Mitsubishi Electronics CR750-D, CR751-D User Manual

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Mitsubishi Industrial Robot

RH-3FH-D Series

Standard Specifications Manual

CR750-D/CR751-D Controller

BFP-A8878-U

All teaching work must be carried out by an operator who has received special

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

Safety Precautions

CAUTION

WARNING

CAUTION

DANGER

CAUTION

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.

DANGER

CAUTION

WARNING

CAUTION

WARNING

CAUTION

Refer to the actual "Safety Manual" for details.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

When the robot arm has to be moved by hand from an external area, do not

WARNING

CAUTION

DANGER

DANGER DANGER

CAUTION

place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture.

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

Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters. If the main power to the robot controller is turned off while in automatic operation or rewriting the program or parameters, the internal information of the robot controller may be damaged.

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

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

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

Make sure there are no mistakes in the wiring. Connecting differently to the way specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions (such as the teaching box emergency stop, customer emergency stop, and door switch) are working properly after the wiring setup is completed.

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

tion

*CR751-D or CR751-Q controller

CAUTION

PE terminal

Grounding screw

Controller

ACIN connector

AC200V AC200V

Primary

Secondary

PE terminal

Grounding screw

123 123

ACIN connector

Note 2)

Note 1) Crimping swage is recommended for connecting the attachment ACIN connector (soldering is also possible)

Recommendation compression tools: 234171-1(Tyco Electronics)

Note 2) The earth leakage breaker is the customer preparation. Always use the cover below.

Recommendation: For single primary power supply .........NV30FAU-2P-10A-AC100-240V-30mA, (Cover: TCS-05FA2)

For three primary power supply .......... NV30FAU-3P-10A-AC100-240V-30mA, (Cover: TCS-05FA3)

Note 3) If necessary, as shown in the figure, connects the noise filter between ACIN terminal blocks and primary power supply.

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

Controller

<4> LINE/LOAD

<3> LINE/LOAD

<1> LINE/LOAD

<2> LINE/LOAD

Noise filter

Label

ACIN connector or power cable (Attachment)

Note 1)

For three phaseFor single phase

Three phase Single phase

Earth leak-

age breaker

(NV)

Note 3)

* The controller is an

example.

Notes of the basic component are shown.

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

1) Please prepare the following: Leakage current breaker (with the terminal cover), cable for connecting the primary power supply (AWG #14 (2mm

or above).

(3.5mm The secondary power cable (with the ACIN connector) for single phase or three phase power is supplied with the product to match the specifications. When you build a cable suitable for your environment using the ACIN connector and the ACIN terminal supplied, prepare a secondary power cable (AWG #14 (2mm

2) Confirm that the primary power matches the specifications.

3) Confirm that the primary power is OFF and that the earth leakage breaker power switch is OFF.

4) Connect the secondary power cable.

a) When using the supplied power cable with the ACIN connector

Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.

b) When building a power cable using the ACIN connector and the ACIN terminals supplied

Connect the ACIN terminals with the secondary power cable (prepared by customers), and insert the ACIN terminals to the ACIN connector pins with the following numbers. Crimping caulking is recommended to connect the ACIN terminals.

For single phase: 1 and 3 For three phase: 1, 2, and 3

Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.

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

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

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

or above), cables to ground the primary power supply (AWG #12

) or above).

Be careful of interference with peripheral equipment.

CAUTION

Short cut

Arch movement (example)

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.

(2)It can be confirmed whether the specified position exist in the defined area by using the instruc-

tion command "Zone". It can utilize as one of the methods for collision evasion. Refer to the "detailed description of the instructions manual/function, and operation" of the separate volume for the details of the instruction command.

■Revision history

Date of print Specifications No. Details of revisions

2012-03-13 BFP-A8878

2012-03-21 BFP-A8878-A

2012-04-04 BFP-A8878-B

2012-05-17 BFP-A8878-C

2012-06-05 BFP-A8878-D

2012-09-03 BFP-A8878-E

2012-10-04 BFP-A8878-F

2012-10-11 BFP-A8878-G

2012-11-20 BFP-A8878-H

2013-01-11 BFP-A8878-J

2013-02-15 BFP-A8878-K

2013-07-19 BFP-A8878-M

2013-09-19 BFP-A8878-N

・First print.

・ The painting color was corrected. (Error in writing) ・ Notes were added to the example of safety measures. (The measure against the noise, The

electric specification of the output terminal)

・ CE marking specification was added.

・ The position repeatability was corrected (improvement). ･ ON voltage/ON current and OFF voltage/ OFF current of the parallel input-and-output

interface were corrected (error in writing).

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

corrected to N12 (Error in writing)

・ Limitation of the electric current value of the relays (coil) connected to the external

emergency stop input was added.

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

"soldering."

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

・ The connector name of hand input signal/output signal of "Fig.2-24: Wiring and piping for

hand" was corrected.

・ The power supply capacity was corrected.

・ The notes were added to "Fig 3-24: Example of EMC noise filter installation". ・ The lithium battery (ER6) was added to The United Nations’Recommendations on the

Transport of Dangerous Goods.

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

rays nor the heat of lighting)

・ “Table 1-1: Combination of the robot arm and the controller” was corrected.

・ The statement about trademark registration was added. ･ The notes about the input-output connected to the controller were added. (do not ground

the + side of 24V power supply prepared by customer) ・ ”Declaration of Incorporation” was updated. ・ The metal plate which fixes "Hand internal wiring and piping set (option)" was changed to

attachment of the robot arm in standard.

・ EC-Statement of Compliance was updated. ・ Note of the external emergency stop were added (opens the connector terminal at factory

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

CN1 connector. ・ Type names of machine cables (option, special specifications) were changed. (No-CE

specification)

・ Type name of CR751 controller was corrected. (formerly: CR751-03HD-0)

・ The simple spanner for resin nuts was added to the attachments of the external wiring/

piping box (option). ・ ”Declaration of Incorporation” and “EC-Statement of Compliance” were updated. ・ ”Fig.2-28: Wiring and piping system diagram for hand and example the solenoid valve

installation” was modified. ・The cautions of operating in a low temperature environment or after a prolonged stop in ”6.3

Precautions for handling” were modified. ・ The caution about fumigation of wood packing was added to ”6.3 Precautions for handling”.

・ ”Fig.6-11: Limitations when connecting the relay etc. (CR750)” and ”Fig.6-12: Limitations

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

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

Error output) ・ The descriptions of CR751-03HD1-0-S15 (CE marking specification controller) were added. ・ Type name of CR751 controller was corrected. (formerly: CR751-03HD) ・ The dimensions of screw hole position for fixing user wiring/p ・ The following descriptions of (5) in ”Fig.2-24 ： Wiring and piping for hand” were corrected.

The power source wire only for the multifunctional hand → Spare wire The connector pins name of robot side and connector name of counter side were added.

The connector pins name of counter side was corrected. ・ The descriptions of solenoid valve set were corrected, and explanations were added. ・ ”Fig.2-28 ： Wiring and piping system diagram for hand and example the solenoid valve

installation” was corrected. ・ The useable length from the shaft end of Internal Wiring/Piping set for hand was corrected. ・ The descriptions about the ventilation duct which the robot of clean specification has were

corrected.

iping were added.

Date of print Specifications No. Details of revisions

2014-01-08 BFP-A8878-P

2014-03-31 BFP-A8878-R

2014-08-20 BFP-A8878-S

2014-12-17 BFP-A8878-T

2015-02-10 BFP-A8878-U

・ The cable fixation plate was added to ”Fig.3-4: Outside dimensions of controller (CR751)”. ・ The type name of the stopper for changing the operating range (J1 axis) in “Table 1-3: The

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

02) ・ ”Fig. 2-5: Relationship of the offset length and maximum velocity” was corrected. ・ Conditions for the flexed type cables were corrected. ・ The note about an ambient temperature was added to “2.1.1 Basic specifications”. ・ The station numbers of the parallel I/O interface and the parallel I/O unit was corrected. ・ The description of "MELFA BASIC

controller”.

・ The grounding representation was corrected. ・ The types of the ACIN terminal were added. ・ The dimension of pilot holes for positioning pin was added.

・ The cover and corporate logo mark of this manual was changed. ・ The statement about trademark registration was modified. ・ The explanation of CR751 controller was modified. ・ The description about screw holes using for tooling wiring and piping was added. ・ The note of turning ON the power supply for control (DCcable-2) for parallel I/O unit was

added.

・ A safety relay in “example of safety measures （wiring example 5） ” both CR750 and

CR751 controller were changed.

・ ”Declaration of Incorporation” and “EC-Statement of Compliance” were updated.

・ Allowance value of the offset amount was added to "2.2.2 Mass capacity". ・ The description of how to change the operating range moved into “INSTRUCTION MAN-

UAL/ROBOT ARM SETUP & MAINTENANCE”.

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

2CG5***-PKG was deleted.)

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

・ The description in case the ethernet cable is used as a backup wiring for data communica-

tion was added.

" was added to “Table 3-1: Specifications of

■ Introduction

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

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

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

may occur".

Please contact your nearest dealer if you find any doubtful, wrong or skipped point. ・ This specifications is original. ・ Microsoft, Windows, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 8.1 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.

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 customer's need to achieve a compact manufacturing facility capable of highly flexible production, as necessitated 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 characteristics and specifications can be easily understood by users considering the implementation of robots. However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer. Mitsubishi hopes that you will consider these standard specifications and use our robots.

Note that in this specification document the specifications related to the robot arm is described Page 9,

"2 Robot arm", the specifications related to the controllerPage 63, "3 Controller", and software functions

and a command list Page 130, "4 Software" separately.

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

*RH-3FH-D series

･ About CE Marking in the automization system

The Guidelines of the measures against EMC in the automization system manufactured by the customer is shown in Page 154, "6.4 EMC installation guideline". Please refer to it and carry out the measures against EMC of the automization system of the customer.

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 .............................................................................................. 1-3

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

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

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

1.6 Contents of the structural equipment ............................................................................................................................ 1-4

1.6.1 Robot arm ........................................................................................................................................................................... 1-4

1.6.2 Controller ............................................................................................................................................................................ 1-5

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

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

2.1 Standard specifications ........................................................................................................................................................ 2-9

2.1.1 Basic specifications ........................................................................................................................................................ 2-9

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

(2) Clean specification ................................................................................................................................................... 2-11

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

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

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

2.2.2 Mass capacity .................................................................................................................................................................. 2-14

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

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

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

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

(1) Relationship Between Mass Capacity and Speed ..............

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

(3) Relation between offset length and the maximum speed ......................................................................... 2-18

(4) Time to reach the position repeatability ......................................................................................................... 2-19

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

2.2.7 Protection specifications ............................................................................................................................................ 2-20

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

2.2.8 Clean specifications ...................................................................................................................................................... 2-20

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

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

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

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

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

(2) Clean Specification ................................................................................................................................................... 2-29

2.4.2 Mechanical interface and Installation surface ................................................................................................... 2-35

2.4.3 Outside dimensions of machine cables ................................................................................................................ 2-36

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

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

2.5 Tooling ........................................................................................................................................................................................ 2-37

2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-37

2.5.2 Internal air piping ............................................................................................................................................................ 2-38

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

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

2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-38

2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-38

2.5.5 Ethernet cable ............................................................................................................................................................... 2-38

......................................................................... 2-16

Contents

Page

2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) ....................... 2-39

(1) Example of wiring and piping <1> ........................................................................................................................ 2-40

(2) Wiring and piping example <2> ............................................................................................................................. 2-40

(3) Precautions for the clean specification ........................................................................................................... 2-41

2.5.7 Wiring and piping system diagram for hand ......................................................................................................... 2-42

2.5.8 Electrical specifications of hand input/output .................................................................................................. 2-43

2.5.9 Air supply circuit example for the hand ............................................................................................................... 2-44

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

2.6.1 Shipping special specifications ................................................................................................................................. 2-45

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

2.7 Options ....................................................................................................................................................................................... 2-47

(1) Machine cable extension ........................................................................................................................................ 2-48

(2) Changes J1 axis operating range ....................................................................................................................... 2-52

(3) Solenoid valve set ..................................................................................................................................................... 2-53

(4) Hand input cable ........................................................................................................................................................ 2-55

(5) Hand output cable ..................................................................................................................................................... 2-56

(6) Hand curl tube ............................................................................................................................................................ 2-57

(7) Internal Wiring/Piping set for hand .................................................................................................................... 2-58

(8) External Wiring/Piping box .................................................................................................................................... 2-59

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

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

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

3.1 Standard specifications ...................................................................................................................................................... 3-63

3.1.1 Basic specifications ...................................................................................................................................................... 3-63

3.1.2 Protection specifications and operating supply ................................................................................................ 3-64

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

3.2.1 Controller .......................................................................................................................................................................... 3-65

(1) CR750 controller ....................................................................................................................................................... 3-65

