Name: Mitsubishi Electric MELFA FR CR800 Series
Brand: Mitsubishi Electric
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11.3. Explanation of Program Edit screen

This explains the program edit screen.

Figure 11-8 Explanation of Program Edit screen

The top part of the screen is the program command statement edit screen and the bottom part is the position

variable edit screen.

Position variable edit screen

Command editing

screen

Move the border line

up and down

Drag title "position" or tab "XYZ"/"Joint”/”Work coordinate”

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

Mitsubishi Electric MELFA FR CR800 Series User Manual

Table of Contents

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Mitsubishi Electric MELFA FR CR800 Series Specifications

Related product manuals

Brand	Mitsubishi Electric
Model	MELFA FR CR800 Series
Category	Robotics
Language	English