Mitsubishi CR750-Q Series - [Part 3] System Configuration and Setting (CR750-D;CR751-D Series, Crnd-700 Series); 7 System Configuration; Components; Robot Controller Enclosure Products

7 System Configuration
[Part 3] System Configuration and Setting (CR750-D/CR751-D series,
CRnD-700 series)
7. System Configuration
7.1. Components
7.1.1. Robot controller enclosure products
The product structure of the tracking functional relation enclosed by the robot controller is shown in the
Table 2−1.
Table 7
−1 List of Configuration in the tracking functional-related product
Product name
Model name
Remark
Tracking Function
INSTRUCTION MANUAL
BFP-A8664
This manual is included in instruction-manual
CD-ROM attached to the product.
Sample program
−
Please refer to "12 Sample Robot Programs" for
the sample robot program.
7.1.2. Devices Provided by Customers
When configuring the system, the customers must have certain other devices in addition to this product. The
table below shows the minimum list of required devices. Note that different devices are required depending
on whether conveyer tracking or vision tracking is used. Please refer to “Table 2−2 List of Devices Provided
by Customers (Conveyer Tracking)” and “Table 2−3 List of Devices Provided by Customers (Vision
Tracking)” for further details.
Table 7
−2 List of Devices Provided by Customers (Conveyer Tracking)
Name of devices to be
provided by customers
Model Quantity Remark
Robot part
Teaching pendant
R32TB/R33TB
or
R56TB/R57TB
1
Hand
−
Hand sensor
−
(1)
Used to confirm that workpieces are gripped
correctly. Provide as necessary.
Solenoid valve set
See the Remark
column
Different models are used depending on the robot
used. Check the robot version and provide as
necessary.
Hand input cable
Air hand interface
2A-RZ365 or
2A-RZ375
(CRnQ-700/CRnD-700 series controller)
Provide as necessary.
Calibration jig
−
This is a jig with a sharp tip that is attached to the
mechanical interface of the robot arm and used for
calibration tasks. It is recommended to use the jig if
high precision is required.
Conveyer part
Conveyer
(with encoder)
−
1
Encoder:
Line driver output
[Confirmed operation product]
Omron encoder (E6B2-CWZ1X-1000 or -2000)
Encoder cable. Twisted-pair cable with the shield.
(CRnD-700 series controller)
Recommended connector for encoder input
terminal:
10120-3000PE plug made by 3M
10320-52F0-008 shell made by 3M
5V power supply
−
+5 VDC (±10%) : For the encoder
Photoelectronic sensor
−
Used to synchronize tracking
24V power supply
−
+24 VDC (±10%) : For the Photoelectronic sensor
Components 7-31