MITSUBISHI

Mitsubishi Industrial Robot

CR2/CR2A/CR2B Controller
INSTRUCTION MANUAL
Controller setup, basic operation, and maintenance

BFP-A5991-K
 The operation-lock of the power switch
The power switch has operation-lock function. It is the mechanism in which the mistaken power supply ON is prevented
with the padlock etc. at the time of the maintenance of the robot system. Prepare lock devices, such as the padlock, by the
customer.
The usage of lock function is shown in the following.
CR2B-500 series

Padlock (prepare by customer)

Power switch

Lock plate (attached)

Handle

Lock cover (attached)

CAUTION Do not operate the trip test by the trip

button in the state of the power switch
locked at OFF position.
The Lock plate is installed strongly.
Pull strongly and remove.

The lock device which can be used

Dimension of the padlock

Dimension (mm)
A B C
25 14 4mm or less
 Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.

CAUTION All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
→ Enforcement of safety training

CAUTION For teaching work, prepare a work plan related to the methods and procedures of oper-
ating the robot, and to the measures to be taken when an error occurs or when restart-
ing. Carry out work following this plan. (This also applies to maintenance work with the
power source turned ON.)
→ Preparation of work plan

WARNING Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
→ Setting of emergency stop switch

CAUTION During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
→ Indication of teaching work in progress

WARNING Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
→ Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work, and follow
this method.
→ Signaling of operation start

CAUTION As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
→ Indication of maintenance work in progress

CAUTION Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
→ Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.

CAUTION Use the robot within the environment given in the specifications. Failure to do so could
lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environ-
ment, etc.)

CAUTION Transport the robot with the designated transportation posture. Transporting the robot
in a non-designated posture could lead to personal injuries or faults from dropping.

CAUTION Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.

CAUTION Wire the cable as far away from noise sources as possible. If placed near a noise source,
positional deviation or malfunction could occur.

CAUTION Do not apply excessive force on the connector or excessively bend the cable. Failure to
observe this could lead to contact defects or wire breakage.

CAUTION Make sure that the workpiece weight, including the hand, does not exceed the rated load
or tolerable torque. Exceeding these values could lead to alarms or faults.

WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to observe
this could lead to personal injuries or damage if the object comes off or flies off during
operation.

WARNING Securely ground the robot and controller. Failure to observe this could lead to malfunc-
tioning by noise or to electric shock accidents.

CAUTION Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.

WARNING When carrying out teaching work in the robot's movement range, always secure the pri-
ority right for the robot control. Failure to observe this could lead to personal injuries or
damage if the robot is started with external commands.

CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with peripheral
devices because of programming mistakes, etc.

CAUTION Make sure that if the safety fence entrance door is opened during automatic operation,
the door is locked or that the robot will automatically stop. Failure to do so could lead to
personal injuries.

CAUTION Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.

WARNING When the robot arm has to be moved by hand from an external area, do not place hands
or fingers in the openings. Failure to observe this could lead to hands or fingers catching
depending on the posture.

CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF.
If the robot controller main power is turned OFF during automatic operation, the robot
accuracy could be adversely affected.

CAUTION Do not turn off the main power to the robot controller while rewriting the internal
information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic operation or
rewriting the program or parameters, the internal information of the robot controller may
be damaged.
WARNING For using RH-5AH/10AH/15AH.
While pressing the brake releasing switch on the robot arm, beware of the arm
which may drop with its own weight.
Dropping of the hand could lead to a collision with the peripheral equipment or
catch the hands or fingers.
 Revision history
Date of print Specifications No. Details of revisions

1999-06-16 BFP-A5991Z-* ・ First print

1999-09-24 BFP-A5991Z-a ・ Error in writing correction.

1999-11-12 BFP-A5991 ・ Error in writing correction.

2000-03-21 BFP-A5991-A ・ "Removing and Installing the R6CPU Option Fixing Plate" is added.
・ "The procedures for installing the pneumatic hand interface" is added.
・ "Replacing the battery" is changed.
・ Error in writing correction.

2000-12-18 BFP-A5991-B ・ Error in writing correction.

2001-04-05 BFP-A5991-C ・ CR2A controller was added.

2001-06-28 BFP-A5991-D ・ CR2-532M controller was added.

2001-10-31 BFP-A5991-E ・ Standard configuration of RH-5AH series was added.

2002-02-20 BFP-A5991-F ・ Error in writing correction.

2002-03-18 BFP-A5991-G ・ CR2A-MB (controller protection box) was added.

・ Error in writing correction.
2003-01-27 BFP-A5991-H ・ "Cleaning of the radiating fins in the controller protection box (CR2A-MB)" was added.
・ "Removal of the protection sheet on the teaching pendant" was added.
・ "MC control output (AXMC) for addition axes" was added.
・ Error in writing correction.

2003-10-29 BFP-A5991-J ・ CR2B-574 controller was added.

・ Error in writing correction.

2009-09-30 BFP-A5991-K ・ The EC Declaration of Conformity was changed.

(Correspond to the EMC directive; 2006/42/EC)
■ Introduction

Thank you for purchasing the Mitsubishi industrial robot.

This instruction manual explains the unpacking methods, installation, basic operation, maintenance and
inspection of the controller.
The optional equipments and power supply voltage are different according to connecting robot type.
Refer to separate "Standard Specifications Manual" for detail.
Always read through this manual before starting use to ensure correct usage of the robot.
The information contained in this document has been written to be accurate as much as possible. Please
interpret that items not described in this document "cannot be performed."

・ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The details of this manual are subject to change without notice.
・ An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your dealer.
･ The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm may
occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
･ This Instruction Manual is original.

Copyright(C) 2003-2009 MITSUBISHI ELECTRIC CORPORATION

 Contents
Page
1 Before starting use ......................................................................................................................................................................... 1-1
1.1 Using the instruction manuals ............................................................................................................................................ 1-1
1.1.1 The details of each instruction manuals ................................................................................................................ 1-1
1.1.2 Symbols used in instruction manual ........................................................................................................................ 1-2
1.2 Safety Precautions ................................................................................................................................................................. 1-3
1.2.1 Precautions given in the separate Safety Manual ............................................................................................. 1-4

2 Unpacking to installation .............................................................................................................................................................. 2-5

2.1 Confirming the products ....................................................................................................................................................... 2-5
2.2 Installation .................................................................................................................................................................................. 2-6
2.2.1 Unpacking procedures ................................................................................................................................................... 2-6
2.2.2 Transportation procedures .......................................................................................................................................... 2-8
2.2.3 Installation procedures .................................................................................................................................................. 2-9
2.2.4 Connecting the power cable and grounding cable ........................................................................................... 2-11
2.2.5 Connecting the external emergency stop ........................................................................................................... 2-14
2.2.6 Magnet contactor control connector output (AXMC) for addition axes
(When using the CR2A-572/CR2B-574 controller) ........................................................................................................... 2-16
2.2.7 Connecting to the robot arm .................................................................................................................................... 2-17
2.3 Setting the origin ................................................................................................................................................................... 2-17
2.4 Confirming the operation .................................................................................................................................................... 2-17

3 Installing the option devices ..................................................................................................................................................... 3-18

3.1 For the CR2-532 Controller ............................................................................................................................................. 3-18
3.1.1 Removing and Installing the R6x2CPU Option Fixing Plate ......................................................................... 3-18
3.1.2 The procedures for installing the pneumatic hand interface ...................................................................... 3-20
3.2 For the CR2A-572/CR2B-574 Controller .................................................................................................................. 3-21
3.2.1 Installing the Option Card .......................................................................................................................................... 3-21
3.2.2 The procedures for installing the pneumatic hand interface ...................................................................... 3-22
3.3 For the CR2-532M Controller .......................................................................................................................................... 3-23
3.3.1 Removing and Installing the R6x2CPU (Installing the Option Card ) ....................................................... 3-23
3.3.2 The procedures for installing the pneumatic hand interface ...................................................................... 3-25
3.4 Installation of the controller protection box (CR2A-MB) (CR2A-574 controller only) ........................... 3-26
3.4.1 Name of each part ......................................................................................................................................................... 3-26
3.4.2 Confirmation before installation .............................................................................................................................. 3-27
3.4.3 Unpacking procedures ................................................................................................................................................. 3-27
3.4.4 Transportation procedures ........................................................................................................................................ 3-27
3.4.5 Installation procedures ................................................................................................................................................ 3-28
3.4.6 Handling the protection box ...................................................................................................................................... 3-34

4 Basic operations ............................................................................................................................................................................ 4-35

4.1 Handling the controller ........................................................................................................................................................ 4-36
4.1.1 Functions of each key ................................................................................................................................................. 4-36
4.2 Handling the T/B ................................................................................................................................................................... 4-39
4.2.1 Installing and removing the T/B .............................................................................................................................. 4-39
(1) Installing with the control power OFF .............................................................................................................. 4-39
(2) Removing with the control power ON ............................................................................................................... 4-39
(3) Installing with the control power ON ................................................................................................................ 4-39
4.2.2 Functions of each key ................................................................................................................................................. 4-40
4.3 Turning the power ON and OFF ...................................................................................................................................... 4-42
4.3.1 Turning the control power ON ................................................................................................................................. 4-42
4.3.2 Shutting OFF the control power ............................................................................................................................. 4-42
4.4 Turning the servo power ON/OFF ................................................................................................................................. 4-43
4.4.1 Turning the servo power ON (servo ON) ............................................................................................................. 4-43
4.4.2 Shutting OFF the servo power (servo OFF) ...................................................................................................... 4-43
4.5 Jog operation .......................................................................................................................................................................... 4-44

i
 Page
4.6 Opening and closing the hand .......................................................................................................................................... 4-44
4.7 Programming ............................................................................................................................................................................ 4-45
(1) Creation procedures ................................................................................................................................................ 4-45
(2) Robot work ................................................................................................................................................................... 4-45
4.7.1 Creating the program ................................................................................................................................................... 4-46
(1) Deciding the operation order ................................................................................................................................ 4-46
(2) Deciding the operation position name .............................................................................................................. 4-47
(3) Describing and creating the program ................................................................................................................ 4-48
(4) Confirming the program .......................................................................................................................................... 4-53
(5) Correcting the program .......................................................................................................................................... 4-54
(6) Start automatic operation. .................................................................................................................................... 4-58

5 Maintenance and Inspection ..................................................................................................................................................... 5-60

5.1 Maintenance and inspection interval ............................................................................................................................. 5-60
5.2 Inspection items ..................................................................................................................................................................... 5-61
5.2.1 Daily inspection items .................................................................................................................................................. 5-61
5.2.2 Periodic inspections ..................................................................................................................................................... 5-61
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-62
5.3.1 Inspecting, cleaning and replacing the filter ....................................................................................................... 5-62
5.3.2 Replacing the battery ................................................................................................................................................... 5-63
(1) For the CR2-532 Controller ................................................................................................................................. 5-63
(2) For the CR2A-572/CR2B-574 Controller ...................................................................................................... 5-64
(3) For the CR2-532M Controller ............................................................................................................................. 5-65
5.3.3 Cleaning the heat radiating fins of the controller protection box (CR2A-MB) ................................... 5-66
5.4 Maintenance parts ................................................................................................................................................................. 5-67

ii
 1Before starting use

1 Before starting use

This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the
safety precautions.

1.1 Using the instruction manuals

1.1.1 The details of each instruction manuals
The contents and purposes of the documents enclosed with this product are shown below. Use these documents
according to the application.
For special specifications, a separate instruction manual describing the special section may be enclosed.

Safety Manual Explains the common precautions and safety measures to be taken for robot handling,
system design and manufacture to ensure safety of the operators involved with the
robot.

Standard Explains the product's standard specifications, factory-set special specifications, option
Specifications configuration and maintenance parts, etc. Precautions for safety and technology, when
incorporating the robot, are also explained.

Robot Arm
Setup &
Explains the procedures required to operate the robot arm (unpacking, transportation,
Maintenance
installation, confirmation of operation), and the maintenance and inspection procedures.

Controller
Setup, Basic
Operation and Explains the procedures required to operate the controller (unpacking, transportation,
Maintenance installation, confirmation of operation), basic operation from creating the program to
automatic operation, and the maintenance and inspection procedures.

Detailed
Explanation of
Functions and Explains details on the functions and operations such as each function and operation,
Operations commands used in the program, connection with the external input/output device, and
parameters, etc.

Troubleshooting Explains the causes and remedies to be taken when an error occurs. Explanations are
given for each error No.

Using the instruction manuals 1-1

1Before starting use

1.1.2 Symbols used in instruction manual

The symbols and expressions shown in Table 1-1 are used throughout this instruction manual. Learn the meaning
of these symbols before reading this instruction manual.

Table 1-1 ： Symbols in instruction manual

Symbol Meaning

Precaution indicating cases where there is a risk of operator fatality or seri-

DANGER ous injury if handling is mistaken. Always observe these precautions to safely
use the robot.

Precaution indicating cases where the operator could be subject to fatalities

WARNING or serious injuries if handling is mistaken. Always observe these precautions to

safely use the robot.

Precaution indicating cases where operator could be subject to injury or

CAUTION physical damage could occur if handling is mistaken. Always observe these
precautions to safely use the robot.

If a word is enclosed in brackets or a box in the text, this refers to a key on

［ JOINT ］
the teaching pendant.

This indicates to press the (B) key while holding down the (A) key.
［＋／ Ｆ Ｏ Ｒ Ｗ Ｄ ］ ＋ ［＋ Ｘ ］
In this example, the [+/Forward] key is pressed while holding down the [+X/
（Ａ） （Ｂ）
+Y] key.
This indicates to hold down the (A) key, press and release the (B) key, and
［ Ｓ Ｔ Ｅ Ｐ ／ Ｍ Ｏ Ｖ Ｅ ］ ＋ ([ Ｃ Ｏ Ｎ Ｄ ] → [ Ｒ Ｐ Ｌ ↓ ]）
then press the (C) key. In this example, the [Step/Move] key is held down, the
（Ａ） （Ｂ） （Ｃ）
[Condition] key is pressed and released, and the [Replace ↓ key is pressed.
Ｔ ／Ｂ This indicates the teaching pendant.

1-2 Using the instruction manuals

 1Before starting use

1.2 Safety Precautions

Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn
the required measures to be taken.

CAUTION All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
→ Enforcement of safety training

CAUTION For teaching work, prepare a work plan related to the methods and procedures of oper-
ating the robot, and to the measures to be taken when an error occurs or when restart-
ing. Carry out work following this plan. (This also applies to maintenance work with the
power source turned ON.)
→ Preparation of work plan

WARNING Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
→ Setting of emergency stop switch

CAUTION During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
→ Indication of teaching work in progress

DANGER Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
→ Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work, and follow
this method.
→ Signaling of operation start

CAUTION As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
→ Indication of maintenance work in progress

CAUTION Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
→ Inspection before starting work

Safety Precautions 1-3

1Before starting use

1.2.1 Precautions given in the separate Safety Manual

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.

CAUTION Use the robot within the environment given in the specifications. Failure to do so could
lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise envi-
ronment, etc.)

CAUTION Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from drop-
ping.

