Mitsubishi CR750-Q Series Instruction Manual
  1. Manuals
  2. Brands
  3. Mitsubishi Manuals
  4. Robotics
  5. CR750-Q Series
  6. Instruction manual

Mitsubishi CR750-Q Series Instruction Manual

Melfa-works
Hide thumbs Also See for CR750-Q Series:
Table of Contents

Advertisement

Quick Links

Download this manual See also: Instruction Manual
MITSUBISHI
Mitsubishi Industrial Robot
CR750-D/Q Series
CRnD/Q-700 Series
CRn-500 Series
MELFA-Works Instruction Manual
(3F-21D-WINE)
BFP-A8525-G

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the CR750-Q Series and is the answer not in the manual?

Questions and answers

Related Manuals for Mitsubishi CR750-Q Series

Summary of Contents for Mitsubishi CR750-Q Series

  • Page 1 MITSUBISHI Mitsubishi Industrial Robot CR750-D/Q Series CRnD/Q-700 Series CRn-500 Series MELFA-Works Instruction Manual (3F-21D-WINE) BFP-A8525-G...
  • Page 2 Revision History Date of print Specifications No. Revision details First release. 2006-11-15 BFP-A8525-* 2007-02-08 BFP-A8525-A Add the following chapters. 17.3 Open MXT file 17.5 How to teach the positional calibration program 17.6 How to teach the distortion calibration program 17.9 Movement Setting Change 17.11 Change error tolerance when calibration 2007-03-20...
  • Page 3 Thank you for purchasing the MELFA-Works software package for Mitsubishi Electric industrial robots. MELFA-Works is an add-in tool for SolidWorks that can be used to simulate Mitsubishi Electric industrial robots. Using MELFA-Works, it becomes possibloe to verify robot program operations and creat processing path data.

  • Page 4: Table Of Contents

    Table of Contents Overview.................................6 1.1. Basic Functions and Features ........................7 1.2. Supported Models ...........................9 Preparation before Starting ..........................14 2.1. Operating Environment .........................14 2.2. Confirmation of the Product ........................15 2.3. Installation (MELFA-Works) ........................16 2.4. Flow of installation..........................16 2.5. Installation Procedure ...........................17 2.6.
  • Page 5 14.1. Signal Monitoring ..........................68 14.2. Manual Signal Inputs..........................69 14.3. Simulation Definition Settings .......................70 14.4. Executing Signal Simulation .........................72 14.5. Settings of Connection with GX Simulator ....................73 14.6. Connecting with GX Simulator ......................75 15. Step Execute/Direct Execute Dialog Box .....................76 15.1. Step Execution ............................76 15.2.

  • Page 6: Overview

    1. Overview MELFA-Works is an add-in tool that runs under SolidWorks, used for simulating production systems using robots on personal computers, converting processing paths defined for workpieces to data and outputting this data. And RT ToolBox2 (mini) for creating programs and changing parameters. Since MELFA-Works is an add-in tool for SolidWorks, it is possible to make use of peripheral devices and parts such as hands created using SolidWorks as it is.

  • Page 7: Basic Functions And Features

    1.1. Basic Functions and Features The table below describes the basic functions and features of MELFA-Works. Function Feature Robot model setting This function allows selecting a model name from a displayed list and setting the robot model. A robot can be placed using positions relative to the CAD origin or other parts.
  • Page 8 (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.

