Mitsubishi Electric CR800 Series Manual de usuario

Mitsubishi Electric Industrial Robot

CR800 Series Controller

RH-1FRHR Series

Special Specifications Manual

BFP-A3537-C

All teaching work must be carried out by an operator who has received special

training. (This also applies to maintenance work with the power source turned

ON.)

Enforcement of safety training

For teaching work, prepare a work plan related to the methods and procedures

of operating the robot, and to the measures to be taken when an error occurs

or when restarting. Carry out work following this plan. (This also applies to

maintenance work with the power source turned ON.)

Preparation of work plan

Prepare a device that allows operation to be stopped immediately during

teaching work. (This also applies to maintenance work with the power source

turned ON.)

Setting of emergency stop switch

During teaching work, place a sign indicating that teaching work is in progress

on the start switch, etc. (This also applies to maintenance work with the power

source turned ON.)

Indication of teaching work in progress

Provide a fence or enclosure during operation to prevent contact of the

operator and robot.

Installation of safety fence

Establish a set signaling method to the related operators for starting work, and

follow this method.

Signaling of operation start

As a principle turn the power OFF during maintenance work. Place a sign

indicating that maintenance work is in progress on the start switch, etc.

Indication of maintenance work in progress

Before starting work, inspect the robot, emergency stop switch and other

related devices, etc., and confirm that there are no errors.

Inspection before starting work

Always read the following precautions and the separate "Safety

Manual" before starting use of the robot to learn the required

measures to be taken.

Safety Precautions

CAUTION

WARNING

CAUTION

DANGER

CAUTION

The points of the precautions given in the separate "Safety Manual" are given below.

Refer to the actual "Safety Manual" for details.

When automatic operation of the robot is performed using multiple control

devices (GOT, programmable controller, push-button switch), the interlocking of

operation rights of the devices, etc. must be designed by the customer.

Use the robot within the environment given in the specifications. Failure to do

so could lead to a drop or reliability or faults. (Temperature, humidity,

atmosphere, noise environment, etc.)

Transport the robot with the designated transportation posture. Transporting

the robot in a non-designated posture could lead to personal injuries or faults

from dropping.

Always use the robot installed on a secure table. Use in an instable posture

could lead to positional deviation and vibration.

Wire the cable as far away from noise sources as possible. If placed near a noise

source, positional deviation or malfunction could occur.

Do not apply excessive force on the connector or excessively bend the cable.

Failure to observe this could lead to contact defects or wire breakage.

Make sure that the workpiece weight, including the hand, does not exceed the

rated load or tolerable torque. Exceeding these values could lead to alarms or

faults.

Securely install the hand and tool, and securely grasp the workpiece. Failure to

observe this could lead to personal injuries or damage if the object comes off or

flies off during operation.

Securely ground the robot and controller. Failure to observe this could lead to

malfunctioning by noise or to electric shock accidents.

Indicate the operation state during robot operation. Failure to indicate the state

could lead to operators approaching the robot or to incorrect operation.

When carrying out teaching work in the robot's movement range, always secure

the priority right for the robot control. Failure to observe this could lead to

personal injuries or damage if the robot is started with external commands.

Keep the jog speed as low as possible, and always watch the robot. Failure to do

so could lead to interference with the workpiece or peripheral devices.

After editing the program, always confirm the operation with step operation

before starting automatic operation. Failure to do so could lead to interference

with peripheral devices because of programming mistakes, etc.

Make sure that if the safety fence entrance door is opened during automatic

operation, the door is locked or that the robot will automatically stop. Failure to

do so could lead to personal injuries.

Never carry out modifications based on personal judgments, or use non-

designated maintenance parts.

Failure to observe this could lead to faults or failures.

DANGER

CAUTION

WARNING

CAUTION

WARNING

CAUTION

When the robot arm has to be moved by hand from an external area, do not

place hands or fingers in the openings. Failure to observe this could lead to

hands or fingers catching depending on the posture.

Do not stop the robot or apply emergency stop by turning the robot controller's

main power OFF. If the robot controller main power is turned OFF during

automatic operation, the robot accuracy could be adversely affected. Moreover,

it may interfere with the peripheral device by drop or move by inertia of the arm.

Do not turn off the main power to the robot controller while rewriting the

internal information of the robot controller such as the program or parameters.

If the main power to the robot controller is turned off while in automatic

operation or rewriting the program or parameters, the internal information of the

robot controller may be damaged.