CAUTION Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.

CAUTION Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.

CAUTION Do not apply excessive force on the connector or excessively bend the cable. Failure
to observe this could lead to contact defects or wire breakage.

CAUTION Make sure that the workpiece weight, including the hand, does not exceed the rated
load or tolerable torque. Exceeding these values could lead to alarms or faults.

WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or flies
off during operation.

WARNING Securely ground the robot and controller. Failure to observe this could lead to mal-
functioning by noise or to electric shock accidents.

CAUTION Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.

WARNING When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal inju-
ries or damage if the robot is started with external commands.

CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with periph-
eral devices because of programming mistakes, etc.

CAUTION Make sure that if the safety fence entrance door is opened during automatic opera-
tion, the door is locked or that the robot will automatically stop. Failure to do so could
lead to personal injuries.

CAUTION Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.

WARNING When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fingers
catching depending on the posture.

CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF.
If the robot controller main power is turned OFF during automatic operation, the robot
accuracy could be adversely affected.

CAUTION Do not turn off the main power to the robot controller while rewriting the internal
information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic operation or
rewriting the program or parameters, the internal information of the robot controller
may be damaged.
1-4 Safety Precautions
 2Unpacking to installation

2 Unpacking to installation
2.1 Confirming the products
Confirm that the parts shown in the standard configuration of the controller shown in Table 2-1 are enclosed with
the purchased product.
Users who have purchased options should refer to the separate "Standard Specifications". The primary power
supply cable and grounding cable must be prepared by the customer.

Table 2-1 ： Standard configuration

No. Part name Type Qty. Remarks

1 Controller CR2-532
1 of With machine cable.
CR2-532M
these The fixing plate of memory cassette is attached
CR2A-572
units to the CR2A-572/CR2B-574 controller.
CR2B-574

2 Safety Manual BFP-A8006 1 copy

3 Standard Specifications RV-4A/5AJ/3AL/4AJL series type.

BFP-A8026
(CR2-532/CR2-532M controller)
1 of RV-4A/5AJ/3AL/4AJL series type.
BFP-A8228 these (CR2A-572 controller)
copy
BFP-A8174 RH-5AH/10AH/15AH series type.

BFP-A8322 RV-6S series type.

4 Instruction Manual RV-4A/5AJ/3AL/4AJL series type.

BFP-A8034
(Robot arm setup and maintenance) (CR2-532/CR2-532M controller)
1 of RV-4A/5AJ/3AL/4AJL series type.
BFP-A8229 these (CR2A-572 controller)
copy
BFP-A8175 RH-5AH/10AH/15AH series type.

BFP-A8323 RV-6S series type.

5 Instruction Manual
BFP-A5991 1 copy This book
(Controller setup, basic operation and maintenance)

6 Instruction Manual
BFP-A5992 1 copy
(Detailed explanations of functions and operations)

7 Instruction Manual
BFP-A5993 1 copy
(Troubleshooting)

8 Guarantee Card 1 copy

Confirming the products 2-5

2Unpacking to installation

2.2 Installation
2.2.1 Unpacking procedures
The following shows how to unpack the controller.
The unpacking method differs, depending on the controller being used.
When the CR2-532/CR2A-572 controller is used, refer to " ■ For the CR2-532/CR2A-572/CR2B-574 Control-
ler". When the CR2-532M controller is used, refer to " ■ For the CR2-532M Controller" on page 7.

■ For the CR2-532/CR2A-572/CR2B-574 Controller

<CR2-532/CR2A-572/CR2B-574>

Accessory set

1)
2)

Controller

Inner case with cushioning material

3)

[Caution] The packaging material is required when transporting the controller again, so keep it in safekeeping.

Fig.2-1 ： Unpacking the controller (CR2-532/CR2A-572/CR2B-574)

The controller is shipped from the factory packaged in cardboard. Unpack the controller with the following proce-
dure.
(1) Open the front of the outer cardboard box.
(2) Hold the handle on the inner case (cardboard) with cushioning material, and pull it out.
(3) Remove the accessory set placed on the controller.
(4) Hold the controller with both hands, and remove the inner case with cushioning material.
Exercise caution, since the center of gravity of the controller is located toward the front of the unit.
(5) Set down the controller to complete the unpacking procedure.

2-6 Installation
 2Unpacking to installation

■ For the CR2-532M Controller

<CR2-532M> Plate to hold down

A B

Accessory set

STATUS NUMBER CHANG DISP EMG.STOP

UP

DOWN

MODE SVO ON START RESET

TEACH
AUTO AUTO
(Op.) (Ext.) REMOVE T/B
SVO OFF STOP END

View A View B
[Caution] The packaging material is required when transporting the controller again, so keep it in safekeeping.

Fig.2-2 ： Unpacking the controller (CR2-532M)

The controller is shipped from the factory packaged in wood frame. Unpack the controller with the following
procedure.
(1) Remove the wood frame.
(2) Remove the accessory set placed on the top of the controller.
(3) Attach the wire hooks to the eye bolts enclosed with the controller, and suspend the controller with a crane
to remove it from the packaging material.

Installation 2-7
2Unpacking to installation

2.2.2 Transportation procedures

The following shows how to transport the controller.
The transportation method differs, depending on the controller being used.
When the CR2-532/CR2A-572/CR2B-574 controller is used, refer to " ■ For the CR2-532/CR2A-572/CR2B-
574 Controller".
When the CR2-532M controller is used, refer to " ■ For the CR2-532M Controller".

■ For the CR2-532/CR2A-572/CR2B-574 Controller

The controller must always be transported by two workers.

<CR2-532/CR2A-572/CR2B-574> Maxx. : 20kg

!!

Fig.2-3 ： Transporting the controller （CR2-532/CR2A-572/CR2B-574）

(1) Transport the controller by placing hands between the lower clearance created with the rubber foot on the
front and back sides, and lifting up the controller. Do not hold the switches or connectors.

■ For the CR2-532M Controller

<CR2-532M> Mass ： 35kg Wire

Eye bolt

!!

Fig.2-4 ： Transporting the controller (CR2-532M)

(1) Two workers must transport the controller using a crane or lifter.

2-8 Installation
 2Unpacking to installation

2.2.3 Installation procedures

The installed size according to controller's type-identifier is shown as follows.
■ For the CR2-532/CR2A-572/CR2B-574 Controller

<CR2-532>

150 150

250 or more

CAUTION
Remove the rubber foot (4 positions)
Rubber foot of the bottom and fix it when fixing
the CR2-532 controller with the
installation screw.
Horizontal placement

<CR2A-572/CR2B-574>
*The left figure shows the CR2A-572
controller for example. The RS-232C
connector is installed vertically as the
150 150
controller type is "CR2B-574".

CAUTION
Use the rubber foot (4 positions) at
the bottom of the controller as it is, or
put the spacer, and leave the space
between the installation side and the
250 or more controller installation side more than
7mm when you fix the controller with
the installation screw.
7 or more

In the other case, the air intake hole

at the bottom of the controller is
occupied, and temperature rises in the
board, and causes the trouble.
Horizontal placement

Fig.2-5 ： Installation dimensions(CR2-532/CR2A-572/CR2B-574)

(1) For the CR2-532 controller, do not block the ventilation holes on the sides of the controller.
For the CR2A-572/CR2B-574 controller, do not block the air intake hole at the bottom of the controller.
(2) When storing the controller in a cabinet, etc., take special care to the heat radiating properties and ventilation
properties so that the ambient temperature remains within the specification values.
The controller can be placed vertically. Contact your nearest dealer for information.

Installation 2-9
2Unpacking to installation

■ For the CR2-532M Controller

<CR2-532M>
250 or less

Side Side
Approx.

Approx. Approx.
Back

200 315 300

Controller
460

(up side)
Approx. 350
Front

315

11
0

Maintenance area The mold cover for

the RS-232C connector
The rubber cover
for the T/B connector
(View from upside)

Fig.2-6 ： Installation dimensions (CR2-532M)

(1) Install the controller so that it is level.

CAUTION Install the rubber cover for the T/B connector when the T/B un-connection.
In the same way, install the mold cover for the RS-232C connector when the RS-232C
cable un-connection. When it is not so, it has the possibility that the controller breaks
down due to the penetration such as oil.

2-10 Installation
 2Unpacking to installation

2.2.4 Connecting the power cable and grounding cable

The following shows how to connect the power and grounding cables.
The cable-connection method differs, depending on the controller being used.
When the CR2-532 controller is used, refer to " ■ For the CR2-532 Controller". When the CR2A-572/CR2B-
574 controller is used, refer to " ■ For the CR2A-572/CR2B-574 Controller" on page 12. When the CR2-532M
controller is used, refer to " ■ For the CR2-532M Controller" on page 13.

■ For the CR2-532 Controller

Screw A

Chassis cover

Ｌ１ Ｌ２ Ｌ３

Upper rear cover ＰＥ

Screw Ｂ Single-phase AC230V
View A

Power cable
MODE

AUTO
(Ext.
)
Lower rear cover
Ｌ１ Ｌ２ Ｌ３

Ａ Terminal cover C

U-character projection ＰＥ
PE (grounding) Three-phase AC200/210/230V
Power switch View A

Fig.2-7 ： Connecting the power cable and grounding cable(CR2-532)

(1) Prepare the power cable and grounding cable (both must be AWG#14(2mm2) or more thickly).
(2) Remove the controller's chassis cover. Remove screw A, slide the cover by approx. 100mm to the back side,
and lift it upward.
(3) Remove the upper rear cover by removing the four screws B on the rear side.
(4) Confirm that the primary power supply matches the specifications.
(5) Confirm that the primary power supply is OFF and that the power switch on the controller is OFF.
(6) Pull out the power switch terminal cover C by pulling on the U-character projection on the front with fingers.
(7) Connect the power cable to the power switch terminals. (L1, L2 and L3 from left)
(8) Connect the grounding cable to the controller chassis screw hole (M4) at the right side of the power switch.
(PE mark)
(9) Press in the power switch terminal cover C (removed in step (6)), until a "click" is heard.
(10) Install the upper rear cover.
At this time, sandwich the power cable and grounding cable with the rubber bushing installed on the lower
rear cover and upper rear cover. If required, cut the rubber bushing to a round shape.
(11) Securely fix the chassis cover (removed in step (2)) with screw A. The chassis cover is structured to sand-
wich the chassis sides, so carefully fit and slide it into position, and then fix.

This completes the connection of the power and grounding cables of the CR2-532 controller.

Installation 2-11
2Unpacking to installation

■ For the CR2A-572/CR2B-574 Controller

Top board installation screws Chassis cover (Top board)

(Two on top surface,
two on rear surface)

Battery cover

*The left figure shows the CR2A-572

controller for example. The RS-232C
connector is installed vertically as the
Battery cover controller type is "CR2B-574".
installation screws (x4)

Fixes the cable tie Anchor mount

Grounding cable connection screw
(Attachment) Power cable connection screw
Power cable
Cable lead-in port Grounding cable

Power switch

Terminal cover

Power switch

Ａ View from A

Fig.2-8 ： Connecting the power cable and grounding cable (CR2A-572/CR2B-574)

(1) Prepare the power cable and grounding cable (both must be AWG#14(2mm2) or more thickly).
(2) Remove the controller's chassis cover (top board) by removing the four installation screws. To remove the
chassis cover, slide it to the rear and then lift it. Also, remove the battery cover from the front of the control -
ler by removing the four installation screws.
(3) Confirm that the primary power supply matches the specifications.
(4) Confirm that the primary power supply is OFF and that the power switch on the controller is OFF.
(5) Pull out the terminal cover of the power switch.
(6) Insert the power cable and grounding cable from the cable lead-in port on the side or rear of the controller.
(7) Connect the power cable to the power switch terminals.
(8) Connect the grounding cable with the screw hole (M4) on the controller's chassis, located above the power
switch (PE marking).
(9) Press in the power switch terminal cover, until a "click" is heard.
(10) Re-install both the controller's chassis and the battery cover back.

This completes the connection of the power and grounding cables of the CR2A-572/CR2B-574 controller.

2-12 Installation
 2Unpacking to installation

■ For the CR2-532M Controller

Front door fixing screw

Two screws

Section A

Power switch

External emergency stop

input terminal block

Power cable

Section B
Grounding wire

Grounding plate Cable lead-in port

Terminal cover

Disengagement
prevention projection
L1, L2 and L3 from left Grounding cable
Grounding plate
Earth leakage breaker

Power cable
(a) Details of section A (b) Details of section B
Fig.2-9 ： Connecting the power cable and grounding cable (CR2-532M)

(1) Prepare the power cable and grounding cable (both must be AWG#14(2mm2) or more thickly).
(2) Loosen the two screws fixing the controller's front door, and open the front door.
(3) Pull out the disengagement prevention projection on the terminal cover surface of the earth leakage breaker
by disengaging it with your finger.
(4) Confirm that the primary power matches the specifications.
(5) Confirm that the primary power is OFF and that the controller power switch is OFF.
(6) Insert the power cable and grounding cable from the cable lead-in port on the bottom of the controller.
(7) Connect the power cable to the power switch terminal. (L1, L2 and L3 from left)
(8) Connect the grounding cable to the grounding plate terminal.
(9) Insert the power switch terminal cover removed in step (3) until a "click" is heard.
(10) Close the controller's front door, and fix with the fixing screws.

This completes the connection of the power and grounding cables of the CR2-532M controller.

Installation 2-13
2Unpacking to installation

2.2.5 Connecting the external emergency stop

The following shows how to connect the external emergency stop.
Please note that the connection method differs, depending on the controller being used.
When the CR2-532/CR2-532M controller is used, refer to " ■ For the CR2-532/CR2-532M Controller".
When the CR2A-572/CR2B-574 controller is used, refer to " ■ For the CR2A-572/CR2B-574 Controller" on
page 15.

■ For the CR2-532/CR2-532M Controller

EMG. DOOR
STOP SWITCH
System emergency 24V
EXTEMG1 EXTEMG1
stop line
6 6
RA3:Emergency stop output Note1) (Prepared
5 by cusotmer) 5
RA Relay
4 4
Short piece 2 24V
3 RA2 3
2 External door switch input 2
Short piece 1 RA1
1 External emergency stop input 1

RG (24G) GND (24G)

24V
EXTEMG2 System emergency EXTEMG2
stop line
6 6
RA31:Emergency stop output Note1) (Prepared
5 by cusotmer) 5
RA Relay
4 4
Short piece 2 24V
3 3
RA21
2 External door switch input 2
Short piece 1 RA11
1 1
External emergency stop input

(Customer-prepared wiring) (Controller side) GND (24G)

Internal circuit composition of Example of wiring for

external emergency stop and door switch external emergency stop and door switch
(customer-prepared wiring)
Wire fixing screw
Do not check the voltage which withstand insulation.
Warning And, failure will be caused if it connects incorrectly.
EXTEMG1 Control unit
EXTEMG2

Note 1) Emergency stop output opens

6
× ×

when either one of the emergency stop switches 5 Wire insert

× ×

4
shown below or an input signal turns on.
× ×

3
AWG#24 to #12
× ×

･Emergency stop switch of the controller. 2 (0.2 to 2.5mm2)

× ×

Maker:Phoenix Contact
× ×
1
･Emergency stop switch of the T/B (option). Type:FRONT-MSTB2.5/6-ST-5.08
･External emergency stop input. EXTEMG connector
･The T/B mount/dismount switch is OFF (Same for both left and right outputs)
when the T/B is unconnected.

