Mitsubishi Electric R56TB User manual

CR750/CR751 series controller
CR800 series controller
R56TB/R57TB Instruction Manual
Mitsubishi Electric Industrial Robot
BFP-A8684-P

CAUTION
All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
Enforcement of safety training
CAUTION
For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance work with
the power source turned ON.)
Preparation of work plan
WARNING
Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
Setting of emergency stop switch
CAUTION
During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
Indication of teaching work in progress
WARNING
Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
Installation of safety fence
CAUTION
Establish a set signaling method to the related operators for starting work, and follow this
method. Signaling of operation start
CAUTION
As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
CAUTION
Before starting work, inspect the robot, emergency stop switch and other related devices,
etc., and confirm that there are no errors.
Inspection before starting work
Always read the following precautions and the separate
"Safety Manual" before starting use of the robot to learn the
required measures to be taken.
Safety Precautions

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
CAUTION
Use the robot within the environment given in the specifications. Failure to do so could
lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
environment, etc.)
CAUTION
Transport the robot with the designated transportation posture. Transporting the robot in
a non-designated posture could lead to personal injuries or faults from dropping.
CAUTION
Always use the robot installed on a secure table. Use in an instable posture could lead to
positional deviation and vibration.
CAUTION
Wire the cable as far away from noise sources as possible. If placed near a noise source,
positional deviation or malfunction could occur.
CAUTION
Do not apply excessive force on the connector or excessively bend the cable. Failure to
observe this could lead to contact defects or wire breakage.
CAUTION
Make sure that the workpiece weight, including the hand, does not exceed the rated load
or tolerable torque. Exceeding these values could lead to alarms or faults.
WARNING
Securely install the hand and tool, and securely grasp the workpiece. Failure to observe
this could lead to personal injuries or damage if the object comes off or flies off during
operation.
WARNING
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
CAUTION
Indicate the operation state during robot operation. Failure to indicate the state could lead
to operators approaching the robot or to incorrect operation.
WARNING
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal injuries or
damage if the robot is started with external commands.
CAUTION
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.
CAUTION
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with peripheral
devices because of programming mistakes, etc.
CAUTION
Make sure that if the safety fence entrance door is opened during automatic operation,
the door is locked or that the robot will automatically stop. Failure to do so could lead to
personal injuries.
CAUTION
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.
WARNING
When the robot arm has to be moved by hand from an external area, do not place hands
or fingers in the openings. Failure to observe this could lead to hands or fingers catching
depending on the posture.

CAUTION
Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF. If the robot controller main power is turned OFF during automatic operation,
the robot accuracy could be adversely affected.Moreover, it may interfere with the
peripheral device by drop or move by inertia of the arm.
CAUTION
Do not turn off the main power to the robot controller while rewriting the internal
information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic operation or
rewriting the program or parameters, the internal information of the robot controller may
be damaged.
WARNING
For using RH-5AH/10AH/15AH series or RH-6SH/12SH/18SH series.
While pressing the brake releasing switch on the robot arm, beware of the arm which may
drop with its own weight.
Dropping of the hand could lead to a collision with the peripheral equipment or catch the
hands or fingers.
WARNING
To maintain the security (confidentiality, integrity, and availability) of the robot and the
system against unauthorized access, DoS*1 attacks, computer viruses, and other
cyberattacks from unreliable networks and devices via network, take appropriate
measures such as firewalls, virtual private networks (VPNs), and antivirus solutions.
Mitsubishi Electric shall have no responsibility or liability for any problems involving robot
trouble and system trouble by unauthorized access, DoS attacks, computer viruses, and
other cyberattacks.
*1 DoS: A denial-of-service (DoS) attack disrupts services by overloading systems or
exploiting vulnerabilities, resulting in a denial-of-service (DoS) state.

