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obots
Study Material
Advanced Course
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Contents 1
• Safety Information and Warning
p.
3
• Expansion Cards
p.
5
• Communications
• Inputs and outputs
• RS-232 and RS-422
• CC-Link
• Profibus
• Ethernet
p.
p.
p.
p.
p.
p.
7
9
13
29
49
57
• Multitasking
p. 88
• Compliance Control
p. 102
• Multi Mechanism Control
• Robots
• Examples
• Servos
p. 113
p. 116
p. 122
p. 128
• Sensorless crash detection
p. 146
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Contents 2
• Tracking
• Tracking “Red Line”
p. 154
p. 162
• System “tuning”
p. 174
• Euromap 67
p. 185
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Safety Information and
Warning
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Safety Information and Warning
The robot movements used in the practical exercises are
executed without the normal necessary safety facilities.
Please maintain the proper safety distance from the robot
system and only execute the movement sequences when the
instructor is there to supervise.
- Thank You!-
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Expansion Cards
If you want to use expansion cards on
the CR1 controller you must first install
an Expansion Option Box. The cards can
then be installed in the box.
All CRn-5xx controllers can be operated with expansion cards. Programming can be performed in
MELFA BASIC IV or with the MOVEMASTER Command. We recommend MELFA BASIC, however,
because the MOVEMASTER Command has a number of limitations.
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Expansion Cards
1 Slot Occupied
Slot 1 Slot 2 Slot 3
Eth
SIO
SIO
CC
AX
AX
AX
PB
PB
PB
Legend
Eth
SIO
CC
AX
PB
3 Slots Occupied
Slot 1 Slot 2 Slot 3
Eth
SIO
AX
Eth
CC
AX
Eth
SIO
PB
Eth
AX
PB
SIO
SIO
AX
SIO
PB
AX
SIO
CC
AX
2A-HR533 Ethernet card
2A-RZ581 serial port card
2A-HR575 CC-Link card
2A-RZ541 additional axis card
2A-RZ577 Profibus card
Mitsubishi Electric – Robot Advanced Training – Ho 08/2006
2 Slots Occupied
Slot 1 Slot 2 Slot 3
Eth
SIO
Eth
CC
Eth
AX
Eth
AX
Eth
PB
Eth
PB
SIO
PB
SIO
SIO
SIO
CC
SIO
AX
SIO
AX
AX
SIO
AX
CC
AX
PB
AX
PB
PB
SIO
PB
AX
PB
AX
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Communications
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Overview
Series A robots can communicate with their peripherals in a
number of different ways.
• I/Os
Inputs and outputs
• RS-232
Serial port
• RS-422
Serial port
• CC-Link
Mitsubishi network
• Ethernet
TCP/IP
• Profibus
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Inputs and Outputs
The simplest form of communication is via inputs and outputs. Every
controller has a number of inputs and outputs built in. The number
of I/Os can be increased with external I/O expansion modules, each
of which have 32 I/Os.
You can add up to 7 I/O expansion modules to each controller.
• CR 1
16 I/Os Standard
• CR 2/CR 2A/B 32 I/Os Standard
• CR 3B
32 I/Os Standard
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expandable to 240 I/Os
expandable to 256 I/Os
expandable to 256 I/Os
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I/O Assignments
Some of the controller’s standard integrated I/Os are pre-assigned,
but you can change the assignments if necessary.
SERVO ON
SERVO OFF
START
STOP
ERROR
ERROR RESET
I/O ENABLE
INPUT
4
1
3
0
2
5
OUTPUT
1
0
2
3
The controllers also have functions that can be assigned to the I/Os.
For further details please refer to the hardware manuals.
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Hardware Inputs & Outputs
• The I/O modules have the designation 2A-RZ 371.
• The last module can be max. 50 m from the controller.
• Set the station number.
Station No.
• The modules are connected with the
ROI connector on the back of the module.
CN300
CN100
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RS-232 & RS-422
obot
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RS-232 & RS-422
The RS-232 port is a standard feature in the control panel of the
NARC controller. This port is usually used to communicate with
Cosirop/Cosimir.
You can also install a serial port expansion card. Depending on the
controller model the card must be installed in the controller itself or
in the Expansion Option Box.
2A-RZ 581
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RS-232 & RS-422
The serial port expansion card has 2 connectors for:
• 1x RS-232 and 1x RS-422
or
• 2x RS-232
2A-RZ 581
Connector CON 1 is reserved exclusively for RS-232.
Connector CON 2 can be used for RS-232 or RS-422.
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RS-232 & RS-422
RS-232 pin assignments on CON 1 (channel1)
Pin No. Signal Name
2
TXD
3
RXD
4
RTS
5
CTS
6
DSR
20
DTR
7
SG
1
FG
8
DCD
22
RI
Description
Transmit data
Receive data
Request to send by computer
Peripherals ready to receive data
Peripherals ready (on)
Computer ready (on)
Common signal ground
Frame ground
Data carrier detect - modem only (switched on)
Ring indicator - modem only, indicates incoming call
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I/O Notes
O
I
O
I
I
O
- connects GND with cable shielding
I
I
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RS-232 & RS-422
RS-232 pin assignments on CON 2 (channel 2)
Pin No. Signal Name
2
TXD
3
RXD
4
RTS
5
CTS
6
DSR
20
DTR
7
SG
1
FG
8
DCD
22
RI
Description
Transmit data
Receive data
Request to send by computer
Peripherals ready to receive data
Peripherals ready (on)
Computer ready (on)
Common signal ground
Frame ground
Data carrier detect - modem only (switched on)
Ring indicator - modem only, indicates incoming call
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I/O Notes
O
I
O
I
I
O
- connects GND with cable shielding
I
I
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RS-232 & RS-422
RS-422 pin assignments on CON 2 (channel2)
Pin No. Signal Name
13
TXDH
12
RXDH
11
DTRH
10
DSRH
25
TXDL
24
RXDL
23
DTRL
22
DSRL
9
SG
Description
Transmit data + page
Receive data + page
Computer is ready (on) + page
Peripherals ready (on) + page
Transmit data - page
Receive data - page
Computer ready (on) - page
Peripherals ready (on) - page
Common signal ground
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I/O
O
I
O
I
O
I
O
I
-
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RS-232 & RS-422
CBAUxx Parameter
Parameter
Name
Description
Default Value
CBAUxx
Data transfer rate
9600
The data transfer rate sets the communication speed between the devices in bits per
second.
• Possible values: 2400/ 4800 / 9600 / 19200
Make sure that the setting of the connected device matches the parameter setting.
