Page 1 CR700 Series Controller CR800 Series Controller R86TB Instruction Manual...
Page 3 SAFETY PRECAUTIONS Read the separate Safety Manual thoroughly before using this product. Take precautions as necessary. Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only.
Page 4 ● All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.) →Enforcement of safety training ● For teaching work, prepare a work plan related to the methods and procedures of operating the robot, and to the measures to be taken when an error occurs or when restarting.
Page 5 (VPNs), and antivirus solutions. Mitsubishi Electric Corporation will not be held responsible for any robot or system problems arising from DoS attacks, unauthorized access, computer viruses, and cyber attacks.
Page 6 CONTENTS SAFETY PRECAUTIONS ..............1 CHAPTER 1 BEFORE USE Instruction manual .
Page 7 Jog operation................38 Operating multiple axes simultaneously .
Page 8 Copying programs ............... . 96 Program comparison .
Page 9 Warm-up operation ..............138 Movement .
Page 10 Named signals................222 Stop signals .
Page 11 16.1 Oscillograph................272 Real time monitor settings .
Page 12 Zoom type switching ..............319 Light source position .
Page 13 BEFORE USE The R86TB is a teaching pendant (T/B) with a touch panel that allows you to operate the robot easily. Other instruction manuals use the R33TB/R32TB to explain how to operate the robot. When using the R86TB, refer to this instruction manual.
Page 14 Download wizard The instruction manual cannot be downloaded to the R86TB so clicking the [Yes] button will not start the download. The steps below explain what to do if the download wizard appears when the instruction manual is open. Change the display intervals of the download wizard to "Do not show". Click the [No] button in the download wizard to confirm the settings and display the instruction manual.
Page 15 Terms and symbols used in this manual Terms and symbols used in this manual are explained in the following table. Learn the meaning of the terms and symbols before reading this manual. Category Term/Symbol Meaning Term Controller Indicates a controller which controls the robot arm. RT ToolBox3 Indicates any of the following software packages (engineering tools).
Page 16 CONNECTING THE CONTROLLER Note that forcibly pulling or excessively bending the T/B cable may result in disconnection of the cable or damage to the connector. When installing or removing the T/B, hold the connector to protect the cable from stress. Install or remove the T/B with the control power of the controller turned off.
Page 17 Removal of the T/B Note that removing the T/B during program or user definition screen editing will cause edited data not to be saved. The following shows how to remove the T/B. In MANUAL mode Ensure that the controller is powered off. Lift the lock lever at the top of the connector, and hold the connector to pull it out by referring to step 3 on the following page: Page 14 Installation of the T/B...
Page 18 SPECIFICATIONS Product specifications • Using this product in environments where a large amount of dust, oil mist, or other substances exists may cause a malfunction. Avoid using or storing this product in such environments. • A USB memory with a capacity of 32G bytes or more cannot be used. Using a large-capacity USB memory will consume the system resource dramatically.
Page 19 Function list The following lists the main functions of the R86TB. Name Description Program Programs required for automatic robot operation can be created or edited. Additionally, spline files and position data for SQ Direct can be edited. Page 63 CREATING A PROGRAM Parameter Parameters set on the controller can be referenced or rewritten.
Page 20 Part names Name Description Emergency stop button Powers off the robot servos to bring the robot to an emergency stop. Turn the button to the right to release. Display (touch panel) Displays each screen of the T/B. Touch the display with your finger for operation. Wheel Moves the cursor to select each menu, etc.
Page 21 BASIC OPERATIONS The basic method of operating the T/B is shown below. How to use the T/B When operating the T/B, hold the grip handle with one hand, and operate the 3-position enable switch. When holding the T/B with your right hand, operate the 3-position enable switch with the thumb. When holding the T/B with your left hand, operate the 3-position enable switch with the index finger.
Page 22 How to operate the touch panel The R86TB has a touch panel display. Touch the screen with your finger for operation. The following shows representative methods of operating the touch panel. Command name Operation and explanation Operation image Touch the screen once quickly and release your finger. This operation is used in situations such as pressing a button on the screen and selecting an item.
Page 23 CONNECTING A USB MEMORY A USB memory is required to transfer files or update the software. The following shows how to connect a USB memory to the T/B. Installing a USB memory Do not remove the USB memory while the T/B is accessing the USB memory (during reading or writing). Failure to observe this may result in malfunction. Check the orientation of the USB connector, then insert the USB memory.
Page 24 EXPLANATIONS ON SCREENS The R86TB screen is composed as follows: Name Description Header Displays the title of the current page and the robot status. It also displays the tool and base switching buttons and the override setting button. Page 23 Header Page Displays the screen to operate functions such as editing programs and parameters.
Page 25 Header The header is composed as follows: Name Description Current time Displays the time of the internal clock of the T/B. Connection status Displays the status of connection between the T/B and the controller. Page 23 Connection status Buzzer OFF Displayed when the buzzer of the T/B is off (parameter TBBZR is 0).
Page 26 Program information The name and current line number of the program executed in slot 1, and the slot status are displayed. The display color changes depending on the slot status as follows. • Program selectable • During operation • Standby Program change If the following conditions are met, the program of slot 1 can be changed.
Page 27 Robot/tool/base/workpiece information The selected robot, tool, base, and workpiece are displayed. Tapping the robot/tool/base/workpiece information will display drop-down lists to change the settings. Tapping the close button will make the display show information only as before. Changing the robot If the multi-mechanism control function is used, tapping the drop-down list allows you to select a robot targeted for multi- mechanism control.
Page 28 Page The HOME screen will appear upon start of the T/B. Tapping a button in the header or HOME menu will display the page of the function. HOME screen Tapping the home button in the footer will display the HOME screen. The HOME screen is composed as follows: Menu as a list Menu as icons...
Page 29 Auxiliary screen The auxiliary screen displays the operation panel, robot viewer, force control screen, and simple jog screen. Up to two types of screens (except the simple jog screen) can be displayed side by side on the auxiliary screen. For details on each screen, refer to the following page: Page 312 OPERATION PANEL FUNCTIONS Page 316 3D monitor (auxiliary screen) Page 46 Force sense control...
Page 30 Page list screen Tapping the page list button in the footer or the page title in the header will list the currently opened pages. Up to 16 pages can be opened. The page list screen is composed as follows: Name Description List of opened pages Displays the list of the currently opened pages.
Page 31 Key operation guide The key operation guide is displayed when sheet keys are used. The key operation guide is used in the following functions. Name Description Display method Jog operation Used to operate the robot arm. Press the JOG button on the sheet key. Page 38 Jog operation Hand operation Used to operate the robot hand.
Page 32 INITIAL SETTINGS When the controller is started for the first time, check that the basic settings have been configured on the setup guidance screen. Tap [Maintenance] in the menu to open the maintenance menu screen, then [Setup guidance]. If there is an item that has not been set, complete the settings on the relevant setting screen. Tapping [RC time setting], [Robot serial setting], or [Origin data setting] will display the relevant setting screen.
Page 33 SETTING A ROBOT TARGETED FOR MULTI- MECHANISM CONTROL • A robot targeted for step operation The robot which moves when step operation is executed is the same as the robot which moves when automatic operation of the program is executed. When the GETM command is executed, the robot selected by the GETM command moves in the execution of subsequent operation commands.
Page 34 OPERATING THE ROBOT (JOG OPERATION) This chapter explains jog operation. There are two methods of jog operation: normal and simple. The features of each operation method are described below. Operation method Operation panel Jog mode Features Normal jog Jog operation guide •...
Page 35 Speed settings Set the override with the OVRD buttons [] and [] (sheet keys). The set override will be displayed in the controller's STATUS NUMBER display. Also, you can set the override in the combo box at the top right of the T/B screen. OVRD buttons (sheet keys) Combo box at the top right of the T/B screen Even if 100% is set, the speed of jog operation is reduced for safety.
Page 36 Jog mode The following six types of jog modes are available. • JOINT JOG • XYZ JOG • TOOL JOG • 3-axis XYZ jog • CYLINDER JOG • WORK jog *1 The workpiece jog function is supported with the following controller software versions. Controller name Controller software version CR800-D/R/Q...
Page 37 Switching jog mode The current jog mode is displayed on the jog operation guide. Pressing the [JOG] button (sheet key) will display the jog operation guide. Tapping the displayed jog mode will change the jog mode. 9 OPERATING THE ROBOT (JOG OPERATION) 9.2 Jog mode...
Page 38 Switching tool data • To move the robot to a taught position while switching tool data (MEXTL* parameter) during automatic program operation, substitute a tool number for the M_TOOL variable when needed to switch tool data for the operation. Exercise caution as the robot moves in an unexpected direction if the tool data during teaching does not match the tool number during operation.
Page 39 Switching base coordinates Tapping the robot/tool/base/workpiece information in the header will display drop-down lists to change the settings. Select base coordinates you want to use from the drop-down list. Base coordinates can be switched with the following controller software versions. Controller name Controller software version CR800-D/R/Q...
Page 40 Jog operation The following shows the procedure for operating the robot (jog operation) using the T/B. Set the key switch on the T/B to "MANUAL". Press the [JOG] button (sheet key) to display the jog operation guide, and select the jog mode. Lightly hold the 3-position enable switch (maintaining position 2) of the T/B.
Page 41 The robot moves while the [+] or [-] button (sheet key) corresponding to the displayed jog operation guide is pressed. By pressing the 3-position enable switch firmly or releasing your hand from the switch, the servo power is turned off, stopping the robot.
Page 42 Operating multiple axes simultaneously The following shows the procedure for operating multiple axes of the robot simultaneously. Set the key switch on the T/B to "MANUAL". Press the [JOG] button (sheet key) to display the jog operation guide, and select the jog mode. On the jog operation guide, select in which direction the axis you want to operate should move (The selected axis is displayed in yellow).
Page 43 Lightly hold the 3-position enable switch (maintaining position 2) of the T/B. Press the [SERVO] button (sheet key) to turn on the servo power. The LED (green) of the [SERVO] button is on while the servo power is on. The robot moves while the [EXE] button (sheet key) is pressed. Canceling the operating range Canceling the operating range allows you to move the robot beyond the operating range during jog operation.
Page 44 Jog operation with the wheel (fixed-length feeding) Setting [HIGH] or [LOW] for inching on the jog operation guide allows you to move the robot by a constant amount (fixed- length feeding). Fixed-length feeding is possible with the wheel in addition to the sheet key for robot operation. The following shows the procedure for performing fixed-length feeding with the wheel.
Page 45 Direct execution It is possible to operate the robot directly by inputting a command statement. The following shows the procedure for direct execution. Set the key switch on the T/B to "MANUAL". Tap [Direct Execution] on the jog operation guide. The direct execution dialog will appear. Enter a command to be executed in the Command field.
Page 46 Hand alignment The posture of the robot hand can be aligned in 90° increments. This function moves the hand in 90° increments to the values closest to the current positions of components A, B, and C. If tool coordinates are specified with the TOOL command or parameters, the hand will be aligned at the specified tool coordinates.
