Mitsubishi ElectronicsメーカーCR751-Dの使用説明書/サービス説明書
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Mit subishi Industrial Robot CR750-D/CR751-D Controller RH-3FH-D Series S t andard S pecifications Manual BFP-A8878-U.
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All teaching work must be carrie d out by an operator who has re ceived special training. (This also applies to mainte nance work with the power source turned ON.
The points of the precautions giv en in the separate "Safety Man ual" are given below. Refer to the actual "Sa fety Manual" for details.
When the robot arm has to be mov ed by hand from an externa l are a, do not place hands or fingers in the op enings. Failure to observe this could lead to hands or fingers catching d epending on the postur e. D o n o t s t o p t h e r o b o t o r a p p l y e m e r g e n c y s t o p b y t u r n i n g t h e r o bot controller's main power O FF.
*CR751-D or CR751-Q controller Notes of the basic component are shown. Please install the earth leakage brea ker in the primary side su pply power supply of the controller o f CR751-D or CR751-Q because of leakage pro tection.
Be careful of interference with peripheral equipment. Especially don't giv e a shock to the shaft (J3 axis). When you install the hand, be careful no t to knock at the sha ft end by the hammer etc. The sha ft may be damaged. T ake care also of the following items.
■ Revision history Date of print S pecificatio ns No. Details of revisions 2012-03-13 BFP-A8878 ・F i r s t p r i n t . 2012-03-21 BFP-A8878-A ・ T he painting co lor was corre cted. (Error in writin g) ・ Notes were added to the example o f safety measu res.
2014-01-08 BFP-A8878-P ・ The cable fixation plate was added to ”Fig .3-4: Outside dimens ions of controller (CR75 1)”. ・ The type name o f the stopper for changing the oper ating range (J1 axis) in “T able 1-3: The list of robot option equipment and spe cial specification” was c orrec ted.
■ Introduction This series offers small-size ind ustrial robots dev eloped using Mitsubishi's latest technology. They are especially designed to handle a n d assemble mecha nical parts.
Contents i Page 1 General configuration ..................................... ........................... ........................... ................................. ..................... ................... 1-1 1.1 Structural equipment ............
Contents ii Page 2.5.6 About the Installation of T ooling Wirin g and Piping (Exam ples of Wiring and Piping) ....................... 2-39 (1) Example of wiring and piping <1> .......................... . ........................... ............
Contents iii Page 3.8.1 Wiring of the Additiona l Axis Interface ................. ......................... ........................... ................................. ........... 3-93 (1) CR750 controller ..........................................
1-1 Structural equipment 1General configuration 1 General configuration 1.1 Structural equipment Structural equipment c onsist s of the following types.
1General configuration Model type name of robot 1-2 1.2 Model type name of robot This robot has arranged the type name corresponding to load mas s, arm length, and environment speci fication. Details are shown below, please s elect the robo t suitable for t he customer's use.
1-3 CE marking specifica tions 1General configuration 1.2.2 Combination of the rob ot arm and the controller Table 1-1 ： Combination of the robot arm and the controller 1.3 CE marking specifications The robot shown in Table 1-2 is the CE Marking specification.
Contents of the structural equipment 1-4 1.6 Contents of the structural equipment 1.6.1 Robot arm The list of structural equ ipment is shown in below. Fig.1-1 ： Structural equipment * Refer to Page 9, "2.1 Standard specifica - tions" for details on th e specifications.
1-5 1 General configuration 1.6.2 Cont roller The devices shown below can be installed on the c ontrolle r. The controllers that can be connected differ depending on the s pecification of the robot. (Refer to Page 2, "1.2 Model type name of robot" .
1 General configuration Contents of the Option equipment and spe cial specification 1-6 1.7 Contents of the Option equip ment and special specification A list of all Optional equipment and special specifications are shown below.
1-7 Contents of the Option equipme nt and special specificati on 1 General configuration Table 1-4 ： The list of controller option equipment and spec ial s pecification Item Type Specifications Clas.
1 General configuration Contents of the Option equipment and spe cial specification 1-8 [Reference]:The recomm endation products of t he USB cable are sh own below Table 1-5 ： Recommenda tion article of the USB cable Be careful to the USB cable to apply neither the static electri city nor the noise.
2-9 Standard specifications 2Robot arm 2 Robot arm 2.1 Standard specifications 2.1.1 Basic sp ecifications (1) Stand ard specifi cation Table 2-1 ： Standard specificati ons of robot arm Item Unit Sp.
2Robot arm Standard specifications 2-10 Note3) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 2kg. ･ The cycle time may inc rease with the case where the positionin g accuracy of the work etc .
2-11 Standard specifications 2Robot arm (2) Clean specificati on Table 2-2 ： Standard specification s of robot arm (Clean specifica tion) Item Unit Specifications Type RH-3FH3512C RH-3FH4512C RH-3FH.
2Robot arm Standard specifications 2-12 2.1.2 The counte r-force applied to the instal lation surface The counter-force applied to the installation surface for the s trength design of the robot installation surface is shown.
2-13 Definition of specifications 2 Robot arm 2.2 Definition of specifications The accuracy of pose repeatabilit y men tioned in catalogs and in the specification manual is de fined as follows. 2.2.1 Pose repeata bility For this robot, the pose repeata bility is given in accordance w ith JIS B 8432 (Pose repe atability).
