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CR760-D
Mitsubishi Electric CR760-D - User Manual
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Mit
subishi Industrial Robot
CR750/CR751/CR760 Series Controller
INSTRUCTION MANUAL
Det
ailed explanations of functions and operations
BFP-A8869-W
This instruction manual ap
ply to both the CR-
750-Q/CR751-Q/CR7
60-Q controller corresponding
to iQ Platform, and the CR-750-D/CR751-D/
CR760-D controller of standalone type.
2
Table of Contents
Main Page
Default Chapter
13
Table of Contents
13
1 Before Starting Use
21
Using the Instruction Manuals
21
The Details of each Instruction Manuals
21
Symbols Used in Instruction Manual
22
Safety Precautions
23
Precautions Given in the Separate Safety Manual
24
2 Explanation of Functions
26
Operation Panel (O/P) Functions (CR750 Controller)
26
Operation Panel (O/P) Functions (CR760 Controller)
28
Teaching Pendant (T/B) Functions
30
Operation Rights
31
Functions Related to Movement and Control
32
3 Explanation of Operation Methods
34
Operation of the Teaching Pendant Menu Screens
34
Screen Tree
34
Input of the Number/Character
38
Selecting a Menu
39
Jog Feed (Overview)
41
Types of Jog Feed
41
Speed of Jog Feed
42
JOINT Jog
43
XYZ Jog
43
TOOL Jog
44
3-Axis XYZ Jog
44
CYLNDER Jog
45
WORK Jog
45
Switching Tool Data
46
Changing the World Coordinate (Specifies the Base Coordinate Number)
47
Impact Detection During Jog Operation
48
Impact Detection Level Adjustment During Jog Operation
49
Opening/Closing the Hands
50
Returning to the Safe Point
51
Aligning the Hand
52
Programming
54
Creating a Program
54
Opening the Program Edit Screen
54
Creating a Program
55
Completion of Program Creation and Saving Programs
57
Correcting a Program
58
Registering the Current Position Data
60
Deletion of the Position Variable
63
Confirming the Position Data (Position Jump)
64
Correcting the MDI (Manual Data Input)
65
Executing a Command Directly
66
Debugging
67
Step Feed
67
Step Return
68
Step Feed in Another Slot
69
Step Jump
71
Automatic Operation
72
Setting the Operation Speed
72
Operating with the Controller
72
Operating with the T/B
72
Selecting the Program no
72
Starting Automatic Operation
73
Starting by O/P
73
Starting from the T/B
74
Stopping
77
Operating with the Controller
77
Operating with the T/B
77
Resuming Automatic Operation from Stopped State
78
Resuming by O/P
78
Resuming from T/B
78
Resetting the Program
79
Operating with the Controller
79
Operating with the T/B
79
Turning the Servo ON/OFF
80
Error Reset Operation
81
Operation to Temporarily Reset an Error that Cannot be Canceled
81
Operating the Program Control Screen
82
Program List Display
82
Copying Programs
83
Name Change of the Program (Rename)
84
Deleting a Program (Delete)
85
Protection of the Program (Protect)
86
Select the Program
87
Operation of Operating Screen
88
Display of the Execution Line
88
Select the Confirmation Menu
88
Step Feed
88
Step Jump
90
Step Feed in Another Slot
90
Finishing of the Confirmation Screen
91
Test Operation
91
Select the Test Operation
91
Operating the OPERATION Screen
92
Operating the Monitor Screen
93
Input Signal Monitor
93
Output Signal Monitor
95
Input Register Monitor
97
Output Register Monitor
98
Variable Monitor
100
Error History
102
Operation of Parameter Screen
103
Operation of the Origin and the Brake Screen
105
Origin
105
Brake
105
Operation of Setup / Initialization Screen
107
Initialize the Program
107
Initialize the Parameter
108
Initialize the Battery
109
Operation
110
Time Setup
110
Version
111
Enhanced
112
Sq Direct
112
Work Coord
112
Operation of the Initial-Setting Screen
113
Set the Display Language
113
Adjustment of Contrast
115
4 Melfa-Basic V
117
MELFA-BASIC V Functions
117
Robot Operation Control
118
Joint Interpolation Movement
118
Linear Interpolation Movement
119
Circular Interpolation Movement
120
Continuous Movement
122
Acceleration/Deceleration Time and Speed Control
123
Confirming that the Target Position Is Reached
125
High Path Accuracy Control
126
Hand and Tool Control
127
Pallet Operation
128
Program Control
133
Unconditional Branching, Conditional Branching, Waiting
133
Repetition
134
