Mitsubishi Electric MELFA FR CR800 Series Manuals

Mitsubishi Electric MELFA FR CR800 Series Manuals

Manuals and User Guides for Mitsubishi Electric MELFA FR CR800 Series. We have 1 Mitsubishi Electric MELFA FR CR800 Series manual available for free PDF download: User Manual

Mitsubishi Electric MELFA FR CR800 Series User Manual

Mitsubishi Electric MELFA FR CR800 Series User Manual (646 pages)

Industrial Robots

Brand: Mitsubishi Electric | Category: Robotics | Size: 23.6 MB

Table of Contents

Table of Contents
10
1 Usage

19
2 Changes from RT Toolbox2

41
3 RT Toolbox3 Usage

44
4 Notes of When RT Toolbox3 Is Used with Iq Works (MELSOFT Navigator)

58
5 Basic Functions

61
6 Ribbon

63
- Selecting the Tab
  63
- Tool Tip Display of Ribbon Commands
  65
- Minimizing the Ribbon
  65
7 Docking Window

66
8 Workspaces and Projects

71
- Creating a New Workspace
  73
- Opening an Existing Workspace
  74
- Open the RT Toolbox2 Workspace
  75
- Closing a Workspace
  75
- Deleting a Workspace
  76
- Saving a Workspace
  76
- Changing a Workspace
  77
- Adding a Project
  78
  - Step 1. Outline
    79
  - Step 2. Robot Model
    79
  - Step 3. Communication
    80
  - Step 4. Language
    80
  - Step 5. Travel Axis
    81
  - Step 6. Robot Additional Axis
    81
  - Step 7. Tool
    82
  - Step 8. Weight and Size
    82
- Transfer Offline Parameters to Robot Controller
  83
- Change of the Operation Mode after Adding the Project
  85
- Editing Projects
  86
- Deleting a Project
  87
- Contents of Project Tree
  88
- Copying Programs between Projects
  89
- Importing Projects
  90
- Option Setting
  91
- Offline/Online/Simulation
  92
9 Connecting to the Robot

94
- Robots Connected and Types of Communication
  94
- Connection Settings
  96
  - USB Communication Settings
    97
  - TCP/IP (Ethernet) Communication Settings
    98
  - Communication Settings
    100
  - GOT Communication Settings
    101
  - Crnq_R Communication Settings
    102
  - Travel Base Setting for Display
    111
10 Robot Programming Language Setting

114
11 Writing Programs

115
- Writing a New Program
  116
  - Writing a New Program on the Computer
    116
  - Writing a New Program in the Robot Controller
    117
- Opening an Existing Program
  118
- Explanation of Program Edit Screen
  121
- Ribbon During Program Editing
  123
- Customizing the Display Position
  126
- Customizing Other than the Display Position
  129
  - Displaying Input Candidates
    129
  - White Space Display
    130
  - Auto Indent
    130
  - Command Format Hints
    133
  - Pasting Line Numbers
    133
  - Convert Blank Lines to Comments
    134
  - Save a Program in the Form of no Line Number
    134
  - Line Break after Insertion
    136
  - Character Colors
    137
  - Changing the Font
    137
  - Setting the Background Color of the Program Editor
    138
  - Setting the Syntax Check at Program Save
    138
  - Get Current Position
    139
  - Program Save and Read
    139
- Program Editing
  140
- Position Jump
  163
- Saving Programs
  165
  - Save
    165
  - Saving on Computer
    166
  - Saving in Robot Controller
    167
  - Save as Template
    168
  - Items Written When Saving in Robot
    169
- Program Printing
  171
  - Checking a Print Image
    171
  - Printing a Program
    171
  - Program Print Settings
    171
- Program Debugging
  174
  - Starting Debugging
    174
  - Executing Programs Step by Step
    176
  - Revising Programs
    176
  - Setting and Deleting Breakpoints
    177
  - Set a Breakpoint
    178
  - Ending Debugging
    179
- Set / Release Read Protection
  180
- Program Management
  181
  - Program List Display
    182
  - Copy
    183
  - Move
    184
  - Delete
    185
  - Rename
    186
  - Protect Settings
    186
  - Comparison
    187
- Program Conversion
  189
- Position Data Editing for SQ Direct
  195
  - Differences with Program Editing
    196
  - Online Editing
    198
  - Offline Editing
    199
  - Program Management
    200
12 Creating the Spline Files

