Mitsubishi Electric CR800-05VD Instruction Manual Download Page 1

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Mitsubishi Electric Industrial Robot

CR800-05VD Controller

Instruction Manual

Controller Setup and Maintenance

BFP-A3731-B

Summary of Contents for CR800-05VD

Page 1: ...Mitsubishi Electric Industrial Robot CR800 05VD Controller InstructionManual Controller Setup and Maintenance BFP A3731 B ...

Page 2: ......

Page 3: ...grators must select and use functions correctly Peripherals must be designed manufactured set programmed maintained and inspected appropriately Before working with collaborative robots conduct risk assessments check that no risk is present and ensure all required documentation is in order It is vitally important that all the points mentioned above are fully understood in order to work with collabo...

Page 4: ...ler and ground the other end 2 point grounding in order to comply with the requirements of EN 61800 5 1 for the touch cur rent of 3 5 mA AC or more 7 Connect the primary power cable to the primary side terminal of the earth leakage breaker Part name Specifications Remarks Earth leakage breaker Recommended product Single phase NV30FAU 2P 10A AC100 240V 30mA manufactured by Mitsubishi Electric Make ...

Page 5: ...sions 2020 04 10 BFP A3731 First print 2020 10 09 BFP A3731 A Revised information on the parts included in the Easy setup kit 2020 12 25 BFP A3731 B Added an example of a protective circuit Fig 2 5 Added precautions for vertical installation of the robot controller ...

Page 6: ...nection method of the door switch or the mode selector switch is also indicated here Please use it together with the emergency stop switch No part of this manual may be reproduced by any means or in any form without prior consent from Mitsubishi The details of this manual are subject to change without notice The information contained in this document has been written to be accurate as much as poss...

Page 7: ... Executing a program reset makes it possi ble to select a program 1 1 Output Outputs that in the program selection enabled state Program selection OVRD key OVRD key Step display 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 numerical output 1 1 Outp...

Page 8: ...Station number 2 34 3 Installing the option devices 3 35 3 1 Installing removing the Option Card 3 35 3 1 1 Installing the Option Card 3 35 3 1 2 Removing the Option Card 3 36 3 2 Installing and connecting the Easy setup kit 3 37 3 2 1 Installing the Easy setup kit 3 37 1 Installing the Earth leakage breaker safety extension unit power supply box 3 37 2 Installing the EMG Mode selector switch box ...

Page 9: ...t 4 54 4 3 3 Shutting OFF the control power 4 55 4 4 Changing the power supply voltage settings 4 56 5 Maintenance and Inspection 5 57 5 1 Maintenance and inspection interval 5 57 5 2 Inspection items 5 58 5 2 1 Daily inspection items 5 58 5 2 2 Periodic inspections 5 58 5 3 Maintenance and inspection procedures 5 59 5 3 1 The check of the filter cleaning exchange 5 59 5 4 Maintenance parts 5 60 ...

Page 10: ...nance Describes the procedures unpacking transport installation and operation check maintenance and inspection to use the robot arm BFP A3729 Controller Setup and Maintenance This manual Describes the procedures unpacking transport and installation maintenance and inspection to use the robot controller BFP A3731 Collaborative Robot Detailed explanations of functions and operations Describes functi...

Page 11: ...tion indicating cases where the operator could be subject to fatalities or serious injuries if handling is mistaken Always observe these precautions to safely use the robot Precaution indicating cases where 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 Square brackets are used to represent ope...

Page 12: ...he cable is 3m in length 4 CNUSR11 connector DFMC 1 5 16 ST 3 5 LR 1 pc Manufactured by PHOENIX CONTACT 5 CNUSR12 connector DFMC 1 5 9 ST 3 5 LR 1 pc Manufactured by PHOENIX CONTACT 6 1 6A fuse reserves LM16 1 pc 7 EU DECLARATION OF CONFORMITY BFP A5735 49 1 copy 8 Safety extension unit 4F SFUNIT 1 unit 9 RIO cable 2F SFRIOCBL 1 pc 10 DCIN connector set 2F SFDCINCON 1 This set consists of the foll...

Page 13: ... not to let the controller slip out of the box 2 2 2 Transportation procedures This section explains how to transport the controller and the safety extension unit Fig 2 1 Transporting controller 1 Slightly 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 CAUTION Contro...

