Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual
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Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

Iq platform supporting industrial robot
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Mitsubishi Industrial Robot
CR750-Q/CR751-Q series controller
CRnQ-700 series controller
iQ Platform Supporting
Extended Function Instruction Manual
BFP-A8787-F

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Summary of Contents for Mitsubishi Electric MELFA BFP-A8787-F

  • Page 1 Mitsubishi Industrial Robot CR750-Q/CR751-Q series controller CRnQ-700 series controller iQ Platform Supporting Extended Function Instruction Manual BFP-A8787-F...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 WARNING When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture. CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF.
  • Page 6 CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary.
  • Page 7 *CR751-D or CR751-Q controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side supply power supply of the controller of CR751-D or CR751-Q because of leakage protection. Controller Controller Three phase Single phase AC200V AC200V...
  • Page 8 Revision history Date of print Specifications No. Details of revisions 2009-12-04 BFP-A8787-* • First edition created. 2012-03-05 BFP-A8787-A • CR750-Q/CR751-Q series controller were added. 2012-12-05 BFP-A8787-B • The statement about trademark registration was added. 2014-08-06 BFP-A8787-C • The cover and corporate logo mark of this manual was changed. •...
  • Page 9 *Introduction Thank you for buying the industrial robot MELFA manufactured by Mitsubishi Electric. This document provides the instructions for iQ Platform supporting extended functions. Our extended functions allows the sequencer easily to monitor the robot through shared memory between sequencer and robot, set up data, and operate the robot without a program (sequencer direct performance).

  • Page 10: Table Of Contents

    Contents Page 1 Overview ............................1-1 1.1 Shared Memory Extended Function List ................... 1-1 1.2 Features ............................ 1-2 1.3 Shared Memory Configuration ....................1-4 1.3.1 Memory Configuration for Valid/Invalid Extended Function ..........1-4 1.3.2 Memory Map of Extended Function Area ................1-5 2 Preparation for Using Extended Function ..................
  • Page 11 Contents Page 6.3.1 Data List ..........................6-51 6.3.2 Timing Chart ........................6-53 6.3.3 Sample Ladder ......................... 6-54 7 Read Robot Information ........................ 7-56 7.1 Function Description ....................... 7-56 7.2 Operation flow ......................... 7-56 7.3 How to Operate Robot Information ..................7-57 7.3.1 Data List ..........................

  • Page 12: Overview

    1Overview 1 Overview These specifications describe the functions (sequencer direct performances) which extend the shared memory in CR750-Q/CR751-Q series and CRnQ-700 series robot controller, exchange various robot infor- mation between sequencer and robot through the extended shared memory, and operate the robot without a robot program.

  • Page 13: Features

    1Overview I/F btwn Item Description Update Cycle Robots Operation Read/write variables Reads/ writes variables used in the Request reply Responds within 1s function robot's program. method (It may vary accord- ing to the load status Read program's current Reads currently performing line of the (The robot side of robot control) line...
  • Page 14 1Overview (4) Allows to operate the robot without learning robot language (sequencer direct performance) ● Allows to operate the robot without knowing robot language. Allows you to operate the robot by writing predetermined setting value into the specified address in shared memory.

  • Page 15: Shared Memory Configuration

    1Overview 1.3 Shared Memory Configuration Here, describes the shared memory configuration among multiple CPUs. 1.3.1 Memory Configuration for Valid/Invalid Extended Function To use the shared memory extended functions, enable the shared memory extended functions with the parameter "IQMEM". After enabling the shared memory extended functions, the shared memory is used by extending the robot I/ O area by 0.5 K word.

  • Page 16: Memory Map Of Extended Function Area

    1Overview 1.3.2 Memory Map of Extended Function Area The table below lists the memory map of extended function area in the shared memory among multiple CPUs. * As the sequencer address may differ according to each CPU device, the sequencer address is described in the offset address from start address.

  • Page 17: Preparation For Using Extended Function

    2Preparation for Using Extended Function 2 Preparation for Using Extended Function 2.1 Operation flow Start ● Sets up sequencer's parameter (multiple CPU setting). … Set up sequencer's multiple CPUs For robot CPU, allocate 1K word of free user area in high-speed communication area of multiple CPUs to robot's I/O area.

  • Page 18: Set Up Sequencer's Multiple Cpus

    2Preparation for Using Extended Function 2.1.1 Set up Sequencer's Multiple CPUs Here, sets up the multiple CPU setting as a sequencer's PC parameter. Also refer to the description of sequencer link I/O functions described in Supplement volume "Instruction Manual, Detailed Description of Functions and Operations."...

  • Page 19: Set Up Robot's Multiple Cpus

    2Preparation for Using Extended Function 2.1.2 Set up Robot's Multiple CPUs Here, sets up the multiple CPUs as a robot's parameter. In the description below, parameter setting screen of RT ToolBox 2 illustrates this setting. This can also be set up by specifying the parameter name in the teaching box's parameter setting screen.

  • Page 20: Set Up Parameter For Selecting Shared Memory Extended Function

    2Preparation for Using Extended Function 2.1.3 Set up Parameter for Selecting Shared Memory Extended Function The parameter "IQMEM" for selecting the shared memory extended function is 16bit data. Set the bit 0 to one to use the extended functions (monitoring, operation functions). Set the bit 1 to one to use the sequencer direct performance function.

