Mitsubishi Electric CR750-D Series User manual

Mitsubishi Industrial Robot
CR750-D/CR751-D series controller
The Sample Screen of GOT2000 Instruction Manual
for GOT Direct Connection Extended Function
(GOT Script Version)
BFP-A3455-*

A. See below for safety precautions based on the Ordinance on Labor Safety and Hygiene (Chapter
36,104, 150, and 151).
All teaching work must be carried out by a specially-trained operator (including
maintenance work with no power interruption)
→Conduct safety training
For teaching work, prepare a work plan related to the methods and procedures of
robot operation and the mesures to be taken in case of an error and restart.
(including maintenance work with no power interruption)
→Prepare a work plan
Prepare a device that allows an immediate stop of operation during teaching work.
(including maintenance work with no power interruption)
→Set an emergency stop switch
During teaching work, place a sign on a start switch etc. indicating that teaching work
is in progress (including maintenance work with no power interruption)
→Indicate teaching work in progress
Provide a rail or fence, during operation, to prevent contact with the operator and
robot.
→Install a safety fence
To start an operation, establish a certain signaling method.
→Give a signal to start an operation
As a principle, turn the power off during the maintenance work and place a sign on a
start switch etc. indicating that maintenance work is in progress.
→Indicate maintenance work in progress
Before operation, inspect the robot, emergency stop, other related devices etc. to
make sure that everything is in order.
→Perform a pre-operation check
Before use of robots, be sure to read the safety
precautions below and the supplementary
“
Safety
Manual
”
carefully and take appropriate measures.
Safety Precautions
CAUTION
WARNING
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION

ii
B. See below for safety precautions given in the separate “Safety Manual”. For more details, refer to the
“Safety Manual”.
For automatic operations of a robot with multiple controllers (GOT, PLC, and push
button switch), create interlocks for each device on your own.
Use a robot in the environment given in the specifications. Failure to do so may
lead to lower reliability or failures.
(temperature, humidity, atmosphere, noise environment, etc.)
Transport a robot in the designated transporation position. Failure to do so may lead
to personal injuries or failures.
Install a robot on a secure table. Instable posture of the robot may lead to positional
deviation and vibration.
Wire the cable as far from the noise source as possible. When placed near the
source, positional deviation or mulfunction may occur.
Do not apply excessive force to the connector or bend the cable to an excessive
degree. Failure to do so may cause loose connection or disconnection.
Make sure that the workpiece weight, including the hand, does not exceed the rated
loads or allowable torques. Exceeding these values may cause an alarm or failure.
Securely install the hand and tool and grasp the workpiece. Failure to do so may
lead to personal injuries or damages if an object comes off or flies off during
operation.
Securely ground the robot and controller. Failure to do so may lead to mulfunctions
due to the noise or electric shock.
Display the operation status during the robot operation. Lack of the status display
may lead to an inappropriate access to the robot or an operation error.
To perform teaching work within the range of the robot movement, secure the priority
right of the robot control. Without the right, external commands may start the robot,
which may lead to personal injuries or damages.
Keep the jog speed as low as possible and keep an eye on the robot. Failure to do so
may lead to interference with the workpiece or peripheral device.
Prior to the auto-operation after editing the program, confirm the operation in the
step operation. Failure to do so may lead to interference with the peripheral device
due to programming glitches etc.
Make sure that the entrance door to the safety fence door is locked or the robot
automatically stops when the door opens during automatic operation. Failure to do so
may lead to personal injuries.
Do not attempt a modification based on personal judgments or use non-designated
maintenance parts. Failure to do so may cause malfunctions or failures.
Do not place hands or fingers in the opening when the robot arm has to be manually
moved from the outside. Inappropriate posture may cause injuries to hands or
fingers.
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
WARNING
CAUTION
CAUTION

