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Mitsubishi Electric CR800 Series Manuals
Manuals and User Guides for Mitsubishi Electric CR800 Series. We have
8
Mitsubishi Electric CR800 Series manuals available for free PDF download: Instruction Manual, Special Specifications Manual, Ethernet Function Instruction Manual
Mitsubishi Electric CR800 Series Instruction Manual (254 pages)
Industrial Robot
Brand:
Mitsubishi Electric
| Category:
Robotics
| Size: 9.62 MB
Table of Contents
Table of Contents
9
1 Before Use
15
The Check of the Package
15
2 Connection with Controller
16
Installing the T/B
16
Removing the T/B
16
3 Specification
17
Specifications
17
Construction
18
4 Basic Operation Method
19
Operating Method of R56TB
19
Selection of Items on Touch Panel
19
Display of Context Menu
19
5 Operation of Menu Panel
20
6 Language Setting
21
7 Guidance
21
RC Time Setting
21
Robot Serial Setting
22
Origin Data Setting
22
8 Setting a Target Robot for Using Multi-Mechanism Control
23
9 JOG Operation
24
Speed Setting
24
Jog Mode
25
Switching Tool Data
26
Switching Base Coordinates
27
JOINT Jog Operation
28
XYZ Jog Operation
29
TOOL Jog Operation
30
3-Axis XYZ Jog Operation
31
Cylinder Jog Operation
32
Work Jog Operation
33
Jog Operation with Wheel
34
Force Control Function
36
Collision Avoidance ON/OFF
37
Aligning the Hand
38
Opening/Closing the Hands
39
Operation of the Electric Hand
40
Operation of the Normal Hand
44
Return to the Home Position
45
10 USB Memory Stick
46
Plug-In the USB Memory Stick
46
Unplug the USB Memory Stick
47
11 Program Edit
48
Edit of Program
48
Open an Edit Display (New Creation)
48
Open an Edit Display (Read of the Existing Program)
50
Save (Robot Controller)
52
Save (USB Memory)
53
Close the Edit Screen
54
Add the Command Line
55
Delete the Command Line
56
Undo the Edited Contents
57
Cut, Copy and Paste
58
Renumber
61
Automatic Numbering
63
Search
64
Replace
66
Jump
68
Editing the Position Variable
70
Registering the Current Position Data
70
Edit of Position Data
72
Addition of Position Data
74
Deletion of Position Data
75
Confirming the Position Data (Position Jump)
76
Find
78
Editiong the Position for SQ Direct Function
79
Registering the Current Position Data for SQ Direct Function
81
Edit of Position Data for SQ Direct Function
82
Addition of Position Data for SQ Direct Function
83
Initialization of Position Data for SQ Direct Function
84
Confirming the Position Data for SQ Direct Function (Position Jump )
84
Saving the Position Data for SQ Direct Function to USB
84
Copy Position Data for SQ Direct Function from Controller to USB
85
Copy Position Data for SQ Direct Function from USB to Controller
86
Edit of Position Data for SQ Direct Function in the USB Memory
87
12 Debugging
88
Starting the Step Operation
88
Step Operation
89
Step Forward
89
Step Backward
89
Continuous Execution
90
Skip
90
Step Forward in Another Slot
91
Step Jump
91
Program Reset
91
Setting and Deleting Breakpoints
92
13 Program Management
93
Starting
93
Program List
95
Copy
96
Move
97
Delete
97
Protect
98
Rename
98
Compare
99
Select Program
101
14 Backup/Restore
102
Starting
102
Backup (Robot -> USB Memory)
103
Restore (USB Memory -> Robot)
104
Power Reset of the Robot Controller
107
15 Monitor
108
Starting
108
Outline of each Function and Starting Methods
109
Outline of each Function
109
Each Monitor Function
110
Robot Movement Monitor
110
Slot Run State
110
Program Monitor
111
Movement State
114
Error
115
Signal Monitor
117
General-Purpose Signal
117
Named Signal
120
Stop Signal
121
Register
122
Operation Monitor
125
Operating Hours
125
Production Information
125
Additional Board Information
126
Servo Monitor
127
Position (ABS)
127
Speed
128
Current
129
Load
131
Power
132
16 Maintenance
133
Origin Data
133
Origin Data Input
134
The Others (Mechanical Stopper, TOOL, ABS, User Origin Method)
135
Initialize
137
Setting the Controller's Date and Time
137
Erase All Programs in the Controller
138
Initialize the Battery Remaining Time
138
Serial Number
139
Serial Number Setting
139
