1. Manuals
  2. Brands
  3. Mitsubishi Manuals
  4. Controller
  5. CR751-D Series
  6. Instruction manual

Mitsubishi CR751-D Instruction Manual

Hide thumbs Also See for CR751-D:
Table of Contents

Advertisement

Quick Links

Mitsubishi Industrial Robot
CR750-D/CR751-D
Controller
INSTRUCTION MANUAL
Controller setup, basic operation, and maintenance
BFP-A8867-H

Advertisement

Table of Contents
loading

Related Manuals for Mitsubishi CR751-D

Summary of Contents for Mitsubishi CR751-D

  • Page 1 Mitsubishi Industrial Robot CR750-D/CR751-D Controller INSTRUCTION MANUAL Controller setup, basic operation, and maintenance BFP-A8867-H...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. CAUTION Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.) CAUTION Transport the robot with the designated transportation posture.
  • Page 5 *CR751-D or CR751-Q controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side supply power supply of the controller of CR751-D or CR751-Q because of leakage protection. AC200V Earth leakage breaker 漏電遮断器...
  • Page 6 Revision history Date of print Specifications No. Details of revisions 2012-02-01 BFP-A8867 ・ First print 2012-03-21 BFP-A8867-A ･Notes were added to the example of safety measures. (The measure against the noise, The electric specification of the output terminal) 2012-06-05 BFP-A8867-B ･...
  • Page 7 ■ Introduction Thank you for purchasing the Mitsubishi industrial robot. This instruction manual explains the unpacking methods, installation, basic operation, maintenance and inspection of the controller. Always read through this manual before starting use to ensure correct usage of the robot.
  • Page 8 For users operating robots that have not been mounted with an operation panel: Operation of robot programs such as start-up and shutdown are carried out using external signals (exclusive input/output signals). This instruction manual is based on robots that are mounted with an operation panel at the front of the controller, and these operations are explained using key opera- tions on that panel.

  • Page 9: Table Of Contents

    Contents Page 1 Before starting use .......................... 1-1 1.1 Using the instruction manuals ....................1-1 1.1.1 The details of each instruction manuals ................1-1 1.1.2 Symbols used in instruction manual ..................1-2 1.2 Safety Precautions ........................1-3 1.2.1 Precautions given in the separate Safety Manual ..............1-4 2 Unpacking to installation ................................
  • Page 10 Contents Page 4.7 Programming .................................... 4-52 (1) Creation procedures ..............................4-52 (2) Robot work ................................... 4-52 4.7.1 Creating the program ..............................4-53 (1) Deciding the operation order ..........................4-53 (2) Deciding the operation position name ......................4-54 (3) Describing and creating the program ........................ 4-55 (4) Confirming the program ............................

  • Page 11: Before Starting Use

    Explains the control function and specifications of conveyor tracking tion Manual Extended Func - Explains the detailed description of data configuration of shared memory, monitoring, and tion Instruc - operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750- D/CR751-D controller). tion Manual Using the instruction manuals 1-1...

  • Page 12: Symbols Used In Instruction Manual

    1Before starting use 1.1.2 Symbols used in instruction manual The symbols and expressions shown in Table 1-1 are used throughout this instruction manual. Learn the meaning of these symbols before reading this instruction manual. Table 1-1:Symbols in instruction manual Terminology Item/Symbol Meaning Stand-alone type...

  • Page 13: Safety Precautions

    1Before starting use 1.2 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.

  • Page 14: Precautions Given In The Separate Safety Manual

    1Before starting use 1.2.1 Precautions given in the separate Safety Manual The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER If the automatic operation of the robot is operated by two or more control equip- ment, design the right management of operation of each equipment of the cus- tomer.
  • Page 15 1Before starting use CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. CAUTION Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters.

