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Mitsubishi RT ToolBox2 user`s Manual

1. oonccccccnnnnccnncnnnncnnnnnnnncnonnnonnncnnnnnonanccnnnnnnos 7 66 2 3 Read Items when opening program in robot controller oooccccoocnccccnncnocnnononncnnnnnos 1 67 Td Explanation of Program Edit screen 7 68 V4 Program Editing Menu Baranda 7 69 Tio Customizing the Program Edit Screen aia AA 7 71 TON Changing the display area namas 1 71 1 9 2 Command Tomat alia Co gsi naan id 7 72 10 3 Character Col ia 7 72 7 9 4 CHANGING MG TO Mess dnd 7 73 1 0 JP FOGFAM NE GIUMG wasecisvree inuaeaeseitawsi oo 7 74 7 6 1 MELFA BASIC V command statement editing cocooocccncoccnnccnonnncnnnncnnnnonennnnonconcnnanonnos 7 74 7 6 2 MELFA BASIC IV and Movemaster command command statement editing 1 15 7 6 3 Posion Varlable Cala ardid 7 76 7 6 4 EditiassiSt inciso a a seen a e nets 7 78 Vela SOAN Programa dto ici 7 85 7 7 1 SNE ase en A erase acdsee teas a emt 7 85 7 7 2 A 7 86 7 7 3 Saving IMtobDot controller tt ooo road 7 87 7 7 4 Items written when Saving IN robot ccooocccooccccnccnccnonoccnonncnonocnnnnconannnonanncnnnnnnnnnnnonnanenannnss 7 88 LAO Setting the syntax check for before program SAVING cccoooccccccoccnccnoccncononcnnconcnnconanennonancnnonnos 7 89 187 eroga FUNG itadant leaatiaiasste lan N oussatantant aa 7 90 7 8 1 Checking PIU MAGS llo ld lccto ceba 7 90 7 8 2 Pining a POONA AA A OO TU A teers 7 90 7 8 3 Senno TOM MME as progd aM lt belle 7 90
2. 4 46 Closing a WorkSpace ooccccconcccccoccnconoccncnonconononons 4 44 Creating a New WorkSpace cccoocccccccoccncccoconcnnnoo 4 43 Deleting a Workspace coocccoccccccoccccoccncnncncnncnnnnoss 4 45 Opening an Existing Workspace oooccccccooncncco 4 44 Saving a WorkSpace cccccsseeeceeeeeeseeesecseeeeeees 4 45 WW PIGS GING iaa a 7 89 X XYZ position data batch editing 7 84 Z Zone Parameters cccoocccccnccocccccnoconoconononnonanocaninos 8 123 15 228 a MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 TELEX J24532 CABLE MELCO TOKYO NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA JAPAN APR 2008 MEE BFP A8618 Printed in Japan on recycled paper Specifications are subject to change without notice
3. mel Factory Line 1 RC1 4 Ace 8 Offline Online LISER USER 3 30 Monitor Either double click the robot model name or select 3D Monitor with the mouse right button menu Figure 9 12 Starting Robot View You can change the robot view perspective with mouse operation Table 9 3 Robot View Perspective Change Operation Perspective rotation While clicking the left button move left right Rotation around Z axis Move up down Rotation around X axis Move left right while clicking the left right buttons Rotation around Y axis Perspective movement Move up down left right while clicking the right button Graphic Move up down left right while clicking pressing Shift key and enlargement reduction clicking the left button 9 141 9 141 9 2 Signal Monitoring 9 2 1 General signal You can check the statuses of signals input to the robot controller from outside equipment and signals output from the robot controller to outside equipment From the project tree double click the target project Online gt Monitor gt Signal Monitor gt General Signals The upper level displays the status of input signals and the lower level displays the status of output signals A continuous range of signals to display can be set freely with Monitor Settings Pseudo input and forced output of registers are also possible 4 General Purpose signal 1 RG1 Input signal 31 i6 o fo fojojojojo
4. 27 s2zstop 28 s2estor ao O 30 saostor 20 s205TOP 31 S31STOR 21 s215TOP 32 s325T0P 22 S228TOP Slot Stop Parameters 10 11 5S115TOP E ER B A Figure 8 23 Assign Dedicated Input Output Signal You can reference explanations of displayed parameters by pressing the Explain button 8 119 8 119 8 10 9 Servo On Off each robot parameter From the project tree double click the target project Online gt Parameter gt Assign dedicated input output signal gt Servo On Off After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button E Servo ON OFFteach robot 1 RC1 Servo OFF nr AA o Servo ON O O EN LT Timisrvon Servo ONRobotd During servo ON Robot 1 Twosrvon ota Rt Tmasrvon Robot O Rt Figure 8 24 Assign Dedicated Input Output Signal Servo Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 10 10 Machine lock each robot parameters From the project tree double click the target project Online gt Parameter gt Assign dedicated input output signal gt Machine lock After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button t Machine lockfeach robot 1 RC1 Sele INPUT LIT
5. Communications Select from 4800 9600 and 19200 speed 7 or 8 can be selected but select 8 9600 Usage protocol Non Procedural or Procedural can be selected Set the following to perform a high speed stable communication Baud rate Protocol used 19200 bps Procedural It is also necessary to change the communication settings of the robot controllers at this time Procedural 5 55 5 2 4 CRnQ Communications Settings The CRnQ communication is the method to connect with the CRnQ 700 series controller by using the PLC Universal model QCPU module or the PLC Ethernet Interface module When using RS 232 or USB please connect to connector of the PLC Universal model QCPU module When using Ethernet please connect to connector of the PLC Ethernet Interface module tusin settme PC Side IF Serial port PLO module connection Serial port e Network WETSLOCHY f CE Link f Ethernet f Q Series bus Detail 1 Serial pork PLC module connection 2 Serial port Access serial communication other station wia PLE module 3 Serial pork Access MNET 100H other station via PLO module 4 Serial port Access CC Link other station via PLE module 5 Serial port Access Ethernet ob 6 Serial port Access serial comm The Communication routes are displayed here 7 Serial port Access serial corten era _ 8 Serial port Access MNET 100H serial communication other station via PLC module 9 Serial port Access
6. oo 2 more Pz aerea 3 Huperrs of Pa arenes of Explain l Figure 8 20 Assign Dedicated Input Output Signal Hand Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 10 6 Warm up operation parameters The warm up operation parameters can be set when you are connected to a CRn 500 series robot controller ofJ8 edition or later or a CRn 700 series robot controller From the project tree double click the target project Online gt Parameter gt Assign dedicated input output signal gt Warm up After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button Warm Up 1 RC1 SE INPUT OWT PUT Warm up mode setting Warm up mode enable Robot iL MIAWLIPERNA Robot 1 MIWLIPERNA Robot 2 MAWIJPEMA Robot 2 MAYUPERA Robot a MSVYLUPENS Robot 3 MSYYVLUPEMA Warm Up mode in progress Robot 1 MIYYWUPMIO Robot 2 MAA LUPO Robota MaWUPMD Figure 8 21 Assign Dedicated Input Output Signal Warm Up Operation Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 118 8 118 8 10 7 Slot start each slots parameters From the project tree double click the target project Online gt Parameter gt Assign dedicated input output signal gt Start Slot After you change the parameter value
7. Cone a 0 000 O00O O CG RA pp pRApRaR RR HY 0 5000 O00O O Cl Communication destination IP address for Communication Setting real time external control command IP address 1 MXTCOM1 192 168 0 2 IP address METIP IP address 2 IMATCOM2 192 168 0 3 Sub net mask HETMASE 255 255 255 0 IP address 3 IMATCOMA 192 168 0 4 Timeout Figure 8 39 Ethernet Settings You can reference explanations of displayed parameters by pressing the Explain button Select the device to edit and double click A screen is displayed for setting a variety of device information Device Setting Device OPT11 Change the Parameter to connect Vision IP Address 192 1693 0 2 NETHSTP 17 Port 10001 NETPORT 21 Protocol fCPRCE11 Server NETMODEL 1 Packet Type CTERME11 Cancel Figure 8 40 Device Setting If you check the Change the Parameter to connect Vision checkbox the items from Port downward take on the values for a network vision sensor AN Caution Using a CRn 500 series robot controller When using Ethernet with a CRn 500 series robot controller the Ethernet interface option is required 8 130 8 130 8 23 Multiple CPU Settings You can set the parameters related to the Multiple CPU to use the CRnQ 700 series robot controller These parameters can be set when you are connected to CRnQ 700 series robot controller This function is available from RT ToolBox2
8. The remainder days until Specify the number of days remaining until presumed maintenance 14 days presumed maintenance time to be used as a reference to notify the maintenance time time Memo Methods for resetting the alarm and alarm signal output As a method of notifying the replacement time of each part an alarm C753 and C754 represents the axis number or a dedicated output signal M PTEXC represents the robot number will be output If both are set up as the notification methods executing the error reset operation will reset the alarm and end the signal output If the alarm method is disabled and only the output of the dedicated output signal is selected as the notification method pushing the reset button on the front side of the controller will not end the signal output In this case push the ERROR RESET key on the teaching box or enter the error reset signal ERRRESET to end the signal output Notification method Methods to reset the notification alarm or dedicated signal output setting ae Output Notification method RESET key on the ERROR RESET key External error reset Warning Signal front of the controller on the T B signal W Will reset the alarm Will reset the alarm Will reset the alarm Alarm and Will reset the alarm Will reset the alarm and Will reset the alarm dedicated signal and the dedicated the dedicated signal and the dedicated output signal output output signal output Dedicated
9. 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 130 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 Explain E Figure 8 10 Weight and Size Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 112 8 112 8 7 Tool Parameters Set the standard tool coordinates and standard base coordinates Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Tool After you change the parameter value you can rewrite the tool parameters in the robot controller by clicking the Write button 8 113 z Tool 1 RG1 Roboti 1 RY 65QL STO Base coordinate STO Tool coordinate Tool coordinate data 1 4 MEXES MEXTL MEXTL1 MEXTL2 MEXTLS MEXTL4 mm deg men deg mm deg mm deg mm deg mm deg 0 00 ooo ooof ooof ooo 0 00 0 00 oof ooo ooo ooo 0 00 0 00 7 aco ooo ooo ooo 0 00 0 00 ooo ooo oof ooo 0 00 0 00 ooo oof oof ooo 0 00 0 00 aof oof oof oo STO base coordinate STD tool coordinate Tool coordinate data 1 4 MEXDES MEXDTL MEXDTL1 MEXDTL2 MEXDTL3 MEXDTLA mm deg mm deg mm deg mm deg mm deg mm deg 0 0000 0 0000 0 0000 Displayed when you are connected to a 0 0000 controller that supports position repair 0 0000 B 0 0000 0 0000 0 0000 0 0000 0 0
10. Do vou want to back up the parameters Back up Recommended Select the robot to execute the re teaching The Robot is displayed as follows Controller number Controller Name Mechanism Name Mechanism No Dis played only in multi mechanism mode To backup parameters click Backup The dedicated backup screen starts For more details on backups see 12 Backup and Restore Backed up parameter files can be written back to a robot controller using the backup restore functions of this software When the preparations are complete click the Next button Memo Parameter Backup During its operation this software overwrites parameters to the robot controller It is recommended that the parameters be backed up at this point to allow the controller to revert to the original parameters 10 172 10 172 10 4 7 Revision parameter generation procedure selection Position repair 1 RC1 Select a procedure Generate revision parameter automatically Usually select this Edit the value of revision parameter directly Target robot 1 AW E5L 4 Cancel Figure 10 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
11. For classic display Program Functions application name then execute the uninstallation With Control Panel select the WS Add or Remove Programs Programs Add New Programs Add Remove Windows Components Set Program Access and Defaults Currently installed programs C Show updates ey HighMAT Extension to Microsoft Windows XP CD Writing Wizard y Imation Disk Manager II Service 3 Microsoft NET Framework 1 1 y Microsoft NET Framework 1 1 Hotfix KB886903 a Microsoft NET Framework 1 1 Japanese Language Pack oy Microsoft eMbedded Visual C 4 Microsoft Visual C 6 0 Standar RT ToolB ox2 Engli sh a Microsoft Windows CE Platform Marag E Microsoft Windows Journal Viewer y RT ToolBox English 1 RT ToolBox2 English Click here for support information To change this program or remove it from your computer click Change Remove 3 sis Audio Driver KW Trend Micro OfficeScan Client ey Windows Installer 3 1 KB893803 5 windows XP Service Pack 2 Start uninstallation From Start Control Panel display the control panel and select Add Remove Programs Select the product to delete then click the Change or Remove Programs Completion Sort by Name Size Size 3 08MB Size 60 48MB Size 124 00MB Size 88 70MB Size 3 62MB Size 23 50MB Size 41 78MB Used rarely Last Used On 1 7 2008 Size 0 02MB Size 98 73MB Table 1 2 Uninstalling Applications
12. H Maintenance Forecast 1 RG1 Roboti 1 Riv 65OL Forecast Setup Reset Others The information for the Maintenance forecast which has been kept in the Robot Controller is backed up restored Robot Controller gt PO PG gt Robot Controller Restore Caution When exchanging the Robot Controller tPU UNIT Before exchanging backupine the information of the Maintenance forecast and after exchanging restoring the information Figure 10 19 Others 10 167 10 167 10 4 Position repair Function The position repair function is restricted by the usable models and controller software versions See Table 10 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 Just reteaching part of the position data within the robot program makes it possible to use the previous position data in the controller Position repair generates parameters to correct the position deviation and corrects all the position data in the robot controller However please understand that there are some cases that position repair can not restore such as applications requiring high precision and major mechanical damage to a robot from a collision Also restrictions on a robot s degrees of freedom can make it impossible to recover with position repair Since vertical 5 axis robots and horizontal 4 axis robo
13. Online status Delete Delete the command lines for a Command program opened in debugging line Online status 7 69 OOOO Menuitem OOOO DD Explanation Menu item Debug seta Breakpoint Delete a Breakpoint Delete all Breakpoints how the executed line always This can only operate when the program has been opened in debugging status syntax Check Command Template ae Position variable Batch edit Joint Position variable Batch edit Option This can not operate when the program has been opened in debugging status Renumbering and sorting can only be used with MELFA BASIC IV and Movemaster commands Tact time calculation can only be used in a simulation 7 70 Seta Breakpoint Delete a Breakpoint Delete all Breakpoints executed line Renumber Syntax Check Command Template XYZ Position variable Batch Edit Joint Position variable Batch Edit Tact time calculation You can set a breakpoint in a program opened in debugging status You can delete a breakpoint in a program opened in debugging status You can delete all breakpoints in a program opened in debugging status You can set to dispplay not to display the executed line always to the program opened in debugging status The renumbering function can only be used with MELFA BASIC IV and Movemaster commands You can renumber line numbers in a batch The sorting function can only be used wi
14. 4 48 MELFA RT ToolBox Z gt A Are you sure you want to delete R1 x C 4 48 4 12 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 monitor etc The contents of the project tree depend on the state of connection with the robot controller x el Factory Lined gy RGT Items are displayed for E E Offline i 1 Offline each project Ru 65 YM E Program l Hesa nie n Ru BsL Program Parameter El Monitor Eel Maintenance 2 Online Project 1 lt Project name RC1 gt Connected with the controller A O A O O O O O e e E A A e TEMA Backup PS All H Program Y Parameter 103 System Program y 3 Backup gt T_ m m m Ott line Riis Program Project 2 lt Project name RC2 gt Backup Not connected with the controller All 13 Program 53 Parameter 55 System Program Project 3 ES ROS lt Project name RC3 gt Offline Not connected with the controller 88 Backup Figure 4 14 Structure of Project Tree in Workspace 1 Offline Displays the information stored in computer Displays the currently set robot model and the name of robot programs created 2 Online The Online section is displayed when a robot is switched into being connected onlin
15. 7 73 Explanation of Program Edit screen 7 69 A O 1 74 MELFA BASICIWisoccicna sii 7 76 MERA BASIC Voiron aoma restore 7 75 Menta isso ticas 7 70 Movemaster command cooocccoccnconcnnnncnnoncnnnnaninnncnos 7 76 Program Management c ccccccseeeseeeeeeeeeneeeees 1 97 Program Monitoring rr a 9 137 Program Parameters ooccccoccccncnconcnccnannncanononons 8 130 PFO OC ereina a a aaa 4 41 Addmg a Projet tornas av n 4 47 Changing a Project NaMe oocccooccncccncnnccnccnnnnnncnnos 4 48 Copying Programs Between Projects 4 49 Deleting a Project oocccoonnccocnncconnccncnnononnnnnnoss 4 48 PLOJe CLOS casa 2 36 4 49 Property WINdOW soiin cp iii 2 36 Protect Seti Susini eve escatiiearsinemeatie 7 100 Pseudo input General SignNal ooonccccoooncnccccnnnononcncnnnnononononnos 9 145 Register CC Link ccooococcconcocococonccnaconoconon 9 152 R Read EMS mila a 7 68 Register CC Link monitoring oooccccccoccncn 9 150 Forced OU diari ici 9 153 PSCUGOAIN DUN rainane a e 9 152 RenuMDenNUulecinia sind dildedindiutethes 7 85 15 228 A eoeen case teee 12 199 Robot Program Language Parameter Setting cooocccoconcococonnnconanonnnnns 8 125 SOMN A eee ede 6 64 Robot status MONItOriNQ oocccooccccnccccnncnconcnnnn 9 143 Robot ViSW cccccoccccocococcccnconoconcnconanonnnnns 9 143 13 205 FROPZ OZ Cable ia tods 1 16
16. Detailed Explanation of Functions and Operations in the robot controller s user s manual 10 Is it possible to copy position data to another program Yes For details see 7 6 4 4 Copy position data and 7 6 4 5 Pasting position data in this document 11 Does it cause an error to not discriminate uppercase and lowercase letters when inputting commands No You can input either uppercase letters or lowercase letters with the program editor but when the program is saved to a robot controller the commands are converted correctly 9 Variable monitor 1 How are external variables system status variables program external variables and user defined external variables monitored Use the program monitor For details see 9 1 2 Program monitoring in this document 15 225 15 225 10 Option card How should one check what option cards are mounted in a robot controller Check from the project tree For details see 11 Option Card in this document Parameter editing No parameter list is displayed in the parameter editing tool Download the parameter list from the robot controller For details see 8 1 3 Parameter list reading 2 We changed a parameter but the new value does not take effect After you changed the parameter did you switch the power for the robot controller Off then On again The new parameter value does not take effect until you switch the robot controller power Off then O
17. WindowsXP 1 22 1 22 1 5 3 USB driver CRnD 700 series robot controller installation Connecting the CRnD 700 series robot controller with USB requires installation of the robot USB driver Install with the following procedure A N Caution If the USB driver cannot be installed check the following setting lt When Windows 2000 is used gt If you have selected Block Prevent installation of unsigned files after Control Panel System Hardware Driver Signing the USB driver may not be installed Choose Ignore Install all files regardless of file signature or Warn Display a message before installing an unsigned file for Driver Signing and install the USB driver lt When Windows XP is used gt If you have selected Block Never install unsigned driver software after Control Panel System Hardware Driver Signing the USB driver may not be installed Choose lgnore Install the software anyway and don t ask for my approval or Warn Prompt me each time to choose an action for Driver Signing and install the USB driver 1 5 3 1 When using Windows 2000 When you connect the CRnD 700 robot controller and the computer with a USB cable installation starts and completes automatically 1 5 3 2 When Using Windows XP 1 23 Below is the installation procedure for the USB driver using Windows XP Professional Hardware Update Wizard 1 When you connect the computer and Welcome to the
18. automatically 1 RG1 Simulation Continuous execution SERVO p On cr i rogram Error Figure 13 7 Program Execution To forcibly stop a program that is executing click the Stop button on the simulation operation screen 13 6 Specifying the Starting Line for Program Execution You can freely specify the line in the program from which to start execution Use Jump on the simulation operation screen Input the step number to start execution from then click the button on the right side of the input box The current execution line moves to the specified step number es MEE Jump button button r Jump Joz Step number input box bernout lt p ep number Input DOX al FORWD a Direct Program Error Execution Figure 13 8 Program Execution Line Execution 13 203 13 203 13 7 Breakpoint Setting You can also use breakpoints in a simulation For details on the operation method for breakpoints see 7 9 4 Setting and deleting breakpoints 13 8 Step Operation A program that has been opened in debugging status can be executed step by step Start the simulation then open the robot program in debugging status Step operation in simulation is performed from the simulation operation screen 1 RG1 Simulation Status ORO Jump Step execution i Continuous execution SERMO ES Ontor ig Error ONE Figure 13 9 Simulation Operation Screen Operate with the FORWD button and BACKWD
19. button in the Step Execution group on the simulation operation screen Pressing the FORWD button executes the command on the current execution line and advances the current execution line by line Pressing the BACKWD button executes the command on the current execution line and returns the current execution line by line 13 204 13 204 13 9 Direct Execution You can input command statements and operate the robot directly Click the simulation operation screen Direct execution button 1 RC61 Direct execution gt 1 RG1 Simulation Status Robot 1 RV 6SQL M Command gt RESET Program Error E Execute Close Direct execution i Figure 13 10 Starting Direct Execution Input the command to execute into the command box then either press the keyboard Enter key or click the Execute button The input command is executed At this time if a position variable is specified in a move command or a like the position variables defined in the currently open program are used A position variable not defined in the program can not be used A command that has been input once into the command box is added to the history and can be selected from the command box dropdown list However when the simulation is ended the history and dropdown list commands are commanded 1 RC1 Direct execution Robot 1 RV 6SQL Command OPEN Figure 13 11 Command Dropdown Liston Direct Exe
20. pseudo input mode the robot controller does not accept register input from outside devices Click the Pseudo Input button The confirmation message below is displayed before the robot controller goes into pseudo input mode Contirm Set Pseudo Input mode DUMMY Dit To cancel Pseudo Input mode the Robot Controller power must be reset wee Are you sure you want to set Pseudo Input mode To release a robot controller from pseudo inout mode switch the power for the robot controller Off then On again Pseudo INPUT First register number 032 t de Refresh y A y o o A y A y y o o z EZ Figure 9 25 Pseudo Input D Read the signal you want to pseudo input You can set 16 registers at the same time Input the head number for the signals you want to read then click the Set button The input statuses of the 16 registers starting from the specified head signal number are displayed 2 Set the pseudo input status then click the Input button The set register values are pseudo input to the robot controller 3 You can display and make pseudo input in hexadecimal for register values If you have selected Hex input values as hexadecimals When you click the Refresh button the latest register information is displayed 9 149 9 149 9 2 4 3 Forced Output You can forcibly output register values to outside equipment from robot controllers Click the Forced Output button
21. the hours and bar graphs are displayed in orange The battery replacement time is calculated during the time when the controller s power is not on 2 Grease If the hours until replenishment time has reached Hours until replenishment time lt The remainder days until presumed maintenance time on the Setup screen x Operation time of a day the hours and bar graphs are displayed in orange 3 Belt If the hours until belt replacement time has reached Hours until belt replacement time lt The remainder days until presumed maintenance time on the Setup screen x Operation time of a day the hours and bar graphs are displayed in orange 4 Display unit You can switch the display units for Grease and Belts between hours and days When days are selected as the display unit the number of days of operation is calculated from the number of operating hours per day and that number of days is displayed 10 161 10 161 10 3 4 Settings Here you can set the timing for collecting information concerning maintenance forecasts the notification method etc 4 Maintenance Forecast 1 RC1 DER 1 Enables maintenance pon 1 RY 6SQL forecasting orecast Setup Rezet Others 2 Information collection level Collection level of information 1 1 lt Recommendation gt 5 lt High accuracy f The interval of the forecast 6 For 1 24 hours 3 Notice interval eae iw Warning 4 Warnings M O
22. you can rewrite the parameters in the robot controller by clicking the Write button EE Start cach slot 1 RC1 1 ES a 4 a 6 7 a a Rh op RF 0 S35TAR SBS TAR S757 AR 105T4R 115T4R INPUT OUTPUT _ A ooo o d EE eee DO IS CT ES Y ES ee a PES ee Peor OUTPUT 12 5125TART 13 B13START 14 E145TART 15 Esrar Y 16 S16START 17 S17START 18 S185TART 19 EosT 20 S20START 2l 521START 22 225TART INPUT OUTPUT 23 S23START 24 B24START 25 S25START oa BeesTanT 27 S27START 28 S2BSTART 29 E205TART an Eesostart 31 S31START 32 5325TART Figure 8 22 Assign Dedicated Input Output Signal Slot Start Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 10 8 Slot stop each slots parameters From the project tree double click the target project Online gt Parameter gt Assign dedicated input output signal gt Stop Slot After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button elk EA Stopfeach slot 1 RG1 INPUT OUTPUT INPUT OUTPUT INPLT OUTPUT 12 Estopa 13 ferastop 7 14 fsrastop Y 15 sissrop 7 16 ssr 17 festa TT 18 siasrop 19 stasrop 23 s235TOR 29 s29sTOP 25 sasstop 26 s26stop
23. 232 cable refer to the Standard Specifications for your robot Table 1 1 CRnD 700 Series CRn 500 Series Communication Cables Method USB A type USB mini B type Ethernet 10BASE T 100BASE TX CRnD noaa 2D 232CBL03M Mitsubishi Electric series RS MAXY CBL CRn 500 RS AT RCBL series for expansion serial interface option For expansion option box CR1 EB3 RS AT RCBL Mitsubishi Electric Table 1 2 CRnQ 700 Series Communication Cables Cables confirmed by Mitsubishi Electric to operate Method Description properly ZUM 430 USB M53 USB A type to mini B type GT09 C20USB 5P ool Electric System For connecting by personal computer PLC CPU when Personal computer connector is D sub 9 pin For controller front panel Mitsubishi Electric MR J3USBCBL3M Mitsubishi Electric NAAA N QC30R2 Mitsubishi Electric 1 16 1 16 1 4 Operating Environment This explains the operating environment 1 4 1 Connectable robot controllers This software can be connected with the robot controllers shown below Table 1 3 Connectable Robot Controllers and Communications Types Robot controller Communications 1 CrnD 700 series ra USB 2 CrnQ 700 series EOS 4 a exe foire USB 2 CRnQ Ethernet The PLC Ethernet interface module is communications TCP IP required CRn 500 series The robot controller must have the Ethernet interface option 1 The computer must have each ports for
24. 3 As the screen on the left appears click the Continue Anyway button to The software you are installing for this hardware CO nti nue th e in stal ation of th e U S B MITSUBISHI GOT1000 USB Controller driver has not passed Windows Logo testing to verify its compatibility N O pro blem wi Il occur after with Windows lt P Tell me why this testing is important in sta ati on of th e U S B d riv er Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the hardware vendor for software that has passed Windows Logo testing STOP Installation Found New Hardware Wizard 4 The screen on the left appears to comploting Re Found Nom indicate completion of installation installation The wizard has finished installing the software for MITSUBISHI GOT1000 USB Controller Click Finish to close the wizard y Completed 1 5 5 3 When using Windows Vista When you connect the GOT and the computer by the USB cable installation starts and completes automatically 1 31 1 31 1 6 When Starting at the Same Time as Another Product When starting this software and another one of our products at the same time follow the following precaution Correct communications and screen display are sometimes not possible Table 1 4 Precautions for Starting at t
25. 67 7 3 Explanation of Program Edit screen This explains the program edit screen ES Program 1 RC1 1 pre MELFA BASIC Y AE 5 End Command edit screen Edit Delete A Y E C 777 450 0 020 926 760 90 440 71 000 89 570 619 030 470 350 925 760 90 440 71000 126 800 Position variable edit screen Figure 7 7 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 To change the position dividing the top and bottom screens drag the border line with the mouse This is handy when you want to expand the command edit screen for example because there are many lines of commands This edit screen display area can be customized For details see 7 5 1 Changing the display area Also the background color for the command edit screen depends on the robot language used Table 7 2 Command Edit Screen Background Color Background color R eponenguade Normal Debugging MELFA BASIC V MELFA BASIC IV Light yellow Light blue Light green Debugging means when the program is opened in debugging status 7 68 7 68 7 4 Program Editing Menu Bar During program editing File Edit Debug and Tool are added to the menu bar Workopace View Online File Edit Tool Window Help Figure 7 8 Program Editing Menu Bar The menus are as follows Explanation aye Ctro cave Aas p PG nave As gt R
26. 7 Base data points Points Origin data J1 and J3 are included in base data 5 axis and Origin data J3 and J4 are included in tool data 6 axis robot Select which to be requested because Z elements of tool data and base data are not corrected at the Revision Parameter same time i Origin data Z element to calculate Tool data le Base data Tool data C Base data MaS Tobon Selects all revision parameters Vertical 6 axis robot Origin data J1 is included in base data Origin data J6 is included in tool data Vertical 5 axis robot As to tool data only Z element is corrected Origin data As to base data only X Y Z elements are Tool data corrected Base data 13 to 5 Select all Hori i Revision P 16 9109 cos orizontal 4 axis robot vision Parameter points points 7to8 points Origin data J1 and J3 are included in basedata Sein data points Origin data J3 and J4 are included in tooldata aoe ate Select which to be requested because Z elements of tool data and base data are not corrected at the same time Z element to calculate Tool data C Base data 10 179 10 179 Minimum number of teach points Vertical Vertical 6 axis 5 axis robot robot Revised Description Parameter 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 Since origin data J6 is included in tool
27. A MELFA RT ToolBox2 RT ToolBox Version 1 0 COPYRIGHT C 2008 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED This product is licensed to Name TARO MITSUBISHI Company MITSUBISHI ELECTRIC CORPORATION ProductID 000 000000000 This computer program is protected by copyright law and international treaties Unauthorized reproduction or distribut ion of this program or any portion of it may result in sever e civil and criminal penalties and will be prosecuted to maxi mum extent possible under the law 2 Where is the robot controller software version information displayed When this software is connected you can check with the project tree Online properties The version information is also displayed on the title screen for the optional teaching box 2 Product ID 1 Where can 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 Also after this software has been installed you can also check the product ID on the screen displayed with the menu bar Help About RT Tool Box2 About RT Tool Box2 A MELFA RT ToolBox2 RT ToolBox2 Version 1 0 COPYRIGHT C 2008 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED This product is licensed to Name TARO MITSUBISHI Company MITSUBISHI ELECTRIC CORPORATION ProductID 000 000000000 This computer program is protected by copyrigh
28. EEr O RR caution MER During EMG Stop EMGERR 10019 TeAcHmode TEACHMD 10003 TAUTO OP mode aTTORMD 10004 Figure 8 17 Assign Dedicated Input Output Signal General 2 Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 116 8 116 8 10 3 Data parameters From the project tree double click the target project Online gt Parameter gt Assign dedicated input output signal gt Data After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button EJ Data 1 RG1 INPUT OLUITPLIT Program select PRGSEL 110020 OVRD specification OVROSEL 100 1 A a RC ready RCREADY 10001 Low battery BATERR 10014 Prog output req PREGCMIT 100122 During output Prog PRGGIIT 10022 Line output req LIMECH_T 10023 During output Line LIMECIIT 10023 OWRD output reg OWRDOLT 10024 During output OVRE OWRDOLT 10024 Err 4 output red ERROUT 100 25 During output Err ERROLT 100 25 Start End Start End value input INDATA 10032 10047 value output IODATA 10032 10047 Within user defined area 8 LISRAREA Explain Figure 8 18 Assign Dedicated Input Output Signal Data Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 10 4 Jog parameters From the project tree double cli
29. Factory m Explanation preset value Ite 1 Maintenance Forecast is If this is checked the Maintenance Forecast function takes effect Check made effective If a checkmark is removed the collection of the information for ON Maintenance Forecast stops and the correct maintenance times cannot be calculated 2 Collection level of information Five levels can be specified to collect the information about the maintenance As an information collection level gets higher the accuracy of the maintenance improves but it affects the tact time more 3 The interval of the forecast Specify the interval to notify the maintenance time When the grease replenishment belt replacement and other maintenance times have reached they can be notified by generating a warning or outputting a dedicated signal As for the battery replacement time one of warnings C7500 C7510 and C7520 is generated regardless of whether or not Warning under How to inform is checked A warning to be generated varies depending on each situation 4 Warning If this item is checked the maintenance time is notified as a warning Check The warning numbers are listed as follows ON Grease C753 is the axis No Belt C754 is the axis No If this item is checked signal numbers can be entered If this item is checked and a signal number is entered correctly the maintenance OFF time is notified using the output of the designated signal time of a day 7
30. Figure 8 9 Hand parameter You can reference explanations of displayed parameters by pressing the Explain button 8 111 8 111 8 6 Weight and Size Parameters You can set the conditions for the hand mounted on the robot and the conditions for the work the robot grasps Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Weight and Size After you change the parameter value you can rewrite the weight and size parameters in the robot controller by clicking the Write button EA Weight and Size Hand 1 RC1 AE Robot 1 RV 650L WREDATO WREDATI WRKDAT2 WREDATS WRKDAT4 WRKDATS IWRKDATE WRKDAT WRKDATS Weight Kg ooo oof oof oof oof ooof ooof ooof oon op oo oof oof oof oof ooof ooof o oo ray oo oo oof oof ooof oof ooof ooof o oo ork oo oo oof oof ooof ooof ooof ooof o oo Centerof x ooo ooo ooo oof oof oof oof oof oo ta Yi ooo ooo ooof cool ooof ooof ooo ooof coo mm z oo oof oo ooo ooo oo ooo ooof o oo PRODATO HNDDATT HNDDAT2 HNDDATS HNDDAT4 HNDDATS HNDDATe HNDDAT HNDDATS Weight kg soo sof sof sof sof sof sof soof 5 0 x 21300 oo ooof oof cof oof oof ooof oo re e feas oo ao cool oo ooof ooo ooof coo e z 1700 ooof ooof ooo ooof oof oof ooof 0 00 x Y z Center of gravity position mm 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00
31. Follows Coman sk Corman tbl RY 65Q lst Ry 650 tbl Figure 8 2 Confirmation Message for Parameter List This window will appear in the following cases When there is no parameter list information in the personal computer When the parameter list used in the robot controller is newer than the parameter list already stored in the personal computer 8 105 Common Common Common Corman common Robot Lommon common common common ammor ammor Common Common Common a 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 with the version of the software on the controller We recommend that you download the latest parameter list from the controller When parameter list reading is specified the screen for selecting where to read it from is displayed Select parameter list Read from RC Read from file iw COMMON Cancel Figure 8 3 Parameter List Select Screen Select either Read from RC or Read from file set the parameter list to be read then click the OK button 8 106 8 106 8 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
32. For example you can add 10 00 to the X components of the POO P01 P02 P03 and P04 To batch edit XYZ position variables click on the menu bar Tool gt Batch Edit XYZ Position Data To batch edit joint position variables click on the menu bar Tool gt Batch Edit Joint Position Data All the position variables of the respective type are displayed Batch edit of Position variables Position variables Value to Change Add Change 0 000 E x 0 000 E 0 000 0 000 Se 0 000 0 000 0 000 A IO O a Select All Select All 0 000 Cancel Figure 7 33 XYZ Position Data Variable Editing From the position variable list select the position variable to change then add it to the change list with the gt button Input the change value select the change method Add Change then click the OK button You can not set both Add and Change for the same element You can cancel the registration of a position variable for change with the lt button 7 83 7 83 7 6 4 14 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 the range for renumbering With the setting dialog you can specify the start and end lines numbers the new starting line number and the line number interval While editing a program created with MELFA BASIC IV or Movemaster commands click the tool bar Tool gt
