Mitsubishi Electric CR800 Series Instruction Manual
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Mitsubishi Electric CR800 Series Instruction Manual

Multifunctional electric hand option
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Mitsubishi Industrial Robot
CR800 Series Controller
CR750/CR751 Series Controller
Multifunctional Electric Hand Option
Instruction Manual
BFP-A3408-D
Table of Contents
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Summary of Contents for Mitsubishi Electric CR800 Series

  • Page 1 Mitsubishi Industrial Robot CR800 Series Controller CR750/CR751 Series Controller Multifunctional Electric Hand Option Instruction Manual BFP-A3408-D...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 WARNING When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture. CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF.
  • Page 6 CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary.
  • Page 7 *CR751-D or CR751-Q controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side supply power supply of the controller of CR751-D or CR751-Q because of leakage protection. Controller Controller Three phase Single phase AC200V AC200V...
  • Page 8 *CR800 controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side supply power supply of the controller of CR800 because of leakage protection. Note 1) If necessary, as shown in the figure, connects the noise filter between ACIN connector and primary power supply. (Recommended noise filter: SUP-EL20-ER6 *OKAYA ELECTRIC INDUSTRIES) Prepare the following items.
  • Page 9 Revision history Date Specifications No. Details of revisions 2015-10-05 BFP-A3408 • First print 2015-10-23 BFP-A3408-A • Corrected the errors in the Item column of Table 3-3: hand cable. 2015-11-11 BFP-A3408-B • “Table 2-5: Specifications of the control unit” was deleted. 2017-07-12 BFP-A3408-C •...
  • Page 10 * Introduction Thank you for purchasing Mitsubishi Electric industrial robot. This instruction manual explains “Multifunctional Electric Hand” option. "Highly precise gripping force" "the location" "speed control" is possible, and this product can apply it to the various uses. Always read over this manual to gain a sufficient understanding of its content before using the "Mul- tifunctional Electric Hand".

  • Page 11: Table Of Contents

    Contents Page 1 Using This Manual .......................... 1-1 1.1 Content of This Instruction Manual ................... 1-1 2 Specifications ..........................2-2 2.1 What is the Electric Hand? ......................2-2 2.2 System Configuration ........................ 2-2 2.2.1 CR800 Outline ........................2-2 2.2.2 CR750/CR751 Outline ......................2-3 2.2.3 Compatible models ......................
  • Page 12 Contents Page 5.1 Operating Procedure ....................... 5-24 5.1.1 Setting the Parameter ....................... 5-24 (1) The Actuator Type Setting ....................5-24 (2) Setting of the Control Parameter ..................5-25 5.1.2 Operation of Electric Hand ....................5-27 (1) Changing the Hand Number ................... 5-28 (2) Origin Setting ........................

  • Page 13: Using This Manual

    1Using This Manual 1 Using This Manual 1.1 Content of This Instruction Manual This manual is divided up in to the following sections, and describes how to use the electric hand. Table 1-1:Instruction Manual content Chapter Title Content Using This Manual Describes the makeup of this manual.

  • Page 14: Specifications

    RT ToolBox3 Integrated FA Software Robot Total Engineering Support Software RT ToolBox3 Version 1.00A ©2016 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED Note2) Signal cable connection Electric hand (An example) (selling separately) Note1) The figure is the example of constitution of RV-2FR.

  • Page 15: Cr750/Cr751 Outline

    2Specifications 2.2.2 CR750/CR751 Outline One of the example of equipment constitution is shown below. Parameter setup/operation tool (Equip- ment) (One of optional equipment is necessary) Note1) Robot arm R32TB/R33TB Install R56TB/R57TB Robot controller RT ToolBox2 Note2) Signal cable connection Electric hand (An example) (selling separately) Note1) The figure is the example of constitution of RV-2F.

  • Page 16: Limitations

    Ver. 2.3 or later Ver. 1.00A or later series D type controller: Ver. S2a or later CR800 series R type controller: Ver. A1 or later Ver. 1.6 or later Ver. 4.0 or later Ver. 1.00A or later D type controller: Ver. A1 or later Q type controller: Ver.
  • Page 17 2Specifications 2.3.2 Outline Drawing (1) 4F-MEHCU-01 J.S.T. Mfg. Co.,Ltd. （R-type 0.5-5） （50） Misumi （C30-SG9A） TXRXDH TXRXDL +24V 24GRD SHINAGAWA SHOKO CO., LTD. （520166-4） 665±25 DDK（ＤＫ－２１００Ｄ-12Ｆ） ＡＭＰ(1-18127664-6) Fig.2-3:Outline drawing of the control unit (4F-MEHCU-01) (2) 4F-MEHCU-02 Misumi （C30-SG9A） ＤＤＫ（ＤＫ－２１００Ｄ－１２Ｆ） ＡＭＰ（２－１３１８１１５－４） Fig.2-4:Outline drawing of the control unit (4F-MEHCU-02) Control Unit 2-5...