Interrupt
135
Subroutine
136
Timer
137
Stopping
137
Inputting and Outputting External Signals
138
Input Signals
138
Output Signals
138
Communication
139
Expressions and Operations
140
List of Operator
140
Relative Calculation of Position Data (Multiplication)
141
Relative Calculation of Position Data (Addition)
141
Appended Statement
143
The Difference between MELFA-BASIC V and MELFA-BASIC IV
144
Multitask Function
145
What Is Multitasking
145
Executing a Multitask
146
Operation State of each Slot
146
Precautions for Creating Multitask Program
148
How to Perform the Initialization Processing Via Constantly Executed Programs
149
Precautions for Using a Multitask Program
149
Starting the Multitask
149
Display of Operation Status
149
Example of Using Multitask
150
Robot Work Details
150
Procedures to Multitask Execution
151
Program Capacity
152
Program Save Area
152
Program Edit Area
152
Program Execution Area
152
Detailed Specifications of MELFA-BASIC V
153
Program Name
153
Command Statement
153
Variable
154
Statement
155
Appended Statement
155
Step
155
Step no
155
Label
155
Types of Characters that Can be Used in Program
156
Characters Having Special Meanings
157
Uppercase and Lowercase Identification
157
Underscore
157
Apostrophe ( ' )
157
Asterisk ( * )
157
Comma ( , )
157
Period ( . )
157
Space
157
Data Type
158
Constants
158
Numeric Value Constants
158
Decimal Number
158
Hexadecimal Number
158
Binary Number
158
Types of Constant
158
Character String Constants
158
Position Constants
159
Coordinate, Posture and Additional Axis Data Types and Meanings
159
Meaning of Structure Flag Data Type and Meanings
159
Joint Constants
160
Axis Data Format and Meanings
160
Angle Value
161
Variables
161
Numeric Value Variables
162
Character String Variables
162
Position Variables
162
Joint Variables
163
Input/Output Variables
163
Array Variables
163
External Variables
164
Program External Variables
164
User-Defined External Variables
165
Creating User Base Programs
166
Coordinate System Description of the Robot
167
About the Robot's Coordinate System
167
About Base Conversion
168
About Position Data
169
About Tool Coordinate System (Mechanical Interface Coordinate System)
170
Mechanical Interface Coordinate System
170
Tool Coordinate System
171
Effects of Use of Tool Coordinate System
172
Robot Status Variables
175
Logic Numbers
179
Functions
180
User-Defined Functions
180
Built-In Functions
180
List of Command
183
Command Related to Movement Control
183
Command Related to Program Control
184
Definition Commands
184
Multi-Task Related
185
Others
185
Operators
186
Priority Level of Operations
187
Depth of Program's Control Structure
187
Reserved Words
187
Detailed Explanation of Command Words
188
How to Read the Described Items
188
Explanation of each Command Word
188
Detailed Explanation of Robot Status Variable
331
How to Read Described Items
331
Explanation of each Robot Status Variable
331
Detailed Explanation of Functions
417
How to Read Described Items
417
Explanation of each Function
417
5 Functions Set with Parameters
458
Movement Parameter
458
Signal Parameter
473
About Multi CPU Input Offsets (Cr7Xx-Q Series Controller Only)
477
Case (A)
477
Case (B)
478
Operation Parameter
479
Command Parameter
483
Communication Parameter
488
Standard Tool Coordinates
491
About Standard Base Coordinates
493
About User-Defined Area
494
Selecting a Coordinate System
495
Setting Areas
496
Position Area
496
Posture Area
497
Additional Axis Area
497
Selecting Mechanism to be Checked
498
Specifying Behavior Within User-Defined Area
498
Example of Settings
499
Free Plane Limit
500
The Definition of a Free Plane Limit
500
Selection of a Coordinates System for a Free Plane Limit
501
Automatic Return Setting after Jog Feed at Pause
502
Automatic Execution of Program at Power up
503
About the Hand Type
504
Solenoid Valve Types and Signal Numbers
504
About Default Hand Status
505
CR750/CR751 Controller
505
CR760 Controller
506
About the Output Signal Reset Pattern
507
About the Communication Setting (Ethernet)
509
Details of Parameters
509
NETIP (IP Address of Robot Controller)
509
NETMSK (Sub-Net-Mask)
509
NETPORT (Port No.)
