Table Of Contents - Mitsubishi Electric CR750-D Instruction Manual

1 Before starting use .......................................................................................................................... 1-1
1.1 Using the instruction manuals ................................................................................................... 1-1
1.1.1 The details of each instruction manuals ............................................................................... 1-1
1.1.2 Symbols used in instruction manual .................................................................................... 1-2
1.2 Safety Precautions .................................................................................................................... 1-3
1.2.1 Precautions given in the separate Safety Manual ................................................................ 1-4
2 Unpacking to installation .............................................................................................................................................................. 2-6
2.1 Confirming the products ....................................................................................................................................................... 2-6
2.2 Installation .................................................................................................................................................................................. 2-8
2.2.1 Unpacking procedures ................................................................................................................................................... 2-8
2.2.2 Transportation procedures .......................................................................................................................................... 2-8
(1) Transporting CR750/CR751 controller .............................................................................................................. 2-8
(2) Transporting CR760 controller .............................................................................................................................. 2-8
2.2.3 Installation procedures .................................................................................................................................................. 2-9
(1) CR750 controller ......................................................................................................................................................... 2-9
(2) CR751 controller: Thin type .................................................................................................................................. 2-11
(3) CR751 controller: Heavy type .............................................................................................................................. 2-13
(4) CR760 controller ....................................................................................................................................................... 2-15
2.2.4 Attachments installation procedures .................................................................................................................... 2-16
(1) Installing the cable fixation plate ........................................................................................................................ 2-16
(2) Installing the cover plate ........................................................................................................................................ 2-17
2.2.5 Connecting the power cable and grounding cable ........................................................................................... 2-19
(1) CR750 controller ....................................................................................................................................................... 2-19
(2) CR751 controller ....................................................................................................................................................... 2-20
(3) CR760 controller ....................................................................................................................................................... 2-21
2.2.6 Emergency stop input and output etc. ................................................................................................................. 2-23
2.2.7 Connecting the external emergency stop ........................................................................................................... 2-23
(1) CR750 controller ....................................................................................................................................................... 2-26
(2) CR751 controller ....................................................................................................................................................... 2-32
(3) CR760 controller ....................................................................................................................................................... 2-37
2.2.8 Mode changeover switch input ................................................................................................................................ 2-40
(1) Specification of the key switch interface ....................................................................................................... 2-40
(2) Connection of the mode changeover switch input ..................................................................................... 2-41
2.2.9 Examples of safety measures ................................................................................................................................... 2-42
(1) CR750 controller ....................................................................................................................................................... 2-42
(2) CR751 controller ....................................................................................................................................................... 2-47
(3) CR760 controller ....................................................................................................................................................... 2-52
(4) External emergency stop connection [supplementary explanation] .................................................... 2-57
2.2.10 Magnet contactor control connector output (AXMC) for addition axes .............................................. 2-61
(1) Example circuit ........................................................................................................................................................... 2-61
(2) Image of how to connect the controller connector .................................................................................... 2-62
2.2.11 Connecting to the robot arm .................................................................................................................................. 2-64
2.2.12 Noise suppression for the CR760 CE marking specification .................................................................... 2-64
2.3 Setting the origin ................................................................................................................................................................... 2-64
2.4 Confirming the operation .................................................................................................................................................... 2-64
3 Installing the option devices ..................................................................................................................................................... 3-65
3.1 Installing the Option Card .................................................................................................................................................. 3-65
(1) CR750/CR751 controller ....................................................................................................................................... 3-65
(2) CR760 controller ....................................................................................................................................................... 3-66
3.2 Installing the extension memory cassette .................................................................................................................. 3-67
4 Basic operations ............................................................................................................................................................................ 4-68
4.1 Handling the controller ........................................................................................................................................................ 4-69
4.1.1 Names of each parts .................................................................................................................................................... 4-69
(1) CR750 controller ....................................................................................................................................................... 4-69
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