  • Page 18: Electric Hand

    2Specifications 2.4 Electric Hand 2.4.1 Models of Electric Hand Table 2-5:Electric hand Electric hand type Model name in TAIYO Model name as our products 2-finger single cam type ESG1-SS-2005-5N-11XW 107-M 4F-MEHGR-01 ESG1-SS-2010-11XW 107-M 4F-MEHGR-02 ESG1-SS-2815-11XW 107-M 4F-MEHGR-03 2-finger screw type ESG1-FT-2840-11XW 109-M 4F-MEHGR-04 3-finger single cam type...
  • Page 19 2Specifications Cable outlet, Cover for encoder 2-M3 effective depth 3 Effective depth 1.5 (Heat shrink tubing) For installation Nameplate Mounting Mounting 取付面 取付面 surface surface 2-M3 effective depth 3 For installation (Positioning pin) Effective depth 1.5 * This model have only two mounting surface. View B Fig.2-6:Outline drawing of the control unit (Single cam type 2) 4-M3 effective depth 5...

  • Page 20: Screw Type

    2Specifications (2) Screw type ESG1-FT-2840-11XW 109-M (4F-MEHGR-04): Refer to Fig. 2-8. (Unit: mm) Model ESG1-FT-28** Fig.2-8:Outline drawing of the control unit (Screw type) 2-8 Electric Hand...

  • Page 21: Installing The Fingers

    2Specifications 2.4.3 Installing the Fingers CAUTION - When installing and uninstalling the fingers, surely support them to prevent applying excessive force to or impacting on the guide block. - This may cause damage to the parts in the product. The tapped holes used for installing the fingers are through holes.

  • Page 22: Installing Dimensions (Screw Type)

    2Specifications (2) Installing dimensions (Screw type) ESG1-FT-2840-11XW 109-M (4F-MEHGR-04): Refer to Fig. 2-11. (Unit: mm) Model ESG1-F*-28** 18 +0/-0.05 13 to 51 φ4 +0/-0.012 34.5 Fig.2-11:Installing dimensions (Screw type) 2-10 Electric Hand...

  • Page 23: Specifications Of Electric Hand

    2Specifications 2.4.4 Specifications of Electric Hand (1) Cam type Table 2-6:Specification Single Type Unit 4F-MEHGR-02 4F-MEHGR-03 4F-MEHGR-01 SS-20 SS-28 SS-2005-5N Max. continuous rating Minimum setting [%](N) 30(1.8) 30(6.6) Resolution [%](N) 1(0.06) 1(0.22) 1(0.05) Open/close stroke [mm] 14.3 Max (Rating) [mm/sec] Min.

  • Page 24: Screw Type

    2Specifications (2) Screw type Table 2-7:Specifications Screw type Type Unit 4F-MEHGR-04 FT-28 Max. continuous rating Minimum setting [%](N) 30(45) Resolution [%](N) 1(1.5) Open/close stroke [mm] Max (Rating) [mm/sec] Min. setting [%](mm/sec) 20(10) Resolution [%](mm/sec) 1(0.5) Low-speed gripping mode (max.) Repeatability [mm] ±0.01 Max.

  • Page 25: 3-Finger Single Cam Type

    2Specifications (3) 3-finger single cam type Table 2-8:Specification 3-finger single cam type Type Unit 4F-MEHGR-05 2013 Max. continuous rating Minimum setting [%](N) 30(0.6) Resolution [%](N) 1(0.02) Open/close stroke [mm] Max (Rating) [mm/sec] Min. setting [%](mm/sec) 20(20) Resolution [%](mm/sec) 1(1) Low-speed gripping mode (max.) Repeatability [mm]...

  • Page 26: Hand Cable

    2Specifications 2.5 Hand Cable 2.5.1 Models of hand cable Table 2-9:Hand cable Model name as our Hand cable Model name in TAIYO products Hand cable ESA-C03-12XW113 4F-MEHCBL-01 (RV-4F/7F/13F/20F series, RV-4FR/7FR/13FR/20FR series) Hand cable ESA-C13-12XW112 4F-MEHCBL-02 (RH-3FH35/45/5515 & clean specification Z=120, RH-6FH(M)(C)35/45/5520, RH-3FRH35/45/5515 &...

