User ManualTable of Contents1 General configuration141.1 Structural equipment141.1.1 Standard structural equipment141.1.2 Special specifications141.1.3 Options141.1.4 Maintenance parts141.2 Model type name of robot151.2.1 How to identify the robot model151.2.2 Combination of the robot arm and the controller161.3 CE marking specifications161.4 Indirect export161.5 Instruction manuals161.6 Contents of the structural equipment171.6.1 Robot arm171.6.2 Controller181.7 Contents of the Option equipment and special specification192 Robot arm222.1 Standard specifications222.1.1 Basic specifications22(1) Standard specification22(2) Clean specification242.1.2 The counter-force applied to the installation surface252.2 Definition of specifications262.2.1 Pose repeatability262.2.2 Mass capacity272.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed28(1) Setting Load Capacity and Size (Hand Conditions)282.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot282.2.5 Vibration of shaft (J3 axis) position and arm end29(1) Relationship Between Mass Capacity and Speed29(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed30(3) Relation between offset length and the maximum speed31(4) Time to reach the position repeatability322.2.6 Collision detection322.2.7 Protection specifications33(1) Types of protection specifications332.2.8 Clean specifications33(1) Types of clean specifications332.3 Names of each part of the robot352.4 Outside dimensions・Operating range diagram362.4.1 Outside dimensions・Operating range diagram36(1) Standard Specification36(2) Clean Specification422.4.2 Mechanical interface and Installation surface482.4.3 Outside dimensions of machine cables49(1) Connection with the CR750 controller49(2) Connection with the CR751 controller492.5 Tooling502.5.1 Wiring and piping for hand502.5.2 Internal air piping51(1) Standard type51(2) Clean type512.5.3 Internal wiring for the hand output cable512.5.4 Internal wiring for the hand input cable512.5.5 Ethernet cable512.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping)52(1) Example of wiring and piping <1>53(2) Wiring and piping example <2>53(3) Precautions for the clean specification542.5.7 Wiring and piping system diagram for hand552.5.8 Electrical specifications of hand input/output562.5.9 Air supply circuit example for the hand572.6 Shipping special specifications, options, and maintenance parts582.6.1 Shipping special specifications58(1) Machine cable592.7 Options60(1) Machine cable extension61(2) Changes J1 axis operating range65(3) Solenoid valve set66(4) Hand input cable68(5) Hand output cable69(6) Hand curl tube70(7) Internal Wiring/Piping set for hand71(8) External Wiring/Piping box722.8 About Overhaul742.9 Maintenance parts753 Controller763.1 Standard specifications763.1.1 Basic specifications763.1.2 Protection specifications and operating supply773.2 Names of each part783.2.1 Controller78(1) CR750 controller78(2) CR751 controller803.3 Outside dimensions/Installation dimensions823.3.1 Outside dimensions82(1) CR750 controller82(2) CR751 controller833.3.2 Installation dimensions84(1) CR750 controller84(2) CR751 controller863.4 External input/output883.4.1 Types883.5 Dedicated input/output893.6 Emergency stop input and output etc.923.6.1 Connection of the external emergency stop92(1) CR750 controller93(2) CR751 controller973.6.2 Special stop input (SKIP)100(1) CR750 controller100(2) CR751 controller1013.6.3 Door switch function1023.6.4 Enabling device function102(1) When door is opening102(2) When door is closing103(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings1033.7 Mode changeover switch input104(1) Specification of the key switch interface104(2) Connection of the mode changeover switch input1053.8 Additional Axis Function1063.8.1 Wiring of the Additional Axis Interface106(1) CR750 controller106(2) CR751 controller1073.9 Magnet contactor control connector output (AXMC) for addition axes110(1) CR750 controller111(2) CR751 controller1113.10 Options112(1) Teaching pendant (T/B)113(2) Parallel I/O interface116(3) External I/O cable121(4) Parallel I/O unit123(5) External I/O cable134(6) CC-Link interface136(7) RT ToolBox2/RT ToolBox2 mini139(8) Instruction Manual (bookbinding)1413.11 Maintenance parts1424 Software1434.1 List of commands1434.2 List of parameters1465 Instruction Manual1485.1 The details of each instruction manuals1486 Safety1496.1 Safety1496.1.1 Self-diagnosis stop functions1496.1.2 External input/output signals that can be used for safety protection measures1506.1.3 Precautions for using robot1506.1.4 Safety measures for automatic operation1516.1.5 Safety measures for teaching1516.1.6 Safety measures for maintenance and inspections, etc.1516.1.7 Examples of safety measures152(1) CR750 controller152(2) CR751 controller157(3) External emergency stop connection [supplementary explanation]1626.2 Working environment1656.3 Precautions for handling1656.4 EMC installation guideline1676.4.1 Outlines1676.4.2 EMC directive1676.4.3 EMC measures1686.4.4 Component parts for EMC measures168(1) Ferrite core168(2) Line noise filter1687 Appendix169Appendix 1 : Specifications discussion material169Size: 8.4 MBPages: 190Language: EnglishOpen manual