Mitsubishi Electric CR750-D Series Instruction Manual Download Page 1

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Mitsubishi Industrial Robot

CR750-D/CR751-D/CR760-D Controller

INSTRUCTION MANUAL

Controller setup, basic operation, and maintenance

BFP-A8867-Y

Summary of Contents for CR750-D Series

Page 1: ...Mitsubishi Industrial Robot CR750 D CR751 D CR760 D Controller INSTRUCTION MANUAL Controller setup basic operation and maintenance BFP A8867 Y ...

Page 2: ......

Page 3: ...s on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the operator and robot Installation of safety fence Establish a set signaling method to the related operators for starting work and follow this method Signaling of operation start As a principle t...

Page 4: ...nd securely grasp the workpiece Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approach...

Page 5: ... from the tip of SSCNET III connectors or SSCNET III cables Eye discomfort may be felt if exposed to the light Reference SSCNET III employs a Class 1 or equivalent light source as specified in JIS C 6802 and IEC60825 1 domestic standards in Japan Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable If the cap is not attached dirt or dust may adhere to the connector p...

Page 6: ... pins with the following numbers Crimping caulking is recommended to connect the ACIN terminals For single phase 1 and 3 For three phase 1 2 and 3 Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker 5 Connect this ACIN connector to the ACIN connector on the front of the controller 6 Connect the grounding cable to the PE terminal M4 screw 7 Connect t...

Page 7: ... mass of the controller was shown which was divided by each robot type The explanation about the controller of RV 7FLL RV 13F and RV 20F series were added 2013 09 14 BFP A8867 K Fig 2 25 Limitations when connecting the relay etc CR750 and Fig 2 26 Limitations when connecting the relay etc CR751 were corrected Error output Emergency stop output Contactor controleoutput for additional axes Error out...

Page 8: ...3 24 BFP A8867 W Pin assignment lists of the CNUSR2 and EMG2 connectors were modified Notice for using a USB was added 2016 09 08 BFP A8867 X CE marking specification of CR760 controller was added 2016 09 22 BFP A8867 Y Fig 2 50 Noise suppression for CR760 CE marking specification was modified Date of print Specifications No Details of revisions ...

Page 9: ...nection of the addition axis servo power supply It is building the circuit so that the output point of contact the contactor control output for addition axes AXMC installed in the controller may be used in use of the addition axis function and the power supply of the servo amplifier for addition axes may be shut down by opening of this output The servo ON OFF state of the addition axis can be sync...

Page 10: ...rings the exe cuting line to the top Executing a program reset makes it possi ble to select a program 1 1 Output Outputs that in the program selection enabled state CHNG DISP button UP DOWN button PRGSEL Input Selects the value inputted into the signal assigned to the numer ical input as a program number 1 Output PRGOUT Input Outputs the program number selected to the signal assigned to the numeri...

Page 11: ... Emergency stop input and output etc 2 23 2 2 7 Connecting the external emergency stop 2 23 1 CR750 controller 2 26 2 CR751 controller 2 32 3 CR760 controller 2 37 2 2 8 Mode changeover switch input 2 40 1 Specification of the key switch interface 2 40 2 Connection of the mode changeover switch input 2 41 2 2 9 Examples of safety measures 2 42 1 CR750 controller 2 42 2 CR751 controller 2 47 3 CR76...

Page 12: ... Jog operation 4 86 4 6 Opening and closing the hand 4 87 4 7 Programming 4 88 1 Creation procedures 4 88 2 Robot work 4 88 4 7 1 Creating the program 4 89 1 Deciding the operation order 4 89 2 Deciding the operation position name 4 90 3 Describing and creating the program 4 91 4 Confirming the program 4 97 5 Correcting the program 4 98 6 Saving the program 4 101 7 Start automatic operation 4 102 ...

Page 13: ...lained Explains the procedures required to operate the robot arm unpacking transportation installation confirmation of operation and the maintenance and inspection procedures Explains the procedures required to operate the controller unpacking transportation installation confirmation of operation basic operation from creating the program to auto matic operation and the maintenance and inspection p...

Page 14: ...operator could be subject to injury or physical damage could occur if handling is mistaken Always observe these precautions to safely use the robot JOG If a word is enclosed in brackets or a box in the text this refers to a key on the teaching pendant RESET EXE A B This indicates to press the B key while holding down the A key In this example the RESET key is pressed while holding down the EXE key...

Page 15: ...ng work This also applies to maintenance work with the power source turned ON Setting of emergency stop switch During teaching work place a sign indicating that teaching work is in progress on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the oper...

Page 16: ...ould lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approaching the robot or to incorrect operation When carrying out...

Page 17: ...e SSCNET III employs a Class 1 or equivalent light source as specified in JIS C 6802 and IEC60825 1 domestic standards in Japan Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable If the cap is not attached dirt or dust may adhere to the connector pins resulting in deterioration connector properties and leading to malfunction Make sure there are no mistakes in the w...

Page 18: ...r for the following models RV 13F 13FL 20F series RH 1FHR 15 Guarantee Card 1 copy CR751 D controller 1 Controller CR751 D 1 unit Stand alone type 2 Safety manual BFP A8006 1 copy 3 CD ROM Instruction manual 5F FA01 C00 1 pc Stand alone type 4 ACIN connector Note1 1 179958 3 1 pc 5 ACIN terminal Note1 316041 2 2 pcs Only with single phase controller 3 pcs Only with three phase controller 6 Power c...

Page 19: ...or for EMG1 DFMC 1 5 12 ST 3 5 LR 1 pc 6 Connector for EMG2 DFMC 1 5 12 ST 3 5 LR 1 pc 7 Ferrite core E04SR301334 4 pc For emergency stop wiring 8 1 6A fuse reserves LM16 1 pcs 9 7 5A fuse reserves GP75 2 pcs 10 Guarantee Card 1 copy Note1 When the power cable with the ACIN connector is used the ACIN connector and the ACIN terminal are not used When you build a power cable suitable for your enviro...

