Mitsubishi CR750-Q Series User manual

MITSUBISHI
Mitsubishi Industrial Robot
CR750-D/Q Series
CRnD/Q-700 Series
CRn-500 Series
MELFA-Works Instruction Manual
(3F-21D-WINE)
BFP-A8525-G

2
Revision History
Date of print Specifications No. Revision details
2006-11-15 BFP-A8525-*
First release.
2007-02-08 BFP-A8525-A Add the following chapters.
17.3 Open MXT file
17.5 How to teach the positional calibration program
17.6 How to teach the distortion calibration program
17.9 Movement Setting Change
17.11 Change error tolerance when calibration
2007-03-20 BFP-A8525-B (For Version2.1)
Edited target OS details.
Add the Table 1-1 Relation CAD link function and Robot Version.
2008-03-03 BFP-A8525-C (For Version2.2)
・ Corrected entry errors
・ Update operating system
・ Made compatible with SQ/SDseries
・ Added simultaneous install with RT ToolBox2
Added items for “Chapter 2.5 Startup-Quit Procedures(MELFA-Works)”
2008-11-07 BFP-A8525-D (For Version3.0)
Edited [1.Overview]
Edited [2.Preparation before Starting]
Edited [5.Starting and Closing]
Add [5.5 Import]
Edited [6.Robot setting]
Edited [7.Layout]
Add [7.2 Backup parts position]
Add [7.3 Put back parts position]
Edited [8.Robot operation]
Edited [9.Calibration]
Edited [10.Creation of Work Flow]
Add [10.4.1.MXT with Travel base]
Edited [11.Virtual Controller]
Edited [12. Interference Check]
Edited [17. How to Use the Calibration Tool]
2010-05-27 BFP-A8525-E (For Version3.2)
RV-2SD/SQ is added.
2010-10-22 BFP-A8525-F (For Version3.3)
The following models were added.
RH-3SHxR3515
RH-6SxH3532/4532/5532
RH-12SxH5545/7045/8545
RH-20SxH8035/8045/10035/10045
2012-07-03 BFP-A8525-G (For Version4.0)
The following models were added.
RH-3/6/12/20FH, RV-2/4/7F series
The preservation number of part positions is changed.
The installer is changed to 32bit/64bit.
Edge/face is added to the click position movement.
The output of a relative position is added to the work flow function.
The resolution of Approach/Overrun distance is changed.

3
INTRODUCTION
Thank you for purchasing the MELFA-Works software package for Mitsubishi Electric industrial robots.
MELFA-Works is an add-in tool for SolidWorks that can be used to simulate Mitsubishi Electric industrial
robots. Using MELFA-Works, it becomes possibloe to verify robot program operations and creat processing
path data. This manual describes how to perform these operations.
This product requires SolidWorks. Please note that SolidWorks needs to be provided by the customer. Refer
to “2.1 Operating Environment” for supported versions.
Symbols Used in This Manual
DANGER
WARNING
CAUTION
Indicates that incorrect handling is likely to cause hazardous conditions
resulting in death or severe injury to the operator.
Indicates the possibility that incorrect handling might cause hazardous
conditions resulting in death or severe injury to the operator.
Indicates that incorrect handling might cause hazardous conditions resulting
in material damage or injury to the operator.
No part of this manual may be reproduced by any means or in any form without prior consent
from Mitsubishi.
The details of this manual are subject to change without notice.
An effort has been made to make full descriptions in this manual. However, if any
discrepancies or unclear points are found, please contact Mitsubishi.
Microsoft, Windows are registered trademarks of Microsoft Corporation in the United States and other countries.
Adobe and Acrobat are registered trademarks of Adobe Systems Incorporated.
SolidWorks are registered trademarks of SolidWorks Corporation in the United States.
Other company names and product names are trademarks or registered trademarks of the respective companies.
Copyright(C) 2008 MITSUBISHI ELECTRIC CORPORATION

