Combination Of Software Version; Functional Block Diagram - Mitsubishi Electric MELFA CR750 Series Instruction Manual

1 Function and configuration
1.2.1

Combination of software version

Depending on the combination of versions of Robot Controller and RT ToolBox2, features are partially modified
or added in the safety monitoring function. In this document, the combination is described as shown in the
following table.
Robot Controller
Ver.R6b or later(CR750-Q/CR751-Q)
Ver.S6b or later (CR750-D/CR751-D)
Combination except for "Version Combination B"

1.3 Functional block diagram

Safety input
signal
(Note)
Additional
axis
Encoder
etc.
Peripheral
devices
Note: Safety switch, light curtain, etc.
Fig. 1-2 Functional Block Diagram
1-2 Functional block diagram
Software Version Combination
RT ToolBox2 / RT ToolBox2 mini
Ver.3.40S or later
Safety input
signal
processing
Signal
generation for
connection
check
Signal
processing
Extended safety unit
Description in this document
Version Combination B
Version Combination A
Robot safety option
Safety
monitoring
function
Control
Robot controller
Motor
Encoder
Robot arm