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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.
Standard
Specifications
Explains the product's standard specifications, factory-set special specifications, option configuration and maintenance parts, etc. Precautions for safety and technology, when incorporating the robot, are also explained.
Robot Arm
Setup &
Maintenance
Explains the procedures required to operate the robot arm (unpacking, transportation, installation, confirmation of operation), and the maintenance and inspection procedures.
Controller
Setup, Basic
Operation and
Maintenance
Detailed
Explanation of
Functions and
Operations
Troubleshooting
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).
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The details of each instruction manuals
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Table of contents
- 14 1 General configuration
- 14 1.1 Structural equipment
- 14 1.1.1 Standard structural equipment
- 14 1.1.2 Special specifications
- 14 1.1.3 Options
- 14 1.1.4 Maintenance parts
- 14 1.2 Model type name of robot
- 14 1.2.1 How to identify the robot model
- 14 (1) RV-4F/7F/13F series
- 14 (2) RV-50F series
- 14 1.2.2 Combination of the robot arm and the controller
- 14 (1) CR750 controller
- 14 (2) CR751 controller
- 14 (3) CR760 controller
- 14 1.2.3 Internal wiring and piping specification types
- 14 1.3 CE marking specifications
- 14 (1) CR750 controller
- 14 (2) CR751 controller
- 14 1.4 Indirect export
- 14 1.5 Instruction manuals
- 14 1.6 Contents of the structural equipment
- 14 1.6.1 Robot arm
- 14 (1) RV-4F/7F/13F series
- 14 (2) RV-50F series
- 14 1.6.2 Controller
- 14 (1) CR750controller
- 14 (2) CR751 controller
- 14 (3) CR760 controller
- 14 1.7 Contents of the Option equipment and special specification
- 14 (1) RV-4F/7F/13F series
- 14 (2) RV-50F series
- 15 2 Robot arm
- 15 2.1 Standard specifications
- 15 2.1.1 Basic specifications
- 15 (1) RV-4F/7F series
- 15 (2) RV-13F series
- 15 (3) RV-50F series
- 15 2.1.2 The counter-force applied to the installation surface
- 15 2.2 Definition of specifications
- 15 2.2.1 Pose repeatability
- 15 2.2.2 Rated load (mass capacity)
- 15 2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed
- 15 (1) Setting Load Capacity and Size (Hand Conditions)
- 15 2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot
- 15 2.2.5 Collision detection
- 15 2.2.6 Protection specifications
- 15 (1) Types of protection specifications
- 15 (2) About the use with the bad environment
- 15 2.2.7 Clean specifications
- 15 (1) Types of clean specifications
- 15 2.3 Names of each part of the robot
- 15 2.4 Outside dimensions ・ Operating range diagram
- 15 (1) RV-4F
- 15 (2) RV-4FL/4FJL
- 15 (3) RV-7F
- 74 (4) RV-7FL
- 74 (5) RV-7FLL
- 74 (6) RV-13F/20F
- 74 (7) RV-13FL
- 74 (8) RV-50F series
- 74 2.4.1 Outside dimensions of machine cables
- 74 (1) Connection with the CR750 controller
- 74 (2) Connection with the CR751 controller
- 74 (3) Connection with CR760 controller
- 74 2.5 Tooling
- 74 2.5.1 Wiring and piping for hand
- 74 (1) RV-4F/7F/13F series standard specification (with no internal wiring and piping)
- 74 (2) RV-4F/7F/13F series internal wiring and piping specification (SH01)
- 74 (3) RV-4F/7F/13F series internal wiring and piping specification (SH02)
- 74 (4) RV-4F/7F/13F series internal wiring and piping specification (SH03)
- 74 (5) RV-4F/7F/13F series internal wiring and piping specification (SH04)
- 74 (6) RV-4F/7F/13F series internal wiring and piping specification (SH05)
- 74 (7) RV-50F series
- 74 2.5.2 Internal air piping
- 74 (1) RV-4F/7F/13F series
- 74 (2) RV-50F series
- 74 2.5.3 Internal wiring for the hand output cable
- 74 (1) RV-4F/7F/13F series
- 74 (2) RV-50F series
- 74 2.5.4 Internal wiring for the hand input cable
- 74 (1) RV-4F/7F/13F series
- 74 (2) RV-50F series
- 74 2.5.5 Ethernet cable, option wiring cable
- 74 (1) RV-4F/7F/13F series
- 74 (2) RV-50F series
- 74 2.5.6 Wiring and piping system diagram for hand
- 74 (1) RV-4F/7F/13F series standard specification (with no internal wiring and piping)
- 74 (2) RV-4F/7F/13F series internal wiring and piping specification (SH01)
