Related Manuals for Mitsubishi Electric CR860
Summary of Contents for Mitsubishi Electric CR860
- Page 1 CR860 Controller INSTRUCTION MANUAL Controller setup, basic operation, and maintenance CR860-D CR860-R CR860-Q...
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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 ● Do not connect the Handy GOT to a programmable controller when using an iQ Platform compatible product with the CR860-R/CR860-Q controller. Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not.
- Page 6 ● Securely install the hand and tool, and securely grasp the workpiece. Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation. ● Securely ground the robot and controller. Failure to observe this could lead to malfunctioning by noise or to electric shock accidents.
- 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 ● The electric shock caution label is attached to one location, the front of the controller. The high- temperature caution label is attached to two locations, the top and rear side of the controller. : Electric shock hazard : Hot area Front view Top view Rear view...
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Page 9: Introduction
This manual is for the CR860 controller. The CR860 controller indicates the CR860-D, CR860-Q, or CR860-R controller. • Installation of external emergency stop switches As a safety measure, place an external emergency stop switch in an easily operable position, and be sure to wire the switch to the controller in order to stop the robot immediately in an emergency. -
Page 10: Table Of Contents
Installation of the robot CPU module (CR860-R controller)........ - Page 11 Opening and closing the hand ............. 70 Programming .
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Page 12: Chapter 1 Before Use
BEFORE USE This chapter explains how to use this manual. It also contains information on safety and the basic terms used in this manual. Handling and operation of the teaching pendant described in instruction manuals are based on the R32TB. If using a teaching pendant other than the R32TB, refer to the instruction manual that comes with the teaching pendant. - Page 13 Category Term/Symbol Meaning Symbol Example) [JOG] Words in brackets indicate keys on the teaching pendant. Example) [RESET] (A) + [EXE] (B) This indicates that the (B) key is pressed while the (A) key is being held down. In this example, the [EXE] key is pressed while the [RESET] key is being held down. Indicates a teaching pendant.
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Page 14: Chapter 2 Unpacking To Installation
This product includes the controller-related items shown in the following table as standard. Check that all the items are present. A primary power supply cable and grounding cable should be supplied by customer. Standard Specifications (BFP-A3779) CR860-D controller Item Model Quantity... - Page 15 CR860-Q controller Item Model Quantity Remarks Controller CR860-Q 1 unit MELSEC-Q compatible Robot CPU module Q172DSRCPU 1 unit Robot CPU module connecting cable MR-J3BUS10M-A 1 pc. The cable is 10m in length. (SSCNET III cable) CD-ROM (Instruction manual) 5F-GA01-C00 1 pc.
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Page 16: Installation
Installation Unpacking instructions The controller is fixed to a wooden pallet and covered with a plastic bag from the factory. Accessories are also included in the plastic bag. Remove the plastic bag, and remove the four M12 fixing screws from the wooden pallet, then transport the controller. Transportation instructions Two workers must transport the controller using a crane or lifter. -
Page 17: Installation Instructions
Installation instructions • Install the controller on a level surface. • Do not block the ventilation holes on the back of the controller. • When storing the controller in a cabinet, etc., take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values. -
Page 18: Installation And Connection
Installation and connection Installation of the robot CPU module (CR860-R controller) Handling precautions • Use the robot CPU system in an environment that meets the specifications described in the following manual. Failure to do so may result in electric shock, fire, malfunction, or damage or deterioration of the product. - Page 19 Install the base unit using the following steps. Install two screws for fixing the upper part of the base unit to the enclosure. Hook the notch on the right side of the base unit on the right screw. If using the RQ extension base unit, hook the bell- shaped hole on the right side of the base unit on the right screw.
- Page 20 Notes on base unit installation When installing the robot CPU system to the enclosure or other place, fully consider operability, maintainability, and environment resistance. • Unit installation position Secure the following distance between both the top and bottom of the unit and objects or parts for good ventilation and the facilitation of module replacement.
- Page 21 • Installation surface Install the base unit on a level surface. If the installation surface is uneven, excessive force will be applied to the printed circuit board, causing a malfunction. • Mixture with other equipment Do not mix the system with sources of vibration, such as large magnetic contactors and molded-case circuit breakers. Install the system in a different panel or away from such sources of vibration.
- Page 22 Installation and removal of the module The following provides information on the methods of installation/removal of devices (such as power supply modules, programmable controller CPU modules, robot CPU modules, input/output modules, and intelligent function modules) to/from the base unit. ■Installation If a cap is attached to the connector of the base unit, remove the cap.
