Nachi EZ-CFDL Series User Manual

Table of ContentsTable of Contents
Table of ContentsTable of Contents
IMPORTANTIMPORTANT
For EZ-CFDL seriesFor EZ-CFDL series
In case of the In case of the
EZ-CFDL serEZ-CFDL ser
ies, please read the chapter 8 ies, please read the chapter 8
first.first.
Some setup procedures are not the same with other robot Some setup procedures are not the same with other robot
series.series.
Chapter 1Chapter 1
Point on SafetyPoint on Safety
1.11.1
For safely use the roboFor safely use the robo
t systemt system
....................................................................................................................................................................................
..........................
1-11-1
1.1.11.1.1
Symbols used in all instruction manuals....................................................................................1-1Symbols used in all instruction manuals....................................................................................1-1
1.1.21.1.2
General precauGeneral precau
tions for safely use the robot systemtions for safely use the robot system
................................................................1-2................................................................1-2
1.1.31.1.3
Safety Measures on manipulator...............................................................................................1-4Safety Measures on manipulator...............................................................................................1-4
1.1.41.1.4
Safety measures in teaching and inspectioSafety measures in teaching and inspectio
nn
......................................................................................................................................................
....
1-51-5
1.1.51.1.5
Safety measures in test run.......................................................................................................1-8Safety measures in test run.......................................................................................................1-8
1.1.61.1.6
Safety measures in auto operatioSafety measures in auto operatio
nn
....................................................................................................................................................
....................................
1-81-8
1.1.71.1.7
Brake Positive Release.........................................................................................................Brake Positive Release.........................................................................................................
......
1-101-10
1.1.81.1.8
Movement, alienatioMovement, alienatio
n and selling of n and selling of
robot system ..................................................................1-10robot system ..................................................................1-10
1.1.91.1.9
StoraStora
ge of ge of
robot system...........................................................................................................1-10robot system...........................................................................................................1-10
1.1.101.1.10
Disposition of Disposition of
Robot systemRobot system
......................................................................................................................................................................
..................................
1-101-10
1.1.111.1.11
Labels and marks on Labels and marks on
manipulatomanipulato
r and controller ....................................................................1-12r and controller ....................................................................1-12
1.21.2
Precautions for undertakinPrecautions for undertakin
g work inside the g work inside the
manipulatomanipulato
r’s work r’s work
area ..........................................1-14area ..........................................1-14
Chapter 2Chapter 2
Transportation and InstallationTransportation and Installation
2.12.1
From the installation work to the teaching work...............................................................................2-1From the installation work to the teaching work...............................................................................2-1
2.22.2
Installation of this controller.........................................................................................Installation of this controller.........................................................................................
..........................................
2-22-2
2.2.12.2.1
Environment...............................................................................................................................2-2Environment...............................................................................................................................2-2
2.2.22.2.2
Install dimensionInstall dimension
s of robot controlles of robot controlle
rr
.........................................................................................2-2.........................................................................................2-2
2.32.3
Robot installation.............................................................................................................Robot installation.............................................................................................................
..................................
2-32-3
2.42.4
Robot connection ...............................................................................................................Robot connection ...............................................................................................................
............................
2-42-4
2.4.12.4.1
Connection of CNR01 and CNR04............................................................................................2-4Connection of CNR01 and CNR04............................................................................................2-4
2.4.22.4.2
Connection of CNR10 Connection of CNR10
(option) .....................................(option) .....................................
.............................................................2-5.............................................................2-5
2.52.5
TT
each pendant (TP) connectioneach pendant (TP) connection
................................................................................................................................................................................
..............................
2-62-6
2.62.6
External equipment connection..................................................................................................External equipment connection..................................................................................................
............
2-72-7
2.6.12.6.1
Cable connCable conn
ectionection
....................................................................................................................................................................
.....................................2-7.....................................2-7
2.6.22.6.2
TT
o start the program using the external PLC etc.o start the program using the external PLC etc.
......................................................................2-7......................................................................2-7
2.72.7
Primary power and the Primary power and the
grounding connectiogrounding connectio
n .................................................................................2-8n .................................................................................2-8
2.7.12.7.1
Prior to Primary powePrior to Primary powe
r supply connectionr supply connection
ss
...............................................................................2-8...............................................................................2-8
2.7.22.7.2
Assembling the Assembling the
Primary power Primary power
supply cable..........................................................supply cable..........................................................
......................................
2-92-9
2.7.32.7.3
Connecting the PrimConnecting the Prim
ary power supply cablary power supply cabl
ee
...........................................................................2-10...........................................................................2-10
2.7.42.7.4
GroundingGrounding
..................................................................................................................................................................
...............................................2-10...............................................2-10
2.82.8
Safety-related siSafety-related si
gnal connectiongnal connection
ss
....................................................................................................................................................................
................................
2-12-1
11
2.8.12.8.1
Sequence board .................................................................................................................Sequence board .................................................................................................................
..........
2-12-1
11
2.8.22.8.2
TT
erminal block TBEX1 and TBEX2erminal block TBEX1 and TBEX2
..............................................................................................................................................................
......................
2-122-12
2.8.32.8.3
Pin layout of the terminal block TBEX1 and TBEPin layout of the terminal block TBEX1 and TBE
X2X2
................................................................2-13................................................................2-13
2.8.42.8.4
Electrical specification oElectrical specification o
f input terminal blockf input terminal block
.........................................................................2-16.........................................................................2-16

Nachi EZ-CFDL Series Specifications

General

Brand	Nachi
Model	EZ-CFDL Series
Category	Controller
Language	English