Home

MITSUBISHI

1. An initial value will be used if the file to be restored does not have any revision parameter for position repair is replaced Restore files parameters for position repair B lt before restore gt j controller Ver H7 or on earlier arameters Yi Origin data A Revision parameters for position repair will not be written lt after restore gt Check OFF Change
2. Input with enter Fig 5 35 Inputting by editing the command and adding to the list 5 54 Editing the position data 5 Program editing tool 2 Changing the position array variable lt Version E1 or later gt Select an array variable from the position variable list and click the Change button or double click the position array variable you want to change The position variable change screen appears Dete Change Cartesian type P variable x yl ZEA BF ae 000 210 000 730 000 90 000 0 000 0 000 0 000 0 000 LEF 0 000 0 000 0 000 0 000 0 000 EES ea s0000 198000 0000 x Name PEATA 1 Cancel Y Z Jo 000 Iv A Robot 0 000 vee fi Robot 1 B 0 000 al Mecha No fi C 0 000 al Additional axis 1 0 000 a con Pi oa Additional asis 2 o oo M Fai o M Edi LaF Faa m Edi Fig 5 36 Changing the position array variable Version E1 or later lt Version D2 or earlier gt Select the array variable from the position variable list and click on the Change button or double click on the position array variable to be changed The following dialog for changing the position variable array will appear 1 Select array variable with mouse l gt UU Delete Change Cartesian type A E E T E E n dE A a A E 320 000 _ 0 000 130 000 H PDATA 8 Array 2 Click on Change button Position Vanable
3. Start stop the general purpose monitor The head signal No and number of signals to display can be changed only while the monitoring eee is stopped Monitor Change the head Head Signal Suu signal No and the number of o of Signal 48 z signals to display to be monitored The size of this window can be changed 315 900 OOOO000001T010101 J31 916 OOOO0000O0000001 g4r 932 OOOO0000000T10101 Mi Fig 6 19 Custom monitor OUTPUT 6 92 Each monitor function 6 Monitoring tool Forced output The robot controller s general purpose signals can be forcibly output Click on the Forced output button A window for forcibly outputting the signal will appear 1 First read out the signal to be forcibly output 16 signals can be output simultaneously Input the head No of the signal to be read and then click on the Read button Put ees e eet eee eee ram The Current state is read out with the designated signal No as the head Head Signal No 5 Pea Jo fo fo fo fo fo fo fo Jo fo fo fo fo fo fo fo Joooa HEX BIEBER See eee i Passa o fo fo fo fo fo fo fo fo fo fo fo fo fo fo fo Joona HEX BIBER See eee Bit Forced OUTPUT For ere The designated signal information 16 signals is output The signal is forcibly output as a port unit Fig 6 20 Forced output 2 The output state of the 16 signals is displayed with the designated signal at the head S
4. ccccccseceeeceeeeeeeee 10 159 Program conversion 11 161 VA Vis Precautions isin ascitictenestesGheniiaiweden needa bbehtaauiMadesbaaiiadsace sselunadinswaiaubanisnnbstsusenndbanenmtngen 11 161 TEZ UOMO sata catrctarnzsurteticeana E A T N 11 162 T3 Operation WMECINOGS coner A e T caerua dae Gansta teaieeeleoeds 11 163 Position Repair Support Tool 12 165 12l OPDSCIICAUOMNS arna n e ss nassieautes aie aetahetaea eee ene 12 165 AAEE E E epee eee P EE REE eee EOE T EASA RE EE ATE nF COE P Ree ened era 12 166 1232 OPESl AUOUIIE OW eaa a a a ean ues ann eeeene sarees 12 167 I2A sc AOLMY SC escent oie snake we ee terete cat a tase theca ee 12 168 125 COMMUDIGAUON SEUNG sss pacar seh ett at ees a alec 12 169 12 6 Select the Robot and Backup Parameters cccccceeceeceeceeeeeeeesetseeeeeeaeeaees 12 170 12 7 Select Generation Procedure of Revision Parametel cccceceseeeeeesseeeeeeees 12 171 4 20 5 ape 210 Frog 210 Ree ee een ee eee ee er eee ens ee ee eee ee ee ere 12 172 12 9 Read and Backup Program ccccccccscceeeceeecececeecaueceeecseceeeseuesaeeseeecueseeesenesaes 12 173 12 VO Check oS etno ToOlrenrs it ein dang e taatignavatees 12 174 12 11 Select Revisi n Parameter cnnan a aa a o A 12 175 12 11 1 About Revision Parameters ccccceccsecceececeeeceeceeceeeeeeceeseeeecseeseeeeees 12 176 12 11 2 About Posture Elements of Position Data ccccceccsecceeeseeeeeeeeeeteee
5. Back Cancel Figure 12 10 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 axis can be selected joint axis can be selected Horizontal 4 axis Any versions prior to K4 are not available robot This function cannot be used for the RH AH series 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 Select Revision Parameter 12 175 12 Position Repair Support Tool 12 11 11 About Revision Parameters The following table describes the parameters to be revised based on the item selected in Select Revision Parameter window Select revision parameter Error of joint axis 4bout 1 6 points Tool exchange or modified 3 6 ports Transfer the robot 6 points Exchange the robot 10 11 points Select all 13 16 points Select arbitrarily
6. At Hand Open workpiece non grasp At Hand Close workpiece grasp 7 Fig 7 47 Print button If the Print button is clicked the Print screen is displayed Print EE Properties Default printer Ready EPSON LP 92005 SWeei2 33 Ip 9200s Comment Print to file Copies Humber of copies i l Pages fom toi E Selection lell Fate Cancel Fig 7 48 Print out Confirm the printer to print and then click the OK button The parameter information that is currently being displayed is output to the designated printer 7 12 2 Print to file If a printer is not connected to the PC the loaded information can be output to a file Check Print to file on the Print screen above and then click the OK button At this time the file is saved in the text format so that it can be read by a general text editor MemoPad WordPad etc 7 134 Print of paramter T7 Parameter editing tool 7 13 Exit the Parameter editing tool ji Maintenance robot mai OF x i Fille View Parameter Initialization System Window Help x S m 2 eno T ser Parameter Robot Controller Common Robot 1 COMMON Parameter Change Fig 7 49 Exiting the Paramter editing tool Click on the Exit button on the screen or click on the End button on the tool bar Starting 7 135 7 Parameter editing tool 7 136 Backup Robot gt PC 8 Backup Restore 8 Backup Restore The infor
7. Auto number Renurmber Syntas Check Sten Tun Direct Erecution Command template Position variable batch edit gt Position variable template Prograrn converter Fig 11 2 Tool menu of the Program edit tool 11 162 Start up 11 Program Conversion 11 3 Operation methods 1 Select the number of axes of the robot Make sure to select the correct number of axes since the position data structure of the old PC support S W differs according to the number of robot axes Source Files Select 5 Destination File 3 J Select L Convert Convert amp Open Fig 11 3 Program Converter 2 Designate the source files The OPEN window for file selection appears when the Select button of the Source Files is clicked Look in Sq Tacttime E i i Hyo prg Fi q Hyo_DLY PRG Fip Sah_1 pra a RC TOOOGHWOC prg is Rv 3al prg RH 1000GD PRG Fiv daprg File name Ap Sah prg Hyo pra Gtr org Files of type Robot program pra Cancel Fig 11 4 Designate the source files Click the file while pressing the Ctrl key for selecting several files After selecting the file for conversion click on the Open button Then the selected files appear in the Source Files box Operation methods 11 163 11 Program Conversion 3 Designate the file to write down the converted program Click on the Select D button of the Destination File to display the Save As
8. If the difference of the time of back up and restore ts 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 ts started Maintenance Forecast is supported in the controller s software version J1 or later and version E1 or later of this software Starting 8 137 8 Backup Restore 8 2 Backup Robot gt PC Save the information on the robot controller to a file on the personal computer Click the Backup button Lng following window appears Select the robot controller you are backing up Backup Save Robot controller gt Personal computer X Select information to backup Robot controller Personal computer Cancel C Program Parameter Files System Program Parameter List Files Fig 8 2 Backup Robot Information The controller selected in Robot Controller for the communication server is displayed as the initial value Version D3 or later The No 1 robot controller is displayed in Versions D1 and D2 Robot 1 Robot 1 Fick and Place Fig 8 3 The controller selected for the communication server lt lt Backup gt gt All Files Saves all files robot program parameter files etc in the robot controller into the designated folder Program Saves the robot program file into the designated folder Parameter Files Saves the parameter files
9. 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 itis corrected So it is not necessary to reflect it again 12 176 Select Revision Parameter Item Error of joint axis f Error of joint axis Tool exchange or modified f Tool exchange or modified Transfer the robot Transter the robot Exchange the robot f Exchange the robot 12 Position Repair Support Tool Table 12 3 Selecting Revision Parameters Description fT Rectifies origin data when joint axis moves or Ofgin data ti i l lt
10. For more information about read items see the next section Normal open Read the program on the robot controller to the personal computer A window shown below appears when Open Robot is selected It is also possible to open several files simultaneously by pressing the Ctrl key and making selection using the mouse 12 52 30 Open on Robot x Refresh Rabot i Robot 1 Pick and Place Hame Sief Dae Time Protect 03 06 03 None 09 6149 03 06 02 16 54 36 None 11 tre 0306 02 16 54 36 None 2 ate 0306 02 16 54 36 None ee B00 03 06 03 13 41 44 None 4 ata 0306 02 16 54 36 Mone 443 126 03 06 02 16 54 36 None z ate 03 06 02 16 54 36 None 03 06 02 16 54 36 None 03 06 09 15 51 58 Mone 03706703 13 41 44 None 03 06 02 16 54 36 None 03 06 02 16 54 36 None all d Read tems I Commands k Cancel W Position Variables Program External Variables Fig 5 17 Opening programs on a robot Updates to the latest information when Refresh button is clicked Refresh the information on this window when changing a file with teaching box etc or when connecting to a different robot controller If multiple robot controllers have been connected the robot controllers can be switched by manipulating the combo box labeled Robot 5 42 Opening a program 5 Program editing tool Debug open The contents of the program changed with editing are reflected immed
11. General Start each Slot Stop each Slot Servo OFF each Robot Serva ON each Robot Machine Lock each Robot Data Jog HAND INFOT OUTPUT Start End Stark End R C ready RCREAL Low Battery BATERA Start End within user defined area 8 USAAREA Fig 7 30 Data 8 JOG Special purpose INPUT OUTPUT Signals assignment E X Robot Controller 1 Robot 1 Fick and Placel Exit General Start each Slot Stop each Slot Servo OFF each Robot Serva OM each Robot Machine Lock each Robot Data JOG HAND INPUT OUTPUT JOG mode specification JOGENA JOG mode JOGENA Start End JOG specication JOG JOG specification JOG Faai Ser JOG mode specification JOGH JOG mode JOGM Error disregard at JOG JOGHER During eror disregard at JOG JOGHER Fig 7 31 JOG JOGNER JOG command INPUT signal During JOG OUTPUT signal can be used with Version J2 or later of the robot controller software 7 122 Parameter menu T7 Parameter editing tool 9 HAND Special purpose INPUT OUTPUT Signals assignment E x Robot Controller 1 Robat 1 Fick and Placel Exit General Start each Slot Stop each Slot Servo OFF each Robot Servo OM each Robot Machine Lock each Robot Data JOG HAND Hand Output State Hand Input Signal 8 OUTPUT OUTPUT Start End Stark End ECO
12. Port used Baud rate Character size Parity Stop bit Transmission timeout Reception timeout No of retries Protocol used Robot name Select from COM1 COM2 COM3 or COM4 Selection of COM1 COM8 is possible for the C1 version or later Select the port to which the cable is connected Select from 4800 9600 or 19200 7 or 8 can be selected but 8 should be set Select from NON none ODD or EVEN Select from 1 1 5 or 2 The timeout time during transmission can be set The timeout time during reception can be set Set the No of times to retry communication Select from Non Procedural or Procedural A nickname consisting of up to 32 half size characters can be assigned to a robot controller D1 version or later It is not required but the controller name assigned here will be displayed in places where you need to select a robot controller So assigning nicknames is convenient in distinguishing them when multiple robot controllers are connected After changing to new settings click on the OK button The Communication Setting screen will reappear so click on the Set Close button If the same settings are to be used the next time click on the Set Save and Close button 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
13. 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 obtained if both X and Y components of the tool parameter are 0 0 12 180 Select Revision Parameter 12 Position Repair Support Tool 12 12 Re teach Work 2 Position Repair Support Tool Re teach work x Target robot 1 Pickup robot 1 AW 125 1 PRG Select the re teach position data from a list and click AR e teach button Repeat re teach work until the remaining points become 0 point Depends on position points may not become fewer ever if it re teaches Ibis necessary to re teach position with same tool taught with changing some tools However the number of tool parameter generable at one process is only one IF Pou want to generate plural tool parameters end this software by each one Remainder about 2 point s He teach Clear Check of tool data Postion x vy el a I FESO 0 00 0 00 0 00 0 00 0 00 0 00 FES 10 00 5 00 20 00 3 00 2 00 1 00 FH 350 00 0 00 645 00 180 00 0 00 180 00 PH 4466 35 4357425 60404 151 18 1 57 173 37 PH3 213 97 280 61 812 94 20 36 22 52 105 90 10 05 50 26 4911 52 59 72 3 40 170 59 127 01 134 31 931 45 29 42 2485 l E Figure 12 11 Re teach work Window Remainder Displays the number of remainin
14. b origin data when joint axis moves or when motor is replaced Specify the target axes using the check boxes The number of teaching points is different according to how the axis was specified Rectifies attachment error when robot tool is exchanged In addition rectifies tool data error when the tool is transformed due to interference between robot and peripheral devices Vertical 5 axis robot Only Z element of position data is corrected Rectifies base data of robot position setup when the robot is transferred to another location Vertical 5 axis robot Only X Y Z elements of position data are corrected When robot is exchanged with the tools on rectifies origin data error and base data of robot position setup Only for horizontal 4 axis robot attachment error is also rectified Vertical 6 axis robot Origin data J1 is included in base data Vertical 5 axis robot As to base data only X Y Z elements are corrected Horizontal 4 axis robot Origin data J1 and J3 are included in base data Origin data J3 and J4 are included in tool data 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 i Tool data C Base data Minimum number of teach points Revised Parameter Vertical Vertical Horizontal 6 axis 5 axis 4 axis Pf si robot robot robot Origin data v Origin data T Tool data Base data 1 to 4 poi
15. 2 MEG AGS a EE p AE EE EEEE a ER IA E E A EE AEE 6 103 04 34 LOJA see aa a A 6 103 Roae FOWO oa e E E a ee Tee eae eee 6 104 Parameter editing tool 7 105 7 1 Starting of Parameter editing tool cece eccceeeeeeeeceeeeeeeeeeeseeeseeeseeeeaeeeseeees 7 105 7 2 Selecting the Read Destination ccccceccceccceecceseeeeeececeseeeseeceseeseeeesgeeseeeseeees 7 106 7 2 1 Selecting a robot controller ccc ccccsececececeeeceeeeseeeseeeseusesaeeseeeseeeeseess 7 106 L22 OEEC MES raea dra eel teens aie athoet ale aoe etna cl ont 7 107 7 3 Downloading the parameter list Controller gt PC 2 0 ccccccccceccceeeeeeeeeeeeeeeeaeees 7 108 7 4 Changing the parameters cccccccccccseccceeecseee cece eeseeeesceseeseueeseeseeessueeseeeseeegs 7 109 7 0 Parameter MOM seetri a is kode ole Gone Gacuhs e a 7 111 7 6 1 Motion Limit Parameter ccccccceccceeeceeeeseceseceeeeeeceeeseeesaeeceescuesseseeesaes 7 112 LOZ SOG Pal aime en ex iat se staat ee cette esac ia a aad oe S 7 112 720 92 Hand Paramet a sascitedemendi cess iasu neha a doa Sentences Qos 7 114 7 6 4 Workpiece and Hand Wei Nt cccccccceceseceeeeseeeceeeeeeeeeeceeeseeaeeeseesaeesees 7 114 KOS WOON site secrens tia bea a aa 7 115 166 Slot Wall Cccrest de vesinsesicern ternieatocwaclnacandeannciaededla einaappednscudeedshasancndewactiataandsendsa2gee 7 117 7 6 7 OUTPUT Signals Reset patlermMess ircen r 7 118 7 6 8 Special purpose
16. Battery remaining time from the menu Initialization System Window Batten remaining Time Will initialize battery remaining time in robot controller Okay Caution IF this initialization is cared out when not replacing the battery the corect remaining time will not be displayed Do not initialize unless replacing battery Fig 7 41 Initializing the battery remaining time AN Caution time will not be displayed 7 128 Initialization If the battery remaining time is initialized when not replacing the battery the correct remaining T7 Parameter editing tool 7 9 System information The system information can be used to save the robot origin data into a file and to transfer the information in the file to the robot controller Two types of origin data handling are described in this section however the file save format is different in each type To write the saved information to the robot controller use the same file save format 7 9 1 Robot origin data AN Caution Controller modes available during the origin data read write The controller modes TEACH AUTO Op AUTO Ext available for the origin data read write are different depending on the controller and the version of this software See the table on the following page for further details Select System Robot origin data from the menu ia System window Help E Robot Origin Data Robot Origin Parameter lt Backup gt
17. C Program Filess MELFA ENGS profl 10 MOY P1 50 C Program Files MELFA ENG 41 prg 4 40 MO P1 50 C Program Files MELFA ENG41 prg 12 120 MOY P10 50 Open with Prograrn Edit Save a result Fig 5 51 Search result list display Stop Aborts the search Open with Program Edit Opens the program displayed on the line which has been selected from the search result list using the Program Edit tool Any of the displayed programs can also be opened using the Program Edit tool by double clicking the desired line Save a result Saves the search result list in a file Once the search is completed the Open with Program Edit button and the Save a result button can be performed 5 62 Editing auxiliary functions 5 Program editing tool 5 8 8 Replace The designated character string is replaced The replacement range can also be designated Select Replace under the Edit menu to display the Replace screen Find what l O Replace with ee Ps a Match case Replace Replace All Setting Cancel Fig 5 52 Replacement dialog Search Next Each time this button is clicked on the next replacement target character string will be searched for Each time this button is clicked on the next replacement target character string will be replaced If this button is clicked the items for designating the range are displayed in order to replace all of the designated character string
18. Fil File view Search Parameter Inti aeled at Parameter edit Password i 7 Will you reset the robot controller from PL Fig 7 45 Power reset operation from the menu 7 132 Power Reset of the Robot Controller T Parameter editing tool 7 11 Password Password is used by the Mitsubishi service personnel to change the robot s system information Unconditionally select No password here Parameter edit RC 1 mai Fil File View Search Parameter Initi E Select target Password Close Password cance L Reset the power supply of Ric Exit Fig 7 46 Password Password 7 133 7 Parameter editing tool 7 12 Print of Parameter The parameter values in the robot controller can be printed With the print function the parameter values can be output to the printer or saved in a file This function is supported in C1 or later version of this software 7 12 1 Print out The Print button is displayed on the HAND Parameter screen or the Parameters screen that is displayed via the parameter setting menu Parameter Ea aR EAIP1 Robot 0 Poston ia aea check ky zab eN Robot Controller F it Robot 1 Robot 2 10 00 Avia fo 00 Hand 6 Hand 7 Hand 8 oo Hand Hand2 Hand3 Hand4 Hans 1 2 3 4 5 10 00 a Me 8 o oo Sin gle Signal No s00 o o0 Double Workpiece grasp Definition
19. V7 Robot Origin Data x Robat 1 RAw 204 D OOF Fw Save to file J1 g0g00 des OOO000 Ja FaVFHY Read from file J4 0000 J5 J amp OO0000 di Je Edit v8 write E cn Me E Fig 7 42 Robot Origin Data Save to file Read from file Edit Write Can save the displayed origin data in a file Reads the origin data saved in a file and displays it on the screen Can edit the origin data that is being displayed on the screen Writes the origin data that is being displayed on the screen into the robot controller System information 7 129 7 Parameter editing tool Memo DJNT origin position error parameters DJNT represents the origin position error If the origin position is corrected using the Position Repair Support Tool a value will be given to this DJNT If the Position Repair Support Tool is not used to correct the origin position all elements will be set to 0 Note however that RV 4A will be given a default value Since DJNT is not available to the general user values cannot be changed directly by the users DJNT parameter display The DJNT parameters are displayed with version E1 or later of this software Note however that they may not be displayed depending on the connected robot such as the robots that are not compatible with the position repair support function Operating Modes of the Robot Controller When Writing Robot Origin Data When wri
20. 5 76 Program Management 5 Program editing tool 5 11 6 Protect 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 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 Setup for PROTECT dialog is set Setup for PROTECT I Command W Variables Target 100 E i Cancel Fig 5 71 Setup for PROTECT dialog screen Program Management 5 77 5 Program editing tool 5 11 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 Setup for COMPARE dialog is set Setup for COMPARE x M Command M Position Cancel Fig 5 72 Setup for COMPARE dialog screen When both files are the same the result dialog display nothing Compare Result Lines of Different Content z0 5 78 Program Management Line contents MOY Pz 30 does not esist in this progran AO does not exist in this progran 60 does not exist in this progran T does not exist in this progran
21. AN Caution If the user edits changes any one portion of the program within the robot controller and attempts to close the program without writing to the controller a message will appear to confirm if the changes need to be written to the controller see the figure on the right Select Yes if writing the data to the controller Select Cancel to end the process of closing the program However with version E1 or later if all of the Write items are nt PRS xj selected see the figure on the right when saving the program to the controller the confirmation message mentioned above will always be M Commands displayed when closing the program Personal Computer Support Softwar X 1r iSave contents before closing File I Position Variables Program External Variables Cancel 5 48 Closing and saving a program 5 Program editing tool 5 6 Editing the program The methods of editing a program are explained in this section 5 6 1 Program language The MELFA BASIC IV or MOVEMASTER command language is used Refer to the controller s language instruction manual for details on the command grammar and format etc The following example shows the case when the MELFA BASIC IV language has been selected 5 6 2 Registering a program command statement Input the command statement as shown below For BASIC editing mode Input the command statement after the line No and input by pressing the E
22. Data JOG HAND INFOT OUTPUT MISRVOFF Servo OFF Robot 1 Servo ON Disable Robot 1 M2SAVOFF Robot 2 Robot 2 MSS AYVOFF Robot 3 Robot 3 Print We rite Fig 7 27 Servo OFF each Robot 7 120 Parameter menu Parameter editing tool 5 Servo ON each Robot Special purpose INPUT OUTPUT Signals assignment x Robot Controller 1 Robot 1 Fick and Placel Exit General Start each Slot Stop each Slot Servo OFF each Robot Servo ON each Robot Machine Lock each Robot Data JOG HAND INFOT OUTPUT MISRVON Servo OM Robat During Servo ON Robot 1 Me2sRVON Robot 2 Robot 2 M3SRAYON Robot 3 Robot 3 Print Wa rite Fig 7 28 Servo ON each Robot 6 Machine Lock each Robot Special purpose INPUT OUTPUT Signals assignment I x Robot Controller 1 Robat 1 Fick and Placel Exit General Start each Slot Stop each Slot Servo OFF each Robot Serva ON each Robot Machine Lock each Robat Data JOG HAND INPUT ooo MIMELOCK Machine Lack Aobot 1 During Machine Lock Fobot 1 M2MELOCK Robat 2 Robot 2 M3MELOCK Robat 3 Robot 3 Print We rite Fig 7 29 Machine Lock each Robot Parameter menu 7 121 7 Parameter editing tool 7 Data Special purpose INPUT OUTPUT Signals assignment az xX Robot Controller 1 Robot 1 Fick and Placel Exit
23. Fig 5 67 Program list Double click on a program name in the lists Program Edit Tool is started up and that program can be edited But only programs in the robot controller or prg files in the personal computer can be edited Note that the another files are Opened then Program Edit Tool cannot behave regularly According to the operation the multiple files can be operated Selecting the multiple files click on the files in the lists by the mouse with pressing the shift key or the Ctrl key Releasing the selected files in the lists click on the Selection Release button above each lists Version E1 or later of this software supports the display of available capacity Click on the Browse button and select folder at the Browse for Folder dialog and the folder in the personal computer can be selected Browse for Folder 2x Select folder 9 Lhasa 9 Melfa HELFA ENG C Backup Datatmp Folder Settings 9 Log C Param 9 Prmist Prog C Rbtorgn Sim lt lt xi Cancel Fig 5 68 Browse for Folder dialog screen E 5 74 Program Management 5 Program editing tool 5 11 2 Copy 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 transm
24. Fig 7 16 Tool Robot controller Ver H7 or earlier 2 Robot controller Ver J1 or later and Robot which cannot use Position repair tool TOOL E x Robot Controller 1 Pickup robot 1 Exit Robot 1 RH 154H85 STO Base coordinate STO Tool coordinate Tool coordinate data 1 4 MEES METL IME TL1 MEXTL2 METL MEX TL4 mm 0 0000 deg ran deg mm deg mm deg mm deg se g o0o0 i 0 00 Y f 0 0000 ooog 0 00 0 00 Z f ooo oog 0 00 0 00 a ooog ooog i 0 00 0 00 B o o000 g o000 3 i 0 00 0 00 C f 0000 ooog 0 00 0 00 Print i Fig 7 17 tool Robot controller Ver J1 or later 1 Parameter menu 7 115 T7 Parameter editing tool 3 Robot controller Ver J1 or later and Robot which can use Position repair tool TOOL l x Robot Controller 1 Pickup robot 1 Exit Robot 1 Fv 125 STO Base coordinate STO Tool coordinate Tool coordinate data 1 4 MEB 5 MES TL MEXTL1 MEXTL2 ME TL3 IME TL4 mm deg mm deg mm deg mm deg 0 00 l 0 00 l 0 00 0 00 l 0 00 0 00 0 00 l 0 00 l 0 00 0 00 i 0 00 f 0 00 0 00 l 0 00 0 00 0 00 0 00 l 0 00 mm deg x poo v 000 2 000 A 0 00 c a for repairing positions tool read only STO base coordinate STO tool coordinate Tool coordinate data 1 4 MEXDBS MEXDTL MEXDTL1 MEXDTL2 MEXDTLS MEX
25. MEOFFZ fo 1820 2731 0 0 0 0 0 Save bo file Load to RC Fig 7 43 Robot Origin Parameter Save to file Can save the contents of the parameters for the origin displayed parameters loaded from the robot controller in a file Load to R C Can transfer the parameters for the origin saved in a file to the robot controller To transfer the parameters for the origin to the robot controller set the mode to the TEACH mode System information 7 131 T Parameter editing tool 7 10 Power Reset of the Robot Controller Version E1 or later To make modified parameters effective it is necessary to power on the robot controller again The power reset of the robot controller can be performed from the personal computer in Version E1 or later of this software However note that this function can be used with Version J1 or later of the robot controller software 1 When Setting Parameters After setting parameters the power reset confirmation screen appears To immediately reset the power select Yes To set more parameters set all the necessary parameters first and then select Yes i 2 Writing of parameters to Robot Controller was completed Restart the Robot Controller io Will you reset the robot controller from PC Fig 7 44 Confirmation1 2 Power Reset Operation from the Menu Select R C Power Reset from the File menu to reset the power to the robot controller i Parameter edit RC 1 mai
26. Restore files parameters for position repair B lt before restore gt I 7 Parameters A L Origin data A lt after restore gt Revision parameters for position repair will not be written Transfers a backed up file as is The origin data A backed up file is transferred However as for the origin data the information inside the is replaced controller is retained Position Repair is supported in version E1 or later of this software 8 140 Restore PC gt Robot 8 Backup Restore If communication is cancelled during a series of load processing please note that the origin
27. 2 16 Connecting to the robot 2 Preparation before use Details setting for TCP IP After setting the IP address assigned to the robot controller in IP eee 1097 11 54 Address click on the OK button The Communication Setting ae mor screen will reappear so click on the Set Close button If the same R settings are to be used the next time click on the Set Save and Timeout Time 1000 msec Close button Reception Timeout Time 5000 msec Number of Fetries 4 Robot Mame Fobot H2 Robot Information The information on the robot controllers for which communication settings have been made is displayed in a list format Robot Contoroller Robot Version If the connection has already been completed the robot controller information is displayed after the controller model number If the connection has not been completed the description of a communication error is displayed in the controller model number field Double clicking the controller number in the list displays the information on the robot selected in the dialog box Robot Information Comm Error Presence No of Valid Slot Robot Connection State Robot Controller Language Version Program Extension Date Parameter Externsion Serial Ho COPYRIGHT C 1 993 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED OK button The Communication Server screen will reappear Connecting to the robot
28. Delete The I O signals you want to monitor can be added or edited Enter the range of the signals you want to monitor in the Start No and End No boxes and name it If the signal you want to monitor is one bit enter only the start No For multiple bits enter the numbers so that the start No is smaller than the end No If reversed an error will occur Binary decimal or hexadecimal notation can be selected as the display method For decimal notation signed display using the most significant bit as a signed bit can also be performed Once the entry is finished click the Add Change button If the Add button is clicked when a signal name is being selected it is inserted to the selected line If a signal name is not being selected it is added at the end of the list You can delete unwanted signal names from the list by selecting them and clicking the Delete button Load Save 5 x Exit The dedicated signals can neither be edited not deleted Use the maintenance tool to set Special Edit of Signal Name Stark No End No Signal Hame Signal iC Input f Output View i Binary Decimal Hes Decimal Signed Fig 6 22 Edit of Signal Name The edited result can be saved on or loaded to a personal computer or robot controller Specify the save destination load destination and click the OK button If the save destination is a personal computer a file name can be specified
