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CR860-R
Mitsubishi Electric CR860-R Manuals
Manuals and User Guides for Mitsubishi Electric CR860-R. We have
2
Mitsubishi Electric CR860-R manuals available for free PDF download: Instruction Manual
Mitsubishi Electric CR860-R Instruction Manual (150 pages)
Industrial Robot, Safety Communication Function
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 4.33 MB
Table of Contents
Table of Contents
8
1 Functions and Configuration
13
Overview
13
Supported Products
14
System Configuration
15
Specifications
18
Risk Assessment
21
Residual Risk (Common)
21
Residual Risk (Specific to each Function)
21
2 Set-Up
23
3 Connections and Communication Destination Settings
24
System Configurations and Connections
24
Robot-Side System Configuration
25
Safety Programmable Controller-Side System Configuration
25
Network Communication Settings
26
Safety Communication Settings (Safety Programmable Controller Side)
26
Creating a Safety Program
27
4 Safety Monitoring Functions
28
Overview of the Safety Monitoring Functions
28
Simulation
29
Startup and Basic Configuration
30
Connecting RT Toolbox3
30
Parameter Configuration
30
Password Setting
31
Enabling/Disabling Functions, Safety Communication Settings
33
Recovery Mode
36
Parameter CRC Output Number
37
Defining 3D Models
39
Monitor
39
Arm Model
42
Tool Model
43
Safety Logic Edit
45
Safety Input Settings
45
Safety Output Configuration
54
Checking Operation of the Safety Inputs and Outputs
55
Safety Monitoring Functions
57
Safe Torque off (STO)
57
Safe Operating Stop (SOS)
58
Safe Stop 1 (SS1)
61
Safe Stop 2 (SS2)
64
Safely-Limited Speed Function (SLS)
67
Safely-Limited Position Function (SLP)
75
Safety Diagnosis Function
84
Test Pulse Diagnosis (EMG)
84
Safety Communication Function
85
Safety Connection
85
Transmission Interval Monitoring Time
88
Safety Refresh Monitoring Time
88
Transmission Delay Time
89
5 Robot (System) State Variables
90
List of Robot (System) State Variables
90
Explanations of Robot (System) State Variables
90
6 Troubleshooting
95
Error List for the Safety Monitoring Functions
95
Errors Whose Specification Is Changed by Safety Monitoring Functions
99
7 Safety Response Time and Safe Stopping Distance
100
Safety Response Time
100
How to Calculate a Stopping Distance
102
Maximum Stopping Time and Maximum Operating Angle
103
Calculating Stopping Distance and Stopping Time
126
8 System Application Examples
129
Application Example 1
129
Function
129
System Configuration
129
Network Communication Settings
130
Safety Communication Settings (Safety Programmable Controller)
131
Safety Program (Safety Programmable Controller)
132
Basic Configuration
132
Defining 3D Models (Robot Controller)
132
Safety Logic Edit (Robot Controller)
133
Safety Monitoring Function Settings (Robot Controller)
133
Transmission Interval Monitoring Time
134
Safety Refresh Monitoring Time
134
Transmission Delay Time
135
Safety Response Time
136
Application Example 2
137
Function
137
System Configuration
138
Network Communication Settings
139
Safety Communication Settings (Safety Programmable Controller)
140
Safety Program (Safety Programmable Controller)
141
Basic Configuration
142
Defining 3D Models (Robot Controller)
142
Safety Logic Edit (Robot Controller)
142
Safety Monitoring Function Settings (Robot Controller)
143
Transmission Interval Monitoring Time
143
Safety Refresh Monitoring Time
144
Transmission Delay Time
145
Safety Response Time
146
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Mitsubishi Electric CR860-R 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
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