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RS-232 & RS-422
CLENExx Parameter
Parameter
Name
Description
Default Value
CLENExx
Data bits
8
The data bits parameter specifies how many bits per character are transmitted.
• Possible values: 7 or 8 data bits
Make sure that the setting of the connected device matches the parameter setting.
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RS-232 & RS-422
CPRTYExx Parameter
Parameter
Name
Description
Default Value
CPRTYExx
Parity
2
The parity bit is used to check that the received character is correct.
• Possible values: 0 / 1 / 2 = NON / ODD / EVEN
Make sure that the setting of the connected device matches the parameter setting.
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RS-232 & RS-422
CSTOPxx Parameter
Parameter
Name
Description
Default Value
CSTOPxx
Stop bits
2
The stop bits value specifies how many bits should be waited after sending a character
before the next character is transmitted.
• Possible values: 1 or 2
Make sure that the setting of the connected device matches the parameter setting.
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RS-232 & RS-422
CTERMExx Parameter
Parameter
Name
Description
Default Value
CTERMExx
End of transmission
0
• Possible values: 0 / 1 = CR / CRLF
Make sure that the setting of the connected device matches the parameter setting.
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RS-232 & RS-422
CPRCExx Parameter
Parameter
Name
Description
Default Value
CPRCExx
Protocol for the port
0
•0
: No Procedure =Enables communication with the
programming packages
• 1 : Reserved
Reserved
• 2 : Data Link =
Enables communication with the
Data Link Instructions like OPEN/INPUT/PRINT
Make sure that the setting of the connected device matches the parameter setting.
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RS-232 & RS-422
CDTRExx Parameter
Parameter
Name
Description
Default Value
CDTRExx
DTR control
0
The setting is always NO when COSIMIR/COSIROP or Melfa Basic 4 are used.
• Possible values: 0 / 1 = NO / YES
Make sure that the setting of the connected device matches the parameter setting.
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RS-232 & RS-422
Parameter List
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RS-232 & RS-422
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obot
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CC-Link – General Information
• Network system developed by Mitsubishi
• Open network administered by the CLPA
• The network operates in Master/Slave mode
but also supports operation of a standby
master
• Supported masters: Q and A series PLCs and
slot-in PC cards
• High data transfer rates
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CC-Link – General Information
Control
Level
ETHERNET/MAP
Net/10
Cell
Level
CC-Link
Field
Level
PLC
Remote
I/Os
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Encoders,
valve
blocks
Robots,
MMI
Drives
Field
devices
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CC-Link – General Information
•
•
•
•
•
Master/local and Master/remote
Max. 64 slave stations per network
Max. net cable length 1.2km
Max. transfer rate 10Mbps
Remote I/Os can be replaced while the system is
in operation
• Occupies 32 I/Os
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CC-Link – General Information
I/O data and data words are transmitted
The local station:
• Receives the input data of the remote I/O or device
station and transmits the output data of the station to the
master station or another local station.
• Receives the output data of the master station.
• Receives the word data of the master station.
• Receives the word data of the remote device station or
another local station and transmits the word data of the
station to the master station or another local station.
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CC-Link – General Information
Transmission speed
156 kbps 625 kbps 2.5 Mbps 5 Mbps 10 Mbps
Max. distance
1200m
No. of stations
64 (max. 42 remote and 26 intelligent devices)
Link points per network
2,048 I/Os, 512 registers
Link points per station
64I/Os, 8 registers
Communication method
Polling method
Synchronisation
Frame synchronous method
Cable
BUS (RS-485), shielded twisted-pair cabling
RAS functions
Automatic return
600m
200m
150m
Slave station separation
Communications & error monitoring
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100m
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CC-Link – General Information
1
Transmission Speed
2
Total Length
Over 30cm
1200m
Over 30cm
600m
2,5 Mbps
Over 30cm
200m
5 Mbps
Over 60cm
150m
30cm – 59cm
110m
Over 1m
100m
156 kbps
625 kbps
10 Mbps
Over
2m
60 cm – 99cm
80m
30 cm – 99cm
50m
Distances: 1 = Master, local or intelligent device station – remote I/Os or remote device station
2 = Remote I/Os or remote device station – remote I/Os or remote device station
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CC-Link – General Information
Cable
Cross-section
Line resistance (20°C)
Electrical capacitance (1kHz)
Impedance (1MHz)
Insulation resistance
Dielectric strength
Maximum range
Cable structure
Shielded twisted-pair cabling
0.5mm²
 37.8W/km
60nF/km
100 ±15%
 10,000
500V DC for 1 minute
1200m
DA
Insulation
Shield
bl
wh
yw
Aluminium shealth
DB
DG
Earthpoint
Standard cabling conforming to the above specifications can be used.
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CC-Link – General Information
Terminating
resistor
Master Module
Remote Module
Local Module
DA
DA
DA
DB
DB
DB
DG
DG
DG
Shielded twisted-pair
cabling
SLD
FG
SLD
Shielded twisted-pair
cabling
SLD
FG
•
•
•
•
Shielded twisted-pair cabling
Avoid loops
Serial wiring without branches
Terminate line ends with resistors
The terminating resistor is included with the master station.
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FG
Terminating
resistor
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CC-Link – Robots
SLOT 2
2A-HR 575
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CC-Link – Robots
Designation
Description
Communications
function
Communication is performed with bits and data
words
Station type
Intelligent device station
Master/Local
Can only be used as a local station
Number of cards
Only one card can be used in slot 2
Number of stations
1 or 4 can be selected
Remote
I/Os
Max No. 1
bits
Inputs 2,048
1 Station
30 inputs + 2 reserved inputs
30 outputs + 2 reserved outputs
4 Stations
126 inputs + 2 reserved inputs
126 outputs + 2 reserved outputs
Max No. 16
bits
Input words 256
1 Station
4 inputs words + 4 output words
4 Stations
16 input words + 16 output words
Remote
Register
s
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Outputs 2,048
Output words 256
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CC-Link – Robot Card
Station No. Baud
x1
x10 rate MODE
DIP
Switches
Configure the settings described on the next slide before installing the card!
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CC-Link – Robot Settings
Baud rate setting
Rotary
switch
position
Baud Rate
BPS
0
156KBPS
1
625KBPS
2
2.5MBPS
3
5MBPS
4
10MBPS
Select the switch setting before assembling the drive unit!
All network parameters must be identical on all network stations.
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CC-Link – Robot Settings
MODE switch setting
No.