29. Maintenance Forecast O O O OSST la x Monitor Maintenance Forecast performs the informational display and informational setup about a maintenance TT Palatine When OK is clicked the information is read fram the controller BackuplRestore an E Robot 1 Pickup robot l R125 Program converter Reload G Remote Waintenance Okay 2 Click Maintenance forecast button Fig 13 1 Maintenance Forecast Specification Start 13 189 13 Maintenance Forecast 13 3 Select the target controller and robot Select the target controller and robot in the Maintenance Forecast window The controller being connected to Robot in the windows are displayed together with its model name Verify the controller and its model and then click the Next gt button in the lower area of the window Maintenance Forecast O x Waintenance Forecast performs the informational display and informational setup about a maintenance When OK is clicked the information is read tram the controller Rabat 1 Pickup robot i RY 125 Reload Fig 13 2 Maintenance Forecast When the Reload button is clicked the information about the controller being connected and its model is updated 13 190 Select the target controller and robot 13 Maintenance Forecast 13 4 Forecast Battery When the information for Maintenance Forecast has been loaded from the controller the Forecast window initially the B
30. Replace Next Replace All Setting Replace All Setting can be used to replace the designated character string by designating the replacement range Replace Find what MOV _ OO Replace with Option Goto Top ee Match case _Feplace All Setting _Feplace All Setting Setting Cancel Replace range W Designate range Start Line Ho fioo End Line No 200 Replace All Excecute Fig 5 53 Replace All AN Caution Cautions for replacement work Do not change numeric values in PC support software prior to version C1 Do not change numeric values in PC support software prior to version C1 If numbers are replaced the line Nos will also be replaced and the program contents will change For example if 40 is replaced with 30 the same command as line No 40 will be overwritten on line No 30 lf numbers are inadvertently replaced carry out Undo under the Edit menu before carrying out any other operation Editing auxiliary functions 5 63 5 Program editing tool 5 8 9 Jump The program jumps to the designated label line No BASIC editing No or step position line No hide mode To carry out jumping select Jump under the Edit menu eee e Designate line No or step position label bo Cancel Fig 5 54 Jump 5 8 10 Partial Transmission The selected program line is written into the robot controller This is convenient to reflect the contents of m
31. Select type of command to display BES Find what e robot s acceleration and deceler he enable disable status of the inti he base conversion data e designated program Program ca Search for command E oses the designated file CLA Clears the output signals local variables in pror CHP Cancels the robot s sott state Insert command into editing screen CMP Designates which axis to softly move the robot CMPG Designates the robot s softness CRIT Cee shen obs oe EE TN bee ek Template insert Fig 5 58 Image of command template 5 8 14 Position variable template Position variables used frequently regardless of the program can be stocked When a position variable in the list is selected and the Insert button is clicked on or when the variable is double clicked on the position variable on the template can be additionally inserted into the program being edited Display the position variable template screen by selecting Position variable template under the Tool menu Position variable template ea Chanae Insert into Z o PO 175000 0 000 333 PNULL oo00 ooo oot List of orthogonal coordinate 1001 pee oe i Pw150T 1451 000 0000 165 4 o i type variables oN a a a Selected position variable is inserted onto program editing screen Joint type J variable J2 List of joint coordinate type variables Fig 5 59 Position variable template The position variables register
32. Start gt Setting gt Control Panel gt Add or Remove Programs and then click on Remove button In Version E1 or earlier of this software Select MELFA Personal Computer Support software with Start gt Setting gt Control Panel gt Add or Remove Programs and then click on Remove button Version F1 or later Version E1 or earlier i Add or Remove Programs Oj x F Add or Remove Programs loj xj lt 6 Currently installed programs Show updates Sort by Name aa or Currently installed programs Show updates Sort by Name 7 Change or l 3 a Change or aT Remove ey HighMAT Extension to Microsoft Windows XP CD Writing Wizard Size 2 15MB Remove 5 HighMAT Extension to Microsoft Windows XP CD Writing Wizard Size 2 15MB Pi Programs g MelfaToolEN Size 0 77MB da daili MELFA Personal Computer Support Software jE Microsoft NET Framework 1 1 Us Add New yg Microsoft Windows Journal Viewer Size 3 62MB Add New reignite st reas Programs RT ToolBox English EER Programs To change this program or remove it from your computer click Change Remove Change Remove Ta Ta B MelFaToolEN Size 0 77MB Add Remove Pet esl eit Add Remove A Microsoft NET Framework 1 1 Windows To change this program or remove it From your computer click Change Remove Windows 7 oe o change this program or remove it from your computer click Change Rem Change Remove Genie a Microsoft Windows Journal viewer Size 3 62MB 5 SiS A
33. 1 Robot air pressure error INPUT During roboti air pressure err OUT Corn AIRERR Robot air pressure error INPUT During robot air pressure err OUT Com AIRERRS Robots air pressure error INPUT During robots air pressure err OUT Com AIRERR 4 Robotd air pressure error INPUT During robotd air pressure err OUT Com AIRERRS Robots air pressure error INPUT During robots air pressure err OUT Com ALIGHT YP Align wpe selecttO Mormal 1 Cylindrical Robot ALCANENA Enable command SERVO command and RESET command in ALWY Com ARCH1S Shape of ARCH1 Rabat ARCHIT Type of interpolation for ARCH1 Robot ARCH28 Shape of ARCH Rabat ARCH2T Type of interpolation for ARCH Robot ARCH38 Shape of ARCH Robot ARCHST Type of interpolation for ARCH Robot ARISH4S Shape of ARCH4 Rabat ARCHAT Type of interpolation for ARCH4 Robot gt from File Fig 7 7 The parameter information in the selected folder Selecting the Read Destination 7 107 7 Parameter editing tool 7 3 Downloading the parameter list Controller gt PC Maintenance Ej _ a 2 Version of parameter list in Robot Controller is newer Download parameter list from Robot Controller Fig 7 8 Confirmation This window will appear in the following cases 1 When there is no parameter list information in the personal computer 2 When the parameter list used in the robot controller is newer than the parameter list already stored in the
34. 1 1 Start of Simulating operation The program being edited only when always open can be simulated The types of simulation are the same as the robot controller and include Automatic operation Step execution and Direct execution To simulate the operation select one of the following from the Simulation menu Execute stop Simulation Simulation wiew Esecute Stop Automatic operation Simple cycle calculation Stop Error Monitor Step run Direct Execution Fig 10 2 Simulation Execution stop submenu Automatic operation Step execution Direct execution The following Model selection dialog will appear so select the model and then click on the OK button Simulating operation 10 147 10 Simulation Model selection dialog 1 Type selection Hodel selection dialog 7 lt Model selection eds w Robot model Type kd m E Cancel Rv 20A Robot JF OK l l 2 Model selection Cancel Bv GS l aa 2 te ee workpiece and Hand LY gt workpiece and hand A I l _ May weight arm end drop 1 Max weight arm end drop Set the weight position Set the weight position r Hand l workpiece I Hand workpiece Weight kg E Weight ka it Hand
35. 12 16 Edit Revision Parameters This window is displayed if Edit the value of revision parameter directly is selected in 12 7 Select Generation Procedure of Revision Parameter Select 4 procedure Generate revision parameter automatically Usually select this Edit the value of revision parameter direc P Fha Position Repair Support Tool Edit revision parameters Target robot 1 Fickup robot 1 AW 125 Double click the revision parameter to edit IF pou click nest parameters are written to the controller Changed parameter is displayed in light blue MEXDTL Eror of standard 0 0000 O0000 O0000 OO000 O00 MEXDTLI Enoroftooldata l 1 0000 O 0000 fon00 oooo0 000 MEXDTL2 Enoroftoldata2 1 0000 O0000 oon00 oooo0 000C MEXDTL3 Enoroftooldata3 O 0000 M0000 OO000 oooo0 000 MEXDTL4 Eror oftooldata4 1 0000 M0000 Oooo oooo0 000 MEXDBS Enorofbase data 1 0000 O 0000 fon00 ooo00 Oon DJNT Eror of origin data 0 0000 0 0000 O 0000 o0000 Oon Print Heset lt Back Cancel Figure 12 17 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 robot controller s version is older than J2 only the origin revision parameter DJNT is shown
36. 499 599 066 264 966 29 170 0 0 P5 535 786 295 021 102 000 148 420 0 1 When only instructions are written Only instruction statements are rewritten Position variables are not changed lt lt Program on the robot controller gt gt 100 MOV P1 200 MOV P2 Only instructions are rewritten instructions are rewritten 300 MOV P5 ae END 400 000 0 000 100 000 90 000 4 0 0 000 400 000 150 000 0 000 4 0 Not changed 3 351 700 49 370 22 000 95 170 0 0 4 276 500 599 070 264 970 29 170 0 0 a P P 2 Only when position variables are written lt lt Program on the robot controller gt gt 10 MOV P1 30 MOV P3 40 END The position variables on the personal P1 400 000 0 000 100 000 90 000 4 0 computer are overwritten However the P2 0 000 400 000 150 000 0 000 4 0 position variables that do not exit on the P3 351 700 49 370 22 000 95 ONG r personal computer but exit on the robot controller are left intact reference Closing and saving a program 5 47 5 Program editing tool 5 5 5 Precaution for saving program in controller ZN Caution Precautions for saving program in controller When writing saving the robot program in the controller first the program having the same name from the controller is deleted and then the new program is written in With this if an error occurs or the communication is canceled while transmitting the program fro
37. Click Next to write all parameters into the robot controller and proceed to Re start the Power Supply of the Controller window Edit Revision Parameters 12 187 12 Position Repair Support Tool 12 188 Edit Revision Parameters 13 Maintenance Forecast 13 Maintenance Forecast In Maintenance Forecast the parts replacement grease replenishment battery and belt replacements times can be checked from the up do date operating data collected inside the controller AN 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 13 1 Specification The following lists the software versions and models of the robot controllers supported by this software Table 13 1 Supported models and software versions RV 12S series a RV 6S series Ver J2 or later RV 3S series RV 3SJ series Ver E1 or later RH 6SH series RH 12SH series Ver K4 or later RH 18SH series 13 2 Start After verifying the connection with the robot controller click the gt gt button on the main menu to expand the menu and then select Maintenance Forecast The Maintenance Forecast window appears Ver Kt orlater K1 or later ae I 1 Click the gt gt button to expand the window Seen ee ues This button changes to lt lt while expanding ME LFA Wer E4 Frogram Edit F
38. E eh T 5 36 91 9 HISTON sreccencqudotan no a a a e e TENE aaa 5 36 92s Eding SoloCare a NE 5 37 Je EANO OCG aris a E dinette oP aestosne heen sceut aa eee stecaia sites 5 39 50 l BASIC SGIUAG IMO Caio acctceelde ais a ac dead iddehincaue desi aidae way e 5 39 g2 Hine No WIGS OU Giese stasis sneha atiee ieee oe hor cend ties uae aeieents 5 39 5 3 3 Changing the editing MOCES ccccccecccseccceeeceeeeeeeeseeessuseseeeseeseeesaeeseeesees 5 40 S4 Opening a Progra srra a tse ota EE i ree eh 5 41 5 4 1 Opening PrograMs ona PO seseleesiassssnendaie tananan aae aia a aaa 5 41 5 4 2 Opening a program on a robot controller cc cccceccceeccceeeeeeeceeeeeeeeeeeeeeeeees 5 42 5 4 3 Read items when opening the program on the robot controller 5 44 5 5 Closing and saving a program cccecccecccececeeeceeeseeeeeceseeeceeeeseeeseeteueeseesaeeseeetaes 5 45 Sorli SVE E 5 45 5 5 2 Save On Personal Computer sirriiacesciriioniirnr nia iaa 5 46 999 DAVE OM RODO oski ieee did chant sc gute hon dots ene eee N a 5 46 5 5 4 Write Items When Saving on the Robot Controller ccccceecceeeeeeeeeeeeees 5 47 5 5 5 Precaution for saving program in controller cece eeccceeceeeeeeeeeeeeeeeeeeaeeeees 5 48 S0 Eding RNE progi aMis a a nea oraau le baud anal 5 49 50 1 Program lang age coscie a a o eari e A e ea 5 49 5 6 2 Registering a program command sStateMent cccc
39. EE 2 9 229 Ve USNO IRS 2S 2 C aers r mnsddevevane died E a 2 10 2 3223 USING EHETE biscottini aa a a ads veal memeieue ee ueeies 2 11 2 3 3 Setting the COMMUNICATION server ccc ccc ceccceececeeeceeeeeeeeceeeceeeeeeeeaeeesseeeaees 2 12 3 Basic functions and window operations 3 19 Orde Basie TUMNCUONS ersa a T E 3 19 3 2 Basie VVINGOWS OPGlAllONS morini a eee area 3 20 4 Starting use 4 21 Aale 11 eee mtg ae te ae NEN Celene eR Pee DRS E ec eee So ee 4 21 4 2 Creating a DFOOR ANN ace 2dcie soe cptecs otecce ce oaisc Sea evbdcd sieanbandsteues eve aeanbcidtiveccobegheieewsbasancdeedeas2 4 22 Aos CACHING a POS INCOM ey fats aise betat nis E ten casa teh bans anita sianioout ect 4 24 4 4 Confirming the operation with simulation ccc eccceecc sees eeceeeeseeeeeeeeeeeeseeeseeeeaees 4 26 49s Savna ING PlOOlain 2253 4noasitayie tect a a i dubeniiassent 4 28 4 6 Exiting the editing SCCM eeisnctsxseetiers ict subeemede e a e a a aE 4 29 4 7 Confirming the MOVEMENL cccccccceececeeeceeeceeeeceeeseneesaeeseeeceeeeseeseeeeeneeseesaeetaaes 4 30 A8 EXCNECOD TAONG Aa E N 4 31 5 Program editing tool 5 33 oTe SENN te SChOC MN ctss sinc ccheciel a eh aes ea ial hee eh acndeeetactes 5 34 Dedede FEON ea e O O dato hacmetcun T E T 5 34 5 1 2 Varlable display area setting ssirissiie t e Roel a A a 5 35 De lon Sya check setig sorre a nian OB Mieteeetalebiadla 5 35 Sks Program Language missi ranie a a
40. New Ctrl M Open FL Chrl 0 L P Open Robot Close Save Lirl 5 Save As gt PL Save s gt Robot Debug online Fig 5 15 File menu and tool chips The contents of the program changed with editing are not saved unless Save is executed There is no particular limit to the number of program files that can be opened 5 4 1 Opening programs on a PC To open a program on a PC select Open PC under the File menu It is also possible to open several files simultaneously by pressing the Ctrl key and making selection using the mouse Look in E Tacttime x 1 ce ms a Ah 1500g prg a Av 4alL prg Gtr4_DLY PRG Rp 2ah prg R Hyo pra ae a Hyo_ DL PRG Rp 5ah_1 prg RC 1000GHWDC prg ta Av 3al prg RH 1000GJD PRG fa Rv daprg Baik E trg p F j g File name Rp 5ah prg Hpo prg Gtr prg Files of type Fiobot program pra Cancel Fig 5 16 Opening programs on a PC Opening a program 5 41 5 Program editing tool 5 4 2 Opening a program on a robot controller A program in the controller can be opened with the normal open method and with the debug open method From Version E1 of this software when reading the program on the robot controller to the personal computer read items instruction statements position variables program external position variables can be specified However this function can only be used with Version H1 or later of the robot controller software
41. None 03 06 02 16 54 36 None 0306 02 16 54 36 None ki d write tems OF Cancel if 5 Program editing tool 5 5 4 Write Items When Saving on the Robot Controller When saving a robot program on the robot controller write items can be set by categorizing them into instructions position variables and program external position variables The function for specifying write items can be used with Version E1 or later of this software The initial values of the write items are the same as the read items when reading a program When a new program is created the initial values are as shown in Figure 5 24 Write Items write tems M Commands M Position Variables Program External Yariables Fig 5 24 Write Items The following shows the save operation to the robot controller when only instruction statements and position variables are specified lt Example gt When the following programs will be edited on the robot controller and the personal computer lt lt Program on the robot controller gt gt lt lt Program on the personal 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 END P1 400 000 0 000 100 000 90 000 4 0 1 400 000 0 000 100 000 90 000 4 0 000 400 000 150 000 0 000 4 0 2 0 000 400 000 150 000 0 000 4 P3 351 704 49 369 22 000 95 168 0 0 a 351 704 49 369 22 000 95 168 0 276
42. POW 10 00 0 00 0 00 0 01 P2 10 00 0 00 0 00 0 00 J1 0 00 0 00 0 00 0 00 PO does not exist in this progre DOC J ee ee ee ble s eee ee Line contents MOY Poe MOY POS M1 2 M1 M1 3 MOM POE POT 0 00 0 00 0 00 0 00 0 00 F2 does not exist in this prograr J1 does not exist in this progra ner inen enna enn po Fig 5 73 Display of comparison results 6 Monitoring tool 6 Monitoring tools With the monitoring tools all of the information in the currently connected robot controller can be constantly displayed 6 1 Starting Select the Monitoring tool from the RT ToolBox Robot Total Engineering Support Software menu The Monitor menu shown below will appear After selecting the robot you wan to monitor click an item with the mouse The monitor window for each robot appears Robot selection is supported in D1 version or later The selected robot controller is displayed in each monitor window title Monitor Menu Piel E Monitor Menu Exit Robot i Robot t i H Robot movement Monitor Operation Monitor 4 Operation hours E Production information C Robot version D Additional board Information Servo Monitor 5 Seno ABS T Servo SPEED LI Serva CURRENT 2 Stop signal 3 Error 4 Program monitor 5 General purpose input signal E General purpose output signal r Named Signal 8
43. Preparation before use 2 Preparation before use The methods of setting up this software are explained in this chapter The setup work includes the following steps i Installing this software into the personal computer gt Read 2 1 Installation methods ii Setting up the printer Not necessary when not printing on paper gt Read 2 2 Setting up the printer iii Connecting the robot and personal computer gt Read 2 3 Connecting to the robot 2 1 Installation methods The methods for installing this software are explained in this section The software can be installed from the CD ROM or from the floppy disks If an older version of the RT ToolBox Robot Total Engineering Support Software or the MELFA Personal Computer Support software is installed in the personal computer always uninstall the older version before installing the newer version 2 1 1 Installation If the OS is one of those followings you must be logged on as an Administrator or as a member of the Administrators group in order to install this software Microsoft Windows NT Workstation Operating System Version 4 0 Microsoft Windows 2000 Professional Operating System Microsoft Windows XP Professional Operating System Microsoft Windows XP Home Edition Operating System If an older version of the RT ToolBox Robot Total Engineering Support Software or the MELFA Personal Computer Support Software is installed in the personal compu
44. Program f Parameter Files System Program T Change Robot Origin Data Fig 8 4 Restore Robot Information The controller selected in Robot Controller for the communication server is displayed as the initial value Version D3 or later The No 1 robot controller is displayed in Versions D1 and D2 Robot 1 Robot 1 Pick and Place Fig 8 5 The controller selected for the communication server lt lt Restore gt gt 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 Data Valid only when All Files or Parameter Files is selected under Backup If checked Replaces the origin information in the robot controller with the contents of the mechanical parameter file to be transferred If not checked Loads the origin information from the robot controller transfers the information in the designated folder and then returns the origin information that has been loaded to the robot controller Restore PC gt Robot 8 139 8 Backup Restore Backup files C
45. Remote maintenance 9 145 9 Remote maintenance 9 2 Connecting with the remote robot Click on the Line connection button The following line setting screen will appear Input the telephone No and type of modem being used and then click on the Start button The remote connection different type of letters Line setting Ea Select the modem Usage device being used TCPIP SacketNetvWork 0000000000 Robot connection method Select Server for robot side and Client for remote location side f Provide service SERVERS Input the connection destination name Connect to partner robot CLIENT 1000 TransmissionfReception Packet size Connection desia i Waiting for incoming call Transmit Telephone No JIF address Wiel Aro en cancel Fig 9 3 Line setting Input the telephone No AN Caution If the personal computer being used is connected to an intranet connection with LAN instead of a telephone line is possible The following screen will appear when the Dial property button is clicked on The details regarding the telephone being used can be set Take special care to the dialing method tone push line or pulse dial line Dialing Properties EA Ed My Locations Where am am dialing from Defaut Location New ee The area cade iz E am ir United States of America 1 How dial from this location To access an
46. Robot Origin Data Restore files parameters for position repair B Y lt before restore gt Uj Parameters A LA Uj Origin data A a parameters for position repair A Vi lt after restore gt Ls parameters for position repair A VA _ A backed up file is transferred However as for Transfers a backed up file as is The origin data Ithe origin data and the parameters for recovering positions the information inside the controller is retained
47. Slot Run State 6 4 1 2 Stop Signals The state of the stop signal stop emergency stop input into the robot controller can be referred to Stop Emergency Stop TAB RE WO OP SERIAL OFF CCLIME OFF MELSECNET OFF ARCNET OFF Fig 6 4 Stop Signals 6 82 Each monitor function 6 Monitoring tool 6 4 1 3 Error The errors currently occurring in the robot controller are displayed 1 Currently occurring errors Error 2 Robot 2 ME ES Error Message Message Date 68500 Cancel pteudo input mode Py OFF 99 11 22 Time Level Progra Line Details 16 20 18 Low QO amp eQO00000 The history of the errors that Detailed information cause and have occurred in the past can recovery of the occurring error can be referred to be confirmed Error History Error Details Error Detailes 2 Robot 2 Ea View Ea Error Mo esoo Cancel pseudo input mode Fa OFF Cause The peudo imnput mode was canceled H Level Error C L Level Error Recovery Turm the power OFF C Caution Cancel The Error history window is displayed The Error history can be confirmed for each error level Fig 6 5 Currently occurring errors and Error Detailes Each monitor function 6 83 6 Monitoring tool 2 Error history The history of errors that have occurred in the past can be referred to This display is not shown at all times To update the inform
48. State State x Method TCPAP M Top view Detail Send Timeout 1 000meec Recieve Timeout 5000msec Retm 3 Set Save and Close Set Close Cancel S10 Communication Protocol Transmission Fort COM he Timeout Time 000 msec Data Transter Aate 3600 Reception 30000 Timeout Time msec Character Size g Number ot 3 ARetries Parity EVEN Procedural Stop Bit E Robot Name Setting List Procedural lt Non Procedurall OF Cancel When communicating with the R C using your custom software reset the R C protocol setting to Non Procedural in advance 1 Before starting use 1 Before starting use The manual is in the CR ROM as the Adobe PDF file D Doc BFP A8090 pdf Example for the CD ROM drive is D For reading the manual Adobe Acrobat Reader Ver 5 0 or more is required lf Adobe Acrobat Reader isn t installed please download from following Adobe Systems Incorporated URL As of December 2004 URL http www adobe com This chapter explains the precautions to be observed when using this software 1 1 Using the instruction manual The contents of this instruction manual are briefly explained in this section Refer to the required section as necessary 1 Before starting use The precautions before starting use are explained Please read before starting use 2 Preparation before use The methods of s
49. Wirte Fig 7 25 Start each Slot Parameter menu 7 119 T7 Parameter editing tool 3 Stop each Slot Special purpose INPUT OUTPUT Signals assignment xX Robot Controller 1 Robat 1 Fick and Placel Exit General Start each Slot Stop each Slot Servo OFF each Robot Serva ON each Robot Machine Lock each Robot Data JOG HAND TINPUT OUTPUT Slot 1 STS TOP Slot 2 S25 TOP Slot 3 SS5TOP Slot 4 S457TOP Slot 5 55510 Slot amp SBSTO Slot 7 S 5TO Slot 8 585T0F Slot 9 595T0F Slot 10 STOSTOP slot 17 5115T0F Slot 12 5125TOP Slot 13 513510 slot 14 514510 slot 15 STS5 TOP slot 16 STBSTOP Slot 1 5175TO0F Slat 18 S185 TOP Slat 19 S135 TOP Slot 20 S205 TOP Slat 27 S215 TOP Slot 22 S225T0 Slot 23 S235 TOP Slot 24 S245 TOP Slot 25 S265 TOP Slot 26 S265 TOP slot 2 S2F75TOP Slot 28 S285 TOP Slot 29 S295TO slot 30 SS0STOP slot 31 S31 STOP slot 32 S325 TOP a TTT TTT TTT TTT BESESESSESEEES ES ni un THAT TTT a Print a a TOTT TTT H ae a a ee Stot 10 St0STOP_ at ay on e a Vat ibe Fig 7 26 Stop each Slot 4 Servo OFF each Robot Special purpose INPUT OUTPUT Signals assignment E X Robot Controller 1 Robot 1 Fick and Placel Exit General Start each Slot Stop each Slot Servo OFF each Robot Serva ON each Robot Machine Lock each Robot
50. array edit x Array Position arable name Array elements variable D Type Element Seti x vy Jz JA Je Jc Iu POAT A 8 P POAT AIT Nat 0 000 0 000 0 000 0 000 0 000 0 000 0 00 POAT Al Mot 0 000 0 000 0 000 0 000 0 000 0 000 0 00 POAT AS Mot 0 000 0 000 0 000 0 000 0 000 0 000 0 00 POAT Al Mot 0 000 0 000 0 000 0 000 0 000 0 000 0 00 PEATAS Mot 0 000 0 000 0 000 0 000 0 000 0 000 0 00 POAT AE Mot 0 000 0 000 0 000 0 000 0 000 0 000 0 00 POAT AL Mot 0 000 0 000 0 000 0 000 0 000 0 000 0 00 POAT AS Mot 0 000 0 000 0 000 0 000 0 000 0 000 0 00 3 Select array name to change 4 Select element and click on Change value button Value change H Select the position variable to be edited from the list on the left and then select the element to be changed from the array element list on the right Then click on the Change value button or double click on the position array variable to be changed A position variable change dialog will appear in the same manner as for the normal position variable Fig 5 37 Changing the position variable array element Editing the position data 5 55 5 Program editing tool 3 Deleting a position array variable To delete position array variables delete the DIM declaration in an instruction statement Even if position variables have been deleted in this software when a program in which a DIM declaration is described is wr
51. button A dialog showing the save work progression will appear and the edited program will be saved in the robot controller Robot Program WW irte A ewrte sount 11 Fig 4 13 Screen announcing save 4 28 Saving the program 4 Starting use 4 6 Exiting the editing screen Click on Close under the File menu or click on the x button on the editing screen The editing screen will close This completes the program editing work Edit ProgramManagement T e x New Ctrl Open PC Ctrl 0 L P Open Robot Save Ctrl 5 Save s PL Save s gt Robot Debug online Fig 4 14 Close in menu and Exit button Exiting the editing screen 4 29 4 Starting use 4 7 Confirming the movement Try starting the P100 program with the robot controller s operating panel Did the program run as anticipated Try monitoring the robot movement When the Monitoring Tool button on the Main screen is clicked on the monitoring tool will start Click on 4 Program Monitor to start the program monitor Monitor Menu Monitor Hent Exit Robot 1 Robot 1 Robot movement Monitor Operation Monitor 4 Operation hours 2 Stop signal E Production information 3 Error C Robot version 4 Program monitor D Additional board Informatiori 5 General purpose input signal Servo Monitor 6 General purpose output signal 5 Servo ABS r Special
52. click 2 object s Fig 2 5 Double click Add Printer 3 Follow the instructions on the screen The basic flow is as shown below Refer to the instruction manual of the printer being used for details i Select the type of connected printer ii Select the connected printer product name and maker iii Select the port used by the printer iv Set the printer name v Set whether to test the printing gt Completed 2 8 Setting up the printer 2 Preparation before use 2 3 Connecting to the robot The method of connecting the controller body to the personal computer is explained in this section Either an RS 232 C connection or Ethernet can be used to connect the personal computer to the controller The methods are explained in the following order in this section 1 Using RS 232 C 2 Using Ethernet 3 Setting the communication server Usually the personal computer is provided with RS 232 C as a standard When using Ethernet the Ethernet interface option is required on the robot controller and a network card is required on the personal computer Caution Personal computer support software of D1 version or later can simultaneously connect with a maximum of 32 robot controllers Please note that personal computer support software of C2 version or earlier cannot simultaneously connect with multiple robot controllers Also RS 232C and Ethernet can be used together Personal Computer Support Software scorer Ethernet L
53. currently active editing program window will change to the line No hide mode When changing from the BASIC editing mode the line no assigned to the program command statement argument will be automatically converted into a label Note that once the line No is converted into a label it cannot be returned to a line No o RP_14H PARG Line No not displayed Poe Wie Help Simulation New Window Cascade Tie Vertically Change to BASIC editing mode Arrange Icons Spilt BASIC Editor Line No hide mode I wf al C NarcProg AP_14H PRG Line No not displayed Change to line No hide mode S C NarcProg RP_1AH PRG Line No not displayed LB_10 e C NarcProg fP_1AH PAG BASIC edit mode 10 MOY PI 20 DLY 3 30 LB_ 30 oa 40 OYRDO 10 BOM OVRE 10 60 JOVRD 100 Mi te JOYRD 100 CNT 1 NEF PLT 1 P91 P29 pon F6 00 DEF PLT 1 P21 F22 F23 2 5 1 an DEFE PIT pIi p7p FR Add Orthogonal type F a el ae A 145 000 0000 10000 m O LL oe Cc Add FRESE EET PE La 145 000 0 000 10 000 0 000 Fig 5 14 State of mode conversion 5 40 Editing mode 5 Program editing tool 5 4 Opening a program The methods for opening and saving a program are explained in this section The operations related to opening closing and saving an editing program are all carried out from the File menu or tool chip buttons under menu E Program Edit Tool Robot prg B Sei Edit ProgramManagement T
54. explained Select New under the File menu to display the program editing window E Program Edit Tool Robot prg Edit Program anagement E Chrl h Dan PE Ctrl 0 Open Robot Close Fig 5 8 New a Program Edit Tool Robo prg BASIC edit mode E O x File Edit View ProgramManagement Tool Simulation Window Help a x Delal ael lAl sel als Command editing screen Move up or down E ooo o oa Charge Position variable editing screen f aj By c uf ef raf Fel Press F1 to show help Fig 5 9 Displaying the program editing window The upper side is the program command statement editing window and the lower side is the position variable editing window To change the position of the upper lower screen division drag the boundary line with the mouse This is handy for enlarging the command editing screen when there are many command statement lines etc Editing screen 5 37 5 Program editing tool To edit the program on multiple editing windows select New Window under the Window menu This function is handy for viewing both the head and end of the program when editing a program having many lines BASIC edit mode Cone View Help Simulation New Window Cascade Tile Vertically ol T E Arrange Icons Spilt BASIC Editor Line Mo hide mode w 1 Robot prg BASIC edit mode i Program Edit Tool C NarcProg RhP_14H PRG BASIC edit mode Fille Edit ProgramMana
55. fo B fo E fo Center of gravity mm Center of gravity mm mI fo Fo m am le Fig 4 8 Model and hand workpiece setting screen The following type of simulation screen will appear and simulation of the robot will start Confirm that the robot moves as written in the program 4 26 Confirming the operation with simulation Simulation results Oj x Select AUTO TEACH AUTO Travel base int Stopping al im JOG operation Error Ho Message Fig 4 9 Simulation screen Robot Type RY 65 4 Starting use Try changing the viewpoint The viewpoint can also be changed by the following mouse operations e Dragging left button left and right gt Rotation of Z axis center up and down gt Rotation of X axis center e Dragging left right button left and right gt Rotation of Y axis center e Dragging right button up down left and right Move e Dragging left button Shift key up and down gt Enlargement reduction Did the robot move correctly If it moved correctly try changing the position variable value and moving the robot Refer to the Robot Language Instruction Manual enclosed with the controller for the definitions of the position variables AN Caution When not using the RV 6S type robot change the program position variable values to match the model being used Then check the movement with simulation and then check the movement with the actual ro
