Automatic Operation/Jog Operation/Brake Release And Necessary Switch Settings - Mitsubishi Electric CR800-05VD Standard Specifications Manual

(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings

The following is a description of various operations performed on the robot and switch settings that are
required.
Table 3-7: Various operations and necessary switch settings
Note1)
No Operation
1 Jog operation
2 Brake release
Note3)
3 Automatic
operation
4
5
6 Direct teaching
Note1) Regardless of the operation mode or the input terminal status indicated in
orative operation mode are indicated in the table below.
Collaborative operation mode
High-speed operation mode
Collaborative operation mode (Standard operation)
Collaborative operation mode (Low-speed operation)
Method of
T/B
operation
enable/
disable
T/B Enable
RT VisualBox Disable
RT ToolBox3
T/B Enable
RT VisualBox Disable
T/B Disable
RT VisualBox
RT ToolBox3
Operation Disable
buttons
T/B Enable
Operation Disable
buttons
RT VisualBox
RT ToolBox3
Note1) Note2)
Related switch settings
Mode
T/B Door switch
selector
enable
switch input
switch terminal
terminal
ON Open -
(MANUAL
mode)
- Close Close
(AUTO- (Door
Close)
MATIC
mode)
ON Open -
(MANUAL
mode)
- Close -
(AUTO-
MATIC
mode)
- Close Close
(AUTO- (Door
MATIC Close)
mode)
- Close Close
(AUTO- (Door
MATIC Close)
mode)
ON Open -
(MANUAL
mode)
- Close Close
(AUTO- (Door
MATIC Close)
mode)
Table
Safety input 1
Close
Open
Open
Emergency stop input and output etc. 3-65
Safety input
input
1
- If the mode selector
switch input is set to Open
(MANUAL mode), the
state of door switch input
does not matter.
- The door switch input
status must be "closed"
(door closed).
- If the mode selector
switch input is set to Open
(MANUAL mode), the
state of door switch input
does not matter.
- If the door switch input is
set to Open (door
opened), the error H0040
(Door Switch Signal is
Input) will occur, but the
brakes can be released.
- The door switch input
status must be "closed"
(door closed).
Open The door switch input
(collaborative status must be "closed"
operation) (door closed).
Safety input 1 must be set
to "Open" (collaborative
operation).
- If the mode selector
switch input is set to Open
(MANUAL mode) and
automatic operation is
performed, the robot will
operate at the safe speed
(250 mm/s) or less.
Open The door switch input
(collaborative status must be "closed"
operation). (door closed).
Safety input 1 must be set
to "Open" (collaborative
operation).
3-7, the possible statuses of the robot in collab-
Location of the robot relative to the low-
speed space
-
Outside the space
Inside the space
3 Controller
Description