Page 14: ...he controller horizontally only one controller can be stacked on top of another controller Fig 2 2 Installation dimensions When installing the controller vertically ensure that the air intake is at the bottom as illustrated in Fig 2 2 㻴㼛㼞㼕㼦㼛㼚㼠㼍㼘㻌㼕㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㼂㼑㼞㼠㼕㼏㼍㼘㻌㼕㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㻝㻠㻡㼙㼙㻭㼕㼞㻌㼕㼚㼠㼍㼗㼑㻭㼕㼞㻌㼕㼚㼠㼍㼗㼑㻝㻣㻜㼙㼙㻝㻡㻜㼙㼙㻞㻜㼙㼙㻡㻜㼙㼙㻝㻡㻜㼙㼙㻝㻠㻡㼙㼙㻝㻡㻜㼙㼙 CAUTION ...

Page 15: ...2 mm surely makes 6 8 mm 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 rise and the error may occur Fig ...

Page 16: ...nit To fix the safety extension unit in place use the holes indicated by 1 in the figure below or a DIN rail Fix the unit in a place where it will not be subject to vibration Fig 2 4 Safety extension unit external dimensions 3 M5 screw hole 1 100 115 6 6 156 88 168 ...

Page 17: ... end of the grounding cable to the PE protective earth terminal on the controller and ground the other end 2 point grounding in order to comply with the requirements of EN 61800 5 1 for the touch current of 3 5 mA AC or more 7 Connect the primary power cable to the primary side terminal of the earth leakage breaker Part name Specifications Remarks Earth leakage breaker Recommended product Single p...

Page 18: ...es the stop Refer to Special stop input SKIP in separate Standard Specifications Manual Input Door switch Servo off Dual line normal close Refer to Door switch function in separate Standard Specifications Manual Input Mode selector switch Changes the mode MANUAL AUTOMATIC of the controller Dual line Refer to Enabling device function in separate Standard Specifications Manual Output Robot error out...

Page 19: ...e selector switch 2 Connect the contacts of each switch to the contacts as shown below a External emergency switch CNUSR11 connector between 7 and 23 and between 14 and 30 b Door switch CNUSR11 connector between 6 and 22 and between 13 and 29 c Mode selector switch CNUSR11 connector between 5 and 21 and between 12 and 28 Caution Be sure to use a shield cable for the emergency stop wiring cable And...

Page 20: ...etails on the example of external emergency stop connection arrangement of connectors for exclusive input output signals and pin assignment Item Reference Example of external emergency stop connection Fig 2 7 Arrangement of connectors for exclusive input output signals Fig 2 8 Pin assignment CNUSR11 connector Table 2 3 CNUSR12 connector Table 2 4 㻯㻺㼁㻿㻾㻝㻝㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞 ...

Page 21: ...h input Door switch input Mode output 24V 24V 24V 24V 24V 24V 24V 24V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V Robot error output Mode selector switch input 1 The terminal can be used only for the external emergency stop input to the robot controller Please do not carry out an insulation pressure test Moreover it becomes the cause of failure if it connects incorrectly For wiring...

Page 22: ...tching an operation mode of a controller This pin and pin 21 is a pair 21 OPKEY2 Mode selector switch input Switching an operation mode of a controller This pin and pin 5 is a pair 6 24V2 for DOOR Connection of door switch Detecting the opening and closing of a door This pin and pin 22 is a pair 22 DOOR2 Connection of door switch Detecting the opening and closing of a door This pin and pin 6 is a ...

Page 23: ...in 1 is a pair 2 SKIP31 SKIP31 common COM This pin and pin 11 is a pair 11 SKIP32 SKIP3 input This pin and pin 2 is a pair 3 SKIP21 SKIP21 common COM This pin and pin 12 is a pair 12 SKIP22 SKIP2 input This pin and pin 3 is a pair 4 SKIP11 Dedicated stop input common COM This pin and pin 13 is a pair 13 SKIP12 Dedicated stop input common This pin and pin 4 is a pair 5 LBH2 B phase signal plus side...

