1807 TCFEN-182-005, 001

CFD CONTROLLER INSTRUCTION

MANUAL OPTION (HARDWARE)
Items Item No.
CFD CFDL1 / CFDL2 CFDL4
1 Brake Release Switch FD11-OP90-E - -
2 Controller Protection BOX CFD-OP133-A CFDL-OP133-A, B CFDL-OP133-C
3 Teach Pendant Extension Cable CFDTP-RC##M
4 USB memory FD11-OP93-A(1GB), FD11-OP93-B(4GB)
5 Conveyor tracking CFD-OP47-A
6 Additional 1 Servo Axis CFD-OP79-A - -
7 Power Source Voltage(AC100V) CFD-OP154-A CFDL-OP154-A
CFD-OP145-A,
8 Robot Monitoring Unit(RMU) - -
CFD-OP145-D
9 CE specification CFD-CE-A CFDL-CEA
10 External Operation Panel Connection Terminal Block CFD-OP20-A - -
11 Two robots synchronizing (MZ series) CFD-OP89-A - -

5th Edition

・Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text.
・The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course.
・When using this robot, observe the low related with industrial robot and with
safety issues in each country.
・This operating manual must be given without fail to the individual who will be actually
operating the robot.
・Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
 CONTENTS
This manual contains the installation and instruction of following CFD/CFDL controller’s hardware options.

8
9

6
5

3
2
4

10

日本語名 英語名
No.
JAPANESE ENGLISH
1 ブレーキ解除スイッチ Brake release switch
2 コントローラ保護 BOX Controller protection box
3 ティーチペンダント延長ケーブル Teach pendant additional cable
4 USB メモリ USB memory
5 コンベア同期インターフェース Conveyor tracking interface
6 サーボ１軸追加 1 additional servo axis
7 電源電圧変更(AC100V) 100VAC Power source voltage
8 ロボット監視装置(RMU) Robot Monitoring Unit
9 CE 仕様 CE marking specification
10 外部操作パネル接続端子台 External operation panel connection terminal block
11 2 台協調（MZ シリーズ） Two robots synchronizing (MZ series)
Above No. is the chapter No. of this instruction manual.

（Supplement）
Please refer to the following manual as well.

“CFD/CFDL Controller / Instruction Manual / Option (I/O Connection)” (TCFEN-183)

“Instruction Manual / Option (MZ series) (TCFEN-184)
“Instruction Manual / Option (EZ series) (TCFEN-185)
“Instruction Manual / Option (MC10S series)” (TCFEN-187)
 Chapter1 Brake Release Switch

Chapter 1 Brake Release Switch

This option is used to release the brake in one motor.
This is useful for the situation such as that motor power cannot be turned ON because of servo error, or operator is
pinched by robot arm.

Name Specification Parts No. Remarks

Brake Release Switch Forcible releasing of brake in one motor FD11-OP90-E

For detail, please refer to the instruction manual below.

MZ07 series / MZ03 EL

Instruction manual / MANIULATOR MZ07-01[CFD]“, “3.5 Forcible brake release (option)”.

MZ04 series
Instruction manual / MANIULATOR MZ04-01[CFD]“, “3.5 Forcible brake release (option)”.

MC10S series
Instruction manual / Manipulator MC10S-01[CFD3000 / FD11] “4.5 Releasing the brake (option)”

Brake Release Switch

1-1
Chapter1 Brake Release Switch

NOTE

1-2
 Chapter2 Controller Protection Box

Chapter 2 Controller Protection Box

2.1 CFD-OP133-A (CFD-0000)

This option is used for upgrading to IP54 equivalent CFD-0000 controller by preparing dust-proof and drip-proof
box. This is suitable for using in harsh environments. (Ex: Machining line)
CFD-0000 controller is installed inside this box.

Name Specification Parts No. Remarks

Upgraded to IP54 equivalent by preparing
Controller Protection Box CFD-OP133-A CFD-0000
dust-proof and drip-proof box

Basic Specification of Controller Protection Box

Item Description
Size W540 ×D700 ×H270
Mass Approx. 19 Kg
Installing environment Not needed to keep distance from the wall.
Height from floor to the power switch should be between 0.6 m and 1.9 m.
Ambient temperature Conditions of ambient temperature, in case of using Controller Protection box,
are shown below.
The temperature condition varies depending on the CPU used.
FDCPU10-10: 0 to 30 degree(Celsius)
FDCPU10-20: 0 to 40 degree(Celsius)

Controller Protection Box

Power supply

FAN motor
(Prepared by Power
customer) connector
CFD Robot
Operation
Panel

Connection of Controller Protection Box

2-1
Chapter2 Controller Protection Box

2.1.1 External View of Controller Protection Box

Rear view

700

Top view Right side view

Left side view
270

Front view

Controller Protection Box

［非常停止ボタン］ ［モード切替えスイッチ］
Emergency Stop Button Mode selector switch
(TEACH) (PLAYBACK)
電源スイッチ
Power Switch

電源コネクタ AC INPUT
Power connector AC INPUT

Operating panel of Controller Protection Box

2-2
 Chapter2 Controller Protection Box

2.1.2 Assembling Controller Protection Box

Main contained parts
No. Name Type (Parts No.) Notes
1 Controller Protection Box
KDTZ-07
2 Rubber bush KDT-10
KDT-13
3 Fitting metal 1 To fix bottom of controller
4 Fitting metal 2 To fix left side of controller
5 Operating switch relay panel
6 Operating switch extending cable
7 Plug NJW-204-PF12
8 Cable tie SG-100
9 Screw M3×8mm
10 Screw M4×8mm

Assemble controller protection box by following to the procedure written below.

Step Work performed

Remove “Operating switch
panel” of CFD controller.
Operating switch panel Cable routing panel
Remove “Cable routing panel”
and disconnect cables which are
connected to “Operating switch
panel”.
1

Front view
of CFD controller
Connect “Operating switch
extending cable” and “Operating
switch relay panel” instead of
2
“Operating switch panel”.

Attach “Fitting metal 1” and

“Fitting metal 2” to CFD
controller with screws
Fitting metal 2 Fitting metal 1
(M3×8mm).
(If rubber stand is fixed on
controller, please remove it)

Remove this filter

plate.

2-3
Chapter2 Controller Protection Box

Fix CFD controller to

“Controller protection box” with
Screw
screws (M4×8mm).

4 Screw

Fix “Harness” with “Cable multi

routing panel“.
Cable multi routing panel Harness (to robot)

Top view

Attach “Operating switch panel”,

which is removed in step 1, to
“Controller protection box”.

Connect cables for operation

switches to “Operating switch
extending cable” which is
6
connected in step 2.

Fix I/O cables on “Cable clamp

portion” with rubber bush.

7
Cable clamp portion

2-4
 Chapter2 Controller Protection Box

2.1.3 Connection of Primary Power

■ Primary power supply

Power to CFD-0000 controller is supplied from Controller Protection Box.

Customer is responsible for providing the primary power supply to Controller Protection Box.
Power connector is shipped with Controller Protection Box.

Rating of primary power

Manipulator used in combination Rated voltage Power-handling capacity (Note)
MZ series 3-phase: AC200V-230V
0.4 kVA
(MZ04 / MZ07 / MZ03EL) Single-phase: AC200V-230V
ES series (+10%, -10%)
0.6 kVA
(ES06 / ES12) 50/60 Hz
(Note) Varies according to the application and operation pattern.

Connector pin layout

Seeing from the soldering side
Connection
1 2 PIN
No. 3 - phase Single - phase
AC200V AC200V
3 4 1 AC200V R-phase (Red) AC200V R-phase (Red)
2 AC200V S-phase (White) -

Applicable cable diameter: 3 AC200V T-phase (Black) AC200V T-phase (Black)

10～12.5 [mm] 4 Ground (Green/Yellow) Ground (Green/Yellow)
Connector type
Nanaboshi Electric Mfg.Co.,Ltd.
NJW-204-PF12
Primary power supply cable connection

Primary power supply cable specification

Cross-section of Cross-section of
Manipulator used in combination
power cable grounding cable
MZ series -CFD
(MZ04 / MZ07 / MZ03EL) 1.25mm2 1.25mm
2

ES series AWG16 AWG16

(ES06 / ES12)

■ Grounding

To ensure safety, use the grounding method (type D ground)

(Customer is responsible for providing the grounding wires.)

- Ensure that the robot controller power cable is larger than 1.25 mm2, and ground cable is larger than 1.25 mm2.
- Set the ground resistance to less than 100 ohms.

■ Leakage breaker

Please use a leakage breaker that satisfies the following specification.

Rated current: 10A or more / For inverter / Middle sensitivity type (100mA or more)

2-5
Chapter2 Controller Protection Box

2.2 CFD-OP133-B（for CFD-3020）

This option is used for upgrading to IP54 equivalent CFD-3020 controller by preparing dust-proof and drip-proof
box. This is suitable for using in harsh environments. (Ex: Machining line)
CFD-3020 controller is installed inside this box.

This option is CFD-OP133-A with measures against temperature rise.

Name Specification Parts No. Remarks

Controller Upgraded to IP54 equivalent by
CFD-OP133-B CFD-3020
Protection Box preparing dust-proof and drip-proof box

Basic Specification of Controller Protection Box

Item Description
Size W616 ×D640 ×H260(Connectors, screws etc. are excluded)
Mass Approx. 21 Kg
Installing (1) Please set the right side face more than 200 mm away from the wall.
environment For other aspects, it is not necessary to secure a distance from the surrounding walls.
(2) Height from floor to the power switch should be between 0.6 m and 1.9 m.
Ambient Conditions of ambient temperature, in case of using Controller Protection box, are shown
temperature below.
The temperature condition varies depending on the CPU used.
FDCPU10-10: 0 to 30 degree(Celsius)
FDCPU10-20: 0 to 40 degree(Celsius)

Controller Protection Box

Power supply

FAN motor
(Prepared by
Power
customer)
connector Robot
CFD
O peration
Panel

Regenerative discharge resistor

FAN motor

Connection of Controller Protection Box

200 mm or more

Installation of Controller Protection Box

2-6
 Chapter2 Controller Protection Box

2.2.1 External View of Controller Protection Box

Rear view

Left side view Top view Right side view

Front view

External View of Controller Protection Box

［非常停止ボタン］ ［モード切替えスイッチ］
Emergency Stop Button Mode selector switch
（教示） （再生）
電源スイッチ
Power Switch

電源コネクタ AC INPUT
Power connector AC INPUT

Operating Panel of Controller Protection Box

2-7
Chapter2 Controller Protection Box

2.2.2 Assembling Controller Protection Box

Main contained parts
No. Name Type (Parts No.) Quantity Notes
Controller Protection
1 1
Box
KDTZ-07 4
2 Rubber bush KDT-10 2
KDT-13 2
3 Fitting metal 1 CFD-133-C06-004 2 To fix bottom of controller
4 Fitting metal 2 CFD-133-C06-005 2 To fix left side of controller
Operating switch relay
5 CFD-133-C06-014 1
panel
Operating switch
6 CFD-133-C08-004 1
extending cable
7 Plug NJW-204-PF12 1
8 Cable tie SG-100 8
9 Screw M3×8mm 8
10 Screw M4×8mm 8
Regenerative resistor
11 CFD-133-C08-006 1
relay cable

2-8
 Chapter2 Controller Protection Box

Assemble controller protection box by following to the procedure written below.