(2) CR751 controller ....................................................................................................................................................... 3-67

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

3.3.1 Outside dimensions ....................................................................................................................................................... 3-69

(1) CR750 controller ....................................................................................................................................................... 3-69

(2) CR751 controller ....................................................................................................................................................... 3-70

3.3.2 Installation dimensions ................................................................................................................................................. 3-71

(1) CR750 controller ....................................................................................................................................................... 3-71

(2) CR751 controller ....................................................................................................................................................... 3-73

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

3.4.1 Types .................................................................................................................................................................................. 3-75

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

3.6 Emergency stop input and output etc. ......................................................................................................................... 3-79

3.6.1 Connection of the external emergency stop ...................................................................................................... 3-79

(1) CR750 controller ....................................................................................................................................................... 3-80

(2) CR751 controller ....................................................................................................................................................... 3-84

3.6.2 Special stop input (SKIP) ........................................................................................................................................... 3-87

(1) CR750 controller ....................................................................................................................................................... 3-87

(2) CR751 controller ....................................................................................................................................................... 3-88

3.6.3 Door switch function .................................................................................................................................................... 3-89

3.6.4 Enabling device function ............................................................................................................................................. 3-89

(1) When door is opening ............................................................................................................................................... 3-89

(2) When door is closing ................................................................................................................................................ 3-90

(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-90

3.7 Mode changeover switch input ........................................................................................................................................ 3-91

(1) Specification of the key switch interface ....................................................................................................... 3-91

(2) Connection of the mode changeover switch input ..................................................................................... 3-92

3.8 Additional Axis Function ..................................................................................................................................................... 3-93

Contents

Page

3.8.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-93

(1) CR750 controller ....................................................................................................................................................... 3-93

(2) CR751 controller ....................................................................................................................................................... 3-94

3.9 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-97

(1) CR750 controller ....................................................................................................................................................... 3-98

(2) CR751 controller ....................................................................................................................................................... 3-98

3.10 Options .................................................................................................................................................................................... 3-99

(1) Teaching pendant (T/B) ...................................................................................................................................... 3-100

(2) Parallel I/O interface ............................................................................................................................................ 3-103

(3) External I/O cable .................................................................................................................................................. 3-108

(4) Parallel I/O unit ...................................................................................................................................................... 3-110

(5) External I/O cable .................................................................................................................................................. 3-121

(6) CC-Link interface .................................................................................................................................................. 3-123

(7) RT ToolBox2/RT ToolBox2 mini ...................................................................................................................... 3-126

(8) Instruction Manual (bookbinding) ..................................................................................................................... 3-128

3.11 Maintenance parts ........................................................................................................................................................... 3-129

4 Software ......................................................................................................................................................................................... 4-130

4.1 List of commands ............................................................................................................................................................... 4-130

4.2 List of parameters .............................................................................................................................................................. 4-133

5 Instruction Manual ..................................................................................................................................................................... 5-135

5.1 The details of each instruction manuals ................................................................................................................... 5-135

6 Safety .............................................................................................................................................................................................. 6-136

6.1 Safety ...................................................................................................................................................................................... 6-136

6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-136

6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-137

6.1.3 Precautions for using robot .................................................................................................................................... 6-137

6.1.4 Safety measures for automatic operation ........................................................................................................ 6-138

6.1.5 Safety measures for teaching ............................................................................................................................... 6-138

6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-138

6.1.7 Examples of safety measures ................................................................................................................................ 6-139

(1) CR750 controller ..........................................

(2) CR751 controller .................................................................................................................................................... 6-144

(3) External emergency stop connection [supplementary explanation] ................................................. 6-149

6.2 Working environment ......................................................................................................................................................... 6-152

6.3 Precautions for handling .................................................................................................................................................. 6-152

6.4 EMC installation guideline ............................................................................................................................................... 6-154

6.4.1 Outlines ........................................................................................................................................................................... 6-154

6.4.2 EMC directive ............................................................................................................................................................... 6-154

6.4.3 EMC measures ............................................................................................................................................................. 6-155

6.4.4 Component parts for EMC measures ................................................................................................................. 6-155

(1) Ferrite core ............................................................................................................................................................... 6-155

(2) Line noise filter ....................................................................................................................................................... 6-155

7Appendix ........................................................................................................................................................................... Appendix-156

Appendix 1 ： Specifications discussion material ........................................................................................ Appendix-156

.......................................................................................................... 6-139

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

1.1.2 Special specifications

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

1.1.3 Options

User can install options after their delivery.

1.1.4 Maintenance parts

Materials and parts for the maintenance use.

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 - 3 FH □□ △△ ○ - 1 D ▲ - Sxx

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

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

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

3: 3kg

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

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

Ex.）

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

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

Ex.）

12: 120mm stroke 15: 150mm stroke

(f). ○ ................................................Indicates environment specification.

Ex.）

Omitted: General specifications C: Clean specifications

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

Ex.）

Omitted: CR750 controller 1: CR751 controller

(h). D.................................................Indicates the controller type.

D: Stand alone type

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

Ex.）

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

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

Model type name of robot

1-2

1General configuration

1.2.2 Combination of the robot arm and the controller

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

Protection specification

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

Clean specifications RH-3FH3512C-1D 350

Robot arm

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

RH-3FH5512C-1D 550

1.3 CE marking specifications

The robot shown in Table 1-2 is the CE Marking specification.

Table 1-2 ： Robot models with CE marking specifications

Robot type

RH-3FHxxyy-D1-S15

RH-3FHxxyyC-D1-S15

RH-3FHxxyy-1D1-S15

RH-3FHxxyyC-1D1-S15

Note1)

Note3)

CR750-03HD1-1-S15

CR751-03HD1-0-S15

Controller External signal logic Language setting

Note2)

Note4)

Arm

length

(mm)

J3-axis stroke

(mm)

150

120RH-3FH4512C-1D 450

Source type English (ENG)

Controller

CR751-03HD-0

Note1) The "xx" indicate the arm length, "yy"indicate J3-axis stroke. Note2) The specification and the handling method of the controller are the same as standard type controller CR750-03HD-1. Note3) This robot is the clean specification. As long as there is no special description, refers to the contents of RH-3FHxxyyC

(clean specification).

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

1.4 Indirect export

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

1.5 Instruction manuals

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

1-3

CE marking specifications

1.6 Contents of the structural equipment

* Refer to Page 9, "2.1 Standard specifica-

tions" for details on the specifications.

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

Hand output cable

・ 1F-GR60S-01 （4sets）

Hand input cable

・ 1F-HC35C-01

Hand curl tube

・ 1E-ST0408C-300

Machine cable extension

CR751 controller

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

CR750 controller

・ Fixed type: 1S- □□ CBL-03 (extension type) ・ Flexed type: 1S- □□ LCBL-03 (extension type) ・ Flexed type: 1S- □□ LUCBL-03 (direct type)

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

Machine cable (Fix type ： 2m)

･ CR751 controller: 1F-02UCBL-02 ･ CR750 controller: 1S-02UCBL-03

Solenoid valve set

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

*With hand output cable.

Machine cable （Standard product:

5m attachment）

Pneumatic hand customer-manufactured parts

［Caution］

Standard configuration

Special specifications

Option

equipment

Prepared by customer

Changes J1 axis operating range

・ 1F-DH-01

Internal Wiring/Piping set for hand

・ 1F-HS304S-01

This option

External Wiring/Piping box

・1F-UT-BOX

Pull out Wiring/Piping

This option

For CR751 controller

For CR750 controller

1.6.1 Robot arm

The list of structural equipment is shown in below.

Fig.1-1 ： Structural equipment

Contents of the structural equipment

1-4

1 General configuration

Personal computer Prepared by customer

*)Refer to Table

1-5 for USB

cable

Instruction Manual (bookbinding)

・ 5F-FA01-PE01

Parallel I/O interface

2D-TZ368(Sink)/ 2D-TZ378(Source)

CC-Link interface

2D-TZ576

Teaching pendant (T/B)

Simple T/B

・ R32TB: For CR750 controller ・ R33TB: For CR751 controller

Highly efficient T/B

・ R56TB: For CR750 controller ・ R57TB: For CR751 controller

Controller

・ CR751-03HD-0 ・ CR751-03HD1-0-S15

・ CR750-03HD1-1-S15

External I/O cable

・ 2D-CBL05 (5m) ・ 2D-CBL15 (15m)

Parallel I/O unit

2A-RZ361(Sink)/ 2A-RZ371(Source)

External I/O cable

・ 2A-CBL05 (5m) ・ 2A-CBL15 (15m)

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)

PLC (Programmable Logic Controller) External device

Prepared by customer

Standard configuration

Special specifications

Options

Prepared by

equipment

customer

1.6.2 Controller

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

Model type name of robot".)

Fig.1-2 ： Structural equipment

1-5

1.7 Contents of the Option equipment and special specification

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

1 General configuration

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

Item Type Specifications

Stopper for changing the operating range (J1 axis)

Machine cable (Replaced to shorter cable)

Machine cable extension (extension type)

Machine cable extension (direct type)

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

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

Hand output cable

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

1F-DH-01

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

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

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

1S- □□ LCBL-03 For flexing (Set of power and

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

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

1F- □□ LUCBL-02 For flexing (Set of power and

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-GR60S-01

The stopper parts for J1 axis

nal)

signal)

nal)

signal)

Hand side: wire.

Robot side: connector Hand side: wire

Classification

Note1)

CR750 CR751

○○

○･□

○-

-○

○ ○

○○

○･□

Description

This must be installed by the customer.

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

" □□ " 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

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

type) The cable is connected to the hand out-

put connector by the customer. Attaches the cable clamp (drip proof

type) Straight cable 600mm (total length)

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

○○

Box which pulls out the Wire/Piping (Hand I/O cable, Hand curl tube)

Wiring/Piping to pass in the shaft Reducers (φ4 to φ3: 8pcs) are Attached.

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

controller.

Contents of the Option equipment and special specification

1-6

General configuration

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

Classification

Item Type Specifications

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

R32TB-15 Cable length 15m ○ R33TB Cable length 7m - ○ R33TB-15 Cable length 15m - ○

Highly efficient teaching pendant

Parallel I/O Interface 2D-TZ368

External I/O cable

(For Parallel I/O Interface)

Parallel I/O Unit 2A-RZ361

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

CC-Link interface 2D-TZ576 Only Intelligent device station,

RT ToolBox2 (Personal computer Sup-

port software)

RT ToolBox2 mini (Personal computer Sup-

port software mini)

Instruction Manual

R56TB Cable length 7m ○ R56TB-15 Cable length 15m ○ R57TB Cable length 7m - ○ R57TB-15 Cable length 15m - ○

DO: 32 point

(Sink type)

2D-TZ378 (Source type)

2D-CBL05

2D-CBL15

(Sink type)

2A-RZ371 (Source type)

2A-CBL05 5m ○ ○ Use to connect the external peripheral 2A-CBL15 15m ○ ○

3D-11C-WINE CD-ROM

3D-12C-WINE CD-ROM

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

DI: 32 point

Insulated type output signal (0.1A/24V /point)

DO: 32 point/ DI: 32 point

Insulated type output signal (9mA/ 24V /point)

15m

DO: 32 point/ DI: 32 point

Insulated type output signal (0.1A/24V /point)

DO: 32 point/ DI: 32 point

Insulated type output signal (7mA/ 24V /point)

Local station

Note1)

CR750 CR751

○○

Description

The card type external input-and-output. Interface. Install to the slot of controller.

Use to connect the external peripheral device to the parallel input/output interface.

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

device to the parallel input/output unit

For MELSEC PLC with CC-Link connection.

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

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

controller.

1-7

Contents of the Option equipment and special specification

Caution

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

Table 1-5 ： Recommendation article of the USB cable

Name Type name Supplier

USB cable (USB A type-USB mini B type)

USB adapter (USB B type-USB mini B type)

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

KU-AMB530 SANWA SUPPLY INC.

USB-M53 ELECOM CO., LTD.

GT09-C30USB-5P

MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD.

AD-USBBFTM5M ELECOM CO., LTD.

MITSUBISHI ELECTRIC SYSTEM & SERVICE CO., LTD.

