Mitsubishi Electric CR750-D Instruction Manual
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Mitsubishi Electric CR750-D Instruction Manual

Mitsubishi Electric CR750-D Instruction Manual

Industrial robot
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Mitsubishi Industrial Robot
CR750-D/CR751-D/CR760-D Controller
INSTRUCTION MANUAL
Controller setup, basic operation, and maintenance
BFP-A8867-Y

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Summary of Contents for Mitsubishi Electric CR750-D

  • Page 1 Mitsubishi Industrial Robot CR750-D/CR751-D/CR760-D Controller INSTRUCTION MANUAL Controller setup, basic operation, and maintenance BFP-A8867-Y...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 WARNING When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture. CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF.
  • Page 6 *CR751-D or CR751-Q controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side supply power supply of the controller of CR751-D or CR751-Q because of leakage protection. Controller Controller Three phase Single phase AC200V AC200V...
  • Page 7 Revision history Date of print Specifications No. Details of revisions 2012-02-01 BFP-A8867 ・ First print 2012-03-21 BFP-A8867-A ･Notes were added to the example of safety measures. (The measure against the noise, The electric specification of the output terminal) 2012-06-05 BFP-A8867-B ･...
  • Page 8 Date of print Specifications No. Details of revisions 2015-12-14 BFP-A8867-V ・ Circuit diagrams in “2.2.7 Connecting the external emergency stop” and “2.2.9 Examples of safety measures” were modified. 2016-03-24 BFP-A8867-W ・ Pin assignment lists of the CNUSR2 and EMG2 connectors were modified. ・...
  • Page 9 Please contact your nearest dealer if you find any doubtful, wrong or skipped point. ・ This specifications is original. ・ Company names and production names in this document are the trademarks or registered trade - marks of their respective owners. Copyright(C) 2012-2016 MITSUBISHI ELECTRIC CORPORATION...
  • Page 10 For users operating robots that have not been mounted with an operation panel: Operation of robot programs such as start-up and shutdown are carried out using external signals (exclusive input/output signals). This instruction manual is based on robots that are mounted with an operation panel at the front of the controller, and these operations are explained using key opera- tions on that panel.

  • Page 11: Table Of Contents

    Contents Page 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 ................................
  • Page 12 Contents Page (2) CR751 controller ............................... 4-72 (3) CR760 controller ............................... 4-74 4.2 Handling the T/B ................................... 4-78 4.2.1 Installing and removing the T/B ..........................4-78 (1) Installing the T/B (CR750/CR760 controller) ....................4-78 (2) Installing the T/B (CR751 controller) ....................... 4-79 (3) Removing the T/B (CR750/CR760 controller) .....................

  • Page 13: Before Starting Use

    1Before starting use 1 Before starting use This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the safety precautions. Moreover, handling and operation of a teaching pendant (T/B) are described based on R32TB (R33TB) in instruction manuals. If using other T/B, such as R56TB (R57TB), refer to a supplied instruction manual of the T/B.

  • Page 14: Symbols Used In Instruction Manual

    1Before starting use 1.1.2 Symbols used in instruction manual The symbols and expressions shown in Table 1-1 are used throughout this instruction manual. Learn the meaning of these symbols before reading this instruction manual. Table 1-1:Symbols in instruction manual Terminology Item/Symbol Meaning Stand-alone type...

  • Page 15: Safety Precautions

    1Before starting use 1.2 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.

  • Page 16: Precautions Given In The Separate Safety Manual

    1Before starting use 1.2.1 Precautions given in the separate Safety Manual The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 17 1Before starting use CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. CAUTION Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters.

  • Page 18: Unpacking To Installation

    Users who have purchased options should refer to the separate "Standard Specifications". The primary power supply cable and grounding cable must be prepared by the customer. Table 2-1 ： Standard configuration Part name Type Qty. Remarks CR750-D controller Controller CR750-D 1 unit Stand alone type Safety manual BFP-A8006...
  • Page 19 2Unpacking to installation Part name Type Qty. Remarks CR760-D controller Controller CR760-D 1 unit Stand alone type Safety manual BFP-A8006 1 copy CD-ROM (Instruction manual) 5F-FA01-C00 1 pc. Stand alone type Dummy plug for T/B 2D-DP1 1 pc. Connect, when not using T/B. Connector for EMG1 DFMC 1,5/12-ST- 1 pc.

  • Page 20: Installation

    2Unpacking to installation 2.2 Installation 2.2.1 Unpacking procedures The controller is shipped from the factory packaged in cardboard. 2.2.2 Transportation procedures The following shows how to transport the controller. (1) Transporting CR750/CR751 controller CR750 controller CR751 controller    ...

