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R56TB
Mitsubishi R56TB User Manual
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156
17.4.6.
TOOL parameter
Set the standard tool coordinates and st
andard base coo
rdinates.
When the robot that connect
s this software corresponds to
the Multi-Hand, it is possible to sele
ct "T
ool 5" or
later
. This function is available from this sof
tware V
er
.2.
5 or later
. The Multi-Hand function is
available with the
robot controller's soft
ware version S2a/
R2a or later
.
The switch of the tools i
s displayed in
version 2.5 or later of this softwa
re.
167
169
Table of Contents
Default Chapter
2
Safety Precautions
2
Table of Contents
7
1 Before Use
13
The Check of the Package
13
2 Connection with Controller
14
Installing the T/B
14
Removing the T/B
14
3 Specification
15
Specifications
15
Construction
16
4 Basic Operation Method
17
Operating Method of R56TB
17
Selection of Items on Touch Panel
17
Display of Context Menu
17
5 Operation of Menu Panel
18
6 Language Setting
19
7 Guidance
19
RC Time Setting
19
Robot Serial Setting
20
Origin Data Setting
20
8 Setting a Target Robot for Using Multi-Mechanism Control
21
9 JOG Operation
22
Speed Setting
22
Jog Mode
23
Switching Tool Data
24
Switching Base Coordinates
25
JOINT Jog Operation
26
XYZ Jog Operation
27
TOOL Jog Operation
28
3-Axis XYZ Jog Operation
29
Cylinder Jog Operation
30
Work Jog Operation
31
Jog Operation with Wheel
32
Force Control Function
34
Collision Avoidance ON/OFF
35
Aligning the Hand
36
Opening/Closing the Hands
37
Operation of the Electric Hand
38
Operation of the Normal Hand
42
Return to the Home Position
43
10 USB Memory Stick
44
Plug-In the USB Memory Stick
44
Unplug the USB Memory Stick
45
11 Program Edit
46
Edit of Program
46
Open an Edit Display (New Creation)
46
Open an Edit Display (Read of the Existing Program)
48
Save (Robot Controller)
50
Save (USB Memory)
51
Close the Edit Screen
52
Add the Command Line
53
Delete the Command Line
54
Undo the Edited Contents
55
Cut, Copy and Paste
56
Renumber
59
Automatic Numbering
61
Search
62
Replace
64
Jump
66
Editing the Position Variable
68
Registering the Current Position Data
68
Edit of Position Data
70
Addition of Position Data
72
Deletion of Position Data
73
Confirming the Position Data (Position Jump)
74
Find
75
Editiong the Position for SQ Direct Function
76
Registering the Current Position Data for SQ Direct Function
78
Edit of Position Data for SQ Direct Function
79
Addition of Position Data for SQ Direct Function
80
Initialization of Position Data for SQ Direct Function
81
Confirming the Position Data for SQ Direct Function (Position Jump )
81
Saving the Position Data for SQ Direct Function to USB
81
Copy Position Data for SQ Direct Function from Controller to USB
82
Copy Position Data for SQ Direct Function from USB to Controller
83
Edit of Position Data for SQ Direct Function in the USB Memory
84
12 Debugging
85
Starting the Step Operation
85
Step Operation
86
Step Forward
86
Step Backward
86
Continuous Execution
87
Skip
87
Step Forward in Another Slot
88
Step Jump
88
Program Reset
88
Setting and Deleting Breakpoints
89
13 Program Management
90
Starting
90
Program List
92
Copy
93
Move
94
Delete
94
Protect
95
Rename
95
Compare
96
Select Program
98
14 Backup/Restore
99
Starting
99
Backup (Robot -> USB Memory)
100
Restore (USB Memory -> Robot)
101
Power Reset of the Robot Controller
103
15 Monitor
104
Starting
104
Outline of each Function and Starting Methods
105
Outline of each Function
105
Each Monitor Function
106
Robot Movement Monitor
106
Slot Run State
106
Program Monitor
107
Movement State
110
Error
111
Signal Monitor
113
General-Purpose Signal
