Page 1 Mitsubishi Electric Industrial Robots CR750/700/500 series RT ToolBox2 / RT ToolBox2 mini User's Manual (3D-11C-WINE/3D-12C-WINE) BFP-A8618-AB...
Page 3 Safety Precautions Before using the robot, always carefully read the precautions below and the separate "Safety Manual" and take all necessary safety measures. A. These show precautions based on Labor Health and Safety Regulations (Articles 36, 104, 150, 151). For the sake of safety, teaching work should only be performed by workers who have Caution received special education.
Page 4 B. This shows precaution points given in the separate "Safety Manual". For details, please read the text of the "Safety Manual". Use the robot in an environment that is within the range of its specifications. Failure Caution to do this can cause a drop in reliability and breakdown. (Temperature, humidity, atmosphere, noise, etc.) When transporting the robot, put it into its specified transport posture.
Page 5 Never on your own judgment make an alterations or use maintenance parts other than Caution those designated. Doing so can cause breakdown and problems. When moving the robot arm from the outside, never stick a hand or finger into an Warning opening.
Page 7 User's Manual Revision History Printing Date Manual No. Revision Contents 2008/04 BFP-A8618-* First edition (Corresponds to the Ver.1.1) 2008/08 BFP-A8618-A Corresponds to the Ver.1.2 (Refer to the software revision history.) 2008/10 BFP-A8618-B Corresponds to the Ver.1.3 (Refer to the software revision history.) 2009/01 BFP-A8618-C Corresponds to the Ver.1.3.1...
Page 8 Software Revision History Version Release Date Revision Contents 2008/01 Initial release (Japanese version only) 2008/04 CRnQ Communications: Added the GOT transparent function. Parameter editing: Added the Multiple CPU setting screen. 2008/08 [Communication Setting] Changed the Initial value of USB, TCP/IP and RS-232 setting. Added the CRnQ communication routes when "Ethernet"...
Page 9 Version Release Date Revision Contents 1.6.1 2010/06 [Parameter] Added the function of editing the “Temp in RC” parameters. 2010/10 [Communication Setting] Added the GOT(Ethernet) transparent mode. [Simulation] Added the “3D Monitor” button to the screen of simulation operation. "3-axis XYZ" and "Cylinder" are added to JOG mord. [Monitor] Added the function of error record.
Page 10 Version Release Date Revision Contents 3.00A 2013/09 [Computer syastem] Corresponded to Windows 8.1. [Parameter] Changed the project tree. Added “PROFINET”, “DeviceNet”, “EtherNet/IP” parameters. Added the function “Realtime monitor” to the “Ethernet” parameter. [Tool] Added the function “Oscillograph”. [Simulator] Added the supported 3D model formats “3DS”, “PLY”, and “VRML”. The function of designing a robot hand: supported the 3D model parts.
Page 11 Version Release Date Revision Contents 3.30G 2015/01 [Parameter] Added "Safety" parameter screen. [Monitor] Added “DSI CNUSER2 input signal” monitor screen. [3D Monitor] Added the function “Safe pos. monitoring” to “Robot display option”. [Oscillograph] Added the function getting the "Error of presumed torque". [Robot firmware update] Added the function to update the firmware of the robot...
Page 12 Version Release Date Revision Contents 3.60N 2016/03 [Computer system] Corresponded to Windows 10 Windows2000 support has ended. [Application package] Added the deburring and polishing [3D monitor] Added the perspective rotation function centered on the point of the screen central point, mouse point. [Simulator] Change the notation of [flange direction] to [mechanical interface] Added the function which display mechanical interface parts on the...
Page 13 PREFACE Thank you for purchasing this MELFA Mitsubishi Electric industrial robot. This document is the user's manual for the MELSOFT "RT ToolBox2" and "RT ToolBox2 mini". This document will help you to use the functions of this software to the maximum over a wide range of stages, from initial robot start to program writing, editing, and management.
Page 14: Table Of Contents
Contents 1. Usage 1-21 1.1. How to Use this Document ......................1-21 1.2. Checking the Product ........................1-21 1.2.1. Checking the package ......................1-21 1.2.2. Checking the CD-ROM contents ..................1-21 1.2.3. About the "MelfaRXM.ocx" communications middleware ........... 1-21 1.3. Items to be prepared by the customer ..................
Page 15 6. Connecting with the Robot 6-74 6.1. Robots Connected and Types of Communication ............... 6-74 6.2. Connection Settings ........................6-76 6.2.1. USB Communication Settings ..................... 6-77 6.2.2. TCP/IP (Ethernet) Communication Settings ................ 6-78 6.2.3. RS-232 Communication Settings ..................6-80 6.2.4. GOT Communications Settings ...................
Page 16 8.12. Program Conversion ......................... 8-144 8.12.1. Starting program conversion ..................... 8-144 8.12.2. Line number conversion (from MELFA-BASIC IV to MELFA-BASIC V) ......8-145 8.12.3. Position data conversion (from E/EN/M1/M2 series to CR750/700/500 series) ....8-147 9. Position data editing for SQ Direct 9-149 9.1.
Page 17 11.6. Communication Parameters ....................11-200 11.6.1. RS-232 parameter ......................11-200 11.6.2. Ethernet parameter ......................11-201 11.7. Field Network Parameters ....................... 11-205 11.7.1. CC-Link parameter ......................11-205 11.7.2. PROFIBUS parameter ..................... 11-206 11.7.3. PROFINET parameter ..................... 11-207 11.7.4. DeviceNet parameter ....................... 11-208 11.7.5.
Page 18 13.4.1. Specifications ........................13-266 13.4.2. Starting ..........................13-266 13.4.3. Flow of operations ......................13-267 13.4.4. Introduction ........................13-268 13.4.5. Communications settings ....................13-268 13.4.6. Robot selection and parameter backup ................13-269 13.4.7. Revision parameter generation procedure selection ............13-270 13.4.8. Program selection ......................
Page 19 16.2.8. Edit of ruled line ....................... 16-347 16.2.9. Deletion of user definition screen ..................16-349 16.2.10. Import of the user definition screen ................. 16-351 16.2.11. Export of the user definition screen ................. 16-353 16.3. Oscillograph ..........................16-354 16.3.1. Outline ..........................16-354 16.3.2.
Page 20 18. MELFA-3D Vision 18-438 19. I/O Simulator 19-439 19.1. Summary ..........................19-439 19.2. Simulator settings ........................19-439 19.3. Signal connection edit screen ....................19-441 19.4. Starting I/O Simulator ......................19-445 19.5. Stopping I/O simulator ......................19-446 20. MelfaRXM.ocx Communications Middleware Setup 20-447 20.1.
Page 21: Usage
1. Usage This explains precautions you need to know before using this software. 1.1. How to Use this Document The manual is in the CR-ROM as the Adobe PDF file. D:/Doc/BFP-A8618.pdf (Example for the CD-ROM drive is “D:”.) For reading the manual, Adobe Acrobat Reader Ver.5.0 or more is required. If Adobe Acrobat Reader isn’t installed, please download from following Adobe Systems Incorporated URL (As of September, 2009) URL: http://www.adobe.com/...
Page 22: Items To Be Prepared By The Customer
RS-AT-RCBL Mitsubishi Electric series (for expansion serial interface (option)) For expansion option box (CR1-EB3) RS-AT-RCBL Mitsubishi Electric Table 1-2 CR750-Q/CRnQ-700 Series Communication Cables Cables confirmed by Mitsubishi Electric to operate properly Method Description Model name Manufacturer ZUM-430 Loas Co. USB-M53 Elecom Co.
Page 23: Operating Environment
1.4. Operating Environment This explains the operating environment. 1.4.1. Connectable robot controllers This software can be connected with the robot controllers shown below Table 1-3 Connectable Robot Controllers and Communications Types Robot controller Communications (*1) Remark CR750-D/CRnD-700 The commercial item such as computer and series cable might be unsuitable to compatibility with our equipment or the FA environments of the...
Page 24: Computer System
1.4.2. Computer system This software operates on PC/AT compatible computers that meet the following specifications. Item Recommended environment Pentium III 1 GHz or higher Simulation simplicity model: Pentinum IV 2 GHz or higher. Simulation details model: Core2 Duo, Core i3 3 GHz or higher. 512 MB min.
Page 25: Installation, Uninstallation
1.5. Installation, Uninstallation This section explains the method for installing the software and the method for uninstalling it. Caution Uninstall RT ToolBox2 before installing. If "RT ToolBox2" has already been installed in the personal computer, it is necessary to uninstall it before "RT ToolBox2"...
Page 26 Figure 1-1 Specify the File Name and Execute With Windows Vista, when using the classic display, when not using the [Start] menu with the classic display, you can use the [Start] menu Search box instead of executing the [Run] command. Start (f) Input Product ID (a) Set the CD-ROM in PC's CD-ROM drive.
Page 27 Caution About the confirmation and warning message displayed during installation (version 1.8 or earlier of this software) During installation on Windows XP or Windows Vista, the following confirmation and warning messages are displayed, but select to continue installation. If you select not to install, please execute the installation again.
Page 28 （ro Windows Vista） Installation confirmation message for USB driver software When “Always trust software from MITSUBISHI ELECTRIC CORPORATION” is checked, the alert message will not be displayed after next time. 1.5.1.1. Installation on Windows 8 / 8.1 / 10 When you install this software on Windows 8 / 8.1 / 10, you will need to turn on ".NET Framework Version 3.5...
Page 29 If the dialog is shown, install this software again after you turn on ".NET Framework Version 3.5 (includes .NET 2.0 and 3.0)” feature as following steps. (1) Be ready to connect the PC to the Internet. (2) Select [Programs] – [Turn Windows features on or off] from the Control Panel. (3) Check [.NET Framework 3.5 (includes .NET 2.0 and 3.0)] check box on Turn Windows features on or off screen and click [OK].
Page 30 (4) Select [Download files from Windows Update] when the following screen is shown. (5) This process is complete when the following screen is shown. 1-30 1-30...
Page 31: Uninstall
1.5.2. Uninstall Uninstall with the following method. Start uninstallation. - Windows XP Execute [Start] – [Control Panel] [Program Add and Delete]. From [Start] – [Control Panel], display the control panel and select "Add/Remove - Windows Vista Programs". Open [Start] – [Control Panel]. When not using the classic display Select the product to delete, then click the With [Control Panel] [Program], execute [Uninstall Program].
Page 32: Usb Driver (Cr750-D/Crnd-700 Series Robot Controller) Installation
1.5.3. USB driver (CR750-D/CRnD-700 series robot controller) installation Connecting the CR750-D/CRnD-700 series robot controller with USB requires installation of the robot USB driver. Install with the following procedure. 1.5.3.1. When Using Windows XP Below is the installation procedure for the USB driver using Windows XP (Professional). 1) When you connect the computer and CR750-D/CRnD-700 series robot controller with a USB cable, the...
Page 33: Crnq Communications Usb Driver Installation
1.5.4. CRnQ communications USB driver installation Connecting the CR750-Q/CRnQ-700 series robot controller with USB requires installation of the robot USB driver. Install with the following procedure. Caution If the USB driver cannot be installed, check the following setting. <When Windows XP is used> If you have selected "Block-Never install unsigned driver software"...
Page 34 3) As the screen on the left appears, choose "Search for the best driver in these locations". Check "Include this location in the search" and set the “C:\Melsec\EasySocket\USBDrivers”. If volume MELSOFT products have been installed, browse the installation destination "EasySocket\USBDrivers" of the first installed product.
Page 35 1) The screen shown on the left appears when you connect the personal computer and Universal model QCPU by the USB cable. Select "Locate and install driver software (recommended)" and wait for the search to end. ↓ 2) The screen on the left is displayed, so select "Browse my computer for driver software (advanced)".
Page 36 5) The screen on the left appears to indicate completion of installation. Click the [Finish] button. ↓ (Completed) 1.5.4.3. When using Windows 7 / 8 / 8.1 / 10 The following indicates the procedure for installing the USB driver when using Windows 7 / 8 / 8.1 / 10 1) When "Control panel"...
Page 37 2) The screen on the left is displayed, clicking the red circle part in this screen. ↓ 3) The screen on the left is displayed, clicking the red circle part in this screen. ↓ 1-37 1-37...
Page 38 4) The screen on the left is displayed, right-clicks on “Unknown device” is displayed on this screen. Select "Update Driver Software" of the menu that right-clicks on this item and is displayed. ↓ 5) The screen on the left is displayed, click lower "Browse my computer for driver software".
Page 39 6) The screen on the left is displayed, set "C:\Melsec\Easysocket \USBdrivers". If volume MELSOFT products have been installed, browse the installation destination "EasySocket\USBDrivers" first installed product. After setting, click the "Next" button. ↓ 7) The screen on the left is displayed, click "install".
Page 40: Crnq Communications Usb Driver For Got Transparent Function / Got Communitation Installation
1.5.5. CRnQ Communications USB driver for GOT transparent function / GOT communitation installation Connecting the CR750-Q/CRnQ-700 series robot controller with USB via GOT transparent mode (Bus, Direct coupled or Ethernet) and connecting the CR750-D/CRnD-700 series robot controller with USB via GOT communication requires installation of the USB driver for the GOT transparent function.
Page 41 4) The screen on the left appears to indicate completion of installation. Click the [Finish] button to terminate installation. ↓ (Completed) If the USB driver cannot be installed, click the following setting. If you have selected "Block-Never install unsigned driver software" after [Control Panel] - [System] - [Hardware] - [Driver Signing], the USB driver may not be installed.
Page 42: When Starting At The Same Time As Another Product
1.7. Upgrade of software It is possible to download the latest version from MITSUBISHI ELECTRIC FA site where information on MITSUBISHI ELECTRIC Corporation FA equipment product is offered. (It is only a Japanese site.) http://wwwf2.mitsubishielectric.co.jp/melfansweb/robot/index.html It is necessary to register to FA members for downloading the software.
Page 43: Rt Toolbox2 Usage
2. RT ToolBox2 Usage This explains the usage of this software simply. 2.1. Starting RT ToolBox2 When you install this software, a shortcut is prepared on the desktop. Start RT ToolBox2 by double clicking this short cut. Version 1.8 or earlier Version 2.00A or later Figure 2-1 RT ToolBox2 Shortcut From [Start] button ->...
Page 44: Explanation Of Rt Toolbox2 Screens
2.2. Explanation of RT ToolBox2 Screens The composition of the main RT ToolBox2 screen is as follows. (1) Title bar (2) Menu bar (4) Tool bar (7) Screens (5) Project tree The screen currently active is displayed on top. (4) ツールバー (7) Screens (6) Property window (8) Status bar...
Page 45 (2) Menu bar Displays the names of the menus that can be used in RT ToolBox2. When a menu is selected, a dropdown menu is displayed from which you can use various functions. The menu bar display contents and their enabled/disabled status depend on which screen is currently active.
Page 46 (5) Project tree Displays a list of all the projects registered in the workspace and by functions. From this tree, the program edit screen, monitor screen, etc. can be started. The project tree is a docking window. By dragging the title section with the mouse, you can dock the project tree at the top, bottom, left, or right edge of the main screen.
Page 47 (7) Screens Displays the screens that can be started from the project tree, including the program edit screen and monitor screen. The currently active screen is displayed on top. To close a screen, click the [ ] button in the upper-right corner of the screen. You can also change the screen size with the button in the upper-right of the screen.
Page 48: Communications Server 2
2.3. Communications Server 2 When you start RT ToolBox2, "Communications Server 2" is started up as an icon. This Communications Server 2 has functions for connecting with a robot controller or during a simulation, a virtual controller. Figure 2-5 Communications Server 2 as Icon Caution Do not close Communication Server 2 manually.
Page 49 Status Content Color Setting error RS-232 connection. This is not displayed in the case of TCP/IP connection Waiting Indicates the idling status displayed at the start of remote maintenance. Yellow (3) Communication State The contents of communication with the robot controller are displayed. (4) Robot This changes the robot controller for which the "Line status"...
Page 50: About Operation Panel
2.4. About Operation panel Danger With program running or debugging, the robot may operate at 100% speed. Watch out for the safety around the robot. Also, prepare a T/B at hand and use the robot in a status in which an emergency stop can be made at any time.
Page 51: How To Show Operating Panel For A Controller
This conducts jog operations for the simulation robot. When you click this button, the jog operation screen is displayed. Ver.3.40S or later, you can manipulate to the real robot controller. (7) D-EXEC You can execute any command without relationship to the robot program. (8) Driving speed You can select the robot driving speed “Normal”...
Page 52: Notes Of When Rt Toolbox2 Is Used With Iq Works (Melsoft Navigator)
3. Notes of when RT ToolBox2 is used with iQ Works (MELSOFT Navigator) There are some limitations when robot controller's workspace is made by using iQ Works(MELSOFT Navigator) or RT ToolBox2 is started from iQ Works(MELSOFT Navigator). Please refer to the following notes when you use iQ Works(MELSOFT Navigator).
