Mitsubishi Electric CR751-Q Series Manuals

Manuals and User Guides for Mitsubishi Electric CR751-Q Series. We have 6 Mitsubishi Electric CR751-Q Series manuals available for free PDF download: Instruction Manual

Mitsubishi Electric CR751-Q Series Instruction Manual (730 pages)

CR750/CR751/CR760 Series

Brand: Mitsubishi Electric | Category: Controller | Size: 14 MB

Table of Contents
13
1 Before Starting Use

21
- Using the Instruction Manuals
  21
  - The Details of each Instruction Manuals
    21
  - Symbols Used in Instruction Manual
    22
- Safety Precautions
  23
  - Precautions Given in the Separate Safety Manual
    24
2 Explanation of Functions

26
3 Explanation of Operation Methods

34
- Operation of the Teaching Pendant Menu Screens
  34
  - Screen Tree
    34
  - Input of the Number/Character
    38
  - Selecting a Menu
    39
- Jog Feed (Overview)
  41
  - Types of Jog Feed
    41
  - Speed of Jog Feed
    42
  - JOINT Jog
    43
  - XYZ Jog
    43
  - TOOL Jog
    44
  - 3-Axis XYZ Jog
    44
  - CYLNDER Jog
    45
  - WORK Jog
    45
  - Switching Tool Data
    46
  - Changing the World Coordinate (Specifies the Base Coordinate Number)
    47
  - Impact Detection During Jog Operation
    48
    
    Impact Detection Level Adjustment During Jog Operation
    49
- Opening/Closing the Hands
  50
- Returning to the Safe Point
  51
- Aligning the Hand
  52
- Programming
  54
  - Creating a Program
    54
    
    Opening the Program Edit Screen
    54
    
    Creating a Program
    55
    
    Completion of Program Creation and Saving Programs
    57
    
    Correcting a Program
    58
    
    Registering the Current Position Data
    60
    
    Deletion of the Position Variable
    63
    
    Confirming the Position Data (Position Jump)
    64
    
    Correcting the MDI (Manual Data Input)
    65
    
    Executing a Command Directly
    66
- Debugging
  67
  - Step Feed
    67
  - Step Return
    68
  - Step Feed in Another Slot
    69
  - Step Jump
    71
- Automatic Operation
  72
  - Setting the Operation Speed
    72
    
    Operating with the Controller
    72
    
    Operating with the T/B
    72
  - Selecting the Program no
    72
  - Starting Automatic Operation
    73
    
    Starting by O/P
    73
    
    Starting from the T/B
    74
  - Stopping
    77
    
    Operating with the Controller
    77
    
    Operating with the T/B
    77
  - Resuming Automatic Operation from Stopped State
    78
    
    Resuming by O/P
    78
    
    Resuming from T/B
    78
  - Resetting the Program
    79
    
    Operating with the Controller
    79
    
    Operating with the T/B
    79
- Turning the Servo ON/OFF
  80
- Error Reset Operation
  81
- Operation to Temporarily Reset an Error that Cannot be Canceled
  81
- Operating the Program Control Screen
  82
  - Program List Display
    82
  - Copying Programs
    83
  - Name Change of the Program (Rename)
    84
  - Deleting a Program (Delete)
    85
  - Protection of the Program (Protect)
    86
  - Select the Program
    87
- Operation of Operating Screen
  88
  - Display of the Execution Line
    88
    
    Select the Confirmation Menu
    88
    
    Step Feed
    88
    
    Step Jump
    90
    
    Step Feed in Another Slot
    90
    
    Finishing of the Confirmation Screen
    91
  - Test Operation
    91
    
    Select the Test Operation
    91
  - Operating the OPERATION Screen
    92
- Operating the Monitor Screen
  93
  - Input Signal Monitor
    93
  - Output Signal Monitor
    95
  - Input Register Monitor
    97
  - Output Register Monitor
    98
  - Variable Monitor
    100
  - Error History
    102
- Operation of Parameter Screen
  103
- Operation of the Origin and the Brake Screen
  105
  - Origin
    105
  - Brake
    105
- Operation of Setup / Initialization Screen
  107
  - Initialize the Program
    107
  - Initialize the Parameter
    108
  - Initialize the Battery
    109
  - Operation
    110
  - Time Setup
    110
  - Version
    111
- Enhanced
  112
  - Sq Direct
    112
  - Work Coord
    112
- Operation of the Initial-Setting Screen
  113
  - Set the Display Language
    113
  - Adjustment of Contrast
    115
4 Melfa-Basic V