56. follows MELFA BASIC IV MOVEMASTER command This change is possible by this software Ver B1 or more However MOVEMASTER command has the limitation in the robot model which can be used Check the Standard Specifications etc to confirm that the model in use is compatible with the MOVEMASTER command a Program Edit Tool File Edit View ProgramManagement E1 T oer fret EJE w Toolbar s Statusbar Font View Option Syntax Check Bice C MOVEMASTER COMMAND f MELFA BASIC4 Restart Prograrn Edit Tool Cancel If the language to be used has been changed in the Language Settings end program editing once and then restart AN Caution When MOVEMASTER command is used the simulation function cannot be used 5 1 5 History The number of the document used recently displayed on a File menu is changed Please input the numerical values from 1 to 16 This is possible by this software Ver C2 or more a Program Edit Tool File Edit Wiew ProgramManagement Tool Help EI Toolbar w Statusbar Font File history x View Option Syntax Check Language Fig 5 6 Language selection Most reccentl used file lists Cancel Fig 5 7 history In order to confirm change end program editing once and then restart 5 36 Setting the screen 5 Program editing tool 5 2 Editing screen The methods of displaying and operating the editing screen are
57. 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 13 9 1 Resetting the time of battery consumption Table 13 4 Resetting the time of battery consumption the time of It is used when an alarm urging to replace the On the menu screen of the teaching battery batteries C7500 C7510 or C7520 occurs box press the 5 MAINT gt 2 INIT consumption and the batteries have been replaced gt 2 Battery keys Be sure to reset the battery consumption time after a battery has been replaced See Controller INSTURCTION MANUAL Detailed explanations of functions and operations for how to initialize the time of battery consumption using the teaching box 13 9 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 13 5 Resetting the grease and belt information When an alarm urging to perform periodic inspections and replenish grease alarm numbers in the 7530s MFGRST occurs replenish the grease and reset the replenished axis Grease information 0 Reset information on all axes When an alarm urging to perform pine 1 to 8 periodic inspections and to replace Belt the belt when it is da
58. here Save As PL Save As gt Robot Debug online Debug editing screen appears i Program Edit Tool 2 Debug mode 4 ritten into controller at line return ea File Edit ProgramManagement Tool Window View Simulation Help z x ojeju Hae 2 2 A aas 8 DEF PLT 1 P2 P3 P4 P5 3 5 2 20 Mi 1 30 LOOP 46 HOU P1 58 56 OURD 56 66 MUS Pt 70 HELOSE 1 86 DLY 0 5 98 OURD 168 166 HUS S8 118 PTB PLT 1 1 1286 HOU P16 56 1386 OURD 58 146 HVS P18 15A HNPFH 1 xl nade onan nan nan Press F1 to show help NUM a Fig 5 62 Debugging a program 5 70 Debugging a program 5 Program editing tool 5 10 2 Step execution The program opened with debug can be confirmed by moving one line at a time The following dialog will appear when Step Execution is selected from the Tool menu Operation state display State Stopping i One line feed Continuous execution Continuous execution Stop Robot will move when button is clicked Start Line fi Set Fig 5 63 Step execution Designate execution start line Step feed The program is executed one step at a time Continuous execution The robot program is continuously executed Set Set the program execution start line No AN Caution When step execution is carried out the robot may move at the max speed so take special care to safety Never enter the work area when carrying out
59. ihaursi j 35 000 Until Unit pat Lae om mi f days ee DJ Operation time of a J5 19 020 hours 9 J 16 hourtsiday ae JE BACK Fig 13 6 Forecast Belt l Forecast Setup Reset Others The Operation time of a day can be set on the Setup screen 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 The display unit setting can be switched between time and day If day is selected in the display unit setting the display will show the number of days in operation based on the operating hours per day When the Refresh button is clicked on in upper right corner of the window the information about the maintenance is acquired again from the controller Forecast Belt 13 193 13 Maintenance Forecast 13 7 Setup Click the Setup tab Here the timing to collect the information for Maintenance Forecast the notification method and other items can be set up Maintenance Forecast 7 x Fobot 1 Pickup robot 1 RW 126 Forecast Setup Reset Others Caution 3 The accuracy of a mentenance Collection level of information 1 forecast will become good if an information gathering level becomes large but influence to the cycle time becomes large 1 Aecommenda
60. input When using the line No hide mode input from the position variable editing ANCON The input position variable will appear in the list on the position variable editing screen Cartesian type P SS0 000 0 000 130 000 Fig 5 29 Inputting a position variable 5 50 Editing the program 5 Program editing tool 5 7 Editing the position data The methods of editing the position variables are explained in this section The position data is edited on the position data editing screen The list on the top is for the orthogonal coordinate type variables and the list on the bottom is for the joint coordinate type variables The method to display array variables differs between Version D2 or earlier and Version E11 or later of this software lt Version E1 or later gt The elements of array variables are expanded and then displayed oats change Cartesian type PJ variable X o orlo o oz oal el c oaf l Pi 693 950 0 000 734 260 146 PIOUL 1 r 0 000 0o00 1477 000 P100 2 409 650 506 650 648490 180 1129 520 223 070 659 1710 Jo 108 230 532 310 1394 510 Fig 5 30 Position variable editing screen E1 or later lt Version D2 or earlier gt Only the name of the array variable is displayed bes cerae Cartesian type Plvaiable x v z ajo ef c ouf PO 693 950 C000 734 260 14 0 000 P100 Ao Array Orthogonal coordinate type variables 4 I J01 1123 520 223 67
61. into the designated folder System Program Saves the system base program file into the designated folder Note that this Save Robot Personal computer is intended to back up the robot controller so the program cannot be edited using the program editing tool 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 BKUP SYS and MECHA SYS files are automatically created in the designated folder These files contain the saved mechanical information of the robot controller and describe the save format If these files are deleted or overwritten please note that offline data editing and data transfer to the robot controller cannot be performed Precaution for Backup When backing up the values of the robot system status variables and the values of the program external variables reset the power to the robot controller first and then perform a backup operation 8 138 Backup Robot gt PC 8 Backup Restore 8 3 Restore PC gt Robot The backup data saved in the personal computer is transmitted to the robot controller Select the robot controller at the transfer destination Restore Personal computer gt Robot Select information to restore Personal computer Robot controller Cancel Robot 1 Robot 1 Pick and Place f All Files
62. left mouse button once This is used to press buttons etc Double click This means to press the left mouse button twice quickly This is used to select an item from the list 3 20 Basic Windows operations 4 Starting use 4 Starting use This chapter explains the series of software operations in a tutorial method for first time users of this software Here a robot program will be created using this software and the program operation will be confirmed with simulation Then the program will be downloaded to the robot controller and the operation confirmed by operating the actual robot 4 1 Starting 1 Connect the cable with the following procedure Connect the personal computer and controller with an RS 232C cable RS MAXY CBL or RS AT RCBL __ Personal Computer Stas al Jed Connect the personal computer side to the standard RS 232C connector RS 232C serial port SIRT AUI Se JES Connect the controller side to the RS 232C connector on the front of the ME LFA Ver Ef controller 2 Turn the controller power ON 3 Start up this software with the following procedure Turn the personal computer power ON The following Main screen will start up automatically If the screen does not start up select the Windows Start button and then lt Version F1 or later gt Programs gt MELSOFT Application gt RT ToolBox gt RT ToolBox lt Version E1 gt Programs gt MELFA ENG or MELFA mini ENG gt C
63. outside line first dial DO for local JOD for long distance T Dial using Calling Card Bhange Caution This location has call waiting To disable it dial PU EPP pe Dialing method The phone system at this location uzes f Tone dialing Pulse dialing i Ce Cancel Fig 9 4 Dialing properties 9 146 Connecting with the remote robot 10 Simulation 10 Simulation Only for standard installation The simulation methods are explained in this section AN Caution The simulation function is compatible only with the standard version Note that the simulation function also cannot be used when the MOVEMASTER commands are selected with the standard version AN Caution The Robot might occur error of a speed limit over so on though operation speed quickens when the simulation condition is set to High speed In that case the error might not occur if the simulation condition is set to High accuracy again The robot program s operation can be simulated using the program editing tool The simulation function can be used with the Simulation menu lelp Simulation Simulation View Simulation screen display Execute Stop Simulation execute stop switch Simple cycle calculation Calculates cycle Error Monitor Error display Simulation Wiews Execute Stop i Simple cycle calculation amp Error Monitor Fig 10 1 Simulation menu 10 1 Simulating operation 10
64. 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 Maintenance Forecast g x Robot 1 Pickup robot i Ry 125 Forecast Setup Reset Others The information for the Maintenance Forecast which has been kept in the controller is backed up restored Rabot Controller PC PC gt Robot Controller Restore Caution When eschanging the Robot Controller CPU UNIT Before exchanging backuping the information of the Maintenance and after exchanging restoring the information Fig 13 10 Others Others 13 199 13 Maintenance Forecast 13 11 Exiting the Maintenance Forecast tool Click the Back button displayed in the lower area of the window The display returns to the initial target robot selection window Click the Exit button in this window SSE gt Maintenance Forecast Maintenance Forecast performs the informational display and informational setup about a maintenance When OK is clicked the information is read from the controller Robot 1 Pickup robot 1 RY 125 Fig 13 11 Exiting the Maintenance Forecast tool 13 200 Exiting the Maintenance Forecast tool 14 Setup of the communion middleware MelfaRX
65. s jump jump destination is not destination is not selected selected 10 154 Cycle time calculation 10 Simulation Operation methods 1 Open the robot program 2 Select the execution section for which the tact time is to be calculated The section can be selected by dragging with the mouse l Program Edit Tool C NarcProg RP_14H_PRG BASIC edit mode IO x x File Edit ProgramManagement Tool Window View Help FREIBEMT a0 DEF PLT 2 P31 P32 P33 2 5 40 DEF PLT 3 P41 F 4P 43 one eee ie yc le calculation 100 MOs 110 MO Pe 120 MOW P 130 MOr Pd 40 i iy PPE E 6 Delete Change Orthogonal type FP Cycle calculation Fig 10 8 Select the program 3 Select the menu Simulation Simple Cycle Calculation Cycle Calculation 4 The Cycle Calculation Range Confirmation window will appear After confirming the range click on Execute Cycle calculation Ea Program 1 ME_MOO M_TIMER 1 Confirm that the selected program is correct 70 DEF PLT 1 P21 P22 P23 2 5 1 80 DEF PLT 2 P31 P32 P33 2 5 1 90 DEF PLT 3 P41 P42 P43 2 5 1 130 MOV P4 2 Cancel Fig 10 9 Confirm the selected program Cycle time calculation 10 155 10 Simulation 5 If the Simulation Viewer is not opened the robot model selection window will appear Select the robot model and then click on OK 6 When the Simulation Condition Setting window appears click on High accuracy Mode
66. signal numbers can be entered If this item is Check ieee checked and a signal number is entered correctly the maintenance time is notified using the output of the designated signal time of a day 7 The remainder days Specify the number of days remaining until presumed maintenance time 14 days until presumed to be used as a reference to notify the maintenance time maintenance time 2 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 setting Methods to reset the notification alarm or dedicated signal output Output Notification method RESET key on the ERROR RESET External error reset front of the controller key on the T B signal Signal Will reset the alarm Will reset the alarm Will reset the alarm Alarm and Will rese
67. this manual Copyright C 1999 2006 MITSUBISHI ELECTRIC CORPORATION How to Ensure Stable Communication Between the RT ToolBox Robot Total Engineering Support Software and the Robot Controller When communicating with the robot controller hereinafter referred to as the R C using the RT ToolBox Robot Total Engineering Support Software hereinafter referred to as the Software depending on the personal computer model and settings the communication may become unstable in a batch backup or program upload download where large amounts of data are transmitted To ensure stable communication with the R C change the communication settings Communication protocol of the R C and the Software as shown below If the communication settings of the R C and the Software do not match normal communication cannot be established Be sure to change the settings on both the R C and Software sides 1 The Robot Controller As for the R C communication settings change the following parameters Default Change to communication protocol CPRC232 0 Non Procedural 1 Procedural To communicate with the personal computer via an extended RS 232C port by using an extension serial interface board change the parameters of the extended RC 232C port 2 RT ToolBox Robot Total Engineering Support Software Change the communication settings of this Software through the communication server Default Change to eee Communicatior Line
68. use Window This window shows the description of this software Click Next after reading the description 12 168 Starting use 12 Position Repair Support Tool 12 5 Communication Setting Position Repair Support Tool Communication setting e X Connect the PC and the controller check commanication setting and turn on the power supply of the controller lt can communicate with each method of ether AS 232C or Ethernet option Click Next if corectii connectable Cancel Figure 12 4 Communication setting Window Check the communication server setting While connected to the robot controller click Next Please see 2 3 3 Communication Setting on how to perform the setting Communication setting 12 169 12 Position Repair Support Tool 12 6 Select the Robot and Backup Parameters Position Repair Support Tool Select the robot and backup parameters X Select the target robot Do you want to back up the parameters f Back up Recommended Not back up The parameter file backed up can be returned to the controller using Robot Total Engineering Support Software Save folder C AProgram Files MELSOFTSAT ToolBox EXREPAIR 20041 124 Browse Back Cancel Figure 12 5 Select the robot and backup parameters Window Select the robot to execute the re teaching Robot is displayed as follows Controller number Controller Name Mechanism Name Mechanism N
69. 0 6595 110 1850 0 000 J02 108 230 532 310 1394 510 Joint coordinate type variables 0 000 Fig 5 31 Position variable editing screen Version D2 or earlier Editing the position data 5 51 5 Program editing tool 5 7 1 Editing the position variable 1 Adding a position variable Click on the Add button The following position variable addition dialog will appear Select the orthogonal coordinate type or joint coordinate type The element value with a checked box is defined Input each element value and position variable name and then click on the OK button Position variable addition Ed pn Input position variable name Select coordinate type Manc F02 Orthogonal coordinates C Joint coordinate Add 0 000 __ Cancel If the coordinate does not have a i wl check the robot s current position 0 000 will not change Input each element A 0 000 B 0 000 E 0 000 7 Reads the current position of the Additional asis 1 0 000 Additional axis 2 0 000 robot Eumert Posture 0 postion aad Multi rotatiori 0 Fig 5 32 Position variable addition dialog AN Caution The unit of the element being used differs according to the robot being used Refer to the instruction manual of the respective robot 5 52 Editing the position data 5 Program editing tool 2 Changing the position variable Select a variable from the position variable list and click on the Chan
70. 0 Hand2 OPEN J 33932 z 33332 Hand3 OPEN Sero ON OFF OFF J4 0 000 A 0 000 Hand 4 OPEN The size of the robot display J5 0 000 B 0 000 Hand 5 aoe mm sec can be changed JE 0 000 L 0 000 Hand 6 End speed 0 000 It can also be changed with di 0 000 Li 0 000 Hand 7 dragging left mouse button J8 0 000 L2 0 000 Hand 3 Shift key to up and down r ml SIR iz The viewpoint can be changed by rotating the l a E E designated coordinate axis AUE a The viewpoint can also be changed by the ZB t60 following mouse operations Dragging left button left and right gt Rotation of Z axis center up and down gt Rotation of X axis center Dragging left right button left and right gt Rotation of Y axis center Dragging right button up down left and right gt Move Dragging left button Shift key up and down gt Enlargement reduction The size of this window can be changed Fig 6 23 Movement State Each monitor function 6 95 6 Monitoring tool 6 4 1 9 Input register The values of the CC Link function input registers can be monitored INPUT Register 2 Robot 2 lel Es Monitoring of the registers shown on the left can be started and stopped BOOK o Ox0000 6001 0 ox0000 6002 0 ox0000 a n ie The register to be monitored can be changed 6005 0 Ox0000 For example monitoring of only No 6000 is BO06 0 O 00
71. 00 155 790 0 000 gt 116 670 0 000 J 328 530 0 000 0 000 0 000 0 000 0 000 Mecha Rv ea Monitor Start Stop Fig 6 8 Current target position monitor To display this screen press the button under the toolbar or select Monitor and then Open Current Target Position Screen from the menu TSK TSE TSE TSK TSE TSK TSR TSK TSK P 1 2 33 4 5 6 amp Edt Program Monitor 1 Robot Monitor View Window Help Open Task Slot 1 Open Task Slot 2 Open Task Slot 3 Open Task Slot 4 Open Task Slot 5 Open Task Slot 6 Open Task Slot 7 Open Task Slot 8 Open Edit Task Slot Open Current amp Target Pos Close All Task Slots Exit Program Monitor Fig 6 9 Open Current amp Target Pos 6 86 Each monitor function 6 Monitoring tool 3 Watch monitor With the watch monitor the variables to be constantly displayed can be selected When the Watch button is clicked on the watch monitor window and a window for selecting the variables to be displayed will appear Watch 2 Robot 2 x View Monitor Program Mame HS Slot Mo Ol a fab ce Start i Start Stop Type Value f Variable Mae Integer z MIE Integer 5 Change PT HP Jont type 900 000 600 000 2 000 3 000 4 000 180 000 0 000 0 000 reee MROBOH Float 1 000000 J Seige l IHOT Float 1135 000000 a s MIHO2 Float 1155 000000 Add Value Wel Wale Fig
72. 00 Bo robot z puo Bg B 3 49 BR s po BA J5 foocco BA s po Bg s7 foo0 BA o jg fo 000 BA Error reset Fig Set the inching monitored For the orthogonal coordinates Position button after the robot movement stops click on the Retrieve Current Orthogonal coordinates Click on the axis button for the direction to move to fy wo fF HY Editing the position variable with the simulation robot 10 159 10 Simulation Select the position variable to be edited from the program position variable editing screen being edited and then click on the Change button To newly add a position variable click on the Add button Select position variable to be changed Cartesian type P F10 1070 000 580 000 870 000 Fig 10 18 Position editing screen The current position of the simulation robot will be read in when the Current position read button on the position variable change and add dialog is clicked on Position variable addition Ea Name Poe i Cartesian Add i Joint 0 000 iv Cancel si ka y ooo M z poo M A ooo M Reads in robot s current position B ooo M E w 0 000 Cal Robot Additional axis 1 0 000 Cal EE Additional axis 2 0 000 Mw Current FLAG E W position load FLAG E Cal Fig 10 19 Position variable ch
73. 00 start Stop possible 6007 0 ox0000 Le e009 Oo n0000 Sa When monitoring is stopped this button will 6005 0 os0000 become valid 6010 0 ox0000 6011 0 ox0000 6012 0 ox0000 6013 0 ox0000 i BoA O pinna Monitor Setting The input registers are pseudo input 6015 0 ox0000 PseudodNPUT The size of this window Ac gt can be changed Fig 6 24 Input register Monitor setting When Stop is selected for the monitor state the Monitor Setting button will be a validated Monitor Setting Robot 2 E3 Monitor sa Stop The No selected in the information List will move to the Display List The Number selected here will be the register to monitor Register List Display All Numbers in the Information List will move to the Display List The Number selected in the Display List will move to the Information List as pe All Numbers selected in the Display List will move to the Information List Fig 6 25 Monitor setting AN Caution When a large amount of information is monitored the communication size with the robot controller will increase and it may take time to update the information It is recommended to monitor only the required registers with the monitor setting 6 96 Each monitor function 6 Monitoring tool Pseudo input With the pseudo input mode the values input from the following window will be interpreted as the input regist
74. 1 CR T Protocol CPRE232 Non Frocedual Fig 7 33 Communiaction Parameter RS 232C 7 6 10 Zone Specify the area rectangular defined by two orthogonal coordinate points one _ O x Fobot Controller 1 Rabot 1 Pick and Place 7 l 2 J3 E Type AREATAT i None C Signal Eror Robot No AREATME Position AREATF 1 rim deg Position AREATP 2 mm deg wf ow yf 000 vf 00 y 000 of om of a0 a 360 00 a 360 00 m ef e000 uf om af oa eft a oa I T cu a 3 io Teaching l l Print Write Fig 7 34 Zone 7 124 Parameter menu 7 Parameter editing tool 7 6 11 Free Plane Limit Set the overrun limit used on free planes Free Plane Limit Sea ae eS eS Fig 7 35 Free Plane Limit 7 6 12 Home position Set the position of the escape point Home Position Fig 7 36 Home position Parameter menu 7 125 7 Parameter editing tool 7 6 13 Program Language Set the position of the escape point Fobot Controller 1 Robat 1 Pick and FI Exit ALNG C MOVEMASTER COMMAND f MELFA BASICS Print Fig 7 37 Program Language AN Caution The language MELFA BASIC IV MOVEMASTER command to be used by the controller can be changed with the Robot Language parameter Note that the robot models that can use the MOVEMASTER commands are limited Refer to the Standard Specifications for the model
75. 1 or later of this software However these functions are only available for certain types of robot and for certain controller software version Please refer to 12 Position Repair Support Tool and 13 Maintenance Forecast for details 5 The robot 3D monitor function in the Movement State is compatible only with the standard version STD Basic functions 3 19 3 Basic functions and window operations 3 2 Basic Windows operations The basic mouse operations of Windows required when a first time user of Windows is using this software are explained in this section 1 Mouse operations Selecting a menu When selecting a menu move the mouse cursor to the menu characters and then press the left mouse button A list will appear from the selected menu so while holding down the left mouse button move the mouse cursor to the item to be selected and then release the left button i Program Edit Tool Robot prg BASIC edit mode OF x File giS ProgramManagement Tool Window wiew Help Simulation lj x Oe and amaS Undo Position variable Cut Chr Line Cut Copy 1 Press left button at menu Ctrl C Line Copy Paste Ctrl Find Ctrl F Replace cH 2 Move mouse to position of item to select while pressing left button Jump Partial Transmission Delete Change Orthogonalype P X dyo o AB let Fle Copy the selection and put it on the Clipboard NUM ve Click This means to press the
76. 2 17 2 Preparation before use 2 18 Connecting to the robot 3 Basic functions and window operations 3 Basic functions and window operations The functions provided with this software and the basic Windows operation methods are explained in this chapter 3 1 Basic functions This software functions are explained in this section This software has the following functions Each function corresponds to the tools explained in Chapter 5 and following A list of functions Windows is given in A Appendix Function tree for reference OK OK Personal computer that runs on Microsoft Windows 98 Microsoft Windows Me Applicable model Microsoft Windows NT 4 0 Microsoft Windows 2000 Microsoft Windows XP Editing MELFA BASIC IV or MOVEMASTER command compatible functions Simultaneous display of multiple editing screens Command input command description Editing of position data File operation Writing to controller floppy disk and personal computer Search Find in files and Replace function With character line No or label Copy cut paste insert per character line undo per Ors OR command statement position variable Line No automatic generation renumbering Batch grammar check Command template Position variable batch editing Program editing functions Position variable template Print print preview Managem Program file management ent List
77. 6 10 Watch monitor Selection change The watched variable can be selected from the variable list used by the program When Selection change button is clicked the screen like the right is displayed Add button is clicked after the variable watched on this screen is selected and the variable monitored to Displayed Variables is selected If the watched variable is selected OK button is clicked The variable which is not displayed here can be specified by the Add Value Select Yariable to Watch 2 Robot 2 Hidden arables Displayed Yarnables Delete Fig 6 11 Select variable to Watch Each monitor function 6 87 6 Monitoring tool Add Variable The variables to be monitored can be designated Input the variable in Variable Name select the variable type and then click on the OK button Add 2 Robot 2 Ea Integer Real C String C Position Cartesian C Position Joint Cancel Fig 6 12 Add Change The value of the variable being watched now is changed Variable identifier to which the value is changed is clicked double or Change button is clicked while selected Variable value change window is displayed notes Please note that the movement of the robot might change by the change enough when you change the value When the variable name is selected and the Value Change button is clicked on the window for making changes will appear Position Variable change Ea Mame
78. A C has been completed Restart the Robot Controller Will you reset the power supply of A C from PC Fig 8 6 Confirmation of Power reset 2 menu Selecting R C Power Reset from the File menu can reset the power to the robot controller Backup Restore Reset the power supply of R C x File Help Backup Ric gt PC Restore PC gt RIC Will you reset the power supply of RG trom PC Program Backup Restore Reset the power supply of Ric eo Exit Robot controller 1 Robot 1 Fick and Place Cancel Fig 8 7 Operation by menu 8 142 Power reset of the robot controller 8 Backup Restore 8 5 Program Backup Several robot programs are copied between the R C and personal computer The robot programs copied to the personal computer can be edited with this software File Help Backup R C gt PT Restore PC gt RsC eatin Backup Restore Reset See RESRG UNE peter urea supply oF Ric Exit Fig 8 8 Program backup Restore menu Select File Program Backup The Program Backup window will open Program Backup Source C Robot controller Personal computer Copy Files MAME o Oea _allClear Clear Destination C Robot controller Personal computer C APROGRAM FILE SSMELFA2 Copy Cancel Fig 8 9 Program backup Using the Add button set the file to be copied into the copy source area The file selected as the copy so
79. AN RS 232C COM2 R C R C e R C R C 1 2 31 32 R C Robot Controller Example of connecting multiple robot controllers When using Ethernet if communication setting is performed for unconnected robots retry processing is performed frequently and as a result the execution speed slows down Therefore set the communication setting for unconnected or powered off robots to Not used 32 robot connection is a theoretical value when 32 robots are actually connected it does not guarantee the same performance as when only one robot is connected For example if all of the 32 robots are monitored the status update slows down compared to when only one robot is connected Also such setting may affect applications that use other networks in Windows 98 Me Connecting to the robot 2 9 2 Preparation before use 2 3 1 Using RS 232 C 1 An RS 232 C cable is used for the connection between the personal computer and controller For a DOS V personal computer a 9 pin connector on the robot side and a 25 pin connector on the controller side is used 2 Connect the personal computer side of the cable to the standard RS 232 C connector RS 232 C serial port amp ha oo OS Fig 2 6 Personal computer s RS 232 C connector When connecting to a port other than the RS 232 C serial port 1 refer to section 2 3 3 Setting the communication server 3 Connect the controller side to the RS 232 C connector on the front of t
80. Change Special Purpose I O Signal to Named I O Signal Accelerate JOG Operation of Simul ation Add OVRD setting function to Simulation 2002 12 20 BFP A8090 E Corresponds to the version D2 The floppy disks is abolished The description addition which encloses communication middleware MelfaRXM OCX in the standard version and the Chapter about a setup 14 Setup of the communication middleware MelfaRXM ocx is added 2003 6 10 BFP A8090 F Corresponds to the version E1 The chapter was divided for each tool Add Position Repair Support Tool and Maintenance Forecast 2005 1 20 BFP A8090 G Corresponds to the version F1 Corresponds to the MELSOFT 2005 5 1 BFP A8090 H Corresponds to the version F2 Corresponds to the RH SH series in Position Repair Support Tool 2006 10 10 BFP A8090 J Corresponds to the version F3 Error in writing correction Contents 1 Before starting use 1 1 1 12 USING The INSIMUICUON mantal f223 6sseenct ele eNis aa a E iets 1 1 1 2 CONnTPMING the PrOGUCE sssri n aa aaa 1 3 1 3 Items to be prepared DY USEP cc ceccecceccseeceeceeeeeeteeceeeeeeseeeeeceesseceeeseeseeaeeeeenaetes 1 4 2 Preparation before use 2 5 2A MAStAMATION Methods sirais E E 2 5 Zaide Ha SaO E E tome enor 2 5 2 oP mm gh 2 2 aa a a ee 2 Aza SUING UD LS DIME Sartre vices tel asersanaetantnatnatne A 2 8 229 ACOMMECING tothe TODO cree a scans ace zocencn esc sabres
81. Changing the parameters There are some parameters that cannot be edited In this case the Write button operation will be disabled AN 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 the 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 AN Caution To validate the rewritten parameter information in the robot controller the robot controller power must be turned ON again Changing the parameters 7 109 T7 Parameter editing tool Operating Modes of the Robot Controller When Writing Parameters Software version of robot controller Version J1 or later Writable mode switch Parameters can be written in any of Teach Auto OP and Auto Ext modes However parameters cannot be written while any program with other than the startup condition of ALWAYS has been started In such a case stop the program and then write parameters H7 or earlier Parameters can be written only in Teach mode 7 110 Changing the parameters T7 Parameter editing tool 7 6 Parameter menu With this tool parameter panels grouped as windows for each function are prepa
