Page 1 Mitsubishi Electric Industrial Robots CR800/750/700/500 series RT ToolBox3 / RT ToolBox3 mini User's Manual (3F-14C-WINE/3F-15C-WINE) BFP-A3495-J...
Page 2 Safety Precautions Before using the robot, always carefully read the precautions below as well as the separate "Safety Manual" and take all necessary safety measures. A. These show precautions based on the Ordinance on Industrial Safety and Health (Articles 36, 104, 150, 151).
Page 3 B. This shows precaution points given in the separate "Safety Manual". For details, please read the text of the "Safety Manual". Use the robot in an environment that is within the range of its specifications. Failure Caution to do this can cause a drop in reliability and breakdown. (Temperature, humidity, atmosphere, noise, etc.) When transporting the robot, put it into its specified transport posture.
Page 4 Never make alterations on your own judgment or use maintenance parts other than Caution those designated. Doing so can cause breakdown and malfunctions. When moving the robot arm from the outside, never stick a hand or finger into an Warning opening.
Page 5 User's Manual Revision History Printing Date Manual No. Revision Contents 2017/03 BFP-A3495-* First edition 2017/06 BFP-A3495-A Corresponds to the Ver.1.01B (Refer to the software revision history.) 2017/10 BFP-A3495-B Corresponds to the Ver.1.10L (Refer to the software revision history.) 2018/04 BFP-A3495-C Corresponds to the Ver.1.20W (Refer to the software revision history.) 2018/08 BFP-A3495-D...
Page 6 Software Revision History Version Release Date Revision Contents 1.00A 2017/03 Initial release [Parameter] 1.01B 2017/06 Add the function of additional axis cooperative control parameters. [Workspaces] Add removing file history function. Change so that options can be set separately for each category. Add screen layout mode to option.
Page 7 Version Release Date Revision Contents [OS] Windows 10 IoT Enterprise 2016 LTSB is supported. [Communication setting] Added Ethernet (TCP/IP) to the communication path of CR800-R/CR800-Q. [Tool] Add preset request data to the oscillograph. [Parameter] Added parameter setting function of backup data. Added initial setting function of force sensor.
Page 8 Version Release Date Revision Contents [Product] Change the storage disc of product software to DVD-ROM. [Program] Added function that auto indent with sepcific commands. Added function that line break after instertion. Added function to set breakpoints during online editing Added function that batch editing of structure flags on XYZ position variables / work position variables batch editing screen.
Page 9 PREFACE Thank you for purchasing this MELFA Mitsubishi Electric industrial robot. This document is the user's manual for the MELSOFT "RT ToolBox3", "RT ToolBox3 mini" and "RT ToolBox3 Pro". This document will help you to maximize the functions of this software over a wide range of stages, from initial robot startup to program writing, editing, and management.
Page 10: Table Of Contents
Help Display ..........................3-52 3.4.1. Displaying language help ....................3-52 3.4.2. Displaying the instruction manual ..................3-52 3.4.3. Connecting to the Mitsubishi Electric FA site ..............3-54 3.4.4. Displaying version information .................... 3-54 3.5. Communication Server 2 ......................3-55 3.6.
Page 11 6.3. Minimizing the Ribbon ......................... 6-65 7. Docking Window 7-66 7.1. Moving and Placing Docking Windows ..................7-66 7.2. Aligning Side-by-side and Overlaying Docking Windows ............7-68 7.3. Minimizing Docking Windows ...................... 7-69 7.4. Resetting a Docking Window to Its Default Layout ..............7-69 7.5.
Page 12 11.4. Ribbon During Program Editing ....................11-123 11.5. Customizing the Display Position ..................... 11-126 11.6. Customizing Other Than the Display Position ................. 11-129 11.6.1. Displaying input candidates ....................11-129 11.6.2. White space display ......................11-130 11.6.3. Auto indent ........................11-130 11.6.4.
Page 13 12.2. Open file ..........................12-204 12.2.1. Opening a spline file saved on the computer ..............12-204 12.2.2. Opening a spline file saved in the robot controller ............12-204 12.2.3. Selecting and opening a spline file from the list .............. 12-205 12.3.
Page 14 13.9.5. Safety Logic ........................13-268 13.9.6. SOS Parameter ....................... 13-271 13.9.7. SLS ..........................13-272 13.9.8. SLP ..........................13-274 13.10. Additional Axis Cooperative Control Parameters ..............13-277 13.10.1. Base Coordinate Offset Data parameter ................. 13-277 13.10.2. Base Coordinate Cooperative parameter ................ 13-278 13.10.3.
Page 15 15.4.3. Flow of operations ......................15-347 15.4.4. Introduction ........................15-348 15.4.5. Communication settings....................15-348 15.4.6. Robot selection and parameter backup ................15-349 15.4.7. Selection of Revision parameter generation procedure ..........15-350 15.4.8. Program selection ......................15-351 15.4.9. Program reading and backup ..................15-352 15.4.10.
Page 16 18.3.3. Editing of existing parts ....................18-439 18.3.4. Copying/Pasting of parts ....................18-440 18.3.5. Movement of parts ......................18-441 18.3.6. Deletion of parts ......................18-442 18.3.7. Changing the page name ....................18-442 18.3.8. Edit of ruled lines ......................18-443 18.3.9. Display of user definition screen ..................
Page 17 21. 3D Monitor 21-504 21.1. Starting Up 3D Monitor ......................21-504 21.2. Change 3D Monitor Display Method ..................21-505 21.3. 3D Monitor Operations ......................21-506 21.3.1. List of operations ......................21-506 21.3.2. Zoom operation ........................ 21-506 21.3.3. Rotating the view ......................21-507 21.3.4.
Page 18 21.19.3. Hand edit tree ........................21-596 21.19.4. Distance Measurement ....................21-597 21.20. Robot Parts Design ......................... 21-598 21.20.1. Robot parts file manager ....................21-598 21.20.2. Robot parts editing operations..................21-599 21.20.3. Robot parts edit tree ......................21-599 21.20.4. Distance Measurement ....................21-600 21.21.
Page 19: Usage
1. Usage This explains precautions you need to know before using this software. 1.1. How to Use this Document The manual is in the DVD-ROM as the Adobe PDF file. D:/Doc/RT3Manual.pdf (Example for the DVD drive is “D :”.) For reading the manual in the DVD-ROM, Adobe Reader is required. If Adobe Reader isn’t installed, please download from the following Adobe Systems Incorporated URL (As of November, 2019) URL: http://www.adobe.com/...
Page 20: Items To Be Prepared By The Customer
Mitsubishi Electric series (for expansion serial interface (option)) For expansion option box (CR1-EB3) RS-AT-RCBL Mitsubishi Electric Table 1-2 CR800-R/CR800-Q/CR750-Q/CRnQ-700 Series Communication Cables Cables confirmed by Mitsubishi Electric to operate properly Method Description Model name Manufacturer ZUM-430 Loas Co., Ltd. USB-M53 Elecom Co., Ltd.
Page 21: Operating Environment
1.4. Operating Environment This explains the operating environment. 1.4.1. Connectable robot controllers This software can connect to the robot controllers shown below Table 1-3 Connectable Robot Controllers and Communications Types Robot controller Communications (*1) Remark CR800-D/CR750-D/ Commercial items such as computers and CRnD-700 series cables might be incompatible with our equipment or the FA environment such as temperature and...
Page 22: Computer System
1.4.2. Computer system This software operates on PC/AT compatible computers that meet the following specifications. Item Recommended environment Mini/standard edition: Intel® Core™2 Duo processor 2 GHz or faster recommended Standard edition: When multiple simulators are started up Intel ® Core™i7 series or faster recommended, VRAM 1 GB or more video card recommended Pro edition: Environment in which SolidWorks can run (64-bit OS only supported)
Page 23: Installation, Uninstallation
1.5. Installation, Uninstallation This section explains the method for installing the software and the method for uninstalling it. Caution Uninstall RT ToolBox3 before installing. If "RT ToolBox3" has already been installed in the personal computer, it is necessary to uninstall it before "RT ToolBox3"...
Page 24 2) Check the DVD-ROM drive name, then input "drive name":\Setup.exe. (If the DVD-ROM drive is "D:” input "D:\Setup.exe".) Figure 1-1 Specify the File Name and Execute With Windows Vista, when using the classic display. When not using the [Start] menu with the classic display, you can use the [Start] menu Search box instead of executing the [Run] command.
Page 25: Installation
Installation confirmation message for USB driver software (for Windows Vista) When “Always trust software from MITSUBISHI ELECTRIC CORPORATION” is checked, the alert We have confirmed operation at our company. No message will not be displayed after next time.
Page 26 If the dialog is shown, install this software again after you turn on ".NET Framework Version 3.5 (includes .NET 2.0 and 3.0)” feature as follows. (1) Be ready to connect the PC to the Internet. (2) Select [Programs] – [Turn Windows features on or off] from the Control Panel. (3) Check the [.NET Framework 3.5 (includes .NET 2.0 and 3.0)] check box on the Turn Windows features on or off screen and click [OK].
Page 27 (4) Select [Download files from Windows Update] when the following screen is shown. (5) This process is complete when the following screen is shown. 1-27 1-27...
Page 28: Uninstall
1.5.2. Uninstall Uninstall by the following method. Start uninstallation. - Windows XP Execute [Start] – [Control Panel] [Program Add and Delete]. From [Start] – [Control Panel], display the control panel and select "Add/Remove - Windows Vista Programs". Open [Start] – [Control Panel]. When not using the classic display Select the product to delete, then click the With [Control Panel] [Program], execute [Uninstall Program].
Page 29: Usb Driver (Cr800-D/Cr750-D/Crnd-700 Series Robot Controller) Installation
1.5.3. USB driver (CR800-D/CR750-D/CRnD-700 series robot controller) installation Connecting the CR800-D/CR750-D/CRnD-700 series robot controller by USB requires installation of the robot USB driver. Install by the following procedure. 1.5.3.1. When Using Windows XP Below is the installation procedure for the USB driver using Windows XP (Professional). 1) When you connect the computer and CR800-D/CR750-D/CRnD-700 series robot controller with a USB cable, the...
Page 30 Caution When the communication becomes unstable If you connect the computer and CR800-D/CR750-D/CRnD-700 series robot controller with a USB cable, the communication may become unstable due to noise. In this case, we recommend changing to LAN communication. If you cannot communicate with the CR800-D series robot controller with USB in Windows 7 (64-bit version) Please perform Windows Update and update Windows to the latest state.
Page 31: Crnq_R Communication Usb Driver Installation
1.5.4. CRnQ_R communication USB driver installation Connecting the CR800-R/CR800-Q/CR750-Q/CRnQ-700 series robot controller by USB requires installation of the robot USB driver. Install by the following procedure. Caution If the USB driver cannot be installed, check the following setting. If you have selected "Block-Never install unsigned driver software"...
Page 32 3) The screen on the left appears. Choose "Search for the best driver in these locations". Check "Include this location in the search" and set the “C:\Melsec\EasySocket\USBDrivers”. If volume MELSOFT products have been installed, browse the installation destination "EasySocket\USBDrivers" of the first installed product. After setting, click the [Next] button.
Page 33 1) The screen shown on the left appears when you connect the personal computer and Universal model QCPU by the USB cable. Select "Locate and install driver software (recommended)" and wait for the search to end. ↓ 2) The screen on the left is displayed. Select "Browse my computer for driver software (advanced)".
Page 34 5) The screen on the left appears, indicating completion of installation. Click the [Finish] button. ↓ (Completed) 1.5.4.3. When using Windows 7 / 8 / 8.1 / 10 The following indicates the procedure for installing the USB driver when using Windows 7 / 8 / 8.1 / 10 1) When "Control panel"...
Page 35 2) The screen on the left is displayed. Click the part circled in red in this screen. ↓ 3) The screen on the left is displayed. Click the part circled in red in this screen. ↓ 1-35 1-35...
Page 36 4) The screen on the left is displayed. Right-click “MELSEC” displayed on this screen. Select "Update Driver Software" in menu displayed upon right-clicking this item. ↓ 5) The screen on the left is displayed. Click "Browse my computer for driver software" on the bottom. ↓...
Page 37 6) The screen on the left is displayed, set to "C:\Melsec\Easysocket \USBdrivers". If multiple MELSOFT products have been installed, browse installation destination "EasySocket\USBDrivers" first installed product. After setting, click the "Next" button. ↓ 7) The screen on the left is displayed. Click "install".
Page 38: Crnq_R Communication Usb Driver For Got Transparent Function / Got Communication Installation
1.5.5. CRnQ_R Communication USB driver for GOT transparent function / GOT communication installation Connecting the CR800-R/CR800-Q/CR750-Q/CRnQ-700 series robot controller by USB via the GOT transparent mode (Bus, Direct coupled or Ethernet) and connecting the CR800-D/CR750-D/CRnD-700 series robot controller by USB via GOT communication requires installation of the USB driver for the GOT transparent function. Install by the following procedure.
Page 39 4) The screen on the left appears, indicating completion of installation. Click the [Finish] button to terminate installation. ↓ (Completed) If the USB driver cannot be installed, click the following setting. If you have selected "Block-Never install unsigned driver software" after [Control Panel] -> [System] -> [Hardware] ->...
Page 40: When Starting At The Same Time As Another Product
1.7. Upgrade of software It is possible to download the latest version from the MITSUBISHI ELECTRIC FA site where information on MITSUBISHI ELECTRIC Corporation FA equipment products is offered. https://www.mitsubishielectric.com/fa/ It is necessary to register as FA members to download software.
Page 41: Changes From Rt Toolbox2
2. Changes from RT ToolBox2 In RT ToolBox3, the following content has been changed from RT ToolBox2. 2.1. Changes to Save Format in Workspaces and Compatibility The save format for the layout settings for workspaces differ in RT ToolBox2 and RT ToolBox3. When a workspace saved in RT ToolBox2 is opened in RT ToolBox3, the layout that was last opened in the 3D monitor of the entire workspace, the robot layout, etc.
Page 42: Support Of Program Language Melfa-Basic Vi
In addition, a backup / restore function for projects in the personal computer has been added, enabling the environment within the robot controller (online) and the environment in the personal computer (offline / simulation) to cooperate as described below. Build environment of robot controller in personal computer. Reflect the contents set in the personal computer to the robot controller.
Page 43 Remember ｓ the display position and size of each screen. Figure 2-2 Memory of screen display position and size In RT ToolBox3, remembers the display position and size of each screen. Next time, the same screen is displayed with the same position and size as the previous time. Caution Please be careful, if initialized by this method, display position and size of all screens are initialized.
Page 44: Rt Toolbox3 Usage
3. RT ToolBox3 Usage This explains the usage of this software simply. 3.1. Starting RT ToolBox3 When you install this software, a shortcut is prepared on the desktop. Start RT ToolBox3 by double clicking this short cut. Figure 3-1 RT ToolBox3 Shortcut From [Start] button ->...
Page 45: Explanation Of Rt Toolbox3 Screens
3.2. Explanation of RT ToolBox3 Screens The composition of the main RT ToolBox3 screen is as follows. (1) Title bar (2) Ribbon (6) Screens (4) Property window The screen currently active (3) Project tree is displayed on top. (6) Screens (5) Individual function tree (7) Output window (8) Status bar...
Page 46 (1) Title bar Displays the name of the workspace currently being edited. Click to close RT ToolBox3. After the size is changed, you can close RT ToolBox3. Maximize/Minimize RT ToolBox3. Operations assigned to each icon can be performed. Minimize RT ToolBox3. (Save, Print, Change RT ToolBox3 Mode, and others) Displays the name of the workspace currently being edited.
Page 47 (3) Project tree This displays a list of all the projects registered in the workspace and by functions. From this tree, the program edit screen, monitor screen, etc. can be started. The project tree is a docking window. By dragging the title section with the mouse, you can dock the project tree at the top, bottom, left, or right edge of the main screen.
Page 48 (5) Individual function tree When a specific screen (e.g. 3D monitor) is displayed, this exclusive tree is displayed. When multiple trees are displayed, the displayed tree can be switched by selecting the desired tab. The window of the individual function tree is a docking window. For details on the docking window, refer to "7 Docking Window".
Page 49 (6) Screens This displays the screens that can be started from the project tree, including the program edit screen and monitor screen. The currently active screen is displayed on top. To close a screen, click the [ ] button in the upper-right corner of the screen. You can also change the screen size with the button in the upper-right of the screen.
Page 50 The exclusive context menu is displayed by right-clicking on the output window. The following operations can be performed from this menu. Menu item Description of operation Copy The text string within the selected range can be copied. The content displayed in the output window can be saved as Save As a .txt format file.
Page 51: Changes In Rt Toolbox3 Display Format
3.3. Changes in RT ToolBox3 Display Format The display language and display style of RT ToolBox3 can be changed. 3.3.1. Changing the display language The screen for changing the RT ToolBox3 display language can be changed by clicking the [Select Display Language] button in the [View] tab ->...
Page 52: Help Display
3.4. Help Display Explanations and information about RT ToolBox3 operation can be displayed in the Help display. 3.4.1. Displaying language help Help for each individual program language can be displayed by selecting from the [Help] tab -> [Language Help] drop-down menu on the ribbon. For details on program languages, refer to "10 Robot Programming Language Setting".
Page 53 Caution The [ ] button (display and jump to the manual page of this screen) on the title bar does not become effective on screens where tabs are not displayed. Depending on the software installation status of the personal computer, items related to the manual may not be displayed.
Page 54: Connecting To The Mitsubishi Electric Fa Site
3.4.3. Connecting to the Mitsubishi Electric FA site You can connect to the Mitsubishi Electric FA site by clicking the [Help] tab -> [Connect to FA Site] button on the ribbon. To be able to connect to the Mitsubishi Electric FA site, your personal computer environment must be able to support an Internet connection.
Page 55: Communication Server 2
3.5. Communication Server 2 When you start RT ToolBox3, "Communication Server 2" is started up as an icon. This Communication Server 2 has functions for connecting with a robot controller or, during a simulation, a virtual controller. Figure 3-11 Communications Server 2 as Icon Caution Do not close Communication Server 2 manually.
Page 56 Status Content Color Displayed when the communication port cannot be opened in the case of Communication RS-232 connection. This is not displayed in the case of TCP/IP Setting error connection Waiting Indicates the idling status displayed at the start of remote maintenance. Yellow (3) Communication State The contents of communication with the robot controller are displayed.
Page 57: Closing Rt Toolbox3
Caution Cautions on higher reliability communication by TCP/IP When connected higher reliability TCP/IP communication, connect only one line per port number. If two or more lines are connected to the same port number, a communication error may occur. 3.6. Closing RT ToolBox3 To exit RT ToolBox3, click the [Workspace] tab ->...
Page 58: Notes Of When Rt Toolbox3 Is Used With Iq Works (Melsoft Navigator)
4. Notes of when RT ToolBox3 is used with iQ Works (MELSOFT Navigator) There are some limitations when robot controller's workspace is made by using iQ Works (MELSOFT Navigator) or RT ToolBox3 is started from iQ Works (MELSOFT Navigator). Please refer to the following notes when you use iQ Works (MELSOFT Navigator).
Page 59: Notes Concerning Project Operation
Dropdown-menu of the Workspace (Online) Menu of [Workspace] Figure 4-1 Menu of [Workspace] and Dropdown-menu of the Workspace 4.3. Notes concerning Project operation It is not possible to delete, or and import a project. Notes 3-1： When RT ToolBox3 is started from iQ Works (MELSOFT Navigator), it is not possible to add a new project, import a project, or delete an existing project.
Page 60: Notes To Edit The Workspace Created By Iq Works(Melsoft Navigator)
Figure 4-3 Edit project 4.4. Notes to edit the workspace created by iQ Works(MELSOFT Navigator) Do not change the composition of the workspace created by iQ Works Notes 4-1： (MELSOFT Navigator). The composition (changing a workspace name, changing a title, adding a project, deleting a project or changing a project name) of the workspace made with iQ Works (MELSOFT Navigator) cannot be changed with RT ToolBox3 started from iQ Works (MELSOFT Navigator).
Page 61: Basic Functions
5. Basic Functions The basic functions of this software are shown below. Table 5-1 RT ToolBox3 Basic Functions Function Explanation Offline Targets files on the computer. Robot model Displays the model of the robot used. Program Displays the names of the robot programs written on the computer. SQ Direct Displays the SQ Direct files written on the computer.
Page 62 Function Explanation Position repair Supports recovery from home position deviation Password Setup Registers, changes, or deletes the password to limit controller access rights. Option card You can check information on option cards mounted in the robot controller. Tool Oscillograph The various robot controller data are displayed in a graph. DXF File Import Imports DXF files for conversion into robot program / spline files.
Page 63: Ribbon
6. Ribbon The ribbon is displayed at the top of the RT ToolBox3 screen. The various operations of RT ToolBox3 can be performed by selecting the commands provided on the ribbon. Figure 6-1 RT ToolBox3 Ribbon 6.1. Selecting the Tab The ribbon is divided into tabs which each correspond to a specific command.
Page 64 Help Commands for displaying language help for robot programs and the RT ToolBox3 Instruction Manual are available. 6-64 6-64...
Page 65: Tool Tip Display Of Ribbon Commands
6.2. Tool Tip Display of Ribbon Commands An explanation for a command is displayed by moving the cursor over the command on the ribbon. Figure 6-2 Tool Tip Display of Ribbon Commands 6.3. Minimizing the Ribbon Minimizing refers to collapsing the command display area of the ribbon so that only the tab name is displayed. By minimizing the ribbon, the area for displaying the editing screen, for example, can be increased.
Page 66: Docking Window
7. Docking Window Some of the windows displayed in RT ToolBox3 can be turned into a docking window and their display position can be customized as desired. The docking window can be placed at any position to the left, right, top or bottom of the main screen.
Page 67 The docking window is docked to the position indicated by the arrow by dropping the window over one of the marks. Figure 7-3 When a Docking Window Is Docked to the Bottom of the Main Screen 7-67 7-67...
Page 68: Aligning Side-By-Side And Overlaying Docking Windows
7.2. Aligning Side-by-side and Overlaying Docking Windows When a window is moved to a position where another window is already docked, the left, right, top or bottom arrow marks appear on the already docked window. Figure 7-4 When a Window Is Moved Over a Docked Window The docking window can be docked with it aligned side-by-side with the left, right, top or bottom of the docked window by dropping the window over one of the marks in this state.
Page 69: Minimizing Docking Windows
7.3. Minimizing Docking Windows A docking window can be collapsed (minimized) by clicking the pin displayed at the top right of the respective docking window. By minimizing a docking window, the area for displaying the editing screen, for example, can be increased.
Page 70: Screen Layout Mode Of The Docking Window
7.5. Screen Layout Mode of the Docking Window In the [Screen Layout Mode] on [Option] on the [General] screen, you can set whether to keep the layout of the docking window for each workspace or always open it in the same layout. Since the initial value is "Workspace", you need to select "Account"...
Page 71: Workspaces And Projects
8. Workspaces and Projects This describes workspaces and projects. 8.1. Workspaces and Projects This software has workspaces and projects. The information for one controller is managed as one project. A workspace can manage up to 32 projects. If Ethernet is used for communication, you can simultaneously reference information on multiple projects (robot controllers) registered in the workspace.
Page 72 Caution You cannot edit multiple workspaces at the same time. With this software, you cannot edit multiple workspaces at the same time. Register to a single workspace all the projects (controllers) you want to reference at the same time. Simultaneous connection with 32 units The maximum of 32 robot connections is a theoretical value.
Page 73: Creating A New Workspace
8.2. Creating a New Workspace Click the [Workspace] tab -> [New] button or click the [Home] tab -> [Workspace] group -> [New] button on the ribbon. The New Workspace screen is displayed. Input the workspace name and title, and then click the [OK] button. The Edit Project screen is displayed, so set the project name (as desired), the communication method, and the robot model for offline (both are the information of the robot that you want to connect.), then click the [OK] button.
Page 74: Opening An Existing Workspace
8.3. Opening an Existing Workspace To open an already created workspace, click the [Home] tab -> [Workspace] group -> [Open] button on the ribbon. Select the workspace to edit and click the [OK] button. Figure 8-4 Opening a Workspace The name of the last used workspace is added to the [Workspace] tab on the ribbon. You can open one of these workspaces by clicking its name here.
Page 75: Open The Rt Toolbox2 Workspace
8.4. Open the RT ToolBox2 Workspace As with the “8.3Opening an Existing Workspace”,you can open the workspace of RT ToolBox2. When RT ToolBox 2 workspace is opened with RT Toolbox 3, a dialog is displayed to confirm whether to use RT Toolbox 2 parameters for the first time only.
Page 76: Deleting A Workspace
8.6. Deleting a Workspace Click the [Home] tab -> [Workspace] group -> [Delete] button on the ribbon. The "Delete Workspace" screen is displayed. Check the name of the workspace to delete, and then click the [OK] button. Figure 8-7 Deleting a Workspace Caution Deleting a workspace When deleting a workspace, close that workspace.
Page 77: Changing A Workspace
8.8. Changing a Workspace Workspace names and workspace titles can be changed directly. Caution Don’t change workspace names and workspace titles made with iQ Works (MELSOFT Navigator). Don’t change workspace names and workspace titles made with iQ Works (MELSOFT Navigator). Changing the structural informationof a workspace will break its conformance with iQ Works (MELSOFT Navigator).
Page 78: Adding A Project
8.9. Adding a Project You can create up to 32 projects in one workspace. Click the [Home] tab -> [Project] group -> [Add] button on the ribbon. Figure 8-10 Adding a Project A screen in Wizard format for setting protect details is displayed. Set the project name, information of the robot to connect to and communication method in each of the pages of the Add Project screen, and then click the [Finish] button.
Page 79: Step 1. Outline
The following describes the details that are set in each of the pages of the Add Project screen. 8.9.1. Step 1. Outline Set the project name. Any optional comments can be set to projects. Figure 8-12 Add Project Screen (Step 1. Outline) 8.9.2.
Page 80: Step 3. Communication
8.9.3. Step 3. Communication Set up communication with the robot controller to connect to the robot. The network setup set on the personal computer can be copied to this screen by clicking the [Copy This PC Setting] button. For details on how to set the communication method, refer to "9.2 Connection Settings". Figure 8-14 Add Project Screen (Step 3.
Page 81: Step 5. Travel Axis
8.9.5. Step 5. Travel axis Set the travel base to be displayed in the 3D monitor. For details, refer to "9.2.6 Travel base setting for display". Figure 8-16 Add Project Screen (Step 5. Travel axis) 8.9.6. Step 6. Robot Additional Axis Sets how to use the additional axis.
Page 82: Step 7. Tool
8.9.7. Step 7. Tool Set the parameters of the tool of Robot 1. For details, refer to "13.3.5 Tool parameter". Figure 8-18 Add Project Screen (Step 7. Tool) 8.9.8. Step 8. Weight and Size Set the parameters of the “Work” and “Hand and Weight” of Robot 1. For details, refer to "13.3.4 Weight and size parameters".
Page 83: Transfer Offline Parameters To Robot Controller
8.10. Transfer offline parameters to robot controller The information setting on edit project screen is registered in the offline parameter. The offline parameters can be transferred to the robot controller by the following two methods. Method(1) Back up the project in offline mode. After changing the online mode, restore the backed up project.
Page 84 Figure 8-21 Parameter transfer procedure 8-84 8-84...
Page 85: Change Of The Operation Mode After Adding The Project
8.11. Change of the operation mode after adding the project After completed adding the project, a message of confirm about change the operation mode is displayed. By click the [Online] button or [Simulation] button, you can change the operation mode in the RT ToolBox3. If you don't want to change the operation mode, please click the [Cancel] button.
Page 86: Editing Projects
8.12. Editing Projects You can edit the details of a project once it has been created. Click the project name with the mouse right button, and click [Edit Project] in the right button menu. The Edit Project screen in the same screen configuration as the Add Project screen is displayed. In this screen, edit the project settings, and then click the [Finish] button.
Page 87: Deleting A Project
8.13. Deleting a Project A project cannot be deleted when it is running a simulation or has a robot connected online. Click on the project you want to delete and press the Ctrl key while in batch delete and select it. Click "Delete Project"...
Page 88: Contents Of Project Tree
8.14. Contents of Project Tree A project tree shows the current workspace's project configuration in a hierarchical manner. You can start all functions from the project tree, including program editing, monitoring, etc. The contents of the project tree depend on the state of connection with the robot controller. Items are displayed for (1) Offline each project.
Page 89: Copying Programs Between Projects
Memo It is possible to change the display order of the projects in the tree. It is possible to change the display order of the projects in the tree. Drag the project with the mouse, and drop it at the transportation destination. The project will move to the top of the dropped project.
Page 90: Importing Projects
8.16. Importing projects It is possible to import projects in other workspaces to the current workspace. The project can be imported only offline. Please operate after changing to offline when current mode is online or simulation. Caution Don’t import a project to a workspace made with iQ Works (MELSOFT Navigator).
Page 91: Option Setting
8.17. Option Setting RT ToolBox 3 has options that allow you to customize the type of operation panel and the background color of program editing, etc. The options that can be set are as follows. Table 8-1 What you can set with options Category Option Item Contents...
Page 92: Offline/Online/Simulation
8.18. Offline/Online/Simulation The project statuses are offline, online, and simulation. The meaning of each status and the contents displayed in the project tree are shown below. Table 8-2 RT ToolBox3 Status Status Explanation Project tree display Offline Targets files stored on the computer. In the offline mode, the icon displayed at left of the project name in the project tree is green, and Offline, Backup and Tool are displayed in the project tree.
Page 93 The current status and the statuses into which the current status can be switched are as follows: Table 8-3 Current Status and Switchable Status Current status Switchable statuses Title Bar Display Ribbon [Home] Tab Display Offline Can be switched to online or simulation.
Page 94: Connecting To The Robot
9. Connecting to the Robot This explains the method for connecting the robot controller and the computer. With this software, you must make the communication settings for each project. Caution Do not pull out the cable during communication. Please never pull out the cable during communication with the robot controller. If the communication cable is removed during communication, the status of the robot controller or the computer might become abnormal.
Page 95 (*2) For details on the communication settings on the robot controller side for CR800-R/CR800-Q/CR750-Q/CRnQ-700 series controllers, see "Detailed explanations of functions and operations" and "Standard Specifications" in the user's manual for the robot controller. Moreover, use the “GX Developer” to set the PLC communication settings. (*3) For details on the Ethernet connections on the robot controller side for CRn-500 series controllers, see the "Ethernet Interface Option User's Manual".
Page 96: Connection Settings
9.2. Connection Settings Click the name of the project to display the project tree for with the right button of the mouse, then from the right button menu, click [Edit Project]. The project edit screen is displayed. Set connection settings in the "Step 3. Communication"...
Page 97: Usb Communication Settings
9.2.1. USB Communication Settings Figure 9-2 USB Communication Settings Table 9-2 USB Communication Setting Items and Default values Item Explanation Default value Send timeout Timeout time for sending Settable range 5000 msec Minimum value : 1000 msec Maximum value : 30000 msec Receive timeout Timeout time for receiving Settable range...
Page 98: Tcp/Ip (Ethernet) Communication Settings
9.2.2. TCP/IP (Ethernet) Communication Settings Input the IP address assigned to the robot controller connected to, then click the [OK] button. Figure 9-3 TCP/IP Communication Settings Table 9-3 TCP/IP Communication Setting Items and Default Values Item Explanation Default value IP address Sets the IP address of the connected robot controller.
Page 99 Caution Cautions when connecting to a CRn-500 robot controller by Ethernet In the program edit function, change “Receive timeout” and “Retries” in the TCP/IP communication settings when all of the following use conditions apply, and the program is written to the robot controller. <<...
Page 100: Communication Settings
9.2.3. RS-232 Communication Settings Change the RS-232 communication settings to match the robot controller side communications settings. RS-232 communication can be used when connecting to a CR700 or CR500 series controller. Figure 9-4 RS-232 Communication Settings Table 9-4 RS-232 Communication Setting Items and Default Values Item Explanation Default value...
Page 101: Got Communication Settings
9.2.4. GOT Communication Settings GOT communication is a communication method that uses the RS-232 and USB interfaces on GOT to establish a connection when a CR800-D/CR750-D/CRnD-700 series controller or GOT2000/1000 series is connected by Ethernet. Figure 9-5 GOT Communications Settings Table 9-5 GOT Communication Setting Items and Default Values Item Explanation...
Page 102: Crnq_R Communication Settings