  • Page 16: Unpacking To Installation

    For locking the power switch. Fuse (reserves) LM16 2 pc. For the hand. Fuse (reserves) HM32 2 pc. Guarantee Card 1 copy CR751-D controller Controller CR751-D 1 unit Stand alone type Safety manual BFP-A8006 1 copy CD-ROM (Instruction manual) 5F-FA01-C00 1 pc.

  • Page 17: Installation

    2Unpacking to installation 2.2 Installation 2.2.1 Unpacking procedures The controller is shipped from the factory packaged in cardboard. 2.2.2 Transportation procedures The following shows how to transport the controller. CR750 controller CR751 controller     Mass: Mass: Approx. 16kg Approx.

  • Page 18: Installation Procedures

    2Unpacking to installation 2.2.3 Installation procedures The installed size is shown as follows. (1) CR750 controller <Placed horizontally> 145mm 145mm Intake vent 吸気口 250mm or more 250mm 以 上 <Placed vertically> 250mm or more 250mm以上 20mm 50mm or more or more 20mm以上...
  • Page 19 2Unpacking to installation 4-φ6.5 hole 8-φ4.5 hole (Controller installation hole) 5-φ10 hole Fig. 2-3 ： Metal plate for fixation to placing vertically (reference) (CR750 controller) Installation 2-9...

  • Page 20: Cr751 Controller

    2Unpacking to installation (2) CR751 controller <Placed horizontally> 145mm 145mm 145mm 145mm or more or more Intake vent 吸気口 250mm or more 250mm 以上 <Placed vertically> 50mm 20mm or more or more 20mm以上 250mm or more 50mm以上 250mm以上 * Turn right-hand side down toward front of the controller. Fig.
  • Page 21 2Unpacking to installation 4-φ6.5 hole 5-φ10 hole 4-φ4.5 hole Fig. 2-5 ： Metal plate for fixation to placing vertically (reference) (CR751 controller) Installation 2-11...

  • Page 22: Connecting The Power Cable And Grounding Cable

    2Unpacking to installation 2.2.4 Connecting the power cable and grounding cable The following shows how to connect the power cables and grounding cables. (1) Connecting the power cable (CR750 controller) Note 1) Fix the primary power cable to the terminal with the screw.

  • Page 23: Connecting The Power Cable (Cr751 Controller)

    2Unpacking to installation (2) Connecting the power cable (CR751 controller) CAUTION Use an earth leakage breaker (customer preparation) in the primary power supply circuit of the controller to prevent short circuit. Controller Controller Primary AC200V ACIN connector Note1) Earth leakage braker (NV) Connector Grounding screw...

  • Page 24: Connecting The External Emergency Stop

    2Unpacking to installation 2.2.5 Connecting the external emergency stop The following shows how to connect the external emergency stop. The example is shown in "2.2.6Examples of safety measures". For external emergency stop, connect to the connector at the front of the controller (reference Fig.
  • Page 25 2Unpacking to installation <CR750 controller (Rear side)> <CR751 controller (Front side)> CNUSR11 connector Within 30cm 30cm以内 CNUSR2 connector CNUSR12 connector Ferrite core フェライトコア (Pass twice) (2回通し) Fig. 2-8 ： Emergency stop cable connection 2-15...
  • Page 26 2Unpacking to installation (1) CR750 controller Internal circuit structure 内部回路構成 内部回路構成 (Controller side) （お客様配線側） (Customer) ( コ ン ト ロー ラ側 ) （お客様配線側） (Customer) （コントローラ側） OP emer - TB emer - gency stop 非常停止 非常停止 gency stop CNUSR11 +24V CNUSR11 Short Mode output 短絡...

