Mitsubishi Electric CR860-R Manuals

Manuals and User Guides for Mitsubishi Electric CR860-R. We have 2 Mitsubishi Electric CR860-R manuals available for free PDF download: Instruction Manual

Mitsubishi Electric CR860-R Instruction Manual (150 pages)

Industrial Robot, Safety Communication Function

Brand: Mitsubishi Electric | Category: Controller | Size: 4.33 MB

Table of Contents
8
1 Functions and Configuration

13
- Overview
  13
- Supported Products
  14
- System Configuration
  15
- Specifications
  18
- Risk Assessment
  21
  - Residual Risk (Common)
    21
  - Residual Risk (Specific to each Function)
    21
2 Set-Up

23
3 Connections and Communication Destination Settings

24
4 Safety Monitoring Functions

28
- Overview of the Safety Monitoring Functions
  28
  - Simulation
    29
- Startup and Basic Configuration
  30
- Defining 3D Models
  39
  - Monitor
    39
  - Arm Model
    42
  - Tool Model
    43
- Safety Logic Edit
  45
- Safety Monitoring Functions
  57
  - Safe Torque off (STO)
    57
  - Safe Operating Stop (SOS)
    58
  - Safe Stop 1 (SS1)
    61
  - Safe Stop 2 (SS2)
    64
  - Safely-Limited Speed Function (SLS)
    67
  - Safely-Limited Position Function (SLP)
    75
- Safety Diagnosis Function
  84
  - Test Pulse Diagnosis (EMG)
    84
- Safety Communication Function
  85
5 Robot (System) State Variables

90
- List of Robot (System) State Variables
  90
- Explanations of Robot (System) State Variables
  90
6 Troubleshooting

95
- Error List for the Safety Monitoring Functions
  95
- Errors Whose Specification Is Changed by Safety Monitoring Functions
  99
7 Safety Response Time and Safe Stopping Distance

100
8 System Application Examples

129
- Application Example 1
  129
  - Function
    129
  - System Configuration
    129
  - Network Communication Settings
    130
  - Safety Communication Settings (Safety Programmable Controller)
    131
  - Safety Program (Safety Programmable Controller)
    132
  - Basic Configuration
    132
  - Defining 3D Models (Robot Controller)
    132
  - Safety Logic Edit (Robot Controller)
    133
  - Safety Monitoring Function Settings (Robot Controller)
    133
  - Transmission Interval Monitoring Time
    134
  - Safety Refresh Monitoring Time
    134
  - Transmission Delay Time
    135
  - Safety Response Time
    136
- Application Example 2
  137
  - Function
    137
  - System Configuration
    138
  - Network Communication Settings
    139
  - Safety Communication Settings (Safety Programmable Controller)
    140
  - Safety Program (Safety Programmable Controller)
    141
  - Basic Configuration
    142
  - Defining 3D Models (Robot Controller)
    142
  - Safety Logic Edit (Robot Controller)
    142
  - Safety Monitoring Function Settings (Robot Controller)
    143
  - Transmission Interval Monitoring Time
    143
  - Safety Refresh Monitoring Time
    144
  - Transmission Delay Time
    145
  - Safety Response Time
    146

Mitsubishi Electric CR860-R Instruction Manual (146 pages)

Brand: Mitsubishi Electric | Category: Industrial Equipment | Size: 6.02 MB

Table of Contents
9
1 Functions and Configuration

11
- Overview
  11
- System Configuration
  12
- Specifications
  13
- Risk Assessment
  16
  - Residual Risk (Common)
    16
  - Residual Risk (Specific to each Function)
    16
2 Installation

18
- Product Components
  18
  - Accessories
    18
  - Items to be Prepared by Customer
    19
- Part Names
  23
- Installation and Connection
  24
- Check Items
  30
- Replacement Parts
  30
- Maintenance
  30
3 Signals and Wiring

31
- Description of Signals
  31
  - Electrical Specifications
    31
  - Signal Operation
    34
- Connector Wiring
  35
- Connectors and Pin Assignment
  37
- Input Signal Connection Example
  39
- Measures to Prevent Static Electricity and Noise
  41
4 Safety Monitoring Functions

42
- Safety Monitoring Functions Overview
  42
  - Simulation
    42
- Startup and Basic Configuration
  43
  - Connecting RT Toolbox3
    43
  - Parameter Configuration
    43
  - Password Setting
    44
  - Enabling/Disabling Functions
    46
  - Recovery Mode
    47
  - Parameter CRC Output Number
    48
- Defining 3D Models
  50
  - Monitor
    50
  - Arm Model
    53
  - Tool Model
    54
- Safety Logic Edit
  56
- Safety Monitoring Functions
  68
  - Safe Torque off (STO)
    68
  - Safe Operating Stop (SOS)
    69
  - Safe Stop 1 (SS1)
    72
  - Safe Stop 2 (SS2)
    76
  - Safely-Limited Speed Function (SLS)
    79
  - Safely-Limited Position Function (SLP)
    87
- Safety Diagnosis Function
  96
  - Test Pulse Diagnosis (EMG)
    96
  - Safety Diagnosis Function
    97
5 State Variable

98
- List of State Variables
  98
- State Variables
  98
6 Troubleshooting

103
- Error List for the Safety Monitoring Functions
  103
- Errors Whose Specification Is Changed by Safety Monitoring Functions
  106
7 Safe Stopping Distance

107
8 Appendix

137

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Mitsubishi Electric CR860-R Manuals

Mitsubishi Electric CR860-R Instruction Manual (150 pages)

Table of Contents

1 Functions and Configuration

2 Set-Up

3 Connections and Communication Destination Settings

4 Safety Monitoring Functions

5 Robot (System) State Variables

6 Troubleshooting

7 Safety Response Time and Safe Stopping Distance

8 System Application Examples

Mitsubishi Electric CR860-R Instruction Manual (146 pages)

Table of Contents

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Safety Monitoring Functions

5 State Variable

6 Troubleshooting

7 Safe Stopping Distance

8 Appendix

Appendix 1: Selection Conditions for 24VDC Stabilized Power Supply

Appendix 2: How to Install the Safety Extension Unit

Appendix 3: How to Install the Stabilized Power Supply for the Safety Extension Unit

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