9.2.5. CRnQ_R Communication Settings CRnQ_R communication is a method to connect with a CR800-R/CR800-Q/CR750-Q/CRnQ-700 series controller by using a RCPU, a PLC Universal model QCPU module or a PLC Ethernet Interface module. When using RS-232 or USB, connect to the connector of the PLC Universal model QCPU module. When using Ethernet, connect to the connector of the PLC RCPU, Ethernet Interface module or Built-in Ethernet port QCPU.
Page 103 9.2.5.1. When RS-232 is selected When "RS-232" is selected as the computer interface, the communications routes that can be selected are as follows. Table 9-6 Communication Routes That Can Be Selected for "RS-232" Communications routes Serial communication CPU unit connection Serial communication Serial communication other station access via CPU unit Serial communication NET/-0(H) other station access via CPU unit Serial communication CC-Link other station access via CPU unit...
Page 104 Figure 9-7 RS-232 (Serial Communication NET/10(H), CC IE through CPU Unit – CCLink Other Station Access) Detailed Settings "(5) Network communication route setting of MNET/10" and "(6) Coexistence network route setting of C24" may not be settable depending on the network route selected. GOT (Ethernet) transparent mode, display the setup screen by clicking the “Setting”...
Page 105 9.2.5.2. When USB is selected When "USB" is selected as the computer interface, the communications routes that you can select are the same as for RS-232. See "Table 9-6 Communication Routes That Can Be Selected for "RS-232"". Figure 9-8 USB (Serial Communication NET/10(H), CC IE through CPU Unit –...
Page 106 9.2.5.3. When NET/10(H), CC IE is selected It is possible to communicate using the "CC-Link IE controller network port" or "CC-Link IE field network port" newly established in the QnCPU. When "NET/10, CC IE" is selected as the computer interface, the communications routes that you can select are as follows.
Page 107 9.2.5.4. When CC-Link is selected When "CC-Link" is selected as the computer interface, the communications routes that you can select are as follows. Table 9-8 Communication Routes That Can Be Selected for "CC-Link" Communications Route CC-Link board communication Other station access via CC-link unit CC-Link board communication CC-Link via CC-link unit –...
Page 108 9.2.5.5. When Ethernet is selected When "Ethernet" is selected as the computer interface, the communications routes that you can select are as follows. Table 9-9 Communication Routes That Can Be Selected for "Ethernet" Communications Route Special mention Ethernet board communication Access other station via Ethernet module Ethernet board communication Access Ethernet-serial communication other station via Ethernet module Ethernet board communication Access Ethernet-CC-Link other station via...
Page 109 Caution CR800-R series controller has some communication paths that are not supported. CR800-R does not support the communication routes from “4. Ethernet port direct communication PLC module connection” to “6. Ethernet port direct communication Access CC-Link other station via PLC module”...
Page 110 9.2.5.6. When Q series bus is selected When the "Q series bus" is selected as the computer interface, the communication route that can be selected is as follows. Table 9-10 Communication Route That Can Be Selected with the "Q Series Bus" Communications Route Q bus communication CPU unit connection Figure 9-12 Q Series Bus (Q Bus Communications CPU Unit Connection) Detailed Settings...
Page 111: Travel Base Setting For Display
9.2.6. Travel base setting for display Set the traveling axis for display. The travel axis is set in Step 5. of the "Add/Edit Project" screen. Figure 9-13 Travel base setting for display 9.2.6.1. Travel base setting Set the travel base that is displayed in the [Travel axis] field of this screen. Up to two travel bases can be used simultaneously.
Page 112 Travel direction: Travel direction: X +direction X -direction Travel direction: Travel direction: Y +direction Y -direction Travel direction: Travel direction: Z +direction Z -direction Figure 9-14 Travel direction (When setting the J8 axis to the traveling axis) 9-112 9-112...
Page 113 9.2.6.2. Robot additional axis parameter setting Click the [Set the parameters of the additional axis] button. The content set to [Travel axis] is applied to the robot additional axis parameters of the simulation. Note that parameters are not automatically set if the above button is not clicked.
Page 114: Robot Programming Language Setting
10. Robot Programming Language Setting Select the robot program language that is used. The languages you can select are as follows. Table 10-1 Robot Programming Languages for Each Controller Robot program language Robot controller Movemaster MELFA-BASIC VI MELFA-BASIC V MELFA-BASIC IV commands CR800-D/CR800-R/ ○...
Page 115: Writing Programs
11. Writing Programs This chapter explains robot program editing methods. You can directly edit programs in the robot controller or edit programs stored on the computer. Caution Program names that cannot be handled by the computer If a program name in the robot controller is the same as a "reserved term" in Windows, when you try to open that program for program editing, an error will result In this case, it is necessary to change the program name in the controller.
Page 116: Writing A New Program
11.1. Writing a New Program 11.1.1. Writing a new program on the computer For the new program you are going to write, select [Offline] -> [Program], then click the right mouse button. The right button menu is displayed, so click [New]. Figure 11-1 Writing a New Program on the Computer Input the robot program name, then click the [OK] button.
Page 117: Writing A New Program In The Robot Controller
11.1.2. Writing a new program in the robot controller Select [Online] or [Simulation] -> [Program] for the new project to be created, and click the mouse right button. The right button menu is displayed, so click [New]. Figure 11-2 Writing a New Program in a Robot Controller Input the robot program name, then click the [OK] button.
Page 118: Opening An Existing Program
11.2. Opening an Existing Program 11.2.1. Opening an existing program on the computer Open the target project in the project tree with [Offline] -> [Program]. The stored programs are displayed on the project tree, so double click the program you want to edit. Figure 11-4 Opening a Program on the Computer 11.2.2.
Page 119: Read Items When Opening Program In Robot Controller
11.2.3. Read Items when opening program in robot controller You can set the robot program read items divided into command lines, position variables, and program external position variables. This function is displayed after H1 edition on CRn-500 series controller. The default values of read items are as follows. Figure 11-6 Read Items The program external position variable read operations are shown in "Table 11-1 Program External Position Variable Read Operations".
Page 120: Editing A Program In The Backup Data
11.2.4. Editing a program in the backup data Program data backed up on the personal computer by the backup function can be edited in the Edit Program screen. Open the target project in the project tree under [Backup]. Select the backup data (All files or Program) stored the program you want to edit.
Page 121: Explanation Of Program Edit Screen
11.3. Explanation of Program Edit screen This explains the program edit screen. Command editing Move the border line screen up and down Position variable edit screen Drag title "position" or tab "XYZ"/"Joint”/”Work coordinate” 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.
Page 122 To change the position dividing the top and bottom screens, drag the border line with the mouse. Also, the display position of each editing screen can be changed by dragging the title "position" or tab "XYZ"/"Joint"/"Work coordinate". This is handy when you want to expand the command edit screen, for example because there are many lines of commands.
Page 123: Ribbon During Program Editing
11.4. Ribbon During Program Editing During program editing the "File", "Edit", "Debug" and "Tool" tabs are displayed on the ribbon. Figure 11-9 Ribbon During Program Editing The button in each of these tabs are as follows. Group Button Explanation Menu item Home Print...
Page 124 Group Button Explanation Menu item Separate Separates and displays the command editing 11.5 screen. Collapse all Collapses and displays all command blocks. 11.7.4.23 Expand all Expands and displays all command blocks. 11.7.4.23 Position variable Add a position variable. 11.7.3.1 Edit Edit the selected position variable.
Page 125 Group Button Explanation Menu item Start/Stop Debug start Reopens the program being edited in the debug 11.11.1 mode. Debug stop Reopens the program in the debug mode in an 11.11.6 editable state. Breakpoint Set... Sets a breakpoint in a program opened in 11.11.4 debugging status.
Page 126: Customizing The Display Position
11.5. Customizing the Display Position The separation position of the screen can be customized by dragging the border line between the command editing screen and the position variable editing screen. Move the border line up and down Move the border line up and down Figure 11-10 Customizing the Screen Separation Position by the Border Line 11-126...
Page 127 The separation position of the command editing screen can be customized by clicking the [Edit] tab -> [Command line] group -> [Separate] button on the ribbon. The separation position of the command editing screen can also be customized by dragging the " " or border line on the scroll bar in the command editing screen.
Page 128 You can customize the position editing screen itself and the display position of the XYZ data/joint data/work coordinate data of the position editing screen by dragging each of the "Position", "XYZ"/"Joint"/"Work coordinate" title and tabs in the position editing screen. Drag Drag Drag...
Page 129: Customizing Other Than The Display Position
11.6. Customizing Other Than the Display Position The program editing screen can be customized in various ways such as the syntax check before saving and color-coding of reserved terms in the robot program that is displayed in the command edit area. With the program opened, click the [Tool] tab ->...
Page 130: White Space Display
11.6.2. White space display Space in the command edit area can be replaced with visible text and displayed. Unchecked Checked Figure 11-15 Setting White Space Display 11.6.3. Auto indent The edit starting digit after the Enter key is pressed in the command edit area can be automatically aligned with the previous line.
Page 131 11.6.3.1. Auto indent with specific commands Insert/align indent when there is a specific command line break in the command edit area. This function can be used only when "11.6.3Auto indent" is valid. Insert indent Align indent Click Enter Click Enter Insert indent for the number of characters The beginning position of the specified in "11.6.3.2Number of indent...
Page 132 11.6.3.2. Number of indent characters You can set the number of characters when indenting is inserted in a specific command statement between 1 and 8 characters. Indent number of characters is 4 Click Enter Insert 4 characters of indentation Figure 11-2 Number of indent characters 11-132 11-132...
Page 133: Command Format Hints
11.6.4. Command format hints You can use pop-up hint display to display the format for the robot program command, system functions, and system status variables displayed in the command edit area. The format and description corresponding to the selected input candidate are displayed Figure 11-17 Command Edit Area Command Format Hint Display Settings 11.6.5.
Page 134: Convert Blank Lines To Comments
11.6.6. Convert blank lines to comments Insert the comment (" ' ") for a blank line when saving the program or checking the syntax. Please use if you don't want to automatically delete blank lines . Save, syntax check Unchecked Checked operation, etc.
Page 135 Save, copy, move, etc. Unchecked Checked Omit line number save Figure 11-20 Save a progrma in the form of no line number The saved document format is as follows Command line label Command line content Position variable label Content position variable Figure 11-21 Save a progrma in the form of no line number Points to note are as follows...
Page 136: Line Break After Insertion
Only for MELFA-BASIC V / MELFA-BASIC VI. When a program saved without line numbers format is copied to a project other than the MELFA-BASIC V or MELFA-BASIC IV, the line number is automatically set. Do not erase the tag indicating the command line / position variable. The program can not be read normally. 11.6.8.
Page 137: Character Colors
11.6.9. Character colors You can assign the colors for displaying robot program command, system functions, and system status variables displayed in the command edit area. Click the item of the color you want to change on the option screen, the [...] button is displayed at the right end. When you click the […] button, the color setting screen is displayed.
Page 138: Setting The Background Color Of The Program Editor
11.6.11. Setting the background color of the program editor It is possible to set the background color of the command area in the program editor. For details on how to set the color, refer to “11.6.9 Character colors”. Figure 11-24Setting the background color of the program editor. Caution Please note that it is easy to mistake off-line and online, etc., if the same color is used by the background color.
Page 139: Get Current Position
11.6.13. Get current position When adding a position variable, the current position can be retrieved automatically if connected to the robot. At this time, a confirmation message will be displayed if "Display the Message when Get the Current Position" is checked. Figure 11-26 Setting the get current position.
Page 140: Program Editing
11.7. Program Editing This section explains how to edit programs created with MELFA-BASIC V or MELFA-BASIC VI. For RT ToolBox3 command statement edits can be input in the same way as with a general editor like Notebook. 11.7.1. MELFA-BASIC V / MELFA-BASIC VI command statement editing When using MELFA-BASIC V or MELFA-BASIC VI to create a program, the program does not have line Nos.
Page 141: Melfa-Basic Iv And Movemaster Command Command Statement Editing
11.7.2. MELFA-BASIC IV and Movemaster command command statement editing When writing a program using MELFA-BASIC IV or Movemaster commands, step numbers like those of MELFA-BASIC V / MELFA-BASIC VI are not displayed. Input the line number at the front of the command statement. Figure 11-30 MELFA-BASIC IV Command Edit screen Caution For MELFA-BASIC IV and Movemaster commands, input line numbers.
Page 142: Position Variable Editing
11.7.3. Position variable editing Position variables are edited on the position edit screen. Clicking the "XYZ" tab switches to the list of XYZ coordinate type variables, and clicking the "Joint" tab switches to the list of joint coordinate type variables and clicking the "Work coordinate"...
Page 143 Kinds of position variable that can be used differ depending on the robot program language. The kinds that can be used in each robot program language are as follows. 11-3 Kinds of position variable that can be used in each robot program language Kinds of variable that can be used Robot program language Position type...
Page 144 11.7.3.1. Adding/changing position variables To add a position variable, select one of the list of XYZ/joint/work coordinate type variables, and click the [Add] button on the program edit screen or click the [Add] button in the [Edit] tab -> [Position Variable] group from the ribbon.
Page 145 There are two ways of changing the position variable. [Method (1)] Directly change the list Select the cell you want to change on the list, and enter the value directly. Select cell and enter the value directly Figure 11-36 Changing the Position Variable by Directly Editing the List [Method (2)] Change in the Edit Position data screen Select the target position variable to be changed from the list and click the [Edit] button on the program edit screen or click the [Edit] button in the [Edit] tab-[Position Variable] group from the ribbon.
Page 146 Figure 11-38 Getting the Current Position Caution To add a position array variable, specify the array name and element number in the variable name. Also, when writing to a robot, be sure to write the Dim declaration in the statement. If there is no Dim declaration, an error will occur in writing to the robot controller.
Page 147: Edit Assist Functions
Caution To delete a position array variable, delete the command statement. "Dim" declaration. With this software, even if a position variable is deleted, if a program with a "Dim" declaration is written to a robot controller, the position array variables declared with the "Dim" are left at 0 for all their components.
Page 148 11.7.4.5. Pasting Position Variables Pastes the copied position variable. Activate the program to paste the position variable to, and click the [Edit] tab -> [Position variable] group -> [Paste] button on the ribbon. The copied position variable is inserted in the designated program. At this time, if there is already position data with the same name in that program, a confirmation message is displayed.
Page 149 11.7.4.7. Find in Files This searches for the specified character string in the "Online" or "Offline" program files registered in the current project. Click the [Edit] tab -> [Find/Replace] group -> [Find in Files] button on the ribbon. The find in files screen is displayed.
Page 150 11.7.4.8. Replace This replaces the specified character string with another character string. Click the [Edit] tab -> [Find/Replace] group -> [Replace] button on the ribbon. The Replace Screen is displayed. Figure 11-44 Replace Screen [Find Next] Searches for the next instance of the character string to be replaced. [Replace] Replaces the found character string.
Page 151 11.7.4.10. Jump to label / procedure definition line If you left-click while holding down the [Ctrl] key for the label name or the procedure name of the instruction editing area, jump to the corresponding definition line. The robot program language corresponding to this function is as follows. Table 11-4 Job correspondence table for robot program language Program Language...
Page 152 11.7.4.12. Transfer all lines of the program Write the all lines of the program to the robot controller. With the program opened, click the [Edit] tab -> [Transmission] group -> [All] button on the ribbon. After displaying the confirmation message, and then click “Yes”. 11.7.4.13.
Page 153 11.7.4.14. Command template You can display a list of the commands and make insertions on the program command edit screen. Click the [Edit] tab -> [Command line] group -> [Template] button on the ribbon. Figure 11-50 Command Template When you select the template for the selected command from the list, then either click the [Insert Template] button or double click, the command is inserted onto the program command edit screen.
Page 154 11.7.4.15. Program template You can create a program template containing comments or commands and insert them into the program being edited. 11.7.4.15.1 Create a program template When creating a program template, click the [File] tab on the ribbon -> [Insert/Edit] in the [Program Template] group to start the program template editing screen.
Page 155 11.7.4.15.2 Insert program template You can insert the program template into the program being edited. The template can be inserted into the program by clicking the template name from the [File] tab of ribbon-> [Insert/Edit] drop-down menu of the [Program Template] group. Figure 11-5 Insert program template file Caution Program template can only be used after MELFA-BASIC V.
Page 156 11.7.4.16. Batch editing of XYZ position variables and joint position variables You can batch-change the position variables in the program being edited and can batch-sum all the values. For example, you can add 10.00 to the X components of the P00, P01, P02, P03, and P04. To perform batch editing using XYZ type position variables, click the [Tool] tab ->...
Page 157 11.7.4.17. Renumbering The renumbering function can only be used with MELFA-BASIC IV and Movemaster commands. You can renumber line numbers in a batch. You can specify a range for renumbering. With the setting dialog, you can specify the start and end line numbers, the new starting line number, and the line number interval.
Page 158 11.7.4.19. Comment Selection/Uncomment Selection The selected lines are exchanged as a comment by the batch. Or the comments in the selected lines are removed comment by the batch. In the command edit area, select the line to output comments from, and click the [Edit] tab -> [Comment] group -> [Comment] button on the ribbon.
Page 159 11.7.4.20. Removing comments from all lines in the program It is possible to remove comments from all lines in the program. Click the [Edit] tab -> [Comment] group -> [Remove all] button on the ribbon. All comments in the program are removed except "’" (single quotation) and "Rem" commands. Remove comments from all line Figure 11-55 Removing comments from all lines in the program Caution...
Page 160 11.7.4.21. Automatically aligning comment start positions All comment start digits currently set in the program being edited can be automatically aligned. Click the [Edit] tab -> [Comment] group -> [Arrange all] button on the ribbon. The start digits of all comments in the program are automatically aligned to the position that was set in the [Alignment comments start pos] dialog.
Page 161 11.7.4.22. Bookmark You can make the cursor jump to a line set with a bookmark later by setting a bookmark to a program being edited. This feature is handy for temporarily making a note of lines in the process of being edited and label lines at jump destinations.
Page 162 11.7.4.23. Collapsing command blocks When the program being edited contains a command block or a procedure, blocks can be displayed in an easier-to-view format as " " (expand state) or " " (collapsed state). The display can be changed to a collapsed state or expand state by clicking button.
Page 163: Position Jump
11.8. Position jump It is possible to move the robot to a registered position variable with a specified interpolation movement. This function is available when the program is being edited in the online or simulation mode. The pair of robot model and robot controller software version that this function can use is as follows. However when the program is in the simulation/debug state, you can use this function regardless of the following.
Page 164 [Position Variable] group from the ribbon. (4) Fine adjust the coordinate to be moved. By click the [Offset Reset] button, you can return the input value of the offset to 0. (5) Select the interpolation movement. (MOV: Joint interpolation movement, MVS: Linear interpolation movement, Direct movement (only for simulation)) (6) Click the [Move] button.
Page 165: Saving Programs
11.9. Saving Programs Always save the edited program. There are three methods for saving: saving, saving to computer, and saving to robot controller. Caution Do not write a program with duplicate step numbers to the controller. Even programs with duplicate step numbers or that are still being edited and are not yet syntactically correct can be saved on the computer.
Page 166: Saving On Computer
11.9.2. Saving on computer Saves the program being edited to the computer. At this time, you can set a new program name. Click the [File] tab -> [Save] group -> [Save As -> PC...] button on the ribbon. Figure 11-62 Saving on Computer Input the robot program name, and then click the [OK] button.
Page 167: Saving In Robot Controller
11.9.3. Saving in robot controller Saves the program being edited to the robot controller under a new name. You can set a new program name at this time. Click the [File] tab -> [Save] group -> [Save As -> Robot...] button on the ribbon. The "Save Items" setting screen is displayed, so set the save items, then click the [OK] button.
Page 168: Save As Template
11.9.4. Save as template Save the edited program as a template. At this point, the program name can be newly created. Click [File] → [Save] group on the ribbon - [Save As Template]. Figure 11-6 Save as template Enter the program template name and click [OK]. Caution About the computer cannot process the template name.
Page 169: Items Written When Saving In Robot
11.9.5. Items written when saving in robot When saving a robot program in a robot controller, write items can be set by categorizing them into instructions, position variables and program external position variables. This save item default values for when you have read a robot controller program are the same as the "Read Items" when you read the program.
Page 170 Caution Timing at which program external position variables are written. The timing at which the program external variables can be backed up is at the next time the power supply is turned ON. Turn on the controller power again to use the program external position variable written in the controller.
Page 171: Program Printing
11.10. Program Printing You can print programs you have written. 11.10.1. Checking a print image You can display a print image of the program on the screen. Activate the program to print, and click the [Home] tab -> [Print] group -> [Print preview] button on the ribbon. The print image for currently active program is displayed.
Page 172 11.10.3.1. Position variable formatting You can print position variables in the program to print formatted in an easy-to-view format the same as the screen. Checked Unchecked Figure 11-66 Printing Position Variables with Formatting 11-172 11-172...
Page 173 11.10.3.2. Variable list Variable names and comments can be extracted from the program being edited and printed as a variable list. Figure 11-67 Printing the Variable List 11-173 11-173...
Page 174: Program Debugging
11.11. Program Debugging You can debug robot programs you have written. Caution Debugging is for programs on a controller or on a virtual controller with a simulation running. When debugging, use a program on a controller or on a virtual controller with a simulation running. You can not debug a program stored on a computer.
Page 175 [Method (2)] Migrating the program being edited to the debug mode During editing of the program, click the [Debug] tab -> [Start/Stop] group -> [Debug start] button on the ribbon. The program being edited will be saved once and then will migrate to the debug mode. Figure 11-69 Migrating the Program Being Edited to the Debug Mode Once a program is opened in the debug mode by either of these methods, the execution line cursor "...
Page 176: Executing Programs Step By Step
11.11.2. Executing programs step by step Danger In program debugging, the robot may operate at 100% speed. Pay attention to safety around the robot. Also, keep a T/B handy and use the robot in a status in which an emergency stop can be made at any time. A program that has been opened in debugging status can be run step by step.
Page 177: Setting And Deleting Breakpoints
Figure 11-72 Command Line Insertion (Online) (3) Delete command line You can delete the specified command line. Click the line to delete the command statement from with the mouse, and click the [Edit] tab -> [Debug edit] group -> [Delete] button on the ribbon. The confirmation screen for the command line deletion is displayed. Figure 11-73 Confirming Command Line Deletion (4) Edit position variables For details on the method for editing the position variable, see "11.7.3 Position variable editing".
Page 178: Set A Breakpoint
Caution Breakpoints are available only with MELFA-BASIC V and MELFA-BASIC VI. 11.11.5. Set a Breakpoint Set a Breakpoint Set a breakpoint by the following procedure. Move the cursor to the command line where you want to set a breakpoint, click [Debug] -> [Breakpoint] group->...
Page 179: Ending Debugging
11.11.6. Ending debugging When debugging is finished, click the " " button at the top right of the program edit screen opened in the debug mode or the [Debug] tab -> [Start/Stop] group -> [Debug stop] button on the ribbon to close the program. When debugging is stopped by the [Debug] tab ->...
Page 180: Set / Release Read Protection
11.12. Set / Release read protection If you set read protection in the robot program, you can make sure a third party can’t read it easily. This function is available in controller software Ver.R5n/S5n or later of CR750-D/Q and CRnD/Q-700 series and all controller software versions of CR800D/R/Q series.
Page 181: Program Management
11.13. Program Management You can copy, move, delete, compare the contents of, rename, and set protection for robot programs. From the project tree, select the target project program, then click the right mouse button. The right button menu is displayed. Select [Manage Programs]. The manage programs screen is displayed. Figure 11-79 Starting Program Management Caution All the operations of these functions are for robot programs.
Page 182: Program List Display
11.13.1. Program list display The left and right lists display the designated folders and the programs inside the robot controller. (1) Project You can specify projects in the workspace. (2) Robot You can specify the robot controller that is currently connected. (3) […] button When you select [Project], you can specify any folder on the computer.
Page 183: Copy
11.13.2. Copy This copies program files. Copying of the entire program file or only the command statements or only the position variables are possible. Select the transmission source program names from the list at the left, and designate the transmission destination folder on the right side.
Page 184: Move
It is possible to copy by drag and drop the project name on the project tree. Drag and drop Figure 11-83 Copying the program by drag and drop in the project tree Programs displayed on the desktop or in Windows Explorer also can be copied by dragging and dropping. Drag drop Figure 11-84 Copying Programs Outside of Workspace by Drag and Drop...
Page 185: Delete
11.13.4. Delete The program files can be deleted. Select the names of the programs to be deleted from the lists. Multiple programs can be selected in the Source and Destination lists. Select the program name in the Source and Destination lists, and click the [Delete] button under these lists.
Page 186: Rename
11.13.5. Rename This renames a program file name. Select the name of only one program to be renamed from the lists. Programs can be selected in the Source and Destination lists. Click the [Rename] buttons under the Source and Destination lists, set the new name in the [Setup for Rename] dialog, and click the [OK] button to rename the program.
Page 187: Comparison
Figure 11-89 Register a reading password Dialog Figure 11-90 The reading password delete Dialog 11.13.7. Comparison The program files can be compared. Comparison of only the command statements or only the position variables is possible. Select the names of the programs to be compared from the left and right lists. A dialog displaying the corresponding comparison results will appear when the [Compare] button is clicked and the [Setting for compare] dialog set.
Page 188 You can select the background color of matching, mismatching and deleted lines. Figure 11-92 Setting the Color for Program Comparisons Move the selected line to the change location (mismatch or delete). Clicking the [Prev] button selects the change location in the line before the current position. Clicking the [Next] button selects the change location in the line after the current position.
Page 189: Program Conversion
By the [Without comments] checkbox, you can select to exclude or include comments in the compare result. Figure 11-94 Compare Results (With Comments Excluded) 11.14. Program Conversion Existing offline robot programs created in a different program language can be converted to the currently set program language.
Page 190: Starting Program Conversion
11.14.1. Starting program conversion From the project tree, select the conversion destination project with [Offline] -> [Program], then click the right mouse button. From the right mouse button menu, click [Program Convert]. The destination is in the program language set for this project. Figure 11-95 Starting Program Conversion 11-190 11-190...
Page 191: Converting Line Nos. (From Melfa-Basic Iv To Melfa-Basic V Or Vi)
11.14.2. Converting line Nos. (from MELFA-BASIC IV to MELFA-BASIC V or VI) Converts the line Nos. and relevant command lines, because the handling of line Nos. in MELFA-BASIC IV is different from MELFA-BASIC V/VI. For the MELFA-BASIC V/VI, conversion is as follows. - The line Nos.
Page 192 (2) Designate a source file. Click the [Select] button of the source, and designate the MELFA-BASIC IV program file. (3) Input the name of the file to save the converted program into. (4) After designating the conversion source file and the conversion destination file, click the [Convert] button or the [Convert &...
Page 193: Position Data Conversion (From E/En/M1/M2 Series To Cr800/750/700/500 Series)
11.14.3. Position data conversion (from E/EN/M1/M2 series to CR800/750/700/500 series) This function converts the format of position data and the relevant commands (DJ, MP and PD MOVEMASTER commands), because the configuration of the E/EN/M1/M2 series controller’s position data is different from the CR800/750/700/500 series controller’s.
Page 194 Convert the program according to the following procedure. Figure 11-97 Conversion from MELFA-BASIC III to MELFA-BASIC IV (1) Select the program language of the source and target for conversion. Startup program conversion in the project set with one of "MELFA-BASIC VI", "MELFA-BASIC V" or "MELFA-BASIC IV", and set the copy destination.
Page 195: Position Data Editing For Sq Direct
11.15. Position data editing for SQ Direct SQ Direct File is available in all versions of CR800-R/CR800-Q series controllers and in software version N8 or later on CR750-Q/CRnQ-700 series controllers. To use this function, you must set the parameter of controller. Available position data for SQ Direct is only 999 points of XYZ-origin whose position number is 1 to 999.
Page 196: Differences With Program Editing
11.15.1. Differences with program editing 11.15.1.1. Edit position data There are two ways of changing the position data. [Method (1)] Directly change the list Select the cell you want to change on the list, and enter the value directly. Select cell and enter the value directly The variable name (position No.) cannot be changed.
Page 197 Figure 11-101 Getting the Current Position 11.15.1.2. Initializing position data Select the target position data to be initialized and click the [Initialize] button. The selected position data is initialized. Multiple position data can also be initialized at the same time. When you click position number with [Ctrl] or [Shift] key pushing, you can select plural position data.
Page 198: Online Editing
11.15.2. Online editing When you connect to controller supported SQ Direct, [SQ Direct] menu is added to [Online] menu in project-tree. When you double-click [Online] -> [SQ Direct] in the target project, SQ Direct screen is displayed with position data 1 to 999 loaded. Figure 11-102 position edit screen for SQ Direct (Online) Caution Timing from which position data is written.
Page 199: Offline Editing
11.15.3. Offline editing You can edit SQ Direct position data in offline. Set [R/C-Type] to [CR800-R/CR800-Q/CR750-Q/CRnQ-700] and set [Language] to [MELFA-BASIC V/MELFA-BASIC VI] in [Edit Project], then [SQ Direct] menu is added to [Offline] menu in project-tree. You can manage plural SQ Direct files in offline editing. 11.15.3.1.
Page 200: Program Management
11.15.4. Program management You can copy, delete, compare and rename SQ Direct file. After selecting target program in project-tree, and click right button with the mouse. Then right button menu is displayed, and click [Program Manager]. Then the program manager screen is displayed. Figure 11-104 Launch program manager Caution As the edit operation is similar to program management, the following page explains only different...
Page 201 11.15.4.1. List of SQ Direct files When using SQ Direct, there are some differences in the program management screen. 1. SQ Direct files in the project are displayed with the [sdp] extension. 2. SQ Direct files in the robot file are displayed as [*SQ Direct]. 3.
Page 202 Restrictions SQ Direct files in the personal computer are handled similarly to as robot program files, but there are some restrictions. Caution There are some limitations to operate SQ Direct Files. SQ Direct file names are fixed as [*SQ Direct] in the controller. File names can set freely in the project.
Page 203: Creating The Spline Files
12. Creating the spline files The methods for creating the spline files for use in the spline interpolation function are explained below. For details, refer to the instruction manual “Detailed explanations of functions and operations 7.6 Spline interpolation”. 12.1. New file 12.1.1.
Page 204: Open File
12.2. Open file 12.2.1. Opening a spline file saved on the computer Expand [Offline] or [Simulation] -> [Spline] for the target project. The saved spline files will appear in the project tree. Double-click the spline file to be edited. Figure 12-3 Opening a spline file saved on the computer 12.2.2.