  • Page 21: Installation Procedures

    2Unpacking to installation 2.2.3 Installation procedures The installed size is shown as follows. (1) CR750 controller <Placed horizontally> 145mm 145mm Intake vent 吸気口 250mm or more 250mm 以 上 * The controller is an example. * Do not stack controllers. <Placed vertically>...
  • Page 22 2Unpacking to installation hole hole (Controller fixation hole) hole Fig. 2-4 ： Metal plate for fixation to placing vertically (reference) (CR750 controller) 2-10 Installation...

  • Page 23: Cr751 Controller: Thin Type

    2Unpacking to installation (2) CR751 controller: Thin type <Placed horizontally> 145mm 145mm 145mm 145mm or more or more Intake vent 吸気口 250mm or more 250mm 以上 * Stackable at most 2 controllers. <Placed vertically> 50mm 20mm or more or more 20mm以上...
  • Page 24 2Unpacking to installation 4-φ6.5 hole 5-φ10 hole 4-φ4.5 hole Fig. 2-6 ： Metal plate for fixation to placing vertically (reference) 2-12 Installation...

  • Page 25: Cr751 Controller: Heavy Type

    2Unpacking to installation (3) CR751 controller: Heavy type <Placed horizontally> 145mm 145mm 145mm 145mm or more or more Intake vent 吸気口 250mm or more 250mm 以上 * Do not stack controllers. <Placed vertically> 250mm or more 250mm以上 50mm 20mm or more 20mm以上...
  • Page 26 2Unpacking to installation hole hole (Controller fixation hole) hole Fig. 2-8 ： Metal plate for fixation to placing vertically (reference) 2-14 Installation...

  • Page 27: Cr760 Controller

    2Unpacking to installation (4) CR760 controller Note 1） The controller sucks in the outside air and discharges the inside air after cooling. The space required for cooling is 100 mm minimum. Reserve approximately 500 mm of space behind the unit as the maintenance work area.

  • Page 28: Attachments Installation Procedures

    2Unpacking to installation 2.2.4 Attachments installation procedures The CR751 controller has the cable fixation plate and cover plate to protect the cable connector connected to the controller. Always use the controller after installing the cable fixation plate and cover plate. Procedures to install the cable fixation plate and cover plate are shown below.

  • Page 29: Installing The Cover Plate

    2Unpacking to installation 3) Connect cables (machine cables, TB cable, power cable and communication cables) and hold the cables with cable clamps (attachments). * The controller is an example. M4 screw Cable clamp (Attachment) (Attachment) * The figure on the left shows an example of how to fix the cables. Determine the number or the positions of cable clamps as needed.
  • Page 30 2Unpacking to installation 2) Pass a communication cable or the like through the square hole of the cover plate, and connect it to the controller. Cover plate (Attachment) * The controller is an example. 3) Install the cover plate to the controller with removed screws in step "1)". * The controller is an example.

  • Page 31: Connecting The Power Cable And Grounding Cable

    2Unpacking to installation 2.2.5 Connecting the power cable and grounding cable The following shows how to connect the power cables and grounding cables. (1) CR750 controller Note 1) Fix the primary power cable to the terminal with the screw. Screw size: M4 * The controller is an example.

  • Page 32: Cr751 Controller

    2Unpacking to installation (2) CR751 controller CAUTION Use an earth leakage breaker (customer preparation) in the primary power supply circuit of the controller to prevent short circuit. Controller Controller Three phase Single phase AC200V AC200V * The controller is an example.

  • Page 33: Cr760 Controller

    2Unpacking to installation (3) CR760 controller <Non-CE marking specification> Cable lead-in port Cable clamp ケーブル引き込み口 電源ケーブルクランプ (Capcon) （キャプコン） Power cable 電源ケーブル Front door fixing screw 前扉固定ネジ Two screws 2本 Grounding wire アース線 Earth terminal アース端子 Section A A部 NV plate NVプレート...
  • Page 34 2Unpacking to installation <CE marking specification> Fig. 2-13 ： Connecting the power cable and grounding cable (CR760 CE marking) 1) Prepare the power cable (AWG#8 (8mm ) or more) and grounding cable (AWG#6 (14mm ) or more). 2) Loosen the two screws fixing the controller front door, and open the front door. 3) Pull out the disengagement prevention projection on the terminal cover surface of the earth leakage breaker by disengaging it with your finger.

