RH-1FHR-Q-S60 Series Special Specifications Manual

RH-1FHR-Q-S60 Series Special Specifications Manual

Mitsubishi Industrial Robot

CR750-Q/CR751-Q Controller

RH-1FHR-Q-S60 Series

Special Specifications Manual

BFP-A3333

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

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.

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. Moreover, it may interfere with the peripheral device by drop or move by inertia of the arm.

CAUTION

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.

DANGER

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.

DANGER

Do not connect the Handy GOT to a programmable controller when using an iQ

Platform compatible product with the CR750-Q/CR751-Q controller. 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.

DANGER

Do not remove the SSCNET III cable while power is supplied to the multiple

CPU system or the servo amplifier. Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo amplifier. 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).)

DANGER

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).)

DANGER

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.

CAUTION

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.

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.

*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.

Primary

Three phase Single phase

AC200V AC200V

Earth leakage breaker

(NV)

Note 2)

Secondary

* The controller is an example.

ACIN connector

For single phase

Grounding screw

Connector

For three phase

Grounding screw

Connector

1 2 3

PE terminal

<3> LINE/LOAD

<1> LINE/LOAD

<2> LINE/LOAD

PE terminal

Note 1)

ACIN connector or power cable

(Attachment)

Label

<4> LINE/LOAD

1 2 3

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 terminal cover), cable for connecting the primary power supply, cable for connecting the secondary power supply (both AWG #14

(2mm

2

)), cables to ground the primary power supply (AWG #12 (3.5mm

2

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 to secondary terminal (lower terminal) of earth leakage breaker.

Connect the opposite side of this cable with following pin numbers of the ACIN connector attached.

For single phase: 1 and 3

For three phase: 1, 2, and 3

Recommends connection by the Solderless terminal.

Or, connect by the attachment power cable.

5) Connect this connector to the ACIN connector on the controller.

6) Connect the grounding cable to the PE terminal. (M4 screw)

7) Connect the primary power cable to the primary side terminal (upper terminal) of the earth leakage breaker.

CAUTION

Be careful of interference with peripheral equipment.

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

Take care also of the following items.

(1)The robot's locus of movement may change with specified speed.

Especially as for the corner section, short cut distance may change. Therefore, when beginning automatic operation, moves at low speed at first, and you should gather speed slowly with being careful of interference with peripheral equipment.

Short cut

Arch movement (example)

(2)It can be confirmed whether the specified position exist in the defined area by using the instruction command "Zone". It can utilize as one of the methods for collision evasion. Refer to the

"detailed description of the instructions manual/function, and operation" of the separate volume for the details of the instruction command.

■Revision history

Date of print Specifications No.

2014-08-09 BFP-A3333

・ First print.

Details of revisions

■ Introduction

This series offers small-size industrial robots developed using Mitsubishi's latest technology. They are especially designed to handle and assemble mechanical parts. They are Mitsubishi's answer to the cus

tomer's need to achieve a compact manufacturing facility capable of highly flexible production, as neces

sitated by the diffusion of high-density product groups and the shorter product life cycles that have become common-place in recent years.

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

When creating these standard specifications, we have edited them so that the Mitsubishi robot's charac

teristics and specifications can be easily understood by users considering the implementation of robots.

However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer.

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

Note that in this specification document the specifications related to the robot arm is described

Page 7,

"2 Robot arm" , the specifications related to the controller

Page 57, "3 Controller" , and software functions

and a command list

Page 105, "4 Software"

separately.

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

*RH-1FHR-Q series

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

・ The contents of this manual are subject to change without notice.

・ The specifications values are based on Mitsubishi standard testing methods.

・ The information contained in this document has been written to be accurate as much as possible.

Please interpret that items not described in this document "cannot be performed." or "alarm may occur".

Please contact your nearest dealer if you find any doubtful, wrong or skipped point.

・ This specifications is original.

・ Microsoft, Windows, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 8.1 are either regis

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

・ The official name of Windows® is Microsoft®Windows®Operating System.

・ Windows®XP、 Windows Vista®、 Windows® 7、 Windows® 8、 Windows® 8.1 are either product names of

Microsoft Corporation in the United States.

・ Ethernet is registered trademarks or trademarks of Xerox Corporation in the United States.

・ All other company names and production names in this document are the trademarks or registered trademarks of their respective owners.

Copyright(C) 2014 MITSUBISHI ELECTRIC CORPORATION

Contents

Page

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

1.1 Structural equipment ............................................................................................................................................................. 1-1

1.1.1 Standard structural equipment .................................................................................................................................. 1-1

1.1.2 Special specifications .................................................................................................................................................... 1-1

1.1.3 Options ................................................................................................................................................................................. 1-1

1.1.4 Maintenance parts ........................................................................................................................................................... 1-1

1.2 Model type name of robot .................................................................................................................................................... 1-2

1.2.1 How to identify the robot model ................................................................................................................................ 1-2

1.2.2 Combination of the robot arm and the controller .............................................................................................. 1-2

1.3 Indirect export .......................................................................................................................................................................... 1-2

1.4 Instruction manuals ................................................................................................................................................................ 1-2

1.5 Contents of the structural equipment ............................................................................................................................ 1-3

1.5.1 Robot arm ........................................................................................................................................................................... 1-3

1.5.2 Controller ............................................................................................................................................................................ 1-4

1.6 Contents of the Option equipment and special specification .............................................................................. 1-5

2 Robot arm ........................................................................................................................................................................................... 2-7

2.1 Standard specifications ........................................................................................................................................................ 2-7

2.1.1 Basic specifications ........................................................................................................................................................ 2-7

2.1.2 The counter-force applied to the installation surface ..................................................................................... 2-8

2.1.3 The conveyance performance in conveyor tracking ......................................................................................... 2-9

(1) About the numbers of conveyance times in changing an operating range ....................................... 2-10

2.2 Definition of specifications ................................................................................................................................................ 2-13

2.2.1 Pose repeatability .......................................................................................................................................................... 2-13

2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-14

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-15

(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-15

2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-15

2.2.5 Vibration of shaft (J3 axis) position and arm end ............................................................................................ 2-16

(1) Relationship Between Mass Capacity and Speed ....................................................................................... 2-16

(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed ........... 2-17

(3) Time to reach the position repeatability ......................................................................................................... 2-18

2.2.6 Collision detection ......................................................................................................................................................... 2-19

2.2.7 Protection specifications ............................................................................................................................................ 2-19

(1) Types of protection specifications .................................................................................................................... 2-19

2.3 Names of each part of the robot .................................................................................................................................... 2-20

2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-21

(1) Standard Specification ............................................................................................................................................ 2-21

(2) Standard Specification (With bellows) .............................................................................................................. 2-22

2.4.1 Mechanical interface and Installation surface ................................................................................................... 2-23

2.4.2 Change the operating range ...................................................................................................................................... 2-24

(1) Operating range changeable angle ..................................................................................................................... 2-24

(2) The change method of the operating range ................................................................................................... 2-25

2.4.3 Outside dimensions of machine cables ................................................................................................................ 2-26

(1) Connection with the CR750 controller ............................................................................................................ 2-26

(2) Connection with the CR751 controller ............................................................................................................ 2-26

2.5 Tooling ........................................................................................................................................................................................ 2-27

2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-27

2.5.2 Internal air piping ............................................................................................................................................................ 2-28

2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-28

2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-28

2.5.5 Ethernet cable ................................................................................................................................................................. 2-28

2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) ....................... 2-29

(1) Example of wiring and piping <1> ........................................................................................................................ 2-30

(2) Wiring and piping example <2> ............................................................................................................................. 2-30

(3) Precautions for the shaft through hole ............................................................................................................ 2-31

i

ii

Contents

Page

2.5.7 Wiring and piping system diagram for hand ......................................................................................................... 2-32

2.5.8 Electrical specifications of hand input/output .................................................................................................. 2-34

2.5.9 Air supply circuit example for the hand ............................................................................................................... 2-35

2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-36

2.6.1 Shipping special specifications ................................................................................................................................. 2-36

(1) Machine cable ............................................................................................................................................................. 2-37

(2) Bellows set ................................................................................................................................................................... 2-38

2.7 Options ....................................................................................................................................................................................... 2-39

(1) Machine cable extension ........................................................................................................................................ 2-40

(2) Stopper for changing the operating range ...................................................................................................... 2-44

(3) Solenoid valve set ..................................................................................................................................................... 2-45

(4) Hand input cable ........................................................................................................................................................ 2-47

(5) Hand output cable ..................................................................................................................................................... 2-48

(6) Hand curl tube ............................................................................................................................................................ 2-49

(7) Internal Wiring/Piping set for hand .................................................................................................................... 2-50

(8) External Wiring/Piping box .................................................................................................................................... 2-51

(9) Vacuum valve set ...................................................................................................................................................... 2-53

2.8 About Overhaul ...................................................................................................................................................................... 2-55

2.9 Maintenance parts ................................................................................................................................................................. 2-56

3 Controller .......................................................................................................................................................................................... 3-57

3.1 Standard specifications ...................................................................................................................................................... 3-57

3.1.1 Basic specifications ...................................................................................................................................................... 3-57

3.1.2 Protection specifications and operating supply ................................................................................................ 3-58

3.2 Names of each part .............................................................................................................................................................. 3-59

3.2.1 Drive unit ........................................................................................................................................................................... 3-59

(1) CR750 drive unit ........................................................................................................................................................ 3-59

(2) CR751 drive unit ........................................................................................................................................................ 3-61

3.2.2 Robot CPU ........................................................................................................................................................................ 3-63

3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-64

3.3.1 Outside dimensions ....................................................................................................................................................... 3-64

(1) CR750 drive unit ........................................................................................................................................................ 3-64

(2) CR751 drive unit ........................................................................................................................................................ 3-65

(3) Outside dimensions of robot CPU unit ............................................................................................................ 3-66

(4) Battery unit outside dimension ........................................................................................................................... 3-67

3.3.2 Installation dimensions ................................................................................................................................................. 3-68

(1) CR750 drive unit ........................................................................................................................................................ 3-68

(2) CR751 drive unit ........................................................................................................................................................ 3-70

(3) Robot CPU Unit installation dimensions .......................................................................................................... 3-72

3.4 External input/output .......................................................................................................................................................... 3-73

3.4.1 Types .................................................................................................................................................................................. 3-73

3.5 Dedicated input/output ...................................................................................................................................................... 3-74

3.6 Emergency stop input and output etc. ......................................................................................................................... 3-77

3.6.1 Connection of the external emergency stop ...................................................................................................... 3-77

(1) CR750 drive unit ........................................................................................................................................................ 3-78

(2) CR751 drive unit ........................................................................................................................................................ 3-82

3.6.2 Special stop input (SKIP) ........................................................................................................................................... 3-85

(1) CR750 drive unit ........................................................................................................................................................ 3-85

(2) CR751 drive unit ........................................................................................................................................................ 3-86

3.6.3 Door switch function .................................................................................................................................................... 3-87

3.6.4 Enabling device function ............................................................................................................................................. 3-87

(1) When door is opening ............................................................................................................................................... 3-87

(2) When door is closing ................................................................................................................................................ 3-87

(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-88

3.7 Mode changeover switch input ........................................................................................................................................ 3-89

(1) Specification of the key switch interface ....................................................................................................... 3-89

Contents

Page

(2) Connection of the mode changeover switch input ..................................................................................... 3-90

3.8 Additional Axis Function ..................................................................................................................................................... 3-91

3.8.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-91

(1) CR750 drive unit ........................................................................................................................................................ 3-91

(2) CR751 drive unit ........................................................................................................................................................ 3-92

3.9 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-95

(1) CR750 drive unit ........................................................................................................................................................ 3-96

(2) CR751 drive unit ........................................................................................................................................................ 3-96

3.10 Options .................................................................................................................................................................................... 3-97

(1) Teaching pendant (T/B) ......................................................................................................................................... 3-98

(2) RT ToolBox2/RT ToolBox2 mini ...................................................................................................................... 3-101

(3) Instruction Manual (bookbinding) ..................................................................................................................... 3-103

3.11 Maintenance parts ........................................................................................................................................................... 3-104

4 Software ......................................................................................................................................................................................... 4-105

4.1 List of commands ............................................................................................................................................................... 4-105

4.2 List of parameters .............................................................................................................................................................. 4-108

5 Instruction Manual ..................................................................................................................................................................... 5-110

5.1 The details of each instruction manuals ................................................................................................................... 5-110

6 Safety .............................................................................................................................................................................................. 6-111

6.1 Safety ...................................................................................................................................................................................... 6-111

6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-111

6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-112

6.1.3 Precautions for using robot .................................................................................................................................... 6-112

6.1.4 Safety measures for automatic operation ........................................................................................................ 6-113

6.1.5 Safety measures for teaching ............................................................................................................................... 6-113

6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-113

6.1.7 Examples of safety measures ................................................................................................................................ 6-114

(1) CR750 drive unit ..................................................................................................................................................... 6-114

(2) CR751 drive unit ..................................................................................................................................................... 6-119

(3) External emergency stop connection [supplementary explanation] ................................................. 6-124

6.2 Working environment ......................................................................................................................................................... 6-127

6.3 Precautions for handling .................................................................................................................................................. 6-127

6.4 EMC installation guideline ............................................................................................................................................... 6-129

6.4.1 Outlines ........................................................................................................................................................................... 6-129

6.4.2 EMC directive ............................................................................................................................................................... 6-129

6.4.3 EMC measures ............................................................................................................................................................. 6-130

6.4.4 Component parts for EMC measures ................................................................................................................. 6-130

(1) Ferrite core ............................................................................................................................................................... 6-130

(2) Line noise filter ....................................................................................................................................................... 6-130

7Appendix ........................................................................................................................................................................... Appendix-131

Appendix 1 : Specifications discussion material ........................................................................................ Appendix-131

iii

1General configuration

1 General configuration

1.1 Structural equipment

Structural equipment consists of the following types.

1.1.1 Standard structural equipment

The following items are enclosed as a standard.

(1) Robot arm

(2) Controller (CPU unit + Drive unit)

(3) The connecting cable for the CPU unit and the drive unit

(4) Machine cable

(5) Robot arm installation bolts

(6) Safety manual, CD-ROM (Instruction manual)

(7) Guarantee card

1.1.2 Special specifications

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

1.1.3 Options

User can install options after their delivery.

1.1.4 Maintenance parts

Materials and parts for the maintenance use.

1-1

Structural equipment

1General configuration

1.2 Model type name of robot

This robot has arranged the type name corresponding to load mass, arm length, and environment specification.

Details are shown below, please select the robot suitable for the customer's use.

1.2.1 How to identify the robot model

RH - 1 FH R 55 15 - Q 1 - Sxx

(a) (b) (c) (d) (e) (f) (g) (h) ( i ) (j)

(a).

RH ..............................................Indicates the horizontal multiple-joint robot.

(b). ◇◇

.........................................Indicates the maximum load.

1: 3kg

(c). FH

..............................................Indicates the FH series.

(d). R

.................................................Indicates the installation posture is hung.

(e).

55 ...............................................Indicates the arm length.

55: 550mm

(f).

15 ................................................Indicates the vertical stroke length.

15 : 150mm stroke

(g).

●................................................Indicates the controller series.

Ex.)

Omitted: CR750 controller

1: CR751 controller

(h).

Q.................................................Indicates the controller type.

Q: iQ Platform

( i ).

1 ................................................Technical standard of Conformity.

1: Conforms to the CE Marking

(j).

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

1.2.2 Combination of the robot arm and the controller

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

Protection specification

RH-1FHR series

General-purpose environment

Robot arm

RH-1FHR5515-Q1

RH-1FHR5515-1Q1

Arm length

(mm)

550

J3-axis stroke

(mm)

150

Controller

CR750-01HRQ1-1

CR751-01HRQ1-0

1.3 Indirect export

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

1.4 Instruction manuals

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

Model type name of robot

1-2

1.5 Contents of the structural equipment

1.5.1 Robot arm

The list of structural equipment is shown in below.

Horizontal four-axis multiple-jointed type

(RH-1FHR series)

* Refer to Page 7, "2.1 Standard specifica

tions" for details on the specifications.

Machine cable

Standard product:

5m attachment)

For CR750 controller For CR751 controller

Machine cable (Fix type : 2m)

・ CR750 controller: 1S-02UCBL-01

・ CR751 controller: 1F-02UCBL-02

Machine cable extension

・ CR750 controller

Fixed type: 1S- □□ CBL-01 (extension type)

Flexed type: 1S- □□ LCBL-01 (extension type)

1S- □□ LUCBL-01 (direct type)

・ CR751 controller

Fixed type: 1F- □□ UCBL-02 (direct type)

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

Note1) □□ refer the length. Refer to

Table 1-2 for details.

Solenoid valve set

・ 1F-VD0*-01 (Sink type)

・ 1F-VD0*E-01 (Source type)

(*: 1 to 4 = 1 set to 4 set)

Note) With hand output cable.

Stopper for changing the operating range

・ 1F-DH-01

Internal Wiring/Piping set for hand

・ 1F-HS304S-01

Hand output cable

・ 1F-GR60S-01 (4sets)

Pneumatic hand customer-manufactured parts

This option

Hand input cable

・ 1F-HC35C-01

External Wiring/Piping box

・ 1F-UT-BOX

Pull out Wiring/Piping

This option

Hand curl tube

・ 1E-ST0408C-300

Vacuum valve set

・ 1F-VV0*E-01 (Source type)

(*: 1 to 2 = 1 set to 2 sets)

Note) With a cable.

Bellows set

・ 1F-JS-21

Fig.1-1 : Structural equipment

1-3

Contents of the structural equipment

[Caution]

Standard configuration equipment

Special specifications

Option

Prepared by customer

1

General configuration

1.5.2 Controller

The devices shown below can be installed on the controller.

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

Model type name of robot" .)

Drive unit

・ CR750-01HRQ1-1

Robot CPU unit

・ Q172DRCPU

*1)

Battery unit

・ Q170DBATC

・ DU751-01HRQ1-0

Robot CPU unit connecting cable set

・ TU cable for robot............................ 2Q-TUCBL10M

・ DISP cable for robot............................2Q-DISPCBL10M

・ EMI cable for robot ..............................2Q-EMICBL10M

・ SSCNET III cable for robot...............MR-J3BUS10M-A

This 10m cable is used for connecting the robot CPU unit.

Teaching pendant (T/B)

Simple T/B

・ R32TB: For CR750 controller

・ R33TB: For CR751 controller

Highly efficient T/B

・ R56TB: For CR750 controller

・ R57TB: For CR751 controller

*1)The base board, the power supply unit, and sequencer

CPU are required for installation of the robot CPU unit.

Prepared by customer

Robot CPU unit connecting cable set

・ TU cable for robot................................2Q-TUCBL □□ M

・ DISP cable for robot............................2Q-DISPCBL □□ M

・ EMI cable for robot ..............................2Q-EMICBL □□ M

・ SSCNET III cable for robot...............MR-J3BUS5M-A : 5m

MR-J3BUS20M-A : 20m

MR-J3BUS30M-B : 30m

Note) The numbers in the boxes □□ refer the length.

□□ = 05 (5m), 20 (20m), 30 (30m).

Personal computer

Prepared by customer

RT ToolBox2/RT ToolBox2 mini

RT ToolBox2

・ 3D-11C-WINE(CD-ROM)

(Windows XP、 Windows Vista、 Windows 7、

Windows 8、 Windows 8.1)

RT ToolBox2 mini

・ 3D-12C-WINE(CD-ROM)

(Windows XP、 Windows Vista、 Windows 7、

Windows 8、 Windows 8.1)

Instruction Manual (bookbinding)

・ 5F-RR01-PE01

[Caution]

Standard configuration equipment

Special specifications

Options

Prepared by customer

Fig.1-2 : Structural equipment

1-4

1

General configuration

1.6 Contents of the Option equipment and special specification

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

Table 1-2 : The list of the robot arm option equipment and special specification

Item Type Specifications

Classification

Note1)

CR750 CR751

Stopper for changing the operating range (J1 axis)

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

○ ○

Description

This must be installed by the customer.

Machine cable

(Replaced to shorter cable)

Extended machine cable

(extension type)

Extended machine cable

(direct type)

Solenoid valve set

Vacuum valve set

Bellows set

Hand input cable

1S-02UCBL-01

1F-02UCBL-02

1S- □□ CBL-01

1S- □□ LCBL-01

1S- □□ LUCBL-01

1F- □□ UCBL-02

1F- □□ LUCBL-02

For fixing

(Set of power and signal)

For fixing

(Set of power and signal)

○・

-

For fixing (Set of power and signal) ○

For flexing (Set of power and signal)

For flexing (Set of power and signal) ○

For fixing (Set of power and signal) -

For flexing (Set of power and signal)

-

-

○・ □

1F-VD01-01/VD01E-01 1 set (Sink type)/(Source type)

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

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

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

1F-VV0 □ E-01

1F-JS-21

1F-HC35C-01

A set for RH-1FHR series

□ : 1 = 1 set, 2 = 2 sets

Bellows-installed specification

Robot side: connector.

Hand side: wire.

" □□ " in type shows the length of the

cables as follows.

05=5m, 10=10m, 15=15m

-

○ " □□ " in type shows the length of the cables as follows.

10=10m, 15=15m, 20=20m

○ The solenoid-valve set for the hand of

○ the customer setup

1F-VD0*-01: Sink type

1F-VD0*E-01: Source type

2m

(A 2m cable is supplied instead of the

5m cable that is supplied as standard)

The vacuum valve set for a suction hand of the customer setup

Factory option.

This option is corresponding to IP65

(direct jet flow to the bellows section is not included) and ISO class5.

The cable is connected to the sensor by the customer.

Attaches the cable clamp (drip proof type)

Hand output cable

1F-GR60S-01

Robot side: connector.

Hand side: wire

○ ○

This cable can be used for the solenoid valve prepared by the customer.

Hand curl tube 1E-ST0408C-300 For solenoid valve 4set.:Φ4x8

○ ○

Curl type air tube

External Wiring/Piping box 1F-UT-BOX For solenoid valve 4set.:Φ4x8

Internal Wiring/Piping set for hand

1F-HS304S-01 Hand input cable (four signal lines and two power lines), φ3 four hoses

Note1) ○ : option, □ : special specifications.

Box which pulls out the Wire/Piping.

(Hand I/O cable, Hand curl tube)

Note) This option must be used together with an optional stopper for changing J1 axis operating range (1F-DH-

01). The operating range is limited within range of ±130 degree.

Wiring/Piping to pass in the shaft

Reducers (φ4 to φ3: 8pcs) are

Attached.

Table 1-3 : The list of the controller option equipment and special specification

Item Type Specifications

Classification

Note1)

CR750 CR751

Simple teaching pendant R32TB

R32TB-15

R33TB

R33TB-15

Highly efficient teaching pendant

R56TB

R56TB-15

R57TB

R57TB-15

Cable length 7m

Cable length 15m

Cable length 7m

Cable length 15m

Cable length 7m

Cable length 15m

Cable length 7m

Cable length 15m

-

-

-

-

Description

-

-

With 3-position enable switch

-

IP65

1-5

Contents of the Option equipment and special specification

Item Type Specifications

RT ToolBox2

(

Personal computer Support software)

RT ToolBox2 mini

(

Personal computer Support software mini)

3D-11C-WINE

3D-12C-WINE

Robot CPU unit connection cable set

2Q-RC-CBL □□ M

TU cable for robot

2Q-TUCBL □ M

DISP cable for robot

2Q-DISPCBL □ M

EMI cable for robot 2Q-EMICBL □ M

SSCNET Ⅲ cable for robot MR-J3BUS □ M-A

MR-J3BUS30M-B

Instruction Manual 5F-RR01-PE01

CD-ROM

CD-ROM

Cable length 05, 20, 30m

Cable length 05, 20, 30m

Cable length 05, 20, 30m

Cable length 05, 20, 30m

Cable length 5, 20m

Cable length 30m

RH-1FHR-Q series

Note1) ○ : option, □ : special specifications.

