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

6.3. Minimizing the Ribbon.................................................................................................................6-65
7. Docking Window 7-66
7.1. Moving and Placing Docking Windows.......................................................................................7-66
7.2. Aligning Side-by-side and Overlaying Docking Windows............................................................7-68
7.3. Minimizing Docking Windows......................................................................................................7-69
7.4. Resetting a Docking Window to Its Default Layout.....................................................................7-69
7.5. Screen Layout Mode of the Docking Window.............................................................................7-70
8. Workspaces and Projects 8-71
8.1. Workspaces and Projects............................................................................................................8-71
8.2. Creating a New Workspace.........................................................................................................8-73
8.3. Opening an Existing Workspace.................................................................................................8-74
8.4. Open the RT ToolBox2 Workspace .............................................................................................8-75
8.5. Closing a Workspace...................................................................................................................8-75
8.6. Deleting a Workspace .................................................................................................................8-76
8.7. Saving a Workspace....................................................................................................................8-76
8.8. Changing a Workspace...............................................................................................................8-77
8.9. Adding a Project..........................................................................................................................8-78
8.9.1. Step 1. Outline .....................................................................................................................8-79
8.9.2. Step 2. Robot model ............................................................................................................8-79
8.9.3. Step 3. Communication........................................................................................................8-80
8.9.4. Step 4. Language.................................................................................................................8-80
8.9.5. Step 5. Travel axis................................................................................................................8-81
8.9.6. Step 6. Robot Additional Axis...............................................................................................8-81
8.9.7. Step 7. Tool..........................................................................................................................8-82
8.9.8. Step 8. Weight and Size.......................................................................................................8-82
8.10. Transfer offline parameters to robot controller............................................................................8-83
8.11. Change of the operation mode after adding the project..............................................................8-85
8.12. Editing Projects............................................................................................................................8-86
8.13. Deleting a Project........................................................................................................................8-87
8.14. Contents of Project Tree..............................................................................................................8-88
8.15. Copying Programs Between Projects..........................................................................................8-89
8.16. Importing projects........................................................................................................................8-90
8.17. Option Setting..............................................................................................................................8-91
8.18. Offline/Online/Simulation.............................................................................................................8-92
9. Connecting to the Robot 9-94
9.1. Robots Connected and Types of Communication.......................................................................9-94
9.2. Connection Settings ....................................................................................................................9-96
9.2.1. USB Communication Settings .............................................................................................9-97
9.2.2. TCP/IP (Ethernet) Communication Settings........................................................................9-98
9.2.3. RS-232 Communication Settings.......................................................................................9-100
9.2.4. GOT Communication Settings...........................................................................................9-101
9.2.5. CRnQ_R Communication Settings....................................................................................9-102
9.2.6. Travel base setting for display........................................................................................... 9-111
10. Robot Programming Language Setting 10-114
11. Writing Programs 11-115
11.1. Writing a New Program ........................................................................................................... 11-116
11.1.1. Writing a new program on the computer.......................................................................... 11-116
11.1.2. Writing a new program in the robot controller.................................................................. 11-117
11.2. Opening an Existing Program ................................................................................................. 11-118
11.2.1. Opening an existing program on the computer ............................................................... 11-118
11.2.2. Opening a program in a robot controller.......................................................................... 11-118
11.2.3. Read Items when opening program in robot controller.................................................... 11-119
11.2.4. Editing a program in the backup data..............................................................................11-120
11.3. Explanation of Program Edit screen........................................................................................11-121

11.4. Ribbon During Program Editing...............................................................................................11-123
11.5. Customizing the Display Position.............................................................................................11-126
11.6. Customizing Other Than the Display Position.........................................................................11-129
11.6.1. Displaying input candidates..............................................................................................11-129
11.6.2. White space display..........................................................................................................11-130
11.6.3. Auto indent .......................................................................................................................11-130
11.6.4. Command format hints.....................................................................................................11-133
11.6.5. Pasting line numbers........................................................................................................11-133
11.6.6. Convert blank lines to comments.....................................................................................11-134
11.6.7. Save a program in the form of no line number.................................................................11-134
11.6.8. Line break after insertion..................................................................................................11-136
11.6.9. Character colors...............................................................................................................11-137
11.6.10. Changing the font.............................................................................................................11-137