Page 47 Home position return The robot can be moved to the preset home position. The robot moves to the position specified with the parameter "JSAFE" using joint interpolation. The speed depends on the override. For information on how to set the home position, refer to the following section. The following shows the procedure for returning the robot to the home position.
Page 48 9.11 Force sense control When the force control function is used, the [Force Control] button is displayed on the jog operation guide. Tapping the [Force Control] button will display the force control screen. The force control function is supported with the following controller software versions. Controller name Controller software version CR800-D/R/Q...
Page 49 9.12 Hand operation Pressing the [HAND] button (sheet key) will display the hand operation guide. If a multi-function electric hand is attached to the robot, the electric hand operation guide will appear. The button at the bottom of the hand operation guide can be used to switch between the electric hand operation guide and normal hand operation guide.
Page 50 Multi-function electric hand operation • The driving power of the multi-function electric hand can be turned off only by the hand servo OFF operation from the T/B. Even if a robot emergency stop or an H level error occurs, or the robot servos are turned off, the driving power of the electric hand will not be turned off (except when an electric hand alarm occurs).
Page 51 Specifying a table Selecting the [Specify Table] check box allows you to switch the operation mode. Additionally, the comment corresponding to the set table number or point number will appear. The electric hand table method can be used with the following controller software versions. Controller name Controller software version CR800-D/R/Q...
Page 52 CR800 controller Standard hand IN-900 to 907 (Input signals 900 to 907) ON: "1" is displayed and the background color turns CR750/CR700 series controllers red. OUT-900 to 907 (Output signals 900 to OFF: "0" is displayed and the background color turns 907) white.
Page 53 9.13 Simple jog The steps for operating the robot using simple jog mode are as follows: Set the key switch on the T/B to "MANUAL". Press the [JOG] button on the T/B. The simple jog screen will appear. If the jog operation guide appears, tap the [Simple JOG] button. Pressing the [JOG] button on the T/B will save the settings to "Default JOG Type"...
Page 54 An explanation of the simple jog screen is shown below. Name Description Jog mode selector Switches between direct, jog, inching, and joint jog modes. Jog panel Displays the jog panel for the selected jog mode. Jog selector Switches between simple jog mode and normal jog mode. Hand Align Aligns the hand.
Page 55 Direct teaching • If the settings for the hand are not configured correctly, the arm may rise or fall when direct teaching is turned on. Furthermore, the safety functions may not work properly. Ensure the settings are correct. • The robot arm may continue to move under its own inertia in direct teaching mode. Do not release your hands from the robot arm until it has stopped moving. •...
Page 56 The robot can be put in the desired position/posture by moving the arm directly with your hands. Direct teaching is automatically turned off when switching to the jog, inching, or joint windows, or when an error occurs. Move the robot to the desired position/posture, then press the [TEACH] button on the top of the robot arm to teach the position.
Page 57 Jog operation (Tool jog) Jog operation allows the robot arm to be moved in the coordinate (Cartesian) axes via the simple jog screen. Translational or rotational motion can be can be selected. The steps for jog operation (tool jog) are as follows: Select the [JOG] tab on the simple jog screen.
Page 58 Motion type: Rotational An explanation of the rotational panel is shown below. Direction Rotates the arm in the positive C direction Rotates the arm in the negative C direction Rotates the arm in the negative B direction Rotates the arm in the positive B direction Rotates the arm in the positive A direction Rotates the arm in the negative A direction 9 OPERATING THE ROBOT (JOG OPERATION)
Page 59 Inching Inching mode allows the robot arm to be moved in specific distances via the simple jog screen. Translational or rotational motion can be selected. The steps for inching are as follows: Select the [Inching] tab on the simple jog screen. Tapping the [Motion type] button on the simple jog screen allows you to switch between motion types.
Page 60 Motion type: Translational An explanation of the translational panel is shown below. Direction Moves the arm in the negative Y direction Moves the arm in the positive Y direction Moves the arm in the negative Z direction Moves the arm in the positive Z direction Moves the arm in the positive X direction Moves the arm in the negative X direction Motion type: Rotational...
Page 61 Joint operation (Joint jog) Joint operation allows individual joints of the robot arm to be moved via the simple jog screen. The steps for joint operation (Joint jog) are as follows: Select the [Joint] tab on the simple jog screen. Tap the joint selection button on the simple jog screen to select the joint you want to operate (J1 to J6).
Page 62 Aligning the hand The posture of the robot hand can be aligned in 90° increments. This function moves the hand in 90° increments to the values closest to the current positions of components A, B, and C. Tool center point Tool center point The steps for aligning the hand are as follows: Tap the [Hand Align] button in any operation mode to align the hand.
Page 63 Moving to the home position The Home position function moves the robot to a safe position where it will not interfere with any peripheral devices or equipment. This function is used to move the robot to a safe position after an error has caused the robot to stop. Once the robot has moved to a safe position, the cause of the error can then be identified.
Page 64 Teaching This operation is used to teach positions to the robot. (Positions which are taught to the robot are stored in the program.) The positions are stored as selected position data in the program editing, spline editing, and SQ Direct Editing screen. If no position data is selected in the program editing screen, positions are automatically numbered from "P001"...
Page 65 CREATING A PROGRAM • Program names that cannot be used with the T/B If the name of a program in the controller is the same as a "reserved word" in Windows, an error will occur when the program is opened with program editing. In this case, change the name of the program in the controller.
Page 66 10.1 Creating a new program Tapping [New] on the program list screen will display the dialog to create a new program. Enter a program name, then tap [OK]. The program editing screen will appear. 10 CREATING A PROGRAM 10.1 Creating a new program...
Page 67 10.2 Opening an existing program Select a program you want to edit from the program list, then tap [Edit]. The program editing screen will appear. Double-tapping a displayed program name will also display the program editing screen. If read protection is set for the program, release the protection. For information on how to release the protection, refer to the following page: Page 98 Protection settings Read items when opening a program...
Page 68 10.3 Program editing screen The program editing screen is composed as follows: Name Description Command editing area An area to edit program command lines Page 67 Editing command statements Edit menu Displays the command editing menu or position editing menu. Page 72 Edit assist functions Page 75 Tool Page 82 Easy program editing...
Page 69 10.4 Editing a program • Do not edit visual programs with the T/B. If a program created using the visual program function is saved in the controller, sub programs automatically generated by the visual program are displayed in the program list. Do not edit these programs with the T/B. The following shows a list of sub programs for the visual program.
Page 70 Editing position variables • Upper and lower case letters in position variable names In MELFA-BASIC V and MELFA-BASIC VI, lower case letters can be used in position variable names. Position variable names are not case-sensitive in this software. For example, position variables "PA" and "pa" are recognized as the same position variable. When a position variable name is defined for the first time, the controller will convert later variables according to the defined position variable name.
Page 71 Selecting multiple position variables Selecting multiple position variables allows you to edit or delete them at a time. Holding down the position variable editing area for 1+ second will select multiple position variables. While they are selected, the color of the header in the position variable editing area is blue. Holding down the position variable editing area again will deselect the position variables.
Page 72 ■Changing position variables Select a variable name in the position variable editing area, then tap [Edit] in the position editing menu. A dialog will appear. Double-tapping the variable name in the position variable editing area will also display the dialog. The check boxes on the right of axis names can be used to activate or deactivate the input fields.
Page 73 Deleting position variables • To delete a position array variable, delete the Dim declaration in the command statement. Even if a position variable is deleted in this software, when a program with a Dim declaration is written to the controller, the position array variables remain as 0 for each component.
Page 74 Edit assist functions This section explains the edit assist functions useful for program editing. Use the edit assist functions from the command editing menu or position editing menu. Copy Copy characters in the command editing area. Multiple lines can be copied. Select a character string you want to copy, then tap [Copy] in the command editing menu.
Page 75 Position variable batch editing Position variables can be batch changed or values can be added. Select a variable type you want to edit from the Pos. List drop-down list in the position editing menu, then tap [Batch Edit]. Select a variable name you want to edit from Position Variables, then tap [->] to add it to Target. Tapping [<-] will delete it from Target.
Page 76 Position variable comments Add a comment to a position variable. Tap and hold the cursor over the position variable in the command editing area. A help label containing the comment will be displayed. When the [Comment] check box is selected in the position editing menu, the comment will be displayed after [Variable name] in the position data list.
Page 77 Tool Tapping [Tools] in the command editing menu will display a drop-down list. Tap and select a function you want to use from the drop-down list. Syntax check Whether the syntax of the robot program is correct can be checked. Tap [Tools] in the command editing menu, then [Syntax Check].
Page 78 Jumping to a label/procedure definition line Place the cursor over a label name or procedure name in the command editing area, tap [Tools] in the command editing menu, then [Move To Definition]. The cursor will jump to the label or procedure definition line. The following robot program languages are available in this function.
Page 79 Search Search for a specified character string. Tap [Tools] in the command editing menu, then [Find]. The search screen will appear. Tapping [Find] while a command statement is selected will enter the selected characters in the input field. Enter a character string to search for, then tap [Find Next] or [Find Previous]. The search will start. Tapping ...
Page 80 Replace Replace a specified character string with another one. Tap [Tools] in the command editing menu, then [Replace]. The replace screen will appear. Tapping [Replace] while a command statement is selected will enter the selected characters in the input field. Enter a character string to search for and a character string you want to replace with, then tap [Find Next].
Page 81 Command template Selecting a command statement from the command list allows you to insert it into the program command editing screen. Tap [Tools] in the command editing menu, then [Command Template]. The command template screen will appear. Select a command and template you want to insert, then tap [Insert]. The command template will be inserted into the command editing area.
Page 82 Batch removing comments • Removal process for special comment command "Rem" A space delimiter must be usually inserted between the comment command "Rem" and the line number or other command. However, even if a space is not used, robot controllers may judge the comment command "Rem" as a comment in some descriptions. This software, however, judges the comment command as a comment when delimited by a space.
Page 83 Bookmark Setting bookmarks in the program being edited allows you to jump the cursor to a line with a bookmark. This function is useful for temporarily making a note of lines being edited and label lines at jump destinations. ■Adding a bookmark A line with a bookmark has a "...
Page 84 10.5 Easy program editing Selecting setting items will generate a command statement automatically, which allows you to insert it into the program. Tap [Easy Editing] in the command editing menu, then a command you want to enter. The setting screen will appear. Enter a value, then tap [Insert].
Page 85 [Hand] command Tap [Easy Editing] in the command editing menu, then [Hand]. The following shows the settings. Setting Description Remarks  Hand No. Select the number of a hand you want to operate. Hand Operation Select the operation of the hand. Initial value: Close •...
Page 86 [Wait] command Tap [Easy Editing] in the command editing menu, then [Wait]. The following shows the settings. Setting Description Remarks  Wait-Release Conditions Select the conditions under which the program should stop waiting. • Signal Input (Wait M_In( )) Waiting state until a specified signal turns on or off •...
