Mitsubishi CRn-500 Series Instruction Manual
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Mitsubishi CRn-500 Series Instruction Manual

Mitsubishi CRn-500 Series Instruction Manual

Additional axis interface
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MITSUBISHI
Mitsubishi Industrial Robot
INSTRUCTION MANUAL
CRn-500 series
ADDITIONAL AXIS INTERFACE
BFP-A8107-E

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Summary of Contents for Mitsubishi CRn-500 Series

  • Page 1 MITSUBISHI Mitsubishi Industrial Robot INSTRUCTION MANUAL CRn-500 series ADDITIONAL AXIS INTERFACE BFP-A8107-E...
  • Page 3 Supplemental Instruction About the power supply synchronization with the robot controller. Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series. This document explains the circuit connection for enhancing the safety in the addition axis connection system of the Mitsubishi Electric industrial robot.
  • Page 4 1. The outline diagram of addition axis system <Robot> < Robot controller> <Addition axis amplifier box> L1/L2/L3 Servo AMP L11/L12 SSCNET cable A6-BAT RZ541A CN1 cable (Fixing) CN2 cable (Fixing) ENC cable Fig. 1：Outline diagram of addition axis system CAUTION Please arrange the required electric parts to the appropriate position after reading carefully the technical data of general-purpose servo amplifier.
  • Page 5 *1) Get the power supply for the controller from the secondary terminal of short circuit breaker (NV) built in the Addition axis amplifier box. *2) Get the power supply for the MC synchronization from the secondary termi- nal of short circuit breaker (NV) built in the controller. To the internal circuit Note) AXMC1...
  • Page 6 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. All teaching work must be carried out by an operator who has received special training.  ...
  • Page 7 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. Use the robot within the environment given in the specifications. Failure to do so could   CAUTION   lead to a drop or reliability or faults.
  • Page 8 History ■ Print date Instruction manual No. Revision content 2001-02-06 BFP-A8107-A Error in writing correction. 2001-11-20 BFP-A8107-B Installation method of controller (CR1/CR2/CR2A/CR7/CR8) were added. Specification of J2-Super series was added. Error in writing correction. 2001-11-29 BFP-A8107-C Error in writing correction. 2005-07-28 BFP-A8107-D CR1B, CR2B and CR3 controller was added.
  • Page 9 Preface Thank you for purchasing Mitsubishi Electric Industrial Robot CRn-500 Series. The additional axis interface is a general-purpose servo amplifier control interface in combination with CRn-500 Series controller. Before use, be sure to read this manual for sufficient understanding. Then use the additional axis in- terface.
  • Page 10 EMC Installation guideline and procedure Coupling procedure of Ferrite core for SSCNET cable The Ferrite core should be installed to the SSCNET cable between controller and other SSCNET unit (ex. MR-J2B…) within 30 cm from the controller (See below). If the customer do not install to the SSCNET cable with the Ferrite core, it will be become a trouble by Immunity and emission noise.

  • Page 11: Table Of Contents

    Contents 1. How to use the instruction manual ....................1 1.1 Content of instruction manual ....................1 1.2 Codes of instruction manual ..................... 1 1.3 Terms used in instruction manual ..................... 2 2. Flow of works..........................3 2.1 Flow of works ........................... 3 3.
  • Page 12 7.4.2 Origin setting ......................... 28 7.4.3 Servo ON/OFF ......................28 7.4.4 Jog operation......................... 29 7.4.5 Operation of position variable ..................29 7.4.6 MDI (Manual Data Input) compensation of robot additional axis ........30 7.4.7 Operation........................31 7.4.8 Stop..........................31 • Stop ..........................
  • Page 13 8.5.8 Error resetting........................ 61 8.6 Explanation of commands ...................... 62 8.6.1 Position variables ......................62 8.6.2 Commands ........................63 8.7 Example of System Configuration of the User Mechanism ............. 71 8.7.1 Rotation table system ....................71 8.7.2 System with multiple axes ..................... 79 9.

  • Page 15: How To Use The Instruction Manual

    1.How to use the instruction manual 1. How to use the instruction manual This manual describes the functions, which are added or changed in the additional axis interface. For the functions and their operation methods provided in the standard controller, refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance".

  • Page 16: Terms Used In Instruction Manual

    This means the system which does not use the additional axis interface, a configuration of CRn-500 Series controller and robot arm. (3) Additional axis system This means the system which uses the additional axis interface, a configuration of CRn-500 Series controller, robot arm and additional axis. (4) Servo system A total of the servo amplifier and servomotor is called the servo system.

