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Mitsubishi Electric CR751-D Series manuals

CR751-D Series first page preview

CR751-D Series

Brand: Mitsubishi Electric | Category: Controller
Table of contents
  1. Table Of Contents
  2. Table Of Contents
  3. Table Of Contents
  4. Table Of Contents
  5. Table Of Contents
  6. Table Of Contents
  7. Table Of Contents
  8. Table Of Contents
  9. Before starting use
  10. Symbols used in instruction manual
  11. Safety Precautions
  12. Precautions given in the separate Safety Manual
  13. Explanation of functions
  14. Operation panel (O/P) functions (CR760 controller)
  15. Teaching pendant (T/B) functions
  16. Operation rights
  17. Functions Related to Movement and Control
  18. Explanation of operation methods
  19. Input of the number/character
  20. Selecting a menu
  21. Jog Feed (Overview)
  22. Speed of jog feed
  23. JOINT jog
  24. TOOL jog
  25. CYLNDER jog
  26. Switching Tool Data
  27. Changing the world coordinate (specifies the base coordinate number)
  28. Impact Detection during Jog Operation
  29. Impact Detection Level Adjustment during Jog Operation
  30. Opening/Closing the Hands
  31. Returning to the Safe Point
  32. Aligning the Hand
  33. Programming
  34. Creating a program
  35. Completion of program creation and saving programs
  36. Correcting a program
  37. Registering the current position data
  38. Deletion of the position variable
  39. Confirming the position data (Position jump)
  40. Correcting the MDI (Manual Data Input)
  41. Executing a Command Directly
  42. Debugging
  43. Step return
  44. Step feed in another slot
  45. Step jump
  46. Automatic operation
  47. Starting automatic operation
  48. Starting from the T/B
  49. Stopping
  50. Resuming automatic operation from stopped state
  51. Resetting the program
  52. Turning the servo ON/OFF
  53. Error reset operation
  54. Operating the program control screen
  55. Copying programs
  56. Name change of the program (Rename)
  57. Deleting a program (Delete)
  58. Protection of the program (Protect)
  59. Select the program
  60. Operation of operating screen
  62. Finishing of the confirmation screen
  63. Operating the OPERATION screen
  64. Operating the monitor screen
  65. Output signal monitor
  66. Input register monitor
  67. Output register monitor
  68. Variable monitor
  69. Error history
  70. Operation of parameter screen
  71. Operation of the origin and the brake screen
  72. Operation of setup / initialization screen
  73. Initialize the parameter
  74. Initialize the battery
  75. Operation
  76. Version
  77. ENHANCED
  78. Operation of the initial-setting screen
  79. Adjustment of contrast
  80. MELFA-BASIC V
  81. Robot operation control
  82. Linear interpolation movement
  83. Circular interpolation movement
  84. Continuous movement
  85. Acceleration/deceleration time and speed control
  86. Confirming that the target position is reached
  87. High path accuracy control
  88. Hand and tool control
  89. Pallet operation
  90. Program control
  91. Repetition
  92. Interrupt
  93. Subroutine
  94. Timer
  95. Inputting and outputting external signals
  96. Communication
  97. Expressions and operations
  98. Relative calculation of position data (multiplication)
  99. Appended statement
  100. The difference between MELFA-BASIC V and MELFA-BASIC IV
  101. Multitask function
  102. Executing a multitask
  103. Precautions for creating multitask program
  104. How to perform the initialization processing via constantly executed programs
  105. Example of using multitask
  106. Procedures to multitask execution
  107. Program capacity
  108. Detailed specifications of MELFA-BASIC V
  109. Variable
  110. Statement
  111. Types of characters that can be used in program
  112. Characters having special meanings
  113. Data type
  114. Position constants
  115. Joint constants
  116. Angle value
  117. Numeric value variables
  118. Joint variables
  119. External variables
  120. User-defined external variables
  121. Creating User Base Programs
  122. Coordinate system description of the robot
  123. About base conversion
  124. About position data
  125. About tool coordinate system (mechanical interface coordinate system)
  126. Tool coordinate system
  127. Effects of use of tool coordinate system
  128. Robot status variables
  129. Logic numbers
  130. Functions
  131. List of Command
  132. Command related to program control
  133. Multi-task related
  134. Operators
  135. Priority level of operations
  136. Detailed explanation of command words
  137. Detailed explanation of Robot Status Variable
  138. Detailed Explanation of Functions
  139. Functions set with parameters
  140. Signal parameter
  141. About multi CPU input offsets (CR7xx-Q series controller only)
  142. Case (B)