  • Page 9: Supported Models

    1.2. Supported Models The table below lists models supported in MELFA-Works. Table 1-1 Robots that can be Used(CRn-500 series) Robot Function Simulation CAD link   RV-3S/3SC/3SB/3SBC   RV-3SJ/3SJC/3SJB/3SJBC   RV-6S/6SC   RV-6SL/6SLC   RV-12S/12SC  ...
  • Page 10   RV-6SD-SE   RV-6SDL-SE   RV-6SD-SEZ   RV-6SDL-SEZ   RV-6SD/6SDC-SM   RV-6SDL/6SDLC-SM   RV-6SD/6SDC-SMZ   RV-6SDL/6SDLC-SMZ   RV-6SD/6SDC-SZ   RV-6SDL/6SDLC-SZ   RV-12SD/12SDC-SE   RV-12SDL/12SDLC-SE   RV-12SD/12SDC-SEZ  ...
  • Page 11 Table 1-3 Robots that can be Used(CRnQ-700 series) Robot Function Simulation CAD link   RV-2SQ/2SQB   RV-3SQ/3SQB/3SQC/3SQBC   RV-3SQJ/3SQJB/3SQJC/3SQJBC/3SQJ-SR   RV-6SQ/6SQC   RV-6SQL/6SQLC   RV-12SQ/12SQC   RV-12SQL/12SQLC   RV-18SQ/18SQC   RV-6SQ-SE ...
  • Page 12   RH-6FH3520/3520C/3520M-D   RH-6FH4520/4520C/4520M-D   RH-6FH5520/5520C/5520M-D   RH-6FH3534/3534C/3534M-D   RH-6FH4534/4534C/4534M-D   RH-6FH5534/5534C/5534M-D   RH-12FH5535/5535C/5535M-D   RH-12FH7035/7035C/7035M-D   RH-12FH8535/8535C/8535M-D   RH-12FH5545/5545C/5545M-D   RH-12FH7045/7045C/7045M-D   RH-12FH8545/8545C/8545M-D   RH-20FH8535/8535C/8535M-D  ...
  • Page 13 Table 1-6 Relation CAD link function and Robot Version Controller Memory Operating time Remarks Before K6 Non-supported CAD link function Standard 256K bytes Approx. 17 sec CRn-500 Non-supported extension memory Extension 2M bytes Approx. 160 sec Since K8 Supported extension memory Standard 1M bytes Approx.

  • Page 14: Preparation Before Starting

    2. Preparation before Starting 2.1. Operating Environment The table below shows the specifications of the operating environment of MELFA-Works and the personal computer on which the RT ToolBox2(mini) runs. Table 2-1 MELFA-Works Operating Environment Item Minimum Requirement Recommended Refer to the recommended SolidWorks environment. Main memory Refer to the recommended SolidWorks environment.

  • Page 15: Confirmation Of The Product

    2.2. Confirmation of the Product (1) Confirmation of Package Check that the following items are included in the package.  CD-ROM “MELFA-Works”  Setup Guide  Software License Agreement  License Certification (Please make sure that the product name and product ID are printed on it.) * If any item is missing, please contact the dealer from which you purchased the product.

  • Page 16: Installation (Melfa-Works)

    2.3. Installation (MELFA-Works) This section explains how to install the software. 2.4. Flow of installation Start  Ins ert the CD-RO M in the personal c omputer’s  Enter the product ID of the purchas ed product. CD-ROM drive.  Run “index. html” in the CD-RO M (perf orm this step if the file is not exec uted automatically in step ).

  • Page 17: Installation Procedure

    2.5. Installation Procedure (1) Insert the product in the personal computer’s CD-ROM drive; the setup launcher automatically appears. Fig. 2-1 Setup launcher MELFA-Works corresponds to 32bit and 64bit OS more than Ver.4.0. Please start a correct installer after confirming the use environment when you install it. The error is displayed when a wrong installer is started and the installation fails.
  • Page 18  The following screens are displayed. Then click [Run]. The installation of this application is started. Fig. 2-4 Security Warning 2 Memo When the installation launcher doesn't start (A) If the setup dialog box does not appear when you insert the product in the CD-ROM drive, display the setup launcher according to the following procedure.

  • Page 19: Startup-Quit Procedures(Melfa-Works)

    2.6. Startup-Quit Procedures(MELFA-Works) ＜Startup＞ Start up SolidWorks. If SolidWorks is already running then close all windows. Select MELFA-Works from the main menu and click “Start”. ＜Quit＞ Click the [X] box on the MELFA-Works main window. Close Fig. 2-5 Startup-Quit CAUTION Close all SolidWorks sub-windows during startup.