- Page 23 ■Removal Remove the module fixing screw. Hold the module with both hands and press the module fixing hook (a) at the top of the module as far as it will go with your finger. Pull the module straight supporting it at its bottom while pressing the module fixing hook (a). While lifting the module, remove the concave part (b) from the guide (c) of the base unit.
- Page 24 • If a module fixing screw is attached, be sure to unscrew it before removing the module. Forcibly removing the module may damage it. • The module surface may be hot immediately after power-off. When removing the module, prevent burn injury, etc. Metal parts become hot.
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Page 25: Installation Of The Robot Cpu Module (Cr860-Q Controller)
Installation of the robot CPU module (CR860-Q controller) Handling precautions • Use the robot CPU system in an environment that meets the specifications described in the following manual. Failure to do so may result in electric shock, fire, malfunction, or damage or deterioration of the product. - Page 26 Install the main base unit using the following steps. Install two screws for fixing the upper part of the main base unit to the enclosure. Plate Hook the notch on the right side of the base unit on the right screw. Plate Hook the bell-shaped hole on the left side of the base unit on the left screw.
- Page 27 Notes on base unit installation When installing the robot CPU system to the enclosure or other place, fully consider operability, maintainability, and environment resistance. • Installation dimensions Five fixing screws (M4×14) Installation dimensions Dimensions Q38DB Q312DB 15.5 1700.3 1380.3 2490.3 800.3 •...
- Page 28 Do not install the system in the directions shown below. Vertical installation Horizontal installation Upside down installation • Installation surface Install the base unit on a level surface. If the installation surface is uneven, excessive force will be applied to the printed circuit board, causing a malfunction.
- Page 29 Installation and removal of the module Insert the projection for module fixing at the bottom of the module into the base unit fixing hole properly before installing the module. If the module is not installed correctly, it may malfunction, fail, or fall. If using the module in locations where it is subject to excessive vibrations or impacts, fix the module using a screw.
- Page 30 • Be sure to insert the projection for module fixing into the module fixing hole. Ensure that the projection for module fixing remains inserted into the module fixing hole. Forcibly installing the module without inserting the projection into the hole will damage the module connector and module. •...
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Page 31: Connecting The Power Cable And Grounding Cable
Connecting the power cable and grounding cable 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. This section explains how to connect the power cable and grounding cable to the controller. - Page 32 Connect the grounding wire of the power cable to the grounding terminal (for protective grounding) (M6 screw) of the NV plate. 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.
- Page 33 How to install the power cable clamp (Capcon) Cover Remove the cover from the power cable clamp (Capcon). The cover consists of four different parts. Pass the cover through the power cable. Power cable Inside of the controller Put part 2) in part 1). Place part 3) on top of part 4). After connecting the power cable to the earth leakage breaker inside the controller, tighten the cover to the power cable clamp (Capcon) to fix the cable.
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Page 34: Connecting The Robot Cpu Module To The Controller
CN1 connector SSCNET III cable Inside the CR860 controller Enlarged view of the R800CPU unit *1 Take the SSCNET III cable out of the cable entrance, and connect the cable to the robot CPU module. For information on how to wire cables through the cable entrance, refer to the following. -
Page 35: Wiring Cables Through The Cable Entrance
Wiring cables through the cable entrance If this step is not performed correctly, dust or liquid may enter through the cable entrance. Thereby, the requirements of IP54 may not be met. Procedure for wiring cables through the cable entrance Remove the four frame screws fixing the cable entrance. - Page 36 Remove the cable sleeve and put the cable through the sleeve. The cable sleeve cannot be repositioned after The cable sleeve has installation. Adjust the position of the cable sleeve installation holes. according to your desired length before installing the cable sleeve.
- Page 37 Cable sleeve hole diameter Cable sleeve The following cable sleeve is used for the cable entrance. Manufacturer: PHOENIX CONTACT K.K. Series name: CES (Cable Entry System) series Additional cable sleeves, such as a cable sleeve with a larger hole diameter than 10, should be supplied by customer. 2 UNPACKING TO INSTALLATION 2.3 Installation and connection...