  143. Operation parameter
  144. Command parameter
  145. Communication parameter
  146. Standard Tool Coordinates
  147. About Standard Base Coordinates
  148. About user-defined area
  149. Selecting a coordinate system
  150. Setting Areas
  151. Posture Area
  152. Selecting mechanism to be checked
  153. Example of settings
  154. Free plane limit
  155. Selection of a coordinates system for a free plane limit
  156. Automatic return setting after jog feed at pause
  157. Automatic execution of program at power up
  158. About the hand type
  159. About default hand status
  160. CR760 controller
  161. About the output signal reset pattern
  162. About the communication setting (Ethernet)
  163. CRRCE11 to 19 (protocol)
  164. Example of setting of parameter 1 (When the Support Software is used)
  165. Example of setting of parameter 2-1
  166. Example of setting parameters 2-2
  167. Example of setting parameters 3
  168. Connection confirmation
  169. Hand and Workpiece Conditions (optimum acceleration/deceleration settings)
  170. About the singular point adjacent alarm
  171. High-speed RAM operation function
  172. Warm-Up Operation Mode
  173. About singular point passage function
  174. About the collision detection function
  175. Related parameters
  176. How to use the collision detection function
  177. Optimizing the overload level
  178. Multi-rotational restrictions for the pallet definition instruction
  179. Interference avoidance function
  180. Operation procedures
  181. Preparing and connecting the devices
  182. Registering the simulated components for interference check
  183. Registering a free plane limit
  184. Support of additional axes
  185. Calibration between robots (Checking for interference between robots)
  186. Enabling and disabling the interference avoidance function
  187. Sample programs
  188. Sequencer input/output unit direct control
  189. The outline of the operating procedure
  190. Set up "Multiple CPU settings" of the sequencer
  191. Description of the Robot Status Variable
  192. Direct communication with robot CPUs
  193. Parameter for behavior selection at the error occurrence on dual system
  194. External input/output functions
  195. Sequencer link I/O function
  196. Robot CPU parameter setting
  197. CPU shared memory and robot I/O signal compatibility
  198. Assignment of the dedicated I/O signal. (at factory shipping)
  199. Dedicated input/output
  200. Enable/disable status of signals
  201. External signal timing chart
  202. Timing chart example
  203. External signal operation timing chart (Part 2)
  204. Example of external operation timing chart (Part 3)
  205. Example of external operation timing chart (Part 4)
  206. Example of external operation timing chart (Part 5)
  207. Emergency stop input
  208. Appendix
  209. Explanation of communication data packet
  210. Sample program
  211. Sample program for real-time external control function
  212. Configuration flag
  213. Spline interpolation
  214. Required devices and software version
  215. Specifications
  216. Restrictions
  217. Robot behavior during spline interpolation
  218. Check related to path points
  220. Operation mode
  221. Signal output
  222. Numerical setting
  223. Frame transformation
  224. Work procedures
  225. Creating the spline file
  226. Creating a file by DXF File Import function
  227. Creating new spline files with robot language
  228. Explanation of Spline File Edit screen
  229. Menu bar for Spline File Editing
  230. Details of path point data
  231. Editing the spline file
  232. Saving the spline file
  233. Deleting a spline file
  234. Copying the spline file
  235. Import/export function
  236. Auxiliary editing functions
  237. Displays the spline curve
  238. Robot program
  239. Creating the robot program
  240. Confirming the movement
  241. Saving in the robot controller
  242. Frame transformation function
  243. Position jump
  244. Parameter SPLOPTGC
  245. Ex-T control
  247. Ex-T jog
  248. Movement of the posture element in the WORK jog
  249. Ex-T jog operation
  250. WORK jog operation of the RV 6-axis type
  251. WORK jog operation of the RH 4-axis type
  252. WORK jog operation of the RH 4-axis hanging type
  253. Creation of robot program
  254. Cooperative operation function
  255. System configuration
  256. Automatic operation program (1.prg)
  257. Robot adjustment program (BFRM.prg)
  258. Sequence program
  259. Adjustment
  260. Adjustment 2: Setting of the common tool
  261. Cooperated operation by robots
  262. Get-position-quick function
  263. Specifications of Digital Input Signal
  264. Electric Specification of Digital Input
  265. How to use the GPS function
  266. Workpiece presence recognition in a cassette
  267. Upgrade of the servo software
CR751-D Series first page preview

