MELFA Robots Quick Setup Guide Bfp-A3550z

/

BFP-A3550

RV-F/RH-F Series RobotCR750/CR751 Robot Controller

Robot arm & Robot ControllerRobot arm & Robot ControllerQUICK SETUP GUIDEQUICK SETUP GUIDEThank you for purchasing the Mitsubishi industrial robot.This guide explains the procedure of unpacking and installation of the robot and the basic operations of the robot and robot controller.

RV-F/RH-F CR750/CR751

//

RV-F/RH-FCR750/CR751

//

/

Safety PrecautionsAlways read the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken.

Revision history

Date of Point Document number Revision Details 2015-xx-xx BFP-A3550 First Print

RV-FRH-F

CR750 CR751

/

RV-F/RH-F CR750/CR751

4

4

2

1

1

1-1.

1

1. 2.

(4

Rz25

RV

4

2

1-2. ( )

1

1.

2.

1-3. ( )

1 4

1.

2.

1-4. ( )

RV

RV

RV

RV

1

1-5. ( )

D 100

RH-12FH/20FH RH-3FH/6FH

(A)(B)

(C)

1

3

1. 2.

(4

RH

RH

2-1. ( )

1.

2.

2-2. ( )

1. 2. 3.

A

B

A,B

RH-3FH/6FH

RH-12FH/20FH

2 1 AB 1 C


4

4

1 4

1. 2.

2-4. ( )

RH

RH

2-3. ( )


A B

(1)

5

RH

1

2-5. ( )

D 100

(T/B)

T/B

CN1

CN2

ACIN

ACIN

PE

T/B

CN1

CN2

(PE)

CR750

CR751

CNUSR12

CNUSR11

CNUSR2

CNUSR1 CNUSR2

FD/FQ

6

2

CR750

CR751

/

ACIN

L2 L1L1 L2 L3 L1 L2 L3

ACIN

(PE)

ACIN

1 3

ACIN

(PE)

(NV)

AC200V

7

1.

OFF

( )

ACIN 13

ACIN

PE

1

OFF

ACIN

1

8A

2

(

A

CNUSR2

3mm

50 26

25 1

CNUSR2

1

A

1 16

A

7mm

2

CNUSR12

CNUSR11

2.

2

3mm

(CNUSR2) 1

1

CR750

CNUSR11/12

7mm

(CNUSR11/12)

2

CNUSR2

1

A

2

(

A

CNUSR2

3mm

CNUSR1

50 26

25 1

CNUSR2

CNUSR1

CR750 CR751

CNUSR12CNUSR11

CNUSR2

300mm

(2 )

CNUSR

2

3mm

(CNUSR CNUSR2) 1

1

1 CR751

CNUSR1/2

9

AMP1 AMP2 BRK

CN 2

TB RIOCN2

T/B

ACIN

T/B

CN 1 CN 2CN 2CN 1

AMP1

AMP2 CN 2

RV-4F

RH-6FH

10

1 CN1CN2

3.

CR750

CR751

4.T/B

CR750

1 OFF

T/B

CR751

1 OFF

T/B 2

QCPU

FQ series

11

3

1

Q50UDEHCPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

MITSUBISHI

Q0SUDSPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

MITSUBISHI

Q50UDEHCPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

CPU

3.

1. 2.

1

1

4.

1

1 CPU

5. CPU

12

1

6. CPU

LITI

UM

BA

TTE

RY

MIT

SUBI

SHI

Dont remove this connectorbecause data is lost.

CAUTION

CPU

CPU

Q50UDEHCPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

CAUTION

Q172DRCPU

CN1

EMI

DISPLAY I/F

CON3 OPTDCOUT CNDISP

CR751 CR750

TU I/F

CPU

Q50UDEHCPUMODE

RUNERR

USERBAT

BOOT

Pull

RS-232

USB

PC

PC

OK

QCPU(Q)

FQ series

13

CPU

GX Works2 + RT ToolBox2GX Works2RT ToolBox2USB GX Developer5

1. GX Works2

1 USB

2 GX Works2

3

4

P

OK

4

14

5

PC

6

7

8

MELSOFT

OK

OK

PC PC

PC

: : PC :

+

MELSOFT

OK

OK

USB

CPU

I/F

I/F

15

2. GX Works2 CPU

1 GX Works2 PC

2

3

PC

Q

CPU

CPU

16

3.

1 PC

GX Works2 RT ToolBox2

2

PC

3 MELSOFT

PC

4 PC PC

MELSOFT

PC

+

PC

: : PC :

Q50UDEHCPUMODE

RUNERR

USERBAT

BOOT

Pull

RS-232

USB

PC

PC

OK

QCPU(Q )

FQ series

17

CPU

(GX Developer + RT ToolBox2)

GX DeveloperRT ToolBox2USB

1. GX Developer

1 USB

2 GX Developer

3

4

5

GX Works24

P

OK

18

5

6

7

PC

PC

PC

USB

CPU

I/F

PC I/F

+

19

2. GX Developer CPU

1 GX Developer PC

2

3

4

Q

Q

PC

CPU

CPU :

CPU

20

3.

1 PC

PC

3 MELSOFT GX Developer

2

PC

GX Developer RT ToolBox2

PC

+

FQ series

21

6

1 RT ToolBox2

2

4

3

1. RT ToolBox2

OK

4

OK

CRnQ

CRnQ-7xx/CR75x-Q

CRnQ-7xx/CR75x-Q

CRnQ-7xx/CR75x-Q

CRnQ

USB

I/F

22

5

C R n Q

CRnQ-7xx/CR75x-Q

CRnQ

6

1. CPU

USB

1. CPU

23

7

8

1

2. RT ToolBox2 CPU CPU

RT ToolBox2

CPU

OK

CRnQ

OK

OK

CRQ

2

OK

OK

: 2

CPU

CRnQ-7xx/CR75x-Q

24

2

4

CPU CPU

3

CPU

1.

2.

5

CPU

CPU

25

7FD/FQ

1.

2.

1 ON

1

2

AR311002

2 CONBOX

[ RESET ]

C0150 STATUS.NUMBER

Q ON ON

STATUS.NUMBER

CONBOX

CONBOX

Date Default D V!%S29 J1 06DTYY J2 2?HL9X J3 1CP55V J4 T6!M$Y J5 Z2IJ%Z J6 A12%Z0 (Method) E E N SP E N SP E N SP

ON

RESETRESET

STATUS.NUMBER

RV-4F

C0150

F2 F4

POWER ENABLE SERVO ERROR

F1 F3

F2 F4


F1 F3

1.Configuration2.Com.Information

Rset


Rset

[F1] 1 Configuration

F1

RESETRESET

F2 F4F4


F1 F3 F3F3

F1F1

ON

OFF

F3

EXE

(T/B)

F1

F2

26

8

(T/B)

1 OFF

2

3

[ F 1] 1 Configuration

[ RESET ]

(T/B)

[ F 1 ] [ F 3 ] ON

FD/FQ

F2

POWER ENABLE

F1 F2

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE =

-(J3) +(J3)

+(J4)-(J4)

-(J5) +(J5)

+(J6)-(J6)

( ) ( )

EXE

F2 F4F4

POWER ENABLE SERVOSERVO ERRORERROR

F1 F3F3

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE =

-(J3) +(J3)

+(J4)-(J4)

-(J5) +(J5)

+(J6)-(J6)

( ) ( )

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE =

-(J3) +(J3)

+(J4)-(J4)

-(J5) +(J5)

+(J6)-(J6)

( ) ( )

F2 F4


F1 F3

F1

1.Save and Exit

2.Exit without Save

Prev

1.Default Language

2.Contrast

Next

002

JPN

BackF2

F1

EXE

EXE

27

[ EXE ]

[ EXE ]

[ F 1 ] [ F 2 ] JPN

[ F 1 ] 1.Save and Exit

4

5

6

F2

EXE

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE =

-(J3) +(J3)

+(J4)-(J4)

-(J5) +(J5)

+(J6)-(J6)

( ) ( )

1.Configration

2.Com.Information

Rset

EXE

28

7

8

[ EXE ]

MELFA CR75x-D Ver. S5RV-4F-D

COPYRIGHT (C) 2014 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED

(T/B)

F3

EXE

F4

F1

CHARACTER

EXE

FD/FQ

29

9

CLEAR

[ EXE ]

1.

1

< > _

123 NextPrev

< > _

ABC NextPrev

123

ABC

3+Z (J3)

DEF

EXE

CHARACTER

1

2

ABC

FUNCTIONSTOP

S E R VO

OVRD

F2 F4


F1 F3

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )3+Z (J3)

DEF

CHARACTER

CLEAR

EXE

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

< >

1. 2. 3. 4. 5.