33. Input mode DUMMY DM To cancel Pseudo Input mode the Robot Controller power must be reset wee Are you sure you want to set Pseudo Input mode To release a robot controller from pseudo inout mode switch the power for the robot controller Off then On again General purpose INPUT signal lt lt Pseudo INPUT gt gt ES Head signal Set Refres Exit d signal J fesh N Click on p check box 31 set 31 16 0 i 0000 Hex Click on gt f check box Bit Fort Pseudo INPIJT Pseudo INPIJT Figure 9 15 Pseudo Input First read the signals you want to pseudo input You can set 32 signals at the same time Input the head number for the signals you want to read then click the Set button 2 The input statuses of the 32 signals starting from the specified head signal number are displayed Set the pseudo input status then click the Bit Pseudo INPUT button 3 You can specify the hexadecimal values and make pseudo input for the 32 signals starting from the head signal number Input the values in hexadecimal then click the Port Pseudo INPUT button 9 143 9 143 9 2 1 3 Forced output You can force signals to outside equipment from robot controllers Click the Forced Output button A screen for forcibly outputting signals is displayed General purpose OUTPUT sienal 4 Forced OUTPUT gt gt Head signal J Set Refresh 15 pasa jo jo jo jo Jo jo 0000 Hex Set T Click o
34. LA En i C Never check Font Tahoma 10 yw Never display the result me whenever error is not occurred Regular Edit Reset default values Cancel Figure 7 9 Option Screen gl 7 5 1 Changing the display area In the Display area group you can set the command display area and position edit area display ratios and for the position edit area the XYZ P variable and joint J variable proportions i Command line Edit area W Display the hint of command format M color the Words I i i i l Commands POS MOVE Commands PROGRAM XYZ type PI Joint type 7 commands 1 0 Commands SLOT MECHANISM Commands HAND Syntax Check before save Commands OTHERS System functions f Check automatically System status variables f Confirm whether to check beforehand LLL Comment C Never check Font Tahoma 104 vy Never display the result whenever error is not occurred Regular Edit ql Reset default values Cancel Figure 7 10 Program Edit Screen Display Area Change 7 71 2 71 7 5 2 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 Option Proportion of Window Command line Edit area r Position e E M Color the Words commands POS MOWE commands PROGRAM aye type iP Joint type 7 Commands 1 0 Commands SLOT
35. MECHANISM Commands HAND Syntax Check before save commands OTHERS System functions f Check automatically System status variables f Confirm whether to check beforehand Comment __ a _ E _ E __ C Never check Font Tahoma 10 yw Never display the result 110 whenever error is not occurred Regular Reset default values Figure 7 11 Command Edit Area Command Format Hint Display Settings ql 7 5 3 Character colors You can assign the colors for displaying robot program command system functions and system status variables displayed in the command edit area Option Proportion of Window Command line Edit area me i Display the hint of command format Position Commands POS MOVE Commands PROGRAM YZ type F Joint type 7 Commands 10 Commands SLOT MECHANISM Commands HARD Syntax Check before save Commands OTHERS System functions f Check automatically System status variables f confirm whether to check beforehand Comment C Never check Font Tahoma 10 p Never display the result whenever error is not occurred Regular Jl Reset default values Cancel Figure 7 12 Command Edit Area Character Color Settings 1 12 1 12 7 5 4 Changing the font You can change the font displayed in the command edit area Click the option screen font Change button The font setting screen is displayed so after setting the font name style and size click
36. MNET 10 H CC Link other station via PLO module 10 Serial port Access CC Link MNET 1LOfH other station via PLC module corel Figure 5 5 CRnQ Communications Settings On the CRnQ communications setting screen when you select the computer interface the communications routes using the selected interface are displayed at the bottom of the screen Select the communications route then press the Detailed Settings button The detailed settings screen corresponding to the selected communications route is displayed These detailed settings will be explained from the next item 5 2 4 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 5 5 Communications Routes That Can Be Selected for RS 232 6 Serial communication Serial communication through CPU unit NET 10 H other station access 8 Serial communication NET 10 H through CPU unit serial communication other station access 9 Serial communication NET 10 H through CPU unit CCLink other station access 5 56 9 56 Communications routes 19 Serial communication Serial communication through serial communication NET 10 H other station access Serial communication Serial communication through serial communication Ethernet other station access Serial communication NET 10 H through serial communication serial communication other station access Serial communicati
37. MOVEMASTER command because the configuration of the E EN M1 M2 series controller s position data is different from the CRn 500 700 series controller s Note1 Note2 Note3 Case 1 Case 2 7 103 The program conversion converts the position data as well as the commands related to the position data It is not possible to convert commands automatically Be sure to make grammatical check using this software before using the program of E EN M1 M2 series by the CRn 500 700 series and change the commands if necessary The position data of the MOVEMASTER command program for M1 M2 series has the base coordinate rotated 90 When using the program for M1 M2 by the CRn 500 700 series convert M1 M2 program into EN program with the E EN M1 M2 series support software DOS version before carrying out the program conversion In the case of the E EN M1 M2 series support software DOS version and E EN series Robot programming supporter for Windows the data can be saved separately such as command sentence only position data only or command sentence and position data In this program conversion it is possible to convert the file of command sentence only and the file of position data only to one program The other combinations occurs error As following case 3 to 7 OK Command i sentence Program Case 3 gt Program conversion Position data Command sentence only Position data only Command sentence Position
38. M_TIMER 1 This software s tact time calculation uses M_TIMER 1 If M_TIMER 1 is used during the program the tact time can not be calculated accurately Change the program to use any timer from M_TIMER 2 to M_TIMER 8 instead then calculate the tact time fa position array variable or joint array variable is included also include the corresponding Dim declaration in the tact time calculation range If a program whose tact time is being measured includes a position array variable or joint array variable also include the corresponding Dim declaration in the tact time calculation range Include the destinations for any GoTo or GoSub s 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 for sub routine 20 SUB1 21 Mov P01 22 Return 13 209 13 209 13 12 2 Tact time measurement This explains tact time measurement 1 Start simulation Start simulation For details see 13 1 Starting a Simulation 2 Open the program Open the program whose tact time you will calculate You can calculate the tact time for offline and online programs However you can not calculate the tact time for a program that has been opened in debugging status Always open the program with Open program Program E
39. OK button The detailed settings screen will be explained from the next item AN Caution Do not connect from multiple projects to 1 controller at the same time Do not connect from multiple projects to 1 controller at the same time Data might not be able to be read correctly referring to the same data Do not connect USB to multiple controllers from 1 computer When using USB connection 1 computer can connect to only 1 robot controller It is also not possible to connect to multiple controllers by using the USB hub 5 53 5 53 5 2 1 USB Communication Settings USB Communication Protocol Transmission Timeout Time 3000 imsec Reception Timeout Time agog trsec Humber of Retries Figure 5 2 USB Communication Settings Table 5 2 TCP IPCommunication Setting Items and Default values Explanation Default value Send timeout Timeout time for sending 3000 msec Receive Timeout time for receiving 3000 msec timeout Retries Number of communication retries When the USB cable is connected to the computer the screen for installing the USB driver may be displayed For details on USB driver installation see 1 5 3 USB driver CRnD 700 series robot controller installation 5 2 2 TCP IP Ethernet Communication Settings Input the IP address assigned to the robot controller connected to then click the OK button TOP IP Communication Protocol IP Address Port 10001 Transmission Tim
40. PLT MAMELOCK Machine lock Robot 1 During Machine lock Robot 1 MEMELOCE Robot 2 Robot 2 MAMELOCK Robot 3 Robot 3 Figure 8 25 Assign Dedicated Input Output Signal Machine Lock Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 120 8 120 8 11 RS 232 Setup 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 From the project tree double click the target project Online gt Parameter gt Communication After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button Communication 1 RG1 AE Ro 232 Baud rate CBAUSS2 3 Data Parity CPRTY232 Stop bit ESTOPZ321 Termination CTERM232 Protocol CPRC232 Non Procedual Explain Figure 8 26 RS 232 You can reference explanations of displayed parameters by pressing the Explain button 8 12 Zone Parameters 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 You can set up to 8 zones Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Zone After you change the parameter value you can rewrite the
41. ROM in PC s CD ROM drive Input ProductID Please enter the product ID of the product Please input in single byte Enzlis characters b Open Setup exe in CD ROM when it is not started automatically c Starting installation Wizard d License Agreement lt Back Cancel e Input Customer Information g Choose Destination Location h Installation Wizard Complete i Start the program and confirm whether the product was installed correctly Finish Product ID is printed on the Certificate of License permission After the installation is completed the computer should be likely to be rebooted 1 20 1 20 AN Caution About the confirmation and warning message displayed during installation During installation on Windows XP or Windows Vista the following confirmation and warning messages are displayed but select to continue installation If you select not to install please execute the installation again 1 Installation confirmation message for USB driver software for Windows XP Software Installation A The software you are installing has not passed Windows Logo testing to verify its compatibility with Windows lt P Tell me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the software v
42. Registers CC Link oe DODOO OOO DOoa 0000000000500 000d0 9 2 4 1 Monitor settings 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 then click the OK button Register CC Link 1 RC1 Ea tx Input register Output register Monitor setting el y No Dec 6032 0 0000 0 0000 INPUT 6032 6033 0 0000 6033 0 0000 6034 0 0000 6034 0 0000 OUTPUT 6032 6035 0 0000 6035 0 0000 6036 0 0000 6036 0 0000 6037 0 0000 6037 0 0000 2038 0 0000 6038 0 0000 6039 0 0000 6039 0 0000 6040 0 0000 6040 0 0000 6041 T 0000 6041 0 0000 6042 T 0000 6042 0 0000 Cancel 6043 0 0000 6043 0 0000 6044 0 0000 6044 0 0000 6045 D 0000 6045 0 0000 6046 0 0000 6046 0 0000 6047 0 0000 6047 0 0000 Pseudo Input Figure 9 24 Registers CC Link Monitor Settings Forced Output 9 148 9 148 9 2 4 2 Pseudo input monitoring Pseudo input Pseudo input means registers that are input to the robot controller from the computer not from outside equipment Click the Pseudo Input button A screen for inputting pseudo signals is displayed N Caution While the robot controller is in pseudo nput mode register input from outside devices s not accepted To use pseudo input put the robot controller into pseudo input mode While the robot controller is in
43. Select Program window Select Edit the value of revision parameter directly to proceed to Edit Revision Parameter window 10 173 10 173 10 4 8 Program selection Position repair 1 RC1 Target robot 1 AW 65L Select a program The position data only cartesian type of the selected program is used with re teach work Robot program list 545 123 525 525 2be be 435 be 2b2 236 219 2030 nm Select the robot program to use for revision parameter generation then click the Next button Here perform the reteaching using the XY Z coordinate position data in the selected program For details on the required position data numbers see Table 10 10 Selecting Revision Parameters Memo The points on selecting the program Select the program with the positions of various location and posture 06 01 08 05 01 07 05 01 07 08 01 07 08 01 07 08 01 07 05 01 07 06 01 05 08 01 07 08 01 07 09 11 08 da AT 15 08 00 18 20 05 18 20 05 18 20 08 18 23 02 18 20 08 18 23 16 14 50 22 15 13 04 18 20 08 16 03 24 4 A Fm coca _ Figure 10 25 Select Program Window E Z A La About Number of Positior Progam Size Date Time Piotect Number of 1 Aon Ph ho on Ph ho oe cn Moreover higher accuracy of revision parameters can be obtained by selecting the following type of position data program Program with positions that are easy to re teach Program with positi
44. any of the following external causes the line status display remains Connected If this happens return this software offline remove the cause of the cutoff and then go back online The robot controller power supply went off The communication cable was disconnected 2 4 Closing RT ToolBox2 To close RT ToolBox2 on the menu bar click Workspace gt Close Application You can also close with the 1 button on the top right of the screen When you close RT ToolBox2 Communications Server 2 also closes automatically 2 39 2 39 3 Basic Functions The basic functions of this software are shown below Table 3 1 RT ToolBox2 Basic Functions Explanation Offline Targets files on the computer Robot model_______ Displays the model of the robot used S O Program_________ Displays the names of the robot programs written on the computer Online These are used with the robot controller connected Robot model Displays the model of the robot connected to the robot controller Displays the names of the programs stored on the robot controller Parameters Parameter list The parameters can be set individually Parameter The parameters can be set by robot function individually settings by The functions are as follows function Operating range Free plane limit Jog Evacuation point Hand Robot language Weight and size Added axes Tool Collision detection Slot table Heater operation Output signal reset pa
45. button A confirmation screen is displayed so input Yes then click the OK button MELFA RT ToolBox A Are you sure you want to initialize all robot programs If you want to continue please enter the word rES Figure 10 11 Confirmation Screen for Program File Initialization 10 2 4 Initializing the battery remaining time This initializes the remaining battery time in the robot controller On the initialization screen click the remaining battery time Initialize button A confirmation screen is displayed so input Yes then click the OK button MELFA RI ToolBox Are you sure you want to change the battery remaining timer If you want to continue please enter the word ES Figure 10 12 Confirmation Screen for Battery Time Remaining AN Caution Do not initialize unless the battery has been replaced Be careful If you initialize the remaining battery time other than when the battery is replaced it becomes impossible to reference a correct reading for the remaining battery time 10 2 5 Serial number This checks the serial number in the robot controller and sets the serial number for the connected robot On the initialization screen click the serial number group Set button This function can only be used with CRn 700 series robot controllers The first time you start up a CRn 700 robot controller after purchase the C0150 warning robot main unit serial number not set is generated On this s
46. case stop the program then write the parameters Table 8 1 Download Operating Modes for Writing for CRn 500 series only CRn 500 series robot Operating mode controller TEACH Auto OP Auto Ext J1 edition or later O Writing possible x Writing impossible 8 109 8 109 8 3 Operating Range Parameters Set the operating range of the robot Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Operating Range After you change the parameter value you can rewrite the operating range parameter in the robot controller by clicking the Write button E Motion Limit 1 RC1 Sle Robot 1 RV 6S0L ABS limit MEMAR Joint limit MEJAR User defined origin UISERORG mm deg mm deqg mm deg 2000 20 00 7000 170 00 0 00 2000 20 00 i 92 00 135 00 0 00 2000 20 00 2900 166 00 90 00 2000 20 00 160 00 160 00 0 00 2000 20 00 120 00 120 00 0 00 20 00 20 00 E 360 00 360 00 0 00 30 00 30 00 E 50000 00 0000 00 0 00 30 00 30 00 50000 00 0000 00 0 00 VE limit MEPAR Tam A 10000 00 10000 00 ae 10000 00 10000 00 E 10000 00 10000 00 Explain Figure 8 7 Motion Limit Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 4 Jog Parameters Set the speeds for joint joggin
47. character string are found from programs and displayed in a list Find waht Match case Go to Top Find Next Find Previous e Close 3 10 1i 12 15 13 17 15 19 21 26 25 a Close List Figure 7 24 Find Results List Display When you select an item from the find results list and click the Jump button the display jumps to the line that includes the selected item 7 79 7 79 7 6 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 menu bar Edit gt Find in Files The find in files screen is displayed You can also display this screen by clicking the program management Find in Files button Find in Files Find waht Mon In Folder fe PE C Documents and Settingstr3p R Program C Robot 1 RC1 Match case W Never find Line Close Figure 7 25 Find in Files Screen Input the character string to find and select the location to search When PC is selected as the location to search all the offline programs registered in the current project are searched When Robot is selected as the location to search all the online programs registered in the current project are searched In other words all the programs in robot controllers in the online status connected to a robot are searched If a simulation is running all the programs in the virtual controller are searched When yo
48. communication settings for each project 5 1 Robots Connected and Types of Communication When connecting the robot controller and computer there are the methods shown below Be aware that the connection method that can be used is restricted by the robot controller connected Table 5 1 Robot Controllers That Can Be Connected and Types of Communication Robot Controller Communication Type CRnD 700 series USB 4 CRnQ commu Ethernet The PLC Ethernet interface module is nication TCP IP required S 2 RS 232 CRn 500 series a E i ee a Ethernet TCP IP 3 e robot controller must have the erne interface option 1 For details on the communication settings on the robot controller side for CRn 700 series controllers see Operations and Detailed Explanation and Standard Specifications in the user s manual for the robot controller 2 For details on the communication settings on the robot controller side for CRnQ 700 series controllers see Operations and Detailed Explanation and Standard Specifications in the user s manual for the robot controller Moreover please use the GX Developer to set the communication setting of PLC 3 For details on Ethernet connections on the robot controller side for CRn 500 series controllers see the Ethernet Interface Option User s Manual 4 When using USB connection 1 computer can connect to only 1 robot controller 9 52 9 52 5 2 Connec
49. computer SE A A A A A A a a eee ROTA Selection release 18 200 10 12 1 18 200 18 200 18 200 gt 054752 Bytes Robot program pra zd PA Y i Ge l RC Robot Selection release 271 2008 01 07 18 10 3 42 2008 01 07 18 10 3 When you select a folder on the 44066977536 Bytes Robot program pra o Move Delete Rellame Protect Compare Close Figure 7 53 Program List Display The program files are copied Copying of the entire program file or only the command statements or only the position variables is possible Select the transmission source program names from the list at the left and designate the transmission destination folder on the right side The multiple transmission source programs can be selected at the same time but for copying with changing its name only one program must be selected Copying is executed when the Copy button is clicked on and Setting for copy dialog is set 7 97 Setting for copy W Command W Position W Rename PRG Target files 1 m Figure 7 54 Copy Setting Screen 1 97 7 10 3 Move The program files can be moved Select the transmission source program names from the list at the left and designate the transmission destination folder on the right side The multiple programs can be selected at the same time Movement is executed when the Move button is clicked on 7
50. data Program N G conversion Command sentence Position data Program NG conversion OK PC Program conversion Case 4 Command sentence Position data Case 5 Program conversion NG Command sentence Position data Program gt NG conversion ra e Program conversion NG D 7 103 Convert the program according to the following procedure 2 1 Import Isource MELFA BASIC III zj l U MELFA BASIC IY J Figure 7 60 Conversion from MELFA BASIC Ill to MELFA BASIC IV 1 Select the program language of the source and target for conversion Start program conversion with a project set for MELFA BASIC V or MELFA BASIC IV For the source choose MELFA BASIC III or MOVEMASTER CR 116 356 which is the program language of the E EN M1 M2 series If MELFA BASIC V is chosen for the target the lines No are also converted in addition to this conversion 2 Select the axis of robot Select the correct number of axes so that the configuration of the E EN M1 M2 series controller s position data is different depending on the number of axes 3 Select the file s as source Click the Select button of the source and select the file s of E EN M1 M2 series program When selecting the multiple files click the file while pushing the Ctrl key hy ecent Documents a T ed Lo a 1 Do D My Noman File name ppd dl la
51. displayed ES Parameter list 1 RG1 SEE Roboti 1 RW ESGL Parameter list Read Parameter Marne lUERI Read Explanation Attribute TES CHMID No signal Teach mode OLITPLIT Common TLE Direction for TLMT ITS comands Robot TRBLIF Tracking data number of buffer size of buffer Common TREWDST Work check distance for tracking rm Common TRMODE tracking permission O disable 1 enable Common Number of user define error Message Cause Treatment Common e Cause Treatment Common a Cause Treatment Common a alse Treatment Common e alse Treatment Common a alse Treatment Common B alse Treatment Common ME Number of user define error Mes x Parameter edit Parameter name UER1 Fobot lo Explanation Number of user define error Message Cause Treatment Sa 2 message eause 4 reat Figure 8 4 Parameter Editing After you change a parameter you can rewrite the specified parameter information in the robot controller by clicking the Write button You can print the displayed parameter information by clicking the Print button ZN Caution Use upper case letters when naming the programs in alphabetic Characters Lower case alphabetic characters can be used in this parameter setting Use upper case letters when naming the programs in alphabetic characters for the parameters of the base program PRGUSR or slot table SLT etc All of t
52. former position data can be used The gap of the positions generated by interference or maintenance can be repaired by re teaching only several pointe However please understand beforehand that it may be unable to repair when the robot application needs accuracy or the mechanical damage of the robot at the time of interference is serous lt lt vallable robot model gt Vertical b a 132 robot controller 5 44 Wer 2 or later Vertical S asis robot controller 5 44 ver El or later Horizontal 4 asis robot controller 5 44 Wer 4 or later Only revision of the origin data is available if the vertical 5 axis or B axis robot is used and the controller 5 44 version is older than above mentioned Moreover only RH SH Series 12 available in the horizontal 4 axis robots Back Figure 10 22 Starting This is an explanation of the position repair function Read it carefully then click the Next button 10 4 5 Communications settings Position repair 1 RC1 SEE Connect the PC and the controller check communication setting and turn on the power supply of the controller Click Next if correct connectable i Cancel Check the communication settings and connected to the robot controller click the Next button For the setting method see 5 Connecting with the Robot 10 171 10 171 10 4 6 Robot selection and parameter backup Position repair 1 RC1 SEE Select the target robot 1 F 650 r
53. information Select the information to delete then click the right mouse button From the right mouse button menu select Delete 88 Backup 3 39 All ESE 415 Program Pestore 5 Paramet Delete Y 20080108 153354P RM System Program Figure 12 3 Deleting Backup Data It is also possible to delete all the backup data Right click Backup for the target project From the right mouse button click Delete All 88 ES ee Restore oO t ia la Program Re Parameter Off system Program F 48 Bac Figure 12 4 Deleting All the Backup Data ZN Caution Be aware that once backup data is deleted you can not restore it 12 197 12 197 13 Simulation This chapter explains the simulation operation methods N Caution Simulation can not be used with the mini edition The simulation function only supports the RT ToolBox2 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 You can not communicate with the robot controller during a simulation You can not communicate with the robot controller during a simulation To communicate with the robot controller click on the menu bar Online Offline to end the simulation then again click on the menu bar Online Online to connect the robot controll
54. is displayed inverted 3 Variable monitor You can check the names of variables being used in the selected program You can select the variables to monitor with the buttons displayed at the bottom of the screen 9 135 9 135 4 Adding variables This adds more variables to monitor Add display variables Variable name A dropdown list is displayed Update Variable type C Numerical value f Character string Position Joint Figure 9 3 Add Variables 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 When you select variables from the dropdown list the variable type is automatically selected 5 Selecting variables You can batch select variables to monitor from the variable list used in the program Select display variables Variables not displayed Displayed variables Variable name Variable type Variable name Variable type Joint JO Joint Joint POO Position Joint Joint Numerical value Numerical value Numerical value Position Position Position lt Delete Position Position Position Position Position Position P22 Select all Select all Update OK Cancel Figure 9 4 Variable Selection The variables not to display are displayed in the list on the left side and the variables to display are displayed in the list on the right side From the variables not t
55. or RH 6SH 12SH 18SH series While pressing the brake releasing switch on the robot arm beware of the arm which may drop with its own weight Dropping of the hand could lead to a collision with the peripheral equipment or catch the hands or fingers User s Manual Revision History Printing Date Manual No RevisionContents 2008 04 BFP A8618 First edition Corresponds to the Ver 1 1 Software Revision History Release Date Revision Contents 2008 01 Initial release Japanese version only 2008 04 CRnQ Communications Added the GOT transparent function Parameter editing Added the Multiple CPU setting screen PREFACE Thank you for purchasing this MELFA Mitsubishi Electric industrial robot This document is the user s manual for the MELSOFT RT ToolBox2 and RT ToolBox2 mini This document will help you to use the functions of this software to the maximum over a wide range of stages from initial robot start to program writing editing and management In order to operate the robot safely carefully read this document and the safety manual that comes with the robot main unit before operating the robot Also store this manual carefully so that you can take it out and read it whenever needed Target versions for this document This document is for the MELSOFT RT ToolBox2 and RT ToolBox2 mini Ver 1 1 and supports the following robot controllers CRn 500 series controllers CRnQ 700 series controllers CRnD 700 series
56. or RS 232 Is the USB driver installed Communicating with USB requires that the USB driver be installed For details see 1 5 3 USB driver CRnD 700 series robot controller installation 1 5 4 CRnQ communications USB driver installation and 1 5 5 CRnQ Communications USB driver for GOT transparent installation 2 When Communications Server 2 is light blue USB With communications with the robot set to USB if Communications Server 2 is displayed light blue but communications are still not possible check the following Check item or cause Is the robot controller power supply Off When connected on USB with CRnQ communications if the robot controller power goes Off after a normal connection was established the display remains light blue Switch Offline with this software switch the robot controller power On then go back online Is the communications cable connected When connected on USB with CRnQ communications correctly if the communications cable is disconnected after a normal connection was established the display remains light blue Switch Offline with this software connect the communications cable then go back online 7 Robot program 1 Did you write the program with Movemaster commands 15 223 15 223 The robots that can use Movemaster commands are restricted Check in your robot s standard specifications to see whether it supports Movemaster commands If your robot supports Movemaster com
57. result in a collision This is particularly dangerous during robot operation so check carefully before changing the value of a parameter 8 Load You can load variables to be monitored on the variables monitor from a file When you click the Load button you can load variable names and variable types and add them as variables to be monitored 9 Save You can save as a file a list of the variables being monitored on the variables monitor When you click the Save button you can save the names types and values of the variables currently being monitored into a file This file is saved in text format 9 137 9 137 10 View You can switch the values of the variables displayed on the variables monitor between hexadecimal display and decimal display The variables that can be displayed in hexadecimal see below Table 9 2 16Variables that can be displayed in Hexadecimal The displayed variable can be switched to the hexadecimal number Integer l the decimal number When it is O below the decimal point it is possible to switch to the Float hexadecimal number the decimal number However the value is the one within the range of 9999999 9999999 The hexadecimal number is not displayed The hexadecimal number is not displayed As for the value displayed by the hexadecimal number amp H is added to the head of the value 9 1 3 Movement status You can check the robot current position destination positio
58. rewrite the parameters in the robot controller by clicking the Write button E Command parameter 1 RG1 Program selection SLOTON Unit setting for the rotational element of position PRGRIDEG Disable storage do not maintain C RAD e DEG C Disable storage maintain f Enable storage maintain Extension of external variable PRIGGBL E Continue function CTN Function invalid f Function valid Figure 8 36 Program Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 128 8 128 8 21 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 From the project tree double click the target project Online gt Parameter gt User Error rr User Error 1 RG1 SEE Method 14 message treat message treat message treat message treat message treat message treat message treat message treat message treat message treat message treat message treat message treat e gt Explain Write Figure 8 37 User Error Parameters 1 E 3 4 a 6 7 o q Double click the error number from the list The User Error edit screen is displayed EB User Error 1 RG1 AE Method al 99010 message z 99010 message 3 gong message User Error Setting 4 99010 message 5 ond message Liser error setting LJER 6 99010 message A 9900 mes
59. signal Will notresetthe Wil ENABLE reset the Will ENABLE reset the dedicated signal E l l output output dedicated signal output dedicated signal output 10 163 10 163 10 3 5 Reset screen The information about battery grease and belt for Maintenance Forecast kept in the controller can be reset S Maintenance Forecast 1 RG1 Forecast Setup Reset Others The information For the Maintenance Forecast which has been kept in the controller is reset Reset of battery remaining time At the time of battery exchange Reset It resets per joint axis At the time of battery exchange At the time of grease replenishment At the time of belt exchange fe Gb che time of grease replenishment f At the time of belt exchange Reset Figure 10 17 Reset Reset axis mi E mi 34 Table 10 5 Description about each reset It is used when an alarm urging to replace the batteries C7500 C7510 or C7520 occurs and the batteries have been replaced Be sure to reset the battery remaining time after a battery has been replaced When an alarm urging to perform periodic inspections and replenish grease alarm numbers in the 7530s occurs replenish the grease and reset the replenished axis When an alarm urging to perform periodic inspections and to replace the belt when it is damaged alarm numbers in the 7540s occurs replace the belt and reset the axis for which the belt is replaced These reset op
60. targeted program is write protected During showing this window the position data of the targeted program in the controller is write protected If this tool is interrupted when not communicating with the controller the position data cannot be unprotected Please release the protect by using the Teaching Box or Program manager of this software Position data for the program selected are displayed Select the position to re teach from the list and repeat re teaching to generate revision parameters Re teaching work procedure can be described as follows While the Re teach the position screen is open move the robot to the re teaching position and click the Load current position button on the screen 10 183 10 183 Re teach the position The re teach position data was specified ha J ls this tool correct Standard tool 0 00 0 00 0 00 0 00 0 00 0 00 pl 777 45 0 02 928 76 90 44 71 00 89 57 0 01 6 0 Move the robot to the re teach position by using teaching box and click Load current position button AN Do not teach the position with a teaching box Re teaching 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 N M v e e e e e oe
61. technique occcoccocncocn 10 158 Mella RXMIOCX css ocio Aine ete nls 1 15 14 218 Ment Dri old 2 35 MONHOND A A sateen tenalas 9 135 A ae easter toute on ae 9 141 General signal a ne 9 144 Movement Status oocccoccoccnoconccncnononocanecanonanoss 9 140 Named SONAS roa 9 147 Operation DOUNS occcoccccccccnccccnconcnccncncnncnononnncnnnnos 9 154 Production informati0N ooccccocnccccnnccncnccncnnnonos 9 154 PIO AMS aid 9 137 Register CC Link oocooococococnocococonoccoconononos 9 150 FRODOU SUAS must aore tecate tdo 9 143 Servo Monitor oocccccccnccccnconcnccocnncnonnconcncnncnnnnnos 10 194 Slot operation Status oocccoccconnccocncornconcnononnns 9 136 Stp SiN Al ae oa 9 149 Movement Parameters oocccocccoccccccncocnconcnnncnnonoos 8 129 Multiple CPU SettingS cccooocccccoccnccnoconcnnnos 8 133 N Named signNals ooocooocncocncocnonocncocncnanonncnnnanonoss 9 147 O sn ne ec eee eee Weer een een eee 4 50 la commer aero eran ere eae ee ear ee een aa 4 50 Operating Range Paramete rs cccceceseeeeees 8 111 Operation hour MONItOriNg occccooccncccocnncnoncnno 9 154 A aldee eE 11 195 15 227 Ongi Data os a la 10 155 ABS origin technique cooocccccooconccnnconocononnos 10 159 Mechanical stopper technique occooccooc o 10 158 Origin data input technique cccoccccccccconcncoo 10 157 Tool technique cial lis 10 15
62. the name of a workspace select Workspace on the menu Save As save with the name you want to change to then delete the original workspace with the old name 4 43 4 43 4 3 Opening an Existing Workspace To open an already existing workspace click Workspace gt Open or click La Ctrl O After selecting the workspace to edit click the OK button Open Workspace Workspace path C RT Toolbox Browse Update Factory Line 1 Factory Line 2 Workspace name Factory Line 1 Title name S S S cancel Figure 4 5 Opening a Workspace The names of the last up to four workspaces used are added to Workspace on the menu bar You can open one of these workspaces by clicking its name here Ed A Factory ies View Online Wir New Ctrl ig The recently used TA f workspaces are added rar When you click one of these t a workspace names the workspace is opened Print Setup 1 Factory Linet 2 Factory Lined a mini Figure 4 6 Recently Used Workspace Names 4 4 Closing a Workspace To close the workspace being edited click Workspace gt Close Note that to delete a workspce you must close it first 4 44 4 44 4 5 Deleting a Workspace Click Workspace gt Delete The Delete Workspace screen is displayed so check the name of the workspace to delete then click the OK button Delete Workspace Workspace path CIRT ToolBox2 Browse Upda
63. the project tree double click the target project Online gt Monitor gt Signal Monitor gt Stop Signals E Stop signal 1 RG1 Emergency stop o e or MEN OFF LO OFF Figure 9 22 Stop Signal 9 147 9 147 9 2 4 Register CC Link monitoring ZN Caution This can only be used if the CC Link option card is mounted in the robot controller This function can only be used with a CRn 500 series or CRnD 700 series robot controller with the CC Link option card mounted Also this function can not be used with CRnQ 700 series robot controllers You can check the statuses of registers input to the robot controller from outside equipment and registers output from the robot controller to outside equipment From the project tree double click the target project Online gt Monitor gt Signal Monitor gt Register CC Link The left side of the screen displays the status of input registers and the right side displays the status of output registers A continuous range of registers to display can be set freely with Monitor Settings Pseudo input and forced output of registers are also possible Register 4CCG Link 1 RC1 Input register Output register agaa 60011 6002 6003 6004 BOOS 6006 B00 6008 ggs 6010 6011 6012 6013 6014 6015 adad OOOO aadd aaga oog adad OOOO OOOO adad OOOO OOOO adad OOOO OOOO adad OOOO Monitor Pseudo Input setting Forced Output Figure 9 23
64. the robot controller 3 Edit the target program and save it to the robot controller 4 Return the starting condition in the Slot table SLT 1 32 parameter to Always Write this parameter to the robot controller 5 Reset the power supply for the robot controller 6 Is it possible to change the font for a robot program displayed with the program edit tool Yes Change the font used with 7 5 4 Changing the font in this document 7 We are not using joint position variables J variables so is it possible to make the display area smaller Yes Change the display proportions with 7 5 1 Changing the display area in this document 8 Is it possible to edit a backed up program MB4 file with program editing It is not possible to open a backed up program MB4 file with program editing Restore the backed up program to a robot controller then open it with program editing or store it on the computer with program management 9 Use defined external variable can not be used 481000000 is displayed and the program can not be edited This error is displayed if a user defined external variable is used even though the user base program is not defined Normally a user base program is defined with the PRGUSR parameter but if nothing is set in the PRGUSR parameter this error occurs To use a user defined external variable define the user base program Also for details on user base programs see
