Operation Manual (Stacker Crane)

Operation Manual (UL Crane/MCR-1C)
Contents
Operation Manual
MCR-1C （CRC-1）
）
UNI System
● Before starting operation, operator must read this Operation Manual

thoroughly to make a correct operation.
● Preserve with care together with specifications.
Logistics and Automation Division

AS/RS MURATA MACHINERY, LTD.
With Stationary Operation panel
MURATA MACHINERY, LTD.

Contents
CONTENTS
1.1. Description of Symbols.............................................................................................................................. 1
2. Cautions ............................................................................................................................................................ 2
3. Name of Parts ................................................................................................................................................... 4

3.1. System Overview....................................................................................................................................... 4
3.2. UX Crane Overview ................................................................................................................................... 5
3.3. Name and Functions of Stationary Operation Panel ................................................................................. 6
3.4. Name and Functions of the Remote Controller......................................................................................... 7
3.5. Name and functions of Crane Operation Panel ........................................................................................ 8
3.6. Before starting the Crane Operation ....................................................................................................... 11
3.7. To put OFF the power.............................................................................................................................. 12
3.8. For Test Operation ................................................................................................................................... 13
3.9. Emergency Procedure............................................................................................................................. 13
3.10. ·· Crane Mode ............................................................................................................................................. 14
3.11. ·· Manual Operation with Remote Controller .............................................................................................. 16
4. Manual Operation ........................................................................................................................................... 18

4.1. To put the system in Manual Mode.......................................................................................................... 19
4.2. To perform the crane operation with Remote Controller ......................................................................... 20
4.3. To perform crane traveling....................................................................................................................... 20
4.4. To perform the carriage frame hoisting up/down operation..................................................................... 21
4.5. To extend/retract the fork......................................................................................................................... 22
4.6. If the crane cannot be operated by the keys ........................................................................................... 24
4.7. If the fork does not move ......................................................................................................................... 24
4.8. To quit the manual operation mode ......................................................................................................... 25
5. Automatic Operation ....................................................................................................................................... 26

5.1. To put the system in Automatic operation mode ..................................................................................... 27
5.2. To start the crane ..................................................................................................................................... 28
5.3. If an error occurs...................................................................................................................................... 28
5.4. If the wrong data is input! : ...................................................................................................................... 29
5.5. Type of operation mode performed by crane! : ....................................................................................... 30
5.6. To store a load ......................................................................................................................................... 31
5.7. To retrieve a load ..................................................................................................................................... 33
5.8. To cancel programmed data .................................................................................................................... 35
5.9. When all retrieved load for picking operation is dispatched with pallet................................................... 41
5.10. ·· To exit Automatic Operation!.................................................................................................................... 45
MURATA MACHINERY, LTD

Contents
6. Additional Crane Function .............................................................................................................................. 46

6.1. Function List ............................................................................................................................................ 47
MURATA MACHINERY, LTD.

1. Preface
1.1. Description of Symbols

The following symbols and definitions are used in this manual for clear and accurate understanding of
proper operating procedures.
Symbol Description Symbol Description

Indicates an imminently Indicates a potentially
hazardous situation which if hazardous situation, which,
not avoided will result in if not avoided, could result
death or serious injury in death or serious injury.
DANGER WARNING
Important Warning Important Warning
Indicates a potentially Contact Murata’s Service
hazardous situation, which, if Center.
not avoided, may result in
minor or moderate injury. It
is also used to warn against
unsafe practices.
CAUTION
Important Warning
A close up of the specified Indicates that the

area is shown EMERGENCY EMERGENCY STOP
STOP button should be pressed
Indicates that the Buzzer warning

EMERGENCY EMERGENCY STOP button The buzzer sounds
STOP should be released. (Turn continuously if an error
clockwise and pull.) occurs.
Beep The buzzer sounds once
when the crane is started.
Turn clockwise
Press the Enter key. A lit lamp indicates that the

button is activated.
ENTER
Push START
A flashing lamp indicates that

the button is selectable.
STORAGE
MURATA MACHINERY, LTD. 1

1. Cautions
2. Cautions
Incorrect operation of the UL Crane may result in

DANGER serious, even fatal accidents. Read the following
pages carefully to ensure safe and correct operation
and to prevent accidents.
WARNING CAUTION
Never enter the crane aisle during operation! Do not approach or step on the station.
Always put OFF the power before entering the The conveyor or other equipment may suddenly start
crane aisle. The crane may suddenly stop due to up and this is extremely dangerous.
the activation of the interlock brake and may
suddenly start up again. Exercise extreme
caution when working in the crane aisle.
Always wear a helmet, safety belt and safety Put up an “Under Inspection” sign to indicate to
shoes. Wear clothes that do not restrict free other personnel in the area! This must be put at the
movement! Entry, Exit and near the equipment.
Remove the safety plug and carry the remote Work in pairs to ensure safety.
control with you when entering the crane aisle Do not work alone. Always work in pairs to ensure
for the work of maintenance. safety during operation. Exchange verbal and visual
The power will be put OFF when the safety plug is signs during the work.
removed.
2 MURATA MACHINERY, LTD.

Operation Manual (UL Crane/MCR-1C/CRC-1)
2. Cautions
Do not overhaul the crane. Do not climb on the hoisting carriage.