  • Page 27: Check Before Use

    3Check Before Use 3 Check Before Use 3.1 Product Checking Confirm that the parts shown in Table 3-1, Table 3-2, and Table 3-3 are enclosed in the purchased product. Table 3-1:Control unit Item Model Quantity Remarks 4F-MEHCU-01 Control unit 4F-MEHCU-01 Instruction manual BFP-A3415 CD-ROM...

  • Page 28: Items To Be Prepared By Customer

    3Check Before Use 3.2 Items to be Prepared by Customer Table 3-4:Customer-prepared items Quantity RV-●F series RH-*FH series Item RV-2F series RH-3FHR RV-●FR series RH-*FRH series RV-2FR series RH-3FRHR Note1) Note2) Robot arm Cable fixation plate Note3) Cable tie As required As required As required As required...

  • Page 29: Installation

    4Installation 4 Installation 4.1 Installation and Connection 4.1.1 RV-2F/2FR Series Control unit Cable tie Cable tie mount Cable fixation plate Electric hand Installation flange for electric hand Cable tie mount Robot arm Internal wiring Cable fixation plate 2-M5x12 screw Internal board Fixes the cable fixation plate together with the control unit to the robot arm.

  • Page 30: Rv-4F/7F/13F/20F Series, Rv-4Fr/7Fr/13Fr/20Fr Series

    4Installation 4.1.2 RV-4F/7F/13F/20F Series, RV-4FR/7FR/13FR/20FR Series (1) Standard specification robot with the optional wiring sets Electric hand Base external wiring Note3) set (Option) Fix the connectors by nylon Installation flange Internal cable clamp and cable tie. for electric hand Hand cable J6 axis rotation J5 axis rotation Control unit...
  • Page 31 - Do not install the control unit in the operating range of the robot. Note 2) - The cable will be worn out. When replacing the cable is required, please contact the dealer or service branch of Mitsubishi Electric Co.,. Note 3)Refer to separate "Standard Specification Manual" for details of these options.

  • Page 32: Rh-3Fh/6Fh/12Fh/20Fh Series, Rh-3Frh/6Frh/12Frh/20Frh Series

    4Installation 4.1.3 RH-3FH/6FH/12FH/20FH Series, RH-3FRH/6FRH/12FRH/20FRH Series No.2 arm cover U Cable guide plate Grease application places Control unit Note1) Control unit mounting plate Hand cable A frame ground is required for robot Shaft arm side. A ground is connected to a robot.

  • Page 33: Rh-3Fhr-S91

    4Installation 4.1.4 RH-3FHR-S91 S91 model is a wiring special specification of the robot. The electric hand cannot be installed at the standard model of RH-3FHR. Please inform us at the time of your order. Hand cable Installation flange for electric hand Electric hand A ground is connected to a robot.

  • Page 34: Conducting Operation Check

    4Installation Inspection point What to be inspected Troubleshooting Hand cable Connectors are surely connected. If there are flaws and/or scratches on a cable, replace it There are no flaws. and eliminate the cause. There are no scratches on the moving parts.

  • Page 35: Applying Grease To The Ball Screws

    4Installation (3) Applying Grease to the Ball Screws Cover fixing screw 1) For easier application of grease, open the guide block first. Cover 2) Unscrews and remove the cover. 3) Apply proper amount of grease on the sur- face of ball screws with fingers. 4) Screw the cover at recommended torque level.

  • Page 36: Using The Electric Hand (Programming)

    5Using the Electric Hand (Programming) 5 Using the Electric Hand (Programming) 5.1 Operating Procedure The operating procedure outline of the electric hand is shown below. (1) Installation and connection of Install the electric hand to the mechanical interface of robot arm with refer- ..

  • Page 37: Setting Of The Control Parameter

    5Using the Electric Hand (Programming) Table 5-2:Settings of each model Model Setting Model Setting Model Setting Model Setting SS-2010 SS-2005-3N SS-2005-5N ST-2013 ST-2004 SS-2815 ST-2820 SS-4225 ST-4230 SD-2005 SD-2810 SD-4220 FS(T)2020 FS(T)2840 Caution If the Multifunctional Electric Hand body is replaced with a new one, clearing the information specific to the hand body is required.
  • Page 38 5Using the Electric Hand (Programming) Parameter No. of arrays Reference Parameter Contents Note1) No. of characters page name Origin position EHnORGS Integer 1 This parameter is used for changing the method in return system which the fingers return to their origin positions. 0: Stroke end 1: S stroke end + Z phase detection system Point data...