117
- MELFA-BASIC V Functions
  117
  - Robot Operation Control
    118
    
    Joint Interpolation Movement
    118
    
    Linear Interpolation Movement
    119
    
    Circular Interpolation Movement
    120
    
    Continuous Movement
    122
    
    Acceleration/Deceleration Time and Speed Control
    123
    
    Confirming that the Target Position Is Reached
    125
    
    High Path Accuracy Control
    126
    
    Hand and Tool Control
    127
  - Pallet Operation
    128
  - Program Control
    133
    
    Unconditional Branching, Conditional Branching, Waiting
    133
    
    Repetition
    134
    
    Interrupt
    135
    
    Subroutine
    136
    
    Timer
    137
    
    Stopping
    137
  - Inputting and Outputting External Signals
    138
    
    Input Signals
    138
    
    Output Signals
    138
  - Communication
    139
  - Expressions and Operations
    140
    
    List of Operator
    140
    
    Relative Calculation of Position Data (Multiplication)
    141
    
    Relative Calculation of Position Data (Addition)
    141
  - Appended Statement
    143
- The Difference between MELFA-BASIC V and MELFA-BASIC IV
  144
- Multitask Function
  145
  - What Is Multitasking
    145
  - Executing a Multitask
    146
  - Operation State of each Slot
    146
  - Precautions for Creating Multitask Program
    148
    
    How to Perform the Initialization Processing Via Constantly Executed Programs
    149
  - Precautions for Using a Multitask Program
    149
    
    Starting the Multitask
    149
    
    Display of Operation Status
    149
  - Example of Using Multitask
    150
    
    Robot Work Details
    150
    
    Procedures to Multitask Execution
    151
  - Program Capacity
    152
    
    Program Save Area
    152
    
    Program Edit Area
    152
    
    Program Execution Area
    152
- Detailed Specifications of MELFA-BASIC V
  153
  - Program Name
    153
  - Command Statement
    153
  - Variable
    154
  - Statement
    155
  - Appended Statement
    155
  - Step
    155
  - Step no
    155
  - Label
    155
  - Types of Characters that Can be Used in Program
    156
  - Characters Having Special Meanings
    157
    
    Uppercase and Lowercase Identification
    157
    
    Underscore
    157
    
    Apostrophe ( ' )
    157
    
    Asterisk ( * )
    157
    
    Comma ( , )
    157
    
    Period ( . )
    157
    
    Space
    157
  - Data Type
    158
  - Constants
    158
  - Numeric Value Constants
    158
    
    Decimal Number
    158
    
    Hexadecimal Number
    158
    
    Binary Number
    158
    
    Types of Constant
    158
  - Character String Constants
    158
  - Position Constants
    159
    
    Coordinate, Posture and Additional Axis Data Types and Meanings
    159
    
    Meaning of Structure Flag Data Type and Meanings
    159
  - Joint Constants
    160
    
    Axis Data Format and Meanings
    160
  - Angle Value
    161
  - Variables
    161
  - Numeric Value Variables
    162
  - Character String Variables
    162
  - Position Variables
    162
  - Joint Variables
    163
  - Input/Output Variables
    163
  - Array Variables
    163
  - External Variables
    164
  - Program External Variables
    164
  - User-Defined External Variables
    165
  - Creating User Base Programs
    166
- Coordinate System Description of the Robot
  167
- Robot Status Variables
  175
  - Logic Numbers
    179
- Functions
  180
  - User-Defined Functions
    180
  - Built-In Functions
    180
- List of Command
  183
  - Command Related to Movement Control
    183
  - Command Related to Program Control
    184
  - Definition Commands
    184
  - Multi-Task Related
    185
  - Others
    185
- Operators
  186
- Priority Level of Operations
  187
- Depth of Program's Control Structure
  187
- Reserved Words
  187
- Detailed Explanation of Command Words
  188
  - How to Read the Described Items
    188
  - Explanation of each Command Word
    188
- Detailed Explanation of Robot Status Variable
  331
  - How to Read Described Items
    331
  - Explanation of each Robot Status Variable
    331
- Detailed Explanation of Functions
  417
  - How to Read Described Items
    417
  - Explanation of each Function
    417
5 Functions Set with Parameters

