Mitsubishi Electric CR760-Q Manuals

Manuals and User Guides for Mitsubishi Electric CR760-Q. We have 1 Mitsubishi Electric CR760-Q manual available for free PDF download: Instruction Manual

Mitsubishi Electric CR760-Q Instruction Manual

Mitsubishi Electric CR760-Q Instruction Manual (730 pages)

CR750/CR751/CR760 Series

Brand: Mitsubishi Electric | Category: Controller | Size: 14 MB

Table of Contents

Table of Contents
13
1 Before Starting Use

21
- Using the Instruction Manuals
  21
  - The Details of each Instruction Manuals
    21
  - Symbols Used in Instruction Manual
    22
- Safety Precautions
  23
  - Precautions Given in the Separate Safety Manual
    24
2 Explanation of Functions

26
3 Explanation of Operation Methods

34
- Operation of the Teaching Pendant Menu Screens
  34
  - Screen Tree
    34
  - Input of the Number/Character
    38
  - Selecting a Menu
    39
- Jog Feed (Overview)
  41
  - Types of Jog Feed
    41
  - Speed of Jog Feed
    42
  - JOINT Jog
    43
  - XYZ Jog
    43
  - TOOL Jog
    44
  - 3-Axis XYZ Jog
    44
  - CYLNDER Jog
    45
  - WORK Jog
    45
  - Switching Tool Data
    46
  - Changing the World Coordinate (Specifies the Base Coordinate Number)
    47
  - Impact Detection During Jog Operation
    48
    
    Impact Detection Level Adjustment During Jog Operation
    49
- Opening/Closing the Hands
  50
- Returning to the Safe Point
  51
- Aligning the Hand
  52
- Programming
  54
  - Creating a Program
    54
    
    Opening the Program Edit Screen
    54
    
    Creating a Program
    55
    
    Completion of Program Creation and Saving Programs
    57
    
    Correcting a Program
    58
    
    Registering the Current Position Data
    60
    
    Deletion of the Position Variable
    63
    
    Confirming the Position Data (Position Jump)
    64
    
    Correcting the MDI (Manual Data Input)
    65
    
    Executing a Command Directly
    66
- Debugging
  67
  - Step Feed
    67
  - Step Return
    68
  - Step Feed in Another Slot
    69
  - Step Jump
    71
- Automatic Operation
  72
  - Setting the Operation Speed
    72
    
    Operating with the Controller
    72
    
    Operating with the T/B
    72
  - Selecting the Program no
    72
  - Starting Automatic Operation
    73
    
    Starting by O/P
    73
    
    Starting from the T/B
    74
  - Stopping
    77
    
    Operating with the Controller
    77
    
    Operating with the T/B
    77
  - Resuming Automatic Operation from Stopped State
    78
    
    Resuming by O/P
    78
    
    Resuming from T/B
    78
  - Resetting the Program
    79
    
    Operating with the Controller
    79
    
    Operating with the T/B
    79
- Turning the Servo ON/OFF
  80
- Error Reset Operation
  81
- Operation to Temporarily Reset an Error that Cannot be Canceled
  81
- Operating the Program Control Screen
  82
  - Program List Display
    82
  - Copying Programs
    83
  - Name Change of the Program (Rename)
    84
  - Deleting a Program (Delete)
    85
  - Protection of the Program (Protect)
    86
  - Select the Program
    87
- Operation of Operating Screen
  88
  - Display of the Execution Line
    88
    
    Select the Confirmation Menu
    88
    
    Step Feed
    88
    
    Step Jump
    90
    
    Step Feed in Another Slot
    90
    
    Finishing of the Confirmation Screen
    91
  - Test Operation
    91
    
    Select the Test Operation
    91
  - Operating the OPERATION Screen
    92
- Operating the Monitor Screen
  93
  - Input Signal Monitor
    93
  - Output Signal Monitor
    95
  - Input Register Monitor
    97
  - Output Register Monitor
    98
  - Variable Monitor
    100
  - Error History
    102
- Operation of Parameter Screen
  103
- Operation of the Origin and the Brake Screen
  105
  - Origin
    105
  - Brake
    105
- Operation of Setup / Initialization Screen
  107
  - Initialize the Program
    107
  - Initialize the Parameter
    108
  - Initialize the Battery
    109
  - Operation
    110
  - Time Setup
    110
  - Version
    111
- Enhanced
  112
  - Sq Direct
    112
  - Work Coord
    112
- Operation of the Initial-Setting Screen
  113
  - Set the Display Language
    113
  - Adjustment of Contrast
    115
4 Melfa-Basic V

