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Mitsubishi Electric CR800-D Series Manuals
Manuals and User Guides for Mitsubishi Electric CR800-D Series. We have
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Mitsubishi Electric CR800-D Series manuals available for free PDF download: Instruction Manual, User Manual, Standard Specifications Manual
Mitsubishi Electric CR800-D 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
Mitsubishi Electric CR800-D Series User Manual (194 pages)
Industrial Robot, controller, Predictive Maintenance Function
Brand:
Mitsubishi Electric
| Category:
Robotics
| Size: 3.58 MB
Table of Contents
Table of Contents
9
1 Before Starting Use
11
Contents of the Instruction Manual
11
Compatible Products
12
Related Manuals
13
Maintaining the Robot
14
Type of Maintenance and Inspection
14
Inspecting/Replacing Timing Belt
15
Lubrication
16
Replacing the Battery
17
About Overhaul
18
2 Basic Specifications
19
Overview of Basic Specification of the Predictive Maintenance Function
19
Maintenance Simulation
20
Consumption Degree Calculation Function
22
Abnormality Detection Function
26
Target Models/Target Axes
28
How to Utilize the Predictive Maintenance Function
30
3 Startup and Initial Settings
32
Enabling the Predictive Maintenance Function
33
Initial Setting of the Predictive Maintenance Function
36
Setting How to Notify
36
Setting Detection Level
37
Setting Signals
45
Setting of Maintenance Simulation
46
4 Basic Screen Structure
50
5 Total Score
52
6 Consumption Degree Calculation Function
54
7 Abnormality Detection Function
58
8 Operating Information
62
9 Maintenance Simulation
64
Cycle" Operation
66
Program Operation
72
10 When Consumption Occurred/Abnormality Detected
76
Consumption Degree
76
Maintenance Parts
76
Overhaul Parts
77
Servo on Time
79
Abnormality Detection
80
Reduction Gear
80
Encoder
80
Battery
81
11 Maintenance
82
Warning Pause
83
Maintenance Reset
84
Backup and Restore
85
Backup (Robot Personal Computer)
87
Restore (Personal Computer Robot)
88
Maintenance Log
89
Maintenance Log Screen
89
Data to be Recorded in the Maintenance Log
90
12 Batch Management of Maintenance Information
92
Functional Overview
92
Output Data
93
Request ID (Melfarxm.ocx) Specified by Requestservice
95
13 Robot (System) Status Variables
96
Robot (System) Status Variable List
96
Consumption Degree Calculation Function
96
Abnormality Detection Function
99
MELFA Smart Plus
101
Consumption Degree Calculation Function
102
Serial Number
102
Operating Information
104
Maintenance Log
110
Consumption Degree
122
Consumption Status
131
Notification
139
Abnormality Detection Function
145
Abnormality Detection Log
145
Score
149
Abnormality Detection Status
152
Notification
156
Detection Level
159
14 Parameter
162
Common to Predictive Maintenance Functions
162
Consumption Degree Calculation Function
163
Setting Parameters
163
Data Acquisition Parameters
165
Operation Parameters
169
Abnormality Detection Function
174
Setting Parameters
174
Data Acquisition Parameters
175
Operation Parameters
177
15 Dedicated Input/Output Signals
180
Consumption Degree Calculation Function
180
Abnormality Detection Function
184
16 Troubleshooting
186
Error Number List
186
Common to Predictive Maintenance Functions
186
Consumption Degree Calculation Function
187
Abnormality Detection Function
190
MELFA Smart Plus Card
192
Mitsubishi Electric CR800-D Series Standard Specifications Manual (128 pages)
Industrial Robot
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 11.95 MB
Table of Contents
Table of Contents
10
General Configuration
13
Structural Equipment
13
Standard Structural Equipment
13
Special Specifications
13
Options
13
Maintenance Parts
13
Model Type Name of Robot
14
How to Identify the Robot Model
14
Combination of the Robot Arm and the Controller
14
Contents of the Structural Equipment
15
Robot Arm
15
Controller
16
Function Extension Device
17
Contents of the Option Equipment and Special Specification
18