458
- Movement Parameter
  458
- Signal Parameter
  473
  - About Multi CPU Input Offsets (Cr7Xx-Q Series Controller Only)
    477
    
    Case (A)
    477
    
    Case (B)
    478
- Operation Parameter
  479
- Command Parameter
  483
- Communication Parameter
  488
- Standard Tool Coordinates
  491
- About Standard Base Coordinates
  493
- About User-Defined Area
  494
  - Selecting a Coordinate System
    495
  - Setting Areas
    496
    
    Position Area
    496
    
    Posture Area
    497
    
    Additional Axis Area
    497
  - Selecting Mechanism to be Checked
    498
  - Specifying Behavior Within User-Defined Area
    498
  - Example of Settings
    499
- Free Plane Limit
  500
  - The Definition of a Free Plane Limit
    500
  - Selection of a Coordinates System for a Free Plane Limit
    501
- Automatic Return Setting after Jog Feed at Pause
  502
- Automatic Execution of Program at Power up
  503
- About the Hand Type
  504
  - Solenoid Valve Types and Signal Numbers
    504
- About Default Hand Status
  505
  - CR750/CR751 Controller
    505
  - CR760 Controller
    506
- About the Output Signal Reset Pattern
  507
- About the Communication Setting (Ethernet)
  509
- Hand and Workpiece Conditions (Optimum Acceleration/Deceleration Settings)
  516
- About the Singular Point Adjacent Alarm
  518
- High-Speed RAM Operation Function
  519
- Warm-Up Operation Mode
  522
- About Singular Point Passage Function
  529
- About the Collision Detection Function
  534
  - Related Parameters
    535
  - How to Use the Collision Detection Function
    536
- Optimizing the Overload Level
  541
- Multi-Rotational Restrictions for the Pallet Definition Instruction
  542
- Interference Avoidance Function
  543
- Sequencer Input/Output Unit Direct Control
  565
- Direct Communication with Robot Cpus
  569
- Parameter for Behavior Selection at the Error Occurrence on Dual System
  570
6 External Input/Output Functions

571
7 Appendix

606
- Explanation of Communication Data Packet
  608
- Sample Program
  611
- Sample Program for Real-Time External Control Function
  617
- Configuration Flag
  628
- Spline Interpolation
  631
  - Required Devices and Software Version
    632
  - Specifications
    633
    
    Restrictions
    634
    
    Robot Behavior During Spline Interpolation
    635
    
    Check Related to Path Points
    636
    
    Explanation of Functions
    638
    
    Operation Mode
    641
    
    Signal Output
    642
    
    Numerical Setting
    643
    
    Frame Transformation
    644
  - Work Procedures
    645
  - Creating the Spline File
    647
    
    Creating a File by DXF File Import Function
    648
    
    Creating New Spline Files with Robot Language
    655
    
    Explanation of Spline File Edit Screen
    656
    
    Menu Bar for Spline File Editing
    658
    
    Details of Path Point Data
    660
    
    Editing the Spline File
    661
    
    Saving the Spline File
    668
    
    Deleting a Spline File
    670
    
    Copying the Spline File
    671
    
    Import/Export Function
    673
    
    Auxiliary Editing Functions
    682
    
    Displays the Spline Curve
    684
    
    Robot Program
    686
  - Creating the Robot Program
    688
  - Confirming the Movement
    690
  - Saving in the Robot Controller
    691
    
    Frame Transformation Function
    693
    
    Position Jump
    695
    
    Parameter SPLOPTGC
    696
- Ex-T Control
  697
  - Specifications
    698
  - Ex-T Jog
    700
    
