Mitsubishi Electric MELFA CR800 Series Special Specifications Manual page 12

(1) Example of wiring and piping <1> ........................................................................................................................ 2-34
(2) Wiring and piping example <2> ............................................................................................................................. 2-34
(3) Precautions for the shaft through hole ............................................................................................................ 2-35
2.5.7 Wiring and piping system diagram for hand ......................................................................................................... 2-36
2.5.8 Electrical specifications of hand input/output .................................................................................................. 2-38
2.5.9 Air supply circuit example for the hand ............................................................................................................... 2-39
2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-40
2.6.1 Shipping special specifications ................................................................................................................................. 2-40
(1) Bellows set ................................................................................................................................................................... 2-41
2.7 Options ....................................................................................................................................................................................... 2-42
(1) Machine cable (replacement) ............................................................................................................................... 2-43
(2) Stopper for changing the operating range ...................................................................................................... 2-46
(3) Solenoid valve set ..................................................................................................................................................... 2-47
(4) Hand input cable ........................................................................................................................................................ 2-49
(5) Hand output cable ..................................................................................................................................................... 2-50
(6) Hand curl tube ............................................................................................................................................................ 2-51
(7) Internal Wiring/Piping set for hand .................................................................................................................... 2-52
(8) External Wiring/Piping box .................................................................................................................................... 2-53
(9) Vacuum valve set ...................................................................................................................................................... 2-55
2.8 About Overhaul ...................................................................................................................................................................... 2-57
2.9 Maintenance parts ................................................................................................................................................................. 2-58
3 Controller .......................................................................................................................................................................................... 3-59
3.1 Standard specifications ...................................................................................................................................................... 3-59
3.1.1 Basic specifications ...................................................................................................................................................... 3-59
(1) CR800-D controller .................................................................................................................................................. 3-59
(2) CR800-R controller .................................................................................................................................................. 3-61
3.1.2 Protection specifications and operating supply ................................................................................................ 3-63
(1) Protection specifications ....................................................................................................................................... 3-63
(2) Operating supply ........................................................................................................................................................ 3-63
3.2 Names of each part .............................................................................................................................................................. 3-64
3.2.1 Controller .......................................................................................................................................................................... 3-64
3.2.2 Robot CPU unit .............................................................................................................................................................. 3-66
(1) CR800-R controller .................................................................................................................................................. 3-66
3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-67
3.3.1 Outside dimensions ....................................................................................................................................................... 3-67
(1) Controller ...................................................................................................................................................................... 3-67
(2) Robot CPU unit .......................................................................................................................................................... 3-68
3.3.2 Installation dimensions ................................................................................................................................................. 3-69
(1) Controller ...................................................................................................................................................................... 3-69
(2) Robot CPU unit .......................................................................................................................................................... 3-71
3.4 External input/output .......................................................................................................................................................... 3-72
3.4.1 Types .................................................................................................................................................................................. 3-72
3.5 Dedicated input/output ...................................................................................................................................................... 3-73
3.6 Emergency stop input and output etc. ......................................................................................................................... 3-76
3.6.1 Connection of the external emergency stop and mode selector switch ............................................... 3-76
3.6.2 Special stop input (SKIP) ........................................................................................................................................... 3-80
3.6.3 Door switch function .................................................................................................................................................... 3-81
3.6.4 Mode selector switch function ................................................................................................................................. 3-81
(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-82
3.7 Additional Axis Function ..................................................................................................................................................... 3-83
3.7.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-83
3.7.2 Example of the installation of the noise filter .................................................................................................... 3-84
(1) Line noise filter .......................................................................................................................................................... 3-86
3.8 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-87
(1) Example circuit ........................................................................................................................................................... 3-87
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