  • Page 35: Emergency Stop Input And Output Etc

    2Unpacking to installation 2.2.6 Emergency stop input and output etc. Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from the "special input/output" terminal connector. Connection of the external emergency stop is explained in "2.2.7Connecting the external emergency stop".
  • Page 36 2Unpacking to installation [Caution] Be sure to use a shield cable for the emergency stop wiring cable. And when operating in an environment that is easily affected by noise, be sure to install the included ferrite core (model number: E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core in 300mm or less from the connecting terminal section.

  • Page 37: Cr751 Controller

    2Unpacking to installation <CR750 controller (Rear side)> <CR751 controller (Front side)> CNUSR11 connector Within 300mm 30cm以内 CNUSR2 connector CNUSR12 connector Ferrite core フェライトコア (Pass twice) (2回通し) * The controller is an example. <CR760 controller> CE marking specifi - Non-CE marking View A: Inside of CR760 controller specification cation...
  • Page 38 2Unpacking to installation (1) CR750 controller An example of external emergency stop connection is shown below. Details of arrangement of connectors for exclusive input/output signals and the pin assignments are shown in the following pages. Internal circuit structure 内部回路構成 内部回路構成 (Controller side) （お客様配線側）...
  • Page 39 2Unpacking to installation Arrangement of connectors for exclusive input/output signals are shown in Fig. 2-16. The pin assignments of the connectors for exclusive input/output signals are shown in Table 2-3 Table 2-6. CNUSR11 CNUSR12 CNUSR13 *The controller is an example. CNUSR2 Fig.
  • Page 40 2Unpacking to installation Table 2-5 ： Pin assignment (CNUSR13) Note1) Name Remarks Name Note1) Remarks Function Function Reserved Reserved Reserved LZL1 Z-phase signal - Encoder input of a (minus) side of dif - trucking function ferential encoder Note2) LAH1 A-phase signal + Encoder input of a Reserved (plus) side of dif -...
  • Page 41 2Unpacking to installation Note1) Name Remarks Name Note1) Remarks Function Function Reserved Reserved AXMC21 Magnet contactor To synchronize an AXMC22 Magnet contactor To synchronize an control connector additional axis to a control connector additional axis to a output for addi - output for addi - robot's servo ON/ robot's servo ON/...
  • Page 42 2Unpacking to installation <CR750 controller> CNUSR11 CNUSR11/12 connector CNUSR12 Reference: CNUSR13 (Connect the encoder, when using the tracking function) * The controller is an example. Driver Connector for user wiring *Recommendation driver size: 2.5mm. Connector fixing screw Cable fixing screw (Two places) Pin number of connector Cable insert point...
  • Page 43 2Unpacking to installation <CR750 controller> CNUSR2 connector * The controller is an example. Cover fixing screw (Two places) CNUSR2 Connector cover View A Plug Pin number of plug Soldering Connector for user wiring Remove the connector cover Connecting cable (AWG #30-24 (0.05mm -0.2mm Connection procedure Solder the pins of the user wiring connector that accompanies the product, and connect the connector to the...
  • Page 44 2Unpacking to installation (2) CR751 controller An example of external emergency stop connection is shown below. Details of arrangement of connectors for exclusive input/output signals and the pin assignments are shown in the following pages. Internal circuit structure 内部回路構成 (Customer) (Customer) （お客様配線側）...
  • Page 45 2Unpacking to installation Arrangement of connectors for exclusive input/output signals are shown in Fig. 2-20. The pin assignments of the connectors for exclusive input/output signals are shown in Table 2-7 Table 2-8. CNUSR1 * The controller is an example. CNUSR2 Fig.
  • Page 46 2Unpacking to installation Note1) Note1) Name Remarks Name Remarks Function Function EMGOUT21 Emergency stop Confirming the EMGOUT22 Emergency stop Confirming the output presence/absence output presence/absence of an emergency of an emergency stop. stop. This pin and pin 44 This pin and pin 19 is a pair.
  • Page 47 2Unpacking to installation Table 2-8 ： Pin assignment (CNUSR2) Note1) Note1) Name Remarks Name Remarks Function Function MPI11 (850) Servo digital input MPI14 (851) Servo digital input MPICOM1 MPI input common MPI16 (852) Servo digital input (COM) Reserved Reserved Reserved Reserved Reserved Reserved...
  • Page 48 2Unpacking to installation <CR751 controller> CNUSR1/2 connector * The controller is an example. CNUSR1 CNUSR2 Cover fixing screw (Two places) Connector cover View A Plug Pin number of plug Connector for Soldering Remove the connector cover user wiring Connecting cable (AWG #30 ～...
  • Page 49 2Unpacking to installation (3) CR760 controller An example of external emergency stop connection is shown below. Details of arrangement of connectors for exclusive input/output signals and the pin assignments are shown in the following pages. Internal circuit structure 内部回路構成 (Customer) (Customer) （お客様配線側）...
  • Page 50 2Unpacking to installation CAUTION Place the emergency stop switch in an easily operable position, and be sure to wire it to the emergency stop correctly by referencing Page 42, "2.2.9 Examples of safety measures". This is a necessary measure in order to ensure safe operation so that the robot can be stopped immediately by pressing the emergency stop switch in the event that the robot malfunctions.
  • Page 51 2Unpacking to installation Note1) Note1) Name Remarks Name Remarks Function Function DOOR21 Connection of door Detecting the DOOR22 Door switch input Detecting the opening and clos - opening and clos - switch ing of a door. ing of a door. This pin and pin 22 This pin and pin 10 is a pair.