Page 24: ...㼢㼑㼞㻸㼑㼢㼑㼞㻯㻺㼁㻿㻾㻝㻞㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞㻥㻝㻤㻝㻝㻜 Connection procedure Wire cables to the CNUSR11 and CNUSR12 user wiring connectors attachment and fit them into the corresponding connectors ports located on the rear side of the controller The customer needs to prepare the following items Cable AWG24 to 16 0 2 to 1 5mm2 Flathead screwdriver The width of the tip is 2 5mm 1 Prepare the user wiring connector att...

Page 25: ...less related current 100mA or less In the customer s system do not ground the side of 24V power supply prepared by customer for con nect to the controller related with emergency stop and parallel input output If it connects with the controller under the condition that the side is grounded it will lead to failure of controller Examples of safety measures Description Figure Wiring example 1 Not usin...

Page 26: ...his is the emergency stop switch of the teaching pendant that is connected to the robot controller 3 If a Safety extension unit is not connected to the robot controller the error H2260 Safety function execution disabled No extended safety unit will occur 4 Refer to the section Page 25 2 3 6 Connecting the safety extension unit to the controller for examples of safety input 1 connections Wiring exa...

Page 27: ...top output Mode selector switch input CNUSR11 1 2 14 7 30 23 13 6 29 22 12 5 28 21 10 3 26 19 11 4 27 20 8 1 24 17 24V 24V 24V 24V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V COM Safety input 1 SDI1 RIO RIO1 4 1 Safety extension unit A1 B1 A2 B2 3 Safety sensor Door switch input Wiring example 2 Using a safety sensor such as an area sensor to switch between collaborative operation mode and high speed operation ...

Page 28: ...ency stop switch of the teaching pendant that is connected to the robot controller 3 If a Safety extension unit is not connected to the robot controller the error H2260 Safety function execution disabled No extended safety unit will occur 4 Refer to the section Page 25 2 3 6 Connecting the safety extension unit to the controller for examples of safety input 1 connections 5 Direct teaching is not a...

Page 29: ...connected 2 This is the emergency stop switch of the teaching pendant that is connected to the robot controller 3 If a Safety extension unit is not connected to the robot controller the error H2260 Safety function execution disabled No extended safety unit will occur 4 Refer to the section Page 25 2 3 6 Connecting the safety extension unit to the controller for examples of safety input 1 connectio...

Page 30: ...y input 1 SDI1 4 1 Wiring example 5 Connecting an emergency stop switch of a peripheral device to two robot controllers when using collaborative operation mode 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 i...

Page 31: ...V 3 3V 3 3V 24V 3 3V 3 3V Wiring example 6 Connecting a safety relay to a robot controller The emergency stop switch of the controller is used as an input to the safety relay Caution 1 When connecting a safety relay to the system and using the emergency stop switch of the controller as an input to the relay select a safety relay that functions when a signal is input to either one of the two input ...

Page 32: ...h contact capacityRelated current of 24 VDC or higher for a no voltage contact 1 Cable length The length of the wire between the switch and terminal block must be max 15m or less Please use the shield line in case of the cable may receive the noise etc by other equipment such as servo amplifier And if it is necessary please fix a ferrite core recommended model name E04SR301334 manufacturer Seiwa E...

Page 33: ...ables 2 Removing a machine cable When removing the machine cable from a controller push the fixation hook of the machine cable connector and unlock the connector If the fixation hook is too stuck to release the connector use a flathead screwdriver to release the connector as shown below 㻲㼕㼤㼍㼠㼕㼛㼚㻌㼔㼛㼛㼗㻵㼚㼟㼑㼞㼠㻹㼛㼢㼑㻲㼕㼤㼍㼠㼕㼛㼚㻌㼔㼛㼛㼗㻲㼘㼍㼠㼔㼑㼍㼐㻌㼐㼞㼕㼢㼑㼞 Note A flathead driver will possibly damage the connecto...

Page 34: ... to 1 42 mm2 20 to 16 AWG Outer sheath diameter 1 8 to 2 8 mm Shielded A power cable for the safety extension unit Create a cable from the included DCIN connector set SDI1 and SDI2 con nector cable Recommended cable specifications Conductor size 0 5 to 1 42 mm2 20 to 16 AWG Outer sheath diameter 1 8 to 2 8 mm Shielded A safety input cable for the safety extension unit Create a cable from the inclu...