4
Table of Contents
1. Overview.........................................................................................................................................................6
1.1. Basic Functions and Features ................................................................................................................7
1.2. Supported Models ...................................................................................................................................9
2. Preparation before Starting ..........................................................................................................................14
2.1. Operating Environment .........................................................................................................................14
2.2. Confirmation of the Product ..................................................................................................................15
2.3. Installation (MELFA-Works) ..................................................................................................................16
2.4. Flow of installation.................................................................................................................................16
2.5. Installation Procedure ...........................................................................................................................17
2.6. Startup-Quit Procedures(MELFA-Works)..............................................................................................19
3. Flow of Operations .......................................................................................................................................20
3.1. Operation Steps ....................................................................................................................................20
3.2. Flow of Robot Program Development...................................................................................................21
3.3. Flow of CAD Link System Development ...............................................................................................22
4. Creation of Parts...........................................................................................................................................23
4.1. File Formats that can be Used..............................................................................................................23
4.2. Part Names and Marking ......................................................................................................................23
4.3. Hand Design .........................................................................................................................................24
4.3.1 Example of Part Creation 1............................................................................................................25
4.3.2 Example of Part Creation 2............................................................................................................25
4.3.3 Example of Part Creation 3............................................................................................................26
4.4. Workpiece Design .................................................................................................................................26
4.5. Travel Base Design ...............................................................................................................................26
5. Starting and Closing .....................................................................................................................................27
5.1. Starting MELFA-Works..........................................................................................................................27
5.2. Main window .........................................................................................................................................27
5.3. New Creating and Loading Workspace ................................................................................................28
5.4. Saving Workspaces ..............................................................................................................................30
5.5. Import projects.......................................................................................................................................31
6. Robot Setting................................................................................................................................................32
6.1. Selection of robot model .......................................................................................................................33
6.2. Attaching Hands....................................................................................................................................34
6.3. Removing Hands...................................................................................................................................35
6.4. Setting Hand Input/Output Signals........................................................................................................35
6.5. Setting Travel Base ...............................................................................................................................37
7. Layout...........................................................................................................................................................38
7.1. Positioning Robots in Peripheral Device Coordinate Systems .............................................................39
7.2. Backup parts position............................................................................................................................41
7.3. Put back parts position..........................................................................................................................41
8. Robot Operations .........................................................................................................................................42
8.1. Flag Setting Dialog Box.........................................................................................................................43
8.2. Movement to a Click position ................................................................................................................43
9. Frame ...........................................................................................................................................................44
9.1. Frame Data Creation Procedure ...........................................................................................................45
9.2. To Perform Highly Accurate Calibration ................................................................................................46
10. Creation of Work Flow..................................................................................................................................47
10.1. Creating Teaching Points ......................................................................................................................48
10.2. Path Creation ........................................................................................................................................49
10.3. Processing Setting Dialog Box..............................................................................................................51
10.4. Work Flow Creation...............................................................................................................................55
10.4.1 MXT with Travel base ....................................................................................................................57
11. Virtual Controller...........................................................................................................................................58
11.1. How to Execute Programs ....................................................................................................................61
11.2. Checking Robot Interference ................................................................................................................61
11.3. Saving Simulation Moving Images........................................................................................................62
11.4. Cycle Time Measurement During Program Execution..........................................................................63
11.5. B Mode Setting......................................................................................................................................63
12. Interference Check .......................................................................................................................................64
13. Task Slots .....................................................................................................................................................65
13.1. Individual Correction of Task Slots ........................................................................................................65
13.2. Batch Correction of Task Slots ..............................................................................................................66
14. Input/Output Signal Simulation.....................................................................................................................67

