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

Mitsubishi Electric CR800-D Series Function Instruction Manual

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CR800-D series controller
GOT Direct Connection
Extended Function Instruction Manual
-CR800-D

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  • Page 1 CR800-D series controller GOT Direct Connection Extended Function Instruction Manual -CR800-D...

  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS Read the separate Safety Manual thoroughly before using this product. Take precautions as necessary. Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only.
  • Page 4 ● All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.) Enforcement of safety training ● For teaching work, prepare a work plan related to the methods and procedures of operating the robot, and to the measures to be taken when an error occurs or when restarting.
  • Page 5 B. This shows precaution points given in the "Safety Manual". For details, please read the text of the "Safety Manual". ● 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. must be designed by the customer.
  • Page 6 ● Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.) ● Transport the robot with the designated transportation posture. Transporting the robot in a non-designated posture could lead to personal injuries or faults from dropping.
  • Page 7 (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 8: Cr800 Controller

    CR800 controller Notes of the basic component are shown. Please install the earth leakage breaker in the primary side power supply of thecontroller because of leakage protection. ACIN cable connection Groove for main Three phase Single phase <1> <2> Controller rear key (wide) AC200V AC200V...

  • Page 9: Cr860 Controller

    CR860 controller Cautions for the basic system structure are shown below. 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. Power cable Power cable Capcon...

  • Page 10: Connecting The Grounding Wire

    Press down the terminal cover of the earth leakage breaker (removed in step 3) until the cover snaps into place. Close the controller front door, then fix it using the front door fixing screws. IP54 cannot be satisfied unless the front door fixing screws are fixed.

  • Page 11: Introduction

    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 SAFETY PRECAUTIONS ..............1 CR800 controller .
  • Page 13 Data List ................47 Timing Chart .

  • Page 14: Chapter 1 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. (The CPU buffer memory is extended.)

  • Page 15: Features

    Features 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

    CPU buffer Memory Configuration Here, describes the CPU buffer memory configuration among the GOT. 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

    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. (1) Robot input (GOT output) area (2) Robot output (GOT input) area CPU buffer...

  • Page 18: Chapter 2 Preparation For Using Extended Function

    Preparation for Using Extended Function Operation flow Start Set up robot's parameters ●Sets up parameter IQMEM. To enable the extended function, set bit 0 to one. ●Set robot language to "MELFA BASIC V" or "MELFA BASIC VI." Turn OFF the power supply and turn on ●To validate the parameter, turn off the power once.

  • Page 19: Check Robot Language Setting

    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" to 2 or 3. For information on how to set up a parameter, refer to the CR800 Series Controller INSTRUCTION MANUAL Detailed explanations of functions and operations (BFP-A3478).

  • Page 20: Chapter 3 Monitor Robot Information

    Monitor Robot Information The table below lists the robot information that can be monitored from the GOT. Item Description I/F betw Robots Update Cycle Mechanism Reference No. Setting (necessary) Page 22 Monitor operation Monitors the setting values relating to Monitoring output 3.5ms control setting operation control command and operation...

  • Page 21: Operation Flow

    Operation Flow Start Prepare for Using Extended Function Select monitoring items Select items to be monitored from the GOT. →The robot outputs the signal "Function performing" of the monitoring Is the function selected by function. the robot side? Select mechanism Select the mechanism number from the GOT.

  • Page 22: Select Monitoring Items

    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 and after. Page 22 Monitoring Item GOT output data Word data GOT Addr (off set)

  • Page 23: Timing Chart

    Timing Chart The figure below is the timing chart for selecting monitoring items and the target mechanism. GOT Robot Select function, bit 4 (Monitor current and aimed positions) Select function, bit 6 (Monitor maintenance information) Specify mechanism number. Performing function, bit 4 (Monitor current and aimed positions) Performing function, bit 6...

  • Page 24: Monitoring Item

    Monitoring Item Monitor Operation Control Setting Values Here, periodically outputs the robot's operation control commands and the setting values for operation control to the CPU buffer memory. Monitoring data list GOT Addr (off set) Description Supported Update Cycle State Variable ColChk setting value Collision detection setting [0: Invalid/ 1: Valid (error 3.5ms...
  • Page 25 Precautions When the target mechanism does not exist When the target mechanism does not exist, the data is output as "0". ColChk output The value below is output as ColChk: • When multiple mechanisms are in use or when element 1 of parameter COL is set to "0" (collision detection not available) •...

