Name: Mitsubishi Electric MELFA FR CR700 Series
Brand: Mitsubishi Electric
Rating: 4 (1 reviews)

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Mitsubishi Electric Industrial Robots

CR800/750/700/500 series

RT ToolBox3 / RT ToolBox3 mini

User's Manual

(3F-14C-WINE/3F-15C-WINE)

BFP-A3495-J

Default Chapter10
- Table of Contents10
1 Usage19
- How to Use this Document19
- Checking the Product19
- Items to be Prepared by the Customer20
  - Computer System20
  - Computer Cable20
- Operating Environment21
  - Connectable Robot Controllers21
  - Computer System22
- Installation, Uninstallation23
- When Starting at the same Time as Another Product40
- Upgrade of Software40
2 Changes from RT Toolbox241
- Changes to Save Format in Workspaces and Compatibility41
- Operations Using the Ribbon41
- Linking between the Offline and Simulation Environments41
- Support of Program Language MELFA-BASIC VI42
- Discontinuation of Robot Individual Display in 3D Monitor42
- Memory of Screen Display Position and Size42
3 RT Toolbox3 Usage44
- Starting RT Toolbox344
- Explanation of RT Toolbox3 Screens45
- Changes in RT Toolbox3 Display Format51
  - Changing the Display Language51
  - Changing the Display Style51
- Help Display52
- Communication Server 255
- Closing RT Toolbox357
4 Notes of When RT Toolbox3 Is Used with Iq Works (MELSOFT Navigator)58
- Notes of When RT Toolbox3 Is Installed58
- Notes Concerning Workspace Operation58
- Notes Concerning Project Operation59
- Notes to Edit the Workspace Created by Iq Works(MELSOFT Navigator)60
5 Basic Functions61
6 Ribbon63
- Selecting the Tab63
- Tool Tip Display of Ribbon Commands65
- Minimizing the Ribbon65
7 Docking Window66
- Moving and Placing Docking Windows66
- Aligning Side-By-Side and Overlaying Docking Windows68
- Minimizing Docking Windows69
- Resetting a Docking Window to Its Default Layout69
- Screen Layout Mode of the Docking Window70
8 Workspaces and Projects71
- Creating a New Workspace73
- Opening an Existing Workspace74
- Open the RT Toolbox2 Workspace75
- Closing a Workspace75
- Deleting a Workspace76
- Saving a Workspace76
- Changing a Workspace77
- Adding a Project78
- Transfer Offline Parameters to Robot Controller83
- Change of the Operation Mode after Adding the Project85
- Editing Projects86
- Deleting a Project87
- Contents of Project Tree88
- Copying Programs between Projects89
- Importing Projects90
- Option Setting91
- Offline/Online/Simulation92
9 Connecting to the Robot94
- Robots Connected and Types of Communication94
- Connection Settings96
10 Robot Programming Language Setting114
11 Writing Programs115
- Writing a New Program116
  - Writing a New Program on the Computer116
  - Writing a New Program in the Robot Controller117
- Opening an Existing Program118
- Explanation of Program Edit Screen121
- Ribbon During Program Editing123
- Customizing the Display Position126
- Customizing Other than the Display Position129
- Program Editing140
- Position Jump163
- Saving Programs165
- Program Printing171
- Program Debugging174
- Set / Release Read Protection180
- Program Management181
- Program Conversion189
- Position Data Editing for SQ Direct195
12 Creating the Spline Files203
- New File203
  - Creating a New File on the Computer203
  - Creating a New File in the Robot Controller203
- Open File204
- Save File205
  - Save205
  - Save as205
13 Setting Parameters206
- Editing from Parameter List208
- Robot Controller Operation Modes for Parameter Writing215
- Movement Parameters216
- Program Parameters242
- Signal Parameters245
  - Output Signal Reset Pattern Parameters245
  - Assigning Dedicated Input/Output Signals246
- Communication Parameters251
  - Parameters251
  - Ethernet Parameters251
- Field Network Parameters254
- PLC Cooperation Parameters262
  - Multiple CPU Parameters262
  - IO Unit Parameters263
- Parameters of Safety (CR800)264
- Additional Axis Cooperative Control Parameters277
- Parameter Printing280
14 Status Monitoring282
- Ribbon Command for Monitor Screen283
- Robot Movement Monitoring283
- Signal Monitoring299
- Operation Monitoring317
  - Operating Information317
  - Production Information317
- Servo Monitor318
15 Maintenance324
- Setting Origin Data324
- Initialization334
- Maintenance Forecasting337
- Position Repair Function345
- Robot Controller Security Function (Password Setup)367
16 Option Cards371
17 Backup and Restore372
- Backup(Robot -> PC)374
  - Saving Data from One Robot Controller375
  - Saving Data from All Robot Controllers(Online Project Backup)377
- Restore (PC -> Robot)379
- Offline Backup (Offline Project -> PC)383
