Mitsubishi R56TB User manual
Mitsubishi Industrial Robot
CR750/CRn-700 Series
R56TB/R57TB Instruction Manual
BFP-A8684-F
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
CAUTION
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
8
CAUTION
CAUTION
WARNING
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 rebootand T/B initializefunctions.
- 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 Zoneto 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 collision 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.
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 ............................................................................................................................. 63
11.3. Editiong the position for SQ Direct Function ........................................................................ 64
11.3.1. Registering the current position data for SQ Direct Function ..................................... 66
11.3.2. Edit of position data for SQ Direct Function................................................................ 67
11.3.3. Addition of position data for SQ Direct Function ......................................................... 68
11.3.4. Initialization of position data for SQ Direct Function ................................................... 69
11.3.5. Confirming the position data for SQ Direct Function (Position jump ) ........................ 69
11.3.6. Saving the position data for SQ Direct Function to USB............................................. 69
11.3.7. Copy position data for SQ Direct Function from controller to USB ............................. 70
11.3.8. Copy position data for SQ Direct Function from USB to controller ............................. 71
11.3.9. Edit of position data for SQ Direct Function in the USB memory ............................... 72
12. Debugging 73
12.1. Starting the step operation ................................................................................................... 73
12.2. Step operation ...................................................................................................................... 74
12.2.1. Step forward ................................................................................................................ 74
12.2.2. Step Backward ............................................................................................................ 74
12.2.3. Continuous Execution ................................................................................................. 75
12.2.4. Skip ............................................................................................................................. 75
12.2.5. Step forward in another slot ........................................................................................ 76
12.2.6. Step jump .................................................................................................................... 76
12.3. Program reset....................................................................................................................... 76
12.4. Setting and deleting breakpoints.......................................................................................... 77
13. Program management 78
13.1. Starting ................................................................................................................................. 78
13.2. Program list .......................................................................................................................... 80
13.3. Copy ..................................................................................................................................... 81
13.4. Move..................................................................................................................................... 82
13.5. Delete ................................................................................................................................... 82
13.6. Protect .................................................................................................................................. 83
13.7. Rename................................................................................................................................ 83
13.8. Compare............................................................................................................................... 84
13.9. Select program ..................................................................................................................... 86
14. Backup/Restore 87
14.1. Starting ................................................................................................................................. 87
14.2. Backup (Robot -> USB memory) ......................................................................................... 88
14.3. Restore (USB memory -> Robot)......................................................................................... 89
Contents page
iii
14.4. Power Reset of the Robot Controller ................................................................................... 91
15. Monitor 92
15.1. Starting ................................................................................................................................. 92
15.2. Outline of each function and starting methods..................................................................... 93
15.2.1. Outline of each function .............................................................................................. 93
15.3. Each monitor function .......................................................................................................... 94
15.3.1. Robot movement monitor............................................................................................ 94
15.3.1.1. Slot run state ...................................................................................................... 94
15.3.1.2. Program monitor ................................................................................................ 95
15.3.1.3. Movement State ................................................................................................. 98
15.3.1.4. Error ................................................................................................................... 99
15.3.2. Signal monitor ........................................................................................................... 101
15.3.2.1. General-purpose signal.................................................................................... 101
15.3.2.2. Named signal ................................................................................................... 104
15.3.2.3. Stop signal........................................................................................................ 105
15.3.2.4. Register............................................................................................................ 106
15.3.2.5. I/O unit monitor................................................................................................. 108
15.3.3. Operation monitor ..................................................................................................... 109
15.3.3.1. Operating hours ............................................................................................... 109
15.3.3.2. Production information ..................................................................................... 109
15.3.3.3. Additional board information ............................................................................ 110
15.3.4. Servo monitor.............................................................................................................111
15.3.4.1. Position (ABS)...................................................................................................111
15.3.4.2. Speed ............................................................................................................... 112
15.3.4.3. Current ............................................................................................................. 113
15.3.4.4. Load ................................................................................................................. 115
15.3.4.5. Power ............................................................................................................... 116
16. Maintenance 117
16.1. Origin data.......................................................................................................................... 117
16.1.1. Origin data input........................................................................................................ 118
