Page 1 Mitsubishi Industrial Robot CR750/CRn-700 Series R56TB/R57TB Instruction Manual BFP-A8684-F...
Page 2: Safety Precautions
Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION CAUTION WARNING CAUTION WARNING CAUTION CAUTION CAUTION...
Page 3  The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION WARNING WARNING CAUTION WARNING CAUTION CAUTION CAUTION CAUTION WARNING...
Page 4 CAUTION CAUTION WARNING...
Page 5 Revision History Date of print Specifications No. Revision details 2008-6-25 BFP-A8684-* First release 2009-9-25 BFP-A8684-A Corresponds to the version 2.3 - Add a SQ Direct Function. - Add a Skip function in the Step operation. - Add a Home position Return function. - Add a display of hand IO state on the hand operation screen.
Page 7: Table Of Contents
Specification 3.1. Specifications ......................... 3 3.2. Construction ........................... 4 Basic operation method 4.1. Operating method of R56TB ....................5 4.2. Selection of items on touch panel ..................5 4.3. Display of context menu......................5 Operation of menu panel Language setting Guidance 7.1.
Page 8 Contents page 11.1.1. Open an edit display (new creation) ................34 11.1.2. Open an edit display (read of the existing program)........... 36 11.1.3. Save (robot controller)....................38 11.1.4. Save (USB memory) ....................39 11.1.5. Close the edit screen ....................40 11.1.6.
Page 9 Contents page 14.4. Power Reset of the Robot Controller ................... 91 Monitor 15.1. Starting ..........................92 15.2. Outline of each function and starting methods..............93 15.2.1. Outline of each function ....................93 15.3. Each monitor function ......................94 15.3.1. Robot movement monitor.................... 94 15.3.1.1.
Page 10 Contents page 16.8.2. Start ........................... 141 16.8.3. Flow of oerations....................... 142 Parameter editor 17.1. Starting ..........................144 17.2. Downloading the parameter list (Robot controller -> T/B)..........145 17.3. Changing the parameters....................146 17.4. Parameter menu......................... 147 17.4.1. Motion limit ........................ 148 17.4.2.
Page 11 Contents page System option 18.1. Display..........................183 18.2. Update T/B ......................... 184 18.3. Language of T/B......................... 186 18.4. IP address of T/B........................ 186 User definition screen 19.1. User definition Editor......................188 19.1.1. Adding the new page....................189 19.1.2. Edit of existing page....................190 19.1.3.
Page 13: Before Use
1. Before use Since this teaching pendant R57TB/R56TB (T/B) carries GUI, you can use it easily by operating the touch panel. The operation method of T/B in the instructions manual of the separate volume is indicated based on R33TB/R32TB. Please refer to this book, when using R57TB/R56TB.
Page 14: Connection With Controller
2. Connection with controller Installing and removing the T/B ,with turning off the controller power. If T/B is Installed and removed in the state of control source ON,emergency stop alarm will be occurred. If you use the robot wherein T/B is removed ,install the dummy connector of attachment for the product instead of T/B.
Page 15: Specification
3. Specification 3.1. Specifications Items Specifications Remarks Outline dimensions 252(W) x 240(H) x 114(D) (refer to outline drawing) Mass The cable is not Approx. 1,250ｇ included. Connection method Connection with controller and round connector Cable length 7m Interface RS-422 For connection with robot controller Ethernet 10BASE-T Note1)
Page 16: Construction
3.2. Construction 19) 20) 37.2 55.3 21.5 1) TEACH button 12) HOME button This changeover switch is used to enable or Return the robot to the Home position that set disable the T/B key operations. The lamp beforehand. This function is available with (white) lights up during enabling state.
Page 17: Basic Operation Method
4. Basic operation method The basic operating method of R56TB is shown. 4.1. Operating method of R56TB As shown in the figure, holds with one hand and operate the enable switch by finger, and operate the screen and button by another hand. Since the screen is the touch panel, operate it with a touch stylus.
Page 18: Operation Of Menu Panel
5. Operation of menu panel If the control power of the controller is turned on, the splash window (<a>) will be displayed on the screen of T/B and the initial screen () will be displayed on it in the about 15 seconds. You can confirm the connecting state between the T/B and the controller (<c>) (Left: RS-422, Right: Ethernet, Blue: connecting, Red: disconnected).
Page 19: Language Setting
6. Language setting At the time of the first power supply on, the language setting screen is displayed. Please select the language to make it display on the T/B screen. Please tap [OK] Key. Japanese display: Japanese English display: English 7.
Page 20: Robot Serial Setting
7.2. Robot serial setting Set the serial number of the robot arm. Tap [Robot serial setting] button and display the setting screen of serial number. Tap [Edit] button and display the setting screen. Input the serial number which has been described to the plaque of the robot. Tap [Enter] button, then Tap [Write] button.
Page 21: Setting A Target Robot For Using Multi-Mechanism Control
8. Setting a target robot for using multi-mechanism control When using the multi-mechanism control, please select a target robot at the Select robot combo box. The robot selected here becomes the object of the following operations and monitors. Servo ON/OFF JOG operation Hand operation Direct execution...
Page 22: Jog Operation
9. JOG operation 9.1. Speed setting Push [OVRD (Upper arrow)] or [OVRD (Lower arrow)] button (<a>) of T/B, and change operation speed. LOW – HIGH – 3% - 5% - 10% - 30% - 50% - 70% - 100% The changed speed is displayed on STATUS NUMBER of the controller, and on the combo box in the screen lower left of T/B.
Page 23: Jog Mode
9.2. Jog mode There are JOINT, XYZ, TOOL, 3-axis XYZ, Cylinder and the WORK in jog mode. Push the [JOG] button (<a>) of T/B, the JOG operation screen will be displayed. The jog mode is changed in order of JOINT->XYZ->TOOL->3-axis XYZ->Cylinder->WORK, each time the button is pushed. The current jog mode is displayed in the combo box.
Page 24: Switching Tool Data
9.3. Switching Tool Data Beforehand the tool data setting as MEXTL1 – MEXTL*(It is different depending on the specification of the robot controller connected) can be selected. If tool data not change, this operation is not necessary. Tool data can be selected also from combo box. (<a>) <a>...
Page 25: Switching Base Coordinates
9.4. Switching Base Coordinates The base coordinates are switched. The base coordinates used from the combo box in the upper-right corner of the screen <a> this time are selected. This function is available with Ver.2.4 or later of this software. Moreover, the software version of the controller which can use this function is as follows.
Page 26: Joint Jog Operation
9.5. JOINT jog operation Push the [TEACH] switch and enable the T/B. The LED (white) lights up. Press the [JOG] button (<a>) of T/B and display the JOG operation screen. Select jog mode (JOINT). <a> <e> <c> <d> Enable switch Servo switch Jogging movement is in the servo power supply ON state, and execute jog feeding by pushing the button of each axis (), continuing pushing the enable switch of T/B.
Page 27: Xyz Jog Operation
9.6. XYZ jog operation Push the [TEACH] switch and enable the T/B. The LED (white) lights up. Push the [JOG] button (<a>) of T/B and display the JOG operation screen. Select jog mode (XYZ). <a> <e> <c> <d> Enable switch Servo switch Jogging movement is in the servo power supply ON state, and execute jog feeding by pushing the button of each axis (), continuing pushing the enable switch of T/B.
Page 28: Tool Jog Operation
9.7. TOOL jog operation Push the [TEACH] switch and enable the T/B. The LED (white) lights up. Push the [JOG] button (<a>) of T/B and display the JOG operation screen. Select jog mode (TOOL). <a> <e> <c> <d> Enable switch Servo switch Jogging movement is in the servo power supply ON state, and execute jog feeding by pushing the button of each axis (), continuing pushing the enable switch of T/B.
Page 29: 3-Axis Xyz Jog Operation
9.8. 3-axis XYZ jog operation Push the [TEACH] switch and enable the T/B. The LED (white) lights up. Push the [JOG] button (<a>) of T/B and display the JOG operation screen. Select jog mode (3-axis XYZ). <a> <e> <c> <d>...
Page 30: Cylinder Jog Operation
9.9. Cylinder jog operation Push the [TEACH] switch and enable the T/B. The LED (white) lights up. Push the [JOG] button (<a>) of T/B and display the JOG operation screen. Select jog mode (Cylinder). <a> <e> <c> <d> Enable switch Servo switch Jogging movement is in the servo power supply ON state, and execute jog feeding by pushing the button of each axis (), continuing pushing the enable switch of T/B.
Page 31: Work Jog Operation
9.10. Work jog operation Push the [TEACH] switch and enable the T/B. The LED (white) lights up. Push the [JOG] button (<a>) of T/B and display the JOG operation screen. Select jog mode (WORK). By the WORK jog operation, the robot can be moved along the work coordinate that set beforehand. The WORK jog function is available with Ver.2.3 or later of this software.
Page 32: Jog Operation With Wheel
