Table Of Contents - Mitsubishi Electric CR800-R Instruction Manual

[CONTENTS]
1. FUNCTIONS AND CONFIGURATION ............................................................................................ 1-1
1.1 Overview ................................................................................................................................................... 1-1
1.2 Supported Products................................................................................................................................. 1-2
1.3 System Configuration .............................................................................................................................. 1-3
1.4 Specifications ........................................................................................................................................... 1-6
1.5 Risk Assessment ..................................................................................................................................... 1-9
1.5.1 Residual Risk (Common) ................................................................................................................... 1-9
1.5.2 Residual Risk (Specific to Each Function) ...................................................................................... 1-9
2. SET-UP .......................................................................................................................................... 2-11
3. CONNECTIONS AND COMMUNICATION DESTINATION SETTINGS ........................................ 3-12
3.1 System Configurations and Connections ........................................................................................... 3-12
3.1.1 Robot-side system configuration ................................................................................................... 3-13
3.1.2 Safety programmable controller-side system configuration ....................................................... 3-13
3.2 Network Communication Settings ....................................................................................................... 3-14
3.3 Safety Communication Settings (Safety Programmable Controller Side) ....................................... 3-14
3.4 Creating a Safety Program .................................................................................................................... 3-15
4. SAFETY MONITORING FUNCTIONS ........................................................................................... 4-16
4.1 Overview of the Safety Monitoring Functions .................................................................................... 4-16
4.1.1 Simulation ......................................................................................................................................... 4-17
4.2 Startup and Basic Configuration .......................................................................................................... 4-18
4.2.1 Connecting RT ToolBox3 ................................................................................................................. 4-18
4.2.2 Parameter configuration .................................................................................................................. 4-18
4.2.3 Password setting .............................................................................................................................. 4-19
4.2.4 Enabling/disabling functions, safety communication settings ................................................... 4-21
4.2.5 Recovery mode ................................................................................................................................. 4-24
4.2.6 Parameter CRC output number ....................................................................................................... 4-25
4.3 Defining 3D Models ................................................................................................................................ 4-27
4.3.1 3D Monitor ......................................................................................................................................... 4-27
4.3.2 Arm model ......................................................................................................................................... 4-30
4.3.3 Tool model ......................................................................................................................................... 4-31
4.4 Safety Logic Edit .................................................................................................................................... 4-33
4.4.1 Safety input settings ........................................................................................................................ 4-33
4.4.2 Safety output configuration ............................................................................................................ 4-42
4.4.3 Checking operation of the safety inputs and outputs .................................................................. 4-43
4.5 Safety Monitoring Functions ................................................................................................................ 4-45
4.5.1 Safe torque off (STO) ....................................................................................................................... 4-45
4.5.2 Safe operating stop (SOS) ............................................................................................................... 4-46
4.5.3 Safe stop 1 (SS1) .............................................................................................................................. 4-49
4.5.4 Safe stop 2 (SS2) .............................................................................................................................. 4-52
4.5.5 Safely-limited speed function (SLS) ............................................................................................... 4-55
4.5.6 Safely-limited position function (SLP) ........................................................................................... 4-63
4.6 Safety Diagnosis Function .................................................................................................................... 4-72
4.6.1 Test pulse diagnosis (EMG)............................................................................................................. 4-72
4.7 Safety Communication Function .......................................................................................................... 4-73
4.7.1 Safety connection ............................................................................................................................. 4-73
4.7.2 Transmission interval monitoring time .......................................................................................... 4-76
4.7.3 Safety refresh monitoring time ....................................................................................................... 4-76
4.7.4 Transmission delay time .................................................................................................................. 4-77
5. ROBOT (SYSTEM) STATE VARIABLES ...................................................................................... 5-78
5.1 List of Robot (System) State Variables ................................................................................................ 5-78
5.2 Explanations of Robot (System) State Variables ................................................................................ 5-78
6. TROUBLESHOOTING .................................................................................................................. 6-83