11.6.11. Setting the background color of the program editor.........................................................11-138
11.6.12. Setting the syntax check at program save .......................................................................11-138
11.6.13. Get current position..........................................................................................................11-139
11.6.14. Program Save and Read..................................................................................................11-139
11.7. Program Editing .......................................................................................................................11-140
11.7.1. MELFA-BASIC V / MELFA-BASIC VI command statement editing .................................11-140
11.7.2. MELFA-BASIC IV and Movemaster command command statement editing...................11-141
11.7.3. Position variable editing ...................................................................................................11-142
11.7.4. Edit assist functions..........................................................................................................11-147
11.8. Position jump............................................................................................................................11-163
11.9. Saving Programs......................................................................................................................11-165
11.9.1. Save .................................................................................................................................11-165
11.9.2. Saving on computer..........................................................................................................11-166
11.9.3. Saving in robot controller..................................................................................................11-167
11.9.4. Save as template..............................................................................................................11-168
11.9.5. Items written when saving in robot...................................................................................11-169
11.10. Program Printing......................................................................................................................11-171
11.10.1. Checking a print image.....................................................................................................11-171
11.10.2. Printing a program............................................................................................................11-171
11.10.3. Program print settings......................................................................................................11-171
11.11. Program Debugging.................................................................................................................11-174
11.11.1. Starting debugging............................................................................................................11-174
11.11.2. Executing programs step by step.....................................................................................11-176
11.11.3. Revising programs............................................................................................................11-176
11.11.4. Setting and deleting breakpoints......................................................................................11-177
11.11.5. Set a Breakpoint...............................................................................................................11-178
11.11.6. Ending debugging.............................................................................................................11-179
11.12. Set / Release read protection ..................................................................................................11-180
11.13. Program Management.............................................................................................................11-181
11.13.1. Program list display..........................................................................................................11-182
11.13.2. Copy .................................................................................................................................11-183
11.13.3. Move.................................................................................................................................11-184
11.13.4. Delete ...............................................................................................................................11-185
11.13.5. Rename............................................................................................................................11-186
11.13.6. Protect settings.................................................................................................................11-186
11.13.7. Comparison......................................................................................................................11-187
11.14. Program Conversion................................................................................................................11-189
11.14.1. Starting program conversion ............................................................................................11-190
11.14.2. Converting line Nos. (from MELFA-BASIC IV to MELFA-BASIC V or VI)........................11-191
11.14.3. Position data conversion (from E/EN/M1/M2 series to CR800/750/700/500 series).......11-193
11.15. Position data editing for SQ Direct...........................................................................................11-195
11.15.1. Differences with program editing......................................................................................11-196
11.15.2. Online editing....................................................................................................................11-198
11.15.3. Offline editing....................................................................................................................11-199
11.15.4. Program management......................................................................................................11-200
12. Creating the spline files 12-203
12.1. New file ...................................................................................................................................12-203
12.1.1. Creating a new file on the computer................................................................................ 12-203
12.1.2. Creating a new file in the robot controller........................................................................12-203

12.2. Open file..................................................................................................................................12-204
12.2.1. Opening a spline file saved on the computer ..................................................................12-204
12.2.2. Opening a spline file saved in the robot controller...........................................................12-204
12.2.3. Selecting and opening a spline file from the list ..............................................................12-205
12.3. Save file...................................................................................................................................12-205
12.3.1. Save.................................................................................................................................12-205
12.3.2. Save as............................................................................................................................12-205
13. Setting Parameters 13-206
13.1. Editing from parameter list.......................................................................................................13-208
13.1.1. Starting.............................................................................................................................13-208
13.1.2. Parameter editing.............................................................................................................13-210
13.1.3. Edit of parameter changed from default value.................................................................13-211
13.1.4. Parameter list reading......................................................................................................13-212
13.1.5. Finding parameters..........................................................................................................13-212
13.1.6. Sort parameters...............................................................................................................13-213