  • Page 17: Flow Of Works

    2.Flow of works 2. Flow of works The flow of the works for the additional axis interface is shown below. Referring to the following, proceed with the works without excess and shortage. 2.1 Flow of works 1. Determine the specifications of the additional axis. ….. Refer to "this manual/3". Determine the control system of the additional axis.

  • Page 18: Additional Axis Interface

    3.1 What is the additional axis interface? The additional axis interface is an interface, which uses the general-purpose servo amplifier (Refer to "Table 3.1.) of Mitsubishi and the corresponding servomotors in order to allow the plural above servomotors to be controlled from the robot controller.

  • Page 19: System Configuration Example Of Additional Axis Interface

    3.Additional axis interface 3.2 System configuration example of additional axis interface If the function of the additional axis interface is used, the following system can be configured. (1) Robot additional axis ･････････ Like the travel axis, etc., the axis starts moving and stops moving (as a part of the robot) in synchronization with the robot arm.
  • Page 20 3.Additional axis interface "Fig. 3.2.2 " shows such an example as the rotation table is used as the mechanical additional axis (used as the multi mechanism). Robot arm Servomotor CR1/CR1B controller Expansion option box (In the box: Additional axis interface card） Rotation table Servo amplifier Fig.

  • Page 21: Additional Axis Interface Functions

    Number of control axes Axis Applicable amplifier MELSERVO-J2-Super series/ MELSERVO-J2 series Note1) Applicable encoder ABS method only Communication method SSCNET (differential communication) of Mitsubishi Note2) Number of mountable Cards/Controller additional axis cards MELFA-BASICIV language MELFA-BASICIV Program method method and MOVEMASTER...

  • Page 22: Confirmation Of Product

    4.Confirmation of product 4. Confirmation of product This section explains the contents to confirm before using additional axis. 4.1 Standard configuration The standard configuration of the product purchased is as shown in "Table 4.1.1 Standard Configuration". The configuration parts are different corresponding to the controller to use. Confirm the configuration.

  • Page 23: Software Version Confirmation

    4.3 Software version confirmation Verify that the software version of the CRn-500 Series controller is as shown in the table below. If a version earlier than those listed in the table is used, the additional axis interface may not be used or part of the available functions may be limited.

  • Page 24: Connection And Wiring

    5.Connection and Wiring 5. Connection and Wiring This section explains the connection and wiring between the robot controller and the servo system. The method to connect the robot controller and the servo amplifier differs, depending on the robot controller used. Refer to the corresponding explanation. 5.1 Connection of CR1/CR1B controller and servo amplifier In the case of the CR1/CR1B controller, the expansion option box and the additional axis interface card are mounted as shown below.
  • Page 25 5.Connection and Wiring Next, connect the cable. Connect the communication connector of the additional axis interface card (CON1) and the communication connector of the servo amplifier (CN1A) with the controller-amplifier bus cable. Feed the cable through the cable exit at the back of the expansion option slot. “Fig.

  • Page 26: Connection Of Cr2A/Cr2B Controller And Servo Amplifier

    5.Connection and Wiring 5.2 Connection of CR2A/CR2B controller and servo amplifier In the case of the CR2A/CR2B controller, the additional axis interface card is mounted as shown below. Only one additional axis interface card may be mounted in any slot. For details on the removal of the chassis controller cover, refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance".
  • Page 27 5.Connection and Wiring Next, connect the cable. Connect the communication connector of the additional axis interface card (CON1) and the communication connector of the servo amplifier (CN1A) with the controller-amplifier bus cable. Feed the cable through the cable exit at the back of the expansion option slot. "...

  • Page 28: Connection Of Cr2/Cr3/Cr4/Cr7/Cr8 Controller And Servo Amplifier

    5.Connection and Wiring 5.3 Connection of CR2/CR3/CR4/CR7/CR8 controller and servo amplifier In the case of CR2/CR3/ CR4/CR7/CR8 controllers, connect the communication connector of the robot controller's control unit (SV2) and the communication connector of the servo amplifier (CN1A) with a dedicated communication cable.

  • Page 29: Connection Example Of Servo Amplifier And Servo Motor

    5.Connection and Wiring 5.4 Connection example of servo amplifier and servo motor (1) Connect the servo amplifier to the servomotor with the servomotor power cable and detector cable. For safety, securely ground them. (2) Connect the servomotor power cable to the motor output terminals U, V and W of the servo amplifier.

  • Page 30: Servo System Setting

    6.Servo system setting 6. Servo system setting 6.1 Servo amplifier setting Using the axis selection switch (CS1) of the servo amplifier, set the axis No. of the servo. For an axis not used, set one of 8 to E. The correspondence between the control axis No. of the servo and the controller axis is determined by setting the parameter.