Fig.2-10 ： Connecting the external emergency stop (CR2-532/CR2-532M)

For safety purposes, install the External emergency stop switch at an easy-to-operate place.
The external emergency stop input and door switch input terminal block are short-circuited with a short bar (short
piece) as shown in Fig. 2-10.
Connect the external emergency stop switch and door switch with the following procedures. The emergency stop
circuit in the controller is redundant (duplex), so use a 2-contact type switch for the emergency stop switch.

1) Prepare the emergency stop switch and door switch.

2) Loosen the wire fixing screw on the terminal block, and remove the short bars 1 and 2.
3) Securely connect the external emergency stop contact across "1-2" on the terminal block, and connect the
door switch contact across "3-4" on the terminal block. The connection method is indicated below.

[Caution] When wiring the emergency stop switch (duble emergency line type), wire both contacts to the two ter-
minal blocks on the controller. If both contacts are wired to only one of the terminal blocks, errors can-
not be cancelled using the door switch.

This completes the connection of the external emergency stop of the CR2-532/CR2B-532M controller.

2-14 Installation
 2Unpacking to installation

■ For the CR2A-572/CR2B-574 Controller

Upside terminal block DOOR EMG.

24V Switch STOP
1 1
Short piece 1
2 2
RA1 Emergency stop input
3 3
Short piece 2
4 4
RA2 Door switch input 24V
5 5
RA3
6 System emergency 6
stop line RA5
RG (24G) (Prepared by cusotmer)
Note1)
Emergency stop output
RG (24G)
(Customer-prepared wiring) (Controller side)

Bottom side terminal block

24V EMG.
STOP
1 1
Short piece 1 DOOR
2 2
Emergency stop input Switch
RA11
3 3
Short piece 2
4 4
RA21 Door switch input 24V
5 5
RA31
6 System emergency 6
RA51
stop line
RG (24G)
(Prepared by cusotmer)
Note1)
Emergency stop output
RG (24G)
Internal circuit composition of
Example of wiring for external emergency stop and door switch
external emergency stop and door switch
(customer-prepared wiring)

Note 1) Emergency stop output opens

when either one of the emergency stop switches
shown below or an input signal turns on.
E Emergency stop switch of the controller
E Emergency stop switch of the T/B (option)
E External emergency stop input
E External door input
Wire fixing screw Controller rear side

①② Maker:Phoenix Contact
Wire insert ③④
⑤⑥ Type:FRONT-MSTB2.5/6-ST-5.08

EXTEMG connector (Same for both top and bottom outputs)

Fig.2-11 ： Connecting the external emergency stop (CR2A-572/CR2B-574)

For safety purposes, install the external emergency stop switch and door switch at an easy-to-operate place.
The external emergency stop input and door switch input terminal block are short-circuited with a short bar (short
piece) as shown in Fig. 2-11.
Connect the external emergency stop switch and door switch with the following procedures. The emergency stop
circuit in the controller is redundant (duplex), so use a 2-contact type switch for the emergency stop switch.

1) Prepare the emergency stop switch and door switch.

2) Loosen the wire fixing screw on the terminal block, and remove the short bars 1 and 2.
3) Securely connect the external emergency stop contact across "1-2" on the terminal block, and connect the
door switch contact across "3-4" on the terminal block. The connection method is indicated below.
a) Loosen the wire fixing screw on the terminal block, and open the wire insertion port.
b) Peel 5 to 7mm of the sheath off the wire (AWG24 to 16 recommended).
c) Insert the wire into the wire insertion port.
d) Securely tighten the wire fixing screw to fix the wire.

[Caution] When wiring the emergency stop switch (duble emergency line type), wire both contacts to the two ter-
minal blocks on the controller. If both contacts are wired to only one of the terminal blocks, errors can-
not be cancelled using the door switch.

This completes the connection of the external emergency stop of the CR2A-572/CR2B-574 controller.

Installation 2-15
2Unpacking to installation

2.2.6 Magnet contactor control connector output (AXMC) for addition axes
(When using the CR2A-572/CR2B-574 controller)
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the
servo ON/OFF status of the robot itself by using the output contact (AXMC1) provided on the back of the
controller and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned off
when this output is open.
Fig. 2-12 shows an example of its circuit, and Fig. 2-13 show the layout drawings of the output contact (AXMC1).
When you are using an additional axis, please perform appropriate circuit connections by referring to these
drawings.

1) Get the power supply for the controller from the secondary erminal
of short circuit breaker (NV) built in the addition axis amplifier box.

2) Get the power supply for the MC synchronization from the secondary MC
terminal of short circuit breaker (NV) built in the controller.
NV MC 88

NV

To the internal circuit

Note)
AXMC1
1
2 <Addition axis amplifier box>
AXMC is outputted Note) This output is opened, if the robot turns off the servo
from the contact
for internal servo by occurrence of alarm etc.
power supplies.
<Electric specification>
AC3 class(AC200 to 220V) 6A
<Robot controller>
AC2 class(DC24V)12A
Fig.2-12 ： Example of circuit for addition axes of Magnet contactor control output.

<Connector type>
Plug side (user) : FRONT-MSTB2.5/2-STF-5.08
Socket side (controller) : DFK-MSTB2.5/2-GF-5.08
Connector maker name : Phoenix Contact)

Fig.2-13 ： Arrangement figure of the AXMC1 connector.

2-16 Installation
 2Unpacking to installation

2.2.7 Connecting to the robot arm

Refer to the separate manual "Robot arm setup and maintenance", and connect the controller and robot arm with
machine cables.

CAUTION The machine cable connectors are dedicated for the controller side and robot arm
side, so take special care when connecting.
If connected incorrectly, the connector pins could bend or break. Thus, even if
connected correctly, the robot will not operate correctly, creating a dangerous
situation.

2.3 Setting the origin

Refer to the separate manual "Robot arm setup and maintenance", and set the origin.

2.4 Confirming the operation

Refer to the separate manual "Robot arm setup and maintenance", and confirm the robot operation with jog
operation.

Setting the origin 2-17

3Installing the option devices

3 Installing the option devices

The T/B can be installed in the power OFF state as described in the separate manual "Robot arm setup and main-
tenance", or can be installed/removed in the power ON state as described in "4.2.1 Installing and removing the T/
B" on page 39 of this manual. Refer to the respective explanations.
Refer to the separate "Standard Specifications" for the optional devices other than those described in this man-
ual.
The method of installation of option equipment differs, depending on the controller being used. When the CR2-532
control is used, refer to "3.1For the CR2-532 Controller". When the CR2A-572/CR2B-574 control is used, refer
to "3.2 For the CR2A-572/CR2B-574 Controller" on page 21. When the CR2-532M control is used, refer to "3.3
For the CR2-532M Controller" on page 23.

3.1 For the CR2-532 Controller

To install an option card in the control unit (R6x2CPU) when the CR2-532 controller is used, remove the
R6x2CPU's option fixing plate. The procedures are explained in "3.1.1Removing and Installing the R6x2CPU Option
Fixing Plate" below, so refer to that section when installing the option card.

3.1.1 Removing and Installing the R6x2CPU Option Fixing Plate

The option card, mounted on the control unit (R6x2CPU), is mounted after removing the R6x2CPU option fixing
plate. The procedure of removing is explained below.

CAUTION Confirm that the controller's main power supply and controller power switch are OFF
before starting this work. Wait at least three minutes after turning the power OFF before
removing the controller chassis cover.

(1) Wait at least three minutes after turning the power OFF, and then remove the controller chassis cover. (Refer
to Fig. 3-1.) To remove the cover, remove the one installation screw A, and slide the cover approx. 100mm
toward the back. Then, lift it up.
(2) Remove the upper rear cover by removing the four installation screws B on the back. (Refer to Fig. 3-1.)

Screw Ａ
(One)
Chassis cover

R6x2CPU

Upper rear cover

Screw Ｂ
R6xCPU (Four)

Power cable The rear direction

Rubber bush
MOD
E

AUTO
(Ext.)

Lower rear cover option fixing plate

R6x2CPU

Fig.3-1 ： Remove the R6x2CPU(CR2-532)

3-18 For the CR2-532 Controller

 3Installing the option devices

R6x2CPU
(3) Remove the three M3 screws to remove the
R6x2CPU option fixing plate.

Option fixing plate

Installation screw
M3 x 2

R6x2CPU
(4) Insert the option card.
The position of the slot will differ according to the
options. Refer to the instruction manual of the
option being used, check the slot position, and then
Option slot 2(OPT2) insert the option.
･Extended serial interface
･CC-Link interface
･Additional axis interface

Option slot 1(OPT1)

･Ethernet interface CNHND
･Extended serial interface
･Additional axis interface
CNHNDOUT

R6x2CPU (5) Install the option fixing plate, removed in step "(3)",
onto the R6x2CPU.
When the option card has been inserted into option
Option card slot 1 or 2, install so that the option card fits into
Option fixing plate the option fixing groove on the option fixing plate,
and then fix securely with screws.

Installation screw
M3 x 2

Option fixing groove

(6) Install the controller cover.

Return the upper rear cover, removed in step "(2)". Sandwich the power cable and grounding cable with the
rubber bushing installed on the lower rear cover and upper rear cover. After installing, securely fix with screws.
Return the Chassis cover, removed in step "(1)", and then fix securely with screws.

This completes the removal and installation of the R6x2CPU of the CR2-532 controller.

For the CR2-532 Controller 3-19

3Installing the option devices

3.1.2 The procedures for installing the pneumatic hand interface

The procedures for installing the pneumatic hand interface, mounted on R6x2CPU, are explained below.

CAUTION Confirm that the controller's main power supply and controller power switch are OFF
before starting this work.

(1) Refer to steps "(1)" to "(3)" section "3.1.1Removing and Installing the R6x2CPU Option Fixing Plate", and
remove the controller over. Remove the R6x2CPU option fixing plate.

(2) The pneumatic hand interface is mounted on the RZ181 card in the R6x2CPU.
Install by securely inserting the CNHDNOUT/CNHND connectors on the card into the pneumatic hand interface
connectors.

＜RZ181 card＞
R6x2CPU

CNHND
CNHND

CNHND
CNHNDOUT
CNHNDOUT
Connector surface figure
CNHNDOUT
Pneumatic hand interface
RZ181 card

Fig.3-2 ： Installing the pneumatic hand interface (CR2-532)

(3) Refer to steps "(5)" and "(6)" of section "3.1.1Removing and Installing the R6x2CPU Option Fixing Plate", and
install the R6x2CPU option fixing plate, and return the controller cover.

This completes the installation of the CR2-532 controller's pneumatic hand interface.

3-20 For the CR2-532 Controller

 3Installing the option devices

3.2 For the CR2A-572/CR2B-574 Controller

3.2.1 Installing the Option Card

Mount the option card to the option slot, which is located inside the controller.
The following shows the mounting procedure

CAUTION To remove the chassis cover (top board), wait at least three minutes after the power
of the supply source is shut off. Also, do not supply power until the top board is rein-
stalled. Failure to follow this instruction will cause electric shock.

Top board installation screws Chassis cover (Top board)

(Two on top surface,
two on rear surface)

*The left figure shows the CR2A-572

controller for example. The RS-232C
connector is installed vertically as the
controller type is "CR2B-574".

Installation screw
（Four positions） Cable lead-out port
ＲＺ326A/RZ327 card Rail plate
(Two pcs. in front and back)
Option slot 1（OPT1）
･Ethernet interface
･Extended serial interface
･Additional axis interface
･Tracking interface
Option slot 2（OPT2）
･Extended serial interface
･CC-Link interface
･Additional axis interface
･Tracking interface
Option slot 3（OPT3）
･Additional axis interface
Detailed of option card installation
Installation screw
Rail plate （Four positions）
(Two pcs. in
front and back)

Option card

Fig.3-3 ： Installing the Option Card (CR2A-572/CR2B-574)

(1) Shut off the power of the supply source and wait at least three minutes. Then, remove the chassis cover
(top board) by removing the four installation screws.
(2) Insert the option card to be mounted into the corresponding slot, and fix with the rail plate. Lead any
required cables from the cable lead-out port on the rear side.
The position of the slot will differ according to the options. Refer to the instruction manual of the option
being used, check the slot position, and then insert the option.
(3) Reinstall the top board of the controller.

This completes the installation of the option card of the CR2A-572/CR2B-574 controller.

For the CR2A-572/CR2B-574 Controller 3-21

3Installing the option devices

3.2.2 The procedures for installing the pneumatic hand interface

Mount the pneumatic hand interface to the RZ326A/RZ327 card, which is located inside the controller.
The following shows the mounting procedure

CAUTION To remove the chassis cover (top board), wait at least three minutes after the power of
the supply source is shut off. Also, do not supply power until the top board is reinstalled.
Failure to follow this instruction will cause electric shock.

Top board installation screws Chassis cover (Top board)

(Two on top surface,
two on rear surface)

*The left figure shows the CR2A-572

controller for example. The RS-232C
connector is installed vertically as the
controller type is "CR2B-574".
ＲＺ326A/RZ327 card Pneumatic hand interface

CNHND connector Pneumatic hand interface

CNHNDOUT connector ＲＺ326A/RZ327 card

Fig.3-4 ： Installing the pneumatic hand interface (CR2A-572/CR2B-574)

(1) Shut off the power of the supply source and wait at least three minutes. Then, remove the chassis cover
(top board) by removing the four installation screws.
(2) Insert the pneumatic hand interface into the connector of the RZ326A/RZ327 card. Align both connectors
and insert the pneumatic hand interface securely in place.
(3) Reinstall the top board of the controller.

This completes the installation of the pneumatic hand interface of the CR2A-572/CR2B-574 controller.

3-22 For the CR2A-572/CR2B-574 Controller

 3Installing the option devices

3.3 For the CR2-532M Controller

To install an option card in the control unit (R6x2CPU) when the CR2-532 controller is used, remove the
R6x2CPU's option fixing plate. The procedures are explained in "3.3.1Removing and Installing the R6x2CPU
(Installing the Option Card )" below, so refer to that section when installing the option card.

3.3.1 Removing and Installing the R6x2CPU (Installing the Option Card )
The option card, mounted on the control unit (R6x2CPU), after removing the R6x2CPU option fixing plate. The
procedure of removing is explained below.

CAUTION Confirm that the controller's main power supply and controller power switch are OFF
before starting this work. Wait at least three minutes after turning the power OFF before
opening the controller front door.
On the R6x2CPU, the cables are connected with the connectors and terminal block. Take
care not to pull the cables when removing.