Name
Description
0
Online
Normal operation
2
Offline
Stop mode
3
Test 1
Data Link Test
4
Test 2
Remote Stations Test
5
Test 3
Parameter Test
6
Test 4
Hardware Test
8
Test 5
free
9
Test 6
free
A
Test 7
free
1
7
B
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CC-Link – Robot Settings
DIP switch settings
SW Designatio
n
Description
Switch Position
Off
On
Master/Local station or standby station
M/L Station
Standby
Station
1
Station
type
2
free
3
free
4
Error data
Should data be kept or set to “0” in the
event of an error
Delete
Keep
5
No. of
stations
Specifies whether 1 or 4 stations are to
be used
1
Station
4
Stations
6
free
7
free
8
Unit mode
free
Fixed
Normal communication is selected
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CC-Link – Robot Instructions
Designation
Executable
robots
instructions
Exclusive
input /
output
parameters
Description
M_IN
Read 1 bit
IF M_IN(6000)=1 THEN
GOTO 10
M_OUT
Write 1 bit
M_OUT(6005)=1
M_INB
Read 8 bits
IF M_INB(6000)=10 THEN
GOTO 10
M_OUTB
Write 8 bits
M_OUTB(6015)=100
M_INW
Read 16 bits
IF M_INW(6000)=10 THEN
GOTO 10
M_OUTW
Write 16 bits
M_OUTW(6015)=32000
M_DIN
Read data from register
IF M_DIN(6000)=-10 THEN
GOTO 10
M_DOUT
Write data to register
M_DOUT(6003)=345
STOP2
CC-Link can stop the robot via the STOP2 input
DIODATA
Like IODATA, returns the program number, error
number, line number etc.
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CC-Link – Robot Connections
(I/Os)
Don’t forget that the last two bits for every robot are always reserved!
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CC LINK – Robot Connections
(Registers)
When you select one station you can use 4 registers; when you select 4 stations 16
registers are available.
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CC-Link – Robot Error Codes
Alarm No.
Designation
Solution
7700
CC-Link card not in slot 2
Install card in slot 2
7710
Card station number = 0
Select a different station no.
7720
Two CC-Link cards installed
Remove one of the cards
7730
Data link error
Check cable and parameters
7750
Parameter errors
Check parameters
7760
CC-Link Init error
Check parameters and
station numbers
7780
Register out of assigned range
Check parameters
7781
Input signal is for CC-Link
Check program
7799
CC-Link system error
Check program
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Profibus
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Stable standards protect
investments
PROFIBUS
EN 50170

PROFIBUS is a part of the international fieldbus
standard
IEC 61158

The PROFIBUS Technology is specified in the vendor
independent standards EN 50170 and EN 50254

PROFIBUS is proven with an installed base of more
than
5,000,000* devices world-wide
Mitsubishi
Electric
Robot
Training experience
– Ho 08/2006from many applications
Source:
Namur,
AK– 3.5,
asAdvanced
well as practical
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Profibus – Robots
2A-RZ 577
ALL Slots
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General
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Parameter
PBMODE
0=normal mode / 2=self diagnostic
PBNUM
Station no. 0-125
PBMC
1=class 1 / 2=class2 (PBNUM invalid)
E8500
0=enable ERROR / 1=ignore ERROR
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Profibus Signal numbers
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Profibus Signal
numbers
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ETHERNET
obots
Course Material
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Ethernet Terminology: Network
Cabling
Network cabling:
The following standard cable types are available today, in a wide
variety of choices:
• 10base2
Thin Ethernet cable
• 10base5
Standard “thick” Ethernet coaxial cable
•10baseT-UTP
Twisted-pair 4-wire cable, unshielded
• 10baseT-STP
Twisted-pair 4-wire cable, shielded
• 10baseF
Fibre-optics cable
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Ethernet Terminology: Network
Cabling
Ethernet network cabling properties:
Parameter
10base5
10base2 STP
Cable type
Coaxial
Coaxial
Diameter
10,3 mm
4,7 mm
Bend radius
approx. 20cm approx. 8cm
Shielding
Double
Single
Cable designation
RG 8A/U
RG 58A/U
RG 58C/U
Max. segment length
500 m
Max stations per segment 100
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UTP
10baseF
2 twisted pairs 2 twisted pairs Fibre-optic
Single
None
Not required
185 m
100 m
100 m
ca. 2000 m
30
2
2
2
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How Ethernet works (CSMA/CD)
• Carrier sense: Station(s) that want to transmit listen(s) on the network line
• Multiple access: All stations wanting to transmit compete with equal rights
for access
• Collision detection: Stations listen to the line during transmission (to check
for collisions)
• When a collision is detected a jamming signal is sent
• All transmissions are stopped after detection of a jamming signal
• Data are resent after a randomly chosen delay period (detect and retransmit
in micro-millisecond range)
=> Non-deterministic procedure
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Communication Flow Chart
DTE wants
to transmit
Wait using
backoff
algorithm
Line free?
No
No
Transmit data
and listen to line
Collision detected
End transmission
and send
jamming signal
Attempts
> 16?
Yes
End transmission
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End transmission
with timeout
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Acronyms
TCP
Transmission Control Protocol
IP
Internet Protocol
UDP
User Datagram Protocol
ARP
Address Resolution Protocol
ICMP
Internet Control Message Protocol
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Acronyms
DTE
Data Terminal Equipment
LLC
Logical Link Control
MAC
Media Access Control
PLS
Physical Signalling
AUI
Attachment Access Control
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Acronyms
MAU
Media Access Unit
PMA
Physical Media Attachment
MDI
Media Dependent Interface
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Ethernet & Robots
2A-HR 533
SLOT 1
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2A-HR 533
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The Ethernet Card
Select 10Base-5 or 10Base-T with switch SW1 before installing the card.
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Ethernet
Ethernet functions supported by the operating system versions:
Version Communication
Server
Server/Client Functions
< E2
No Ethernet functions
E2 - E4
OK
OK
F- H6
OK
OK
OK
>= H7
OK
OK
OK
OK
When the controller starts up the software version of the Teaching Box is displayed in the upper
right section of the Teaching Box display. After completion of the startup procedure the operating
system version is shown in the same display.
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Hardware for a direct 1:1
connection
The following hardware is required for an Ethernet connection between one
computer or one PLC and one robot controller:
- A PC with an Ethernet card (10Base-T or 10Base-5) or a PLC with A/QJ71E71
- A robot controller with an Ethernet card (Part No. 129809)
-- The CR1 controller requires an additional Expansion Option Box for
installation of the Ethernet card
- A crossover cable for direct connection (1:1) to the robot controller
for 10Base-T
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Hardware required for a 1:n
connection
The following hardware is required to establish an Ethernet connection between
multiple nodes and one or more robot controllers:
- PCs with Ethernet cards (10Base-T or 10Base-5) or PLC A/QJ71E71
- Robot controllers with Ethernet cards (Part. No. 129809)
-- CR1 controllers require an additional Expansion Option Box for
installation of the Ethernet
- One or more Ethernet hubs (number depends on network topology)
- Straight cables for the connections between the PC and the hub, the robot
controller and the hub or the PLC and the hub.
