Mitsubishi Electric CR750 Series Instruction Manual
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Mitsubishi Electric CR750 Series Instruction Manual

Mitsubishi Electric CR750 Series Instruction Manual

For industrial robot, tracking application package
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Mitsubishi Industrial Robot
CR750/CR751 series controller
Tracking Application Package
Specification/Instruction Manual
BFP-A3348-B

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Summary of Contents for Mitsubishi Electric CR750 Series

  • Page 1 Mitsubishi Industrial Robot CR750/CR751 series controller Tracking Application Package Specification/Instruction Manual BFP-A3348-B...

  • Page 3: Safety Precautions

    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. All teaching work must be carried out by an operator who has received special CAUTION 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. When automatic operation of the robot is performed using multiple control DANGER devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 When the robot arm has to be moved by hand from an external area, do not WARNING 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 Make sure there are no mistakes in the wiring. Connecting differently to the way CAUTION specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions (such as the teaching box emergency stop, customer emergency stop, and door switch) are working properly after the wiring setup is completed.
  • Page 7 ■ Revision history Date of print Manual No. Details of revisions 2015-01-06 BFP-A3348 First print 2015-03-03 BFP-A3348-A - The Instruction Manual section was added. - Notes were added to "Table 3-1: Tracking application specifications". (Note 11, Note 14, and Note 15) - Descriptions of the no-hand specification were added.
  • Page 8 ■ Introduction Thank you for purchasing an industrial robot from Mitsubishi Electric Corporation. This package product includes peripheral devices and setup support software for easy construction of the tracking application. Before using our product, make sure to read and fully understand the contents of this manual.

  • Page 9: Table Of Contents

    [CONTENTS] 1 Before using the product ................................1-1 1.1 Use of this manual .................................... 1-1 1.2 Terminology used in this manual ............................. 1-2 2 Tracking application configuration ............................2-3 2.1 Overall configuration ..................................2-3 2.1.1 Single robot (D-type controller) ............................2-3 2.1.2 Double robot (D-type controller) ............................
  • Page 10 (1) Encoder unit configuration ................................... 4-32 (2) Encoder unit drawing ....................................... 4-33 4.4.1 Encoder assembly ................................... 4-34 (1) Encoder assembly specifications ................................4-34 (2) Encoder dimensional drawing ..................................4-35 4.5 DC5V/DC24V power supply set ............................... 4-36 (1) DC5V/DC24V power supply set configuration ..........................4-36 4.5.1 DC5V/DC24V power supply ..............................
  • Page 11 (1) Single specification ......................................7-60 (2) Double specification ......................................7-61 7.3 Air piping connection diagram ..............................7-62 7.4 Noise suppression ..................................7-63 8 How to use the "MELFA-Tracking" installation CD ....................8-64 8.1 Contents of installation CD ................................ 8-64 8.2 Installation and uninstallation ..............................8-64 8.2.1 Installation ....................................
  • Page 13 1 Before using the product 1 Before using the product 1.1 Use of this manual In this manual, the methods of using the tracking application are explained in the following manner. As for the functions available in the standard robot controller and the operation method, please refer to the "Instruction Manual"...

  • Page 14: Terminology Used In This Manual

    1 Before using the product 1.2 Terminology used in this manual This manual uses the following terminology. Table 1-2: Explanation of terminology Terminology Contents Tracking function A function that allows transfer and alignment of workpiece on the conveyor without stopping it by enabling the robot to follow and suck the workpiece along the conveyor.

  • Page 15: Tracking Application Configuration

    2 Tracking application configuration 2 Tracking application configuration The necessary device configuration for constructing the tracking application is shown below. 2.1 Overall configuration Single robot (D-type controller) 2.1.1 Package Vision I/O cable Vision cable (2F-VSIOCBL-05) (2F-VSCBL-05) Encoder unit DC5V power supply set (2F-E6B2-2000) (2F-PWR05-01) Package robot...

  • Page 16: Double Robot (D-Type Controller)

    2 Tracking application configuration Double robot (D-type controller) 2.1.2 Package Vision cable Vision I/O cable Package robot (2 units) (2F-VSCBL-05) (2F-VSIOCBL-05) * Hand-installed specification (Hand and vacuum unit already installed) Encoder unit Encoder distribution set (2F-E6B2-2000) (2F-YZ581-01) Vision unit Encoder cable (2F-TRK-2DVS) (2F-ENCBL-05) Machine...