65. time calculation is started During tact time calculation Calculating tact time is displayed on the simulation operation screen Do not perform any other operations until this display goes out 1 RC1 Simulation Status ee CYRO MTS FY EZ JOG E Status display becomes Tact time measurement SERVO FRESET _ Direct OnforF Program Error Execution Figure 13 17 Simulation Operation Screen During Tact time Measurement 6 The tact time measurement results are displayed When tact time measurement is complete the Take time calculation results screen is displayed The tact time measurement results are displayed in ms milli seconds The current tact time The tact time calculation measurement ime results are added results are a sequentially displayed us edo This information is cleared 37383 1 16 16 22 when the simulation is started again Figure 13 18 Tact time Measurement Results 13 211 13 211 13 12 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 capacity of the computer used and its load status and does not completely match the actual robot operating time tact time Use this function as a rough yardstick for tact time study Also there are the following causes for the tact time calculation results deviating from actual robot tact time 1 A
66. to simply produce Windows applications connected to a CRn 500 series robot controller on the customer s device The user s manual for using MelfaRXM ocx and the cautions are on the RT ToolBox2 standard edition CD ROM This MelfaRXM ocx is for CRn 500 series robot controllers It can connect with CRn 700 series robot controllers but the only modes available for communications with robot controllers are RS 232 and Ethernet 14 2 CD ROM Contents The contents of the RT ToolBox2 standard edition CD ROM are as follows P setup exe i RT ToolBox2 installation files Utility LE iS MerF ARO Communications middleware 1 P Readmetxt This is cautions for using MELFARXM ocx MelfaRXM ocx EMectupexe related file MelfaRXM ocx installation files i Dec This is the MELFARXM ocx user s manual Figure 14 1 CD ROM Contents For details on MelfaRXM ocx usage methods refer to the user s manual on the CD ROM 14 214 14 214 14 3 User s Manual Reading Guide The manual is in the CR ROM as the Adobe PDF file D Utility MELFARXM Doc MelfaRXME pdf Example for the CD ROM drive is D 1 Preparation for viewing 1 Preparing computer Prepare a computer that has a CD ROM drive 2 Preparation of viewing software Viewing requires Acrobat Reader Ver 5 0 or higher If neither Acrobat Reader nor Adobe Reader is installed please download it from the Adobe Systems web site As of December 2007 URL http www adob
67. workspace title l i Cancel Attribute Factory Line Product 444 Line 2008 01 07 13 45 48 am Figure 4 9 Changing a Title 4 46 4 46 4 9 Adding a Project You can create up to 32 projects in one workspace Click Workspace gt Add Project Add Project Project name RES Communication setting RC type CRNQ 70D Method Tce IF Detail IF Address Port 10001 Send Timeout 1000msec Recieve Timeout 20000msec Model Selection for Offline Robot model RV 650 Select Language MELFA BASIC y Travel base setting for display Only travel base information for display is set here To change the movement range of the travel axis change the parameters Travel base Not used Detail a gt T Figure 4 10 Adding a Project Set the project name information on the robot connected and the communication method then click the OK button The project is added to the workspace Projects can also be added from a project tree After selecting the workspace use the mouse right button to select Add project at RT ToolBox Factory Line 1 Offline Workspace View Online Window Help 4d PE es BE AE ana 00m lt Update workspace Edit workspace title ROT Figure 4 11 Adding a Project from a Project Tree 4 47 4 47 4 10 Changing a Project Name You can change the name of a project even after it has been created Click the name of the project wi
68. 0 0 000 pal 0 000 0 000 0 000 0 000 0 000 0 000 0 000 pals 0 000 0 000 0 000 0 000 0 000 0 000 0 000 palo 0 000 0 000 0 000 0 000 0 000 0 000 0 000 E pat 0 000 0 000 0 000 0 000 0 000 0 000 0 000 nara nann nana n nonn Ann naaa n nonn n nnn w 4 gt Joint J1 J2 13 J4 15 J J7 Figure 7 20 Array Variable Display N Caution About uppercase characters and lowercase characters in position variables names With MELFA BASIC V you can use lowercase letters in variable names This software does not differentiate between uppercase letters and lowercase letters in variable names For example the position variables PA and pa are recognized as the same position variables The controller converts all later variables to match the first position variable name defined For example if you write a program like that below the position variable pa is used and PA is converted into pa Mov pa Mov pa Moy pa Mow PA 2 l d When this is written to the robot controller it is converted as on the right 7 76 7 76 7 6 3 1 Adding changing position variables To add a position variable click the Add button The position variable add screen is displayed At this time if position data is selected in the list the contents of that position data XYZ joint position information are displayed However the variable name remains blank To revise a position variable select the position variable to be revised in the li
69. 0 0 0000 0 0000 DJINT Error of origin data 0 0015 0 0000 0 0000 0 0000 0 0000 E Reset Back Cancel Figure 10 35 Edit Revision Parameters Window Print Prints the revision parameter information displayed in the list Reset Resets all changes Displays values of current revision parameters in the robot controller Select parameter from the list and double click it to display the setting screen Set the parameter values If the CRn 500 series robot controller s version is older than J2 only the origin revision parameter DJNT is shown Click Next to write all parameters into the robot controller and proceed to Re start the Power Supply of the Controller window 10 189 10 189 10 5 Servo Monitor This monitors servo information 10 5 1 Load The load state of each robot axis can be monitored Click Reset button to reset the max axis load level of monitored load information E LOAD 1 RG1 Axis load level Axis load level 10 190 oo 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 Figure 10 36 Servo monitor Max axis load level 9 Jalg Ja da J4 Ja alist Jr Ja Load Kak 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 10 190 11 Option Card You can check information on option cards mounted in 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 na
70. 000 0 0000 0 0000 0 0000 Figure 8 11 Tool 8 113 8 8 Slot Tables Slot tables set the operating conditions of each task slot during multi task operation Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Slot Table After you change the parameter value you can rewrite the operating range parameter in the robot controller by clicking the Write button E Slot Table 1 RC1 Sle Slot table Figure 8 12 Slot Table Select the task slot number you are changing and click the Change button Slot table Change SLT1 Conditions Slot eee Conditions O Prograrn list Priority Program files Figure 8 13 Slot Table Change When the modification window appears set the program name operating conditions startup conditions and task priority and then click Write You can reference explanations of displayed parameters by pressing the Explain button 8 114 8 114 8 9 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 From the project tree double click the target project Online gt Parameter gt Output Signal Reset Pattern E Output signal reset pattern 1 RG1 DAR Reset output signals simultaneously wit
71. 1 Parameters From the project tree double click the target project Online gt Parameter gt Assign dedicated input output signal gt General 1 After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button General 1 RC1 es AUTO enable ALITOENA START START 10006 stop rs nooo E OP Program reset SLOTINIT 10008 Error reset ERRRESET 10009 desp O aa o era oF svo Moon eraon SRVON ioo Operation erabe OEA 10005 TT RUTO enable arona Y During execute stant 10008 Eron storsts ooo During eror ERRRESET 10009 During Cycle Stop cae 10012 servo ON disable SAVORE 10011 During serva ON RON 10010 Operation enable OEA 10005 Figure 8 16 Assign Dedicated Input Output Signal General 1 Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 10 2 General 2 parameters From the project tree double click the target project Online gt Parameter gt Assign dedicated input output signal gt General 2 After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button s General 1 RC1 INPUT Move home SAFEPOS Minmi General Output reset OUTRESET 10015 Machine lock MELOCK CLIT RUT Moving home SAFEPOS 10013 During Machine lock meco Terror HERR
72. 1 to 9999 iSiNetwork communication route setting of MMETI1O 6 Coexistence network route setting of C24 Network Mo 1 1to239 Head 1 0 which is channel origin O Dto FFO ahead Cancel NET 10 H through CPU Unit CCLink Other Station Access Detailed Settings Figure 5 6 RS 232 Serial Communication For some communications routes that you can select 5 Network communication route setting of MNET 10 and 6 Coexistence network route setting of C24 can not be set 5 57 5 57 5 2 4 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 5 5 Communications Routes That Can Be Selected for RS 232 Detail Serial port Access MNET 10 H serial communication other station via PLE module 23PLC side LF setting of PLE module Connected module QnMatianCPU T ia GOT Bus transparent mode via GOT direct coupled transparent mode Target CPU y t4hCheck at communication time 1393 1 gt 3 4 Non choice 1 to 9999 SiNetwork communication route setting of MNET 10 6 Coexistence network route setting of C24 Network Mo 1 1to 239 Head 1 0 which is channel origin O Dto FFO ahead Cancel Figure 5 7 USB Serial Communication NET 10 H through CPU Unit Serial Communication Other Station Access Detailed Settings For some communications routes that you can select 5 Network c
73. 10 4 Delete The program files can be deleted Select the names of the programs to be deleted from the lists The multiple programs can be selected at the same time The programs can be selected at the both lists Delete is executed when the Delete button is clicked on A N Caution That once the program files are deleted they cannot be recovered 7 10 5 Rename A program file name is renamed Select the name of the only one program to be renamed from the lists The program can be selected at the both lists Rename is executed when the Rename button is clicked on and a new file name is set at the Setup for ReName dialog Setup for ReName Input Mew File Mame A coca Figure 7 55 Rename Screen 7 98 7 98 7 10 6 Protect settings The program files in the controller can be protected The entire program file can be protected or just the command statements or position variables can be protected You cannot move delete or rename a protected file Release the protection before any of these operations Select the names of the programs to be protected from the lists The multiple programs can be selected at the same time The programs can be selected at the both lists Protect is executed when the Protect button is clicked on and Setting for protect dialog is set Setting for protect kW Commands kW YWariables Target files Robot 1 1 Cancel Figure 7 56 Protect Settings Dialog A N Cau
74. 11 Syntax check You can check whether or not the edited robot program is syntactically correct Execute this before writing the program to the robot controller Click on the menu bar Tool gt Check Syntax If there is a syntax error the error location and details are displayed Syntax check Error Step Error content 3 Syntax error Error line 3 Mo JO Figure 7 31 Syntax Check Results Screen If you select the detected error and click the Jump button it jumps to the command statement with the error 1 82 7 82 7 6 4 12 Command template You can display a list of the commands and make insertions on the program command edit screen Click on the menu bar Tool gt Command Template Command Template Category Command Format Accel Accel lt Acceleration rate Accel Acceleration rate gt lt Deceleration rate Accel Acceleration rate gt Deceleration rates lt Y gt Description Designate the robot s acceleration and deceleration speeds as a percentage m7 Insert a Template Close Figure 7 32 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 7 6 4 13 XYZ position data batch editing joint position data editing You can change the position variables in the program being edited in a batch and can sum up all the values
75. 134 9 1 2 Program MONO rai das 9 135 9 1 3 Movement Status o edo 9 138 9 1 4 ENOS a a aaah le al ae Sa ae cela ae eal cael cal acc 9 139 9 1 5 RODOFStAlUS ccs es asec eels ee as cee acer cee eas ae eas ee il 9 141 3 22 Slgnal WMOnHONAG A a eee 9 142 9 2 1 General sinaloa alicia 9 142 9 2 2 Named Sia aia a aa 9 145 9 2 3 O A A E 9 147 9 2 4 Register CC EINK MONITORING est ao ode 9 148 93 Producuion CONGITOM Monto di iio 9 151 9 3 1 Operation AMS ld le ish imu au beatles 9 151 9 3 2 Producton INTORMALO nsnsi ten tule oi ule cu Mates 9 151 10 Maintenance 10 152 10 1 Setting Ongin Data A aan A cee 10 152 10 1 1 Origin data input technique ooccccoccnccccnncccnnoconnnononnnononnnnnnnnononnnonannonannnonnnnnnnnnnenananenos 10 154 10 1 2 Mechanical stopper techNique occoconccconoconnoccncononcconnononnnnannonononannnnnnnonnnnnnnnnnnnenannonans 10 155 19 13 TOOL ECN QUO e 10 155 TOMA ABS ONDA ECONO siete decdeeniowe eareee a ee 10 156 10 19 User Origin Technique ni Benne wale nae Sao ee 10 156 10 16 Ongin Parameter Back a ol 10 157 10 2 IMAZ AMO oa 10 158 10 21 a oia 10 158 10 2 2 Setting the time in the robot controller ccccoocnoccccononccconncoconnncoconconcnnanonnonanons 10 158 10 2 3 Deletioh of all r bot programs aida 10 159 10 2 4 Initializing the battery remaining time ooccconnncnoccncnnocnconcnnnnnnnnoncnnnoncncnnnnnonnnrnnnnnnnnnnnnnnns 10 159 A Seal DOG aaa a A w
76. 168 0 0 P4 276 499 599 066 264 966 29 170 0 0 P5 535 786 295 021 102 000 148 420 0 0 1 When only command line written lt lt Program in the robot controller gt gt 100 Mov P1 200 Mov P2 Changing only the command line 300 Mov P5 O 400 End 000 100 000 90 000 4 0 P1 400 000 P2 0 000 400 000 150 000 0 000 4 0 P3 351 700 49 370 22 000 95 170 0 0 changed P4 276 500 599 070 264 970 29 170 0 0 2 When writing position variable only lt lt Program in the robot controller gt gt 10 Mov P1 20 Mov P2 The command line is not changed 30 Mov P3 0 000 40 End The position variables on the computer are P1 400 000 100 000 90 000 4 0 overwritten However position variables P2 0 000 400 000 150 000 0 000 4 0 that are in the robot controller not on the P3 351 700 49 370 22 000 95 170 0 0 computer are left as is Reference 7 88 7 88 7 7 5 Setting the syntax check for before program saving You can set whether or not to have the syntax checked when you save a program and whether or not to display a message when there are no syntax errors With the program opened on the menu bar click Tool gt Option and set with the option screen The default setting is automatic syntax checks with no message displayed if there is no syntax error 7 89 Proportion of Window Commands Position fe o aye type Pi Joint type 7 C
77. 24 can not be set 5 59 5 59 5 2 4 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 5 7 Communications Routes That Can Be Selected for CC Link Communications Route CC Link board communication Other station access through CC link unit CC Link board communication CC Link through CC link unit NET 10 H other station access CC Link board communication CC Link through CC link unit Ethernet other station access CC Link board communication Access CC Link MNET 100H other station via CC Link module UPC side I F EC Link board setting Module Mo list module 2IPLC side setting of CC Link module Connected module 2C Link module 3 Target CPU pp f4 Check at communication time FEF 1 gt 3 4 Non choice i 1 to 9999 iSiNetwork communication route setting of CC Link 6 Coexistence network route setting of MMNETAO Station Mo O 0to63 Network ho 1 1to2397 Station Na 0 Otod64 Cancel CC Link through CC Link Unit NET 10 H Other Station Access Detailed Settings Figure 5 9 CC Link CC Link Board Communication For some communications routes that you can select 5 Network communication route setting of MNET 10 and 6 Coexistence network route setting of C24 can not be set 9 60 9 60 5 2 4 5 When Ethernet is selected When Ethernet is selected as the computer interface the communic
78. 3 208 13 12 1 Conditions for tact time MeasureMent ooocccccnnccnccnccnncnnncnnconanonnononcnnnnnnnnconancnnononnnnnnnaninnos 13 209 13 12 2 Tact time ME ASUS INCI ee oie ts A eae 13 210 13 12 3 Causes of tact time deviatiON ccooonccncococnnccconnonoconnononanonnnnannnnononnnnononnnnnonannnnnannnnnnnns 13 212 18 19 EndIN gs ImuUlatON E E ia 13 213 14 MelfaRXM ocx Communications Middleware Setup 14 214 tA SUNA a a E E A E ters 14 214 1423 CDROM CONES cri A Edo 14 214 14 3 User s Manual Reading Guide ooccccccocnoccconcnncconcnnnocannncnnnconononnnnnonannnnononnnnnnnnnnnnnnannnnnnnns 14 215 AE MINS TAM AO Msi ao ts to ts baste A o eres 14 215 15 Appendix 15 217 EO ie O S ces eset O E E eam sep ee caters atc cee cement Beene 15 217 C2 q o cb Ge Gee A Pre eer re ree ee er er ee eee eer ee eee ee ere ee nae eer terre 15 227 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 CR ROM as the Adobe PDF file D Doc BFP A8618 pdf Example for the CD ROM drive is D For reading the manual Adobe Acrobat Reader Ver 5 0 or more is required If Adobe Acrobat Reader isn t installed please download from following Adobe Systems Incorporated URL As of December 2007 URL http www adobe com 1 2 Checking the Product 1 2 1 Checking the package Please check if all items shown below are included in the package CD R
79. 350 925 760 90 440 71000 126 500 Figure 7 4 Opening a Program on the Computer 7 2 2 Opening a program in a robot controller Open the target project in the project tree with Online gt Program The stored programs are displayed on the project tree so double click the program you want to edit me Factory Lined 2 RO S Program 1 RG1 1 pre MELFA BASIC W Offline Ru 65 Program Online RwOGSQL Program E1 Add Edit Delete ATS E Y E B E L1 pl fff 450 0 020 926 760 90 440 71 000 89 570 pe 619 030 470 350 926 760 90 440 71000 126 500 A E IB lf Position variables Program external position variables coa Figure 7 5 Opening a Program in a Robot Controller Input the robot program name then click the OK button The Read ltem screen is displayed so check the read items then click the OK button For details on the read items see 7 2 3 Read Items when opening program in robot controller 7 66 7 66 7 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 Read Items lf Position variables Program external position variables cancel Figure 7 6 Read Items The program
80. 8 User Origin Technique ccccooccccccoccncccncnncnoncnnos 10 159 Origin data input technique occccccccccccnccncncno 10 157 Origin Parameter Backup occcccocccccncccnncnoncncnnos 10 160 Output Signal Reset Pattern Parameters 8 116 P Parameter litio 8 107 8 109 ParamMeterS aunar 8 106 Eidos OEE E naci 8 109 PRANG A hea tosaerosces as 8 134 Partial WINING ai 7 83 Pasta tai Seacovae ict Atad aca dareteniseaaeoutes 7 79 Pasting position data ooooccconccconcnconcnnnnnnnnoncnos 7 80 Position repair FUNCTION oocccoccccccncocnconccnncnnos 10 172 Position variable EIN os 1 77 Production information monitoring 9 154 Program COMPAS id 7 100 COPY o 7 98 DIS DUGG ING rico 7 92 Y O 7 99 Edit assist functions cccccocccnccoccnconononcnnnconononon 7 79 A rere cina leeds cusuitonadrdant aat rE EARE 7 99 Opening an Existing Program c csecceeseeeeeees 7 67 A acne Gates dal 7 91 REIG OMS ral 7 68 Rename sassi a E 7 99 Robot Program Language occcccoccncnnccccno 6 64 8 125 Saving Programs O a 7 86 Writing a New PrograM cooccccnccccnccccnncnconcncnncnnnnnos 7 65 Writing Programs css seereis ncia 7 65 Program Conversion cccc ccceeceeeeeeseeeeeeaeeeeesaees 7 101 Program Editing Changing the display area ccocooccncccocnnncnoocnoo 7 72 Character COLES iaia 7 73 Command format hintS oooccccccocnnccconnnononcnns
81. A screen for forcibly outputting registers is displayed Force OUTPUT First register number Refresh ec a WE lO MEE NA A Ez g O o la UA a o scl oo OLTPLIT Figure 9 26 Forced Signal Output z EZ SE First read the registers you want to forcibly output You can output 16 registers at the same time Input the head number for the registers you want to forcibly output then click the Set button The output statuses of the 16 registers starting from the specified head register number are displayed 2 Set the output status then click the OUTPUT button The specified register values are forcibly output from the robot controller 3 You can also display and forcibly output register values in hexadecimal If you have selected Hex input values as hexadecimals When you click the Refresh button the latest register information is displayed AN Caution Forced register 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 Except an ALWAYS program 9 150 9 150 9 3 Production Condition Monitoring 9 3 1 Operation hours You can check the robot work time battery usage time etc From the project tree double click the target project Online Monitor Operation Monitor Operation Time
82. AS ROT AN IIS LIC GIA G assis o a O a 7 91 7 9 1 Starting de DUGGING pss aid solid 7 91 7 9 2 Executing programs Step DY step oocooccccocccccoccnconccncnncncnnnononnononncnnnnnrncnnnrnnnnrnnonnrnronarnnonanoss 1 92 7 9 3 REVISING Programs vta bese raa a i eina 7 93 7 9 4 Setting and deleting breakpoints ccccconccncccoccnncconcnnonancnnonnnnononnnnononnnncnnononrnnonanrnnonancnnnnnos 1 94 7 9 5 ENING GC DUG OING tii Aia cias 7 95 7 10 Program Management ccccccccssscccseseeceseecsesceceececeueeeseseessaseessaeceseecenenseneueeessseesseneensaeeensags 7 96 CADA Programmist GIS DIA Vitara dea 1 97 PIOA CODY A A A status te 7 97 LADOS MOV ato e te od 7 98 IVA DCS nana tddi 7 98 AUS WRENAING aran riada 7 98 AO IPPOlECUSCHINGS rustico 7 99 LOTE HOMO ASO totes 7 99 Tod Program CON VelSid tasa iz 7 100 7 11 1 Starting program CONV Crs iO Mai AAA AA 7 100 7 11 2 Line number conversion from MELFA BASIC IV to MELFA BASIC V ccccseeeeeeees 7 101 7 11 3 Position data conversion from E EN M1 M2 series to CRn 500 700 series 7 103 Setting Parameters 8 105 1 Editing from parameter iSt aussi a a aa 8 105 8 1 1 Sar AA A A E at encualaset elms a 8 105 8 1 2 Parameter editing seanssi n a a a a a tueaatonaeaaewetts 8 107 8 1 3 Parameter lISt CAG diana a ida 8 108 8 1 4 Finding parameters micosis osci 8 108 8 2 Robot Controller Operation Modes for Parameter Writing oooccccoc
83. All button all the instances in the specified range are replaced Re lpace Find waht Moy Y Replace with Mys ka Go to Top Close Match case Replace Range fe All Selected lines a ee E Replace All Figure 7 28 Replace All Setting Screen 7 6 4 9 Jump to specified line Jumps to the specified step number or label Click on the menu bar Edit gt Jump The jump screen is displayed Designate step or label to jump to A ane Figure 7 29 Jump Screen Input the step number or label to jump to then click the OK button Display jumps to the specified step number or label 7 81 7 81 7 6 4 10 Partial writing Writes the selected program lines to the robot controller This is handy for reflecting the contents of the partially revised program in the robot controller but be careful Only the selected part of the program is written Select the lines to be written to the robot controller then click on the menu bar Edit gt Partial Write Check the contents to be written then click Yes ES Program 1 RC1 WAS r Online MFI FA RASTA WI MELFA ET ToolBox 9 For MO1 1 Tq Are vou sure you want to write the selected lines to the Robot Controller Moy J3 13 Mov J4 14 Next 15 Moy JO 16 For MO1 1 To 17 Mov POL 15 Aires DM 1 RCI Robot Add ATE C POO nO POL is PO2 ag 4 Figure 7 30 Partial Writing 7 6 4
84. Confirm whether to check beforehand C Never check py Never display the result whenever error is not occurred Reset default values Figure 7 40 Settings for Syntax Check Before Saving Command line Edit ares i Display the hint of command format M Color the Words Commands POS MOVE Commands PROGRAM Commands 1 0 Commands Commands HAND Commands OTHERS System functions System status variables Comment Font Tahoma 101 Regular SLOT MECHANISM BERUN gl 7 89 7 8 Program Printing You can print programs you have written 7 8 1 Checking a print image You can display a print image of the program on the screen Make active the program you want to print then click on the menu bar Workspace gt Print Preview The print image for currently active program is displayed 7 8 2 Printing a program Make active the program you want to print then click on the menu bar Workspace gt Print The currently active program can be printed 7 8 3 Setting to print a program You can customize the pages the program is printed with When you click on the menu bar File gt Page Setup the page setup screen is displayed You can set whether or not to print the file name print date and time and page numbers the space between lines and the margin sizes Page Setup Margins mm i Print date Left 20 Right 15 w Page Top Es Bottom Ee Line pitch 1 L
85. D of standard version but can not be installed with mini version s Input ProductID Please enter the product ID of the product Please input in single byte English characters lt Back Next gt Cancel Figure 14 4 Input Product ID The product is installed as in Table 14 1 Files to be Installed Table 14 1 Files to be Installed Install destination MelfaRXM ocx Windows System folder ex Windows 2000 Winnt System32 communication DLL Windows XP Windows System32 communication DLL MelfaRXM ocx and EzSocketRC dll are registered in the registry RoboCom exe A folder specified during install operation Normally C is used communication DLL L MelfaRXM_ Dev text file which indicated notes folder of communication server folder of Instruction Manual folder of sample programs Instruction Manual Visual C 6 0 Redist Installer folder of system files Installer for redistribution Redistribution files SysFiles folder of system files for redistribution e Borland C Builder 5 0 14 216 14 216 15 Appendix 15 1 Q amp A This explains frequently asked questions in a QUA format 1 Version 1 Where is the software version information It is printed on the surface of your CD ROM for this software You can also check the version information on the screen displayed with this software s menu bar Help gt About RT Tool Box2 About RT Tool Box2 co
86. EA 10ME Robot No for area check 10 Common ARES 10P1 Positiond for area check 10 x 4 2 3 5 0 11 121 Common AREA 10P2 Position for area check 10 x 4 2 3 5 0 11 121 Common ARES114T Type of area check 11 not usefzoneinterference Common AREA 11ME Robot Mo for area check 11 Common AREA 11P1 Positiond for area check 11 x 4 2 3 5 0 11 121 Common g mhad nA A a O O A AA O la Is A A al Figure 8 5 Parameter List Reading Select the source to read from Read from RC or Read from file then set the parameter list to read and click the OK button 8 1 4 Finding parameters You can find a character string in the displayed parameter list With the Parameter List screen active click on the menu bar Parameter gt Find The character string find screen is displayed Find What SPEED Direction Cancel Match Case C Up f Down Figure 8 6 Finding a Character String Input the character string to search for then click the Find button Parameters that include the input character string are displayed 8 108 8 108 8 2 Robot Controller Operation Modes for Parameter Writing With CRn 500 series robot controllers when you write parameters to the robot controller 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 with any startup condition other than Always has been started In such a
87. Forecast the following message is displayed Backup Restore AN When backing up for controller CPU unit exchange The Maintenance forecast is effective in this controller Please back up information of the Maintenance forecast with Maintenance forecast tool To do correctly the Maintenance forecast after exchanging the controller CPU unit please restore information of the Maintenance forecast with the Maintenance forecast tool If the difference of the time of back up and restore is great or if you do not restore take care the reliability of the Maintenance forecast falls Click the left button and the Maintenance forecast tool is started DR Figure 12 1 Backup When Maintenance Forecasting Information Is Enabled When using a CRn 500 series robot controller maintenance forecasting is supported for software versions J2 and later 12 192 12 192 12 1 Backup Robot gt PC You can save information in a robot controller to a file in the computer Use the backup function while connected to the robot controller 1 From the project tree open the target project Backup In the backup tree All file Program information Parameter files and System program are displayed F Backup PS All 53 Program 3 Parameter 53 System Program Figure 12 2 Backup Project Tree Diagram All Files Saves all files robot program parameter files etc in the robot control
88. Hardware Update CRnD 700 series robot controller with tal wizard a USB cable the screen on the left is S displayed Select Install the software automatically Recommended then click the Next button Installation of the USB driver starts This wizard helps you install software for GRnD Robot controller If your hardware came with an installation CD lt 4 or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Install from a list or specific location Advanced Click Next to continue 1 23 Hardware Update Wizard 2 When the screen on the left is l displayed the installation is complete meting the Hardware Update Click the Finish button to end the S Wizard The wizard has finished installing the software for Ha CAnD Robot controller installation Click Finish to close the wizard l Completed 1 5 3 3 When using Windows Vista When you connect the CRnD 700 robot controller and the computer with a USB cable installation starts and completes automatically 1 24 1 24 1 5 4 CRnQ communications USB driver installation Connecting the CRnQ 700 series robot controller with USB requires installation of the robot USB driver Install with the following procedure A N Caution If the USB driver cannot be installed check the following setting lt When Windows 2000 is used gt If you have selected Block Prevent
89. MITSUBISHI Mitsubishi Electric Industrial Robots CRn 500 series CRn 700 series RT ToolBox2 RT ToolBox2 min User s Manual 3D 11C WINE 3D 12C WINE BFP A8618 A Safety Precautions Before using the robot always carefully read the precautions below and the separate Safety Manual and take all necessary safety measures A These show precautions based on Labor Health and Safety Regulations Articles 36 104 150 151 caution caution Z warning Ncaution NDanger Ni caution caution caution For the sake of safety teaching work should only be performed by workers who have received special education The same is true for any maintenance work done with the power source not cut off Implementation of safety education For teaching work prepare work regulations concerning robot operation methods and procedures measures for when there is an abnormality and when restarting etc Perform teaching work according to these regulations The same is true for any maintenance work done with the power source not cut off Prepare work regulations For teaching work set up a device that can stop operation immediately The same is true for any maintenance work done with the power source not cut off Emergency stop switch setting During teaching work label the start switch etc to indicate that teaching work is underway The same is true for any maintenance work done with the power source
90. OM RT ToolBox2 Setup Guide END USER SOFTWARE LICENSE AGREEMENT License Certification Please make sure Product ID is printed on it Please contact the branch office or the agency if there is some shortage in the package 1 2 2 Checking the CD ROM contents The CD Rom has the following configuration I EM setup exe The files for installagion of this software Doc rs This manual pdf User Registation Application Form fax postcard is stored The folder for setup of the communication middleware MelfaRXM ocx 1 2 3 About the MelfaRXM ocx communications middleware MelfaRXM ocx is the ActiveX control that communicates to robot controller You can create the Windows Application of MELFA ROBOT by using this control You can use MelfaRXM ocx in only standard version of this software For information on how to set up MelfaRXM ocx refer to 14 MelfaRXM ocx Communications Middleware Setup In case of using only the function of RT ToolBox2 you don t need to install this software 1 3 Items to be prepared by the customer This explains what the customer needs to prepare in order to use this software 1 3 1 Computer system Use a computer that meets the specifications given in 1 4 Operating Environment 1 3 2 Computer cable Prepare the cable for connecting the controller and the computer The cable required depends on the connection specifications and controller used as shown below For the RS
91. R 1 Robot air pressure error INPUT During roboti air pressure err QUTPUT T Motion Limit AIRERR Robot2 air pressure error INPUT During robot air pressure err OUTPUT E ide AIRERRS Robots air pressure error INPUT During robots air pressure err QUTPUT E Hard ATRERR Robot4 air pressure error INPUT During robot4 air pressure err OIITPLIT Ea ite ent and spend AIRERRS Robots air pressure error INPUT During robots air pressure err QUTPLUT E Too ALIGNTYP Align type select O Norrmal 1 Cwlindrical x ALWENA Enable X command SERYO command and RESET command in ALWAYS fr Slot Table AREAIOST Type of area check 10 not use zone interference m Output signal reset patter AREAIOME Robot No for area check 10 21m Dedicated input output I AREA1DP1 Positiond for area check 10 x 4 2 3 5 0 11 12 T Communication AREA 10P2 Position for area check 10 x 4 2 3 b c 11 12 T Zone AREA114T Type of area check 11 not use zone sinterference Free plane limit ARES 11ME Robot No for area check 11 k Home Position ARE411P1 Positiond for area check 11 x 4 2 3 b c 11 12 Program Language AREA 11P2 Position for area check 11 x 4 2 3 b c 11 12 Robot Additional Axis e lt i tH gt 7 Figure 8 1 Starting the Parameter List At this time a confirmation message like the following concerning the parameter list is displayed MELFA RT ToolBox The parameter list File Common Robot not found Are you sure you want to read The File not Found is as
92. RG Parameter information PRM System program SYS 12 193 12 193 The folder name at this time is displayed on the right side of the respective backup items All 1 RG1 Seles Select information to backup Robot Controller Personal computer Robot RCLRV 35Q W All files 20080108 1533548LL W Program 20080108 153354PR6 W Parameter files o 20080108 153354PRM 20080108 153354547 5 Parameter list files Backup Path ings rap My Documents Factory Line 1 RC1 Backup 20080108 153354 Figure 12 4 Backup When Multiple Selected 4 Specify the back destination then click the OK button The confirmation screen is displayed When you confirm then click Yes the backup is started Backup lt lt Backup RC gt PC gt gt Information among the robot controllers is written in a e specified folder a Are you sure you want to start backup Figure 12 5 Backup Confirmation Screen When the backup is completed the backup data is displayed at Backup on the project tree x E Factory Lined Password Unlock RCT Offline Online 88 Backup all 3 1 Poogram Parameter System Program Figure 12 6 Display of Backup Information AN Caution Cautions for backups The objective of backup data is to back up robot controller information Note that backed up robot programs can not be edited with the Program edit screen When backing up system st
93. RS 232 Setup Parameters oooccccccccccccccccncnnncnnnnns 8 123 S Servo MOMO O ek 10 194 Lada ee ee eee 10 194 SA a 4 50 13 202 A E iN a ERTE TARORA 13 208 Direct Execution ooccccocccocccccnoconccocnnnononannonon 13 209 Ending Simulation viii 13 217 JOG Operaatio asise a 13 210 RODOCVIEW soner da da ai 13 205 Starting a Simulation ccooonccncccocccncnnccnnnnoncnnnnos 13 203 Step Operation ain a e a 13 208 Tact Time Calculation coocccccccncconcnconnnnno 13 212 Slot operation status monitaring coccooccccoo 9 136 Slot TAS is 8 115 SOMA to 7 85 SIE I A A eo oe A ete Coen eee 1 32 2 33 SEALS Al aes acess eee AN 2 37 Step Operation cccceccssececsseeceseesesseecseeesees 13 208 Stop Sia ui as 9 149 e A ied ee oo 7 83 7 90 T Tact Time Calculation o cococcccoccnconnnccncnnnono 13 212 A ae ee a 2 34 e 2 35 TOO Parameters asi a 8 114 Tool technique cooccccocccoccoconoconncncnonanocannnnanonono 10 158 U o Bee eeecemeece mnt a 1 22 USB DVE cuasi 1 23 1 25 1 30 User Error Parameters ccccccseccseeceeeeseeeseees 8 131 User Origin Technique cccsescecesseeeseeeeeeees 10 159 W Warm Up Operation Parameters ccocccoocccoo 8 128 Weight and Size Parameters ccocccccccccccnniconcn 8 113 WWOIK SI ACC cart iee ARa A 4 41 Changing a Workspace Name cccsseeeeeeeeeees 4 46 Changing a Workspace Title
94. RT START Figure 9 1 Slot Run Status The No of displayed slots is determined with the parameters 9 134 Mode REP REP REP REP REP REP REP REP BE Priority PREP Online gt Monitor gt Movement Monitor gt Slot 9 134 9 1 2 Program monitoring Information on the running program can be monitored From the project tree click the target project Online gt Monitor gt Movement Monitor gt Program Monitor then double click the Task slot to monitor Monitor lv Robot movement Slot run state I Program 1 RG1 Task sloti the Program Information Program EE gt Status o ee rogram selection possible E Ea ASE 10 j Task slotd Robot name ee i Task sloth V 6SQL a db gs gt Program name j Task slot8 Edit slot Made Conditions START 13 Mov 14 2 Program 14 Next j 15 Mov JO 1 Program information Priority 1 16 For MO1 1 To MA 3 Variable monitor Variable monitor Variable name Type Value JO Joint 40 00 40 00 490 00 40 00 490 00 40 00 40 00 40 00 Poo Position 400 12 0 00 644 62 180 00 0 07 180 00 0 00 0 001 4 Add Variable Add Delete Change Load eee Su Figure 9 2 Program monitor 1 Program information You can check the currently selected program name and operation status and the name of the currently connected robot model 2 Program The currently selected program is displayed The currently executing line
95. Renumber The renumber set screen is displayed Renumber New line Conditions All Start line 10 C Selected lines Line pitch 10 t Line Sort lines of the range in ascending order of e El the line before renumbering z Update the line of the jump destination outside the range carce Figure 7 34 Renumber Setting Screen N Caution Renumbering can only be used with MELFA BASIC IV and Movemaster commands The renumbering function can only be used with MELFA BASIC IV and Movemaster commands It can not be used with standard MELFA BASIC V 7 6 4 15 Sorting The sorting function can only be used with MELFA BASIC IV and Movemaster commands This sorts the edited program by line number While editing a program created with MELFA BASIC IV or Movemaster commands click the tool bar Tool gt Sort The confirmation message is displayed then the line numbers are sorted in ascending order B Program 2 ES Program 2 10 mov pod 10 mov pod 20 mov poz gt 14 HOPEN 1 30 goto 10 15 DLY 1 14 HOPENM 1 16 HOLOSE 1 15 DLY 1 20 mov poz 18 HCLOSE 1 30 goto 10 Figure 7 35 Sorting N Caution Sorting can only be used with MELFA BASIC IV and Movemaster commands The sorting function can only be used with MELFA BASIC IV and Movemaster commands It can not be used with standard MELFA BASIC V 7 84 7 84 7 7 Saving Programs Always save the edited program There are three methods for savin
96. S JE f A For details on the operations for opening a program see 7 2 Opening an Existing Program 3 Specify the range for measuring the program tact time Drag the section to measure the program tact time for then drag it to select it E Program 1 RC1 V6S r Online MELFA BASIC Y SEE _Timer S3 0 Moy 14 Xx Y A 400 120 0 000 644 620 180 000 O 150 000 678 240 0 000 353 500 393 500 Figure 13 14 Tact time Measurement Range Selection 4 Click on the menu bar Tool gt Tact time Window Help Renumber sort Syntax Check Command Template YE Position variable Batch edit Joint Position variable Batch edit Tact time Calculation Option Figure 13 15 Toolbar Tool Menu 13 210 13 210 5 Check the range over which you will calculate the tact time Open the program whose tact time you will calculate Check the contents of this range then click the OK button Tact calculation A Caution The robot s movement tact time can be calculated with this software using the simulation Function Mote that the calculated back time will differ according to the performance of the personal computer used and the load state and will not completely match the actual robot movement time hack time Use this Function as a guide For considering the tact time Program li ME_MOOg M_TIMER 1 Cancel Figure 13 16 Checking the Tact time Measurement Range The tact
