Mitsubishi MELFA CR2D Industrial Robot Manuals

Manuals and User Guides for Mitsubishi MELFA CR2D Industrial Robot. We have 1 Mitsubishi MELFA CR2D Industrial Robot manual available for free PDF download: Instruction Manual

Mitsubishi MELFA CR2D Instruction Manual

Mitsubishi MELFA CR2D Instruction Manual (458 pages)

Brand: Mitsubishi | Category: Controller | Size: 6 MB

Table of Contents

Table of Contents
8
1 Before Starting Use

14
- Using the Instruction Manuals
  14
  - The Details of each Instruction Manuals
    14
  - Symbols Used in Instruction Manual
    14
- Safety Precautions
  16
  - Precautions Given in the Separate Safety Manual
    17
2 Explanation of Functions

19
3 Explanation of Operation Methods

26
- Operation of the Teaching Pendant Menu Screens
  26
  - Screen Tree
    26
  - Input of the Number/Character
    29
  - Selecting a Menu
    30
- Jog Feed (Overview)
  32
  - Types of Jog Feed
    32
  - Speed of Jog Feed
    33
  - TOOL Jog
    34
  - XYZ Jog
    34
  - 3-Axis XYZ Jog
    35
  - CYLNDER Jog
    35
  - Switching Tool Data
    36
  - Impact Detection During Jog Operation
    37
    
    Impact Detection Level Adjustment During Jog Operation
    38
- Opening/Closing the Hands
  39
- Aligning the Hand
  40
- Programming
  42
  - Creating a Program
    42
    
    Opening the Program Edit Screen
    42
    
    Creating a Program
    43
    
    Completion of Program Creation and Saving Programs
    45
    
    Correcting a Program
    46
    
    Registering the Current Position Data
    48
    
    Deletion of the Position Variable
    51
    
    Confirming the Position Data (Position Jump )
    52
    
    Correcting the MDI (Manual Data Input)
    53
- Debugging
  54
  - Step Feed
    54
  - Step Return
    55
  - Step Feed in Another Slot
    56
  - Step Jump
    57
- Automatic Operation
  59
  - Setting the Operation Speed
    59
  - Selecting the Program no
    59
  - Starting Automatic Operation
    60
  - Stopping
    61
  - Resuming Automatic Operation from Stopped State
    61
  - Resetting the Program
    62
- Turning the Servo ON/OFF
  63
- Error Reset Operation
  64
- Operation to Temporarily Reset an Error that Cannot be Canceled
  64
- Operating the Program Control Screen
  65
- Ooperation of Operating Screen
  71
  - Display of the Execution Line
    71
    
    Select the Confirmation Menu
    71
    
    Step Feed
    71
    
    Step Jump
    74
    
    Step Feed in Another Slot
    74
    
    Finishing of the Confirmation Screen
    74
  - Test Operation
    75
    
    Select the Test Operation
    75
- Operating the Monitor Screen
  76
  - Input Signal Monitor
    76
  - Output Signal Monitor
    78
  - Input Register Monitor
    80
  - Output Register Monitor
    81
  - Variable Monitor
    84
  - Error History
    86
- Operation of Maintenance Screen
  87
- Operation of the Origin and the Brake Screen
  89
  - Oorigin
    89
  - Brake
    89
- Operation of Setup / Initialization Screen
  91
  - Initialize the Program
    91
  - Initialize the Parameter
    92
  - Initialize the Battery
    93
  - Operation
    94
  - Time Setup
    94
  - Version
    95
- Operation of the Initial-Setting Screen
  96
  - Set the Display Language
    96
  - Adjustment of Contrast
    98
4 Melfa-Basic V

100
- MELFA-BASIC V Functions
  100
  - Robot Operation Control
    101
    
    Joint Interpolation Movement
    101
    
    Linear Interpolation Movement
    102
    
    Circular Interpolation Movement
    103
    
    Continuous Movement
    105
    
    Acceleration/Deceleration Time and Speed Control
    106
    
    Confirming that the Target Position Is Reached
    108
    
    High Path Accuracy Control
    109
    
    Hand and Tool Control
    110
  - Pallet Operation
    111
  - Program Control
    117
    
    Unconditional Branching, Conditional Branching, Waiting
    117
    
    Repetition
    119
    
    Interrupt
    120
    
    Subroutine
    121
    
    Timer
    122
    
    Stopping
    123
  - Inputting and Outputting External Signals
    124
    
    Input Signals
    124
    
    Output Signals
    124
  - Communication
    125
  - Expressions and Operations
    126
    
    List of Operator
    126
    
    Relative Calculation of Position Data (Multiplication)
    128
    
    Relative Calculation of Position Data (Addition)
    128
  - Appended Statement
    129
- Multitask Function
  130
  - What Is Multitasking
    130
  - Executing a Multitask
    131
  - Operation State of each Slot
    131
  - Precautions for Using a Multitask Program
    134
    