509
CRRCE11 to 19 (Protocol)
510
COMDEV (Definition of Devices Corresponding to COM1: to 8)
510
NETMODE (Server Specification)
510
Example of Setting of Parameter 1 (When the Support Software Is Used)
511
Example of Setting of Parameter 2-1
512
Example of Setting Parameters 2-2
513
Example of Setting Parameters 3
514
Connection Confirmation
515
Hand and Workpiece Conditions (Optimum Acceleration/Deceleration Settings)
516
About the Singular Point Adjacent Alarm
518
High-Speed RAM Operation Function
519
Warm-Up Operation Mode
522
About Singular Point Passage Function
529
About the Collision Detection Function
534
Related Parameters
535
How to Use the Collision Detection Function
536
Optimizing the Overload Level
541
Multi-Rotational Restrictions for the Pallet Definition Instruction
542
Interference Avoidance Function
543
Operation Procedures
544
Preparing and Connecting the Devices
545
Registering the Simulated Components for Interference Check
546
Registering a Free Plane Limit
554
Support of Additional Axes
556
Calibration between Robots (Checking for Interference between Robots)
559
Enabling and Disabling the Interference Avoidance Function
561
Sample Programs
563
Sequencer Input/Output Unit Direct Control
565
The Outline of the Operating Procedure
566
Set up "Multiple CPU Settings" of the Sequencer
567
Description of the Robot Status Variable
568
Direct Communication with Robot Cpus
569
Parameter for Behavior Selection at the Error Occurrence on Dual System
570
6 External Input/Output Functions
571
Sequencer Link I/O Function
572
Robot CPU Parameter Setting
573
CPU Shared Memory and Robot I/O Signal Compatibility
575
Assignment of the Dedicated I/O Signal. (at Factory Shipping)
577
Dedicated Input/Output
579
Enable/Disable Status of Signals
591
External Signal Timing Chart
592
Timing Chart Example
600
External Signal Operation Timing Chart (Part 2)
601
Example of External Operation Timing Chart (Part 3)
602
Example of External Operation Timing Chart (Part 4)
603
Example of External Operation Timing Chart (Part 5)
604
Emergency Stop Input
605
7 Appendix
606
Explanation of Communication Data Packet
608
Sample Program
611
Sample Program for Real-Time External Control Function
617
Configuration Flag
628
Spline Interpolation
631
Required Devices and Software Version
632
Specifications
633
Restrictions
634
Robot Behavior During Spline Interpolation
635
Check Related to Path Points
636
Explanation of Functions
638
Operation Mode
641
Signal Output
642
Numerical Setting
643
Frame Transformation
644
Work Procedures
645
Creating the Spline File
647
Creating a File by DXF File Import Function
648
Creating New Spline Files with Robot Language
655
Explanation of Spline File Edit Screen
656
Menu Bar for Spline File Editing
658
Details of Path Point Data
660
Editing the Spline File
661
Saving the Spline File
668
Deleting a Spline File
670
Copying the Spline File
671
Import/Export Function
673
Auxiliary Editing Functions
682
Displays the Spline Curve
684
Robot Program
686
Creating the Robot Program
688
Confirming the Movement
690
Saving in the Robot Controller
691
Frame Transformation Function
693
Position Jump
695
Parameter SPLOPTGC
696
Ex-T Control
697
Specifications
698
Ex-T Jog
700
Movement of the Posture Element in the WORK Jog
701
Ex-T Jog Operation
702
WORK Jog Operation of the RV 6-Axis Type
703
WORK Jog Operation of the RH 4-Axis Type
706
WORK Jog Operation of the RH 4-Axis Hanging Type
708
Creation of Robot Program
710
Cooperative Operation Function
712
System Configuration
713
Automatic Operation Program (1.Prg)
714
Robot Adjustment Program (Bfrm.prg)
715
Sequence Program
716
Adjustment
717
Adjustment 2: Setting of the Common Tool
718
Cooperated Operation by Robots
720
Get-Position-Quick Function
721
Specifications of Digital Input Signal
722
Electric Specification of Digital Input
724
How to Use the GPS Function
725
Workpiece Presence Recognition in a Cassette
726
Upgrade of the Servo Software
728
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Mitsubishi Electric CR760-D Specifications
General
Brand
Mitsubishi Electric
Model
CR760-D
Category
Controller
Language
English
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