97. Sl Operation Hours 1 RC1 06 01 03 14 12 36 Operating time Power ON time 136 hours Operation time 25 hours Robot Servo ON time 59 hours Servo ON time Battery Battery remaining time 14058 hours Figure 9 27 Operating Hours You can initialize the battery remaining time with Maintenance Initialize For details on operation methods see 10 2 4 Initializing the battery remaining time 9 3 2 Production information You can check the latest tact time run time cycle count and average tact time for each program in the robot controller The latest tact time run time and average tact time can be measured up to 1193 hours about 49 days From the project tree double click the target project Online Monitor Operation Monitor Production Information FS Production Information 1 RG1 Operation time Cycle Mew cycle time Awerage cycle time 21 08 09 00 00 00 00 00 00 00 00 00 00 00 00 00 00 19 00 00 47 00 00 00 00 00 00 00 00 00 00 00 00 Figure 9 28 Production Information 00 00 12 821 00 00 00 000 00 00 00 000 00 00 00 000 00 00 00 000 00 00 00 021 00 00 00 021 00 00 00 000 00 00 00 000 00 00 00 000 00 00 00 000 00 00 12 762 00 00 00 000 00 00 00 000 00 00 00 000 00 00 00 000 00 00 00 021 00 00 00 021 00 00 00 000 00 00 00 000 00 00 00 000 00 00 00 000 Refresh The production information is not constantly updated Click the Refresh button as neces
98. Ver 1 1 or later Set parameters while connected to the robot controller From the project tree double click the target project Online Parameter Multiple CPU setting After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button 5 Multiple CPU setting 1 RC1 Po of CPULQMLTCPUN Multiple CPU synchronous startup setting Please set the number mw CPU2 of Multiple CPL W CPLIS M CPU Multiple CPU high speed transmission area setting OMLTCPUI OMLTCPU4 Send range for each CPLI 7 System CPLI Liser setting area Automatic Refresh arealk Pointtk 10 Mo Point Start End Point Mo 1 1 LISEO 1024 G10000 6110 25 O f Po 2 1 USEl 1024 10000 4110 53 O i Mo 3 1 USE2 1024 G10000 G11023 O p No 4 1 USES 1024 G10000 411025 O i Total S Point W Advanced setting The total is up to 16 points The capacity of the system area is included in the total point Check Explain Figure 8 41 Multiple CPU Setting You can reference explanations of displayed parameters by pressing the Explain button You can check the number of points input and range of total by pressing the Check button Please refer to the manual of Universal model QCPU QCPU User s Manual Multiple CPU System for details of Multiple CPU setting 8 131 8 131 8 24 Parameter printing You can print the parameter values held in a robot controller D
99. a simulation running To convert a program on a controller or on a virtual controller with a simulation running first use program management to copy it onto the computer then convert it there 7 11 1 Starting program conversion From the project tree select the conversion destination project with Offline gt 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 Factory Line l Source MELFA BASIC IY 5 RCI Offline Target IMELFA BASIC v RV 8S E Preg a r r Online Pr Program Manager Program Convert Jaz El Pre E Source Files ns Pa 1 pre E Mc pre E Marmenaree Select Destination File prg Convert Convert Open Figure 7 58 Starting Program Conversion 7 100 7 100 7 11 2 Line number conversion from MELFA BASIC IV to MELFA BASIC V Convert the lines No and relevant command line because the deal of line No in MELFA BASIC IV is different from MELFA BASIC V For the MELFA BASIC V convert as follows The line No is converted to the step No sequential No which starts from 1 100 MOV P1 1 MOV P1 110 MVS P2 2 MVS P2 120 MOV P3 3 MOV P3 The command line using line No jump is converted to the command line using label jump 100 MOV P1 1 LB00001 MOV P1 110 MVS P2 2 120 GOTO 100 LB00001 is the label name created automatic
100. al controller standard edition When a simulation is running the icon displayed on the left of the project name on the project tree turns blue and Offline Online and Backup are displayed on the project tree When this software starts it goes into Offline status A N Caution The simulation function only supports the RT ToolBox2 standard edition It can not be used with the mini edition Also please be aware that even with the standard edition the simulation function can not be used when Movemaster commands are selected To switch among offline online and simulation do so from Online on the menu bar or from the tool bar With the tool bar you can switch as follows Switch to Offline Switch to Online Switch to Simulation Na Figure 4 15 Explanation of Tool Bar 4 50 4 50 The current status and the statuses into which the current status can be switched are as followed Table 4 2 Current Status and Switchable Status Current status Switchable status Menu bar Online display Tool bar display Offline Can be switched to online or simulation Online Simulator nll oo Can only be switched to offline Offline The current status is displayed checked at Online on the menu bar When switching to online or simulation if multiple projects are registered in the workspace being edited the project selection screen is displayed as in Figure 4 16 Screen for Selecting Project to Switch Onlin
101. ally by this conversion Convert the program according to the following procedure 1 Import Isource Aai T a Figure 7 59 Conversion from MELFA BASIC IV to MELFA BASIC V 1 Select the program language of the source and target for conversion Start program conversion with the project set with MELFA BASIC V Choose MELFA BASIC IV for the source and choose MELFA BASIC V for the target Itis NOT necessary to select the axis of robot 7 101 7 101 2 Select the file as source Click the Select button of the source and select the file of MELFA BASIC IV program Look in E Others do E My Recent Documents E Desktop e i M My Documents Je My Computer My Network File name png Y Places Files of type Robot program files pra Cancel 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 amp Open button When Convert button is clicked the designated selected file is converted and written in the target file When Convert amp Open button is clicked the file is converted written in the target file and opened through at Program edit tool 7 102 7 102 7 11 3 Position data conversion from E EN M1 M2 series to CRn 500 700 series This function converts the format of position data and relevant command DJ MP and PD command of
102. an reset the program and any errors that have occurred 10 Direct execution You can execute any command without relationship to the robot program 13 200 13 200 13 3 Robot View Start You can display the robot whose simulation you are running and its movements in 3D to check them With the simulation running from the project tree either double click Online lt Robot model name gt or select 3D Monitor with the mouse right button menu The 3D display screen for the set robot is displayed Workspace el Factory Line 1 TA 3D Monitor 2 RC2 Rv 6 E ax 8 RCI Rca Ofline Online 5 EL Monitor C gt USER qe 30 Monitor USER 3 Double click the robot type name or select 3D Monitor with the mouse right button menu Figure 13 5 Robot View Start The robot view perspective can be changed with mouse operation Table 13 1 Robot View Perspective Change Operations Viewpoint of changing Mouse operations on the graphic Rotation While clicking the left button move left right Rotation around Z axis Move up down Rotation around X axis Move left right while clicking the left right buttons Rotation around Y axis Move up down left right while clicking the right button Enlargement reduction Move up down left right while clicking pressing Shift key and clicking the left button 13 201 13 201 13 4 Robot Program Selection Select the robot program to run the simulation Step opera
103. ands Instead the step position is displayed on the left end These step numbers are automatically displayed with the keyboard Enter key ES Program 1 RC1 01 1 Online MELFA BASIC VI 2 Ex Figure 7 14 MELFA BASIC V Command Edit Screen Even if you input MELFA BASIC V commands with all lowercase characters when the program is written to the robot controllers the commands are converted into the correct mixture of uppercase and lowercase letters B Program 1 B Program 1 1 mov pol When this is written to the robot Rapel 2 mov poe controller it is converted into e Mov poe 3 mov pos uppercase and lowercase 3 Moy pos 4 MOV pO4 characters in correct 4 Mov pO4 5 Mov pos MELFA BASIC V format 5 Mov pos Figure 7 15 MELFA BASIC V Character Input 7 74 7 74 7 6 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 are not displayed Input the line number at the front of the command statement ES Program 2 RG2 01 r Online MELFA BAsIC 14 EIB Figure 7 16 MELFA BASIC IV Command Edit screen N Caution For MELFA BASIC IV and Movemaster commands input line numbers Step numbers are not displayed on the MELFA BASIC IV and Movemaster command edit screen When using MELFA BASIC IV and Movemaster commands always input line numbers If there are no line numbers this is a syntax error L
104. arameters for posit igin lt before restore gt lt before restore gt Parameters A Or GGG UOOOOIIOOOODILLOOOODLLILOIIILLLDOODUL LLO OIDLL LLO IL ILL LLA LALA A A A A A A A OOA QO EEE QO QO EEE LLL EEL A GGG EEE UE EEEEEEEEE EL E WLLL A YA YA YA YA YA YA YA controller Transfers a backed up f controller data is replaced Transfers a backed up file as is data is rep CRn 700 series or CRn 500 series J2 edition CRn 500 series H7 edition or earlier 12 196 tion revision If communication is cancelled during a series of restore processing the pos Be careful parameters generated with the Position repair function and the origin data may be changed 12 196 A N Caution Precaution for Restore If a batch restoration or a program restoration is executed when the program is being started the program will automatically be stopped At this time if there is an error in the controller MELFA RT ToolBox the program in operation cannot be stopped and the message shown on the right will be displayed A A Although a restoration process can be executed even A in such a case the program currently selected or the program that is started by ALWAYS cannot be re written If it is possible to remove the cause of the error reset the error and execute the restoration process again Mo Do you continue the restoring 12 3 Deleting Backup Data You can delete the backed up
105. arget project Online Maintenance Maintenance Forecast me Factory Lined a RCI 8 Offline Fe Online Riv G5G1L Program Parameter Monitor gt 5 Maintenance Origin Data 38 Initialize Maintenance Forecast E Position repair an Servo Figure 10 14 Starting Maintenance Forecasting 10 160 10 160 10 3 3 Forecasting You can reference the time until battery replacement time until regreasing and time until belt replacement 4 Maintenance Forecast 1 RC1 AE Robot 1 RV 6SQL 4 Display units Forecast Setup Reset Others This le a latest maintenance forecast announcement attery Urit PAR z Fe ind ti A tate p a E a er time 1 hour ts dayts 14055 hours Operation time of a day 16 00 hour iat day Greaze Eelt 0 Until 0 35000 Until BA hour ts Fee hourisl pars hour ts 5527 houris Bo paz houria 34040 hourts 5822 hourls 3 Belt NM 1 Battery 2 Grease The result of the Maintenance Forecast is a reference value to the last The computed result is not guaranteed Figure 10 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 Remainder time lt The remainder days until presumed maintenance time on the Setup screen x 24 Operation time of a dayl
106. ations When connected with CRnQ Set the target CPU correctly communications is the target CPU set For details see 5 2 4 CRnQ Communications correctly Settings 5 When Communications Server 2 is green overall When Communications Server 2 is displayed green check the following Check item or cause 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 5 2 Connection Settings For the robot controller side change the communications parameters with the optional teaching box For details see Detailed Explanation of Functions and Operations in the robot controller s user s manual 6 When Communications Server 2 is yellow overall When Communications Server 2 is displayed yellow check the following Check item or cause Is this software in the Online status This software started up in the Offline status When you put it into Online status it communicates with the robot controller For details see 4 14 Offline Online Simulation 15 219 15 219 7 When Communications Server 2 is light blue overall If Communications Server 2 is displayed light blue but communications are still not possible check the following Check item or cause Is there a communications erro
107. ations routes that you can select are as follows Table 5 8 Communications Routes That Can Be Selected for Ethernet Communications Route Ethernet board communication Other station access through Ethernet unit 2 Ethernet board communication Ethernet through Ethernet unit Serial communication other station access Ethernet board communication Ethernet through Ethernet unit CC Link other station access Detail Ethernet board communication Access Ethernet serial communication other station via Ethernet module UPC side I F Ethernet board setting Network No l 1to239 Station Mo l ito64 Protocol TCR E Network communication route setting Ethernet Module 0171671 Network No 1 Station 1 1 to 64 IP address Oe 06 th C Host Name 3 Target CPU pt Check at communication time Routing parameter transfer method J J J 3 30 Jec Automatic response system r 1 2 3 4 Non choice 1 to 9999 iSiNetwork communication route setting of Ethernet 6 Coexistence network route setting of C24 Access to Ethernet module set on PC side I F Head I O which is channel origin O 0toFFO C Other station in the same loop or access to A multilevel system Station Mo which is channel O otosi ahead 0 Cancel Figure 5 10 Ethernet Ethernet Board Communication Ethernet through Ethernet Unit Serial Communication Other Station Access Detailed Settings For some communications
108. atus variable values and program external variable values switch the robot controller power Off then On again then perform the backup operations The files BKUP SYS and MECHA SYS are automatically created in the specified folder These files record the saved robot controller mechanical information and save format Be careful If you delete or rewrite these files this may make it impossible to restore them to the robot controller 12 194 12 194 12 2 Restore PC gt Robot You can take information back up to the computer and transfer it to a robot controller information Use the restore function while connected to the robot controller 1 From the project tree open the target project Backup In the backup tree the information back up for All file Program information Parameter files and System program respectively is displayed 88 Backup 3 9 All 39 20080108 1533544LL 41 Program Parameter 29 200801 08 153354P RM 1 System Program Figure 12 1 Backup Project Tree Diagram 2 Select the information listed on the controller then click the right mouse button From the right mouse button menu select Restore fas Backup 1 RG1 20080108 153354 LL J ay es Select information to restore Restore Personal Computer gt Robot Controller oean Delete Restore 53 Parameter 23 200801 08 153354PRM 1 System Program Robot RCLRY 3SQ f Program f Parameter files f System progra
109. bot controllers but these robot controllers themselves do not actually support Movemaster commands As of December 2007 A N Caution When Movemaster commands are used the simulation functions cannot be used On the project tree click the desired project name with the right mouse button then from the right button menu select Edit Project The project edit screen is displayed at RT ToolBox Factory Line 1 Offline WorkSpace View Online Window Help Edit Project Project name RE Communication setting R C type icRnQ 700 Method TCR IP Y Detail IP Address Port 10001 Send Timeout 1000msec Recieve Timeout 20000msec Delete Project Update Project Offline p Model Selection for Offine Robot model R 65Q Select Language MELFA4 B4SIC Y ka Travel base setting for display Only travel base information for display is set here To change the movement range of the travel axis change the parameters Travel base Mot used Detail Cancel Figure 6 1 Connection Settings Select the controller connected the robot model and the robot language used then click the OK button 6 63 6 63 7 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 AN Caution Program names that can not be handled on the com
110. can use the simulation function to calculate the tact time for a program prepared ZN Caution Tact time calculation The calculated tact time varies with the capacity of the computer used and its load status and does not completely match the actual robot operating time tact time Use this function as a rough yardstick for tact time study Under correct conditions the results of tact time calculation with this software have an error of about 3 compared to the actual robot operating time tact time For details on tact time deviation see 13 12 3 Causes of tact time deviation 13 208 13 208 13 12 1 Conditions for tact time measurement Be aware of the following restrictions on tact time calculation AN Caution Do not use a program that has signal input or robot status changes For programs that have signal input from the outside or that have changes in robot status variables or the like either comment out such sections or extract just the section you want to calculate the tact time for and calculate it When studying the tact time for such a program take this into account by adding an approximate input wait time to the calculation results Do not use a program with an infinite loop The tact time for a program that falls into an infinite loop cannot be correctly calculated Confirm that the robot program does not fall into an infinite loop with a FOR statement or GOTO statement Do not use M_TIMER 1 Do not use
111. cccccecsseeeeeeeeeeeceeeeeeseeseeesaeeeeeeeeeeeeeseeeeeseaeeeesseeees 4 49 4 14 Offline Online SimulatiON oooccccocccoccnnnoccnnncocnnnconnnonanononacnnonnnnnononononnnonannnonrnnonnnnnnnnnnonannnnnnas 4 50 5 Connecting with the Robot 5 52 5 1 Robots Connected and Types of COMMUNICA ION ccccoonncncccoccnncconcnncnnnnnnnnoncnnnnnncnnnnnanennnnancnnnnos 5 52 D2 COMMCCHOM SCI Si idol io ib aanaeiet aeade eaneseaseanes 5 53 5 2 1 USB Commtunicaton SEUNG Soisson a a dia 5 54 5 2 2 TCP IP Ethernet Communication SettingS ccccocccccccnncoccncconnnononnncnnnnnnonononononononononos 5 54 5 2 3 Ro 232 COMMUNICATION SEWING Sii aid a a a ete a N 5 55 5 2 4 CRnQ Communications Settidgs ooocccococnnccconnnncconnnncnnanononnnnncononnnnnnnnnnnnnnnnnnnonannnnnnas 5 56 6 G 8 Robot Program Language Setting 6 63 Writing Programs 7 04 ls NINO ANEW PON rece a oaacecneterder E tie aceeaanssaoee 1 64 7 1 1 Writing a new program on the COMPUTET 00 cece cece cece eee eee eeee eee eeeeaeeeeeesaeeeeesaaeeeesaaeeeeenaes 1 64 7 1 2 Writing a new program in the robot controller oooocccccnnncccccnncnccnonccnccnnncnncnnaconcnnnacnnnnno 7 65 T2 OpPSNING an Existing Prod aa ice alen lacy niches ea otadeton aceite 7 66 EZ Opening an existing program on the computer oooocccccccnncccnnccnncccnnconnncncnnnonnnnnnnnnnnnnncnnnnnnos 7 66 2 2 Opening a program in a robot controller
112. cconccccnccccnoconnncancoconcononononconnnonnnnnnannonannnnannonnnananenos 10 177 10412 ele ales AA eo A E E 10 183 OARS Aring Pata Mete Sa AAA ASIA 10 186 10 4 14 Controller power supply Off ON cccoccccccccccccnncccccncconcnonononononononcnnnnnnnononnnononnnononnnonninonons 10 187 T04 T5 la 10 188 10 4 16 Revision parameter editing a aa 10 189 10 5 SEVO MONITO saa eae ih E E E 10 190 TOST A E E a a a eets 10 190 11 Option Card 11 191 12 Backup and Restore 12 192 1221 IBACKWD RODOU PO uuan a aea E a daa ele aened diesen 12 193 12 2 Rest re PO gt RODO traia E E EE 12 195 1237 Deelung BaCk p Dalarossie E E E E AE 12 197 13 Simulation 13 198 Toi Saning a SIMULATION saii a ida ici iia 13 199 13 2 Explanation of the Simulation Operation Screen oocccconccccccnccccnnccncnnonnnnnnoncnnnnnnnnnnnnononenenononos 13 200 1335 RODOLVIECW SAren a a a RON 13 201 16 44 RODOtCProgram Seleciona a T A a 13 202 19 Program EXCCULON susi da 13 203 13 6 Specifying the Starting Line for Program Execution ccccooncnccccccncononcnnononcnnnnnncnnonanennononennnnnos 13 203 toe Breakpont Semin rica dais 13 204 138 SLED OPEN a o E eigetes 13 204 tog WDRECTEXCCUNOM at 13 205 GS LO ALTO OPE aO OPA A oo pa etecas dene ss eet anes Sai cen AE E ean ane eee 13 206 13 11 Simulation Robot Position Variable Editing cccoooccocoooncnnconononnononnnonnanonnonanonnononcnnnnnos 13 207 15 12 Tact Time Calculator A ia 1
113. ces Files of tupe Robot program files ppd pos prg Cancel 4 This specifies the file to write the converted program into Input the name of the file to save the converted program into 5 After designating the conversion source file and the conversion destination file click the Convert button or the Convert amp Open button When Convert button is clicked the designated selected file is converted and written in the target file When Convert amp Open button is clicked the file is converted written in the target file and opened through at Program edit tool 7 104 7 104 8 Setting Parameters You can reference and rewrite parameter information set in a robot controller You can set parameters with the method of specifying parameter names and setting them or with the method of making the settings arranged by function 8 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 8 1 1 Starting This is used in the state with the robot controller connected From the project tree double click Online gt Parameter gt Parameter List t RT ToolBox Factory Line 1 Online Workopace View Online Parameter Window Help Et a sn Rci et A RE Ei Offline Robot 1 RW S5QL Be Online a PU ASaL Parameter Mame Read Program BS Parameter list AIRER
114. ck the target project Online gt Parameter gt Assign dedicated input output signal gt Jog After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button MB Jog 1 RC1 INPUT OUTPUT JOG mode specification JOGENA JOG mode JOGENA Start End JOGI specification JOG JOG specification JOG Start End 1OG mode specification OGM 1OG mode JOG Error disregard at JOG JOGMER During error disregard at JOG JOGNER Figure 8 19 Assign Dedicated Input Output Signal Jog Parameters You can reference explanations of displayed parameters by pressing the Explain button JOGNER JOG command INPUT signal During JOG OUTPUT signal can be used with Version J2 or later of the CRn 500 series controller or CRn 700 series controller 8 117 8 117 8 10 5 Hand parameters From the project tree double click the target project Online gt Parameter gt Assign dedicated input output signal gt Hana After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button t Hand 1 RG1 Seles Hand Output State Hand Input Signal 8 ITELT ITELT Start End Start End i monna 10048 10055 a Pmostsi 10056 10063 2 Huber 2 Hubsts2 3 Hooma ENE _ Hand Error Air pressure Error INPUT OUTPUT INPUT OUTPUT oc fo pi arei
115. communications 2 When using USB connection 1 computer can connect to only 1 robot controller This software can be connected to a maximum of 32 controllers at the same time These controllers may be different models 1 4 2 Computer system Th 1 18 is software operates on PC AT compatible computers that meet the following specifications Item pec ominenee environment 512MB min S USB2 0 Caution This cannot be used for connection with the CRn 500 series Communications controller functions LAN 100Base TX 10Base T Communications port RS 232 communications port that operates on Windows Minimum 9600bps 1 port Must have one of the above interfaces Windows 2000 Professional Windows XP Professional 1 Windows XP Home Edition 1 OSs for which Windows Vista Ultimate 1 operation is warranted Windows Vista Business 1 Windows Vista Home Premium 1 Windows Vista Home Basic 1 English versions for each edition 1 Only supports 32 bit versions 1 5 Installation Uninstallation This section explains the method for installing the software and the method for uninstalling it N Caution Uninstall the old version before installing the new one If an old version of RT ToolBox2 is installed uninstall the old version of RT ToolBox2 then install the new version of RT ToolBox2 1 5 1 Installation ZN Caution When installing log in as a user with administrator authority When installing
116. controllers In some locations this document writes about the CRn 700 series Target readers for this document This document assumes that the reader understands basic Microsoft Windows operation methods and the robot controller Those who have not mastered basic computer operation methods should read the user s manual for their computer Notation method in this document AN This indicates an item for which incorrect handling could present imminent danger Danger of death or injury This indicates an item for which incorrect handling could present a danger of Nwarning death or injury AN This indicates an item for which incorrect handling could present a danger of Caution impairment It could also present a danger of just physical damage This document uses the following general terms and abbreviations General Contents Term Abbreviation RT ToolBox2 General name for the RT ToolBox2 and RT ToolBox2 mini To distinguish them in explanations these two are called the standard edition and mini edition Universal model QCPU General term for Mitsubishi PLC CPU modules of QO2UCPU QO3UDCPU QO4UDHCPU and QO6UDHCPU GX Developer Abbreviation of SW D5C GPPW E EV SW D5F GPPW E type of Mitsubishi PLC programming software package The Microsoft Windows operating system is a registered trademark of the Microsoft Corp of the United States in the United States and other countries Adobe and Acrobat are registered trad
117. creen set the robot main unit serial number Serial Number Serial Number Last Update Write to File cele ABCDEFGHIXK l Read from File Robot 1 Rw 650L abe 2007 12 04 09 38 56 Close Figure 10 13 Serial Number Input Screen 10 159 10 159 10 3 Maintenance Forecasting With Maintenance forecasting you can reference the parts replacement timing greasing and battery and belt replacement from operation data collected up till now in the robot controller A N Caution The results of calculations in Maintenance Forecast merely show reference values Please execute the daily inspection and the periodic inspection to prevent the breakdown beforehand and to secure safety 10 3 1 Specifications With CRn 500 series robot controllers there are restrictions on the maintenance forecast functions according to robot models and versions supported The robot controller software versions and models supported by the maintenance forecast function are as follows Table 10 3 Supported models and software versions No Robot CRn 700 series CRn 500 series Robot controller Robot controller RV 6S series RV 128 series Ver J2 or later RV 3S series The supported RV 3SJ series models are not O RH 6SH series restricted 3 Ver K1 or later RH 12SH series Ver K4 or later RH 18SH series 10 3 2 Starting Use the maintenance forecast function while connected to the robot controller From the project tree double click the t
118. culate the tact time precisely program using only movement commands and none of the above commands If you are executing a program you already have either comment out such commands or extract and use just the part you want to measure 3 This uses functions that depend on the CPU processing speed and OS The tact time calculation in this software runs on Windows but the robot controller control software runs on a real time OS so the internal operations are different For example with a real time OS the tact time may be increased by the postponement of calculations with a high load that could not be fully processed but in this software s tact time calculations such an increase in the tact time can not be calculated Therefore if you use the high load functions below the calculated tact time may be a few percent less than the actual tact time The commands to which this applies are shown in the following table Function ______ Causeofincreasedprocessingonactualrobot_____ option than without it time Added axes Because of the need to control the additional axes 4 Maximum Because the optimum movement for the robot load is acceleration deceleration control calculated Collision detection Because processing to detect collisions is executed 1 Maintenance forecast Because the processing time is longer when the maintenance forecasting information collection level is raised 1 In tact time calculation the same results are cal
119. culated as for information collection level 1 the factory default setting 1 On actual robots the tact time is roughly 3 10 longer By changing a robot program to eliminate the above factors you can reduce the difference between the simulation tact time and that on the actual robot However because the simulation executes the next movement command without waiting for 13 212 13 212 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 13 13 Ending Simulation To end the simulation close the robot program in debugging status Then click on the menu bar Online Offline or click on the tool bar Offline Switch to Offline Figure 13 19 Toolbar Switch to Offline When the simulation ends the virtual robot controller robot view and simulation operation screen end and the controller goes back offline 13 213 13 213 14 MelfaRXM ocx Communications Middleware Setup 14 1 Summary MelfaRXM ocx is an ActiveX controller that communicates with CRn 500 series robot controllers MELFARXM ocx can only be used if you have purchased the standard edition of RT ToolBox2 Customers who have purchased the mini edition can not install MELFARXM ocx When using only the RT ToolBox2 functions there is no need to set up MELFARXM ocx Using MELFARXM ocx enables you
120. cut character string to the specified location Put the cursor where you want to paste then click on the menu bar Edit gt Paste The copied or cut character string is inserted at the specified location For details on position data pasting see 7 6 4 5 Pasting position data 7 6 4 4 Copy position data Copies position data You can also copy multiple position data items After selecting the position data to be copied click on the menu bar Edit gt Copy Position data 7 78 7 78 7 6 4 5 Pasting position data This pastes the copied position data Make active the program you want to paste into then click on the menu bar Edit gt Paste Position data The copied position data is inserted into the specified program At this time if there is already position data with the same name in that program a confirmation message is displayed Paste Position variables POO already exists Cwerwrite Skip Write All Cancel Figure 7 22 Paste Position Data Confirmation Message 7 6 4 6 Find This searches for the specified character string Click the menu bar Edit gt Find The find screen is displayed Find waht Match case Go to Top Find Wext Find Previous Display List Close Figure 7 23 Find Screen Input the character string to find then click Find Next or Find Previous The character string search starts If you click Display List all the instances of the specified
121. cution Screen This operation is not possible during automatic running with the Continuous Execution button ZN Caution When executing directly select the program to execute Direct execution can not be used unless a program is selected Always open a program in debugging status and put it in selected status 13 205 13 205 13 10 Jog Operation You can perform the jog operations displayed in the robot view in the simulation status Click the simulation operation screen Jog button The screen for jog operations is displayed at the bottom of the simulation operation screen 1 RG1 Simulation Status EZI OVRD 100 Fy Rd JOG al 3 STOP SERVO On Cr 2 Hand align 3 Move method 5 Current robot position Status Jog Ea EEE gt al TEF 1 RC1 Simulation m Jog operation fia screen Hest a EA RY 6S 0 y TE E 1 Robot model section 4 Movement distance setting 6 Axis jog operation ws ee Figure 13 12 Starting Jog Operation 1 Robot model select When multiple robots are set as connected select the robot model to operate 2 Hand align You can align the posture of a hand installed on the robot in units of 90 degrees This function moves the value to the multiple of 90 that is closest to the A B and C components of the current position 3 Move method Select the robot move method The robot move methods are Joint and XYZ The robot curre
122. d uct C Melsec EasySocket USBDrivers Found New Hardware Wizard 5 The screen on the left appears to indicate completion of installation Click the Finish button to terminate installation Completing the Found New Hardware Wizard sy MITSUBISHI Easysocket Driver Windows has finished installing the software for this device To close this wizard click Finish Cancel Completed 1 26 1 26 1 5 4 2 When using Windows XP The following indicates the procedure for installing the USB driver when using Windows XP Professional Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with your permission Read our privacy policy Can Windows connect to Windows Update to search for software C Yes this time only every time connect a device C No not this time Click Next to continue Found New Hardware Wizard This wizard helps you install software for MITSUBISHI Easysocket Driver If your hardware came with an installation CD 42 or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Install from a li Click Next to continue Hardware Update Wizard Please choose your search and installation options SS Y Search for the bes
123. data if tool data is selected turn off the Checkbox of origin data J6 Vertical 5 axis robot As to tool data only Z element is corrected As to base data only X Y Z elements are corrected Horizontal 4 axis robot If base data is selected turn off the Checkboxes of origin data J1 and J3 Origin data J1 and J3 are included in base data If tool data is selected turn off the Checkboxes of origin data J3 and J4 Origin data J3 and J4 are included in tool data If tool data and base data are selected together select which Z element to be requested because Z elements of tool data and base data are not corrected at the same time Z element to calculate Tool data C Base data Select Arbitrarily Revision parameter names correspond to the following Origin data DJNT Tool data MEXDTL MEXDTL1 to 4 Parameter of the tool selected by tool number Base data MEXDBS 10 180 10 180 10 4 11 2 Position data posture components Position data of MELFA BASIC IV 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 s Memo 1 The posture elements of position data In case of the vertical 6 axis robot the posture elements of position data are A In case of the vertical 5 axis robot the posture elements of position data are A In case of the horizontal 4 axis robot the po
124. device work Windows needs driver files for pour new device To locate driver files and complete the installation click Next What do you want the wizard to do Search for a suitable driver for my device recommended ANA a MA A Display a list of the known drivers for this device so that can choose a specific driver lt Back Cancel 1 25 1 25 3 Check Specify a location and click the Next button Locate Driver Files Where do you want Windows to search for driver files Search for driver files for the following hardware device oy USB Device The wizard searches for suitable drivers in its driver database on your computer and in any of the following optional search locations that you specify To start the search click Next If you are searching on a floppy disk or CD ROM drive insert the floppy disk or CD before clicking Next Optional search locations IT Floppy disk drives CD ROM drives Y Specify a locatior ts Pt T Microsoft Windows Update lt Back Cancel Found New Hardware Wizard x Insert the manufacturer s installation disk into the drive SY selected and then click OK Cancel 4 As the left screen appears set the C Melsec EasySocket USBDrivers and click the Next button If volume MELSOFT products have been installed browse the installation destination EasySocket USBDrivers Copy manufacturer s files from of the first pro
125. disagree Check origin data disagree Check origin ata disagree Check origin data disagree Check origin _ data disanree Check nrinin 08 01 05 03 01 05 08 01 08 03 01 05 08 01 08 05 01 05 08 01 08 08 01 08 13 38 58 13 37 00 11 34 40 11 34 40 09 20 14 09 20 14 09 20 14 09 20 14 na 20 14 Low Low Caution Caution Low Low Low Low ot io Q x na m4 nA gt ZOODOoODO Details 2 Details 3 Save 4 Refresh Figure 9 10 Error History This display is not constantly displayed To refresh information click the Refresh button 1 Display switching This redisplays the displayed error history for each error level 2 Details After selecting a displayed error you can check the cause and recovery method for the error by clicking this button You can also check details by double checking a displayed error 3 Save This saves the displayed error history information into a file For the saved error history information select From history file with Figure 9 9 Refer to Figure 9 11 on the screen after you selected From history file The error file is saved in text format You can also print it with Notepad or other general text editors 4 Refresh This refreshes the displayed information The error history screen is not a self refreshing display monitor so even if an error occurs after the error history screen is displayed it is not automatically added to the display Click t
126. e Check only the project to be switched online or to simulation then click OK Only one project can be switched to simulation This screen is not displayed if there is just one project in the workspace Select the projects Select the projects which changes to online No Project Robot Controller Robot Communication CRnG 700 P 650 TCP IP Address hoc CRnQ 00 Rv 65 TCPIIP Address 10 CRn 500 Rv 65 TCP IP Address 10 lt i gt Select All Release All Cancel Figure 4 16 Screen for Selecting Project to Switch Online ZN Caution When using Ethernet do not set an unconnected controller Online When using Ethernet if you try to switch Online a robot controller that is not connected incessant retries are made which slows execution Set Offline a robot controller that is not connected or whose power is Off Do not connect from multiple projects to 1 controller at the same time Do not connect from multiple projects to 1 controller at the same time Data might not be able to be read correctly referring to the same data Do not connect USB to multiple controllers from 1 computer When using USB connection 1 computer can connect to only 1 robot controller It is also not possible to connect to multiple controllers by using the USB hub 4 51 4 51 5 Connecting with the Robot This explains the method for connecting the robot controller and the computer With this software you must make the
127. e method A randomly designated position is set as the origin posture Backup origin Backup or restore the origin parameter parameter Figure 10 2 Origin Data Screen About robot controller run modes when origin data is read written With 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 Reference the table below 10 152 10 152 1 Reading 2 Writing 10 153 Table 10 1 Origin Data Reading Robot Control Operation Mode CRn 500 series robot Operating mode controller TEACH Auto OP Auto J1 edition or later O Reading possible x Reading not possible Table 10 2 Origin Data Writing Robot Control Operation Mode CRn 500 series robot Operating mode controller TEACH Auto OP Auto Ext neonoir O o o Getoar O x Oo Peace amp O Writing possible x Writing not possible 10 153 10 1 1 Origin data input technique You can save robot origin data to a file edit it and transfer it to a robot controller Click the origin data screen origin data input technique to display the screen Origin data setting 1 RY 6S0L Z1TROS 000001 000002 OLEKEL Save to file 000000 Read from file 000003 Z2 7AF Roos Figure 10 3 Origin Data Input Technique Screen Write Writes the origin data displayed
