Mitsubishi Electric MELFA CR800-D Manuals

Manuals and User Guides for Mitsubishi Electric MELFA CR800-D. We have 2 Mitsubishi Electric MELFA CR800-D manuals available for free PDF download: Special Specifications Manual, Instruction Manual

Mitsubishi Electric MELFA CR800-D Special Specifications Manual (156 pages)

For Mitsubishi Electric RH-1FRHR Series Industrial Robot

Brand: Mitsubishi Electric | Category: Controller | Size: 9.79 MB

Table of Contents
11
General Configuration
14
Structural Equipment
14
Standard Structural Equipment
14
Special Specifications
14
Options
14
Maintenance Parts
14
Model Type Name of Robot
15
How to Identify the Robot Model
15
Combination of the Robot Arm and the Controller
16
Stand Alone Type
16
MELSEC Iq-R Compatible Type
16
Indirect Export
16
Instruction Manuals
16
Contents of the Structural Equipment
17
Robot Arm
17
Controller
18
CR800-D Controller
18
CR800-R Controller
19
Function Extension Device
21
Contents of the Option Equipment and Special Specification
22
List of the Robot Arm Option Equipment and Special Specification
22
List of the Controller Option Equipment and Special Specification
23
Function Extension Device
24
Robot Arm
26
Standard Specifications
26
Basic Specifications
26
The Counter-Force Applied to the Installation Surface
27
The Conveyance Performance in Conveyor Tracking
28
About the Numbers of Conveyance Times in Changing an Operating Range
29
Definition of Specifications
32
Pose Repeatability
32
Rated Load (Mass Capacity)
33
Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed
34
Setting Load Capacity and Size (Hand Conditions)
34
Vibrations at the Tip of the Arm During Low-Speed Operation of the Robot
34
Vibration of Shaft (J3 Axis) Position and Arm End
35
Relationship between Mass Capacity and Speed
35
Relationship between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed
35
Time to Reach the Position Repeatability
37
Collision Detection
37
Protection Specifications
38
Types of Protection Specifications
38
Names of each Part of the Robot
39
Outside Dimensions ・ Operating Range Diagram
40
Standard Specification
40
Standard Specification (with Bellows)
41
Mechanical Interface and Installation Surface
42
Outside Dimensions of Machine Cables
43
Tooling
44
Wiring and Piping for Hand
44
Internal Air Piping
45
Internal Wiring for the Hand Output Cable
45
Internal Wiring for the Hand Input Cable
45
Ethernet Cable
45
About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping)
46
Example of Wiring and Piping <1
47
Wiring and Piping Example <2
47
Precautions for the Shaft through Hole
48
Wiring and Piping System Diagram for Hand
49
Electrical Specifications of Hand Input/Output
51
Air Supply Circuit Example for the Hand
52
Shipping Special Specifications, Options, and Maintenance Parts
53
Shipping Special Specifications
53
Bellows Set
54
Options
55
Machine Cable (Replacement)
56
Stopper for Changing the Operating Range
59
Solenoid Valve Set
60
Hand Input Cable
62
Hand Output Cable
63
Hand Curl Tube
64
Internal Wiring/Piping Set for Hand
65
External Wiring/Piping Box
66
Vacuum Valve Set
68
About Overhaul
70
Maintenance Parts
71
Controller
72
Standard Specifications
72
Basic Specifications
72
CR800-D Controller
72
CR800-R Controller
74
Protection Specifications and Operating Supply
76
Protection Specifications
76
Operating Supply
76
Names of each Part
77
Controller
77
Robot CPU Unit
79
CR800-R Controller
79
Outside Dimensions/Installation Dimensions
80
Outside Dimensions
80
Controller
80
Robot CPU Unit
81
Installation Dimensions
82
Controller
82
Robot CPU Unit
84
External Input/Output
85
Types
85
Dedicated Input/Output
86
Emergency Stop Input and Output Etc
89
Connection of the External Emergency Stop and Mode Selector Switch
89
Special Stop Input (SKIP)
93
Door Switch Function
94
Mode Selector Switch Function
94
Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
95
Additional Axis Function
96
Wiring of the Additional Axis Interface
96
Example of the Installation of the Noise Filter
97
Line Noise Filter
99
Magnet Contactor Control Connector Output (AXMC) for Addition Axes
100
Example Circuit
100
Image of How to Connect the Controller Connector
101
Options
102
CR800-D/R Controller Common
103
Teaching Pendant (T/B)
103
High Efficient Teaching Pendant (T/B)
106
Function Extension Card
108
MELSOFT RT Toolbox3/Melsoft RT Toolbox3 Mini/Melsoft RT Toolbox3 Pro
109
Instruction Manual (Bookbinding)
111
CR800-D Controller
112
Parallel I/O Interface
112
External I/O Cable
117
Parallel I/O Unit
119
External I/O Cable
128
CC-Link Interface
130
SD Memory Card
133
Maintenance Parts
134
Software
135
List of Commands
135
List of Parameters
138
Instruction Manual
140
The Details of each Instruction Manuals
140
Safety
141
Self-Diagnosis Stop Functions
141
External Input/Output Signals that Can be Used for Safety Protection Measures
142
Precautions for Using Robot
142
Safety Measures for Automatic Operation
143
Safety Measures for Teaching
143
Safety Measures for Maintenance and Inspections, Etc
143
Examples of Safety Measures
144
External Emergency Stop Connection [Supplementary Explanation]
148
Working Environment
149
Precautions for Handling
149
7Appendix
151
Appendix 1 ： Inertia Calculation Method
151
Appendix 2 ： Safety Block Diagram
152
Appendix 3 ： Specifications Discussion Material
154

