CR750-D/CR751-D/CR760-D Controller setup, basic operation, and

Mitsubishi Industrial Robot
CR750-D/CR751-D/CR760-D Controller
INSTRUCTION MANUAL
Controller setup, basic operation, and maintenance
BFP-A8867-Y
Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION
CAUTION
WARNING
CAUTION
DANGER
CAUTION
CAUTION
CAUTION
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
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
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 nondesignated maintenance parts.
Failure to observe this could lead to faults or failures.
WARNING
CAUTION
CAUTION
DANGER
DANGER
DANGER
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 emergency stop, and door switch) are working properly after the wiring setup is completed.
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.
*CR751-D or CR751-Q controller
Notes of the basic component are shown.
CAUTION
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.
Controller
Controller
Three phase
AC200V
Single phase
AC200V
* The controller is an
example.
ACIN connector
Primary
Earth leakage breaker
(NV)
For single phase
Grounding screw
Note 2)
Secondary
For three phase
Grounding screw
ACIN connector
ACIN connector
1 2 3
PE terminal
<3> LINE/LOAD
<1> LINE/LOAD
1 2 3
PE terminal
Note 1)
ACIN connector or
power cable
(Attachment)
<4> LINE/LOAD
<2> LINE/LOAD
Label
Noise filter
Note 3)
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)
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.
Revision history
Date of print
Specifications No.
Details of revisions
2012-02-01
BFP-A8867
・ First print
2012-03-21
BFP-A8867-A
・Notes were added to the example of safety measures. (The measure against the noise,
The electric specification of the output terminal)
2012-06-05
BFP-A8867-B
・ The connection method of the Fig.2-25 : AXMC terminal connector (CR750)
corrected to "soldering".
・ Limitation of the electric current value of the relays (coil) connected to the external
emergency stop input was added.
2012-10-02
BFP-A8867-C
・ The notes about installation of the controller and the robot arm were added. (neither
direct rays nor the heat of lighting)
2012-10-15
BFP-A8867-D
・ The noise filter (for CE) was added to "Table 2-1: Standard configuration".
・ The connecting method of the noise filter for CE specification was added to "Fig 2-6:
Connecting the power cable and grounding cable" and "Fig. 2-7 : Connecting the
power cable and grounding cable".
2012-11-20
BFP-A8867-E
・ The statement about trademark registration was added.
・ The wiring example 5 of the "Examples of safety measures" was corrected. (Error in
writing)
・ The notes about the input-output connected to the controller were added. (do not
ground the + side of 24V power supply prepared by customer)
・ The fuse was added to the "Table 2-1 : Standard configuration".
・ The note were added to the "4.3.1 Turning the control power ON".
2012-12-03
BFP-A8867-F
・ The connection method of the three phase power supply specification was added.
(use by single phase power supply)
2012-12-05
BFP-A8867-G
・ Distinction of the ACIN terminal was corrected.
2013-01-09
BFP-A8867-H
・ Note of the external emergency stop were added (opens the connector terminal at
factory shipping).
2013-03-21
BFP-A8867-J
・ The mass of the controller was shown which was divided by each robot type.
・ The explanation about the controller of RV-7FLL, RV-13F and RV-20F series were
added.
2013-09-14
BFP-A8867-K
・ ”Fig.2-25: Limitations when connecting the relay etc. (CR750)” and ”Fig.2-26:
Limitations when connecting the relay etc. (CR751)” were corrected.
(Error output → Emergency stop output, Contactor controleoutput for additional
axes → Error output)
・ "Table 2-1: Standard configuration" was corrected.
4A fuse was added and the numbers of cable clamp were corrected.
・ The number of a controller in "Fig.2-23: Example of safety measures (Wiring example
4)" was corrected. (formerly: #1)
・ The noise filter (attachments) of CR751 controller was deleted.
・ The RH-3FHR series robot is supported.
2014-01-06
BFP-A8867-M
・ ”2.2.4 Installing procedures of attachments” was added.
・ Power cable was added as attachment to the CR751 controller.
2014-03-31
BFP-A8867-N
・ Ex-T control function was added.
・ Lists of pin assignment of connectors for exclusive input/output signals were added.
・ LM40 fuse and HM32 fuse were added to the Controller spare parts list.
・ The types of the ACIN terminal on CR750 controller were added.
2014-08-06
BFP-A8867-P
・ The cover and corporate logo mark of this manual was changed.
2014-08-20
BFP-A8867-R
・ The note of using the Mode key switch input was added.
・ A safety relay in “example of safety measures (wiring example 5) ” both CR750 and
CR751 controller were changed.
2014-12-24
BFP-A8867-S
・ The description about attachments (ACIN connector, ACIN Terminal, power cable)
was modified.
2015-02-05
BFP-A8867-T
・ The chapters of "2.3.4 Emergency stop input and output etc." and "2.3.6 Mode
changeover switch input" were added.
・ The 3.2 Amp fuse (LM32) is added to “Table 2-1: Standard configuration” and “Table
5-5: Controller spare parts list”.
2015-10-29
BFP-A8867-U
・ Note1) in “Table2-9: Function of the key switch interface” was corrected.
・ The explanation of CR760 controller was added.
Date of print
Specifications No.
Details of revisions
2015-12-14
BFP-A8867-V
・ Circuit diagrams in “2.2.7 Connecting the external emergency stop” and “2.2.9
Examples of safety measures” were modified.
2016-03-24
BFP-A8867-W
・ Pin assignment lists of the CNUSR2 and EMG2 connectors were modified.
・ Notice for using a USB was added.
2016-09-08
BFP-A8867-X
・ CE marking specification of CR760 controller was added.
2016-09-22
BFP-A8867-Y
・ ”Fig.2-50 : Noise suppression for CR760 CE marking specification” was modified.
■ Introduction
Thank you for purchasing the Mitsubishi industrial robot.
This instruction manual explains the unpacking methods, installation, basic operation, maintenance and
inspection of the controller.
Always read through this manual before starting use to ensure correct usage of the robot.
The optional equipments and power supply voltage are different according to connecting robot type.
Refer to separate "Standard Specifications Manual" for detail.
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."
In this manual, CR750, CR751, and CR760 series controller are written together.
In CR751 controller, there are two kinds of the outside dimension different in its height.
・ 98 mm height: "CR751 (Thin type)"
・ 174 mm height: "CR751 (Heavy type)"
* Refer to Page 2, "1.1.2 Symbols used in instruction manual".
Installation of the emergency stop switch
To be able to stop the robot immediately at the time of the abnormalities because of safety, please install
the emergency stop switch in the position which is certainly easy to operate it, and connect with the
controller.. Refer to the Page 23, "2.2.7 Connecting the external emergency stop" for the connection
method.
And, the connection method of the door switch or the enabling device is also indicated here. Please use
it together with the emergency stop switch.
Synchronous connection of the addition axis servo power supply
It is building the circuit so that the output point of contact (the contactor control output for addition
axes: AXMC) installed in the controller may be used in use of the addition axis function and the power
supply of the servo amplifier for addition axes may be shut down by opening of this output,The servo ON/
OFF state of the addition axis can be synchronized with the servo ON/OFF state of the robot arm. With
reference to Page 61, "2.2.10 Magnet contactor control connector output (AXMC) for addition axes", I
ask you to have synchronous connection made.
Notice
*ONLY QUALIFIED SERVICE PERSONNEL MAY INSTALL OR SERVICE THE ROBOT SYSTEM.
*ANY PERSON WHO PROGRAM, TEACHES, OPERATE, MAINTENANCE OR REPAIRS THE ROBOT
SYSTEM IS TRAINED AND DEMONSTRATES COMPETENCE TO SAFELY PERFORM THE
ASSIGNED TASK.
*ENSURE COMPLIANCE WITH ALL LOCAL AND NATIONAL SAFETY AND ELECTRICAL CODES
FOR THE INSTALLATION AND OPERATION OF THE ROBOT SYSTEM.
・ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The details of this manual are subject to change without notice.
・ 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.
・ Company names and production names in this document are the trademarks or registered trademarks of their respective owners.
Copyright(C) 2012-2016 MITSUBISHI ELECTRIC CORPORATION
For users operating robots that have not been mounted with an operation panel:
Operation of robot programs such as start-up and shutdown are carried out using external signals
(exclusive input/output signals). This instruction manual is based on robots that are mounted with an
operation panel at the front of the controller, and these operations are explained using key operations on that panel. Using the parameter settings, please assign exclusive input/output signals that
correspond with each key operation to general purpose input/output signals, and operate the robot
using signal operations.
The following table details exclusive input/output signals that correspond with the key operations of
the operation panel explained in this manual. Please use this as a reference to assign signals and
operate the robot.
For further details regarding parameters please see the separate instruction manual "Detailed explanations of functions and operations".
Table: Conversion table of the buttons and dedicated I/O signals
Operation panel
button, lamp
Parameter
name
START button
START button lamp
START
STOP button
STOP button lamp
RESET button
RESET button lamp
CHNG DISP button
UP/DOWN button
Class
Function
Input
Starts a program.
Output
Indicates that a program is being executed.
STOP
Input
Stops a program.
Output
Indicates that the program is paused.
ERRRESET
Input
Releases the error state.
Output
Indicates that an error has occurred.
SLOTINIT
Input
Cancels the paused status of the program and brings the executing line to the top. Executing a program reset makes it possible to select a program.
Output
Outputs that in the program selection enabled state.
PRGSEL
Input
Selects the value inputted into the signal assigned to the numerical input as a program number.
Output
-
Input
Outputs the program number selected to the signal assigned to
the numerical output.
Output
Indicates outputting the program number to the numerical output.
Input
Sets the value inputted into the signal assigned to the numerical
input as a override.
Output
-
Input
Outputs the override value to the signal assigned to the numerical output.
Output
Indicates outputting the override value to the numerical output.
Input
Outputs the current line number to the signal assigned to the
numerical output.
Output
Indicates outputting the current line number to the numerical
output.
Input
Outputs the error number to the signal assigned to the numerical
output.
PRGOUT
OVRDSEL
OVRDOUT
LINEOUT
ERROUT
IODATA
Output
Indicates outputting the error number to the numerical output.
Input
Reads the program number and the override value as a binary
value.
Output
Outputs the program number, line number and override value as
a binary value.
Starts the cycle stop.
END button
END button lamp
CYCLE
Input
Output
Outputs that the cycle stop is operating.
SVO.ON button
SVO.ON button lamp
SRVON
Input
Turns ON the servo power supply.
Output
Indicates the servo power supply is ON.
SVO.OFF button
SVO.OFF button lamp
SRVOFF
Input
Turns OFF the servo power supply.
Output
This output indicates a status where the servo power supply
cannot be turned ON. (Echo back)
Default
setting
3,0
0,-1
2,2
-1,-1
-1,
-1,-1
-1,
-1,-1
-1,-1
-1,-1
-1,-1,
-1,-1
-1,-1
4,1
1,-1
Contents
Page
1 Before starting use ..........................................................................................................................
1.1 Using the instruction manuals ...................................................................................................
1.1.1 The details of each instruction manuals ...............................................................................
1.1.2 Symbols used in instruction manual ....................................................................................
1.2 Safety Precautions ....................................................................................................................
1.2.1 Precautions given in the separate Safety Manual ................................................................
1-1
1-1
1-1
1-2
1-3
1-4
2 Unpacking to installation .............................................................................................................................................................. 2-6
2.1 Confirming the products ....................................................................................................................................................... 2-6
2.2 Installation .................................................................................................................................................................................. 2-8
2.2.1 Unpacking procedures ................................................................................................................................................... 2-8
2.2.2 Transportation procedures .......................................................................................................................................... 2-8
(1) Transporting CR750/CR751 controller .............................................................................................................. 2-8
(2) Transporting CR760 controller .............................................................................................................................. 2-8
2.2.3 Installation procedures .................................................................................................................................................. 2-9
(1) CR750 controller ......................................................................................................................................................... 2-9
(2) CR751 controller: Thin type .................................................................................................................................. 2-11
(3) CR751 controller: Heavy type .............................................................................................................................. 2-13
(4) CR760 controller ....................................................................................................................................................... 2-15
2.2.4 Attachments installation procedures .................................................................................................................... 2-16
(1) Installing the cable fixation plate ........................................................................................................................ 2-16
(2) Installing the cover plate ........................................................................................................................................ 2-17
2.2.5 Connecting the power cable and grounding cable ........................................................................................... 2-19
(1) CR750 controller ....................................................................................................................................................... 2-19
(2) CR751 controller ....................................................................................................................................................... 2-20
(3) CR760 controller ....................................................................................................................................................... 2-21
2.2.6 Emergency stop input and output etc. ................................................................................................................. 2-23
2.2.7 Connecting the external emergency stop ........................................................................................................... 2-23
(1) CR750 controller ....................................................................................................................................................... 2-26
(2) CR751 controller ....................................................................................................................................................... 2-32
(3) CR760 controller ....................................................................................................................................................... 2-37
2.2.8 Mode changeover switch input ................................................................................................................................ 2-40
(1) Specification of the key switch interface ....................................................................................................... 2-40
(2) Connection of the mode changeover switch input ..................................................................................... 2-41
2.2.9 Examples of safety measures ................................................................................................................................... 2-42
(1) CR750 controller ....................................................................................................................................................... 2-42
(2) CR751 controller ....................................................................................................................................................... 2-47
(3) CR760 controller ....................................................................................................................................................... 2-52
(4) External emergency stop connection [supplementary explanation] .................................................... 2-57
2.2.10 Magnet contactor control connector output (AXMC) for addition axes .............................................. 2-61
(1) Example circuit ........................................................................................................................................................... 2-61
(2) Image of how to connect the controller connector .................................................................................... 2-62
2.2.11 Connecting to the robot arm .................................................................................................................................. 2-64
2.2.12 Noise suppression for the CR760 CE marking specification .................................................................... 2-64
2.3 Setting the origin ................................................................................................................................................................... 2-64
2.4 Confirming the operation .................................................................................................................................................... 2-64
3 Installing the option devices .....................................................................................................................................................
3.1 Installing the Option Card ..................................................................................................................................................
(1) CR750/CR751 controller .......................................................................................................................................
(2) CR760 controller .......................................................................................................................................................
3.2 Installing the extension memory cassette ..................................................................................................................
3-65
3-65
3-65
3-66
3-67
4 Basic operations ............................................................................................................................................................................
4.1 Handling the controller ........................................................................................................................................................
4.1.1 Names of each parts ....................................................................................................................................................
(1) CR750 controller .......................................................................................................................................................
4-68
4-69
4-69
4-69
i
Contents
Page
(2) CR751 controller ....................................................................................................................................................... 4-72
(3) CR760 controller ....................................................................................................................................................... 4-74
4.2 Handling the T/B ................................................................................................................................................................... 4-78
4.2.1 Installing and removing the T/B .............................................................................................................................. 4-78
(1) Installing the T/B (CR750/CR760 controller) ............................................................................................... 4-78
(2) Installing the T/B (CR751 controller) ............................................................................................................... 4-79
(3) Removing the T/B (CR750/CR760 controller) ............................................................................................. 4-79
(4) Removing the T/B (CR751 controller) ............................................................................................................. 4-79
4.2.2 Functions of each key ................................................................................................................................................. 4-80
4.3 Turning the power ON and OFF ...................................................................................................................................... 4-81
4.3.1 Turning the control power ON ................................................................................................................................. 4-81
(1) CR750 controller ....................................................................................................................................................... 4-81
(2) CR751 controller ....................................................................................................................................................... 4-81
(3) CR760 controller ....................................................................................................................................................... 4-82
4.3.2 Input the serial number ............................................................................................................................................... 4-82
4.3.3 Shutting OFF the control power ............................................................................................................................. 4-84
4.4 Turning the servo power ON/OFF ................................................................................................................................. 4-85
4.4.1 Turning the servo power ON (servo ON) ............................................................................................................. 4-85
4.4.2 Shutting OFF the servo power (servo OFF) ...................................................................................................... 4-85
4.5 Jog operation .......................................................................................................................................................................... 4-86
4.6 Opening and closing the hand .......................................................................................................................................... 4-87
4.7 Programming ............................................................................................................................................................................ 4-88
(1) Creation procedures ................................................................................................................................................ 4-88
(2) Robot work ................................................................................................................................................................... 4-88
4.7.1 Creating the program ................................................................................................................................................... 4-89
(1) Deciding the operation order ................................................................................................................................ 4-89
(2) Deciding the operation position name .............................................................................................................. 4-90
(3) Describing and creating the program ................................................................................................................ 4-91
(4) Confirming the program .......................................................................................................................................... 4-97
(5) Correcting the program .......................................................................................................................................... 4-98
(6) Saving the program ................................................................................................................................................ 4-101
(7) Start automatic operation. ................................................................................................................................. 4-102
5 Maintenance and Inspection ..................................................................................................................................................
5.1 Maintenance and inspection interval ..........................................................................................................................
5.2 Inspection items ..................................................................................................................................................................
5.2.1 Daily inspection items ...............................................................................................................................................
5.2.2 Periodic inspections ..................................................................................................................................................
5.3 Maintenance and inspection procedures ..................................................................................................................
5.3.1 Replacing the battery ................................................................................................................................................
(1) The battery exchange method of the CR750/CR760 controller ........................................................
(2) The battery exchange method of the CR751 controller ........................................................................
5.3.2 The check of the filter, cleaning, exchange. ....................................................................................................
(1) CR750 controller ....................................................................................................................................................
(2) CR751 controller ....................................................................................................................................................
5.4 Maintenance parts ..............................................................................................................................................................
ii
5-104
5-104
5-105
5-105
5-105
5-106
5-106
5-107
5-108
5-109
5-109
5-110
5-111
1Before starting use
1 Before starting use
This chapter explains the details and usage methods of the instruction manuals, the basic terminology and
the safety precautions. Moreover, handling and operation of a teaching pendant (T/B) are described based
on R32TB (R33TB) in instruction manuals. If using other T/B, such as R56TB (R57TB), refer to a supplied
instruction manual of the T/B.
1.1 Using the instruction manuals
1.1.1 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.
For special specifications, a separate instruction manual describing the special section may be enclosed.
Safety Manual
Explains the common precautions and safety measures to be taken for robot handling, system design and manufacture to ensure safety of the operators involved with the robot.
Standard
Specifications
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.
Robot Arm
Setup &
Maintenance
Explains the procedures required to operate the robot arm (unpacking, transportation,
installation, confirmation of operation), and the maintenance and inspection procedures.
Controller
Setup, Basic
Operation and
Maintenance
Detailed
Explanation of
Functions and
Operations
Troubleshooting
Additional axis function
Tracking Function Manual
Extended
Function
Instruction
Manual
Explains the procedures required to operate the controller (unpacking, transportation,
installation, confirmation of operation), basic operation from creating the program to automatic operation, and the maintenance and inspection procedures.
Explains details on the functions and operations such as each function and operation, commands used in the program, connection with the external input/output device, and parameters, 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(CR750D/CR751-D controller).
Using the instruction manuals 1-1
1Before starting use
1.1.2 Symbols used in instruction manual
The symbols and expressions shown in Table 1-1 are used throughout this instruction manual. Learn the
meaning of these symbols before reading this instruction manual.
Table 1-1:Symbols in instruction manual
Terminology
Item/Symbol
Meaning
Stand-alone type
Item
Symbol
Indicates the box which arranged control parts, such as robot CPU,
servo amplifier, and the safety circuit.
Controller
DANGER
WARNING
CAUTION
Precaution indicating cases where there is a risk of operator fatality or
serious injury if handling is mistaken. Always observe these precautions to safely use the robot.
Precaution indicating cases where the operator could be subject to
fatalities or serious injuries if handling is mistaken. Always observe
these precautions to safely use the robot.
Precaution indicating cases where operator could be subject to injury
or physical damage could occur if handling is mistaken. Always
observe these precautions to safely use the robot.
[JOG]
If a word is enclosed in brackets or a box in the text, this refers to a
key on the teaching pendant.
[RESET] + [EXE]
(A)
(B)
This indicates to press the (B) key while holding down the (A) key.
In this example, the [RESET] key is pressed while holding down the
[EXE] key.
T/B
This indicates the teaching pendant.
O/P
Indicates the operating panel on the front of controller or drive unit for
the controller which installed the operating panel
CR751 (Thin type)
CR751 (Heavy type)
There are two kinds of CR751 controller; one is "Thin type" (the
height is 98mm) and the other is "Heavy type" (the height is 174mm),
each of which are different in height.
Thin type: CR751-03HD/Q, CR751-06HD/Q, CR751-12HD/Q,
CR751-20HD/Q, CR751-03HRD/Q, CR751-02VD/Q,
CR751-04VD/Q, CR751-04VJD/Q, CR751-07VD/Q.
Heavy type: CR751-13VD/Q, CR751-20VD/Q, CR751-07VLD/Q.
* Refer to separate Standard Specifications Manual for the outside
dimension of CR751 controller.
1-2 Using the instruction manuals
1Before starting use
1.2 Safety Precautions
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to
learn the required measures to be taken.
CAUTION
CAUTION
WARNING
CAUTION
DANGER
CAUTION
CAUTION
CAUTION
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
Safety Precautions 1-3
1Before starting use
1.2.1 Precautions given in the separate Safety Manual
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
1-4 Safety Precautions
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.
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.
1Before starting use
CAUTION
CAUTION
CAUTION
DANGER
DANGER
CAUTION
CAUTION
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.
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 failures, such as the emergency stop not
being released. In order to prevent from 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
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.
Safety Precautions 1-5
2Unpacking to installation
2 Unpacking to installation
2.1 Confirming the products
Confirm that the parts shown in the standard configuration of the controller shown in Table 2-1 are enclosed
with the purchased product.
Users who have purchased options should refer to the separate "Standard Specifications". The primary power
supply cable and grounding cable must be prepared by the customer.
Table 2-1 : Standard configuration
No.
Part name
Type
Qty.
Remarks
CR750-D controller
1
Controller
CR750-D
1 unit
2
3
Safety manual
BFP-A8006
1 copy
CD-ROM (Instruction manual)
5F-FA01-C00
1 pc.
Stand alone type
4
Dummy plug for T/B
2D-DP1
1 pc.
Connect, when not using T/B.
5
CNUSR connector (Connector cover)
10350-52Y0-008
1 pc.
6
CNUSR connector (Plug)
10150-3000 PE
1 pc.
7
CNUSR connector
BU770D007G51
3 pcs.
For the CNUSR11/12/13 connector.
8
Ferrite core
E04SR301334
1 pc.
For emergency stop wiring
9
Noise filter
SUP-EL20-ER6
1 pc.
CE specification only.
10
Lock cover set
HL-05FA
1 pc.
For locking the power switch.
11
1.6A fuse (reserves)
LM16
2 pcs.
12
3.2A fuse (reserves)
HM32
2 pcs.
13
4A fuse (reserves)
LM40
1 pc.
14
3.2A fuse (reserves)
15
Guarantee Card
LM32
1 pc.
Stand alone type
Only with a controller for the following models.