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Page 38: Connecting External Emergency Stop Input, Special Stop Input, Door Switch Input, Enabling Device Input
Connecting external emergency stop input, special stop input, door switch input, enabling device input 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. Do not connect a power supply other than the one supplied from the inside of the controller to the input terminal. -
Page 39: Connecting Robot Error Output/Emergency Stop Output/Mode Output/Additional Axis Synchronization Output
Connecting robot error output/emergency stop output/mode output/additional axis synchronization output 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. The contact capacity of each output terminal is 24V DC and rated 100mA. -
Page 40: Connecting External Emergency Stop Input, Door Switch Input, Enabling Device Input
Connecting external emergency stop input, door switch input, enabling device input • 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 41 CNUSR11 port Inside the CR860 controller Enlarged view of the R800CPU unit For details on examples of connecting external emergency stop input, door switch input, and enabling device input, positions of dedicated I/O connectors, and pin assignment, refer to the following table.
- Page 42 Connection diagram of external emergency stop input, door switch input, enabling device input Do not carry out an insulation pressure test. Moreover, incorrect connection may cause a malfunction. Place an external emergency stop switch in an easily operable position, and be sure to wire the switch to the external emergency stop input by referring to the following.
- Page 43 The following figure shows the position of dedicated I/O connectors. For information on the pin assignment of connectors, refer to the following page: Page 41 Pin assignment CNUSR11 port CNUSR12 port CNUSR13 port Inside the CR860 controller Enlarged view of the R800CPU unit ■Pin assignment • CNUSR11 Name Function...
- Page 44 • CNUSR12 Name Function Remarks Name Function Remarks SKIP41 SKIP41 input Paired with pin 10 SKIP42 SKIP42 input Paired with pin 1 (common) SKIP31 SKIP31 input Paired with pin 11 SKIP32 SKIP32 input Paired with pin 2 (common) SKIP21 SKIP21 input Paired with pin 12 SKIP22 SKIP22 input...
- Page 45 ■How to wire user wiring connectors The following figure shows the wiring position of user wiring connectors. CNUSR11 port CNUSR12 port CNUSR13 port Enlarged view A: Connector pin numbers Enlarged view of the R800CPU unit The following shows how to wire cables to the connector. User wiring connector Lever Lever...
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Page 46: Examples Of Safety Measures
Examples of safety measures • In the process of wiring customer's emergency stop-related products, if connecting the coil (not a contact) of the relay supplied by customer to the controller, be sure to take preventive measures against surge in the coil section. Moreover, take the service life of surge protective devices into consideration. •... - Page 47 *1 This is the emergency stop button on the front of the robot controller. *2 This is the emergency stop button of the T/B that is connected to the robot controller. *3 The CNUSR11 connector has two rows of terminals, indicating that there are two channels. Both channels must be connected. *4 The terminals are open (unconnected) from the factory.
- Page 48 Wiring example 3 Connect the peripheral equipment's emergency stop switch, door switch, and enabling device. The power used for emergency stop detection is supplied via the peripheral equipment. The emergency stop state is monitored via the peripheral equipment. This wiring example shows that the OP emergency stop, T/B emergency stop, and external emergency stop switches are connected on one path.
- Page 49 Wiring example 4 Connect the peripheral equipment's emergency stop switch and door switch to two controllers for interlocking. The power used for emergency stop detection is supplied from the controller. The emergency stop state is monitored via the peripheral equipment. <Operation of the emergency stop>...
- Page 50 • When connecting a safety relay to the system and using the emergency stop button of the controller as an input to the relay, select a safety relay that functions when a signal is input to either one of the two inputs. (Example: QS90SR2SP (manufactured by Mitsubishi Electric)) •...
- Page 51 External emergency stop connection [supplementary explanation] • Be sure to perform wiring correctly. Incorrect wiring cannot bring the robot to an emergency stop, and this may result in property damage or bodily injury. After wiring, be sure to press each of the installed emergency stop switches and check whether the emergency stop circuit works properly. •...
- Page 52 ■Current value limit for connection with devices such as exciting coils of relays OP emergency +24V CNUSR11 stop button Peripheral equipment +3.3V 24V power supply 17/12 T/B emergency stop button Emergency stop switch Peripheral 18/13 (2-contact type) equipment +24V 16/11 +3.3V +3.3V Relay...
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Page 53: Additional Axis Synchronization Output
Additional axis synchronization output If the additional axis function is used, the state of an additional axis (servo ON/OFF) can be synchronized with that of the robot arm in the following way: Configuring a circuit so that the power of the servo amplifier for the additional axis can be shut off by opening the output contact (additional axis synchronization output: AXMC) installed in the controller. - Page 54 Contact capacity: 24V DC/10mA to 100mA Image of how to connect the connector CNUSR13 port Inside the CR860 controller Enlarged view of the R800CPU unit Refer to the following page for information on how to wire the connector. Page 43 How to wire user wiring connectors 2 UNPACKING TO INSTALLATION 2.3 Installation and connection...
