Mitsubishi CR751-D Series Manuals

Manuals and User Guides for Mitsubishi CR751-D Series. We have 5 Mitsubishi CR751-D Series manuals available for free PDF download: Instruction Manual, Standard Specifications Manual

Mitsubishi CR751-D Series Instruction Manual (186 pages)

Force Sense Function

Brand: Mitsubishi | Category: Controller | Size: 4.14 MB

Table of Contents
8
1 Using this Manual

12
- Terminology Used in this Instruction Manual
  12
2 Work Flow

13
- Flowchart
  13
3 Force Sense Function System Specifications

14
4 Check before Use

26
- Product Check
  26
- Force Sensor
  26
- Software Versions
  27
5 Attaching the Force Sensor

28
- Attachment Adapter
  28
- Sensor Installation
  28
- Attachment
  28
- Recommended Attachment Angle
  29
6 Device Connection, Wiring, and Settings

30
7 Checking the Connection and Settings

42
- Checking Force Sensor Data Communication
  42
  - If Using R56TB/R57TB
    42
  - If Using R32TB/R33TB
    43
- Checking the Force Sensor Attachment Coordinate System
  44
8 Using the Force Sense Function (Programming)

45
- Using the Force Sense
  45
- Force Sense Control
  46
- Force Sense Detection
  69
  - Mo Trigger
    70
  - Force Detection Status
    73
  - Data Latch
    73
  - Data Referencing
    73
- Force Sense Log
  80
9 Using the Force Sense Function (Teaching)

93
- Force Sense T/B
  94
  - Force Sense Control (T/B)
    94
  - Force Sense Monitor
    98
  - Contact Detection
    99
  - Usage Example (Force Sense Function T/B)
    100
- Teaching Operation
  105
  - Teaching Position Precautions
    105
  - Usage Example (Teaching Operation)
    108
- Force Sense Function Screen
  112
  - R56Tb/R57Tb
    112
  - R32Tb/R33Tb
    115
10 Application Examples

119
11 Language Specifications

123
12 Parameter Specifications

167
13 Troubleshooting

176
14 Appendix

183
- Control Status Transition
  183

Mitsubishi CR751-D Series Instruction Manual (158 pages)

Tracking system and vision tracking system using Mitsubishi robot

Brand: Mitsubishi | Category: Controller | Size: 4.45 MB

Table of Contents
8
[Part 1] Overview

11
- Contents of this Manual
  13
- System that Can Achieve
  15
- 1 Overview
  
  11
  - What Is the Tracking Function
    11
    
    Applications
    12
[Part 2] System Configuration and Setting (CR750-Q/CR751-Q Series, Crnq-700 Series)

16
[Part 3] System Configuration and Setting (CR750-D/CR751-D Series, Crnd-700 Series)

41
- 7 System Configuration
  
  41
  - Components
    41
    
    Robot Controller Enclosure Products
    41
    
    Devices Provided by Customers
    41
  - Example of System Configuration
    44
    
    Configuration Example of Conveyer Tracking Systems
    44
    
    Configuration Example of Vision Tracking Systems
    45
- 8 Specification
  
  46
  - Tracking Specifications and Restriction Matter
    46
- 9 Operation Procedure
  
  47
- 10 Connection of Equipment
  
  48
  - Preparation of Equipment
    48
    
    Connection of Conveyer Encoder
    48
    
    Installation of Encoder Cable
    51
    
    Connection of Photoelectronic Sensor
    55
- 11 Parameter Setting
  
  56
12 Sample Robot Programs

58
[Part 4] Tracking Control (Common Function between Series)

58
13 Calibration of Conveyer and Robot Coordinate Systems ("A1" Program)

59
- Operation Procedure
  59
- Tasks
  62
- Confirmation after Operation
  63
- When Multiple Conveyers Are Used
  63
14 Calibration of Vision Coordinate and Robot Coordinate Systems ("B1" Program)

64
- Operation Procedure
  64
- 2) Tasks
  68
- Confirmation after Operation
  72
15 Workpiece Recognition and Teaching ("C1" Program)

73
- Program for Conveyer Tracking
  73
- Program for Vision Tracking
  77
16 Teaching and Setting of Adjustment Variables ("1" Program)

87
- Setting of Adjustment Variables in the Program
  88
17 Sensor Monitoring Program ("CM1" Program)

94
- Program for Conveyer Tracking
  94
- Program for Vision Tracking
  94
18 Automatic Operation

95
- Preparation
  95
- Execution
  96
- At Error Occurrence
  96
- Ending
  96
- Adjusting Method
  96
19 Maintenance of Robot Program

