Mitsubishi Electric CR750-D Instruction Manual page 12

(2) CR751 controller ....................................................................................................................................................... 4-72
(3) CR760 controller ....................................................................................................................................................... 4-74
4.2 Handling the T/B ................................................................................................................................................................... 4-78
4.2.1 Installing and removing the T/B .............................................................................................................................. 4-78
(1) Installing the T/B (CR750/CR760 controller) ............................................................................................... 4-78
(2) Installing the T/B (CR751 controller) ............................................................................................................... 4-79
(3) Removing the T/B (CR750/CR760 controller) ............................................................................................. 4-79
(4) Removing the T/B (CR751 controller) ............................................................................................................. 4-79
4.2.2 Functions of each key ................................................................................................................................................. 4-80
4.3 Turning the power ON and OFF ...................................................................................................................................... 4-81
4.3.1 Turning the control power ON ................................................................................................................................. 4-81
(1) CR750 controller ....................................................................................................................................................... 4-81
(2) CR751 controller ....................................................................................................................................................... 4-81
(3) CR760 controller ....................................................................................................................................................... 4-82
4.3.2 Input the serial number ............................................................................................................................................... 4-82
4.3.3 Shutting OFF the control power ............................................................................................................................. 4-84
4.4 Turning the servo power ON/OFF ................................................................................................................................. 4-85
4.4.1 Turning the servo power ON (servo ON) ............................................................................................................. 4-85
4.4.2 Shutting OFF the servo power (servo OFF) ...................................................................................................... 4-85
4.5 Jog operation .......................................................................................................................................................................... 4-86
4.6 Opening and closing the hand .......................................................................................................................................... 4-87
4.7 Programming ............................................................................................................................................................................ 4-88
(1) Creation procedures ................................................................................................................................................ 4-88
(2) Robot work ................................................................................................................................................................... 4-88
4.7.1 Creating the program ................................................................................................................................................... 4-89
(1) Deciding the operation order ................................................................................................................................ 4-89
(2) Deciding the operation position name .............................................................................................................. 4-90
(3) Describing and creating the program ................................................................................................................ 4-91
(4) Confirming the program .......................................................................................................................................... 4-97
(5) Correcting the program .......................................................................................................................................... 4-98
(6) Saving the program ................................................................................................................................................ 4-101
(7) Start automatic operation. ................................................................................................................................. 4-102
5 Maintenance and Inspection .................................................................................................................................................. 5-104
5.1 Maintenance and inspection interval .......................................................................................................................... 5-104
5.2 Inspection items .................................................................................................................................................................. 5-105
5.2.1 Daily inspection items ............................................................................................................................................... 5-105
5.2.2 Periodic inspections .................................................................................................................................................. 5-105
5.3 Maintenance and inspection procedures .................................................................................................................. 5-106
5.3.1 Replacing the battery ................................................................................................................................................ 5-106
(1) The battery exchange method of the CR750/CR760 controller ........................................................ 5-107
(2) The battery exchange method of the CR751 controller ........................................................................ 5-108
5.3.2 The check of the filter, cleaning, exchange. .................................................................................................... 5-109
(1) CR750 controller .................................................................................................................................................... 5-109
(2) CR751 controller .................................................................................................................................................... 5-110
5.4 Maintenance parts .............................................................................................................................................................. 5-111
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