Mitsubishi Electric MELFA FR CR800 Series User manual

Mitsubishi Electric Industrial Robots
CR800/750/700/500 series
RT ToolBox3 / RT ToolBox3 mini
User's Manual
(3F-14C-WINE/3F-15C-WINE)
BFP-A3495-J

A. These show precautions based on the Ordinance on Industrial Safety and Health (Articles 36,
104, 150, 151).
For the sake of safety, teaching work should only be performed by workers who have
undergone special training.
(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
During 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
as well as 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 possible.
If cables are brought too close to noise sources, this can cause positional deviation
and malfunction.
Do not apply excess force to connectors or bend cables excessively.
Doing so can cause a contact defect or cut line.
Set work masses, including hands, so as not to exceed the 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 personal
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 rights 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
due to an external command, causing personal 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 the workpiece and peripheral
devices.
After completing program editing, but before starting automatic operation, always
check operations in a step run. Failure to do this may cause a collision with a
peripheral device due to a programming error 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 make alterations on your own judgment or use maintenance parts other than
those designated. Doing so can cause breakdown and malfunctions.
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 stop the robot or perform an emergency stop by switching the robot controller's
main power supply OFF.
If the robot controller's main power supply is switched OFF during automatic operation,
this can reduce the robot's precision. It could result in collisions with peripheral device
or the like due to arm drop or inertia.
When rewriting a program, parameters, or other internal information within the robot's
controller, do not switch the robot controller's main power supply OFF.
If the robot controller's main power supply is switched OFF during automatic operation,
or while a program or parameter is being written, there is a danger of the internal
information in the robot controller being corrupted.
For using RH-5AH/10AH/15AH series or RH-6SH/12SH/18SH series.
While pressing the brake release switch on the robot arm, be aware of the arm
dropping under its own weight.
Dropping lead to a collision of the hand with the peripheral equipment or catching of
hands or fingers.
At shipment, the robot controller is set to English (ENG).
To use it in Japanese, change "LNG" parameter to "JPN".
For the setting method, please refer to "13.1
Editing from parameter
list"
Caution
Warning
Caution
Caution
Warning
Caution

User's Manual Revision History
Printing Date
Manual No.
Revision Contents
2017/03
BFP-A3495-*
First edition
2017/06
BFP-A3495-A
Corresponds to the Ver.1.01B (Refer to the software revision history.)
2017/10
BFP-A3495-B
Corresponds to the Ver.1.10L (Refer to the software revision history.)
2018/04
BFP-A3495-C
Corresponds to the Ver.1.20W (Refer to the software revision history.)
2018/08
BFP-A3495-D
Corresponds to the Ver.1.30G (Refer to the software revision history.)
2018/12
BFP-A3495-E
Corresponds to the Ver.1.32J (Refer to the software revision history.)
2019/03
BFP-A3495-F
Corresponds to the Ver.1.40S (Refer to the software revision history.)
2019/04
BFP-A3495-G
Corresponds to the Ver.1.50C (Refer to the software revision history.)
2020/01
BFP-A3495-H
Corresponds to the Ver.1.62Q (Refer to the software revision history.)
2020/04
BFP-A3495-J
Corresponds to the Ver.1.70Y (Refer to the software revision history.)

Software Revision History
Version
Release Date
Revision Contents
1.00A
2017/03
Initial release
1.01B 2017/06
[Parameter]
- Add the function of additional axis cooperative control parameters.
1.10L 2017/10
[Workspaces]
- Add removing file history function.
- Change so that options can be set separately for each category.
- Add screen layout mode to option.
- Add setting of saving and loading position variables to option.
- Add presence / absence of message when you get current position.
[Project Editing]
- Add additional axis, tool, weight and size.
[Program Editing]
- Add label jump function in command edit area.
- Add
explanatory display corresponding to reserved word as input
candidate.
-
Changed to be able to select joint interpolation, linear interpolation,
direct movement by position jump at simulation.
[Parameter]
- Add CC-Link IE Field Basic.
[Monitor]
- Add auto-complete function when monitoring variables are input.
[Tool]
- Move the operation button of the oscillograph to the ribbon.
- Added function to change gra
ph update time and number of display
points on oscillograph screen.
- Add function to take specified time log when a certain time has passed.
- Add
function to jump from the oscillograph detailed data screen to the
maximum value and minimum value
- Add function to display maximum and minimum values in screen to
detailed screen of oscillograph.
- Add program / signal monitor screen to oscillograph.
[3D Monitor]
- Add bulk editing function of boxes.
- Add tube object to layout.
- Add display function of strings.
- Add function to attach objects to each axis of the robot.
- Add display function of work coordinate.
[Others]
- Add function to jump to corresponding page of user’s manual.
1.20W 2018/04
[General]
- Add CR800-Q series.
[Workspace]
- Added function that delete multiple projects.
-
Added function that can use RT Toolbox 2 simulation and offline
parameters.
- Added setting to display 3D monitor always in front of option.
[Monitor]
- Added general purpose signal monitor and register monitor on program
monitor.
[Restore]
- Added function of restoring parameters offline.
[Tool]
- Function safety items added for acquisition of oscillograph data.
[Operation panel]
- Add function to switch base.
- Added function that display in docking window.
[3D Monitor]
- Added function that display user mechanism.
- Adde function that output layout object in PLY format.