  • Page 31: Setting, Operation And Command Explanation Of Robot Additional Axis

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7. Setting, Operation and Command Explanation of Robot Additional Axis When the additional axis is controlled in synchronization with the robot arm (mechanism No. 1), the additional axis added to the robot is called the robot additional axis. This chapter describes a series of the operation methods from the parameter setting of the robot additional axis, start to end, and the added and changed commands.

  • Page 32: Parameter List

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.1.1 Parameter list The parameters are listed in the following "Table 7.1.1 Parameter list". For details of the parameters, refer to "this manual/7.1.2Details of parameters". Table 7.1.1 Parameter list Parameter Number of Number of Default Content...

  • Page 33: Details Of Parameters

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.1.2 Details of parameters Here, the parameters are described in details. (1) AXUNUM (number of multi mechanisms used) (2) AXMENO (mechanism No. designation) (3) AXJNO (Setting axis No.) (4) AXUNT (unit system) (5) AXSPOL (motor rotation direction) (6) AXACC (acceleration time) ·...
  • Page 34 7.Setting, Operation and Command Explanation of Robot Additional Axis (1) AXUNUM (number of multi mechanisms used) This parameter designates how many mechanisms are connected when the additional axis is used as the multi mechanism. To control the additional axis in synchronization with the robot arm, be sure to set "0"...
  • Page 35 7.Setting, Operation and Command Explanation of Robot Additional Axis (6) AXACC (acceleration time) · AXDEC (deceleration time) Regarding each axis, these parameters set the acceleration/deceleration time from the stop state to the maximum speed when the override of the servomotor which can be used is 100%. The default value is 0.20 (seconds).
  • Page 36 7.Setting, Operation and Command Explanation of Robot Additional Axis The total speed ratio of the rotation axis is calculated as follows. When the table of "Fig. 7.1.3 Inside of rotation table" rotated one rotation (360 degrees), the motor speed becomes 10 rotations. Therefore, the total speed ratio becomes as follows.
  • Page 37 7.Setting, Operation and Command Explanation of Robot Additional Axis (10) MEJAR (joint operating range) For this parameter, set the motion range of the additional axis in order of minimum value and maximum value. Since the 1st to 12th elements are the values set for the axes of the robot, never change the values.

  • Page 38: Confirmation Of Connection

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.2 Confirmation of connection Before use, confirm the following items again. Confirmation of connection Confirmation item Check Is the teaching pendant securely fixed? Is the exclusive communication cable properly connected between the controller and servo amplifier? (Refer to "Instruction Manual for Servo Amplifier".) Is the terminator properly connected to the servo amplifier? (Refer to "Instruction Manual for Servo Amplifier".)

  • Page 39: Try To Use The Robot Additional Axis

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.3 Try to use the robot additional axis Regarding the robot additional axis, this chapter describes the basic operation from power turn-ON through operation to the end. Turn ON the power supply. …..

  • Page 40: Set The Origin

    7.Setting, Operation and Command Explanation of Robot Additional Axis Table 7.3.1 Robot additional axis, jog operation Teaching pendant Work details screen display Pressing the dead man switch on the rear of the teaching <MENU> pendant, press [STEP/MOVE] key and turn ON the servo. 1.

  • Page 41: Create A Program

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.3.4 Create a program As an example, a program to move the robot additional axis is created. MELFA_BASIC IV 10 MOV P1 20 MOV P2 30 END MOVEMASTER command 10 MO 1 20 MO 2 30 ED For the methods of the program input and position data registration, refer to the programming in...

  • Page 42: Operation Of The Robot's Additional Axis

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.4 Operation of the Robot's Additional Axis This section describes the procedures for operating the additional axis interface for each of the operating functions. If any vibration occurs or any motion is not satisfied during operation of the CAUTION additional axis, it is necessary to adjust (tune) the servo system.

  • Page 43: Jog Operation

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.4.4 Jog operation [Function] The robot additional axis is moved. The screen and content displayed for this operation are as follows. Here, the unit of the additional axis displayed is set with the parameter (AXUNT) (Angle: degree or Length: mm). For the parameter setting method, refer to "this manual/7.1Description of parameters".

  • Page 44: Mdi (Manual Data Input) Compensation Of Robot Additional Axis

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.4.6 MDI (Manual Data Input) compensation of robot additional axis [Function] The registered position data is compensated by operating the key. The screen which displays the data of the additional axis is added. The screen and content displayed by this operation are as follows.