Page 87 [Output] command Tap [Easy Editing] in the command editing menu, then [Output]. The following shows the settings. Setting Description Remarks Signal# Enter a signal number you want to output. Initial value: 0 Tapping  on the right of the input field will display the input Handled as 0 if no value is entered in the field.
Page 88 [Calculus] command Tap [Easy Editing] in the command editing menu, then [Calculus]. The following shows the settings. Setting Description Remarks  Operation Select what operational treatment you want to perform. • Initialize Initialize the value of a specified variable. "Initial Value" in the settings can be used to set a value after initialization.
Page 89 [Continuous] command Tap [Easy Editing] in the command editing menu, then [Continuous]. The following shows the settings. Setting Description Remarks  Continuous Movement Select whether to enable or disable continuous movement. Maximum Neighborhood Distance to Enter the maximum neighborhood distance at the start of Displayed only when continuous movement is Start continuous movement.
Page 90 10.6 Position jump • Robot operation after arch interpolation is interrupted Even if the [EXE] button is released during position jump, pressing the [EXE] button again will cause the robot to move. When Arch (Mva) is selected for Interpolation, the robot will move in arch interpolation again from where the operation is resumed. Ensure safety around the robot, then resume the operation.
Page 91 10.7 Saving a program • Timing at which program external variables are written. The timing at which the program external variables can be backed up is the next time the power supply is turned on. To use the program external variables written to the controller, cycle the power of the controller. Be sure to save the edited program.
Page 92 10.8 Program debugging Created robot programs can be debugged. Start debugging Tap [Debug start] in the command editing menu. The program save screen will appear. After the saving process, the debug guide will appear on the right side of the screen. The execution line cursor is displayed at the left end of the command editing area during debugging.
Page 93 Running a program using step operation • Take special care to the robot movements during operation. If there is a possibility that any abnormality will occur, such as interference with the peripheral devices, immediately release the [+] button to stop the robot. Additionally, releasing the 3-position enable switch or pressing it tightly will also stop the robot. The program can be executed line by line during debugging (step operation).
Page 94 Program reset Resetting a program being executed can return the execution line to the beginning. Press the [+] button (sheet key) corresponding to "Program RESET" on the debug screen. 10 CREATING A PROGRAM 10.8 Program debugging...
Page 95 Modifying a program Edit a command statement in the program opened in the debugging state from [Tools] in the command editing menu. Editing a command line A specified command line can be edited. Place the cursor over the command line you want to edit, tap [Tools] in the command editing menu, then [Edit Command Line].
Page 96 Setting and deleting breakpoints If a breakpoint is set in a program, the program will stop at the line where the breakpoint has been set even if the program is executed continuously at the time of debugging. After the program stops, step operation can be continued. Once the T/B is rebooted, the settings of all the breakpoints will be deleted.
Page 97 Finish debugging To finish debugging, tap [Tools] in the command editing menu, then [Debug stop], or tap the close button at the top right of the debug operation guide. If a change has been made to the program, a confirmation message will appear. If "No"...
Page 98 10.9 Program manager All the operations in this function are for robot programs. Robot programs can be copied, compared, renamed, and protected. Copying programs Select a program you want to copy on the program list screen, tap [Program Manager], then [Copy]. Select an item you want to copy, enter a program name, then tap [OK].
Page 99 Program comparison Compare the contents in programs. Program command statements and position variables can be compared respectively. Select a program you want to compare on the program list screen, tap [Program Manager], then [Compare]. Select an item you want to compare in the dialog, then tap [OK]. The comparison results will appear. Programs being edited cannot be compared.
Page 100 Protection settings Set protection on a program for operation restrictions. Protection can be set on program command statements and position variables respectively. Select a program on which you want to set protection on the program list screen, tap [Program Manager], then [Protect]. Select an item on which you want to set protection, then tap [OK].
Page 101 10.10 Deleting programs • The program being edited cannot be deleted. Attempting to delete the program being edited will display an error. To delete a program, complete the edit before doing so. • Note that program files cannot be recovered once deleted. Select a program you want to delete on the program list screen, then tap [Delete].
Page 102 10.11 Editing position data for SQ Direct Only XYZ position data can be used in the SQ Direct Function. The SQ Direct Function is supported with CRnQ-700 series controller software version P8 or later. To use the function, set the parameters of the controller. For details, refer to the following manuals.
Page 103 Editing position data Select position data you want to edit, then tap [Edit] in the position data editing area. Enter values, then tap [OK]. Position data will be changed. Initializing position data Select position data you want to initialize, then tap [Initialize] in the position data editing area. Tapping [Yes] in the confirmation dialog will change position data.
Page 104 10.12 Option Optional items related to program editing can be set. Tap [Option] in the header menu. The program option setting screen will appear. After the settings have been changed, tap [OK] to apply the settings. Name Description Syntax Check Before Save Configure the settings related to syntax check at the time of program saving.
Page 105 Name Description Convert blank lines to comments Inserts a comment (') into blank command lines in situations such as saving programs and performing syntax check. Use this feature if you do not wish to delete blank lines automatically. Font Size Changes the font size in the command editing area.
Page 106 Auto indent with specific commands After a new line is started after a specific command statement, an indentation is automatically inserted, or the starting position is aligned. [Number of indent characters] allows you to set the number of indent characters you want to insert automatically. New line New line Inserting an indentation...
Page 107 CREATING SPLINE FILES This section explains how to create spline files to be used in the spline interpolation function. This function moves the robot at a specified speed along a smooth spline curve between specified path points. For details on the spline interpolation function, refer to the following manual: CR800 Series Controller INSTRUCTION MANUAL Detailed explanations of functions and operations Tapping [Spline] on the program list screen will display the spline file list screen.
Page 108 11.2 Opening an existing file Select a spline file you want to edit from the spline file list, then tap [Edit]. The spline file editing screen will appear. Double-tapping a spline file number will also display the spline file editing screen. Updating the list of spline files Tapping [Update] on the spline file list screen will read the spline files in the controller.
Page 109 11.4 Editing spline files This section explains how to edit spline files. Editing path point data Adding and editing path points ■Adding path points Tap [Add] in the path point editing menu or double-tap a blank area in the path point list. The path point will be added. ■Editing path points Select a path point in the path point list, then tap [Edit] in the path point editing menu.
Page 110 Edit assist functions This section explains the edit assist functions useful for spline file editing. Use the edit assist functions from the path point editing menu. Cut path point data. Multiple path point data can be cut. Select path point data you want to cut, then tap [Cut] in the path point editing menu. The paste function allows you to paste the cut path point data in other path point data.
Page 111 Property Comments can be entered, and the file version can be selected. ■Entering comments The entered comments are displayed in the Comments field of the spline file list. It is useful when selecting a spline file if comments such as work details and conditions are written. Up to 96 two-byte characters (192 single-byte characters) can be entered in the Comments field.
Page 112 Position adjustment Tap [Tools] in the path point editing menu, then [Position Adjustment]. The position adjustment dialog will appear. The following shows how to adjust positions. Select the check box of a path point you want to adjust from the Adjustment Target List. Enter values in the Adjustment Data fields.
Page 113 Frame transformation Tap [Tools] in the path point editing menu, then [Frame Transformation]. The frame transformation dialog will appear. The following shows the frame transformation method. Select "Origin", "Position on the X-axis", or "Pos. in +Y Direction on the X-Y Plane" in the Reference Frame section, and tap [Select from Point List...] to enter values.
Page 114 Ex-T control settings Configure the settings when using Ex-T control. Ex-T control is a function to operate the robot assuming that the origin in the coordinate system fixed outside as a robot tool center point. For details, refer to the following manual: CR800 Series Controller INSTRUCTION MANUAL Detailed explanations of functions and operations Tap [Tools] in the path point editing menu, then [Ex-T Control Settings].
Page 115 11.5 Saving spline files Tapping [Save] on the spline file editing screen will save the spline file. If a spline file is newly created, the spline file save screen will appear. 11.6 Spline manager Spline files can be copied or compared, and spline numbers can be changed. Copying spline files Select a spline file you want to copy on the spline file list screen, tap [Spline Manager], then [Copy].
Page 116 Comparing spline files You can check whether there is any difference in the contents of spline files. Select a spline file you want to compare on the spline file list screen, tap [Spline Manager], then [Compare]. The comparison results will appear. Changing spline numbers On the spline file list screen, select a spline file that has the spline number you want to change, tap [Spline Manager], then [Renumber].
Page 117 SETTING PARAMETERS • If a password is registered in parameters by the security function of the controller, the parameters cannot be rewritten. To rewrite a parameter, delete the password of the security function. For information on how to delete the password, refer to the following page: Page 264 Deleting the password It is possible to read the parameters even if the security function is enabled.
Page 118 12.2 Editing from the parameter list In the parameter list, you can refer to or rewrite parameter information by specifying a parameter name. Displaying the parameter list screen Tap [Parameter List] on the parameter menu screen. The following confirmation message may appear showing information on the parameter list. Read the parameter list from the controller.
Page 119 Parameter editing • Use upper-case letters when naming programs in alphabetic characters. Lower-case alphabetic characters can be used in the parameter settings. However, be sure to use upper-case letters when naming programs in alphabetic characters for the parameters of the base program (PRGUSR), slot table (SLT*), etc. All of the program names in the controller are treated as upper-case letters.
Page 120 Editing parameters changed from the initial values Displaying the list of parameters changed from the initial values allows you to check which parameter has been changed. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/R/Q All versions CR750-D/CRnD-700...
Page 121 Finding parameters A character string can be searched for in the parameter list. Enter a character string to search for in the text box on the parameter list screen, then tap [Search]. Parameters that include the character string in parameter names or explanations will be selected. Parameter initialization There are two methods for initializing parameters as shown below.
Page 122 12.3 Movement parameters Operating range The operating range of the robot can be set. Tap [Motion Limit] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 123 The speeds for robot's joint jog and XYZ jog can be set. Tap [Jog] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. 12 SETTING PARAMETERS 12.3 Movement parameters...
Page 124 Hand The parameters for the hand attached to the robot can be set. Hand The parameters can set the type (single solenoid/double solenoid, etc.) of the hand attached to the robot, and whether a workpiece is grasped or not when HOPEN* (hand open) or HCLOSE* (hand closed) is executed. Tap [Hand] in the [Movement] category on the parameter menu screen.
Page 125 Multi-hand base A multi-hand base model name and standard coordinate values for each hand can be set. If the connected robot and controller support the multi-hand function, items related to multi-hand will be displayed on the parameter menu screen. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR800-R/CR800-Q...
Page 126 Multi-hand tool A multi-hand base can be selected, and the offset values of each hand can be set with respect to the selected hand base. The multi-hand tool can be connected to the robot with remote I/O or parallel I/O. If the connected robot and controller support the multi-hand function, items related to multi-hand will be displayed on the parameter menu screen.