    Movement of the Posture Element in the WORK Jog
    701
    
    Ex-T Jog Operation
    702
    
    WORK Jog Operation of the RV 6-Axis Type
    703
    
    WORK Jog Operation of the RH 4-Axis Type
    706
    
    WORK Jog Operation of the RH 4-Axis Hanging Type
    708
  - Creation of Robot Program
    710
- Cooperative Operation Function
  712
  - System Configuration
    713
    
    Automatic Operation Program (1.Prg)
    714
    
    Robot Adjustment Program (Bfrm.prg)
    715
  - Sequence Program
    716
  - Adjustment
    717
  - Adjustment 2: Setting of the Common Tool
    718
  - Cooperated Operation by Robots
    720
- Get-Position-Quick Function
  721
- Upgrade of the Servo Software
  728

Mitsubishi Electric CR751-Q Series Instruction Manual (222 pages)

Industrial Robot, controller, Force Sense Function

Brand: Mitsubishi Electric | Category: Robotics | Size: 5.77 MB

Table of Contents
9
1 Using this Manual

14
2 Work Flow

17
- Flowchart
  17
3 Force Sense Function System Specifications

18
4 Check before Use

34
- Product Check
  34
  - Force Sensor Set 4F-FS001-W200
    34
  - Force Sensor Set 4F-FS001-W1000
    35
- Software Versions
  36
5 Attaching the Force Sensor

37
- Attachment Adapter
  37
- Sensor Installation
  37
- Recommended Attachment Angle
  38
- Securing the Force Sensor Cable
  39
- Tool Installation
  40
6 Device Connection, Wiring, and Settings

41
7 Checking the Connection and Settings

54
- Checking Force Sensor Data Communication
  54
  - If Using R56TB/R57TB
    54
  - If Using R32TB/R33TB
    55
- Checking the Force Sensor Attachment Coordinate System
  56
8 Using the Force Sense Function (Programming)

57
- Using the Force Sense
  57
- Force Sense Control
  58
- Force Sense Detection
  83
  - Mo Trigger
    84
  - Force Detection Status
    87
  - Data Latch
    87
  - Data Referencing
    87
  - Usage Example (Force Sense Detection)
    88
- Force Sense Log
  93
- Gravity Offset Cancel Function
  106
  - Estimated Data
    106
  - About Calibration Posture
    106
  - Calibration Procedure
    107
  - Usage Example (Force Sensor Calibration)
    114
9 Using the Force Sense Function (Teaching)

116
- Force Sense T/B
  117
  - Force Sense Control (T/B)
    117
  - Force Sense Monitor
    121
  - Contact Detection
    122
  - Usage Example (Force Sense Function T/B)
    123
- Teaching Operation
  127
  - Teaching Position Precautions
    127
  - Usage Example (Teaching Operation)
    131
- Force Sense Function Screen
  136
  - R56Tb/R57Tb
    136
  - R32Tb/R33Tb
    139
  - Application Examples
    143
10 Application Examples

144
11 Language Specifications

147
12 Parameter Specifications

200
13 Troubleshooting

210
14 Appendix

219
- Control Status Transition
  219

Mitsubishi Electric CR751-Q Series Instruction Manual (132 pages)

iQ Platform Supporting Industrial Robot

Brand: Mitsubishi Electric | Category: Controller | Size: 2.06 MB

Table of Contents
10
1 Overview

12
2 Preparation for Using Extended Function

17
- Operation Flow
  17
3 Monitor Robot Information

28
- Operation Flow
  29
  - Select Monitoring Items
    30
  - Select Target Mecha
    30
  - Timing Chart
    31
  - Sample Ladder
    32
- Monitoring Item
  34
4 Reads/Writes Robot's Variables

45
- Function Description
  45
- Operation Flow
  45
- How to Operate Variables
  46
  - Data List
    46
    
    Sequencer Output Data
    46
    
    Robot Output Data
    47
    
    Completion Status
    48
    
    Data Description
    48
  - Timing Chart
    50
  - Sample Ladder
    51
5 Read Current Line of Robot Program

53
- Function Description
  53
- Operation Flow
  53
- How to Operate Program
  54
  - Data List
    54
  - Timing Chart
    58
  - Sample Ladder
    59
6 Set up Robot's Maintenance