  • Page 17: Single Robot (Q-Type Controller)

    2 Tracking application configuration Single robot (Q-type controller) 2.1.3 Package Vision cable Vision I/O cable (2F-VSCBL-05) (2F-VSIOCBL-05) Encoder unit (2F-E6B2-2000) Customer-prepared items DC5V電源セット (2F-PWR05-01) Package robot * Hand-installed specification (Hand PLC unit and vacuum unit Vision unit (Base, power supply unit and PLC already installed) (2F-TRK-2DVS) CPU)

  • Page 18: Double Robot (Q-Type Controller)

    2 Tracking application configuration Double robot (Q-type controller) 2.1.4 Package Vision cable Vision I/O cable Package robot (2 units) (2F-VSCBL-05) (2F-VSIOCBL-05) * Hand-installed specification (Hand and vacuum unit already installed) Encoder unit (2F-E6B2-2000) Customer-prepared items DC5V電源セット (2F-PWR05-01) - PLC unit Vision unit (Base, power supply unit and PLC (2F-TRK-2DVS)

  • Page 19: Reading A Product Model Name

    2 Tracking application configuration 2.2 Reading a product model name Model names of tracking applications are according to the number and model of robot, and the type of controller. More details are shown below. APR – □TR ●FH ♦ △ – ■ (c) (d) (a).

  • Page 20: Product Standard Configuration

    DC24 ENC1IN ENC1CSC 24VDC INPUT FUSE 1.0A ENC1OUT1 ENC1OUT2 ENC1OUT3 ENC1OUT4 2F-YZ581 SERIAL DATE MITSUBISHI ELECTRIC CORPOR ATION MADE IN JAPAN エンコーダ種類 ENCODER2 Mode1: Mode2: 差動出力方式 ｵｰﾌﾟﾝｺﾚｸﾀ出力方式 電圧出力方式 活線作業禁止 Encoder type B B Z ENC2IN ENC2CSC Mode1: Line driver output...

  • Page 21: Customer-Prepared Items

    2 Tracking application configuration Customer-prepared items 2.3.2 In constructing a tracking environment using this product, customers should prepare the following devices. Customers should also prepare the conveyor, robot stand, and other peripheral equipment required in the system construction. Table 2-2: Customer-prepared items Customer-prepared item Model name Quantity...

  • Page 22: Standard Robot And Controller Options

    2 Tracking application configuration may not be installed depending on the conveyor specifications, or the pulley may prematurely wear out. In addition, since there is no mechanism that adjusts the pressing force of the pulley, the encoder may slip or the encoder shaft may become excessively loaded when the pulley contact part moves.

  • Page 23: Product Specifications

    3 Product specifications 3 Product specifications 3.1 Tracking application specifications Table 3-1: Tracking application specifications Note 1) Model name Unit APR-□TR3FH APR-□TR6FH APR-□TR12FH APR-□TR20FH RH-3FH5515- RH-6FH5520- RH-12FH8535- RH-20FH10035- Note 2) Robot arm model name -SA -SA -SA -SA Environment specifications General environment specifications: IP20 Maximum reach radius 1000...
  • Page 24 3 Product specifications unit, production of encoder cable, and parameter setting for "GX works2" and "RT ToolBox2" are required. Note 4) A hand is included with the hand-installed specification robot only. Note 5) Select and replace suction pads according to workpiece specifications for loading. Note 6) It may change due to the atmospheric pressure (weather, altitude, etc.) and measurement method.

  • Page 25: Standard Layout

    3 Product specifications 3.2 Standard layout APR-1TR3FH 3.2.1 Safety fence Robot controller CR751-D Carrying out position Workpiece conveyor Tracking start point Tracking limit point Vision unit Take off position Tracking end point Encoder unit Vision unit Up-down stroke 150mm Carrying out position Robot controller SLOT1 AMP1...

  • Page 26: Apr-2Tr3Fh

    3 Product specifications APR-2TR3FH 3.2.2 (1) Parallel arrangement 1150 Safety fence Carrying out position Robot controller CR751-D Carrying out position Workpiece conveyor Tracking limit point Tracking limit point Tracking start point Vision unit Tracking end point Tracking end point Take off position Encoder unit Take off position Tracking start point...

  • Page 27: Staggered Arrangement

    3 Product specifications (2) Staggered arrangement Safety fence Robot controller CR751-D Carrying out position Tracking start point Take off position Tracking end point Tracking limit point Workpiece conveyor Tracking start point Vision unit Take off position Encoder unit Tracking limit point Tracking end point Carrying out position Vision unit...

  • Page 28: Apr-1Tr6Fh

    3 Product specifications APR-1TR6FH 3.2.3 Safety fence Robot controller CR750-D Carrying out position Workpiece conveyor Tracking start point Tracking limit point Vision unit Take off position Tracking end point Encoder unit Vision unit Up-down stroke 200mm Carrying out position Robot controller DC5V power supply PoE-HUB...

  • Page 29: Apr-2Tr6Fh

    3 Product specifications APR-2TR6FH 3.2.4 (1) Parallel arrangement 1150 Safety fence Carrying out position Robot controller CR750-D Carrying out position Workpiece conveyor Tracking limit point Tracking start point Tracking start point Vision unit Take off position Take off position Tracking end point Tracking limit point Encoder unit Tracking end point...