CR751-D Series

Brand: Mitsubishi Electric | Category: Controller
Table of contents
  1. Table Of Contents
  2. Table Of Contents
  3. Using This Manual
  4. Specifications
  5. CR750/CR751 Outline
  6. Limitations
  7. Outline Drawing
  8. Electric Hand
  9. Screw type
  10. Installing the Fingers
  11. Installing dimensions (Screw type)
  12. Specifications of Electric Hand
  14. finger single cam type
  15. Hand Cable
  16. Check Before Use
  17. Items to be Prepared by Customer
  18. Installation
  19. RV-4F/7F/13F/20F Series, RV-4FR/7FR/13FR/20FR Series
  20. RH-3FH/6FH/12FH/20FH Series, RH-3FRH/6FRH/12FRH/20FRH Series
  21. RH-3FHR-S91
  22. Conducting Operation Check
  23. Applying Grease to the Ball Screws
  24. Using the Electric Hand (Programming)
  25. Setting of the Control Parameter
  26. Operation of Electric Hand
  27. Changing the Hand Number
  28. Hand Opening and Closing
  29. Moving to the Taught Position
  30. Grip Action
  31. Setting the Moving Speed
  32. Specification of the Robot Programming Language
  33. Detailed explanation of command words
  34. Explanation of Each Robot Status Variable
  35. Parameter list
  36. Error list
CR751-D Series first page preview

CR751-D Series

Brand: Mitsubishi Electric | Category: Robotics
Table of contents
  1. safety precautions
  2. Table Of Contents
  3. Table Of Contents
  4. Table Of Contents
  5. Using This Manual
  6. Terminology Used in This Instruction Manual
  7. Select the Force Sensor
  8. Flowchart
  9. Force Sense Function System Specifications
  10. System Configuration
  11. Force Sense Function Specifications
  12. Force Sense Interface Unit Specifications
  13. Name of Each Force Sense Interface Unit Part
  14. VDC Power Supply Specifications
  15. VDC Output Cable
  16. Force Sensor Specifications
  17. Force Sensor External Dimensions
  18. Sensor Attachment Adapter External Dimensions
  19. Coordinate System Definition
  20. Force Sense Coordinate System (Mechanical Interface)
  21. Force Sense Coordinate System (XYZ)
  22. Force Sensor Coordinate System
  23. Check Before Use
  24. Force Sensor Set 4F-FS001-W1000
  25. Software Versions
  26. Attaching the Force Sensor
  27. Recommended Attachment Angle
  28. Securing the force sensor cable
  29. Tool installation
  30. Device Connection, Wiring, and Settings
  31. Force Sense Interface Unit ↔ Force Sensor
  32. Turning ON the Power
  33. Default Parameter Settings
  34. Force Sense Interface Unit identification
  35. Calibration
  36. Force Sensor Tolerance
  37. Force Sensor Control Offset Limit
  38. Checking the Connection and Settings
  39. If Using R32TB/R33TB
  40. Checking the Force Sensor Attachment Coordinate System
  41. Using the Force Sense Function (Programming)
  42. Force Sense Control
  43. Force Sense Enable/Disable Commands
  44. Control Mode / Control characteristics
  45. Offset Cancel Designation
  46. Control characteristics Change Commands
  47. Usage Example (Force Sense Control)
  48. Force Sense Detection
  49. Mo Trigger
  50. Force Detection Status
  51. Usage Example (Force Sense Detection)
  52. Force Sense log
  53. Parameter Settings
  54. Force Sense Log Data Acquisition
  55. Force Sense Log Data Display (RT ToolBox2)
  56. Force Sense Log File FTP Transfer
  57. Usage Example (Force Sense Log)
  58. Gravity Offset Cancel Function
  59. Calibration Procedure
  60. Usage Example (Force Sensor Calibration)
  61. Using the Force Sense Function (Teaching)
  62. Force Sense T/B
  63. Force Sense Monitor
  64. Contact Detection
  65. Usage Example (Force Sense Function T/B)
  66. Teaching Operation
  67. Usage Example (Teaching Operation)
  68. Force Sense Function Screen
  69. R32TB/R33TB
  70. Language Specifications
  71. Status Variables Relating to Force Sense Control Function
  72. Commands Relating to Force Sense Detection Function
  73. Status Variables Relating Force Sense Detection Function
  74. Commands Relating to Force Sense Log Function
  75. Related Commands for Gravity Offset Cancel Function
  76. Related Status Variables for Gravity Offset Cancel Function
  77. Other Related Commands
  78. Examples
  79. Parameter Specifications
  80. RT ToolBox2 Force Sense Function Parameter Setting Screen
  81. R56TB/R57TB Force Sense Function Parameter Setting Screen
  82. Troubleshooting
  83. Force Control Function Related Error Details
  84. Appendix
CR751-D Series first page preview