  • Page 21: Check Robot Language Setting

    2Preparation for Using Extended Function 2.1.4 Check Robot Language Setting The shared memory extended functions can be carried out only when the robot language is set to MELFA- BASIC V. Check the value of robot language setting parameter "RLNG". To use the shared memory extended function, set the parameter "RLNG" to 2. For information on how to set up a parameter, refer to Supplement volume "Instruction Manual, Detailed Description of Functions and Operations."...

  • Page 22: Allocation Example Of Shared Memory

    2Preparation for Using Extended Function 2.1.5 Allocation Example of Shared Memory (1) Multiple CPU Configuration with One Sequencer plus One Robot 1) Case 1: Robot: Extended function is enabled, input offset parameter is initial value The robot uses each 1K word for I/O. Device #1 Device #2 (robot 1) (sequencer)
  • Page 23 2Preparation for Using Extended Function 2) Case 2: Robot: Extended function is disabled, input offset parameter is initial value The robot uses each 0.5K word for I/O. As the transmission score is set yet in 1K word unit, the transmission score setting is as fol- lows: Device #1 Device #2 (robot 1)

  • Page 24: Multiple Cpu Configuration With One Sequencer Plus Three Robots

    2Preparation for Using Extended Function (2) Multiple CPU Configuration with One Sequencer plus Three Robots 1) Case 1: All robots: Extended function is enabled, input offset parameter is initial value All robots use each 1K word for I/O. The beginning of robot 2 input area starts at 1.0K offset from the beginning of shared memory address, and the beginning of robot 3 input area starts at 2.0K offset from the beginning of shared memory address.
  • Page 25 2Preparation for Using Extended Function 2) Case 2: All robots: Extended function is disabled, input offset parameter is initial value All robots use each 0.5K word for I/O. The beginning of robot 2 input area starts at 0.5K offset from the beginning of shared memory address, and the beginning of robot 3 input area starts at 1.0K offset from the beginning of shared memory address.
  • Page 26 2Preparation for Using Extended Function 3) Case 3: Robots 1, 2: Extended function is disabled, Robot 3: Extended function is enabled (#1) By default, the robot 3 input area starts at 2.0K offset from the beginning of shared memory (By default, the extended function of robots 1, 2 is also assumed to be enabled, similar to robot 3).
  • Page 27 2Preparation for Using Extended Function 4) Case 4: Robots 1, 2: Extended function is disabled, Robot 3: Extended function is enabled (#2) This example allocates 1K area in advance so that the allocation is not changed even when the extended function is enabled in the future, while the extended function was disabled and the extended area was not allocated.

  • Page 28: Monitor Robot Information

    3Monitor Robot Information 3 Monitor Robot Information Table 3-1 lists the robot information monitored from sequencer. Setting values are also monitored during performing sequencer direct. Table 3-1:Monitoring item list Update Mecha No Section Item Description I/F betw Robots Cycle Setting Monitor operation Monitors the setting values relating to Monitoring output...

  • Page 29: Operation Flow

    3Monitor Robot Information 3.1 Operation Flow Start … Prepare for Using Extended Function Refer to Page 6, "2 Preparation for Using Extended Function". Select monitoring items Select items to be monitored from the sequencer. The robot outputs the signal "Function performing" of the moni- Is the function selected by toring function.

  • Page 30: Select Monitoring Items

    3Monitor Robot Information 3.1.1 Select Monitoring Items Here, selects the monitoring functions output by the robot from the sequencer. Only the data specified by items (set to "1") selected with each bit can be monitored. For more information on each monitoring data, refer to Page 23, "3.2 Monitoring Item"...

  • Page 31: Timing Chart

    3Monitor Robot Information 3.1.3 Timing Chart Sequencer Sequencer Robot Robot Select function, bit 4 (Monitor current and aimed positions) Select function, bit 6 (Monitor maintenance information) Specify mecha Performing function, bit 4 (Monitor current and aimed positions) Performing function, bit 6 (Monitor maintenance information) Mecha No...

  • Page 32: Sample Ladder

    3Monitor Robot Information 3.1.4 Sample Ladder Here, shows the sample ladder to retrieve current and aimed positions and maintenance information into the internal device by specifying the monitoring item and mecha number. [Target function] Select monitoring items (monitoring current and aimed positions, monitoring data of maintenance infor- mation) and mecha [Target robot] The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)
  • Page 33 3Monitor Robot Information [Ladder] Operation Flow 3-22...

  • Page 34: Monitoring Item

    3Monitor Robot Information 3.2 Monitoring Item 3.2.1 Monitor Operation Control Setting Values Here, periodically outputs the robot's operation control commands and the setting values for operation con- trol to the shared memory. (1) Monitoring data list Supported Sequencer Addr Update Description State (Offset)
  • Page 35 3Monitor Robot Information <Precautions> ● When the target mecha does not exist, outputs the data zero. ● The value below is output as ColChk: - When multiple mechas are in use or when the element 1 of parameter COL is zero (collision detection unavailable), →...

