Mitsubishi Electric CR800 Series Manual de usuario

Mitsubishi Industrial Robot

CR800 Series Controller

CR750/CR751 Series Controller

Multifunctional Electric Hand Option

Instruction Manual

BFP-A3408-D

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 CR7xx-Q/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

*CR751-D or CR751-Q controller

Notes of the basic component are shown.

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

of the controller of CR751-D or CR751-Q because of leakage protection.

1) Please prepare the following: Leakage current breaker (with the terminal cover), cable for connecting the

primary power supply (AWG #14 (2mm2 or above), cables to ground the primary power supply (AWG #12

(3.5mm2 or above).

The secondary power cable (with the ACIN connector) for single phase or three phase power is supplied with

the product to match the specifications. When you build a cable suitable for your environment using the ACIN

connector and the ACIN terminal supplied, prepare a secondary power cable (AWG #14 (2mm2) or above).

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 secondary power cable.

a) When using the supplied power cable with the ACIN connector

Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.

b) When building a power cable using the ACIN connector and the ACIN terminals supplied

Connect the ACIN terminals with the secondary power cable (prepared by customers), and insert the ACIN

terminals to the ACIN connector pins with the following numbers. Crimping caulking is recommended to

connect the ACIN terminals.

For single phase: 1 and 3

For three phase: 1, 2, and 3

Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.

5) Connect this ACIN connector to the ACIN connector on the front of the controller.

6) Connect the grounding cable to the PE terminal. (M4 screw)

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

CAUTION

PE terminal

Grounding screw

Controller

ACIN connector

AC200V AC200V

Primary

Secondary

PE terminal

Grounding screw

123 123

ACIN connector

Note 2)

Note 1) Crimping swage is recommended for connecting the attachment ACIN connector (soldering is also possible)

Recommendation compression tools: 234171-1(Tyco Electronics)

Note 2) The earth leakage breaker is the customer preparation. Always use the cover below.

Recommendation: For single primary power supply ......... NV30FAU-2P-10A-AC100-240V-30mA, (Cover: TCS-05FA2)

For three primary power supply .......... NV30FAU-3P-10A-AC100-240V-30mA, (Cover: TCS-05FA3)

Note 3) If necessary, as shown in the figure, connects the noise filter between ACIN terminal blocks and primary power supply.

(Recommended noise filter: SUP-EL20-ER6 *OKAYA ELECTRIC INDUSTRIES)

Controller

<4> LINE/LOAD

<3> LINE/LOAD

<1> LINE/LOAD

<2> LINE/LOAD

Noise filter

Label

ACIN connector or

power cable

(Attachment)

Note 1)

For three phaseFor single phase

Three phase Single phase

Earth leak-

age breaker

(NV)

Note 3)

* The controller is an

example.

*CR800 controller

Notes of the basic component are shown.

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

of the controller of CR800 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.

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

㻼㻱㻌㼠㼑㼞㼙㼕㼚㼍㼘

㻼㼞㼕㼙㼍㼞㼥㻌㼟㼕㼐㼑

㻿㼑㼏㼛㼚㼐㼞㼥㻌㼟㼕㼐㼑

㻿㼕㼚㼓㼘㼑㻌㼜㼔㼍㼟㼑

㻭㻯㻞㻜㻜㼂

㼀㼔㼞㼑㼑㻌㼜㼔㼍㼟㼑

㻭㻯㻞㻜㻜㼂

㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞㻌㼞㼑㼍㼞

㻭㻯㻵㻺㻌㼏㼍㼎㼘㼑

㻔㼍㼠㼠㼍㼏㼔㼙㼑㼚㼠㻕

㻼㻱㻌㼠㼑㼞㼙㼕㼚㼍㼘

㻭㻯㻵㻺㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞

㻳㼞㼛㼡㼚㼐㼕㼚㼓㻌㼏㼍㼎㼘㼑

㻨㻟㻪㻸㻵㻺㻱㻛㻸㻻㻭㻰

㻨㻝㻪㻸㻵㻺㻱㻛㻸㻻㻭㻰

㻨㻠㻪㻸㻵㻺㻱㻛㻸㻻㻭㻰㻨㻞㻪㻸㻵㻺㻱㻛㻸㻻㻭㻰

㻱㼍㼞㼠㼔㻌㼘㼑㼍㼗㼍㼓㼑㻌

㼎㼞㼑㼍㼗㼑㼞㻌㻔㻺㼂㻕

㻸㻝㻸㻞㻸㻟

㻸

㻺

㻲㻳

㻼㻱㻌㻔㼜㼞㼛㼠㼑㼏㼠㼕㼢㼑㻌

㼑㼍㼞㼠㼔㻕㻌㼠㼑㼞㼙㼕㼚㼍㼘

㻹㻠㻌㼟㼏㼞㼑㼣

㻺㼛㼕㼟㼑㻌㼒㼕㼘㼠㼑㼞

㻺㼛㼠㼑㻌㻝㻕

Note 1) If necessary, as shown in the figure, connects the noise filter between ACIN connector and primary power supply.

(Recommended noise filter: SUP-EL20-ER6 *OKAYA ELECTRIC INDUSTRIES)

Revision history

Date Specifications No. Details of revisions

2015-10-05 BFP-A3408 • First print

2015-10-23 BFP-A3408-A • Corrected the errors in the Item column of Table 3-3: hand cable.

2015-11-11 BFP-A3408-B • “Table 2-5: Specifications of the control unit” was deleted.

2017-07-12 BFP-A3408-C • Descriptions about the CR800 controller have been added.

2018-02-01 BFP-A3048-D • Descriptions about the CR800-Q controller have been added.

* Introduction

Thank you for purchasing Mitsubishi Electric industrial robot.

This instruction manual explains “Multifunctional Electric Hand” option.

"Highly precise gripping force" "the location" "speed control" is possible, and this product can apply

it to the various uses.

Always read over this manual to gain a sufficient understanding of its content before using the "Mul-

tifunctional Electric Hand".

Please note that this instruction manual assumes that operators have an understanding of basic Mit-

subishi Electric industrial robot operation and functionality. Refer to the separate "Instruction Man-

ual, Detailed Explanations of Functions and Operations" for information on basic operation.

* Notation used in this manual

Incorrect handling may result in imminent danger, leading to death or seri-

ous injury.

Incorrect handling may lead to death or serious injury.

Incorrect handling may result in property damage, or danger leading to

impairment of the user.

Danger

Warning

Caution

• No part of this manual may be reproduced by any means or in any form, without prior consent

from Mitsubishi.

• 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 possi-

ble. 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.

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

trademarks of their respective owners.

• In the main text, ® and TM marks are omitted.

Notice

*ONLY QUALIFIED SERVICE PERSONNEL MAY INSTALL OR SERVICE THE ROBOT SYSTEM.

*ANY PERSON WHO PROGRAM, TEACHES, OPERATE, MAINTENANCE OR REPAIRS THE ROBOT

SYSTEM IS TRAINED AND DEMONSTRATES COMPETENCE TO SAFELY PERFORM THE ASSIGNED

TASK.

*ENSURE COMPLIANCE WITH ALL LOCAL AND NATIONAL SAFETY AND ELECTRICAL CODES FOR

THE INSTALLATION AND OPERATION OF THE ROBOT SYSTEM.

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