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

Mitsubishi Electric CR800-D Series Instruction Manual

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Mitsubishi Electric Industrial Robot
CR800-D series controller
GOT Direct Connection
Extended Function Instruction Manual
BFP-A3546-F

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  • Page 1 Mitsubishi Electric Industrial Robot CR800-D series controller GOT Direct Connection Extended Function Instruction Manual BFP-A3546-F...
  • 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 (VPNs), and antivirus solutions. Mitsubishi Electric shall have no responsibility or liability for any problems involving robot trouble and system trouble by unauthorized access, DoS attacks, computer viruses, and other cyberattacks.
  • Page 7 *CR800 controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side power supply of the controller because of leakage protection. ACIN cable connection Groove for main Three phase Single phase <1> <2> Controller rear key (wide) AC200V...
  • Page 8 *CR860 controller Cautions for the basic system structure are shown below. CAUTION When installing or connecting a unit or cable to inside the robot controller, do not touch the conductive parts, circuit boards, or electronic components directly. Failure to observe this may result in malfunction or failure of the controller.
  • Page 9 11) Connect the grounding wire for protective grounding to the grounding terminal (for protective grounding) (M6 screw) located next to the power cable clamp (Capcon). Grounding terminal (for protective grounding) Grounding wire for protective grounding Power cable clamp (Capcon) • Connecting the grounding wire When functional grounding is required, connect a grounding wire to the unused part on the grounding plate in section B.
  • Page 10 Revision history Date of print Specifications No. Details of revisions 2017-05-17 BFP-A3546 • First edition created 2018-03-01 BFP-A3546-A • Safety Precautions was revised. (The CR800-Q controller was added.) 2018-12-25 BFP-A3546-B • Added further explanation of the ACIN cable. 2020-10-30 BFP-A3546-C •...
  • Page 11 *Introduction Thank you for buying the industrial robot MELFA manufactured by Mitsubishi Electric. This manual explains the expanded function and operation when connecting the robot controller and the GOT directly in CR800-D series robot controller. Monitoring of the robot information and the setup of the data are possible through the CPU buffer memory.

  • Page 12: Table Of Contents

    Contents Page 1 Overview ............................1-1 1.1 Function List ..........................1-1 1.2 Features ............................ 1-2 1.3 CPU buffer Memory Configuration .................... 1-3 1.3.1 Memory Configuration for Valid/Invalid Extended Function ..........1-3 1.3.2 Memory Map of Extended Function Area ................1-4 2 Preparation for Using Extended Function ..................
  • Page 13 Contents Page 7.3.1 Data List ..........................7-39 7.3.2 Timing Chart ........................7-42 8 Function Relevant Parameter ....................... 8-43 8.1 Function Definition Parameter ....................8-43 9 Extended Function Relevant Error List ..................9-44...

  • Page 14: Overview

    This manual explains the expanded function and operation when connecting the robot controller and the GOT directly in CR800-D series robot controller. Monitoring of the robot information and the setup of the data are possible through the CPU buffer memory.

  • Page 15: Features

    1Overview 1.2 Features (1) Fulfilling functions to monitor and operate robot from GOT. Advances T/B and PC-less solution. → Various functions can be performed by reading/ writing the data in CPU buffer memory from GOT. ● Allows you to check activities, position information, and setting values of operation control command and thereby analyze the operation in case of debugging or problem.

  • Page 16: Cpu Buffer Memory Configuration

    1Overview 1.3 CPU buffer Memory Configuration Here, describes the CPU buffer memory configuration among the GOT. 1.3.1 Memory Configuration for Valid/Invalid Extended Function To use the CPU buffer memory extended functions, enable the CPU buffer memory extended functions with the parameter "IQMEM". After enabling the CPU buffer memory extended functions, the CPU buffer memory is used by extending the robot I/O area by 0.5 K word.

  • Page 17: Memory Map Of Extended Function Area

    1Overview 1.3.2 Memory Map of Extended Function Area The table below lists the memory map of extended function area in the CPU buffer memory among the GOT. * The GOT address is described in the offset address from start address. * When not otherwise specified, the values are stored in binary format.

  • Page 18: Preparation For Using Extended Function

    2Preparation for Using Extended Function 2 Preparation for Using Extended Function 2.1 Operation flow Start ● Sets up parameter IQMEM. … Set up robot's parameters To enable the extended function, set bit 0 to one. (Refer to Page 5, "2.1.1 Set up Parameter for Selecting CPU buffer Memory Extended Function") ●...

