CR750/CR751 series controllerRobot Safety OptionInstruction Manual4F-SF001-01Mitsubishi Industrial RobotBFP-A3372-C

Mitsubishi Electric MELFA CR750 Series Instruction Manual

Before starting use

Symbols used in instruction manual

Safety Precautions

Precautions given in the separate Safety Manual

Explanation of functions

Operation panel (O/P) functions (CR760 controller)

Teaching pendant (T/B) functions

Operation rights

Functions Related to Movement and Control

Explanation of operation methods

Input of the number/character

Selecting a menu

Jog Feed (Overview)

Speed of jog feed

JOINT jog

TOOL jog

CYLNDER jog

Switching Tool Data

Changing the world coordinate (specifies the base coordinate number)

Impact Detection during Jog Operation

Impact Detection Level Adjustment during Jog Operation

Opening/Closing the Hands

Returning to the Safe Point

Aligning the Hand

Programming

Creating a program

Completion of program creation and saving programs

Correcting a program

Registering the current position data

Deletion of the position variable

Confirming the position data (Position jump)

Correcting the MDI (Manual Data Input)

Executing a Command Directly

Debugging

Step return

Step feed in another slot

Step jump

Automatic operation

Starting automatic operation

Starting from the T/B

Stopping

Resuming automatic operation from stopped state

Resetting the program

Turning the servo ON/OFF

Error reset operation

Operating the program control screen

Copying programs

Name change of the program (Rename)

Deleting a program (Delete)

Protection of the program (Protect)

Select the program

Operation of operating screen

Finishing of the confirmation screen

Operating the OPERATION screen

Operating the monitor screen

Output signal monitor

Input register monitor

Output register monitor

Variable monitor

Error history

Operation of parameter screen

Operation of the origin and the brake screen

Operation of setup / initialization screen

Initialize the parameter

Initialize the battery

Operation

Version

ENHANCED

Operation of the initial-setting screen

Adjustment of contrast

MELFA-BASIC V

Robot operation control

Linear interpolation movement

Circular interpolation movement

Continuous movement

Acceleration/deceleration time and speed control

Confirming that the target position is reached

High path accuracy control

Hand and tool control

Pallet operation

Program control

Repetition

Interrupt

Subroutine

Timer

Inputting and outputting external signals

Communication

Expressions and operations

Relative calculation of position data (multiplication)

Appended statement

The difference between MELFA-BASIC V and MELFA-BASIC IV

CR750 Series

Using This Manual

Specifications

CR750/CR751 Outline

Limitations

Outline Drawing

Electric Hand

Screw type

Installing the Fingers

Installing dimensions (Screw type)

Specifications of Electric Hand

finger single cam type

Hand Cable

Check Before Use

Items to be Prepared by Customer

Installation

RV-4F/7F/13F/20F Series, RV-4FR/7FR/13FR/20FR Series

RH-3FH/6FH/12FH/20FH Series, RH-3FRH/6FRH/12FRH/20FRH Series

RH-3FHR-S91

Conducting Operation Check

Applying Grease to the Ball Screws

Using the Electric Hand (Programming)

Setting of the Control Parameter

Operation of Electric Hand

Changing the Hand Number

Hand Opening and Closing

Moving to the Taught Position

Grip Action

Setting the Moving Speed

Specification of the Robot Programming Language

Detailed explanation of command words

Explanation of Each Robot Status Variable

Parameter list

Error list

safety precautions

Before use

Confirmation of product

Preparation before use

Parameter setting

Details of parameters

Parameter setting example 1 (When the Support Software is used)

Parameter setting example 3 (for using the real-time external control function)

Connection confirmation

Description of functions

Controller communication function

Setting the personal computer support software communication

Data link function

Using data link function

Ending

Real-time external control function

Explanation of command

Explanation of communication data packet

Using real-time external control function

Real-time monitor function

Supported version

Setup

Start of monitor / End of monitor

Data type ID

Parameters

SLMP Connection

SLMP Communication Procedure

Message Format

Commands

End Code

CC-Link IE Field Network Basic function

Support of robot I/O signals and link devices

Setup procedure

Appendix

Sample program

Sample program for real-time external control function

Terminology Used in This Instruction Manual

Select the Force Sensor

Flowchart

Force Sense Function System Specifications

System Configuration

Force Sense Function Specifications

Force Sense Interface Unit Specifications

Name of Each Force Sense Interface Unit Part

VDC Power Supply Specifications

VDC Output Cable

Force Sensor Specifications

Force Sensor External Dimensions

Sensor Attachment Adapter External Dimensions

Coordinate System Definition

Force Sense Coordinate System (Mechanical Interface)

Force Sense Coordinate System (XYZ)

Force Sensor Coordinate System

Force Sensor Set 4F-FS001-W1000

Software Versions

Attaching the Force Sensor

Recommended Attachment Angle

Securing the force sensor cable

Tool installation

Device Connection, Wiring, and Settings

Force Sense Interface Unit ↔ Force Sensor

Turning ON the Power

Default Parameter Settings

Force Sense Interface Unit identification

Calibration

Force Sensor Tolerance

Force Sensor Control Offset Limit

Checking the Connection and Settings

If Using R32TB/R33TB

Checking the Force Sensor Attachment Coordinate System

Using the Force Sense Function (Programming)

Force Sense Control

Force Sense Enable/Disable Commands

Mitsubishi Electric MELFA CR750 Series Instruction Manual

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