Mitsubishi Electric CR750-Q Series User manual

Mitsubishi Industrial Robot
CR750/CR751/CR760 Series Controller
INSTRUCTION MANUAL
Detailed explanations of functions and operations
BFP-A8869-W
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 Specifications No. Details of revisions
2012-03-13 BFP-A8869 • First print
2012-04-06 BFP-A8869-A • Error in writing correction (4.3.2 Executing a multitask)
• The example program for collision detection level setting was added (J_ColMxl).
2012-07-26 BFP-A8869-B • Notes were added to the hand and the workpiece condition parameter.
2012-10-03 BFP-A8869-C • In the interference avoidance function, the cylinder was added to the shape of a
simulated component, and the RV-F series was added to the target type.
• RV-F series was added to the setting value at shipment of the collision detection
parameter COL. (Table 5-21)
2012-11-12 BFP-A8869-D • The statement about trademark registration was added.
• The initial value of parameter OLTMX was corrected.
2013-01-09 BFP-A8869-E • The reference program of J_ColMxl was corrected (error in writing)
• The explanation of parameter MEGDIR, MELTEXS were added.
• The vertical multi-joint type robot's structure flag was added.
2013-03-25 BFP-A8869-F • The explanation of RV-13F series were added. (Operation of the brake release.)
2013-09-20 BFP-A8869-G • The minimum values of CmpG was corrected. (For Cmp Jnt)
• The descriptions about RH-3FHR series were added.
• The explanation of parameter CMPJCLL was added.
2014-01-06 BFP-A8869-H • The explanations of RV-4FJL (5-axis type) were added.
• The explanation of J1OFFSET parameter was added.
• The explanations of robot status variable were corrected. (C_Mecha, C_Prg)
• The procedure of robot type resetting was added.
• The SpdOpt command and the SPDOPT parameter, and the cylinder limit function
(MECAR parameter) were added.
• The descriptions of Def Act and Return commands were corrected. (A linked page)
• Note was added to the explanation of Output signal reset pattern.
• The explanation of program selection rights setting were modified.
• Origin points were added to "Fig. 4-3: Base conversion".
• Commands which requires a control right by GetM command were listed.
• Errors of an output condition of EMGERR were added.
• The explanation of HANDENA parameter is modified.
• The explanations were added to the parameters of OVRDTB and OVRDENA.
• The example of program in “Table 6-1: Overall I/O signal map” was corrected.
(Formerly: If M_In(900) Then M_Out(900)=1)
• The explanation is added to the If...Then...Else...EndIf command.
• The Reference Program of M_Uar was corrected.
• The Note was added to the parameters of ROMDRV and CTN. (High-speed RAM
mode and Continue function cannot be used together.)
• The NETIP parameter factory setting value for FQ series was added.
• The error described in the explanation of the function of an AUTOENA parameter
was corrected to L5010.
• The description about the program capacity which is likely to cause misunderstand-
ing was deleted.
• Explanation(4) to (6) were added to Mvs command.
• The factory shipment signal number (output) in "Table 6-6:Table of dedicated input/
output" of parameters was corrected.
2014-03-31 BFP-A8869-J • The explanation of Spline interpolation function was added.
• The explanation of Ex-T control function was added.
• The OPTOVC parameter was added.
• X and Y axis elements of RV-4FJL in “Table 5-8: Valid axis elements of the tool con-
version data depending on the robot mode” were corrected to △.
• The parameters were added. (WTHFUNC, MVTERM, ESCMODE, PRGMODE,
SVDATA)
• The robot status variable is added. (M_LdFMax)
• The explanation of a free plane limit was complemented.
• The explanation of WthIf command was complemented.
2014-04-23 BFP-A8869-K • The description of [Reference Program] of status variables M_In32 and M_Out32
were corrected.
2014-08-06 BFP-A8869-M • The cover and corporate logo mark of this manual was changed