1

General configuration

Classification

Note1)

Description

CR750 CR751

Windows XP、 Windows Vista、 Windows

7、 Windows 8、 Windows 8.1

(With the simulation function)

Windows XP、 Windows Vista、 Windows

7、 Windows 8、 Windows 8.1

This option include TU, DISP, EMI and

SSCNET cables.

For communication between robot CPU and DU.

For communication between robot CPU and DU.

□ For a robot CPU emergency stop input.

□ For the servo communication between

□ robot CPU and DU .

Contents of the Option equipment and special specification

1-6

2Robot arm

2 Robot arm

2.1 Standard specifications

2.1.1 Basic specifications

Table 2-1 : Standard specifications of robot arm

Item Unit

Type

Environment

Installation posture

Degree of freedom

Structure

Drive system

Position detection method

Motor capacity J1

J2

J3 (Z)

J4 (θaxis)

Brake

Arm length № 1 arm

№ 2 arm

Max.reach radius( № 1+ № 2) mm mm mm

Operating range

Speed of motion

Note2)

J1

J2 deg deg

J3 (Z)

J4 (θaxis)

J1

J2

J3 (Z) mm deg deg/s deg/s mm/s

J4 (θaxis) deg/s

Maximum horizontal composite speed

Note3) mm/s

Cycle time

Note4)

(load capacity)

Load

Z axis pressing force

Note5)

Rating

Maximum

Maximum sec kg

(N)

N

Specifications

RH-1FHR5515

Standard specification

Hanging

4

Horizontal, multiple-joint type

AC servo motor

Absolute encoder

1,500

400

100

50

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

325

225

550

±170

±145

150 (120: With an optional bellows set)

Note1)

±360

337.5

720

765

3,000

6,000

0.28 (1kg)

1

3

82

Allowable inertia Rating/ maximum

Pose repeatability

Note6)

X-Y direction

J3 (Z)

J4 (θaxis)

Ambient temperature

Note7)

Mass

Tool wiring

Tool pneumatic pipes

Supply pressure

Protection specification

Note10) kg ・ m

2 mm mm deg

℃ k

MPa

0.005

±0.012

±0.010

±0.004

0 to 40

49

・ Input 8 points/Output 8 points, (total 20 cores)

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

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

Note8)

Primary: φ6 x two hoses, Secondary: φ4 x eight hoses

Note9)

0.5±10%

IP20

With an optional bellows set: IP65

Note11)

, ISO class 5

Note12)

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

Note1) The specification value is a value when an optional bellows set has installed to a robot.

Note2) The maximum speed is the value which applied MvTune2 (high-speed movement mode).

Note3) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2, and J4. The control point is the position offset by the rated inertia from the flange.

2-7

Standard specifications

2Robot arm

Note4) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of

1kg.

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

・ A transportation frequency during the conveyor tracking operation is 140-160 times/min. A transportation frequency may be reduced by the posture of a robot, working environment, temperature, or a shape of a hand.

300

Note5) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the

J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load error may occur. Please operate in a manner that does not cause errors.

Note6) The pose repeatability details are given in

Page 13, "2.2.1 Pose repeatability"

.

Note7) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)

Note8) The 8-wire cable designated for LAN wiring can also be used for backup wiring.

Note9) The φ4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromag-

netic valve (optional) are shown on Page 45, "(3) Solenoid valve set" .

Note10) The protection specification details are given in Page 19, "2.2.7 Protection specifications" .

Note11) Direct jet flow to the bellows section is not included.

Note12) The conditions necessary to guarantee cleanliness are as follows: clean room down flow 0.3 m/s or greater.

2.1.2 The counter-force applied to the installation surface

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

Table 2-2 : Value of each counter-force

Item

Falls moment: M

L

Torsion moment: M

T

Horizontal translation force: F

H

Vertical translation force: F

V

Unit

N ・ m

N ・ m

N

N

Value

610

807

1,575

712

Standard specifications

2-8

2Robot arm

2.1.3 The conveyance performance in conveyor tracking

An example of the transfer system during conveyor tracking is shown for reference.

We confirmed in our evaluation that an operation of 150 times per minute under the following conditions was possible.

X

Vision

Conveyor 1

Conveyor 2

Tracking

Operating range

Y

*1)

60mm

300mm (X-Y)

25mm (Z)

Place x 1 Pick x 1

(tracking)

*1) Considering the balance of J1 axis and J2 axis, the carrying center is offset by 60mm to Y axis direction.

Fig.2-1 : Operating area (X-Y-Z)

15mm 35mm

Work

Fig.2-2 : Tracking conveyor

Table 2-3 : The conditions of tracking

Operating range

Conditions

X

Y

Pick

Place

Pick

Place

Z

Mechanical conditions

Tracking conditions

Conveyor

Work

θ

Payload

(Hand + Work)

Cnt

Speed

Size

Interval

Vision sensor

Handling

2-9

Standard specifications

125mm/sec

Unit mm +500 mm +500 mm -90 mm +210 mm -480 mm -505 deg ±90 kg 1

Setting value mm/s mm mm

ON

125

35 x 30

15

Mitsubishi’s network vision sensor

Vacuum

2Robot arm

(1) About the numbers of conveyance times in changing an operating range

The number of transfer times for possible continuous operation when the tracking function is OFF is shown for reference.

1) Pattern 1

Y

900mm

X

300mm

600mm

60mm

150 to 900mm (X-Y)

Z=-450mm

25mm (Z)

Place x 1

Dly: 0.035 [s]

Z=-475mm

Pick x 1

Dly: 0.035 [s]

<Conditions>

・ Trucking: OFF

・ Payload: 1kg

・ Y-axis parallel

・ 60mm offset in the Y-axis (movement of J1 and J2 axis)

・ Dly: 0.035 [s] x 2

(The processing at the time of tracking ON, such as hand opening and closing)

・ Amount of eccentricity of a hand: nothing

Fig.2-3 : Operating area (X-Y) and conveyance conditions

Table 2-4 : Operating area (a conveyance distance in the Y-axis direction) and the number of conveyance times

Position in the X-axis direction

150mm

Conveyance distance to Y-axis direction and the number of conveyance times

200mm 250mm 300mm 400mm 500mm 600mm 700mm 800mm 900mm

500mm

400mm

300mm

200mm

174

161

155

135

167

155

140

118

168

145

131

105

161

136

120

96

136

122

105

84

-

111

94

78

-

105

88

73

83

69

-

-

84

68

-

-

-

70

-

-

Numbers of conveyance times (/min)

) in m

(/ c

150 la

& k ic

100

200 250 300

Z Distance 25mm

* A distance of Z-axis direction is 25mm.

350 400 450 500

Conveyance distance in the Y-axis direction

Y Distance 150mm

Y Distance 200mm

Y Distance 250mm

Y Distance 300mm

Y Distance 400mm

Y Distance 500mm

Y Distance 600mm

Y Distance 700mm

Y Distance 800mm

Y Distance 900mm

Standard specifications

2-10

2Robot arm

2) Pattern 2

Y

X

200 to 900mm (X-Y)

300mm

Z=-450mm

25mm (Z)

600mm

Place x 1

Dly: 0.035 [s]

Z=-475mm

Pick x 1

Dly: 0.035 [s]

900mm

<Conditions>

・ Tracking: OFF

・ Payload: 1kg

・ Y-axis parallel

・ Conveyance pattern of the the Y-axis as a center (movement of J1 axis only)

・ Dly: 0.035 [s] x 2

(The processing at the time of tracking ON, such as hand opening and closing.)

・ Amount of eccentricity of a hand: nothing

Fig.2-4 : Operating area (X-Y) and conveyance conditions

Table 2-5 : Operating area (a conveyance distance in the Y-axis direction) and the number of conveyance times

Position in the X-axis direction

200mm

Conveyance distance to Y-axis direction and the number of conveyance times

250mm 300mm 400mm 500mm 600mm 700mm 800mm 900mm

500mm

400mm

300mm

200mm

171

152

142

115

152

142

125

104

138

129

115

95

-

112

99

82

-

102

89

74

-

91

80

69

-

80

75

66

71

63

-

-

-

60

-

-

Z Distance 25mm

* A distance of Z-axis direction is 25mm.

Numbers of conveyance times

(/min) k ic

(/ c la

P

) in m

200 250 300 350 400 450 500

Conveyance distance in the Y-axis direction

Y Distance 200mm

Y Distance 250mm

Y Distance 300mm

Y Distance 400mm

Y Distance 500mm

Y Distance 600mm

Y Distance 700mm

Y Distance 800mm

Y Distance 900mm

2-11

Standard specifications

2Robot arm

3) Pattern 3

Y

X

200mm

300mm

Place x 1

200 to 500mm (X-Y)

Dly: 0.035 [s]

Z=-450mm

25mm (Z)

Z=-475mm

Pick x 1

Dly: 0.035 [s]

500mm

<Conditions>

・ Tracking: OFF

・ Payload: 1kg

・ Y-axis parallel

・ Placing on the Y-axis (movement of both J1 and J2 axes)

・ Dly: 0.035 [s] x 2

(The processing at the time of tracking ON, such as hand opening and closing.)

・ Amount of eccentricity of a hand: nothing

Fig.2-5 : Operating area (X-Y) and conveyance conditions

Table 2-6 : Operating area (a conveyance distance in the Y-axis direction) and the number of conveyance times

Conveyance distance to Y-axis direction and the number of conveyance times

Position in the

X-axis direction

150mm 200mm 250mm 300mm 400mm 500mm

500mm

400mm

300mm

200mm

161

161

155

140

124

145

135

127

-

131

124

117

-

117

111

105

92

90

-

-

-

74

-

-

Numbers of conveyance times (/min)

) in

150 e la

150

100 k ic

100

200 250 300

Z Distance 25mm

* A distance of Z-axis direction is 25mm.

350 400 450 500

Conveyance distance in the Y-axis direction

Y Distance 150mm

Y Distance 200mm

Y Distance 250mm

Y Distance 300mm

Y Distance 400mm

Y Distance 500mm

Standard specifications

2-12

2 Robot arm

2.2 Definition of specifications

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

2.2.1 Pose repeatability

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

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

[1] Operation pattern factors

1) When an operation that approaches from different directions and orientations are included in rela

tion to the teaching position during repeated operations

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

[2] Load fluctuation factor

1) When work is present/absent in repeated operations

[3] Disturbance factor during operation

1) Even if approaching from the same direction and orientation to the teaching position, when the power is turned OFF or a stop operation is performed halfway

[4] Temperature factors

1) When the operating environment temperature changes

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

[5] Factors due to differences in accuracy definition

1) When accuracy is required between a position set by a numeric value in the robot's internal coordinate system and a position within the actual space

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

2-13

Definition of specifications

2 Robot arm

2.2.2 Rated load (mass capacity)

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

(1) The tooling should have the value less or equal than the smaller of the tolerable inertia and the tolerable moment found in

Page 7, "2.1.1 Basic specifications" .

(2)

Fig. 2-6

shows the distribution dimensions for the center of gravity in the case where the volume of the load is relatively small. Use this figure as a reference when designing the tooling.

Please use the robot in the allowable moment of inertia of maximum moment of inertia shown in

Fig. 2-6

, when loading mass is maximum (3kg).

[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion posture.

Even if you are within the allowable range mentioned previously, an overload or generate an overcurrnt alarm could occur. In such cases, it will be necessary to change the time setting for acceleration/deceleration, the operating speed, and the motion posture.

[Caution] The overhang amount of the load, such as the mass capacity and the allowable moment of inertia defined in this section, are dynamic limit values determined by the capacity of the motor that drives axes or the capacity of the speed reducer. Therefore, it does not guarantee the accuracy on all areas of tooling.

Guaranteed accuracy is measured from the center point of the mechanical interface surface. Please note that if the point of operation is kept away from the mechanical interface surface by long and low-rigid tooling, the positioning accuracy may deteriorate or may cause vibration.Note that the allowable offset value (Z direction) from the lower edge of the shaft to the position of center of gravity is 100 mm.

[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an ascend

ing operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending speed.

[Caution] This robot will restrict speed automatically by internal controls when the load center-of-gravity position separates from the shaft center. Refer to

Page 15, "2.2.3 Relationships Among Mass Capacity, Speed, and

Acceleration/Deceleration Speed" in detail..

10mm (3kg)

20mm (1kg)

Allowable moment of inertia

Fig.2-6 : Position of center of gravity for loads (for loads with comparatively small volume)

2-14

2 Robot arm

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed

This robot automatically sets the optimum acceleration and deceleration speeds and maximum speed, according to the load capacity and size that have been set, and operates using these automatically set speeds.

To achieve that, it is necessary to correctly set the actual load data (mass and size of hand and work) to be used.

However, vibration, overheating and errors such as excessive margin of error and overload may occur, depending on the robot operation pattern or ambient temperature.

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

tings (Accel).

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

(1) Setting Load Capacity and Size (Hand Conditions)

Set up the capacity and size of the hand with the "HNDDAT*" parameter (optimum acceleration/deceleration setting parameter), and set up the capacity and size of the work with the "WRKDAT*" parameter. Numbers 0 to 8 can be used for the asterisk (*) part. Designate the "HNDDAT*" and "WRKDAT*" parameters to be used using the "LoadSet" command in a program.

For more details, refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations."

It is the same meaning as "LoadSet 0.0" if not using the "LoadSet".

<Factor default settings>

Hand mass kg size X mm size Y mm size Z mm center-of-gravity position X mm center-of-gravity position Y mm center-of-gravity position Z mm

HNDDAT*

WRKDAT*

1.0

0.0

58.0

0.0

58.0

0.0

29.0

0.0

0.0

0.0

0.0

0.0

8.0

0.0

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

2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot

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

1) Change the robot's operating speed by using the Ovrd command.

2) Change and move the teaching points of the robot.

3) Change the hand mass and hand inertia.

2-15

2 Robot arm

2.2.5 Vibration of shaft (J3 axis) position and arm end

Vibrations at the tip of the arm may increase substantially during operation under the shaft position near the low end or the high end of the robot, depending on the combination of hand mass and hand inertia. This problem occurs according to that inertia, because the distance from the shaft support section to the shaft end becomes

long. When this vibration affects the robot's operations, please change operating speed etc. like the above Page

15, "2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot" .

(1) Relationship Between Mass Capacity and Speed

A function to optimize the maximum speed of each axis according to the setting value of the load capacity will be

activated (Refer to Fig. 2-7 ).

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

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

RH-1FHR series

100

(%)

60

0

0 1 3

Fig.2-7 : Automatic compensation of speed

2-16

2 Robot arm

(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed

A function to optimize the acceleration/deceleration speed according to the height of the shaft (Refer to Fig. 2-8 ,

Fig. 2-9 ) will be activated. This function is invalid if the shaft (axis J3) operates at a position above P3 in Fig. 2-8

.

Acceleration/deceleration is compensated for at a position below P3 in Fig. 2-8

if the position of the center of gravity of the load is located at the front edge of the shaft.

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

補正しない領域

Area in which speed and acceleration/deceleration speed are compensated

P1

P3

P2

Fig.2-8 : Area in which acceleration/deceleration speed is compensated

Table 2-7 : Area in which acceleration/deceleration speed is compensated

J3 axis stroke (mm)

Stroke length

P1

(Upper end)

P2

(Lower end)

120

(With optional bellows set)

150

-480

-450

-600

-600

J3 axis (Z) stroke

120mm/150mm

(Standard Acceleration/deceleration speed)

100

(%)

36

24

0

-450

-510 -570 -600

* J3 axis (Z) stroke 120mm robot has an optional bellows set.

Fig.2-9 : Automatic compensation of acceleration/deceleration speed

Compensation area

(P2 to P3)

-600 ~ 510

-600 ~ 510

2-17

2 Robot arm

[Supplementary explanation 1]: The setting which shortens execution time

The execution time can be improved by using the following methods.

1) Perform continuous path operation using the Cnt command.

2) Control the optimum acceleration/deceleration using the Oadl command.

3) Control the optimum speed using the Spd command.

4) Setting a larger value in the optimum acceleration/deceleration adjustment rate parameter: JADL. (Maxi

mum 100)

The moving time can be shortened by setting a larger value in the optimum acceleration/deceleration adjustment rate parameter (JADL). In this robot, the acceleration/deceleration speed is initialized to allow continuous moving with a short wait time (setting of B in the

Fig. 2-10 ).

This setting is suited for continuous operations that have a short tact time, such as palletizing work.

Conversely, if quick moves (short moving time) are required, such as L/UL work on machined parts, the acceleration/ deceleration speed can be increased by initial setting (setting of A in the

Fig. 2-10 ).

However, please note that some setting values of acceleration/deceleration speed tend to cause overload and overheat errors. In such a case, extend the wait time, reduce the acceleration/deceleration speed, or decrease the moving speed.

Tact time/

1 cycle

Operation time

Wait time

A

B

Acceleration/deceleration speed [m/sec

2

]

= optimum acceleration/deceleration speed [m/sec

2

]

Increased acceleration/deceleration speed x Accel instruction [%] x parameter JADL [%]

Fig.2-10 : Relationship between Acceleration/deceleration Speed and Tact Time (Conceptual Drawing)

(3) Time to reach the position repeatability

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

1) Change the operation position of the Z axis to the location near the top as much as possible.

2) Increase the operation speed prior to stopping.

3) When positioning the work near the bottom edge of the Z axis, if no effectiveness is achieved in step

"2)"

above, perform operation ① (robot path: O

→ A → C). In the case of operation ② (robot path: O → B →

C), residual vibration may occur. (Refer to Fig. 2-11

.)

A

O

B

Fig.2-11 : Recommended path when positioning at the bottom edge of the Z axis

2-18

2 Robot arm

2.2.6 Collision detection

This series have the "collision detection function" which detects the abnormalities by the collision of the robot arm, and the initial setting has set this function as the enable to suppress damage to the minimum.

Although the enable/disable of this function can be changed by parameter: COL and command: ColChk, you should use in valid condition of this function for protection of the robot and of the peripheral equipment.

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

dition, the operation after long term stoppage)

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

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

Table 2-8 : Factory-shipments condition

JOG operation

RH-1FHR series Valid

Automatic

Invalid

2.2.7 Protection specifications

(1) Types of protection specifications

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

Table 2-9 .

Table 2-9 : Protection specifications and applicable fields

Type

Protection specifications

(IEC Standards value)

Classification

RH-1FHR5515

Robot arm: IP20

General-purpose environment specifications

RH-1FHR-5515

With optional bellows set

(1F-JS-21)

Robot arm: IP65

(Direct jet flow to the bellows section is not included.)

Waterproof specifications

Applicable field

General assembly

Slightly dusty environment

Food processing (handling)

The work shops which requires washing of a robot arm.

Remarks

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

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

Applicable areas are worksites that require cleaning of the robot arm, for example for food processing (handling).

The bellows are not oil resistant.

【Information】

・ The IEC IP20

It indicates the protective structure that prevents an iron ball 12

0 mm diameter, which is being pressed with the power of 3.1 kg±10%, from going through the opening in the outer sheath of the supplied equipment.

・ The IEC IP65

Protection against water infiltration as specified in IP65 indicates a protective structure that is not harmfully affected when 12.5±5% liters of water is supplied from a test device at a position approx. 3m away in various directions and a water pressure of 30kPa at the nozzle section. The water is filled one minute per 1m2 of test device surface area for a total of three minutes.

2-19

2.3 Names of each part of the robot

- +

- +

2 Robot arm

A

ブレーキ解除スイッチ

Note1)

View A

Enabling switch

(Hold down to the left or the right.)

Note 1) The operation method of the brake release switch.

The brake of J3 axis can be released with this switch and the enabling switch of T/B.

Please be sure to perform brake release operation by two-person operations. Always assign an operator other than the switch operator to prevent the arm from dropping. This operation must be carried out with the switch operator giving signals.

CAUTION

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

(1) One person supports so that the J3 axis may not drop.

(2) The one more person pushes the brake release switch of the robot arm, in the condition that the enabling switch of T/B is turned on.

Fig.2-12 : Names of each part of the robot

T/B

Names of each part of the robot

2-20

2 Robot arm

2.4 Outside dimensions ・ Operating range diagram

(1) Standard Specification

Note

1. *1) indicates the space necessary to replace the battery.

2. *2) indicates The distance to a minimum bendable radius of the machine cable.

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

4. *4) indicates the space necessary to remove the No.2 arm cover.

5. *5) indicates the space necessary to connect the machine cable.

Restriction of operating range

Note2)

(J1 < -155 degree)

Note) Refer to

Fig. 2-15

for the mechanical interface section and installation base section dimensions.

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

Restriction of operating range

Restriction of operating range

Note1)

(J1 < -155 degree)

Restriction of operating range

Note2)

(J1 > 155 degree)

Restriction of operating range

Note1)

(J1 > 155 degree)

Notes

Note1) When the J1 axis angle is J1<-155 degree or J1> 115 degree, the J2 axis operation is limited to J2 ≦ -50 degree or J2

≦ 50 degree. (To prevent the interference of the base rear section and No.2 arm rear section.)

Note2) When the J1 axis angle is J1<-155 degree or J1> 115 degree, the operation is limited to |J1-J2| ≦ 300 degree. (To prevent the interference of the base rear section and No.2 arm sides.)

Fig.2-13 : Outside dimensions of RH-1FHR5515

2-21

Outside dimensions ・ Operating range diagram

2 Robot arm

(2) Standard Specification (With bellows)

Note

1. *1) indicates the space necessary to replace the battery.

2. *2) indicates The distance to a minimum bendable radius of the machine cable.

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

4. *4) indicates the space necessary to remove the No.2 arm cover.

5. *5) indicates the space necessary to connect the machine cable.

Restriction of operating range

Note2)

(J1 < -155 degree)

Note) Refer to Fig. 2-15

for the mechanical interface section and installation base section dimensions.

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

Restriction of operating range

Restriction of operating range

Note1)

(J1 < -155 degree)

Restriction of operating range

Note2)

(J1 > 155 degree)

Restriction of operating range

Note1)

(J1 > 155 degree)

Notes

Note1) When the J1 axis angle is J1<-155 degree or J1> 115 degree, the J2 axis operation is limited to J2 ≦ -50 degree or J2

≦ 50 degree. (To prevent the interference of the base rear section and No.2 arm rear section.)

Note2) When the J1 axis angle is J1<-155 degree or J1> 115 degree, the operation is limited to |J1-J2| ≦ 300 degree. (To prevent the interference of the base rear section and No.2 arm sides.)

