Mitsubishi Electric CR750-Q Instruction Manual page 9

Date Specifications No.
2014-08-21 BFP-A8869-N
2014-12-24 BFP-A8869-P
2015-02-05 BFP-A8869-R
2015-03-10 BFP-A8869-S
2015-10-30 BFP-A8869-T
2016-04-07 BFP-A8869-U
• Correction of errors.
• The explanation of R56/57TB in "3.10 Operation to Temporarily Reset an Error that
Cannot Be Canceled".
• Dedicated input/output were added. (DOORSTS1, DOORSTS2, DOORSTS)
• The robot status variable is added. (M_ErCode, M_DIn32, M_DOut32)
• The explanation of Error, Act commands were modified.
• An example was added to Fine P command.
• The explanation of XClr command was modified.
• The functions of ACos and ASin were added.
• The JOGMENO parameter was added.
• The explanation to specify M_OPOvrd was added.
• In "5.11 Automatic execution of program at power up", the setting value of the
parameter ALWENA was corrected from "7" into "1" and step 17 was added to the
sample program.
• Correction of errors.
CallP command (Error: Speed is valid in a sub program)
SLOTINIT (Error: Do not function in the stop input state (when STOPSTS is ON).)
The lamp which blinks while the T/B is displaying the <OPERATION> screen in the
"ATUOMATIC" mode. (Error: [TB ENABLE] switch)
Table 6-7:Validity state of dedicated input signals (Error: SLOTINIT does not func-
tion in the stop input state (when STOPSTS is ON).)
• The explanation and the reference program about Break command were added to
For - Next and While - WEnd commands.
• The explanation when using skip command was added to WithIf command.
• The corporate logo mark of illustrations in this manual was changed.
• The explanation of Fine command was added.
• Correction of errors in XLoad command. (Error: A program name can be specified
also at the character string variables.)
• The explanation of NETIP parameter was modified.
• "Table 5-13: Port number to use" was added.
• The new function of S/W Ver.R5q (F-Q series) / S5q (F-Q series) was added.
Type resetting operation by T/B or RT ToolBox2 was added.
• The parameters (DRVMODE, NVJBTOUT) were added.
• The robot status variable is added. (M_RCInfo)
• The explanation of commands were modified. (Def Plt, Wait, Cmp Off)
• The explanation parameters were modified. (NETIP, UER1 to USR20, J1OFFSET)
• The commands were added. (EMvSpl, SplWrt, SplFWrt)
• The robot status variables were added. (M_ESpd, P_ECord)
• The functions were added. (SplSpd, SplPos, SplECord)
• "7.3 Spline interpolation" was modified.
• The parameter CATEGORY was added.
• The explanation of collision detection function was modified.
• The explanation of interference avoidance function was modified.
• The explanation of RV-50F series (RV-35F, RV-50F, RV-70F) were added.
• The explanation of RV-2FL was added to the parameter MVTERM.
• Correction of errors in Ovrd command. (Error: This instruction specifies the speed
of robot movement as a value in the range from 1 to 100%.)
• The explanation of M_Open was modified.
• Correction of errors in output signal reset pattern. (Error: ORST0 to ORST224)
• The explanation of Cooperation movement function was modified.
• The explanation of the get-position-quick function was added.
• Explanation of Def Plt, Spd, and Accel commands were modified.
• Parameters were added. (TBBZR, CTERME11 to 19, IOFIL, PRGDUP, AUTO-
SAVE, NETPSPEC, NETTERM, GOTPORT, OPNOOVRD, EHnPCM1 to 32,
EHnTCM1 to 32, EBRDTAG, EBWRTAG, OPSCRSPD, ALIGNTYP, MEXSBS,
MEXSTL, FBGAIN, PRGDPNTM, MOHW, MEINST, MEINSZ, MEOFFZ, MEINSD,
WKJOGNO, COLSERVO, HNDT, MFENA, MFWRNDAY, MFOPTIME, SRVSIM,
BRKLOCK)
• Parameters were deleted. (BACKUP, REATORE)
• The explanation of ColChk command was added.
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