128. e com 2 Viewing methods 1 Starting From Windows Explorer When you start Windows Explorer then select the file Acrobat Reader or Adobe Reader starts and the user s manual is displayed 2 Starting directly from Acrobat Reader or Adobe Reader When you start Windows Explorer Acrobat Reader or Adobe Reader then select the file the user s manual is displayed 14 4 Installation Perform installation according to the following procedure 1 Insert the program CD ROM into the CD ROM drive of your personal computer Setup of RT ToolBox2 automatically starts Please click cancel 2 Select Run from the Start button RUN All Programs gt E Windows Security A Log OFF o Disconnect Figure 14 2 Selecting Run 3 Check the drive name of the CD ROM drive Enter the following and click the OK button Drive name Utility MelfaRXM Setup exe If the CD ROM drive is D enter D Utility MelfaRXM Setup exe Type the name of a program Folder document or Internet resource and Windows will open it For yog Open Di UtilityMelfaR xM Setup exel e x Figure 14 3 Run Screen 14 215 14 215 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 ToolBox2 MelfaRXM ocx can be installed with the Product I
129. e robot controller settings you must change the settings in this software too 3 can not communicate with the robot controller If you can not communicate with the robot controller check the following Also see 4 Communications RS 232 5 Communications Ethernet and 6 Communications USB Check item or cause Is the connected robot controller selected Check if the correct project is selected with this software correctly For details see 4 14 Offline Online Simulation Is the robot controller power supply On Switch On the robot controller s power supply and check that the robot controller starts up normally Is Communications Server 2 running If you closed Communications Server 2 by mistake Communications Server 2 is started close this software then restart it automatically when this software is started Communication Server 2 is started as an icon Are you connected to a robot controller that Check the robot controller model name in its user s is neither the CRn 500 nor CRn 700 series manual or standard specifications or the like Are the robot controller s network settings The robot controller s network settings are made with correct parameters Check the robot controller s network settings with the optional teaching box Are the communications settings on this Set the correct communications settings software correct For details see 5 2 Connection Settings Is some other MELFA product
130. e robot functions new commands are from or one of our branches added A program can be written to the robot controller even if the syntax check finds many syntax errors 2 How should we change the robot program language setting They are made on the project edit screen For details see 6 Robot Program Language Setting The robot program language set here is enabled when you edit a program offline Online programs are displayed in the robot program language set with the connected robot controller 3 When you open a program the robot program language is different from the one set for this project Is there any online program open Online programs are displayed in the robot program language set with the connected robot controller The robot program language set with the project is enabled when you edit a program offline 4 Is it possible to edit or copy a program that is running You can neither edit nor copy a program that is running Stop the program then edit or copy it 5 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 D Change the starting condition in the Slot table SLT 1 32 parameter to Start normal Write this parameter to the robot controller 15 224 15 224 2 Reset the power supply for
131. e with its controller or starts a simulation This section displays the connected robot model and the information items that can be referenced in the controller or a simulation controller 3 Backup Controls the information backed up from the controller 4 13 Copying Programs Between Projects To copy or move a created robot program to another project do this with program management For details on the operation methods see 7 10 Program Management 7 10 2 Copy or 7 10 3 Move 4 49 4 49 4 14 Offline Online Simulation The project status are offline online and simulation The meaning of each status and the contents displayed in the project tree are shown below Table 4 1 RT ToolBox2 Status Offline Targets files stored on the computer When a robot is offline the icon displayed on the left of RCI the project name on the project tree turns green and Offline Offline and Backup are displayed on the project tree 88 Backup Online The robot is connected to the robot controller and you can check and change the information in the controller When a robot is online the icon displayed on the left of the project name on the project tree turns blue and Offline Online and Backup are displayed on the project gt JA RCT ree H B Offline Simulation This targets a virtual robot controller running on the E Online This can only be computer and you can check and change the information i Bachar used with the in the virtu
132. e with the robot controller using Ethernet check the following Also see 3 Communications general Check item or cause Solution What color is Communications Server 2 Return Communications Server 2 to icon status and check the color displayed for the line State The problem may be that the robot controller is not connected correctly See the items in 1 When Communications Server 2 is red Ethernet The problem may be that the robot controller re and the computer have different State communications settings ee See the items in 2 When Communications Server 2 is green Ethernet See 3 Communications general 011 Communication Server 2 Sl Line State See 3 Communications general 1 When Communications Server 2 is red Ethernet lf Communications Server 2 is displayed red with communications with the robot controller set to Ethernet check the following J Checkitemorcause _ J Checkitemorcause _ or cause Solution software is the communications method set to USB or RS 232 2 When Communications Server 2 is green Ethernet lf Communications Server 2 is displayed green with communications with the robot controller set to Ethernet check the following Check item or cause Are the robot controller s network settings Make the computer s network settings correct Check that the IP address gateway subnet mask and other network settings are correct Check on the com
133. ed if both X and Y components of the tool parameter are 0 0 10 182 10 182 10 4 12 Reteaching work Position repair 1 RC1 EEk Target robot 1 A 650 1 PRG Select the re teach position data from a list and click Re teach button Repeat re teach work until the remaining points become O point Depends on position points may not become fewer even if it re teaches Ibis necessary to re teach position with same tool taught with changing some tools AN over the number of tool parameter generable at one process is only one If You want to generate plural tool parameters redo this function from first Remainder about 1 point s Remainder Remainder about 1 paintis Re teach button Clear button Check of tool data Re teach Clear Check of tool data Postin ____x ___y __z ___a ____b __t L O02 928 76 90 44 71 00 89 57 470 35 9 4926 76 90 44 71 00 12680 2F360 4597 92 158 10 19 08 3707 509 64 4676 55 155 57 3 49 93 Figure 10 29 Reteach Work Window 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 Specifies the positions selected in the list and opens Re teach the position screen Clears the re teaching information for positions selected in the list Displays current tool data setting in the robot controller N Caution Position data of the
134. ee eee eee eee eee eee eee reer eee roer Eee eee ee eee ee eee eee eee eee eee EF F Hi A EEE data B ION repair data B informat t ION repair posi the informat controller is retained igin parameters for Il not be written igin FFFEFEFEFFEFEFEFFEFEFEFFEFEFEFFEFEFEFFEFEFEFEFEFEFFE EFEFEF the d parameters for Ine Or Or is transferred However in data and the parameters for ion parameters for position Or posit He E EEE EE EEEE IONS IS EERE CEE eee EEE t ile Rev repair wi data ta In IS re Ig recovering posi data A d ata A Ig controller igin igin lt before restore gt lt before restore gt Or Or QL for the or A backed up file is transferred for the or In Eee eee ig Dee eee ir B The orig ton repair nee ION repair t lt after restore gt data B posi lt after restore gt data B igin B parameters for Dee eee Or B Origin EEEEEEEEEEEL EE EL ELH ill be used if the file to be restored does not have any ile as is The or ter for pos ION repair data B Il not be written t ION repair posi t igin parameters for posi igin parameters for repair wi Or A ial value w Or e ZA ZA SOS Ss HEFEFEFEEFEFEFEEFEFEFEEEE ini Revision parameters for position revision parame data A laced ion repair An data A Origin p
135. emarks of Adobe Systems Incorporated The system names product names etc in this manual are generally trademarks and registered trademarks of their respective companies In the main text the and marks are omitted Transfer of all or part of the contents of this document without permission is prohibited The contents of this document are subject to change without notice Every effort has been made to ensure the accuracy of the contents of this document but if you should notice any unclear point mistake or omission please notify Mitsubishi Electric Copyright C 2008 MITSUBISHI ELECTRIC CORPORATION Contents 1 Usage 1 15 1 1 HOW to USE TAS DOCUMENT idas 1 15 1 2 Checking the Products oi o 1 15 1 2 1 Checking the Pack ade aio uas 1 15 1 22 Checking the CD ROM CONS ii a vd Ruwedideescdes 1 15 1 2 3 About the MelfaRXM ocx communications middleware occcoooccccccocncccnononconononnononons 1 15 1 3 Items to be prepared by the CUStOMET oocccoccccoccoconccconccncnccnnnononnonancnnononancnnnnnnnnnonannnnannenaninos 1 16 1 3 1 Computer System a a das 1 16 1 3 2 COMMUTER Cable ita otitis ascii 1 16 T4 O e A A E 1 17 1 4 1 Connectable robot controllers cooocccccocncococncoconncoconocononoconnnonannnonannnonanncnonnnonananonos 1 17 1 4 2 Compur SYSTE anan A E E E A er 1 18 1 5 Installation Uninstallation oo oococcococcncocnncncnnnnnononon cono cnn corno nonnnnnnnnrn nn
136. endor for software that has passed Windows Logo testing Continue Anyway fF 2 Installation confirmation message for USB driver software for Windows Vista gt Windows Security Would you like to install this device software Name Jungo Jungo A Publisher Jungo LTD Always trust software from Jungo LTD Install Don t Install 4 You should only install driver software from publishers you trust How can decide which device software is safe to install 3 Installation warning message for USB driver software for Windows Vista ta Windows Security K Windows can t verify the publisher of this driver software gt Don t install this driver software You should check your manufacturer s website for updated driver software for your device Install this driver software anyway Only install driver software obtained from your manufacturer s website or disc Unsigned software from other sources may harm your computer or steal information wv See details lt Remark gt We have confirmed operation at our company No problem occurs after installation 1 21 1 21 1 5 2 Uninstall Uninstall with the following method For any OS other than Windows Vista Execute Start Control Panel Program Add and Delete Windows Vista Open Start Control Panel When not using the classic display With Control Panel Program execute Uninstall Program
137. eout Time 1000 msec Reception Timeout Time 20000 msec Number of Retries Figure 5 3 TCP IP Communication Settings Table 5 3 TCP IP Communication Setting Items and Default Values Explanation Default value IP address Sets the IP address of the robot controller connected to Number of the port used for communications 10001 Send timeout Timeout time for sending 1000 msec Receive Timeout time for receiving 20000 msec timeout Retries Number of communication retries For help with the computer side network settings IP address subnet mask default gateway etc ask the network administrator A N Caution When connecting to 10 or more robot controllers at the same time When connecting to 10 or more robot controllers at the same time set the reception timeout time to at least 10000 msec 5 54 5 54 9 2 3 Change the RS 232 communication settings to match the robot controller side communications settings 5 55 R5 232 Communication Protocol Port Data Transfer Rate Character Size Parity Stop Bit RS 232 Communication Settings Transmission Timeout Time S000 msec Reception Timeout Time 30000 fmsec 3 Procedural Number of Retries Protocol Cancel Figure 5 4 RS 232 Communication Settings Table 5 4 RS 232 Communication Setting Items and Default Values Explanation Default value COM1 COM10 can be selected COM
138. er With an actual robot an overload error might occur Be aware that even if you run the simulation with the work and hand weight set and this works properly in the simulation when you actually operate with the robot an overload may occur and make operation impossible If there is an input signal wait in the program use pseudo input When you execute a program in simulation and there is an input signal wait in the program the program does not move to the next step until that command is executed Therefore if there is an input signal wait use the pseudo input function from the signal monitor 13 198 13 198 13 1 Starting a Simulation Click on the menu bar Option Simulator At that time if there are two or more projects in the workspace the screen for selecting the screen to conduct the simulation is displayed Select the projects Select one project which starts the simulator Mo Project Robot Controller Rn S00 CRnD 700 cancel Figure 13 1 Project Selection When Simulation is Started Select the project to start the simulation of then click the OK button ZN Caution You can only simulate one project You cannot simulate multiple projects at the same time You can also start a simulation through operations from the tool bar Switch to Offline Switch to Online Switch to Simulation Figure 13 2 Explanation of Toolbar When the simulation start up is complete the operatio
139. erations can be executed using the teaching box details 10 164 Axes are reset in units of joint axes Multiple joint axes can be reset at the same time Axes are reset in units of joint axes Multiple joint axes can be reset at the same time See the following section for further 10 164 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 Log of reset Date when measurement began 2007 412 10 13 04 50 The last reset day 2007 12 11 11 50 42 2007 12 11 11 50 46 2007 11 29 idee 2007 11 29 aaa 2007 11 29 Vries 2007 11 29 Lies a2 2007 11 29 Lies 2007 11 29 72332 Figure 10 18 Log of Resets 10 165 10 165 10 3 6 Resetting maintenance forecast information with teaching box When an alarm urges to replace the batteries replenish the grease or to replace the belt 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 The information that has been accumulated within the controller can be reset using not only this software but also the teaching box 1 Resetting the time of battery remaining Table 10 6 Resetting the ti
140. eters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Escape Point After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button E Home Position 1 RG1 Kak Roboti ha 1 RY 6SQL Home position IS4FE1 M ao ao a0 M000 _Teachia mm deg 0 00 0 00 90 00 0 00 90 00 0 00 0 00 0 00 Teaching Explain Figure 8 29 Home Position Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 122 8 122 8 15 Robot Program Language Parameters You can set the robot program language used in a robot controller MELFA BASIC V MELFA BASIC I V Movemaster commands From the project tree double click the target project Online gt Parameter gt Robot Language After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button E Program Language 1 R_ SEE Program Language RLG C MOVEMASTER command C MELFA BASIC I v Figure 8 30 Program Language Parameters You can reference explanations of displayed parameters by pressing the Explain button For the usable robot program languages see Table 6 1 Robot Program Languages for Each Controller A N Caution About MELFA BASIC V MELFA BASIC V can only be used with CRn 700 series robo
141. external position variable read operations are shown in Table 7 1 For details on program external position variables see Details of functions and operations in the robot controller s user s manual CRn 700 series robot controller CRn 500 series robot controller s software version _ Oo O _ O gt 0 gt Ver H1 to H7 orearlier Table 7 1 Program External Position Variable Read Operations Read Item ofaa cm Position xl position pa Position variable joint variable P_01 J_02 etc MOVEMASTER command 901 999 Position array variable joint array variable P_100 J_102 etc Reads only the external position variables position variables joint variables used in instruction statements 1 Reads all elements used in instruction statements 2 Efe fe Reads all external position variables position variables joint variables position array variables joint array variables Reads only the external position variables position variables joint variables used in instruction statements 1 Reads all elements used in instruction statements 2 This screen is not displayed 1 When Movemaster commands are used all external position variables are read 2 When only P_100 1 is used in the command statement P_100 1 to P_100 10 are all read However the number of valid elements depends on the robot controller software version used 7 67 7
142. fofjojojojojojojojo Out ei ll Forced Output Figure 9 13 General Signals 9 2 1 1 Monitor settings For the displayed signals the continuous range can be set freely Set the lead numbers for the input signal number and output signal numbers to display set their respective display ranges on the line then click the OK button 24 General Purpose signal 1 RG1 Seles Input signal Signa TF ETO Ce ays Te p p Ts 4 3 a a ppitor setting is o fofojofofofojofofofofofofofafofo aras pofopofofofopofofofofofofofofofo Input signal Ca pofopofofofofofofofofofofofofofo Ces fotfojolofotojololotofolofototolo Lines Output signal Lines 2 Forced Output Figure 9 14 General Signal Monitor Settings 9 142 9 142 9 2 1 2 Pseudo input Pseudo input means signals that are input to the robot controller from the computer not from outside equipment Click the Pseudo Input button A screen for inputting pseudo signals is displayed AN Caution While the robot controller is in pseudo input mode signal input from outside devices is not accepted To use pseudo input put the robot controller into pseudo input mode While the robot controller is in pseudo input mode the robot controller does not accept signal input from outside devices Click the Pseudo Input button The confirmation message below is displayed before the robot controller goes into pseudo input mode Contirm Set Pseudo
143. from noise sources If cables are brought too close to noise sources this can cause positional deviation and malfunction Do not apply excess force to a connector or bend a cable excessively Doing so can cause a contact defect or cut line Set work masses including hands so that they do not excess rated load or permitted torque Exceeding either of these can cause an alarm or breakdown Install hands and tools and hold work securely Failure to do this can cause objects to fly loose during operation and cause personnel injury or damage Ground the robot and controller reliably Failure to do this can cause malfunction due to noise or in an extreme case electrical shock Display the operating state while the robot is operating Lack of such a display can result in someone coming too close to the robot by mistake or mistaken operation Always secure the priority right for control of the robot before doing any teaching work within the robot s operating range Failure to do this can allow the robot to start upon instruction from the outside and cause personnel injury or damage Make the jog speed as slow as possible and do not take your eyes off the robot Failure to do this may cause a collision between a work piece and peripheral devices After completing program editing but before starting automatic operation always check operations with step operation Failure to do this may cause a collision with a peripheral device due to a prog
144. fter making the setting click the Next button When multiple MELSOFT products are installed set the default product installation folder EasySocket USBdrivers 4 The screen on the left is displayed so select Install this driver software anyway 5 The screen on the left is displayed Click the Close button This completes the installation 1 29 1 5 5 CRnQ Communications USB driver for GOT transparent installation Connecting the CRnQ 700 series robot controller with USB via GOT transparent mode requires installation of the USB driver for the GOT transparent Install with the following procedure This function is available from RT ToolBox2 Ver 1 1 or later N Caution If the USB driver cannot be installed check the following setting lt When Windows 2000 is used gt If you have selected Block Prevent installation of unsigned files after Control Panel System Hardware Driver Signing the USB driver may not be installed Choose Ignore Install all files regardless of file signature or Warn Display a message before installing an unsigned file for Driver Signing and install the USB driver lt When Windows XP is used gt If you have selected Block Never install unsigned driver software after Control Panel System Hardware Driver Signing the USB driver may not be installed Choose Ignore Install the software anyway and don t ask for my approval or Warn Prompt me each ti
145. g saving saving to computer saving to robot controller A N Caution Do not write a program to the controller with duplicate step numbers Even programs with duplicate step numbers or that are still being edited and are not yet syntactically correct can be saved on the computer However be careful not to copy or otherwise transfer such a program to a robot controller with the program management functions If a program with duplicate step numbers is written to the robot controller the duplicate step lines are written over each other 7 7 1 Save Saves the program being edited with its current name When you click on the menu bar File gt Save the program is saved overwriting the older version of itself If you are editing a program on a robot controller the Save Items setting screen is displayed Set the items to write then click the OK button For details on the save items see 7 7 4 Items written when saving in robot Save Items lf Position variables Program external position variables cancel Figure 7 36 Writing Items 7 85 7 85 7 7 2 Saving on computer Saves the program being edited to the computer At this time you can set a new program name Click on the menu bar File gt Save to PC Save As Robot program Program path Update 271 2008 01 08 10 35 50 42 2008 01 08 10 35 51 Robot program canal Figure 7 37 Saving on Computer Input the robot program na
146. g and orthogonal jogging Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Jog After you change the parameter value you can rewrite the jog parameter in the robot controller by clicking the Write button Joe 1 RGC1 Robot 1 RV 650L Joint JOG speed JOGISP H Inching 0 10 deg L Inching 0 01 deg Override 10 00 XYZ JOG speed OGPSP H Inching 1 00 mm L Inching 0 50 mm Override 10 00 Explain Figure 8 8 Jog Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 110 8 110 8 5 Hand Parameters Set 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 From the project tree double click the target project Online gt Parameter gt Hand After you change the parameter value you can rewrite the parameters concerning the hand in the robot controller by clicking the Write button EA Hand 1 RG1 ROBOT1 1 RY 6SQL Hand Hand type HANODTYFE Mone Single Double Signal 900 IO Macro Open Close Workpiece grasp definition HNDHOLD1 4 At hand oper Workpiece non grasp 4t hand close Workpiece grasp k Explain
147. g only the tool tip position data X Y Z ignoring the error from posture deviation This increases the precision of location correction However there are some restrictions For details see Table 10 11 About Posture Elements of Re teaching Position Data 10 181 10 181 Table 10 11 About Posture Elements of Re teaching Position Data When using posture elements of Precision of generated During re teaching posture must position data revision parameter improves be taught correctly If posture iw Use the posture elements of position data if the tip position X Y Z data is incorrect precision of and tip posture elements are revision parameter actually re taught correctly decreases When not using posture elements of During re teaching revision In case of the vertical 6 axis position data parameters can be robot Use the posture elements of position data generated simply by Posture elements A B C of correctly teaching position tool revision parameters cannot X Y Z be obtained Posture elements need not J6 axis of origin revision be accurate parameter cannot be obtained if both X and Y components of the tool parameter are 0 0 In case of the vertical 5 axis robot J6 axis of origin revision parameter cannot be obtained In case of the horizontal 4 axis robot Posture elements C of tool revision parameters cannot be obtained J4 axis of origin revision parameter cannot be obtain
148. gram Parameter Monitor 09 Robot movement lu Signal la Operation Maintenance My Board ep Backup Ey all 15 Program Parameter v 1111 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 When the project tree is closed you can display it again by clicking on the menu bar View gt Project Tree 6 Property window You can reference various attributes of the workspace being edited If you click an item on the project tree its attributes are displayed CET x es Factory Lined A 2 RCI A Ottline RVHBS Program Online The attributes are being displayed displayed Online rr Uperey E 7 Attribute Controller Type GAn 500 Controller Version Wer k serial number veal Serial Date Robot 1 R S L serial number serial Date Program count 20 Empty volume 172544 The property window 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 The default setting for the property window is not to be displayed You can display the property window with the menu bar View gt Property 2 36 2 36 7 Screens Displays the screens that can be started from the project tree including the program edit screen and monitor screen The currently act
149. h program reset SLRSTICH lo 255 ORSTO ORST224 g ooogocoo coooocoo cocooooo cocooooa Signal 0 aoe oooo0000 coocoooo coooocoo oooooooa 64 oooo0000 coocoooo coooocoo oooooooa 06 oooooooo coocoooo cocoocoo DO000O0O oooo0000 coocoooo cocoocoo oooooooa OFF 0 ON 1 Hold oooo0000 coocoooo coooocoo oooooooa goooooco coocoooo cocoocoo oooooooa OOOO0000 OOOOO000 ddd ODODDODO Select Figure 8 14 OUTPUT Signals reset pattern Set a signal number and then select one of OFF ON Hold The value of the signal having the specified number displayed in the list changes After you changed the parameter value you can rewrite the output signal reset parameter in the robot controller by clicking the Write button Also selecting a signal group for example 32 0 and then clicking the Select button changes 32 signals at once VO Reset pattern change El Meaning 0 OFF 1 ON Hold Jboonoood Teoosoooo 00000000 ooo Cancel Figure 8 15 I O Reset Pattern Change You can reference explanations of displayed parameters by pressing the Explain button 8 115 8 115 8 10 Assigning Dedicated Input Output Signals Assign signal numbers to functions in order to perform the remote operations to execute and stop robot programs and display operate the execution progress information and servo power supply status etc Set parameters while connected to the robot controller 8 10 1 General
150. hanged the revision parameters Back up the parameters before exit this window A N Caution Position data close to operation area boundaries may not be rectifiable Around the operation area boundaries position error may put a point outside the operation area in which case this function cannot rectify the point 10 188 10 188 10 4 16 Revision parameter editing When you select Edit the value of revision parameter directly with 10 4 7 Revision parameter generation procedure selection this screen is displayed select a procedure Input the parameter yalue MEXDTL Error of standard tool data 1 D m a 0 0000 deg 2 0 0000 ram F 0 0000 deg f Generate revision parameter automatically Usually select this Position repair 1 RC 4 Target robot 1 A 65L Double click the revision parameter to edit IF pou click next parameters are written to the controller T 0 0000 mm Cancel E 0 0000 deg Changed parameter i displayed in light blue Double click Parameter Outine o el 3H 4 Y MEXDTL Error of standard 0 0000 0 0000 0 0000 0 0000 0 00 MESDTL1 Error of tool data 1 0 0000 0 0000 0 0000 0 0000 0 0000 MESOTL2 Error of tool data 2 0 0000 0 0000 0 0000 0 0000 0 0000 MESOTLS Error of tool data 3 0 0000 0 0000 0 0000 0 0000 0 0000 MESOTL4 Eror of tool data 4 0 0000 0 0000 0 0000 0 0000 0 0000 MEXDES Error of base data 0 0000 0 0000 0 000
151. he Refresh button 9 140 9 140 MM Error history Error level C High level error Lowe level error C Caution The servo is OFF The servo is OFF Com mesg is too long Parameter comment illgal Pos data disagree Check origin Pos data disagree Check origin Pos data disagree Check origin Pos data disagree Check origin Tabulation information Start date 07 11 23 Start time 07 10 50 00 Logged date GOOS 1 8 Logged time 13 45 42 0 08 01 06 06 01 05 08 01 06 05 01 06 06 01 05 08 01 06 05 01 06 06 01 05 13 38 00 13 37 00 11 34 40 11 34 40 09 20 14 09 20 19 09 20 14 09 20 14 Log file information Type RYv 6SOL Ver 4 ABCDEFGHIK Count of registerd items 214 Line A Version Serial Low Low Caution Caution Low Low Low Low io q x Pas data nisanree Cherk nrinin ag 20 14 mi lt Details Save Refresh C1 Others ABCDEFGHIIK_20080108_134542 txt Figure 9 11 Error History Information Read from File na n1 0A gt D000000 9 1 5 You can display the robot and its movements in 3D to check them From the project tree either double click the target project Online gt lt Robot model name gt or select 3D Monitor with the mouse right button menu The robot 3D display screen is displayed If the display travel table setting is made for the project the travel table is also displayed Robot status Ba 3D Monitor 2 RG2 RV 6 AE Workspace
152. he Same Time with Another Product Explanation LP Precaution RT ToolBox Older version of this a eS not be used at the same time as computer support software software this software MELFA Works 3D robot simulator Can not be used at the same time as this software software software for Windows this software software software 1 32 1 32 this short cut 2 RT ToolBox2 Usage This explains the usage of this software simply 2 1 Starting RT ToolBox2 When you install this software a shortcut is prepared on the desktop Start RT ToolBox2 by double clicking 7 ni RT ToolBox English Figure 2 1 RT ToolBox2 Shortcut From Start button gt All Programs gt MELSOFT Applications select RT ToolBox2 and start it ES JE fz RT ToolBox E Workspace View Online Window Help 4 S eae See PRRR BET SSS Workspace E J OO TFN Figure 2 2 RT ToolBox2 Initial Screen When you start RT ToolBox2 Communications Server 2 is started up as an icon This Communications Server 2 has functions for connecting with a robot controller or during a simulation a virtual controller Do not close Communications Server 2 Figure 2 3 Communication Server 2 2 33 2 33 2 2 Explanation of RT ToolBox2 Screens The composition of the main RT ToolBox2 screen is as follows 1 Title bar Y RT ToolBox Factory Line 1 Online Ea px WorkSpace
153. he program names within the robot controller will be expressed in upper case letters If lower case letters are used the programs will not be properly recognized To put a changed parameter value into effect switch the robot controller power Off then On again To validate the rewritten parameter information in the robot controller the robot controller power must be turned ON again 8 107 8 107 8 1 3 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 at the top right of the parameter list screen The parameter list select screen is displayed E2 Parameter list 1 RG1 Roboti 1 RY 6SGIL Parameter Mame UER1 Read Explanation Attribute TO COMMON AIRERR1 Roboti air pressure error INPUT During roboti air pressure err QUTPUT Common ROBOT AIRERR2 Robot2 air pressure error INPUT During robot2 air pressure err QUTPUT Common AIRERRS Robots air pressure error INPUT During robota air pressure err QUTPUT Common AIRERR4 Robot air pressure error INPUT During robot4 air pressure err QUTPUT Common AIRERRS Robots air pressure error INPUT During robots air pressure err QUTPUT Common ALIGHT YF Align type select O Mormal 1 Cylindrical Robot ALWENA Enable command SERWO command and RESET command in ALWAYS 2 Common ARES 10AT Type of area check 10 not usefzone interference Common AR
154. his Change the communications method to RS 232 software is the communications method set to TCP IP or USB 2 When Communications Server 2 is green RS 232 If Communications Server 2 is displayed green with communications with the robot controller set to RS 232 check the following Check item or cause 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 In particular check that the protocol settings The default protocol for this software is Procedural but match for CRn 500 series robot controllers the default protocol is Non Procedural 3 When Communications Server 2 is light blue RS 232 lf Communications Server 2 is displayed light blue with communications with the robot controller set to RS 232 check the following Check item or cause Is anti virus software running virus checks Switch off virus checking for RS 232 on RS 232 communications When a computer starts up sometimes this Either start the computer before connecting the cable or generates noise start the computer before starting the robot controller This noise can cause a communications error in the robot controller 15 221 15 221 5 Communications Ethernet Note When using Ethernet with a CRn 500 series robot controller the robot controller must have the optional Ethernet card If you can not communicat
155. ie ncteeai A A Su atsdunaseviceaadees 10 159 10 3 Maintenance Forecast aia ice a a a a a 10 160 1031 SPECE alon S a a A A A 10 160 IA SUING e a a eas a a eau aie a a n a E den vanttnee 10 160 1030 TORE CASHHING rs lla idad 10 161 e SSSI GS aena a a aatte neat a aa 10 162 10 39 35 IRESCL SCEN sites eats resect a a sac stacpalesned seta does aaa ai a aa 10 164 10 3 6 Resetting maintenance forecast information with teaching DOX cccooccccccoccncocnncnncnnaconos 10 166 NOs ONES oaee E E a E aeeeo ein mai addi 10 167 10 4 Position repair FUNC ION ccoocccconccconioconoconccconccnoncnnnnononnonannnnnnnnnnnnnnnnnnannnnnnnnnnnennnnonaninnnnannnns 10 168 AR SpeciflicalonS t a e a e a 10 168 AZ SaNi er cio a 10 169 1043 AELOWEORO DEAN A a a es aO de 10 170 DAR MAROON A on de E 10 171 10 4 5 Communications SettingS ccococnoccconnncocononccconnncoconcnnnonanonnnnannnonnnnnnnnnnnnnnonannnnnnonnnnnss 10 171 10 4 6 Robot selection and parameter backup ccoocccccncoccccccnncncnccncnonacononnnnnnnnnnnnnnnnonnnnnnnnnnnanonos 10 172 10 4 7 Revision parameter generation procedure selection oocccoccccccncconccncncconnconnnnnanonononos 10 173 104S Program Sele cloro eoetansr wake 10 174 10 4 9 Program reading and backing UP cccceeecccseeeceeeeeeeeeeesaeeeseeeeseeeeeseeeeeseeeesaeeeesaneeesaees 10 175 104 10 TOSENO CNGK ararnar a ai 10 176 10 4 11 Revision parameter selection coooc
156. ine cancel Figure 7 41 Page Setup for Printing 7 90 7 90 7 9 Program Debugging You can debug robot programs you have written AN 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 7 9 1 Starting debugging Open the robot program in debugging status From the project tree Online gt Program select the program then click the right mouse button From the right mouse button menu click Debug Open E Online PU 6SGIL E Program ES Program 1 RG1 1 r Online MELFA BASIG Y 1 Moy pi r a E Open Program 2 Mov pe a Debug Open 3 Mov p3 ds 4 Mov p4 End Caution A Caution Edit Delete The robot may move at the max speed in the following x A z A B C Li operations Take special care when operating 777450 0 020 928 760 90 440 71000 89 570 E a10 30 43350 0708760 ONMd n 71 M0 i246 enn 110 EME Please prepare T to stop anytime in the emergency J J1 J2 J3 J4 J5 J6 J Figure 7 42 Opening a Program in Debug Status The specified robot program is opened in debugging status The execution line cursor e is displayed at the left end of the command edit area The line on which this execution line cursor is displayed is the l
157. ine C Project Project RU 6SOL Proc Robot RCICRANO 7P0 e Robot LRCLICRNO Fix Mew Program Manager Selection release Date 08 01 07 08 01 07 08 01 07 08 01 07 08 01 07 08 01 07 08 01 07 08 01 08 08 01 07 08 01 07 08 01 07 08 01 07 Time 18 200 18 200 18 230 19 20 00 18 23 1 19 20 0 19 20 0 10 12 1 19 20 0 19 20 0 19 20 0 18 19 0 Selection release Date 08 01 07 08 01 07 08 01 07 08 01 07 08 01 07 08 01 07 08 01 07 08 01 08 08 01 07 08 01 07 08 01 07 08 01 07 Time 19 20 00 19 20 0 18 230 18 200 18 21 19 20 0 19 20 0 10 12 1 19 20 0 19 20 0 19 20 0 19 19 0 gt i gt 954752 Bytes Free 254 52 Bytes e Move Delete Reame Protect Compare Close Figure 7 52 Starting Program Management File type A N Caution All the operations of these functions are for robot programs 7 96 7 96 7 10 1 Program list display On the left and right lists the lists are programs of the displayed in the robot controller and the specified folder M Project 2 Robot 3 button 1 Project 7 10 2 Copy Program Manager 2 Robot Date 08 01 07 08 01 07 08 01 07 08 01 07 08 01 07 08 01 07 08 01 07 08 01 08 08 01 07 08 01 07 08 01 07 08 01 07 You can specify projects in the workspace You can specify a robot controller that is currently connected When you select Project you can specify any folder on the
158. ine currently being executed The display of this execution line cursor can be switched on off with the menu bar Debug gt Display Do not display Execution Line 7 91 7 91 7 9 2 Executing programs step by step AN Danger With program debugging the robot may operate at 100 speed Watch out for the safety around the robot Also prepare a T B at hand and use the robot ina 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 Operate using the debug operation screen that is displayed at the same time the program was opened in debugging status 1 Status 2 OVRD 1 RC1 Debugging 3 Jump 5 Step Execution 6 Continuous Execution 4 Stop SERVO ee Direct Program Error jExevution 7 Servo On Off 8 Reset 9 Direct Execution Figure 7 43 Debug Operation Screen 1 Status The controller s task slot status is displayed 2 OVRD This displays and sets the robot speed override 3 Jump You can specify the line in the program to execute 4 Stop You can stop the program 5 Step Execution This executes the specified program one line at a time Pressing the FORWD button executes the command on the current execution line and advances the current execution line one line Pressing the BACKWD button executes the command on the current execution line and returns the current execution line one li
