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MELFA CR1D
Mitsubishi MELFA CR1D User Manual
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Aug..2008 MEE
Printed in Japan on recycled pap
er.
Specifications a
re subject to ch
ange without notice.
HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI
, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 5-1-14, YADA-
MINAMI, HIGASHI-KU, NAGOYA 461-8670, JAPAN
457
Table of Contents
Default Chapter
8
Table of Contents
8
1 Before Starting Use
14
Using the Instruction Manuals
14
The Details of each Instruction Manuals
14
Symbols Used in Instruction Manual
14
Safety Precautions
16
Precautions Given in the Separate Safety Manual
17
2 Explanation of Functions
19
Operation Panel (O/P) Functions
19
Teaching Pendant (T/B) Functions
22
Operation Rights
23
Functions Related to Movement and Control
24
3 Explanation of Operation Methods
26
Operation of the Teaching Pendant Menu Screens
26
Screen Tree
26
Input of the Number/Character
29
Selecting a Menu
30
Jog Feed (Overview)
32
Types of Jog Feed
32
Speed of Jog Feed
33
TOOL Jog
34
XYZ Jog
34
3-Axis XYZ Jog
35
CYLNDER Jog
35
Switching Tool Data
36
Impact Detection During Jog Operation
37
Impact Detection Level Adjustment During Jog Operation
38
Opening/Closing the Hands
39
Aligning the Hand
40
Programming
42
Creating a Program
42
Opening the Program Edit Screen
42
Creating a Program
43
Completion of Program Creation and Saving Programs
45
Correcting a Program
46
Registering the Current Position Data
48
Deletion of the Position Variable
51
Confirming the Position Data (Position Jump )
52
Correcting the MDI (Manual Data Input)
53
Debugging
54
Step Feed
54
Step Return
55
Step Feed in Another Slot
56
Step Jump
57
Automatic Operation
59
Setting the Operation Speed
59
Selecting the Program no
59
Starting Automatic Operation
60
Stopping
61
Resuming Automatic Operation from Stopped State
61
Resetting the Program
62
Turning the Servo ON/OFF
63
Error Reset Operation
64
Operation to Temporarily Reset an Error that Cannot be Canceled
64
Operating the Program Control Screen
65
Program List Display
65
Copying Programs
66
Name Change of the Program (Rename)
67
Deleting a Program(Delete)
68
Protection of the Program (Protect)
69
Ooperation of Operating Screen
71
Display of the Execution Line
71
Select the Confirmation Menu
71
Step Feed
71
Step Jump
74
Step Feed in Another Slot
74
Finishing of the Confirmation Screen
74
Test Operation
75
Select the Test Operation
75
Operating the Monitor Screen
76
Input Signal Monitor
76
Output Signal Monitor
78
Input Register Monitor
80
Output Register Monitor
81
Variable Monitor
84
Error History
86
Operation of Maintenance Screen
87
Operation of the Origin and the Brake Screen
89
Oorigin
89
Brake
89
Operation of Setup / Initialization Screen
91
Initialize the Program
91
Initialize the Parameter
92
Initialize the Battery
93
Operation
94
Time Setup
94
Version
95
Operation of the Initial-Setting Screen
96
Set the Display Language
96
Adjustment of Contrast
98
4 Melfa-Basic V
100
MELFA-BASIC V Functions
100
Robot Operation Control
101
Joint Interpolation Movement
101
Linear Interpolation Movement
102
Circular Interpolation Movement
103
Continuous Movement
105
Acceleration/Deceleration Time and Speed Control
106
Confirming that the Target Position Is Reached
108
High Path Accuracy Control
109
Hand and Tool Control
110
Pallet Operation
111
Program Control
117
Unconditional Branching, Conditional Branching, Waiting
117
Repetition
119
Interrupt
120
Subroutine
121
Timer
122
Stopping
123
Inputting and Outputting External Signals
124
Input Signals
124
Output Signals
124
Communication
125
Expressions and Operations
126
List of Operator
126
Relative Calculation of Position Data (Multiplication)
128
Relative Calculation of Position Data (Addition)
128
Appended Statement
129
Multitask Function
130
What Is Multitasking
130
Executing a Multitask
131
Operation State of each Slot
131
Precautions for Using a Multitask Program
134
Starting the Multitask
134
Display of Operation Status
134
Example of Using Multitask
135
Robot Work Details
135
Procedures to Multitask Execution
136
Mov P1
136