iii
Do not stop or apply an emergency stop on the robot by turning the main power to
robot controller off. Doing so during the automatic operation may cause a negative
impact on the robot accuracy or interfere with the peripheral device due to the fall or
coasting of the arm.
Do not turn off the main power to the robot controller while rewriting the internal
information of the robot controller such as the programs, parameters, etc. The
internal information of the robot controller may be corrupted.
To use the direct GOT functions, do not connect the handy GOT.
Handy GOT can perform automatic robot operation with or without the operation right
and may cause property damages or physical injuries.
In using the iQ Platform-compatible products with CRnQ, do not connect the hand
GOT to PLC.
Handy GOT can perform automatic robot operation with or without the operation right
and may cause property damages or physical injuries.
Make sure to attach the cap to the SSCNETIII connector to avoid the dirt and dust.
Failure to do so may deteriorate characteristics and lead to malfunction.
Do not remove the SSCNETIII cable while the multi-CPU system or servo amp is
turned on. Do not directly face the light from the motion CPU, SSCNETIII connector
of the servo amp, and the tip of the SSCNETIII cable. Irritation in the eyes may occur
(the light source of SSCNETIII ranks as the Class 1 specified in J1SC6802 and
IEC60825-1).
Make sure all the wirings are correct. Connections that do not meet the specifications
may cause malfunctions (ex. emergency stop cannot be cancelled).
To prevent a malfunction, make sure that all the functions of the robot controller
operation, panel emergency stop, teaching box emergency stop, emergency stop by
a user, and door switch etc. are operating properly after wiring is completed.
CAUTION
CAUTION
DANGER
DANGER
DANGER
DANGER
CAUTION

iv
■Revision History
Date of Print
Instruction Manual No.
Description
05/16/2016
BFP-A3455-*
First Edition

v
■Introduction
Thank you for purchasing the Mitsubishi Electric Industrial Robot MELFA manufactured by Mitsubishi Electric.
This instruction manual explains GOT operations to utilize the expanded function for FD Series robot controller
With the shared memory between the GOT and robot, monitoring of robot status and data setting from GOT is
made easy.
Read this instruction carefully before use.
Target Controllers
This instruction manual covers the robot controllers below:
・CR750-D/CR751-D series controller: Ver. S6 or later
Robot Language: MELFA BASIC V or later
No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi
Electric.
The details of this manual are subject to change without notice.
Please contact your distributor or MELFA telephone support center if you have any questions.
Copyright(C) 2006 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED

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Contents
1. SYSTEM CONFIGURATION........................................................................................................................................................................ 2
1.1 SYSTEM CONFIGURATION................................................................................................................................................................................2
2SETTING................................................................................................................................................................................................................. 3
2.1 SYSTEM SETTING................................................................................................................................................................................................3
2.1.1 Type Setting.............................................................................................................................................4
2.1.2 Use Language Switching Setting.............................................................................................................4
2.1.3 Screen Switch/Window Setting................................................................................................................5
2.1.4 Key Window Setting.................................................................................................................................5
2.1.5 Controller Setting .....................................................................................................................................6
2.1.6 Ethernet Setting .......................................................................................................................................6
2.1.7 Multimedia Setting....................................................................................................................................6
2.2 Robot Parameter Setting ............................................................................................................................7
2.2.1 Shared-Memory Expansion Function Selection Parameter Setting ........................................................7
2.2.2 Parameter Setting of Hand Control Enable Input/Output Signals............................................................7
2.2.3 Hand Output Control Signal (Start/End Signals) Parameter Setting .......................................................8
2.2.4 Jog Parameter Setting to Assign Dedicated Input/Output Signals ..........................................................9
2.2.5 Dedicated Input/Output Signals Parameter Setting...............................................................................10
3DESCRIPTION OF ROBOT SCREEN..................................................................................................................................................12
3.1 COMMON OPERATION..................................................................................................................................................................................... 12
3.1.1 How To Change The Display Language................................................................................................12
3.1.2 How To Exit the Robot Screen...............................................................................................................12
3.2 SCREEN TREE....................................................................................................................................................................................................13
3.3ROBOT OPERATION SCREENS .................................................................................................................................................................... 14
3.4 MONITOR/MAINTENANCE ......................................................................................................................................................................15
3.5 ERROR INFORMATION.............................................................................................................................................................................16
3.6 MANUAL .......................................................................................................................................................................................................17
4SCREEN OPERATION..................................................................................................................................................................................18
4.1 ROBOT OPERATION ON GOT SCREEN............................................................................................................................................18
4.1.1 Select ［Robot Operation］for setting and operation.........................................................................18
4.1.2 Jog/Hand Operation...............................................................................................................................22
4.1.3 Editing of Position Data Which Have been Taught to the Robot...........................................................25
4.1.4 Editing of Joint Data Which Have been Taught to the Robot ................................................................29
4.1.5 Editing the Program Variable Data ........................................................................................................33
4.2 MONITORING/MAINTENANCE OPERATION FROM GOT SCREEN............................................................................................ 37
4.2.1 Monitoring of the Current Robot Position and Program Execution Line................................................37
4.2.2 Monitoring of the Robot Status Variable................................................................................................41

