Mitsubishi Electric CR800-D Series Manuals

Manuals and User Guides for Mitsubishi Electric CR800-D Series. We have 14 Mitsubishi Electric CR800-D Series manuals available for free PDF download: Instruction Manual, User Manual, Standard Specifications Manual, Function Instruction Manual

Mitsubishi Electric CR800-D Series Instruction Manual (800 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 29 MB

Safety Precautions
3
Revision History
8
Table of Contents
11
Before Starting Use
19
Using the Instruction Manuals
19
The Details of each Instruction Manuals
19
Symbols Used in Instruction Manual
20
Safety Precautions
21
Precautions Given in the Separate Safety Manual
22
Explanation of Functions
24
Teaching pendant (T/B) Functions
24
Operation Rights
25
Handling the T/B
26
Installing the T/B
26
Removing the T/B
26
2Explanation of Functions
27
Functions Related to Movement and Control
27
Robot Type Resetting
29
Explanation of Operation Methods
30
Operation of the Teaching pendant Menu Screens
30
Screen Tree
30
Input of the Number/Character
34
Selecting a Menu
35
Function Key
36
Jog Feed (Overview)
37
Types of Jog Feed
37
Speed of Jog Feed
38
JOINT Jog
39
XYZ Jog
39
TOOL Jog
40
3-Axis XYZ Jog
40
CYLNDER Jog
41
WORK Jog
41
Switching Tool Conversion Data
42
Related Information
43
Changing the World Coordinate (Specifies the Base Coordinate Number)
43
Impact Detection During Jog Operation
45
Impact Detection Level Adjustment During Jog Operation
46
Opening/Closing the Hands
47
Returning to the Safe Point
48
Aligning the Hand
49
Programming
51
Creating a Program
51
Opening the Program Edit Screen
51
Creating a Program
52
Completion of Program Creation and Saving Programs
54
Correcting a Program
55
Registering the Current Position Data
57
Deletion of the Position Variable
60
Confirming the Position Data (Position Jump)
61
Correcting the MDI (Manual Data Input)
62
Executing a Command Directly
63
Debugging
64
Step Feed
64
Step Return
65
Step Feed in Another Slot
66
Step Jump
68
Automatic Operation
69
Setting the Operation Speed
69
Starting Automatic Operation
69
OPERATION Selection
71
Stopping
74
Resuming Automatic Operation from Stopped State
74
Resetting the Program
74
Turning the Servo ON/OFF
75
Error Reset Operation
75
Operation to Temporarily Reset an Error that Cannot be Canceled
76
Operating the Program Control Screen
78
Program List Display
78
Copying Programs
79
Name Change of the Program (Rename)
80
Deleting a Program (Delete)
81
Protection of the Program (Protect)
82
About Data Protection
83
Select the Program
83
Operation of Operating Screen
84
Display of the Execution Line
84
Select the Confirmation Menu
84
Step Feed
84
Step Jump
86
Step Feed in Another Slot
86
Operation of Operating Screen
86
Finishing of the Confirmation Screen
87
Test Operation
87
Select the Test Operation
87
Operating the OPERATION Screen
88
Operating the Monitor Screen
89
Input Signal Monitor
89
Output Signal Monitor
91
Input Register Monitor
93
Output Register Monitor
94
Variable Monitor
96
Error History
98
Operation of Parameter Screen
99
Operation of the Origin and the Brake Screen
101
Origin
101
Brake
101
Operation of Setup / Initialization Screen
103
Initialize the Program
103
Initialize the Parameter
104
Initialize the Battery
105
Operation
105
Time Setup
106
Version
106
Enhanced
107
Sq Direct
107
Work Coord
107
Operation of the Initial-Setting Screen
108
Set the Display Language
108
Adjustment of Contrast
110
Melfa-Basic VI
112
MELFA-BASIC VI Functions
112
Robot Operation Control
113
Joint Interpolation Movement
113
Linear Interpolation Movement
114
Circular Interpolation Movement
115
Continuous Movement
117
Acceleration/Deceleration Time and Speed Control
118
Confirming that the Target Position Is Reached
120
High Path Accuracy Control
121
Hand and Tool Control
122
Pallet Operation
123
Please Read
124
Program Example
126
Program Control
128
Unconditional Branching, Conditional Branching, Waiting
128
Repetition
129
Interrupt
130
Subroutine
131
Timer
132
Stopping
132
Inputting and Outputting External Signals
133
Input Signals
133
Output Signals
133
Communication
134
Expressions and Operations
135
List of Operator
135
Relative Calculation of Position Data (Multiplication)
136
Relative Calculation of Position Data (Addition)
136
Appended Statement
138
Multitask Function
139
What Is Multitasking
139
Executing a Multitask
140
Operation State of each Slot
140
Precautions for Creating Multitask Program
142
Relationship between Number of Tasks and Processing Time
142
Specification of the Maximum Number of Programs Executed Concurrently
142
How to Pass Data between Programs Via External Variables
142
Confirmation of Operating Status of Programs Via Robot Status Variables
142
The Program that Operates the Robot Is Basically Executed in Slot 1
142
How to Perform the Initialization Processing Via Constantly Executed Programs
143
Precautions for Using a Multitask Program
143
Starting the Multitask
143
Display of Operation Status
143
Example of Using Multitask
144
Robot Work Details
144
Procedures to Multitask Execution
145
Program Capacity
146
Program Save Area
146
Program Edit Area
146
Program Execution Area
146
Detailed Specifications of MELFA-BASIC VI
147
Program Name
147
Command Statement
147
Variable
148
Statement
149
Appended Statement
149
Step
149
Step no
149
Label
149
Types of Characters that Can be Used in Program
150
Characters Having Special Meanings
151
Uppercase and Lowercase Identification
151
Underscore
151
Apostrophe ( ' )
151
Asterisk ( * )
151
Comma ( , )
151
Period ( . )
151
Space
151
Data Type
152
Constants
152
Numeric Value Constants
152
Decimal Number
152
Hexadecimal Number
152
Binary Number
152
Types of Constant
152
Character String Constants
152
Position Constants (Xyz/Work Coordinate Constants)
153

