergency stop switch of the robot controller. (Only specification with the operation panel.) *7) The emergency stop input detection relay uses the controllers internal safety relay control. If the emergency stop input detection relay is

switched OFF, emergency stop is detected and the safety relay is also switched OFF.

: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of con- troller OFF, peripheral equipment state can be the emergency stop also.

Controller #2

*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems. If necessary to stop two robots simultaneously by one emergencystop switch please use the 4 contact type emergency stop switch.

*2) You can see in the diagram that connector CNUSR2 has 2 terminals and 2 systems (16/17 indicates 2 terminals at pin number 16 and pin number 17). It is absolutely necessary to connect the 2 systems.

*3) The T/B emergency stop switch connected with the controller. *4) Emergency stop input relay.

6-145 Safety

6Safety

Fig.6-5 Example of safety measures (CR750 wiring example 5

OP E-stop

1

2

3

4

5

6

CNUSR11

TB E-stop

24G

1

2

3

4

5

6 24G

X0

COM0

X1

COM1

No connection

No connection

1

2

24V DC 24G

QS90SR2SP ( )

DC 24V

+24V 24G

24V DC

13

14

24V DC

24V DC

13

14

24V DC

CNUSR12

No connection

No connection

10F

10F

Controller

Safety relay

: Connect the controller to the safety relay Use the controllers emergency stop switch command as an input to the safety relay.

Internal relay

Emergency stop output

Internal relay

External emergency stop switch

External emergency stop switch

Emergency stop output

Customer equipment

Safety relay

ex) QS90SR2SP (Mitsubishi

Electric Corporation)

Safety input 1

Customer Power Supply (DC 24V)

[Caution]

1) This product has category 3 functionality and therefore the robots whole unit cannot be set to category 4. 2) The controllers internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples,

particularly for emergency stop switch output when using user equipment. Connect the positive side of the user equipment (24V DC) to the terminal 2 of CNUSR11/12, then connect the emergency stop switch (or contact points) in the user equipment to across the terminals 3 and 4 of CNUSR11/12, and ultimately con- nect the negative side (24G).

3) When installing a safety relay to use it as an input point of the controller's emergency stop switch command, use a safety relay that is activated by an input from one of the two systems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)).

4) The emergency stop input detection relay (internal relay) uses the controllers internal safety relay control. If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

5) When connecting emergency stop switch output to an external safety relay, please take note of the polarity and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the two places in the diagram. If the polarity is setup incorrectly, this function will not operate correctly. Please connect the terminal 13 of CNUSR11/12 to 24V.

Safety input 2

Input detection

circuit

Input detection

circuit

6Safety

Safety 6-146

(2) CR751 controller

Fig.6-6 Example of safety measures (CR751 wiring example 1)

*2) TB emergency stop switch

Power supply in the robot controller 24V

10F

Input detection

circuit

Safety relay

Internal emergency stop circuit

Short circuit (Short-circuited)

Short circuit (Short-circuited)

Mode output

Error output

Door switch input

*4) Enabling device

Safety fence door

Emergency stop switch (2-contact type)

Peripheral equipment

*5)

*3)

Emergency stop output

*1) CNUSR1

*1) CNUSR2

26/31

2/ 7

27/32

3 /8

28/33

4/ 9

29/34

5/10

30/35

20/19

45/44

18/17

43/42

41/42

16/17

1/ 6

: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller.

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.

Controller

*1) Each of the connectors, CNUSR1 and CNUSR2, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems.

*2) The T/B emergency stop switch connected with the controller. *3) Emergency stop input relay. *4) Refer to the Standard specification manual or the Special specification manual for the enabling device. *5) The emergency stop input detection relay uses the controllers internal safety relay control. If the

emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

6-147 Safety

6Safety

Fig.6-7 Example of safety measures (CR751 wiring example 2)

*2) TB emergency stop switch

Power supply in the robot controller 24V

10F

Input detection

circuit

Safety relay

Internal emergency stop circuit

*6) Not connected

Mode output

Error output

Door switch input

*4) Enabling device

Safety fence door

Emergency stop switch (2-contact type)

Peripheral equipment

*5)

*3)

Emergency stop output

*1) CNUSR1

*1) CNUSR2

26/31

2/ 7

27/32

3 /8

28/33

4/ 9

29/34

5/10

30/35

20/19

45/44

18/17

43/42

41/42

16/17

1/ 6

Power supply in the peripheral equipment 24V

: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment.