Do not dismantle the crane more than necessary. Crane Safety Rule No. 26.
The hoisting carriage must be used only for
transporting load and not personnel.
Do not enter under the hoisting carriage. Do not touch the power feed rail (TROLLEY).
When it is absolutely necessary to enter under Caution: You may get an electric shock if you touch
the hoisting carriage for maintenance work, the TROLLEY wire.
secure two supports each capable of supporting
weight of 250 kg, and securely fasten them so
that they support the carriage frame.
SAFETY
OK
Confirm Safety before operating. Do not exceed specified loading dimensions

Check that there is no person or object in the crane and weight.
aisle before starting crane operation. Crane Safety Rule No. 23.
Do a test operation before executing actual Do not use deformed or damaged bucket.
operation.

4. Preparation for Operation
3. Name of Parts
3.1. System Overview
UL Crane Rail Rack Pallet

Used for storing and Used for stacker Rack for storing load Load is put on pallet
retrieving load. crane travel and transported.
Refer to Pg. 6
Anti-Home Position Side

Rows Levels
Home Position Side
Bays
Station (L/S)
Safety Fence Load handling station
Operation Panel Safety fence for ensuring
Used fto operate the safety and preventing
system. Refer to Pg. 7 unauthorized entry of
persons.
Level 5
Level 4
Rack Levels Rack Level 3
Rows Bays
Level 2
Level 1
Crane
Bay 1 Bay 2 Bay 3 Bay 4
Row 1 H.P Row 2

3.2. UX Crane Overview
Upper frame
Power feed rail

Top guide rail
Ladder
Hoisting Carriage Load displacement

detection wire
Slide Fork
Front mast Rear mast
Control panel
Carriage drive unit
Bottom guide rail
Crane drive unit Lower frame
Note: Crane overview is vary based on the features of respective system.

3.3. Name and Functions of Stationary Operation Panel
Card (optional)
Operation Screen
Refer to Pg. 9-10.
BUZZER
There will be a buzzer
sound when the crane is
starting operation or when
there is an error.
Mode Change Key

Used for change the
operation mode either
“Crane” or “Ground”.
Emergency stop button

Press the Emergency stop
Connector button on the Operation
for Remote Controller panel in the event of an
emergency in order to stop
the crane operation.
Hook
for Remote Controller
(Light side)
Power Switch
Put on the power with the
power switch.
Remote Controller
Used on
“Manual Operartion Mode”.

3.4. Name and Functions of the Remote Controller
Indicates current
operation status of
the crane
CRANE
NUM CHANGE DEAD-MAN Switch

Used in combination with Pressed during Manual operation
SHIFT ENTER by Remote Controller.
other keys REDISPLAY
Used to stop the buzzer Used in combination with other

＋ 0 ESC DEEP BS
keys
sound. (Shift Buzzer) ERROR
※Possible only during BUZZER MENU RESET
Manual Operation by
Remote controller. 7 UP 8 ． 9 DOWN
Used to recover from error.
UP MOVE DOWN Used to move carriage frame up

Used to give warning sound ELEVATOR or down.
to alert other personnel for
safety. Possible only during 4 D 5 E 6 F
Manual Operation.
LEFT SELECT RIGHT
FORK Used to move fork to right or left.
Used to change to Menu

Operation during Maker 1 A 2 B 3 C
maintenance. MOVE
FORWARD REVERSE
CARRIER Used to move crane forward or
backward.
Used to choose a fork for
system with multiple forks.
Not used with single fork
system.

3.5. Name and functions of Crane Operation Panel

Used for setting the transport data during automatic mode operation.
STORE
Setting the load to be stored from Station
to the Rack cell.
RETRIVE
Setting the load to be retrieved from the
rack cell to the Station.
PICK
Setting the load to be retrieved from the
rack cell to the station in order to pick the
specified nos. of load. After the picking
operation, press the RIGHT/LEFT PICK
END key to re-store the load.
RACK TO RACK
Load is transferred from one rack to Murata Machinery, Ltd.
another rack
STATION TO STATION
Load is transferred from one Station to
another Station
MODE SELECT MODE

Used for Mode change to Online/ Offline SELECT
Auto or Manual operation.
STORE RETRIEVE PICK
CANCEL
RACK STATION
ALL PART EXEC TO
TO
STATION
RACK
Used for deleting transport data
during Automatic or Online mode
operation
ALL Used for clearing all the programmed data on the entry terminal.
PART Used for clearing part of the programmed data on the entry terminal.
EXEC Used for clearing the data suspended due to the occurrence of error etc.

Used for correcting programmed data during Used for monitoring various information relating
automatic operation to crane.
CHANGE CPU
Used for changing programmed data. Will light up when the microcomputer is functioning
INSERT correctly.
Used for inserting new data. MAINTENANCE
PRIORITY Used for calling out the functions necessary for
Used for allocating priority by mode to the programmed data.
maintenance.
URGENT HISTORY
Used for setting Urgent processing of data prior to the
execution of the programmed data. Used for calling out the history functions
DEST CHG FUNCTION
Used for changing the destination on the occurrence of Used for calling out additional functions
pre-occupied load error HELP
OPERATE Provides a detailed description regarding the current
Used to prepare the Auto mode or Online mode operation. display. (Can be used normally)
BUZZ STOP
Used for stopping the buzzer sound
given out on the occurrence of crane
○ CHANGE CPU error.
BUZZ AUTO
○ INSERT ○ MAINT STOP STOP
AUTO STOP
Used for returning the crane to home
position. (Start condition is OFF)
○ PRIORITY ○ HISTORY
○ URGENT ○ FUNCTION START

Press this button to start operation in
○ DEST CHG ○ HELP
Auto or Online mode.
START
○ OPERATE ○ RESET
RESET
Press this button to reset error.
RIGHT PICK END

LEFT RIGHT On completion of picking operation,
1 2 3 PICK
END
PICK
END
press this button to re-store the load
on the right side station.
4 5 6 LEFT PICK END

On completion of picking operation,
press this button to re-store the load
7 8 9 on the left side station.
0 ENTER
CURSOR key For moving the displayed data or input position to top/down, right and
left.
ENTER Used for confirming the Entered data.
TEN key Used for entering the data.

