Table Of Contents - Mitsubishi Electric CR750-D Series Instruction Manual

Overview ............................................................................................................................................................................................................................ 1-1
1.
What is the circular arc tracking function? ............................................................................................................................................ 1-1
1.1.
System that can achieve ................................................................................................................................................................................ 1-2
1.2.
The terminology explanation ........................................................................................................................................................................ 1-5
1.3.
System Configuration ................................................................................................................................................................................................. 2-6
2.
Components .......................................................................................................................................................................................................... 2-6
2.1.
Robot controller enclosure products .............................................................................................................................................. 2-6
2.1.1.
Devices Provided by Customers ...................................................................................................................................................... 2-6
2.1.2.
Example of System Configuration ............................................................................................................................................................. 2-8
2.2.
Configuration Example of Q type ..................................................................................................................................................... 2-8
2.2.1.
Configuration Example of D type ..................................................................................................................................................... 2-8
2.2.2.
Specification .................................................................................................................................................................................................................... 3-9
3.
Circular arc tracking Specifications .......................................................................................................................................................... 3-9
3.1.
Q type ............................................................................................................................................................................................................. 3-9
3.1.1.
D type .......................................................................................................................................................................................................... 3-10
3.1.2.
Q173DPX(manual pulser input) unit specification ......................................................................................................................... 3-11
3.2.
Operation Procedure................................................................................................................................................................................................ 4-17
4.
Preparations and Connection of Equipment ............................................................................................................................................... 5-18
5.
Connection of Equipment [Q type] ....................................................................................................................................................... 5-18
5.1.
Connection of Unit ................................................................................................................................................................................ 5-18
5.1.1.
Connection with encoder and encoder cable ......................................................................................................................... 5-18
5.1.2.
Connection of photoelectronic Sensor ....................................................................................................................................... 5-20
5.1.3.
Connection of Equipment [D type] ........................................................................................................................................................ 5-21
5.2.
Connection with encoder and encoder cable ......................................................................................................................... 5-21
5.2.1.
Installation of encoder cable ........................................................................................................................................................... 5-24
5.2.2.
Connection of photoelectronic Sensor ....................................................................................................................................... 5-25
5.2.3.
Installation of an encoder ............................................................................................................................................................................ 5-26
5.3.
Measures against the noise ....................................................................................................................................................................... 5-27
5.4.
Parameter Setting ...................................................................................................................................................................................................... 6-28
6.
Tracking Parameter Setting ....................................................................................................................................................................... 6-28
6.1.
Sequencer CPU Parameter Setting [Q type] ........................................................................................................................ 6-28
6.1.1.
Robot Parameter Setting ................................................................................................................................................................... 6-31
6.1.2.
Example of three robots' CPU sharing one Q173DPX [Q type] ................................................................................. 6-35
6.1.3.
Operation Parameters................................................................................................................................................................................... 6-40
6.2.
Dedicated Input/Output Parameters ...................................................................................................................................................... 6-41
6.3.
Installation of a sample robot program ........................................................................................................................................................... 7-42
7.
Teaching Operation("A1" Program) ................................................................................................................................................................. 8-43
8.
Preliminary preparations .............................................................................................................................................................................. 8-43
8.1.
Setting of tool length ............................................................................................................................................................................ 8-43
8.1.1.
Confirm the encoder value ............................................................................................................................................................... 8-44
8.1.2.
Knowledge about work ....................................................................................................................................................................... 8-46
8.1.3.
Operation procedure ...................................................................................................................................................................................... 8-47
8.2.
What to confirm ................................................................................................................................................................................................ 8-55
8.3.
When multiple conveyers and turntables are used ....................................................................................................................... 8-56
8.4.
Setting of an operating condition and operations check ("1"Program) ......................................................................................... 9-57
9.
Variable for operating conditions ............................................................................................................................................................ 9-57
9.1.
Automatic operation ....................................................................................................................................................................................... 9-58
9.2.
Adjustment of the follow position ............................................................................................................................................................ 9-60
9.3.
Adjustment of operating conditions........................................................................................................................................................ 9-62
9.4.
Adjustment of Tracking starting possible area ................................................................................................................................. 9-64
9.5.
Occurrence of error ........................................................................................................................................................................................ 9-66
9.6.
Maintenance of robot program .................................................................................................................................................................... 10-67
10.
MELFA-BASIC V Instructions ................................................................................................................................................................. 10-67
10.1.
List of Instructions ............................................................................................................................................................................... 10-67
10.1.1.
List of Robot Status Variables ...................................................................................................................................................... 10-67
10.1.2.
[Contents]