(1) Wait at least three minutes after turning the power OFF, then loosen the fixing screws on the controller
front door, and open the front door.
(2) Remove the two M5 screws (top/bottom) fixing the R6x2CPU, and then pull out the R6x2CPU.
Take care not to pull the cables at this time.
(3) Disconnect the connectors and FG cable connected to the R6x2CPU, and pull out the unit. The connectors
and terminal block to be disconnected are shown in Fig. 3-5 (c)

(a)The position of R6x2CPU (b)Removing of R6x2CPU

Control unit
(R6x2CPU)

R6x2CPU
Front door
（Fixing screws x 2）

(c)Removing of connector and terminal cable Fixing screw

M5×2
R6x2CPU

Connector：CN1A
Front

Connector：CNHND1
Connector：CONOP
Connector：CNHND2
Connector：CNEMG
Connector：CNSIO1
Connector：CNSIO2

Connector：EXTEMG
Connector：DCIN

Bottom view
Front view
Fig.3-5 ： Remove the R6x2CPU (CR2-532M)

For the CR2-532M Controller 3-23

3Installing the option devices

R6x2CPU
(4) Remove the three M3 screws to remove
the R6x2CPU option fixing plate.

Option fixing plate

Installation screw
M3 x 2

R6x2CPU (5) Insert the option card.

The position of the slot will differ
according to the options. Refer to the
instruction manual of the option being
used, check the slot position, and then
Option slot 2(OPT2) insert the option.
･Extended serial interface
･CC-Link interface
･Additional axis interface

Option slot 1(OPT1)

･Ethernet interface CNHND
･Extended serial interface
･Additional axis interface
CNHNDOUT

R6x2CPU
(6) Install the option fixing plate, removed in
step "(4)", onto the R6x2CPU.
Option card When the option card has been inserted
into option slot 1 or 2, install so that the
Option fixing plate option card fits into the option fixing
groove on the option fixing plate, and
then fix securely with screws.
Installation screw
M3 x 2

Option fixing groove

(7) Install the R6x2CPU onto the controller.

Connect the connectors and FG cables disconnected in step "(3)", and then securely fix the R6x2CPU
onto the controller at the original position with the screws removed in step "(2)". Close the controller's
front door, and fix with the fixing screws.

This completes the removal and installation of the R6x2CPU of the CR2-532M controller.

3-24 For the CR2-532M Controller

 3Installing the option devices

3.3.2 The procedures for installing the pneumatic hand interface

The procedures for installing the pneumatic hand interface, mounted on R6x2CPU, are explained below.

CAUTION Confirm that the controller's main power supply and controller power switch are OFF
before starting this work.

(1) Refer to steps "(1)" to "(4)" section "3.3.1Removing and Installing the R6x2CPU (Installing the Option Card )",
and remove the controller over. Remove the R6x2CPU option fixing plate.

(2) The pneumatic hand interface is mounted on the RZ181 card in the R6x2CPU.
Install by securely inserting the CNHDNOUT/CNHND connectors on the card into the pneumatic hand interface
connectors.

＜RZ181 card＞
R6x2CPU

CNHND
CNHND

CNHND
CNHNDOUT
CNHNDOUT
Connector surface figure
CNHNDOUT
Pneumatic hand interface
RZ181 card

Fig.3-6 ： Installing the pneumatic hand interface(CR2-532M)

(3) Refer to steps "(6)" and "(7)" of section "3.1.1Removing and Installing the R6x2CPU Option Fixing Plate", and
install the R6x2CPU option fixing plate, and return the controller cover.

This completes the installation of the CR2-532M controller's pneumatic hand interface.

For the CR2-532M Controller 3-25

3Installing the option devices

3.4 Installation of the controller protection box (CR2A-MB) (CR2A-574 controller only)
Shows the installation method of using the controller protection box (hereinafter referred to as the protection box)
to protect the CR2A-572 controller from using environment such as oil-mist in the following.
For outside dimensions, refer to separate manual "Standard specifications manual".

3.4.1 Name of each part

Fig. 3-7 shows the names of each part of the protection box. Put the CR2A-572 controller in this box, and use it.

<Front> <Back>
Rear panel

Cable cover
(Machine cable for power)

Rear side cable outlet

Window
Side cover

Corner type catch clip

Front cover

Cable cover
(Machine cable for signal) Heat exchanger
Name of each part of CR2A-MB

CR2A-MB

CR2A-572 controller
The installation state of the controller

Fig.3-7 ： Name of each part of protection box (CR2A-MB)

3-26 Installation of the controller protection box (CR2A-MB) (CR2A-574 controller only)
 3Installing the option devices

3.4.2 Confirmation before installation

(1) Confirming the products

The configuration part of the protection box is shown in Table 3-1. Confirm the parts.

Table 3-1 ： Configuration device

Part name Type Qty. Remarks
Controller protection box CR2A-MB 1 unit
Serial number posting label 1
Protection seal transparent 1 Protection for the serial number posting label
Cable tie 2
Power supply wiring cable 1 For connecting the power relay terminal and the controller inside the box.
Grounding cable 1 For connecting the FG terminal and the controller inside the box.
Rubber foot installation screw M4 × 10 4 For changing the rubber foot.
External emergency stop box HW1X-BV402R 1 unit Dual emergency line. Install at a location outside the protection box where
(Controll box) operation can be performed easily. The outside dimensions is shown in Fig.
3-10.

(2) Customer preparation parts

Prepare the cable etc. which show in the following by the customer.
・ Power cable(AWG#14(2mm2)) ................................................................................. 2 cables
・ Grounding cable(AWG#14(2mm2)).......................................................................... 1 cables
・ External emergency stop box cables(AWG#24 ～ 16 recommendation) 2 cables
・ External emergency stop box cable clamp ........................................................ 1 piece
Fit the size to the use external emergency stop box cable, and make preparation.
Table 3-2 shows the recommendation cable clamp as a reference.

Table 3-2 ： Cable clamp for external emergency stop box (recommendation)
Type JIS wiring tube Adaptation cable outside diameter Manufacturer

OA-W1606 4 ～ 6φ
OA-W1608 6 ～ 8φ
OA-W1609 G1/2 7 ～ 9φ OHM electric Corp
OA-W1611 9 ～ 11φ
OA-W1613 11 ～ 13φ

(3) Copy of the manufacture number of the controller.

Write the manufacture number (serial number) printed on the rear of CR2A-572 controller to the attached serial
number copy seal by immortality ink.

3.4.3 Unpacking procedures

The protection box is shipped from the factory packaged in cardboard.
Unpack the cardboard packing, and take out the protection box and accessories.

3.4.4 Transportation procedures

Transport the protection box by placing hands between the lower clearance created with the rubber foot on the
front and back sides, and lifting up. (Mass of the protection box: 16 kg.）

Installation of the controller protection box (CR2A-MB) (CR2A-574 controller only) 3-27
3Installing the option devices

3.4.5 Installation procedures

(1) Installation dimensions
Secure and install the space shown in the Fig. 3-8.

150mm or more Note) 150mm or more Note)

Note)
Keep the space of
150mm or more for
opening and closing
the corner type catch clip.

150mm or more

Fig.3-8 ： Installation dimensions

CAUTION The fan installed at the back inside of the protection box for heat exchange.
Take care to not obstruct the rotation of air.

CAUTION The protection box must be transported by two workers under the condition that the
CR2A-572 controller is installed in the protection box. (Mass: approx. 34kg)
Transporting the protection box in one worker could lead to personal injuries or faults from
dropping.

3-28 Installation of the controller protection box (CR2A-MB) (CR2A-574 controller only)
 3Installing the option devices

(2) Installation of CR2A-572 controller

The controller fixed lengthwise in the protection box. (The right side of the controller is upside)

1) Remove the four rubber feet installed at the bottom

of the controller, and reinstall them to the side of the
controller with the attached four installation screws.
Remove the seals sticking in the screw holes of the
four corners on the controller. Use two in the
removed screws (M5x10-4) when fixing the controller
after.
M4ｘ10-4
Note1) In the case of RV-4A/5AJ/3AL/4AJL
Rubber foot compatible controllers, remove the four rubber feet
(4 positions) Rubber foot first, and then remove the four fixation metal fittings
Reinstall to side fixation metal fittings Note1)
(two screws) from the areas where the rubber feet
（4 positions） were mounted. (The removed fixation metal fittings
are not used during the installation of the protection
box, so store them separately.)

Front cover

2) Remove the corner type catch clip (two places of

the right and left) fixing the front cover of the
protection box, and remove the front cover.

Corner type catch clip

One is on the opposition side

Side cover
3) Remove the side cover of protection box by
removing the twelve installation screws.

Remove

Installation screw
（M4ｘ10-12）

Installation of the controller protection box (CR2A-MB) (CR2A-574 controller only) 3-29
3Installing the option devices

Installation screw （M4-2）

4) Remove the controller fixation plate installed in the
protection box removing the two installation screws.
Use the removed screws when fixing the controller.

Controller fixation plate

Radiating fin Controller fixation plate

5) Place the controller lengthwise, install the control-

ler fixation plate removed with the above "4)" to
the bottom of the controller.
Using the two screws that were used to fix the
rubber foot, fix the controller fixing plate securely
as shown in the figure at left onto the two screw
holes (radiating fin side) where the rubber foot
were fixed on the bottom surface of the controller.

Installation screw
（M5ｘ10-2）

Installation screw (M4x2) Controller fixation plate

6) Install the controller in protection box
Placing the controller fixation plate at the rear top
side, insert the rubber foot of the controller into
the positioning metal fittings (2 positions).

7) Using the originally provided two installation

screws, securely fix the controller fixation plate
into the screw holes of the protection box.

Positioning metal fittings

(2 positions)

3-30 Installation of the controller protection box (CR2A-MB) (CR2A-574 controller only)
 3Installing the option devices

(3) Connecting the power cable, grounding cable, fan power cable
Fig. 3-9 shows wiring configuration and wiring system diagram of power, grounding, fan power cable.

Fan power cable/ Grounding terminal (PE)

fan grounding cable (grounding for controller)
Relay terminal block
Primary power supply cable/ of power supply Grounding terminal (PE) Detail of relay terminal block of power supply
grounding cable (grounding for fan)
Fan power cable
(Prepared by customer)
Primary power supply cable
Grounding terminal (PE) (Prepared by customer)

Power supply wiring cable

(for controller)
Cable outlet Grounding terminal (PE)
(grounding for fan)
Grounding terminal (PE)
(grounding for controller)
Grounding terminal (PE)
Grounding cable
Grounding cable
(Prepared by customer)
(for controller)

Power supply wiring cable Earth leakage breaker Primary terminal

(for controller) (upside)
Appearance diagram

Controller protection box

Relay terminal block Power supply wiring cable

of power supply (Attachment) In side of the controller

L1 L11 （L11） （L11）

Earth leakage
Primary power supply cable/ breaker
grounding cable L2 L12 （L12） （L12）
(Prepared by customer)
（FG） Grounding terminal
（L12） （L11）
(PE)
AC fan
Grounding terminal of
protection box
（FG） Grounding cable （FG）
(for controller) （FG） Grounding terminal
(PE)
（FG）

External emergency stop box

(Attachment) Rear side of controller
Connecton of external (The customer needs the preparation and wiring) (External emergency
emergency stop stop terminal block)
(Prepared by customer)

Wiring system diagram

Fig.3-9 ： Connecting the power cable, grounding cable

1) Connecting the power cable and grounding cable

Prepare the 2 primary power cables and 1 grounding cable (both AWG#14(2mm2 ) or more).
At inside of the protection box, use the attached power supply wiring cable for the connection of relay ter-
minal block of power supply and controller, and use the attached grounding cable for the grounding of the
controller and the grounding terminal of protection box.
Connect the both power cable and grounding cable referring to Fig. 3-9 and "2.2.4 Connecting the power
cable and grounding cable" on page 11.
Connect the grounding cable prepared by customer to grounding terminal (PE), connect the attached
grounding cable for controller grounding to another grounding terminal (PE).
Pull out the primary power supply cable and grounding cable from the cable outlet of the protection box,
and then fix them with a cable tie together with the machine cable.

[Note] While the primary power supply is being supplied, the fan rotate through of ON/OFF of the controller power
supply.

Installation of the controller protection box (CR2A-MB) (CR2A-574 controller only) 3-31
3Installing the option devices

(4) Connection of the external emergency stop

Install the attached external emergency stop box to the place easy to operate for safety surely.
Because the CR2A-572 controller is enclosed in the protection box, the emergency stop switch located on the
front side of the controller cannot be operated.

Install the attached external emergency stop box to the place easy to operate.
The outside and installation dimensions of the external emergency stop box are shown in Fig. 3-10 for your
reference.
For the cable connection method, refer to "2.2.5 Connecting the external emergency stop" on page 14.
Please prepare a cable clamp that is fit for the external emergency stop box cable.
For details of the external emergency stop box, refer to the Instruction Manual attached to the product.
Also, pull out the external emergency stop cable from the cable outlet of the protection box, and then fix them
with a cable tie together with the machine cable.

Operation switch BOX cover BOX base

□ 70.0

TOP

32.0 58.0 φ23.0 conduit

BOX cover installation screw
(Knockout)

TOP
42.4

2-φ4.6
(Two M4 installation *The M4 screw prepared by customer
screw holes)

58.0

Panel installation dimension

Fig.3-10 ： The outside dimensions and installation dimensions of emergency stop box

(5) Connecting to the robot arm

Refer to the separate manual "Robot arm setup and maintenance", and connect the controller and robot arm with
machine cables.
Lead the machine cable from the cable outlet on the rear of the protection box.

3-32 Installation of the controller protection box (CR2A-MB) (CR2A-574 controller only)
 3Installing the option devices

(6) Block the cable outlet

Cable tie

Cable cover
CR2A-MB

Fig.3-11 ： Block the cable outlet

The cable cover is attached to the cable outlet.(two places of top and bottom.)
Fix the cable taken out from cable outlet by using the cable tie from the top of the cable cover, and block the
cable outlet so that the oil-mist etc. not come in.

［CAUTION］ Make the cable connected with the controller (the external emergency stop cable, the option card
connection cable, etc.) have the margin of 300mm to make the drawer of the controller to easy later,
and fix the cable. It is not necessary about the machine cable, because it can be connected and
disconnected by connector.

(7) Sticking the serial number posting label

Stick the serial number posting label written down in "3.4.2 Confirmation before installation" on page 27 to front
panel as shown in Fig. 3-12. And stick the protection seal transparent last.

Front cover
Serial number posting label
Protection seal transparent
Fig.3-12 ： Sticking the serial number posting label

Installation of the controller protection box (CR2A-MB) (CR2A-574 controller only) 3-33
3Installing the option devices

(8) Installation of side cover and front panel

Remove the sheet on the surface of packing stuck on the side cover contact part at the up side of the protection
box. Reinstall the side cover and securely fix with twelve screws. Reinstall the front panel, and close the catch clip
(two places of the right and left) for fixing the panel.