5
14.1. Signal Monitoring ..................................................................................................................................68
14.2. Manual Signal Inputs.............................................................................................................................69
14.3. Simulation Definition Settings ...............................................................................................................70
14.4. Executing Signal Simulation .................................................................................................................72
14.5. Settings of Connection with GX Simulator ............................................................................................73
14.6. Connecting with GX Simulator ..............................................................................................................75
15. Step Execute/Direct Execute Dialog Box .....................................................................................................76
15.1. Step Execution ......................................................................................................................................76
15.2. Direct Execution ....................................................................................................................................77
15.3. Measurement of Cycle Time .................................................................................................................78
16. JOG Panel....................................................................................................................................................80
17. How to Use the Calibration Tool ...................................................................................................................81
17.1. Starting the RT ToolBox2.......................................................................................................................81
17.2. Starting the Calibration Tool ..................................................................................................................82
17.3. Explanation of the Calibration Tool Window..........................................................................................82
17.4. Open MXT file .......................................................................................................................................83
17.5. Executing Calibration ............................................................................................................................83
17.6. How to teach the positional calibration program (CLB.prg) ..................................................................84
17.7. How to teach the distortion calibration program(CL(dot sequence number).prg).................................84
17.8. Transferring Dot Sequence Data to Robot Controller ...........................................................................85
17.9. Managing Dot Sequence Data in Robot Controller...............................................................................86
17.10. Movement Setting Change ...................................................................................................................86
17.11. Editing Output Signal Status .................................................................................................................87
17.12. Change error tolerance when calibration ..............................................................................................87
18. CAD Link Programming................................................................................................................................88
18.1. Verifying Movement Confirmation Program ..........................................................................................89
18.2. Mxt Instruction (Move According to External Instruction)......................................................................90
18.3. P_Mxt Variable ......................................................................................................................................91
18.4. Precautions ...........................................................................................................................................92

6
1. Overview
MELFA-Works is an add-in tool that runs under SolidWorks, used for simulating production systems using
robots on personal computers, converting processing paths defined for workpieces to data and outputting
this data. And RT ToolBox2 (mini) for creating programs and changing parameters.
Since MELFA-Works is an add-in tool for SolidWorks, it is possible to make use of peripheral devices and
parts such as hands created using SolidWorks as it is.
Fig. 1-1 Product Configuration
Extension memory can be used by the following controllers and versions.
Controller Supported Remarks
CRn-500 △
（2 Mbytes）
Before K6
K7
Since K8
Non-supported CAD link function
Non-supported extension memory
Supported extension memory
CRnD-700 ○
（4 Mbytes）
P6
Since P7
Non-supported extension memory
Supported extension memory
CRnQ-700 ×
The figure below illustrates a block diagram showing the components included in MELFA-Works and the
environment in which each of them operates.
Fig. 1-2 Product Block Diagram
Processing path data
Calibration data
Virtual
controller
SolidWorks
MELFA-Works
Windows 7/Vista/XP
SolidWorks
RT ToolBox2
(Calibration
window)
MELFA-Works
add-in tool
Actual robot
(Memory expansion
recommended*)
RT ToolBox2(mini)
Calibration window
MELFA
-
Work

7
1.1. Basic Functions and Features
The table below describes the basic functions and features of MELFA-Works.
Function Feature
1 Robot model setting This function allows selecting a model name from a displayed list
and setting the robot model.
A robot can be placed using positions relative to the CAD origin or
other parts. Layout setting via value entry is also possible.
* See “Table 1-1 Robots that can be Used(CRn-500 series)” for robots
supported by this software.
2 Attaching hands This function allows attaching hands designed and created using
SolidWorks to a robot. It is also possible to specify ATC (Auto Tool
Changer).
3 Travel axis This function allows attaching a travel axis to a robot to verify system
operations with a travel axis.
4 Loading and changing
layout of peripheral devices
This function allows loading peripheral devices configured with
SolidWorks parts. Loaded parts can be placed using positions
relative to the CAD origin as well as other parts. Layout change via
value entry is also possible.
5 Workpiece handling It is possible to handle workpieces by simulating hand signals with
robot programs. Note that it is necessary to set workpiece names
according to the naming convention in order to handle the signals.
6 CAD link This function allows creating data necessary for operations that
would otherwise require large amounts of teaching, such as laser
welding, sealing and other operations involving tracing some parts
on a workpiece, simply by selecting processing parts from
3-dimensional CAD data.
Since data is created based on 3-dimensional CAD data, it is
possible to handle complicated, 3-dimensional curves and the
man-hours required for the teaching can also be reduced
significantly.
* Only vertical 6-axis and horizontal 4-axis robots support this
function. See “Table 1-1 Robots that can be Used(CRn-500 series)” for the
details.
* Using the expanded memory might extend the operating time.
See “Table 1-6 Relation CAD link function and Robot Version” for more
information.
* This function supports the MELFA-BASIC IV and MELFA-BASIC
V language.
7 Specification of robot
program
With this function, it is possible to use programs used with actual
robots as is. Also, in the same way as with an actual controller, it is
possible to specify a robot program for each task slot.