Fig.2-14 : Outside dimensions of RH-1FHR5515 (With bellows)

Outside dimensions ・ Operating range diagram

2-22

2 Robot arm

2.4.1 Mechanical interface and Installation surface

φ

11

φ

11 ho le

2-φ6穴

(φ8位置決めピン用下穴)

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

Fig.2-15 : Mechanical interface and Installation surface

2-23

Outside dimensions ・ Operating range diagram

2 Robot arm

2.4.2 Change the operating range

The operating ranges of J1 axis can be limited. Change the mechanical stopper and the operating range to be set inside of that area.

If the operating range must be limited to avoid interference with peripheral devices or to ensure safety, set up the operating range as shown below.

(1) Operating range changeable angle

The operating range must be set up at angels indicated by

Table 2-10

.

Table 2-10 : Operating range changeable angle

Type

J1 RH-1FHR5515

Direction

Note1)

+ side

Mechanical stopper angle

Mechanical stopper position

- side

Mechanical stopper angle

Mechanical stopper position

Standard

+170

deg

+172.3

deg

P10

-170

deg

-172.3

deg

P10

Change angle

Note2) Note3)

+150

deg

+152.3

deg

P11

-150

deg

-152.3

deg

N11

+130

deg

+132.3

deg

P12

-130

deg

-132.3

deg

N12

Note1) Refer to Fig. 2-16

for mechanical stopper position.

Note2) The changeable angle shown in

Table 2-10

indicates the operation range by the software. The mechanical stopper angle in the table shows the limit angle by the mechanical stopper. Use caution when layout designing of the robot.

Note3) The changeable angle can be set independently on the + side and - side.

Outside dimensions ・ Operating range diagram

2-24

2 Robot arm

(2) The change method of the operating range

■ Installation of the mechanical stopper

1) Turn off power to the controller.

2) Install the hexagon socket bolt in the screw hole to the angle to set up referring to

Table 2-10

and Fig. 2-

16 . About the mechanical stopper position and the relation of bolt size is shown in Fig. 2-16

. When the screw hole is covered by the arm, move the No.1 armslowly by hand.

P12

P11

P10

N11

Installation bolt:

Hexagon socket head cap screw

・ M10 x 20

* Changing the operating range is prepared optional.

N12

Fig.2-16 : Mechanical stopper position

■ Change the operating range parameters

Specify the operating range to parameters MEJAR with appropriate values (variable angles given in Table 2-10

) by the following steps:

1) Turn on power to the controller.

2) Set up the operating range changed into parameter MEJAR

MEJAR: (J1 minus (-) side, J1 plus (+) side, □ , □ , □ , ...).

■ Change the mechanical stopper origin position parameters

If you have changed operating range on the J1 minus(-) side, change mechanical stopper origin position parame

ters by the following step:

1) Set MORG parameter to the angle which set mechanical stopper position.

MORG: (J1 mechanical stopper position, □ , □ , □ , ...).

■ Check the operating range

After changing the parameter, turn off the controller power and turn on again. Then, move the axis changed by joint jog operation to the limit of the operating range.

Confirm that the robot stops by limit over at the changed angle.

This completes the procedure to change the operating range.

2-25

Outside dimensions ・ Operating range diagram

2 Robot arm

2.4.3 Outside dimensions of machine cables

(1) Connection with the CR750 controller

1) Power cable

㻭㼜㼜㼞㼛㼤㻚㻌㻥㻡

㻭㼜㼜㼞㼛㼤㻚㻌㻡㻡

㼇㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞㻌㼟㼕㼐㼑㼉

㻭㼜㼜㼞㼛㼤㻚㻌㻡㻡

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻤㻞

㻭㼜㼜㼞㼛㼤㻚㻌㻥㻡

㼇㻾㼛㼎㼛㼠㻌㼍㼞㼙㻌㼟㼕㼐㼑㼉

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻤㻞

Note) If using an optional machine cable extension, refer to

Page 40, "(1) Machine cable extension"

in a diameter of the cable.

2) Signal cable

㻭㼜㼜㼞㼛㼤㻚㻌㻥㻜 㻭㼜㼜㼞㼛㼤㻚㻌㻠㻡

㼇㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞㻌㼟㼕㼐㼑㼉

㻭㼜㼜㼞㼛㼤㻚㻌㻠㻡

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻣㻤

㻭㼜㼜㼞㼛㼤㻚㻌㻥㻜

㼇㻾㼛㼎㼛㼠㻌㼍㼞㼙㻌㼟㼕㼐㼑㼉

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻣㻤

Note) If using an optional machine cable extension, refer to Page 40, "(1) Machine cable extension" in a diameter of the cable.

(2) Connection with the CR751 controller

1) Power cable

㻭㼜㼜㼞㼛㼤㻚㻌㻞㻜 㻭㼜㼜㼞㼛㼤㻚㻌㻝㻡

㼇㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞㻌㼟㼕㼐㼑㼉

㼇㻾㼛㼎㼛㼠㻌㼍㼞㼙㻌㼟㼕㼐㼑㼉

㻭㼜㼜㼞㼛㼤㻚㻌㻡㻡 㻭㼜㼜㼞㼛㼤㻚㻌㻞㻟

㻡㻤 㻭㼜㼜㼞㼛㼤㻚㻌㻝㻞

㻭㼜㼜㼞㼛㼤㻚㻌㻠㻡 㻭㼜㼜㼞㼛㼤㻚㻌㻥㻜

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻤㻤

Note) If using an optional machine cable extension, refer to Page 40, "(1) Machine cable extension" in a diameter of the cable.

2) Signal cable

㼇㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞㻌㼟㼕㼐㼑㼉

㼇㻾㼛㼎㼛㼠㻌㼍㼞㼙㻌㼟㼕㼐㼑㼉

㻭㼜㼜㼞㼛㼤㻚㻌㻝㻠

㻭㼜㼜㼞㼛㼤㻚㻌㻠㻜

㻭㼜㼜㼞㼛㼤㻚㻌㻝㻞

㻭㼜㼜㼞㼛㼤㻚㻌㻠㻜 㻭㼜㼜㼞㼛㼤㻚㻌㻠㻡

㻡㻞

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻤㻡

Note) If using an optional machine cable extension, refer to

Page 40, "(1) Machine cable extension"

in a diameter of the cable.

Outside dimensions ・ Operating range diagram

2-26

2 Robot arm

2.5 Tooling

2.5.1 Wiring and piping for hand

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

(7)Ethernet cable (8 cores)

Note) Primary piping pneumatic hose (AIR OUT, RETURN)

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

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

(5)Spare wire

(two wires)

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

A

No.2 arm

B

Robot base

Pulling out wiring and piping

Wiring and piping can be passed through the inside of the shaft.

It can also be pulled out externally from the rear of the No. 2 arm by using the

Page 51, "(8) External

Wiring/Piping box" .

Ethernet cables and the power supply chord for remote input/output can be pulled out from the grommet at the rear of the base section.

Note) On the clean specifications it is necessary to seal the cable aperture closed.

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

(two cores + two wires)

Solenoid valve set (Option): Part A

No.1 arm

Secondary piping pneumatic hose (Option, or customer prepared)

φ4 hose (Max. 8 hoses)

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

(Robot arm side)

Primary piping pneumatic hose

(AIR OUT, RETURN) (Robot arm side)

Robot arm rear side: View B

<Connection with the CR750 controller>

Machine cable connector (power supply)

(CN1)

<Connection with the CR751 controller>

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

(Grommet)

(2) Vacuum (VACUUM)(φ8)

(With an optional bellows set)

Machine cable connector (for signal)

(CN2)

Connector and pneumatic coupling

(1)Primary piping pneumatic coupling

(φ6) (AIR IN, RETURN)

With a vacuum valve

AIR IN: pressure

RETURN: vacuum

Machine cable connector

(for signal) (CN2)

(Inside the CONBOX cover)

Machine cable connector

(brake) (BRK)

(Inside the CONBOX cover)

Machine cable connector

(power supply) (AMP1/AMP2)

(Inside the CONBOX cover)

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

No.

Name Qty.

Connectors, couplings

(1) Coupling 2 UKBL6

(2) Coupling 2 UKBL8

(3) Connector 2 1-1717834-4

(4) Connector 2 1-1717834-3

(5) Connector 1 1-1318117-3

(6) Connector 1 2-1717834-4

(7) Connector 1 TM21P-88P

Connector pins

-

-

1318108-1

1318108-1

1318112-1

1318108-1

-

Connector

-

-

1-1318115-4

1-1318115-3

1-1318120-3

2-1318115-4

-

Connector pins

-

-

1318112-1

1318112-1

1318108-1

1318112-1

-

Manufacturer

Koganei Corporation

Koganei Corporation

Tyco Electronics AMP

Tyco Electronics AMP

Tyco Electronics AMP

Tyco Electronics AMP

Fig.2-17 : Wiring and piping for hand

2-27

Tooling

2 Robot arm

2.5.2 Internal air piping

1) The robot has two φ6 urethane hoses from the pneumatic entrance on the base section to the No.2 arm.

2) The pneumatic inlet in the base section has a φ6 pneumatic coupling bridge.

3) The solenoid valve set (optional) or vacuum valve set (option) can be installed to the side on No.2 arm.

4) Refer to Page 45, "(3) Solenoid valve set"

for details on the electronic valve set (optional).

2.5.3 Internal wiring for the hand output cable

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

No.2 arm. (AWG#24(0.2mm

2

): 10 cables) The cable terminals have connector bridges for eight hand out

puts.The connector names are GR1 and GR2.

To pull the wiring out of the arm, following separate options are required.

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

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

2.5.4 Internal wiring for the hand input cable

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

(AWG#24(0.2mm

2

): 10 cables) The cable terminals have connector bridges for eight hand inputs. The con

nector names are HC1 and HC2.

2) The hand check signal of the pneumatic hand is input by connecting this connector.

To extend the wiring to the outside of the arm, following separate options are required.

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

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

2.5.5 Ethernet cable

Ethernet cables are installed from the robot’s base section up to the No. 2 arm section, and can be used.

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

Example of use for backup wiring.

・ When connecting previously used tools to the robot

・ Folding back the hand output cable when attaching the electromagnetic valve to the robot’s exterior.

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

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

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

Table 2-11 : Ethernet cable specification

Communication speed

Size

Item

Externality of insulator

Specification

100BASE-TX

AWG #26 (0.13mm

2

) x four pair (total eight cores)

Approx. 0.98 mm

Tooling

2-28

2 Robot arm

2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping)

The customer is required to provide tooling wiring, piping and metal fixtures.

Screw holes are provided on the robot arm for the installation of tooling wiring, piping and metal fixtures. (Refer to the

Fig. 2-18 .)

The length of wiring and piping and the installation position on the robot must be adjusted according to the work to be done by the robot. Please use the following example as reference.

<Precautions>

・ A hand input cable and a hand curl cable are available as optional accessories for your convenience.

・After performing wiring and piping ,and installing an external wiring and piping box (option) to the robot, operate the robot at low speed to make sure that each part does not interfere with the robot arm and the peripheral devices.

Confirm that there is no interference also with bellows of the shaft section by a bellows set has installed.

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

164 102

A

(反対側にもあり)

10 side too.)

(反対側にもあり) side too.)

(反対側にもあり) side too.)

Fig.2-18 : Location of screw holes for fixing wiring/piping

20

2-29

Tooling

2 Robot arm

(1) Example of wiring and piping <1>

By feeding wiring and piping through the inside of the shaft, the wiring and piping to the hand becomes compact.

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

Secondary piping air hose, etc or

2次配管エアホースなど

 ・ケーブル内装配線・配管セット(オプション)

  (ハンドチューブ:φ3×4本、ハンド入力ケーブル(信号用4本、電源用2本))

 または

1次配管エアホース(AIR OUT、RETURN)(第2アーム内)

真空バルブセット(オプション)使用時 AIR IN:圧空、RETURN:真空

AIR IN: pressure, RETURN: vacuum

Solenoid valve set (Option)

or

Vacuum valve set (Option)

ハンド出力信号コネクタ(GR1、GR2)

(電磁弁オプション側)

(Solenoid valve (option) side)

ハンド出力信号コネクタ(GR1、GR2)

(第2アーム内)

Example of the customer

Fig.2-19 : Example of wiring and piping <1>

(2) Wiring and piping example <2>

This is an effective method in cases where the wiring and piping is often changed, or when the hand rotation is minimal (within ±90°), etc.

Wiring/Piping (Customer preparation) or または

Fixing plate

Metal fittings

Example of the customer

Fig.2-20 : Example of wiring and piping <2> or

Hand curl tube (Option)

Tooling

2-30

2 Robot arm

(3) Precautions for the shaft through hole

The through hole of the top part of the tip shaft are taped at shipment.

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

1) When the through hole of the shaft is not used

・ Keep the top part of the tip shaft taped while the robot is in use.

2) When the through hole of the shaft is used for wiring.

・ Remove the rubber cap on top of the tip shaft and perform the necessary wiring. Once the wiring is com

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

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

2-31

Tooling

2 Robot arm

2.5.7 Wiring and piping system diagram for hand

Hand output signal

*1)

Connect to the optional solenoid valve set directly

  or

Connect with customer's tool drive equipment (solenoid valve, etc), by the optional hand output cable.

Hand input signal

*1), *2)

Connect with customer's tool drive equipment (hand, etc), by the optional hand input cable.

Piping

*1), *2)

Connect with customer's hand, etc.

GR1

A1

A2

A3

A4

B1

B2

B3

B4

<+24V(COM)>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

Black

GR2

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

HC1

A1

A2

A3

B1

B2

B3

<+24V>

<予約>

<HC 1>

<HC 2>

<HC 3>

<HC 4>

Black

Black

Black

HC2

A1

A2

A3

B1

B2

B3

<予約>

<24G>

<HC 5>

<HC 6>

<HC 7>

<HC 8>

RIO/

ADD

LAN

5

6

7

8

1

2

3

4

A1

A2

A3

A4

B1

B2

B3

B4

<電源用>

<電源用>

<TXRXH>

<TXRXL>

<予備>

<予備>

白茶

白青

Blue 青

白緑

白橙

Ethernet cable AWG#24(0.2mm

2

)x8

(Both ends are LAN connectors)

(Cab tire cables with the shield)

電磁弁

セット

1

2

3

ADD

5

6

7

8

1

2

3

4

LAN

* Refer to

Fig. 2-23

for air supply circuit example.

AIR IN

RETURN

VACCUM

Note) With an optional bellows set

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

(This option comes equipped with two φ6 joints for primary piping, eight φ4 joints for secondary piping, and holes for pulling out the cables.)

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

(This option comes as a set that includes φ3 x 4 air hoses, hand input cables (4 x signal lines, 2 x power chords), and fixing tools.

Fig.2-21 : Wiring and piping system diagram for hand and example the solenoid valve installation

Tooling

2-32

2 Robot arm

Connect to the optional vacuum valve set directly.

Piping

*1), *2)

Connect with customer's hand, etc.

GR1

A1

A2

A3

A4

B1

B2

B3

B4

<+24V(COM)>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

White

GR2

A1

A2

A3

A4

B1

B2

B3

B4

<+24V(COM)>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

HC1

A1

A2

A3

B1

B2

B3

<+24V>

<予約>

<HC 1>

<HC 2>

<HC 3>

<HC 4>

HC2

A1

A2

A3

B1

B2

B3

<予約>

<24G>

<HC 5>

<HC 6>

<HC 7>

<HC 8>

RIO/

ADD

LAN

4

5

6

7

8

1

2

3

B1

B2

B3

B4

A1

A2

A3

A4

<電源用>

<電源用>

<TXRXH>

<TXRXL>

<予備>

<予備>

White

白茶

White/Blue

Blue

白緑

白橙

Ethernet cable AWG#24(0.2mm

2

)x8

(Both ends are LAN connectors)

(Cab tire cables with the shield)

1

2

3

ADD

電磁弁

セット

(オプション)

3

4

5

1

2

6

7

8

LAN

* Refer to

Fig. 2-23 for air

supply circuit example.

AIR IN

With a vacuum valve: pressure

RETURN

With a vacuum valve: vacuum

VACCUM

Note) With an optional bellows set.

*1) Using the

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

(This option comes equipped with two φ6 joints for primary piping, eight φ4 joints for secondary piping, and holes for pulling out the cables.)

*2) Using the

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

(This option comes as a set that includes φ3 x 4 air hoses, hand input cables (4 x signal lines, 2 x power chords), and fixing tools.

Fig.2-22 : Wiring and piping system diagram for hand and example the vacuum valve installation

2-33

Tooling

2 Robot arm

2.5.8 Electrical specifications of hand input/output

Table 2-12 : Electrical specifications of input circuit

Item Specifications

Type

No. of input points

Insulation method

Rated input voltage

Rated input current

Working voltage range

ON voltage/ON current

DC input

8

Photo-coupler insulation

24VDC approx. 7mA

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

8VDC or more/2mA or more

OFF voltage/OFF current

Input resistance

Response time

4VDC or less/1mA or less

Approx. 3.3kΩ

OFF-ON 10ms or less (DC24V)

ON-OFF 10ms or less (DC24V)

<Sink type>

Internal circuit

+24V

+24V

820

3.3K

HCn*

24G

<Source type>

+24V

3.3K

820

+24V

HCn*

24G

* HCn = HC1 to HC8

Table 2-13 : Electrical specifications of output circuit

Item Specification

Type

No. of output points

Insulation method

Rated load voltage

Transistor output

8

Photo coupler insulation

DC24V

Rated load voltage range

Max. current load

DC21.6 to 26.4VDC

0.1A/ 1 point (100%)

Current leak with power OFF 0.1mA or less

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

Response time OFF-ON

ON-OFF

2ms or less (hardware response time)

2 ms or less (resistance load) (hardware response time)

Protects Protects the over-current (0.9A)

Internal circuit

<Sink type>

+24V(COM)

(Initial power supply)

GRn

*

過電流

保護機能

<Source type>

24G

過電流

保護機能

+24V

GRn

*

24G

* GRn = GR1 to GR8

Tooling

2-34

2 Robot arm

2.5.9 Air supply circuit example for the hand

Fig. 2-23

shows an example of pneumatic supply circuitry for the hand.

(1) Place diodes parallel to the solenoid coil.

(2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be

damage to the work. To prevent it, install a pressure switch to the source of the air as shown in Fig. 2-23

and use the circuit described so that the robot stops when pressure drops. Use a hand with a spring-pressure clamp, or a mechanical lock-type hand, that can be used in cases where the pressure switch becomes dam

aged.

(3) The optional hand and solenoid valve are of an oilless type. If they are used, don't use any lubricator.

(4) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the dew condensation may occur on the coupling or the hose surface.

To the AIR IN (Robot arm)

(0.5MPa ±10%)

Pneu matic source

(Clean) s

Filter Regulator

Fig.2-23 : Air supply circuit example for the hand

2-35

2 Robot arm

2.6 Shipping special specifications, options, and maintenance parts

2.6.1 Shipping special specifications

■ What are sipping special specifications?

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

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

■ How to order

(1) Confirm beforehand when the factory special specifications can be shipped, because they may not be immediately available.

(2) Specify, before shipping from our company.

(3) Specified method …… Specify the part name, model, and robot model type.

Shipping special specifications, options, and maintenance parts

2-36

2 Robot arm

(1) Machine cable

■ Order type : ● Fixed type .........CR750 drive unit: 1S-02UCBL-01 (2m)

CR751 drive unit: 1F-02UCBL-02 (2m)

■ Outline

<CR750 drive unit>

<CR751 drive unit>

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

■ Configuration

Table 2-14 : Configuration equipment and types

Part name Type

CR750 drive unit

Fixed Set of signal and power cables

Motor signal cable

Motor power cable

RCR751 drive unit

Fixed Set of signal and power cables

Motor signal cable

Motor power cable

1S-02UCBL-01

1F-02UCBL-02

Note1) Mass indicates one set.

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

Qty.

Mass (Kg)

Note1)

1 set

(1 cable)

(1 cable)

1 set

(1 cable)

(1 cable)

3.4

-

-

2.6

-

-

2m

2m

Remarks

Note2)

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

2-37

Shipping special specifications, options, and maintenance parts

2 Robot arm

(2) Bellows set

■ Order type: 1F-JS-21

■ Outline

By installing the bellows set at the tip of the shaft, scattering of the grease from the shaft can be prevented. Also, the IP65 rating and the cleanliness of ISO class 5 or better can be achieved.

■ Configuration

Table 2-15 : Configuration equipment and types

Part name

Bellows set 1F-JS-21

Type Q’ty

1

Mass (kg)

0.3

Remarks

Factory option.

This option is corresponding to IP65 (direct jet flow to the bellows section is not included) and ISO class5.

■ Specification

Table 2-16 : Specification

Item

IP protection rating

Cleanness

Protection specification

Standard specification

Specification

IP20

-

General-purpose environment

Note4)

Bellows-installed specification

Note1)

IP65

Note2) Note3)

ISO class 5

Note3)

Waterproof environment

Note4)

Note1) Outside dimensions and operating range of a bellows-installed robot is shown in

Page 22, "(2) Standard Specification

(With bellows)"

.

Note2) Direct jet flow to the bellows section is not included.

Note3) The conditions necessary to guarantee cleanliness are as follows: clean room down flow 0.3 m/s or greater and installation of exhaust ducts. Two φ8 joints, A and B in the figure below, are prepared at the rear of the base to connect the exhaust ducts. (To guarantee IP65, the connection of the exhaust ducts is also required.)

Prepare two 8-diameter hoses (about 2 m long). Connect each of the hoses to couplings A and B. At the opening of the exhaust hose, intakes/exhausts of the air inside the robot arm occur due to the volume change of the bellows section along with vertical movement of the Z axis. Arrange the position of the opening of the exhaust hose so that the cleanliness of the robot will not be affected. Also, although only slightly, air flows from outside into the unit through the opening of the exhaust hose. Consider the following two points for arranging the position of the opening of the exhaust hose.

・ Arrange the hose with its opening facing downward.

・ The opening should not be located in the vicinity of dust/dirt or liquids, etc. (Recommended cleanliness of surrounding area: ISO class 5 or better)

φ8 joint

Base

Opening

Exhaust duct

A B

Machine cable

Note4) Applicable areas are worksites that require cleaning of the robot arm, for example for food processing (handling). The bellows are not oil resistant. Do not use the bellows for machine tools, etc. in an oil mist environment. For the details of

IEC IP codes, refer to

Page 19, "2.2.7 Protection specifications"

.

Shipping special specifications, options, and maintenance parts

2-38

2 Robot arm

2.7 Options

■ What are options?

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

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

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

2. Single options ..................................That are configured from the fewest number of required units of a part.

Please choose customer's purpose additionally.

2-39

Options

2 Robot arm

(1) Machine cable extension

■ Order type: ● CR750 drive unit..........Fixed type: 1S- □□ CBL-01

Flexed type: 1S- □□ LCBL-01

Flexed type: 1S- □□ LUCBL-01

● CR751 drive unit..........Fixed type: 1F- □□ UCBL-02

Flexed type: 1F- □□ LUCBL-02

Note) □□ refer the length.

(extension type)

(extension type)

(direct type)

(direct type)

(direct type)

■ Outline

<CR750drive unit>

<CR751drive unit>

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

A fixed type and flexible type are available.

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

The extended method is discriminated as follows.