203
- New File
  203
  - Creating a New File on the Computer
    203
  - Creating a New File in the Robot Controller
    203
- Open File
  204
- Save File
  205
  - Save
    205
  - Save as
    205
13 Setting Parameters

206
- Editing from Parameter List
  208
  - Starting
    208
  - Parameter Editing
    210
  - Edit of Parameter Changed from Default Value
    211
  - Parameter List Reading
    212
  - Finding Parameters
    212
  - Sort Parameters
    213
  - Parameter Initialization
    213
- Robot Controller Operation Modes for Parameter Writing
  215
- Movement Parameters
  216
  - Motion Limit Parameter
    216
  - Jog Parameter
    216
  - Hand Parameters
    217
  - Weight and Size Parameters
    223
  - Tool Parameter
    224
  - User-Defined Area Parameter
    225
  - Free Plane Limit Parameters
    225
  - Home Position Parameters
    227
  - Robot Additional Axis Parameter
    228
  - Collision Detection Parameters
    229
  - Warm-Up Operation Parameters
    229
  - Movement Parameters
    230
  - Work Coordinate Paramaters
    231
  - Force Control Parameters
    232
  - Collision Avoidance Parameters
    235
  - Safety Parameters(CR750/CR700)
    238
- Program Parameters
  242
  - Slot Table Parameters
    242
  - Program Language Parameters
    243
  - Command Parameters
    243
  - User Error Parameters
    244
- Signal Parameters
  245
  - Output Signal Reset Pattern Parameters
    245
  - Assigning Dedicated Input/Output Signals
    246
- Communication Parameters
  251
  - Parameters
    251
  - Ethernet Parameters
    251
- Field Network Parameters
  254
  - CC-Link Parameters
    254
  - CC-Link IE Field Parameters
    255
  - CC-Link IE Field Basic Parameters
    256
  - PROFIBUS Parameters
    257
  - PROFINET Parameters
    258
  - Devicenet Parameters
    259
  - Ethernet/Ip Parameters
    260
  - Ethercat Parameters
    261
- PLC Cooperation Parameters
  262
  - Multiple CPU Parameters
    262
  - IO Unit Parameters
    263
- Parameters of Safety (CR800)
  264
  - Safety Diagnosis Function
    264
  - Safety Option
    266
  - Basic Configuration Parameter
    266
  - Robot Model Parameter
    267
  - Safety Logic
    268
  - SOS Parameter
    271
  - Sls
    272
  - Slp
    274
- Additional Axis Cooperative Control Parameters
  277
- Parameter Printing
  280
14 Status Monitoring

282
- Ribbon Command for Monitor Screen
  283
- Robot Movement Monitoring
  283
  - Slot Operation Status
    283
  - Program Monitoring
    284
  - Program External Variables
    289
  - Movement Status
    291
  - Event Hisyory
    292
  - Errors
    294
- Signal Monitoring
  299
  - General Signals
    299
  - Named Signals
    303
  - Stop Signal
    308
  - Register (CC-Link/Ethercat)
    309
  - IO Unit Monitor
    313
  - DSI CNUSER2 Input Signal Monitor
    314
  - Device Monitor
    315
- Operation Monitoring
  317
  - Operating Information
    317
  - Production Information
    317
- Servo Monitor
  318
  - Position (ABS)
    319
  - Speed
    320
  - Current
    321
  - Load
    322
  - Power
    323
15 Maintenance