8
Function Feature
8 Robot movement simulation This function allows simulating a specified robot program. Since it
also simulates input/output signals of a robot controller, it is possible
to reproduce the same program movement as the actual system.
The following two types of simulation methods of robot controller
input/output signals are provided.
(1) Method for defining input/output signal operations in a simple
manner
(2) Method for linking with GX Simulator
* GX Simulator is support software for simulating Mitsubishi PLCs
on a personal computer. It is used to debug sequence programs
created by MELFA-Works.
9 Interference check This function allows checking interference between a robot and
peripheral devices.
Targets of an interference check can be specified simply by clicking
on the display. Also, information acquired when interference
occurred (name of contacting part, program line being executed at
the occurrence of interference, robot position, etc.) can be saved in
log files.
10 Robot program debug
function
The following functions are provided to debug robot programs.
Step operation Executes a specified program step by step.
Break point Allows stopping program execution at any specified line in the
specified program.
Direct execution Executes an arbitrary robot command.
11 Jog operation This function allows jog operation of a robot displayed in
SolidWorks, just like executing actual robot jog operations on a
teaching box.
12 Calibration This function calibrates dot sequence data in the CAD coordinates
created by the CAD link function so that they match data in robot
coordinates. It is also possible to transfer movement programs and
dot sequence data to a robot.
The calibration tool can also be used on laptop computers on which
SolidWorks is not installed. The calibration tool is included in RT
ToolBox2, and can use it by installing MELFA-Works.
* Only dot sequence data can be calibrated. See “10.2 Path
Creation” for more information. Cannot calibrate teaching points
(See 10.1 Creating Teaching Points).
13 Cycle time measurement This function allows measuring the cycle time of robot movement
from any point of time, just like using a stopwatch. It is also possible
to measure cycle time at a specified program location.
14 Display of robot movement
trajectory
With this function, it is possible to display the movement trajectory of
a robot.
15 Saving moving images With this function, it is possible to save moving images of simulated
movement in a file (AVI format).

9
1.2. Supported Models
The table below lists models supported in MELFA-Works.
Table 1-1 Robots that can be Used(CRn-500 series)
Robot Function Simulation CAD link
RV-3S/3SC/3SB/3SBC 
RV-3SJ/3SJC/3SJB/3SJBC 
RV-6S/6SC 
RV-6SL/6SLC 
RV-12S/12SC 
RV-12SL/12SLC 
RV-18S/18SC 
RV-6S/6SC-SM 
RV-6SL/6SLC-SM 
RV-6S-SE 
RV-6SL-SE 
RV-12S/12SC-SE 
RV-S series
RV-12SL/12SLC-SE 
RH-6SH3520/3717M/3717C 
RH-6SH4520/4517M/4517C 
RH-6SH5520/5517M/5517C 
RH-6SH3532/3520M/3520C 
RH-6SH4532/4520M/4520C 
RH-6SH5532/5520M/5520C 
RH-12SH5535/5530M/5530C 
RH-12SH7035/7030M/7030C 
RH-12SH8535/8530M/8530C 
RH-SH series
RH-18SH8535/8530M/8530C 
RV-A series RV-1A 
RP-1AH 
RP-3AH 
RP series
RP-5AH 
*CAD link function only supports vertical 6-axis and horizontal 4-axis robots.
Table 1-2 Robots that can be Used(CRnD-700 series)
Robot Function Simulation CAD link
RV-2SD/2SDB 
RV-3SD/3SDB/3SDC/3SDBC 
RV-3SDJ/3SDJB/3SDJC/3SDJBC/3SDJ-SR 
RV-6SD/6SDC 
RV-6SDL/6SDLC 
RV-12SD/12SDC 
RV-12SDL/12SDLC 
RV-18SD/18SDC 
RV-3SDB/3SDBC-SUL3 
RV-3SDB/3SDJB-SULM6 
RV-3SDJB/3SDJBC-SUL3 
RV-6SD/6SDC-SUL 
RV-6SD-SULM6 
RV-6SDL/6SDLC-SUL 
RV-6SDL-SULM6 
RV-12SD/12SDC-SUL 
RV-SD series
RV-12SDL/12SDL-SUL 