  • Page 26: Monitor Activities

    Monitor Activities Here, periodically outputs the robot's activities (current speed, arrival factor to the aimed position, etc.) to the CPU buffer memory. Monitoring data list GOT Addr (off set) Description Supported Update Cycle State Variable Current instruction speed [10 mm/s] M_RSpd 3.5ms Current distance remained [10...

  • Page 27: Monitor Current And Aimed Positions

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

  • Page 29: Monitor Position And Joint Information

    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 Timing chart The figure below is the Joint data output timing chart. 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) (1) When the GOT selects "Joint data selection-1,"...
  • Page 31 Position and Joint Data Data list • Robot output GOT Addr (offset) Description Position data [1 - 4] X coordinate value 1: XYZ feedback position 2: (Reserved) Y coordinate value 3: (Reserved) 4: Direction at the time of collision Z coordinate value A coordinate value B coordinate value C coordinate value...
  • Page 32 GOT Addr (offset) Description Joint data-2 [1 - 13] J1 coordinate value The data is similar to Joint data-1. J2 coordinate value J3 coordinate value J4 coordinate value J5 coordinate value J6 coordinate value J7 coordinate value J8 coordinate value Joint data-3 [1 - 13] J1 coordinate value The data is similar to Joint data-1...
  • Page 33 Data description The table below lists the content of each data item. Item Description Setting Value (unit) Supported Update cycle State Variable Position 4: Direction at the time of Robot's direction when the collision is Divides the direction at the P_ColDir 3.5ms data...

  • Page 34: Monitor Maintenance Information

    Monitor Maintenance Information Here, periodically outputs the robot’s scheduled maintenance data (grease and belt remaining times) to the CPU buffer memory. Monitoring data list GOT Addr (offset) Description Update Cycle (Reserved) Updated at scheduled interval set up in the second element of parameter "MFINTVL"...

  • Page 35: Chapter 4 Reads/Writes Robot's Variables

    Reads/Writes Robot's Variables Function Description Function list The table below lists the program operations that can be performed from the GOT. Item Description Robot's response time Read numeric variable Reads variable content by specifying slot number and variable name. Answered within 1sec (it may vary according to Write numeric variable Rewrites variable content by specifying slot number, variable name, and variable content.

  • Page 36: How To Operate Variables

    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: Data List

    Data List GOT output data  Word data Setting values when specifying ASCII character for variable and program names Item Setting Value for Specifying ASCII Character Addr Numeric Var Position Var Joint Var Numeric Var Numeric Var (offset) (Integer) (Long-precision (Single-precision integer number) real number)
  • Page 38  Bit signal GOT Address Description Addr (offset) Bit position Request for variable operation Robot output data  Word data Setting values when specifying ASCII character for variable and program names Item Setting Value for Specifying ASCII Character Addr Numeric Var Position Var Joint Var Numeric Var...

  • Page 39: Completion Status

    Bit signal  GOT Address Description Addr (offset) Bit position Variable operation completed Completion status The values below are established as completion status: Setting Value Description 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 (Reserved)

  • Page 40: Slot Number

    Data description Function No. Select the target function. 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). Slot number Select the target slot. In general, specify a value between 1 and the value of parameter TASKMAX (factory default: 8).
  • Page 41 Variable data: numeric variable (Integer)] • One word is prepared for a numeric variable and only an integer can be specified. • Therefore, its range is between -32768 and 32767, and digits after decimal point are discarded. Variable data: numeric variable (Long-precision integer number)] •...

  • Page 42: Timing Chart

    Timing Chart The figure below is the Variable operation timing chart. GOT Robot Function No. Slot No. Variable Name (Variable data) Request for variable operation Variable operation completed Completion status Function No. Slot No. Program name Variable Name Variable data (1) The GOT sets up "Function number", "Slot number", "Variable name", and "Variable data"...

  • Page 43: Chapter 5 Read Current Line Of Robot Program

    Read Current Line of Robot Program Function Description Function list The table below lists the program operations that can be performed from the GOT. Item Description Robot's Response Time Read program's • Reads currently performing robot program (one line, 128 characters) by specifying a slot Responds within 1s current line number.

