Table Of Contents - Mitsubishi Electric CR800 Series Instruction Manual

1 Before starting use .......................................................................................................................... 1-1
1.1 Using the instruction manuals ................................................................................................... 1-1
1.1.1 The details of each instruction manuals ............................................................................... 1-1
1.1.2 Symbols used in instruction manual .................................................................................... 1-2
1.2 Safety Precautions .................................................................................................................... 1-3
1.2.1 Precautions given in the separate Safety Manual ................................................................ 1-4
2 Unpacking to installation .............................................................................................................................................................. 2-6
2.1 Confirming the products ....................................................................................................................................................... 2-6
2.2 Installation .................................................................................................................................................................................. 2-7
2.2.1 Unpacking procedures ................................................................................................................................................... 2-7
2.2.2 Transportation procedures .......................................................................................................................................... 2-7
2.2.3 Installation procedures .................................................................................................................................................. 2-8
2.3 Installation and connection ............................................................................................................................................... 2-10
2.3.1 Installation of the robot CPU unit (CR800-R controller) ............................................................................. 2-10
(1) Notes on the handling .............................................................................................................................................. 2-10
(2) Notes on base unit installation ............................................................................................................................ 2-12
(3) Installation and removal of the unit ................................................................................................................... 2-14
2.3.2 Installation of the robot CPU unit (CR800-Q controller) ............................................................................. 2-16
(1) Notes on the handling .............................................................................................................................................. 2-16
(2) Notes on base unit installation ............................................................................................................................ 2-18
(3) Installation and removal of the unit ................................................................................................................... 2-20
2.3.3 Connecting the power cable and grounding cable ........................................................................................... 2-22
2.3.4 Connection between the robot CPU unit and the drive unit ...................................................................... 2-23
2.3.5 Emergency stop input and output etc. ................................................................................................................. 2-24
2.3.6 Connecting the external emergency stop and mode selector switch ..................................................... 2-25
2.3.7 Examples of safety measures ................................................................................................................................... 2-31
(1) External emergency stop connection [supplementary explanation] .................................................... 2-35
2.3.8 Additional axis synchronization output ................................................................................................................. 2-36
(1) Example circuit ........................................................................................................................................................... 2-36
(2) Image of how to connect the controller connector .................................................................................... 2-37
2.3.9 Connecting to the robot arm .................................................................................................................................... 2-38
(1) Connecting a machine cable ................................................................................................................................. 2-38
(2) Removing a machine cable .................................................................................................................................... 2-38
2.4 Confirming the operation .................................................................................................................................................... 2-38
3 Installing the option devices ..................................................................................................................................................... 3-39
3.1 Installing/removing the Option Card ............................................................................................................................. 3-39
3.1.1 Installing the Option Card .......................................................................................................................................... 3-39
3.1.2 Removing the Option Card ........................................................................................................................................ 3-40
3.2 Installing and wiring of the controller protection box (CR800-MB) ................................................................. 3-41
4 Basic operations ............................................................................................................................................................................ 4-43
4.1 Handling the controller ........................................................................................................................................................ 4-44
4.1.1 Names of each parts .................................................................................................................................................... 4-44
4.2 Handling the T/B ................................................................................................................................................................... 4-47
4.2.1 Installing and removing the T/B .............................................................................................................................. 4-47
(1) Installing the T/B ...................................................................................................................................................... 4-47
(2) Removing the T/B .................................................................................................................................................... 4-47
4.2.2 Functions of each key ................................................................................................................................................. 4-48
4.3 Turning the power ON and OFF ...................................................................................................................................... 4-49
4.3.1 Turning the control power ON ................................................................................................................................. 4-49
4.3.2 Input the serial number ............................................................................................................................................... 4-50
4.3.3 Shutting OFF the control power ............................................................................................................................. 4-51
4.3.4 Shutting OFF the controller power ........................................................................................................................ 4-52
4.4 Jog operation .......................................................................................................................................................................... 4-53
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