Mitsubishi Electric MELFA CR800-D Series - Table of Contents

C
ONTENTS
1. BEFORE USE ...................................................................................................................................................................................... 1
1.1.HOW TO USE THE INSTRUCTION MANUAL ............................................................................................... 1
1.2.GENERAL NAME AND ABBREVIATED NAME .............................................................................................. 2
2. FLOW OF OPERATIONS .................................................................................................................................................................. 3
2.1.FLOWCHART .......................................................................................................................................... 3
3. FUNCTIONS AND SPECIFICATION OF THE CC-LINK INTERFACE ...................................................................................... 4
3.1.WHAT IS CC-LINK?................................................................................................................................ 4
3.2.SPECIFICATION OF THE CC-LINK INTERFACE CARD ................................................................................ 5
3.3.HARDWARE OF THE CC-LINK INTERFACE CARD ................................................................................... 10
3.3.1. CARD OVERVIEW .................................................................................................................................................................... 10
3.3.2. DIP SWITCH ............................................................................................................................................................................ 10
3.3.3. LED ........................................................................................................................................................................................ 12
4. ITEMS TO BE CHECKED BEFORE USING THIS PRODUCT ................................................................................................. 13
4.1.CHECKING THE PRODUCT .................................................................................................................... 13
4.2.DEVICES TO BE FURNISHED BY THE CUSTOMER .................................................................................. 13
5. HARDWARE SETTINGS ................................................................................................................................................................. 14
5.1.SETTINGS OF THE CC-LINK MASTER STATION ...................................................................................... 14
5.1.1. CR75N-D/CRND-700 SERIES .............................................................................................................................................. 14
5.1.2. CR800-D SERIES................................................................................................................................................................... 15
6. CONNECTIONS AND WIRING ....................................................................................................................................................... 16
6.1.MOUNTING THE CC-LINK INTERFACE CARD IN THE CONTROLLER ........................................................ 16
6.1.1. CR800-D CONTROLLER ........................................................................................................................................................ 16
6.1.2. CR750-D/CR751-D CONTROLLER ....................................................................................................................................... 17
6.1.3. CR1D-700 CONTROLLER ...................................................................................................................................................... 18
6.1.4. CR2D-700 CONTROLLER ...................................................................................................................................................... 19
6.1.5. CR3D-700 CONTROLLER ...................................................................................................................................................... 20
6.2.CONNECTION BETWEEN CC-LINK INTERFACE CARD AND MASTER STATION ........................................ 21
6.2.1. CONNECTION OF ONE-TOUCH CONNECTOR AND CABLE ONLY FOR CC-LINK ........................................................................ 21
6.2.2. CONNECTION OF CC-LINK MASTER-STATION UNIT AND CABLE ONLY FOR CC-LINK ............................................................. 22
6.2.3. CONNECTION OF THE ONE-TOUCH CONNECTOR AND THE CC-LINK INTERFACE CARD ......................................................... 23
6.2.4. CC-LINK COMMUNICATION CABLE WIRING OF TWO OR MORE SET CONNECTION ................................................................... 24
6.2.5. MEASURE AGAINST NOISE ...................................................................................................................................................... 25
6.3.CHECKING CONNECTIONS.................................................................................................................... 28
7. BASIC COMMUNICATION PROCEDURE ................................................................................................................................... 29
7.1.SETTING THE PARAMETER OF CC-LINK MASTER STATION ..................................................................... 30
7.2.SET THE PARAMETER OF THE ROBOT CONTROLLER .............................................................................. 32
7.2.1. SETUP OF PARAMETER ABOUT CC-LINK INTERFACE CARD ................................................................................................... 32
7.2.2. SETUP OF SPECIAL I/O PARAMETER ....................................................................................................................................... 33
7.3.CREATING A MASTER STATION CC-LINK PROGRAM ............................................................................ 34
7.3.1. SIGNAL MAP OF MASTER STATION AND ROBOT ...................................................................................................................... 34
7.3.2. INSTALLATION OF SAMPLE RUDDER PROGRAM ...................................................................................................................... 34
7.3.3. FLOW CHART OF SAMPLE RUDDER PROGRAM ....................................................................................................................... 35
7.4.CREATE THE ROBOT PROGRAM NO. 1 ................................................................................................... 36
7.5.START THE ROBOT PROGRAM NO. 1 FROM THE MASTER STATION ......................................................... 36
7.6.EXAMPLE OF CHANGE OF SYSTEM CONFIGURATION .............................................................................. 37
7.6.1. ADD THE 2ND ROBOT CONTROLLER ....................................................................................................................................... 37