Mitsubishi Electric CR750 Series User manual

Mitsubishi Electric Industrial Robots
CR750/700/500 series
RT ToolBox2 / RT ToolBox2 mini
User's Manual
(3D-11C-WINE/3D-12C-WINE)
BFP-A8618-AB

A. These show precautions based on Labor Health and Safety Regulations (Articles 36, 104, 150,
151).
For the sake of safety, teaching work should only be performed by workers who have
received special education.
(The same is true for any maintenance work done with the power source not cut off.)
→Implementation of safety education
For teaching work, prepare work regulations concerning robot operation methods
and procedures, measures for when there is an abnormality and when restarting, etc.
Perform teaching work according to these regulations.
(The same is true for any maintenance work done with the power source not cut off.)
→Prepare work regulations.
For teaching work, set up a device that can stop operation immediately.
(The same is true for any maintenance work done with the power source not cut off.)
→Emergency stop switch setting
During teaching work, label the start switch etc. to indicate that teaching work is
underway.
(The same is true for any maintenance work done with the power source not cut off.)
→Display that teaching work is underway
In operation, prevent contact between workers and robots by preparing a fence and a
barrier.
→ Setting up a safety fence
Determine a uniform signal to relevant staff for the start of operation and use that
signal.
→ Signal for the start of operation
For maintenance work, in principle, cut off the power and label the start switch etc. to
indicate that maintenance work is underway.
→Display that maintenance work is underway
Before starting work, check the robot, emergency stop switches, related devices, etc.
and make sure there are no abnormalities.
→ Check before the start of work
Before using the robot, always carefully read the
precautions below and the separate "Safety
Manual" and
take all necessary safety measures.
Safety Precautions
Caution
Caution
Caution
Danger
Caution
Caution
Caution
Warning

B. This shows precaution points given in the separate "Safety Manual".
For details, please read the text of the "Safety Manual".
Use the robot in an environment that is within the range of its specifications. Failure
to do this can cause a drop in reliability and breakdown.
(Temperature, humidity, atmosphere, noise, etc.)
When transporting the robot, put it into its specified transport posture.
Failure to do this can cause a drop in reliability and breakdown.
Install the robot on a solid platform.
If the robot is in an unstable posture, this can cause positional deviation and
vibration.
Wire cables away from noise sources as much as possible.
If cables are brought too close to noise sources, this can cause positional deviation
and malfunction.
Do not apply excess force to a connector or bend a cable excessively.
Doing so can cause a contact defect or cut line.
Set work masses, including hands, so that they do not excess rated load or permitted
torque.
Exceeding either of these can cause an alarm or breakdown.
Install hands and tools and hold work securely.
Failure to do this can cause objects to fly loose during operation and cause personnel
injury or damage.
Ground the robot and controller reliably.
Failure to do this can cause malfunction due to noise or in an extreme case, electrical
shock.
Display the operating state while the robot is operating.
Lack of such a display can result in someone coming too close to the robot by mistake
or mistaken operation.
Always secure the priority right for control of the robot before doing any teaching work
within the robot's operating range. Failure to do this can allow the robot to start upon
instruction from the outside and cause personnel injury or damage.
Make the jog speed as slow as possible and do not take your eyes off the robot.
Failure to do this may cause a collision between a work piece and peripheral devices.
After completing program editing but before starting automatic operation, always
check operations with step operation. Failure to do this may cause a collision with a
peripheral device due to a programming mistake or the like.
Set up the safety fence in such a way that, while the equipment is running on
automatic, either the safety fence door is locked or if anyone tries to open the door,
the robot is stopped. Failure to take these protective measures can cause an accident
resulting in injury.
Caution
Caution
Caution
Caution
Caution
Caution
Warning
Warning
Caution
Warning
Caution
Caution
Caution

Never on your own judgment make an alterations or use maintenance parts other than
those designated. Doing so can cause breakdown and problems.
When moving the robot arm from the outside, never stick a hand or finger into an
opening. Depending on the posture, the hand or finger could get caught in the
equipment.
Do not switch the robot Off or make an emergency stop of the robot by switching Off
the robot controller's main power supply.
If the robot controller's main power supply is switched Off during automatic operation,
this can reduce the robot's precision. It could also cause the arm to fall or allow inertia
to result in collisions with peripheral device or the like.
When rewriting a program, parameters, or other internal information within the robot's
controller, do not switch Off the robot controller's main power supply.
If the robot controller's main power supply is switched Off during automatic operation
or while a program or parameter is being rewritten, there is a danger of the internal
information in the robot controller being destroyed.
For using RH-5AH/10AH/15AH series or RH-6SH/12SH/18SH series.
While pressing the brake releasing switch on the robot arm, beware of the arm which
may drop with its own weight.
Dropping of the hand could lead to a collision with the peripheral equipment or catch
the hands or fingers.
Caution
Warning
Caution
Caution
Warning