  • Page 44: How To Operate Program

    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 45 Robot output data Word data GOT Addr (offset) Item Setting Value for Specifying ASCII Character Program Read current line Completion status Completion status [1: OK/ other than 1: NG] Function No. Slot No. Slot number [1 to the value of parameter TASKMAX] Program name Program name, ASCII data, up to 12 characters Line No.
  • Page 46 Data description Function No. Selects the target function. Function number setting allows you to select a work type (read current line) and specify a program name (designation of ASCII character). Slot number Select the target slot. Specify a value (factory default: 8) in the range between 1 and the value of parameter TASKMAX. Program name ASCII characters of the output program name.

  • Page 47: Timing Chart

    Timing Chart The figure below is the Program operation timing chart. GOT 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 (1) The GOT sets up necessary data of "Function number", "Slot number", "Program name", "Line number", and "Program data"...

  • Page 48: Chapter 6 Set Up Robot's Maintenance

    Set up Robot's Maintenance Function Description Function list The table below lists the maintenance settings that can be configured from the GOT. Item Description Robot's Response Time Reset maximum servomotor Resets the servo monitor's maximum values (current value, load factor, etc.) stored Responds within 1s (it may value by robot to zero.

  • Page 49: How To Operate Maintenance

    How to Operate Maintenance Here, in the GOT, operates the maintenance setting by specifying function number and setting data corresponding to the function. Function number setting allows you to select function items. Data List GOT output data Word data GOT Addr (offset) Item Setting Value Reset Servo Monitor's Maximum/Minimum Values...
  • Page 50 Completion status The values below are established as completion status: Setting Value Description Successfully completed Specified "Function number" and "Mechanism number" are out of range (including instances where the target mechanism does not exist). (Not used) No target function (the function specified by target mechanism does not exist) NG because of a factor other than 2 to 4 Data description Function No...

  • Page 51: Timing Chart

    Timing Chart The figure below is the Maintenance function timing chart. GOT Robot Function No. (Setting data) Request for maintenance setting Maintenance setting completed Completion status Function No. (Setting data) (1) The GOT sets up necessary data of "Function number" and "Setting data" and turns ON "Request for maintenance setting."...

  • Page 52: Chapter 7 Read Robot Information

    Read Robot Information Function Description Function list The table below list the robot information reading operations that can be performed from the GOT. Item Description Robot's Response Time Read error information Reads the detailed error information generated in the robot. Responds within 1s (it When multiple errors occur, three information can be read at the same time, and the may vary according to the...

  • Page 53: How To Operate Robot Information

    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. Data List GOT output data Word data GOT Addr (offset) Item Setting Value Read Error Information...
  • Page 54 Robot output data Word data GOT Addr (offset) Item Setting Value Read Error Information Read Product Information Completion status Completion status [1: OK/ other than 1: NG] Function No. Read data Start number [1 -] (Not used) Number of errors occurred Robot type name [ASCII data, up to 20 characters] Information 1 (error No.)
  • Page 55 Bit signal GOT Address Description Addr (offset) Addr (offset) Reading information completed Completion status The values below are established as completion status: Setting Value Description Description Specified "Function number" out of range Specified "Setting data" out of range NG because of a factor other than 2 and 3 Data description Function No.

  • Page 56: Timing Chart

    Timing Chart The figure below is the Information reading timing chart. GOT Robot Function No. (Start No.) Request for reading information Reading information completed Completion status Function No. (Start No.) Read data (1) The GOT sets up necessary data of "Function number" and "Start number" and turns ON "Request for reading information."...

  • Page 57: Chapter 8 Function Relevant Parameter

    Function Relevant Parameter Function Definition Parameter Parameter Parameter Array Qty Description Factory Default Name Character Define function IQSPEC 1 digit integer 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 memory 0: Reads/writes in order from first to last address 1: Reads in order from first to last address, writes in order from last to first address (communication specification among robot CPU of GOT)
  • Page 58 MEMO 8 Function Relevant Parameter 8.1 Function Definition Parameter...

  • Page 59: Chapter 9 Extended Function Relevant Error List

    Extended Function Relevant Error List 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. The parameter RLNG=1 (MELFA-BASIC IV) is selected while CPU buffer memory extended function is valid.
  • Page 60 MEMO 9 Extended Function Relevant Error List...

  • Page 61: Revisions

    • Corrected mistakes. This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 62: Trademarks

    TRADEMARKS No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi. The contents of this manual are subject to change without notice. The specifications values are based on Mitsubishi standard testing methods. The information contained in this document has been written to be accurate as much as possible.
  • Page 64 BFP-A3546-G(2405)MEE 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 Specifications subject to change without notice.

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