Page 53: Notes Concerning Project Operation
3.3. Notes concerning Project operation It is not possible to delete,or and import a project. Notes 3-1： When RT ToolBox2 is started from iQ Works(MELSOFT Navigator), it is not possible to add a new project, import a project, or delete an existing project. [Add project] and [Import project] ( in the dropdown menu by selecting a workspace name) and [Delete project] ( in the dropdown menu by selecting a project name ) are display in the gray and cannot be selected.
Page 54: Notes To Edit The Workspace Created By Iq Works(Melsoft Navigator)
3.4. Notes to edit the workspace created by iQ Works(MELSOFT Navigator) change composition workspace created Notes 4-1： Works(MELSOFT Navigator). The composition (changing a workspace name, changing a title, adding a project, deleting a project or changing a project name) of the workspace made with iQ Works(MELSOFT Navigator) cannot be changed with RT ToolBox2 started from iQ Works(MELSOFT Navigator).
Page 55: Basic Functions
Basic Functions The basic functions of this software are shown below. Table 4-1 RT ToolBox2 Basic Functions Function Explanation Offline Targets files on the computer. Robot model Displays the model of the robot used. Program Displays the names of the robot programs written on the computer. SQ Direct Displays the SQ Direct files written on the computer.
Page 56 Function Explanation Password Setup The password to limit controller's right of access is registered, changed or deleted. (*3) File Manager You can copy, delete and rename the file in the robot controller. (*5) 2D Vision Run the 2D vision calibration.(*9) Calibration Option card You can check information on option cards mounted in the robot controller.
Page 57: Workspaces And Projects
5. Workspaces and Projects This explains about workspaces and projects. 5.1. Workspaces and Projects This software has workspaces and projects. The information for one controller is managed as one project. A workspace can manage up to 32 projects. If Ethernet is used for communications, you can simultaneously reference information on multiple projects (robot controllers) registered in the workspace.
Page 58 Workspace editing and storage and project addition etc. are explained from the next section on. Caution Update workspaces and projects offline. In the online status or while a simulation is running, you can not perform the following operations. Switch offline, then perform the operations. ・...
Page 59: Creating A New Workspace
5.2. Creating a New Workspace Click [Workspace] -> [New Workspace］ or click (Ctrl + N). Creating a New Workspace screen is displayed. Input the workspace name and title, and then click the [OK] button. The project edit screen is displayed, so set the project name (arbitrary name), the communication method and the robot model for offline (both are the information of the robot that you want to connect.), then click the [OK] button.
Page 60 Caution Workspace names Workspace names are used as folder names in Windows, so you cannot use characters that cannot be used in Windows folders names ( \ / : * ? “ < > | ). Once a workspace has been created, you cannot change its name with version 1.7 or earlier of this software.
Page 61: Opening An Existing Workspace
5.3. Opening an Existing Workspace To open an already existing workspace, click [Workspace] -> [Open] or click (Ctrl + O). After selecting the workspace to edit, click the [OK] button. Figure 5-4 Opening a Workspace The names of the last up to four workspaces used are added to [Workspace] on the menu bar. You can open one of these workspaces by clicking its name here.
Page 62: Deleting A Workspace
5.5. Deleting a Workspace Click [Workspace] -> [Delete]. The "Delete Workspace" screen is displayed, so check the name of the workspace to delete, and then click the [OK] button. Figure 5-6 Deleting a Workspace Caution Deleting a workspace To delete a workspace, close that workspace. You can not delete a workspace that is being edited.
Page 63: Changing A Workspace
5.7. Changing a Workspace It is possible to change directly the workspace with version 1.8 or later of this software. When you use the software Version 3.20W or later, you can change the robot model of 3D monitor to the simple model.
Page 64 Figure 5-9 Changing the title of the workspace (version 1.7 or earlier) 5-64 5-64...
Page 65: Adding A Project
5.8. Adding a Project You can create up to 32 projects in one workspace. Click [Workspace] -> [Add Project]. Figure 5-10 Adding a Project After setting the project name, information on the robot connected, and the communication method, then click the [OK] button.
Page 66: Changing A Project Name
5.9. Changing a Project Name You can change the name of a project even after it has been created. Click the name of the project with the right button on the mouse, then click "Edit Project" on the right button menu.
Page 67: Deleting A Project
5.10. Deleting a Project A project can not be deleted when it is running a simulation or has a robot connected online. Click the name of the project with the right button on the mouse, then click "Delete Project" on the right button menu.
Page 68: Contents Of Project Tree
5.11. Contents of Project Tree A project tree shows the current workspace's project configuration in a hierarchical manner. You can start all functions from the project tree, including program editing, monitor, etc. The contents of the project tree depend on the state of connection with the robot controller. Items are displayed for each project.
Page 69: Copying Programs Between Projects
Memo It is possible to change the order of the display of the project in the tree. It is possible to change the order of the display of the project in the tree with version 1.3 or later. Drag the project with the mouse, and drop it to the transportation destination. The project is moved to the upper part of the dropped project.
Page 70: Import Of Project
5.13. Import of project It is possible that the project in other workspace is imported to the current workspace. Note that this function can be used with Version 1.2 or later of this software. The project can be imported only at offline. Please operate after change to offline when current mode is online or simulation.
Page 71 Check the project. Figure 5-15 Import of project The maximum number of the projects in one workspace is 32. 5-71 5-71...
Page 72: Offline/Online/Simulation
5.14. Offline/Online/Simulation The project status are offline, online, and simulation. The meaning of each status and the contents displayed in the project tree are shown below. Table 5-1 RT ToolBox2 Status Status Explanation Project tree display Offline Targets files stored on the computer. When a robot is offline, the icon displayed on the left of the project name on the project tree turns green and Offline and Backup are displayed on the project tree.
Page 73 Table 5-2 Current Status and Switchable Status Current status Switchable status Menu bar [Online] display Tool bar display Offline Can be switched to online or simulation. Online Can only be switched to offline. Simulation Can only be switched to offline. The current status is displayed checked at [Online] on the menu bar.
Page 74: Connecting With The Robot
6. Connecting with the Robot This explains the method for connecting the robot controller and the computer. With this software, you must make the communication settings for each project. Caution Please do not pull out the cable while communicating. Please never pull out the cable while communicating with the robot controller. If the communication cable is removed while communicating, the status of the robot controller or the computer might become abnormal.
Page 75 see " Detailed explanations of functions and operations" and "Standard Specifications" in the user's manual for the robot controller. Moreover, please use the “GX Developer” to set the communication setting of PLC. (*3) For details on Ethernet connections on the robot controller side for CRn-500 series controllers, see the "Ethernet Interface Option User's Manual".
Page 76: Connection Settings
6.2. Connection Settings Click the name of the project to display the project tree for with the right button of the mouse, then from the right button menu, click [Edit Project]. The project edit screen is displayed. Figure 6-1 Connection Settings Select the controller to connect to and the communications method, then click the "Detailed Settings"...
Page 77: Usb Communication Settings
6.2.1. USB Communication Settings Figure 6-2 USB Communication Settings Table 6-2 TCP/IPCommunication Setting Items and Default values Default value Item Explanation Ver.1.1 Ver.1.2 or earlier or later Send timeout Timeout time for sending Range that can be set (*1) 3000 msec 5000 msec Minimum value : 1000 msec...
Page 78: Tcp/Ip (Ethernet) Communication Settings
6.2.2. TCP/IP (Ethernet) Communication Settings Input the IP address assigned to the robot controller connected to, then click the [OK] button. Figure 6-3 TCP/IP Communication Settings Table 6-3 TCP/IP Communication Setting Items and Default Values Default value Item Explanation Ver.1.1 Ver.1.2 or earlier or later...
Page 79 Caution Caution for connecting with robot controller by Ethernet. In the program edit function, please change “Receive timeout” and “Retries” of TCP/IP communication setting when it corresponds to all of the following use conditions, and the program is written to robot controller. <<...
Page 80: Communication Settings
6.2.3. RS-232 Communication Settings Change the RS-232 communication settings to match the robot controller side communications settings. Figure 6-4 RS-232 Communication Settings Table 6-4 RS-232 Communication Setting Items and Default Values Item Explanation Default value Port used COM1 – COM10 can be selected. COM1 Communications Select from 4800, 9600, and 19200.
Page 81: Got Communications Settings
6.2.4. GOT Communications Settings The GOT Communications is the method to connect with the CR750-D/CRnD-700 series controller by using the RS-232 / USB on the GOT which is connected with the controller via Ethernet. GOT Communication can be used with this software Ver.1.5 or later. Table 6-5 GOT Communication Setting Items and Default Values Item Explanation...
Page 82: Crnq Communications Settings
6.2.5. CRnQ Communications Settings The CRnQ communication is the method to connect with the CR750-Q/CRnQ-700 series controller by using the PLC Universal model QCPU module or the PLC Ethernet Interface module. When using RS-232 or USB, please connect to connector of the PLC Universal model QCPU module. When using Ethernet, please connect to connector of the PLC Ethernet Interface module or Built-in Ethernet port QCPU.
Page 83 6.2.5.1. When RS-232 is selected When "RS-232" is selected as the computer interface, the communications routes that can be selected are as follows. Table 6-6 Communications Routes That Can Be Selected for "RS-232" Communications routes Serial communications CPU unit connection Serial communications Serial communications other station access through CPU unit Serial communication NET/-0(H) other station access through CPU unit Serial communication CC-Link other station access through CPU unit...
Page 84 Only Version 1.7 or later. Figure 6-6 RS-232 (Serial Communication NET/10(H), CC IE through CPU Unit – CCLink Other Station Access) Detailed Settings For some communications routes that you can select, "(5)Network communication route setting of MNET/10" and "(6)Coexistence network route setting of C24" can not be set. GOT(Ethernet) transparent mode can be used with Version 1.7 or later of software.
Page 85 6.2.5.2. When USB is selected When "USB" is selected as the computer interface, the communications routes that you can select are the same as for RS-232. See "Table 6-6 Communications Routes That Can Be Selected for "RS-232"". Only Version 1.7 or later. Figure 6-7 USB (Serial Communication NET/10(H), CC IE through CPU Unit –...
Page 86 6.2.5.3. When NET/10(H), CC IE is selected In this software version 2.20W or later, it is possible to communicate using "CC-Link IE controller network port" or "CC-Link IE field network port" newly established in QnCPU. When "NET/10, CC IE" is selected as the computer interface, the communications routes that you can select are as follows.
Page 87 6.2.5.4. When CC-Link is selected When "CC-Link" is selected as the computer interface, the communications routes that you can select are as follows. Table 6-8 Communications Routes That Can Be Selected for "CC-Link" Communications Route CC-Link board communication Other station access through CC-link unit CC-Link board communication CC-Link through CC-link unit –...
Page 88 6.2.5.5. When Ethernet is selected When "Ethernet" is selected as the computer interface, the communications routes that you can select are as follows. Table 6-9 Communications Routes That Can Be Selected for "Ethernet" Communications Route Special mention Ethernet board communication Access other station via Ethernet module Ethernet board communication Access Ethernet-serial communication other station via Ethernet module Ethernet board communication Access Ethernet-CC-Link other station via...
Page 89 6.2.5.6. When Q series bus is selected When the "Q series bus" is selected as the computer interface, the communication route that can be selected is as follows. Table 6-10 Communication Route That Can Be Selected with the "Q Series Bus" Communications Route Q bus communications CPU unit connection Figure 6-11 Q Series Bus (Q Bus Communications CPU Unit Connection) Detailed Settings...
Page 90: Travel Base Setting For Display
6.2.6. Travel base setting for display Set the traveling axis for display. You can set J7 and J8 axes to the traveling axis. Figure 6-12 Travel base setting for display 6.2.6.1. Travel base setting Click the [Detail] button, Travel axis setting dialog is displayed. Figure 6-13 Travel axis setting dialog Select the [Use travel axis] checkbox, you can set Travel Joint, Travel direction, Movement limit and Travel base information.
Page 91 Travel direction: Travel direction: X +direction X -direction Travel direction: Travel direction: Y +direction Y -direction Travel direction: Travel direction: Z +direction Z -direction Figure 6-14 Travel direction (When setting the J8 axis to the traveling axis) 6-91 6-91...
Page 92 6.2.6.2. Robot additional axis parameter setting Select the [Set the additional axis parameter of the simulation automatically by the content of the above setting] checkbox, the setting content of the traveling axis is applied to robot additional axis parameters of the simulation.
Page 93: Robot Program Language Setting
7. Robot Program Language Setting This switches the robot program language used. The languages you can switch to are as follows. Table 7-1 Robot Program Languages for Each Controller Robot program language Robot controller Movemaster MELFA-BASIC V MELFA-BASIC IV command ○...
Page 94: Writing Programs
8. Writing Programs This chapter explains robot program editing methods. You can directly edit programs in the robot controller or edit programs stored on the computer. Caution Program names that can not be handled on the computer If a program name in the robot controller is the same as a "reserved term" in Windows, when you try to open that program for program editing, this causes an error.
Page 95: Writing A New Program
8.1. Writing a New Program 8.1.1. Writing a new program on the computer For the new program you are going to write, select [Offline] -> [Program], then click the right mouse button. The right button menu is displayed, so click [New]. Figure 8-1 Writing a New Program on the Computer Input the robot program name, then click the [OK] button.
Page 96: Writing A New Program In The Robot Controller
8.1.2. Writing a new program in the robot controller For the new program you are going to write, select [Online] -> [Program], then click the right mouse button. The right button menu is displayed, so click [New]. Figure 8-2 Writing a New Program in a Robot Controller Input the robot program name, then click the [OK] button.
Page 97: Opening An Existing Program
8.2. Opening an Existing Program 8.2.1. Opening an existing program on the computer Open the target project in the project tree with [Offline] -> [Program]. The stored programs are displayed on the project tree, so double click the program you want to edit. Figure 8-4 Opening a Program on the Computer 8.2.2.
Page 98: Read Items When Opening Program In Robot Controller
8.2.3. Read Items when opening program in robot controller You can set the robot program read items divided into command lines, position variables, and program external position variables. This function is displayed after H1 edition on CRn-500 series controller. The default values of read items are as follows. Figure 8-6 Read Items The program external position variable read operations are shown in "Table 8-1 ".
Page 99: Opening A Program In The Backup Data
8.2.4. Opening a program in the backup data Program data backed up on the personal computer by the backup function can be opened by the program edit. Note that this function can be used with Version 1.2 or later of this software. Open the target project in the project tree with [Backup].
Page 100: Explanation Of Program Edit Screen
8.3. Explanation of Program Edit screen This explains the program edit screen. Command edit screen Moves up and down. Position variable edit screen Figure 8-8 Explanation of Program Edit screen The top part of the screen is the program command statement edit screen and the bottom part is the position variable edit screen.
Page 101: Program Editing Menu Bar
8.4. Program Editing Menu Bar During program editing "File", "Edit", "Debug", and "Tool" are added to the menu bar. Figure 8-9 Program Editing Menu Bar The menus are as follows. Menu item Explanation Menu item File Save Saves the program being edited with 8.7.1 its current name.
Page 102 Menu item Explanation Menu item Edit Command Edit the command lines for a 8.9.3 line - Online program pened in debugging status. Insert Command Insert the command lines for a line - Online program opened in debugging status. Delete Delete the command lines for a 8.9.3 Command line - program opened in debugging...
Page 103: Customizing The Program Edit Screen
8.5. Customizing the Program Edit Screen You can customize the program edit screen. With the program opened, on the menu bar, click [Tool] -> [Option] and set the program edit screen as you want with the displayed option screen. Clicking the [Restore Defaults] button restores the default settings. The "Save and Read of the program"...
Page 104: Command Format Hints
8.5.2. Command format hints You can use pop-up hint display to display the format for the robot program command, system functions, and system status variables displayed in the command edit area. Figure 8-12 Command Edit Area Command Format Hint Display Settings 8.5.3.
Page 105: Changing The Font
8.5.4. Changing the font You can change the font displayed in the command edit area. Click the option screen font [Change] button. The font setting screen is displayed, so after setting the font name, style, and size, click the [OK] button. Figure 8-14 Command Edit Area Font Setting 8.5.5.
Page 106: Get Current Position
8.5.6. Get current position When adding a position variable, the current position can be got in automatically if connected to the robot. This function can be used with version 1.6 or later of software. Figure 8-16Setting the get current position. 8.5.7.
Page 107 Caution Please note that it becomes easy to make a mistake in off-line and online, etc. if the same color is used by the background color. 8-107 8-107...
Page 108: Program Editing
8.6. Program Editing This chapter explains the methods for editing MELFA-BASIC V programs. For RT ToolBox2 command statement editing, you can input in the same way as with a general editor like a notebook. There is no need to input the [Enter] key for each line as was the case with RT ToolBox. 8.6.1.
Page 109: Melfa-Basic Iv And Movemaster Command Command Statement Editing
8.6.2. MELFA-BASIC IV and Movemaster command command statement editing When writing a program using MELFA-BASIC IV or Movemaster commands, step numbers like those of MELFA-BASIC V are not displayed. Input the line number at the front of the command statement. Figure 8-20 MELFA-BASIC IV Command Edit screen Caution For MELFA-BASIC IV and Movemaster commands, input line numbers.