Step Work performed

Operating switch panel Cable routing panel
(4 mounting screws) (2 mounting screws)

Remove the “Operating switch

1 panel” and “Cable routing panel”
on the front of the CFD controller.

Front view of CFD controller

Operating switch relay panel

CNOP connector

Remove the “CNOP connector”

to which the “Operating switch”
was connected, and Attach the
2
“Operating switch relay cable”
and “Operating switch relay
panel”.

Front view of CFD controller

Ceiling panel
(8 mounting screws)

Remove the “Ceiling panel” and Fan filter fitting metal 1

3 “Fan filter fitting metal 1” of the (4 mounting screws)
CFD controller.

Top view of CFD controller

2-9
Chapter2 Controller Protection Box

Right side panel Fan filter fitting metal 2

(7 mounting screws) (4 mounting screws)

Right side view of CFD controller

Connector cover
(2 mounting screws)

Remove the “Right side panel” of

the CFD controller and the
4
“Connector cover” on the rear
side.
Right side panel fixing screw
Rear 【CFD 背面図】
view of CFD controller

Right side panel

fixing screw

Top view of CFD controller (Panel removal)

2-10
 Chapter2 Controller Protection Box

FM3～5 connector
Remove the “CNR connector”
referring to the figure and fix a CNR connector
“Regenerative resistor relay
cable” instead.

Remove the “FM3,FM4

5 connector”.

Pull out the “Regenerative

resistor relay cable”, "FM 3 to 5
cable” from the hole from which
the rear connector cover was
removed. Right side view of CFD controller (Panel removal)

Attach the “Right side panel” and

“Ceiling panel”.
6
Attach of the “Fan filter fitting
metal” is unnecessary.
Top view of CFD controller

Right side view of CFD controller Rear view of CFD controller

Fitting metal 1 Fitting metal 2

Attach the “Fitting metal 1” to the

bottom of the CFD controller.
If rubber stand is fixed on
7 controller, please remove it.

Attach the “Fitting metal 2” to the

left side of the CFD controller.

Bottom view of CFD controller Left side view of CFD controller

2-11
Chapter2 Controller Protection Box

Regenerative resistor box

Screw

Put in the CFD controller in the FAN motor

protection box and fix it with
screws.
If it is difficult to fix, remove the
“FAN motor” in the protection box
once.

8 Connect the “CNAC connector” CNAC

in the protection box to the power connector
connector of the CFD controller.
Protection box CFD controller
In Step 5, connect the cable
Top view of protection box (Panel removal)
pulled out from the CFD
controller to the cable from the
“Regenerative resistor box”.

Screw
Left side view of protection box (Panel removal)

Operating switch panel

(4 mounting screws)

Attach the “Operation switch

panel” removed in Step 1 to the
front of the protection box.
Connect the operation switch
cable to the relay panel Attached
in Step 2. Cable clamp portion
9 Front view of protection box
For cables such as I / O, use
rubber bush to fix the “Cable
clamp portion” on the front.

Fix the harness to the “Cable

multi routing panel” on the rear.

Cable multi routing panel

Rear view of protection box

2-12
 Chapter2 Controller Protection Box

Fan filter fitting metal 1

(4 mounting screws)

If you need a fan filter, attach the

“Fan filter fitting metal 1”
10
removed in Step 3 to the right
side.

Right side view of protection box

2-13
Chapter2 Controller Protection Box

2.2.3 Connection of Primary Power

■ Primary power supply

Power to CFD controller is supplied from Controller Protection Box.

Customer is responsible for providing the primary power supply to Controller Protection Box.
Power connector is shipped with Controller Protection Box.

Rating of primary power

Power-handling
Manipulator used in combination Rated voltage
capacity (Note)
MZ series 3-phase: AC200V-230V
1.8 kVA
(MZ12) Single-phase: AC200V-230V
MC series (+10%, -10%)
50/60 Hz 1.5 kVA
(MC10S)
(Note) Varies according to the application and operation pattern.

Connector pin layout

Seeing from the soldering side
Connection
1 2 PIN
No. 3 - phase Single - phase
AC200V AC200V
3 4 1 AC200V R-phase (Red) AC200V R-phase (Red)
2 AC200V S-phase (White) -

Applicable cable diameter: 3 AC200V T-phase (Black) AC200V T-phase (Black)

10～12.5 [mm] 4 Ground (Green/Yellow) Ground (Green/Yellow)
Connector type
Nanaboshi Electric Mfg.Co.,Ltd.
NJW-204-PF12
Primary power supply cable connection

Primary power supply cable specification

Cross-section of Cross-section of
Manipulator used in combination
power cable grounding cable
MZ series
(MZ12)
1.25mm2 1.25mm2
AWG16 AWG16
MC series
(MC10S)

■ Grounding

To ensure safety, use the grounding method (type D ground)

(Customer is responsible for providing the grounding wires.)
2 2
- Ensure that the robot controller power cable is larger than 1.25 mm , and ground cable is larger than 1.25 mm .
- Set the ground resistance to less than 100 ohms.

■ Leakage breaker

Please use a leakage breaker that satisfies the following specification.

Rated current: 10A or more / For inverter / Middle sensitivity type (100mA or more)

2-14
 Chapter2 Controller Protection Box

2.3 CFDL-OP133-A (for CFDL1)

This option is used for upgrading to IP54 equivalent CFDL1 controller by preparing dust-proof and drip-proof box.
This is suitable for using in harsh environments. (Ex: Machining line)
CFDL1 controller is installed inside this box.

Name Specification Parts No. Remarks

Upgraded to IP54 equivalent by preparing
Controller Protection Box CFDL-OP133-A CFDL1
dust-proof and drip-proof box

Basic Specification of Controller Protection Box

Item Description
Size W550 ×D730 ×H285 (body W550 ×D670 ×H260)
Mass Approx. 20 Kg
Installing environment Not needed to keep distance from the wall.
Height from floor to the power switch should be between 0.6 m and 1.9 m.
Ambient temperature Conditions of ambient temperature, in case of using Controller Protection box,
are shown below.
0 to 30 degree(Celsius)

Controller Protection Box

Power supply

FAN motor
(Prepared by Power
customer) connector

CFDL 1 Robot
Operation
Panel

Connection of Controller Protection Box

2-15
Chapter2 Controller Protection Box

2.3.1 External View of Controller Protection Box

Rear view

Left side view Top view Right side view

Front view

Controller Protection Box

［非常停止ボタン］ ［モード切替えスイッチ］
Emergency Stop Button Mode selector switch
(TEACH) (PLAYBACK)
電源スイッチ
Power Switch

電源コネクタ AC INPUT
Power connector AC INPUT

Operating panel of Controller Protection Box

2-16
 Chapter2 Controller Protection Box

2.3.2 Assembling Controller Protection Box

Main contained parts
No. Name Type (Parts No.) Notes
1 Controller Protection Box
KDTZ-07
2 Rubber bush KDT-10
KDT-13
3 Fitting metal 1 To fix bottom of controller
4 Fitting metal 2 To fix left side of controller
5 Operating switch relay panel
6 Operating switch extending cable
7 Plug NJW-204-PF12
8 Cable tie SG-100
9 Screw M3×8mm
10 Screw M4×8mm

Assemble controller protection box by following to the procedure written below.

Step Work performed

Remove “Operating switch
panel” of CFDL1 controller.
Operating switch panel Cable routing panel
Remove “Cable routing panel”
and disconnect cables which are
connected to “Operating switch
panel”.
1

Front view
of CFDL1 controller
Connect “Operating switch
extending cable” and “Operating
switch relay panel” instead of
2
“Operating switch panel”.

Attach “Fitting metal 1” and

“Fitting metal 2” to CFDL1
controller with screws
Fitting metal 2 Fitting metal 1
(M3×8mm).
(If rubber stand is fixed on
controller, please remove it)

Remove this filter

plate.

2-17
Chapter2 Controller Protection Box

Fix CFDL1 controller to

“Controller protection box” with
Screw
screws (M4×8mm).

4 Screw

Fix “Harness” with “Cable multi

routing panel“.
Cable multi routing panel Harness (to robot)

Top view

Connect the operation switch

cable of the protection box to the
operation switch extension cable
connected in step 2

Fix I/O cables on “Cable clamp

portion” with rubber bush.

7 Cable clamp portion

2-18
 Chapter2 Controller Protection Box

2.3.3 Connection of Primary Power

■ Primary power supply

Power to CFDL1 controller is supplied from Controller Protection Box.

Customer is responsible for providing the primary power supply to Controller Protection Box.
Power connector is shipped with Controller Protection Box.

Rating of primary power

Manipulator used in combination Rated voltage Power-handling capacity (Note)
3-phase AC200V-230V
Single-phase AC200V-230V
0.6 kVA per 1 robot
(+10%, -10%)
50/60 Hz
(Note) Varies according to the application and operation pattern.

Connector pin layout

Seeing from the soldering side
Connection
PIN
No. 3 - phase Single - phase
AC200V AC200V
1 AC200V R-phase (Red) AC200V R-phase (Red)
2 AC200V S-phase (White) -

Applicable cable diameter: 3 AC200V T-phase (Black) AC200V T-phase (Black)

10～12.5 [mm] 4 Ground (Green/Yellow) Ground (Green/Yellow)
Connector type
Nanaboshi Electric Mfg.Co.,Ltd.
NJW-204-PF12
Primary power supply cable connection

Primary power supply cable specification

Cross-section of Cross-section of
Manipulator used in combination
power cable grounding cable
2
1.25mm 1.25mm2
AWG16 AWG16

■ Grounding

To ensure safety, use the grounding method (type D ground)

(Customer is responsible for providing the grounding wires.)
2 2
- Ensure that the robot controller power cable is larger than 1.25 mm , and ground cable is larger than 1.25 mm .
- Set the ground resistance to less than 100 ohms.