- 74 (3) RV-4F/7F/13F series internal wiring and piping specification (SH02)
- 74 (4) RV-4F/7F/13F series internal wiring and piping specification (SH03)
- 74 (5) RV-4F/7F/13F series internal wiring and piping specification (SH04)
- 74 (6) RV-4F/7F/13F series internal wiring and piping specification (SH05)
- 74 (7) RV-50F series
- 74 2.5.7 Electrical specifications of hand input/output: For RV-4F/7F/13F series
- 74 2.6 Hand I/O card (RZ398 card): For RV-50F series
- 74 2.6.1 Specifications
- 74 2.6.2 I/O connector for hand
- 74 (1) Outline of RZ398 card
- 74 2.6.3 Air supply circuit example for the hand
- 74 2.6.4 About the Installation of Tooling Wiring and Piping
- 74 2.7 Shipping special specifications, options, and maintenance parts
- 74 2.7.1 Shipping special specifications
- 74 (1) Machine cable
- 74 2.8 Options
- 74 (1) Machine cable extension
- 74 (2) J1 axis operating range change
- 74 (3) Solenoid valve set
- 74 (4) Hand input cable
- 74 (5) Hand output cable
- 74 (6) Hand curl tube
- 74 (7) Forearm external wiring set/ Base external wiring set
- 74 2.9 About Overhaul
- 156 2.10 Maintenance parts
- 157 3 Controller
- 157 3.1 Standard specifications
- 157 3.1.1 Basic specifications
- 157 3.1.2 Protection specifications and operating supply
- 157 3.2 Names of each part
- 157 3.2.1 Controller
- 157 (1) CR750 controller
- 157 (2) CR751 controller
- 157 (3) CR760 controller
- 157 3.3 Outside dimensions/Installation dimensions
- 157 3.3.1 Outside dimensions
- 157 (1) CR750 controller
- 157 (2) CR751 controller
- 157 (3) CR760 controller
- 157 3.3.2 Installation dimensions
- 157 (1) CR750 controller
- 157 (2) CR751 controller: RV-4F/7F series
- 157 (3) CR751 controller: RV-13F series
- 157 (4) CR760 controller
- 157 3.4 External input/output
- 157 3.4.1 Types
- 157 3.5 Dedicated input/output
- 157 3.6 Emergency stop input and output etc
- 157 3.6.1 Connection of the external emergency stop
- 157 (1) CR750 controller
- 157 (2) CR751 controller
- 157 (3) CR760 controller
- 157 3.6.2 Special stop input (SKIP)
- 157 (1) CR750 controller
- 157 (2) CR751 controller
- 157 (3) CR760 controller
- 157 3.6.3 Door switch function
- 157 3.6.4 Enabling device function
- 157 (1) When door is opening
- 157 (2) When door is closing
- 157 (3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
- 157 3.7 Mode changeover switch input
- 157 (1) Specification of the key switch interface
- 157 (2) Connection of the mode changeover switch input
- 157 3.8 Additional Axis Function
- 157 3.8.1 Wiring of the Additional Axis Interface
- 157 (1) CR750 controller
- 157 (2) CR751 controller
- 157 (3) CR760 controller
- 157 3.9 Magnet contactor control connector output (AXMC) for addition axes
- 157 (1) Example circuit
- 157 (2) Image of how to connect the controller connector
- 157 3.10 Options
- 157 (1) Teaching pendant (T/B)
- 157 (2) Parallel I/O interface
- 157 (3) External I/O cable
- 157 (4) Parallel I/O unit
- 157 (5) External I/O cable
- 157 (6) Personal computer cable
- 218 (7) CC-Link interface
- 218 (8) Extension memory cassette
- 218 (9) Controller protection box
- 218 (10) MELSOFT RT ToolBox2/RT ToolBox2 mini
- 218 (11) Instruction Manual (bookbinding)
- 218 3.11 Maintenance parts
- 219 4 Software
- 219 4.1 List of commands
- 219 4.2 List of parameters
- 220 5 Instruction Manual
- 220 5.1 The details of each instruction manuals
- 221 6 Safety
- 221 6.1 Safety
- 221 6.1.1 Self-diagnosis stop functions
- 221 6.1.2 External input/output signals that can be used for safety protection measures
- 221 6.1.3 Precautions for using robot
- 221 6.1.4 Safety measures for automatic operation
- 221 6.1.5 Safety measures for teaching
- 221 6.1.6 Safety measures for maintenance and inspections, etc
- 221 6.1.7 Examples of safety measures
- 221 (1) CR750 controller
- 221 (2) CR751 controller
- 221 (3) CR760 controller
- 221 (4) External emergency stop connection [supplementary explanation]
- 221 6.2 Working environment
- 221 6.3 Precautions for handling
- 221 6.4 EMC installation guideline
- 221 6.4.1 Outlines
- 221 6.4.2 EMC directive
- 221 6.4.3 EMC measures
- 221 6.4.4 Component parts for EMC measures
- 221 (1) Ferrite core
- 221 (2) Line noise filter