Save Serial Number to File
141
Write Serial Number in a File to the Controller
141
Releasing the Brakes
142
Preparation for Releasing the Brakes
143
Releasing the Brake of One Axis
144
Releasing the Brakes of Two of more Axes
144
Maintenance Forecast
145
Start
145
Forecast (Battery)
145
Forecast (Grease)
146
Forecast (Belt)
147
Gear
148
Setup
149
Reset
151
Others
153
Guidance
154
Security Function of the Robot Controller (Password Setup)
155
Register the Password
156
Change the Password
157
Delete the Password
158
Tool Automtic Calculation
159
Specifications
159
Start
159
Flow of Oerations
160
17 Parameter Editor
162
Starting
162
Downloading the Parameter List (Robot Controller -> T/B)
163
Changing the Parameters
164
Parameter Menu
165
Motion Limit
166
Jog
166
Hand
167
Multi-Hand Tool
168
Multi-Hand Base
170
Electric Hand Table
171
Electric Hand Point
172
Electric Hand
173
Weight and Size (Work)
174
Weight and Size (Hand)
174
TOOL Parameter
175
Slot Table
176
Output Signal Reset Pattern
177
Dedicated Input / Output Signals Assignment
178
General 1
178
General 2
178
Data
179
Jog
179
Hand
180
Warm up
180
Start (each Slot)
181
Stop (each Slot)
181
Servo on / off (each Robot)
182
Machine Lock (each Robot)
182
169
183
User-Defined Area
183
Free Plane Limit
184
Home Position
184
Program Language
185
Robot Additional Axis
185
Collision Detection
187
Warm-Up Operation
187
Movement
188
Command
188
User Error
189
Ethernet
190
Multiple CPU
191
CC-Link
192
Profibus
193
I/O Unit
194
Work Coordinate
195
Force Control Parameters
196
Force Sensor
196
Force Control Mode
197
Force Control Characteristics
197
Force Log
198
Real-Time External Control Command
199
User Definition Parameter
200
Find
201
Power Reset of the Robot Controller
201
18 System Option
202
Display
202
User Management
204
User Management Edit
204
Change the User Level
205
Update T/B
206
Language of T/B
208
IP Address of T/B
208
19 User Definition Screen
209
User Definition Editor
210
Adding the New Page
211
Edit of Existing Page
212
Copy of Page
213
Deletion of Page
213
Page Edit of "User Definition Screen
214
Button
215
Lamp
219
Variable
221
Program Execution Content
222
Program Name
224
Execution Line Number of Program
225
Current Position Data (the XYZ Coordinate System)
226
Current Position Data (the Joint Coordinate System)
228
Message
230
Label
232
Operation Panel Button
233
Menu Button
235
JOG Button
238
Save and End of Editing User Definition Screen
240
Edit of Existing Parts
241
Copy/Movement of Parts
242
Deletion of Parts
243
Change of Page Name
243
Edit of Ruled Line
244
Drawing the Ruled Line
244
Erasing the Ruled Line
245
Import / Export of Page
246
Import of Page (Reading from USB Memory)
246
Export of Page(Save to USB Memory)
246
Operation of User Definition Screen
247
Mechanism of Screen Update
248
20 Operation Panel
249
Starting
249
Display
250
Program Select
251
Override UP/DOWN
251
Servo ON/OFF
252
Start Automatic Operation
252
Stop
252
Reset
253
Cycle Stop
253
Advertisement
Mitsubishi Electric CR800 Series Special Specifications Manual (156 pages)
For Mitsubishi Electric RH-1FRHR Series Industrial Robot
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 9.79 MB
Table of Contents
Table of Contents
11
General Configuration
14
Structural Equipment
14
Standard Structural Equipment
14
Special Specifications
14
Options
14
Maintenance Parts
14
Model Type Name of Robot
15
How to Identify the Robot Model
15
Combination of the Robot Arm and the Controller
16
Stand Alone Type
16
MELSEC Iq-R Compatible Type
16
Indirect Export
16
Instruction Manuals
16
Contents of the Structural Equipment
17
Robot Arm
17
Controller
18
CR800-D Controller
18
CR800-R Controller
19
Function Extension Device
21
Contents of the Option Equipment and Special Specification
22
List of the Robot Arm Option Equipment and Special Specification
22
List of the Controller Option Equipment and Special Specification
23
Function Extension Device
24
Robot Arm
26
Standard Specifications
26
Basic Specifications
26
The Counter-Force Applied to the Installation Surface