159. ine numbers There is a function for sorting commands in order of line number even if you do not input them in order of line numbers For details see 7 6 4 15 Sorting ES Program 2 ES Program 2 gt amp Figure 7 17 Sorting There is a function for reordering commands in order of line number even if you do not input them in order of line numbers For details see When this ts written to the robot controller it is converted into all uppercase characters which is correct MELFA BASIC IV format Figure 7 18 MELFA BASIC IV Character Input 1 15 1 195 7 6 3 Position variable editing Position variables are edited on the position edit screen The upper list is a list of XYZ coordinate variables and the lower list is a list of joint coordinate variables ES Program 1 RC1 V65S 5 Online MELFA BASIC Y A Z B a Li 400 120 644 620 150 000 0 070 160 000 0 000 353 500 180 0 O 000 180 0 353 500 305 500 695 280 CAR ASM 13 390 000 0 000 0 000 0 000 0 000 120 000 P 9 91 150 Joint position 120 000 variables 91 150 A Figure 7 19 Position Variable Edit Screen Array variables are displayed developed in their own lists ES Program 1 RC1 V65 r Online MELFA BASIC Y 1 Dim patil Add Edit Delete AE A Y Z A E E Li 3 pati 0 000 0 000 0 000 0 000 0 000 0 000 0 000 palz 0 000 0 000 0 000 0 000 0 000 0 000 0 000 pats 0 000 0 000 0 000 0 000 0 000 0 00
160. installation of unsigned files after Control Panel System Hardware Driver Signing the USB driver may not be installed Choose Ignore Install all files regardless of file signature or Warn Display a message before installing an unsigned file for Driver Signing and install the USB driver lt When Windows XP is used gt If you have selected Block Never install unsigned driver software after Control Panel System Hardware Driver Signing the USB driver may not be installed Choose Ignore Install the software anyway and don t ask for my approval or Warn Prompt me each time to choose an action for Driver Signing and install the USB driver 1 5 4 1 When using Windows 2000 The following indicates the procedure for installing the USB driver when using Windows 2000 Found New Hardware Wizard 1 The screen shown on the left appears Welcome do the Cound Now when you connect the personal Hardware Wizard computer and Universal model QCPU ibe sees helps you install a device driver for a by the USB cable i iii Click the Next button To continue click Next E Cancel 2 Choose Search for a suitable driver ea lea Drivers eae se ae RSS for my device recommended and piesa ware program nat enables a nardware device to WOrk WI SS click the Next button This wizard will complete the installation for this device a USB Device A device driver is a software program that makes a hardware
161. ion on the specified axis The grease or belt information will be reset immediately after a parameter name and the value are entered In this case the controller power does not need to be restarted If a value other than 0 is entered the reset process will be executed for each axis Repeat the parameter input operation when resetting information on two or more axes Also note that the value read is always O regardless of the previously entered value If you continue the input operation in this state all axes will be reset Exercise with caution See Controller INSTURCTION MANUAL Detailed explanations of functions and operations for how to input parameters using the teaching box 10 166 10 166 10 3 7 Others The information for Maintenance Forecast kept in the controller can be backed up and or restored AN 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 Also be sure to back up the information for Maintenance Forecast before replacement and restore the backed up information after replacement After the controller CPU has been replaced if the information for Maintenance Forecast is not restored or it is restored after a substantial time has elapsed since the time of backup please note that the reliability of Maintenance Forecast will be degraded
162. ision parameters become as in Table 10 10 Selecting Revision Parameters select revision parameter le Error of joint axis t bout 1 6 points f Tool exchange or modified 2 6 points C Transfer the robot 6 points C Exchange the robot 10 11 points C Select all 13 16 pointe Co Select arbitrarily gt Memo Some elements cannot be calculated according to the robot type and the combination of revision parameters In this function the amount of the gap of the robot is calculated as a correction value and the revision parameter is generated However some elements cannot be calculated the value becomes 0 as the following two kinds of cases The case which cannot be calculated by the limits of degree of freedom of robot Some elements of revision parameter cannot be reflected because the Vertical 5 axis robot and horizontal 4 axis robot have the limitation The case which condensed by the combination of robot mechanism and revision parameter Some elements of revision parameter become the value on the same rotation axis according to the combination of robot mechanism and revision parameter In such case calculated value of gap is condensed to the one element of revision parameter At this case though the other element becomes 0 it condenses in other elements and it is corrected So it is not necessary to reflect it again 10 178 10 178 Table 10 10 Selecting Revision Parameters Minimum number of teach
163. isplay the parameters to print then click on the menu bar Workspace gt Print The print screen is displayed so check the printer then click the OK button Printing starts Also you can click on the menu bar Workspace gt Print Preview to look at the print image Ed RT ToolBox Factory Line 1 Online Sele tea View Online Parameter Window Help l Mery Ctrl SEL Close A Delete 2 2 x gt T A Motion Limit 1 RC1 SE El See eei Robot 1 1 RV 650L Print lew Print 4 5 ABS limit MEMAR Joint limit MEIAR User defined origin USERORG E p 1 Line l mm deg mm deg mm deg 2 Lint 1 Em 20 00 ji 170 00 170 00 J1 0 00 3 r list Jz 20 00 20 00 Ja 92 00 135 00 Jz 0 00 4 ul Ja 20 00 20 00 Ja 129 00 166 00 Jz 90 00 Exit der i 20 010 20 00 4 160 00 160 00 4 0 00 ki Weight and Size Hand Ja 20 00 20 00 dae 1 0 00 120 00 JT 0 00 ae 16 2000 20 00 16 360 00 360 00 6 0 00 ot able Es Output sienal reset pattem yi 30 00 30 00 TZ 50000 00 B0000 00 Ip 4 0 00 25 Dedicated input output si Js 30 00 20 00 Ja 20000 00 e0000 00 Ja 0 00 k Communication k Zone 2 limit MEPAR k Free plane limit mm fr Home Position xi 10000 00 10000 00 m Program Language Y 10000 00 10000 00 E Robot Additional Axis ki Collision Detection i 10000 00 10000 00 Ci Ihiar Mi mi M aneratin
164. iting a new program in the robot controller For the new program you are going to write select Online gt Program then click the right mouse button The right button menu is displayed so click New Hew Robot program E x Robot Controller ae Factory Line 2B Ro Offline Update Ri 6S Program Online Robot program Time RV 8SQL Para g Mon Program Manager Mainte ance Board E Backup EY al 4 Program 3 Parameter Robot program 53 System Program ee cancel Figure 7 2 Writing a New Program in a Robot Controller Input the robot program name then click the OK button the read items then click the OK button The Read Item screen is displayed so check opening program in robot controller For details on the read items see 7 2 3 Read Items when E Program 1 RG1 Pi r Online MELFA BASIC VJ Edit Delete Figure 7 3 Editing a New Program 7 65 7 65 7 2 Opening an Existing Program 7 2 1 Opening an existing program on the computer Open the target project in the project tree with Offline gt Program The stored programs are displayed on the project tree so double click the program you want to edit ES Program 1 RC1 1 pre MELFA BASIC Y Workspace Factory Lined RO Offline RM S Program ES 2pre Online 8 Backup Edit Delete E Y Z B E 777 450 0 020 928 760 90 440 71000 89 570 619 030 470
165. ity that the parameter is not correctly calculated AN Caution The cautions when using a robot with the additional axis When restoring the position with a robot with a travel axis reteach at a position where the travel position becomes the same as in the original position travel axis data Move the robot so that the travel axis data becomes the same as the original position If the retaught position travel axis data differs from the original travel axis data it is impossible to find the correct revision parameters It is possible to change the revision parameters to be generated Go back one step to the Select revision parameter window to change the setting Note that if you return one more step to Check of setting tool window all information set by re teaching work will be cleared AN Caution When go back to Check of setting tool window all information set by re teaching work will be cleared 10 185 10 185 10 4 13 Writing parameters Position repair 1 RC1 SEE Target robot 1 AW 650 1 PRG Revision parameters were generated The parameters are written to the controller Parameter Outine 1 2 31 al Error of origin data 0 0015 0 0000 0 0000 0 0000 0 0000 Print Save position data to file lt Back Cancel Figure 10 32 Write Parameters Window Print Prints the revision parameter information displayed in the list Save position data to file Saves position data used in
166. ive screen is displayed on top El Program 1 RG1 65L r Online MELFA BASIC IV E ax a e N Fot 3 a A A A E E2 Parameter list RGI I Robot 1 Ry ASL Hand state Joint j deg mm deg mm Mi 97 100 e 83 880 Handi OPEN p 5 0 673 540 Hand2 OPEN Hands C PEN Hand4 Hands Handle Hand Handa Machine lock End speed 0 000 rom sec Servo ON OFF To close a screen click the E3 at the top right of the screen You can also change the screen size with the button at the top right of the screen Minimizes the screen Closes the screen Maximizes minimizes the screen 8 Status bar Displays RT ToolBox2 status information The status of the connection with the robot is displayed Displays the Num The connection statuses are online offline and simulation Lock status Ready 6 Rows 11 Colum bain car Num 7 AA E During program editing displays the cursor position Displays the Caps Lock status 9 Handy menu display By clicking the right button on the mouse you can display the right button menu depending on the work contents Using this menu can increase work efficiency During program editing the right button menu includes such functions as Copy Paste and Cut 2 37 2 37 2 3 Communications Server 2 When you sta
167. kpoints can be set up to 128 Moreover when the program is quitted every breakpoint is deleted There are the following two types of breakpoints Permanent breakpoint After stopping the breakpoint keeps being set One time breakpoint After stopping the breakpoint is automatically deleted at the same time as stopping A N Caution Breakpoints can only be used with MELFA BASIC V 1 Set a Breakpoint The breakpoint is set according to the following procedure 1 Click the command line where breakpoint is set with the mouse then click on the menu bar Debug gt Set Breakpoint 2 The breakpoint setting screen is displayed Select the type of breakpoint to set then click the OK button The breakpoint is set at the specified command line Set a Breakpoint Type f Permanent One time Figure 7 47 Setting a Breakpoint 7 94 7 94 3 Y is displayed at the left end of command lines at which breakpoints are set LIM FTALIZS 2 M01 0 M01 401 1 Hoy POD Moy PO Moy PO HOpen 1 Oliy 0 5 H lose Figure 7 48 Display of Lines with Breakpoints Set co 00 00 Cn fF co 2 Delete a Breakpoint To delete a breakpoint click the command line with the breakpoint to be deleted with the mouse then click on the menu bar Debug gt Delete a Breakpoint To delete all the breakpoints set in this program click on the menu bar Debug gt Delete All Breakpoints You can also perform the breakpoi
168. l you install driver software 1 28 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 1 28 Windows couldn t find driver software for your device 2 Check for a solution Windows will check to see if there are steps you can take to get your device working gt Browse my computer for driver software advanced Locate and install driver software manually Browse for driver software on your computer Search for driver software in this location C Melsec EasySocket USBDrivers Include subfolders i Windows Security C ExT gt Don t install this driver software You should check your manufacturer s website for updated driver software for your device Install this driver software anyway Only install driver software obtained from your manufacturer s website or disc Unsigned software from other sources may harm your computer or steal information v See details The software for this device has been successfully installed Windows has finished installing the driver software for this device MITSUBISHI Easysocket Driver l Completed 1 29 2 The screen on the left is displayed so select Browse my computer for driver software advanced 3 The screen on the left is displayed so select C Melsec EasySocket USBDrivers A
169. ler from outside equipment and signals output from the robot controller to outside equipment Pseudo input and forced output of signals are also possible Named signal The status can be checked by naming the status of the dedicated I O signal that has been set in the robot controller as well as each bit or within the range of 32 bits of the general purpose signal The signals are set via parameter setting maintenance tool Registers CC Link You can monitor the input registers and output registers for the CC Link functions Pseudo input and forced output of registers are also possible JUSLUSAOW JOGOY DN O 5 D 3 O 5 O Operating time The robot operation time power ON etc can be confirmed Production The operating time of the program in the robot controller and the No information of program cycles can be confirmed JOWUOW Bunelado 9 133 9 133 9 1 9 1 1 Robot Operation Monitoring Slot operation statusmonitaring The state of the slots in the robot controller can be monitored From the project tree double click the target project Status Slot run state 1 RG1 1 z a 4 6 E z Status Program selection possible Program selection possible Program selection possible Program selection possible Program selection possible Program selection possible Program selection possible Program selection possible Program Robot Conditions START START START START START START STA
170. ler into the designated folder Program Saves the robot program file into the designated folder Parameter Files Saves the parameter files into the designated folder System Program Saves the system base program file into the designated folder 2 Double click the items to backup Double click Select information to backup Robot Controller Personal computer OK 4 Backup a F BB Program Robot RC1RW 3507 05 Parameter System Program All 1 RG1 lw All files Program Parameter files System program Backup Path Lings rap My Documents Factory Line 1 RC1 Backup 20080108 153354 Figure 12 3 Backup When Batch Is Selected Parameter List Files This is used to edit the parameter information saved by backup in offline mode and is not required for backup If this is not checked the time required to save all files will be shortened 3 Specify the backup destination The default value is the folder that created the workspace 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 back up other items at the same time too by putting checkmarks in their checkboxes In this case the data is backed up to the backup destination selected above with an identifier for the backup type suffixed to the folder name The identifiers are as follows All ALL Program information P
171. log in as a user with administrator authority The system will not let you install if you log in as a user who does not have administrator authority Install this software with the procedure below 1 When you insert this product into the computer s CD ROM drive the setup screen is displayed automatically 2 If the setup screen is not displayed when you insert this product into the computer s CD ROM drive display the setup screen with the following method For any OS other than Windows Vista In Windows Vista when using the Start menu with the classic display 1 Select Start button gt Run 2 Check the CD ROM drive name then input drive name Setup exe If the CD ROM drive is D input D Setup exe In Windows Vista when not using the Start menu with the classic display 1 Click Start button gt All Programs gt Accessories then select Run 2 Check the CD ROM drive name then input drive name Setup exe If the CD ROM drive is D input D Setup exe gt Type the name of a program folder document or Internet resource and Windows will open it For you Open Oe Setup exe Ww 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 1 19 1 19 Start f Input Product ID a Set the CD
172. m Change robot origin data Change Robot Arm Serial Number Change Controller Serial Numter Backup Path rape Documents Factory Line 414RC1 Backup 20080108 15335448LL Figure 12 2 Restore All Files Transfers all files except BKUP SYS and MECHA SYS in the designated folder to the robot controller after all information in the robot controller is cleared initialized Program Transfers the robot program file in the designated folder to the robot controller Parameter Files Transfers the parameter file in the designated folder to the robot controller System Program Transfers the system base program file in the designated folder to the robot controller Change Robot Origin This is backup information and it only valid when All or Parameter files is Data selected Operations for when this checkbox is checked and when it is not are as in Table 12 1 Change Robot Arm If you check this checkbox the robot main unit serial number is also Serial Number rewritten 12 195 12 195 Check OFF Change robot origin data Check ON Table 12 1 Operations for Change Robot Arm Serial Number Too W Change robot origin data Controller as as de the ASIS de the SOI ion insi data B data A However igin igin ion insi eee B lt after restore gt lt after restore gt eee B Rage orto rr EN Parameters B Or DAA ree AN SELLE reee PCEEErEE EEE Eee e
173. m e oe e e o o oe o o o e e e a o a a a a oua a a a oa aa a o o u a e u u u o o o u Revision parameter generation I l l l I I I l l l l I 1 1 1 l L l l l l L l l l l l l l T m e e e eee X X a a a oe ee ee o ee Figure 10 31 Re teaching Work Procedure Row for re taught position will be highlighted in light blue Re teaching does not change the position data values shown in the list AN Caution Do not perform position correction using the teaching box When you move the robot to the re teaching position using the teaching box be careful not to correct the position During re teaching position data of the applicable program in the controller is write protected 10 184 10 184 N 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 N Caution Select position data with a different posture element when re teaching two or more positions Select position data with a different posture element when re teaching two or more positions When position data of the same posture element are selected there is a possibil
174. mands change the language used with 6 Robot Program Language Setting in this document 2 Is it possible to use programs as is that we used with an E EN series robot controller Position data prepared with MELFA BASIC III for E EN series can not be used as is Convert the position data with the Program conversion function For details see 7 11 Program Conversion Also some commands have changed For details see Detailed Explanation of Functions and Operations in the robot controller s user s manual 3 Is it possible to use R 250R series and R 300R series programs R 250R series and R 300R series robot programs written in the MELFA II language can not be used as is Write new programs 8 Program edit 1 When we check syntax Error in input command statement syntax occurs frequently Check item or cause Is the command statement syntax correct Program in correct syntax Are double byte spaces used Use only single byte spaces Is the language to use set correctly Set the robot program language you are using This software supports MELFA BASIC IV For details see 6 Robot Program Language MELFA BASIC V and Movemaster Setting commands but there are terms that must be switched and set for whichever one of these you use Does the version of this software support your Please purchase a version that supports your robot robot controller controller Please contact the store you purchased For som
175. me then click the OK button A N Caution Folder in which programs are stored Programs on the computer are managed in units of workspace projects The folder they are stored into is workspace writing folder project name Program To store into any other folder first store in this folder then copy into the desired folder with the program management copy function AN Caution About the program name which is disable on PC Windows error is occurred in the Program editing tool when opening that program To solve this problem it is necessary to change the program name in the robot controller The Reserved words are the special words used by Windows system Therefore it is impossible to use these words as the file name on PC The following words are in Reserved words AUX COM1 to 9 CON LPT1 to 9 NUL PRN 7 86 7 86 7 7 3 Saving in robot controller Saves the program being edited to the robot controller with a new name At time you can set a new program name Click on the menu bar File gt Save in Robot The Save Items setting screen is displayed so set the save items then click the OK button For details on the save items see 7 7 4 Items written when saving in robot Save As Robot program Robot Controller Lipdate Robot program Time Protect 481 08 01 08 262 08 01 08 0127101 None Save Items lf Position variables Program external position variables coca Fig
176. me of battery remaining AR Explanation Operation the time of It is used when an alarm urging to From the teaching box R32TB menu screen battery remaining replace the batteries C7500 C7510 or execute 5 Settings and Initialization 1 C7520 occurs and the batteries have Initialization Battery been replaced Be sure to reset the battery remaining time after a battery has been replaced For details on the method for initializing the battery remaining time using the teaching box in the robot controller s operations manual see Details of Functions and Operations 2 Resetting the grease and belt information The grease and belt information can be reset by entering parameters to the controller The following is the list of parameter names and the values to be entered Table 10 7 Resetting the grease and belt information A Explanation Parameter Value Grease When an alarm urging to perform MFGRST information periodic inspections and replenish grease alarm numbers in the 7530s occurs replenish the grease and reset the replenished axis Belt When an alarm urging to perform MFBRST information periodic inspections and to replace the belt when it is damaged alarm numbers in the 7540s occurs replace the belt and reset the axis for which the belt is replaced These parameters cannot be read not to input all characters in the teaching box Reset information on all axes 1to8 Reset informat
177. me to choose an action for Driver Signing and install the USB driver 1 5 5 1 When using Windows 2000 When you connect the GOT and the computer by the USB cable installation starts and completes automatically 1 5 5 2 When using Windows XP 1 30 The following indicates the procedure for installing the USB driver when using Windows Professional Found New Hardware Wizard 1 The screen shown on the left appears when you connect the personal computer and GOT by the USB cable Windows will search for current and updated software by Choose Yes NOW and every time looking on your computer on the hardware installation CD or on con nect a d evice and cl ick the Next the Windows Update Web site with your permission Read our privacy policy button P Welcome to the Found New Hardware Wizard Can Windows connect to Windows Update to search for software Yes this time only C No not this time Click Next to continue 1 30 Found New Hardware Wizard 2 As the screen on the left appears EN oa select Install the software Hardware Wizard automatically Recommended then click the Next button This wizard helps you install software for MITSUBISHI GOT1000 USB Controller 8 If your hardware came with an installation CD 4E2 or floppy disk insert it now What do you want the wizard to do Install from a list or specific location Advanced Click Next to continue Hardware Installation
178. me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the hardware vendor for software that has passed Windows Logo testing Continue Anyway STOP Installation Hardware Update Wizard Completing the Hardware Update Wizard The wizard has finished installing the software for 2 MITSUBISHI Easysocket Driver Click Finish to close the wizard l Completed 1 5 4 3 When using Windows Vista 4 As the screen on the left appears click the Continue Anyway button to continue the installation of the USB driver No problem will occur after installation of the USB driver 5 The screen on the left appears to indicate completion of installation Click the Finish button to terminate installation The following indicates the procedure for installing the USB driver when using Windows Vista Business gt Found New Hardware Windows needs to install driver software for your Unknown Device Locate and install driver software recommended Windows will guide you through the process of installing driver software for your device Ask me again later Windows will ask again the next time you plug in your device or log on Don t show this message again for this device Your device will not function unti
179. mes are displayed If you place the mouse cursor on an option card name the information for that option card is displayed If no option card is mounted on the robot controller nothing is displayed i Monitor l ERE Maintenance 15 Board fii slot Ethernet 0 ex Backup IP Addr Em RC PortNo R time 10000 l Offline PorttHo0P711 19 H 10001 1 00021 0003 1 000447000547 00061 00071 000810009 8 Backup Connect Count OPT11 194 24040 000000 ES RCs MAC Addr El Offline HAW Wer 0 ea Backup Figure 11 1 Option Card Information 11 191 11 191 12 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 gt Personal computer computer Restore Transfers the backup data saved on the personal computer to the Personal computer gt Robot robot controller ZN Caution Precautions when executing a backup restore operation during the replacement of a controller CPU that supports Maintenance Forecast When executing a backup restore operation during the replacement of a controller CPU that supports Maintenance Forecast also perform the backup restore operation using the Maintenance Forecast tool After a backup operation is performed on a controller that supports Maintenance
180. n i in io fo jo 0000 Hex check box 31 Hi eee fC do Jo Olickon 1 1 14 check box Bit Forced Port Forced OUTRLT OUT RUT Figure 9 16 Forced Signal Output First read the signals you want to forcibly output You can output 32 signals at the same time Input the head number for the signals you want to read then click the Set button 2 The output statuses of the 32 signals started from the specified head signal number are displayed Set the output status then click the Bit Forced OUTPUT button 3 You can specify the hexadecimal value and force output for the 32 signals starting from the head signal number Input the values in hexadecimal then click Port Forced OUTPUT button N 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 Except an ALWAYS program 9 144 9 144 9 2 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
181. n hand open close status etc Destination position corresponds with RT ToolBox2 Ver1 1 or later From the project tree double click the target project Online gt Monitor gt Movement Monitor gt Movement Status Movement state RCZ RY 6B50L 1 Current 13 640 7 810 1555 950 0 000 0 050 150 150 0 000 0 000 O L B F J1 14 35 18 O o O O O o O T 9 138 deg mm Destination deg mm Destination Current 0 000 150 210 0 000 0 000 0 020 0 000 0 000 0 010 0 000 0 000 0 010 0 000 0 000 0 020 0 000 0 000 0 050 0 000 0 000 0 000 0 000 0 000 0 000 0 000 OM L B F J A Ela o o Machine lock CFF 0 O Servo ON OFF OFF 0 Figure 9 6 Movement Status Hand state Handi Hand 2 Hand Hand Hands Hand Hand Handa TCP speed Be mm sec 0 000 9 138 9 1 4 Errors The errors currently occurring in the robot controller are displayed 9 1 4 1 Referencing the current error From the project tree double click the target project Online gt Monitor gt Movement Monitor gt Error No Error message i Date Ti Programi 2000 The servo is OFF 08 01 08 VES gt Details History Figure 9 7 Error Screen Details You can check details cause and recovery method on errors History You can reference the history of errors that have occurred 9 1 4 2 Details You can check details cause and recovery method on errors On
182. n Detection Parameters 3 T You can reference explanations of displayed parameters by pressing the Explain button 8 125 8 125 8 18 Warm Up Operation Parameters You can set information related to the robot s warm up function Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Warm Up After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button EA Warm up operation 1 RC1 Robot 1 RV 650L Warm up operation mode ti JAENA Warm up operation mode target axis vYWUPATS Bi J2 J3 W J4 W J5 W J6 iF J C walid Warm up operation mode control time Warm up operation override fWvUPOVRD CATLIPT IME min 0 Valid time 1 00 Initial value 70 Resume time 60 00 atio of value constant time 50 Figure 8 34 Warm Up Operation Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 126 8 126 8 19 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 EE CRn 700 series CRn 500 series Maximum acceleration deceleration J2 edition or later correction ratio Compliance error function settings esp he weed wi
183. n again Switch the robot controller power Off then On again 12 Backup restore 1 Is it possible to edit a backed up program MB4 file with program editing It is not possible to open a backed up program MB4 file with program editing Restore the backed up program to a robot controller then open it with program editing or store it on the computer with program management 13 Other 1 Characters are displayed on the screen on top of each other or with some characters missing Is the font size in the computer screen settings something other than Standard Use this software with the font size set to Standard For Windows XP to make the screen settings click Control Panel Display Now from the Display Properties window Appearance tab set the font size with Font Size Display Properties Themes Desktop Screen Saver Appearance Settings Inactive Window _ _ oT E Active Window ia JE l Message Box Windows and buttons Windows lt P style Color scheme Default blue Fort SIZE 15 226 15 226 15 2 Index A ABS Origin Technique occcccocccccccccnconoccnconononnnnos 10 159 Additional Axis Parameters c oocccccccoccccocccocnnonoss 8 126 Assigning Dedicated Input Output Signals 8 117 Data parameters ccccccecccseecceeeceeeseesaeeeseeens 8 119 General 1 ParameterS occccoccnccccnccccnnconcncnocnnnn 8 117 General 2 ParameterS occcccccccccc
184. n application other than program editing of this software is running This software s tact time calculation has parts that are processed on the computer in the background For example if you are working running an application such as a Word document that is saved automatically it takes more time for the background processing for this software and sometimes the correct tact time is not calculated The tact time is increased When calculating the tact time with this software first close other applications Also on this software itself first close all the screens beside Program edit 2 This uses commands that depend on the robot main unit status and external equipment There is no connection with the robot main unit or external equipment in this software s tact time calculation Therefore commands that are executed communicating with that equipment are executed as if ideal information were sent from that equipment Therefore the calculated cycle time is shorter than the actual cycle time The commands to which this applies are shown in the following table Function Command Explanation completion wait reaches the target position CMPG Collision detection COLCHK COLLVL Monitors external force on the robot SERVO ON OFF Monitors the servo amp status For example if the servo On command is executed in the program the actual robot takes a few seconds but the simulation requires almost no time at all 500 ms or less In order cal
185. n s lt i gt Print t E document Online NUM Printer Name Properties Status Ready Type Where Comment Print to file Print range Copies le All Number of copies 11 f Pages from 1 ho HEHEHE x ise Figure 8 42 Parameter Printing A N Caution Install the printer beforehand Install the printer beforehand For details on the installation method for the printer refer to the operations manuals for your printer and computer 8 132 8 132 9 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 ooo Items related to the robot s operation are monitored 3 Servo MONI OF o oooccccnccnccnccnnnnncnnss The robot s servo system information is monitored Table 9 1 Summary of Each Monitor Monitormame_ Explanation Slot run state The operation state of each slot can be confirmed Program monitor The program execution line set for each slot the contents of the variable used in the program and the robot current position etc can be confirmed connected mechanism can be confirmed The history of the errors that have occurred can be confirmed General signals You can check the statuses of signals input to the robot control
186. n screen for the simulation is displayed on the screen Also the virtual controller for the simulation is automatically started up as an icon The simulation is run by this virtual controller The virtual controller ends automatically when the simulation ends Do not end the virtual controller manually 13 199 13 199 13 2 Explanation of the Simulation Operation Screen This is a simple explanation of the simulation operation screen 1 RO1 Simulation 1 Status T aE 4 Jog operation OVAL L FS 6 Step execution ee La 7 Continuous execution 5 Stop servo PRES tec anio Program Error a 9 Re S et 8 Servo On Off 10 Direct execution Figure 13 4 Simulation Operation Screen 1 Status This shows the task slot status for simulation 2 OVRD This displays and sets the robot speed override 3 Jump You can specify the line in the program to execute 4 Jog operation This conducts jog operations for the simulation robot When you click this button the jog operation screen is displayed 5 Stop When a program is running in a simulation this stops the program 6 Step execution This executes the specified program one line at a time 7 Continuous execution You can execute the stopped program again from the line on which is was during with a stop instruction or a breakpoint during program running 8 Servo On Off You can switch the simulation robot servo On Off 9 Reset You c
187. nccocnnconcncnacnnnns 8 117 Hand parade Susini 8 120 JOG parameters unica cr 8 119 Machine lock each robot parameters 8 122 Servo On Off each robot parameter 8 122 Slot start each slots parameters oooccccoocc 8 121 Slot stop each slots parameters 8 121 Warm up operation parameters ooocccoccnccncccc 8 120 B DA caia 12 197 10 7 95 13 208 C Collision Detection Parameters cccccoccccccnooc 8 127 Command template coocccccccccoccnconcncconnnnnon 7 84 Communications middleware 1 15 14 218 Communications Server Z ooocooooccncccnccncnnccnnononnnnnnos 2 38 computer CAD Ci esis ss ciao ce iias 1 16 Connecting with the RObDot ccccooccccccoccncccoccnnnno 5 52 Connection SettingS occcccocccncccccnncnoncnnonanonnnnos 5 53 CRnQ Communications Settings 5 57 RS 232 Communication Settings 5 56 TCP IP Ethernet Communication Settings 5 54 USB Communication Settings o o 5 54 Copy COpy POSITION data eects ceri iii ia 7 79 Edit assist functions sec acetic eats Beek 7 79 Copy position data calcetin Loins deci dee lei 7 79 A A A A 7 79 D Debugging Be aKkDO Masa 7 95 Ending CEDUGGING siii ciao nda cies 7 96 Starting debugging ooccccococoncconnnconannncnoncnncnanons 7 92 Direct ExecutiON cococccoccoconoconncnc
188. ne 6 Continuous Execution This executes the program continuously from the current line 7 Servo On Off You can switch the robot servo On Off 8 Reset You can reset the program and any errors that have occurred 9 Direct Execution You can execute any command without relationship to the robot program 1 92 7 92 7 9 3 Revising programs The command statements for a program that has been opened in debugging status can not be edited in the command edit area You can revise command statements from Edit on the menu bar Click on the menu bar Edit gt Edit Command line Online Insert Command line Online and Delete Command line Online Position variables can be edited as usual Edit Command line Online Insert Command line Online Delete Command line Online 1 Edit command line You can edit the contents of the specified command line Click the command line to be edited with the mouse click on the menu bar Edit gt Edit Command line Online The screen for editing the command line is displayed Edit Command line Online St ep 1 Woy pl canal Figure 7 44 Command Line Editing Online Revise the command line then click the OK button 2 Insert command line You can insert a command statement at the specified line Click the line at which the command statement is to be inserted with the mouse then click on the menu bar Edit gt Insert Command line Online The screen fo
189. ne then perform the operations Opening an existing workspace Saving the workspace with a different name Adding a project Changing a project name Deleting a project For details on switching offline see 4 14 Offline Online Simulation 4 42 4 42 4 2 Creating a New Workspace Click Workspace gt New Workspace or click EN Ctrl N Hew Workspace Workspace path C RT Toolbox Browse Update Workspace name Title name a care Figure 4 3 Creating a New Workspace Input the workspace name and title then click the OK button Hew Workspace Workspace path CRT ToolBox2 Browse Update RT ToolBox Factory Line 1 Online Workspace View Online Window Help Re a ar A Workspace name Factory Line 1 Title name Product AAA Line end pm sel Factory Lined RG Figure 4 4 Screen After New Workspace Created The project tree is displayed in the workspace and the RC1 project is created as the default value This project name can be change later For details see 4 10 Changing a Project Name AN Caution Workspace names Workspace names are used as folder names in Windows so you can not use characters that can not be used in Windows folders names lt gt Once a workspace has been created you can not change its name Be aware that once a workspace has been created you can not change its name To change
190. nfirm 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 MELFA RT Toolbox A Are vou sure you Want to delete registered general 1107 Mo Figure 9 19 Deletion Confirmation Message for Registered General Input Output Signal If you select Yes on this confirmation screen the Select locate screen asking you to select the load source is displayed C Robot controller cone _ Figure 9 20 Device Selection Select the device to load from then click the OK button If you select the local device the screen for selecting a file in the computer is displayed If you select the robot controller the named signal definition file is loaded from the robot controller 9 2 2 4 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 f Robot controller cone Figure 9 21 Device Selection Select the device to save to then click the OK button If you select the local device the screen for selecting a file in the computer is displayed If you select the robot controller the named signal definition file is saved to the robot controller 9 146 9 146 9 2 3 Stop signal You can reference the statuses of stop signals stop not stop input to the robot controller From
191. nformation to be edited and double click The screen for setting information for the additional axis is displayed Robot Additional Axis Settine a Designation robot AXMENO o SettingaxisNo AXINO O Untsystem AXUNT O Rotation direction AXSPOL 0 Acceleration time AXACC O2O Decelerationtime AXDEC 020 Total speed ratio numerator AXGRTN 1 Total speed ratio denominator AXGRTD 10 0 Rated speed AXMREV 2000 Maimumspeed AXIM 3000 Encoder resolution AXENCR 262144 JOG smoothening time constant AXJOGTS 150 00 e Close Figure 8 32 Additional Axis Parameter Setting Ok 8 124 8 124 8 17 Collision Detection Parameters You can set information related to the robot s collision detection functions Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Collision Detection After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button Collision Detection 1 RC1 Robot la 1 RY 6SOL Collision Detection CioL 1 The impact detection function During jog operation Can f Enable a Initial state at automatic operation Disable C Enable Disable f NOERR mode Detection lewel COLLWL Detection leveli OLLY LIG during jog operation 2o 2o ji 200 200 200 00 00 200 100 100 Figure 8 33 Collisio