123

30

2 3 [ 3 DEF ]

3

4

RBSERIAL

[ 7 PQRS ] 3

F4

F4

RBSERIAL [ ] [ EXE ]

- Y (J2) +Y (J2)

- X (J1) +X (J1)

FUNCTIONSTOP

S E RVO

OVRD

F2 F4


F1 F3

MONITOROVRD

JOG 1 2 3ABC DEF- Z (J3) +Z (J3)

( ) ( )

3+Z (J3)

DEF

< >

1. 2. 3. 4. 5.

ABC

ABC

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

7PQRS

< > _

ABC NextPrev

RBSERIAL

F4F2 F4POWER ENABLE SERVO ERROR

F1 F3

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

- Y (J2) +Y (J2)

EXE

31

[ F 1 ]

6

7

8

9

5

MODEMANUAL

(T/B) [ ENABLE ] ENABLE

[ F 4 ] ()

[ EXE ]

ENABLE

F1

< > RBSERIAL_ ABC

123 PrevNext

[F1]

MODEMANUAL AUTOMATIC

ENABLE

F2 F4


F1 F3

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

EXE

F2 F4


F1 F3

< > _ XXXXXXXXXX_

ABC PrevNext

123

< >

1. 2. 3. 4. 5.

F4

(T/B)

F 1

EXE

CHARACTER CREAR

ENABLE

STATUS.NUMBER

MODE

OFF

ON

STATUS.NUMBER


ENABLE

. 100

. 100 STATUS.NUMBER

32

10

1. (T/B)

ON

4

5

MODEMANUAL

1 OFF

2

3

(T/B) [ ENABLE ] ENABLE

FD/FQ

33

[EXE] 4. [ 4 GHI ]

7

8

9

6

1. [ 1 ( ) ]

1. [ 1 ( ) ]

EXE

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

RESET EXE0 SPACE- @=+C (J6)- B (J6)

HAND

CHARACTER

RESET

CLEAR

EXE

4 5 6

7 8 9

0

MONGHI JKL

PQRS TUV WXYZ

SPACE- @=

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

< >

1. 2. 3. 4. 5.

123

123

< >1. 2.

123

< >1. 2. 3. 4.ABS5.

< > D : ( )J1 ( ) J2( ) J3( )J4 ( ) J5( ) J6( )J7 ( ) J8( )

123

4 GHI

EXE

1 ( )

1 ( )

EXE

34

CLEAR

1 ( ) ( ) - @=+C (J6)

12

11

10

D [ ] [ ]

[ CHARACTER ]

D V!S29

V [ 8 TUV ]


4J1,J2,J3,J4

S ER VO

OVRD

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

HAND

CHARACTER

RESET

CLEAR

EXE

4 5 6

7 8 9

0

MONGHI JKL

PQRS TUV WXYZ

SPACE- @=

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6) 8 TUV- B (J5)

1 ( )

- @

+C (J6)

Once Twice Three Four Five Six Seven Eight Nine times times times times times times times ( ) ^ : ; \ ?

@ = + - * / < >

, % # $ ! & _ .

< > D : ( )J1 ( ) J2( ) J3( )J4 ( ) J5( ) J6( )J7 ( ) J8( )

123

D

< > D : ( )J1 ( ) J2( ) J3( )J4 ( ) J5( ) J6( )J7 ( ) J8( )

ABC

v

ABC

CHARACTER

35

14

15

16

13 ! S 2 9

[ ] J1

J6

V!S29

[ EXE ]

[ F 1 ]

[ F4 ]

[ ]

[ ] 1

< >

ABC

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- B (J6)

( ) ( )

- Y (J2) +Y (J2)

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

- Y (J2) +Y (J2)

FUNCTIONSTOP

S E R VO

OVRD

F2 F4


F1 F3

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

< > D:( )J1 ( ) J2( ) J3( )J4 ( ) J5( ) J6( )J7 ( ) J8( )

ABC

V!%S2906DTYY 2?HL9X 1CP55VT6!M$Y Z2IJ%Z A12%Z0

< > D : ( )J1 ( ) J2( ) J3( )J4 ( ) J5( ) J6( )J7 ( ) J8( )

ABC

V !

< > D:( )J1 ( ) J2( ) J3( )J4 ( ) J5( ) J6( )J7 ( ) J8( )

ABC

V!%S29

F1

EXE

F4

+C (J6)

FD/FQ

36

11

1.

2

1 (T/B) [ ENABLE ] ENABLE

(T/B) [ JOG ]

[ F ]

S ER VO

OVRD

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

(T/B)ENABLE

EXE

CHARACTER

JOG

SERVO

ENABLE

< > 100 M1 TOJ1: +0.00 J5: +0.00J2: +0.00 J6: +0.00J3: +90.00 : J4: +0.00 :

JOG 3

JOG

JOGJOG

37

4

6

3 [ OVER] [ OVER ] 10

5

(T/B) [ SERVO ]

(T/B) SERVO LED

[ -X(J1) ] [ +X(J1) ]

F4

ERRORERROR

FUNCTIONSTOP

S E R VO

OVRD

F2

POWER ENABLE SERVOSERVO

F1 F3

- X (J1) +X (J1)

F4

ERRORERROR

FUNCTIONSTOP

S E R VO

OVRD

F2


F1 F3

- X (J1) +X (J1)

F4

ERRORERROR

FUNCTIONSTOP

S E RVO

OVRD

F2


F1 F3

- X (J1) +X (J1)

FUNCTIONSTOP

S E R VO

OVRD

F2 F4


F1 F3

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

- X (J1) +X (J1)

SERVO

OVRD OVRD

< > 10 M1 TOJ1: +0.00 J5: +0.00J2: +0.00 J6: +0.00J3: +90.00 : J4: +0.00 :

JOG 3

10

10

SERVO LED

OFF

J4

J2

J3

J1

J4

J3

J6

J5

J1

J2

J1

38

9

8

7

10

(T/B)

D OFF

Q CPU

S E RVO

OVRD

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

2 3

5 6

8 9

0

MON

ABC DEF

JKL

TUV WXYZ

SPACE

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

MELFA

100-8310 2-7-3

052-721-0100 9:00 19:00 9:00 17:00 ( )

RV-F/RH-F Series RobotCR750/CR751 Robot Controller

RH-F Series Robot RV-F Series Robot

CR750 Robot Controller CR751 Robot Controller

Robot arm & Robot ControllerRobot arm & Robot ControllerQUICK SETUP GUIDEQUICK SETUP GUIDEThank you for purchasing the Mitsubishi industrial robot.This guide explains the procedure of unpacking and installation of the robot and the basic operations of the robot and robot controller.

Installation holesfor hexagon socketboltsx4

Robot arm Robot Controller

Installation holesfor hexagon socket boltsx4

2

Spanner

Hexagonalwrench

Wooden fixing board

(2) Cardboard

Nut

(3)

(1) Tape

Robot arm

1Products to be prepared and part names

The following briefly describes the procedures from unpacking to grounding.

Tools to be used

Customer-prepared items

Lifting wire

Hand cart Installation stand Cutter Spanner

Hexagonalwrench

Phillips headscrewdriver

Crane

Grounding cable Grounding screw

Installation surface roughness (Rz25 or lower)

1

1-1. Unpack the robot. (Vertical, multiple-joint type robot)

(1) Cut the tape.

CAUTIONCAUTION

Remove the nuts (four positions) that fix the robot base to the fixing board.

1. Always unpack the robot with another worker.

2. Always unpack the robot at a flat place.

(2) Pull out the cardboard.

(3)

1

RV

Eye bolt

Suspension fittingFixing plate

Wire

Hexagon socket boltsat four positions

Suspension fitting

Fixing plate

Grounding cable

Grounding screw

(1)

(2)

Hexagonalwrench

1-2. Transport the robot with a crane. (Vertical, multiple-joint type robot)

Hook the wires to the eyebolts attached to the suspension fitting and lift the robot softly.

1-3. Install the robot on the level surface of an installation stand.(Vertical, multiple-joint type robot)

Fix the robot with the hexagon socket bolts at four positions to the level surface of the installation stand (such as a surface plate).

1. When installing the robot, reserve enough space for maintenance.

2. When installing the robot controller, reserve enough space for heat dissipation and aeration.

1

CAUTIONCAUTION

1

CAUTIONCAUTION1. Make sure that the wires and other tools do not

interfere with the robot arm or the covers.2. Do not subject the robot to vibration or shock

during transportation to the installation place as much as possible.

