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”