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4.2.3 Monitoring of Robot Signal.....................................................................................................................46
4.2.4 Confirming the Robot Product Information.............................................................................................51
4.2.5 Monitoring of the Robot Current.............................................................................................................54
4.2.6 Monitoring of the Robot Load Level Ratio..............................................................................................57
4.2.7 Robot Maintenance Forecast.................................................................................................................60
4.3 MANUAL DOCUMENT DISPLAY SCREEN .......................................................................................................................................... 64
4.3.1 Robot Manual.........................................................................................................................................64
4.4 ERROR INFORMATION SCREEN...........................................................................................................................................................68
4.4.1 Check the Robot Error Information........................................................................................................68

2
1. System Configuration
1.1 System Configuration
GOT
GT Designer3 Ver.
Version 1.153K
GOT Type
GOT2000 Series
・GT27
* GT27 can play the video by attaching the optional multi-media unit.
Type of
Connecting Device
MELSEC-Q/QS, Q17nD/M/NC/DR, CRnD-700
Robot
Ver. of Controller
CR750-D/CR751-D series controller: Version S6 or later
Controller Type
CR750-D/CR751-D series
‘
Robot Arm
Robot Controller
GOT
<Option>
Teaching
Box
System Control
Panel
<Ethernet>

3
2 Setting
2.1 System Setting
1. GOT Type Setting
2. Screen Switching / Window Setting
4. Key Window Setting
5. CH1Controller Setting
6. Ehernet Setting
7. Multimedia Setting
3. Language Switching Setting

4
2.1.1 Type Setting
2.1.2 Use Language Switching Setting
GT27**-V(640×480) Select
Enable ‘Use Language Switching’
and Input the Device number

5
2.1.3 Screen Switch/Window Setting
2.1.4 Key Window Setting
Input the Device number
Window Screen No. Setting

6
2.1.5 Controller Setting
2.1.6 Ethernet Setting
2.1.7 Multimedia Setting
Select GOT interface and communication
driver for contoroller to be connected.
（Sample program use a Ethernet driver.）
Ethernet information setting for robot controller.
Set Destination I/F and
Playback Setting..

7
2.2 Robot Parameter Setting
It is necessary to set the following parameters to use this sample GOT program.
The “RT ToolBox2/RT ToolBox mini Instruction Manual（BFP-A8618）” of RT ToolBox2 descrive a
way to set these parameters.
2.2.1 Shared-Memory Expansion Function Selection Parameter Setting
Change Bit 0 of the shared-memory expansion function selection parameter that named
‘IQMEME’ to 1 (shared-memory expansion function enabled).
For details, see “GOT Direct Connection Extended Function Instruction Manual”.
(BFP-A8849)
2.2.2 Parameter Setting of Hand Control Enable Input/Output Signals
(1) Go to [Parameter] in the workspace and double-click on [Parameter List]
(2) Enter [Parameter Name: HANDENA] and click [Read (R)]
(3) [Parameter edit] window opens.
(4) Enter [1: 10079] [2: 10079]
(5) Click [Write] to write a parameter.
(6) [Do you want to write a parameter into the robot controller?] →click [Yes (Y)]
(7) [Restart the robot controller] →[OK]
* Continue to write other parameters without a restart

