D Type - Mitsubishi Electric CR750-D Series Instruction Manual

3 Specification
3.1.2.

D type

Table 3-2 CR750-D/CR751-D Series Controller
Item
Supported robots (*1)
Applicable robot controller
Correspondence to
Vision sensor
Conveyer Number of
conveyer
Movement
Speed (*2)
Encoder
Encoder cable
Establishment
Encoder wiring
Photoelectronic sensor (*4)
Precision at handling
Position(*2)
(*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
Circular Arc Tracking Function Specifications
RH-FH-D series / RV-F-D series
CR750-D/CR751-D series controller
(As of February, 2015, not supported)
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
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.
Line driver output A
：
Resolution(pulse/rotation) ： Up to 2000 (4000 and 8000 uncorrespond)
Confirmed operation product ： Omuron E6B2-CWZ1X-1000
Maximum response frequency ： 100 kHz
Shielded twisted-pair cable
Outside dimension : Maximum phi6mm
Conductor size: 24AWG (0.2 mm
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)
An encoder and the robot controller are accessible with one to one
Encoder Distribution Unit
Used to detect workpieces positions in conveyer tracking.
Approximately ±1 mm (when the conveyer speed is approximately 300 mm/s)
(Photoelectronic sensor recognition accuracy, robot repeatability accuracy
and so on)
Specification
A B B Z Z (*3)
、 、 、 、 、
E6B2-CWZ1X-2000
2
) Cable length: Up to 25 m