13.1.7. Parameter initialization.....................................................................................................13-213
13.2. Robot Controller Operation Modes for Parameter Writing......................................................13-215
13.3. Movement Parameters............................................................................................................13-216
13.3.1. Motion limit parameter .....................................................................................................13-216
13.3.2. Jog parameter..................................................................................................................13-216
13.3.3. Hand Parameters.............................................................................................................13-217
13.3.4. Weight and size parameters............................................................................................13-223
13.3.5. Tool parameter.................................................................................................................13-224
13.3.6. User-defined area parameter...........................................................................................13-225
13.3.7. Free plane limit parameters.............................................................................................13-225
13.3.8. Home position parameters...............................................................................................13-227
13.3.9. Robot additional axis parameter......................................................................................13-228
13.3.10. Collision detection parameters ........................................................................................13-229
13.3.11. Warm-up operation parameters.......................................................................................13-229
13.3.12. Movement parameters.....................................................................................................13-230
13.3.13. Work coordinate paramaters............................................................................................13-231
13.3.14. Force control parameters.................................................................................................13-232
13.3.15. Collision avoidance parameters.......................................................................................13-235
13.3.16. Safety Parameters(CR750/CR700).................................................................................13-238
13.4. Program Parameters...............................................................................................................13-242
13.4.1. Slot table parameters.......................................................................................................13-242
13.4.2. Program language parameters........................................................................................13-243
13.4.3. Command parameters.....................................................................................................13-243
13.4.4. User error parameters......................................................................................................13-244
13.5. Signal Parameters...................................................................................................................13-245
13.5.1. Output signal reset pattern parameters...........................................................................13-245
13.5.2. Assigning Dedicated Input/Output Signals......................................................................13-246
13.6. Communication Parameters....................................................................................................13-251
13.6.1. RS-232 parameters..........................................................................................................13-251
13.6.2. Ethernet parameters........................................................................................................13-251
13.7. Field Network Parameters.......................................................................................................13-254
13.7.1. CC-Link parameters.........................................................................................................13-254
13.7.2. CC-Link IE Field Parameters...........................................................................................13-255
13.7.3. CC-Link IE Field Basic parameters..................................................................................13-256
13.7.4. PROFIBUS parameters ...................................................................................................13-257
13.7.5. PROFINET parameters....................................................................................................13-258
13.7.6. DeviceNet parameters.....................................................................................................13-259
13.7.7. EtherNet/IP parameters...................................................................................................13-260
13.7.8. EtherCAT parameters ......................................................................................................13-261
13.8. PLC Cooperation Parameters.................................................................................................13-262
13.8.1. Multiple CPU parameters.................................................................................................13-262
13.8.2. IO unit parameters...........................................................................................................13-263
13.9. Parameters of Safety (CR800)................................................................................................13-264
13.9.1. Safety diagnosis function.................................................................................................13-264
13.9.2. Safety option....................................................................................................................13-266
13.9.3. Basic Configuration Parameter........................................................................................13-266
13.9.4. Robot Model Parameter...................................................................................................13-267

13.9.5. Safety Logic.....................................................................................................................13-268
13.9.6. SOS Parameter............................................................................................................... 13-271
13.9.7. SLS..................................................................................................................................13-272
13.9.8. SLP..................................................................................................................................13-274
13.10. Additional Axis Cooperative Control Parameters....................................................................13-277
13.10.1. Base Coordinate Offset Data parameter.........................................................................13-277
13.10.2. Base Coordinate Cooperative parameter........................................................................13-278
13.10.3. Additional Axis Tracking parameter.................................................................................13-279
13.11. Parameter printing...................................................................................................................13-280
14. Status Monitoring 14-282
14.1. Ribbon command for monitor screen......................................................................................14-283
14.2. Robot Movement Monitoring...................................................................................................14-283
14.2.1. Slot operation status........................................................................................................14-283
14.2.2. Program monitoring.........................................................................................................14-284
14.2.3. Program external variables .............................................................................................14-289
14.2.4. Movement status.............................................................................................................14-291
14.2.5. Event Hisyory .................................................................................................................. 14-292
14.2.6. Errors............................................................................................................................... 14-294
