Tài liệu Mitsubishi robot rv 2a

MITSUBISHI ROBOT RV 2A (73 trang)

1 Intended use _____________________________________________________ 3
2 Contents_________________________________________________________ 5
3 Introduction_____________________________________________________ 11
3.1 General_____________________________________________________ 11
3.2 Robot assembly station _______________________________________ 12
3.3 Didactic structure ____________________________________________ 13
3.4 Scope of tasks of the stations __________________________________ 14
3.4.1 Mechanics ______________________________________________ 14
3.4.2 Pneumatics _____________________________________________ 14
3.4.3 Electrics ________________________________________________ 14
3.4.4 Informatics______________________________________________ 14
3.4.5 Bus technology __________________________________________ 14
4 General safety instructions_________________________________________ 15
4.1 Use according to regulations ___________________________________ 15
4.2 Handling the system __________________________________________ 15
4.2.1 Dangers in handling the machine____________________________ 15
4.2.2 Safety precautions in standard operation _____________________ 15
4.2.3 Dangers due to electric current _____________________________ 16
4.2.4 Dangers due to pneumatic energy ___________________________ 16
4.2.5 Maintenance – Servicing – Malfunction removal ________________ 17
4.2.6 Organisational measures __________________________________ 17
4.3 Personnel___________________________________________________ 17
4.3.1 Notes on personnel _______________________________________ 17
4.3.2 Training operations _______________________________________ 17
4.3.3 Outside training operations ________________________________ 17
4.3.4 Safety symbols __________________________________________ 18
5 Commissioning __________________________________________________ 19
5.1 Transport ___________________________________________________ 19
5.2 Set up______________________________________________________ 20
5.2.1 General information ______________________________________ 20
5.2.2 Robot assembly station ___________________________________ 20
5.3 Commissioning ______________________________________________ 24
5.3.1 Pneumatic commissioning _________________________________ 24
5.3.2 Electric commissioning ____________________________________ 24
5.3.3 Connecting communication cables___________________________ 25
5.3.4 Establishing communication connections _____________________ 26
5.4 Start up the system ___________________________________________ 27
5.4.1 Start up conditions _______________________________________ 27
5.4.2 general information_______________________________________ 27
5.4.3 Adjust AS/RS station______________________________________ 28
5.4.4 Pallet handling/quality station______________________________ 28
5.4.5 Robot assembly station ___________________________________ 28
5.4.6 Assembly station _________________________________________ 29
5.4.7 Adjust transport system ___________________________________ 29
5.4.8 Start up cell control (COSIMIR CONTROL) _____________________ 30
5.4.9 Start-up of processes _____________________________________ 30
5.5 Shut down the system_________________________________________ 30
6 Operation_______________________________________________________ 31
6.1 General operation notes _______________________________________ 31
6.1.1 Behaviour rules __________________________________________ 31
6.1.2 Operation rules __________________________________________ 31
6.2 Process description___________________________________________ 32
6.2.1 Robot assembly station ___________________________________ 32
6.2.2 General process description ________________________________ 33
6.2.3 Process 530 _____________________________________________ 33
6.3 Order codes Robot assembly station Drive Unit – COSIMIR CONTROL __ 34
6.4 Operation panel______________________________________________ 38
6.5 Adjustment _________________________________________________ 39
6.5.1 Requirements ___________________________________________ 39
6.5.2 Reset mode _____________________________________________ 40
6.6 Automatic __________________________________________________ 40
6.6.1 start automatic __________________________________________ 40
6.6.2 Automatic mode _________________________________________ 40
6.6.3 Stop automatic __________________________________________ 40
6.7 Mitsubishi robot RV-2A _______________________________________ 41
6.8 Drive Unit CR-1 for RV-2A ______________________________________ 42
6.8.1 Functions _______________________________________________ 42
6.8.2 Teach pendant RV-2A _____________________________________ 44
6.8.3 Set up RV-2A ____________________________________________ 45
6.8.4 To operate the robot ______________________________________ 46
6.8.5 Choose program _________________________________________ 49
6.8.6 Change program _________________________________________ 49
6.9 To operate the robot __________________________________________ 50
6.9.1 Teach position example ___________________________________ 51
6.9.2 Interface Drive unit Inputs _________________________________ 52
6.9.3 Interface Drive unit Outputs ________________________________ 53
6.9.4 Program documentation for CR1 and CR2 with ETHERNET ________ 54
6.9.5 Robot programs__________________________________________ 58
7 Technology _____________________________________________________ 59
7.1 drawings ___________________________________________________ 59
7.2 Technical datas ______________________________________________ 60
7.3 Modules in use ______________________________________________ 61
7.3.1 Pallet reception __________________________________________ 61
7.3.2 Pen magazine ___________________________________________ 62
7.3.3 Instrument magazine _____________________________________ 63
7.4 Assembly module ____________________________________________ 64
7.4.1 Mitsubishi robot RV-2A ____________________________________ 65
7.5 Workpiece positions __________________________________________ 66
8 Pneumatic ______________________________________________________ 69
8.1 The valve terminal ____________________________________________ 69
8.2 Pneumatic supply ____________________________________________ 70
9 Electrical system _________________________________________________ 71
9.1 Power supply ________________________________________________ 71
9.2 Controller___________________________________________________ 71
9.3 Wiring______________________________________________________ 72
9.3.1 I/O-Components _________________________________________ 72








This installation was developed and manufactured only for use in basic and further training in the fields of automation and communications. The training company and/or the training staff must ensure that the trainees observe the safety precautions described in the accompanying manuals. Furthermore this manual describes setup and possible .