27
The Conveyance Performance in Conveyor Tracking
28
About the Numbers of Conveyance Times in Changing an Operating Range
29
Definition of Specifications
32
Pose Repeatability
32
Rated Load (Mass Capacity)
33
Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed
34
Setting Load Capacity and Size (Hand Conditions)
34
Vibrations at the Tip of the Arm During Low-Speed Operation of the Robot
34
Vibration of Shaft (J3 Axis) Position and Arm End
35
Relationship between Mass Capacity and Speed
35
Relationship between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed
35
Time to Reach the Position Repeatability
37
Collision Detection
37
Protection Specifications
38
Types of Protection Specifications
38
Names of each Part of the Robot
39
Outside Dimensions ・ Operating Range Diagram
40
Standard Specification
40
Standard Specification (with Bellows)
41
Mechanical Interface and Installation Surface
42
Outside Dimensions of Machine Cables
43
Tooling
44
Wiring and Piping for Hand
44
Internal Air Piping
45
Internal Wiring for the Hand Output Cable
45
Internal Wiring for the Hand Input Cable
45
Ethernet Cable
45
About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping)
46
Example of Wiring and Piping <1
47
Wiring and Piping Example <2
47
Precautions for the Shaft through Hole
48
Wiring and Piping System Diagram for Hand
49
Electrical Specifications of Hand Input/Output
51
Air Supply Circuit Example for the Hand
52
Shipping Special Specifications, Options, and Maintenance Parts
53
Shipping Special Specifications
53
Bellows Set
54
Options
55
Machine Cable (Replacement)
56
Stopper for Changing the Operating Range
59
Solenoid Valve Set
60
Hand Input Cable
62
Hand Output Cable
63
Hand Curl Tube
64
Internal Wiring/Piping Set for Hand
65
External Wiring/Piping Box
66
Vacuum Valve Set
68
About Overhaul
70
Maintenance Parts
71
Controller
72
Standard Specifications
72
Basic Specifications
72
CR800-D Controller
72
CR800-R Controller
74
Protection Specifications and Operating Supply
76
Protection Specifications
76
Operating Supply
76
Names of each Part
77
Controller
77
Robot CPU Unit
79
CR800-R Controller
79
Outside Dimensions/Installation Dimensions
80
Outside Dimensions
80
Controller
80
Robot CPU Unit
81
Installation Dimensions
82
Controller
82
Robot CPU Unit
84
External Input/Output
85
Types
85
Dedicated Input/Output
86
Emergency Stop Input and Output Etc
89
Connection of the External Emergency Stop and Mode Selector Switch
89
Special Stop Input (SKIP)
93
Door Switch Function
94
Mode Selector Switch Function
94
Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
95
Additional Axis Function
96
Wiring of the Additional Axis Interface
96
Example of the Installation of the Noise Filter
97
Line Noise Filter
99
Magnet Contactor Control Connector Output (AXMC) for Addition Axes
100
Example Circuit
100
Image of How to Connect the Controller Connector
101
Options
102
CR800-D/R Controller Common
103
Teaching Pendant (T/B)
103
High Efficient Teaching Pendant (T/B)
106
Function Extension Card
108
MELSOFT RT Toolbox3/Melsoft RT Toolbox3 Mini/Melsoft RT Toolbox3 Pro
109
Instruction Manual (Bookbinding)
111
CR800-D Controller
112
Parallel I/O Interface
112
External I/O Cable
117
Parallel I/O Unit
119
External I/O Cable
128
CC-Link Interface
130
SD Memory Card
133
Maintenance Parts
134
Software
135
List of Commands
135
List of Parameters
138
Instruction Manual
140
The Details of each Instruction Manuals
140
Safety
141
Self-Diagnosis Stop Functions
141
External Input/Output Signals that Can be Used for Safety Protection Measures
142
Precautions for Using Robot
142
Safety Measures for Automatic Operation
143
Safety Measures for Teaching
143
Safety Measures for Maintenance and Inspections, Etc
143
Examples of Safety Measures
144
External Emergency Stop Connection [Supplementary Explanation]
148
Working Environment
149
Precautions for Handling
149
7Appendix
151
Appendix 1 : Inertia Calculation Method
151
Appendix 2 : Safety Block Diagram
152
Appendix 3 : Specifications Discussion Material
154