  • Page 20: Flow Of Operations

    3. Flow of Operations This chapter explains the flow of operations involved in starting up a system using MELFA-Works, up to operating a robot in its actual environment. The specific operations that can be carried out in each dialog box/window are explained in the subsequent chapters; refer to the corresponding chapter for further details. 3.1.

  • Page 21: Flow Of Robot Program Development

    3.2. Flow of Robot Program Development This section explains how to develop robot programs without using the CAD link function. Refer to the   corresponding chapter for further details. The numbers to the left of each of the items indicate the operation steps explained in “Chapter3.1 Operation Steps”.

  • Page 22: Flow Of Cad Link System Development

    3.3. Flow of CAD Link System Development This section explains the flow of development of robot programs using the CAD link function. The numbers   to the left of each of the items indicate the operation steps explained in “3.1 Operation Steps”. Create parts required for Create workpieces, hands and other parts in SolidWorks.

  • Page 23: Creation Of Parts

    4. Creation of Parts With MELFA-Works, parts created by customers can be used as hands or workpieces. When attaching hands or similar on a robot and handling workpieces, such parts should be created in advance by following the creation rules explained in this chapter. The operations mentioned above are not required to simply operate a robot.

  • Page 24: Hand Design

    Table 4-1 Rules in Parts Creation Part name Format of part name First origin Second origin (= file name) (for connecting robot) (for connecting workpieces) Fixed hand Arbitrary character string + Coordinate system: In the case of gripping “_Hand.sldprt" hands Orig1 Coordinate system: Pick1 (Example) Sample_Hand.sldprt...

  • Page 25: Example Of Part Creation 1

    Table 4-3 Hand Applications Type Explanation Gripping A gripping hand is used to handle workpieces. Up to 8 gripping areas can be set hand for each hand and it is possible to grip up to 8 workpieces at the same time. The workpiece must be in the vicinity of the gripping hand.(no move then 200mm away.) A marking (Pick 1 to 8) is required for each gripping area.

  • Page 26: Example Of Part Creation 3

    4.3.3 Example of Part Creation 3 Fig. 4-3 Entire Hand Fig. 4-4 Robot Joint Area Fig. 4-5 Hand Processing Area 4.4. Workpiece Design In order for a part to be recognized as a workpiece, append the character string "_Work" to the part name according to the parts creation rules.

  • Page 27: Starting And Closing

    5. Starting and Closing 5.1. Starting MELFA-Works Start SolidWorks from the [Start] menu of Windows or Desktop icon. After starting SolidWorks, select [Start] from the [MELFA-Works] menu to start MELFA-Works. Fig. 5-1 Starting MELFA-Works 5.2. Main window The MELFA-Works Main window provides workspace operation functions as well as functions for starting various function dialog boxes and switching path displays.

  • Page 28: New Creating And Loading Workspace

    5.3. New Creating and Loading Workspace MELFA-Works manages robot information, layout information, movement information, etc. collectively in units called projects. New create or load a workspace from the [Workspace] menu of MELFA-Works. (1) [New] menu Create a new workspace. Select [New] from the [Workspace] menu; the New workspace dialog box appears. [Workspace name] : Enter the name of the workspace * [Title name]...
  • Page 29 (3) Select a workspace from history Select a workspace from the history of workspaces opened in the past. If you select the [Workspace] menu, up to 10 workspaces that have been opened recently in MELFA-Works are displayed at the bottom of the menu; select a workspace. Up to 10 recently opened workspaces are displayed.

  • Page 30: Saving Workspaces

    5.4. Saving Workspaces To save a workspace, select [Save] from the [Workspace] menu. Completion message is displayed. Fig. 56 Saving Workspaces The workspace management message confirming whether or not to save the workspace appears when closing MELFA-Works, creating a new workspace and loading a workspeace as well. Fig.