２ Robot arm 2-14 2.2.2 Mass capacity The robot's mass capacit y is expr essed s olely in terms of mass, but even for tools and works of similar mass, eccentric loads will have some restrictions When designing the tooling or when selecting a robot, consider the fol - lowing issues.
2-15 ２ R o b o t a r m 2.2.3 Relationships Among Mass C apacity, Speed, and Acceleratio n/Deceleration Speed This robot automatical ly sets the optimum acceleration and de ce leration speeds and ma ximum speed, according to the load capa city and size th at h ave been set, and operates usin g these automatically set speeds.
２ Robot arm 2-16 2.2.5 Vibration of shaft (J3 axis) position and arm end Vibrations at the tip of the arm may increase substantially during operation under the shaft position near th e low end or the high end of the r obot, depen ding on the combinat ion of hand mass and hand ine rtia.
2-17 ２ R o b o t a r m (2) Relationship Between Height of Shaft (J3 Axis) and Accelera tion/De celeration Speed A function to optimize the acceleration/deceleration speed acco rd i n g t o th e h e i g h t o f t h e s h a f t ( R e f e r t o Fig. 2-3 , Fig.
２ Robot arm 2-18 (3) Relation between offset l ength and the maximum s peed A function to optimize the maximu m speed of each a xis according to the offset length will be activa ted.
2-19 ２ R o b o t a r m (4) Time to reach th e position repeat ability When using this robot, the time to reach t he position repeatabi lity may be prolonged due t o the effect of residual vibration at the time of stoppin g.
２ Robot arm 2-20 2.2.7 Protection specific ations (1) Types of protecti on specifications The robot arm has protection spec ifications that comply with th e IEC Standards. The pro tection specifications and applicable fields ar e shown in Table 2- 6 .
2-21 ２ R o b o t a r m 3) The ventila tion duct is attach ed to the robot arm rear (refe r to Fig. 2-8 ). As the Z axis moves u p and down the volume of the bellows varies , and air is sucked in and rele ased out of the robot’s ventilation duct opening.
２ Robot arm Names of each part of the robo t 2-22 2.3 Names of each part of the robot Fig.2-9 ： Names of each part of the robot ベース 第2アーム J4軸 ＋ － J2軸 ＋ － J1軸 ＋ － .
2-23 Outside dimensions ・ Ope rating range diagram ２ R o b o t a r m 2.4 Outside dimensions ・ Operating range diagram 2.4.1 Outside dime nsions ・ Operating range diagram (1) Standar d Specifi cation Fig.2-10 ： Outside dimensions of RH- 3FH3515 Note *1) Indicates the space necessary to replace the battery.
２ Robot arm Outside dimensions ・ Operating range diagram 2-24 Fig.2-11 ： Operating range diagram of RH-3FH3515 Installation surface.
2-25 Outside dimensions ・ Ope rating range diagram ２ R o b o t a r m Fig.2-12 ： Outside dimensions of RH- 3FH4515 Note *1) Indicates the space nec essary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/ piping.
２ Robot arm Outside dimensions ・ Operating range diagram 2-26 Fig.2-13 ： Operating range diagram of RH-3FH4515 Installation surface.
2-27 Outside dimensions ・ Ope rating range diagram ２ R o b o t a r m Fig.2-14 ： Outside dimensions of RH- 3FH5515 Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping.
２ Robot arm Outside dimensions ・ Operating range diagram 2-28 Fig.2-15 ： Operating range diagram of RH-3FH5515 Installatio n surface.
2-29 Outside dimensions ・ Ope rating range diagram ２ R o b o t a r m (2) Clean Specification Fig.2-16 ： Outside dimensions of RH- 3FH3512C Note *1) Indicates the space nec essary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/ piping.
２ Robot arm Outside dimensions ・ Operating range diagram 2-30 Fig.2-17 ： Operating range diagram of RH-3FH3512C Installation surface.
2-31 Outside dimensions ・ Ope rating range diagram ２ R o b o t a r m Fig.2-18 ： Outside dimensions of RH- 3FH4512C Note *1) Indicates the space necessa ry to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/ piping.
２ Robot arm Outside dimensions ・ Operating range diagram 2-32 Fig.2-19 ： Operating range diagram of RH-3FH4512C Installation surface.
2-33 Outside dimensions ・ Ope rating range diagram ２ R o b o t a r m Fig.2-20 ： Outside dimensions of RH- 3FH5512C Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing use r wiring/piping.
２ Robot arm Outside dimensions ・ Operating range diagram 2-34 Fig.2-21 ： Operating range diagram of RH-3FH5512C Installation surface.
2-35 Outside dimensions ・ Ope rating range diagram ２ R o b o t a r m 2.4.2 Mechanical inter face and Installation surface Fig.2-22 ： Mechanical interface an d Installation surface <ハンド.
２ Robot arm Outside dimensions ・ Operating range diagram 2-36 2.4.3 Outside dimen sions of machine cable s (1) Connection with t he CR750 controller 1) Power c able 2) Signal cable (2) Connection .
2-37 Tooling ２ R o b o t a r m 2.5 Tooling 2.5.1 Wiring and piping for hand Shows the wiring and piping conf iguration for a standard-equipp ed hand.