  • Page 30: Staggered Arrangement

    3 Product specifications (2) Staggered arrangement Safety fence Robot controller CR750-D Carrying out position Take off position Tracking start point Tracking end point Tracking limit point Workpiece conveyor Tracking start point Vision unit Take off position Encoder unit Tracking limit point Tracking end point Carrying out position Vision unit...

  • Page 31: Apr-1Tr12Fh

    3 Product specifications APR-1TR12FH 3.2.5 1250 Safety fence Robot controller CR750-D Carrying out position Workpiece conveyor Tracking limit point Vision unit Tracking end point Encoder unit 1200 Take off position Tracking start point Vision unit Up-down stroke 350mm Carrying out position Robot controller DC5V power supply...

  • Page 32: Apr-2Tr12Fh

    3 Product specifications APR-2TR12FH 3.2.6 (1) Parallel arrangement 1250 1750 Safety fence Carrying out position Robot controller CR750-D Carrying out position Workpiece conveyor Tracking limit point Vision unit Tracking limit point Tracking end point Encoder unit Tracking end point 1200 Take off position Take off position Tracking start point...

  • Page 33: Staggered Arrangement

    3 Product specifications (2) Staggered arrangement 1250 Safety fence Robot controller Carrying out position CR750-D Take off position Tracking start point Tracking end point Tracking limit point Workpiece conveyor Vision unit Tracking start point Encoder unit Take off position Tracking end point Carrying out position Tracking limit point 1200...

  • Page 34: Apr-1Tr20Fh

    3 Product specifications APR-1TR20FH 3.2.7 1400 Safety fence Robot controller CR750-D Carrying out position Workpiece conveyor Tracking limit point Vision unit Encoder unit Tracking end point Tracking start point Take off position 1350 Vision unit Up-down stroke 350mm Carrying out position Robot controller DC5V power supply...

  • Page 35: Apr-2Tr20Fh

    3 Product specifications APR-2TR20FH 3.2.8 (1) Parallel arrangement 1400 2050 Robot controller CR750-D Carrying out position Carrying out position Workpiece conveyor Vision unit Encoder unit Tracking limit point Tracking limit point Tracking start point Tracking end point Take off position Tracking end point Tracking start point Take off position...

  • Page 36: Staggered Arrangement

    3 Product specifications (2) Staggered arrangement 1400 Safety fence Tracking limit point Robot controller Tracking end point CR750-D Carrying out Take off position position Tracking start point Workpiece conveyor Vision unit Encoder unit Carrying out Tracking start point position Take off position Tracking end point Tracking limit point 1350...

  • Page 37: Package Component Specifications

    4 Package component specifications 4 Package component specifications 4.1 Package robot specifications The specifications of the hand-installed robot arm are shown in "4.1.1 Robot arm specification ", and those of the hand are shown in "4.1.2 Hand specifications". The specifications of the no-hand robot arm are the same as those of the standard robot arm. Select, design, or obtain a hand complying with the specifications of this product.

  • Page 38: Hand Specifications

    4 Package component specifications Hand specifications 4.1.2 (1) Vacuum unit Note) A vacuum unit with the following energy-saving function is already installed in the package robot. Note) When the vacuum pressure reaches the set value, the pressure switch turns the supply valve OFF. When the vacuum pressure declines, the pressure switch turns the supply valve ON, automatically controlling the vacuum unit to maintain the vacuum pressure.

  • Page 39: Hand Drawing

    4 Package component specifications Item Unit Specifications ±2%F.S. Temperature characteristic (At 25°C within operating temperature range 5 to 50°C) Standard CE mark, RoHS Note 1) It may change due to the atmospheric pressure (weather, altitude, etc.) and measurement method. Note 2) Chattering will occur when the applied pressure fluctuates around the set value, unless the hysteresis is set beyond fluctuation range.

  • Page 40: Wiring And Piping Form For Hand

    4 Package component specifications (3) Wiring and piping form for hand This shows the wiring and piping form for hand. Hand input signal connector Vacuum unit (HC1, HC2) Secondary piping air hose Primary piping air hose (φ6) - APR-□TR3/6FH: Hand output signal connector HAND1 φ4 hose (2 pieces) (GR1, GR2)

  • Page 41: Wiring And Piping System For Hand

    4 Package component specifications (4) Wiring and piping system for hand GR1 connector (vacuum unit side): GR1 connector (robot side) White White Black White Black GR2 connector (robot side) Black White Black White Black Vacuum unit HC1 connector (robot side) (sensor, switch) White Black...