  • Page 52: Mode Changeover Switch Input

    2Unpacking to installation 2.2.8 Mode changeover switch input Connect the key switch of customer prepared and change the right of robot’s operation by switch operation. The key switch can be installed in the operation panel of customer preparation. <Right of operation (mode)> AUTOMATIC.......The operation from external equipment becomes available.

  • Page 53: Connection Of The Mode Changeover Switch Input

    2Unpacking to installation (2) Connection of the mode changeover switch input * The controller is an example. CNUSR1 Cover fixing screw (Two places) View A Connector cover Plug Pin number of plug Soldering Connector for Remove the connector cover user wiring Connecting cable (AWG #30 ～...

  • Page 54: Examples Of Safety Measures

    2Unpacking to installation 2.2.9 Examples of safety measures Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller. Create a cir - cuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emer - gency stop state.
  • Page 55 2Unpacking to installation <Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 56 2Unpacking to installation <Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con - troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 57 2Unpacking to installation <Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.
  • Page 58 3) When installing a safety relay to use it as an input point of the controller's emergency stop button command, use a safety relay that is activated by an input from one of the two systems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)). 4) The emergency stop input detection relay (internal relay) uses the controller’s internal safety relay control.

  • Page 59: Cr751 Controller

    2Unpacking to installation (2) CR751 controller <Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 60 2Unpacking to installation <Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 61 2Unpacking to installation <Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con - troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 62 2Unpacking to installation <Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.
  • Page 63 2 sys - tems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)). 4) The emergency stop input detection relay (internal relay) uses the controller’s internal safety relay control.

  • Page 64: Cr760 Controller

    2Unpacking to installation (3) CR760 controller <Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 65 2Unpacking to installation <Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 66 2Unpacking to installation <Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con - troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 67 2Unpacking to installation <Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.
  • Page 68 3)When installing a safety relay to use it as an input point of the controller's emergency stop button command, use a safety relay that is activated by an input from one of the two systems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)).

  • Page 69: External Emergency Stop Connection [Supplementary Explanation]

    2Unpacking to installation (4) External emergency stop connection [supplementary explanation] (1) Use a 2-contact type switch for all switches. (2) Install a limit switch on the safety fence's door. With a constantly open contact (normal open), wire to the door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is opened) when the door is open.
  • Page 70 2Unpacking to installation The electric-current value limitation when connecting the coils, such as the Relays (CR750 controller) Internal fuse 非常停止スイッチ Emergency stop switch Robot controller ロボットコントローラ （2接点タイプ） (2- contact type) ロボットコント CNUSR11/12 Power supply in the 周辺装置 robot controller ローラ内電源 Peripheral equipment Emergency OP非常停止...
  • Page 71 2Unpacking to installation The electric-current value limitation when connecting the coils, such as the Relays (CR760 controller) Internal fuse 非常停止スイッチ Emergency stop switch Robot controller ロボットコントローラ （2接点タイプ） (2- contact type) ロボットコント EMG1 Power supply in the 周辺装置 ローラ内電源 robot controller Peripheral equipment Emergency OP非常停止...
  • Page 72 2Unpacking to installation [Supplementary explanation regarding emergency stop circuit] The controller’s internal circuit is as shown in the below diagram. Be sure to build a circuit that properly shuts off the emergency stop detection relay when the emergency stop button is pressed. 24V DC emergency emergency...

  • Page 73: Magnet Contactor Control Connector Output (Axmc) For Addition Axes

    2Unpacking to installation Magnet contactor control connector output (AXMC) for addition axes 2.2.10 When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the controller and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned off when this output is open.