Page 110: Position Variable Editing
8.6.3. Position variable editing Position variables are edited on the position edit screen. The upper list is a list of XYZ coordinate variables and the lower list is a list of joint coordinate variables. XYZ position variables Joint position variables Figure 8-23 Position Variable Edit Screen Array variables are displayed developed in their own lists.
Page 111 8.6.3.1. Adding/changing position variables To add a position variable, click the [Add] button. The position variable adding screen is displayed. At this time, if position data is selected in the list, the contents of that position data (XYZ/joint, position information) are displayed.
Page 112: Edit Assist Functions
8.6.3.2. Deleting position variables After selecting the target position variable, click the [Delete] button. The selected position variable is deleted. You can also delete multiple position variables at the same time. You can select multiple position variables by clicking position variables while holding down the [Ctrl] key or the [Shift] key on the keyboard. However, you cannot select XYZ position variables and joint position variables at the same time.
Page 113 8.6.4.5. Pasting position data This pastes the copied position data. Make active the program you want to paste into, then click on the menu bar [Edit] -> [Paste – Position data]. The copied position data is inserted into the specified program. At this time, if there is already position data with the same name in that program, a confirmation message is displayed.
Page 114 8.6.4.7. Find in Files This searches for the specified character string in the "Online" or "Offline" program files registered in the current project. Click on the menu bar [Edit] -> [Find in Files]. The find in files screen is displayed. You can also display this screen by clicking the program management [Find in Files] button.
Page 115 8.6.4.8. Replace This replaces the specified character string with another character string. Click on the menu bar [Edit] -> [Replace]. The Replace Screen is displayed. Figure 8-31 Replace Screen [Find Next] Searches for the next instance of the character string to be replaced. [Replace] Replaces the found character string.
Page 116 8.6.4.10. Partial writing Writes the selected program lines to the robot controller. This is handy for reflecting the contents of the partially revised program in the robot controller, but be careful. Only the selected part of the program is written. Select the lines to be written to the robot controller, then click on the menu bar [Edit] ->...
Page 117 8.6.4.12. Syntax check You can check whether or not the edited robot program is syntactically correct. Execute this before writing the program to the robot controller. Click on the menu bar [Tool] -> [Check Syntax]. If there is a syntax error, the error location and details are displayed.
Page 118 8.6.4.13. Command template You can display a list of the commands and make insertions on the program command edit screen. Click on the menu bar [Tool] -> [Command Template]. Figure 8-36 Command Template When you select the template for the selected command from the list, then either click the [Insert Template] button or double click, the command is inserted onto the program command edit screen.
Page 119 8.6.4.15. Renumbering The renumbering function can only be used with MELFA-BASIC IV and Movemaster commands. You can renumber line numbers in a batch. You can specify the range for renumbering. With the setting dialog, you can specify the start and end lines numbers, the new starting line number, and the line number interval.
Page 120 8.6.4.17. Comment Selection/Uncomment Selection The selected lines are exchanged as a comment by the batch. Or the comments in the selected lines are removed comment by the batch. This function can be used in Ver. 1.2 or later. In command edit screen, after selecting the lines you want to change into the comment, click [Edit]->[Comment Selection] on menu bar.
Page 121 8.6.4.18. Removing comments from all lines in the program It is possible to remove comments from all lines in the program. This function can be used with the software Ver.1.4 or later. Open the program that removes all the comments, and click [Edit]->[Remove comments from all lines] in the menu bar.
Page 122: Saving Programs
8.7. Saving Programs Always save the edited program. There are three methods for saving: saving, saving to computer, saving to robot controller. Caution Do not write a program to the controller with duplicate step numbers. Even programs with duplicate step numbers or that are still being edited and are not yet syntactically correct can be saved on the computer.
Page 123: Saving On Computer
8.7.2. Saving on computer Saves the program being edited to the computer. At this time, you can set a new program name. Click on the menu bar [File] -> [Save to PC]. Figure 8-44 Saving on Computer Input the robot program name, and then click the [OK] button. Caution Folder in which programs are stored Programs on the computer are managed in units of workspace projects.
Page 124: Saving In Robot Controller
8.7.3. Saving in robot controller Saves the program being edited to the robot controller with a new name. At time, you can set a new program name. Click on the menu bar [File] -> [Save in Robot]. The "Save Items" setting screen is displayed, so set the save items, then click the [OK] button.
Page 125: Items Written When Saving In Robot
8.7.4. Items written when saving in robot When saving a robot program in a robot controller, write items can be set by categorizing them into instructions, position variables and program external position variables. This function is displayed on CRn-500 series robot controllers from the H1 edition on. This save item default values for when you have read a robot controller program are the same as the "Read Items"...
Page 126 Caution Timing from which program external position variables is written. Timing from which the program external position variable is possible to back up comes to be going to turn on the power supply next time. Please turn on controller's power supply again when you use the program external position variable written in the controller.
Page 127: Setting The Syntax Check For Before Program Saving
8.7.5. Setting the syntax check for before program saving You can set whether or not to have the syntax checked when you save a program and whether or not to display a message when there are no syntax errors. With the program opened, on the menu bar, click [Tool] -> [Option] and set with the option screen. The default setting is automatic syntax checks with no message displayed if there is no syntax error.
Page 128: Program Printing
8.8. Program Printing You can print programs you have written. 8.8.1. Checking a print image You can display a print image of the program on the screen. Make active the program you want to print, then click on the menu bar [Workspace] -> [Print Preview]. The print image for currently active program is displayed.
Page 129: Program Debugging
8.9. Program Debugging You can debug robot programs you have written. Caution Debugging is for programs on a controller or on a virtual controller with a simulation running. When debugging, use a program on a controller or on a virtual controller with a simulation running. You can not debug a program stored on a computer.
Page 130: Executing Programs Step By Step
8.9.2. Executing programs step by step Danger With program debugging, the robot may operate at 100% speed. Watch out for the safety around the robot. Also, prepare a T/B at hand and use the robot in a status in which an emergency stop can be made at any time.
Page 131 (3) Delete command line You can delete the specified command line. Click the line at the line with the command statement to be deleted with the mouse, then click on the menu bar [Edit] -> [Delete Command line (Online)]. The confirmation screen for the command line deletion is displayed.
Page 132: Setting And Deleting Breakpoints
(4) Edit position variables For details on the method for editing the position variable, "8.6.3 Position variable editing". Caution Be careful when changing the value of a variable. When you change the value of a variable, the operation target position of the robot may change and result in a collision.
Page 133: Position Jump
3) " " is displayed at the left end of command lines at which breakpoints are set. Figure 8-54 Display of Lines with Breakpoints Set (2) Delete a Breakpoint To delete a breakpoint, click the command line with the breakpoint to be deleted with the mouse. And then click on the menu bar [Debug] ->...
Page 134: Ending Debugging
8.9.6. Ending debugging To end debugging, close the program with the " " button at the upper-right of the edit screen for the program opened in debugging status. This closes the program opened in debugging status. Figure 8-57 Closing a Program Opened in Debug Status At this time, if the program has been changed, a confirmation message is displayed asking if you want to save the changed contents.
Page 135: Set / Release Reading Protection
8.10. Set / Release reading protection If you set the reading protection to the robot program, you can make sure the third person can’t read it easily. This function can be used with Version R5n/S5n or later of the controller software, Version 3.40S or later of this software.
Page 136: Program Management
8.11. Program Management You can copy, move, delete, compare the contents of, rename, and set protection for robot programs. From the project tree, select the target project program, then click the right mouse button. The right button menu is displayed, so select [Manage Programs]. The manage programs screen is displayed.
Page 137: Program List Display
8.11.1. Program list display On the left and right lists, the lists are programs of the displayed in the robot controller and the specified folder. (1) Project You can specify projects in the workspace. (2) Robot You can specify a robot controller that is currently connected. (3) […] button When you select [Project], you can specify any folder on the computer.
Page 138: Copy
8.11.2. 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.
Page 139: Move
With this software Version 1.3 or later, it is possible to copy by drag and drop the project name on the project tree. Drag and drop Figure 8-64 Copying the program by drag and drop in the project tree(Version 1.3 or later) Caution An operation possible by drag and drop is only a copy of the program.
Page 140: Delete
8.11.4. Delete The program files can be deleted. Select the names of the programs to be deleted from the lists. The multiple programs can be selected at the same time. The programs can be selected at the both lists. Delete is executed when the [Delete] button is clicked on.
Page 141: Rename
8.11.5. 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.
Page 142: Comparison
Figure 8-69 Register a reading password Dialog Figure 8-70 The reading password delete Dialog 8.11.7. 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 [Setting for compare] dialog is set.
Page 143 Caution After this software Ver.1.5, the comparison methods of the position variable are changed. Comparing the program before this software Ver.1.4, It was judged to be different in the notation of the value of each ingredient of the position variable that I showed below with different position variables.
Page 144: Program Conversion
8.12. Program Conversion You can convert existing robot programs written in a different program language into the currently set program language. Table 8-4 Combination list of program conversion Source Target Content The position data is converted. MELFA-BASIC III MELFA-BASIC IV If “MELFA-BASIC V”...
Page 145: Line Number Conversion (From Melfa-Basic Iv To Melfa-Basic V)
8.12.2. Line number conversion (from MELFA-BASIC IV to MELFA-BASIC V) Convert the lines No. and relevant command line, because the deal of line No. in MELFA-BASIC IV is different from MELFA-BASIC V. For the MELFA-BASIC V, convert as follows. - The line No. is converted to the step No. (sequential No. which starts from 1). 100 MOV P1 1 MOV P1 110 MVS P2...
Page 146 (2) Select the file as source. Click the [Select] button of the source, and select the file of MELFA-BASIC IV program. Input the name of the file to save the converted program into. (3) After designating the conversion source file and the conversion destination file, click the [Convert] button or the [Convert &...
Page 147: Position Data Conversion (From E/En/M1/M2 Series To Cr750/700/500 Series)
8.12.3. Position data conversion (from E/EN/M1/M2 series to CR750/700/500 series) This function converts the format of position data and relevant command (DJ, MP and PD command of MOVEMASTER command), because the configuration of the E/EN/M1/M2 series controller’s position data is different from the CR750/700/500 series controller’s.
Page 148 Convert the program according to the following procedure. Figure 8-74 Conversion from MELFA-BASIC III to MELFA-BASIC IV (1) Select the program language of the source and target for conversion. Start program conversion with a project set for "MELFA-BASIC V" or "MELFA-BASIC IV". For the source, choose “MELFA-BASIC III”...
Page 149: Position Data Editing For Sq Direct
9. Position data editing for SQ Direct SQ Direct(PLC Direct Function) can be used with Version 1.5 or later of this software. This function can be used with software version P8 or later of CR750-Q/CRnQ-700 series controller. To use this function, you must set the parameter of controller. Available position data for SQ Direct is only 999 points of XYZ-origin whose position number is 1 to 999.
Page 150: Diffence From Program Editting
9.1. Diffence from program editting 9.1.1. Add/Edit position data When you want to add positiondata, please click [Add] button. Position data editing screen is displayed. When position number is selected, those data are displayed. When "Get current position automatically" of the option screen is checked and connected to the robot, the current position of the robot is displayed with version 1.6 or later of software.
Page 151: Online Editing
9.2. Online editing When you connect to controller suppoeted SQ Direct, [SQ Direct] menu is added to [Online] menu in project-tree. When you doubleclick [Online] - [SQ Direct] in the target project, SQ Direct screen is displayed with position data 1 to 999 loaded. Figure 9-3 position edit screen for SQ Direct (Online) Caution Timing from which position data is written.
Page 152: Offline Editing
9.3. Offline editing You can edit SQ Direct position data in offline. Set [R/C-Type] to [CRnQ-7xx/CR75x-Q] and set [Language] to [MELFA-BASIC V] in [Edit Project], then [SQ Direct] menu is added to [Offline] menu in project-tree. You can manage plural SQ Direct files in offline editing. 9.3.1.
Page 153: Program Management
9.4. Program management You can copy, delete, compare and rename SQ Direct file. After selecting target program in project-tree, and click right button with the mouse. Then right button menu is displayed, and click [Program Manager]. Then the program manager screen is displayed. Figure 9-5 Launch program manager Caution As the edit operation is similar to the program management, the following page explains only different...
Page 154: List Of Sq Direct Files Indication
9.4.1. List of SQ Direct files indication When you can use SQ Direct, there are some differents in program management screen. 1. SQ Direct files in the project are displayed with [sdp] extention. 2. SQ Direct file in the robot file is displayed as [*SQ Direct]. 3.
Page 155 Restrictions SQ Direct files in the personal computer can treat as robot program files similarly, But there are some restrictions. There are some limitations to operate SQ Direct Files. SQ Direct file name is fixed as [*SQ Direct] in the controller. In theproject, file name can set freely.
Page 156: Creating The Spline Files
10. Creating the spline files The methods for creating the spline files for use in the spline interpolation function are explained below. This function can be used with version 3.10L or later this software. For details, refer to the instruction manual “Detailed explanations of functions and operations 7.6 Spline interpolation”.
Page 157: Open File
10.2. Open file 10.2.1. Opening a spline file saved on the computer Select [Offline] -> [Spline] for the target project and expand it. The saved spline files will appear in the project tree, so double-click the spline file to be edited. Figure 10-3 Opening a spline file saved on the computer 10.2.2.
Page 158: Save File
Figure 10-5 Selecting and opening a spline file from the list 10.3. Save file 10.3.1. Save Click menu [File] -> [Save], the edited details will be saved in the spline file. When a new spline file is created, the Save spline file screen will open. 10.3.2.
Page 159: Setting Parameters
11. Setting Parameters You can reference and rewrite parameter information set in a robot controller. You can set parameters with the method of specifying parameter names and setting them or with the method of making the settings arranged by function. Caution When the password is registered in "parameter"...
Page 160: Editing From Parameter List
11.1. Editing from parameter list You can reference and rewrite individual items of parameter information set in a robot controller by specifying the name of the parameter. 11.1.1. Starting This is used in the state with the robot controller connected. From the project tree, double-click [Online] ->...
Page 161 Memo What is the parameter list? The parameter list is a list of parameter information comprised of parameter names, explanatory text, etc. displayed on the parameter list screen. This parameter list can be downloaded from the controller. The version of the parameter list may vary with the version of the software on the controller.
Page 162: Parameter Editing
11.1.2. Parameter editing Double-click a parameter displayed in the list or input its name, then click the [Read] button. The specified parameter information in the robot controller is displayed. Figure 11-4 Parameter Editing After you change a parameter, you can rewrite the specified parameter information in the robot controller by clicking the "Write"...
Page 163: Edit Of Parameter Changed From Initial Value
11.1.3. Edit of parameter changed from initial value It is possible to confirm the changed parameter by displaying the list of parameter changed from an initial value. This function has the limitation in this software version and the software version of the connected controller.
Page 164: Parameter List Reading
11.1.4. Parameter list reading If no parameter name is displayed on the parameter list screen, you can read the parameter list. Click the parameter list [Read] button in the upper-right of the parameter list screen. The parameter list select screen is displayed. Figure 11-6 Parameter List Reading Select the source to read from ("Read from RC"...
Page 165: Robot Controller Operation Modes For Parameter Writing
11.2. Robot Controller Operation Modes for Parameter Writing With CRn-500 series robot controllers, when you write parameters to the robot controller, controller software version may place restrictions on the operating mode in which you can write. For details, see below. However, parameters cannot be written while any program with any startup condition other than Always has been started.
Page 166: Movement Parameters
11.3. Movement Parameters 11.3.1. Motion limit parameter Set the operating range of the robot Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Motion limit]. After you change the parameter value, you can rewrite the operating range parameter in the robot controller by clicking the [Write] button.
Page 167: Jog Parameter
11.3.2. Jog parameter Set the speeds for joint jogging and orthogonal jogging. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Jog]. After you change the parameter value, you can rewrite the jog parameter in the robot controller by clicking the [Write] button.
Page 168: Parameters Of The Hand
11.3.3. Parameters of the Hand Set the parameters about the Hand of the robot. 11.3.3.1. 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. Set parameters while connected to the robot controller.
Page 169 Hand macro function You can specify the macro name of UMACA – UMACZ to HANDTYPE parameters, by providing a subroutine L_UMACA – L_UMACZ the appropriate user base program (PRGUSR parameter), you run the hand macro open and close operation from TB. 1.
Page 170: Weight And Size Parameter
11.3.4. Weight and size parameter You can set the conditions for the hand mounted on the robot and the conditions for the work the robot grasps. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Weight and size].
Page 171: Tool Parameter
11.3.5. Tool parameter Set the standard tool coordinates and standard base coordinates. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Tool]. After you change the parameter value, you can rewrite the tool parameters in the robot controller by clicking the [Write] button.
Page 172: User-Defined Area Parameter
11.3.6. User-defined area parameter You can specify the region (cuboid) defined with two points in the robot XYZ coordinates and set the behavior for when the robot enters this region. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Movement parameter] -> [User-defined area].