Page 20: ...tilt the controller and put your hands underneath Providing steady support with both hands lift it up and transport Be careful not to trap fingers when transporting the controller 2 Transporting CR760 controller Fig 2 2 Transporting CR760 controller 1 Two workers must transport the controller using a crane or lifter Mass Approx 16 18kg CR750 controller CR751 controller Mass Thin type Approx 12kg H...

Page 21: ...s internal section lateral board thickness of 1 2mm stick out 6 8mm or less When storing the controller in a cabinet etc take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values And don t install the controller in the position where direct rays or the heat of lighting hits The skin temperature of the contr...

Page 22: ...2 10 Installation 2Unpacking to installation Fig 2 4 Metal plate for fixation to placing vertically reference CR750 controller hole Controller fixation hole hole hole ...

Page 23: ...ction lateral board thickness of 1 2mm stick out 6 8mm or less When storing the controller in a cabinet etc take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values And don t install the controller in the position where direct rays or the heat of lighting hits The skin temperature of the controller may ris...

Page 24: ...2 12 Installation 2Unpacking to installation Fig 2 6 Metal plate for fixation to placing vertically reference 4 φ6 5 hole 5 φ10 hole 4 φ4 5 hole ...

Page 25: ...al section lateral board thickness of 1 2mm stick out 6 8mm or less When storing the controller in a cabinet etc take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values And don t install the controller in the position where direct rays or the heat of lighting hits The skin temperature of the controller ma...

Page 26: ...2 14 Installation 2Unpacking to installation Fig 2 8 Metal plate for fixation to placing vertically reference hole Controller fixation hole hole hole ...

Page 27: ...ture of the controller may rise and the error may occur 㻢㻣㻜㻠㻣㻠㻡㻢㻜㻢㻣㻜㻢㻤㻜㻌㻌㻮㼍㼏㼗㻭㼜㼜㼞㼛㼤㻚㻌㻡㻜㻜㻲㼞㼛㼚㼠㻭㼜㼜㼞㼛㼤㻚㻌㻣㻜㻜㻲㼞㼛㼚㼠㻭㼜㼜㼞㼛㼤㻚㻌㻣㻜㻜㻮㼍㼏㼗㻭㼜㼜㼞㼛㼤㻚㻌㻡㻜㻜㻺㼛㼠㼑㻌㻝㻕㻺㼛㼠㼑㻌㻝㻕㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞㻔㼡㼜㼟㼕㼐㼑㻕㻹㼍㼕㼚㼠㼑㼚㼍㼚㼏㼑㻌㼍㼞㼑㼍㻔㼂㼕㼑㼣㻌㼒㼞㼛㼙㻌㼡㼜㼟㼕㼐㼑㻕㻔㼂㼕㼑㼣㻌㼒㼞㼛㼙㻌㼡㼜㼟㼕㼐㼑㻕㻨㻺㼛㼚㻙㻯㻱㻌㼙㼍㼞㼗㼕㼚㼓㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻪㻨㻯㻱㻌㼙㼍㼞㼗㼕㼚㼓㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻪㻹㼍㼕㼚㼠㼑㼚㼍㼚㼏㼑㻌㼍㼞㼑㼍㻔㻭㼚㼏㼔㼛㼞㻌㼎㼛㼘㼠㻌㼕㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㻦㻌㻠㻌㼜㼘㼍㼏㼑㼟㻕㻔㻭㼚㼏㼔㼛㼞㻌㼎㼛㼘㼠㻌㼕㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㻦㻌㻠㻌㼜㼘㼍㼏㼑㼟㻕㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞...

Page 28: ...Always use the controller after installing the cable fixation plate and cover plate Procedures to install the cable fixation plate and cover plate are shown below 1 Installing the cable fixation plate 1 Remove two screws M3 2 Install the cable fixation plate to the controller with removed screws in step 1 M3 screw The controller is an example M3 screw Cable fixation plate Attachment The controller...

Page 29: ...cannot tighten a cable enough and the cable slips under the clamp wrap tape around the cable to increase the diameter to be firmly fixed Applying force to the cable fixation plate may cause deformation of the plate or damage on the fixing screws 2 Installing the cover plate 1 Remove two screws M3 Cable clamp Attachment M4 screw Attachment The figure on the left shows an example of how to fix the c...

Page 30: ...troller with removed screws in step 1 When installing the cover plate use the screws removed in the step 1 Using screws other than those may cause damage of the components inside the controller Applying force to the cover plate may cause deformation of the plate or damage on the fixing screws Cover plate Attachment The controller is an example M3 screw The controller is an example CAUTION CAUTION ...

Page 31: ... the power terminal cover as before This completes the connection of the power and grounding cables Grounding ACIN terminal L1 Single phase primary power supply N L2 terminal PE ACIN terminal L1 L3 L2 Three phase primary power supply Grounding terminal PE ACIN terminal L1 L3 L2 Single phase primary power supply Grounding terminal PE The controller is an example Note When fixing the power cable to ...

Page 32: ...ase 1 2 and 3 Connect the cable from the secondary side of the earth leakage breaker 5 Connect this ACIN connector to the ACIN connector on the front of the controller 6 Connect the grounding cable to the PE terminal M4 screw 7 Connect the primary power cable to the primary side terminal of the earth leakage breaker This completes the connection of the power and grounding cables PE terminal Ground...

Page 33: ...e to the earth leakage breaker terminal M8 screw L1 L2 and L3 from left 8 Connect the grounding cable to the NV plate terminal M6 screw 9 Insert the earth leakage breaker terminal cover removed in step 3 until a click is heard 10 Close the controller front door and fix with the fixing screws This completes the connection of the power and grounding cables 前扉固定ネジ 2本ケーブル引き込み口漏電遮断器アース線電源ケーブル NVプレー...

Page 34: ...e controller and fix them using a power cable clamp Capcon 7 Connect the power cable to the earth leakage breaker terminal M5 screw L1 L2 and L3 from left 8 Connect the grounding cable to the NV plate terminal M6 screw 9 Insert the earth leakage breaker terminal cover removed in step 3 until a click is heard 10 Close the controller front door and fix with the fixing screws This completes the conne...