  • Page 45: Operation

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.4.7 Operation The operation is started like the standard system. For details of the actual operation starting method, etc., refer to separate "Instruction Manual/ Detailed explanations of functions and operations". Regardless of the type of the interpolation command, the robot additional axis moves from the start point to the end point in the joint interpolation mode.

  • Page 46: Emergency Stop

    7.Setting, Operation and Command Explanation of Robot Additional Axis • Emergency stop The servo is turned OFF, the brake is activated and the robot arm and robot additional axis are immediately stopped. This is called the emergency stop. There are four methods for the emergency stop as follows.

  • Page 47: Explanation Of Commands

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.5 Explanation of commands The applied commands are the same as those of the standard system. However, there are some added points about the describing method of the position variables. 7.5.1 Interpolation commands During execution of the interpolation command, the robot additional axis moves in the speed pattern (acceleration/deceleration motion) like "Fig.

  • Page 48: Synchronous Control Of Robot Additional Axis (Travel Axis)

    7.Setting, Operation and Command Explanation of Robot Additional Axis Table 7.5.2 Robot additional axis motion during each interpolation (MOVEMASTER command) Interpolation Motion of robot additional axis method Joint interpolation Simultaneous interpolation by acceleration/deceleration motion from start point to end point (MO) Linear interpolation Simultaneous interpolation by acceleration/deceleration motion from start point to end point...
  • Page 49 7.Setting, Operation and Command Explanation of Robot Additional Axis The examples of the circular interpolation and circular pallet are described as follows. [Example] Circular interpolation In case of the circular interpolation, the additional axis and robot arm synchronously moves to draw an arc.
  • Page 50 7.Setting, Operation and Command Explanation of Robot Additional Axis [Example] Circular pallet When the circular pallet function (MELFA-BASIC Ⅳ only) is used, the position data on the calculated circular pallet becomes the data for which the position of the additional axis is taken into consideration as shown with the following example.

  • Page 51: Position Variables

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.5.3 Position variables (1) The position of the robot additional axis is designated as follows. [Example] In the MELFA-BASIC Ⅳ language method, a value including the position of the additional axis to the position variable P1 is substituted at the program line No.

  • Page 52: Example Of System Configuration Of The Robot's Additional Axis

    7.Setting, Operation and Command Explanation of Robot Additional Axis 7.6 Example of System Configuration of the Robot's Additional Axis This section shows an example of system configuration using the additional axis interface. 7.6.1 Travel axis system • System Overview The following shows an example when the travel axis is used as a robot's additional axis in a system where a standard robot is placed on the travel axis.
  • Page 53 7.Setting, Operation and Command Explanation of Robot Additional Axis • Connecting devices Devices are connected as follows. (1) Connect the additional axis interface card (CON1 connector) and the servo amplifier (CN1A connector) with a bus cable. (Refer to "5.1Connection of CR1/CR1B controller and servo amplifier.") (2) Set the axis selection switch (CS1) of the servo amplifier to "0."...
  • Page 54 7.Setting, Operation and Command Explanation of Robot Additional Axis • Setting the robot controller parameters Set the parameters related to the system configuration of the robot controller. For details on how to set these parameters, refer to separate "Instruction Manual/ Detailed explanations of functions and operations".
  • Page 55 7.Setting, Operation and Command Explanation of Robot Additional Axis • Program example (1) Details of work The operation of this system consists of a standard robot unloading a work from station A (position “<1>“) and transporting the work to station B (position “<2>“). In station B, the time required for teaching will be saved by using the pallet function.
  • Page 56 7.Setting, Operation and Command Explanation of Robot Additional Axis (3) Input/Output signal The general I/O signals to be used are as follows General purpose Signal H/L Explanation input/output name H (1) Transport of works from the external location to station A has been complete. General purpose input 11 L (0) No work in station A...
  • Page 57 7.Setting, Operation and Command Explanation of Robot Additional Axis (4) Procedure up to program execution Procedure 1 : Program creation <1>Program of mechanism number 1 (Program name:1) 10 DEF PLT 1,PBST,PBEDA,PBEDB,,4,3,2 ' Definition of palette number 1 20 MOV PSF ' Move to safe position 30 HOPEN 1 ' Open the hand1...

  • Page 58: User Mechanism Settings, Operation, And Commands

    8.User Mechanism Settings, Operation, and Commands 8. User Mechanism Settings, Operation, and Commands When the additional axis is used as a multi-mechanism (controlled asynchronously with the robot arm), each axis of the mechanism is called a user mechanism. This section describes a series of operating procedures including parameter settings, activating and quitting the user mechanism, as well as the commands that have been added and changed.