Mitsubishi Electric MELFA CR800-D Instruction Manual (146 pages)

Brand: Mitsubishi Electric | Category: Industrial Equipment | Size: 6.02 MB

Table of Contents
9
1 Functions and Configuration

11
- Overview
  11
- System Configuration
  12
- Specifications
  13
- Risk Assessment
  16
  - Residual Risk (Common)
    16
  - Residual Risk (Specific to each Function)
    16
2 Installation

18
- Product Components
  18
  - Accessories
    18
  - Items to be Prepared by Customer
    19
- Part Names
  23
- Installation and Connection
  24
- Check Items
  30
- Replacement Parts
  30
- Maintenance
  30
3 Signals and Wiring

31
- Description of Signals
  31
  - Electrical Specifications
    31
  - Signal Operation
    34
- Connector Wiring
  35
- Connectors and Pin Assignment
  37
- Input Signal Connection Example
  39
- Measures to Prevent Static Electricity and Noise
  41
4 Safety Monitoring Functions

42
- Safety Monitoring Functions Overview
  42
  - Simulation
    42
- Startup and Basic Configuration
  43
  - Connecting RT Toolbox3
    43
  - Parameter Configuration
    43
  - Password Setting
    44
  - Enabling/Disabling Functions
    46
  - Recovery Mode
    47
  - Parameter CRC Output Number
    48
- Defining 3D Models
  50
  - Monitor
    50
  - Arm Model
    53
  - Tool Model
    54
- Safety Logic Edit
  56
- Safety Monitoring Functions
  68
  - Safe Torque off (STO)
    68
  - Safe Operating Stop (SOS)
    69
  - Safe Stop 1 (SS1)
    72
  - Safe Stop 2 (SS2)
    76
  - Safely-Limited Speed Function (SLS)
    79
  - Safely-Limited Position Function (SLP)
    87
- Safety Diagnosis Function
  96
  - Test Pulse Diagnosis (EMG)
    96
  - Safety Diagnosis Function
    97
5 State Variable

98
- List of State Variables
  98
- State Variables
  98
6 Troubleshooting

103
- Error List for the Safety Monitoring Functions
  103
- Errors Whose Specification Is Changed by Safety Monitoring Functions
  106
7 Safe Stopping Distance

107
8 Appendix

137

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Mitsubishi Electric MELFA CR800-D Manuals

Mitsubishi Electric MELFA CR800-D Special Specifications Manual (156 pages)

Table of Contents

Mitsubishi Electric MELFA CR800-D Instruction Manual (146 pages)

Table of Contents

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Safety Monitoring Functions

5 State Variable

6 Troubleshooting

7 Safe Stopping Distance

8 Appendix

Appendix 1: Selection Conditions for 24VDC Stabilized Power Supply

Appendix 2: How to Install the Safety Extension Unit

Appendix 3: How to Install the Stabilized Power Supply for the Safety Extension Unit

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