- Offline Restore (PC -> Offline Project)384
- Property Display of Backup Data385
- Deleting Backup Data386
- Open Backup Program386
- Check Backup Programs387
- Open the Event History from Backup Data387
- Open the Error History Form Backup Data387
- Open the Error Record Form Backup Data388
18 Tool Functions389
- Oscillograph389
- DXF File Import410
- User Definition Screen414
- File Manager451
- Vision Calibration454
  - Operating Procedure of 2D Vision Calibration455
  - Vision Calibration Screen458
- Automatic Calibration460
- Force Sensor Calibration461
  - Outline461
  - Starting461
- Force Control Log File Viewer462
- Tool Automatic Calculation463
19 Operating the Robot467
- About the Operation Panel467
  - Starting the Operation Panel467
  - Operation Panel Commands on the Ribbon470
- Functions of Operation Panel471
- Change to the Small Operation Panel479
  - How to Change the Display Type479
  - How to Operate480
- Display the Operation Panel in the Docking Window480
  - Display Method481
  - Change the Display Type482
- Direct Teaching483
  - Teach Procedure by Direct Teaching484
  - Direct Teaching Mode Switching486
20 Simulation487
- Starting a Simulation488
  - About the Warning at First-Time Startup Simulation489
- Explanation of the Simulation Operation Screen489
- Tact Time Calculation490
- Cooperative Control Simulation499
  - Cooperative Operation499
  - Interference Avoidance502
- Ending Simulation503
500 D Monitor504
- Starting up 3D Monitor504
- Change 3D Monitor Display Method505
- Monitor Operations506
  - List of Operations506
  - Zoom Operation506
  - Rotating the View507
  - Parallel Movement of View508
  - Selecting Objects508
  - Moving Objects Mouse510
- Layout Tree513
  - Content of Layout Tree513
  - Operations in Layout Tree514
- Monitor Display Settings527
  - Light Source Position527
  - Floor528
  - Displaying Coordinate Axes532
  - Background Color532
  - Projection Type533
- Robot Display Settings534
  - Robot Information534
  - Robot Arrangement535
  - Robot Model536
  - Hand543
  - Robot Parts544
  - User Mechanism544
  - Collision Area546
  - Movement Area547
  - User-Defined Area548
  - Free Plane Limit549
  - Safe Monitoring550
- Hand Display Settings552
  - Hand Display Content552
  - Display Conditions554
  - Write TCP (Hand Tip)555
- Robot Parts Display Settings555
  - Robot Parts Display Content555
  - Display Conditions556
- User Mech. Display Settings557
  - Display Contents of User Mechanism558
  - User Mech. Type and Relationship to Robot560
  - User Mech. Lnterference Check561
- Spline Display Settings561
  - Opened Spline File561
  - Specified Spline File563
  - MXT File564
- Layout Object Display Settings565
  - Layout Object Display Content Settings565
  - Moving and Rotating Layout Objects571
  - Layout Condition Edit572
- Layout Files573
  - Saving Layout Information573
  - Loading Layout Information574
  - Layout File Manager576
- Types of Robot Model578
- Interference Check579
- Moving the Robot by Clicking586
- Move the Robot by Grasping the Tool588
- Distance Measurement590
- XYZ Position Variables592
- Hand Design594
  - Hand File Manager594
  - Hand Editing Operations596
  - Hand Edit Tree596
  - Distance Measurement597
- Robot Parts Design598
  - Robot Parts File Manager598
  - Robot Parts Editing Operations599
  - Robot Parts Edit Tree599
  - Distance Measurement600
- Design of User Mechanism601
  - User Mech. File Manager601
  - Operation of Editing User Mechanism602
  - User Mech. Edit Tree602
  - Distance Measurement608
- Recording609
22 MELFA-3D Vision612
23 I/O Simulator613
- Simulator Settings613
- Signal Connection Edit Screen615
- Starting I/O Simulator619
- I/O Simulator Connection Status621
- Stopping I/O Simulator621
24 Document out622
- Start-Up of the Document Creation Screen622
- Selection of Content to be Output to Document623
- Save Document625
25 MELFA-Works626
26 Melfarxm.ocx Communications Middleware Setup627
- DVD-ROM Contents627
- User's Manual Reading Guide628
- Installation628
27 Appendix630
- Copyright, Disclaimer644
  - Open Source Computer Vision Library644
  - Diff Template Library645

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Mitsubishi Electric MELFA FR CR700 Series Specifications

General

Manufacturer	Mitsubishi Electric
Category	Robotics
Payload Capacity	7 kg
Reach	908 mm
Degrees of Freedom	6
Repeatability	±0.02 mm
Weight	27 kg
Series	MELFA FR CR700
Robot Type	Collaborative
Installation	Floor, Wall, Ceiling

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Table of Contents

Questions and Answers:

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