Mitsubishi Electric CR750-D Series User manual

CR750-D/CR751-D series controller
Circular Arc Tracking Function
Instruction Manual
BFP-A3380
Mitsubishi Industrial Robot

Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION All teaching work must be carried out by an operator who has received special
training.
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan.
(This also applies to maintenance work with the power source turned ON.)
→Preparation of work plan
WARNING Prepare a device that allows operation to be stopped immediately during
teaching work.
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc.
(This also applies to maintenance work with the power source turned ON.)
→Indication of teaching work in progress
DANGER Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
→Installation of safety fence
CAUTION Establish a set signaling method to the related operators for starting work,
and follow this method.
→Signaling of operation start
CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
→Inspection before starting work

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
DANGER When automatic operation of the robot is performed using multiple control
devices (GOT, programmable controller, push-button switch), the interlocking
of operation rights of the devices, etc. must be designed by the customer.
CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to faults or a drop of reliability.
(Temperature, humidity, atmosphere, noise environment, etc.)
CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
CAUTION Wire the cable as far away from noise sources as possible. If placed near a
noise source, positional deviation or malfunction could occur.
CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.
CAUTION Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to do
so could lead to personal injuries.
CAUTION Never carry out modifications based on personal judgments, non-designated
maintenance parts. Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
fingers catching depending on the posture.
CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during automatic
operation, the robot accuracy could be adversely affected. Also a dropped or
coasted robot arm could collide with peripheral devices.
CAUTION Do not turn OFF the robot controller's main power while rewriting the robot
controller's internal information, such as a program and parameter. Turning OFF
the robot controller's main power during automatic operation or program/parameter
writing could break the internal information of the robot controller.
DANGER Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR750-Q/CR751-Q controller. Failure to
observe this may result in property damage or bodily injury because the Handy GOT
can automatically operate the robot regardless of whether the operation rights are
enabled or not.
DANGER Do not remove the SSCNET III cable while power is supplied to the multiple CPU
system or the servo amplifier. Do not look directly at light emitted from the tip of
SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo
amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable.
If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in
deterioration connector properties, and leading to malfunction.
CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer
emergency stop, and door switch) are working properly after the wiring setup
is completed.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments connected
to USB. When using network equipment, measures against the noise, such as
measures against EMI and the addition of the ferrite core, may be necessary.
Please fully confirm the operation by customer. Guarantee and maintenance
of the equipment on the market (usual office automation equipment) cannot
be performed.

Revision history
Date of print
Specifications No.
Details of revisions
2015-03-06
BFP-A3380
First print

■Preface
Thank you very much for purchasing Mitsubishi Electric Industrial Robot.
The circular arc tracking function allows robots to follow workpiece on a turntable and a circular arc conveyer, line up
and process the workpieces without having to stop the conveyer.
Please be sure to read this manual carefully and understand the contents thoroughly before starting to use the
equipment in order to make full use of the circular arc tracking function.
Within this manual, we have tried to describe all ways in which the equipment can be handled, including non-standard
operations, to the greatest extent possible. Please avoid handling the equipment in any way not described in this
manual.
Note that this manual is written for the following software version.
CR750-Q/CR751-Q series : Ver. R6 or later
CR750-D/CR751-D series : Ver. S6 or later
When not the circular arc conveyer or turntable, but the straight conveyer
is used
Please refer to “High Speed and Accuracy Tracking Function Instruction Manual” (BFP-A3382).
・
No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・The contents of this manual are subject to change without notice.
・An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your service provider.
・The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm may
occur".
Please contact your service provider if you find any doubtful, wrong or skipped point.
・This specifications is original.
・The ETHERNET is a registered trademark of the Xerox Corp.
・All other company names and production names in this document are the trademarks or registered
trademarks of their respective owners.
Copyright(C) 2015 MITSUBISHI ELECTRIC CORPORATION

