Mitsubishi Electric MELFA CR750 Series User Manual page 19

16.2.8. Edit of ruled line ............................................................................................................... 16-347
16.2.9. Deletion of user definition screen .................................................................................... 16-349
16.2.10. Import of the user definition screen ................................................................................. 16-351
16.2.11. Export of the user definition screen ................................................................................. 16-353
16.3. Oscillograph ............................................................................................................................. 16-354
16.3.1. Outline .............................................................................................................................. 16-354
16.3.2. Communication method ................................................................................................... 16-354
16.3.3. Acquirable data ................................................................................................................ 16-355
16.3.4. Starting ............................................................................................................................. 16-356
16.3.5. Communication settings................................................................................................... 16-357
16.3.6. Start／Stop ....................................................................................................................... 16-358
16.3.7. Graph setting ................................................................................................................... 16-358
16.3.8. Graph range setting ......................................................................................................... 16-359
16.3.9. Data reproducing / confirmation ....................................................................................... 16-360
16.3.10. Save Data／Log Setting .................................................................................................. 16-362
16.3.11. Load Data ........................................................................................................................ 16-363
16.3.12. Save Image ...................................................................................................................... 16-363
16.3.13. Gray scale ........................................................................................................................ 16-363
16.3.14. Reflected to 3D monitor ................................................................................................... 16-363
16.4. DXF file import ......................................................................................................................... 16-365
16.4.1. Outline .............................................................................................................................. 16-365
16.4.2. Starting ............................................................................................................................. 16-365
16.4.3. Flow of operations ............................................................................................................ 16-367
16.5. Force sensor calibration .......................................................................................................... 16-370
16.5.1. Outline .............................................................................................................................. 16-370
16.5.2. Starting ............................................................................................................................. 16-370
17. Simulation
17.1. Starting a Simulation ................................................................................................................ 17-372
17.1.1. About the warning at first-time startup simulation ............................................................ 17-373
17.2. Explanation of the Simulation Operation Screen .................................................................... 17-374
17.3. Robot View (3D Monitor) ......................................................................................................... 17-375
17.3.1. Robot View (3D Monitor) Start ......................................................................................... 17-375
17.3.2. Displaying robots of more than one projects in 3D .......................................................... 17-376
17.3.3. Click movement of the robot ............................................................................................ 17-377
17.3.4. Distance measurement .................................................................................................... 17-379
17.3.5. Robot display option ........................................................................................................ 17-380
17.3.6. Layout .............................................................................................................................. 17-395
17.3.7. Robot arrangement .......................................................................................................... 17-405
17.3.8. XYZ position variables ..................................................................................................... 17-407
17.3.9. Hand................................................................................................................................. 17-409
17.3.10. Save AVI ........................................................................................................................... 17-414
17.4. Robot Program Selection ........................................................................................................ 17-417
17.5. Program Execution .................................................................................................................. 17-418
17.6. Specifying the Starting Line for Program Execution ................................................................ 17-418
17.7. Breakpoint Setting ................................................................................................................... 17-419
17.8. Step Operation ......................................................................................................................... 17-419
17.9. Direct Execution ...................................................................................................................... 17-420
17.10. Jog Operation .......................................................................................................................... 17-421
17.11. Simulation Robot Position Variable Editing ............................................................................. 17-425
17.12. Tact Time Calculation .............................................................................................................. 17-425
17.12.1. Conditions for tact time measurement ............................................................................. 17-426
17.12.2. Tact time measurement.................................................................................................... 17-428
17.12.3. Causes of tact time deviation ........................................................................................... 17-431
17.13. Cooperative control simulation ................................................................................................ 17-433
17.13.1. Cooperative operation...................................................................................................... 17-433
17.13.2. Interference avoidance .................................................................................................... 17-436
17.14. Ending Simulation .................................................................................................................... 17-437
17-371