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Page 55: Connecting A Robot Arm
Connecting a robot arm Connect a robot arm and the controller with a machine cable. Connecting a machine cable Refer to the following manual to connect the controller and a robot arm with a machine cable. Robot Arm Setup and Maintenance (BFP-A3781) Removing a machine cable When opening the latches of the machine cable connector, prevent your fingers from being caught in the latches. -
Page 56: Chapter 3 Installing Option Devices
Page 63 Installation/removal of the T/B Standard Specifications (BFP-A3779) Installation/removal of the interface card When installing or removing the interface card, keep it parallel to the R800CPU unit. Inside the CR860 controller Interface card Keep the card parallel when installing or removing it. -
Page 57: Removal Of The Interface Card
Removal of the interface card The following describes how to remove the interface card. Keep the card parallel when removing it. Removal lever Interface card R800CPU unit Top view Handle Enlarged view of the R800CPU unit Power off the controller. Lightly lift the lever to pull out the interface card. -
Page 58: Installation And Removal Of The Transformer Unit
Installation and removal of the transformer unit Do not place the transformer on top of the controller. When they are stacked, always place the controller on top of the transformer. For information on how to transport and install the transformer unit, refer to the following manual: Standard Specifications (BFP-A3779) Installation of the transformer unit Remove the two eye bolts at the top of the transformer unit. - Page 59 Lift the controller using a crane or other machine, and align the round fixing holes on the legs of the controller with the fixing parts on top of the transformer unit. *Prevent your arms, fingers, and other parts of the body from getting caught between the controller and transformer unit. Attach the four hexagon screws and washers (removed in step 2) to the transformer unit.
- Page 60 Open the controller door, pass the cable coming out of the transformer unit through the cable entrance of the controller, then connect the protective grounding and three phase power supply. For the connection method, refer to the following page: Page 29 Connecting the power cable and grounding cable Power cable connection terminal Open the transformer unit door, pass the primary power supply cable through the cable entrance of the transformer unit,...
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Page 61: Removal Of The Transformer Unit
Pull out the disengagement prevention projection on the terminal cover of the earth leakage breaker by displacing the projection with your finger. Confirm that the primary power matches the specifications. Ensure that the primary power is shut off and the earth leakage breaker of the transformer unit is off. Put the power cable through the cable entrance on the side of the transformer unit and fix the cable using a power cable clamp (Capcon). -
Page 62: Chapter 4 Basic Operations
BASIC OPERATIONS This chapter explains basic robot operations in the following order. Item Description Handling the controller Explains the functions of the keys on the controller. Handling the teaching pendant Explains the methods of installing/removing the teaching pendant and the functions of its keys. Turning on/off the power Describes precautions before powering on the controller and explains how to turn it on and off. - Page 63 When the T/B is not connected to the port, attach a cap or a dummy connector (sold separately) as appropriate for the environment the product is being used in. Computer connection port. Open the cover and connect the USB cable. It is not available for the CR860-R/ CR860-Q controllers.
- Page 64 *1 The power switch of the CR860 can be locked with a padlock or similar to prevent operation. The customer needs to prepare a padlock. For details, refer to the lockout method in the following manual: Standard Specifications (BFP-A3779) *2 For details on the dummy connector, refer to the following page: Page 63 Installation/removal of the T/B...
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Page 65: Handling The T/B
Page 45 Wiring example 2 Page 46 Wiring example 3 • The dummy connector is sold separately. When purchasing it, contact your nearest Mitsubishi Electric branch or dealer. Product name: Dummy connector Model: 2D-DP1 Manufacturer: Mitsubishi Electric Install or remove the T/B with the control power of the robot controller turned off. - Page 66 Connect the T/B connection connector to the T/B port on the controller by referring to the following figure. Push the connector in until it snaps into place. Press down the lock lever to fix the connector. Teaching pendant (T/B) Press down the lock lever to fix the connector.