Revision History
Date of print Specifications No. Revision details
2008-6-25 BFP-A8684-* First release
2009-9-25
BFP-A8684-A
Corresponds to the version 2.3
- Add a SQ Direct Function.
- Add a Skip function in the Step operation.
- Add a Home position Return function.
- Add a display of hand IO state on the hand operation screen.
-
Add WORK jog operation and “Work coordinate parameter”
screen.
- Delete “T/B exit”, “T/B reboot” and “T/B initialize” functions.
- Spell correction.
2010-5-17
BFP-A8684-B
Corresponds to the version 2.4
- Add a stopping the program of all task-slots function.
- Change “Zone” to “User definition area”
- Add a switching base coordinate Function.
- Add a Temp. in RC output parameter.
2011-05-10
BFP-A8684-C
Corresponds to the version 2.5
- Add the Electric Hand function.
- Add the Multi-Hand function.
2011-11-30
BFP-A8684-D
Corresponds to the version 3.0
- Add the Operation Panel function.
- Add the
security function of the robot controller (Setup the
password).
- Add the I/O unit monitor.
- Add the force control function.
- Add the c
ollision avoidance ON/OFF function in Jog
operation screen.
- Added the Encoder temp in the display of Load.
2012-07-19
BFP-A8684-E
Corresponds to the version 3.1
- Add the table method to the Electric Hand operation screen.
- Add “Electric hand table” screen.
- Change “Electric hand teach” screen.
-
Add “Mode switch judgment/Speed reference” button in
“Force control feature” screen.
- Add the function “Tool automatic calculation”.
2013-07-01
BFP-A8684-F
Corresponds to the version 3.2
- Add the parameter editor screens.
- Add the update function.
- Add buzzer sound muting.
2015-07-07
BFP-A8684-G
Change logo
2016-06-03
BFP-A8684-H
Corresponds to the version 3.4
- Add the icon of slots state in the robot controller.
- Add the turn off signal function of user definition screen.
- Add the message function of user definition screen.
- Add lock the screen function.
- The limit of user
definition screen is released in the T/B
disabling state.
2017-05-31
BFP-A8684-J
Corresponds to the version 4.0
- Support FR series.
2018-03-31
BFP-A8684-K
Support CR800-Q series.

Date of print Specifications No. Revision details
2019-03-29
BFP-A8684-M
Corresponds to the version 4.1
- Describes the folder for storing update data.
- Change usable USB memory.
- Add tool number to tool parameter edit.
- Added operation panel button function to user definition
screen.
- Added menu button function to user definition screen.
- Added jog button function to user definition screen.
- Add user management function.
2020-03-31
BFP-A8684-N
Corresponds to the version 4.2
- Change "Position jump" behavior.
- Change backup / rest
ore function to RT ToolBox3
equivalent.
- Support collaborative robots.
2020-11-30
BFP-A8684-P
Change the supporting robot controllers for I/O unit parameters.

Contents page
i
1. Before use 1
1.1. The check of the package.................................................................................................. 1
2. Connection with controller 2
2.1. Installing The T/B .............................................................................................................. 2
2.2. Removing the T/B.............................................................................................................. 2
3. Specification 3
3.1. Specifications .................................................................................................................... 3
3.2. Construction...................................................................................................................... 4
4. Basic operation method 5
4.1. Operating method of R56TB.............................................................................................. 5
4.2. Selection of items on touch panel ...................................................................................... 5
4.3. Display of context menu .................................................................................................... 5
5. Operation of menu panel 6
6. Language setting 7
7. Guidance 7
7.1. RC time setting.................................................................................................................. 7
7.2. Robot serial setting............................................................................................................ 8
7.3. Origin data setting ............................................................................................................. 8
8. Setting a target robot for using multi-mechanism control 9
9. JOG operation 10
9.1. Speed setting ...................................................................................................................10
9.2. Jog mode .........................................................................................................................11
9.3. Switching Tool Data..........................................................................................................12
9.4. Switching Base Coordinates.............................................................................................13
9.5. JOINT jog operation .........................................................................................................14
9.6. XYZ jog operation.............................................................................................................15
9.7. TOOL jog operation ..........................................................................................................16
9.8. 3-axis XYZ jog operation ..................................................................................................17
9.9. Cylinder jog operation.......................................................................................................18
9.10.Work jog operation ...........................................................................................................19
9.11. Jog operation with wheel ..................................................................................................20
9.12. Force control function .......................................................................................................22
9.13. Collision avoidance ON/OFF ............................................................................................23
9.14. Aligning the Hand.............................................................................................................24
9.15. Opening/Closing the Hands ..............................................................................................25
9.15.1. Operation of the Electric Hand .................................................................................26
9.15.2. Operation of the Normal Hand .................................................................................30
9.16. Return to the Home position .............................................................................................31
10. USB memory stick 32
10.1. Plug-in the USB memory stick ..........................................................................................32
10.2. Unplug the USB memory stick..........................................................................................33
11. Program edit 34
11.1. Edit of program.................................................................................................................34