２ Robot arm Tooling 2-38 2.5.2 Intern al air pipin g (1) Standard type 1) The robot has two φ6 urethane hoses from the pneuma tic entra nce on the base se ction to the No.2 arm. One hose is the primary piping fo r the pneumatic equipment, and the other pip e is used for air exha ust.
2-39 Tooling ２ R o b o t a r m 2.5.6 About the In stallation of T ooling Wiring and Piping (Exam ples of Wiring and Piping) The custom er is required to provide tool ing wiring, pipi ng and metal fixtures. Screw holes are provided on the robot arm for the installation of t o o l i n g w i r i n g , p ip i n g a n d m e t a l f i x t u r e s .
２ Robot arm Tooling 2-40 (1) Example of wiring and piping <1> By feeding wiring and piping th rough the inside of the shaft, t he wiring and piping to the hand becomes compact.
2-41 Tooling ２ R o b o t a r m (3) Precautions for t he clean specificati on The through hole of the top part of the tip s haft are taped at shipment.
２ Robot arm Tooling 2-42 2.5.7 Wiring and pipin g system diagram for hand Shows the wiring and piping conf iguration for a standard-e quipp ed hand. Fig.
2-43 Tooling ２ R o b o t a r m 2.5.8 Electrical spe cifications of hand input/output Table 2-10 ： Electrical specifications of input c ircuit Table 2-11 ： Electrical specifi cations of output circuit Item Specifications Internal circuit Type DC input <Sink type> <Source type> * HCn ＝ HC1 to HC 8 No.
2 Robot arm 2-44 2.5.9 Air supply circuit example for the hand Fig. 2-28 shows an example of pneumat ic s upply circuitry for the ha nd. (1) Place diodes paralle l to the solenoid coil. (2) When the factory pneumatic pressure drops, as a result of t he hand clamp stren gth weakening, there can be da ma g e t o th e w o rk .
2-45 Shipping special specifications, opti ons, and maintenance parts ２ R o b o t a r m 2.6 Shipping special specificati ons, options, and maintenance p arts 2.6.1 Shipping special specifica tions ■ What are sipping spec ial specifications? Shipping special specifica tions are changed before shipping fro m the factory.
２ Robot arm Shipping special specifications, options, and maintenance parts 2-46 (1) Machine cable ■ Order type ： ● Fixed type ......... CR750 controller: 1S-02UCBL-0 3 (2m) CR751 controller: .
2-47 Options ２ R o b o t a r m 2.7 Options ■ What are options? There are a variety of options fo r the robot designed to make t he setting up process ea sier for customer needs. customer installation is required f or the options. Options come in two types : "set option s" and "single options".
２ Robot arm Options 2-48 (1) Machine ca ble extensi on ■ Order type: ● CR750 controller ......... Fixed type: 1S- □□ CBL-03 (ext ension typ e) Flexed type: 1S- □□ LCBL-03 (exte nsion type) Flexed type: 1S- □□ LUCBL-03 (direc t type) ● CR751 controller .
2-49 Options ２ R o b o t a r m ■ Specificati ons The specif ications for the fixed type cables are the same as th ose for standard cables. Shows usage conditions fo r flexed type cables in Table 2-14 .
２ Robot arm Options 2-50 ■ Fixing the flexible cable Fig.2-29 ： Fixing the flexible cable (CR7 50) 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.
2-51 Options ２ R o b o t a r m Fig.2-30 ： Fixing the flexible cable (CR751) 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 .
２ Robot arm Options 2-52 (2) Changes J1 axis operating range ■ Order type: 1F-DH-01 ■ Outline The operating range of J1 axis i s limited by the robot arm's me chanical stopper and the controller paramete rs. If the axis could interf ere with the peripheral devices, etc.
2-53 Options ２ R o b o t a r m (3) Solenoid valve set ■ Order type: One set: 1F-VD01-01( Sink type)/1F-VD01E-01(S ource t ype) Two sets: 1 F-VD02-01(S ink type )/1F-VD02E- 01(Source type) Three se.
２ Robot arm Options 2-54 Fig.2-31 ： Outline dim ensional drawing SOL1A SOL1 B SOL2A SOL2B A3 <GR1> A4 A1 A2 B3 B4 B1 B2 SOL3A SOL3B SOL4A SOL4B A3 <GR2> A4 A1 A2 B3 B4 B1 B2 <ソー.
2-55 Options ２ R o b o t a r m (4) Hand input cable ■ Order type: 1F-HC35C-01 ■ Outline The hand input cable is used for customer-designed pn eumatic ha nds. It is necessary to use this to receive the hand's open/close co nfirmation signals a nd grasping confirmation si gnals, at the controller.
２ Robot arm Options 2-56 (5) Hand out put cable ■ Order type: 1F-GR60S-01 ■ Outline The hand output cable (solenoid v alve connection cable) is an o ption that is used when a solenoid v alve other than one of the solenoid valve set options, is used.
2-57 Options ２ R o b o t a r m (6) Hand curl tube ■ Order type: Four se ts............ 1E-ST0408C-300 ■ Outline The hand curl tube is a curl tube for the pneumatic hand. ■ Configuration Table 2-25 ： Configuration equi pment ■ Specificati ons Table 2-26 ： Specifications Fig.
