Mitsubishi Electric CR751 Series Manuals

Manuals and User Guides for Mitsubishi Electric CR751 Series. We have 8 Mitsubishi Electric CR751 Series manuals available for free PDF download: Instruction Manual, Ethernet Function Instruction Manual, Manual

Mitsubishi Electric CR751 Series Instruction Manual (254 pages)

Industrial Robot

Brand: Mitsubishi Electric | Category: Robotics | Size: 9 MB

Table of Contents
9
1 Before Use

15
- The Check of the Package
  15
2 Connection with Controller

16
- Installing the T/B
  16
- Removing the T/B
  16
3 Specification

17
- Specifications
  17
- Construction
  18
4 Basic Operation Method

19
5 Operation of Menu Panel

20
6 Language Setting

21
7 Guidance

21
- RC Time Setting
  21
- Robot Serial Setting
  22
- Origin Data Setting
  22
8 Setting a Target Robot for Using Multi-Mechanism Control

23
9 JOG Operation

24
- Speed Setting
  24
- Jog Mode
  25
- Switching Tool Data
  26
- Switching Base Coordinates
  27
- JOINT Jog Operation
  28
- XYZ Jog Operation
  29
- TOOL Jog Operation
  30
- 3-Axis XYZ Jog Operation
  31
- Cylinder Jog Operation
  32
- Work Jog Operation
  33
- Jog Operation with Wheel
  34
- Force Control Function
  36
- Collision Avoidance ON/OFF
  37
- Aligning the Hand
  38
- Opening/Closing the Hands
  39
  - Operation of the Electric Hand
    40
  - Operation of the Normal Hand
    44
- Return to the Home Position
  45
10 USB Memory Stick

46
- Plug-In the USB Memory Stick
  46
- Unplug the USB Memory Stick
  47
11 Program Edit

48
12 Debugging

88
- Starting the Step Operation
  88
- Step Operation
  89
  - Step Forward
    89
  - Step Backward
    89
  - Continuous Execution
    90
  - Skip
    90
  - Step Forward in Another Slot
    91
  - Step Jump
    91
- Program Reset
  91
- Setting and Deleting Breakpoints
  92
13 Program Management

93
- Starting
  93
- Program List
  95
- Copy
  96
- Move
  97
- Delete
  97
- Protect
  98
- Rename
  98
- Compare
  99
- Select Program
  101
14 Backup/Restore

102
- Starting
  102
- Backup (Robot -> USB Memory)
  103
- Restore (USB Memory -> Robot)
  104
- Power Reset of the Robot Controller
  107
15 Monitor

108
- Starting
  108
- Outline of each Function and Starting Methods
  109
  - Outline of each Function
    109
- Each Monitor Function
  110
  - Robot Movement Monitor
    110
    
    Slot Run State
    110
    
    Program Monitor
    111
    
    Movement State
    114
    
    Error
    115
  - Signal Monitor
    117
    
    General-Purpose Signal
    117
    
    Named Signal
    120
    
    Stop Signal
    121
    
    Register
    122
    
    Operation Monitor
    125
    
    Operating Hours
    125
    
    Production Information
    125
    
    Additional Board Information
    126
  - Servo Monitor
    127
    
    Position (ABS)
    127
    
    Speed
    128
    
    Current
    129
    
    Load
    131
    
    Power
    132
16 Maintenance

133
- Origin Data
  133
  - Origin Data Input
    134
  - The Others (Mechanical Stopper, TOOL, ABS, User Origin Method)
    135
- Initialize
  137
- Serial Number
  139
- Releasing the Brakes
  142
- Maintenance Forecast
  145
  - Start
    145
  - Forecast (Battery)
    145
  - Forecast (Grease)
    146
  - Forecast (Belt)
    147
  - Gear
    148
  - Setup
    149
  - Reset
    151
  - Others
    153
- Guidance
  154
- Security Function of the Robot Controller (Password Setup)
  155
  - Register the Password
    156
  - Change the Password
    157
  - Delete the Password
    158
- Tool Automtic Calculation
  159
  - Specifications
    159
  - Start
    159
  - Flow of Oerations
    160
17 Parameter Editor

162
- Starting
  162
- Downloading the Parameter List (Robot Controller -> T/B)
  163
- Changing the Parameters
  164
- Parameter Menu
  165
  - Motion Limit
    166
  - Jog
    166
  - Hand
    167
    