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.

Controller

*1) Each of the connectors, CNUSR1 and CNUSR2, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems.

*2) The T/B emergency stop switch connected with the controller. *3) Emergency stop input relay. *4) Refer to the Standard specification manual or the Special specification manual for the enabling device. *5) The emergency stop input detection relay uses the controllers internal safety relay control. If the

emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

*6) Connect the 24V power supply to 26/31 terminals.

6Safety

Safety 6-148

Fig.6-8 Example of safety measures (CR751 wiring example 3)

*2) TB emergency stop switch

Power supply in the robot controller 24V

10F

Input detection

circuit

Safety relay

Internal emergency stop circuit

*6) Not connected

Mode output

Error output

Door switch input

*4) Enabling device

Safety fence door

Emergency stop switch (2-contact type)

Peripheral equipment

*5)

*3)

Emergency stop output

Power supply 24V

*1) CNUSR1

*1) CNUSR2

26/31

2/ 7

27/32

3 /8

28/33

4/ 9

29/34

5/10

30/35

20/19

45/44

18/17

43/42

41/42

16/17

1/ 6

Circuit

Monitor

Monitor

Controller

*4) Refer to the Standard specification manual or the Special specification manual for the enabling device. *5) The emergency stop input detection relay uses the controllers internal safety relay control. If the emergency stop

input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF. *6) When using emergency stop switch output function, please take note of the polarity and make sure that the

electrical current flows in the same direction as indicated by the dotted arrows in the two places in the diagram. If the polarity of the circuit is wrong, the emergency stop switch output may not work properly. Please connect the 24V power supply to 26/31 terminals.

: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con- troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of con- troller OFF, peripheral equipment state can be the emergency stop also.

*1) Each terminal assigned with the respectively same pin number as connector: CNUSR1 and CNUSR2 and each is dual line. Always connect the two lines.

*2) The T/B emergency stop switch connected with the controller.

*3) Emergency stop input relay.

6-149 Safety

6Safety

Fig.6-9 Example of safety measures (CR751 wiring example 4)

*2) TB emergency stop switch

Power supply in the robot controller 24V

10F

Input detection

circuit

Safety relay

Internal emergency stop circuit

Not connected

Emergency stop output

Mode output

Error output

Door switch input

Door switch output

*4) Enabling device Safety fence

door

Emergency stop switch (4-contact type)

Peripheral equipment

*5)

*3) Circuit

Monitor

Monitor

Power supply 24V

Emergency stop output of peripheral equipment

*1) CNUSR1

*1) CNUSR2

26/31

2/ 7

27/32

3 /8

28/33

4/ 9

29/34

5/10

30/35

20/19

45/44

18/17

43/42

41/42

16/17

1/ 6

*2) TB emergency stop switch

Power supply in the robot controller 24V

10F

Input detection

circuit

Safety relay

Internal emergency stop circuit

Not connected

Emergency stop output

Mode output

Error output

Door switch input

*4) Enabling device

*5)

*3)

Monitor

Emergency stop output of peripheral equipment

*1) CNUSR1

*1) CNUSR2

26/31

2/ 7

27/32

3 /8

28/33

4/ 9

29/34

5/10

30/35

20/19

45/44

18/17

43/42

41/42

16/17

1/ 6

Controller #1

*3) Emergency stop input relay. *4) Refer to the Standard specification manual or the Special specification manual for the enabling device. *5) The emergency stop input detection relay uses the controllers internal safety relay control. If the emergency stop input detection

relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of con- troller OFF, peripheral equipment state can be the emergency stop also.

Controller #2

*1) Each of the connectors, CNUSR1 and CNUSR2, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems. If necessary to stop two robots simultaneously by one emergencystop switch please use the 4 contact type emergency stop switch.

*2) The T/B emergency stop switch connected with the controller.

6Safety

Safety 6-150

Fig.6-10 Example of safety measures (CR751 wiring example 5)

1

26

2

27

3

28

CNUSR1

TB E-stop

24G

6

31

7

32

8

33 24G

X0

COM0

X1

COM1

No connection

No connection

1

2

24V DC 24G

DC 24V

+24V 24G

24V DC

20

45

24V DC

24V DC

19

44

24V DC

No connection

No connection

QS90SR2SP ( )

10F

10F

Controller

: Connect the controller to the safety relay Use the controllers emergency stop switch to input safety relay.