10
RV-6SD-SE 
RV-6SDL-SE 
RV-6SD-SEZ 
RV-6SDL-SEZ 
RV-6SD/6SDC-SM 
RV-6SDL/6SDLC-SM 
RV-6SD/6SDC-SMZ 
RV-6SDL/6SDLC-SMZ 
RV-6SD/6SDC-SZ 
RV-6SDL/6SDLC-SZ 
RV-12SD/12SDC-SE 
RV-12SDL/12SDLC-SE 
RV-12SD/12SDC-SEZ 
RV-12SDL/12SDLC-SEZ 
RV-12SD/12SDC-SZ 
RV-12SDL/12SDLC-SZ 
RH-SDHR series RH-3SDHR3515 
RH-6SDH3520/3520M/3520C/3517M/3517C 
RH-6SDH4520/4520M/4520C/4517M/4517C 
RH-6SDH5520/5520M/5520C/5517M/5517C 
RH-6SDH3532/3527M/3527C 
RH-6SDH4532/3527M/4527C 
RH-6SDH5532/3527M/5527C 
RH-12SDH5535/5530M/5530C 
RH-12SDH7035/7030M/7030C 
RH-12SDH8535/8530M/8530C 
RH-12SDH5545/5538M/5538C 
RH-12SDH7045/7038M/7038C 
RH-12SDH8545/8538M/8538C 
RH-18SDH8535/8530M/8530C 
RH-6SDH3520/3517M/3517C-SUL3 
RH-6SDH4520/4517M/4517C-SUL3 
RH-6SDH5520/5517M/5517C-SUL3 
RH-6SDH3517M-SULM6 
RH-6SDH4517M-SULM6 
RH-6SDH5517M-SULM6 
RH-12SDH5535/5530M/5530C–SUL 
RH-12SDH7035/7030M/7030C–SUL 
RH-12SDH8535/8530M/8530C–SUL 
RH-12SDH5530M-SULM6 
RH-12SDH7030M-SULM6 
RH-12SDH8530M-SULM6 
RH-18SDH8535-SUL 
RH-18SDH8530M-SUL 
RH-18SDH8530C-SUL 
RH-18SDH8530M-SULM6 
RH-20SDH8535/8530M/8530C 
RH-20SDH8545/8538M/8538C/8545M/8545C 
RH-20SDH10035/10030M/10030C 
RH-SDH series
RH-20SDH10045/10038M/10038C 
*CAD link function only supports vertical 6-axis and horizontal 4-axis robots.

11
Table 1-3 Robots that can be Used(CRnQ-700 series)
Robot Function Simulation CAD link
RV-2SQ/2SQB 
RV-3SQ/3SQB/3SQC/3SQBC 
RV-3SQJ/3SQJB/3SQJC/3SQJBC/3SQJ-SR 
RV-6SQ/6SQC 
RV-6SQL/6SQLC 
RV-12SQ/12SQC 
RV-12SQL/12SQLC 
RV-18SQ/18SQC 
RV-6SQ-SE 
RV-6SQL-SE 
RV-6SQ-SEZ 
RV-6SQL-SEZ 
RV-6SQ/6SQC-SM 
RV-6SQL/6SQLC-SM 
RV-6SQ/6SQC-SMZ 
RV-6SQL/6SQLC-SMZ 
RV-6SQ/6SQC-SZ 
RV-6SQL/6SQLC-SZ 
RV-12SQ/12SQC-SE 
RV-12SQL/12SQLC-SE 
RV-12SQ/12SQC-SEZ 
RV-12SQL/12SQLC-SEZ 
RV-12SQ/12SQC-SZ 
RV-SQ series
RV-12SQL/12SQLC-SZ 
RH-SQHR series RH-3SQHR3515 
RH-6SQH3520/3517M/3517C/3520M/3520C 
RH-6SQH4520/4517M/4517C/4520M/4520C 
RH-6SQH5520/5517M/5517C/5520M/5520C 
RH-6SQH3532/3527M/3527C 
RH-6SQH4532/4527M/4527C 
RH-6SQH5532/5527M/5527C 
RH-12SQH5535/5530M/5530C 
RH-12SQH7035/7030M/7030C 
RH-12SQH8535/8530M/8530C 
RH-12SQH5545/5538M/5538C 
RH-12SQH7045/7038M/7038C 
RH-12SQH8545/8538M/8538C 
RH-18SQH8535/8530M/8530C 
RH-20SQH8535/8530M/8530C 
RH-20SQH8545/8538M/8538C 
RH-20SQH10035/10030M/10030C 
RH-SQH series
RH-20SQH10045/10038M/10038C 
*CAD link function only supports vertical 6-axis and horizontal 4-axis robots.
Table 1-4 Robots that can be Used(CRn750-D series)
Robot Function Simulation CAD link
RH-3FH3515/3512C-D 
RH-3FH4515/4512C-D 
RH-FH-D series
RH-3FH5515/5512C-D 