82. Cr 30 YL Line Cut 48 Ho Copy Ctrl C N a i Line Copy 70 HC Paste Ctrl 86 DL Find Ctrl F ae Find in Files 416 P ri Chrl H 128 H ee A 136 0 Partial Transmission 146 HUS P18 15A HNPFH 1 eo Fig 5 43 Copy 5 58 Editing auxiliary functions 5 8 2 5 Program editing tool Line copy Only BASIC editing mode The lines containing the selected range are copied To carry out line copy select Line Copy under the Edit menu By using the paste function described later the copied character string can be pasted into another section of the program 5 8 3 Cut i Program Edit Tool C Program Files HELFA ENG41_p File Edit ProgrmManagement Tool Window View Sim i Undo Ctrl E al Ag Unda Position variable a Lar Cut Ctrl Line Cut 1 When Line Copy is designated Copy Ctrl C Line Copy 66 78 Paste b Chile eee Cre 96 OU Chrl H 2 All Lines are copied Fig 5 44 State of line copy The character string selected with the mouse is cut When a range over several lines is selected with the BASIC editing mode line cut will be executed To cut select Cut under the Edit menu By using the paste function described later the cut character string can be pasted into another section of the program 1 Select character string with mouse 2 Designate Cut Edit Tool C Program Files i Program Edit Tool C Ait Progra
83. DTLA mm deg mm deg mm deg mm deg 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 i 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 ma o Fr fH a a aalala Fig 7 18 tool Robot controller Ver J1 or later 2 Please refer to 12 Position repair for the robot which can use Position repair tool 7 116 Parameter menu T7 Parameter editing tool 7 6 6 Slot Table Set the operating conditions of each task slot during multi task operation Slot T able Fobot Controller 1 Robot 1 Pick and Place Slot T able Fig 7 19 Slot Table Select the task slot number you are changing EAEEREN and click the Modify button When the modification window appears set the program ae i Slot Mo 2 name operating conditions startup conditions R and task priority and then click Write Program Files Conditions Mode Conditions Priority File List Fig 7 20 Slot Table Change When the Revert to Initial Values button is clicked the Slot Table Initialization Confirmation x following confirmation screen appears Fartaiire Will initialize information for next slot Mo Okay Slot Mo 2 Frogram Hame 22 Operation Type REF Start Conditions START Task Priority Fig 7 21 Initialization
84. Editing the program Here a simple program using the three positions P10 P11 and P12 will be created The program contents will move the robot in order between the three points The list is shown below Program name P100 10 GETM 1 Declare to move mechanism No 1 robot 20 MOV P10 Move to position P10 30 MOV P11 Move to position P11 40 MOV P12 Move to position P12 An example for inputting the first line is shown The upper side of the editing window is the program command statement editing screen Input as shown below using the keyboard and then press the Enter key ee en ee 10 GETM 1 1st line 10 GETM 1 The cursor will move to the next line To change the contents of the program line change the contents at the line and then always press the Enter key at that line otprg i BASIC iae 10 GETM 1 7 Press Enter key Input the remaining program in the same manner Input line Enter BM Robot pre BASIC 10 GETM 1 fU MOY PIU SU MOV P11 AN MOY PT 50 END Editing window containing the following program Creating a program 4 23 4 Starting use 4 3 Teaching a position 1 Editing the position variable Next edit the values of the position variables P10 P11 and P12 input in the program command statement to the following values The values marked with an x in the table are not input here BP Robot pre BASIC 10 GETM 1 2U MOY PIU SU MOY P11 AN MOY PT 50 END Caution
85. Error No Message AUTO Fig 10 4 Simulation panel The viewpoint can also be changed by the following mouse operations Viewpoint of changing Mouse operations on the graphic Rotation Dragging left button to left and right gt Rotation of Z axis center up and down gt Rotation of X axis center Dragging left right button to left and right gt Rotation of Y axis center Dragging right button to up down left and right gt Move Enlargement reduction Dragging left button Shift key to up and down gt Enlargement reduction 10 148 Simulating operation 10 Simulation AN Caution Communication with the robot controller is not possible while the simulation panel is opened To communicate with the robot controller close the simulation panel Simulation menu gt Simulation view Travel Base Display Information When a robot with travel is selected edit Travel base information for display the display information for the travel base The display information is changed here Only travel base information for display is set here To change the movement range of the travel asis change the parameters Current data o oo ee f 000 00 frm Travel base information for display mmj mmj direction 0 direction 11000 Set the same value as the travel axis movement Travel direction i Y directio To change the robot s movement range select Yes Y The parameter value
86. However if the save destination is a robot controller the result will be overwritten on the previous information 6 94 Each monitor function 6 Monitoring tool 6 4 1 8 Movement State With the operation confirmation the robot s movement range current position and hand open close state etc can be confirmed Robot Monitor robot 3D monitor function in the Movement State is compatible only with the standard version STD Movement State 2 Robot 2 _ When this button is clicked on currently connected robot can aei be confirmed with graphics APH With this function the robot ABS LIMIT Joint Limit Orthogonal Limit operation can be confirmed deg mm degmm o m e from a remote place using 36 600 J1 68 400 76 600 J1 48 400 10000 000 10000 0000 remote maintenance 63 400 J2 96 600 48 400 J2 76 600 40000 000 10000 00 Note that when this robot is 20 000 J3 70 000 goo sa s0000 10000 000 z 1000007 being displayed with graphics 220 000 J4 220 000 200 000 J4 200 000 monitoring of the section a000 J5 aoon an0 J5 aana enclosed in the dotted line will 0 000 JB 0 000 0 000 JE 0 000 stop 50030 000 J7 80030 000 80000 000 J7 80000 000 Bese ue 0030 000 J8 0030 00 0000 000 Je so0000 000 Current Position Joint Orthogonal Hand State deg mrmn deg mm J 0 000 175 000 Hand1 OPEN Machine Lock OFF J coo Y 0 00
87. I O Signals ASSIGNMENL c cccceeceeeeeeeceeseeeseeeseeeeeeees 7 119 76 9 Communication Paramete sssr ea ES 7 124 OTO ey Ae g ole mera a eee ae re eee ne ee ee eee eee eee ee ene ee ee eee eee 7 124 TsO Ms gt HENCGHP FANG LIM Cer sale wets aie attatched eee 7 125 EO 12 THOME POSITION sersan ich daviecnediginedda a a oa 7 125 102133 Program Language sas ce dai nannie Scnemd Auiet atch cudlet hain dice oen a E i E 7 126 SG Gam 1 eea re ee ee ae een eet een ee en ee eee ee 7 127 Fo MIMI ZATI OM a tees Sere ceiseectee a satewinn atlas a a e Mode A Seaea uate 7 128 7 8 1 Initializing the battery remaining time cc ccc cecceecceeeceeeeeeeeeeeaeeeeeesaeeaees 7 128 TO OVEM AMIOIMAUON ee a des aoah at en atacaeaione tihett tee oases eect 7 129 Lode TRODOUONGIN Cala xcehce se eters haat es cde aici dea ed aes cas 7 129 7 9 2 Robot Origin Parameter lt BaCkup gt ccccccccceecceeeeceeeeeeeseeeseeeeseeeseeeeaaeess 7 131 7 10 Power Reset of the Robot Controller Version E1 or later ccccceecceeeeeeee eens 7 132 TM Pa SWVON Ostet at gt See sateg aa yharisGtactt ENE 7 133 t2 FFI ORiir ANIC LOM secrets cade ch oad nadae E Setanta ne cate slotnace bora acatceodes 7 134 TENZ he SPU OWN erpiecateeeete can sl aueag tea gw earns rasan tgees sateeatt eb aas tee tenina pias ech asa 7 134 PIA APIO FIC opaa oc ashen hact hers canta onataa ei aaeee testes edie iecehacsh eee cand 7 134 7 13 Exit the Paramete
88. M ocx 14 Setup of the communication middleware MelfaRXM ocx 14 1 Overview MelfaRXM ocx is an ActiveX control that communicates with the robot controller MelfaRXM ocx is enclosed by the RT ToolBox Robot Total Engineering Support Software standard version However when using only the function of the Robot Total Engineering Support Software it is not necessary to install MelfaRXM ocx By using MelfaRXM ocx the Windows application linked to MELFA ROBOT can be created easily on your equipment An instruction manual and notes of MelfaRXM ocx are enclosed in CD ROM of the standard version RT ToolBox Robot Total Engineering Support Software When MelfaRXM ocx and RT ToolBox Robot Total Engineering Support Software live together in one personal computer we ask you to surely read the instruction manual 3 2 When making it coexist with the Robot Total Engineering Support Software of the communication middleware MelfaRXM ocx 14 2 Description in CD ROM The CD ROM standard contains the following items Refer to the instruction manual in CD ROM for the usage of MelfaRXM ocx The files for installation of RT ToolBox Robot Total Engineering Support Software Communication Middlewale xe cccdlocccceeeneuceeaceacmeucesce se MelfaRXM ocx related file text file which indicated notes S Setup exe The files for installation of MelfaRXM ocx Doc Instruction Manual pdf Fig 14 1 Descrip
89. MITSUBISHI Mitsubishi Industrial Robot CRn 500 Series RT ToolBox Robot Total Engineering Support Software Instruction Manual 3A 01C WINE 3A 02C WINE BFP A8090 J Revision History Date of print Specifications No Revision details 2000 7 10 BFP A8090 A Change file open save as Program Editor Add Program conversion Change Program Management 2001 9 3 BFP A8090 B Add Copying and pasting the position array variables in Program Editing tool Change Search and Replace in Program Editing tool Change Program monitor Add backup restore the Robot Origin Parameter in Maintenance tool Change Backup Load Save in Maintenance tool Add Print of Parameters in Maintenance tool 2001 10 31 BFP A8090 C Corresponds to the version C2 Add History function to Program Editing tool Change Position Variable Batch Edit Window in Program Editing tool Add Find In Files function to Program Editing tool Change Program Manager Setup Window in Program Editing tool Add Viewpoint change function using the mouse to Robot Graphic Display Add Reading editing and writing robot origin data to Maintenance tool Add Instructions related to position data to conversion targets of program conversion 2002 3 18 BFP A8090 D Corresponds to the version D1 Corresponds to the Windows 2000 Windows XP Add Multiple Robot Controller Comunication function
90. Movement state 9 Input register lt CC Link M Seno LOAD 0 Output register lt CC Link gt fw Servo POWER Fig 6 1 Monitor menu Robot Information The controller selected in Robot Controller for the communication server is displayed as the initial value Version D3 or later The No 1 robot controller is displayed in Versions D1 and D2 Robot 1 Robot 1 Fick and Place Fig 6 2 The controller selected for the communication server AN Caution Constant communication is established with the robot controller while each monitoring tool is started Close any unnecessary windows to reduce the communication load Starting 6 79 6 Monitoring tool 6 2 Outline of each function and starting methods 1 Outline of each function Each monitor function is explained briefly in this section The monitor functions are largely classified into the following three groups 1 Robot movement monitor Items related to robot movement are monitored 2 Operation monitor 0008 ltems related to the robot s operation are monitored 3 SEMO MONON socrii aia The robot s servo system information is monitored Monitorname Explanation Slot run state The operation state of each slot can be confirmed Stop signal The stop signal input into the robot controller can be confirmed Error The currently occurring error can be confirmed The history of the er
91. N A E 5 67 5 8 14 Position variable template ccccccceccecceeceeeseeteeceeeeseseeceeesgeteeseeeaeeaeesaees 5 67 5 8 15 Position variable batch change cccecccecceecceeeeeeeeeeceeeseeeeeeceeeseeeseeeeetaeeees 5 68 D 6510 PFOOraMmCONV CISION sx assed eres Ahan enero ceca ee ae eee 5 68 g9 OVMA 8 Gon aa gn eee ee 5 69 5 1 DEDUG GING a PROGRAM hh coeter seis Soh tedster ta aoe ashe Geode eden Melosh te 5 70 Oe 10s le Open ME Dogra aan a a A 5 70 5 102 Step executo rnane a re E dad sane dad E EE 5 71 5 10 39 Direct xec tioNs sareen EEE EAEAN EE he apnoea 5 72 5 11 Program Managemen ccccccccsccesecsecceccceeceeecacecueecuecsecseesaeseueseeesaeeceesauesaeesaes 5 73 SA eM E o step E E R E ET T E E T eat elas E 5 74 oE OCOD eee en eae ee eee ed Cee ae ee ee oe 5 75 PTE MOVEM I barninu a a A ce tala alt 5 75 SN WI CICEC eana a ane anhaastad eaieoneatioaeaiae sean nant sas eaanmnaeean ae 5 76 STIS Rename eeir A ono aucddaneangamsnedbupaeaades 5 76 ERG POCE eaaa a I ninance dain ere pace aaa anaaee 5 77 DIR G COMPASSO min aa a A A EA 5 78 6 Monitoring tools 6 79 O A a a a E 6 79 6 2 Outline of each function and starting Methods 0 nsannnnnneneennnnnnnnnnnnnnnnnnnrnnrrennne 6 80 6 3 EXit the Montor Men ssaa naro a a e e vaateccsseiates ddd ea A 6 81 04 Eachmontor TUNG issn a A a A 6 82 6 4 1 Robot movement MONItOS cc ceec cece eee ceeeeeeeeeeseeeseeeseeeeeeeeeeseeeaeeeeesaee
92. NA 2 nosta a nossa 1 HNDCNTLI 2 HNDCNTL2 3 HNDCNTLS Hand Error Air pressure Error TINPUT OUTPUT HNDERAI E 2 HNDERRZ A TINPUT OUTPUT TP arent a aa Ps arena HNDERAS Fig 7 32 HAND 10 Warm up mode This function can be used with Version F1 or later of this software However note Version J8 or later of the robot controller software Special purpose INPUT OUTPUT Signals assignment x Fotot Controller 1 Robat 69 Exit General Start each Slot Stop leach Slot Sermo OFF each Robot Sermo ON each Robot Machine Lock each Robot Data JOG HAND Warm up mode o w OUTPUT Warm up mode setting Robot 1 MT WLUPENA T Wam up mode enable Robot 1 MTWUFENA Robot 2 MZWUPENA Robot 2 MZWUPENA Robot 3 MSWUPENA Robot 3 M3WLIPENA Warm up mode in progress Robot 1 MTWUPMD Robot 2 Maw OPM Robota MoaWwUPMD Ee Print Wwe rite Parameter menu 7 123 7 Parameter editing tool 7 6 9 Communication Parameter Set up the communication environment of the RS 232C interface located at the front of the robot controller Communication Parameter R5 232C Fa Exit Robot Controller 1 Robot l Pick and Place RS232C Baud Rate CEAUZ232 Data Parity CPRTYV232 gt Even w Stop Bit CSTOF232 2 hi Termination CTERM232
93. NTER key Be Robot pre BASIC i Fig 5 25 For BASIC editing mode For line No hide mode Input only the command statement and input by pressing the ENTER key BP Robot pre 1 GETM 1 T M 4 Fig 5 26 For line No hide mode lead mi AN Caution If the ENTER key is not pressed to input the command statement it will not be recognized as a robot program All characters except comment text and character string data enclosed by are automatically converted into uppercase characters Editing the program 5 49 5 Program editing tool 5 6 3 Deleting a program line Use the following procedure to delete a designated line No line from the program For BASIC editing mode Describe only the line No and then press the ENTER key E Fo bog it Pre BA Zl i 2U MOY F1 Fig 5 27 Deleting a program line For line No hide mode Delete the command statement by pressing the Backspace key or Delete key 5 6 4 Describing a comment statement To write a comment statement input at the head of the command statement and then input the comment character string A comment can be input after the command statement Input the comment after Fig 5 28 Example of inputting a comment statement 5 6 5 Inputting a position variable Only for BASIC editing mode By inputting a position variable definition following the robot program grammar as shown below the P type and J type position variable can be
94. P33 2 5 211 DEF PLT 3 P41 P42 P43 2 5 220 DEF PLT 2 Ps1 P32 P33 2 5 250 DEF PLT 3 P41 P42 P43 2 5 2oU MOY P1 310 MOV P2 240 MOY P3 370 MOV P4 6 Monitoring tool Io x es Variable Fig 6 7 Program monitor The value of the variables in the running program can be referred to The variable to be displayed can be selected Watch The constant display window for the variables used in the running program is displayed Option The No of execution lines of the program being executed can be changed As the program monitor uses a large amount of information when monitoring the variables with Watch the update of the display data may be delayed from the actual information When only the variables are to be monitored press the monitor Start and Stop buttons on this screen stop the display program monitor and then watch Monitor sa Stop Each monitor function 6 85 6 Monitoring tool 2 Current target position monitor The current target position monitor can monitor the current robot position and the target robot position while the robot is operating The position information is displayed in the orthogonal coordinate system and joint coordinate system Current and Target Position 1 Robot 1 Pick and Place E4 Cartesian Joint Current Pos Target 168 790 0 000 38 080 0 000 40 070 0 000 Curent Pos Target 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0
95. PTMP Emi Change B00 Vanable value change 2 Robot 2 Tr 4 Exit View T Value name Current position load Mi A Value data amoo BE N X l co oy gt Flagi 0 Edit L E F Flag2 0 Edt Location Integer Float String Fig 6 13 Variable change 6 88 Each monitor function 6 Monitoring tool Please click Change button after changing the value However Please note that the movement of the robot might change by the change enough when you change the value Kinprog x AN The purpose position of the robot changes when the value is changed and the robot might collide with the surrounding Please confirm the changed value enough because itis especially risky while the robot is working Change Okay Fig 6 14 Warning Load Save The list of the variable monitored by Watch is preserved in the file or the monitored variable can be read from the file This function corresponds from Ver C1 Variable name the type and the value being watched now can be saved in the file by clicking Save button Variable name and the variable type are read from the saved file when Load button is clicked and it is possible to add Watch as a monitored variable About the hexadecimal number display The variable displayed with Varialble List and Watch can be switched to the hexadecimal number the decimal number Please select the type which wants to be displayed with View on each sc
96. Power Supply of the Controller 12 185 12 Position Repair Support Tool 12 15 Finish 2 Position Repair Support Tool Finish x Make sure to check before exit this software Make sure to check whether itis satishactory to all position data before exit this software Revision parameter i effective in all the position data in the controller Back up parameter A Revision parameters were changed To save the parameter is recommended Back up Return to r teach Figure 12 16 Finish Window After Re teaching When the writing of revision parameters is done operation of this software is complete CAUTION Perform an operation check before exit this software Before exit this software 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 CAUTION Back up the parameters This software has changed the revision parameters Back up the parameters before exit this software 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 software cannot rectify the point 12 186 Finish 12 Position Repair Support Tool
97. RATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 5 1 14 YADA MINAMI HIGASHI KU NAGOYA 461 8670 JAPAN OCT 2006 Printed in Japan on recycled paper Specifications are subject to change without notice
98. Rn 500 PC Support Software lt Version D2 or earlier gt Programs gt MELFA ENG or TOOL MELFA mini ENG gt MELFA PC gt Monitor Parameter a m HackupfRestore Exit Fig 4 1 Main screen Starting 4 21 4 Starting use 4 2 Creating a program Next try editing an actual program 1 Starting the program editing tool Click on the Program Edit button on the Main screen The program editing tool as shown below will start up sos File Edit ProgramManagement Tool Window Wiew Simulation Help CRn 500 series ME LFA Ver E4 The editing screen will appear Program Edit Monitor T Farameter Ek Backup Restore eee _ Che Catesiantype Piva x Jy dz la e Je lag Flag Exit Press F1 to show help Fig 4 2 Entire screen from Main screen to Program editing screen 2 Newly creating a program file To create a new program file first click on New under the File menu or click on the D button The following type of editing screen will appear Program Edit Tool Robo prg BASIC edit mode sos File Edit ProgramManagement Tool Window View Simulation Help pleja ee Seal volte Command editing screen ee o o O Oe OE Cartesian type Piva x sty dz Ja e e u i2 Fag Fag Jointiype vaise 1 Position variable editing screen Press F1 to show help Fig 4 3 Editing screen 4 22 Creating a program 4 Starting use 3
99. The following values are for the RV 20VA type robot Position variable name X Y z A B C L1 L 2 Flagt Flag2 Pio 1060 680 870 x x x x x 6 0 P 0 30 1800 x x x x x 6 amp 6 0 o PR 9883 588 Px Unit mm 2 Add a position variable The lower side of the editing screen is the position variable editing screen Cartesian peP X dy dz Ja e Je lag Flag List of Cartesian type variables List of joint type variables Fig 4 4 Position variable editing screen Input the position variable P10 value as shown below When the Add button is clicked on the Position variable addition screen will appear 4 24 Teaching a position 4 Starting use Position variable addition Name Coordinate Add Joint coordinate ooo 8OCOC S rw Cancel Cancel ooo boo fooon poo Robot Additional axis 1 o O00 z Additional axis 2 fa agg ca Posture o Iv See aad Multi rotation booo W Sass le B 4 4 4 ome N aS x xl q 4 JA xl 4 Fig 4 5 Addition screen Input the variable name P10 in the Variable Name area Name Variable name area Input each value X 1060 Y 680 Z 870 Posture 0 Multi rotation 0 in the X Y Z Posture and Multi Rotation areas x hoo M y feo 2 leo Value input area In this case the Additional axis 1 Additional axis 2 A B and C values
100. Time msec window may be hidden behind a different window In i0258 this case press the Alt key on the keyboard or AlI cycle time msec click on the Tact Calculation Results icon i026 displayed on the task bar Cycle per step This completes the calculation of the tact time pies 1 10268 10268 Cycle time calculation 10 153 10 Simulation 10 2 2 Calculating the tact time from the robot program The tact time of a designated range of the robot program can be calculated Note that the following limits will apply Note Observe the following points when calculating the tact time from the robot program 1 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 2 The tact time cannot be calculated for a program having signal input waiting etc Invalidate any signal input waiting etc before calculating the tact time 3 With the PC support software prior to version C1 a program containing an END statement cannot calculate the tact time For example the tact time cannot be calculated for the following types of programs The sections of the program highlighted in black are set so that the tact time can be calculated 100 GOSUB SUB1 110 END 120 200 SUB1 140 END 210 MOV P01 220 RETURN When the GOTO statement s When the subroutine
101. ameter Robot Controller 1 Robot 1 Pick and Place Exit RAT 25 Parameter Change Explanation E ACCOCMODE Initial mode of accelerationdecelerationii Fixed z Optimurmi Robot ARERR Roboti air pressure error INFT During roboti air pressure err QUT Com ARERR Z2 Robot air pressure error INPUT During robot air pressure err QUT Com ARERR3 Robots air pressure error IMPIT During robots air pressure err QUT Com ARERR 4 Fobot4 air pressure error INPUT During robot4 air pressure err OUT Com AIRERRS Robots air pressure error INPUT During robots air pressure err QUT Com ALIGHT P Align pe select O Mormal 1 Cylindrical Robot ALVWEMA Enable command SERVO command and RESET command in ALYY Cor ARCH1S Shape af AR CH1 Robot ARCHIT Type of interpolation for ARCH Robot ARCH25 Shape of ARCH Robot ARGH T Type of interpolation for ARCH Robot ARUSH3S Shape af ARCH Robot ARCHST Type of interpolation for ARCH Robot ARCH4S Shape of ARCH4 Robot ARCHAT Type of interpolation for ARCH4 Robot gt Parameter List Ready 06711703 10 54 4 Fig 7 1 Parameter editing tool E1 or later The parameter edit screen differs depending on the number of machines being connected and the version of this software If multiple machines are being connected or Version D2 or earlier is in use the parameters are displayed for each machine as shown in the figure below User Parameter Robot Controller 2 Rob
102. and l Weight k 0 i 0 pte weiaht ka Salina Jaana i workpiece setting Size mm Size mm w 0 l s fO I F 7 iz ae he 1 y f s fo a l p p J Y be Y J Jo y j l Z E F E J 7 0 ai Center of gravity mm Center of gravity mm I Center of gravity mm Center of gravity mm xe o a v 0 E 1 i fo p AAAA tl l i a Y o J l yO I A i I Pe 8 Se ee L nr Version F1 or earlier Version F2 or later Fig 10 3 Model selection dialog The following Simulation results view panel will appear and the state of the simulation of the program currently being edited will appear Simulation results Oo x The angle for viewing the robot can be changed 1 m Viewpoint 1 H fe t 0 H The virtual controller s mode during simulation a H E operation can be changed Zoom To change the virtual controller parameter information 300 A set to TEACH AUTO is used for the simulation i operation made J Select AUTO TEACH Travel base int When a robot with travel is selected edit the display Robot Type information for the travel base AVES Stopping JOG t 7 4 E USN T JOG operation is carried out with the simulation robot l s s CSS in this case set the above Mode Changeover to
103. ange dialog 4 4 10 160 Editing the position variable with the simulation robot 11 Program conversion 11 Program conversion The Robot programming supporter for E EN M1 and M2 series hereafter old PC support S W and this software hereafter new S W differ in the configuration of position data Therefore the program prepared by using the old PC support S W cannot be used as it is in the new S W The program conversion converts the position data as well as the instructions DJ MP and PD instructions of the Move Master command related to the position data so that the robot programs created and saved by the old PC support S W can be used with this new S W 11 1 Precautions Make sure to read through the items of caution given below before carrying out program conversion Note 1 The program conversion converts the position data as well as the instructions DJ MP and PD instructions of the Move Master command related to the position data It is not possible to convert automatically from MELFA BASIC III data to MELFA BASIC IV data Be sure to make grammatical check using the new S W before using the program saved by the old PC support S W Note 2 The program for M1 M2 prepared by using the old PC support S W has the base rotated 90 When using the program for M1 M2 convert M1 M2 program into EN program using the old PC support S W before carrying out the program conversion Note 3 In the case of the old PC support S W
104. are not defined so remove the checks A E i OoOo C fo a Removing the check heck the described details and click on the Add button The position variables will be registered into the program and the P10 position variable will appear in the position variable list as shown below Deis chan Cartesian type F EE AE CR PC FE P10 1060 000 680 000 870 000 0 000 0 000 0 000 0 000 0 000 Fig 4 6 State with P10 in list Add the remaining two position variables in the same manner Teaching a position 4 25 4 Starting use 4 4 Confirming the operation with simulation Next try confirming the operation of the created robot program using simulation Select Execute Stop Automatic Operation from the Simulation menu Simulation Help Simulation Wien Execute Stop Automatic operation Simple cycle calculation amp Stop Error Monitor Step un Select Direct Execution Fig 4 7 Simulation menu The following type of robot type and hand workpiece setting screen will appear In this case select RV 6S from the model list and click on the OK button Model selection dialog l Cancel Robot model Type RY S zeres Robot RvS Select the Type and Robot Workpece and Hand Mas weight arm end drop Set the weight position Hand Workpiece Weight kg f weight ka fo Size mm Size mm Not used in this case mi fo mi fo Ve fe nee
105. ation press the Update button Error Histroy 2 Robot 2 x VIEW ie All H Level Error L Level Error Caution Tabulation information Start Date 99 11 16 Start Time 18 42 10 No of registered items 3 No Message Dae Time Le Program Line Detais 68500 Cancel pteudo input mode Py OFF 99 11 22 1620 18 Low 0 60000000 3361 Can not load the programi SLT 99 11 22 1537 46 Low ACCEL O 336100000 4600 System eror System base prog 939 11 22 1537 46 Low O 460000000 The displayed The cause and The displayed error The error history information is remedy of each error history information is information is updated can be confirmed saved in a file cleared Retresh Details Fig 6 6 Error history 6 84 Each monitor function 6 4 1 4 Program monitor Information of the running program can be monitored 1 Program monitor Program Monitor 1 Robot 1 Pick and Place Monitor View Window Help TSE TSE TSE TSE TSE TSE TSE TSK Task Slot Information Status Wating Frg Marne E Line Nof 140 Roba oo Conditions START REF Mode Priority Ready Information Status Edt Wating Pro Mame Line Mo Roba Conditions Mode Pricrity START REF 40 OLY 3 r LB_ 30 100 O AD 10 130 JO VRO 100 160 CHT 1 190 DEF PLT 1 P21 P22 P23 2 5 197 DEF PLT 1 P21 P22 P23 2 5 204 DEF PLT 2 Ps1 P32
106. attery information appears Maintenance Forecast x Robot 1 Pickup robot i Ry 125 Forecast Setup Reset Others a Refresh This is a latest maintenance forecast announcement Please select Retresh an target tem ltem Battery td hours 0 14 600 The result of the Maintenance Forecast is a reference value to the last The computed result is not guaranteed Fig 13 3 Forecast 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 day 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 When the Refresh button is clicked on in upper right corner of the window the information about the maintenance is acquired again from the controller Here the battery and belt replacement times as well as the grease replenishment time can be checked To switch between displays select the applicable item in the Item combo box bern Battery Fig 13 4 Changing an Item Forecast Battery 13 191 13 Maintenance Forecast 13 5 Forecast Grease When Grease is selected in Item the hours until grease replenishment time can be checked for each axis Robot 1 Pickup robot 1 Ry 125 Forecast Setup Reset Others ne Refresh This is a latest mai
107. bot as explained in the following section Confirming the operation with simulation 4 27 4 Starting use 4 5 Saving the program After confirming the robot movement with simulation save the program in the controller with the following procedure Here the program will be saved in the controller with the name 100 Click on Save As gt Robot under the File menu or click on the button A screen for designating the program A window for designating program name appears when Save As gt Robot is selected Save As gt Robot x Refresh Haaai ox Cancel 4 Mane d sej Dae Time Protect AL Robot 1 02 03 19 02 03 19 02 03 18 02 03 18 02 03 18 02 03 18 02 03 18 02 03 18 02 03 19 13 20 34 13 20 12 13 11 26 13 11 26 13 11 14 11 04 34 13 11 12 11 04 34 13 17 30 Fig 4 10 File dialog When button is clicked a dialog shown on the right appears Select ROBOT and click on the OK button Caution When saving the program in the personal computer click on the radio button next to PC Select X PC C ROBOT Cancel Fig 4 11 Select a target Input 100 in the File Name area and then click on the OK button To save the program in a robot controller other than robot controller 1 select the robot controller you want to save the program to Open on Robot x Refresh Saan 2 Robot H2 oK ox Cancel o Protect 3 Robot 3 Fig 4 12 File name and OK
108. c invalidity correct maintenance times cannot be eee renner calculated 13 194 Setup 13 Maintenance Forecast Table 13 2 Description of the Setup Screen Factory Item Explanation preset value 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 Five levels can be specified to collect the information about the information 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 Specify the interval to notify the maintenance time forecast 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 The Check warning numbers are listed as follows ON Grease C753 is the axis No Belt C754 is the axis No 5 Output Signal If this item is checked