1 General configuration

Contents of the Option equipment and special specification

1-8

2Robot arm

2 Robot arm

2.1 Standard specifications

2.1.1 Basic specifications

(1) Standard specification

Table 2-1 ： Standard specifications of robot arm

Item Unit

Type Environment Standard specification Installation posture On floor Degree of freedom 4 Structure Horizontal, multiple-joint type Drive system AC servo motor Position detection method Absolute encoder Motor capacity J1 Ｗ 200

J2 Ｗ 100 J3 (Z) Ｗ 100

J4 (θaxis) Ｗ 50 Brake J1, J2, J4: no brake, J3: with brake Arm length № 1 arm

№2 arm Max.reach radius( № 1+ № 2) Operating range J1 deg ±170

J2 deg ±145

J3 (Z)

J4 (θaxis) deg ±360

Note1)

Speed of motion

Maximum horizontal composite speed

Note2)

Cycle time

Load

Z axis pressing force

Note4)

Allowable inertia Rating

Pose repeatability

Ambient temperature Mass Tool wiring ･ Input 8 points/Output 8 points, (total 20 cores)

Tool pneumatic pipes Primary: φ6 x two hoses, Secondary: φ4 x eight hoses Supply pressure MPa 0.5±10% Protection specification Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2)

Note3)

J1 deg/s 400

J2 deg/s 720

J3 (Z) mm/s 1,100

J4 (θaxis) deg/s 3,000

Rating

Maximum 3

Maximum N 82

Maximum 0.06

Note5)

X-Y

direction

J3 (Z)

J4 (θaxis) deg ±0.004

Note6)

Note9)

mm mm mm

mm/s

sec 0.41 0.46 0.51

(N)

kg ･ m

℃0 to 40

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

125

350

6,800 7,500 8,300

±0.010 ±0.010 ±0.012

･ Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores) ･ Ethernet cable 　 one cable (100BASE-TX, eight cores)

Note1) The maximum speed is the value which applied MvTune2 (high-speed movement mode). Note2) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2,

and J4. The control point is the position offset by the rated inertia from the flange.

Specifications

225 325 225 450 550

150

0.005

±0.010

Note7)

Note8)

IP20

2-9

Standard specifications

300

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

2kg.

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

moving position.

Note4) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the

J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of

time, an excess load error may occur. Please operate in a manner that does not cause errors. Note5) The pose repeatability details are given in Page 13, "2.2.1 Pose repeatability". Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the con-

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

Note7) The 8-wire cable designated for LAN wiring can also be used for backup wiring. Note8) The φ4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromag-

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

2Robot arm

Standard specifications

2-10

2Robot arm

(2) Clean specification

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

Item Unit

J2 Ｗ 100 J3 (Z) Ｗ 100

J4 (θaxis) Ｗ 50 Brake J1, J2, J4: no brake, J3: with brake Arm length № 1 arm

№2 arm Max.reach radius( № 1+ № 2) Operating range J1 deg ±170

J2 deg ±145

J3 (Z)

J4 (θaxis) deg ±360

Note1)

Speed of motion

Maximum horizontal composite speed

Note2)

Cycle time

Load

Z axis pressing force

Note4)

Allowable inertia Rating

Pose repeatability

Ambient temperature Mass Tool wiring ･ Input 8 points/Output 8 points, (total 20 cores)

Tool pneumatic pipes Primary: φ6 x two hoses, Secondary: φ4 x eight hoses Supply pressure MPa 0.5±10% Protection specification Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2)

Note3)

J1 deg/s 420

J2 deg/s 720

J3 (Z) mm/s 1,100

J4 (θaxis) deg/s 3,000

Rating

Maximum 3

Maximum N 82

Maximum 0.06

Note5)

X-Y

direction

J3 (Z)

J4 (θaxis) deg ±0.004

Note6)

Note9)

mm mm mm

mm/s

sec 0.41 0.46 0.51

(N)

kg ･ m

℃0 to 40

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

125

350

6,800 7,500 8,300

±0.010 ±0.010 ±0.012

･ Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores) ･ Ethernet cable 　 one cable (100BASE-TX, eight cores)

and J4. The control point is the position offset by the rated inertia from the flange.

Specifications

225 325 225

450 550

120

0.005

±0.010

Note7)

Note8)

Clean specification: ISO class 3

2-11

Standard specifications

300

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

2kg.

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

moving position.

Note4) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the

J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of

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

sary to guarantee cleanliness are as follows: clean room down flow greater then 0.3 m/s, robot internal suction of 30

to 50 L/min, and installation of an exhaust duct at the rear of the robot’s main base. A φ8 joint has been prepared

at the rear of the base for suction.

The protection specification details are given in Page 20, "2.2.7 Protection specifications".

2Robot arm

2.1.2 The counter-force applied to the installation surface

The counter-force applied to the installation surface for the strength design of the robot installation surface is shown. Table 2-3 ： Value of each counter-force

Item Unit Value

Falls moment: M

Torsion moment: M Horizontal translation force: F Vertical translation force: F

N ･ m 240 N ･ m 255

N 810 N 380

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 B 8432 (Pose repeatability). Note that the value is based on 100 measurements (although 30 measurements are required according to JIS).

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

[1] Operation pattern factors

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

定格慣性モーメント最大慣性モーメント

シャフト中心

単位：mm

20mm(1kg)

100mm(3kg以下)

Unit: mm

Shaft center

Allowable moment of inertia

Maximum

Rating

100mm (less than 3kg)

２ Robot arm

2.2.2 Mass capacity

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

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

Page 9, "2.1.1 Basic specifications".

(2) Fig. 2-1 shows the distribution dimensions for the center of gravity in the case where the volume of the

load is relatively small. Use this figure as a reference when designing the tooling. Please use the robot in the allowable moment of inertia of maximum moment of inertia shown in Fig. 2-1.

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

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

[Caution] Refer to Page 15, "2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration

Speed", and set the values of the mass, magnitude, and distance to the centroid of a tool and a workpiece

to parameters. If parameters are not set exactly, the lifetime of reduction gears, a belt, etc. is affected.

[Caution] The overhang amount of the load, such as the mass capacity and the allowable moment of inertia

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

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

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

[Caution] This robot will restrict speed automatically by internal controls when the load center-of-gravity position

separates from the shaft center. Refer to Page 15, "2.2.3 Relationships Among Mass Capacity, Speed, and

Acceleration/Deceleration Speed" in detail.

The allowance distance (allowance offset amount) from the center of the shaft to the gravity center of loading weight is 100mm.

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

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 settings (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".

HNDDAT* WRKDAT*

Hand masskgsize X

3.0 99.0 99.0 76.0 0.0 0.0 38.0

0.0 0.0 0.0 0.0 0.0 0.0 0.0

size Y

size Zmmcenter-of-gravity

position X mm

center-of-gravity

position Y mm

center-of-gravity

position Z mm

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

100

最大速度割合

負荷質量（ｋｇ）

(%)

RH-3FH series

Maximum speed ratio (%)

Load capacity (kg)

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. 2-2). 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.

Fig.2-2 ： Automatic compensation of speed

2-16

２ Robot arm

→

シャフト(J3軸)

速度、加減速度を補正しない領域

速度、加減速度を補正する領域

Shaft (J3 axis)

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

Area in which speed and acceleration/deceleration speed are compensated

加減速度割合

100

370

310

220

シャフト位置（mm）

(%)

250

J3 axis (Z) stroke 120mm/150mm

Acceleration/decelera-

tion speed ratio(%)

Shaft position (mm)

(Standard Acceleration/deceleration speed)

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

A function to optimize the acceleration/deceleration speed according to the height of the shaft (Refer to Fig. 2-3,

Fig. 2-4) will be activated. This function is invalid if the shaft (axis J3) operates at a position above P3 in Fig. 2-3.

Acceleration/deceleration is compensated for at a position below P3 in Fig. 2-3 if the position of the center of gravity of the load is located at the front edge of the shaft.

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

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

J3 axis stroke (mm)

Stroke length

120 340 220 220 ～ 310 150 370 220 220 ～ 310

(Upper end)

(Lower end)

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

Compensation area

(P2 to P3)

2-17

加減速度割合

100

オフセット量（mm）

(%)

Acceleration/deceleration

speed ratio(%)

Offset length (mm)

Tact time/ 1

cycle

peration time

Wait time

Increased acceleration/deceleration speed

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

Acceleration/deceleration speed [m/sec

]

= optimum acceleration/deceleration speed [m/sec

]

２ Robot arm

(3) Relation between offset length and the maximum speed

A function to optimize the maximum speed of each axis according to the offset length will be activated. (Refer to

Fig. 2-5)

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

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

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

1) Perform continuous path operation using the Cnt command.

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

3) Control the optimum speed using the Spd command.

4) Setting a larger value in the optimum acceleration/deceleration adjustment rate parameter: JADL. (Maximum 100)

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

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

2-18

２ Robot arm

100mm

以上

②

①

More than 100mm

(4) Time to reach the position repeatability

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

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

2) Increase the operation speed prior to stopping.

3) When positioning the work near the bottom edge of the Z axis, if no effectiveness is achieved in step "2)"

above, perform operation ① (robot path: O → A → C). In the case of operation ② (robot path: O → B → C), residual vibration may occur. (Refer to Fig. 2-7.)

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

2.2.6 Collision detection

This series have the "collision detection function" which detects the abnormalities by the collision of the robot arm, and the initial setting has set this function as the enable to suppress damage to the minimum. Although the enable/disable of this function can be changed by parameter: COL and command: ColChk, you should use in valid condition of this function for protection of the robot and of the peripheral equipment. The abnormalities are detected by the robot's kinetics model, presuming torque necessary for movement at any time. Therefore, the setting parameter (HNDDAT*, WRKDAT*) of the hand and the work piece conditions should be right. And, it may be detected as the collision in movement as speed and motor torque are changed rapidly. (for example, the movement near the place of the origin by linear interpolation, the reversal movement, the cold condition, the operation after long term stoppage) In such a case, by adjusting the value of the setting parameter (COLLVL, COLLVLJG) of the collision detection level according to actual use environment, the sensitivity of collision detection can be optimized and the damage risk can be reduced further. And, in the operation after the low temperature or long term stoppage, please operate by accustoming at low speed (warm-up), or use the warm-up operation mode. Refer to the separate instruction manual "Detailed explanations of functions and operations" for details of related parameter.

Table 2-5 ： Factory-shipments condition

JOG operation Automatic

RH-3FH series Valid Invalid

2-19

２ Robot arm

2.2.7 Protection specifications (1) Types of protection specifications

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

Table 2-6 ： Protection specifications and applicable fields

Type

RH-3FHxx15

The IEC IP symbols define the degree of protection against solids and fluids, and do not indicate a protective structure against the entry of oil. The IEC standard is described by the following "Information" And, the corrosion of the rust etc. may occur to the robot with the liquids.

【Information】・ The IEC IP20

It indicates the protective structure that prevents an iron ball 12 with the power of 3.1 kg±10%, from going through the opening in the outer sheath of the supplied equipment.

Protection

specifications

(IEC Standards value)

Robot arm: IP20

Classification Applicable field Remarks

General-purpose environment specifications

General assembly Slightly dusty environment

+0.05

mm diameter, which is being pressed

2.2.8 Clean specifications (1) Types of clean specifications

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

Table 2-7 ： Clean specifications

Type Degree of cleanliness Internal suction Remarks

RH-3FHxx12C

Note1) The conditions necessary to guarantee cleanliness are as follows: clean room down flow greater then 0.3 m/s,

robot internal suction of 30 to 50 L/min, and installation of an exhaust duct at the rear of the robot’s main base. A φ8 joint has been prepared at the rear of the base for suction.

ISO class 3

Note1)

・ Suck the inside of robot arm with

vacuum pump. (prepared by customer)

・ Use it in the clean room with the

down flow (flow velocity 0.3 m/s above).

■ Precautions for use

1) A φ8 VACUUM coupling is provided in the base section of the robot arm for vacuum inside the robot arm.

(Refer to Fig. 2-23) When using the robot, connect this coupling with the vacuum generating valve (Refer to

Table 2-8) and vacuum pump (furnished by the customer).

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

a) When using the vacuum generator

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

Type Maker

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

Air pressure

Note1)

The use of a vacuum generating valve is recommended.

Quantity

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

b) When using the vacuum pump

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

2-20

２ Robot arm

Robot base

Internal suction

Opening

Machine cable

Ventilation duct

3) The ventilation duct is attached to the robot arm rear (refer to Fig. 2-8). As the Z axis moves up and down

the volume of the bellows varies, and air is sucked in and released out of the robot’s ventilation duct opening. Be sure to locate the ventilation duct’s opening in a position that will not affect the robot’s cleanliness. Furthermore, whilst it is only a small amount, internal suction results in external air flows into the robot through the ventilation duct’s opening, and therefore the following two points should be considered when deciding where to locate the ventilation duct’s opening.

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

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

Fig.2-8 ： Installation of Ventilation Duct

4) When using the optional electromagnetic valve set, we recommend using the primary piping’s spare piping

(φ6 air hose) to release the exhaust fumes. Please take care as leaking exhaust fumes inside the robot may have an impact on the robot’s cleanliness.

2-21

2.3 Names of each part of the robot

ベース

第2アーム

J4軸

＋

－

J2軸

＋

－

J1軸

＋

－

第１アーム

J3軸

＋

－

シャフト

ブレーキ解除スイッチ

View A

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

The brake of J3 axis can be released with this switch and the enabling

switch of T/B.