Page 173: Free Plane Limit Parameter
11.3.7. Free plane limit parameter You can set the overrun limit for using the robot on a free plane. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Free Plane Limit].
Page 174: Robot Additional Axis Parameter
11.3.9. Robot additional axis parameter You can set information related to addition axes of robots. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Robot additional axis]. After you change the parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 175: Collision Detection Parameter
11.3.10. Collision detection parameter You can set information related to the robot's collision detection functions. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Collision detection]. After you change the parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 176: Warm-Up Operation Parameter
11.3.11. Warm-up operation parameter You can set information related to the robot's warm-up function. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Warm-up]. After you change the parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 177: Movement Parameter
11.3.12. Movement parameter You can set information related to the optimum acceleration/deceleration for robot operation and set compliance errors. The information that can be set concerning movement parameters depends on the robot controller connected. Table 11-3 The controller which you can set information related to optimum acceleration/deceleration for robot operation and set compliance errors CR750/700 series CRn-500 series...
Page 178: Work Coordinate Paramater
11.3.13. Work coordinate paramater Work coordinate parameters define the coordinate system for the work jog.8 work coordinates can define. This function can be used with Version 1.5 or later of this software. Table 11-4 The controller that can use the work jog Robot controller Software version of robot controller CR750-D/CRnD-700...
Page 179: Parameters Of Force Control
11.3.14. Parameters of Force control You can set parameters of force control in PC and robot controllers. The force control function can be used with Version 2.10L or later of this software. For details of these parameters, refer to the user’s manual of the force control function. 11.3.14.1.
Page 180 11.3.14.2. Force control mode parameter From the project tree, double-click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Force control] -> [Force control mode]. Set the parameters, [Coordinate system], [Control mode of axes], [Stiffness coefficients], and [Dumping coefficients] which are used by the control mode of force control function. Figure 11-25 Force control mode parameter You can reference explanations of displayed parameters by pressing the [Explain] button.
Page 181 11.3.14.3. Force control characteristics parameter From the project tree, double-click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Force control] -> [Force control characteristics]. Set the parameters, [Force gain], [Force cmd.], and [Force detection] which are used by the control characteristics of force control function.
Page 182 Figure 11-27 Force control characteristics parameter (version 2.20W or later) You can reference explanations of displayed parameters by pressing the [Explain] button. After you change the parameter values, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 183 11.3.14.4. Force log parameter From the project tree, double-click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Force control] -> [Force log setting]. Set the parameters, [Configuration] and [FTP setting] which are used by the force control function. Figure 11-28 Force log parameter You can reference explanations of displayed parameters by pressing the [Explain] button.
Page 184: Parameters Of Collision Avoidance
11.3.15. Parameters of Collision avoidance You can set parameters of collision avoidance in PC and robot controllers. For details of these parameters, refer to the robot controller's operations manual, see "Detailed explanations of functions and operations". 11.3.15.1. Collision avoidance function parameter From the project tree, double-click the target project [Online] ->...
Page 185 11.3.15.2. Collision avoidance area parameter From the project tree, double-click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Collision avoidance] -> [Collision avoidance area]. You can set information related to the Collision avoidance area. This function can be used with Version 2.40S or later of this software. Functions about free plane limit can be used with Version 3.40S or later of this software.
Page 186 After you change the parameter values, you can rewrite the parameter in the robot controller by clicking the [Write] button. The perspective of 3D model<d.> can be changed as follows. Table 11-8 3D Model Perspective Change Operations Viewpoint of changing Mouse operations on the graphic While clicking the left button, move left/right →...
Page 187: Parameters Of Safety
11.3.16. Parameters of Safety You can set parameters of Robot Safety Option in the robot controllers. For details of these parameters, refer to the "Robot Safety Option manual" (BFP-A3372). From the project tree, double-click the target project [Online] -> [Parameter] -> [Movement parameter] -> [Safety].
Page 188 11.3.16.2. Position mon. (Plane) You can set the planes of SLP function. SLP function monitors that “monitoring area” of robot does not over the “Safety Limited Plane” defined by the user in advance. Figure 11-32 Safety parameter (Position mon. (Plane)) If you check [Display planes], the planes of Position monitoring is shown in the 3D display.
Page 189 If you check [Display monitoring positions], the spheres of Position monitoring is shown in the 3D display. You can check the size of the sphere and relationship between the sphere and the robot. This 3D display doesn't work with the 3D monitor. You can adjust the posture of the robot in the 3D display and the robot of connecting by clicking [Current pos.] button.
Page 190 11.3.16.5. Torque width mon. You can set the “Safety Limited Torque” of STR function. STR function monitors the difference of “Torque FB” and “Estimated torque” does not exceed “Safety Limited Torque”. Figure 11-36 Safety parameter (Torque width mon.) You can reference explanations of displayed parameters by clicking the [Explain] button. After you change the parameter values, you can rewrite the parameter in the robot controller by clicking the [Write] button.
Page 191: Program Parameters
11.4. Program Parameters 11.4.1. Slot table parameter Slot tables set the operating conditions of each task slot during multi-task operation. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Program parameter] -> [Slot Table].
Page 192: Program Language Parameter
11.4.2. Program language parameter You can set the robot program language used in a robot controller (MELFA-BASIC V/MELFA-BASIC IV/Movemaster commands). From the project tree, double click the target project [Online] -> [Parameter] -> [Program parameter] -> [Program language]. After you change the parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 193: User Error Parameter
11.4.4. User error parameter You can set the message, cause, and recovery method for user errors set with a program. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Program parameter] -> [User error].
Page 194: Signal Parameters
11.5. Signal Parameters 11.5.1. Output signal reset pattern parameter These parameters set the operation when resetting the general-purpose output signals such as the CLR instruction and dedicated input (OUTRESET). Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Signal parameter] -> [Output signal reset pattern].
Page 195: Assigning Dedicated Input/Output Signals
11.5.2. Assigning Dedicated Input/Output Signals Assign signal numbers to functions in order to perform the remote operations to execute and stop robot programs, and display/operate the execution progress information and servo power supply status, etc. Set parameters while connected to the robot controller. 11.5.2.1.
Page 196 11.5.2.3. Data parameter From the project tree, double click the target project [Online] -> [Parameter] -> [Signal parameter] -> [Dedicated input/output signals assignment] -> [Data]. After you change the parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 197 11.5.2.5. Hand parameter From the project tree, double click the target project [Online] -> [Parameter] -> [Signal parameter] -> [Dedicated input/output signals assignment] -> [Hand]. After you change the parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 198 11.5.2.7. Start (each slot) parameter From the project tree, double click the target project [Online] -> [Parameter] -> [Signal parameter] -> [Dedicated input/output signals assignment] -> [Start (each slot)]. After you change the parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 199 11.5.2.9. Servo On/Off (each robot) parameter From the project tree, double click the target project [Online] -> [Parameter] -> [Signal parameter] -> [Dedicated input/output signals assignment] -> [Servo On/Off (each robot)]. After you change the parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button.
Page 200: Communication Parameters
11.6. Communication Parameters 11.6.1. RS-232 parameter These parameters set up the communication environment of the RS-232 interface of the robot controller. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Communication parameter] -> [RS-232].
Page 201: Ethernet Parameter
11.6.2. Ethernet parameter You can set robot controller Ethernet information. Set parameters while connected to the robot controller. From the project tree, double click the target project [Online] -> [Parameter] -> [Communication parameter] -> [Ethernet]. The “Ethernet” screen is different with versions of this software. (1) In the case of using version 3.00A or later Click a menu.
Page 202 11.6.2.2. Device & Line You can set the parameters related to devices and lines in the robot controller. Figure 11-57 Ethernet parameter – Device & line (Version 3.00A or later) Select the device to edit and click the [Set] button. The “Device parameter setting” screen is displayed. Figure 11-58 Ethernet parameter –...
Page 203 11.6.2.3. Realtime monitor You can set the parameters related to the “Realtime monitor” function in the robot controller. The controller which you can use the “Realtime monitor” function is as follows. Table 11-10 The controller which you can set the parameters about the “Realtime monitor” function Robot controller Software version of the robot controller CR750-D/CRnD-700...
Page 204 (2) In the case of using version 2.50C or earlier After you change the parameter value, you can rewrite the parameters in the robot controller by clicking the [Write] button. Figure 11-61 Ethernet parameter (Version 2.50C or earlier) You can reference explanations of displayed parameters by pressing the [Explain] button. Select the device to edit and double click.
Page 205: Field Network Parameters
11.7. Field Network Parameters 11.7.1. CC-Link parameter Set the information of CC-Link in the robot controller. This function can be used with Version 1.3 or later of this software. Caution This function can only be used with a CRn-500 series or CRnD-700 series robot controller. Also, this function can not be used with CRnQ-700 series robot controller.
Page 206: Profibus Parameter
11.7.2. PROFIBUS parameter Set the information of PROFIBUS in the robot controller. This function can be used with Version 1.3 or later of this software. Caution This function can only be used with a CRn-500 series or CRnD-700 series robot controller. Also, this function can not be used with CRnQ-700 series robot controller.
Page 207: Profinet Parameter
11.7.3. PROFINET parameter Set the information of PROFINET in the robot controller. This function can be used with version 3.00A or later of this software. Caution This function can only be used with CR750-D/CRnD-700 series robot controller. Also, this function cannot be used with CR750-Q/CRnQ-700 series robot controller.
Page 208: Devicenet Parameter
11.7.4. DeviceNet parameter Set the information of DeviceNet in the robot controller. This function can be used with version 3.00A or later of this software. Caution This function can only be used with CR750-D/CRnD-700 series robot controller. Also, this function cannot be used with CR750-Q/CRnQ-700 series robot controller.
Page 209: Ethernet/Ip Parameter
11.7.5. EtherNet/IP parameter Set the information of EtherNet/IP in the robot controller. This function can be used with version 3.00A or later of this software. Caution This function can only be used with CR750-D/CRnD-700 series robot controller. Also, this function cannot be used with CR750-Q/CRnQ-700 series robot controller.
Page 210: Plc Cooperation Parameters
11.8. PLC Cooperation Parameters 11.8.1. Multiple CPU parameter You can set the parameters related to the Multiple CPU to use the CR750-Q/CRnQ-700 series robot controller. These parameters can be set when you are connected to CR750-Q/CRnQ-700 series robot controller. This function is available from RT ToolBox2 Ver.1.1 or later. Set parameters while connected to the robot controller.
Page 211: Io Unit Parameter
11.8.2. IO unit parameter You can set information related to the I/O unit of the PLC. Set parameters while connected to the robot controller. This function can be used with Version 2.10L or later of this software. Set parameters while connected to the robot controller. From the project tree, double-click the target project [Online] ->...
Page 212: Parameter Printing
11.9. Parameter printing You can print the parameter values held in a robot controller. Display the parameters to print, then click on the menu bar [Workspace] -> [Print]. The print screen is displayed, so check the printer, then click the [OK] button. Printing starts. Also, you can click on the menu bar [Workspace] ->...
Page 213 It is possible to print only the parameter changed from initial value. This function can be used with Version 1.3 or later of this software. This function has the limitation in this software version and the software version of the connected controller.
Page 214: Offline Editing Of Parameters
11.10. Offline editing of parameters It is possible to make newly the parameters of robot and preserve them in the file without connecting this software to the robot controller. The file which read to the personal computer by the batch backup or the parameter backup can be edited directly, and it can be edited by copying.
Page 215: Creating The New Parameter File
11.10.2. Creating the new parameter file For creating the new parameter file, select [Offline] -> [Parameter], then click the right mouse button. The right button menu is displayed, so click [New]. Figure 11-73 Creating the new parameter file After inputting the backup folder name, click the [OK] button. Please refer to "11.10.4 Offline editing of parameter"...
Page 216: Edit Of Parameter Backed Up
11.10.3. Edit of parameter backed up It is not possible to edit directly the parameter files read to the personal computer by "All files" or "Parameter" of the backup function. Please edit these parameter files after copying them by "Copy from the Backup".
Page 217: Offline Editing Of Parameter
11.10.4. Offline editing of parameter When the parameter file for the offline editing is made by "11.10.2 Creating the new parameter file" or “11.10.3 Edit of parameter backed up”, the file name is displayed in "Parameter" of the project tree. Select the edited parameter folder, and click the right mouse button.
Page 218: Restoring The Edited Parameter To The Robot Controller
11.10.5. Restoring the edited parameter to the robot controller Open the target parameter in the project tree with [Offline] -> [Parameter], and select the parameter folder, and then click the right mouse button. The right button menu is displayed, so click [Restore]. After the restore window is displayed, confirming the model of the robot and restore them.
Page 219 Moreover, it is possible to restore the edited parameter by using the restoration function of the backup. Select [Online]->[Backup] in the project tree, and click the right mouse button. The right button menu is displayed, so click [Restore]. After changing "Backup path" to the parameter folder edited by offline, restore them.
Page 220: Deletion Of Parameter Folder Edited By Offline
11.10.6. Deletion of parameter folder edited by offline Open the target parameter in the project tree with [Offline] -> [Parameter], and click the right mouse button. The right button menu is displayed, so click [Delete]. The delete contribution is displayed. Figure 11-78 Deletion of parameter folder edited by offline Caution You can not delete the parameter files being edited currently.
Page 221: Status Monitoring
12. Status Monitoring You can set various information in the currently connected robot controllers to be constantly displayed. The monitor functions are roughly divided into the following three. 1. Robot movement monitor ..Items related to robot movement are monitored. 2.
Page 222: Robot Movement Monitoring
12.1. Robot Movement Monitoring 12.1.1. Slot operation status The state of the slots in the robot controller can be monitored. From the project tree, double click the target project [Online] -> [Monitor] -> [Movement Monitor] -> [Slot Status]. It is possible to stop All slots for which the start condition is "ALWAYS" by clicking [Stop All Program] button with Version 1.6 or later of software.
Page 223: Program Monitoring
12.1.2. Program monitoring Information on the running program can be monitored. From the project tree, click the target project [Online] -> [Monitor] -> [Movement Monitor] -> [Program Monitor], then double click the "Task slot" to monitor. (2) Program (1) Program information (3) Variable monitor (4) Add (5) Select...
Page 224 (4) Adding variables This adds more variables to monitor. A dropdown list is displayed. Figure 12-3 Add Variables Input the variable name or select it from the dropdown menu, set the variable type, then click the [OK] button. The variables being used in the program are displayed in a dropdown list. When you select variables from the dropdown list, the variable type is automatically selected.
Page 225 (7) Changing variables You can change the values of variables registered on the variables monitor. On the variables monitor, select the variables to change the values, then click the [Change] button. Figure 12-5 Changing Variable Values After confirming the variable name, input the value of the variable, then click the [OK] button. Caution Be careful when changing the value of a variable.
Page 226: Movement Status
(10) View You can switch the values of the variables displayed on the variables monitor between hexadecimal display and decimal display. The variables that can be displayed in hexadecimal, see below. Table 12-2 16Variables that can be displayed in Hexadecimal The displayed variable can be switched to the hexadecimal number / Integer the decimal number.
Page 227: Errors
12.1.4. Errors The errors currently occurring in the robot controller are displayed. 12.1.4.1. Referencing the current error From the project tree, double click the target project [Online] -> [Monitor] -> [Movement Monitor] -> [Error]. Figure 12-7 Error Screen Only Version 1.7 or later. [Details] You can check details (cause and recovery method) on errors.
Page 228 12.1.4.3. History information The history of errors that have occurred in the past can be referred to. You can check the error history in the robot controller for each error level (high level, low level, caution). You can also save the error history into a file. Click the [History] button.
Page 229 Figure 12-11 Error History Information Read from File 12-229 12-229...
Page 230 12.1.4.4. Record information The record of errors that have occurred in the past can be referred to. You can check the error record in the robot controller for each error level (high level, low level, caution). You can also save the error record into a file. Caution Timing from which error information is registered in error record When you reset the error, error information is registered in the robot controller's error record file.
Page 231 (2) Details After selecting a displayed error, you can check the details of occurred history of the selected error can be confirmed. You can also check details by double checking a displayed error. However, detailed information cannot be confirmed when reading from the error record file. Figure 12-14 Details of occurred history of error (3) Save This saves the displayed error record information into a file.
Page 232: Monitor
12.1.5. 3D Monitor You can display the robot and its movements in 3D to check them. From the project tree, either double click the target project [Online] -> [<Robot model name>] or select [3D Monitor] with the mouse right button menu. The robot 3D display screen is displayed. If the "display travel table setting"...
Page 233 Caution When "Detailed model" is displayed with the personal computer that does not fill recommended environment, 3D monitor might not be able to be displayed normally. In that case, please change to "Simple model". [Change view ] You can change the robot view perspective with mouse operation. You can select the XY or YZ or ZX plane with buttons of the toolbar, with Version 3.40S or later of this software.
Page 234 [Perspective rotation] You can change the center of perspective rotation by enlargement/reduction mode with version 3.60N or later of the software. You can change the center of perspective rotation by presence of objects on center of the Robot View or mouse position when you click on the Robot View.