109. can be forcibly output OUTPUT register Forced output 2 R EA Head Register No BOW Number of Register lt 16 o Hexadecimal i Decimal am a mm on T B o m E o Mw Fig 6 29 Forced output Register lt Operation methods gt 1 First read out the registers to be forcibly output Up to 16 sequential register can be output simultaneously Input the head No of the register to be read and the number of registers to read and then click on the Read button 2 The designated number of registers will appear with the designated register at the head Set the value and click on the Forced Output button Each monitor function 6 99 6 Monitoring tool 6 4 2 Operation monitor 6 4 2 1 Operating time accumulation The robot operating time and battery usage time etc can be confirmed zg Operating Time 2 Robot 2 IOl x Time 02 03 15 15 02 54 Operating time as On time 0 hours a The connected robot and it s servo ON Operation time O hours time can be confirmed Servo On TIME 1 0 hours Each operating time is cleared Operating time clear 2 Robot 2 Fa Clear T Servo On time Cancel Battery Battery remaining Time 14600 hours T Operation time Exit i Fig 6 30 Operating time accumulation 6 4 2 2 Production information The latest cycle operation time No of cycles and average cycle time for eac
110. cccceceseceeeeeeeeseeeeeeeaeeees 5 49 I 9 6 3 Deleting a program INe cccccceeccsecccseeceseeceeeseeeceeecseeceecseeseesseasenseesaass 5 50 5 6 4 Describing a comment stateMent cccccccceccseeceeeceeeceeseeesaeeseeeceeeaeeseeeses 5 50 5 6 5 Inputting a position variable Only for BASIC editing mode cccces 5 50 Se EANO TNE POSITION dala ain E E alsa Canis 5 51 5 7 1 Editing the position variable 00 0 0 cccccccccccsecceeeseeceeeee esse eeseeeeeeeaueeeeeseeeaeeees 5 52 5 7 2 Editing a position variable array cccccccccceceseeeseeseeeceeeseeeaeeeeeeseeeaeeseeesaeeees 5 54 5 8 Editing auxiliary TUNCONS srren paa aa e aAA ENERET 5 58 DOr COO eoe E E E Sacnaah tubers sit outehud audi aenacteieaiaooee 5 58 5 8 2 Line copy Only BASIC editing MOde cc cece cecccseceeeeeseeeeeeeeaeeaeeeseeeeaees 5 59 DO a E S er 5 59 5 8 4 Line cut Only BASIC editing mode n nnaneannnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnenrnnnne 5 60 Oe PA E ar a ee eee 5 60 IO Os OCO a A 5 61 SO Fna IFES mare AE a a 5 62 5 00 TRE DIACC asi canes a E a N 5 63 FOI JUMPee a E ee ae 5 64 5 6 10 Partial TRANSMISSION secirniiirei einen a a e 5 64 5 8 11 Automatic numbering Only BASIC editing mode cccceeccceeceeeeeeeeeeees 5 65 5 8 12 Assigning line NOS voces si aucccressscssvareednettasnencn cen caceenstene aioe vauseapaeeensuertaceasaeceates 5 66 DIO 135 Command CMD ALC o a
111. changed For a a ae Monitor example monitoring of only No 6000 is possible EDOS i i When monitoring is stopped this button will BO06 0 Ox0000 st Stop become valid B00 0 Ox0000 DDE 0 Ox0000 6009 0 Ox0000 E010 Oo s0000 6011 0 O0000 The output registers are forcibly output 6012 0 Ox0000 6013 0 s0000 6014 a s0000 Wanton setting 6015 0 Ox0000 The size of this window can be changed Fig 6 27 OUTPUT Register Monitor setting When Stop is selected for the monitor state the Monitor Setting button will be a validated Monitor Setting 2 Robot 2 E4 Monitor sa Stop The No selected in the information List will move to the 3 Display List The Number selected here will be the register to monitor Register List Display 2 All Numbers in the Information List will move to the Display List The Number selected in the Display List will move to the Information List a4 Ale All Numbers selected in the Display List will move to the Information List Fig 6 28 Monitor setting AN Caution When a large amount of information is monitored the communication size with the robot controller will increase and it may take time to update the information It is recommended to monitor only the required registers with the monitor setting 6 98 Each monitor function 6 Monitoring tool Forced output The registers
112. confirmation Parameter menu 7 117 7 Parameter editing tool 7 6 7 OUTPUT Signals Reset pattern Set the operation when resetting the general purpose output signals such as the CLR instruction and dedicated input OUTRESET Output Signal Reset Pattern E3 Fab Controller 1 Robot 1 Pick and Place Exit Reset Output Signals simultaneously with program reset Ho id SLASTIO 0 255 6000 6511 6512 7023 7024 7535 7536 8047 0 OFF 0 ON 1 Hold 4 QRSTO ORST 224 Signal OOO00000 OOOOO000 OOO00000 OOO00000 OOOOO000 OOO00000 OOOOO000 OOOOO000 OOOO0000 OOO00000 OOOO0000 OOOOO000 aoaoga OOOOO000 OOOOO000 OOOO0000 OOO00000 OOOO0000 OOOOO000 OOOOO000 OOO00000 OOO00000 OOOOO000 OOO00000 OOOO0000 OOOOO000 OOOOO000 OOOO0000 Select Fig 7 22 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 Also selecting a signal group for example 32 0 and then clicking the Select button changes 32 signals at once I O Reset Pattern change x After confirming the signal number and settings of each signal click the Write button Fig 7 23 Change 7 118 Parameter menu T7 Parameter editing tool 7 6 8 Special purpose I O Signals assignment Assign signal numbers to functions in order to perform the remote operations to execute and stop r
113. copy move delete content comparison rename OK OK functions protect Debug Direct editing of programs in controller functions Confirmation of program operation step execution direct oK OK execution Cycle time measurement Simulation function Confirmation of robot program operation with off line simulation using CG Computer Graphics Calculation of cycle time Monitor functions Robot movement monitor robot operation state stop signal error monitor program monitor execution program variables general purpose input output signal forced output possible dedicated input output signals movement operation movement range current position hand etc Operation monitor operating time accumulation production information robot version Servo monitor position speed current load power Parameter editing function Parameter setting function A separate modem is required to use this 1 Software shows the following STD RT ToolBox Robot Total Engineering Support Software standard version mini RT ToolBox Robot Total Engineering Support Software mini 2 The simulation function is compatible only with the standard version STD 3 MOVEMASTER command is only available for certain types of robot Please verify that the type of robot that you are using is listed in the Command List of Separate Volume Standard Specification 4 These functions are supported by version E
114. d click Load current position button A Do not teach the position with a teaching box Cancel Figure 12 12 Re teach the Position Screen Re teach Work 12 181 12 Position Repair Support Tool or Re teaching Select the position to re teach from the list v Click Re teach button gt Re teach the position Screen opens Re teach the position Screen Move the robot to re teaching position Use the teaching box to move y Click Load current position button y Re teaching calculation gt Position Re teaching window closes mm ww we we we we we we we we we we we we ww we we we we we we we we we we we ww ww we we we we ee I l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l Revision parameter generation Figure 12 13 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 N 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 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 teachi
115. data may have been changed Caution Precaution for Restore When a program is running or the ALWAYS program is set up Ver E1 If a batch restoration or a program restoration is x or later executed when the program is being started the program will automatically be stopped AN amot exectte during an error 560000000 At this time if there is an error in the controller the program in operation cannot be stopped and the message shown on the right will be displayed Do you continue the restoring Although a restoration process can be executed even 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 Ver D2 Be sure to stop the program or earlier Restore PC gt Robot 8 141 8 Backup Restore 8 4 Power Reset of the Robot Controller Version E1 or later To make the restored information effective it is necessary to power on the robot controller again The power reset of the robot controller can be performed from the personal computer in Version E1 or later of this software However note that this function can be used with Version J1 or later of the robot controller software 1 Restore After restoring the power reset conformation screen appears To immediately reset the power select Yes Backup Restore Es 2 Restore Personal computer
116. e files for installagion of this software This manual pdf The folder for setup of the communication middleware MelfaRXM ocx 4 About the communication middleware MelfaRXM ocx 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 Please refer to 14 Setup of the communication middleware MelfaRXM ocx about an setup of MelfaRXM ocx In case of using only the function of RT ToolBox Robot Total Engineering Support Software you don t need to install this software Confirming the product 1 3 1 Before starting use 1 3 Items to be prepared by user The items to be prepared by the user to use this personal computer software are explained in this section 1 Personal computer system Prepare the following model Personal computer that runs with Microsoft Windows 98 Operating System Microsoft Windows Me Operating System Microsoft Windows NT Workstation Operating System Version 4 0 Microsoft Windows 2000 Operating System Microsoft Windows XP Home Edition Operating System Microsoft Windows XP Professional Operating System Details of working environment ltem Min required environment Recommended environment Pentium133MHz Pentium III 450 MHz or more 32MB or more 128MB or more Hard disk 100MB of open space or
117. e of RS 232C 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 Setting error of RS 232C connection This is not displayed in the case of TCP IP connection Communication State The contents of communication with the robot controller are displayed Robot Select the Robot Controller which wants to display Line State and Communication State Only the Robot Controller by which a Communication setup was carried out is displayed Setting button Changes the communication specifications Robot Information Information on the currently connected robot can be referenced button Also the robot controller selected here will be the initial value of the robot controller switching combo box in each tool Version E1 or later State a e Ek Rabat Robot Information The controller selected in Robot Controller for the communication server will be displayed as the initial value Backup Save Robot cont joller gt Personal computer Monitor Menu Robot 1 Robot 1 Pick and Place Connecting to the robot 2 13 2 Preparation before use Communication setting The following type of window will open when the Communication Setting button is clicked on Communication Speed Rabot 3 x Method RS232C x Mame Robot 3 2 14 Setting List Set Save and Cl
118. e that this software does not display the message of the overwrite confirmation when the array position variable is overwritten Editing the position data 5 57 5 Program editing tool 5 8 Editing auxiliary functions The editing auxiliary functions helpful for editing commands are explained in this section The editing auxiliary functions such as copy cut insert search replace and jump can be used from the Edit menu and Tool menu Edit ProgramManagement Tool Wi Window View Help Simi Undo Chit i AUTO Number Undo Position varnable Renumber Cut Ctrl Aa A Line Cut i ate i ey Brecutiaon Copy etc DTechErecuton Command template Line C u Position variable batch edit Paste Ctrl Position variable template Eind Ctrl F Find in Files Replace Ctrl H Jump Partial Transmission Fig 5 42 Edit and Tool menus 5 8 1 Copy The character string selected with the mouse is copied When a range over several lines is selected with the BASIC editing mode line copy will be executed To copy select Copy under the Edit menu By using the paste function described later the copied character string can be pasted into another section of the program 1 Select character string with mouse 2 Select Copy yogram Edit Tool C Program Files HELFA ENG File Edit ProgramManagement Tool Window Vie ae Un a2 ala als H Undo Position yarnable DE 2 IHi Cut
119. ed on the position variable template are saved even after the program editing tool is exit Editing auxiliary functions 5 67 5 Program editing tool 5 8 15 Position variable batch change The position variables in the program being edited can be changed as a batch or the values can be added as a batch For example 100 can be added to the X elements of P1 P2 P3 and P4 as shown below Display the batch change screen by selecting Position variable batch edit under the Tool menu Position variable batch conversion select the compensation method from add or change Select position variable to be compensated Variable to Vanable list compensate Add All All Delete variable to be compensated m e z z E E E E ee TT PI PS gt Register variable to be compensated Execute batch compensation Cancel Fig 5 60 Image of position variable template 5 8 16 Program conversion The Robot Programming supporter for E EN M1 and M2 series hereafter old PC support S W and the support softwares for the new personal computer hereafter new S W differ in the configuration of position data Therefore the program prepared by using the old PC support S W cannot be used as it is in the new S W The program conversion converts the position data as well as the instructions DJ MP and PD instructions of the Move Master command related to the position data so that the robot prog
120. ees 6 82 GAT Slot RUM Stale a bos cecnranddaaan neo cand ea E occas nanan dee 6 82 DAI 2 SOP SIG MANS ea Scuttle sce ess saeco acess essen ee cttuse nace sects 6 82 ee SO acces teioaictamacesca Staotaeieutca ncsacaaer vena ae ar anc cee aat na tulad aaseacaae a eaee 6 83 CAVA Programi MONIC sieges etree ts ioe ee lave deren eal eit 6 85 6 4 1 5 General purpose input SIQMAIS cccceccseeeeeeceeeseeeeseeeeeteeeeeeeaeeeaeees 6 90 6 4 1 6 General purpose output signal cccccecc cece eeeeeeeeeeeeeeee esse eeseeeeeeeaeees 6 92 6 4 1 7 Named signalisere E a Ulu A E EEA 6 94 6 4 1 8 Movement State 0 0 0 0 ceccccccccecceeeseeseeeseeeseeeseeeeseeseeeseeesseseneeesaaes 6 95 64219 MPU NCGIS CN entitles tal oe nee eee ee ee eee 6 96 6041 10 OUIDUL REGISIEN 225 2 ancnuhe cenit a nde Stee decehaks 6 98 6 425 Operation MONON seat sep devastate lint temnaricantades aceivaiatG habr a dacaueanmetacagedeanaeas ni 6 100 6 4 2 1 Operating time ACCUMUIATION ccccccccccceececeeeceeeceeeeeeeeseeeteneeaeeeaes 6 100 64 2 2 Producton INTORMATIOM vsxiiioiei teehee witli cede ieee tala 6 100 64 2 3 TRODOLE VEISION serea resin caleanatayantuGcels a a erate 6 101 6 4 2 4 Additional Board Information ccccccccseecceeeeeeeceeeeeeeeaeeeseeesseeeaes 6 101 0A SCENOM orana a Gvecice T tials a eau AN a de tad 6 102 OAS POSON ABS uean a a a cde dae 6 102 DAS 2s SDCCO itis cite aE aetna ee hh 6 102 T
121. elected 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 i Tool data C Base data Revision parameter names correspond to the following Origin data Tool data Base data DJNT Minimum number of teach Revised points Parameter Vertical Vertical Horizontal 6 axis 5 axis 4 axis o tssisi zrL Creobot robot robot Origin data Tool data Base data 191 gto9 7108 I Origin data Mea points points I Tool data V Base data MEXDTL MEXDTL1 to 4 Parameter of the tool selected by tool number MEXDBS 12 178 Select Revision Parameter 12 Position Repair Support Tool 12 11 2 About Posture Elements of Position Data Position data of MELFA BASIC IV consists of tip position X Y Z and tip posture elements A B C This section describes the cases where Use the posture elements of position data is chec
122. electing the list moves to the corresponding command line ee Find what MOV al Goto Top Option F Mach case Up f Down 10 MOW POT 20 MOY Poe 30 MOY POS q 40 MOY Pod r0 MOY POE J 80 MO POT Oo Fe to Mi b Jump List close Fig 5 49 Search result list display Editing auxiliary functions 5 61 5 Program editing tool 5 8 7 Find In Files The specified character string is searched from files This function corresponds after a version C2 To display the Find In Files screen select Find In Files from the Edit menu The same screen can also be displayed by clicking the Find In Files button in Program Manager The targets of searching from robot controller are only the robot programs And the searching from robot controller takes time for a while because of communicating with it 4 Find In Files Find what Find File types Robot Program prg g Exit In folder CAPROGRAM FILESSMELFA Browse C Robot 2 Robot 2 F Look in subfolders Match case IW Never find Line No Fig 5 50 Find In Files dialog Never find Line No Checking this does not search line numbers from robot programs at all When a search is started a window displaying search results appears The result is displayed as follows C Program ioe dtl ToolBox E 1 pr 40 MOV P1 50 File name Line number from the top Contents Result MOY x Look im Stop
123. er selected in Robot Controller for the communication server is displayed Robot Information as the initial value Version D3 or later The No 1 robot controller is displayed in Versions D1 and D2 Robot 1 Robot 1 Pick and Place Fig 7 4 The controller selected for the communication server 7 2 1 Selecting a robot controller If you have selected a robot controller as the read destination select the robot controller you are connecting and then click the Select button Target Robot Controller 1 Robot i Pick and Place 1 Robot l Pick and Place C File 2 Robot 2 Setting A 5 Robot 4 Palletize 10H4 Fig 7 5 Selecting a robot controller The parameter edit screen for the robot controller you have selected appears 7 106 Selecting the Read Destination T7 Parameter editing tool 7 2 2 Selecting files The information that can be edited here includes batch backed up data or backed up parameters If File is selected the window for selecting the parameter information you will be editing appears Look in S Backup gt Tl e 20030529 20030521 Cancel A Fig 7 6 Selecting files Here double click the folder containing the parameter information You can now edit the parameter information in the folder you selected RV 125 Parameter _Parameter_ Explanation ACCMODE Initial mode of accelerationfdeceleration Fixed 2 Optimurm Robot AIRERR
124. er values instead of the registers input from an external source Exit INPUT Signal Head Signal Mo 10 Select O Eeee eepe EEE See check br PPPPPRPP PRPPpppp mea Cickon gt TT PP PT PPP ry See Bit Pseudo INPLIT Fat input All Signals OFF All Signals ON INPUT Register Refer to the pseudo input of the general purpose input signals Head Register No 6000 Decimal Ho of Register fio Hexadecimal The input registers are pseudo input Register Pseudo IMPLUT Fig 6 26 Pseudo input Signals amp Register lt Operation methods gt 1 First read out the registers to be pseudo input Up to 16 sequential registers can be set simultaneously Input the head No of the register to be read and the number of registers to read and then click on the Select button 2 The values of the designated number of registers will appear with the designated register at the head 3 Set the register value and click on the Register Pseudo Input button The pseudo input mode is canceled when this window is closed Each monitor function 6 97 6 Monitoring tool 6 4 1 10 Output register The values of the CC Link function input registers can be monitored OUTPUT Register 2 Robot 2 Piel E3 Monitoring of the registers shown on the left can be Eni started and stopped B000 68 0x005 EDDI 0 s0000 E002 O s0000 The register to be monitored can be
125. ervo Monitor lt lt ABS gt gt 2 Robot 2 S11 ol ol olol ail A A SS ee ee ee oe es oes ee 0 0 0 0 0 0 0 0 So oo amp So Ln S S S amp Lm a co amp a Co Fig 6 34 Servo monitor Position ABS 6 4 3 2 Speed Fig 6 35 Servo monitor Speed 6 102 Each monitor function 6 Monitoring tool 6 4 3 3 Current The current state of each robot axis can be monitored Fig 6 36 Servo monitor Current 6 4 3 4 Load The load state of each robot axis can be monitored Servo Monitor lt lt LOAD gt gt 2 Robot 2 fel x Fig 6 37 Servo monitor Load Each monitor function 6 103 6 Monitoring tool 6 4 3 5 Power The power state of the robot s main circuit can be monitored Servo Monitor lt lt POWER gt gt 2 Robot 2 RPH Fig 6 38 Servo monitor Power 6 104 Each monitor function T7 Parameter editing tool f Parameter editing tool The parameter edit tool can be used to reference and rewrite the parameter information set in the robot controller 7 1 Starting of Parameter editing tool Select Parameters from the menu Edit Parameters shown below appears At this point a connection will be automatically made to the robot controller set on the communication server Parameter edit RC 1_mai O x 9 File View Search Parameter Initialization System window Help x Eaj P END User Par
126. et l Program Edit Tool C NarcProg RP_14H PRG Debug mode ritten into controller at line return File Edit FrogamManagement Tool Window View Help Simulation Djem JEI Se el Bie HEN EE 30 LB_ 30 Executing line highlighted display 40 OWAD 10 BO JOVARD 100 H0 CMT 1 7U DEF PLT 1 P21 P Step operation seu State Stopping Bil Ei aa Pi results oO DEF PLT 2 P i Step feed 90 DEF PLT A P42 F p 100 MO F 110 hace Be Step retur Continuous execution Stop Robot will move when button is Clicked Start Line fi Set Joint type J varnable J Travel base int Robot Type FAP 14H Press F1 to show help JOG operation MUM A al _ gt Error Ho Message Fig 10 7 Step execution dialog and highlighted editing screen 10 150 Simulating operation 10 Simulation 10 2 Cycle time calculation Quit all other applications before calculating the tact time N Caution Attention when cycle time of robot which uses the collision detection function or the maintenance forecast When the collision detection function is made effective or the information gathering level of the Maintenance forecast is raised the cycle time of the robot is postponed But in this software even if they are changed cycle time is not influenced When the collision detection function is made effective or the information gathering level of the Ma
127. et the output state and then click on the Forced output button 3 16 signals from the No designated as the head can be forcibly output as a hexadecimal Input the hexadecimal value and then click on the Port output button AN Caution The signal Nos assigned used with the dedicated output signal cannot be forcibly output Forced output is possible in the TEACH AUTO OP and AUTO EXT states but if even one program is running output is not possible Excluding the ALWAYS program Each monitor function 6 93 6 4 1 7 6 Monitoring tool 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 signal file in the robot controller is loaded at startup If however it is not found the previously used file is loaded The signals are set via parameter setting maintenance tool Monitor Monitor Start Stop Input Signal Output Signal All slot Start 3 0D Bin Special During exe these signals All slot Stop no ch 0 0 Bin Special yp Error reset 2 0 Bin Special Curing servo on Servo off 1 0 Bin Special Operation enable 3 0 Bin Servo on 4 0 Bin Special Operation enable 5 0 Bin Special data Start O Unsign Genera General purpose Signal Edit Delete Read Save Delete Signal File in Robot Fig 6 21 Named Signals Edit
128. f 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 robot controller s version is older than J2 only the standard tool MEXTL will be displayed Click Next when ready to proceed N 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 12 174 Check of Setting Tool 12 Position Repair Support Tool 12 11 Select Revision Parameter Position Repair Support Tool Select revision parameter X Target robot 1 Pickup robot 1 A 125 Select revision parameter ers oe es Details fe Error of joint axis When the joint axes shifts or the motor is exchanged About 1 6 points the origin data ts rectified Specify the targeted axes Tool exchange or modified Origin data 3 6 points Transfer the robot 6 points Exchange the robot 10 11 points Select all 13 16 points Select arbitrarily Revision Parameter I Origin data Dia fo v2 C3 Co Ja C5 0 Je T Tool data Base data Use the posture elements of position data Details
129. from the Program Management menu dit ProgramManagement Tool d Frogram Manager Fig 5 66 Program management AN Caution The targets of any operations in this function are the Robot Program files Program Management 5 73 5 Program editing tool 5 11 1 List The lists of the program files are displayed For programs in the controller the Name Size Date Time as well as the Protect information No of lines No of position variables Latest cycle time Average cycle time Operation time No of cycles and Comment are displayed As for the programs in the personal computer and in the controller when even the contents are the same the program sizes are different Tue L File In Files screen will appear Refresh both of the lists Find In Files Source Destination t PC Browse fe PC C Program Files MELFA ENG fi Fickup robot 1 Browse C Program FilesSsMELFA ENG C Robot i Pickup robot 1 Selection Release 03 09 17 03 09 17 03 09 17 03 09 12 03 09 12 03 09 12 Time 14 59 70 15 00 08 12 46 40 13 21 16 19 12 34 20 00 54 Selection Release BACKUP DATATMP LOG Release the selection PARAM PRMLST PROG RE TOR GH Execute buttons Sim Capacity 146 432 Byte Capacity 37 256 47 0 525 Bute Robot Program pra Protect FileType Robot Frogram prg FileType Compare
130. g lonine online Print Ctrl F Print Preview Print Setup O Pae Setup Mewes 0000 HIE Fig F 17 Exiting the application 2 Exit window Exit windows by selecting Shut Down gt Shut down the computer gt OK under the Start button Do not turn the personal computer off until a message indicating that it is okay to turn the personal computer power OFF appears on the screen Depending on the personal computer the power may turn OFF automatically Exit the operations 4 31 4 Starting use 4 32 Exit the operations 5 Program editing tool 5 Program editing tool The detailed operation methods of this software are explained for each tool in this chapter The methods of operating the program editing tool are explained in this section With the program editing tool the robot program is created the robot movement is debugged and simulation only for standard version is carried out Program Edit Tool Robo prg BASIC edit mode 7 o x File Edit View ProgramManagement Tool Simulation Window Help a x EE SEJA amp Al JE 15 HE Ele Det chaos Cartesian type P variae Xx vlo zl al e c unf e Faf Fel Press F1 to show help Fig 5 1 Program editing tool Program editing tool 5 33 5 Program editing tool 5 1 Setting the screen The following settings can be customized with the program editing tool 1 Font The font used with the program editing tool ca
131. g points until revision parameters are generated However at some positions re teaching may not decrease the number of remaining points Re teach button Specifies the positions selected in the list and opens Re teach the position screen Clear button Clears the re teaching information for positions selected in the list Check of tool data button Displays current tool data setting in the robot controller N CAUTION Position data of the 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 Re teach the position l x The re teach position data was specified 7 Is this tool correct Tool 2 0 00 0 00 0 00 0 00 0 00 0 00 PN1 350 00 0 00 645 00 180 00 0 00 180 00 0 00 0 00 7 0 Move the robot to the re teach position by using teaching box an
132. ge button or double click on the position variable to be changed The following dialog for changing the position variable will appear The element value with a checked box is defined Input each value and then press the Update button to change the value Position Variable change x If the coordinate does not have a Name f is check the robot s current position y lw oK will not change y M z M A L_ lt Input each value E C onan r Robot No Reads the current position of the robot Additional asis 1 mel Additional axis 2 0 000 L_ Posture M Eumert asihan aad Multi rotatiar Iw pitts Fig 5 33 Position variable addition dialog AN Caution The unit of the element being used differs according to the robot being used Refer to the instruction manual of the respective robot 3 Deleting a position variable Select a variable from the position variable list and click on the Delete button The selected position variable will be deleted Editing the position data 5 53 5 Program editing tool 5 7 2 Editing a position variable array The methods to display add change and delete position array variables differ between Version D2 or earlier and Version E1 or later of this software 1 Adding position array variables lt Version E1 or later gt Add position array variables and specify an array name and element number for each variable name Position array variables that have been added and re
133. gement Tool Window View Help Simulation Delal ae Se 2 lhe Al seo eks Bi C NarcProg RP_1AH PRG BASIC edit mode 1 ii C NarcProg RP_1AH PRG BASIC edit mode 2 470 MOM F11 8 gal MOY F11 490 Mor P59 1000 MO PS4 6 1010 MOY F59 1020 IF M1 0 THEN GOTY D 1030 MOY F1 1040 MOM F11 8 1060 PIEST hATO _ hne w dz la 4 P1 145 10 000 10 000 0 000 3 996 3 996 0 000 25 000 l 25 000 0 000 10 000 D 10000 0o00 25 000 l E nnn mo _ 3 4 Press F1 to show help NUM Z Fig 5 10 Multiple editing windows To close the program editing window select Close under the File menu E Program Edit Tool Robot prg E i It Frogramblanagement T H Ctrl h Open FL Ctrl 0 k P Open Robot Save Ctrl 5 Save s gt PL Save s Robot Debug online Fig 5 11 Close 5 38 Editing screen 5 Program editing tool 5 3 Editing mode The program editing tool s editing mode is explained in this section The program editing window s editing modes include the BASIC Editor for persons familiar with the BASIC language editing tool used with the old controller and the Line No hide mode for persons familiar with Windows wordprocessing operations When the normal program editing window is started up the BASIC Editor is entered These two editing modes can be changed freely at any time 5 3 1 BASIC editing mode This mode shows the robot program line Nos and is i
134. gistered are expanded and then displayed in a list When writing to the robot controller always describe a DIM declaration in an instruction statement If there is no DIM declaration an error will occur when writing to the robot controller An array declaration is required When describing in an instruction statement array elements will not be es i 10 DIM POATACIO automatically added to a position variable area Add each of the array elements you will be using Position Yarable change x TE Array variables are expanded o and then displayed lt TERED M Cancel y 1 532 310 7 j z 1234510 v oe 633 950 0 000 70 000 0 000 A ooo M i Robot 1 Fic E 409 850 506650 gp 35 890 mi 108 230 532310 v Mecha No 1 1129 520 223 870 108 230 532 310 C 78 51 0 4 Additional axiz 1 0 000 a Current position load Additional axis 2 0 000 m FLG1 E Iv edt RAF mabo O wM Edt 4 Fig 5 34 Registering position array variables Version E1 or later lt Version D2 or earlier gt To add a position variable array variable input a DIM command statement that defines the position variable array variable in the command editing window The name and No of array elements of the input position array variable will appear in the position variable list The array variable will be added 10 Robot Mo 11 DIM POAT ALS 0 e Tha 4 es
135. glis characters lt Back Cance Fig 14 4 Input Product ID The files listed in Table 14 1 are installed at the destinations as indicated Installation 14 203 14 Setup of the communion middleware MelfaRXM ocx Table 14 1 Files to be Installed install destination 1 Windows System folder ex Windows 98 Windows Me Windows System Windows NT Windows 2000 Winnt System32 communicanon DLL Windows XP Windows System32 lms MelfaRXM ocx and EzSocketRC dll are registered in the registry Communication DLL RoboCom exe A folder specified during install operation Normally C is used communication DLL MelfaRXM_Dev Instruction Manual ReadMe txt text file which indicated notes RoboCom folder of communication server Sample programs Borland C Builder 5 0 Visual Basic 6 0 Visual C 6 0 Redist Installer folder of system files Installer for redistribution SysFiles folder of system files for redistribution Redistribution files 7 folder of Instruction Manual k folder of sample programs 14 204 Guide for reading the manual A Appendix Function tree Appendix Function tree Command edit BASIC edit Line No hide Position variable edit MDI input Current position read Editing auxiliary functions Search Find in files and Replace Line Copy and paste Cut Jump Renumber Automatic renumber Grammar check Command template P