  • Page 31: Import Projects

    5.5. Import projects This function can load the project made by an old version. Fig. 58 Import old project Procedure of import ① Select [Import] from the [Tool] menu. ② [Import old project] dialog box is displayed. The old project path is input to the [Directory] text box. Or, […] button is clicked and [Browse For Folder] screen is displayed.

  • Page 32: Robot Setting

    6. Robot Setting In MELFA-Works, it is possible to set up to 8 robots of the types indicated in “ Table 1-1 Robots that can be ”. In the Robot setting dialog box explained in this chapter, it is possible to load robots, Used(CRn-500 series) attach and remove hands and travel bases to/from each robot and make hand signal settings to be used in simulation.

  • Page 33: Selection Of Robot Model

    6.1. Selection of robot model Select the robot model in the following procedure. ① The controller type to set the model is selected from [Controller] of “Robot details setting” window. ② After controller type is selected, Robot type is selected from [Robot]. The confirmation message is displayed when Robot type is already selected and it has been displayed on the screen.

  • Page 34: Attaching Hands

    6.2. Attaching Hands Attach hands to a robot. Note that parts must adhere to several rules in order for them to be used as hands. See “Chapter 4 Creation of Parts" for the details. Load hands to be attached in advance by dragging and dropping them onto SolidWorks window, or using other method.

  • Page 35: Removing Hands

    6.3. Removing Hands The hand currently attached to the robot is removed by clicking the [Disconnect] button.  If an ATC master and ATC tool are mounted, they are removed in the order of the ATC tool first and then the ATC master with each click of the [Disconnect] button.
  • Page 36 Table 6-1 Details of Operation in the Dialog Box Item Explanation Sets the signal No. assigned to the robot hand. Here, “ -1” indicates that no setting was made. Creating a robot program to output the signals set here, allows controlling work clamp/unclamp and ATC connect/disconnect during robot simulations.

  • Page 37: Setting Travel Base

    6.5. Setting Travel Base MELFA-Works allows placing a robot on a travel axis created in SolidWorks and moving it with a robot program or robot operation. The travel location can be specified either by “relative position” with the coordinate system on a part as the origin or “absolute position” with coordinates on the CAD coordinate system as the origin.

  • Page 38: Layout

    7. Layout With MELFA-Works, it is possible to use the Layout dialog box to specify positions of robots and peripheral devices such as travel bases relative to the CAD software origin as well as robot origin, part origin and arbitrary coordinate systems. Specify layout by specifying positions relative to the base position.

  • Page 39: Positioning Robots In Peripheral Device Coordinate Systems

    7.1. Positioning Robots in Peripheral Device Coordinate Systems Follow the procedure below to position a robot in a coordinate system of a peripheral device.  Display the appropriate coordinate system via the menus of SolidWorks. Fig. 7-2 Coordinate System Display ...
  • Page 40 Tips To place a robot on a peripheral device, create a coordinate system for the peripheral device in advance. To place a robot on a peripheral device, create a coordinate system at the layout position. Here is an example for f orming coordinates using SolidWorks.

  • Page 41: Backup Parts Position

    7.2. Backup parts position Posture and work of robot is preserved and can be restored. Moreover, the comment when preserving it can be set. Backup posture /position button Comment area Putback posture /position button Fig. 7-4 Backup parts position Backup parts position is executed in the following procedures. ①...

  • Page 42: Robot Operations

    8. Robot Operations Use the Robot operation dialog box to operate the posture of the currently loaded robot. The robot posture can be specified by XYZ coordinates or joint coordinates. The range of joint movements is limited so some postures might be impossible to reproduce on the actual unit.

  • Page 43: Flag Setting Dialog Box

    8.1. Flag Setting Dialog Box In case of the Position (XYZ) coordinate, it is possible to specify the structure flag (FL1) and multi-rotation flag (FL2). In the structure flag 1 dialog box, specify Right/Left, Above/Below and Non Flip/Flip. In the structure flag 2 (multi-rotation flag) dialog box, specify the multi-rotation information of each axis. See the instruction manual for the robot unit for more information on the structure flag and multi-rotation flag.