User's Manual Revision History
Printing Date
Manual No.
Revision Contents
2008/04
BFP-A8618-*
First edition (Corresponds to the Ver.1.1)
2008/08
BFP-A8618-A
Corresponds to the Ver.1.2 (Refer to the software revision history.)
2008/10
BFP-A8618-B
Corresponds to the Ver.1.3 (Refer to the software revision history.)
2009/01
BFP-A8618-C
Corresponds to the Ver.1.3.1
2009/06
BFP-A8618-D
Corresponds to the Ver.1.4 (Refer to the software revision history.)
2009/10
BFP-A8618-E
Corresponds to the Ver.1.5 (Refer to the software revision history.)
2010/04
BFP-A8618-F
Corresponds to the Ver.1.6 (Refer to the software revision history.)
2010/06
BFP-A8618-G
Corresponds to the Ver.1.6.1 (Refer to the software revision history.)
2010/10
BFP-A8618-H
Corresponds to the Ver.1.7 (Refer to the software revision history.)
2011/05
BFP-A8618-J
Corresponds to the Ver.1.8 (Refer to the software revision history.)
2011/07
BFP-A8618-K
Corresponds to the Ver.2.00A (Refer to the software revision history.)
2011/11
BFP-A8618-M
Corresponds to the Ver.2.10L (Refer to the software revision history.)
2012/05
BFP-A8618-N
Corresponds to the Ver.2.20W (Refer to the software revision history.)
2012/08
BFP-A8618-P
Corresponds to the Ver.2.30G (Refer to the software revision history.)
2013/02
BFP-A8618-Q
Corresponds to the Ver.2.40S (Refer to the software revision history.)
2013/04
BFP-A8618-R
Corresponds to the Ver.2.50C (Refer to the software revision history.)
2013/09
BFP-A8618-S
Corresponds to the Ver.3.00A (Refer to the software revision history.)
2014/01
BFP-A8618-T
Corresponds to the Ver.3.01B (Refer to the software revision history.)
2014/03
BFP-A8618-U
Corresponds to the Ver.3.10L (Refer to the software revision history.)
2014/10
BFP-A8618-V
Corresponds to the Ver.3.20W (Refer to the software revision history.)
2015/01
BFP-A8618-W
Corresponds to the Ver.3.30G (Refer to the software revision history.)
2015/06
BFP-A8618-X
Corresponds to the Ver.3.40S (Refer to the software revision history.)
2015/10
BFP-A8618-Y
Corresponds to the Ver.3.50C (Refer to the software revision history.)
2016/03
BFP-A8618-Z
Corresponds to the Ver.3.60N (Refer to the software revision history.)
2016/09
BFP-A8618-AA
Corresponds to the Ver.3.70Y (Refer to the software revision history.)
2017/02
BFP-A8618-AB
Corresponds to the Ver.3.71Z (Refer to the software revision history.)

Software Revision History
Version
Release Date
Revision Contents
1.0
2008/01
Initial release (Japanese version only)
1.1
2008/04
CRnQ Communications:Added the GOT transparent function.
Parameter editing:Added the Multiple CPU setting screen.
1.2
2008/08
[Communication Setting]
- Changed the Initial value of USB, TCP/IP and RS-232 setting.
-
Added the CRnQ communication routes when "Ethernet" is selected.
(Added the Ethernet port communications.)
[Program editor]
- Added “Comment Selection”/”Uncomment Selection” function.
- Added the function to edit the backed up program data.
[Project]
- Added the function to import the project.
[Parameter]
- Added the function to display the parameter changed from initial value.
[Restore]
-
Added the function to restore individually data backed up by selecting
"All files".
etc.
1.3
2008/10
[Operation of Project Tree]
-Added the function to copy the robot program by drag and drop.
[Operation of Workspace]
-Added the "Edit project" screen when the new workspace is made.
[Parameter]
-Added the function to print the parameter changed from initial value.
-Added the screen of setting the CC-
Link parameter and PROFIBUS
parameter.
[Backup]
-
Added the function to save data from all robot controllers by batch
processing.
etc.
1.4
2009/06
[Parameter]
-Added the function to edit by offline.
[Program editor]
-
Added the function to remove comments from all line in the program.
1.5
2009/10
[Communication Setting]
-Added the screen of setting GOT communication.
[Parameter]
-Added the screen of editing the Work coordinate parameters.
[SQ Direct]
-Added the screen of editing the SQ Direct positions.
1.6
2010/04
[Program editor]
-
Added the function to check the program name when creating it by
offline.
-Added the function to rename the positional data.
-Changed an initial value of the position data to the present location.
-Added the function of jumping to the specified positional data.
-Added the function of searching the positional data.
-
Added the function of distinguishing online editing and offline editing of
program by color.
[Simulation]
-Added the function of the Tool-JOG and Work-JOG on the simulation.
-Added the function of displaying the User defined area
and the Free
Plane Limit in 3D viewer of simulation.
[Program Management]
-Added the function of changing the window size.
[Monitor]
-Added the function of stopping the program of all task-slots.