12
RH-6FH3520/3520C/3520M-D 
RH-6FH4520/4520C/4520M-D 
RH-6FH5520/5520C/5520M-D 
RH-6FH3534/3534C/3534M-D 
RH-6FH4534/4534C/4534M-D 
RH-6FH5534/5534C/5534M-D 
RH-12FH5535/5535C/5535M-D 
RH-12FH7035/7035C/7035M-D 
RH-12FH8535/8535C/8535M-D 
RH-12FH5545/5545C/5545M-D 
RH-12FH7045/7045C/7045M-D 
RH-12FH8545/8545C/8545M-D 
RH-20FH8535/8535C/8535M-D 
RH-20FH8545/8545C/8545M-D 
RH-20FH10035/10035C/10035M-D 
RH-20FH10045/10045C/10045M-D 
RV-2F-D 
RV-4F-D / RV-4F-D-SH 
RV-4FL-D / RV-4FL-D-SH 
RV-7F-D / RV-7F-D-SH 
RV-F-D series
RV-7FL-D / RV-7FL-D-SH 
Table 1-5 Robots that can be Used(CRn750-Q series)
Robot Function Simulation CAD link
RH-3FH3515/3512C-Q 
RH-3FH4515/4512C-Q 
RH-3FH5515/5512C-Q 
RH-6FH3520/3520C/3520M-Q 
RH-6FH4520/4520C/4520M-Q 
RH-6FH5520/5520C/5520M-Q 
RH-6FH3534/3534C/3534M-Q 
RH-6FH4534/4534C/4534M-Q 
RH-6FH5534/5534C/5534M-Q 
RH-12FH5535/5535C/5535M-Q 
RH-12FH7035/7035C/7035M-Q 
RH-12FH8535/8535C/8535M-Q 
RH-12FH5545/5545C/5545M-Q 
RH-12FH7045/7045C/7045M-Q 
RH-12FH8545/8545C/8545M-Q 
RH-20FH8535/8535C/8535M-Q 
RH-20FH8545/8545C/8545M-Q 
RH-20FH10035/10035C/10035M-Q 
RH-FH-Q series
RH-20FH10045/10045C/10045M-Q 
RV-2F-Q 
RV-4F-Q / RV-4F-Q-SH 
RV-4FL-Q / RV-4FL-Q-SH 
RV-7F-Q / RV-7F-Q-SH 
RV-F-Q series
RV-7FL-Q / RV-7FL-Q-SH 

13
Table 1-6 Relation CAD link function and Robot Version
Controller Memory Operating time Remarks
Standard 256K bytes Approx. 17 sec
CRn-500
Extension 2M bytes Approx. 160 sec
Before K6
K7
Since K8
Non-supported CAD link function
Non-supported extension memory
Supported extension memory
Standard 1M bytes Approx. 85 sec
CRnQ-700
CRn750-Q ‐Non-supported
Correspondence from first edition.
Standard 1M bytes Approx. 85 sec
CRnD-700
Extension 4M bytes Approx. 320 sec
P6
Since P7
Non-supported extension memory
Supported extension memory
CRn750-D Standard 3M bytes Approx. 255 sec Correspondence from first edition.
* Operating time varies depending on the job conditions.