  • Page 36: Monitor Activities

    3Monitor Robot Information 3.2.2 Monitor Activities Here, periodically outputs the robot's activities (current speed, arrival factor to the aimed position, etc.) to the shared memory. (1) Monitoring data list Sequencer Supported Update Addr Description State Variable Cycle (offset) 810 Current instruction speed [10 M_RSpd mm/s] 812 Current distance remained [10...

  • Page 37: Monitor Current And Aimed Positions

    3Monitor Robot Information 3.2.3 Monitor Current and Aimed Positions Here, periodically outputs robot's current and aimed positions to the shared memory. (1) Monitoring data list Sequencer Update Addr Description Cycle (offset) 7.1msec X coordinate value [10 mm/10 deg] Y coordinate value [10 mm/10 deg] Z coordinate value [10...
  • Page 38 3Monitor Robot Information Sequencer Update Addr Description Cycle (offset) J1 coordinate value [10 mm/10 deg] J2 coordinate value [10 mm/10 deg] J3 coordinate value [10 mm/10 deg] J4 coordinate value [10 mm/10 deg] Current position (joint) J5 coordinate value [10 mm/10 deg] J6 coordinate value [10...

  • Page 39: Monitor Position And Joint Information

    3Monitor Robot Information 3.2.4 Monitor Position and Joint Information Here, periodically outputs the robot's various position type and joint type data to the shared memory. The sequencer selects the data output by the robot. The area exists for one pieces of position type data and three pieces of joint type data and the data output for monitoring can be individually set by the sequencer.
  • Page 40 3Monitor Robot Information (2) Timing chart Sequencer Robot Sequencer Robot Joint data number-1 Joint data number-1 Joint data 1: Current 12: Axis load 5: Current number-1 instruction level instruction The data is updated periodically while outputting setting values (monitoring output) Fig.3-2:Joint data output, Timing chart (1) When the sequencer selects "Joint data selection-1,"...

  • Page 41: Position And Joint Data

    3Monitor Robot Information (2) Position and Joint Data (1) Data list b) Robot output Sequencer Addr Description (offset) X coordinate value Y coordinate value Z coordinate value A coordinate value Position data [1 - 4] B coordinate value 1: (Reserved) 2: (Reserved) 3: (Reserved) C coordinate value...
  • Page 42 3Monitor Robot Information Sequencer Addr Description (offset) J1 coordinate value J2 coordinate value J3 coordinate value J4 coordinate value Joint data-3 [1 - 13] * The data is similar to Joint data-1 J5 coordinate value J6 coordinate value J7 coordinate value J8 coordinate value <Precautions>...
  • Page 43 3Monitor Robot Information (2) Data description The table below lists the content of each data item. Supported Update Item Description Setting Value (unit) State cycle Variable Divides the direction at P_ColDir 7.1msec the time of collision to 4: Direction at the time of Robot's direction when the collision is components X, Y, Z.

  • Page 44: Monitor Maintenance Information

    3Monitor Robot Information 3.2.5 Monitor Maintenance Information Here, periodically outputs the robot’s scheduled maintenance data (battery, grease, and belt remaining times) to the shared memory. (1) Monitoring data list Sequencer Addr Description Update Cycle (offset) Battery remaining time [Hr] Grease remaining time - J1 axis [Hr] Grease remaining time - J2 axis [Hr] Grease remaining time - J3 axis [Hr] Grease remaining time - J4 axis [Hr]...

  • Page 45: Reads/Writes Robot's Variables

    4Reads/Writes Robot's Variables 4 Reads/Writes Robot's Variables 4.1 Function Description (1) Function list The table below lists the variable operations performed from the sequencer: Table 4-1:Variable operation function list Robot's Item Description response time Read numeric variable Reads variable content by specifying slot number and variable name. Rewrites variable content by specifying slot number, variable name, and vari- Write numeric variable able content.

  • Page 46: How To Operate Variables

    4Reads/Writes Robot's Variables 4.3 How to Operate Variables Here, in the sequencer, operates the robot's variables (read/ write variables) by specifying function number, slot number, variable name, and variable data. Function number setting allows you to select work type (read/ write variable) and variable type (numeric/ position/ joint variables) and specify a variable name (designation of ASCII character).

  • Page 47: Robot Output Data

    4Reads/Writes Robot's Variables 2) Bit signal Sequencer Address Description Addr (offset) Bit position 0 Request for variable operation (2) Robot output data 1) Word data Setting values when specifying ASCII character for variable and program names Setting Value for Specifying ASCII Character Sequencer Numeric Var Numeric Var...

  • Page 48: Completion Status

    4Reads/Writes Robot's Variables 2) Bit signal Sequencer Address Description Addr (offset) Bit position 0 Variable operation completed (3) Completion status The values below are established as completion status: Setting Description Value Successfully completed Specified data (function number, slot number, variable number, element number, or external variable specification) out of range Program not selected for the target slot Target variable does not exist...
  • Page 49 4Reads/Writes Robot's Variables <ASCII data setting example> • Set up the data in order from low to high byte of start address. • Specify zero as a terminating code. (Be compliant with the character input specification of the sequencer) "1A023" Shared memory addr b15･････････b8 b7･･････････b0 “A”(41H)

  • Page 50: Timing Chart

    4Reads/Writes Robot's Variables • When the data is successfully written into a variable, the variable data in the robot after the writing is read again and sent. Therefore, even when writing into a position or joint variable is successfully ended, the data specified by the sequencer may be different from the data to be sent by the robot.