Preparation for Operation

This section describes the procedures to be observed before
operating the crane.

3.6. Before starting the Crane Operation

Put ON the power to all peripheral
equipments.
Before starting the crane operation,

please ensure to confirm safety
according to following instruction.
Check that no person or object in the crane Insert the key in the key switch to Crane
aisle. Operation panel.
Safety OK!
To turn ON the system. Put ON the power to Crane Operation panel.

(Power switch is on the backside of the panel.)
Put ON the power to the Distribution Board.
Distribution Board
Put ON the power to the crane main frame. Press “OPERATE” key on the Operation
panel. (This key is activated only on Auto
mode and Online mode.)
○ OPERATE
PRESS!!
The system is now ready for operation.

3.7. To put OFF the power

Check that the crane is returned to its home Turn OFF the power of the crane on the
position (*1). Distribution board.
Distribution Board
Return the crane to its home position if

necessary.
Turn OFF the power on the Operation panel. This is the end of the procedure for turning off
(Power switch is on the backside of the panel.) the power.
Remove the key on the Operation panel.

The operator should keep the key.
*1 Home Position is normally;

Travel rear side, Carriage bottom end, and
Fork center.
Auto mode/Online mode operation can
start only when the crane is on Home
Position.
Put OFF the power to the crane main frame and all
the peripheral equipments.

3.8. For Test Operation

Please do the test operation on Manual mode, and Return the crane to its Home Position after the
check if there is any error for the crane operation. test operation.
(Refer to Chapter 6 “Manual Operation with
Remote Controller”.)
3.9. Emergency Procedure

Press the EMERGENCY STOP button on the operation Release the EMERGENCY STOP button after
panel in case of an emergency or when the crane is to be danger is solved.
stopped immediately.
Turn Clockwise

3.10. Crane Mode

3.10.1. Automatic Operation 3.10.2. Manual Operation
The automatic operation mode is used when all The manual operation mode is used to
loads are to be transported in the same pattern perform independent operations, i.e. crane
(from a rack to a station, for example). travel, load lift, or fork extend/retract.
Left Right
Rack Cell Rack Cell Rack Cell
Up
Crane
Rear
Station Down
Front
Set the key switch to “Ground”. Set the key switch to “Ground”.
Crane Ground Crane Ground
Select the Operation mode from the display on the Select the Operation mode from the display
Operation panel. (Refer to P.10) on the Operation panel.
(Refer to P.10)
Display on the
Operation panel
Operate the system from the operation panel while Operate the system from the Remote
observing the display screen. Controller while observing the display screen.
(Refer to P.8)
OFFLINE AUTO
Rack to Rack: Unloading cycle
Crane: Moving to destination
F1: Row Bay LVL
32 002 001
* There is no compatibility on the transport data

between Automatic operation and Online operation.

3.10.3. Online Operation

The on-line operation mode is used to put all
functions of the system, from crane movement
through stock management, under control of the
host computer.
Rack Cell Rack Cell Rack Cell
+ Inventory
Control
Station
Set the operation mode to “Ground”.
Crane Ground
Select the operation mode from the display on the

Operation panel. (Refer to P.10)
System operation is controlled by the host

computer.

3.11. Manual Operation with Remote Controller
Before starting the crane

operation, please ensure to
CAUTION confirm safety according to
following instruction.
3.11.1. Items to be observed.

Always work in pairs to ensure safety during Work in adequate position during crane
operation. operation.
To ensure safety, observe the crane operation Prepare to press the Emergency Stop PB to
each other until the end of operation. ready for occurrence of fault.
Make a buzzer sound before starting the operation.

Above safety measures are to be observed during
Crane operation.
* To ensure safety, exchange the verbal signs during

the work.

3.11.2. Items to be prepared. 3.11.3. Handling of Remote Controller

“Remote Controller” must be ready for operation. Insert the key into the key switch on the
control unit, and set the key to “ON”.
OFF ON OFF ON
Set the key switch to “Crane” and remove the key. Connect the cable to the remote controller and
the control panel.
機上地上
Prepare the cable for the remote controller. Now system is ready for operation with
Remote Controller.
Crane can be operated in the same way as

Manual Operation from Stationary Operation
panel.
* To ensure safety, crane will travel or lift

up/down at low speed even if “MOVE” PB
on the remote controller is pressed during
operation.
On completion of the crane operation,

disconnect the remote controller, the key and
cable respectively.
Out from the crane aisle.
This is the end of the Manual operation with

Remote controller.
* Return the crane to its Home Position on

Manual operation from the operation panel.

5. Manual Operation
4. Manual Operation
This section describes the procedures for manually operating the
system with Remote Controller.
The manual operation mode is used mainly for maintenance and
troubleshooting.