Mitsubishi Electric CR800-D Series Instruction Manual (346 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 65 MB

Safety Precautions
3
Table of Contents
6
Chapter 1 Before Use

13
- Instruction Manual
  13
- Download Wizard
  14
- Terms and Symbols Used in this Manual
  15
- Items in Package
  15
Chapter 2 Connecting the Controller

16
- Installation of the T/B
  16
- Removal of the T/B
  17
Chapter 3 Specifications

18
- Product Specifications
  18
- Function List
  19
- Part Names
  20
Chapter 4 Basic Operations

21
- How to Use the T/B
  21
- 3-Position Enable Switch
  21
- How to Operate the Touch Panel
  22
- Operation Image
  22
Chapter 5 Connecting a Usb Memory

23
- Installing a USB Memory
  23
- Removing the USB Memory
  23
Chapter 6 Explanations on Screens

24
- Header
  25
- Connection Status
  25
- Program Information
  26
- Program Change
  26
- Error Display
  26
- Robot/Tool/Base/Workpiece Information
  27
- HOME Screen
  28
- Auxiliary Screen
  29
- Footer
  29
- Page List Screen
  30
- Opening a Page
  30
- Key Operation Guide
  31
Chapter 7 Initial Settings

32
Chapter 8 Setting a Robot Targeted for Multi-Mechanism Control

33
Chapter 9 Operating the Robot (Jog Operation)

34
- Speed Settings
  35
- Jog Mode
  36
- Switching Jog Mode
  37
- Switching Tool Data
  38
- Switching Base Coordinates
  39
- Jog Operation
  40
- Operating Multiple Axes Simultaneously
  42
- Canceling the Operating Range
  43
- Jog Operation with the Wheel (Fixed-Length Feeding)
  44
- Direct Execution
  45
- Hand Alignment
  46
- Home Position Return
  47
- Collision Avoidance
  47
- Force Sense Control
  48
- Hand Operation
  49
- Multi-Function Electric Hand Operation
  50
- Standard Hand Operation
  52
- Simple Jog
  53
- Direct Teaching
  55
- Jog Operation (Tool Jog)
  57
- Inching
  59
- Joint Operation (Joint Jog)
  61
- Switching to Normal Jog
  61
- Aligning the Hand
  62
- Moving to the Home Position
  63
- Opening and Closing the Hand
  63
- Teaching
  64
Chapter 10 Creating a Program