Contents page
ii
11.1.1. Open an edit display (new creation) .........................................................................34
11.1.2. Open an edit display (read of the existing program) .................................................36
11.1.3. Save (robot controller) .............................................................................................38
11.1.4. Save (USB memory)................................................................................................39
11.1.5. Close the edit screen...............................................................................................40
11.1.6. Add the command line .............................................................................................41
11.1.7. Delete the command line .........................................................................................42
11.1.8. Undo the edited contents .........................................................................................43
11.1.9. Cut, Copy and Paste................................................................................................44
11.1.10. Renumber ...............................................................................................................47
11.1.11. Automatic numbering...............................................................................................49
11.1.12. Search.....................................................................................................................50
11.1.13. Replace ...................................................................................................................52
11.1.14. Jump .......................................................................................................................54
11.2. Editing the position variable..............................................................................................56
11.2.1. Registering the current position data........................................................................56
11.2.2. Edit of position data .................................................................................................58
11.2.3. Addition of position data...........................................................................................60
11.2.4. Deletion of position data ..........................................................................................61
11.2.5. Confirming the position data (Position jump) ............................................................62
11.2.6. Find.........................................................................................................................64
11.3. Editiong the position for SQ Direct Function......................................................................65
11.3.1. Registering the current position data for SQ Direct Function.....................................67
11.3.2. Edit of position data for SQ Direct Function..............................................................68
11.3.3. Addition of position data for SQ Direct Function .......................................................69
11.3.4. Initialization of position data for SQ Direct Function..................................................70
11.3.5. Confirming the position data for SQ Direct Function (Position jump )........................70
11.3.6. Saving the position data for SQ Direct Function to USB ...........................................70
11.3.7. Copy position data for SQ Direct Function from controller to USB ............................71
11.3.8. Copy position data for SQ Direct Function from USB to controller ............................72
11.3.9. Edit of position data for SQ Direct Function in the USB memory...............................73
12. Debugging 74
12.1. Starting the step operation................................................................................................74
12.2. Step operation..................................................................................................................75
12.2.1. Step forward............................................................................................................75
12.2.2. Step Backward ........................................................................................................75
12.2.3. Continuous Execution..............................................................................................76
12.2.4. Skip.........................................................................................................................76
12.2.5. Step forward in another slot .....................................................................................77
12.2.6. Step jump ................................................................................................................77
12.3. Program reset ..................................................................................................................77
12.4. Setting and deleting breakpoints.......................................................................................78
13. Program management 79
13.1. Starting ............................................................................................................................79
13.2. Program list......................................................................................................................81
13.3. Copy ................................................................................................................................82
13.4. Move................................................................................................................................83
13.5. Delete ..............................................................................................................................83
13.6. Protect .............................................................................................................................84
13.7. Rename ...........................................................................................................................84
13.8. Compare ..........................................................................................................................85
13.9. Select program.................................................................................................................87
14. Backup/Restore 88
14.1. Starting ............................................................................................................................88
14.2. Backup (Robot -> USB memory) ......................................................................................89
14.3. Restore (USB memory -> Robot)......................................................................................90