RV-13F/13FL/20F series, RH-1FHR
1 copy
CR751-D controller
1
Controller
CR751-D
1 unit
2
Safety manual
BFP-A8006
1 copy
3
CD-ROM (Instruction manual)
4
5
ACIN connector
ACIN terminal
Note1)
5F-FA01-C00
1-179958-3
Note1)
316041-2
1 pc.
Stand alone type
Stand alone type
1 pc.
2 pcs.
Only with single-phase controller
3 pcs.
Only with three-phase controller
Power cable (with the ACIN connector)
BU774D126G03
1 pc.
Only with single-phase controller. Length: 3m
Note1)
BU774D126G23
1 pc.
Only with three-phase controller. Length: 3m
7
Dummy plug for T/B
2F-DP1
1 pc.
Connect, when not using T/B.
8
CNUSR connector (Connector cover)
10350-52Y0-008
2 pcs.
2 pcs.
6
9
CNUSR connector (Plug)
10150-3000 PE
10
Ferrite core
E04SR301334
1 pc.
11
1.6A fuse (reserves)
LM16
2 pcs.
12
3.2A fuse (reserves)
HM32
2 pcs.
13
4A fuse (reserves)
LM40
14
3.2A fuse (reserves)
15
Cover plate
16
Cable fixing plate
17
Cable clamp
1 pc.
1 pc.
Only with a controller for the following models.
RV-13F/13FL/20F series, RH-1FHR
BU773C012G61
1 pc.
For connector protection of the controller.
BU773C011H02
1 pc.
For fixing the cable of the controller.
1 pc.
For fixing the machine cable (CN1)
One fixing screw (M4) is attached.
4 pcs.
For fixing TB cable, power supply and FG cable,
communication cable and machine cable (CN2)
Four fixing screws (M4) are attached.
LM32
AB-10N
AB-6N
18
Guarantee Card
2-6 Confirming the products
For emergency stop wiring
1 copy
2Unpacking to installation
No.
Part name
Type
Qty.
Remarks
CR760-D controller
1
Controller
CR760-D
1 unit
2
3
Stand alone type
Safety manual
BFP-A8006
1 copy
CD-ROM (Instruction manual)
5F-FA01-C00
1 pc.
Stand alone type
4
Dummy plug for T/B
2D-DP1
1 pc.
Connect, when not using T/B.
5
Connector for EMG1
DFMC 1,5/12-ST3,5-LR
1 pc.
6
Connector for EMG2
DFMC 1,5/12-ST3,5-LR
1 pc.
7
Ferrite core
E04SR301334
4 pc.
8
1.6A fuse (reserves)
LM16
1 pcs.
9
7.5A fuse (reserves)
GP75
2 pcs.
10
Guarantee Card
For emergency stop wiring
1 copy
Note1) When the power cable (with the ACIN connector) is used, the ACIN connector and the ACIN terminal are not used.
When you build a power cable suitable for your environment, the ACIN connector and the ACIN terminal are used.
Confirming the products 2-7
2Unpacking to installation
2.2 Installation
2.2.1 Unpacking procedures
The controller is shipped from the factory packaged in cardboard.
2.2.2 Transportation procedures
The following shows how to transport the controller.
(1) Transporting CR750/CR751 controller
CR750 controller
CR751 controller


Mass:
Thin type: Approx. 12kg
Heavy type: Approx. 15kg
Mass:
Approx. 16 - 18kg
Fig. 2-1 : Transporting CR750/CR751 controller
1) Slightly tilt the controller and put your hands underneath. Providing steady support with both hands, lift it up
and transport.
Be careful not to trap fingers when transporting the controller.
(2) Transporting CR760 controller
Wire
Eye bolt

Mass:
Non-CE marking: Approx. 95kg
CE marking specification: Approx. 296kg
<Non-CE marking>
Fig. 2-2 : Transporting CR760 controller
1) Two workers must transport the controller using a crane or lifter.
2-8 Installation
<CE marking>
2Unpacking to installation
2.2.3 Installation procedures
The installed size is shown as follows.
(1) CR750 controller
<Placed horizontally>
145mm
145mm
Intake
吸気口vent
250mm
or以
more
上
250mm
* The controller is
an example.
* Do not stack controllers.
150mm
or more
150mm以上
<Placed vertically>
250mm
or more
250mm以上
50mm
or more
50mm以上
20mm
or more
20mm以上
* Turn right-hand side down toward front of the controller.
* The controller is an example.
Fig. 2-3 : Installation dimensions (CR750 controller)
CAUTION
CAUTION
When using the controller in its upright position, please be sure to take measures to
prevent toppling, such as fixing the installation section. Fig. 2-4 shows a fixing plate for
upright use. Please refer to this when using the controller in its upright position. Please
use M4 x 8 screws (or shorter) to fix the controller to the fixing plate. (Make sure that
screws into the controller board’s internal section (lateral board thickness of 1.2mm)
stick out 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.
Installation 2-9
2Unpacking to installation
hole
hole
Fig. 2-4 : Metal plate for fixation to placing vertically (reference) (CR750 controller)
2-10 Installation
hole
(Controller fixation hole)
2Unpacking to installation
(2) CR751 controller: Thin type
<Placed horizontally>
145mm
145mm
or more
145mm
145mm
or more
Intake
vent
吸気口
250mm以上
or more
250mm
* Stackable at most 2 controllers.
150mm
or more
150mm以上
<Placed vertically>
250mm
or more
250mm以上
50mm
or more
50mm以上
20mm
or more
20mm以上
* Turn right-hand side down toward front of the controller.
Fig. 2-5 : Installation dimensions (CR751 controller: Thin type)
CAUTION
CAUTION
When using the controller in its upright position, please be sure to take measures to
prevent toppling, such as fixing the installation section. Fig. 2-6 shows a fixing plate for
upright use. Please refer to this when using the controller in its upright position. Please
use M4 x 8 screws (or shorter) to fix the controller to the fixing plate. (Make sure that
screws into the controller board’s internal section (lateral board thickness of 1.2mm)
stick out 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.
Installation 2-11
2Unpacking to installation
4-φ6.5 hole
5-φ10 hole
Fig. 2-6 : Metal plate for fixation to placing vertically (reference)
2-12 Installation
4-φ4.5 hole
2Unpacking to installation
(3) CR751 controller: Heavy type
<Placed horizontally>
145mm
or more
145mm
145mm
or more
145mm
Intake
vent
吸気口
250mm or
more
以上
250mm
* Do not stack controllers.
150mm
or more
150mm以上
<Placed vertically>
250mm
or more
250mm以上
50mm
or more
50mm以上
20mm
or more
20mm以上
* Turn right-hand side down toward front of the controller.
Fig. 2-7 : Installation dimensions (CR751 controller: Heavy type)
CAUTION
CAUTION
When using the controller in its upright position, please be sure to take measures to
prevent toppling, such as fixing the installation section. Fig. 2-8 shows a fixing plate for
upright use. Please refer to this when using the controller in its upright position. Please
use M4 x 8 screws (or shorter) to fix the controller to the fixing plate. (Make sure that
screws into the controller board’s internal section (lateral board thickness of 1.2mm)
stick out 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.
Installation 2-13
2Unpacking to installation
hole
hole
Fig. 2-8 : Metal plate for fixation to placing vertically (reference)
2-14 Installation
hole
(Controller fixation hole)
2Unpacking to installation
(4) CR760 controller
㻨㻺㼛㼚㻙㻯㻱㻌㼙㼍㼞㼗㼕㼚㼓㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻪
㻨㻯㻱㻌㼙㼍㼞㼗㼕㼚㼓㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻪
㻔㻭㼚㼏㼔㼛㼞㻌㼎㼛㼘㼠㻌㼕㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㻦㻌㻠㻌㼜㼘㼍㼏㼑㼟㻕
㻔㻭㼚㼏㼔㼛㼞㻌㼎㼛㼘㼠㻌㼕㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㻦㻌㻠㻌㼜㼘㼍㼏㼑㼟㻕
㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞
㻔㼡㼜㼟㼕㼐㼑㻕
㻡㻢㻜
㻹㼍㼕㼚㼠㼑㼚㼍㼚㼏㼑㻌㼍㼞㼑㼍
㻔㼂㼕㼑㼣㻌㼒㼞㼛㼙㻌㼡㼜㼟㼕㼐㼑㻕
㻣㻜㻜
㻿㼕㼐㼑
㻭㼜㼜㼞㼛㼤㻚㻌
㻟㻜㻜
㻜㼻
㻝㻝
㻜㼻
㻲㼞㼛㼚㼠
㻭㼜㼜㼞㼛㼤㻚㻌㻣㻜㻜
㻢㻣㻜
㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞
㻔㼡㼜㼟㼕㼐㼑㻕
㻿㼕㼐㼑
㻭㼜㼜㼞㼛㼤㻚㻌
㻞㻜㻜
㻢㻤㻜
㻮㼍㼏㼗
㻭㼜㼜㼞㼛㼤㻚㻌㻡㻜㻜
㻢㻣㻜
㻿㼕㼐㼑
㻭㼜㼜㼞㼛㼤㻚㻌㻌
㻟㻜㻜
㻝㻝
㻲㼞㼛㼚㼠
㻭㼜㼜㼞㼛㼤㻚㻌㻣㻜㻜
㻠㻣㻠
㻿㼕㼐㼑 㻌
㻭㼜㼜㼞㼛㼤㻚㻌
㻞㻜㻜
㻮㼍㼏㼗
㻭㼜㼜㼞㼛㼤㻚㻌㻡㻜㻜
㻺㼛㼠㼑㻌㻝㻕
㻺㼛㼠㼑㻌㻝㻕
㻹㼍㼕㼚㼠㼑㼚㼍㼚㼏㼑㻌㼍㼞㼑㼍
㻔㼂㼕㼑㼣㻌㼒㼞㼛㼙㻌㼡㼜㼟㼕㼐㼑㻕
Note 1) The controller sucks in the outside air and discharges the inside air after cooling. The space
required for cooling is 100 mm minimum. Reserve approximately 500 mm of space behind the unit
as the maintenance work area.
Fig. 2-9 : Installation dimensions (CR760 controller)
CAUTION
CAUTION
CAUTION
Install the controller so that it is level.
Do not block the ventilation holes on the side and rear surfaces of the controller.
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.
Installation 2-15
2Unpacking to installation
2.2.4 Attachments installation procedures
The CR751 controller has the cable fixation plate and cover plate to protect the cable connector connected to
the controller.
Always use the controller after installing the cable fixation plate and cover plate.
Procedures to install the cable fixation plate and cover plate are shown below.
(1) Installing the cable fixation plate
1) Remove two screws (M3).
M3 screw
* The controller is an example.
2) Install the cable fixation plate to the controller with removed screws in step "1)".
Cable fixation plate
(Attachment)
M3 screw
2-16 Installation
* The controller is an example.
2Unpacking to installation
3) Connect cables (machine cables, TB cable, power cable and communication cables) and hold the cables with
cable clamps (attachments).
* The controller is an example.
Cable clamp
(Attachment)
M4 screw
(Attachment)
* The figure on the left shows an example of how to fix the cables.
Determine the number or the positions of cable clamps as needed.
CAUTION
CAUTION
CAUTION
When installing the cable fixation plate, use the screws removed in the step "1)". Using
screws other than those may cause damage of the components inside the controller.
When the cable clamp cannot tighten a cable enough and the cable slips under the clamp,
wrap tape around the cable to increase the diameter to be firmly fixed.
Applying force to the cable fixation plate may cause deformation of the plate or damage
on the fixing screws.
(2) Installing the cover plate
1) Remove two screws (M3).
M3 screw
* The controller is an example.
Installation 2-17
2Unpacking to installation
2) Pass a communication cable or the like through the square hole of the cover plate, and connect it to the
controller.
Cover plate
(Attachment)
* The controller is an example.
3) Install the cover plate to the controller with removed screws in step "1)".
* The controller is an example.
M3 screw
CAUTION
CAUTION
2-18 Installation
When installing the cover plate, use the screws removed in the step "1)". Using screws
other than those may cause damage of the components inside the controller.
Applying force to the cover plate may cause deformation of the plate or damage on the
fixing screws.
2Unpacking to installation
2.2.5 Connecting the power cable and grounding cable
The following shows how to connect the power cables and grounding cables.
(1) CR750 controller
* The controller is an example.
ACIN terminal
Remove the cover and confirm
the type of the terminal.
Note 1) Fix the primary power cable to the terminal with the
screw.
Screw size: M4
Solderless terminal: φ8 or less
Recommendation: 2-M4
(JAPANESE SOLDERLESS TERMINALS
CO.,LTD.)
Wire size: AWG #14(2mm2)/ for M4 screw.
Note 2) Non-CE specification: L2
CE specification: N
Note 3) In the CE specification, as shown in the figure, connects the noise filter (SUP-EL20-ER6) of attachment between ACIN terminal blocks and primary
power supply.
Type A or C: For single phase
ACIN terminal
Note 2)
Grounding
L1
N/L2
terminal (PE)
Type B: For three phase
ACIN terminal
Grounding
L1 L2 L3
terminal (PE)
Note 1)
Note 1)
<3> LINE/LOAD
Note 3)
Noise filter (attachment)
Type: SUP-EL20-ER
Three phase primary power supply
<4> LINE/LOAD
Label
Type B: For single phase
ACIN terminal
Grounding
L1 L2 L3
terminal (PE)
<1> LINE/LOAD
Note 1)
<2> LINE/LOAD
Single phase primary power supply
Single phase primary power supply
Note) When fixing the power cable to the ACIN terminal block with screws, be sure to hold the crimp terminal with your
hand to ensure that it does not rotate while fastening screws.
The dividers between terminals of the ACIN terminal block are fragile and may break if pressed.
Fig. 2-10 : Connecting the power cable and grounding cable (CR750)
1) Prepare the power cable (AWG#14 (2mm2) or more).
2) Loosen the two screws fixing the terminal cover, and remove the cover. Then refer to Page 69, "(1) CR750
controller" and confirm the type of the terminal.
3) Confirm that the primary power matches the specifications.
4) Confirm that the primary power is OFF and that the controller power switch is OFF.
5) Connects the cable for the primary power supply connection to the ACIN terminal block of the controller.
When the Type A or C terminal, connect the primary power supply to L1 and L2/N terminal. When Type B
is attached, connect the primary power supply to L1, L2, and L3 terminal when using the three phase
primary power supply, and connect the primary power supply to L1 and L3 terminal when using the single
phase primary power supply.
6) Connect a cable of a primary power supply grounding to the ground terminal of the controller.
7) Install the power terminal cover as before.
This completes the connection of the power and grounding cables.
Installation
2-19
2Unpacking to installation
(2) CR751 controller
CAUTION
Use an earth leakage breaker (customer preparation) in the primary power supply
circuit of the controller to prevent short circuit.
Controller
Controller
Three phase
AC200V
Single phase
AC200V
* The controller is an
example.
ACIN connector
Primary
Earth leakage breaker
(NV)
For single phase
Grounding screw
Note 2)
Secondary
For three phase
Grounding screw
ACIN connector
ACIN connector
1 2 3
PE terminal
<3> LINE/LOAD
<1> LINE/LOAD
1 2 3
PE terminal
Note 1)
ACIN connector or
power cable
(Attachment)
<4> LINE/LOAD
<2> LINE/LOAD
Label
Noise filter
Note 3)
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)
Fig. 2-11 : Connecting the power cable and grounding cable (CR751)
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 Fig. 2-11 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
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.
This completes the connection of the power and grounding cables.
2-20 Installation
2Unpacking to installation
(3) CR760 controller
<Non-CE marking specification>
Cable
clamp
電源ケーブルクランプ
(キャプコン)
(Capcon)
Power
cable
電源ケーブル
Cable
lead-in port
ケーブル引き込み口
Front door
fixing screw
前扉固定ネジ
Two screws
2本
Grounding
wire
アース線
Earth アース端子
terminal
SectionA部
A
NV plate
NVプレート
Earth leakage
漏電遮断器
breaker
Cable
lead-in port
ケーブル引き込み口
SectionB部
B
端子カバー
Terminal
cover
Grounding
plate
アースプレート
Grounding
アース線 wire
電源ケーブル
Power cable
Disengagement pre-
Grounding
wire
接地用ケーブル
vention projection
抜け止め突起部
Capcon
キャプコン
Grounding
plate
アースプレート
左からL1,L2,L3
L1,
L2 and L3 from left
Earth
leakage breaker
漏電遮断器
アース線
Grounding
wire
DetailsA部詳細
of section A
Details ofB部詳細
section B
Fig. 2-12 : Connecting the power cable and grounding cable (CR760 non-CE marking)
1) Prepare the power cable (AWG#8 (8mm2) or more) and grounding cable (AWG#6 (14mm2) or more).
2) Loosen the two screws fixing the controller front door, and open the front door.
3) Pull out the disengagement prevention projection on the terminal cover surface of the earth leakage breaker
by disengaging it with your finger.
4) Confirm that the primary power matches the specifications.
5) Confirm that the primary power is OFF and that the controller power switch is OFF.
6) Insert both the power cable and ground cable from the cable inlet hole located on the side of the controller,
and fix them using a power cable clamp (Capcon).
7) Connect the power cable to the earth leakage breaker terminal (M8 screw). (L1, L2 and L3 from left)
8) Connect the grounding cable to the NV plate terminal (M6 screw).
9) Insert the earth leakage breaker terminal cover removed in step "3)" until a "click" is heard.
10) Close the controller front door, and fix with the fixing screws.
This completes the connection of the power and grounding cables.
Installation
2-21
2Unpacking to installation
<CE marking specification>
㻯㼍㼎㼘㼑㻌㼏㼘㼍㼙㼜
㻔㻯㼍㼜㼏㼛㼚㻕
㻯㼍㼎㼘㼑㻌㼘㼑㼍㼐㻙㼕㼚㻌㼜㼛㼞㼠
㻮
㻼㼛㼣㼑㼞㻌㼏㼍㼎㼘㼑
㻲㼞㼛㼚㼠㻌㼐㼛㼛㼞㻌㼒㼕㼤㼕㼚㼓㻌㼟㼏㼞㼑㼣
㼀㼣㼛㻌㼟㼏㼞㼑㼣㼟
㻳㼞㼛㼡㼚㼐㼕㼚㼓㻌㼣㼕㼞㼑
㻱㼍㼞㼠㼔㻌㼠㼑㼞㼙㼕㼚㼍㼘
㻖㻝㻕
㻿㼑㼏㼠㼕㼛㼚㻌㻭
㻺㼂㻌㼜㼘㼍㼠㼑
㻌
㻱㼍㼞㼠㼔㻌㼘㼑㼍㼗㼍㼓㼑㻌
㼎㼞㼑㼍㼗㼑㼞
㻌
㼀㼑㼞㼙㼕㼚㼍㼘㻌㼏㼛㼢㼑㼞
㻼㼛㼣㼑㼞㻌㼏㼍㼎㼘㼑
㻯㼍㼜㼏㼛㼚
㻰㼕㼟㼑㼚㼓㼍㼓㼑㼙㼑㼚㼠㻌
㼜㼞㼑㼢㼑㼚㼠㼕㼛㼚㻌
㼜㼞㼛㼖㼑㼏㼠㼕㼛㼚
㻸㻝㻘㻌㻸㻞㻌㼍㼚㼐㻌㻸㻟㻌㼒㼞㼛㼙㻌㼘㼑㼒㼠
㻱㼍㼞㼠㼔㻌㼘㼑㼍㼗㼍㼓㼑㻌㼎㼞㼑㼍㼗㼑㼞
㻖㻝㻕
㻱㼍㼞㼠㼔㻌㼠㼑㼞㼙㼕㼚㼍㼘
㻳㼞㼛㼡㼚㼐㼕㼚㼓㻌㼣㼕㼞㼑
㻰㼑㼠㼍㼕㼘㼟㻌㼛㼒㻌㼟㼑㼏㼠㼕㼛㼚㻌㻭
㼂㼕㼑㼣㻌㻮
㻖㻝㻕㻌㼁㼟㼑㻌㼑㼕㼠㼔㼑㼞㻌㼕㼚㼠㼑㼞㼚㼍㼘㻌㼛㼞㻌㼑㼤㼠㼑㼞㼚㼍㼘㻌㼠㼑㼞㼙㼕㼚㼍㼘㻌㼒㼛㼞㻌㼓㼞㼛㼡㼚㼐㼕㼚㼓㻚
Fig. 2-13 : Connecting the power cable and grounding cable (CR760 CE marking)
1) Prepare the power cable (AWG#8 (8mm2) or more) and grounding cable (AWG#6 (14mm2) or more).
2) Loosen the two screws fixing the controller front door, and open the front door.
3) Pull out the disengagement prevention projection on the terminal cover surface of the earth leakage breaker
by disengaging it with your finger.
4) Confirm that the primary power matches the specifications.
5) Confirm that the primary power is OFF and that the controller power switch is OFF.
6) Insert both the power cable and ground cable from the cable inlet hole located on the side of the controller,
and fix them using a power cable clamp (Capcon).
7) Connect the power cable to the earth leakage breaker terminal (M5 screw). (L1, L2 and L3 from left)
8) Connect the grounding cable to the NV plate terminal (M6 screw).
9) Insert the earth leakage breaker terminal cover removed in step "3)" until a "click" is heard.
10) Close the controller front door, and fix with the fixing screws.
This completes the connection of the power and grounding cables.
2-22 Installation
2Unpacking to installation
2.2.6 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.
Connection of the external emergency stop is explained in "2.2.7Connecting the external emergency stop". And
about wiring of the others, refer to separate "Standard Specifications Manual".
Table 2-2 : Special input/output terminal
Item
Name
Function
Input
Emergency stop
Applies the emergency stop. Dual emergency line.
Input
Special stop input
Applies the stop.
(Refer to "Special stop input (SKIP)" in separate "Standard Specifications Manual".)
Input
Door switch
Servo-off. Dual line, normal close.
(Refer to "Door switch function" in separate "Standard Specifications Manual".)
Input
Enabling device
Servo-off. Dual line, normal close.
(Refer to "Enabling device function" in separate "Standard Specifications Manual".)
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 addition axes
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized
with the robot arm.
(Refer to Page 61, "2.2.10 Magnet contactor control connector output (AXMC) for addition axes".)
*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.
2.2.7 Connecting the external emergency stop
The following shows how to connect the external emergency stop. The example is shown in "2.2.9Examples of
safety measures".
For external emergency stop, connect to the connector at the front of the controller (reference Fig. 2-14). When
shipped from the factory, external emergency stop input, door switch input, and the enabling device terminal, are
opened (contacts not shorted) as shown on Fig. 2-15 (CR750 controller), Fig. 2-19 (CR751 controller), and Fig. 222 (CR760 controller). Customers should be sure to prepare the external emergency stop, door switch and
enabling device, etc. and use the robot while these are connected. Connection procedures are shown below.
[Caution] The emergency stop circuit is duplicated inside the controller. For the emergency stop switch, use a
double contact-type switch, and be sure to connect both of the contacts to the connector pins as
shown below in order to ensure the wiring is duplicated. An error cannot be reset if only one of the pins
is connected.