65
- Creating a New Program
  66
- Opening an Existing Program
  67
- Read Items When Opening a Program
  67
- Updating the List of Programs
  67
- Program Editing Screen
  68
- Editing a Program
  69
- Editing Command Statements
  69
- Editing Position Variables
  70
- Edit Assist Functions
  74
- Tool
  77
- Syntax Check
  77
- Easy Program Editing
  84
- [Move] Command
  84
- [Hand] Command
  85
- [Wait] Command
  86
- [Output] Command
  87
- [Calculus] Command
  88
- [Continuous] Command
  89
- Position Jump
  90
- Saving a Program
  91
- Program Debugging
  92
- Start Debugging
  92
- Running a Program Using Step Operation
  93
- Program Reset
  94
- Modifying a Program
  95
- Editing a Command Line
  95
- Setting and Deleting Breakpoints
  96
- Finish Debugging
  97
- Program Manager
  98
- Copying Programs
  98
- Program Comparison
  99
- Rename
  99
- Protection Settings
  100
- Deleting Programs
  101
- Editing Position Data for SQ Direct
  102
- SQ Direct Editing Screen
  102
- Editing Position Data
  103
- Initializing Position Data
  103
- Checking Position Data (Position Jump)
  103
- Auto Indent with Specific Commands
  106
Chapter 11 Creating Spline Files

107
- Creating a New File
  107
- Opening an Existing File
  108
- Updating the List of Spline Files
  108
- Spline File Editing Screen
  108
- Editing Spline Files
  109
- Editing Path Point Data
  109
- Edit Assist Functions
  110
- Tools
  110
- Interpolation Settings
  111
- Position Adjustment
  112
- Position Jump
  114
- Saving Spline Files
  115
- Spline Manager
  115
- Copying Spline Files
  115
- Comparing Spline Files
  116
- Changing Spline Numbers
  116
- Deleting Spline Files
  116
Chapter 12 Setting Parameters

117
- Parameter Menu Screen
  117
- Editing from the Parameter List
  118
- Displaying the Parameter List Screen
  118
- Parameter Editing
  119
- Editing Parameters Changed from the Initial Values
  120
- Parameter List Reading
  120
- Finding Parameters
  121
- Parameter Initialization
  121
- Movement Parameters
  122
- Operating Range
  122
- Jog
  123
- Hand
  124
- Electric Hand
  127
- Weight and Size
  132
- Tool
  133
- User-Defined Area
  134
- Free Plane Limit
  135
- Home Position
  136
- Additional Axes
  137
- Collision Detection
  139
- Warm-Up Operation
  140
- Movement
  141
- Workpiece Coordinates
  142
- Force Sense Control
  143
- Force Sensor
  143
- Control Mode
  145
- Control Characteristics
  146
- Logging Function
  147
- Collision Avoidance
  148
- Safety
  152
- Speed Monitoring
  155
- Program Parameters
  158
- Slot Table
  158
- Robot Language
  159
- Programs
  160
- User Errors
  161
- Signal Parameters
  162
- Output Signal Reset Pattern
  162
- Assigning Dedicated I/O Signals
  164
- Network Parameters
  174
- Ethernet
  175
- Real-Time Monitor
  178
- CC-Link
  180
- CC-Link IE Field
  181
- CC-Link IE Field Basic
  182
- Profibus
  183
- Profinet
  184
- Devicenet
  185
- Ethernet/Ip
  186
- Ethercat
  187
- Programmable Controller Cooperation Parameters
  188
- Multiple CPU
  188
- IO Unit
  189
- Safety Parameters
  190
- Safety Diagnosis Function
  190
- Safety Option
  192
- Basic Settings
  192
- Safety Logic
  194
- Sos
  199
- Sls
  200
- Speed Parameters
  200
- Slp
  202
- Area Parameters
  203
- Operation Check
  204