Page 35: ...ed DCIN DCOUT SDI1 SDI2 and SDO1 SDO2 connector sets Table 2 5 DCIN DCOUT pin assignment Fig 2 16 DCIN DCOUT connector Terminal name Signal name Signal description Remarks A1 Not used B1 24VDC 24 V power supply input A2 Not used B2 GND 0V A3 Not used B3 FG Frame ground SDI1 SDI2 SDO1 SDO2 DCIN DCOUT A1 B1 B3 Connector on the unit A3 ...

Page 36: ... Safety input 2A A3 DSI7A Safety input 7A B3 COM 24 V output B3 COM 24 V output A4 DSI2B Safety input 2B A4 DSI7B Safety input 7B B4 COM 24 V output B4 COM 24 V output A5 DSI3A Safety input 3A A5 DSI8A Safety input 8A B5 COM 24 V output B5 COM 24 V output A6 DSI3B Safety input 3B A6 DSI8B Safety input 8B B6 COM 24 V output B6 COM 24 V output A7 DSI4A Safety input 4A B7 COM 24 V output A8 DSI4B Saf...

Page 37: ...output 1A B1 DSO1B Safety relay output 1B A2 DSO2A Safety relay output 2A A2 DSO2B Safety relay output 2B B2 DSO2A Safety relay output 2A B2 DSO2B Safety relay output 2B A3 DSO3A Safety relay output 3A A3 DSO3B Safety relay output 3B B3 DSO3A Safety relay output 3A B3 DSO3B Safety relay output 3B A4 DSO4A Safety relay output 4A A4 DSO4B Safety relay output 4B B4 DSO4A Safety relay output 4A B4 DSO...

Page 38: ...3 8 V max Input current at external contact OFF 1 mA max Input resistor 5 kΩ Allowable chattering time 1 ms max Input signal holding time 40 ms or more 40 ms is just a standard The input signal is not recog nized unless the time is held more than the entered DSI filter time Input circuit operation delay time 1 ms to 2 ms Machine side contact capacity 30 V or more 16 mA or more Insulated uninsulate...

Page 39: ...tput type Non voltage contact output Relay contact Output point 4 points 8 points for duplication Maximum allowable contact voltage 250 V AC 125 V DC Maximum allowable contact current 6 A Response time 8 ms max Restoration time 20 ms max Insulated uninsulated Insulated Insulated by the relay Customer device Control circuit Safety extension unit Control circuit SDO1 0V 0V SDO2 Customer device ...

Page 40: ...ample SDI1 port DSI1A SDI1 DC24V Connector pin numbers Photocoupler Photocoupler Photocoupler Photocoupler Photocoupler Photocoupler Photocoupler Photocoupler Photocoupler Photocoupler 0V RG 5kΩ 5kΩ 5kΩ 5kΩ 5kΩ 5kΩ 5kΩ 5kΩ 5kΩ 5kΩ Safety extension unit Control circuit Control circuit A1 A2 B2 B1 A3 A4 B4 B3 A5 A6 B6 B5 A7 A8 B8 B7 A9 A10 B10 B9 DSI1B COM COM DSI2A DSI2B COM COM COM COM DSI4A DSI4B...

Page 41: ...xample SDI2 port DSI6A SDI2 DC24V 0V RG 5kΩ 5kΩ 5kΩ 5kΩ 5kΩ 5kΩ A1 A2 B2 B1 A3 A4 B4 B3 A5 A6 B6 B5 DSI6B COM COM DSI7A DSI7B COM COM COM COM DSI8A DSI8B Connector pin numbers Photocoupler Photocoupler Photocoupler Photocoupler Photocoupler Photocoupler Safety extension unit Control circuit Control circuit ...

Page 42: ...ension unit SDO2 SDO1 SDO2 A4 B4 A4 B4 A3 B3 A3 B3 DSO3A DSO3B DSO3B DSO4A DSO4A DSO4B DSO4B Load Load Load Load Load Load Load Load DSO1A SDO1 Connector pin numbers Connector pin numbers Safety extension unit Safety extension unit SDO2 SDO1 SDO2 A2 B2 A2 B2 A1 B1 A1 B1 DSO1A DSO1B DSO1B DSO2A DSO2A DSO2B DSO2B Control circuit Control circuit Control circuit Control circuit Control circuit Control...