14.3. Signal Monitoring ....................................................................................................................14-299
14.3.1. General signals................................................................................................................14-299
14.3.2. Named signals.................................................................................................................14-303
14.3.3. Stop signal.......................................................................................................................14-308
14.3.4. Register (CC-Link/EtherCAT).......................................................................................... 14-309
14.3.5. IO unit monitor................................................................................................................. 14-313
14.3.6. DSI CNUSER2 input signal monitor................................................................................14-314
14.3.7. Device Monitor.................................................................................................................14-315
14.4. Operation Monitoring...............................................................................................................14-317
14.4.1. Operating Information......................................................................................................14-317
14.4.2. Production Information....................................................................................................14-317
14.5. Servo Monitor..........................................................................................................................14-318
14.5.1. Position (ABS).................................................................................................................14-319
14.5.2. Speed ..............................................................................................................................14-320
14.5.3. Current.............................................................................................................................14-321
14.5.4. Load.................................................................................................................................14-322
14.5.5. Power ..............................................................................................................................14-323
15. Maintenance 15-324
15.1. Setting Origin Data..................................................................................................................15-324
15.1.1. Origin data input..............................................................................................................15-326
15.1.2. Mechanical stopper .........................................................................................................15-328
15.1.3. Tool..................................................................................................................................15-329
15.1.4. ABS..................................................................................................................................15-331
15.1.5. User Origin Method .........................................................................................................15-331
15.1.6. Origin Parameter Backup................................................................................................15-333
15.2. Initialization .............................................................................................................................15-334
15.2.1. Starting ............................................................................................................................15-334
15.2.2. Setting the time in the robot controller.............................................................................15-334
15.2.3. Deletion of all robot programs.........................................................................................15-335
15.2.4. Initializing the battery remaining time..............................................................................15-336
15.2.5. Serial number..................................................................................................................15-336
15.3. Maintenance Forecasting........................................................................................................15-337
15.3.1. Specifications...................................................................................................................15-337
15.3.2. Startup.............................................................................................................................15-337
15.3.3. Forecasting......................................................................................................................15-338
15.3.4. Settings............................................................................................................................15-339
15.3.5. Reset screen ...................................................................................................................15-341
15.3.6. Resetting maintenance forecast information in Teaching Box........................................ 15-343
15.3.7. Others..............................................................................................................................15-344
15.4. Position Repair Function.........................................................................................................15-345
15.4.1. Specifications...................................................................................................................15-346
15.4.2. Startup.............................................................................................................................15-346

15.4.3. Flow of operations............................................................................................................15-347
15.4.4. Introduction......................................................................................................................15-348
15.4.5. Communication settings...................................................................................................15-348
15.4.6. Robot selection and parameter backup...........................................................................15-349
15.4.7. Selection of Revision parameter generation procedure ..................................................15-350
15.4.8. Program selection............................................................................................................15-351
15.4.9. Program reading and backup ..........................................................................................15-352
15.4.10. Tool setting check ............................................................................................................15-353
15.4.11. Revision parameter selection ..........................................................................................15-354
15.4.12. Reteaching work..............................................................................................................15-360
15.4.13. Writing parameters...........................................................................................................15-363
15.4.14. Controller power supply Off, On ......................................................................................15-364
15.4.15. Exit...................................................................................................................................15-365
15.4.16. Revision parameter editing..............................................................................................15-366
15.5. Robot controller security function (Password Setup)..............................................................15-367
15.5.1. Register Password...........................................................................................................15-369
15.5.2. Change Password............................................................................................................15-370
15.5.3. Delete Password..............................................................................................................15-370
16. Option Cards 16-371
17. Backup and Restore 17-372
17.1. Backup(Robot -> PC)..............................................................................................................17-374
17.1.1. Saving data from one robot controller..............................................................................17-375