5. Manual Operation
All the manual mode operations are 4.1. To put the system in Manual Mode
performed with M-CON.
Set the Mode key switch to “Ground”.
People not adequately Crane Ground

qualified or having the
CAUTION required driving permit etc.
are not allowed to operate the
crane.
Press “MODE SELECT” button on the Crane operation panel.
MODE
SELECT
Select “Manual” on the display of the operation panel, and

press “ENTER” key.
MODE SELECT 00:00:00

Online Auto Offline Auto
Manual
Select mode with [↑ /↓ /← /→ ] keys.
[ENTER]: Set data
CRANE ENTER
NUM
ENTER
SHIFT REDISPLAY
0 ESC BS
ERROR
BUZZER MENU RESET
7 UP 8 . 9 DOWN
MOVE
UP ELEVATOR DOWN Now the system changes to Manual mode.
4 D 5 E 6 F
SELECT
LEFT FORK RIGHT
1 A 2 B 3 C
MOVE
FORD BACK
CARRIER

5. Manual Operation
4.2. To perform the crane operation 4.3. To perform crane traveling

with Remote Controller
4.3.1. To stop the crane at a fixed position.
Check that center is high-lighted on the screen.
The display shows as below on the first stage.
MANUAL OPERATION MANUAL OPERATION Ready

Ready
/ [Crane] 001 Bay Center
Press [OPERATE] button to start. / [Carriage] 001 Level Lower Upper
/ [Fork] Left Center Right
[Load] No [↓ ]
Press the Dead-Man key switch during crane

operation.
Press “FORWARD” or “REVERSE” button on the
Remote Controller to run the crane.
FORWARD MOVE
REVERSE
CARRIER
Now, crane starts traveling at low speed and

stops at the fixed position. Release the key to
* Manual Operation will be executed only when this stop the crane immediately.
Dead-Man key switch is pressed.
When the Dead-Man key switch is released, crane
stops operation immediately. Press the key again to restart the crane.
Check that the top-right corner of the screen 4.3.2. To pass the crane over the fixed position
indicates “Ready”.
Press and hold “FORWARD” or “REVERSE” key
MANUAL OPERATION Ready together with the “MOVE CARRIER” key on the
Remote Controller.
/ [Carriage] FORWARD MOVE
001 Level Lower Upper REVERSE
CARRIER
[Load] No H.P [↓ ]
Crane travels at medium speed. Release the

key to stop the crane.
Use buttons on the Remote Controller such as; Crane automatically decelerates as it approaches
“FORWARD”, “REVERSE”, “MOVE CARRIER” the forward or rear end of traveling and then stops
buttons for crane traveling operation, and “UP”, at the end.
“DOWN” “MOVE ELEVATOR” buttons for
carriage hoisting operation, and “LEFT”, The upward/downward movement of the carriage
“RIGHT”, “SELECT FORK” buttons for fork frame can be performed at the same time as
operation. crane traveling. (See next page.)

5. Manual Operation
4.4. To perform the carriage frame

If the carriage frame is loaded, it stops at the
hoisting up/down operation upper level as the fixed position.
Check that “Center” is highlighted on the
screen.
Loaded
MANUAL OPERATION Ready Rack
Carriage frame
Carriage fraome
/ [Carriage] 002 Level Lower Upper
/ [Fork] Rack
Left Center Right
[Load] No [↓ ]
MANUAL OPERATION Ready

Use “UP”, “DOWN”, or “MOVE ELEVATOR”
button for the carriage hoisting operation.
4.4.1. To stop the carriage frame at the fixed [Load] No [↓ ]
position
Press and hold “UP” or “DOWN” button on the

Remote Controller.
MOVE 4.4.2. To pass the carriage frame over the fixed
UP DOWN
ELEVATOR
position
The carriage frame moves upward or downward Press and hold “UP” or “DOWN” key together with
at low speed and stops at the fixed position. the “MOVE ELEVATOR” key on the Remote
Release the button to stop the carriage frame. Controller.
MOVE
Press the key again to restart the carriage UP DOWN
ELEVATOR
frame.
If the carriage frame is not loaded, it stops at the

lower level as the fixed position. Carriage frame moves upward or downward at
high speed. Release the key to stop the carriage
frame immediately.
Not
loaded
Carriage frame
Carriage frame automatically decelerates as it
approaches the upper or lower end of the
movement and then stops at the end.
Rack
Carriage frame
The upward/downward movement of the carriage
frame can be performed at the same time as
crane traveling.

[Load] No [↓ ]

5. Manual Operation
4.5. To extend/retract the fork

4.5.2. To pick up the load
4.5.1. To select the fork Check that “Center” and “Lower” is highlighted
If two forks are provided, select the fork for the

operation by pressing “SELECT FORK” button o MANUAL OPERATION Ready
the Remote Controller. Set the Asterisk mark
“*” on the left side of selected fork on the display. / [Crane] 001 Bay Center
SELECT / [Fork] L end Center R end
FORK [Load] No [↓ ]
① To use the front side fork only
Press and hold “LEFT” or “RIGHT” key on the
OFFLINE MANUAL Remote Controller until the fork stops

automatically.
OPERATION
MOVE
LEFT RIGHT
ELEVATOR
② To use the rear side fork only.