Page 205: Selecting And Opening A Spline File From The List
12.2.3. Selecting and opening a spline file from the list Select [Spline] from the project tree and click the right mouse button. The context menu will open. Click [Open]. A list of saved spline files will appear. Select the target spline file and click the [Open] button. Figure 12-5 Selecting and opening a spline file from the list 12.3.
Page 206: Setting Parameters
13. Setting Parameters You can reference and rewrite parameter information set on a PC / a robot controller / back up data(*1). You can set parameters by specifying parameter names and setting them or by making the settings on a per-function basis.
Page 207 Parameter settings on PC Parameter settings on robot controller Parameter settings on back up data Figure 13-1 Items for Starting Up Parameter Setting Screens 13-207 13-207...
Page 208: Editing From Parameter List
13.1. Editing from parameter list You can reference and rewrite individual items of parameter information set in a robot controller by specifying the name of the parameter. 13.1.1. Starting This is used in a state with the robot controller connected. Double-click [Parameter list] under the [Parameter] item to be edited from the project tree.
Page 209 Memo What is the parameter list? The parameter list is a list of parameter information comprised of parameter names, explanatory text, etc. displayed on the parameter list screen. This parameter list can be downloaded from the controller. The version of the parameter list may vary according to the version of the software on the controller.
Page 210: Parameter Editing
13.1.2. Parameter editing Double-click a parameter displayed in the list or input its name, then click the [Read] button. The specified parameter information in the robot controller is displayed. Figure 13-5 Parameter Editing After you change a parameter, you can rewrite the specified parameter information in the robot controller by clicking the "Write"...
Page 211: Edit Of Parameter Changed From Default Value
13.1.3. Edit of parameter changed from default value It is possible to confirm the changed parameter by displaying the list of parameter changed from a default value. This function is limited to this software version and the software version of the connected controller. Please refer to the table as follows.
Page 212: Parameter List Reading
13.1.4. Parameter list reading If no parameter name is displayed on the parameter list screen, you can read the parameter list. Click the parameter list [Read] button in the upper-right of the parameter list screen. The Select parameter list screen is displayed. Figure 13-7 Parameter List Reading Select the source to read from ("Read from RC"...
Page 213: Sort Parameters
13.1.6. Sort parameters By clicking an item in the parameter list, you can sort the items you clicked in ascending or descending order. Click → Sort Figure 13-9 Sort parameters 13.1.7. Parameter initialization The initialization of parameters can be implemented by two types of methods. (1) Initialize individually Select the parameter and open the parameter editing dialog.
Page 214 (2) Initialize the changes altogether Select [Changed] and click the [Initialize] button. Select the parameters to be initialized and click the [OK] button. Check in the [Changed] and click the [Initialize] button Select the parameters and click the [OK] button Figure 13-11 Initialize the changes altogether 13-214 13-214...
Page 215: Robot Controller Operation Modes For Parameter Writing
13.2. Robot Controller Operation Modes for Parameter Writing With CRn-500 series robot controllers, when you write parameters to the robot controller, the controller software version may place restrictions on the operating mode in which you can write. For details, see below. However, parameters cannot be written while any program where a startup condition other than Always has been started.
Page 216: Movement Parameters
13.3. Movement Parameters 13.3.1. Motion limit parameter This sets the operating range of the robot Set the parameters while connected to the robot controller. Double-click [Movement parameter] -> [Motion Limit] under the [Parameter] item to be edited from the project tree.
Page 217: Hand Parameters
13.3.3. Hand Parameters This sets the parameters for the Hand of the robot. 13.3.3.1. Hand parameter This sets the type of the hand (single solenoid/double solenoid, etc.) and work holding/non-holding when HOPEN* (open hand) and HCLOSE* (close hand) are executed. Set parameters while connected to the robot controller.
Page 218 Hand macro functions You can specify the macro names UMACA – UMACZ to the HANDTYPE parameters, by providing a subroutine L_UMACA – L_UMACZ in the appropriate user base program (PRGUSR parameter). Run the hand macro open and close operation from TB. 1.
Page 219 13.3.3.2. Multi-hand base parameter You can set multi-hand base model name and standard coordinate values for each hand. When connecting robot and the robot controller supports multi-hand function, items related to multi hand are displayed in the project tree. For robots and robot controllers that can use multi hand base, please see”Table 13-3 The controller that can use parameters about multi-hand tool”.
Page 220 Set offset data Figure 13-17 Multi-hand tool parameter You can refer to the explanation of the displayed parameter with the [Explanation screen] button. This parameter cannot be set by offline editing. When multi-hand tool is connected to the robot using remote I/O, you can set behavior of output signal reset. You can set these parameters in output signal reset pattern parameter screen.
Page 221 13.3.3.5. Erectric hand point parameter You can teach multi-function electric hand. Parameter settings are used while connected to the robot controller. From the project tree, you double-click [Movement Parameter] -> [Hand] -> [Electric Hand Point] under [Parameter] item to be edited. The robot controllers that can set the multi-function electric hand parameter are as follows.
Page 222 13.3.3.6. Erectric hand table parameter You can set multi-function electric handtable specified behavior. Parameter settings are used while connected to the robot controller. From the project tree, you double-click [Movement Parameter] -> [Hand] -> [Electric Hand Table] under [Parameter] item to be edited. The robot controllers that can set the multi-function electric hand table parameter are as follows.
Page 223: Weight And Size Parameters
13.3.4. Weight and size parameters You can set the conditions for the hand mounted on the robot and the conditions for the work grasped by the robot. Set the parameters while connected to the robot controller. Double-click [Movement parameter] -> [Weight and Size] under the [Parameter] item to be edited from the project tree.
Page 224: Tool Parameter
13.3.5. Tool parameter You can set the robot's standard tool coordinates, standard BASE coordinates and tool number. Set parameters while connected to the robot controller. Double-click [Movement parameter] -> [Tool] under the [Parameter] item to be edited from the project tree. Multi-Hand is available in all versions of CR800 series controllers and in software version S2a/R2a or later on CR750/700 series controllers.
Page 225: User-Defined Area Parameter
13.3.6. User-defined area parameter You can specify the region (cuboid) defined with two points in the robot XYZ coordinates and set the behavior for when the robot enters this region. Set the parameters while connected to the robot controller. Double-click [Movement parameter] -> [User-defined area] under the [Parameter] item to be edited from the project tree.
Page 226 Figure 13-24 Free plane limit parameter You can reference explanations of the displayed parameters by pressing the [Explain] button. 13-226 13-226...
Page 227: Home Position Parameters
13.3.8. Home position parameters This sets the position of the escape point. Set the parameters while connected to the robot controller. Double-click [Movement parameter] -> [Home position] under the [Parameter] item to be edited from the project tree. After you change a parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 228: Robot Additional Axis Parameter
13.3.9. Robot additional axis parameter You can set information related to addition axes of robots. Set the parameters while connected to the robot controller. Double-click [Movement parameter] -> [Robot additional axis] under the [Parameter] item to be edited from the project tree.
Page 229: Collision Detection Parameters
13.3.10. Collision detection parameters You can set information related to the robot's collision detection functions. Set the parameters while connected to the robot controller. Double-click [Movement parameter] -> [Collision detection] under the [Parameter] item to be edited from the project tree. After you change a parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 230: Movement Parameters
13.3.12. Movement parameters You can set information related to the optimum acceleration/deceleration for robot operation and set compliance errors. The information that can be set concerning movement parameters depends on the robot controller connected. Table 13-8 The controller which you can set information related to optimum acceleration/deceleration for robot operation and set compliance errors CR800/CR750/700 series CRn-500 series...
Page 231: Work Coordinate Paramaters
13.3.13. Work coordinate paramaters Work coordinate parameters define the coordinate system for the work jog.8 work coordinates can define. Controller software versions that allow use of the work jog function are as follows. Table 13-9 The controller that can use the work jog Robot controller Software version of robot controller CR800-D/CR800-R/CR800-Q...
Page 232: Force Control Parameters
13.3.14. Force control parameters You can set parameters related to force control in PC and robot controllers. For details of these parameters, refer to the user’s manual of the force control function. 13.3.14.1. Force sensor parameter Double-click [Movement parameter] -> [Force control] -> [Force sensor] under the [Parameter] item to be edited from the project tree.
Page 233 edited from the project tree. Set the parameters, [Coordinate system], [Control mode of axes], [Stiffness coefficients], and [Dumping coefficients] which are used by the control mode of the force control function. Figure 13-33 Force control mode parameter You can reference explanations of the displayed parameters by pressing the [Explain] button. After you change the parameter values, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 234 13.3.14.3. Force control characteristics parameters Double-click [Movement parameter] -> [Force control] -> [Force control characteristics] under the [Parameter] item to be edited from the project tree. Set the parameters, [Force gain], [Force cmd.], and [Force detection] which are used by the control characteristics of the force control function.
Page 235: Collision Avoidance Parameters
13.3.15. Collision avoidance parameters You can set collision avoidance parameters in the PC and robot controllers. For details of these parameters, refer to the robot controller's operations manual, See "Detailed explanations of functions and operations". 13.3.15.1. Collision avoidance function parameter Double-click [Movement parameter] ->...
Page 236 13.3.15.2. Collision avoidance area parameter Double-click [Movement parameter] -> [Collision avoidance] -> [Collision avoidance area] under the [Parameter] item to be edited from the project tree. You can set information related to the Collision avoidance area. The controllers which can set the parameters [Collision avoidance area] are as follows. Table 13-13 The controller and the robot model which can set the parameters [Collision avoidance area] Robot controller Software version of the robot controller...
Page 237 You can also edit parameters directly from the list. After you change the parameter values, you can rewrite the parameters in the robot controller by clicking the [Write] button. The perspective of 3D model can be changed as follows. Table 13-14 3D Model Perspective Change Operations Viewpoint of changing Mouse operations on the graphic Rotation...
Page 238: Safety Parameters(Cr750/Cr700)
13.3.16. Safety Parameters(CR750/CR700) You can set parameters of Robot Safety Option in the CR750/CR700 series robot controllers. For details of these parameters, refer to the "Robot Safety Option manual" (BFP-A3372). This function is available in CR750/CR700 controller software Ver.R6, S6 or later (robot safety option is needed). The setting method of the safety parameters of the CR800 series robot controller is different.
Page 239 13.3.16.2. Position mon. (Plane) You can set the SLP function planes. The SLP function monitors that the “monitoring area” of the robot does not exceed the “Safety Limited Plane” defined by the user in advance. Figure 13-39 Safety parameter (Position mon. (Plane)) If you check [Display planes], the Position monitoring planes shown in the 3D display.
Page 240 with the 3D monitor. You can adjust the posture of the robot in the 3D display and the connected robot by clicking the [Current pos.] button. You can reference explanations of the displayed parameters by clicking the [Explain] button. After you change the parameter values, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 241 Figure 13-43 Safety parameter (Torque width Mon.) You can reference explanations of the displayed parameters by clicking the [Explain] button. After you change the parameter values, you can rewrite the parameter in the robot controller by clicking the [Write] button. 13-241 13-241...
Page 242: Program Parameters
13.4. Program Parameters 13.4.1. Slot table parameters Slot tables set the operating conditions of each task slot during multi-task operation. Set parameters while connected to the robot controller. Double-click [Program parameter] -> [Slot table] under the [Parameter] item to be edited from the project tree. After you change a parameter value, you can rewrite the operating range parameter in the robot controller by clicking the [Write] button.
Page 243: Program Language Parameters
13.4.2. Program language parameters You can set the robot program language used in a robot controller (MELFA-BASIC VI/MELFA-BASIC V/MELFA-BASIC IV/Movemaster commands). Double-click [Program parameter] -> [Program language] under the [Parameter] item to be edited from the project tree. After you change a parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 244: User Error Parameters
13.4.4. User error parameters You can set the message, cause, and recovery method for user errors set with a program. Set parameters while connected to the robot controller. Double-click [Program parameter] -> [User error] under the [Parameter] item to be edited from the project tree. Figure 13-48 User error parameter Double click the error number from the list.
Page 245: Signal Parameters
13.5. Signal Parameters 13.5.1. Output signal reset pattern parameters These parameters set the operation when resetting the general-purpose output signals such as the CLR instruction and dedicated input (OUTRESET). Set parameters while connected to the robot controller. Double-click [Signal Parameter] -> [Output Signal Reset Pattern] under the [Parameter] item to be edited from the project tree.
Page 246: Assigning Dedicated Input/Output Signals
13.5.2. Assigning Dedicated Input/Output Signals Assign signal numbers to functions in order to perform the remote operations such as running and stopping robot programs, and to display/operate the execution progress information and servo power supply status, etc. Set parameters while connected to the robot controller. 13.5.2.1.
Page 247 13.5.2.3. Data parameter Double-click [Signal Parameter] -> [Dedicated Input/Output Signals Assignment] -> [Data] under the [Parameter] item to be edited from the project tree. After you change a parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 248 13.5.2.5. Hand parameters エラー! ブックマークが定義されていません。 Double-click [Signal Parameter] -> [Dedicated Input/Output Signals Assignment] -> [Hand] under the [Parameter] item to be edited from the project tree. After you change a parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 249 13.5.2.7. Start (each slot) parameters Double-click [Signal Parameter] -> [Dedicated Input/Output Signals Assignment] -> [Start (Each Slot)] under the [Parameter] item to be edited from the project tree. After you change a parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 250 13.5.2.9. Servo On/Off (each robot) parameters Double-click [Signal Parameter] -> [Dedicated Input/Output Signals Assignment] -> [Servo ON/OFF(Each Robot)] under the [Parameter] item to be edited from the project tree. After you change a parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 251: Communication Parameters
13.6. Communication Parameters 13.6.1. RS-232 parameters These parameters set up the communication environment of the RS-232 interface of the robot controller. Set parameters while connected to the robot controller. Double-click [Communication Parameter] -> [RS-232] under the [Parameter] item to be edited from the project tree.
Page 252 13.6.2.2. Device & Line You can set the parameters related to devices and lines in the robot controller. Figure 13-64 Ethernet parameter – Device & line Select the device to edit and click the [Set] button. The “Device parameter setting” screen is displayed. Figure 13-65 Ethernet parameter –...
Page 253 13.6.2.3. Realtime monitor You can set the parameters related to the “Realtime monitor” function in the robot controller. The controllers which can use the “Realtime monitor” function are as follows. Table 13-16 Controller which can set the “Realtime monitor” function parameters Robot controller Software version of the robot controller CR800-D/CR800-R/CR800-Q...
Page 254: Field Network Parameters
13.7. Field Network Parameters 13.7.1. CC-Link parameters This sets the CC-Link information in the robot controller. Caution This function can only be used with CR800-D/CR750-D/CRnD-700/CRn-500 series robot controller. Set parameters while connected to the robot controller. Double-click [Field network parameter] -> [CC-Link] under the [Parameter] item to be edited from the project tree. After you change a parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 255: Cc-Link Ie Field Parameters
13.7.2. CC-Link IE Field Parameters Set the information of CC-Link in the robot controller. Caution This function can only be used with a CRnD-800 series robot controller. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Field network parameter] -> [CC-Link IE Field].
Page 256: Cc-Link Ie Field Basic Parameters
13.7.3. CC-Link IE Field Basic parameters This sets the CC-Link IE Field Basic information in the robot controller. Caution This function can only be used with CR800-D/CR800-R/CR800-Q series robot controller. Set parameters while connected to the robot controller. Double-click [Field network parameter] -> [CC-Link IE Field Basic] under the [Parameter] item to be edited from the project tree.
Page 257: Profibus Parameters
13.7.4. PROFIBUS parameters This sets the PROFIBUS information in the robot controller. Caution This function can only be used with CR800-D/CR750-D/CRnD-700/CRn-500 series robot controller. Set parameters while connected to the robot controller. Double-click [Field network parameter] -> [PROFIBUS] under the [Parameter] item to be edited from the project tree.
Page 258: Profinet Parameters
13.7.5. PROFINET parameters This sets the PROFINET information in the robot controller. Caution This function can only be used with CR800-D/CR750-D/CRnD-700/CRn-500 series robot controllers. Set parameters while connected to the robot controller. Double-click [Field network parameter] -> [PROFINET] under the [Parameter] item to be edited from the project tree.
Page 259: Devicenet Parameters
13.7.6. DeviceNet parameters This sets the DeviceNet information in the robot controller. Caution This function can only be used with CR800-D/CR750-D/CRnD-700/CRn-500 series robot controllers. Set parameters while connected to the robot controller. Double-click [Field network parameter] -> [DeviceNet] under the [Parameter] item to be edited from the project tree.
Page 260: Ethernet/Ip Parameters
13.7.7. EtherNet/IP parameters This sets the EtherNet/IP information in the robot controller. Caution This function can only be used with CR800-D/CR750-D/CRnD-700/CRn-500 series robot controllers. Set parameters while connected to the robot controller. Double-click [Field network parameter] -> [EtherNet/IP] under the [Parameter] item to be edited from the project tree.
Page 261: Ethercat Parameters
13.7.8. EtherCAT parameters This sets the EtherCAT information in the robot controller. Caution This function can only be used with CR800-D series robot controllers. Set parameters while connected to the robot controller. Double-click [Field network parameter] -> [EtherCAT] under the [Parameter] item to be edited from the project tree.
Page 262: Plc Cooperation Parameters
13.8. PLC Cooperation Parameters 13.8.1. Multiple CPU parameters You can set the Multiple CPU-related parameters in order to use CR800-R/CR800-Q/CR750-Q/CRnQ-700 series robot controllers. These parameters can be set when you are connected to a CR800-R/CR800-Q/CR750-Q/CRnQ-700 series robot controller. Set parameters while connected to the robot controller. Double-click [PLC cooperation parameter] ->...
Page 263: Io Unit Parameters
13.8.2. IO unit parameters You can set information related to the I/O unit of the PLC. You can set when connected to CR800-Q / CR750-Q / CRnQ-700 series controller. Set parameters while connected to the robot controller. Double-click [PLC cooperation parameter] -> [IO unit] under the [Parameter] item to be edited from the project tree.
Page 264: Parameters Of Safety (Cr800)
13.9. Parameters of Safety (CR800) 13.9.1. Safety diagnosis function You can select the pulse output function of test pulse signal output from emergency stop (EXTEMG11, EXTEMG21).For the safety diagnosis function (test pulse diagnosis), please refer to the “Standard Specifications” of each series. This function can be used with the CR800 series robot controller and the parameter cannot be set for offline editing.
Page 265 Figure 13-81 Register/change password Please use 8 to 32 single-byte characters, which include numbers, A to Z, a to z for the password. Passwords are case-sensitive. Caution Please be careful about password management. If you forget your password, you will not be able to change the settings of the safety diagnostic function.
Page 266: Safety Option
13.9.2. Safety option You can set parameters of Robot Safety Option in the CR800 series robot controllers. For details of these parameters, refer to the "Robot Safety Option manual" (BFP-A3531). This function can be used with CRn800 series robot controller (robot safety option required). CR750/CR700 series safety parameters of the robot controller are set differently.
Page 267: Robot Model Parameter
13.9.4. Robot Model Parameter Set the robot model to be used for monitoring safety functions. Double-click [Safety parameter] -> [Safety option] -> [Robot Model] under the [Parameter] item to be edited from the project tree. Figure 13-83 Robot Model Parameter After you change the parameter values, you can rewrite the parameter in the robot controller by clicking the [Write] button.
Page 268: Safety Logic
13.9.5. Safety Logic Set parameters for safety logic. 13.9.5.1. Safety Input Parameter Set parameters related to the input signal of the safety function. Double-click [Safety parameter] -> [Safety option] -> [Safety Logic] -> [Safety Input] under the [Parameter] item to be edited from the project tree.
Page 269 13.9.5.2. Area Input Parameter Set the parameters for the area where safety is to be monitored. Double-click [Safety parameter] -> [Safety option] -> [Area Input] -> [Safety Input] under the [Parameter] item to be edited from the project tree. Figure 13-85 Area Input Parameter After you change the parameter values, you can rewrite the parameter in the robot controller by clicking the [Write] button.
Page 270 13.9.5.3. Safety Output Parameter Set parameters related to the output signal of the safety function. Double-click [Safety parameter] -> [Safety option] -> [Area Input] -> [Safety Output] under the [Parameter] item to be edited from the project tree. Figure 13-86 Safety Output Parameter After you change the parameter values, you can rewrite the parameter in the robot controller by clicking the [Write] button.
Page 271: Sos Parameter
13.9.6. SOS Parameter Set parameters related to stopping the operation of the robot when the safety function is activated. Double-click [Safety parameter] -> [Safety option] -> [SOS] under the [Parameter] item to be edited from the project tree. Figure 13-87 SOS Parameter After you change the parameter values, you can rewrite the parameter in the robot controller by clicking the [Write] button.
Page 272: Sls
13.9.7. SLS Set parameters related to SLS (Safe Limited Speed). 13.9.7.1. Speed Parameter Set parameters related to speed control. Double-click [Safety parameter] -> [Safety option] -> [SLS] -> [Speed] under the [Parameter] item to be edited from the project tree. Figure 13-88 SLS Speed Parameter After you change the parameter values, you can rewrite the parameter in the robot controller by clicking the [Write] button.
Page 273 13.9.7.2. Opearation Check Check control operation of SLS. Double-click [Safety parameter] -> [SLS] -> [Operation Check] under the [Parameter] item to be edited from the project tree. Figure 13-89 SLS Operation Check Parameters are not set on this screen. Click the [Reset] button to reset the maximum value of the measurement value. 13-273 13-273...
Page 274: Slp
13.9.8. SLP Set parameters related to SLP (safety position limit). 13.9.8.1. Plane Parameter Set parameters related to plane monitoring. Double-click [Safety parameter] -> [Safety option] -> [SLP] -> [Plane] under the [Parameter] item to be edited from the project tree. Figure 13-90 SLP Plane Parameter After you change the parameter values, you can rewrite the parameter in the robot controller by clicking the [Write] button.
Page 275 13.9.8.2. Area Parameter Set parameters related to area monitoring. Double-click [Safety parameter] -> [Safety option] -> [SLP] -> [Area] under the [Parameter] item to be edited from the project tree. Figure 13-91 SLP Area Parameter After you change the parameter values, you can rewrite the parameter in the robot controller by clicking the [Write] button.
Page 276 13.9.8.3. Operation Check Check control operation of SLP. Double-click [Safety parameter] -> [Safety option] -> [SLP] -> [Operation Check] under the [Parameter] item to be edited from the project tree. Figure 13-92 SLP Operation Check Parameters are not set on this screen. 13-276 13-276...
Page 277: Additional Axis Cooperative Control Parameters
13.10. Additional Axis Cooperative Control Parameters You can set parameters related to Additional axis cooperative control in PC and robot controllers. This function can be used if the setting language is MELFA-BASIC VI and CR800 series robot controller and additional axis cooperative control of Melfa Smart Puls function is effective. For more information see “MELFA-Smart plus User's Manual”.
Page 278: Base Coordinate Cooperative Parameter
13.10.2. Base Coordinate Cooperative parameter Double-click [Movement parameter] -> [Additional Axis Cooperative Control] -> [Base Coordinate Cooperative] under the [Parameter] item to be edited from the project tree. Figure 13-95 Base coordinate cooperative parameter You can reference explanations of the displayed parameters by pressing the [Explain] button. After you change a parameter values, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 279: Additional Axis Tracking Parameter
13.10.3. Additional Axis Tracking parameter Double-click [Movement parameter] -> [Additional Axis Cooperative Control] -> [Additional Axis Tracking] under the [Parameter] item to be edited from the project tree. Figure 13-96 Additional axis tracking parameter You can reference explanations of the displayed parameters by pressing the [Explain] button. After you change a parameter values, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 280: Parameter Printing
13.11. Parameter printing You can print the parameter values held in a robot controller. Display the parameter to print, and click the [Home] tab -> [Print] group -> [Print] button on the ribbon. The print screen is displayed, so check the printer, then click the [OK] button. Printing starts. You can preview how a printed page will look by clicking the [Home] tab ->...
Page 281 It is possible to print only the parameter changed from initial value. This function has the limitation in this software version and the software version of the connected controller. Please refer to the table as follows. Table 13-17 Versions capable of printing a list of parameters changed from default values Robot controller CR800-D/R/Q CR750-D/CRnD-700...
Page 282: Status Monitoring
14. Status Monitoring You can set various information in the currently connected robot controllers to be constantly displayed. The monitor functions are roughly divided into the following three. 1. Robot movement monitor..Items related to robot movement are monitored. 2. Operation monitor....... Items related to the robot's operation are monitored. 3.
Page 283: Ribbon Command For Monitor Screen
14.1. Ribbon command for monitor screen The [Monitor] tab is displayed on the ribbon when a monitor screen is active. Start and stop of monitoring can be changed by commands on the [Monitor] tab. When a screen is started up, monitoring is already started. Figure 14-1 Ribbon Monitor Tab Table 14-2 Command on the Monitor tab Command name...
Page 284: Program Monitoring
14.2.2. Program monitoring Variables, general-purpose signals, and register information on the running program can be monitored.Please refer to the “14.2.3Program external variables” for monitoring program external variables. From the project tree, click the target project [Online] -> [Monitor] -> [Movement Monitor] -> [Program Monitor], then double click the "Task slot"...
Page 285 (2) Display format The value displayed in variable monitor, signal monitor, and register monitor can be switched. Table 14-3 Change display of variable monitor, signal monitor, register monitor The displayed variable can be switched between hexadecimal / unsigned Integer decimal / signed decimal. It is possible to switch between hexadecimal / signed decimal if 0 under the decimal point.
Page 286 Input the variable name or select it from the dropdown menu, set the variable type, then click the [OK] button. The variables being used in the program are displayed in a dropdown list. If you enter a variable name midway, it automatically moves to the variable name that matches the input character.
Page 287 (10) Changing variables You can change the values of variables registered on the variables monitor. On the variables monitor, select the variables to change the values, then click the [Change] button. Figure 14-8 Changing Variable Values After confirming the variable name, input the value of the variable, and then click the [OK] button. Caution Be careful when changing the value of a variable.
Page 288 (13) Signal setting The start number of input signal and output signal can be set within the range of 0 to 32703. (14) Signal monitor You can check the signal input from the external device to the robot controller or the state of the signal output to the external device.
Page 289: Program External Variables
14.2.3. Program external variables You can monitor program external variables.Please refer to ”14.2.2 Program monitoring” for monitoring of running programs. Double-click [Online] -> [Monitor] -> [Robot Movement] -> [Program external variable] of the target project to start. (1) Display Format (2) Program external variables monitor (3) Add (4) Select...
Page 290 (6) Rename You can change the variable to be monitored by changing the name of the variable registered in the variable monitor. Changing variables You can change the values of program external variables registered on the variables monitor. Caution Be careful when changing the value of a variable. When you change the value of a variable, the operation target position of the robot may change and interference with the surroundings may result.
Page 291: Movement Status
14.2.4. Movement status You can check the current position, destination position, hand open/close status, etc., of the robot. From the project tree, double click the target project [Online] -> [Monitor] -> [Movement Monitor] -> [Movement Status]. Figure 14-12 Movement Status 14-291 14-291...
Page 292: Event Hisyory
14.2.5. Event Hisyory You can check the history information of the operation event of the robot controller. This function can only be used with a CRnD-800 series robot controller. From the project tree, double click the target project [Online] -> [Monitor] -> [Movement Monitor] ->...
Page 293 14.2.5.2. Checking hisyory By changing this screen to the "Monitor Stopped" state, it is possible to narrow down events and search for events that occurred near the specified date and time. To make the monitor stop state, click the [Monitor] group -> [Stop] button on the ribbon.
Page 294: Errors
14.2.6. Errors The errors currently occurring in the robot controller are displayed. 14.2.6.1. Referencing the current error From the project tree, double click the target project [Online] -> [Monitor] -> [Movement Monitor] -> [Error]. Figure 14-15 Error Screen [Details] You can check details (cause and recovery method) on errors. [History] You can reference the history of errors that have occurred.
Page 295 14.2.6.3. History information The history of errors that have occurred in the past can be referred to. You can check the error history in the robot controller for each error level (high level, low level, caution). You can also save the error history to a file. Click the [History] button.
Page 296 (4) Refresh To refresh the error history, click the [Refresh] button. Figure 14-19 Error History Information Read from File (5) Show event history This function can only be used by CR800 series controller that supports the event history function. The event and error history can be displayed at the same time.
Page 297 14.2.6.4. Record information The record of errors that have occurred in the past can be referred to. You can check the error record in the robot controller for each error level (high level, low level, caution). You can also save the error record to a file. Caution Timing from which error information is registered in the error record...
Page 298 (1) Error level (display switching) You can redisplay the displayed error record for each error level. (2) Details After selecting a displayed error, you can check the details of the occurred history of the selected error can be confirmed by clicking this button. You can also check details by double clicking a displayed error.
Page 299: Signal Monitoring
14.3. Signal Monitoring 14.3.1. General signals You can check the statuses of signals input to the robot controller from external equipment and signals output from the robot controller to external equipment. From the project tree, double-click the target project [Online] -> [Monitor] -> [Signal Monitor] -> [General Signals]. The upper level displays the statuses of the input signals and the lower level displays the statuses of the output signals.
Page 300 14.3.1.2. Pseudo-input Pseudo-input means signals are input to the robot controller from the computer, not from external equipment. Click the [Pseudo-Input] button. A screen for inputting pseudo signals is displayed. Caution While the robot controller is in pseudo-input mode, signal input from external devices is not accepted.
Page 301 (*1) The [Bit Pseudo-INPUT] can also be set from the double click of the signal ist. Double click Figure 14-28 Pseudo input by mouse double click 14.3.1.3. Forced output You can force signals to external equipment from the robot controllers. Click the [Forced Output] button.
Page 302 Double click Figure 14-30 Forced output by mouse double click Caution Forced signal output - Signal numbers assigned (used) as dedicated output signals cannot be forcibly output. - Forced output is possible if the robot controller mode is either [AUTOMATIC] or [MANUAL] (for a CRn-500 series robot controller, [TEACH], [AUTO (OP)], OR [AUTO (EXT.)]), but if even one program is running, forced output is not possible.
Page 303: Named Signals
14.3.2. Named signals You can give names to general input/output signals and check their statuses. With "Named signals", you can check the status of dedicated input/output signals and named general input/output signals. When starting up, you can load a definition file for named signals in the robot controller. From the project tree, double click the target project [Online] ->...