Safety relay

Internal relay

Emergency stop output

External emergency stop switch

Customer equipment

Safety relay

Customer Power Supply (DC 24V)

Internal relay

Emergency stop output

External emergency stop switch

[Caution]

1) This product has category 3 functionality and therefore the robots whole unit cannot be set to category 4. 2) The controllers internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples,

particularly for emergency stop switch output when using user equipment. Connect the positive side of the user equipment (24V DC) to the two terminals 26/31, then connect the emergency stop switch (or contact points) in the user equipment to the 2-27 and 7-32 terminals, and ultimately connect to the negative side (24G).

3) Setup a safety relay on the user equipment, and when using to input the emergency stop switch on the con- troller, please only use a safety relay that functions when connecting the input to the one end of the 2 sys- tems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)).

4) The emergency stop input detection relay (internal relay) uses the controllers internal safety relay control. If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

5) When connecting emergency stop switch output to an exterior safety relay, please take note of the polarity and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the two places in the diagram. If the polarity is setup incorrectly this function will not operate correctly. Please connect 20/19 terminal to 24V.

ex) 0SR2SP (Mitsubishi

Electric Corporation)

Safety input 1

Safety input 2

Input detection

circuit

Input detection

circuit

6-151 Safety

6Safety

(3) External emergency stop connection [supplementary explanation]

(1) Use a 2-contact type switch for all switches. (2) Install a limit switch on the safety fence's door. With a constantly open contact (normal open), wire to the

door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is opened) when the door is open.

(3) Use a manual-return type of normal close which have two lines for the emergency stop switch. (4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and

major faults (faults that cause the entire system to stop immediately, and that require care in restoration), and wire accordingly.

[Caution] The emergency stop input (terminal block) on the user wiring in the controller can be used for safety measures as shown in figure above. Note that there are limits to the No. of switch contacts, capacity and cable length, so refer to the following and install.

Switch contact.......................... Prepare a 2-contact type.*1)

Switch contact capacity....... Use a normal open contact that operates with a switch contact

capacity of approx. 1mA to 100mA/24V. *1)

If you connect the relay etc., rated current of the coil should use the relay which is 100mA/24V or less. (Refer to Fig. 6-12, Fig. 6-11)

Cable length ............................... The length of the wire between the switch and terminal block must be max. 15m or less. Please use the shield line, in case of the cable may receive the noise etc. by other equipment, such as servo amplifier. And, since the ferrite core is attached as noise measures parts, please utilize. The size of the wire that fits to use is shown below. CR750 controller.................................. CNUSR11/12/13 connector:

AWG #26 to #16 (0.14mm2 to 1.5mm2) CR750 controller.................................. CNUSR2 connector:

AWG #30 to #24 (0.05mm2 to 0.2mm2) CR751 controller.................................. CNUSR1/2 connector:

AWG #30 to #24 (0.05mm2 to 0.2mm2) Electric specification of the emergency stop related output circuit is 100mA/24V or less. Don't connect the equipment except for this range.

*1) The minimum load electric current of the switch is more than 5mA/24V.

6Safety

Safety 6-152

Fig.6-11 Limitations when connecting the relay etc. (CR750)

Fig.6-12 Limitations when connecting the relay etc. (CR751)

24V

Power supply in the robot controller

10F

Input detection

circuit

Safety relay

Internal emergency stop circuit

Not connected

Emergency stop output

Mode output

Error output

Door switch input

Safety fence door

Emergency stop switch (2-contact type)

Peripheral equipment

Power supply 24V

OP emergency stop switch

TB emergency stop switch

CNUSR11/12

CNUSR2

2

3

4

5

6

7

8

9

10

13

14

11

12

41/42

16/17

1

Enabling device

Robot controller

Circuit

F1

F2

Monitor

Monitor

Relay Rated-current is 100mA or less

Internal fuse

Note)

The electric-current value limitation when connecting the coils, such as the Relays (CR750 controller)

Note) If you connect the relay etc., rated current of the coil

should use the relay which is 100mA/24V or less.

If the electric current of the further flows, internal fuse 1

may cut. And, although the example of the connection

which uses the external power source is shown in the

figure, if the coil is connected using the internal power

supply of the robot controller, internal fuse 2 may cut.