Page 127 Electric hand A multi-function electric hand model can be selected, and the parameters can be set. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR800-R/CR800-Q All versions CR750-D/CRnD-700 Ver.S2a or later CR750-Q/CRnQ-700 Ver.R2a or later Tap [Electric Hand] in the [Movement] category on the parameter menu screen.
Page 128 Electric hand point Teach the multi-function electric hand. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR800-R/CR800-Q All versions CR750-D/CRnD-700 Ver.S2a or later CR750-Q/CRnQ-700 Ver.R2a or later Tap [Electric Hand Point] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 129 After selecting a point, tap [Set]. The "Electric Hand Point Parameter Setting" screen will appear. After entering a position value and comment, tap [OK]. The list of electric hand points will be updated. Comments can be set with the following controllers. Controller name Controller software version CR800-D/CR800-R/CR800-Q...
Page 130 Electric hand table Set parameters related to the specification of multi-function electric hand tables. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR800-R/CR800-Q All versions CR750-D/CRnD-700 Ver.S3e or later CR750-Q/CRnQ-700 Ver.R3e or later Tap [Electric Hand Table] in the [Movement] category on the parameter menu screen.
Page 131 After selecting a table, tap [Set]. The electric hand table setting screen will appear. After entering table data, tap [OK]. The list of electric hand tables will be updated. 12 SETTING PARAMETERS 12.3 Movement parameters...
Page 132 Weight and size You can set the conditions for the hand attached to the robot and the conditions for the workpiece grasped by the robot. Tap [Weight and Size] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 133 Tool Robot's standard base coordinates, standard tool coordinates, and tool number can be set. If the connected robot supports multi-hand, tool data "tool 5" and later can be set. The multi-hand function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR800-R/CR800-Q...
Page 134 User-defined area Specifying an area (cuboid) defined with two points in the robot XYZ coordinates allows you to set the behavior for when the robot enters the area. Tap [User-defined Area] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 135 Free plane limit The overrun limit that the robot uses on a free plane can be set. Tap [Free Plane Limit] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 136 Home position The robot's home position can be set. Tap [Home Position] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. 12 SETTING PARAMETERS 12.3 Movement parameters...
Page 137 Additional axes Information related to the additional axes of robots can be set. Tap [Robot Additional Axis] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 138 Tapping [Set...] button will display the screen to set each information on the selected additional axis. 12 SETTING PARAMETERS 12.3 Movement parameters...
Page 139 Collision detection Information related to the robot's collision detection functions can be set. Tap [Collision Detection] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 140 Warm-up operation Information related to the robot's warm-up operation function can be set. Tap [Warm-up Operation] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 141 Movement Information related to the optimum acceleration/deceleration for robot operation and compliance errors can be set. Tap [Movement] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 142 Workpiece coordinates Workpiece coordinate parameters define the coordinate system for work jog. Up to eight workpiece coordinates can be defined. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR800-R/CR800-Q All versions CR750-D/CRnD-700 Ver.P8 or later CR750-Q/CRnQ-700 Ver.N8 or later Tap [Work Coordinate] in the [Movement] category on the parameter menu screen.
Page 143 Force sense control Set parameters related to force sense control. For information on the parameters, refer to the following manuals: CR800 series controller Instruction Manual Force Sense Function (BFP-A3510) CR750/CR751 series controller Instruction Manual Force Sense Function (BFP-A8947) Force sensor Configure the following settings for the force control function: Mechanism assigned to the force sensor, Coordinate system, Filter time constant, Restriction, Tolerance level, and Selection of sensor.
Page 144 Initialize the force sensor with the [Setting] button. Thereby, the following values will be set. Sensor type Robot # Axis # Left/ Place/ Place/ Filter Max. Tolerance Selection Right Angle Angle time offset level of sensor constant 1F-FS001-W200 The first The first element Left- X: 0.00...
Page 145 Control mode Set a coordinate system, control modes of axes, stiffness coefficients, and dumping coefficients which are used by the control mode of the force control function. Tap [Force Control Mode] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 146 Control characteristics Set force sense control gains, force command values, and force detection setting values which are used by the control characteristics of the force control function. Tap [Force Control Characteristics] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 147 Logging function Configure the logging function settings and FTP communication settings which are used by the force control function. Tap [Force Log] in the [Movement] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 148 Collision avoidance Set parameters related to collision avoidance. For information on the parameters, refer to the following manuals: CR800 Series Controller INSTRUCTION MANUAL Detailed explanations of functions and operations (BFP-A3478) CR750/CR751/CR760 Series Controller INSTRUCTION MANUAL Detailed explanations of functions and operations (BFP-A8869) Collision avoidance function The parameters of the robot's collision avoidance function can be set.
Page 149 Collision avoidance area The parameters of the robot's collision avoidance area can be set. This function is supported with the following controller software versions. Controller name Controller software version Robot model type Supported model CR800-D All versions RV-FR, RH-FRH Free plane limit CR800-R/CR800-Q All versions RV-FR, RH-FRH...
Page 150 The selected hand will be displayed as the 3D model.Select one collision avoidance area from the list and tap the [Set] button, or double-tap the list. The dialog for the collision avoidance area settings will appear. 12 SETTING PARAMETERS 12.3 Movement parameters...
Page 151 Operating the [Robot Operation] slider will move the axis of the 3D robot model. The [Current Pos] button allows you to make the posture of the 3D robot model the same as that of the robot being connected. The [Set Base of This Robot Model] button allows you to set the base coordinate values of the robot. To display the position of the free plane limit when [World] is selected in the coordinate system, set the actual base coordinate values.
Page 152 Safety This screen is used to set parameters related to the robot safety option of the CR750/CR700 series controllers. For information on the robot safety option, refer to the following manual: CR750/CR751 series controller Robot Safety Option Instruction Manual (BFP-A3372) This function is supported with the following controller software versions.
Page 153 Position monitoring (plane settings) Planes for the SLP function can be set. The SLP function monitors that the monitoring area of the robot does not exceed the defined position monitoring plane. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 154 Position monitoring (position settings) Monitoring positions for the SLP function can be set. The SLP function monitors that the monitoring area of the robot does not exceed the defined position monitoring plane. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 155 Speed monitoring You can configure the settings of the function (SLS function) that keeps the speed of the robot below the monitoring speed and monitors that the robot operating speed does not exceed the monitoring speed. After changing the value, tapping [ ] will write the parameter to the controller.
Page 156 Torque width monitoring You can configure the settings of the function (STR function) that monitors that the actual torque is within the permissible torque range which is established from the estimated torque of the robot. After changing the value, tapping [ ] will write the parameter to the controller.
Page 157 MELFA High Drive MELFA High Drive-related settings can be configured. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/R/Q Ver.E1 or later To check which robots the function is available for, refer to the following manual: CR800 Series Controller INSTRUCTION MANUAL Detailed explanations of functions and operations (BFP-A3478) Tap [MELFA High Drive] in the [Movement] category on the parameter menu screen.
Page 158 12.4 Program parameters Slot table The operating conditions of each task slot for multi-task operation can be set. Tap [Slot Table] in the [Program] category on the parameter menu screen. Select the number of the task slot to be changed, then tap [Setting]. Set a program name, operating conditions, start conditions, and task priority on the displayed setting screen, then tap [Write].
Page 159 Robot language The robot program language (MELFA-BASIC VI/MELFA-BASIC V/MELFA-BASIC IV) to be used in the controller can be set. Tap [Program Language] in the [Program] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 160 Programs Parameters related to robot programs can be set. Tap [Command] in the [Program] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. 12 SETTING PARAMETERS 12.4 Program parameters...
Page 161 User errors You can set the message, cause, and recovery method for user errors set with a program. Tap [User Error] in the [Program] category on the parameter menu screen. Double-tapping an error number to be edited from the list will display the user error parameter setting screen. After entering an error number, error message, cause, and recovery method, tap [OK].
Page 162 12.5 Signal parameters Output signal reset pattern • Read the parameter list of the controller being connected. Use this screen after reading the parameter list of the controller being connected. Thereby, the output signals corresponding to the functions of the controller can be displayed.
Page 163 Also, selecting a signal group (for example, "0-31") and tapping [Set...] will change 32 signals at a time. 12 SETTING PARAMETERS 12.5 Signal parameters...
Page 164 Assigning dedicated I/O signals You can assign signal numbers to each function in order to perform remote operations such as running and stopping robot programs, and to display/manipulate execution progress information and servo power supply status, etc. General 1 Tap [General1] in the [Signal] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 165 General 2 Tap [General2] in the [Signal] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. 12 SETTING PARAMETERS 12.5 Signal parameters...
Page 166 Data Tap [Data] in the [Signal] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. The [Temp. in RC Output Req.] and [During Output Temp. in RC] parameters are supported with the following controller software versions.
Page 167 Tap [Jog] in the [Signal] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. The JOGNER (Input signal: Error Disregard at JOG and Output signal: During Error Disregard at JOG) parameters can be used with the CR800/750/700 series controllers.
Page 168 Tapping [ ] will show an explanation of the parameter. The displayed contents differ depending on the controller being connected. When a CR800 series controller is connected When a CR750/CR700 series controller is connected 12 SETTING PARAMETERS 12.5 Signal parameters...
Page 169 Warm-up operation The warm-up operation parameters can be set when the CR800/750/700 series controller is connected. Tap [Warm Up] in the [Signal] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 170 Slot start (each slot) Tap [Start (Each Slot)] in the [Signal] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. 12 SETTING PARAMETERS 12.5 Signal parameters...
Page 171 Slot stop (each slot) Tap [Stop (Each Slot)] in the [Signal] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. 12 SETTING PARAMETERS 12.5 Signal parameters...
Page 172 Servo ON/OFF (each robot) Tap [Servo ON/OFF (Each Robot)] in the [Signal] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. 12 SETTING PARAMETERS 12.5 Signal parameters...
Page 173 Machine lock (each robot) Tap [Machine Lock (Each Robot)] in the [Signal] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. 12 SETTING PARAMETERS 12.5 Signal parameters...
Page 174 ] will show an explanation of the parameter. The values that can be selected from the [Baud Rate] drop-down list differ depending on the controller being connected. Controller name Baud rate CR800 series controller 9600 CR750/CR700 series controller 9600, 19200 12 SETTING PARAMETERS 12.6 Network parameters...
Page 175 Ethernet Ethernet information of the controller can be set. Tap [Ethernet] in the [Network] category on the parameter menu screen. Tapping a tab will display the screen according to the tab. Page 173 IP address Page 174 Devices and lines Page 176 Real time monitor Page 177 Real-time external control command IP address...
Page 176 Devices and lines Parameters related to controller devices and lines can be set. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. 12 SETTING PARAMETERS 12.6 Network parameters...