17.1.2. Saving data from all robot controllers(Online Project Backup)........................................17-377
17.2. Restore (PC -> Robot).............................................................................................................17-379
17.3. Offline backup (Offline project -> PC)......................................................................................17-383
17.4. Offline restore (PC -> Offline project)......................................................................................17-384
17.5. Property Display of Backup Data ............................................................................................17-385
17.6. Deleting Backup Data..............................................................................................................17-386
17.7. Open Backup program ............................................................................................................17-386
17.8. Check Backup programs.........................................................................................................17-387
17.9. Open the event history from backup data...............................................................................17-387
17.10. Open the error history form backup data.................................................................................17-387
17.11. Open the error record form backup data.................................................................................17-388
18. Tool functions 18-389
18.1. Oscillograph.............................................................................................................................18-389
18.1.1. Outline..............................................................................................................................18-389
18.1.2. Communication method...................................................................................................18-389
18.1.3. Acquirable data................................................................................................................18-391
18.1.4. Starting.............................................................................................................................18-392
18.1.5. Communication settings...................................................................................................18-394
18.1.6. Start／Stop.......................................................................................................................18-398
18.1.7. Graph setting ...................................................................................................................18-398
18.1.8. Graph range setting.........................................................................................................18-399
18.1.9. Data confirmation.............................................................................................................18-400
18.1.10. Playing back data.............................................................................................................18-403
18.1.11. Save Data／Log Setting ..................................................................................................18-403
18.1.12. Load Data ........................................................................................................................18-406
18.1.13. Save Image......................................................................................................................18-406
18.1.14. Gray scale........................................................................................................................18-406
18.1.15. Reflect to 3D monitor.......................................................................................................18-406
18.1.16. Program and Signal Monitor............................................................................................18-408
18.2. DXF file import.........................................................................................................................18-410
18.2.1. Outline..............................................................................................................................18-410
18.2.2. Starting.............................................................................................................................18-410
18.2.3. Flow of operations............................................................................................................18-411
18.3. User definition screen..............................................................................................................18-414
18.3.1. Creating a new User definition screen file.......................................................................18-416
18.3.2. Editing the user definition screen page............................................................................18-417

18.3.3. Editing of existing parts ...................................................................................................18-439
18.3.4. Copying/Pasting of parts .................................................................................................18-440
18.3.5. Movement of parts........................................................................................................... 18-441
18.3.6. Deletion of parts ..............................................................................................................18-442
18.3.7. Changing the page name................................................................................................18-442
18.3.8. Edit of ruled lines.............................................................................................................18-443
18.3.9. Display of user definition screen .....................................................................................18-445
18.3.10. Deletion of user definition screen....................................................................................18-446
18.3.11. Import of user definition screen.......................................................................................18-448
18.3.12. Export of the user definition screen.................................................................................18-450
18.4. File Manager...........................................................................................................................18-451
18.4.1. File list display.................................................................................................................18-452
18.4.2. Copy................................................................................................................................18-453
18.4.3. Delete..............................................................................................................................18-453
18.4.4. Rename...........................................................................................................................18-453
18.5. 2D vision calibration................................................................................................................18-454
18.5.1. Summary......................................................................................................................... 18-454
18.5.2. Operating procedure of 2D vision calibration..................................................................18-455
18.5.3. 2D vision calibration screen ............................................................................................18-458
18.6. Automatic Calibration..............................................................................................................18-460
18.7. Force sensor calibration..........................................................................................................18-461
18.7.1. Outline.............................................................................................................................18-461
18.7.2. Starting ............................................................................................................................18-461
18.8. Force control log file viewer....................................................................................................18-462
18.9. Tool automatic calculation.......................................................................................................18-463
18.9.1. Specifications...................................................................................................................18-463
18.9.2. Starting ............................................................................................................................18-463
