CFD CONTROLLER INSTRUCTION MANUAL OPTION (HARDWARE) ad Tene a Brake Raat Swich FOTI-OPBDE GonoerProtcton BOX CFO.OPISA | CADLOPROAB] GFOLOPIIES Tech Pendant Extension Cale cFOTP-ROAT Usb meron FOTDPISAIGH) FON OPES HASH) Comeyor tang CFDOPAT-A “onal Sono Re FDOEA] Power Sore Votage/ACTaOV) CrOOFEA EOLOPIEEA HOOPER crop1esD CE gpceaion CrOCER eal perenne Comes Tefal —CFD-OP 20.8 Two robes synchronizing (MZ eres) cFOOPEBA Robot Monitrng Uni{ MU) 6th Edition Before attempting to operate the robot, please read through this operating manual carefully, and comply with all the safety-related items and instructions in the tex. “The installation, operation and maintenance of this robot should be undertaken only by those individuals who have attended one of our robot course. +When using this robot, observe the low related with industrial robot and with safely issues in each country. ‘This operating manual must be given without fail to the individual who will be actually ‘operating the robot. Please direct any queries about parts of this operating manual which may not be ‘completely clear or any inquiries concerning the after-sale service ofthis robot to any of the service centers listed on the back cover. NACHI-FUJIKOSHI CORP.CONTENTS ‘This manual contains the installation and instruction of following CFD/CFDL controller's hardware options. na REE REE JAPANESE ENGLISH 4 FU-FRRA19F Brake release switch 2 TY H—3Ri BOX controller protection box 3 FRYE HERP “Teach pendant additional cable 4 USB AED USB memory 5 [APSA ener ving iaee 8 sagas adios ae 7 [RaRE REACTION) THIVA Powe ses ope 8 (Ditty Mi #2 iat (RMU) Robot Monitoring Unit [ce te CE mang specie 10, FREER TF ‘Extemal operation panel connection terminal block a 2 Sth (MZ YZ) ‘Two robots synchronizing (MZ seres) ‘Above No. is the chapter No. of this instruction manual (Supplement) Please refer to the following manual as well “CFD/CFDL Controller Instruction Manual / Option (\/O Connection)” (TCFEN-183) instruction Manual / Option (MZ series) “instruction Manual / Option (EZ series) “instruction Manual / Option (MC10S series)” (TCFEN-184) (TCFEN-185) (TCFEN-187)SI Chapter 1 Brake Release Switch This option is used to release the brake in one motor, This is useful forthe situation such as that motor power cannot be turned ON because of servo error, or operator is. pinched by robot arm. Name Specification Paris No. Remarks Brake Release Switch _| Forcible releasing of brake in one motor FD11-0P90-E For detail, please refer to the instruction manual below. 1MZ07 series /MZ03 EL Instruction manual / MANIULATOR MZ07-01[CFO)’, 3.5 Forcible brake release (option) MZ04 series Instruction manual / MANIULATOR MZ04-01[CFDY, 3.5 Forcible brake release (option. MC10S series Instruction manual / Manipulator MC'10S-01[CFD3000 / FD11] "4.5 Releasing the brake (option)" Brake Release Switch 14SESE NOTE 42Chapter2 Controller Protection Box Chapter 2 Controller Protection Box 2.1 CFD-OP133-A (CFD-0000) This option is used for upgrading to IP54 equivalent CFD-0000 controller by preparing dust-proof and drip-proof box. This is suitable for using in harsh environments, (Ex: Machining line) (CFD-0000 controller is installed inside this box. Name Controller Protection Box Speciication Paris No, Remarks Upgraded to 1P54 equivalent by preparing | cep.op13a. ’ dust-proof and drip-proof box CFD-OP 133-4 | CFD-0000 Basic Specification of Controller Protection Box Tem Size Description W540 xD700 xH270 Wass Instaling environment ‘Ambient temperature ‘Approx. 