    Multi-Hand Tool
    168
    
    Multi-Hand Base
    170
    
    Electric Hand Table
    171
    
    Electric Hand Point
    172
    
    Electric Hand
    173
  - Weight and Size (Work)
    174
  - Weight and Size (Hand)
    174
  - TOOL Parameter
    175
  - Slot Table
    176
  - Output Signal Reset Pattern
    177
  - Dedicated Input / Output Signals Assignment
    178
    
    General 1
    178
    
    General 2
    178
    
    Data
    179
    
    Jog
    179
    
    Hand
    180
    
    Warm up
    180
    
    Start (each Slot)
    181
    
    Stop (each Slot)
    181
    
    Servo on / off (each Robot)
    182
    
    Machine Lock (each Robot)
    182
  - 169
    183
  - User-Defined Area
    183
  - Free Plane Limit
    184
  - Home Position
    184
  - Program Language
    185
  - Robot Additional Axis
    185
  - Collision Detection
    187
  - Warm-Up Operation
    187
  - Movement
    188
  - Command
    188
  - User Error
    189
  - Ethernet
    190
  - Multiple CPU
    191
  - CC-Link
    192
  - Profibus
    193
  - I/O Unit
    194
  - Work Coordinate
    195
  - Force Control Parameters
    196
    
    Force Sensor
    196
    
    Force Control Mode
    197
    
    Force Control Characteristics
    197
    
    Force Log
    198
  - Real-Time External Control Command
    199
  - User Definition Parameter
    200
- Find
  201
- Power Reset of the Robot Controller
  201
18 System Option

202
- Display
  202
- User Management
  204
  - User Management Edit
    204
  - Change the User Level
    205
- Update T/B
  206
- Language of T/B
  208
- IP Address of T/B
  208
19 User Definition Screen

209
- User Definition Editor
  210
  - Adding the New Page
    211
  - Edit of Existing Page
    212
  - Copy of Page
    213
  - Deletion of Page
    213
  - Page Edit of "User Definition Screen
    214
    
    Button
    215
    
    Lamp
    219
    
    Variable
    221
    
    Program Execution Content
    222
    
    Program Name
    224
    
    Execution Line Number of Program
    225
    
    Current Position Data (the XYZ Coordinate System)
    226
    
    Current Position Data (the Joint Coordinate System)
    228
    
    Message
    230
    
    Label
    232
    
    Operation Panel Button
    233
    
    Menu Button
    235
    
    JOG Button
    238
    
    Save and End of Editing User Definition Screen
    240
  - Edit of Existing Parts
    241
  - Copy/Movement of Parts
    242
  - Deletion of Parts
    243
  - Change of Page Name
    243
  - Edit of Ruled Line
    244
    
    Drawing the Ruled Line
    244
    
    Erasing the Ruled Line
    245
  - Import / Export of Page
    246
    
    Import of Page (Reading from USB Memory)
    246
    
    Export of Page(Save to USB Memory)
    246
- Operation of User Definition Screen
  247
  - Mechanism of Screen Update
    248
20 Operation Panel

249
- Starting
  249
- Display
  250
- Program Select
  251
- Override UP/DOWN
  251
- Servo ON/OFF
  252
- Start Automatic Operation
  252
- Stop
  252
- Reset
  253
- Cycle Stop
  253

Mitsubishi Electric CR751 Series Instruction Manual (222 pages)

Industrial Robot, controller, Force Sense Function

Brand: Mitsubishi Electric | Category: Robotics | Size: 5 MB

Table of Contents
9
1 Using this Manual

14
2 Work Flow

17
- Flowchart
  17
3 Force Sense Function System Specifications

18
4 Check before Use

34
- Product Check
  34
  - Force Sensor Set 4F-FS001-W200
    34
  - Force Sensor Set 4F-FS001-W1000
    35
- Software Versions
  36
5 Attaching the Force Sensor

37
- Attachment Adapter
  37
- Sensor Installation
  37
- Recommended Attachment Angle
  38
- Securing the Force Sensor Cable
  39
- Tool Installation
  40
6 Device Connection, Wiring, and Settings

41
7 Checking the Connection and Settings

54
- Checking Force Sensor Data Communication
  54
  - If Using R56TB/R57TB
    54
  - If Using R32TB/R33TB
    55
- Checking the Force Sensor Attachment Coordinate System
  56
8 Using the Force Sense Function (Programming)

57
- Using the Force Sense
  57
- Force Sense Control
  58
- Force Sense Detection
  83
  - Mo Trigger
    84
  - Force Detection Status
    87
  - Data Latch
    87
  - Data Referencing
    87
  - Usage Example (Force Sense Detection)
    88
- Force Sense Log
  93
- Gravity Offset Cancel Function
  106
  - Estimated Data
    106
  - About Calibration Posture
    106
  - Calibration Procedure
    107
  - Usage Example (Force Sensor Calibration)
    114
9 Using the Force Sense Function (Teaching)