Please be sure to perform brake release operation by two-person

operations. Always assign an operator other than the switch operator to prevent the arm from dropping. This operation must be carried out with the switch operator giving signals.

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

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

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

CAUTION

Brake release switch

No.1 arm

No.2 arm

J1 axis

J2 axis

Base

J3 axis

Shaft

J4 axis

T/B

Enabling switch (Hold down to the left or the right.)

Brake release switch

Note1)

２ Robot arm

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

Names of each part of the robot

2-22

２ Robot arm

Note *1) Indicates the space necessary

to replace the battery.

*2) Indicates screw holes (M4 depth

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

*3) The distance to a minimum

bendable radius of the machine cable for CR750/751 controller.

*4) Indicates the space necessary

to connect the machine cable for CR750/751 controller.

Note) The drawing shows an example of the CR751 controller connection robot. Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

2.4 Outside dimensions ・ Operating range diagram

2.4.1 Outside dimensions ・ Operating range diagram (1) Standard Specification

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

2-23

Outside dimensions ・ Operating range diagram

Installation surface

２ Robot arm

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

Outside dimensions ・ Operating range diagram

2-24

２ Robot arm

Note *1) Indicates the space necessary

to replace the battery.

*2) Indicates screw holes (M4 depth

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

*3) The distance to a minimum

bendable radius of the machine cable for CR750/751 controller.

*4) Indicates the space necessary

to connect the machine cable for CR750/751 controller.

Note) The drawing shows an example of the CR751 controller connection robot. Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

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

2-25

Outside dimensions ・ Operating range diagram

Installation surface

２ Robot arm

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

Outside dimensions ・ Operating range diagram

2-26

２ Robot arm

Note

*1) Indicates the space

necessary to replace the battery.

*2) Indicates screw holes (M4

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

*3) The distance to a minimum

bendable radius of the machine cable for CR750/ 751 controller.

*4) Indicates the space neces-

sary to connect the machine cable for CR750/751 controller.

Note) The drawing shows an example of the CR751 controller connection robot. Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

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

2-27

Outside dimensions ・ Operating range diagram

Installation surface

２ Robot arm

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

Outside dimensions ・ Operating range diagram

2-28

２ Robot arm

Note *1) Indicates the space necessary

to replace the battery.

*2) Indicates screw holes (M4 depth

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

*3) The duct is attached to the

clean specification.

*4) The distance to a minimum

bendable radius of the machine cable for CR750/751 controller.

*5) Indicates the space necessary

to connect the machine cable for CR750/751 controller.

Note) The drawing shows an example of the CR751 controller connection robot. Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

(2) Clean Specification

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

2-29

Outside dimensions ・ Operating range diagram

Installation surface

２ Robot arm

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

Outside dimensions ・ Operating range diagram

2-30

２ Robot arm

Note *1) Indicates the space necessary

to replace the battery.

*2) Indicates screw holes (M4 depth

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

*3) The duct is attached to the

clean specification.

*4) The distance to a minimum

bendable radius of the machine cable for CR750/751 controller.

*5) Indicates the space necessary

to connect the machine cable for CR750/751 controller.

Note) The drawing shows an example of the CR751 controller connection robot. Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

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

2-31

Outside dimensions ・ Operating range diagram

Installation surface

２ Robot arm

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

Outside dimensions ・ Operating range diagram

2-32

２ Robot arm

Note *1) Indicates the space necessary

to replace the battery.

*2) Indicates screw holes (M4

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

*3) The duct is attached to the

clean specification.

*4) The distance to a minimum

bendable radius of the machine cable for CR750/751 controller.

*5) Indicates the space necessary

to connect the machine cable for CR750/751 controller.

Note) The drawing shows an example of the CR751 controller connection robot. Note) Refer to Fig. 2-22 for the mechanical interface section and installation base section dimensions.

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

2-33

Outside dimensions ・ Operating range diagram

Installation surface

２ Robot arm

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

Outside dimensions ・ Operating range diagram

2-34

２ Robot arm

<ハンド取り付けフランジ部詳細>

<ベース裏面据付寸法詳細>

90 120

150

2-φ6穴

(φ8位置決めピン用下穴)

4-φ9据付用穴

(据付基準)

Rz25

180

150

174

断面Z-Z

貫

通

穴

φ16h7

φ37.5

φ90

クリーン仕様

標準仕様

160

Standard specification Clean specification

Section Z-Z

4-φ9 installation reference hole

(Installation reference surface)

(Installation

reference surface)

2-φ6 hole

Pilot hole (positioning pin φ8)

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.

2.4.2 Mechanical interface and Installation surface

Fig.2-22 ： Mechanical interface and Installation surface

2-35

Outside dimensions ・ Operating range diagram

2.4.3 Outside dimensions of machine cables

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻤㻜

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㻜

㻭㼜㼜㼞㼛㼤㻚㻌㻣㻜

㻭㼜㼜㼞㼛㼤㻚㻌㻥㻜

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻝㻡

㻭㼜㼜㼞㼛㼤㻚㻌㻥㻜

㻭㼜㼜㼞㼛㼤㻚㻌㻣㻜

㻭㼜㼜㼞㼛㼤㻚㻌㻡㻜

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻤㻜

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

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻤㻤

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

㻡㻤

㻣㻝

㻭㼜㼜㼞㼛㼤㻚㻌㻝㻡

㻭㼜㼜㼞㼛㼤㻚㻌㻠㻡㻭㼜㼜㼞㼛㼤㻚㻌㻥㻜

㻭㼜㼜㼞㼛㼤㻚㻌㻝㻠㻣

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻝㻡

㻭㼜㼜㼞㼛㼤㻚㻌㻡㻡㻭㼜㼜㼞㼛㼤㻚㻌㻞㻟

㻭㼜㼜㼞㼛㼤㻚㻌㻝㻞

㻭㼜㼜㼞㼛㼤㻚㻌㻝㻢

㻭㼜㼜㼞㼛㼤㻚㻌㻞㻜

㻭㼜㼜㼞㼛㼤㻚㻌㻡㻝

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

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻥

㻭㼜㼜㼞㼛㼤㻚㻌㻠㻡

㻣㻝

㻡㻞

㻭㼜㼜㼞㼛㼤㻚㻌㻝㻞

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻤㻡

㻭㼜㼜㼞㼛㼤㻚㻌㻝㻠

㻭㼜㼜㼞㼛㼤㻚㻌㻠㻡

㻭㼜㼜㼞㼛㼤㻚㻌㻠㻜

㻭㼜㼜㼞㼛㼤㻚㻌㻡㻜

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

(1) Connection with the CR750 controller

1) Power cable

2) Signal cable

㻭㼜㼜㼞㼛㼤㻚㻌㻥㻜

㻭㼜㼜㼞㼛㼤㻚㻌㻠㻡

２ Robot arm

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

㻭㼜㼜㼞㼛㼤㻚㻌㻣㻜

(2) Connection with the CR751 controller

1) Power cable

2) Signal cable

㻭㼜㼜㼞㼛㼤㻚㻌㻥㻜

㻭㼜㼜㼞㼛㼤㻚㻌䃥㻝㻢

㻭㼜㼜㼞㼛㼤㻚㻌㻣㻜

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

Outside dimensions ・ Operating range diagram

2-36

２ Robot arm

Connector and pneumatic coupling

No. Name Qty.

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

Manufacturer

Connectors,

couplings

Connector pins Connector Connector pins

(1) Coupling 2 UKBL6 - - - Koganei Corporation (2) Coupling 1 UKBL8 - - - Koganei Corporation (3) Connector 2 1-1717834-4 1318108-1 1-1318115-4 1318112-1 Tyco Electronics AMP (4) Connector 2 1-1717834-3 1318108-1 1-1318115-3 1318112-1 Tyco Electronics AMP (5) Connector 1 1-1318117-3 1318112-1 1-1318120-3 1318108-1 Tyco Electronics AMP (6) Connector 1 2-1717834-4 1318108-1 2-1318115-4 1318112-1 Tyco Electronics AMP (7) Connector 1 TM21P-88P - - -

View A

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

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

Secondary piping pneumatic hose (Option, or customer prepared) φ4 hose (Max. 8 hoses)

Primary piping pneumatic hose (AIR OUT, RETURN)

Solenoid valve set (Option)

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

Primary piping pneumatic hose (AIR OUT, RETURN)

(6)The signal wire only for

the multifunctional hand.

(7)Ethernet cable (8 cores)

(5)Spare wire

* If the LAN connector is cut and connector of

customer preparation is connected, it can be use as other usages.

Pulling out wiring and piping

Wiring and piping can be passed through the inside of the shaft. It can also be pulled out externally from the rear of the No. 2 arm by using the Page 59, "(8) External

Wiring/Piping box".

Ethernet cables and the power supply chord for remote input/output can be pulled out from the grommet at the rear of the base section. Note) On the clean specifications it is

necessary to seal the cable aperture closed.

(Robot arm side)

No.2 arm

No.1 arm

Robot base

(two cores + two wires)

(two wires)

(1) Primary piping pneumatic

coupling (φ6)

（AIR IN, RETURN）

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

Machine cable connector (power supply) (AMP1, AMP2)

(Inside the cover)

Machine cable connector (for signal) (CN2)

(Inside the cover)

(2)Vacuum (VACUUM) (φ8)

(Only for clean specification)

Machine cable connector (for brake) (BRK)

(Inside the cover)

Machine cable connector (for signal) (CN2)

Machine cable connector (power supply) (CN1)

Robot arm rear side: View B

2.5 Tooling

2.5.1 Wiring and piping for hand

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

Fig.2-23 ： Wiring and piping for hand

2-37

Tooling

2.5.2 Internal air piping (1) Standard type

1) The robot has two φ6 urethane hoses from the pneumatic entrance on the base section to the No.2 arm. One hose is the primary piping for the pneumatic equipment, and the other pipe is used for air exhaust.

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

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

4) Refer to Page 53, "(3) Solenoid valve set" for details on the electronic valve set (optional).

(2) Clean type

1) The primary piping is the same piping as the standard type.

2) With the clean specification, a φ8 coupling is provided in the base section for suction inside the machine. For use, connect it to the suction port of the vacuum pump or the coupling on the "VACUUM" side of the vacuum generating valve. Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use the exhaust filter (prepared by the customer).

3) Refer to Page 20, "2.2.8 Clean specifications" for details of the vacuum for suction.

4) Supply clean air to the vacuum generator.

2.5.3 Internal wiring for the hand output cable

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

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

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

２ Robot arm

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

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 it as backup wiring, cut the LAN connectors off and use with user supplied connectors. When using it as backup wiring for data communication, the shield wire must be grounded. If the shield wire is not grounded, it may cause a communication abnormality by noise superposed on the cable.

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

Table 2-9 ： Ethernet cable specification

Item Specification

Communication speed 100BASE-TX Size

Externality of insulator Approx. 0.98 mm

AWG #26 (0.13mm

) x four pair (total eight cores)

Tooling

2-38

２ Robot arm

164 102

2-M4深さ6

(反対側にもあり)

2-M4深さ8

(反対側にもあり)

2-M4深さ8

(反対側にもあり)

2-M4深さ8

110

ね

じ

深

さ

矢視B

矢視A

(Usable on opposite side too.)

2-M4, depth 8

View B

View A

2-M4, depth 8

(Usable on opposite side too.)

2-M4, depth 6

2-M4, depth 8

(Usable on opposite side too.)

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

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

･ A hand input cable and a hand curl cable are available as optional accessories for your convenience. ･ After performing wiring and piping to the robot, operate the robot at low speed to make sure that each part

does not interfere with the robot arm and the peripheral devices. Confirm that there is no interference also with bellows of the shaft section by clean specification .

･ Please be aware that dust may be generated from friction if wires and pipes come into contact with the robot

arm when using it according to the clean specifications.

･If you install metal fixtures and a solenoid valve using the screw holes on the No.2 arm portion, add the mass of

the metal fixtures and the solenoid valve to mass of a hand then set the HNDDAT parameter. Moreover, Fix the parts, such as a solenoid valve, firmly to prevent the parts getting shaky during operation of a robot.

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

2-39

Tooling

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　・ハンドチューブなど(お客様ご準備)

電磁弁セット(オプション)

1次配管エアホース(AIR OUT、RETURN)(第2アーム内)

ハンド出力信号コネクタ(GR1、GR2)(電磁弁オプション側)

ハンド出力信号コネクタ(GR1、GR2)(第2アーム内)

ケーブル内装配線・配管セット(オプション)用ケーブル固定板金

お客様ご準備ツール

Solenoid valve set (Option)

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

Primary piping air hose (AIR OUT, RETURN) Inside the No.2 arm

Hand output signal connector (GR1, GR2) (Solenoid valve (option) side)

Hand output signal connector (GR1, GR2) (Inside the No.2 arm)

Example of the customer preparation tool

Secondary piping air hose, etc

・ Internal Wiring/Piping set for hand (Option)

(Hand tube: φ3 x 4 hoses, Hand input cable (For signal: 4 cable, For power: 2 cable))

・ Hand tube (Customer prepared)

固定金具(お客様準備)

配線・配管(お客様準備) またはハンド入力ケーブル(オプション)

外部配線配管ボックス(オプション)

配線・配管(お客様準備) またはハンドカールチューブ(オプション)

お客様準備ツール

Example of the customer preparation tool

Fixing plate (Customer preparation)

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

External Wiring/Piping box (Option)

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

Metal fittings (customer preparation)

２ 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.