Version
Release Date
Revision Contents
1.6.1
2010/06
[Parameter]
-Added the function of editing the “Temp in RC” parameters.
1.7
2010/10
[Communication Setting]
-Added the GOT(Ethernet) transparent mode.
[Simulation]
-Added the “3D Monitor” button to the screen of simulation operation.
-"3-axis XYZ" and "Cylinder" are added to JOG mord.
[Monitor]
-Added the function of error record.
[Computer syastem]
-Corresponded to Windows 7.
1.8
2011/05
[Workspace]
-Added the function to change the name of the workspace.
[Servo monitor]
-Added the "ABS", "Speed", "Current", and "Power" of servo monitor.
2.00A
2011/07
[Operating Environment]
-Added the the Operating systems for which operation is warranted.
[Maintenance]
-Added the security function of the robot controller (Setup the password).
[Others]
-Changed the icon.
-Corresponded to iQ Works(MELSOFT Navigator).
etc.
2.10L
2011/11
[Simulator]
-A maximum of eight simulators can be started.
[Tool]
-Added the function “Force control log viewer”.
[Parameter]
-Added the “IO unit parameter”.
-Added buttons “Force initial setting”, “Force control mode”, “Force
control feature“, and “Force log setting”.
[Monitor]
-Added the IO unit monitor.
-Added the display of 3D monitor of several robots.
-
Added the Encoder temp in the display of Load.
2.20W
2012/05
[Parameter]
-Added
“Mode switch judgment/Speed reference” tab in “Force control
feature” screen.
[Maintenance]
-Added the function “Tool automatic calculation”.
-Added the File manager
[Communications Settings]
-Corresponded to CC-Link/IE
[Tool]
-Added the user definition screen editing function.
[Simulator]
-Added the function to manage the parts of layout by using a group..
-Added the reading function of 3D model parts.
-
Added the function of designing a robot hand and of displaying it on "3D
view" screen.
etc.
2.30G
2012/08
[Parameter]
-
Added buttons “Force initial setting”, “Force control mode”, “Force
control feature“, and “Force log setting”.
2.40S
2013/02
[Parameter]
-Added the function of editing the “Collision avoidance area” parameters.
2.50C
2013/04
Correspond to Windows 8

Version
Release Date
Revision Contents
3.00A
2013/09
[Computer syastem]
-Corresponded to Windows 8.1.
[Parameter]
-Changed the project tree.
-Added “PROFINET”, “DeviceNet”, “EtherNet/IP” parameters.
-Added the function “Realtime monitor” to the “Ethernet” parameter.
[Tool]
-Added the function “Oscillograph”.
[Simulator]
-Added the supported 3D model formats “3DS”, “PLY”, and “VRML”.
-The function of designing a robot hand: supported the 3D model parts.
-Added the function of setting robot flange direction un-display/display.
-Added the function of servo monitor.
-Added the function of calculation of axis load level.
[MELFA-3D Vision]
-Added the function of setting MELFA-3D Vision.
3.01B
2014/01
[Parameter]
-Added the function of "Load profile” in the
“Robot additional axis”
screen.
[Tool]
-Added the function of “gray scale” in the “Oscillograph” screen.
-When the simulation started, the real-time
function use was enabled
with the oscillograph.
[Simulator]
-Added the function to set 5%, 2% and 1% to OVRD.
-Added the function of enlargement/
reduction with the mouse wheel,
and function of enlargement/reduction to the screen center.
-
Added the function of the display on the floor and the function of the
background color setting.
-Added the function of Click movement.
-
Added the function of Operation by slider bar.
3.10L
2014/03
[Spline]
-Added the function of “Spline file edit”.
[Tool]
-The color of a detailed dialog of the oscillograph is changed.
[MELFA-3D Vision]
-
Corresponded to MELFA-3D Vision Ver.1.1.
3.20W
2014/10
[Program editor]
-Corresponded to multiple undo/redo
[Maintenance]
-Added the function of “2D vision calibration”
[Operation panel]
-The automatic driving function is added.
-Open/Close operation of the hand is added.
-The function that moves specifying the coordinate value is added.
[Simulator]
-Added the detailed robot model.
-Corresponded to Z direction of the travel base
-Corresponded to 3D monitor in the offline mode
-Changed the line weight of XYZ positions in 3D monitor
-Added function of display/hide the coordinate axes and the robot model
in 3D monitor
-Added function of display the spline curve in 3D monitor
-
Added function of changing the thickness of the robot path in 3D
monitor
-Added function of switching Layout / Hand by I/O state in 3D monitor
-Added function of grouping hand parts in 3D monitor
-Added function of theAVI file save
[I/O Simulator]
-
Added the function of “I/O Simulator”

Version
Release Date
Revision Contents
3.30G
2015/01
[Parameter]
-Added "Safety" parameter screen.
[Monitor]
-Added “DSI CNUSER2 input signal” monitor screen.
[3D Monitor]
-Added the function “Safe pos. monitoring” to “Robot display option”.
[Oscillograph]
-Added the function getting the "Error of presumed torque".
[Robot firmware update]
-
Added the function to update the firmware of the robot controller.
3.40S
2015/06
[Application package]
-Added the machine loading
[3Dmonitor]
-Added the function of display movement area.
-Added the function of distance measurement.
-Added the function of switching view (XY/YZ/ZX plane).
-Added the function of zoom toward mouse.
-Added the function of display of curves correspond to the Ex-T-spline.
[Operation panel]
-Added the jog operation of real robot.
[Tool]
-Added the function of “DXF File Import”
-Added the osillograph data
Ref. value of COL level
Ex-T coordinate speed
Ex-T coordinates position
Spline path point of adjusted speed
[Program]
-Added the function of “Reading protection of each program”.
[Parameter]
-Added the function of setting the “
Collision avoidance function”
parameters.
-
Modified “Collision avoidance area” parameter screen (Added the
function of “Free plane limit collision avoidance area”).
-Modified “Safety” parameter screen.
[Monitor]
-
Added the change function decimal notation of the signal value in
General signal monitor.
[Simulator]
-Extend the recordable time by compressing when recording in save
AVI.
3.50C
2015/10
[Start menu]
-
The folder of the start menu changed from [MELSOFT Application] to
[MELSOFT].
[Application package]
-Added the force sense
[3Dmonitor]
-Added the function of wire frame display of robot model.
-Added the function of solenoid valve display of robot model.
[Simulator]
-Added the function of wire frame display of layout and hand.
[Restore]
-Added the function of checking Backup programs.
[Oscillograph]
-Added “Real time monitor” of the "Select the interval to Log”.
-Added the function of reflecting the displayed data(joint position) to
3D monitor.