  • Page 74: Image Of How To Connect The Controller Connector

    2Unpacking to installation ■ CR760 controller 1) Get the power supply for the controller from the secondary terminal of short circuit breaker (NV) built in the addition axis amplifier box. １）付加軸アンプボックス内蔵漏電遮断器（NV）の２次側より、コントローラ電源を取り出す。 Amplifier アンプ 2) Get the power supply for the MC synchronization from the sec - ２）コントローラ内蔵漏電遮断器（NV）の２次側より、...
  • Page 75 2Unpacking to installation ■ CR751 controller <CR751 controller> * The controller is an example. Within 30cm 30cm以内 CNUSR2 connector CNUSR2コネクタ * The CNUSR2 connector is connected by soldering. Refer to Page 36 "Fig. 2- Ferrite core 21: Method of wiring for external フェライトコア...

  • Page 76: Connecting To The Robot Arm

    2Unpacking to installation 2.2.11 Connecting to the robot arm Refer to the separate manual "Robot arm setup and maintenance", and connect the controller and robot arm with machine cables. 2.2.12 Noise suppression for the CR760 CE marking specification An example of noise suppression for the CR760 CE marking specification is shown below. Perform noise suppression around the robot controller (if necessary).

  • Page 77: Installing The Option Devices

    3Installing the option devices 3 Installing the option devices Refer to Page 78, "4.2.1 Installing and removing the T/B" for installing method of T/B. Refer to the separate "Standard Specifications" or each option's manual for the optional devices other than those described in this manual.

  • Page 78: Cr760 Controller

    3Installing the option devices (2) CR760 controller View A: Inside of CR760 controller <Non-CE marking specification> <CE marking specification> CR760 POWER Transformer box *1) It is necessary to open the transformer box's door when per - forming this installation work. R760CPU unit R760CPUユニット...

  • Page 79: Installing The Extension Memory Cassette

    3Installing the option devices 3.2 Installing the extension memory cassette View A: Inside of CR760 controller <Non-CE marking specification> CR760 POWER R760CPU unit R760CPUユニット <CE marking specification> M4 screw x 2 M4ネジ(2本) Transformer box *1) It is necessary to open the transformer box's door when performing this installation work.

  • Page 80: Basic Operations

    4Basic operations 4 Basic operations In this chapter, the following items will be explained regarding the basic operations for handling the robot. Handling the controller The functions of the various keys on the controller are explained. Handling the teaching pendant The methods of installing/removing the T/B, and the functions of the various keys are explained.

  • Page 81: Handling The Controller

    4Basic operations 4.1 Handling the controller 4.1.1 Names of each parts (1) CR750 controller Controller (Front side) * The controller is an example. <15> <16> <17> <3> <18> Fan, Air suction <6> <20> Controller (Rear side) <10> <4> <5> <7> <8>...
  • Page 82 4Basic operations <1> ACIN terminal ..........The terminal box for AC power source (single phase or single phase/ three phase, AC200V) input. (Inner side of a cover) There are three types of the terminals and the terminal differs depending on the model and specification (CE or non-CE). Model Non-CE specification CE specification...
  • Page 83 4Basic operations <24> SVO.ON button ........This turns ON the servo power. (The servo turns ON.) <25> SVO.OFF button........This turns OFF the servo power. (The servo turns OFF.) <26> START button........This executes the program and operates the robot. The program is run continuously.

  • Page 84: Cr751 Controller

    4Basic operations (2) CR751 controller * The controller is an example. Controller (Front side) <10> <4> <7> <15> <9> <2> <1> <3> <5> <6> <14> <13> <12><11> <8> Controller (Rear side) Exhaust Fig.4-2 ： Names of controller parts (CR751) <1> ACIN connector ........The connector for AC power source (single phase, AC200V) input (a socket housing and a terminal are attached) Refer to Page 20, "(2) CR751 controller"...
  • Page 85 4Basic operations controller’s power supply circuit board due to the robot’s servo being ON. After turning the control power OFF and allowing a few minutes to pass, the lamp will go out. <11>USB connecting connector (USB)..For USB connection <12>LAN connector (LAN) ......For LAN connection <13>ExtOPT connector (ExtOPT)....Connect the cable for addition axis control.