Page 304 The [Add] and [Change] buttons do not close the "Signal name edit" screen, so you can continue to add more signals. 14-304 14-304...
Page 305 14.3.2.2. Deleting a named signal Select the signals to delete from the list. You can select multiple signals by clicking them while holding down the [Ctrl] key or the [Shift] key on the keyboard. However, dedicated input/output signals cannot be deleted. Also, you cannot delete input signals and output signals at the same time.
Page 306 14.3.2.4. Named signal definition information reading When you click the [Load] button, a message asking you to confirm that you want to delete a registered general input/output signal is displayed. This message asks you to confirm that you want to clear the current general input/output signal display. Figure 14-33 Deletion Confirmation Message for Registered General Input/Output Signal If you select [Yes] on this confirmation screen, the "Select locate"...
Page 307 If you select the robot controller, the named signal definition file is loaded from the robot controller. 14.3.2.5. Saving definition information for named signals to a controller When you click the [Save] button, the "Select locate" screen asking you to select the save destination is displayed.
Page 308: Stop Signal
14.3.3. Stop signal You can reference the statuses of stop signals (stop/not stop) input to the robot controller. From the project tree, double-click the target project [Online] -> [Monitor] -> [Signal Monitor] -> [Stop Signals]. Figure 14-36 Stop Signal (Connected with CR800 series controller) Figure 14-37 Stop Signal (Connected with CR750/700/500 series controller) Stop Operation panel...
Page 309: Register (Cc-Link/Ethercat)
14.3.4. Register (CC-Link/EtherCAT) Caution This can only be used if the CC-Link/EtherCAT option card is mounted on the robot controller or CC-Link IE Field Basic function is enable. Table 14-5 Register (CC-Link) Screen Correspondence Table CC-Link CC-Link Robot Contoroller CC-Link EtherCAT IE Field IE Field Basic...
Page 310 14.3.4.1. Monitor setting A continuous range of registers to display can be set freely. Set the lead numbers for the input register number and output register numbers to display, set their respective display ranges on the line, and then click the [OK] button. Figure 14-39 Registers (CC-Link/EtherCAT) Monitor Settings 14-310 14-310...
Page 311 14.3.4.2. Pseudo-input Pseudo-input means registers are input to the robot controller from the computer, not from external equipment. Click the [Pseudo-Input] button. A screen for inputting pseudo signals is displayed. Caution While the robot controller is in pseudo-input mode, register input from external devices is not accepted.
Page 312 14.3.4.3. Forced Output You can forcibly output register values to external equipment from robot controllers. Click the [Forced Output] button. A screen for forcibly outputting registers is displayed. Figure 14-41 Forced Signal Output (1) First, read the registers you want to forcibly output. You can output 16 registers at the same time.
Page 313: Io Unit Monitor
14.3.5. IO unit monitor You can monitor the XY device variables of the IO unit. From the project tree, double-click the target project [Online] -> [Monitor] -> [Signal Monitor] -> [IO unit]. The statuses of the input signals are displayed on the upper table, and the statuses of the output signals are displayed on the lower table.
Page 314: Dsi Cnuser2 Input Signal Monitor
14.3.6. DSI CNUSER2 input signal monitor You can monitor the DSI1 and DSI2 input signals and the Monitoring mode. The DSI1 and DSI2 input signals are used for switching the monitoring mode of the safety monitoring function. For details of these parameters, refer to the "Robot Safety Option manual"...
Page 315: Device Monitor
14.3.7. Device Monitor You can check the bit status of the device of the robot CPU (R16RTCPU) accessible from the external device. This function can be used with CRn800 series robot controller. From the project tree, double-click the target project [Online] -> [Monitor] -> [Signal] -> [Device]. Multiple screens can be launched from one project.
Page 316 Figure 14-47 After device setting On the right end of the field, in the rightmost column, in the notation selected in [Display format], the value of the bit of that line is displayed. You can select display format from hex, unsigned decimal, signed decimal. By double-clicking the bit value of the device or pressing the space key, the value of the bit at that position is changed.
Page 317: Operation Monitoring
14.4. Operation Monitoring 14.4.1. Operating Information You can check the robot work time, battery usage time, etc. From the project tree, double-click the target project [Online] -> [Monitor] -> [Operation Monitor] -> [Operating Information]. Figure 14-48 Operating Information When connected to the CR800 series robot controller, the remaining battery time is not displayed. You can initialize the battery remaining time with [Maintenance] ->...
Page 318: Servo Monitor
14.5. Servo Monitor This monitors servo information. Table 14-6 Supported robot Supported robot CR800/750/700 CR500 Simulation All robot All robot Not available All robot All robot RV-F/RH-F series The servo data items can be monitored by simulation as follows. Table 14-7 Supported servo data items by simulation Items possible ○...
Page 319: Position (Abs)
14.5.1. Position (ABS) Data concerning the position of each axis motor can be monitored. The following data can be monitored. Position feedback Current motor rotation position is displayed by the pulse value of the encoder. Position in 1 rotation Present single motor rotation position of the encoder is displayed. (It is not displayed in the CR800/750/700 series controller.
Page 320: Speed
14.5.2. Speed The following data concerning the rotational speed of each axis motor can be monitored. Speed feedback A present motor speed is displayed in units of rpm. Speed MAX. The maximum value of the speed feedback after the robot controller power supply is turned on is displayed.
Page 321: Current
14.5.3. Current Data concerning the electrical current value of each axis motor can be monitored. The following data can be monitored. Current cmd The current command of the motor is displayed. Max. current cmd1 The maximum value of the current command after robot controller power supply is turned on is displayed. Max.
Page 322: Load
14.5.4. Load The load state of each axis motor and the temperature of the encoder (Only the robot that corresponds to the function of the encoder temperature) can be monitored. The following data can be monitored. Axis load level The present load ratio of each motor is displayed as an alarm level. An overload error occurs when this value reaches 100%.
Page 323: Power
14.5.5. Power The following data concerning robot controller’s main circuit power supply can be monitored. Motor power voltage A present power-supply voltage value is displayed. Motor power voltage (MAX) The maximum value of the motor power voltage in servo ON is displayed. Motor power voltage (MIN) The minimum value of the motor power voltage in servo ON is displayed.
Page 324: Maintenance
Maintenance In maintenance, you can maintain the robot in various ways, including setting origin data and initializing various information. 15.1. Setting Origin Data You can save robot origin data to a file, edit it, and transfer it to a robot controller. Set origin data while connected to the robot controller.
Page 325 * About robot controller run modes when origin data is read/written In CRn-500 series robot controllers, when robot origin data is read/written using this software, there are restrictions on the controller run mode according to the robot controller software version. See the table below.
Page 326: Origin Data Input
15.1.1. Origin data input You can save robot origin data to a file, edit it, and transfer it to a robot controller. Click "origin data input" on the origin data screen to display the screen. Figure 15-3 Origin Data Input Technique Screen [Write] : Writes the origin data displayed on the screen to the robot controller.
Page 327 Memo About DJNT (origin error) parameters DJNT shows the origin position error. When revising the origin position using the position repair tool, the value is set in DJNT. (When not revising the origin position using the position repair tool, all the elements become 0. However, for RV-4A, the values are entered beforehand.) DJNT is not released to general customers, so the values can not be directly changed.
Page 328: Mechanical Stopper
15.1.2. Mechanical stopper This uses the robot mechanical stoppers to set the robot origin. Click the [Mechanical stopper] button on the origin data screen to display the screen. After moving the robot to a mechanical stopper origin position, select the axis to set the origin for with the checkbox, and then click the [Set origin] button.
Page 329: Tool
15.1.3. Tool This uses the origin setting tool to set the robot origin. Click the origin data screen [Tool] button to display the screen. After moving the robot to the tool origin position, select the axis to set the origin for with the checkbox, and then click the [Set origin] button.
Page 330 Caution Release the brake, there is an axis falling by its own weight. Depending on the posture of the robot, the arm falls by its own weight when releasing the brake. For safety reasons, take measures to prevent it from falling before releasing the brake. 15-330 15-330...
Page 331: Abs
15.1.4. ABS This uses the robot's ABS origin position robot to set the robot origin. Click the origin data screen [ABS] button to display the screen. After moving the robot to the ABS origin position, select the axis to set the origin for with the checkbox, and then click the [Set origin] button.
Page 332 Figure 15-7 Origin Setting (User Origin Method) Screen In this method, we use the user-determined origin position and the joint value at that time to set the origin. However, before using this method, you need to use other methods to preset the origin. Please follow the procedure below.
Page 333: Origin Parameter Backup
15.1.6. Origin Parameter Backup You can back up the parameters that make up the origin data. Also, you can transfer the backed-up data to a robot controller. Click the origin data screen [Backup origin parameter] button to display the screen. Figure 15-8 Robot Origin Parameter Backup Screen [Save to file] : This saves origin parameters read from a robot controller (displayed...
Page 334: Initialization
15.2. Initialization This initializes information in a robot controller. Here, you can initialize the following information in a robot controller. (1) Setting the robot controller clock (2) Initializing all programs in the robot controller (3) Initialize the remaining battery time in the robot controller (When connected to the CR800 series robot controller, the remaining battery time is not displayed.) (4) Check the serial number in the robot controller and set the serial number for the connected robot (Serial number checking and setting can only be used with CR800/750/700 series robot controllers.)
Page 335: Deletion Of All Robot Programs
15.2.3. Deletion of all robot programs This deletes all the programs in the robot controller. On the initialization screen, click the program group [Initialize] button. A confirmation screen is displayed, so input "Yes", and then click the [OK] button. Figure 15-11 Confirmation Screen for Program File Initialization Caution When a password is registered in programs by the robot controller's security function, it is not possible to delete all the programs in the robot...
Page 336: Initializing The Battery Remaining Time
15.2.4. Initializing the battery remaining time This initializes the remaining battery time in the robot controller. This function cannot be used when connected to the CR800 series robot controller. On the initialization screen, click the remaining battery time [Initialize] button. A confirmation screen is displayed.
Page 337: Maintenance Forecasting
15.3. Maintenance Forecasting With "Maintenance forecasting", you can reference the parts replacement timing (re-greasing, battery and belt replacement) from the operation data collected up to now in the robot controller. Caution The results of calculations in Maintenance Forecast merely show reference values.
Page 338: Forecasting
15.3.3. Forecasting You can reference the "time until battery replacement", "time until re-greasing”, and “time until belt replacement". (1) Battery (4) Display units (3) Belt (2) Grease Figure 15-15 Forecast Screen By clicking the [Refresh] button, you can reacquire information on maintenance from the robot controller. (1) Battery If the number of remaining hours of battery life has reached (Remaining time) <...
Page 339: Settings
15.3.4. Settings Here, you can set the timing for collecting information concerning maintenance forecasts, the notification method, etc. (1) Enables maintenance forecasting (2) Information collection level (3) Notice interval (4) Warnings (5) Output dedicated output signal (6) Operating time per day (7) Remainder Figure 15-16 Setup When the [Write parameters] button is clicked after setting each item, the setting values are written into the...
Page 340 Table 15-4 Description of the Setup Screen Factory Item Explanation preset value If this is checked, the Maintenance Forecast function is enabled. Check Maintenance Forecast is * If the checkmark is removed, the collection of Maintenance Forecast made effective. information stops, and the correct maintenance times cannot be calculated.
Page 341: Reset Screen
15.3.5. Reset screen The information (about battery, grease and belt) for Maintenance Forecast kept in the controller can be reset. Figure 15-17 Reset Table 15-5 Description about each reset Type of reset Explanation Note At time of battery It is used when an alarm urging to replace replacement the batteries (C7500, C7510 or C7520) occurs and the batteries have been replaced.
Page 342 When the [Log] button is clicked in the upper-right corner of the window, the previous reset date/time and reset count can be checked. However, the battery reset count is not displayed. If no reset has not made previously, “----/--/-- --:--:--“is displayed. Figure 15-18 Reset Log 15-342 15-342...
Page 343: Resetting Maintenance Forecast Information In Teaching Box
15.3.6. Resetting maintenance forecast information in Teaching Box When an alarm urging to replace the batteries, replenish the grease, or to replace the belt is issued based on the Maintenance Forecast function and these parts are replaced or replenished, the information that has been accumulated within the controller needs to be reset for the axis where such replacement or replenishment has been performed.
Page 344: Others
15.3.7. Others The information for Maintenance Forecast kept in the controller can be backed up and/or restored. Caution The backup and restore operations are performed when the controller (CPU) is replaced. When the controller (CPU) is replaced, perform both backup and restore operations in a batch using the Backup/Restore tool.
Page 345: Position Repair Function
15.4. Position Repair Function The position repair function is restricted by the usable models and controller software versions. See "Table 15-9 Supported Robot Controllers and Model". The "position repair function" is used when a tool is deformed by a collision or the origin is out of place because the motor has been replaced.
Page 346: Specifications
15.4.1. Specifications The robot models and robot controller versions with which the position repair function can be used are as follows. Table 15-9 Supported Robot Controllers and Models CR800/750/700 series Robot model CRn-500 series Robot Controller Robot Controller Version J2 or later Vertical 6-axis robot Only correction of origin data is supported in versions prior to J2.
Page 347: Flow Of Operations
15.4.3. Flow of operations The position repair takes the form of a wizard. You can automatically generate the parameters by proceeding with operations according to the instructions on each screen. You can directly set the parameter values. Specify the target robot Backup the parameters before Automatic parameter If setting parameters...
Page 348: Introduction
15.4.4. Introduction Figure 15-22 Starting Use Window This is an explanation of the position repair function. Read it carefully, then click the [Next] button. 15.4.5. Communication settings Check the communication settings and connected to the robot controller, click the [Next] button. For the setting method, see "9 Connecting to the Robot".
Page 349: Robot Selection And Parameter Backup
15.4.6. Robot selection and parameter backup Figure 15-23 Robot and Backup Parameters Selection Window Select the robot to execute the re-teaching. The Robot is displayed as follows. Controller number : Controller Name + Mechanism Name #Mechanism No. Displayed only in multi-mechanism mode. To backup parameters, click [Backup].
Page 350: Selection Of Revision Parameter Generation Procedure
15.4.7. Selection of Revision parameter generation procedure Figure 15-24 Select generation procedure of revision parameter Window In the next step, the software can either automatically generate parameters or accept manually entered parameter values. Normally, [Generate revision parameter automatically] is selected. Select [Generate revision parameter automatically] and click [Next] to proceed to “Select Program”...
Page 351: Program Selection
15.4.8. Program selection Figure 15-25 Program Selection Window Select the robot program to use for revision parameter generation, then click the [Next] button. Here, perform the reteaching using the XYZ-coordinate position data in the selected program. For details on the required position data numbers, see "Table 15-10 Selection of Revision Parameters". Memo Points on selecting the program Select the program with the positions data on the various locations and postures.
Page 352: Program Reading And Backup
15.4.9. Program reading and backup Figure 15-26 Program Read and Backup Window To backup a program, click [Backup]. The special screen for backup is started. For details on backups, see "17 Backup and Restore". You can use the backup/restore functions in this software to write a backed-up parameter file back into a robot controller.
Page 353: Tool Setting Check
15.4.10. Tool setting check Figure 15-27 Tool Setting Check Window Parameter values for tool data set in the present robot controller are displayed. The row for the tool selected by the tool number (MEXTLNO) is highlighted in red. Please check whether the tool data and tool number used during teaching is set. If necessary, change the value from parameter setting in Teaching Box.
Page 354: Revision Parameter Selection
15.4.11. Revision parameter selection Figure 15-28 Revision Parameter Selection Window Select the revision parameter that becomes the target for re-teaching calculation. The revision parameter will be selected automatically if an item is selected from [Select revision parameter]. Choose [Select all] to select all the revision parameters. If you wish to specify a particular combination of revision parameters, choose [Select arbitrarily] and specify the revision parameters.
Page 355 15.4.11.1. Revision parameters Parameters revised by items selected with "Select revision parameters" become as in "Table 15-10 Selection of Revision Parameters". Memo Some elements cannot be calculated according to the robot type and the combination of revision parameters. In this function, the amount of the robot deviation is calculated as a correction value, and the revision parameter is generated.
Page 356 Table 15-10 Selection of Revision Parameters Minimum number of teaching points Revised Horizo Item Description Vertical Vertical Parameter ntal 6-axis 5-axis 4-axis robot robot robot Rectifies origin data when joint axis moves or when Origin data motor is replaced. Error of 1 to 6 1 to 5 1 to 4...
Page 357 Minimum number of teaching points Revised Horizo Item Description Vertical Vertical Parameter ntal 6-axis 5-axis 4-axis robot robot robot Specify revision parameters. Vertical 6-axis robot: * Since origin data J1 is included in base data, if base data is selected, turn off the Checkbox of origin data J1.
Page 358 15.4.11.2. Position data posture components The position data of MELFA-BASIC IV, MELFA-BASIC V and MELFA-BASIC VI consists of tip position (X, Y, Z) and tip posture elements (A, B, C) (*1) This section describes the cases where [Use the posture elements of position data] is checked and not checked. Memo (*1) The posture elements of position data In vertical 6-axis robots, the position data posture elements are (A, B, C).
Page 359 Table 15-11 About Posture Elements of Re-teaching Position Data Condition Merit Note When using posture elements of position Precision of generated During re-teaching, posture must data revision parameter be taught correctly. If posture improves if the tip position data is incorrect, precision of (X, Y, Z) and tip posture revision parameter actually elements are re-taught...
Page 360: Reteaching Work
15.4.12. Reteaching work Figure 15-29 Reteach Work Window [Remainder] Displays the number of remaining points until revision parameters are generated. However, at some positions, re-teaching may not decrease the number of remaining points. [Re-teach] button Specifies the positions selected in the list and opens “Re-teach the position”...
Page 361 Figure 15-30 Re-teach the position Screen Re-teaching Repeat Select the position to re-teach from the list Click [Re-teach] button Re-teach the position Screen opens Re-teach the position Screen Move the robot to re-teaching position (Use the teaching box to move) Click [Load current position] button (Re-teaching calculation) Position Re-teaching window closes Revision parameter generation...
Page 362 Caution Do not change tool data, tool number, or base data. Do not change tool data, tool number, or base data during re-teaching. Re-teaching calculation will not be performed correctly. When correcting tool data, if teaching was performed switching back and forth between multiple tools, perform re-teaching operation for each tool.
Page 363: Writing Parameters
15.4.13. Writing parameters Figure 15-32 Write Parameters Window [Print] Prints the revision parameter information displayed in the list. [Save position data to file] Saves position data used in re-teaching as a robot program with positions only. The position data will be the values converted by the revision parameters.
Page 364: Controller Power Supply Off, On
15.4.14. Controller power supply Off, On Figure 15-33 Re-start the power supply of the controller Window To activate the written parameters, turn off and then turn on the power of robot controller. 15-364 15-364...
Page 365: Exit
15.4.15. Exit Figure 15-34 Finish Window (After Re-teaching) When the writing of revision parameters is done, operation of this function is complete. Caution Perform an operation check before exiting this function. Before exiting this window, make sure that all position data works properly. If the revision is not correct, click the [Return to re-teach] button to continue re-teaching.
Page 366: Revision Parameter Editing
15.4.16. Revision parameter editing When you select "Edit the value of revision parameter directly" with "15.4.7 Selection of Revision parameter generation procedure", this screen is displayed. Double click Figure 15-35 Edit Revision Parameters Window [Print] Print the revision parameter information displayed in the list. [Reset] Reset all changes.
Page 367: Robot Controller Security Function (Password Setup)
15.5. Robot controller security function (Password Setup) It is possible to forbid access to the robot programs, parameters, and files in the robot controller. The security function can be achieved by setting a password in the robot controller. The robot controller software versions where this can be used are as follows.
Page 368 Figure 15-36 Password setup When the security function has been turned on in the controller, the mark is displayed in the left of the button of the item to which access is forbidden. （for example：） 15-368 15-368...
Page 369: Register Password
15.5.1. Register Password The password is registered to the robot controller. Click the "Register/Change" button of the item to which a password is to be registered in the "Password Setup" screen. After inputting the password in the "Register/Change Password" screen, click the [OK] button. The input password is displayed with "*"...
Page 370: Change Password
15.5.2. Change Password This changes the password set in the controller. Click the "Register/Change" button of the item in which the password is to be changed in the "Password Setup" screen. Input the currently-set password set and the new password in the "Register/Change Password" screen, and click the [OK] button.
Page 371: Option Cards
16. Option Cards You can check information on option cards mounted on the robot controller. When you open [Option Card] on the project tree, the slots in which option cards are currently mounted and the option card names are displayed. If you place the mouse cursor on an option card name, the information for that option card is displayed.
Page 372: Backup And Restore
Backup and Restore You can back up information in a robot controller to the computer. You can also restore backup information saved to the computer back into a robot controller. Backup Saves the backup data on the robot controller to the personal (Robot ->...
Page 373 Caution When a password is registered in “file” by the robot controller security function, it is not possible to back up information in a robot controller to the personal computer, or to restore backup information saved to the computer back into a robot controller. When a password is registered in “file"...
Page 374: Backup(Robot -> Pc)
17.1. Backup(Robot -> PC) You can save information in a robot controller to a file in the computer. Use the backup function while RT ToolBox3 is connected to the robot controller. There are two methods for saving data as follows. <1>...
Page 375: Saving Data From One Robot Controller
17.1.1. Saving data from one robot controller (1) From the project tree, open the target project [Backup]. In the backup tree, "All", "Program", "Parameter", and "System program" are displayed. Figure 17-1 Backup Project Tree Diagram Saves all files (robot programs, parameter files, etc.) in the robot controller into the designated folder.
Page 376 (3) Specify the backup destination. The default value is the folder where the workspace was created/project name/Backup/today's date and time. You can change the backup destination folder with the […] button at the right of the displayed backup destination. You can also back up other items at the same time by putting checkmarks in their checkboxes. In this case, the data is backed up to the selected backup destination, with the identifier added to the folder name according to the backup type.
Page 377: Saving Data From All Robot Controllers(Online Project Backup)
17.1.2. Saving data from all robot controllers(Online Project Backup) It is possible to save data by batch processing from all robot controllers which connected with RT ToolBox3. (1) Select the name of workspace and click the right mouse button. Or, select the "Backup" of the project that is online and click the right mouse button.
Page 378 (3) When the batch processing for saving data from all robot controllers is completed, the saved data is displayed under [Backup] in the project tree. Backup data Figure 17-8 The information of saving data from all robot controllers by batch processing. 17-378 17-378...
Page 379: Restore (Pc -> Robot)
17.2. Restore (PC -> Robot) You can transfer the backup information on the computer to the robot controller. Use the restore function while connected to the robot controller. Caution Caution on individual restoration of individually backed up by selecting "All" It is possible to restore each item (Program, Parameter files and System program) of the data backed up by selecting "All files".
Page 380 Program When [All] is designated, all of the robot program files in the folder will be sent to the robot controller. When [Select] is designated, the specified robot program files in the folder will be sent to the robot controller. To specify which files to send, click the [Select...] button and specify the files in the screen that is displayed.
Page 381 Table 17-1 Operations for "Change Robot Arm Serial Number Too" Check ON Check OFF Controller Parameters(B) Parameters(B) <リストア前> <リストア前> Restore Restore Origin data(B) Origin data(B) files files parameters for parameters for position repair (B) position repair (B) CR800/ 750/ ...
Page 382 Caution Do not restore backup information with an “[NG]” on the folder name Do not restore the backup information with an “[NG]” on the folder name because the backup information will be incomplete. "[NG]" is added to the folder name when a communication fault occurs during backup or the backup is interrupted by clicking the “cancel”...
Page 383: Offline Backup (Offline Project -> Pc)
17.3. Offline backup (Offline project -> PC) This function is save the offline setting/data as backup data to the personal computer. In this function, the kind of backup is fixed "All". Use this function in the offline mode. (1) In the project tree, select the [Offline] in the target project and right click, then the context menu will be displayed.
Page 384: Offline Restore (Pc -> Offline Project)
17.4. Offline restore (PC -> Offline project) You can rewrite the offline project with the backup data in the personal computer. For this restore function, only the backup data it kind is [All] and [Parameter] can be used. Use this function in the offline mode. (1) In the project tree, open the [Backup] in the target project and open the [All] or [Parameter].
Page 385: Property Display Of Backup Data
17.5. Property Display of Backup Data By selecting the backup data displayed in the project tree, you can display the information of the backup data in the property. Figure 17-14 Property Display of Backup Data By checking the contents of the [Comment] field of the property, you can check the backup data for either robot controller or offline project.
Page 386: Deleting Backup Data
17.6. Deleting Backup Data You can delete the backed up information. Select the information to delete, then click the right mouse button. From the right mouse button menu, select [Delete]. Figure 17-16 Deleting Backup Data It is also possible to delete all the backup data. Right click [Backup] for the target project.
Page 387: Check Backup Programs
17.8. Check Backup programs You can confirm that there are no errors in backed-up programs. Select the backed-up information, and click the right mouse button. From the right mouse button menu, select [Check Backup programs]. You can use this function in “All”, “Program” and “System Program”. If there is an error in the program the robot controller will not be able to execute the program.
Page 388: Open The Error Record Form Backup Data
Figure 17-21 Event history 17.11. Open the error record form backup data Click the right mouse button on the backup data and click "Error record" from the menu to open the error record of backup data. Display the error record up to the point when the backup was created. This function is available only for "All"...
Page 389: Tool Functions
18. Tool functions 18.1. Oscillograph The oscillograph function is explained. Caution With the oscillograph, the maximum number of screens that can be opened is limited to eight since this increases the load on the PC. Keep in mind that memory may be insufficient if many screens which need memory such as program editors and parameter editors are opened.
Page 390 At the simulator start up, only the first project can use the real-time function. Caution When high-speed communication is used on the high-load PC、there is a possibility that Part of the monitor data will lose. If the loss frequently occurs, please use normal-speed communication. 18-390 18-390...
Page 391: Acquirable Data
18.1.3. Acquirable data The list of the data that can be acquired from the robot is shown below. Table 18-3 Oscillograph data list Notation on the graph Unit Explanation High ○ ○ Current feedback Present value of the motor current. [Arms] ○...
Page 392: Starting
○ [mm/s] Speed of the Ex-T coordinates during execution of Ex-T coordinates speed the Ex-T control/the Ex-T spline interpolation ○ Ex-T coordinates position [mm deg] The current position in the Ex-T coordinates ○ The path point number that speed adjustment has Spline path point occurred during execution of the spline of adjusted speed...
Page 393 Figure 18-1 Starting the Oscillograph 18-393 18-393...
Page 394: Communication Settings
18.1.5. Communication settings Display the Communication setting dialog by clicking the [Communication…] button. Ordinary communication can be used as choosing the [Communication server]. High speed communication can be used by choosing the [Real time monitor]. Figure 18-2 Communication setting dialog Select the data reception interval in ordinary communication via the communication server.
Page 395 Table 18-4 Real time monitor: Preset Data Name Data usefulness Force sense setting Force sensor(+resultants) Guess the optimum posture and motion while watching the value of the force sensor. Force pos CMD(XYZ) XYZ position(FB) Robot information Collision detection setting COL torque Adjust the optimum value of collision detection.
Page 396 It is also possible to set the data combination and signal number that customers often use as a preset (up to 8). The preset is displayed in the format of "Digital: Preset Name" in the preset of the communication settings dialog box.
Page 397 Caution ・To display the program name and an execution row number in high-speed communication it is necessary to include "robot information" in the demand data. ・In "Ordinary communication", IN and OUT signals are unacquirable. 18-397 18-397...
Page 398: Start／Stop
18.1.6. Start／Stop Check before starting that the target project is in an on-line state. Clicking the [Start Record] ( ) button in the [Oscillograph] tab -> [Record] group on the ribbon, data will be acquired from a robot and graph drawing will start. Clicking the [Stop Record] ( ) button will stop acquisition of data.
Page 399: Graph Range Setting
Figure 18-6 Switch of display/non-display of graph You can change the graph drawing interval during data recording using the [Refresh time] drop-down list and the number of display points displayed on the graph in the [Display points] drop-down list. The number of points to display can be changed only by slider operation.
Page 400: Data Confirmation
The [Edit...] and [Reset] can make two data or more a target at the same time. Figure 18-9 Range editor of the graph 18.1.9. Data confirmation Clicking the [Detail…] ( ) button in the [Oscillograph] tab -> [Drawing] group on the ribbon, you can check the data displayed on the graph by numerical value.
Page 401 By clicking the [Stop Drawing] ( ) button in the [Oscillograph] tab -> [Drawing] group on the ribbon while retrieving data from a robot, you can stop drawing of the graph and trace back the lines of the retrieved data by shifting the slider.
Page 402 Double-click Figure 18-13 Cursor movement by double click [Maximum] (in screen) Caution When jumping to [Minimum] [Maximum] with the data "Time Scale" displayed for a long time, the value of [Data] may not match the value of the graph. At that time, change the number of display points to "Fixed number"...
Page 403: Playing Back Data
18.1.10. Playing back data Clicking the following buttons in the [Oscillograph] tab -> [Playing Back Data] group on the ribbon, data can be played back along the time axis while the cursor is moved automatically. Figure 18-14 Data Playback Buttons Clicking the [Playback] button moves the cursor along the time axis.
Page 404 If you select 3 minutes or more in the log preservation interval, you can set [Recording time]. When [Recording time] is set, log data for the specified time is saved for each log preservation interval specified. [Recording time] can be set up to half the log preservation interval. However, when the log preservation interval is set to 10 minutes or more, [Recording time] is 3 minutes (180 seconds).
Page 405 The data save / log file name, and its save folder are as follows. Table 18-6 Data saving file name / Log file name / Data saving folder Item Explanation Data saving file name Store.csv The shows the time which clicked the [Data save] button. “<...
Page 406: Load Data
18.1.12. Load Data The data file and log file which were saved in "18.1.11 Save Data／Log Setting" can be displayed on the graph by clicking the [Load Data] ( ) button in the [Oscillograph] tab -> [Data File] group on the ribbon. 18.1.13.
Page 407 [Reflect to 3D monitor] button Figure 18-18 Operation of reflected to the 3D monitor Clicking the [Reflect to 3D monitor] button ( ) and pushing down, the joint position (FB) or the joint position (CMD) selected by the cursor is reflected in the 3D monitor. By moving the cursor...

