Mitsubishi Electric CR750 Series User manual

■Wiringdiagram
Theshort‐connectorhastobeinsertedintothecorrect
pointtochangeencodertype.Pleaseinserttheshort‐
connectoraccordingtoencodertypeinreferencetothe
followingfigures.Pleasereferto“TrackingFunctionManual”
forthedetailsaboutwiringdirectionsfortherobotcontroller.
Item Specification Remarks
Model name 2F‐YZ581
Supported robot RH‐SDH series / RV‐SD series, RH‐SQH series / RV‐SQ series
RH‐F‐Dseries / RV‐F‐Dseries,RH‐F‐Qseries/RV‐F‐Qseries
CR750/CR751 series controller
CRn‐700 series controller
Encoder input 2 channel Only 1 channel available
Supported encoder Outputtype:Opencollectoroutput/Voltageoutput
/Linedriveroutput
Resolution(pulse／rotation) :max2000
(non‐compliant 4000,8000)
Operationcheckedencoder:E6B2‐CWZ1X‐2000(omron)
Supported encoder could be changed
with the shorting connector. Refer to
wiring diagram for detail.
Cable Type：Shieldedtwisted‐paircable
Conductorsize:：Refer toWiringdirections
Cablelength：RefertoCommunicationspecifications
Output
channels
For robot controller 4 channels (in the case two encoders are connected)
8 channels (in the case one encoder is connected)
Enable to increase the number of
output channel by cascade.
For cascading 1 channel
Output type Line driver output
Power
supply
Input voltage 24Vdc（±10%）
Power consumption 500mA Depends on the encoder type.
Encoder supply Voltage: 5Vdc, Current: 160mA, 2 channel
Protection specification IP20
Ambient environment General environment Without inflammable gas or corrosive
gas
Ambient air temperature 0℃～40℃
Ambient humidity 45～85% Without dew drops
Mass Approx. 600 g
■Specifications
MitsubishiIndustrialRobot
EncoderDistributionUnit Manual
CR750/CR751seriescontroller
CRn‐700seriescontroller
■Introduction
Encoderdistributionunit2F‐YZ581isusedwhenonerotaryencoderisconnectedtomultiplerobotcontrollerswhen
thetrackingfunctionisused.Thedetailsof2F‐YZ581aredescribedinthissheet. Fordetailsofthetrackingfunction,
pleaserefertothe“Trackingfunctionmanual”attachedtotherobot.
Precautions
Donotusetheunitinexcessofratedvoltageoritcouldsufferdamage.
Wirethepowersupplycorrectlyoritcouldsufferdamage.
Wirethecableintheshortestpathinordertoavoidnoise.
Donotshortorgroundtheoutputsignal,oritcanbeburstordamaged.
Makesuretheunitisturnedoffwhenwiring,insertingorpullingoutoftheconnector,or
itcouldsufferdamage.
Donotdropthisunit.
Placethisunitonanevensurface,freefromvibration.
ENC1IN ENC1OUT1
Encoderdistributionunit
Encoder1
24V
（Powersupply）
ENC1CSC
Encoderdistributionunit
24V
（Powersupply）
Encoder2
Encoder1cascade
Encoder2cascade
Encoder1distribution
Encoder2distribution
ENC1OUT2
ENC1OUT3
ENC1OUT4
ENC2OUT1
ENC2OUT2
ENC2OUT3
ENC2OUT4
ENC2CSC
DC24
ENC2IN
Robotcontroller
Robotcontroller
Robotcontroller
Robotcontroller
Robotcontroller
Robotcontroller
Robotcontroller
Robotcontroller
ENC1IN ENC1OUT1
ENC1CSC
Encoder2distribution
ENC1OUT2
ENC1OUT3
ENC1OUT4
ENC2OUT1
ENC2OUT2
ENC2OUT3
ENC2OUT4
ENC2CSC
DC24
ENC2IN
Encoder1distribution
No. Encodertype Short‐connectorpoint
1Linedriveroutput MODE1
2Opencollectoroutput
Voltageoutput
MODE2
■Configurationdiagram
Theconnectionmethoddiffersaccordingtothenumberofencodersandrobotcontrollers.Connectinstrumentsby
referringtothefollowingexamplesofconfigurations.Pleasehavepowersupplyandencodersready.