117
- MELFA-BASIC V Functions
  117
  - Robot Operation Control
    118
    
    Joint Interpolation Movement
    118
    
    Linear Interpolation Movement
    119
    
    Circular Interpolation Movement
    120
    
    Continuous Movement
    122
    
    Acceleration/Deceleration Time and Speed Control
    123
    
    Confirming that the Target Position Is Reached
    125
    
    High Path Accuracy Control
    126
    
    Hand and Tool Control
    127
  - Pallet Operation
    128
  - Program Control
    133
    
    Unconditional Branching, Conditional Branching, Waiting
    133
    
    Repetition
    134
    
    Interrupt
    135
    
    Subroutine
    136
    
    Timer
    137
    
    Stopping
    137
  - Inputting and Outputting External Signals
    138
    
    Input Signals
    138
    
    Output Signals
    138
  - Communication
    139
  - Expressions and Operations
    140
    
    List of Operator
    140
    
    Relative Calculation of Position Data (Multiplication)
    141
    
    Relative Calculation of Position Data (Addition)
    141
  - Appended Statement
    143
- The Difference between MELFA-BASIC V and MELFA-BASIC IV
  144
- Multitask Function
  145
  - What Is Multitasking
    145
  - Executing a Multitask
    146
  - Operation State of each Slot
    146
  - Precautions for Creating Multitask Program
    148
    
    How to Perform the Initialization Processing Via Constantly Executed Programs
    149
  - Precautions for Using a Multitask Program
    149
    
    Starting the Multitask
    149
    
    Display of Operation Status
    149
  - Example of Using Multitask
    150
    
    Robot Work Details
    150
    
    Procedures to Multitask Execution
    151
  - Program Capacity
    152
    
    Program Save Area
    152
    
    Program Edit Area
    152
    
    Program Execution Area
    152
- Detailed Specifications of MELFA-BASIC V
  153
  - Program Name
    153
  - Command Statement
    153
  - Variable
    154
  - Statement
    155
  - Appended Statement
    155
  - Step
    155
  - Step no
    155
  - Label
    155
  - Types of Characters that Can be Used in Program
    156
  - Characters Having Special Meanings
    157
    
    Uppercase and Lowercase Identification
    157
    
    Underscore
    157
    
    Apostrophe ( ' )
    157
    
    Asterisk ( * )
    157
    
    Comma ( , )
    157
    
    Period ( . )
    157
    
    Space
    157
  - Data Type
    158
  - Constants
    158
  - Numeric Value Constants
    158
    
    Decimal Number
    158
    
    Hexadecimal Number
    158
    
    Binary Number
    158
    
    Types of Constant
    158
  - Character String Constants
    158
  - Position Constants
    159
    
    Coordinate, Posture and Additional Axis Data Types and Meanings
    159
    
    Meaning of Structure Flag Data Type and Meanings
    159
  - Joint Constants
    160
    
    Axis Data Format and Meanings
    160
  - Angle Value
    161
  - Variables
    161
  - Numeric Value Variables
    162
  - Character String Variables
    162
  - Position Variables
    162
  - Joint Variables
    163
  - Input/Output Variables
    163
  - Array Variables
    163
  - External Variables
    164
  - Program External Variables
    164
  - User-Defined External Variables
    165
  - Creating User Base Programs
    166
- Coordinate System Description of the Robot
  167
- Robot Status Variables
  175
  - Logic Numbers
    179
- Functions
  180
  - User-Defined Functions
    180
  - Built-In Functions
    180
- List of Command
  183
  - Command Related to Movement Control
    183
  - Command Related to Program Control
    184
  - Definition Commands
    184
  - Multi-Task Related
    185
  - Others
    185
- Operators
  186
- Priority Level of Operations
  187
- Depth of Program's Control Structure
  187
- Reserved Words
  187
- Detailed Explanation of Command Words
  188
  - How to Read the Described Items
    188
  - Explanation of each Command Word
    188
- Detailed Explanation of Robot Status Variable
  331
  - How to Read Described Items
    331
  - Explanation of each Robot Status Variable
    331
- Detailed Explanation of Functions
  417
  - How to Read Described Items
    417
  - Explanation of each Function
    417
5 Functions Set with Parameters