  • Page 86: Cr760 Controller

    4Basic operations (3) CR760 controller <Non-CE marking specification> <CE marking specification> <15> <2> <1> <15> <2> CR760 POWER <1> Side view Front view Side view Front view <2>: Operation panel <9> <3> <7> <5> <14> <6> <11> <13> <16> <12> <10>...
  • Page 87 4Basic operations <9> SVO.ON button..........This turns ON the servo power. (The servo turns ON.) <10> SVO.OFF button ........This turns OFF the servo power. (The servo turns OFF.) <11> ....The alarm No., program No., override value (%), etc., are displayed. Display panel (STATUS.NUMBER) <12>...
  • Page 88 4Basic operations <CE marking speci - <Non-CE marking specification> fication> R700CPUユニット R700CPU unit CR760 POWER OPT1 (Reserved) (予約済) ⑨OPT2 ⑤SLOT1 ⑩MEMORY CASSETTE ① ⑬ View A: inside of CR760 controller ⑪LAN1 ⑥SLOT2 ③ ④ ⑧RIO ⑫CNENC ⑦SLOT3 ② ① Earth leakage breaker................. Connect the primary power source. ②...
  • Page 89 4Basic operations CAUTION For USB connection between the RT ToolBox2 and the robot controller, noise may cause the instability in data communication. As a solution, switching communication method to LAN connection is recommended. ◇◆◇ What are the operation rights? ◇◆◇ Even when multiple devices, such as a T/B and personal computer, are connected to the controller, the operation at one time is limited to one device.

  • Page 90: Handling The T/B

    4Basic operations 4.2 Handling the T/B 4.2.1 Installing and removing the T/B Installing and removing the T/B, with turning off the controller power. If T/B is Installed and removed in the state of control source ON, emergency stop alarm will be occurred. If you use the robot wherein T/B is removed, install the dummy connector of attachment for the product instead of T/B.

  • Page 91: Installing The T/B (Cr751 Controller)

    4Basic operations (2) Installing the T/B (CR751 controller) Explain the installation method of T/B below. 1) Check that the POWER (power supply) switch of the robot controller is OFF. 2) Connect the T/B connector to the controller’s T/B connector. Make sure to fix it securely by fastening the hand locks (in 2 places), as shown in Fig.

  • Page 92: Functions Of Each Key

    4Basic operations 4.2.2 Functions of each key ② ④ ① ③ ⑤ ⑤ ⑥ ⑥ ⑧ ⑦ ⑨ ⑩ ⑪ ⑰ ⑫ ⑱ ⑬ ⑭ ⑲ ⑮ ⑯ ⑳ Fig. 4-8 ： Teaching pendant ① [Emergency stop] switch....The robot servo turns OFF and the operation stops immediately. The release of the emergency stop turns the switch to the right, or pulls it.

  • Page 93: Turning The Power On And Off

    4Basic operations 4.3 Turning the power ON and OFF 4.3.1 Turning the control power ON CAUTION Always confirm the following items before turning the controller power ON. 1) Make sure that there are no operators in the robot operation range. 2) Make sure that the controller and robot arm are securely connected with the machine cable.

  • Page 94: Cr760 Controller

    4Basic operations (3) CR760 controller Power switch enlarged view POWER CR760 POWER Power switch Turn the controller [POWER] switch ON. The controller power turn on, and the STATUS NUMBER display lights [Note] If the following issue occur with the power supply ON of the controller, please contact to the dealer. ・Although the FAN of the controller is operating, the operation panel does not light up and the operation of the robot cannot be done.
  • Page 95 4Basic operations 3) Press the [3] key of T/B and display the parameter. <MENU>　　 　 <PARAMETER> NAME( ELE( ) 1.FILE/EDIT 2.RUN DATA 3.PARAM. 4.ORIGIN/BRK (　　　　　　　　　　　　　 　　) 5.SET/INIT. 6.ENHANCED 　 123 Prev Next CLOSE CLOSE DATA 4) Input "RBSERIAL" into the name. <PARAMETER>...

  • Page 96: Shutting Off The Control Power

    4Basic operations 4.3.3 Shutting OFF the control power * Following figures are CR750 controller's switch. 1) If the robot is operating, press the controller [STOP] switch, and stop the robot. STOP Stop the program 2) After the robot has stopped, press the controller [SVO OFF] switch, and turn the servo OFF.

  • Page 97: Turning The Servo Power On/Off

    4Basic operations 4.4 Turning the servo power ON/OFF 4.4.1 Turning the servo power ON (servo ON) Up ：DISABLE 1) Confirm that the T/B [ENABLE] switch is set to Down：ENABLE "DISABLE". *Lighting T/B disable Rear of T/B MODE 2) Confirm that the mode of the controller is set to MANUAL AUTOMATIC "AUTOMATIC".

  • Page 98: Jog Operation

    4Basic operations 4.5 Jog operation Refer to the separate manual "Robot arm setup and maintenance" when carrying out jog operation. The following jog operation modes are available. Use these according to the purpose. Table 4-1 ： Jog modes Jog mode Main application Explanation JOINT JOG...

