Mitsubishi CR760-Q Manual de usuario
Mitsubishi Industrial Robot
CR750/CR751/CR760 Series Controller
INSTRUCTION MANUAL
Troubleshooting
BFP-A8871-U
This instruction manual apply to both the CR-750-Q/CR751-Q/CR760-Q controller corresponding
to iQ Platform, and the CR-750-D/CR751-D/CR760-D controller of standalone type.
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
CAUTION
WARNING
CAUTION
DANGER
CAUTION
CAUTION
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
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
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 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
CAUTION
DANGER
DANGER
DANGER
DANGER
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.
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
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.
Revision history
Date of print Specifications No. Details of revisions
2012-02-13 BFP-A8871 ・ First print
2012-06-11 BFP-A8871-A ・ Error H096n was corrected (measures in RH-20FH).
・ The cause and measures of error H017m were corrected.
2012-06-18 BFP-A8871-B ・ The measures of H096n was corrected (measures in RH-20FH)
2012-09-03 BFP-A8871-C ・ The measures of H0094 was corrected.
・ Error L4939 and L2050 were added.
2012-10-15 BFP-A8871-D ・ The message and cause of the error L3110 and L3120 were corrected.
2012-11-20 BFP-A8871-E ・ Error C043n was added.
・ The statement about trademark registration was added.
・ The issue item of the “2.1 Appendix” was added.
2013-07-17 BFP-A8871-F ・ Error C1940 was added.
・ The measures of H8800 was corrected.
・ The cause and measures of following errors were corrected.
H0050, H0060, H0080, H0083, H0087, H0088, H0090, H0093, H0094, H0141, H104n, H107n,
L182n, C1920
2013-09-10 BFP-A8871-G ・ The measures of H096n and C133n were added.
・ The causes and measures of H112n was modified.
・ ”The T/B does not display anything.” was added to “Appendix 3: Troubles and measures”
2013-12-25 BFP-A8871-H ・ Following errors were added.
L1864, H2760, H2770, H2780, L3110, L3770, L3986, L3987, H3988, H7650, H7651, H7652,
H766n, H8920, C8921
・ Following errors were deleted.
C7410, C7420, C7430, C7440
・ The causes were modified.
H216n, H217n
・ The causes and measures were modified.
H0083, H0087, L4110
・ The digit of the end of following error number was changed into the axis number (n).
C753n, C754n
・ The fuse replacement method of an air hand and brake was modified.
2014-03-31 BFP-A8871-J ・ Following errors were added.
L2041, L2042, L2610, L2611, L2612, L2613, L2614, L2615, L2621, L2622
・ The description was added to measures.
H1090, H109n
・ The causes and measures were modified.
H0044
2014-08-06 BFP-A8871-K • The cover and corporate logo mark of this manual was changed
2014-08-20 BFP-A8871-M ・ The description was modified to measures.
H0130, H8800
・ The causes and measures were modified.
H0088, H1090/109n
・ Correction of errors.
2014-12-15 BFP-A8871-N ・ The measures were modified.
L5150, H112n, C132n, L182n
・ The causes and measures were modified.
H0742, H1682
・ The corporate logo mark of illustrations in this manual was changed.
2015-02-10 BFP-A8871-P ・ The causes and measures of error H0083 were modified.
・ The error message of error H0141 was corrected.
2015-10-29 BFP-A8871-R ・ Converter circuit board is added to the table of applicable fuses in ”Fig. 2-1: Pneumatic
hand’s power fuse exchange place”.
・ The causes and measures were added.
L2610, L2611
・ The measures were modified.
H0820/H082n, H093n, C1410
・ Following errors were added.
H0097, H0098, H0210, H0211, H0212, H0213, H0220, H0230, H0240, H220m, H221n, H222m,
H2240, C2250, H2260, H2300, H2310, H2320, H2340, H2370, H238n, H6640, C7081, L7378,
L2580, L3141, L3142, L8623, L4941, L2430, H0690, H0770, H081n, H093n, H113n, H148n,
L3100
・ The explanations of CR760 controller was added.
2015-12-14 BFP-A8871-S ・ Error L8680 was added.
2016-03-07 BFP-A8871-T ・ The causes and measures of error H1410 were corrected.
・ Error H1450 and L4341 were added.
2016-09-09 BFP-A8871-U ・ The measure of error H0099 and L3100 were revised.
・ The cause of error L4190 was revised.
・ Error H0009 was revised.
・ Error H264n and H265n were added.
Date of print Specifications No. Details of revisions
■ Introduction
Thank you for purchasing the Mitsubishi industrial robot. This instruction manual describes the causes and
measures for errors that may occur while using the robot.
If an error should occur, refer to this manual and take appropriate measures.
Apply to both the CR750-Q/CR751-Q/CR760-Q series controller corresponding to iQ Platform, and the
CR750-D/CR751-D/CR760-D series controller of standalone. Especially the function added individually
is indicated to be "CR750-Q" and "CR750-D".
・ 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.
・ An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your service provider.
・ 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 service provider if you find any doubtful, wrong or skipped point.
・ This specifications is original.
・ The ETHERNET is a registered trademark of the Xerox Corp.
・ All other company names and production names in this document are the trademarks or registered
trademarks of their respective owners.
Copyright(C) 2012-2016 MITSUBISHI ELECTRIC CORPORATION
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.
Este manual sirve para los siguientes modelos
5
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