116
- Force Sense T/B
  117
  - Force Sense Control (T/B)
    117
  - Force Sense Monitor
    121
  - Contact Detection
    122
  - Usage Example (Force Sense Function T/B)
    123
- Teaching Operation
  127
  - Teaching Position Precautions
    127
  - Usage Example (Teaching Operation)
    131
- Force Sense Function Screen
  136
  - R56Tb/R57Tb
    136
  - R32Tb/R33Tb
    139
  - Application Examples
    143
10 Application Examples

144
11 Language Specifications

147
12 Parameter Specifications

200
13 Troubleshooting

210
14 Appendix

219
- Control Status Transition
  219

Mitsubishi Electric CR751 Series Instruction Manual (110 pages)

For industrial robot, Tracking Application Package

Brand: Mitsubishi Electric | Category: Controller | Size: 5 MB

Safety Precautions
3
Table of Contents
9
Terminology Used in this Manual
14
Tracking Application Configuration
15
Overall Configuration
15
Single Robot (D-Type Controller)
15
Double Robot (D-Type Controller)
16
Single Robot (Q-Type Controller)
17
Double Robot (Q-Type Controller)
18
Reading a Product Model Name
19
Product Standard Configuration
20
Product Components
20
Customer-Prepared Items
21
Standard Robot and Controller Options
22
Product Specifications
23
Tracking Application Specifications
23
Standard Layout
25
Apr-1Tr3Fh
25
Apr-2Tr3Fh
26
Parallel Arrangement
26
Staggered Arrangement
27
Apr-1Tr6Fh
28
Apr-2Tr6Fh
29
Parallel Arrangement
29
Staggered Arrangement
30
Apr-1Tr12Fh
31
Apr-2Tr12Fh
32
Parallel Arrangement
32
Staggered Arrangement
33
Apr-1Tr20Fh
34
Apr-2Tr20Fh
35
Parallel Arrangement
35
Staggered Arrangement
36
Package Component Specifications
37
Package Robot Specifications
37
Robot Arm Specification
37
Hand Specifications
38
Vacuum Unit
38
Hand Drawing
39
Wiring and Piping Form for Hand
40
Wiring and Piping System for Hand
41
MELFA-Tracking
42
Vision Unit
42
Vision Unit Configuration
42
Vision Unit Drawing
42
Vision Sensor
43
Vision Sensor Specifications
43
Lens
44
Lens Specifications
44
Encoder Unit
44
Encoder Unit Configuration
44
Encoder Unit Drawing
45
Encoder Assembly
46
Encoder Dimensional Drawing
47
DC5V/DC24V Power Supply Set
48
DC5V/DC24V Power Supply Set Configuration
48
DC5V/DC24V Power Supply
48
DC5V/DC24V Power Supply Specifications
48
DC5V Power Supply Drawing
50
DC24V Power Supply Drawing
50
DC5V/DC24V Power Supply Set Wiring Diagram
51
DC5V Power Supply Set
51
DC24V Power Supply Set
51
Vision Cable
52
Vision Cable Specification
52
Vision I/O Cable
53
Vision I/O Cable Specification
53
Vision I/O Cable Wiring Diagram
53
Encoder Cable
54
Single Robot Specification
54
Double Robot Specification
55
Encoder Distribution Set (for D-Type Controller Only)
57
Encoder Distribution Set Configuration
57
Encoder Distribution Unit
57
Encoder Distribution Unit Drawing
57
Encoder Input Cable
58
Encoder Input Cable Wiring Diagram
58
Package Components Wiring System
59
D-Type Controller
59
Single Robot Specification
59
Double Robot Specification
60
Q-Type Controller
61
Single Robot Specification
61
Double Robot Specification
62
Maintenance Parts
63
Customer Prepared Items
64
Power Protection BOX
64
Encoder Input Cable Production Drawing (Q-Type Controller)
65
Work Flow
66
Flowchart
66
Installing each Equipment and Connecting the Cables
67
Installing each Equipment
67
Check before Installing the Robot Arm
68
Installing the Encoder Unit
69
Installing the Vision Unit
69
Connecting Cables
70
D-Type Controller
70
Single Specification
70
Double Specification
71
Q-Type Controller
72
Single Specification
72
Double Specification
73
Air Piping Connection Diagram
74
Noise Suppression
75
How to Use the "MELFA-Tracking" Installation CD
76
Contents of Installation CD
76
Installation and Uninstallation
76
Installation
76
Uninstallation
78
Running "MELFA-Tracking
79
Workspace Creation and Selection
79
Operation Guide for "MELFA-Tracking" Screen
80
Flow of Settings for "MELFA-Tracking
82
How to Exit "MELFA-Tracking
83
In Case Q-Type Controller Is Used
84
Manual Pulse Input Unit Settings
84
PLC CPU Parameter Settings
85
Robot CPU Parameter Settings
88
During Operation
92
Robot Program
92
Program Example
93
Troubleshooting
96
Appendix
104
Vacuum Unit Instruction Manual
104
Energy-Saving Ejector Function
104
Initial Set Value for Pressure Switch
104
Pressure Switch Settings
105
Mounting Position of the Vacuum Unit
105
Measurement Mode
106
Windows 7 Firewall Setting Change Method
107

