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CR800-05VD
Mitsubishi Electric CR800-05VD User Manual
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1 General configuration
1-5
1.3.3 Function extension device
These devices (option) ar
e used to
extend the function of the robot.
Fig.1-3: Function extension device
MELF
A-3D Vision
• 4F-3DVS2-PKG3
Force sensor set
• 4F-FS002H-W200
12
14
Table of Contents
1 General configuration
9
1.1 Structural equipment
9
1.1.1 Standard structural equipment
9
1.1.2 Options
9
1.1.3 Maintenance parts
9
1.2 Model type name of robot
10
1.2.1 How to identify the robot model
10
1.3 Contents of the structural equipment
11
1.3.1 Robot arm
11
1.3.2 Controller
12
1.3.3 Function extension device
13
1.3.4 Minimum equipment required to operate the robot
14
1.4 Contents of the Option equipment
16
1.4.1 List of the robot arm option equipment
16
1.4.2 List of the controller option equipment and special specification
16
1.4.3 Function extension device
17
1.4.4 Recommended vision sensors
17
1.4.5 Recommended hands
18
2 Robot arm
20
2.1 Standard specifications
20
2.1.1 Basic specifications
20
2.1.2 The counter-force applied to the installation surface
21
2.2 Definition of specifications
22
2.2.1 Pose repeatability
22
2.2.2 Rated load (mass capacity)
23
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed
24
(1) Setting hand and workpiece conditions
24
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot
24
2.2.5 Collision detection
25
2.2.6 Protection specifications
25
(1) Types of protection specifications
25
(2) About the use with the bad environment
26
2.3 Names of each part of the robot
27
2.3.1 Operation buttons
28
2.3.2 Status indicator LED
29
2.4 Outside dimension • Operating range diagram
31
2.4.1 Outside dimensions of machine cables
34
2.5 Tooling
35
2.5.1 Wiring and piping for hand
35
2.5.2 Internal wiring and piping
37
(1) Internal pneumatic plumbing
37
(2) Internal wiring of the hand I/O cables
37
(3) Ethernet cable and force sensor wiring
37
2.5.3 Wiring and piping system diagram for hand
38
2.5.4 Electrical specifications of hand input/output
39
2.5.5 Air supply circuit example for the hand
40
2.5.6 About the Installation of Tooling Wiring and Piping
40
2.6 Options
41
(1) Machine cable (replacement)
42
(2) Solenoid valve set
43
(3) 2-piece force sensor conversion cable set
45
(4) Vision sensor mounting bracket
46
2.7 About Overhaul
47
2.8 Maintenance parts
48
3 Controller
49
3.1 Standard specifications
49
3.1.1 Basic specifications
49
(1) CR800-05VD controller
49
(2) Safety extension unit
51
3.1.2 Protection specifications and operating supply
53
(1) Protection specifications
53
(2) Operating supply
53
3.2 Names of each part
54
3.2.1 CR800-05VD controller
54
3.2.2 Safety extension unit
56
3.3 Outside dimensions/Installation dimensions
57
3.3.1 Outside dimensions
57
(1) CR800-05VD controller
57
(2) Safety extension unit
60
3.3.2 Installation dimensions
61
3.4 External input/output
63
3.4.1 Types
63
3.5 Dedicated input/output
64
3.6 Emergency stop input and output etc.
67
3.6.1 Connection of the external emergency stop and mode selector switch
67
3.6.2 Special stop input (SKIP)
71
3.6.3 Door switch function
72
3.6.4 Mode selector switch function
72
(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
73
3.7 Options
75
(1) Teaching pendant (T/B)
76
(2) High efficient teaching pendant (T/B)
79
(3) MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini
81
(4) MELSOFT RT VisualBox
83
(5) Parallel I/O interface
85
(6) External I/O cable
90
(7) CC-Link interface
92
(8) SD memory card
95
(9) Easy-setup kit
96
3.8 Maintenance parts
98
4 Software
99
4.1 List of commands
99
5 Instruction Manual
100
5.1 The details of each instruction manuals
100
6 Safety
101
6.1 Safety
101
6.1.1 Self-diagnosis stop functions
101
6.1.2 External I/O signals that can be used for preventative safety measures
102
6.1.3 Examples of safety measures
103
(1) External emergency stop connection [supplementary explanation]
110
6.2 Working environment
111
(1) Power supply
111
(2) Noise
111
(3) Temperature and humidity
111
(4) Vibration
111
(5) Installation environment
111
6.3 Precautions for handling
111
7 Appendix
113
Appendix 1: Inertia calculation method
113
(1) Load moment calculation example (for J5 axis with flange facing downwards)
113
(2) Load inertia calculation example (for J6 axis)
113
Appendix 2: Classification of external I/O functions
114
Appendix 3: Safety diagnosis function (test pulse diagnosis)
115
Appendix 4: Safety block diagram
116
Appendix 5: Connections of recommended hands, recommended vision sensors and the force sensor
117
(1) Hand: Co-act EGP-C40 N-N-Assista (Manufactured by SCHUNK)
117
(2) Hand: HRC-03-099455 (Manufactured by Zimmer Group)
122
(3) Hand: KIT-ASSISTA-G (Manufactured by GIMATIC)
126
(4) Hand: ROB-SET ECBPM ASSISTA (Manufactured by SCHMALZ)
131
Appendix 6: Declaration of Conformity
135
Appendix 7: Specifications discussion material
137
4
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Mitsubishi Electric CR800-05VD Specifications
General
Brand
Mitsubishi Electric
Model
CR800-05VD
Category
Controller
Language
English
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