1) Please prepare the emergency stop switch, door switch and enabling device.
2) Connect the contacts of each switch to the contacts as shown below:
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"
・ CR760 controller ..............EMG1 connector "between 3 and 15" and "between 4 and 16"
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"
・ CR760 controller ..............EMG1 connector "between 9 and 21" and "between 10 and 22"
c) Enabling device
・ CR750 controller ..............CNUSR11 connector "between 9 and 10" and CNUSR12 connector "between 9 and 12"
・ CR751 controller ..............CNUSR1 connector "between 5 and 30" and "between 10 and 35"
・ CR760 controller ..............EMG1 connector "between 7 and 19" and "between 8 and 20"
Installation 2-23
2Unpacking to installation
[Caution] Be sure to use a shield cable for the emergency stop wiring cable. And when operating in an
environment that is easily affected by noise, be sure to install the included ferrite core (model number:
E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core in 300mm
or less from the connecting terminal section.
CAUTION
CAUTION
CAUTION
2-24 Installation
Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in failures, such as the emergency stop not being
released. In order to prevent from 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.
And, the output contacts from the robot controller (robot error output, emergency stop
output, mode output, addition axis contactor control output) are dual contacts (synchronizes). You should connect surely by dual line with the customer's equipment as
well as connection of the emergency stop and the door switch.
When using several emergency stop switches, perform wiring carefully to make sure
that each emergency stop switch functions independently. Check and make sure that
the emergency stop does not function under an AND condition (when multiple
emergency stop switches are ON at the same time).
2Unpacking to installation
<CR750 controller (Rear side)>
<CR751 controller (Front side)>
CNUSR11
connector
Within 300mm
30cm以内
CNUSR12
connector
CNUSR2
connector
Ferrite
core
フェライトコア
(Pass
twice)
(2回通し)
* The controller is an example.
<CR760 controller>
Non-CE marking
specification
CE marking specification
View A: Inside of CR760 controller
A
Safety unit
(R760SFT)
CR760
POWER
EMG1
!
㼃㼕㼠㼔㼕㼚㻌㻟㻜㻜㼙㼙
*1)
Transformer box
*1) It is necessary to open the transformer box's door
when performing this connection work.
Ferrite core (attachments)
Pass once
Fig. 2-14 : Emergency stop cable connection
Installation 2-25
2Unpacking to installation
(1) CR750 controller
An example of external emergency stop connection is shown below. Details of arrangement of connectors for
exclusive input/output signals and the pin assignments are shown in the following pages.
Internal
circuit structure
内部回路構成
内部回路構成
side)
((Controller
コ
ン ト ロー
ラ側 )
(コントローラ側)
OP - TBTB
OP emer
emergency
stop 非常停止
gency stop
非常停止
(お客様配線側)
(Customer)
12
13
14
12
13
14
1
モード出力
Mode output
Emergency
非常停止出力
stop output
CNUSR12
11
CNUSR11
+24V
CNUSR11
11
(お客様配線側)
(Customer)
2
3
Input 10μF
入力
detection
検知
circuit
回路
24G
RA
Relay
5
6
モード出力
Mode output
+24V
24G
Emergency
非常停止出力
stop output
24G
RA
Relay
RA
Relay
+24V
17
8
9
10
1
2
Robot error
output
ロボットエラー出力
Robot error
ロボットエラー出力
output
RA Relay
Input 10μF
入力
detection
検知
circuit
回路
24G
3
4
5
6
+24V
24G
24G
External emergency
外部非常停止入力
stop input
*1)
短絡
Short
*2)
ドアスイッチ入力
Door switch input
Enabling device
イネーブリング
input
デバイス入力
CNUSR12
CNUSR2
41
7
*1)
+24V
24G
16
4
短絡
Short
RA
Relay
RA
Relay
+24V
7
8
9
10
短絡
Short
*1)
External emergency
*2)
*1)
短絡
Short
外部非常停止入力
stop input
Door switch input
ドアスイッチ入力
Enabling device
イネーブリング
input
デバイス入力
24G
Please do not carry out an insulation pressure test.
CAUTION
Moreover, it becomes the cause of failure if it
警告 絶縁耐圧試験は行なわないでください。
また誤って接続した場合は故障の原因となります。
connects incorrectly.
Please refer to the example of safety measures
of "Standard Specifications Manual".
*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 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.
Fig. 2-15 : External emergency stop connection (CR750 controller)
CAUTION
2-26 Installation
Place the emergency stop switch in an easily operable position, and be sure to wire it
to the emergency stop correctly by refer to Page 42, "2.2.9 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.
2Unpacking to installation
Arrangement of connectors for exclusive input/output signals are shown in Fig. 2-16. The pin assignments of
the connectors for exclusive input/output signals are shown in Table 2-3 to Table 2-6.
CNUSR11
CNUSR12
CNUSR13
*The controller is an example.
CNUSR2
Fig. 2-16 : Arrangement of connectors for exclusive input/output signals
Table 2-3 : Pin assignment (CNUSR11)
Pin
No.
Name
1
EMGIN24V1
2
EXTEMG11
Function
Construction of
external emergency stop input
circuit
Remarks
Pin
No.
Constructing an
external emergency stop function.
Common pin (SG)
9
24V1 for GRIP
10
GRIP1
Name
Function
Enabling device
connection
Safety measures
at teaching. (Servo
OFF)
Mode output
Confirming the
controller operation mode.
Emergency stop
output
Confirming the
presence/absence
of an emergency
stop.
Switching an
operation mode of
a controller.
3
EXTEMG12
11
MODEOUT11
4
EXTEMG13
12
MODEOUT12
5
EXT-GND1
13
EMGOUT11
6
SG
14
EMGOUT12
7
24V1 for DOOR
15
8
DOOR1
OPKEY1COM(24V) Mode key switch
input Note1)
OPKEY1
Connection of door Detecting the
switch
opening and closing of a door.
16
Remarks
Note1) The mode key switch input can be used to change the mode of a controller with external command, but never
connect the mode key switch input when a key switch on the operation panel is used. When using 15 and 16 pins, the
key switch on the operation panel must be set to the MANUAL mode. If the key switch is set to the AUTOMATIC
mode, the mode is fixed to AUTOMATIC, which disables the mode selector switch.
Table 2-4 : Pin assignment (CNUSR12)
Pin
No.
Name
1
EMGIN24V2
2
EXTEMG21
Function
Construction of
external emergency stop input
circuit
Remarks
Pin
No.
Constructing an
external emergency stop function.
Common pin (SG)
9
24V2 for GRIP
10
GRIP2
Name
Function
Enabling device
connection
Safety measures
at teaching. (Servo
OFF)
Mode output
Confirming the
controller operation mode.
Emergency stop
output
Confirming the
presence/absence
of an emergency
stop.
Switching an
operation mode of
a controller.
3
EXTEMG22
11
MODEOUT21
4
EXTEMG23
12
MODEOUT22
5
EXT-GND2
13
EMGOUT21
6
SG
14
EMGOUT22
7
24V2 for DOOR
15
8
DOOR2
OPKEY2COM(24V) Mode key switch
input Note1)
OPKEY2
Connection of door Detecting the
switch
opening and closing of a door.
16
Remarks
Note1) The mode key switch input can be used to change the mode of a controller with external command, but never
connect the mode key switch input when a key switch on the operation panel is used. When using 15 and 16 pins, the
key switch on the operation panel must be set to the MANUAL mode. If the key switch is set to the AUTOMATIC
mode, the mode is fixed to AUTOMATIC, which disables the mode selector switch.
Installation 2-27
2Unpacking to installation
Table 2-5 : Pin assignment (CNUSR13)
Pin
No.
Name
Function
Note1)
Remarks
Pin
No.
1
Reserved
9
2
Reserved
10
3
LAH1
A-phase signal +
(plus) side of differential encoder
CH1
4
LAL1
5
6
Function
A-phase signal (minus) side of differential encoder
CH1
12
Reserved
LBH1
B-phase signal +
(plus) side of differential encoder
CH1
13
Reserved
LBL1
B-phase signal (minus) side of differential encoder
CH1
14
Reserved
Reserved
15
Reserved
16
Reserved
Z-phase signal +
(plus) side of differential encoder
CH1
Encoder input of a
trucking function
CH1 Note2)
Remarks
Encoder input of a
Z-phase signal (minus) side of dif- trucking function
ferential encoder CH1 Note2)
CH1
LZL1
Reserved
LZH1
Note1)
Reserved
11
7
8
Encoder input of a
trucking function
CH1 Note2)
Name
Note1) The reserved pins cannot be used. Do not wire the pins.
Note2) The pin 6 of CNUSR11/12 are used for common line (SG line).
Table 2-6 : Pin assignment (CNUSR2)
Pin
No.
Name
Function
Note1)
Remarks
Pin
No.
Name
Function
Note1)
1
MPI11 (850)
Servo digital input
1
26
MPI14 (851)
Servo digital input
2
2
MPICOM1
MPI input common
(COM)
27
MPI16 (852)
Servo digital input
3
3
Reserved
28
Reserved
4
Reserved
29
Reserved
5
Reserved
30
Reserved
6
Reserved
31
Reserved
7
Reserved
32
Reserved
8
Reserved
33
Remarks
Reserved
9
SKIP11
Dedicated stop
input common
(COM)
This pin and pin 34
is a pair.
34
SKIP12
Dedicated stop
input
This pin and pin 9
is a pair.
10
SKIP21
SKIP21 common
(COM)
This pin and pin 35
is a pair.
35
SKIP22 (801)
SKIP2 input
This pin and pin 10
is a pair.
11
SKIP31
SKIP31 common
(COM)
This pin and pin 36
is a pair.
36
SKIP32 (802)
SKIP3 input
This pin and pin 11
is a pair.
12
SKIP41
SKIP41 common
(COM)
This pin and pin 37
is a pair.
37
SKIP42 (803)
SKIP4 input
This pin and pin 12
is a pair.
13
Reserved
38
14
Reserved
39
Reserved
Reserved
15
SG
Common pin
Common pin (SG)
40
SG
Common pin
16
ROBOTERR11
Robot error output This pin and pin 41
is a pair.
41
ROBOTERR12
Robot error output This pin and pin 16
is a pair.
17
ROBOTERR21
Robot error output This pin and pin 42
is a pair.
42
ROBOTERR22
Robot error output This pin and pin 17
is a pair.
2-28 Installation
Common pin (SG)
2Unpacking to installation
Pin
No.
Name
18
Function
Note1)
Remarks
Reserved
Pin
No.
Name
43
Function Note1)
Remarks
Reserved
19
AXMC21
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 44
is a pair.
44
AXMC22
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 19
is a pair.
20
AXMC11
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 45
is a pair.
45
AXMC12
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 20
is a pair.
21
LAH2
A-phase signal +
(plus) side of differential encoder
CH2
Encoder input of a
trucking function
CH2
46
LAL2
A-phase signal Encoder input of a
(minus) side of dif- trucking function
ferential encoder CH2
CH2
22
LBH2
B-phase signal +
(plus) side of differential encoder
CH2
47
LBL2
B-phase signal (minus) side of differential encoder
CH2
23
LZH2
Z-phase signal +
(plus) side of differential encoder
CH2
48
LZL2
Z-phase signal (minus) side of differential encoder
CH2
24
Reserved
49
Reserved
25
Reserved
50
Reserved
Note1) The reserved pins cannot be used. Do not wire the pins.
Installation 2-29
2Unpacking to installation
<CR750 controller>
CNUSR11
CNUSR12
CNUSR11/12 connector
Reference: CNUSR13
(Connect the encoder,
when using the tracking
function)
* The controller is an example.
Driver
*Recommendation driver
size: 2.5mm.
Connector for user wiring
Connector fixing screw
(Two places)
Cable fixing screw
Pin number of connector
A
16
1
View A
Cable insert point
7mm
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 connector.
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 corresponds 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.
Fig. 2-17 : Method of wiring for external emergency stop connection (CR750 controller (CNUSR11/12))
CAUTION
2-30 Installation
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.
2Unpacking to installation
<CR750 controller>
CNUSR2 connector
* The controller is an example.
Cover fixing screw (Two places)
CNUSR2
Connector cover
Plug
Connector for
user wiring
Remove the connector cover
View A
25
Pin number of plug
1
Soldering
50
26
A
3mm
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 connector 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 connector’s latch click in to place.
This concludes the connection procedure.
Fig. 2-18 : Method of wiring for external emergency stop connection (CR750 controller (CNUSR2))
CAUTION
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.
Installation 2-31
2Unpacking to installation
(2) CR751 controller
An example of external emergency stop connection is shown below. Details of arrangement of connectors for
exclusive input/output signals and the pin assignments are shown in the following pages.
Internal
circuit structure
内部回路構成
(お客様配線側)
(Customer)
(Customer)
(お客様配線側)
(Controller
side)
(コントローラ側)
TB
非常停止stop
TB emergency
18
43
20
45
17
42
19
44
CNUSR1
+24V
CNUSR1
1
Mode output
モード出力
Emergency
非常停止出力
stop output
モード出力
Mode output
26
RA
Input 10μF
入力
detection
検知
circuit
回路
24G
Emergency
非常停止出力
3
24G
+24V
RA
Relay
RA
Relay
+24V
17
5
30
6
CNUSR2
41
4
29
31
Robot error
output
ロボットエラー出力
Robot error
ロボットエラー出力
output
RA
Input 10μF
入力
detection
検知
circuit
回路
24G
Relay
7
32
8
33
+24V
24G
Relay
RA
+24V
24G
*1)
External emergency
*2)
*1)
短絡
Short
外部非常停止入力
stop input
Door switch input
ドアスイッチ入力
Enabling device
イネーブリング
input
デバイス入力
+24V
24G
16
2
27
28
24G
stop output
Relay
Short
短絡
RA
Relay
9
34
10
35
短絡
Short
*1)
External emergency
stop input *2)
*1)
短絡
Short
外部非常停止入力
ドアスイッチ入力
Door switch input
Enabling device
イネーブリング
input
デバイス入力
24G
Please do not carry out an insulation pressure test.
CAUTION
Moreover, it becomes the cause of failure if it
警告 絶縁耐圧試験は行なわないでください。
また誤って接続した場合は故障の原因となります。
connects incorrectly.
Please refer to the example of safety measures
of "Standard Specifications Manual".
*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 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.
Fig. 2-19 : External emergency stop connection (CR751 controller)
CAUTION
2-32 Installation
Place the emergency stop switch in an easily operable position, and be sure to wire it
to the emergency stop correctly by referencing Page 42, "2.2.9 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.
2Unpacking to installation
Arrangement of connectors for exclusive input/output signals are shown in Fig. 2-20. The pin assignments of
the connectors for exclusive input/output signals are shown in Table 2-7 to Table 2-8.
* The controller is an example.
CNUSR1
CNUSR2
Fig. 2-20 : Arrangement of connectors for exclusive input/output signals
Table 2-7 : Pin assignment (CNUSR1)
Pin
No.
Name
Function
Note1)
Construction of
external emergency stop input
circuit
Remarks
Pin
No.
Name
Function
Note1)
Remarks
1
EMGIN24V1
2
EXTEMG12
3
EXT-GND1
28
SG
4
24V1 for DOOR
Connection of door Detecting the
switch
opening and closing of a door.
This pin and pin 29
is a pair.
29
DOOR1
Connection of door Detecting the
switch
opening and closing of a door.
This pin and pin 4
is a pair.
5
24V1 for GRIP
Enabling device
connection
Safety measures
at teaching (Servo
OFF)
This pin and pin 30
is a pair.
30
GRIP1
Enabling device
connection
Safety measures
at teaching (Servo
OFF)
This pin and pin 5
is a pair.
6
EMGIN24V2
7
EXTEMG22
8
EXT-GND2
Construction of
external emergency stop input
circuit
Constructing an
external emergency stop function.
Construction of
external emergency stop input
circuit
Constructing an
external emergency stop function.
9
24V2 for DOOR
10
24V2 for GRIP
Constructing an
external emergency stop function.
26
EXTEMG11
27
EXTEMG13
Construction of
external emergency stop input
circuit
Constructing an
external emergency stop function.
31
EXTEMG21
32
EXTEMG23
33
SG
Connection of door Detecting the
switch
opening and closing of a door.
This pin and pin 34
is a pair.
34
DOOR2
Connection of door Detecting the
switch
opening and closing of a door.
This pin and pin 9
is a pair.
Enabling device
connection
35
GRIP2
Enabling device
connection
Safety measures
at teaching (Servo
OFF)
This pin and pin 35
is a pair.
11
Reserved
36
Reserved
12
Reserved
37
Reserved
13
Reserved
38
Reserved
14
Reserved
39
Reserved
15
Reserved
40
Reserved
16
Reserved
41
Reserved
Safety measures
at teaching (Servo
OFF)
This pin and pin 10
is a pair.
17
MODEOUT21
Mode output
Confirming the
controller operation mode.
This pin and pin 42
is a pair.
42
MODEOUT22
Mode output
Confirming the
controller operation mode.
This pin and pin 17
is a pair.
18
MODEOUT11
Mode output
Confirming the
controller operation mode.
This pin and pin 43
is a pair.
43
MODEOUT12
Mode output
Confirming the
controller operation mode.
This pin and pin 18
is a pair.
Installation 2-33
2Unpacking to installation
Pin
No.
Name
Function
Note1)
Remarks
Pin
No.
Name
Function Note1)
Remarks
19
EMGOUT21
Emergency stop
output
Confirming the
presence/absence
of an emergency
stop.
This pin and pin 44
is a pair.
44
EMGOUT22
Emergency stop
output
Confirming the
presence/absence
of an emergency
stop.
This pin and pin 19
is a pair.
20
EMGOUT11
Emergency stop
output
Confirming the
presence/absence
of an emergency
stop.
This pin and pin 45
is a pair.
45
EMGOUT12
Emergency stop
output
Confirming the
presence/absence
of an emergency
stop.
This pin and pin 20
is a pair.
21
LAH1
A-phase signal +
(plus) side of differential encoder
CH1
Encoder input of a
trucking function
CH1
46
LAL1
A-phase signal Encoder input of a
(minus) side of dif- trucking function
ferential encoder CH1
CH1
22
LBH1
B-phase signal +
(plus) side of differential encoder
CH1
47
LBL1
B-phase signal (minus) side of differential encoder
CH1
23
LZH1
C-phase signal +
(plus) side of differential encoder
CH1
48
LZL1
C-phase signal (minus) side of differential encoder
CH1
24
OPKEY1COM(24V) Mode key switch
Note2)
input
Switching an
operation mode of
a controller.
This pin and pin 49
is a pair.
49
OPKEY1 Note2)
Mode key switch
input
Switching an
operation mode of
a controller.
This pin and pin 24
is a pair.
25
OPKEY2COM(24V) Mode key switch
input
Note2)
Switching an
operation mode of
a controller.
This pin and pin 50
is a pair.
50
OPKEY2 Note2)
Mode key switch
input
Switching an
operation mode of
a controller.
This pin and pin 25
is a pair.
Note1) The reserved pins cannot be used. Do not wire the pins.
Note2) Refer to Page 40, "2.2.8 Mode changeover switch input" about the specifications of mode change over switch
input.
2-34 Installation
2Unpacking to installation
Table 2-8 : Pin assignment (CNUSR2)
Pin
No.
Name
Function
Note1)
Remarks
Pin
No.
Name
Function
Note1)
1
MPI11 (850)
Servo digital input
1
26
MPI14 (851)
Servo digital input
2
2
MPICOM1
MPI input common
(COM)
27
MPI16 (852)
Servo digital input
3
3
Reserved
28
Reserved
4
Reserved
29
Reserved
5
Reserved
30
Reserved
6
Reserved
31
Reserved
7
Reserved
32
Reserved
8
Reserved
33
Remarks
Reserved
9
SKIP11
Dedicated stop
input common
(COM)
This pin and pin 34
is a pair.
34
SKIP12
Dedicated stop
input common
This pin and pin 9
is a pair.
10
SKIP21
SKIP21 common
(COM)
This pin and pin 35
is a pair.
35
SKIP22 (801)
SKIP2 input
This pin and pin 10
is a pair.
11
SKIP31
SKIP31 common
(COM)
This pin and pin 36
is a pair.
36
SKIP32 (802)
SKIP3 input
This pin and pin 11
is a pair.
12
SKIP41
SKIP41 common
(COM)
This pin and pin 37
is a pair.
37
SKIP42 (803)
SKIP4 input
This pin and pin 12
is a pair.
13
Reserved
38
14
Reserved
39
Reserved
Reserved
15
SG
Common pin
Common pin (SG)
40
SG
Common pin
16
ROBOTERR11
Robot error output This pin and pin 41
is a pair.
41
ROBOTERR12
Robot error output This pin and pin 16
is a pair.
17
ROBOTERR21
Robot error output This pin and pin 42
is a pair.
42
ROBOTERR22
Robot error output This pin and pin 17
is a pair.
18
Reserved
43
Common pin (SG)
Reserved
19
AXMC21
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 44
is a pair.
44
AXMC22
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 19
is a pair.
20
AXMC11
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 45
is a pair.
45
AXMC12
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 20
is a pair.
21
LAH2
A-phase signal +
(plus) side of differential encoder
CH2
Encoder input of a
trucking function
CH2
46
LAL2
A-phase signal Encoder input of a
(minus) side of dif- trucking function
ferential encoder CH2
CH2
22
LBH2
B-phase signal +
(plus) side of differential encoder
CH2
47
LBL2
B-phase signal (minus) side of differential encoder
CH2
23
LZH2
Z-phase signal +
(plus) side of differential encoder
CH2
48
LZL2
Z-phase signal (minus) side of differential encoder
CH2
24
Reserved
49
Reserved
25
Reserved
50
Reserved
Note1) The reserved pins cannot be used. Do not wire the pins.
Installation 2-35
2Unpacking to installation
<CR751 controller>
CNUSR1/2 connector
* The controller is an example.
CNUSR1
CNUSR2
Cover fixing screw (Two places)
Connector cover
View A
Plug
25
Connector for
user wiring
Remove the connector cover
Pin number of plug
1
Soldering
26
50
A
3mm
Connecting cable
(AWG #30 ~ #24(0.05mm ~ 0.2mm2))
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 connector 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 number 1 facing to the upper right, insert firmly until you hear the connector’s latch click in to place.
This concludes the connection procedure.
Fig. 2-21 : Method of wiring for external emergency stop connection (CR751 controller (CNUSR1/2))
CAUTION
2-36 Installation
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.
2Unpacking to installation
(3) CR760 controller
An example of external emergency stop connection is shown below. Details of arrangement of connectors for
exclusive input/output signals and the pin assignments are shown in the following pages.
