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Mitsubishi CR750-Q Series Manuals
Manuals and User Guides for Mitsubishi CR750-Q Series. We have
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Mitsubishi CR750-Q Series manuals available for free PDF download: Instruction Manual
Mitsubishi CR750-Q Series Instruction Manual (186 pages)
Force Sense Function
Brand:
Mitsubishi
| Category:
Controller
| Size: 4.14 MB
Table of Contents
Table of Contents
8
1 Using this Manual
12
Terminology Used in this Instruction Manual
12
2 Work Flow
13
Flowchart
13
3 Force Sense Function System Specifications
14
What Is the Force Sense Function
14
System Configuration
15
Force Sense Function Specifications
16
Force Sense Interface Unit Specifications
17
Force Sense Interface Unit External Dimensions
17
Name of each Force Sense Interface Unit Part
18
Force Sensor Connection Cable
18
VDC Output Cable
18
VDC Power Supply Outline Drawing
19
Force Sensor Specifications
20
Force Sensor External Dimensions
21
Sensor Attachment Adapter External Dimensions
21
Coordinate System Definition
22
Force Sense Coordinate System (Mechanical Interface)
23
Force Sense Coordinate System (Tool)
23
Force Sense Coordinate System (XYZ)
24
Force Sensor Coordinate System
25
4 Check before Use
26
Product Check
26
Force Sensor
26
Software Versions
27
5 Attaching the Force Sensor
28
Attachment Adapter
28
Sensor Installation
28
Attachment
28
Recommended Attachment Angle
29
6 Device Connection, Wiring, and Settings
30
Force Sense Unit Robot Controller
30
Force Sense Interface Unit Force Sensor
33
Turning on the Power
34
Default Parameter Settings
35
Force Sense Interface Unit Identification
36
Calibration
37
Force Sensor Tolerance
40
Force Sensor Control Offset Limit
41
Force Sensor Data Filter Setting
41
7 Checking the Connection and Settings
42
Checking Force Sensor Data Communication
42
If Using R56TB/R57TB
42
If Using R32TB/R33TB
43
Checking the Force Sensor Attachment Coordinate System
44
8 Using the Force Sense Function (Programming)
45
Using the Force Sense
45
Force Sense Control
46
Force Sense Enable/Disable Commands
48
Function
48
Using the Force Sense
48
Control Mode / Control Characteristics
49
Offset Cancel Designation
57
Control Characteristics Change Commands
58
Usage Example (Force Sense Control)
60
Force Sense Detection
69
Mo Trigger
70
Force Detection Status
73
Data Latch
73
Data Referencing
73
Force Sense Log
80
Force Sense Log Function Specifications
80
Function (Teaching)
80
Parameter Settings
82
Force Sense Log Data Acquisition
83
Force Sense Log Data Display (RT Toolbox2)
84
Force Sense Log File FTP Transfer
89
Usage Example (Force Sense Log)
90
9 Using the Force Sense Function (Teaching)
93
Force Sense T/B
94
Force Sense Control (T/B)
94
Force Sense Monitor
98
Contact Detection
99
Usage Example (Force Sense Function T/B)
100
Teaching Operation
105
Teaching Position Precautions
105
Usage Example (Teaching Operation)
108
Force Sense Function Screen
112
R56Tb/R57Tb
112
R32Tb/R33Tb
115
10 Application Examples
119
11 Language Specifications
123
Commands Relating to Force Sense Control Function
123
Status Variables Relating to Force Sense Control Function
131
Commands Relating to Force Sense Detection Function
141
Status Variables Relating Force Sense Detection Function
144
Commands Relating to Force Sense Log Function
155
Other Related Commands
158
Examples
162
12 Parameter Specifications
167
Force Sense Function Related Parameter List
167
RT Toolbox2 Force Sense Function Parameter Setting Screen
170
R56TB/R57TB Force Sense Function Parameter Setting Screen
173
13 Troubleshooting
176
Behavior When Force Sense Control Errors Occur
176
Force Sense Fuction Related Error List
176
Force Control Function Related Error Details
178
14 Appendix
183