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

(2) Wiring and piping example <2>

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

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

Tooling

2-40

２ Robot arm

(3) Precautions for the clean specification

The through hole of the top part of the tip shaft are taped at shipment. Perform the following actions as necessary in order to ensure that the robot keeps sufficiently protective performance during the operation:

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

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

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

･Perform the wiring in such a way that the wires around the area below the tip shaft will not get into contact

with other parts while the robot is operating.

2-41

Tooling

白

A1 A2 A3 A4 B1 B2 B3 B4

コントローラ

ロボット本体配線中継ボード

<+24V> <予約> <HC 1> <HC 2> <HC 3> <HC 4>

A1 A2 A3 B1 B2 B3

<+24V(COM)>

A1 A2 A3 A4 B1 B2 B3 B4

<+24V(COM)>

ハンド信号出力用コネクタ（GR2コネクタ）

ハンド信号出力用コネクタ（GR1コネクタ）

ハンド信号入力用コネクタ（HC1コネクタ）

<予約> <24G> <HC 5> <HC 6> <HC 7> <HC 8>

A1 A2 A3 B1 B2 B3

ハンド信号入力用コネクタ（HC2コネクタ）

<電源用> <電源用> <TXRXH> <TXRXL> <予備> <予備>

茶白茶緑白青青白緑橙白橙

φ6クイック継手

1次配管エアホース

φ6ホース

φ6クイック継手

AIR IN

RETURN

電磁弁セット (ｵﾌﾟｼｮﾝ)

第2アーム内ベース部

φ8クイック継手

A1 A2 A3 A4 B1 B2 B3 B4

白黒白黒

黒

白黒白黒

白黒白黒白黒

1 2 3 4 5 6 7 8

GR1

GR2

HC1

HC2

RIO/ ADD

LAN

ADD

LAN

1 2 3 4 5 6 7 8

白黒

白黒白黒

1 2 3

* Refer to Fig. 2-28 for air

supply circuit example.

*1)

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

(This option comes equipped with two 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.

*1), *2)

Hand output signal

Connect to the optional solenoid valve set directly

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

Hand input signal

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

Piping

Connect with customer's hand, etc.

*1), *2)

VACCUM

Note) Only Clean specification.

Hand signal output connector (GR1)

Hand signal output connector (GR2)

Hand signal input connector (HC1)

Hand signal input connector (HC2)

Solenoid valve set (Option)

No.2 arm

Base

φ6 quick coupling φ6 quick coupling

φ8 quick coupling

Primary piping pneumatic hose

φ6 hose

White

White Black White Black

Black

White Black White Black

White Black White Black White Black

Robot arm wiring relay board

Controller

Ethernet cable AWG#24(0.2mm2)x8

(Both ends are LAN connectors)

(Cab tire cables with the shield)

Black

White

Black

White

Black

White

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

2.5.7 Wiring and piping system diagram for hand

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

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

２ Robot arm

Tooling

2-42

２ Robot arm

3.3K

+24V

24G

820

HCn

+24V

3.3K

820

24G

+24V

HCn

+24V

+24V(COM) （内部電源）

GRn

過電流保護機能

24G

Protection of over-current

(Initial power supply)

GRn

+24V

24G

過電流保護機能

Protection of over-current

2.5.8 Electrical specifications of hand input/output

Table 2-10 ： Electrical specifications of input circuit

Item Specifications Internal circuit

Type DC input No. of input points 8 Insulation method Photo-coupler insulation Rated input voltage 24VDC Rated input current approx. 7mA Working voltage range DC10.2 to 26.4V (ripple rate within 5%) ON voltage/ON current 8VDC or more/2mA or more OFF voltage/OFF current 4VDC or less/1mA or less Input resistance Approx. 3.3kΩ

Response time

OFF-ON 10ms or less (DC24V) ON-OFF 10ms or less (DC24V)

Table 2-11 ： Electrical specifications of output circuit

Item Specification Internal circuit

Type Transistor output No. of output points 8 Insulation method Photo coupler insulation Rated load voltage DC24V Rated load voltage range DC21.6 to 26.4VDC Max. current load 0.1A/ 1 point (100%) Current leak with power OFF 0.1mA or less Maximum voltage drop with power ON DC0.9V(TYP.) Response time OFF-ON 2ms or less (hardware response time)

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

Protects Protects the over-current (0.9A)

* HCn ＝ HC1 to HC8

2-43

Tooling

* GRn ＝ GR1 to GR8

2 Robot arm

エア源 (クリーンエアー)

0.7MPa以下

フィルター

レギュレーター

圧力スイッチ

ロボット本体のAIR INへ (0.5MPa±１０%)

Pneumatic source

(Clean)

0.7MPa les

Filter Regulator

Pressure switch

To the AIR IN (Robot arm) (0.5MPa ±10%)

2.5.9 Air supply circuit example for the hand

Fig. 2-28 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. 2-28 and use the circuit described so that the robot stops when pressure drops. Use a hand with a spring-pressure clamp, or a mechanical lock-type hand, that can be used in cases where the pressure switch becomes dam-

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

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

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

2-44

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.

2-45

Shipping special specifications, options, and maintenance parts

(1) Machine cable

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

CR751 controller: 1F-02UCBL-02 (2m)

■ Outline

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

■ Configuration

Table 2-12 ： Configuration equipment and types

Part name Type Qty. Mass (Kg)

CR750 controller

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

Motor signal cable (1 cable) -

Motor power cable (1 cable) -

RCR751 controller

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

Motor signal cable (1 cable) -

Motor power cable (1 cable) -

Note1)

Remarks

２ Robot arm

Note2)

Note1) Mass indicates one set. Note2) Standard 5 m (for fixed type) is not attached.

[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.

Shipping special specifications, options, and maintenance parts

2-46

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.

2-47

Options

(1) Machine cable extension

■ Order type: ● CR750 controller .........Fixed type: 1S- □□ CBL-03 (extension type)

Flexed type: 1S- □□ LCBL-03 (extension type) Flexed type: 1S- □□ LUCBL-03 (direct type)

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

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

Note) □□ refer the length.

■ Outline

The distance between the robot controller and the robot arm is extensible by this option. A fixed type and flexible type are available. The fix and flexible types are both configured of the motor signal cable and motor power cable. The extended method is discriminated as follows.

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

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

２ Robot arm

■ Configuration Table 2-13 ： Configuration equipment and types

Part name Type

CR750 controller

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

Motor signal cable (1 cable) Motor power cable (1 cable) -

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

Motor signal cable - (1 cable) Motor power cable - (1 cable)

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

Motor signal cable - (1 cable)

Motor power cable - (1 cable) Nylon clamp NK-14N - 2 pcs. - for motor signal cable Nylon clamp NK-18N - 2 pcs. - for motor power cable Silicon rubber - 4 pcs -

CR751 controller

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

Motor signal cable (1 cable) -

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

Motor signal cable - (1 cable)

Motor power cable - (1 cable) Nylon clamp NK-14N - 2 pcs. - for motor signal cable Nylon clamp NK-18N - 2 pcs. - for motor power cable Silicon rubber - 4 pcs -

Note1)

Qty.

Fixed Flexed

Mass (kg)

Note2)

7.6(10m) 11(15m)

11(10m)

15.4(15m)

11(10m)

15.4(15m)

12(15m) 17(20m)

13(15m) 17(20m)

5m, 10m or 15m each Extension type

5m, 10m or 15m each Direct type

10m, 15m or 20m each Direct type

Remarks

Note1) The numbers in the boxes □□ refer the length. Note2) Mass indicates one set.

Options

2-48

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 2-14.

Table 2-14 ： Conditions for the flexed type cables

Item Specifications

Note1)

Cable

Minimum flexed radius 100mm or more

Cableveyor, etc., occupation rate 50% or less

Maximum movement speed 2,000mm/s or less

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

Environmental proof IP54 IP54 (except for the area approximately

Cable configuration Motor signal cable φ6 x 5, φ8.5 x 1, and φ1.7 x 1 φ6 x 7 and φ1.7 x 1

Motor power cable φ6.5 x 10 φ6.5 x 8 and φ8.9 x 2

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

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

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

[Caution] The guidance of life count may greatly differ according to the usage state items related to Table 2-14

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

Recommendation grease: G-501 (Supplier: Shin-Etsu Chemical Co., Ltd.) [Caution] This option can be installed on clean-type, but its cleanliness is not under warranty. [Caution] When a cableveyor is used, partitions are required to avoid overlapping or riding up of the cables. Also,

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

■ Cable configuration The configuration of the flexible cable is shown in Table 2-15. Refer to this table when selecting the cableveyor. The configuration is the same between the length difference in the cable, and CR750 controller / CR751 controller.

Table 2-15 ： Cable configuration (Flexed type)

Item Motor signal cable Motor power cable

No. of cores

Finish dimensions Approx. φ6mm Approx. φ8.5mm Approx. φ1.7mm Approx. φ6.5mm

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

CR750 controller

No. in total 7 cables 10 cables

No. of cores

Finish dimensions Approx. φ6mm Approx. φ1.7mm Approx. φ8.9mm Approx. φ6.5mm

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

CR751 controller

No. in total 8 cables 10 cables

AWG#24

(0.2mm

)-4P

AWG#24

(0.2mm

)-4P

AWG#24

(0.2mm2)-7P

AWG#18

(0.75mm2)

AWG#18

(0.75mm2)

AWG#16

(1.25mm2)-4C

AWG#18

(0.75mm2)-3C

AWG#18

(0.75mm2)-3C

2-49

Options

シリコンゴム

ナイロンクランプ

モータ電源ケーブル

モータ信号ケーブル

ロボット本体

コントローラ

CN1

CN2

CN1

CN2

標準付属5m 固定ケーブル

延長屈曲ケーブル（オプション）

継足し部分

ナイロンクランプ

NK-14N

ナイロンクランプ

NK-18N

ナイロンクランプ

NK-18N

NK-14N

ナイロンクランプ

300～400mm

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

space for a machine cable needs 250mm or more.

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

connect directly.

Controller

Nylon clamp

Silicon rubber

Robot arm

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

CAUTION

Nylon clamp

Extended flexible

cable (Option)

The fixed cable

(Standard attachment)

Motor power cable

Motor signal cable

Note1)

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

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

最小200

250

Min. 200

Extension section

■ Fixing the flexible cable

２ Robot arm

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

Options

2-50

２ Robot arm

シリコンゴム

ナイロンクランプ

モータ電源ケーブル

モータ信号ケーブル

ロボット本体

CN2

ナイロンクランプ NK-14N

NK-18N

ナイロンクランプ

NK-18N

NK-14N

ナイロンクランプ

300～500mm

300～ 500mm

ナイロンクランプ

AMP1・AMP2

BRK

コントローラ

CN2

CN1

モータ信号(CN2)モータ電源(CN1)

AMP1 AMP2 BRK

コントローラコネクタ面

ネジ (固定用 2本)

熱収縮チューブ

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

CONBOX cover.

*2) The flexible cable area is the area between the heat shrink tubes on the

robot and the controller sides.

*1)

Controller

Nylon clamp

Silicon rubber

Robot arm

Nylon clamp

Motor signal cable

Motor power cable

Nylon clamp

Two fixing screws

Two fixing

screws

Controller connector face

Motor power (CN1) Motor signal (CN2)

Nylon clamp

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

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

Heat shrink tube

*2)

Heat shrink tube

*2)

最小200

250

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

Min. 200

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

2-51

Options

(2) Changes J1 axis operating range

■ Order type: 1F-DH-01

■ Outline

The operating range of J1 axis is limited by the robot arm's mechanical stopper and the controller parameters. If the axis could interfere with the peripheral devices, etc., and the operating range need to be limited, use this.

■ Configuration Table 2-16 ： Configuration devices

Part name Type Qty. Mass(kg) Remarks

Stopper for changing the operating range

■ Specifications Table 2-17 ： Specifications

Axis Standard

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

(1) The changeable angle shown in Table 2-17 indicates the operation range by the software.

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

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

to the separate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" and "Instruction Manual/ Detailed Explanation of Functions and Operations" for details.

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

ment of the mechanical stopper is necessary.

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

Changeable angle

２ Robot arm

Options

2-52

２ Robot arm

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.