8
2.2.3 Hand Output Control Signal (Start/End Signals) Parameter Setting
(1) Open [Parameter] in the workspace and double-click on [Parameter List]
(2) Enter ［Parameter Name: HANDOUT］and click ［Read (R)］
(3) [Parameter edit] window opens
(4) Enter [1: 10080] [2: 10087]
(5) Click [Write] to write a parameter
(6) [Do you want to write a parameter into the robot controller?] →click [Yes(Y)]
(7) [Restart the robot controller] →[OK]
* Continue to write other parameters without a restart

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2.2.4 Jog Parameter Setting to Assign Dedicated Input/Output Signals
(1) Open [Parameters] item and double-click [Dedicated Input/Output Signals Assignment］
(2) Double-click ［Jog］.
(3) Enter [10092] to [JOGENA] of the input signal.
And enter [10092] to [JOGENA] of the output signal.
(4) Enter [Start (S): 10096] and [End (N): 10103] to [Jog Feed＋Side JOG＋] of the input signal.
(5) Enter [Start (S): 10112] and [End (N): 10119] to [Jog Feed －Side JOG－] of the input signal.
(6) Enter [Start (S): 10093] and [End (N): 10095] to [Jog Mode JOGM] of the input signal.
Enter [Start (S): 10093] and [End (N): 10095] to [Jog Mode JOGM] of the output signal.
(7) Click on [Write (R)] to write parameters.
(8) [Do you want to write parameters to the robot controller?]→ Click [Yes (Y)]
(9) [Restart the robot controller]→[OK]
(10) Restore the power of PLC (Off On) of reset run the PLC CPU.
(11) Parameter write is completed

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2.2.5 Dedicated Input/Output Signals Parameter Setting
Parameter
Name
Robot Input Signal
Name
Robot Output Signal
Name
Robot Mapping
GOT Mapping
Input
Output
Output
(U3E0\)
bit
Input
(U3E1\)
bit
STOP2 Stop input Pausing output 10000 10000 10000 000 10000 000
RCREADY - Controller power ON ready - 10001 - - 10000 001
ATEXTMD - Remote mode output - 10002 - - 10000 002
TEACHMD - Teaching mode output - 10003 - - 10000 003
ATTOPMD - Automatic mode output - 10004 - - 10000 004
IOENA Operation rights input Operation rights output 10005 10005 10000 005 10000 005
START Start input Operating output 10006 10006 10000 006 10000 006
STOPSTS - Stop signal input - 10007 - - 10000 007
SLOTINIT Program reset input Program selection enabled
output 10008 10008 10000 008 10000 008
ERRRESET Error reset input Error occurring output 10009 10009 10000 009 10000 009
SRVON Servo ON input In servo ON output 10010 10010 10000 00A 10000 00A
SRVOFF Servo OFF input Servo ON disable output 10011 10011 10000 00B 10000 00B
CYCLE Cycle stop input In cycle stop operation
output 10012 10012 10000 00C 10000 00C
SAFEPOS Safe point return input In safe point return output 10013 10013 10000 00D 10000 00D
BATERR - Battery voltage drop - 10014 - - 10000 00E
OUTRESET General-purpose output
signal reset - 10015 - 10000 00F - -
HLVLERR - High level error output - 10016 - - 10001 000
LLVLERR - Low level error output - 10017 - - 10001 001
CLVLERR - Warning level error output - 10018 - - 10001 002
EMGERR - Emergency stop output - 10019 - - 10001 003
PRGSEL Program selection input - 10020 - 10001 004 - -
OVRDSEL Override selection input - 10021 - 10001 005 - -
PRGOUT Program No. output
request Program No. output 10022 10022 10001 006 10001 006
LINEOUT Line No. output request Line No. output 10023 10023 10001 007 10001 007
OVRDOUT Override value request Override value output 10024 10024 10001 008 10001 008
ERROUT Error No. output
request Error No. output 10025 10025 10001 009 10001 009
- - - - - - - - -
- - - - - - - - -
- - - - - - - - -
- - - - - - - - -
- - - - - - - - -
- - - - - - - - -
IODATA Numeric value input 0 Numeric value output 0 10032 10032 10002 000 10002 000
↑Numeric value input 1 Numeric value output 1 10033 10033 10002 001 10002 001
↑Numeric value input 2 Numeric value output 2 10034 10034 10002 002 10002 002
↑Numeric value input 3 Numeric value output 3 10035 10035 10002 003 10002 003
↑Numeric value input 4 Numeric value output 4 10036 10036 10002 004 10002 004
↑Numeric value input 5 Numeric value output 5 10037 10037 10002 005 10002 005
↑Numeric value input 6 Numeric value output 6 10038 10038 10002 006 10002 006
↑Numeric value input 7 Numeric value output 7 10039 10039 10002 007 10002 007
↑Numeric value input 8 Numeric value output 8 10040 10040 10002 008 10002 008
↑Numeric value input 9 Numeric value output 9 10041 10041 10002 009 10002 009
↑Numeric value input 10 Numeric value output 10 10042 10042 10002 00A 10002 00A