24V

Power supply in the robot controller

10F

Input detection

circuit

Safety relay

Internal emergency stop circuit

Not connected

Emergency stop output

Mode output

Error output

Door switch input

Safety fence door

Emergency stop switch (2-contact type)

Peripheral equipment

Power supply 24V

TB emergency stop switch

Enabling device

Robot controller

Circuit

F1

F2

Monitor

Monitor

Relay Rated-current is 100mA or less

Internal fuse

Note)

CNUSR1

CNUSR2

26/31

2/ 7

27/32

3 /8

28/33

4/ 9

29/34

5/10

30/35

20/19

45/44

18/17

43/42

41/42

16/17

1/ 6

The electric-current value limitation when connecting the coils, such as the Relays (CR751 controller)

Note) If you connect the relay etc., rated current of the coil

should use the relay which is 100mA/24V or less.

If the electric current of the further flows, internal fuse 1

may cut. And, although the example of the connection

which uses the external power source is shown in the

figure, if the coil is connected using the internal power

supply of the robot controller, internal fuse 2 may cut.

6-153 Safety

6Safety

[Supplementary explanation regarding emergency stop circuit] The controllers internal circuit is as shown in the below diagram. Be sure to build a circuit that properly

shuts off the emergency stop detection relay when the emergency stop switch is pressed.

Fig.6-13 Internal circuit of controller

Be sure to perform wiring correctly. If there are mistakes in the wiring, the robot may not stop when the emergency stop switch is pressed and there will be a risk of damage or personal injury occurring. After wiring, be sure to press each of the installed emergency stop switches and check whether the emergency stop circuit works properly.

Be sure to duplicate connection of the emergency stop, door switch and enabling switch. If not duplicated, these functions may fail due to a broken relay used by customer, etc.

OP

24V DCTB

+

-

OP

TB

24G

Safety relay

Input

Emergency stop detection relay

TB emergency stop

OP emergency stop

OP emergency stop detection

TB emergency stop detection

External emergency stop detection

CAUTION

CAUTION

6Safety

Working environment 6-154

6.2 Working environment

Avoid installation in the following places as the equipment's life and operation will be affected by the ambient environment conditions. When using in the following conditions, the customer must pay special attention to the preventive measures.

(1) Power supply Where the voltage fluctuation will exceed the input voltage range. Where a momentary power failure exceeding 20ms may occur. Where the power capacity cannot be sufficiently secured.

Please use the controller with an input power supply voltage fluctuation rate of 10% or less. In the case of 200 VAC input, for example, if the controller is used with 180 VAC during the day and 220 VAC during the night, turn the servo off once and then on again.

If this is not performed, an excessive regeneration or overvoltage error may occur.

(2) Noise Where a surge voltage exceeding 2000V, 5kHz (equivalent to EN61000-4-4) may be applied on the primary volt- age. Near large inverters, high output frequency oscillator, large contactors and welding machines. Static noise may enter the lines when this product is used near radios or televisions. Keep the robot away from these items.

(3) Temperature and humidity Where the atmospheric temperature exceeds 40 degree , lower than 0 degree. Where the relative humidity exceeds 85%, lower than 45%, and where dew may condense. Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.

(4) Vibration Where excessive vibration or impact may be applied. (Use in an environment of 34m/s2 or less during transpor- tation and 5m/s2 or less during operation.)

(5) Installation environment Where strong electric fields or magnetic fields are generated. Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.) Where there is heavy powder dust and oil mist present.

6.3 Precautions for handling (1) This robot has brakes on J3 axes. The precision of the robot may drop, looseness may occur and the reduction

gears may be damaged if the robot is moved with force with the brakes applied. (2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accu-

racy may drop due to an excessive backlash, or the backed up data may be destroyed. (3) Note that depending on the posture, even when within the movement range, the shaft section could interfere

with the base section. Take care to prevent interference during jog. *1)

(4) The robot arm consists of precision parts such as bearing. Lubricants such as grease are also applied on the moving parts to keep the mechanical accuracy. In a cold start under low temperature or in the first start after being stored for one month or longer, lubricants may not be spread enough. Such condition may lower the posi- tioning accuracy, cause servo and overload alarms, and early wearing of the moving parts. To avoid such situ- ation, perform warm-up operation of the machine at a low speed (at about 20% of normal operation speed). Move the robot arm from the lower to the upper limit of the movable range with the 30 degree joint angle or more for about 10 minutes. After that, speed up the operation gradually. Please use the warm-up operation. (About the details of the warm-up operation, refer to "INSTRUCTION MANUAL/Detailed explanations of functions and operations".)