Internal
circuit structure
内部回路構成
(お客様配線側)
(Customer)
(Customer)
(お客様配線側)
(Controller
side)
(コントローラ側)
OP - TBTB
OP emer
emergency
stop 非常停止
gency stop
非常停止
EMG1
+24V
EMG2
7
19
5
17
Emergency
stop output
非常停止出力
EMG2
8
20
6
18
1
Mode output
モード出力
13
Input 10μF
入力
detection
検知
circuit
回路
RA Relay
3
15
5
24G
17
Mode output
モード出力
+24V
24G
Emergency
stop output
非常停止出力
Relay
RA
9
21
RA Relay
19
+24V
24G
7
2
23
12
Robot error
ロボットエラー出力
output
14
RA Relay
10μF
Input
入力
detection
検知
circuit
回路
24G
4
16
6
18
+24V
24G
RA Relay
+24V
24G
External emergency
※2)
※1)
Short
短絡
外部非常停止入力
stop input
Door switch input
ドアスイッチ入力
Enabling device
イネーブリング
input
デバイス入力
EMG1
EMG2
11
※1)
+24V
24G
Robot error
ロボットエラー出力
output
Short
短絡
RA
Relay
10
22
8
20
短絡
Short
※1)
External emergency
※2)
※1)
短絡
Short
外部非常停止入力
stop input
ドアスイッチ入力
Door switch input
Enabling device
イネーブリング
input
デバイス入力
24G
Please do not carry out an insulation pressure test.
CAUTION
Moreover, it becomes the cause of failure if it
警告 絶縁耐圧試験は行なわないでください。
connects incorrectly.
また誤って接続した場合は故障の原因となります。
Please refer to the example of safety measures
of "Standard Specifications Manual".
*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 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.
Wiring method
Peel the sheath of the cable and insert it to the connector directly.
13
1
Core wires of the cable should be kinked before the cable is used.
While pushing the hook inside the tool insertion opening of the
connector using a small screwdriver, insert the cable to the back of
the cable insertion opening of the connector.
Cable size: AWG#28 ~ AWG#16(0.08mm2 ~ 1.5mm2)
24
12
[Note] The contact capacity of each input/output terminal is
shown below.
DC24V: input 10mA/output 100mA
Fig. 2-22 : External emergency stop connection (CR760)
Installation 2-37
2Unpacking to installation
CAUTION
CAUTION
Place the emergency stop switch in an easily operable position, and be sure to wire it
to the emergency stop correctly by referencing Page 42, "2.2.9 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.
When connecting the power line to the EMG1 connector, be careful not to cause a
short circuit with wires sticking out from adjacent poles. And please do not apply a
solder coating to core wires to be inserted in the power line. In some cases solder
coating can result in contact failure.
Arrangement of connectors for exclusive input/output signals are shown in Fig. 2-23. The pin assignments of
the connectors for exclusive input/output signals are shown in Table 2-9 to Table 2-10.
<CR760 controller>
Non-CE marking
specification
View A: Inside of CR760 drive unit
CE marking specification
Safety unit
(R760SFT)
A
CR760
POWER
!
EMG1
EMG2
Fig. 2-23 : Arrangement of connectors for exclusive input/output signals
Table 2-9 : Pin assignment (EMG1)
Pin
No.
Name
Function
Note1)
Pin
No.
Name
13
EMGIN24V12
14
EMGIN24V22
15
EMG12
1
EMGIN24V1
2
EMGIN24V21
3
EMG11
4
EMG21
16
EMG22
5
EXT-GND1
17
SG
6
EXT-GND2
18
SG
7
ENA11
Enabling device
connection
Safety measures
at teaching (Servo
OFF)
This pin and pin 19
is a pair.
19
8
ENA21
Enabling device
connection
Safety measures
at teaching (Servo
OFF)
This pin and pin 20
is a pair.
9
DOOR11
Connection of door Detecting the
switch
opening and closing of a door.
This pin and pin 21
is a pair.
2-38 Installation
Construction of
external emergency stop input
circuit
Remarks
Constructing an
external emergency stop function.
Function Note1)
Remarks
Construction of
external emergency stop input
circuit
Constructing an
external emergency stop function.
ENA12
Enabling device
connection
Safety measures
at teaching (Servo
OFF)
This pin and pin 7
is a pair.
20
ENA22
Enabling device
connection
Safety measures
at teaching (Servo
OFF)
This pin and pin 8
is a pair.
21
DOOR12
Door switch input
Detecting the
opening and closing of a door.
This pin and pin 9
is a pair.
2Unpacking to installation
Pin
No.
Name
Function
Note1)
Remarks
Pin
No.
Name
Function
Note1)
Remarks
10
DOOR21
Connection of door Detecting the
switch
opening and closing of a door.
This pin and pin 22
is a pair.
22
DOOR22
Door switch input
Detecting the
opening and closing of a door.
This pin and pin 10
is a pair.
11
AXMC11
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 23
is a pair.
23
AXMC12
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 11
is a pair.
12
AXMC21
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 24
is a pair.
24
AXMC22
Magnet contactor
control connector
output for additional axes
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 12
is a pair.
Note1) The reserved pins cannot be used. Do not wire the pins.
Table 2-10 : Pin assignment (EMG2)
Pin
No.
Name
Function
Note1)
Remarks
Pin
No.
Name
Function
Note1)
Remarks
1
SKIP11
Dedicated stop
input common
(COM)
This pin and pin 13
is a pair.
13
SKIP12
Dedicated stop
input common
This pin and pin 1
is a pair.
2
SKIP21
SKIP21 common
(COM)
This pin and pin 14
is a pair.
14
SKIP22 (801)
SKIP2 input
This pin and pin 2
is a pair.
3
SKIP31
SKIP31 common
(COM)
This pin and pin 15
is a pair.
15
SKIP32 (802)
SKIP3 input
This pin and pin 3
is a pair.
4
SKIP41
SKIP41 common
(COM)
This pin and pin 16
is a pair.
16
SKIP42 (803)
SKIP4 input
This pin and pin 4
is a pair.
5
EMGOUT11
Emergency stop
output
Confirming the
presence/absence
of an emergency
stop.
This pin and pin 17
is a pair.
17
EMGOUT12
Emergency stop
output
Confirming the
presence/absence
of an emergency
stop.
This pin and pin 5
is a pair.
6
EMGOUT21
Emergency stop
output
Confirming the
presence/absence
of an emergency
stop.
This pin and pin 18
is a pair.
18
EMGOUT22
Emergency stop
output
Confirming the
presence/absence
of an emergency
stop.
This pin and pin 6
is a pair.
7
MODEOUT11
Mode output
Confirming the
controller operation mode.
This pin and pin 19
is a pair.
19
MODEOUT11
Mode output
Confirming the
controller operation mode.
This pin and pin 7
is a pair.
8
MODEOUT21
Mode output
Confirming the
controller operation mode.
This pin and pin 20
is a pair.
20
MODEOUT21
Mode output
Confirming the
controller operation mode.
This pin and pin 8
is a pair.
9
Reserved
21
10
Reserved
22
Reserved
Reserved
11
ERR11
Robot error output This pin and pin 23
is a pair.
23
ERR12
Robot error output This pin and pin 11
is a pair.
12
ERR21
Robot error output This pin and pin 24
is a pair.
24
ERR22
Robot error output This pin and pin 12
is a pair.
Note1) The reserved pins cannot be used. Do not wire the pins.
Examples of Safety Measures are shown in Page 42, "2.2.9 Examples of safety measures".
Installation 2-39
2Unpacking to installation
2.2.8 Mode changeover switch input
Connect the key switch of customer prepared and change the right of robot’s operation by switch operation.
The key switch can be installed in the operation panel of customer preparation.
<Right of operation (mode)>
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.
MODE
MANUAL
AUTOMATIC
* The controller is an example.
CNUSR1
Mode changeover switch
(Customer-prepared)
Fig.2-24 : 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.
Table 2-11 : Function of the key switch interface
Pin number and Function (Connector: CNUSR1)
Pin number
Function
49
1st line KEY input
24
Power supply +24V of pin number 49
50
2nd line KEY input
25
Power supply +24V of pin number 50
Change mode
Note1)
MANUAL
AUTOMATIC
Open
Close
Open
Close
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.
[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.
Table 2-12 : Specification of the mode changeover switch input
Item
Rated voltage
Specification
DC24V
Current rating
Approx. 10mA
Input resistance
Approx. 2.2kΩ
Response time (OFF->ON)
Approx. 15ms
Common method
Connection method
Conformity electric wire size
Maker/Type
2-40 Installation
Remarks
Supply from the controller.
Select the switch or button which operates normally in 24V/10mA.
Example: The response time the program starts, after pushing the run button.
1 point per
common
Connector
AWG#24 to #18
-
0.2 to 0.75mm2
Maker: PHOENIX CONTACT/ Type: FKC2.5/4-STF-5.0B
2Unpacking to installation
(2) Connection of the mode changeover switch input
* The controller is an example.
CNUSR1
Cover fixing screw (Two places)
View A
Connector cover
Plug
25
Connector for
user wiring
Remove the connector cover
Pin number of plug
1
Soldering
26
50
A
3mm
Connecting cable
(AWG #30 ~ #24(0.05mm2 to 0.2mm2))
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 connector 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 connector’s latch click in to place.
This concludes the connection procedure.
Fig.2-25 : Connection of the mode changeover switch input (CR751)
Installation 2-41
2Unpacking to installation
2.2.9 Examples of safety measures
Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller. 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 57, "(4) External emergency stop connection [supplementary
explanation]" and Page 23, "2.2.7 Connecting the external emergency stop".
[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 suppression 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 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.
(1) CR750 controller
<Wiring example 1>: 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.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Emergency
stop switch
非常停止スイッチ
Controller
(2- (2接点タイプ)
contact type)
Power supply in the
robot
controller
内部電源
24V24V
OP Emergency
OP非常停止
stop
button
ボタン
*6)
*1)
Peripheral
周辺装置
equipment
CNUSR11/CNUSR12
1
Not
短絡connected
2
3
10μF
RA
*4)
4
5
Short circuit
短絡
(Short-circuited)
6
7
TB Emergency
TB非常停止
stop
button
ボタン
*3)
RA
8
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
9
RA
10
Enabling
イネーブリング
device
デバイス
*5)
*7)
Input
入力
detection
検知
circuit
回路
Safety
relay
安全リレー
13
14
11
12
stop output
非常停止出力
}Emergency
output
モード出力
} Mode
Internal emergency stop
内部非常停止回路
circuit
*2)
CNUSR2
16/17
41/42
*3)
*4)
*5)
*6)
*7)
output
エラー出力
}Error
The T/B emergency stop button connected with the controller.
Emergency stop input relay.
*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.
Refer to the Standard specification manual or Special specification manualfor the enabling device.
The emergency stop button of the robot controller. (Only specification with the operation panel.)
The emergency stop input detection relay is used the controller’s 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.
Fig.2-26 : Example of safety measures (Wiring example 1)
2-42 Installation
2Unpacking to installation
<Wiring example 2>: 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.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Emergency
stop switch
非常停止スイッチ
(2- contact
type)
(2接点タイプ)
Controller
Power supply in the
robot内部電源
controller24V
24V
OP Emergency
stop
button
OP非常停止
ボタン
*6)
*1)
Peripheral
equipment
周辺装置
CNUSR11/CNUSR12
1
未接続
Not
connected
2
3
10μF
RA
*4)
4
5
6
7
TB Emergency
stop
button
TB非常停止
ボタン
*3)
RA
8
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
Power
supply in
周辺装置側電源
the
24VPeripheral
equipment 24V
9
RA
10
イネーブリング
Enabling
device
デバイス
*5)
*7)
Input
入力
detection
検知
circuit
Safety
relay
安全リレー
回路
13
14
11
12
Internal emergency stop
内部非常停止回路
circuit
stop output
非常停止出力
}Emergency
output
モード出力
} Mode
*2)
CNUSR2
16/17
41/42
output
エラー出力
} Error
*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 button 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 button of the robot controller.
(Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the controller’s 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.
Fig.2-27 : Example of safety measures (Wiring example 2)
Installation 2-43
2Unpacking to installation
<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the 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.
<Operation of the emergency stop>
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 controller OFF, peripheral equipment state can be the emergency stop also.
Emergency
stop switch
非常停止スイッチ
(2- (2接点タイプ)
contact type)
Controller
Power supply in the
24V
robot内部電源
controller
24V
OP Emergency
stop
button
OP非常停止
ボタン
*6)
*1)
Peripheral
周辺装置
equipment
CNUSR11/CNUSR12
1 Not connected
未接続
2
周辺装置側
Power
sup電源24V
ply
24V
3
10μF
RA
*4)
4
5
6
7
TB Emergency
stop
button
TB非常停止
ボタン
*3)
RA
8
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
周
Circuit
辺
9
RA
10
イネーブリング
Enabling
device
デバイス
*5)
*7)
13
Input
入力
detection
検知
circuit
回路
Safety
relay
安全リレー
14
11
12
装
置
側
内
部
回
路
Emergency
stop output
非常停止出力
Monitor
監視
モード出力
output
} Mode
Monitor
監視
Internal emergency stop
内部非常停止回路
circuit
*2)
CNUSR2
16/17
41/42
エラー出力
output
}Error
*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 button 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 button of the robot controller.
(Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the controller’s 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.
Fig.2-28 : Example of safety measures (Wiring example 3)
2-44 Installation
2Unpacking to installation
<Wiring example 4>: 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.
<Operation of the emergency stop>
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 controller OFF, peripheral equipment state can be the emergency stop also.
Emergency
stop switch
非常停止スイッチ
(4-contact
type)
(4接点タイプ)
周辺装置
Peripheral equipment
Controller #1
Power supply in the robot CNUSR11/CNUSR12*1)
内部電源 24V
controller 24V
1
未接続
Not connected
OP
Emergency
stop
OP非常停止
ボタン
button
Emergency
stop
周辺装置
output of
periphの非常停止
eral equipment
出力
2
3
*6)
RA
10μF
*4)
Power
supply
周辺装置側
24V
電源24V
周辺装置内部
非常停止回路
Circuit
4
5
6
7
TB非常停止
*3)
ボタン
TB
Emergency stop
button
RA
8
Door
switch input
ドアスイッチ入力
9
RA
イネーブリング
Enabling
デバイス
device
Safety fence
door
安全柵のドア
*5)
*7)
13
Safety
relay
安全リレー
Input
入力
detection
検知
circuit
回路
Doorドアスイッチ出力
switch output
10
14
非常停止出力
Emergency
stop output
11
モード出力
output
} Mode
12
Internal emergency
内部非常停止回路
stop
circuit
Monitor
監視
監視
Monitor
*2)
CNUSR2
16/17
エラー出力
output
} Error
41/42
Controller #2
Power supply in the robot CNUSR11/CNUSR12*1)
内部電源 24V
controller 24V
1
Not connected
未接続
OP
EmerOP非常停止
gency
stop
ボタン
button
Emergency
stop
周辺装置
output の非常停止
of peripheral equipment
出力
2
3
RA
10μF
*6)
*4)
4
5
6
7
TB非常停止
*3)
ボタン
TB
Emergency stop
button
RA
RA
*7)
Input
入力
detection
検知
circuit
回路
Safety
relay
安全リレー
Internal
emergency
内部非常停止回路
stop circuit
8
ドアスイッチ入力
Door
switch input
9
10
イネーブリング
Enabling
デバイス
device
*5)
13
14
11
12
Emergency stop output
非常停止出力
モード出力
output
} Mode
*2)
CNUSR2
16/17
41/42
エラー出力
output
}Error
Monitor
監視
*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 button 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 button of the robot controller. (Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the controller’s 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.
Fig.2-29 : Example of safety measures (Wiring example 4)
Installation 2-45
2Unpacking to installation
<Wiring example 5>: Connect the controller to the safety relay
Use the controller’s emergency stop button command as an input to the safety relay.
Controller
Customer equipment
お客様装置
CNUSR11
1
OP
E-stop
No connection
TB
E-stop
2
3
10μF
Internal
relay
内部リレー
24V DC
External
emergency stop switch
外部非常停止スイッチ
ex) QS90SR2SP (Mitsubishi
例)QS90SR2SP
Corporation)
Electric
( 三菱電機株式会社)
4
Input
入力
detection
検知
circuit
回路
No connection COM0
5
X0
6
Safety
relay
安全リレー
Safety relay
安全リレー
Safety
安全入力1
input 1
24G
Emergency stop
非常停止出力
output
13
24V DC
No connection COM1
14
X1
CNUSR12
1
No connection
2
24V DC
Safety
安全入力2
input 2
+24V
24G
24V DC
24G
External emergency stop
3
10μF
Internal
relay
内部リレー
Input
入力
detection
検知
circuit
回路
外部非常停止スイッチ
switch
4
5
6
Emergency
stop
非常停止出力
output
13
14
24G
24V DC
Customer Power
Supply (DC
24V)
お客様電源(DC
24V)
[Caution]
1) This product has category 3 functionality and therefore the robot’s whole unit cannot be set to category 4.
2) The controller’s internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples,
particularly for emergency stop button 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 button (or
contact points) in the user equipment to across the terminals 3 and 4 of CNUSR11/12, and ultimately connect the negative side (24G).
3) When installing a safety relay to use it as an input point of the controller's emergency stop button 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 controller’s 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 button 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.
Fig.2-30 : Example of safety measures (Wiring example 5)
2-46 Installation
2Unpacking to installation
(2) CR751 controller
<Wiring example 1>: 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.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Emergency
stop switch
非常停止スイッチ
(2-(2接点タイプ)
contact type)
Controller
コントローラ
Power supply in the
robot
controller
24V
内部電源
24V
*2)
TB Emergency
TB非常停止
stop
button
ボタン
*1)
CNUSR1
1/ 6
*6)
Not connected
短絡
26/31
Peripheral
周辺装置
equipment
2/ 7
10μF
RA
*3)
27/32
3/ 8
Short circuit
短絡
(Short-circuited)
28/33
4/ 9
RA
29/34
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
5/10
RA
30/35
イネーブリング
Enabling
device
デバイス
*4)
*5)
Input
入力
detection
検知
circuit
Safety
relay
安全リレー
回路
20/19
45/44
18/17
43/42
stop output
非常停止出力
}Emergency
output
モード出力
} Mode
Internal emergency stop
内部非常停止回路
circuit
*1)
CNUSR2
16/17
41/42
output
エラー出力
} Error
*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 button 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 controller’s 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.
Fig.2-31 : Example of safety measures (Wiring example 1)
Installation 2-47
2Unpacking to installation
<Wiring example 2>: 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.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Emergency
stop switch
非常停止スイッチ
(2- (2接点タイプ)
contact type)
コントローラ
Controller
Power supply in the
robot
controller
内部電源
24V24V
TB Emergency
TB非常停止
stop
button
ボタン
*1)
Peripheral
周辺装置
equipment
CNUSR1
*6)
1/ 6
Not connected
未接続
26/31
2/ 7
*2)
10μF
RA
*3)
27/32
3/ 8
28/33
4/ 9
RA
29/34
Door
switch input
ドアスイッチ入力
Safety
fence door
安全柵のドア
Power
supply in
周辺装置側電源
the
24VPeripheral
equipment
24V
5/10
RA
30/35
イネーブリング
Enabling
device
デバイス
*4)
*5)
Input
入力
detection
検知
circuit
Safety
relay
安全リレー
回路
20/19
45/44
18/17
43/42
Emergency stop output
} 非常停止出力
output
モード出力
} Mode
Internal
emergency stop
内部非常停止回路
circuit
*1)
CNUSR2
16/17
41/42
output
エラー出力
} Error
*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 button 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 controller’s 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.
Fig.2-32 : Example of safety measures (Wiring example 2)
2-48 Installation
2Unpacking to installation
<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the 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.
<Operation of the emergency stop>
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 controller OFF, peripheral equipment state can be the emergency stop also.
Emergency
stop switch
非常停止スイッチ
(2- (2接点タイプ)
contact type)
Controller
コントローラ
Power supply in the
robot内部電源
controller24V
24V
TB Emergency
TB非常停止
stop
button
ボタン
*1)
Peripheral
equipment
周辺装置
CNUSR1
1/ 6 Not connected*6)
未接続
26/31
Power
supply
周辺装置側
24V
電源24V
2/ 7
*2)
10μF
RA
*3)
27/32
3/ 8
28/33
4/ 9
RA
29/34
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
Circuit
周
辺
装
置
側
内
部
回
路
5/10
RA
30/35
イネーブリング
Enabling
device
デバイス
*4)
*5)
Input
入力
detection
検知
circuit
Safety
relay
安全リレー
回路
20/19
45/44
18/17
43/42
Emergency
stop output
非常停止出力
Monitor
監視
モード出力
output
}Mode
Monitor
監視
Internal emergency stop
内部非常停止回路
circuit
*1)
CNUSR2
16/17
41/42
output
エラー出力
}Error
*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 button
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 controller’s 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 button 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 button output may not work properly. Please connect the
24V power supply to 26/31 terminals.
Fig.2-33 : Example of safety measures (Wiring example 3)
Installation 2-49
2Unpacking to installation
<Wiring example 4>: 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.
<Operation of the emergency stop>
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 controller OFF, peripheral equipment state can be the emergency stop also.
Emergency
stop switch
非常停止スイッチ
(4-contact
(4接点タイプ)type)
Peripheral equipment
周辺装置
Controller #1
コントローラ #1
Power supply in the
24V24V
robot内部電源
controller
TB emerTB非常停止
gency
stop
ボタン
button
*1)
CNUSR1
1/ 6
Not connected
未接続
26/31
Emergency
stop
周辺装置
output of
periphの非常停止
eral equipment
出力
2/ 7
*3)
RA
10μF
Power
supply
周辺装置側
24V
電源24V
周辺装置内部
Circuit
非常停止回路
27/32
3/ 8
*2)
28/33
4/ 9
RA
29/34
ドアスイッチ入力
Door
switch input
5/10
RA
イネーブリング
Enabling
デバイス
device
Safety安全柵のドア
fence door
*4)
*5)
20/19
45/44
Safety
relay
安全リレー
Input
入力
detection
検知
circuit
回路
Doorドアスイッチ出力
switch output
30/35
Emergency
stop output
非常停止出力
18/17
output
モード出力
} Mode
43/42
Internal emergency
内部非常停止回路
stop
circuit
Monitor
監視
Monitor
監視
*1)
CNUSR2
16/17
エラー出力
output
} Error
41/42
Controller
#2
コントローラ #2
Power supply in the
robot 内部電源
controller24V
24V
TB emerTB非常停止
gency
stop
ボタン
button
*1)
Emergency stop
output 周辺装置
of peripheral equipment
の非常停止
CNUSR1
1/ 6
Not connected
未接続
26/31
出力
2/ 7
10μF
RA
*3)
27/32
3/ 8
*2)
28/33
4/ 9
RA
RA
*5)
Input
入力
detection
検知
circuit
回路
Safety
relay
安全リレー
29/34
Door
switch input
ドアスイッチ入力
5/10
30/35
イネーブリング
Enabling
デバイス
device
*4)
20/19
45/44
18/17
43/42
Internal
emergency
内部非常停止回路
stop circuit
Emergency stop output
非常停止出力
Monitor
監視
Mode output
} モード出力
*1)
CNUSR2
16/17
41/42
}
エラー出力
Error
output
*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 button 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 controller’s 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.