  • Page 19: Check Robot Language Setting

    2Preparation for Using Extended Function 2.1.2 Check Robot Language Setting The CPU buffer memory extended functions can be carried out only when the robot language is set to MELFA-BASIC V or MELFA-BASIC VI. Check the value of robot language setting parameter "RLNG". To use the CPU buffer memory extended function, set the parameter "RLNG"...

  • Page 20: Monitor Robot Information

    3Monitor Robot Information 3 Monitor Robot Information Table 3-1 lists the robot information monitored from GOT. Table 3-1:Monitoring item list Mecha No Section Item Description I/F betw Robots Update Cycle Setting Monitor operation Monitors the setting values relating to Monitoring output 3.5ms "3.2.1"...

  • Page 21: Operation Flow

    3Monitor Robot Information 3.1 Operation Flow Start … Prepare for Using Extended Function Refer to Page 5, "2 Preparation for Using Extended Function". Select monitoring items Select items to be monitored from the GOT. The robot outputs the signal "Function performing" of the moni- Is the function selected by toring function.

  • Page 22: Select Monitoring Items

    3Monitor Robot Information 3.1.1 Select Monitoring Items Here, selects the monitoring functions output by the robot from the GOT. Only the data specified by items (set to "1") selected with each bit can be monitored. For more information on each monitoring data, refer to Page 11, "3.2 Monitoring Item"...

  • Page 23: Timing Chart

    3Monitor Robot Information 3.1.3 Timing Chart Sequencer GOT Robot Robot Select function, bit 4 (Monitor current and aimed positions) Select function, bit 6 (Monitor maintenance information) Specify mecha Performing function, bit 4 (Monitor current and aimed positions) Performing function, bit 6 (Monitor maintenance information) Mecha No...

  • Page 24: Monitoring Item

    3Monitor Robot Information 3.2 Monitoring Item 3.2.1 Monitor Operation Control Setting Values Here, periodically outputs the robot's operation control commands and the setting values for operation con- trol to the CPU buffer memory. (1) Monitoring data list Supported GOT Addr Update Description State...
  • Page 25 3Monitor Robot Information <Precautions> ● When the target mecha does not exist, outputs the data zero. ● The value below is output as ColChk: - When multiple mechas are in use or when the element 1 of parameter COL is zero (collision detection unavailable), →...

  • Page 26: Monitor Activities

    3Monitor Robot Information 3.2.2 Monitor Activities Here, periodically outputs the robot's activities (current speed, arrival factor to the aimed position, etc.) to the CPU buffer memory. (1) Monitoring data list GOT Addr Supported Update Description (offset) State Variable Cycle 810 Current instruction speed [10 M_RSpd mm/s] 812 Current distance remained [10...

  • Page 27: Monitor Current And Aimed Positions

    3Monitor Robot Information 3.2.3 Monitor Current and Aimed Positions Here, periodically outputs robot's current and aimed positions to the CPU buffer memory. (1) Monitoring data list GOT Addr Update Description (offset) Cycle 3.5ms X coordinate value [10 mm/10 deg] Y coordinate value [10 mm/10 deg] Z coordinate value [10...
  • Page 28 3Monitor Robot Information GOT Addr Update Description (offset) Cycle J1 coordinate value [10 mm/10 deg] J2 coordinate value [10 mm/10 deg] J3 coordinate value [10 mm/10 deg] J4 coordinate value [10 mm/10 deg] Current position (joint) J5 coordinate value [10 mm/10 deg] J6 coordinate value [10...

  • Page 29: Monitor Position And Joint Information

    3Monitor Robot Information 3.2.4 Monitor Position and Joint Information Here, periodically outputs the robot's various position type and joint type data to the CPU buffer memory. The GOT selects the data output by the robot. The area exists for one pieces of position type data and three pieces of joint type data and the data output for monitoring can be individually set by the GOT.
  • Page 30 3Monitor Robot Information (2) Timing chart Sequencer Robot GOT Robot Joint data number-1 Joint data number-1 Joint data 1: Current 12: Axis load 5: Current number-1 instruction level instruction The data is updated periodically while outputting setting values (monitoring output) Fig.3-2:Joint data output, Timing chart (1) When the GOT selects "Joint data selection-1,"...

