Contents
i
Page
1 Before starting use .......................................................................................................................... 1-1
1.1 Using the instruction manuals ................................................................................................... 1-1
1.1.1 The details of each instruction manuals ............................................................................... 1-1
1.1.2 Symbols used in instruction manual .................................................................................... 1-2
1.2 Safety Precautions .................................................................................................................... 1-3
1.2.1 Precautions given in the separate Safety Manual ................................................................ 1-4
2 Unpacking to installation .............................................................................................................................................................. 2-6
2.1 Confirming the products ....................................................................................................................................................... 2-6
2.2 Installation .................................................................................................................................................................................. 2-7
2.2.1 Unpacking procedures ................................................................................................................................................... 2-7
2.2.2 Transportation procedures .......................................................................................................................................... 2-7
2.2.3 Installation procedures .................................................................................................................................................. 2-8
(1) CR750 controller ......................................................................................................................................................... 2-8
(2) CR751 controller ....................................................................................................................................................... 2-10
2.2.4 Connecting the power cable and grounding cable ........................................................................................... 2-12
(1) Connecting the power cable (CR750 controller) .......................................................................................... 2-12
(2) Connecting the power cable (CR751 controller) .......................................................................................... 2-13
2.2.5 Connecting the external emergency stop ........................................................................................................... 2-14
(1) CR750 controller ....................................................................................................................................................... 2-16
(2) CR751 controller ....................................................................................................................................................... 2-19
2.2.6 Examples of safety measures ................................................................................................................................... 2-22
(1) CR750 controller ....................................................................................................................................................... 2-22
(2) CR751 controller ....................................................................................................................................................... 2-27
(3) External emergency stop connection [supplementary explanation] .................................................... 2-32
2.2.7 Magnet contactor control connector output (AXMC) for addition axes ................................................ 2-35
2.2.8 Connecting to the robot arm .................................................................................................................................... 2-37
2.3 Setting the origin ................................................................................................................................................................... 2-37
2.4 Confirming the operation .................................................................................................................................................... 2-37
3 Installing the option devices ..................................................................................................................................................... 3-38
3.1 Installing the Option Card .................................................................................................................................................. 3-38
4 Basic operations ............................................................................................................................................................................ 4-39
4.1 Handling the controller ........................................................................................................................................................ 4-40
4.1.1 Names of each parts .................................................................................................................................................... 4-40
(1) CR750 controller ....................................................................................................................................................... 4-40
(2) CR751 controller ....................................................................................................................................................... 4-42
4.2 Handling the T/B ................................................................................................................................................................... 4-44
4.2.1 Installing and removing the T/B .............................................................................................................................. 4-44
(1) Installing the T/B (CR750 controller) ............................................................................................................... 4-44
(2) Installing the T/B (CR751 controller) ............................................................................................................... 4-45
(3) Removing the T/B (CR750 controller) ............................................................................................................. 4-45
(4) Removing the T/B (CR751 controller) ............................................................................................................. 4-45
4.2.2 Functions of each key ................................................................................................................................................. 4-46
4.3 Turning the power ON and OFF ...................................................................................................................................... 4-47
4.3.1 Turning the control power ON ................................................................................................................................. 4-47
(1) CR750 controller ....................................................................................................................................................... 4-47
(2) CR751 controller ....................................................................................................................................................... 4-47
4.3.2 Input the serial number ............................................................................................................................................... 4-48
4.3.3 Shutting OFF the control power ............................................................................................................................. 4-49
4.4 Turning the servo power ON/OFF ................................................................................................................................. 4-50
4.4.1 Turning the servo power ON (servo ON) ............................................................................................................. 4-50
4.4.2 Shutting OFF the servo power (servo OFF) ...................................................................................................... 4-50
4.5 Jog operation .......................................................................................................................................................................... 4-51
4.6 Opening and closing the hand .......................................................................................................................................... 4-51
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