Program Capacity
137
Program Save Area
137
Program Edit Area
137
Program Execution Area
137
Detailed Specifications of MELFA-BASIC V
139
Program Name
139
Command Statement
139
Mov P1
139
Variable
140
Statement
141
Appended Statement
141
Step
141
Step no
141
Label
141
Types of Characters that Can be Used in Program
142
Refer to
142
Characters Having Special Meanings
143
Uppercase and Lowercase Identification
143
Underscore
143
Apostrophe ( ' )
143
Asterisk ( * )
143
Comma ( , )
143
Period ( . )
143
Space
143
Data Type
144
Constants
144
Numeric Value Constants
144
Decimal Number
144
Hexadecimal Number
144
Binary Number
144
Types of Constant
144
Character String Constants
144
Position Constants
145
Coordinate, Posture and Additional Axis Data Types and Meanings
145
Meaning of Structure Flag Data Type and Meanings
145
Joint Constants
146
Axis Data Format and Meanings
146
Angle Value
147
Variables
147
Numeric Value Variables
148
Character String Variables
148
Position Variables
148
Joint Variables
149
Input/Output Variables
149
Array Variables
149
External Variables
150
Program External Variables
150
User-Defined External Variables
151
Creating User Base Programs
152
Robot Status Variables
153
Logic Numbers
157
Functions
157
User-Defined Functions
157
Built-In Functions
157
List of Instructions
160
Instructions Related to Movement Control
160
Instructions Related to Program Control
160
Definition Instructions
161
Multi-Task Related
161
Others
162
Operators
163
Priority Level of Operations
164
Depth of Program's Control Structure
164
Reserved Words
164
Detailed Explanation of Command Words
165
How to Read the Described Items
165
Explanation of each Command Word
165
Mov P2
166
Goto *L
217
M_00=1
256
Detailed Explanation of Robot Status Variable
277
How to Read Described Items
277
Explanation of each Robot Status Variable
277
Detailed Explanation of Functions
320
How to Read Described Items
320
Explanation of each Function
320
5 Functions Set with Parameters
356
Movement Parameter
356
Signal Parameter
364
About Multi CPU Input Offsets (Crnq-700 Controller Only)
367
Case (A)
367
Case (B)
368
Operation Parameter
369
Command Parameter
372
Communication Parameter
376
Standard Tool Coordinates
377
About Standard Base Coordinates
379
About User-Defined Area
380
Free Plane Limit
381
Automatic Return Setting after Jog Feed at Pause
382
Automatic Execution of Program at Power up
384
About the Hand Type
385
About Default Hand Status
386
About the Output Signal Reset Pattern
387
About the Communication Setting
389
Hand and Workpiece Conditions (Optimum Acceleration/Deceleration Settings)
390
About the Singular Point Adjacent Alarm
392
About ROM Operation/High-Speed RAM Operation Function
393
Warm-Up Operation Mode
403
About Singular Point Passage Function
410
About the Impact Detection Function
415
Overview of the Function
415
Applicable Models
416
Related Parameters
416
How to Use the Impact Detection Function
417
6 External Input/Output Functions
421
Types
421
Sequencer Link I/O Function
422
Parameter Setting
422
Sequencer CPU Parameter Setting
422
Robot CPU Parameter Setting
422
CPU Shared Memory and Robot I/O Signal Compatibility
424
Sequence Ladder Example
424
Assignment of the Dedicated I/O Signal. (at Factory Shipping)
426
Comparison of the I/O Point of the Crnq700 and the Crn500 Series
428
Dedicated Input/Output
429
Enable/Disable Status of Signals
436
External Signal Timing Chart
437
Individual Timing Chart of each Signal
437
Timing Chart Example
444
External Signal Operation Timing Chart (Part 1)
444
External Signal Operation Timing Chart (Part 2)
445
Example of External Operation Timing Chart (Part 3)
446
Example of External Operation Timing Chart (Part 4)
447
Emergency Stop Input
448
Robot Behavior Upon Emergency Stop Input
448
Display Unit (GOT1000 Series) Connection (Reference)
449
Usage Example
449
Specifications
449
Connection
450
Settings
451
7 Appendix
453
Configuration Flag
453
5
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Mitsubishi MELFA CR1D Specifications
General
Brand
Mitsubishi
Model
MELFA CR1D
Category
Controller
Language
English
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