(3) Solenoid valve set

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

Two sets: 1F-VD02-01(Sink type)/1F-VD02E-01(Source type) Three sets: 1F-VD03-01(Sink type)/1F-VD03E-01(Source type) Four sets: 1F-VD04-01(Sink type)/1F-VD04E-01(Source type)

■ Outline

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

■ Configuration Table 2-18 ： Configuration equipment

Part name Type Q'ty

Mass (kg)

Note1)

Remark

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

Either

one pc.

Either

one pc.

Either

one pc.

Either

one pc.

1.0

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

M4 x 30 Two screws (Installation screws) 1F-VD0*-01: Sink type 1F-VD0*E-01: Source type.

Note1) Mass indicates one set.

■ Specifications Table 2-19 ： Valve specifications

Item Specifications

Number of positions 2 Port 5 Valve function Double solenoid Operating fluid Clean air Operating method Internal pilot method Effective sectional area (CV value)

Oiling Unnecessary Operating pressure range 0.1 to 0.7MPa Response time 22msec or less (at 0.5 MPa) Max. operating frequency 5Hz Ambient temperature -10 to 50 ℃ (However, there must be no condensation.)

Note1)

0.64mm

Note2)

(0.03)

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)

Table 2-20 ： Solenoid specifications

Method Built-in fly-wheel diodes with surge protection Coil rated voltage DC24V ±10% Power consumption 0.55W Voltage protection circuit with power surge protection Diode

2-53

Options

Item Specifications

SOL1A

SOL1B

SOL2A

SOL2B

<GR1>

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

<GR2>

A1 A2

B3 B4

B1 B2

<ソースタイプ><シンクタイプ>

コネクタ名

SOL1A

SOL1B

SOL2A

SOL2B

<GR1>

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

<GR2>

A1 A2

B3 B4

B1 B2

コネクタ名

GR1 GR2

+24V (COM)

予約

予約予約

GR3 GR4

GR5 GR6

+24V (COM)

予約

予約予約

GR7 GR8

GR1 GR2

24G

予約

予約予約

GR3 GR4

GR5 GR6

24G

予約

予約予約

GR7 GR8

クロアカ

白

クロアカクロアカクロアカ

クロアカ

白

クロ

アカクロ

アカ

白

クロ

アカクロアカクロアカクロアカ

白

50mm

80mm

①

②

③

④

⑤ ⑥

⑦

Part name 1 set 2 sets 3 sets 4 sets Specification

①Solenoid valve 1234 ② Manifold block 1 1 1 1 ③ Quick coupling (A/B port) 8 8 8 8 φ4 ④ Quick coupling (P/R port) 2 2 2 2 φ6 ⑤ Connector 1 1 2 2 1-1318115-4 ⑥ Contact 3 5 8 10 1318112-1

⑦

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

2222 M4x30

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

Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

Black Red

Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

Red Black Red Black Red Black Red Black

２ Robot arm

Fig.2-31 ： Outline dimensional drawing

Options

2-54

２ Robot arm

400 350 450±10

450

φ25

1-1318115-3 (タイコエレクトロニクスアン

HC1

HC2

HC1 HC2 HC3 HC4

+24V 予約

24G HC5 HC6

(

ハンド入力1)

(

ハンド入力2)

(

ハンド入力3)

(

ハンド入力4)

(

ハンド入力5)

(

ハンド入力6)

（黄）キ

（紫）ムラサキ（茶）チャ

（青）アオ（黒）クロ

（緑）ミドリ（赤）アカ（白）シロ

A2 A3

B1 B2 B3

A1 A2 A3 B1 B2 B3

予約

HC7 HC8

(

ハンド入力7)

(

ハンド入力8)

（灰）ハイ（桃）モモ

<HC1>

<HC2>

100

* Pin assignment of sink and source is the same.

(Tyco Electronics AMP)

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

(Yellow)

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

+24V Reserve HC1 HC2 HC3 HC4

Reserve 24G HC5 HC6 HC7 HC8

(4) Hand input cable

■ Order type: 1F-HC35C-01

■ Outline

The hand input cable is used for customer-designed pneumatic hands. It is necessary to use this to receive the hand's open/close confirmation signals and grasping confirmation signals, at the controller. One end of the cable connects to the connector for hand input signals, which is in the wrist section of the hand. The other end of the cable connected to the sensor inside the hand customer designed. To extend the wiring to the outside of the robot arm, optional external wiring and pip ing box (1F-UT-BOX) is required.

■ Configuration Table 2-21 ： Configuration equipment

Part name Type Qty.

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

Mass (kg)

Note1)

Remarks

Note1) Mass indicates one set.

■ Specifications Table 2-22 ： Specifications

Item Specifications Remarks

Size x cable core

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

AWG#24 (0.2mm

)×12

One-sided connector, one-sided cable bridging

Fig.2-32 ： Outside dimensional drawing and pin assignment

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

2-55

Options

(5) Hand output cable

600

(100)

1-1318115-4 (タイコエレクトロニクスアンプ(株))

GR1

GR2

GR1

GR3 GR4 予約

+24V (COM) 予約

+24V（COM）

GR5

GR7

(

ハンド出力1)

(

ハンド出力3)

(

ハンド出力4)

(

ハンド出力5)

(

ハンド出力7)

（黄）キ

（紫）ムラサキ（茶）チャ

（青）アオ（黒）クロ

（緑）ミドリ

（赤）アカ（白）シロ

A2 A3

B1 B2 B3

A1 A2 A3

B1 B2 B3

予約

GR8 予約(

ハンド出力8)

（灰）ハイ（桃）モモ

<GR1>

<GR2>

予約

GR2

ハンド出力2)

GR6 (

ハンド出力6)

予約

シンクタイプ

GR1

GR3 GR4 予約

24GND (COM) 予約

24GND（COM）

GR5

GR7

(

ハンド出力1)

(

ハンド出力3)

(

ハンド出力 4)

(

ハンド出力 5)

(

ハンド出力 7)

予約

GR8 予約(

ハンド出力 8)

予約

GR2

ハンド出力2)

GR6 (

ハンド出力 6)

予約

ソースタイプ

450

(Tyco Electronics AMP)

(Yellow)

+24V (COM) Reserve GR1 GR2 GR3 GR4 Reserve Reserve

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

(Green)

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

+24V (COM) Reserve GR5 GR6 GR7 GR8 Reserve Reserve

24G Reserve GR1 GR2 GR3 GR4 Reserve Reserve

24G Reserve GR5 GR6 GR7 GR8 Reserve Reserve

Sink type Source type

■ Order type: 1F-GR60S-01

■ Outline

The hand output cable (solenoid valve connection cable) is an option that is used when a solenoid valve other than one of the solenoid valve set options, is used. One end of the cable has a connector that connects to the input terminal inside the robot. The other end of the cable is connected. To extend the wiring to the outside of the robot arm, optional external wiring and pip ing box (1F-UT-BOX) is required.

■ Configuration Table 2-23 ： Configuration equipment

Part name Type Qty.

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

Note1) Mass indicates one set.

Mass (kg)

Note1)

Remarks

２ Robot arm

■ Specifications Table 2-24 ： Specifications

Item Specifications Remarks

Size x Cable core AWG#24(0.2mm

) x 12 cores One side connector and one side cable connection

Total length 1,050mm

Fig.2-33 ： Outline dimensional drawing and pin assignment

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

Options

2-56

２ Robot arm

(ツーリング側)

(ロボット側)

1E-ST0408C-300 (φ4 x 8 pcs)

(Tooling side)

(Robot side)

(6) Hand curl tube

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

■ Outline

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

■ Configuration Table 2-25 ： Configuration equipment

Part name Type Qty.

Hand curl tube (Four set: 8 pcs.) 1E-ST0408C-300 1 pc. 0.1 Φ4 tube, 8pcs

Note1) Mass indicates one set.

Mass (kg)

■ Specifications Table 2-26 ： Specifications

Item Specifications

Material Urethane

Size Outside diameter: φ4 x Inside diameter: φ2.5

Note1)

Remarks

Fig.2-34 ： Outline dimensional drawing

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

2-57

Options

(7) Internal Wiring/Piping set for hand

This option

HC1 HC2 HC3 HC4

+24V 予約

24G

(

ハンド入力)

(

ハンド入力)

(

ハンド入力)

(

ハンド入力)

（白）シロ

A2 A3

B1 B2 B3

A1 A2 A3

B1 B2 B3

予約

<HC1>

<HC2>

予約予約予約予約

配線図

（白）シロ

（黒）クロ

（白）シロ

（黒）クロ

1-1318115-3 (タイコエレクトロニクスアンプ(株))

(お客様ご使用可能長)

φ6エアホース

*1)

*1) The signal name is printed at

the mark tube.

(Customer usable length)

φ6 air hose

(Tyco Electronics AMP)

+24V

Reserve HC1 HC2 HC3 HC4

(White)

(White) (Black)

(Black)

Pin assignment

Reserve 24G Reserve Reserve Reserve Reserve

■ Order type: 1F-HS304S-01

■ Outline

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

■ Configuration Table 2-27 ： Configuration equipment

Item Type Qty. Mass (Kg)

Internal Wiring/Piping set for hand

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

Note1)

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

Remarks

２ Robot arm

Note1) Mass indicates one set.

■ Specification Table 2-28 ： Specification

Air hose φ3 x 4pcs Both ends are free.

Hand input signal cable

Useable length from the shaft end 400mm 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.

Item Specification Remarks

Eight reducers (φ3 to φ4) are attached.

AWG #24(0.2mm

)×6pcs

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

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

Options

2-58

２ Robot arm

Pull out Wiring/Piping

(8) External Wiring/Piping box

■ Order type: 1F-UT-BOX

■ Outline

This is a very useful option when removing the air hoses and signal lines from the rear of the No. 2 arm, and pulling hand wiring and piping out to the 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. This option can also be used on the clean specifications.

■ Configuration Table 2-29 ： Configuration equipment

Part name Type Qty. Mass (Kg)

External Wiring/Piping box 1F-UT-BOX 1 0.5 Attachments:

Note1)

Remarks

・ 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 2-30 ： Specification

Item Specification Remarks

Outline 106(W) x 73.6(D) x 72(H) The coupling is included. The hole for wiring drawers φ21 x 4 places Fix the cable by cable clamp etc. Coupling For φ4 air hose x 8pcs Installed previously

For φ6 air hose x 2pcs

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

2-59

Options

Configuration

Part name Qty. Specification

① External Wiring/Piping box housing 1 ② Quick coupling 8 φ4 (Elbow) ③ Quick coupling 2 φ6 (Elbow)

④ φ21 hole 4

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

⑤ Manifold block 1

- Simple spanner for resin nuts 1

- Plug 8 Stopper for φ4 quick coupling

- Plug 2 Stopper for φ6 quick coupling

- Installation screw 4

Installation screws M4 x 12 Conical spring washer, Plane washer (Attachment)

①

②

④

③

⑤

Inside the robot

(

)

２ Robot arm

Fig.2-36 ： Outline dimension and configurations

Options

2-60

２ Robot arm

Shipment

Failure rate λ

Predetermined time period

If overhaul is performed

Servo-on time

If overhaul is not performed

Periodic inspection

Overhaul

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 continued 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. 2-37.) For specific information about parts to be replaced and timing of overhaul, contact your local service representative.

Fig.2-37 ： Periodic inspection/overhaul periods

2-61

About Overhaul

２ Robot arm

2.9 Maintenance parts

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

Table 2-31 ： Consumable part list

No.

1 Grease Reduction gears of each axis As needed

3 Lithium battery ER6 Front section of the base 3

4 Timing belt J3 axis 1

6 J4 axis shaft side 1

Part name

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

Type

Note1)

Usage place Qty. Supplier

Mitsubishi Electric 2 Ball screw spline As needed

Mitsubishi Electric 5 J4 axis motor side 1

Maintenance parts

2-62

3Controller

3 Controller

3.1 Standard specifications

3.1.1 Basic specifications

Table 3-1 ： Specifications of controller

Item Unit Specification Remarks

Type CR751-03HD-0

Number of control axis Simultaneously 4 Memory

capacity

Robot language MELFA-BASIC Teaching method

External input and output

Interface RS-422 port 1 Only for T/B

Power source

Outline dimensions

Mass kg CR750: Approx. 16

Construction Self-contained floor type, Opened type.

Operating temperature range ℃ 0 to 40 Ambient humidity %RH 45 to 85 Without dew drops Grounding Ω 100 or less

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

Programmed positions point 39,000 No. of steps step 78,000 Number of program 512

Pose teaching method, MDI method

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

Dedicated input/output

Hand open/close input/output

Emergency stop input

Door switch input point 1 Dual line

Enabling device input point 1 Dual line

Emergency stop output point 1 Dual line

Mode output point 1 Dual line

Robot error output point 1 Dual line

Addition axis synchronization point 1 Dual line

Mode changeover switch input point 1 Dual line

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

USB port 1

Additional axis interface Channel 1

Tracking interface Channel 2 Option slot slot 2 For option interface Input voltage range V Single phase, AC180 to 253 Power capacity kVA 0.5

Power supply frequency Hz 50/60

Note3)

point

point 1 Dual line

mm CR750 controller

CR751 controller

Installation vertically or horizontally

CR751-03HD1-0-S15 CR750-03HD1-1-S15

, V

Assigned with general-purpose

input/output

8/8

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

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

CR751: Approx. 12

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.