  • Page 27: Cr750 Controller

    2Unpacking to installation <CR750 controller> CNUSR11 CNUSR11/12 connector CNUSR12 Reference: CNUSR13 (Connect the encoder, when using the tracking function) Driver Connector for user wiring *Recommendation driver size: 2.5mm. Connector fixing screw Cable fixing screw (Two places) Pin number of connector Cable insert point View A Connecting cable...
  • Page 28 2Unpacking to installation <CR750 controller> CNUSR2 connector Cover fixing screw (Two places) CNUSR2 Connector cover View A Plug Pin number of plug Soldering Connector for user wiring Remove the connector cover Connecting cable (AWG #30-24 (0.05mm -0.2mm Connection procedure Solder the pins of the user wiring connector that accompanies the product, and connect the connector to the CNUSR2 connector at the back of the controller.
  • Page 29 2Unpacking to installation (2) CR751 controller Internal circuit structure 内部回路構成 (Customer) (Customer) （お客様配線側） (Controller side) （お客様配線側） （コントローラ側） TB emergency stop 非常停止 CNUSR1 +24V CNUSR1 Mode output Short モード出力 短絡 External emergency Emergency 非常停止出力 外部非常停止入力 Relay stop input stop output Mode output Short モード出力...

  • Page 30: Cr751 Controller

    2Unpacking to installation <CR751 controller> CNUSR1/2 connector CNUSR1 CNUSR2 Cover fixing screw (Two places) Connector cover View A Plug Pin number of plug Connector for Soldering Remove the connector cover user wiring Connecting cable (AWG #30 ～ #24(0.05mm ～ 0.2mm Connection procedure Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the CNUSR1 or CNUSR2 connector at the back of the controller.
  • Page 31 2Unpacking to installation CAUTION Place the emergency stop switch in an easily operable position, and be sure to wire it to the emergency stop correctly by referencing Page 22, "2.2.6 Examples of safety measures". This is a necessary measure in order to ensure safe operation so that the robot can be stopped immediately by pressing the emergency stop switch in the event that the robot malfunctions.

  • Page 32: Examples Of Safety Measures

    2Unpacking to installation 2.2.6 Examples of safety measures Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller. Create a cir - cuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emer - gency stop state.
  • Page 33 2Unpacking to installation <Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 34 2Unpacking to installation <Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con - troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 35 2Unpacking to installation <Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.
  • Page 36 2Unpacking to installation <Wiring example 5>: Connect the controller to the safety relay Use the controller’s emergency stop button command as an input to the safety relay. Controller Customer equipment お客様装置 CNUSR11 No connection 24V DC E-stop E-stop 安全リレー Safety relay External emergency stop switch 外部非常停止スイッチ...

  • Page 37: Cr751 Controller

    2Unpacking to installation (2) CR751 controller <Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 38 2Unpacking to installation <Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 39 2Unpacking to installation <Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con - troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 40 2Unpacking to installation <Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.
  • Page 41 2Unpacking to installation <Wiring example 5>: Connect the controller to the safety relay Use the controller’s emergency stop button to input safety relay. Customer equipment Controller お客様装置 CNUSR1 No connection 24V DC E-stop E-stop Safety relay 安全リレー External emergency stop switch 外部非常停止スイッチ...

  • Page 42: External Emergency Stop Connection [Supplementary Explanation]

    2Unpacking to installation (3) External emergency stop connection [supplementary explanation] (1) Use a 2-contact type switch for all switches. (2) Install a limit switch on the safety fence's door. With a constantly open contact (normal open), wire to the door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is opened) when the door is open.
  • Page 43 2Unpacking to installation The electric-current value limitation when connecting the coils, such as the Relays (CR750 controller) Internal fuse 非常停止スイッチ Emergency stop switch Robot controller ロボットコントローラ （2接点タイプ） (2- contact type) ロボットコント CNUSR11/12 Power supply in the 周辺装置 ローラ内電源 robot controller Peripheral equipment Emergency OP非常停止...
  • Page 44 2Unpacking to installation [Supplementary explanation regarding emergency stop circuit] The controller’s internal circuit is as shown in the below diagram. Be sure to build a circuit that properly shuts off the emergency stop detection relay when the emergency stop button is pressed. emergency emergency 非常停止...