Contents page
iii
14.4. Power Reset of the Robot Controller.................................................................................93
15. Monitor 94
15.1. Starting ............................................................................................................................94
15.2. Outline of each function and starting methods ..................................................................95
15.2.1. Outline of each function ...........................................................................................95
15.3. Each monitor function.......................................................................................................96
15.3.1. Robot movement monitor.........................................................................................96
15.3.1.1. Slot run state...................................................................................................96
15.3.1.2. Program monitor .............................................................................................97
15.3.1.3. Movement State............................................................................................100
15.3.1.4. Error .............................................................................................................101
15.3.2. Signal monitor .......................................................................................................103
15.3.2.1. General-purpose signal.................................................................................103
15.3.2.2. Named signal................................................................................................106
15.3.2.3. Stop signal....................................................................................................107
15.3.2.4. Register ........................................................................................................108
15.3.2.5. I/O unit monitor .............................................................................................110
15.3.3. Operation monitor.................................................................................................. 111
15.3.3.1. Operating hours ............................................................................................ 111
15.3.3.2. Production information .................................................................................. 111
15.3.3.3. Additional board information..........................................................................112
15.3.4. Servo monitor ........................................................................................................113
15.3.4.1. Position (ABS) ..............................................................................................113
15.3.4.2. Speed ...........................................................................................................114
15.3.4.3. Current .........................................................................................................115
15.3.4.4. Load .............................................................................................................117
15.3.4.5. Power ...........................................................................................................118
16. Maintenance 119
16.1. Origin data .....................................................................................................................119
16.1.1. Origin data input ....................................................................................................120
16.1.2. The others (Mechanical stopper, TOOL, ABS, User origin method).........................121
16.2. Initialize..........................................................................................................................123
16.2.1. Setting the controller’s date and time .....................................................................123
16.2.2. Erase all programs in the controller........................................................................124
16.2.3. Initialize the battery remaining time........................................................................124
16.3. Serial number.................................................................................................................125
16.3.1. Serial Number setting ............................................................................................125
16.3.2. Save serial number to file ......................................................................................127
16.3.3. Write serial number in a file to the controller...........................................................127
16.4. Releasing the brakes......................................................................................................128
16.4.1. Preparation for releasing the brakes ......................................................................129
16.4.2. Releasing the brake of one axis.............................................................................130
16.4.3. Releasing the brakes of two of more axes..............................................................130
16.5. Maintenance Forecast....................................................................................................131
16.5.1. Start ......................................................................................................................131
16.5.2. Forecast (Battery)..................................................................................................131
16.5.3. Forecast (Grease) .................................................................................................132
16.5.4. Forecast (Belt).......................................................................................................133
16.5.5. Gear......................................................................................................................134
16.5.6. Setup.....................................................................................................................135
16.5.7. Reset.....................................................................................................................137
16.5.8. Others ...................................................................................................................139
16.6. Guidance .......................................................................................................................140
16.7. Security function of the robot controller (Password Setup) ..............................................141
16.7.1. Register the Password...........................................................................................142
16.7.2. Change the Password ...........................................................................................143
16.7.3. Delete the Password..............................................................................................144
16.8. Tool automtic calculation ................................................................................................145