Version
Release Date
Revision Contents
1.30G 2018/08
[OS]
Windows 10 IoT Enterprise 2016 LTSB is supported.
[Communication setting]
- Added Ethernet (TCP/IP) to the communication path
of CR800-R/CR800-Q.
[Tool]
- Add preset request data to the oscillograph.
[Parameter]
- Added parameter setting function of backup data.
- Added initial setting function of force sensor.
- Added function not to teach posture in user defined area.
- Added sort function of parameter list.
- Added function that write offl
ine parameters to robot controller at the
online mode.
[Program Editing]
- Added function that convert blank lines to comments.
- Added function that save program in form of no number.
[Setting Origin Data]
- Added detailed work procedure.
[3D Monitor]
- Added function that can set TCP (hand tip) at hand editing.
-
Added function to write TCP (hand selection) to tool parameter from
hand property.
-
Added function that plane can also be output when layout objects are
output in PLY format.
- Added function that move the robot by grasping the tool.
[Backup]
- Added function that display event history, error history, error record from
backup data.
[Project]
- Add pseudo input mode to project status item.
[Q&A]
- Added a description about the enable of Window7 Aero.
1.32J 2018/12
[Parameter]
- Add EtherCAT.
[Monitor]
- Register monitor corresponded to EtherCAT.

Version
Release Date
Revision Contents
1.40S 2019/03
[Product]
- Change the storage disc of product software to DVD-ROM.
[Program]
- Added function that auto indent with sepcific commands.
- Added function that line break after instertion.
- Added function to set breakpoints during online editing
-
Added function that batch editing of structure flags on XYZ position
variables / work position variables batch editing screen.
- Added program template function.
[Parameter]
- Added parameter initialization function.
- Corresponding to tool number setting.
[Monitor]
- Added function that automatic saving of signal number and line number
of input / output of general purpose signal monitor at the end of screen,it
will be valid from next start.
- Add [Change] button to program monitor.
[Tool]
- Add menu button and jog button to user definition screen.
[Operation panel]
- Corresponding to arch motion with position jump.
- Add [P.jump] button to operation panel.
- Corresponding to the operation panel of the large jog button.
[3D Monitor]
-
Added function that distance measurement can be used on each
monitor.
- Added function that restore the object setting contents of the layout and
the robot arrangement position.
- Added function that double-
click the title name to open the editing
screen in the file manager of the hand/robot parts/user mech.
- Add object rotation function.
- Add the function of robot rotation by grabbing tool.
[I / O simulator]
- Explain the version of HG device of GX Works 3 of I / O simulator.
[Help]
-
Added [Detailed explanations of functions and operations] and
[Troubleshooting] items in help of the manual.
1.50C 2019/04
[Tool]
- Changed the constitution of the tree under the Tool.
1.62Q 2020/01
【
Parameter
】
・Added safety diagnostic function
【Monitor】
・Added external variable monitor function
・Add the function that display event history on error monitor screen.
【Restore】
・Added the function of writing history files during restore
【Tool】
・
Added preset function for users to oscillograph
1.70Y 2020/04 【
Operation panel
】
・
Added direct teaching function