  • Page 59: Parameter List

    8.User Mechanism Settings, Operation, and Commands 8.2.1 Parameter list The parameters are listed in the following "Table 8.2.1 Parameter list". For details of the parameters, refer to "this manual/8.2.2Details of parameters". Table 8.2.1 Parameter list Parameter Number of Number of ele- Default Content Settable range...

  • Page 60: Details Of Parameters

    8.User Mechanism Settings, Operation, and Commands 8.2.2 Details of parameters Here, the parameters are described in details. (1) AXUNUM (number of multi mechanisms used) (2) AXMENO (mechanism No. designation) (3) AXJNO (Setting axis No.) (4) AXUNT (unit system) (5) AXSPOL (motor rotation direction) (6) AXACC (acceleration time) ·...
  • Page 61 8.User Mechanism Settings, Operation, and Commands (1) AXUNUM (number of multi mechanisms used) This parameter designates how many mechanisms are connected when the additional axis is used as the multi mechanism. Max. 2 mechanisms can be connected. When one multi mechanism is connected, the mechanism No.
  • Page 62 8.User Mechanism Settings, Operation, and Commands (4) AXUNT (unit system) Regarding each axis, this parameter sets the unit system of the servomotor, which can be used. Used as the linear drive axis (Unit: mm) Used as the rotation axis. (Unit: degree) (Default value) [Example] When the servomotor set "Control axis No.
  • Page 63 8.User Mechanism Settings, Operation, and Commands (7) AXGRTN (total speed ratio numerator) · AXGRTD (total speed ratio denominator) These parameters set the numerator and denominator of the total speed ratio of the servomotor which can be used. As the total speed ratio, set a reduced fraction of the integers of the numerator and denominator (1/18.5 →...
  • Page 64 8.User Mechanism Settings, Operation, and Commands (8) AXMREV (rated rotation speed) · AXJMX (maximum rotation speed) · AXENCR (encoder resolution) These parameters set the properties of the servomotor, which can be used. Referring to the specifications in "Instruction Manual for Servo Amplifier", set the values which are suitable for the applied servomotor.
  • Page 65 8.User Mechanism Settings, Operation, and Commands (11) USERORG (user designated origin) This parameter sets the origin position set when the user designated origin is set. The origin of the additional axis set here is also reflected on the other origin setting method (mechanical stopper, jig and ABS system).
  • Page 66 8.User Mechanism Settings, Operation, and Commands (12) About the User Definition Area When working together with peripheral devices, the range of work may be shared. It is necessary to notify others that one is in the shared area. In such a case, a signal can be output by setting the applicable parameter while the user mechanism is within an arbitrary range.
  • Page 67 8.User Mechanism Settings, Operation, and Commands Parameter Meaning of the value Value name AREA1P1 Position data for the first point: X,Y,Z Xs,-10000,-360,-360,-360,-360,0,0 Unit: degree or mm AREA1P2 Position data for the second point: X,Y,Z Xe,10000,360,360,360,360,0,0 Unit: degree or mm AREA1ME Target mechanism number.

  • Page 68: Confirmation Of Connection

    8.User Mechanism Settings, Operation, and Commands 8.3 Confirmation of connection Before use, confirm the following items again. Confirmation of connection Confirmation item Check Is the teaching pendant securely fixed? Is the exclusive communication cable properly connected between the controller and servo amplifier? (Refer to "Instruction Manual for Servo Amplifier".) Is the terminator properly connected to the servo amplifier? (Refer to "Instruction Manual for Servo Amplifier".) Is the detector cable properly connected between the servo amplifier and motor?

  • Page 69: Try To Use The Mechanical Additional Axis

    8.User Mechanism Settings, Operation, and Commands 8.4 Try to use the mechanical additional axis. This chapter describes the basic operation from the power turn-ON through operation to end using the user mechanism. Turn ON the power supply. ….. Refer to "this manual/8.4.1Turn ON the power supply" ↓...

  • Page 70: Move The User Mechanism

    8.User Mechanism Settings, Operation, and Commands 8.4.2 Move the user mechanism. Move the axis by jog the additional axis of the teaching pendant. The following describe such a case as the mechanical additional axis of the 3-axis XYZ coordinate mechanism (mechanism No. 2) is operated. (1) On the operation panel on the front of the controller, set the mode switch to "Teach".

  • Page 71: Setting The Origin

    8.User Mechanism Settings, Operation, and Commands 8.4.3 Setting the Origin Set the origin via the origin operation of the teaching pendant. The following explains how to set the origin of the three-axis user mechanism (mechanism number 2). (1) Set the [MODE] switch on the operation panel on the front of the controller to [TEACH]. (2) Set the [ENABLE/DISABLE] switch of the teaching pendant to [ENABLE].