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2. Preparation before Starting
2.1. Operating Environment
The table below shows the specifications of the operating environment of MELFA-Works and the personal
computer on which the RT ToolBox2(mini) runs.
Table 2-1 MELFA-Works Operating Environment
Item Minimum Requirement Recommended
CPU Refer to the recommended SolidWorks environment. *1
Main memory Refer to the recommended SolidWorks environment. *1
Graphic display XGA (1024x768) or more SXGA (1280x1024) or more
Video card installed *1
Hard disk 1 GB or more free space
Disk device CD-ROM drive
Pointing device Must operate in Microsoft Windowsenvironment
With wheel button
Keyboard PC/AT compatible keyboard
OS
Microsoft WindowsXP Professional (32bit) SP3
Microsoft WindowsVista Professional (32bit)
Microsoft Windows7 Professional (32bit/64bit)
* A language intends for only a English edition. Cannot guarantee of
product, if it was used by other languages.
* 64bit OS is non-correspondence.
3D-CAD
SolidWorks®2010 ～SolidWorks®2012
* The above-mentioned is a confirmed operation version in our
company. Therefore, it is likely to be able to use it even with
SolidWorks that will be released in the future.
* MELFA-Works will not operate normally on SolidWorks 2006 SP0.0,
so please upgrade to the latest SP version of SolidWorks.
* Due to the specifications of SolidWorks, it is not possible to migrate
data created by a later version to an earlier version.
RT ToolBox2
It is bundled to setup CD of MELFA-Works.
If RT ToolBox2 is not installed, the simulator function cannot be used,
so please install it.
If you use RT ToolBox2 not bundled to MELFA-Works, Please use RT
ToolBox2 since Ver.2.00A.
External application GX Simulator Version 7
* Used to simulate input/output signals using ladder programs.
*1For the recommended SolidWorks operating environment,
http://www.solidworks.com/ Please refer to Home page of SolidWorks (SolidWorks Corp.)
[Top page]-[TRAINING & SUPPORT]-[Technical Support]-[System Requirements and Graphics Cards]

15
2.2. Confirmation of the Product
(1) Confirmation of Package
Check that the following items are included in the package.
CD-ROM “MELFA-Works”
Setup Guide
Software License Agreement
License Certification (Please make sure that the product name and product ID are printed on it.)
* If any item is missing, please contact the dealer from which you purchased the product.
(2) Confirmation of CD-ROM
The data on the CD-ROM has the following structure.
MELFA-Works manual
MELFA-Works installer
RT ToolBox2 manual
RT ToolBox2 installer relation
RT ToolBox2 sample files
MelfaRXM installer
MELFA-Works sample files
E

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2.3. Installation (MELFA-Works)
This section explains how to install the software.
2.4. Flow of installation
Sta rt
 Enter the product ID*1 of the purchased product.
 St art th e p r od uc t to c h eck that i t is pr operl y
installed.
 Finish installation.
Finish
 Insert the CD-ROM in the personal computer’s
CD-ROM drive.
 Run “index.html” in the CD-ROM (perform this
step if the file is not executed automatically in
step ).
 Se le ct a n i nst all ati on d es tin ati on .
 Se le cti on of ins t all e d a ppl ic ati on
(Please i nstall RT ToolBox2 previously)
 C hec k L ic ens e A
g
reement.
 Enter user information (user name, company n ame).
 St ar t ins t al la t io n .
*1 The product ID is printed on the License Certification. Please use Product ID of RT ToolBox2 the
same one as MELFA-Works.
Please install MELFA-Works in the same folder as RT ToolBox2.
MELFA-Works uses the function of RT ToolBox2, and please install it in the same folder.
It doesn't operate correctl y when installi ng it in another fol der.
When RT ToolBox2 is installed beforehand, MELFA-Works is installed in the same place as RT
Tool Box2.
CAUTION