  • Page 45: Magnet Contactor Control Connector Output (Axmc) For Addition Axes

    2Unpacking to installation Magnet contactor control connector output (AXMC) for addition axes 2.2.7 When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the controller and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned off when this output is open.
  • Page 46 2Unpacking to installation ＜ CR750 controller ＞ CNUSR2 connector CNUSR2コネクタ Within 30cm 30cm以内 * Connects with CNUSR2 connector with soldering. Refer to Page 18 "Fig. 2-11: Method of wiring for external emergency Ferrite core フェライトコア stop connection (CR750 controller Pass twice 2回通し...

  • Page 47: Connecting To The Robot Arm

    2Unpacking to installation 2.2.8 Connecting to the robot arm Refer to the separate manual "Robot arm setup and maintenance", and connect the controller and robot arm with machine cables. 2.3 Setting the origin Refer to the separate manual "Robot arm setup and maintenance", and set the origin. 2.4 Confirming the operation Refer to the separate manual "Robot arm setup and maintenance", and confirm the robot operation with jog operation.

  • Page 48: Installing The Option Devices

    3Installing the option devices 3 Installing the option devices Refer to Page 44, "4.2.1 Installing and removing the T/B" for installing method of T/B. Refer to the separate "Standard Specifications" or each option's manual for the optional devices other than those described in this manual.

  • Page 49: Basic Operations

    4Basic operations 4 Basic operations In this chapter, the following items will be explained regarding the basic operations for handling the robot. Handling the controller The functions of the various keys on the controller are explained. Handling the teaching pendant The methods of installing/removing the T/B, and the functions of the various keys are explained.

  • Page 50: Names Of Each Parts

    4Basic operations 4.1 Handling the controller 4.1.1 Names of each parts (1) CR750 controller Controller (Front side) <15> <16> <17> <3> <18> Fan, Air suction <6> <20> Controller (Rear side) <10> <4> <5> <7> <8> <9> Attached cover <19> Exhaust downward (Bottom) <14>...
  • Page 51 4Basic operations <1> ACIN terminal ..........The terminal box for AC power source (single phase or single phase/ three phase, AC200V) input. (Inner side of a cover) Note)When the terminal for single phase is attached, connect the primary power supply to L1 and L2 terminal. When the terminal for single phase/ three phase is attached, connect the primary power supply to L1, L2 and L3 terminal when using the three phase primary power supply, and connect the primary power supply to L1...

  • Page 52: Cr751 Controller

    4Basic operations (2) CR751 controller Controller (Front side) <10> <4> <7> <15> <9> <2> <1> <3> <5> <6> <14> <13> <12><11> <8> Controller (Rear side) Exhaust Fig.4-2 ： Names of controller parts (CR751) <1> ACIN connector ........The connector for AC power source (1-phase, AC200V) input (a socket housing and a terminal are attached) <2>...
  • Page 53 4Basic operations <11>USB connecting connector (USB)..For USB connection <12>LAN connector (LAN) ......For LAN connection <13>ExtOPT connector (ExtOPT)....Connect the cable for addition axis control. <14>RIO connector (RIO)......Connect the extension parallel input/output unit. <15>Option slot ..........Install the interface optional. (Install the cover, when not using.) (SLOT1、...

  • Page 54: Handling The T/B

    4Basic operations 4.2 Handling the T/B 4.2.1 Installing and removing the T/B Installing and removing the T/B, with turning off the controller power. If T/B is Installed and removed in the state of control source ON, emergency stop alarm will be occurred. If you use the robot wherein T/B is removed, install the dummy connector of attachment for the product instead of T/B.

  • Page 55: Installing The T/B (Cr751 Controller)

    4Basic operations (2) Installing the T/B (CR751 controller) Explain the installation method of T/B below. 1) Check that the POWER (power supply) switch of the robot controller is OFF. 2) Connect the T/B connector to the controller’s T/B connector. Make sure to fix it securely by fastening the hand locks (in 2 places), as shown in Fig.