２ Robot arm Options 2-58 (7) Internal Wiring/Pi ping set for hand ■ Order type: 1F-HS304S-01 ■ Outline This set, cons isting of air hose s and cables, is for feeding ai r hoses and hand input signal cables from the No. 2 ar m t hrough to the s haft tip.
2-59 Options ２ R o b o t a r m (8) Extern al Wiring/Pipi ng box ■ Order type: 1F-UT-BOX ■ Outline This is a very useful option when removing the air hoses and si gnal lines from the rear of the No. 2 arm, and pulling hand wir ing and piping out t o the robot’s exterior.
２ Robot arm Options 2-60 Fig.2-36 ： Outline dim ens ion and configurations 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 attach ed to each hole.
2-61 About Overhaul ２ R o b o t a r m 2.8 About Overhaul Robots which have been in operati on for an ext ended period of t ime can suffer from wear and other forms of deterioration.
２ Robot arm Maintenance parts 2-62 2.9 Maintenance parts The consumable parts used in the robot arm are shown in Table 2-31 . Purchase these parts from the designated maker or dealer when re quired. Some Mitsubishi-designated parts diff er from the maker's standard parts.
3-63 Standard specifications 3Controller 3 Controller 3.1 Standard specifications 3.1.1 Basic s pecifications Table 3-1 ： Specifications of controller Item Unit Specification Remarks Type CR751-03HD-0 CR751-03HD 1-0-S15 CR750-03HD 1-1-S15 “-S15” means CE marking spec ifica - tion.
3Controller Standard specifications 3-64 3.1.2 Protection speci fica tions and operating supply A protection method complying wit h the IEC Standard IP20 (Opene d type) is adopted for the controller.
3-65 Names of each part 3 Controller 3.2 Names of each part 3.2.1 Control ler (1) CR750 c ontroller Fig.3-1 ： Names of controller parts (CR750) Controller (Front side) <15> <6> <16>.
3 Controller Names of each part 3-66 <1> ACIN terminal .................................... .......... .. The terminal box for AC power source (single phase, AC200V) i nput. (Inner side of a cover) There are two types of the termin al and the terminal differs de pending on the specification (CE or non-CE).
3-67 Names of each part 3 Controller (2) CR751 c ontroller Fig.3-2 ： Names of controller parts (CR751) <1> ACIN connector ................................ .......The co nnector for AC power source (single phase, A C200V) input (a soc ket housing and a terminal are attach ed).
3 Controller Names of each part 3-68 After turning the cont rol power OFF and a llowing a few minutes to pass, the lamp will go out. <11>USB connecting connector (USB) .. For USB connection <12>LAN connector (LAN) .........................
3-69 Outside dimensions/Installation dimensions 3 Controller 3.3 Outside dimensions/I nstallation dimensions 3.3.1 Outside dimensions (1) CR750 c ontroller Fig.
3 Controller Outside dimensions/Insta llation dimensions 3-70 (2) CR751 controller Fig.3-4 ： Outside dimension s of controller (CR751) Cable fixation plate (Attachment) This plate must be installed by customers.
3-71 Outside dimensions/Installation dimensions 3 Controller 3.3.2 Installation dimensions (1) CR750 c ontroller Fig.3-5 ： Installation of controller (CR750) Fixing installation section sure for prevention fr om t he fall, when using the controller placing vertically.
3 Controller Outside dimensions/Insta llation dimensions 3-72 Fig.3-6 ： Metal plate fo r fixation to placin g vertically (Referen ce for CR750) hole (Controller fixation hole) hole hole.
3-73 Outside dimensions/Installation dimensions 3 Controller (2) CR751 c ontroller Fig.3-7 ： Installation of controller (CR751) Fixing installation section sure for prevention fr om t he fall, when using the controller placing vertically. Th e reference figure of the metal plate for fixing is show n in Fig.
3 Controller Outside dimensions/Insta llation dimensions 3-74 Fig.3-8 ： Metal plate fo r fixation to placin g vertically (Referen ce for CR751) hole hole hole (Controller fi xation hole).
3-75 External input/output 3 Controller 3.4 External input/output 3.4.1 Types (1) Dedicated input/output .............................. These i nputs and outputs carry out the robot remote operation and status display. (2) General-purpose input/out put .
3 Controller Dedicated input/output 3-76 3.5 Dedicated input/output Show the main function of dedi cated input/output in the Table 3-2 . Refer to attached i nstruction manual "Detailed explanations of functi ons a nd operatio ns" in the prod uc t for the other functions.
3-77 Dedicated input/output 3 Controller S1STOP : S32STOP Stop input Sto ps each slot . L In wait output Outputs that eac h slot is temporari ly stopped. PRGSEL Program selectio n input signal Designates t he setting value for the program No. with numeric value input sign als.
3 Controller Dedicated input/output 3-78 AIRERR1 : AIRERR3 Pneumatic pressure error 1 input signal : Pneumatic pressure error 3 input signal Request the pn eumatic pressur e error occ urrence. L Pneumatic pressure error 1 output signal. : Pneumatic pressure error 3 output signal.