113
Named Signal
116
Stop Signal
117
Register
118
I/O Unit Monitor
120
Operation Monitor
121
Operating Hours
121
Production Information
121
Additional Board Information
122
Servo Monitor
123
Position (ABS)
123
Speed
124
Current
125
Load
127
Power
128
16 Maintenance
129
Origin Data
129
Origin Data Input
130
The Others (Mechanical Stopper, TOOL, ABS, User Origin Method)
131
Initialize
133
Setting the Controller's Date and Time
133
Erase All Programs in the Controller
134
Initialize the Battery Remaining Time
134
Serial Number
135
Serial Number Setting
135
Save Serial Number to File
137
Write Serial Number in a File to the Controller
137
Releasing the Brakes
138
Preparation for Releasing the Brakes
139
Releasing the Brake of One Axis
140
Releasing the Brakes of Two of more Axes
140
Maintenance Forecast
141
Start
141
Forecast (Battery)
141
Forecast (Grease)
142
Forecast (Belt)
143
Setup
144
Reset
146
Others
147
Guidance
148
Security Function of the Robot Controller (Password Setup)
149
Register the Password
150
Change the Password
151
Delete the Password
152
Tool Automtic Calculation
153
Specifications
153
Start
153
Flow of Oerations
154
17 Parameter Editor
156
Starting
156
Downloading the Parameter List (Robot Controller -> T/B)
157
Changing the Parameters
158
Parameter Menu
159
Motion Limit
160
Jog
160
Hand
161
Multi-Hand Tool
162
Multi-Hand Base
163
Electric Hand Table
164
Electric Hand Point
165
Electric Hand
166
Weight and Size (Work)
167
Weight and Size (Hand)
167
TOOL Parameter
168
Slot Table
169
Output Signal Reset Pattern
170
Dedicated Input / Output Signals Assignment
171
General 1
171
General 2
171
Data
172
Jog
172
Hand
173
Warm up
173
Start (each Slot)
174
Stop (each Slot)
174
Servo on / off (each Robot)
175
Machine Lock (each Robot)
175
164
176
User-Defined Area
176
Free Plane Limit
177
Home Position
177
Program Language
178
Robot Additional Axis
178
Collision Detection
180
Warm-Up Operation
180
Movement
181
Command
181
User Error
182
Ethernet
183
Multiple CPU
184
CC-Link
185
Profibus
186
I/O Unit
187
Work Coordinate
188
Force Control Parameters
189
Force Sensor
189
Force Control Mode
190
Force Control Characteristics
190
Force Log
191
Real-Time External Control Command
192
User Definition Parameter
193
Find
194
Power Reset of the Robot Controller
194
18 System Option
195
Display
195
Update T/B
196
Language of T/B
198
IP Address of T/B
198
19 User Definition Screen
199
User Definition Editor
200
Adding the New Page
201
Edit of Existing Page
202
Copy of Page
203
Deletion of Page
203
Page Edit of "User Definition Screen
204
Button
205
Lamp
208
Variable
210
Program Execution Content
211
Program Name
212
Execution Line Number of Program
213
Current Position Data (the XYZ Coordinate System)
214
Current Position Data (the Joint Coordinate System)
215
Label
216
Save and End of Editing User Definition Screen
217
Edit of Existing Parts
218
Copy/Movement of Parts
219
Deletion of Parts
220
Change of
220
Edit of Ruled Line
221
Drawing the Ruled Line
221
Erasing the Ruled Line
222
Import / Export of Page
223
Import of Page (Reading from USB Memory)
223
Export of Page(Save to USB Memory)
223
Operation of User Definition Screen
224
Mechanism of Screen Update
225
20 Operation Panel
226
Starting
226
Display
227
Program Select
228
Note) the Program Selection Cannot be Done While Executing the Program
228
Override UP/DOWN
228
Servo ON/OFF
229
Start Automatic Operation
229
Stop
229
Reset
230
Cycle Stop
230
5
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Mitsubishi R56TB Specifications
General
Brand
Mitsubishi
Model
R56TB
Category
Robotics
Language
English
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