458
- Movement Parameter
  458
- Signal Parameter
  473
  - About Multi CPU Input Offsets (Cr7Xx-Q Series Controller Only)
    477
    
    Case (A)
    477
    
    Case (B)
    478
- Operation Parameter
  479
- Command Parameter
  483
- Communication Parameter
  488
- Standard Tool Coordinates
  491
- About Standard Base Coordinates
  493
- About User-Defined Area
  494
  - Selecting a Coordinate System
    495
  - Setting Areas
    496
    
    Position Area
    496
    
    Posture Area
    497
    
    Additional Axis Area
    497
  - Selecting Mechanism to be Checked
    498
  - Specifying Behavior Within User-Defined Area
    498
  - Example of Settings
    499
- Free Plane Limit
  500
  - The Definition of a Free Plane Limit
    500
  - Selection of a Coordinates System for a Free Plane Limit
    501
- Automatic Return Setting after Jog Feed at Pause
  502
- Automatic Execution of Program at Power up
  503
- About the Hand Type
  504
  - Solenoid Valve Types and Signal Numbers
    504
- About Default Hand Status
  505
  - CR750/CR751 Controller
    505
  - CR760 Controller
    506
- About the Output Signal Reset Pattern
  507
- About the Communication Setting (Ethernet)
  509
- Hand and Workpiece Conditions (Optimum Acceleration/Deceleration Settings)
  516
- About the Singular Point Adjacent Alarm
  518
- High-Speed RAM Operation Function
  519
- Warm-Up Operation Mode
  522
- About Singular Point Passage Function
  529
- About the Collision Detection Function
  534
  - Related Parameters
    535
  - How to Use the Collision Detection Function
    536
- Optimizing the Overload Level
  541
- Multi-Rotational Restrictions for the Pallet Definition Instruction
  542
- Interference Avoidance Function
  543
- Sequencer Input/Output Unit Direct Control
  565
- Direct Communication with Robot Cpus
  569
- Parameter for Behavior Selection at the Error Occurrence on Dual System
  570
6 External Input/Output Functions

571
7 Appendix

606
- Explanation of Communication Data Packet
  608
- Sample Program
  611
- Sample Program for Real-Time External Control Function
  617
- Configuration Flag
  628
- Spline Interpolation
  631
  - Required Devices and Software Version
    632
  - Specifications
    633
    
    Restrictions
    634
    
    Robot Behavior During Spline Interpolation
    635
    
    Check Related to Path Points
    636
    
    Explanation of Functions
    638
    
    Operation Mode
    641
    
    Signal Output
    642
    
    Numerical Setting
    643
    
    Frame Transformation
    644
  - Work Procedures
    645
  - Creating the Spline File
    647
    
    Creating a File by DXF File Import Function
    648
    
    Creating New Spline Files with Robot Language
    655
    
    Explanation of Spline File Edit Screen
    656
    
    Menu Bar for Spline File Editing
    658
    
    Details of Path Point Data
    660
    
    Editing the Spline File
    661
    
    Saving the Spline File
    668
    
    Deleting a Spline File
    670
    
    Copying the Spline File
    671
    
    Import/Export Function
    673
    
    Auxiliary Editing Functions
    682
    
    Displays the Spline Curve
    684
    
    Robot Program
    686
  - Creating the Robot Program
    688
  - Confirming the Movement
    690
  - Saving in the Robot Controller
    691
    
    Frame Transformation Function
    693
    
    Position Jump
    695
    
    Parameter SPLOPTGC
    696
- Ex-T Control
  697
  - Specifications
    698
  - Ex-T Jog
    700
    
    Movement of the Posture Element in the WORK Jog
    701
    
    Ex-T Jog Operation
    702
    
    WORK Jog Operation of the RV 6-Axis Type
    703
    
    WORK Jog Operation of the RH 4-Axis Type
    706
    
    WORK Jog Operation of the RH 4-Axis Hanging Type
    708
  - Creation of Robot Program
    710
- Cooperative Operation Function
  712
  - System Configuration
    713
    
    Automatic Operation Program (1.Prg)
    714
    
    Robot Adjustment Program (Bfrm.prg)
    715
  - Sequence Program
    716
  - Adjustment
    717
  - Adjustment 2: Setting of the Common Tool
    718
  - Cooperated Operation by Robots
    720
- Get-Position-Quick Function
  721
- Upgrade of the Servo Software
  728

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