Page 408: Program And Signal Monitor
Set the robot model in the project as follows. Table 18-8 Setting the robot model in the project Log data displayed in oscillograph Robot model set in project screen Log data acquired from the connected Robot model of the connected robot robot Log data read from the log file Robot model set in the header row of the log file...

Page 409 Figure 18-20 When displaying data recorded via realtime monitor Caution This function can be used in offline status( ) only. You cannot use this function in online status or simulation status ( Caution If the program executed during oscillograph recording does not exist in the offline program list, the program will not be displayed.

Page 410: Dxf File Import
18.2. DXF file import Here we will explain the DXF file import function. This function is not available in the mini edition. 18.2.1. Outline This imports the DXF files can be converted into robot programs / spline files. The version and entity data of the DXF files that are compatible with this function are shown below. Table 18-9 DXF files compatible with this function Item Explanation...

Page 411: Flow Of Operations
18.2.3. Flow of operations Select a DXF file to be imported Select the layer to be imported Select the entity you want to import Use the Ex-T control Not use EX-T control Calibration performed for coordinate Setting of the gripping position of the imported transformation ...
Page 412 Selection Figure 18-23 Output to spline file Output to robot program Select [Robot program] as the output format in the [Generated Points] page and click the [Finish] button. A “New Robot program” dialog appears. In the "New Robot program" dialog, enter the name of the robot program you want to save, and click the [OK] button to display the program edit screen.