Control Status Transition
183
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Mitsubishi CR750-Q Series Instruction Manual (158 pages)
Tracking system and vision tracking system using Mitsubishi robot
Brand:
Mitsubishi
| Category:
Controller
| Size: 4.45 MB
Table of Contents
Table of Contents
8
[Part 1] Overview
11
Contents of this Manual
13
System that Can Achieve
15
1 Overview
11
What Is the Tracking Function
11
Applications
12
[Part 2] System Configuration and Setting (CR750-Q/CR751-Q Series, Crnq-700 Series)
16
2 System Configuration
16
Components
16
Robot Controller Enclosure Products
16
Devices Provided by Customers
16
Example of System Configuration
19
Configuration Example of Conveyer Tracking Systems
19
Configuration Example of Vision Tracking Systems
20
3 Specification
21
Tracking Specifications and Restriction Matter
21
4 Operation Procedure
22
5 Connection of Equipment
23
Preparation of Equipment
23
Q173Dpx(Manual Pilser Input) Unit Specification
24
Connection of Equipment
30
Connection of Unit
30
Connection with Encoder for Conveyer and Encoder Cable
31
Connection of Photoelectronic Sensor
33
6 Parameter Setting
35
Dedicated Input/Output Parameters
35
Operation Parameters
35
Tracking Parameter Setting
36
Robot Parameter Setting
36
Sequencer CPU Parameter Setting
38
[Part 3] System Configuration and Setting (CR750-D/CR751-D Series, Crnd-700 Series)
41
7 System Configuration
41
Components
41
Robot Controller Enclosure Products
41
Devices Provided by Customers
41
Example of System Configuration
44
Configuration Example of Conveyer Tracking Systems
44
Configuration Example of Vision Tracking Systems
45
8 Specification
46
Tracking Specifications and Restriction Matter
46
9 Operation Procedure
47
10 Connection of Equipment
48
Preparation of Equipment
48
Connection of Conveyer Encoder
48
Installation of Encoder Cable
51
Connection of Photoelectronic Sensor
55
11 Parameter Setting
56
Dedicated Input/Output Parameters
56
Operation Parameters
56
Tracking Parameter Setting
57
12 Sample Robot Programs
58
[Part 4] Tracking Control (Common Function between Series)
58
13 Calibration of Conveyer and Robot Coordinate Systems ("A1" Program)
59
Operation Procedure
59
Tasks
62
Confirmation after Operation
63
When Multiple Conveyers Are Used
63
14 Calibration of Vision Coordinate and Robot Coordinate Systems ("B1" Program)
64
Operation Procedure
64
2) Tasks
68
Confirmation after Operation
72
15 Workpiece Recognition and Teaching ("C1" Program)
73
Program for Conveyer Tracking
73
Program for Vision Tracking
77
16 Teaching and Setting of Adjustment Variables ("1" Program)
87
Setting of Adjustment Variables in the Program
88
17 Sensor Monitoring Program ("CM1" Program)
94
Program for Conveyer Tracking
94
Program for Vision Tracking
94
18 Automatic Operation
95
Preparation
95
Execution
96
At Error Occurrence
96
Ending
96
Adjusting Method
96
19 Maintenance of Robot Program
97
MELFA-BASIC V Instructions
97
List of Instructions
97
List of Robot Status Variables
97
List of Functions
98
Explanation of Tracking Operation Instructions
98
Timing Diagram of Dedicated Input/Output Signals
107
Robot Program Start Processing
107
20 Troubleshooting
108
Occurrence of Error Numbers in the Range from 9000 to 9999
108
Occurrence of Other Errors
110
In such a Case (Improvement Example)
112
The Adsorption Position Shifts
112
Make Adsorption and Release of the Work Speedy
115
Make Movement of the Robot Speedy
115
The Robot Is too Speedy and Drops the Work
115
Restore Backup Data to Another Controller
116
Circle Movement in Tracking
116
Draw the Square While Doing the Tracking
117
21 Appendix
118
List of Parameters Related to Tracking
118
Shine of Changing Parameter
120
Expansion Serial Interface Connector Pin Assignment
123
Chart of Sample Program
125