CR751-D Series

Brand: Mitsubishi Electric | Category: Controller
Table of contents
  1. Table Of Contents
  2. Table Of Contents
  3. Before starting use
  4. Symbols used in instruction manual
  5. Safety Precautions
  6. Precautions given in the separate Safety Manual
  7. Unpacking to installation
  8. Installation
  9. Installation procedures
  10. CR751 controller: Thin type
  11. CR751 controller: Heavy type
  12. CR760 controller
  13. Attachments installation procedures
  14. Installing the cover plate
  15. Connecting the power cable and grounding cable
  16. CR751 controller
  18. Emergency stop input and output etc
  19. CR750 controller
  22. Mode changeover switch input
  23. Connection of the mode changeover switch input
  24. Examples of safety measures
  27. External emergency stop connection [supplementary explanation]
  28. Magnet contactor control connector output (AXMC) for addition axes
  29. Image of how to connect the controller connector
  30. Connecting to the robot arm
  31. Installing the option devices
  33. Installing the extension memory cassette
  34. Basic operations
  35. Handling the controller
  38. Handling the T/B
  39. Installing the T/B (CR751 controller)
  40. Functions of each key
  41. Turning the power ON and OFF
  43. Shutting OFF the control power
  44. Turning the servo power ON/OFF
  45. Jog operation
  46. Opening and closing the hand
  47. Programming
  48. Creating the program
  49. Deciding the operation position name
  50. Describing and creating the program
  51. Confirming the program
  52. Correcting the program
  53. Saving the program
  54. Start automatic operation
  55. Maintenance and Inspection
  56. Inspection items
  57. Maintenance and inspection procedures
  58. The battery exchange method of the CR750/CR760 controller
  59. The battery exchange method of the CR751 controller
  60. The check of the filter, cleaning, exchange
  62. Maintenance parts
CR751-D Series first page preview

CR751-D Series

Brand: Mitsubishi Electric | Category: Controller
Table of contents
  1. Table Of Contents
  2. Table Of Contents
  3. SYSTEM CONFIGURATION
  4. SETTING
  5. Type Setting
  6. Screen Switch/Window Setting
  7. Controller Setting
  8. Robot Parameter Setting
  9. Hand Output Control Signal (Start/End Signals) Parameter Setting
  10. Jog Parameter Setting to Assign Dedicated Input/Output Signals
  11. Dedicated Input/Output Signals Parameter Setting
  12. DESCRIPTION OF ROBOT SCREEN
  13. R OBOT O PERATION S CREENS
  14. M ONITOR /M AINTENANCE
  15. E RROR I NFORMATION
  16. Manual
  17. SCREEN OPERATION
  18. Jog/Hand Operation
  19. Editing of Position Data Which Have been Taught to the Robot
  20. Editing of Joint Data Which Have been Taught to the Robot
  21. Editing the Program Variable Data
  22. M ONITORING /M AINTENANCE O PERATION FROM GOT S CREEN
  23. Monitoring of the Robot Status Variable
  24. Monitoring of Robot Signal
  25. Confirming the Robot Product Information
  26. Monitoring of the Robot Current
  27. Monitoring of the Robot Load Level Ratio
  28. Robot Maintenance Forecast
  29. M ANUAL D OCUMENT D ISPLAY S CREEN
  30. E RROR I NFORMATION S CREEN
CR751-D Series first page preview

CR751-D Series

Brand: Mitsubishi Electric | Category: Controller
CR751-D Series first page preview

CR751-D Series

Brand: Mitsubishi Electric | Category: Controller
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