Page 413 Selection Figure 18-24 Output to Robot program 18-413 18-413...

Page 414: User Definition Screen
18.3. User definition screen It is possible to edit the user definition screen which can be operated by highly efficient T/B. You can make a customized screen by arranging parts such as buttons and lamps that synchronize with the I/O signal.

Page 415 Jog Button The jog button for manipulating the axes of the robot can be displayed. But click the button and manipulate the robot axes only T/B This software can be used after Ver.1.40S. T/B software version can be used after Ver.4.1 Message You can display a message when the set conditions met (It is not always displayed on the screen).

Page 416: Creating A New User Definition Screen File
18.3.1. Creating a new User definition screen file In order to create a user definition screen, it is necessary to create a user definition screen file. Select [Tool] -> [User definition screen] in the project tree and click the right mouse button and select "New” in the right button menu.

Page 417: Editing The User Definition Screen Page
18.3.2. Editing the user definition screen page Double-click [Tool] -> [User definition screen] -> [“User definition screen file”] -> [“Page name”] in the project tree. The edit dialog of the user definition screen is displayed. When you create a new user definition screen, select [Tool]->[User definition screen] -> [“User definition screen file”]-in the project tree then click the right mouse button and select "New”...

Page 418 The grid lines () are displayed in the edit display of the user definition screen. Each part can be registered with the block units () delimited in this grid line. <2> <3> <1> Figure 18-28 Editing the user definition screen <1>...

Page 419 18.3.2.1. Button (1) Click the position (block) in which a button is made (). The left side of the button is arranged in this position. (2) After the "Select item" window is displayed, click the [Button] button (). (3) Set the button name, button size and the kind of button in the "Create button" window. (4) The operation when the button is clicked is set by the [Set] button ().
Page 420 <3> Button type : The kind of the button can be set. Alternate When the button is clicked once, the button keeps ON state. And when the button is clicked again, it returns to OFF state. The signal output is kept too. Momentary The button stays in an ON state while it is being pushed.

Page 421 (3) Input "20" in the signal number (). Click the status of the signal (), and select "High". (4) Select "High" as the signal operation when clicking the button (). (5) The input area of the output signal number is displayed.

Page 422 18.3.2.2. Lamp (1) Click the position (block) in which the lamp is made (). The lamp will be arranged at this position. (2) After the “Select item” window is displayed, click the [Lamp] button (). (3) Select the lighting color of the lamp in the “Create lamp” window. (4) Click the [On/Off condition] button (), and set the lighting condition and the turning off condition on "The lamp on/off condition”...
Page 423 Example of setting lamp ON/OFF Here we will describe an example where a lamp is turned on when the input signal number 20 is high, and is turned off when the input signal number 20 is Low. (1) The default value of “The Lamp on/off condition”...

Page 424 18.3.2.3. Variable The value of the specified variable is displayed. (1) Click the position (block) in which the variable is displayed (). Left side of the variable is arranged at this position. (2) After the "Select item" window is displayed, click the [Robot information] button (). (3) Select "variable"...
Page 425 18.3.2.4. Program execution content The content of the program being executed is displayed. Up to 7 lines can be displayed. (1) Click the position (block) in which the content of the program is displayed (). The left side of the program execution content is arranged in this position.

Page 426 18.3.2.5. Program name The name of program being executed is displayed. (1) Click the position (block) in which program name is displayed (). The left side of the name display box is arranged in this position. (2) After the "Select item" window is displayed, click the [Robot information] button (). (3) Select "Program name"...
Page 427 18.3.2.6. Execution line number of program The line number of the program being executed is displayed. (1) Click the position (block) at which execution line number is displayed (). The left side of the execution line number display is arranged in this position. (2) After the "Select item"...

Page 428 18.3.2.7. Current position data (the XYZ coordinate system) The current position data of robot is displayed for each XYZ coordinate system axis. To display the current position data (the XYZ coordinate system) all together, use the “Variable” type and set the Robot Status Variable “P_CURR”.

Page 429 18.3.2.8. Current position data (the joint coordinate system) The current position data of robot is displayed for each joint coordinate system axis. To display the current position data (the joint coordinate system) all together, use the "Variable" type and set the Robot Status Variable "J_CURR".

Page 430 18.3.2.9. Operation Panel Button You can place each the button that exists in the operation panel ([START] button etc.) at the specified position. T / B can be used with Software Ver. 4.1 or later. (1) Click the position (block) in which the operation panel button is made (). The operation panel button is arranged in this position.

Page 431 You can place each the button that exists in the operation panel ([START] button etc.) at the specified position. Button image Button name Explanation SVO ON Turn on the servo. SVO OFF Turn off the servo. START Start the driving. STOP Stop the driving immediately.

Page 432 18.3.2.10. Menu Menu buttons can be configured at the specified location. This function can be used after the software version Ver.1.40S and T/B software version er.4.1. (1) Click the Location to make menu button. The button uses 2 areas from the left of the current position. (2) Select [Menu Button] ...
Page 433 The menu button type is as follows. Click and move to this screen function only corresponds to T/B. Runtime button image Creation button image Description Move to program list screen. Move to slot run state monitor screen. Move to program monitor screen. Move to movement state monitor screen.

Page 434 Move to initialize screen. Move to maintenance forecast screen. Move to setup guidance screen. Move to password setup screen. Move to tool auto calculation screen. Move to version screen. Move to system option screen. Move to SQ direct position edit screen. Move to operation panel screen.

Page 435 18.3.2.11. Jog buttons can be configured at the specified location. This function can be used after the software version Ver.1.40S and T/B software version er.4.1 (1) Click the Location to make jog button. (2) Select [JOG Button] in the [Select Item] dialog. (3) Select the jog button ...
Page 436 Fixed-dimension Description Press the button to move the axis. High The axis will move the amount specified by the JOG parameter movement amount H. The axis will move the amount specified by the JOG parameter movement amount L. Runtime button image Creation button image Description Move J1 axis.

Page 437 18.3.2.12. Label A label can be displayed at the specified position. (5) Click the position (block) at which the label is made (). The label is arranged in this position. (6) After the "Select item" window is displayed, click the [Label] button (). (7) After setting the label in the “Create label”...
Page 438 18.3.2.13. Message You can display a message when the set conditions met (It is not always displayed on the screen). You can also set the behavior when clicking the button displayed on the message. (1) Click the [Message] button (), then “Message List” window will be displayed. (2) To add a new message, click the [Add] button ().

Page 439: Editing Of Existing Parts
18.3.2.14. Save and end of editing user definition screen After editing the user definition screen, click the [Save] button (). Click [x] () to conclude the edit. Figure 18-42 Save and end of editing user definition screen 18.3.3. Editing of existing parts Edit already-registered parts by the following operation.

Page 440: Copying/Pasting Of Parts
18.3.4. Copying/Pasting of parts Parts can be copied. (1) Click the part to copy to select it (). (2) After the "Edit menu" window is displayed, click the [Copy] button (). (3) Click the position (block) where the part is copied onto (). (4) After the "Select item"...

Page 441: Movement Of Parts
18.3.5. Movement of parts Parts can be moved. (1) Click the part to move to select it (). (2) After the "Edit menu" window is displayed, click the [Move] button (). (3) Click the position (block) where the part is moved to. At this time, the current position (block) of part is red, and the position (block) where the part is moved onto is green.

Page 442: Deletion Of Parts
18.3.6. Deletion of parts Parts can be deleted. (1) Click the part to delete to select it (). (2) After the "Edit menu" window is displayed, click the [Delete] button (). (3) Click the [Yes] button on the confirmation message. ...

Page 443: Edit Of Ruled Lines
18.3.8. Edit of ruled lines Ruled lines can be drawn on the user definition screen. 18.3.8.1. Drawing the ruled line (1) Click [Line] button () on the window. (2) The buttons (“[Top], [Bottom], [Left], [Right]”) () for the ruled line are displayed at the right of [Line] button. These buttons for drawing the ruled lines disappear when [Line] button () is clicked again.
Page 444 18.3.8.2. Erasing the ruled line (1) Click the [Line] button () on the window. (2) The buttons (“[Top], [Bottom], [Left], [Right]”) () for the ruled lines are displayed at the right of the [Line] button. These buttons for drawing the ruled lines disappear when the [Line] button () is clicked again. ...

Page 445: Display Of User Definition Screen
18.3.9. Display of user definition screen You can actually execute (display) the user definition screen you created in the editing screen when online. (1) In the project tree, right click the screen name to be displayed and select the [view] from the displayed context menu.

Page 446: Deletion Of User Definition Screen
18.3.10. Deletion of user definition screen It is possible to delete the existing "User definition screen". There are two methods to delete a user definition screen. (1) Deleting the user definition files. In this case, all the user definition screens in a user definition screen file are deleted.

Page 447 18.3.10.2. Deletion of page The selected user definition screen pages in the user definition screen file are deleted. Select [Tool] -> [User definition screen] -> [“User definition screen file”] -> [“User definition screen page”] in the project tree, click the right mouse button and then select “Delete” in the right button menu. A confirmation message is displayed.

Page 448: Import Of User Definition Screen
18.3.11. Import of user definition screen It is possible to import a user definition screen files created in other work spaces and projects. There are two methods for import. (1) Importing the user definition screen files. In this case, all the pages in the user definition screen files are imported. (2) Importing the selected pages in the user definition screen file.

Page 449 18.3.11.2. Importing the page of the user definition screen Importing the selected pages in the user definition screen file. Select [Tool] -> [User definition screen] -> [“User definition screen file”] in the project tree, click the right mouse button and then select the "Import” in the right button menu. The “Select import user definition screen file” screen is displayed.

Page 450: Export Of The User Definition Screen
18.3.12. Export of the user definition screen It is possible to export the user definition files in the current project so that it can be used in other projects. The user definition screen is exported in file units. Select [Tool] -> [User definition screen] in the project tree, click the right mouse button and then select the "Export”...

Page 451: File Manager
18.4. File Manager You can copy, delete, and rename the files in the robot controller. Double-click [Online] -> [Maintenance] -> [File Manager] in the project tree. Figure 18-55 Starting File Manager Caution The following operations cannot be performed on CR750/700 controllers before Ver.R3e/S3e.

Page 452: File List Display
Caution When a password is registered in “program” by robot controller security function, the file cannot be deleted or renamed. When a password is registered in “program” by robot controller security function, the file cannot be deleted or renamed ○ : Enable、 × : Disable Item to which security function password is registered.

Page 453: Copy
Table 18-12 The file which cannot be operated on a file management screen, and its extension File name or Files extension Robot program files .MB4/.MB5/.prg Parameter files .PRM Error log files AError.log CError.log HError.log LError.log I/O Log (Input/Output) IOLogInp.log IOLogOut.log Trap function log files(program execution log files) .trp Servo data log files...

Page 454: Vision Calibration
18.5. 2D vision calibration This section explains the 2D vision calibration function. 18.5.1. Summary (1) Summary 2D vision calibration is a function to determine the relationship between the vision sensor’s coordinates and the robot’s coordinates. You can have up to 8 switchable vision calibration data sets. Robot’s coordinates Vision sensor’s coordinates Determining...

Page 455: Operating Procedure Of 2D Vision Calibration
18.5.2. Operating procedure of 2D vision calibration This section explains operating procedure of vision calibration (1) Starting 2D vision calibration Use this function while connected to a robot controller. Double-click the target project [Tool] -> [2D Vision Calibration] on the project tree to start 2D vision calibration. Figure 18-60 Starting 2D vision calibration (2) Select calibration number Select the tab of a desired number.

Page 456 separately are recommended. Figure 18-63 Example of 9 markers in camera vision (Image) (4) Calculate vision calibration data When 4 or more data on the list of [Teaching points] are enabled, the [Calculate after selecting 4 points or more] button becomes enabled. Click the button to calculate the vision calibration data and display the data in the [Result homography matrix].

Page 457 Figure 18-65 Writing to robot (6) Saving a file Click the [Save] button or [Save as ...] button to save the teaching points and the calculation results as a camera calibration coordinate file. The extension of the camera calibration coordinate file is “ccc”. 18-457 18-457...

Page 458: Vision Calibration Screen
(7) Other function ・Move robot to selected point Danger The robot may operate at 100% speed. Pay attention to safety around the robot. Also, keep a T/B at hand and use the robot in a status in which an emergency stop can be made at any time. Click the [Move robot to selection point] button to move the robot to the position selected on the list of [Teaching points].

Page 459 (1) New Add new 2D vision calibration settings. The current settings displayed on the screen are removed. (2) Open… Load a Camera calibration coordinate file saved on your PC. The current settings displayed on the screen are removed. (3) Save / Save as … Save the current calibration settings as a Camera calibration coordinate file.

Page 460: Automatic Calibration
18.6. Automatic Calibration You can set item about automatic calibration and generate the robot program. This function can be used if the setting language is MELFA-BASIC VI and CR800 series robot controller and automatic calibration control of Melfa Smart Puls function is effective. These parameters cannot be set by the offline editing.

Page 461: Force Sensor Calibration
18.7. Force sensor calibration 18.7.1. Outline Force sensor calibration is the function that calculates the weight and center of gravity position of the robot hand attached to a force sensor. The data calculated by force sensor calibration (robot hand weight and center of gravity position) is needed during force offset cancellation.

Page 462: Force Control Log File Viewer
18.8. Force control log file viewer The Force control log file viewer is a function to display a graph of force control log data in the PC and robot controllers. From the project tree, double-click the target project [Tool] -> [Force sensor] -> [Force control log file viewer]. Double-click.

Page 463: Tool Automatic Calculation
18.9. Tool automatic calculation With “Tool automatic calculation”, the tool length is calculated automatically by teaching a same position by 3 to 8 points to the robot with an actual tool mounted, setting up the value of a tool parameter (MEXTL). For details on supported models and robot controllers, refer to "Table 18-15 Supported Robot Controllers and Models".

Page 464 Figure 18-72 Starting the “Tool automatic calculation” 18-464 18-464...

Page 465: Flow Of Operations
18.9.3. Flow of operations Select the target robot () Select the tool number for setting () Re-teaching Work Procedure Move the robot to the auxiliary point (Use the teaching box) Select the line of “Auxiliary point” () Teach selection line () Repeat as necessary Enter checks to the check box of the line (When a value is set to “Calculated tool coordinate”,...
Page 466 Figure 18-74 The “Tool automatic calculation” screen Select the robot () and the tool number (). Move the robot with a tool mounted. Select a line of the “Auxiliary point” list () and click the [Teach selection line] button ().

Page 467: Operating The Robot
19. Operating the Robot To operate the robot from RT ToolBox3, you use the operation panel. 19.1. About the Operation Panel Danger With program running and debugging, the robot might operate at 100% speed. So, pay attention to safety around the robot. Also, prepare a T/B nearby at hand, and use the robot in a state in which an emergency stop can be made at any time.

Page 468 (1) Task slot state and selection This shows the task slot state, currently selected program and currently executing line No. - You can select the program to execute by clicking the [Select] button. - You can select the line for which the program is executed by clicking the [Jump] button. (2) Override This displays and sets the robot speed override.

Page 469 Caution If JOG operation can not be performed smoothly, please try the following.  Close the open monitor screen.  Connect by Ethernet. 19-469 19-469...

Page 470: Operation Panel Commands On The Ribbon
19.1.2. Operation panel commands on the ribbon The same operations as the operation panel can be performed by using the [Online] tab -> [Operation panel]/ [Step execution] group commands on the ribbon. Figure 19-4 Ribbon Commands for Operation Panel Operations The following operations can be performed on any robot or simulator.

Page 471: Functions Of Operation Panel
19.2. Functions of Operation Panel The following describes the functions of the operation panel. 19.2.1. Jog operation You can perform the jog operations displayed in the robot view in the online or simulation mode. Click the [JOG] button in the operation panel screen. The screen for jog operation is displayed under the operation panel operation screen.

Page 472 (2) Move method Select the robot move method. The move methods shown below can be selected. For details on each jog operation, refer to "Detailed Explanations of Functions and Operations" in the robot controller instruction manual. Move method Joint TOOL 3-axis XYZ Cylinder WORK...

Page 473 WORK JOG operation is not available when work coordinate parameters are not set or on CRn-500 series controllers. (7) Hand Align You can align the posture of the hand installed on the robot in 90 degree units. This function moves the robot to a multiple value of 90 degrees that is closest to the A, B and C components of the current position.

Page 474 (12) Position value specified move You can move the robot by specifying the joint or XYZ coordinates directly. When you double-click the coordinate value display part on the joint or XYZ jog screen or click the [P.Jump] button, the "Position Jump" screen corresponding to the jog mode will be displayed. When you enter the coordinate value in this screen, the robot will move to that position.

Page 475 Arch interpolation can choose to specify the Arch number for Arch movement. Figure 19-9 Arch Number Direct can be selected only during simulation. Arch cannot be selected when it is MOVEMASTER command or Joint or multi-mech. 19-475 19-475...

Page 476: Program Execution
19.2.2. Program execution You can execute a program selected on the operation panel or a program that has been opened in the debug mode. For details on how to make programs, refer to "11 Writing Programs". Table 19-3 Differences Between Program Execution and Debugging Program Execution Program Debugging Program selection...

Page 477: Step Operation
19.2.4. Step operation You can execute a program that has been opened in the debug mode one step at a time. In the online or simulation mode, open the program in the debug mode. The step function on the operation panel is enabled.

Page 478: Direct Execution
19.2.5. Direct execution You can enter command statements to operate the robot directly. Click the [D-EXEC] button on the operation screen. D-EXEC Figure 19-13 Starting Direct Execution Enter the command to execute in the "Command" box, and either press the [Enter] key on the keyboard or click the [Execute] button.

Page 479: Change To The Small Operation Panel
19.3. Change to the small operation panel You can change the display of operation panel to the type of small size. Small size type Standard type Figure 19-15 Comparison of the display types of operation panel 19.3.1. How to change the display type You can change the display type of operation panel from the option screen.

Page 480: How To Operate
Figure 19-16 Comparison of the display types of operation panel 19.3.2. How to operate On the small type operation panel, there are the buttons with the same name as one for the case where the operation panel is the standard size. By operating the corresponding button, you can use the same function as the operation panel of standard type.

