Nachi EZ-CFDL Series, Instruction Manual

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Table of Contents Table of Contents
Table of Contents Table of Contents
IMPORTANT IMPORTANT
For EZ-CFDL series For EZ-CFDL series
In case of the In case of the EZ-CFDL ser EZ-CFDL series, please read the chapter 8 ies, please read the chapter 8 first. first.
Some setup procedures are not the same with other robot Some setup procedures are not the same with other robot series. series.
Chapter 1 Chapter 1 Point on Safety Point on Safety
1.1 1.1 For safely use the robo For safely use the robot system t system .......................................................................................... ....................................................................................................... ............. 1-1 1-1
1.1.1 1.1.1 Symbols used in all instruction manuals....................................................................................1-1 Symbols used in all instruction manuals....................................................................................1-1
1.1.2 1.1.2 General precau General precautions for safely use the robot system tions for safely use the robot system ................................................................1-2 ................................................................1-2
1.1.3 1.1.3 Safety Measures on manipulator...............................................................................................1-4 Safety Measures on manipulator...............................................................................................1-4
1.1.4 1.1.4 Safety measures in teaching and inspectio Safety measures in teaching and inspection n........................................................................... ............................................................................. .. 1-5 1-5
1.1.5 1.1.5 Safety measures in test run.......................................................................................................1-8 Safety measures in test run.......................................................................................................1-8
1.1.6 1.1.6 Safety measures in auto operatio Safety measures in auto operation n.......................................................................... ............................................................................................ .................. 1-8 1-8
1.1.7 1.1.7 Brake Positive Release......................................................................................................... Brake Positive Release............................................................................................................ ... 1-10 1-10
1.1.8 1.1.8 Movement, alienatio Movement, alienation and selling of n and selling of robot system ..................................................................1-10 robot system ..................................................................1-10
1.1.9 1.1.9 Stora Storage of ge of robot system...........................................................................................................1-10 robot system...........................................................................................................1-10
1.1.10 1.1.10 Disposition of Disposition of Robot system Robot system ................................................................................... .................................................................................................... ................. 1-10 1-10
1.1.11 1.1.11 Labels and marks on Labels and marks on manipulato manipulator and controller ....................................................................1-12 r and controller ....................................................................1-12
1.2 1.2 Precautions for undertakin Precautions for undertaking work inside the g work inside the manipulato manipulator’s work r’s work area ..........................................1-14 area ..........................................1-14
Chapter 2 Chapter 2 Transportation and Installation Transportation and Installation
2.1 2.1 From the installation work to the teaching work...............................................................................2-1 From the installation work to the teaching work...............................................................................2-1
2.2 2.2 Installation of this controller......................................................................................... Installation of this controller.............................................................................................................. ..................... 2-2 2-2
2.2.1 2.2.1 Environment...............................................................................................................................2-2 Environment...............................................................................................................................2-2
2.2.2 2.2.2 Install dimension Install dimensions of robot controlle s of robot controllerr .........................................................................................2-2 .........................................................................................2-2
2.3 2.3 Robot installation............................................................................................................. Robot installation.............................................................................................................................. ................. 2-3 2-3
2.4 2.4 Robot connection ............................................................................................................... Robot connection ............................................................................................................................. .............. 2-4 2-4
2.4.1 2.4.1 Connection of CNR01 and CNR04............................................................................................2-4 Connection of CNR01 and CNR04............................................................................................2-4
2.4.2 2.4.2 Connection of CNR10 Connection of CNR10 (option) ..................................... (option) ..................................................................................................2-5 .............................................................2-5
2.5 2.5 T Teach pendant (TP) connection each pendant (TP) connection ........................................................................................ ....................................................................................................... ............... 2-6 2-6
2.6 2.6 External equipment connection.................................................................................................. External equipment connection........................................................................................................ ...... 2-7 2-7
2.6.1 2.6.1 Cable conn Cable connection ection .................................................................................. .......................................................................................................................2-7 .....................................2-7
2.6.2 2.6.2 T To start the program using the external PLC etc. o start the program using the external PLC etc. ......................................................................2-7 ......................................................................2-7
2.7 2.7 Primary power and the Primary power and the grounding connectio grounding connection .................................................................................2-8 n .................................................................................2-8
2.7.1 2.7.1 Prior to Primary powe Prior to Primary power supply connection r supply connections s ...............................................................................2-8 ...............................................................................2-8
2.7.2 2.7.2 Assembling the Assembling the Primary power Primary power supply cable.......................................................... supply cable............................................................................. ................... 2-9 2-9
2.7.3 2.7.3 Connecting the Prim Connecting the Primary power supply cabl ary power supply cable e ...........................................................................2-10 ...........................................................................2-10
2.7.4 2.7.4 Grounding Grounding ................................................................................. ................................................................................................................................2-10 ...............................................2-10
2.8 2.8 Safety-related si Safety-related signal connection gnal connections s .................................................................................. .................................................................................................. ................ 2-1 2-11 1
2.8.1 2.8.1 Sequence board ................................................................................................................. Sequence board ...................................................................................................................... ..... 2-1 2-11 1
2.8.2 2.8.2 T Terminal block TBEX1 and TBEX2 erminal block TBEX1 and TBEX2 ............................................................................... .......................................................................................... ........... 2-12 2-12
2.8.3 2.8.3 Pin layout of the terminal block TBEX1 and TBE Pin layout of the terminal block TBEX1 and TBEX2 X2................................................................2-13 ................................................................2-13
2.8.4 2.8.4 Electrical specification o Electrical specification of input terminal block f input terminal block .........................................................................2-16 .........................................................................2-16