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RV-RH Controllers

(12/12/2017)

CR750

CR750-D
CR750-Q


CR751

CR751-D
CR751-Q


CR760Q

CR760-Q
CR760-D


Controller Specifications

Model Number

CR750-Q • CR750-D

CR751-Q • CR751-D

CR760-Q • CR760-D

Robot CPU

FQ Series: Q172DRCPU (Included with FQ Series robots)
FD Series: Built-in

Path Control Method

PTP control and CP control

Number of Axes Controlled

Maximum 6 axes

6 axes + additional 8 axes available

Robot Language

MELFA-BASIC IV/V

Position Teaching Method

Teaching method, MDI method

Memory Capacity

Number of Teaching Points

FQ Series: 13,000; FD Series: 39,000

13,000

Number of Steps

FQ Series: 26,000; FD Series: 78,000

26,000

Number of Programs (Unit)

FQ Series: 256; FD Series: 512

256

External Input/Output (Points)

General-Purpose I/O

FQ Series: 8192 input points/8192 output points with the multiple CPU common device. FD Series: 0 input/0 output (Up to 256/256 when options are used)

FQ Series: 8192 input points/8192 output points with the multiple CPU common device. FD Series: 0 input/0 output (Up to 256/256 when options are used) RHCH Series: 32/32 (2D-TZ368 included)

0 input/0 output

Dedicated I/O

FQ Series: Assigned to multiple CPU common device; FD Series: Assigned to general-purpose I/O

FQ Series: Assigned to multiple CPU common device; SD Series: Assigned to general-purpose I/O.

Assigned to general-purpose I/O

Hand Open/Close

8 Input / 8 Output (Excludes RHCH models)

16 input / 16 output

Emergency Stop Input

1 (redundant)

Door Switch Input

1 (redundant)

Enabling Device Input

1 (redundant)

Emergency Stop Output

1 (redundant)

Mode Output

1 (redundant)

Robot Error Output

1 (redundant)

Sync.of Additional Axes

1 (redundant)

Interface

RS-232

FQ Series: 1; FD Series: Use the function of the programmable controller

RS-422

1 (Teaching pendant: dedicated T/B)

Ethernet

FQ Series: 1 (dedicated teaching pendant port) 10BASE-T
FD Series: 1 (dedicated teaching pendant port), 1 (for customer)
10BASE-T/100BASE-TX

USB

FQ Series: 1 (USB port of programmable controller CPU unit can be used)
FD Series: (Ver. 2.0 device functions only, mini B terminal)

FQ Series: Use the function of the programmable controller; FD Series: 1

Hand Dedicated Slot

1 (dedicated for pneumatic hand interface)

Additional-Axis Interface

1 (SSCNET III)

Extension Slot (*1)

FQ Series: N/A (Expansion located on iQ backplane);
FD Series: 2

FQ Series: Use the option of the programmable controller; FD Series: 3

Encoder Input (Channels)

FQ Series: Q173DPX (sold separately);
FD Series: 2

FQ Series: Use the option of the programmable controller; FD Series: 2

Memory Extension Slot

-

FQ Series: – ; FD Series: 1

Ambient Temperature (°C)

FQ Series: 0 to 40 (drive unit) / 0 to 55 (Robot CPU);
FD Series: 0 to 40

0 to 40

Relative Humidity (%RH)

45 to 85

Power Supply (*5)

Input Voltage Range (V) (*2)

RV: 2F/4F/7F/13F/20F,

RH:1FHR/3CH/3FH/3FHR/6CH/6FH/12FH/20FH Single-Phase AC 200V to 230V

RV35F/50F/70F:
Three-phase AC 180V to 253V

Power Capacity kVA (*3)

RV2F, RH3FH/RH3CH/RH6CH: 0.5; RV4F, RH6FH: 1.0; RH1FHR/RH12FH/20FH: 1.5; RV7F: 2.0; RV7FLL/13F/20F: 3.0

RV-35F/50F/70F: Maximum : 20

External Dimensions (Including Legs) (W x D x H) mm

430 x 425 x 174

430 x 425 x 98;
430 x 425 x 174 (*6)

670 x 415 x 700

Weight (kg)

Approx. 18

Approx. 12 / Approx. 18 (*6)

Approx. 120

Structure (Protective Specification)

Self-contained floor type/open structure
(Vertical and horizontal position can be placed) (IP20)

Self-contained floor type/sealed structure (IP54)

Grounding Ω (*4)

100 or less (class D grounding)

Notes:
1. For installing option interface.
2. The rate of power-supply voltage fluctuation is within 10%.
3. The power capacity indicates the rating for normal operation. Take note that the power capacity does not include the current being input when the power is turned on. The power capacity is only a rough guide and whether or not operation can be guaranteed depends on the input power-supply voltage.
4. Grounding works are the customer’s responsibility.
5. For CR751, crimp or solder wiring for connection to user wiring connectors for emergency stop input/output, door switch input, etc. and power supply connectors. The optional terminal block replacement tool available separately can also be used to connect wiring.
2. For RV7FLL/13F/20F

Controllers Dimensions for RVF and RHFH Series

CR750-Q
CR750-D

CR750

Drive_Unit_CR750Q_

CR751-Q
CR751-D

CR751

CR751Q

RV7Fl/13F/20F

CR751D

CR760-Q
CR760-D

CR760Q_Dimensions

CR760Q_Dimensions

 


Multiple_CPU_art

Multiple CPU Environment

Unit

Type

Base

High-speed standard base between multiple CPU
• Q35DB: 5 slots

• Q38DB: 8 slots
• Q312DB: 12 slots

Power Supply

Q61P, Q62P, Q63P, Q64PN

Programmable Controller CPU

Universal model (CPU that can transmit by multiple
CPU high speed transmission)
• Q03UD(E)CPU
• Q04UD(E)HCPU
• Q06UD(E)HCPU
• Q10UD(E)HCPU
• Q13UD(E)HCPU
• Q20UD(E)HCPU
• Q26UD(E)HCPU
• Q100UD(E)HCPU