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

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

■ Configuration

Table 2-17 : Configuration equipment and types

Part name

Type

Note1)

CR750 controller

Fixed Set of signal and power cables 1S- □□ CBL-01

Motor signal cable

Motor power cable

Flexed Set of signal and power cables 1S- □□ LCBL-01

Motor signal cable

Motor power cable

Flexed Set of signal and power cables 1S- □□ LUCBL-01

Motor signal cable

Motor power cable

Nylon clamp

Nylon clamp

NK-14N

NK-18N

Silicon rubber

CR751 controller

Fixed Set of signal and power cables

Motor signal cable

1F- □□ UCBL-02

Motor power cable

Flexed Set of signal and power cables 1F- □□ LUCBL-02

Motor signal cable

Motor power cable

Nylon clamp

Nylon clamp

Silicon rubber

NK-14N

NK-18N

Note1) The numbers in the boxes □□ refer the length.

Note2) Mass indicates one set.

Fixed

Qty.

Flexed

1 set

(1 cable)

(1 cable)

-

-

-

-

-

-

-

-

-

-

-

-

1 set

(1 cable)

(1 cable)

1 set

(1 cable)

(1 cable)

2 pcs.

2 pcs.

4 pcs

Mass (kg)

Note2)

Remarks

6.7(5m)

12(10m)

17(15m)

7(5m)

13(10m)

17(15m)

7(5m)

13(10m)

17(15m)

-

-

-

5m, 10m or 15m each

Extension type

5m, 10m or 15m each

Extension type

5m, 10m or 15m each

Direct type for motor signal cable for motor power cable

1 set

(1 cable)

(1 cable)

-

-

-

-

-

-

-

-

-

1 set

(1 cable)

(1 cable)

2 pcs.

2 pcs.

4 pcs

6.7(10m)

12(15m)

17(20m)

7(10m)

13(15m)

17(20m)

-

-

-

10m, 15m or 20m each

Direct type

10m, 15m or 20m each

Direct type for motor signal cable for motor power cable

Options

2-40

2 Robot arm

■ Specifications

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

Shows usage conditions for flexed type cables in

Table 2-18

.

Table 2-18 : Conditions for the flexed type cables

Cable

Minimum flexed radius

Cableveyor, etc., occupation rate

Maximum movement speed

Guidance of life count

Environmental proof

Cable configuration

Item

Motor signal cable

Motor power cable

Specifications

IP54

1S- □□ LCBL-01

1S- □□ LUCBL-01

1F- □□ LUCBL-02

100mm or more

50% or less

2,000mm/s or less

7.5 million times (With silicone grease coating)

IP54 (except for the area approximately

500 mm from the end of the connector on the controller side)

φ6 x 5, φ8.5 x 1, and φ1.7 x 1

φ8.9 x 2 and φ6.5 x 8

φ6 x 7 and φ1.7 x 1

φ6.5 x 8 and φ8.9 x 2

[Caution] The guidance of life count may greatly differ according to the usage state items related to

Table 2-18

and to the amount of silicon grease applied in the cableveyor.

Recommendation grease: G-501 (Supplier: Shin-Etsu Chemical Co., Ltd.)

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

[Caution] When a cableveyor is used, partitions are required to avoid overlapping or riding up of the cables. Also, adjust the cable length to eliminate tension or excessive looseness, and fix it securely.

■ Cable configuration

The configuration of the flexible cable is shown in

Table 2-19

. Refer to this table when selecting the cableveyor.

Table 2-19 : Cable configuration (Flexed type)

Item Motor signal cable

CR750 drive unit

No. of cores

Finish dimensions

No.of cables used

No. in total

CR751 drive unit

AWG#24

(0.2mm

2

)-4P

Approx. φ6mm

5 cables

AWG#24

(0.2mm

2

)-7P

Approx. φ8.5mm

1 cable

7 cables

No. of cores

Finish dimensions

No.of cables used

No. in total

AWG#24

(0.2mm

2

)-4P

Approx. φ6mm

7 cables

8 cables

AWG#18

(0.75mm

2

)

Approx. φ1.7mm

1 cable

AWG#18

(0.75mm

2

)

Approx. φ1.7mm

1 cable

Motor power cable

AWG#16

(1.25mm

2

)-4C

Approx. φ8.9mm

3 cable

9 cables

AWG#18

(0.75mm

2

)-4C

Approx. φ6.5mm

6 cable

AWG#16

(1.25mm

2

)-4C

Approx. φ8.9mm

2 cable

10 cables

AWG#18

(0.75mm

2

)-3C

Approx. φ6.5mm

8 cable

2-41

Options

2 Robot arm

■ Fixing the flexible cable

<CR750 drive unit>

(1) Connect the connector to the robot arm.

The connection method to a robot arm is the same as a standard machine cable. Please refer to the separate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" and connect.

(2) Wind the silicon rubber around the cable at a position 300 to 400 mm from the side of robot arm and extension section as shown below, and fix with the nylon clamp to protect the cable from external stress.

Note1)

Motor power

(CN1)

Motor signal

(CN2)

CN2

CN1

300~

400mm

NK-14N

NK-14N

300~400mm

CN1

CN2

NK-18N

NK-18N

延長屈曲ケーブル cable (Option)

The fixed cable

(Standard attachment)

最 小 2 0 0

The cable should bend and the size should be 200mm or more.

And a connection space for a machine cable needs

250mm or more.

Fig.2-24 : Fixing the flexible cable (CR750 drive unit)

CAUTION

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

Note1) Although the picture is the CR751-D controller, also the connection method is the same in the CR751-Q controller.

Options

2-42

2 Robot arm

<CR751 drive unit>

(1) Connect the connector to the robot arm.

The connection method to a robot arm is the same as a standard machine cable. Please refer to the separate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" and connect.

(2) For protection of wires from external stress, refer to following. Wrap the cable with the supplied silicon rubber and fix the cable with nylon clamps in the area between the heat shrink tubes on the robot and the controller sides (flexible cable area).

*3)

*1)

モータ電源(CN1)

AMP1 AMP2 BRK

*2)

CN2

AMP1・AMP2

BRK

300 to

500mm

NK-14N

*2)

Two fixing screws

CN1

CN2

Two fixing screws

NK-18N

NK-18N

The cable should bend and the size should be 240mm or more.

And a connection space for a machine cable needs

290mm or more.

Fig.2-25 : Fixing the flexible cable (CR751 drive unit)

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

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

*3) Although the figure is CR750-D, the connection method is the same also in CR750-Q.

2-43

Options

2 Robot arm

(2) Stopper for changing the operating range

■ Order type: 1F-DH-01

■ Outline

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

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

■ Configuration

Table 2-20 : Configuration devices

Part name Type

Stopper for changing the operating range

1F-DH-01

Qty.

1 set

Mass(kg)

0.05

Remarks hexagon socket head bolt (M10 x 20): 2 bolts

■ Specifications

Table 2-21 : Specifications

Axis Standard

J1 +/- side +/- 170 deg

Changeable angle

+/- 130 deg, +/- 150 deg

(1) The changeable angle shown in

Table 2-21

indicates the operation range by the software.

The limit by the mechanical stopper is positioned 3 degrees outward from that angle, so take care when designing the layout.

(2) The operating range is changed with robot arm settings (insertion of the pin) and parameter settings. Refer

to the separate Page 24, "2.4.2 Change the operating range" for details.

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

Options

2-44

2 Robot arm

(3) Solenoid valve set

■ Order type: One set: 1F-VD01-01(Sink type)/1F-VD01E-01(Source type)

Two sets: 1F-VD02-01(Sink type)/1F-VD02E-01(Source type)

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

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

■ Outline

The solenoid valve set is an option that is used for controlling toolings when various toolings, such as the hand, are installed at the end of the arm.

Also, for easy installation of this electromaagnetic set onto the robot, it comes equipped with a manifold, couplings, connectors, among other things.

■ Configuration

Table 2-22 : Configuration equipment

Part name Type

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

1F-VD01E-01

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

1F-VD02E-01

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

1F-VD03E-01

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

1F-VD04E-01

Note1) Mass indicates one set.

Q'ty

Either one pc.

Either one pc.

Either one pc.

Either one pc.

Mass (kg)

Note1)

1.0

1.0

1.0

1.0

Remark

Hand output cable is already connected.

Refer to

Page 48, "(5) Hand output cable"

.

M4 x 30 Two screws (Installation screws)

1F-VD0*-01: Sink type

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

■ Specifications

Table 2-23 : Valve specifications

Item

Number of positions

Port

Valve function

Operating fluid

Operating method

Effective sectional area (CV value)

Oiling

Operating pressure range

Response time

Max. operating frequency

Ambient temperature

Specifications

2

5

Note1)

Double solenoid

Clean air

Note2)

Internal pilot method

0.64mm

2

(0.03)

Unnecessary

0.1 to 0.7MPa

22msec or less (at 0.5 MPa)

5Hz

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

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

Recommended plugs: KQ2P-04 plug made by SMC

Note2)

CAUTION

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

Table 2-24 : Solenoid specifications

Item Specifications

Method

Coil rated voltage

Built-in fly-wheel diodes with surge protection

DC24V ±10%

Power consumption 0.55W

Voltage protection circuit with power surge protection Diode

2-45

Options

⑤ ⑥

80mm

2 Robot arm

50mm

+24V (COM)

GR1

GR2

<GR1>

A1

A2

A3

A4

GR3

GR4

B1

B2

B3

B4

+24V (COM)

GR5

GR6

<GR2>

A1

A2

A3

A4

GR7

GR8

B1

B2

B3

B4

SOL1A

SOL1B

SOL2A

SOL2B

SOL3A

SOL3B

SOL4A

SOL4B

24G

GR1

GR2

<GR1>

A1

A2

A3

A4

GR3

GR4

B1

B2

B3

B4

24G

GR5

GR6

<GR2>

A1

A2

A3

A4

GR7

GR8

B1

B2

B3

B4

SOL1A

SOL1B

SOL2A

SOL2B

Part name

Solenoid valve

Manifold block

Quick coupling (A/B port)

Quick coupling (P/R port)

Connector

Contact

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

1 set

8

2

1

1

1

3

2

2 sets 3 sets 4 sets

8

2

2

1

1

5

3

1

8

2

2

8

8

2

4

1

2

10

2 2 2

Specification

φ4

φ6

1-1318115-4

1318112-1

M4x30

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

Fig.2-26 : Outline dimensional drawing

SOL3A

SOL3B

SOL4A

SOL4B

Options

2-46

2 Robot arm

(4) Hand input cable

■ Order type: 1F-HC35C-01

■ Outline

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

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

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

To extend the wiring to the outside of the robot arm, optional external wiring and pip

ing box (1F-UT-BOX) is required.

■ Configuration

Table 2-25 : Configuration equipment

Part name Type

Hand input cable 1F-HC35C-01

Note1) Mass indicates one set.

Qty.

1 cable

Mass (kg)

Note1)

0.2

Remarks

■ Specifications

Table 2-26 : Specifications

Item

Size x cable core

Total length

Specifications

AWG#24 (0.2mm

2

)×12

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

Remarks

One-sided connector, one-sided cable bridging

450

100

15

400

HC

1-1318115-3

(Tyco Electronics AMP)

350 450±10

(Purple)

(Brown)

(Blue)

(Black)

(緑)ミドリ

(Red)

(白)シロ

(Gray)

<HC1>

A1

A2

A3

B1

B2

B3

+24V

予約

HC1 ( ハン ド 入力1)

HC2 ( ハン ド 入力2)

HC3 (

ハン ド 入力3)

HC4 ( ハン ド 入力4)

B2

B3

<HC2>

A1

A2

A3

B1

24G

HC5

HC6

( ハン ド 入力5)

HC6

HC7

HC8 (

(

(

ハン ド 入力6)

ハン ド 入力7)

ハン ド 入力8)

* Pin assignment of sink and source is the same.

Fig.2-27 : Outside dimensional drawing and pin assignment

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

2-47

Options

2 Robot arm

(5) Hand output cable

■ Order type: 1F-GR60S-01

■ Outline

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

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

o extend the wiring to the outside of the robot arm, optional external wiring and pip

ing box (1F-UT-BOX) is required.

■ Configuration

Table 2-27 : Configuration equipment

Part name

Hand output cable

Type

1F-GR60S-01

Note1) Mass indicates one set.

Qty.

1 cable

Mass (kg)

Note1)

0.3

Remarks

■ Specifications

Table 2-28 : Specifications

Item

Size x Cable core

Total length

Specifications

AWG#24(0.2mm

2

) x 12 cores

1,050mm

Remarks

One side connector and one side cable connection

(100)

GR

15

600 450

1-1318115-4

(タイコエレクトロニクス

アンプ(株))

(Purple)

(Brown)

(青)アオ

(Black)

(赤)アカ

(White)

<GR1>

A1

A2

A3

A4

B1

B2

B3

B4

GR1 (ハンド 出力1)

GR3 (ハンド 出力3)

GR4

(ハンド 出力4)

GR1

GR3

GR4

<GR2>

A1

A2

A3

A4

予約

GR5

GR6

(ハンド 出力5)

B1

B2

B3

B4

GR7

GR8

予約

(ハンド 出力7)

(ハンド 出力8)

Reserve

Reserve

24GND(COM)

Reserve

GR5

GR6

(ハンド 出力5)

GR6 (ハンド 出力6)

GR7

GR8

(ハンド 出力7)

(ハンド 出力8)

Reserve

Fig.2-28 : Outline dimensional drawing and pin assignment

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

Options 2-48

2 Robot arm

(6) Hand curl tube

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

■ Outline

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

■ Configuration

Table 2-29 : Configuration equipment

Part name

Hand curl tube (Four set: 8 pcs.)

Type

1E-ST0408C-300

Note1) Mass indicates one set.

Qty.

1 pc.

■ Specifications

Table 2-30 : Specifications

Item

Material

Size

Specifications

Urethane

Outside diameter: φ4 x Inside diameter: φ2.5

Mass (kg)

Note1)

0.1

Remarks

Φ4 tube, 8pcs

1E-ST0408C-300 (φ4 x 8 pcs)

300

100

600

Fig.2-29 : Outline dimensional drawing

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

2-49

Options

2 Robot arm

(7) Internal Wiring/Piping set for hand

■ Order type: 1F-HS304S-01

■ Outline

This set, consisting of air hoses and cables, is for feeding air hoses and hand input signal cables from the No. 2 arm through to the shaft tip.

A plate is already attached to be fixed onto the No. 2 arm, and therefore it is easy to ensure the necessary space for wiring and piping.

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

This option

■ Configuration

Table 2-31 : Configuration equipment

Item

Internal Wiring/Piping set for hand

Type

1F-HS304S-01

Qty.

1

Mass (Kg)

Note1)

0.4

Remarks

The air hose and the cable for hand input signals are contained.

The grease (for application to shaft top) and the union band (for fixation of the hose and the cable) are attached.

Note1) Mass indicates one set.

■ Specification

Table 2-32 : Specification

Item

Air hose

Hand input signal cable

Useable length from the shaft end

Specification

φ3 x 4pcs

AWG #24(0.2mm

2

)×6pcs

400mm

Remarks

Both ends are free.

Eight reducers (φ3 to φ4) are attached.

The robot arm side is connector (HC1, HC2), and one side is free.

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

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

*1)

HC

70

1-1318115-3

(Tyco Electronics AMP)

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

(白)シロ

(白)シロ

(黒)クロ

<HC1>

A1

A2

A3

B1

B2

B3

<HC2>

A1

+

24V

Reserve

HC1

HC2

(

ハンド入力)

( ハンド入力)

HC3

HC4

(

( ハンド入力)

ハンド入力)

A2

A3

B1

B2

B3

予約

Reserve

Reserve

Fig.2-30 : Outline dimension drawing and pin assignment (Hand input cable)

Options 2-50

2 Robot arm

(8) External Wiring/Piping box

■ Order type: 1F-UT-BOX

■ Outline

Pull out Wiring/Piping

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

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

When using this option, in order to prevent interfering with a robot arm, a stopper for changing the operating range option (1F-DH-01) is required.

■ Configuration

Table 2-33 : Configuration equipment

Part name Type

External Wiring/Piping box 1F-UT-BOX

Qty.

1

Mass (Kg)

Note1)

0.5

Remarks

Attachments:

・ Eight Air hoses (φ4, connect to solenoid valve)

・ Installation screw M4 x 12: 4 screws

(Conical spring washer, Plain washer)

・ Simple spanner for resin nuts

Note1) Mass indicates one set.

■ Specification

Table 2-34 : Specification

Item Specification

Outline

The hole for wiring drawers

Coupling

106(W) x 73.6(D) x 72(H)

φ21 x 4 places

For φ4 air hose x 8pcs

For φ6 air hose x 2pcs

An outside dimension and a component are shown in

Fig. 2-31 .

Remarks

The coupling is included.

Fix the cable by cable clamp etc.

Installed previously

2-51

Options

2 Robot arm

-

-

-

-

Configuration

Part name

External Wiring/Piping box housing

② Quick coupling

③ Quick coupling

φ21 hole

Manifold block

Simple spanner for resin nuts

Plug

Plug

Installation screw

4

1

1

8

2

4

Qty.

1

8

2

Specification

φ4 (Elbow)

φ6 (Elbow)

The grommet is attached to each hole.

(Two holes are in the right and the left.)

Stopper for φ4 quick coupling

Stopper for φ6 quick coupling

Installation screws M4 x 12

Conical spring washer, Plane washer (Attachment)

Fig.2-31 : Outline dimension and configurations

(Th is

h ol th e ot he e is

a ls r si o in de

)

Options 2-52

2 Robot arm

(9) Vacuum valve set

■ Order type: 1 set.......1F-VV01E-01 (Source type)

2 sets ....1F-VV02E-01 (Source type)

■ Outline

The vacuum set is an option that is used for controlling the vacuum pressure supply and tooling, such as a suction hand, which can be installed at the tip of the arm. The valve set has a built-in pressure sensor, and its supply valve and breaking valve are interlocked. For easy installation to the robot arm, the valve set comes equipped with couplings, connecters, etc.

■ Configuration

Table 2-35 : Configuration equipment

Part name Type

Vacuum valve set 1F-VV01E-01

1F-VV02E-01

Note1) Mass indicates one set.

Qty

1

1

Mass (Kg)

Note1)

0.1

0.2

Remarks

The optional hand input cable is included.

Refer to

Page 48, "(5) Hand output cable" .

■ Specification

Table 2-36 : Valve specification

Item

Model

Operating fluid

Operating pressure range

Operating temperature range

Valve switching method

Valve configuration

Valve structure

Specification

ZK2P00R5JL-06 (manufacturer: SMC Corporation)

Air, inert gas

0.3 to 0.6MPa

-5 to 50 ℃ (However, there must be no condensation)

Supply valve: self-holding, breaking valve: N.C. (interlocked)

Pilot type, dual 2-port

Poppet seal

Table 2-37 : Pressure sensor specification

Item Specification

Rated voltage range

Pressure resistance

Power supply voltage

Power consumption

Minimum setting unit

Accuracy

Response time

-100 to 100 [kPa]

500 [kPa]

DC10 to 24V±10%, Ripple (P-P) 10% or less

40mA or lower

0.1 [kPa]

±2% F.S. (at the ambient temperature of 25 ℃ )

2.5ms or less

Operating temperature range -5 to 50 ℃ (However, there must be no condensation)

For additional information of exhaust characteristics and flow characteristics, refer to the catalog of SMC Cor

poration.

2-53

Options

<Outside dimension>

2 Robot arm

(2 sets)

(1 set)

<Configuration>

1 set

<12><13>

Connector (HC1, HC2)

<14><15>

Connector (GR1)

2 sets

Connector

(HC1, HC2)

Connector

(GR1)

S2 <9>Air hose (φ6)

V2

S1

V1

<1>Vacuum valve

PV

<3>Straight coupling

<10>Ait hose (φ4)

PS

S1

V1

PV

PS

<7>Union Y coupling

PV

PS

V

<2>Pressure sensor

V

<5>Reducing straight coupling

<4>Straight coupling

<11>Secondary piping

(φ4)

V

<6>Reducing coupling

<11>Secondary piping (φ4)

Configuration list

No.

Part name

<1> Vacuum valve

<2> Pressure sensor

<3> Straight coupling (PV/V)

<4> Straight coupling(PS)

<5> Reducing straight coupling (PS)

<6> Reducing coupling (V)

<7> Union Y coupling (PV)

<8> Reducing union Y coupling (PS)

<9> Air hose (PV)

<10> Air hose (PS)

<11> Air hose (V)

<12> Connector (HC)

<13> Contact (HC)

<14> Connector (GR)

<15> Contact (GR)

* The optional hand input cable (1F-GR60S-01) is included.

Fig.2-32 : Outside dimension and configuration

Qty

2 sets

6

1

5

2

2

2

2

1

1

0

2

4

2

2

2

1 set

4

1

3

1

2

0

1

0

0

1

1

2

1

1

1

Specification

φ6

φ4

φ6-φ4

φ6-φ4

φ6-φ6×2

φ6-φ4×2

φ6

φ4

φ4

1-1318115-3

1318112-1

1-1318115-4

1318112-1

<8>Reducing union

Y coupling

<10>Air hose (φ4)

Options 2-54

2 Robot arm

2.8 About Overhaul

Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of speci

fied service life or other parts which have been damaged, so that the robots may be put back in shape for contin

ued use. Overhaul interval for robots presumably varies with their operating conditions and thus with the degree of the equipment's wear and loss of performance. As a rule of thumb, however, it is recommended that overhaul be carried out before the total amount of servo-on time reaches the predetermined levels (24,000 hours for the robot

body and 36,000 hours for the controller). (See Fig. 2-33

.) For specific information about parts to be replaced and timing of overhaul, contact your local service representative.

If overhaul is not performed

Shipment

Predetermined time period

Periodic inspection

Overhaul

If overhaul is performed

Servo-on time

Fig.2-33 : Periodic inspection/overhaul periods

2-55

About Overhaul

2 Robot arm

2.9 Maintenance parts

The consumable parts used in the robot arm are shown in

Table 2-38

. Purchase these parts from the designated maker or dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer.

Table 2-38 : Consumable part list

No.

Part name Type

Note1)

Usage place Qty.

Supplier

5

6

7

3

4

1

2

Grease

Lithium battery

Timing belt

ER6

Reduction gears of each axis

Ball screw spline

Front section of the base

J3 axis

J4 axis motor side

J4 axis shaft side

J4 axis shaft

As needed

As needed

3

1

1

1

Mitsubishi Electric

Bellows set

(Option)

1

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

Maintenance parts 2-56

3Controller

3 Controller

3.1 Standard specifications

3.1.1 Basic specifications

Use the robot CPU unit which consists of CR751-Q controllers, equipping the base unit of the sequencer of the

MELSEC-Q series of our company. Specifications such as the power supply and outside dimension of the robot

CPU unit are the same as the sequencer's specification. Refer to

Page 63 "Fig. 3-3"

(Names of each part),

Page

66 "Fig. 3-6"

and

Page 67 "Fig. 3-7" (Outside dimensions)

Although the specification with which the robot CPU unit and the drive unit (box which mounts the servo amplifier for the robots, the safety circuit, etc.) were put together is shown in

Table 3-1 , the specification of the drive unit

is mainly described.