  • Page 42: Melfa-Tracking

    4 Package component specifications 4.2 MELFA-Tracking MELFA-Tracking is dedicated software to start up the tracking application in the wizard format. Robot programs created with this software are executable only on the package robot. 4.3 Vision unit (1) Vision unit configuration Vision unit configuration is shown below.

  • Page 43: Vision Sensor

    4 Package component specifications Vision sensor 4.3.1 (1) Vision sensor specifications Vision sensor specifications are shown below. Table 4-4: Vision sensor specifications Item Specifications Model name EZ-140 Manufacturer COGNEX Note 1) Memory Jobs/Firmware Storage is unrestricted when saving to a 64MB flash memory or remote network device.

  • Page 44: Lens

    4 Package component specifications configuration of the job. Note 3) Expected variations in CCD's physical location within the vision system. Equivalent to approximately ±17 pixels for CCD with 640 x 480 resolution, ±29 pixels for 1600 x 1200. Lens 4.3.2 (1) Lens specifications Lens specifications are shown below.

  • Page 45: Encoder Unit Drawing

    4 Package component specifications (2) Encoder unit drawing (68) 3-M3 screw Encoder pulley * 1) Encoder ASSY Encoder bracket t2.3 * 1) Encoder pulley is configured with the following parts or equivalents. Product name Model name Manufacturer Pulley unit MBRA60-1.5-P6 Misumi O-ring NGB55...

  • Page 46: Encoder Assembly

    4 Package component specifications Encoder assembly 4.4.1 (1) Encoder assembly specifications Table 4-7: Encoder specifications Item Unit Specifications Model name E6B2-CWZ1X 2000P/R 0.5M Manufacturer Omron Power supply voltage DC5V±5%, ripple (p-p) 5% or less Power consumption Note 1) 160 or less A, A �...

  • Page 47: Encoder Dimensional Drawing

    4 Package component specifications (0.5m) Encoder Pin No. (ENC) Black Black/Red 1B A- White White/Red Orange Orange/Red 3B Z- Brown +Vcc Blue Connector : 1-1318115-4 (Manufacturer: Tyco Electronics Japan G.K.) E6B2-CWZ1X 2000P/R 0.5M Figure 4-6: Encoder assembly wiring diagram (2) Encoder dimensional drawing 3-M3 depth 7 Z phase origin position point 120°...

  • Page 48: Dc5V/Dc24V Power Supply Set

    4 Package component specifications 4.5 DC5V/DC24V power supply set (1) DC5V/DC24V power supply set configuration DC5V/DC24V power supply set configuration is shown below. Table 4-8: DC5V/DC24V Power supply set configuration Single Double Product name Model name specification specification DC5V power supply set 2F-PWR05-01 DC5V power supply 2F-PWR05-UNIT...
  • Page 49 4 Package component specifications Item Unit DC5V power supply set DC24V power supply set Output Rated voltage Rated current Static input fluctuation Note 1) 20 max 96 max Note 1) Static load fluctuation 40 max 150 max Ripple 0 to mVp-p 80 max 120 max...

  • Page 50: Dc5V Power Supply Drawing

    4 Package component specifications (2) DC5V power supply drawing Output voltage LED for output voltage check variable volume 16.5 12.2 ±2 ±1.5 Cover nameplate 2-M3 Mounting hole Cover AC(L) AC(N) 49.5 15.1 ±0.5 ±1.5 Terminal block cover 22.6 ±1.5 Nameplate 2-M3 Mounting hole * Tolerance: ±1...

  • Page 51: Dc5V/Dc24V Power Supply Set Wiring Diagram

    4 Package component specifications DC5V/DC24V power supply set wiring diagram 4.5.2 (1) DC5V power supply set (2m) Power supply output cable (2m) ピンNo. Pin No. (DC5V) 1-177648-3 メーカ： タイコエレクトロニクスジャパン合同会社 Manufacturer: Tyco Electronics Japan G.K. PBA10F-5 5V 15W ピンNo. Pin No. (FG) (AC-L) AC(L)

  • Page 52: Vision Cable

    4 Package component specifications 4.6 Vision cable (1) Vision cable specification Vision cable specification is shown below. Table 4-10: Vision cable configuration Item Specifications Model name CCB-84901-1003-05 Manufacturer COGNEX Cable length P1 pin number Signal name Wire color TPO+/+48V (mode A) White and orange TPO-/+48V (mode A) Orange...

  • Page 53: Vision I/O Cable

    4 Package component specifications 4.7 Vision I/O cable (1) Vision I/O cable specification Vision I/O cable specification is shown below. Table 4-11: Vision I/O cable configuration Item Specifications Model name CCB-M8IO-05 Manufacturer COGNEX Cable length P1 pin number Signal name Wire color High speed output 0 (HS OUT 0) Brown...