  • Page 99: Opening And Closing The Hand

    4Basic operations 4.6 Opening and closing the hand Hands 1 to 6 can be opened and closed with the T/B. <HAND> ±C : HAND1 ±Z : HAND4 ±B : HAND2 ±Y : HAND5 ±A : HAND3 ±X : HAND6 76543210 76543210 OUT-900□□□□□□...

  • Page 100: Programming

    4Basic operations 4.7 Programming The procedures from creating the program to automatic operation are explained in order using a simple procedure as an example. (1) Creation procedures Start Decide the robot operation order, operation path Deciding the operation order (necessity of linear movement), and the work at each operation position (hand open/close, etc).

  • Page 101: Creating The Program

    4Basic operations 4.7.1 Creating the program (1) Deciding the operation order ：Joint movement Wait position ：Linear movement ：Teaching position Upward position to Upward position to grasping workpiece release workpiece (8) Hand open (4) Hand close Position to grasp workpiece Position to release workpiece Start (1) Move to wait position (joint movement).

  • Page 102: Deciding The Operation Position Name

    4Basic operations (2) Deciding the operation position name Wait position (ＰＷＡＩＴ) Upward position to Upward position to grasping workpiece release workpiece Position to release workpiece Position to grasp workpiece (ＰＧＥＴ) (ＰＰＵＴ) Position variable Name Teaching Remarks name Wait position PWAIT Required Upward position to grasping －...

  • Page 103: Describing And Creating The Program

    4Basic operations (3) Describing and creating the program ■ Convert the target robot operations and work into commands. Refer to the separate manual "Instruction Manual: Detailed explanations of functions and operations" for details on the commands. Table 4-2 ： Commands used Target operation and work Command Example of designation...
  • Page 104 4Basic operations CAUTION Note) Upward movement is designated at a position along the Z axis of the TOOL coordinate system, and the direction is designated with the + and - signs. Refer to the section on the TOOL JOG operation in the separate "Installation Manual/ Robot arm setup and maintenance", and confirm the Z axis direction of the TOOL coordinate system.
  • Page 105 4Basic operations ■ Input the described program into the controller. The T/B is used for this operation. Preparing the T/B 1) Set the controller mode to "MANUAL". MODE MANUAL AUTOMATIC 2) Set the T/B [ENABLE] switch to "ENABLE". Up ：DISABLE Down：ENABLE *Lighting Rear of T/B...
  • Page 106 4Basic operations 6) Press the [F3] key. <PROGRAM> 1 100% The cursor will move to the command editing ＿ line. EDIT DELETE INSERT CLOSE 7) Confirm that the number input mode and <PROGRAM> 1 press the [1] key. "1" of the step number is inputted. ＿...
  • Page 107 4Basic operations 11) Press the [SP], [PQRS] key, and input the <PROGRAM> 1 space and "P". 1MOV P1 ＿ CLOSE SPACE 12) Press the [WXYZ] key, and input the space <PROGRAM> 1 and "W". 1MOV PWAIT ＿ CLOSE <PROGRAM> 1 13) Input "A", "I"...
  • Page 108 4Basic operations ■ Teach the robot operation position. Set the position with jog operation (Teaching PGET) 1) Move the robot with jog operation, and set Hand ハンド the end of the hand to the position for grasping the workpiece. When the position has been set, open and close the hand to confirm that the workpiece can be grasped.

  • Page 109: Confirming The Program

    4Basic operations (4) Confirming the program Using the T/B execute the program line by line (step operation), and confirm the operation. Following operations are operated with lightly pressing the enabling switch on the T/B. <POS.> JNT 100% PWAIT 1) Press the [FUNCTION] key and change the X:＋128.56 A:＋180.00 Y: ＋0.00...

  • Page 110: Correcting The Program

    4Basic operations (5) Correcting the program ■ Correcting the commands As an example, the joint movement at line No.7 will be changed to linear movement. Note) (Change 7 Mov PPUT, +20 to 7 Mvs PPUT, +20) <PROGRAM> 1 1 Mov pwait 1) Press the [FUNCTION] key and change the 2 Mov PGET +20 function display.
  • Page 111 4Basic operations 3) Press the [F1] (Edit) key and display <PROGRAM> 1 command edit screen. 7 Mov PPUT, +20 8 Mvs PPUT 9 Hopen 1 10 Dly 1.0 INSERT EDIT DELETE CLOSE 4) Press the [ → ] key 3 times. Move the cursor <PROGRAM>...
  • Page 112 4Basic operations ■ Correcting the taught position As an example, the wait position (PWAIT) will be corrected. New wait position (ＰＷＡＩＴ) Change <PROGRAM> 1 1 Mov pwait 1) In the program edit screen, press the 2 Mov PGET +20 [FUNCTION] key twice and change the 3 Mvs PGET 4 Hclose 1 function display.