“-S15” means CE marking specification.

Note1)

The signal number of "STOP" input signals is fixing.

Built-in

(CR751 controller only)

Ver.2.0 FullSpeed Only device function

SSCNET III (Connects with MR-J3BS, MR-J4-B series)

Does not include rush current

Excluding protrusions

Note4)

IP20

Ωor less (class D grounding)

100

Note2)

Note5)

3-63

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 volt age. The power consumption in the specific operation pattern with the RH-3FH is approx. 0.3kW. The short circuit breaker should use the following.

* Operate by the current leakage under the commercial frequency domain (50-60Hz). If sensitive to the high frequency

Note3) Refer to Page 69, "3.3.1 Outside dimensions" for details. Note4) This controller is standard specification. (Refer to Page 64, "3.1.2 Protection specifications and operating supply".)

Note5) The robot must be grounded by the customer.

ingredient, it will become the cause in which below the maximum leak current value carries out the trip.

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 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 152, "6.2 Working environment" for details on the working environment.

+0.05

mm diameter, which is being pressed with

Standard specifications

3-64

3 Controller

Controller (Front side)

<15>

<6>

<16> <17> <3>

<18>

<20>

Fan, Air suction

<7>

<10>

<8> <9>

<1>

<2>

<19>

Attached cover

Controller (Rear side)

Exhaust downward (Bottom)

<5><4>

<13> <12> <11>

<14>

<1>: ACIN terminal

<20>: The operation panel

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

<23>

<22><21>

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

3.2 Names of each part

3.2.1 Controller (1) CR750 controller

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

3-65

Names of each part

3 Controller

L1 L2

L1 N

<1> ACIN terminal ................................................The terminal box for AC power source (single phase, AC200V) input.

(Inner side of a cover) There are two types of the terminal and the terminal differs depending on the specification (CE or non-CE).

Specification

Non-CE specification CE specification

Type A: For single phase

Type of ACIN terminal

Connect the primary power supply to L1 and L2 terminal.

Type C: For single phase

Connect the primary power supply to L1 and N terminal.

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.

<11> LAN connector (LAN)......................... For LAN connection

<12> ExtOPT connector (ExtOPT) .......... Connect the cable for addition axis control.

<13> RIO connector (RIO)........................... Connect the extension parallel input/output unit.

<14> Option slot (SLOT1, SLOT2)........... Install the interface optional. (Install the cover, when not using.)

<15> Interface cover...................................... USB interface and battery are mounted.

<16> Mode key switch ................................... This key switch changes the robot's operation mode.

AUTOMATIC ..........Operations from the controller or external equipment are valid. Operations for which the

operation mode must be at the external device or T/B are not possible. (Exclude the start of automatic operation.)

MANUAL..................When the T/B is valid, only operations from the T/B are valid. Operations for which the

operation mode must be at the external device or controller are not possible.

<17> Emergency stop switch...................... This switch stops the robot in an emergency state. The servo turns OFF.

<18> Filter cover.............................................. There is an air filter inside the cover.

<19> Grounding terminal............................... The grounding terminal for connecting cables of option card. (M3 screw x 2

places)

<20> Operation panel..................................... The operation panel for servo ON/OFF, START/STOP the program etc.

<21>

Display panel (STATUS.NUMBER)........... The alarm No., program No., override value (%), etc., are displayed.

<22> CHNGDISP button............................... This button changes the details displayed on the display panel in the order

of "Override" → "Program No." → "Line No.".

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

display panel.

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

<25> SVO.OFF button.................................. This turns OFF the servo power. (The servo turns OFF.)

<26> START button........................................ This executes the program and operates the robot. The program is run

continuously.

<27> STOP button.......................................... This stops the robot immediately. The servo does not turn OFF.

<28> RESET button........................................ This resets the error. This also resets the program's halted state and

resets the program.

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

Names of each part

3-66

3 Controller

<2> <1> <3>

<4> <15> <9>

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

<10>

<7>

Controller (Front side)

Exhaust

Controller (Rear side)

(2) CR751 controller

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

<1> ACIN connector.......................................The connector for AC power source (single phase, AC200V) input (a socket

<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)

<5> Machine cable connector (motor signal)

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

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

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

(CNUSR1、 CNUSR2) (a plug connector attached)

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

<10>Power supply charge lamp (CRARGE)

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.

AMP1, AMP2: Motor power, BRK: Motor brake

CN2: Motor signal

B, connect the attached dummy plug.

Refer to a separate manual “INSTRUCTION MANUAL/Controller setup,

basic operation, and maintenance” for the connection method and

thefurther description of pin assign.

places)

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.

3-67

Names of each part

After turning the control power OFF and allowing a few minutes to pass,

Caution

the lamp will go out. <11>USB connecting connector (USB)..For USB connection

<12>LAN connector (LAN) ..........................For LAN connection

<13>ExtOPT connector (ExtOPT)............Connect the cable for addition axis control.

<14>RIO connector (RIO).............................Connect the extension parallel input/output unit.

<15>Option slot ................................................Install the interface optional. (Install the cover, when not using.)

(SLOT1、 SLOT2)

3 Controller

Names of each part

3-68

3 Controller

3.3 Outside dimensions/Installation dimensions

3.3.1 Outside dimensions

(1) CR750 controller

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

3-69

Outside dimensions/Installation dimensions

(2) CR751 controller

Cable fixation plate (Attachment)

This plate must be installed by customers.

3 Controller

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

Outside dimensions/Installation dimensions

3-70

3 Controller

以

上

50mm以上

20mm以上

250mm以上

145mm

250mm

以上

吸気口

Intake vent

250mm or more

50mm or more

20mm or more

150mm

or more

250mm or more

* Do not stack controllers.

CAUTION CAUTION

3.3.2 Installation dimensions

(1) CR750 controller

Fig.3-5 ： Installation of controller (CR750)

Fixing installation section sure for prevention from the fall, when using the controller placing vertically. The reference figure of the metal plate for fixing is shown in Fig. 3-6. You should install the metal plate for fixation to the controller with M4 x 8 or the shorter screw. The screw projection length inside the controller (side board thickness is 1.2 mm) surely makes 6.8 mm or less.

3-71

Outside dimensions/Installation dimensions

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

3 Controller

hole

(Controller fixation hole)

hole

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

Outside dimensions/Installation dimensions

3-72

3 Controller

以

上

50mm以上

20mm以上

250mm以上

145mm

250mm

以上

吸気口

Intake vent

250mm or more

50mm or more

20mm or more

150mm

or more

* Stackable at most 2 controllers.

CAUTION CAUTION

(2) CR751 controller

Fig.3-7 ： Installation of controller (CR751)

Fixing installation section sure for prevention from the fall, when using the controller placing vertically. The reference figure of the metal plate for fixing is shown in Fig. 3-8. You should install the metal plate for fixation to the controller with M4 x 8 or the shorter screw. The screw projection length inside the controller (side board thickness is 1.2mm) surely makes 6.8mm or less.

3-73

Outside dimensions/Installation dimensions

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

hole

hole hole

(Controller fixation hole)

3 Controller

Outside dimensions/Installation dimensions

3-74

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 79, "3.6 Emergency stop input and output etc." and on Page

139, "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).

3-75

External input/output

3 Controller

3.5 Dedicated input/output

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

Table 3-2 ： Dedicated input/output list

Parameter

name

TEACHMD None Teaching mode out-

ATTOPMD None Automatic mode out-

ATEXTMD None Remote mode output

RCREADY None Controller power ON

AUTOENA Automatic opera-

START Start input signal Starts all slots.

STOP Stop input signal Stops all slots.

STOP2 Stop input signal The program during operation is

SLOTINIT Program reset input

ERRRESET Error reset input

CYCLE Cycle stop input

SRVOFF Servo ON enabled

SRVON Servo ON input

IOENA Operation rights

MELOCK Machine lock input

SAFEPOS Evasion point

OUTRESET General-purpose

EMGERR

S1START : S32START

Name Function Level Name Function

tion enabled input signal

signal

input signal

signal

input signal

signal

return input signal

output signal reset

Start input Starts each slot. E In operation output

Input

Allows automatic operation.

The input signal No. is fixed to 0. Note) Use the emergency stop

input for stop inputs related to safety.

stopped. Unlike the STOP parameter, change of the signal number is possible. Notes) Specification is the same as

the STOP parameter.

Resets the wait state.

Resets the error state.

Carries out cycle stop.

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.

Requests the evasion point return operation.

Resets the general-purpose output signal.

None

Note1)

put signal

signal

complete signal

Automatic operation

enabled output signal

Operating output sig-

nal

Wait output signal Outputs that the slot is temporarily

Program selection

enabled output signal

Error occurring out-

put signal

In cycle stop opera-

tion output signal

Servo ON enabled

output signal

In servo ON output

signal

Operation rights out-

put signal

In machine lock out-

put signal

In evasion point

return output signal

ENone

Emergency stop output signal

Output

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.

Outputs that the slot is operating.

stopped.

stopped. Notes) Specification is the same as the

STOP parameter.

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.

Outputs that an emergency stop has occurred.

Outputs the operating state for each slot.

Dedicated input/output

3-76

3 Controller

Parameter

name

S1STOP : S32STOP

PRGSEL Program selection

OVRDSEL Override selection

IODATA

Note2)

PRGOUT Program No. out-

LINEOUT Line No. output

OVRDOUT Override value out-

ERROUT Error No. output

JOGENA Jog valid input sig-

JOGM Jog mode input 2-

JOG+ Jog feed + side for

JOG- Jog feed - side for

HNDCNTL1

: HNDCNTL3

HNDSTS1

: HNDSTS3

HNDERR1

: HNDERR3

Name Function Level Name Function

Stop input Stops each slot. L In wait output

input signal

Numeric value input (start No., end No.)

put request

request

put request

request

nal

bit

8-axes

Mechanism 1 hand error input signal : Mechanism 3 hand error input signal

Input

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.

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

Requests output of the program name. E

Requests output of the line No.

Requests the override output.

Requests the error No. output.

Validates jog operation with the external signals

Designates the jog mode.

Requests the + side jog operation. L None

Requests the - side jog operation. L None

None

Requests the hand error occurrence.

Note1)

ENone

Numeric value output

(start No., end No.)

Program No. output signal

E Line No. output signal

Override value out-

put signal

Error No. output sig-

nal

Jog valid output sig-

nal

Jog mode output 2-

bit

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 hand error output signal :

Mechanism 3 hand error output signal

Output

Outputs that each slot is temporarily stopped.

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

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.

Mechanism 1: Outputs the status of

Mechanism 2: Outputs the status of

Mechanism 3: Outputs the status of

Mechanism 1: Outputs the status of

Mechanism 2: Outputs the status of

Mechanism 3: Outputs the status of

Outputs that a hand error is occurring.

general-purpose outputs 900 to 907.

general-purpose outputs 910 to 917.

general-purpose outputs 920 to 927.

hand inputs 900 to 907.

hand inputs 910 to 917.

hand inputs 920 to 927.

3-77

Dedicated input/output

3 Controller

Parameter

name

AIRERR1

: AIRERR3

M1PTEXC

: M3PTEXC

USERAREA

Note3)

Input

Note1)

Name Function Level Name Function

Pneumatic pressure error 1 input signal : Pneumatic pressure error 3 input signal

Request the pneumatic pressure error occurrence.

None L

None

Pneumatic pressure error 1 output signal. :

Pneumatic pressure error 3 output signal.

Maintenance parts replacement time warning signal

User-designated area 8-points

Output

Outputs that a pneumatic pressure error is occurring.

Outputs that the maintenance parts have reached the replacement time.

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

3-78

3 Controller

3.6 Emergency stop input and output etc.

Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from

the "special input/output" terminal connector.

Table 3-3 ： Special input/output terminal

Item Name Function

Input Emergency stop Applies the emergency stop. Dual emergency line Input Special stop input Applies the stop. （Refer to Page 87, "3.6.2 Special stop input (SKIP)"） Input Door switch Servo-off. Dual line, normal close (Page 89, "3.6.3 Door switch function") Input Enabling device Servo-off. Dual line, normal close (Page 89, "3.6.4 Enabling device function") Output Robot error output Contactor is opening during error occurrence. Output Emergency stop output The point of contact opens under occurrence of emergency stop of external input signal, emergency

Output Mode output MANUAL mode: contactor is opening, AUTOMATIC mode: contactor is closing. Output Magnet contactor control

connector output 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.

stop of OP, emergency stop of T/B.

