Mitsubishi Electronics CR750-D マニュアル

目次

• 1 General configuration

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  • 1.1 Structural equipment

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    • 1.1.1 Standard structural equipment

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    • 1.1.2 Special specifications

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    • 1.1.3 Options

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    • 1.1.4 Maintenance parts

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  • 1.2 Model type name of robot

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    • 1.2.1 How to identify the robot model

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    • 1.2.2 Combination of the robot arm and the controller

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  • 1.3 CE marking specifications

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  • 1.4 Indirect export

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  • 1.5 Instruction manuals

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  • 1.6 Contents of the structural equipment

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    • 1.6.1 Robot arm

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    • 1.6.2 Controller

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  • 1.7 Contents of the Option equipment and special specification

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• 2 Robot arm

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  • 2.1 Standard specifications

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    • 2.1.1 Basic specifications

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      • (1) Standard specification

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      • (2) Clean specification

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    • 2.1.2 The counter-force applied to the installation surface

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  • 2.2 Definition of specifications

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    • 2.2.1 Pose repeatability

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    • 2.2.2 Mass capacity

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    • 2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed

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      • (1) Setting Load Capacity and Size (Hand Conditions)

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    • 2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot

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    • 2.2.5 Vibration of shaft (J3 axis) position and arm end

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      • (1) Relationship Between Mass Capacity and Speed

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      • (2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed

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      • (3) Relation between offset length and the maximum speed

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      • (4) Time to reach the position repeatability

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    • 2.2.6 Collision detection

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    • 2.2.7 Protection specifications

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      • (1) Types of protection specifications

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    • 2.2.8 Clean specifications

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      • (1) Types of clean specifications

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  • 2.3 Names of each part of the robot

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  • 2.4 Outside dimensions・Operating range diagram

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    • 2.4.1 Outside dimensions・Operating range diagram

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      • (1) Standard Specification

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      • (2) Clean Specification

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    • 2.4.2 Mechanical interface and Installation surface

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    • 2.4.3 Outside dimensions of machine cables

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      • (1) Connection with the CR750 controller

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      • (2) Connection with the CR751 controller

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  • 2.5 Tooling

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    • 2.5.1 Wiring and piping for hand

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    • 2.5.2 Internal air piping

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      • (1) Standard type

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      • (2) Clean type

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    • 2.5.3 Internal wiring for the hand output cable

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    • 2.5.4 Internal wiring for the hand input cable

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    • 2.5.5 Ethernet cable

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    • 2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping)

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      • (1) Example of wiring and piping <1>

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      • (2) Wiring and piping example <2>

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      • (3) Precautions for the clean specification

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    • 2.5.7 Wiring and piping system diagram for hand

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    • 2.5.8 Electrical specifications of hand input/output

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    • 2.5.9 Air supply circuit example for the hand

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  • 2.6 Shipping special specifications, options, and maintenance parts

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    • 2.6.1 Shipping special specifications

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      • (1) Machine cable

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  • 2.7 Options

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    • (1) Machine cable extension

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    • (2) Changes J1 axis operating range

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    • (3) Solenoid valve set

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    • (4) Hand input cable

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    • (5) Hand output cable

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    • (6) Hand curl tube

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    • (7) Internal Wiring/Piping set for hand

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    • (8) External Wiring/Piping box

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  • 2.8 About Overhaul

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  • 2.9 Maintenance parts

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• 3 Controller

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  • 3.1 Standard specifications

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    • 3.1.1 Basic specifications

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    • 3.1.2 Protection specifications and operating supply

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  • 3.2 Names of each part

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    • 3.2.1 Controller

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      • (1) CR750 controller

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      • (2) CR751 controller

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  • 3.3 Outside dimensions/Installation dimensions

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    • 3.3.1 Outside dimensions

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      • (1) CR750 controller

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      • (2) CR751 controller

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    • 3.3.2 Installation dimensions

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      • (1) CR750 controller

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      • (2) CR751 controller

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  • 3.4 External input/output

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    • 3.4.1 Types

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  • 3.5 Dedicated input/output

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  • 3.6 Emergency stop input and output etc.

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    • 3.6.1 Connection of the external emergency stop

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      • (1) CR750 controller

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      • (2) CR751 controller

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    • 3.6.2 Special stop input (SKIP)

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      • (1) CR750 controller

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      • (2) CR751 controller

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    • 3.6.3 Door switch function

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    • 3.6.4 Enabling device function

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      • (1) When door is opening

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      • (2) When door is closing

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      • (3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings

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  • 3.7 Mode changeover switch input

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    • (1) Specification of the key switch interface

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    • (2) Connection of the mode changeover switch input

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  • 3.8 Additional Axis Function

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    • 3.8.1 Wiring of the Additional Axis Interface

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      • (1) CR750 controller

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      • (2) CR751 controller

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  • 3.9 Magnet contactor control connector output (AXMC) for addition axes

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    • (1) CR750 controller

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    • (2) CR751 controller

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  • 3.10 Options

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    • (1) Teaching pendant (T/B)

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    • (2) Parallel I/O interface

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    • (3) External I/O cable

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    • (4) Parallel I/O unit

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    • (5) External I/O cable

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    • (6) CC-Link interface

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    • (7) RT ToolBox2/RT ToolBox2 mini

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    • (8) Instruction Manual (bookbinding)

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  • 3.11 Maintenance parts

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• 4 Software

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  • 4.1 List of commands

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  • 4.2 List of parameters

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• 5 Instruction Manual

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  • 5.1 The details of each instruction manuals

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• 6 Safety

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  • 6.1 Safety

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    • 6.1.1 Self-diagnosis stop functions

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    • 6.1.2 External input/output signals that can be used for safety protection measures

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    • 6.1.3 Precautions for using robot

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    • 6.1.4 Safety measures for automatic operation

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    • 6.1.5 Safety measures for teaching

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    • 6.1.6 Safety measures for maintenance and inspections, etc.

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    • 6.1.7 Examples of safety measures

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      • (1) CR750 controller

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      • (2) CR751 controller

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      • (3) External emergency stop connection [supplementary explanation]

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  • 6.2 Working environment

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  • 6.3 Precautions for handling

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  • 6.4 EMC installation guideline

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    • 6.4.1 Outlines

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    • 6.4.2 EMC directive

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    • 6.4.3 EMC measures

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    • 6.4.4 Component parts for EMC measures

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      • (1) Ferrite core

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      • (2) Line noise filter

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• 7 Appendix

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  • Appendix 1 ： Specifications discussion material

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