(5) When the air hoses and cables are used inside the shaft (J3 axis), the grease for cable protection may ooze out or abrasion powders may be generated from the tip of the shaft while the robot is moving. However, move- ments and performance of the robot are not affected. Wipe off the grease or powders as required.

*1) Jog operation refers to operating the robot manually using the teaching pendant.

CAUTION

6-155 Precautions for handling

6Safety

(6) The robot arm and controller must be grounded with 100 or less (class D grounding) to secure the noise resistance and to prevent electric shocks.

(7) The items described in these specifications are conditions for carrying out the periodic maintenance and inspections described in the instruction manual.

(8) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard config- uration may break due to the fixed installation specifications. In this case, use "the machine cable extension (for flexed)" factory shipment special specifications or options.

(9) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc. Take care to prevent interference with the workpiece or peripheral devices during operation.

(10) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhesive power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the coated surface may be damaged when such tape or label is peeled off.

(11) If the robot is operated with a heavy load and at a high speed, the surface of the robot arm gets very hot. It would not result in burns, however, it may cause secondary accidents if touched carelessly.

(12) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the pro- gram data may be destroyed.

(13) During the robot's automatic operation, a break is applied to the robot arm when the input power supply is shut down by a power failure, for instance. When a break is applied, the arm may deviate from the operation path predetermined by automatic operation and, as a result, it may interfere with the mechanical stopper depending on the operation at shutdown. In such a case, take an appropriate measure in advance to prevent any dangerous situation from occurring due to the interference between the arm and peripheral devices. Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to reduce

interference.

(14) Do not conduct an insulated voltage test. If conducted by mistake, it may result in a breakdown. (15) Fretting may occur on the axis which moving angle or moving distance move minutely, or not moves. Fretting

is that the required oil film becomes hard to be formed if the moving angle is small, and wear occurs. The axis which not moved is moving slightly by vibration etc. To make no fretting recommends to move these axes about once every day the 30 degree or more, or the 20mm or more.

(16) The United Nations Recommendations on the Transport of Dangerous Goods must be observed for trans- border transportation of lithium batteries by air, sea, and land. The lithium batteries (ER6V, Q6BAT) used in Mitsubishi industrial robots contain lithium and fall under the definition. When the lithium batteries are shipped for storage, etc., they will be classified as Class 9: Miscellaneous dan- gerous substances and articles. Please contact your transportation company and must provide appropriate transport safety measures as the customers consignor.

(17) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the dew condensation may occur on the coupling or the hose surface.

(18) Collision detection function is valid condition for both of automatic and jog operation at shipping. So, the robot stops immediately if the robot's tool or arm interferes with a peripheral device, minimizing dam- age. Therefore, please use in the valid condition.

(19) When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for dis- infecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our prod- ucts, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.

6Safety

EMC installation guideline 6-156

6.4 EMC installation guideline

6.4.1 Outlines Industrial robots are one of the components of automation systems as well as main components. This section introduces methods and parts to ensure electromagnetic compatibility (EMC) in automation systems.

We test for EMC in the environment described in this manual, but the noise level varies depending on device types, layout, control panel structure, and wiring, etc. Please make final checks for EMC.

6.4.2 EMC This technical standard regulates the following two items.

(1) Emission (EMI Electromagnetic Interference) ..............The capacity not to generate the disturbance noise which has a bad influence outside.

(2) Immunity (EMS Electromagnetic Susceptibility)..........The capacity which does not malfunction for the dis- turbance noise from the outside.

Each contents are shown below.

Item Name Contents Testing technical-

standard number

Emission

(EMI)

Radiative noise disturbance The electromagnetic noise etc. which are emitted to

environs.

EN61000-6-2 2005

EN61000-6-4 2007

EN62061:2005(Annex E) Electrical-conduction noise disturbance The electromagnetism noise etc. which flow out of

the power-supply line.

Immunity

(EMS)

Electrostatic discharge immunity test The noise from the electrified human body.

Radiated, radio-frequency, electromagnetic

field immunity test susceptibility test

The electromagnetism noise from the transceiver,

the broadcasting station, etc.

Electrical fast transient burst immunity

test

The relay noise or the electromagnetism noise etc.

which are caused in power-supply ON/OFF.