Mitsubishi Electric CR800 Series Instruction Manual (204 pages)
For Industrial Robot
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 7.53 MB
Table of Contents
Table of Contents
9
1 Overview
13
Function Overview
13
What Is High Speed and Accuracy Tracking Function
13
What Is the Circular Arc Tracking Function
13
System that Can Achieve
14
High Speed and Accuracy Tracking Function
14
Circular Arc Tracking Function
16
The Terminology Explanation
19
2 System Configuration
20
Components
20
Robot Controller Enclosure Products
20
Devices Provided by Customers
20
Example of System Configuration
22
Configurations for the High Speed and Accuracy Tracking Function
22
Configuration for the Circular Arc Tracking Function
24
3 Specification
25
Tracking Specifications
25
D Type or R Type
25
Q Type
26
Q173Dpx(Manual Pulser Input)Unit Specification
27
4 Operation Procedure
33
Operation Procedure for Constructing a High Speed and Accuracy Tracking System
33
Operation Procedure for Constructing a Circular Arc Tracking System
34
5 Connection of Equipment
35
Connection of Equipment [D Type or R Type]
35
Connection with Encoder for Conveyer and Encoder Cable
35
Installation of Encoder Cable
37
Connection of Photoelectronic Sensor
38
Connection of Vision Sensor
38
Connection of Equipment [Q Type]
39
Connection of Unit
39
Connection with Encoder for Conveyer and Encoder Cable
39
Connection of Photoelectronic Sensor
41
Connection of Vision Sensor
42
Installation of an Encoder in the Circular Arc Tracking System
43
Measures against the Noize
44
6 Parameter Setting
45
Tracking Parameter Setting
45
Robot CPU Parameter Setting
45
Sequencer CPU Parameter Setting [Q Type]
50
Example of Three Robot's CPU Sharing One Q173DPX [Q Type]
53
Operation Parameters
58
Dedicated Input/Output Parameters
59
7 Installation of a Sample Robot Program
60
8 Calibration of Conveyer and Robot Coordinate Systems ("A1" Program)
61
Preliminary Preparaions
61
Setting of Tool Length
61
Confirm the Encoder Value
62
Operation Procedure
64
Confirmation after Operation
68
When Multiple Conveyers Are Used
68
9 Calibration of Vision Coordinate and Robot Coordinate Systems ("B1" Program)
69
Operation Procedure
69
Confirmation after Operation
76
When Multiple Conveyers Are Used
76
10 Workpiece Recognition and Teaching ("C1" Program)
77
Conveyer Tracking
77
Operation Procedure
77
Confirmation after Operation
80
When Multiple Conveyers Are Used
80
Vision Tracking
81
Tasks
81
Operation Procedure
89
Confirmation after Operation
94
When Multiple Conveyers Are Used
94
11 Teaching and Setting of Adjustment Variables ("1" Program)
95
Teaching
95
Adjusting the Operating Conditions of Variables
96
Automatic Operation
98
Adjustment of Operating Conditions
99
Adjustment of Tracking Starting Possible Area
101
Occurrence of Error
103
12 Teaching of the Circular Arc Tracking ("A1" Program)
104
Preliminary Preparations
104
Setting of Tool Length
104
Confirm the Encoder Value
105
Knowledge about Work
107
Operation Procedure
108
What to Confirm
116
When Multiple Conveyers and Turntables Are Used
117
13 Setting of an Operating Condition and Operations Check ("1"Program)
118
Variable for Operating Conditions
118
Automatic Operation
119
Adjustment of the Follow Position
120
Adjustment of Operating Conditions
122
Adjustment of Tracking Starting Possible Area
124
Occurrence of Error
126
14 Sensor Monitoring Program ("CM1" Program)
127
High Speed and Accuracy Tracking System (for Conveyer Tracking)
127
High Speed and Accuracy Tracking System (for Vision Tracking)
127
Circular Arc Tracking System (for Conveyer Tracking)
127
15 Maintenance of Robot Program
128
MELFA-BASIC V or MELFA-BASIC VI Instruction
128
List of Instructions
128
List of Robot Status Variables
129
Explanation of Tracking Operation Instructions
131
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Mitsubishi Electric CR800 Series Instruction Manual (144 pages)
Industrial Robot
Brand:
Mitsubishi Electric
| Category:
Industrial Electrical
| Size: 4.26 MB
Table of Contents
Table of Contents
8
Introduction
11
Terms
12