17
2.5. Installation Procedure
(1) Insert the product in the personal computer’s CD-ROM drive; the setup launcher automatically appears.
Fig. 2-1 Setup launcher
MELFA-Works corresponds to 32bit and 64bit OS more than Ver.4.0. Please start a correct installer
after confirming the use environment when you install it. The error is displayed when a wrong installer
is started and the installation fails.
32bit/64bit is common to the installer of RT ToolBox2.
*The following messages concerning security alert might be displayed to launcher according to the
environment of the personal computer. In this case, click the message with the mouse, and select
[Allow Blocked Content…].
Fig. 2-2 Message to help protect your security (Microsoft Windows®XP Professional is used)
(2) Install RT ToolBox2 and MELFA-Works from the menu of launcher. MELFA-Works is must be installed to
the same folder as RT ToolBox2. If RT ToolBox2 is installed first, the same folder is set as default
MELFA-Works installation folder.
Click the button of the installed product.
If the security alert message as follows is displayed, click [Run] button.
(* If [Save] button is clicked and, “Setup.exe” which is saved in hard disk is executed, the
installation is not correctly completed. Click [Run] button absolutely.)
Fig. 2-3 Security Warning 1

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The following screens are displayed. Then click [Run].
The installation of this application is started.
Fig. 2-4 Security Warning 2
When the installation launcher doesn't start
(A) If the setup dialog box does not appear when you insert the product in the CD-ROM
drive, display the setup launcher according to the following procedure.
Click the [Start] button and then select [Run...].
Check the CD-ROM drive name and enter "drive name":/index.html
(e.g., if the CD-ROM drive is "D:," type “D:/index.html”).
(B) Please install RT ToolBox2 and MELFA-Works by the method of the following when the
installation cannot begin from the setup launcher.
Click the [Start] button and then select [Run...].
Check the CD-ROM drive name and enter "drive name":/RT ToolBox2/Setup.exe
(e.g., if the CD-ROM drive is "D:," type “D:/RT ToolBox2/Setup.exe”).
The setup is begun.
As well as after completing the setup of RT ToolBox2
enter "drive name":/MELFA-Works/Setup.exe (e.g., if the CD-ROM drive is "D:," type
“D:/MELFA-Works/Setup.exe”).
The setup is begun.
Memo

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2.6. Startup-Quit Procedures(MELFA-Works)
＜Startup＞
Start up SolidWorks.
If SolidWorks is already running then close all windows.
Select MELFA-Works from the main menu and click “Start”.
＜Quit＞
Click the [X] box on the MELFA-Works main window.
Fig. 2-5 Startup-Quit
Close all SolidWorks sub
-
windows during startup.
The MELFA-Works menu will not appear if the SolidWorks sub-windows are open.
CAUTION
When "MELFA-Works" is not displayed in the menu
When "MELFA-Works" is not displayed in the menu of SolidWorks after it installs
It. "Add-in" is cli cked from the tool m enu of Sol idWorks.
Please make "MELFA-Works" eff ective from a set screen of the [Add-Ins].
Memo
Close

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3. Flow of Operations
This chapter explains the flow of operations involved in starting up a system using MELFA-Works, up to
operating a robot in its actual environment. The specific operations that can be carried out in each dialog
box/window are explained in the subsequent chapters; refer to the corresponding chapter for further details.
3.1. Operation Steps
Several operations are involved in constructing a system using MELFA-Works. They can largely be divided
into the following 4 steps.
Table 3-1 Operation Steps
Using “SolidWorks” Create workpieces, hands and other parts in SolidWorks
and convert other CAD data to mark for MELFA-Works.
In MELFA-Works the coordinate system are used as marks
for SolidWorks functions. (Chapter 4.2 Part Names and
Marking)
Using “MELFA-Works” Use MELFA-Works to specify processing locations,
intermediate postures and various parameters to eventually
create template robot programs, dot sequence data and
calibration programs.
Using “calibration tool” Use the calibration tool to calibrate dot sequence data to
processing positions of workpieces in the actual space.
Download the calibrated dot sequence data to a robot
controller.
Using “RT ToolBox2” Use RT ToolBox2 to create programs that are operable in
actual systems based on the template programs created in
step . Debug the created operational programs.