Packing Remove the seet CR2A-MB

Fig.3-13 ： Installation of side cover, front panel

(9) Installing of the protection box

Secure and install the installation dimension shown in "3.4.5 Installation procedures" on page 28.
The installation is only put with the rubber foot facing the bottom, because the protection box is self-contained
floor type.
Moreover when fixing the protection box by fixing screw, remove the rubber feet removing the installation screws
of rubber feet, and fix the protection box by M4 screw with the screw holes (M4) which the rubber feet were fixed
on.

CAUTION The protection box must be transported by two workers under the condition that the
CR2A-572 controller is installed in the protection box. (Mass: approx. 34kg)
Transporting the protection box in one worker could lead to personal injuries or faults from
dropping.

This completes the installation of the protection box.

3.4.6 Handling the protection box

(1) Operation with removing the panel
The power supply ON/OFF of the controller, the operation of the front panel, the operation under the condition
that T/B is connected are carried out under the condition that the front panel of protection box is removed.

3-34 Installation of the controller protection box (CR2A-MB) (CR2A-574 controller only)
 4Basic operations

4 Basic operations
In this chapter, the following items will be explained regarding the basic operations for handling the robot.

Handling the controller The functions of the various keys on the controller are
explained.

Handling the teaching pendant The methods of installing/removing the T/B, and the
functions of the various keys are explained.

Turning the power ON/OFF The items to confirm before turning on the controller
power, and the methods of turning the power ON and
OFF are explained.
Operating the robot with jog operation The methods for manually operating the robot arm using
the teaching pendant are explained. This is mainly used
for teaching work.
Opening and closing the hand The methods of opening and closing the hand using the
teaching pendant are explained.

Program creation to automatic operation The procedures of creating the program are explained in
order.

4-35
4Basic operations

4.1 Handling the controller

4.1.1 Functions of each key

<CR2-532>

<Front>

STATUS
NUMBER

CHANG
DISP

UP EMG.STOP

MODE DOWN
SVO ON
AUTO
TEACH START CR2
(Op.) RESET
AUTO
(Ext.)

SVO OFF
STOP
END
REMOVE
T/B

DSUB
T/B

Front operation panel

<Front side of operation panel>

2) 7) 4) 15) 5) 1)

CR2
STATUS NUMBER CHANG DISP EMG.STOP

11)
UP

DOWN

MODE SVO ON START RESET

TEACH
AUTO AUTO
(Op.) (Ext.) REMOVE T/B
SVO OFF STOP

14)
END

DSUB T/B

9) 10) 3) 8) 6) 13) 12)

<CR2A-572> <CR2B-574>

Front operation panel Front operation panel

11) 2)
14) 9) 7) 4) 15) 5) 14) 11) 9) 2) 7) 4) 15) 5)

6) 6)

1) 13) 10) 3) 8) 12) 1) 10) 3) 13) 8) 12)

Fig.4-1 ： Names of controller parts(CR2-532/CR2A-572/CR2B-574)

4-36 Handling the controller

 4Basic operations

<CR2-532M>
11) 9) 2) 7) 4) 15)

14)
5)
STATUS NUMBER CHANG DISP EMG.STOP
UP

DOWN

MODE SVO ON START RESET

6)
TEACH
AUTO AUTO
(Op.) (Ext.) REMOVE T/B
SVO OFF STOP END

1) 10) 12)
3)
13) 8)

Front operation panel

Fig.4-2 ： Names of controller parts(CR2-532M)

1) POWER switch ..................................... This turns the control power ON/OFF. (With earth leakage breaker function)
2) START button...................................... This executes the program and operates the robot. The program is run continuously.
3) STOP button......................................... This stops the robot immediately. The servo does not turn OFF.
4) RESET button ...................................... This resets the error. This also resets the program's halted state and resets the program.
5) Emergency stop switch .................... This stops the robot in an emergency state. The servo turns OFF.
6) T/B remove switch............................ This is used to connect/disconnect the T/B without turning OFF the controller's control
power.
7) CHNGDISP button.............................. This changes the details displayed on the display panel in the order of "Override" → "Pro-
gram No." → "Line No.".
8) END button............................................ This stops the program being executed at the last line or END statement.
9) SVO.ON button.................................... This turns ON the servo power. (The servo turns ON.)
10) SVO.OFF button............................... This turns OFF the servo power. (The servo turns OFF.)
11) STATUS NUMBER
(display panel)...................................... The alarm No., program No., override value (%), etc., are displayed.
12) T/B connection connector ......... This is a dedicated connector for connecting the T/B.
13) Personal computer
connection connector...................... This is an RS-232C specification connector for connecting the personal computer.
14) MODE changeover switch ............ This changes the robot's operation mode. Note)
AUTO (Op.).................................. Only operations from the controller are valid. Operations for which the operation mode
must be at the external device or T/B are not possible.
TEACH .......................................... When the T/B is valid, only operations from the T/B are valid. Operations for which the
operation mode must be at the external device or controller are not possible.
AUTO (Ext.)................................. Only operations from the external device are valid. Operations for which the operation
mode must be at the T/B or controller are not possible.
15) UP/DOWN button ............................ This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel.

Handling the controller 4-37

4Basic operations

CAUTION Note) The servo will turn OFF when the controller's [MODE] switch is changed. Note
that axes not provided with brakes could drop with their own weight. Carry out
the following operations to prevent the servo from turning OFF whenthe
[MODE] switch is changed.

The servo on status can be maintained by changing the mode with keeping pressing
lightly the deadman switch of T/B. The operating method is shown below.

■ When the mode is changed from TEACH to AUTO.

1) While holding down the deadman switch on the T/B, set the [ENABLE/DISABLE]
switch to "DISABLE".
2) While holding down the deadman switch on the T/B, set the controller [MODE]
switch to "AUTO".
3) Release the T/B deadman switch.

■ When the mode is changed from AUTO to TEACH.

1) While the [ENABLE/DISABLE] switch on the T/B is "DISABLE", hold down the
deadman switch.
2) While holding down the deadman switch on the T/B, set the controller [MODE]
switch to "TEACH".
3) While holding down the deadman switch on the T/B, set the [ENABLE/DISABLE]
switch to "ENABLE", then do the operation of T/B that you wish.

◇◆◇ What are the operation rights? ◇◆◇

Even when multiple devices, such as a T/B and personal computer, are connected to the controller, the
operation at one time is limited to one device. This limited device (has the operation rights)
◇◆◇ What operations require the operation rights? ◇◆◇
Operations that start the robot, such as program start and alarm reset, and operations that can cause starting
require the operation rights.
Conversely, operation that stop the robot, such as stopping and servo OFF, can be used without the operation
rights for safety purposes.
Refer to the separate manual "Explanation of functions and operations" for details on the functions related to
operation rights.

4-38 Handling the controller

 4Basic operations

4.2 Handling the T/B

4.2.1 Installing and removing the T/B
By using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power is
ON.

(1) Installing with the control power OFF

Refer to the separate manual "From robot arm setup to maintenance" for details on installing the T/B with the
power OFF.

(2) Removing with the control power ON

DISABLE ENABLE
1) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".

DISABLE ENABLE
P8T B-TE

EMG.STOP

REMOVE T/B switch Connector 2) Press the [REMOVE T/B] switch on the controller. (Indented
Figure shows the
CR2-532 controller state) The switch's LED will start flickering.
3) Securely hold the T/B connector, and turn it to the left to
remove it.
STATUS
NUMBER

CHANG
DISP

UP EMG.STOP

MODE DOWN

TEACH
SVO ON
START
CR2
AUT O
(O p.) RESET
AUT O
(Ex t.)

4) Remove the T/B connector within 5 seconds after the LED

SVO OFF
STOP
END
REMOVE
T/B

DSUB

starts flickering. The switch's LED will turn OFF when the
T/B

work is completed.
Teaching pendant
(T/B)

(3) Installing with the control power ON

DISABLE ENABLE
1) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".

DISABLE ENABLE
P8T B-TE

EMG.STOP

REMOVE T/B switch Connector

Figure shows the
CR2-532 controller
2) Connect the T/B connector. The switch's LED will start
STATUS
NUMBER

MODE
SVO ON
CHANG
DISP

UP

DOWN
EMG.STOP

CR2
flickering.
3) Press the [REMOVE T/B] switch on the side of the controller
TEACH START
AUT O
(O p.) RESET
AUT O
(Ex t.)

SVO OFF
STOP
END
REMOVE
T/B

within 5 seconds after installing the T/B. (Projected state)

DSUB
T/B

The switch's LED will light when the work is completed.

Teaching pendant
(T/B)

WARNING The T/B emergency stop is invalid while the [REMOVE T/B] switch is pressed
(indented state) even after the T/B is connected. This state will cause an emergency
stop within 5 seconds, but as the T/B is invalid, starting operations from devices
other than the T/B will be valid.

◇◆◇ When an emergency stop state occurs ◇◆◇

If the emergency stop state occurs during the above operations, cancel it with the following procedures.
(1) Press the [REMOVE T/B] switch on the side of the controller, and light the switch's LED.
(Projected state)
(2) Set the T/B [ENABLE/DISABLE] switch to "ENABLE".
(3) Press the T/B [ERROR RESET] key.

Handling the T/B 4-39

4Basic operations

4.2.2 Functions of each key

1) [EMG. STOP] switch

This is a push-button switch with
lock function for emergency stop.
DISABLE ENABLE
When this switch is pressed, the
3) R28TB 2)
servo will turn OFF and the robot
will stop immediately regardless of
5) the T/B enable/disable state. To
4) 1) cancel this state, turn the switch
clockwise.
6) 2) [ENABLE/DISABLE] switch
19) TOOL JOINT XYZ MENU
STOP This changeover switch is used to
Back =＊/ ( )？ $" : #%!

SVO ON enable or disable the T/B key

EMG.STOP
7) STEP －X ＋X operations. To carry out operations
MOVE (J1) (J1)
using the T/B, always set this
8)
ADD
13)
＋ －Y ＋Y ↑ switch to "ENABLE" (valid).
FORWD (J2) (J2)
14) Operations with the T/B will be
9) － －Z ＋Z
RPL
↓ enabled, and operations from the
BACKWD (J3) (J3)
15) controller and external sources will
10) －A ＋A
DEL
← be disabled. The T/B will have the
COND
18)
(J4) (J4)
HAND
16) operation rights. To operate with
POS －B ＋B → the controller or external source,
11) CHAR (J5) (J5) set this switch to "DISABLE"
－C ＋C
INP 17) (invalid).
ERROR
RESET (J6) (J6) EXE
3) Display LCD
12) The program contents and robot
state are displayed with the T/B
key operations.
Fig.4-3 ： Teaching pendant (Front side of R28TB)

4) [TOOL] key
This selects the TOOL JOG mode.
4) [JOINT] key
This selects the JOINT JOG mode.
4) [XYZ] key
This selects the XYZ JOG, 3-AXIS XYZ or CYLINDER JOG mode.
5) [MENU] key
This returns the display screen to the "menu screen"
6) [STOP] key
This stops the program and decelerates the robot to a stop. This is the same function as the [STOP] switch on
the front of the controller, and can be used even when the T/B [ENABLE/DISABLE] switch is set to DISABLE.
7) [STEP/MOVE] key
Jog operations are possible when this key is pressed simultaneously with the 12) jog operation key. Step jump
is carried out when pressed simultaneously with the [INP/EXE] key. This also turns the servo ON.
8) [+/FORWD] key
Step feed is carried out when this key is pressed simultaneously with the [INP/EXE] key. On the edit screen,
the next program line is displayed. When pressed simultaneously with the [STEP/MOVE] key, the override will
increase.
9) [-/BACKWD] key
On the edit screen, the previous program line is displayed. When pressed simultaneously with the [INP/EXE]
key, the axis will return along the robot's operation path. When pressed simultaneously with the [STEP/MOVE]
key, the override (speed) will decrease.
10) [COND] key
This is used to edit the program.
11) [ERROR RESET] key
This key resets an error state that has occurred. When pressed simultaneously with the [INP/EXE] key, the
program will be reset.

4-40 Handling the T/B

 4Basic operations

12) [Jog operation] key (12 keys from [-X

(J1)] to [+C (J6)]
In this manual, these keys are generically
called the "jog operation" keys. When
JOINT JOG is selected, each axis will
rotate, and when XYZ JOG is selected, the
robot will move along each coordinate
20) system. These keys are also used to input
numeric values such as when selecting a
menu or inputting a step No.
13) [ADD/ ↑ ] key
This additionally registers the position
19)
data. It also moves the cursor upward.
14) [RPL/ ↓ ] key
It also moves the cursor downward .
15) [DEL/ ← ] key
This deletes the position data. It also
moves the cursor to the left .
16) [HAND/ → ] key
When pressed simultaneously with the [+C
(J6)] or [-C (J6)] key, hand 1 will open or
close. In the same manner, hand 2 will
open/close when pressed simultaneously
with the [+B (J5)] or [-B (J5)] key, hand 3
with the [+A (J4)] or [-A (J4)] key, and
hand 4 with the [+Z (J3)] or [-Z (J3)] key.
This key also moves the cursor to the
right .

Fig.4-4 ： Teaching pendant (Rear and side of R28TB)

17) [INP/EXE] key

This inputs the program, and carries out step feed/return.
18) [POS CHAR] key This changes between numbers and alphabetic characters when editing the position data,
etc.
19) Deadman switch
When the [ENABLE/DISABLE] switch 2) is set to "ENABLE", and this key is released or pressed with force,
the servo will turn OFF. Press this switch lightly when carrying out functions with the servo ON, such as jog
operations. If emergency stop or servo OFF operation have been applied, and the servo is OFF, the servo will
not turn ON even when this switch is pressed. In this case, carry out the servo ON operation again.
20) Contrast setting switch (Top: Dark, bottom: light)
This sets the display LCD brightness.

◇◆◇ Remove the protection seal of the teaching pendant before using ◇◆◇
Installed the protection seal on the teaching pendant to prevent the damage of the display LCD and the key seat
when shipping. Remove the protection seal when using. The operation of the key and the confirmation of the dis-
play is possible without removing the protection seal, however the adhesive may be left on the teaching pendant
as the time passes.

Handling the T/B 4-41

4Basic operations

4.3 Turning the power ON and OFF

4.3.1 Turning the control power ON

CAUTION Always confirm the following items before turning the controller power ON.
1) Make sure that there are no operators in the robot operation range.
2) Make sure that the controller and robot arm are securely connected with the
machine cable.
3) Make sure that the external emergency stop switch is connected to the controller.
4) Make sure that the controller's power cable and grounding cable are correctly
connected.
5) Make sure that the grounding cable is connected to the robot arm.
6) Make sure that there are no obstacles, such as tools, in the robot operation range.

<CR2-532>
STATUS NUMBER

STATU
S NUMBE
R
CHANG
DISP
UP EMG.STOP

MODE DOWN

TEAC H
SVO ON
START
CR2
AUTO
(O p.) RESET
AUTO
(Ext.)

SVO OFF
STOP
END
REMOV

<CR2-532M>
E T/B

DSUB

T/B

[POWER] switch
STATUS NUMBER CHANG DISP EMG.STOP

POWER
UP

DOWN

<CR2A-572/CR2B-574> ON MODE

TEACH
SVO ON START RESET

AUTO AUTO
(Op.) (Ext.) REMOVE T/B
SVO OFF STOP END

OFF

[POWER] switch

Turn the controller [POWER] switch ON.