When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the robot arm. (Page 97, "3.9 Magnet contactor control connector output (AXMC) for addition

axes")

Pin number assignment of each terminal and the circuit diagram are shown in Fig. 3-14 (CR750) or Fig. 3-13

(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. 3-14 (CR750) or Fig. 3-13 (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 139, "6.1.7 Examples

of safety measures" Refer to it together

[Caution] The emergency stop circuit is duplicated inside the controller. The emergency stop switch uses a double

contact-type switch, so please be sure to fix both of the contacts to the connector pins as shown below in order to ensure the wiring is duplicated. An error will continue to occur in the event that only one of the pins is connected.

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

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

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

b) Door switch

・ CR750 controller...........CNUSR11 connector "between 7 and 8" and CNUSR12 connector "between 7 and 8".

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

c) Enabling device

・ CR750 controller...........CNUSR11 connector "between 9 and 10" and CNUSR12 connector "between 9 and 10".

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

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

ment that is easily affected by noise, be sure to fix the attached ferrite core (model number: E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core more than 30 cm from the connecting terminal section.

3-79

Emergency stop input and output etc.

3 Controller

CAUTION

30cm以内

フェライトコア 2回通し

CNUSR11コネクタ

CNUSR12コネクタ

CNUSR11 connector

Within 30 cm

Ferrite core Pass twice

CNUSR12 connector

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.

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

(1) CR750 controller

Fig.3-9 ： Emergency stop cable connection (CR750)

Emergency stop input and output etc.

3-80

3 Controller

CNUSR11

CNUSR2

内部回路構成

（お客様配線側）

（コントローラ側）

警告

絶縁耐圧試験は行なわないでください。また誤って接続した場合は故障の原因となります。

3 4

CNUSR11

+24V

Relay

+24V

24G

+24V

Relay

外部非常停止入力

ドアスイッチ入力

イネーブリングデバイス入力

非常停止

+24V

Relay

+24V

24G

+24V

Relay

モード出力

非常停止出力

ロボットエラー出力

外部非常停止入力

ドアスイッチ入力

イネーブリングデバイス入力

（お客様配線側）

短絡

モード出力

非常停止出力

ロボットエラー出力

CNUSR12

5 6

3 4

5 6

CNUSR12

非常停止

Please refer to the example of safety measures of "Standard Specifications Manual".

内部回路構成

(側)

Please do not carry out an insulation pressure test. Moreover, it becomes the cause of failure if it

connects incorrectly.

CAUTION

Internal circuit structure

(Controller side)

(Customer)

Mode output

Robot error

output

Robot error

output

Emergency

stop output

Emergency

stop output

Short

External emergency stop input

Short

Door switch input

Enabling device input

Short

External emergency stop input

Short

Door switch input

Enabling device input

TB emer-

gency stop

OP emer-

gency stop

*1) This terminal is opened at factory shipping (unconnected). If power supply inside the controller is used, short-circuit the terminal.

*1)

[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the con

troller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

CAUTION

Fig.3-10 ： External emergency stop connection (CR750)

3-81

Emergency stop input and output etc.

Place the emergency stop switch in an easily operable position, and be sure to wire it to the emergency stop correctly by referencing Page 139, "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 Controller

CNUSR11/12 connector

CNUSR11 CNUSR12

Driver *Recommendation driver

size: 2.5mm.

Cable fixing screw

Cable insert point

7mm

View A

Connector fixing screw (Two places)

Pin number of connector

Connecting cable (AWG #26-16 (0.14mm-1.5mm

))

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

) connector cable.

1) Prepare the user wiring connector that accompanies the product.

2) Loosen the cable fixing screw at the point where the cable is to be inserted. Please use a screwdriver head with a width of 2.5mm to loosen the screw.

3) Peel the insulation of the connecting cable to 7mm, and insert it into the cable slot of the corresponding con

nector.

4) Be sure to fix the inserted cable securely by fastening a cable fixing screw. (tightening torque of 0.22 to 0.25Nm)

5) After the necessary cables save been fixed, connect the connector to the connector (CNUSR11/12) that cor

responds with the controller. Connect so that the cable fixing screw is comes on top, and make sure to fix securely by fastening connector fixing screws in two places. A screwdriver head with a width of 2.5mm should be used to fix screws (tightening torque of 0.22 to 0.25Nm).

This concludes the connection procedure.

Connector for user wiring

Reference: CNUSR13 (Connect the encoder, when using the tracking function)

* The controller is an example.

CAUTION

Fig.3-11 ： Method of wiring for external emergency stop connection (CR750 (CNUSR11/12))

Makes sure that there is no mistake when connecting to the target connectors. Connecting incorrectly will result in the robot breaking down or malfunctioning. The connector on the controller side that connects to the user wiring connector is CNUSR11 or CNUSR12. Be careful not to connect to CNUSR13 as the robot will not operate properly.

Emergency stop input and output etc.

3-82

3 Controller

CNUSR2 connector

CNUSR2

3mm

View A

Plug

Connector cover

Connecting cable

(AWG #30-24 (0.05mm

-0.2mm2))

Connection procedure

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

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

0.2mm

1) Loosen the two fixing screws on the user wiring connector that accompanies the product, and remove the con

nector cover.

2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.

3) After the necessary cables have been soldered, re-fix the connector cover using the same fixing screws and make sure it is fastened securely.

4) Connect the connector to the corresponding connector (CNUSR2) on the controller. With pin number 1 facing to the upper right, insert firmly until you hear the connector’s latch click in to place.

This concludes the connection procedure.

Cover fixing screw (Two places)

Remove the connector cover

Pin number of plug

Soldering

Connector for user wiring

* The controller is an example.

CAUTION

Fig.3-12 ： Method of wiring for external emergency stop connection (CR750 (CNUSR2))

3-83

Emergency stop input and output etc.

(2) CR751 controller

CNUSR1コネクタ

30cm以内

フェライトコア 2回通し

CNUSR1 connector

Within 30 cm

Ferrite core Pass twice

3 Controller

Fig.3-13 ： Emergency stop cable connection (CR751)

Emergency stop input and output etc.

3-84

3 Controller

CNUSR1

CNUSR2

内部回路構成

（お客様配線側）

（コントローラ側）

警告

絶縁耐圧試験は行なわないでください。また誤って接続した場合は故障の原因となります。

CNUSR1

+24V

Relay

+24V

24G

+24V

Relay

外部非常停止入力

ドアスイッチ入力

イネーブリングデバイス入力

非常停止

+24V

Relay

+24V

24G

+24V

Relay

モード出力

非常停止出力

ロボットエラー出力

外部非常停止入力

ドアスイッチ入力

イネーブリングデバイス入力

（お客様配線側）

短絡

モード出力

非常停止出力

ロボットエラー出力

20 45

Please refer to the example of safety measures of "Standard Specifications Manual".

Please do not carry out an insulation pressure test. Moreover, it becomes the cause of failure if it connects incorrectly.

CAUTION

Internal circuit structure

(Controller side)

(Customer)

Mode output

Robot error

output

Robot error

output

Emergency

stop output

Emergency

stop output

Short

External emergency

stop input

Short

Door switch input

Enabling device

input

Short

External emergency

stop input

Short

Door switch input

Enabling device

input

TB emergency stop

(Customer)

*1) This terminal is opened at factory shipping (unconnected). If power supply inside the controller is used, short-circuit the terminal.

*1)

[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the con

troller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

CAUTION

Fig.3-14 ： External emergency stop connection (CR751)

3-85

Emergency stop input and output etc.

Place the emergency stop switch in an easily operable position, and be sure to wire it to the emergency stop correctly by referencing Page 139, "6.1.7 Examples of safety

measures".

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

CNUSR1 CNUSR2

3mm

View A

Plug

Connector cover

Connecting cable

(AWG #30 ～ #24(0.05mm ～ 0.2mm

))

Cover fixing screw (Two places)

Remove the connector cover

Pin number of plug

Soldering

Connector for user wiring

CNUSR1/2 connector

Connection procedure

Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the

CNUSR1 or CNUSR2 connector at the back of the controller. For the connection cable, please use AWG #30 to 24 (0.05 to 0.2mm

1) Loosen the 2 fixing screws on the user wiring connector that accompanies the product, and remove the con

nector cover.

2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.

3) After the necessary cable has been soldered, re-fix the connector cover sing the same fixing screws and make sure it is fastened securely.

4) Connect the connector to the corresponding connector (CNUSR1 or CNUSR2) on the controller. With pin num

ber 1 facing to the upper right, insert firmly until you hear the connector’s latch click in to place.

This concludes the connection procedure.

CAUTION

3 Controller

Fig.3-15 ： Method of wiring for external emergency stop connection (CR751 (CNUSR1/2))

When soldering please take care to only connect to the specified pin number. Connecting to a different pin number or short-circuiting with another pin will result in the robot breaking down or malfunctioning. The connectors on the controller side are CNUSR1 (upper side) and CNUSR2 (lower side). Makes sure that there is no mistake when connecting to the target connectors. Connecting incorrectly will result in the robot breaking down or malfunctioning.

Emergency stop input and output etc.

3-86

3 Controller

330

2.2k

入力

＋２４V(COM)

Input

CNUSR2

フェライトコア 2回通し

30cm以内

* Connects with CNUSR2 connector

with soldering. Refer to Page 83 "Fig. 3-12: Method

of wiring for external emergency stop connection (CR750 (CNUSR2))".

Within 30cm

CNUSR2 connector

Ferrite core Pass twice

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con

nect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

3.6.2 Special stop input (SKIP)

The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in Fig. 3-16

(CR750) or Fig. 3-17 (CR751).

Table 3-4 ： Special stop input electric specification

Item Specifications Internal circuit

Type DC input

No. of input point 1

Insulation method Photo-coupler insulation

Rated input voltage DC24V

Rated input current Approx. 11mA

Working voltage range DC 21.6 ～ 26.4V

（Ripple rate within 5%）

ON voltage/ON current DC 8V or more / 2mA or more

OFF voltage/OFF current DC 4V or less / 1mA or less

Input resistance Approx. 2.2 ｋ Ω

Response time

Common method 1 point per common

External wire connection method Connector

OFF → ON 1ms or less

ON → OFF 1ms or less

(1) CR750 controller

Fig.3-16 ： Connection of the special-stop-input (CR750)

3-87

Emergency stop input and output etc.

Mitsubishi Electronics CR750-D, CR751-D User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1General configuration

1.1 Structural equipment

1.1.1 Standard structural equipment

1.1.2 Special specifications

1.1.3 Options

1.1.4 Maintenance parts

1.2 Model type name of robot

1.2.1 How to identify the robot model

1.2.2 Combination of the robot arm and the controller

1.3 CE marking specifications

1.4 Indirect export

1.5 Instruction manuals

1.6 Contents of the structural equipment

1.6.1 Robot arm

1.6.2 Controller

1.7 Contents of the Option equipment and special specification

2Robot arm

2.1 Standard specifications

2.1.1 Basic specifications

(1) Standard specification

(2) Clean specification

2.1.2 The counter-force applied to the installation surface

2.2 Definition of specifications

2.2.1 Pose repeatability

2.2.2 Mass capacity

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

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

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

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

(1) Relationship Between Mass Capacity and Speed

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

(3) Relation between offset length and the maximum speed

(4) Time to reach the position repeatability

2.2.6 Collision detection

2.2.7 Protection specifications (1) Types of protection specifications

2.2.8 Clean specifications (1) Types of clean specifications

2.3 Names of each part of the robot

2.4 Outside dimensions ・ Operating range diagram

2.4.1 Outside dimensions ・ Operating range diagram (1) Standard Specification

(2) Clean Specification

2.4.2 Mechanical interface and Installation surface

2.4.3 Outside dimensions of machine cables

(1) Connection with the CR750 controller

(2) Connection with the CR751 controller

2.5 Tooling

2.5.1 Wiring and piping for hand

2.5.2 Internal air piping (1) Standard type

(2) Clean type

2.5.3 Internal wiring for the hand output cable

2.5.4 Internal wiring for the hand input cable

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.

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

(1) Example of wiring and piping <1>

(2) Wiring and piping example <2>

(3) Precautions for the clean specification

2.5.7 Wiring and piping system diagram for hand

2.5.8 Electrical specifications of hand input/output

2.5.9 Air supply circuit example for the hand

2.6 Shipping special specifications, options, and maintenance parts

2.6.1 Shipping special specifications

(1) Machine cable

2.7 Options

(1) Machine cable extension

(2) Changes J1 axis operating range

(3) Solenoid valve set

(4) Hand input cable

(5) Hand output cable

(6) Hand curl tube

(7) Internal Wiring/Piping set for hand

(8) External Wiring/Piping box

2.8 About Overhaul

2.9 Maintenance parts

3Controller

3.1 Standard specifications

3.1.1 Basic specifications

3.1.2 Protection specifications and operating supply