Table 3-1 : Specifications of controller

Item

Type

Number of control axis

Memory capacity

Programmed positions

No. of steps

Number of program

Robot language

Teaching method

External input and output

Input and output

Dedicated input/output

Hand open/close input/output

Emergency stop input

Door switch input

Enabling device input

Emergency stop output

Mode output

Robot error output

Addition axis synchronization

Mode changeover switch input

Interface RS-422

Ethernet

Additional axis interface

Power source

Input voltage range

Power capacity

Power supply frequency

Outline dimensions

Note3)

Mass

Construction

Operating temperature range

Ambient humidity

Grounding

Paint color

Unit point point point point point point point point point point step point port port

Channel

V kVA

Hz mm kg

%RH

Ω

Specification Remarks

CR750-01HRQ1-1

CR751-01HRQ1-0

Simultaneously 4

13,000

26,000

256

MELFA-BASIC IV, V

Pose teaching method, MDI method

Note1)

0/0

Assign to the multi-CPU shared device.

Multi-CPU shared device

Input 8192/Output 8192 (Max.)

8/8

1

Built-in

Dual line

1

1

1

1

1

1

1

1

1

1

Dual line

Dual line

Dual line

Dual line

Dual line

Dual line

Dual line

(CR751 controller only)

Only for T/B

10BASE-T/100BASE-Tx

SSCNET III (Connects with MR-J3-

BS, MR-J4-B series)

Three phase AC180 to 253, or

Single phase AC207 to 253

2.0

50/60

CR750/CR751 controller:

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

CR750 controller: Approx. 18

CR751 controller: Approx. 15

Self-contained floor type, Opened type.

Installation vertically or horizontally

0 to 40

45 to 85

100 or less

Dark gray

Does not include rush current

Excluding protrusions

IP20

Note4)

Without dew drops

Note2)

100Ωor less (class D grounding)

Note5)

Equivalent to Munsell: 3.5PB3.2/0.8

Note1) Pose teaching method: The method to register the current position of the robot arm.

MDI method: The method to register by inputting the numerical value Immediate.

3-57

Standard specifications

3Controller

Note2) The power capacity is the rating value for normal operation. The power capacity does not include the rush current when the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage. The short circuit breaker should use the following.

* Operate by the current leakage under the commercial frequency domain (50-60Hz). If sensitive to the high frequency ingredient, it will become the cause in which below the maximum leak current value carries out the trip.

Note3) Refer to

Page 64, "3.3 Outside dimensions/Installation dimensions"

for details.

Note4) This controller is standard specification. (Refer to

Page 58, "3.1.2 Protection specifications and operating supply"

.)

Note5) The robot must be grounded by the customer.

Table 3-2 : Robot CPU unit standard specification

Item Unit

Type

Interface Addition axis synchronization

Power source Power capacity (DC5V)

Outline dimension

Mass

Operating temperature range

Ambient humidity port

A mm kg

%RH

Specification

Q172DRCPU

1

1.25

98(W) x 27.4(D) x 119.3(H)

0.33

0 to 55

5 to 95

Remarks

Without dew drops

3.1.2 Protection specifications and operating supply

A protection method complying with the IEC Standard IP20 (Opened type) is adopted for the controller.

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

【Information】

・ The IEC IP20

It indicates the protective structure that prevents an iron ball 12

0 mm diameter, which is being pressed with the power of 3.1 kg±10%, from going through the opening in the outer sheath of the supplied equipment.

Refer to the section Page 127, "6.2 Working environment"

for details on the working environment.

Standard specifications 3-58

3 Controller

3.2 Names of each part

3.2.1 Drive unit

(1) CR750 drive unit

Drive unit (Front side)

<15> <16> <3>

<17>

<6>

Drive unit (Rear side)

<4> <5>

<19>

Fan, Air suction

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

Attached cover

<18>

<1>

Exhaust downward

(Bottom)

<2>

<1>: ACIN terminal

Type B: For single phase/three phase

<11> <12> <13>

<14>

L1 L2 L3

<20> <21>

<19>: The operation panel

<22>

Fig.3-1 : Names of drive unit parts (CR750)

<23> <24> <25> <26> <27> <28>

3-59

Names of each part

3 Controller

<1> ACIN terminal ................................................The terminal box for AC power source (single phase or single phase/ three phase, AC200V) input. (Inner side of a cover)

The terminal box is for single phase/three phase (Type B).

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

<2> PE terminal .....................................................The screw for grounding of the cable. (M4 screw x 2 place)

<3> Power switch .................................................This turns the control power ON/OFF

<4>

Machine cable connector (motor signal) (CN1)

Connect with the CN1 connector of the robot arm.

<5>

Machine cable connector (motor power) (CN2)

Connect with the CN2 connector of the robot arm.

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

B, connect the attached dummy connector.

<7><8><9><10> CNUSR connector ..............The connector for input/ output connection dedicated for robot. (a plug connector attached)

<7>: CNUSR11, <8>: CNUSR12, <9>: CNUSR13, <10>: CNUSR2

Refer to a separate manual “INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance” for the connection method and the further description of pin assign.

Note) <9>: CNUSR13 connector is not used in this controller.

<11> DCOUT connector (DCOUT)........... For emergency stop

<12> CNDISP connector

(CNDISP)

........... For LAN of T/B connection

<13> CON3 connector (CON3).................. For RS422 of T/B connection

<14> OPT connector (OPT)........................ For SSCNETIII connection

<15> 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.

<16> Emergency stop switch...................... This switch stops the robot in an emergency state. The servo turns OFF.

<17> Filter cover.............................................. There is an air filter inside the cover.

<18> Grounding terminal............................... The grounding terminal for connecting cables of option card. (M3 screw x 2 places)

<19> Operation panel..................................... The operation panel for servo ON/OFF, START/STOP the program etc.

<20>

Display panel

(STATUS.NUMBER)

........... The alarm No., program No., override value (%), etc., are displayed.

<21> CHNGDISP button ............................... This button changes the details displayed on the display panel in the order of "Override" → "Program No." → "Line No.".

<22> UP/DOWN button............................... This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel.

<23> SVO.ON button ..................................... This turns ON the servo power. (The servo turns ON.)

<24> SVO.OFF button.................................. This turns OFF the servo power. (The servo turns OFF.)

<25> START button........................................ This executes the program and operates the robot. The program is run continuously.

<26> STOP button .......................................... This stops the robot immediately. The servo does not turn OFF.

<27> RESET button ........................................ This resets the error. This also resets the program's halted state and resets the program.

<28> END button ............................................. This stops the program being executed at the last line or END statement.

Names of each part 3-60

3 Controller

(2) CR751 drive unit

Drive unit (Front side)

<4> <7>

<10>

<2> <1>

Controller (Rear side)

<3> <5>

<6>

<8>

<14> <13> <12>

<11>

<9>

Exhaust

Fig.3-2 : Names of drive unit parts (CR751)

<1> ACIN terminal ...........................................The connector for AC power source (single phase/three phase, AC200V) input. (a socket housing and a terminal are attached).

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

<2> PE terminal ................................................The screw for grounding of the cable. (M4 screw x 2 place)

<3> POWER lamp .............................................Lamp of control power source

<4> Machine cable connector (motor power)

AMP1, AMP2: Motor power, BRK: Motor brake

<5> Machine cable connector (motor signal)

CN2: Motor signal

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

B, connect the attached dummy plug.

<7>Filter cover..................................................There is an air filter inside this cover.

<8>CNUSR connector....................................The connector for input/ output connection dedicated for robot.

(CNUSR1、 CNUSR2) (a plug connector attached)

Refer to a separate manual “INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance” for the connection method and thefurther description of pin assign.

3-61

Names of each part

3 Controller

<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 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>OPT connector (OPT) .........................For SSCNETIII connection

<12>CON3 connector (CON3) ...................For RS422 of T/B connection

<13>CNDISP connector (CNDISP) ..........For LAN of T/B connection

<14>DCOUT connector (DCOUT) ............For emergency stop

Names of each part 3-62

3 Controller

3.2.2 Robot CPU

Q172DRCPU

0

1 8

STOP

0

SW

8

RUN

2

CAUTION

EMI

⑥ ⑭

FRONT

BAT

MPG

ACFAIL

RIO

Fig.3-3 : Names of each part of the robot CPU

① Seven segments LED......................Indicates operational status and error information

② Rotary switch (SW1)........................Set up operation mode. Always set it as "0."

③ Rotary switch (SW2)........................Set up operation mode. Always set it as "0."

④ RUN/STOP switch...........................Unused

⑤ Emergency stop input (EMI)

*1)

...Connects with the connector (DCOUT) of the controller by the EMI cable for robot. (For the emergency stops)

⑥ CN1 connector

*2)

............................Connects with the connector (OPT) of the controller by the SSCNET III cable for robot. (For the robot-arm servo amplifier connection)

⑦ CN2 connector

*2)

............................Connect to the servo amplifier of the addition axis (Eight axes)

⑧ Lever for unit installation ..............Use this lever, when installing the unit in the base unit.

⑨ Hook for unit fixing

*3)

.....................The hook which fixes the unit to the base unit (For the support at installation)

⑩ Unit fixing screw................................The screw for fixing to the base unit (M3×13)

⑪ The projection for unit fixing ......The projection for fixing to the base unit

⑫ Battery connector (BAT)

*4)

........The connector for connection with battery holder unit Q170DBATC.

⑬ The connector for the networks (DISPLAY I/F)

Connects with the connector (CNDISP) of the controller by the DISP cable for robot. (For the LAN of T/B)

⑭ RS422 connector (TU I/F)............Connects with the connector (CON3) of the controller by the TU cable for robot. (For the RS-422 of T/B)

*1) Please be sure to use the emergency stop input cable. The emergency stop cannot be canceled if it does not use. If it manufactures the emergency stop input cable in the customer, cable length should use 30m or less.

*2) Please store in the duct or fix the cable section near robot CPU with the bunch wire rod so that prudence of the cable is not applied to CN1 and CN2 connector section.

*3) It is equipment for the support when installing the unit in the basic base unit. Please be sure to fix the unit to the basic base unit with the attached fixing screw.

*4) Please be sure to use the external battery. Unless the battery cable is connected surely, the program in

SRAM with a built-in robot CPU, the parameter, origin position data, etc. are not held.

3-63

Names of each part

3.3 Outside dimensions/Installation dimensions

3.3.1 Outside dimensions

(1) CR750 drive unit

3 Controller

Fig.3-4 : Outside dimensions of drive unit (CR750)

Outside dimensions/Installation dimensions 3-64

3 Controller

(2) CR751 drive unit

Cable fixation plate (Attachment)

This plate must be installed by customers.

Fig.3-5 : Outside dimensions of drive unit (CR751)

3-65

Outside dimensions/Installation dimensions

(3) Outside dimensions of robot CPU unit

3 Controller

Fig.3-6 : Outside dimensions of robot CPU

* The outside dimensions of connected battery is shown in Fig. 3-7 .

Outside dimensions/Installation dimensions 3-66

3 Controller

(4) Battery unit outside dimension

2-Φ5.5 hole

Fig.3-7 : Outside dimensions of battery unit

3-67

Outside dimensions/Installation dimensions

3.3.2 Installation dimensions

(1) CR750 drive unit

<Placed horizontally>

145mm

145mm

250mm 以 上

* Do not stack drive units.

<Placed vertically>

3 Controller

Fig.3-8 : Installation of controller (CR750)

CAUTION

Fixing installation section sure for prevention from the fall, when using the drive unit placing vertically. The reference figure of the metal plate for fixing is shown in

Fig. 3-9

.

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

CAUTION

When storing the drive unit 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 drive unit in the position where direct rays or the heat of lighting hits. The skin temperature of the drive unit may rise, and the error may occur.

Outside dimensions/Installation dimensions 3-68

3 Controller

hole

hole

hole

(Controller fixation hole)

Fig.3-9 : Metal plate for fixation to placing vertically (Reference for CR750)

3-69

Outside dimensions/Installation dimensions

(2) CR751 drive unit

<Placed horizontally>

145mm

145mm

3 Controller

250mm 以上

* Do not stack drive units.

<Placed vertically>

Fig.3-10 : Installation of controller (CR751)

CAUTION

Fixing installation section sure for prevention from the fall, when using the drive unit placing vertically. The reference figure of the metal plate for fixing is shown in

Fig. 3-11 .

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

CAUTION

When storing the drive unit 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 drive unit in the position where direct rays or the heat of lighting hits. The skin temperature of the drive unit may rise, and the error may occur.

Outside dimensions/Installation dimensions 3-70

3 Controller

hole

hole

hole

(Controller fixation hole)

Fig.3-11 : Metal plate for fixation to placing vertically (Reference for CR751)

3-71

Outside dimensions/Installation dimensions

3 Controller

(3) Robot CPU Unit installation dimensions

Because to improve ventilation and to make unit replacement easy, please secure the following distance between the upper and lower sides of the unit and the structure, etc.

<Q172DRCPU>

The position of the ceiling of the

盤の天井、配線ダクト部分の位置

MELSEC

Q61P

PULL

POWER

Q03DCPU

RUN

ERR.

USER

BAT.

BOOT

Q 172D RCPU

0

1

STOP

0

RUN

2

SW

CAUTION

E M I

QX40

0 1 2 3 4 5 6 7

8 9 A B C D E F

QX40

0 1 2 3 4 5 6 7

8 9 A B C D E F

Q172DEX

SY.ENC

TREN

SY.ENC1

Q173DPX

PLS.A

PLS.B

2

3

PULSER

PULL

USB

RS-232

FR O N T

BA T

M PG

AC FAIL

RIO

Q172DEX Q173DPX

Q312DB

Fig.3-12 : Installation of robot CPU Unit

Outside dimensions/Installation dimensions 3-72

3 Controller

3.4 External input/output

3.4.1 Types

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

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

(3) Hand input/output ........................................ These are inputs and outputs related to the hand that the customer can program.

(4)Emergency stop/Door switch input........ The wiring for the safe security of the emergency stop etc. is shown in on

Page 77, "3.6 Emergency stop input and output etc."

and on Page

114, "6.1.7 Examples of safety measures" .

<For Reference>

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

3-73

External input/output

3 Controller

3.5 Dedicated input/output

Show the main function of dedicated input/output in the Table 3-3

. Refer to attached instruction manual

"Detailed explanations of functions and operations" in the product for the other functions. Each parameter indi

cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No.

Table 3-3 : Dedicated input/output list

Parameter name

TEACHMD

ATTOPMD

ATEXTMD

RCREADY

Name

Input

None

None

None

None

Function

Note1)

Output

Level

L

Name Function

Teaching mode output signal

Automatic mode output signal

Remote mode output signal

Controller power ON complete signal

Automatic operation enabled output signal

Outputs that the teaching mode is entered.

Outputs that the automatic mode is entered.

Outputs that the remote mode is entered.

Outputs that external input signals can be received.

Outputs the automatic operation enabled state.

AUTOENA Automatic operation enabled input signal

START Start input signal

Allows automatic operation.

Starts all slots.

STOP

STOP2

Stop input signal

Stop input signal

SLOTINIT Program reset input signal

Resets the wait state.

Resets the error state.

ERRRESET Error reset input signal

CYCLE Cycle stop input signal

Carries out cycle stop.

SRVOFF

Stops all slots.

The input signal No. is fixed to 0.

Note) Use the emergency stop input for stop inputs related to safety.

The program during operation is stopped.

Unlike the STOP parameter, change of the signal number is possible.

Notes) Specification is the same as the STOP parameter.

SRVON

IOENA

MELOCK

Servo ON enabled input signal

Servo ON input signal

Operation rights input signal

Machine lock input signal

Turns the servo OFF for all mechanisms.

Turns the servo ON for all mechanisms.

Requests the operation rights for the external signal control.

Sets/resets the machine lock state for all mechanisms.

SAFEPOS Evasion point return input signal

OUTRESET General-purpose output signal reset

EMGERR

Requests the evasion point return operation.

Resets the general-purpose output signal.

None

S1START

:

S32START

Start input Starts each slot.

L

E

Operating output signal

Wait output signal

Outputs that the slot is operating.

Outputs that the slot is temporarily stopped.

L

Wait output signal Outputs that the slot is temporarily stopped.

Notes) Specification is the same as the

STOP parameter.

E

E

E

L

E

L

E

E

E

E

Program selection enabled output signal

Error occurring output signal

In cycle stop operation output signal

Servo ON enabled output signal

In servo ON output signal

Operation rights output signal

In machine lock output signal

In evasion point return output signal

Outputs that the slot is in the program selection enabled state.

Outputs that an error has occurred.

Outputs that the cycle stop is operating.

Outputs servo-on disable status.

(Echo back)

Outputs the servo ON state.

Outputs the operation rights valid state for the external signal control.

Outputs the machine lock state.

Outputs that the evasion point return is taking place.

None

Emergency stop output signal

Outputs that an emergency stop has occurred.

In operation output

Outputs the operating state for each slot.

Dedicated input/output 3-74

3 Controller

Parameter name

Input

Name Function

S1STOP

:

S32STOP

PRGSEL

Stop input Stops each slot.

OVRDSEL

IODATA

Note2)

PRGOUT

Program selection input signal

Override selection input signal

Designates the setting value for the program No. with numeric value input signals.

Designates the setting value for the override with the numeric value input signals.

Numeric value input

(start No., end No.)

Used to designate the program name, override value., mechanism value.

Program No. output request

Requests output of the program name.

Note1)

Level

L

E

E

L

E

LINEOUT Line No. output request

OVRDOUT Override value output request

Requests output of the line No.

Requests the override output.

ERROUT

JOGENA

JOGM

JOG+

JOG-

Error No. output request

Jog valid input signal

Jog mode input 2bit

Jog feed + side for

8-axes

Jog feed - side for

8-axes

Requests the error No. output.

Validates jog operation with the external signals

Designates the jog mode.

Requests the + side jog operation.

Requests the - side jog operation.

E

E

E

E

L

L

L

Name

In wait output

Output

Outputs that each slot is temporarily stopped.

None

None

None

None

Function

Numeric value output

(start No., end No.)

Used to output the program name, override value., mechanism No.

Program No. output signal

Line No. output signal

Override value output signal

Error No. output signal

Jog valid output signal

Jog mode output 2bit

Outputs that the program name is being output to the numeric value output signal.

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

Outputs that the override value is being output to the numeric value output signal.

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

Outputs that the jog operation with external signals is valid.

Outputs the current jog mode.

HNDCNTL1

:

HNDCNTL3

HNDSTS1

:

HNDSTS3

None

None

Mechanism 1 hand output signal status

:

Mechanism 3 hand output signal status

Mechanism 1 hand input signal status

:

Mechanism 3 hand input signal status

Mechanism 1: Outputs the status of general-purpose outputs

900 to 907.

Mechanism 2: Outputs the status of general-purpose outputs

910 to 917.

Mechanism 3: Outputs the status of general-purpose outputs

920 to 927.

Mechanism 1: Outputs the status of hand inputs 900 to 907.

Mechanism 2: Outputs the status of hand inputs 910 to 917.

Mechanism 3: Outputs the status of hand inputs 920 to 927.

HNDERR1

:

HNDERR3

Mechanism 1 hand error input signal

:

Mechanism 3 hand error input signal

Requests the hand error occurrence.

L

Mechanism 1 hand error output signal

:

Mechanism 3 hand error output signal

Outputs that a hand error is occurring.

3-75

Dedicated input/output

3 Controller

Parameter name

AIRERR1

:

AIRERR3

M1PTEXC

Input

Name Function

Pneumatic pressure error 1 input signal

:

Pneumatic pressure error 3 input signal

Request the pneumatic pressure error occurrence.

None

:

M3PTEXC

USERAREA

Note3)

None

Note1)

Level

L

L

Name

Pneumatic pressure error 1 output signal.

:

Pneumatic pressure error 3 output signal.

Maintenance parts replacement time warning signal

Output

Function

Outputs that a pneumatic pressure error is occurring.

Outputs that the maintenance parts have reached the replacement time.

User-designated area

8-points

Outputs that the robot is in the userdesignated area.

Note1) The level indicates the signal level.

L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the signal is OFF.

E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state, and the function maintains the original state even when the signal then turns OFF.

Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No.

Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.

Dedicated input/output 3-76

3 Controller

3.6 Emergency stop input and output etc.

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

Table 3-4 : Special input/output terminal

Item Name Function

Input

Input

Input

Input

Emergency stop

Special stop input

Door switch

Enabling device

Output Robot error output

Output Emergency stop output

Applies the emergency stop. Dual emergency line

Applies the stop. (Refer to Page 85, "3.6.2 Special stop input (SKIP)" )

Servo-off. Dual line, normal close ( Page 87, "3.6.3 Door switch function"

)

Servo-off. Dual line, normal close ( Page 87, "3.6.4 Enabling device function"

)

Contactor is opening during error occurrence.

The point of contact opens under occurrence of emergency stop of external input signal, emergency stop of OP, emergency stop of T/B.

MANUAL mode: contactor is opening, AUTOMATIC mode: contactor is closing.

Output Mode output

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. ( Page 95, "3.9 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.

Pin number assignment of each terminal and the circuit diagram are shown in Fig. 3-18

(CR750) or Fig. 3-17

(CR751).

3.6.1 Connection of the external emergency stop

The external emergency stop input and door switch input and enabling device input are opened at shipment as

shown in Fig. 3-18

(CR750) or

Fig. 3-17 (CR751).

Connect the external emergency stop switch and door switch with the following procedure.

And, the example of the connection and notes of the emergency stop are described in Page 114, "6.1.7 Examples of safety measures" Refer to it together

[Caution] The emergency stop circuit is duplicated inside the drive unit. The emergency stop switch uses a double contact-type switch, so please be sure to fix both of the contacts to the connector pins as shown below in order to ensure the wiring is duplicated. An error will continue to occur in the event that only one of the pins is connected.

1) Please prepare the emergency stop switch, door switch and enabling device.

a) External emergency switch

・ CR750 drive unit ...........CNUSR11 connector "between 3 and 4" and CNUSR12 Connector "between 3 and 4".

・ CR751 drive unit ...........CNUSR1 connector "between 2 and 27" and "between 7 and 32".

b) Door switch

・ CR750 drive unit ...........CNUSR11 connector "between 7 and 8" and CNUSR12 connector "between 7 and 8".

・ CR751 drive unit ...........CNUSR1 connector "between 4 and 29" and "between 9 and 34".

c) Enabling device

・ CR750 drive unit ...........CNUSR11 connector "between 9 and 10" and CNUSR12 connector "between 9 and 10".

・ CR751 drive unit ...........CNUSR1 connector "between 5 and 30" and "between 10 and 35".

[Caution] Be sure to use a shield cable for the emergency stop wiring cable. And when operating in an environ

ment that is easily affected by noise, be sure to fix the attached ferrite core (model number:

E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core more than

30 cm from the connecting terminal section.

3-77

Emergency stop input and output etc.

3 Controller

CAUTION

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.

CAUTION

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 (syn

chronizes). You should connect surely by dual line with the customer's equipment as well as connection of the emergency stop and the door switch.

CAUTION

Please make sure to wire the multiple emergency stop switches so that they each function independently. Check and make sure that the emergency stop doesn't only function under an AND condition (when multiple emergency stop switches are ON at the same time).