Immunity to conducted distrurbances

induced radio-frequency fields

The electromagnetism noise etc. which flow in

through the power source wire and the grounding

wire.

Power frequency magnetic field immunity

test

The electromagnetism noise with a power supply

frequency of 50/60 Hz etc.

Voltage dips, short interruptions and

voltage variations immunity test

The noise in the variation of the source voltage of

the power dispatching, etc.

Surge immunity test The electromagnetism noise by the thunderbolt, etc.

6-157 EMC installation guideline

6Safety

6.4.3 EMC measures There are mainly following items in the EMC measures.

(1) Store into the sealed metal board. (2) Grounding all the conductor that have floated electrically (makes the impedance low). (3) Wiring so that the power source wire and signal wire are separated. (4) Use the shield cable for the cable which wired outside of the metal board. (5) Install the noise filter.

To suppress the noise emitted out of the board, be careful of the following item.

(1) Ensure grounding of the equipment. (2) Use the shield cable. (3) Separate the metal board electrically. Narrows the distance/hole.

The strength of electromagnetic noise emitted to environment is changed a lot by the shielding efficiency of cable and the distance of metal board, so it should be careful.

6.4.4 Component parts for EMC measures (1) Ferrite core

The ferrite core is mounted by the plastics case as one. It can attach by the one-touch, without cutting the cable. This has the effect in the common-mode noise. The measures against the noise are made not influential in the quality of the signal.

There are the following as an example.

(2) Line noise filter Type FR-BLF Mitsubishi Electric Corp.

Maker: SEIWA ELECTRIC MFG. Co.,Ltd.

Type

Outside dimension (mm) Diameter of the

adaptation cable

[max] (mm)A B C D

E04SR401938 61 38 19 40 19.0

E04SR301334 39 34 13 30 13.0

Maker: TAKACHI ELECTRONICS ENCLOSURE CO., LTD.

Type

Outside dimension (mm) Diameter of the

adaptation cable

[max] (mm)A B C D

TFT-274015S 43.8 27.4 20.7 - 26.5

7Appendix

Classification of functions using external input/output signals Appendix-158

7 Appendix

Appendix 1 Classification of functions using external input/output signals

Before using the functions, note the following.

Table 7-1 Classification of functions using external input/output signals

Classification Function Description

Safety signal Emergency stop input Detects emergency stop inputs.

This function meets the requirements of category 3 and PL d.

Door switch input Receives the status of the switch installed on the door of the safety fence to

detect the opening of the door.

Enabling device input This function checks the state of the switch on the enabling device.

Non-safety signal Mode changeover switch input Switches the controller mode between MANUAL and AUTOMATIC.

Emergency stop output Monitors whether the robot is in the emergency stop state.

Mode output Monitors whether the robot operates in MANUAL or AUTOMATIC mode.

Robot error output Monitors the error status of the robot.

Magnet contactor control

connector output for addition

axes

Synchronizes the state of the additional axes (servo ON/OFF) with that of the

robot arm.

For details, refer to Page 98, "3.9 Magnet contactor control connector output

(AXMC) for addition axes".

Appendix-159 Origin position adjustment of J2 axis

7Appendix

Appendix 2 Origin position adjustment of J2 axis

When a calculated point is used for a robot's work point, the accuracy of J2 axis is important. This paragraph "Appendix 2 Origin position adjustment of J2 axis" gives the details of an origin position adjustment by the con- figuration flag (RIGHT/LEFT).

Fig.7-1 Origin position adjustment

For the origin position adjustment, a reference point is an axis center of a shaft. When a center of the hand is off- set from a center of the shaft, the hand must be removed before the origin position adjustment.

Origin position adjustment procedure

1) Designate any point as an origin position.

2) Match the center of the shaft with the origin position in a right hand coordinate system.

3) Perform teaching work to the joint variables JR.

4) Match the center of the shaft with the origin position in a left hand coordinate system.

5) Perform teaching work to the joint variables JL.

6) Execute the following commands in the order presented.

7) Move J2 axis to 0 degrees, and check the robot position.

MDJNT_J2=(JR.J2+JL.J2)/2

JDJNT_Data=(0,0,0,0,0,0)

JDJNT_Data.J2=JDJNT_Data.J2-(MDJNT_J2)

PrmWrite 1,"DJNT",JDJNT_Data

After the origin position adjustment, an adjusted value is stored in the parameter DJNT.