Page 177 Select the device to be edited, then tap [Set...]. The device parameter setting screen will appear. Selecting [MELFA-3D Vision] or [Network Vision Sensor (2D)] from the [Autoconfiguration] combo box will display setting values in the Mode and subsequent settings according to the selection. 12 SETTING PARAMETERS 12.6 Network parameters...
Page 178 Real time monitor Parameters related to the real time monitor function of the controller can be set. The real time monitor function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR800-R/CR800-Q All versions CR750-D/CRnD-700 Ver.S3q or later CR750-Q/CRnQ-700 Ver.R3q or later After changing the value, tapping [...
Page 179 Real-time external control command Parameters related to the communication settings of the real time external control command of the controller can be set. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter. 12 SETTING PARAMETERS 12.6 Network parameters...
Page 180 CC-Link CC-Link information of the controller can be set. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR750-D/CRnD-700 All versions Tap [CC-Link] in the [Network] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 181 CC-Link IE Field CC-Link IE Field information of the controller can be set. This function is supported with the following controller software versions. Controller name Controller software version CR800-D All versions Tap [CC-Link IE Field] in the [Network] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 182 CC-Link IE Field Basic CC-Link IE Field Basic information of the controller can be set. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR800-R/CR800-Q All versions Tap [CC-Link IE Field Basic] in the [Network] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 183 PROFIBUS PROFIBUS information of the controller can be set. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR750-D/CRnD-700 All versions Tap [PROFIBUS] in the [Network] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 184 PROFINET PROFINET information of the controller can be set. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR750-D/CRnD-700 All versions Tap [PROFINET] in the [Network] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 185 DeviceNet DeviceNet information of the controller can be set. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR750-D/CRnD-700 All versions Tap [DeviceNet] in the [Network] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 186 EtherNet/IP EtherNet/IP information of the controller can be set. This function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR750-D/CRnD-700 All versions Tap [EtherNet/IP] in the [Network] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 187 EtherCAT EtherCAT information of the controller can be set. This function is supported with the following controller software versions. Controller name Controller software version CR800-D All versions Tap [EtherCAT] in the [Network] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 188 12.7 Programmable controller cooperation parameters Multiple CPU This function is supported with the following controller software versions. Controller name Controller software version CR800-R/CR800-Q/CR750-Q/CRnQ-700 All versions Tap [Multiple CPU] in the [PLC] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 189 IO unit This function is supported with the following controller software versions. Controller name Controller software version CR800-Q/CR750-Q/CRnQ-700 All versions Tap [IO Unit] in the [PLC] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. Tapping [ ] will show an explanation of the parameter.
Page 190 12.8 Safety parameters Safety diagnosis function • Pay sufficient attention to password management. The settings of the safety diagnosis function cannot be changed without entering the correct password. Pay sufficient attention to password management. To reset the password, it is required to restore the factory settings. Resetting the robot type will restore the factory settings. For further information on resetting the robot type, refer to the "Detailed explanations of functions and operations".
Page 191 To change the password, tap [Change password]. Enter the current and new passwords, then tap [OK]. The new password will be applied. The password must be 8 to 32 characters long. Passwords are case-sensitive and only single-byte alphanumeric characters (0 to 9, A to Z, and a to z) can be used. 12 SETTING PARAMETERS 12.8 Safety parameters...
Page 192 CR800-R/CR860-R controller Safety Communication Function Instruction Manual (BFP-A3772) This function can be used with the CR800 series controller (robot safety option/safety communication function required). The method for setting safety parameters of the CR750/CR700 series controllers differs. For details, refer to the following page:Page 150 Safety Basic settings Configure the basic settings of the safety function.
Page 193 Robot model Set a robot model used for safety function monitoring. Tap [Robot Model] in the [Safety] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. 12 SETTING PARAMETERS 12.8 Safety parameters...
Page 194 Safety logic Set safety logic parameters. Safety input (safety IO) parameters Set parameters related to the input signals of the safety function. Tap [Safety Input(Safety IO)] in the [Safety] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller.
Page 195 Safety input (safety communication) parameters Set parameters related to the input signals of the safety communication function. Tap [Safety Input (Safety Communications)] in the [Safety] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. This function is supported with the following controller software versions and dates of manufacture.
Page 196 AREA input parameters Set parameters related to the areas to be monitored for safety. Tap [Area Input] in the [Safety] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. 12 SETTING PARAMETERS 12.8 Safety parameters...
Page 197 Safety output (safety IO) parameters Set parameters related to the output signals of the safety function. Tap [Safety Output(Safety IO)] in the [Safety] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. 12 SETTING PARAMETERS 12.8 Safety parameters...
Page 198 Safety output (safety communication) parameters Set parameters related to the output signals of the safety communication function. Tap [Safety Output (Safety Communications)] in the [Safety] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. This function is supported with the following controller software versions and dates of manufacture.
Page 199 Set parameters related to stop of the robot when the safety function is activated. Tap [SOS] in the [Safety] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. 12 SETTING PARAMETERS 12.8 Safety parameters...
Page 200 Set parameters related to SLS (Safely-limited speed). Speed parameters Set parameters related to speed control. Tap [Speed] in the [Safety] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. 12 SETTING PARAMETERS 12.8 Safety parameters...
Page 201 Operation check Check control operation of SLS. Tap [Operation Check(SLS)] in the [Safety] category on the parameter menu screen. The parameter settings are not required on this screen. Tapping [Reset] will reset the maximum value of the measured value. 12 SETTING PARAMETERS 12.8 Safety parameters...
Page 202 Set parameters related to SLP (Safely-limited position). Plane parameters Set parameters related to plane monitoring. Tap [Plane] in the [Safety] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. 12 SETTING PARAMETERS 12.8 Safety parameters...
Page 203 Area parameters Set parameters related to area monitoring. Tap [Area] in the [Safety] category on the parameter menu screen. After changing the value, tapping [ ] will write the parameter to the controller. 12 SETTING PARAMETERS 12.8 Safety parameters...
Page 204 Operation check Check control operation of SLP. Tap [Operation Check(SLP)] in the [Safety] category on the parameter menu screen. The parameter settings are not required on this screen. 12 SETTING PARAMETERS 12.8 Safety parameters...
Page 205 STATUS MONITORING Various information in the connected controller can be displayed. The monitor functions are roughly divided into the following four categories. • Robot movement monitor: Monitors items related to robot movement. • Signal monitor: Monitors items related to robot's I/O signals. •...
Page 206 13.2 Movement monitor Slot status The status of task slots in the controller can be monitored. Tap [Slot Run State] on the monitor menu screen. Tapping [Stop All Program] will stop the programs executed in all slots (including slots whose startup condition is set to "ALWAYS").
Page 207 Program monitor • Pay sufficient attention when changing a variable value. Changing a value will change the destination point of the robot, causing interference with surrounding objects. A dangerous situation arises especially while the robot is moving. Be sure to carefully check the values you will change. •...
Page 208 Program monitor setting file Once the program monitor screen is closed, the items set on the screen will be saved automatically, and the settings will be applied next time the screen is displayed. The settings are saved for each task slot. The display settings of the program monitor can be saved to a file.
Page 209 General-purpose signal monitor The status of signals input to the controller from external devices and that of signals output to the external devices from the controller can be checked. Name Description Signal number settings The start numbers of input and output signals can be set within the range of 0 to 32704. Show/hide general-purpose signal Tapping this area will show or hide the general-purpose signal monitor.
Page 210 Variable monitor The values of the variables used in the selected program can be checked. Workpiece coordinate variables can be monitored only when the robot program language is set to "MELFA-BASIC VI". Name Description Add variables to monitor. Page 208 Adding variables Select Batch select variables to monitor from the list of variables used in the program.
Page 211 ■Selecting variables Batch select variables to monitor from the list of variables used in the program. The upper list displays "Variables not displayed", and the lower list displays "Displayed variables". Select a variable from the "Variables not displayed" list, then tap [Add]. The variable will be added to the "Displayed variables" list.
Page 212 ■Changing variables Change the values of variables registered on the variable monitor. Select a variable you want to change its value from the variable monitor, then tap [Change]. The position data editing dialog will appear. Check the variable name, enter values, then tap [OK]. 13 STATUS MONITORING 13.2 Movement monitor...
Page 213 Register monitor The status of register values input to the controller from external devices and that of register values output to the external devices from the controller can be checked. If an option card is not attached, the register monitor will not appear. Name Description Register number settings...
Page 214 Program external variable monitor • Pay sufficient attention when changing a variable value. Changing a value will change the destination point of the robot, causing interference with surrounding objects. A dangerous situation arises especially while the robot is moving. Be sure to carefully check the values you will change. •...
Page 215 Operation status The robot's current position, destination point, and whether the hand is opened or closed can be checked. Tap [Movement State] on the monitor menu screen. 13 STATUS MONITORING 13.2 Movement monitor...
Page 216 Event history The operation event history of the controller can be checked. This function can be used with the CR800 series controller. Tap [Event History] on the monitor menu screen. While data is being acquired from the controller, a dialog appears showing that communication is in progress. Name Description File Save...
Page 217 Error The error that is occurring in the controller can be checked. Tap [Error] on the monitor menu screen. Selecting an error from the list will display the cause and solution of the error in the Error Detail section. 13 STATUS MONITORING 13.2 Movement monitor...
Page 218 Error history The error history can be checked. Tap [Error History] on the monitor menu screen. While data is being acquired from the controller, a dialog appears showing that communication is in progress. Name Description Error Level Narrows down and displays the error history list according to the error level. Tabulation Information Displays the start date and time of error history collection.
Page 219 Error record • Timing at which error information is registered in the error record. The registration is performed upon error reset. Note that turning off the power without resetting the error will cause the generated error not to be registered in the error record. The number of times that each error occurred can be checked.
Page 220 13.3 Signal monitor General-purpose signals The status of signals input to the controller from external devices and that of signals output to the external devices from the controller can be checked. Tap [General Purpose Signal] on the monitor menu screen. Name Description Display Format...
Page 221 Monitor settings Signals to be displayed can freely be set in a continuous range. Tapping [Monitor Setting] will display the setting dialog. Set the start numbers of signals in Input Signal# and Output Signal#, set each display range in Lines, then tap [OK]. Once the screen is closed, the set input and output signal numbers, and lines will be saved automatically.
Page 222 Pseudo input • While the controller is in pseudo input mode, signal input from external devices cannot be received. To use pseudo input, put the controller into pseudo input mode. While the controller is in pseudo input mode, the controller cannot receive signal input from external devices.
Page 223 Forced output • Signal forced output Signal numbers assigned (used) as dedicated output signals cannot be forcibly output. Forced output is possible regardless of whether the controller mode is either [AUTOMATIC] or [MANUAL]. However, if any of the programs is running, forced output is not possible.
Page 224 Named signals Naming general-purpose I/O signals allows you to check the status. "Named Signal" allows you to check the status of dedicated I/O signals and named general-purpose I/O signals. Read a definition file for named signals in the controller at startup. Tap [Named Signal] on the monitor menu screen.