Conveyer Tracking
125
Vision Tracking
131
Sample Programs
135
Conveyer Tracking
135
Vision Tracking
144
Mitsubishi CR750-Q Series Instruction Manual (94 pages)
MELFA-Works
Brand:
Mitsubishi
| Category:
Robotics
| Size: 2.54 MB
Table of Contents
Table of Contents
4
1 Overview
6
Basic Functions and Features
7
Supported Models
9
2 Preparation before Starting
14
Operating Environment
14
Confirmation of the Product
15
Installation (MELFA-Works)
16
Flow of Installation
16
Installation Procedure
17
Startup-Quit Procedures(MELFA-Works)
19
3 Flow of Operations
20
Operation Steps
20
Flow of Robot Program Development
21
Flow of CAD Link System Development
22
4 Creation of Parts
23
File Formats that Can be Used
23
Part Names and Marking
23
Hand Design
24
Example of Part Creation 1
25
Example of Part Creation 2
25
Example of Part Creation 3
26
Workpiece Design
26
Travel Base Design
26
5 Starting and Closing
27
Starting MELFA-Works
27
Main Window
27
New Creating and Loading Workspace
28
Saving Workspaces
30
Import Projects
31
6 Robot Setting
32
Selection of Robot Model
33
Attaching Hands
34
Removing Hands
35
Setting Hand Input/Output Signals
35
Setting Travel Base
37
7 Layout
38
Positioning Robots in Peripheral Device Coordinate Systems
39
Backup Parts Position
41
Put Back Parts Position
41
8 Robot Operations
42
Flag Setting Dialog Box
43
Movement to a Click Position
43
9 Frame
44
Frame Data Creation Procedure
45
To Perform Highly Accurate Calibration
46
10 Creation of Work Flow
47
Creating Teaching Points
48
Path Creation
49
Processing Setting Dialog Box
51
Work Flow Creation
55
MXT with Travel Base
57
11 Virtual Controller
58
How to Execute Programs
61
Checking Robot Interference
61
Saving Simulation Moving Images
62
Cycle Time Measurement During Program Execution
63
B Mode Setting
63
12 Interference Check
64
13 Task Slots
65
Individual Correction of Task Slots
65
Batch Correction of Task Slots
66
14 Input/Output Signal Simulation
67
Signal Monitoring
68
Manual Signal Inputs
69
Simulation Definition Settings
70
Executing Signal Simulation
72
Settings of Connection with GX Simulator
73
Connecting with GX Simulator
75
15 Step Execute/Direct Execute Dialog Box
76
Step Execution
76
Direct Execution
77
Measurement of Cycle Time
78
16 JOG Panel
80
17 How to Use the Calibration Tool
81
Starting the RT Toolbox2
81
Starting the Calibration Tool
82
Explanation of the Calibration Tool Window
82
Open MXT File
83
Executing Calibration
83
How to Teach the Positional Calibration Program (Clb.prg)
84
How to Teach the Distortion Calibration Program(CL(Dot Sequence Number).Prg)
84
Transferring Dot Sequence Data to Robot Controller
85
Managing Dot Sequence Data in Robot Controller
86
Movement Setting Change
86
Editing Output Signal Status
87
Change Error Tolerance When Calibration
87
18 CAD Link Programming
88
Verifying Movement Confirmation Program
89
Mxt Instruction (Move According to External Instruction)
90
P_Mxt Variable
91
Precautions
92
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Mitsubishi CR750-Q Series Instruction Manual (80 pages)
CR750 Series; CR751 Series; CR760 Series Mitsubishi Industrial Robot
Brand:
Mitsubishi
| Category:
Controller
| Size: 1.3 MB
Table of Contents
Table of Contents
11
1 Error List
12
Error no
12
If the Display of the Operation Panel Goes out
12
Cause and Measures against the Error
12
2 Appendix
69
Place Where Fuse Replacement Is Required
69
Place Where a Hand Fuse or Brake Fuse Replacement Is Required
69
CR750/CR751 Controller
69
CR760 Controller
70
Place Where Fuse (F8) Replacement Is Required
71
Fan Installation Place of Robot Controller (Drive Unit)
72
Troubles and Measures
73
Errors Involving Change in Specification
76
Force Sense Interface Unit Errors
77
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