■ Leakage breaker

Please use a leakage breaker that satisfies the following specification.

Rated current: 10A or more / For inverter / Middle sensitivity type (100mA or more)

2-19
Chapter2 Controller Protection Box

2.4 CFDL-OP133-B（for CFDL2）

Currently is not supported at November, 2017.

2.5 CFDL-OP133-C（for CFDL4）

Currently is not supported at November, 2017.

2-20
 Chapter3 Teach Pendant Additional Cable

Chapter 3 Teach Pendant Additional Cable

This option is used to extend the cable between teach pendant and controller.
Both sides have connector. This is added on the standard cable.
Only one additional cable can be used.

Name Specification Parts No. Notes

5m CFDTP-RC05M
Teach Pendant Additional Cable
10m CFDTP-RC10M

Please refer to the picture written on the back sheet of cover.

3-1
Chapter3 Teach Pendant Additional Cable

NOTE

3-2
 Chapter4 USB Memory

Chapter 4 USB Memory

This option is used for storage of data such as program files.

Name Specification Parts No. Notes

FD11-OP93-A 1G Bytes
USB memory Used for storage of parameters and program files
FD11-OP93-B 4G Bytes

Location to insert USB memory

Please refer to the following manuals for using it.

In case of “Compact TP”

TCFEN-160 CFD/CFDL controller / Instruction manual / Basic operation
“Chapter8 Compact TP”

In case of “Smart TP” or using “FD on DESK” PC software

TCFEN-160 CFD/CFDL controller / instruction manual / BASIC OPERATION
“Chapter 6 File operation”

4-1
Chapter4 USB Memory

NOTE

4-2
 Chapter5 Conveyor Tracking

Chapter 5 Conveyor Tracking

This option ensures that robot tracks the conveyor in synchronization with conveyor’s movement. It enables the
correlation between the tool positions and postures and the work position which was established at the teaching
stage to be maintained. The teaching is done when conveyor is stopping. During playback, robot calculates the
position of conveyor using the signals from the pulse generator to track conveyor.

It is now assumed that the teaching shown in figure (a) below has been performed when the conveyor is at a
standstill. If what has been taught is played back while the conveyor is moving, the robot will move along the path
shown in figure (b) below. When viewed from the perspective of the work personnel, the movements appear as
shown in figure (b) below, but when viewed from a point on the conveyor, they appear as shown in figure (a).

Principle of Conveyor Tracking (Synchronization)

To utilize this option, Smart TP or combination of Compact TP and PC tool “FD on Desk Light” is
IMPORTANT necessary. Compact TP (without PC tool) is not enough to utilize this option.

This document includes the information only for setup of this option such as assembling and wiring.
Please refer to another manual “FD controller instruction manual Conveyor Tracking”, (TFDEN-050-###) for detail
of operation.

5.1 Construction
Contained parts of this option : CFD-OP47-A
Equipment Manufacturer Type or so
Digital I/O NACHI This is DC24V I/O board to connect Start LS and or so.
This is installed inside robot controller cabinet.
Type; CFD-OP125-A or CFD-OP125-B
（ Refer to instruction manual “CFD/CFDL controller
/Instruction manual / Option(I/O connection)” “Chapter3
Digital I/O”）

Conveyor Tracking Receiving NACHI This is a unit to read conveyor pulse sent from Pulse
Unit Generator (prepared by customer).
This is installed inside robot controller cabinet.

Other equipments and works needed for conveyor tracking system (Prepared by customer)
Equipment pr Work Manufacturer Type or so
Pulse Generator (any) Recommended; OMRON E6C2-CWZ1X

Start LS (any) When this limit switch is activated, robot starts counting of
conveyor pulse and initiates conveyor tracking motion.

External power sourceDC5V (any)

Connecting cables between (any) Connecting cables between all above equipments and
equipments and those work those work

5-1
Chapter 5 Conveyor Tracking

Power
source DC5V

CFD controller
Accessory cable
of pulse generator
Conveyor
Tracking
Receiving Unit
To
Pulse generator conveyor

Start LS
Digital
I/O board
Conveyor motor
controller or
Conveyor magnet switch
running signal
Prepared by customer

Connection of Conveyor Tracking system

5-2
 Chapter5 Conveyor Tracking

5.2 Installing Conveyor Tracking Receiving Unit

Please install Conveyor Tracking Receiving Unit in CFD controller.

1 Turn off the controller power and disconnect the primary power source connector.
2 Loosen the screws on the top panel and the front side cable drawing panel.

3 Fix Force Sensor Board assembly to the slot.

Conveyor Tracking
Receiving Board

Terminal Block Fitting metal

CNCV

Conveyor Tracking Receiving Unit

(Note)
There is a case that the color of the terminal block is one color of gray, if shipped later than April
2015. However, layouts of terminal blocks are the same. Also refer to, “5.6 (Reference) Layout of
CNCV terminal”.

Slot

4 Install the new front panel.

(Please use the new “front side cable drawing panel” which is shipped with this option.
Old one can not be used. But old “top panel” can be used again.)

5-3
5-4
Power source
Prepared by customer

Conveyor
synchronization
receive board

Terminal block Terminal block

Chapter 5 Conveyor Tracking

CH0 Differential Input Phase A+ Connected

CH0 Differential Input Phase A-
CH0 Differential Input Phase B+ inside terminal
CH0 Differential Input Phase B-
CH0 Differential Input Phase Z+
CH0 Differential Input Phase Z-
CH0 Differential General Input +
CH0 Differential General Input –
CH1 Differential Input Phase A+
CH1 Differential Input Phase A-
CH1 Differential Input Phase B+
CH1 Differential Input Phase B-
CH1 Differential Input Phase Z+ Prepared by customer
CH1 Differential Input Phase Z- Conveyor
CH1 Differential General Input + synchronization
CH1 Differential General Input - receive board

CH2 Differential Input Phase A+

CH2 Differential Input Phase A- CH0 Phase A Input
CH2 Differential Input Phase B+ CH0 Phase B Input
CH2 Differential Input Phase B- CH0 Phase Z Input
CH2 Differential Input Phase Z+ CH0 General Input Enlarged drawing
CH2 Differential Input Phase Z-
CH2 Differential General Input + CH1 Phase A Input
CH2 Differential General Input – CH1 Phase B Input
CH3 Differential Input Phase A+ CH1 Phase Z Input
CH3 Differential Input Phase A- CH1 General Input (1 right) A0+
CH3 Differential Input Phase B+ (1 left) A0+
5.3 Connection of Peripheral Equipments

CH3 Differential Input Phase B-

CH3 Differential Input Phase Z+ (2 right) A0-
CH3 Differential Input Phase Z- (2 left) A0-
CH3 Differential General Input + (3 right) B0+ DC24V I/O board

Connection of peripheral equipments

CH3 Differential General Input -
(3 left) B0+
(4 right) B0-
(4 left) B0- Start trigger
(5 right) A1+ input signal
(5 left) A1+
(6 right) A1-
(6 left) A1-
Conveyor running
(7 right) B1+ input signal
(7 left) B1+
(8 right) B1-
CH2 Phase A Input (8 left) B1-
CH2 Phase B Input
CH2 Phase Z Input (9 right) M0
Prepared by customer
CH2 General Input (9 left) M0
(10 right) FG
CH3 Phase A Input
CH3 Phase B Input (10 left) FG
CH3 Phase Z Input (11 right) TRG
CH3 General Input (11 left)
(12 right) -V 3
(12 left)
 Power source
Prepared by customer

Conveyor
synchronization
receive board
Terminal block Terminal block

Attached cable
CH0 Differential Input Phase A+ Connected
CH0 Differential Input Phase A-
CH0 Differential Input Phase B+ inside terminal
CH0 Differential Input Phase B-
CH0 Differential Input Phase Z+
CH0 Differential Input Phase Z-
CH0 Differential General Input +
CH0 Differential General Input –
CH1 Differential Input Phase A+
CH1 Differential Input Phase A-
CH1 Differential Input Phase B+ Please refer to the following
CH1 Differential Input Phase B- Conveyor Prepared by customer
CH1 Differential Input Phase Z+ synchronization instruction at a same time.
CH1 Differential Input Phase Z- receive board
CH1 Differential General Input + “Instruction manual / option (MZ
CH1 Differential General Input -
series)” (TCFEN 184) Chapter12

Attached to the I/O cable

CFD-OP139.
(Prepared by customer)

CH0 Phase A Input

CH0 Phase B Input
CH0 Phase Z Input
CH0 General Input
CH1 Phase A Input
CH1 Phase B Input
CH1 Phase Z Input
CH1 General Input

Start trigger
input signal
CH2 Differential Input Phase A+ 12V (50W) Power
CH2 Differential Input Phase A-
CH2 Differential Input Phase B+
CH2 Differential Input Phase B-
CH2 Differential Input Phase Z+ Conveyor running
CH2 Differential Input Phase Z- input signal
CH2 Differential General Input +
CH2 Differential General Input – CH2 Phase A Input
CH3 Differential Input Phase A+ CH2 Phase B Input
CH3 Differential Input Phase A- CH2 Phase Z Input Prepared by customer
CH3 Differential Input Phase B+ CH2 General Input
CH3 Differential Input Phase B- CH3 Phase A Input
CH3 Differential Input Phase Z+ CH3 Phase B Input
CH3 Differential Input Phase Z- CH3 Phase Z Input
CH3 Differential General Input + CH3 General Input
CH3 Differential General Input -

Connection of peripheral equipments (case of MZ series + Vision conveyor tracking)

Chapter5 Conveyor Tracking

5-5
Chapter 5 Conveyor Tracking

The conveyor tracking board for the Vision conveyor tracking

A board that has a label of CIRNo.11 can be used for the Vision conveyor tracking application.
If the conveyor tracking board does not have this label, it cannot be used for the Vision conveyor tracking
application.

CIRNo.11

5-6
 Chapter5 Conveyor Tracking

■ Pulse generator -> CFD controller Receiving Unit (Terminal block CNCV)

Wires (Accessory cable of pulse generator) from pulse generator mounted on conveyor must be connected to
terminals block CNCV of Receiving Unit in CFD controller.
Please refer to the diagram of previous page for detail.

Do not bind the power and signal cables together, and run through separate tubes (such as steel or
IMPORTANT flexible tubes).

■ “Start LS” and “Conveyor running” signal -> CFD controller Digital I/O board

Connect the signal from Start LS mounted on conveyor to the pin allocated to “Start LS” on Digital I/O board
input connector in robot controller.