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Entering configuration
parameters
You can enter the parameters in the usual
way with the Teaching Box or the Cosimir
and Cosirop software.
To configure from the PC you must access the controller via the serial port to set up the Ethernet
parameters. When you have done this you can use Cosimir and Cosirop via the Ethernet.
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NETIP Parameter
Parameter
Name
Description
Default Value
NETIP
IP Adress
192.168.0.1
Die IP address identifies the station in the Ethernet system. It is effectively the station
number or the name with which the robots can be addressed.
Please always observe the Ethernet standards when assigning IP addresses:
• IP addresses must be unique, i.e. without overlaps
• The format is 4 blocks of numbers between 0 and 255
• The blocks must be separated by dots (periods)
If you are working in a LAN network please contact your system administrator to obtain a
valid IP address.
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NETMSK Parameter
Parameter
Name
Description
Default Value
NETMSK
Subnet mask
255.255.255.0
The subnet mask is like a filter that is used to define the individual networks.
Please always observe the Ethernet standards when assigning the subnet mask:
• The mask format is 4 blocks of numbers between 0 and 255
• The blocks must be separated by dots (periods)
• 255.255.255.255 is not a valid filter because it would not let anything through
If you are working in a LAN network contact your system administrator for assignment of
a valid subnet mask.
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NETPORT Parameter
Parameter
Name
Description
Default Value
NETPORT
Communications port number
10000 – 10009
The robot can communicate with a single IP address via multiple channels, and each
robot has 10 ports that can be addressed individually. Port 1 is reserved for real-time
control. The other ports are available for programming via software and DATA Link.
These values do not normally need to be changed. If you do change them make sure that
there are no overlaps!
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CPRCE Parameter
Parameter
Name
Description
CPRCE11 -19
Protocol for the corresponding port
Default Value
0
The CRRCE11 ... CRRCE19 parameters set the protocol for the ports.
•0
: No Procedure = Permits communication with the
programming packages
• 1 : Reserved
Will be required in the future
• 2 : Data Link =
Permits communication with the Data
Link Instructions like OPEN/INPUT/PRINT
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COMDEV Parameter
Parameter
Name
Description
Default Value
COMDEV
Definition of the NETPORT property
RS232C, , , , , , ,
,
COMDEV assigns the properties of COM1 through COM8 to the NETPORT. They are required
for the robot’s OPEN instructions.
Example: NETPORT(4) is set to Data Link and assigned to COM 4:
• COMDEV(4)=OPT14
• CPRCE14=2
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COMDEV Relationships
Relationships:
COMDEV to OPT11 through OPT19
OPEN COMn and COMDEV
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Ports can be changed with NETPORT.
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MXTCOM Parameter
Parameter
Name
Description
Default Value
MXTCOM1 - 3
IP address of the REAL-TIME Partner
(PC)
192.168.0.2
The destination IP addresses from the notes are entered here for checking the robot.
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MXTTOUT Parameter
Parameter
Name
Description
Default Value
MXTTOUT
Timeout für REAL-TIME check
-1
This value defines the number of 7.11ms units after which the robot issues an error 7820
timeout if no communication has taken place.
Setting the value to -1 deactivates real-time mode.
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The PING Function
C:\PING
When you have installed the card, connected the cables and
configured the parameters you can check the connection with
your computer’s PING function.
The controller must be restarted after configuration of the
parameters!
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Ethernet
In Cosirop set the
communications parameters to
TCP/IP and enter the robot’s IP
address and port.
You must also enter the IP
address for the robot.
Otherwise you can use the
default parameters..
If you don’t use the defaults
please check that the CPRCE
protocol parameter is set to 0.
If the Ethernet connection fails it must be actively re-established by the PC.
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Ethernet
Parameter settings when the robot is the server:
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Ethernet
Parameter settings when the robot is the client:
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Ethernet
Assigning IP addresses:
The stations in Ethernet networks are accessed via addresses. When you
connect two stations directly with a crossover Ethernet cable without a hub it’s
important that the IP addresses of the two stations should not be too far apart.
You can display the address of the PC with a simple command (e.g., under
Win98: Start > Programs > MS-DOS Prompt > C:\WINDOWS>ipconfig). The
default value for the subnet mask is 255.255.255.0.
The NETIP parameter of the robot controller (5.Maint > 1.Param.) or in Cosirop
(Extras > Settings > Communication Port > TCP/IP) must then be set to an IP
address whose last number block is different by a small amount. The NETMSK
parameter can be left at the default setting of 255.255.255.0.
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Ethernet
Assigning IP addresses (example) :
ipconfig returns the following IP address for the PC:
186.254.53.185
You must then enter an address like this in the NETIP parameter of
the robot controller and in Cosirop:
186.254.53.186
(Of course, if you want you can also leave the standard address of the robot
unchanged and change the PC’s Ethernet address instead.)
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Ethernet
Other necessary robot configuration settings:
You also need to “register” the additional interface (Ethernet) in the COMDEV
parameter of the robot controller:
COMDEV : RS232, OPT11, , , , ,
OPT11 is assigned to the parameter CPRCE11.
The CPRCE11 parameter specifies the communications protocol to be used (0 :
non-protocol = Cosirop software; 1 : reserved; 2 : data link = open, input, print
commands)
(The default setting of the CPRCExx parameter is 0 : non-protocol)
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Ethernet
Summary :
1. Establish the hardware connection between the PC and the robot controller
2. Obtain the PC’s IP address and enter the modified address in the NETIP
parameter of the robot controller and in the interface settings of the Cosirop
software.
3. Register the Ethernet in the COMDEV parameter.
4. Check and set the protocol in the CPRCExx parameters. No modification is
required for Cosirop (upload, download,...), for access from a robot program
set the value of the parameter to 2.)
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Multitasking
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Multitasking
What is multitasking?
Multitasking is a function that enables execution of multiple programs
simultaneously. This shortens cycle times in the systems involved
and makes it possible to control connected external system
components with the robot controller at the same time as executing
the robot’s own program. This function is implemented with a 64-bit
RISC processor. In the NARC controllers (CR1/CR2/CR2A/CR2B)
this processor can administer 32 of 88 programs in multitasking
mode, with standard support for 2,500 positions and 5,000 program
lines.
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Multitasking
Slot 2
Program 2
Slot 32
...