Fig.2-34 : Example of safety measures (Wiring example 4)
2-50 Installation
2Unpacking to installation
<Wiring example 5>: Connect the controller to the safety relay
Use the controller’s emergency stop button to input safety relay.
Customer equipment
お客様装置
Controller
CNUSR1
1
No connection
TB
E-stop
26
2
10μF
Internal
relay
内部リレー
24V DC
External
emergency stop switch
外部非常停止スイッチ
Safety relay
安全リレー
ex) QS90SR2SP (Mitsubishi
例)QS90SR2SP
( 三菱電機株式会社)
Electric
Corporation)
27
No connection COM0
Input
入力
detection
検知
circuit
3
回路
X0
Safety
relay
安全リレー
28
Safety
安全入力1
input 1
24G
Emergency stop
非常停止出力
output
20
24V DC
No connection COM1
45
X1
6
No connection
31
7
Input
入力
detection
検知
circuit
10μF
Internal
relay
内部リレー
24V DC
Safety
安全入力2
input 2
+24V
24G
24V DC
24G
External emergency stop
外部非常停止スイッチ
switch
32
8
回路
33
Emergency
stop
非常停止出力
output
19
44
24G
24V DC
Customer
Power Supply (DC
お客様電源(DC
24V)24V)
[Caution]
1) This product has category 3 functionality and therefore the robot’s whole unit cannot be set to category 4.
2) The controller’s internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples,
particularly for emergency stop button 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 button (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 button on the controller, please only use a safety relay that functions when connecting the input to the one end of the 2 systems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)).
4) The emergency stop input detection relay (internal relay) uses the controller’s 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 button 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.
Fig.2-35 : Example of safety measures (Wiring example 5)
Installation 2-51
2Unpacking to installation
(3) CR760 controller
<Wiring example 1>: 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.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Emergency
stop switch
非常停止スイッチ
(2- (2接点タイプ)
contact type)
Controller
コントローラ
Power supply in the
robot 内部電源
controller24V
24V
OP Emergency
OP非常停止
stop
button
ボタン
*6)
Peripheral
周辺装置
equipment
EMG1 *1)
1/ 2
Short circuit
短絡
13/14
(Short-circuited)
3/ 4
10μF
RA
*3)
15/16
5/ 6
Short circuit
短絡
(Short-circuited)
17/18
9/10
TB Emergency
TB非常停止
stop
button
ボタン
*2)
RA
21/22
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
7/ 8
RA
*5)
Input
入力
detection
検知
circuit
Safety
relay
安全リレー
回路
19/20
Enabling
イネーブリング
device
デバイス *4)
EMG2 *1)
5/ 6
Emergency
stop output
非常停止出力
17/18
}
7/ 8
19/20
output
モード出力
} Mode
Internal emergency stop
内部非常停止回路
circuit
EMG2
11/12
23/24
*1)
エラー出力
output
} Error
*1)Each of the connectors, EMG1 and
EMG2, are assigned with the same
pin number, creating two systems
for each terminal. It is absolutely
necessary to connect the two
systems.
*2)The T/B emergency stop button
connected with the controller.
*3)Emergency stop input relay.
*4)Refer to the Standard specification
manual or Special specification
manualfor the enabling device.
*5)The emergency stop input detection relay is used the controller’s 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)The emergency stop button of the robot controller. (Only specification with the operation panel.)
Fig.2-36 : Example of safety measures (Wiring example 1)
2-52 Installation
2Unpacking to installation
<Wiring example 2>: 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.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Emergency
stop switch
非常停止スイッチ
(2- contact
type)
(2接点タイプ)
Controller
コントローラ
Power supply in the
robot
controller
内部電源
24V24V
OP Emergency
OP非常停止
stop
button
ボタン
*6)
*1)
Peripheral
周辺装置
equipment
EMG1
*7)
1/ 2
Not
connected
未接続
13/14
3/ 4
10μF
RA
*3)
15/16
5/ 6
17/18
9/10
TB Emergency
TB非常停止
stop
button
ボタン
*2)
RA
21/22
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
Power
supply in
周辺装置側電源
the
24VPeripheral
equipment
24V
7/ 8
RA
19/20
イネーブリング
Enabling
device
デバイス
*4)
*5)
Input
入力
detection
検知
circuit
回路
Safety
relay
安全リレー
EMG2 *1)
5/ 6
17/18
7/ 8
19/20
stop output
非常停止出力
} Emergency
モード出力
output
} Mode
Internal
emergency stop
内部非常停止回路
circuit
EMG2
11/12
23/24
*1)
output
エラー出力
} Error
*1)Each of the connectors, EMG1 and
EMG2, are assigned with the same
pin number, creating two systems
for each terminal. It is absolutely
necessary to connect the two
systems.
*2)The T/B emergency stop button
connected with the controller.
*3)Emergency stop input relay.
*4)Refer to the Standard specification
manual or Special specification
manualfor the enabling device.
*5)The emergency stop input detection relay is used the controller’s 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)The emergency stop button of the robot controller. (Only specification with the operation panel.)
*7)Connect the 24V power supply to 13/14 terminals.
Fig.2-37 : Example of safety measures (Wiring example 2)
Installation 2-53
2Unpacking to installation
<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the 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.
<Operation of the emergency stop>
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 controller OFF, peripheral equipment state can be the emergency stop also.
Emergency
stop switch
非常停止スイッチ
(2-(2接点タイプ)
contact type)
Controller
コントローラ
Power supply in the
robot
controller
内部電源
24V24V
OP Emergency
stop
button
OP非常停止
ボタン
*6)
*1)
EMG1
1/ 2
Not connected
未接続
13/14
*7)
Peripheral
equipment
周辺装置
Power周辺装置側
supply
24V 電源24V
3/ 4
*3)
10μF
15/16
RA
5/ 6
17/18
9/10
TB Emergency
TB非常停止
stop
button
ボタン
*2)
RA
RA
21/22
Door
switch input
ドアスイッチ入力
周
Circuit
7/ 8
19/20
Enabling
イネーブリング
device
デバイス
*4)
*5)
Input
入力
detection
検知
circuit
Safety
relay
安全リレー
回路
Safety
安全柵のドア
fence door
EMG2 *1)
5/ 6
stop output
非常停止出力
17/18 Emergency
7/ 8
19/20
Mode output
} モード出力
Internal
emergency stop
内部非常停止回路
circuit
EMG2
11/12
23/24
辺
装
置
側
内
部
回
路
Monitor
監視
Monitor
監視
*1)Each of the connectors, EMG1 and
EMG2, are assigned with the same
pin number, creating two systems for
each terminal. It is absolutely
エラー出力
Error
output
necessary to connect the two
systems.
*2)The T/B emergency stop button
connected with the controller.
*3)Emergency stop input relay.
*1)
}
*4)Refer to the Standard specification manual or Special specification manualfor the enabling device.
*5)The emergency stop input detection relay is used the controller’s 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)The emergency stop button of the robot controller. (Only specification with the operation panel.)
*7)When using emergency stop button 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 button output may not work properly.
Please connect the 24V power supply to 13/14 terminals.
Fig.2-38 : Example of safety measures (Wiring example 3)
2-54 Installation
2Unpacking to installation
<Wiring example 4>: 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.
<Operation of the emergency stop>
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 controller OFF, peripheral equipment state can be the emergency stop also.
Emergency
stop switch
非常停止スイッチ
(4-contact
(4接点タイプ)type)
Peripheral equipment
周辺装置
Controller
#1
コントローラ #1
Power supply in the
robot 内部電源
controller
24V
24V
OP
Emergency
stop
button
OP非常停止
*1)
EMG1
1/ 2
Not
connected
未接続
13/14
Emergency
stop
周辺装置
output of
periphの非常停止
eral equipment
出力
3/ 4
ボタン
*5)
10μF
RA
*3)
Power
supply
周辺装置側
24V
電源24V
周辺装置内部
非常停止回路
Circuit
15/16
5/ 6
17/18
9/10
TB非常停止
ボタン
*2)
RA
TB
Emergency
stop button
RA
21/22
Door
switch input
ドアスイッチ入力
7/ 8
19/20
Doorドアスイッチ出力
switch output
イネーブリングdevice
Enabling
デバイス
EMG2 *1)
5/ 6
Emergency stop output
17/18 非常停止出力
*6)
Input
入力
detection
検知
circuit
回路
*4)
Safety
relay
安全リレー
7/ 8
19/20
Internal emergency
stop内部非常停止回路
circuit
Safety fence
door
安全柵のドア
Monitor
監視
モード出力
output
} Mode
Monitor
監視
EMG2 *1)
11/12
23/24
エラー出力
output
} Error
Controller
コントローラ #2#2
Power supply in the
robot 内部電源
controller24V
24V
OP
Emergency
stop
button
OP非常停止
EMG1 *1)
1/ 2
未接続
Not connected
13/14
Emergency
stop
周辺装置
output の非常停止
of peripheral equipment
出力
3/ 4
ボタン
*5)
10μF
RA
*3)
15/16
5/ 6
17/18
9/10
TB非常停止
ボタン
*2)
RA
TB
Emergency
stop button
RA
21/22
Door
switch input
ドアスイッチ入力
7/ 8
19/20
イネーブリングdevice
Enabling
デバイス
*6)
Input
入力
detection
検知
circuit
回路
Safety
relay
安全リレー
Internal emergency
stop内部非常停止回路
circuit
*4)
EMG2 *1)
5/ 6
Emergency stop output
17/18 非常停止出力
7/ 8
19/20
EMG2
11/12
23/24
Monitor
監視
モード出力
output
} Mode
*1)
エラー出力
output
} Error
*1)Each of the connectors, EMG1 and EMG2, are assigned with the
same pin number, creating two systems for each terminal. It is
absolutely necessary to connect the two 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 button 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 button of the robot controller. (Only specification with the operation panel.)
*6) The emergency stop input detection relay uses the controller’s 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.
Fig.2-39 : Example of safety measures (Wiring example 4)
Installation 2-55
2Unpacking to installation
<Wiring example 5>: Connect the controller to the safety relay
Use the controller’s emergency stop button command as an input to the safety relay.
Controller
お客様装置
Customer equipment
EMG1
1
OP
E-stop
No connection
TB
E-stop
13
3
10μF
Internal
relay
内部リレー
24V DC
External
emergency stop switch
外部非常停止スイッチ
15
Safety relay
安全リレー
ex) QS90SR2SP (Mitsubi例)QS90SR2SP
Electric Corporation)
shi( 三菱電機株式会社)
No connection COM0
Input
入力
detection
検知
circuit
回路
Safety
input 1
安全入力1
5
X0
17
Safety
relay
安全リレー
24G
EMG2
Emergency stop
非常停止出力
output
5
24V DC
17
No connection COM1
EMG1
No connection
14
X1
24V DC
External emergency stop
4
10μF
Internal
relay
内部リレー
Safety
input 2
安全入力2
2
外部非常停止スイッチ
switch
+24V
24G
16
Input
入力
detection
検知
circuit
回路
6
18
24G
EMG2
Emergency
stop
非常停止出力
output
6
18
24V DC
24V DC
24G
Customerお客様電源(DC
Power Supply 24V)
(DC 24V)
[Caution]
1)This product has category 3 functionality and therefore the robot’s whole unit cannot be set to category 4.
2)The controller’s internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples, particularly
for emergency stop button output when using user equipment. Connect the positive side of the user equipment (24V DC)
to the two terminals 13/14 of EMG1, then connect the emergency stop button (or contact points) in the user equipment
to the 3-15 and 4-16 terminals of EMG1, and ultimately connect the negative side (24G).
3)When installing a safety relay to use it as an input point of the controller's emergency stop button 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 controller’s 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 button 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 two terminals 5/6
of EMG2 to 24V.
Fig.2-40 : Example of safety measures (Wiring example 5)
2-56 Installation
2Unpacking to installation
(4) 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 button.
(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. 2-42, Fig. 2-41, Fig.
2-43)
・ 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)
・ CR760 controller................................... EMG1/2 connector:
AWG #28 to #16 (0.08mm2 to 1.5mm2)
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.
Installation 2-57
2Unpacking to installation
The electric-current value limitation when connecting the coils, such as the Relays (CR750 controller)
Internal fuse
Robot controller
ロボットコントローラ
ロボットコント
Power
supply in the
robot
controller
ローラ内電源
F2
24V
OP
Emergency
OP非常停止
stop button
ボタン
F1
非常停止スイッチ
Emergency stop switch
(2- contact type)
(2接点タイプ)
CNUSR11/12
1
2
Peripheral
equipment
周辺装置
Power
周辺装置
supply24V
側電源24V
Not connected
未接続
3
TB
Emergency
TB非常停止
stop button
ボタン
10μF
RA
4
5
RA
Relay
6
7
RA
Door switch input
ドアスイッチ入力
Monitor
監視
Safety
fence door
安全柵のドア
Circuit
10
Enabling
device
イネーブリング
デバイス
13
Safety relay
安全リレー
Input
入力
detection
検知
circuit
回路
14
11
12
Internal emergency
内部非常停止回路
stop
circuit
Monitor
監視
stop output
非常停止出力
} Emergency
output
モード出力
} Mode
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.
CNUSR2
16/17
41/42
Rated-current is 100mA
or less
周
辺
装
置
側
内
部
回
路
8
9
RA
Note)
Error output
} エラー出力
Fig.2-41 : Limitations when connecting the relay etc. (CR750)
The electric-current value limitation when connecting the coils, such as the Relays (CR751 controller)
Internal fuse
Robot controller
ロボットコントローラ
ロボットコント
Power
supply in the
robotローラ内電源
controller
F2
24V
F1
TB
Emergency
TB非常停止
stop button
ボタン
非常停止スイッチ
Emergency stop switch
(2- contact type)
(2接点タイプ)
CNUSR1
Peripheral
equipment
周辺装置
Power
周辺装置
supply24V
側電源24V
1/6
Not connected
未接続
26/31
2/7
10μF
RA
27/32
3/8
RA
Note)
28/33
RA
Door switch input
ドアスイッチ入力
Monitor
監視
Safety
fence door
安全柵のドア
29/34
5/10
RA
30/35
Enabling
device
イネーブリング
デバイス
20/19
Input
入力
detection
検知
circuit
回路
Safety relay
安全リレー
Internal emergency
stop
circuit
内部非常停止回路
45/44
18/17
43/42
stop output
非常停止出力
} Emergency
16/17
Error output
} エラー出力
Fig.2-42 : Limitations when connecting the relay etc. (CR751)
2-58 Installation
Monitor
監視
モード出力
output
} Mode
CNUSR2
41/42
周
辺
装
置
側
内
部
回
路
Circuit
4/9
Relay
Rated-current is
100mA or less
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.
2Unpacking to installation
The electric-current value limitation when connecting the coils, such as the Relays (CR760 controller)
Internal fuse
Robot controller
ロボットコントローラ
OP
Emergency
OP非常停止
stop button
ボタン
ロボットコント
Power
supply in the
ローラ内電源
robot
controller
F2
24V
1/ 2
F1
13/14
非常停止スイッチ
Emergency stop switch
(2- contact type)
(2接点タイプ)
EMG1
周辺装置
Peripheral
equipment
Power
周辺装置
supply24V
側電源24V
Not connected
未接続
3/ 4
TB
Emergency
TB非常停止
stop button
ボタン
10μF
RA
15/16
5/ 6
RA
Relay
17/18
Monitor
監視
Safety
fence door
安全柵のドア
21/22
7/ 8
RA
19/20
Enabling
device
イネーブリング
デバイス
EMG2
5/ 6
Input
入力
detection
検知
circuit
回路
Safety relay
安全リレー
Internal emergency
内部非常停止回路
stop
circuit
17/18
7/ 8
19/20
stop output
非常停止出力
} Emergency
周
辺
装
置
側
内
部
回
路
監視
Monitor
Mode output
} モード出力
EMG2
11/12
23/24
Rated-current is 100mA
or less
Circuit
9/10
RA
Door switch input
ドアスイッチ入力
Note)
Error output
} エラー出力
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.
Fig.2-43 : Limitations when connecting the relay etc. (CR760)
Installation 2-59
2Unpacking to installation
[Supplementary explanation regarding emergency stop circuit]
The controller’s 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 button is pressed.
OP
TB
OP
TB
emergency
emergency
非常停止 非常停止
stop
stop
24V DC
+
-
OP
TB
OP
TB
emergency
非常停止 emergency
非常停止
stop
stop
検出
検出
detection detection
Emergency stop
非常停止検出
detection relay
リレー
24G
External
外部
emergency
非常停止
stop
検出
detection
Input
入力
Safety
relay
安全リレー
Fig.2-44 : Internal circuit of controller
CAUTION
Be sure to perform wiring correctly. If there are mistakes in the wiring, the robot may
not stop when the emergency stop button 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.
CAUTION
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.
2-60 Installation
2Unpacking to installation
2.2.10 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 and an image of how to connect the controller connector are
shown below. When you are using an additional axis, please perform appropriate circuit connections by referring to
these drawings.
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.
(1) Example circuit
■ CR750/CR751 controller
1) Get the power supply for the controller from the secondary terminal
1)付加軸アンプボックス内蔵漏電遮断器(NV)の2次側より、コントローラ電源を取り出す。
of short circuit breaker (NV) built in the addition axis amplifier box.
Amplifier
アンプ
2) Get the2)コントローラ内蔵漏電遮断器(NV)の2次側より、
power supply for the MC synchronization from the secondary terminal
of short circuit breaker (NV) built in the controlMC同期用電源を取り出す。
ler.
NV
NV
CNUSR
connector
CNUSRコネクタ
To the
内部回路へ
internal
circuit
Note1)
注1)
<Controller>
<コントローラ>
MC1
MC2
88
DC24V
Note2)
注2)
AXMC11
AXMC12
Note2)
注2)
AXMC21
AXMC22
AXMC
is output
内部サーボ電源用
from the contact
コンタクタ接点より
for
internal servo
AXMC出力
power
supplies.
MC
<Addition axis amplifier box>
<走行軸(付加軸)アンプボックス>
Note1)
Connector and Pin number.
注1)コネクタとピン番号を以下に示します。
Signal
信号名
Connector
コネクタ
Pin
number
ピン番号
AXMC11
AXMC12
AXMC21
AXMC22
CNUSR2
20
45
19
44
CNUSR2
Note2)
This output is opened, if the robot turns off the servo by occurrence of alarm etc.
注2)ロボットがアラームの発生などでサーボOFFしたとき、本出力(接点)が開放します。
<Electric specification>
<接点容量>
DC24V/10mA to 100mA
DC24V/10mA~100mA
[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.
Fig. 2-45 : Example of circuit for addition axes of Magnet contactor control output (CR750/CR751 controller)
Installation 2-61
2Unpacking to installation
■ CR760 controller
1) Get the power supply for the controller from the secondary terminal
of short circuit breaker (NV) built in the addition axis amplifier box.
1)付加軸アンプボックス内蔵漏電遮断器(NV)の2次側より、コントローラ電源を取り出す。
Amplifier
アンプ
2) Get the2)コントローラ内蔵漏電遮断器(NV)の2次側より、
power supply for the MC synchronization from the secondary terminal
of short circuit breaker (NV) built in the controlMC同期用電源を取り出す。
ler.
NV
EMG1
connector Note1)
EMG1コネクタ
注1)
NV
To the
内部回路へ
internal
circuit
AXMC11
AXMC12
MC
MC1
MC2
88
DC24V
Note2)
注2)
Note2)
注2)
AXMC21
AXMC22
AXMC
is output
内部サーボ電源用
from
the contact
コンタクタ接点より
for
internal servo
AXMC出力
power
supplies.
<Addition axis amplifier box>
<走行軸(付加軸)アンプボックス>
Note1)
Connector and Pin number
注1)コネクタとピン番号を以下に示します。
<Controller>
<コントローラ>
Signal
信号名
Connector
コネクタ
AXMC11
AXMC12
AXMC21
AXMC22
EMG1
EMG1
Pin number
ピン番号
11
23
12
24
Note2)
This output is opened, if the robot turns off the servo by occurrence of alarm etc.
注2)ロボットがアラームの発生などでサーボOFFしたとき、本出力(接点)が開放します。
<Electric specification>
<接点容量>
DC24V/10mA to 100mA
DC24V/10mA~100mA
[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.
Fig. 2-46 : Example of circuit for addition axes of Magnet contactor control output (CR760 controller )
(2) Image of how to connect the controller connector
■ CR750 controller
<CR750 controller>
* The controller is
an example.
Within
30cm
30cm以内
* Connects with CNUSR2 connector with
soldering. Refer to Page 31 "Fig. 2-18:
Method of wiring for external emergency
stop connection (CR750 controller
(CNUSR2))".
Fig. 2-47 : AXMC terminal connector (CR750)
2-62 Installation
CNUSR2
connector
CNUSR2コネクタ
Ferrite
core
フェライトコア
Pass
twice
2回通し
2Unpacking to installation
■ CR751 controller
<CR751 controller>
* The controller is an example.
Within
30cm
30cm以内
Ferrite
core
フェライトコア
Pass
twice
2回通し
CNUSR2
connector
CNUSR2コネクタ
* The CNUSR2 connector is connected
by soldering. Refer to Page 36 "Fig. 221: Method of wiring for external
emergency stop connection (CR751
controller (CNUSR1/2))".
Fig. 2-48 : AXMC terminal connector (CR751)
■ CR760 controller
<CR760 controller>
Non-CE marking
specification
CE marking specification
View A: Inside of CR760 controller
A
Safety unit
(R760SFT)
CR760
POWER
EMG1
!
㼃㼕㼠㼔㼕㼚㻌㻟㻜㻜㼙㼙
Transformer box *1)
*1) It is necessary to open the transformer box's door
when performing this connection work.
Ferrite core (attachments)
Pass once
* Connection method is the same as the connection of emergency stop.
Refer to Page 37 "Fig. 2-22: External emergency stop connection (CR760)".
Fig.2-49 : AXMC terminal connector (CR760)
Installation 2-63
2Unpacking to installation
2.2.11 Connecting to the robot arm
Refer to the separate manual "Robot arm setup and maintenance", and connect the controller and robot arm with
machine cables.
2.2.12 Noise suppression for the CR760 CE marking specification
An example of noise suppression for the CR760 CE marking specification is shown below.
Perform noise suppression around the robot controller (if necessary).
1) Insert the six ferrite cores in both end of the CN1 and CN3 cable.
Recommended ferrite core: GTFC-41-27-16 (Manufacturer: KITAGAWA INDUSTRIES Co., Ltd.)
2) Insert the the three ferrite cores in both end of the CN2 cable.
Recommended ferrite core: E04SR401938 (Manufacturer: Seiwa Electric Mfg. Co., Ltd.)
3) Add FG cable to the robot controller.
Recommended cable: ZSK-12HF (Manufacturer Zippertubing (Japan),Ltd.)