1-4. Remove the suspension fittings and fixing plates. (Vertical, multiple-joint type robot)

1

1-5. Conduct the dedicated grounding for the robot, separated from the grounding for other devices. (Vertical, multiple-joint type robot)

CAUTIONCAUTIONThe grounding resistance must be 100 or lower.

(1) Separate the grounding for the robot and for the robot controller if possible. (2) Connect a grounding cable to the grounding screw section of the robot.

2

RV

RV

RV

RV

Wooden fixing board

(2) Cardboard

RH-12FH/20FH

(1) Tape

Robot armSpanner

Hexagonalwrench

Nut

(3)

Hexagon socket bolts

Hexagonalwrench

RH-3FH/6FH

(A)(B)

(C)

Fixing plate A

Transportation of robot arm

Fixing plate B

Eye bolt

Suspensionfitting

Self-supportingplate Fixing

plate

Wire

Wire fook

1

CAUTIONCAUTION

2-1. Unpack the robot. (Horizontal, multiple-joint type robot)

Remove the hexagon socket bolts or nuts (four positions) that fix the robot base to the fixing board.

1. Always unpack the robot with another worker.

2. Always unpack the robot at a flat place.

(1) Cut the tape.(2) Pull out the cardboard.(3)

3

(1) Place the robot with the fixing plate A and B attached on a cart and transport it near the installation place.

(2) Hold the robot with another worker and place it on the installation place.much as possible.One person should hold (A) and (B) and another person should hold (C).

RH-3FH/6FH Series

CAUTIONCAUTION1. Do not hold the robot from the left and right sides.2. Do not hold the cover of the robot.3. Do not subject the robot to vibration or shock during

transportation to the installation place as much as possible.

RH-12FH/20FH Series

(1) Hook the wires to eyebolts attached to the suspension fitting and lift the robot softly.

CAUTIONCAUTION1. Make sure that the wires and other tools do not

interfere with the robot arm or the covers.2. Do not subject the robot to vibration or shock during

transportation to the installation place as much as possible.

2-2. Transport the robot. (Horizontal, multiple-joint type robot)

RH

RH

RH-3FH/6FH SeriesRH-12FH/20FH Series

Hexagon socket boltsat four positions

Suspension fitting

Self-supportingplate

Fixing plate

Fixing plate A Fixing plate B

RH-3FH/6FH SeriesRH-12FH/20FH Series

Hexagonalwrench

2-3. Install the robot on the level surface of an installation stand.(Horizontal, multiple-joint type robot)

Fix the robot with the hexagon socket bolts at four positions to the level surface of the installation stand (such as a surface plate).

1. When installing the robot, reserve enough space for maintenance.

2. When installing the robot controller, reserve enough space for heat dissipation and aeration.

1

CAUTIONCAUTION

4

2-4. Remove the suspension fittings, self-supporting plate and fixing plates.(Horizontal, multiple-joint type robot)

RH

RH

(1)

Grounding cable

Grounding screw(2)

5

1

2-5. Conduct the dedicated grounding for the robot, separated from the grounding for other devices. (Horizontal, multiple-joint type robot)

CAUTIONCAUTIONThe grounding resistance must be 100 or lower.

(1) Separate the grounding for the robot and for the robot controller if possible. (2) Connect a grounding cable to the grounding screw section of the robot.

RH

ACIN connector

PE terminal

PE terminal

Power switch ACIN terminal

T/B connectionconnector

T/B connection connector

Machine cable connector(motor signal) (CN1)

Machine cable connector (motor power) (CN2)

Controller cover

CNUSR1 connector

CNUSR2 connectorCNUSR12 connector

CNUSR11 connector

CNUSR2 connector

Motor power connector (CN1)

Motor signal connector (CN2)

Robot arm Teaching pendant (T/B)

CR750 controller

CR751 controller

6

Cables and tools to be used

Customer-prepared itemsStandard items

External emergency stop cable

x4 x4 x4

Precision screwdriverPhillips head screwdriver

Enabling device cableDoor switch cable

Motor power cableMotor signal cable

Controller Grounding cableController Power cable

2 Connect the cables.Products to be operated and part names

common to FD/FQ

CR750 controller

Grounding ACIN terminalL1

Single phase primary power supply

N/L2terminal (PE)

ACIN terminalL1 L3L2

Three phase primary power supply

Groundingterminal (PE)

ACIN terminalL1 L3L2

Single phase primary power supply

Groundingterminal (PE)

* The controller is an example.

Note 1) Fix the primary power cable to the terminal with the screw.

Screw size: M4Solderless terminal: 8 or less

Recommendation: 2-M4 (JAPANESE SOLDERLESS TERMINALS CO.,LTD.)

Wire size: AWG #14(2mm2)/ for M4 screw.Note 2) Non-CE specification: L2

CE specification: NNote 3) In the CE specification, as shown in the figure, con-

nects the noise filter (SUP-EL20-ER6) of attach-ment between ACIN terminal blocks and primary power supply.

Note 2)

LINE/LOAD LINE/LOAD

LINE/LOAD LINE/LOAD

Noise filter (attachment)Type: SUP-EL20-ER6

LabelNote 3)

Type A or C: For single phase Type B: For three phase

Note 1)

Type B: For single phase

Note 1)

ACIN terminalRemove the cover and confirm the type of the terminal.

Note 1)

1. Connect the grounding cable to the power supply of the robot controller.

1 (1) Check that the primary power supply is off.(2) Check that the power switch on the front of the controller is off.(3) Remove the cover of the power supply terminal block.(4) Connect the connection cable for the primary power supply to the ACIN terminal block of the

controller.(5) Connect the grounding cable for the primary power supply to the grounding terminal of the

controller.(6) Install the cover of the power supply terminal block.

CAUTIONCAUTIONWhen fixing the power cable to the ACIN terminal block with screws, be sure to hold the crimp terminal with your hand to ensure that it does not rotate while fastening screws.The dividers between terminals of the ACIN terminal block are fragile and may break if pressed.

7

8CR751 controller

PE terminal

Grounding screw

Controller

Connector

AC200V AC200V

Connector

Primary

Secondary

PE terminal

Grounding screw

Note 2)

Controller

LINE/LOAD

LINE/LOAD LINE/LOAD

LINE/LOAD

Noise filter

Label

1

ACIN connector or power cable (Attachment)

Note 1)

For three phaseFor single phase

Three phase Single phase

Earth leak-age breaker

(NV)

Note 3)

32132

ACIN connector

* The controller is an example.

CAUTIONCAUTIONUse an earth leakage breaker (customer preparation) in the primary power supply circuit of the controller to prevent short circuit.

1. Connect the grounding cable to the power supply of the robot controller.

1 (1) Check that the primary power supply is off.(2) Check that the power switch of the earth leakage breaker is off.(3) Connect the connection cable for the secondary power to the secondary terminal (lower

terminal) of the earth leakage breaker.(4) Connect the opposite side of this cable to pins 1 and 3 of the attached ACIN connector for the

power supply connection.(5) Connect this connector to the ACIN connector on the front of the controller.(6) Connect the grounding cable for the primary power supply to the PE terminal of the controller.(7) Connect the connection cable for the primary power supply to the primary terminal (upper

terminal) of the earth leakage breaker.

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)

ACNUSR2

3mm

CNUSR2 Connector

50 26

25 1

CNUSR2

1 16

A

7mm

CNUSR12

CNUSR11

View A

View A

(4)

Pin number 1 at upper right

Cable insert point

Plug

Connector cover

Soldering

Pin number of connector

Driver

Connector fixing screw(Two places)


Cable fixing screw

(3)

(3)

(2)

(1)Connector for user wiring

Connecting cable

Connecting cable

(1) (4)

(4)

(1)

(2)

(2)(Pin number of plug)

Remove the connector cover.

Connector for user wiring

9

(1) Loosen the two fixing screws on the cover of the attached connector for user wiring to remove the cover.

(2) Peel the insulation of the connecting cable by 3mm, and solder the cable to the appropriate connector pin.

(3) After soldering the cables, fix the connector cover using the same fixing screws.(4) Connect this connector to the corresponding connector (CNUSR2) on the controller.

With the direction with pin number 1 located at upper right, insert the connector firmly until the connector latch clicks.

2. Connect an external emergency stop switch or other switches of the robot controller for safety.

1

CNUSR11/12 Connector

(1) Loosen the cable fixing screw at the cable slot with a screwdriver.

(2) Peel the insulation of the connecting cable by 7mm, and insert it into the corresponding cable slot of the connector.

(3) Fix the inserted cable securely by tightening the cable fixing screws.

(4) Connect the connector to the corresponding connector (CNUSR11 or CNUSR12) on the controller. (With the cable fixing screw side up)

(5) Fix the connector securely by tightening the connector fixing screws at two positions.

