CR800-D series controllerCR750-D/CR751-D series controllerCRnD-700 series controllerCC-Link Interface Instruction Manual2D-TZ576BFP-A8701-JMitsubishi Electric Industrial Robot

Mitsubishi Electric MELFA CR800-D 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-D Series

safety precautions

Using This Manual

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

Check Before Use

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

Control Mode / Control characteristics

Offset Cancel Designation

Control characteristics Change Commands

Usage Example (Force Sense Control)

Force Sense Detection

Mo Trigger

Force Detection Status

Usage Example (Force Sense Detection)

Force Sense log

Parameter Settings

Force Sense Log Data Acquisition

Force Sense Log Data Display (RT ToolBox2)

Force Sense Log File FTP Transfer

Usage Example (Force Sense Log)

Gravity Offset Cancel Function

Calibration Procedure

Usage Example (Force Sensor Calibration)

Using the Force Sense Function (Teaching)

Force Sense T/B

Force Sense Monitor

Contact Detection

Usage Example (Force Sense Function T/B)

Teaching Operation

Usage Example (Teaching Operation)

Force Sense Function Screen

R32TB/R33TB

Language Specifications

Status Variables Relating to Force Sense Control Function

Commands Relating to Force Sense Detection Function

Status Variables Relating Force Sense Detection Function

Commands Relating to Force Sense Log Function

Related Commands for Gravity Offset Cancel Function

Related Status Variables for Gravity Offset Cancel Function

Other Related Commands

Examples

Parameter Specifications

RT ToolBox2 Force Sense Function Parameter Setting Screen

R56TB/R57TB Force Sense Function Parameter Setting Screen

Troubleshooting

Force Control Function Related Error Details

Appendix

Unpacking to installation

Installation

Installation procedures

CR751 controller: Thin type

CR751 controller: Heavy type

CR760 controller

Attachments installation procedures

Installing the cover plate

Connecting the power cable and grounding cable

CR751 controller

Emergency stop input and output etc

CR750 controller

Mode changeover switch input

Connection of the mode changeover switch input

Examples of safety measures

External emergency stop connection [supplementary explanation]

Magnet contactor control connector output (AXMC) for addition axes

Image of how to connect the controller connector

Connecting to the robot arm

Installing the option devices

Installing the extension memory cassette

Basic operations

Handling the controller

Handling the T/B

Installing the T/B (CR751 controller)

Mitsubishi Electric MELFA CR800-D Series Instruction Manual

Product

Learn More

Legal