3-79 Emergency stop input and outpu t etc. 3 Controller 3.6 Emergency stop input and output etc. Do wiring of the extern al emerg ency stop, the special stop inpu t , the door s witch, and t he enabling device from the "special input/output" terminal connector.
3 Controller Emergency stop input and output etc. 3-80 Make sure there are no mistakes in the wiring. Connecting diffe rently to the way specified in the manual can result in errors, such as th e emerg ency stop not being released.
3-81 Emergency stop input and outpu t etc. 3 Controller Fig.3-10 ： External emergency stop connec tion (CR750) Place the emergency stop switch in an easily operable position , and be sure to wire it to the emergency stop correctly by referen cing Page 139, "6.
3 Controller Emergency stop input and output etc. 3-82 Fig.3-11 ： Method of wiring for ex te rnal emergency stop connectio n (CR750 (CNUSR11/12)) Makes sure that there is no mist ake when connecting to the targ et c onnectors. Connecting incorrectly will result in the robot br eaking down o r malfunctioning.
3-83 Emergency stop input and outpu t etc. 3 Controller Fig.3-12 ： Method of wiring for ex ternal emergency stop connectio n (CR750 (CNUSR2)) When soldering please take care to only connect to the spe cifie d pin number.
3 Controller Emergency stop input and output etc. 3-84 (2) CR751 controller Fig.3-13 ： Emergency stop c able connection (CR751) CNUSR1コネクタ 30cm以内 フェライトコア 2回通し CNUSR1 .
3-85 Emergency stop input and outpu t etc. 3 Controller Fig.3-14 ： External emergency stop connec tion (CR751) Place the emergency stop switch in an easily opera ble position, and be sure to wire it to the emergency stop correctly by referen cing Page 139, "6.
3 Controller Emergency stop input and output etc. 3-86 Fig.3-15 ： Method of wiring for ex te rnal emergency stop connectio n (CR751 (CNUSR1/2)) When solde ring please take car e to only connect to the specifie d pin number.
3-87 Emergency stop input and outpu t etc. 3 Controller 3.6.2 Special stop i nput (SKIP) The skip is the input signal to stop the robot. Th e pin 9, 34 o f the CNUSR2 connector shown in Fi g. 3- 16 (CR750) or Fig. 3-17 (CR751). Table 3-4 ： Special stop input electric spec ification (1) CR750 c ontroller Fig.
3 Controller Emergency stop input and output etc. 3-88 (2) CR751 controller Fig.3-17 ： Connec tion of the special-stop-input (CR751) 30cm以内 フェライトコア 2回通し CNUSR2コネクタ * Connects with C NUSR2 connector with soldering. Refer to Page 86 "Fig.
3-89 Emergency stop input and outpu t etc. 3 Controller 3.6.3 Door switc h function This function retrieves the stat us of the switch installed on t he door of the safe ty f ence, etc., and stops the robot when the door is opened. This diff ers from an em ergency stop in that the servo turns OFF when the door is opened and an error does not oc cur.
3 Controller Emergency stop input and output etc. 3-90 (2) When door is closing You can turn on the servo power by operation of only T/B. In th is case perform jog op eration outside the safeguard sure.
3-91 Mode changeover switch input 3 Controller 3.7 Mode changeover switch input Connect the key switch of custome r prepared and c hange the righ t of rob ot’s operat ion by switch operation. The key switch can be installed in t he operati on panel o f custo mer preparation.
3 Controller Mode changeov er switch input 3-92 (2) Connection of the mod e changeover switch inpu t Fig.3-21 ： Connec tion of the mode c hangeover switch input (CR751) CNUSR1 3mm Connection procedu.
3-93 Additional Axis Function 3 Controller 3.8 Additional Axis Function This controller is equipped with an additional axis interfa ce f or controlling an additional axis when a traveling axis or rotary table is added to the robot.
3 Controller Additional Axis Function 3-94 (2) CR751 controller Fig.3-23 ： Example of a ddition axis connection (CR751) ExtOPTコ ネクタへ サーボアンプ ※CN1A、CN1Bの接続を間違え.
3-95 Additional Axis Function 3 Controller (3) Example of the insta llation of the noise filter 1) EMC filter (reco mmended) Please install the recommendati on filter shown below according to the example of connection.
3 Controller Additional Axis Function 3-96 2) Line noise filter This filter is effective in suppr essing noises radiated from th e power supply side an d outp ut side of the servo amplifier and al so in suppressing high-frequenc y leakage current (ze ro-phase current) especially within 0.
3-97 Magnet contactor control conne ctor output (AXMC) for addition axes 3 Controller 3.9 Magnet contactor control connector output (AXMC) for additi on axes When an additional axis is used, the servo.
3 Controller Magnet contactor con trol connector output (AXMC) for addition axes 3-98 (1) CR750 controller Fig.3-27 ： AXMC terminal conn ector (CR750) (2) CR751 controller Fig.3-28 ： AXMC terminal conn ector (CR751) 30cm以内 フェライトコア 2回通し CNUSR2コネクタ *Connects with CNUSR2 connector with soldering.
3-99 3 Controller 3.10 Options ■ What are options? There are a variety of o ptions f or the ro bot designed to make t he setting up process easier for user needs. User installation is required for the options. Options come in two types: "set options" and "si ngle options".