  • Page 56: Functions Of Each Key

    4Basic operations 4.2.2 Functions of each key ② ④ ① ③ ⑤ ⑤ ⑥ ⑥ ⑧ ⑦ ⑨ ⑩ ⑪ ⑰ ⑫ ⑱ ⑬ ⑭ ⑲ ⑮ ⑯ ⑳ Fig. 4-5 ： Teaching pendant ① [Emergency stop] switch....The robot servo turns OFF and the operation stops immediately. The release of the emergency stop turns the switch to the right, or pulls it.

  • Page 57: Turning The Power On And Off

    4Basic operations 4.3 Turning the power ON and OFF 4.3.1 Turning the control power ON CAUTION Always confirm the following items before turning the controller power ON. 1) Make sure that there are no operators in the robot operation range. 2) Make sure that the controller and robot arm are securely connected with the machine cable.

  • Page 58: Input The Serial Number

    1) Press the [RESET] key of T/B and cancel the error of T/B. 2) Press the [EXE] key of T/B and display the menu panel. MELFA CR75x-D Ver. S3 <MENU>　　 　 RH-3FH5515-D 1.FILE/EDIT 2.RUN COPYRIGHT (C) 2011 MITSUBISHI ELEC 3.PARAM. 4.ORIGIN/BRK TRIC CORPORATION ALL RIGHTS RESE 5.SET/INIT. 6.ENHANCED RVED 　 123 CLOSE 3) Press the [3] key of T/B and display the parameter.

  • Page 59: Shutting Off The Control Power

    4Basic operations 5) Press the function key ([F1]) corresponding to the "data", and input the serial number of the robot arm. <PARAMETER> NAME(RBSERIAL <PARAMETER> (RBSERIAL ) ( ) ELE( ) DATA xxxxxxx　 (　　　　　　　　　　　　　 　　) Prev Next CLOSE DATA Prev Next DATA CLOSE Press the [EXE] key, and fix the value with sound, and return to the parameter screen.

  • Page 60: Turning The Servo Power On/Off

    4Basic operations 4.4 Turning the servo power ON/OFF 4.4.1 Turning the servo power ON (servo ON) Up ：DISABLE 1) Confirm that the T/B [ENABLE] switch is set to Down：ENABLE "DISABLE". *Lighting T/B disable Rear of T/B MODE 2) Confirm that the mode of the controller is set to MANUAL AUTOMATIC "AUTOMATIC".

  • Page 61: Jog Operation

    4Basic operations 4.5 Jog operation Refer to the separate manual "Robot arm setup and maintenance" when carrying out jog operation. The following jog operation modes are available. Use these according to the purpose. Table 4-1 ： Jog modes Jog mode Main application Explanation JOINT JOG...

  • Page 62: Programming

    4Basic operations 4.7 Programming The procedures from creating the program to automatic operation are explained in order using a simple procedure as an example. (1) Creation procedures Start Decide the robot operation order, operation path Deciding the operation order (necessity of linear movement), and the work at each operation position (hand open/close, etc).

  • Page 63: Creating The Program

    4Basic operations 4.7.1 Creating the program (1) Deciding the operation order ：Joint movement Wait position ：Linear movement ：Teaching position Upward position to Upward position to grasping workpiece release workpiece (8) Hand open (4) Hand close Position to grasp workpiece Position to release workpiece Start (1) Move to wait position (joint movement).

  • Page 64: Deciding The Operation Position Name

    4Basic operations (2) Deciding the operation position name Wait position (ＰＷＡＩＴ) Upward position to Upward position to grasping workpiece release workpiece Position to release workpiece Position to grasp workpiece (ＰＧＥＴ) (ＰＰＵＴ) Position variable Name Teaching Remarks name Wait position PWAIT Required Upward position to grasping －...