Page 481: Display Method
Switching the connected project Figure 19-17 Operation panel of docking window 19.4.1. Display method Check the [Display] tab → [Operation panel] of the ribbon to display it. Please remove the check if you want to hide it. Caution It can not be displayed unless the operation panel has been activated at least once.

Page 482: Change The Display Type
19.4.2. Change the display type The operation panel of the docking window can be displayed with the large jog button. For robot movement in the XY direction. The position of the X and Y is rotated when the spin button is pressed. Figure 19-18 Display the large jog button Select the [Workspace] ->...

Page 483: Direct Teaching
19.5. Direct Teaching To teach the position of the robot, you can easily push and move the arm by direct teaching. The direct teaching function can be used only with the following robot. Model Robot model that supports direct teaching. MELFA ASSISTA Caution Jog operation and hand operation cannot be performed while direct teaching is...

Page 484: Teach Procedure By Direct Teaching
19.5.1. Teach procedure by direct teaching Teaching position to the robot program by direct teaching is possible by the following procedure. ① Check that the mode selector switch input on the robot controller is set to "Automatic" and operation mode is set to collaborative(standard or low speed). ②...

Page 485 ⑤ If no position data is selected on the program edit screen, new position data is added, and if selected, the value of the selected position data is updated. If no position data is selected, new position data will be added. If the position data is selected, the selected position data will be updated.

Page 486: Direct Teaching Mode Switching
19.5.2. Direct teaching mode switching You can switch the direct teaching mode by mode selection combo box. When "Pan" is selected, the operation direction is limited to the translation direction. Figure 19-20 Direct teaching mode switching Table 19-4 Direct teaching mode Mode Option Free...

Page 487: Simulation
20. Simulation This chapter explains the simulation operation methods. Caution Simulation can not be used with the mini edition. The simulation function only supports the "RT ToolBox3" standard edition. It can not be used with the mini edition. Simulation can not be used with Movemaster commands. Be aware that even with the standard edition, the simulation function can not be used when Movemaster commands are selected.

Page 488: Starting A Simulation
20.1. Starting a Simulation Click the [Home] tab -> [Mode] group -> [Simulator] on the ribbon. If there are two or more projects in the workspace at this time, the screen for selecting the screen to conduct the simulation is displayed. You can simulate eight projects or less.

Page 489: About The Warning At First-Time Startup Simulation
20.1.1. About the warning at first-time startup simulation After installing RT ToolBox3, when you first start the simulation, the following warning screen may be shown. If the screen is displayed, confirm that checkbox corresponding to the environment is set to ON, and click [Allow access].

Page 490: Tact Time Calculation
20.3. Tact Time Calculation You can calculate the tact time and axis load level of the operation command section of programs created by using the simulation function. RV-F and RH-F series robots can calculate the axis load level. Caution Tact time calculation The calculated tact time varies with the performance and load status of the computer used and will not completely match the actual robot operating time (tact time).

Page 491 Caution Do not start multiple simulations. Correct measurement may not result due to the PC load. Do not set the [Tool] and [Collision area] displays ON Correct measurement may not result due to the PC load. Do not use a program that has signal input or robot status changes.

Page 492 Caution Include the GoTo or GoSub jump destinations in the tact time calculation range. For example, the tact time can not be calculated for a program like the following. The location displayed inverted in black in the program is set for tact time calculation.) No destination selected No destination selected for GoTo statement...

Page 493: Tact Time Measurement
20.3.2. Tact time measurement This explains tact time measurement. Start simulation. Start the simulation. For details, see "20.1 Starting a Simulation". Open the program, and start tact time calculation. There are two ways of starting tact time calculation, by starting from the project tree or by starting from the program edit screen.

Page 494 Click the [Tool] tab -> [Tact time Calculation] group - [Run calculation] button on the ribbon. Figure 20-6 Toolbar "Tool" Menu Check the range in which the tact time is to be calculated. The "Tact calculation" screen for checking the tact time calculation range is displayed. Check the contents of this range, and click the [OK] button.

Page 495 The tact time The tact time calculation results calculation results are for this calculation added sequentially. are displayed. This information is cleared when the simulation is started again. Figure 20-9 Tact Time Calculation Results (Calculation of Axis Load Level Impossible) The axis load level (J1-J6 each axis) and the tact time are displayed for robots that can measure the axis load level.

Page 496 Date/time that tact time Name of source program from which tact calculation was started time calculation result was obtained Tact time calculation Time at which a Project name result single tact time calculation ended Line No. where tact time calculation was interrupted ("1"...

Page 497: Causes Of Tact Time Deviation
20.3.3. Causes of tact time deviation With this software, you can use the simulation function to calculate the robot movement tact time. However, the calculated tact time varies with the performance and load status of the computer used, and will not completely match the actual robot operating time (tact time).

Page 498 static determinacy after movement or for the conditions to be established, the tact time calculated differs from the tact time on the actual robot. We recommend that you finally confirm operation on the actual robot. 20-498 20-498...

Page 499: Cooperative Control Simulation
20.4. Cooperative control simulation Cooperative control by multiple robots can be simulated. Cooperative control is available only when CR800-R/CR800-Q/CR750-Q/CRnQ-700 controller is selected. The correspondence between the robot number used for coordinated control and the slot number of the robot CPU installed in the PLC base unit is as shown below. The robot CPU must be installed in order from the first slot.

Page 500 Cooperative operation simulation setting When using cooperative action on actual machine, it is necessary to absorb installation error and manufacturing error. However, there is no error in the virtual space of the simulation, so you can use the following simple method. 1.

Page 501 Robot 1 Robot 2 Robot 2 hand Work (750mm) Center of the work Robot 1 hand Figure 20-15 Example of controlling the center of the work Robot 1 750mm Hand 1 origin Hand 2 origin Center of work Robot 2 Figure 20-16 Example of controlling the center of the work (Detail image) The control point need not be the center of the workpiece.

Page 502: Interference Avoidance
Robot 1 (Master) Robot 2 (Slave) Robot 2：Wait for preparation completion of robot 1 M_Mxt(2)=0 Wait M_Mxt(2)=0 Wait M_Mxt(3)=0 M_Mxt(3)=0 Robot 1：Wait for preparation completion of robot 2 M_Mxt(2)=1 Wait M_Mxt(2)=1 ２：Wait for activation request from robot 1 Robot Open "MXT:QRBUS2"...

Page 503: Ending Simulation
20.5. Ending Simulation To end the simulation, close the robot program in debugging status. Then click the [Home] tab -> [Mode] group -> [Offline] button or [Online] button on the ribbon, or click "Offline" or "Online" on the application tab. Switch to Offline.

Page 504: D Monitor
21. 3D Monitor You can display the robots and their movements in multiple projects in 3D to check them. Caution When using the 3D monitor, we recommend using a high-performance PC. Jog operation may not be performed properly if low-performance PC is used. 21.1.

Page 505: Change 3D Monitor Display Method
21.2. Change 3D Monitor Display Method You can change the display method of the 3D monitor on the option screen. Select the [Workspace] tab -> [Options] menu on the ribbon. By checking [Always display in front] in [3D Monitor], it will always be displayed on the front from the time the next 3D monitor is started up and you can move outside the screen of RT ToolBox 3.

Page 506: Monitor Operations
21.3. 3D Monitor Operations On the 3D monitor, you can rotate the display, move it in parallel or enlarge and reduce it. Also, all 3D monitor operations can be executed basically by operating the mouse on the 3D monitor. 21.3.1. List of operations The following table lists operations in the 3D monitor.

Page 507: Rotating The View
Besides this, the display can also be enlarged and reduced while holding down the [Shift] key and the mouse left button. Moving the mouse upwards in this state enlarges the display, and moving the mouse downwards reduces the display. Note, however, that enlargement/reduction is performed around the center of the screen when this operation is performed with "Mouse"...

Page 508: Parallel Movement Of View
If you are rotating the view around a point other than the origin, small coordinate axes as shown below are displayed at the center of rotation point. Figure 21-5 View Center of Rotation The view can also be changed to a position visible on a plane, such as the X-Y plane or X-Z plane, by clicking the following buttons in the [3D view] tab ->...

Page 509 This method allows you to check correspondence between object display in the 3D monitor and items in the layout tree. Figure 21-8 Currently Selected Object Display [Ctrl] key + [Shift] key + click Figure 21-9 Selecting an Object by the Mouse Caution When you select an object on the 3D monitor, the wire frame object is sometimes selected if there is a wire frame object at the front even if its...

Page 510: Moving Objects Mouse
21.3.6. Moving Objects Mouse You can move the object by mouse operation on the 3D monitor. The movement method can be changed on the option screen, and it can be selected from [Move Along Movement Axis] and [Free Movement]. To display the options screen, select the [Workspace] tab -> [Option] menu on the ribbon. Figure 21-10 Mouse move method of object changes 21.3.6.1.

Page 511 [Ctrl] key + [Shift] key Drag in Y direction Figure 21-12 The object rotates along the axis of rotation Caution When you drag an arrow, a wire frame object will be selected if there is a wire frame object at the front even if its surface is not displayed. When projection type is perspective, the object sometimes moves in the direction opposite to the move direction of the mouse when the mouse is dragged to move the object in the arrow direction.

Page 512 [Ctrl] key + [Shift] key Drag in arrow direction Figure 21-14 Free movement on object plane Caution When dragging an object, if there is an object of wireframe in front, the object of the wireframe is selected even if the face is not displayed.

Page 513: Layout Tree
21.4. Layout Tree Data that is displayed on the 3D monitor can be selected in the layout tree. Also, display information relating to items selected in the layout tree is displayed at "Properties", and respective display information can be edited. 21.4.1.

Page 514: Operations In Layout Tree
can be changed. The name is changed according to the display information, and "Opened spline file" or "01(PC)", for example, indicating the specified spline file is displayed. (7) Layout objects When these are selected, the display information relating to layout objects is displayed at "Properties" and can be changed.

Page 515 Figure 21-17 Add a user mech. Item Caution Up to 3 user mechanisms can be displayed on 3D monitor You can add more than four user mech., but display up to three user mech. on the 3D monitor. When adding the fourth user mech. on the 3D monitor (checked in the layout tree), the first user mech.

Page 516 21.4.2.5. Copying a hand / robot parts / user mechanism Follow the procedure below to copy a hand / robot parts / user mech. in the layout tree. (1) Select the hand / robot parts / user mech. to copy, and select [Copy] from the context menu. (2) Right-click again on the copy destination robot, and select [Paste] from the context menu.

Page 517 21.4.2.6. Deleting hands / robot parts / splines / user mechanism Follow the procedure below to delete hands / robot parts / user mech. / splines in the layout tree. (1) Select the hands / robot parts / user mech. / splines to delete, and select [Delete] from the context menu. (2) A confirmation message is displayed.

Page 518 21.4.2.7. Adding layout objects To add a layout object to the layout tree, right-click the 3D monitor, layout object or a place where nothing is set on the layout tree, and select [Add object] from the context menu. The layout object is added. Right-click the layout object, and select [Add object] from the menu that is displayed.

Page 519 Also, multiple hexahedrons arranged in a box type can be batch-added. Follow the procedure below to add multiple hexahedrons. (1) Right-click the 3D monitor, layout object or a place where nothing is set on the layout tree, and select [Add box] from the context menu.

Page 520 21.4.2.8. Copying layout objects Follow the procedure below to copy a layout object in the layout tree. (1) Select the layout object to copy, and select [Copy] from the context menu. (2) Right-click the copy destination layout object, 3D monitor or a place where nothing is set on the layout tree, and select [Paste] from the context menu.

Page 521 21.4.2.9. Deleting layout objects Follow the procedure below to delete a layout object in the layout tree. (1) Select the layout object to delete, and select [Delete] from the context menu. (2) A confirmation message is displayed. Check the message and select [Yes]. (3) The selected layout object is deleted.

Page 522 21.4.2.10. Bulk editing layout objects In some of the layout objects settings, you can edit some layout objects in bulk. When you edit in bulk, you follow the steps below. (1) You select some layout objects that you want to edit and [Bulk edit] on context menu. (2) When bulk edit screen appears, you change only the check boxes for the items you want to edit in bulk on, set your edits and select [OK] button.

Page 523 21.4.2.11. Bulk edit of box You can set the color, display type, etc. of the box (child of hexahedron on the bottom) created by [Add Box] in the context menu. Please follow the procedure below. Select the object (hexahedron) at the bottom of the box you want to edit, and select [Bulk edit] on the context menu.

Page 524 21.4.2.12. Importing layout objects Follow the procedure below to import layout objects in other layout files. (1) Right-click the 3D monitor, layout object or a place where nothing is set on the layout tree, and select [Import object] from the context menu. (2) The select file screen is displayed.

Page 525 21.4.2.14. Export PLY format You can export the displayed layout objects (Hexahedron, Column, Sphere, Triangle Prism, Tube, Plane) in PLY format. Coordinates of child items are calculated with the object as the origin (0, 0, 0) and export. Export procedure of layout object (1) Check the objects you want to export in the layout tree.( It can also be output from the hand edit tree and the user mech.

Page 526 21.4.2.15. Dragging and dropping Hands / robot parts / user mech. in the layout tree can be moved to other robots by dragging and dropping. Layout objects can be made into child objects of other layout objects by dragging and dropping. Even if multiple items are selected, only one item is targeted in drag and drop operations.

Page 527: Monitor Display Settings
21.5. 3D Monitor Display Settings Display the 3D monitor and select 3D monitor in the layout tree. The 3D monitor display settings will be displayed at "Properties", and 3D monitor related display settings can be changed at respective items. Figure 21-31 3D Monitor Display Settings 21.5.1.

Page 528: Floor
21.5.2. Floor You can set the floor to be displayed in the 3D monitor. 21.5.2.1. Floor display When [Display] is set to [True], the floor is displayed in the 3D monitor. The floor display can also be changed by clicking the [3D view] tab -> [3D View] group -> [Floor] button on the ribbon.

Page 529 21.5.2.2. Floor level When [Floor level] is changed, the height of the floor that is displayed on the 3D monitor can be changed. With "0" set as the origin, increasing the value changes the position of the floor in the + direction of the Z-axis, and decreasing the value changes the position of the floor in the - direction of the Z-axis.

Page 530 21.5.2.3. Size At [Size], you can set the length of one side of the floor. Figure 21-35 Change the size of the floor 21.5.2.4. Color At [Color 1] and [Color 2], you can set the color of the floor. At "Floor", the [Color 1] and [Color 2] color panels are displayed alternately.

Page 531 21.5.2.5. Transparency The transparency of the floor can be changed by changing [Transparency]. The closer a value to 99 (maximum value) is set, the closer to transparent the floor is displayed. At the minimum value of 0, the floor is opaque. Figure 21-37 Setting the Floor Transparency 21-531 21-531...

Page 532: Displaying Coordinate Axes
21.5.3. Displaying coordinate axes When [Display coordinate axes] is set to [False], the coordinate axes displayed at the origin in the 3D monitor and the small coordinate axes displayed at the reference position of the robot model are hidden. Coordinate axes displayed Coordinate axes hidden Figure 21-38 Displaying and Hiding the Coordinate Axes 21.5.4.

Page 533: Projection Type
21.5.5. Projection type At [Projection type], the projection type of the 3D monitor can be changed to [Perspective] or [Orthographic]. The [Perspective] and [Orthographic] setting can also be switched in the [3D view] tab -> [Projection type] group on the ribbon. Changing the projection type...

Page 534: Robot Display Settings
21.6. Robot Display Settings Display the 3D monitor and select the robot whose display settings are to be changed in the layout tree. The display settings of that robot will be displayed at "Properties", and robot related display settings can be changed at respective items.

Page 535: Robot Arrangement
21.6.2. Robot arrangement You can set the arrangement of the robot model displayed on the 3D monitor. Figure 21-43 Robot Arrangement Settings You can set the arrangement position of the robot model by editing [Position]. You can rotate the robot model by editing [Angle]. At [Rotation order], you can select from [Z-Y-X] or [X-Y-Z].

Page 536: Robot Model
21.6.3. Robot model You can change display settings related to the robot model displayed on the 3D monitor. Figure 21-45 Robot Model Settings 21.6.3.1. Displaying the robot model When [Display robot model] is set to [False], the robot model is hidden. Figure 21-46 Displaying and Hiding the Robot Model 21-536 21-536...

Page 537 21.6.3.2. View type You can select [View type] from [Solid]/ [Wire frame]. The respective display of the robot model is switched to the selected view type by changing this setting. Figure 21-47 Changing the View Type of the Robot Model 21-537 21-537...

Page 538 21.6.3.3. Displaying solenoid valves When [Display solenoid valve] is set to [True], the solenoid valves corresponding to the robot are displayed on the 3D Monitor screen. In the simulation mode, interference with peripheral devices can be checked. This function is available on robots mounted with the following solenoid valves, and solenoid valves with four valves are displayed.

Page 539 21.6.3.4. Interference check When [Interference check] is set to [True] and an interference check is executed, the interference check is performed on that robot model. When the robot model is hidden, the interference check is not performed. For this reason, to execute this check, display the robot model.

Page 540 21.6.3.6. Displaying the tool position When [Display tool position] is set to [True], the tool currently selected by the controller is displayed on the 3D monitor. Figure 21-50 Displaying and Hiding the Tool Position 21-540 21-540...

Page 541 21.6.3.7. Display of work coordinate Expand [Display work coodinate] and set the number of each work coordinate to [True], "(Robot ID): Work (work number)" will be displayed at the position set in the work coordinate of "13.3.5 Tool parameter". Figure 21-51 Displaying and Hiding the Work Coodinate 21-541 21-541...

Page 542 21.6.3.8. Robot path By [Robot path], display of the robot path can be set. When [Display] is set to [True], the path of robot movement is displayed on the 3D monitor. This function is available in modes other than offline. The robot path is displayed in green.

Page 543: Hand
21.6.4. Hand You can change the display settings of hands provided with the robot. Note, however, that to display a hand, a hand file must first be created from the hand file manager. Then, the hand item must be added to the robot in the layout tree, and the hand file to display must be selected. When [Display] is set to [False], the hand is hidden regardless of the state in the layout tree or display conditions.

Page 544: Robot Parts
21.6.5. Robot Parts You can change the display settings of robot parts provided with the robot. Note, however, that to display robot parts, robot parts file must first be created from the robot parts file manager. Then, the robot parts item must be added to the robot in the layout tree, and the robot parts file to display must be selected.

Page 545 Figure 21-55 Hide display of user mechanism 21-545 21-545...

Page 546: Collision Area
21.6.7. Collision area You can check the collision area on the 3D monitor. [Collision area] is not displayed for robots that are in the offline mode or do not support the collision avoidance function. When [Display] is set to [True], the collision area of the robot and the collision area selected at [Hand] and [Work] are displayed on the 3D monitor.

Page 547: Movement Area
21.6.8. Movement area You can check the movement area in the robot's current posture in the 3D monitor. In the offline mode, [Movement area] is not displayed. When the posture is changed, click the [3D view] tab -> [3D View] group -> [Update Movement Area] button on the ribbon to refresh the movement area display.

Page 548: User-Defined Area
21.6.9. User-defined area You can check the user-defined area in the 3D monitor. Only numbers set with the user-defined area parameter are displayed at "Properties". In the offline mode, [User-defined area] is not displayed. When a number item is set to [True], the respective user-defined area is displayed. Also, multiple user-defined areas can be displayed together by entering only the numbers of specific user-defined areas to display in the format "[1;...

Page 549: Free Plane Limit
21.6.10. Free plane limit You can check the free plane limit on the 3D monitor. Only numbers set with the free plane limit parameter are displayed at "Properties". In the offline mode, [Free plane limit] is not displayed. When a number item is set to [True], the respective free plane limit is displayed. Also, multiple free plane limits can be displayed together by entering only the numbers of specific free plane limits to display in the format "[1;...

Page 550: Safe Monitoring
21.6.11. Safe monitoring You can check the monitoring plane and monitoring position set in the safety parameters in the 3D monitor. [Safe monitoring] is not displayed in the offline mode or on models that do not support safety parameters. The contents displayed are different between CR800 series and CR750 / CR700 series. 21.6.11.1.

Page 551 21.6.11.2. Safe monitoring of CR 800 series If you set the item of [Display monitoring planes] to [True], the plane set on the safety parameter SLP monitoring plane setting screen is displayed on the 3D monitor. If it is an invalid setting, the face is not displayed. If you set the item of [Display monitoring area] to [True], the area set on the safety parameter SLP monitoring area setting screen is displayed on the 3D monitor.

Page 552: Hand Display Settings
21.7. Hand Display Settings Display the 3D monitor and select the hand whose display settings are to be changed in the layout tree. The display settings of that hand will be displayed at "Properties", and hand related display settings can be changed at respective items.

Page 553 Select hand file. Set to display Check file content. content Figure 21-65 Select Hand File Screen 21.7.2. Display conditions By setting display conditions, the target hand file can be displayed only in specified I/O states or when a tool is selected.

Page 554: Display Conditions
Figure 21-67 Specifying I/O Conditions for Display of Hand Files - Display conditions Specify the I/O conditions for displaying the target hand file. This condition is valid only in the simulation mode. To disable I/O conditions, select [Default], and to enable I/O conditions, select [I/O (valid only in simulation)]. When [I/O (valid only in simulation)] is selected, items [Condition1] to [Condition3] are displayed, and up to three I/O conditions can be specified.

Page 555: Write Tcp (Hand Tip)
21.7.3. Write TCP (hand tip) If you select the hand setting and the tool number other than [-], the [TCP Write] button will be enabled. Click the [TCP Write] button to write the TCP coordinate value set by the hand to the tool parameter.

Page 556: Display Conditions
selected robot parts file is set to the display content. Select robot part file. Set to display Check file content. content Figure 21-72 Select Robot Parts File Screen 21.8.2. Display conditions By setting display conditions, the target robot parts file can be displayed only in specified I/O states or when a tool is selected.

Page 557: User Mech. Display Settings
When [True] is set, the following items are displayed. (2) I/O type: Specify the I/O type. You can select from [input signal], [output signal], [Register (CC-Link) input] and [Register (CC-Link) output]. (3) Start signal #: Specify the I/O start No. No.

Page 558: Display Contents Of User Mechanism
21.9.1. Display contents of user mechanism Clicking the [Select] button, or double-clicking on the user mech. for which no file is set in the layout tree, the user mech. file selection screen will be displayed. Figure 21-76 User mech. name selection button Figure 21-77 Unconfigured user mechanism On the [select user mech.

Page 559 If there is a parent item, it is the relative rotation angle from the position and angle of the parent item. The setting unit is [deg]. Figure 21-80 User mech. position Displayed while offline When [True] is selected, user mech. can be displayed even while offline. Figure 21-81 When while offline Display the project name / mech.

Page 560: User Mech. Type And Relationship To Robot
Figure 21-82 Show / hide project / mech. name 21.9.2. User mech. type and relationship to robot User mech. type Set mech. to assign the joint axis value of the user mechanism. ： Mech. with mech. number 1 (robot) Additional axis ：...

Page 561: User Mech. Lnterference Check
Figure 21-84 User mech. relationship to robot 21.9.3. User mech. lnterference check When [True] is selected, By clicking the [3D view] -> [interference check] button, interference check between the user mech. and other objects etc. can be done. Figure 21-85 User mech. lnterference check Please refer to “21.14Interference Check”.

Page 562 Figure 21-87 Display Settings for an Opened Spline File When there is an [Opened spline file], the position data of the curve (blue) of the spline file currently open in the 3D Monitor screen and the currently selected path points are displayed. Figure 21-88 Display of Spline Curve (Opened File) 21-562 21-562...

Page 563: Specified Spline File
When a spline file corresponding to an EX-T spline is opened, the spline curve is displayed at the start position along the Ex-T coordinates. In addition to the position data of the currently selected path points, the position data (En, n: path point No.) corresponding to those points, and the gripping position (G) and Ex-T coordinate origin (EO) are displayed.