  • Page 54: Encoder Cable

    4 Package component specifications 4.8 Encoder cable (1) Single robot specification (0.5m) (0.5m) (5m) Figure 4-13: Encoder cable dimensional drawing CNUSR2 Pin No. MPO11 Pi n No. SKIP21 (HS-OUT0) SKIP22 1-1318120-3 Manufacturer: Tyco Electronics Japan G.K. Pin No. (ENC) Brown Green Black Orange...

  • Page 55: Double Robot Specification

    4 Package component specifications (2) Double robot specification (2m) (2m) (0.5m) (2m) (2m) (0.5m) Figure 4-15: Encoder cable dimensional drawing Encoder cable 4-43...
  • Page 56 4 Package component specifications Pi n No. White White (A-) Brown Green (B-) Black Orange (Z-) White Yellow (0V) Blue 10150-3000PE 10350-52Y0-008 Manufacturer: 3M Japan Limited Pi n No. White (A-) Brown Green (B-) Black Orange (Z-) White Yellow (0V) Blue 10150-3000PE Pi n No.

  • Page 57: Encoder Distribution Set (For D-Type Controller Only)

    0V 0V DC24 ENC1IN ENC1CSC 24VDC INPUT FUSE 1.0A ENC1OUT1 ENC1OUT2 ENC1OUT3 ENC1OUT4 2F-YZ581 SERIAL DATE MITSUBISHI ELECTRIC CORPORATION MADE INJAPAN エンコーダ種類 ENCODER2 Mode1: 差動出力方式 0V 0V Mode2: ｵｰﾌﾟﾝｺﾚｸﾀ出力方式 電圧出力方式 活線作業禁止 Encoder type ENC2IN ENC2CSC B B Z Mode1: Line driver output...

  • Page 58: Encoder Input Cable

    4 Package component specifications Encoder input cable 4.9.2 (1) Encoder input cable wiring diagram Cable length 5m Pin No. (ENCIN) (A-) Brown Green (B-) Black Orange (Z-) White (5V) Yellow +Vcc (0V) Blue 1-1717834-4 Manufacturer: Tyco Electronics Japan G.K. Figure 4-18: Encoder input cable wiring diagram 4-46 Encoder distribution set (for D-type controller only)

  • Page 59: Package Components Wiring System

    4 Package component specifications 4.10 Package components wiring system D-type controller 4.10.1 (1) Single robot specification Figure 4-19: Single robot specification wiring system diagram (D-type controller) Package components wiring system 4-47...

  • Page 60: Double Robot Specification

    4 Package component specifications (2) Double robot specification Figure 4-20: Double robot specification wiring system diagram (D-type controller) 4-48 Package components wiring system...

  • Page 61: Q-Type Controller

    4 Package component specifications Q-type controller 4.10.2 (1) Single robot specification Figure 4-21: Single robot specification wiring system diagram (Q-type controller) Package components wiring system 4-49...

  • Page 62: Double Robot Specification

    4 Package component specifications (2) Double robot specification Figure 4-22: Double robot specification wiring system diagram (Q-type controller) 4-50 Package components wiring system...

  • Page 63: Maintenance Parts

    Table 4-13: Application package consumable parts list Product name Quantity Usage place Supplier APR-□TR3/6FH series Secondary piping air Inside the spline shaft Mitsubishi Electric hose APR-□TR12/20FH series Secondary piping air Inside the spline shaft Mitsubishi Electric hose Table 4-14: Application package spare parts list...

  • Page 64: Customer Prepared Items

    5 Customer prepared items 5 Customer prepared items For building a tracking environment using this product package, customers may need to prepare some components depending on the environment and the type of tracking application. See the production drawings below. 5.1 Power protection BOX The DC5V/DC24V power supply terminal block is covered with simple protective covers.

  • Page 65: Encoder Input Cable Production Drawing (Q-Type Controller)

    5 Customer prepared items 5.2 Encoder input cable production drawing (Q-type controller) For using a Q-type controller, make the encoder input cable on your own. Figure 5-2: Encoder input cable production drawing (Q-type controller) Encoder input cable production drawing (Q-type controller) 5-53...

  • Page 66: Work Flow

    6 Work flow 6 Work flow The work flow required for the system construction of the tracking application is shown below. Refer below and perform all necessary works. 6.1 Flowchart 1. Product checking Refer to Chapters 2 to 5 of this manual Check the product purchased and prepare the necessary products.

  • Page 67: Installing Each Equipment And Connecting The Cables

    7 Installing each equipment and connecting the cables 7 Installing each equipment and connecting the cables 7.1 Installing each equipment According to the customer’s layout, install the tracking application components and the equipment prepared by the customer. Refer below when installing the robot arm, encoder unit, and vision unit. Caution Check if the inclination of the conveyor width direction and robot arm installation surface are parallel before installation.

