Manuels d'utilisation pour Mitsubishi Electronics CR751-D

Table des matières

• 1 General configuration

  14
  • 1.1 Structural equipment

    14
    • 1.1.1 Standard structural equipment

      14
    • 1.1.2 Special specifications

      14
    • 1.1.3 Options

      14
    • 1.1.4 Maintenance parts

      14
  • 1.2 Model type name of robot

    15
    • 1.2.1 How to identify the robot model

      15
    • 1.2.2 Combination of the robot arm and the controller

      16
  • 1.3 CE marking specifications

    16
  • 1.4 Indirect export

    16
  • 1.5 Instruction manuals

    16
  • 1.6 Contents of the structural equipment

    17
    • 1.6.1 Robot arm

      17
    • 1.6.2 Controller

      18
  • 1.7 Contents of the Option equipment and special specification

    19
• 2 Robot arm

  22
  • 2.1 Standard specifications

    22
    • 2.1.1 Basic specifications

      22
      • (1) Standard specification

        22
      • (2) Clean specification

        24
    • 2.1.2 The counter-force applied to the installation surface

      25
  • 2.2 Definition of specifications

    26
    • 2.2.1 Pose repeatability

      26
    • 2.2.2 Mass capacity

      27
    • 2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed

      28
      • (1) Setting Load Capacity and Size (Hand Conditions)

        28
    • 2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot

      28
    • 2.2.5 Vibration of shaft (J3 axis) position and arm end

      29
      • (1) Relationship Between Mass Capacity and Speed

        29
      • (2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed

        30
      • (3) Relation between offset length and the maximum speed

        31
      • (4) Time to reach the position repeatability

        32
    • 2.2.6 Collision detection

      32
    • 2.2.7 Protection specifications

      33
      • (1) Types of protection specifications

        33
    • 2.2.8 Clean specifications

      33
      • (1) Types of clean specifications

        33
  • 2.3 Names of each part of the robot

    35
  • 2.4 Outside dimensions・Operating range diagram

    36
    • 2.4.1 Outside dimensions・Operating range diagram

      36
      • (1) Standard Specification

        36
      • (2) Clean Specification

        42
    • 2.4.2 Mechanical interface and Installation surface

      48
    • 2.4.3 Outside dimensions of machine cables

      49
      • (1) Connection with the CR750 controller

        49
      • (2) Connection with the CR751 controller

        49
  • 2.5 Tooling

    50
    • 2.5.1 Wiring and piping for hand

      50
    • 2.5.2 Internal air piping

      51
      • (1) Standard type

        51
      • (2) Clean type

        51
    • 2.5.3 Internal wiring for the hand output cable

      51
    • 2.5.4 Internal wiring for the hand input cable

      51
    • 2.5.5 Ethernet cable

      51
    • 2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping)

      52
      • (1) Example of wiring and piping <1>

        53
      • (2) Wiring and piping example <2>

        53
      • (3) Precautions for the clean specification

        54
    • 2.5.7 Wiring and piping system diagram for hand

      55
    • 2.5.8 Electrical specifications of hand input/output

      56
    • 2.5.9 Air supply circuit example for the hand

      57
  • 2.6 Shipping special specifications, options, and maintenance parts

    58
    • 2.6.1 Shipping special specifications

      58
      • (1) Machine cable

        59
  • 2.7 Options

    60
    • (1) Machine cable extension

      61
    • (2) Changes J1 axis operating range

      65
    • (3) Solenoid valve set

      66
    • (4) Hand input cable

      68
    • (5) Hand output cable

      69
    • (6) Hand curl tube

      70
    • (7) Internal Wiring/Piping set for hand

      71
    • (8) External Wiring/Piping box

      72
  • 2.8 About Overhaul

    74
  • 2.9 Maintenance parts

    75
• 3 Controller

  76
  • 3.1 Standard specifications

    76
    • 3.1.1 Basic specifications

      76
    • 3.1.2 Protection specifications and operating supply

      77
  • 3.2 Names of each part

    78
    • 3.2.1 Controller

      78
      • (1) CR750 controller

        78
      • (2) CR751 controller

        80
  • 3.3 Outside dimensions/Installation dimensions

    82
    • 3.3.1 Outside dimensions

      82
      • (1) CR750 controller

        82
      • (2) CR751 controller

        83
    • 3.3.2 Installation dimensions

      84
      • (1) CR750 controller

        84
      • (2) CR751 controller

        86
  • 3.4 External input/output

    88
    • 3.4.1 Types

      88
  • 3.5 Dedicated input/output

    89
  • 3.6 Emergency stop input and output etc.

    92
    • 3.6.1 Connection of the external emergency stop

      92
      • (1) CR750 controller

        93
      • (2) CR751 controller

        97
    • 3.6.2 Special stop input (SKIP)

      100
      • (1) CR750 controller

        100
      • (2) CR751 controller

        101
    • 3.6.3 Door switch function

      102
    • 3.6.4 Enabling device function

      102
      • (1) When door is opening

        102
      • (2) When door is closing

        103
      • (3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings

        103
  • 3.7 Mode changeover switch input

    104
    • (1) Specification of the key switch interface

      104
    • (2) Connection of the mode changeover switch input

      105
  • 3.8 Additional Axis Function

    106
    • 3.8.1 Wiring of the Additional Axis Interface

      106
      • (1) CR750 controller

        106
      • (2) CR751 controller

        107
  • 3.9 Magnet contactor control connector output (AXMC) for addition axes

    110
    • (1) CR750 controller

      111
    • (2) CR751 controller

      111
  • 3.10 Options

    112
    • (1) Teaching pendant (T/B)

      113
    • (2) Parallel I/O interface

      116
    • (3) External I/O cable

      121
    • (4) Parallel I/O unit

      123
    • (5) External I/O cable

      134
    • (6) CC-Link interface

      136
    • (7) RT ToolBox2/RT ToolBox2 mini

      139
    • (8) Instruction Manual (bookbinding)

      141
  • 3.11 Maintenance parts

    142
• 4 Software

  143
  • 4.1 List of commands

    143
  • 4.2 List of parameters

    146
• 5 Instruction Manual

  148
  • 5.1 The details of each instruction manuals

    148
• 6 Safety

  149
  • 6.1 Safety

    149
    • 6.1.1 Self-diagnosis stop functions

      149
    • 6.1.2 External input/output signals that can be used for safety protection measures

      150
    • 6.1.3 Precautions for using robot

      150
    • 6.1.4 Safety measures for automatic operation

      151
    • 6.1.5 Safety measures for teaching

      151
    • 6.1.6 Safety measures for maintenance and inspections, etc.

      151
    • 6.1.7 Examples of safety measures

      152
      • (1) CR750 controller

        152
      • (2) CR751 controller

        157
      • (3) External emergency stop connection [supplementary explanation]

        162
  • 6.2 Working environment

    165
  • 6.3 Precautions for handling

    165
  • 6.4 EMC installation guideline

    167
    • 6.4.1 Outlines

      167
    • 6.4.2 EMC directive

      167
    • 6.4.3 EMC measures

      168
    • 6.4.4 Component parts for EMC measures

      168
      • (1) Ferrite core

        168
      • (2) Line noise filter

        168
• 7 Appendix

  169
  • Appendix 1 ： Specifications discussion material

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