Mitsubishi MELFA CR1QA-700, Special Specifications Manual

Page: 33 / 146

２ Robot arm
Tooling 2-22
2.5.2 Internal air piping
1) General-purpose envi-ronment/Oil mist specifications
・ The robot has two φ6 x 4 urethane hoses from the pneumatic entrance on the base section to the
shoulder cover.
・ One hose is the primary piping for the pneumatic equipment. The remaining pipe is used for air exhaust.
・ The optional solenoid is provided with a maximum of eight couplings for the φ4 air hose.
・ The pneumatic inlet in the base section has a φ6 pneumatic coupling bridge.
・ Refer to Page 33, "(3) Solenoid valve set" for details on the electronic valve set (optional).
・ Protection performance can be improved by pressurizing the inside of the robot arm. Since the joint
(AIR PURGE) of phi 8 is prepared at the rear of the base section, please supply the dry air for pressur
-
ization from this joint. Refer to Page 13, "2.2.5 Protection specifications" for the details of dry air.
2) Clean specification
・ The clean type basically includes the same piping as the standard type.
・ 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).
・ Refer to Page 15, "2.2.6 Clean specifications" for details of the vacuum for suction.
・ Use clean air as the air supplied to the vacuum generator.
2.5.3 Internal wiring for the pneumatic hand output cable
When the controller uses the optional pneumatic hand interface (2A-RZ365/2A-RZ375), the hand output signal
works as the pneumatic hand cable.
・The hand output primary cable extends from the connector PCB of the base section to the inside of the
forearm. (AWG#24(0.2mm
2
)x 2 : 8 cables) The cable terminals have connector bridges for eight hand
outputs.The connector names are GR1 and GR2.
To extend the wiring to the outside of the arm, a separate cable (optional "hand output cable 1S-
GR35S-01"
2.5.4 Internal wiring for the hand check input cable (Standard type/Clean type)
・The hand input cable extends from the connector PCB of the base section to the inside of the forearm.
(AWG#24(0.2mm
2
)x 2 : 8 cables) The cable terminals have connector bridges for eight hand inputs. The
connector names are HC1 and HC2.
・ The hand check signal of the pneumatic hand is input by connecting this connector.
To extend the wiring to the outside of the arm, a separate cable (optional "hand input cable "1S-
HC25C-01" IP65 is recommended) is required.
2.5.5 Spare Wiring
(1) Standard type
As spare wiring, four pairs of cab tire cables (AWG#24(0.2mm
2
) total is eight cores) are preinstalled between the
base section and the forearm side section. Customer can utilize it. Refer to the separate "Instruction Manual/
ROBOT ARM SETUP & MAINTENANCE" for details.
Both ends of the wire terminals are unprocessed. Use them under the following circumstances:
● For folding as the hand output cable when installing the solenoid valve in outside the robot.
● For when installing six or more hand I/O points for the sensor in the hand section
(Connects to the parallel I/O general purpose input.)
Reference) Pin assignment of the connector, and the matching connector
Pin assignment
Pin Color
A1 Red
A2 Brown
A3 Green
A4 Black
B1 Orange
B2 White
B3 Yellow
B4 Blue
Robot side connector
Connection place Connector Contactor Maker
Base portion 2-1318115-4 - Tyco Electronics AMP K.K.
Fore arm portion 2-1717834-4 -
Other party connector (recommendation)
Connection place Connector Contactor Maker
Base portion 2-1717834-4 1318108-1 Tyco Electronics AMP K.K.
Fore arm portion 2-1318115-4 1318112-1