List of the Robot Arm Option Equipment and Special Specification
18
List of the Controller Option Equipment and Special Specification
18
Function Extension Device
19
Robot Arm
21
Standard Specifications
21
Basic Specifications
21
The Counter-Force Applied to the Installation Surface
22
Definition of Specifications
23
Pose Repeatability
23
Rated Load (Mass Capacity)
24
Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed
25
Setting Load Capacity and Size (Hand Conditions)
25
Vibrations at the Tip of the Arm During Low-Speed Operation of the Robot
25
Collision Detection
25
Protection Specifications
26
Types of Protection Specifications
26
About the Use with the Bad Environment
27
Names of each Part of the Robot
28
Outside Dimension • Operating Range Diagram
29
Outside Dimensions of Machine Cables
31
Tooling
32
Wiring and Piping for Hand
32
Internal Wiring and Piping
33
Internal Wiring for the Hand Cable
33
Air Supply Circuit Example for the Hand
34
About the Installation of Tooling Wiring and Piping
34
Options
36
Machine Cable (Replaceable): Fixed Type
37
Machine Cable (Replaceable): Flexed Type
38
About Overhaul
40
Maintenance Parts
41
Controller
42
Standard Specifications
42
Basic Specifications
42
Protection Specifications and Operating Supply
44
Protection Specifications
44
Operating Supply
44
Names of each Part
45
Controller
45
Outside Dimensions/Installation Dimensions
47
Outside Dimensions
47
Installation Dimensions
48
External Input/Output
50
Types
50
Dedicated Input/Output
51
Emergency Stop Input and Output Etc
54
Connection of the External Emergency Stop and Mode Selector Switch
54
Special Stop Input (SKIP)
58
Door Switch Function
59
Mode Selector Switch Function
59
Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
60
Additional Axis Function
61
Wiring of the Additional Axis Interface
61
Example of the Installation of the Noise Filter
62
Line Noise Filter
63
Additional Axis Synchronization Output
64
Example Circuit
64
Image of How to Connect the Controller Connector
65
Options
66
Teaching Pendant (T/B)
67
High Efficient Teaching Pendant (T/B)
70
Controller Protection Box
72
MELSOFT RT Toolbox3/Melsoft RT Toolbox3 Mini/Melsoft RT Toolbox3 Pro
77
Instruction Manual (Bookbinding)
79
Parallel I/O Interface
80
External I/O Cable
85
Parallel I/O Unit
87
External I/O Cable
96
CC-Link Interface
98
SD Memory Card
101
Maintenance Parts
102
Software
103
List of Commands
103
List of Parameters
106
Instruction Manual
108
The Details of each Instruction Manuals
108
Safety
109
Self-Diagnosis Stop Functions
109
External Input/Output Signals that Can be Used for Safety Protection Measures
110
Precautions for Using Robot
110
Robot Installation
110
Prevention of Contact with Operator
110
Work Procedures
110
Training
111
Daily Inspection and Periodic Inspection
111
Safety Measures for Automatic Operation
111
Safety Measures for Teaching
111
Safety Measures for Maintenance and Inspections, Etc
111
Examples of Safety Measures
112
External Emergency Stop Connection [Supplementary Explanation]
116
Working Environment
117
Power Supply
117
Noise
117
Temperature and Humidity
117
Vibration
117
Installation Environment
117
Precautions for Handling
117
EMC Installation Guideline
119
Outlines
119
EMC Directive
119
EMC Measures
119
Component Parts for EMC Measures
120
Appendix 1: Inertia Calculation Method
121
Load Moment Calculation Example (for J5 Axis with Flange Facing Downwards)
121
Load Inertia Calculation Example (for J6 Axis)
121
Appendix 2: Classification of Functions Using External Input/Output Signals
122
Appendix 3: Safety Diagnosis Function (Test Pulse Diagnosis)
123
Appendix 4: Safety Block Diagram
124
Appendix 5: Specifications Discussion Material
126
Mitsubishi Electric CR800-D Series User Manual (146 pages)
Industrial robot controller
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 2.83 MB
Table of Contents
Table of Contents
9
1 Before Starting Use
11
Contents of the Instruction Manual
11
Compatible Products
12
Related Manuals
13