2014-08-21 BFP-A8869-N • Correction of errors.
• The explanation of R56/57TB in “3.10 Operation to Temporarily Reset an Error that
Cannot Be Canceled”.
• Dedicated input/output were added. (DOORSTS1, DOORSTS2, DOORSTS)
• The robot status variable is added. (M_ErCode, M_DIn32, M_DOut32)
• The explanation of Error, Act commands were modified.
• An example was added to Fine P command.
• The explanation of XClr command was modified.
• The functions of ACos and ASin were added.
2014-12-24 BFP-A8869-P • The JOGMENO parameter was added.
• The explanation to specify M_OPOvrd was added.
• In "5.11 Automatic execution of program at power up", the setting value of the
parameter ALWENA was corrected from "7" into "1" and step 17 was added to the
sample program.
• Correction of errors.
CallP command (Error: Speed is valid in a sub program)
SLOTINIT (Error: Do not function in the stop input state (when STOPSTS is ON).)
The lamp which blinks while the T/B is displaying the <OPERATION> screen in the
"ATUOMATIC" mode. (Error: [TB ENABLE] switch)
Table 6-7:Validity state of dedicated input signals (Error: SLOTINIT does not func-
tion in the stop input state (when STOPSTS is ON).)
• The explanation and the reference program about Break command were added to
For - Next and While - WEnd commands.
• The explanation when using skip command was added to WithIf command.
• The corporate logo mark of illustrations in this manual was changed.
• The explanation of Fine command was added.
2015-02-05 BFP-A8869-R • Correction of errors in XLoad command. (Error: A program name can be specified
also at the character string variables.)
2015-03-10 BFP-A8869-S • The explanation of NETIP parameter was modified.
• “Table 5-13: Port number to use” was added.
• The new function of S/W Ver.R5q (F-Q series) / S5q (F-Q series) was added.
Type resetting operation by T/B or RT ToolBox2 was added.
• The parameters (DRVMODE, NVJBTOUT) were added.
• The robot status variable is added. (M_RCInfo)
2015-10-30 BFP-A8869-T • The explanation of commands were modified. (Def Plt, Wait, Cmp Off)
• The explanation parameters were modified. (NETIP, UER1 to USR20, J1OFFSET)
• The commands were added. (EMvSpl, SplWrt, SplFWrt)
• The robot status variables were added. (M_ESpd, P_ECord)
• The functions were added. (SplSpd, SplPos, SplECord)
• “7.3 Spline interpolation” was modified.
• The parameter CATEGORY was added.
• The explanation of collision detection function was modified.
• The explanation of interference avoidance function was modified.
• The explanation of RV-50F series (RV-35F, RV-50F, RV-70F) were added.
• The explanation of RV-2FL was added to the parameter MVTERM.
• Correction of errors in Ovrd command. (Error: This instruction specifies the speed
of robot movement as a value in the range from 1 to 100%.)
• The explanation of M_Open was modified.
• Correction of errors in output signal reset pattern. (Error: ORST0 to ORST224)
• The explanation of Cooperation movement function was modified.
2016-04-07 BFP-A8869-U • The explanation of the get-position-quick function was added.
• Explanation of Def Plt, Spd, and Accel commands were modified.
• Parameters were added. (TBBZR, CTERME11 to 19, IOFIL, PRGDUP, AUTO-
SAVE, NETPSPEC, NETTERM, GOTPORT, OPNOOVRD, EHnPCM1 to 32,
EHnTCM1 to 32, EBRDTAG, EBWRTAG, OPSCRSPD, ALIGNTYP, MEXSBS,
MEXSTL, FBGAIN, PRGDPNTM, MOHW, MEINST, MEINSZ, MEOFFZ, MEINSD,
WKJOGNO, COLSERVO, HNDT, MFENA, MFWRNDAY, MFOPTIME, SRVSIM,
BRKLOCK)
• Parameters were deleted. (BACKUP, REATORE)
• The explanation of ColChk command was added.
Date Specifications No. Details of revisions

2016-09-09 BFP-A8869-V • "7.3 Spline interpolation" was complemented.
• Upgrade of the servo software was added.
• PVSCal command and parameter VSCALBn were added.
• A caution against performing relative calculation for 5-axis robots was added.
• The SKIP input was added to “Table 6-1: Overall I/O signal map”.
• The description of DWord (32 bits) was added to the Def IO command.
• The setting range of the designated speed was added to the Spd command.
• The description of the robot status variables J_Fbc/J_AmpFbc was added to (4) of
[Explanation].
2017-05-10 BFP-A8869-W • Description about the operation when a CPU error occurred in a PLC was added.
• Contact information of the authorized representative was updated.
Date Specifications No. Details of revisions