Page 235: Signal Monitoring
12.2. Signal Monitoring 12.2.1. General signal You can check the statuses of signals input to the robot controller from outside equipment and signals output from the robot controller to outside equipment. From the project tree, double click the target project [Online] -> [Monitor] -> [Signal Monitor] -> [General Signals].
Page 236 12.2.1.2. Pseudo-input Pseudo-input means signals that are input to the robot controller from the computer, not from outside equipment. Click the [Pseudo-Input] button. A screen for inputting pseudo signals is displayed. Caution While the robot controller is in pseudo-input mode, signal input from outside devices is not accepted.
Page 237 12.2.1.3. Forced output You can force signals to outside equipment from robot controllers. Click the [Forced Output] button. A screen for forcibly outputting signals is displayed. Figure 12-22 Forced Signal Output ① First, read the signals you want to forcibly output. You can output 32 signals at the same time.
Page 238: Named Signals
12.2.2. Named signals You can give names to general input/output signals and check their statuses. With "Named signals", you can check the status of dedicated input/output signals and named general input/output signals. When starting up, you can load a definition file for named signals in the robot controller. From the project tree, double click the target project [Online] ->...
Page 239 12.2.2.2. Deleting a named signal Select the signals to delete from the list. You can select multiple signals by clicking them while holding down the [Ctrl] key or the [Shift] key on the keyboard. However, dedicated input/output signals can not be deleted. Also, you can not delete input signals and output signals at the same time.
Page 240: Stop Signal
12.2.3. Stop signal You can reference the statuses of stop signals (stop/not stop) input to the robot controller. From the project tree, double click the target project [Online] -> [Monitor] -> [Signal Monitor] -> [Stop Signals]. Figure 12-28 Stop Signal 12-240 12-240...
Page 241: Register (Cc-Link)
12.2.4. Register (CC-Link) Caution This can only be used if the CC-Link option card is mounted in the robot controller. This function can only be used with a CRn-500 series or CRnD-700 series robot controller with the CC-Link option card mounted. Also, this function can no be used with CRnQ-700 series robot controllers.
Page 242 Figure 12-30 Registers (CC-Link) Monitor Settings 12-242 12-242...
Page 243 12.2.4.2. Pseudo-input Pseudo-input means registers that are input to the robot controller from the computer, not from outside equipment. Click the [Pseudo-Input] button. A screen for inputting pseudo signals is displayed. Caution While the robot controller is in pseudo-input mode, register input from outside devices is not accepted.
Page 244 12.2.4.3. Forced Output You can forcibly output register values to outside equipment from robot controllers. Click the [Forced Output] button. A screen for forcibly outputting registers is displayed. Figure 12-32 Forced Signal Output (1) First, read the registers you want to forcibly output. You can output 16 registers at the same time.
Page 245: Io Unit Monitor
12.2.5. IO unit monitor You can monitor XY device variables of IO unit. From the project tree, double-click the target project [Online] -> [Monitor] -> [Signal Monitor] -> [IO unit]. The status of input signals are displayed on the upper table, and the status of output signals are displayed on the lower table.
Page 246: Dsi Cnuser2 Input Signal Monitor
12.2.6. DSI CNUSER2 input signal monitor You can monitor DSI1 and DSI2 input signals and Monitoring mode. DSI1 and DSI2 input signals are used for switching monitoring mode of safety monitoring function. For details of these parameters, refer to the "Robot Safety Option manual"...
Page 247: Operation Monitoring
12.3. Operation Monitoring 12.3.1. Operating Information You can check the robot work time, battery usage time, etc. From the project tree, double click the target project [Online] → [Monitor] → [Operation Monitor] → [Operating Information]. Figure 12-36 Operating Information You can initialize the battery remaining time with [Maintenance] → [Initialize]. For details on operation methods, see "13.2.4 Initializing the battery remaining time".
Page 248: Maintenance
13. Maintenance With maintenance, you can maintain the robot in various ways, including setting origin data and initializing various informations. 13.1. Setting Origin Data You can save robot origin data to a file, edit it, and transfer it to a robot controller. Set origin data while connected to the robot controller.
Page 249 (1) Reading Table 13-1 Origin Data Reading Robot Control Operation Mode Operating mode CRn-500 series robot controller TEACH Auto (OP) Auto (Ext) ○ ○ ○ J1 edition or later ○ H7 edition or earlier × × ○: Reading possible, ×: Reading not possible (2) Writing Table 13-2 Origin Data Writing Robot Control Operation Mode Operating mode...
Page 250: Origin Data Input Technique
13.1.1. Origin data input technique You can save robot origin data to a file, edit it, and transfer it to a robot controller. Click the origin data screen "origin data input technique" to display the screen. Figure 13-3 Origin Data Input Technique Screen [Write] : Writes the origin data displayed on the screen to the robot controller.
Page 251: Mechanical Stopper Technique
13.1.2. Mechanical stopper technique This uses the robot mechanical stoppers to set the robot origin. Click the origin data screen [Mechanical stopper] button to display the screen. After moving the robot to a mechanical stopper origin position, select the axis to set the origin for with the checkbox, and then click the [Set origin] button.
Page 252: Abs Origin Technique
13.1.4. ABS origin technique This uses the robot's ABS origin position robot to set the robot origin. Click the origin data screen [ABS] button to display the screen. After moving the robot to the ABS origin position, select the axis to set the origin for with the checkbox, and then click the [Set origin] button.
Page 253: Origin Parameter Backup
13.1.6. Origin Parameter Backup You can back up the parameters that make up the origin data. Also, you can transfer the backed-up data to a robot controller. Click the origin data screen [Backup origin parameter] button to display the screen. Figure 13-8 Robot Origin Parameter Backup Screen [Save to file] : This saves origin parameters read from a robot controller (displayed...
Page 254: Initialization
13.2. Initialization This initializes information in a robot controller. Here, you can initialize the following information in a robot controller. (1) Set the robot controller clock (2) Initialize all programs in the robot controller (3) Initialize the remaining battery time in the robot controller (4) Check the serial number in the robot controller and set the serial number for the connected robot (Serial number checking and setting can only be used with CR750/700 series robot controllers.) 13.2.1.
Page 255: Deletion Of All Robot Programs
13.2.3. Deletion of all robot programs This deletes all the programs in the robot controller. On the initialization screen, click the program group [Initialize] button. A confirmation screen is displayed, so input "Yes", then click the [OK] button. Figure 13-11 Confirmation Screen for Program File Initialization Caution When the password is registered in “program”...
Page 256: Initializing The Battery Remaining Time
13.2.4. Initializing the battery remaining time This initializes the remaining battery time in the robot controller. On the initialization screen, click the remaining battery time [Initialize] button. A confirmation screen is displayed, so input "Yes", then click the [OK] button. Figure 13-12 Confirmation Screen for Battery Time Remaining Caution Do not initialize unless the battery has been replaced.
Page 257: Maintenance Forecasting
13.3. Maintenance Forecasting With "Maintenance forecasting", you can reference the parts replacement timing (greasing and battery and belt replacement) from operation data collected up till now in the robot controller. Caution The results of calculations in Maintenance Forecast merely show reference values.
Page 258: Forecasting
13.3.3. Forecasting You can reference the "time until battery replacement", "time until regreasing, and time until belt replacement". (4) Display units (1) Battery (3) Belt (2) Grease Figure 13-15 Forecast Screen By clicking the [Refresh] button, you can reacquire information on maintenance from the robot controller. (1) Battery If the number of remaining hours of battery life has reached (Remainder time) <...
Page 259: Settings
13.3.4. Settings Here, you can set the timing for collecting information concerning maintenance forecasts, the notification method, etc. (1) Enables maintenance forecasting (2) Information collection level (3) Notice interval (4) Warnings (5) Output dedicated output signal (6) Operating time per day (7) Remainder Figure 13-16 Setup When the [Write parameters] button is clicked after setting each item, the setting values are written into the...
Page 260 Table 13-4 Description of the Setup Screen Factory Item Explanation preset value If this is checked, the Maintenance Forecast function takes effect. Check Maintenance Forecast is * If a checkmark is removed, the collection of the information for made effective. Maintenance Forecast stops, and the correct maintenance times cannot be calculated.
Page 261: Reset Screen
13.3.5. Reset screen The information (about battery, grease and belt) for Maintenance Forecast kept in the controller can be reset. Figure 13-17 Reset Table 13-5 Description about each reset Types of resets Explanation Note At the time of It is used when an alarm urging to replace battery exchange the batteries (C7500, C7510 or C7520) occurs and the batteries have been replaced.
Page 262 When the [Log] button is clicked in the upper-right corner of the window, the previous reset date/time and reset count can be checked. However, the battery reset count is not displayed. If no reset has not made previously, “----/--/-- --:--:--“ is displayed. Figure 13-18 Log of Resets 13-262 13-262...
Page 263: Resetting Maintenance Forecast Information With Teaching Box
13.3.6. Resetting maintenance forecast information with teaching box When an alarm urges to replace the batteries, replenish the grease, or to replace the belt based on the Maintenance Forecast function and these parts are replaced or replenished, the information that has been accumulated within the controller needs to be reset for the axis where such replacement or replenishment has been performed.
Page 264: Others
13.3.7. Others The information for Maintenance Forecast kept in the controller can be backed up and/or restored. Caution The backup and restore operations are performed when the controller (CPU) is replaced. When the controller (CPU) is replaced, perform both backup and restore operations in a batch using the Backup/Restore tool.
Page 265: Position Repair Function
13.4. Position repair Function The position repair function is restricted by the usable models and controller software versions. See "Table 13-9 Supported Robot Controllers and Model". The "position repair function" is used when a tool is deformed by a collision or the origin is out of place because the motor has been replaced.
Page 266: Specifications
13.4.1. Specifications The robot models and robot controller versions with which the position repair function can be used are as follows. Table 13-9 Supported Robot Controllers and Models CR750/700 Robot model series Robot CRn-500 series Robot Controller Controller Version J2 or later Vertical 6-axis robot Only correction of origin data is supported in versions prior to J2.
Page 267: Flow Of Operations
13.4.3. Flow of operations The position repair takes the form of a wizard. You can automatically generate the parameters by proceeding with operations according to the instructions on each screen. You can directly set parameter values. Specify the target robot Backup the parameters before Automatic parameter If setting parameters...
Page 268: Introduction
13.4.4. Introduction Figure 13-22 Starting Use Window This is an explanation of the position repair function. Read it carefully, then click the [Next] button. 13.4.5. Communications settings Check the communication settings and connected to the robot controller, click the [Next] button. For the setting method, see "6 Connecting with the Robot".
Page 269: Robot Selection And Parameter Backup
13.4.6. Robot selection and parameter backup Figure 13-23 Robot and Backup Parameters Selection Window Select the robot to execute the re-teaching. The Robot is displayed as follows. Ver.1.1 or earlier Controller number : Controller Name + Mechanism Name #Mechanism No. Ver.1.2 or later Controller number : Mechanism Name #Mechanism No.
Page 270: Revision Parameter Generation Procedure Selection
13.4.7. Revision parameter generation procedure selection Figure 13-24 Select generation procedure of revision parameter Window In the next step, the software can either automatically generate parameters or accept manually entered parameter values. Normally, [Generate revision parameter automatically] is selected. Select [Generate revision parameter automatically] and click [Next] to proceed to “Select Program” window.
Page 271: Program Selection
13.4.8. Program selection Figure 13-25 Select Program Window Select the robot program to use for revision parameter generation, then click the [Next] button. Here, perform the reteaching using the XYZ-coordinate position data in the selected program. For details on the required position data numbers, see "Table 13-10 Selecting Revision Parameters". Memo The points on selecting the program Select the program with the positions of various location and posture.
Page 272: Program Reading And Backing Up
13.4.9. Program reading and backing up Figure 13-26 Read and Backup Program Window To backup a program, click [Backup]. The special screen for backup is started. For details on backups, see "15 Backup and Restore". You can use the backup/restore functions in this software to write a backed up parameter file back into a robot controller.
Page 273: Tool Setting Check
13.4.10. Tool setting check Figure 13-27 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 if the tool data and tool number used during teaching is set. If necessary, change the value from parameter setting in teaching box.
Page 274: Revision Parameter Selection
13.4.11. Revision parameter selection Figure 13-28 Select Revision Parameter Window Select the revision parameter that becomes the target for re-teaching calculation. Revision parameter will be selected automatically if an item is selected from [Select revision parameter]. Choose [Select all] to select all the revision parameters. If you wish to specify a particular combination of revision parameters, choose [Select arbitrarily] and specify the revision parameters.
Page 275 13.4.11.1. Revision parameters Parameters revised by items selected with "Select revision parameters" become as in "Table 13-10 Selecting Revision Parameters". Memo Some elements cannot be calculated according to the robot type and the combination of revision parameters. In this function, the amount of the gap of the robot is calculated as a correction value, and the revision parameter is generated.
Page 276 Table 13-10 Selecting Revision Parameters Minimum number of teach points Revised Horizo Item Description Vertical Vertical Parameter ntal 6-axis 5-axis 4-axis robot robot robot Rectifies origin data when joint axis moves or when Origin data motor is replaced. Error of 1 to 6 1 to 5 1 to 4...
Page 277 Minimum number of teach points Revised Horizo Item Description Vertical Vertical Parameter ntal 6-axis 5-axis 4-axis robot robot robot Specify revision parameters. Vertical 6-axis robot: * Since origin data J1 is included in base data, if base data is selected, turn off the Checkbox of origin data J1.
Page 278 13.4.11.2. Position data posture components Position data of MELFA-BASIC IV consists of tip position (X, Y, Z) and tip posture elements (A, B, C) (*1) This section describes the cases where [Use the posture elements of position data] is checked and not checked.
Page 279 Table 13-11 About Posture Elements of Re-teaching Position Data Condition Merit Note When using posture elements of Precision of generated During re-teaching, posture must position data revision parameter be taught correctly. If posture data improves if the tip position is incorrect, precision of revision (X, Y, Z) and tip posture parameter actually decreases.
Page 280: Reteaching Work
13.4.12. Reteaching work Figure 13-29 Reteach Work Window [Remainder] Displays the number of remaining points until revision parameters are generated. However, at some positions, re-teaching may not decrease the number of remaining points. [Re-teach] button Specifies the positions selected in the list and opens “Re-teach the position”...
Page 281 Figure 13-30 Re-teach the position Screen Re-teaching Repeat Select the position to re-teach from the list Click [Re-teach] button Re-teach the position Screen opens Re-teach the position Screen Move the robot to re-teaching position (Use the teaching box to move) Click [Load current position] button (Re-teaching calculation) Position Re-teaching window closes Revision parameter generation...
Page 282 Caution Do not change tool data, tool number, or base data. Do not change tool data, tool number, or base data during re-teaching. Re-teaching calculation will not be performed correctly. In correcting tool data, if teaching was performed switching back and forth between multiple tools, perform re-teaching operation for each tool.
Page 283: Writing Parameters
13.4.13. Writing parameters Figure 13-32 Write Parameters Window [Print] Prints the revision parameter information displayed in the list. [Save position data to file] Saves position data used in re-teaching as a robot program with positions only. Position data will be values converted by the revision parameters.
Page 284: Controller Power Supply Off, On
13.4.14. Controller power supply Off, On Figure 13-33 Re-start the power supply of the controller Window To activate the written parameters, turn off and then turn on the power of robot controller. 13-284 13-284...
Page 285: Exit
13.4.15. Exit Figure 13-34 Finish Window (After Re-teaching) When the writing of revision parameters is done, operation of this function is complete. Caution Perform an operation check before exit this function. Before exit this window, make sure that all position data works properly. If revision is not correct, click the [Return to re-teach] button to continue re-teaching.
Page 286: Revision Parameter Editing
13.4.16. Revision parameter editing When you select "Edit the value of revision parameter directly" with "13.4.7 Revision parameter generation procedure selection", this screen is displayed. Double click Figure 13-35 Edit Revision Parameters Window [Print] Prints the revision parameter information displayed in the list. [Reset] Reset all changes.
Page 287: Tool Automatic Calculation
13.5. Tool automatic calculation With the “Tool automatic calculation”, the tool length is calculated automatically by teaching a same position by 3 to 8 points to the robot that is attaching an actual tool, and the value of a tool parameter (MEXTL) is set This function can be used with Version 2.20W or later of this software.
Page 288 Figure 13-37 Starting the “Tool automatic calculation” 13-288 13-288...
Page 289: Flow Of Operations
13.5.3. Flow of operations Select the target robot (<a>) Select the tool number for setting () Re-teaching Work Procedure Move the robot to the auxiliary point (Use the teaching box) Select the line of “Auxiliary point” (<c>) Teach selection line (<d>) Repeat as necessary Enter checks to the check box of the line (When a value is set to “Calculated tool coordinate”,...
Page 290 <a> <c> <d> <e> <f> Figure 13-39 The “Tool automatic calculation” screen Select the robot (<a>) and the tool number (). Move the robot which is attaching a tool. After selecting the line of “Auxiliary point” list (<c>), click a [Teach selection line] button (<d>).