While setting the operation speed to fixed-dimension feed High or Low, it is possible to operate by even rotating the wheel <a>, in addition to the usual jog operation done with [+] and the [-] key. (This function is available with R56TB Ver.2.1 or later.) <a>...
Page 33 2. Tap a part of axis name<c> of axis to operate on the JOG operation screen, the axis becomes the target axis for the operation. If the target axis is set, it becomes Wheel-jog mode. And the Wheel-mark<d> is displayed. If tapping other axis name, the target axis changes into that axis.
Page 34: Force Control Function
9.12. Force control function If the force control function is can be used, [F] <a>bottom is displayed in the Jog operation screen. Tap [F] <a> bottom,[force control screen] is displayed. The force control function is available with Ver.3.0 or later of this software. Moreover, the software version of the controller which can use this function is as follows.
Page 35: Collision Avoidance On/Off
9.13. Collision avoidance ON/OFF If the collision avoidance function is can be used, [CAV] <a>combo box is displayed in the Jog operation screen. Select [CAV] <a> combo box ON/OFF, The collision avoidance function when Jog is operated can be turned ON/OFF.
Page 36: Aligning The Hand
9.14. Aligning the Hand The posture of the hand attached to the robot can be aligned in units of 90 degrees. This feature moves the robot to the position where the A, B and C components of the current position are set at the closest values in units of 90 degrees.
Page 37: Opening/Closing The Hands
9.15. Opening/Closing the Hands Push the [HAND] button (<a>) of T/B and display the hand operation screen. In this software version 2.5 or later, the Electric Hand screen is displayed when the robot has the Electric Hand. The Electric Hand operation screen and the Normal Hand operation screen can be switched by the button in the hand operation lower right of the screen.
Page 38: Operation Of The Electric Hand
9.15.1. Operation of the Electric Hand The Electric Hand operation function can be used this software Version 2.5 or later. And the software version of the controller which you can use is as follows. Controller Software version of the controller CR750-D/CRnD-700 Version S2a or later CR750-Q/CRnQ-700...
Page 39 (2) In the case of using version 3.1 or later Specify the point method Specify the table method <a> <a> <h> [Switch checkbox] <c> <c> <f> <f> <g> <g> <e> <e> <d> <d> Push the [HAND] button (<a>) of T/B and display the Electric Hand operation screen. When the Normal Hand operation screen is displayed, the Electric Hand operation screen can be displayed by tapping the lower right [Electric] key ...
Page 40 Table 9-3 The operation of the Electric Hand and the explanation of the functions. Operation Explanation Open The hand is opened. (Only while holding down the button.) The same operation as time when the EHOpen instruction was executed is done based on a set value of the "Speed"...
Page 41 The explanation of “HAND”<g> is as follows. Table 9-4 The explanation of the state of the Electric Hand. Explanation Status (*2) (*1) Ready Preparation is completed. During the preparation. Servo Servo ON Servo OFF Moving to the origin point is Moving to the origin point is not Origin completed.
Page 42: Operation Of The Normal Hand
9.15.2. Operation of the Normal Hand Push the [HAND] button (<a>) of T/B and display the hand operation screen. When the Electric Hand operation screen is displayed, the Normal Hand operation screen can be displayed by tapping the lower right [Normal] key <f> of the screen. The Electric Hand operation screen is available from this software version 2.5 or later.
Page 43: Return To The Home Position
9.16. Return to the Home position Return the robot to the Home position that set beforehand. The robot is initiated a joint interpolation movement to the position set by the parameter "JSAFE". The speed is determined by the override setting. This function is available with Ver.2.3or later of this software.
Page 44: Usb Memory Stick
10. USB memory stick USB memory stick Note) The operation method is the same although the photograph shown below differs from the actual product slightly. 10.1. Plug-in the USB memory stick CAUTION Never unplug the USB memory stick during accessing (read / write operations). It causes the failure.
Page 45: Unplug The Usb Memory Stick
10.2. Unplug the USB memory stick CAUTION Never unplug the USB memory stick during accessing (read / write operations). It causes the failure. Please shut the cover surely after unplugging the USB memory stick. Otherwise the foreign body enters the connector, and it causes the malfunction. This picture is sample.
Page 46: Program Edit
11. Program edit 11.1. Edit of program 11.1.1. Open an edit display (new creation) 1) Tap the [MENU] button (<a>) of a T/B screen and display menu panel. Menu panel Initial screen <a> 2) [Program] button () is tapped and a program list is displayed. At this time, if it creates newly to a robot controller, the [Robot] radio button (<c>) is checked.
Page 47 4) If a program name is inputted by the keyboard of a screen and the [Enter] key (<e>) is tapped, a command edit screen will be displayed. The inputted character is displayed on "Program" Keyboard Command edit screen <e> (Creates to the robot controller) Command edit screen (Creates to the USB memory) Advice...
Page 48: Open An Edit Display (Read Of The Existing Program)
11.1.2. Open an edit display (read of the existing program) 1) Tap the [MENU] button (<a>) of a T/B screen and display menu panel. Initial screen Menu panel <a> 2) [Program] button () is tapped and a program list is displayed. At this time, if it creates newly to a robot controller, the [Robot] radio button (<c>) is checked.
Page 49 3) Select the program to read <d> and tap the [Open] button. (<e>) The command edit screen is displayed. Even if it double taps the program to read <d>, the command edit screen is displayed. <d> Command edit screen <e> (Reads from the robot controller) Command edit screen (Reads from the USB memory)
Page 50: Save (Robot Controller)
11.1.3. Save (robot controller) Tap the [Save & Close] button (<a>) of the edit screen. During the save, the screen is displayed during communication, () and if it completes, it will return to the program list<c>. <a> <c> Advice The buttons displayed differ by the case where the edit screen targets the robot controller and the case where the edit screen targets the USB memory.
Page 51: Save (Usb Memory)
11.1.4. Save (USB memory) Tap the [Save] button (<a>) of the edit screen. Since the confirmation screen is displayed, the [Yes] button () is tapped if it saves. The [No] button () is tapped if it does not save. During the save, if the sandglass is displayed and it completes, it will return to the original edit screen.
Page 52: Close The Edit Screen
11.1.5. Close the edit screen Tap the [RETURN] button (<a>) at the lower right of the T/B screen. It returns to the program list display. <a> <a> At this time, if the command and the position variable are edited and save operation is not performed, display the message of the confirmation.
Page 53: Add The Command Line
11.1.6. Add the command line Operation of adding the line of code to new or the existing program in the command edit screen is shown. 1) Taps of the [Add] button (<a>) of the command edit screen will display the keyboard. <a>...
Page 54: Delete The Command Line
11.1.7. Delete the command line Operation of deleting the line of code or the position variable is shown. 1) Select the line to delete or the position variable. Two or more lines can be selected. (<a>) <a> <a> 2) Tap the [Delete] button (), the selected line of code or the position variable will be deleted.
Page 55: Undo The Edited Contents
11.1.8. Undo the edited contents When editing the command line of the program in the USB memory, the editing operation can be returned to the last state only once. If the [Menu] button of the command edit screen is tapped and "Undo" (<a>) is tapped after the mistaken operation, the operation done last time will return.
Page 56: Cut, Copy And Paste
11.1.9. Cut, Copy and Paste The specified line of code can be cut, past or copy. 1) Select the line to cut or copy. Two or more lines can be selected. (<a>) <a> 2) Tap the [Menu] button of the command edit screen, and if it move, tap the "Cut (Line)." () or if it copies, tap the "Copy".
Page 57 4) The screen <a> which confirms the putting part in the destination of the movement or the copy is displayed. Select ahead or after of the line for pasting, and tap [OK] key <c>. And the command line is added to the selected part <d>...
Page 58 6) It returns to the Paste lines screen. Tap [OK] button<h> if the setup is completed, [Edit] button<f> for setting up again, [Cancel] button for stop pasting. <f> <h> CAUTION If the new line number of past replace (copy place) has already existed, the existing line of code is overwritten.
Page 59: Renumber
11.1.10. Renumber The renumbering function can only be used with MELFA-BASIC IV. The row number of the existing program can be reassigned. When the program is changed several times and the margin has been lost to the line pitch, it can utilize effectively. All lines of code and the range can be specified. 1) Tap the [Menu] button of the command edit screen and tap the "Renumber".
Page 60 4) Renumber will be executed if you tap the [OK] button (<h>) of setting screen. <h> If the object range is specified, display the message that the row number after the renumber has already existed. In this case, the renumber is not executed. Tap the [OK] button. () ...
