Mitsubishi CR750-Q Series User Manual

3 Specification
3. Specification
3.1. Tracking Specifications and Restriction matter
”Table 3−1 CR750-Q/CR751-Q Series, CRnQ-700 Series Controller Tracking Function Specifications”
shows the tracking specifications.
Please refer to “Standard Specifications Manual” for the specifications of the robot arm and controller to be
used.
Table 3−1 CR750-Q/CR751-Q Series, CRnQ-700 Series Controller Tracking Function Specifications
（*1） The specification values in the table should only be considered guidelines. The actual values
depend on the specific operation environment, robot model, hand and other factors.
（*2） The line driver output is a data transmission circuit in accordance with RS-422A. It enables the
long-distance transmission.
（*3） Please connect the output signal of a photoelectric sensor with the terminal TREN of the Q173DPX
unit. This input can be confirmed，by the input signal 810th-817th．
（*4） In the case of vision tracking, please refer to the instruction manual of network vision sensor.
（*5） The precision with which workpieces can be grabbed is different from the repeatability at normal
transportation due to the conveyer speed, sensor sensitivity, vision sensor recognition accuracy and
other factors. The value above should only be used as a guideline.
（*6） The encoder connected with the third channel of the Q173DPX unit specified for parameter
"ENCUNIT3" cannot be used.
（*7） Voltage output/open collector type is an output circuit with two output transistors of NPN and PNP.
（*8） The sample program doesn't correspond to the RV-5 axis robot.
Item
Specification and Restriction matter
Supported robots (*8)
RH-SQH series / RV-SQ series
RH-FH-Q series / RV-F-Q series
Applicable robot controller
CR1Q / CR2Q / CR3Q controller
CR750-Q/CR751-Q series controller
Robot program language
Load commands dedicated for the tracking function
Conveyer
Number
of
conveyer
(*6)
Max 8pcs
（
in case 1pc encoder connect to 1 pc conveyer
）
Encoder 3 pcs / Q173DPX unit 1pc
Q173DPX unit 3pcs / system
Movement
Speed （*1）
Possible to support up to 300mm/s (When the robot always transport the
workpieces)
Possible to support up to 500mm/s when the interval of workpiece is wide.
Encoder
Output aspect
：
ZZBBAA 、、、、、
Output form ： Voltage output/open collector type （*7）
Line driver output （*2）
Resolution(pulse/rotation)） ： Up to 2000 （4000 and 8000 uncorrespond））
Confirmed operation product ： Omuron E6B2-CWZ1X-1000
E6B2-CWZ1X-2000
Encoder cable
Option:
2D-CBL05(External I/O cable 5m)
2D-CBL15(External I/O cable 15m)
Conductor size: AWG#28
Encoder unit
Only Q173DPX unit
[*] Two or more robots CPU cannot share one Q173DPX.
One Q173DPX is necessary for each robot CPU.
Photoelectronic sensor
(*3)
Used to detect workpieces positions in conveyer tracking.
Output signal of sensor need to be connected to TREN terminal of
Q173DPX unit. （Input signal number 810～817）
And a momentary encoder value that the input enters is preserved in state
variable "M_EncL".
Vision sensor
（
*4
）
Mitsubishi’s network vision sensor
Precision at handling
position (*5)
Approximately ±2 mm (when the conveyer speed is approximately 300
mm/s)
(Photoelectronic sensor recognition accuracy, vision sensor recognition
accuracy, robot repeatability accuracy and so on)
Tracking Specifications and Restriction matter 3-11

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English