18.9.3. Flow of operations...........................................................................................................18-465
19. Operating the Robot 19-467
19.1. About the Operation Panel...................................................................................................... 19-467
19.1.1. Starting the operation panel.............................................................................................19-467
19.1.2. Operation panel commands on the ribbon......................................................................19-470
19.2. Functions of Operation Panel .................................................................................................19-471
19.2.1. Jog operation...................................................................................................................19-471
19.2.2. Program execution .......................................................................................................... 19-476
19.2.3. Specifying the starting line for program execution ..........................................................19-476
19.2.4. Step operation ................................................................................................................. 19-477
19.2.5. Direct execution...............................................................................................................19-478
19.3. Change to the small operation panel......................................................................................19-479
19.3.1. How to change the display type ......................................................................................19-479
19.3.2. How to operate................................................................................................................19-480
19.4. Display the operation panel in the docking window................................................................19-480
19.4.1. Display method................................................................................................................19-481
19.4.2. Change the display type..................................................................................................19-482
19.5. Direct Teaching .......................................................................................................................19-483
19.5.1. Teach procedure by direct teaching ................................................................................19-484
19.5.2. Direct teaching mode switching.......................................................................................19-486
20. Simulation 20-487
20.1. Starting a Simulation...............................................................................................................20-488
20.1.1. About the warning at first-time startup simulation........................................................... 20-489
20.2. Explanation of the Simulation Operation Screen.................................................................... 20-489
20.3. Tact Time Calculation..............................................................................................................20-490
20.3.1. Conditions for tact time calculation..................................................................................20-490
20.3.2. Tact time measurement...................................................................................................20-493
20.3.3. Causes of tact time deviation..........................................................................................20-497
20.4. Cooperative control simulation................................................................................................20-499
20.4.1. Cooperative operation.....................................................................................................20-499
20.4.2. Interference avoidance....................................................................................................20-502
20.5. Ending Simulation...................................................................................................................20-503

21. 3D Monitor 21-504
21.1. Starting Up 3D Monitor............................................................................................................21-504
21.2. Change 3D Monitor Display Method .......................................................................................21-505
21.3. 3D Monitor Operations ............................................................................................................21-506
21.3.1. List of operations..............................................................................................................21-506
21.3.2. Zoom operation................................................................................................................21-506
21.3.3. Rotating the view .............................................................................................................21-507
21.3.4. Parallel movement of view...............................................................................................21-508
21.3.5. Selecting objects..............................................................................................................21-508
21.3.6. Moving Objects Mouse ....................................................................................................21-510
21.4. Layout Tree..............................................................................................................................21-513
21.4.1. Content of layout tree.......................................................................................................21-513
21.4.2. Operations in layout tree..................................................................................................21-514
21.5. 3D Monitor Display Settings....................................................................................................21-527
21.5.1. Light source position........................................................................................................21-527
21.5.2. Floor.................................................................................................................................21-528
21.5.3. Displaying coordinate axes..............................................................................................21-532
21.5.4. Background color.............................................................................................................21-532
21.5.5. Projection type.................................................................................................................21-533
21.6. Robot Display Settings............................................................................................................21-534
21.6.1. Robot information.............................................................................................................21-534
21.6.2. Robot arrangement..........................................................................................................21-535
21.6.3. Robot model.....................................................................................................................21-536
21.6.4. Hand.................................................................................................................................21-543
21.6.5. Robot Parts......................................................................................................................21-544
21.6.6. User Mechanism..............................................................................................................21-544
21.6.7. Collision area...................................................................................................................21-546
21.6.8. Movement area................................................................................................................21-547
21.6.9. User-defined area............................................................................................................21-548
21.6.10. Free plane limit ................................................................................................................21-549
21.6.11. Safe monitoring................................................................................................................21-550
21.7. Hand Display Settings.............................................................................................................21-552
21.7.1. Hand display content .......................................................................................................21-552