Page 35: ...ector pins as shown below in order to ensure the wiring is duplicated An error cannot be reset if only one of the pins is connected 1 Please prepare the emergency stop switch door switch and enabling device 2 Connect the contacts of each switch to the contacts as shown below a External emergency switch CR750 controller CNUSR11 connector between 3 and 4 and CNUSR12 connector between 3 and 4 CR751 c...

Page 36: ... and door switch are working properly after the wiring setup is completed You should always connect doubly connection of the emergency stop the door switch and the enabling switch In connection of only one side if the relay of customer use should break down it may not function correctly And the output contacts from the robot controller robot error output emergency stop output mode output addition ...

Page 37: ...MG1 POWER CR760 Non CE marking specification CE marking specifi cation A CR760 controller 30cm以内フェライトコア 2回通し CR750 controller Rear side CNUSR11 connector CR751 controller Front side CNUSR12 connector Ferrite core Pass twice CNUSR2 connector Within 300mm The controller is an example 1 It is necessary to open the transformer box s door when performing this connection work Transformer box 1 ...

Page 38: ...ns Manual 内部回路構成コントローラ側 Please do not carry out an insulation pressure test Moreover it becomes the cause of failure if it connects incorrectly CAUTION Internal circuit structure Controller side Customer Customer Mode output Mode output Robot error output Robot error output Emergency stop output Emergency stop output Short External emergency stop input Short Door switch input Enabling device i...

Page 39: ... 16 pins the key switch on the operation panel must be set to the MANUAL mode If the key switch is set to the AUTOMATIC mode the mode is fixed to AUTOMATIC which disables the mode selector switch Switching an operation mode of a controller 8 DOOR1 16 OPKEY1 Pin No Name Function Remarks Pin No Name Function Remarks 1 EMGIN24V2 Construction of external emer gency stop input circuit Constructing an e...

Page 40: ...te1 Remarks Pin No Name Function Note1 Remarks 1 MPI11 850 Servo digital input 1 26 MPI14 851 Servo digital input 2 2 MPICOM1 MPI input common COM 27 MPI16 852 Servo digital input 3 3 Reserved 28 Reserved 4 Reserved 29 Reserved 5 Reserved 30 Reserved 6 Reserved 31 Reserved 7 Reserved 32 Reserved 8 Reserved 33 Reserved 9 SKIP11 Dedicated stop input common COM This pin and pin 34 is a pair 34 SKIP12...

Page 41: ...ntactor control connector output for addi tional axes To synchronize an additional axis to a robot s servo ON OFF This pin and pin 20 is a pair 21 LAH2 A phase signal plus side of dif ferential encoder CH2 Encoder input of a trucking function CH2 46 LAL2 A phase signal minus side of dif ferential encoder CH2 Encoder input of a trucking function CH2 22 LBH2 B phase signal plus side of dif ferential...

Page 42: ... to 16 0 14 to 1 5mm2 connector cable 1 Prepare the user wiring connector that accompanies the product 2 Loosen the cable fixing screw at the point where the cable is to be inserted Please use a screwdriver head with a width of 2 5mm to loosen the screw 3 Peel the insulation of the connecting cable to 7mm and insert it into the cable slot of the corresponding con nector 4 Be sure to fix the insert...

Page 43: ...ller For the connection cables please use AWG 30 to 24 0 05 to 0 2mm2 1 Loosen the two fixing screws on the user wiring connector that accompanies the product and remove the con nector cover 2 Peel the insulation of the connecting cable to 3mm and solder it the appropriate connector pin number 3 After the necessary cables have been soldered re fix the connector cover using the same fixing screws a...

Page 44: ...Specifications Manual Please do not carry out an insulation pressure test Moreover it becomes the cause of failure if it connects incorrectly CAUTION Internal circuit structure Controller side Customer Mode output Mode output Robot error output Robot error output Emergency stop output Emergency stop output Short External emergency stop input Short Door switch input Enabling device input Short Exte...

Page 45: ... pin 5 is a pair 6 EMGIN24V2 Construction of external emer gency stop input circuit Constructing an external emer gency stop func tion 31 EXTEMG21 Construction of external emer gency stop input circuit Constructing an external emer gency stop func tion 7 EXTEMG22 32 EXTEMG23 8 EXT GND2 33 SG 9 24V2 for DOOR Connection of door switch Detecting the opening and clos ing of a door This pin and pin 34 ...

Page 46: ...gnal plus side of dif ferential encoder CH1 47 LBL1 B phase signal minus side of dif ferential encoder CH1 23 LZH1 C phase signal plus side of dif ferential encoder CH1 48 LZL1 C phase signal minus side of dif ferential encoder CH1 24 OPKEY1COM 24V Note2 Mode key switch input Switching an operation mode of a controller This pin and pin 49 is a pair 49 OPKEY1 Note2 Mode key switch input Switching a...

Page 47: ...ot error output This pin and pin 16 is a pair 17 ROBOTERR21 Robot error output This pin and pin 42 is a pair 42 ROBOTERR22 Robot error output This pin and pin 17 is a pair 18 Reserved 43 Reserved 19 AXMC21 Magnet contactor control connector output for addi tional axes To synchronize an additional axis to a robot s servo ON OFF This pin and pin 44 is a pair 44 AXMC22 Magnet contactor control connec...

Page 48: ...dering Connector for user wiring CR751 controller CNUSR1 2 connector Connection procedure Solder the user wiring connector that accompanies the product to the corresponding pin and connect it to the CNUSR1 or CNUSR2 connector at the back of the controller For the connection cable please use AWG 30 to 24 0 05 to 0 2mm2 1 Loosen the 2 fixing screws on the user wiring connector that accompanies the p...

Page 49: ...elow DC24V input 10mA output 100mA Customer Mode output Emergency stop output Mode output Emergency stop output Robot error output Robot error output TB emer gency stop OP emer gency stop Customer Short 1 External emergency stop input Short 1 Door switch input Enabling device input Short 1 External emergency stop input Short 1 Door switch input Enabling device input Please refer to the example of ...