PREFACE
Thank you for purchasing this MELFA Mitsubishi Electric industrial robot.
This document is the user's manual for the MELSOFT "RT ToolBox3", "RT ToolBox3 mini" and "RT ToolBox3
Pro".
This document will help you to maximize the functions of this software over a wide range of stages, from
initial robot startup 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 "RT ToolBox3", "RT ToolBox3 mini" and "RT ToolBox3 Pro", and supports the
following robot controllers.
・CR800-R/ CR800-Q/CR750-Q/CRnQ-700 series controllers
・CR800-D/CR750-D/CRnD-700 series controllers
・CRn-500 series controllers
In this manual, these components may also be written as “CR800/750/700/500 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 serious injury.
This indicates an item for which incorrect handling could present a danger of
death or serious injury.
This indicates an item for which incorrect handling could present a danger of
injury. It could also present a danger of just physical damage.
This document uses the following general terms and abbreviations
General Term/Abbreviation
Contents
RCPU
General term for Mitsubishi PLC CPU modules of R04CPU, R04ENCPU,
R08CPU, R08ENCPU, R16CPU, R16ENCPU, R32CPU, R32ENCPU,
R120CPU, R120ENCPU, R08PCPU, R16PCPU, R32PCPU, R120PCPU,
R08SFCPU, R16SFCPU, R32SFCPU and R120SFCPU.
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 Works 2 / 3
Abbreviation of SW1DNC-GXW2-E / SW1DND-GXW3-E type of Mitsubishi
PLC programming software package.
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. AutoCAD is a registered trademark or trademark of
Autodesk Inc., its subsidiaries, and associated corporations 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.
© 2017 MITSUBISHI ELECTRIC CORPORATION
Caution
Warning
Danger

Contents
1. Usage 1-19
1.1. How to Use this Document ......................................................................................................... 1-19
1.2. Checking the Product.................................................................................................................. 1-19
1.2.1. Checking the package......................................................................................................... 1-19
1.2.2. Checking the DVD-ROM contents....................................................................................... 1-19
1.2.3. About the "MelfaRXM.ocx" communications middleware ................................................... 1-19
1.3. Items to be prepared by the customer........................................................................................ 1-20
1.3.1. Computer system ................................................................................................................ 1-20
1.3.2.Computer cable................................................................................................................... 1-20
1.4. Operating Environment............................................................................................................... 1-21
1.4.1. Connectable robot controllers ............................................................................................. 1-21
1.4.2. Computer system ................................................................................................................ 1-22
1.5. Installation, Uninstallation ........................................................................................................... 1-23
1.5.1. Installation ........................................................................................................................... 1-23
1.5.2. Uninstall............................................................................................................................... 1-28
1.5.3. USB driver (CR800-D/CR750-D/CRnD-700 series robot controller) installation................. 1-29
1.5.4. CRnQ_R communication USB driver installation................................................................ 1-31
1.5.5. CRnQ_R Communication USB driver for GOT transparent function / GOT communication
installation........................................................................................................................................... 1-38
1.6. When Starting at the Same Time as Another Product ................................................................ 1-40
1.7. Upgrade of software.................................................................................................................... 1-40
2. Changes from RT ToolBox2 2-41
2.1. Changes to Save Format in Workspaces and Compatibility....................................................... 2-41
2.2. Operations Using the Ribbon...................................................................................................... 2-41
2.3. Linking Between the Offline and Simulation Environments........................................................ 2-41
2.4. Support of Program Language MELFA-BASIC VI...................................................................... 2-42
2.5. Discontinuation of Robot Individual Display in 3D Monitor......................................................... 2-42
2.6. Memory of screen display position and size............................................................................... 2-42
3. RT ToolBox3 Usage 3-44
3.1. Starting RT ToolBox3................................................................................................................... 3-44
3.2. Explanation of RT ToolBox3 Screens.......................................................................................... 3-45
3.3. Changes in RT ToolBox3 Display Format................................................................................... 3-51
3.3.1. Changing the display language........................................................................................... 3-51
3.3.2. Changing the display style .................................................................................................. 3-51
3.4. Help Display................................................................................................................................ 3-52
3.4.1. Displaying language help.................................................................................................... 3-52
3.4.2. Displaying the instruction manual........................................................................................ 3-52
3.4.3. Connecting to the Mitsubishi Electric FA site ...................................................................... 3-54
3.4.4. Displaying version information ............................................................................................ 3-54
3.5. Communication Server 2 ............................................................................................................ 3-55
3.6. Closing RT ToolBox3................................................................................................................... 3-57
4. Notes of when RT ToolBox3 is used with iQ Works (MELSOFT Navigator) 4-58
4.1. Notes of when RT ToolBox3 is installed...................................................................................... 4-58
4.2. Notes concerning workspace operation...................................................................................... 4-58
4.3. Notes concerning Project operation............................................................................................ 4-59
4.4. Notes to edit the workspace created by iQ Works(MELSOFT Navigator).................................. 4-60
5. Basic Functions 5-61
6. Ribbon 6-63
6.1. Selecting the Tab......................................................................................................................... 6-63
6.2. Tool Tip Display of Ribbon Commands....................................................................................... 6-65