21.7.2. Display conditions............................................................................................................21-553
21.7.3. Write TCP (hand tip) ........................................................................................................21-555
21.8. Robot Parts Display Settings...................................................................................................21-555
21.8.1. Robot parts display content .............................................................................................21-555
21.8.2. Display conditions............................................................................................................21-556
21.9. User Mech. Display Settings...................................................................................................21-557
21.9.1. Display contents of user mechanism...............................................................................21-558
21.9.2. User mech. type and relationship to robot.......................................................................21-560
21.9.3. User mech. lnterference check........................................................................................21-561
21.10. Spline Display Settings............................................................................................................21-561
21.10.1. Opened spline file............................................................................................................21-561
21.10.2. Specified spline file ..........................................................................................................21-563
21.10.3. MXT file............................................................................................................................21-564
21.11. Layout Object Display Settings ...............................................................................................21-565
21.11.1. Layout object display content settings.............................................................................21-565
21.11.2. Moving and rotating layout objects..................................................................................21-571
21.11.3. Layout condition edit........................................................................................................21-572
21.12. Layout Files.............................................................................................................................21-573
21.12.1. Saving layout information ................................................................................................21-573
21.12.2. Loading layout information...............................................................................................21-574
21.12.3. Layout file manager .........................................................................................................21-576
21.13. Types of Robot Model..............................................................................................................21-578
21.14. Interference Check..................................................................................................................21-579
21.15. Moving the Robot by Clicking..................................................................................................21-586
21.16. Move the robot by grasping the tool........................................................................................21-588
21.17. Distance measurement............................................................................................................21-590
21.18. XYZ position variables.............................................................................................................21-592
21.19. Hand Design............................................................................................................................21-594
21.19.1. Hand file manager............................................................................................................21-594
21.19.2. Hand editing operations...................................................................................................21-596

21.19.3. Hand edit tree..................................................................................................................21-596
21.19.4. Distance Measurement....................................................................................................21-597
21.20. Robot Parts Design.................................................................................................................21-598
21.20.1. Robot parts file manager.................................................................................................21-598
21.20.2. Robot parts editing operations.........................................................................................21-599
21.20.3. Robot parts edit tree........................................................................................................21-599
21.20.4. Distance Measurement....................................................................................................21-600
21.21. Design of User Mechanism.....................................................................................................21-601
21.21.1. User mech. file manager.................................................................................................21-601
21.21.2. Operation of editing user mechanism..............................................................................21-602
21.21.3. User mech. edit tree........................................................................................................21-602
21.21.4. Distance Measurement....................................................................................................21-608
21.22. Recording................................................................................................................................21-609
22. MELFA-3D Vision 22-612
23. I/O Simulator 23-613
23.1. Summary.................................................................................................................................23-613
23.2. Simulator settings.................................................................................................................... 23-613
23.3. Signal connection edit screen.................................................................................................23-615
23.4. Starting I/O Simulator..............................................................................................................23-619
23.5. I/O Simulator Connection Status.............................................................................................23-621
23.6. Stopping I/O simulator.............................................................................................................23-621
24. Document out 24-622
24.1. Start-up of the document creation screen...............................................................................24-622
24.2. Selection of content to be output to document .......................................................................24-623
24.3. Save document.......................................................................................................................24-625
25. MELFA-Works 25-626
26. MelfaRXM.ocx Communications Middleware Setup 26-627
26.1. Summary.................................................................................................................................26-627
26.2. DVD-ROM Contents................................................................................................................26-627
26.3. User's Manual Reading Guide................................................................................................26-628
26.4. Installation...............................................................................................................................26-628
27. Appendix 27-630
27.1. Q&A.........................................................................................................................................27-630
27.2. Copyright, Disclaimer.............................................................................................................. 27-644
27.2.1. Open Source Computer Vision Library............................................................................27-644
27.2.2. Diff Template Library........................................................................................................27-645

1-19 1-19
1. Usage
This explains precautions you need to know before using this software.