  • Page 51: Sample Ladder

    4Reads/Writes Robot's Variables 4.3.3 Sample Ladder Here, describes a ladder example which reads the data by specifying a position variable name. [Target function] Reads position variable (designation of ASCII character) [Target robot] The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value) [Description] Turn ON the position variable read trigger (M100) to read the data of position variable P200 in slot 1.
  • Page 52 4Reads/Writes Robot's Variables [Ladder] 4-41 How to Operate Variables...

  • Page 53: Read Current Line Of Robot Program

    5Read Current Line of Robot Program 5 Read Current Line of Robot Program 5.1 Function Description (1) Function list Table 5-1 lists the program operations performed from the sequencer. Table 5-1:Program operation function list Robot's Response Item Description Time Responds within 1s Reads currently performing robot program (one line, 128 charac- ...

  • Page 54: How To Operate Program

    5Read Current Line of Robot Program 5.3 How to Operate Program Here, in the sequencer, operates the robot program by specifying function number, slot number, program name, and program data. Setting function number to '103' allows you to select a work type (read current line) and specify a program name (designation of ASCII character).
  • Page 55 5Read Current Line of Robot Program (2) Robot output data 1) Word data Setting Value for Specifying ASCII Character Sequencer Addr Item Program (offset) Read current line Completion status Completion status [1: OK/ other than 1: NG] Function No Slot number Slot No [1 to the value of parameter TASKMAX] Program name...
  • Page 56 5Read Current Line of Robot Program (3) Completion status The values below are established as completion status: Setting Description Value Successfully completed Specified data (function number, slot number, program number) out of range Program not selected for the target slot (Reserved) (Reserved) (Reserved)
  • Page 57 5Read Current Line of Robot Program [Number of program characters] Outputs the number of characters of target line in the target program. Count and specify the number of characters from the leading to final character (exclusive of line feed/ ter- minating characters) including comment line (exclusive of line number).

  • Page 58: Timing Chart

    5Read Current Line of Robot Program 5.3.2 Timing Chart Sequencer Robot Sequencer Robot Function No Slot No (Program name) (Line No) (Program data) Request for program operation Program operation completed Completion status Function No Slot No Program name Line No Program data Fig.5-1:Program operation timing chart (1) The sequencer sets up necessary data of "Function number", "Slot number", "Program name", "Line...

  • Page 59: Sample Ladder

    5Read Current Line of Robot Program 5.3.3 Sample Ladder Here, describes a ladder example which reads the current line of a program performed by the robot. [Target function] Reads program's current line (designation of ASCII character) [Target robot] The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value) [Description] Turn ON the program read trigger (M110) to read the program data of current line in slot 1.
  • Page 60 5Read Current Line of Robot Program [Ladder] 5-49 How to Operate Program...

  • Page 61: Set Up Robot's Maintenance

    6Set up Robot's Maintenance 6 Set up Robot's Maintenance 6.1 Function Description (1) Function list Table 6-1 lists the maintenance setting performed from the sequencer. Table 6-1:Maintenance setting function list Robot's Item Description Response Time Responds within 1s (it may vary Reset maximum ser- Resets the servo monitor's maximum values (current value, load factor, etc.) according to the...

  • Page 62: How To Operate Maintenance

    6Set up Robot's Maintenance 6.3 How to Operate Maintenance Here, in the sequencer, operates the maintenance setting by specifying function number and setting data corresponding to the function. Function number setting allows you to select function items. 6.3.1 Data List (1) Sequencer output data 1) Word data Setting Value...
  • Page 63 6Set up Robot's Maintenance (3) Completion status The values below are established as completion status: Setting Description Value Successfully completed Specified "Function number" and "Mecha number" are out of range (including the case that the target mecha does not exist). (Not used) No target function (the function specified by target mecha does not exist) NG because of a factor other than 2 to 4...

  • Page 64: Timing Chart

    6Set up Robot's Maintenance 6.3.2 Timing Chart Seque Robot Sequencer Robot Function No (Setting data) Request for maintenance setting Maintenance setting completed Completion status Function No (Setting data) Fig.6-1:Maintenance function timing chart (1) The sequencer sets up necessary data of "Function number" and "Setting data" and turns ON "Request for maintenance setting."...

  • Page 65: Sample Ladder

    6Set up Robot's Maintenance 6.3.3 Sample Ladder Here, describes a ladder example which resets the servo data's maximum values (current value, load factor) stored in the robot. [Target function] Reset the maximum servo monitor value [Target robot] The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value) [Description] Turn ON the maintenance setting read trigger (M120) to reset the maximum servo monitor values.
  • Page 66 6Set up Robot's Maintenance [Ladder] 6-55 How to Operate Maintenance...

  • Page 67: Read Robot Information

    7Read Robot Information 7 Read Robot Information 7.1 Function Description (1) Function list Table 7-1 lists the robot information reading performed from the sequencer. Table 7-1:Robot information reading function list Robot's Item Description Response Time Reads the detailed error information generated in the robot. Responds within 1s When multiple errors occur, three information can be read at the same (it may vary...