Mitsubishi Electric CR751 Series Instruction Manual (159 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 3 MB

Table of Contents
9
1 Function and Configuration

13
- Overview
  13
- System Configuration
  13
  - Combination of Software Version
    14
- Functional Block Diagram
  14
- Specifications
  15
- Risk Assessment
  16
  - Residual Risks (Common)
    16
  - Residual Risk (for each Function)
    16
2 Installation

18
3 Signals and Wiring

23
- Description of Signals
  23
  - Electrical Specifications
    23
  - Signal Operation
    24
- Connectors and Signal Assignment
  25
- Input Signal Connection Example
  26
- Measures against Static Electricity / Noise
  27
- Safety Monitoring Function Overview
  28
- Startup
  28
  - Connecting RT Toolbox2
    28
  - Password Setting
    28
  - Enable/Disable
    31
  - Parameter Setting
    31
  - Test Operation
    33
  - Monitoring Mode
    34
  - STO Function
    37
  - SS1 Function
    37
  - SLS Function (Speed Monitoring Function)
    38
  - SLP Function (Position Monitoring Function)
    44
  - STR Function (Torque Monitoring Function)
    52
  - Duplex Input Monitoring Function
    55
5 Parameters

56
- Safety Monitoring Function Parameters
  56
  - Parameter List
    56
  - Parameter Details
    57
  - CRC Output of the Parameter File
    66
6 Troubleshooting

67
- List of Errors Related to the Safety Monitoring Function
  67
- Errors Involving Change in Specification
  70
7 Dimensional Outline Drawings

71
- Dimensional Outline of the Extended Safety Unit
  71
8 Maximum Elapsed Time/Maximum Motion Angle

72
- Overview
  72
- Symbol Definition
  72
- Robot Arm Extention Rate
  73
  - RV-F Series
    73
  - RH-FH Series
    74
- Stopping Time/Stopping Angle
  75
  - Rv-2F
    75
  - Rv-4F
    81
  - Rv-4Fl
    87
  - Rv-4Fjl
    93
  - Rv-7F
    99
  - Rv-7Fl
    105
  - Rv-7Fll
    111
  - Rv-13F
    117
  - Rv-13Fl
    123
  - Rv-20F
    129
- Rh-3Fh
  135
- Rh-6Fh
  139
- Rh-12Fh
  143
- Rh-20Fh
  147
- Rh-3Fhr
  151
- Rh-1Fhr
  155

Mitsubishi Electric CR751 Series Ethernet Function Instruction Manual (146 pages)

Electric Industrial Robot

Brand: Mitsubishi Electric | Category: Robotics | Size: 5 MB

Table of Contents
8
1 Before Use

11
- How to Use the Instruction Manual
  11
  - Content of Instruction Manual
    11
- Terms Used in the Instruction Manual
  11
- Confirmation of Product
  12
- Ethernet Function
  12
  - Function of Ethernet
    12
2 Preparation before Use

15
3 Description of Functions

27
- Controller Communication Function
  28
- Data Link Function
  31
  - MELFA-BASIC V/VI Commands
    31
  - Using Data Link Function
    35
  - Ending
    38
- Real-Time External Control Function
  39
- Real-Time Monitor Function
  50
  - Overview
    50
  - Supported Version
    51
  - Setup
    52
  - Start of Monitor / End of Monitor
    54
  - Explanation of Communication Data Packet
    55
  - Data Type ID
    58
  - Parameters
    59
  - Error
    59
- SLMP Connection
  60
  - Function Overview
    60
  - Supported Version
    60
  - Specifications
    60
  - Parameters
    60
  - SLMP Communication Procedure
    61
  - Message Format
    63
  - Commands
    71
  - End Code
    106
- CC-Link IE Field Network Basic Function
  107
  - Overview
    107
  - Supported Version
    108
  - Specifications
    108
  - Parameters
    109
  - Support of Robot I/O Signals and Link Devices
    110
  - Setup Procedure
    111
4 Appendix