Contents page
iv
16.8.1. Specifications ........................................................................................................145
16.8.2. Start ......................................................................................................................145
16.8.3. Flow of oerations ...................................................................................................146
17. Parameter editor 148
17.1. Starting ..........................................................................................................................148
17.2. Downloading the parameter list (Robot controller -> T/B) ................................................149
17.3. Changing the parameters ...............................................................................................150
17.4. Parameter menu ............................................................................................................151
17.4.1. Motion limit ............................................................................................................152
17.4.2. JOG ......................................................................................................................152
17.4.3. Hand .....................................................................................................................153
17.4.3.1. Hand.............................................................................................................153
17.4.3.2. Multi-Hand Tool .............................................................................................154
17.4.3.3. Multi-Hand Base ...........................................................................................156
17.4.3.4. Electric hand table ........................................................................................157
17.4.3.5. Electric hand point ........................................................................................158
17.4.3.6. Electric hand.................................................................................................159
17.4.4. Weight and size (Work)..........................................................................................160
17.4.5. Weight and size (Hand) .........................................................................................160
17.4.6. TOOL parameter....................................................................................................161
17.4.7. Slot table ...............................................................................................................162
17.4.8. Output signal reset pattern.....................................................................................163
17.4.9. Dedicated input / output signals assignment ..........................................................164
17.4.9.1. General 1......................................................................................................164
17.4.9.2. General 2......................................................................................................164
17.4.9.3. Data..............................................................................................................165
17.4.9.4. Jog ...............................................................................................................165
17.4.9.5. Hand.............................................................................................................166
17.4.9.6. Warm up .......................................................................................................166
17.4.9.7. Start (each slot) ............................................................................................167
17.4.9.8. Stop (each slot).............................................................................................167
17.4.9.9. Servo ON / OFF (each robot) ........................................................................168
17.4.9.10. Machine lock (each robot) .............................................................................168
17.4.10. RS-232..................................................................................................................169
17.4.11. User-defined area..................................................................................................169
17.4.12. Free plane limit ......................................................................................................170
17.4.13. Home position .......................................................................................................170
17.4.14. Program language .................................................................................................171
17.4.15. Robot additional axis .............................................................................................171
17.4.16. Collision detection .................................................................................................173
17.4.17. Warm-up operation ................................................................................................173
17.4.18. Movement .............................................................................................................174
17.4.19. Command..............................................................................................................174
17.4.20. User error ..............................................................................................................175
17.4.21. Ethernet.................................................................................................................176
17.4.22. Multiple CPU .........................................................................................................177
17.4.23. CC-Link .................................................................................................................178
17.4.24. PROFIBUS............................................................................................................179
17.4.25. I/O unit ..................................................................................................................180
17.4.26. Work coordinate ....................................................................................................181
17.4.27. Force control parameters.......................................................................................182
17.4.27.1. Force sensor.................................................................................................182
17.4.27.2. Force control mode .......................................................................................183
17.4.27.3. Force control characteristics..........................................................................183
17.4.27.4. Force log ......................................................................................................184
17.4.28. Real-time external control command......................................................................185
17.4.29. User definition parameter.......................................................................................186
17.5. Find................................................................................................................................187
17.6. Power Reset of the Robot Controller...............................................................................187

Contents page
v
18. System option 188
18.1. Display ...........................................................................................................................188
18.2. User management..........................................................................................................190
18.2.1. User management edit...........................................................................................190
18.2.2. Change the user level............................................................................................191
18.3. Update T/B.....................................................................................................................192
18.4. Language of T/B.............................................................................................................194
18.5.IP address of T/B............................................................................................................194
19. User definition screen 195
19.1. User definition Editor ......................................................................................................196
19.1.1. Adding the new page. ............................................................................................197
19.1.2. Edit of existing page ..............................................................................................198
19.1.3. Copy of page.........................................................................................................199
19.1.4. Deletion of page ....................................................................................................199
19.1.5. Page edit of "User definition screen" ......................................................................200
19.1.5.1. Button...........................................................................................................201
19.1.5.2. Lamp ............................................................................................................205
19.1.5.3. Variable ........................................................................................................207
19.1.5.4. Program execution content ...........................................................................208
19.1.5.5. Program name..............................................................................................210
19.1.5.6. Execution line number of program.................................................................211
19.1.5.7. Current position data (the XYZ coordinate system)........................................212
19.1.5.8. Current position data (the joint coordinate system) ........................................214
19.1.5.9. Message .......................................................................................................216
19.1.5.10. Label ............................................................................................................218
19.1.5.11. Operation panel button..................................................................................219
19.1.5.12. Menu button..................................................................................................221
19.1.5.13. JOG button ...................................................................................................224
19.1.5.14. Save and end of editing user definition screen...............................................226
19.1.6. Edit of existing parts ..............................................................................................227
19.1.7. Copy/movement of parts........................................................................................228
19.1.8. Deletion of parts ....................................................................................................229
19.1.9. Change of page name ...........................................................................................229
19.1.10. Edit of ruled line.....................................................................................................230
19.1.10.1. Drawing the ruled line ...................................................................................230
19.1.10.2. Erasing the ruled line ....................................................................................231
19.1.11. Import / Export of page ..........................................................................................232
19.1.11.1. Import of page (Reading from USB memory).................................................232
19.1.11.2. Export of page(Save to USB memory)...........................................................232
19.2. Operation of user definition screen .................................................................................233
19.2.1. Mechanism of screen update .................................................................................234
20. Operation panel 235
20.1. Starting ..........................................................................................................................235
20.2. Display ...........................................................................................................................236
20.3. Program select ...............................................................................................................237
20.4. Override UP/DOWN .......................................................................................................237
20.5. Servo ON/OFF ...............................................................................................................238
20.6. Start automatic operation................................................................................................238
20.7.Stop ...............................................................................................................................238
20.8. Reset .............................................................................................................................239
20.9. Cycle stop ......................................................................................................................239