16.1.2. The others (Mechanical stopper, TOOL, ABS, User origin method) ......................... 119
16.2. Initialize .............................................................................................................................. 121
16.2.1. Setting the controller’s date and time........................................................................ 121
16.2.2. Erase all programs in the controller .......................................................................... 122
16.2.3. Initialize the battery remaining time .......................................................................... 122
16.3. Serial number ..................................................................................................................... 123
16.3.1. Serial Number setting................................................................................................ 123
16.3.2. Save serial number to file.......................................................................................... 125
16.3.3. Write serial number in a file to the controller............................................................. 125
16.4. Releasing the brakes ......................................................................................................... 126
16.4.1. Preparation for releasing the brakes......................................................................... 127
16.4.2. Releasing the brake of one axis................................................................................ 128
16.4.3. Releasing the brakes of two of more axes................................................................ 128
16.5. Maintenance Forecast........................................................................................................ 129
16.5.1. Start ...........................................................................................................................129
16.5.2. Forecast (Battery) ..................................................................................................... 129
16.5.3. Forecast (Grease) ..................................................................................................... 130
16.5.4. Forecast (Belt)........................................................................................................... 131
16.5.5. Setup ......................................................................................................................... 132
16.5.6. Reset ......................................................................................................................... 134
16.5.7. Others........................................................................................................................ 135
16.6. Guidance ............................................................................................................................ 136
16.7. Security function of the robot controller (Password Setup)................................................ 137
16.7.1. Register the Password .............................................................................................. 138
16.7.2. Change the Password............................................................................................... 139
16.7.3. Delete the Password ................................................................................................. 140
16.8. Tool automtic calculation .................................................................................................... 141
16.8.1. Specifications ............................................................................................................ 141
Contents page
iv
16.8.2. Start ...........................................................................................................................141
16.8.3. Flow of oerations....................................................................................................... 142
17. Parameter editor 144
17.1. Starting ............................................................................................................................... 144
17.2. Downloading the parameter list (Robot controller -> T/B).................................................. 145
17.3. Changing the parameters................................................................................................... 146
17.4. Parameter menu................................................................................................................. 147
17.4.1. Motion limit ................................................................................................................ 148
17.4.2. JOG ........................................................................................................................... 148
17.4.3. Hand.......................................................................................................................... 149
17.4.3.1. Hand................................................................................................................. 149
17.4.3.2. Multi-Hand Tool ................................................................................................ 150
17.4.3.3. Multi-Hand Base............................................................................................... 151
17.4.3.4. Electric hand table............................................................................................ 152
17.4.3.5. Electric hand point............................................................................................ 153
17.4.3.6. Electric hand .................................................................................................... 154
17.4.4. Weight and size (Work)............................................................................................. 155
17.4.5. Weight and size (Hand)............................................................................................. 155
17.4.6. TOOL parameter ....................................................................................................... 156
17.4.7. Slot table ................................................................................................................... 157
17.4.8. Output signal reset pattern........................................................................................ 158
17.4.9. Dedicated input / output signals assignment ............................................................ 159
17.4.9.1. General 1 ......................................................................................................... 159
17.4.9.2. General 2 ......................................................................................................... 159
17.4.9.3. Data.................................................................................................................. 160
17.4.9.4. Jog.................................................................................................................... 160
17.4.9.5. Hand................................................................................................................. 161
17.4.9.6. Warm up........................................................................................................... 161
17.4.9.7. Start (each slot) ................................................................................................ 162
17.4.9.8. Stop (each slot) ................................................................................................ 162
17.4.9.9. Servo ON / OFF (each robot)........................................................................... 163
17.4.9.10. Machine lock (each robot)................................................................................ 163
17.4.10. RS-232 ...................................................................................................................... 164
17.4.11. User-defined area ..................................................................................................... 164
17.4.12. Free plane limit.......................................................................................................... 165
17.4.13. Home position ........................................................................................................... 165
17.4.14. Program language..................................................................................................... 166
17.4.15. Robot additional axis................................................................................................. 166
17.4.16. Collision detection ..................................................................................................... 168
17.4.17. Warm-up operation.................................................................................................... 168