Maintaining the Robot
14
Type of Maintenance and Inspection
14
Inspecting/Replacing Timing Belt
15
Lubrication
16
Replacing the Battery
17
About Overhaul
18
2 Basic Specifications
19
Overview of Basic Specification of the Preventive Maintenance Function
19
Maintenance Simulation
20
Consumption Degree Calculation Function
22
Target Models/Target Axes
26
How to Utilize the Preventive Maintenance Function
28
3 Startup and Initial Settings
30
Enabling the Preventive Maintenance Function
31
Initial Setting of the Preventive Maintenance Function
34
Setting How to Notify
34
Setting Signals
35
Setting of Maintenance Simulation
36
4 Basic Screen Structure
40
5 Total Score
42
6 Consumption Degree Calculation Function
44
7 Operating Information
47
8 Maintenance Simulation
48
Cycle" Operation
50
Program Operation
55
9 When Consumption Occurred
60
Consumption Degree
60
Maintenance Parts
60
Overhaul Parts
61
Servo on Time
63
10 Maintenance
64
Warning Pause
65
Maintenance Reset
66
Backup and Restore
67
Backup (Robot Personal Computer)
68
Restore (Personal Computer Robot)
69
Maintenance Log
70
Maintenance Log Screen
70
Data to be Recorded in the Maintenance Log
71
11 Batch Management of Maintenance Information
72
Batch Management of Maintenance Information
72
Functional Overview
72
Output Data
73
Request ID (Melfarxm.ocx) Specified by Requestservice
74
12 Robot (System) Status Variables
76
Robot (System) Status Variable List
76
Consumption Degree Calculation Function
76
MELFA Smart Plus
78
Consumption Degree Calculation Function
79
Serial Number
79
Operating Information
81
Maintenance Log
87
Consumption Degree
99
Consumption Status
108
Notification
116
MELFA Smart Plus
122
MELFA Smart Plus Card
122
13 Parameter
124
Common to Preventive Maintenance Functions
124
Consumption Degree Calculation Function
125
Setting Parameters
125
Data Acquisition Parameter
126
Operation Parameters
130
14 Dedicated Input/Output Signals
136
Consumption Degree Calculation Function
136
15 Troubleshooting
140
Error Number List
140
Common to Preventive Maintenance Functions
140
Consumption Degree Calculation Function
141
MELFA Smart Plus Card
144
Mitsubishi Electric CR800-D Series User Manual (148 pages)
Industrial Robot
Brand:
Mitsubishi Electric
| Category:
Robotics
| Size: 5.08 MB
Table of Contents
Table of Contents
9
1 Usage
11
How to Use this Document
11
2 Confirmation before Use
12
Product Confirmation
12
3 MELFA Smart Plus Card
13
List of Function
13
Functions of A-Type
13
Functions of B-Type
15
Installing/Removing and Setting of the MELFA Smart Plus Card
16
Installing/Removing of the MELFA Smart Plus Card
16
Setting of the MELFA Smart Plus Card (Only MELFA Smart Plus Card)
19
Robot Language Specification
20
Robot Status Variable List
20
Detailed Explanation of Robot (System) State Variable
20
Error List
23
4 Calibration Assistance Function
24
Outline
24
Automatic Calibration
26
Workpiece Coordinate Calibration
45
Inter-Robot Relational Calibration
67
Robot Programming Language
72
Language List
72
Language Detailed Description
73
5 Robot Mechanism Temperature Compensation Function
88
Specification
88
Precautions
89
Please Enable this Function from the Beginning
89
Accuracy Is Not Obtained Near the Singular Point and the Vicinity of the Motion Range
89
Parameter Setting
90
6 Coordinated Control for Additional Axes
92
Calibration of Base Coordinates
93
Overview
93
Specification
93
Operation Procedure
94
Parameter Setting
94
Base Coordinate Cooperative Control
95
Overview
95
System Configration
98
Specification
99
Operation Procedure
101
Parameter Setting
102
Creatinn of Robot Program
103
Additional Axis Tracking
105
Specification
105
System Configuration
106
Specification
108
Parameter Setting
111
Creation of Robot Program
115
Installation of a Sample Program
123
Calibration of Robot and Base Coordinate Systems ("A1" Program)
124
Resistration of User Mechanism Work Position ("B1" Program)
129
Work Base Position Registration ("C1" Program)
133