  • Page 44: Frame

    9. Frame The frame is a coordinate system in CAD space. The frame is used for the following usage. * Because the usage was expanded, the name has been changed to "Frame" though the name of this chapter was "Calibration" even in Ver.3.3. (1) CAD space and a real space the position are matched at the calibration.

  • Page 45: Frame Data Creation Procedure

    Item Explanation Point list Displays a list of frame data points selected in the frame name list. The [Get Pos] and [Move to] buttons operate on the points selected in this list. It stores coordinate values of 3 points used in frame. Note that the positions of the 3 points “must not be on a straight line.”...

  • Page 46: To Perform Highly Accurate Calibration

    9.2. To Perform Highly Accurate Calibration In order to perform highly accurate calibration, specify the layout of the robot and workpiece position relationship as accurately as possible. It is possible to correct deviance through calibration, but the smaller the difference between the status before and after calibration, the higher the accuracy. It is essential to create conditions that match the actual environment as closely as possible in the CAD software.

  • Page 47: Creation Of Work Flow

    10. Creation of Work Flow A work flow refers to a series of operations such as moving to point A, carrying out processing along path B and finally moving to point C. In MELFA-Works, such work flows are created and eventually converted to robot programs.

  • Page 48: Creating Teaching Points

    10.1. Creating Teaching Points Through the use of teaching points, it is possible to store robot postures and subsequently reproduce the postures. Postures stored here can be reflected in the final robot program output by specifying MOV or MVS as the movement method and registering them in work flows. Posture/path registration area Work flow...

  • Page 49: Path Creation

    Item Explanation Select frame Select the output coordinate system of the instruction point from either of an absolute coordinate in the robot coordinates or relative coordinates from the frame. The frame of the object is selected when outputting it by relative coordinates. Frame specification No frame specification Teaching-point...
  • Page 50  Select unnecessary paths from the list and click the [Del] button.  Select a path and click the [Trial] button to check the robot movement.  Select a path and calibration and then click the [Add to Flow] button to add them to the work flow. The work flow must be created in advance (see “10.4 Work Flow Creation”).

  • Page 51: Processing Setting Dialog Box

    10.3. Processing Setting Dialog Box Information required for processing is set using this dialog box. The table below explains the information required for processing in details. Posture/path registration area Fig. 10-4 Processing Setting Dialog Box Operation procedure  Double-click the created path or select it and then click the [Edit] button in the Path tab to open the Processing setting dialog box and edit the detailed information.
  • Page 52 Item Explanation Adds a new segment to the segment list. It is added to the selection line when the segment is selected or added to the last line if not selected. Select a face on the window and click the [Add] button to add a new path. When a path is correctly added, a dot sequence is drawn as shown in the figure below.
  • Page 53 Item Explanation Fix posture Specify whether or not the posture should be fixed when the robot processes a segment. If the check box is enabled, the posture is fixed. If it is disabled, the posture is not fixed. Reverse course Specify whether or not to reverse segment processing direction.
  • Page 54 Item Explanation Course Offset Offsets the course of a line. Enter a value directly into the text box or enter the amount of offset in the offset input dialog box displayed by clicking the button next to the text box. Specify the amount of offset in the coordinate system where the forward direction of the segment course is set as the +X-axis direction and the direction away from a face as the +Z-axis direction.

  • Page 55: Work Flow Creation

    10.4. Work Flow Creation In the Work-flow creation dialog box, it is possible to create a work flow by combining already created teaching points and paths. A created work flow can be converted into a robot program used as a template for actual operational programs.
  • Page 56 Table 10-4 List of Output Files MXT***.mxt Path data. A robot program loads this file to trace the specified processing area. The file name is automatically generated based on the number of dot sequences output and similar. MXT***.cal A copy of MXT***.mxt CLB.prg A calibration program.

  • Page 57: Mxt With Travel Base

    10.4.1 MXT with Travel base There is a limitation in the MXT operation of MXT with Travel base. CAD Link cannot operate though Travel base is operated. Please avoid making Travel base effective and using MXT. Table 10-7 Details of Operations in the Dialog Box Item Figure Explanation...