136. h 8 Robot Name o O When the communication specifications have been changed in the robot controller or when using the Ethernet interface option change the communication specifications in the personal computer with the following procedure The communication server is automatically started when this software is started up kA Communication Server Note that the server is iconized when started up so click on on the task bar and return to the original size 1 3 Communication Server mje ES Line State Stake Robot Information Fig 2 9 Communication Server Robot Title Bar AA BB indicates that AA is the number of robot controllers connected and BB is the number of robot controllers for which communication settings have been made 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 2 12 Connecting to the robot 2 Preparation before use Indicates that the connection with the robot has been established Connection Indicates that a communication to verify connection is being made in the wait case of RS 232C connection Indicates the wait status for communication port connection in the case of TCP IP connection Connection Displayed when the data reception enable signal cannot be detected error because a cable has been disconnected or the robot has not been started in the cas
137. h program in the robot controller can be confirmed The production information is not constantly displayed Click on the Update time as necessary 4 Production Information 2 Robot 2 Average Cycle T 434 00 00 00 0 00 00 00 000 00 00 00 000 Refresh Fig 6 31 Production information 6 100 Each monitor function 6 Monitoring tool 6 4 2 3 Robot version The robot controller version can be confirmed Robot Version 2 Robot 2 lel Es Robot Controller CR ri Art Date 99 1 1 12 Version Ver C1 Language ENG Serial Ho i COPYRIGHT C 399 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED Fig 6 32 Robot version 6 4 2 4 Additional Board Information Information on the option card mounted on the robot controller can be confirmed Note that this screen cannot be referred to if robot controller is not provided with a slot for mounting the option card Additional Board Information 2 Robot 2 Additional Board Hame Ethernet information Connect Count E lt Socket 0 IP Address 192 168 0 1 Port No Data Link 1 8 1000277 0003 1 0004 1 0005 1 0006 1 0007 1 0008 10009 Port NoESocket 10001 Port Mo Realtinne Ctrl 10000 Fig 6 33 Additional board information Each monitor function 6 101 6 Monitoring tool 6 4 3 Servo monitor The servo system is monitored 6 4 3 1 Position ABS The state of the currently connected robot encoder can be monitored iS S
138. hanging the communication specifications If this check box is set to ON the dialog that indicates the communication status is displayed on top of the screen If this check box is set to OFF the dialog can be hidden When completed setting the communication server iconize the server by clicking on the button The communication server will automatically quit when all of the personal computer support software applications are quit Thus do not quit the server with the button Communication with the robot controller will be disabled when the communication server is quit Connecting to the robot 2 Preparation before use Communication setting list E Communication setting list RC Name Robat 1 TCPvIP 192 76 Robot 2 TCPvIP 192 76 Robot 3 AS23e2C COM Mot Used Mot Used Mot Used Hot Used Bloat liso OF Cancel on O Seet Cancel mo A oo ha Select the item you want to set and click the Edit button A dialog box for selecting the communication method appears Select a communication method and then click the OK button A communication setting dialog box for the selected communication method appears After editing is completed click the OK button Robot controller switching operation using each tool Once the communication settings of multiple robot controllers are made you can switch the robot controller you want to operate by manipulating the combo box fo
139. he Robot Programming Supporter can be used with this new S W 12 Position repair In case a deformation of a tool occurs due to interference or a deviation from origin point OP occurs due to the replacement of the motor during maintenance the previous position data retained in the controller can be used by performing a teaching operation again for part of the position data 13 Maintenance report The parts replacement grease replenishment battery and belt replacements periods can be referenced from the up to date operating data collected inside the controller 14 Setup of the communication middleware MelfaRXM ocx The setup methods of the communication middleware MelfaRXM ocx are explained A Appendix Function tree The functions of this software are shown as a tree format 1 2 Using the instruction manual 1 Before starting use 1 2 Confirming the product 1 The check of the package Please check if all items shown below are included in the package CD ROM RT ToolBox Robot Total Engineering Support Software 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 2 Product ID It is necessary to input product ID when you install Version F1 or later of this software 3 The check of media contents The following items are included on the CD ROM Th
140. he communion middleware MelfaRXM ocx 14 4 Installation Perform installation according to the following procedure 1 Insert the program CD ROM into the CD ROM drive Search of your personal computer Setup of RT ToolBox Robot Total Engineering Support Software automatically starts Please click cancel 2 Select Run from the Start button Help and Support 2 Select Ru n Log OFF rap i rf wv om Ia i S i kas wn oa T E 1 Click the Start button n H start E a r ef Communication Fig 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 Aun EES Type the name of a program folder document or Internet resource and Windows will oper it for you Oper D Utiity MelfaRXM Setup exe Cancel Browse Fig 14 3 Run Screen 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 ToolBox MelfaRXM ocx can be installed with the Product ID of standard version but can not be installed with mini version s Input ProductiD a x Please enter the product ID of the product Please input in single byte En
141. he controller Connect here Fig 2 7 Controller s RS 232 C connector 2 10 Connecting to the robot 2 Preparation before use 2 3 2 Using Ethernet To use Ethernet the robot controller must be provided with the Ethernet interface option and the personal computer must be provided with a network card The network must also be set Connect the modular plug to the personal computer s network card connector Connect the personal computer to the network Contact the network manager for details on setting the network address IP address Subnet Mask default gateway etc in the personal computer Connection example lt Laptop computer gt lt Desktop computer gt Fig 2 8 example for connection Refer to the Ethernet Interface Option Instruction Manual for details on connecting to the robot controller When using Ethernet refer to section 2 3 3 RT ToolBox Robot Total Engineering Support Software communication settings and change the software s communication specifications Connecting to the robot 2 11 2 Preparation before use 2 3 3 Setting the communication server AN Caution Communication with the robot controller may be disabled if the communication specifications are changed Take special care when making changes The communication settings are made with the communication server in this software The communication server is set to the following default values when installed Datalengt
142. heck ON Restore files parameters for position repair B Y lt before restore gt controller M Ver na Parameters A or later WA Yi Origin data A Wa 7 parameters for position repair A f lt after restore gt parameters for position repair B
143. iately The program file contents will be changed even when Save is not executed Depending on the opened program the robot can be directly operated step execution direct execution Only one program can be opened and the editing mode is limited to the BASIC editing mode To open a program select Debug under the File menu Select Debug Program x Refresh Robot i Robot 1 Pick and Place Name Size Dae Time Protest l 591 03 06 03 12 52 30 Hone 109 619 03 06 02 16 54 36 Hone 11 fra 03 06 02 16 54 36 Mone 2 03 06 02 16 54 36 ee a00 03 06 03 13 41 44 None 3 gor 340602 16 54 36 Hone Ad q2z67 03 06 02 16 54 36 Hone 5 560 03 06 02 16 54 36 Hone 0306 02 16 54 36 None 03706709 15 51 58 None 03 06 03 13 41 44 Mone 03 06 02 16 54 36 None 0306 02 16 54 36 Hone all d Read tems W Commands I Position Variables Program External Variables Fig 5 18 Select debug program Opening a program 5 43 5 Program editing tool 5 4 3 Read items when opening the program on the robot controller Read items in the robot program can be set by categorizing them into instructions position variables and program external position variables The function for specifying read items can be used with Version E1 or later of this software and Version H1 or later of the robot controller software The function for specifying write items can be used with Version E1 or later of this sof
144. imit parameter 7 6 2 JOG Parameter Set the speeds of joint jog and orthogonal jog 7 112 Parameter menu 7 Parameter editing tool JOG Parameter Fig 7 13 JOG parameter Parameter menu 7 113 7 Parameter editing tool 7 6 3 Hand Parameter 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 HAND Parameter a Fobot Controller 1 Robot 1 Pick and Place Robot 1 RV 125 Hand 6 Hand 7 Hand 8 Handi Hand2 Hand3 Hana Hans Hand Type HANDT PE C None C Single z Signal No fano Double C 0 Macro Open Close Workpiece grasp Definition HNOHOLD At Hand Open Workpiece non grasp At Hand Close Workpiece grasp Fig 7 14 Hand parameter 7 6 4 Workpiece and Hand Weight Set the hand conditions and work conditions Hand and Workpiece weight Robot Controller 1 Robot 1 Fick and Flace Robot 1 Fiy 125 WAKDATO WRKDATI WREDAT2 WREKDAT3 WREKDAT4 WRKDATS WRKDATS WRKDAT WRKDATS ce 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 m EJ 0 00 0 00 0 00 0 00 a 00 0 00 a 00 a 00 0 00 Ta 0 00 0 00 0 00 a 00 a 00 a 00 a 00 a 00 0 00 Be zal 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 T be 0 00 0 00 a 00 a 00 0 00 a 00 a 00 a 00 0 00 positi
145. in use to confirm whether the commands can be used 7 126 Parameter menu T Parameter editing tool 7 7 Search Strings can be searched from the parameter list being displayed This function is supported from Version E1 of this software Select Search String from the Search menu T Parameter edit RC 1_mai Eile View Search Parameter Initial di Ctrl F Fig 7 38 Serach menu Find what JOG Cancel Direction r Up Down Match Case Fig 7 39 Search window Enter the string you want to search in the search string field and click Search Next The specified string is searched from the current cursor position in the parameter list to the direction specified in Search Direction R125 T axuooTS Change Explanation E Ardha Speed limit of motor for additional axis rom Corn ASIN AMF Mo for additional axis Com ASIOGTS TS of Filter on JOG for additional axis Com AMEND Robot no for additional axis Com AnMR EWY Fated speed of motor for additional axis rpm Com ARSPOL Round direction of additional axis CWC 01 Com AO YA Senrchronized movin weith l1 132 axis ROFF Targi RAnhat Fig 7 40 Result Search 7 127 T7 Parameter editing tool 7 8 Initialization 7 8 1 Initializing the battery remaining time The robot controller battery s remaining time can be initialized This function is used when replacing the battery Select Initialize
146. intenance forecast is raised please note that the cycle time of the robot is postponed from the tact time measurement result of this software by about 3 10 The tact time can be calculated with two methods using this software 1 Calculate the tact time from the created robot program 2 Designate the robot movement s start point and end points and calculate the movement tact time Each calculation method is described below 10 2 1 Cycle time calculation conditions Tact time Cycle time calculation The robot s movement tact time can be calculated with this software using the simulation function Note that the calculated tact 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 tact time Use this function as a guide for considering the tact time The results of the tact time calculated with this software will have an error of approx 3 under the following conditions compared to the actual robot movement time tact time Tact time calculation conditions 1 Do not start any application other than this software s Program Edit function The tact time calculation by this software has sections processed in the background of the personal computer For example if an application such as a Word document that carries out automatic save is started and running this software s background process will take longer and the correct tact ti
147. is carried out the line Nos are automatically reassigned so that the lines fit into the paste range Only in BASIC editing mode To carry out paste select Paste under the Edit menu 1 Select paste range ool C Program Files HELF Insert x bgrambianagement Tool Window do Chri Ando Position variable Insertion start line No J202 Elk gt Line pitch j2 Cirle Line Cut Copy Ctrl C Line Copy Find Find in Files i Program Edit Tool C 4Pra Ep ECS Ctrl H File Edit ProgramManageme oela e s 168 DLY 0 5 178 OURD 188 1388 HUS 50 198 Hi Hi i 206 IF Hi lt 15 THEN L 282 HOW P1 58 204 OURD 58 286 HUS Pt 208 HELOSE 1 218 END 2 When Paste is designated Fig 5 47 Paste dialog and state of pasting 5 60 Editing auxiliary functions 5 Program editing tool 5 8 6 Search The designated character string is searched for The search range can also be designated Select Search under the Edit menu to display the Search screen Find What Option F Mach case C Up f Down List Display Cancel Fig 5 48 Search dialog Search Next Each time this button is clicked on the next character string will be searched for List display The results of searching the designated range will appear in the list If the list display is clicked the window is enlarged automatically By double clicking the search result or clicking Jump after s
148. isplayed with Tool menu Position variable template can be selected Hovement program Position data Start position Purpose Position Movement target position Select operation Po ros z z Puo F interpolation type Movement method Speed OVAD Designate speed override p fioo s Workpiece grasp Walt time Workpiece gras P grazp il z n C Workpiece non grasp Lonn Wait time after operation Set workpiece grasping Cancel p Fig 10 14 Transit point setting dialog 4 Select the added transit point from the list and then click on the Movement confirmation button to comfirm the movement And click on the Cycle calculate button to know the cycle time 5 The simulation view will open the robot operation state will appear and the cycle time will appear when the operation is completed Cycle calculation results Ea New cycle time msec 3z Average Cycle Time msec eid All cycle time mec 4546 Cycle per step Cycle p 1266 2 a2a0 4540 Fig 10 15 Cycle calculation results 10 158 Cycle time calculation 10 Simulation 10 3 Editing the position variables with the simulation robot The position variables can be edited by moving the simulation robot and reading in the position variables from the simulation robot s posture Use the following procedure Start up the simulation screen by selecting Simulation view from the Simulation menu Si
149. ission 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 Setup for COPY dialog is set Setup for COPY x lM Command M Position M Rename pe o Target E i Cancel Fig 5 69 Setup for COPY dialog screen 5 11 3 Movement 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 Program Management 5 75 5 Program editing tool 5 11 4 Delete The program files can be deleted Note that once the program files are deleted they cannot be recovered 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 5 11 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 new file name mooo i Cancel Fig 5 70 Setup for RENAME dialog screen
150. itten into the robot controller these array position variables will remain as component 0 lt Version E1 or later gt Select the array variable from the position variable list and click on the Delete button Only element of selected array variable will be deleted Cartesian type Plvariable x y ZB dL Po 693 950 0000 734260 146 640 45770 137420 0000 0000 P100 1 70000 0O00 1477000 Oooo fon oom ooo 0 000 P100 2 403 850 506 650 648 450 180 000 65 390 128970 0000 0 000 P100 3 108 230 532310 1394 510 0 000 35 890 78510 0000 0 000 P100 4 225 070 659 110 0o00 85 510 ge 0 000 0 000 P100 5 108 230 532 310 1394 510 0000 35890 78510 0o00 OD E Fig 5 38 Deleting a position array variable Version E1 or later lt Version D2 or earlier gt Select the array variable from the position variable list and click on the Delete button All elements of the selected array variable will be deleted Select array variable and click on Delete button Fig 5 39 Deleting a position array variable Versin D2 or earlier 5 56 Editing the position data 5 Program editing tool 4 Copying and pasting the position array variables If a variable is selected from the position variable list and right clicked with the mouse the menu is displayed If Copy is selected from the menu the contents of the variable are copied into the clipboard If the mouse is right clicked and Paste is selected on the desired p
151. ked and not checked 1 2 Use the posture elements of position data is not checke Memo 1 The posture elements of position data In case of the vertical 6 axis robot the posture elements of position data are A B C In case of the vertical 5 axis robot the posture elements of position data are A B In case of the horizontal 4 axis robot the posture element of position data is C Use the posture elements of position data is checked _ Ve the posture elements of pasition 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 TT re taught accurately Re teaching position Original position and posture Position and posture before re teaching Position and posture after re teaching Original position Re teaching Re teaching and posture position P1 position P2 Re teaching position P3 d Use the posture elements of position data Posture elements in the position data taught during re teaching are not
152. l selection dialog Robot model Type Rv S series Pea Simulation condition i X Set the simulation speed When calculating cycle select high accuracy DE a P S 6 v High accuracy L r Workpiece and Hand Se Caution Max weight arm end drop The Robot might occur error of a speed limit over so on though operation speed quickens when the simulation condition i set to High speed In that case the error might not occur it the simulation condition i set to High accuracy again Set the weight position Hard Work piece Weight kg i Weight kg Size mm Size mm a Po PO Center of gravity mm Center of gravity mm Fig 10 10 Model selection and Simulation condition setting 7 The robot movement will appear on the Simulation Viewer and the tact calculation process will start 8 When the tact calculation is completed a window showing the tact calculation results will appear Simulation results Cycle calculation results New cycle time msec fi 0268 Average Cycle Time msec fi 0265 All cycle time msec fi 0266 Cycle per step _ Select AUTO TEACH AUTO Travel base inf Robot Type O RVS Stopping al E gt JOG operation Error Mo Message Fig 10 11 Simulation and cycle calculation result 10 156 Cycle time calculation 10 Simula
153. le display area setting The display ratio of the Cartesian type variables and the joint type variables on the Position Variable Edit screen can be changed a Program Edit Tool Program Edit Tool xl File Edit View ProgramManagement To Commands Position Dla Toolbar P A i w Statusbar h S Cartesian type F Joint type J View Option Syntax AECK Language History Cancel Fig 5 4 Proportion of Window 5 1 3 Syntax check setting Whether to check the syntax and whether to display messages if there are no syntax errors when saving the program can be set af Program Edit Tool Syntax check Setting Ea File Edit View ProgramManagement Tr EI w Toolbar w Statusbar Syntax check 2 A SS f Always Confirm C No Chect Font View Opti Confirm when there i no error f Display Hidden a pion aQe Mn Cancel Langu Histor Fig 5 5 Syntax check setting When each item is set the following will occur checked appear when the edited program is saved saved Confirmation when Display If there are no errors in the syntax check the message No syntax errors will appear Hidden If there are no errors in the syntax check no message will appear there is no error Setting the screen 5 35 5 Program editing tool 5 1 4 Program Language The robot programming language can be changed The language which can be changed is as
154. m the personal computer rot the controller the original program in the controller will be erased In this case the program can be recovered with the following procedures Countermeasure If the program to be transmitted is being edited with the personal computer remove the cause of the error and then save again If the program editing has been exited A backup file is created in the folder where the personal computer support software is installed If the folder was not changed during installation it is Version F1 or later C Program Files MELSOFT RT ToolBox E Version E1 or earler C Program Files Melfa The name of this backup file has a Temp added before the name that was to be saved Ex TempOOO Correct the file name with Explore etc and open the file with program editing and then save the file Correcting the file name TempOOO Delete Temp from TempOOO and add prg as the extension OOO prg LN Caution Precautions when using user defined external variables When creating a program using user defined external variables first define the variables in the base program A program using variables that have not been defined in the base program will not be stored in the robot controller This will result in the undefined variables error when the program is being written to the robot controller See the Controller INSTRUCTION MANUAL for more information on the base program and user defined external variables
155. mManagement Tool File Edit Programblana Undo Ctr Ol os Fal Undo Position variable IES Ls 16 DEF PLT 1 P2 P3 Cut pines 20 M1 4 L Line Cut a6 LOOP a anc eT ou HU a H ae AA HIS PA aste HC DL Find Ctrl F OU Find in Files H Replace Ctrl H P p 1mp a po Partial Transmission 3 The designated character sting is cut HUS F10 HnNPFH 4 e Fig 5 45 Cut Editing auxiliary functions 5 59 5 Program editing tool 5 8 4 Line cut Only BASIC editing mode The lines containing the selected range are cut To carry out line cut select Line Cut under the Edit menu By using the paste function described later the cut character string can be pasted into another section of the program 1 Select character string with mouse l Tool C Program Files MELFA E Program Edit Tool C 4 Proc File Edit ProgramM snagemer oea see a Frogrambl ana Undo 2 When Line Cut is designated Undo Position variable 18 DEF PLT 1 P2 P3 P4 Cut trl 28 M1 1 Line Cut 30 LOOP Copy Chee 86 DLY 8 5 90 OURD 168 Line Copy 166 HUS 58 Paste Ctrl 118 P18 PLT 1 41 128 HOU P16 58 138 OURD 56 Find Ctrl F Find in Files Replace Ctrl H Jump Partial Transmission 3 The designated lines are cut MUS P10 HnPFH 14 Fig 5 46 Line Cut 5 8 5 Paste The character string or line that has been copied or cut is pasted into the selected range When line paste
156. maged alarm information 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 the specified axis MFBRST 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 O 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 0 regardless of the previously entered value If you continue the input operation in this state all axes will be reset Exercise caution See Controller INSTURCTION MANUAL Detailed explanations of functions and operations for how to input parameters using the teaching box 13 198 Reset the Maintenance Forecast information using the teaching box 13 Maintenance Forecast 13 10 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
157. mation on the robot controller can be backed up to the personal computer or the backup information saved on the personal computer can be restored to the robot controller Backup Saves the backup data on the robot controller to the personal Robot Personal computer computer Restore Transfers the backup data saved on the personal computer to the Personal computer Robot robot controller 8 1 Starting Select Backup Restore from the menu The following ij Backup Restore ol Backup Restore window appears File Help Fig 8 1 Backup Restore AN Caution Precautions when executing a backuplrestore 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 Forecast the following message is displayed Backup Restore l x A When backing up for controller CPU unit exchange The Maintenance forecast is effectye in this controller Please back up information of the Maintenance forecast with Maintenance forecast tool Todo corectly the Maintenance forecast after exchanging the controller CPU unit please restore information of the Maintenance forecast with the Maintenance forecast tool
158. me may not be calculated The tact time will increase Quit all other applications before calculating the tact time with this software 2 There must be no general purpose signal input waiting in the program Invalidate any signal input waiting etc before calculating the tact time When considering the tact time of this type of program add the approximate input waiting time to the calculation results Cycle time calculation 10 151 10 Simulation Precautions for using this software When calculating the tact time using this software s simulation function the tact time may not be correctly calculated depending on the specifications of the personal computer being used or the robot s drawing posture Use under the following conditions to calculate the tact time Quit all applications other than this software when calculating the tact time 1 Recommended personal computer specifications CPU over 233MHz Memory over 128MByte 2 When using recommended specification personal computer The following type of Simulation Results will appear when the tact time is calculated Set this window s focus as X axis 0 Y axis 0 Z axis 0 Zoom 1 as shown below Simulation results Viewpoint y p EN z T E us E Z oO j Zoom 7 f E d _ Select AUTO 5 Travel base inf m Robot Type RY 20A JOG operation Error Ho Message This function does not need to be changed
159. more 200MB of open space or more Display Must have graphic function that can display SVGA 800 x 600 or more and must be capable of displaying 16 or more colors CD ROM drive Keyboard PC AT compatible keyboard Pointing device Device that operates in Windows environment Communication port Must have serial communication port that operates in Windows environment Min 9600bps 1 port When you calculate cycle time with this software please use the personal computer of greater performance one than that 2 Personal computer cable Please prepare an RS 232C cable for connecting the controller to the personal computer RS MAXY CBL For controller s front panel RS AT RCBL For extended option box CR1 EB3 For more information about the RS 232C cable specification refer to the Standard Specifications of the robot in use 3 Software Microsoft Windows 98 Operating System Microsoft Windows Me Operating System Microsoft Windows NT Workstation Operating System Version 4 0 Microsoft Windows 2000 Operating System Microsoft Windows XP Home Edition Operating System Microsoft Windows XP Professional Operating System This software is confirmed that can be operated on the following OS Windows XP Professional English version Windows XP Professional Germany version Windows XP Professional Traditional Chinese version Windows XP Professional Korean version 1 4 Items to be prepared by user 2
160. ms checked here are the same as the read items In any other versions instruction statements and position variables are saved by overwriting without displaying the write item confirmation Write items M Commands M Position Variables T Program External Variables aly Cancel Fig 5 21 Written item Closing and saving a program 5 45 5 Program editing tool 5 5 2 Save on Personal Computer To save a program on the personal computer select Save on Personal Computer from the File menu Save As x A el e Sy File name save as type Robot program prg Cancel ve Fig 5 22 Save on Personal computer 5 5 3 Save on Robot To save a program on the robot controller select Save on Robot from the File menu Save As gt Hobot E3 Refresh Rabot i Robot 1 Pick and Place Name Sie Dae Time Frotect File il I Commands W Position Variables Program External Variables Fig 5 23 Save on Robot The write items when saving on the robot controller can be used in Version E1 or later of this software 5 46 Closing and saving a program 591 03 06 03 12 52 30 None 109 619 03 06702 16 54 36 None 11 fra 03 06 02 16 54 36 None 2 ate 03 06 02 16 54 36 None ee B00 0306 03 13 41 44 None 4 ate 0306 02 16 54 36 None 443 126 03 06 02 16 54 36 None z ate 0306 02 16 54 36 None 03 06 02 16 54 36 None 03706709 15 51 58 Mone 03706703 13 41 44
161. mulation results viewpoint x m H Y fag g Z a ZOOM 20 mode The angle for viewing the robot can be changed Select AUTO The viewpoint can also be changed by the following mouse operations Dragging left button ee eee left and right gt Rotation of Z axis center up and down gt Rotation of X axis center TEACH Robot Type Dragging left right button oe left and right gt Rotation of Y axis center ae Dragging right button a up down left and right gt Move al E m oe Dragging left button Shift key up and down gt Enlargement reduction Error Mo Message Fig 10 16 Simulation panel When the JOG operation button is clicked on the following JOG operation dialog will appear The simulation view robot can be operated with this dialog Operate the simulation robot and set the robot to the required posture JOG operation m Inching To close the JOG Operation With JOG operation only the Dit window click again on the joint coordinates can be x JOG Operation button in the t High Simulation Results window J 7 7 S Low If you set High or Low the L Bet Current robot moves a fixed amount Tr tertapel eomutasties every time the key is pressed Joint coordinate The amount of movement depends on the individual J1 p 0
162. n be changed 2 Variable display The display ratio of the orthogonal coordinate type variables and the joint area setting coordinate type variables on the Position Variable Edit screen can be changed 3 Syntax check Whether to check the syntax and whether to display messages if there are no settin syntax errors when saving the program can be set 4 4 Programming The robot programming language can be changed The language which can be Language switched is MELFA BASIC IV and Movemaster command Ver B1 or more 5 History The number of the document used recently displayed on a File menu is changed Ver C2 or more Setting method Click on the menu File Close and close all of the program edit tool programs These settings can be made from the View menu L Program Edit Tool Robo pra Program Edit Tool ieee Edit ProgramManagement SrsseamManagement Tool Help T lb 13 Ojla 2 Select View w Statusbar Font View Option Syntax Check Language History Fig 5 2 Setting method Hew Ctrl h Open PL Ctrl 0 L Epen Robat Save Ct Save s gt PL 1 Select Close 5 1 1 Font The font used with the program editing tool can be changed Click on the menu View Font Small Fonts F Symbol Terminal Aabbyy2z Script Westem Fig 5 3 Set Font 5 34 Setting the screen 5 Program editing tool 5 1 2 Variab
163. nees 12 179 AEA AN Re teach WOK iie a a a RK 12 181 ASNE Er amnE ler a a a eae iaeehceas 12 184 12 14 Re start the Power Supply of the Controller nsnnnnnonnennennnnensnnsrrereererrsrrerreren 12 185 IZA FMS aea a a a e duadaustomstuncees 12 186 12 16 Edit Revision Parameters cccccecceccsecceeceeeeeceeeseeteceeceeesueceeseeesseteeseeeaseseesaes 12 187 Maintenance Forecast 13 189 ASPEC aO tcrpeasciussstrentanspaniinantneutansushincans E a aRiaen 13 189 TS 2e 9 ee ce ee en Oe nee One ee eet eee nT 13 189 13 3 Select the target controller ANd robot cecccccc secs sees eeceeceeeeeeeeeeeseeesseeeeeteeeaaes 13 190 13 4 Forecast Battery cairica ao a les Ea a a a EE o oia Aat 13 191 135 Forecast Grease Jersin e E R E E ea es 13 192 190 Forecast Bel erea a a a cued 13 193 a lt 1 0 0 ra E E Dea ere ert one 13 194 DOr Oi JIS E E E A AT ane EEA A ane aad S A T an E E T 13 196 13 9 Reset the Maintenance Forecast information using the teaching box 13 198 13 9 1 Resetting the time of battery CONSUMPTION ccec cece eeeceeeeeeeeeeeeeeeees 13 198 13 9 2 Resetting the grease and belt information cccccccececeeeeeeeeeeeeeeeeeenees 13 198 Nl OF ONGS ina a ticndcitan carat daata thie vie dunaurtedanateetaaiamads uae tonal anseeniauaeineaelaeies 13 199 13 11 Exiting the Maintenance Forecast tool ccccccccceecceeeceeceeeeeeeceeeseeeseeeseeeeesees 13 200 Se
