Справочник Пользователя для Mitsubishi Electronics CR751-D
２ Robot arm
Tooling
2-38
2.5.2 Internal air piping
(1) Standard type
(1) Standard type
1) The robot has two φ6 urethane hoses from the pneumatic entrance on the base section to the No.2 arm.
One hose is the primary piping for the pneumatic equipment, and the other pipe is used for air exhaust.
2) The pneumatic inlet in the base section has a φ6 pneumatic coupling bridge.
3) The solenoid valve set (optional) can be installed to the side on No.2 arm.
4) Refer to
3) The solenoid valve set (optional) can be installed to the side on No.2 arm.
4) Refer to
for details on the electronic valve set (optional).
(2) Clean type
1) The primary piping is the same piping as the standard type.
2) With the clean specification, a φ8 coupling is provided in the base section for suction inside the machine.
2) With the clean specification, a φ8 coupling is provided in the base section for suction inside the machine.
For use, connect it to the suction port of the vacuum pump or the coupling on the "VACUUM" side of the
vacuum generating valve. Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use
the exhaust filter (prepared by the customer).
vacuum generating valve. Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use
the exhaust filter (prepared by the customer).
3) Refer to
4) Supply clean air to the vacuum generator.
2.5.3 Internal wiring for the hand output cable
1) The hand output primary cable extends from the connector PCB of the base section to the back side of the
No.2 arm. (AWG#24(0.2mm
2
): 10 cables) The cable terminals have connector bridges for eight hand out
-
puts.The connector names are GR1 and GR2.
To pull the wiring out of the arm, following separate options are required.
To pull the wiring out of the arm, following separate options are required.
・ Hand output cable ....................................1F-GR60S-01
・ External wiring and piping box .............1F-UT-BOX
・ External wiring and piping box .............1F-UT-BOX
2.5.4 Internal wiring for the hand input cable
1) The hand input cable extends from the connector PCB of the base section to the No.2 arm.
(AWG#24(0.2mm
2
): 10 cables) The cable terminals have connector bridges for eight hand inputs. The con
-
nector names are HC1 and HC2.
2) The hand check signal of the pneumatic hand is input by connecting this connector.
To extend the wiring to the outside of the arm, following separate options are required.
・ Hand input cable .......................................1F-HC35C-01
・ External wiring and piping box .............1F-UT-BOX
・ External wiring and piping box .............1F-UT-BOX
2.5.5 Ethernet cable
Ethernet cables are installed from the robot’s base section up to the No. 2 arm section, and can be used.
Similar to on our previous models, these cables can also be used for backup wiring. For further details please refer
to the separate “Instruction Manual/Robot Arm Setup”.
to the separate “Instruction Manual/Robot Arm Setup”.
Example of use for backup wiring.
・ When connecting previously used tools to the robot
・ Folding back the hand output cable when attaching the electromagnetic valve to the robot’s exterior.
・ When attaching 8 devices or more to the hand section such as sensors, (8 input and 8 output dedicated
・ Folding back the hand output cable when attaching the electromagnetic valve to the robot’s exterior.
・ When attaching 8 devices or more to the hand section such as sensors, (8 input and 8 output dedicated
points are available for hand signals.). In this case connect the signals (of the sensors, etc.) to parallel
input/output signals.
input/output signals.
When shipped from the factory, both ends are LAN connectors.
When using it as backup wiring, cut the LAN connectors off and use with user supplied connectors.
When using it as backup wiring for data communication, the shield wire must be grounded. If the shield wire is not
grounded, it may cause a communication abnormality by noise superposed on the cable.
When using it as backup wiring, cut the LAN connectors off and use with user supplied connectors.
When using it as backup wiring for data communication, the shield wire must be grounded. If the shield wire is not
grounded, it may cause a communication abnormality by noise superposed on the cable.
Table 2-9 ： Ethernet cable specification
Item
Specification
Communication speed
100BASE-TX
Size
AWG #26 (0.13mm
2
) x four pair (total eight cores)
Externality of insulator
Approx. 0.98 mm