If the key is released before the fork stops
automatically, press the key again. In this case,
OFFLINE MANUAL the fork moves only at low speed.
Check that “Left” or “Right” is highlighted on the

OPERATION screen.
③ To use both of front/rear side forks. MANUAL OPERATION Ready
OFFLINE MANUAL / [Crane]

/ [Carriage]
001
001
Bay
Level
Center
Lower Upper
/ [Fork]
OPERATION
Left Center Right
[Load] No [↓ ]

5. Manual Operation
Press and hold “UP” key on the Remote 4.5.3. To unload

Controller. Check that “Center” and “Upper” is highlighted
MOVE
UP DOWN
ELEVATOR MANUAL OPERATION Ready

Check that “Upper” is highlighted on the screen.
[Load] Load [↓ ]
/ [Carriage] 001 Level Lower Upper Press and hold “LEFT” or “RIGHT” key on the
/ [Fork] Left Center Right Remote Controller
[Load] No [↓ ]
FORK
LEFT RIGHT
SELECT
Press and hold “LEFT” or “RIGHT” button on the

Remote Controller to return the fork to the center. Check that “Left” or “Right” is highlighted on the
screen.
FORK
LEFT RIGHT
SELECT
Check that “Center” is highlighted on the screen.
/ [Crane] 001 Bay Center.
[Load]
No [↓ ]
Press and hold “DOWN” key on the Remote
[Load] Load [↓ ] Controller.
MOVE
UP DOWN
ELEVATOR
Check that “Lower” is highlighted on he screen.

[Load] No [↓ ]

5. Manual Operation
4.7. If the fork does not move

Press and hold “LEFT” or “RIGHT” key on the
Remote Controller to return the fork to the center. 1) Check that the fork may attempt to pick up a load
when it is loaded.
FORK
LEFT RIGHT
SELECT 2) Check that “Lower” or “Upper” is highlighted on the
screen.
Check that “Center” is highlighted on the screen.
/ [Crane] / [Carriage] 001 Level Lower Upper

001 Bay Center
/ [Carriage] / [Fork] Left Center Right
001 Level Lower Upper
[Load]
No [↓ ]
[Load] No [↓ ]
3) Check “Center” is highlighted on the [Crane] status.

4.6. If the crane cannot be operated
by the keys / [Crane] 001 Bay Center
1) Check on the screen that the crane is at the / [Fork] Left Center Right
correct position. [Load] No [↓ ]
2) The system may not be prepared for operation.
4) Check that the fork may attempt to place the load
Press and hold “Dead-Man key switch” on the onto a loaded rack.
Remote Controller to activate the manual
operation. Then use other keys to operate the 5) Check that the station is properly prepared.
crane.
* Manual Operation will be executed only when this

Dead-Man key switch is pressed.
When the Dead-Man key switch is released, crane
stops operation immediately.

5. Manual Operation
4.8. To quit the manual operation

mode
Return the crane to its Home Position


6. Automatic Operation
This section describes the procedures for automatically operating the
system from the operation panel.
The Automatic Operation mode is used primarily for maintenance and
troubleshooting (tuning, trial operation etc.)
(Not to be used on normal operation.)

Precautions for Automatic Operation! 5.1. To put the system in Automatic operation
mode
Set the Mode key switch to “Ground”.
Ensure to check safety
before starting Crane Crane Ground
CAUTION
operation!!
Check properly that there is any

person on the crane aisle.
Press “MODE SELECT” button on the Crane operation panel.

Safety OK!
MODE SELECT 00:00:00
MODE Online Auto Offline Auto
SELECT Manual
Select mode with [↑ /↓ /← /→ ] keys.
[ENTER]: Set data
Check that “Offline Auto” on the display of the operation panel

is selected, and press “ENTER” key.
Always ready to press the Emergency

Stop button at any time of emergency OFFLINE AUTO Ready
situation occurs.
ENTER
Ready for data setting.
Home Position start possible.
Now the system changes to Manual mode.
START
* Read Chapter 2 “Caution” thoroughly

before starting the crane operation.
[START] key lamp is flashing.
If [START] key lamp is not flashing, change the operation

mode to “MANUAL” and return the crane to its Home Position.


5.2. To start the crane 5.3. If an error occurs

Set the data to operate the crane. Press [HELP] key to locate the cause of
the error.
Press the Dead-Man key switch during crane

operation.
Press “FORWARD” or “REVERSE” button on
the Remote Controller to run the crane.
Press [START] key on the control panel.
○ HELP
START
PRESS!!
The steps necessary to recover the system

On completion of operation by setting data, the are shown on the screen.
crane returns to its Home Position automatically.
LOAD ERROR (1)

OPERATE WITH CAUTION!!
Load may become unstable
during transport!
[ERROR RESET] & [OPERATE]:
Manual keys operable.
[↓ ]
Set the operation mode to “Manual

Operation”.
MODE
SELECT
In case of an occupied error or a wrong rack,

change the destination using [DEST CHG] key
(Refer to P.61) or cancel the movement
currently being executed using [EXEC] key
(P.47).

5.4. If the wrong data is input! :

Check that the following screen appears.
STORE SETTING 00:00:00

Fork: 1
L/S Row Bay Level
from 5 - - - - - -
to - - - 1 2 3
Enter From Loading Station No.
[ENTER]: set the input data.
[STORE]: end of data input.
* Data setting error (To L/S) *
Correct the wrong data.
When correct data is input, press [ENTER] key

on the control panel.
ENTER
PRESS!!

5.5. Type of operation mode

performed by crane! :
Storage operation;
Transport a load from a station into a rack-cell. STATION TO
STATION
STORAGE
Retrieval operation;
Transport a load from a rack-cell onto a station.
RETRIEVAL
PICKING
RACK TO
RACK

5.6. To store a load

STORAGE
Press [STORE] key on the control panel.
STORE
① Press!!
Check that “STORE SETTING” screen appears.