Page 291: Servo Monitor
13.6. Servo Monitor This monitors servo information. Table 13-13 Supported robot Supported robot CR750/700 CR500 Simulation Ver.2.50C or earlier All robot All robot Not available Version Ver.3.00A or later All robot All robot RV-F/RH-F series The servo data items can be monitored by simulation as follows. Table 13-14 Supported servo data items by simulation Items possible...
Page 292: Position (Abs)
13.6.1. Position (ABS) Data concerning the position of each axis motor can be monitored. The following data can be monitored. Position feedback Current motor rotation position is displayed by the pulse value of the encoder. Position in 1 rotation Present position in one rotation of the encoder is displayed. (It is not displayed in the CR750/700 series controller.
Page 293: Speed
13.6.2. Speed The following data concerting the rotational speed of each axis motor can be monitored. Speed feedback A present motor speed is displayed by the unit of rpm. Speed MAX. The maximum value of the speed feedback after robot controller’s power supply is turned on is displayed.
Page 294: Current
13.6.3. Current Data concerning the current value of each axis motor can be monitored. The following data can be monitored. Current cmd The current command of the motor is displayed. Max. current cmd1 The maximum value of the current command after robot controller’s power supply is turned on is displayed.
Page 295: Load
13.6.4. Load The load state of each axis motor and the temperature of the encoder (Only the robot that corresponds to the function of the encoder temperature) can be monitored. The following data can be monitored. Axis load level A preset load ratio of each motor is displayed as an alarm level. The overload error occurs when this value reaches 100%.
Page 296: Power
13.6.5. Power The following data concerning robot controller’s main circuit power supply can be monitored. Motor power voltage A present power-supply voltage value is displayed. Motor power voltage (MAX) The maximum value of the motor power voltage in servo ON is displayed. When the [Reset] button on the screen is clicked, this value is reset in 0.
Page 297: Security Function Of The Robot Controller (Password Setup)
13.7. Security function of the robot controller (Password Setup) It is possible to forbid to accessing the robot programs, parameters and files in the robot controller. The security function can be achieved by setting the password to the robot controller. This function can be used with Version 2.00A or later of this software.
Page 298 Figure 13-46 Password setup When the security function has been turned on in the controller, the mark is displayed in the left of the button of the item to which access is forbidden. （for example：） 13-298 13-298...
Page 299: Register The Password
13.7.1. Register the Password The password is registered to the robot controller. Click the "Register/Change" button of the item to which register the password in "Password Setup" screen. After inputting the password in the "Register/Change Password" screen, click the [OK] button. The input password is displayed by "*"...
Page 300: Change The Password
13.7.2. Change the Password The password being set in the controller is changed. Click the "Register/Change" button of the item to which change the password in "Password Setup" screen. After inputting a password set now and a new password in the "Register/Change Password" screen, click [OK] button.
Page 301: Delete The Password
13.7.3. Delete the Password The password being set in the controller is deleted. Click the "Delete" button of the item to which delete the password in "Password Setup" screen. After inputting a password set now in the "Delete Password" screen, click [OK] button. Figure 13-49 Delete Password When the password is delete by "All"...
Page 302: File Manager
13.8. File Manager You can copy, delete and rename the file in the robot controller. This function can be used with Version 2.20W or later of this software. Double-click [Online] -> [Maintenance] -> [File Manager] in the project tree. Figure 13-50Starting File Manager Caution If the robot controller’s version is earlier than R3e/S3e: You cannot delete or rename the file without an extension.
Page 303 Caution When the password is registered in “program” by robot controller's security function, the file cannot be deleted, or cannot be renamed. When the password is registered in “program” by robot controller's security function, the file cannot be deleted, or cannot be renamed. ○...
Page 304: File List Display
13.8.1. File list display On the left and right lists, the lists are files of the displayed in the robot controller and the specified folder. (1) Setup of transmission You can select “PC->Robot” or “Robot -> PC”. (2) PC You can specify files in the personal computer. (3) Robot You can specify a robot controller that is currently connected (4) [Browse…]...
Page 305: Copy
Table 13-18 The file which cannot be operated on a file management screen, and its extension File name or Files extension Robot program files .MB4/.MB5/.prg Parameter files .PRM Error log files AError.log CError.log HError.log LError.log I/O Log (Input/Output) IOLogInp.log IOLogOut.log Trap function log files(program execution log files) .trp Servo data log files...
Page 306: Vision Calibration
13.9. 2D vision calibration This section explains 2D vision calibration function. 13.9.1. Summary (1) Summary 2D vision calibration is the function to determine the relation between the vision sensor’s coordinate and the robot’s coordinate. You can have up to 8 switchable vision calibration data. Robot’s coordinate Vision sensor’s coordinate Determining...
Page 307 Double-click the target project [Online] -> [Maintenance] -> [2D Vision Calibration] on the project tree to start 2D vision calibration. Figure 13-554 Starting 2D vision calibration (2) Select calibration number Select a tab of arbitrary number. The maximum number of calibration settings tab switchingly usable is 8 Figure 13-565 Calibration number tab (3) Teaching points Click a row which you want to teach a point, to move the cursor.
Page 308 (4) Calculate vision calibration data When 4 or more data on the list of [Teaching points] are enable, [Calculate after selecting 4 points or more] button becomes enable. Click the button to calculate vision calibration data and display the data in [Result homography matrix].
Page 309: Vision Calibration Screen
(7) Other function ・Move robot to selected point Danger The robot may operate at 100% speed. Watch out for the safety around the robot. Also, prepare a T/B at hand and use the robot in a status in which an emergency stop can be made at any time. Click [Move robot to selection point] button to move robot to the position selected on the list of [Teaching points].
Page 310 (1) New Add new 2D vision calibration settings. The current settings displayed on the screen are removed. (2) Open… Load a Camera calibration coordinate file saved on your PC. The current settings displayed on the screen are removed. (3) Save / Save as … Save the current calibration settings as a Camera calibration coordinate file.
Page 311: Option Card
14. Option Card You can check information on option cards mounted in the robot controller. When you open [Option Card] on the project tree, the slots in which option cards are currently mounted and the option card names are displayed. If you place the mouse cursor on an option card name, the information for that option card is displayed.
Page 312: Backup And Restore
15. Backup and Restore You can back up information in a robot controller to the computer. You can also restore backup information saved to the computer back into a robot controller. Backup Saves the backup data on the robot controller to the personal (Robot ->...
Page 313 Caution When the password is registered in “file” by robot controller's security function, it is not possible to back up information in a robot controller to the personal computer, or to restore backup information saved to the computer back into a robot controller. When the password is registered in “file"...
Page 314: Backup(Robot -> Pc)
15.1. Backup(Robot -> PC) You can save information in a robot controller to a file in the computer. Use the backup function while RT ToolBox2 connected to the robot controller. There are two methods for saving data as follows. <1> Saving data from one robot controller. <2>...
Page 315: Saving Data From One Robot Controller
15.1.1. Saving data from one robot controller (1) From the project tree, open the target project [Backup]. In the backup tree, "All file", "Program information", "Parameter files", and "System program" are displayed. Figure 15-2 Backup Project Tree Diagram All Files Saves all files (robot program, parameter files, etc.) in the robot controller into the designated folder.
Page 316 The folder name at this time is displayed on the right side of the respective backup items. Figure 15-4 Backup (When Multiple Selected) (4) Specify the back destination, then click the [OK] button. The confirmation screen is displayed. When you confirm, then click [Yes], the backup is started. Figure 15-5 Backup Confirmation Screen When the backup is completed, the backup data is displayed at [Backup] on the project tree.
Page 317: Saving Data From All Robot Controllers(Online Project Backup)
15.1.2. Saving data from all robot controllers(Online Project Backup) It is possible to save data by batch processing from all robot controllers which connected with RT ToolBox2. This function can be used with Version 1.3 or later of this software. (1) After selecting the name of workspace, click the right button of mouse.
Page 318 (3) When the batch processing for saving data from all robot controllers is completed, the saving data is displayed in [Backup] of the project tree. Backup data Figure 15-9 The information of saving data from all robot controllers by batch processing. 15-318 15-318...
Page 319: Restore (Pc -> Robot)
15.2. Restore (PC -> Robot) You can take information back up to the computer and transfer it to robot controller information. Use the restore function while connected to the robot controller. Caution Caution of when data backed up by selecting "All files" is individually restored.
Page 320 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.
Page 321 Table 15-1 Operations for "Change Robot Arm Serial Number Too" Check ON Check OFF Controller Parameters(B) Parameters(B) <リストア前> <リストア前> Restore Restore Origin data(B) Origin data(B) files files parameters for parameters for position repair (B) position repair (B) CR750/ <before restore> <after restore>...
Page 322 Caution Precaution for Restore If a batch restoration or a program restoration is executed when the program is being started, the program will automatically be stopped. At this time, if there is an error in the controller, the program in operation cannot be stopped, and the message shown on the right will be displayed.
Page 323: Deleting Backup Data
15.3. Deleting Backup Data You can delete the backed up information. Select the information to delete, then click the right mouse button. From the right mouse button menu, select [Delete]. Figure 15-12 Deleting Backup Data It is also possible to delete all the backup data. Right click [Backup] for the target project.
Page 324: Open Backup Program
15.4. Open Backup program You can open the program in backed up information and confirm its content. Select the information which has robot programs, and click the right mouse button. From the right mouse button menu, select [Open Backup program]. Figure 15-14 Open Backup program After selecting [Open Backup program], the screen to select a backup program is displayed.
Page 325: Check Backup Programs
15.5. Check Backup programs You can confirm that there is no error in backed up programs. Select the backed up information, and click the right mouse button. From the right mouse button menu, select [Check Backup programs]. You can use this function in “All”, “Program” and “System Program”. If there is an abnormality in the program, a robot controller can't execute the program.
Page 326: Tool Function
16. Tool function 16.1. Force control log file viewer Force control log file viewer is the function to display the graph of log data of force control in PC and robot controllers. From the project tree, double-click the target project [Tool] -> [Force control log file viewer]. Double-click.
Page 327: User Definition Screen
16.2. User definition screen It is possible to edit the user definition screen which can be operated by highly efficient T/B. You can make the customized screen by arranging the parts such as the button and the lamp that synchronize with the I/O signal. You can make two or more pages of definition screens. These pages are managed by a file (called “User definition screen file”) as one group.
Page 328: Creating A New User Definition Screen File
16.2.1. Creating a new User definition screen file In order to create an user definition screen, it is necessary to create an user definition screen file. After selecting [Tool]->[User definition screen] in the project tree, click the right button of mouse and select the "New”...
Page 329: Editing The Page Of User Definition Screen
16.2.2. Editing the page of user definition screen Double-click [Tool] -> [User definition screen] -> [“User definition screen file”]->[“Page name”] in the project tree. The edit dialog of an user definition screen is displayed. When you create a new user definition screen, after selecting [Tool]->[User definition screen] -> [“User definition screen file”]-in the project tree, click the right button of mouse and select the "New”...
Page 330 The grid line (<a>) is displayed in the edit display of the user definition screen. Each part can be registered with the block unit () delimited in this grid line. <a> <2> <3> <1> Figure 16-5 Editing the user definition screen <1>...
Page 331 16.2.2.1. Button (1) Click the position (block) in which the button is made (<a>). Left side of the button is arranged in this position. (2) After "Select item" window is displayed, click [Button] button (). (3) Set the button name, button size and the kind of button on "Create button" windows. (4) The movement of when the button is clicked is set by [Set] button (<c>).
Page 332 <3> Button type : The kind of the button can be set. Alternate When the button is clicked once, the button keeps ON state. And when the button is clicked again, it returns to OFF state. The signal output is kept too. Momentary The button keeps ON state while it is being pushed.
Page 333 (3) Input "20" to signal number (<f>). Click the state of the signal (<g>), and select "High". Now, select "Input signal". <f> <g> (4) Select "High" as signal operation of when clicking on a button (<h>). <h> (5) The input area of output signal number is displayed.
Page 334 16.2.2.2. Lamp (1) Click the position (block) in which the lamp is made (<a>). The lamp is arranged at this position. (2) After “Select item” window is displayed, click [Lamp] button (). (3) Select the lighting color of the lamp on “Create lamp” window. (4) Click [On/Off condition] button (<c>), and set the lighting condition and the turning off condition on "The lamp on/off condition”...
Page 335 Example of setting lamp ON/OFF For example: Lamp that is turned on when the input signal number 20 is High, and is turned off when the input signal number 20 is Low. (1) A default value of “The Lamp on/off condition”...
Page 336 16.2.2.3. Variable The value of the specified variable is displayed. (1) Click the position (block) in which the variable is displayed (<a>). Left side of the variable is arranged in this position. (2) After "Select item" window is displayed, click [Robot information] button (). (3) Select "variable"...
Page 337 16.2.2.4. Program execution content The content of the program being executed is displayed. The amount of 7 lines, the execution line, upper 3 lines and lower 3 lines, are displayed. (1) Click the position (block) in which the content of the program is displayed (<a>). Left side of the content of the program is arranged in this position.
Page 338 16.2.2.5. Program name The name of program being executed is displayed. (1) Click the position (block) in which program name is displayed (<a>). Left side of the box is arranged in this position. (2) After "Select item" window is displayed, click [Robot information] button (). (3) Select "Program name"...
Page 339 16.2.2.6. Execution line number of program The line number of program being executed is displayed. (1) Click the position (block) in which execution line number is displayed (<a>). Left side of the box is arranged in this position. (2) After "Select item" window is displayed, click [Robot information] button (). (3) Select "Exe line num"...
Page 340 16.2.2.7. Current position data (the XYZ coordinate system) The current position data of robot is displayed with each XYZ coordinate system axis. If you want to display the current position data (the XYZ coordinate system) all together, please use “Variable” type and set the Robot Status Variable “P_CURR”. Please refer to “16.2.2.3 Variable" for details. Click the position (block) in which the current position data is displayed (<a>).
Page 341 16.2.2.8. Current position data (the joint coordinate system) The current position data of robot is displayed with each joint coordinate system axis. If you want to display the current position data (the joint coordinate system) all together, please use "Variable" type and set the Robot Status Variable "J_CURR". Please refer to "16.2.2.3 Variable" for details. Click the position (block) in which the current position data is displayed (<a>).
Page 342 16.2.2.9. Label The label can be displayed at the specified position. (1) Click the position (block) in which the label is made (<a>). The label is arranged in this position. (2) After "Select item" window is displayed, click [Label] button (). (3) After setting the label on “Create label”...
Page 343: Edit Of Existing Parts
16.2.2.10. Save and end of editing user definition screen After the editing of user definition screen is completed, click [Save] button (<a>). To end the edit, click [x] (). <a> Figure 16-15 Save and end of editing user definition screen 16.2.3.
Page 344: Copy/Paste Of Parts
16.2.4. Copy/Paste of parts Parts can be copied. (1) Click the part to copy, and select it (<a>). (2) After "Edit menu" window is displayed, click [Copy] button (). (3) Click the position (block) where the part is copied onto (<c>). (4) After "Select item"...
Page 345: Movement Of Parts
16.2.5. Movement of parts Parts can be moved. (1) Click the part to move, and select it (<a>). (2) After "Edit menu" window is displayed, click [Move] button (). (3) Click the position (block) where the part is moved to. At this time, the current position (block) of part is red, and the position (block) where the part is moved onto is green.
Page 346: Deletion Of Parts
16.2.6. Deletion of parts Parts can be deleted. (1) Click the part to delete, and select it (<a>). (2) After "Edit menu" window is displayed, click [Delete] button (). (3) Click [Yes] button on the confirmation message. <a> Figure 16-19 Deletion of parts 16.2.7.
Page 347: Edit Of Ruled Line
16.2.8. Edit of ruled line The ruled line can be drawn on the user definition screen. 16.2.8.1. Drawing the ruled line (1) Click [Line] button (<a>) on the window. (2) The button (“[Top],[Bottom],[Left],[Right]”) () for the ruled line is displayed in the right of [Line] button. These buttons to draw the ruled line disappear when [Line] button (<c>) is clicked again.
Page 348 16.2.8.2. Erasing the ruled line (1) Click [Line] button (<a>) on the window. (2) The button (“[Top],[Bottom],[Left],[Right]”) () for the ruled line is displayed in the right of [Line] button. These buttons to draw the ruled line disappear when [Line] button (<c>) is clicked again. <a>...
Page 349: Deletion Of User Definition Screen
16.2.9. Deletion of user definition screen It is possible to delete the existing "User definition screen". There are two methods in deletion of an user definition screen. (1) Deleting the user definition files. In this case, all the user definition screens in a user definition screen file are deleted.
Page 350 16.2.9.2. Deletion of page The selected user definition screen page in the user definition screen file is deleted . After selecting [Tool]->[User definition screen]->[“User definition screen file”]->[“User definition screen page”] in the project tree, click the right button of mouse and select the "Delete” of right button menu. A confirmation message is displayed, click [OK] button.
Page 351: Import Of The User Definition Screen
16.2.10. Import of the user definition screen It is possible to import the user definition screen file created in other work space and projects. There are two methods for import. (1) Importing the user definition screen files. In this case, all the pages in the user definition screen files are imported. (2) Importing the selected pages in the user definition screen file.
