Mitsubishi Electric MELFA CR800-D Series Instruction Manual
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Mitsubishi Electric MELFA CR800-D Series Instruction Manual

Mitsubishi Electric MELFA CR800-D Series Instruction Manual

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Mitsubishi Electric Industrial Robot
CR800-D series controller
CR750-D/CR751-D series controller
CRnD-700 series controller
CC-Link Interface Instruction Manual
2D-TZ576
BFP-A8701-J

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Summary of Contents for Mitsubishi Electric MELFA CR800-D Series

  • Page 1 Mitsubishi Electric Industrial Robot CR800-D series controller CR750-D/CR751-D series controller CRnD-700 series controller CC-Link Interface Instruction Manual 2D-TZ576 BFP-A8701-J...
  • 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 CAUTION After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc. CAUTION Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop.
  • Page 6 DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable. If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in deterioration connector properties, and leading to malfunction. CAUTION Make sure there are no mistakes in the wiring.
  • Page 7 ■Revision History Print date Instruction manual No. Revision content 2008-08-08 BFP-A8701 ･ First print ･ (Notes) were added in Introduction. 2009-06-15 BFP-A8701-A ･ The robot system variables (M_In8,M_In16,M_Out8 and M_Out16) were added. ･ Dip switch SW1 explanation was added. 2011-12-27 BFP-A8701-B ･...
  • Page 8 Introduction Thank you very much for purchasing this product for Mitsubishi Electric Corporation's SD series industrial robots. CC-Link (Control & Communication Link) interface is an add-on option that is used in combination with CRnD-700 series controllers to add CC-Link field network functionality to robot controllers.

  • Page 9: Table Of Contents

    ONTENTS 1. BEFORE USE ...................................... 1 1.1.H ....................1 OW TO SE THE NSTRUCTION ANUAL 1.2.G ....................2 ENERAL NAME AND ABBREVIATED NAME 2. FLOW OF OPERATIONS .................................. 3 2.1.F ............................3 LOWCHART 3. FUNCTIONS AND SPECIFICATION OF THE CC-LINK INTERFACE ..................4 3.1.W CC-L ?..........................
  • Page 10 7.6.2. A ........39 DD THE ROBOT CONTROLLER TO THE SYSTEM WHICH FOUR SLAVE STATIONS ARE CONNECTED 8. TROUBLESHOOTING ..................................41 8.1.L ..........................41 IST OF RRORS 8.2.A E7730 E CC-L ......... 41 RROR CCURRED AND INK DOES NOT STABLISH A 8.3.W 7760...

  • Page 11: Before Use

    1. Before Use This chapter describes items to be checked and precautions to be taken before start using the CC-Link interface. 1.1. How to Use the Instruction Manual This manual is organized as follows and describes functions that have been added to or changed in the CC-Link interface.

  • Page 12: General Name And Abbreviated Name

    1.2. General name and abbreviated name Table 1.2-1 General name and abbreviated name General / abbreviated name Details Cyclic transmission Remote input and output, a transmission means to communicate the details of the remote register periodically A transmission method to specify the partner to any timing Transient transmission and to communicate by 1:1 Master station...

  • Page 13: Flow Of Operations

    2. Flow of Operations The flowchart below shows the flow of operations necessary for configuring a CC-Link interface system. Use it as a reference to perform the required operations in the correct order. 2.1. Flowchart 1 Determining Specification for CC-Link Control......See Chapter 3 of this manual. Once you understand the CC-Link specification, specify the interfaces required for signals to be communicated within your system via CC-Link communication (e.g., assignment of dedicated I/O signals, specification of general-purpose I/O signals).

  • Page 14: Functions And Specification Of The Cc-Link Interface

    3. Functions and Specification of the CC-Link Interface 3.1. What Is CC-Link? Inverter Remote station Peripheral equipment CR800-D/CR75n-D/CRnD-700 Remote device controller Q173NCCPU QJ71E71-100 QJ71E71-100 QJ71E71-100 QJ71E71-100 QJ71E71-100 QJ71E71-100 QXxxxx QXxxxx QXxxxx M E L S E C ERR. ERR. ERR. ERR.