324
- Setting Origin Data
  324
  - Origin Data Input
    326
  - Mechanical Stopper
    328
  - Tool
    329
  - Abs
    331
  - User Origin Method
    331
  - Origin Parameter Backup
    333
- Initialization
  334
  - Starting
    334
  - Setting the Time in the Robot Controller
    334
  - Deletion of All Robot Programs
    335
  - Initializing the Battery Remaining Time
    336
  - Serial Number
    336
- Maintenance Forecasting
  337
  - Specifications
    337
  - Startup
    337
  - Forecasting
    338
  - Settings
    339
  - Reset Screen
    341
  - Resetting Maintenance Forecast Information in Teaching Box
    343
  - Others
    344
- Position Repair Function
  345
  - Specifications
    346
  - Startup
    346
  - Flow of Operations
    347
  - Introduction
    348
  - Communication Settings
    348
  - Robot Selection and Parameter Backup
    349
  - Selection of Revision Parameter Generation Procedure
    350
  - Program Selection
    351
  - Program Reading and Backup
    352
  - Tool Setting Check
    353
  - Revision Parameter Selection
    354
  - Reteaching Work
    360
  - Writing Parameters
    363
  - Controller Power Supply Off, on
    364
  - Exit
    365
  - Revision Parameter Editing
    366
- Robot Controller Security Function (Password Setup)
  367
  - Register Password
    369
  - Change Password
    370
  - Delete Password
    370
16 Option Cards

371
17 Backup and Restore

372
- Backup(Robot -> PC)
  374
  - Saving Data from One Robot Controller
    375
  - 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 Data
  385
- Deleting Backup Data
  386
- Open Backup Program
  386
- Check Backup Programs
  387
- Open the Event History from Backup Data
  387
- Open the Error History Form Backup Data
  387
- Open the Error Record Form Backup Data
  388
18 Tool Functions

389
- Oscillograph
  389
  - Outline
    389
  - Communication Method
    389
  - Acquirable Data
    391
  - Starting
    392
  - Communication Settings
    394
  - Start／Stop
    398
  - Graph Setting
    398
  - Graph Range Setting
    399
  - Data Confirmation
    400
  - Playing Back Data
    403
  - Save Data／Log Setting
    403
  - Load Data
    406
  - Save Image
    406
  - Gray Scale
    406
  - Reflect to 3D Monitor
    406
  - Program and Signal Monitor
    408
- DXF File Import
  410
  - Outline
    410
  - Starting
    410
  - Flow of Operations
    411
- User Definition Screen
  414
  - Creating a New User Definition Screen File
    416
  - Editing the User Definition Screen Page
    417
  - Editing of Existing Parts
    439
  - Copying/Pasting of Parts
    440
  - Movement of Parts
    441
  - Deletion of Parts
    442
  - Changing the
    442
  - Edit of Ruled Lines
    443
  - Display of User Definition Screen
    445
  - Deletion of User Definition Screen
    446
  - Import of User Definition Screen
    448
  - Export of the User Definition Screen
    450
- File Manager
  451
  - File List Display
    452
  - Copy
    453
  - Delete
    453
  - Rename
    453
- Vision Calibration
  454
  - Operating Procedure of 2D Vision Calibration
    455
  - Vision Calibration Screen
    458
- Automatic Calibration
  460
- Force Sensor Calibration
  461
  - Outline
    461
  - Starting
    461
- Force Control Log File Viewer
  462
- Tool Automatic Calculation
  463
  - Specifications
    463
  - Starting
    463
  - Flow of Operations
    465
19 Operating the Robot