Configurationexample1
Encoder :1unit
Robotcontroller :4units
Encoderdistributionunit :1unit
*Pleasedonotwiretheunusedterminalblocks.
ENC1IN ENC1OUT1
Encoderdistributionunit
Encoder1
24V
（Powersupply）
ENC1CSC
Encoder1cascade
Encoder1distribution
ENC1OUT2
ENC1OUT3
ENC1OUT4
ENC2OUT1
ENC2OUT2
ENC2OUT3
ENC2OUT4
ENC2CSC
DC24
ENC2IN
Robotcontroller
Robotcontroller
Robotcontroller
Robotcontroller
Encoderdistribution
Configurationexample3
Encoder :2units
Robotcontroller :4units
Encoderdistributionunit :1unit
ENC1IN ENC1OUT1
Encoderdistributionunit
Encoder1
24V
（Powersupply）
ENC1CSC
Encoder1cascade
Encoder1distribution
Encoder 2 distribution
ENC1OUT2
ENC1OUT3
ENC1OUT4
ENC2OUT1
ENC2OUT2
ENC2OUT3
ENC2OUT4
ENC2CSC
DC24
ENC2IN
Robotcontroller
Robotcontroller
Robotcontroller
Robotcontroller
Robotcontroller
Robotcontroller
Robotcontroller
Robotcontroller
Configurationexample2
Encoder :1unit(Linedriveroutputencoderonly)
Robotcontroller :8units
Encoderdistributionunit :1unit
*Pleasedonotwiretheunusedterminalblocks.
Connectionbetween
ENC1CSCandENC2IN
isneeded
*Pleasedonotwiretheunusedterminalblocks.
Connectionbetween
Encoderdistributionunits
isneeded.
ConnectionbetweenEncoderdistributionunitsisneededto
connecttheencodertomorethanfiverobotcontrollers. Referto
thewiringdiagramandtheenclosedareabelow .
Connectionforcascade
BFP‐A3300
BFP‐A3300
Powersupply 0V
+24V
A
B
A
B
DC24
ENC1IN/
ENC2IN
Z
Z
ENC1OUT1‐ENC1OUT4/
ENC2OUT1‐ENC2OUT4
A
B
A
B
Z
Z
ENC1CSC / ENC2CSC
A
B
A
B
Z
Z
GND
GND
GND
GND
V5
GND
GND
SLD
Robotcontroller
Encodertype:Linedriveroutput(MODE1)
Line driveroutput
MODE1
MODE2
Short‐connector
Encoderdistributionunit
Encoderdistributionunit
ENC1IN/ENC2IN
Encoder1 /Encoder2
A
B
B
Z
Z
V5
0V
0V
0V
A
‐
+
A
B
A
B
Z
Z
0V
0V
A
B
A
B
Z
Z
0V
0V
Powersupply 0V
24V
A
B
DC24
ENC1IN/
ENC2IN
Z
ENC1OUT1‐ENC1OUT4/
ENC2OUT1‐ENC2OUT4
A
B
A
B
Z
Z
ENC1CSC / ENC2CSC
A
B
A
B
Z
Z
GND
GND
GND
GND
V5
GND
GND
SLD
Robotcontroller
Voltageoutput
Opencollectoroutput
Encodertype:Opencollectoroutput/Voltageoutput(MODE2)
MODE1
MODE2
Short‐connector
Encoderdistributionunit
Encoderdistributionunit
ENC1IN/ENC2IN
Encoder1 / Encoder2
A
B
A
B
Z
Z
0V
0V
A
B
A
B
Z
Z
0V
0V
‐
+
A
B
B
Z
Z
V5
0V
0V
0V
A

LEDstatus Unitstatus Troublecause Measure
24V
(Blue)
5V
(Green)
ON ON Normal N/A N/A
ON OFF 5Vpower supply
trouble
Shortofthe5Voutputline Check wiring ofthe5Voutputline
Failure Contactserviceprovider.
OFF ON Abnormal
(not occurnormally)
Failure Contactserviceprovider.
OFF OFF 24V Power supply
trouble
24V Power supplytrouble Checkpowersupply(overvoltage,reverseconnection,
etc.).