CR750 controller

If you do not connect an external emergency stop, etc., you will not be able to operate the related error occurs robot.

(1) Loosen the two fixing screws on the cover of the attached connector for user wiring to remove the cover.

(2) Peel the insulation of the connecting cable by 3mm, and solder the cable to the appropriate connector pin.

(3) After soldering the cables, fix the connector cover using the same fixing screws.(4) Connect this connector to the corresponding connector (CNUSR1 or CNUSR2) on the controller.

With the direction with pin number 1 located at upper right, insert the connector firmly until the connector latch clicks.

CN USR Connector

A

CNUSR2

3mm

CNUSR1

50 26

25 1

CNUSR1/2 Connector

CNUSR2

CNUSR1

CR751 controller

Remove the connector cover.

Connector for user wiring

View A

Pin number 1 at upper right

Plug

Connector cover

Soldering


Connecting cable

(1) (4)

(4)

(4)

(1)

(2)

(2)

(Pin number of plug)

Ferrite core(Pass twice)

Within 30cm

CR750 controller (Rear side) CR751 controller (Front side)

CNUSR12 connector

CNUSR11 connector

CNUSR2 connector

2. Connect an external emergency stop switch or other switches of the robot controller for safety.

10

AMP1 AMP2 BRK

CN 2

TB RIOCN2

AMP1

AMP2 CN 2

(1) Check that the power switch is off.(2) Insert the T/B connector to the controller

firmly until it clicks.(3) Connect the robot controller to an

electrical outlet.

CR750 controller

CR751 controller

CR750 controller

CR751 controller

Electrical outlet(3)

Electrical outlet(3)

(2)

(1)

1

1

(1) Check that the power switch is off.(2) Connect the T/B connector to the

controller an tighten the hand locks (two positions) to secure the connection.

(3) Connect the robot controller to an electrical outlet.

1

Connect the motor power cable (CN1) and motor signal cable (CN2).

CN 1 CN 2CN 1 CN 2

Power switch


(2)

(2)

(1)


Hand locks (two positions)

Motor power cable

Motor power cable

Motor signal cable

Ex.) RV-4F

Ex.) RH-6FH

Motor signal cable

Machine cables

Controller side

Robot arm side

Teaching pendant (T/B)


The cables are passed into the opening

After connecting the connectors, prevent the connector from being disconnected with the hook.

Hook position after fixed

ACIN connector

3. Connect the robot and robot controller.

4. Connect the teaching pendant (T/B) and controller.

11

12

3

1

For the Q-series programmable controller, connect a drive unit and robot CPU module to the robot controller following the procedure below.

The following briefly describes the procedures from unpacking to grounding.

1. Prepare a base unit.

3. Connect a cable to the power supply module.

4. Mount a CPU module to the base unit.

5. Mount a robot CPU module to the base unit.

2. Mount a power supply module.

1

1

1

Mount a power supply module to the base unit.

Mount a CPU module next to the power supply module.

(1) Prepare a power supply cable.(2) Open the cover of the power supply module and connect

the power supply cable to the power supply terminal behind the cover.

A battery unit is connected to the robot CPU module.

FQ series

Q50UDEHCPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

MITSUBISHI

Q0SUDSPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

MITSUBISHI

Q50UDEHCPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

CPU module

(1) Power supply cable (2) Power supply terminal

(2) Cover

Base unit

Base unit

Power supply module

CPU moduleCPU module

Base unit

Power supply module

Base unitRobot CPU module

Battery unit

Power supply module

Q50UDEHCPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

CAUTION

Q172DRCPU

CN1

EMI

DISPLAY I/F

CON3 OPTDCOUT CNDISP

CR751 Drive unit CR750 Drive unit

TU I/F

CAUTIONCAUTIONWhen leading the cables for wiring, do not apply excessive force on the connector or rapidly bend the cable.

LITI

UM

BA

TTE

RY

MIT

SUBI

SHI

Dont remove this connectorbecause data is lost.CAUTION

CAUTION

Dont remove this connectorbecause data is lost.

CAUTIONCAUTION Robot CPU module Battery unitThe robot CPU module stores robot information. Do not remove the battery unit because the data is deleted when it is removed.

13

6. Connect the drive unit and robot CPU module with the attached cable.

1 (1) Check the connection target indications of each connector and slot to insert the correct connectors into the correct slots.

(2) Tighten the retaining screw for the TU cable.

Q50UDEHCPUMODE

RUNERR

USERBAT

BOOT

Pull

RS-232

14

1

2

3

4

4 Configure the programmable controller communication setting and multiple CPU settings.Software to be prepared (GX Works2 + RT ToolBox2)

1. Configure the programmable controller communication setting in GX Works2.

* This chapter describes the procedure for when the personal computer and programmable controller are connected with a USB cable.

* When using "GX Developer", refer to chapter 5.

(1) Select "QCPU (Q mode)" from the PLC series.(2) Click "OK".

Install "GX Works2" and "RT ToolBox2 Robot Total Engineering Support Software" in advance referring to the manuals of each software.

Connect the personal computer and programmable controller with a USB cable.

Start GX Works2.

Select "Read from PLC" in "Online" from the menu.

The "PLC Series Selection" window appears.

FQ series

USB cable

[ Screen at startup ]

Read from PLC

Online

QCPU (Q mode)

(2) OK

[ PLC Series Selection ] window

(1)

[ Transfer Setup ] window

(1) (2)

(3)

(4) Serial USB

PC side I/F

PLC side I/F

Other Station Setting

No Specification

Connection Test

CPU Module

(1)

(2)

(3)

OK

OK

[ MELSOFT Application ] window

[ Transfer Setup ] window(2)

Connection status

[ Online Data Operation ] window

(1)

(2)

Parameter + Program

Selected

Execute(3)

[ Read from PLC ] window

(1)

(1) Close

Parameter Upload: CompletedBoot File Upload: Completed

Read from PLC: Completed

(1)

15

5

6

7

8

(1) PC side I/F: Select "Serial USB".(2) PLC side I/F: Select "CPU Module".(3) Other Station Setting: Select "No Specification".(4) Click "Connection Test".

The "Transfer Setup" window appears.

(1) Click "OK" to return to the "Transfer Setup" window.

(2) Click "OK" on the "Transfer Setup" window.

The connection status is displayed on the "MELSOFT Application" window.

(1) Click "Parameter + Program".(2) Check that the check boxes of the

corresponding data (program and parameter) are selected.

(3) Click the "Execute" button.

The "Online Data Operation" window appears.

If any of the check boxes is not selected, select it.

(1) When reading the data from the programmable controller is completed, click "Close".

(2) The display returns to the "Online Data Operation" window.

(3) Click "Close" on the "Online Data Operation" window.

The "Read from PLC" window appears and reading the data from the programmable controller starts.

16

1

2

3

2. Configure the multiple CPU settings in GX Works2.

(1) Select the "Multiple CPU Setting" tab.

Click "PLC Parameter" in "Parameter" on the left of the GX Works2 window.

The "Q Parameter Setting" window appears.

(1) Change the setting for "No. of PLC" to "2".

(2) Change the points of the PLC No. 1 and 2 in "Multiple CPU High Speed Transmission Area Setting" to "1".

(3) Click the "End" button.

The "Multiple CPU Setting" window appears.

Do not configure the setting for the robot CPU.

CAUTIONCAUTION

Parameter

PLC Parameter

[ Q Parameter Setting ] window

Multiple CPU Setting(1)

[ Multiple CPU Setting ] window

No. of PLC

"End" button

(1)

(2)

(3)

Multiple CPU High Speed Transmission Area Setting

Write to PLC

Online

[ Online Data Operation ] window

(1)

(3)

(2)

Parameter + Program

Selected

Execute

[ MELSOFT Application ] window

(2) (1)

[ Write to PLC ] window

(1)

(1) Close

Parameter Write: CompletedBoot File Write: Completed

Write to PLC: Completed

The setting in GX Works2 is now completed.Next, configure the setting in Robot Total Engineering Support Software "RT ToolBox2".

17

11

2

3

4

3. Write the set parameter to the programmable controller.

Click "Write to PLC" in "Online" from the menu.

(1) Click "Parameter + Program".(2) Check that the check boxes of the

corresponding data (program and parameter) are selected.

(3) Click the "Execute" button.

The "Online Data Operation" window appears.

(1) The message "Do you want to write to PLC?" appears. Click "Yes".(2) The message "Are you sure you want to overwrite the existing file?" appears.

Click "Yes to all".parameter) are selected.

The "MELSOFT Application" window appears.

(1) When writing the data to the programmable controller is completed, click "Close".

The "Write to PLC" window appears and writing the data to the programmable controller starts.