㻾㼛㼎㼛㼞㻌㼍㼞㼙
㻔㻾㼂㻙㻟㻡㻲㻛㻡㻜㻲㻛㻣㻜㻲㻕
㻾㼛㼎㼛㼠㻌㼏㼛㼚㼠㼞㼛㼘㼘㼑㼞
㻔㻯㻾㻣㻢㻜㻌㻯㻱㻌㼙㼞㼍㼗㼕㼚㼓㻕
㻯㻺㻝㻌㼏㼍㼎㼘㼑
㻯㻺㻞㻌㼏㼍㼎㼘㼑
㻯㻺㻟㻌㼏㼍㼎㼘㼑
㻲㼑㼞㼞㼕㼠㼑㻌㼏㼛㼞㼑㻌㻔㻳㼀㻲㻯㻙㻠㻝㻙㻞㻣㻙㻝㻢㻕
㻲㼑㼞㼞㼕㼠㼑㻌㼏㼛㼞㼑㻌㻔㻱㻜㻠㻿㻾㻠㻜㻝㻥㻟㻤㻕
Fig.2-50 : Noise suppression for CR760 CE marking specification
㻲㻳㻌㼏㼍㼎㼘㼑㻌㻔㼆㻿㻷㻙㻝㻞㻴㻲㻕
2.3 Setting the origin
Refer to the separate manual "Robot arm setup and maintenance", and set the origin.
2.4 Confirming the operation
Refer to the separate manual "Robot arm setup and maintenance", and confirm the robot operation with jog
operation.
2-64 Installation
3Installing the option devices
3 Installing the option devices
Refer to Page 78, "4.2.1 Installing and removing the T/B" for installing method of T/B. Refer to the separate
"Standard Specifications" or each option's manual for the optional devices other than those described in this
manual.
3.1 Installing the Option Card
The installation procedure of the interface card.
(1) CR750/CR751 controller
<CR750 controller (Rear side)>
SLOT1
* The controller is an example.
<CR751 controller (Front side)>
Interface
cover
インタフェースカバー
removable
取外しレバーlever
Interface
cover
インタフェースカバー
SLOT2
* The controller is an example.
Connecting
接続コネクタconnector
Interface
card
インタフェースカード
Handle
取っ手
取外しレバー
Removable
lever (Other side)
(下側)
Fig. 3-1 : Installation of the interface card (CR750/CR751 controller)
1) Turn off the power.
2) Pick the interface cover removal lever and pull up the interface cover.
3) Insert the interface card in SLOT1 or SLOT2.
Insert the card as both ends of the card may fit into the guide of slot(SLOT1 or SLOT2 showed in Fig. 3-1).
4) Insert the connection connector securely to the back until the removal lever is locked with the sound.
This completes the installation of the interface card.
Installing the Option Card 3-65
3Installing the option devices
(2) CR760 controller
<Non-CE marking specification>
A
View A: Inside of CR760 controller
<CE marking specification>
CR760
POWER
!
Transformer box *1)
*1) It is necessary to open the transformer box's door when performing this installation work.
Interface
card
インタフェースカード
Handle
取っ手
R760CPUユニット
R760CPU unit
Interface
cover
インタフェースカバー
Interface cover
インタフェースカバー
removable lever
取外しレバー
SLOT1
Removable
取外しレバー
lever
(Other side)
SLOT2
Connecting
connector
接続コネクタ
SLOT3
Fig. 3-2 : Installation of the interface card (CR760 controller)
1) Turn off the power.
2) Pick the interface cover removal lever and pull up the interface cover.
3) Insert the interface card in SLOT1, SLOT2, or SLOT3.
Insert the card as both ends of the card may fit into the guide of slot (SLOT1, SLOT2, or SLOT3 showed
in Fig. 3-2).
4) Insert the connection connector securely to the back until the removal lever is locked with the sound.
This completes the installation of the interface card.
3-66 Installing the Option Card
3Installing the option devices
3.2 Installing the extension memory cassette
<Non-CE marking specification>
View A: Inside of CR760 controller
A
CR760
POWER
!
R760CPU unit
R760CPUユニット
<CE marking specification>
M4
screw x 2
M4ネジ(2本)
A
Transformer box *1)
*1) It is necessary to open the transformer box's door
when performing this installation work.
The ” ▲ ” is facing downward.
Fig. 3-3 : Installing the extension memory cassette
1) Completely back up the memory information in the robot controller by using the RT ToolBox 2. (This must
be performed as a preventive measure in case the contents of the internal memory are destroyed while
inserting a memory cassette.)
2) Turn off the controller power.
CAUTION
Also turn off the supplying source power switch at the controller.
If that is not right, there is danger of the electric shock.
3) Open the front door of the controller, and remove the cover at the memory cassette slot on the R760CPU
unit.
4) Insert the memory cassette all the way to the back with the ”arrow mark”(the surface which inserts screw
has the mark) facing downward, and fix surely two screws attached as shown in Fig. 3-3.
Note) Please keep in mind that the cassette will change if it fastens too much.
5) Install the removed cover in "3)".
6) Turn on the controller power.
This completes the installation of the extension memory cassette.
[CAUTION]
The programs that are stored in the control unit will be moved into the extension memory cassette; they will be
deleted from the memory in the control unit.
Please be careful not to remove the memory cassette, since if you remove it, there will be no program
information residing in the controller (the information is in the memory cassette).
Although the program information (***.mb5) is copied into the memory cassette, the parameter information
(***.prm) is still stored in the control unit.
Installing the extension memory cassette 3-67
4Basic operations
4 Basic operations
In this chapter, the following items will be explained regarding the basic operations for handling the robot.
4-68
Handling the controller
The functions of the various keys on the controller are
explained.
Handling the teaching pendant
The methods of installing/removing the T/B, and the
functions of the various keys are explained.
Turning the power ON/OFF
The items to confirm before turning on the controller
power, and the methods of turning the power ON and
OFF are explained.
Operating the robot with jog operation
The methods for manually operating the robot arm using
the teaching pendant are explained. This is mainly used
for teaching work.
Opening and closing the hand
The methods of opening and closing the hand using the
teaching pendant are explained.
Program creation to automatic operation
The procedures of creating the program are explained in
order.
4Basic operations
4.1 Handling the controller
4.1.1 Names of each parts
(1) CR750 controller
Controller (Front side)
<15>
<16>
* The controller is an example.
<17>
<3>
<18>
<6>
Fan, Air suction
<20>
Controller (Rear side)
<4>
<5>
<7>
<8> <9> <10>
Attached cover
<19>
<2>
<1>
Exhaust downward
(Bottom)
<13> <12>
<11>
<14>
<1>: ACIN terminal
There are three types (Type A, B, and C) of the terminals.
Refer to next page for details.
<21>
<22>
<23>
<20>: The operation panel
<24>
<25>
<26>
<27>
<28>
<29>
Fig.4-1 : Names of controller parts (CR750)
Handling the controller 4-69
4Basic operations
<1> ACIN terminal ................................................The terminal box for AC power source (single phase or single phase/
three phase, AC200V) input. (Inner side of a cover)
There are three types of the terminals and the terminal differs depending
on the model and specification (CE or non-CE).
Model
RV-2F series
RV-4F/4FL series
RV-4FJL series
RH-3FH series
RH-6FH series
RH-3FHR series
Non-CE specification
CE specification
Type A: For single phase
L1
L2
Type C: For single phase
Connect the primary power supply to L1 and L2
terminal.
RV-7F/7FL series
RV-7FLL series
RV-13F/13FL series
RV-20F series
RH-12FH series
RH-20FH series
Type B: For single phase/three phase
L1
N
Connect the primary power supply to L1 and N
terminal.
L1 L2 L3
When using the three phase primary power supply,
connect to L1, L2, and L3 terminal.
When using the single phase primary power supply,
connect to L1 and L3 terminal.
Refer to Page 19, "(1) CR750 controller" 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
<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 Page 26, "(1) CR750 controller" 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" → "Program No." → "Line No.".
<23> UP/DOWN button ............................... This scrolls up or down the details displayed on the "STATUS. NUMBER"
display panel.
4-70 Handling the controller
4Basic operations
<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.
CAUTION
CAUTION
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.
For USB connection between the RT ToolBox2 and the robot controller, noise may
cause the instability in data communication.
As a solution, switching communication method to LAN connection is recommended.
Handling the controller 4-71
4Basic operations
(2) CR751 controller
* The controller is an example.
Controller (Front side)
<4>
<2>
<1>
<3>
<7>
<5>
<10>
<15>
<6> <14> <13> <12><11>
<9>
<8>
Controller (Rear side)
Exhaust
Fig.4-2 : 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 Page 20, "(2) CR751 controller" 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 Page 32, "(2) CR751 controller" for the connection method and
the further 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
4-72 Handling the controller
4Basic operations
controller’s power supply circuit board due to the robot’s servo being ON.
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)
CAUTION
CAUTION
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.
For USB connection between the RT ToolBox2 and the robot controller, noise may
cause the instability in data communication.
As a solution, switching communication method to LAN connection is recommended.
Handling the controller 4-73
4Basic operations
(3) CR760 controller
<Non-CE marking specification>
<15>
<1>
<CE marking specification>
<15>
<2>
<2>
CR760
POWER
!
<1>
Side view
Front view
Side view
Front view
<2>: Operation panel
<9>
<3> <7>
<5>
<14>
<6>
<11>
<13>
<16>
<12>
<10> <17> <4>
<8>
Fig.4-3 : Names of controller parts (CR760)
<1> Power switch..................................................This turns the control power ON/OFF. (With earth leakage breaker function)
<2> Operation panel.............................................The operation panel for servo ON/OFF, START/STOP the program etc.
<3> START button ...............................................This executes the program and operates the robot. The program is run
continuously.
<4> STOP button..................................................This stops the robot immediately. The servo does not turn OFF.
<5> RESET button................................................This resets the error. This also resets the program's halted state and
resets the program.
<6> Emergency stop switch .............................This switch stops the robot in an emergency state. The servo turns OFF.
<7> 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.".
<8> END button .....................................................This stops the program being executed at the last line or End statement.
4-74 Handling the controller
4Basic operations
<9> SVO.ON button.............................................This turns ON the servo power. (The servo turns ON.)
<10> SVO.OFF button ........................................This turns OFF the servo power. (The servo turns OFF.)
<11> Display panel (STATUS.NUMBER) ................The alarm No., program No., override value (%), etc., are displayed.
<12> 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.
<13> 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.
<14> UP/DOWN button....................................This scrolls up or down the details displayed on the "STATUS.
NUMBER" display panel.
<15> Cable lead-in port .....................................Draw in the primary power cable.
<16> Interface cover ...........................................USB interface and battery are mounted.
<17> RS-232 connector ....................................This is an RS-232 specification connector for connecting the personal
computer.
<Non-CE marking specification>
<CE marking specification>
<2>
<1>
<2>
<1>
<3>
CN2 CN1 CN3
㻯㻺㻞
㻯㻺㻝 㻯㻺㻟
<3>
Fig.4-4 : Names of controller parts (Rear of CR760)
<1> Machine cable (For motor signal: CN2) ........Connects to the robot arm base. (CN2 connector)
<2> Machine cable (For motor power: CN1) .......Connects to the robot arm base. (CN1 connector)
<3> Machine cable (For motor power: CN3) .......Connects to the robot arm base. (CN3 connector)
Handling the controller 4-75
4Basic operations
<Non-CE marking
specification>
<CE marking specification>
A
R700CPUユニット
R700CPU
unit
CR760
POWER
!
OPT1
(Reserved)
(予約済)
⑨OPT2
⑤SLOT1
①
⑩MEMORY CASSETTE
⑬
View A: inside of CR760 controller
⑥SLOT2
⑪LAN1
③
④
⑧RIO
⑫CNENC
⑦SLOT3
②
① Earth leakage breaker......................................................................... Connect the primary power source.
② Grounding plate ..................................................................................... The grounding terminal for grounding the cable. (Strip off the
sheath of the cable and ground the controller case using this
plate.)
③ EMG1 connector................................................................................... External emergency stop input, door switch input, enabling
device switch, and magnet contactor control connector output for addition axes
④ EMG2 connector................................................................................... Emergency stop output, mode output, robot error output, and
special stop input (SKIP).
⑤⑥⑦ Option slot (SLOT1, SLOT2, SLOT3)................................ Install the interface optional.
⑧ Extension parallel input/output unit connection connector (RIO)
Connect the extension parallel input/output unit.
⑨ Addition axis connection connector (OPT2) ............................ Connect the cable for addition axis control.
⑩ Expansion memory cassette (MEMORY CASSETTE) .......... Install the memory cassette optional.
⑪ Ethernet interface (LAN1)................................................................ Connect the Ethernet cable.
⑫ Tracking interface (CNENC)............................................................ Connect the encoder cable, if it uses the tracking function.
⑬ Transformer box (CE marking specification only) .................. Connect a power cable and a grounding cable.
Fig.4-5 : Names of controller parts (inside of CR760)
CAUTION
4-76 Handling the controller
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.
4Basic operations
CAUTION
For USB connection between the RT ToolBox2 and the robot controller, noise may
cause the instability in data communication.
As a solution, switching communication method to LAN connection is recommended.
◇◆◇ What are the operation rights? ◇◆◇
Even when multiple devices, such as a T/B and personal computer, are connected to the controller, the
operation at one time is limited to one device. This limited device (has the operation rights)
◇◆◇ What operations require the operation rights? ◇◆◇
Operations that start the robot, such as program start and alarm reset, and operations that can cause starting
require the operation rights. Conversely, operation that stop the robot, such as stopping and servo OFF, can be
used without the operation rights for safety purposes. Refer to the separate manual "Explanation of functions
and operations" for details on the functions related to operation rights.
Handling the controller 4-77
4Basic operations
4.2 Handling the T/B
4.2.1 Installing and removing the T/B
Installing and removing the T/B, with turning off the controller power. If T/B is Installed and removed in the
state of control source ON, emergency stop alarm will be occurred.
If you use the robot wherein T/B is removed, install the dummy connector of attachment for the product instead
of T/B. Take out and insert the dummy connector with the connector itself.
CAUTION
Please do not pull the cable of T/B strongly or do not bend it too much.
It becomes the breaking of a wire of the cable and the cause of breakage of the
connector. Please installing and removing so that stress does not start the cable
with the connector itself.
(1) Installing the T/B (CR750/CR760 controller)
Explain the installation method of T/B below.
1) Check that the POWER (power supply) switch of the robot controller is OFF.
2) Connects T/B connector to the robot controller. Use as the upper surface the lock lever shown in Fig. 4-6,
and push in until there is sound.
<CR750 controller>
ダミーコネクタ
Dummy
connector
Details of the
A section
A部詳細
Lock
lever
ロックレバー
A
B
T/B
connector
T/B接続用コネクタ
Teaching
pendant
ティーチングボックス
(T/B)
(T/B)
When removing the connector for T/B
T/B接続用コネクタを取り外す時は、
connection,
use lock release (state
ロック解除(ロックレバーを上側に起
which
raised the lock lever to the up
こした状態)にし、B部のケースを手前
side),
make the case of the B section
にスライドさせてラッチを外し引き抜き
ます。to the front, and remove and pull
slide
up out the latch.
<CR760 controller> Note)
T/B
connector
T/B接続用コネクタ
A
Teaching
ティーチング
pendant
ボックス
(T/B)
(T/B)
Dummy
connector
ダミーコネクタ
Note) As for CE marking specification of CR760,
the transformer box is installed in the controller bottom. Refer to Fig. 4-5.
Fig. 4-6 : Installing and removing the T/B (CR750/CR760 controller)
The installation of T/B is finished.
4-78 Handling the T/B
4Basic operations
(2) Installing the T/B (CR751 controller)
Explain the installation method of T/B below.
1) Check that the POWER (power supply) switch of the robot controller is OFF.
2) Connect the T/B connector to the controller’s T/B connector. Make sure to fix it securely by fastening the
hand locks (in 2 places), as shown in Fig. 4-7.
* The controller is an example.
Controller
Teaching
pendant
ティーチングボックス
(T/B)
Details of the A section
A部詳細
A部
A
T/B
connector
T/B接続用コネクタ
Hand lock
(Two places)
手回しロック(2箇所)
Fig. 4-7 : Installing and removing the T/B (CR751 controller)
The installation of T/B is finished.
(3) Removing the T/B (CR750/CR760 controller)
Explain the removing method of T/B below.
1) Check that the POWER (power supply) switch of the robot controller is OFF.
2) Raise up the lock lever in the connector upper part , and pull up the connector.
Please install the dummy connector, if you use the robot, without connecting T/B.
The removing of T/B is finished.
(4) Removing the T/B (CR751 controller)
Explain the removing method of T/B below.
1) Check that the POWER (power supply) switch of the robot controller is OFF.
2) Loosen the handle locks (two places) of a connector, and pull up the connector.
Please install the dummy connector, if you use the robot, without connecting T/B.
The removing of T/B is finished.
Handling the T/B 4-79
4Basic operations
4.2.2 Functions of each key
②
④
①
⑤
⑥
⑧
⑩
⑤
⑥
⑦
⑨
⑪
⑫
⑬
⑭
⑮
⑯
③
⑰
⑱
⑲
⑳
Fig. 4-8 : Teaching pendant
① [Emergency stop] switch.................The robot servo turns OFF and the operation stops immediately. The release of
the emergency stop turns the switch to the right, or pulls it.
② [Enable/Disable] switch...................This switch changes the T/B key operation between enable and disable.
③ [Enable] switch ....................................When the [Enable/Disable] switch is available, the servo will be turned off, if this
switch is release or it pushes strongly. And the robot will stop immediately.
④ LCD display panel...............................The robot status and various menus are displayed.
⑤ Status display lamp............................Display the state of the robot or T/B.
⑥ [F1], [F2], [F3], [F4] ..........................Execute the function corresponding to each function currently displayed on
LCD.
⑦ [FUNCTION] .........................................Change the function display of LCD.
⑧ [STOP] key ...........................................This stops the program and decelerates the robot to a stop.
⑨ [OVRD ↑ ][OVRD ↓ ] key............Change moving speed. Speed goes up by [OVRD ↑ ] key. Speed goes down by
[OVRD ↓ ] key
⑩ [JOG] operation key .........................Move the robot according to jog mode. And, input the numerical value.
⑪ [SERVO] key ........................................Press this key with holding AA key lightly, then servo power will turn on.
⑫ [MONITOR] key...................................It becomes monitor mode and display the monitor menu.
⑬ [JOG] key ..............................................It becomes jog mode and display the jog operation.
⑭ [HAND] key ...........................................It becomes hand mode and display the hand operation.
⑮ [CHAR] key ...........................................This changes the edit screen, and changes between numbers and alphabetic
characters.
⑯ [RESET] key .........................................This resets the error. The program reset will execute, if this key and the EXE
key are pressed.
⑰ [ ↑ ][ ↓ ][ ← ][ → ] key ................Moves the cursor each direction .
⑱ [CLEAR] key.........................................Erase the one character on the cursor position .
⑲ [EXE] key ...............................................Input operation is fixed. And, while pressing this key, the robot moves when
direct mode.
⑳ Number/Character key ....................Erase the one character on the cursor position . And, inputs the number or
character
◇◆◇ Remove the protection seal of the teaching pendant before using ◇◆◇
Installed the protection seal on the teaching pendant to prevent the damage of the display LCD and the key
seat when shipping. Remove the protection seal when using. The operation of the key and the confirmation of
the display is possible without removing the protection seal, however the adhesive may be left on the teaching
pendant as the time passes.
4-80 Handling the T/B
4Basic operations
4.3 Turning the power ON and OFF
4.3.1 Turning the control power ON
CAUTION
Always confirm the following items before turning the controller power ON.
1) Make sure that there are no operators in the robot operation range.
2) Make sure that the controller and robot arm are securely connected with the
machine cable.
3) Make sure that the external emergency stop switch is connected to the controller.
4) Make sure that the controller power cable and grounding cable are correctly
connected.
5) Make sure that the grounding cable is connected to the robot arm.
6) Make sure that there are no obstacles, such as tools, in the robot operation range.
(1) CR750 controller
Power switch
Controller
Turn the controller [POWER] switch ON. The controller power turn on, and the STATUS NUMBER display lights
up.
(2) CR751 controller
Note) Although the figure shows the CR751 (Thin type), it is the same also in a CR751 (Heavy type).
AC200V
Earth
leakage
漏電遮断器
breaker
(NV) (NV)
Controller
コントローラ
* The controller is an example.
Switch
Note) This figure is an example which connected the
single phase power supply.
Operate the earth leakage breaker of installation outside to do the controller's power supply ON/OFF. Turns ON
the switch of the earth leakage breaker of installation outside. The controller power turn on, and the power lamp
lights up.
Turning the power ON and OFF 4-81
4Basic operations
(3) CR760 controller
Power switch enlarged view
POWER
ON
CR760
POWER
!
OFF
Power switch
Turn the controller [POWER] switch ON. The controller power turn on, and the STATUS NUMBER display lights
up.
[Note] If the following issue occur with the power supply ON of the controller, please contact to the dealer.
・Although the FAN of the controller is operating, the operation panel does not light up and the operation
of the robot cannot be done.
・ Although the T/B has got the electricity, the operation of T/B cannot be done.
◇◆◇ What is the main power, control power and servo power? ◇◆◇
Main power ------This supplies power to the controller. (Primary power)
Control power --- This supplies power to the control sections (PCB, etc.) in the controller.
Servo power -----This supplies power to the motor that drives the robot.
When energized, this is called servo ON, and when shut off, this is called servo OFF.
◇◆◇ Error: It is if C0150 occurs. ◇◆◇
At the time of the first power supply on, error:C0150 (the serial number of the robot arm has not been set up)
occur the robot after purchase.
Please input the serial number of the robot arm into Parameter: RBSERIAL. The input method is shown in next
page. (Refer to Page 82, "4.3.2 Input the serial number".)
4.3.2 Input the serial number
At the time of the first power supply on, error: C0150 (the serial number of the robot arm has not been set up)
occur the robot after purchase.
Please input the serial number of the robot arm into Parameter: RBSERIAL.
The serial number is printed to the rating name board on the back of the robot arm.
1) Press the [RESET] key of T/B and cancel the error of T/B.
2) Press the [EXE] key of T/B and display the menu panel.
MELFA CR75x-D
RH-3FH5515-D
Ver. S3
COPYRIGHT (C) 2011 MITSUBISHI
TRIC CORPORATION ALL RIGHTS
RVED
ELEC
RESE
<MENU> 1.FILE/EDIT
3.PARAM.
5.SET/INIT.
2.RUN
4.ORIGIN/BRK
6.ENHANCED
123
4-82 Turning the power ON and OFF
CLOSE
4Basic operations
3) Press the [3] key of T/B and display the parameter.
<MENU> <PARAMETER>
1.FILE/EDIT
3.PARAM.
5.SET/INIT.
2.RUN
4.ORIGIN/BRK
6.ENHANCED
123
NAME(
ELE( )
)
DATA
( CLOSE
DATA
Prev
Next
123
)
CLOSE
4) Input "RBSERIAL" into the name.
<PARAMETER>
NAME(
ELE( )
DATA
( DATA
Prev
123
Next
<PARAMETER>
)
)
CLOSE
NAME(RBSERIAL
ELE( )
DATA
( DATA
Prev
Next
123
)
)
CLOSE
5) Press the function key ([F1]) corresponding to the "data", and input the serial number of the robot arm.