Connect the signal from the conveyor motor control panel or electromagnetic switch to the pin allocated to
“conveyor running” on Digital I/O board input signal connector in robot controller.

Please refer to “Instruction Manual “CFD/CFDL controller / Instruction manual / Option (I/O connection)”
“Chapter 3 Digital I/O” for the electric specification of input circuit.

■ Jumper setting of Print Circuit Board in Receiving Unit

Purpose Explanation Factory setting

SW1 Board ID Not used

Board ID＝０
SW2 One shot pulse If using the vision conveyor synchronization, turn off
output all switches OFF and set to open collector output.

1. Ch0 Open collector output

2. Ch1 Open collector output
3. Ch2 Open collector output All ON (fixed)
4. Ch3 Open collector output

SW3 Channel 3 Not used

Termination resistor

All ON (fixed)
SW4 Channel 2 Not used
Termination resistor

All ON (fixed)

5-7
Chapter 5 Conveyor Tracking

Purpose Explanation Factory setting

SW5 Channel 1 This is used to select existence / no-existence of
Termination resistor termination resister in conveyor pulse line.
Pay attention to this setting when one conveyor is
connected with plural robot.

With termination resister ; All ON

In case that only one robot is used or in case (with Termination
that this robot is at the last of chain connection register )
in plural robot, turn all of 4 switches to ON.
No termination resister ;
In case that this robot is not at the last of chain
connection in plural robot, turn all of 4 switches
to OFF.

In case of one robot

Robot controller

Conveyor
synchronization
With termination receiving unit
register
SW6 Channel 0 (switch ON) (Board ID=0)
Pulse generator
Termination resistor

In case of two robots Robot controller

Conveyor
No termination
synchronization
receiving unit
All ON
register
(switch OFF) (Board ID=0)
(with Termination
Pulse generator
register )
Robot controller

With termination Conveyor

synchronization
register receiving unit
(switch ON)
(Board ID=0)

4 : General termination resistor

3 : Phase Z termination resistor
2 : Phase B termination resistor
1 : Phase A termination resistor

5.4 Operating

Please refer to another manual “FD controller instruction manual Conveyor Tracking”, (TFDEN-050-###) for detail
of operation.

5-8
 Chapter5 Conveyor Tracking

5.5 Terminal layout of CNCV

Color terminal block in the controller (Before April, 2015)

Single color (gray) terminal block in the controller (April, 2015 or later)

(Reference)
Manufacture SATO PARTS http://www.satoparts.co.jp/
Type ML-1700-B-12P

5.6 Reference materials (Rotary encoder connection

specification)
Connection specification of the below two kinds rotary encoder will be shown for reference.

OMRON E6C2-CWZ1X
OMRON E6C2-CWZ3E

Please refer to the OMRON website for the details of the other specification.
http://fa.omron.co.jp/

5-9
Chapter 5 Conveyor Tracking

5.6.1 OMRON E6C2-CWZ1X

Category Incremental type
Resolution (1 rotation) 1000P/R
Output phase Phase A, -A, B, -B, Z, -Z
Control output (Output format) Line driver output (Equivalent to AM26LS31)
Connection method Code pull out type (Code length: 2m)

Connection destination Connection destination

Line color Terminal name
(conveyor 1) (conveyor 2)
Power supply unit DC5V Power supply unit DC5V
Brown Vcc (Customer preparation (Customer preparation
required) required)
Black Phase A CNCV : A0+ CNCV : A1+

Black /Red
stripe PhaseA CNCV : A0- CNCV : A1-

White Phase B CNCV : B0+ CNCV : B1+

White /Red
stripe PhaseB CNCV : B0- CNCV : B1-

Orange Phase Z None None

Orange /Red
stripe PhaseZ None None

Blue 0V (COMMON) CNCV : M0 CNCV : M0

Shield GND CNCV : FG CNCV : FG

(1st conveyor)

(2nd conveyor)

5-10
 Chapter5 Conveyor Tracking

5.6.2 OMRON E6C2-CWZ3E

Category Incremental type
Resolution (1 rotation) 1000P/R
Output phase Phase A,B,Z
Control output (Output format) NPN Voltage output
Connection method Code pull out type (Code length: 2m)

Connection destination Connection destination

Line color Terminal name
(conveyor 1) (conveyor 2)
Power supply unit DC5V Power supply unit DC5V
Brown Vcc (Customer preparation (Customer preparation
required) required)
Black Phase A CNCV : A0+ CNCV : A1+

White Phase B CNCV : B0+ CNCV : B1+

Orange Phase Z None None

CNCV : M0 CNCV : M0
or or
Blue 0V (COMMON) Power supply unit DC0V Power supply unit DC0V
(Customer preparation (Customer preparation
required) required)
Shield GND CNCV : FG CNCV : FG

(1st conveyor)

(2nd conveyor)

5-11
Chapter 5 Conveyor Tracking

NOTE

5-12
 Chapter6 Additional 1 Servo Axis

Chapter 6 Additional 1 Servo Axis

1 servo axis is added on CFD controller (Standard: 6-axes) to make it possible to drive 7 axes.

To utilize this option, Smart TP or combination of Compact TP and PC tool “FD on Desk Light” is
IMPORTANT necessary. Compact TP (without PC tool) is not enough to utilize this option.

This document includes the information only for setup of this option such as assembling and wiring.
Please refer to another manual written in “6.9 Setup Operation” for detail operation such as format and servo
adjustment procedure.

Basic specifications of "Additional Axis Drive Unit”

Item Description
External dimension W93 × D152.5 × H61
Mass Approx. 1 Kg
1 axis servo gripper
Control target
or
Number of axis
1 axis servo traverse unit (slider)
AC Servo motor
Control motor
17bit absolute encoder
600W(12Ap) (is equivalent to maximum torque 4.44 Nm)
Motor capacity
Adjust accel/ deccel time so that maximum torque is to be above value.

Basic specifications of "Additional Axis Servo Motor”

Item Specification
CFD-OP79-MC01 CFD-OP79-MC02 CFD-OP79-MC04 CFD-OP79-MC06
Rated power[W] 100 200 400 600
No. of Poles 8 8 8 8
Rated rotation speed [rpm] 3000 3000 3000 3000
Max. rotation speed[rpm] 6000 5000 5000 5000
Rated torque[N･m] 0.32 0.64 1.3 1.91
Max. torque[N･m] 0.95 1.91 3.8 5.73
Rated current [Arms] (1.1) (1.6) (2.6) (3.8)
Rotor inertia [x10-4kg・m2] 0.10 0.16 0.28 0.40
Max. current [Ap] (4.7) (6.9) (11.0) (16.1)
Brake inertia [x10-4kg・m2] 0.02 0.018 0.018 0.018
Demagnetizing current [Ap] 7.1 10.4 16.5 24.2
Torque constant
0.31±10% 0.41±10% 0.51±10% 0.52±10%
[N・m/Arms]
0.22±10% 0.29±10% 0.36±10% 0.37±10%
[N・m/Ap]
Phase resistance [Ω] 4.5±7% 3.0±7% 1.78±7% 1.13±7%
Phase inductance[mH] (9.3) (7.6) (5.4) (3.5)
Mass [kg] 0.79 1.3 1.7 2.0
Brake torque [N･m] 0.3 or more 1.27～2.54 1.27 or more 1.27 or more

6-1
Chapter6 Additional 1 Servo Axis

6.1 Additional Axis Drive Unit

This "Additional Axis Drive Unit" is installed in CFD controller.

Specifications vary depending on controller specifications and motor capacity.

UM380 board

Additional axis heat sink

External view of "Additional Axis Drive Unit(CFD-OP79-A/B)"

UM380 board

Additional axis heat sink

External view of "Additional Axis Drive Unit(CFD-OP79-C/D)"

6-2
 Chapter6 Additional 1 Servo Axis

6.2 Additional Axis Servo Motor

相手側コネクタ (付属していません )
モータコネクタ (AMP) ブレーキコネクタ (AMP) BRAKE CONNECTOR MOTOR CONNECTOR
キャップ : 172159-1 キャップ : 172157-1 ブレーキ部結線 モータ部結線
ソケット : 170362-1 ソケット : 170362-1 No. 色 信号 No. 色 信号
または 170366-1 または 170366-1 1 黄 ブレーキ 1 赤 U
検出器コネクタ (AMP) 2 黄 ブレーキ 2 黒 V
キャップ : 172161-1 (アブソ） 3 白 W
ソケット : 170361-1 4 緑 /黄 E
または 170365-1 BRAKE CONNECTOR
ブレーキコネクタ (AMP)
ENCODER CONNECTOR MOTOR CONNECTOR
ENCODER CONNECTOR 検出器コネクタ (AMP) プラグ： 172165-1 モータコネクタ (AMP)
ロータリーエンコーダリード線結線 ピン ： 170360-1 プラグ： 172167-1
プラグ： 172169-1
(アブソリュート ) ピン ： 170359-1 ピン ： 170360-1
No. 色 信号 (最大定格電流は7A/極 です。ご注意下さい。 )
1 赤 BA T+
(The maximum rated current is 7A/pole.)
2 桃 BA T-
3 シールド線 FG
4 水色 P S (S D )
5 紫 P S (S D )
6 NC
7 白 E5 V 100.5
8 黒 E0 V
85 15.5
9
+50

NC
0

15.4 69.6 □60

220

(22.9) (14) (36)

(30)

+50
0200
4-φ4.5

(13)
(11)

11 3h9
10 (1) (キー溝 P9) 0 .2
φ70±

φ8h6

3
φ50h7
C0
.5

6.2
1.5以上
ボス挿入位置

5.7 3 M3深さ 8
M3 DEPTH 8

External view of CFD-OP79-MC01 motor

ENCODER CONNECTOR
ロータリーエンコーダリード線結線 BR AK E C O N N E C TO R MOTOR CONNECTOR
ピン No. 色 信号 ブレーキ部結線 モータ部結線
A1 白 Vcc/+5V No. 色 信号 No. 色 信号
A2 水色 SD 1 赤 U
A3 1 黄 ブレーキ
2 黄 ブレーキ 2 黒 V
A4 赤 VBAT/+3.6V 3 白+黄色マーク W
B1 黒 GND 4 緑/黄 E
B2 紫 SD
B3 黄緑 FG
B4 桃 GND(VBAT) BRAKE CONNECTOR
ブレーキコネクタ (AMP) MOTOR CONNECTOR
B1 A1
プラグ :172233-1 1 2
2 4 モータコネクタ (AMP)
1 3
B2
B3
A2
A3 ピン :170359-3 又は170363-3(TFHA-25) プラグ :172159-1
170360-3 又は170364-3(TFHA-32) ピン :170360-3 又は170364-3
B4 A4