If any of the check boxes is not selected, select it.

Q50UDEHCPUMODE

RUNERR

USERBAT

BOOT

Pull

RS-232

USB cable

[ Screen at startup ]

Online

Read from PLC

[ PLC Series Selection ] window

QCPU (Q mode)

(2) OK

(1)

18

1

2

3

4

5 Configure the programmable controller communication setting and multiple CPU settings.Software to be prepared (GX Developer + RT ToolBox2)

1.Configure the programmable controller communication setting in GX Developer.

* This chapter describes the procedure for when the personal computer and programmable controller are connected with a USB cable.

* When using "GX Works2", refer to chapter 4.

(1) Select "QCPU (Q mode)" from the PLC series.(2) Click "OK".

Install "GX Developer" and "RT ToolBox2 Robot Total Engineering Support Software" in advance referring to the manuals of each software.

Connect the personal computer and programmable controller with a USB cable.

Start GX Developer.

Select "Read from PLC" in "Online" from the menu.

The "PLC Series Selection" window appears.

FQ series

(1) (2)

(3) (4)

Serial USB

No SpecificationConnection TestPLC module

[ Transfer Setup ] window

(1)

(2)

PC side I/F

PLC side I/F

Other Station Setting(3)

(3)

(2) Selected

Execute

[ Read from PLC ] window

(1) Parameter + Program

19

5

6

7

(1) PC side I/F: Select "Serial USB".(2) PLC side I/F: Select "PLC module".(3) Other Station Setting: Select "No

Specification".(4) Click "Connection Test".

The communication test is completed.

The "Transfer Setup" window appears.

(1) Click "Parameter + Program".(2) The check boxes of the

corresponding data are selected.(3) Click the "Execute" button.

The "Read from PLC" window appears.

The data is read from the programmable controller and the "completed" window appears.

Parameter

PLC Parameter

20

1

2

3

4

2.Configure the multiple CPU settings in GX Developer.

(1) Click the "Multiple CPU settings" button.

Click "PLC Parameter" in "Parameter" on the left of the GX Developer window.

The "Q Parameter Setting" window appears.

(1) Change the setting for "No. of PLC" to "2".

(2) Change the points of the PLC No. 1 and 2 in "Multiple CPU High Speed Transmission Area Setting" to "1".

(3) Click the "End" button.

The "Multiple CPU settings" window appears.

(1) The text color of the "Multiple CPU settings" button is changed to blue. (The color before the setting is pink.)

(2) Click the "End setup" button again.

The display returns to the "Q parameter setting" window.

Do not change the setting for "Automatic Refresh" of the robot CPU.

CAUTIONCAUTION

(1)

[ Q Parameter Setting ] window

Multiple CPU Setting

[ Multiple CPU settings ] window

No. of PLC

"End" button

Do not set the auto refresh.

(2)

(3)


(1)

(1)

[ Q parameter setting ] window

"Multiple CPU settings" button (Text color: Blue) End setup(2)

Online

Write to PLC

[ Write to PLC ] window

(1)

(3)

(2)

Parameter + Program

Selected

Execute

21

1

3

2

3.Write the set parameter to the programmable controller.

Click "Write to PLC" in "Online" from the menu.

The "Write to PLC" window appears.

(1) Click "Parameter + Program".(2) The check boxes of the

corresponding data are selected.(3) Click the "Execute" button.

(1) The message "Do you want to write to PLC?" appears. Click "Yes".(2) The message "Are you sure you want to overwrite the existing file?" appears. Click "Yes to all".(3) The message "completed" appears.

The "MELSOFT series GX Developer" window appears.

(1)

(3)

(2)

The setting in GX Developer is now completed.Next, configure the setting in Robot Total Engineering Support Software "RT ToolBox2".

[Screen at startup]

[ Creating a new workspace ] window

Opened workspace

"Edit Project" icon

Workspace

New

(2) OK

(1) Workspace name

(1) Title

(1)

FQ series

22

1

2

4

6

3

Configure the setting for Robot Total Engineering Support Software.

1.Configure the communication setting in RT ToolBox2.

(1) Input a workspace name and title.(2) Click "OK".

Start RT ToolBox2.

Select "New" in "WorkSpace" from the menu.

The "Creating a new workspace" window appears.

(1) Click the "Edit Project" icon.

The workspace with the input name opens.

23

6

(1) Select "CRnQ-7xx/CR75x-Q" from the controller.

(2) Select "CRnQ" from "Method".

(3)Click the "Detail" button.

The "Edit Project" window appears.

(1) PC side I/F: Select "USB".(2) Root: Select "1 Serial port PLC module connection".(3) Click the "Detail" button.

The "CRnQ communication setting" window appears.

[ CRnQ communication setting ] window

(1) PC side I/F

(1) Select "USB"

(2) Root

(3) Detail

CRnQ-7xx/CR75x-Q

CRnQ-7xx/CR75x-Q

[ Edit Project ] window


(1)

(1)

(2)

(2)

Controller

Method

Select "CRnQ-7xx/CR75x-Q"

Select "CRnQ"

(3) Detail

5

(2) Select "1 Serial port PLC module connection".

24

7

8

1

2.Configure the multiple CPU settings for the robot CPU in RT ToolBox2.

(1) Set "Target CPU" to "CPU2".(2) Click the "OK" button.(3) The display returns to the "CRnQ

communication setting" window. Click the "OK" button.

The "CRnQ communication detail setting" window appears.

(1) Select a model for "Model Selection for Offline".(2) Click the "OK" button.

The "Edit Project" window appears.

(1) Click the "Online" button.(2) Wait for the communication server to be

online.

To configure the multiple CPU settings while communicating with the robot, connect the robot and RT ToolBox2 online.

The communication setting is completed.


(1)

(1)

(2)OK

Select a model name.

Model Selection for Offline

[ CRnQ communication detail setting ] window

(1) Target CPU

(1)

(1)

(2)OK

Select "2".Appears "CPU2".

CRnQ-7xx/CR75x-Q

(1)

(2)

"Online" button(Dark blue)

Online: Icon in dark blueOffline: Icon in yellow

The display of "Communication Server" on the task bar is changed from offline to online.

Multiple CPU setting

Online

Parameter

[ Multiple CPU setting ] window

No. of CPU

(1)

(2)

(3)

Write

Do not set the auto refresh.


(1) Yes

25

2

4

3

5

Extend the items of "Parameter" in "Online" in the workspace and click "Multiple CPU setting".

(1) Change the setting for "No. of CPU" to 2.(2) Change the point (K) in "Multiple CPU high speed transmission area

setting" to 1.(3) Click "Write".

The "Multiple CPU setting" window appears.

(1) Click "Yes".(2) Close the "Multiple CPU setting" window.

The confirmation window for writing appears.

To enable the newly set parameters, turn off then on the power supplies of the drive unit and robot CPU.

The multiple CPU settings for the robot CPU are completed.

2. Do not change the setting for "Automatic Refresh" of the robot CPU.

CAUTIONCAUTION

1. Set the same values as those in the multiple CPU settings of the programmable controller.

CAUTIONCAUTION

26

1

1

2

7

2

(1) At the first power-on after the purchase of the robot, the error "C0150" appears on STATUS.NUMBER on the controller operating panel and the buzzer sounds.

(2) Press the [ RESET ] key to eliminate the error.

Turn on the robot controller.

Products to be prepared and part names

1. Prepare the following items of the robot.

2. Turn on the robot controller.

Prepare the "origin data history table" included in the robot package.

Turn on the power switch.

When using the Q type, turn on the drive unit before turning on the programmable controller.

*The same table is also attached behind the CONBOX cover of the robot.

Note the "serial number" printed on the rating plate on the back of the robot.

Example

common to FD/FQ

ON

The "origin data history table" is also attached behind the CONBOX cover.

STATUS.NUMBER

CONBOX coverRobot base

Operation panel

Power switch

STATUS.NUMBER (2)RESET

Operation panel

C0150

(1)

AR311002

Date Default

D V!%S29 J1 06DTYY J2 2?HL9X J3 1CP55V J4 T6!M$Y J5 Z2IJ%Z J6 A12%Z0 (Method) E E N SP E N SP E N SP

Robot Controller

Example

Ex.) RV-4F

Robot arm

27

1

2

3

8

(1) While pressing both the [ F 1 ] key and the [ F 3 ] key of the teaching pendant simultaneously, turn on the robot controller again.

(1) The initial screen for English appears.

(2) Press the [ F 1] key to select " 1 Configuration ".

(2) Press the [ RESET ] key of the robot controller to eliminate the error.

Products to be prepared and part names

Set the language displayed on the display panel of the teaching pendant (T/B).

