Mitsubishi Electric CR750-Q Instruction Manual page 33

Function
Multitask program With this function, it is possible to execute programs concurrently by
operation grouping between programs for the robot movement, programs for com-
munication with external devices, etc. It is effective to shorten input/out-
put processing. In addition, it is possible to construct a PLC-less system
by creating a program for controlling peripheral jigs.
Program constant exe- With this function, it is possible to execute a program all the time after the
cution function controller's power is turned on. This function is effective when using the
multitask functions to make the robot program serve as a PLC.
Continuity function With this function, it is possible to store the status at power off and
resume from the same status when the power is turned on again.
Additional axis control With this function, it is possible to control up to two axes as additional
axes of the robot. Since the positions of these additional axes are stored
in the robot's teaching data as well, it is possible to perform completely
synchronous control. In addition, arc interpolation while moving additional
axes (travelling axes) is also possible.
Multi-mechanism con- With this function, it is possible to control up to two (excluding the stan-
trol dard robots) robots (user mechanism) driven by servo motors, besides
the standard robots.
External device com- The following methods are available for communicating with the external
munication function devices
For controlling the controller and for interlock within a program
1) Via input/output signals
2)As a data link with an external device (*CR7xx-D only)
3)Communication via Ethernet
[Reference]The data link refers to a given function in order to
Interrupt monitoring With this function, it is possible to monitor signals, etc. during program
function operation, and pause the current processing in order to execute an inter-
rupt routine if certain conditions are met. It is effective for monitoring that
workpieces are not dropped during transport.
Inter-program jump With this function, it is possible to call a program from within another pro-
function gram using the CallP instruction.
Pallet calculation func- This function calculates the positions of workpieces arranged in the grid
tion and glass circuit boards in the cassette. It helps to reduce the required
teaching amount. The positions can be given in row-by-column format,
single row format, or arc format.
User-defined area func- With this function, it is possible to specify an arbitrary space consisting of
tion up to 32 areas, monitor whether the robot's hand tip is within these areas
in real time, output the status to an external device, and check the status
with a program, or use it to generate an error. Moreover, two functions
(Zone and Zone2) that have a similar function are available for use in a
robot program.
JOINT movement It is possible to restrict the robot movement range in the following three
range ways
XYZ operation range JOINT movement range:
Free plane limit It is possible to restrict the movement range of each axis.
XYZ operation range:
It is possible to restrict the movement range using the robot's XYZ coordi-
nate system.
Free plane limit:
It is possible to define an arbitrary plane and restrict the movement range
of the robot to be only in front of or only behind the plane.
Explanation
(CR7xx-Q: PLC link input/output: 8192/8192 max.)
(CR7xx-D: Parallel input/output: 256/256 max.)
exchange data, for instance amount of compensation, with
external devices (e.g., vision sensors).
Refer to X*** instructions such as
Page 125, "4.3.1 What is multitask-
ing?",
Refer to "SLTn" parameter start attri-
bute (ALWAYS) in
Functions set with
Refer to "CTN" parameter in
438, "5 Functions set with parame-
ters".
Separate manual "ADDITIONAL
AXIS INTERFACE".
Separate manual "ADDITIONAL
AXIS INTERFACE".
Refer to
M_In8/M_Inw/M_In16",
Page 352, "M_Out/M_Outb/M_Out8/
M_Outw/M_Out16".
Page 198, " Def Act (Define act)",
Page 171, " Act (Act)"
Page 176, " CallP (Call P)"
Page 108, "4.1.2 Pallet
Page 212, " Def Plt (Define pal-
let)",Page 276, " Plt (Pallet)"
Page 474, "5.8 About user-defined
area",
369,
Page 435,
Page 436, "Zone 2"
Page 437, "Zone3"
Refer to "MEJAR" and "MEPAR"
parameter in
set with parameters"
Refer to
limit"
Functions Related to Movement and Control 2-13
2Explanation of functions
Explanation page
Page 307, "XRun (X Run)".
Page 438, "5
parameters".
Page
Page 340, "M_In/M_Inb/
operation",
Page 368, "M_Uar", Page
"M_Uar32".
"Zone",
Page 438, "5 Functions
Page 480, "5.9 Free plane