Mitsubishi Electric MELFA CR800 Series Special Specifications Manual page 13

(2) Image of how to connect the controller connector .................................................................................... 3-88
3.9 Options ....................................................................................................................................................................................... 3-89
3.9.1 CR800-D/R controller common .............................................................................................................................. 3-90
(1) Teaching pendant (T/B) ......................................................................................................................................... 3-90
(2) High efficient teaching pendant (T/B) .............................................................................................................. 3-93
(3) Function extension card ......................................................................................................................................... 3-95
(4) MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini/MELSOFT RT ToolBox3 Pro ............... 3-96
(5) Instruction Manual (bookbinding) ........................................................................................................................ 3-98
3.9.2 CR800-D controller ...................................................................................................................................................... 3-99
(1) Parallel I/O interface ............................................................................................................................................... 3-99
(2) External I/O cable .................................................................................................................................................. 3-104
(3) Parallel I/O unit ...................................................................................................................................................... 3-106
(4) External I/O cable .................................................................................................................................................. 3-115
(5) CC-Link interface .................................................................................................................................................. 3-117
(6) SD memory card ..................................................................................................................................................... 3-120
3.10 Maintenance parts ........................................................................................................................................................... 3-121
4 Software ......................................................................................................................................................................................... 4-122
4.1 List of commands ............................................................................................................................................................... 4-122
4.2 List of parameters .............................................................................................................................................................. 4-125
5 Instruction Manual ..................................................................................................................................................................... 5-127
5.1 The details of each instruction manuals ................................................................................................................... 5-127
6 Safety .............................................................................................................................................................................................. 6-128
6.1 Safety ...................................................................................................................................................................................... 6-128
6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-128
6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-129
6.1.3 Precautions for using robot .................................................................................................................................... 6-129
6.1.4 Safety measures for automatic operation ........................................................................................................ 6-130
6.1.5 Safety measures for teaching ............................................................................................................................... 6-130
6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-130
6.1.7 Examples of safety measures ................................................................................................................................ 6-131
(1) External emergency stop connection [supplementary explanation] ................................................. 6-135
6.2 Working environment ......................................................................................................................................................... 6-136
6.3 Precautions for handling .................................................................................................................................................. 6-136
7Appendix ........................................................................................................................................................................... Appendix-138
Appendix 1 ： Inertia calculation method ........................................................................................................ Appendix-138
Appendix 2 ： Safety block diagram ................................................................................................................... Appendix-139
Appendix 3 ： Specifications discussion material ........................................................................................ Appendix-140
Contents
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