[Contents]
1. Overview............................................................................................................................................................................................................................1-1
1.1. What is the circular arc tracking function?............................................................................................................................................1-1
1.2. System that can achieve ................................................................................................................................................................................1-2
1.3. The terminology explanation ........................................................................................................................................................................1-5
2. System Configuration .................................................................................................................................................................................................2-6
2.1. Components..........................................................................................................................................................................................................2-6
2.1.1. Robot controller enclosure products..............................................................................................................................................2-6
2.1.2. Devices Provided by Customers......................................................................................................................................................2-6
2.2. Example of System Configuration.............................................................................................................................................................2-8
2.2.1. Configuration Example of Q type.....................................................................................................................................................2-8
2.2.2. Configuration Example of D type.....................................................................................................................................................2-8
3. Specification ....................................................................................................................................................................................................................3-9
3.1. Circular arc tracking Specifications ..........................................................................................................................................................3-9
3.1.1. Q type .............................................................................................................................................................................................................3-9
3.1.2. D type .......................................................................................................................................................................................................... 3-10
3.2. Q173DPX(manual pulser input) unit specification......................................................................................................................... 3-11
4. Operation Procedure................................................................................................................................................................................................ 4-17
5. Preparations and Connection of Equipment ............................................................................................................................................... 5-18
5.1. Connection of Equipment [Q type] ....................................................................................................................................................... 5-18
5.1.1. Connection of Unit ................................................................................................................................................................................ 5-18
5.1.2. Connection with encoder and encoder cable......................................................................................................................... 5-18
5.1.3. Connection of photoelectronic Sensor....................................................................................................................................... 5-20
5.2. Connection of Equipment [D type]........................................................................................................................................................ 5-21
5.2.1. Connection with encoder and encoder cable......................................................................................................................... 5-21
5.2.2. Installation of encoder cable ........................................................................................................................................................... 5-24
5.2.3. Connection of photoelectronic Sensor....................................................................................................................................... 5-25
5.3. Installation of an encoder............................................................................................................................................................................ 5-26
5.4. Measures against the noise....................................................................................................................................................................... 5-27
6. Parameter Setting...................................................................................................................................................................................................... 6-28
6.1. Tracking Parameter Setting....................................................................................................................................................................... 6-28
6.1.1. Sequencer CPU Parameter Setting [Q type]........................................................................................................................ 6-28
6.1.2. Robot Parameter Setting................................................................................................................................................................... 6-31
6.1.3. Example of three robots’ CPU sharing one Q173DPX [Q type]................................................................................. 6-35
6.2. Operation Parameters................................................................................................................................................................................... 6-40
6.3. Dedicated Input/Output Parameters...................................................................................................................................................... 6-41
7. Installation of a sample robot program........................................................................................................................................................... 7-42
8. Teaching Operation(“A1” Program) ................................................................................................................................................................. 8-43
8.1. Preliminary preparations.............................................................................................................................................................................. 8-43
8.1.1. Setting of tool length............................................................................................................................................................................ 8-43
8.1.2. Confirm the encoder value............................................................................................................................................................... 8-44
8.1.3. Knowledge about work....................................................................................................................................................................... 8-46
8.2. Operation procedure...................................................................................................................................................................................... 8-47
8.3. What to confirm ................................................................................................................................................................................................ 8-55
8.4. When multiple conveyers and turntables are used....................................................................................................................... 8-56
9. Setting of an operating condition and operations check (“1“Program)......................................................................................... 9-57
9.1. Variable for operating conditions ............................................................................................................................................................ 9-57
9.2. Automatic operation ....................................................................................................................................................................................... 9-58
9.3. Adjustment of the follow position ............................................................................................................................................................ 9-60
9.4. Adjustment of operating conditions........................................................................................................................................................ 9-62
9.5. Adjustment of Tracking starting possible area................................................................................................................................. 9-64
9.6. Occurrence of error ........................................................................................................................................................................................ 9-66
10. Maintenance of robot program ....................................................................................................................................................................10-67
10.1. MELFA-BASIC V Instructions.................................................................................................................................................................10-67
10.1.1. List of Instructions...............................................................................................................................................................................10-67
10.1.2. List of Robot Status Variables......................................................................................................................................................10-67