Program 32
Slot 1
Program 1
To use the multitasking function the programs to be executed
simultaneously must first be loaded into so-called “slots”. You can process
up to 32 slots, which thus makes it possible to execute 32 programs
simultaneously.
User Base Program
Manages external variables and user variables.
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SLOT 1
SLOT 2
10 JOVRD 60
10 OPEN “COM1:” AS #1
20 CNT 0
20 IF M_IN(1) = 0 THEN 20
30 MOV P_01
30 INPUT #1,P_01,P_02,P_03
40 MOV P_02
40 DLY 0.5
50 MOV P_03
50 GOTO 20
60 GOTO 30
User Base Program
P_01,P_02,P_03
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Camera system
A Multitasking Example
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Multitasking – The User Base
program (1)
The user base program functions as the interface between the individual slots. It
administers and provides access to global system variables, for example:
- Position variables P_00 – P_19 or position arrays P_100() – P_104()
- Joint variables J_00 – J_19 or joint data arrays J_100() – J_104()
- Integer variables M_00 – M_19 or integer arrays M_100() – M_104()
- String variables C_00 – C_19 or string arrays J_100() – J104()
In addition to this you must also declare all user-defined global variables here. The
user base program is essentially just an ordinary program in the robot controller;
however, you cannot include programming for any motion sequences for
mechanisms in it.
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Multitasking – The User Base
Program (2)
The only thing that defines a program as the user base program is the entry of the
program number in the PRGUSR parameter. Also, there is only one user base
program. The following simple example illustrates this procedure:
Program No. 13 :
10 DEF POS P_SAMPLE
20 DEF INTE M_GERNE, M_GUT, M_ROTOR
30 DIM P_ GUT(20)
40 END
After downloading the program to the robot controller you must then assign program
number 13 to the parameter PRGUSR. You must then briefly turn the robot
controller’s power supply off and on again to activate the parameter and the userdefined user base program.
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Multitasking – User Base
Program (3)
User-defined global variables declared in the user base program must also be
declared locally, in all local programs that will use the variables!
In the above example of a multitasking application the program in Slot 2 obtains
the position data P_01,P_02,P_03 from a camera system and makes them
available to the program in Slot 1 via the user base program.
Both these processes execute simultaneously. Since the global position variables
P_01 through P_03 are already declared by the system they can be used
immediately, without any further action on your part.
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Activating Multitasking (1)
There are two ways to activate the
multitasking function:
1. Execution by a program
(Status Variables)
2. Execution from the controller control panel or
external I/O signals
(Parameters)
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Activating Multitasking (2)
You can define how parallel program execution is to be performed either with
Parameters (TASKMAX, SLTx) or with Status Variables (XLOAD, XRUN,
XSTP, XRST).
Program execution can also be started simultaneously via external signals
triggered in response to defined conditions. You can also stop or reset all
programs or just selected programs.
Start
XRUN
Program
selection
Reset program
XRST
Cycle stop
RUN
Mode
Stop
XSTP
Start
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XRUN
WAIT
Mode
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Multitasking
1. Execution by a program
The instructions XLOAD, XRUN, XSTP und XRST can be
used to load, execute, stop and reset programs written in
Melfa Basic IV in parallel (i.e. in multitasking mode).
This execution method is a good choice when you want to
start parallel execution of sub-programs while you are
executing a main program.
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Multitasking
Example :
Program 1 (SLOT 1)
Program 2 (Slot 2)
10 MOV P1
10 OPEN „COM1:“ AS #1
20 XRUN 2,“2“
20 IF M_01 = 0 THEN 20
30 WAIT M_RUN(2) = 1
30 INPUT #1,M1
40 M_01 = 1
40 P_05.X = P_05.X+M1
50 IF M_01 = 1 THEN 50
50 M_01 = 0
60 MOV P_05
60 CLOSE
70 END
70 END
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Multitasking
2. Execution via the robot controller’s control panel or
external I/O signals
This execution method does not depend on a main program.
Instead, it is determined by parameter settings that you define in
advance. These parameters include the program name, the
execution conditions (cyclical, continuous), the start condition (start
instruction; always active; on error) and the priority.
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Multitasking
Example:
• Define Program 1 in Slot 1 in parameter SLT1 (SLT 1 = 1,CYC,START,1)
• Define Program 5 in Slot 2 in parameter SLT2 (SLT 2 = 5,REP,ALWAYS,2)
Then turn the robot controller’s power supply off and on again to activate the
parameters.
Slot 1 is started when the Start button on the robot controller is pressed or by an
external Start signal via the I/O level.
Slot 2 is started after the robot controller has completed its boot process, when the
power supply is switched on. It does not require a separate Start signal.
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Compliance
Control
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Compliance Control
What is Compliance Control?
The Compliance Control function enables you to define the
“gentleness” of the robot’s movements.
Regulation of the robot’s movements with this facility can
be very useful in a number of programming situations.
Compliance Control is available for all robot types except
the RP series.
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Compliance Control
Where can Compliance Control be used?
Compliance Control is helpful in all applications in which the robot must grip
and/or guide components that are simultaneously subjected to additional
external forces.
Typical application examples include:
- Handling tasks on presses and stamping
machines
- Insertion and removal of workpieces or
tools on lathes, surfaces, grippers, CNC
machines etc…
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Compliance Control – Cartesian
Basic syntax:
10 CMPG X,Y,Z,A,B,C,L1,L2
// Amplification factor
20 CMP POS, &BL2,L1,C,B,A,Z,Y,X
// Coordinate assignment
The amplification factor can be between 1.0 and 0.0. The smaller
the value the more gentle the movement. 1.0 is the highest control
amplification, 0.0 provides the greatest “softness” for the robot
system.
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Compliance Control – Cartesian
Example :
10 CMPG 0.5,0.5,1,1,1,1,1,1
// Amplification factor
20 CMP POS, &B00000011
// Coordinate assignment
(The leading zeros in line 20 are not an absolute requirement
since this is a binary setup.)
This makes the robot’s movements along the X and Y axes
more gentle. The robot’s joints can be moved up to 200mm
away from the target position, depending on the degree of
softness set.
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Compliance Control – Individual
Joints
Basic syntax:
10 CMPG J1,J2,J3,J4,J5,J6,J7,J8
// Amplification factor
20 CMP JNT, &BJ8,J7,J6,J5,J4,J3,J2,J1
// Joint assignments
The amplification factor can be between 1.0 and 0.0. The smaller
the value the more gentle the movement. 1.0 is the highest control
amplification, 0.0 provides the greatest “softness” for the robot
system.
