Mitsubishi CR750-Q Series Instruction Manual page 8

Function
8 Robot movement simulation This function allows simulating a specified robot program. Since it
9 Interference check
10 Robot program debug
function
Step operation
Break point
Direct execution
11 Jog operation
12 Calibration
13 Cycle time measurement
14 Display of robot movement
trajectory
15 Saving moving images
also simulates input/output signals of a robot controller, it is possible
to reproduce the same program movement as the actual system.
The following two types of simulation methods of robot controller
input/output signals are provided.
(1) Method for defining input/output signal operations in a simple
manner
(2) Method for linking with GX Simulator
* GX Simulator is support software for simulating Mitsubishi PLCs
on a personal computer. It is used to debug sequence programs
created by MELFA-Works.
This function allows checking interference between a robot and
peripheral devices.
Targets of an interference check can be specified simply by clicking
on the display. Also, information acquired when interference
occurred (name of contacting part, program line being executed at
the occurrence of interference, robot position, etc.) can be saved in
log files.
The following functions are provided to debug robot programs.
Executes a specified program step by step.
Allows stopping program execution at any specified line in the
specified program.
Executes an arbitrary robot command.
This function allows jog operation of a robot displayed in
SolidWorks, just like executing actual robot jog operations on a
teaching box.
This function calibrates dot sequence data in the CAD coordinates
created by the CAD link function so that they match data in robot
coordinates. It is also possible to transfer movement programs and
dot sequence data to a robot.
The calibration tool can also be used on laptop computers on which
SolidWorks is not installed. The calibration tool is included in RT
ToolBox2, and can use it by installing MELFA-Works.
* Only dot sequence data can be calibrated. See "10.2 Path
Creation" for more information. Cannot calibrate teaching points
(See 10.1 Creating Teaching Points).
This function allows measuring the cycle time of robot movement
from any point of time, just like using a stopwatch. It is also possible
to measure cycle time at a specified program location.
With this function, it is possible to display the movement trajectory of
a robot.
With this function, it is possible to save moving images of simulated
movement in a file (AVI format).
8
Feature