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■Revision history
Date of print Specifications No. Details of revisions
2012-03-13 BFP-A8878
・First print.
2012-03-21 BFP-A8878-A
・ The painting color was corrected. (Error in writing)
・ Notes were added to the example of safety measures. (The measure against the noise, The
electric specification of the output terminal)
2012-04-04 BFP-A8878-B
・ CE marking specification was added.
2012-05-17 BFP-A8878-C
・ The position repeatability was corrected (improvement).
･ ON voltage/ON current and OFF voltage/ OFF current of the parallel input-and-output
interface were corrected (error in writing).
・ The mechanical stopper position to change the operating range to +/-130 degree was
corrected to N12 (Error in writing)
2012-06-05 BFP-A8878-D
・ Limitation of the electric current value of the relays (coil) connected to the external
emergency stop input was added.
・ The connection method of the Fig.3-27 ： AXMC terminal connector (CR750) corrected to
"soldering."
・ The description of the capability value of pose repeatability was deleted.
2012-09-03 BFP-A8878-E
・ The connector name of hand input signal/output signal of "Fig.2-24: Wiring and piping for
hand" was corrected.
・ The power supply capacity was corrected.
2012-10-04 BFP-A8878-F
・ The notes were added to "Fig 3-24: Example of EMC noise filter installation".
・ The lithium battery (ER6) was added to The United Nations’Recommendations on the
Transport of Dangerous Goods.
・ The notes about installation of the controller and the robot arm were added. (neither direct
rays nor the heat of lighting)
2012-10-11 BFP-A8878-G
・ “Table 1-1: Combination of the robot arm and the controller” was corrected.
2012-11-20 BFP-A8878-H
・ The statement about trademark registration was added.
･ The notes about the input-output connected to the controller were added. (do not ground
the + side of 24V power supply prepared by customer)
・ ”Declaration of Incorporation” was updated.
・ The metal plate which fixes "Hand internal wiring and piping set (option)" was changed to
attachment of the robot arm in standard.
2013-01-11 BFP-A8878-J
・ EC-Statement of Compliance was updated.
・ Note of the external emergency stop were added (opens the connector terminal at factory
shipping).
・ The connectors of RH-3FH series machine cable (AMP1, AMP2, BRK) were combined as
CN1 connector.
・ Type names of machine cables (option, special specifications) were changed. (No-CE
specification)
2013-02-15 BFP-A8878-K
・ Type name of CR751 controller was corrected. (formerly: CR751-03HD-0)
2013-07-19 BFP-A8878-M
・ The simple spanner for resin nuts was added to the attachments of the external wiring/
piping box (option).
・ ”Declaration of Incorporation” and “EC-Statement of Compliance” were updated.
・ ”Fig.2-28: Wiring and piping system diagram for hand and example the solenoid valve
installation” was modified.
・The cautions of operating in a low temperature environment or after a prolonged stop in ”6.3
Precautions for handling” were modified.
・ The caution about fumigation of wood packing was added to ”6.3 Precautions for handling”.
2013-09-19 BFP-A8878-N
・ ”Fig.6-11: Limitations when connecting the relay etc. (CR750)” and ”Fig.6-12: Limitations
when connecting the relay etc. (CR751)” were corrected.
(Error output → Emergency stop output, Contactor controleoutput for additional axes →
Error output)
・ The descriptions of CR751-03HD1-0-S15 (CE marking specification controller) were added.
・ Type name of CR751 controller was corrected. (formerly: CR751-03HD)
・ The dimensions of screw hole position for fixing user wiring/p
iping were added.
・ The following descriptions of (5) in ”Fig.2-24 ： Wiring and piping for hand” were corrected.
The power source wire only for the multifunctional hand → Spare wire
The connector pins name of robot side and connector name of counter side were added.
The connector pins name of counter side was corrected.
・ The descriptions of solenoid valve set were corrected, and explanations were added.
・ ”Fig.2-28 ： Wiring and piping system diagram for hand and example the solenoid valve
installation” was corrected.
・ The useable length from the shaft end of Internal Wiring/Piping set for hand was corrected.
・ The descriptions about the ventilation duct which the robot of clean specification has were
corrected.