Page 61: Automatic Numbering
11.1.11. Automatic numbering When MELFA-BASIC IV is used, the line number can be generated by the automatic operation in the command edit screen. This function automatically displays the next line number each time the edit command dialog is displayed. The start line No.
Page 62: Search
11.1.12. Search If the program of the USB memory is being edited, the specification character string can be searched with command edit. It can be specified whether the capital letter/small letter is differentiated or not. 1) Taps the [Menu] button and select the "Find" (<a>) of the command edit screen, the setting screen will be displayed.
Page 63 If the "Match case" (<f>) is checked at this time, the capital letter and the small letter will be differentiated. Moreover, the search direction can be specified with checking Up/Down. (<g>) Display the message, if the character string is not found. Taps the [OK] button. (<h>) <g>...
Page 64: Replace
11.1.13. Replace If the program of the USB memory is being edited, the specification character string can be replaced by command edit. It can be specified whether the capital letter/small letter is differentiated or not. 1) Taps the [Menu] button and select the "Replace" (<a>) of the command edit screen, the setting screen will be displayed.
Page 65 Display the message, if the character string to search is not found. Tap the [OK] button. (<g>) <g> 4) Tap the [Close] button (<h>) to finish. <h> Advice Only last one operation is valid to undo. All cannot be returned if two or more operations have been mistaken. In this case, it is necessary to finish program edit, without saving and to do over edit from the start.
Page 66: Jump
11.1.14. Jump The program jumps to the designated label or line number. To carry out jumping, tap the [Jump] button. 1) Tap the "Jump" button (<a>) of the command edit screen. The setting screen will be displayed. <a> 2) To input the label or line number, tap the [Edit] button (), and uses the keyboard that displayed. Tap the [Enter] key (<c>) of the keyboard to finish the input.
Page 67 If the specified row number does not exist, jump to the near place. Display the error message, if the specified label does not exist. Tap the [OK] button (<e>), close the error message window, and try again. <e>...
Page 68: Editing The Position Variable
11.2. Editing the position variable Edit the position on the position edit screen. Push the [XYZ], [XYZ (Global)], [Joint], or [Joint (Global)] button. (<a>) The position editing screen will appear. <a> (Position type variable) [XYZ] .....Position type variable [XYZ (Global)] ..Position type variable (System variable) [Joint] .......Joint type variable [Joint (Global)]..Joint type variable (System variable) 11.2.1.
Page 69 3) If the [Get current position] button (<c>) of the data edit screen is pushed, will take in the robot's current coordinate value. <c> 4) Tap the [OK] button (<d>) and register the data. <d>...
Page 70: Edit Of Position Data
11.2.2. Edit of position data The procedure of direct input of the numerical value is shown. 1) Select the variable of editing and tap the [Edit] button. (<a>) The data edit screen is displayed. <a> 2) Tap the [Edit value] button. () The data input screen is displayed. ...
Page 71 4) The structure flag can be edited by the [Edit FLG1] button. (<d>) The multi-rotation flag can be edited by the [Edit FLG2] button. (<e>) Tap the [OK] button, (<f>) will fix the data. <f> <f> 5) The [OK] button (<g>) will be tapped if edit of all the data is completed. The position variable data is registered.
Page 72: Addition Of Position Data
11.2.3. Addition of position data Although the position variable used by the command line is displayed on the screen, it can add newly. 1) Tap the [Add] button. (<a>) The position edit screen is displayed. <a> 2) The [Edit] button () is tapped and input the variable name from the keyboard displayed, and tap the [Enter] button (<c>) to fix it.
Page 73: Deletion Of Position Data
11.2.4. Deletion of position data The procedure of deletion of position data is shown. The variable currently used by the command line cannot be deleted. Select the variable of deleting and tap the [Delete] button. (<a>) The selected position variable is deleted. <a>...
Page 74: Confirming The Position Data (Position Jump)
11.2.5. Confirming the position data (Position jump) The robot can be moved to the teaching position and the position can be checked. The interpolation method is the current jog mode. By jog operation, move the robot to the safe position beforehand. Select the target position variable and tap the [Pos.
Page 75: Find
11.2.6. Find The procedure of finding the position data is shown. 1) Tap the [Find] button. (<a>) The variable name input screen is displayed. <a> 2) Tap the [Edit] button. () The string input screen is displayed. 3) The variable name to find is inputted, tap the [Enter] button (<c>), and finish the string input. <c>...
Page 76: Editiong The Position For Sq Direct Function
4) Tap the [OK] button. (<d>) The variable to find is displayed. <d> 11.3. Editiong the position for SQ Direct Function The SQ Direct Function (PLC Direct Function) is available with Ver.2.3 or later of this software. And this function is available with Ver.P8 or later of CRnQ-700 series controller software.
Page 77 <a> CAUTION In the SQ Direct Function, the position data that can be used is only the Position type variable.
Page 78: Registering The Current Position Data For Sq Direct Function
11.3.1. Registering the current position data for SQ Direct Function The procedure of registering the robot's current position is shown. 1) By jog operation, move the robot to the teaching position beforehand. 2) Select the position data to teach (<a>) and tap the [Teach] button (). The current position can be taught. In the same time, the position data is written to the controller.
Page 79: Edit Of Position Data For Sq Direct Function
11.3.2. Edit of position data for SQ Direct Function The procedure of direct input of the numerical value is shown. 1) Select the position data to edit (<a>) and tap the [Edit] button (). The data edit screen is displayed. (<c>) 2) Tap the [Edit value] button (<d>).
Page 80: Addition Of Position Data For Sq Direct Function
11.3.3. Addition of position data for SQ Direct Function The 999 points of position data, 1 to 999, in the controller which can use the SQ Direct Function are displayed in the list. When position data other than selected one is edited, use the [Add] button of the SQ Direct position edit screen.
Page 81: Initialization Of Position Data For Sq Direct Function
11.3.4. Initialization of position data for SQ Direct Function Select the position data to initialize (<a>), and tap the [Delete] button (). The confirmation message is shown up, after that tap the [Yes] button. The values of selected position data are initialized. <a>...
Page 82: Copy Position Data For Sq Direct Function From Controller To Usb
11.3.7. Copy position data for SQ Direct Function from controller to USB Since this software Ver.2.3, “*SQ Direct” is displayed in the top of the program list when connecting with controller which can use the SQ Direct Function. 1) Select the [Robot] in the Program list screen, select the “*SQ Direct” (<a>) in the list, and tap the [Copy/Move] button ().
Page 83: Copy Position Data For Sq Direct Function From Usb To Controller
11.3.8. Copy position data for SQ Direct Function from USB to controller 1) Select the [USB] in the Program list screen, select the file of position data for SQ Direct Function (<a>) in the list, and tap the [Copy/Move] button (). The Copy/Move screen will appear. The files of position data for SQ Direct Function are saved as extension “sdp”.
Page 84: Edit Of Position Data For Sq Direct Function In The Usb Memory
11.3.9. Edit of position data for SQ Direct Function in the USB memory 1) Select the [USB] in the Program list screen, select the file of position data for SQ Direct Function edited (<a>) in the list, and tap the [Open] button (). 2) The SQ Direct position edit screen is displayed.
Page 85: Debugging
12. Debugging Debugging refers to testing that the created program operates correctly, and to correcting errors if an abnormality is found. These can be carried out by using the T/B's debugging function. Always carry out debugging after creating a robot program, and confirm that the program runs without error. 12.1.
Page 86: Step Operation
12.2. Step operation "Step operation" executes the program line by line. The operation speed is slow, and the robot stops after each line, so the program and operation position can be confirmed. During execution, the lamp on the controller's [START] switch will light. Push the [TEACH] switch (<a>) of T/B, confirm that the [TEACH] switch and the [TB ENABLE] lamps light, and execute the step operation.
Page 87: Continuous Execution
12.2.3. Continuous Execution Push continually the sheet-key “+” key corresponding to the “FORWD”. This executes the program continuously from the current line. 12.2.4. Skip This function is available with Ver.2.3 or later of this software. Push the sheet-key “+” key corresponding to the “SKIP”, and the executing line of the program that has been selected now can be put forward by one line without run.
Page 88: Step Forward In Another Slot
12.2.5. Step forward in another slot When checking a multitask program, use with the “Program monitor” window, it is possible to do step operation in another slot. 1. In the “Program monitor“, select the slot with “task slot”. (<a>) 2. Tap the “Debug” button. () 3.