467
- About the Operation Panel
  467
  - Starting the Operation Panel
    467
  - Operation Panel Commands on the Ribbon
    470
- Functions of Operation Panel
  471
  - Jog Operation
    471
  - Program Execution
    476
  - Specifying the Starting Line for Program Execution
    476
  - Step Operation
    477
  - Direct Execution
    478
- Change to the Small Operation Panel
  479
  - How to Change the Display Type
    479
  - How to Operate
    480
- Display the Operation Panel in the Docking Window
  480
  - Display Method
    481
  - Change the Display Type
    482
- Direct Teaching
  483
  - Teach Procedure by Direct Teaching
    484
  - Direct Teaching Mode Switching
    486
20 Simulation

487
- Starting a Simulation
  488
  - About the Warning at First-Time Startup Simulation
    489
- Explanation of the Simulation Operation Screen
  489
- Tact Time Calculation
  490
  - Conditions for Tact Time Calculation
    490
  - Tact Time Measurement
    493
  - Causes of Tact Time Deviation
    497
- Cooperative Control Simulation
  499
  - Cooperative Operation
    499
  - Interference Avoidance
    502
- Ending Simulation
  503
500 D Monitor

504
- Starting up 3D Monitor
  504
- Change 3D Monitor Display Method
  505
- Monitor Operations
  506
  - List of Operations
    506
  - Zoom Operation
    506
  - Rotating the View
    507
  - Parallel Movement of View
    508
  - Selecting Objects
    508
  - Moving Objects Mouse
    510
- Layout Tree
  513
  - Content of Layout Tree
    513
  - Operations in Layout Tree
    514
- Monitor Display Settings
  527
  - Light Source Position
    527
  - Floor
    528
  - Displaying Coordinate Axes
    532
  - Background Color
    532
  - Projection Type
    533
- Robot Display Settings
  534
  - Robot Information
    534
  - Robot Arrangement
    535
  - Robot Model
    536
  - Hand
    543
  - Robot Parts
    544
  - User Mechanism
    544
  - Collision Area
    546
  - Movement Area
    547
  - User-Defined Area
    548
  - Free Plane Limit
    549
  - Safe Monitoring
    550
- Hand Display Settings
  552
  - Hand Display Content
    552
  - Display Conditions
    554
  - Write TCP (Hand Tip)
    555
- Robot Parts Display Settings
  555
  - Robot Parts Display Content
    555
  - Display Conditions
    556
- User Mech. Display Settings
  557
- Spline Display Settings
  561
  - Opened Spline File
    561
  - Specified Spline File
    563
  - MXT File
    564
- Layout Object Display Settings
  565
- Layout Files
  573
  - Saving Layout Information
    573
  - Loading Layout Information
    574
  - Layout File Manager
    576
- Types of Robot Model
  578
- Interference Check
  579
- Moving the Robot by Clicking
  586
- Move the Robot by Grasping the Tool
  588
- Distance Measurement
  590
- XYZ Position Variables
  592
- Hand Design
  594
  - Hand File Manager
    594
  - Hand Editing Operations
    596
  - Hand Edit Tree
    596
  - Distance Measurement
    597
- Robot Parts Design
  598
  - Robot Parts File Manager
    598
  - Robot Parts Editing Operations
    599
  - Robot Parts Edit Tree
    599
  - Distance Measurement
    600
- Design of User Mechanism
  601
  - User Mech. File Manager
    601
  - Operation of Editing User Mechanism
    602
  - User Mech. Edit Tree
    602
  - Distance Measurement
    608
- Recording
  609
22 MELFA-3D Vision

612
23 I/O Simulator

613
- Simulator Settings
  613
- Signal Connection Edit Screen
  615
- Starting I/O Simulator
  619
- I/O Simulator Connection Status
  621
- Stopping I/O Simulator
  621
24 Document out

622
25 MELFA-Works

626
26 Melfarxm.ocx Communications Middleware Setup

627
- DVD-ROM Contents
  627
- User's Manual Reading Guide
  628
- Installation
  628
27 Appendix

630
- Copyright, Disclaimer
  644
  - Open Source Computer Vision Library
    644
  - Diff Template Library
    645

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