3 Controller Teaching pendant (T/B) 3-100 (1) Teaching pendan t (T/B) ■ Order type: CR750 controlle r ...... R32TB: Cable length 7m R32TB-15: Cable length 15m CR751 controller .
3-101 Teaching pendant (T/B) 3 Controller Fig.3-29 ： Outside dimensi ons of teaching pendant ■ Installation method The teaching pendant is connected to the T/B connector on th e f ront of the controller. Enable/Disable switch Emergency stop Enable switch Operetion key Body Cable (with connector) <Back> <Bottom> 63.
3 Controller Teaching pendant (T/B) 3-102 ■ Key layout and main functions Fig.3-30 ： Teaching pendant key layout and main functions ⑪ ⑭ ⑬ ⑫ ⑨ ⑤ ⑥ ⑦ ⑮ ⑯ ⑳ ⑤ ⑥ ⑧ ⑱ ⑲ ⑩ ⑰ ① ④ ③ ② ① [Emergency stop] switch .
3-103 Parallel I/O interface 3 Controller (2) Parallel I/O interface ■ Order type ： ● 2D-TZ368 (Sink type)/2D-TZ37 8 (Source type) ■ Outline This is used to expand the e xternal inputs and outputs ・ The connecting cable wi th external equipm e nt is not attached.
3 Controller Parallel I/O interface 3-104 Table 3-13 ： Electrical spe cifications for the output circuits The protection fuse of the output circui t prevents t he failure at the time of the load s hort circuit and incorrect connec tion . The load connected of the cus tomer should be careful not to exceed maximum rating cu rrent.
3-105 Parallel I/O interface 3 Controller Fig.3-32 ： Parallel I/O interface installation position (CR 751) ■ Pin layout of connector Fig.3-33 ： Pin layout of connector ■ Connector pin No.
3 Controller Parallel I/O interface 3-106 Table 3-15 ： Connector<1> pin assign ment l ist and external I/O ca ble (2D-CBL**) color(SLOT1) Table 3-16 ： Connector<2 > pin assi gnment list and external I/O c able (2D-CBL**) color(SLOT1) Pin No.
3-107 Parallel I/O interface 3 Controller <Reference> The exa mple of c onnection wi th our PLC Table 3-17 ： Connection with a Mits u bishi PLC ( Example of s ink ty pe) Table 3-18 ： Connect.
3 Controller External I/O cable 3-108 (3) External I/O cable ■ Order typ e ： ● 2D-CBL □□ Note） The numbers in the boxes □ □ refer to the length. （05: 5m, 15: 15m） ■ Outline This is the dedicated cable used to connec t an external periphe ral device to the con - nector on the parallel I/O interf ace.
3-109 External I/O cable 3 Controller ■ Connections and outside dimensions The sheath of each signa l cable (40 lines) is color indicated a nd marked wi th dots . Refer to t he cable c olor speci - fications in "Table 3-32: Connector pin numbers and cable colors" wh en making the connec tions.
3 Controller Parallel I/O unit 3-110 (4) Parallel I/O un it ■ Order type: 2 A-RZ361(Sink type ) 2A-RZ371(Sou rce type) ■ Outline This is used to expand the exter nal inpu ts and outputs. One one equal with this unit is built into the control unit a mong controlle rs the standard.
3-111 Parallel I/O unit 3 Controller Table 3-24 ： Electrical specifications for the output circu its The output circuit protec tive fuse s prevent failure in case of load short-c ircuit and improper connections. Please do not connect loads that cause th e current to exceed the maximum rated cu rrent.
3 Controller Parallel I/O unit 3-112 Fig.3-35 ： Specifica tions for the connection cable NETcable-1 (Network cable) Pin No. RIO1/2 RIO1/2 Pin No. １T X R X H T X R X H１ ２ TXRXL TXRXL ２ ３ SG(GND) SG(GND) ３ FG DCcable-2 (Power cable) Pin No.
3-113 Parallel I/O unit 3 Controller ■ Installation method The expansion parallel input/outp ut unit is installed outside o f the control ler. Connect with the network connection cable (NETcable-1) from the RIO connector in the rear/into of the controller.
3 Controller Parallel I/O unit 3-114 Fig.3-37 ： Installing th e parallel I/O unit (CR751) 60 54 6 放熱、配線余裕 150 6 156 2-Ｍ ５ ネ ジ 6 168 放熱余裕 128 (17 5 ) 100 天 配線余.
3-115 Parallel I/O unit 3 Controller Fig.3-38 ： Connection method of ex pansion parallel I/O unit (CR75 0) 局番設定 1 . . . 6 ＜CN 10 0＞ ＜CN 30 0＞ 局番設定 7 ＜ CN100＞ ＜CN 3 0 0＞ NETc ab l e- 1 ケーブル R-TM ターミネータ パ ラ レ ル 入 出 力 ユ ニ ッ ト 1 .
3 Controller Parallel I/O unit 3-116 Fig.3-39 ： Connec tion method of exp ansion parallel I/O unit (CR75 1) 局番設定 1 . . . 6 ＜CN100＞ ＜CN300＞ 局番設定 7 ＜CN100＞ ＜CN300 ＞ NETcable-1 ケーブル R-TM ターミネータ パラレル入出力ユニット 1 .