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Page 67: Functions Of Each Key
Functions of each key Name Description [EMERGENCY STOP] switch Button switch with a locking function for emergency stop. Pressing this switch will bring the robot to the servo OFF state and stop the robot immediately regardless of whether the T/B is enabled or not. To release the emergency stop, turn the switch to the right, or pull the switch. - Page 68 Name Description [CHARACTER] key When characters or numbers can be input with the T/B, this key switches between number input mode and character input mode for the [Number/character] keys. [RESET] key Clears an error when the robot is in an error state. (Some errors cannot be cleared). Additionally, pressing the [EXE] key while pressing this key will reset the program.
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Page 69: Turning On/Off The Power
(After power-on, it takes approximately one minute for the display panel to be lit). For the CR860-R/CR860-Q robot controllers, turn on the power switch of the robot controller, then power on the robot CPU system. -
Page 70: Inputting The Serial Number
Inputting the serial number If the error (C0152: unmatched robot serial number) occurs after purchasing the robot, set the serial number of the robot arm in the parameter "RBSERIAL" using the following steps. The serial number is printed on the rating plate on the robot arm base. Press the [RESET] key on the T/B to cancel the error of MELFA CR8xx-D Ver. -
Page 71: Shutting Off The Control Power
Shutting off the control power CR860-D controller If the robot is operating, stop it. After the robot has stopped, turn off the servos. Turn off the power switch on the front of the robot controller. CR860-R/CR860-Q controllers If the robot is operating, stop it. -
Page 72: Jog Operation
Jog operation For information on jog operation, refer to the following manual: Robot Arm Setup and Maintenance (BFP-A3781) The following jog operation modes are available. Use the modes according to the purpose. Jog mode Application Reference manual JOINT JOG • Moves each joint. Robot Arm Setup and •... -
Page 73: Programming
Programming This section explains the steps from program creation to automatic operation using a simple procedure as an example. MELFA-BASIC VI commands are used in the program examples. Creation procedure Deciding the order in which the robot moves Decide the order in which the robot moves, the path the robot takes (necessity of linear movement), and work at each position (hand open/close, etc.). -
Page 74: Creating A Program
Creating a program Deciding the order in which the robot moves : Joint movement Waiting position : Linear movement : Teaching position Position above the one Position above the one to grasp the workpiece to release the workpiece (4) Hand closed (8) Hand opened Position to grasp Position to release... - Page 75 Deciding the name of the positions to which the robot moves The designation of the direction away from the target position differs according to the robot type. Designate a position along the Z axis of the TOOL coordinate system, and a direction with + and - signs. Refer to the section on TOOL JOG operation in the following manual to check the Z axis direction of the TOOL coordinate system.
- Page 76 Describing and creating a program ■Convert the target robot operations and work into commands. For details on the commands, refer to the following manual: Detailed explanations of functions and operations (BFP-A3478) The following table shows the commands when the MELFA-BASIC VI command is used. Target operation and work Command Example of designation...
- Page 77 ■Program the converted commands. Waiting position (PWAIT) Position above the one Position above the one to grasp the workpiece to release the workpiece Position to grasp Position to release the workpiece (PGET) the workpiece (PPUT) Move to waiting position (joint movement). 1 Mov PWAIT Move 20mm above workpiece (joint movement).
- Page 78 ■Input the described program into the controller. This operation requires the T/B. Set the controller mode to "MANUAL". ↑Up: Disabled Set the [ENABLE] switch of the T/B to ↓Down: Enabled "Enabled". *Lamp on Backside of the T/B Press the arrow keys ([], [], [], []) on the <MENU>...
- Page 79 Input a program. (1 Mov PWAIT) Press the [F3] (INSERT) key. The cursor will flash to indicate that the field is ready for input. Check that number input mode is selected, then press the [1] key. Step number "1" will be input. Press the [CHARACTER] key to select character input mode, then press the [SP] and [MNO] keys once.
- Page 80 Input "A", "I", and "T" in the same manner. Press the [EXE] key. "1 Mov PWAIT" will be set. Input lines 2 to 13 of the program in the same manner. • Displaying lines before and after a command line Four lines are displayed on the screen of the T/B.
- Page 81 Register the position. (Teaching PGET) Press the [FUNCTION] key on the command edit screen twice to switch the function display. Press the [F2] (CHANGE) key to display the position edit screen. Press the [F3] (Next) or [F4] (Prev) key to display "PGET"...