(1) CR750 drive unit

フェライトコア

2回通し

Fig.3-13 : Emergency stop cable connection (CR750)

Emergency stop input and output etc. 3-78

3 Controller

CNUSR11

11

12

13

14

CNUSR12

11

12

13

14

CNUSR2

16

41

17

内部回路構成

OP

非常停止

TB

非常停止

Emergency stop output

+24V

RA

Relay

CNUSR11

1

2

3

4

5

6

*1)

*1)

24G

24G

+24V

RA

Relay

+24V

RA

Relay

24G

+24V

7

8

9

10

Enabling device input

RA

Relay

CNUSR12

1

2

3

4

5

6

*1)

*1)

24G

24G

+24V

RA

Relay

+24V

RA

Relay

24G

7

8

9

10

Enabling device input

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 drive unit is used, short-circuit the terminal.

[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the drive unit. (related with emergency stop and parallel input/output) If it connects with the drive unit under the condition that the + side is grounded, it will lead to failure of drive unit.

Fig.3-14 : External emergency stop connection (CR750)

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 114, "6.1.7 Examples of safety measures"

.

This is a necessary measure in order to ensure safe operation so that the robot can be stopped immediately by pressing the emergency stop switch in the event that the robot malfunctions.

3-79

Emergency stop input and output etc.

<CR750 drive unit>

CNUSR11/12 connector

3 Controller

CNUSR11

CNUSR12

Reference: CNUSR13

(Connect the encoder, when using the tracking function)

* The drive unit is an example.

Connector for user wiring

Connector fixing screw

(Two places)

Driver

*Recommendation driver size: 2.5mm.

Cable fixing screw

Pin number of connector

A

Cable insert point

16

7mm

1

View A

Connecting cable

(AWG #26 ~ 16(0.14mm ~ 1.5mm

2

))

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 1.5mm

2

) 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 correspond with the controller. Connect so that the cable fixing screw 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.3-15 : Method of wiring for external emergency stop connection (CR750 (CNUSR11/12))

CAUTION

Makes sure that there is no mistake when connecting to the target connectors.

Connecting incorrectly will result in the robot breaking down or malfunctioning.

The connector on the controller side that connects to the user wiring connector is

CNUSR11 or CNUSR12. Be careful not to connect to CNUSR13 as the robot will not operate properly.

Emergency stop input and output etc. 3-80

3 Controller

<CR750 drive unit>

CNUSR2 connector

* The drive unit is an example.

Cover fixing screw (Two places)

Connector cover

CNUSR2

Plug

25

View A

Pin number of plug

1

Remove the connector cover

Connector for user wiring

50

Soldering

26

A

3mm

Connecting cable

(AWG #30 ~ 24(0.05mm

2

~ 0.2mm

2

))

Connection procedure

Solder thepins of the user wiring connector that accompanies the product, and connect the connector to the

CNUSR2 connector at the back of the drive unit. For the connection cables, please use AWG #30 to 24 (0.05 to

0.2mm

2

).

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 drive unit. 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.3-16 : Method of wiring for external emergency stop connection (CR750 (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.

3-81

Emergency stop input and output etc.

(2) CR751 drive unit

フェライトコア

Pass twice

Fig.3-17 : Emergency stop cable connection (CR751)

3 Controller

* The drive unit is an example.

Emergency stop input and output etc. 3-82

3 Controller

CNUSR1

18

43

20

45

17

42

19

44

TB

TB emergency stop

+24V

RA

Relay

24G

24G

+24V

RA

Relay

+24V

RA

Relay

24G

+24V

CNUSR1

1

26

2

27

3

28

4

29

5

30

*1)

*1)

Enabling device input

CNUSR2

16

41

17

RA

Relay

24G

24G

+24V

RA

Relay

+24V

RA

Relay

24G

9

34

10

35

6

31

7

32

8

33

*1)

*1)

Enabling device input

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 drive unit is used, short-circuit the terminal.

[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the drive unit. (related with emergency stop and parallel input/output) If it connects with the drive unit under the condition that the + side is grounded, it will lead to failure of drive unit.

Fig.3-18 : External emergency stop connection (CR751)

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 114, "6.1.7 Examples of safety measures"

.

This is a necessary measure in order to ensure safe operation so that the robot can be stopped immediately by pressing the emergency stop switch in the event that the robot malfunctions.

3-83

Emergency stop input and output etc.

3 Controller

<CR751 drive unit>

CNUSR1/2 connector

* The drive unit is an example.

Cover fixing screw (Two places)

Connector cover

Plug

CNUSR1

CNUSR2

25

View A

Pin number of plug

1

Soldering

Remove the connector cover

Connector for user wiring 50

26

A

3mm

Connecting cable

(AWG #30 ~ #24(0.05mm ~ 0.2mm

2

))

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 drive unit. For the connection cable, please use AWG #30 to 24

(0.05 to 0.2mm

2

).

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 drive unit. 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.3-19 : Method of wiring for external emergency stop connection (CR751 (CNUSR1/2))

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.

The connectors on the drive unit 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.

Emergency stop input and output etc. 3-84

3 Controller

3.6.2 Special stop input (SKIP)

The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in

Fig. 3-20

(CR750) or Fig. 3-21

(CR751).

Table 3-5 : Special stop input electric specification

Item Specifications

Type

No. of input point

Insulation method

Rated input voltage

Rated input current

Working voltage range

ON voltage/ON current

OFF voltage/OFF current

Input resistance

Response time

OFF → ON

ON → OFF

Common method

External wire connection method

DC input

1

Photo-coupler insulation

DC24V

Approx. 11mA

DC 21.6 ~ 26.4V

(Ripple rate within 5%)

DC 8V or more / 2mA or more

DC 4V or less / 1mA or less

Approx. 2.2 k Ω

1ms or less

1ms or less

1 point per common

Connector

Internal circuit

330

2.2k

+24V(COM)

(1) CR750 drive unit

フェライトコア

Pass twice

* Connects with CNUSR2 connector with soldering.

Refer to

Page 81 "Fig. 3-16: Method of wiring for external emergency stop connection (CR750 (CNUSR2))" .

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con

nect to the controller. (related with emergency stop and parallel input/output) If it connects with the con

troller under the condition that the + side is grounded, it will lead to failure of controller.

Fig.3-20 : Connection of the special-stop-input (CR750)

3-85

Emergency stop input and output etc.

3 Controller

(2) CR751 drive unit

* The drive unit is an example.

* Connects with CNUSR2 connector with soldering.

Refer to Page 84 "Fig. 3-19: Method of wiring for external emergency stop connection (CR751 (CNUSR1/2))"

.

フェライトコア

Pass twice

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con

nect to the controller. (related with emergency stop and parallel input/output) If it connects with the con

troller under the condition that the + side is grounded, it will lead to failure of controller.

Fig.3-21 : Connection of the special-stop-input (CR751)

Emergency stop input and output etc. 3-86

3 Controller

3.6.3 Door switch function

This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is opened and an error does not occur. Follow the wiring example shown in

Page 83 "Fig. 3-18: External emergency stop connection (CR751)" or

Page 82 "Fig. 3-17: Emergency stop cable connection (CR751)"

, and Page 114,

"6.1.7 Examples of safety measures"

. Those figure explains the wire is contact closes when the door is closed.

Details of this function according to the robot status are shown below.

*During automatic operation ...............When the door is opened, the servo turns OFF and the robot stops. An error occurs.

The process of the restoration: Close the door, reset the alarm, turn on the servo, and restart

*During teaching........................................Even when the door is opened, the servo can be turned ON and the robot moved using the teaching pendant.

① Auto executing

Safeguard

STOP!!

(Op.) (Ext.)

Open

Robot arm

(Example)

Turns OFF the servo

② Teaching

Safeguard

AUTO

MANUAL

AUTO

AUTOMATIC

Open

Robot arm

(Example)

Teaching

pendant

The servo can be turned ON/Off by turning the enable switch ON/OFF.

Fig.3-22 : Door switch function

3.6.4 Enabling device function

When the abnormalities occur in teaching operations etc., the robot's servo power can be immediately cut only by switch operation of the enabling device

*1)

(servo-off), and the safety increases. To use the robot safely, please be sure to connect the enabling device.

(1) When door is opening

Please do teaching by two-person operations. One person has T/B, the other has enabling device. Turn on the servo power, in the condition that both of switches are pushed. (Enable switch of T/B and enabling device) Then the jog operation will be available. You can off the servo power only by releasing the switch of the enabling device.

And, care that the servo-on and releasing the brake cannot be done in the condition that the switch of the enabling device is released.

(2) When door is closing

You can turn on the servo power by operation of only T/B. In this case perform jog operation outside the safeguard sure.

*1) Recommendation products: HE1G-L20MB (IDEC)

3-87

Emergency stop input and output etc.

3 Controller

(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings

The following is a description of various operations performed on the robot and switch settings that are required.

Table 3-6 : Various operations and necessary switch settings

Related switch settings

Note1)

No

2

3

4

Operation

1 Jog operation

Jog operation

Note2)

Brake release

Note3)

Automatic operation

Mode of controller

Manual

Manual

Manual

Automatic

T/B enable/ disable

Enable

Enable

Enable

Disable

T/B enable switch

ON

ON

ON

Enabling device input terminal

Door switch input terminal

Close(ON)

Open(OFF)

Close(ON)

Description

Close

(Door Close)

Close

(Door Close)

If the enabling device input is set to

Close (On), the state of door switch input does not matter.

If the enabling device input is set to

Open (Off), door switch input must be in a state of Close

Irrespective of the state of door switch input, enabling device input must be in a state of Close (On).

Door switch input must always be in a state of Close (Door Close).

Note1) "-" in the table indicates that the state of switch concerned does not matter.

Refer to the following for operation of each switch.

・ Mode of CR750 controller:

..................................................................................Page 59, "3.2 Names of each part"

Mode of CR751 controller:

............................................................Page 89, "3.7 Mode changeover switch input"

・ T/B enable/disable:

........................................................................................ Page 98, "(1) Teaching pendant (T/B)"

・ T/B enable switch:

......................................................................................... Page 98, "(1) Teaching pendant (T/B)"

・ Enabling device input terminal:

................................................. Page 114, "6.1.7 Examples of safety measures"

・ Door switch input terminal:

........................................................ Page 114, "6.1.7 Examples of safety measures"

Note2) Jog operation, if door switch input is set for Close (Door Close), must be performed outside the safety bar

rier.

Note3) It is imperative that brake release operation be carried out by two persons. One person turns on the enabling device ("Close" on the enabling device input terminal) while the other manipulates the T/B. Brake release can be effected only when both of the enabling switch device and the T/B enable switch are placed in intermediate position (lightly gripped position). At this point, the state of door switch input does not mat

ter.

T/B being manipulated

CAUTION

Door in

Open state

Upon the release of brake, the robot arm may fall under its own weight depending on the axis which has been released. For added safety, provide support or take other precaution to prevent the falling of the arm.

Enabling device being manipulated

Fig.3-23 : Brake release operation

Emergency stop input and output etc. 3-88

3 Controller

3.7 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.

MANUAL

MODE

AUTOMATIC

* The drive unit is an example.

Mode changeover switch

(Customer-prepared)

Fig.3-24 : Mode changeover switch image figure (CR751)

CNUSR1

(1) Specification of the key switch interface

The function and specification of the key switch interface are shown below.

Table 3-7 : Function of the key switch interface

Pin number and Function (Connector: CNUSR1)

Change mode

Note1)

Pin number

49

24

50

25

Function

1st line KEY input

Power supply +24V of pin number 49

2nd line KEY input

Power supply +24V of pin number 50

MANUAL

Open

Open

AUTOMATIC

Close

Close

Note1) The mode changes by both opening or both closing between 30-5 pin and between 35-10 pin. Maintain the current mode except it.

[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 3-8 : Specification of the mode changeover switch input

Rated voltage

Current rating

Input resistance

Response time (OFF->ON)

Common method

Connection method

Conformity electric wire size

Maker/Type

Item Specification

DC24V

Approx. 10mA

Approx. 2.2kΩ

Approx. 15ms

1 point per common

Connector

AWG#24 to #18

-

Remarks

Supply from the drive unit.

Select the switch or button which operates normally in 24V/10mA.

Example: The response time the program starts, after pushing the run button.

0.2 to 0.75mm

2

Maker: PHOENIX CONTACT/ Type: FKC2.5/4-STF-5.0B

3-89

Mode changeover switch input

3 Controller

(2) Connection of the mode changeover switch input

* The drive unit is an example.

Cover fixing screw (Two places)

Connector cover

Plug

CNUSR1

25

View A

Pin number of plug

1

Remove the connector cover

Connector for user wiring

50

Soldering

26

A

3mm

Connecting cable

(AWG #30 ~ #24(0.05mm

2

to 0.2mm

2

))

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 drive unit. For the connection cable, please use AWG #30 to 24 (0.05 to

0.2mm

2

).

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 drive unit. 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.3-25 : Connection of the mode changeover switch input (CR751)

Mode changeover switch input 3-90

3 Controller

3.8 Additional Axis Function

This controller is equipped with an additional axis interface for controlling an additional axis when a traveling axis or rotary table is added to the robot. A maximum of eight axes of servo motors can be controlled at the same time by connecting a general-purpose servo amplifier (MR-J3-B, MR-J4-B series) that supports Mitsubishi's SSCNET

III.

Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.

3.8.1 Wiring of the Additional Axis Interface

Table 3-9 shows the connectors for additional axes inside the drive unit. Fig. 3-26

(CR750) and Fig. 3-27

(CR751) shows a connection example (configuration example).

Table 3-9 : Dedicated connectors inside the drive unit

Name Connector name

Connector for additional axes CN2(Robot CPU)

Note1)

Details

The connector for connecting the general-purpose servo amplifier.

Note1) Since the CN1 connector is used for the robot arms, it cannot be used for the addition axis.

(1) CR750 drive unit

Magnet contactor control connector output (AXMC) for addition axes

(Refer to "3.9Magnet contactor control connector output

(AXMC) for addition axes" )

(Q172DRCPU)

Q172DRCPU

0

1

8

STOP

0

SW

8

RUN

2

CAUTION

EMI

To CN1A

To CN1B

Emergency stop output

(Refer to "3.6Emergency stop input and output etc."

)

* Connect with a forced stop input of a servo amplifier.

To CN1A

To CN1B

FRONT

BAT

MPG

ACFAIL

RIO

To CN2 connector

Fig.3-26 : Example of addition axis connection (CR750)

3-91

Additional Axis Function

3 Controller

(2) CR751 drive unit

* The drive unit is an example.

Magnet contactor control connector output

(AXMC) for addition axes

(Refer to

"3.9Magnet contactor control connector output (AXMC) for addition axes"

)

ロボットCPU

(Q172DRCPU)

Q172DRCPU

0

1 8

STOP

0

SW

8

RUN

2

CAUTION

EMI

To CN1A

FRONT

BAT

MPG

ACFAIL

RIO

To CN2 connector

Fig.3-27 : Example of addition axis connection (CR751)

Emergency stop output

(Refer to

"3.6Emergency stop input and output etc."

)

* Connect with a forced stop input of a servo amplifier.

To CN1B

To CN1A connector

To CN1B connector

Additional Axis Function 3-92

3 Controller

(3) Example of the installation of the noise filter

1) EMC filter (recommended)

Please install the recommendation filter shown below according to the example of connection.

1)

2)

Note1) For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and leave L3 open.

There is no L3 for 1-phase 100 to 120 VAC power supply.

Note2) The example is when a surge protector is connected.

Fig.3-28 : Example of EMC noise filter installation

3-93

Additional Axis Function

3 Controller

2) Line noise filter

This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.

Fig.3-29 : Example of noise filter installation

Additional Axis Function 3-94

3 Controller

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

When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the drive unit 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.

Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.

Note1) you use the addition axis function as a user mechanism who became independent of the robot arm, please do not connect this output signal. Servo-on of the user mechanism may be unable.

1) Get the power supply for the drive unit from the secondary terminal of short circuit breaker (NV) built in the addition axis amplifier box.

2)ドライブユニット内蔵漏電遮断器(NV)の2次側より、 ondary terminal of short circuit breaker (NV) built in the drive unit.

NV

MC MC1 MC2

88

DC24V

NV

To the internal circuit

AXMC11

AXMC12

AXMC21

AXMC22

<走行軸(付加軸)アンプボックス>

AXMC11

AXMC12

AXMC21

AXMC22

コネクタ ピン番号

CNUSR2

CNUSR2

20

45

19

44

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。

<接点容量>

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.3-30 : Example of circuit for addition axes of Magnet contactor control output

3-95

Magnet contactor control connector output (AXMC) for addition axes

3 Controller

(1) CR750 drive unit

*Connects with CNUSR2 connector

with soldering. Refer to

Page 81 "Fig.

3-16: Method of wiring for external emergency stop connection (CR750

(CNUSR2))"

.

Fig.3-31 : AXMC terminal connector (CR750)

(2) CR751 drive unit

* The drive unit is an example.

フェライトコア

Pass twice

フェライトコア

2回通し

Fig.3-32 : AXMC terminal connector (CR751)

* The CNUSR2 connector is connected by soldering. Refer to

Page 84 "Fig. 3-19:

Method of wiring for external emergency stop connection (CR751 (CNUSR1/2))" .

Magnet contactor control connector output (AXMC) for addition axes 3-96

3 Controller

3.10 Options

■ What are options?

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

User installation is required for the options.

Options come in two types: "set options" and "single options".

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

2. Single options .................................That are configured from the fewest number of required units of a part.

Please choose user's purpose additionally.

3-97

3 Controller

(1) Teaching pendant (T/B)

■ Order type: CR750 drive unit ......R32TB: Cable length 7m

R32TB-15: Cable length 15m

CR751 drive unit ......R33TB: Cable length 7m

R33TB-15: Cable length 15m

■ Outline

This is used to create, edit and control the program, teach the operation position and for jog feed, etc.

For safety proposes, a 3-position enable switch is mounted.

*1)

■ Configuration

Table 3-10 : Configuration device

Part name Type

CR750 drive unit

Teaching pendant R32TB

R32TB-15

CR751 drive unit

Teaching pendant R33TB

R33TB-15

Note1) Mass indicates one set.

Qty.

Either one pc.

Either one pc.

Mass (kg)

Note1)

1.7

2.8

1.7

2.8

Cable length is 7m. Hand strap is attached.

Cable length is 15m. Hand strap is attached.

Cable length is 7m. Hand strap is attached.

Cable length is 15m. Hand strap is attached.

■ Specifications

Table 3-11 : Specifications

Items

Outline dimensions

Body color

Mass

Connection method

Interface

Display method

Operation section

Specifications

195(W) x 292(H) x 106(D) (refer to outline drawing)

Dark gray

Approx. 0.9kg (only arm, excluding cable)

Connection with drive unit and connector.

RS-422

LCD method: 24 characters x 8 lines, LCD illumination: with backlight

36 keys

Remarks

Remarks

At 8x8 font

*1) <3-position enable switch>

In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position.

With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Enable switch".

The 3-position enable switch has three statuses. The following modes are entered according to the switch state.

a) "Not pressed" ..........................The robot does not operate.

*) b) "Pressed lightly" .....................The robot can be operated and teaching is possible.

c) "Pressed with force" ............The robot does not operate.

*)

*) Operations, such as program editing and status display, other than robot operation are possible.

Safety is secured as the servo power is turned OFF simultaneously with the input of the emergency stop.

Teaching pendant (T/B) 3-98

3 Controller

195.2

133

LCD

Emergency stop

Operetion key

105.5

Enable/Disable switch

<Front>

Body

Cable (with connector)

<side>

Enable switch

<Back>

<Bottom>

Fig.3-33 : Outside dimensions of teaching pendant

■ Installation method

The teaching pendant is connected to the T/B connector on the front of the drive unit.

3-99

Teaching pendant (T/B)

3 Controller

■ Key layout and main functions

① [Emergency stop] switch ................ The robot servo turns OFF and the operation stops immediately.

② [Enable/Disable] switch .................. This switch changes the T/B key operation between enable and dis

able.

③ [Enable] switch.................................... When the [Enable/Disable] switch " ② " is enabled, and this key is released or pressed with force, the servo will turn OFF, and the oper

ating 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 dis

played on LCD.

⑦ [FUNCTION] key ................................ 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 [CHARCTER] 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 num

ber or character

Fig.3-34 : Teaching pendant key layout and main functions

Teaching pendant (T/B) 3-100

3 Controller

(2) RT ToolBox2/RT ToolBox2 mini

■ Order type : ●

RT ToolBox2

*For windows CD-ROM

RT ToolBox2 mini

*For windows CD-ROM

■ Outline

: 3D-11C-WINE

: 3D-12C-WINE

This is handy software that fully uses the personal computer functions. It can be used in various stages from the robot specifications study (tact study, etc.) to the design support

(creation and editing of programs), start up support (execution, control and debugging of program), and maintenance.

The "personal computer support software" which supports these function fully, and the

"personal computer support software mini" which does not have the simulation function are available.

■ Configuration

Table 3-12 : Product configuration

Part name Type

RT ToolBox2

RT ToolBox2 mini

3D-11C-WINE

3D-12C-WINE

Note1) Mass indicates one set.

Medium

CD-ROM

CD-ROM

Mass (kg)

Note1)

0.2

0.2

Remarks

■ Features

(1) Simple operation with guidance method and menu method

The Windows standard is used for windows operation, so the controller initialization and startup operations can be carried out easily by following the instructions given on the screen. Even a beginner can easily carry out the series of operations from program creation to execution.

(2) Increased work efficiency with ample support functions

The work efficiency is greatly improved with the multi-window method that carries out multiple steps and dis

plays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially sufficient, and are extremely useful when editing or debugging the program.

With the simulation function support, the program can be debugged and the tact checked before starting the machine at the site. This allows the on-site startup work efficiently to be greatly improved.

(3) The maintenance forecast function increases the efficiency of maintenance work. Analyze the load condition while the robot is actually operating. Based on this analysis, calculate the time for maintenance, such as lubri

cation and belt replacement. By utilizing this information, the line stop time as well as the maintenance costs can be reduced.

(4) The position recovery support function increases the recovery efficiency in the event of origin position dis

placement. This function compensates the origin settings and position data by just reproducing several previ

ous teaching points when hand and/or arm displacement occurs, when replacing the motor and the belts, or when reloading the robot. This function can reduce the time required for recovery.

3-101

RT ToolBox2/RT ToolBox2 mini

3 Controller

■ Functions

Table 3-13 : Functions

Function

Compatible model

Program editing functions

Editing functions

Simulation func

tion

Monitor func

tions

Maintenance function

Control func

tions

Debugging func

tions

Functional existence

Note1)

×

Details

Personal computer running Windows XP, Windows Vista, Windows 7,

Windows 8, or Windows 8.1.

Note2)

・ MELFA BASIC V language compatible

・ Multiple editing screen simultaneously display

・ Command input, comment writing

・ Position data editing

・ File operation (writing to controller, floppy disk, personal computer)

・ Search and replace function (using characters, line Nos., labels)

・ Copy, cut, paste, insert (per character, line), undo (per command statement, position conversion)

・ Line No. automatic generation, renumbering

・ Batch syntax check

・ Command template

・ Position conversion batch editing

・ Position variable template

・ Print, print preview

・ Program file control (list, copy, movement, delete, content compari

son, name change, protect)

・ Direct editing of program in controller

・ Confirmation of robot program operation (step execution, direct exe

cution)

・ Off-line simulation of robot program operation using CG (computer graphics)

・ Tact time calculation

・ Robot operation monitor (robot operation state, stop signal, error monitor, program monitor (execution program, variables), general-pur

pose input/output signals (forced output possible), dedicated input/ output signals, operation confirmation (operation range, current posi

tion, hand, etc.)