" □ . 100" will appear on the STATUS NUMBER display.
This completes the turning ON of the control power.

◇◆◇ What is the main power, control power and servo power? ◇◆◇
Main power ------ This supplies power to the controller. (Primary power)
Control power --- This supplies power to the control sections (PCB, etc.) in the controller.
Servo power -----This supplies power to the motor that drives the robot.
When energized, this is called servo ON, and when shut off, this is called servo OFF.

4.3.2 Shutting OFF the control power

STOP
1) If the robot is operating, press the controller [STOP] switch, and stop
the robot.
Stop the program

SVO OFF
2) After the robot has stopped, press the controller [SVO OFF] switch,
and turn the servo OFF.
Shut OFF the motor powe

3) Turn the controller [POWER] switch OFF.

The control power will be shut OFF.

4-42 Turning the power ON and OFF

 4Basic operations

4.4 Turning the servo power ON/OFF

4.4.1 Turning the servo power ON (servo ON)
DISABLE ENABLE
1) Confirm that the T/B [ENABLE/DISABLE] switch is
set to "DISABLE".

T/B disable
MODE
TEACH
2) Confirm that the [MODE] switch on the front of the
AUTO AUTO controller is set to "TEACH" or "Auto (Op.)".
(Op.) (Ext.)

Controller enable

SVO ON
3) Press the [SVO ON] switch on the front of the
controller.
Turn ON the servo power The switch's lamp will light indicating that the servo is
ON.

CAUTION Make sure that there are not operators in the robot operation range before turning ON
the servo.

4.4.2 Shutting OFF the servo power (servo OFF)

STOP
1) If the robot is operating, press the controller [STOP]
switch on the front of the controller, and stop the
Stop the program robot.

SVO OFF

2) After the robot has stopped, press the controller

Shut OFF the servo [SVO OFF] switch on the front of the controller, and
turn the servo OFF. The switch's lamp will light
indicating that the servo is OFF.

◇◆◇ Operation rights not required ◇◆◇

This operation does not require the operation rights, so the servo can be turned OFF at any time by pressing
the [SVO OFF] switch.

Turning the servo power ON/OFF 4-43

4Basic operations

4.5 Jog operation

Refer to the separate manual "Robot arm setup and maintenance" when carrying out jog operation.
The following jog operation modes are available. Use these according to the purpose.
Table 4-1 ： Jog modes
Jog mode Main application Explanation

JOINT JOG ・ Moves each joint.

・ Moves the robot arm largely.
・ Changes the robot posture.
XYZ JOG ・ Accurately sets the teaching position.
・ Moves the axis straight along the XYZ coordinate system.
・ Moves the axis straight while maintaining the robot posture.
・ Changes the posture while maintaining the hand position.
Separate manual "Robot arm
TOOL JOG ・ Accurately sets the teaching position.
setup and maintenance"
・ Moves the axis straight along the hand direction.
・ Changes the posture while maintaining the hand position.
・ Rotates the hand while maintaining the hand position.

3-AXIS XYZ JOG ・ When the axis cannot be moved with XYZ JOG that maintains the posture.
・ When the tip is to be moved linearly but the posture is to be changed.
CYLINDER JOG ・ Moves in a cylindrical shape centering on the Z axis while maintaining the posture.
・ Moves linearly in a radial shape centering on the Z axis while maintaining the posture.

4.6 Opening and closing the hand

Hands 1 to 4 can be opened and closed with the T/B.

HAND -C
＋ (J6)
→
0 Opening and closing hand 1
Open: Press [HAND] + [+C (J6)] key
Close: Press [HAND] + [-C (J6)] key
Opening and closing hand 2
HAND +C Open: Press [HAND] + [+B (J5)] key
→ ＋ (J6)
Close: Press [HAND] + [-B (J5)] key
5
Open Close Opening and closing hand 3
Open: Press [HAND] + [+A (J4)] key
Close: Press [HAND] + [-A (J4)] key
Opening and closing hand 4
Open: Press [HAND] + [+Z (J3)] key
Close: Press [HAND] + [-Z (J3)] key

4-44 Jog operation

 4Basic operations

4.7 Programming
The procedures from creating the program to automatic operation are explained in order using a simple procedure
as an example.

(1) Creation procedures

Start

Decide the robot operation order, operation path

Deciding the operation order
(necessity of linear movement), and the work at each
operation position (hand open/close, etc).

Teach the robot operation position in the position

Deciding the operation position name
variables.
Decide the position variable name.

Based on the decided operation order and operation

Describing and creating the program position name, convert the robot operations and work
into commands. Describe the commands in the program
and save in the controller.

Move the robot to each operation position with jog

Teaching the operation position
operation, and teach each position in the position
variables.

Execute the program saved in the controller line by line,

Confirmation of program and operation position
and confirm that the program and operation positions
are correctly saved.

Yes
Judgment: OK?
No

If any mistakes were found in the robot operation or

Correcting the program work during the program confirmation, correct the
program.

If any mistakes were found in the robot operation

Correcting the position
position during the program confirmation, correct the
taught position.

Automatically execute the completed program.

Automatic operation

End

Fig.4-5 ： Program creation procedures

(2) Robot work

Assume that the robot is going to carry the workpiece from the left to the right.
Workpiece Carry the workpiece

Fig.4-6 ： Example of work

Programming 4-45
4Basic operations

4.7.1 Creating the program

(1) Deciding the operation order

(1) ：Joint movement

Wait position
：Linear movement
：Teaching position
(10
(2) )
Upward position to (6) Upward position to
grasping workpiece release workpiece

(3) (7)
20mm

(4) Hand close (8) Hand open

(5) (9) Position to release workpiece
Position to grasp workpiece

Start
(1) Move to wait position (joint movement).
(2) Move to 20mm upward workpiece (joint movement).
(3) Move to position to grasp workpiece (linear movement).
(4) Grasp workpiece (hand close).
(5) Move 20mm upward (linear movement).
(6) Move to 20mm upward position to place workpiece
(joint movement).
(7) Move to position to place workpiece (linear movement).
(8) Release workpiece (hand open).
(9) Move 20mm upward (linear movement).
(10) Move to wait position (joint movement).
End

Fig.4-7 ： Deciding the operation order

◇◆◇ Joint movement and linear movement ◇◆◇

The operation for which the robot movement path is not designated in particular is the "joint movement". The
operation for which the movement path is designated as linear is "linear movement".
If the robot could interfere with the peripheral devices, such as the workpiece, when moving to grasp or release
the workpiece, designate "linear movement" to prevent any interference.

4-46 Programming
 4Basic operations

(2) Deciding the operation position name

Wait position
(ＰＷＡＩＴ)

Upward position to Upward position to

grasping workpiece release workpiece

Position to release
20mm

Position to grasp workpiece workpiece

(ＰＧＥＴ) (ＰＰＵＴ)

Position
Name Teaching Remarks
variable name

Wait position PWAIT Required

Upward position to grasping － Not required Designate with commands.

workpiece
Position to grasp workpiece PGET Required

Upward position to release workpiece － Not required Designate with commands.

Position to release workpiece PPUT Required

Position variable name ････ Designate a random character string starting with "P".
Up to eight characters can be designated.

Fig.4-8 ： Deciding the operation position name

◇◆◇ Teaching the operation position ◇◆◇

The operation position does not necessarily need to be taught.
The positions shown with white circles in Fig. 4-8 can be designated with commands as "position 20mm away
from target position". Refer to "(3) Describing and creating the program" on page 48.

CAUTION The designation of the direction separated from the target position differs according to the
robot type.
The position is along the Z axis of the TOOL coordinate system, and the direction is
designated with the + and - signs.
Refer to the section on the TOOL JOG operation in the separate "Instruction Manual/
Robot arm setup and maintenance", and confirm the Z axis direction of the TOOL
coordinate system. Then, designate the correct sign (direction) that matches the robot
being used.
Designating the reverse direction could lead to interference with the peripheral devices and
damage.
Generally (in the default state), the hand retract direction is the "-" sign with the vertical
articulate type robot, and the "+" sign is the robot's upward direction with the other robots

Programming 4-47
4Basic operations

(3) Describing and creating the program

■ Convert the target robot operations and work into commands.
Refer to the separate manual "Instruction Manual: Detailed explanations of functions and operations" for details
on the commands.
Table 4-2 ： Commands used
Target operation and work Command Example of designation
Joint movement MOV Move to position variable PWAIT MOV PWAIT
Note)
Move to 20mm upward position variable PGET MOV PGET,+20
Linear movement MVS Move to position variable PGET MVS PWAIT
Note)
Move to 20mm upward position variable PGET MVS PGET,+20
Hand open HOPEN Open hand 1 HOPEN 1
Hand close HCLOSE Close hand 1 HCLOSE 1
Wait DLY Wait 1 second DLY 1.0
End END End the program END

■ Program the converted commands

Wait position
(ＰＷＡＩＴ)

Upward position to Upward position to

grasping workpiece release workpiece

Position to release
20mm

Position to grasp workpiece workpiece

(ＰＧＥＴ) (ＰＰＵＴ)

Start
(1) Move to wait position (joint movement) ...................................................................10 MOV PWAIT
Note)
(2) Move to 20mm upward workpiece (joint movement)...........................................20 MOV PGET,+20
(3) Move to position to grasp workpiece (linear movement)...................................30 MVS PGET
(4) Grasp workpiece (hand close).......................................................................................40 HCLOSE 1
.......................................................................................50 DLY 1.0
Note)
(5) Move 20mm upward (linear movement).....................................................................60 MVS PGET,+20
Note)
(6) Move to 20mm upward position to place workpiece (joint movement) .......70 MOV PPUT,+20
(7) Move to position to place workpiece (linear movement) ...................................80 MVS PPUT
(8) Release workpiece (hand open)....................................................................................90 HOPEN 1
....................................................................................100 DLY 1.0
(9) Move 20mm upward (linear movement).....................................................................110 MVS PPUT,+20 Note)
(10) Move to wait position (joint movement) .................................................................120 MOV PWAIT
End...................................................................................................................................................130 END

Hand ････ Up to four hands can be installed. However, in the above program, the 1st hand connected to
hand 1 is the target.
Fig.4-9 ： Describing the program

CAUTION Note) Upward movement is designated at a position along the Z axis of the TOOL coor-
dinate system, and the direction is designated with the + and - signs.
Refer to the section on the TOOL JOG operation in the separate "Installation
Manual/ Robot arm setup and maintenance", and confirm the Z axis direction of
the TOOL coordinate system. Then, designate the correct sign (direction) that
matches the robot being used.
Designating the reverse direction could lead to interference with the peripheral
devices and damage.
Generally (in the default state), the hand retract direction is the "-" sign with the
vertical articulate type robot, and the "+" sign is the robot's upward direction with
the other robots.
4-48 Programming
 4Basic operations

◇◆◇ Program format ◇◆◇

The program format is configured of the "line No. command parameter affixed to command" as shown in Fig. 4-9.
Example) １ ０ Ｍ Ｏ Ｖ ＰＷＡ Ｉ Ｔ
Line No. Command Parameter affixed to command
The program is executed in order from the line No. with the smallest number.

■ Input the described program into the controller.

The T/B is used for this operation.

Preparing the T/B

MODE
TEACH
DISABLE ENABLE 1) Set the controller [MODE] switch to
"TEACH".
AUTO AUTO
(Op.) (Ext.)
2) Set the T/B [ENABLE/DISABLE] switch to
"ENABLE".

Opening the program editing screen

3) In the <MENU> screen, press the arrow keys
<TEACH> (" ↑ ", " ↓ ", " ← ", " → ") and move the
<MENU>
( ) cursor to "1. TEACH", and then press the
1.TEACH 2.RUN
[INP] key. The <TEACH> screen will appear.
3.FILE 4.MONI
5.MAINT 6.SET SELECT PROGRAM

ADD RPL DEL HAND INP

↑ ↓ ← → → EXE
Move the cursor → set

<TEACH> PR:1 4) Press the [1] → [INP] keys.

(1 ) The program No. 1 editing screen will appear.
--NO DATA--
SELECT PROGRAM
-B INP
(J5)
1 DEF
→ EXE
Set the program number 1

DEL
POS
CHAR ＋ ←
Delete an input character

◇◆◇ Using the T/B ◇◆◇

Set the controller [MODE] switch to "TEACH" and the T/B [ENABLE/DISABLE] switch to "ENABLE".
Operations from the T/B are not possible unless the controller [MODE] switch is set to "TEACH".

◇◆◇ Inputting numbers and spaces ◇◆◇

To input a number, press the key having a number on the lower left.
To input a space, press the key having "SPACE" on the lower left.

◇◆◇ Correcting incorrect numbers ◇◆◇

Press the [DEL] key while holding down the [CHAR] key to delete the character, and then input it again.
If the cursor is returned by pressing the [ ← ] key, and a character is input, it will be inserted.

Programming 4-49
4Basic operations

Input the program 10 MOV PWAIT

PR:1 ST:1 PR:1 ST:1 5) Press the [ ↓ ] key three times.

LN:0 LN:0 The cursor will move to the command editing
--NO DATA-- line.
CODE EDIT
RPL
↓
Using the cursor

PR:1 ST:1 PR:1 ST:1

LN:0 LN:0 6) Press the [1], [0] and [SPACE] keys.
10 The line No. "10" will be input.
CODE EDIT CODE EDIT
-B -C -X
(J5) → (J6) → (J1)
SPACE PQR
Input "1","0" 1 DEF 0 ABC

PR:1 ST:1 PR:1 ST:1

LN:0 LN:0 7) Press the [M] key while holding down the
10 10 M [POS CHAR] key. "M" will appear.
CODE EDIT CODE EDIT
-Y
POS
CHAR ＋ (J2)
Input "M" 4 MNO

PR:1 ST:1 1.MOV 2.MVS

LN:0 3.MVC 4.MVR 8) Hold down the [CHAR] key. The four
10 M 10 M commands assigned to "M" will appear.
CODE EDIT CODE EDIT
POS
CHAR
Input "M"

1.MOV 2.MVS PR:1 ST:1

3.MVC 4.MVR LN:0 9) Press the [1] key while holding down the
10 M 10 MOV [CHAR] key.
CODE EDIT CODE EDIT The "MOV" command will be input.
-B
POS
CHAR
＋ (J5)
1 DEF
Input "MOV"

◇◆◇ Inputting characters ◇◆◇

The characters that can be input are indicated, three in a group, on the lower right of each key.
To input a character, hold down the [CHAR] key and press the key having the character to be input. Each time
the corresponding character key is pressed while the [CHAR] key is pressed, the three characters will appear
alternately.
Release the [CHAR] key when the target character appears, and set the character.

◇◆◇ Inputting commands ◇◆◇

The commands can be input one character at a time (ex., for "M" → "O" → "V" for the MOV command), but if
the head character of the command is input, the command can be selected as a number from the list of
commands that appears.
After inputting the head character of the command, press the [CHAR] key. The list of commands will appear.
While holding down the [CHAR] key, press the numeral key for the target command No., and select the command
If the target command is not found in the list, press the [CHAR] key again to update the list.