Functions and Configuration
15
Overview
15
Supported Products
15
System Configuration
16
Specifications
19
Risk Assessment
20
Residual Risk (Common)
20
Residual Risk (Specific to each Function)
21
Set-Up
22
Connections and Communication Destination Settings
23
System Configurations and Connections
23
Robot-Side System Configuration
24
Safety Programmable Controller-Side System Configuration
24
Network Communication Settings
25
Safety Communication Settings (Safety Programmable Controller Side)
25
Creating a Safety Program
26
Safety Monitoring Functions
27
Overview of the Safety Monitoring Functions
27
Simulation
28
Startup and Basic Configuration
29
Connecting RT Toolbox3
29
Parameter Configuration
29
Password Setting
30
Enabling/Disabling Functions, Safety Communication Settings
32
Recovery Mode
35
Parameter CRC Output Number
36
Defining 3D Models
38
Monitor
38
Arm Model
41
Tool Model
42
Safety Logic Edit
43
Safety Input Settings
43
Safety Output Configuration
52
Checking Operation of the Safety Inputs and Outputs
53
Safety Monitoring Functions
55
Safe Torque off (STO)
55
Safe Operating Stop (SOS)
56
Safe Stop 1 (SS1)
59
Safe Stop 2 (SS2)
62
Safely-Limited Speed Function (SLS)
65
Safely-Limited Position Function (SLP)
73
Safety Diagnosis Function
82
Test Pulse Diagnosis (EMG)
82
Safety Communication Function
83
Safety Connection
83
Transmission Interval Monitoring Time
86
Safety Refresh Monitoring Time
86
Transmission Delay Time
87
Robot (System) State Variables
88
List of Robot (System) State Variables
88
Explanations of Robot (System) State Variables
88
Troubleshooting
93
Error List for the Safety Monitoring Functions
93
Errors Whose Specification Is Changed by Safety Monitoring Functions
97
Safety Response Time and Safe Stopping Distance
98
Safety Response Time
98
How to Calculate a Stopping Distance
100
Maximum Stopping Time and Maximum Operating Angle
101
Calculating Stopping Distance and Stopping Time
121
System Application Examples
124
Application Example 1
124
Function
124
System Configuration
124
Network Communication Settings
125
Safety Communication Settings (Safety Programmable Controller)
126
Safety Program (Safety Programmable Controller)
127
Basic Configuration
127
Defining 3D Models (Robot Controller)
127
Safety Logic Edit (Robot Controller)
128
Safety Monitoring Function Settings (Robot Controller)
128
Transmission Interval Monitoring Time
129
Safety Refresh Monitoring Time
129
Transmission Delay Time
130
Safety Response Time
131
Application Example 2
132
Function
132
System Configuration
133
Network Communication Settings
134
Safety Communication Settings (Safety Programmable Controller)
135
Safety Program (Safety Programmable Controller)
136
Basic Configuration
137
Defining 3D Models (Robot Controller)
137
Safety Logic Edit (Robot Controller)
137
Safety Monitoring Function Settings (Robot Controller)
138
Transmission Interval Monitoring Time
138
Safety Refresh Monitoring Time
139
Transmission Delay Time
140
Safety Response Time
141
Mitsubishi Electric CR800 Series Instruction Manual (146 pages)
Brand:
Mitsubishi Electric
| Category:
Industrial Equipment
| Size: 6.02 MB
Table of Contents
Table of Contents
9
1 Functions and Configuration
11
Overview
11
System Configuration
12
Specifications
13
Risk Assessment
16
Residual Risk (Common)
16
Residual Risk (Specific to each Function)
16
2 Installation
18
Product Components
18
Accessories
18
Items to be Prepared by Customer
19
Part Names
23
Installation and Connection
24
Fixing the Safety Extension Unit
24
Safety Extension Unit External Dimensions
25
Connecting with the Robot Controller
26
Connector and Cable
29
Check Items
30
Replacement Parts
30
Maintenance
30
3 Signals and Wiring
31
Description of Signals
31
Electrical Specifications
31
Signal Operation
34
Connector Wiring
35
Connectors and Pin Assignment
37
Input Signal Connection Example
39
Measures to Prevent Static Electricity and Noise
41
4 Safety Monitoring Functions
42
Safety Monitoring Functions Overview
42
Simulation
42
Startup and Basic Configuration
43