3-117 Parallel I/O unit 3 Controller ■ Pin arrangement of the connector Fig.3-40 ： Pin arrangement of the parallel I/O u nit ■ Assignment of pin number and signal The assignment range of the general-purpose input-and-output si gnal is fixed by the setup of the station number.
3 Controller Parallel I/O unit 3-118 ■ Parallel I/O interface (First expansion unit) Table 3-26 ： Connec tor CN100pin No. and signal assignment list (2 A-CBL □□ ) Pin No.
3-119 Parallel I/O unit 3 Controller Table 3-27 ： Connector CN300pin No. and signal assignment list (2 A-CBL □□ ) Pin No. Line color Function name Pin No.
3 Controller Parallel I/O unit 3-120 <Reference> The example of connec tion with our PLC Table 3-28 ： Connection wi th a Mitsu bishi PLC (Examp le of si nk ty pe) Table 3-29 ： Connection wi .
3-121 External I/O cable 3 Controller (5) Exter nal I/O cabl e ■ Order type: 2A-CBL □□ Note） The numbers in the boxes □□ refer to the length. （05: 5m、 1 5: 15m） ■ Outline This is the dedicated cable used to connect an external peripheral device to the con - nector on the parallel input/output unit.
3 Controller External I/O cable 3-122 ■ Connections and outside dimension s The sheath of each signal cab le (50 lines) is colo r indicated a nd marked with dots. Refer to the cable c olor speci - fications in "Table 3-32: Connector pin numbers and cable colors" when making t he connections.
3-123 CC-Link interface 3 Controller (6) CC-Link interface ■ Order type: ● 2D-TZ576 ■ Outline The CC-Link interface is the opti oninterface to not only add bi t data to the robot controller. but also to add C C-Li nk field network function that allows cyclic transmission of word d ata.
3 Controller CC-Lin k interface 3-124 ■ Specifications Table 3-35 ： S pecifications Item Specifications Remarks Communication fun ction Bit data and wo rd data can be tr ansmitted .
3-125 CC-Link interface 3 Controller ■ Functions (1) Communication function ・ The number of usable points is 896 points m aximum for bit cont rol and 128 points maximum for word control. (2) Easy setup ・ The CC-Link interface card can be se t by a rotary s witch or DI P switch.
3 Controller RT ToolBox2/RT ToolBox2 mini 3-126 (7) RT ToolBox2/RT ToolBox2 mini ■O r d e r t y p e ： ● RT ToolBox2 *For windows CD-ROM : 3D-11C-WINE ● RT ToolBox2 mini *For windows CD-ROM : 3D-12C-WINE ■ Outline This is handy software that full y uses the perso nal computer fu nctions.
3-127 RT ToolBox2/RT ToolBox2 mini 3 Controller ■ Functions Table 3-37 ： Functions Function Functional existence Note1) Note1) The functions included wit h the RT ToolBox2 and the RT T oolBox2 mini are shown below.
3 Controller Instruction Manual (bookbinding) 3-128 (8) Instruction Manual (bookbinding) ■ Order type: ● 5F-FA01-PE01 .............. RH-3FH-D series ■ Outline This is a printed version of the CD-ROM (instruction manual) su pplie d with this product.
3-129 Maintenance parts 3 Controller 3.11 Maintenance parts The consumable parts used in the controller are shown i n Table 3-39 . Purchase these parts from your dealer when required. Some Mitsubishi-de signated parts dif fer from the maker's standard p arts.
4Software List of commands 4-130 4 Software 4.1 List of commands The available new func tions in MELFA-BASIC V are given in Table 4-1 . Table 4-1 ： List of MELFA-BASIC V commands Type Class Function Input format (example) Position and operation control Joint interpolation Moves to the designated position w ith joint inter polation.
4-131 List of commands 4Software Program control Branching Branches uncon ditionally to the design ated place. GoTo 120 Branches accor ding to the designated co nditions. If M1=1 Then Go To * L100 Else GoTo 20 End If Repeats until the designated end conditions are satisfied.
4Software List of commands 4-132 Others Definition Defines the intege r ty pe or real number type variable . D ef Inte KAISUU Defines th e character string va riable. Def Char MESSAGE efines the layout variable. (Up to 3-dimen sional possible) Dim P DATA(2,3) Defines th e joint var iable.
4-133 List of parameters 4Software 4.2 List of parameters Show the main parameter in the Table 4-2 . Table 4-2 ： List of parameters Parameter Details Standard tool coordinates.
4Software List of paramet ers 4-134 User-designate d origin USERORG Designate the user-designated or i gin pos ition. Program selection memory SLOTON Se lect the program s elected pr evi ously when initializing the slot . The non-se lected state will be entered when n ot set.
5-135 The details of each instruction manu als 5Instruction Manual 5 Instruction Manual 5.1 The details of ea ch instruction manuals The contents and purposes of the documents enclosed with this p roduct are shown below. Use these documents according to the application.
6Safety Safety 6-136 6 Safety 6.1 Safety Measures to be taken regarding safety of the industrial robot a re specified in the "Labor Safety and Sanitation Rules".
6-137 Safety 6Safety 6.1.2 External i nput/output signa ls that can be used for safety protec tion measur es Table 6-3 ： External inpu t/output signals that can be used for sa fety protection measures 6.1.3 Precau tions for usi ng robot The safety measures for using t he robot are specified in the "L abor Safety and Sanitation Rules".
