Mitsubishi MELFA CRn-500 Series Instruction Manual
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Summary of Contents for Mitsubishi MELFA CRn-500 Series
- Page 1 Mitsubishi Industrial Robot INSTRUCTION MANUAL CRn-500 Series Expansion Serial Interface Tracking Function Manual BFP-A8524-A...
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Page 3: Safety Precautions
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. CAUTION (This also applies to maintenance work with the power source turned ON.) Enforcement of safety 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. Use the robot within the environment given in the specifications. Failure to do so could CAUTION lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.) Transport the robot with the designated transportation posture.
- Page 5 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.Moreover, it may interfere with the peripheral device by drop or move by inertia of the arm.
- Page 7 ■ Revision history Date of print Specifications No. Details of revisions 2007-01-19 BFP-A8524-* First print. 2009-09-30 BFP-A8524-A The EC Declaration of Conformity was changed. (Correspond to the EMC directive; 2006/42/EC)
- Page 8 Preface Thank you very much for purchasing Mitsubishi Electric Industrial Robot CRn-500 series. The expansion serial interface is an option to add the tracking function to the robot controller in combination with a CRn-500 series controller. The tracking function allows robots to follow workpieces on a conveyer or transport, line up and process the workpieces without having to stop the conveyer.
- Page 9 [Contents] Overview............................... 1-1 1.1. What is the Tracking Function?......................1-1 1.2. Applications ............................1-2 System Configuration ........................... 2-3 2.1. Components ............................2-3 2.1.1. Configuration of the Expansion serial interface and Included Items ..........2-3 2.1.2. Devices Provided by Customers ....................2-3 2.2.
- Page 11 (3) It is possible to follow changes of movement speed due to automatic calculation of conveyer movement speed. (4) Tracking function can be easily achieved by using Mitsubishi’s robot command MELFA-BASIC IV. (5) System construction is made easy by use of sample programs.
- Page 12 1 Overview 1.2. Applications Tracking is primarily intended for applications such as the following. (1) Transfer of processed food pallets Figure Example of Processed Food Pallet Transfer 1−1 (2) Lining up parts Figure Example of Parts Lineup 1−2 (3) Assembly of small electrical products Figure Example of Small Electrical Products Assembly 1−3...
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Page 13: System Configuration
2 System Configuration 2. System Configuration 2.1. Components 2.1.1. Configuration of the Expansion serial interface and Included Items “Table 2−1 List of Configuration in the Expansion Serial Interface (2A-RZ581)” lists the configuration of the Expansion serial interface you have purchased. Table List of Configuration in the Expansion Serial Interface (2A-RZ581) 2−1... - Page 14 2 System Configuration Table List of Devices Provided by Customers (Vision Tracking) 2−3 Name of devices to be Model Quantity Remark provided by customers Robot part Teaching pendant R28TB Hand − Ethernet interface card 2A-HR533 Hand sensor Used to confirm that workpieces are gripped −...
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Page 15: Photoelectric Sensor
2 System Configuration 2.2. Example of System Configuration The following figure shows examples of conveyer tracking systems and vision tracking systems. 2.2.1. Configuration Example of Conveyer Tracking Systems The following figure shows a configuration example of a system that recognizes lined-up workpieces on a conveyer passing a photoelectronic sensor and follows the workpieces. - Page 16 2 System Configuration 2.2.2. Configuration Example of Vision Tracking Systems The following figure shows a configuration example of a system that recognizes positions of workpieces that are not lined up on a conveyer with a vision sensor and follows the workpieces. Robot Controller Ｒ...
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Page 17: Specification
Cable length: Up to 25 m Photoelectronic sensor (*4) Used to detect workpieces positions in conveyer tracking. Vision sensor (*5) Mitsubishi’s network vision sensor Precision at handling Approximately ±2 mm (when the conveyer speed is approximately 300 mm/s) position (*6) - Page 18 3 Specification Average number of errors due to conveyer speed Conveyer speed(mm/s) Figure 3−1 Average number of errors due to conveyer speed Table Expansion serial interface Card Specifications 3−2 Item Specification of interface card Card RZ581B RZ581A name(*1) Function(*2) Tracking function Expansion Serial function Expansion Serial function(*4) Slot(*3)
- Page 19 3 Specification (*3)The installation of interface card to expansion slot 3 became possible from version B (card name : RZ581B). However, robot controller's software version should be since the K7. Please confirm “Table 3−3 Combination of Expansion serial interface Card and robot controller’s software version”...
- Page 20 3 Specification Table List of Combinations of Option Cards to be Mounted 3−4 <Sign explanation> <Card name> <Installation specification of card> ETH : Ethernet HR533 Only one card can be mounted. Be sure to use SLOT1. SIO(TRK) : RZ581B Up to 3 cards can be mounted. Expansion serial CC : CC-Link HR575...