  • Page 31: Position And Joint Data

    3Monitor Robot Information (2) Position and Joint Data (1) Data list b) Robot output GOT Addr Description (offset) X coordinate value Y coordinate value Z coordinate value A coordinate value Position data [1 - 4] B coordinate value Note1) 1: XYZ feedback position 2: (Reserved) 3: (Reserved) C coordinate value...
  • Page 32 3Monitor Robot Information GOT Addr Description (offset) J1 coordinate value J2 coordinate value J3 coordinate value J4 coordinate value Joint data-3 [1 - 13] * The data is similar to Joint data-1 J5 coordinate value J6 coordinate value J7 coordinate value J8 coordinate value Note1) Supported with controller software version A5m or later.
  • Page 33 3Monitor Robot Information (2) Data description The table below lists the content of each data item. Supported Item Description Setting Value (unit) State Update cycle Variable Divides the direction at P_ColDir 3.5ms the time of collision to (User mechanism is enabled: 7.1ms) components X, Y, Z.

  • Page 34: Monitor Maintenance Information

    3Monitor Robot Information 3.2.5 Monitor Maintenance Information Here, periodically outputs the robot’s scheduled maintenance data (grease and belt remaining times) to the CPU buffer memory. (1) Monitoring data list GOT Addr Description Update Cycle (offset) (Reserved) Grease remaining time - J1 axis [Hr] Grease remaining time - J2 axis [Hr] Grease remaining time - J3 axis [Hr] Grease remaining time - J4 axis [Hr]...

  • Page 35: Reads/Writes Robot's Variables

    4Reads/Writes Robot's Variables 4 Reads/Writes Robot's Variables 4.1 Function Description (1) Function list The table below lists the variable operations performed from the GOT: Table 4-1:Variable operation function list Robot's Item Description response time Read numeric variable Reads variable content by specifying slot number and variable name. Rewrites variable content by specifying slot number, variable name, and vari- Write numeric variable able content.

  • Page 36: How To Operate Variables

    4Reads/Writes Robot's Variables 4.3 How to Operate Variables Here, in the GOT, operates the robot's variables (read/ write variables) by specifying function number, slot number, variable name, and variable data. Function number setting allows you to select work type (read/ write variable) and variable type (numeric/ position/ joint variables) and specify a variable name (designation of ASCII character).

  • Page 37: Robot Output Data

    4Reads/Writes Robot's Variables 2) Bit signal GOT Address Description Addr (offset) Bit position 0 Request for variable operation (2) Robot output data 1) Word data Setting values when specifying ASCII character for variable and program names Setting Value for Specifying ASCII Character Numeric Var Numeric Var GOT Addr...

  • Page 38: Completion Status

    4Reads/Writes Robot's Variables 2) Bit signal GOT Address Description Addr (offset) Bit position 0 Variable operation completed (3) Completion status The values below are established as completion status: Setting Description Value Successfully completed Specified data (function number, slot number, variable number, element number, or external variable specification) out of range Program not selected for the target slot Target variable does not exist...
  • Page 39 4Reads/Writes Robot's Variables <ASCII data setting example> • Set up the data in order from low to high byte of start address. • Specify zero as a terminating code. (Be compliant with the character input specification of the GOT) CPU buffer memory addr "1A023"...

  • Page 40: Timing Chart

    4Reads/Writes Robot's Variables • When the data is successfully written into a variable, the variable data in the robot after the writing is read again and sent. Therefore, even when writing into a position or joint variable is successfully ended, the data specified by the GOT may be different from the data to be sent by the robot.

  • Page 41: Read Current Line Of Robot Program

    5Read Current Line of Robot Program 5 Read Current Line of Robot Program 5.1 Function Description (1) Function list Table 5-1 lists the program operations performed from the GOT. Table 5-1:Program operation function list Robot's Response Item Description Time Responds within 1s Reads currently performing robot program (one line, 128 charac- ...

  • Page 42: How To Operate Program

    5Read Current Line of Robot Program 5.3 How to Operate Program Here, in the GOT, operates the robot program by specifying function number, slot number, program name, and program data. Setting function number to '103' allows you to select a work type (read current line) and specify a program name (designation of ASCII character).
  • Page 43 5Read Current Line of Robot Program (2) Robot output data 1) Word data Setting Value for Specifying ASCII Character GOT Addr Item (offset) Program Read current line Completion status Completion status [1: OK/ other than 1: NG] Function No Slot number Slot No [1 to the value of parameter TASKMAX] Program name...
  • Page 44 5Read Current Line of Robot Program (3) Completion status The values below are established as completion status: Setting Description Value Successfully completed Specified data (function number, slot number, program number) out of range Program not selected for the target slot (Reserved) (Reserved) (Reserved)
  • Page 45 5Read Current Line of Robot Program [Number of program characters] Outputs the number of characters of target line in the target program. Count and specify the number of characters from the leading to final character (exclusive of line feed/ ter- minating characters) including comment line (exclusive of line number).