10.1.3. Explanation of Tracking Operation Instructions..................................................................................................................10-69
10.2. Timing Diagram of Dedicated Input/Output Signals ................................................................................................................ 10-104
10.2.1. Robot Program Start Processing............................................................................................................................................. 10-104
11. Troubleshooting................................................................................................................................................................................................ 11-105
11.1. Occurrence of Other Errors................................................................................................................................................................... 11-105
11.2. In such a case (improvement example) ......................................................................................................................................... 11-107
11.2.1. The adsorption position shifts. .................................................................................................................................................. 11-107
11.2.2. Make adsorption and release of the work speedy. ........................................................................................................ 11-107
11.2.3. Make movement of the robot speedy.................................................................................................................................... 11-107
11.2.4. Circle movement in tracking....................................................................................................................................................... 11-108
11.2.5. Draw the square while doing the tracking. ......................................................................................................................... 11-108
12. Appendix............................................................................................................................................................................................................... 12-109
12.1. List of Parameters Related to Tracking.......................................................................................................................................... 12-109
12.2. Scene of changing parameter ............................................................................................................................................................. 12-111
12.3. Expansion serial interface Connector Pin Assignment (CR750/CR751 series controller) ................................. 12-114

1 Overview
1. Overview
1.1. What is the circular arc tracking function?
The circular arc tracking function allows robots to follow workpiece on a turntable and a circular arc conveyer.
With this function, it becomes possible to transport line up and process workpieces without having to stop the
conveyer. It also eliminates the need for mechanical fixtures and so forth required to fix workpiece positions.
The features of this function are described below.
1) It is possible to follow lined-up workpieces moving on a turntable and a circular arc conveyer while
working on them(conveyer tracking making use of photoelectronic sensors)
2) It is possible to follow changes of movement speed due to automatic calculation of conveyer movement
speed.
3) Tracking function can be easily achieved by using Mitsubishi’s robot command MELFA-BASIC V.
4) System construction is made easy by use of sample programs.
What is the circular arc tracking function? 1-1

1 Overview
1.2. System that can achieve
With the circular arc tracking function, the example of the system that can be achieved is shown as following.
Table 1-1 Example of system that can be achieved by the circular arc tracking function
No.
CR750-Q
CR751-Q
CR750-D
CR751-D
Example of the system
1 ●●
A robot can catch the workpieces moving on a circular arc conveyer while
tracking.
2●●
A robot can decorate (processing) the workpieces moving on a circular arc
conveyer while tracking.
3 ●●
A robot can attach the parts (assembling) with the workpieces moving on a
circular arc conveyer while tracking.
4 ●●
A robot can catch the workpieces moving on a circular arc conveyer while
tracking, a
nd a robot places the workpieces while tracking to marking on a
straight line conveyer.
5 ●●
The tracking is done with an encoder of line driver (differential motion)
output type.
6
●
(●) Note1)
The tracking is done with an encoder of voltage output/open collector type.
7 ●-
In case of multi CPU system, it makes possible to add max 9 pcs Q173DPX
units (3 units per 1 CPU). However, in each CPU, only the two channels can
be used at the 3rd set of Q173DPX units.
Note1) This system requires the Encoder distribution unit. Please refer to the Encoder Distribution Unit Manual
(BFP-A3300) for details.
1-2 System that can achieve

1 Overview
A advantage using the circular arc tracking function is shown as following.
Point The area of the system can be done small by a turntable!
Before - [In case of a straight conveyer]
↓
Before - [In case of a circular arc conveyer]
System that can achieve 1-3

1 Overview
Point Tracking distance becomes long, robot can do much work!
Before - [In case of a straight conveyer]
↓
Before - [In case of a circular arc conveyer]
1-4 System that can achieve

1 Overview
1.3. The terminology explanation
Table 1-2 The terminology explanation for circular arc tracking
Generic name and
abbreviation
Contents
Q type
“Q type” means CR750-Q/CR751-Q series controller.
D type
“D type” means CR750-D/CR751-D series controller.
Circular arc tracking function
The conveyer tracking allows a robot to follow workpieces lining up on a
turntable and a circular arc conveyer. With this function, it becomes possible
to transport, process workpieces.
Conveyer tracking
The conveyer tracking allows a robot to follow workpieces lining up on a
conveyer. With this function, it becomes possible to transport, process
workpieces.
Vision tracking
(As of February, 2015, not
supported)
The vision tracking allows a robot to follow workpieces not lining up on a
conveyer. With this function, it becomes possible to transport line up and
process workpieces.
Q173DPX unit
Q173DRX unit is manual pulser input unit for motion controller. At Q series
CPU, it is used as intelligent function unit (occupation 32 points)
Each encoder figure can be got by connection with 1 pc the manual pulser
machine (MR-HDP01) or 3pcs the incremental encoder.
Physical encoder number
Physical encoder numbers a number of the encoder physically allocated
according to a certain rule.
In the CR750-Q/CR751-Q series, the number is allocated by arranging the
encoder connected with Q173DPX unit.
The encoder which connected with CH1 of the Q173DPX unit specified for
parameter “ENC UNIT1” is the first, the encoder which connected with CH2 is
the second and with CH3 is the third.
It becomes from 4 to 6 for the Q173DPX unit specified for
parameter”ENCUNIT2”.
It becomes from 7 to 8 for the Q173DPX unit specified for
parameter”ENCUNIT3”.
Note) The 3rd set of Q173DPX units can use only the two channels.
Logical encoder number
The physical encoder number change to the logical encoder number by
parameter “EXTENC”. The purpose of this is to change freely number by the
parameter for the encoder physically arranged. This logical encoder number
is used with the instruction and the state variable of the robot program.
TREN signal
tracking enable signal
The terminology explanation 1-5

