Table Of Contents - Mitsubishi Electric MELFA CR800 Series Instruction Manual

1. FUNCTIONS AND CONFIGURATION ............................................................................................ 1-1
1.1 Overview ................................................................................................................................................... 1-1
1.2 System Configuration .............................................................................................................................. 1-2
1.3 Specifications ........................................................................................................................................... 1-3
1.4 Risk Assessment ..................................................................................................................................... 1-6
1.4.1 Residual Risk (Common) ................................................................................................................... 1-6
1.4.2 Residual Risk (Specific to Each Function) ...................................................................................... 1-6
2. INSTALLATION ............................................................................................................................... 2-8
2.1 Product Components .............................................................................................................................. 2-8
2.1.1 Accessories ......................................................................................................................................... 2-8
2.1.2 Items to be prepared by customer .................................................................................................... 2-9
2.2 Part Names ............................................................................................................................................. 2-13
2.3 Installation and Connection .................................................................................................................. 2-14
2.3.1 Fixing the safety extension unit ...................................................................................................... 2-14
2.3.2 Safety extension unit external dimensions ................................................................................... 2-15
2.3.3 Connecting with the robot controller ............................................................................................. 2-16
2.3.4 Connector and cable ........................................................................................................................ 2-19
2.4 Check Items ............................................................................................................................................ 2-20
2.5 Replacement Parts ................................................................................................................................. 2-20
2.6 Maintenance ........................................................................................................................................... 2-20
3. SIGNALS AND WIRING ................................................................................................................ 3-21
3.1 Description of Signals ........................................................................................................................... 3-21
3.1.1 Electrical specifications .................................................................................................................. 3-21
3.1.2 Signal operation ............................................................................................................................... 3-24
3.2 Connector Wiring ................................................................................................................................... 3-25
3.3 Connectors and Pin Assignment ......................................................................................................... 3-27
3.4 Input Signal Connection Example ........................................................................................................ 3-29
3.5 Measures to Prevent Static Electricity and Noise .............................................................................. 3-31
4. SAFETY MONITORING FUNCTIONS ........................................................................................... 4-32
4.1 Safety Monitoring Functions Overview ............................................................................................... 4-32
4.1.1 Simulation ......................................................................................................................................... 4-32
4.2 Startup and Basic Configuration .......................................................................................................... 4-33
4.2.1 Connecting RT ToolBox3 ................................................................................................................. 4-33
4.2.2 Parameter configuration .................................................................................................................. 4-33
4.2.3 Password setting .............................................................................................................................. 4-34
4.2.4 Enabling/disabling functions .......................................................................................................... 4-36
4.2.5 Recovery mode ................................................................................................................................. 4-37
4.2.6 Parameter CRC output number ....................................................................................................... 4-38
4.3 Defining 3D Models ................................................................................................................................ 4-40
4.3.1 3D Monitor ......................................................................................................................................... 4-40
4.3.2 Arm model ......................................................................................................................................... 4-43
4.3.3 Tool model ......................................................................................................................................... 4-44
4.4 Safety Logic Edit .................................................................................................................................... 4-46
4.4.1 Safety input settings ........................................................................................................................ 4-46
4.4.2 Safety output configuration ............................................................................................................ 4-55
4.4.3 Checking operation of the safety inputs and outputs .................................................................. 4-57
4.5 Safety Monitoring Functions ................................................................................................................ 4-58
4.5.1 Safe torque off (STO) ....................................................................................................................... 4-58
4.5.2 Safe operating stop (SOS) ............................................................................................................... 4-59
4.5.3 Safe stop 1 (SS1) .............................................................................................................................. 4-62
4.5.4 Safe stop 2 (SS2) .............................................................................................................................. 4-66
4.5.5 Safely-limited speed function (SLS) ............................................................................................... 4-69
[CONTENTS]