192. noconocaniccnnnnns 13 209 Display area timado 1 72 DrOpdOWN MeEAUMAAk aves ca aos 2 35 E EMORAISO VS 9 142 EMO MON IO Adrian 9 141 Escape Point Parameters occoccccccncccnconccnncnnnnoss 8 124 Ethernet Settings oooccccconnocococonoccnconocanonnos 8 132 F Find Parameters c ccoocccoccoconcconncocnononocononncnonanonanenunnnnnnos 8 109 Program EIN o ad 7 80 EIA NCS 22 dato lin opta 7 81 FO reali 7 74 Forced output General signal cccococcncconcococonnncnnnconnnnanonoos 9 146 Register CC Link cocooocccccoccncococoncccoconoconos 9 153 Free Plane Limit Parameters c oocccocccncccccocncono 8 124 G General signal MONitOriNg ooccccooccncccocnnnnoncnnos 9 144 Forced OULU ia osas cs a ra eee 9 146 Pseudo PU aci ida 9 145 H Hand Parameters ooccoccccocccccnoconccncncnnnonanonanonunoss 8 112 I NTN ANIZ ATION ar A 10 161 Deletion of all robot programs ooccccoo 10 162 Initializing the battery remaining time 10 162 senal UMD usos Soe eae Setas e don cas hls 10 162 Setting the time in the robot controller 10 161 MM ali ul 1 19 J JOG OPEN a 13 210 JOO Parametros io 8 111 Joint position data editing cocoocccoocccnnocnnoocoo 7 84 Jump to specified line oooccccocnccccnncconnnnnos 7 82 M Mantenance ni iaa add 10 155 Maintenance Forecasting cccooccccoccccnocncnncnnnns 10 164 Mechanical stopper
193. not cut off Display that teaching work is underway During operation set up a fence or barrier to prevent contact between workers and the robot Setting up a safety fence Determine a uniform signal to relevant staff for the start of operation and use that signal Signal for the start of operation For maintenance work in principle cut off the power and label the start switch etc to indicate that maintenance work is underway Display that maintenance work is underway Before starting work check the robot emergency stop switches related devices etc and make sure there are no abnormalities Check before the start of work B This shows precaution points given in the separate Safety Manual For details please read the text of the Safety Manual caution caution caution caution caution Ni caution Nwarning N warning Niaution Nwarning Ntcaution Nicaution caution Use the robot in an environment that is within the range of its specifications Failure 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 Failure to do this can cause a drop in reliability and breakdown Install the robot on a solid platform If the robot is in an unstable posture this can cause positional deviation and vibration As much as possible wire cables away
194. nr nnn rn nnnr rn nene nnne nn rnan rca 1 19 1 5 1 A A A a 1 19 1 5 2 A A A A ATEA 1 22 10 3 USB driver CRnD 700 series robot controller installation ooococcoonnncnooccnnonooos 1 23 1 5 4 CRnQ communications USB driver installatiON ccccoonccncoconnnnonononcnnanennnnonennnnnanonoss 1 25 1 5 5 CRnQ Communications USB driver for GOT transparent installation 1 30 1 6 When Starting at the Same Time as Another Product cccccooccncccoccnccccncncononcnnnnnnnnnonnnnononnncnnonanons 1 32 2 RI ToolBox2 Usage 2 33 Dlg e A 2 33 2 2 Explanation of RT ToolBox2 Screens oiin a a ia 2 34 2 92 AGOMMUMIGATIONS liceo 2 38 24A IN A E IE 2 39 3 Basic Functions 3 40 4 Workspaces and Projects 4 41 Ay VVORKSPACCS and IPTOJCCIS un oa 4 41 42 Creating a New Workspace tai ao ici 4 43 4 3 Opening an Existing WORKSPaGe ii ica see iease ia ca 4 44 14 Closing a WorkSpace iii id a a dba 4 44 45 Deletingia WOrKSPace inris a a a a a a a 4 45 ADs SAVING A VVOIKSD ACC neseni a eae a di aa a Paes 4 45 4 7 Changing a Workspace Name occcoonnccconncccccocnncccocnonoconcnnnnnnnnnnononnnnonnnnnnnnnnnnnnannnnonannnnnnnnnnnnnnanss 4 46 48 C hanging a Workspace Tithe iiciin i Ea a id 4 46 A Adding ARTOJ EC hein e ad dic 4 47 4 10 Changing a Project AME dao alioli 4 48 dli SO 4 48 412 Contents of Project Troe e disco 4 49 4 13 Copying Programs Between Projects cccc
195. nt position display and the jog operation button display for each axis use the method selected here Also these displays depend on the axis configuration of the connected robot When Joint When XYZ XYZ Figure 13 13 Screens for Jog Operation with Different Move Methods Selected 13 206 13 206 4 Distance setting for moving This selects the robot move distance The robot move distances are off High and Low For a detailed explanation of the move distance see Detailed Explanation of Functions and Operations in the robot controller s user s manual 5 Robot current position This displays the current robot position 6 Jog operations on each axis This conducts jog operations on each robot axis EN Moves the selected robot axis in the direction Moves the selected robot axis in the direction These buttons move the robot while the mouse button is held down 13 11 Simulation Robot Position Variable Editing You can edit position variables by moving the simulation robot and reading the position variables from the simulation robot posture Move the robot to the target position with jog operations Click the Add button or Change button for position variables in a program opened in debugging status to display the position edit screen then click the Read current position button You can read in the current position of the simulation robot 13 207 13 207 13 12 Tact Time Calculation You
196. nt setting and deleting operations with tool bar buttons This deletes the breakpoint at the This deletes the breakpoint at the command line under the mouse cursor command line under the mouse cursor 25 Y Figure 7 49 Setting Deleting a Breakpoint with theToolbar 7 9 5 Ending debugging To end debugging close the program with the Ed button at the top right of the edit screen for the program opened in debugging status This closes the program opened in debugging status Program 1 RC1 1 r Online MELFA BASIC Y AE Figure 7 50 Closing a Program Opened in Debug Status At this time if the program has been changed a confirmation message is displayed asking if you want to save the changed contents MELFA RT ToolBox A re you sure vou wank to sawe changes to 1 Yes No Cancel Figure 7 51 Confirmation Message for Saving the Changed Contents Here if you select No the changed contents are all thrown out To put the changed contents into effect always select Yes 7 95 7 95 7 10 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 so select Manage Programs The manage programs screen is displayed Program Manager Workspace E Factory Lined Destination 2B RCI AAA Sa Offline Onl
197. nufacturing line and installation location 1 Using multiple robot controllers up to 32 RT ToolBox2 Workspace You can reference Project Project Project the information for 1 2 nT 32 multiple controllers at the same time aami E YOU cam CONNEC multiple ds Communication e Communication controllers at the same time Me y Md ivg d t re k F k k F T y Figure 4 1 Using Multiple Robot Controllers wy y 2 Using 1 robot controller RT ToolBox2 Workspace 1 Communication a y u q e MA f Figure 4 2 Using One Robot Controller N Caution You cannot edit multiple workspaces at the same time With this software you cannot edit multiple workspaces at the same time Register into 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 It does not guarantee that if you actually connect 32 robots you will achieve the same performance as when only 1 robot is connected For example if you monitor all the robots when 32 are connected status updating is slower than for when 1 robot is connected Workspace editing and storage and project addition etc are explained from the next section on 4 41 4 41 A N Caution Update workspaces and projects offline In the online status or while a simulation is running you can not perform the following operations Switch offli
198. o K4 are not available Moreover This function cannot be used for the RH AH series robot 10 168 10 4 2 Starting Use the position repair function while connected to the robot controller From the project tree double click the target project Online Maintenance Position repair Workspace Factory Line a Ro EE Offline E Online Riv G5G1L El Program H E Parameter El Monitor 2 8 Maintenance ES Origin Data ASB Initialize 10 169 HE Maintenance Forecast ES Position repair ee Servo Figure 10 20 Starting Position Repair Position repair 1 RC1 If Position Repair Support Tool generates revision parameters and writes to the robot controller the former position data can be used The gap of the positions generated by interterence or maintenance can be repaired by re teaching only several points However please Understand beforehand that it may be unable to repair when the robot application needs accuracy or the mechanical damage of the robot at the time of interference le serous lt Ayailable robot model Vertical 6 axis robot controller Sv er 2 or later Vertical 5 asis robot controller S A verk or later Horizontal 4 a 12 robot controller 5 44 Wer K4 or later Only revision of the origin data it available if the vertical 5 axis or b axis robot is used and the controller 5 44 version is older than above mentioned Moreover only RH SH Series is available in the hori
199. o display list select the variables to monitor then click the Add gt button The selected variables are added to the variables to display list If you select variables from the variables to display list then click the lt Delete button the selected variables are deleted from the variables to display list and added to the variables not to display list When you click the OK button the variables registered in the variables to display list are displayed on the variables monitor and you can reference their values 6 Deleting variables This deletes variables registered on the variables monitor from the monitor list This operation does not delete the variables themselves from the program 9 136 9 136 7 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 Edit Position data x Robot LURV 65QL Get current position a lt i 4 lt l lt l 4 Change value of variable x Edit FLG1 Edit FLG2 x xl Variable name Value of variable O canal cra Figure 9 5 Changing Variable Values After confirming the variable name input the value of the variable then click the OK button AN 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
200. obot Page Setup Edit Unido Ctrl Undo Position variable Gut Ctrl Copy tri Paste Ctrl Copy Position variable Paste Position variable Find Ctr l F Find in Files Replace Ctr l H Jump Partial Transmission 7 69 with its current name Save As gt Saves the program being edited PC with its current name on the PC Save As gt Saves the program being edited Robot with its current name on Robot controller program is printed with and return to the previous state Undo Cancel the edition by the position Position variable and return to the previous variable state Cut Cuts a character string from the command being edited command being edited Paste Pastes the copied or cut character 7 6 4 3 string to the specified location Copy Copies position data 7 6 4 4 Position variable Position data variable character string Find in Files This searches for the specified 1 6 4 7 character string in the program files Replace This replaces the specified 7 6 4 8 character string with another character string number or label Partial Writes the selected program lines 7 6 4 10 transmission to the robot controller This can not be used when the program is opened in debugging status Edit Edit the command lines for a 7 9 3 Command program pened in debugging line Online status Insert Insert the command lines for a Command program opened in debugging line
201. og displays nothing 7 99 7 99 7 11 Program Conversion You can convert existing robot programs written in a different program language into the currently set program language Table 7 3 Combination list of program conversion The position data is converted EN ME rarer ett MEE ROC erie ne If MELFA BASIC V is chosen for the target the lines No are also converted in MELFA BASIC lll MELFA BASIC V o addition to this conversion MELFA BASIC IV MELFA BASIC V The lines No are converted 4 MOVEMASTER command MOVEMASTER command The position data is converted CR 116 356 CRn 500 700 There are the following two types of conversion For details see 7 11 2 Line number conversion from MELFA BASIC IV to MELFA BASIC V 7 11 3 Position data conversion from E EN M1 M2 series to CRn 500 700 series 1 Conversion of the lines No Convert the line No and relevant command line because the deal of line No in MELFA BASIC IV is different from MELFA BASIC V 2 Conversion of the position data Convert the format of position data and relevant command because the configuration of the E EN M1 M2 E EN M1 M2 series controller s position data is different from the CRn 500 700 series controller s N Caution Only programs on the computer can be converted Program conversion is only possible for programs on the computer It is not possible to directly convert a program on a controller or on a virtual controller with
202. olding down the Ctrl key or the Shift key on the keyboard However you cannot select XYZ position variables and joint position variables at the same time A N 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 with O for all their components 7 6 4 Edit assist functions This explains the edit assist functions which help in command editing Edit assist functions such as copy cut find find and replace and jump are used from Edit and Tool on the menu bar 7 6 4 1 Copy Copies a character string in the command being edited You can also copy multiple lines After selecting the character string to be copied click on the menu bar Edit gt Copy You can use the paste function explained below to paste this copied character string to another location in the program For details on position data copying see 7 6 4 4 Copy position data 7 6 4 2 Cut Cuts a character string from the command being edited You can also cut multiple lines After selecting the character string to be cut click on the menu bar Edit gt Cut You can use the paste function explained below to paste this cut character string to another location in the program 7 6 4 3 Paste Pastes the copied or
203. ommunication route setting of MNET 10 and 6 Coexistence network route setting of C24 can not be set 5 58 5 58 5 2 4 3 When NET 10 H is selected When NET 10 is selected as the computer interface the communications routes that you can select are as follows Table 5 6 Communications Routes That Can Be Selected for NET 10 H NET 10 board communication Other station access through NET 10 H unit NET 10 board communication NET 10 H through NET 10 H unit CC Link other station access NET 10 H board communication NET 10 H through NET 10 H unit Serial communication other station access MWET LOCHY board communication Access MMNET 10 H CC Link other station via MNET 1O0H module PC side IF MNETAO H board setting Connected board NET 10 board Module Mo 1st module 2IPLC side setting of MNET 1O0H module Connected module WET 10fH module 3 Target CPU y pt Check at communication tine FER i gt 3 4 Non choice 1 ko 99997 iSiNetwork communication route setting of MMETI1O 6 Coexistence network route setting of CC Link Network Mo 1 1to 239 Head 1 0 which is channel origin O Oto FFO ahead Cancel NET 10 H through NET 10 H Unit CC Link Other Station Access Detailed Settings Figure 5 8 NET 10 H NET 10 H Board Communication For some communications routes that you can select 5 Network communication route setting of MNET 10 and 6 Coexistence network route setting of C
204. omputer Save This saves the information on the set named signals to the robot controller or computer Delete signal file in robot This deletes the named signal information in the robot controller 9 2 2 1 Adding new named signal or revising one To add a new named signal click the Add button and click the Edit button Signal name edit Start E End E Signal name Signal 6 Input View f Binary C Output f Hexadecimal C Decimal Signed Decimal Unsighed Change Figure 9 18 Signal Name Editing To revise one select the signal to be revised from the list Input the general signal numbers and names select the signal type and display method then when adding a new named signal click the Add button The set signal is added to the list The Add and Change buttons do not close the Signal name edit screen so you can continue to add more signals 9 145 9 145 9 2 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 can not be deleted Also you can not delete input signals and output signals at the same time Finally delete the select signals in the list with a mouse click 9 2 2 3 Named signal definition information reading When you click the Load button a message asking you to co
205. on when the power of controller has been turned on and the communication server le connecting Reset the power supply controller again Othenvise if re teach working i continued To validate the written parameter turn on the power of the robot AN connate sga It cannot calculate correctly Back H E Cancel Figure 10 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 10 187 10 187 10 4 15 Exit Position repair 1 RC1 Make sure to check before exit this function T Make sure to check whether itis satishactory to all position data before exit this function Revision parameter is effective in all the position data in the controller Back up parameter A eVvision parameters were changed To save the parameter is recommended Back up Return to re teach Figure 10 34 Finish Window After Re teaching When the writing of revision parameters is done operation of this function is complete A N Caution Perform an operation check before exit this function Before exit this window make sure that all position data works properly If revision is not correct click the Return to re teach button to continue re teaching However if you exited from Edit revision parameters window Return to re teach button will not be shown AN Caution Back up the parameters This Function has c
206. on NET 10 H through serial communication CCLink other station access Serial communication CCLink through serial communication NET 10 H other station access Serial communication CCLink through serial communication Ethernet other station access Serial communication Ethernet through serial communication serial communication other station access had Serial communication NET 10 H other station access through NET 10 H remote Serial communication Serial communication through NET 10 H remote Ethernet other station access Serial communication NET 10 H through NET 10 H remote Serial communication other station access Serial communication NET 10 H through NET 10 H remote CC Link other station access Serial communication CC Link through NET 10 H remote NET 10 H other station access Serial communication CC Link through NET 10 H remote Ethernet other station access Serial communication Ethernet through NET 10 H remote Serial communication other station access Serial communication Ethernet through NET 10 H remote CC Link other station access Detail Serial port Access MNET 10 H serial communication other station via PLC module UPC side I F Serial Setting CoM comi ka Baud 19 2kKbps 2IPLE side 1 F setting of PLO module Connected module QnMationCPU hal via GOT Bus transparent mode wia GOT direct coupled transparent mode Target CPU 4 Check at communication time FET a o e
207. on the screen to the robot controller Save to file The displayed origin data can be saved to a file Read from a file Stored origin data can be read from a file and displayed on the screen Refresh Reads the origin data from a robot controller and displays the latest status AN Caution Input the correct values for theJ 7 and 8 origin data For the J1 J6 axis origin data the compatibility of values in the robot controller are checked but the J7 and J8 origin data are not checked Always input correct values The J7 and J8 axis origin data is only displayed when there is a supported additional axis Memo About D NT 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 About D NT parameter display Sometimes DJNT parameters are not displayed for certain robots for example robots that do not support the position repair function 10 154 10 154 10 1 2 Mechanical stopper technique This uses the robot mechanical stoppers to set the robot origin Click the origin data screen Mechanical stopper button to display the screen After moving the robot to a mechanical stopper origin
208. oncnccconnnnconaconononnnnnnnos 8 109 8 3 Operating Range Parameters i 0 000 cccescecscceseechcwtsecedeneenccdsnececesaewsccedanececvesceseseecieetenediosesseceos 8 110 Ox JO al aMMa aa a cance a enauate ce Sete eee ae ee camenae eae ae em aweamnataaae ce aie 8 110 80 Manda Paha Mele Scars A ea a aaieann wa ccaan ee E 8 111 8 6 Weight and Size Parametets sa A A aceemesee eee 8 112 lo TOO PAPA lers o art aa ree od eel a e a e e 8 113 A A a ala ueaauenamt fous etd a dae adits 8 114 8 9 Output Signal Reset Pattern Parameters ooocccccooncncccoccnncconcnncnnnnncononennnnnncnnnonannnnnnanrnnonancnnnnnas 8 115 8 10 Assigning Dedicated Input Output Signals oooncccccccncncononnnnconnonconononnonnncnnnnnanonconanenonnncnnnonos 8 116 8 10 1 General 1 Parameters ccccccccccsssececcesseecceseeeceeusecseaseeecsaeeecseeeecseaeeeessageeessegeeesseneesses 8 116 8 10 2 General 2 paramMeters cccoonncoccnncoccnoneconnnonnnonnnnnononononannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnananenanos 8 116 8 10 3 Data parameters iaa is 8 117 8 10 4 Jog paramMeters ccoonnccconnnccconncconnconononcnnnnonnoconannnnnnnnrnnnnnnnnnnnnnnnrnnnnrrnannnrnnnnrnnnnnrnnnnrnananinnns 8 117 IS Hand parameters nisnin a a a a 8 118 8 10 6 Warm up Operation paraMeters cccooccccncnccccncccnconcnconnnonnncnnononncnnnnnnnnnnnnnnnnnnnnonnnnnnrnnnnninnninos 8 118 8 10 7 Slot start each slots parameters ooooccccocnncncoconcnnccnncnconon
209. onnononcnnonnnnononnnnnnnnnnrnnonnnrnnnnnarennos 8 119 8 10 8 Slot stop each slots paraMeterS oooocccconncococonconcconcnnconononnononnnnononcnnnnnnrnnonanennononrnnnnnanenoss 8 119 8 10 9 Servo On Off each robot parameter ococoonnnnccconcnccconcnnconoconcnnoncnnnnnnnnnonancnnononcnnnonancnnonanens 8 120 8 10 10 Machine lock each robot parameters coonccncconcoccconcnncononcnnnnnnconononnncononnnnononcnnonnancnnonanens 8 120 ST R9292 SCD ParametelS rt ada 8 121 o2 PONS Fa ame S ana rada 8 121 G3 Free Plane Limit Parameters csie pr aaan ai 8 122 8 14 Escape Point Parameters siea a i adnan a a Ea a a anarai 8 122 8 15 Robot Program Language Parametelrs ccccccccsseccseececseccceseeceseeceeceessaseeseesessueseneuesenaees 8 123 6 16 AGaWOnal AXIS Paramete Sia iota ean evanescence aes 8 124 8 17 Collision Detection Parameters ia di 8 125 8 18 Warm Up Operation Parameters ccccoccncccccnccccnccconcncconcnononnnononnnononnnonnnnnnnnnnnnnnnnnnnnnnnnnnnonannnnnnnos 8 126 6 19 Movement Parameters o ee do cee 8 127 8 20 Program Paramete S usada adas 8 128 6 21 User Error PAM e o a 8 129 9 22 Ememet osos aa li een Gases 8 130 8 23 Multiple CPU SENINGS load 8 131 9 24 Parameter PAI ect aaa 8 132 9 Status Monitoring 9 133 9 1 Robot Operation Monitoring sia AAA AAA AAA 9 134 9 1 1 Slot operation statusmonitarinQ oooccccococcnnccnoncnconononononcnnnnnncnnnnnnnnnnonnnrnnononrnnnnarnnnonanenoss 9
210. ons that require high precision 10 174 10 174 10 4 9 Program reading and backing up Position repair 1 RC1 Mex Target robot 1 A 650 The following robot program is used for re teach work 1 PRG Do pon want to back up the program Back up Recommended E Cancel Figure 10 26 Read and Backup P m Window To backup a program click Backup The special screen for backup starts For details on backups see 12 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 When the preparations are complete click the Next button Memo Robot Program Backup During its operation this software may overwrite robot controller program position data It is recommended that the program be backed up at this point to allow the controller to revert to the original program 10 175 10 175 10 4 10 Tool setting check Position repair 1 RC1 Target robot 1 Aw 650 Set up the tool data used by teaching with a teaching box The tool data selected now is displayed in red Tool data list Parameter Outine x v z a e cl MESTL Standar 000 aoo ooo ooo oon MEXTLI Tooli ao 000 000 ooo ooo 000 MEXTL2 Tool2 000 ooo ooo ooo OOO 000 MEXTL3 Tool 3 000 ooo ooo ooo 000 000 MEXTL4 Tool 4 ooo ooo ooo ooo ooo 000 Renew list lt Back Cancel Figure 10 27 Check of Setting Tool Window Parameter values set in the p
211. parameters in the robot controller by clicking the Write button Ei Zone 1 RC1 Sle Zonel Type SREA1AT Position 4REA1P 1 Position 4REA1P2 4 memn deg mm deg J o oo x ao Signal USRARES 0 00 o 0 00 Start 1 End Jl 0 00 Z 0 00 260 00 A 380 00 f Pone Signal Error Setting 360 00 al 360 00 J 360 00 E 360 00 Robot No ARES 1ME 0 00 L1 0 00 Las 0 00 L2 0 00 RNE T Teaching Teaching Explain Write Figure 8 27 Zone Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 121 8 121 8 13 Free Plane Limit Parameters You can set the overrun limit for using the robot on a free plane Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Free Plane Limit After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button e Free plane limit 1 RG1 Free plane limiti gt attribute SFCLAT le OFF C ON nside ON Outside Position SFC1P 1 Position Teaching alas Robot SFC1ME 1 RY 65QL a SFCIP 2 Position SFC1P 3 Figure 8 28 Free plane limit parameter You can reference explanations of displayed parameters by pressing the Explain button 8 14 Escape Point Parameters Set the position of the escape point Set param
212. points e Revised Horizo No Item Description Parameter Vertical Vertical ntal 6 axis 5 axis 4 axis robot robot robot Rectifies origin data when joint axis moves or when Origin data motor is replaced Revision Parameter Prorat Specify the target axes using the check boxes Y Origin data k hd oe ee points points joint axis The number of teaching points is different according Lord to how the axis was specified Rectifies attachment error when robot tool is exchanged In addition rectifies tool data error when Tool data the tool is transformed due to interference between Revision Parameter exchange robot and peripheral devices Origin data nin 1 point 3 to 4 points a 4 Vertical 5 axis robot o en Only Z element of position data is corrected Rectifies base data of robot position setup when the robot is transferred to another location Base Data Transfer Vertical 5 axis robot J H 6 points the robot Only X Y Z elements of position data are M Tool data points points corrected V Base data When robot is exchanged with the tools on rectifies origin data error and base data of robot position Base data setup Origin data Only for horizontal 4 axis robot attachment error is also rectified Tool data Origin data J1 is included in base data only Vertical 5 axis robot As to base data only X Y Z elements are A 10 to th Tool data e robot Horizontal 4 axis robot
213. position select the axis to set the origin for with the checkbox then click the Set origin button Last displays the origin setting technique used the previous time For some robot controller software versions this is sometimes not displayed Set origin Mechanical stopper Roboti 1 RY BSOL Origin data Setting origin mm deg le 171 50 J1 T2 95 00 J2 Ja 169 00 Ja J4 161 00 J4 Set origin date 123 00 J5 16 0 00 J Jpn 0 00 Mot set di Ja 0 00 Mot set Ja Mot set Figure 10 4 Origin Setting Mechanical Stopper Screen 10 1 3 Tool technique 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 then click the Set origin button Last displays the origin setting technique used the previous time For some robot controller software versions this is sometimes not displayed Set origin Tool Roboti IRSE Origin data Last setting origin mm deg State dle 0 00 Ji El P 83 00 J2 El 33 158 00 13 4 0 00 J4 Set origin B 4 00 15 das 0 00 J6 IF 0 00 Not set I7 E set JS 0 00 Mot set Ja Mot set Figure 10 5 Origin Setting Tool Technique 10 155 10 155 10 1 4 ABS origin technique This uses the robot s ABS origin position robot to set the robot origin Click the origin data screen ABS bu
214. puter 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 this causes an error In this case it is necessary to change the program name in the controller Reserved terms are special character strings that the Windows system uses and therefore can not be used as file names These reserved terms are character strings such as the following AUX COM1 to COM9 CON LPT1 to 9 NUL PRN Tak Writing a New Program 7 1 1 Writing a new program on the computer For the new program you are going to write select Offline gt Program then click the right mouse button The right button menu is displayed so click New Hew Robot program Program path Workspace E Factory Linet Update EY Ro gt E Offline Robot program RBS En Geen Ea Onin MIC eF Back Program Manager pa Roa Program Convert Te act Robot program Cancel Figure 7 1 Writing a New Program on the Computer Input the robot program name then click the OK button ZN Caution Folder in which programs are stored Programs on the computer are managed in units of workspace projects The folder they are stored into is workspace writing folder project name Program To store into any other folder first store in this folder then copy into the desired folder with the program management copy function 7 64 7 64 7 1 2 Wr
215. puter Control Panel Network Settings For details on the network settings please consult with your network administrator Is the robot controller s IP address set Correctly set the IP address of the robot controller correctly in the communications settings connected to 15 222 15 222 6 Communications USB If you can not communicate with the robot controller using USB check the following Also see 3 Communications general Check item or cause Solution What color is Communications Server 2 The problem may be that the robot Return Communications Server 2 to icon controller is not connected correctly status and check the color displayed for the Red Check the items in 1 When line state Communications Server 2 is red 0 1 Communication Server2 k RS 232 The problem may be that the robot controller and the computer have different communications settings See 3 Communications general See 3 Communications general Light Check the items in 2 When Ae Communications Server 2 is light blue USB Line State Communication State G reen Robot 1 When Communications Server 2 is red USB If Communications Server 2 is displayed red with communications with the robot controller set to USB check the following Check item or cause Solution In the communications settings for this Change the communications method to USB software is the communications method set to TCP IP
216. r in this Check the contents of the communications error and software close the communications error window Is a simulation underway End the simulation Note Only the standard edition has the simulation function Is the screen server running on the End the computer s screen server computer Is the computer s hard disk is power save End computer hard disk power save mode setting mode 8 Communications with the robot controller are cut off mid way through If you can not communicate with the robot controller check the following Check item or cause Is the screen saver set hard disk power off If any of these functions are running they may cause a set system standby set or system communications time out so do not use any of these shut down set functions Is some other product running that uses A computer communications port can not be opened for communications two applications so either close the other application or Or is any permanent resident software change the port that this software uses running that uses communications 4 Communications RS 232 If you can not communicate with the robot controller using RS 232 check the following Also see 3 Communications general Solution What color is Communications Server 2 The problem may be that the robot controller Return Communications Server 2 to icon is not connected correctly Check the items in status and check the color displa
217. r inserting the command line is displayed Insert Command line Online Insert at a front of step 1 ance Figure 7 45 Command Line Insertion Online 3 Delete command line You can delete the specified command line Click the line at the line with the command statement to be deleted with the mouse then click on the menu bar Edit gt Delete Command line Online The confirmation screen for the command line deletion is displayed MELFA RT Toolbox A 4re you sure vou wank to delete selected line Moa Figure 7 46 Confirming Command Line Deletion 7 93 7 93 4 Edit position variables For details on the method for editing the position variable 7 6 3 Position variable editing A N 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 result in a collision This is particularly dangerous during robot operation so check carefully before changing the value of a parameter AN Caution Partial writing can not be performed while editing a program in debugging status 7 9 4 Setting and deleting breakpoints You can set a breakpoint in a program that has been opened in debugging status If you set a breakpoint when you open the program in debugging status you can stop the program at the line while executing the Continuous execution After stops you can execute the program continuously Brea
218. ramming mistake or the like Set up the safety fence in such a way that while the equipment is running on automatic either the safety fence door is locked or if anyone tries to open the door the robot is stopped Failure to take these protective measures can cause an accident resulting in injury Niaution Nwarning caution caution caution Never on your own judgment make an alterations or use maintenance parts other than those designated Doing so can cause breakdown and problems When moving the robot arm from the outside never stick a hand or finger into an opening Depending on the posture the hand or finger could get caught in the equipment Do not switch the robot Off or make an emergency stop of the robot by switching Off the robot controller s main power supply If the robot controller s main power supply is switched Off during automatic operation this can reduce the robot s precision It could also cause the arm to fall or allow inertia to result in collisions with peripheral device or the like When rewriting a program parameters or other internal information within the robot s controller do not switch Off the robot controller s main power supply If the robot controller s main power supply is switched Off during automatic operation or while a program or parameter is being rewritten there is a danger of the internal information in the robot controller being destroyed For using RH 5AH 10AH 15AH series
219. re teaching as a robot program with positions only Position data will be values converted by the revision parameters Revision parameters and their values generated by re teaching are displayed Click Next button to write the parameters into the robot controller A N Caution If revision parameters could not be generated If revision parameters could not be generated parameters are not displayed in the list If you click the Next button position data used in re teaching is written into the robot controller Since parameters are not generated position data will not be converted Parameters may not be generated under the following conditions When one of the specified re teaching positions is of a significantly low precision When one of the original position data is of a significantly low precision When the difference between the original position data and the re teaching position is too large When tool data or base data was changed during re teaching Clicking the Back button and redoing a part of the re teaching may generate revision parameters Please delete the re teaching information for the position data that meets one of the criteria mentioned above and perform re teaching again 10 186 10 186 10 4 14 Controller power supply Off On Position repair 1 RC1 Revision parameters were written to the controller To validate changed parameter re start turn OFF gt ON the robot controller Click Nest butt
220. ree double click the target project Maintenance Initialize i Initialize 1 RG1 Time in the RC 2008 01 08 14 21 38 Vi or ks p ace Program eel Factory Lined Erase all programs in the RC a RCI The program will be initialized even if Initialize Ei Offline the program protection or variable protection is set to ON Online Ry ASOL Battery remaining time Program Please initialize the battery remaining time always after changing the battery Parameter The RC warns when the battery is spent Initialize This time can be checked Operation hours monitor Monitor Maintenance Origin Data Initialize is Maintenance Forecast 44 Position repair Serve Serial number Please set the serial number of the allocated robot of each robot This function is used to identify the robot Figure 10 9 Starting Initialization Screen 10 2 2 Setting the time in the robot controller You can set the robot controller clock On the initialization screen click the Set time button Set time 2008 01 08 14 24 25 gt OE Cancel Figure 10 10 Time Setting Screen Set the new date and time then click the OK button You can set the current date and time from your computer by clicking the Get PC time button 10 158 10 158 10 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
221. resent robot controller for tool data are displayed The row for the tool selected by the tool number MEXTLNO is highlighted in red Please check if the tool data and tool number used during teaching is set If necessary change the value from parameter setting in teaching box Click Renew List to update the contents of the display If the CRn 500 series robot controller s version is older than J2 only the standard tool MEXTL will be displayed Click Next when ready to proceed ZN Caution Do not change tool data or base data After this window do not change tool data or base data If they are changed during re teaching operation re teach calculation cannot be done correctly When correcting tool data if teaching was performed switching back and forth between multiple tools perform re teaching operation for each tool 10 176 10 176 10 4 11 Revision parameter selection Position repair 1 RC1 Mex Target robot 1 A4 65L select revision parameter Details Error of joint axis E When the joint ases shifts or the motor is exchanged About 1 6 points the origin data is rectified Specify the targeted axes C Tool exchange or modified Origin dataj 3 6 pointa C Transfer the robot 6 points C Exchange the robot 10 17 points f Select all 13 16 points f Select arbitrarily Revision Parameter i Origin data Bl Mle Me Me Mls ME Tool data Base data Use the posture elemen
222. routes that you can select 5 Network communication route setting of MNET 10 and 6 Coexistence network route setting of C24 can not be set 9 61 9 61 5 2 4 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 5 9 Communication Route That Can Be Selected with the Q Series Bus Communications Route Q bus communications CPU unit connection Detail O Series bus CPU module connected HPC Side LF setting of Q Series bus Q Series bus lt f2 PLC side LF setting of PLC module Connected module QnMationCPU hal 3 Target CPU f4 Check at communication time 133393 io se 1 gt 4 Non choice 1 to 9999 Cancel Figure 5 11 Q Series Bus Q Bus Communications CPU Unit Connection Detailed Settings 9 62 9 62 6 Robot Program Language Setting This switches the robot program language used The languages you can switch to are as follows Table 6 1 Robot Program Languages for Each Controller Robot program language Robot controller MELFA BASIC V MELFA BASIC Iv Movemaster The Movemaster commands are restricted by the robot models that can be used Before trying to use Movemaster commands check in the Standard Specifications that the model you are using supports Movemaster commands Also this software allows you to select Movemaster commands for CRnD 700 series and CRnQ 700 series ro