2 System Configuration
2. System Configuration
2.1. Components
2.1.1. Robot controller enclosure products
The product structure of the circular arc tracking functional relation enclosed by the robot controller is shown in
the Table 2-1 .
Table 2-1 List of Configuration in the circular arc tracking functional-related product
Product name
Model name
Remark
Circular arc tracking function
INSTRUCTION MANUAL
BFP-A3380
Please download it from Web.
Sample program
-
Please refer to "7 Installation of a sample robot
program" for the sample robot program.
2.1.2. 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.
Table 2-2 List of Devices Provided by Customers
Target type
Name of devices to be
provided by customers
Model Quantity Remark
Q
D
●●
Hand
- 1
●●
Hand sensor
- (1)
Used to confirm that workpieces are
gripped correctly. Provide as
necessary.
●
●
Solenoid valve set
Refer to Remark (1)
Different models are used depending
on the robot used. Check the robot
version and provide as necessary.
●●
Hand input cable
●●
Calibration jig
- (1)
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.
●
Encoder pulse unit
Q173DPX 1
Manual pulser input unit for motion
controller
●
Parallel I/O interface
2D-TZ368/
2D-TZ378 1
Used to confirm the input of the
photoelectronic sensor.
[*]In the case of CR750-Q/CR751-
Q,
This interface and unit are
unnecessary to input to the TREN
signal of the Q173DPX unit.
●
●
Conveyer
-
1
●
Encoder
[Confirmed
operation product]
Omron encoder
E6B2-CWZ1X
-1000/
E6B2-CWZ1X
-2000
1 Voltage output/open collector type
Line driver output
●
Encoder
[Confirmed
operation product]
Omron encoder
E6B2-CWZ1X
-1000/
E6B2-CWZ1X
-2000
1 Line driver output
●
Encoder
cable
2D-CBL05/
2D-CBL15
1
2-6 Components

2 System Configuration
Target type
Name of devices to be
provided by customers
Model Quantity Remark
Q
D
●
Encoder
cable
-
1
Shielded twisted pair cable
●
5V power supply
- 1
+5V DC (±10%):For Encoder
[*]In the case of Q type, the
Q173DPX unit supplies 5V power
supply to the encoder.
●
●
Photo electronic sensor
-
1
Used to detect a workpiece position
●●
24V power supply
- 1
+24 VDC (±10%) : For the photo
electronic sensor
●●
RT ToolBox2
(Personal computer
support software)
3D-11C-WINE
3D-12C-WINE1
Please refer to the instruction
manual of RT ToolBox2 for the
details of the personal computer
specifications.
Components 2-7

2 System Configuration
2.2. Example of System Configuration
The following figure shows a configuration example of a system that recognizes lined-up workpieces on a
circular arc conveyer passing a photo electronic sensor and follows the workpieces.
2.2.1. Configuration Example of Q type
Figure 2-1 Configuration Example of Q type
2.2.2. Configuration Example of D type
Figure 2-2 Configuration Example of D type
2-8 Example of System Configuration