Turn off the power switch of the robot controller.

The language of the display screen is set to either Japanese or English.Set the language of the teaching pendant (T/B) .

common to FD/FQ

(2) RESET

F2 F4POWER ENABLE SERVO ERROR

F1 F3

(2)

Pressing the [ F 1 ] key selects " 1 Configuration ".


Rset


F1 F3


Rset

(1)

(1)(1)

ON


F1 F3 F3F1

(1)

OFF

Power switch


F1 key

F2 key F3 key

Display panel

EXE key

Robot Controller

F1

(2)

F2 F4F4


F1 F3F3 Pressing the [ F 1 ] key selects " 1 Default Language ".

F1

(1)

1.Default Language2.Contrast

Next

F2 F4F4


F1 F3F3F2F1

(2)(2)

JapaneseEnglish

002JPN

Back

001ENG

Back

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

(3)

EXE


Next

(1)

(2)JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

EXE

(1)

28

(2) Display the "JPN" by [F1] or [F2] key, then language is set as Japanese. And, display the "ENG", then language is set as English.

(1) Press the [ F 1 ] key, and select "1. Default Language".

(3) Press the [ EXE ] key to fix it.

(1) The screen shown right appears.(2) Press the [ EXE ] key.

4

5

F2 F4


F1 F3

1.Save and Exit2.Exit without Save

PrevF1

(1)

(2)

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

(1)

(2)

1.Configration2.Com.Information

Rset

EXE

MELFA CR75x-D Ver. S5RV-4F-D

COPYRIGHT (C) 2014 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

F2

POWER ENABLE

F1 F2 EXE

29

7

8

EXE

(1) The screen shown below appears.(2) Press the [ F 1 ] key (select "1.Save and Exit") , and save the setup.

F2 key to return to the initial screen without saving the incorrect setting.Press the

key to set the language again.

How to cancel an incorrect input

(1) The screen shown below appears.(2) Press the [ EXE ] key to start the teaching pendant

in the language set up.

The screen shown below appears and the setting for display language is completed.

6

CHARACTER key

F1 key

Number/character keysF3 key

F4 key

Arrow key

Display panel

EXE key


EXE

(1)

(2)

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

1.FILE/EDIT 2.RUN3.PARAM. 4.ORIGIN/BRK5.SET/INIT.

123 CLOSE

How to select an item from the menu on the display screen.

How to switch the input mode between the numeric mode and character mode

30

9

CLEAR

1

Point the cursor to the incorrect character using the keyand press the key to delete it.

(1) Press the [ EXE ] key.(2) The menu screen appears.


To control the robot with a robot controller, the serial number must be input through the teaching pendant.

Input the serial number of the robot.

Products to be operated and part names

1.Input the noted "serial number" of the robot.

common to FD/FQ

FUNCTIONSTOP

S E R VO

OVRD

F2 F4


F1 F3

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

NAME(.... ) ELE( )DATA( )

123 CLOSEDATA Prev Next


ABC CLOSEDATA Prev Next

123

ABC

3+Z (J3)

DEF

CHARACTER

CLEAR

EXE

3+Z (J3)

Method1

Method2

DEF

EXE

to move the cursor to the target item and press the

Press

key.

Example

Press the number key directly corresponding to the number of the target item.

CHARACTER is pressed,Each time the

the input mode is switched between the numeric mode and character (ABC) mode.

31

2

3

2

4

F4

F4

Press the key to return to the previous screen.

To cancel the input, press the key to return to the menu screen.

(1) Switch the input mode to the character mode. The screen shown below appears.(2) Press the [ 3 DEF ] key, which corresponds to "3.PARAM." on the menu screen.

(1) After inputting "RBSERIAL", press the [ ] key.(2) Press the [ EXE ] key to fix the input.

(1) The parameter screen appears.(2) Input "RBSERIAL" for the name.

* To input "R", press the [ 7 PQRS ] key three times.



(1)(2)

(1)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

FUNCTIONSTOP

S E RVO

OVRD

F2 F4


F1 F3

MONITOROVRD

JOG 1 2 3ABC DEF- Z (J3) +Z (J3)

( ) ( )


ABC CLOSE

3+Z (J3)

DEF

ABC



RBSERIAL(1)

(2)

(2)

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

7PQRS

F4F2 F4POWER ENABLE SERVO ERROR

F1 F3

(1)

(2)

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

- Y (J2) +Y (J2)

EXE

32

6

7

8

9

5 (1) The screen shown below appears.(2) Press the [ F 1 ] key ("DATA") and input the noted "serial number".

(1) Press the [ ENABLE ] button on the back of the teaching pendant (T/B) to set the button to "ENABLE".

(2) The button lump is lit.

(1) Press the [ F 4 ] key ("CLOSE") to close the parameter screen.(2) The display returns to the menu screen.

(1) The screen shown below appears.(2) After inputting the "serial number", press the [ EXE ] key.(3) The buzzer sounds and the input serial number is fixed.

If the ENABLE button has not been pressed, the error "The Operation is disable" occurs.

Turn the "MODE" switch on the front of the robot controller to "MANUAL" with the attached key.

Pressing the [F1] key enables input to the "DATA" field

F2 F4


F1 F3

NAME(RBSERIAL_ ) ELE( )DATA( )


(1)

(2)

(2)

F1

serial number


ENABLEbutton

(1)

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

(1)

(2)

NAME(RBSERIAL_ ) ELE( )DATA( XXXXXXXXXX_ )


serial number

EXE

(1)

(2)

F2 F4


F1 F3

123 CLOSE


F4

CHARACTER key

Teaching pendant (T/B)Robot controller

F1 keyNumber/character

keys

Arrow key

Display panel

ENABLE button

EXE key

CREAR keySTATUS.NUMBER

Operation panel

MODE switch

Power switch

OFF

ON

STATUS.NUMBER

Operation panel

. 100


(1)ENABLE

button

33

10

4

5

1

2

3

(1) Press the [ ENABLE ] button on the back of the teaching pendant (T/B) to set the button to "ENABLE".


Turn off the power switch on the front of the robot controller.

Turn on the power switch on the front of the robot controller.

On STATUS.NUMBER on the controller operating panel, " . 100" appears, and the control power turns on.

Turn the "MODE" switch on the front of the robot controller to "MANUAL" with the attached key.

Always set the origin data to use the robot with high accuracy.Input the origin data.

Products to be operated and part names

1.Set the origin data using the teaching pendant (T/B).

common to FD/FQ

34

7

8

9

6

EXEPress the key to return to the previous screen.

(1) Press the [EXE] key.(2) The menu screen appears.(3) Press the [ 4 GHI ] key, which corresponds to "4.ORIGIN/BRK" on the menu screen.

(1) The ORIGIN/BRAKE screen appears.(2) Press the [ 1 `( ) ] key, which corresponds to "1.ORIGIN".

(1) The ORIGIN screen appears.(2) Press the [ 1 `( ) ] key, which corresponds to "1.DATA".

The screen shown right for inputting the origin data appears.


123

DATA D : ( )J1 ( ) J2( ) J3( )J4 ( ) J5( ) J6( )J7 ( ) J8( )

CLOSE

(1)

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

(2)

123 CLOSE

1.DATA 2.MECH3.TOOL 4.ABS5.USER

(1)

(2)

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

1 ( )

1 ( )

123 CLOSE

1.ORIGIN 2.BREAK

EXERESETEXE0 SPACE- @=

+C (J6)- B (J6)

EXE(1)

(2)

(3)

HAND

CHARACTER

RESET

CLEAR

EXE

4 5 6

7 8 9

0

MONGHI JKL

PQRS TUV WXYZ

SPACE- @=

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)


123 CLOSE

4 GHI

35

12

11

10

CLEAR

Symbols are assigned to the

key and press the key

to delete it.

key.

Prepare the "origin data history table" included in the robot package.

(1) The screen shown right for inputting the origin data appears.(2) Move the cursor to the position "D" on the display screen using the [ ] and [ ] keys.

(1) Press the [ CHARACTER ] key to switch the input mode to the character input mode. (The display changes as shown right.)

(2) Input the example value "V!%S29" from "V".

1 ( ) - @=+C (J6)

*The subsequent operations are for inputting the "values" on the right.

To input "V", press the [ 8 TUV ] key three times.

Press the key several times until the target symbol appears.When an incorrect character has been input, point the cursor to the incorrect character using the

Date Default

D V!%S29 J1 06DTYY J2 2?HL9X J3 1CP55V J4 T6!M$Y J5 Z2IJ%Z J6 A12%Z0 (Method) E E N SP E N SP E N SP

For the horizontal type, up to four axes (J1, J2, J3, and J4) can be set as values of the origin data.