223. rt RT ToolBox2 Communications Server 2 is started up as an icon This Communications Server 2 has functions for connecting with a robot controller or during a simulation a virtual controller F start e E Ei RT ToolBox Figure 2 5 Communications Server 2 as Icon ZN Caution Do not close Communication Server 2 manually Communication Server 2 has functions for connecting to a robot controller or during simulation a virtual controller Do not close Communication Server 2 Communication Server 2 closes automatically when RT ToolBox2 is closed Turn Communication Server 2 into an icon Turn Communication Server 2 into an icon with the a button When you return Communications Server 2 from an icon to its original size you can check the status of the connection with the robot 1 Title bar 2 Line State EEk 1 1 Communication Server Y Line State Communication 3 Communication Tf State 5 Robot State Robot Information 4 Robot controller Figure 2 6 Communication Server2 1 Title bar AA BB AA shows the number of robot controllers with which connections are established and BB shows the number of projects switched online 2 Line State The connection status of the communication line with the robot is displayed The status color indicates the status of the robot controller that is currently being selected Table 2 1 Line State Indicates that the connection with the robot has been e
224. running Close any MELFA product other than this software For example is E EN series computer For details see 1 6 When Starting at the Same Time support software or P P or P P 2 running as Another Product 15 218 15 218 Check item or cause Solution What color is Communications Server 2 The problem may be that the robot controller Return Communications Server 2 to icon Red is not connected correctly Check the items status and check the color displays for the in 4 When Communications Server 2 is line state red overall The problem may be that the robot controller meee and the computer have different See nee Green communications settings Check the items ae in 5 When Communications Server 2 is green overall Check the items in 6 When Yellow Communications Server 2 is yellow overall Licht Check the items in 7 When e Communications Server 2 is light blue overall 0 1 Communication Server2 4 When Communications Server 2 is red overall When Communications Server 2 is displayed red check the following Check item or cause Solution Is the communications cable connected Connect the cable correctly correctly Are you using the correct communication Check the communication cable specifications cable Be careful RS 232 cables and Ethernet cables can be either cross cables or straight cables For the cable specifications check your robot s Standard Specific
225. sage WER 1 a 99010 message E El Double click Error number SERA Input from O to 128 characters 10 qa message 12 99010 message CALSE message message Error message Cause alse treat Method of recovery cose Figure 8 38 User Error Edit Input the error number error message cause and recovery method then click the OK button The user errors input to the list are displayed At this time input an error number from 9000 9200 After you confirm the parameter value you can rewrite the parameters in the robot controller by clicking the Write button Please note that the list display is not sorted by error number You can reference explanations of displayed parameters by pressing the Explain button 8 129 8 129 8 22 Ethernet Settings You can set robot controller Ethernet information Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Ethernet Settings After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button BE Ethernet Setting 1 RC1 E JE Line and Device Device List comi R5232 y Device IP Address Packet Type Come 192 168 0 2 10001 192 168 0 3 10002 Coma 192 168 0 4 10003 COMA 192 168 0 5 10004 192 168 0 6 10005 COMS 192 168 0 7 10006 COME 192 168 0 8 10007 192 168 0 9 10008 CON 192 168 0 10 10009
226. sary 10 Maintenance With maintenance you can maintain the robot in various ways including setting origin data and initializing various information 10 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 From the project tree double click the target project Online Maintenance Origin Data Wor ks pace ae Factory Lined 4 Ro Ei Offline fej Online PUBS Program Parameter Monitor lt Maintenance Origin Data SS Initialize e Maintenance Forecast E Position repair lan Servo Figure 10 1 Starting up the Origin Data Setting Screen A N Caution About controller modes in which origin data can be read written The controller modes TEACH AUTO Op AUTO Ext in which origin data can be read written depend on the CRn 500 series robot controller version For details see Table 10 1 Origin Data Reading Robot Control Operation Mode and Table 10 2 Origin Data Writing Robot Control Operation Mode Origin Data 1 RC1 Origin data E The origin data string is input from RT ToolBox Mechanical The origin posture is set by contacting each axis against the stopper mechanical stopper TOOL The origin posture is set with the calibration jig installed This method is used when the encoder backup data lost in the Cause such as battery cutting Liser origin i Sen a
227. so you can transfer the backed up data to a robot controller Click the origin data screen Backup origin parameter button to display the screen Robot origin parameter 4 Backup Roboti ka RY 6S0L Robot Grign Data Parameter MEINSD 3062039 Save to file MEINST 3 00 gate fil fe MEINSZ 14563 43601 3269518 29128 7281 Ming to Robot MEOFFS 116509 43691 7282 101944 7281 O DINT 0 0000 0 0000 0 0000 0 0000 0 0000 Figure 10 8 Robot Origin Parameter Backup Screen Save to file This saves origin parameters read from a robot controller displayed parameters to a file Select file for writing Transfer origin parameters stored in a file to a robot controller to robot When transferring to a CRn 500 series robot controller with edition H7 or earlier set Teach mode 10 157 10 157 10 2 Initialization This initializes information in a robot controller Here you can initialize the following information in a robot controller 1 Set the robot controller clock 2 Initialize all programs in the robot controller 3 Initialize the remaining battery time in the robot controller 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 CRn 700 series robot controllers 10 2 1 Starting Use the initialization function while connected to the robot controller From the project t
228. st then click the Change button The selected position variable is displayed At this time the variable name can not be changed Select either XYZ coordinate type or joint coordinate type input the values of each element of the position data input the position variable name then click the OK button While editing an online program in online status or simulation status you can read the current robot position by pressing the Read Current Position button Edit Fosition data The validity of the elements is checked For some robot models some elements are not checked x Robot 1 RW 650L ba 4 4 Get current position i 4 xl Edit FLG1 E E Edit FLG2 Figure 7 21 Position Data Variables AN Caution When adding a position array variable specify the array name and element numbers as the variable name Also when writing to a robot always write the Dim declaration in a command statement If there is no Dim declaration an error occurs when you write to the robot controller AN Caution The units for elements used depend on the robot See the robot s own operations manual 7 77 1 11 7 6 3 2 Deleting position variables After selecting the target position variable click the Delete button The selected position variable is deleted You can also delete multiple position variables at the same time You can select multiple position variables by clicking position variables while h
229. stablished Indicates that a communication to verify connection is being made in the case of RS 232 connection Indicates the wait status for communication port connection in the case of TCP IP connection Displayed when the data reception enable signal cannot be detected because a cable has been disconnected or the robot has not been started in the case of RS 232 connection Displayed when the communication port cannot be opened in the case of TCP IP connection Communication Displayed when the communication port cannot be opened in the case of Setting error RS 232 connection This is not displayed in the case of TCP IP connection Indicates the idling status displayed at the start of remote maintenance Connection wait Connection error 2 38 2 38 3 Communication State The contents of communication with the robot controller are displayed 4 Robot This changes the robot controller for which the Line status and Communication status are displayed This is only displayed for robot controllers that are online or have been switched to simulation status 5 Robot Information Information on the currently connected robot can be referenced MM Robot Information Robot Contoroller Robot Figure 2 7 Connected Robot Information A N Caution Cautions when connected on USB with CRnQ communications When connected on USB with CRnQ communications after connecting normally if the communications are cut off due to
230. sture element of position data is C B C B 1 Use the posture elements of position data is checked _ Y ss the posture elements of position data Not just the robot tip position X Y Z but also the tip posture elements are used for position correction calculation Precision of generated revision parameter improves if the tip posture elements are also re taught correctly However if the tip posture elements are not re taught correctly as shown in the diagrams below re teaching positions P1 and P2 error occurs in position correction calculation decreasing the precision of the calculation result If posture elements are not re taught accurately If posture elements are gt gt TT re taught accurately 0 Re teaching position 171 Original position and posture o Va Position and posture before ZZ re teaching F Position and posture after re teaching Original position Re teaching Re teaching and posture position P1 position P2 Re teaching position P3 2 Use the posture elements of position data is not checked Use the posture elements of position data Posture elements in the position data taught during re teaching are not used for position correction calculation If it is not necessary to match exactly the tip posture elements during re teaching clear the checkbox Use the posture elements of position data In such case position correction calculation is performed usin
231. t controllers About Movemaster commands The Movemaster commands are restricted by the robot models that can be used For details on whether you can use Movemaster commands with your robot refer to its standard specifications 8 123 8 123 8 16 Additional Axis Parameters You can set information related to addition axes of robots Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Additional Axis After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button EB Robot Additional Axis 1 RG1 SEE AXACC AXDEC 1 E 3 4 a 6 7 a 4 iii Number of multi mechanisms used 2 XUME O Motion Limit Explain Read from file Save to file Figure 8 31 Additional Axis Parameter List Motion Limit parameter screen starts with the Motion Limit button You can reference explanations of displayed parameters by pressing the Explain button You can read Additional Axis data saved in the file by pressing the Read from file button You can save Additional Axis parameter to the file by pressing the Save to file button But Motion Limit parameter is not included in the file saved by pressing the Save to file button Moton Limit button Read from file button and Save to file button correspond with RT ToolBox2 Ver 1 1 or later Select the additional axis i
232. t driver in these locations Use the check boxes below to limit or expand the default search which includes local paths and removable media The best driver found will be installed C Search removable media floppy CD ROM Include this location in the search CiMelsectE asySocket USBDrivers v Browse Don t search will choose the driver to install Choose this option to select the device driver from a list Windows does not guarantee that the driver you choose will be the best match for your hardware 1 27 1 The screen shown on the left appears when you connect the personal computer and Universal model QCPU by the USB cable Choose Yes now and every time connect a device and click the Next button 2 As the screen on the left appears choose Install from a list or specific location Advanced and click the Next button 3 As 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 After setting click the Next button If volume MELSOFT products have been installed browse the installation destination EasySocket USBDrivers of the first product 1 27 Hardware Installation The software you are installing for this hardware MITSUBISHI Easysocket Driver has not passed Windows Logo testing to verify its compatibility with Windows lt P Tell
233. t law and international treaties Unauthorized reproduction or distribut ion of this program or any portion of it may result in sever e civil and criminal penalties and will be prosecuted to maxi mum extent possible under the law 15 217 15 217 2 checked About RT ToolBox2 from the menu but the product ID is not displayed Is No Product ID displayed If No Product ID is displayed in the version information the installation of this software may have failed Unfortunately you need to install the software again 3 Communications general 1 What are the means for communication with the robot controller With a CRn 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 For details see 5 1 Robots Connected and Types of Communication 2 Where are the communications settings made They are made on the project edit screen For details see 5 2 Connection Settings For the robot controller side change the communications parameters with the optional teaching box For details see Detailed Explanation of Functions and Operations in the robot controller s user s manual Caution The communication settings must be made on both this software and the robot controller If you change th
234. te OS Factory Line 1 O Factory Line 2 cance Figure 4 7 Deleting a Workspace A Caution Deleting a workspace To delete a workspace close that workspace You can not delete a workspace that is being edited 4 6 Saving a Workspace The information added to the workspace is saved automatically You can also save a workspace with a different name Click Workspace gt Save As input the new workspace name and title then click the OK button Workspace path CRT ToolBox2 Browse Update Factory Line 41 Factory Line 2 Workspace name Tithe name cance Figure 4 8 Save As 4 45 4 45 4 7 Changing a Workspace Name Once a workspace has been created you can not directly change its name To change a workspace name use the menu bar Workspace gt Save As to save the workspace with the desired new name then delete the old workspace 4 8 Changing a Workspace Title You can change the title of a workspace even after it has been created Click the name of the workspace with the right button on the mouse then click Edit workspace title on the right button menu The workspace title screen is displayed so input the new workspace title then click the OK button at RT ToolBox Factory Line 1 Offline Workspace View Online Window Help W E ell ii ER Be E PRRRIZE TSO e Workspace title Add project Update workspace Product 444 Line Edit
235. th MELFA BASIC IV and Movemaster commands This sorts the edited program by line number You can check whether or not the edited robot program is syntactically correct You can display a list of the commands and make insertions on the program command edit screen You can change the position variables in the program being edited in a batch and can sum up all the values Tact time calculation can only be used in a simulation Tact time of the program can be calculated You can customize the program edit area screen display area and syntax check before saving a program 7 9 4 7 6 4 14 7 6 4 15 7 6 4 11 7 6 4 12 7 6 4 13 13 12 7 70 7 5 Customizing the Program Edit Screen You can customize the program edit screen With the program opened on the menu bar click Tool gt Option and set the program edit screen as you want with the displayed option screen Clicking the Restore Defaults button restores the default settings Option Proportion of Window Command line Edit area A W Display the hint of command format Position A ae ee M color the Words ee E Commands POS MOWE Commands PROGRAM aye type iP Joint type 7 i ae ae ee eee Commands 1 0 a eh Commands SLOT MECHANISM Commands HAND Syntax Check before save Commands OTHERS System functions f Check automatically System status variables f Confirm whether to check beforehand Comment En zj __
236. th ailerons H6 edition or later Optimum acceleration deceleration G1 edition or later setting Direction of gravity H4 edition or later Set parameters while connected to the robot controller From the project tree double click Online gt Parameter gt Movement Parameters After you change the parameter value you can rewrite the parameters in the robot controller by clicking the Write button 5 Movement parameter 1 RG1 led Roboti 1 RY 650L Optimum acceleration J40L Functional setting of compliance error CMIPERA 1 fdeceleration adjustment rate f Enable error generation f Disable error generation 40 00 E Maximum acceleration deceleration setting 4CCMODE 40 00 f Enable 40 00 f Disable 40 00 40 00 The gravity direction MEGDIR mm seconda ei installation posture 10 00 alia gravitational acceleration in the X axis direction 9 00 aliada gravitational acceleration in the Y axis direction 9 00 gravitational acceleration in the Z axis direction 9 00 Explain Figure 8 35 Movement Parameters You can reference explanations of displayed parameters by pressing the Explain button 8 127 8 127 8 20 Program Parameters You can set parameters related to robot programs Set parameters while connected to the robot controller From the project tree double click the target project Online gt Parameter gt Program Parameters After you change the parameter value you can
237. th the right button on the mouse then click Edit Project on the right button menu The project edit screen is displayed so input the new workspace title then click the OK button at RT ToolBox Factory Line 1 Offline WorkSpace View Online Window Help aele sE el E 7 E Ly L z Edit Project je S Project name acy Communication setting Update Project IP Address Port 10001 Send Timeout 1000msec Recieve Timeout 20000msec Offline b Model Selection for Offline Travel base Mot used Figure 4 12 Changing a Project Name 4 11 Deleting a Project A project can not be deleted when it is running a simulation or has a robot connected online RC type CRnQ 700 Delete Project Method TCP IP Detail Robot model Rv 650 Select Language MELF4 BASIC W ES r Travel base setting for display Only travel base information for display is set here To change the movement range of the travel axis change the parameters Detail Cancel mgp Click the name of the project with the right button on the mouse then click Delete Project on the right button menu The deletion confirmation message is displayed so check that you have clicked the correct project name then click the OK button ee gt l z Factory Line 6 8 Delete Project i Update Froject Offline Figure 4 13 Deleting a Project
238. the OK button Font Font style Size Regular Proportion of Window r Command line Edit area Terminal O Times New Roman O Trebuchet MS W Di j Commands Position Display the hint of command for M Color the words EOD he Commands POS MOWE LF Tunga 0 Verdana Commands PROGRAM O Viinda we aye type PI Joint type 7 i ae A E Commands IO Sample Commands SLOT MECHANIS AaBbryZz Script Westem commands HAND Syntax Check before save commands OTHERS System functions f Check automatically System status variables f Confirm whether to check beforehand Comment C Never check Font Tahoma 101 jy Never display the result i whenever error is not occurred i Regular I Reset default values _ gt gt gt gt canal Figure 7 13 Command Edit Area Font Setting 7 73 7 73 7 6 Program Editing This chapter explains the methods for editing MELFA BASIC V programs For RT ToolBox2 command statement editing you can input in the same way as with a general editor like a notebook There is no need to input the Enter key for each line as was the case with RT ToolBox 7 6 1 MELFA BASIC V command statement editing When writing a program using MELFA BASIC V you do not use line numbers unlike MELFA BASIC IV or Movemaster comm
239. the error screen select an error then either click the Details button or double click the error Ho Error message Date JERIA Level Progam Lire _F 2000 The servo is CFF 08 01 08 13 38 58 Lo WES a AL Click or double click the Details button ES Error 200000000 The servo is OFF Cause serva is OFF so the robot will not operate Recovery Turn the servo ON and then restart Error detaile Es Details History Figure 9 8 Error Details Screen 9 139 9 139 9 1 4 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 into a file Click the History button After selecting the level to reference click the OK button Error level Select a source or a error level Read from RC Read from file C High level error History file f Low level error f Caution cancel Figure 9 9 History Information Error Level Setting E Error history 1 Display Error level Tabulation information switching Start date 07 11 28 Start time 07 10 50 f High level error C Low level error f Caution Count of registerd items 214 Line The servo is OFF The servo is OFF Com mesg is too long Parameter comment illgal Pos Pos Pos Pos Pins ata
240. their enabled disabled status depend on which screen is currently active 3 Dropdown menu Displays the names of the functions you can use in RT ToolBox2 When you click a function name it displays a screen with the settings etc for the selected function When F is displayed at the right end of a dropdown menu a dropdown menu for the selected function is displayed E h Search Motion limit i pd Displays a Delite e dropdown menu Click to display the screen Weight and size Tool Slot table enal reset pattern Ed id input output signals assignment General setting Generale Open Workspace Workspace path Data CART Toolbox Browse e limit Joe sition Hand Update language War fr Lp dditional axis Startteach slot detection Stopieach slot 5 Factory Line 1 p operation Servo ON OFF teach robot Factory Line 2 t parameter Machine lock each robot d parameter or setting Workspace name Title name Cancel 4 Tool bar Displays buttons for the functions assigned to the menu bar E a a mn H Y z SNA w The tool bar display depends on which screen is currently active and on the robot connection status 2 35 2 35 5 Project tree 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 x J E Factory Linetl Ey RCT Eh Offline Ru 65 Program Online RYOBSL Pro
241. tion The only programs to which protect operations apply are programs in robot controllers 7 10 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 on and Setting for compare dialog is set Compare result Different lines C Documents and Settingsrapmly mm mamm te aee l anea d NO d Nemm maT mr Line Contents Line Contents Moy JO 3 does not exist in this program Y4 does not exist in this program _ MM Timer 2 0 S does not exist in this program MA 3 does not exist in this program Command Ad Off F does not exist in this program m Dil 1 does not exist in this program Ww Position For MO1 1 To Ma 9 does not exist in this program Moy Ji 10 does not exist in this prograrr Moy J2 11 does not exist in this prograrr Cancel Moy J3 112 does not exist in this program Moy 14 13 does not exist in this prograrr Next 14 does not exist in this prograrr Moy JO 15 does not exist in this prograrr For MO1 1 To MA 16 does not exist in this prograrr Moy POL 117 does not exist in this program s Close Setting for compare Figure 7 57 Program Comparison Settingsand Comparison Results When both files are the same the result dial
242. tion 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 at RT ToolBox Factory Line 1 Offline Workspace Wiew Online Window Help Edit Project f em ems Zw big p aa Ll Ss ee E ae Ee ee ee eae ee f RCI A i Communication setting Workspace x i RIC type CRNO 700 sel Factory Lined l ms Factory Line I Method TCP IP Detail Se PRG 0 Edit Project ea Delete Project Update Project IP Address Port 10001 Send Timeout 1000msec Recieve Timeout 20000msec Offline p e e e Model Selection for Offline Robot model Rv 650 select Language MELFA BASIC W a Travel base setting for display Only travel base information for display is set here To change the movement range of the travel axis change the parameters Travel base Mot used Detail JF m m e e e e SBP SB SB SB Se Se Se we pP m m mmm e e Figure 5 1 Connection Settings Select the controller to connect to and the communications method then click the Detailed Settings button to set the details Normally the offline robot settings and the travel platform settings for display are also set according to the controller connected to After you complete the details settings click the
243. tion or direct execution in the simulation are not possible unless a program is selected In the simulation from the project tree with Online Program execute Open in debugging status for the program from the right mouse button If the robot program being simulated is not Online use program management to copy to the virtual controller Online ES Program 1 RG1 1 r Online MELFA BASIC Iv Rv 65 Program 1 Mow PL gr 2 MOV P2 Open Program eee 3 MOV Ps Parar 4 MOV P4 O END Edit Delete E Y Z B rr 4o00 0 020 926 760 7 1 000 eta nan anan ose FAN 71 ANN da Figure 13 6 Program Selection for Simulation The specified robot program is opened in debugging status The execution line cursor is displayed at the left end of the command statement edit area The line on which this execution line cursor is displayed is the line currently being executed The display of this execution line cursor can be switched on off with the menu bar Debug Display Do not display 13 202 13 202 13 5 Program Execution You can execute a program that has been opened in debugging status Start the simulation then open the robot program in debugging status When you click the Continuous Execute button on the simulation operation screen automatic operation of the program is started This automatic operation completes in one cycle Be careful If the program repeats infinitely it does not stop
244. tree double click the target project Online gt Monitor gt Signal Monitor gt Named Signals SEIE INPUT Signal Move home General output reset Frogram number select OVRD specification 10013 Bin Special 10015 Bin Special 10020 Bin Special 10021 Bin Special Prog Ho output requirement 10022 Bin Special Line Mo output requirement OVRD output requirement Err Mo output requirement Value input signal 10023 Bin Special 10024 Bin Special 10025 O Bin Special 10032 5tart 16 Num 000 Bin Special OUTPUT Signal During output Line Mo During output CRD During output Err Mo Value output signal Within user defined area RIC ready Low battery Roboti hand output signal lt Mech 1 gt Roboti hand input signal lt Mech 1 gt General purpose signal Add Edit Delete 10023 Bin Special 10024 Bin Special 10025 Bin Special 100532 5tart 16 Num OOO Bin Special 10 Start 32 Mum 000 Bin Special 10001 1 Bin Special 10014 O Bin Special 10048 5tart 8 Num O10 Bin Special 10056 5tart 8 Num OOO Bin Special Load Save Delete signal file in robot Figure 9 17 Named Signal Add This registers a new general input output signal name Edit This changes the setting for an existing general input output signal selected in the list Delete This deletes a signal selected in the list Load This loads a file defining saved named signals in the robot controller and in the c
245. ts are restricted as shown in Table 10 8 The limit by degree of freedom positional deviations related to these restrictions can not be corrected with this function In this case either reteach manually or correct the deviating section for example by replacing a bent hand Table 10 8 The limit by degree of freedom Robot model The limit by degree of freedom It can t move in the direction of C element of the Cartesian Vertical 5 axis robot position It can t move in the direction of A B element of the Horizontal 4 axis robot Cartesian position A N Caution The position repair function is only supported by MELFA BASIC IV and MELFA BASIC V The position repair function is only supported by MELFA BASIC IV and MELFA BASIC V It cannot be used with Movemaster commands 10 4 1 Specifications The robot models and robot controller versionw with which the position repair function can be used are as follows Table 10 9 Supported Robot Controllers and Models No Robot model CRn 700 series CRn 500 series Robot Controller Robot Controller Version J2 or later 1 Vertical 6 axis robot Only correction of origin data is supported in versions prior to J2 The supported Version K1 or later models are not restricted by the version Horizontal 4 axis robot RH SH series only Vertical 5 axis robot 3 10 168 Only correction of origin data is supported in versions prior to K1 Version K4 or later Any versions prior t
246. ts of position data Details lt Back Cancel Figure 10 28 Select Revision Parameter Window Select the revision parameter that becomes the target for re teaching calculation 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 If the CRn 500 series robot controller s version is older than J2 only Vertical 6 axis robot a Error of joint axis can be selected l If the CRn 500 series robot controllers version is older than K1 only Vertical 5 axis robot sue Error of joint axis can be selected The CRn 500 series robot controller s any versions prior to K4 are not available This function cannot be used for the RH AH series robot The supported models are not restricted by the version in CRn 700 series robot controller Horizontal 4 axis robot RH SH series only Click Details to see the description of the difference between checking and not checking Use the posture elements of position data In the following section details regarding revision parameters and posture elements of position data are explained After choosing the revision parameters click Next 10 177 10 177 10 4 11 1 Revision parameters Parameters revised by items selected with Select rev
247. ttern Operation parameters Dedicated input output signal Program parameters allocation User error RS 232 settings Ethernet setting Zone monitor Current errors from the robot robot program Maintenance This sets the robot home position data Initialization This sets the robot controller s internal time deletes all the programs in the controller initializes the battery time remaining and sets the serial number for the connected robot Maintenance Forecasts the time for maintenance forecast Supports recovery from home position deviation Monitors servo system information Option card You can check information on option cards mounted in the robot controller This can only be used with the standard edition online online one measured in the simulation Backup restore You can back up the information in the robot controller and restore backed up information into the controller 3 40 3 40 4 Workspaces and Projects This explains about workspaces and projects 4 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 communications you can simultaneously reference information on multiple projects robot controllers registered in the workspace When using multiple robot controllers it is convenient to manage with separate workspaces for each ma
248. tton to display the screen After moving the robot to the ABS origin position select the axis to set the origin for with the checkbox then click the Set origin button Last displays the origin setting technique used the previous time For some robot controller software versions this is sometimes not displayed Set origin 485 Roboti Saa Origin data Setting origin mm deg State 0 00 E 0 00 El 90 00 0 00 0 00 ci Set origin E 2 0 00 Mot set A Set m m m 0 00 E r E Mot set 0 00 Mot set Figure 10 6 Origin Setting ABS Origin Technique Screen 10 1 5 User Origin Technique This uses the robot user origin to set the robot origin Click the origin data screen User origin method button to display the screen After moving the robot to the user origin position use the checkbox to select the axis to set the origin of then click the Set origin button Last displays the origin setting technique used the previous time For some robot controller software versions this is sometimes not displayed Set origin User origin method Robot ha 1 RY BSOL Origin data Last setting origin mm deg State 0 00 El 0 00 El 90 00 0 00 Set origin 0 00 0 00 0 00 Not set set 0 00 Mot set Mot set Figure 10 7 Origin Setting User Origin Technique Screen 10 156 10 156 10 1 6 Origin Parameter Backup You can back up the parameters that make up the origin data Al
249. u search in controllers the communications with the controllers may take time MM Result Mov 3p My DocumentsiPactory Line 1 RC1 Program 1 prgtl 1 Moy pl 3p My Documents Factory Line 1 R C1 Program l pratz 2 Moy pe 3p My Documents Factory Line 1 RC1 Program 1 prg 3i 3 Moy p3 3p My Gocuments Factory Line 1 R C1 Program l pro 4 4 Moy p4 gt Open with Program edit Close Figure 7 26 Results of Search from File Line contents Number of stens Folder in which workspace Fixed is created Cher TT pe ie ram Project name A Number of lines from head With the Open with Program edit button you can open the program that includes the contents of the line selected from the list of search results 7 80 7 80 7 6 4 8 Replace This replaces the specified character string with another character string Click the menu bar Edit gt Replace The Replace Screen is displayed Relpace Find waht Mow Replace with Mlys Match case Go to Top Replace Replace All setting Close Figure 7 27 Replace Screen Find Next Searches for the next instance of the character string to be replaced Replace Replaces the found character string Replace All An item is displayed for specifying the range in which to replace all instances of the specified character string With Replace All you can specify a range in which to replace When you click the Replace
250. ure 7 38 Saving on Robot Controller Robot prograrn 7 87 7 87 7 7 4 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 function is displayed on CRn 500 series robot controllers from the H1 edition on 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 When you have created a new program or opened a program on the computer the display becomes as in Figure 7 39 Save Items Save Items lf Position variables Program external position variables cance Figure 7 39 Save ltems We will explain the operations for saving to a robot when only command lines or only position variables are specified using the following example for illustration Example When there are programs in program editing on the computer or in the robot controller lt lt Program in the robot controller gt gt lt lt Program on computer gt gt 10 Mov P1 100 Mov P1 20 Mov P2 200 Mov P2 30 Mov P3 300 Mov P5 lt Change 40 End 400 End P1 400 000 0 000 100 000 90 000 4 0 P1 400 000 0 000 100 000 90 000 4 0 P2 0 000 400 000 150 000 0 000 4 0 P2 0 000 400 000 150 000 0 000 4 0 P3 351 704 49 369 22 000 95 168 0 0 P3 351 704 49 369 22 000 95
251. utput Signal 5 Output dedicated Assumption operation time of a day 41 00 24 00 16 00 hourtsi day output signal The remainder days until presumed maintenance time 14 1 366 dayta AEN P parameters please update Maintenance forecast in Write parameters 6 Operating time per day 7 Remainder Figure 10 16 Setup When the Write parameters button is clicked after setting each item the setting values are written into the controller All items other than the signal numbers of dedicated outputs take effect after they are written into the controller If a dedicated output signal has been changed it is necessary to power on the controller again For details on the setting items see Table 10 4 Description of the Setup Screen ZN Caution Information needed to Maintenance Forecast is not accumulated while the Maintenance forecast Is being invalidly set Reservoir of information Factory preset value is invalidity When the Maintenance Forecast IS invalidated information of Maintenance Forecast is not accumulated When switched effectively from invalidity again the reservoir of information is ume Maintenance Forecast continued from the last value If you have Effective invalidated the Maintenance Forecast for a long invalidity term the correct maintenance times cannot be niormauon ts acoumuated calculated 10 162 10 162 Table 10 4 Description of the Setup Screen
252. wiew Online Monitor Window Help Mt S aE 3 Bees een ees CITA o____ Bala a RC 8 Offline al eel o6 Online fi Program 1 RC1 6SL r Online MELFA BASIC IV Sele e Ed Program ES Parameter A Monitor Hand state ER slot id The screen currently active 2 Task zlot2 EE Task slot is displayed on top Task slotd AB Task slot E Task slot 7 Screens iE Task zlot 970 000 3 Jo 0 000 Online Program Property Jp 0 000 i Ja 0 000 Name BSL Comment Date 08 04 18 Prot Line 6 Property window Machine lock OFF End speed 0 000 Position SE 8 Status bar va ON OFF ON Gycle count Cycle time Ready E IS III Figure 2 4 Explanation of Main Screen 1 Title bar Displays the name of the workspace currently being edited Click to close RT ToolBox2 After the size is changed you can close RT ToolBox2 Minimizes RT ToolBox2 gi RT ToolBox Factory Line 1 Online Sle Displays the name of the workspace currently being Maximizes minimizes RT ToolBox2 edited The status of the connection with the robot is displayed The connection statuses are online offline and simulation 2 34 2 34 2 Menu bar Displays the names of the menus that can be used in RT ToolBox2 When a menu is selected a dropdown menu is displayed from which you can use various functions Workopace Wiew Online File Edit Tool Window Help The menu bar display contents and
253. yed for the 1 When Communications Server 2 is line state red RS 232 0 1 Communication Server The problem may be that the robot controller AS and the computer have different TA Green communications settings Check the items in a 2 When Communications Server 2 is green RS 232 See 3 Communications general Check the items in 3 When Light blue Communications Server 2 is light blue RS 232 1 When Communications Server 2 is red RS 232 Robot If Communications Server 2 is displayed red with communications with the robot controller set to RS 232 check the following 15 220 15 220 Check item or cause Is Communications Server 2 set for the The default value for this software is COM1 On some correct communications port computers COM1 is not allocated to RS 232 but to an COM1 COM10 infrared port modem or the like Also when using RS 232 over USB the port used for RS 232 may be other than COM1 Use the Windows device manager or the like to check the COM number allocated to RS 232 and change the Port setting in the communications settings to that port Is some other product running that uses the A computer communications port can not be opened for communication port two applications so either close the other application or Or is any permanent resident software change the port that this software uses running that uses the communications port In the communications settings for t
254. zontal 4 asis robots Back F H q Cancel 10 169 10 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 parameter values Specify the target robot Backup the parameters before Automatic parameter generation If setting parameters Enter parameter values Write parameters to robot controller Restart robot controller power Re teaching Work Procedure A 1 Normal operation Specify the program to use for parameter generation within robot controller Back up the selected program Specify the parameters to be generated na Move robot to re teaching position Repeat as necessary Use the teaching box A O T o ee e e e O ee O O U A eee e m A a ly a en fe eee eee e e e ee ee ew ew ew ew ew ew ew ew ew ew Be ew ew ew ew ew ew ew ew ew ee eK X SK KS Parameter generation Write parameters to robot controller Restart robot controller power Figure 10 21 Operation Flow The explanation follows the normal operations flow For the explanation when setting parameter values see 10 4 16 Revision parameter editing 10 170 10 170 10 4 4 Introduction Position repair 1 RC1 IF Position Repair Support Tool generates revision parameters and writes to the robot controller the

Mitsubishi RT ToolBox2 user`s Manual

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