4-50 Programming
 4Basic operations

PR:1 ST:1 PR:1 ST:1 10) Press the [P] key while holding down the
LN:0 LN:0 [CHAR] key, and then release the [CHAR]
10 MOV 10 MOV P key.
CODE EDIT CODE EDIT "P" will be input.
-X
POS
CHAR ＋ (J1)
SPACE PQR
Input "P"

PR:1 ST:1 PR:1 ST:1 11) Press the [W] key twice while holding down
LN:0 LN:0 the [CHAR] key, and then release the
10 MOV P 10 MOV PW [CHAR] key.
CODE EDIT CODE EDIT "W" will be input.
+B
POS
CHAR ＋ (J5)
Input "W" 6 VWX

PR:1 ST:1 PR:1 ST:1

12) Input "A", "I" and "T" in the same manner.
LN:0 LN:0
10 MOV PW 10 MOV PWAIT
CODE EDIT CODE EDIT
POS -C -A +C
CHAR ＋ (J6) ・ (J4) ・ (J6)
Input "A","I","T" 0 ABC 2 GHI 5 STU

PR:1 ST:1 PR:1 ST:2

LN:0 LN:0 13) Press the [INP] key.
10 MOV PWAIT "10 MOV PWAIT" will be set.
CODE EDIT CODE EDIT
INP
EXE
Set

PR:1 ST:2 PR:1 ST:13

14) Input the program from line 20 to line 130 in
LN:0 LN:0
the same manner.
20 MOV PGET,+2 130 END
CODE EDIT CODE EDIT

This completes the inputting of the program.

◇◆◇ Displaying the previous and next command line ◇◆◇

To display the previous line, press the [BACKWD] key, and to display the next line, press the [FORWD] key.

◇◆◇ Displaying a specific line ◇◆◇

Press the [ ↑ ] and move the cursor to LN:. Input the No. of the line to be displayed in the parentheses, and then
press the [INP] key. The designated line will appear.

Programming 4-51
4Basic operations

■ Teach the robot operation position.

Set the position with jog operation (Teaching PGET)
1) Move the robot with jog operation, and set
Hand the end of the hand to the position for
grasping the workpiece. When the position
has been set, open and close the hand to
confirm that the workpiece can be grasped.
Refer to "4.5 Jog operation" on page 44 for
Work
details on the jog operation, and section "4.6
Opening and closing the hand" on page 44 for
detains on opening and closing the hand.

◇◆◇ Effective use of jog mode ◇◆◇

When the robot's current position is greatly separate from the target position, move the robot in axis units with
the "JOINT JOG mode", to approach the position.
If the target position is nearby, move linearly with the "XYZ JOG mode", and finely adjust the position. The
position can be set accurately by delaying the override (operation speed) at this time.

Registering the position (Teaching PGET)

2) On the command editing screen, press the
PR:1 ST:13 [ADD] key while holding down the [POS] key.
MO.POS( )
LN:130 The position editing screen will appear.
X: +0.00
130 END Y: +0.00
CODE EDIT Z: +0.00
ADD
POS
CHAR ＋ ↑
Change to the position screen
3) Input "PGET" in the parentheses at
MO.POS(PGET ) MO.POS(PGET ) MO.POS, and then press the [INP] key.
X: +0.00 X: +0.00 The position variable name PGET will be
Y: +0.00 Y: +0.00 called, and the currently registered
Z: +0.00 Z: +0.00 coordinate value will appear.
-X -A -B +C
POS
＋ (J1) ・ (J4) ・ (J5) ・ (J6)
CHAR
SPACE PQR 2 GHI 1 DEF 5 STU Refer to " ◇◆◇ Inputting characters ◇◆
Input "P","G","E","T"
◇ " on page 50 for details on inputting
INP characters.
EXE

MO.POS(PGET ) MO.POS(PGET ) 4) Press the [ADD] key while holding down the
X: +0.00 [STEP] key, and release only the [ADD] key.
Y: +0.00 The buzzer will sound a "beep", and a
Z: +0.00 ADDITION ? confirmation message will appear.
While holding down the [STEP] key, press the
MO.POS(PGET ) MO.POS(PGET ) [ADD] key again.
X: +0.00 X: +132.30 The buzzer will sound a "beep", and the
Y: +0.00 Y: +254.10 message "ADDING" will appear. Then, the
ADDITION ? Z: +32.00 current position will be registered.

◇◆◇ Changing between the command editing screen and position editing screen. ◇◆◇
The commands are edited on the command editing screen, and the positions are edited on the position editing
screen.
To change from the command editing screen to the position editing screen, press the [POS] + [ADD] keys.
To change from the position editing screen to the command editing screen, press the [COND] key.

4-52 Programming
 4Basic operations

MO.POS(PPUT ) MO.POS(PPUT ) 5) Teach PPUT (position to place workpiece)

X: +0.00 X: +132.30 and PWAIT (wait position) in the same
Y: +0.00 Y: +554.10 manner.
Z: +0.00 Z: +32.00

MO.POS(PWAIT ) MO.POS(PWAIT )
X: +0.00 X: +132.30
Y: +0.00 Y: +354.10
Z: +0.00 Z: +132.00

This completes teaching of the robot operation positions.

(4) Confirming the program

Using the T/B execute the program line by line (step operation), and confirm the operation.
The following operations are carried out while lightly pressing the deadman switch on the T/B.

MO.POS(PWAIT ) PR:1 ST:1 1) Press the [COND] key, and display the
X: +132.30 LN:10 command editing screen.
Y: +354.10 10 MOV PWAIT
Z: +132.00 CODE EDIT

COND
Change to the command screen
2) While holding down the [FORWD] key, hold
PR:1 ST:1 PR:1 ST:2 down the [EXE] key.
LN:10 LN:20 The robot will start moving.
10 MOV PWAIT 20 MOV PGET
CODE EDIT CODE EDIT When the execution of one line is completed,
the robot will stop, and the next line will
＋ INP appear on the screen.
FORWD
＋ EXE If [EXE] is released during this step, the
Start of step execution
robot will stop.

CAUTION Take special care to the robot movements during operation. If any abnormality occurs,
such as interference with the peripheral devices, release the [EXE] key and stop the
robot.

◇◆◇ Step operation ◇◆◇

"Step operation" executes the program line by line. The operation speed is slow, and the robot stops after each
line, so the program and operation position can be confirmed.
During execution, the lamp on the controller's [START] switch will light.

◇◆◇ Immediately stopping the robot during operation ◇◆◇

・ Press the [EMG. STOP] (emergency stop) switch.
The servo will turn OFF, and the moving robot will immediately stop.
To resume operation, reset the alarm, turn the servo ON, and start step operation.
・ Release or forcibly press the "deadman" switch.
The servo will turn OFF, and the moving robot will immediately stop.
To resume operation, lightly press the "deadman" switch, and start step operation.
・ Release the [EXE] key.
The step execution will be stopped. The servo will not turn OFF.
To resume operation, press the [EXE] key.

Programming 4-53
4Basic operations

PR:1 ST:2 PR:1 ST:13 3) Carry out step operation up to the END
LN:20 LN:130 command at line No. 130, and confirm the
20 MOV PGET 130 END operation in the same manner.
CODE EDIT CODE EDIT If the robot operation or position is incorrect,
refer to the following operations and make
＋ INP
＋ corrections.
FORWD EXE
Start of step execution

(5) Correcting the program

■ Correcting the commands
As an example, the joint movement at line No. 70 will be changed to linear movement.
(Change 70 MOV PPUT, +20 to 70 MVS PPUT, +20) Note)

Call the line No.

1) Press the [ ↑ ] key to move the cursor to
PR:1 ST:1 PR:1 ST:1 LN: ( ).
LN:10 LN:(10)
10 MOV PWAIT 10 MOV PWAIT
CODE EDIT LINE NUMBER
ADD
↑
Using the cursor

PR:1 ST:1 PR:1 ST:7 2) Press the [7], [0] and [INP] keys. Line No. 70
LN:(70) LN:70 will appear.
10 MOV PWAIT 70 MOV PPUT,+20
CODE EDIT CODE EDIT

+A -C INP
(J4) (J6)
EXE
7 YZ_ 0 ABC
Input the line number

CAUTION Note) Upward movement is designated at a position along the Z axis of the TOOL coor-
dinate system, and the direction is designated with the + and - signs.
Refer to the section on the TOOL JOG operation in the separate "Installation
Manual/ Robot arm setup and maintenance", and confirm the Z axis direction of
the TOOL coordinate system. Then, designate the correct sign (direction) that
matches the robot being used.
Designating the reverse direction could lead to interference with the peripheral
devices and damage.
Generally (in the default state), the hand retract direction is the "-" sign with the
vertical articulate type robot, and the "+" sign is the robot's upward direction
with the other robots.

◇◆◇ Cursor movement ◇◆◇

When the cursor is at a command line display, the command can be edited. When at a line No. display (LN:), the
line No. is designated.
The cursor is moved with the [ ↑ ], [ ↓ ], [ ← ] and [ → ] keys.

◇◆◇ Calling out a line No. ◇◆◇

When designating and calling out a line No., move the cursor to the line No. display (LN:), input the line No., and
then press the [INP] key.
The displayed line can be scrolled up or down by pressing the [FORWD] or [BACKWD] key.

4-54 Programming
 4Basic operations

Change to the command

3) Press the [ ↓ ] key and move the cursor to
PR:1 ST:7 PR:1 ST:7 the command line.
LN:(70 ) LN:70 Press the [ → ] key six times, and move the
70 MOV PPUT,+20 70 MOV PPUT,+20 cursor to the right of "V".
LINE NUMBER CODE EDIT
RPL HAND
↓ →
Using the cursor

PR:1 ST:7 PR:1 ST:7 4) Press the [DEL] key, and delete "OV". "M"
LN:70 LN:70 will remain displayed.
70 MOV PPUT,+20 70 M PPUT,+20
CODE EDIT CODE EDIT
DEL
←
Deleting a character
5) Hold down the [CHAR] key.
PR:1 ST:7 1.MOV 2.MVS The four commands assigned to "M" will
LN:70 3.MVC 4.MVR appear.
70 M PPUT,+20 70 M PPUT,+20
CODE EDIT CODE EDIT

POS
CHAR
Display the command list
6) Press the [2] key while holding down the
1.MOV 2.MVS 1.MOV 2.MVS
[CHAR] key, and select "MVS".
3.MVC 4.MVR 3.MVC 4.MVR
70 M PPUT,+20 70 MVS PPUT,+20
CODE EDIT CODE EDIT
-A
POS (J4)
CHAR ＋ 2 GHI 7) Press the [INP] key, and set line No. 70. The
Select the "MVS" command
next line will appear on the screen.
PR:1 ST:7 PR:1 ST:8
LN:70 LN:80
70 MVS PPUT,+20 80 MVS PPUT
CODE EDIT CODE EDIT

INP
EXE
Set line 70

Line No. 70 has been changed to linear movement with the above operation.

◇◆◇ Correcting a character ◇◆◇

Move the cursor to the right of the incorrect character, and press the [DEL] key to delete in the left direction.
Then, input the correct character. The input character will be inserted at the cursor position.
If the cursor is returned by pressing the [ ← ] key, and a character is input, it will be inserted.

◇◆◇ After correcting a program ◇◆◇

After correcting the program, carry out step operation, and confirm that the program has been corrected.

Programming 4-55
4Basic operations

■ Correcting the taught position

As an example, the wait position (PWAIT) will be corrected.

New wait position

(ＰＷＡＩＴ)
Change

Change the movement position

PR:1 ST:8 MO.POS( )
1) On the command editing screen, press the
LN:(80 ) X: +0.00
[ADD] key while holding down the [CHAR]
80 MVS PPUT Y: +0.00
key.
CODE EDIT Z: +0.00
The position editing screen will appear.
ADD
POS
CHAR ＋ ↑
Change to the position screen

MO.POS(PWAIT ) MO.POS(PWAIT ) 2) Input "PWAIT" in the parentheses at

X: +0.00 X: +132.30 MO.POS, and then press the [INP] key.
Y: +0.00 Y: +354.10 The position variable name PWAIT will be
Z: +0.00 Z: +132.00 called out, and the currently registered
-X +B -C coordinate value will appear.
POS
CHAR ＋ (J1)
SPACE PQR
・ (J5) ・ (J6) ・
6 VWX 0 ABC
Input "P","W","A","I","T"

-A +C INP
(J4) ・ (J6)
EXE
2 GHI 5 STU

◇◆◇ Calling out a position variable ◇◆◇

Input the name of the variable to be called out in the parentheses at MO. POS on the position editing screen.
Then, press the [INP] key.
The displayed position variable can be scrolled up or down by pressing the [FORWD] or [BACKWD] key.

4-56 Programming
 4Basic operations

JOINT LOW 3) Move the robot to the new wait position with
J1 +34.50 jog operation.
J2 +20.00
J3 +80.00

MO.POS(PWAIT ) MO.POS(PWAIT )
X: +132.30 X: +132.30 4) Press the [RPL] key while holding down the
Y: +354.10 Y: -284.10 [STEP] key, and release only the [RPL] key.
Z: +132.00 Z: +132.00 The buzzer will sound a "beep", and a
confirmation message will appear.
RPL RPL
STEP
＋ ↓ ・ ↓
While holding down the [STEP] key, press the
MOVE [RPL] key again.
Correct the position
The buzzer will sound a "beep", and the
message "Replacing" will appear. Then, the
current position will be registered.

This completes correction of the wait position.

◇◆◇ After correcting a program ◇◆◇

After correcting the program, carry out step operation, and confirm that the program has been corrected.

Programming 4-57
4Basic operations

(6) Start automatic operation.

CAUTION Before starting automatic operation, always confirm the following item. Starting
automatic operation without confirming these items could lead to property damage or
physical injury.
・ Make sure that there are no operators near the robot.
・ Make sure that the safety fence is locked, and operators cannot enter
unintentionally.
・ Make sure that there are no unnecessary items, such as tools, inside the robot
operation range.
・ Make sure that the workpiece is correctly placed at the designated position.
・ Confirm that the program operates correctly with step operation.

In the following explanation, automatic operation will be carried out with the controller.
Prepare the controller
DISABLE ENABLE 1) Set the T/B [ENABLE/DISABLE] switch to
"DISABLE".

T/B disable

MODE
TEACH
2) Set the controller [MODE] switch to "AUTO
(Op.)".
AUTO AUTO
(Op.) (Ext.)

Controller enable

Set the operation speed

CHNG DISP STATUS NUMBER
3) Press the controller [CHNG DISP] switch
twice, and display the "OVERRIDE" on the
Display the override STATUS NUMBER display panel. (A "(" will
appear at the lower left.)
Press the [DOWN] key several times, and
UP display "10".
STATUS NUMBER The operation speed will be set to 10%.
DOWN

Set the override

CAUTION The servo will turn OFF when the controller's [MODE] switch is changed.
Note that axes not provided with brakes could drop with their own weight.