Version
Release Date
Revision Contents
3.60N
2016/03
[Computer system]
-Corresponded to Windows 10
-Windows2000 support has ended.
[Application package]
-Added the deburring and polishing
[3D monitor]
-Added the perspective rot
ation function centered on the point of the
screen central point, mouse point.
[Simulator]
-Change the notation of [flange direction] to [mechanical interface] .
-
Added the function which display mechanical interface parts on the
monitor related to hand.
-Changed the display of XYZ positions in 3D monitor.
[Oscillograph]
-Moved the button of load log file to the oscillograph screen.
-Added the data of "Force sensor(+resultants)" in
the oscillograph data
list.
-Changed action of the [Reflect to 3D monitor] check box when you
cannot use it.
[Operation panel]
-Added the function to change the driving speed of the robot.
【Monitor】
-
Changes the representation of the operation hours to operating
information.
【Maintenance】
-
Changes the representation of the operation hours to operating
information of initialization screen.
【Restore】
-Added the operating information(power on time, operation time, servo
on time, and battery remaining time) to the restore data.
【Tool function】
-Added the force sensor calibration.
【MELFA-3D Vision】
-
Corresponded to MELFA-3D Vision Ver.1.2.
3.70Y
2016/09
[Application package]
-Corresponded to deburring and polishing package Ver.1.1.
[Simulator]
-Added the
function of click movement of the robot in vertical posture to
the plane.
【Maintenance】
-
Added the control of change ambient temperature in [Load] screen of
servo monitor.
3.71Z
2017/02
[Application package]
-Corresponded to force sense package Ver.1.1.
[Simulator]
-Added the function of cooperative operation.
-Added the function of interference avoidance.

PREFACE
Thank you for purchasing this MELFA Mitsubishi Electric industrial robot.
This document is the user's manual for the MELSOFT "RT ToolBox2" and "RT ToolBox2 mini".
This document will help you to use the functions of this software to the maximum over a wide range of
stages, from initial robot start to program writing, editing, and management.
In order to operate the robot safely, carefully read this document and the safety manual that comes with the
robot main unit before operating the robot. Also, store this manual carefully so that you can take it out and
read it whenever needed.
Target versions for this document
This document is for the MELSOFT "RT ToolBox2" and "RT ToolBox2 mini" Version 3.71Z and supports the
following robot controllers.
・CRn-500 series controllers
・CR750-Q/CRnQ-700 series controllers
・CR750-D/CRnD-700 series controllers
In this manual, these also have the part written as “CR750/700/500 series”.
Target readers for this document
This document assumes that the reader understands basic Microsoft Windows operation methods and the
robot controller.
Those who have not mastered basic computer operation methods should read the user's manual for their
computer.
Notation method in this document
This indicates an item for which incorrect handling could present imminent danger
of death or injury.
This indicates an item for which incorrect handling could present a danger of
death or injury.
This indicates an item for which incorrect handling could present a danger of
impairment. It could also present a danger of just physical damage.
This document uses the following general terms and abbreviations
General Term/Abbreviation
Contents
RT ToolBox2
General name for the RT ToolBox2 and RT ToolBox2 mini
To distinguish them in explanations, these two are called the "standard
edition" and "mini edition".
Universal model QCPU
General term for Mitsubishi PLC CPU modules of Q02U, Q03UD,
Q03UDE, Q04UDH, Q04UDEH, Q06UDH, Q06UDEH, Q13UDH,
Q13UDEH, Q26UDH and Q26UDEH.
Built-in Ethernet port QCPU
General term for Mitsubishi PLC CPU modules of Q03UDE, Q04UDEH,
Q06UDEH, Q13UDEH and Q26UDEH.
GX Developer
Abbreviation of SW D5C-GPPW-E(-EV) / SW D5F-GPPW-E type of
Mitsubishi PLC programming software package.
CR750-D/CR750-Q
General name for CR750 series. Includes CR751-D/Q and CR760-D/Q.
The Microsoft® Windows® operating system is a registered trademark of the Microsoft Corp. of the United States in the United States
and other countries.
Adobe® and Acrobat® are registered trademarks of Adobe Systems Incorporated.
The AutoCAD is the United States Autodesk Inc., its subsidiaries, are registered trademarks or trademarks in the United States and
other countries.
The system names, product names, etc. in this manual are generally trademarks and registered trademarks of their respective
companies. In the main text, the ©, ®, and
TM
marks are omitted.
Transfer of all or part of the contents of this document without permission is prohibited.
The contents of this document are subject to change without notice.
Every effort has been made to ensure the accuracy of the contents of this document, but if you should notice any unclear point, mistake,
or omission, please notify Mitsubishi Electric.
Copyright(C)2008-2017 MITSUBISHI ELECTRIC CORPORATION
Warning
Caution
Danger