121
- Error List
  121
- Sample Program
  122
  - Sample Program of Data Link
    122
  - Sample Program for Real-Time External Control Function
    134

Mitsubishi Electric CR751 Series Instruction Manual (126 pages)

Circular Arc Tracking Function

Brand: Mitsubishi Electric | Category: Controller | Size: 4 MB

Mitsubishi Electric CR751 Series Instruction Manual (66 pages)

Multifunctional Electric Hand Option

Brand: Mitsubishi Electric | Category: Controller | Size: 1 MB

Table of Contents
11
1 Using this Manual

13
- Content of this Instruction Manual
  13
2 Specifications

14
- What Is the Electric Hand
  14
- System Configuration
  14
  - CR800 Outline
    14
  - CR750/CR751 Outline
    15
  - Compatible Models
    15
  - Limitations
    16
    
    Available Equipment, Software Version
    16
- Control Unit
  16
  - Specifications
    16
    
    Mehcu-01
    16
    
    Mehcu-02
    16
- Electric Hand
  18
  - Models of Electric Hand
    18
  - Outline Drawing
    18
    
    Single Cam Type
    18
    
    Screw Type
    20
  - Installing the Fingers
    21
    
    Installing Dimensions (Single Cam Type)
    21
    
    Installing Dimensions (Screw Type)
    22
  - Specifications of Electric Hand
    23
    
    Cam Type
    23
    
    Screw Type
    24
    
    3-Finger Single Cam Type
    25
- Hand Cable
  26
  - Models of Hand Cable
    26
  - Outline Drawing
    26
    
    Mehcbl-01
    26
    
    MEHCBL-02 to 05
    26
3 Check before Use

27
- Product Checking
  27
- Items to be Prepared by Customer
  28
4 Installation

29
- Installation and Connection
  29
- Maintenance and Inspection
  33
5 Using the Electric Hand (Programming)

36
- Operating Procedure
  36
  - Setting the Parameter
    36
    
    The Actuator Type Setting
    36
    
    Setting of the Control Parameter
    37
  - Operation of Electric Hand
    39
    
    Changing the Hand Number
    40
    
    Origin Setting
    40
    
    Hand Opening and Closing
    41
    
    Teaching the Moving Position
    41
    
    Moving to the Taught Position
    43
    
    Grip Action
    44
    
    Setting the Moving Speed
    45
    
    Setting the Force (Holding Force)
    45
  - Specification of the Robot Programming Language
    46
    
    List of Instructions
    46
    
    Status Variable List
    46
    
    Detailed Explanation of Command Words
    47
    
    Explanation of each Robot Status Variable
    57
  - Parameter List
    62
  - Error List
    64

Mitsubishi Electric CR751 Series Manual (2 pages)

Industrial Robot, Encoder Distribution Unit

Brand: Mitsubishi Electric | Category: Controller | Size: 0 MB

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Mitsubishi Electric CR751 Series Manuals

Table of Contents

1 Before Use

2 Connection with Controller

3 Specification

4 Basic Operation Method

5 Operation of Menu Panel

6 Language Setting

7 Guidance

8 Setting a Target Robot for Using Multi-Mechanism Control

9 JOG Operation

10 USB Memory Stick

11 Program Edit

12 Debugging

13 Program Management

14 Backup/Restore

15 Monitor

16 Maintenance

17 Parameter Editor

18 System Option

19 User Definition Screen

20 Operation Panel

Table of Contents

1 Using this Manual

2 Work Flow

3 Force Sense Function System Specifications

4 Check before Use

5 Attaching the Force Sensor

6 Device Connection, Wiring, and Settings

7 Checking the Connection and Settings

8 Using the Force Sense Function (Programming)

9 Using the Force Sense Function (Teaching)

10 Application Examples

11 Language Specifications

12 Parameter Specifications

13 Troubleshooting

14 Appendix

Table of Contents

Table of Contents

1 Function and Configuration

2 Installation

3 Signals and Wiring

5 Parameters

6 Troubleshooting

7 Dimensional Outline Drawings

8 Maximum Elapsed Time/Maximum Motion Angle

Table of Contents

1 Before Use

2 Preparation before Use

3 Description of Functions

4 Appendix

Table of Contents

Table of Contents

1 Using this Manual

2 Specifications

3 Check before Use

4 Installation

5 Using the Electric Hand (Programming)

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