17.4.18. Movement.................................................................................................................. 169
17.4.19. Command.................................................................................................................. 169
17.4.20. User error .................................................................................................................. 170
17.4.21. Ethernet..................................................................................................................... 171
17.4.22. Multiple CPU ............................................................................................................. 172
17.4.23. CC-Link ..................................................................................................................... 173
17.4.24. PROFIBUS................................................................................................................ 174
17.4.25. I/O unit....................................................................................................................... 175
17.4.26. Work coordinate ........................................................................................................ 176
17.4.27. Force control parameters .......................................................................................... 177
17.4.27.1. Force sensor .................................................................................................... 177
17.4.27.2. Force control mode .......................................................................................... 178
17.4.27.3. Force control characteristics ............................................................................ 178
17.4.27.4. Force log .......................................................................................................... 179
17.4.28. Real-time external control command ........................................................................ 180
17.4.29. User definition parameter.......................................................................................... 181
17.5. Find .................................................................................................................................... 182
17.6. Power Reset of the Robot Controller ................................................................................. 182
Contents page
v
18. System option 183
18.1. Display................................................................................................................................ 183
18.2. Update T/B ......................................................................................................................... 184
18.3. Language of T/B.................................................................................................................186
18.4. IP address of T/B................................................................................................................ 186
19. User definition screen 187
19.1. User definition Editor..........................................................................................................188
19.1.1. Adding the new page. ............................................................................................... 189
19.1.2. Edit of existing page.................................................................................................. 190
19.1.3. Copy of page............................................................................................................. 191
19.1.4. Deletion of page ........................................................................................................ 191
19.1.5. Page edit of "User definition screen" ........................................................................ 192
19.1.5.1. Button............................................................................................................... 193
19.1.5.2. Lamp ................................................................................................................ 196
19.1.5.3. Variable ............................................................................................................ 198
19.1.5.4. Program execution content .............................................................................. 199
19.1.5.5. Program name ................................................................................................. 200
19.1.5.6. Execution line number of program ................................................................... 201
19.1.5.7. Current position data (the XYZ coordinate system) ......................................... 202
19.1.5.8. Current position data (the joint coordinate system) ......................................... 203
19.1.5.9. Label................................................................................................................. 204
19.1.5.10. Save and end of editing user definition screen................................................ 205
19.1.6. Edit of existing parts.................................................................................................. 206
19.1.7. Copy/movement of parts ........................................................................................... 207
19.1.8. Deletion of parts ........................................................................................................ 208
19.1.9. Change of page name............................................................................................... 208
19.1.10. Edit of ruled line ........................................................................................................ 209
19.1.10.1. Drawing the ruled line ...................................................................................... 209
19.1.10.2. Erasing the ruled line ....................................................................................... 210
19.1.11. Import / Export of page.............................................................................................. 211
19.1.11.1. Import of page (Reading from USB memory) .................................................. 211
19.1.11.2. Export of page(Save to USB memory)............................................................. 211
19.2. Operation of user definition screen .................................................................................... 212
19.2.1. Mechanism of screen update .................................................................................... 213
20. Operation panel 214
20.1. Starting ............................................................................................................................... 214
20.2. Display................................................................................................................................ 215
20.3. Program select ................................................................................................................... 216
Note) The program selection cannot be done while executing the program. 216
20.4. Override UP/DOWN ........................................................................................................... 216
20.5. Servo ON/OFF ................................................................................................................... 217
20.6. Start automatic operation ................................................................................................... 217
20.7. Stop .................................................................................................................................... 217
20.8. Reset .................................................................................................................................. 218
20.9. Cycle stop........................................................................................................................... 218
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 BFP-A8684
* 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 in Fig. 3-1, and push in until there is sound.
Fig. 3-1 : Installing and removing the T/B
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
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. 1,250ｇThe cable is not
included.
Connection method Connection with controller and round connector
Cable length 7m
RS-422
Ethernet10BASE-T
For connection with
robot controller
Interface
USB host (USB memory sticks) Note1)
Display method 6.5“ TFT (640x480 pixels) with backlighting.
Resistive touch screen, to be operated with finger or stylus.
Note1) The following list gives an overview about the tested USB memory sticks and their manufacturers.