ENCODER CONNECTOR
エンコーダコネクタ (AMP)
1-1903130-4
ﾀﾌﾞ ： 1903111-2 又は 1903115-2 W IR E M AR K
ワイヤーマーク

145.5

115.5 30±0.7

22.5 93
+50

(22.5)
0190

□60

(36)
+50

(22.9)
0
200

2.8±0.1 (30)
4-φ4.5
(30)
3.2

6.5
(13)
(11)

18 2
4h9
(キー溝 P9)
φ11h6

±0 .2
φ7 0
4
φ50h7

1.5以上
8.5

ボス挿入位置

ENCODER M 4深さ 8

エンコーダ M 4 D E PTH 8
ニコン製 M AR -M 40A
NIKON

External view of CFD-OP79-MC02 motor

6-3
Chapter6 Additional 1 Servo Axis

相手側コネクタ (付属していません )
BR AK E C O N N E C TO R MOTOR CONNECTOR
モータコネクタ (AMP) ブレーキコネクタ (AMP)
ブレーキ部結線 モータ部結線
キャップ : 172159-1 キャップ : 172157-1
ソケット : 170362-1 ソケット : 170362-1 No. 色 信号 No. 色 信号
または : 170366-1 または : 170366-1 1 黄 ブレーキ 1 赤 U
検出器コネクタ (AMP) 2 黄 ブレーキ 2 黒 V
キャップ : 172161-1 3 白 W
ソケット : 170361-1 4 緑/黄 E

または : 170365-1 BRAKE CONNECTOR

ブレーキコネクタ (AMP)
ENCODER CONNECTOR MOTOR CONNECTOR
プラグ : 172165-1
ロータリーエンコーダリード線結線 モータコネクタ (AMP)
ピン : 170360-1
(アブソリュート ) プラグ : 172167-1
ENCODER CONNECTOR ピン : 170360-1
No. 色 信号
検出器コネクタ (AMP) (最大定格電流は7A/極 です。ご注意下さい。 )
1 赤 BAT+
プラグ : 172169-1（アブソ） (The maximum rated current is 7A/pole.)
2 桃 BAT-
ピン : 170359-1
3 シールド線 FG
4 水色 P S (S D )
5 紫 P S (S D )
6 NC
7 白 E5 V
8 黒 E0 V 162.5
9 NC
135.5 27
22.5 113 □60
(22.9) 42 (36)
+50
0

(30)
220

+50
0
200
6.5 3 4-φ4.5

(13)
(11)

0 .2
φ7 0±

φ14h6

φ50h7
φ9
C0
1.5以上 .5
ボス挿入位置

4-M3 深さ 6以上
4-M3 DEPTH 6 or more

External view of CFD-OP79-MC04 motor

相手側コネクタ (付属していません )
BR AK E C O N N E C TO R MOTOR CONNECTOR
モータコネクタ (AMP) ブレーキコネクタ (AMP) ブレーキ部結線 モータ部結線
キャップ : 172159-1 キャップ : 172157-1
ソケット : 170362-1 ソケット : 170362-1 No. 色 信号 No. 色 信号
または : 170366-1 または : 170366-1 1 黄 ブレーキ 1 赤 U

検出器コネクタ (AMP) 2 黄 ブレーキ 2 黒 V

3 白 W
キャップ : 172161-1
4 緑/黄 E
ソケット : 170361-1
または : 170365-1 BRAKE CONNECTOR
ブレーキコネクタ (AMP)
ENCODER CONNECTOR MOTOR CONNECTOR
プラグ： 172165-1 モータコネクタ (AMP)
ロータリーエンコーダリード線結線 ピン ： 170360-1
(アブソリュート ) プラグ： 172167-1
ENCODER CONNECTOR ピン ： 170360-1
No. 色 信号 検出器コネクタ (AMP) (最大定格電流は7A /極 です。ご注意下さい。 )
1 赤 BAT+
2 桃 BAT-
プラグ： 172169-1 (The maximum rated current is 7A/pole.)
3 シールド線 FG
ピン ： 170359-1
4 水色 P S (S D )
5 紫 P S (S D )
6 NC
7 白 E5 V
8 黒 E0 V
182
9 NC 155 27
22.5 132.5 □60
(22.9) 61.5 (36)
+50
0

(30)
220

+50
0
200

6.5 3 4-φ4.5
(13)
(11)

0 .2
φ7 0±
φ14h6

φ50h7

φ9
C0
1.5以上 .5
ボス挿入位置

4-M3深さ 6以上
4-M3 DEPTH 6 or more

External view of CFD-OP79-MC06 motor

6-4
 Chapter6 Additional 1 Servo Axis

6.3 Construction (Servo Gripper)

7 axis motor /
encoder harness Box on (2)
(4) CN7A CN7B arm CN7 Additional Axis
CNMP CNR01 CN10D Servo Motor

CNMB
CNBK7A CNBK7B CNBK7
SEN41 CNR04 CN10C

SEN42 Junction
CN7E
CNE7J CNE7A box
(1)
Solenoid On arm motor /
valves (3)
Additional CNMB7 encoder harness
CN61A
Axis Drive
Unit SEN7 CN10A
CNR010 CN60B To Gripper
IO board
I/O harness CN60A CN62A
CFD Base Frame Arm Gear Box Wrist
Controller

Cables inside robot are already installed before shipment

(5)

System construction of Servo Hand (MZ07)

7 axis motor /
encoder harness Box on (2)
(4) CN7A CN7B arm CN7
Additional Axis
CNMP CNR01 CN10D Servo Motor

CNMB
CNBK7A CNBK7B CNBK7
SEN41 CNR04 CN10C

SEN42 Junction
Solenoid CN7E
valves CNE7J CNE7A box
(1)
(3) On arm motor /
CNMB7 encoder harness
Additional
Axis Drive
Unit SEN7
CNR010 CN60A1J CN60A CN61A CN10A
IO board To Gripper
I/O harness CN60A2J
CFD Base Frame Arm Gear Box Wrist
Controller

Cables inside robot are already installed before shipment

(5)

System construction of Servo Hand (MZ04)

No. Part name Part No. Remarks

(1) Additional Axis Drive Unit CFD-OP79-* *By specification
CFD-OP79-MC01 100W
CFD-OP79-MC02 200W
(2) Additional Axis Servo Motor
CFD-OP79-MC04 400W
CFD-OP79-MC06 600W
CFD-OP79-C01 For 100,400,600W
On arm motor / encoder Cable length is fixed to 1.5m
(3)
harness CFD-OP79-C02 For 200W
Cable length is fixed to 1.5m
7 axis motor / encoder **: Cable length
(4) Z101C-J7-**-A
harness 2,5,10,15,20,25m
MZ07 robot MZ07*-01-S** Servo hand available
(5)
MZ04 robot MZ04*-01-S**

6-5
Chapter6 Additional 1 Servo Axis

6.4 Construction (Traverse Unit)

Motor / encoder 6/7 axes common Motor / encoder

(6) harness (3) Movable junction harness

CNMP CNR01J CNR01

CNMB MZ
robot
SEN41 CNR04J CNR04

SEN42

(2)
Cable CNMB0A
support Additional Axis
(1) CNT0MA Servo Motor

Additional CNMB7
axis Drive
Unit SEN7 CNBK0A
CNT0EA

CFD CNE0A
controller
Junction Box
(4) 1 axis motor / encoder (5) 1 axis motor / encoder
BJ10A
Fix harness Movable junction harness

System construction of Traverse Unit

No. Part name Part No. Remarks

(1) Additional Axis Drive Unit CFD-OP79-* *By specification
CFD-OP79-MC01 100W
CFD-OP79-MC02 200W
(2) Additional Axis Servo Motor
CFD-OP79-MC04 400W
CFD-OP79-MC06 600W
6/7 axes common Z102C-01-**-A **: Cable length
(3) Motor / encoder 5,10,15m
Movable junction harness
CFD-OP17A-A-** **: Cable length
1 axis motor / encoder 2,5,10,15,20m
(4)
Movable harness Cannot be used for 200W
motor.
CFD-OP17-A-** **: Cable length
1 axis motor / encoder
(5) 5,10,15m
Movable junction harness
With junction box BJ10A
Z101C-J1-**-A **: Cable length
(6) Motor / encoder harness
2,5,10,15,20m

(NOTE) For details of (3)(4)(5)(6), see “6.8 Connection of Peripheral Equipments (Traverse Unit)”. (e.g. bending
R, etc.)

6-6
 Chapter6 Additional 1 Servo Axis

6.5 Installing additional axis drive unit

Install the additional axis drive unit inside the CFD controller.

Additional axis drive unit component

No. Name Type (Parts No.) Quantity Notes
Additional axis drive
1 CFD-OP79-* 1 *By specification
unit
Additional axis
2 CFD-79-C09-005 1
connector panel
M4×8mm 1 To fix grounding wire
M3×6mm 1
To fix additional axis drive
3 Screw M3×8mm 4 unit(CFD-OP79-A/B
specification)
To fix additional axis drive
M3×10mm 4 unit(CFD-OP79-C/D
specification)
4 Cable tie SG-100 3

1 Turn off the CFD controller power and disconnect the primary power source connector.

2 Remove the “Ceiling panel” of the CFD controller.

Ceiling panel
(8 mounting screws)

Top view of CFD controller

6-7
Chapter6 Additional 1 Servo Axis

3 Remove the “Right side panel” of the CFD controller and the “Connector cover” on the rear side.

Right side panel

(7 mounting screws)

Right side view of CFD controller

Connector cover
(2 mounting screws)

Right side panel fixing screw

Rear view of CFD controller

Wire saddle
Wire saddle

Right side
panel fixing Right side
screw panel fixing
screw

Top view of CFD controller(Panel removal) Top view of CFD controller(Panel removal)
CFD-OP79-A/B specification CFD-OP79-C/D specification
4 Pull out the additional axis PN cable (CNPNJ) and additional axis brake cable (CN 78 BKJ).
The cable is clamped to the “Wire saddle”.*3 Refer to top view of CFD controller(Panel removal)

6-8
 Chapter6 Additional 1 Servo Axis

5 Attach the additional axis drive unit.

Be careful not to bend the connected board.
Additional axis drive unit Additional axis drive unit
(4 mounting screws) (4 mounting screws)

CFD-OP79-A/B specification CFD-OP79-C/D specification

6 Connect the “Grounding wire” of the additional axis motor harness to the “Grounding boss” of the power
supply unit at the back of the connector cover.