  • Page 58: Virtual Controller

    11. Virtual Controller MELFA-Works allows starting a virtual robot controller supporting a positioned robot. Since this virtual controller simulates the actual robot controller almost exactly, it can be used just like an actual controller in almost all operations, such as program creation, parameter setting and monitoring, using RT ToolBox2. Also, by connecting a virtual controller with the currently displayed robot, the movement of a robot program can be reproduced as it is.
  • Page 59 Table 11-1 Function Classification of the Simulator Dialog Box Item Explanation General-purpose Functions corresponding to those performed on the operating panel of a robot functions controller, such as program selection, start and end, are arranged in this section. Advanced The following functions, which are not part of the general-purpose functions, are functions arranged here.
  • Page 60 StopWatch(sec) Measures the time within the virtual controller as well as the actual time. It is Start/Stop possible to estimate an approximate cycle time. This function measures the time from clicking the [Start] button until it is clicked again. The measurement result is displayed in the [R/C] and [Real] boxes.

  • Page 61: How To Execute Programs

    11.1. How to Execute Programs Execute a program using the following procedure.  Click the [Virtual controller] button in the Main window to display the Simulation dialog box.  Click the [POWER] button to launch the virtual controller.  Use RT ToolBox2 as necessary to change parameters of the virtual controller. If any parameters are changed, click the [POWER] button again to restart the virtual controller.

  • Page 62: Saving Simulation Moving Images

    11.3. Saving Simulation Moving Images It is possible to save the SolidWorks display area shown in the figure below as a moving image file. * If another window is displayed on top of this area, the window is also saved as a part of the moving image.

  • Page 63: Cycle Time Measurement During Program Execution

    11.4. Cycle Time Measurement During Program Execution It is possible to measure cycle time just like using a stopwatch during execution of a program. Fig. 11-5 Cycle Time Measurement Start/Stop: : Start or end cycle time measurement of a specified robot. Click the [Start] button to start cycle time measurement.

  • Page 64: Interference Check

    12. Interference Check MELFA-Works is able to check for interference among parts that are registered into 2 groups in a all combinations. In addition to simply checking the current interference status, it is also able to link with the continuous analysis mode of the virtual controller, such that a program can be stopped if interference is detected (refer to ”11.2 Checking Robot Interference”...

  • Page 65: Task Slots

    13. Task Slots Use the Task Slot dialog box to set multiple programs at the same time, for instance when using multitasking. Fig. 13-1 Task Slots There are the following 2 correction buttons. [Individual correction]: : Make correction for the selected task slot. [Batch correction]: : Make correction for task slots 1 to 8 and user base program settings at the same time.

  • Page 66: Batch Correction Of Task Slots

    13.2. Batch Correction of Task Slots Make correction of task slots 1 to 8 and user base program settings at the same time. Select the connected robot in the combo box in the upper part of the dialog box and click the [Batch correction] button.

  • Page 67: Input/Output Signal Simulation

    14. Input/Output Signal Simulation The I/O simulator allows monitoring a robot’s input/output signals and simulating these signals. Monitoring list Fig. 14-1 I/O Simulator...

  • Page 68: Signal Monitoring

    14.1. Signal Monitoring Monitoring list Select a robot controller to be monitored in [Robot] of the I/O Simulator window to display the current signal status in the monitoring list. Signals to be monitored are changed and added with the following procedure. ...

  • Page 69: Manual Signal Inputs

    14.2. Manual Signal Inputs Input signals to a robot controller can be turned on/off. Input signals are specified manually according to the following procedure. Inputting 1 bit at a time  Click a row in the controller’s input signal list (the signal numbers of the selected row and the next row are displayed in the pseudo-input area).

