Mitsubishi Electric MELFA CR800-D Series - Cooperative Control System Configuration

6 Coordinated control for additional axes
6-88 Base coordinate cooperative control
6.2.2 System configration
6.2.2.1. Customer preparation equipment
The following table shows the equipment that customers need to prepare, which is necessary for the base
coordinate coordinated control system.
Table 6-3 The list of customer preparation equipment.
Equipment name
Format
Quantity
Remarks
Servo amplifier, servomotor,
options, peripheral device
Refer to remarks
-
Refer to "Instruction Manual for
Servo Amplifier and Servomotor".
Battery
(For absolute position
detection system)
MR-BAT6V1SET
Amplifier
number
The battery case (MR-BT6VCASE)
and the battery (MR-BAT6V1) are
necessary when using MR-J4W
□
-B.
Servo support software
(MR configurator2)
(For setup the parameter of
servo amplifier and the graph
indication, etc. )
SW1DNC-MRC2-E
1
Communication cable
(Communication cable
between personal computer
and servo amplifier for setup
software)
MR-J3USBCBL3M
1
SSCNET III cable
MR-J3BUSM etc
（
inside cable length
）
Amplifier
number
Travel axis unit
－
1
RT ToolBox3
3F-14C-WINE/
3F-15C-WINE/
3F-16D-WINE
1
For details on the specifications of the
personal computer,
please refer to "RT ToolBox
3
instruction manual".
6.2.2.2. Example of system configration
Example of base coordinate cooperative controlsystem is below.
Figure 6-6 Example of system configuration of base coordinate cooperative control.
* For details of connection method, refer to Chapter 5 of "Additional axis function instruction manual
(BFP-A3504)".
(Additional axis)
Servomotor
Robot arm
Robot controller
<CR800 series>
Travel axis unit
Servo amplifier
(MR-J4-B)