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Compliance Control – Individual
Joints
Example :
10 CMPG 0.5,0.5,1,1,1,1,1,1
// Amplification factor
20 CMP JNT, &B11
// Joint assignment
This makes the robot’s movements more gentle in joints J1 and
J2. The robot’s joints can be moved up to 200mm away from the
target position, depending on the degree of softness set.
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Compliance Control – Tool
Basic syntax:
10 CMPG X,Y,Z,A,B,C
// Amplification factor
20 CMP TOOL, &BC,B,A,Z,Y,X
// Coordinate assignments
The amplification factor can be between 1.0 and 0.0. The smaller
the value the more gentle the movement. 1.0 is the highest control
amplification, 0.0 provides the greatest “softness” for the robot
system.
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Compliance Control – Tool
Example:
10 CMPG 0.5,1,0.5,1,1,1
// Amplification factor
20 CMP TOOL, &B101
// Coordinate assignment
This makes the robot’s movements along the X and Y axes
more gentle. The robot’s joints can be moved up to 200mm
away from the target position, depending on the degree of
softness set.
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Compliance Control
Requirements and fundamentals:
-Compliance Control can be used for all robots controlled by a NARC controller
(controllers CR1, CR2 und CR2A). Exception: RP-xAH robots!!
- Once this function has been activated it remains active (also in Teach mode)
until the instruction CMP OFF is issued or a program with new values is started.
- The function also remains active after an Emergency Stop, provided that the
controller is not powered down..
- The distance between the current and taught position can be read out with the
system variable M_CMPDST.
- The function is activated by Power On/Off.
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Multi Mechanism
Control
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Multi-Mechanism Control
What is multi-mechanism control?
The CR1, CR2, CR2A robot controllers can control up to 14
axes simultaneously:
Max. 6 axes control the robot arm (Mechanism 1)
Max. 2 axes can control additional axes interpolated in
relation to the robot arm (e.g. linear motion axes)
Max. 3 axes can be defined as Mechanism 2
Max. 3 axes can be defined as Mechanism 3
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Multi-Mechanism Control –
Additional Axes
6
+
1
2
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3
2
3
3
Axes
Mechanisms
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Multi-Mechanism Control
Robots
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Multi-Mechanism Control – (CR1)
How is multi-mechanism control activated?
The CR1 robot controller requires the Expansion Option Box
to use multi-mechanism control. The optional expansion card
for the additional axes must be installed in the expansion
option slot of the box. Activation of the function also requires
configuration of some system settings in the servo amp and
the robot controller.
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Multi-Mechanism Control - (CR2)
How is multi-mechanism control activated?
The CR2 controller does not require an optional expansion
card for additional axes. The function is already integrated in
the system and can be implemented with a direct connection
to the external Mitsubishi MR-J2 B or MR-J2S B servo amp.
Here too, however, activation of the function requires
configuration of some system settings in the servo amp and
the robot controller.
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Multi-Mechanism Control (CR2A)
How is multi-mechanism control activated?
An optional expansion card for additional axes is required to
use multi-mechanism control with the CR2A controller. The
card must be installed in one of the three available
expansion slots, depending on the controller configuration.
Here too, activation of the function requires configuration of
some system settings in the servo amp and the robot
controller.
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Multi-Mechanism Control –
System Requirements
The robot Teaching Box system version must be greater than A3, as
only these versions contain the selection menu for the mechanisms.
In teach mode you can only control one mechanism with the robot; the
mechanism to be controlled is selected with the Teaching Box. In
program execution mode multiple mechanisms can be controlled
simultaneously by different programs.
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Multi-Mechanism Control –
Parameters
Required parameter settings: (see examples)
(Switch the power off and on again briefly to activate the settings!!)
Parameter AXUNUM : 0 (Defines the number of additional axes)
Parameter AXMENO : 0,0,0,0,...(Defines the axis-mechanism
assignments)
Parameter AXJNO : 0,0,0,0,... (Mechanism axis numbers)
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Multi-Mechanism Control
Examples
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Multi-Mechanism Control –
Example (1)
+
Parameter settings :
(2 additional servo amps used as 2 additional interpolated
robot axes)
Robot Controller:
Parameter AXUNUM : 0 (no additional mechanism)
Parameter AXMENO : 1,1,0,0,... (assignment mechanism 1 ->
robot)
Parameter AXJNO : 7,8,0,0,...(axis numbers of the first
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Multi-Mechanism Control Example (2)
+
Parameter settings:
(3 additional servo amps configured as 2 interpolated additional robot
axes, plus one additional single-axis mechanism)
Robot controller:
Parameter AXUNUM : 1 (one additional mechanism)
Parameter AXMENO : 1,1,2,0,... (assignment mechanism 1 ->
Robots; 2 -> mechanism 2)
Parameter AXJNO : 7,8,1,0,... (axis numbers of the individual
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Multi-Mechanism Control –
Example (3)
Parameter settings :
(3 additional server amps configured as one additional mechanism
with 3 axes)
Robot controller:
Parameter AXUNUM : 1 (one additional mechanism)
Parameter AXMENO : 2,2,2,0,... (axis assignments to mechanism 2)
Parameter AXJNO : 1,2,3,0,... (axis numbers of the individual
mechanisms)
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Multi-Mechanism Control –
Example (4)
Parameter settings:
(6 additional servo amps configured as 2 additional mechanisms with 3
axes each)
Robot controller:
Parameter AXUNUM : 2 (2 additional mechanisms)
Parameter AXMENO : 2,2,2,3,3,3,... (assignment to mechs. 2 and 3)
Parameter AXJNO : 1,2,3,1,2,3,0,... (axis numbers of the individual
mechanisms)
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Multi-Mechanism Control –
Example (5)
+
Parameter settings :
(8 additional servo amps configured as 2 additional mechanisms with 3
axes each, plus two interpolated robot axes)
Robot controller:
Parameter AXUNUM : 2 (2 additional mechanisms)
Parameter AXMENO : 1,1,2,2,2,3,3,3
(assignments to mechs. 1, 2, 3)
Parameter AXJNO : 7,8,1,2,3,1,2,3 (axis numbers of the individual
mechanisms)
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Multi-Mechanism Control
Servos
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Multi-Mechanism Control –
System Requirements
At present only the MR-J2-B and MR-J2S-B servo amps (current output 50W –
55kW) can be controlled by the robot controller. Special software and an interface
cable are required for configuring the servo amps.
Servo amp configuration software:
MRZJW3-Setup71 ver. C3 (144542) for the MR-J2 B servo amp
MRZJW3-Setup151 ver. E1 (149713) for the MR-J2S B servo amp
Interface cable for connecting the servo amp to the PC:
MR-CPCATCBL3M (55910)
If you wish to use absolute positioning with the servo amp (similar to the robots’
absolute positioning mode) you also need a battery (A6BAT, 4077).