1
1. Before use
Since this teaching pendant R57TB/R56TB (T/B) carries GUI, you can use it easily by operating the touch panel.
The operation method of T/B in the instructions manual of the separate volume is indicated based on
R33TB/R32TB. Please refer to this book, when using R57TB/R56TB.
In this book, the operation of the program edit etc. is explained by the example of MELFA-BASIC V program. When
using MELFA-BASIC IV, please read the command and line No. in a different way and use this book.
1.1. The check of the package
Please check if all items shown below are included in the package.
- Teaching-pendant body R57TB/R56TB (With touch stylus and connection cable)
- INSTRUCTION MANUAL (CD-ROM) BFP-A8545
* Please contact the branch office or the agency if there is some shortage in the package.

2
2. Connection with controller
Installing and removing the T/B, with turning off the controller power.
If T/B is Installed and removed in the state of control source ON, emergency stop alarm will be occurred.
If you use the robot wherein T/B is removed, install the dummy connector of attachment for the product instead
of T/B.
Take out and insert the dummy connector with the connector itself.
2.1. Installing The T/B
Explain the installation method of T/B below.
1) Check that the POWER (power supply) switch of the robot controller is OFF.
2) Connects T/B connector to the robot controller.
Use as the upper surface the lock lever shown below, and push in until there is sound.
The installation of T/B is finished.
2.2. Removing the T/B
Explain the removing method of T/B below.
Check that the POWER (power supply) switch of the robot controller is OFF.
Raise the lock lever up in the connector upper part, and pull up the connector.
Please install the dummy connector, if you use the robot, without connecting T/B.
The removing of T/B is finished
Please do not pull the cable of T/B strongly or do not bend it too much.
It becomes the breaking of a wire of the cable and the cause of breakage of the connector.
Please installing and removing so that stress does not start the cable with the connector itself.
CAUTION
TB correspondence table
57TB
CR751 series
56TB
CR750/CR800 series
A
Lock lever
B
TB connector
Teaching penadnt (T/B)
T/B connection connector
Details of the A section
When removing the connector for T/B
connection, use lock release (state
which raised the lock lever to the up
side), make the case of the B section
slide to the front, and remove and pull
up out the latch.
The content under the edit does not be preserved when you detach T/B while editing the program.
The edit of the user definition screen is also similar. (The user definition screen can be used since
this software Ver.2.2.)
CAUTION

3
3. Specification
3.1. Specifications
Items
Specifications
Remarks
Outline dimensions
252(W) x 240(H) x 114(D) (refer to outline drawing)
Mass
Approx. 1,250
ｇ
The cable is not
included.
Connection method
Connection with controller and round connector
Cable length 7m
Interface
RS-422
Ethernet
（
10BASE-T
）
For connection with
robot controller
USB host (USB memory sticks)
32 GB or less
Display method
6.5“ TFT (640x480 pixels) with backlighting.
Resistive touch screen, to be operated with finger or stylus.
Use in the environment with a lot of dust and oil mists, etc. causes the trouble. Please do not use or keep
in such a place.
CAUTION
USB memory of 32G bytes or more cannot be used.
Using a large capacity USB memory consumes a lot of system resources. Please use as small a USB
memory as possible..
CAUTION