Contents
1. Usage 1-21
1.1. How to Use this Document ......................................................................................................... 1-21
1.2. Checking the Product.................................................................................................................. 1-21
1.2.1. Checking the package......................................................................................................... 1-21
1.2.2. Checking the CD-ROM contents......................................................................................... 1-21
1.2.3. About the "MelfaRXM.ocx" communications middleware ................................................... 1-21
1.3. Items to be prepared by the customer........................................................................................ 1-22
1.3.1. Computer system ................................................................................................................ 1-22
1.3.2. Computer cable................................................................................................................... 1-22
1.4. Operating Environment............................................................................................................... 1-23
1.4.1. Connectable robot controllers ............................................................................................. 1-23
1.4.2. Computer system ................................................................................................................ 1-24
1.5. Installation, Uninstallation ........................................................................................................... 1-25
1.5.1. Installation ........................................................................................................................... 1-25
1.5.2. Uninstall............................................................................................................................... 1-31
1.5.3. USB driver (CR750-D/CRnD-700 series robot controller) installation................................. 1-32
1.5.4. CRnQ communications USB driver installation................................................................... 1-33
1.5.5. CRnQ Communications USB driver for GOT transparent function / GOT communitation
installation........................................................................................................................................... 1-40
1.6. When Starting at the Same Time as Another Product ................................................................ 1-42
1.7. Upgrade of software.................................................................................................................... 1-42
2. RT ToolBox2 Usage 2-43
2.1. Starting RT ToolBox2................................................................................................................... 2-43
2.2. Explanation of RT ToolBox2 Screens.......................................................................................... 2-44
2.3. Communications Server 2........................................................................................................... 2-48
2.4. About Operation panel................................................................................................................ 2-50
2.4.1. How to show Operating panel for a controller..................................................................... 2-51
2.5. Closing RT ToolBox2................................................................................................................... 2-51
3. Notes of when RT ToolBox2 is used with iQ Works (MELSOFT Navigator) 3-52
3.1. Notes of when RT ToolBox2 is installed...................................................................................... 3-52
3.2. Notes concerning workspace operation...................................................................................... 3-52
3.3. Notes concerning Project operation............................................................................................ 3-53
3.4. Notes to edit the workspace created by iQ Works(MELSOFT Navigator).................................. 3-54
4. Basic Functions 4-55
5. Workspaces and Projects 5-57
5.1. Workspaces and Projects ........................................................................................................... 5-57
5.2. Creating a New Workspace ........................................................................................................ 5-59
5.3. Opening an Existing Workspace................................................................................................. 5-61
5.4. Closing a Workspace.................................................................................................................. 5-61
5.5. Deleting a Workspace................................................................................................................. 5-62
5.6. Saving a Workspace................................................................................................................... 5-62
5.7. Changing a Workspace............................................................................................................... 5-63
5.8. Adding a Project.......................................................................................................................... 5-65
5.9. Changing a Project Name........................................................................................................... 5-66
5.10. Deleting a Project........................................................................................................................ 5-67
5.11. Contents of Project Tree ............................................................................................................. 5-68
5.12. Copying Programs Between Projects......................................................................................... 5-69
5.13. Import of project.......................................................................................................................... 5-70
5.14. Offline/Online/Simulation............................................................................................................. 5-72

6. Connecting with the Robot 6-74
6.1. Robots Connected and Types of Communication.......................................................................6-74
6.2. Connection Settings ....................................................................................................................6-76
6.2.1. USB Communication Settings .............................................................................................6-77
6.2.2. TCP/IP (Ethernet) Communication Settings........................................................................6-78
6.2.3. RS-232 Communication Settings.........................................................................................6-80
6.2.4. GOT Communications Settings...........................................................................................6-81
6.2.5. CRnQ Communications Settings.........................................................................................6-82
6.2.6. Travel base setting for display.............................................................................................6-90
7. Robot Program Language Setting 7-93
8. Writing Programs 8-94
8.1. Writing a New Program ...............................................................................................................8-95
8.1.1. Writing a new program on the computer..............................................................................8-95
8.1.2. Writing a new program in the robot controller......................................................................8-96
8.2. Opening an Existing Program .....................................................................................................8-97
8.2.1. Opening an existing program on the computer ...................................................................8-97
8.2.2. Opening a program in a robot controller..............................................................................8-97
8.2.3. Read Items when opening program in robot controller........................................................8-98
8.2.4. Opening a program in the backup data ...............................................................................8-99
8.3. Explanation of Program Edit screen..........................................................................................8-100
8.4. Program Editing Menu Bar........................................................................................................8-101
8.5. Customizing the Program Edit Screen......................................................................................8-103
8.5.1. Changing the display area.................................................................................................8-103
8.5.2. Command format hints.......................................................................................................8-104
8.5.3. Character colors.................................................................................................................8-104
8.5.4. Changing the font...............................................................................................................8-105
8.5.5. Save and Read of program................................................................................................8-105
8.5.6. Get current position............................................................................................................8-106
8.5.7. Setting the background color of the program editor ..........................................................8-106
8.6. Program Editing.........................................................................................................................8-108
8.6.1. MELFA-BASIC V command statement editing ..................................................................8-108
8.6.2. MELFA-BASIC IV and Movemaster command command statement editing ....................8-109
8.6.3. Position variable editing.....................................................................................................8-110
8.6.4. Edit assist functions...........................................................................................................8-112
8.7. Saving Programs.......................................................................................................................8-122
8.7.1. Save...................................................................................................................................8-122
8.7.2. Saving on computer...........................................................................................................8-123
8.7.3. Saving in robot controller...................................................................................................8-124
8.7.4. Items written when saving in robot ....................................................................................8-125
8.7.5. Setting the syntax check for before program saving .........................................................8-127
8.8. Program Printing........................................................................................................................8-128
8.8.1. Checking a print image......................................................................................................8-128
8.8.2. Printing a program .............................................................................................................8-128
8.8.3. Setting to print a program ..................................................................................................8-128
8.9. Program Debugging ..................................................................................................................8-129
8.9.1. Starting debugging.............................................................................................................8-129
8.9.2. Executing programs step by step ......................................................................................8-130
8.9.3. Revising programs.............................................................................................................8-130
8.9.4. Setting and deleting breakpoints .......................................................................................8-132
8.9.5. Position jump .....................................................................................................................8-133
8.9.6. Ending debugging..............................................................................................................8-134
8.10. Set / Release reading protection...............................................................................................8-135
8.11. Program Management...............................................................................................................8-136
8.11.1. Program list display............................................................................................................8-137
8.11.2. Copy...................................................................................................................................8-138
8.11.3. Move ..................................................................................................................................8-139
8.11.4. Delete.................................................................................................................................8-140
8.11.5. Rename .............................................................................................................................8-141
8.11.6. Protect settings..................................................................................................................8-141
8.11.7. Comparison........................................................................................................................8-142