  • Page 70: Simulation Definition Settings

    14.3. Simulation Definition Settings It is possible to simulate input/output signals. Define signals according to the following procedure in order to perform simulation.  Click the [Edit] button in the [Simple Simulation] area of the I/O Simulator window to set the definition. The definition of I/O simulation window appears.
  • Page 71  The signal definition is added to the list. “(bin)” in the [Status] column indicates that the signal status is expressed as a binary number. Disable a check box to invalidate the corresponding definition during I/O simulation. Fig. 14-6 Defined Simulation Conditions It is judged whether the set definitions are met or not in order from the top of the list.

  • Page 72: Executing Signal Simulation

    14.4. Executing Signal Simulation To perform signal simulation, select the [Simple Simulation] option field button and click the [Start] button. Simulation is executed using the set definitions. Fig. 14-7 Buttons Related to I/O Simulation Simulation status is displayed. Display while simulation execution: Display when simulation is stopped: If the [Start] button is clicked when no definition is set, a dialog box for selecting a definition setting method appears.

  • Page 73: Settings Of Connection With Gx Simulator

    14.5. Settings of Connection with GX Simulator It is possible to connect with GX Simulator to simulate signal exchanges between the virtual controller in MELFA-Works and a PLC (represented by GX Simulator). CAUTION GX Simulator versions Currently, MELFA-Works support GX Simulator Version 7 only. To connect with GX Simulator, define GX Simulator devices and assign the signal numbers of the robot controller according to the following procedure.
  • Page 74  Set the signal numbers of the robot controller and the PLC device. Select the signal types and the PLC device as well. Specify a controller number in the [Robot] input field. Click the […] button to display the Select the Robot. dialog box and select the appropriate controller number from the dialog box.

  • Page 75: Connecting With Gx Simulator

    14.6. Connecting with GX Simulator To connect with GX Simulator, select the [Connect GX Simulator] radio button and click the [Connect] button. Connection is established with the set definitions. Fig. 14-12 Connect GX Simulator Simulation status is displayed. Display while connected with GX Simulator: Display when simulation is stopped: If the [Connect] button is clicked when no definition is set, a dialog box for selecting a definition setting method appears.

  • Page 76: Step Execute/Direct Execute Dialog Box

    15. Step Execute/Direct Execute Dialog Box 15.1. Step Execution It is possible to perform step execution of a specified program. Select the program to be started in the Simulator dialog box and open the Step Execute/Direct Execute dialog box from the toolbar. Next, click the [Reference (B)] button and select the program currently being executed from the robot program files on the personal computer;...

  • Page 77: Direct Execution

    15.2. Direct Execution It is possible to execute MELFA-BASIC commands directly using instructions and position data specified for the program in question. Select a program to be started in the Simulator dialog box and open the Step Execute/Direct Execute dialog box from the toolbar. Next, click the Direct execution tab. Fig.

  • Page 78: Measurement Of Cycle Time

    [Move To] button Executes robot move instructions using position data in the specified program. When you click the [Move To] button, the Moving command dialog box appears. [Target Pos.] list Double-click a position variable name among the program position data displayed in the list or select it and click the [Select] button to display the current value in the [Position] section.
  • Page 79 Table 15-3 Details of Operations in the Dialog Box Select all Specify all lines of a program to be measured (all lines are displayed in yellow). Mark ON Specify that the cycle time of the currently selected instruction lines should be measured.

  • Page 80: Jog Panel

    16. JOG Panel When a robot displayed in SolidWorks is connected to a virtual controller, it is possible to perform jog operation using the JOG Panel window. Open the JOG Panel window from the toolbar of the Simulator dialog box. Operation setting Mechanism Override...

  • Page 81: How To Use The Calibration Tool

    17. How to Use the Calibration Tool Calibration refers to correcting deviations between the system configured in the CAD software and the actual system. These tasks are performed using the calibration tool, which is not included in RT ToolBox2. Only when both RT ToolBox2 and MELFA-Works are installed, the calibration tool can be used. The flow of tasks involved in calibration is as follows.