4
3.2. Construction
1) TEACH button
This changeover switch is used to enable or
disable the T/B key operations. The lamp
(white) lights up during enabling state.
2) Wheel
Move the cursor to select the menu and so on.
3) Emergency stop button
This stops the robot in an emergency state. The
servo turns OFF. Turn to the right to cancel.
4) Touch stylus (Integrated in housing)
The pen which operates the touch panel.
5) Power supply LED, T/B enable LED
POWER LED lights up during supplying the
power supply.
TB ENABLE LED lights up during enabling
state.
6) Touch panel
Tap to operate with the stylus pen and the
screen is displayed.
7) USB connecter
Plug-in the USB memory stick.
8) STOP button
This stops the robot immediately. The servo
does not turn OFF.
9) SERVO button
This turns ON the servo power simultaneously
with the enable switch. The LED (green) lights
during servo ON.
10) RESET button
This key resets an error state that has occurred.
11) CAUTION button
During jog operation, the limit switch is
released while this button is pushed.
Moreover, push this button, when releasing the
brake.
12) HOME button
Return the robot to the Home position that set
beforehand. This function is available with
Ver.2.3 or later of this software.
13) OVRD button
This scrolls override up or down.
14) HAND button
Display the screen of hand operation.
15) JOG button
Display the screen of jog operation.
16) +/- button
This button operates corresponding to the
selected operation.
17) EXE button
Move the robot, such as hand alignment.
18) MENU button
Display the menu screen.
19) RETURN button
Close each operation screen.
20) Arrow button
Move the cursor.
21) OK button
Fix each screen operation.
22）CANCEL button
Cancel each screen operation.
23) Multi grip handle
Holds the T/B.
24) Enable switch
When the TERACH button 2) is enabled, and
this switch is released or pressed with force,
the servo will turn OFF. Press this switch lightly
when carrying out functions with the servo ON,
such as jog operations. If emergency stop or
servo OFF have been applied, and the servo is
OFF, the servo will not turn ON even when this
switch is pressed. In this case, carry out the
servo ON operation again.
252
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37.2
55.3
21.5
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23)
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5)
8)
9)
12)
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7)
11)
22)
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10)

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4. Basic operation method
The basic operating method of R56TB is shown.
4.1. Operating method of R56TB
As shown in the figure, holds with one hand and operate the enable switch by finger, and operate the screen and
button by another hand. Since the screen is the touch panel, operate it with a touch stylus.
4.2. Selection of items on touch panel
After tap the space of left row, drag quickly.
4.3. Display of context menu
The context menu is displayed when tapping at long time.
Tap at long time
Tap the space
Drag

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5. Operation of menu panel
If the control power of the controller is turned on, the splash window (<a>) will be displayed on the screen of T/B
and the initial screen (<b>) will be displayed on it in the about 15 seconds.
You can confirm the connecting state between the T/B and the controller (<c>) (Left: RS-422, Right: Ethernet, Blue:
connecting, Red: disconnected). If the color of right is red in connecting CRnQ controller, set the IP address of T/B
refer to chapter 18.5.
If the [MENU] button (<d>) at the right of the T/B screen is tapped, the menu panel (<e>) will be displayed, and you
can do operating easily by tapping each menu button.
At this time, there are the function which T/B can operate also in the invalid state, and the function which needs the
enable state.
Finishing of operation taps the button (Ex. [Exit] (<f>) etc.) corresponding to finishing in each operation screen, or
taps the [RETURN] button (<g>) at the lower right of the T/B screen.
And the keyboard is displayed when the [KEY] (<h>) is tapped on each screen and the hoped character can be
input.
Details are explained in the paragraph of the operation of each screen.
<j> is shown if you make the buzzer sound of the T/B mute (Change “TBBZR” parameter of the controller 1 to 0).
You can confirm the slots state in the robot controller (<k>).
The operation for enabling T/B is shown below.
(1) Set the controller [MODE] switch to "MANUAL".
(2) Push in the [TEACH] switch of T/B and change into the enable state.
When the enable state, the lamp (white) of the [TEACH] switch and LED (green) of TB ENABLE light up.
The screen of T/B is the tap panel. Screen operation taps and operates the icon currently displayed, the button,
the radio button, etc. with the attached stylus pen.
Moreover, there is also the function to push and operate the mechanical button.
Advice
Operating
Program selection possible
Waiting
/
<g>
<h>
<d>
<f>
<e>
- “User definition screen” is supported by version 2.2 or later of this
software.
- “SQ Direct screen” is supported by version 2.3 or later of this software.
- “Operation panel screen” is supported by version 3.0 or later of this
software.
- <j> is supported by version 3.2 or later of this software and version
R3r/S3r or later of the controller.
- <k> is displayed by version 3.4 or later of this software.
<a>
<b>
<c>
<j>
<k>