61
- Function Description
  61
- Operation Flow
  61
- How to Operate Maintenance
  62
  - Data List
    62
  - Timing Chart
    64
  - Sample Ladder
    65
7 Read Robot Information

67
- Function Description
  67
- Operation Flow
  67
- How to Operate Robot Information
  68
  - Data List
    68
  - Timing Chart
    71
  - Sample Ladder
    72
8 Perform Sequencer Direct

74
- Sequencer Direct Performance Function
  74
- Operation Flow
  75
  - Parameter Setting
    76
  - Teaching
    77
    
    Position Data
    77
    
    Position Teaching in Position Box (R32TB)
    78
  - Prepare to Perform Sequencer Direct
    82
- How to Operate Sequencer Direct
  83
- Samples
  111
  - Robot Program
    111
  - Sample Ladder Program
    112
  - Sample Operation Setting in GOT Screen
    120
- Precautions for Sequencer Direct Performance
  124
  - Requirements
    124
  - Running Together with Program
    124
  - Prohibit Program Startup with Always Running Program
    124
  - Robot Language Setting
    124
  - Operation Panel Display
    125
9 Shared Memory Extended Function Relevant Parameter

126
- Parameter of Selecting Shared Memory Extended Function
  126
- Function Definition Parameter
  128
10 Extended Function Relevant Error List

129

Mitsubishi Electric CR751-Q Series Instruction Manual (126 pages)

Industrial Robot

Brand: Mitsubishi Electric | Category: Controller | Size: 5.93 MB

Table of Contents
11
1 Before Starting Use

13
- Using the Instruction Manuals
  13
  - The Details of each Instruction Manuals
    13
  - Symbols Used in Instruction Manual
    14
- Safety Precautions
  15
  - Precautions Given in the Separate Safety Manual
    16
2 Unpacking to Installation

18
3 Installing the Option Devices

77
- Installing the Option Card
  77
  - CR750/CR751 Controller
    77
  - CR760 Controller
    78
- Installing the Extension Memory Cassette
  79
4 Basic Operations

80
- Handling the Controller
  81
  - Names of each Parts
    81
    
    CR750 Controller
    81
    
    CR751 Controller
    84
    
    CR760 Controller
    86
- Handling the T/B
  90
  - Installing and Removing the T/B
    90
    
    Installing the T/B (CR750/CR760 Controller)
    90
    
    Installing the T/B (CR751 Controller)
    91
    
    Removing the T/B (CR750/CR760 Controller)
    91
    
    Removing the T/B (CR751 Controller)
    91
  - Functions of each Key
    92
- Turning the Power on and off
  93
  - Turning the Control Power on
    93
    
    CR750 Controller
    93
    
    CR751 Controller
    93
    
    CR760 Controller
    94
  - Input the Serial Number
    94
  - Shutting off the Control Power
    96
- Turning the Servo Power ON/OFF
  97
  - Turning the Servo Power on (Servo ON)
    97
  - Shutting off the Servo Power (Servo OFF)
    97
- Jog Operation
  98
- Opening and Closing the Hand
  99
- Programming
  100
  - Creation Procedures
    100
  - Robot Work
    100
  - Creating the Program
    101
    
    Deciding the Operation Order
    101
    
    Deciding the Operation Position Name
    102
    
    Describing and Creating the Program
    103
    
    Confirming the Program
    109
    
    Correcting the Program
    110
    
    Saving the Program
    113
    
    Start Automatic Operation
    114
5 Maintenance and Inspection

116
- Maintenance and Inspection Interval
  116
- Inspection Items
  117
  - Daily Inspection Items
    117
  - Periodic Inspections
    117
- Maintenance and Inspection Procedures
  118
  - Replacing the Battery
    118
    
    The Battery Exchange Method of the CR750/CR760 Controller
    119
    
    The Battery Exchange Method of the CR751 Controller
    120
  - The Check of the Filter, Cleaning, Exchange
    121
    
    CR750 Controller
    121
    
    CR751 Controller
    122
- Maintenance Parts
  123

Mitsubishi Electric CR751-Q Series Instruction Manual (126 pages)

Circular Arc Tracking Function

Brand: Mitsubishi Electric | Category: Controller | Size: 4.6 MB

Mitsubishi Electric CR751-Q Series Instruction Manual (66 pages)

