Mitsubishi Electric CR760-D - Preparing and Connecting the Devices

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5Functions set with parameters

Interference avoidance function 6-525

5.24.2 Preparing and connecting the devices

The devices required to use this function are shown in Table 5-28, and an example of the connection is

given in Fig. 5-14.

Refer to the figure and connect the required devices.

(1) Checking for interference between robots (Only for CR750-Q/CR751-Q controller)

Table 5-28:Required devices

Fig.5-14:Connecting the devices

(2) Checking for interference between robot and free plane limit

Table 5-29:Required devices

Fig.5-15:Connecting the devices (CR750-D/CR751-D controller)

No. Device Remarks

1 Up to two or three robots

(CR750-Q/CR751-Q controller)

This function uses direct communication between robot CPUs via the iQPlatform’s

shared memory.

Robot controller software version:

Ver. R3 or later (shape of a simulated component: a sphere)

Ver. R3m or later (shape of a simulated component: a sphere, a cylinder)

Note) You should use by the same S/W versions.

2 Personal computer equipped with RT

ToolBox2

Connects the robot CPUs.

RT ToolBox2 software version: Ver. 2.1L or later

No. Device Remarks

1 One robot Checking for interference with only free plane limit of own robot.

Robot controller software version:

Ver. R6b/S6b or later

2 Personal computer equipped with RT

ToolBox2

Connects the robot CPUs.

RT ToolBox2 software version: Ver. 3.40G or later

Robot CPUs communicate via

iQ shared memory

Personal computer

(RT-ToolBox2)

Connected to robot

CPU with USB, etc.

Drive unit

Robot arm

Note) This figure shows an example of connecting two robots.