19 Kg Not needed to keep distance from the wall Height from floor to the power switch should be between 0.6 m and 1.9 m. Conditions of ambient temperature, in case of using Controller Protection box, are shown below. ‘The temperature condition varies depending on the CPU used. FDCPU10-10: 0 to 30 degree(Celsius) FDCPU10-20: 0 to 40 degree(Celsius) power supply (Prepared by Power customer) connector opera Pavel Controller Protection Box FAN motor Robot Connection of Controller Protection Box 2op on Rear view = == 7, Left side view Top view Right side view oo? Front view Controller Protection Box [RR PRI Emergency Stop Button 7 2 MAF Power Switch = ‘7 AC INPUT. ~ 8 Power connector AC INPUT [S—KuRA4oF] Mode selector switch (TEACH) (PLAYBACK) SOLO © @ ‘Operating panel of Controlier Protection Box 2-2ESAT 2.1.2 Assembling Controller Protection Box Main contained parts Tho Name Type Paris No) NS Controller Protection Box RDTZOT 2 Rubber bush KDT-10 KOT-13 3 iting metal 7 "To fx bottom of controller 4 Fiting metal 2 “To fixleft side of controller 5 ‘Operating switch relay panel 6_[ Operating switch extending cable 7 Plug NIW-204-PFIZ 8 Cable tie ‘SG-100, 9 ‘Screw M3xBmm 10 ‘Screw Maxemm ‘Assemble controller protection box by following to the procedure written below. Step Work performed Remove “Operating switch panel" of CFD controller. Operating switch panel Cable routing pane! Remove “Cable routing panel” and disconnect cables which are connected to “Operating switch pane’ Front view of CFD controller Connect “Operating _ switch extending cable” and "Operating 2 Switch relay panel” instead of ‘Operating switch panel”. ‘Attach “Fitting metal and “Fitting metal 2"to CFD controller with screws, (M3x8mm), Fitting metal 2 Fitting metal 1 (iF rubber stand is fixed on controler, please remove it) ‘ Remove this fiter plate. 23Eee FIXGFD controler to “Controller protection box" with screws (MéxBmm). ‘Sorew Fix “Hames” with “Cable mult routing panel Cable mult routing pane! Attach “Operating switch pane” which is removed in step 1, to “Controller protection box’ Connect cables for operation switches to “Operating switch extending cable” which is connected in step 2, i ‘Top view Fix 70 cables on “Gable clamp portion’ with rubber bush. Cable clamp portion 24EAT 2.1.3 Connection of Primary Power = Primary power supply Power to CFO-0000 controller is supplied from Controller Protection Box. Customer is responsiole fr proving the primary power supply to Controller Protection Box Power connector is shipped with Controller Protection Box. Rating of primary power ‘Manipulator used in combination’ Rated voltage. Power handling capaoiy™™ MZ series. Bphase: AC200V-230V_ 04 KVA (MZ04 | MZ0? / MZO3EL) Single-phase: AC200V-230V ES series (10%, -10%) (E$06 / ES12) 50/60 Hz OS kVA (Note) Varies according tothe application and operation paler Connector pin Tayout Seeing from the soldering side PIN Connection No. To phase ‘Single-phase ‘AC200V. AC200V 1 | ACzO0V Repase Rea) | _ACZOOV Rephase (Red) 2 | AC200V S-phase (ie) - Applicable cable diameter 3 | Acz00v phase (Black) | _AC200V phase (Black) {0~12.5 [mm] 4 [Ground (Greeni¥etow) | Ground (Green/ellow) Connector type Nanaboshi Electric Mfg.Co.,Lid NJW.204-PF12 Primary power supply cable connection Primary power supply cable specification Cross-section of ‘Cross-section of Manipulator used in combination eee eae MZ series CFD (MZ04 / MZO7 / MZO3EL} ES series (E806 /ES12 4.25mm? ANGIE 4.25mm? AWG1S = Grounding ‘To ensure safety, use the grounding method (type D ground) (Customer is responsible for providing the grounding wires.) ~ Ensure that the robot controller power cable is larger than 1.25 mm, and ground cable is larger than 1.25 mm? ~ Set the ground resistance to less than 100 ohms. = Leakage breaker Please use a leakage breaker that satisfies the following specification Rated current: 10A or more / For inverter / Middle sensitivity type (100mA or more) 25