Page 89: Setting And Deleting Breakpoints
If you set a breakpoint, you can stop the program at the line while executing the Continuous execution. After stops, you can execute the program continuously. This function corresponds to the R56TB Ver.2.1 or later. Breakpoints can be set up to 128. Moreover, when the program is quitted, every breakpoint is deleted.
Page 90: Program Management
13. Program management The program files can be copied, moved, deleted, protected, renamed and the contents compared. 13.1. Starting Select the “Program” from the menu, and program list shown below appears. Since this software Ver.2.3, “*SQ Direct” is displayed in the top of the program list when connecting with controller which can use the SQ Direct Function.
Page 91 CAUTION There are some restrictions of operating the files for SQ Direct Function. Proprieties of operation are as follows. The name of the file for SQ Direct Function is fixed as “*SQ Direct” in the controller. In the USB memory, the file name can be set free. However, the extension is “sdp”. o : Can be operated.
Page 92: Program List
13.2. Program list The lists of the program files are displayed. For programs in the robot controller, the "Name", "Size", "Date", "Time", as well as the "Protect information", "No. of lines", "No. of position variables", "Latest cycle time", "Average cycle time", "Operation time", "No. of cycles" and "Comment“...
Page 93: Copy
13.3. Copy The program files are copied. Copying of the entire program file or only the command statements or only the position variables is possible. Tap the [Copy / Move] button on "Program list window", and “Copy / Move” window will appear. <a>...
Page 94: Move
13.4. Move The program files can be moved. Tap the [Copy / Move] button on "Program list window", and “Copy / Move” window will appear. <a> 1) Select the program files to move from the “Source” list, and designate the destination (robot or folder in the USB memory) at the “Destination”...
Page 95: Protect
13.6. Protect The program files in the robot controller can be protected. The entire program file can be protected, or just the command statements or position variables can be protected. 1) Select the program files to be protected from the lists. The multiple program files can be selected at the same time.
Page 96: Compare
13.8. Compare The program files can be compared. Compare of only the command statements or only the position variables is possible. Tap the [Compare] button on "Program list window", and “Compare” window will appear. <a> 1) Select the program files to be compared from the left and right lists. 2) Tap the [Compare] button (<a>), and “Setting for compare”...
Page 97 CAUTION The method of comparing position variables is changed since this software Ver.2.3. When comparing the programs by Ver.2.2 or before of this software, position variables were judged different if the expression of value of each elements are different as follows. Since Ver.2.3, it is changed to judge the same position variable when the value of each element of a position variable is coincides.
Page 98: Select Program
13.9. Select program Even the controller which the operation panel is not installed can select the program from this T/B. This function is available with Ver.2.3 or later of this software. 1) If the operation panel is installed on the controller, set the controller [MODE] switch to "AUTOMATIC". 2) Make the T/B enable.
Page 99: Backup/Restore
14. Backup/Restore The information on the robot controller can be backed up to the USB memory, or the backup information saved on the USB memory can be restored to the robot controller. Backup (Robot -> USB memory) Saves the backup data on the robot controller to the USB memory.
Page 100: Backup (Robot -> Usb Memory)
14.2. Backup (Robot -> USB memory) Save the information on the robot controller to a file on the USB memory. Tap the [Backup] button. The following window appears. << Backup >> All Files : Saves all files (robot program, parameter files, etc.) in the robot controller into the designated folder.
Page 101: Restore (Usb Memory -> Robot)
14.3. Restore (USB memory -> Robot) The backup data saved in the USB memory is transmitted to the robot controller. Tap the [Restore] button. The following window appears. << Restore >> All Files : Transfers all files (except BKUP.SYS and MECHA.SYS) in the designated folder to the robot controller after all information in the robot controller is cleared (initialized).
Page 102 Valid only when [All Files] or [Parameter Files] is selected under [Backup]. Change robot arm serial number If checked : Replaces serial number of the robot arm in the robot controller with the contents of the mechanical parameter file to be transferred. If not checked : A backed up file is transferred.
Page 103: Power Reset Of The Robot Controller
14.4. Power Reset of the Robot Controller To make the restored information effective, it is necessary to power on the robot controller again. If connecting to the CRnD-700 series controller, the power reset of the robot controller can be performed from the T/B.
Page 104: Monitor
15. Monitor With the monitor, all of the information in the currently connected robot controller can be constantly displayed. 15.1. Starting Select the "Monitor" from the Menu. The "Monitor menu" shown below will appear. After selecting the robot you wan to monitor, tap an item. The monitor window for selected robot appears.
Page 105: Outline Of Each Function And Starting Methods
15.2. Outline of each function and starting methods 15.2.1. Outline of each function Each monitor function is explained briefly in this section. The monitor functions are largely classified into the following three groups. 1. Robot movement monitor ..…Items related to robot movement are monitored. 2.
Page 106: Each Monitor Function
15.3. Each monitor function Each monitor function is explained in this section. 15.3.1. Robot movement monitor 15.3.1.1. Slot run state The state of the slots in the robot controller can be monitored. The No. of displayed slots is determined with the parameters. It is possible to stop all slots for which the start condition is "ALWAYS"...
Page 107: Program Monitor
15.3.1.2. Program monitor Information of the running program can be monitored. 1) Program monitor [Watch] : The constant display window for the variables used in the running program is displayed. [Debug] : The “Debugging” window will appear at the right of T/B. For debugging, please refer to the “12 Debugging”.
Page 108 2) Watch monitor With the watch monitor, the variables to be constantly displayed can be selected. When the [Watch] button on "Program monitor window" is tapped on, the watch monitor window and a window for selecting the variables to be displayed will appear. <a>...
Page 109 [Add Variable] The variables to be monitored can be designated. Input the variable in Variable Name, select the variable type, and then tap on the <a> [OK] button. (<h>) <h> [Change value] The value of the variable being watched now is changed. Variable identifier to which the value is changed is double tapped or [Change value] button (<d>) is tapped while <d>...
Page 110: Movement State
[Delete variable] The value of the variable being watched now is changed. Variable identifier to which the value is changed is tapped double or [Change] button is tapped while selected. <c> Variable value change window is displayed. About the hexadecimal number display The variable displayed with "Watch monitor"...
Page 111: Error
15.3.1.4. Error The errors currently occurring in the robot controller are displayed. 1) Currently occurring errors Detailed information (cause and The history of the errors that recovery) of the occurring error have occurred in the past can can be confirmed. be referred to.
Page 112 2) Error history The history of errors that have occurred in the past can be referred to. This display is not shown at all times. Detailed information can be confirmed. Error history is preserved in the text file.
Page 113: Signal Monitor
15.3.2. Signal monitor 15.3.2.1. General-purpose signal The status of the input / output signals can be monitored. <a> <c> When the [Pseudo-input] button is tapped on, the robot controller will enter the "pseudo-input mode, and the following window will appear. CAUTION To cancel the pseudo-input mode, the robot controller power must be turned ON again.
Page 114 1) General-purpose signal monitor With the general-purpose signal monitor, monitoring can be carried out by designating the head signal No. and number of signals to display. Please tap the [Monitor setting] button. () Change the head signal No. and the number of signals to display to be monitored.
Page 115 3) Forced output The robot controller's general-purpose signals can be forcibly output. Tap on the [Forced output] button. (<c>) A window for forcibly outputting the signal will appear. <f> <g> i) First, read out the signal to be forcibly output. 16 signals can be output simultaneously.
Page 116: Named Signal
15.3.2.2. Named signal The status can be checked by naming the status of the dedicated I/O signal that has been set in the robot controller, as well as each bit or within the range of 32 bits of the general-purpose signal. The signal file in the robot controller is loaded at startup.
Page 117: Stop Signal
[Load] / [Save] / [Delete signal file in robot] <d> <e> <f> The edited result can be saved on or loaded to a personal computer or robot controller. Specify the save destination / load destination and tap the [OK] button. If the save destination is a personal computer, a file name can be specified.
