Nachi EZ-CFDL Series - Page 7

Table of Contents
8.2.2
Installation procedure and place............................................................................
....................
8-4
8.3
Installation of the Robot (EZ series)....................................................................................
.............
8-5
8.4
Connection of the robot....................................................................................................................8-6
8.4.1
(A) “CFDL1-0
000” + O
ne Robot
......................................................................................
..........
8-6
8.4.2
(B) “CFDL2-0000” + Two Robo
ts...............................................................................................
8-6
8.4.3
(C) “CFDL4-0000
” + Four robots
....................................................................................
...........
8-7
8.4.4
(D) “CFDL4-0020” + Two robo
ts
.....................................................................................
...........
8-8
8.4.5
Connections of CNR010 (Option).....................................................................................
.........
8-9
8.5
Connections of the T
each Pendant
...............................................................................................
.
8-10
8.6
Connection of the External Devices...............................................................................................
8-1
1
8.6.1
Connection of th
e cables
......................................................................................
...................
8-1
1
8.6.2
How to start up the controller from the external PLC and etc..................................................
8-1
1
8.7
Connection of the Primary power and the grounding (CFDL)........................................................8-12
8.7.1
Before connecting to the Primar
y Power
..........................................................................
.......
8-12
8.7.2
Processing of the Power cab
le
...............................................................................
.................
8-12
8.7.3
Grounding
.................................................................................
...............................................8-12
8.8
Sequence bo
ard UM396
......................................................................................
..........................
8-13
8.8.1
Sequence board UM396..........................................................................................................8-13
8.8.2
Pin layout of
TBEX1 and
TBEX2
....................................................................................
.........
8-14
8.8.3
JP1 setting (Selection of the
power source for the Emergency Stop circuit) ..........................8-14
8.8.4
Setting of the SW1 (Robot number) ........................................................................................8-15
8.8.5
Mini I/O (8 points + 8 points)....................................................................................................8-16
8.8.6
When using CC-L
ink, DeviceNet etc. (Fie
ldbus options)
........................................................8-16
8.9
CFDL memory format operation (Initialization) ........................................................................
......
8-17
8.9.1
How to register the Mechanisms (Robots) to the robot controlle
r
...........................................
8-17
8.9.2
Set the installation place (Floor / Ceiling installa
tion)
..............................................................8-18
8.9.3
Register the Unit to the contro
ller
....................................................................................
........
8-19
8.9.4
Set the correspondence of the mechan
ism and the amplifier
.................................................
8-21
8.9.5
Set the
installation posture ..............
.....................................................................................
...
8-22
8.10
Installation of the tool .....................................................................................................................8-25
8.10.1
Installation of the tool...............................................................................................................8-25
8.11
Encoder reset and encoder correction...........................................................................................8-26
8.12
Setting of the T
ool Constant
.................................................................................
..........................
8-27
8.12.1
T
ool
length.............................................
.......................................................................
............
8-27
8.12.2
T
ool
angle............................................
.........................................................................
............
8-29
8.12.3
T
ool COG/
Mass .................................................................................................................
.....
8-30
8.12.4
T
ool
inertia moment
........................................................................................
.........................
8-32
8.12.5
T
ool Maximum Rotation Radius
.............................................................................................
..
8-32