Mitsubishi Electric CR750 Series Manual

Mitsubishi Industrial Robot
Encoder Distribution Unit Manual
CR750/CR751 series controller
CRn‐700 series controller
BFP‐A3300
Configuration example 2
Encoder : 1 unit (Line driver output encoder only)
Robot controller : 8 units
Encoder distribution unit : 1 unit
Encoder 1 distribution
Encoder distribution unit
24V
DC24
（Power supply）
Encoder 1
ENC1OUT1
ENC1IN
ENC1OUT2
Encoder 1 cascade
ENC1OUT3
ENC1CSC ENC1OUT4
ENC2OUT1
ENC2IN
ENC2OUT2
ENC2OUT3
Connection between
ENC2CSC ENC2OUT4
ENC1CSC and ENC2IN
is needed
Encoder 2 distribution
*Please do not wire the unused terminal blocks.
Precautions
Do not use the unit in excess of rated voltage or it could suffer damage.
Wire the power supply correctly or it could suffer damage.
Wire the cable in the shortest path in order to avoid noise.
Do not short or ground the output signal, or it can be burst or damaged.
Make sure the unit is turned off when wiring, inserting or pulling out of the connector, or
it could suffer damage.
Do not drop this unit.
Place this unit on an even surface, free from vibration.
■Introduction
Encoder distribution unit 2F‐YZ581 is used when one rotary encoder is connected to multiple robot controllers when
the tracking function is used. The details of 2F‐YZ581 are described in this sheet. For details of the tracking function,
please refer to the "Tracking function manual" attached to the robot .
■Configuration diagram
The connection method differs according to the number of encoders and robot controllers. Connect instruments by
referring to the following examples of configurations. Please have power supply and encoders ready.
Configuration example 1
Encoder distribution unit
Encoder : 1 unit
24V
Robot controller : 4 units DC24
（Power supply）
Encoder distribution unit : 1 unit
Encoder 1
ENC1IN
Encoder 1 cascade
ENC1CSC
ENC2IN
*Please do not wire the unused terminal blocks.
ENC2CSC
Configuration example 3
Connection between Encoder distribution units is needed to
Encoder : 2 units
connect the encoder to more than five robot controllers. Refer to
Robot controller : 4 units
the wiring diagram and the enclosed area below
Encoder distribution unit : 1 unit
Encoder distribution unit
Robot controller
24V
DC24
（Power supply）
Encoder 1
Robot controller
ENC1IN
Encoder 1 cascade
Robot controller
ENC1CSC
Encoder 2
Robot controller
ENC2IN
Encoder 2 cascade
Robot controller
ENC2CSC
Robot controller
Encoder distribution unit
Robot controller
24V
DC24
（Power supply）
Robot controller
ENC1IN
ENC1CSC
ENC2IN
Connection between
Encoder distribution units
is needed.
ENC2CSC
*Please do not wire the unused terminal blocks.
■Specifications
Model name
Supported robot
Encoder input
Supported encoder
Cable
Output
channels
Output type
Power
supply
Encoder 1 distribution
Protection specification
Robot controller
Ambient environment
Robot controller
Ambient air temperature
ENC1OUT1
ENC1OUT2 Ambient humidity
ENC1OUT3 Robot controller
Mass
ENC1OUT4
■Wiring diagram
The short‐connector has to be inserted into the correct
Robot controller
ENC2OUT1
point to change encoder type. Please insert the short‐
ENC2OUT2
connector according to encoder type in reference to the
ENC2OUT3
following figures. Please refer to "Tracking Function Manual"
ENC2OUT4 Encoder distribution for the details about wiring directions for the robot controller.
Encoder type: Line driver output (MODE1)
.
Encoder1 /Encoder2
Encoder 1 distribution
Robot controller
ENC1OUT1
ENC1OUT2
Robot controller
ENC1OUT3
ENC1OUT4
Robot controller
ENC2OUT1
ENC2OUT2
ENC2OUT3
Robot controller
ENC2OUT4
Encoder type: Open collector output / Voltage output (MODE2)
Encoder 2 distribution
Connection for cascade
Encoder 1 distribution
Encoder1 / Encoder2
Robot controller
ENC1OUT1
Voltage output
ENC1OUT2 Open collector output
Robot controller
ENC1OUT3
ENC1OUT4
Robot controller
ENC2OUT1
ENC2OUT2
ENC2OUT3
Robot controller
ENC2OUT4
Encoder 2 distribution
Item Specification
2F‐YZ581
RH‐SDH series / RV‐SD series, RH‐SQH series / RV‐SQ series
RH‐F‐D series / RV‐F‐D series, RH‐F‐Q series / RV‐F‐Q series
2 channel
Output type: Open collector output/Voltage output
/Line driver output
Resolution(pulse／rotation) : max 2000
(non‐compliant 4000 , 8000)
Operation checked encoder: E6B2‐CWZ1X‐2000 (omron)
Type：Shielded twisted‐pair cable
Conductor size:：Refer to Wiring directions
Cable length：Refer to Communication specifications
For robot controller 4 channels (in the case two encoders are connected)
8 channels (in the case one encoder is connected)
For cascading 1 channel
Line driver output
Input voltage 24Vdc（±10%）
Power consumption 500mA
Encoder supply Voltage: 5Vdc, Current: 160mA, 2 channel
IP20
General environment
0℃～40℃
45～85%
Approx. 600 g
No.
1 Line driver output
2 Open collector output
Voltage output
Encoder distribution unit
A A A
A A A
B B
B
B B B
Z Z Z
Z Z
Z
GND 0V 0V
Line driver output
GND 0V 0V
0V
SLD
ENC1IN /
ENC1OUT1‐ENC1OUT4 /
5 V 5 V
ENC2IN
ENC2OUT1‐ENC2OUT4
‐
0V
Power supply A
+
+24V DC24 A
B
B
MODE1
Z
Z
Short‐connector
0V
MODE2
ENC1CSC / ENC2CSC
0V
Encoder distribution unit
A A
A
A A
B B B
B B
Z Z Z
Z Z
GND 0V 0V
0V 0V
GND
SLD 0V
ENC1IN /
ENC1OUT1‐ENC1OUT4 /
5 V 5 V
ENC2IN
ENC2OUT1‐ENC2OUT4
‐
0V A
Power supply
+
24V A
DC24
B
B
MODE1
Z
Z
0V
MODE2
ENC1CSC / ENC2CSC 0V
Short‐connector
Remarks
CR750/CR751 series controller
CRn‐700 series controller
Only 1 channel available
Supported encoder could be changed
with the shorting connector. Refer to
wiring diagram for detail.
Enable to increase the number of
output channel by cascade.
Depends on the encoder type.
Without inflammable gas or corrosive
gas
Without dew drops
Encoder type Short‐connector point
MODE1
MODE2
A
A
B
B
Robot controller
Z
Z
GND
GND
A
A
B
Encoder distribution unit
B
Z ENC1IN/ENC2IN
Z
GND
GND
A
A
B
B
Robot controller
Z
Z
GND
GND
A
A
B
Encoder distribution unit
B
Z ENC1IN/ENC2IN
Z
GND
GND
BFP‐A3300