Connecting RT Toolbox3
43
Parameter Configuration
43
Password Setting
44
Enabling/Disabling Functions
46
Recovery Mode
47
Parameter CRC Output Number
48
Defining 3D Models
50
Monitor
50
Arm Model
53
Tool Model
54
Safety Logic Edit
56
Safety Input Settings
56
Safety Output Configuration
65
Checking Operation of the Safety Inputs and Outputs
67
Safety Monitoring Functions
68
Safe Torque off (STO)
68
Safe Operating Stop (SOS)
69
Safe Stop 1 (SS1)
72
Safe Stop 2 (SS2)
76
Safely-Limited Speed Function (SLS)
79
Safely-Limited Position Function (SLP)
87
Safety Diagnosis Function
96
Test Pulse Diagnosis (EMG)
96
Safety Diagnosis Function
97
5 State Variable
98
List of State Variables
98
State Variables
98
6 Troubleshooting
103
Error List for the Safety Monitoring Functions
103
Errors Whose Specification Is Changed by Safety Monitoring Functions
106
7 Safe Stopping Distance
107
How to Calculate a Stopping Distance
107
Maximum Stopping Time and Maximum Operating Angle
108
Calculating Stopping Distance and Stopping Time
134
8 Appendix
137
Appendix 1: Selection Conditions for 24VDC Stabilized Power Supply
137
Appendix 2: How to Install the Safety Extension Unit
138
Appendix 3: How to Install the Stabilized Power Supply for the Safety Extension Unit
140
Component Parts for EMC Measures
143
Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual (146 pages)
Electric Industrial Robot
Brand:
Mitsubishi Electric
| Category:
Robotics
| Size: 5.43 MB
Table of Contents
Table of Contents
8
1 Before Use
11
How to Use the Instruction Manual
11
Content of Instruction Manual
11
Terms Used in the Instruction Manual
11
Confirmation of Product
12
Ethernet Function
12
Function of Ethernet
12
2 Preparation before Use
15
Connection of Ethernet Cable
15
Parameter Setting
17
Parameter List
17
Details of Parameters
19
Parameter Setting Example 1 (When the Support Software Is Used)
22
Parameter Setting Example 3 (for Using the Real-Time External Control Function)
25
Connection Confirmation
26
Checking the Connection with the Windows Ping Command
26
3 Description of Functions
27
Controller Communication Function
28
Connecting the Controller and Personal Computer
28
Setting the Personal Computer Network
28
Setting the Controller Parameters
28
Setting the Personal Computer Support Software Communication
29
Communication
30
Data Link Function
31
MELFA-BASIC V/VI Commands
31
Using Data Link Function
35
Ending
38
Real-Time External Control Function
39
Explanation of Command
41
Explanation of Communication Data Packet
43
Using Real-Time External Control Function
47
Ending
49
Real-Time Monitor Function
50
Overview
50
Supported Version
51
Setup
52
Start of Monitor / End of Monitor
54
Explanation of Communication Data Packet
55
Data Type ID
58
Parameters
59
Error
59
SLMP Connection
60
Function Overview
60
Supported Version
60
Specifications
60
Parameters
60
SLMP Communication Procedure
61
Message Format
63
Commands
71
End Code
106
CC-Link IE Field Network Basic Function
107
Overview
107
Supported Version
108
Specifications
108
Parameters
109
Support of Robot I/O Signals and Link Devices
110
Setup Procedure
111
4 Appendix
121
Error List
121
Sample Program
122
Sample Program of Data Link
122
Sample Program for Real-Time External Control Function
134
Mitsubishi Electric CR800 Series Instruction Manual (92 pages)
Industrial Robot, Controller setup, basic operation, and maintenance
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 7.84 MB
Table of Contents
Table of Contents
11
1 Before Starting Use
13
Using the Instruction Manuals
13
The Details of each Instruction Manuals
13
Symbols Used in Instruction Manual
14
Safety Precautions
15
Precautions Given in the Separate Safety Manual
16
2 Unpacking to Installation
18
Confirming the Products
18
Installation
19
Unpacking Procedures
19
Transportation Procedures
19
Installation Procedures
20
Installation and Connection
22
Installation of the Robot CPU Unit (CR800-R Controller)
22
Notes on the Handling
22
Notes on Base Unit Installation
24
Installation and Removal of the Unit
26