  • Page 65: Describing And Creating The Program

    4Basic operations (3) Describing and creating the program ■ Convert the target robot operations and work into commands. Refer to the separate manual "Instruction Manual: Detailed explanations of functions and operations" for details on the commands. Table 4-2 ： Commands used Target operation and work Command Example of designation...
  • Page 66 4Basic operations CAUTION Note) Upward movement is designated at a position along the Z axis of the TOOL coordinate system, and the direction is designated with the + and - signs. Refer to the section on the TOOL JOG operation in the separate "Installation Manual/ Robot arm setup and maintenance", and confirm the Z axis direction of the TOOL coordinate system.
  • Page 67 4Basic operations ■ Input the described program into the controller. The T/B is used for this operation. Preparing the T/B 1) Set the controller mode to "MANUAL". MODE MANUAL AUTOMATIC 2) Set the T/B [ENABLE] switch to "ENABLE". Up ：DISABLE Down：ENABLE *Lighting Rear of T/B...
  • Page 68 4Basic operations 6) Press the [F3] key. <PROGRAM> 1 100% The cursor will move to the command editing ＿ line. EDIT DELETE INSERT CLOSE 7) Confirm that the number input mode and <PROGRAM> 1 press the [1] key. "1" of the step number is inputted. ＿...
  • Page 69 4Basic operations 11) Press the [SP], [PQRS] key, and input the <PROGRAM> 1 space and "P". 1MOV P1 ＿ CLOSE SPACE 12) Press the [WXYZ] key, and input the space <PROGRAM> 1 and "W". 1MOV PWAIT ＿ CLOSE <PROGRAM> 1 13) Input "A", "I"...
  • Page 70 4Basic operations ■ Teach the robot operation position. Set the position with jog operation (Teaching PGET) 1) Move the robot with jog operation, and set Hand ハンド the end of the hand to the position for grasping the workpiece. When the position has been set, open and close the hand to confirm that the workpiece can be grasped.

  • Page 71: Confirming The Program

    4Basic operations (4) Confirming the program Using the T/B execute the program line by line (step operation), and confirm the operation. Following operations are operated with lightly pressing the enabling switch on the T/B. <POS.> JNT 100% PWAIT 1) Press the [FUNCTION] key and change the X:＋128.56 A:＋180.00 Y: ＋0.00...

  • Page 72: Correcting The Program

    4Basic operations (5) Correcting the program ■ Correcting the commands As an example, the joint movement at line No.7 will be changed to linear movement. Note) (Change 7 Mov PPUT, +20 to 7 Mvs PPUT, +20) <PROGRAM> 1 1 Mov pwait 1) Press the [FUNCTION] key and change the 2 Mov PGET +20 function display.
  • Page 73 4Basic operations 3) Press the [F1] (Edit) key and display <PROGRAM> 1 command edit screen. 7 Mov PPUT, +20 8 Mvs PPUT 9 Hopen 1 10 Dly 1.0 INSERT EDIT DELETE CLOSE 4) Press the [ → ] key 3 times. Move the cursor <PROGRAM>...
  • Page 74 4Basic operations ■ Correcting the taught position As an example, the wait position (PWAIT) will be corrected. New wait position (ＰＷＡＩＴ) Change <PROGRAM> 1 1 Mov pwait 1) In the program edit screen, press the 2 Mov PGET +20 [FUNCTION] key twice and change the 3 Mvs PGET 4 Hclose 1 function display.

  • Page 75: Saving The Program

    4Basic operations <POS.> XYZ 100% PWAIT X:＋128.56 A:＋180.00 3) Press the [F2] (Teaching) key. Y: ＋0.00 B: ＋90.00 The teaching confirmation screen is Z:＋845.23 C:－180.00 displayed. FL1: FL2: ⇒ TEACH Prev Next MOVE <POS.EDIT> 1 4) Press the [F1] (Yes) key and register the PWAIT RECORD CURRENT POSITION.