97
- MELFA-BASIC V Instructions
  97
- Timing Diagram of Dedicated Input/Output Signals
  107
  - Robot Program Start Processing
    107
20 Troubleshooting

108
21 Appendix

118
- List of Parameters Related to Tracking
  118
- Shine of Changing Parameter
  120
- Expansion Serial Interface Connector Pin Assignment
  123
- Chart of Sample Program
  125
  - Conveyer Tracking
    125
  - Vision Tracking
    131
- Sample Programs
  135
  - Conveyer Tracking
    135
  - Vision Tracking
    144

Mitsubishi CR751-D Series Instruction Manual (88 pages)

Brand: Mitsubishi | Category: Controller | Size: 2.22 MB

Table of Contents
9
1 Before Starting Use

11
- Using the Instruction Manuals
  11
  - The Details of each Instruction Manuals
    11
  - Symbols Used in Instruction Manual
    12
- Safety Precautions
  13
  - Precautions Given in the Separate Safety Manual
    14
2 Unpacking to Installation

16
3 Installing the Option Devices

48
- Installing the Option Card
  48
4 Basic Operations

49
- Handling the Controller
  49
  - Names of each Parts
    50
    
    CR750 Controller
    50
    
    CR751 Controller
    52
- Handling the T/B
  54
  - Installing and Removing the T/B
    54
    
    Installing the T/B (CR750 Controller)
    54
    
    Installing the T/B (CR751 Controller)
    55
    
    Removing the T/B (CR750 Controller)
    55
    
    Removing the T/B (CR751 Controller)
    55
  - Functions of each Key
    56
- Turning the Power on and off
  57
  - Turning the Control Power on
    57
    
    CR750 Controller
    57
    
    CR751 Controller
    57
  - Input the Serial Number
    58
  - Shutting off the Control Power
    59
- Turning the Servo Power ON/OFF
  60
  - Turning the Servo Power on (Servo ON)
    60
  - Shutting off the Servo Power (Servo OFF)
    60
- Jog Operation
  61
- Opening and Closing the Hand
  61
- Programming
  62
  - Creation Procedures
    62
  - Robot Work
    62
  - Creating the Program
    63
    
    Deciding the Operation Order
    63
    
    Deciding the Operation Position Name
    64
    
    Describing and Creating the Program
    65
    
    Confirming the Program
    71
    
    Correcting the Program
    72
    
    Saving the Program
    75
    
    Start Automatic Operation
    76
5 Maintenance and Inspection

78

Mitsubishi CR751-D Series Standard Specifications Manual (140 pages)

Industrial Robot

Brand: Mitsubishi | Category: Robotics | Size: 7.5 MB

Mitsubishi CR751-D Series Instruction Manual (80 pages)

CR750 Series; CR751 Series; CR760 Series Mitsubishi Industrial Robot

Brand: Mitsubishi | Category: Controller | Size: 1.3 MB

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Mitsubishi CR751-D Series Manuals

Mitsubishi CR751-D Series Instruction Manual (186 pages)

Table of Contents

1 Using this Manual

2 Work Flow

3 Force Sense Function System Specifications

4 Check before Use

5 Attaching the Force Sensor

6 Device Connection, Wiring, and Settings

7 Checking the Connection and Settings

8 Using the Force Sense Function (Programming)

9 Using the Force Sense Function (Teaching)

10 Application Examples

11 Language Specifications

12 Parameter Specifications

13 Troubleshooting

14 Appendix

Mitsubishi CR751-D Series Instruction Manual (158 pages)

Table of Contents

[Part 1] Overview

1 Overview

[Part 2] System Configuration and Setting (CR750-Q/CR751-Q Series, Crnq-700 Series)

2 System Configuration

3 Specification

4 Operation Procedure

5 Connection of Equipment

6 Parameter Setting

[Part 3] System Configuration and Setting (CR750-D/CR751-D Series, Crnd-700 Series)

7 System Configuration

8 Specification

9 Operation Procedure

10 Connection of Equipment

11 Parameter Setting

12 Sample Robot Programs

[Part 4] Tracking Control (Common Function between Series)

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

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

15 Workpiece Recognition and Teaching ("C1" Program)

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

17 Sensor Monitoring Program ("CM1" Program)

18 Automatic Operation

19 Maintenance of Robot Program

20 Troubleshooting

21 Appendix

Mitsubishi CR751-D Series Instruction Manual (88 pages)

Table of Contents

1 Before Starting Use

2 Unpacking to Installation

3 Installing the Option Devices

4 Basic Operations

5 Maintenance and Inspection

Mitsubishi CR751-D Series Standard Specifications Manual (140 pages)

Mitsubishi CR751-D Series Instruction Manual (80 pages)

Table of Contents

1 Error List

2 Appendix

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