  • Page 72: Create A Program

    8.User Mechanism Settings, Operation, and Commands 8.4.4 Create a program As an example, a program to operate the robot additional axis is created. For the methods of the program input and position data registration, refer to the programming in "Instruction Manual/ Detailed explanations of functions and operations".

  • Page 73: Operation Of The User Mechanism

    8.User Mechanism Settings, Operation, and Commands 8.5 Operation of the User Mechanism This section describes the procedures for operating the additional axis interface for each of the operating functions. When the additional axis is operated first time after assembling a system, perform origin setting. If any vibration occurs or any operation is not satisfied during operation of the CAUTION additional axis, it is necessary to adjust (tune) the servo system.

  • Page 74: Operation Of Position Variable

    8.User Mechanism Settings, Operation, and Commands [Explanation] (1) The operating speed can be switched by pressing [STEP/MOVE]+[+/FORWD] (jog speed UP) or [STEP/MOVE]+[–/BACKWD] (jog speed DOWN). For details, refer to the jog feed in "Instruction Manual/ Detailed explanations of functions and operations". (2) If any operation range or speed limit may be exceeded, the robot will stop with an error.

  • Page 75: Emergency Stop

    8.User Mechanism Settings, Operation, and Commands • Emergency stop The servo is turned OFF, the brake is activated and the robot arm and robot additional axis are immediately stopped. This is called the emergency stop. There are four methods for the emergency stop as follows.

  • Page 76: Explanation Of Commands

    8.User Mechanism Settings, Operation, and Commands 8.6 Explanation of commands The language specifications added and changed are herein described to install the additional axis interface. The applied commands are the same as those of the standard system. However, there are some added points about the describing method of the position variables.

  • Page 77: Commands

    8.User Mechanism Settings, Operation, and Commands 8.6.2 Commands The user mechanism offers instructions, built-in functions and status variables of which operation cannot be guaranteed, as listed below. In addition, joint variables cannot be used to specify the position. Instead, use the position variable (including status variables).
  • Page 78 8.User Mechanism Settings, Operation, and Commands The following shows a list of status variables, built-in functions and instruction languages that can be used without any problems (1) Robot status variables that operate without any problem in the user mechanism Array designation Attribute Variable Details...
  • Page 79 8.User Mechanism Settings, Operation, and Commands Array designation Attribute Variable Details Data type, Unit name Note1) Note2) M_SVO Mechanism No.(1 to 3) Servo motor power on Integer type Ｒ (1: Servo power on, 0: Servo power off) M_UAR Mechanism No.(1 to 3) Bit data. Integer type Ｒ...
  • Page 80 8.User Mechanism Settings, Operation, and Commands Array designation Attribute Variable Details Data type, Unit name Note1) Note2) M_EXP None Base of natural logarithm (2.71828...) Double-precision real Ｒ number type None Specific gravity constant (9.80665) Double-precision real Ｒ number type M_ON None 1 is always set Integer type...
  • Page 81 8.User Mechanism Settings, Operation, and Commands (2) Built-in functions that operate without any problem in the user mechanism Class Function name (format) Functions Result Numeric ABS (<Numeric expression>) Produces the absolute value Numeric functions value CINT (<Numeric expression>) Rounds off the decimal value and converts into an integer.
  • Page 82 8.User Mechanism Settings, Operation, and Commands Class Function name (format) Functions Result TAN(<Numeric expression>) Calculates the tangent. Unit: radian Numeric value Definition range: Numeric value range, Value range: Range of numeric value Character string BIN$(<Numeric expression>) Converts numeric expression value into binary Character functions character string.
  • Page 83 8.User Mechanism Settings, Operation, and Commands Command Explanation ACCEL (Accelerate) Acceleration/deceleration rate specification JRC(Joint Roll Change) Enables multiple rotation of the tip axis FINE(Fine) Robot's positioning range specification SERVO(Servo) Servo motor power ON/OFF WTH(With) Addition instruction of movement instruction WTHIF(With If) Additional conditional instruction of movement instruction (4) Instructions related to program control that operate without any problem in the user mechanism Command...
  • Page 84 8.User Mechanism Settings, Operation, and Commands DEF INTE/DEF FLOAT/DEF DOUBLE Integer or real number variable definition (Define Integer/Float/Double) DEF CHAR(Define Character) Character variable definition   DEF IO(Define IO) Signal variable definition   DEF FN(Define function) User function definition   TOOL(Tool) Hand length setting  ...