Page 50: ...No Name Function Note1 Remarks Pin No Name Function Note1 Remarks 1 EMGIN24V1 Construction of external emer gency stop input circuit Constructing an external emer gency stop func tion 13 EMGIN24V12 Construction of external emer gency stop input circuit Constructing an external emer gency stop func tion 2 EMGIN24V21 14 EMGIN24V22 3 EMG11 15 EMG12 4 EMG21 16 EMG22 5 EXT GND1 17 SG 6 EXT GND2 18 SG 7...

Page 51: ... is a pair 2 SKIP21 SKIP21 common COM This pin and pin 14 is a pair 14 SKIP22 801 SKIP2 input This pin and pin 2 is a pair 3 SKIP31 SKIP31 common COM This pin and pin 15 is a pair 15 SKIP32 802 SKIP3 input This pin and pin 3 is a pair 4 SKIP41 SKIP41 common COM This pin and pin 16 is a pair 16 SKIP42 803 SKIP4 input This pin and pin 4 is a pair 5 EMGOUT11 Emergency stop output Confirming the prese...

Page 52: ...rom the controller Current rating Approx 10mA Select the switch or button which operates normally in 24V 10mA Input resistance Approx 2 2kΩ Response time OFF ON Approx 15ms Example The response time the program starts after pushing the run button Common method 1 point per common Connection method Connector Conformity electric wire size AWG 24 to 18 0 2 to 0 75mm2 Maker Type Maker PHOENIX CONTACT T...

Page 53: ...nector cover 2 Peel the insulation of the connecting cable to 3mm and solder it the appropriate connector pin number 3 After the necessary cable has been soldered re fix the connector cover sing the same fixing screws and make sure it is fastened securely 4 Connect the connector to the corresponding connector CNUSR1 on the controller With pin number 1 facing to the upper right insert firmly until ...

Page 54: ...ency stop input uses the power supply in the controller Operation of the emergency stop If the emergency stop switch of peripheral equipment is pushed the robot will also be in the emergency stop state 非常停止スイッチ 2接点タイプ周辺装置安全柵のドア 1 CNUSR11 CNUSR12 CNUSR2 内部非常停止回路非常停止出力モード出力 OP非常停止ボタン RA RA RA ﾄﾞｱｽｲｯﾁ入力ｲﾈｰﾌﾞﾘﾝｸﾞﾃﾞﾊﾞｲｽ 2 3 4 5 6 7 8 9 10 13 14 11 12 16 17 41 42 エラー出力短絡短絡 TB非常停止ボタン内部電源 24V 安...

Page 55: ...pment Operation of the emergency stop If the emergency stop switch of peripheral equipment is pushed the robot will also be in the emergency stop state Controller 3 The T B emergency stop button connected with the controller 4 Emergency stop input relay 5 Refer to the Standard specification manual or the Special specification manual for the enabling device 6 The emergency stop button of the robot ...

Page 56: ...h the same pin number creating 2 systems in each terminal It is absolutely necessary to connect the 2 systems 2 You can see in the diagram that connector CNUSR2 has 2 terminals and 2 systems 16 17 indicates 2 terminals at pin number 16 and pin number 17 It is absolutely necessary to connect the 2 systems 3 The T B emergency stop button connected with the controller 4 Emergency stop input relay 5 R...

Page 57: ...he emergency stop switch of peripheral equipment and the door switch to two controllers and it interlocks Connect the enabling device to the robot controller The power supply for emergency stop input uses the power supply of peripheral equipment Monitor the emergency stop state by the peripheral equipment side Operation of the emergency stop If the emergency stop switch of peripheral equipment is ...

Page 58: ... the wiring examples particularly for emergency stop button output when using user equipment Connect the positive side of the user equipment 24V DC to the terminal 2 of CNUSR11 12 then connect the emergency stop button or contact points in the user equipment to across the terminals 3 and 4 of CNUSR11 12 and ultimately con nect the negative side 24G 3 When installing a safety relay to use it as an ...

Page 59: ...ors CNUSR1 and CNUSR2 are assigned with the same pin number creating 2 systems in each terminal It is absolutely necessary to connect the 2 systems 2 The T B emergency stop button connected with the controller 3 Emergency stop input relay 4 Refer to the Standard specification manual or the Special specification manual for the enabling device 5 The emergency stop input detection relay uses the cont...

Page 60: ...top button Not connected Door switch input Enabling device Mode output Error output Emergency stop output Safety relay Internal emergency stop circuit Emergency stop switch 2 contact type Safety fence door Power supply in the Peripheral equipment 24V 1 1 3 4 5 Peripheral equipment 1 Each of the connectors CNUSR1 and CNUSR2 are assigned with the same pin number creating 2 systems in each terminal I...

Page 61: ...using emergency stop button output function please take note of the polarity and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the two places in the diagram If the polarity of the circuit is wrong the emergency stop button output may not work properly Please connect the 24V power supply to 26 31 terminals 2 6 Wiring example 3 Connect the eme...

Page 62: ...ed and the safety relay is also switched OFF 2 Monitor Monitor Wiring example 4 Connect the emergency stop switch of peripheral equipment and the door switch to two controllers and it interlocks Connect the enabling device to the robot controller The power supply for emergency stop input uses the power supply of peripheral equipment Monitor the emergency stop state by the peripheral equipment side...

Page 63: ...ng user equipment Connect the positive side of the user equipment 24V DC to the two terminals 26 31 then connect the emergency stop button or contact points in the user equipment to the 2 27 and 7 32 terminals and ultimately connect to the negative side 24G 3 Setup a safety relay on the user equipment and when using to input the emergency stop button on the con troller please only use a safety rel...

Page 64: ... for each terminal It is absolutely necessary to connect the two systems 2 The T B emergency stop button connected with the controller 3 Emergency stop input relay 4 Refer to the Standard specification manual or Special specification manualfor the enabling device 1 1 3 5 The emergency stop input detection relay is used the controller s internal safety relay control If the emergency stop input dete...

