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CR800-R
Mitsubishi Electric CR800-R User Manual
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CR800
-R
/CR
860
-R
contr
oller
Safety Com
municati
on Function
Instruct
ion Manual
BFP
-A
3772
-D
Mitsubishi Electric Industrial Robot
2
Table of Contents
Default Chapter
8
Table of Contents
8
1 Functions and Configuration
13
Overview
13
Supported Products
14
System Configuration
15
Specifications
18
Risk Assessment
21
Residual Risk (Common)
21
Residual Risk (Specific to each Function)
21
2 Set-Up
23
3 Connections and Communication Destination Settings
24
System Configurations and Connections
24
Robot-Side System Configuration
25
Safety Programmable Controller-Side System Configuration
25
Network Communication Settings
26
Safety Communication Settings (Safety Programmable Controller Side)
26
Creating a Safety Program
27
4 Safety Monitoring Functions
28
Overview of the Safety Monitoring Functions
28
Simulation
29
Startup and Basic Configuration
30
Connecting RT Toolbox3
30
Parameter Configuration
30
Password Setting
31
Enabling/Disabling Functions, Safety Communication Settings
33
Recovery Mode
36
Parameter CRC Output Number
37
Defining 3D Models
39
Monitor
39
Arm Model
42
Tool Model
43
Safety Logic Edit
45
Safety Input Settings
45
Safety Output Configuration
54
Checking Operation of the Safety Inputs and Outputs
55
Safety Monitoring Functions
57
Safe Torque off (STO)
57
Safe Operating Stop (SOS)
58
Safe Stop 1 (SS1)
61
Safe Stop 2 (SS2)
64
Safely-Limited Speed Function (SLS)
67
Safely-Limited Position Function (SLP)
75
Safety Diagnosis Function
84
Test Pulse Diagnosis (EMG)
84
Safety Communication Function
85
Safety Connection
85
Transmission Interval Monitoring Time
88
Safety Refresh Monitoring Time
88
Transmission Delay Time
89
5 Robot (System) State Variables
90
List of Robot (System) State Variables
90
Explanations of Robot (System) State Variables
90
6 Troubleshooting
95
Error List for the Safety Monitoring Functions
95
Errors Whose Specification Is Changed by Safety Monitoring Functions
99
7 Safety Response Time and Safe Stopping Distance
100
Safety Response Time
100
How to Calculate a Stopping Distance
102
Maximum Stopping Time and Maximum Operating Angle
103
Calculating Stopping Distance and Stopping Time
126
8 System Application Examples
129
Application Example 1
129
Function
129
System Configuration
129
Network Communication Settings
130
Safety Communication Settings (Safety Programmable Controller)
131
Safety Program (Safety Programmable Controller)
132
Basic Configuration
132
Defining 3D Models (Robot Controller)
132
Safety Logic Edit (Robot Controller)
133
Safety Monitoring Function Settings (Robot Controller)
133
Transmission Interval Monitoring Time
134
Safety Refresh Monitoring Time
134
Transmission Delay Time
135
Safety Response Time
136
Application Example 2
137
Function
137
System Configuration
138
Network Communication Settings
139
Safety Communication Settings (Safety Programmable Controller)
140
Safety Program (Safety Programmable Controller)
141
Basic Configuration
142
Defining 3D Models (Robot Controller)
142
Safety Logic Edit (Robot Controller)
142
Safety Monitoring Function Settings (Robot Controller)
143
Transmission Interval Monitoring Time
143
Safety Refresh Monitoring Time
144
Transmission Delay Time
145
Safety Response Time
146
4
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Mitsubishi Electric CR800-R Specifications
General
Brand
Mitsubishi Electric
Model
CR800-R
Category
Controller
Language
English
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