  • Page 85: Example Of System Configuration Of The User Mechanism

    8.User Mechanism Settings, Operation, and Commands 8.7 Example of System Configuration of the User Mechanism This section shows an example of system configuration using the additional axis interface. 8.7.1 Rotation table system • System Overview This example shows a system using a standard robot and a rotary table in which the rotary table functions as a multi-mechanism (controlled asynchronously with the robot arm).
  • Page 86 8.User Mechanism Settings, Operation, and Commands • Connecting devices Devices are connected as follows. (1) Connect the additional axis interface card (CON1 connector) and the servo amplifier (CN1A connector) with a bus cable. (Refer to "5.1Connection of CR1/CR1B controller and servo amplifier.") (2) Set the axis selection switch (CS1) of the servo amplifier to "0."...
  • Page 87 8.User Mechanism Settings, Operation, and Commands • Setting the robot controller parameters Set the parameters related to the system configuration of the robot controller. For details on how to set these parameters, refer to separate "Instruction Manual/ Detailed explanations of functions and operations". Table 8.7.3 Setting the rotation table system parameters Parameter name Before/after...
  • Page 88 8.User Mechanism Settings, Operation, and Commands • Program example (1) Details of work In this system, a standard robot unloads a work from a rotary axis (position "<1>") and transports it to a station (position "<2>"). Robotarm(Mechanism No.1) Flow of work <1>...
  • Page 89 8.User Mechanism Settings, Operation, and Commands (3) Input/Output signal The general I/O signals to be used are as follows General purpose Signal H/L Explanation input/output name H (1) Transport of works from the external location to rotation axis has been complete. General purpose input 11 L (0) Work not transported from the external location to...
  • Page 90 8.User Mechanism Settings, Operation, and Commands (5) Program External Variables Program external variables are used as interlock variables between mechanisms. The following variables are used. Variable name Variable (0/1) Explanation Preparation of work on rotary axis incomplete M_01 Preparation of work on rotary axis complete Unloading of work by robot from rotary axis incomplete M_02...
  • Page 91 8.User Mechanism Settings, Operation, and Commands (6) Procedure up to program execution Procedure 1 : Program creation <1>Program of mechanism number 1 (Program name:1) 100 GETM 1 ' Gets mechanism 1 110 M_01#=0 ' Interlock variable is initialized 120 *LOOP 130 M_01#=1 ' Requests for preparation of work on rotary axis...
  • Page 92 8.User Mechanism Settings, Operation, and Commands The slot parameters have the format shown below. For details refer to "Instruction Manual/ Detailed explanations of functions and operations". SLT* = 1. Program name, 2. Operation format, 3. Starting conditions, 4. Order of priority Item of parameter Default value Setting value...

  • Page 93: System With Multiple Axes

    8.User Mechanism Settings, Operation, and Commands 8.7.2 System with multiple axes • System Overview This example shows a system consisting of a standard robot, a vertical moving axis and a rotary axis in which the vertical moving axis and the rotary axis function as multi-mechanisms (controlled asynchronously with the robot arm).
  • Page 94 8.User Mechanism Settings, Operation, and Commands Table 8.7.3 Structural equipment Robot arm Vertical 6-axis robot Robot controller CR1-571/CR1B-571 controller , Expansion option box , Additional axis interface card Servo amplifier Prepared by the customer. Servo motor Prepared by the customer. Vartical moving axis 1 Manufactured and prepared by customer.
  • Page 95 8.User Mechanism Settings, Operation, and Commands • Connecting devices Devices are connected as follows. (1) Connect the additional axis interface card (CON1 connector) and the servo amplifier (CN1A connector) with a bus cable. (Refer to “5.1 Connection of CR1/CR1B controller and servo amplifier.") (2) Set the axis selection switch of the servo amplifier to the following: 0 for the first axis, 1 for the second axis, and 2 for the third axis.
  • Page 96 8.User Mechanism Settings, Operation, and Commands • Setting the robot controller parameters Set the parameters of robot controller. For details on how to set these parameters, refer to "Instruction Manual/ Detailed explanations of functions and operations". Table 8.7.5 Setting the multiple axes system parameters Parameter name Before/after Value of parameter...
  • Page 97 8.User Mechanism Settings, Operation, and Commands • Program example (1) Details of work In this system, works are transported between the standard robot and the rotary axis by utilizing interlock. Each mechanism repeats the following operation. <3> <2> <1> Robot arm Vertical moving axis 1 (Mechanism No.1) (Mechanism No.2：No.1 axis)
  • Page 98 8.User Mechanism Settings, Operation, and Commands (3) Input/Output signal The general I/O signals to be used are as follows General purpose Signal H/L Explanation input/output name H (1) Transport of works from the external location to vartical moving axis 1 has been complete. General purpose input 11 L (0) Work not transported from the external location to...
  • Page 99 8.User Mechanism Settings, Operation, and Commands (5) Program External Variables Program external variables are used as interlock variables between mechanisms. The following variables are used. Variable name Variable (0/1) Explanation Preparation of work on vartical moving axis 1 complete M_01 Preparation of work on vartical moving axis 1 incomplete Unloading of work by standard robot from vartical...
  • Page 100 8.User Mechanism Settings, Operation, and Commands (6) Procedure up to program execution Procedure 1 : Program creation <1>Program of mechanism number 1 (Program name:1) 100 GETM 1 ' Gets mechanism 1 110 M_01#=0 ' Interlock variable is initialized 120 M_02#=0 ' Interlock variable is initialized 130 MOV P1SF ' Moves to safe position...
  • Page 101 8.User Mechanism Settings, Operation, and Commands Procedure 2 : Setting the task slot parameter Set the slot parameters as follows. Number of executed Parameters Program name Operation mode Operation format lines SLT1 START SLT2 START The slot parameters have the format shown below. For details refer to separate "Instruction Manual/ Detailed explanations of functions and operations".

