2Unpacking to installation

2.2.4 Connecting the power cable and grounding cable

The following shows how to connect the power and grounding cables.
When the CR3-535M-S12 controller is used, refer to "Fig.2-3 ： Connecting the power cable and grounding cable
(CR3-535M-S12)".
When the CR3-535M controller is used, refer to "Fig. 2-4Connecting the power cable and grounding cable (CR3-
535M)" on page 9.

<CR3-535M-S12>
[Caution] The range of primary power supply voltage is 3-phase 360-480VAC.

Power cable clamp Note1) Cable lead in port

(Capcon)
Power cable

Front door fixing screw

Two screws
Ground cable

Ground terminal
Section A

NV plate
This cable is already
connected to the control unit.
Earth leakage breaker

Transformer box
Transformer
This cable is already connected
between the earth leakage breaker
and the transfomer.

Terminal cover

Power cable

Disengagement
prevention projection
Capcon
L1, L2 and L3 from left (200V ±10%)

Earth leakage breaker

Ground cable Note1) Power cable clamp supplied with the controller
(a) Details of section A Part name Type Remarks
Capcon OA-W2216 Waterproof type
Manufactured by OHM ELECTRIC CO., LTD. :
http://www.ohm.co.jp/

Fig.2-3 ： Connecting the power cable and grounding cable (CR3-535M-S12)

2-8 Installation
 2Unpacking to installation

<CR3-535M>

[Caution] The range of primary power supply voltage is 3-phase 180-253VAC.

Power cable clamp Note1) Cable lead in port

(Capcon)
Power cable

Front door fixing screw

Two screws
Ground cable

Ground terminal
Section A

NV plate

Earth leakage breaker

Terminal cover

Power cable

Disengagement
prevention projection
Capcon
L1, L2 and L3 from left (200V ±10%)

Earth leakage breaker

Ground cable Note1) Power cable clamp supplied with the controller
(a) Details of section A Part name Type Remarks
Capcon OA-W2216 Waterproof type
Manufactured by OHM ELECTRIC CO., LTD. :
http://www.ohm.co.jp/

Fig.2-4 ： Connecting the power cable and grounding cable (CR3-535M)

(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 both the power cable and ground cable from the cable inlet hole located on the side of the controller,
and fix them using a power cable clamp (Capcon).
(7) Connect the power cable to the earth leakage breaker terminal (M5 screw). (L1, L2 and L3 from left)
(8) Connect the grounding cable to the NV plate terminal (M5 screw).
(9) Insert the earth leakage breaker 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 CR3-535M controller.

Installation 2-9
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2.2.5 Connecting the external emergency stop

The following shows how to connect the external emergency stop.

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
6
stop line
6
RA31:Emergency stop output Note1) (Prepared
5 by cusotmer) 5
4 RA Relay
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.2-5 ： Connecting the external emergency stop

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. 2-5.
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 connector. 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.

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2.2.6 Magnet contactor control connector output (AXMC) for addition axes
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 inside 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. 2-6 shows an example of its circuit, and Fig. 2-7 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
terminal of short circuit breaker (NV) built in the controller.
NV MC 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>
AC15 class(AC200V) 5A
<Robot controller>
AC13 class(DC48V)3A
Fig.2-6 ： Example of circuit for addition axes of Magnet contactor control output.

AXMC1 connector

Enlargement

Fig.2-7 ： Arrangement figure of the AXMC1 connector.

Installation 2-11
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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.

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.

2-12 Setting the origin