  • Page 39: Operation Of Electric Hand

    5Using the Electric Hand (Programming) 5.1.2 Operation of Electric Hand Explains the operation method of the electric hand using R32TB. Refer to "R56TB/R57TB Instruction Man- ual" of the separate volume (BFP-A8684) for the operation by R56TB/R57TB. The screen related to operation of the electric hand shown in Fig.

  • Page 40: Changing The Hand Number

    5Using the Electric Hand (Programming) (1) Changing the Hand Number 1) The target hand number to operate is displayed on the upper right of screen.When hand numbers differ, change in the following procedure. HAND1 Target hand number SPEED (100)%...

  • Page 41: Hand Opening And Closing

    5Using the Electric Hand (Programming) (3) Hand Opening and Closing 1) Confirm the hand number which is the target of hand opening and closing. (Indication at the upper right of the screen) Change, if it differs. HAND1 Confirm the target hand number.
  • Page 42 5Using the Electric Hand (Programming) 3) Press the function key ([F4]) corresponding to the "POINT" in the "" screen, and display the "" screen. HAND1 HAND1 0.00)mm 0.00)mm SPEED...

  • Page 43: Moving To The Taught Position

    5Using the Electric Hand (Programming) b) Setting by the numerical value input. 1) Press the arrow key and move the cursor to the point number which teaches. If the point num- ber to wish is not displayed, press the function key corresponding to the "Prev" or the "Next". Input the numerical value directly and press the [EXE] key.

  • Page 44: Grip Action

    5Using the Electric Hand (Programming) 3) Pressing the function key corresponding to "HMOV" ([F3]). While pressing, the hand moves to the specified position number. The indication of "BUSY" of TB screen will be "black square" during execu- tion. When movement to the target position is completed, the indication of "BUSY" will be "white square"...

  • Page 45: Setting The Moving Speed

    5Using the Electric Hand (Programming) (7) Setting the Moving Speed The moving speed of electric hand can be set up by T/B. The set value is the rate (%) to top speed. This set value is common between hand numbers. The method of setting operation is shown below.

  • Page 46: Specification Of The Robot Programming Language

    5Using the Electric Hand (Programming) 5.1.3 Specification of the Robot Programming Language (1) List of Instructions The list of the instructions which operate the electric hand is shown in Table 5-4. Table 5-4:Instructions related to electric hand Command Explanation Page EHOpen/EHClose (Hand Open/Hand Close) Open / Close the hand (Move to the open end / close end)

  • Page 47: Detailed Explanation Of Command Words

    5Using the Electric Hand (Programming) (3) Detailed explanation of command words Each instruction is explained below. EHOpen/EHClose (Hand Open/Hand Close) [Function] Commands the electric hand to open or close. [Format] EHOpen[], , [, , ] EHClose[], , [, , ] [Terminology] ...
  • Page 48 5Using the Electric Hand (Programming) [Reference Program 2] (with zone specification) 1 Mvs PCHK 'Move to the check position of dimensions. Note 1) 2 Fine 0.5, P 'Waiting the completion of robot's movement. 3 EHClose 1, 50, 30, 20.00 22.00 'Close the hand1 (speed = 50%, force = 30% and zone position = 20 to 22mm).
  • Page 49 5Using the Electric Hand (Programming) If it may execute overlapping, execute this command after confirming that the hand is not moving with referring to the status variable (M_EHBusy). 6) The origin setting must be completed before executing this instruction. If origin setting is not completed, the error will occur.
  • Page 50 5Using the Electric Hand (Programming) [Explanation] 1) Specify the point number and the speed and move the electric hand to the specified position. Move by trapezoidal speed control up to the specified position. Speed 速度 Top speed 最高速度 Distance 距離 Moving distance 移動距離...
  • Page 51 5Using the Electric Hand (Programming) EHHold (Hand hold) [Function] Positioning and grip operation of the electric hand. [Format] EHHold[], , , [Terminology] .....Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the numeric variable.
  • Page 52 5Using the Electric Hand (Programming) EHnZNCV: Constant-speed movement distance EHnZNCV定速移動距離 EHnLMTW: Limit width EHnLMTWリミット幅 Speed 速度 Top speed 最高速度 Effective gripping range 把持有効範囲 It's an error outside the area. 範囲外はエラー EHnVHLD: Gripping speed EHnVHLD把持速度 Distance 距離 Moving distance 移動距離 Holding position 把持位置...
  • Page 53 5Using the Electric Hand (Programming) EHOrg (Hand origin) [Function] Origin setting of electric hand [Format] EHOrg[] [Terminology] .....Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the numeric variable. (notes: The real number is rounded off.) [Reference Program 1] 1 If M_EHOrg=0 THEN ' When origin setting is not completed.
  • Page 54 5Using the Electric Hand (Programming) CAUTION Don't move the robot during origin setting of the electric hand. If the robot is moved, the origin setup may not be correctly completed under the effect of vibration etc. EHServo On/Off (Hand servo) [Function] A servomotor power supply of a Multifunctional Electric Hand is controlled.
  • Page 55 5Using the Electric Hand (Programming) EHStop (Hand stop) [Function] Stop the electric hand. [Format] EHServo[] [Terminology] .....Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the numeric variable. (notes: The real number is rounded off.) [Reference Program 1] 1 EHClose 1, 100, 30 ' Close the hand1.
  • Page 56 5Using the Electric Hand (Programming) EHTbl (Hand table) [Function] Make a Multifunctional Electric Hand move by the condition of the designated table number. [Format] EHTbl[], [Terminology] .....Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the numeric variable.