  • Page 68: How To Operate Robot Information

    7Read Robot Information 7.3 How to Operate Robot Information Here, reads the robot information from the sequencer by specifying function number and setting data. Function number allows you to select the robot information to be read. 7.3.1 Data List (1) Sequencer output data 1) Word data Setting Value Sequencer...
  • Page 69 7Read Robot Information (2) Robot output data 1) Word data Setting Value Sequencer Item Read Error Read Product Addr (offset) Information Information 680 Completion status Completion status [1: OK/ other than 1: NG] 681 Function No Start number [1 -] (Not used) Number of errors occurred...
  • Page 70 7Read Robot Information 2) Bit signal Sequencer Address Description Addr Addr (offset) (offset) 3 Reading information completed (3) Completion status The values below are established as completion status: Setting Description Value Successfully completed Specified "Function number" out of range Specified "Setting data" out of range NG because of a factor other than 2 and 3 (4) Data description [Function No]...

  • Page 71: Timing Chart

    7Read Robot Information 7.3.2 Timing Chart Sequencer Robot Sequencer Robot Function No (Start No) Request for reading information Reading information completed Completion status Function No (Start No) Read data Fig.7-1:Information reading timing chart (1) The sequencer sets up necessary data of "Function number" and "Start number" and turns ON "Request for reading information."...

  • Page 72: Sample Ladder

    7Read Robot Information 7.3.3 Sample Ladder Here, describes a ladder example which reads the detailed error information occurred in the robot. [Target function] Read error information [Target robot] The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value) [Description] Turn ON the error information read trigger (M130) to read the robot error information (first thee pieces of information from start).
  • Page 73 7Read Robot Information [Ladder] How to Operate Robot Information 7-62...

  • Page 74: Perform Sequencer Direct

    8Perform Sequencer Direct 8 Perform Sequencer Direct 8.1 Sequencer Direct Performance Function The sequencer direct performance function directly operates the robot by using the extended shared mem- ory. The performance function is composed of robot operation, hand open/close, working speed/ acceleration setting, position data management, etc.

  • Page 75: Operation Flow

    8Perform Sequencer Direct 8.2 Operation flow The figure below shows the operation flow when performing the sequencer direct. Start … Is parameter setting completed? ● Set up multiple CPUs for sequencer and robot CPUs. When already established, carry out the next teaching operation.

  • Page 76: Parameter Setting

    8Perform Sequencer Direct 8.2.1 Parameter Setting Start ● Sets up the sequencer's parameters (multiple CPU setting). … Set up sequencer's multiple CPUs For robot CPU, allocate 1k words of free user area in high-speed communication area of multiple CPUs to robot's I/O area. (Refer to Page 7, "2.1.1 Set up Sequencer's Multiple CPUs")

  • Page 77: Teaching

    8Perform Sequencer Direct 8.2.2 Teaching Here, teaches the position data for performing the robot's sequencer direct. (1) Position Data The position data handled in the sequencer direct performance shall be position type data only. The joint type data is not handled. The table below lists the available positions: Position No Score...

  • Page 78: Position Teaching In Position Box (R32Tb)

    8Perform Sequencer Direct (2) Position Teaching in Position Box (R32TB) 1) Screen change "6. ENHANCED" is displayed under conditions below: <MENU>　　 　 a) Connected to the following robot controller: 1.FILE/EDIT 2.RUN CRnQ-700 series controller ....Ver. N8 or later 3.PARAM. 4.ORIGIN/BRK CR750-Q/CR751-Q series controller..
  • Page 79 8Perform Sequencer Direct 2) Description of screens 2-1) Menu screen <MENU>　　 　 1.FILE/EDIT 2.RUN 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE "6. ENHANCED" is displayed as a menu item. It is always possible to move to the ENHANCED menu screen. 2-2) ENHANCED function menu screen <ENHANCED>　　...
  • Page 80 8Perform Sequencer Direct ● Disable T/B to change to the ENHANCED menu screen. When the warning screen above is displayed while an error occurs, push [RESET] key to reset the error and then change to the ENHANCED menu screen. When the conditions "c)", "d)" above are not met while the conditions "a)", "b)" above are met, the buttons are grayed out.
  • Page 81 8Perform Sequencer Direct [Changing position display] (a) Forward/ backward feed Each time [F3] (Prev) or [F4] (Next) key is pushed, displayed position is changed. The display changes as follows: [F3] (Prev): From 1 to 999, 998, 997, ..., 1 [F4] (Next): From 1 to 2, 3, ..., 999, 1 (b) Call number Push [FUNCTION] key, change the function key allocation, and push [F2] (NUMBER) key to display the position number input screen below.

  • Page 82: Prepare To Perform Sequencer Direct

    8Perform Sequencer Direct 8.2.3 Prepare to Perform Sequencer Direct Prepare to perform Is it in robot automatic mode? … Change the MODE switch to "AUTOMATIC" on the robot operation panel (ATTOPMD or ATEXTMD robot output ON) For information on input/ output signals, refer Get operation authority (IOENA robot input to "Instruction Manual, Detailed Description of Functions and Operations."...