Page 225 Adding or editing named signals To add a named signal, tap [Add]. To edit a named signal, select it from the list, then tap [Edit]. Enter general-purpose signal numbers and name, select the signal type and display format, then tap [Add] or [Change]. The list will be updated.
Page 226 The displayed contents differ depending on the controller being connected. Controller name Stop signals Emergency stop Input state CR800 controller DOOR OPKEY TBEMG TBENA CR860 controller DOOR OPKEY TBEMG TBENA GRIP  CR750/CR700 series controllers 13 STATUS MONITORING 13.3 Signal monitor...
Page 227 Register • It is available when the CC-Link/EtherCAT option card is attached to the controller or the CC-Link IE Field Basic function is enabled. The status of register values input to the controller from external devices and that of register values output to the external devices from the controller can be checked.
Page 228 Monitor settings Registers to be displayed can freely be set in a continuous range. Tapping [Monitor Setting] will display the setting dialog. Set the start numbers of signals in the input signal number and output signal number, then tap [OK]. Pseudo input •...
Page 229 Forced output • Register forced output Forced output is possible regardless of whether the controller mode is either [AUTOMATIC] or [MANUAL]. However, if any of the programs is running, forced output is not possible. (Except ALWAYS programs) Register values can be forcibly output from the controller to external devices. Tap [Forced Output].
Page 230 IO unit The status of XY device variables of the programmable controller I/O module can be monitored. This function can be used with all the versions of the CR800-R/CR800-Q series controllers and Ver.R3 or later of the CR750- Q/CRnQ-700 controllers. Tap [IO Unit] on the monitor menu screen.
Page 231 Safety input signals You can monitor the DSI1 and DSI2 input signals that switch the monitoring items of the safety monitoring functions and the monitor modes of the safety monitoring functions (SLS/SLP/STR). For information on the robot safety option, refer to the following manual: CR800 series controller Robot Safety Option Instruction Manual (4F-SF002-01) (BFP-A3531) CR800 series controller Robot Safety Option Instruction Manual (4F-SF003-05) (BFP-A3762) CR750/CR751 series controller Robot Safety Option Instruction Manual (BFP-A3372)
Page 232 Devices The bit status of devices of the robot CPU (R16RTCPU) that can be accessed from external devices can be checked. This function can be used with the CR800 series controller. Tap [Device] on the monitor menu screen. Tapping the Device drop-down list will display a list of accessible devices. Selecting a device will show the bit status of the device and a list of device values.
Page 233 13.4 Operation monitor Operating information Information such as the robot's operation time and battery usage time can be checked. Tap [Operating Information] on the monitor menu screen. When the CR800 series controller is connected, the battery remaining time is not displayed. For information on how to initialize the battery remaining time, refer to the following page: Page 251 Initializing the battery remaining time Production information...
Page 234 Option card Information on the option card attached to the controller can be checked. Tap [Board] on the monitor menu screen. Selecting a slot from the Slot No. drop-down list will display the card name and card information. If an option card is not attached to the slot or the controller has no slot available for the attachment, the card name and card information will not appear.
Page 235 13.5 Servo monitor Information on the robot's servo system is monitored. Data related to the positions of each axis motor referenced by servo processing can be monitored. • Position Feedback Displays the current motor rotation position in encoder pulses. • Position in 1 Rotation Displays the current position within one encoder revolution.
Page 236 Speed Data related to the speed of motors of each axis can be monitored. • Amount of Feedback / MAX. Displays the current motor speed in rpm. • Speed MAX. Displays the maximum value of speed feedback after the controller is powered on. •...
Page 237 Current Data related to the current values of motors of each axis can be monitored. • Current Cmd Displays the current command to the motor. • Max. Current Cmd1 Displays the maximum value of the current command after the controller is powered on. •...
Page 238 Load The load status of each axis motor and the temperature of the encoder can be monitored. The encoder temperature function is supported with the following controller software versions. Controller name Controller software version CR800-D/CR800-R/CR800-Q All versions CR750-D/CRnD-700 Ver.S3 or later CR750-Q/CRnQ-700 Ver.R3 or later •...
Page 239 Power Data related to the main circuit power of the controller can be monitored. • Motor Power Voltage Displays the current value of the power supply voltage. • Motor Power Voltage (MAX) Displays the maximum value of the motor power supply voltage in the servo ON state. •...
Page 240 MAINTENANCE Robot maintenance such as setting origin data and initializing information can be performed. Tapping [Maintenance] in the menu will display the maintenance menu screen. The maintenance menu screen is composed as follows: For information on changing the menu display type (list/icons), refer to the following page: Page 327 SYSTEM OPTIONS Menu as a list Menu as icons...
Page 241 14.1 Origin settings The origin of the robot can be set, and origin parameters can be backed up. Origin data input method Be sure to enter correct values for the origin data of the J7 and J8 axes. For the origin data of the J1 through J6 axes, the compatibility of values in the robot controller is checked. For the origin data of the J7 and J8 axes, however, the compatibility is not checked.
Page 242 About DJNT (origin position error) parameters DJNT shows the origin position error. When the origin position is revised using the position repair tool, the values will be set in DJNT. (When the origin position is not revised using the position repair tool, all the elements are 0.
Page 243 Mechanical stopper method Releasing a brake will cause the robot arm to fall under its own weight depending on the posture. As a safety measure, take steps such as supporting the arm to prevent it falling before releasing the brake. Set the origin of the robot using the robot mechanical stopper.
Page 244 For the RV series Set the origins of the J5 and J6 axes at a time. Release the brake of the J5 axis or use jog operation to bring the robot arm into contact with the mechanical stopper. Stop releasing the brake or turn off the servo while the robot arm comes into contact with the mechanical stopper. In this state, align the J6 axis with the mark.
Page 245 Tool method If the brakes are released, some axes may fall under their own weight. Releasing a brake will cause the robot arm to fall under its own weight depending on the posture. As a safety measure, take steps such as supporting the arm to prevent it falling before releasing the brake.
Page 246 For the RH series Set the origins of the J3 and J4 axes at a time. Release the brake of the J3 axis, then slowly bring the axis into contact with the mechanical stopper on the + side. In this state, align the J4 axis with the mark. Stop releasing the brake.
Page 247 ABS origin method Set the origin of the robot using the robot's ABS origin position. Tap [ABS] on the maintenance menu screen. "Last" displays the origin setting method used last time. It is not displayed depending on the controller software version. This method sets the origin using the ABS marks.
Page 248 For the RV series Be sure to set the origins of the J5 and J6 axes at a time. Otherwise, error C1780 (Cannot set origin (illegal axis)) will occur. Move the robot arm using jog operation so that the deviation amount of the ABS mark is within 1mm. On the setting screen, select the J5 and J6 axes, and tap [Set Origin].
Page 249 User origin method Set the origin of the robot using the robot user origin. Tap [User Origin Method] on the maintenance menu screen. "Last" displays the origin setting method used last time. It is not displayed depending on the controller software version. This method sets an origin by using the origin posture specified by the customer and the joint values.
Page 250 Backing up origin parameters • If a password is registered in a parameter by the security function of the robot controller, backed-up origin data cannot be transfered. To rewrite a parameter, delete the password of the security function. For information on how to delete the password, refer to the following page: Page 264 Deleting the password The parameters that make up origin data can be backed up.
Page 251 14.2 Initialization The following information stored in the robot controller can be set or initialized. • Setting the time • Initializing all programs • Robot controller battery remaining time • Checking the serial number of the robot controller • Setting the serial number of the robot being connected Setting the time on the robot controller The time on the robot controller can be set.
Page 252 Serial number Check the serial number in the robot controller and set the serial number of the robot being connected. Tap [Serial Number] on the maintenance menu screen. For the CR750/700 series robot controllers, the warning C0150 or C0152 (Undefined robot serial number) will occur when the robot controller starts for the first time after the purchase.
Page 253 Initializing the battery remaining time Do not initialize the time unless the battery has been replaced. Doing so will cause the correct remaining time not to be referenced. Initialize the robot controller battery remaining time. This function cannot be used when the CR800 series robot controller is connected. Tap [Battery Remaining Time INIT] on the maintenance menu screen.
Page 254 14.3 Maintenance forecast The results calculated by the maintenance forecast function are reference values. To prevent failures and ensure safety, be sure to perform daily and periodic inspections. The operation data collected in the controller can be used to refer to the replacement timing of parts (grease replenishment, battery and belt replacement).
Page 255 Belt If the time until belt replacement meets the following conditions, the graph will be colored orange. (Hours until replacement time) < ([The Remainder Days Until Presumed Maintenance Time] on the Setup screen)  ([Operation Time of a Day]) Display unit The display units for "Grease"...
Page 256 Settings Information needed for maintenance forecast is not accumulated while the maintenance forecast function is set to "disabled". The maintenance forecast function is enabled from the factory. Disabling the maintenance forecast function will not accumulate data. When the function is changed from disabled to enabled again, data will start to be accumulated from the last state when the function was disabled.
Page 257 The following shows the settings. Setting Description Default settings (1) Maintenance forecast is made effective. Selecting the check box will enable the maintenance forecast function. Enabled * Deselecting the check box will stop collecting information on maintenance forecast, causing the correct maintenance timing not to be calculated. (2) Collection Level of Information Five levels can be specified to collect information on maintenance.
Page 258 Reset If a warning that calls for battery replacement, grease replenishment, or belt replacement by the maintenance forecast function occurs, and replacement or replenishment has been performed, the data of the relevant axis that is stored in the controller needs to be reset. On the Reset screen, information on battery, grease, and belt used for maintenance forecast stored in the controller can be reset.
Page 259 Tapping [Log] allows you to refer to the last reset date/time and reset count. However, the battery reset count is not displayed. If resetting has never been performed, "----/--/-- --:--:--" is displayed. 14 MAINTENANCE 14.3 Maintenance forecast...
Page 260 Others Backup and restore information when replacing the controller (CPU module). When replacing the controller (CPU module), perform a full backup and restore using the Backup/Restore tool. Also, be sure to back up information on maintenance forecast before replacement, and restore the backed-up information after replacement. Perform backup and restore between controllers of the same version.
Page 261 14.4 Releasing brakes The robot arm may fall under its own weight depending on which brake is released or how the robot is configured. A person other than the T/B operator should prevent the arm from falling before this operation. Ensure that they give signals to each other during this operation. Release the brake while the servo power is turned off.
Page 262 Releasing the brakes of two or more axes As a safety measure, be sure to use two people to release the brakes. Change the robot controller mode to MANUAL. One person should lightly hold down the 3-position enable switch on the teaching pendant. The other person should support the robot arm to release the brakes.
Page 263 14.5 Robot controller security function (password settings) It is possible to restrict access to the robot programs, parameters, and files in the robot controller. The security function is supported with the following controller software versions. Controller name Supported software version CR800-D/CR800-R/CR800-Q All versions CR750-D/CRnD-700...