Page 43: ...nd connectionInstallation 2 34 5 Station number Set the station number setting switch to 2 If not an error H2261 will occur Fig 2 24 Station number setting switch Station number setting 1 Station number setting switch Station number setting 2 ...

Page 44: ...1 1 Installing the Option Card The following describes where and how to install the interface card Fig 3 1 Installation of the interface card 1 Turn off 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 ...

Page 45: ...d The following describes how to remove the interface card Fig 3 2 Removing of the interface card 1 Turn off the power 2 Remove the interface card with the removal lever pushed up Hold the handle of the interface card and pull out the interface card in parallel with the controller 㻾㼑㼙㼛㼢㼍㼘㻌㼘㼑㼢㼑㼞㻴㼍㼚㼐㼘㼑 ...

Page 46: ...ower supply box Position the Earth leakage breaker safety extension unit power supply box so that it is within reach of the RIO cable 1m 2 Installing the EMG Mode selector switch box Position the EMG Mode selector switch box in an easily accessible place that is within 3m of the robot controller Follow the steps below if you would like to fix the EMG Mode selector switch box in place 1 Fix the sup...

Page 47: ...f the Earth leakage breaker safety extension unit power supply box four places 2 Fix the safety extension unit in place using M5 15 fixing screws three places 3 2 2 Connecting the Easy setup kit 1 Connecting the power supply and grounding wire to the safety extension unit 1 Connect the FG wire to the ground terminal of the safety extension unit 2 Connect the DCIN cable to the DCIN socket of the sa...

Page 48: ...erminal on the Ground terminal block 5 Turn the lock nut to the right to tighten the cable gland and fix the ACIN cable in place Hold the cable gland from inside the Earth leakage breaker safety extension unit power supply box and turn the lock nut 6 Connect the ACIN cable to the ACIN socket on the robot controller Face the main key on the ACIN cable plug upwards Refer to the ACIN cable connection...

Page 49: ...es connect to the SDI1 and SDI2 ports and the SDO cables connect to the SDO1 and SDO2 ports For information on connecting safety sensors and status indicator lights to the safety extension unit refer to the Instruction Manual of the respective device For SDI cable wiring examples refer to Fig 2 21 and Fig 2 22 For SDO cable wiring examples refer to Fig 2 23 For information on safety I O signal ass...

Page 50: ...safety extension unit power supply box 4 Connect the RIO cable to the RIO1 socket of the safety extension unit 5 Connect the terminator cap to the RIO2 socket of the safety extension unit 6 Secure the RIO cable to the cable clamp with a cable tie 7 Reattach the front cover of the Earth leakage breaker safety extension unit power supply box RIO cable RIO port RIO1 port RIO2 port Terminator cap Grom...

Page 51: ...kit 3 42 5 Connecting the EMG Mode selector switch box to the robot controller 1 Connect CNUSR11 connector of the EMG Mode selector switch box to the CNUSR11 port on the robot controller Check that the levers on both sides of the CNUSR11 connector are up Levers CNUSR11 port ...

Page 52: ...ing the controller The functions of the various keys on the controller are explained Handling the teaching pendant The methods of installing removing the T B and the functions of the various 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 ...

Page 53: ...Terminals for grounding M4 screw x 2 3 CN1 cable Machine cable connector 4 5 CNUSR connector Robot I O cable connectors 4 CNUSR11 5 CNUSR12 6 TB connector Dedicated connector for connecting T B 7 LED Four LEDs indicating the controller status Number of phase ACIN cable Single phase Terminal M5 cable length 3m LED Details POWER Indicates the control power status On Control power ON Off Control powe...

Page 54: ... core may be necessary Please fully confirm the operation by customer Guarantee and maintenance of the equipment on the market usual office automation equipment cannot be performed When USB connection is used between RT ToolBox3 or RT VisualBox and the robot controller data communication may become unstable due to noise As a solution switching communication method to LAN connection is recommended ...

Page 55: ... relay output port 9 CJ31 connector Cannot be used 10 CJ32 connector Cannot be used 11 ALM LED This LED indicates remote I O communication status On Error Off Nor mal operation 12 DCIN LED This LED indicates the status of the 24 VDC power supply On Normal operation Off Error 13 FUSE LED This LED indicates the status of the fuse On Normal operation Off Fuse blown 14 H1 H2 H3 H4 LED This LED indicat...