Fork: 1
L/S Row Bay Level
from 0 - - - - - -
to - - - 0 0 0
Enter FROM Loading Station No.
[ENTER]: set the data.
[STORE]: end data setting
Enter values for L/S (station), row, bay and level

using the ten keys and arrow keys.
② Ten keys & ③ Arrow keys
⑤ 1 2 3
4 5 6
7 8 9
0
PRESS! PRESS!
① ② ④ ③

Press [ENTER] key on the Check that [START] key lamp is (Practice)
operation panel. ON. Try to store a load from station
No.1 to a rack in row 1 at bay 4
on level 2!
ENTER
START
④ PRESS!!
STORE
Entered values are accepted.

The crane now starts.
If crane does not start, either of the L/S 1
Fork: 1 following conditions may be the
L/S Row Bay Level cause.
from 0 - - - - - -
to - - - 0 0 0 1. Station is not loaded.
2. Station power is not ON.
[ENTER]: set the data. 1
[STORE]: end data setting Row
* Entered data is accepted. *
Bay
4
Press [START] key on the
control panel.
START
Level 2
⑤ PRESS!!
ENTER
START

5.7. To retrieve a load

RETRIEVE
Press [RETRIEVE] key on the control panel.
RETRIEVE
① Press!!
Check that “RETRIEVE SETTING” screen appears.
RETRIEVE SETTING 00:00:00

Fork: 1
L/S Row Bay Level
from - - - 0 0 0
to 0 - - - - - - - -
[ENTER]: set the data.
[STORE]: end data setting
* Data setting error (To L/S) *
Enter values for L/S (station), row, bay and level

using the ten keys and arrow keys.
② Ten keys & ③ Arrow keys
1 2 3
⑤
4 5 6
7 8 9
0
PRESS! PRESS!
① ② ④ ③

Press [ENTER] key on the Check that [START] key lamp (Practice)
operation panel. is ON. Try to retrieve a load from a
rack in row 1 at bay 4 on level
2 to station No.1!
ENTER
START
④ PRESS!!
STORE
Entered values are accepted.

The crane now starts.
RETRIEVE SETTING 00:00:00
1
Fork: 1 Row
L/S Row Bay Level
from - - - 0 0 0
to 0 - -- - - - - - -
[ENTER]: set the data. 4
[STORE]: end data setting Bay
* Entered data is accepted. *
Level
2
Press [START] key on the control
panel.
START
L/S 1
⑤ PRESS!!
ENTER
START

5.8. To cancel programmed data

What is programmed data? (Data cannot be cancelled during starting operation)
The data which has not as yet been executed, but 1) To cancel all programmed data!
which is kept in memory.
Press [ALL] key on the control panel.
CANCEL
ALL PART EXEC
① Press!!
Check that “ALL RESERVED CANCEL MENU”
screen appears. Use arrow keys to select General
Data.
② Arrow keys
PRESS!
ALL RESERVED CANCEL MENU 00:00:00
GENERAL DATA
PICK DATA
[↑ /↓ ]: scroll
[ENTER]: end data setting.
Press [ENTER] key on the control panel.
ENTER
③ PRESS!
① ③ ②

Check that “ALL GENERAL All programmed movement is (Practice)

CANCEL” screen appears. canceled. Try to cancel all
programmed
movements.
ALL GENERAL CANCEL 00:00:00 ALL GENERAL CANCEL 00:00:00
STN to STN 001/001 STN to STN 001/001
from to from to
FK L/S Row Bay LVL L/S Row Bay LVL FK L/S Row Bay LVL L/S Row Bay LVL
1 001 -- --- --- 001 -- --- --- 1 001 -- --- --- 001 -- --- ---
- --- -- --- --- --- -- --- --- - --- -- --- --- --- -- --- ---
ALL
Pallet NO. [FA000003] Pallet NO. [FA000003]
* All data canceled. *
Use the arrow keys to check the Press [ALL] key to exit the “ALL Choose General data.
entered values. GENERAL CANCEL” screen and
proceed to the next step.
②
ARROW KEYS ENTER
CANCEL
ALL PART EXEC

ENTER
PRESS! ① PRESS!
Press [ENTER] key on the control
panel.
ENTER ALL
③ PRESS!!

2) To cancel part of the programmed data!

(Data cannot be cancelled during starting operation)
Press [PART] key on the control panel.
CANCEL
ALL PART EXEC
① Press!!
Check that “PART DATA CANCEL MENU” screen
appears. Use arrow keys to select General Data.
② Arrow keys
PRESS!
PART DATA CANCEL MENU 00:00:00
GENERAL DATA
PICK DATA
[↑ /↓ ]: scroll
① ③ ②
ENTER
③ PRESS!

Check that “PART DATA CANCEL” Selected data is canceled. (Practice)

screen appears. Try to cancel specified
programmed
movements.
PART DATA CANCEL 00:00:00 PART DATA CANCEL 00:00:00 (Take care not to delete
STN to STN 001/001 STN to STN 001/001 the important data.)
from to from to
1 001 -- --- --- 001 -- --- --- 1 001 -- --- --- 001 -- --- ---
- --- -- --- --- --- -- --- --- - --- -- --- --- --- -- --- ---
PART
Use the arrow keys to select the data Press [PART] key to exit the “PART Choose General data.
to be canceled. DATA CANCEL” screen and proceed
to the next step.
②
ARROW KEYS
CANCEL
ALL PART EXEC
PRESS! PRESS! ENTER

panel. Choose the
programmed data to be
canceled.
ENTER
③ PRESS!!
ENTER
PART

What is the executing data?