Example

(1)

(2)S ER VO

OVRD

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

123

DATA D : ( )J1 ( ) J2( ) J3( )J4 ( ) J5( ) J6( )J7 ( ) J8( )

CLOSE

D

CHARACTER

(1) (1)

(2)

HAND

CHARACTER

RESET

CLEAR

EXE

4 5 6

7 8 9

0

MONGHI JKL

PQRS TUV WXYZ

SPACE- @=

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6) 8 TUV- B (J5)

ABC

DATA D : ( )J1 ( ) J2( ) J3( )J4 ( ) J5( ) J6( )J7 ( ) J8( )

CLOSE

V

ABC

1 ( )

- @

+C (J6)

Once Twice Three Four Five Six Seven Eight Nine times times times times times times times ( ) ^ : ; \ ?

@ = + - * / < >

, % # $ ! & _ .

(1)(2)

ABC

DATA D:( )J1 ( ) J2( ) J3( )J4 ( ) J5( ) J6( )J7 ( ) J8( )

CLOSE

V!

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

- Y (J2) +Y (J2)

+C (J6)

(1)

(2)Display when all the values have been input

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

- Y (J2) +Y (J2)

ABC

V!%S29 DATA D:( )J1 ( ) J2( ) J3( )J4 ( ) J5( ) J6( )J7 ( ) J8( )

CLOSE

ABC

DATA D:( V!%S29 )J1 ( 06DTYY) J2( 2?HL9X) J3( 1CP55V )J4 ( T6!M$Y ) J5( Z2IJ%Z ) J6( A12%Z0 )J7 ( ) J8( )

CLOSE

F1

EXE

(1)

(3)

(1)

(2)ABC

DATA

NoYes

CHANGE TO ORIGIN. OK?

FUNCTIONSTOP

S E R VO

OVRD

F2 F4


F1 F3

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

F4

36

14

15

16

13 Input the rest of the value in the order of "!", "%", "S", "2", and "9".

All the characters of "V!%S29" have been input. The display changes as shown right.

(1) After inputting "!", move the cursor by pressing the [ ] key and input "%".

(2) Press the [ % ] key once.

(1) Press the [ ] key to move the cursor to the position "J1".(2) Input the values of "J1" to "J6" following the procedure

described above.

(1) After all the values have been input, press the [ EXE ] key. The confirmation screen appears.(2) Press the [ F 1 ] key ("Yes") to complete the setting.(3) To cancel the setting, press the [ F4 ] key ("No").

common to FD/FQ

37

2

1 (1) Press the [ ENABLE ] button on the back of the teaching pendant (T/B) to set the button to "ENABLE".


(1) Press the [ JOG ] key of the teaching pendant (T/B).The jog screen shown below appears.

(2) Check that "JOINT" is displayed.When another jog mode is displayed, press the [ F ] key, which corresponds to "JOINT", at the bottom of the screen.

1.Perform the JOINT jog operation, one of the manual operations of the robot.

11Products to be operated and part names

To check if the origin data is correctly set, operate the robot manually.Check the operation of the robot.

Robot arm Teaching pendant (T/B)

Robot controller

Power switch

CHARACTER key

SERVO key

Number/characterkeys

Arrow key

Display panel

ENABLE button

ENABLE switch

EXE key

JOG key

(1)

S ER VO

OVRD

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

(1)

(2)

JOGJOG

JOG

JOINT 100% M1 TOJ1: +0.00 J5: +0.00J2: +0.00 J6: +0.00J3: +90.00 : J4: +0.00

CYLNDR3-XYZTOOLXYZ

JOG

JOINT

ENABLEbutton

38

4

6

3

5

Decrease the speed of the robot operation.Press [ OVER] or [ OVER ] to set the value shown right to "10 %".

Press the [ SERVO ] key on the front while holding the enable switch on the back of the teaching pendant (T/B) lightly.

Press the [ -X(J1) ] or [ +X(J1) ] key on the front while holding the enable switch on the back of the teaching pendant (T/B) lightly.

Check that the LED lamp of "SERVO" on the teaching pendant (T/B) is lit in green.

F4

ERRORERROR

FUNCTIONSTOP

S E R VO

OVRD

F2


F1 F3

- X (J1) +X (J1)

F4

ERRORERROR

FUNCTIONSTOP

S E R VO

OVRD

F2


F1 F3

- X (J1) +X (J1)

F4

ERRORERROR

FUNCTIONSTOP

S E RVO

OVRD

F2


F1 F3

- X (J1) +X (J1)

FUNCTIONSTOP

S E R VO

OVRD

F2 F4


F1 F3

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

ENABLEswitch - X (J1) +X (J1)

LED lamp of SERVO

ENABLEswitch SERVO

JOG

JOINT 10% M1 TOJ1: +0.00 J5: +0.00J2: +0.00 J6: +0.00J3: +90.00 : J4: +0.00

CYLNDR3-XYZTOOLXYZ

10%

With the setting of 10%, the robot slowly operates.

OVRD OVRD

OFF

(1)

Rotation of J1 axis +-

39

9

8

7

10 (1) For the D type, quick setup is completed here. Turn off the power switch of the robot controller.

(2) For the Q type, configure the setting for the programmable controller, multiple CPU settings, and communication setting for Robot Total Engineering Support Software.

The robot operates as shown right.

The robot operates as shown right.

In the same way, press each key shown right while holding the enable switch on the back of the teaching pendant (T/B) lightly to check the robot operation.

S E RVO

OVRD

MONITOROVRD

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

( ) ( )

J6 axis

Vertical, multiple-joint type robot Horizontal, multiple-joint type robot

+ +

+ +

+

++ +

+

+-

-

-

-

--

-

-

-

-

J1 axis

J1 axis

J2 axis

J2 axis

J3 axis

J3 axis

J4 axis

J4 axis

J5 axis

ENABLEswitch

2 3

5 6

8 9

0

MON

ABC DEF

JKL

TUV WXYZ

SPACE

- Z (J3) +Z (J3)

- Y (J2) +Y (J2)

- X (J1) +X (J1)

+A (J4)- A (J4)

- B (J5) + B (J5)

+C (J6)- C (J6)

RV-F/RH-FCR750/CR751

//

/

RV-FRH-F

CR750 CR751

4

4

1

Rz25

1-1.1

1.22.

2

4

RV

1

RV

RV

RV

RV

1-2.

1.2.

1

1

1

1-3.

4

1.,2.,,

4

1-4.

1-5.

D100

2

RH

RH

2-1.

1.22.

1


4

2-2.

1.2.3.

(A)(B)

A

B

(C)

AB

RH-3FH/6FH

RH-12FH/20FH

21AB1C

1.

2.

3

RH

RH1

2-3. 4

1.,2.,,

4



2-4.

A B

4

RH

1

2-5.

D100

5

2

(T/B)

FD/FQ

T/B

CN1

CN2

ACIN

ACIN

PE

T/B

CN1

CN2

(PE)

CR750

CR751

CNUSR12 CNUSR11

CNUSR2

CNUSR1 CNUSR2

6

177

.

CR750

ACIN

1)

A C B

B

M4 8 2-M4

AWG #14 2mm2/M4

PEACIN

LINE/LOAD

()SUP-EL20-ER6

LINE/LOAD

ACIN

3) CE ACIN (SUP-EL20-ER6)

2) CE L2CE N

LINE/LOAD

LINE/LOAD

3)

1)

2)

1)

1)

PEACIN L1 L2 L3

PEACIN L1L1 N/L2 L2 L3

OFF

ACIN

11 32132

8

.

CR751

2) 234171-1Tyco Electronics)

1)

3) CE ACIN (SUP-EL20-ER6 *OKAYA ELECTRIC INDUSTRIES)

.....NV30FAU-2P-10A-AC100-240V-30mA,( TCS-05FA2 )

.....NV30FAU-3P-10A-AC100-240V-30mA,( TCS-05FA3 )

(NV)

AC200VAC200V

LINE/LOAD LINE/LOAD

LINE/LOAD LINE/LOAD

2)

3)

1)

PE PE

ACIN

ACIN

ACIN ( )

ACIN

OFF

ACIN 1 3 ACIN PE

.

A

23mm (CNUSR2)

1

1

2

(

CR750

CNUSR11/12

A

CNUSR2

3mm

7mm

(CNUSR11/12) 2

CNUSR2

50 26

25 1

CNUSR2

1

A

1 16

A

7mm

2

CNUSR12CNUSR11

9

.