1) Kingston Data Traveler: Manufacturer: Kingston
Type: USB 2.0 memory stick
Memory sizes: 128 MB - 1ＧＢ
2) Transcend Jet Flash: Manufacturer: Transcend
Type: USB 2.0 memory stick
Memory sizes: 128 MB - 1ＧＢ
Notice) USB memory sticks from other manufacturers is not guaranteed.
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
The use of USB memory stick of larger capacity than 1G byte causes defective behavior. Please do not
use it.
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
If this button is pushed in jog operation, the
limit switch can be canceled.
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.
22CANCEL 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
240
37.2 55.3
21.5
24)
23)
1)
2) 3)
4)
5)
8)
9)
12)
13)
14)
15)
16)
17)
18) 19) 20) 21)
7)
11)
22)
6)
10
)
5
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
6
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 18.4.
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.
<i> is shown if you make the buzzer sound of the T/B mute (Change “TBBZR” parameter of the controller 1 to 0).
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.
<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.
- <i> is supported by version 3.2 or later of this software and version
R3r/S3r or later of the controller.
<a> <b>
<c> <i>
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
7
6. Language setting
At the time of the first power supply on, the language setting screen is displayed.
Please select the language to make it display on the T/B screen. Please tap [OK] Key.
Japanese display: Japanese
English display: English
7. Guidance
Guidance screen is displayed for the basic setting such as the origin setting at the controller started for the first
time.
There are three following functions in this screen.
(1) RC time setting
(2) Robot serial setting
(3) Origin data setting
7.1. RC time setting
Set the time of controller.
The controller can be set time when the [RC time setting] button is tapped. The date that the controller is
maintaining now is displayed in the right of the button.
8
7.2. Robot serial setting
Set the serial number of the robot arm.
Tap [Robot serial setting] button and display the setting screen of serial number.
Tap [Edit] button and display the setting screen.
Input the serial number which has been described to the plaque of the robot.
Tap [Enter] button, then Tap [Write] button.
After the confirmation dialog is displayed, the serial number of the robot arm is set.
7.3. Origin data setting
Set the robot origin by input the origin data.
Tap the [Edit] button to input origin data. The origin data to be input is noted in the origin data sheet enclosed with
the arm, or on the origin data history table attached to the back side of the shoulder cover.. Please refer to the
separate manual "INSTRUCTION MANUAL / ROBOT ARM SETUP & MAINTENANCE" for details.
When the [Write] button is tapped, origin data is written in the controller. And setting the origin is completed.
Tap the [Save to file] button, origin data can be saved in a specified file.
Tap the [Read from file] button, origin data can be set from the file where the origin data is saved.
This manual suits for next models
1
Table of contents
Other Mitsubishi Robotics manuals
Mitsubishi
Mitsubishi RV-2AJ Use and care manual
Mitsubishi
Mitsubishi RP-1AH Series User manual
Mitsubishi
Mitsubishi RV-12SD Series User manual
Mitsubishi
Mitsubishi RH-3FH Series User manual
Mitsubishi
Mitsubishi MELFA RV-6S Series User manual
Mitsubishi
Mitsubishi RV-2AJ User manual
Mitsubishi
Mitsubishi RV-2F Series User manual
Mitsubishi
Mitsubishi CRn-500 Series User manual
Mitsubishi
Mitsubishi MELFA SQ Series User manual
Mitsubishi
Mitsubishi CR750-Q Series User manual
Mitsubishi
Mitsubishi MELFA RH-3SDHR3515 User manual
Mitsubishi
Mitsubishi RH-3SQHR3515 User manual
Mitsubishi
Mitsubishi MELFA RH-6SH Series User manual
Mitsubishi
Mitsubishi RV-2F-D Series User manual
Mitsubishi
Mitsubishi MELFA RV-6S Series User manual
Mitsubishi
Mitsubishi MELFA RH-3FH-D Series User manual
Mitsubishi
Mitsubishi MELFA SD Series User manual
Mitsubishi
Mitsubishi RV-3SJ Series User manual
Mitsubishi
Mitsubishi SQ Series User manual
Mitsubishi
Mitsubishi RV-12SD Series User manual