  • Page 57: Explanation Of Each Robot Status Variable

    5Using the Electric Hand (Programming) (4) Explanation of Each Robot Status Variable Each Status Variable is explained below. M_EHPos1/M_EHPos2/M_EHPos3 [Function] Reference or setting to the point data of electric hand. [Format] =M_EHPos1() 'Reference of point data M_EHPos1()= 'Setting of point data [Terminology] ...
  • Page 58 5Using the Electric Hand (Programming) M_EHCur [Function] Return the current position of the electric hand. [Format] =M_EHCur [()] [Terminology] ..Specify the numerical variable which substitutes current position of the electric hand. ....Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the numeric variable.
  • Page 59 5Using the Electric Hand (Programming) M_EHBusy M_EHInPs M_EHHold M_EHZone M_EHOrg [Function] Return the condition of the electric hand. M_EHBusy... Operation status. (1: Executing /0: Not executing) M_EHInPs ... Arrival condition to target position. (1: Arrived /0: Not arrived) M_EHHold ... Hand grip condition. (1: Gripping /0: Not gripping) M_EHZone ..
  • Page 60 5Using the Electric Hand (Programming) [Explanation] 1) Specify the hand number and return the various condition of the electric hand. 2) The value when the target hand is not connected is 0. 3) The description of each status variable is as follows. Table 5-6:Status variable of the electric hand Status variable Description...
  • Page 61 5Using the Electric Hand (Programming) M_EHOPos [Function] The movement completion point number of the Multifunctional Electric Hand is returned. [Format] =M_EHOPos [()] [Terminology] ..The variable for which the movement completion point number (1-32) is substituted is designated. [Reference Program] M1=MEHOPos(1) ' The completion point number of hand 1 is substituted for...

  • Page 62: Parameter List

    5Using the Electric Hand (Programming) 5.1.4 Parameter list The list of the parameters is shown in Table 5-7. Table 5-7:Electric hand control parameter list No. of arrays Parameter Parameter Details explanation Factory setting No. of charac- Note1) name ters Electric hand EHnTYPE Integer 1 This parameter is used for setting the type of a gripper...
  • Page 63 5Using the Electric Hand (Programming) No. of arrays Parameter Parameter Details explanation Factory setting No. of charac- Note1) name ters Electric hand EHnORGD Integer 1 This parameter is used for specifying the direction in which Direction for return- the fingers return to their origin positions. ing the fingers to 0: Opening direction their origin positions...

  • Page 64: Error List

    5Using the Electric Hand (Programming) 5.1.5 Error list The error list (the cause and measures) about the electric hand is indicated in Table 5-8. The target electric hand number is differentiated by the upper 3 digit of the error number. •H814*: Hand1 •H815*: Hand2 •H816*: Hand3...
  • Page 66 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU NAGOYA 461-8670, JAPAN Authorised representative: MITSUBISHI ELECTRIC EUROPE B.V. GERMANY Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany Feb., 2018 MEE Printed in Japan on recycled paper.

    • This manual is also suitable for:

    Cr750 seriesCr751-dCr751-qCr800Cr751 series

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