Page 65: ...relay control If the emergency stop input detection relay is switched OFF emergency stop is detected and the safety relay is also switched OFF 6 The emergency stop button of the robot controller Only specification with the operation panel 7 Connect the 24V power supply to 13 14 terminals 5 1 Wiring example 2 Connect the emergency stop switch of peripheral equipment to the controller The power supp...

Page 66: ...ary to connect the two systems 2 The T B emergency stop button connected with the controller 3 Emergency stop input relay 1 3 4 Refer to the Standard specification manual or Special specification manualfor the enabling device 5 The emergency stop input detection relay is used the controller s internal safety relay control If the emergency stop input detection relay is switched OFF emergency stop i...

Page 67: ...ssigned with the same pin number creating two systems for each terminal It is absolutely necessary to connect the two systems If necessary to stop two robots simultaneously by one emergencystop switch please use the 4 contact type emergency stop switch 2 The T B emergency stop button connected with the controller 3 Emergency stop input relay 1 3 3 1 4 1 6 6 4 Refer to the Standard specification ma...

Page 68: ...roller s emergency stop button command use a safety relay that is activated by an input from one of the two systems i e QS90SR2SP Manufacture Mitsubishi Electric Corporation 4 The emergency stop input detection relay internal relay uses the controller s internal safety relay control If the emergency stop input detection relay is switched OFF emergency stop is detected and the safety relay is also ...

Page 69: ...efer to the following and install Switch contact Prepare a 2 contact type 1 Switch contact capacity Use a normal open contact that operates with a switch contact capacity of approx 1mA to 100mA 24V 1 If you connect the relay etc rated current of the coil should use the relay which is 100mA 24V or less Refer to Fig 2 42 Fig 2 41 Fig 2 43 Cable length The length of the wire between the switch and te...

Page 70: ...ency stop circuit Emergency stop switch 2 contact type Peripheral equipment Power supply24V Monitor Monitor Circuit Note Error output Emergency stop output Input detection circuit 1 6 26 31 2 7 27 32 3 8 28 33 16 17 41 42 CNUSR1 CNUSR2 エラー出力内部非常停止回路ロボットコントローラ未接続非常停止スイッチ 2接点タイプ非常停止出力モード出力周辺装置 TB非常停止ボタン RA RA RA ロボットコントローラ内電源 24V ﾄﾞｱｽｲｯﾁ入力安全柵のドアｲﾈｰﾌﾞﾘﾝｸﾞﾃﾞﾊﾞｲｽ周辺装置側電源24V 監視監視周辺装置側...

Page 71: ...t the relay etc rated current of the coil should use the relay which is 100mA 24V or less If the electric current of the further flows internal fuse 1 may cut And although the example of the connection which uses the external power source is shown in the figure if the coil is connected using the internal power supply of the robot controller internal fuse 2 may cut Internal fuse Not connected Door ...

Page 72: ...utton is pressed and there will be a risk of damage or personal injury occurring After wiring be sure to press each of the installed emergency stop switches and check whether the emergency stop circuit works properly Be sure to duplicate connection of the emergency stop door switch and enabling switch If not duplicated these functions may fail due to a broken relay used by customer etc OP 非常停止非常停...

Page 73: ... アンプボックス NV ２コントローラ内蔵漏電遮断器 NV の２次側より MC同期用電源を取り出す AXMC21 注2 １付加軸アンプボックス内蔵漏電遮断器 NV の２次側よりコントローラ電源を取り出す AXMC11 注1 88 CNUSRコネクタアンプ DC24V AXMC12 AXMC22 注2 注1 コネクタとピン番号を以下に示します AXMC11 AXMC12 AXMC21 AXMC22 注2 ロボットがアラームの発生などでサーボOFFしたとき本出力接点が開放します接点容量 DC24V 10mA 100mA 信号名ピン番号コネクタ CNUSR2 45 19 44 20 CNUSR2 1 Get the power supply for the controller from the secondary terminal of short circuit brea...

Page 74: ...rom the sec ondary terminal of short circuit breaker NV built in the control ler To the internal circuit AXMC is output from the contact for internal servo power supplies Controller Amplifier Note2 Note2 EMG1 connector Note1 Addition axis amplifier box Signal Connector Pin number Note1 Connector and Pin number Note2 This output is opened if the robot turns off the servo by occurrence of alarm etc ...

Page 75: ...SR1 2 CR751 controller Ferrite core Pass twice CNUSR2 connector Within 30cm The controller is an example 㼃㼕㼠㼔㼕㼚㻌㻟㻜㻜㼙㼙 View A Inside of CR760 controller Safety unit R760SFT Ferrite core attachments Pass once EMG1 POWER CR760 Non CE marking specification CE marking specifi cation A CR760 controller Connection method is the same as the connection of emergency stop Refer to Page 37 Fig 2 22 External e...

Page 76: ...TAGAWA INDUSTRIES Co Ltd 2 Insert the the three ferrite cores in both end of the CN2 cable Recommended ferrite core E04SR401938 Manufacturer Seiwa Electric Mfg Co Ltd 3 Add FG cable to the robot controller Recommended cable ZSK 12HF Manufacturer Zippertubing Japan Ltd Fig 2 50 Noise suppression for CR760 CE marking specification 2 3 Setting the origin Refer to the separate manual Robot arm setup a...

Page 77: ...f the power 2 Pick the interface cover removal lever and pull up the interface cover 3 Insert the interface card in SLOT1 or SLOT2 Insert the card as both ends of the card may fit into the guide of slot SLOT1 or SLOT2 showed in Fig 3 1 4 Insert the connection connector securely to the back until the removal lever is locked with the sound This completes the installation of the interface card 接続コネクタ...

Page 78: ...g 3 2 4 Insert the connection connector securely to the back until the removal lever is locked with the sound This completes the installation of the interface card 接続コネクタインタフェースカード取っ手インタフェースカバーインタフェースカバー取外しレバー SLOT1 SLOT2 SLOT3 R760CPUユニット取外しレバー R760CPU unit Interface card Interface cover Interface cover removable lever Handle Removable lever Other side Connecting connector POWER CR760 Non C...