164. ng 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 possibility that the parameter is not correctly calculated 12 182 Re teach Work 12 Position Repair Support Tool N CAUTION The cautions when using a robot with the additional axis Please re teach at the position in which the additional axis is same as the original position when re teaching by a robot with the additional axis Otherwise re teaching calculation will not be performed correctly 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 N CAUTION When go back to Check of setting tool window all information set by re teaching work will be cleared Re teach Work 12 183 12 Position Repair Support Tool 12 13 Write Parameters Position Repair Support Tool Write parameters x Target rob
165. ntenance forecast announcement Please select Rekesh an target tem ltem Grease Hours 6 000 Until eS J1 4000 hours JZ 3 790 hours J3 4 420 hours C dayisi J4 3 370 hours Operation time ofa J5 4340 hours Aa JH 2950 hours 16 hourfsiday BEEEEE Fig 13 5 Forecast Grease l f F Forecast Setup Reset Others The Operation time of a day can be set on the Setup screen 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 The display unit setting can be switched between time and day If day is selected in the display unit setting the display will show the number of days in operation based on the operating hours per day When the Refresh button is clicked on in upper right corner of the window the information about the maintenance is acquired again from the controller 13 192 Forecast Grease 13 Maintenance Forecast 13 6 Forecast Belt When Belt is selected in Item the hours until belt replacement time can be checked for each axis Maintenance Forecast x Robot 1 Pickup robot 1 R128 Forecast Setup Reset Others P Refresh This is a latest maintenance forecast announcement Please select __ Refresh an target item Itera Belt
166. ntended for users familiar with the BASIC language editing tool used with the old controller The robot program can be edited at the required line No The AUTO function and renumbering function can be used to edit the line No C WarcProgi RP_14H PRG BASIC edit mode Line No is manually input 00 DEF PLT 1 P21 Pz22 F23 2 5 1 S90 DEE PLT E31 D37 P39 an Orthogonal type F F1 145 000 0 000 10 000 0 000 Fig 5 12 BASIC editing mode screen 5 3 2 Line No hide mode This mode does not show the robot program line Nos and is intended for users familiar with Windows wordprocessing operations The program commands can be edited without inputting the line No The stop position is shown on the left edge When the edited program is saved the line Nos are automatically assigned S C NarcProg RP_1AH PRG Line No not displayed Line No does not need to be input JOVARD 100 CNT 1 Add Orthogonal type F A F1 145 000 0 000 10 000 0 000 oin 144 000 nan J JAC 0 ANN Fig 5 13 Line No hide mode Line No hide mode cannot be selected Movemaster Command Editing mode 5 39 5 Program editing tool 5 3 3 Changing the editing modes The editing mode can be changed as explained below When BASIC Editor is selected from under the Window menu the currently active editing program window will change to the BASIC editing mode When Line No hide mode is selected from under the Window menu the
167. nts 1to5 points 1 to 6 points 3 to 6 points v Origin data T Tool data 10 to I Base data 11 5 axis and points 6 axis robot Tool data ial Origin data I Tool data Base data 3 to 4 1 point points Base Data m Origin data T Tool data I Base data points 4 points Base data Origin data Tool data 4 axis robot only 7to8 points 7to8 points m Origin data M Tool data Base data 4 axis robot Select Revision Parameter 12 177 12 Position Repair Support Tool fF fl Selects all revision parameters T fF fo parameters Select all f Select all Select Arbitrarily f Select arbitrarily 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 As to base data only X Y Z elements are corrected Horizontal 4 axis robot Origin data J1 and J3 are included in base data Origin data J3 and J4 are included in tool data 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 i Tool data C Base data 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 data if tool data is s
168. o Displayed only in multi mechanism mode If you wish to perform parameter backup select Back up and specify the Save folder Stored parameter file can be retrieved into the robot controller using the Backup Restore in the RT ToolBox Robot Total Engineering Support Software Click Next when ready to proceed 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 12 170 Select the Robot and Backup Parameters 12 Position Repair Support Tool 12 7 Select Generation Procedure of Revision Parameter Position Repair Support Tool Select generation procedure of revisio X Target robot 1 Fickup robot 1 A 125 Select a procedure Back Cancel Figure 12 6 Select generation procedure of revision parameter Window In the next step the software can either automatically generate parameters or accept manually entered parameter values Normally Generate revision parameter automatically is selected Select Generate revision parameter automatically and click Next to proceed to Select Program window Select Edit the value of revision parameter directly to proceed to Edit Revision Parameter window Select Generation Procedure of Revision Parameter 12 171 12 Position Repair Support Tool 12 8 Select P
169. obot programs and display operate the execution progress information and servo power supply status etc 1 General Special purpose INPUT OUTPUT Signals assignment q x Robot Controller 1 Robat 1 Fick and Placel General Start each Slot Stop each Slot Servo OFF each Robot Servo ON each Robot Machine Lock each Robot Data JOG HAND INFOT OUTPUT Fig 7 24 General 2 Start each Slot Special purpose INPUT OUTPUT Signals assignment q x Robot Controller 1 Robot 1 Fick and Placel Exit General Start each Slot Stop each Slot Servo OFF each Robot Serva ON each Robot Machine Lock each Robot Data JOG HAND INPUT OUTPUT INPUT Slot 17 S17START Slot 18 S19START Slot 19 S19START Slot 20 S20STAR Slot 21 S27STAR Slot 22 22STAR Slot 23 S23STAR Slot 24 S24STAR Slot 25 S25START Slot 26 S26START slot 2 S27 START Slot 26 S285 TAR Slot 29 S295 TART slot 30 SSOSTART slot 31 SSTSTART slot 32 S325 TART TITATT TT TTT Ta Slot 1 STS TART Slot 2 S25 TART Slot 3 SSS TART Slot 4 S45 TART Slot 5 SSSTAR Slot E SBSTAR Slot 575TAR Slot 8 SSSTART Slot 9 SSSTART Slot 10 S705T4R slot 11 5115TAART Slot 12 5125TART Slot 13 S735 T4R slot 14 S145 7 4A slot 15 S755 74R slot 16 S165 TART a a i Print PEE EEE EE EE ee ee nu TUTTI TUTTI se GCECREEEEEEEEE Ha T
170. ode the robot controller power must be turned ON again General purpose monitor With the general purpose monitor monitoring can be carried out by designating the head signal No and number of signals to display Start stop the general purpose monitor The head signal No and number of MRC ie Gs E Mallee peta signals to display can be changed only while the monitoring is stopped Change the head signal No and the Head Signal 300 number of signals to No of Signal 32 display to be monitored J15 300 OOOO000O0o0oOo00000 J31 S16 OOOOd0o0oOo0oOoO0o0000 The size of this window can be changed CS Fig 6 16 Custom monitor INPUT 6 90 Each monitor function 6 Monitoring tool pseudo input Pseudo INPUT Signal 2 Robot 2 The current state is read out with the designated signal No as the head E The pseudo input state __ Select is Ay as a port Git INPUT Signal Head Signal Mo 10 15 g 7 15 8 fofofe fofefefo fo fjeti Ta ATIT TTT CMEC l 7 4 Be PPPPPPPP PPPPPEPE Cicko TTP PT Frrr rr ry check box Fort Bit Feuda INPUT Pseudo IMPLT All Signals OFE All Signals ON The designated signal i non nangN 16 signals is set All input states are turned OFF All input states are turned ON Fig 6 17 Pseudo input In the pseudo input mode the state input from the following window is interpreted as the input signal instead
171. odification in which only a portion of the program was modified in the robot controller However exercise caution since only the selected portion will be written After selecting the line to be written into the robot controller select Partial Transmission in the Edit menu i Program Edit Tool C Program Files HELFA E File Edit ProgramManagement Tool Window Wie ne Unda Chrl 2 Undo Position variable Cut Cr Line Cut 46 H Copy Ctrl C i MU Line Copy TED o Y 80 DL Find Ctrl F ee Find in Files 110 P eee Chrl H 126 M 436 0 Partial Transmission 146 HUS P18 15A HNPFH 1 Fig 5 55 Partical transmission 5 64 Editing auxiliary functions 5 Program editing tool 5 8 11 Automatic numbering Only BASIC editing mode This function automatically displays the next line No each time the Enter key is pressed The start line No and line pitch can be designated with the setting dialog The setting dialog will appear when AUTO Number is selected under the Tool menu C Cancel Auto number Input Start Line No and Line pitch f Set Auto number Start line No i fr Cancel Line pitch i Program Edit Tool Ra File Edt Frogramblana HeH Hael Fig 5 56 State of setting dialog and editing screen Editing auxiliary functions 5 65 5 Program editing tool 5 8 12 Assigning line Nos The line Nos can be assigned in a batch within a de
172. of the robot controller general purpose input signals 1 First the signal to be pseudo input signal is read 16 signals can be set simultaneously Input the head No of the signal to be read and then click on the Select button 2 The input state of the 16 signals is displayed with the designated signal at the head Set the pseudo input state and then click on the Pseudo input setting button 3 16 signals from the No designated as the head can be forcibly output as a hexadecimal Input the hexadecimal value and then click on the Port pseudo input button The pseudo input mode is canceled when this button is closed Each monitor function 6 91 6 Monitoring tool 6 4 1 6 General purpose output signal The state of the signals output from the robot controller can be confirmed OU General purpose OUTPUT Signal 2 Robot 2 Miei x Les e FEDCBASS 76543210 coggccdooo000100 Exit ooggccc000000000 ogogg0cdc00000000n0 ooggcddgo00000000n0 oog0gccc000000000 oooooooogooooondo Monitor cocooanana OOOogo00o00o0000000 start Shop OOOOo00o00oo0000000 OOOOo00o00oO0000000 cocooanana OOOO000000000000 cocooan OOOO0000o00000000 Custom Monitor OOOOo0000o00000000 OOOO000000000000 j 1 2 3 4 a B T a J Fig 6 18 General purpose output signals General purpose monitor With the general purpose monitor monitoring can be carried out by designating the head signal No and number of signals to display
173. oftware Save folder C Program Filess MELSOFTSAT ToolBox EXREPRAIF Browse Back Cancel Figure 12 8 Read and backup program Window To back up a program select Back up and specify the Save folder Stored program file can be retrieved into the robot controller using the Program Manager in this software Click Next when ready to proceed w 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 Read and Backup Program 12 173 12 Position Repair Support Tool 12 10 Check of Setting Tool Position Repair Support Tool Check of setting tool X Target robot 1 Pickup robot 1 AW 125 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 Qutine x Yl z al Bl METL Standard tool 0 00 0 00 100 00 0 00 0 00 METL Tool 1 250 00 0 00 0 00 0 00 0 00 MESTL2 Tol O F80 OOF aon oo OOO MEXTLS Tool 3 0 00 300 00 0 00 0 00 0 00 MEXTL4 Tool 4 AU 00 AU 00 BU 00 0 00 0 00 Renew list Back Cancel Figure 12 9 Check of setting tool Window Parameter values set in the present robot controller for tool data are displayed The row for the tool selected by the tool number MEXTLNO is highlighted in red Please check i
174. on 0 00 0 00 ooo a 00 a 00 0 00 ooo ooo 0 00 tun eel 0 00 0 00 0 00 0 00 a 00 a 00 a 00 0 00 0 00 HNODATO HNDDATI HNDDAT2 HNDDAT3 HNDDAT4 HNDDATS HNDDAT6 HNDDAT HNDDATS weight Ka 12 00 10 00 10 00 10 00 10 00 10 00 10 00 10 00 10 00 bx 265 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 a Neel 265 00 0 00 0 00 0 00 0 00 aoo 0 00 ooo 0 00 Hand ail 22 00 0 00 0 00 0 00 a 00 0 00 a 00 a 00 0 00 Ek 0 00 0 00 0 00 0 00 a 00 a 00 a 00 a 00 0 00 seein Mal 0 00 0 00 0 00 0 00 0 00 0 00 0 00 a 00 0 00 Ek 66 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 Print write Fig 7 15 Workpiece and Hand weight WRKDATO and HNDDATO might not be able to set according to the kind of the connected robot In that case the row of WRKDATO and HNDDATO cannot be input 7 114 Parameter menu T7 Parameter editing tool 7 6 5 Tool Set the standard tool coordinates and standard base coordinates This screen is different according to the software version of the controller who connects it 1 Robot controller Ver H7 or earlier woo O O OOOO o Robot Controller 1 Pickup robot 1 Robot 1 Rw 205 Standard Tool coordinate METL mm deg Standard Base coordinate MEXBS mm deg 0 000 0 000 0 000 0 000 Print Wa ibe Print wie
175. ose Set Close Cancel PROD OG vecee tate ceenden cos ceeeesneeacen Select the Robot Controller 1 32 for communication Communication method Select the method to be used for communication Either RS 232 C or TCP IP can be selected Select TCP IP when carrying out communication with Ethernet Set the robot controllers that are not connected to Not used Otherwise the rformance of the personal computer may be degraded Robot controller cannot be set to Not used Details button Robot controller connection setting list button Set Save and Close button Set Close button Cancel button Top view AN Caution A window for changing the communication specifications will open The window that opens is different depending on whether RS 232 C or TCP IP is selected for the communication method The communication settings can be specified in a table format This is convenient when performing communication settings for a large number of robot controllers at one time The communication specifications are changed and the change results are saved Even when this software is started up next communication will be carried out with the specifications set here The communication specifications are changed The change results are not saved so when this software is started up next communication will be carried out with the previously set specifications The communication setting is quit without c
176. osition edit screen the variable can be pasted on another edit screen B PO 90 450 0 000 1463 650 0 000 0 100 1004 410 240 360 1463 650 0 000 0 100 004 410 24060 1A A 1004 410 66 560 1371 241 Add 45n nN C 407 440 Delete Co py B Add Delete Change Joint type J vanable J1 apy Fig 5 40 Copying and pasting the position array variables If the same variable name is found the overwrite confirmation dialog is displayed Select whether to overwrite or copy after changing the name Position variable Paste P01 The designated name variable already exists i Over irite Skip Write All Cancel Fig 5 41 Confirming of Position variable paste ZN Caution The operation when copying position array variables differs between Version D2 or earlier and Version E1 or later of this software lt Version E1 or later gt Position array variables can be copied for each element They can be copied even if the definition DIM instruction of position array variables has not been described but an error will occur if there is no DIM declaration when writing to the robot controller The confirmation to overwrite position array variables is also performed lt Version D2 or earlier gt The array variables can be copied however it is necessary to define the array variables of the position variables by the DIM command on the command edit window in advance Please not
177. osition variable template Position variable batch edit Debug editing Step execution Direct execution Program Program list Program copy Program move Program compare Program rename Program delete Program protect Simulation Automatic operation Step execution The simulation function is compatible only with the Personal computer support software mini Note that the simulation function also cannot be used Position read when the MOVEMASTER commands are selected with this software l l l l l l l l l l l l l l l l l l Standard version The function cannot be used with the Direct execution l I l I I I l i i l i Cycle calculation l l l Appendix Function tree A 205 A Appendix Function tree Parameter editing tool Monitoring tool Slot operation status monitor Stop signal monitor Backup Restore Error monitor Program monitor General purpose input signal monitor General purpose output signal monitor Movement confirmation monitor Input register Output registers Operation monitor Operating time cumulative monitor Production information monitor Robot version Option card information Servo monitor Position monitor Speed monitor Current monitor Load monitor Position Repair support Power monitor Maintenance Forecast Remote maintenance Connection with remote robot Program conversion A 206 Appendix Function tree a MITSUBISHI ELECTRIC CORPO
178. ot 1 Fickup robot 1 AW 125 1 PRG Revision parameters were generated The parameters are written to the controller Parameter Outing l al al al DJINT Error of origin data 0 0000 0 0000 0 0000 0 0000 0 000 Print Save position data to file lt Back Cancel Figure 12 14 Write Parameters Window Print Prints the revision parameter information displayed in the list Save position data to file Saves position data used in re teaching as a robot program with positions only 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 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 bu
179. ot 2 Exit Common Robot 1 COMMON Parameter _Farameter Explanation 000o OoOo y l AIRERA T Robot ar pressure eror INPUT During robot ar pressure er OUTPUT Fig 7 2 If the power to the robot controller specified on the communication server is not on or it is not connected correctly when starting the parameter edit tool the Select Read Destination screen appears In this case or to change the parameters of the robot controllers other than the robot controller specified on the communication server see Section 7 2 Selecting the Read Destination Starting of Parameter editing tool 7 105 7 Parameter editing tool 7 2 Selecting the Read Destination The Select Read Destination screen can be displayed by one of the following operations 1 Choose Select Read Destination from the File menu 2 Click from the tool chip 3 When unable to communicate with the robot controller specified on the communication server power not on not connected correctly etc Select target Ea 1 Robot l Pick and Place cancer Fig 7 3 Select target To connect with a robot controller and perform the maintenance of the parameters in the robot controller select Robot Controller To edit the parameter information that has been downloaded to a personal computer select File If a robot controller has been selected as the load destination select the robot controller you want to connect Rabat The controll
180. personal computer Although it will take approx five minutes to download the parameter list information using the latest parameter information is recommended Reference Values When Version J41 of the robot controller software and Version E1 of this software are connected When using RS 232C 9600 baud rate 4 min 30 sec When using RS 232C 19200 baud rate 2 min 30 sec When using Ethernet 24 sec If the parameter list information is not read out correctly the following type of window will appear I Maintenance RC 2_ mail hy File View Parameter Initialization System Window Help x ce tat bt GRE User Parameter Robot Controller 2 Robot 2 Exit Common Robot 1 Refer to the robot instruction manual for details on the COMMON Parameter parameters displayed here _Parameter__ Explanation oOo d AIRERA Robot air pressure eror INPUT During robot air pressure err OUTPUT ARERR Z Robot air pressure eror INPUT During robot air pressure err OUTPUT AIRERRS Robota air pressure error INPUT During robota air pressure err OUTPUT ARERR 4 Robot4 air pressure eror INPUT During robot4 air pressure err OUTPUT AIRERRS Robgt5 air pressure eror INPUT During robot5 air pressure err OUTPUT ALWENA Enable command SERYO command and RESET command in ALAS slot 0 AREATAT Type of area check 1 not use 2one interference AREATME Robot Mo for area check 1 AREATPI Position fo
181. purpose 10 signal T Servo SPEED 8 Movement state LI Servo CURRENT 9 Input register lt CC Link gt W Serva LOAD 0 Output register lt CC Link gt Ww Serva POWER Fig 4 15 monitor menu Look at the program monitor and confirm the robot movement and program Program Monitor 1 Robot 1 Pick and FPlacel O x Monitor View Window Help 2 TSK TSE TSE TSE TSE TSE TSK TSK TSK 1 2 3 4 gt J 67 7 8 Edt Information Status Wating Information Status Wating Prg Mame a Line Mo 1440 Bob 190 DEF PLT 1 P21 P22 P23 2 5 ono 0 197 DEF PLT 1 P21 P22 P23 2 5 Pro Marne 204 DEF PLT 2 Ps1 P32 P33 2 5 oe 211 DEF PLT 3 P41 P42 P43 25 O Line No 390 DEF PLT 2 P31 P2 P33 35 ee REF 250 DEF PLT 3P41 P42 P43 25 i Robo 200 MOV P1 Priority 1 710 MOY P2 Conditions STAAT ot a 2 Mode REF Pricrity 1 Ready a ee 2 Fig 4 16 Program monitor 4 30 Confirming the movement 4 Starting use 4 8 Exit the operations Did the robot move correct Finally exit this software 1 Exit the RT ToolBox Robot Total Engineering Support Software Exit the program editing tool and monitoring tool Each tool will exit when Exit is selected from under the File menu Program Edit Tool Robot prg B gem Edt Programnttanagement T Ctrl Open ABE Ctrl 0 Open Robot ess Ss a a oe Chrl 5 Save s gt PL ee ee As Robot Debu
182. r G9 or 1 If only P_100 1 is used in an instruction statement all of P_100 1 to P_100 10 will be read However the number of effective elements depends on the software version of the robot controller in use 5 44 Opening a program 5 Program editing tool 5 5 Closing and saving a program Select the Save As gt PC or Save As gt Robot of the File menu in order to save an edited program Then the saving window appears accordingly Name the file and save it To save a program you have edited select Save on Personal Computer or Save on Robot from the File menu When the corresponding screen for the selected save destination opens save the program by assigning a file name From Version E1 of this software when saving programs on the robot controller write items instruction statements position variables program external position variables can be specified For more information about write items see 5 5 4 Write Items When Saving on the Robot Controller a Program Edit Tool Robo_prg BASIC edit em File Edit ProgramManagement Tool Wind D Hew Ctrl E Open PL Chl O Open Robot Close C save Ctrl 5 Save s gt PL Save As gt Robot Debug online Print Chrl P Fig 5 20 File menu 5 5 1 Save To save a program you are editing select Save from the File menu or click Bl In Version E1 or later of this software write item confirmation see the figure below appears The ite
183. r area check 1 y 2 4 6 17 IZ AREAIPS Position for area check 1 y 2 4 6 17 Z AREAZAT Type of area check 2 not use2one interference AREACME Robot Mo for area check 2 AREAZPI Position for area check 2 y 2 4 6 17 Z ARREARS Position for area check 2 y 2 4 6 17 Z ARE ASAT Type of area check 3 not use 2one interference AREASME Robot Ho for area check 3 Parameter List from A C from File E Ready NUM 2 Fig 7 9 Parameter List The parameter list can be read from the robot controller or from the personal computer using these buttons Reading the parameter list From R C The parameter list is read from the robot controller From File The parameter list written in the personal computer is read 7 108 Downloading the parameter list T7 Parameter editing tool 7 4 Changing the parameters Click on a parameter displayed in the list or input the parameter name and then click on the Change button The designated parameter information in the robot controller or personal computer will appear After confirming the parameter the parameter information in the robot controller can be rewritten by clicking on the Write button When editing the parameter information saved in the personal computer the Write button will change to an OK button Parameter aXMREV Robat ja Fated speed of motor for additional axis rpm 1 ae a 4 ae E f g q Fig 7 10
184. r editing tool cccccceccccccececseeceeseeeceeeceecseceeecaeeeeeseeeseeeseeeaaes 7 135 Backup Restore 8 137 gAs OAN eee ere ct eau Stee Pa nc Pees SPIT MC ena 8 137 8 2 Backup RODOl gt PC Pentasia een aa N 8 138 8 3 Restore PG gt RODO seoiscrnsre a a a a aAa Aaaa 8 139 8 4 Power Reset of the Robot Controller Version E1 or later cc ccececeeeeeeeeeeeees 8 142 o0 PTOA BACKUD icerisine e a ea a a 8 143 Remote maintenance 9 145 9 1 Starting of Remote maintenance nannennennnnnnennennnnnrnrnnrnrrrenrrnrrrrrerrnrrnnrenrrnrrnnne 9 145 9 2 Connecting with the remote robDOt c ccc cece ececeeeceeeceeeeeeeeeeeeeeeseeeseeseseeeneees 9 146 TO Smuain OPERA ON s a cana isha dnnat a thou ico dsenieas 10 147 10 1 1 Start of Simulating operation ccc cceccceeeceeeeeeeeseeeeeeeeaeeeseeeseeeeeeeeseees 10 147 1O T2 AUIOMAUC operato soea N a a 10 149 10 13 Dir ctexec tioN mir a a a E e EE 10 149 10 14 Step executo nia E 10 150 102 Cycle mecal ulatio roa N E eeeetou ee seal cncdauase nd esas 10 151 10 2 1 Cycle time calculation CONIIONS cece eeccceeeceeeeeeeeae cece eeseeesaeeeseeees 10 151 10 2 2 Calculating the tact time from the robot program cccccccseeeseeeeeeeeeeees 10 154 ill 13 14 10 2 3 Calculation by designating the robot movement transit point 10 157 10 3 Editing the position variables with the simulation robot
185. r selecting a robot controller that is provided in each tool The following figure shows the operation for opening a program on the robot in program editing Clicking the W area of the combo box displays the list of the robot controllers for which communication settings have been made Select a robot controller using the mouse Open on Robot E Refresh F obot fz Robot 2 Cancel aoe None 11 33 20 Hone 10 ede 02 03 15 Do not perform duplicate communication settings for the same robot controller Doing so will generate communication errors or problems such as missing program files in the controller Example of incorrect use Connect with the same robot controller using an RS 232C and a TCP IP Before changing communication settings be sure to close all the tools except the communication server Otherwise mismatching will occur in the robot controller list When connecting multiple robot controllers for use execute the operations of the robot controllers only after verifying the target of operation Connecting to the robot 2 15 2 Preparation before use Details setting Only for RS 232 C SIO Communication Protocol Port Data Transfer Rate Character Size Parity Stop Bit Transmission Timeout Time SOU msec 3000 mzec COMS Reception S600 r Timeout Time Humber of 7 Retries EYEN Protocol Mon Procedurall 7 JIJ Robot Hame Fobo 3 Cancel
186. rams created and saved by the old PC support S W can be used with this new S W 5 68 Editing auxiliary functions 5 Program editing tool 5 9 Syntax check This function checks whether the edited robot program is grammatically correct Use this before writing the program into the controller If there is any error in the grammar the error section and the details of the error will be displayed To use the grammar check select Grammar Check under the Tool menu Syntax check results Ea Line p Eror contenta 100 MOWA P1 10 An error was found in command statement 210 DELAY 0 1 Z An error waz found in command statement 220 MOY EPS ies An error was found in command statement Select and jump to error section in list Fig 5 61 Display of grammar check results Syntax check 5 69 5 Program editing tool 5 10 Debugging a program The program can be directly debugged while editing the program and moving the robot It is also possible to confirm which line of the program is being executed while the robot is moving Either step execution or direct execution can be used 5 10 1 Open the program To debug the program select Debug under the File menu and open the program The editing screen for the program opened with will appear f Program Edit Tool Robo prg E les File Edit ProgramManagerment Cc New Chrl h Open PL Chrl 0 Open Robot Close Save Ctri 5 Start from
187. red Select the name of the parameter to be referred to with Parameter setting on the menu AN Caution 030610 mai Parameter Initialization System window E Motion Limit parameter Jog parameter Hand parameter Workpiece and Hand weight Tool parameter Slot T able Output Signal Reset Pattern Special Purpose O signals assignment Communication parameter One Free Plane Lirit Home position Program Language Fig 7 11 Paramter menu The language MELFA BASIC IV MOVEMASTER command to be used by the controller can be changed with the Robot Language parameter Note that the robot models that can use the MOVEMASTER commands are limited Refer to the Standard Specifications for the model in use to confirm whether the commands can be used Parameter menu 7 111 T7 Parameter editing tool 7 6 1 Motion Limit Parameter Set the operating range of the robot Motion Limit parameter E3 Fotot Controller 1 Robot 1 Pick and Place Robot 1 ABS Limit HE MAR mm deg Joint Lirit HEJAR mm deg 20 J z0 170 J 20 J2 el 100 J2 170 130 20 13 z0 130 13 160 20 Jal z0 160 sal 160 120 360 a 20 J5 z 120 J5 20 JB 20 360 J 30 7 aU B0000 J7 sU000 30 Jal 30 50000 Ja agad User Defined Origin USERORG r 72 Limit MEPAR rrm 0 De 10000 x 10000 J 0 10000 vl 10000 J3 g0 10000 z 10000 Fig 7 12 Motion L
188. reen View View f Dec ft Hex i Dec Hex Please refer to the following for the variable which can be displayed by the hexadecimal number The displayed variable can be switched to the hexadecimal Integer number 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 This function corresponds from Ver C1 Each monitor function 6 89 6 Monitoring tool 6 4 1 5 General purpose input signals The status of the signals input into the robot controller can be monitored IH General purpose INPUT Signal 2 Robot 2 el E3 Dooooooouoooo00 0000000000000000 o0o0oo0ooacooaooa o0po00oo0oooo0onn Mania oooo0000000000000 Oooogdgo0o0o0000000 start Stop OoOooogo00o0000000 OOOO000000000000 NOOO000000000000 OoOd0ogo0000o00000000 OOOO000000000000 QOOUOUOO0O0000000 Custom Monitor OoO00000000000000 Oooogo00o0000000 OOodogoogog000 000000 OOodogoogog000000000 Pseudo INPUT Fig 6 15 General purpose INPUT Signals When the Pseudo input button is clicked on the robot controller will enter the pseudo input mode and the following window will appear Caution To cancel the pseudo input m
189. rocedtire CCT TTTEn TENERA NERAA A aN of oae a a wee wee wee we we we we we we ee a Repeat as necessary Parameter generation Write parameters to robot controller Restart robot controller power Figure 12 2 Operation Flow From here on the description will follow the normal operation flow See 12 16 Edit Revision Parameters for description on setting parameter values Operation Flow 12 167 12 Position Repair Support Tool 12 4 Starting Use lt Position Repair Support Tool Starting use X 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 interference or maintenance can be repaired by re teaching only several paints However please understand beforehand that it may be unable to repair when the robot application needs accuracy or the mechanical damage ot the robot at the time of intererence iz senous Available robot model gt Vertical 6 asis robot controller 5 4 Ver or later Vertical 5 asis robot controller 5 4 Yer E1 or later Horizontal 4 asxis robot controller SAs Yer E4 or later Only revision of the origin data ts available if the vertical 5 asis or b axis robot i used and the controller 5 44 version is older than above mentioned Moreover only RH SH Series is available in the horizontal 4 axis robots Cancel Figure 12 3 Starting
190. rogram Position Repair Support Tool Select program X Target robot 1 Pickup robot 1 AW 125 Select a program The position data only cartesian type of the selected program is Sees al used with re teach work ki Robot program list ee a a Number an Position m a Oo EA 2915 03 05 29 18 23 32 Hone oF Back Cancel Figure 12 7 Select Program Window Select the robot program to be used for revision parameter generation and click Next Re teaching will be performed using the position data of orthogonal coordinate system of the selected program See Table 12 3 Selecting Revision Parameters on the number of required position data lt Memo The points on selecting the program Select the program with the positions of various location and posture 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 positions that require high precision 12 172 Select Program 12 Position Repair Support Tool 12 9 Read and Backup Program lt Position Repair Support Tool Read and back up program X Target robot 1 Pickup robot 1 AW 125 The following robot program i used for re teach work 1 PRG Do you want to back up the program Not back up The program file backed up can be returned to the controller using Robot Total Engineering Support S