◇◆◇ Operations to change [MODE] switch without turning servo OFF ◇◆◇
(1) While holding down the deadman switch on the T/B, set the [ENABLE/DISABLE] switch to "DISABLE".
(2) While holding down the deadman switch on the T/B, set the controller [MODE] switch to "AUTO (Op.)".
(3) Release the T/B deadman switch.

4-58 Programming
 4Basic operations

Select the program number

4) Press the [CHNG DISP] switch, and display
CHNG DISP STATUS NUMBER the "program No." on the STATUS NUMBER
display panel. (A "P" will appear at the head.)

Display the program number Confirm that the program No. targeted for
automatic operation is displayed.
With the previous operation, the program was
UP created in program No. 1, so "P. 0001" will
STATUS NUMBER
appear.
DOWN
If the correct program No. is not displayed,
Select the program number press the [UP] and [DOWN] keys to display
the correct program No.
Start automatic operation
START END
5) After pressing the controller [START] switch,
press the [END] switch.
Start End with one cycle
The robot operation will start and will stop
after one cycle.

CAUTION When executing the work example given in "Fig. 4-6Example of work" on page 45,
always press the [END] switch and end the program after one cycle. If the [END]
switch is not pressed, the hand will interfere with the existing workpiece when it goes
to pale the workpiece in the second cycle.

CAUTION Before starting automatic operation, always confirm that the target program No. is
selected.

CAUTION Take special care to the robot movements during automatic operation. If any
abnormality occurs, press the [EMG. STOP] switch and immediately stop the robot.

◇◆◇ Operating from the controller ◇◆◇

Set the T/B [ENABLE/DISABLE] switch to "DISABLE" and the controller [MODE] switch to "AUTO (Op.)".
Operations from the controller are not possible unless the controller [MODE] switch is set to "AUTO (Op.)".

◇◆◇ Operation speed ◇◆◇

The operation speed for automatic operation with the controller can be set.
When the override is displayed on the STATUS NUMBER display panel (with a " □ " displayed on the lower left)
the override display will increment or decrement each time the [UP] or [DOWN] key is pressed. The max. speed
is 100%.
Initially set a low speed, and gradually increase it.

Programming 4-59
5Maintenance and Inspection

5 Maintenance and Inspection

The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are
described in this chapter. The types and replacement methods of consumable parts are also explained.

5.1 Maintenance and inspection interval

Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry
out at set intervals. Always carry these out to prevent unforeseen trouble, to maintain the product for a long time,
and to secure safety.

(1) Inspection schedule

０ Hr

Monthly inspection

Monthly inspection

５ ０ ０ Hr Monthly inspection

Monthly inspection

Monthly inspection
Daily inspection

１ ０ ０ ０ Hr Monthly inspection

Monthly inspection

Monthly inspection

１ ５ ０ ０ Hr Monthly inspection

Monthly inspection

Monthly inspection

２ ０ ０ ０ Hr Monthly inspection Yearly inspection

Operating time

<Guideline for inspection period>

For one shift
8 Hr/day x 20 days/month x 12 months = approx. 1800 Hr
10 Hr/day x 20 days/month x 12 months = approx. 2400 Hr
For two shifts
15 Hr/day x 20 days/month x 12 months = approx. 3600 Hr

[Caution] According to the schedule on the above, when using the double shift, you should
make the inspections at half the regular intervals.

Fig.5-1 ： Inspection schedule

5-60 Maintenance and inspection interval

 5Maintenance and Inspection

5.2 Inspection items

The controller inspection items are shown below.
Refer to section "Maintenance and Inspection" in the separate manual "Robot arm setup and maintenance", and
inspect the robot arm at the same time.

5.2.1 Daily inspection items

Carry out daily inspections following the procedures given in Table 5-1.

Table 5-1 ： Daily inspection items (details)

Procedure Inspection items (details) Remedies

Before turning the power ON (Check the following inspection items before turning the power ON.)

1 Is the power cable securely connected? Securely connect.

(Visual)
2 Are the machine cables between the robot arm and controller securely Securely connect.
connected?
(Visual)
3 Is the controller cover cracked, has any foreign matter adhered, or is Replace with a new part, or take remedial measures.
there any interference?
After turning the power ON (Turn the power ON while monitoring the robot.)

1 Is there any abnormal movement or noise when the power was turned Refer to the Troubleshooting section and remedy.
ON?
During operation (Try moving with an original program.)

1 Check that the operation point is not deviated. If deviated, check the Refer to the Troubleshooting section and remedy.
following items.
1) Are any of the installation bolts loose?
2) Are the bolts at the hand installation section loose?
3) Is the position of the jigs, other than the robot, deviated?
4) If the positional deviation cannot be eliminated, refer to
"Troubleshooting", and remedy.

2 Is there any abnormal movement or noise? Refer to the Troubleshooting section and remedy.
(Visual)

5.2.2 Periodic inspections

Carry out periodic inspections following the procedures given in Table 5-2.

Table 5-2 ： Periodic inspection items (details)

Procedure Inspection items (details) Remedies

Monthly inspection items

1 Are any of the connector fixing screws or terminal block terminal Securely tighten the screws.
screws loose?

2 Is the controller filter (bottom side) dirty? Clean or replace with a new part.
Inspect, clean and replace the filter by refer to
(Visual) "5.3.1 Inspecting, cleaning and replacing the filter"
on page 62.

6-month inspection items

1 Is the fan motor of the controller protection box rotating normally? Clean the radiating fins by refer to "5.3.3 Cleaning
Are the radiating fins and fan free from dust and oil mist, and clean? the heat radiating fins of the controller protection
box (CR2A-MB)" on page 66.

Yearly inspection items

1 Replace the backup battery in the controller. Exchange it referring to "5.3.2 Replacing the
battery" on page 63.

Inspection items 5-61

5Maintenance and Inspection

5.3 Maintenance and inspection procedures

The procedures for carrying out periodic maintenance and inspection are described below. Thoroughly comprehend
the procedures, and follow the instructions. This work can be commissioned to the Mitsubishi Service Dept. for a
fee. (Never disassemble, etc., any of the parts not described in this section.)
The maintenance parts required for the maintenance and inspection are shown in section "5.4 Maintenance parts"
on page 40. Contact your dealer for these parts when required.

5.3.1 Inspecting, cleaning and replacing the filter

A filter has been installed in the front part of the controller's bottom surface.
The following shows the procedure for inspecting, cleaning and replacing the filter:

CR2A-572/CR2B-574 controller

Filter

Filter plate
*The left figure shows the CR2A-572
controller for example. The RS-232C
connector is installed vertically as the
controller type is "CR2B-574".
M3 screw (two pieces)
Fig.5-2 ： How to remove the filter

1) Remove the filter plate in the bottom of the front side of the controller by unscrewing the M3 screws (2
pcs.).
2) Remove the filter from the filter plate, and then remove dust and particles accumulated on the filter.
If the filter is heavily soiled, rinse it well with water and similar solution and dry it completely, or replace it
with a new one.
3) Attach the cleaned or new filter to the filter plate, and install it to the controller with the M3 screws (2 pcs.).

This completes the inspection, cleaning and replace of the filter for the CR2A-572/CR2B-574 controller.

5-62 Maintenance and inspection procedures

 5Maintenance and Inspection

5.3.2 Replacing the battery

CAUTION The procedures for replacing the battery are described below.
If the system is used after the battery cumulative time over error (Error No. 7520)
occurs, the backup fault alarm will occur. If the backup fault alarm occurs, the con-
tents of the memory cannot be guaranteed, so save important program and position
data on a floppy disk using personal computer support software, etc.

CAUTION Replace the batteries for the controller and robot arm at the same time. Replace the
controller battery within 15 minutes after removing the old battery.

Note that the battery-change method differs, depending on the controller being
used. When the CR2-532 controller is used, refer to "(1) For the CR2-532 Control-
ler" on page 63. When the CR2A-572 controller is used, refer to "(2) For the CR2A-
572/CR2B-574 Controller" on page 64. When the CR2-532M controller is used,
refer to "(3) For the CR2-532M Controller" on page 65.

(1) For the CR2-532 Controller

Screw Ａ
(One)
1) Turn the controller power ON once. (For
Chassis cover approx. one minute.)
2) Wait at least three minutes after turning the
power OFF, and then remove the controller
Chassis cover.
To remove the cover, remove the one installa-
tion screw A, and slide the cover approx.
100mm toward the back. Then, lift it up.
Upper rear cover
R6x2CPU 3) Remove the upper rear cover by removing the
Screw Ｂ
Battery (Four) four installation screws B on the back.
On the left side
looking from the front The battery is on the left R6x2CPU looking
from the front of the controller.
4) Hold and pull out the old battery connector,
Power cable and remove from the battery holder.
MOD
E

AUTO
(Ext.)
Rubber bush 5) Install the new battery into the battery holder.
Lower rear cover
Install so that the lead line come to the front.
6) Connect the new battery cable connector to
the connector removed in step "4)". Connect
so that the red lead line is at the top.
Connect the new battery within 15 minutes of
removing the old battery.
7) Return the upper rear cover, removed in step
"3)"
Battery Sandwich the power cable and grounding cable
with the rubber bushing installed on the lower
rear cover and upper rear cover. After install-
R6x2CPU（Rear side） ing, securely fix with the four screws.
Battery holder Install the chassis cover, removed in step
Battery connector
"2)", and fix securely with screws.
8) Initialize the battery consumption time. Always
Red carry out this step after replacing the battery,
and initialize the battery usage time.
Refer to the separate "Instruction Manual/
Detailed Explanation of Functions and Opera-
tions" for details on the initialization methods.
Black

Battery connector direction This completes the replace the battery of the
CR2-532 controller.

Maintenance and inspection procedures 5-63

5Maintenance and Inspection

(2) For the CR2A-572/CR2B-574 Controller

Battery cover installation 1) Turn the controller power ON once. (For

screws (x4) approx. one minute.)

2) Wait at least three minutes after turning OFF

Battery cover the power and primary power supply. Then
remove the battery cover of the controller by
removing the four installation screws.

3) Hold and pull out the old battery connector,

and remove from the battery holder.
4) Install the new battery into the battery holder.
Install it so that the lead wire comes out to
Ａ the left when viewed from the front.
5) Connect the new battery cable connector to
the connector removed in step "3)". Connect
so that the red lead line is at the top.
Battery connector 6) Connect the new battery within 15 minutes of
removing the old battery.
7) Reinstall the battery cover, which was
Battery
removed in step "2)" avobe, and fasten the
cover securely with the four installation
screws.

8) Initialize the battery consumption time.

Battery holder
Always carry out this step after replacing the
battery, and initialize the battery usage time.
Refer to the separate "Instruction Manual/
Detailed Explanation of Functions and Opera-
tions" for details on the initialization methods.

View from A
This completes the replace the battery of the
CR2A-572/CR2B-574 controller.

5-64 Maintenance and inspection procedures

 5Maintenance and Inspection

(3) For the CR2-532M Controller

Control unit
(R6x2CPU)
Battery
1) Turn the controller power ON once. (For
approx. one minute.)

2) Wait at least three minutes after turning OFF

the power and primary power supply, then
loosen the fixing screws on the controller
front door, and open the front door.
The battery is on the R6x2CPU.

3) Hold and pull out the old battery connector,

and remove from the battery holder.

4) Install the new battery into the battery holder.

Install so that the lead line come to the front.

5) Connect the new battery cable connector to

the connector removed in step "3)". Connect
so that the red lead line is at the left.
Connect the new battery within 15 minutes of
Front door removing the old battery.
（Fixing screws x 2）
Battery Battery holder 6) Close the controller's front door, and fix with
the fixing screws.

7) Initialize the battery consumption time.

Battery connector Always carry out this step after replacing the
battery, and initialize the battery usage time.
Refer to the separate "Instruction Manual/
Detailed Explanation of Functions and
Operations" for details on the initialization
methods.

This completes the replace the battery of the

Red Black CR2-532M controller.
R6x2CPU

Maintenance and inspection procedures 5-65

5Maintenance and Inspection

5.3.3 Cleaning the heat radiating fins of the controller protection box (CR2A-MB)
The following shows the procedure for cleaning the radiating fins:
Perform this cleaning by referring to Fig. 5-3.

(1) If the fins are soiled with dust and particles, blow them off using an air blower.
1) Remove the power wire of the relay terminal box inside the panel.
2) Remove the rear panel of the controller protection box from the main unit.
3) Remove the heat exchanger from the rear panel.
4) Remove the fan mounting plate from the rear panel, and then remove the fan.
5) Remove the cable(2pair) and grounding wire connected to the fan.
6) Blow off the exterior of the fins with an air blower.

(2) If dirt does not come off, clean the fins according to the following procedure:
1) Pour a neutral detergent over the exterior of the fins to clean.
2) Feed a dry cloth through the fins to remove dirt, and then air-dry them.
3) After the fins are completely dry, install the heat exchanger to the controller protection box in the reverse
order of the steps for removing it.

CAUTION When removing and/or installing the heat exchanger, pay extra attention as such
operations may cause injury by sharp corners of metal plates.

Controller protection box

(CR2A-MB)
Relay terminal block f power supply Front cover
Radiating fin
Heat exchanger

Air blow
during cleaning.

Rear panel

Grounding wire

Fan installation plate

Cable
Cable cover
(2 pair)
Installation screw
Corner type catch clip
(M4 x 10)
Side cover
M4 spring nut
Installation screw
AC fan
(M4 x 18)
Finger guard Installation screw
Installation screw (M4 x 10)
(M4 x 10)

Fig.5-3 ： Cleaning the radiating fins (CR2A-MB)

5-66 Maintenance and inspection procedures

 5Maintenance and Inspection

5.4 Maintenance parts

The consumable parts that must be replaced periodically are shown in Table 5-3, and spare parts that may be
required during repairs are shown in Table 5-4. Purchase these parts from the dealer when required. Some Mit-
subishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and con-
troller serial No. and purchase the parts from the dealer.

Table 5-3 ： Controller consumable part list

No. Part name Type Qty. Usage section Maker

1 Lithium battery ER6 BKO-NC2157H01 1 Control unit Mitsubishi Electric System

& Service;Co.,Ltd.
2 Filter BKO-FA0688H01 1 Bottom of the controller

Table 5-4 ： Controller spare part list

No. Part name Type Qty. Usage section Maker

CR2-532/CR2-532M controller

1 Fuse LM16 2
Mitsubishi Electric System
2 LM05 2 Control unit
& Service;Co.,Ltd.
3 LM32 12
CR2A-572/CR2B-574 controller

1 Fuse LM16 1

2 LM32 5 RZ326A or RZ327 board

Mitsubishi Electric System
3 HM32 1
& Service;Co.,Ltd.
4 LM05 4
RZ804 board
5 HM32 1

Maintenance parts 5-67

 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU, NAGOYA 461-8670, JAPAN

Authorised representative:
MITSUBISHI ELECTRIC EUROPE B.V. GERMANY
Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany

Oct..2009 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.