For another origin position adjustment with retaining an earlier adjusted value after the first adjustment is finished, change "JDJNT_- Data=(0,0,0,0,0,0)" into "PrmRead 1,"DJNT",JDJNT_Data" before command execution.

As a repeat of command execution causes an accumulation of the adjusted values, clear the parameter DJNT back to 0 before another

origin position adjustment.

7Appendix

Specifications discussion material Appendix-160

Appendix 3 Specifications discussion material

Customer information

Purchased model

Shipping special specifications

Options (Installable after shipment)

Maintenance parts (Consumable parts)

Robot selection check list

Company name Name

Address Telephone

Item Type Arm length Stroke Controller

General specification RH-3FH 15-1D 350 450 550 150 CR751-03HD-0

Clean specification RH-3FH 12C-1D 350 450 550 120

Item Standard specification Special shipping specifications

Robot arm Machine cable 5m fixed type 2m fixed type: 1S-02UCBL-03 (For CR750 controller) 1F-02UCBL-02 (For CR751 controller)

CE Marking specification Not conforming with EMC directive.

Not provided -S15 (with CR750 controller) -S15 (with CR751 controller)

Item Type Provision, and specifications when provided.

R o bo

t ar

m

J1 axis operating range change 1F-DH-01 Not provided Provided

Machine cable extension

(extension type)

1S- CBL-03 Fixed type (For CR750 controller): Not provide 5m 10m 15m

1S- LCBL-03 Flexed type (For CR750 controller): Not provide 5m 10m 15m

Machine cable extension

(direct type)

1S- LUCBL-03 Flexed type (For CR750 controller): Not provide 5m 10m 15m

1F- UCBL-02 Fixed type (For CR751 controller): Not provide 10m 15m 20m

1F- LUCBL-02 Flexed type ((For CR751 controller): Not provide 10m 15m 20m

Solenoid valve set 1F-VD0 -01 1F-VD0 E-01

Not provide 1F-VD0 -01 (Sink type): 1set 2set 3set 4set 1F-VD0 E-01 (Source type): 1set 2set 3set 4set

Hand input cable 1F-HC35C-01 Not provided Provided

Hand output cable 1F-GR60S-01 Not provided Provided

Hand curl tube 1E-ST0408C-300 Not provided Provided

External Wiring/Piping box 1F-UT-BOX Not provided Provided

Internal Wiring/Piping for hand 1F-HS304S-01 Not provided Provided

C o nt

ro lle

r Simple teaching pendant R32TB-

R33TB- Not provided R32TB (CR750 controller): 7m 15m

R33TB (CR751 controller): 7m 15m

Highly efficient teaching pendant R56TB-

R57TB- Not provided R56TB (CR750 controller): 7m 15m

R57TB (CR751 controller): 7m 15m

Parallel I/O interface 2D-TZ368/ 2D-TZ378

Not provided 2D-TZ368(Sink type)/ -1pc. -2pc. 2D-TZ378(Source type)/ -1pc. -2pc.

External I/O cable (For parallel I/O interface)

2D-CBL (2D-TZ368/TZ378)

Not provided 5m-( )pc. 15m-( )pc.

Parallel I/O unit 2A-RZ361/ 2A-RZ371

Not provided 2A-RZ361(Sink type)/( ) unit 2A-RZ371(Source type)/( ) unit

External I/O cable (For Parallel I/O unit)

2A-CBL (2A-RZ361/RZ371)

Not provided 5m-( )pc. 15m-( )pc.

CC-Link interface 2D-TZ576 Not provided Provided

RT ToolBox2 3D-11C-WINE Not provided Windows XP/Vista/7/8/8.1/10 English CD-ROM

RT ToolBox2 mini 3D-12C-WINE Not provided Windows XP/Vista/7/8/8.1/10 English CD-ROM

MELFA-3D Vision 3.0 3F-53U-WINM Not provided Provided

Instructions manual 5F-FA01-PE01 Not provided Provided ( ) sets

Maintenance parts Backup batteries ER6V ( ) pcs. Backup batteries Q6BAT ( ) pcs. Grease ( ) cans

Work description Material handling Assembly Machining L/UL Sealing Testing and inspection Other ( )

Workpiece mass ( ) Hand mass ( ) Atmosphere General environment Clean

Other ( )

Remarks

HEAD OFFI