1.1. How to Use this Document
The manual is in the DVD-ROM as the Adobe PDF file.
D:/Doc/RT3Manual.pdf (Example for the DVD drive is “D :”.)
For reading the manual in the DVD-ROM, Adobe Reader is required.
If Adobe Reader isn’t installed, please download from the following Adobe Systems Incorporated URL (As of
November, 2019)
URL: http://www.adobe.com/
1.2. Checking the Product
1.2.1. Checking the package
Please check if all items shown below are included in the package.
- DVD-ROM "RT ToolBox3"
- Setup Guide
- END-USER SOFTWARE LICENSE AGREEMENT
- License Certification
(Please make sure Product ID is printed on it.)
* Please contact the branch office or the agency if there is some shortage in the package.
1.2.2. Checking the DVD-ROM contents
The DVD-ROM has the following configuration.
1.2.3. About the "MelfaRXM.ocx" communications middleware
MelfaRXM.ocx is the ActiveX control that communicates with the robot-controller. You can create the Windows
Application of "MELFA ROBOT" by using this control.
You can use "MelfaRXM.ocx" in the standard version of this software only.
For information on how to set up "MelfaRXM.ocx", refer to "26 MelfaRXM.ocx Communications Middleware
Setup".
If using only the function of “RT ToolBox3”, you don't need to install this software.
Doc
/:
The files for installation of this software
This manual (pdf)
・・・・・・・
Utility
The folder for setup of the communication middleware "MelfaRXM.ocx"
・・・・・・・
:
:
Sample
The sample data (Layout, Hand model)
・・・・・

1-20 1-20
1.3. Items to be prepared by the customer
This explains what the customer needs to prepare in order to use this software
1.3.1. Computer system
Use a computer that meets the specifications given in: "1.4 Operating Environment".
1.3.2. Computer cable
Prepare the cable for connecting the controller and the computer. The cable required depends on the connection
specifications and controller used, as shown below.
For the RS-232 cable refer to the "Standard Specifications" for your robot.
Table 1-1 CR800-D/CR750-D/CRnD-700/CRn500 Series Communication Cables
Method
Description
Model name
Manufacturer
USB
USB A type, USB mini B type
-
-
Ethernet
10BASE-T, 100BASE-TX
-
-
RS-232 For controller front panel
CRnD-700
series
2D-232CBL03M Mitsubishi Electric
CRn-500
series
RS-MAXY-CBL
RS-AT-RCBL
(for expansion serial
interface (option))
Mitsubishi Electric
For expansion option box (CR1-EB3)
RS-AT-RCBL
Mitsubishi Electric
Table 1-2 CR800-R/CR800-Q/CR750-Q/CRnQ-700 Series Communication Cables
Method Description
Cables confirmed by Mitsubishi Electric to operate
properly
Model name
Manufacturer
USB USB A type to mini B type
ZUM-430
Loas Co., Ltd.
USB-M53
Elecom Co., Ltd.
GT09-C20USB-5P
Mitsubishi Electric System
Service
MR-J3USBCBL3M
Mitsubishi Electric
Ethernet
10BASE-T, 100BASE-TX
RS-232
For connecting by personal computer -
PLC CPU
(when Personal computer connector is
D-sub, 9-pin)
QC30R2 Mitsubishi Electric
Normal operation not guaranteed with USB to RS-232 cable
Normal operation is not guaranteed when using the USB to RS-232 cable. When using the RS-232
as a communication port, use of a computer with a serial port is recommended.
Caution