  • Page 68: Check Before Installing The Robot Arm

    7 Installing each equipment and connecting the cables Check before installing the robot arm 7.1.1 This product is set with a robot arm serial number and origin data at the time of shipment. Therefore, the combination of robot arm and controller is predetermined. On the application package rating plate, the serial numbers are indicated for the robot arm and controller to be combined.

  • Page 69: Installing The Encoder Unit

    7 Installing each equipment and connecting the cables Installing the encoder unit 7.1.2 Using the horizontal grooves on the conveyor side, mount the encoder unit. * Securely connect the conveyor surface and pulley so it will not slip. * Install the encoder shaft so that the radial load does not exceed 20N. * The encoder unit pulley and bracket are only for checking the operation.

  • Page 70: Connecting Cables

    7 Installing each equipment and connecting the cables 7.2 Connecting cables Caution For safety reasons, turn off the power when connecting the cables. Caution There is a risk of damaging the connector if there is tension in the connecting portion of the connector in each cable. Secure the cable so that there will be no tension in the connecting portion of the connector.

  • Page 71: Double Specification

    7 Installing each equipment and connecting the cables (2) Double specification Turn off the power and connect cables in the order of _1_ to _11_. Check combination of the package robot and controller rating plates before installation. Figure 7-5: Cable connection (D-type controller double specification) Connecting cables 7-59...

  • Page 72: Q-Type Controller

    7 Installing each equipment and connecting the cables Q-type controller 7.2.2 (1) Single specification Turn off the power and connect cables in the order of _1_ to _8_. Figure 7-6: Cable connection (Q-type controller single specification) 7-60 Connecting cables...

  • Page 73: Double Specification

    7 Installing each equipment and connecting the cables (2) Double specification Turn off the power and connect cables in the order of _1_ to _12_. Check combination of the package robot and controller rating plates before installation. Figure 7-7: Cable connection (Q-type controller double specification) Connecting cables 7-61...

  • Page 74: Air Piping Connection Diagram

    7 Installing each equipment and connecting the cables 7.3 Air piping connection diagram Remove the plugs from the HAND1 and HAND2 joints in the rear side of the robot arm (base section), and connect the φ6 air hose. When using a single hand, connect the air hose to HAND1. When using double hands, connect the air hose to HAND1 and HAND2.

  • Page 75: Noise Suppression

    DC24 ENC1IN ENC1CSC 24VDC INPUT FUSE (to AC power 1.0A ENC1OUT1 ENC1OUT2 ENC1OUT3 ENC1OUT4 2F-YZ581 SERIAL DATE MITSUBISHI ELECTRIC CORPOR ATION MADE IN JAPAN supply) エンコーダ種類 ENCODER2 Mode1: 差動出力方式 Mode2: ｵｰﾌﾟﾝｺﾚｸﾀ出力方式 電圧出力方式 活線作業禁止 Encoder type B B Z ENC2IN ENC2CSC...

  • Page 76: How To Use The "Melfa-Tracking" Installation Cd

    8 How to use the "MELFA-Tracking" installation CD 8 How to use the "MELFA-Tracking" installation CD This chapter explains how to use the "MELFA-Tracking" installation CD. Check if RT ToolBox2 (standard or mini edition) Ver. 3.30G or later is installed before using MELFA-Tracking installation CD.
  • Page 77 8 How to use the "MELFA-Tracking" installation CD Check CD-ROM drive name, and enter "drive name":\Setup.exe (For example, if CD-ROM drive is "D:", enter "D:\Setup.exe".) Figure 8-2: Run dialog box Alternative method without a [Start] menu for Windows Vista using Classic View: Click on the [Start] button, type "Run"...

  • Page 78: Uninstallation

    8 How to use the "MELFA-Tracking" installation CD Uninstallation 8.2.2 Uninstall the software using the following steps.  For Windows XP Start uninstallation Use the [Add or Remove Program] function found in [Start] - [Control Panel]. Open Control Panel from [Start] - [Control ...

  • Page 79: Running "Melfa-Tracking

    8 How to use the "MELFA-Tracking" installation CD 8.3 Running "MELFA-Tracking" Upon installing the software, a desktop shortcut will be created. Double-click this shortcut to run the program. [Start] → [All Programs] → [MELFA] → Select [MELFA Tracking] from [Application package] to run the program. 8.4 Workspace creation and selection After the splash window is displayed for a certain period of time, a screen will open for workspace creation and selection.

  • Page 80: Operation Guide For "Melfa-Tracking" Screen

    8 How to use the "MELFA-Tracking" installation CD Selecting [New] will open an input screen for workspace name and title. Input the necessary information. Figure 8-5: Workspace new creation screen Caution About the workspace name Workspace names can be created freely, however it cannot contain any of the following characters ¥...
  • Page 81 8 How to use the "MELFA-Tracking" installation CD Table 8-2: Program interface and operation procedures (1) Screen title (2) Screen description (3) Screen overview (4) Cautions (6) Operation screen (5) Screen list (8) Back (9) Next (10) Close/Finish (7) Communication status Item Description (1) Screen title...