Do not connect the Handy GOT when using the GOT direct connection function

of this product. Failure to observe this may result in property damage or bodily

injury because the Handy GOT can automatically operate the robot regardless

of whether the operation rights are enabled or not.

Do not connect the Handy GOT to a programmable controller when using an iQ

Platform compatible product with the CR800-R/CR800-Q controller. Failure to

observe this may result in property damage or bodily injury because the Handy

GOT can automatically operate the robot regardless of whether the operation

rights are enabled or not.

Do not remove the SSCNET III cable while power is supplied to the multiple

CPU system or the servo amplifier. Do not look directly at light emitted from

the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or

the servo amplifier. Eye discomfort may be felt if exposed to the light.

(Reference: SSCNET III employs a Class 1 or equivalent light source as

specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

Do not remove the SSCNET III cable while power is supplied to the controller.

Do not look directly at light emitted from the tip of SSCNET III connectors or

SSCNET III cables. Eye discomfort may be felt if exposed to the light.

(Reference: SSCNET III employs a Class 1 or equivalent light source as

specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

Attach the cap to the SSCNET III connector after disconnecting the SSCNET

III cable. If the cap is not attached, dirt or dust may adhere to the connector

pins, resulting in deterioration connector properties, and leading to malfunction.

Make sure there are no mistakes in the wiring. Connecting differently to the way

specified in the manual can result in errors, such as the emergency stop not

being released. In order to prevent errors occurring, please be sure to check

that all functions (such as the teaching box emergency stop, customer emer-

gency stop, and door switch) are working properly after the wiring setup is com-

pleted.

WARNING

CAUTION

DANGER

CAUTION

Use the network equipments (personal computer, USB hub, LAN hub, etc)

confirmed by manufacturer. The thing unsuitable for the FA environment

(related with conformity, temperature or noise) exists in the equipments

connected to USB. When using network equipment, measures against the noise,

such as measures against EMI and the addition of the ferrite core, may be

necessary. Please fully confirm the operation by customer. Guarantee and

maintenance of the equipment on the market (usual office automation

equipment) cannot be performed.

To maintain the safety of the robot system against unauthorized access from

external devices via the network, take appropriate measures.

To maintain the safety against unauthorized access via the Internet, take mea-

sures such as installing a firewall.

CAUTION

*CR800 controller

Notes of the basic component are shown.

Please install the earth leakage breaker in the primary side power supply of the

controller because of leakage protection.

1) Prepare the following items.

2) Confirm that the primary power matches the specifications.

3) Confirm that the primary power is OFF and that the earth leakage breaker power switch is OFF.

4) Connect the ACIN cable to the breaker.

Connect the power terminals of the ACIN cable to the secondary side terminals of the earth leakage breaker.

Also, ground the FG terminal of the cable.

5) Connect the ACIN cable to the ACIN connector on the rear of the controller.

<1> Face the main key on the ACIN cable plug upwards. (Refer to the "ACIN cable connection" illustration.)

<2> Align the main key of the ACIN cable plug with the grooves on the ACIN connector. Push the plug into the

connector as far as it will go.

The plug may be damaged if it is not correctly aligned with the connector.

<3> Tighten the coupling on the ACIN cable, turning it to the right until it locks.

6) Connect one end of the grounding cable to the PE (protective earth) terminal on the controller and ground the

other end (2-point grounding) in order to comply with the requirements of EN 61800-5-1 for the touch cur-

rent of 3.5 mA AC or more.

7) Connect the primary power cable to the primary side terminal of the earth leakage breaker.

Part name Specifications Remarks

Earth leakage breaker The following is recommended product. Prepared by customer.

Single phase: NV30FAU-2P-10A-AC100-240V-30mA

(Terminal cover: TCS-05FA2)

Three phase: NV30FAU-3P-10A-AC100-240V-30mA

(Terminal cover: TCS-05FA3)

Cable for primary power supply AWG14 (2mm2) or above Prepared by customer.

Tightening torque for terminal

fixing screw is 2 ～ 3Nm.

Grounding cable AWG14 (2mm2) or above Prepared by customer.

Tightening torque for terminal

fixing screw is 2 ～ 3Nm.

ACIN cable Terminal: M5, cable length: 3m Supplied with the product.

CAUTION

Note 1) Always use the terminal cover for the earth leakage breaker.