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Multi-Mechanism Control –
Software
The following example only demonstrates the basic
configuration of the parameters for the MR-J2S B servo amp
with the MRZJW3-Setup151 servo configuration software.
The three parameter settings shown will provide trouble-free
basic operation of the system but they are not an application
solution. All other settings must be made in accordance with
the requirements of your application.
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Multi-Mechanism Control –
Software
The station number must be preselected with the rotary switch
on the servo amp. The first amp has the station number 0; you
can connect additional amps up to a maximum station number
of 7. The last servo amp must be terminated with a terminating
resistor (terminator) in slot CN1B. This terminates the SSCNET
bus.
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Multi-Mechanism Control –
Servo Configuration Software (1)
The startup screen shown on the
right is displayed when the
software has been installed and
started.
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Multi-Mechanism Control –
Servo Configuration Software (2)
Check that the servo
amp type is set
correctly!
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Multi-Mechanism Control –
Servo Configuration Software (3)
You can change the amplifier type in System Settings in the
System menu.
The software must be restarted after changing the amplifier
type.
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Multi-Mechanism Control –
Servo Configuration Software (4)
You can select the
amplifier type in the
Model Selection field.
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Multi-Mechanism Control –
Servo Configuration Software (5)
The Parameter List option in
the Parameters menu reads
out the list of parameters from
the amplifier.
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Multi-Mechanism Control –
Servo Configuration Software (6)
When you select the option
the program first displays
an empty parameter list.
Select the Read All button
to read all available and
enabled parameters into
the list.
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Multi-Mechanism Control –
Servo Configuration Software (7)
After completion of the
“upload”, parameters 0-11
and 40 are displayed.
The first thing to do is
select parameters 1 and
40 and change them to
the following values:
Parameter 1 : 0001
Parameter 40 : 000E
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Multi-Mechanism Control –
Servo Configuration Software (8)
After changing the
parameters you must
then select Write All to
write the new values to
the amplifier.
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Multi-Mechanism Control –
Servo Configuration Software (9)
When you confirm the
security prompt with OK
the new parameter
values are written to the
amplifier.
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Multi-Mechanism Control –
Servo Configuration Software
(10)
After downloading the
parameters you must
briefly switch the
amplifier off and on
again. This initiates a
reboot, which applies the
new values.
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Multi-Mechanism Control –
Servo Configuration Software
(11)
Now select Read All
again, which will now
also read the newly
enabled parameters 12 39.
Select parameter 23 and
change it to the following
value:
Parameter 23 : 0001
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Multi-Mechanism Control –
Servo Configuration Software
(12)
Repeat the operations described in the Servo Configuration Software Slides
8-10.
The servo amp is then ready for use and can be accessed by the robot.
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Multi-Mechanism Control –
Parameters
Required parameter settings:
Parameter 1 : 0001 (Absolute positioning system; insert an A6BAT
battery in the servo amp first)
Parameter 40 : 000E (Enable read/write access to parameters 12-39)
Parameter 23 : 0001 (External EMERGENCY STOP function off)
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Sensorless crash
detection
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General
What is it good for ?
• Protect human
• protect machine
• protect workpiece
What do we need additional ?
• nothing (it´s already in the OS )
When we can use it ?
• effective from OS J2
• only S-series robot
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Motorcurrent
overcurrentdetection bandwidth
I
Motorcurrentcurve
t
- the overcurrent bandwidth is free selectable
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Parameter
COL 1,1,1
0=OFF / 1=OFF with ERROR / 2=OFF without ERROR
0=OFF / 1=ON during JOG mode
0=OFF / 1=ON
COLLLV
detection in % for each axis seperat,
range 1-500
COLLLVJG
detection during Jog for each axis in %,
range 1-500
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Commands
COLCHK ON = detection ON
COLCHK OFF = detection OFF
COLLVL
= detection in % for each axis seperat,
range 1-500
NOERR
= Fault inactive when collission detected
Example:
10 COLLVL 100,100,,100,100,100
20 COLCHK ON, NOERR
30 MOV P1
40 MOV P2
50 COLCHK OFF
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variables
M_COLSTS
0= no detection / 1=collision detected
P_COLDIR
value after collission detected
J_COLMXL
value between estimated value and
actual toque
All values are read only !!!
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Tracking
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Introduction
Tracking is a function that enables a NARC controlled
robot to interact with a moving component or workpiece
as if it would be a stationary one. This function is used
in conveyor belt applications in which the robot must
perform tasks on or with a moving workpiece without
stopping the belt. The conveyor belt must be linear.
Circular belts or tact tables are not supported.
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Introduction
The function is a so-called “Cartesian tracking”
implementation. It is designed for use with a stationary
robot whose position is automatically adjusted to the tool
centre point (TCP) to follow or “track” the conveyor belt
movement.
The tracking function can be used on belts travelling at
speeds up to 20m per minute (~330mm/s).
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Benefits
- Saves valuable production time because transport of
goods on the belt can continue without interruption, instead
of having to remove the workpiece and place it in a
stationary holding device.
- Changes in belt travel speed have no effect on the
robot’s ability to grip the workpieces. The workpieces are
gripped in the correct position and the correct detected
orientation, even if the belt speed changes.
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Benefits
- Manipulation of workpieces by the robot while they
are being transported on the conveyor belt
- Reduction of total cycle period through productive
utilisation of the conveyor belt travel time
- Handling of unsorted products is possible, in
combination with a camera system
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Applications
- Food industry
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Applications
- Pharmaceuticals industry
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Applications
- Industrial manufacturing
- Pharmaceutical industry
- Packaging industry
- (un-) loading of goods
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Tracking „Red line“
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Necessary steps to a successful
installation
1. Check the tracking conditions :
- belt speed (up to 20m/min)
- Robots tasks (multi tasking)
- Camera system attached ?
- requested accuracy ?
- cycle times ?
- robots working area large enough ?
- ...
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Necessary steps to a successful
installation
2. Hardware :
- robot system of >= RV-A series (NARC controller)
- additional serial interface RZ581A (encoder inputs)
- encoder (max. 137kbps input signal frequency)
- light barrier / light switch / detector
- camera system (cognex (dvt), matsushita, vision&control, ...)
- conveyor belt, motor for the belt, frequency inverter
- external 5V/24V power supply (encoder, light barrier)
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Necessary steps to a successful
installation
3.1. Hardware setup :
- installation
of RZ581A board into option slot 1 or 2
- connection of the encoder to the RZ581A board
- connection of the encoder to the belt (motor/belt)
- setting of Parameter EXTENC
- connection of the encoder to external power supply (5V)
- installation of light barrier and/or camera
- connection of the light barrier to external power supply (24V)
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Necessary steps to a successful
installation
3.2. Parameter setting :
- TRMODE (hidden parameter) : -- 0 (off, def.)