3 Specification
3. Specification
3.1. Circular arc tracking Specifications
The table below shows the circular arc tracking specifications.
Please refer to “Standard Specifications Manual” for the specifications of the robot arm and controller to be
used.
3.1.1. Q type
Table 3-1 CR750-Q/CR751-Q Series Controller Circular Arc Tracking Function Specifications
(*1) The sample program doesn't correspond to the RV-5 axis robot.
(*2) The encoder connected with the third channel of the Q173DPX unit specified for parameter "ENCUNIT3"
cannot be used.
(*3) The specification values in the table should only be considered guidelines. The actual values depend on
the specific operation environment, robot model, hand, Sensitivity of the sensor and other factors.
(*4) Voltage output/open collector type is an output circuit with two output transistors of NPN and PNP.
(*5) The line driver output is a data transmission circuit in accordance with RS-422A. It enables the
long-distance transmission.
(*6) 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.
Item
Specification
Supported robots (*1)
RH-FH-Q series / RV-F-Q series
Applicable robot controller
CR750-Q/CR751-Q series controller
Correspondence to
Vision sensor
(As of February, 2015, not supported )
Conveyer
Number
of
conveyer
(*2)
Max 8pcs
(in case 1pc encoder connect to 1 pc conveyer)
Encoder 3 pcs / Q173DPX unit 1pc
Q173DPX unit 3pcs / system
Movement
Speed (*3)
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
Voltage output/open collector type
：
ZBA 、
、
(*4)
Line driver output ：
ZZBBAA 、、、、、
(*5)
Resolution(pulse/rotation) ：Up to 2000 (4000 and 8000 uncorrespond)
Confirmed operation product ：Omuron E6B2-CWZ1X-1000
E6B2-CWZ1X-2000
Encoder cable
2D-CBL05(External I/O cable 5m)
2D-CBL15(External I/O cable 15m)
Establishment
Only the X-Y plane of the robot supports
(The robot cannot follow the arc direction of the Y-Z plane and the X-Z plane)
Encoder unit
Only Q173DPX unit
Photoelectronic sensor (*6)
Used to detect workpieces positions in conveyer tracking.
Output signal of sensor need to be connected to TREN terminal of Q173
DPX
unit. (Input signal number 810 to 817)
And a momentary encoder value that the input enters is preserved in state
variable "M_EncL".
Precision at handling
position (*3)
Approximately ±1 mm (when the conveyer speed is approximately 300 mm/s)
(Photoelectronic sensor recognition accuracy, robot repeatability accuracy
and so on)
Circular arc tracking Specifications 3-9

3 Specification
3.1.2. D type
Table 3-2 CR750-D/CR751-D Series Controller Circular Arc Tracking Function Specifications
Item
Specification
Supported robots (*1)
RH-FH-D series
/
RV-F-D series
Applicable robot controller
CR750-D/CR751-D series controller
Correspondence to
Vision sensor
(As of February, 2015, not supported)
Conveyer
Number
of
conveyer
Max 2pcs
(in case 1pc encoder connect to 1 pc conveyer)
Encoder 2 pcs / system
Possible to support up to two conveyers by robot controller standard
constitution
Movement
Speed (*2)
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
Line driver output
：
ZZBBAA 、、、、、
(*3)
Resolution(pulse/rotation) ：Up to 2000 (4000 and 8000 uncorrespond)
Confirmed operation product ：Omuron E6B2-CWZ1X-1000
E6B2-CWZ1X-2000
Maximum response frequency
：
100 kHz
Encoder cable
Shielded twisted-pair cable
Outside dimension : Maximum phi6mm
Conductor size: 24AWG (0.2 mm
2
) Cable length: Up to 25 m
Establishment
Only the X-Y plane of the robot supports
(The robot cannot follow the arc direction of the Y-Z plane and the X-Z plane)
Encoder wiring
An encoder and the robot controller are accessible with one to one
Encoder Distribution Unit
Photoelectronic sensor (*4)
Used to detect workpieces positions in conveyer tracking.
Precision at handling
Position(*2)
Approximately ±1 mm (when the conveyer speed is approximately 300 mm/s)
(Photoelectronic sensor recognition accuracy, robot repeatability accuracy
and so on)
(*1) The sample program doesn't correspond to the RV-5 axis robot.
(*2) The specification values in the table should only be considered guidelines. The actual values depend on
the specific operation environment, robot model, hand, Sensitivity of the sensor and other factors.
(*3) The line driver output is a data transmission circuit in accordance with RS-422A. It enables the
long-distance transmission.
(*4) Please input the output signal of the photoelectric sensor into the general-purpose input signal
(voluntarily) of the robot controller.
3-10 Circular arc tracking Specifications