L1 L2 L3 L N

Controller rear

ACIN cable

(attachment)

PE terminal

Primary side

Secondry side

Single phase

AC200V

Three phase

AC200V

ACIN connector

PE (protective earth) terminal

M4 screw

Grounding cable

Note 1)

Earth

leakage

breaker

(NV)

<3>

<1> <2>

ACIN cable connection

ACIN cable

(male)

ACIN connector

(female)

Main key (wide)

Top

Coupling

Groove for main

key (wide)

Be careful of interference with peripheral equipment.

Especially don't give a shock to the shaft (J3 axis). When you install the

hand, be careful not to knock at the shaft end by the hammer etc. The shaft

may be damaged.

Take care also of the following items.

(1)The robot's locus of movement may change with specified speed.

Especially as for the corner section, short cut distance may change. Therefore, when begin-

ning automatic operation, moves at low speed at first, and you should gather speed slowly with

being careful of interference with peripheral equipment.

(2)It can be confirmed whether the specified position exist in the defined area by using the instruc-

tion command "Zone". It can utilize as one of the methods for collision evasion. Refer to the

"detailed description of the instructions manual/function, and operation" of the separate volume

for the details of the instruction command.

CAUTION

Short cut

Arch movement (example)

■Revision history

Date of print Specifications No. Details of revisions

2017-06-26 BFP-A3537 ・ First print.

2017-11-01 BFP-A3537-A ・ Description of countermeasures against unauthorized access was added.

・ Descriptions of CR800-R controller in “3.2.1 Controller” were supplemented.

・ Correction of errors.

GOT1000 was deleted.

Description of optional SD memory card was moved to "3.9.2 CR800-D controller".

2018-06-01 BFP-A3537-B ・ Referenced Standard (Requirement of Chinese standardized law) was added.

・ Correction of figures. (Fig. 2-16, 20, 21)

・ Notes were added to section 3.6.

・ Environmental conditions of electromagnetic noise was modified.

・ Revised the operation method of the brake release switch (Fig. 2-12)

2018-12-25 BFP-A3537-C ・ The attachments for the external wiring/piping box were corrected.

・ Added further explanation of the ACIN cable.

・ Added a network base card for EtherCAT (2F-DQ535-EC).

・ ”3.8 Magnet contactor control connector output (AXMC) for addition axes” was

modified.

■ Introduction

This series offers small-size industrial robots developed using Mitsubishi's latest technology. They are

especially designed to handle and assemble mechanical parts. They are Mitsubishi's answer to the cus-

tomer's need to achieve a compact manufacturing facility capable of highly flexible production, as neces-

sitated by the diffusion of high-density product groups and the shorter product life cycles that have

become common-place in recent years.

However, to comply with the target application, a work system having a well-balanced robot arm, periph-

eral devices or robot and hand section must be structured.

When creating these standard specifications, we have edited them so that the Mitsubishi robot's charac-

teristics and specifications can be easily understood by users considering the implementation of robots.

However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer.

Mitsubishi hopes that you will consider these standard specifications and use our robots.

Note that in this specification document the specifications related to the robot arm is described Page 13,

"2 Robot arm", the specifications related to the controller Page 59, "3 Controller", and software func-

tions and a command list Page 122, "4 Software" separately.

This document has indicated the specification of the following types robot.

*RH-1FRHR series

・ No part of this manual may be reproduced by any means or in any form, without prior consent from Mit-

subishi.

・ The contents of this manual are subject to change without notice.

・ The specifications values are based on Mitsubishi standard testing methods.

・ The information contained in this document has been written to be accurate as much as possible.

Please interpret that items not described in this document "cannot be performed." or "alarm

may occur".

Please contact your nearest dealer if you find any doubtful, wrong or skipped point.

・ This specifications is original.

・ Microsoft, Windows, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 8.1, Windows 10 are

either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other

countries.

・ The official name of Windows® is Microsoft®Windows®Operating System.

・ Windows®XP, Windows Vista®, Windows® 7, Windows® 8, Windows® 8.1, Windows® 10 are either prod-

uct names of Microsoft Corporation in the United States.

・ Ethernet is registered trademarks or trademarks of Xerox Corporation in the United States.

・ All other company names and production names in this document are the trademarks or registered

trademarks of their respective owners.

・ Referenced Standard (Requirement of Chinese standardized law): This Product is designed and manu-

factured accordance with GB 11291.1.

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