191. rors that have occurred 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 General purpose input The state of the signal input from an external device to the robot signal controller can be confirmed General purpose output The state of a signal output from the robot controller to an external signal device can be confirmed The signal can also be output forcibly 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 Movement State The current position information and hand open close state of each connected mechanism can be confirmed A O O O P 3 O lt 3 D 3 P 3 O 5 O 5 pseudo input forcibly output Operating time The robot operation time power ON etc can be confirmed Production information The operating time of the program in the robot controller and the No of program cycles can be confirmed Robot version Option card information Information on the option card mounted on the robot controller can be referred to Servo monitor position The servo system information can be monitored speed current load power JOWUOW uoesado 2 Operation me
192. s will change Note that program editing must be HEFELESS restarted to validate these parameters 2 The display information was updated Update the travel axis movement range parameters To validate the changed parameters restart program editing Fig 10 5 Travel base information 10 1 2 Automatic operation The same operation as the controller s automatic operation takes place To stop select Stop from the Simulation menu Execute stop 10 1 3 Direct execution The robot can be directly operated by inputting command statements without line Nos When Simulation menu Execute stop Direct execution is selected the following type of dialog for direct execution will appear Direct Execution Command Transmission Caution The robot will directly start movement when the Transmission button is pressed Describe direct execution command Direct command transmission history Fig 10 6 Direct execution dialog Simulating operation 10 149 10 Simulation 10 1 4 Step execution The robot program can be executed line by line When Simulation menu Execute stop Step execution is selected the following type of dialog for step execution will appear During the step execution the line being executed is highlighted on the program editing screen State stop Step retum Continuous execution Stop Robot will move when button iz clicked Start Line fi S
193. signated range The start end line No new start line No and line pitch can be designated with the setting dialog Renumbering is possible by displaying the renumber setting dialog with Renumber under the Tool menu x Set range to renumber End lne No f O40 New line Wo conditions New start line Mo p New pitch m Set start No and pitch i Program Edit Tool C NarcProg h i Program Edit Tool C NarcProg FA File Edt Frogrambianageme File Edt Frogramblanagement Tool Djela lse Teine Nos are assioned Pisa alae ale 10 MOV PI 10 MOV PI 20 DLY 3 20 DLY 3 30 LB_30 gt 30 LB_30 80 DEF PLT 2 P31 P32 P33 2 5 1 40 DEF PLT 2 P31 P32 P33 2 5 1 90 DEF PLT 3 P41 P42 P43 257 50 DEF PLT 3 P41 P42 P43 257 100 MOV P1 B0 MOV PI 110 MOV P2 70 MOV P 120 MOV P3 a0 MOV P3 124 WACK Ea OA hah ES ee Fig 5 57 State of setting dialog and renumbering operation results 5 66 Editing auxiliary functions 5 Program editing tool 5 8 13 Command template The MELFA BASIC IV language command list is displayed When a command in the list is selected and the Insert button is clicked on or when the command is double clicked on the command can be inserted into the program command editing screen Displays per command type and searching of commands with character strings are possible Display the command template screen by selecting Command template under the Tool menu
194. step execution The line currently being executed is alfe elaia on the editing screen l0 x sx File Edit ProgramManagement Tool TT View Simulation Help x BEE saje azlan halal Step Execution EG O DEF PLT 1 P2 P3 P4 P Mkakati 20 Hint 36 LOOP Sto in HOU P1 56 State pping Step feed Step return Continuous execution Stop x will move when button ed ws he lt EL e j oj egt Fag a i Start Line 0 000 0 000 0 000 0 000 P10 0 000 C 0 000 0 000 0 000 0 000 x x P2 0 000 0 000 0 000 0 000 0 000 x x P3 0 000 0 000 0 000 0 000 0 000 x x nnn ono ANNANN ANANN Fig 5 64 The line currently being executed Debugging a program 5 71 5 Program editing tool 5 10 3 Direct execution The robot can be directly moved by inputting a command statement The following dialog will appear when Direct Execution is selected from the Tool menu D Transmit Describe direct execution statement Direct command transmission history Fig 5 65 Direct execution AN Caution When direct execution is carried out the robot may move at the max speed so take special care to safety Never enter the work area when carrying out direct execution 5 72 Debugging a program 5 Program editing tool 5 11 Program Management The program files can be copied moved deleted renamed protected and the contents compared The Program Manager can be used
195. t the alarm Will reset the alarm Will reset the alarm dedicated signal and the dedicated and the dedicated and the dedicated output signal output signal output signal output Dedicated sianal Will not reset the Will ENABLE reset Will ENABLE reset g dedicated signal the dedicated signal the dedicated signal output output output output Setup 13 195 13 Maintenance Forecast 13 8 Reset The information about battery grease and belt for Maintenance Forecast kept in the controller can be reset Maintenance Forecast x Robot 1 Pickup robot 1 R128 Forecast Setup Heset Others Log The information for the Maintenance Forecast which has been kept in the controller is reset Reset of batten consumption time At the time of batten exchange Ik resets per joint axis At the time of grease replenishment At the time of belt exchange Reset Fig 13 8 Reset Table 13 3 Description about each reset At the time of battery It is used when an alarm urging to replace exchange the batteries C7500 C7510 or C7520 occurs and the batteries have been replaced Be sure to reset the battery consumption time after a battery has been replaced At the time of grease When an alarm urging to perform periodic Axes are reset in units of joint replenishment inspections and replenish grease alarm axes Multiple joint axes can numbers in the 7530s occurs replenish the be reset at the same
196. tain location data in a robot program Parameters that compensate for the position shift will be generated which corrects all location data within the controller However please note that applications that require high precision or large mechanical damage to the robot due to interference may not be rectifiable Moreover there are some cases that cannot be rectified because of limits by degree of freedom of robot Vertical 5 axis robot and Horizontal 4 axis robot have the limit like Table 12 1 The limit by degree of freedom Therefore the shift related to this limitation cannot be correctly rectified In that case please teach again without using this function or repair the part where the gap exists e g exchanged a bent hand Table 12 1 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 cant move in the direction of A B element of the Horizontal 4 axis robot cartesian position AN CAUTION Position Repair Support Tool supports MELFA BASIC IV only Position Repair Support Tool supports MELFA BASIC IV only Note that it cannot be used with MOVEMASTER command 12 1 Specifications This software supports the following software version and model of the robot controller Table 12 2 Supported Robot Controller and Model Version J2 or later Vertical 6 axis robot Version E1 or later Only correc
197. tarting up this software are explained 3 Basic function and windows operations The functions of this software and the basic windows operations required for using this software are explained 4 Starting use This is a tutorial section for learning the series of operation methods when using this software for the first time 5 Program editing tool A detailed explanation of making and saving the robot program 6 Monitoring All of the information in the currently connected robot controller can be constantly displayed 7 Parameter editing tool The parameters in a Robot controller can be referred to and rewritten 8 Backup restore A backup of the data in the robot controller can be downloaded to the personal computer and the backup data saved in the personal computer can be uploaded to the robot controller 9 Remote maintenance The data of a robot at a remote location can be monitored and serviced over a telephone line 10 Simulation Confirmation of robot program operation with off line simulation using CG Computer Graphics and calculation of cycle time The Simulation function becomes correspondence only of a standard version STD Using the instruction manual 1 1 1 Before starting use 11 Program conversion The program conversion converts the position data as well as the instructions DJ MP and PD instructions of the Move Master command related to the position data so that the robot programs created and saved by t
198. ter already be sure to uninstall the older version before installing the newer version 1 Set this CD ROM in the personal computer s CD ROM drive The Setup screen will be started up automatically 2 If the screen does not start up automatically carry out the following procedure a Select the start button and run b Check the CD ROM drive name Input as shown below Drive name Setup exe If the CD ROM drive is D this will be D Setup exe Run P x Type the name of a program folder document or Internet 5 resource and Windows will open it for you Oper E Setup exe T Cancel Browse Fig 2 1 Run Installation methods 2 5 2 Preparation before use 3 Installation procedure Start a Set the CD ROM in PC s CD ROM drive f Input Product ID Please enter the product ID of the product Please input in single byte English characters E ly b Open Setup exe in CD ROM when it is not started automatically c Starting installation Wizard d License Agreement 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 2 6 Installation methods 2 Preparation before use 2 1 2 Uninstallation In Version F1 or later of this software Select RT ToolBox English with
199. 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 can not be made Case 1 Command sentence Program Case 3 Command sentence Program Position data conversion Position data Program N G conversion Case 4 Program Program conversion Position data only Program conversion NG Case 5 Program conversion Case 6 Program conversion CD Program conversion CD Case 7 NG Precautions 11 161 11 Program conversion 11 2 Start up There are two methods to start up 1 Start up from MENU Click on the Program Converter button using the MENU of the MELFA Personal Computer support software Personal Computer Stas aI CRn 500 series MELFA Ver E4 A Program Edit cm Monitor IT Parameter as Backup Restore 2 LER Program Converter EA G Remote Maintenance Personal Computer Suje ial fed CRn 500 series ME LFA Ver E1 lem Monitor IT Parameter EI Backup Restore D E Exit Fig 11 1 main menu 2 Start up from PROGRAM EDIT Click on the Program converter in the Tool menu of the Program Edit Tool Robot prg BASIC edit mode window g BASIC edit mode ee Window Yiew Simulator
200. thod Mouse operation Click on the button for the item to be displayed from the Monitor menu Keyboard operation While holding down the Alt key press the alphanumeric character displayed at the left of the button Example Press the 4 key while holding down the Alt key to display the program monitor Hereinafter expressed as Alt 4 6 80 Outline of each function and starting methods 6 Monitoring tool 6 3 Exit the monitor menu Click on the Exit X button on the screen to quit the monitor menu Press Alt X to exit using the keyboard Exiting the monitor menu 6 81 6 Monitoring tool 6 4 Each monitor function Each monitor function is explained in this section 6 4 1 Robot movement monitor 6 4 1 1 Slot Run State The state of the slots in the robot controller can be monitored The No of displayed slots is determined with the parameters Slot Run State 2 Robot 2 Ma x Exit No Slot state ProgramName Rabat Conditions Mode Priority 1 Program selection possible 3 START REF 1 2 Program selection possible START REF 1 3 Program selection possible START REF 1 4 Program selection possible START REF 1 5 Program selection possible START REF 1 6 Program selection possible START REP 1 T Program selection possible START REF 1 8 Program selection possible START REF 1 This window size can be changed Press the right mouse button at this position to change the size Fig 6 3
201. time grease and reset the replenished axis At the time of belt When an alarm urging to perform periodic Axes are reset in units of joint exchange inspections and to replace the belt when it is axes Multiple joint axes can damaged alarm numbers in the 7540s occurs be reset at the same time replace the belt and reset the axis for which the belt is replaced These reset operations can be executed using the teaching box See the following section for further details 13 196 Reset 13 Maintenance Forecast 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 x Date when measurement began 2003 09 08 10 58 46 The last reset day tem oe tme count 2003 08 06 14 33 06 2003 08 08 14 33 16 2003 09 08 14 33 16 2003 09 08 14 33 16 f pence se 2003 09 08 14 33 16 2003 09 08 14 33 20 Fig 13 9 Log of Reset Reset 13 197 13 Maintenance Forecast 13 9 Reset the Maintenance Forecast information using the 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
202. ting the origin data of the robot using this software the restrictions on the operating modes of the robot controller as listed in the tables below apply depending on the version of this software and the version of the robot controller software Refer to the table below 1 When reading Robot controller Ver J1 or later Ver G9 to Ver H7 Ver G8 or earlier Ver E1 or later Can read in all modes Ver C2 to Auto OP mode Can read only in Auto Ext mode Ver D2 Auto Ext mode Cannot read in any other modes Ver C1 or Teach mode earlier 2 When writing Robot controller Ver J1 or later Ver G9 to Ver H7 Ver G8 or earlier Auto OP mode Ver E1 or Auto Ext q later uto Ext mode Auto Ext mode Teach mode Feachinode Teach mode Ver C2 to Auto Ext mode Ver D2 Teach mode Origin data cannot be written by this software earlier eb pa 49 z E O a 2 T H 7 130 System information T7 Parameter editing tool 7 9 2 Robot Origin Parameter lt Backup gt Robot Origin Parameter lt Backup gt can be used to back up the parameters that comprise the robot origin data If the robot origin data has additional axes use this function to back up the origin data on System Window Help EW Robot Origin Data sere Robot Origin Parameter lt Backup gt Robot Mo v Robot type RW 1A Robot Orign Data Parameter MEIN SE 241210 MEIN ST aF MEINESZ fo 182044 218453 0 204800 0
203. tion 10 2 3 Calculation by designating the robot movement transit point Even without describing a robot program the robot operation cycle time can be calculated by designating the robot movement transit point 1 To calculate the cycle select Simulation menu Simple cycle calculation The following general operation setting dialog will appear Simulation Simulation view Execute Stop d Simple cycle calculation This Program Error Monitor Position variable Template Fig 10 12 Movement transit point Movement ea 2 Me Ea Please entry Position variable template Designate the operation start position art Position Por Step Purpose Movement Speed Wkpe Del Mo Pas method OVAD grasp Gay Adds changes inserts or deletes the target position Calculates the tact Insert Change Delete Movement confirmation Cycle calculation Ga Fig 10 13 General operation dialog 2 Calculate the tact with the following procedure Select the robot operation start point from the Start position The position variables registered in the position variable template displayed with Tool menu Position variable template can be selected Cycle time calculation 10 157 10 Simulation 3 When the Add button is clicked on the target position addition dialog shown below will appear Set the target point with this dialog The position variables registered in the position variable template d
204. tion gt 6 lt High accuracy The interval of the forecast 5 hours For 1 24 hours How ta mform Waring Output Signal Signal Wo cl Mahen a signal number is changed the power source of RE reentry is necessary Assumption operation time of a day 1 00 24 00 16 00 hours day The remainder days until presumed maintenance time 14 1 365 day s When click Write parameter please update Maintenance Forecast in Forecast tab Write Parameters Fig 13 7 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 more information about the setup items see Tab 13 2 Description of the Setup Screen AN Caution Information needed to Maintenance Forecast is not accumulated while the Maintenance forecast is being invalidly set Factory preset value is invalidity When the Reservoir of information Maintenance Forecast is invalidated information of Maintenance Forecast is not accumulated When switched effectively from invalidity again the reservoir of information is continued from the time last value If you have invalidated the Maintenance Forecast Maintenance Forecast for a long term the Ele
205. tion in CD ROM Overview 14 201 14 Setup of the communion middleware MelfaRXM ocx 14 3 Guide for reading the manual 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 Prepare for reading i Prepare of the personal computer The personal computer with which is installed Microsoft Windows 98 or more and it has the CD ROM drive is required ii Prepare of the software for reading For reading the manual Adobe Acrobat Reader Ver 5 0 or more is required lf Adobe Acrobat Reader isn t installed please download from following Adobe Systems Incorporated URL As of December 2004 URL http www adobe com 2 How to read i Case of starting from Explorer Start Explorer and select the file Then Acrobat Reader starts and the manual is displayed ii Case of starting directly from Acrobat Reader Start Acrobat Reader and select the file Then the manual is displayed Microsoft Windows Microsoft Windows NT are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Acrobat Reader Copyright 1987 1999 Adobe Systems Incorporated All rights reserved Adobe the Adobe logo Acrobat and the Acrobat logo are trademarks of Adobe Systems Incorporated Reference to registered trademarks and trademarks are omitted in this manual 14 202 Guide for reading the manual 14 Setup of t
206. tion of origin data is supported in versions prior to J2 Version K1 or later Vertical 5 axis robot Version F1 or later Only correction of origin data is supported in versions prior to K1 Version K4 or later Horizontal 4 axis robot Version F2 or later Any versions prior to K4 are not available RH SH series only Moreover This function cannot be used for the RH AH series robot Specifications 12 165 12 Position Repair Support Tool 12 2 Startup Click the gt gt button in the main menu to expand the menu Select Position Repair to display Position Repair window It is also possible to start from Windows Start Programs MELSOFT Application RT ToolBox Position Repair It is possible to start from Windows Start Programs MELFA CR 500 Position Repair Personal Computer Suvajes al fed CRn 500 series MELFA Ver E1 su Position Repair Support Tool Starting use x CETTTTETETTTITEA A Program Edit E cm Monitor TT Parameter ER BackuwR estore Pam oOo EA G Remote Maintenance Shas Position Repair 1 Click gt gt button to expand the menu The button changes to lt lt after the menu expands 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 interference or maintenance can be repaired by re teaching onl
207. tton 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 12 184 Write Parameters 12 Position Repair Support Tool 12 14 Re start the Power Supply of the Controller Revision parameters were written to the controller To validate changed parameter click Power supply reset Button The power supply of the robot controller ts reset from PC q Click Next button when the power of controller has been turned gt 0n and the communication server is connecting Reset the power supply N To validate the written parameter turn on the power of the robot controller again Othenvise if re teach working is continued succeedingly it cannot calculate correctly Cancel Figure 12 15 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 Click the Power supply reset button to reset the robot controller from the personal computer If the robot controller s version is older than J2 robot controller cannot be reset from the personal computer In this case operate the controller power manually CAUTION Controller Power Reset Check the surroundings for safety before resetting the robot controller power from the personal computer Re start the
208. tup of the communication middleware MelfaRXM ocx 14 201 VS Via OW UV NS WY celeste ea cls eetod te oes aha AE mets aie 14 201 142 Descrip tiom Gl RO IW parine dmanneame teers 14 201 14 3 Guide for reading the MANUAl cccccccccceececeeeceeeceeeeeeeeseeeeeeeseeeseeesseesseeeaeeess 14 202 VA Ahk NSC AO IN ccrsscisteecitse de a aumsaia sa csauteir stats inet ceeds tone a sa no oan anda eset Peetu 14 203 iV INTRODUCTION Thank you for purchasing Mitsubishi Electric Industrial Robot MELFA This document is the operation manual for the MELSOFT RT ToolBox Robot Total Engineering Support Software By fully utilizing the features of this software you can perform the initial startup of the robot and create edit and control the robot programs To operate the robot in a safe manner be sure to read this manual and safety manual of attachment to the robot arm thoroughly in advance Also keep this manual in a location that provides an easy access whenever you need to refer to it Target Version of This Manual This manual is for the RT ToolBox Robot Total Engineering Support Software of version F2 or later RT ToolBox Robot Total Engineering Support Software version F2 edition corresponds to the version K4 of a robot controller Target Readers of This Manual This manual is written on the assumption that the readers have sufficient knowledge of the basic operation of the personal computers Windows 98 Me NT 4 0 2000 XP as
209. tware regardless of the version of the robot controller software The initial values of the read items are as shown in Fig 5 19 Read Items Read tems M Commands M Position Variables Program External Variables Fig 5 19 Read Items Table 5 1 Program External Position Variable Read Operation shows the operation to read program external position variables For more information about program external position variables refer to the separate volume Detailed Guide to Functions and Operation Table 5 1 Program External Position Variable Read Operation Read Item Position variable joint variable A EE E P_01 J_02 etc y joint array variable MOVEMASTER command join y 901 999 P_100 J_102 etc Instruction Position External variable position Reads only the external position variables position variables joint variables used _in instruction statements x x Reads all elements used in instruction statements 1 x x Ver J1 or later Reads all external position variables position variables joint variables position array variables joint array variables x Reads all external position variables position variables joint variables position array variables joint array variables xl Ver H1 to H7 E Q V t Oo gt ab pa 4 e md O N _ O a _ c O O _ O 2 O ag This function cannot be used Ve
210. udio Driver 0 02MB B SiS Audio Driver Size 0 02MB e Windows XP Service Pack 2 E Windows XP Service Pack 2 Set Program Set Program Access and Access and Defaults Defaults Fig 2 2 Uninstalling the application When uninstalling this software the following screens might be displayed There is no influence on other applications even if the file shown in the following is deleted Shared File Detected i x PrgEditParts ocx The file C Program Files sMELSOFTSAT ToolBox E FrgE ditParts ocx may no VisualPrgEditParts ocx longer be needed by any application you can delete this file but doing so RoboFile dll may prevent other applications from running corectly Select es to delete ODOF IIe the file RoboOpenGL ocx EZSocketRc dll NarcServerApi dll NarcServerApiM dll UpDownBtn ocx Fig 2 3 Shared File Detected PrgEditParts ocx Please do not delete files other than the above mentioned Other applications might not operate when it is deleted Installation methods 2 7 2 Preparation before use 2 2 Setting up the printer To print programs with this software the printer must be setup The method for setting up the printer is explained in this section 1 Double click on My Computer gt Printer E My Computer File Edit View Help Double click Control Panel Printers Dial Up Networking Fig 2 4 Double click Printers 2 Double click on Add Printer Double
211. urce can be canceled by selecting with the Clear button After selecting the copy destination click on the Copy button Program Backup 8 143 8 Backup Restore 8 144 Program Backup 9 Remote maintenance 9 Remote maintenance The data of a robot at a remote location can be monitored and serviced over a telephone line Prepare a personal computer with modem and telephone line at the robot side and at the remote location Connect each personal computer with the following method 9 1 Starting of Remote maintenance Click on the Remote maintenance button on the main screen The remote maintenance tool will start and the following type of dialog will appear Remote Maintenance x A Quit the Robot Total Engineering Support Software other than the communication server Quit Fig 9 1 Confirmation If the program editing tool monitoring tool or maintenance tool is running exit the tool and then click on the OK button The following main screen will appear 7 Remote Maintenance ioj x File Help Clear Message board Switches ON OFF of the Messages from connection beep sound when receiving a destination will appear message IW Beep at the time of message reception Tranemit A message is sent to the connection Line connection button destination z Connection state with remote Futott f robot is displayed Transmission Message Fig 9 2 Remote Maintenance Starting of
212. 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 using 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 certain restrictions Please refer to the following Table 12 4 About Posture Elements of Re teaching Position Data for details Select Revision Parameter 12 179 12 Position Repair Support Tool Table 12 4 About Posture Elements of Re teaching Position Data When using posture Precision of generated revision During re teaching posture must be elements of position parameter improves if the tip taught correctly If posture data is data position X Y Z and tip posture incorrect precision of revision elements are re taught correctly parameter actually decreases When not using During re teaching revision In case of the vertical 6 axis robot posture elements of parameters can be generated Posture elements A B C of tool position data simply by correctly teaching position revision parameters cannot be obtained X Y Z J6 axis of origin revision parameter Posture elements need not be cannot be obtained if both X and Y accurate components of the tool parameter are 0 0 In case of the vertical 5 axis robot
213. well as the robot controllers If you are unfamiliar with the basic operation of the personal computers please read the user s manual of your personal computer Symbols Used in This Manual DANGER Indicates that incorrect handling is most likely to cause hazardous conditions resulting in death or severe injury of the operator WARNING Indicates a possibility that incorrect handling may cause hazardous conditions resulting in death or severe injury of the operator it CA UTION Indicates that incorrect handling may cause hazardous conditions resulting in injury of the operator or only physical damage Please read this operation manual thoroughly and be sure to learn the correct operating procedures No part of this manual may be reproduced by any means or in any form without prior consent from Mitsubishi The details of this manual are subject to change without notice An effort has been made to make full descriptions in this manual However if any discrepancies or unclear points are found please contact Mitsubishi Microsoft Windows Microsoft Windows NT are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Acrobat Reader Copyright 1987 1999 Adobe Systems Incorporated All rights reserved Adobe the Adobe logo Acrobat and the Acrobat logo are trademarks of Adobe Systems Incorporated Reference to registered trademarks and trademarks are omitted in
214. when using Windows NT 10 152 Cycle time calculation 10 Simulation 3 When using non recommended specification personal computer Iconize the Simulation Results window The operation methods are shown below The drawing posture does not need to be changed when the window is iconized and the tact time is calculated Operation methods 1 Open the robot program for which the tact time is to be calculated 2 Open Simulation View under the menu Simulation and select the robot model At this time always set the conditions to High Accuracy 3 The Simulation Results window will open Iconize this window The icon can be created by clicking the button on the upper right of the window Simulation results Travel base int Robot Type RW 20A JOG operation EI p an Error Mo Message 4 Select the execution section for which the tact time is to be calculated and calculate the tact time by selecting Simulation Simple Tact Calculation Tact Calculation Refer to section 5 5 2 Calculating the Tact Time for details on calculating the tact time 5 Do not return the Simulation Results window to the original size while calculating the tact time Cycle calculation results When the tact time has been calculated the Seana tees Tact Calculation Results window as shown on the right will open ozs Note In some cases this Tact Calculation Results Average Cycle
215. window for file selection Save As HE c Rh 15009 prg aa Ay dall org Save in E3 Tacttime a Gtr4_OLY PRG Rp 3ah pra Hyo prg Rp 5ah prg Hyo DLY PRG ja Rip Sah_1 prq a RC TOOOGHWOC prg b Rv 3al prg la RH 1000G D PRG AGUERE File name Fiv da prg save as type Fiobot program files prg Cancel Fig 11 5 Designate the file to write down the converted program Name the file in which the converted program is written before clicking on the Save button 4 After designating the conversion source file and the conversion destination file click on the Convert or Convert amp Open button When Convert is clicked the designated file is converted and written down in the conversion destination file When Convert amp Open is clicked the file is converted before being opened through program edit according to the object 11 164 Operation methods Select 12 Position Repair Support Tool 12 Position Repair Support Tool Position Repair Support Tool is supported by version E1 or later of this software However supported Robot Controller and Model are limited See Table 12 2 Supported Robot Controller and Model Position Repair Support Tool is used when tool deformation due to interference or origin position shift due to replacement of motor during maintenance occurs Past position data in the controller can be used simply by re teaching cer
216. y 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 is serous 4 lt 4vailable robot model gt Vertical G asie robot controller SAW Verd or later Vertical S asie robot controller 5 4 Wer K1 or later Program Converter Horizontal 4 asis robot controller SAW wer K4 or later Only revision of the origin data it available if the vertical 5 asis or b axis robot is used and the controller SAW version is older than above mentioned Moreover only AH SH Series iz available in the horizontal 4 asis robots Cancel Figure 12 1 Starting from Menu 12 166 Startup 12 Position Repair Support Tool 12 3 Operation Flow This software is an application in Wizard format Parameters will be generated if you perform operations following the instructions on each screen The parameter values can also be set directly This software is used while connected to the robot controller Specify the target robot Backup the parameters before revision Automatic parameter i generation If setting Normal operation parameters Enter parameter values Specify the program to use for parameter generation within robot controller Write parameters to robot controller Back up the selected program Restart robot controller power Specify the parameters to be generated Re teaching Work y P

MITSUBISHI

Contents

Download Pdf Manuals

Related Search

Related Contents