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
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
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
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
- Serial Number
  139
- Releasing the Brakes
  142
- 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

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
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

Mitsubishi Electric CR800 Series Instruction Manual (144 pages)

Industrial Robot

Brand: Mitsubishi Electric | Category: Industrial Electrical | Size: 4.26 MB

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
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
- 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 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
8 Appendix

137

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
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
3 Description of Functions

27
- Controller Communication Function
  28
- Data Link Function
  31
  - MELFA-BASIC V/VI Commands
    31
  - Using Data Link Function
    35
  - Ending
    38
- Real-Time External Control Function
  39
- 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

Mitsubishi Electric CR800 Series Instruction Manual (66 pages)

Multifunctional Electric Hand Option

Brand: Mitsubishi Electric | Category: Controller | Size: 1.5 MB

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
- Maintenance and Inspection
  33
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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Mitsubishi Electric CR800 Series Manuals

Table of Contents

1 Before Use

2 Connection with Controller

3 Specification

4 Basic Operation Method

5 Operation of Menu Panel

6 Language Setting

7 Guidance

8 Setting a Target Robot for Using Multi-Mechanism Control

9 JOG Operation

10 USB Memory Stick

11 Program Edit

12 Debugging

13 Program Management

14 Backup/Restore

15 Monitor

16 Maintenance

17 Parameter Editor

18 System Option

19 User Definition Screen

20 Operation Panel

Table of Contents

Table of Contents

1 Overview

2 System Configuration

3 Specification

4 Operation Procedure

5 Connection of Equipment

6 Parameter Setting

7 Installation of a Sample Robot Program

8 Calibration of Conveyer and Robot Coordinate Systems ("A1" Program)

9 Calibration of Vision Coordinate and Robot Coordinate Systems ("B1" Program)

10 Workpiece Recognition and Teaching ("C1" Program)

11 Teaching and Setting of Adjustment Variables ("1" Program)

12 Teaching of the Circular Arc Tracking ("A1" Program)

13 Setting of an Operating Condition and Operations Check ("1"Program)

14 Sensor Monitoring Program ("CM1" Program)

15 Maintenance of Robot Program

Table of Contents

Table of Contents

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Safety Monitoring Functions

5 State Variable

6 Troubleshooting

7 Safe Stopping Distance

8 Appendix

Appendix 1: Selection Conditions for 24VDC Stabilized Power Supply

Appendix 2: How to Install the Safety Extension Unit

Appendix 3: How to Install the Stabilized Power Supply for the Safety Extension Unit

Table of Contents

1 Before Use

2 Preparation before Use

3 Description of Functions

4 Appendix

Table of Contents

1 Before Starting Use

2 Unpacking to Installation

3 Installing the Option Devices

4 Basic Operations

5 Maintenance and Inspection

Table of Contents

1 Using this Manual

2 Specifications

3 Check before Use

4 Installation

5 Using the Electric Hand (Programming)

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