Page 79: ... two screws attached as shown in Fig 3 3 Note Please keep in mind that the cassette will change if it fastens too much 5 Install the removed cover in 3 6 Turn on the controller power This completes the installation of the extension memory cassette CAUTION The programs that are stored in the control unit will be moved into the extension memory cassette they will be deleted from the memory in the co...

Page 80: ...keys are explained Turning the power ON OFF The items to confirm before turning on the controller power and the methods of turning the power ON and OFF are explained Operating the robot with jog operation The methods for manually operating the robot arm using the teaching pendant are explained This is mainly used for teaching work Opening and closing the hand The methods of opening and closing the...

Page 81: ...ller parts CR750 The controller is an example 20 The operation panel 7 10 8 9 1 2 Controller Front side 19 Attached cover Controller Rear side Exhaust downward Bottom 5 4 13 12 11 14 1 ACIN terminal 24 25 26 27 28 29 23 22 21 15 6 16 17 3 18 20 Fan Air suction There are three types Type A B and C of the terminals Refer to next page for details ...

Page 82: ...s operation mode AUTOMATIC Operations from the controller or external equipment are valid Operations for which the operation mode must be at the external device or T B are not possible Exclude the start of automatic operation MANUAL When the T B is valid only operations from the T B are valid Operations for which the operation mode must be at the external device or controller are not possible 17 E...

Page 83: ...tement Use the network equipments personal computer USB hub LAN hub etc confirmed by manufacturer The thing unsuitable for the FA environment related with conformity temperature or noise exists in the equipments connected to USB When using network equipment measures against the noise such as measures against EMI and the addition of the ferrite core may be necessary Please fully confirm the operati...

Page 84: ...ing the R33TB When not using T B connect the attached dummy plug 7 Filter cover There is an air filter and buttery inside this cover 8 CNUSR connector The connector for input output connection dedicated for robot CNUSR1 CNUSR2 a plug connector attached Refer to Page 32 2 CR751 controller for the connection method and the further description of pin assign 9 Grounding terminal The grounding terminal...

Page 85: ...2 Use the network equipments personal computer USB hub LAN hub etc confirmed by manufacturer The thing unsuitable for the FA environment related with conformity temperature or noise exists in the equipments connected to USB When using network equipment measures against the noise such as measures against EMI and the addition of the ferrite core may be necessary Please fully confirm the operation by...

Page 86: ...s not turn OFF 5 RESET button This resets the error This also resets the program s halted state and resets the program 6 Emergency stop switch This switch stops the robot in an emergency state The servo turns OFF 7 CHNGDISP button This button changes the details displayed on the display panel in the order of Override Line No Program No User informa tion Maker information 8 END button This stops th...

Page 87: ...atic operation MANUAL When the T B is valid only operations from the T B are valid Operations for which the operation mode must be at the external device or controller are not possible 14 UP DOWN button This scrolls up or down the details displayed on the STATUS NUMBER display panel 15 Cable lead in port Draw in the primary power cable 16 Interface cover USB interface and battery are mounted 17 RS...

Page 88: ... cable Strip off the sheath of the cable and ground the controller case using this plate EMG1 connector External emergency stop input door switch input enabling device switch and magnet contactor control connector out put for addition axes EMG2 connector Emergency stop output mode output robot error output and special stop input SKIP Option slot SLOT1 SLOT2 SLOT3 Install the interface optional Ext...

Page 89: ...ted to the controller the operation at one time is limited to one device This limited device has the operation rights What operations require the operation rights Operations that start the robot such as program start and alarm reset and operations that can cause starting require the operation rights Conversely operation that stop the robot such as stopping and servo OFF can be used without the ope...

Page 90: ...f T B below 1 Check that the POWER power supply switch of the robot controller is OFF 2 Connects T B connector to the robot controller Use as the upper surface the lock lever shown in Fig 4 6 and push in until there is sound Fig 4 6 Installing and removing the T B CR750 CR760 controller The installation of T B is finished CAUTION A ティーチングボックス T B T B接続用コネクタダミーコネクタティーチングボックス T B ダミーコネクタ A T B接続用...

Page 91: ...R power supply switch of the robot controller is OFF 2 Raise up the lock lever in the connector upper part and pull up the connector Please install the dummy connector if you use the robot without connecting T B The removing of T B is finished 4 Removing the T B CR751 controller Explain the removing method of T B below 1 Check that the POWER power supply switch of the robot controller is OFF 2 Loo...

Page 92: ...input the numerical value SERVO key Press this key with holding AA key lightly then servo power will turn on MONITOR key It becomes monitor mode and display the monitor menu JOG key It becomes jog mode and display the jog operation HAND key It becomes hand mode and display the hand operation CHAR key This changes the edit screen and changes between numbers and alphabetic characters RESET key This ...

Page 93: ...ed to the robot arm 6 Make sure that there are no obstacles such as tools in the robot operation range 1 CR750 controller Turn the controller POWER switch ON The controller power turn on and the STATUS NUMBER display lights up 2 CR751 controller Note Although the figure shows the CR751 Thin type it is the same also in a CR751 Heavy type Operate the earth leakage breaker of installation outside to ...

Page 94: ... the RESET key of T B and cancel the error of T B 2 Press the EXE key of T B and display the menu panel POWER CR760 ON OFF POWER Power switch Power switch enlarged view What is the main power control power and servo power Main power This supplies power to the controller Primary power Control power This supplies power to the control sections PCB etc in the controller Servo power This supplies power...

Page 95: ...TA CLOSE 123 Next DATA Prev PARAMETER NAME RBSERIAL ELE DATA CLOSE 123 Next DATA Prev PARAMETER RBSERIAL xxxxxxx CLOSE 123 Next DATA Prev PARAMETER NAME RBSERIAL ELE DATA CLOSE 123 Next DATA Prev The input of the number character Each time the CHARACTER key is pressed the number input mode and the character input mode change The current input mode is displayed in the center under the screen and th...