8.12. Program Conversion................................................................................................................. 8-144
8.12.1. Starting program conversion ............................................................................................. 8-144
8.12.2. Line number conversion (from MELFA-BASIC IV to MELFA-BASIC V)............................ 8-145
8.12.3. Position data conversion (from E/EN/M1/M2 series to CR750/700/500 series) ............... 8-147
9. Position data editing for SQ Direct 9-149
9.1. Diffence from program editting.................................................................................................. 9-150
9.1.1. Add/Edit position data........................................................................................................ 9-150
9.1.2. Delete position data........................................................................................................... 9-150
9.1.3. Editing supporting function................................................................................................ 9-150
9.2. Online editing............................................................................................................................ 9-151
9.3. Offline editing............................................................................................................................ 9-152
9.3.1. Creating the new SQ Direct file......................................................................................... 9-152
9.4. Program management .............................................................................................................. 9-153
9.4.1. List of SQ Direct files indication......................................................................................... 9-154
10. Creating the spline files 10-156
10.1. New file ...................................................................................................................................10-156
10.1.1. Creating a new file on the computer................................................................................ 10-156
10.1.2. Creating a new file in the robot controller........................................................................10-156
10.2. Open file..................................................................................................................................10-157
10.2.1. Opening a spline file saved on the computer..................................................................10-157
10.2.2. Opening a spline file saved in the robot controller..........................................................10-157
10.2.3. Selecting and opening a spline file from the list..............................................................10-157
10.3. Save file ..................................................................................................................................10-158
10.3.1. Save ................................................................................................................................10-158
10.3.2. Save as............................................................................................................................10-158
11. Setting Parameters 11-159
11.1. Editing from parameter list.......................................................................................................11-160
11.1.1. Starting .............................................................................................................................11-160
11.1.2. Parameter editing.............................................................................................................11-162
11.1.3. Edit of parameter changed from initial value....................................................................11-163
11.1.4. Parameter list reading......................................................................................................11-164
11.1.5. Finding parameters...........................................................................................................11-164
11.2. Robot Controller Operation Modes for Parameter Writing.......................................................11-165
11.3. Movement Parameters.............................................................................................................11-166
11.3.1. Motion limit parameter......................................................................................................11-166
11.3.2. Jog parameter ..................................................................................................................11-167
11.3.3. Parameters of the Hand...................................................................................................11-168
11.3.4. Weight and size parameter...............................................................................................11-170
11.3.5. Tool parameter..................................................................................................................11-171
11.3.6. User-defined area parameter...........................................................................................11-172
11.3.7. Free plane limit parameter................................................................................................11-173
11.3.8. Home position parameter.................................................................................................11-173
11.3.9. Robot additional axis parameter.......................................................................................11-174
11.3.10. Collision detection parameter...........................................................................................11-175
11.3.11. Warm-up operation parameter .........................................................................................11-176
11.3.12. Movement parameter .......................................................................................................11-177
11.3.13. Work coordinate paramater..............................................................................................11-178
11.3.14. Parameters of Force control.............................................................................................11-179
11.3.15. Parameters of Collision avoidance...................................................................................11-184
11.3.16. Parameters of Safety........................................................................................................11-187
11.4. Program Parameters................................................................................................................11-191
11.4.1. Slot table parameter.........................................................................................................11-191
11.4.2. Program language parameter ..........................................................................................11-192
11.4.3. Command parameter........................................................................................................11-192
11.4.4. User error parameter........................................................................................................11-193
11.5. Signal Parameters....................................................................................................................11-194
11.5.1. Output signal reset pattern parameter..............................................................................11-194
11.5.2. Assigning Dedicated Input/Output Signals.......................................................................11-195

