Abnormality Detection Function - Mitsubishi Electric CR800-D Series User Manual

2.1.3. Abnormality detection function

This function detects abnormalities or deterioration of robot reduction gear components early.
Before the robot exhibits behavior that is a sign of an abnormality, the function can detect reduction gear or
encoder abnormalities.
Without adding sensors or an analysis personal computer, the robot controller alone can detect
abnormalities in reduction gear or the encoder.
Target parts
Reduction gear
Encoder Data Error
Communication Error
Battery
Information confirmation
Information
Check method
Setting/operation
Setting item
Setting method
Operation item
Operation method
Notification
Notification content
Notification method
*1 Displays the data for the most recent 365 days. Old data is overwritten.
*2 Setting is required.
*3 A maintenance message is displayed.
* For notification of a battery voltage drop, a warning is output by the standard function.
* For models and joint axes subject to this function, refer to "2.1.4 Target models/target axes".
Basic specifications 24
Output data
Score (for each joint axis)
*Calculated when operating at 500 rpm or more
Score (for each joint axis)
Score (for each joint axis)
[Battery Voltage Status] (mechanical)
· Score: See above
· Log data for 365 days of Score
· [Battery Voltage Status]: See above
· [Abnormality Detection Status]: Existence of abnormality detection of each target
RT ToolBox3 Predictive maintenance screen
(Refer to 5 Total score.,7 Abnormality detection function.)
[Parameters] (Refer to 14.3 Abnormality detection function
14.3.2 Data acquisition parameters. )
[Status Variable] (Refer to 13 Robot (system) status variables
13.3 Abnormality detection function.)
· How to Notify setting (abnormality detection): Warning Occurrence, Signal
· Level Setting (reduction gear)
· Level Setting (encoder data error)
· Level Setting (encoder communication error)
· ["I/O Signals assignment"]
RT ToolBox3 Predictive maintenance screen
(Refer to 3.2.1 Setting how to notify, 3.2.2 Setting detection level.)
[Parameters] (Refer to 14.3 Abnormality detection function
14.3.1 Setting parameters.)
· Maintenance Reset (reset of encoder abnormality level score)
· [Notification Pause]
RT ToolBox3 Predictive maintenance screen
(Refer to 11.1 Warning Pause, 11.2 Maintenance Reset.)
[Parameters] (Refer to 14.3 Abnormality detection function
14.3.3 Operation parameters )
*2
[I/O Signal] (Refer to 15 Dedicated input/output signals
15.2 Abnormality detection function.)
· [Abnormality Detection Status] (abnormality detection): Output for each joint axis.
RT ToolBox3 Predictive maintenance screen
*2
Warning Occurrence (Refer to 3.2.1 Setting how to notify.)
*2
Signal Output (Refer to 3.2.3 Setting signals.)
*1
part
Output
*3
(Refer to 3.2.1 Setting how to
notify.)