  • Page 76: Start Automatic Operation

    4Basic operations (7) Start automatic operation. CAUTION Before starting automatic operation, always confirm the following item. Starting automatic operation without confirming these items could lead to property damage or physical injury. ・ Make sure that there are no operators near the robot. ・...
  • Page 77 4Basic operations Select the program number 4) Press the [CHNG DISP] switch, and display the "program No." on the STATUS NUMBER display panel. (A "P" will appear at the head.) CHNG DISP Display the program number Confirm that the program number targeted for automatic operation is displayed.

  • Page 78: Maintenance And Inspection

    5Maintenance and Inspection 5 Maintenance and Inspection The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are described in this chapter. The types and replacement methods of consumable parts are also explained. 5.1 Maintenance and inspection interval Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry out at set intervals.

  • Page 79: Inspection Items

    5Maintenance and Inspection 5.2 Inspection items The controller inspection items are shown below. Refer to section "Maintenance and Inspection" in the separate manual "Robot arm setup and maintenance", and inspect the robot arm at the same time. 5.2.1 Daily inspection items Carry out daily inspections following the procedures given in Table 5-1.

  • Page 80: Maintenance And Inspection Procedures

    The procedures for carrying out periodic maintenance and inspection are described below. Thoroughly comprehend the procedures, and follow the instructions. This work can be commissioned to the Mitsubishi Service Dept. for a fee. (Never disassemble, etc., any of the parts not described in this section.) The maintenance parts required for the maintenance and inspection are shown in Page 75, "5.4 Maintenance...

  • Page 81: The Battery Exchange Method Of The Cr750 Controller

    5Maintenance and Inspection (1) The battery exchange method of the CR750 controller Interface cover インタフェースカバー Operation panel 操作パネル Battery connector バッテリコネクタ Battery バッテリ Battery holder バッテリホルダ USB interface USBインタフェース Fig. 5-2 ： Exchange of the battery (CR750 controller) 1) Turn the controller power ON once. (For approx. one minute.) 2) Turn OFF the power supply of the controller and open the interface cover on the front of the controller.

  • Page 82: The Battery Exchange Method Of The Cr751 Controller

    5Maintenance and Inspection (2) The battery exchange method of the CR751 controller フィルタカバー Filter cover Remove 外す Installation screw 取付ネジ（M3ネジ） (M3 screw: Two places) 2箇所 Battery holder バッテリホルダ Battery storage space Note 1) When attaching the filter cover insert the battery cables inside the battery storage space and the battery itself, taking due care not to trap them between the filter cover Battery...

  • Page 83: The Check Of The Filter, Cleaning, Exchange

    5Maintenance and Inspection 5.3.2 The check of the filter, cleaning, exchange The filter is installed in the controller. The following shows the procedure for inspecting, cleaning and replacing the filter: (1) CR750 controller 1) Loosen the M4 x 6 screws and remove the filter cover from the front of the controller. Remove the claw on the left side of the filter cover as it is inserted in the front face of the controller.

  • Page 84: Cr751 Controller

    5Maintenance and Inspection (2) CR751 controller 1) Loosen the M3 screws and remove the filter cover from the front of the controller. Remove the claw on the left side of the filter cover as it is inserted in the front face of the controller. 2) Remove the filter from the filter cover and remove dust and other dirt that has built up on it.

  • Page 85: Maintenance Parts

    Inside the filter cover. BKOFA0773H41 CR751 controller: Inside the filter cover. Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Table 5-5 ： Controller spare part list Note1) Part name Qty.
  • Page 86 5Maintenance and Inspection 5-76 Maintenance parts...
  • Page 88 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU, NAGOYA 461-8670, JAPAN Authorised representative: MITSUBISHI ELECTRIC EUROPE B.V. GERMANY Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany Jan., 2013 MEE Printed in Japan on recycled paper.

This manual is also suitable for:

Cr750-d

Table of Contents