11.6. Communication Parameters....................................................................................................11-200
11.6.1. RS-232 parameter ...........................................................................................................11-200
11.6.2. Ethernet parameter..........................................................................................................11-201
11.7. Field Network Parameters.......................................................................................................11-205
11.7.1. CC-Link parameter...........................................................................................................11-205
11.7.2. PROFIBUS parameter.....................................................................................................11-206
11.7.3. PROFINET parameter .....................................................................................................11-207
11.7.4. DeviceNet parameter.......................................................................................................11-208
11.7.5. EtherNet/IP parameter.....................................................................................................11-209
11.8. PLC Cooperation Parameters.................................................................................................11-210
11.8.1. Multiple CPU parameter...................................................................................................11-210
11.8.2. IO unit parameter............................................................................................................. 11-211
11.9. Parameter printing...................................................................................................................11-212
11.10. Offline editing of parameters ...................................................................................................11-214
11.10.1. Compliant version............................................................................................................11-214
11.10.2. Creating the new parameter file.......................................................................................11-215
11.10.3. Edit of parameter backed up............................................................................................11-216
11.10.4. Offline editing of parameter..............................................................................................11-217
11.10.5. Restoring the edited parameter to the robot controller....................................................11-218
11.10.6. Deletion of parameter folder edited by offline..................................................................11-220
12. Status Monitoring 12-221
12.1. Robot Movement Monitoring...................................................................................................12-222
12.1.1. Slot operation status........................................................................................................12-222
12.1.2. Program monitoring .........................................................................................................12-223
12.1.3. Movement status..............................................................................................................12-226
12.1.4. Errors ...............................................................................................................................12-227
12.1.5. 3D Monitor .......................................................................................................................12-232
12.2. Signal Monitoring.....................................................................................................................12-235
12.2.1. General signal..................................................................................................................12-235
12.2.2. Named signals.................................................................................................................12-238
12.2.3. Stop signal .......................................................................................................................12-240
12.2.4. Register (CC-Link)...........................................................................................................12-241
12.2.5. IO unit monitor .................................................................................................................12-245
12.2.6. DSI CNUSER2 input signal monitor ................................................................................12-246
12.3. Operation Monitoring...............................................................................................................12-247
12.3.1. Operating Information......................................................................................................12-247
12.3.2. Production Information.....................................................................................................12-247
13. Maintenance 13-248
13.1. Setting Origin Data..................................................................................................................13-248
13.1.1. Origin data input technique..............................................................................................13-250
13.1.2. Mechanical stopper technique.........................................................................................13-251
13.1.3. Tool technique..................................................................................................................13-251
13.1.4. ABS origin technique .......................................................................................................13-252
13.1.5. User Origin Technique .....................................................................................................13-252
13.1.6. Origin Parameter Backup ................................................................................................13-253
13.2. Initialization..............................................................................................................................13-254
13.2.1. Starting.............................................................................................................................13-254
13.2.2. Setting the time in the robot controller.............................................................................13-254
13.2.3. Deletion of all robot programs..........................................................................................13-255
13.2.4. Initializing the battery remaining time ..............................................................................13-256
13.2.5. Serial number...................................................................................................................13-256
13.3. Maintenance Forecasting........................................................................................................13-257
13.3.1. Specifications...................................................................................................................13-257
13.3.2. Starting.............................................................................................................................13-257
13.3.3. Forecasting......................................................................................................................13-258
13.3.4. Settings............................................................................................................................13-259
13.3.5. Reset screen....................................................................................................................13-261
13.3.6. Resetting maintenance forecast information with teaching box......................................13-263
13.3.7. Others..............................................................................................................................13-264
13.4. Position repair Function...........................................................................................................13-265

13.4.1. Specifications...................................................................................................................13-266
13.4.2. Starting ............................................................................................................................13-266
13.4.3. Flow of operations...........................................................................................................13-267
13.4.4. Introduction......................................................................................................................13-268
13.4.5. Communications settings................................................................................................13-268
13.4.6. Robot selection and parameter backup...........................................................................13-269
13.4.7. Revision parameter generation procedure selection.......................................................13-270
13.4.8. Program selection............................................................................................................13-271
13.4.9. Program reading and backing up....................................................................................13-272
13.4.10. Tool setting check............................................................................................................13-273
13.4.11. Revision parameter selection..........................................................................................13-274
13.4.12. Reteaching work..............................................................................................................13-280
13.4.13. Writing parameters..........................................................................................................13-283
13.4.14. Controller power supply Off, On......................................................................................13-284
13.4.15. Exit...................................................................................................................................13-285
13.4.16. Revision parameter editing..............................................................................................13-286
13.5. Tool automatic calculation.......................................................................................................13-287
13.5.1. Specifications...................................................................................................................13-287
13.5.2. Starting ............................................................................................................................13-287
13.5.3. Flow of operations...........................................................................................................13-289
13.6. Servo Monitor..........................................................................................................................13-291
13.6.1. Position (ABS).................................................................................................................13-292
13.6.2. Speed ..............................................................................................................................13-293
13.6.3. Current.............................................................................................................................13-294
13.6.4. Load.................................................................................................................................13-295
13.6.5. Power ..............................................................................................................................13-296
13.7. Security function of the robot controller (Password Setup)..................................................... 13-297
13.7.1. Register the Password....................................................................................................13-299
13.7.2. Change the Password.....................................................................................................13-300
13.7.3. Delete the Password .......................................................................................................13-301
13.8. File Manager...........................................................................................................................13-302
13.8.1. File list display.................................................................................................................13-304
13.8.2. Copy................................................................................................................................13-305
13.8.3. Delete..............................................................................................................................13-305
13.8.4. Rename...........................................................................................................................13-305
13.9. 2D vision calibration................................................................................................................13-306
13.9.1. Summary.........................................................................................................................13-306
13.9.2. Operating procedure of 2D vision calibration..................................................................13-306
13.9.3. 2D vision calibration screen ............................................................................................13-309
14. Option Card 14-311
15. Backup and Restore 15-312
15.1. Backup(Robot -> PC)..............................................................................................................15-314
15.1.1. Saving data from one robot controller.............................................................................15-315
15.1.2. Saving data from all robot controllers(Online Project Backup)........................................15-317
15.2. Restore (PC -> Robot)............................................................................................................15-319
15.3. Deleting Backup Data ............................................................................................................. 15-323
15.4. Open Backup program............................................................................................................15-324
15.5. Check Backup programs.........................................................................................................15-325
16. Tool function 16-326
16.1. Force control log file viewer....................................................................................................16-326
16.2. User definition screen .............................................................................................................16-327
16.2.1. Creating a new User definition screen file.......................................................................16-328
16.2.2. Editing the page of user definition screen.......................................................................16-329
16.2.3. Edit of existing parts........................................................................................................16-343
16.2.4. Copy/Paste of parts.........................................................................................................16-344
16.2.5. Movement of parts...........................................................................................................16-345
16.2.6. Deletion of parts ..............................................................................................................16-346
16.2.7. Change of page name..................................................................................................... 16-346