The data which has not as yet been completed during 3) To cancel the executing programmed data!
execution, but which is kept in memory. (Data cannot be cancelled during starting operation)
Press [EXEC] key on the control panel.
CANCEL
ALL PART EXEC
① Press!!
Check that “EXECUTING DATA CANCEL” screen
appears.
EXECUTING DATA CANCEL 00:00:00

STN to STN 001/001
from to
FK L/S Row Bay LVL L/S Row Bay LVL
1 001 -- --- --- 001 -- --- ---
- --- -- --- --- --- -- --- ---
Pallet NO. [FA000003]
① ②

Press [ENTER] key on the control Press [EXEC] key to exit the (Practice)
panel. “EXECUTING DATA CANCEL” Try to cancel all programmed
screen and proceed to the next movements.
step.
ENTER
② PRESS!! CANCEL
EXEC
ALL PART EXEC
PRESS!
Now the executing data is ENTER

canceled.
EXECUTING DATA CANCEL 00:00:00

STN to STN 001/001
from to
1 001 -- --- --- 001 -- --- --- ENTER
- --- -- --- --- --- -- --- ---
EXEC

5.9. When all retrieved load for picking

operation is dispatched with pallet
(Data cannot be modified during operation)
1) To modify all programmed data on the pallet that is

retrieved for picking operation!
Press [ALL] key on the control panel.
CANCEL
ALL PART EXEC

① Press!!
Check that “ALL RESERVED CANCEL MENU”
screen appears. Use arrow keys to select Pick
Data.
② Arrow keys
PRESS!
ALL RESERVED CANCEL MENU 00:00:00
GENERAL DATA
PICK DATA
[↑ /↓ ]: scroll
① ③ ② Press [ENTER] key on the control panel.
ENTER
③ PRESS!

Check that “ALL PICK CANCEL” Press [ALL] key to exit the (Practice)
screen appears. “ALL PICKING CANCEL” When all load is dispatched
screen and proceed to the next after retrieval for picking
step. operation, try to cancel
ALL PICKING CANCEL 00:00:00 executing picking data.
PICKING 001/001 (Take care not to delete the
important data.)
from to CANCEL
1 --- 01 002 002 001 -- --- ---
- --- -- --- --- --- -- --- ---
Pallet NO. [FA000003] ALL PART EXEC
ALL
① PRESS!
panel. Choose Pick data.
ENTER
③ PRESS!!
ENTER
All programmed data that is ready for
picking storage is canceled.
ALL PICKING CANCEL 00:00:00

PICKING 001/001
ENTER
from to
1 001 -- --- --- 001 -- --- ---
- --- -- --- --- --- -- --- ---
ALL

2) To modify part of programmed data on the pallet

that is retrieved for picking operation!
Press [PART] key on the control panel.
CANCEL
ALL PART EXEC
① Press!!
Check that “PART DATA CANCEL MENU” screen
appears. Use arrow keys to select General Data.
② Arrow keys
PRESS!
PART DATA CANCEL MENU 00:00:00
GENERAL DATA
PICK DATA
[↑ /↓ ]: scroll
ENTER
③ PRESS!
① ③ ②

Check that “PART DATA CANCEL” Specified programmed data that is (Practice)
screen appears. ready for picking storage is canceled. Try to cancel specified
programmed data that is
retrieved for picking
PART PICKING CANCEL 00:00:00 PART PICKING CANCEL 00:00:00 operation.
PICKING 001/001 PICKING 001/001 (Take care not to delete
the important data.)
from to from to
1 --- 01 002 002 001 -- --- --- 1 --- 01 002 002 001 -- --- ---
- --- -- --- --- --- -- --- --- - --- -- --- --- --- -- --- ---
PART
Use the arrow keys to select the data Press [PART] key to exit the “PART
to be canceled. DATA CANCEL” screen and proceed Choose Picking data.
to the next step.
②
ARROW KEYS
CANCEL
ALL PART EXEC
PRESS! ① PRESS! ENTER

panel.
Choose the programmed
data to be canceled.
ENTER
③ PRESS!!
ENTER
PART

5.10. To exit Automatic Operation!
Press [AUTO STOP] key on the control panel.
AUTO
STOP
Press!!
The crane returns to its Home Position.

7. Additional Crane Function
This section describes other functions to help you in using the

crane, including access to error history and data necessary to
determine when the machine will reach the end of its service life.

6.1. Function List

Key Function name Operations Purpose Page
Maintenance DIO MONITOR Monitors operation status of To check detectors and their ─
detectors and switches. operation.
Communication Monitors communication status with To check communication line and ─
MONITOR control section and host computer. messages.
Communication NET Not provided for this system. ─
ENCODER VALUE Monitors encoder pulse value for To check input value and rotating ─
traveling and hoisting. direction of encoder.
TUNING Collects basic data required for Must be used when system is ─
traveling, hoisting, and forking. adjusted.
Note: Do not use this mode
since it may cause to delete the
data.
TRIAL OPERATION Performs trial run of system to To manually check crane after -
secure smooth operation after adjustment or smoothen initial
adjustment. adjustment of machine.
TEST MODE Temporarily ignores operation of To check movement of crane ─
crane during adjustment when loads during adjustment.
are not ready or when interlocks Note: Do not use this mode
with peripheral equipment are not since it may cause to delete the
established. data.
TRANSFER SETTING Sets data for automatic transfer with To check movement of crane and ─
no forking movement. for trial operation.
EEPROM MAINT. Modifies content of EEPROM. Used when any specification is ─
changed.
EEPROM COPY Copies data from EEPROM on To modify a large amount of ─
control panel to operation panel. EEPROM data.
DATA LIST Shows content of data used for To check lists of programmed ─
automatic and on-line operation. movements and current
movements that cannot be
checked with HISTORY functions.
DATA CLEAR Clears all transfer data areas used Used when transfer data contains ─
for automatic/on-line operation. an error to reset system to
pre-delivery status.
MEMORY DUMP Shows memory data in the Control To check input data for reference
CPU. of the program.
INVERTER Monitors inverter parameters setting Used when adjusting inverter.
and modification.
SPEED RATIO Setting of Speed ratio. Used when adjusting Speed ratio.
DOWN LOAD Upgrade the software version. Used by Murata operator only.
(Note) Most of above function is provided for Maintenance personnel procured by Murata.
These functions are not to be used as long as Murata Maintenance personnel gives instruction to do so.

