Mitsubishi Electric CR800-D Series, Standard Specifications Manual

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Contents
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Page
3.3.1 Outside dimensions .......................................................................................................... 3-35
3.3.2 Installation dimensions ..................................................................................................... 3-36
3.4 External input/output ............................................................................................................... 3-38
3.4.1 Types ................................................................................................................................ 3-38
3.5 Dedicated input/output ............................................................................................................ 3-39
3.6 Emergency stop input and output etc. .................................................................................... 3-42
3.6.1 Connection of the external emergency stop and mode selector switch ............................ 3-42
3.6.2 Special stop input (SKIP) .................................................................................................. 3-46
3.6.3 Door switch function ......................................................................................................... 3-47
3.6.4 Mode selector switch function ........................................................................................... 3-47
(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings ....... 3-48
3.7 Additional Axis Function .......................................................................................................... 3-49
3.7.1 Wiring of the Additional Axis Interface .............................................................................. 3-49
3.7.2 Example of the installation of the noise filter .................................................................... 3-50
(1) Line noise filter .................................................................................................................. 3-51
3.8 Additional axis synchronization output .................................................................................... 3-52
(1) Example circuit .................................................................................................................. 3-52
(2) Image of how to connect the controller connector ............................................................. 3-53
3.9 Options .................................................................................................................................... 3-54
(1) Teaching pendant (T/B) ..................................................................................................... 3-55
(2) High efficient teaching pendant (T/B) ................................................................................ 3-58
(3) Controller protection box ................................................................................................... 3-60
(4) MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini/MELSOFT RT ToolBox3 Pro ..... 3-65
(5) Instruction Manual (bookbinding) ...................................................................................... 3-67
(6) Parallel I/O interface .......................................................................................................... 3-68
(7) External I/O cable .............................................................................................................. 3-73
(8) Parallel I/O unit .................................................................................................................. 3-75
(9) External I/O cable .............................................................................................................. 3-84
(10) CC-Link interface ............................................................................................................. 3-86
(11) SD memory card ............................................................................................................. 3-89
3.10 Maintenance parts ................................................................................................................ 3-90
4 Software ........................................................................................................................................ 4-91
4.1 List of commands .................................................................................................................... 4-91
4.2 List of parameters ................................................................................................................... 4-94
5 Instruction Manual ......................................................................................................................... 5-96
5.1 The details of each instruction manuals .................................................................................. 5-96
6 Safety ............................................................................................................................................ 6-97
6.1 Safety ...................................................................................................................................... 6-97
6.1.1 Self-diagnosis stop functions ............................................................................................ 6-97
6.1.2 External input/output signals that can be used for safety protection measures ................ 6-98
6.1.3 Precautions for using robot ............................................................................................... 6-98
(1) Robot installation ............................................................................................................... 6-98
(2) Prevention of contact with operator ................................................................................... 6-98
(3) Work procedures ............................................................................................................... 6-98
(4) Training ............................................................................................................................. 6-99
(5) Daily inspection and periodic inspection ........................................................................... 6-99
6.1.4 Safety measures for automatic operation ......................................................................... 6-99
6.1.5 Safety measures for teaching ........................................................................................... 6-99
6.1.6 Safety measures for maintenance and inspections, etc. .................................................. 6-99
6.1.7 Examples of safety measures ......................................................................................... 6-100
(1) External emergency stop connection [supplementary explanation] ................................ 6-104
6.2 Working environment ............................................................................................................ 6-105
(1) Power supply ................................................................................................................... 6-105