16.2.8. Edit of ruled line...............................................................................................................16-347
16.2.9. Deletion of user definition screen ....................................................................................16-349
16.2.10. Import of the user definition screen .................................................................................16-351
16.2.11. Export of the user definition screen.................................................................................16-353
16.3. Oscillograph.............................................................................................................................16-354
16.3.1. Outline..............................................................................................................................16-354
16.3.2. Communication method...................................................................................................16-354
16.3.3. Acquirable data................................................................................................................16-355
16.3.4. Starting.............................................................................................................................16-356
16.3.5. Communication settings...................................................................................................16-357
16.3.6. Start／Stop.......................................................................................................................16-358
16.3.7. Graph setting ...................................................................................................................16-358
16.3.8. Graph range setting.........................................................................................................16-359
16.3.9. Data reproducing / confirmation.......................................................................................16-360
16.3.10. Save Data／Log Setting ..................................................................................................16-362
16.3.11. Load Data ........................................................................................................................16-363
16.3.12. Save Image......................................................................................................................16-363
16.3.13. Gray scale........................................................................................................................16-363
16.3.14. Reflected to 3D monitor...................................................................................................16-363
16.4. DXF file import.........................................................................................................................16-365
16.4.1. Outline..............................................................................................................................16-365
16.4.2. Starting.............................................................................................................................16-365
16.4.3. Flow of operations............................................................................................................16-367
16.5. Force sensor calibration..........................................................................................................16-370
16.5.1. Outline..............................................................................................................................16-370
16.5.2. Starting.............................................................................................................................16-370
17. Simulation 17-371
17.1. Starting a Simulation................................................................................................................17-372
17.1.1. About the warning at first-time startup simulation............................................................17-373
17.2. Explanation of the Simulation Operation Screen ....................................................................17-374
17.3. Robot View (3D Monitor).........................................................................................................17-375
17.3.1. Robot View (3D Monitor) Start.........................................................................................17-375
17.3.2. Displaying robots of more than one projects in 3D..........................................................17-376
17.3.3. Click movement of the robot............................................................................................17-377
17.3.4. Distance measurement....................................................................................................17-379
17.3.5. Robot display option ........................................................................................................17-380
17.3.6. Layout..............................................................................................................................17-395
17.3.7. Robot arrangement..........................................................................................................17-405
17.3.8. XYZ position variables.....................................................................................................17-407
17.3.9. Hand.................................................................................................................................17-409
17.3.10. Save AVI...........................................................................................................................17-414
17.4. Robot Program Selection ........................................................................................................17-417
17.5. Program Execution..................................................................................................................17-418
17.6. Specifying the Starting Line for Program Execution................................................................17-418
17.7. Breakpoint Setting...................................................................................................................17-419
17.8. Step Operation.........................................................................................................................17-419
17.9. Direct Execution ......................................................................................................................17-420
17.10. Jog Operation..........................................................................................................................17-421
17.11. Simulation Robot Position Variable Editing.............................................................................17-425
17.12. Tact Time Calculation ..............................................................................................................17-425
17.12.1. Conditions for tact time measurement.............................................................................17-426
17.12.2. Tact time measurement....................................................................................................17-428
17.12.3. Causes of tact time deviation...........................................................................................17-431
17.13. Cooperative control simulation................................................................................................17-433
17.13.1. Cooperative operation......................................................................................................17-433
17.13.2. Interference avoidance....................................................................................................17-436
17.14. Ending Simulation....................................................................................................................17-437

18. MELFA-3D Vision 18-438
19. I/O Simulator 19-439
19.1. Summary.................................................................................................................................19-439
19.2. Simulator settings.................................................................................................................... 19-439
19.3. Signal connection edit screen.................................................................................................19-441
19.4. Starting I/O Simulator..............................................................................................................19-445
19.5. Stopping I/O simulator.............................................................................................................19-446
20. MelfaRXM.ocx Communications Middleware Setup 20-447
20.1. Summary.................................................................................................................................20-447
20.2. CD-ROM Contents..................................................................................................................20-447
20.3. User's Manual Reading Guide................................................................................................20-448
20.4. Installation...............................................................................................................................20-448
21. Appendix 21-450
21.1. Q&A.........................................................................................................................................21-450
21.2. Index .......................................................................................................................................21-463
21.3. Copyright, Disclaimer..............................................................................................................21-466
21.3.1. Open Source Computer Vision Library............................................................................21-466