Mitsubishi Electric CR800-D Series Instruction Manual (204 pages)

For Industrial Robot

Brand: Mitsubishi Electric | Category: Controller | Size: 7 MB

Mitsubishi Electric CR800-D Series User Manual (194 pages)

Industrial Robot, controller, Predictive Maintenance Function

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

Table of Contents
9
1 Before Starting Use

11
- Contents of the Instruction Manual
  11
- Compatible Products
  12
- Related Manuals
  13
- Maintaining the Robot
  14
  - Type of Maintenance and Inspection
    14
  - Inspecting/Replacing Timing Belt
    15
  - Lubrication
    16
  - Replacing the Battery
    17
  - About Overhaul
    18
2 Basic Specifications

19
- Overview of Basic Specification of the Predictive Maintenance Function
  19
- How to Utilize the Predictive Maintenance Function
  30
3 Startup and Initial Settings

32
4 Basic Screen Structure

50
5 Total Score

52
6 Consumption Degree Calculation Function

54
7 Abnormality Detection Function

58
8 Operating Information

62
9 Maintenance Simulation

64
- Cycle" Operation
  66
- Program Operation
  72
10 When Consumption Occurred/Abnormality Detected

76
- Consumption Degree
  76
  - Maintenance Parts
    76
  - Overhaul Parts
    77
  - Servo on Time
    79
- Abnormality Detection
  80
  - Reduction Gear
    80
  - Encoder
    80
  - Battery
    81
11 Maintenance

82
- Warning Pause
  83
- Maintenance Reset
  84
- Backup and Restore
  85
  - Backup (Robot  Personal Computer)
    87
  - Restore (Personal Computer  Robot)
    88
- Maintenance Log
  89
  - Maintenance Log Screen
    89
  - Data to be Recorded in the Maintenance Log
    90
12 Batch Management of Maintenance Information

92

Mitsubishi Electric CR800-D Series Standard Specifications Manual (128 pages)

Industrial Robot

Brand: Mitsubishi Electric | Category: Controller | Size: 11 MB

Mitsubishi Electric CR800-D Series User Manual (146 pages)

Industrial robot controller

Brand: Mitsubishi Electric | Category: Controller | Size: 2 MB

Table of Contents
9
1 Before Starting Use

11
- Contents of the Instruction Manual
  11
- Compatible Products
  12
- Related Manuals
  13
- Maintaining the Robot
  14
  - Type of Maintenance and Inspection
    14
  - Inspecting/Replacing Timing Belt
    15
  - Lubrication
    16
  - Replacing the Battery
    17
  - About Overhaul
    18
2 Basic Specifications

19
- Overview of Basic Specification of the Preventive Maintenance Function
  19
- How to Utilize the Preventive Maintenance Function
  28
3 Startup and Initial Settings

30
4 Basic Screen Structure

40
5 Total Score

42
6 Consumption Degree Calculation Function

44
7 Operating Information

47
8 Maintenance Simulation

48
- Cycle" Operation
  50
- Program Operation
  55
9 When Consumption Occurred

60
- Consumption Degree
  60
  - Maintenance Parts
    60
  - Overhaul Parts
    61
  - Servo on Time
    63
10 Maintenance

64
- Warning Pause
  65
- Maintenance Reset
  66
- Backup and Restore
  67
  - Backup (Robot  Personal Computer)
    68
  - Restore (Personal Computer  Robot)
    69
- Maintenance Log
  70
  - Maintenance Log Screen
    70
  - Data to be Recorded in the Maintenance Log
    71
11 Batch Management of Maintenance Information

72

Mitsubishi Electric CR800-D Series User Manual (148 pages)

Industrial Robot

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

Table of Contents
9
1 Usage

11
- How to Use this Document
  11
2 Confirmation before Use

12
- Product Confirmation
  12
3 MELFA Smart Plus Card

13
4 Calibration Assistance Function

24
- Outline
  24
- Automatic Calibration
  26
- Workpiece Coordinate Calibration
  45
- Inter-Robot Relational Calibration
  67
- Robot Programming Language
  72
  - Language List
    72
  - Language Detailed Description
    73
5 Robot Mechanism Temperature Compensation Function