Page 264 Tap [Password Setup] on the maintenance menu screen. When the security function has been turned on, the mark is displayed on the left of the button of the item to which access is restricted. 14 MAINTENANCE 14.5 Robot controller security function (password settings)
Page 265 Password registration Pay sufficient attention to password management. The security function of the robot cannot be deactivated without entering the correct password. Pay sufficient attention to password management. Register a password in the controller. On the Password Setup screen, tap [Register/Change] of the item for password registration. After entering a password on the Register/Change Password screen, tap [OK].
Page 266 Deleting the password Delete the password set on the controller. Tap [Delete] of the item for password deletion on the Password Setup screen. Enter the current password on the Delete Password screen, then tap [OK]. If the same password has been set for all the items, the password can be deleted at a time. 14.6 Version The software versions of the robot controller and T/B can be checked.
Page 267 BACKUP AND RESTORE • If a password is registered in files by the security function of the controller, backup and restore cannot be performed. To perform a backup or restore, delete the password of the security function. For information on how to delete the password, refer to the following page: Page 264 Deleting the password Information in the controller can be backed up to the T/B or USB memory.
Page 268 15.2 Backup • To backup the values of robot (system) status variables or program external variables, reset the power of the controller, then perform a backup. • System file created at the time of backup When a backup is performed, BKUP.SYS and MECHA.SYS files will be created automatically. Note that deleting or overwriting these files will cause backed-up data not to be edited in offline mode or not to be restored to the controller.
Page 269 15.3 Restore Backup data stored on the T/B or USB memory is transferred to the controller. Name Description Reference destination of backup Select the reference destination of backup data used for restore. Delete Delete backup data saved on the T/B or USB memory. Execute Perform a restore.
Page 270 Restore settings Once a restore is performed, the restore setting screen will appear. The restore setting screen allows you to select information you want to restore. Selectable items differ depending on the type of restore. Note that origin data or position revision parameters may change if communication is canceled in the process of restore. ■Program information When [All] is specified, all the robot program files in the folder will be transferred to the controller.
Page 271 ■Restore file manager's data. This setting is only available when "All Files" is selected for Backup type. Selected: Files stored in the NG folder are also transferred and replaced. Not selected: Files stored in the NG folder are not transferred. ■Restore operating information.
Page 272 Restore complete To apply the restored information, cycle the power of the controller. When the CR800-D/CR750-D/CR751-D/CRnD-700 series controller is connected, the controller power can be reset from the T/B. When the CR800-R/CR800-Q/CR750-Q/CR751-Q/CRnQ-700 series controller is connected, reset the power with the power switch on the controller, etc.
Page 273 TOOL FUNCTIONS Tapping [Tool] in the menu will display the tool menu screen. The tool menu screen is composed as follows: For information on changing the menu display type (list/icons), refer to the following page: Page 327 SYSTEM OPTIONS Menu as a list Menu as icons Name Description...
Page 274 16.1 Oscillograph The oscillograph functions of the R86TB and RT ToolBox3 cannot be used at the same time. Attempting to use both the functions will end the oscillograph function that has started first. Oscillograph is a function to display various data inside the robot on a graph. Data obtained using the oscillograph function can be saved or reread as a CSV file.
Page 275 Notation on graph Unit Explanation COL presumed torque [0.1%] Estimated torque of the collision detection function Ratio to the rated current COL torque [0.1%] Actual torque of the collision detection function Ratio to the rated current Ref. value of COL level Displays the difference between the estimated torque and the actual torque for collision detection level (ColLvl command, parameter COLLVL, COLLVLJG setting).
Page 276 Oscillograph screen Tapping [Oscillograph] on the tool menu screen will display the oscillograph screen. The oscillograph screen is composed as follows: Name Description Menu Used for purposes such as starting or stopping data recording and saving or reading log files. Page 276 Start/stop Page 279 Data saving settings Information display area...
Page 277 Communication settings • To display the program name and execution line number in the information display area, specify "Robot Information" in the Request Data settings. Specify data to be acquired from the controller. Tapping [Setting] in the information display area will display the communication setting dialog. Specify which data you want to acquire from the controller as request data.
Page 278 Start/stop Tapping [Start] in the menu will start drawing a graph by acquiring data from the controller. Deselecting the [Drawing] check box on the right side of the menu will stop the drawing. To stop acquiring data, tap [Stop]. Display points of the graph The number of data points displayed on the graph can be specified by number or time.
Page 279 Display range settings The display range of the vertical axis for each data can be set. Tapping [Setting Graph Range] in the graph display area will display a dialog. Selecting the [Auto Adjust] check box will automatically adjust the vertical axis of the graph. Select an item you want to set, then tap [Edit].
Page 280 List of elements displayed on the graph The items selected in [Selecting Graph Data] will be listed. The check boxes on the left can be used to show or hide the items on the graph. Gray scale of the graph Selecting the [Gray Scale] check box in the menu will switch the graph to the gray scale display.
Page 281 Data saving settings The save destination of data recorded using the oscillograph function and the method of recording log data can be set. Tapping [Data Storage Setting] in the menu will display a dialog. Select a data save destination from T/B or USB. The data save location (folder) is as follows.
Page 282 Log file saving Selecting the [Log Recorded Data] check box will write data to a log file at constant time interval. The interval of writing log files can be set from the [Select the Interval to Log] drop-down list. Selecting a log save interval of three minutes or more allows you to set [Recording Time]. Setting [Recording Time] will save log data for the specified period of time at the set log save interval.
Page 283 Reading data The saved data is read, then displayed on the oscillograph. Tapping [Load Data] in the menu will display the file selection dialog. Select data, then tap [OK]. The data will be displayed on the oscillograph. Saving data The data acquired from the controller is saved. Tapping [Save Data] in the menu will save the data.
Page 284 16.2 File management • The following operations cannot be performed with the CR750/700 controllers with earlier than Ver.R3e/S3e. Deleting or renaming files with no extension Deleting or renaming files with a name that is longer than 16 characters Manipulating files with a name starting with '0' •...
Page 285 Name Description List of files at the transfer destination Select where files should be copied to. Refresh button Updates the file list. There are some files that cannot be manipulated on this screen (e.g. robot programs and parameter files in the controller). Files that cannot be manipulated are not listed.
Page 286 16.3 Tool automatic calculation With "Tool automatic calculation", the tool length is automatically calculated by teaching three to eight points for the same point with the actual tool mounted, allowing the tool parameter (MEXTL) value to be set. "Tool automatic calculation" is available for the following models and controller software versions. Model Controller name Controller software version...
Page 287 Measurement method • When teaching a calculation auxiliary point, change the robot posture greatly. If a small change is made to the robot posture, tool coordinates may not be calculated. Attach a tool to the robot, and specify a tool number you want to set. Select the first point in the calculation auxiliary point list, then tap [Teach selection line].
Page 288 16.4 User definition screen It allows you to create a screen by freely placing parts (such as buttons and lamps that work based on I/O signals) on the screen. User definition screens can be used in the following applications. • As an operation status monitor. •...
Page 289 Tapping [User Definition Screen] on the tool menu screen will display the user definition screen setting screen. Name Description Import/Export Reads a user definition screen from the USB memory. Additionally, created user definition screens are saved in the USB memory. Page 308 Importing and exporting user definition screens Sort buttons Sort the selected user definition screens displayed in the screen list.
Page 290 Creating a new user definition screen Tapping [Add] in the edit menu will display a user definition screen editing screen. Tapping [OK] will add the user definition screen in the screen list. Copying user definition screens Select a user definition screen from the screen list, then tap [Copy]. A dialog will appear. Tapping [Yes] will copy the user definition screen.
Page 291 Deleting user definition screens Note that user definition screens cannot be recovered once deleted. Select a user definition screen from the screen list, then tap [Delete]. A dialog will appear. Tapping [Yes] will delete the user definition screen. 16 TOOL FUNCTIONS 16.4 User definition screen...
Page 292 Editing user definition screens The data limit for user definition screens that can be saved on the T/B is 5 GB. Select a user definition screen from the screen list, then tap [Edit]. The edit screen will appear. The edit screen is composed as follows: Name Description Screen title...
Page 293 Adding and editing parts Select a part from the tool box and place it in the edit area. ■Placing parts Select a part you want to place from the tool box, then drag and release the part in the edit area. The part will be placed. ■Moving parts Selecting a placed part and dragging it allows you to adjust its position.
Page 294 ■Changing the size of a part Tapping a placed part will display a bounding box. Dragging the bounding box allows you to change the size of the part. ■Parts settings Double-tapping a placed part will display the part setting screen. For parts settings, refer to the following pages: Page 293 Button settings Page 294 Lamp settings...
Page 295 Button settings Double-tapping a button will display the setting screen. Name Description Name Set the name of the button. Selecting the [2 Lines] check box allows you to display the button name with two lines. Button type Set the type of the button. •...
Page 296 Lamp settings Double-tapping a lamp will display the setting screen. Name Description Lamp Color Select the lighting color of the lamp. On/Off Condition Set the conditions to turn on or off the lamp. If only one condition is set, the lamp is operated assuming that the other condition is set that the High/Low states for the same signal number are opposite.
Page 297 Variable display settings Adding [Robot Information] from the tool box will place a variable display. Double-tapping the variable display will display the setting screen. Name Description Variable Type Select the variable type. Variable Name Set the name of the variable to be displayed. A system status variable can also be set. Slot Specify the number of the task slot that uses the variable to be displayed.
Page 298 Program execution content display settings Adding [Robot Information] from the tool box will place a variable display. Double-tapping the variable display will display the setting screen. Selecting [Exe Lines] from the Type drop-down list will switch the setting screen. Name Description Slot Specify the number of the task slot that uses the program to be displayed.
Page 299 Program execution line number display settings Adding [Robot Information] from the tool box will place a variable display. Double-tapping the variable display will display the setting screen. Selecting [Exe Line#] from the Type drop-down list will switch the setting screen. Name Description Slot...
Page 300 Setting the display of the current position (XYZ type) Adding [Robot Information] from the tool box will place a variable display. Double-tapping the variable display will display the setting screen. Selecting [Cur Pos] from the Type drop-down list will switch the setting screen. Name Description Axis...
Page 301 Label settings Double-tapping a label will display the setting screen. Name Description Name Set characters to be displayed on the label. Selecting the [2 Lines] check box allows you to display the characters on the label with two lines. OP button settings Double-tapping an OP button will display the setting screen.
Page 302 The following types of menu buttons can be placed. Button image Description Switches to the program menu screen. Switches to the monitor menu screen. Switches to the slot status monitor screen. Switches to the program monitor screen. Switches to the program external variable monitor screen. Switches to the operation status monitor screen.
Page 303 Button image Description Switches to the tool automatic calculation screen. Switches to the version information screen. Switches to the 3D monitor screen. Switches to the system option screen. Switches to the SQ Direct position editing screen. Displays an operation panel. *1 The name of the screen after switched is displayed under the button.