Installation of the Robot CPU Unit (CR800-Q Controller)
28
Notes on the Handling
28
Notes on Base Unit Installation
30
Installation and Removal of the Unit
32
Connecting the Power Cable and Grounding Cable
34
Connection between the Robot CPU Unit and the Drive Unit
35
Emergency Stop Input and Output Etc
36
Connecting the External Emergency Stop and Mode Selector Switch
37
Examples of Safety Measures
37
External Emergency Stop Connection [Supplementary Explanation]
47
Additional Axis Synchronization Output
48
Example Circuit
48
Image of How to Connect the Controller Connector
49
Connecting to the Robot Arm
50
Connecting a Machine Cable
50
Removing a Machine Cable
50
Confirming the Operation
50
3 Installing the Option Devices
51
Installing/Removing the Option Card
51
Installing the Option Card
51
Removing the Option Card
52
Installing and Wiring of the Controller Protection Box (CR800-MB)
53
4 Basic Operations
55
Handling the Controller
56
Names of each Parts
56
Handling the T/B
59
Installing and Removing the T/B
59
Installing the T/B
59
Removing the T/B
59
Functions of each Key
60
Turning the Power on and off
61
Turning the Control Power on
61
Input the Serial Number
62
Shutting off the Control Power
63
Shutting off the Controller Power
64
Jog Operation
65
Opening and Closing the Hand
66
Programming
67
Creation Procedures
67
Robot Work
67
Creating the Program
68
Deciding the Operation Order
68
Deciding the Operation Position Name
69
Describing and Creating the Program
70
Confirming the Program
76
Correcting the Program
77
Saving the Program
80
Start Automatic Operation
81
5 Maintenance and Inspection
85
Maintenance and Inspection Interval
85
Inspection Items
86
Daily Inspection Items
86
Periodic Inspections
86
Maintenance and Inspection Procedures
87
Replacing the Battery (CR800-Q Controller Only)
87
The Check of the Filter, Cleaning, Exchange
89
Maintenance Parts
90
Mitsubishi Electric CR800 Series Instruction Manual (66 pages)
Multifunctional Electric Hand Option
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 1.5 MB
Table of Contents
Table of Contents
11
1 Using this Manual
13
Content of this Instruction Manual
13
2 Specifications
14
What Is the Electric Hand
14
System Configuration
14
CR800 Outline
14
CR750/CR751 Outline
15
Compatible Models
15
Limitations
16
Available Equipment, Software Version
16
Control Unit
16
Specifications
16
Mehcu-01
16
Mehcu-02
16
Electric Hand
18
Models of Electric Hand
18
Outline Drawing
18
Single Cam Type
18
Screw Type
20
Installing the Fingers
21
Installing Dimensions (Single Cam Type)
21
Installing Dimensions (Screw Type)
22
Specifications of Electric Hand
23
Cam Type
23
Screw Type
24
3-Finger Single Cam Type
25
Hand Cable
26
Models of Hand Cable
26
Outline Drawing
26
Mehcbl-01
26
MEHCBL-02 to 05
26
3 Check before Use
27
Product Checking
27
Items to be Prepared by Customer
28
4 Installation
29
Installation and Connection
29
RV-2F/2FR Series
29
RV-4F/7F/13F/20F Series, RV-4FR/7FR/13FR/20FR Series
30
RH-3FH/6FH/12FH/20FH Series, RH-3FRH/6FRH/12FRH/20FRH Series
32
Rh-3Fhr-S91
33
Maintenance and Inspection
33
Inspection Timings and Items
33
Procedure for Visual Inspection
33
Conducting Operation Check
34
Reapplication of Grease
34
Applicable Grease
34
Applying Grease to the Guide Part
34
Applying Grease to the Ball Screws
35
Applying Grease to the Liner Guide
35
Cleaning Outside of the Gripper
35
5 Using the Electric Hand (Programming)
36
Operating Procedure
36
Setting the Parameter
36
The Actuator Type Setting
36
Setting of the Control Parameter
37
Operation of Electric Hand
39
Changing the Hand Number
40
Origin Setting
40
Hand Opening and Closing
41
Teaching the Moving Position
41
Moving to the Taught Position
43
Grip Action
44
Setting the Moving Speed
45
Setting the Force (Holding Force)
45
Specification of the Robot Programming Language
46
List of Instructions
46
Status Variable List
46
Detailed Explanation of Command Words
47
Explanation of each Robot Status Variable
57
Parameter List
62
Error List
64
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