Blowoutofthefuse Blowout byovervoltage Thefuse couldbeblownifinexcessofratedvoltage.
Makesurethepowersupplyvoltageis24Vandreplace
thefuse.Iftheunitdon’tworkafterreplacingthefuse,
pleasecontactserviceprovider.Thereplacementfuse
isincludedinthisunit.
Unittrouble Failure Contactserviceprovider.
■Outlinedrawings
Solidcable/strandedcable :0.2～1.5mm2（AWG24～16）
Strandedwithferruleswithoutplasticsleeve :0.25～1.5mm2
Strandedwithferruleswithplasticsleeve :0.25～0.75mm2
■Wiringdirections
1.Toolsrequired(notincluded)
DIN standardflatheadscrewdriver(bladethickness:0.4mm bladewidth:2.5mm)
Recommendedtool:SFZ0‐0.4x2.5(PHOENIXCONTACT)
(2)Insertthetoolintothesquarehole
(3)Insertcableintotheround hole (4)Pulloutthetool
10mm
3.Wiringprocedure
(1)Stripecable(length:10mm)
2.Cable(notincluded)
■Attaching
1. Attachingdirectly
FixtheunitwithM4bolts(*1screwholesinoutlinedrawings).Boltsarenotincluded.
2. DINrailadapter
AttachDINrailadaptertotheunitforDINrailfixing.Dinrailadapterisnotincluded.
DINrailadapter :UTA184(PHOENIXCONTACT)
Screwhole position :*2holesintheoutlinedrawing
Bolttype :M3
Bolt length :8mm
Tighteningtorque ：0.63N・m
■Measuresagainstnoise/staticelectricity
Connecttogroundtoavoidproblemsduetonoiseandstaticelectricityusing*3screwholes.Boltsandcablesarenotincluded.
Bolttype :M3
Boltlength :6mm
Tighteningtorque ：0.63N∙m
Pleaseattachcoverifthereistroublewithstaticelectricity.Followingdrawingisanexampleofthecover.*4holesinoutline
drawingarescrewholesforthecover.
Bolttype :M3
Boltlength :6mm
Tighteningtorque ：0.63N∙m
■Troubleshooting
Item Specification Remarks
Encoder type
(Input)
Line driver output HIGH level：DC2.0V to 5.25V
LOW level：Max DC0.8V
Maximum distance 5m
Equivalent of 26L32
Open collector output
Voltage output
HIGH level: DC2.5V～5.25V
LOW level: Max DC0.5V / Min 5mA
Maximum distance 2m
―
Output Line driver output HIGH level: DC2.5V～5.25V
LOW level: Max 0.8V
Maximum distance 25m
Equivalent of 26L31
■Communicationspecifications
Encoder Encoderdistributionunit Robotcontroller
Encodertype：Linedriveroutput
Max 5m Max25m
Encoder Encoderdistributionunit Robotcontroller
Encodertype：Opencollectoroutput/Voltageoutput
Max2m Max25m
Recommendmaterial：Steel
BFP‐A3300
Note: Wirethecableintheshortestpathinordertoavoidnoise.
*1 Unit fixing *2 Attaching Din rail adapter *3 Earth connection *4 Attaching cover against static electricity
Opposite side is
same
−+ BZB
ENC1CSC
ENC1OUT4
Z
B ZZABA
B ZB Z
AA
ENC1IN
AA
A B ZZBA
ENC1OUT3
ABZZBA
AA
ENC2OUT4
ENC2CSC
ZB ZB
AA
ENC2IN
B ZZB
ENC2OUT3
ABZZBA
2F−YZ581
BBZ
ZBB
A
A
A
A
ZBBA
A B ZZBA
A
−+
INPUT
DC24
24VDC
ENCODER2
ENC1OUT1
ENCODER1
ZBBA
AA
A
B ZZB
ENC2OUT1
1.0A
FUSE
5V
24V
Mode2:
Mode1:
!
!
MODE2
NO HOT PLUG
Voltage output
Mode2: Open collector output
Mode1: Line driver output
Encoder type
MODE1
ENC2OUT2
Z
Z
ENC1OUT2
Z
Z