  • Page 83: How To Operate Sequencer Direct

    8Perform Sequencer Direct 8.3 How to Operate Sequencer Direct Here, describes the robot's operation commands and how to control hand. To issue an operation instruction to the robot, set up the command data (command number + auxiliary data) and command condition data and turn ON the command request signal. The robot runs according to the specified command.
  • Page 84 8Perform Sequencer Direct Sequencer Output Description Remarks Addr (offset) X coordinate value [10 mm/10 deg] Y coordinate value [10 mm/10 deg] Z coordinate value [10 mm/10 deg] A coordinate value [10 mm/10 deg] B coordinate value [10 mm/10 deg] Position data 1 (5100) C coordinate value [10 mm/10...

  • Page 85: Robot Output

    8Perform Sequencer Direct (2) Robot output Sequencer Input Description Remarks Addr (offset) Command completion signal bit15 0000000000000000 Bit signal |+- bit0: Completed +-- bit1: Working (Reserved) Completion status [1: OK/ other than 1: NG] (Reserved) Command data Command No Command data 1 Command data 2 527 - 549 (Reserved) (3) Data description...
  • Page 86 8Perform Sequencer Direct ● Completion status (sequencer input 522) When the sequencer direct is successfully performed or when the sequencer direct cannot be received, the completion status is set. The values below are established as completion status: Setting Description Remarks Value Successfully completed External operation authority invalid...
  • Page 87 8Perform Sequencer Direct [Position data 1 - 3] (sequencer output 640 - 699) Used during setting up the position data in the sequencer when performing the sequencer direct. The unit is 10 mm or 10 deg. Only lower one word is used for the structure flag of position variable, and upper one word is a reserved area.
  • Page 88 8Perform Sequencer Direct (5) Speed: Spd Specify the speed of the end when the robot moves for linear interpolation. The unit is mm/s. This value does not impact on the joint interpolation command. When zero or 10000mm/s is specified as the speed, the robot is in the maximum speed control mode.
  • Page 89 8Perform Sequencer Direct (7) Auxiliary operation specification Specify the hand posture control type during linear inter- Singularity of vertical 6-axis robot polation. a) Equivalent rotation: Evenly interpolates from start pos- 1) Posture A ture (A, B, C) to the posture (A, B, C) at aimed position.
  • Page 90 8Perform Sequencer Direct [How to decide tool data] The tool data has the same components as the position data. X, Y, Z: Shift amount. Moving amount from the center of flange to the tool position. (Unit is mm) A, B, C: Rotation angles of coordinate axes. (Unit is deg) A: Rotation angle around X axis B: Rotation angle around Y axis C: Rotation angle around Z axis...
  • Page 91 8Perform Sequencer Direct [Tool data setting example] A sample hand attachment and sample tool data setting in the coordinate system are shown below: (1) Mechanical interface coordinate system is (2) Zt direction becomes perpendicular to shifted as a whole: mechanical interface coordinate system: Tool data: (0,0,100,0,0,0) Tool data: (0,0,100,0,-90,0) 100mm...

  • Page 92: Timing Chart For Performing Operation Command

    8Perform Sequencer Direct 8.3.2 Timing Chart for Performing Operation Command (1) Perform Operation (Normal Operation) The sequencer operates the robot by setting the data for command number and command data 1, 2. When the command condition data is set to zero, the robot runs based on the default setting. The robot runs based on the instructed setting by setting value for condition data.

  • Page 93: Operation Command Is Impracticable

    8Perform Sequencer Direct (2) Operation Command Is Impracticable: When the command data instructed by the sequencer is not formal or when the robot is out of work, the robot stores a number indicating an impracticable reason in "Completion status" against "Command request"...

  • Page 94: Suspend/Resume Operation

    8Perform Sequencer Direct (3) Suspend/Resume Operation When the robot stops due to the robot's stop operation or stop input while performing the sequencer direct, the operation is suspended and the command is also suspended (Completion status = 30, suspended). To resume after suspension, set up "Command data" and "Condition data" again and send "Command request"...

  • Page 95: Support On Occurrence Of Error

    8Perform Sequencer Direct (4) Support on Occurrence of Error When H or L level error occurs while performing the sequencer direct, the operation is suspended. To resume after suspension, reset the error, re-set up "Command", "Command data", and "Condition data", and send "Command request"...

  • Page 96: Suspension When Robot's External Operation Authority Gets Invalid

    8Perform Sequencer Direct (5) Suspension when Robot's External Operation Authority Gets Invalid When the robot's external operation authority gets invalid while performing the sequencer direct (robot's dedicated signal - operation authority output (IOENA) is turned OFF), the operation is suspended. The conditions which make the robot's external operation authority invalid are as follows: 1) The MODE switch is changed from AUTOMATIC to MANUAL on the robot operation panel (robot is turned servo OFF)

  • Page 97: Cancel Based On Command Request Off Signal

    8Perform Sequencer Direct (6) Cancel Based on Command Request OFF Signal When sequencer's "Command request" is turned OFF while performing the sequencer direct, the robot' operation can be terminated halfway (the robot slows down and stops in the same manner as stop input). (1) (2) Sequencer Robot Command data...