  • Page 82: Flow Of Settings For "Melfa-Tracking

    8 How to use the "MELFA-Tracking" installation CD MELFA-Tracking settings screen will open. Caution Do not switch RT ToolBox2 from [Online]. The application package does not work in [Offline] or [Simulator] mode. In the RT ToolBox2 operations, do not switch to modes other than [Online]. When switching to another screen, make sure to return to [Online] mode before opening the application package display screen.

  • Page 83: How To Exit "Melfa-Tracking

    8 How to use the "MELFA-Tracking" installation CD 8.7 How to exit "MELFA-Tracking" RT ToolBox2 will be displayed when MELFA-Tracking settings screen is closed. Exit RT ToolBox2. How to exit "MELFA-Tracking" 8-71...

  • Page 84: In Case Q-Type Controller Is Used

    9 In case Q-type controller is used 9 In case Q-type controller is used This chapter gives explanation in case of using Q-type controller. Refer to the connection diagram shown in "7.2.2 Q-type controller" and connect each device. 9.1 Manual pulse input unit settings Make sure that all the DIP switches of manual pulser input unit (Q173DPX) are switched OFF.

  • Page 85: Plc Cpu Parameter Settings

    9 In case Q-type controller is used 9.2 PLC CPU parameter settings Start GX Works and set up the PLC CPU parameter. a) Multi-CPU settings ..Sets the number of CPU and the signal rating b) I/O allocation settings .. Sets option placement of units including I/O units and intelligent units c) CPU management settings ..
  • Page 86 9 In case Q-type controller is used 3) Click the [Multiple CPU] tab displayed in "Q Parameter setting" screen. For single specification For double specification Set the number of CPUs and rating. 4) Click the [I/O Assignment] tab. Select "Intelligent" in [No. 6 5 (0-5)] of the slot column to check that the manual pulse input unit (Q173DPX) is mounted to the I/O 5 slot.
  • Page 87 9 In case Q-type controller is used 5) Click the [Detailed Setting] button. For the manual pulser input unit (Q173DPX), change the relevant sections in the [Control PLC] column into "PLC No.2" to set the robot CPU to manage (control). 6) Click the [End] button, click [Online] –...

  • Page 88: Robot Cpu Parameter Settings

    9 In case Q-type controller is used 9.3 Robot CPU parameter settings The robot CPU parameters will be set. a) Multi-CPU settings ....Sets the number of CPU and the signal rating b) Setting for the Q173DPX to be managed .... Sets the placement of Q173DPX unit to be managed The setting procedure of the above parameters (example) is shown below.
  • Page 89 9 In case Q-type controller is used 3) The following screen will appear. Click [OK] and reset the PLC CPU power supply. 4) Wait for a while after resetting the PLC CPU power supply. Then the following screen will appear. For single specification For double specification The following screen will appear once.
  • Page 90 9 In case Q-type controller is used 6) The RT ToolBox2 will open. From the workspace, double-click [RC1] - [Online] - [Parameter] - [PLC cooperation parameter] - [Multiple CPU]. For single specification For double specification Enter the same value of PLC CPU parameter as shown in the figure on the right. When closing MELFA-Tracking...
  • Page 91 9 In case Q-type controller is used 9) Change the setting values as shown below and click the [Write] button. (Example) Single robot CPU + manual pulse input unit (Q173DPX) mounted to PLC main base I/O 5 For information on parameter settings, please refer below. Number Factory Parameter...

  • Page 92: During Operation

    10 During operation 10 During operation 10.1 Robot program The following programs will be saved to the robot controller upon completion of MELFA-Tracking setup. Select program "1" and start during operation. During program start-up, always perform program reset, and run from the beginning of the program.

  • Page 93: Program Example

    10 During operation 10.2 Program example (1) When installing a loading sensor and stopping operations according to the signal in simple/sorting carrying out operation <Example> External input/output: Use parallel input/output interface (2D-TZ368/2D-TZ378 (sink/source)) Input signal: Input loading sensor signal in "Generic input 6" (ON... with load, OFF... without load) Program example Description Delete '<Option1>' and add signal waiting process.
  • Page 94 10 During operation (3) For improvement of accuracy for carrying out operation <Example> Releases suction if positioning accuracy for carrying out reaches 0.5mm. Program example Description Delete '<Option3>'from the relevant operations. '<Option3> Fine 0.5, P 'Set the positioning linear distance to 0.5mm Before Type 'Move to the placement position...
  • Page 95 10 During operation <Example 2> When J1 axis is operated at an acceleration/deceleration correction factor of 100, and load factor exceeds 90, the acceleration/deceleration correction factor is changed to 60. When the load factor increases and exceeds 95, change the acceleration/deceleration correction factor to 50. Afterwards, when the load factor becomes less than 70, the acceleration/deceleration correction factor is changed to 100.

