Name: Mitsubishi Electric MELFA CR750 Series
Brand: Mitsubishi Electric
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Mitsubishi Electric Industrial Robots

CR750/700/500 series

RT ToolBox2 / RT ToolBox2 mini

User's Manual

(3D-11C-WINE/3D-12C-WINE)

BFP-A8618-AB

Table of Contents14
Usage21
How to Use this Document21
Checking the Product21
Checking the Package21
Checking the CD-ROM Contents21
About the "Melfarxm.ocx" Communications Middleware21
Items to be Prepared by the Customer22
Computer System22
Computer Cable22
Operating Environment23
Connectable Robot Controllers23
Computer System24
Installation, Uninstallation25
Installation25
Uninstall31
USB Driver (CR750-D/Crnd-700 Series Robot Controller) Installation32
Crnq Communications USB Driver Installation33
Crnq Communications USB Driver for GOT Transparent Function / GOT Communitation Installation40
When Starting at the same Time as Another Product42
Upgrade of Software42
RT Toolbox2 Usage43
Starting RT Toolbox243
Explanation of RT Toolbox2 Screens44
Communications Server 248
About Operation Panel50
How to Show Operating Panel for a Controller51
Closing RT Toolbox251
Notes of When RT Toolbox2 Is Used with Iq Works (MELSOFT Navigator)52
Notes of When RT Toolbox2 Is Installed52
Notes Concerning Workspace Operation52
Notes Concerning Project Operation53
Notes to Edit the Workspace Created by Iq Works(MELSOFT Navigator)54
Basic Functions55
Workspaces and Projects57
Creating a New Workspace59
Opening an Existing Workspace61
Closing a Workspace61
Deleting a Workspace62
Saving a Workspace62
Changing a Workspace63
Adding a Project65
Changing a Project Name66
Deleting a Project67
Contents of Project Tree68
Copying Programs between Projects69
Import of Project70
Offline/Online/Simulation72
Connecting with the Robot74
Robots Connected and Types of Communication74
Connection Settings76
USB Communication Settings77
TCP/IP (Ethernet) Communication Settings78
Communication Settings80
GOT Communications Settings81
Crnq Communications Settings82
Travel Base Setting for Display90
Robot Program Language Setting93
Writing Programs94
Writing a New Program95
Writing a New Program on the Computer95
Writing a New Program in the Robot Controller96
Opening an Existing Program97
Opening an Existing Program on the Computer97
Opening a Program in a Robot Controller97
Read Items When Opening Program in Robot Controller98
Opening a Program in the Backup Data99
Explanation of Program Edit Screen100
Program Editing Menu Bar101
Customizing the Program Edit Screen103
Changing the Display Area103
Command Format Hints104
Character Colors104
Changing the Font105
Save and Read of Program105
Get Current Position106
Setting the Background Color of the Program Editor106
Program Editing108
MELFA-BASIC V Command Statement Editing108
MELFA-BASIC IV and Movemaster Command Command Statement Editing109
Position Variable Editing110
Edit Assist Functions112
Saving Programs122
Save122
Saving on Computer123
Saving in Robot Controller124
Items Written When Saving in Robot125
Setting the Syntax Check for before Program Saving127
Program Printing128
Checking a Print Image128
Printing a Program128
Setting to Print a Program128
Program Debugging129
Starting Debugging129
Executing Programs Step by Step130
Revising Programs130
Setting and Deleting Breakpoints132
Position Jump133
Ending Debugging134
Set / Release Reading Protection135
Program Management136
Program List Display137
Copy138
Move139
Delete140
Rename141
Protect Settings141
Comparison142
Program Conversion144
Starting Program Conversion144
Line Number Conversion (from MELFA-BASIC IV to MELFA-BASIC V)145
Position Data Conversion (from E/EN/M1/M2 Series to CR750/700/500 Series)147
Position Data Editing for SQ Direct149
Diffence from Program Editting150
Add/Edit Position Data150
Delete Position Data150
Editing Supporting Function150
Online Editing151
Offline Editing152
Creating the New SQ Direct File152
Program Management153
List of SQ Direct Files Indication154
Creating the Spline Files156
New File156
Creating a New File on the Computer156
Creating a New File in the Robot Controller156
Open File157
Opening a Spline File Saved on the Computer157
Opening a Spline File Saved in the Robot Controller157
Selecting and Opening a Spline File from the List157
Save File158
Save158
Save as158
Setting Parameters159
Editing from Parameter List160
Starting160
Parameter Editing162
Edit of Parameter Changed from Initial Value163
Parameter List Reading164
Finding Parameters164
Robot Controller Operation Modes for Parameter Writing165
Movement Parameters166
Motion Limit Parameter166
Jog Parameter167
Parameters of the Hand168
Weight and Size Parameter170
Tool Parameter171
User-Defined Area Parameter172
Free Plane Limit Parameter173
Home Position Parameter173
Robot Additional Axis Parameter174
Collision Detection Parameter175
Warm-Up Operation Parameter176
Movement Parameter177
Work Coordinate Paramater178
Parameters of Force Control179
Parameters of Collision Avoidance184
Parameters of Safety187
Program Parameters191