  • Page 98: Sample Ladder For Performing Operation Command

    8Perform Sequencer Direct 8.3.3 Sample Ladder for Performing Operation Command Here, describes a ladder program example which runs an operation command of sequencer direct perfor- mance function. [Target function] Runs an operation command of sequencer direct performance function (moves to position 1 with joint interpolation (command number: 1)) [Target robot] The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)
  • Page 99 8Perform Sequencer Direct [Ladder] How to Operate Sequencer Direct 2-88...

  • Page 100: Control Robot Hand

    8Perform Sequencer Direct 8.3.4 Control Robot Hand Dedicated I/O signals allows you to control a robot hand. Controls the hand by allocating an I/O signal number for hand control according to the parameters listed in the table below. The condition to control the robot hand through external signal is "T/B invalid" (1) Dedicated I/O parameters for hand control Factory Parameter...

  • Page 101: Mapping Hand Signal With Parameter Handtype

    8Perform Sequencer Direct (2) Mapping hand signal with parameter HANDTYPE When the parameter HANDTYPE setting is changed, robot hand signal corresponding to the hand output control signal may change. The signals allocated to hand signals correspond to the hand output control sig- nals in order.

  • Page 102: Hand Control Image

    8Perform Sequencer Direct (3) Hand control image The hand control image is shown below based on the robot parameter setting below (HANDTYPE is factory default): • HANDENA (hand control permitted) = 10079,10079 • HANDOUT (hand output control signal) = 10080,10087 a) T/B is valid: T/B controls a robot hand.
  • Page 103 8Perform Sequencer Direct b) T/B is invalid: Allows you to select either external signals or controller (robot program or forced output) for the robot hand control according to the hand control permission (HANDENA) signal. b-1) HANDENA signal is ON: b-2) HANDENA signal is OFF: External signal controls the robot hand.

  • Page 104: Timing Chart For Robot Hand Control

    8Perform Sequencer Direct 8.3.5 Timing Chart for Robot Hand Control The figure below shows the hand control timing chart when the robot parameter is set up as follows: • HANDENA (hand control permitted) = 10079,10079 • HANDOUT (hand output control signal) = 10080,10087 •...
  • Page 105 8Perform Sequencer Direct b) Robot hand control through external signal External Robot T/B valid/invalid Invalid Hand cont permission input sig (10079) Hand cont permission output sig (10079) External (GOT, etc.) External (GOT, etc.) close operation open operation Hand output control signal (10080: Hand 1 open) Hand output...
  • Page 106 8Perform Sequencer Direct c) Robot hand control 1 when T/B gets invalid External Robot Valid T/B valid/invalid Invalid Invalid T/B valid T/B invalid When an external signal tries to Hand cont open/close a hand after the robot side permission input controlled the hand, single signal may sig (10079) not open/close the hand.
  • Page 107 8Perform Sequencer Direct d) Robot hand control 2 when T/B gets invalid (recommended) External Robot Valid T/B valid/invalid Invalid Invalid T/B valid T/B invalid Hand cont permission input Even after the robot side sig (10079) controlled a hand, the hand can be operated without any Hand cont restriction.
  • Page 108 8Perform Sequencer Direct e) Switch between hand control with external signal and hand control with robot program External Robot T/B valid/invalid Invalid Hand cont perm ission input sig (10079) Hand cont perm ission output sig (10079) Because the external hand External (GOT, etc.) External (GOT, etc.) control perm ission is turned...

  • Page 109: Sample Ladder For Robot Hand Control

    8Perform Sequencer Direct 8.3.6 Sample Ladder for Robot Hand Control Here, describes a ladder program example which controls a robot hand with robot dedicated signals in the sequencer. [Target function] Controls a robot hand (opens/closes hand 1) [Target robot] The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value) [Robot parameter setting] •...
  • Page 110 8Perform Sequencer Direct [Ladder] 2-99 How to Operate Sequencer Direct...

  • Page 111: Samples

    8Perform Sequencer Direct 8.4 Samples Here, as samples for sequencer direct performance, describes the examples that the robot takes out works. The examples are a robot program which takes out works, a ladder which uses sequencer direct perfor- mance command plus hand control function, and an operation setting in the GOT screen. 8.4.1 Robot Program '// Initial setting This program is assumed to be a...