88
6 Coordinated Control for Additional Axes

92
- Calibration of Base Coordinates
  93
  - Overview
    93
  - Specification
    93
  - Operation Procedure
    94
  - Parameter Setting
    94
- Base Coordinate Cooperative Control
  95
  - Overview
    95
  - System Configration
    98
  - Specification
    99
  - Operation Procedure
    101
  - Parameter Setting
    102
  - Creatinn of Robot Program
    103
- Additional Axis Tracking
  105
  - Specification
    105
- System Configuration
  106
- Specification
  108
- Parameter Setting
  111
- Creation of Robot Program
  115
- Installation of a Sample Program
  123
- Calibration of Robot and Base Coordinate Systems ("A1" Program)
  124
- Resistration of User Mechanism Work Position ("B1" Program)
  129
- Work Base Position Registration ("C1" Program)
  133
- Teaching and Setting of Adjustment Variables ("1" Program)
  137
- Troubleshooting
  143

Mitsubishi Electric CR800-D Series Instruction Manual (148 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 2 MB

Safety Precautions
3
Introduction
7
Table of Contents
8
CHAPTER 1 Error List
24
Error no
24
Cause and Measures against the Error
24
H0001
24
H0002
24
H0003
25
H0004
25
H0006
25
H0008
25
H0009
25
C0010
25
C0011
26
C0012
26
C0013
26
H0014
26
H0015
26
L0016
26
C0018
26
H0020
26
H0021
26
H0022
27
C0023
27
C0024
27
H0028
27
C0029
27
L0030
27
L0031
27
C0032
27
H0035
27
H0039
28
H0040
28
H0041
28
H0042
28
H0044
28
H0045
28
H0046
28
H0047
28
H0049
29
H0050
29
H0051
29
H0053
29
H0054
29
H0059
29
H0060
29
H0061
29
Place Where Fuse Replacement Is Required
137
Appendix 2 Troubles and Measures
138
Appendix 3 Errors Involving Change in Specification
141
Force Sense Interface Unit Errors
142

Mitsubishi Electric CR800-D Series Instruction Manual (102 pages)

Industrial Robot Supporting Service iQ Care MELFA Support

Brand: Mitsubishi Electric | Category: Controller | Size: 2 MB

Mitsubishi Electric CR800-D Series Instruction Manual (92 pages)

Industrial Robot, Controller setup, basic operation, and maintenance

Brand: Mitsubishi Electric | Category: Controller | Size: 7 MB

Mitsubishi Electric CR800-D Series Instruction Manual (79 pages)

Industrial Robot

Brand: Mitsubishi Electric | Category: Controller | Size: 7 MB

Safety Precautions
4
Table of Contents
10
Before Use
12
Terminology
12
How to Use the Instruction Manual
13
Flow of Operations
14
Work Procedures
14
Features of Network Base Card
15
What Is a Network Base Card
15
Mountable Modules
15
Features When Module Is Mounted
16
Features When CC-Link IE Field Module Is Mounted
16
Features When Ethercat Module Is Mounted
17
Hardware
18
Card Overview
18
Led
18
Software Configuration
21
For the CC-Link IE Field Module
21
For the Ethercat Module
21
CC-Link IE Field MODULE and 2F-DQ535 CARD SPECIFICATIONS
22
Specifications List
22
List of Robot Parameters
23
Robot Controller I/O Signals
24
I/O Signal Number Map (CC-Link IE Field)
25
I/O Register Number Map (CC-Link IE Field)
26
Flow of I/O Signal
27
Input/Output
27
Output Signal Reset Pattern
28
Specifications Related to Robot Language
29
Ethercat MODULE and 2F-DQ535-EC CARD SPECIFICATIONS
31
Specification List
31
List of Robot Parameters
32
Robot Controller I/O Signals
32
Flow of I/O Signal
33
Output Signal Reset Pattern
34
Specifications Related to Robot Language
34
Items to be Checked before Using this Product
35
Checking the Product
35
Devices to be Prepared by the Customer
37
Hardware Settings
38
Module Mounting Procedures
38
Hardware Setting of the Card
40
Connections and Wiring
41
Mounting Network Base Card on Robot Controller
41
CR800-D Controller
41
Wiring
43
For the CC-Link IE Field Module
43
For the Ethercat Module
45
Procedures for Starting Operation
46
Setting the Parameters
47