11
↑Numeric value input 11 Numeric value output 11 10043 10043 10002 00B 10002 00B
↑Numeric value input 12 Numeric value output 12 10044 10044 10002 00C 10002 00C
↑Numeric value input 13 Numeric value output 13 10045 10045 10002 00D 10002 00D
↑Numeric value input 14 Numeric value output 14 10046 10046 10002 00E 10002 00E
↑Numeric value input 15 Numeric value output 15 10047 10047 10002 00F 10002 00F
HNDCNTL1 Hand output 900 Hand output signal state
900 10048 10003 000
↑Hand output 901 Hand output signal state
901 10049 10003 001
↑Hand output 902 Hand output signal state
902 10050 10003 002
↑Hand output 903 Hand output signal state
903 10051 10003 003
↑Hand output 904 Hand output signal state
904 10052 10003 004
↑Hand output 905 Hand output signal state
905 10053 10003 005
↑Hand output 906 Hand output signal state
906 10054 10003 006
↑Hand output 907 Hand output signal state
907 10055 10003 007
HNDSTS1 - Hand output signal state
900 - 10056 - - 10003 008
↑- Hand output signal state
901 - 10057 - - 10003 009
↑- Hand output signal state
902 - 10058 - - 10003 00A
↑- Hand output signal state
903 - 10059 - - 10003 00B
↑- Hand output signal state
904 - 10060 - - 10003 00C
↑ -
Hand output signal state
905 - 10061 - - 10003 00D
↑- Hand output signal state
906 - 10062 - - 10003 00E
↑- Hand output signal state
907 - 10063 - - 10003 00F
USRAREA - User defined area 1 - 10064 - - 10004 000
↑- User defined area 2 - 10065 - - 10004 001
↑- User defined area 3 - 10066 - - 10004 002
↑- User defined area 4 - 10067 - - 10004 003
↑- User defined area 5 - 10068 - - 10004 004
↑- User defined area 6 - 10069 - - 10004 005
↑- User defined area 7 - 10070 - - 10004 006
↑- User defined area 8 - 10071 - - 10004 007
- - - - - - - - -

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3 Description of Robot Screen
3.1 Common Operation
3.1.1 How To Change The Display Language
Press the ‘EARTH’ bottun and ‘Language Setting’ window is displayed. Select the language you
want to use in list on the ‘Language Setting’ window.
The ‘EARTH’ button is located at top-right corner on the every robot screens.
3.1.2 How To Exit the Robot Screen
When press the ‘HOME’ bottun, exit the robot screen and change display to 001 base screen.
The ‘HOME’ button is located at bottom-left corner on the every robot screens.
‘EARTH’ button
‘HOME’ button

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3.2 Screen Tree