Mitsubishi Electric CR800-D Series, Стандартные технические условия

Страница: 34 / 128

2 Robot arm
2-22
2.5.4 Air supply circuit example for the hand
An example of pneumatic supply circuitry for the hand is shown below.
1) Make sure that a surge voltage protection circuit such as a diode is connected to the solenoid coil in
parallel.
2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there
can be damage to the work. To prevent it, install a pressure switch to the source of the air as shown
in
Fig. 2-6 and use the circuit described so that the robot stops when pressure drops. Use a hand
with a spring-pressure clamp, or a mechanical lock-type hand, that can be used in cases where the
pressure switch becomes damaged.
3) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air tempera-
ture, the dew condensation may occur on the coupling or the hose surface.
Fig.2-6: Air supply circuit example for the hand
2.5.5 About the Installation of Tooling Wiring and Piping
The customer is required to provide tooling wiring, piping and metal fixtures.
Screw holes are provided on the robot arm for the installation of tooling wiring, piping and metal fixtures.
(Refer to the
Page 17, "2.4 Outside dimension • Operating range diagram" .)
The length of wiring and piping and the installation position on the robot must be adjusted according to the
work to be done by the robot. Please use the following example as reference.
<Precautions>
• After performing wiring and piping to the robot, operate the robot at low speed to make sure that each part
does not interfere with the robot arm and the peripheral devices.
• If you install metal fixtures and a solenoid valve using the screw holes on the No.2 arm portion, add the
mass of the metal fixtures and the solenoid valve to mass of a hand and set to parameter: HNDDAT. More-
over, Fix the parts, such as a solenoid valve, firmly to prevent the parts getting shaky during operation of a
robot.
• Hand signals (900 to 907) are not available.
エア源
(クリーンエアー)
0.7MPa以下
フィルター
レギュレーター
圧力スイッチ
ロボット本体のAIR INへ
(MAX0.54MPa)
Regulator Filter
Pneumatic source
(Clean)
0.7MPa or less
Pressure switch
To the AIR IN (Robot arm)
(MAX. 0.54MPa)