-- 1 (on)
- TRMECH (hidden parameter) : -- 0 : (4 or 6 axis robots, def.)
-- 1 : (5 axis robot)
-EXTENC : relation of input channel number of the RZ581A
board and the encoder number in the robot program.
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Necessary steps to a successful
installation
4.1.a Accuracy belt - robot :
robot
- P_ENCDLT setting
This variable is used to define the relation :
robot
- encoder to belt speed and
- robot to belt direction
It changes the encoder units from „counts“ to „mm“.
If this variable is initialized in a „good way“, the robots accuracy
during the tracking will be fine.
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Necessary steps to a successful
installation
4.1.b Accuracy belt - robot :
- P_ENCDLT program
10 DEF POS POINT
20 DEF DOUBLE VALUE1, VALUE2, VALUED
30 OPEN "COM1:" AS #1
40 VALUE1#=...
50 VALUE2#=...
60 VALUED#= VALUE2#- VALUE1#
70 P_ENCDLT=(P200-P0)/ VALUED#
80 PRINT #1,P_ENCDLT
90
END
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Necessary steps to a successful
installation
5. Origin Position : (TRBASE)
-
The robot follows during the tracking the origin position.
-
This position is detected from the light barrier and specifies the
workpiece.
-
The origin position is stored in the tracking buffer after detection.
Conveyor
belt
Origin position
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Light
barrier
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Necessary steps to a successful
installation
6. robot program :
170 PC=TRWCUR(1,P1,VALUE#)
180 IF PC.Y>MAXY% THEN 190 ELSE 220
190 TRK OFF
' disable tracking
-10 REM main program
200 TRCLR 1
' clear buffer
-20 DEF DOUBLE VALUE
210 GOTO 330
-30 DEF INTE MAXY,MINY
220 IF PC.Y<MINY% THEN GOTO 170
-40 DEF ACT 1,M_IN(16)=1 GOSUB 320
230 TRK ON,P1,VALUE#
-50 OVRD 100
240 MOV P1,-30
-60 LOADSET 1,1
' opt. accel/decel
-70 OADL ON
250 DLY 0.2
260 MVS P1
-80 TRBASE P1
' tracking base
270 DLY 0.5
-90 TRCLR 1
' buffer clear
280 MVS P1,-30
-100 MAXY%=310
' work range +Y
290 TRK OFF
-110 MINY%=-350
' work range -Y
300 GOTO *NXST
-120 MOV P4
' home position
310 END
-130 *NXST
-140 ACT 1=1
' start tracking
' enable interrupt
320 TRWRT P_01,M_EN
C' write into buffer
330 ACT 1=0
' disable interrupt
-150 IF M_TRBFCT<1 THEN GOTO 150
340 RETURN 0
-160 TRRD P1,VALUE#
350 END
'read from buffer
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' disable tracking
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„Gray zone“ of the tracking
function
- Belt speeds higher than 20m/min
- high accuracy tracking
- combination with Multi Tasking
- multi gripper solutions
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Limits of the tracking function
- high accuracy with high belt speeds
- circular tracking (round tables)
- stepper systems (no continuous move, but stepwise
run of the belt)
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System „tuning“
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general
There are different ways to optimize a system :
- speed tuning,
- acceleration / deceleration settings,
- continuous movements,
- load settings,
- parameter settings,
- cycle time measurement
But the most important matter is the optimum
distance between the robot arm and all devices.
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Optimum distance
3
5
robot
1
6
3
4
2
robot
2
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1
4
5
6
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Speed tuning
Commands :
OVRD
-
global override -> [%]
JOVRD
-
joint override (MOV) -> [%]
SPD
-
linear / circular override (MVS, MVR) -> [mm/s]
Sample :
10 JOVRD 100
20 JOVRD 100
30 SPD 850
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Acceleration / deceleration
settings
Command :
ACCEL
-
acceleration and deceleration -> [%,%]
t = (100% * 0.2s) / Accel value
Sample :
10 Accel 100,100
-> 200ms acceleration / 200ms deceleration
20 Accel 200,500
-> 100ms acceleration / 40ms deceleration
30 Accel 10,400
-> 2000ms acceleration / 50ms deceleration
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Continuous movements
Command :
CNT -
continuous movement off (0) / on (1)
Depending on time, not on distance...
Sample :
10 CNT 1
10 CNT 1
20 MOV P1
20 MOV P1
30 M_OUT(8) = 1
30 MOV P2
40 MOV P2
40 MOV P3
50 CNT 0
50 CNT 0
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Load settings
Commands :
LOADSET -
definition of gripper and load
OADL
optimum acceleration / deceleration off / on
-
Relates to parameters HANDDATx / WRKDATx
Sample :
10 LOADSET 1,3
-> gripper 1 combined with load 3
20 OADL ON
30 MOV P5
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Parameter settings (1)
Parameters :
HNDDAT1-8
-
definition of gripper no. and center of gravity
WRKDAT1-8
-
definition of load no. and center of gravity
JADL :
(joint acceleration / deceleration limit)
Depending on the robot type this parameter allows the increase of
motor speeds in relation to the cycle duties. The monitoring of loads
must be valid for longer periods, when the settings are changed.
This setting should be the last in the order of tunings.
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Parameter settings (2)
Parameters :
ROMDRV -
definition of processing type
-- 0 (RAM, def.)
-- 2 (DRAM)
TASKMAX -
definition of max. amount of parallel tasks
-- 8 (def.)
-- should be adapted to the max. amount of
programs
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Cycle time measurements
Command :
M_TIMER
-
definition of internal timer -> [ms]
(Up to 8 timers are available)
Sample :
10 M_TIMER(1) = 0
-> reset of timer 1
20 MOV P1
30 MOV P5
40 M3 = M_TIMER(1) / 1000
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-> storage of timer result into M3, [s]
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Euromap 67
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general
The Euromap 67 specifies the :
„Electrical interface between Injection Moulding Machine
And Handling Device / Robot“
Global informations about the specifications can be
found under the following link :
http://www.euromap.org
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offer
Mitsubishi offers a special cabinet, to ensure the hardware
connections between a moulding machine (must be specified
from the orderer) and a Mitsubishi robot system.
Euromap
box
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Euromap interface
Not all moulding machine suppliers use or fulfil the Euromap
specifications.
Successful cooperations have been established in the past with
companies:
- Dr. BOY
- Demag Ergotech (Mannesman group)
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