・ Operation monitor (working time statistics, production information, robot version)

・ Servo monitor (load)

・ Parameter setting

・ Batch, divided backup

RT ToolBox2 mini

(3D-12C-WINE)

RT ToolBox2

(3D-11C-WINE)

Note1) The functions included with the RT ToolBox2 and the RT ToolBox2 mini are shown below.

○ : Function provided ×: Function not provided

Note2) Recommend corresponding to CE Marking, an FCC standard, and a VCCI standard.

RT ToolBox2/RT ToolBox2 mini 3-102

3 Controller

(3) Instruction Manual (bookbinding)

■ Order type: ● 5F-RR01-PE01 ..............RH-1FHR-Q series

■ Outline

This is a printed version of the CD-ROM (instruction manual) supplied with this product.

■ Configuration

Table 3-14 : Product configuration

Name

Instruction Manual

Safety Manual

Special Specifications

Robot Arm Setup & Maintenance

Controller Setup, Basic Operation and Maintenance

Detailed Explanation of Functions and Operations

Troubleshooting

Additional axis function

Tracking Function Manual

Extended Function

Note1)

Mass indicates one set.

Type

5F-RR01-PE01

BFP-A8006

BFP-A3333

BFP-A3335

BFP-A8886

BFP-A8869

BFP-A8871

BFP-A8663

BFP-A8664

BFP-A8787

Mass (Kg)

Note1)

2.6

-

-

-

-

-

-

-

-

-

Specifications

The instructions manual set of "RH-1FHR-Q series".

Items relating to safety in handling the robot

Specification of the robot arm and controller

Installation method of the robot arm, jog operation, and maintenance and inspection procedures

Installation method of the controller, basic operation, and maintenance and inspection procedures

Functions of the controller and T/B, operation method, and explanation of MELFA-BASIC V

Causes of errors occurred and their countermeasures

Function of the additional axis, operation method.

Function of the Tracking, operation method.

Function of the Extended, operation method.

3-103

Instruction Manual (bookbinding)

3 Controller

3.11 Maintenance parts

The consumable parts used in the controller are shown in

Table 3-15

. Purchase these parts from your dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from your dealer.

Table 3-15 : Controller consumable parts list

No. Name Type

Note1)

1 Lithium battery Q6BAT

Qty.

1

Usage place

The battery unit con

nected to the robot CPU unit

Inside the filter cover

Supplier

2 Filter CR750 drive unit:

BKOFA0773H42

CR751 drive unit:

BKOFA0773H41

1

Mitsubishi Electric

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

Maintenance parts 3-104

4Software

4 Software

4.1 List of commands

The available new functions in MELFA-BASIC V are given in

Table 4-1 .

Table 4-1 : List of MELFA-BASIC V commands

Type Class Function Input format (example)

Joint interpolation Moves to the designated position with joint interpolation.

Linear interpolation Moves to the designated position with linear interpolation.

Circular interpolation Moves along a designated arc (start point → passing point → start point

(end point)) with 3-dimensional circular interpolation (360 degrees).

Speed designation

Moves along a designated arc (start point → passing point → end point) with 3-dimensional circular interpolation.

Moves along the arc on the opposite side of a designated arc (start point

→ reference point → end point) with 3-dimensional circular interpola

tion.

Moves along a set arc (start point → end point) with 3-dimensional cir

cular interpolation.

Designates the speed for various interpolation operations with a per

centage (0.1% unit).

Operation

Mov P1

Mvs P1

Mvc P1,P2,P1

Mvr P1,P2,P3

Mvr2 P1,P9,P3

Mvr3 P1,P9,P3

Ovrd 100

Designate the speed for joint interpolation operation with a percentage

(0.1% unit).

Designates the speed for linear and circular interpolation with a numeri

cal value (mm/s unit).

Designates the acceleration/deceleration time as a percentage in respect to the predetermined maximum acceleration/deceleration. (1% unit)

Automatically adjusts the acceleration/deceleration according to the parameter setting value.

JOvrd 100

Spd 123.5

Accel 50,80

Oadl ON

Sets the hand and work conditions for automatic adjustment of the acceleration/deceleration.

Adds a process unconditionally to the operation.

Loadset 1,1

Adds a process conditionally to the operation.

Designates smooth operation.

Wth

WthIf

Cnt 1,100,200

Performance of movement is upgraded corresponding to the application. MvTune 4

Designates the positioning completion conditions with a No. of pulses.

Fine 200

Designates the positioning completion conditions with a distance in a straight line

Designates the positioning completion conditions with a joint interpola

tion.

Fine 1, P

Fine 0.5, J, 2

Position control

Float control

Pallet

Singular point pas sage

-

Turns the servo power ON/OFF for all axes.

Limits the operation of each axis so that the designated torque is not exceeded.

Designates the base conversion data.

Designates the tool conversion data.

Servo OFF

Torq 4,10

Base P1

Tool P1

The robot arm rigidity is lowered and softened. (XYZ coordinate system) Cmp Pos ,&B00000011

The robot arm rigidity is lowered and softened. (JOINT coordinate sys

tem)

Cmp Jnt ,&B00000011

The robot arm rigidity is lowered and softened. (TOOL coordinate sys

tem)

Cmp Tool ,&B00000011

The robot arm rigidity is returned to the normal state.

Cmp Off

The robot arm rigidity is designated.

Defines the pallet.

Operates the pallet grid point position.

Move to a specified position using linear interpolation passing through a singular point.

CmpG

1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0

Def Plt 1,P1,P2,P3,P4,5,3,1

Plt 1,M1

Mvs P1 Type 0,2

4-105

List of commands

4Software

Type Class

Branching

Function

Branches unconditionally to the designated place.

Branches according to the designated conditions.

Input format (example)

GoTo 120

If M1=1 Then GoTo *L100

Else GoTo 20

End If

For M1=1 TO 10 Repeats until the designated end conditions are satisfied.

Repeats while the designated conditions are satisfied.

Branches corresponding to the designated expression value.

Executes program block corresponding to the designated expression value..

Next M1

While M1<10

WEnd

On M1 GoTo *La1, *Lb2, *Lc3

Select

Case 1

Break

Case 2

Collision detection

Subroutine

Interrupt

Wait

Stop

End

Hand open

Hand close

Assignment

Input

Output

Moves the program process to the next line.

Set to enable/disable the collision detection.

Set the detection level of the collision detection.

Executes the designated subroutine. (Within program)

Returns from the subroutine.

Executes the designated program.

Defines the program argument executed with the CALLP command.

Executes the subroutine corresponding to the designated expression value.

Defines the interrupt conditions and process.

Enables/disables the interrupt.

Defines the start line of the program to be executed when an interrupt is generated from the communication line.

Enables the interrupt from the communication line.

Disables the interrupt from the communication line.

Stops the interrupt from the communication line.

Designates the wait time, and the output signal pulse output time. (0.01s unit)

Waits until the variable becomes the designated value.

Stops the program execution.

Generates an error. During program execution, continue, stop or servo

OFF can be designated.

Ends the program execution.

Opens the designated hand.

Closes the designated hand.

Defines the input/output variables.

Retrieves the general-purpose input signal.

Calls out the general-purpose output signal.

Break

End Select

Skip

ColChk ON/OFF

ColLvl 100,80,,,,,,

GoSub *L200

Return

CallP "P10",M1,P1

FPrm M10,P10

On M1 GoSub *La1, *Lb2, *Lc3

Def Act 1, M1=1 GoTo *L100

Act 1=1

On Com(1) GoSub *L100

Com(1) On

Com(1) Off

Com(1) Stop

Dly 0.5

Wait M_In(1)=1

Hlt

Error 9000

End

HOpen 1

HClose 1

Def IO PORT1=BIT,0

M1=M_In(1)

M_Out(1) =0

Mechanism designa

tion

Selection

Start/stop

Acquires the mechanism with the designated mechanism No.

Releases the mechanism with the designated mechanism No.

Selects the designated program for the designated slot.

Carries out parallel execution of the designated program.

Stops parallel execution of the designated program.

Returns the designated program's execution line to the head and enters the program selection enabled state.

GetM 1

RelM 1

XLoad 2,"P102"

XRun 3,"100",0

XStp 3

XRst 3

List of commands 4-106

4Software

Type Class

Definition

Clear

File

Comment

Label

Function

Defines the integer type or real number type variable.

Defines the character string variable.

efines the layout variable. (Up to 3-dimensional possible)

Defines the joint variable.

Defines the position variable.

Defines the function.

Clears the general-purpose output signal, variables in program, variables between programs, etc.

Opens a file.

Closes a file.

Inputs data from a file.

Outputs data to a file.

Describes a comment.

Indicates the branching destination.

Input format (example)

Def Inte KAISUU

Def Char MESSAGE

Dim PDATA(2,3)

Def Jnt TAIHI

Def Pos TORU

Def FN TASU(A,B)=A+B

Clr 1

Open "COM1:" AS #1

Close #1

Input# 1,M1

Print# 1,M1

Rem "ABC"

*SUB1

4-107

List of commands

4Software

4.2 List of parameters

Show the main parameter in the

Table 4-2

.

Table 4-2 : List of parameters

Parameter Details

Standard tool coordinates.

Standard base coordinates

XYZ operation range

JOINT operation range

Free plane limit

User-defined area

Automatic return setting

Buzzer ON/OFF

Jog setting

Jog speed limit value

Hand type

Stop input B contact desig nation

-

MEXTL

MEXBS

MEPAR

MEJAR

Set the default value for the tool data.

Unit: mm or deg.

Set the relation of the world coordinate system and robot coordinate system.

Unit: mm or deg.

Designate the overrun limit value for the world coordinate system.

Set the overrun limit value for each joint axis.

This is the overrun limit set with the free plane.

Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of the plane as the outside operation range (error). The following three types of parameters are used.

Eight types of free plane limits can be set in SFC1P to SFC8P.

There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.

SFC1P

:

SFC8P

SFC1ME

:

SFC8ME

SFC1AT

:

SFC8AT

Designate which mechanism to use eight types of set free plane limits.

The mechanism No. to use is set with 1 to 3.

Set the validity of the eight types of set free plane limits.

(Valid 1/Valid 2/invalid = 1/-1/0)

AREA1CS

:

AREA32CS

AREA1P1

:

AREA32P1

AREA1P2

:

AREA32P2

AREA1ME

:

AREA32ME

An area (cube) defined with two XYZ coordinate points can be designated and that area set as the outside operation range. Furthermore, a signal can be output when the axis enters that area. Up to 32 types of area can be designated.

Specify the coordinate system of the user definition area *.

0: Base coordinate system (conventional compatibility)

1: Robot coordinate system

Designated the 1st point of the area.

There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.

(L1 and L2 are the additional axes.)

Designated the 2nd point of the area.

There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.

(L1 and L2 are the additional axes.)

Designate which mechanism to use the 32 types of set area.

The mechanism No. to use is set with 1 to 3.

AREA1AT

:

AREA32AT

Designate the area check type.

(Invalid/zone/interference = 0/1/2)

Zone: The dedicated output signal USRAREA turns ON.

Interference: An error occurs..

RETPATH Set to restart the program after returning to the interrupt position when resuming operation after an interruption.

BZR

JOGJSP

Designate whether to the turn buzzer ON or OFF.

Designate the joint jog and step operation speed.

(Set dimension H/L amount, max. override.)

JOGPSP Designate the linear jog and step operation speed.

(Set dimension H/L amount, max. override.)

JOGSPMX Limit the operation speed during the teaching mode. Max. 250[mm/s]

HANDTYPE Set the hand type of the single/double solenoid, and the signal No.

(Single/double = S/D)

Set the signal No. after the hand type. Example) D900

INB Change the dedicated input (stop) to either of normal open or normal close.

List of parameters 4-108

4Software

Parameter Details

User-designated origin

Program selection memory

Communication setting

Slot table

No. of multi-tasks

Multi CPU system setting

Select the function of singular point adjacent alarm

Display language.

USERORG Designate the user-designated origin position.

SLOTON Select the program selected previously when initializing the slot. The non-selected state will be entered when not set.

CBAU232

CLEN232

Set the baud rate.

Set the character length.

CPRTY232 Set the parity.

CSTOP232 Set the stop bit.

CTERM232 Set the end code.

SLT1

:

SLT32

Make settings (program name, operation type, order of priority, etc.) for each slot during slot initialization.

TASKMAX Designate the No. of programs to be executed simultaneously. (Max. 32)

QMLTCPU

N

At the multi CPU system, set the number of CPU units with which the standard base unit is equipped.

QMLTCPU n

QMLTCPU

S

MESNGLS

W

LNG

At the multi CPU system, set the number of points performing transmission and receipt between each CPU unit for the high speed communication function between multi CPU nos.

1 to 4.

At the CR750-Q/CR751-Q series controller, set the robot input signal offset for the multi

CPU.

Designate the valid/invalid of the singular point adjacent alarm.

(Invalid/Valid = 0/1)

When this parameter is set up "VALID", this warning sound is buzzing even if parameter:

BZR (buzzer ON/OFF) is set up "OFF".

Change the language to display on the LCD display of teaching pendant.

4-109

List of parameters

5Instruction Manual

5 Instruction Manual

5.1 The details of each instruction manuals

The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application.

Instruction manuals enclosed in dashed lines in the list below are for optional products.

For special specifications, a separate instruction manual describing the special section may be enclosed.

Safety Manual

Explains the common precautions and safety measures to be taken for robot handling, sys

tem design and manufacture to ensure safety of the operators involved with the robot.

Special

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

Explains the procedures required to operate the controller (unpacking, transportation, installation, confirmation of operation), basic operation from creating the program to auto

matic operation, and the maintenance and inspection procedures.

Explains details on the functions and operations such as each function and operation, com

mands used in the program, connection with the external input/output device, and parame

ters, etc.

Explains the causes and remedies to be taken when an error occurs. Explanations are given for each error No.

Additional axis function

Explains the specifications, functions and operations of the additional axis control.

Tracking Func

tion Manual

Explains the control function and specifications of conveyor tracking

Extended Func

tion Instruc

tion Manual

Explains the detailed description of data configuration of shared memory, monitoring, and operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750-

D/CR751-D controller).

The details of each instruction manuals 5-110

6Safety

6 Safety

6.1 Safety

Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation

Rules". Always follow these rules when using the robot to ensure safety.

6.1.1 Self-diagnosis stop functions

This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-2

for safe use.

Table 6-1 : Self-diagnosis stop functions

No. Function Details Remarks

1 Overload protection func tion

2 Overcurrent diagnosis function

3 Encoder disconnection diagnosis function

4 Deflection over diagnosis function

-

Activates when the total servo current time exceeds the specified value.

The drive circuit is shut off. The robot stops, and an alarm displays.

Activates when an overcurrent flows to the motor circuit.

The drive circuit is shut off. The robot stops, and an alarm displays.

Activates when the encoder cable is disconnected. The drive circuit is shut off. The robot stops, and an alarm displays.

Activates when an error occurs between the com

mand value and actual position, and the error exceeds the specified amount.

The drive circuit is shut off. The robot stops, and an alarm displays.

5 AC power voltage drop diagnosis function

6 CPU error detection func

tion

7 Overrun prevention function

Software limit detection

Mechanical stopper

Activates when the AC power voltage drops below the specified value.

Activates when an error occurs in the CPU.

This is the limit provided by the software to enable operation only in the operation range.

This is the mechanical stopper provided outside the software.

The drive circuit is shut off. The robot stops, and an alarm displays.

The drive circuit is shut off. The robot stops, and an alarm displays.

The drive circuit is shut off. The robot stops, and an alarm displays.

The robot mechanically stops, and function 1 or 2 activates.

Table 6-2 : List of stop functions

Stop function

Operation panel

Note1)

Teaching pendant

External input

Details

Emergency stop

Stop

This is the stop with the highest degree of emergency. The servo power is shut off, and the mechanical brakes (all axes) activate to stop the robot.

To recover, reset the alarm, and turn the servo ON with the servo ON command.

This is a stop operation with a high degree of emergency. The robot immediately decelerates and stops.

Note that the servo power is not shut off. Use this when using the collision evasion sensor, etc.

Note1) Only CR750 drive unit has operation panel.

6-111

Safety

6Safety

6.1.2 External input/output signals that can be used for safety protection measures

Table 6-3 : External input/output signals that can be used for safety protection measures

Signal

External emer

gency stop

Note1)

Door switch

Connection point

Connector

(CR750 drive unit:

CNSUSR11/12)

(CR751 drive unit:

CNSUSR1)

Enabling device input

Stop Sequencer unit

Servo OFF

Parameter Functions Usage method

-

-

-

This servo power is shut off, and the robot stops immediately.

STOP The program execution is stopped, and the robot stops. The servo power is not shut off.

SRVOFF The servo power can be shut off.

Externally installed emergency stop switch.

Door switch on safety protection fence.

Stopping at high-level error occurrence.

The door switch of the safe protection fence

Enabling device.

The safety switch during teaching work

The robot is stopped when a peripheral device fault occurs. The servo power is not shut off.

The robot is stopped when a peripheral device fault occurs. The servo power is not shut off.

Door switch on safety protection fence AUTOENA Disables automatic operation when inac

tive.

Outputs the input signal of external emergency stop or emergency stop switch of T/B turned on.

Display and warn the pilot lamp, the input signal of external emergency stop or the emergency stop switch of T/B turned on.

Automatic oper

ation enable

Emergency stop output

Connector

(CR750 drive unit:

CNSUSR11/12)

(CR751 drive unit:

CNSUSR1)

In servo ON Sequencer unit

Waiting

In alarm Connector

CR750/CR751 controllerdrive unit:

(CNUSR2)

SRVON The servo power ON/OFF state is out

put.

STOP Outputs that the robot is temporarily stopped.

ERRRESET Outputs when an alarm occurs in the

robot.

The servo power ON/OFF state is shown and alerted with the display lamps.

The temporary stop state is shown and alerted with the display lamps.

The alarm state is shown and alerted with the display lamps.

Note1) The external emergency stop input is prepared as a normal close for safety proposes. Thus, if the emergency stop

input circuit is opened when the robot is started up, the robot will not operate. Refer to Page 114, "6.1.7 Examples of safety measures" for details.

And, refer to

Page 88, "(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings"

for the function of the door switch input and the enabling device input.

6.1.3 Precautions for using robot

The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of the rules is given below.

(1) Robot installation

・ Secure sufficient work space required to safely perform work such as teaching and maintenance related to the robot.

・ Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.)

・ Install the controller where the entire robot operation can be viewed.

・ Install display lamps, etc., to indicate the robot's operation state.

・ Securely fix the robot arm onto the fixing table with the designated bolts.

(2) Prevention of contact with operator

・ Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space.

・ Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.

(3) Work procedures

・ Create and observe work procedures for the robot teaching, operation, inspection and emergencies.

・ Create hand signals to be followed when several operators are working together.

・ Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is in the robot's motion space so that other operators will not operate the operation panel (controller, control panel).

(4) Training

・ Train the operators about the operations, maintenance and safety required for the robot work.

Safety 6-112

6Safety

・ Only trained and registered operators must operate the robot.

Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Com

mittee, etc., is recommended for safety training.

(5) Daily inspection and periodic inspection

・ Always inspect the robot before starting daily operations and confirm that there are no abnormalities.

・ Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and perform periodic inspections.

・ Make records when periodic inspections and repairs have been done, and store the records for three or more years.

6.1.4 Safety measures for automatic operation

(1) Install safety fences so that operators will not enter the operation area during operation and indicate that automatic operation is in progress with lamps, etc.

(2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the operator follows the signals.

6.1.5 Safety measures for teaching

Observe the following measures when teaching, etc., in the robot's operation range.

(1) Specify and follow items such as procedures related to teaching work, etc.

(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper

ation can be restarted.

(3) Take measures with the robot start switch, etc., to indicate that teaching work is being done.

(4) Always inspect that stop functions such as the emergency stop device before starting the work.

(5) Immediately stop the work when trouble occurs, and correct the trouble.

(6) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.

(7) The teaching operator must have completed special training regarding safety. (Training regarding industrial robots and work methods, etc.)

(8) Create signals to be used when several operators are working together.

6.1.6 Safety measures for maintenance and inspections, etc.

Turn the power OFF and take measures to prevent operators other than the relevant operator from pressing the start switch when performing inspections, repairs, adjustments, cleaning or oiling.

If operation is required, take measures to prevent hazards caused by unintentional or mistaken operations.

(1) Specify and follow items such as procedures related to maintenance work, etc.

(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper

ation can be restarted.

(3) Take measures with the robot start switch, etc., to indicate that work is being done.

(4) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.

(5) The operator must have completed special training regarding safety. (Training regarding industrial robots and work methods, etc.)

(6) Create signals to be used when several operators are working together.

6-113

Safety

6Safety

6.1.7 Examples of safety measures

Two emergency-stop input circuits are prepared on the user wiring terminal block of the drive unit. Create a cir

cuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emer

gency 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 124, "(3) External emergency stop connection [supplementary explanation]"

.

[Note] ・ In the emergency-stop related wiring by the customer, if the coil (is not the contact points) of the relay prepared by the customer is connected to the drive unit, please be sure to implement the measure against the noise by the customer in the coil section. And, please also take the lifetime of noise suppres

sion parts into consideration.

・ Electric specification of the emergency-stop-related output terminal: 100mA/24V or less

・ In the customer's system, do not ground the + side of 24V power supply prepared by customer for con

nect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

(1) CR750 drive unit

<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the drive unit.

The power supply for emergency stop input uses the power supply in the drive uni.

<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.

Drive unit

非常停止スイッチ

(2接点タイプ)

Power supply in the robot controller 24V

*1)

CNUSR11/CNUSR12

1

Peripheral equipment

OP Emergency

OP非常停止

*6)

RA

*4)

2

3

4

5

TB非常停止

ボタン

*3)

RA

RA

6

7

8

9

10

Enabling device

*5)

*7)

13

Internal emergency stop circuit

14

11

12

CNUSR2

16/17

41/42

}

}

}

*2)

*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.

*3) The T/B emergency stop button connected with the drive unit.

*4) Emergency stop input relay.

*5)

Refer to the Standard specification manual or Special specification manualfor 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 is used the drive unit’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.6-1 : Example of safety measures (CR750 wiring example 1)

Safety 6-114

6Safety

<Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the drive unit.

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.

Drive unit

非常停止スイッチ

(2接点タイプ)

OP Emergency

OP非常停止

TB Emergency

TB非常停止

*3)

Power supply in the robot controller 24V

RA

*4)

RA

RA

CNUSR11/CNUSR12

*1)

1

2

3

4

5

6

7

8

9

10

Enabling device

*5)

Safety fence door

Peripheral equipment

Power supply in the Peripheral equipment 24V

*7)

13

14

}

Internal emergency stop circuit

11

12

CNUSR2

16/17

41/42

}

}

*2)

*1) Each of the connectors,

CNUSR11 and CNUSR12, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems.

*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 drive unit.

*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 drive unit’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.6-2 : Example of safety measures (CR750 wiring example 2)

6-115

Safety

6Safety

<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the drive unit. 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 drive unit OFF, peripheral equipment state can be the emergency stop also.