    Starting the Multitask
    134
    
    Display of Operation Status
    134
  - Example of Using Multitask
    135
    
    Robot Work Details
    135
    
    Procedures to Multitask Execution
    136
    
    Mov P1
    136
  - Program Capacity
    137
    
    Program Save Area
    137
    
    Program Edit Area
    137
    
    Program Execution Area
    137
- Detailed Specifications of MELFA-BASIC V
  139
  - Program Name
    139
  - Command Statement
    139
  - Mov P1
    139
  - Variable
    140
  - Statement
    141
  - Appended Statement
    141
  - Step
    141
  - Step no
    141
  - Label
    141
  - Types of Characters that Can be Used in Program
    142
  - Refer to
    142
  - Characters Having Special Meanings
    143
    
    Uppercase and Lowercase Identification
    143
    
    Underscore
    143
    
    Apostrophe ( ' )
    143
    
    Asterisk ( * )
    143
    
    Comma ( , )
    143
    
    Period ( . )
    143
    
    Space
    143
  - Data Type
    144
  - Constants
    144
  - Numeric Value Constants
    144
    
    Decimal Number
    144
    
    Hexadecimal Number
    144
    
    Binary Number
    144
    
    Types of Constant
    144
  - Character String Constants
    144
  - Position Constants
    145
    
    Coordinate, Posture and Additional Axis Data Types and Meanings
    145
    
    Meaning of Structure Flag Data Type and Meanings
    145
  - Joint Constants
    146
    
    Axis Data Format and Meanings
    146
  - Angle Value
    147
  - Variables
    147
  - Numeric Value Variables
    148
  - Character String Variables
    148
  - Position Variables
    148
  - Joint Variables
    149
  - Input/Output Variables
    149
  - Array Variables
    149
  - External Variables
    150
  - Program External Variables
    150
  - User-Defined External Variables
    151
  - Creating User Base Programs
    152
  - Robot Status Variables
    153
- Logic Numbers
  157
- Functions
  157
  - User-Defined Functions
    157
  - Built-In Functions
    157
- List of Instructions
  160
  - Instructions Related to Movement Control
    160
  - Instructions Related to Program Control
    160
  - Definition Instructions
    161
  - Multi-Task Related
    161
  - Others
    162
- Operators
  163
- Priority Level of Operations
  164
- Depth of Program's Control Structure
  164
- Reserved Words
  164
- Detailed Explanation of Command Words
  165
  - How to Read the Described Items
    165
  - Explanation of each Command Word
    165
  - Mov P2
    166
  - Goto *L
    217
  - M_00=1
    256
- Detailed Explanation of Robot Status Variable
  277
  - How to Read Described Items
    277
  - Explanation of each Robot Status Variable
    277
- Detailed Explanation of Functions
  320
  - How to Read Described Items
    320
  - Explanation of each Function
    320
5 Functions Set with Parameters

356
- Movement Parameter
  356
- Signal Parameter
  364
  - About Multi CPU Input Offsets (Crnq-700 Controller Only)
    367
    
    Case (A)
    367
    
    Case (B)
    368
- Operation Parameter
  369
- Command Parameter
  372
- Communication Parameter
  376
- Standard Tool Coordinates
  377
- About Standard Base Coordinates
  379
- About User-Defined Area
  380
- Free Plane Limit
  381
- Automatic Return Setting after Jog Feed at Pause
  382
- Automatic Execution of Program at Power up
  384
- About the Hand Type
  385
- About Default Hand Status
  386
- About the Output Signal Reset Pattern
  387
- About the Communication Setting
  389
- Hand and Workpiece Conditions (Optimum Acceleration/Deceleration Settings)
  390
- About the Singular Point Adjacent Alarm
  392
- About ROM Operation/High-Speed RAM Operation Function
  393
- Warm-Up Operation Mode
  403
- About Singular Point Passage Function
  410
- About the Impact Detection Function
  415
  - Overview of the Function
    415
  - Applicable Models
    416
  - Related Parameters
    416
  - How to Use the Impact Detection Function
    417
6 External Input/Output Functions

421
- Types
  421
- Sequencer Link I/O Function
  422
- Dedicated Input/Output
  429
- Enable/Disable Status of Signals
  436
- External Signal Timing Chart
  437
  - Individual Timing Chart of each Signal
    437
  - Timing Chart Example
    444
    
    External Signal Operation Timing Chart (Part 1)
    444
    
    External Signal Operation Timing Chart (Part 2)
    445
    
    Example of External Operation Timing Chart (Part 3)
    446
    
    Example of External Operation Timing Chart (Part 4)
    447
- Emergency Stop Input
  448
  - Robot Behavior Upon Emergency Stop Input
    448
- Display Unit (GOT1000 Series) Connection (Reference)
  449
  - Usage Example
    449
  - Specifications
    449
  - Connection
    450
  - Settings
    451
7 Appendix

453
- Configuration Flag
  453

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