Page 118: Register
15.3.2.4. Register This screen cannot be referred to if the CC-Link option card is not mounted on the robot controller. The values of the CC-Link function input registers can be monitored. <a> <c> The input registers The register to be monitored can be The output registers are pseudo-input.
Page 119 2) Pseudo-input With the pseudo-input mode, the values input from the following window will be interpreted as the input register values instead of the registers input from an external source. <d> <e> First, read out the registers to be pseudo-input. Up to 16 sequential registers can be set simultaneously.
Page 120: I/O Unit Monitor
15.3.2.5. I/O unit monitor The XY device variables of I/O unit can be monitored. The status of input signals are displayed on the upper table, and the status of output signals are displayed on the lower table. The signal values can display a 16-bit integer with a mark, or 32-bit integer with a mark by the decimal number or the hexadecimal number.
Page 121: Operation Monitor
15.3.3. Operation monitor 15.3.3.1. Operating hours The robot operating time, and battery usage time, etc., can be confirmed. The connected robot and it's servo ON time can be confirmed. 15.3.3.2. Production information The latest cycle, operation time, No. of cycles and average cycle time for each program in the robot controller can be confirmed.
Page 122: Additional Board Information
15.3.3.3. Additional board information Information on the option card mounted on the robot controller can be confirmed. Note that this screen cannot be referred to if robot controller is not provided with a slot for mounting the option card.
Page 123: Servo Monitor
15.3.4. Servo monitor The servo system is monitored. When the [Reset] button is tapped of each screen, the maximum value and the minimum value of all monitoring servo information of position, speed, current, load and power are reset by the batch. 15.3.4.1.
Page 124: Speed
15.3.4.2. Speed The following data concerting the rotational speed of each axis motor can be monitored. Speed feedback A present motor speed is displayed by the unit of rpm. Speed MAX. The maximum value of the speed feedback after robot controller’s power supply is turned on is displayed. When the [Reset] button on the screen is tapped, this value is reset in 0.
Page 125: Current
15.3.4.3. Current Data concerning the current value of each axis motor can be monitored. The displayed data changes by tapping the [Current1] button (<a>) and the [Current2] button () on the screen. The following data can be monitored in the [Current1]. Current cmd The current command of the motor is displayed.
Page 126 Current2 <a>...
Page 127: Load
15.3.4.4. Load The load state of each axis motor and the temperature of the encoder (Only the robot that corresponds to the function of the encoder temperature) can be monitored. The following data can be monitored. Axis load level A preset load ratio of each motor is displayed as an alarm level. The overload error occurs when this value reaches 100%.
Page 128: Power
15.3.4.5. Power The following data concerning robot controller’s main circuit power supply can be monitored. Motor power voltage A present power-supply voltage value is displayed. Motor power voltage (MAX) The maximum value of the motor power voltage in servo ON is displayed. When the [Reset] button on the screen is tapped, this value is reset in 0.
Page 129: Maintenance
16. Maintenance There are functions of concerning the system construction of the robot in "Maintenance" menu. Maintenance menu is shown by following operation. Version Menu Maintenance menu 16.1. Origin data The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out this step before starting work.
Page 130: Origin Data Input
16.1.1. Origin data input The origin data to be input is noted in the origin data sheet enclosed with the robot arm, or on the origin data history table attached to the back side of the robot arm cover. “DJNT” value is used by the position repair tool in RT ToolBox. (1) Edit origin data If origin data is changed, tap [Edit] button (<a>) and shown the following window.
Page 131: The Others (Mechanical Stopper, Tool, Abs, User Origin Method)
(3) Save to file, Read from file in T/B Tap [Save to file] button (<a>), the current origin data is saved into the designated file. Tap [Read from file] button (), the origin data in the designated file is loaded. <a>...
Page 132 (2) Display of method of setting origin position The method of origin position set last time is displayed. This function corresponds to the R56TB Ver.2.1 or later. Tool Green Light blue User origin method Yellow Mechanical stopper (3) Release the brakes If you need move axis with brake by the hand, please release the break and work by two people.
Page 133: Initialize
16.2. Initialize “Initialize” has four functions. 1. Setting the controller’s date and time. 2. Erase all programs in the controller. 3. Initialize the battery remaining time. 4. Set a serial number 16.2.1. Setting the controller’s date and time Tap the [Set time] button (<a>). Set the present date and time, and tap the [OK] button. <...
Page 134: Erase All Programs In The Controller
16.2.2. Erase all programs in the controller To delete all programs, follow the procedure below. (1) Tap the [Initialize] button<a> of “program”. (2) Tap the [Edit] button of the confirmation screen. (3) Input "YES" with the keyboard, and tap the [Enter] key. (4) Tap the [OK] button<c>...
Page 135: Serial Number
16.3. Serial number The serial number of the robot arm is set Each mechanism can be set . The serial number of the robot arm has been put on the back of the body of the robot base. 16.3.1. Serial Number setting (1) Tap on [Set] button <a >...
Page 136 (2) Tap on [Edit] button of the serial number setting. Input the serial number from the displayed keyboard. After the serial number is input, tap on [Enter] key of the keyboard. (3) Tap on [Write] button to write into the controller. After writing, last updated date and time is updated.
Page 137: Save Serial Number To File
16.3.2. Save serial number to file (1) Tap on [Save to file] button of the serial number setting. (2) When [Save] button is tapped specifying the file name, serial number is saved in a specified file. Save serial number to file ends above. 16.3.3.
Page 138: Releasing The Brakes
16.4. Releasing the brakes This function releases the servomotor brakes when the servo is OFF. This function is used to directly move the robot arm by hand, etc. CAUTION Due to the robot configuration, when the brakes are released, the robot arm will drop with its own weight depending on the released axis.
Page 139: Preparation For Releasing The Brakes
16.4.1. Preparation for releasing the brakes Before releasing the brakes, it is necessary to do the following operation. 1. The MODE switch is set to MANUAL. 2. [TEACH] button is set to ON. 3. Push the enable switch. 4. Press the CAUTION button. Another person supports the Robot arm which releases brake.
Page 140: Releasing The Brake Of One Axis
16.4.2. Releasing the brake of one axis For releasing the brake of one axis, press [+] button of J1 ～ J6 after doing (1) operation. The brake is released only while the button is being pressed. 16.4.3. Releasing the brakes of two of more axes For releasing the brakes of two or more axes, do following operation after doing (1) operation.
Page 141: Maintenance Forecast
16.5. Maintenance Forecast In Maintenance Forecast, the parts replacement (grease replenishment, battery and belt replacements) times can be checked from the up-do-date operating data collected inside the controller. CAUTION The results of calculations in Maintenance Forecast merely show reference values. Please execute the daily inspection and the periodic inspection to prevent the breakdown beforehand, and to secure safety.
Page 142: Forecast (Grease)
16.5.3. Forecast (Grease) When [Grease] is seen in Item, the "hours until grease replenishment time" can be checked for each axis. <a> If the hours until replenishment time has reached (Hours until replenishment time) < ([The remainder days until presumed maintenance time] on the Setup screen) x ([Operation time of a day]), the hours and bar graphs are displayed in orange.
Page 143: Forecast (Belt)
16.5.4. Forecast (Belt) When [Belt] is seen in Item, the "hours until belt replacement time" can be checked for each axis. <a> If the hours until belt replacement time has reached (Hours until belt replacement time) < ([The remainder days until presumed maintenance time] on the Setup screen) x ([Operation time of a day]), the hours and bar graphs are displayed in orange.
Page 144: Setup
16.5.5. Setup Tap the Setup button. Here, the timing to collect the information for Maintenance Forecast, the notification method and other items can be set up. <a> When the [Write Parameters] button (<a>) is tapped after setting each item, the setting values are written into the controller.
Page 145 Tab. Setup Screen Factory Item Explanation preset value (1) Maintenance Forecast is If this is checked, the Maintenance Forecast function takes effect. Check ON made effective. *If a checkmark is removed, the collection of the information for Maintenance Forecast stops, and the correct maintenance times cannot be calculated.
Page 146: Reset