  • Page 15: Specification Of The Cc-Link Interface Card

    3.2. Specification of the CC-Link Interface Card Table 3.2-1 General Specification (Specification of HR575 Card) Item Specification Remarks Communication function Both bit data and word data can be Word data is used in the transmitted. registers. Type name of CC-Link interface card TZ576 Use one of the slots Mountable option slot...
  • Page 16 Table 3.2-2 I/O point per robot controller Item Extended cyclic setup Occupancy 1 fold setup 2 fold setup 3 fold setup 4 fold setup Signal station I/O signal point point point point One station Register point point point point I/O signal point point point...
  • Page 17 Item Function Set up the master-station parameter abnormal detection filter and the data link abnormal detection filter. The unit is ms. CCFIL If only the time specified by each abnormal condition is being continued, the 7750 errors and the 7730 errors occur. Change the update cycle of the CC-Link interface.
  • Page 18 Table 3.2-5 Signal table (1) In case of the parameter "CCFIX" is "1" in CC-Link Ver.2 Remote signal Remote register Station Occupancy Extended number station cyclic setup Input Output Input Output 0(Master) 1 fold 6000 6031 6000 6031 6000 6003 6000 6003 2 fold...
  • Page 19 Table 3.2-6 Table of CC-Link Signals (The numbers in the table indicate the numbers of the I/O signals handled by the robot controller.) Remote signal Remote register Station number Input Output Input Output 0 (master) 6000 to 6031 6000 to 6031 6000 to 6003 6000 to 6003 6032 to 6063...

  • Page 20: Hardware Of The Cc-Link Interface Card

    3.3. Hardware of the CC-Link Interface Card This section describes the settings that are performed by using the rotary switches and DIP switches on the CC-Link interface card. 3.3.1. Card overview (1) General Layout of the Card DIP switch（SW1/SW2/SW3） ＬＥＤ CC-Link cable connection connector Figure 3.3-1 General Layout of the Card...
  • Page 21 Please change neither SW2 nor SW3 like an initial value (turn off all). The initial state of each switch is shown in the following. Figure 3.3-2 State of initialization of dip switch (SW2) Figure 3.3-3 State of initialization of dip switch (SW3)

  • Page 22: Led

    3.3.3. LED There is eight LED on the CC-Link interface card (TZ576), and the operating state of the interface card can be confirmed by each lighting / blink / lights-out. LRUN LERR Figure 3.3-4 Layout of LEDs Table 3.3-2 Description of LED Conditions for turning on LED name LRUN...

  • Page 23: Items To Be Checked Before Using This Product

    Figure 4.1-1 Items Contained in the Package 4.2. Devices to Be Furnished by the Customer When using Mitsubishi Electric CC-Link interface card, the devices listed in Table 4.2 below must be furnished by the customer. Table 4.2-1 Equipment prepared of the customer...

  • Page 24: Hardware Settings

    5. Hardware Settings 5.1. Settings of the CC-Link Master Station 5.1.1. CR75n-D/CRnD-700 series The details of the setting of the master station are shown in the following. For details, please refer to "the cc-Link system master local unit user's manual (volume on details)." Rotary switch (station number) Rotary switch (mode) Terminal...

  • Page 25: Cr800-Dseries

    5.1.2. CR800-D series The details of the setting of the master station are shown in the following. For details, please refer to "MELSEC iQ-R CC-Link System Master/Local Module User's Manual (Startup)". ① Dot matrix LED ② Terminal block ③ Production information marking ④...

  • Page 26: Connections And Wiring

    6. Connections and Wiring 6.1. Mounting the CC-Link Interface Card in the Controller For more information about how to mount the CC-Link interface card, refer to the "Installing Optional Devices" in "Controller Setup and Basic Operations to Maintenance" in the instruction manual of the corresponding controller.

  • Page 27: Cr750-D/Cr751-Dcontroller

    6.1.2. CR750-D/CR751-D controller Remove one interface cover of the option slots two in the robot controller rear, and mount the CC-Link interface card there. Please use the handle of the interface card at mounting of the interface card. <CR750-D controller rear> SLOT1 Interface cover インタフェースカバー...

  • Page 28: Cr1D-700 Controller

    6.1.3. CR1D-700 controller Remove one interface cover of the option slots 1 in the robot controller rear, and mount the CC-Link interface card there. Please use the handle of the interface card at mounting of the interface card. Controller rear SLOT1 Interface cover Interface cover...

  • Page 29: Cr2D-700 Controller

    6.1.4. CR2D-700 controller Remove one interface cover of the option slots 1-3 in the robot controller rear, and mount the CC-Link interface card there. Please use the handle of the interface card at mounting of the interface card. Interface cover removal インタフェースカバー...