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Page 82: Checking The Program
Checking the program Take special care to the robot movements during operation. If any abnormality occurs, such as interference with the peripheral devices, release the [F1] (FWD) key to stop the robot. Check the operation using the T/B while running the program line by line (step operation). Perform the following operations while the servo ON state is established. - Page 83 Modifying a program ■Modifying a command As an example, change the joint movement in line 7 to linear movement. (Change 7 Mov PPUT, +20 to 7 Mvs PPUT, +20) *1 Read the following cautions before modification. For upward movement, designate a position along the Z axis of the TOOL coordinate system, and a direction with + and - signs. Refer to the section on TOOL JOG operation in the following manual to check the Z axis direction of the TOOL coordinate system.
- Page 84 Changing a command Press the [F1] (EDIT) key to display the command edit screen that shows one line. Press the [] key five times to move the cursor to "o". Press the [CLEAR] key twice to delete "ov". Leave "M". Press the [CHARACTER] key to select character input mode.
- Page 85 ■Modifying a taught position For example, modify the waiting position (PWAIT). Modified waiting position (PWAIT) Modified Change the position to which the robot moves. Press the [FUNCTION] key on the program edit screen to switch the function display. Press the [F2] (CHANGE) key to display the position edit screen.
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Page 86: Saving The Program
Press the [F1] (Yes) key to register the position. • After modifying a program After the modification, perform step operation to check that the program has been modified correctly. Saving the program After a program has been created or modified, be sure to save it. If the [F4] (CLOSE) key is pressed on the command edit screen or position edit screen, the confirmation message "the program was saved"... - Page 87 Press the [DOWN] key several times to display "10". The operating speed will be set to 10%. Press the [CHNG DISP] switch to display the program number setting on the STATUS NUMBER display panel. ("P" will appear at the first position.) Check that the program number for automatic operation is displayed.
- Page 88 ■Operation using the T/B The T/B has operation rights while it displays the <OPERATION> screen. (The T/B's status display lamp [ENABLE] flashes.) In this situation, operations that require operation rights cannot be performed using external signals. Perform operation on the <OPERATION> screen that can be accessed from <MENU> <RUN>. The following shows the functions that can be executed from the <OPERATION>...
- Page 89 Press the [3] key on the <RUN> screen. The <OPERATION> screen will appear. • Explanation of <OPERATION> screen 4) 1) While the <OPERATION> screen is displayed, the [JOG], [HAND], and [MONITOR] keys are disabled. Name Description Program name The name of the currently selected program appears. Setting speed The currently set speed of the robot appears.
- Page 90 Input the name of the program to start in the PROGRAM NAME field, then press the [EXE] key. The program will be newly selected, and the display will return to the <OPERATION> screen. The figure on the left shows an example of changing the program name to "PRG2".
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Page 91: Chapter 5 Maintenance And Inspection
MAINTENANCE AND INSPECTION This chapter explains maintenance and inspection to use the robot for a long time without trouble. The types and replacement methods of consumable parts are also explained. Maintenance and inspection interval Maintenance and inspection are divided into daily inspection and periodic inspection. Be sure to carry out these inspections to prevent failure, prolong the service life of products, and ensure safety. -
Page 92: Inspection Items
Inspection items The following shows what inspections should be performed on the robot controller. Record the inspection date and the name of the person in charge on the inspection sheet. Additionally, inspect the robot arm by referring to "Maintenance and Inspection" in the following manual: Robot Arm Setup and Maintenance (BFP-A3781) Daily inspection items Carry out daily inspections following the procedure in the following table. -
Page 93: Maintenance And Inspection Procedures
• If error No. 7450 occurs, backup data is not guaranteed. In this case, programs or other data need to be created again. The CR860-Q controller uses a backup battery to store data such as the programs saved in the robot CPU module at power shut-off. - Page 94 The method of replacing the battery of the CR860-Q controller is shown below. Refer to the following manual for information on how to replace the battery of the robot arm. Robot Arm Setup and Maintenance (BFP-A3781) For information on the purchase of the battery, refer to the following page: Page 93 Maintenance parts...
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Page 95: Maintenance Parts
Robot CPU module: For the Mitsubishi Electric Q172DSRCPU (CR860-Q controller only) *1 For information on the models, check the serial number on the robot arm, and contact your local sales representative or the dealer. 5 MAINTENANCE AND INSPECTION 5.4 Maintenance parts... - Page 96 MEMO 5 MAINTENANCE AND INSPECTION 5.4 Maintenance parts...
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Page 97: Revisions
Amended the Functions of each key illustration. 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 98: Trademarks
TRADEMARKS No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi Electric. The details of this manual are subject to change without notice. Specifications are based on in-house standardized tests. - Page 100 BFP-A3783-B(2404)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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