Page 96: ...roller SVO OFF switch and turn the servo OFF 3 Turning off operation of the controller power according to the controller type is shown below CR750 CR760 controller turn OFF a front power switch CR751 controller turn OFF the switch of the earth leakage breaker installed outside The control power will be shut off Stop the program Shut OFF the motor powe STOP SVO OFF Following figures are CR750 contr...

Page 97: ...vo OFF 1 If the robot is operating press the controller STOP switch on the front of the controller and stop the robot 2 After the robot has stopped press the controller SVO OFF switch on the front of the controller and turn the servo OFF The switch s lamp will light indicating that the servo is OFF R C disable T B disable Servo on Down ENABLE Lighting Up DISABLE Rear of T B MODE MANUAL AUTOMATIC S...

Page 98: ...and direction Changes the posture while maintaining the hand position Rotates the hand while maintaining the hand position 3 AXIS XYZ JOG When the axis cannot be moved with XYZ JOG that maintains the posture When the tip is to be moved linearly but the posture is to be changed CYLINDER JOG Moves in a cylindrical shape centering on the Z axis while maintaining the posture Moves linearly in a radial...

Page 99: ...s C key Opening and closing hand 2 Open Press B key Close Press B key Opening and closing hand 3 Open Press A key Close Press A key Opening and closing hand 4 Open Press Z key Close Press Z key Opening and closing hand 5 Open Press Y key Close Press Y key Opening and closing hand 6 Open Press X key Close Press X key HAND C HAND1 Z HAND4 B HAND2 Y HAND5 A HAND3 X HAND6 76543210 76543210 OUT 900 IN ...

Page 100: ...program Based on the decided operation order and operation position name convert the robot operations and work into commands Describe the commands in the program and save in the controller Teaching the operation position Move the robot to each operation position with jog operation and teach each position in the position variables Confirmation of program and operation position Execute the program s...

Page 101: ...ear movement 4 Grasp workpiece hand close 5 Move 20mm upward linear movement 6 Move to 20mm upward position to release workpiece joint movement 7 Move to position to release workpiece linear movement 8 Release workpiece hand open 9 Move 20mm upward linear movement 10 Move to wait position joint movement End Joint movement and linear movement The operation for which the robot movement path is not d...

Page 102: ...s not necessarily need to be taught The positions shown with white circles in Fig 4 12 can be designated with commands as position 20mm away from target position Refer to Page 91 3 Describing and creating the program The designation of the direction separated from the target position differs according to the robot type The position is along the Z axis of the TOOL coordinate system and the directio...

Page 103: ...T Mvs PGET Move to 20mm upward position variable PGET Mvs PGET 20 Note Hand open Hopen Open hand 1 Hopen 1 Hand close Hclose Close hand 1 Hclose 1 Wait Dly Wait 1 second Dly 1 0 End End End the program End Start 1 Move to wait position joint movement 1 Mov PWAIT 2 Move to 20mm upward workpiece joint movement 2 Mov PGET 20 Note 3 Move to position to grasp workpiece linear movement 3 MVS PGET 4 Gras...

Page 104: ...sed Designating the reverse direction could lead to interference with the peripheral devices and damage Generally in the default state the hand retract direction is the sign with the vertical articulate type robot and the sign is the robot s upward direction with the other robots 20 in the command line is a example in horizontal multiple jointed type robot CAUTION Program format The program format...

Page 105: ... 24 13 05 54 2208 B1 08 04 24 13 05 54 1851 COPY 123 POSI EDIT NEW NEW PROGRAM PROGRAM NAME 1_ CLOSE ABC PROGRAM 1 100 TEACH 123 DELETE EDIT INSERT Using the T B Set the controller mode to MANUAL and the T B ENABLE switch to ENABLE Operations from the T B are not possible unless the controller mode is set to MANUAL Inputting numbers Each time the CHARACTER key is pressed the number input mode and ...

Page 106: ...1MOV CLOSE 123 PROGRAM 1 Ins 1MOV CLOSE 123 EDIT DELETE INSERT Inputting characters and space Each time the CHARACTER key is pressed the number input mode and the character input mode change The current input mode is displayed in the center under the screen and the display of ABC shows that the character input mode The character currently written to the lower right of each key in this state can be...

Page 107: ... 123 PROGRAM 1 Ins 1MOV PWAIT CLOSE 123 PROGRAM 1 Ins 1 MOV PWAIT CLOSE 123 PROGRAM 1 Ins 1 MOV PWAIT CLOSE 123 Displaying the previous and next command step Display the four lines on the screen of T B For moving the cursor to the front line the key is pressed for moving the cursor to the next line press the key and select Displaying a specific line Press the FUNCTION key and change the function d...

Page 108: ... ハンド Set the position with jog operation Teaching PGET Work Hand Effective use of jog mode When the robot s current position is greatly separate from the target position move the robot in axis units with the JOINT JOG mode to approach the position If the target position is nearby move linearly with the XYZ JOG mode and finely adjust the position The position can be set accurately by delaying the o...

Page 109: ...1 0 11 Mvs PPUT 20 12 Mov PWAIT 13 End CLOSE 123 BWD 123 CLOSE 123 INSERT DELETE EDIT JUMP FWD CHANGE DIRECT FUNCTION key POS JNT 100 PWAIT X 128 56 A 180 00 Y 0 00 B 90 00 Z 845 23 C 180 00 L1 L2 FL1 7 FL2 0 Next 123 TEACH MOVE Prev Next TEACH MOVE Prev Next TEACH MOVE Prev FUNCTION key DELET NAME CHANGE CLOSE PROGRAM 1 Ins 10 Dly 1 0 11 Mvs PPUT 20 12 Mov PWAIT 13 End CLOSE 123 BWD 123 CLOSE 123...

Page 110: ...tion could lead to interference with the peripheral devices and damage Generally in the default state the hand retract direction is the sign with the vertical articulate type robot and the sign is the robot s upward direction with the other robots PROGRAM 1 Ins 1 Mov pwait 2 Mov PGET 20 3 Mvs PGET 4 Hclose 1 CLOSE 123 BWD 123 CLOSE 123 INSERT DELETE EDIT JUMP FWD CHANGE DIRECT FUNCTION key PROGRAM...

