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Contents
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Page
3.8.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-93
(1) CR750 controller ....................................................................................................................................................... 3-93
(2) CR751 controller ....................................................................................................................................................... 3-94
3.9 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-97
(1) CR750 controller ....................................................................................................................................................... 3-98
(2) CR751 controller ....................................................................................................................................................... 3-98
3.10 Options .................................................................................................................................................................................... 3-99
(1) Teaching pendant (T/B) ...................................................................................................................................... 3-100
(2) Parallel I/O interface ............................................................................................................................................ 3-103
(3) External I/O cable .................................................................................................................................................. 3-108
(4) Parallel I/O unit ...................................................................................................................................................... 3-110
(5) External I/O cable .................................................................................................................................................. 3-121
(6) CC-Link interface .................................................................................................................................................. 3-123
(7) RT ToolBox2/RT ToolBox2 mini ...................................................................................................................... 3-126
(8) Instruction Manual (bookbinding) ..................................................................................................................... 3-128
3.11 Maintenance parts ........................................................................................................................................................... 3-129
4 Software ......................................................................................................................................................................................... 4-130
4.1 List of commands ............................................................................................................................................................... 4-130
4.2 List of parameters .............................................................................................................................................................. 4-133
5 Instruction Manual ..................................................................................................................................................................... 5-135
5.1 The details of each instruction manuals ................................................................................................................... 5-135
6 Safety .............................................................................................................................................................................................. 6-136
6.1 Safety ...................................................................................................................................................................................... 6-136
6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-136
6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-137
6.1.3 Precautions for using robot .................................................................................................................................... 6-137
6.1.4 Safety measures for automatic operation ........................................................................................................ 6-138
6.1.5 Safety measures for teaching ............................................................................................................................... 6-138
6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-138
6.1.7 Examples of safety measures ................................................................................................................................ 6-139
(1) CR750 controller ..........................................
.......................................................................................................... 6-139
(2) CR751 controller .................................................................................................................................................... 6-144
(3) External emergency stop connection [supplementary explanation] ................................................. 6-149
6.2 Working environment ......................................................................................................................................................... 6-152
6.3 Precautions for handling .................................................................................................................................................. 6-152
6.4 EMC installation guideline ............................................................................................................................................... 6-154
6.4.1 Outlines ........................................................................................................................................................................... 6-154
6.4.2 EMC directive ............................................................................................................................................................... 6-154
6.4.3 EMC measures ............................................................................................................................................................. 6-155
6.4.4 Component parts for EMC measures ................................................................................................................. 6-155
(1) Ferrite core ............................................................................................................................................................... 6-155
(2) Line noise filter ....................................................................................................................................................... 6-155
7Appendix ........................................................................................................................................................................... Appendix-156
Appendix 1 ： Specifications discussion material ........................................................................................ Appendix-156