Mitsubishi Electric CR800-D Series Instruction Manual (60 pages)

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

Table of Contents
12
1 Overview

14
2 Preparation for Using Extended Function

18
- Operation Flow
  18
  - Set up Parameter for Selecting CPU Buffer Memory Extended Function
    18
  - Check Robot Language Setting
    19
3 Monitor Robot Information

20
- Operation Flow
  21
  - Select Monitoring Items
    22
  - Select Target Mecha
    22
  - Timing Chart
    23
- Monitoring Item
  24
4 Reads/Writes Robot's Variables

35
- Function Description
  35
- Operation Flow
  35
- How to Operate Variables
  36
  - Data List
    36
    
    GOT Output Data
    36
    
    Robot Output Data
    37
    
    Completion Status
    38
    
    Data Description
    38
  - Timing Chart
    40
5 Read Current Line of Robot Program

41
- Function Description
  41
- Operation Flow
  41
- How to Operate Program
  42
  - Data List
    42
  - Timing Chart
    46
6 Set up Robot's Maintenance

47
- Function Description
  47
- Operation Flow
  47
- How to Operate Maintenance
  48
  - Data List
    48
  - Timing Chart
    50
7 Read Robot Information

51
- Function Description
  51
- Operation Flow
  51
- How to Operate Robot Information
  52
  - Data List
    52
  - Timing Chart
    55

Mitsubishi Electric CR800-D Series Instruction Manual (56 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 2 MB

Mitsubishi Electric CR800-D Series Function Instruction Manual (64 pages)

controller GOT Direct Connection

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

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Mitsubishi Electric CR800-D Series Manuals

Table of Contents

Table of Contents

Chapter 1 Before Use

Chapter 2 Connecting the Controller

Chapter 3 Specifications

Chapter 4 Basic Operations

Chapter 5 Connecting a Usb Memory

Chapter 6 Explanations on Screens

Chapter 7 Initial Settings

Chapter 8 Setting a Robot Targeted for Multi-Mechanism Control

Chapter 9 Operating the Robot (Jog Operation)

Chapter 10 Creating a Program

Chapter 11 Creating Spline Files

Chapter 12 Setting Parameters

Table of Contents

1 Overview

2 System Configuration

3 Specification

4 Operation Procedure

5 Connection of Equipment

6 Parameter Setting

7 Installation of a Sample Robot Program

8 Calibration of Conveyer and Robot Coordinate Systems ("A1" Program)

9 Calibration of Vision Coordinate and Robot Coordinate Systems ("B1" Program)

Table of Contents

1 Before Starting Use

2 Basic Specifications

3 Startup and Initial Settings

4 Basic Screen Structure

5 Total Score

6 Consumption Degree Calculation Function

7 Abnormality Detection Function

8 Operating Information

9 Maintenance Simulation

10 When Consumption Occurred/Abnormality Detected

11 Maintenance

12 Batch Management of Maintenance Information

Table of Contents

Table of Contents

1 Before Starting Use

2 Basic Specifications

3 Startup and Initial Settings

4 Basic Screen Structure

5 Total Score

6 Consumption Degree Calculation Function

7 Operating Information

8 Maintenance Simulation

9 When Consumption Occurred

10 Maintenance

11 Batch Management of Maintenance Information

Table of Contents

1 Usage

2 Confirmation before Use

3 MELFA Smart Plus Card

4 Calibration Assistance Function

5 Robot Mechanism Temperature Compensation Function

6 Coordinated Control for Additional Axes

Table of Contents

Table of Contents

Table of Contents

1 Before Starting Use

2 Unpacking to Installation

3 Installing the Option Devices

4 Basic Operations

Table of Contents

Table of Contents

1 Overview

2 Preparation for Using Extended Function

3 Monitor Robot Information

4 Reads/Writes Robot's Variables

5 Read Current Line of Robot Program

6 Set up Robot's Maintenance

7 Read Robot Information

Table of Contents

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