<PARAMETER>
NAME(RBSERIAL
ELE( )
DATA
( DATA
Prev
123
Next
)
)
CLOSE
<PARAMETER>
(RBSERIAL
) (
)
xxxxxxx DATA
Prev
Next
123
CLOSE
Press the [EXE] key, and fix the value with sound, and return to the parameter screen.
◇◆◇ The input of the number/character ◇◆◇
Each time the [CHARACTER] key is pressed, the number input mode and the character input mode change.
The current input mode is displayed in the center under the screen, and the display of "123" shows that the
number input mode and "ABC" is the character input mode.
For details, please refer to "INSTRUCTION MANUAL/ Detailed explanations of functions and operations" of the
separate volume.
6) Press the function key ([F1]) corresponding to the "close", and return to the menu screen.
<PARAMETER>
NAME(RBSERIAL
ELE( )
DATA
(XXXXXXXX DATA
Prev
123
Next
)
)
CLOSE
<MENU> 1.FILE/EDIT
3.PARAM.
5.SET/INIT.
2.RUN
4.ORIGIN/BRK
6.ENHANCED
123
CLOSE
Turning the power ON and OFF 4-83
4Basic operations
4.3.3 Shutting OFF the control power
* Following figures are CR750 controller's switch.
1) If the robot is operating, press the controller [STOP] switch, and stop
the robot.
Stop the program
STOP
2) After the robot has stopped, press the controller [SVO OFF] switch,
and turn the servo OFF.
Shut OFF the motor powe SVO OFF
3) Turning off operation of the controller power according to the controller type is shown below.
* CR750/CR760 controller: turn OFF a front power switch.
* CR751 controller: turn OFF the switch of the earth leakage breaker installed outside.
The control power will be shut off.
4-84 Turning the power ON and OFF
4Basic operations
4.4 Turning the servo power ON/OFF
4.4.1 Turning the servo power ON (servo ON)
Up :DISABLE
T/B disable
Down:ENABLE
*Lighting
1) Confirm that the T/B [ENABLE] switch is set to
"DISABLE".
Rear of T/B
MANUAL
MODE
AUTOMATIC
2) Confirm that the mode of the controller is set to
"AUTOMATIC".
3) Press the [SVO ON] switch on the front of the
controller.
The switch's lamp will light indicating that the servo
is ON.
R/C disable
SVO ON
Servo on
* Figures above are CR750 controller's switch.
CAUTION
Make sure that there are not operators in the robot operation range before turning ON
the servo.
4.4.2 Shutting OFF the servo power (servo OFF)
* Following figures are CR750 controller's switch.
1) If the robot is operating, press the controller [STOP]
switch on the front of the controller, and stop the
robot.
Stop the program
Servo off
STOP
SVO OFF
2) After the robot has stopped, press the controller
[SVO OFF] switch on the front of the controller, and
turn the servo OFF. The switch's lamp will light
indicating that the servo is OFF.
◇◆◇ Operation rights not required ◇◆◇
This operation does not require the operation rights, so the servo can be turned OFF at any time by pressing
the [SVO OFF] switch.
Turning the servo power ON/OFF 4-85
4Basic operations
4.5 Jog operation
Refer to the separate manual "Robot arm setup and maintenance" when carrying out jog operation.
The following jog operation modes are available. Use these according to the purpose.
Table 4-1 : Jog modes
Jog mode
Main application
JOINT JOG
・ Moves each joint.
・ Moves the robot arm largely.
・ Changes the robot posture.
XYZ JOG
・ Accurately sets the teaching position.
・ Moves the axis straight along the XYZ coordinate system.
・ Moves the axis straight while maintaining the robot posture.
・ Changes the posture while maintaining the hand position.
TOOL JOG
・ Accurately sets the teaching position.
・ Moves the axis straight along the hand direction.
・ Changes the posture while maintaining the hand position.
・ Rotates the hand while maintaining the hand position.
3-AXIS XYZ JOG
・ When the axis cannot be moved with XYZ JOG that maintains the posture.
・ When the tip is to be moved linearly but the posture is to be changed.
CYLINDER JOG
・ Moves in a cylindrical shape centering on the Z axis while maintaining the posture.
・ Moves linearly in a radial shape centering on the Z axis while maintaining the posture.
WORK JOG
(Work jog mode)
・ Accurately sets the teaching position.
・ Moves the axis straight along the coordinates system (work coordinates system)
defined in accordance with a workpiece, pallet, etc.
・ Changes the posture along the work coordinates system.
WORK JOG
(Ex-T jog mode)
・ Accurately sets the teaching position.
・ Moves the axis straight along the work coordinates system (Ex-T coordinates
system) defined in accordance with an installed grinder, dispenser, etc.
・ Changes the posture along the work coordinates system (Ex-T coordinates system).
4-86 Jog operation
Explanation
Separate manual "Robot arm
setup and maintenance"
Separate manual "Detailed
explanations of functions and
operations"
4Basic operations
4.6 Opening and closing the hand
Hands 1 to 6 can be opened and closed with the T/B.
<HAND> ±C : HAND1
±Z : HAND4
±B : HAND2
±Y : HAND5
±A : HAND3
±X : HAND6
76543210
76543210
OUT-900□□□□□□ IN-900□□□□□□
SAFE
ALIGN
HND
CLOSE
Press the [HAND] key, and display the hand screen.
[-C]
[+C]
Open
Close
Opening and closing hand
Open: Press [+C ] key
Close: Press [-C ] key
Opening and closing hand
Open: Press [+B ] key
Close: Press [-B ] key
Opening and closing hand
Open: Press [+A ] key
Close: Press [-A ] key
Opening and closing hand
Open: Press [+Z ] key
Close: Press [-Z ] key
Opening and closing hand
Open: Press [+Y ] key
Close: Press [-Y ] key
Opening and closing hand
Open: Press [+X ] key
Close: Press [-X ] key
1
2
3
4
5
6
Opening and closing the hand 4-87
4Basic operations
4.7 Programming
The procedures from creating the program to automatic operation are explained in order using a simple procedure
as an example.
(1) Creation procedures
Start
Decide the robot operation order, operation path
(necessity of linear movement), and the work at each
operation position (hand open/close, etc).
Deciding the operation order
Teach the robot operation position in the position
variables.
Decide the position variable name.
Deciding the operation position name
Based on the decided operation order and operation
position name, convert the robot operations and work
into commands. Describe the commands in the program
and save in the controller.
Describing and creating the program
Move the robot to each operation position with jog
operation, and teach each position in the position
variables.
Teaching the operation position
Confirmation of program and operation position
Yes
Execute the program saved in the controller line by line,
and confirm that the program and operation positions
are correctly saved.
Judgment: OK?
No
Correcting the program
If any mistakes were found in the robot operation or
work during the program confirmation, correct the
program.
Correcting the position
If any mistakes were found in the robot operation
position during the program confirmation, correct the
taught position.
Automatic operation
Automatically execute the completed program.
End
Fig.4-9 : Program creation procedures
(2) Robot work
Assume that the robot is going to carry the workpiece from the left to the right.
Workpiece
Carry the workpiece
Fig.4-10 : Example of work
4-88 Programming
4Basic operations
4.7.1 Creating the program
(1) Deciding the operation order
(10
)
(2)
20mm
Upward position to
grasping workpiece
:Joint movement
:Linear movement
:Teaching position
(1)
Wait position
Upward position to
release workpiece
(6)
(3)
(5)
(4) Hand close
Position to grasp workpiece
(7)
(9)
(8) Hand open
Position to release workpiece
Start
(1) Move to wait position (joint movement).
(2) Move to 20mm upward workpiece (joint movement).
(3) Move to position to grasp workpiece (linear movement).
(4) Grasp workpiece (hand close).
(5) Move 20mm upward (linear movement).
(6) Move to 20mm upward position to release workpiece
(joint movement).
(7) Move to position to release workpiece (linear movement).
(8) Release workpiece (hand open).
(9) Move 20mm upward (linear movement).
(10) Move to wait position (joint movement).
End
Fig.4-11 : Deciding the operation order
◇◆◇ Joint movement and linear movement ◇◆◇
The operation for which the robot movement path is not designated in particular is the "joint movement". The
operation for which the movement path is designated as linear is "linear movement".
If the robot could interfere with the peripheral devices, such as the workpiece, when moving to grasp or release
the workpiece, designate "linear movement" to prevent any interference.
Programming 4-89
4Basic operations
(2) Deciding the operation position name
Wait position
(PWAIT)
Upward position to
grasping workpiece
20mm
Upward position to
release workpiece
Position to release
workpiece
(PPUT)
Position to grasp workpiece
(PGET)
Position variable
name
Teaching
PWAIT
Required
Upward position to grasping
workpiece
-
Not required
Position to grasp workpiece
PGET
Required
-
Not required
PPUT
Required
Name
Wait position
Upward position to release workpiece
Position to release workpiece
Remarks
Designate with commands.
Designate with commands.
Position variable name ・・・・ Designate a random character string starting with "P".
Up to eight characters can be designated.
Fig.4-12 : Deciding the operation position name
◇◆◇ Teaching the operation position ◇◆◇
The operation position does not necessarily need to be taught.
The positions shown with white circles in Fig. 4-12 can be designated with commands as "position 20mm away
from target position". Refer to Page 91, "(3)Describing and creating the program".
CAUTION
4-90 Programming
The designation of the direction separated from the target position differs according to the
robot type.
The position is along the Z axis of the TOOL coordinate system, and the direction is
designated with the + and - signs.
Refer to the section on the TOOL JOG operation in the separate "Instruction Manual/
Robot arm setup and maintenance", and confirm the Z axis direction of the TOOL
coordinate system. Then, designate the correct sign (direction) that matches the robot
being used.
Designating the reverse direction could lead to interference with the peripheral devices and
damage.
Generally (in the default state), the hand retract direction is the "-" sign with the vertical
articulate type robot, and the "+" sign is the robot's upward direction with the other robots
4Basic operations
(3) Describing and creating the program
■ Convert the target robot operations and work into commands.
Refer to the separate manual "Instruction Manual: Detailed explanations of functions and operations" for details
on the commands.
Table 4-2 : Commands used
Target operation and work
Joint movement
Linear movement
Command
Mov
Mvs
Example of designation
Move to position variable PWAIT
Mov PWAIT
Move to 20mm upward position variable
PGET
Mov PGET,+20 Note)
Move to position variable PGET
Mvs PGET
Move to 20mm upward position variable
PGET
Mvs PGET,+20 Note)
Hand open
Hopen
Open hand 1
Hopen 1
Hand close
Hclose
Close hand 1
Hclose 1
Wait
Dly
Wait 1 second
Dly 1.0
End
End
End the program
End
Note) Upward movement is designated at a position along the Z axis of the TOOL coordinate system, and the
direction is designated with the + and - signs. Confirm the Z axis direction of the TOOL coordinate system.
Then, designate the correct sign (direction) that matches the robot being used. The example of designation
above is an example using a horizontal multiple-joint type robot.
■ Program the converted commands
Wait position
(PWAIT)
20mm
Upward position to
grasping workpiece
Upward position to
release workpiece
Position to grasp workpiece
(PGET)
Position to release
workpiece
(PPUT)
Start
(1) Move to wait position (joint movement) ...................................................................1 Mov PWAIT
(2) Move to 20mm upward workpiece (joint movement)...........................................2 Mov PGET,+20
(3) Move to position to grasp workpiece (linear movement)...................................3 MVS PGET
(4) Grasp workpiece (hand close).......................................................................................4 HClose 1
(5) Waits for 1 seconds...........................................................................................................5 Dly 1.0
(6) Move 20mm upward (linear movement).....................................................................6 MVS PGET,+20
(7) Move to 20mm upward position to release workpiece (joint movement) ...7 Mov PPUT,+20
(8) Move to position to place workpiece (linear movement)...................................8 MVS PPUT
(9) Release workpiece (hand open)....................................................................................9 HOpen 1
(10) Waits for 1 seconds ........................................................................................................10 Dly 1.0
(11) Move 20mm upward (linear movement) ..................................................................11 MVS PPUT,+20
(12) Move to wait position (joint movement) .................................................................12 Mov PWAIT
End...................................................................................................................................................13 End
Note)
Note)
Note)
Note)
Hand ・・・・ Up to four hands can be installed. However, in the above program, the 1st hand connected to
hand 1 is the target.
Fig. 4-13 : Describing the program
Programming 4-91
4Basic operations
CAUTION
Note) Upward movement is designated at a position along the Z axis of the TOOL
coordinate system, and the direction is designated with the + and - signs.
Refer to the section on the TOOL JOG operation in the separate "Installation
Manual/ Robot arm setup and maintenance", and confirm the Z axis direction of
the TOOL coordinate system. Then, designate the correct sign (direction) that
matches the robot being used.
Designating the reverse direction could lead to interference with the peripheral
devices and damage.
Generally (in the default state), the hand retract direction is the "-" sign with the
vertical articulate type robot, and the "+" sign is the robot's upward direction with
the other robots. "+20" in the command line is a example in horizontal multiplejointed type robot.
◇◆◇ Program format ◇◆◇
The program format is configured of the "step No. command parameter affixed to command" as shown in Fig. 413.
Mo v
PWA I T
Example) 1
step No. Command Parameter affixed to command
The program is executed in order from the step No. with the smallest number.
4-92 Programming
4Basic operations
■ Input the described program into the controller.
The T/B is used for this operation.
Preparing the T/B
MANUAL
MODE
1) Set the controller mode to "MANUAL".
AUTOMATIC
2) Set the T/B [ENABLE] switch to "ENABLE".
Up :DISABLE
Down:ENABLE
*Lighting
Rear of T/B
<MENU>
1.FILE/EDIT
3.PARAM.
5.SET/INIT.
2.RUN
4.ORIGIN/BRK
6.ENHANCED
CLOSE
123
<FILE/EDIT>
1
2
A1
B1
1/20
08-04-24
08-04-24
08-04-24
08-04-24
POSI. 123
EDIT
Rem
17:20:32
14:56:08
13:05:54
13:05:54
NEW
4) Press the [F3](New) key, and display the new
program screen.
22490
694
2208
1851
COPY
⇒
)
ABC
EDIT
136320
5) Press [1], [EXE] key, and display the edit
screen of program No1.
<NEW PROGRAM>
PROGRAM NAME
( 1_
<PROGRAM>
~
3) In the <MENU> screen, press the arrow keys
(" ↑ ", " ↓ ", " ← ", " → ") and move the
cursor to "1. Management and edit", and
then press the [EXE] key. The <Management
and edit> screen will appear.
CLOSE
1
DELETE 123
100%
INSERT
TEACH ⇒
◇◆◇ Using the T/B ◇◆◇
Set the controller mode to "MANUAL" and the T/B [ENABLE] switch to "ENABLE". Operations from the T/B
are not possible unless the controller mode is set to "MANUAL".
◇◆◇ Inputting numbers ◇◆◇
Each time the [CHARACTER] key is pressed, the number input mode and the character input mode change.
The current input mode is displayed in the center under the screen, and the display of "123" shows that the
number input mode. The number currently written to the lower left of each key in this state can be inputted.
◇◆◇ Correcting incorrect numbers ◇◆◇
Press the [CLREAR] key to delete the character, and then input it again. And, if the long pushing [CLEAR] key,
all the data in the parenthesis can be deleted.
If the cursor is returned by pressing the [ ← ] key, and a character is input, it will be inserted.
Programming 4-93
4Basic operations
<PROGRAM>
1
6) Press the [F3] key.
The cursor will move to the command editing
line.
100%
_
EDIT DELETE 123 INSERT CLOSE
<PROGRAM>
7) Confirm that the number input mode and
press the [1] key.
"1" of the step number is inputted.
1
1_
123
<PROGRAM>
CLOSE
1
Ins
8) Press the [CHARACTER] key, and set to
the character input mode, then press [SP]
, [MNO] key. Display the space and "M."
1MOV_
123
<PROGRAM>
1
CLOSE
SPACE
Ins
1MOV_
123
<PROGRAM>
1
9) Press the [ → ] key, and the cursor is
moved. Then press the [MNO] key 3
times, and input "o".
CLOSE
Ins
10) Press the [TUV] key 3 times, and input "v".
1MOV_
123
CLOSE
◇◆◇ Inputting characters and space ◇◆◇
Each time the [CHARACTER] key is pressed, the number input mode and the character input mode change.
The current input mode is displayed in the center under the screen, and the display of "ABC" shows that the
character input mode. The character currently written to the lower right of each key in this state can be
inputted. When you continue and input the character in the same key, once press the [->] key and advance the
cursor. The space is assigned to the [SP] key.
◇◆◇ The input method of the mark ◇◆◇
It comes out to input the character which is not displayed
key is shown below.
a) [ ’ ( ) ] key .................... ' → ( → ) → " →
b) [ @ = ] key.................... @ → = → + → - →
c) [ , % ] key ..................... ,→ % → # → $ →
4-94 Programming
on the key. The character currently assigned to the
^→ : → ; → ¥ →?
*→ / → < → >
!→ & → _ → .
4Basic operations
<PROGRAM> 1
11) Press the [SP], [PQRS] key, and input the
space and "P".
Ins
1MOV P1_
123
<PROGRAM>
1
CLOSE
SPACE
Ins
12) Press the [WXYZ] key, and input the space
and "W".
1MOV PWAIT_
123
<PROGRAM>
1
CLOSE
Ins
13) Input "A", "I" and "T" in the same manner.
1MOV PWAIT_
123
<PROGRAM>
1
CLOSE
Ins
14) Press the [EXE] key.
"1 Mov PWAIT" will be set.
1 MOV PWAIT_
123
<PROGRAM>
1
CLOSE
Ins
15) Input the program from step 2 to line 13 in
the same manner.
1 MOV PWAIT_
123
CLOSE
This completes the inputting of the program.
◇◆◇ Displaying the previous and next command step ◇◆◇
Display the four lines on the screen of T/B. For moving the cursor to the front line, the [ ↑ ] key is pressed, for
moving the cursor to the next line, press the [ ↓ ] key, and select.
◇◆◇ Displaying a specific line ◇◆◇
Press the [FUNCTION] key, and change the function display, and press the [F2] key. The display changes to the
JUNP screen. The specification line can be displayed, if the step number to display in the parenthesis is
inputted and the [EXE] key is pressed.
Programming 4-95
4Basic operations
■ Teach the robot operation position.
Set the position with jog operation (Teaching PGET)
1) Move the robot with jog operation, and set
the end of the hand to the position for grasping
the workpiece. When the position has been set,
open and close the hand to confirm that the
workpiece can be grasped.
Hand
ハンド
ワーク
Work
Refer to Page 86, "4.5Jog operation"for details
on the jog operation, and section Page 87,
"4.6Opening and closing the hand" for detains
on opening and closing the hand.
◇◆◇ Effective use of jog mode ◇◆◇
When the robot's current position is greatly separate from the target position, move the robot in axis units with
the "JOINT JOG mode", to approach the position.
If the target position is nearby, move linearly with the "XYZ JOG mode", and finely adjust the position. The
position can be set accurately by delaying the override (operation speed) at this time.
<PROGRAM>
10
11
12
13
1
Ins
Dly 1.0
Mvs PPUT, +20
Mov PWAIT
End
EDIT
DELETE
123 INSERT
CLOSE
FWD
JUMP
123
BWD
2) In the program edit screen, press the
[FUNCTION] key twice and change the
function display. [F2](change) Press the key
and display the position edit screen.
[FUNCTION] key
DIRECT CHANGE 123
CLOSE
3) Press the [F3](Next) or the [F4](Prev) key,
and display "PGET" on the screen upper
right.
The current registration coordinate value of
the position variable name PGET is
displayed.
<POS.> JNT
100% PGET
X:+128.56 A:+180.00
Y: +0.00 B: +90.00
Z:+845.23 C:-180.00
L1:
L2:
FL1:
7
FL2:
0
MOVE
TEACH
<PROGRAM>
123
Prev
Next
⇒
4) Press the [F2] (teaching) key.
The teaching confirmation screen is
displayed.
1
PGET
RECORD CURRENT POSITION.
OK?
Yes
5) Press the [F1] (being) key and register the
position.
No
123
6) Teach PPUT (position to place workpiece)
and PWAIT (wait position) in the same
manner.
<POS.> JNT 100% PPUT
X:+128.56
A:+180.00
Y: +0.00
B: +90.00
Z:+845.23
C:-180.00
L1:
L2:
FL1:
7 FL2:
0
MOVE
TEACH
123
Prev
Next
⇒
This completes teaching of the robot operation positions.
◇◆◇ Changing between the command editing screen and position editing screen. ◇◆◇
The commands are edited on the command editing screen, and the positions are edited on the position editing
screen.
To change from the command editing screen to the position editing screen, press the [F3] (Cange) keys.
To change from the position editing screen to the command editing screen, press the [F2] (Cange) keys.
4-96 Programming
4Basic operations
(4) Confirming the program
Using the T/B execute the program line by line (step operation), and confirm the operation.
Following operations are operated with lightly pressing the enabling switch on the T/B.
<POS.> JNT 100% PWAIT
X:+128.56 A:+180.00
Y: +0.00 B: +90.00
Z:+845.23 C:-180.00
L1:
L2:
FL1:
7
FL2:
0
MOVE
TEACH
123
10
11
12
13
⇒
Next
[FUNCTION] key
Prev
CLOSE
CHANGE Next
MOVE
DELET TEACH
NAME
<PROGRAM>
Prev
1) Press the [FUNCTION] key and change the
function display. Press the [F3](change) and
display the command edit screen.
1
Ins
Dly 1.0
Mvs PPUT, +20
Mov PWAIT
End
EDIT
DELETE
123 INSERT
CLOSE
FWD
JUMP
123
BWD
2) Press the [FUNCTION] key and change the
function display. Pressing the [F1] (FWD)
key is kept, and the robot will start moving.
When the execution of one line is completed,
the robot will stop, and the next line will
appear on the screen.
If [F1] (FWD) is released during this step, the
robot will stop.
[FUNCTION] key
DIRECT CHANGE 123
<PROGRAM>
10
11
12
13
CLOSE
1
Ins
Dly 1.0
Mvs PPUT, +20
Mov PWAIT
End
EDIT
DELETE
123 INSERT
CLOSE
FWD
JUMP
123
BWD
[FUNCTION] key
DIRECT CHANGE 123
CAUTION
3) By the same operation as the abovementioned, carry out step operation to the
END command of the 13 lines, and confirm
movement.
If movement of the robot and the position are
wrong, correct with reference to the following
operations.
CLOSE
Take special care to the robot movements during operation. If any abnormality occurs,
such as interference with the peripheral devices, release the [F1] (FWD) key and stop
the robot.
◇◆◇ Step operation ◇◆◇
"Step operation" executes the program line by line. The operation speed is slow, and the robot stops after each
line, so the program and operation position can be confirmed.
During execution, the lamp on the controller [START] switch will light.