Slot Table Parameter191
Program Language Parameter192
Command Parameter192
User Error Parameter193
Signal Parameters194
Output Signal Reset Pattern Parameter194
Assigning Dedicated Input/Output Signals195
Communication Parameters200
Parameter200
Ethernet Parameter201
Field Network Parameters205
CC-Link Parameter205
PROFIBUS Parameter206
PROFINET Parameter207
Devicenet Parameter208
Ethernet/Ip Parameter209
PLC Cooperation Parameters210
Multiple CPU Parameter210
IO Unit Parameter211
Parameter Printing212
Offline Editing of Parameters214
Compliant Version214
Creating the New Parameter File215
Edit of Parameter Backed up216
Offline Editing of Parameter217
Restoring the Edited Parameter to the Robot Controller218
Deletion of Parameter Folder Edited by Offline220
Status Monitoring221
Robot Movement Monitoring222
Slot Operation Status222
Program Monitoring223
Movement Status226
Errors227
Monitor232
Signal Monitoring235
General Signal235
Named Signals238
Stop Signal240
Register (CC-Link)241
IO Unit Monitor245
DSI CNUSER2 Input Signal Monitor246
Operation Monitoring247
Operating Information247
Production Information247
Maintenance248
Setting Origin Data248
Origin Data Input Technique250
Mechanical Stopper Technique251
Tool Technique251
ABS Origin Technique252
User Origin Technique252
Origin Parameter Backup253
Initialization254
Starting254
Setting the Time in the Robot Controller254
Deletion of All Robot Programs255
Initializing the Battery Remaining Time256
Serial Number256
Maintenance Forecasting257
Specifications257
Starting257
Forecasting258
Settings259
Reset Screen261
Resetting Maintenance Forecast Information with Teaching Box263
Others264
Position Repair Function265
Specifications266
Starting266
Flow of Operations267
Introduction268
Communications Settings268
Robot Selection and Parameter Backup269
Revision Parameter Generation Procedure Selection270
Program Selection271
Program Reading and Backing up272
Tool Setting Check273
Revision Parameter Selection274
Reteaching Work280
Writing Parameters283
Controller Power Supply Off, on284
Exit285
Revision Parameter Editing286
Tool Automatic Calculation287
Specifications287
Starting287
Flow of Operations289
Servo Monitor291
Position (ABS)292
Speed293
Current294
Load295
Power296
Security Function of the Robot Controller (Password Setup)297
Register the Password299
Change the Password300
Delete the Password301
File Manager302
File List Display304
Copy305
Delete305
Rename305
Vision Calibration306
Operating Procedure of 2D Vision Calibration306
Vision Calibration Screen309
Option Card311
Backup and Restore312
Backup(Robot -> PC)314
Saving Data from One Robot Controller315
Saving Data from All Robot Controllers(Online Project Backup)317
Restore (PC -> Robot)319
Deleting Backup Data323
Open Backup Program324
Check Backup Programs325
Tool Function326
Force Control Log File Viewer326
User Definition Screen327
Creating a New User Definition Screen File328
Editing the Page of User Definition Screen329
Edit of Existing Parts343
Copy/Paste of Parts344
Movement of Parts345
Deletion of Parts346
Change of346
Edit of Ruled Line347
Deletion of User Definition Screen349
Import of the User Definition Screen351
Export of the User Definition Screen353
Oscillograph354
Outline354
Communication Method354
Acquirable Data355
Starting356
Communication Settings357
Start／Stop358
Graph Setting358
Graph Range Setting359
Data Reproducing / Confirmation360
Save Data／Log Setting362
Load Data363
Save Image363
Gray Scale363
Reflected to 3D Monitor363
DXF File Import365
Outline365
Starting365
Flow of Operations367
Force Sensor Calibration370
Outline370
Starting370
Simulation371
Starting a Simulation372
About the Warning at First-Time Startup Simulation373
Explanation of the Simulation Operation Screen374
Robot View (3D Monitor)375
Robot View (3D Monitor) Start375
Displaying Robots of more than One Projects in 3D376
Click Movement of the Robot377
Distance Measurement379
Robot Display Option380
Layout395
Robot Arrangement405
XYZ Position Variables407
Hand409
Save AVI414
Robot Program Selection417
Program Execution418
Specifying the Starting Line for Program Execution418
Breakpoint Setting419
Step Operation419
Direct Execution420
Jog Operation421
Simulation Robot Position Variable Editing425
Tact Time Calculation425
Conditions for Tact Time Measurement426
Tact Time Measurement428
Causes of Tact Time Deviation431
Cooperative Control Simulation433
Cooperative Operation433
Interference Avoidance436
Ending Simulation437
MELFA-3D Vision438
I/O Simulator439
Simulator Settings439
Signal Connection Edit Screen441
Starting I/O Simulator445
Stopping I/O Simulator446
Melfarxm.ocx Communications Middleware Setup447
CD-ROM Contents447
User's Manual Reading Guide448
Installation448
Appendix450
Index463
Copyright, Disclaimer466
Open Source Computer Vision Library466

Mitsubishi Electric MELFA CR750 Series User Manual

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Brand	Mitsubishi Electric
Model	MELFA CR750 Series
Category	Controller
Language	English