Drive unit

Power supply in the robot controller 24V

非常停止スイッチ

(2接点タイプ)

Peripheral equipment

Power supply 24V

OP Emergency

OP非常停止

*6)

TB Emergency

TB非常停止

*3)

RA

*7)

*4)

RA

RA

*1)

CNUSR11/CNUSR12

1

2

3

4

5

6

7

8

9

10

Enabling device

*5)

Internal emergency stop circuit

13

14

11

12

}

CNUSR2

*2)

16/17

41/42

}

*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 drive unit’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.6-3 : Example of safety measures (CR750 wiring example 3)

Safety 6-116

6Safety

<Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two drive units, 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 drive unit OFF, peripheral equipment state can be the emergency stop also.

Emergency stop switch

(2- contact type)

OP

Emergency stop button

*6)

*3)

TB

Emergency stop button

Drive unit #1

Power supply in the robot controller 24V

CNUSR11/CNUSR12

*1)

1

2

RA

*4)

RA

3

4

5

6

7

8

9

10

RA

Enabling device

*5)

*7)

13

14

Internal emergency stop circuit

11

12

}

*2)

CNUSR2

16/17

41/42

}

周辺装置

の非常停止

出力

ドアスイッチ出力

Safety fence

Power supply

24V

周辺装置内部

Circuit

OP

Emergency stop button

*6)

*3)

TB

Emergency stop button

Drive unit #2

Power supply in the robot controller 24V

CNUSR11/CNUSR12

*1)

1

2

3

RA

*4)

4

5

6

7

RA

8

9

10

RA

Enabling device

*5)

*7)

13

14

Internal emergency stop circuit

11

12

}

CNUSR2

*2)

16/17

41/42

}

周辺装置

の非常停止

出力

*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 drive unit.

*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 drive unit’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.6-4 : Example of safety measures (CR750 wiring example 4)

6-117

Safety

6Safety

<Wiring example 5>: Connect the drive unit to the safety relay

Use the drive unit’s emergency stop button command as an input to the safety relay.

Drive unit

OP

E-stop

TB

E-stop

CNUSR11

1

No connection

2

24V DC

3

4

5

6

24G

Emergency stop

非常停止出力

13

24V DC

14

例)オムロン社 G9SX-AD

G9SX-AD series *OMRON

No connection T11

T12

No connection

T21

T22

CNUSR12

1

No connection

2

24V DC

3

*2)

4

5

6

13

14

24G

24V DC

A1 A2

24V DC 24G

[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 con

nect the negative side (24G).

3) When installing a safety relay to use it as an input point of the controller's emergency stop button command, use a safety relay that is activated by an input from one of the two systems (i.e. Omron’s G9S Series).

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.6-5 : Example of safety measures (CR750 wiring example 5)

Safety 6-118

6Safety

(2) CR751 drive unit

<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the drive unit.

The power supply for emergency stop input uses the power supply in the drive uni.

<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.

非常停止スイッチ

(2接点タイプ)

ボタン

*2)

Power supply in the robot controller 24V

RA

*3)

RA

RA

CNUSR1

*1)

1/ 6

26/31

2/ 7

27/32

3/ 8

28/33

4/ 9

29/34

5/10

30/35

Enabling device

*4)

*6)

Peripheral equipment

*5)

20/19

45/44

}

18/17

43/42

}

Internal emergency stop circuit

CNUSR2

*1)

16/17

41/42

}

*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 drive unit.

*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 drive unit’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.6-6 : Example of safety measures (CR751 wiring example 1)

6-119

Safety

6Safety

<Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the drive unit.

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.

Power supply in the robot controller 24V

*6)

非常停止スイッチ

(2接点タイプ)

Peripheral equipment

TB非常停止

ボタン

*2)

RA

*3)

RA

RA

CNUSR1

*1)

1/ 6

26/31

2/ 7

27/32

3/ 8

28/33

4/ 9

29/34

5/10

30/35

イネーブリング device

*4)

Safety fence door

周辺装置側電源 equipment 24V

*5)

20/19

45/44

18/17

43/42

}

}

内部非常停止回路 circuit

CNUSR2

*1)

16/17

41/42

}

*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 drive unit.

*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 drive unit’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.6-7 : Example of safety measures (CR751 wiring example 2)

Safety 6-120

6Safety

<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the drive unit. 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 drive unit OFF, peripheral equipment state can be the emergency stop also.

Power supply in the robot controller 24V

*6)

非常停止スイッチ

(2接点タイプ)

Peripheral equipment

Power supply

24V

TB Emergency

TB非常停止

*2)

RA

*5)

*3)

RA

RA

*1)

CNUSR1

1/ 6

26/31

2/ 7

27/32

3/ 8

28/33

4/ 9

29/34

5/10

30/35

Enabling device

*4)

Safety fence door

Circuit

20/19

45/44

18/17

43/42

}

CNUSR2

*1)

16/17

41/42

}

*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 drive unit.

*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 drive unit’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.6-8 : Example of safety measures (CR751 wiring example 3)

6-121

Safety

6Safety

<Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two drive units, 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 drive unit OFF, peripheral equipment state can be the emergency stop also.

Emergency stop switch

(2- contact type)

TB emergency stop button

*2)

Power supply in the robot controller 24V

RA

*5)

*3)

RA

RA

*1)

CNUSR1

1/ 6

26/31

2/ 7

27/32

3/ 8

28/33

4/ 9

29/34

5/10

30/35

Enabling device

*4)

Internal emergency stop circuit

20/19

45/44

18/17

43/42

}

CNUSR2

*1)

41/42

}

周辺装置

の非常停止

出力

ドアスイッチ出力

Power supply

24V

周辺装置内部

非常停止回路

TB emergency stop button

*2)

RA

*3)

*5)

RA

RA

CNUSR1

*1)

1/ 6

26/31

2/ 7

27/32

3/ 8

28/33

4/ 9

29/34

5/10

30/35

イネーブリング device

*4)

20/19

45/44

18/17

43/42

}

CNUSR2

*1)

16/17

41/42

}

周辺装置

の非常停止

出力

*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 drive unit.

*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 drive unit’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.6-9 : Example of safety measures (CR751 wiring example 4)

Safety 6-122

6Safety

<Wiring example 5>: Connect the drive unit to the safety relay

Use the drive unit’s emergency stop button to input safety relay.

Drive unit

OP

E-stop

TB

E-stop

CNUSR1

1

No connection

26

24V DC

2

27

例)オムロン社 G9SX-AD

G9SX-AD series *OMRON

No connection

T11

3

T12

28

24G

Emergency stop

非常停止出力

20

24V DC

45

No connection

T21

6

No connection

31

24V DC

7

32

8

33

19

44

24G

24V DC

T22

A1 A2

24V DC 24G

[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 con

troller, please only use a safety relay that functions when connecting the input to the one end of the 2 sys

tems (i.e. Omron’s G9S Series).

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.6-10 : Example of safety measures (CR751 wiring example 5)

6-123

Safety

6Safety

(3) External emergency stop connection [supplementary explanation]

(1) Use a 2-contact type switch for all switches.

(2) Install a limit switch on the safety fence's door. With a constantly open contact (normal open), wire to the door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF

(is opened) when the door is open.

(3) Use a manual-return type of normal close which have two lines for the emergency stop 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 drive unit can be used for safety measures as shown in figure above. Note that there are limits to the No. of switch contacts, capacity and cable length, so refer to the following and install.

・ Switch contact ..........................Prepare a 2-contact type.

*1)

・ Switch contact capacity........Use a normal open contact that operates with a switch contact capacity of approx. 1mA to 100mA/24V.

*1)

If you connect the relay etc., rated current of the coil should use the relay which is 100mA/24V or less. (Refer to

Fig. 6-12 and Fig. 6-11

)

・ Cable length................................The length of the wire between the switch and terminal block must be max. 15m or less. Please use the shield line, in case of the cable may receive the noise etc. by other equipment, such as servo amplifier.

And, since the ferrite core is attached as noise measures parts, please utilize.

The size of the wire that fits to use is shown below.

・ CR750 drive unit................................... CNUSR11/12/13 connector:

AWG #26 to #16 (0.14mm

2

to 1.5mm

2

)

・ CR750 drive unit................................... CNUSR2 connector:

AWG #30 to #24 (0.05mm

2

to 0.2mm

2

)

・ CR751 drive unit................................... CNUSR1/2 connector:

AWG #30 to #24 (0.05mm

2

to 0.2mm

2

)

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.

Safety 6-124

6Safety

The electric-current value limitation when connecting the coils, such as the Relays (CR750 drive unit)

Internal fuse

非常停止スイッチ

(2接点タイプ)

OP

Emergency stop button

ボタン

ロボットコント

ローラ内電源

   24V F2

F1

CNUSR11/12

Power supply24V

TB

Emergency stop button

ボタン

RA

3

4

5

6

1

2

RA

Note)

Relay

Rated-current is 100mA or less

RA

9

10

7

8

RA

イネーブリング

デバイス

13

14

11

12

}

}

Internal emergency

内部非常停止回路

CNUSR2

16/17

41/42

}

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.6-11 : Limitations when connecting the relay etc. (CR750)

The electric-current value limitation when connecting the coils, such as the Relays (CR751 drive unit)

Internal fuse

非常停止スイッチ

(2接点タイプ)

CNUSR1

TB

Emergency stop button

ボタン

Power supply in the robot controller

   24V

F2

F1

RA

1/6

26/31

2/7

27/32

3/8

28/33

RA

Power supply24V

Note)

Relay

Rated-current is

100mA or less

RA

4/9

29/34

5/10

30/35

RA

イネーブリング

デバイス

20/19

45/44

18/17

43/42

}

}

Internal emergency

内部非常停止回路

CNUSR2

16/17

41/42

}

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.6-12 : Limitations when connecting the relay etc. (CR751)

6-125

Safety

6Safety

[Supplementary explanation regarding emergency stop circuit]

The drive unit’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

OP

非常停止

TB

TB

非常停止

24V DC

+

-

非常停止検出

リレー

OP

非常停止

検出 detection

TB

非常停止

検出

外部

非常停止

検出

24G

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.

Safety 6-126

6Safety

6.2 Working environment

Avoid installation in the following places as the equipment's life and operation will be affected by the ambient environment conditions. When using in the following conditions, the customer must pay special attention to the preventive measures.

(1) Power supply

・ Where the voltage fluctuation will exceed the input voltage range.

・ Where a momentary power failure exceeding 20ms may occur.

・ Where the power capacity cannot be sufficiently secured.

CAUTION

Please use the controller with an input power supply voltage fluctuation rate of 10% or less. In the case of 200 VAC input, for example, if the controller is used with 180 VAC during the day and 220 VAC during the night, turn the servo off once and then on again.

If this is not performed, an excessive regeneration error may occur.

(2) Noise

・ Where a surge voltage exceeding 1000V, 1μs may be applied on the primary voltage. Near large inverters, high output frequency oscillator, large contactors and welding machines. Static noise may enter the lines when this product is used near radios or televisions. Keep the robot away from these items.

(3) Temperature and humidity

・ Where the atmospheric temperature exceeds 40 degree , lower than 0 degree.

・ Where the relative humidity exceeds 85%, lower than 45%, and where dew may condense.

・ Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.

(4) Vibration

・ Where excessive vibration or impact may be applied. (Use in an environment of 34m/s

2

or less during transpor

tation and 5m/s

2

or less during operation.)

(5) Installation environment

・ Where strong electric fields or magnetic fields are generated.

・ Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.)

・ Where there is heavy powder dust and oil mist present.

6.3 Precautions for handling

(1) This robot has brakes on J3 axes. The precision of the robot may drop, looseness may occur and the reduction gears may be damaged if the robot is moved with force with the brakes applied.

(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accu

racy may drop due to an excessive backlash, or the backed up data may be destroyed.

(3) Note that depending on the posture, even when within the movement range, the shaft section could interfere with the base section. Take care to prevent interference during jog.

*1)

(4) The robot arm consists of precision parts such as bearing. Lubricants such as grease are also applied on the moving parts to keep the mechanical accuracy. In a cold start under low temperature or in the first start after being stored for one month or longer, lubricants may not be spread enough. Such condition may lower the positioning accuracy, cause servo and overload alarms, and early wearing of the moving parts. To avoid such situation, perform warm-up operation of the machine at a low speed (at about 20% of normal operation speed).

Move the robot arm from the lower to the upper limit of the movable range with the 30 degree joint angle or more for about 10 minutes. After that, speed up the operation gradually.

Please use the warm-up operation. (About the details of the warm-up operation, refer to "INSTRUCTION

MANUAL/Detailed explanations of functions and operations".)

(5) When the air hoses and cables are used inside the shaft (J3 axis), the grease for cable protection may ooze out or abrasion powders may be generated from the tip of the shaft while the robot is moving. However, move

ments and performance of the robot are not affected. Wipe off the grease or powders as required.

*1) Jog operation refers to operating the robot manually using the teaching pendant.

6-127

Working environment

6Safety

(6) The robot arm and controller must be grounded with 100Ω or less (class D grounding) to secure the noise resistance and to prevent electric shocks.

(7) The items described in these specifications are conditions for carrying out the periodic maintenance and inspections described in the instruction manual.

(8) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard config

uration may break due to the fixed installation specifications. In this case, use "the machine cable extension

(for flexed)" factory shipment special specifications or options.

(9) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc.

Take care to prevent interference with the workpiece or peripheral devices during operation.

(10) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhesive power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the coated surface may be damaged when such tape or label is peeled off.

(11) If the robot is operated with a heavy load and at a high speed, the surface of the robot arm gets very hot. It would not result in burns, however, it may cause secondary accidents if touched carelessly.

(12) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the pro

gram data may be destroyed.

(13) During the robot's automatic operation, a break is applied to the robot arm when the input power supply is shut down by a power failure, for instance. When a break is applied, the arm may deviate from the operation path predetermined by automatic operation and, as a result, it may interfere with the mechanical stopper depending on the operation at shutdown. In such a case, take an appropriate measure in advance to prevent any dangerous situation from occurring due to the interference between the arm and peripheral devices.

Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to reduce interference.

(14) Do not conduct an insulated voltage test. If conducted by mistake, it may result in a breakdown.

(15) When the sequencer system becomes large too much, the robot's locus may deteriorate uncommonly. If this phenomenon occurs, inform to the dealer. And, when it turns out that the system is enlarged in advance, please inform our company.

(16) Fretting may occur on the axis which moving angle or moving distance move minutely, or not moves. Fretting is that the required oil film becomes hard to be formed if the moving angle is small, and wear occurs. The axis which not moved is moving slightly by vibration etc. To make no fretting recommends to move these axes about once every day the 30 degree or more, or the 20mm or more.

(17) The United Nations’ Recommendations on the Transport of Dangerous Goods must be observed for trans

border transportation of lithium batteries by air, sea, and land. The lithium batteries (ER6, Q6BAT) used in Mit

subishi industrial robots contain less than 1 g of lithium and are not classified as dangerous goods. However, if the quantity of lithium batteries exceeds 24 batteries for storage, etc., they will be classified as Class 9: Mis

cellaneous dangerous substances and articles. Shipping less than 24 batteries is recommended to avoid having to carry out transport safety measures as the customer’s consignor. Note that some transportation compa

nies may request an indication that the batteries are not dangerous goods be included on the invoice. For ship

ping requirement details, please contact your transportation company.

(18) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the dew condensation may occur on the coupling or the hose surface.

(19) Collision detection function is valid condition for both of automatic and jog operation at shipping.

So, the robot stops immediately if the robot's tool or arm interferes with a peripheral device, minimizing dam

age. Therefore, please use in the valid condition.

(20) When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for dis

infecting and protecting wooden packaging from insects, they cause malfunction when entering our products.

Please take necessary precautions to ensure that remaining materials from fumigant do not enter our prod

ucts, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.

Precautions for handling 6-128

6Safety

6.4 EMC installation guideline

6.4.1 Outlines

The EMC directive is coerced from January 1, 1996, and it is necessary to attach the CE mark which shows that the product is in conformity to directive.

Since the industrial robot is the component of the automation system, it considers that the EMC directive is not the target product of the direct. However, because it is one of the main components, introduces the method and components of the measures for conforming the automation system to the EMC directive.

And also we are carrying out the qualification test about the conformity of the EMC directive under the environ

ment based on the contents of this document. However, the noise level is changed by the kind of equipment to be used, the layout, the construction of the controlling board, the course of wiring, etc. Therefore, please confirm by the customer eventually.

6.4.2 EMC directive

The Mitsubishi Electric industrial robot follows the European EMC directive. This technical standard regulates the following two items.

(1) Emission (EMI : Electromagnetic Interference) ............. The capacity not to generate the disturbance noise which has a bad influence outside.

(2) Immunity (EMS : Electromagnetic Susceptibility)......... The capacity which does not malfunction for the dis

turbance noise from the outside.

Each contents are shown below.

Item Name Contents

Testing technicalstandard number

Emission

(EMI)

Immunity

(EMS)

Radiative noise disturbance

Electrical-conduction noise disturbance

Electrostatic discharge immunity test

Radiated, radio-frequency, electromagnetic field immunity test susceptibility test

Electrical fast transient burst immunity test

Immunity to conducted distrurbances induced radio-frequency fields

The electromagnetic noise etc. which are emitted to environs.

The electromagnetism noise etc. which flow out of the power-supply line.

The noise from the electrified human body.

The electromagnetism noise from the transceiver, the broadcasting station, etc.

The relay noise or the electromagnetism noise etc. which are caused in power-supply ON/OFF.

The electromagnetism noise etc. which flow in through the power source wire and the grounding wire.

Power frequency magnetic field immunity test

Voltage dips, short interruptions and voltage variations immunity test

Surge immunity test

The electromagnetism noise with a power supply frequency of 50/60 Hz etc.

The noise in the variation of the source voltage of the power dispatching, etc.

The electromagnetism noise by the thunderbolt, etc.

EN61000-6-2 : 2005

EN61000-6-4 : 2007

EN62061:2005(Annex E)

6-129

EMC installation guideline

6Safety

6.4.3 EMC measures

There are mainly following items in the EMC measures.

(1) Store into the sealed metal board.

(2) Grounding all the conductor that have floated electrically (makes the impedance low).

(3) Wiring so that the power source wire and signal wire are separated.

(4) Use the shield cable for the cable which wired outside of the metal board.

(5) Install the noise filter.

To suppress the noise emitted out of the board, be careful of the following item.

(1) Ensure grounding of the equipment.

(2) Use the shield cable.

(3) Separate the metal board electrically. Narrows the distance/hole.

The strength of electromagnetic noise emitted to environment is changed a lot by the shielding efficiency of cable and the distance of metal board, so it should be careful.

6.4.4 Component parts for EMC measures

(1) Ferrite core

The ferrite core is mounted by the plastics case as one. It can attach by the one-touch, without cutting the cable.

This has the effect in the common-mode noise. The measures against the noise are made not influential in the quality of the signal.

There are the following as an example.

Maker: SEIWA ELECTRIC MFG. Co.,Ltd.

Outside dimension (mm)

Type

A B C D

Diameter of the adaptation cable

[max] (mm)

E04SR401938

E04SR301334

61

39

38

34

19

13

40

30

19.0

13.0

Maker: TAKACHI ELECTRONICS ENCLOSURE CO., LTD.

Type

A

Outside dimension (mm)

B C D

Diameter of the adaptation cable

[max] (mm)

TFT-274015S 43.8

27.4

20.7

φ26.5

(2) Line noise filter

Type : FR-BLF (Mitsubishi Electric Corp.)

EMC installation guideline 6-130

7Appendix

7 Appendix

Appendix 1 : Specifications discussion material

■ Customer information

Company name

Address

Name

Telephone

■ Purchased model

Item

General specification

RH-1FHR5515-1Q1

■ Shipping special specifications

Item

Type

RH-1FHR5515-Q1

Arm length

■ 550

Standard specification

Robot arm Machine cable □ 5m fixed type

Stroke

■ 150

Controller

□ CR750-01HRQ1-1

□ CR751-01HRQ1-0

Special shipping specifications

2m fixed type: □ 1S-02UCBL-01 (For CR750 controller)

□ 1F-02UCBL-02 (For CR751 controller)

Bellows set □ Not provided (IP20)

Controller Robot CPU unit connect

ing cable set

Note1)

□ 10m

□ 1F-JS-21 (IP65 (Direct jet flow to the bellows section is not included.), ISO Class 5)

□ Not provided □ 5m □ 20m □ 30m: 2Q-RC-CBL □□ M

Note1) The four type cables shown in below are contained. (Each cable length is the same.)

1)2Q-TUCBL □□ M, 2)2Q-DISPCBL □□ M, 3)2Q-EMICBL □□ M,

4)MR-J3BUS □□ M-A (5m, 20m) or MR-J3BUS □□ M-B (30m)

■ Options (Installable after shipment)

Item Type

J1 axis operating range change 1F-DH-01

Machine cable extension

(extension type)

1S- □□ CBL-01

1S- □□ LCBL-01

Machine cable extension

(direct type)

Solenoid valve set

1S- □□ LUCBL-01

1F- □□ UCBL-02

1F- □□ LUCBL-02

1F-VD0 □ -01

1F-VD0 □ E-01

Vacuum valve set

Hand input cable

Hand output cable

Hand curl tube

External Wiring/Piping box

Internal Wiring/Piping for hand

Simple teaching pendant

1F-VV0 □ -E-01

1F-HC35C-01

1F-GR60S-01

1E-ST0408C-300

1F-UT-BOX

1F-HS304S-01

R32TB- □□

R33TB- □□

Highly efficient teaching pendant R56TB- □□

R57TB- □□

RT ToolBox2

RT ToolBox2 mini

Network vision sensor

3D-11C-WINE

3D-12C-WINE

4D-2CG5***-PKG

Provision, and specifications when provided.

□ Not provided □ Provided

Fixed type (For CR750 controller):

□ Not provide

□ 5m □ 10m □ 15m

Flexed type (For CR750 controller):

□ Not provide

□ 5m □ 10m □ 15m

Flexed type (For CR750 controller):

□ Not provide

□ 5m □ 10m □ 15m

Fixed type (For CR751 controller):

□ Not provide

□ 10m □ 15m □ 20m

Flexed type ((For CR751 controller):

□ Not provide

□ 10m □ 15m □ 20m

□ Not provide

1F-VD0 □ -01 (Sink type): □ 1set □ 2set □ 3set □ 4set

1F-VD0 □ E-01 (Source type): □ 1set □ 2set □ 3set □ 4set

□ Not provided 1F-VV0 □ E-01 (Source type)/ □ 1set □ 2set

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided R32TB (CR750 drive unit

): □ 7m □ 15m

R33TB (CR751 drive unit

): □ 7m □ 15m

□ Not provided R56TB (CR750 drive unit

): □ 7m □ 15m

R57TB (CR751 drive unit ): □ 7m □ 15m

□ Not provided □ Windows XP/Vista/7/8/8.1 English CD-ROM

□ Not provided □ Windows XP/Vista/7/8/8.1 English CD-ROM

□ Not provided □ Provided

□ Not provided □ Provided ( ) sets Instructions manual 5F-RR01-PE01

■ Maintenance parts (Consumable parts)

Maintenance parts □ Backup batteries ER6 ( ) pcs. □ Backup batteries Q6BAT ( ) pcs. □ Grease ( ) cans

■ Robot selection check list

Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other ( )

Workpiece mass ( ) g Hand mass ( ) g Atmosphere □ General environment □ Other ( )

Remarks

Appendix-131

Specifications discussion material

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

Aug., 2014 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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