  • Page 30: Cr3D-700 Controller

    6.1.5. CR3D-700 controller Open the door of the robot controller. The R700CPU unit is installed in the right end. Remove one interface cover of the option slots 1-3 in the CPU unit, and mount the CC-Link interface card there. Please use the handle of the interface card at mounting of the interface card. R700CPU unit R700CPU unit Interface cover...

  • Page 31: Connection Between Cc-Link Interface Card And Master Station

    6.2. Connection Between CC-Link Interface card and Master Station Explain the connection method for the CC-Link interface card mounted in the robot controller, and the CC-Link master-station unit. 6.2.1. Connection of one-touch connector and cable only for CC-Link Connection method of the cable for CC-Link only prepared by the customer and one-touch connector attached to this product is shown in the following.

  • Page 32: Connection Of Cc-Link Master-Station Unit And Cable Only For Cc-Link

    6.2.2. Connection of CC-Link master-station unit and cable only for CC-Link The connection method of the CC-Link master-station unit prepared by the customer and the CC-Link cable is shown in the following. (1) Stick another side of the CC-Link cable by pressure. ・...

  • Page 33: Connection Of The One-Touch Connector And The Cc-Link Interface Card

    6.2.3. Connection of the one-touch connector and the CC-Link interface card The connection method of the one-touch connector (cable only for cc-Link) and the CC-Link interface card is shown in the following. (1) Connect the one-touch connector to the on-line connector for communication. Also connect the terminator if needed.

  • Page 34: Cc-Link Communication Cable Wiring Of Two Or More Set Connection

    6.2.4. CC-Link communication cable wiring of two or more set connection If two or more slave stations connected, prepare one more CC-Link cable connected to the one-touch connector, and connect as shown in the following Figure 6.2-2 The example of one-touch connector connection for two or more station connection Terminator Terminat Shield...

  • Page 35: Measure Against Noise

    6.2.5. Measure against noise Because of the measure against the noise, please peel the sheath of the CC-Link cable, and the ground clamp of the metal braid section at the case, and mount the ferrite core (recommendation article: E04SR301334 * SEIWA ELECTRIC MFG.) on less than 30cm from the clamp position. The connection method by controller is shown in the following.
  • Page 36 (3) CR1D-700 controller Rear cover Cable ground clamp position （Ground clamp attachments） Less than 30cm CC-Link cable Ferrite core （Customer preparation） （attachments） Figure 6.2-6 Connection of the CC-Link cable (CR1D-700 controller) (4) CR2D-700 controller Rear cover Cable ground clamp position （Ground clamp attachments）...
  • Page 37 (5) CR3D-700 controller R700CPU unit CC-Link cable （Customer preparation） Cable ground clamp position （Ground clamp attachments） Ferrite core （attachments） Less than 30cm Figure 6.2-8 Connection of the CC-Link cable (CR3D -700 controller) *1） Cable ground clamp position Sheath Sheath シース シース...

  • Page 38: Checking Connections

    6.3. Checking Connections Check the following connections again before using the CC-Link interface card. Table 6.3-1 Checking Connections Check item Check Is the CC-Link interface card securely installed in slot of the controller? Are the CC-Link cables between the CC-Link interface card and the external devices you provided connected properly? Are the rotary switches and DIP switches on the card set correctly? Is a terminal resistor installed?

  • Page 39: Basic Communication Procedure

    7. Basic Communication Procedure This chapter describes the operations from creating a master station's CC-Link program to establishing a communication by running the sample ladder program provided with this product, using a system configured with one CC-Link interface card connected to one PLC master station module (one-to-one connection). The sample ladder program provided starts up robot program No.

  • Page 40: Setting The Parameter Of Cc-Link Master Station

    7.1. Setting the parameter of CC-Link master station Set it as the CC-Link master station that the robot's CC-Link interface card exists on the CC-Link network. In case of Q series of the MELSEC sequencer, explain to the example the case that the utility for setting the parameter for CC-Link communication is used.
  • Page 41 (7) Click the "Station information" button and set up the slave station. Setting Item Details Initial value example Station classification The robot's CC-Link interface card specifies the "Ver.2 intelligent device station." Ver.1 remote I/O station Ver.1 remote device In case of the 2nd switch (cc-Link station version) of DIP switch SW1 on the Ver.1 remote...

