Mitsubishi Electric CR750 Series Manual

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■Wiring diagramThe short‐connector has to be inserted into the correctpoint to change encoder type. Please insert the short‐connector according to encoder type in reference to thefollowing figures. Please refer to “Tracking Function Manual”for the details about wiring directions for the robot controller.Item Specification RemarksModel name 2F‐YZ581Supported robot RH‐SDH series / RV‐SD series, RH‐SQH series / RV‐SQ seriesRH‐F‐D series / RV‐F‐D series, RH‐F‐Q series / RV‐F‐Q seriesCR750/CR751 series controllerCRn‐700 series controllerEncoder input 2 channel Only 1 channel availableSupported encoder Output type: Open collector output/Voltage output/Line driver outputResolution(pulse／rotation) : max 2000(non‐compliant 4000 , 8000)Operation checked encoder: E6B2‐CWZ1X‐2000 (omron)Supported encoder could be changedwith the shorting connector. Refer towiring diagram for detail.Cable Type：Shielded twisted‐pair cableConductor size:：Refer to Wiring directionsCable length：Refer to Communication specificationsOutputchannelsFor robot controller 4 channels (in the case two encoders are connected)8 channels (in the case one encoder is connected)Enable to increase the number ofoutput channel by cascade.For cascading 1 channelOutput type Line driver outputPowersupplyInput voltage 24Vdc（±10%）Power consumption 500mA Depends on the encoder type.Encoder supply Voltage: 5Vdc, Current: 160mA, 2 channelProtection specification IP20Ambient environment General environment Without inflammable gas or corrosivegasAmbient air temperature 0℃～40℃Ambient humidity 45～85% Without dew dropsMass Approx. 600 g■SpecificationsMitsubishi Industrial RobotEncoder Distribution Unit ManualCR750/CR751 series controllerCRn‐700 series controller■IntroductionEncoder distribution unit 2F‐YZ581 is used when one rotary encoder is connected to multiple robot controllers whenthe 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 .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, orit could suffer damage.Do not drop this unit.Place this unit on an even surface, free from vibration.ENC1IN ENC1OUT1Encoder distribution unitEncoder 124V（Power supply）ENC1CSCEncoder distribution unit24V（Power supply）Encoder 2Encoder 1 cascadeEncoder 2 cascadeEncoder 1 distributionEncoder 2 distributionENC1OUT2ENC1OUT3ENC1OUT4ENC2OUT1ENC2OUT2ENC2OUT3ENC2OUT4ENC2CSCDC24ENC2INRobot controllerRobot controllerRobot controllerRobot controllerRobot controllerRobot controllerRobot controllerRobot controllerENC1IN ENC1OUT1ENC1CSCEncoder 2 distributionENC1OUT2ENC1OUT3ENC1OUT4ENC2OUT1ENC2OUT2ENC2OUT3ENC2OUT4ENC2CSCDC24ENC2INEncoder 1 distributionNo. Encoder type Short‐connector point1 Line driver output MODE12 Open collector outputVoltage outputMODE2■Configuration diagramThe connection method differs according to the number of encoders and robot controllers. Connect instruments byreferring to the following examples of configurations. Please have power supply and encoders ready.Configuration example 1Encoder : 1 unitRobot controller : 4 unitsEncoder distribution unit : 1 unit*Please do not wire the unused terminal blocks.ENC1IN ENC1OUT1Encoder distribution unitEncoder 124V（Power supply）ENC1CSCEncoder 1 cascadeEncoder 1 distributionENC1OUT2ENC1OUT3ENC1OUT4ENC2OUT1ENC2OUT2ENC2OUT3ENC2OUT4ENC2CSCDC24ENC2INRobot controllerRobot controllerRobot controllerRobot controllerEncoder distributionConfiguration example 3Encoder : 2 unitsRobot controller : 4 unitsEncoder distribution unit : 1 unitENC1IN ENC1OUT1Encoder distribution unitEncoder 124V（Power supply）ENC1CSCEncoder 1 cascadeEncoder 1 distributionEncoder 2 distributionENC1OUT2ENC1OUT3ENC1OUT4ENC2OUT1ENC2OUT2ENC2OUT3ENC2OUT4ENC2CSCDC24ENC2INRobot controllerRobot controllerRobot controllerRobot controllerRobot controllerRobot controllerRobot controllerRobot controllerConfiguration example 2Encoder : 1 unit (Line driver output encoder only)Robot controller : 8 unitsEncoder distribution unit : 1 unit*Please do not wire the unused terminal blocks.Connection betweenENC1CSC and ENC2INis needed*Please do not wire the unused terminal blocks.Connection betweenEncoder distribution unitsis needed.Connection between Encoder distribution units is needed toconnect the encoder to more than five robot controllers. Refer tothe wiring diagram and the enclosed area below .Connection for cascadeBFP‐A3300BFP‐A3300Power supply 0V+24VABABDC24ENC1IN /ENC2INZZENC1OUT1‐ENC1OUT4 /ENC2OUT1‐ENC2OUT4ABABZZENC1CSC / ENC2CSCABABZZGNDGNDGNDGNDV5GNDGNDSLDRobot controllerEncoder type: Line driver output (MODE1)Line driver outputMODE1MODE2Short‐connectorEncoder distribution unitEncoder distribution unitENC1IN/ENC2INEncoder1 /Encoder2ABBZZV50V0V0VA‐+ABABZZ0V0VABABZZ0V0VPower supply 0V24VABDC24ENC1IN /ENC2INZENC1OUT1‐ENC1OUT4 /ENC2OUT1‐ENC2OUT4ABABZZENC1CSC / ENC2CSCABABZZGNDGNDGNDGNDV5GNDGNDSLDRobot controllerVoltage outputOpen collector outputEncoder type: Open collector output / Voltage output (MODE2)MODE1MODE2Short‐connectorEncoder distribution unitEncoder distribution unitENC1IN/ENC2INEncoder1 / Encoder2ABABZZ0V0VABABZZ0V0V‐+ABBZZV50V0V0VA

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