6Safety Safety 6-138 ・ Only trained and registered oper ators must operate the robot. Participation in the "Specia l tra ining for industrial robots" s ponsored by the La bor Safety and Sanitation Com - mittee, etc., is recommend ed for safety training.
6-139 Safety 6Safety 6.1.7 Examples of safety measure s Two emergency-stop input circuit s are prepared on the user wiring terminal bloc k of the controller. Create a cir - cuit as shown below for safety measures. In addition, the fi gur e shows the normal state which is not in the emer - gency stop state.
6Safety Safety 6-140 Fig.6-2 ： Example of safety measure s （CR750 wiri ng example 2） 非常停止スイッチ （2接点タイプ） 周辺装置 安全柵のドア 周辺装置側電源 24V CNU.
6-141 Safety 6Safety Fig.6-3 ： Example of safety measu res (CR750 wiring example 3） <Wiring example 3>: Connect the em ergency stop switch, door switch, and enabling device of per ipheral equipment to the con - troller. The power supply f or emergency stop input uses the power supply of peripheral equipment.
6Safety Safety 6-142 Fig.6-4 ： Example of safety measure s （CR750 wiri ng example 4） OP非常停止 ボタン TB非常停止 ボタン 周辺装置 の非常停止 出力 周辺装置内部 非.
6-143 Safety 6Safety Fig.6-5 ： Example of safety measu res （CR75 0 wiring example 5） OP E-stop 1 2 3 4 5 6 CNUSR11 内部リレー TB E-stop 24G 1 2 3 4 5 6 24G 内部リレー X0 COM0 X1 COM1 N.
6Safety Safety 6-144 (2) CR751 controller Fig.6-6 ： Example of safety measures (CR751 wiri ng example 1) 非常停止ス イッチ （2接点タ イプ） 周辺装置 安全柵のドア 1/ 6 CNUSR1.
6-145 Safety 6Safety Fig.6-7 ： Example of safety measu res (CR751 wiring example 2) 非常停止スイッチ （2接 点タイプ） 周辺装置 安全柵のドア 周辺装置側電源 24V 1/ 6 CN.
6Safety Safety 6-146 Fig.6-8 ： Example of safety measures (CR751 wiri ng example 3) 非常停止スイッチ （2接点タイプ） 周辺装置 安全柵のドア 周辺装置側 電源24V 監視 .
6-147 Safety 6Safety Fig.6-9 ： Example of safety measu res (CR751 wiring example 4) 周辺装置 の非常停止 出力 周辺装置内部 非常停止回路 周辺装置 非常停止スイッ チ .
6Safety Safety 6-148 Fig.6-10 ： Example of safety mea sures (CR751 wiring example 5) OP E-stop 1 26 2 27 3 28 CNUSR1 内部リレー TB E-sto p 24G 6 31 7 32 8 33 24G 内部リレー X0 COM0 X1 COM1.
6-149 Safety 6Safety (3) External emergency stop conn ection [supplementary e xplanati on] (1) Use a 2-contact type s witch for all switches. (2) Install a limit swi tch on the safety fence's doo r.
6Safety Safety 6-150 Fig.6-11 ： Limitations whe n connec ting the re lay etc. (CR750) Fig.6-12 ： Limitations whe n connec ting the relay etc. (CR751) 1 2 3 4 5 6 13 14 11 12 16/17 41/42 CNUSR11/12.
6-151 Safety 6Safety [Supplementary expl anation rega rding emergency stop circuit] The controller’s internal circuit is as shown in the below diag ram. Be sure to build a c ircuit that properly shuts off the emergency stop d etection relay wh en the emergency stop button is pressed.
6Safety Working environment 6-152 6.2 Working environment Avoid installation in the follow ing places as the equipment's l ife and operation will be affected by the a mbient environment conditions. When usin g in the followin g conditions, the customer must pay s pecial attention to the preventiv e measures.
6-153 Precautions for handling 6Safety (6) The robot arm and controller must be grounded with 100Ω or less (class D grounding ) to secure the noise resistance and to prevent el ectric shocks.
6Safety EMC installation guideline 6-154 6.4 EMC installation guideline 6.4.1 Outlines The EMC directive is c oerced fro m January 1, 1996, and it is ne ce ssary to attach the CE mark which shows that the product is in conformity to directive.
6-155 EMC installation guideline 6Safety 6.4.3 EMC meas ures There are mainly following i tems in the EMC measures. (1) Sto re into t he sealed metal board. (2) Gr ounding all the conductor that have fl oated electrically (makes the imped ance low). (3) Wiring so that the power sour ce wire and signal wire are se parated.
7Appendix Specifications discussion materia l Appendix-15 6 7 Appendix Appendix 1 ： Specifications discussion material ■ Customer information ■ Purchased model ■ Shipping specia l specificatio.
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HEAD OFFICE: TOKYO BUILDING , 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAP AN NAGOY A WORKS: 5-1-14, Y ADA-MINAMI, HIGASHI-KU NAGO Y A 461-86 70, JAP AN Authorised representative: MITSUBISHI ELECTRIC EUROPE B.V . GERMANY Gothaer Str . 8, 40880 Ratingen / P .
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