16.5.6. Reset When axes were exchanged or replenished by generating warning of the Maintenance forecast function to urge the battery exchange, the grease replenishment, and the belt exchange, the axes which executes the exchange and replenishment should reset information accumulate among controllers. The information (about battery, grease and belt) for Maintenance Forecast kept in the controller can be reset.
Page 147: Others
When the [Log] button is tapped in the upper-right corner of the window, the previous reset date/time and reset count can be checked. However, the battery reset count is not displayed. If no reset has not made previously, “----/--/-- --:--:--“ is displayed. 16.5.7.
Page 148: Guidance
16.6. Guidance The guidance screen to do a basic setting to set the origin data to during start the controller first time is displayed. In this screen, the following three functions are provided. For more information, please refer to the "7 Guidance" . (1) RC time setting (2) Robot serial setting (3) Origin data setting...
Page 149: Security Function Of The Robot Controller (Password Setup)
16.7. Security function of the robot controller (Password Setup) It is possible to forbid accessing the robot programs, parameters and files in the robot controller. The security function can be achieved by setting the password to the robot controller. This function can be used with Version 3.0 or later of this software.
Page 150: Register The Password
16.7.1. Register the Password The password is registered to the robot controller. Tap the "Register/Change" button of the item to which register the password in "Password Setup" screen. After inputting the password in the "Register/Change Password" screen, tap the [OK] button. The input password is displayed by "*".
Page 151: Change The Password
16.7.2. Change the Password The password being set in the controller is changed. Tap the "Register/Change" button of the item to which change the password in "Password Setup" screen. After inputting a password set now and a new password in the "Register/Change Password" screen, tap [OK] button. Figure Change Password When the password is changed by "All"...
Page 152: Delete The Password
16.7.3. Delete the Password The password being set in the controller is deleted. Tap the "Delete" button of the item to which delete the password in "Password Setup" screen. After inputting a password set now in the "Delete Password" screen, tap [OK] button. Figure Delete Password When the password is delete by "All"...
Page 153: Tool Automtic Calculation
16.8. Tool automtic calculation With the “Tool automatic calculation”, the tool length is calculated automatically by teaching a same position by 3 to 8 points to the robot that is attaching an actual tool, and the value of a tool parameter (MEXTL) is set up. This function can be used with Version 2.20W or later of this software.
Page 154: Flow Of Oerations
16.8.3. Flow of oerations Select the tool number for setting (<a>) Re-teaching Work Procedure Move the robot to the auxiliary point Select the line of “Auxiliary point” () Teach selection line (<c>) Repeat as necessary Enter checks to the check box of the line (When a value is set to “Calculated tool coordinate”, used to calculation () a [Write] button (<f>) becomes effective)
Page 155 Move the robot which is attaching a tool. After selecting the line of “Auxiliary point” list (), tap a [Teach selection line] button (<c>). Teach a same position by 3 to 8 points with different posture. (When the [Pos. jump] button (<d>) is tapped, the robot can be moved to the selected position and the teaching point can be checked.
Page 156: Parameter Editor
17. Parameter editor The parameter editor can be used to reference and rewrite the parameter information set in the robot controller. 17.1. Starting Select the “Parameter” from the menu, and parameter editor shown below appears.
Page 157: Downloading The Parameter List (Robot Controller -> T/B)
17.2. Downloading the parameter list (Robot controller -> T/B) The message to confirm whether to download the parameter list when the parameter edit is started might be displayed. This message will be appeared in the following cases. (1) When the parameter list can be read from the robot controller or when the [Read] button (<a>) is tapped on "Parameter window"...
Page 158: Changing The Parameters
17.3. Changing the parameters Select a parameter displayed in the list, or input the parameter name and then tap on the [Read] button (<a>) on "Parameter window". The designated parameter information in the robot controller will be appeared. <a> After confirming the parameter, the parameter information in the robot controller can be rewritten by tapping on the [Write] button.
Page 159: Parameter Menu
17.4. Parameter menu With this tool, parameter panels grouped as windows for each function are prepared. Select the name of the parameter to be referred to with the [Parameter menu] button (<a>) on "Parameter window". (1) The T/B version is before 3.2 <a>...
Page 160: Motion Limit
17.4.1. Motion limit Set the operating range of the robot. 17.4.2. Set the speeds of joint jog and XYZ jog. Memo Override specifies maximum speed. Maximum speed can be suppressed by reducing the value.
Page 161: Hand
17.4.3. Hand You can set the parameters of the hands which connected to the robot. "17.4.3.2 Multi-Hand Tool” , “17.4.3.3 Multi-Hand Base” , “17.4.3.5Electric hand point” , “17.4.3.6Electric hand“ can be used with Version 2.5 or later of this software. “17.4.3.4 Electric hand table”...
Page 162: Multi-Hand Tool
17.4.3.2. Multi-Hand Tool Selects the Hand Base of the Multi-Hand, set the offset value, set the offset value of each hand to the selected Hand Base. The Multi-Hand Tool can be connected to the robot with remote Input/Output signals or parallel Input/Output signals.
Page 163: Multi-Hand Base
17.4.3.3. Multi-Hand Base Set the type name of the hand base for the Multi Hand and the Normal coordinates value of each hand. When the robot and the controller connected to this software correspond to the function of the 'Multi-Hand' , the item concerning the Multi-Hand are displayed in the parameter menu.
Page 164: Electric Hand Table
17.4.3.4. Electric hand table Set parameters about the table method of the electric hand. This function is available from this software version 3.1 or later. And the controller which can set the parameters about the electric hand table is as follows. Table 17-3 Robot controller which can set the parameters about the electric hand table Controller S/W Ver.
Page 165: Electric Hand Point
17.4.3.5. Electric hand point Teach the positions of the electric hand. This function is available from this software version 2.5 or later. And the controller which can set the parameters about the electric hand is as follows. Table 17-4 Robot controller which can set the parameters about the electric hand Controller S/W Ver.
Page 166: Electric Hand
17.4.3.6. Electric hand Selects the type of the electric hand and set the parameters. This function is available from this software Ver.2.5 or later. And, please refer to “Table 17-4 Robot controller which can set the parameters about the electric hand” for the controller which can set the parameters about the electric hand.
Page 167: Weight And Size (Work)
17.4.4. Weight and size (Work) Set the work conditions. WRKDAT0 might not be able to set according to the kind of the connected robot. In that case, the row of WRKDAT0 cannot be input. 17.4.5. Weight and size (Hand) Set the hand conditions. HNDDAT0 might not be able to set according to the kind of the connected robot.
Page 168: Tool Parameter
17.4.6. TOOL parameter Set the standard tool coordinates and standard base coordinates. When the robot that connects this software corresponds to the Multi-Hand, it is possible to select "Tool 5" or later. This function is available from this software Ver.2.5 or later. The Multi-Hand function is available with the robot controller's software version S2a/R2a or later.
Page 169: Slot Table
17.4.7. Slot table Set the operating conditions of each task slot during multi-task operation. <a> Select the task slot number you are changing and tap the [Set...] button. (<a>) When the modification window appears, set the program name, operating conditions, startup conditions and task priority, and then tap [Write] button.
Page 170: Output Signal Reset Pattern
17.4.8. Output signal reset pattern Set the operation when resetting the general-purpose output signals such as the CLR instruction and dedicated input (OUTRESET). <a> Set a signal number, and then select one from [OFF] / [ON] / [Hold]. The value of the signal having the specified number displayed in the list changes. Also, selecting a signal group (for example, "0 - 31") and then tapping the [Set...] button (<a>) changes 32 signals at once.
Page 171: Dedicated Input / Output Signals Assignment
17.4.9. Dedicated input / output signals assignment Assign signal numbers to functions in order to perform the remote operations to execute and stop robot programs, and display/operate the execution progress information and servo power supply status, etc. 17.4.9.1. General 1 17.4.9.2.
Page 172: Data
17.4.9.3. Data “Temp. in RC output req” and “During output Temp in RC” parameter is available with Ver.2.4 or later of this software. Moreover, the software version of the controller which can use this parameter is as follows. Controller S/W Ver. of the controller CR750-D/CRnD-700 Ver.S1c or later CR750-Q/CRnQ-700...
Page 173: Hand
17.4.9.5. Hand 17.4.9.6. Warm up...
Page 174: Start (Each Slot)
17.4.9.7. Start (each slot) 17.4.9.8. Stop (each slot)
Page 175: Servo On / Off (Each Robot)
17.4.9.9. Servo ON / OFF (each robot) 17.4.9.10. Machine lock (each robot)