Page 111: ...PUT 9 Hopen 1 10 Dly 1 0 CLOSE 123 INSERT DELETE EDIT Correcting incorrect numbers Press the CLREAR key to delete the character and then input it again And if the long pushing CLEAR key all the data in the parenthesis can be deleted If the cursor is returned by pressing the key and a character is input it will be inserted After correcting a program After correcting the program carry out step opera...

Page 112: ...peration Refer to Page 86 4 5Jog operation for details on the jog operation and section Page 87 4 6Opening and closing the hand for detains on opening and closing the hand New wait position ＰＷＡＩＴ Change PROGRAM 1 Ins 1 Mov pwait 2 Mov PGET 20 3 Mvs PGET 4 Hclose 1 CLOSE 123 BWD 123 CLOSE 123 INSERT DELETE EDIT JUMP FWD CHANGE DIRECT FUNCTION key POS XYZ 100 PWAIT X 128 56 A 180 00 Y 0 00 B 90 00 Z...

Page 113: ...as saved is displayed and the details of edit are saved POS XYZ 100 PWAIT X 128 56 A 180 00 Y 0 00 B 90 00 Z 845 23 C 180 00 L1 L2 FL1 7 FL2 0 Next 123 TEACH MOVE Prev POS EDIT 1 PWAIT RECORD CURRENT POSITION OK No 123 Yes POS XYZ 100 PWAIT X 128 56 A 180 00 Y 0 00 B 90 00 Z 845 23 C 180 00 L1 L2 FL1 7 FL2 0 Next 123 TEACH MOVE Prev After correcting a program After correcting the program carry out...

Page 114: ...ntroller Starting the automatic operation by T B is available in the version of T B 1 7 or later Refer to separate Instruc tion Manual Detailed Explanation of Functions and Operations for details 1 Set the T B ENABLE switch to DISABLE 2 Set the controller mode to AUTOMATIC 3 Press the controller CHNG DISP switch twice and display the OVERRIDE on the STATUS NUMBER display panel A o will appear at t...

Page 115: ...tic operation always confirm that the target program No is selected Take special care to the robot movements during automatic operation If any abnormality occurs press the EMG STOP switch and immediately stop the robot Start automatic operation Select the program number Start End with one cycle Display the program number Select the program number Servo on CHNG DISP DOWN UP SVO ON START END Followi...

Page 116: ...uct for a long time and to secure safety 1 Inspection schedule Fig 5 1 Inspection schedule 0 Hr Daily inspection Monthly inspection Monthly inspection 500 Hr Monthly inspection Monthly inspection Monthly inspection 1000 Hr Monthly inspection Monthly inspection Monthly inspection 1500 Hr Monthly inspection Monthly inspection Monthly inspection 2000 Hr Monthly inspection Yearly inspection Operating ...

Page 117: ...r turning the power ON Turn the power ON while monitoring the robot 1 Is there any abnormal movement or noise when the power was turned ON Refer to the Troubleshooting section and remedy During operation Try moving with an original program 1 Check that the operation point is not deviated If deviated check the following items 1 Are any of the installation bolts loose 2 Are the bolts at the hand ins...

Page 118: ... kind of the errors about the battery shown in Table 5 3 If error 7500 occurs please exchange the batteries of the robot arm and the controller simultaneously Table 5 3 The error about the battery The method of replacing the battery of the controller is shown below Refer to the separate ROBOT ARM SETUP MAINTENANCE about robot arm s battery About the purchase of the battery refers to Page 111 5 4 M...

Page 119: ...ead may become left hand side Complete the work within 3 minutes after removing the old battery 6 Close the interface cover of the operation panel certainly 7 Refer to the separate manual Detailed Explanation of Functions and Operations and reset the battery cumulative time over alarm Caution If the old battery is replaced because it has been used up it is necessary to set the origin again Refer t...

Page 120: ...hin 3 minutes after removing the old battery 6 Make sure that the filter is not separated from the cover and re fix the filter cover on to the front of the controller fixing securely When doing this take care not to trap the battery cable 7 Refer to the separate manual Detailed Explanation of Functions and Operations and reset the battery cumulative time over alarm Caution If the old battery is re...

Page 121: ...f the controller 2 Remove the filter from the filter cover and remove dust and other dirt that has built up on it If the filter is particularly dirty then wash it in water and detergent and then dry fully before re fixing In the event that the surface of the washed filter has become fluffy please replace it with a new filter 3 Attach the cleaned or new filter to the controller and install the filt...

Page 122: ...ot separated from the cover and re fix the filter cover on to the front of the controller fixing securely When doing this take care not to trap the battery cable Fig 5 5 Cleaning exchanging the filter CR751 controller This completes the inspection cleaning and replace of the filter for the controller バッテリバッテリホルダフィルタカバー取付ネジ M3ネジ 2箇所外すコネクタフィルタカバー取付ネジ M3ネジ 2箇所外すフィルタ外す Filter cover Filter Co...

Page 123: ...e1 Note1 Confirm the robot arm serial No and contact the dealer or service branch of Mitsubishi Electric Co for the type Qty Usage section Maker 1 Lithium battery Q6BAT 1 CR750 CR760 controller Inside the interface cover on the front of the controller Mitsubishi Electric System Service Co Ltd CR751 controller Inside the filter cover 2 Filter BKOFA0773H42 1 CR750 controller Inside the filter cover ...

Page 124: ...5 112 Maintenance parts 5Maintenance and Inspection ...

Page 125: ......

Page 126: ...ORKS 5 1 14 YADA MINAMI HIGASHI KU NAGOYA 461 8670 JAPAN Authorised representative MITSUBISHI ELECTRIC EUROPE B V GERMANY Gothaer Str 8 40880 Ratingen P O Box 1548 40835 Ratingen Germany Sep 2016 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...

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Mitsubishi Electric CR750-D Series, Instruction Manual

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