Key Function name Operations Purpose Page

History ERROR HISTORY Records detailed data, including ─ ─
condition under which error occurs.
ERROR TIMES Records how many of each error Used during inspection to closely
code have occurred. check frequently occurring errors.
COMM. HISTORY Records communication history for ─ ─
each channel.
COMM. ERROR Records communication errors that ─ ─
HISTORY have occurred for each channel.
TRANSFER HISTORY Shows results (cycle time) of each To check operation errors (wrong
(Cycle time) automatic/on-line operation. cycle time), etc.
Available data can be obtained from
input/output history.
TRANSFER Records transfer distances by To determine when each
DISTANCE HISTORY traveling and hoisting. consumable item will reach end of
service life.
KEY OPERATION Records order in which keys on To recheck order of data entry.
HISTORY operating panel are operated.
HISTORY CLEAR Deletes designated history. To delete a history after its content
is checked.
Function TIME SETTING Sets current time to be displayed on Used for time stamping of error ─
key internal counter. history.
TOTAL TIME Shows crane power time and total To estimate crane operation time ─
working hours. and availability.
TOTAL TIME CLEAR To clear total working time data. To delete a history after its content ─
is checked.
SCREEN CONTRAST Adjusts contrast of liquid crystal To adjust contrast of liquid crystal
display. display, which changes according
to ambient temperature.
HEX CALCULATION Performs simple calculations. Convenient for conversion from ─
hexadecimal to decimal numbers
or vice versa.
LAYOUT DATA Checks crane’s home position and To check layout of crane. ─
max./min. numbers of bays and
levels.
RACK DATA Shows information about each rack, To check registered racks or ─
including load height, load width, re-check them in case of rack
and obstructions. error.
L/S DATA Shows station information by station To check stations. ─
number.
Communication Checks specifications for each To check communication ─
SPECS communication channel and specifications, and referred to in
communicating devices. case of communication error.
ERROR CODE LIST Shows list of error codes. To record error codes.
UNIT VERSION Checks version of software used for ─ ─
operation and control panels.
SUM CHECK DATA Checks sum check codes of ROMs ─ ─
and EEPROM of CPU units for
operation and control panels.

Operation Manual (Stacker Crane)

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Operation Manual (Stacker Crane)

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Operation Manual (UL Crane/MCR-1C)

● Before starting operation, operator must read this Operation Manual

Logistics and Automation Division

MURATA MACHINERY, LTD.

3. Name of Parts ................................................................................................................................................... 4

4. Manual Operation ........................................................................................................................................... 18

5. Automatic Operation ....................................................................................................................................... 26

MURATA MACHINERY, LTD

6. Additional Crane Function .............................................................................................................................. 46

MURATA MACHINERY, LTD.

1.1. Description of Symbols

Symbol Description Symbol Description

A close up of the specified Indicates that the

Indicates that the Buzzer warning

Press the Enter key. A lit lamp indicates that the

A flashing lamp indicates that

MURATA MACHINERY, LTD. 1

Incorrect operation of the UL Crane may result in

2 MURATA MACHINERY, LTD.

Do not overhaul the crane. Do not climb on the hoisting carriage.

Confirm Safety before operating. Do not exceed specified loading dimensions

MURATA MACHINERY, LTD. 3

UL Crane Rail Rack Pallet

Anti-Home Position Side

4 MURATA MACHINERY, LTD.

3.2. UX Crane Overview

Power feed rail

Hoisting Carriage Load displacement

Front mast Rear mast

Carriage drive unit

Bottom guide rail

Crane drive unit Lower frame

Note: Crane overview is vary based on the features of respective system.

MURATA MACHINERY, LTD. 5

3.3. Name and Functions of Stationary Operation Panel

Mode Change Key

Emergency stop button

6 MURATA MACHINERY, LTD.

3.4. Name and Functions of the Remote Controller

NUM CHANGE DEAD-MAN Switch

Used to stop the buzzer Used in combination with other

UP MOVE DOWN Used to move carriage frame up

Used to change to Menu

MURATA MACHINERY, LTD. 7

3.5. Name and functions of Crane Operation Panel

MODE SELECT MODE

STORE RETRIEVE PICK

8 MURATA MACHINERY, LTD.

○ URGENT ○ FUNCTION START

RIGHT PICK END

4 5 6 LEFT PICK END

7 8 9 on the left side station.

TEN key Used for entering the data.

MURATA MACHINERY, LTD. 9

Preparation for Operation

10 MURATA MACHINERY, LTD.

3.6. Before starting the Crane Operation

Before starting the crane operation,

To turn ON the system. Put ON the power to Crane Operation panel.

The system is now ready for operation.

MURATA MACHINERY, LTD. 11

3.7. To put OFF the power

Return the crane to its home position if