Page 176: 164
17.4.10. RS-232 Set up the communication environment of the RS-232C interface located at the front of the robot controller. (Only CRnD-750 Controller) 17.4.11. User-defined area Specify the area (rectangular) defined by two Cartesian coordinate points.
Page 177: Free Plane Limit
17.4.12. Free plane limit Set the overrun limit used on free planes. 17.4.13. Home position Set the position of the escape point.
Page 178: Program Language
17.4.14. Program language Set the program language. CAUTION The program language (MELFA-BASIC IV / MOVEMASTER command) to be used by the controller can be changed with the "Program language" window. Note that the robot models that can use the MOVEMASTER commands are limited. Refer to the Standard Specifications for the model in use to confirm whether the commands can be used.
Page 180: Collision Detection
17.4.16. Collision detection You can set information related to the robot's collision detection functions. This function can be used with Version 3.2 or later of this software. 17.4.17. Warm-up operation You can set information related to the robot's warm-up function. This function can be used with Version 3.2 or later of this software.
Page 181: Movement
17.4.18. Movement You can set information related to the optimum acceleration/deceleration for robot operation and set compliance errors. The information that can be set concerning movement parameters depends on the robot controller connected. This function can be used with Version 3.2 or later of this software. The controller version which can use this function is as follows.
Page 182: User Error
17.4.20. User error You can set the message, cause, and recovery method for user errors set with a program. This function can be used with Version 3.2 or later of this software. Double tap the error number from the list or tap [Set...] button. The "User Error" edit screen is displayed. Double tap Input the error number, error message, cause, and recovery method, then tap the [OK] button.
Page 183: Ethernet
17.4.21. Ethernet You can set robot controller Ethernet information. This function can be used with Version 3.2 or later of this software. Select the device to edit and double tap. A screen is displayed for setting a variety of device information. If you select [MELFA-3D Vision] or [Network Vision Sensor (2D)] at [Auto configuration], the default value corresponding to each device is set to items below [Mode].
Page 184: Multiple Cpu
17.4.22. Multiple CPU You can set the parameters related to the Multiple CPU to use the CR750-Q/CRnQ-700 series robot controller. These parameters can be set when you are connected to CR750-Q/CRnQ-700 series robot controller. This function can be used with Version 3.2 or later of this software. You can check the number of points input and range of total by tapping the [Check] button.
Page 185: Cc-Link
17.4.23. CC-Link Set the information of CC-Link in the robot controller. This function can be used with Version 3.2 or later of this software. CAUTION This function can only be used with a CRn-500 series or CRnD-700 series robot controller. Also, this function cannot be used with CRnQ-700 series robot controller.
Page 186: Profibus
17.4.24. PROFIBUS Set the information of PROFIBUS in the robot controller. This function can be used with Version 3.2 or later of this software. CAUTION This function can only be used with a CRn-500 series or CRnD-700 series robot controller. Also, this function cannot be used with CRnQ-700 series robot controller.
Page 187: I/O Unit
17.4.25. I/O unit You can set information related to the I/O unit of the PLC. Set parameters while connected to the robot controller. This function can be used with Version 3.0 or later of this software. Moreover, the software version of the controller which can use this parameter is as follows.
Page 188: Work Coordinate
17.4.26. Work coordinate Work coordinate parameter defines coordinates used with the WORK jog. 8 work coordinates can be defined. The WORK jog function is available with Ver.2.3 or later of this software. Moreover, the software version of the controller which can use this function is as follows. Controller S/W Ver.
Page 189: Force Control Parameters
17.4.27. Force control parameters You can set parameters of force control in robot controllers. The force control function can be used with Version 3.0 or later of this software. For details of these parameters, refer to the user’s manual of the force control function. Controller S/W Ver.
Page 190: Force Control Mode
17.4.27.2. Force control mode Set the parameters, [Coordinate system], [Control mode of axes], [Stiffness coefficients], and [Dumping coefficients] which are used by the control mode of force control function. After you change the parameter values, you can rewrite the parameters in the robot controller by tapping the [Write] button.
Page 191: Force Log
(2) In the case of using version 3.1 or later After you change the parameter values, you can rewrite the parameters in the robot controller by tapping the [Write] button. 17.4.27.4. Force log Set the parameters, [Configuration] and [FTP setting] which are used by the force control function. After you change the parameter values, you can rewrite the parameters in the robot controller by tapping the [Write] button.
Page 192: Real-Time External Control Command
17.4.28. Real-time external control command Set the information of the Real-time external control (MXT). This function can be used with Version 3.2 or later of this software.
Page 193: User Definition Parameter
17.4.29. User definition parameter In the “User definition parameter” window, it is possible to edit the parameters, which prepared by the definition files, at the one window. Create the definition files beforehand in PC, and copy the files to T/B. File name Param xx .TXT ( xx = 01 to 10)
Page 194: Find
17.5. Find Strings can be found from the parameter list being displayed. Tap the [Find word] button, and enter the string you want to find in the find string field, and tap [Search] button. (<a>) The specified string is found from the current cursor position in the parameter list to the direction specified. <a>...
Page 195: System Option
18. System option “System option” has system property setting functions. “System option” is shown by following operation. Version Menu System option 18.1. Display On “Display”, set the screen name when T/B is started and T/B brightness. The operation is as follows. 1) Set the screen name when T/B is started to “Top screen”.
Page 196: Update T/B
Download the update data (compressed file). Copy the files which are decompressed of update data to root folder of the USB memory (ex. If USB memory’s drive letter is “D”, copy them to “D:/”). Connect the USB memory to the T/B. Download the update data Download MITSUBISHI FA http://www.mitsubishielectric.co.jp/fa/ Compressed data (ZIP) Decompress Copy Update data...
Page 197 After you tap <a> button, you can see the screen as follows. Check the caution, and tap [OK] button, you can see the screen as follows. Check the versions before and after update and cautions, and tap [Start] button, start update. CAUTION Please do not turn off the controller during update.
Page 198: Language Of T/B
18.3. Language of T/B You can change the language of the T/B. Select the language (<a>) and tap [Write] button. <a> 18.4. IP address of T/B You can set the IP address of the T/B. Tap [Setting] button (<a>). <a> After you tap [Setting] button (<a>), you can see the screen as follows.
Page 199: User Definition Screen
19. User definition screen “User definition screen” is supported by version 2.2 or later of this software. You can make the customized screen by arranging the parts such as the button and the lamp that synchronize with the I/O signal. You can make two or more pages of definition screens. This screen can be used by the following usages.
Page 200: User Definition Editor
19.1. User definition Editor It is necessary to make the “User definition screen” beforehand to use it. The “User definition screen” is edited on the system information screen. (1) Tap the [MENU] button (<a>) of a T/B screen and display menu panel. (2) Tap the [Option] button () in the menu.
Page 201: Adding The New Page
List 19-2 Explanation of user definition screen Name Explanation The list of registered "User definition screen" is displayed. <1> List "User definition screen" is displayed in order as displayed here. <2> [Edit] Existing "User definition screen" is edited. <3> [Add] "User definition screen"...
Page 202: Edit Of Existing Page
19.1.2. Edit of existing page To edit an existing “User definition screen”, tap [Edit] button (<a>) on the window after selecting the user definition screen edited from the list. The edit display of selected "User definition screen" is displayed. <a> Please refer to ”19.1.5 Page edit of "User definition screen"”...
Page 203: Copy Of Page
19.1.3. Copy of page You can copy "User definition screen". To make the copy of existing "User definition screen", tap [Copy] button () after selecting the user definition screen from the list (<a>). The copy of the selected user definition screen is made (<c>). The name of the copied user definition screen becomes "<Origin Name>...
Page 204: Page Edit Of "User Definition Screen
19.1.5. Page edit of "User definition screen" The grid line (<a>) is displayed in the edit display of the user definition screen. Each part can be registered with the block unit () delimited in this grid line. <a> <2> <3>...
Page 205: Button