Page 564: Mxt File
When a spline file corresponding to an Ex-T spline is selected, the spline curve is displayed at the position where the robot's tool is aligned with the gripping position. Also, the Ex-T coordinate original (EO) is displayed. Figure 21-91 Display of Curve Corresponding to Ex-T Spline (Specified File) 21.10.3.

Page 565: Layout Object Display Settings
21.11. Layout Object Display Settings Display the 3D monitor and select the layout object whose display settings are to be changed in the layout tree. The display settings of that layout object will be displayed at "Properties", and layout object related display settings can be changed at respective items.

Page 566 The following explains each of the layout objects. Table 21-6 Explanation of Layout Objects Window Explanation Hexahe dron Angle（Z） (rectan gular Size（Y） parallel Size（X） epiped) Angle (Y） Size（Z） Angle（X） Position （X, Y, Z） Column (Cone) Size Angle（Z）（Upper radius） Size （Height）...

Page 567 Window Explanation Sphere Angle（Z） Angle Size (Y）（Radius） Angle（X） Position （X, Y, Z） * With [Sphere], when there is a child layout object in the layout tree, the setting of this item affects the position posture of the child layout object. Triangle prism Angle（Z）...

Page 568 Window Explanation Plane Angle（Z） Size (width) Angle Size （Y） (height) Angle （X） Position （X, Y, Z） Tube Size Angle（Z）（Inner radius） Size （Height） Angle Size (Y）（Outer radius） Angle（X） Position （X, Y, Z） The minimum thickness ([Outer radius [mm]] - [Inner radius [mm]]) is 0.5 mm.

Page 569 Window Explanation model Angle（Z） Angle (Y） Angle（X） Position （X, Y, Z） The position and a rotational reference position of 3D model are reference positions at the time of CAD data creation. When 3D model is selected, the CAD file to read can be specified.

Page 570 Window Explanation String Size Rotation Table Position （X, Y, Z） The maximum number of characters that can be displayed is 32 characters. Multibyte characters are displayed only in the same language as the OS. (Different languages may display garbled characters.) If you create many character strings, screen rendering processing becomes heavy.

Page 571: Moving And Rotating Layout Objects
21.11.2. Moving and rotating layout objects To move or rotate layout objects that have been created, change the "Position" and "Angle" values in the respective "Properties". Layout objects can also be moved by mouse operation on the 3D monitor. For details, refer to "21.3.6.1 Moving objects by the ".

Page 572: Layout Condition Edit
21.11.3. Layout condition edit Click the [Edit] button at [Condition] at "Properties". The "Layout object condition edit" screen is displayed. Figure 21-96 Layout condition editing You can display or hide layout objects by specifying I/O conditions for corresponding layout objects. This function can be used in simulation.

Page 573: Layout Files
21.12. Layout Files You can save the display settings of 3D monitor, robots, hands, robot parts, user mech., splines, and layout objects to layout files. Also, you can load the display settings of 3D monitor, robots, hands, robot parts, user mech., splines, and layout objects saved to layout files.

Page 574: Loading Layout Information
21.12.2. Loading layout information If layout information is changed even once after it is loaded from a layout file, the following confirmation screen will be displayed when the layout file is loaded. Figure 21-99 Layout File Load Confirmation Screen Note that if you select [Yes] in this screen to load the layout file, all currently displayed layout information will be deleted.

Page 575 Click the [3D view] tab -> [Layout file] group -> [Layout file manager] button on the ribbon. The "Layout file manager" screen is displayed. In the layout file list in this screen, select the layout file, and check the content of the layout information in the 3D display.

Page 576: Layout File Manager
21.12.3. Layout file manager The "Layout file manager" screen opens by clicking the [3D view] tab -> [Layout file] group -> [Layout file manager] button on the ribbon. In the "Layout file manager" screen, you can add, delete, rename and perform other operations on layout files. (2) 3D display of layout files (1) Title name...

Page 577 ･ Adding a layout file To add a new layout file, click the [Add] button. The following screen will be displayed. Figure 21-103 Selecting the Type of Additional Layout File When [New] is clicked, the name input screen is displayed. In this screen, enter the name of the new layout file to add, and click the [OK] button.

Page 578: Types Of Robot Model
21.13. Types of Robot Model You can select the robot model to be displayed on the 3D monitor from "detailed model" and "simple model". Note, however, that the "detailed model" sometimes is not displayed depending on the model. As the default setting, "detailed model" is displayed. To change the type of robot model, select the type of robot model to displayed in the [3D view] tab ->...

Page 579: Interference Check
21.14. Interference Check The interference check can be performed in the 3D monitor. The following table summarizes combinations in which the interference check can be performed. Table 21-7 Combinations in Which Interference Check Can Be Performed Robot model Robot model (detailed (simple Hand...

Page 580 Figure 21-108 Interference Check Setting Before interference check During interference check Figure 21-109 Interference Check Start/End Buttons When you click [Setting] button and [Stop the Robot] button, you can stop the robot interfering. Effective [Stop the Robot] button The robot stops when interfered Figure 21-110 Stop the Robot Button...

Page 581 Caution You stop the robot in the low-speed. You do not necessarily stop the robot in the high-speed. During the interference check, end the interference check by either switching the mode by [Offline mode] or [Online mode] or by ending the 3D monitor. The interference check on the 3D model of the detailed models and simple models of the robot model is performed not on the currently displayed model but on its bounding box.

Page 582 When two parts targeted in the interference check interfere with each other during the interference check, the 3D monitor display is changed and the combinations of interfering parts are displayed at [Output]. Interfering objects Interference times and combinations of interfering parts Figure 21-112 Changes in Interference Times 21-582 21-582...

Page 583 ･ Changes in 3D monitor When two parts targeted in the interference check interfere with each other during the interference check, the display of the interfering objects on the 3D monitor is changed. Table 21-8 Changes in Display at Interference Type Display at Interference Robot model (detailed model)

Page 584 Caution The program execution line in the output information at interference sometimes shifts from the line that was actually executing. Use this as a rough guide that interference occurred somewhere neat that line. By this function, only combinations of interfering parts that include objects that have not interfered even once since the interference check is started are checked.

Page 585 Caution Perform the interference check with the 3D monitor displayed. The interference check will not be executed if the 3D monitor display is minimized. During the interference check, robot movement on the 3D monitor sometimes slows down. If this happens, either reduce the number of objects set as targeted in the interference check or decrease the override.

Page 586: Moving The Robot By Clicking
21.15. Moving the Robot by Clicking With the simulation started up, click an object on the 3D monitor with the [Ctrl] key held down. The control point of the robot moves to the clicked position. This function is not available on the following models. Robot model type Models that do not support the click move function RH-G, RC-G, RH-U...

Page 587 Also, if you click an object on the 3D monitor with the [Ctrl] key held down with the [3D view] tab -> [Click move] group -> [Change posture of the robot] on the ribbon selected, the control point of the robot will move to the clicked position, and the posture will be changed to one where the normal direction of the click surface matches the Z-axis direction of the tool coordinate system.

Page 588: Move The Robot By Grasping The Tool
21.16. Move the robot by grasping the tool When displaying the robot tool coordinate system, while pressing [Ctrl] + [Shift], click and slide in the XYZ direction, and the robot's control point will move in the direction of the grasped axis. Press [Ctrl] + [Shift] click and slide the Z coordinate of tool...

Page 589 When the robot is selected, the tool coordinate is expanded as shown below and a ball for rotation is displayed. Select Robot Figure 21-122 Display change of tool coordinate system Robot Tool mobile robot Vertical 6 axis, Horizontal 4 axis, Ceiling horizontal 4 axis, Micro, Palletizing Caser, RH-L Series Caution .

Page 590: Distance Measurement
21.17. Distance measurement You can measure the distance between any two points on objects (robots, layouts etc.) displayed in 3D monitor. To use this function, click the [3D view] tab -> [Tool] group -> [Distance measurement] button on the ribbon. The "Distance measurement"...

Page 591 [XYZ] / [X] / [Y] / [Z] can be selected in the mode field of each measurement result. By changing to the mode of [X] / [Y] / [Z], the line that extracted only the distance on the designated axis between the two points is displayed on the 3D monitor.

Page 592: Xyz Position Variables
21.18. XYZ position variables It is possible to display the XYZ position variable on 3D monitor. Correspondence of color and coordinate axis are as follows. Table 21-9 Correspondence table of colors and coordinate axes Color Coordinate axes axes Yellow axes Light Blue axes When some XYZ position variables in a robot program are selected, these all of positions are displayed on 3D...

Page 593 The position data which can be displayed is as follows. Table 21-10 The position data which can be displayed Preservation place Kinds of program Remarks Robot program in Movemaster A simulation cannot be used when Movemaster the robot controller command command is selected.

Page 594: Hand Design
21.19. Hand Design Hands can be displayed at the mechanical interface position of the robot on the 3D monitor, and the hand to display can be switched according to signal state, for example. Hands that you design are registered to the workspace. For this reason, hands must be designed before hand display settings are made on the layout tree.

Page 595 - Editing hand files Double-click the selected edit file in the hand list, or click the [Edit] button to open the hand editing dialog and display the edit tree. You can also open the hand editing screen by double-clicking the already set hand in the layout tree.

Page 596: Hand Editing Operations
21.19.2. Hand editing operations Operation methods are basically the same as in the 3D monitor. So, refer to "21.3 3D Monitor Operations" for details. Note, however, that view center rotation differs from operation in the 3D monitor in that this can be operated by the mouse only.

Page 597: Distance Measurement
Press the [Ctrl] and click Figure 21-130 Click movement of TCP (hand selection) 21.19.4. Distance Measurement Please refer to "21.17Distance measurement". Figure 21-131 Distance measurement during hand editing 21-597 21-597...

Page 598: Robot Parts Design
21.20. Robot Parts Design Robot parts are displayed on each axis of the robot on the 3D monitor and the robot parts to display can be switched according to signal state, for example. Robot parts that you design are registered to the workspace. For this reason, robot parts must be designed before...

Page 599: Robot Parts Editing Operations
21.20.2. Robot parts editing operations Operation methods are basically the same as in the 3D monitor. So, refer to "21.3 3D Monitor Operations" for details. Note, however, that view center rotation differs from operation in the 3D monitor in that this can be operated by the mouse only.

Page 600: Distance Measurement
Figure 21-136 Properties in Robot Parts Editing Tree 21.20.4. Distance Measurement Please refer to "21.17Distance measurement". Figure 21-137 Distance measurement during parts editing 21-600 21-600...

Page 601: Design Of User Mechanism
21.21. Design of User Mechanism Displays the user mech. at a position away from the mechanical interface on the 3D monitor or the robot. The designed user mech. is registered in the workspace. Before setting the display of the user mech. in the layout tree, it is necessary to design the user mechanism.

Page 602: Operation Of Editing User Mechanism
Except for the [File Edit] button, the rest of the operation is the same as the layout file,Please refet to “21.12.3Layout file manager”. Edit user mech. file Double-click the selected edit file in the user mech. list, or click the [Edit] button to open the user mech. editing dialog and display the edit tree.

Page 603 Figure 21-141 Add joint in user mech. edit tree 21.21.3.1. Object properties The property item of the user mech. object is the same as the layout object (except for the interference check item). Objects added to the user mech. have display conditions individually, and you can display or hide certain objects by specifying I / O conditions.

Page 604 Figure 21-143 Display position of joint Rotation order and Angle The rotation order and angle specified by the joint are displayed. It becomes relative rotation angle from the position and angle of the parent item. The setting unit is [deg]. Figure 21-144 Rotation order and Angle of the joint Axis type Set up the movement method of the joint.

Page 605 Figure 21-146 Joint type of joint(Axis linear) Reversed Sets whether or not to reverse the movement of child items. When set to [Reversed], the direction of rotation or the direction of movement is reversed. By creating joints of [Not Reversed] and [Reversed] and assigning them to the same axis, it becomes possible to make symmetrical movement.

Page 606 Axis of symmetry Assign the joint to the axis of the mechanism specified by the [Type] of the property of the user mechanism.Please refer to “21.9.2User mech. type and relationship to robot”. J1 or J7 : Assign to J7 of Mech. # 1 (Robot) Assign to J1 of Mech.

Page 607 Figure 21-149 Axis Value of Joint Caution Please confirm with jog operation of simulator on 3D monitor The movement can be confirmed by entering the axis value only on the user mech. edit screen. To move the user mech. on the 3D monitor, specify the mechanism on the simulation operation panel and operate the jog.

Page 608: Distance Measurement
21.21.4. Distance Measurement Please refer to "21.17Distance measurement". Figure 21-150 Distance measurement during user mech. editing 21-608 21-608...

Page 609: Recording
21.22. Recording Content displayed on the 3D monitor screen can be recorded and saved to an AVI file. Click the [3D view] tab -> [Rec.] group -> [Start] button on the ribbon. The recording is started. Figure 21-151 3D Monitor: Recording in Progress To pause recording, click the [3D view] tab ->...

Page 610 If the [3D view] tab -> [Rec.] group -> [Stop] button on the ribbon is clicked during recording or when recording is paused, recording is stopped and the "Save As" dialog for saving the AVI file opens. Figure 21-153 "Save As" Dialog Also, recording functions can be set before recording by the [3D view] tab ->...

Page 611 Caution About the recording time The recording time is affected by the screen size of the 3D monitor and the frame rate. To extend the recording time, reduce the screen size or the frame rate. If the initial screen size and frame rate is 30, it can be recorded for about 2GB.

Page 612: Melfa-3D Vision
22. MELFA-3D Vision This sets the control unit of MELFA-3D Vision. To add a control unit for use in the workspace, double-click the [MELFA-3D Vision] – [Setup/Add] in the project tree. Figure 22-1 “Setting and Add Control Unit” window When the control unit is double-clicked, the MELFA-3D Vision window is displayed. Figure 22-2 MELFA-3D Vision window For details, refer to the user’s manual containing a complete description of the MELFA-3D Vision.

Page 613: I/O Simulator
23. I/O Simulator 23.1. Summary The I/O simulator simulates the signal communication between robots. This function can also interact with GX Simulator2, 3 devices. (For details of GX Simulator2, 3, refer to GX WORKS2, 3’s manual.) Caution This Software supports only GX Simulator2, 3. 23.2.

Page 614 Figure 23-3 Add/Edit signal connection. (3) Delete Deletes the selected signal connection row. You can also delete multiple rows at the same time. (4) Up / Down Moves the selected signal connection row up/down. You can also move multiple rows at the same time. Signal connections are applied in descending order.

Page 615: Signal Connection Edit Screen
23.3. Signal connection edit screen On the simulator setting screen, Click the [Add] button or [Edit] button to display the signal connection edit screen. Figure 23-4 Signal connection edit screen (1) Simulation operation Select a desired signal simulation behavior. Select from [Signal value copy] (default), [Only first], [Unconditional], [Specifying condition1], [Specifying condition 1 and 2].

Page 616 - Only first Specify an initial signal value condition. Figure 23-6 Only first - Unconditional Specifies the signal state during simulation. Figure 23-7 Unconditional 23-616 23-616...

Page 617 - Specifying condition1 / Specifying condition 1 and 2 Specifies 1 or 2 conditions and a signal value. The set value is applied when the set conditions are satisfied. Figure 23-8 Specifying condition (2) Signal type Specify a Signal type. Select from [PIO] (default), [CC-Link (Link Relay)] and [CC-Link (Link Register)].

Page 618 SM (bit device) X (bit device) Y (bit device) D (word device) SD (word device) R (word device) ZR (word device) W (word device) SW (word device) U3En(0 to 3)\G (word device) (*1) U3En(0 to 3)\HG (word device) (*2) (*1) This can be selected only when GX Simulator2 is selected. (*2) This can be selected only when GX Simulator3 is selected.

Page 619: Starting I/O Simulator
23.4. Starting I/O Simulator Before starting the I/O simulator, create an I/O simulator definition file. For an explanation of creating an I/O simulator definition file, refer to “23.2 Simulator settings”. To start up the I/O simulator, click the [Online] tab -> [I/O Simulator] group [Start] button on the ribbon in the simulation mode.

Page 620 While the I/O simulator is operating, the I/O simulator icon is displayed in the task tray. Click the icon to open menu. Figure 23-13 Icon of I/O simulator When a previously-used I/O simulator definition file exists, it is possible to start the robot simulator and I/O simulator simultaneously.

Page 621: I/O Simulator Connection Status
23.5. I/O Simulator Connection Status When the "Simulator setting" screen is opened when the I/O simulator is started up, the connection status to the robot simulator and GX Simulator2/3 that are to be connected to the I/O simulator can be checked. When each of the [Setting side], [Condition1/Source] and [Condition2] cells in the signal connection list are displayed in red, this means that the simulator displayed in those cells is not yet connected.

Page 622: Document Out
24. Document out You can create and save to the HTML document of information of the connected robot controller and the offline settings. 24.1. Start-up of the document creation screen There are two methods of starting document out screen. [Method (1)] Starting from the project tree Select the Offline, Online or Simulation of the targeted project in the project tree and click the right mouse button.

Page 623: Selection Of Content To Be Output To Document
24.2. Selection of content to be output to document By checking each checkboxes in the document out screen, you can select contents to be output to the document. Figure 24-3 Select contents to be output to the documen Table 24-1 Content of output to document Reference Item Content of output to document...

Page 624 Figure 24-4 Document output example 24-624 24-624...

Page 625: Save Document
24.3. Save document By click the [Save] button in the document out screen, “Folder of the document to create” dialog. In this dialog, enter or select the folder name for create the document, and click the [Save] button, then the document creation will start to the selected folder.

Page 626: Melfa-Works
25. MELFA-Works You can be used the function of 3D robot simulator “MELFA-Works”. This function can only be used with the Pro edition. When "RT ToolBox 3" Pro version is started and set to simulation mode, the item of "MELFA - Works" is displayed in the project tree.

Page 627: Melfarxm.ocx Communications Middleware Setup
26. MelfaRXM.ocx Communications Middleware Setup 26.1. Summary MelfaRXM.ocx is an ActiveX controller that communicates with CR800/750/700/500 series robot controllers. MELFARXM.ocx can only be used if you have purchased the standard edition of RT ToolBox3. (Customers who have purchased the mini edition cannot install MELFARXM.ocx.) When using only the RT ToolBox3 functions, there is no need to set up "MELFARXM.ocx".

Page 628: User's Manual Reading Guide
26.3. User's Manual Reading Guide The manual is in the DVD-ROM as an Adobe PDF file. D:/Utility/MELFARXM/Doc/MelfaRXME.pdf * Example for when the DVD-ROM drive is "D:” (1) Preparation for viewing 1) Prepare computer Prepare a computer that has a DVD-ROM drive. 2) Preparation of viewing software Adobe Reader is required to read the User's Manual.

Page 629 (4) Installer starts and the Setup screen appears. Install according to the instructions that appear on the screen. The Product ID is needed when this "MelfaRXM.ocx" is installed. Input the Product ID same as the Product ID of "RT ToolBox3". "MelfaRXM.ocx" can be installed with the Product ID of the standard version, but cannot be installed with the Mini version.

Page 630: Appendix
Appendix 27.1. Q&A This explains frequently asked questions in a Q&A format. 1. Version Where is the software version information? It is printed on the surface of your DVD-ROM for this software. You can also check the version information on the screen displayed by clicking the [Help] tab -> [Version Information] button on the ribbon of this software.

Page 631 2. Product ID Where can I check the product ID? This software requires the product ID for installation. The package containing your software contains a sheet of paper on which is written the product ID. After installing this software, you can check the product ID on the screen displayed by clicking the [Help] tab ->...

Page 632 3. Communications (general) What are the means for communication with the robot controller? With a CR800/750/700 series robot controller, you can communicate via USB, Ethernet, and RS-232. With a CRn-500 series robot controller, you can communicate via Ethernet and RS-232. However, when using Ethernet with a CRn-500 series robot controller, the robot controller must have the optional Ethernet card.

Page 633 Check item or cause Solution Is there a error occurred in the PLC CPU? Extend the time of [(4)Check at Communication Time] on the [Detail setting] screen of [CRnQ_R communication setting]. What color is Communication Server 2? The problem may be that the robot Return Communication Server 2 to icon controller is not connected correctly.

Page 634 Check item or cause Solution Do the communications settings in this The communications settings in this software and on the software and on the robot controller match? robot controller must match. The communications settings for this software are made on the project edit screen. For details, see "9.2 Connection Settings".

Page 635 4. Communications (RS-232) If you cannot communicate with the robot controller using RS-232, check the following. Also, see "Communication (general)". Check item or cause Solution What color is Communication Server 2? The problem may be that the robot controller Return Communication Server 2 to icon is not connected correctly.

Page 636 When Communication Server 2 is light blue or blue. (RS-232) If Communication Server 2 is displayed in light blue with communication with the robot controller set to RS-232, check the following. Check item or cause Solution Is anti-virus software running virus checks Switch off virus checking for RS-232.

Page 637 5. Communication (Ethernet) [Note] When using Ethernet with a CRn-500 series robot controller, the robot controller must have the optional Ethernet card. If you cannot communicate with the robot controller using Ethernet, check the following. Also, see "3. Communications (general)". Check item or cause Solution What color is Communication Server 2?

Page 638 The communication time is long when using a backup etc. In the Windows Firewall settings, if inbound communication of Communication Server 2 (RoboCom.exe) is blocked, change to allow the connection. Check item or cause Solution If there are one or more “RoboCom” lines in If there are “RoboCom”...

Page 639 The Oscillograph cannot be used when the communication method is set to High speed. If you see the message "It can not communicate with the controller." after clicking the [Start Record] button, please change so that that RT ToolBox3 (MELFA_RT.exe) is allowed to receive in the Windows Firewall settings.

Page 640 6. Communication (USB) If you cannot communicate with the robot controller using USB, check the following. Also, see "Communications (general)". Check item or cause Solution What color is Communication Server 2? The problem may be that the robot Return Communication Server 2 to icon controller is not connected correctly.

Page 641 7. Robot program Did you write the program with Movemaster commands? The robots that can use Movemaster commands are restricted. Check your robot's standard specifications to see whether it supports Movemaster commands. If your robot supports Movemaster commands, change the language used with "10 Robot Programming Language Setting"...

Page 642 How should we edit a program for which the start condition is "Always"? A program for which the start condition is "Always" is executed immediately after the robot controller power comes On. To edit such a program, use the following procedure. (1) Change the starting condition in the "Slot table (SLT * * 1-32)"...

Page 643 10. Option card How should one check what option cards are mounted in a robot controller? Check from the project tree. For details, see "16 Option Card" in this document. 11. Parameter editing No parameter list is displayed in the parameter editing tool. Download the parameter list from the robot controller.

Page 644: Copyright, Disclaimer
27.2. Copyright, Disclaimer 27.2.1. Open Source Computer Vision Library Copyright, Disclaime IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. By downloading, copying, installing or using the software you agree to this license. If you do not agree to this license, do not download, install, copy or use the software.

Page 645: Diff Template Library
27.2.2. Diff Template Library Copyright, Disclaime In short, Diff Template Library is distributed under so called "BSD license", Copyright (c) 2013 Tatsuhiko Kubo All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

Page 646 HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CAB LE MELCO TOKYO NAGOYA WORKS : 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN Apr.2020 MEE-BFP-A3495 Printed in Japan on recycled paper. Specifications are subject to change without notice.

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Mitsubishi Electric MELFA FR CR800 Series User Manual

1 Usage

2 Changes from RT Toolbox2

3 RT Toolbox3 Usage

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

5 Basic Functions

6 Ribbon

7 Docking Window

8 Workspaces and Projects

9 Connecting to the Robot

10 Robot Programming Language Setting

11 Writing Programs

12 Creating the Spline Files

13 Setting Parameters

14 Status Monitoring

15 Maintenance

Quick Links

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Summary of Contents for Mitsubishi Electric MELFA FR CR800 Series