Page 352 16.2.10.2. Importing the page of the user definition screen Importing the selected pages in the user definition screen file. After selecting [Tool]->[User definition screen]->[“User definition screen file”] in the project tree, click the right button of mouse and select the "Import” of right button menu. “Select import user definition screen file” screen is displayed.
Page 353: Export Of The User Definition Screen
16.2.11. Export of the user definition screen It is possible to export the user definition files in the current project so that it can be used in other project. The user definition screen is exported by a file After selecting [Tool]->[User definition screen] in the project tree, click the right button of mouse and select the "Export”...
Page 354: Oscillograph
16.3. Oscillograph The oscillograph function is explained. Caution Since an oscillograph function needs the memory and CPU power of a personal computer, the screen to open has been restricted to a maximum of 8 screens. If many screens which need memories, such as program editor and parameter editor, are opened, please keep in mind that a memory may be insufficient 16.3.1.
Page 355: Acquirable Data
16.3.3. Acquirable data The list of the data that can be acquired from the robot is shown below. Table 16-5 Oscillograph data list Notation on the graph Unit Explanation High ○ ○ Current feedback Present value of the motor current. [Arms] ○...
Page 356: Starting
the Ex-T control/the Ex-T spline interpolation ○ Ex-T coordinates position [mm deg] The current position in the Ex-T coordinates ○ The path point number that speed adjustment has Spline path point occurred during execution of the spline of adjusted speed interpolation/the Ex-T spline interpolation ○...
Page 357: Communication Settings
16.3.5. Communication settings Please display the Communication setting dialog by clicking the [Communication…] button. Ordinary communication can be used as choosing the [Communications server]. High speed communication can be used as choosing the [Real time monitor]. Figure 16-28 Communication setting dialog The interval to receive is chosen in the ordinary communication via a communications server.
Page 358: Start／Stop
16.3.6. Start／Stop Please check before a start that the target project is in an on-line state. If it clicks a [Start]( ) button, data will be acquired from a robot and drawing of a graph will be started. A click of a [Stop] ( ) button will stop acquisition of data.
Page 359: Graph Range Setting
Figure 16-31 Switch of display/non-display of graph 16.3.8. Graph range setting The [Range...] button of an oscillograph screen can be clicked and the range of the display of the vertical axis of each data can be set. When [Auto adjust] is checked, the range of the display of the vertical axis in the graph is automatically adjusted.
Page 360: Data Reproducing / Confirmation
The [Edit...] and [Reset] can make two data or more a target at the same time. Figure 16-33 Range editor of the graph 16.3.9. Data reproducing / confirmation The [Detail...] button of an oscillograph screen can be clicked and the data displayed in the graph can be confirmed by the numerical value.
Page 361 Moreover, drawing of the graph can temporarily be interrupted by clicking [Stop drawing] while executing data acquisition. In that case, the reproduction display of the acquired data is possible by slider operation. Figure 16-35 Inside of data acquisition The cursor is displayed while operating the slider. the current value is displayed in [Data] of detailed data dialogue.
Page 362: Save Data／Log Setting
16.3.10. Save Data／Log Setting The [Save Data] ( ) button of an oscillograph screen can be clicked and the data acquired by the point in time can be saved by a CSV file format. The newest data can be written out to a log file for every interval for a definite period of time. Click the [Log Setting] ( ) button of an oscillograph screen, and [Log file operation] dialog is displayed.
Page 363: Load Data
When you select the [Real time monitor] of the [Select the interval to log] drop-down list, you can save all the data acquired in real time monitor to the log file. If the data is more than 50 million cases (about 1 hour), it will be saved to a new time stamp log file.
Page 364 <a> [Reflect to 3D monitor] check box Figure 16-38 Operation of reflected to the 3D monitor When the [Reflect to 3D monitor] check box is turned on, the joint position(FB) or the joint position(CMD) which you selected by the cursor is reflected to the 3D monitor. By moving the cursor, you can change the posture of the robot in the 3D monitor.
Page 365: Dxf File Import
Setting the robot model in the project is as follows. Table 16-9 Setting the robot model in the project Displayed log data oscillograph screen Setting robot model in the project Log data that you acquired from the Robot model of the connected robot connected robot Read the log data from the log file Robot model set top row in the log file...
Page 366 Select a DXF file, and presses the [Open] button, “DXF File import” dialog appears. Figure 16-39 DXF File Import Starting 16-366 16-366...
Page 367: Flow Of Operations
16.4.3. Flow of operations Select a DXF file to be imported <a> Select the layer to be imported Select the entity you want to import <c> Use the Ex-T control Not use EX-T control Calibration performed for coordinate Setting of the gripping position of the imported transformation <e>...
Page 368 Selection Figure 16-41 Spline file output <ｈ> Robot program output Select the [Robot program] as the output format in the [Generated Points] page, click the [Finish] button. A “New Robot program” dialog appears. In the "New Robot program" dialog, enter the robot program name you want to save, you can click the [OK] button, program edit screen will be displayed.
Page 369 Selection Figure 16-42 Robot program output 16-369 16-369...
Page 370: Force Sensor Calibration
16.5. Force sensor calibration 16.5.1. Outline Force sensor calibration is the function that calculates the weight and center of gravity position of robot hand attached to the force sensor. The data calculated by force sensor calibration (robot hand’s weight and center of gravity position) is needed for the force offset cancel.
Page 371: Simulation
17. Simulation This chapter explains the simulation operation methods. Caution Simulation can not be used with the mini edition. The simulation function only supports the "RT ToolBox2" standard edition. It can not be used with the mini edition. Simulation can not be used with Movemaster commands. Be aware that even with the standard edition, the simulation function can not be used when Movemaster commands are selected.
Page 372: Starting A Simulation
17.1. Starting a Simulation Click on the menu bar [Option] → [Simulator]. At that time, if there are two or more projects in the workspace, the screen for selecting the screen to conduct the simulation is displayed. You can simulate eight projects or less. Figure 17-1 Project Selection When Simulation is Started [Select All] Select all projects at a time.
Page 373: About The Warning At First-Time Startup Simulation
17.1.1. About the warning at first-time startup simulation After installing RT ToolBox2 of Version 1.6 or later, when you first start the simulation, the following warning screen may be shown. If the screen is shown, confirm the corresponding to environment checkbox is set ON, and click [Allow access].
Page 374: Explanation Of The Simulation Operation Screen
17.2. Explanation of the Simulation Operation Screen Use [Operating panel] screen for operating a simulator. Refer to “2.4 About Operation panel” to understand how to operate “Operation panel”. You can operate as follows to all simulations which is executing by using the tool bar. Servos of all simulations are turn ON.
Page 375: Robot View (3D Monitor)
17.3. Robot View (3D Monitor) You can display the robot whose simulation you are running and its movements in 3D to check them. Moreover, you can display robots of several projects and their movements in 3D on one screen. It is possible to display the robot's model name and robot path in this software version 2.20W or later. Caution When using 3D monitor, we recommend you to use the high personal computer of performance.
Page 376: Displaying Robots Of More Than One Projects In 3D
17.3.2. Displaying robots of more than one projects in 3D With the simulation running, from the project tree in the workspace, double-click [3D Monitor]. All robots set by “Select the projects” screen (Figure 16-1) are displayed. This function can be used with Version 2.10L or later of this software. In this software version 3.20W or later, the 3D monitor can be displayed in the offline mode.
Page 377: Click Movement Of The Robot
17.3.3. Click movement of the robot After starting the simulation, if you click the object in the 3D monitor screen with Ctrl key, the robot move to the position where you clicked. If there is no object where you clicked or the robot can’t move to the place where you clicked, the robot doesn’t move.
Page 378 Also, after starting the simulation, if you click the object in the 3D monitor screen with Ctrl key and Shift key, the robot change posture that vertical Z-axis of tool coordinate system and the clicked surface, and move to the position where you clicked. If there is no object where you clicked, the robot doesn’t move.
Page 379: Distance Measurement
17.3.4. Distance measurement You can measure the distance between any two points on objects (robots, layouts etc.) displayed in 3D monitor. To use this feature, click the menu bar [3D View] -> [Distance measurement]. The distance measurement screen is displayed. Then when you click while entering the space key two points on objects to be measured, the line and distance (mm) as follows are displayed.
Page 380: Robot Display Option
17.3.5. Robot display option Click the menu bar [3D View] -> [Robot display option]. The robot display option screen is displayed. Version 3.10L or earlier Version 3.20W or later Figure 17-13 Robot display option setting screen Items that can be set by the connection state, is as follows. Connection state Items Offline...
Page 381 17.3.5.1. Window  Panel Select the [Panel] checkbox, the panel to change the perspective is displayed. Figure 17-14 Display of the panel  Floor Select the [Floor] checkbox, or click button of the toolbar, the floor is displayed in the 3D monitor. The length of one grid of the floor is 500[mm] x 500[mm].
Page 382  Coordinate axes Clear the [Coordinate axes] checkbox, coordinate axes of the 3D monitor will hide. This function can be used with version 3.20W or later of this software. Figure 17-16 Hide coordinate axes  Background color Click the [Background color] button, or button of the toolbar, the background color of the 3D monitor can be changed.
Page 383 17.3.5.2. Robot model  Robot model Clear the [Robot model] checkbox, the robot model will hide in the 3D monitor. This function can be used with version 3.20W or later of this software. Figure 17-18 Hide the robot model 17-383 17-383...
Page 384  Wire frame Select the [Wire frame] checkbox, view type of the robot model in the 3D monitor is set to wire frame. This function can be used with version 3.50C or later of this software. Figure 17-19 Wire frame display of robot model 17-384 17-384...
Page 385  Solenoid valve Select the [Solenoid valve] checkbox, you can see the solenoid valve correspond to the robot in the 3D monitor. You can check the collision of the robot and a peripheral device. This function can be used with the robot which can attach a solenoid valve as follows, and display the solenoid valve which has 4 valves.
Page 386  Mechanical Interface Clear the [Mechanical interface] checkbox, the arrows that indicate the mechanical interface direction will hide in the 3D monitor. This function can be used with version 3.00A or later of this software. [Flange direction] check box will be displayed Instead of the [Mechanical interface] checkbox with 3.50C or earlier of this software.
Page 387  Tool Select the [Tool] checkbox, a tool of the controller selected now can be displayed in the 3D monitor. This function can be used with version 2.10L or later of this software. Figure 17-22 Display the tool 17-387 17-387...
Page 388  Robot path Select the [Robot path] checkbox, the robot path is displayed in the 3D monitor. This function can be used only in a simulation. The robot path is displayed with green color. Some operations are displayed and the robot path is erased sequentially from an old one.
Page 389 17.3.5.3. Robot information Select the [Project name]/[Robot model] checkbox, the project/robot’s model name is displayed in the 3D monitor. The robot’s model name is displayed near a robot’s mechanical interface position. When the project name and the robot’s model name are displayed, the project name is on the upper row and the robot’s model name is displayed lower row.
Page 390 17.3.5.5. Movement area Select the [Display the movement area] checkbox, the movement area of the robot is displayed in the 3D monitor (a default is yellow). The position where robot can move with the posture of tool center point (TCP) at the time is displayed.
Page 391 17.3.5.6. User-defined area Select the checkbox, the user-defined area is displayed in the 3D monitor. The checkbox where the value is set to the parameter can be operated. Figure 17-28 Display the user-defined area 17.3.5.7. Free plane limi Select the checkbox, the free plane limit is displayed in the 3D monitor. The checkbox where the value is set to the parameter can be operated.
Page 392 17.3.5.8. Spline curve When the [Opened spline files] checkbox is selected (initial state), spline curves (blue) of open spline files and selected position data are displayed in the 3D monitor. Figure 17-30 Display the Spline curve of opened spline files If opened a spline file corresponding to the Ex-T spline, spline curve will be displayed in the start position was along the Ex-T coordinate position.
Page 393 Figure 17-32 Display the spline curve of specified spline file If selected a spline file corresponding to the Ex-T spline, spline curve is displayed in the position that matches the robot of the tool to the gripping position. Figure 17-33 Display the Curve corresponding to the Ex-T spline of specified spline file Spline curve can be used with version 3.20W or later of this software.
Page 394 17.3.5.9. Safe pos. monitoring If [Display planes] checkboxes are ON, The planes which were set on “Position mon. (Plane)” screen of “Safety parameter” screen are shown on 3D Monitor. If [Display monitoring positions] checkboxes are ON, The positions which were set on “Position mon. (Position)” screen of “Safety parameter” screen are shown on 3D Monitor.
Page 395: Layout
17.3.6. Layout The object of the hexahedron(rectangular parallelepiped), the column, and the sphere can be displayed on “3D Monitor”. This function can be used with Version 1.6 or later of software. A layout list screen is different by versions of this software. (1) In the case of using version 2.20W or later It is possible to manage the layout parts with a group.
Page 396 In the case of using version 2.10L or earlier The “Layout list“ window is displayed with the menu bar [3D View] -> [Layout]. The list of the layout parts registered beforehand is displayed on "Layout list" windows. When each checkbox in the left of names of the object is set off, the object becomes invisible. The order of the objects can be changed with the [Up] or [Down] button in the right of this window.
Page 397 17.3.6.1. Editing of Layout When the object is newly added, click [Add] button in "Layout" windows. When the object is changed, click [Edit] button after selecting the object in "Layout" windows. The “Layout edit” window is displayed. With the software version 1.7 or later, similar operation can be done by right-click. “(7) Group”...
Page 398 The explanation of each object is as follows. Table 17-2 Explanation of the layout Window Explanation Hexahedron(rectangular parallelepiped) Angle（Z） Size（X） Size（Y） Angle (X） Size（Z） Angle（Y） Position （X, Y, Z） Column (Cone) Size Angle（Z）（Upper radius） Size （Height） Angle Size (X）（Lower radius）...
Page 399 Window Explanation Sphere Angle（Z） Angle Size (X）（Radius） Angle（Y） Position （X, Y, Z） * There is no rotation in the sphere editing. 3D model Angle（Z） Angle (X） Angle（Y） Position （X, Y, Z） The position and a rotational reference position of 3D model are reference positions at the time of CAD data creation.
Page 400 Window Explanation 3D model (Continuation) The unit of scale that display in 3D monitor can be specified with Version 3.00A or later of this software. The millimeter is standard unit in 3D monitor. The unit of scale that can be specified is as follows.
Page 401 17.3.6.4. Editing of Layout group It is possible to move and rotate the whole group, and rename the Layout group. Refer to “17.3.6.5 Movement and rotation of the layout ”. This function can be used with Version 2.20W or later of this software. And, it is possible to set view type to the wire frame the whole group.
Page 402 17.3.6.5. Movement and rotation of the layout (1) Movement and rotation of the parts of layout When you move or rotate the part of layout, change the position and rotational value in the edit screen of each part. Refer to “17.3.6.1Editing of Layout ”. (2) Movement and rotation of the layout group It is possible to move and to rotate all parts in the group at the same time in this software version 2.20W or later.
Page 403 17.3.6.6. Save and Read the information of the layout. The objects of the layout can be preserved in the file. And, the objects of layout in the file can be read. By saving the file, layout parts can be used by another project. Click [Save] button when preserving them in the file.
Page 404 17.3.6.7. Layout condition edit “Layout condition edit” screen is shown by clicking [Edit] button on “Layout edit” screen. If you set I/O states to the layout parts, you can show or hide the parts. This function can be used in simulation.
Page 405: Robot Arrangement
17.3.7. Robot arrangement With the simulation running, click the menu bar [3D View] -> [Robot arrangement]. The robot arrangement window is displayed. You can set up each robot arrangement displayed in “3D monitor”. This function can be used with Version 2.10L or later of this software. Figure 17-42 Robot arrangement list The project list of online state is displayed.
Page 406 (1)[Edit] For displaying the robot arrangement screen, click a robot to edit with “Robot arrangement list”, and then the [Edit] button or double-click a robot to edit. Double-click here. Figure 17-43 Editing Robot arrangement list Edit the position and the angle and click the [Close] button. The angle is set in order of Z, Y, X axis. The order is the same as “Common coordinates for Collision avoidance”...
Page 407: Xyz Position Variables
17.3.8. XYZ position variables It is possible to display the XYZ position variable on 3D monitor. This function can be used with Version 2.20W or later of this software. [+ X] [+ Y] [+ Z] of the characters are not displayed with Version 3.60N or later of this software. Correspondence of color and coordinate axis are as follows.
Page 408 The position data which can be displayed is as follows. Table 17-4 The position data which can be displayed Preservation place Kinds of program Remarks Robot program in A simulation cannot be used when Movemaster Movemaster command the robot controller command is selected.
Page 409: Hand
17.3.9. Hand A robot hand can be displayed on the tool of the robot on 3D monitor. And can be selected them by signal state. This function can be used with Version 2.20W or later of this software. Selecting hand function can be used with Version 3.20W or later of this software.
Page 410 Rename the title or hand file name Click [Rename] button when you rename the title of the hand file register or the hand file name. The following dialog will be shown, you can input either a title after the change or the file name after the change by clicking [...] button.