  • Page 46: Timing Chart

    5Read Current Line of Robot Program 5.3.2 Timing Chart GOT Robot Sequencer Robot Function No Slot No (Program name) (Line No) (Program data) Request for program operation Program operation completed Completion status Function No Slot No Program name Line No Program data Fig.5-1:Program operation timing chart (1) The GOT sets up necessary data of "Function number", "Slot number", "Program name", "Line num-...

  • Page 47: Set Up Robot's Maintenance

    6Set up Robot's Maintenance 6 Set up Robot's Maintenance 6.1 Function Description (1) Function list Table 6-1 lists the maintenance setting performed from the GOT. Table 6-1:Maintenance setting function list Robot's Item Description Response Time Responds within 1s (it may vary Reset maximum ser- Resets the servo monitor's maximum values (current value, load factor, etc.) according to the...

  • Page 48: How To Operate Maintenance

    6Set up Robot's Maintenance 6.3 How to Operate Maintenance Here, in the GOT, operates the maintenance setting by specifying function number and setting data corre- sponding to the function. Function number setting allows you to select function items. 6.3.1 Data List (1) GOT output data 1) Word data Setting Value...
  • Page 49 6Set up Robot's Maintenance (3) Completion status The values below are established as completion status: Setting Description Value Successfully completed Specified "Function number" and "Mecha number" are out of range (including the case that the target mecha does not exist). (Not used) No target function (the function specified by target mecha does not exist) NG because of a factor other than 2 to 4...

  • Page 50: Timing Chart

    6Set up Robot's Maintenance 6.3.2 Timing Chart Seque Robot GOT Robot Function No (Setting data) Request for maintenance setting Maintenance setting completed Completion status Function No (Setting data) Fig.6-1:Maintenance function timing chart (1) The GOT sets up necessary data of "Function number" and "Setting data" and turns ON "Request for maintenance setting."...

  • Page 51: Read Robot Information

    7Read Robot Information 7 Read Robot Information 7.1 Function Description (1) Function list Table 7-1 lists the robot information reading performed from the GOT. Table 7-1:Robot information reading function list Robot's Item Description Response Time Reads the detailed error information generated in the robot. Responds within 1s When multiple errors occur, three information can be read at the same (it may vary...

  • Page 52: How To Operate Robot Information

    7Read Robot Information 7.3 How to Operate Robot Information Here, reads the robot information from the GOT by specifying function number and setting data. Function number allows you to select the robot information to be read. 7.3.1 Data List (1) GOT output data 1) Word data Setting Value GOT Addr...
  • Page 53 7Read Robot Information (2) Robot output data 1) Word data Setting Value GOT Addr Item Read Error Read Product (offset) Information Information 680 Completion status Completion status [1: OK/ other than 1: NG] 681 Function No Start number [1 -] (Not used) Number of errors occurred...
  • Page 54 7Read Robot Information 2) Bit signal GOT Address Description Addr Addr (offset) (offset) 3 Reading information completed (3) Completion status The values below are established as completion status: Setting Description Value Successfully completed Specified "Function number" out of range Specified "Setting data" out of range NG because of a factor other than 2 and 3 (4) Data description [Function No]...

  • Page 55: Timing Chart

    7Read Robot Information 7.3.2 Timing Chart GOT Robot Sequencer Robot Function No (Start No) Request for reading information Reading information completed Completion status Function No (Start No) Read data Fig.7-1:Information reading timing chart (1) The GOT sets up necessary data of "Function number" and "Start number" and turns ON "Request for reading information."...

  • Page 56: Function Relevant Parameter

    8Function Relevant Parameter 8 Function Relevant Parameter 8.1 Function Definition Parameter Array Qty Parameter Parameter Character Description Factory Default Name Define function IQSPEC 1 digit inte- Set up function for robots. 0000000000000001 Set each function allocated by each bit. 0000000000000000 bit1-15: Not used +--- bit0: Direction to write into CPU buffer...

  • Page 57: Extended Function Relevant Error List

    9Extended Function Relevant Error List 9 Extended Function Relevant Error List (1) Error occurred when MELFA-BASIC IV is selected while CPU buffer memory extended function is valid Error No Error Cause and Measure L3994 Error message Shared memory extended function unavailable (MB4) Cause CPU buffer memory extended function is unavailable in MELFA-BASIC IV.
  • Page 58 9Extended Function Relevant Error List 9-45...
  • Page 60 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN Sep. 2023 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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