  • Page 112: Sample Ladder Program

    8Perform Sequencer Direct 8.4.2 Sample Ladder Program (1) Condition [CPU configuration] Sequencer plus one robot [Sequencer multiple CPUs setting] The figure below shows the multiple CPU parameter setting of the sequencer: Allocates 1K to the sequencer (#1) and robot (#2) respectively [Robot parameter setting] ●...
  • Page 113 8Perform Sequencer Direct [Allocating robot dedicated I/O signals] Allocate the signals HANDENA, HANDOUT as well as the dedicated signals allocated in initial setting. To handle the robot dedicated I/O signals in the sequencer, replace the robot dedicated I/O signals with device B.
  • Page 114 8Perform Sequencer Direct Sequencer Robot Mapping Parameter Robot Input Signal Mapping (B) Robot Output Signal Name Name Name Input Output Output Input ↑ Numeric value input 11 Numeric value output 11 10043 10043 ↑ Numeric value input 12 Numeric value output 12 10044 10044 ↑...
  • Page 115 8Perform Sequencer Direct (2) Details [Sequencer device mapping] Device Name Description Robot transfer instruction Turn it ON when carrying out an operation to take out works in the system. System running Turn it ON when system is running. Turn it OFF when a suspension or error occurred. Error reset instruction When instructing an error reset in the system, turn it ON.
  • Page 116 8Perform Sequencer Direct [Ladder program] Batch transfer the robot output sig- nal to B0 and after Prepare to per- form sequencer direct - Get control authority - Error reset - Program reset - Servo ON HOpen 1 Write an operation flow Prepare perfor- mance...
  • Page 117 8Perform Sequencer Direct Ovrd 70 Accel 50,50 Mvs P_DM(1) Dly 0.2 HClose 1 Wait M_In(901)=1 Dly 0.1 Ovrd 100 Accel 100,100 Mvs P_DM(1),-200 Write an opera- tion flow Prepare perfor- mance Samples 2-106...
  • Page 118 8Perform Sequencer Direct Create com- mand data of sequencer direct performance 2-107 Samples...
  • Page 119 8Perform Sequencer Direct I/F handling of sequencer direct performance Hand open/close I/F handling Batch transfer the data in B100 and after to the robot input signal Samples 2-108...

  • Page 120: Sample Operation Setting In Got Screen

    8Perform Sequencer Direct 8.4.3 Sample Operation Setting in GOT Screen Realizes a robot operation without user program by entering the robot operation into GOT. Sequencer handling is provided by function block or ladder program. Also GOT screen is provided. (Refer to MELFANS Web.) <Sequencer>...
  • Page 121 8Perform Sequencer Direct [GOT screen image (sample)] In the GOT screen, enter setting values, such as operation command, position, speed, acceleration, to oper- ate the robot based on the specified steps. The figure below shows an example of operation command input screen.
  • Page 122 8Perform Sequencer Direct The figure below shows the change of pages when entering an operation command in the GOT screen. 2-111 Samples...
  • Page 123 8Perform Sequencer Direct <Operating procedure> 1) Select target robot and table number to display the command edit screen. 2) Push the [Action cmd]/[Control cmd] button to dis- play the command select screen and select a com- mand. 3) Display the numeric keypad by pushing a number display to enter the data necessary for the com- mand.

  • Page 124: Precautions For Sequencer Direct Performance

    8Perform Sequencer Direct 8.5 Precautions for Sequencer Direct Performance 8.5.1 Requirements Sequencer direct performance can be carried out when all conditions below are met: (1) Valid operation authority (robot output IOENA is ON) (2) No H or L level error (robot signals HLVLERR, LLVLERR are OFF) (3) Program is available (robot output SLOTINIT is ON) (4) Robot servo is ON (robot output SRVON is ON) (5) No stop input (robot output STOPSTS is OFF)

  • Page 125: Operation Panel Display

    8Perform Sequencer Direct 8.5.5 Operation Panel Display During performing sequencer direct, the program number display changes to "DMODE" in the operation panel (O/P). ● STATUS NUMBER display Override Step number Program name The user message displays the character string (alphanumeric character of a maximum of the 32 characters) set as USERMEG.

  • Page 126: Shared Memory Extended Function Relevant Parameter

    9Shared Memory Extended Function Relevant Parameter 9 Shared Memory Extended Function Relevant Parameter Here, describes a parameter relating to shared memory extended function. When a parameter is changed, make sure to turn on again the robot controller' power supply (OFF to ON) or reset the sequencer.
  • Page 127 9Shared Memory Extended Function Relevant Parameter (1) Variable extension timing When the controller is started up while the sequencer direct performance function is valid (both bits 0, 1 of parameter IQMEM for selecting shared memory extended function are set to one), external program vari- ables and system state variables are extended.

  • Page 128: Function Definition Parameter

    9Shared Memory Extended Function Relevant Parameter 9.2 Function Definition Parameter Array Qty Parameter Parameter Character Description Factory Default Name Define function IQSPEC 1 digit inte- Set up function for robots. 0000000000000001 Set each function allocated by each bit. 0000000000000000 bit1-15: Not used +--- bit0: Direction to write into shared memory 0: Reads/writes in order from first to last address...

  • Page 129: Extended Function Relevant Error List

    10Extended Function Relevant Error List 10 Extended Function Relevant Error List (1) Error occurred when MELFA-BASIC IV is selected while shared memory extended function is valid Error No Error Cause and Measure L3994 Error message Shared memory extended function unavailable (MB4) Cause Shared memory extended function is unavailable in MELFA-BASIC IV.
  • Page 130 10Extended Function Relevant Error List 10-119...
  • Page 132 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU NAGOYA 461-8670, JAPAN Authorised representative: Mitsubishi Electric Europe B.V. FA - European Business Group Mitsubishi-Electric-Platz 1, D-40882 Ratingen, Germany Tel: +49(0)2102-4860 May., 2017 MEE Printed in Japan on recycled paper.

This manual is also suitable for:

Cr750-q seriesCr751-q seriesCrnq-700 series

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