Page 411 17.3.9.2. Hand file condition screen “Hand file condition” screen is shown by clicking [Set condition] button in “Hand file” screen. If you set conditions to a hand file, you can show the file only in specified I/O status and tool #. Figure 17-49 Hand file condition Title Set the title of the selected hand file.
Page 412 17.3.9.3. Hand Click [Edit] button on “Hand file” screen. The “Hand” screen is displayed. The parts of the hand registered are displayed on a "Hand" screen. Nothing is displayed when the hand is not created. When you set a white space (for false) in the checkbox of the parts on "Hand" screen, the parts of the hand are not displayed.
Page 413 Editing of Hand Click [Add] button. Click [Edit] button when editing the existing parts. “Hand edit” screen is displayed. Figure 17-53 Hand edit It is possible to set up a Hexahedron(rectangular parallelepiped), a Column (Cone), a Sphere, and a 3D model. The setting method of each part article is the same as layout parts.
Page 414: Save Avi
17.3.10. Save AVI It is possible to record contents in the 3D monitor and save the AVI file. This function can be used with version 3.20W of this software. Click [3D View] -> [REC.] -> [REC.] of the menu bar (or button of toolbar for the 3D monitor), the recording is started.
Page 415 Figure 17-56 Save AVI file dialog 17.3.10.1. REC. Option dialog Click [3D View] -> [REC.] -> [Options…] of the menu bar, the REC. Option dialog is displayed. Figure 17-57 3D monitor: REC. Option dialog ・ Frame rate You can change the frame rate of the video data to save the avi file. Setting range: 30/20/10[FPS] * By raising the frame rate the video will be smoothed, but on the other hand, the file size will be large(recording time is short).
Page 416 Caution About the recording time The recording time is affected by the screen size of the 3D monitor and the frame rate. To extend the recording time, reduce the screen size or the frame rate. If the initial screen size and frame rate is 30, it can be recorded for about 30 minutes (about 2GB).
Page 417: Robot Program Selection
17.4. Robot Program Selection Select the robot program to run the simulation. Step operation or direct execution in the simulation is not possible unless a program is selected. In the simulation, from the project tree, with [Online] → [Program], execute "Open in debugging status" for the program from the right mouse button.
Page 418: Program Execution
17.5. Program Execution You can execute a program that has been opened in debugging status and that has been selected at Operation panel. Table 17-5 the difference of program execution and debugging Program execution Program debugging Program selection Use [Select] button on Operation panel Open program by debugging mode Program operation Use buttons on Operation panel...
Page 419: Breakpoint Setting
17.7. Breakpoint Setting You can also use breakpoints in a simulation. For details on the operation method for breakpoints, see "8.9.4 Setting and deleting breakpoints". 17.8. Step Operation A program that has been opened in debugging status can be executed step by step. Start the simulation, and then open the robot program in debugging status.
Page 420: Direct Execution
17.9. Direct Execution You can input command statements and operate the robot directly. Click the simulation operation screen [Direct execution] button. D-EXEC Figure 17-62 Starting Direct Execution Input the command to execute into the command box, then either press the keyboard [Enter] key or click the [Execute] button.
Page 421: Jog Operation
17.10. Jog Operation You can perform the jog operations displayed in the robot view in the online and the simulation status. Click the operation panel screen [Jog] button. The screen for jog operations is displayed at the bottom of the simulation operation screen.
Page 422 The robot current position display and the jog operation button display for each axis use the method selected here. Also, these displays depend on the axis configuration of the connected robot. In the simulation mode, slider bar operation is effective. In the real robot controller, slider bar does not appear.
Page 423 (7) Changing TOOL Selecting the tool when moving the robot with the ”TOOL JOG”. The tool which can be selected is different depending on the software version of the robot controller connected. Table 17-6 The Tool which can be selected by each version The Tool which can be selected Ver.1.5 or earlier Not use...
Page 424 (10) Position value specified move You can change the current position of the robot by specifying the position value directly. When you double click coordinate value display, “Edit current position” screen corresponding to Jog mode is shown. Input the coordinate value on the screen, then the robot move to the position. If the inputted position is out of range for the robot, the robot doesn’t move.
Page 425: Simulation Robot Position Variable Editing
17.11. Simulation Robot Position Variable Editing You can edit position variables by moving the simulation robot and reading the position variables from the simulation robot posture. Move the robot to the target position with jog operations. Click the [Add] button or [Change] button for position variables in a program opened in debugging status to display the position edit screen, then click the [Read current position] button.
Page 426: Conditions For Tact Time Measurement
Caution When XYZ position variables, the parts of layout or Robot information is displayed in 3D monitor, tact time may not be calculated correctly. 17.12.1. Conditions for tact time measurement Be aware of the following restrictions on tact time calculation. Caution Do not start some simulators.
Page 427 Caution Include the destinations for any GoTo or GoSub's in the tact time calculation range. For example, the tact time can not be calculated for a program like the following. The location displayed inverted in black in the program is set for tact time calculation.) No destination selected No destination selected for GoTo statement...
Page 428: Tact Time Measurement
17.12.2. Tact time measurement This explains tact time measurement. １． Start simulation. Start simulation. For details, see "17.1 Starting a Simulation". ２． Open the program. Open the program whose tact time you will calculate. You can calculate the tact time for "offline" and "online"...
Page 429 ５． Check the range over which you will calculate the tact time. Open the program whose tact time you will calculate. Check the contents of this range, then click the [OK] button. Figure 17-70 Checking the Tact time Measurement Range The tact time calculation is started.
Page 430 The axis load level (J1-J6 each axis) and the tact time are displayed for the robot that can measure the axis load level. The calculation result of the axis load is displayed with %. The current axis load level The current tact time measurement results are measurement results displayed.
Page 431: Causes Of Tact Time Deviation
17.12.3. Causes of tact time deviation With this software, you can use the simulation function to calculate the robot movement tact time. However, the calculated tact time varies with the capacity of the computer used and its load status and does not completely match the actual robot operating time (tact time).
Page 432 because the simulation executes the next movement command without waiting for static determinacy after movement or for the conditions to be established, the tact time calculated differs from the tact time on the actual robot. We recommend that you finally confirm operation on the actual robot. 17-432 17-432...
Page 433: Cooperative Control Simulation
17.13. Cooperative control simulation Cooperative control by multiple robots can be simulated. Cooperative control is available only when "CR7xx-Q" controller is selected. This function is available from RT ToolBox2 Ver.3.71Z or later. The correspondence between the robot number used for coordinated control and the slot number of the robot CPU installed in the PLC base unit is as shown below.
Page 434 Cooperative operation function”. Cooperative operation simulation setting When using cooperative action on actual machine, it is necessary to absorb installation error and manufacturing error. However, there is no error in the virtual space of the simulation, so you can use the following simple method.
Page 435 Robot 1 750mm Hand 1 origin Hand 2 origin Center of work Robot 2 Figure 17-78 Example of controlling the center of the work (Detail image) The control point need not be the center of the workpiece. When moving a long work with two robots, it may be easier to teach if there is a control point at the tip of the work.
Page 436: Interference Avoidance
17.13.2. Interference avoidance It is possible to operate the robot while checking interference with other robots. For details, refer to the instruction manual “Detailed explanations of functions and operations 5.24 Interference avoidance function”. Also, refer to "11.3.15 Parameters of Collision avoidance"...
Page 437: Ending Simulation
17.14. Ending Simulation To end the simulation, close the robot program in debugging status. Then click on the menu bar [Online] → [Offline] or click the tool bar "Offline". Switch to Offline. Figure 17-81 Toolbar "Switch to Offline" When the simulation ends, the virtual robot controller, robot view, and simulation operation screen end and the controller goes back offline.
Page 438: Melfa-3D Vision
18. MELFA-3D Vision Set the control unit of MELFA-3D Vision. This function can be used with Version 3.00A or later this software. Version 3.60N or later of this software corresponds to MELFA-3D Vision Ver.1.2. To add a control unit to set to the workspace, double click the [MELFA-3D Vision] – [Setup/Add] in the project tree.
Page 439: I/O Simulator
19. I/O Simulator 19.1. Summary I/O simulator simulates the signal communication between robots. And this function can also interact with device of GX Simulator2. This function is available from RT ToolBox2 Ver.3.20W or later. (For details of GX Simulator2, refer to GX WORKS2’s manual.) Caution This Software supports only GX Simulator2.
Page 440 Figure 19-3 Add/Edit signal connection. (3) Delete Delete a selected row of signal connection. You can also delete multiple rows at the same time. (4) Up / Down Move a selected row of signal connection up/down. You can also move multiple rows at the same time. Signal connections are applied in descending order.
Page 441: Signal Connection Edit Screen
19.3. Signal connection edit screen On the simulator setting screen, Click [Add] button or [Edit] button to display signal connection edit screen. Figure 19-4 Signal connection edit screen (1) Simulation operation Select a desired behavior of Signal simulation. Select from [Signal value copy](default), [Only first], [Unconditional], [Specifying condition1], [Specifying condition 1 and 2].
Page 442 ・ Only first Specify an initial condition of signal value. Figure 19-6 Only first ・ Unconditional Specify a signal state during simulation. Figure 19-7 Unconditional 19-442 19-442...
Page 443 ・Specifying condition1 / Specifying condition 1 and 2 Specify 1 or 2 conditions and a signal value. The set value is applied when the set conditions are satisfied. Figure 19-8 Specifying condition (2) Signal type Specify a Signal type. Select from [PIO](default), [CC-Link(Link Relay)] and [CC-Link(Link Register)]. The following items differ according to [Simulation operation] and [Signal type].
Page 444 (5) IN / OUT Select input / output of signal. When [Source] / [Reference side] is robot, select [IN] or [OUT]. When [Source] / [Reference side] is robot, fixed by the [IN]. When it is GX Simulator2, this item is not visible. (6) Start # Specify a starting number of a device.
Page 445: Starting I/O Simulator
19.4. Starting I/O Simulator Before starting I/O simulator, create a I/O simulator definition file. For explanation of creating a I/O simulator definition file, refer to “19.2 Simulator settings”. Click [Start I/O simulator] button on toolbar to start I/O simulator during the simulation. Starting I/O simulator Figure 19-10 Starting I/O simulator Click [Start I/O simulator] button, and then the following [I/O simulator start] screen is displayed.
Page 446: Stopping I/O Simulator
During I/O simulator operating, the icon of I/O simulator is displayed in the task tray. Click the icon to open menu. Figure 19-13 Icon of I/O simulator When the previously-used I/O simulator definition file exists, robot simulator and I/O simulator can start simultaneously.
Page 447: Melfarxm.ocx Communications Middleware Setup
20. MelfaRXM.ocx Communications Middleware Setup 20.1. Summary MelfaRXM.ocx is an ActiveX controller that communicates with CR750/700/500 series robot controllers. MELFARXM.ocx can only be used if you have purchased the standard edition of RT ToolBox2. (Customers who have purchased the mini edition can not install MELFARXM.ocx.) When using only the RT ToolBox2 functions, there is no need to set up "MELFARXM.ocx".
Page 448: User's Manual Reading Guide
20.3. User's Manual Reading Guide The manual is in the CR-ROM as the Adobe PDF file. D:/Utility/MELFARXM/Doc/MelfaRXME.pdf * Example for the CD-ROM drive is "D:". (1) Preparation for viewing 1) Preparing computer Prepare a computer that has a CD-ROM drive. 2) Preparation of viewing software Viewing requires Acrobat Reader Ver 5.0 or higher.
Page 449 (4) Installer starts and the Setup screen appears. Install according to the instructions that appear on the screen. The Product ID is needed when this "MelfaRXM.ocx" is installed. Input the Product ID same as the Product ID of "RT ToolBox2". "MelfaRXM.ocx" can be installed with the Product ID of standard version, but can not be installed with Mini version.
Page 450: Appendix
21. Appendix 21.1. Q&A This explains frequently asked questions in a Q&A format. Version Where is the software version information? It is printed on the surface of your CD-ROM for this software. You can also check the version information on the screen displayed with this software's menu bar [Help] → [About RT Tool Box2].
Page 451 I checked "About RT ToolBox2" from the menu, but the product ID is not displayed. Is "No Product ID!" displayed? If "No Product ID!" is displayed in the version information, the installation of this software may have failed. Unfortunately, you need to install the software again. Communications (general) What are the means for communication with the robot controller? With a CR750/700 series robot controller, you can communicate via USB, Ethernet, and RS-232.
Page 452 Check item or cause Solution What color is Communications Server 2? The problem may be that the robot Return Communications Server 2 to icon controller is not connected correctly. status and check the color displays for the Check the items in "(4) When line state.
Page 453 When Communications Server 2 is yellow (overall) When Communications Server 2 is displayed yellow, check the following. Check item or cause Solution Is this software in the "Online" status? This software started up in the "Offline" status. When you put it into "Online" status, it communicates with the robot controller.
Page 454 Communications (RS-232) If you can not communicate with the robot controller using RS-232, check the following. Also, see "0Communications (general)". Check item or cause Solution What color is Communications Server 2? The problem may be that the robot controller Return Communications Server 2 to icon is not connected correctly.Check the items in status and check the color displayed for the "(1) When Communications Server 2 is...
Page 455 Check item or cause Solution Is anti-virus software running virus checks Switch off virus checking for RS-232. on RS-232 communications? When a computer starts up, sometimes this Either start the computer before connecting the cable or generates noise. start the computer before starting the robot controller. This noise can cause a communications error in the robot controller.
Page 456 Communications (Ethernet) [Note] When using Ethernet with a CRn-500 series robot controller, the robot controller must have the optional Ethernet card. If you can not communicate with the robot controller using Ethernet, check the following. Also, see "3. Communications (general)". Check item or cause Solution What color is Communications Server 2?
Page 457 The communication time is taken very long when using the backup etc. In Windows Firewall setting, if inbound communication of Communications Server 2 (RoboCom.exe) is blocked, change to allow the connection. Check item or cause Solution If there are one or more “RoboCom” lines in If there are “RoboCom”...
Page 458 The Oscillograph cannot be used when the communication method is set to High speed. In Windows Firewall setting, change to allow that RT ToolBox2 (MELFA_RT.exe) can receive. Check item or cause Solution Show the following screen by selecting If there is not [RT ToolBox2] in [Allowed programs and [Control panel] ->...
Page 459 Communications (USB) If you can not communicate with the robot controller using USB, check the following. Also, see "0Communications (general)". Check item or cause Solution What color is Communications Server 2? The problem may be that the robot Return Communications Server 2 to icon controller is not connected correctly.
Page 460 Robot program Did you write the program with Movemaster commands? The robots that can use Movemaster commands are restricted. Check in your robot's standard specifications to see whether it supports Movemaster commands. If your robot supports Movemaster commands, change the language used with "7 Robot Program Language Setting" in this document Is it possible to use programs as is that we used with an E/EN series robot controller? Position data prepared with MELFA-BASIC III (for E/EN series) can not be used as is.
Page 461 How should we edit a program for which the start condition is "Always"? A program for which the start condition is "Always" is executed immediately after the robot controller power comes On. To edit such a program, use the following procedure. (1) Change the starting condition in the "Slot table (SLT * * 1-32)"...
Page 462 Option card How should one check what option cards are mounted in a robot controller? Check from the project tree. For details, see "14 Option Card" in this document. Parameter editing No parameter list is displayed in the parameter editing tool. Download the parameter list from the robot controller.
Page 463: Index
21.2. Index Escape Point Parameters ........11-173 Ethernet Settings ......11-201, 11-202, 11-203 ＡＦ ABS Origin Technique ........... 13-251 Additional Axis Parameters ........11-174 Assigning Dedicated Input/Output Signals .... 11-195 File Manager ............13-301 Data parameters ..........11-196 Files General 1 Parameters ........11-195 Copy ..............13-304 General 2 Parameters ........
Page 464 Monitoring ............. 12-221 Edit assist functions ..........8-112 Errors ..............12-227 Move..............8-139 General signal ........... 12-234 Opening an Existing Program ........ 8-97 Movement status ..........12-226 Printing ..............8-128 Named signals ..........12-237 Read Items ............8-98 Operation hours ..........12-246 Rename ...............
Page 465 Servo Monitor............13-290 Ｕ Current .............. 13-293 Load ..............13-294 Uncomment Selection ..........8-120 Position(ABS) ............ 13-291 Uninstall ..............1-30 Power ..............13-295 USB Driver ..........1-31, 1-32, 1-40 Speed ..............13-292 User definition screen ..........16-325 Simulation ............ 5-72, 17-367 Deletion .............16-347 Breakpoint ............
Page 466: Copyright, Disclaimer
21.3. Copyright, Disclaimer 21.3.1. Open Source Computer Vision Library Copyright, Disclaime IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. By downloading, copying, installing or using the software you agree to this license. If you do not agree to this license, do not download, install, copy or use the software.
Page 468 HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CAB LE MELCO TOKYO NAGOYA WORKS : 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN Feb.2017 MEE-BFP-A8618 Printed in Japan on recycled paper. Specifications are subject to change without notice.

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