Teaching and Setting of Adjustment Variables ("1" Program)
137
Troubleshooting
143
7 Appendix
145
Display of Option Card Information
145
Mitsubishi Electric CR800-D 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-D Series Instruction Manual (60 pages)
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 1.28 MB
Table of Contents
Table of Contents
12
1 Overview
14
Function List
14
Features
15
CPU Buffer Memory Configuration
16
Memory Configuration for Valid/Invalid Extended Function
16
Memory Map of Extended Function Area
17
2 Preparation for Using Extended Function
18
Operation Flow
18
Set up Parameter for Selecting CPU Buffer Memory Extended Function
18
Check Robot Language Setting
19
3 Monitor Robot Information
20
Operation Flow
21
Select Monitoring Items
22
Select Target Mecha
22
Timing Chart
23
Monitoring Item
24
Monitor Operation Control Setting Values
24
Monitor Activities
26
Monitor Current and Aimed Positions
27
Monitor Position and Joint Information
29
Select Position and Joint Data
29
Position and Joint Data
31
Monitor Maintenance Information
34
4 Reads/Writes Robot's Variables
35
Function Description
35
Operation Flow
35
How to Operate Variables
36
Data List
36
GOT Output Data
36
Robot Output Data
37
Completion Status
38
Data Description
38
Timing Chart
40
5 Read Current Line of Robot Program
41
Function Description
41
Operation Flow
41
How to Operate Program
42
Data List
42
Timing Chart
46
6 Set up Robot's Maintenance
47
Function Description
47
Operation Flow
47
How to Operate Maintenance
48
Data List
48
Timing Chart
50
7 Read Robot Information
51
Function Description
51
Operation Flow
51
How to Operate Robot Information
52
Data List
52
Timing Chart
55
8 Function Relevant Parameter
56
Function Definition Parameter
56
9 Extended Function Relevant Error List
57
Mitsubishi Electric CR800-D Series Instruction Manual (56 pages)
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 2.86 MB
Table of Contents
Table of Contents
9
Before Use
11
How to Use the Instruction Manual
11
General Name and Abbreviated Name
12
Flow of Operations
13
Flowchart
13
Functions and Specification of the CC-Link Interface
14
What I Scc-Link
14
Specification of the CC-Link Interface Card
15
Hardware of the CC-Link Interface Card
20
Card Overview
20
Dip Switch
20
Led
22
Items to be Checked before Using this Product
23
Checking the Product
23
Devices to be Furnished by the Customer
23
Hardware Settings
24
Settings of the CC-Link Master Station
24
Cr75N-D/Crnd-700 Series
24
Cr800-Dseries
25
Connections and Wiring
26
Mounting the CC-Link Interface Card in the Controller
26
Cr800-Dcontroller
26
Cr750-D/Cr751-Dcontroller
27
Cr1D-700 Controller
28
Cr2D-700 Controller
29
Cr3D-700 Controller
30
Connection between CC-Link Interface Card and Master Station
31
Connection of One-Touch Connector and Cable Only for CC-Link
31
Connection of CC-Link Master-Station Unit and Cable Only for CC-Link
32
Connection of the One-Touch Connector and the CC-Link Interface Card
33
CC-Link Communication Cable Wiring of Two or more Set Connection
34
Measure against Noise
35
Checking Connections
38
Basic Communication Procedure
39
Setting the Parameter of CC-Link Master Station
40
Set the Parameter of the Robot Controller
42
Setup of Parameter about CC-Link Interface Card
42
Setup of Special I/Oparameter
43
Creating a Master Station CC-Link Program
44
Signal Map of Master Station and Robot
44
Installation of Sample Rudder Program
44
Flow Chart of Sample Rudder Program
45
Create the Robot Program N O . 1
46
Start the Robot Program No. 1 from the Master Station
46
Example of Change of System Configuration
47
Add the 2Nd Robot Controller
47
Add the Robot Controller to the System Which Four Slave Stations Are Connected
49
Troubleshooting
51
List of Errors
51
An E7730 Error Has Occurred and CC-Link Does Not Establish a Link
51
When 7760 Errors ( Abnormalities in CC -Link Initialization ) Occur
52
Appendix
53
Sample Ladder Program
53
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