19.1.5.1. Button (1) Tap the position (block) in which the button is made (<a>). Left side of the button is arranged in this position. (2) After "Select item" window is displayed, tap [Button] button (). (3) Set the button name, button size and the kind of button on "Create button" windows. (4) The movement of when the button is tapped is set by [Set] button (<c>).
Page 206 <4> Movement setting : The condition and the signal output operation when the button ON can be set. The condition can be selected as follows. Please set the signal number etc. when you make the signal state the condition. When the button is ON or OFF, the condition is judged.
Page 207 (3) Tap [Signal No.] button (<e>), and input "20" to signal number (<f>). Tap the state of the signal (<g>), and select "High". Now, select "Input signal". <f> <e> <g> (4) Select "High" as signal operation of when tapping on a button (<h>). <h>...
Page 208: Lamp
19.1.5.2. Lamp (1) Tap the position (block) in which the lamp is made (<a>). The lamp is arranged at this position. (2) After “Select item” window is displayed, tap [Lamp] button (). (3) Select the lighting color of the lamp on “Create lamp” window. (4) Tap [On/Off condition] button (<c>), and set the lighting condition and the turning off condition on "The lamp on/off condition”...
Page 209 Example of setting lamp ON/OFF For example: Lamp that is turned on when the input signal number 20 is High, and is turned off when the input signal number 20 is Low. (1) A default value of “The Lamp on/off condition”...
Page 210: Variable
19.1.5.3. Variable The value of the specified variable is displayed. (1) Tap the position (block) in which the variable is displayed (<a>). Left side of the variable is arranged in this position. (2) After "Select item" window is displayed, tap [Robot information] button (). (3) Select "variable"...
Page 211: Program Execution Content
19.1.5.4. Program execution content The content of the program being executed is displayed. The amount of 7 lines, the execution line, upper 3 lines and lower 3 lines, are displayed. (1) Tap the position (block) in which the content of the program is displayed (<a>). Left side of the content of the program is arranged in this position.
Page 212: Program Name
19.1.5.5. Program name The name of program being executed is displayed. (1) Tap the position (block) in which program name is displayed (<a>). Left side of the box is arranged in this position. (2) After "Select item" window is displayed, tap [Robot information] button (). (3) Select "Program name"...
Page 213: Execution Line Number Of Program
19.1.5.6. Execution line number of program The line number of program being executed is displayed. (1) Tap the position (block) in which execution line number is displayed (<a>). Left side of the box is arranged in this position. (2) After "Select item" window is displayed, tap [Robot information] button (). (3) Select "Exe line num"...
Page 214: Current Position Data (The Xyz Coordinate System)
19.1.5.7. Current position data (the XYZ coordinate system) The current position data of robot is displayed with each XYZ coordinate system type axis. If you want to display the current position data (the XYZ coordinate system) all together, please use “Variable” type and set the Robot Status Variable “P_CURR”.
Page 215: Current Position Data (The Joint Coordinate System)
19.1.5.8. Current position data (the joint coordinate system) The current position data of robot is displayed with each joint coordinate system axis. If you want to display the current position data (the joint coordinate system) all together, please use "Variable" type and set the Robot Status Variable "J_CURR".
Page 216: Label
19.1.5.9. Label The label can be displayed at the specified position. (1) Tap the position (block) in which the label is made (<a>). The label is arranged in this position. (2) After "Select item" window is displayed, tap [Label] button (). (3) After setting the label on “Create label”...
Page 217: Save And End Of Editing User Definition Screen
19.1.5.10. Save and end of editing user definition screen After the editing of user definition screen is completed, tap [Save] button (<a>). To end the edit, tap [Close] button (). <a> ...
Page 218: Edit Of Existing Parts
19.1.6. Edit of existing parts Edit of existing parts is as follows: (1) Tap a part which is edited (<a>). (2) After "Edit menu" window is displayed, Tap [Edit] button (). (3) The edit displays of selected parts are displayed. After changing contents, tap [OK] button (<c>). <a>...
Page 219: Copy/Movement Of Parts
19.1.7. Copy/movement of parts Parts can be copied or be moved. (1) Tap the part to copy, and select it (<a>). (2) After "Edit menu" window is displayed, tap [Copy] button (). When parts are moved, tap [Move] button. (3) Tap the position(block) where the part is copied onto (moved to). At this time, the current position(block) of part is red, and the position(block) where the part is copied onto is green.
Page 220: Deletion Of Parts
19.1.8. Deletion of parts Parts can be deleted. (1) Tap the part to delete, and select it (<a>). (2) After "Edit menu" window is displayed, tap [Delete] button (). (3) Tap [Yes] button on the confirmation message. <a> 19.1.9. Change of page name Page name can be changed in [Edit] button (<a>) under the left of the window.
Page 221: Edit Of Ruled Line
19.1.10. Edit of ruled line The ruled line can be drawn on the user definition screen. 19.1.10.1. Drawing the ruled line (1) Tap [Line] button (<a>) on the window. (2) The button (“[Top],[Bottom],[Left],[Right]”) () for the ruled line is displayed in the right of [Line] button. These buttons to draw the ruled line disappear when [Line] button (<c>) is tapped again.
Page 222: Erasing The Ruled Line
19.1.10.2. Erasing the ruled line (1) Tap [Line] button (<a>) on the window. (2) The button (“[Top],[Bottom],[Left],[Right]”) () for the ruled line is displayed in the right of [Line] button. These buttons to draw the ruled line disappear when [Line] button (<c>) is tapped again. <a>...
Page 223: Import / Export Of Page
19.1.11. Import / Export of page The made user definition screen can be saved in USB memory or can be read from USB memory. Import The user definition screen specified from USB memory is read. Export The specified user definition screen is saved in USB memory. When [Import] button or [Export] button is tapped with USB memory not installed, the error is displayed.
Page 224: Operation Of User Definition Screen
19.2. Operation of user definition screen The user definition screen can be displayed by the following operations. (1) Tap the [MENU] button (<a>) of a T/B screen and display menu panel. (2) Tap the [User Definition] button () in the menu. (3) The user definition screen is displayed.
Page 225: Mechanism Of Screen Update
19.2.1. Mechanism of screen update It takes 0.5 seconds or less to update the state of the lamp and robot information, and the update which cannot have been updated during that time is done after 0.5 seconds. For example, it becomes the following if there are 15 information items to update, and 10 items can be dealt by every 0.5 seconds.
Page 226: Operation Panel
20. Operation panel The Operation panel is a screen prepared for the controller with whom the operation panel is not equipped. This screen has functions equal with controller's operation panel. This screen can be started by selecting the program. This screen is possible to use it even in "AUTOMATIC" and "MANUAL" mode. Operation panel is not displayed with the software before version 3.0.
Page 227: Display
CAUTION When using it in the MANUAL mode Push the TEACH button. (Change to the enabling state.) Press this switch lightly when carrying out functions with the servo ON. The servo power cuts if an enable switch of T/B is opened while the robot is working and the robot stops.
Page 228: Program Select
20.3. Program select The robot program can be selected at slot 1. (1) Tap the [Select] button (<a>). (2) [Select] dialog () is displayed. (3) Select the program and Tap the [Select] button (<c>) (4) Since the confirmation screen is displayed, the [Yes] button (<e>) is tapped. <a ...
Page 229: Servo On/Off
20.5. Servo ON/OFF Tap the [Servo On] button (<a>), the servo power is turned on. Tap the [Servo Off] button (),the servo power is turned off. <a> 20.6. Start automatic operation Tap the [Start] button (<a>), the Caution dialog () is displayed. An automatic driving begins when [OK] button (<c>) is tapped after safety is confirmed.
Page 230: Reset
20.8. Reset The [Reset] button (<a>) can be reset the controller’s error. This also resets the program's halted state and resets the program. At program reset Tap the [Reset] button (<a>), the confirmation message box () is displayed. Tap the [Yes] button (<c>), the program is reset.
Page 231 DEC.2013 MEE-BFP-A8684 Printed in Japan on recycled paper. Specifications are subject to change without notice.

This manual is also suitable for:

R57tb

Mitsubishi R56TB Instruction Manual

1 Before Use

2 Connection with Controller

3 Specification

4 Basic Operation Method

5 Operation of Menu Panel

6 Language Setting

7 Guidance

8 Setting a Target Robot for Using Multi-Mechanism Control

9 JOG Operation

10 USB Memory Stick

11 Program Edit

12 Debugging

13 Program Management

14 Backup/Restore

15 Monitor

16 Maintenance

17 Parameter Editor

18 System Option

19 User Definition Screen

20 Operation Panel

Note) the Program Selection Cannot be Done While Executing the Program

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