Grounding boss
Rear view of CFD controller

6-9
Chapter6 Additional 1 Servo Axis

7 Attach the “Additional axis connector panel” on the rear of the CFD controller and connect the cable.

Additional axis connector panel

(2 mounting screws)

Rear view of CFD controller

CN78 connector

Right side view of CFD controller(Panel removal)

Connection cable
· CN 78 BKJ (Additional axis brake)
· CNPNJ (Additional axis PN)
· CN 78 E (Additional axis encoder) * 1
· OVT 1, OVT 11, OVT 3, OVT 31 (Additional axis limit switch) * 2

* 1 CN78E is replaced by removing the connected connector.

* 2 If there is no limit switch on the additional axis, connect OVT 1 and OVT 11, OVT 3 and OTV 31,
respectively, and jumper wire them.

8 Return the panel to its original position.

6-10
 Chapter6 Additional 1 Servo Axis

6.6 Connection of CFD controller

Connect 7th axis Connect 7th axis motor

encoder harness SEN7 harness CNMB7 to this
to this receptacle. receptacle.

Rear view of CFD controller

Connection of CFD controller

6-11
Chapter6 Additional 1 Servo Axis

6.7 Connection of Peripheral Equipments (Servo Gripper)

(Caution1)
IOCABLE-10 and IOCABLE-40/B/C are for
MZ series use. Please select any of the
following according to your needs.
IOCABLE-10
“I/O harness”
Only robot side connector (CNR010) is
completed assembling. It is necessary for
customers to route and assemble the
controller side depending on the usage
board.
IOCABLE-40/B/C
For “Small I/O board”, pre-assembled
cable.
Both side connectors are assembled.
(NPN/ Relay / PNP3 kinds)

Please refer to the following instruction

manual together.
“CFD controller / instruction manual /
option (I/O connection) (TCFEN-183)
“Instruction manual / option (MZ series)
(TCFEN-184)

Wiring connection diagram of additional axis (1 axis servo gripper)

6-12
 Chapter6 Additional 1 Servo Axis

130 50
116

80 60

Appearance of “Junction Box” for servo gripper

6-13
Chapter6 Additional 1 Servo Axis

6.8 Connection of Peripheral Equipments (Traverse Unit)

Wiring connection diagram of additional axis (1 axis traverse unit)

6-14
 Chapter6 Additional 1 Servo Axis

148

137
リード線
Lead wire
120

Battery Panel

2-6.0

BJ10A

Appearance of “Junction box BJ10A” for traverse unit

Supplement １
IOCABLE-10 and IOCABLE-40/B/C are for MZ series use. (Indicated at previous page.)
Please select any of the following according to your needs.

IOCABLE-10
“I/O harness”
Only robot side connector (CNR010) is completed assembling. It is necessary for customers to route and
assemble the controller side depending on the usage board.

IOCABLE-40/B/C
For “Small I/O board”, pre-assembled cable.
Both side connectors are assembled. (NPN/ Relay / PNP3 kinds)

Please refer to the following instruction manual together.

“CFD/CFDL controller / instruction manual / option (I/O connection) (TCFEN-183)

“Instruction manual / option (MZ series) (TCFEN-184)

It is necessary to select the cable inside the cableveyor, which has bending resistance.
Be careful when you selecting.
CAUTION

6-15
Chapter6 Additional 1 Servo Axis

6.9 Setup Operation

Please perform setup operation in order to utilize the additional 1 servo axis.

To utilize this option, Smart TP or combination of Compact TP and PC tool “FD on Desk Light” is
IMPORTANT necessary. Compact TP (without PC tool) is not enough to utilize this option.

Not only deep understanding of robot operation but also basic acknowledgement of servo control
is necessary for “Registering mechanism parameters” procedure and “Servo tuning” procedure.
(EXPERT or higher operator class is necessary.)
If robot is treated with insufficient acknowledgement of robot operation and maintenance,
WARNING mis-operation is likely to cause the danger of property damage or of minor injuries of operator or
neighbor personnel. Furthermore, this may result in death or serious injury of operator or neighbor
personnel.

Please prepare following three instruction manuals and parameter sheet which is shipped with this option.

Parameter
sheet shipped
with this option

Parameter sheet shipped with this option

FD controller instruction manual “Aux. axes
1 Registration of new mechanism Servo Tuning for Expert operators” (TFDJP-065)”
FD controller instruction manual “Memory
Format Procedure” (TFDJP-094)”
th
Added 7 axis is one independent mechanism that is “Servo Gripper” or “Traverse Unit”. This is
different from “Manipulator”. At first, it is necessary to register new mechanism.
Please refer to parameter sheet shipped with this option for detail of new mechanism name.
Please refer to instruction manual “Aux. axes Servo Tuning for Expert operators” and “Memory
Format Procedure” for detail operation.

Parameter sheet shipped with this option ト

2 Registering mechanism parameters FD controller instruction manual “Aux. axes
Servo Tuning for Expert operators” (TFDJP-065)”
Various mechanism parameters need to be registered in order to drive the mechanism precisely.
Please refer to parameter sheet shipped with this option for detail of mechanism parameters.
Please refer to instruction manual “Aux. axes Servo Tuning for Expert operators” for detail
operation.

FD controller instruction manual “Aux. axes

Servo Tuning for Expert operators” (TFDJP-065)”
3 Servo tuning
FD controller instruction manual “Oscilloscope
Function” (TFDJP-016)”
Servo parameters need to be adjusted in order to drive the mechanism precisely. This procedure
is performed with motor power on and with actually operating the mechanism.
Please refer to instruction manual “Aux. axes Servo Tuning for Expert operators” for detail
operation.
For this procedure, measurement instrument is necessary to monitor velocity, motor current and
or so. “Oscilloscope Function” which is standard function of CFD controller is convenient for this
work. Please refer to instruction manual “Oscilloscope Function” for detail operation.

6-16
 Chapter6 Additional 1 Servo Axis

6.10 Daily Operation

Please perform manual operation of additional 1 servo axis.

Added 7th axis is one independent mechanism that is “Servo Gripper” or “Traverse Unit”. This is different from
“Manipulator”. This system is called “multi-mechanism” because plural mechanisms are contained in one
controller. It is necessary to select mechanism before starting manual operation.

When using “SMART TP”

1 Current selected mechanism of manual operation is displayed on TP.

2 Press [Unit/Mechanism] key to change mechanism. Mechanism display is

renewed.
≫ Every time this key is pressed, current mechanism number will be changed like
1, 2 ... within the number of the registered mechanism.

This picture shows the case that 7th axis mechanism name is “PH001”.

3 Now selected mechanism can be operated manually.

When operating Servo Gripper (or Traverse Unit), please press [X+] or [X-] key
＋ with grasping enable switch.
This mechanism has only one axis. So keys except X+/X- are not to be used.

4 Press [Unit/Mechanism] key again. Mechanism display is renewed and

selected mechanism is changed back to “Manipulator”.

When using “COMPACT TP”

1 Current selected mechanism of manual operation is displayed on TP.

P 0 0 0 1 U 1 M 1 J S 1 L N
S 0 0 0 0 S T A R T

>
M1 : Manipulator
M2 : Servo Gripper (or Traverse Unit)

MECHA 2 To select MECAHNISM, press [Enable] + [MECHA / 7] key. Display will change
Enable ＋ 7 to “M2”.
≫ Every time this key is pressed, current mechanism number will be changed like
1, 2 ... within the number of the registered mechanism.

3 Now selected mechanism can be operated manually.

When operating Servo Gripper (or Traverse Unit), please press [X+] or [X-] key
＋ with grasping enable switch.
This mechanism has only one axis. So keys except X+/X- are not to be used.
X- X+

MECHA 4 Press [Enable] + [MECHA / 7] key again. Mechanism display is renewed and
Enable ＋ selected mechanism is changed back to “Manipulator”.
7

6-17
Chapter6 Additional 1 Servo Axis

NOTE

6-18
 Chapter7 100VAC Power Source Voltage

Chapter 7 100VAC Power Source Voltage

7.1 CFD-OP154-A (CFD, CFDL1)

7.1.1 Configuration
By using this option, it is possible to change the power source voltage of CFD/CFDL1 controller from AC200V to
AC100V. This option consists of the following parts.

Main contained parts

Name Type Manufacture Q’ty Notes
MEIKOSHA
Grounding rubber plug ME2547-N x 1
CO., LTD.
Input 100V±10V - Output 200V
Portable transformer UP-300 SWALLOW x 1 For details, refer to the following
specification table.

CFD/CFDL controller Grounding rubber plug Portable transformer

- Power supply connector (Attached to the controller)

- Power supply cable (This cable must be prepared and made by customer)

7-1
Chapter7 100VAC Power Source Voltage

7.1.2 Controller side power supply connector (This part is attached in the controller)

By referring to the following figure, solder the power supply cable to the power supply connector.
Connector pin layout
Seeing from the soldering side
Connection
1 2 PIN No.
Single phase AC200V
1 AC200V R-phase (Red)
3 4
2 －
3 AC200V T-phase (Black)
Applicable cable diameter:
4 Ground (Green/Yellow)
10～12.5 [mm]
Connector type
Nanaboshi Electric Mfg.Co.,Ltd.
NJC-204-PF or NJW-204-PF
Primary power supply cable connection

Primary power supply cable specification

Cross-section of Cross-section of
Manipulators
power cable grounding cable
MZ series / CFD-0000 1.25mm2 1.25mm2
(Only one robot) AWG16 AWG16

EZ series / CFDL1-0000 1.25mm2 1.25mm2

(Only one robot) AWG16 AWG16

This option is available only for the configurations shown as above.

The other configurations are not supported.
IMPORTANT

(Caution) This option only designed for MZ series. It doesn’t apply to any other types.
(Caution) This option applies to only one single robot. It doesn’t apply to the controller and application, which is
two or more.

UP-300 specification

Wire
Input Output Rated Rated Thickness x Dimension Insulating
Outlet Plug Mass
voltage voltage Capacity Current Number of wires W,D,H(mm) type
x length
Approx.
100V±10V 200V 3KVA 15A 3.5 x 3 x 2m 135,280,230 B
x4 12.8kg
15A

7.1.3 Transformer side plug

See the next page.