  • Page 96: Troubleshooting

    11 Troubleshooting 11 Troubleshooting For details about troubleshooting the robot arm and controller that are not mentioned in this chapter, refer to the separate "Instruction manual/ Troubleshooting". Table 11-1: Troubleshooting Step Event Cause Explanation/Countermeasures The posture/position of the The combination of robot arm and On the application package rating plate, actual robot is different from controller is incorrect.
  • Page 97 11 Troubleshooting Step Event Cause Explanation/Countermeasures No communication between Power is not turned on for the Turn on the robot controller, vision and vision and robot. robot controller, vision or PoE-HUB. PoE-HUB. Since the vision is powered by the PoE-HUB, check if the Ethernet cable for the vision is connected to the PoE-side connector of the PoE-HUB.
  • Page 98 11 Troubleshooting Step Event Cause Explanation/Countermeasures For the number of workpieces The workpiece recognition rate Click the [Workpiece recognition placed on the conveyor, the threshold was too high and the adjustment] button to display the number of recognition is low or workpiece was not recognized.
  • Page 99 11 Troubleshooting Step Event Cause Explanation/Countermeasures The accuracy of carrying out The workpiece picking position is Click the [Picking precision adjustment] position is low. not aligned with its expected button to display the [Picking precision position. adjustment] screen. There adjust the picking position.
  • Page 100 11 Troubleshooting Step Event Cause Explanation/Countermeasures The loading capacity is The loading route is long. Click the [Loading route adjustment] insufficient. button to display the [Loading route adjustment] screen. There, shorten the loading route without interfering with the peripheral equipment. The distance between the tracking area position and carrying out position is too long.
  • Page 101 11 Troubleshooting Step Event Cause Explanation/Countermeasures It does not follow the Tracking area setting is too The robot does not follow the workpiece workpiece. narrow. that passed through the "Tracking area end point" after completion of the carrying out operation. The robot may follow the workpiece if the tracking area is widened.
  • Page 102 11 Troubleshooting Error Causes of the error and its countermeasures number H217n Error message Exceeding joint limit (The letter "n" Cause The workpiece moves outside the operation range while the robot is following the indicates the workpiece. axis number 1 Countermeasure Adjust the tracking area in "Tracking area"...
  • Page 103 11 Troubleshooting Error Causes of the error and its countermeasures number L8610 Error message Abnormal communication Cause 1) PoE-HUB power is turned off during communication with the controller. 2) The communication cable is disconnected during communication with the controller. Countermeasure 1) Check the PoE-HUB power supply, reset program "1", and restart the program.

  • Page 104: Appendix

    12 Appendix 12 Appendix 12.1 Vacuum unit instruction manual Energy-saving ejector function 12.1.1 The vacuum unit installed in the main unit is equipped with an energy-saving ejector function. When the vacuum pressure reaches the set value, the pressure switch turns the supply valve OFF. When the vacuum pressure declines, the pressure switch turns the supply valve ON, automatically controlling the vacuum unit to maintain the vacuum pressure.

  • Page 105: Pressure Switch Settings

    12 Appendix Pressure switch settings 12.1.2 (1) Mounting position of the vacuum unit 1) The display panel of the vacuum unit can be checked by removing the screw and the No.2 arm cover U as shown in the figure below. M4 screw APR-□TR3/6FH series: 6 pieces APR-□TR12FH series: 8 pieces...

  • Page 106: Measurement Mode

    12 Appendix 2) Modify the value of the vacuum switch. <How to change set value during a non-inverted output> (1) Press S button once during measurement mode. For details about measurement mode, refer to "12.2.2 (2)Measurement mode." (2) [P_1] and set value are displayed alternately. Alternate display (3) Press ...

  • Page 107: Windows 7 Firewall Setting Change Method

    12 Appendix 12.2 Windows 7 firewall setting change method (1) Select [Control Panel] → [System and Security] → [Windows Firewall] → [Allow programs to communicate through Windows Firewall]. The following screen will appear. [Windows 7 screen] (2) Click [Change settings]. 1) When "RT ToolBox2"...
  • Page 108 12 Appendix 2) When "RT ToolBox2" is not included in the list of the "Allowed programs and features". Click the [Allow another program...] button. The [Add a Program] screen will appear. Select "RT ToolBox2" to add it to the list. Select both the [Home/Work (Private)] and [Public] checkboxes and complete the setting change.
  • Page 110 Jun., 2015 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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