  • Page 42: Set The Parameter Of The Robot Controller

    7.2. Set the parameter of the robot controller Explain the setting method of the special I/O parameter required to execute the sample rudder program shown in appendix, and operate the CC-Link interface card. Please refer to separate manual "Detailed description of the function and operation" for details of the robot controller parameter.

  • Page 43: Setup Of Special I/Oparameter

    7.2.2. Setup of special I/O parameter To execute in the appendix sample rudder program, so the MELSEC sequencer control the robot controller, set up the special I/O parameter as shown below. After the setup turn off the power supply once of robot controller, because of to enable the parameter. Table 7.2-2 Special I/O parameter Parameter Setting...

  • Page 44: Creating A Master Station Cc-Link Program

    7.3. Creating a Master Station CC-Link Program This section describes the procedure for creating a program that allows the CC-Link master station module to communicate using a one-to-one connection with the CC-Link interface card of the robot. 7.3.1. Signal map of master station and robot With the specified station number or setting values of the parameter "CCFIX", the refreshment device of the signal number and the master station used by the robot program changes.

  • Page 45: Flow Chart Of Sample Rudder Program

    7.3.3. Flow chart of sample rudder program The flow chart explains the details of processing of the sample rudder program attached to the appendix. Start 開始 State confirmation of the Program selection マスタ局ユニットの状態確認 プログラム選択可？ master-station unit （M1ﾃﾞﾊﾞｲｽがON） is possible. Data link state confirmation Program selection プログラム選択...

  • Page 46: Create The Robot Program N O . 1

    7.4. Create the robot program No. 1 Use RT ToolBox2/RT ToolBox3 (personal computer support software) or the teaching pendant, and create the robot program No. 1. Refer to separate manual "Detailed description of the function and operation" for the creation method. The simple example of the program shown in the following Mov PHOME ' Move to the safety point.

  • Page 47: Example Of Change Of System Configuration

    7.6. Example of change of system configuration Explain the details which change the system configuration into two or more connection of slave stations from 1 to 1 connection. 7.6.1. Add the 2nd robot controller The procedure of setup of when adding one robot controller to the master station and one robot controller system is shown in the following.
  • Page 48 Allocation of the refreshment device of the signal number and master station which are used by the robot program in this system is as follows. Table 7.6-2 Signal allocation map of the master station and the robot (remote signal) Master station Robot Robot Master station...

  • Page 49: Add The Robot Controller To The System Which Four Slave Stations Are Connected

    7.6.2. Add the robot controller to the system which four slave stations are connected. The procedure of setup of when adding one robot controller to the master station and four slave station system is shown in the following. Table 7.6-4 CC-Link setting conditions of slave station and robot controller Robot Station Number of...
  • Page 50 Allocation of the refreshment device of the signal number and master station which are used by the robot program in this system is as follows. Table 7.6-5 Signal allocation map of the master station and the robot (remote signal) Master station Robot Robot Master station...

  • Page 51: Troubleshooting

    8. Troubleshooting Please read this chapter first if you suspect that some failure has occurred. 8.1. List of Errors Table 8.1-1 List of Errors Error Error message Cause Action CC-Link card is illegal (Error CC-Link card is illegal. Please exchange the CC-Link 7700 Code).

  • Page 52: When 7760 Errors ( Abnormalities In Cc -Link Initialization ) Occur

    8.3. When 7760 errors occur (abnormalities in cc-Link initialization) Please confirm the next item, when you cannot solve, even if measures. Please refer to the following table, in case of there is no error code shown in the tail end of the error message in the parenthesis in "the cc-Link system master local unit user's manual (volume on details)."...

  • Page 53: Appendix

    9. Appendix 9.1. Sample Ladder Program The example of the sample rudder program for Q series sequencers of MELSEC is shown below. This sample rudder program is programmed to operate program No. 1 automatically, if the mode of the controller is changed to "Automatic". Under the Master-station data linking master...
  • Page 54 Y1005 Program Program select number request timer (Y1004 Program Program number number request request timer X1004 Program DIODATA Program Complete number (for program number of program outputting number selection. confirmation) X1002 (Y1002 Complete Servo-on Under of program command servo-on selection X1002 X1006 (Y1006...
  • Page 56 Feb., 2018 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

This manual is also suitable for:

Melfa cr750-d seriesMelfa cr751-d seriesMelfa crnd-700 series

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