7-2
 ＰＳ
Ｅ

If the rubber body is removed Processing dimension

ゴムボデ－を外した状熊 ●電線加工寸法
Grounding terminal

.
接地極

Ｅ
ＰＳ

.
ME2547 specification

Applicable wires
●適用電線
１ＣＴ、２ＣＴ、
０.７５ｍｍ２ ～２ｍｍ ２ ３心
２ＲＮＣＴ
２ＰＮＣＴ １.２５ｍｍ２ ・２ｍｍ ２ ３心
Layout of the terminals
ＶＣＴ、Ｓ－ＶＣＴ １.２５ｍｍ２ ・２ｍｍ ２ ３心
極配置寸法 ＣＴＦ，ＲＮＣＴＦ ２ｍｍ ２３心

Applicable terminals
●適用圧着端子
０.７５ｍｍ２ ～１.２５ｍｍ２ Ｒ１.２５－３.５
２ｍｍ２ Ｒ２－３.５

Grounding terminal
刃
Grounding rubber plug
Chapter7 100VAC Power Source Voltage

7-3
Chapter7 100VAC Power Source Voltage

NOTE

7-4
 Chapter8 RMU (Robot Monitoring Unit)

Chapter 8 RMU (Robot Monitoring Unit)

RMU (Robot Monitoring Unit) is a Category 4 and PLe compliant system which monitors the robot position and
speed so as to shut off the power to the robot when its position or speed are deemed to be irregular.

RMU consists of safety circuits using microcomputers and semiconductors, and input/output signals, redundant
safety signals and other signals from the process control panel are connected as the input/output signals except
robot controller. Control signals of emergency stop button, operation switches, and magnetic switch of the robot
controller are connected as internal I/O signals, and RMU has functions for monitoring the sequence and status.
RMU is connected by a cable to the encoder of drive motor so that RMU can monitor the robot operations, and
the system ensures that the robot will stop safely when the robot has operated irregularly.

Usual robot system

Safety signals such as Normal I/O

emergency stop, safety signals
plug and or so

Robot T/P
CFD
controller

Safety system by utilizing Robot Monitoring Unit

Safety signals such as Normal I/O
emergency stop, safety signals
plug and or so

Robot T/P
Robot CFD
Monitoring Unit controller

Safety system with Robot Monitoring Unit

Furthermore, by utilizing “Virtual Safety Fence” utility, software can observe the robot so that defined object does
not go out from the restricted area.

To utilize this option, Smart TP or combination of Compact TP and PC tool “FD on Desk Light” is
IMPORTANT necessary. Compact TP (without PC tool) is not enough to utilize this option.

This document includes the information only for setup of this option such as assembling and wiring.
Please refer to another manual “FD/CFD controller instruction manual Robot Monitoring Unit RMU20-20 /
RMU20-30”, (TFDEN-143-###) for details such as input/output signal connection, setting procedure for RMU,
utilizing Virtual Safety Fence and or so.

8-1
Chapter8 RMU (Robot Monitoring Unit)

8.1 Robot Monitoring Unit

Specifications of Robot Monitoring Unit

Item Description
Dimension W369 ×D490 ×H180
Weight Approx. 10Kg
Primary power Supplied from CFD controller
Installation environment Same as CFD controller

CFD controller is fixed on Robot Monitoring Unit.

CFD controller must be installed in horizontal direction (not vertical direction).

CFD controller

Robot Monitoring Unit

LEDT SIDE view FRONT view REAR view

External view of Robot Monitoring Unit

Please refer to the figure below when utilizing RMU with other options.
This figure shows the appearance of maximum case (All of CFD controller options which need separate box are
used at the same time.)

Force sensor unit

Robot monitoring unit
RMU

CFD controller

Vision sensor unit

(when installed in piles)

Vision sensor unit

(when installed in piles) Controller protection box

Force sensor unit

CFD controller
Robot monitoring unit
(Installed in
RMU
controller
protection box)

Maximum case when controller protection box is not used Maximum case when controller protection box is used

External view when all of CFD controller options which need separate box are used at the same time

8-2
 Chapter8 RMU (Robot Monitoring Unit)

8.2 Construction

CPU CNMP
CN4 USB
board
CNMB
CNCOMJ
CNLINE
SEN41
CNRBS
SEN42
Motor / Encoder
Operation CNRMU1 harness (belonging to
panel
CNOPJ
Additional axis CNMB7 RMU)
CNOP

CNRMU2
drive unit
SEN7
CNOP
EMG 10 pins 8 pins Sequence
Stop board
button CNOP2 UM367 CFD
Controller

USB cable
(belonging to RMU
RMU) (1) CNMJ
(Robot Monitoring
Unit) SEN41B
Signal cable
(belonging to SEN42B
RMU)
SEN7B

CNMPJ CNR01

CNMBJ Robot Robot

motor/encoder
SEN41A harness CNR04

SEN42A

For additional CNMB7J

axis In case that additional axis exists
SEN7A

Connection of Robot Monitoring Unit

No. Part name Part No. Remarks

(1) Robot Monitoring Unit CFD-OP145-A With following cables
RMU20-20 motor/encoder harness 0.7m
USB cable 0.7m
signal cable 0.7m
With sequence board (UM367-20) in CFD
controller

Robot Monitoring Unit With following cables

RMU20-30 motor/encoder harness 0.7m
USB cable 0.7m
Safety network CFD-OP145-D signal cable 0.7m
Corresponds to CIP Safety With sequence board (UM367-20) in CFD
on Ethernet/IP controller

Please use the following No. type, when using both “Mini- I/O board” and this option at a same
time. –A/ -B cannot be used together with this option.
CFD-OP150-C : Mini-I/O board （Eight photocoupler input / Eight NPN transistor outputs）
IMPORTANT CFD-OP150-D : Mini-I/O board （Eight photocoupler input / Relay output）

8-3
Chapter8 RMU (Robot Monitoring Unit)

8.3 Installing and Connection of Robot Monitoring Unit

CFD controller is fixed on Robot Monitoring Unit.

CFD controller must be installed in horizontal direction (not vertical direction).

1 Turn off the controller power and disconnect the primary power source connector.
2 Loosen the screws on the top panel and the front side cable drawing panel.
Then pull out the sequence board.

Sequence board

3 Fix the sequence board (UM367-20) to the slot.

CNRMU
1
CNOP
CNSTP CNTP

CNRMU2
CNSV

CNOP2 CNLINE

Sequence board (UM367)

4 Insert the contact pin with the marking of “CNOP2(B2)” to the B2 terminal of the
CNOP2 connector.

B
A
CNOP2(B2) 1
2
3
4
5
6

8-4
 Chapter8 RMU (Robot Monitoring Unit)

5 Connect the USB cable and signal cable (belonging to RMU) connectors (CNLINE,
CNRBS, CNRMU1, CNRMU2, CNOP, CNOP2, CNOPJ, CNSV, CNTP, CNSTP,
CNOPJ and CN4) to the CPU board and I/O board.
(CN4 connector is on the right side beneath the CPU board)

Sequence board

CPU board

ＣＮ４
CFD front side

(NOTE) When re-connecting the cables for the emergency stop button, please refer to
the diagram in the “8.2 Construction” also.

USB cable
(belonging to RMU)

Signal cable
(belonging to RMU)

Front view of Robot Monitoring Unit

Outlet of USB cable and signal cable (belonging to RMU)

6 Disconnect “Robot motor/encoder harness” which connects CFD controller and robot
at CFD controller side. Then conenct them to Robot Mointoring Unit.
(Notes) Before connecting, pierce them to the hole of “W/H harness clamping metal”.

8-5
Chapter8 RMU (Robot Monitoring Unit)

7 Connect “Motor/encoder harness belonging to RMU” to CFD controller.

(Notes) Before connecting, pierce them to the hole of “W/H harness clamping metal”.

Connected to CFD controller

by ”Motor/encoder harness
Connected to CFD controller Connect “Robot motor/encoder belonging to RMU”
by ”Motor/encoder harness harness” here (CNMB7J and SEN7A
belonging to RMU” connector are connected only when
additional axis exists)

Rear view of Robot Monitoring Unit

(Appearance W/H clamping metal is already removed)

Connection with robot

8 Fix harness with “W/H clamping metal”.

Attach cable bush (belonging to harness) and then fix harness with “W/H clamping
metal”.
Following figure shows the position of each wire.
(1) Encoder harness belonging to RMU
(2) Aditinal axis encoder harness
(3) Robot encoder harness
(4) Aditinal axis motor harness
(5) Robot Motor harness
(6) Motor harness belonging to RMU

(1) (2) (3) (4) (5) (6)

W/H clamping metal

Rear view of Robot Monitoring Unit

9 Mount the front panel and top panel.

Install CFD controller on RMU. CFD controller is not fixed by screws, so install RMU
on flat and horizontal floor.

8-6
 Chapter8 RMU (Robot Monitoring Unit)

8.4 Operating

See the following instruction manual for details of operation.

“FD/CFD CONTROLLER INSTRUCTION MANUAL: Robot Monitoring Unit RMU20-20 / RMU20-30”
(TFDEN-143-###)

8.5 Terminal block TBX-1

Please make connections of the signals for the terminal block TBX-1 in accordance with the customer’s
environment in advance.