  • Page 102: Design And Engineering

    9.Design and Engineering 9. Design and Engineering The communication specifications, etc., of the additional axis interface to each device are described. 9.1 Interface for servo amplifier 9.1.1 Connector pins of additional axis interface SV2(CR2/CR3/CR4/CR7/CR8 Controller) The correspondence between the pin No. and signal name of the additional axis interface is shown below.

  • Page 103: Connector Pins Of Additional Axis Interface Con1(Cr1/Cr1B/Cr2A/Cr2B Controller)

    9.Design and Engineering 9.1.2   Connector pins of additional axis interface CON1(CR1/CR1B/CR2A/CR2B Controller) The general drawing of the additional axis interface card is shown below: Rotary switch EMGIN ＣＮ５Ｖ connector CON1connector Jumper pin RTBUS connector Fig. 9.1.1 Additional axis interface card general drawing Table 9.1.3 Details of additional axis interface card Name Detailed explanation...

  • Page 104: Example Of Connection With Servo Amplifier

    9.Design and Engineering Table 9.1.5 Signal name and function of CON1 Input/ Electrical Signal name Content output specifications Communication + side of signal transmit from 2A SD transmission Output controller to general-purpose signal servo amplifier Communication – side of signal transmit from 2B SDL transmission Output...
  • Page 105 9.Design and Engineering The following shows a connection example of the additional axis interface and the servo amplifier when the system shown in the following drawing is configured using a CR2/CR3/CR4/CR7/CR8 controller. Robot arm Servo amplifier Ｅ B Controller M: Motor Emergency stop switch B: Brake E: Encoder...
  • Page 106 9.Design and Engineering Model MR-J2*-*B Robot controller ＣＮ１Ａ ＣＮ１Ｂ CON1/ＳＶ２ ＳＤ ＲＤ ＳＤ ＳＤＬ ＲＤＬ ＳＤＬ ＲＤ ＳＤ ＲＤ ＲＤＬ ＳＤＬ ＲＤＬ Connect to the next amplifier with cable ＥＭＧ ＥＭＧ ＥＭＧ or the terminator is connected. ＥＭＧＬ ＥＭＧＬ ＥＭＧＬ ＶＢ...

  • Page 107: Such A Case

    10.Such a Case 10. Such a Case (1) An initializing error occurs on the servo amplifier. • Check the connection of the cable and connector. (Refer to "this manual/5Connection and Wiring".) • Check the setting of the axis selection switch of the amplifier. (Refer to "this manual/6 Servo system setting".) •...

  • Page 108: Appendix

    11.Appendix 11. Appendix 11.1 Error list When an error occurs, a 5-digit error No. (example: "C0010") will appear at the STATUS NUMBER display on the operation panel at the front of the controller, and the [RESET] switch lamp will light. If any key, such as the T/B [MENU] key is pressed, a 4-digit error No.
  • Page 109 7Appendix Error No. Error cause and measures Error message) Gear ratio denominator of additional axis is illegal. H7607* Cause) The value of AXGRTD (total speed ratio denominator) parameter is illegal. Countermeasure) Change the values of all elements of this parameter to positive integers. Error message) Motor rated speed of additional axis is illegal.
  • Page 111 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 Oct..200 9 MEE Printed in Japan on recycled paper.

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