◇◆◇ Immediately stopping the robot during operation ◇◆◇
・ Press the [EMG.STOP] (emergency stop) switch.
The servo will turn OFF, and the moving robot will immediately stop.
To resume operation, reset the alarm, turn the servo ON, and start step operation.
・ Release or forcibly press the "enable" switch.
The servo will turn OFF, and the moving robot will immediately stop.
To resume operation, lightly press the "enable" switch, and start step operation.
・ Release the [F1] (FWD)key.
The step execution will be stopped. The servo will not turn OFF.
To resume operation, press the [F1] (FWD)key.
Programming 4-97
4Basic operations
(5) Correcting the program
■ Correcting the commands
As an example, the joint movement at line No.7 will be changed to linear movement.
(Change 7 Mov PPUT, +20 to 7 Mvs PPUT, +20)
<PROGRAM>
1
2
3
4
1
Note)
Ins
Mov pwait
Mov PGET +20
Mvs PGET
Hclose 1
1) Press the [FUNCTION] key and change the
function display. Press the [F2](Jump) key
and display the command edit screen.
EDIT
DELETE
123 INSERT
CLOSE
FWD
JUMP
123
BWD
[FUNCTION] key
DIRECT CHANGE 123
<PROGRAM>
STEP
CLOSE
1
50%
( 7
)
123
<PROGRAM>
7
8
9
10
2) Press the [7], [EXE] key and display the 7th
step.
CLOSE
1
Ins
Mov PPUT, +20
Mvs PPUT
Hopen 1
Dly 1.0
EDIT
DELETE
123 INSERT
CAUTION
CLOSE
Note) Upward movement is designated at a position along the Z axis of the TOOL
coordinate system, and the direction is designated with the + and - signs.
Refer to the section on the TOOL JOG operation in the separate "Installation
Manual/ Robot arm setup and maintenance", and confirm the Z axis direction of
the TOOL coordinate system. Then, designate the correct sign (direction) that
matches the robot being used.
Designating the reverse direction could lead to interference with the peripheral
devices and damage.
Generally (in the default state), the hand retract direction is the "-" sign with the
vertical articulate type robot, and the "+" sign is the robot's upward direction
with the other robots.
◇◆◇ Displaying a specific line ◇◆◇
Press the [FUNCTION] key, and change the function display, and press the [F2] key. The display changes to the
JUNP screen. The specification line can be displayed, if the step number to display in the parenthesis is
inputted and the [EXE] key is pressed.
◇◆◇ Displaying the previous and next command step ◇◆◇
Display the four lines on the screen of T/B. For moving the cursor to the front line, the [ ↑ ] key is pressed, for
moving the cursor to the next line, press the [ ↓ ] key, and select.
4-98 Programming
4Basic operations
<PROGRAM>
7
8
9
10
Ins
Mov PPUT, +20
Mvs PPUT
Hopen 1
Dly 1.0
123 INSERT
DELETE
EDIT
<PROGRAM>
7
1
Ins
Mov PPUT, +20
<PROGRAM>
7
CLOSE
1
123
1
<PROGRAM>
7
Ins
1
Ins
123
7
8
9
10
1
6) Press the [CHARCTER] key and set to the
character input mode. Press the [TUV] key 3
times (input "v"), the [→] key, the [PQRS]
key 4 times (input "s").
CLOSE
Ins
Mvs PPUT, +20
Mvs PPUT
Hopen 1
Dly 1.0
EDIT
DELETE
5) Press the [CLEAR] key twice and delete
"ov". Leave "M."
CLOSE
Mvs PPUT, +20
<PROGRAM>
4) Press the [→] key 3 times. Move the cursor
to "o."
CLOSE
M PPUT, +20
123
3) Press the [F1] (Edit) key and display
command edit screen.
123 INSERT
7) Press the [EXE] key and the 7th step is
fixed. It returns to the program edit screen of
the four-line display.
CLOSE
Step No. 7 has been changed to linear movement with the above operation.
◇◆◇ Correcting incorrect numbers ◇◆◇
Press the [CLREAR] key to delete the character, and then input it again. And, if the long pushing [CLEAR] key,
all the data in the parenthesis can be deleted.
If the cursor is returned by pressing the [ ← ] key, and a character is input, it will be inserted.
◇◆◇ After correcting a program ◇◆◇
After correcting the program, carry out step operation, and confirm that the program has been corrected.
◇◆◇ Inputting characters and space ◇◆◇
Each time the [CHARACTER] key is pressed, the number input mode and the character input mode change.
The current input mode is displayed in the center under the screen, and the display of "ABC" shows that the
character input mode. The character currently written to the lower right of each key in this state can be
inputted. When you continue and input the character in the same key, once press the [→] key and advance the
cursor. The space is assigned to the [SP] key.
Programming 4-99
4Basic operations
■ Correcting the taught position
As an example, the wait position (PWAIT) will be corrected.
New wait position
(PWAIT)
<PROGRAM>
1
2
3
4
Change
1
Ins
Mov pwait
Mov PGET +20
Mvs PGET
Hclose 1
EDIT
DELETE
123 INSERT
CLOSE
FWD
JUMP
123
BWD
1) In the program edit screen, press the
[FUNCTION] key twice and change the
function display. [F2](change) Press the key
and display the position edit screen.
[FUNCTION] key
DIRECT CHANGE 123
CLOSE
Press the [F3](Next) or the [F4](Prev) key, and
display "PWAIT" on the screen upper right.
2) The current registration coordinate value of
the position variable name PWAIT is
displayed.
<POS.> XYZ
100% PWAIT
X:+128.56 A:+180.00
Y: +0.00 B: +90.00
Z:+845.23 C:-180.00
L1:
L2:
FL1:
7
FL2:
0
MOVE
TEACH
123
Prev
Next
⇒
Move the robot to the new standby position by
jog operation.
<POS.> XYZ
100% PWAIT
X:+128.56 A:+180.00
Y: +0.00 B: +90.00
Z:+845.23 C:-180.00
L1:
L2:
FL1:
7
FL2:
0
MOVE
TEACH
123
Prev
Next
⇒
Refer to Page 86, "4.5Jog operation"for details
on the jog operation, and section Page 87,
"4.6Opening and closing the hand" for detains
on opening and closing the hand.
◇◆◇ Calling out a position variable ◇◆◇
The displayed position variable can be scrolled up or down by pressing the [F3] (Next) or [F4] (Prev) key.
4-100 Programming
4Basic operations
<POS.> XYZ
100% PWAIT
X:+128.56 A:+180.00
Y: +0.00 B: +90.00
Z:+845.23 C:-180.00
L1:
L2:
FL1:
7
FL2:
0
MOVE
TEACH
<POS.EDIT>
123
Prev
3) Press the [F2] (Teaching) key.
The teaching confirmation screen is
displayed.
Next
⇒
1
4) Press the [F1] (Yes) key and register the
position.
PWAIT
RECORD CURRENT POSITION.
OK?
Yes
No
123
<POS.> XYZ
100% PWAIT
X:+128.56 A:+180.00
Y: +0.00 B: +90.00
Z:+845.23 C:-180.00
L1:
L2:
FL1:
7
FL2:
0
MOVE
TEACH
123
Prev
Next
⇒
This completes correction of the standby position.
◇◆◇ After correcting a program ◇◆◇
After correcting the program, carry out step operation, and confirm that the program has been corrected.
(6) Saving the program
If creation of the program or correction finishes, the program will certainly be saved.
If the [F4 (close)] key is pressed in the command edit screen or the position edit screen, the confirmation
message "the program was saved" is displayed and the details of edit are saved.
◇◆◇ Attention about the edit save ◇◆◇
Please keep in mind that the details of edit including teaching data will be canceled if the power supply is shut
down with the program edit screen.
Programming 4-101
4Basic operations
(7) Start automatic operation.
CAUTION
Before starting automatic operation, always confirm the following item. Starting
automatic operation without confirming these items could lead to property damage or
physical injury.
・ Make sure that there are no operators near the robot.
・ Make sure that the safety fence is locked, and operators cannot enter
unintentionally.
・ Make sure that there are no unnecessary items, such as tools, inside the robot
operation range.
・ Make sure that the workpiece is correctly placed at the designated position.
・ Confirm that the program operates correctly with step operation.
In the following explanation, automatic operation will be carried out with the controller.
Starting the automatic operation by T/B is available in the version of T/B 1.7 or later. Refer to separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details.
Prepare the controller
1) Set the T/B [ENABLE] switch to
"DISABLE".
Up :DISABLE
Down:ENABLE
*Lighting
Dsiable the T/B
Rear of T/B
MANUAL
MODE
AUTOMATIC
2) Set the controller mode to "AUTOMATIC".
Enable the R/C
Set override
Dsiplay
override
Set override
* Following figures are CR750 controller's switch and display panel.
CHNG DISP
DOWN
CAUTION
4-102 Programming
3) Press the controller [CHNG DISP] switch
twice, and display the "OVERRIDE" on the
STATUS NUMBER display panel. (A "o" will
appear at the lower left.)
Press the [DOWN] key several times, and
display "10".
The operation speed will be set to 10%.
UP
The servo will turn OFF when the controller mode is changed.
Note that axes not provided with brakes could drop with their own weight.
4Basic operations
Select the program number
* Following figures are CR750 controller's switch and display panel.
Display the program number CHNG DISP
4) Press the [CHNG DISP] switch, and display
the "program No." on the STATUS NUMBER
display panel.
(A "P" will appear at the head.)
Confirm that the program number targeted
for automatic operation is displayed.
If the correct program number is not
displayed, press the [UP] and [DOWN] keys
to display the correct program No.
DOWN
Select the program number
UP
Start automatic operation
Servo on
Start
5) Push the [SVO ON] switch of the controller,
and servo power turn on.
6) After pressing the controller [START]
switch, press the [END] switch.
The robot operation will start and will stop
after one cycle.
SVO ON
START
CAUTION
CAUTION
CAUTION
End with one cycle
END
When executing the work example given in Page 88, "Fig.4-10 : Example of work",
always press the [END] switch and end the program after one cycle. If the [END]
switch is not pressed, the hand will interfere with the existing workpiece when it goes
to pale the workpiece in the second cycle.
Before starting automatic operation, always confirm that the target program No. is
selected.
Take special care to the robot movements during automatic operation. If any
abnormality occurs, press the [EMG. STOP] switch and immediately stop the robot.
◇◆◇ Operating from the controller ◇◆◇
Set the T/B [ENABLE] switch to "DISABLE" and the controller mode to "AUTOMATIC". Operations from the
controller are not possible unless the controller mode is set to "AUTOMATIC".
◇◆◇ Operation speed ◇◆◇
The operation speed for automatic operation with the controller can be set.
When the override is displayed on the STATUS NUMBER display panel (with a "o" displayed on the lower left), the
override display will increment or decrement each time the [UP] or [DOWN] key is pressed. The max. speed is
100%.
Initially set a low speed, and gradually increase it.
Programming 4-103
5Maintenance and Inspection
5 Maintenance and Inspection
The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are
described in this chapter. The types and replacement methods of consumable parts are also explained.
5.1 Maintenance and inspection interval
Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry
out at set intervals. Always carry these out to prevent unforeseen trouble, to maintain the product for a long time,
and to secure safety.
(1) Inspection schedule
0 Hr
Monthly inspection
Monthly inspection
500 Hr
Monthly inspection
1000 Hr
Daily inspection
Monthly inspection
Monthly inspection
Monthly inspection
Monthly inspection
Monthly inspection
1500 Hr
Monthly inspection
Monthly inspection
Monthly inspection
2000 Hr
Monthly inspection
Yearly inspection
Operating time
<Guideline for inspection period>
For one shift
8 Hr/day x 20 days/month x 12 months = approx. 1800 Hr
10 Hr/day x 20 days/month x 12 months = approx. 2400 Hr
For two shifts
15 Hr/day x 20 days/month x 12 months = approx. 3600 Hr
[Caution] According to the schedule on the above, when using the double shift, you should
make the inspections at half the regular intervals.
Fig. 5-1 : Inspection schedule
5-104 Maintenance and inspection interval
5Maintenance and Inspection
5.2 Inspection items
The controller inspection items are shown below.
Refer to section "Maintenance and Inspection" in the separate manual "Robot arm setup and maintenance",
and inspect the robot arm at the same time.
5.2.1 Daily inspection items
Carry out daily inspections following the procedures given in Table 5-1.
Table 5-1 : Daily inspection items (details)
Procedure
Inspection items (details)
Remedies
Before turning the power ON (Check the following inspection items before turning the power ON.)
1
Is the power cable securely connected?
Securely connect.
(Visual)
2
Are the machine cables between the robot arm and controller securely
connected?
(Visual)
Securely connect.
3
Is the controller cover cracked, has any foreign matter adhered, or is
there any interference?
Replace with a new part, or take remedial measures.
After turning the power ON (Turn the power ON while monitoring the robot.)
1
Is there any abnormal movement or noise when the power was turned
ON?
Refer to the Troubleshooting section and remedy.
During operation (Try moving with an original program.)
1
Check that the operation point is not deviated. If deviated, check the
following items.
1) Are any of the installation bolts loose?
2) Are the bolts at the hand installation section loose?
3) Is the position of the jigs, other than the robot, deviated?
4) If the positional deviation cannot be eliminated, refer to
"Troubleshooting", and remedy.
Refer to the Troubleshooting section and remedy.
2
Is there any abnormal movement or noise?
Refer to the Troubleshooting section and remedy.
(Visual)
5.2.2 Periodic inspections
Carry out periodic inspections following the procedures given in Table 5-2.
Table 5-2 : Periodic inspection items (details)
Procedure
Inspection items (details)
Remedies
Monthly inspection items
1
Are any of the connector fixing screws or terminal block terminal
screws loose?
2
Is the controller filter dirty?
Securely tighten the screws.
Clean or replace with a new part.
Inspect, clean and replace the filter by refer to
(Visual) Page 109, "5.3.2 The check of the filter, cleaning,
exchange.".
Yearly inspection items
1
Replace the backup battery in the controller.
Exchange it referring to Page 106, "5.3.1 Replacing
the battery".
Inspection items 5-105
5Maintenance and Inspection
5.3 Maintenance and inspection procedures
The procedures for carrying out periodic maintenance and inspection are described below. Thoroughly
comprehend the procedures, and follow the instructions. This work can be commissioned to the Mitsubishi Service
Dept. for a fee. (Never disassemble, etc., any of the parts not described in this section.)
The maintenance parts required for the maintenance and inspection are shown in Page 111, "5.4 Maintenance
parts". Contact your dealer for these parts when required.
5.3.1 Replacing the battery
While power of controller is turned off, the programs must be saved by the backup battery. The robot arm also uses
backup batteries to save the position data of an encoder. The batteries are installed when the robot is shipped
from the factory, but as these are consumable parts, they must be replaced periodically by the customer.
The guideline for replacing the lithium battery is one year, but this will differ according to the robot's usage state.
There are the kind of the errors about the battery shown in Table 5-3. If error 7500 occurs, please exchange the
batteries of the robot arm and the controller simultaneously.
Table 5-3 : The error about the battery
Robot arm
Controller
Section
Error number
Description
7520
The exhausting time is over.
7510
Voltage is falling.
7500
Voltage fell.
7520
133n
The exhausting time is over.
Note1)
112n
Voltage is falling.
The absolute position data of the encoder
disappeared.
Disposition
Exchange the batteries.
Backup data cannot be
secured.
Exchange the batteries.
Backup data cannot be
secured.
Note1) "n" shows the axial number.
The method of replacing the battery of the controller is shown below. Refer to the separate "ROBOT ARM
SETUP & MAINTENANCE" about robot arm's battery.
About the purchase of the battery, refers to Page 111, "5.4 Maintenance parts".
CAUTION
CAUTION
If error No. 7500 or 112n occurs, the program data and other data in the controller is
lost and it becomes necessary to load the data again.
Replace the batteries for the controller and robot arm at the same time. Replace the
controller battery within 3 minutes after removing the old battery.
It is also recommended to save programs and position data on the personal
computer side via the RT ToolBox 2 and so forth in advance.
5-106 Maintenance and inspection procedures
5Maintenance and Inspection
(1) The battery exchange method of the CR750/CR760 controller
<CR760 controller>
Note)
<CR750 controller>
Note) As for CE marking specification of
CR760, the transformer box is
installed in the controller bottom.
Refer to Fig. 4-5.
Interface cover
インタフェースカバー
Inside of the interface cover
Battery
connector
バッテリコネクタ
Battery
バッテリ
Battery
holder
バッテリホルダ
USB
interface
USBインタフェース
Fig. 5-2 : Exchange of the battery (CR750/CR760 controller)
1) Turn the controller power ON once. (For approx. one minute.)
2) Turn OFF the power supply of the controller and open the interface cover on the front of the controller. The
battery is in the interface cover.
3) Pick and pull up the connector of the old battery and remove from battery holder.
4) Fix the new battery into the battery holder. Install so that the lead may come out to the front.
5) Connect the connector of the new battery cable. Connect so that the red lead may become left-hand side.
Complete the work within 3 minutes after removing the old battery.
6) Close the interface cover of the operation panel certainly.
7) Refer to the separate manual "Detailed Explanation of Functions and Operations", and reset the battery
cumulative time over alarm.
[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again. Refer
to the separate "Robot arm setup, basic operation, and maintenance" and reset the origin.
This completes the replacement of the controller battery.
Maintenance and inspection procedures 5-107
5Maintenance and Inspection
(2) The battery exchange method of the CR751 controller
Note) Although the figure shows the CR751 (Thin type), it is the same also in a CR751 (Heavy type).
フィルタカバー
Filter cover
Remove
外す
Installation
screw
取付ネジ(M3ネジ)
(M3 2箇所
screw: Two places)
Battery holder
バッテリホルダ
Battery storage space
Note 1) When attaching the filter cover insert the battery cables
inside the battery storage space and the battery itself,
taking due care not to trap them between the filter cover
and the front of the controller.
Battery
バッテリ
Connector
コネクタ
Note 2) In order to prevent wire breakage, place the filter cover
on the installation surface so that it cannot be removed
from the front of the controller.
Fig. 5-3 : Exchange of the battery (CR751 controller)
1) Turn the controller power ON once. (For approx. one minute.)
2) Turn OFF the power supply of the controller and remove the filter cover of the controller front. The battery
is in the filter cover. Place the filter cover on the installation surface so that it cannot be removed from the
front of the controller.
3) Pick and pull up the connector of the old battery and remove from battery holder.
4) Fix new batteries into the battery holder. As shown in Fig. 5-3, fix the cables that come out of the battery so
that they are not trapped by the side of the filter.
5) Connect the connector of the new battery cable. Connect so that the red lead may become left-hand side.
Complete the work within 3 minutes after removing the old battery.
6) Make sure that the filter is not separated from the cover, and re-fix the filter cover on to the front of the
controller, fixing securely. When doing this take care not to trap the battery cable.
7) Refer to the separate manual "Detailed Explanation of Functions and Operations", and reset the battery
cumulative time over alarm.
[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again. Refer
to the separate "Robot arm setup, basic operation, and maintenance" and reset the origin.
This completes the replacement of the controller battery.
5-108 Maintenance and inspection procedures
5Maintenance and Inspection
5.3.2 The check of the filter, cleaning, exchange.
The filter is installed in the CR750/CR751 controller.
The following shows the procedure for inspecting, cleaning and replacing the filter:
(1) CR750 controller
1) Loosen the M4 x 6 screws and remove the filter cover from the front of the controller. Remove the claw on
the left side of the filter cover as it is inserted in the front face of the controller.
2) Remove the filter from the filter cover and remove dust and other dirt that has built up on it.
* If the filter is particularly dirty then wash it in water and detergent and then dry fully before re-fixing. In
the event that the surface of the washed filter has become fluffy, please replace it with a new filter.
3) Attach the cleaned or new filter to the controller, and install the filter cover to controller with the M4 x 6
screw (1 pcs.).
Controller
Filter
Claw (2 places)
Filter cover
M4 x 6 screw (1 screw.)
Fig. 5-4 : Cleaning, exchanging the filter (CR750 controller)
This completes the inspection, cleaning and replace of the filter for the controller.
Maintenance and inspection procedures 5-109
5Maintenance and Inspection
(2) CR751 controller
1) Loosen the M3 screws and remove the filter cover from the front of the controller. Remove the claw on the
left side of the filter cover as it is inserted in the front face of the controller.
2) Remove the filter from the filter cover and remove dust and other dirt that has built up on it.
* If the filter is particularly dirty then wash it in water and detergent and then dry fully before re-fixing. In
the event that the surface of the washed filter has become fluffy, please replace it with a new filter.
3) Attach the cleaned or new filter to the filter plate
4) Make sure that the filter is not separated from the cover, and re-fix the filter cover on to the front of the
controller, fixing securely. When doing this take care not to trap the battery cable.
Filter
cover
フィルタカバー
外す
Remove
Controller
Remove
外す
フィルタカバー
外す
取付ネジ(M3ネジ)
Installation
screw
(M3 2箇所
screw: Two places)
Filter
フィルタ
取付ネジ(M3ネジ)
2箇所
Battery holder
バッテリホルダ
Battery storage space
Note 1) When attaching the filter cover insert the battery cables
inside the battery storage space and the battery itself,
taking due care not to trap them between the filter cover
and the front of the controller.
Battery
バッテリ
Connector
コネクタ
Note 2) In order to prevent wire breakage, place the filter cover
on the installation surface so that it cannot be removed
from the front of the controller.
Fig. 5-5 : Cleaning, exchanging the filter (CR751 controller)
This completes the inspection, cleaning and replace of the filter for the controller.
5-110 Maintenance and inspection procedures
5Maintenance and Inspection
5.4 Maintenance parts
The consumable parts that must be replaced periodically are shown in Table 5-4, and spare parts that may be
required during repairs are shown in Table 5-5. Purchase these parts from the 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 5-4 : Controller consumable parts list
No.
1
Part name
Lithium battery
Type Note1)
Q6BAT
Qty.
1
Usage section
CR750/CR760 controller:
Inside the interface cover on the
front of the controller.
CR751 controller:
Inside the filter cover
2
Filter
Maker
BKOFA0773H42
1
CR750 controller:
Inside the filter cover.
BKOFA0773H41
1
CR751 controller:
Inside the filter cover.
Mitsubishi Electric
System & Service;Co.,Ltd.
Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for
the type.
Table 5-5 : Controller spare parts list
No.
Part name
TypeNote1)
Qty.
1
1.6A fuse
LM16
1
2
3.2A fuse
HM32
1
3
4A fuse
LM40
1
4
3.2A fuse
LM32
1
5
7.5A fuse
GP75
1
Usage section
Maker
Mitsubishi Electric
System & Service;Co.,Ltd.
Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for
the type.
Maintenance parts 5-111
5Maintenance and Inspection
5-112 Maintenance parts
HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU NAGOYA 461-8670, JAPAN
Authorised representative:
MITSUBISHI ELECTRIC EUROPE B.V. GERMANY
Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany
Sep., 2016 MEE Printed in Japan on recycled paper.
Specifications are subject to change without notice.
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