1

23mm (CNUSR1 CNUSR2)

1

1

A

2

(

A

CNUSR2

3mm

CNUSR1

50 26

25 1

CR751

CNUSR

CNUSR1/2

CNUSR2

CNUSR1

CR750 CR751

CNUSR12 CNUSR11

CNUSR2

300mm

( 2 )

10

4.T/B

CN1CN21

1

1

3.

OFF

T/B

OFF

T/B 2

AMP1 AMP2 BRK

CN 2

TB RIOCN2

CR750

CR751

CR751

T/B

2

ACIN

T/B

CN 1 CN 2CN 2CN 1

)RV-4F

)RH-6FH

AMP1

AMP2 CN 2

CR750

11

33.

QCPU

1. 2.

1

4.

1 CPU

Q50UDEHCPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

MITSUBISHI

Q0SUDSPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

5. CPU

MITSUBISHI

Q50UDEHCPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

1

1

CPU

12

FQ

LITIUM BATTERY

MITSUBISHI

CPU

TU

6.CPU

CPU

1

CPU

Q50UDEHCPU

MODERUNERR

USERBAT

BOOT

Pull

USB

RS-232

CAUTION

Q172DRCPU

CN1

EMI

DISPLAY I/F

CON3 OPTDCOUTCNDISP

CR751 CR750

TU I/F

13

Q50UDEHCPUMODE

RUNERR

USERBAT

BOOT

Pull

RS-232

FQ CPU

GX Works2 + RT ToolBox2GX Works2RT ToolBox2

USBGX Developer5

1. GX Works2 1 1 / USB

2 GX Works2

3 PLC

PLC

4 PLC PLCQCPUQ OK

PLC

4

USB

OK

QCPU(Q )

14

PLC

5

MELSOFT

PLC

6

7

8

MELSOFT

OK

OK

USB CPU

OK

OK

I/F

I/F

PLC PLC

+

I/F USB I/FCPU

PLC

15

2. GX Works2 CPU 1 1 GX Works2 PLC

2

Q

CPU

PLC

3 CPU

CPU

CPU

CPU

CPU

CPU

CPU

CPU

16

3. 1 PLC

GX Works2 RT ToolBox2

PLC

2

+

PLC

3

MELSOFT

MELSOFT

PLC

PLC

4

PLC PLC

: :

PLC :

17

Q50UDEHCPUMODE

RUNERR

USERBAT

BOOT

Pull

RS-232

FQ CPU (GX Developer + RT ToolBox2)GX DeveloperRT ToolBox2

USB

1. GX Developer 1 1 / USB

2 GX Developer

3 PLC

PLC

4 PLC

PLC

5

USB

OK

QCPU(Q )

GX Works2 4

PLCQCPUQ OK

18

56

PC

PLC

PLC

USB CPU

I/F USB PC I/FCPU

I/F

PLC I/F

7

19

2. GX Developer CPU 1 GX Developer PLC

2 Q

Q

Q

Q

PLC

3 CPU

CPU

4

CPU

CPU

CPU

CPU

CPU12

CPU

CPU

CPU

CPU

20

PLC

PLC

GX Developer RT ToolBox2

PLC

3. 1 PLC

PLC

3 MELSOFT GX Developer

2

+

21

FQ

1 RT ToolBox2

2

4

6

4

3

OK

1. RT ToolBox2

OK

22

5

CRnQ

CRnQ

CRnQ-7xx/CR75x-Q

CRnQ

6

CRnQ-7xx/CR75x-Q

CRnQ-7xx/CR75x-QCRnQ-7xx/CR75x-Q

CRnQ

USB

1.CPU

I/F

I/FUSB1. CPU

23

78

CRQ

2

OK

OK

1

2. RT ToolBox2 CPU CPU

RT ToolBos2

CPUOKCRnQ

OK

OK

: 2CPU

CRnQ-7xx/CR75x-Q

24

CPU

2 CPU

4

CPU CPU

3

CPU

CPU

1.

2. CPU

5 CPU

CPU CPU CPU

CPU

CPU

25

1.

2. 1 1 ON

1 1

2 2

7

AR311002

2 2 CONBOX

[ RESET ]


STATUS.NUMBER C0150

CONBOX

Q ON ON

STATUS.NUMBER

CONBOX

C0150

RESETRESET

STATUS.NUMBER

ON

)RV-4F

26

FD/FQ

(T/B)1 OFF

3

[ F 1] 1 Configuration

8

[ RESET ]

RESETRESET

F2 F4F4


F1 F3 F3F3

F1F1

(T/B)

F3

EXE


F1 F3


F1 F3

(T/B)

[ F 1 ] [ F 3 ] ON


Rset


Rset

[F1]1 Configuration

F1

2 2

F1

F2

ON

OFF

27

FD/FQ

45

[ EXE ]

[ EXE ]

[F1] , 1.Default Language

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE =

-(J3) +(J3)

+(J4)-(J4)

-(J5) +(J5)

+(J6)-(J6)

( ) ( )

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE =

-(J3) +(J3)

+(J4)-(J4)

-(J5) +(J5)

+(J6)-(J6)

( ) ( )


Next

EXE

EXE

F2 F4POWER ENABLE SERVOSERVO ERRORERROR

F1 F3 [ F 1 ] 1 Default Language

F1


Next

F2POWER ENABLE

F1 F2F1

JapaneseEnglish

002JPN

Back

001ENG

Back

[F1] [F2] JPN ENG

28

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE =

-(J3) +(J3)

+(J4)-(J4)

-(J5) +(J5)

+(J6)-(J6)

( ) ( )

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE =

-(J3) +(J3)

+(J4)-(J4)

-(J5) +(J5)

+(J6)-(J6)

( ) ( )

[F1] 1.Save and Exit


F1 F3

1.Save and Exit2.Exit without Save

PrevF1

7

6

8

[ EXE ]

1.Configration2.Com.Information

Rset

EXE

F2

EXE

F2

F2POWER ENABLE

F1 F2 EXE

EXE

MELFA CR75x-D Ver. S5RV-4F-DCOPYRIGHT (C) 2014 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED

29

(T/B)

9

EXE

[ EXE ]

1

+(J 3 )

F3

EXE

F4

CHARACTER

F1 F2 F3 F4POWER ENABLE SERVO ERROR

FUNCTIONSTOP

SERVO

MONITOR

HAND

CHARACTER

RESET

OVRD

OVRD

PQRS WXYZ

SPACE =

-( J 1 ) +( J 1 )

+( J 2 )-( J 2 )-( J 3 ) +( J 3 )

+( J 4 )-( J 4 )

-( J 5 ) +( J 5 )

+( J 6 )-( J 6 )

+(J 3 )

CHARACTER

F1

/

CHARACTER

. 1

2

ABC


123 CLOSE





123

ABC

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE =

-(J3) +(J3)

+(J4)-(J4)

-(J5) +(J5)

+(J6)-(J6)

( ) ( )

30

FD/FQ

2 3 PARAM [ 3 DEF ]

4

F1 F2 F3 F4POWER ENABLE SERVO ERROR

FUNCTIONSTOP

SERVO

JOG

OVRD

OVRD

-(J 1 ) +( J 1 )

+( J 2 )-( J 2 )

-( J 3 ) +( J 3 ) ( )

+( J 3 )

F4

F4


F1 F3 F4

RBSERIAL [ ] [ EXE ]


ABC CLOSE

ABC



RBSERIAL

NAME RBSERIAL* 3 [7 PQRS] R

JOG

HAND

CHARACTER

RESET

CLEAR

EXE

1 2 3

4 5 6

7 8 9

0

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE- @=

- Z (J3) +Z (J3)

+A (J4)- A (J4)

- B (J5) + B (J5)

+ C (J6)- B (J6)

( ) ( )

7 PQRS

3

JOG

MONITOR

HAND

CHARACTER

RESET

CLEAR

EXE

MON

ABC DEF

GHI JKL

PQRS TUV WXYZ

SPACE =

-(J3) +(J3)

+(J4)-(J4)

-(J5) +(J5)

+(J6)-(J6)

( ) ( )

OVRD +( J 2 )-( J 2 )

31

[ F 1 ]

6

7

8

9

5

MODEMANUAL

(T/B)[ENABLE]ENABLE


F1 F3F1

[ F 4 ] (CLOSE)

[ EXE ]


F1 F3 F4

123 CLOSE


JOG

HAND

CHARACTER

RESET

PQRS WXYZ

SPACE =

-( J 3 ) +( J 3 )

+( J 4 )-( J 4 )

-( J 5 ) +( J 5 )

+( J 6 )-( J 6 )

( )

NAME(RBSERIAL_ ) ELE( )DATA( XXXXXXXXXX_ )


ENABLE

The Operation is disabl

Documents

MELFA Robots Quick Setup Guide Bfp-A3550z