Multifunctional Electric Hand Option

Brand: Mitsubishi Electric | Category: Controller | Size: 1.5 MB

Table of Contents
11
1 Using this Manual

13
- Content of this Instruction Manual
  13
2 Specifications

14
- What Is the Electric Hand
  14
- System Configuration
  14
  - CR800 Outline
    14
  - CR750/CR751 Outline
    15
  - Compatible Models
    15
  - Limitations
    16
    
    Available Equipment, Software Version
    16
- Control Unit
  16
  - Specifications
    16
    
    Mehcu-01
    16
    
    Mehcu-02
    16
- Electric Hand
  18
  - Models of Electric Hand
    18
  - Outline Drawing
    18
    
    Single Cam Type
    18
    
    Screw Type
    20
  - Installing the Fingers
    21
    
    Installing Dimensions (Single Cam Type)
    21
    
    Installing Dimensions (Screw Type)
    22
  - Specifications of Electric Hand
    23
    
    Cam Type
    23
    
    Screw Type
    24
    
    3-Finger Single Cam Type
    25
- Hand Cable
  26
  - Models of Hand Cable
    26
  - Outline Drawing
    26
    
    Mehcbl-01
    26
    
    MEHCBL-02 to 05
    26
3 Check before Use

27
- Product Checking
  27
- Items to be Prepared by Customer
  28
4 Installation

29
- Installation and Connection
  29
- Maintenance and Inspection
  33
5 Using the Electric Hand (Programming)

36
- Operating Procedure
  36
  - Setting the Parameter
    36
    
    The Actuator Type Setting
    36
    
    Setting of the Control Parameter
    37
  - Operation of Electric Hand
    39
    
    Changing the Hand Number
    40
    
    Origin Setting
    40
    
    Hand Opening and Closing
    41
    
    Teaching the Moving Position
    41
    
    Moving to the Taught Position
    43
    
    Grip Action
    44
    
    Setting the Moving Speed
    45
    
    Setting the Force (Holding Force)
    45
  - Specification of the Robot Programming Language
    46
    
    List of Instructions
    46
    
    Status Variable List
    46
    
    Detailed Explanation of Command Words
    47
    
    Explanation of each Robot Status Variable
    57
  - Parameter List
    62
  - Error List
    64

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Mitsubishi Electric CR751-Q Series Manuals

Mitsubishi Electric CR751-Q Series Instruction Manual (730 pages)

Table of Contents

1 Before Starting Use

2 Explanation of Functions

3 Explanation of Operation Methods

4 Melfa-Basic V

5 Functions Set with Parameters

6 External Input/Output Functions

7 Appendix

Mitsubishi Electric CR751-Q Series Instruction Manual (222 pages)

Table of Contents

1 Using this Manual

2 Work Flow

3 Force Sense Function System Specifications

4 Check before Use

5 Attaching the Force Sensor

6 Device Connection, Wiring, and Settings

7 Checking the Connection and Settings

8 Using the Force Sense Function (Programming)

9 Using the Force Sense Function (Teaching)

10 Application Examples

11 Language Specifications

12 Parameter Specifications

13 Troubleshooting

14 Appendix

Mitsubishi Electric CR751-Q Series Instruction Manual (132 pages)

Table of Contents

1 Overview

2 Preparation for Using Extended Function

3 Monitor Robot Information

4 Reads/Writes Robot's Variables

5 Read Current Line of Robot Program

6 Set up Robot's Maintenance

7 Read Robot Information

8 Perform Sequencer Direct

9 Shared Memory Extended Function Relevant Parameter

10 Extended Function Relevant Error List

Mitsubishi Electric CR751-Q Series Instruction Manual (126 pages)

Table of Contents

1 Before Starting Use

2 Unpacking to Installation

3 Installing the Option Devices

4 Basic Operations

5 Maintenance and Inspection

Mitsubishi Electric CR751-Q Series Instruction Manual (126 pages)

Table of Contents

Mitsubishi Electric CR751-Q Series Instruction Manual (66 pages)

Table of Contents

1 Using this Manual

2 Specifications

3 Check before Use

4 Installation

5 Using the Electric Hand (Programming)

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