PCX-1H50 (Manufacture: Toyo) (for CFD controller)

92.5mm

Table 8-1 Terminal block TBX-1 pin layout

Pin No. Marking I/O Signal name Pin No. Marking I/O Signal name
A1 IN5A+ SI External emergency stop 1+ B1 IN5A- SI External emergency stop 1-
A2 IN5B+ SI External emergency stop 2+ B2 IN5B- SI External emergency stop 2-
A3 IN6A+ SI Safety plug 1+ B3 IN6A- SI Safety plug 1-
A4 IN6B+ SI Safety plug 2+ B4 IN6B- SI Safety plug 2-
A5 IN7A+ SI Protective stop 1+ B5 IN7A- SI Protective stop 1-
A6 IN7B+ SI Protective stop 2+ B6 IN7B- SI Protective stop 2-
A7 IN8A+ SI External enable SW 1+ B7 IN8A- SI External enable SW 1-
A8 IN8B+ SI External enable SW 2+ B8 IN8B- SI External enable SW 2-
A9 IN9A+ SI General safety input 11+ B9 IN9A- SI General safety input 11
A10 IN9B+ SI General safety input 12+ B10 IN9B- SI General safety input 12-
A11 IN10A+ SI General safety input 21+ B11 IN10A- SI General safety input 21-
A12 IN10B+ SI General safety input 22+ B12 IN10B- SI General safety input 22-
A13 IN11A+ SI General safety input 31+ B13 IN11A- SI General safety input 31-
A14 IN11B+ SI General safety input 32+ B14 IN11B- SI General safety input 32-
A15 IN12A+ SI General safety input 41+ B15 IN12A- SI General safety input 41-
A16 IN12B+ SI General safety input 42+ B16 IN12B- SI General safety input 42-
A17 IN13A+ SI General safety input 51+ B17 IN13A- SI General safety input 51-
A18 IN13B+ SI General safety input 52+ B18 IN13B- SI General safety input 52-
A19 GPIN13 I Tool number 1 B19 GPIN14 I Tool number 2
A20 GPIN15 I Tool number 3 B20 GPIN16 I Tool number 4
A21 P1 P 24V B21 P1 P 24V
A22 INCOM I Tool No. input COM B22 M1 G 24V system GND
A23 EX_EMG1+ SO Ext.l EMG stop out 1+ B23 EX_EMG1- SO Ext.l EMG stop out 1-
A24 EX_EMG2+ SO Ext.l EMG stop out 2+ B24 EX_EMG2- SO Ext.l EMG stop out 2-
A25 X24V P Ext. DC24V power B25 X0V P Ext. DC24V GND
SI:Safety Input, I:Monitor input, SO:Safety output, P:Power, G:Ground

8-7
Chapter8 RMU (Robot Monitoring Unit)

About the “Normal Close” type terminals

The following terminals are “NC (Normal Close)” type terminals. So if these connections are not
established, the robot motor power cannot be turned ON. If these signals are not used in your environment,
please jumper these connections.

Terminals to be
Function Remarks
connected
A1 - B1 External emergency stop 1+/1- When not using the “External
emergency stop”, jumper these
A2 - B2 External emergency stop 2+/2- terminals.
A7 - B7 External enable SW 1+/1- When not using the “External enable
External enable SW 2+/2- SW” (e.g. mat switch etc.), jumper
A8 - B8 these terminals.

See the following instruction manual also.

“FD/CFD CONTROLLER INSTRUCTION MANUAL: Robot Monitoring Unit RMU20-20 / RMU20-30”

(TFDEN-143-###)

8-8
 Chapter9 CE marking specification

Chapter 9 CE marking specification

This chapter describes how to install option parts to change this robot controller to CE specification.

9.1 CFD-CE-A (for CFD controller)

9.1.1 External view

Option box

Back side box

CE marking specification external view

External dimentions, which includes CE compatible unit

Width 378.5[mm] / Height 242.5[mm] / Depth 625.0 [mm]

(173 + 5.5 + 64 = 242.5)

173 = Height of the CFD controller
5.5 = Height of the rubber leg
64 = Height of option BOX

(490 + 35 + 100 = 625.0)

490 = Depth of CFD controller
35 = Front side mode selection switch…35mm （including key）
100 = Back side BOX

9-1
Chapter9 CE marking specification

9.1.2 Configuration

Option box
(1) CNAC3
NF1 CP3

NF2

Power cable
CNMP (This is included
CNAC
in this option)
CNMB

SEN41

SEN42
Backside This
BOX (2) controller

No. Part name Part No. Remarks

(1) Option BOX CFD-OPBOX
(2) Backside box CFD-05-C06-001
(3) Cover of the backside box CFD-05-C06-002
(4) Harness fixing panel CFD-05-C06-003
ZCAT3035-1330 or
(5) Ferrite core
ZCAT3035-1330-BK
・KDT-13
(6) Cable bush
・KDT-Z16

9-2
 Chapter9 CE marking specification

9.1.3 How to install

1 Turn off the controller power and disconnect the primary power source connector.

2 Loosen the 5 screws on the top panel

3 Place the option box on this robot controller and fix it with screws.

Option box

4 Let the wire-harness (connection cables) into the hole shown in the picture. Then
connect the cables to this controller.

Hole for the

wire-harness

9-3
Chapter9 CE marking specification

5 Install the backside box to the backside of this controller.

First, dismount the rubber foot parts and then fix the backside box with 4 screws.
(After that, mount the rubber foot parts again)

6 Attach the cable bush to the wire-harness (connection cables) then fix the
wire-harness using the harness fixing panel. Then attach the ferrite cores to the
wire-harness.

Ferrite cores

Cable bush

7 Fix the backside box cover with screws.

9-4
 Chapter9 CE marking specification

8 Make connection by referring to this picture.

Connect the primary power

supply.

Connect the
power cable
included in this
option to this robot
controller.

9-5
Chapter9 CE marking specification

NOTE

9-6
 Chapter10 External operation panel connection terminal block

Chapter 10 External operation panel connection terminal block

This chapter describes how to install the “External operation panel connection terminal block” to the CFD/CFDL
controller. By using this optional part, it becomes possible to mount an operation panel in a place where is far
from the CFD/CFDL controller. (The operation panel shoud be prepared by customer) Then, it becomes possible
to select the Teach mode / Playback mode or execute an emergency stop operation from a place that is far from
the CFD controller.

10.1 External view

Panel
Connecion in the
CFD/CFDL controller Screwless teminal block

Cable
Dismount the original operation
panel and install this unit instead.

External view

10.2 Specification of the terminal block

Screwless terminal block model number : ML-4000-ASV-10PGY (SATO PARTS CO., LTD)

No. Signal name Description No. Signal name Description

1 TP_EMG1 TP EMG STOP INPUT 1 2 P_EMG1 EMG STOP INPUT 1
3 TP_EMG2 TP EMG STOP INPUT 2 4 P_EMG2 EMG STOP INPUT 2
5 A_MODE1 Playback mode 1 6 A_MODE2 Playback mode 2
(Connect this to the M1 in case (Connect this to the EX24V in
of the Playback mode) case of the Playback mode)
7 T_MODE1 Teach mode 2 8 T_MODE2 Teach mode 2
(Connect this to the M1 in case (Connect this to the EX24V in
of the Teach mode) case of the Teach mode)
9 M1 24V GND 10 EX24V For mode selection 24V

10-1
Chapter10 External operation panel connection terminal block

10.3 How to install

Before the installation

CFD/CFDL standard panel

After the installation

This option

(1) Remove the CFD/CFDL standard operation panel an the install this option instead.
(Make a connection with the internal connector in the controller)

(2) Connect the signals from the operation (prepared by customer) panel to the screwless terminal block.

See the connection diagram in the next page for reference.

10-2
 Chapter10 External operation panel connection terminal block

10.4 Electric circuit diagram

Made by customers

10-3
Chapter10 External operation panel connection terminal block

NOTE

10-4
 Chapter11 Two Robots Sychronizing (MZ series)

Chapter 11 Two Robots Sychronizing (MZ series)

This option ensures that two robots (MZ series) can perform synchronizing by useing two CFD controllers.
One CFD controller is master and other one is slave.
CPU board and logioc contol of master CFD controller are used.
Also teach pendant is connected to only master CFD controller.

Please refer CFD controller instruction manual “SETUP” Chapter 7 Setup of synchronize control” and FD
controller instruction manual “Synchromotion Control” for the detail of operation.

11.1 Outline

Specificatiopn of Two Robots Shnchronizing

Item Specification
Part No. CFD-OP89-A
(consisits of HUB and cables/plates to be used for connecting two cabinets)
Number of robot Two manipulatords (MZ series)
Drive unit Rotary switch on servo CPU board needs to be selected
Sequence CPU Jumper terminal needs to be selected

CFD controller
(Master)

CFD controller
(Slave)

Apperance of CFD controller for this option

11-1
Chapter11 Two Robots Sychronizing (MZ series)

11.2 Block diagram

CNLAN CPU
Board

CNSV Sequence
Board

CNSV
Drive unit
#1
CNCOM

CFD controller (Master)

X2

X1

X5

POWER(X6) HUB

TBEX2 Sequence
Board

CNCOM
Drive unit
#2
CNSV

CFD controller (Slave)

Block diagram for this option

11-2
 Chapter11 Two Robots Sychronizing (MZ series)

11.3 Installing (wiring and setting)

1 Turn off the controller power of both master and slave, and disconnect the primary
power source connector.
2 Remove the top panel and the front panel of both master and slave.

3 【Slave controller】
Fix the sequence board (UM352-20) to the slot.
①Attach the HUB fixing plate to the slot.
②Connect the HUB power cable EXP1 to termila TBEX2(7), and M1 to terminal
TBEX2(10).
③Fix the grounding wire of HUB power cable to the screw hole of left side rack.

Grounding wire Terminal TBEX2

Fix by screw

HUB fixing metal

11-3
Chapter11 Two Robots Sychronizing (MZ series)

4 【Slave controller】
①Connect the cable (that was connected to the sequence board CNSV) to CNSVJ#2
of the sequence cable.
②Connect the cable (that was connected to CNLAN of the CPU board) to X5 of
Ethernet HUB.
③Connect X1 ro X1J, and X2 to X2J with LAN cable.
④Connect EXP1 and M1 of sequence cable to X6 of HUB power connector.

X1
X2 X5

HUB power connector

(X6)

CNSV

CNLAN

HUB power connector

HUB power cable EXP1 (connected to US)

Sequence cable EXP1 (connected to US)

HUB power cable M1 (connected to GND)

Sequence cable M1 (connected to GND)

Grounding wire

5 【Slave controller】
Change the rotary switch to”1” of the servo CPU board slave controller.

Rotary switch

11-4
 Chapter11 Two Robots Sychronizing (MZ series)

6 【Master controller】
①Change the jumper plug J2 and J3 of the sequence board to OPEN.
②Connect the cable (that was connected to CSV of the sequence board) to CNSVJ#1
of the sequence cable.
③Connect CNSV of the sequence cable to CNSV of the sequence board.
④Connect the cable (that was connected to CNLAN of the CPU board) to CNCOMJ
joint connector.
⑤Connect X1J of slave controller to CNLAN of master controller with LAN cable.

CNSV

CNLAN

CNLAN CNSVJ#1
CNCOM
J

7 【Slave controller】
①Disconnect the cable from CNOP of the slave CPU board.
At this time, emergency button and teah/playback selector switch from the fornt panel.
②Attach the front panel 4 and front panel 5 to the slave controller.

Front panel 5
Front panel 3

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Chapter11 Two Robots Sychronizing (MZ series)

11.4 Attaching two cabinets

Two cabinets are attached by the connecting plate.

1 Insert the Connecting plate between the master controller and slave controller, and
fixit by Hex socket head screw.

CFD controller
(Master)

Hex socket head

Connecting plate screw

M3x8mm-10
(included in this option)

CFD controller
(Slave)

11-6
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Original manual is written in Japanese.