  • Page 113: Saving The Program

    4Basic operations <POS.> XYZ 100% PWAIT X:＋128.56 A:＋180.00 3) Press the [F2] (Teaching) key. Y: ＋0.00 B: ＋90.00 The teaching confirmation screen is Z:＋845.23 C:－180.00 displayed. FL1: FL2: ⇒ TEACH Prev Next MOVE <POS.EDIT> 1 4) Press the [F1] (Yes) key and register the PWAIT RECORD CURRENT POSITION.

  • Page 114: Start Automatic Operation

    4Basic operations (7) Start automatic operation. CAUTION Before starting automatic operation, always confirm the following item. Starting automatic operation without confirming these items could lead to property damage or physical injury. ・ Make sure that there are no operators near the robot. ・...
  • Page 115 4Basic operations Select the program number 4) Press the [CHNG DISP] switch, and display * Following figures are CR750 controller's switch and display panel. the "program No." on the STATUS NUMBER display panel. (A "P" will appear at the head.) CHNG DISP Display the program number Confirm that the program number targeted...

  • Page 116: Maintenance And Inspection

    5Maintenance and Inspection 5 Maintenance and Inspection The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are described in this chapter. The types and replacement methods of consumable parts are also explained. 5.1 Maintenance and inspection interval Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry out at set intervals.

  • Page 117: Inspection Items

    5Maintenance and Inspection 5.2 Inspection items The controller inspection items are shown below. Refer to section "Maintenance and Inspection" in the separate manual "Robot arm setup and maintenance", and inspect the robot arm at the same time. 5.2.1 Daily inspection items Carry out daily inspections following the procedures given in Table 5-1.

  • Page 118: Maintenance And Inspection Procedures

    5Maintenance and Inspection 5.3 Maintenance and inspection procedures The procedures for carrying out periodic maintenance and inspection are described below. Thoroughly comprehend the procedures, and follow the instructions. This work can be commissioned to the Mitsubishi Service Dept. for a fee. (Never disassemble, etc., any of the parts not described in this section.) The maintenance parts required for the maintenance and inspection are shown in Page 111, "5.4 Maintenance parts".

  • Page 119: The Battery Exchange Method Of The Cr750/Cr760 Controller

    5Maintenance and Inspection (1) The battery exchange method of the CR750/CR760 controller Note) <CR760 controller> <CR750 controller> Note) As for CE marking specification of CR760, the transformer box is installed in the controller bottom. Refer to Fig. 4-5. Interface cover インタフェースカバー...

  • Page 120: The Battery Exchange Method Of The Cr751 Controller

    5Maintenance and Inspection (2) The battery exchange method of the CR751 controller Note) Although the figure shows the CR751 (Thin type), it is the same also in a CR751 (Heavy type). フィルタカバー Filter cover Remove 外す Installation screw 取付ネジ（M3ネジ） (M3 screw: Two places) 2箇所...

  • Page 121: The Check Of The Filter, Cleaning, Exchange

    5Maintenance and Inspection 5.3.2 The check of the filter, cleaning, exchange. The filter is installed in the CR750/CR751 controller. The following shows the procedure for inspecting, cleaning and replacing the filter: (1) CR750 controller 1) Loosen the M4 x 6 screws and remove the filter cover from the front of the controller. Remove the claw on the left side of the filter cover as it is inserted in the front face of the controller.

  • Page 122: Cr751 Controller

    5Maintenance and Inspection (2) CR751 controller 1) Loosen the M3 screws and remove the filter cover from the front of the controller. Remove the claw on the left side of the filter cover as it is inserted in the front face of the controller. 2) Remove the filter from the filter cover and remove dust and other dirt that has built up on it.

  • Page 123: Maintenance Parts

    Inside the filter cover. BKOFA0773H41 CR751 controller: Inside the filter cover. Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Table 5-5 ： Controller spare parts list Note1) Part name Qty.
  • Page 124 5Maintenance and Inspection 5-112 Maintenance parts...
  • Page 126 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU NAGOYA 461-8670, JAPAN Authorised representative: MITSUBISHI ELECTRIC EUROPE B.V. GERMANY Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany Sep., 2016 MEE Printed in Japan on recycled paper.

This manual is also suitable for:

Cr751-qCr760-dCr750-qCr751-d

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