Page 304 Jog button settings Double-tapping a jog button will display the setting screen. Inching Description Moves the axis while the button is pressed. High Moves the axis by the amount specified by the jog parameter "inching H". Moves the axis by the amount specified by the jog parameter "inching L". The following types of jog buttons can be placed.
Page 305 Button image Description Moves the arm in the Y direction. Moves the arm in the Z direction Rotates around the X axis. Rotates around the Y axis. Rotates around the Z axis. Moves the L1 axis (additional axis). Moves the L2 axis (additional axis). When using the jog button, set the key switch to "MANUAL".
Page 306 Image settings Double-tap an image to display the image settings. Name Description Image file name Displays the created user definition screen. Load Displays a list of image files saved on the T/B or a USB that can be used on the user definition screen. Selectable file types are, JPEG, BMP, and PNG.
Page 307 Message settings Messages to be displayed according to the status of I/O signals can be set. Tapping [Message] on the edit screen will display a list of messages. 16 TOOL FUNCTIONS 16.4 User definition screen...
Page 308 Tapping [Add] will display the message editing screen. Name Description Type Select the message type. Message Enter a message you want to display. Button Select the type of the button for the message. Display condition Set the conditions in which the message is displayed. OK/Yes Behavior Set the operation when [OK] or [Yes] is tapped.
Page 309 Signal settings The signals that are output when the user definition screen is opened or closed can be set. Tapping [Signal] on the edit screen will display a list of signals. Name Description Settings when screen Used to edit or delete signals that are output when the screen opens. opens Up to eight signals can be set.
Page 310 Importing and exporting user definition screens • Compatibility of user definition screens created in R86TB User definition screens created in R86TB cannot be read with RT ToolBox2, RT ToolBox3, R46TB, or R56TB. • Compatibility of user definition screens created in R56TB User definition screens (.uds extensions) created on the R56TB can be read with the R86TB.
Page 311 Displaying the user definition screen Select a created user definition screen from the screen list, then tap [Display]. The screen will appear. Name Description Name display Displays the name of the user definition screen. []/[] Switches pages. User definition screen Displays the created user definition screen.
Page 312 16.5 Importing/exporting workspaces A USB memory can be used to import or export workspaces. Import This function imports a workspace created in RT ToolBox3 to the T/B. The files and folders shown below are imported. Folder/file name Information Hand Hand setting file Layout Layout setting file RobotParts...
Page 313 Export This function exports the workspace of the T/B to the USB memory. The contents in the workspace folder (folder that has MELFA_WSP.rt3wsp) are all exported. The following shows the export procedure. Connect the USB memory to the T/B. Tapping [Export Workspace] on the tool menu screen will display a dialog. Enter a workspace name, then tap [OK].
Page 314 OPERATION PANEL FUNCTIONS • In "MANUAL" mode To operate the robot, lightly hold down the 3-position enable switch on the T/B. Releasing the 3-position enable switch while the robot is operating will turn off the servo power, stopping the robot. The robot will operate below the JOG limited speed.
Page 315 17.1 Task slot status Name Description Program Displays the name of the program set in task slot 1. If the robot has stopped and the T/B has operation rights, tapping this area allows you to select a program. Line # Displays the program line number being executed.
Page 316 17.2 Operation buttons Name Description Servo On/Servo Off Turns on/off the servo power of the robot. Start/Stop Starts/stops automatic robot operation. Page 314 Starting/stopping automatic operation Reset Resets the error or program. Page 314 Reset Turns on/off cycle stop. Page 314 Cycle stop Starting/stopping automatic operation In AUTOMATIC mode, note that the robot will operate at a regular speed.
Page 317 3D MONITOR Using the 3D monitor allows you to check the robot movement in 3D mode. There are two types of 3D monitors, full screen and auxiliary screen. Page 315 3D monitor (full screen) Page 316 3D monitor (auxiliary screen) Page 316 Viewpoint operation 18.1 3D monitor (full screen)
Page 318 18.2 3D monitor (auxiliary screen) Tapping [Robot Viewer] in the footer will display the 3D monitor in auxiliary screen mode. Name Description Current position Displays the robot's current position in the XYZ coordinate system or joint coordinate system. Machine Lock Using the machine lock function allows you to check the movement of the robot in the 3D monitor without moving the robot.
Page 319 Viewpoint rotation The viewpoint can be rotated by dragging on the screen. Movement Operation Rotation around the X axis Drag up or down Rotation around the Z axis Drag left or right The rotational center of the viewpoint differs depending on the zoom type settings. The rotational center for zooming toward origin center is always at the origin of the 3D monitor.
Page 320 18.4 Options Tap [Option] in the menu while the 3D monitor is displayed in full screen mode. The option setting screen will appear. Name Description Projection Type Set the 3D model projection method. Page 319 Projection type switching Zoom Type Set the zoom type.
Page 321 Projection type switching The 3D model projection method can be selected from [Perspective] or [Orthograph]. Perspective Orthograph Zoom type switching The center when the 3D monitor is zoomed in or out can be selected. Zoom type Center of zooming Zoom toward origin center 3D monitor origin Zoom toward screen center Center of screen...
Page 322 Floor The floor to be displayed in the 3D monitor can be set. Floor display Selecting the [Display Floor] check box will display a floor in the 3D monitor. Color settings Set the color of the floor. Select the color of [Color 1] or [Color 2] for change, and specify a color with the color picker in the middle. The color can also be specified by entering an RGB value.
Page 323 Displaying coordinate axes Selecting the [Display Coordinate Axes] check box will display coordinate axes shown at the origin in the 3D monitor and small coordinate axes shown at the reference point in the robot model. Background color The background color of the 3D monitor can be selected. If a layout file has been read, the background color of the layout is applied.
Page 324 Model type The model type can be selected from [Detail] or [Simplified]. However, the detail model display is not available for some models. Detail Simplified Displaying a solenoid valve Selecting the [Display Solenoid Valve] check box will display a solenoid valve for the robot in the 3D monitor. This function is available on robots capable of being mounted with the following solenoid valves, and displays a solenoid valve with four valves.
Page 325 Displaying the tool coordinate system Selecting the [Display Tool Coordinate System] check box will display the position of the mechanical interface or arrows that show the tool coordinate system in the tool coordinates. Displaying the tool position Selecting the [Display Tool Position] check box will display the tool currently selected by the controller in the 3D monitor. Displaying the workpiece coordinates Tapping [Setting] will display the setting screen.
Page 326 User-defined area Tapping [Setting] will display the setting screen. Select a user-defined area you want to display, then tap [OK]. Free plane limit Tapping [Setting] will display the setting screen. Select a free plane limit you want to display, then tap [OK]. [Length] allows you to change the length of one side of the free plane limit.
Page 327 The monitoring planes, monitoring positions, and other elements of the safety parameters can be checked in the 3D monitor. The setting items differ depending on the CR800 series or CR750/CR700 series. CR800 series safety monitoring The robot safety option is required to use this function.
Page 328 CR750/CR700 series safety monitoring This function is supported with controller software Ver.R6, S6 or later. The robot safety option is required to use this function. For information on the robot safety option, refer to the following manual: CR750/CR751 series controller Robot Safety Option Instruction Manual (BFP-A3372) ■Displaying monitoring planes...
Page 329 SYSTEM OPTIONS Tap [Option] in the menu while the HOME screen is displayed. The system option screen will appear. The system option screen is composed as follows: Name Description Display language Change the display language of the T/B. Page 329 Display language Screen theme Selects the screen theme.
Page 330 Name Description User management Switches the user level. Page 335 User management Add shortcut Adds or edits the shortcuts displayed on the HOME screen. Page 338 Shortcut Software update Updates the software of the T/B. Page 339 Updating the T/B 19 SYSTEM OPTIONS...
Page 331 19.1 Display language Change the display language of the T/B. Select a language from the drop-down list. If the regional language and display language are different, note that information such as program comments may not be displayed correctly. Tapping [OK] will display a dialog asking whether to reboot the T/B. To apply the settings completely, reboot the T/B.
Page 332 19.3 Regional language Switches the language to the one used in the comments of the program. Select a language from the drop-down list. If the regional language and display language are different, note that information such as program comments may not be displayed correctly.
Page 333 19.4 First screen Set the screen displayed at startup of the T/B. Select the page you want to set as the first screen from the drop-down list. Tapping [OK] will change the settings. 19 SYSTEM OPTIONS 19.4 First screen...
Page 334 19.5 Locking the screen • Pay sufficient attention to password management. The screen cannot be unlocked without entering the correct password. Pay sufficient attention to the management of the set password. Operations on screens other than the first screen can be restricted by setting a password. Tapping the switch on the system option screen will display the password setting screen.
Page 335 19.6 Menu type Used to change the display format of menu screens (for parameters, monitors, etc.) and the display format of shortcuts on the home screen. Tap [List Format] or [Icon Format] to select the display format of the menu screen. Tapping [OK] will change the display format as shown in the table below.
Page 336 19.7 JOG type Select the jog type to be displayed when the [JOG] button is pressed. Tapping the switch on the system option screen will switch the jog type to "simple jog". 1. Tap 19 SYSTEM OPTIONS 19.7 JOG type...
Page 337 19.8 User management This function is used to restrict the use of the T/B screen. In addition to the administrator, up to three levels can be set. The use of functions can be restricted according to the following levels of priority: Administrator > Level 1 > Level 2 > Level 3 Editing the user level •...
Page 338 The following shows how to set the user level. Select the number of user levels (any number from 0 to 3) from the drop-down list. If not using user management, set the number of user levels to 0. Set passwords for the administrator and each user level. A password does not need to be set for the lowest level.
Page 339 Switching the user level No password input is required to switch to a lower user level. Attempting to switch to a higher user level will display the password input screen. is displayed for screens under use restrictions, and they are unavailable. 19 SYSTEM OPTIONS 19.8 User management...
Page 340 19.9 Shortcut Set a shortcut to be displayed on the HOME screen. Tapping [Select] will display the page selection screen for shortcut settings. Select a page you want to set as a shortcut, then tap [OK]. The list on the option screen will be updated. Up to 18 shortcuts can be set.
Page 341 • Do not remove the USB memory from the T/B during update. Doing so may cause the T/B to malfunction. Update the software of the T/B. Download update data (compressed file) from the MITSUBISHI ELECTRIC FA website. MITSUBISHI ELECTRIC FA website URL: https://www.mitsubishielectric.com/fa/ Decompress the downloaded data (compressed file).
Page 342 Tapping [Cancel] in the following window during installer startup will interrupt the update process, causing the software not to be rebooted properly. In this case, reboot the T/B, and perform an update process again. 19 SYSTEM OPTIONS 19.10 Updating the T/B...
Page 343 • Changed some sections. This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 344 TRADEMARKS No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi Electric. The details of this manual are subject to change without notice. Specifications are based on in-house standardized tests.
Page 346 BFP-A3826-C(2409)MEE HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN Specifications subject to change without notice.

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