  • Page 82: Starting The Calibration Tool

    17.2. Starting the Calibration Tool After starting the RT ToolBox2, connect to the robot controller to communicate. After connecting to the robot controller, select the following item from the project tree of the workspace. [Online] - [MELFA-Works] – [Calibration Tool] (* [Calibration Tool] item not appear if MELFA-Works is not correctly installed.) (* Refer to the RT ToolBox2 manual for details of the RT ToolBox2.) 17.3.

  • Page 83: Open Mxt File

    display area is displayed in red. 17.4. Open MXT file Select [Open] in the [File] menu to specify an MXT file (*.mxt) output from MELFA-Works and load the dot sequence data. MXT files contain data generated when creating work flows (refer to “10.4 Work Flow Creation). 17.5.

  • Page 84: How To Teach The Positional Calibration Program (Clb.prg)

    Calibration Item Explanation method [Teaching] (display only) After transferring the distortion calibration program, use a teaching box and similar to perform teaching. See the detailed instruction procedure in Chapter 17.7. [Read Calibration Reads the distortion calibration program (CL (dot sequence Program from RC] button number).prg) from the robot controller after teaching.

  • Page 85: Transferring Dot Sequence Data To Robot Controller

    operation of beginning the gap and gap end position, and the position which shifts most is taught as shown in the figure below. Reteached dot sequence 125 MOV P122 ’0 “ ’0 “ is added to beginning the gap 126 MOV P123 127 MOV P124 Dot sequence output by MELFA-Works...

  • Page 86: Managing Dot Sequence Data In Robot Controller

    17.9. Managing Dot Sequence Data in Robot Controller The amount of dot sequence data that can be transferred to a robot controller is limited; use the MXT File Control in Robot Controller dialog box to delete unnecessary dot sequence data within a controller. Select [MXT file Management in RC] from the [MXT File Management] menu to display the MXT File Control in Robot Controller dialog box.

  • Page 87: Editing Output Signal Status

    When this screen is shown, it displays the current state. Set only the changed item, and click the [OK] button. The state of the output signal changed on the screen in Chapter 17.11 is overwritten. 17.11. Editing Output Signal Status Select [I/O Setting] from the [Calibration] menu to display the I/O Output Setting dialog box.

  • Page 88: Cad Link Programming

    18. CAD Link Programming So far it has been finished to create dot sequence data, perform calibration and transfer programs for test operations. This chapter explains how to construct an actual system using created data. The CAD link function supports only the MELFA-BASIC language. The following files are generated in the process of using the CAD link function.

  • Page 89: Verifying Movement Confirmation Program

    18.1. Verifying Movement Confirmation Program The movement confirmation program is structured as follows. 1 'MXT Sample Program (MXT01_01.MXT) Comment line 2 Tool (+0.00,+0.00,+231.00,+0.00,+0.00,+0.00) Set installed tool data. The tool data is calculated from the hand used when dot sequence data is output from MELFA-Works and set as the default value.

  • Page 90: Mxt Instruction (Move According To External Instruction)

    18.2. Mxt Instruction (Move According to External Instruction) With the Mxt instruction, data can be acquired not only from a file but also via Ethernet communication. In this section, it is explained how to acquire data from a file. [Function] Move a robot directly by acquiring absolute position data from a file in each control sample interval.

  • Page 91: P_Mxt Variable

    18.3. P_Mxt Variable [Function] Load the position data of the starting point from the currently opened file. Note that this file must be a position data file that meets the requirements for being used by the real-time external control function (Mxt instruction).

  • Page 92: Precautions

    18.4. Precautions (1) If the Mxt instruction is stopped in the middle, the robot maintains the position it had when the instruction was stopped. Due to this, the on status of the output signal is also maintained; the robot continues processing although it is stopped.
  • Page 93  ...
  • Page 94 Vernon hills, IL 60061 Phone: +1 (847) 478-2100 Fax: +1 (847) 478-0328 Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / info@mitsubishi-automation.com / https://eu3a.mitsubishielectric.com...

This manual is also suitable for:

Cr750-d seriesCrnq-700 seriesCrnd-700 seriesCrn-500 series

Table of Contents