Page 56: ...controller is OFF 2 Refer to Fig 4 3 connects T B connector to the robot controller Use as the upper surface the lock lever and push in until there is sound 2 Removing the T B Explain the removing method of T B below In MANUAL mode 1 Check that the power supply of the robot controller is OFF 2 Refer to Fig 4 3 raise up the lock lever in the connector upper part and pull up the connector Please ins...

Page 57: ...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 58: ...r power cable and grounding cable are correctly connected 5 Make sure that the grounding cable is connected to the robot arm 6 Make sure that there are no obstacles such as tools in the robot operation range 7 Make sure that the safety extension unit is connected to the controller and that 24V power is supplied to the safety extension unit before the controller Operate the earth leakage breaker of...

Page 59: ... RBSERIAL The serial number is printed to the rating name board on base section of the robot arm This section describes how to set the serial number using RT VisualBox or the teaching pendant 1 Setting the serial number using RT VisualBox 1 Click the Reset button to clear the error If the error message window has been closed click the icon indicated by a to display the window 2 Click the Menu butt...

Page 60: ...er ON and OFF 4Basic operations 3 Click Maintenance to display the Maintenance window 4 Click Parameter Setting to display the Parameter Setting window 5 Enter RBSERIAL in the Parameter name field and click the Read button ...

Page 61: ... arm in field 1 The serial number of the robot arm used is automatically displayed 7 Click the Write button The write confirmation dialog will appear Click the OK button 8 The dialog will appear after the serial number has been written Write the serial number in either of the following ways ...

Page 62: ...4 53 Turning the power ON and OFF 4Basic operations a Click the Restart now button b Click the Restart later button and then restart the robot controller ...

Page 63: ...OSE 123 PARAMETER NAME ELE DATA CLOSE 123 Next DATA Prev MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 PARAMETER NAME RBSERIAL ELE DATA CLOSE 123 Next DATA Prev PARAMETER NAME ELE DATA CLOSE 123 Next DATA Prev PARAMETER RBSERIAL XXXXXXXXXX CLOSE 123 Next DATA Prev PARAMETER NAME RBSERIAL ELE DATA XXXXXXXXXX CLOSE 123 Next DATA Prev Setting the data F1 Execute EXE Oper...

Page 64: ...N and OFF 4Basic operations 4 3 3 Shutting OFF the control power 1 If the robot is operating stop the robot 2 After the robot has stopped turn the servo OFF 3 Turn OFF the switch of the earth leakage breaker installed outside ...

Page 65: ...ot controller cannot be changed manually Start Setting complete 1 The robot controller is connected to either a 100V or 200V power supply 2 The robot controller is turned on 4 The controller s power is cycled 6 The errors noted above are reset 5 One of the following errors occurs C0215 Changed the power supply to 100V C0215 Changed the power supply to 200V 3 One of the following errors occurs H021...

Page 66: ...the product 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 Operating time Guide...

Page 67: ...r cracked has any foreign matter adhered or is there any interference Replace with a new part or take remedial measures After 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 ...

Page 68: ...r is installed in the controller The following shows the procedure for inspecting cleaning and replacing the filter 1 Loosen the M4 x 6 screws and remove the filter cover from the front of the controller Remove the claw on the left side of the filter cover as it is inserted in the front face of the controller 2 Remove the filter from the filter cover and remove dust and other dirt that has built u...

Page 69: ...rial No and purchase the parts from the dealer Table 5 3 Controller consumable parts list Table 5 4 Controller spare parts list No Part name Type Note1 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 Filter BKOFA0773H42 1 Inside the filter cover Mitsubishi Electric Co No Part name TypeNote1 Note1 Confir...

Page 70: ...5 61 Maintenance parts 5Maintenance and Inspection ...

Page 71: ......

Page 72: ...ADA MINAMI HIGASHI KU NAGOYA 461 8670 JAPAN Authorised representative Mitsubishi Electric Europe B V FA European Business Group Mitsubishi Electric Platz 1 D 40882 Ratingen Germany Tel 49 0 2102 4860 Dec 2020 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...

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