Mitsubishi Electric CR800-D Series Instruction Manual
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Mitsubishi Electric CR800-D Series Instruction Manual

Mitsubishi Electric CR800-D Series Instruction Manual

Industrial robot supporting service iq care melfa support
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Mitsubishi Electric Industrial Robot
Industrial Robot Supporting Service
iQ Care MELFA Support
CR800-D/R/Q Series Controller
Instruction Manual
RA-1W00M**
RA-2W00M**
RA-0W11M**
RA-0W21M**
RA-1W11M**
RA-1W21M**
BFP-A3804-B

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  • Page 1 Mitsubishi Electric Industrial Robot CR800-D/R/Q Series Controller Industrial Robot Supporting Service iQ Care MELFA Support Instruction Manual RA-1W00M** RA-2W00M** RA-0W11M** RA-0W21M** RA-1W11M** RA-1W21M** BFP-A3804-B...

  • Page 3: 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. A. These show precautions based on the Ordinance on Industrial Safety and Health (Articles 36, 104, 150, 151).
  • Page 4 B. This shows precaution points given in the separate "Safety Manual". For details, please read the text of the "Safety Manual". DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 CAUTION Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop. Failure to do so could lead to personal injuries. CAUTION Never carry out modifications based on personal judgments, non-designated maintenance parts.
  • Page 6 VPN, and installing antivirus software on computers. Mitsubishi Electric Corporation will not be held responsible for any robot or system problems arising from DoS attacks, unauthorized access, computer viruses, and cyber attacks.
  • Page 7 ■ Revision History Date Manual No. Revision Details 2022-07-14 BFP-A3804 ・First edition 2023-03-20 BFP-A3804-A ・Software version C2k supported. 2024-05-08 BFP-A3804-B ・Corrected the operating environment of the computer. (Table 2-5) ・Added the following models: RV-35 series, RV-50 series, and RV-80FR series RV-12CRL series ・Added a method to check logs offline to "6.3.4.3.
  • Page 8 Additionally, performing operations not described in this manual may cause an error or other problem. This manual is described on the premise that basic operations and functions of Mitsubishi Electric Industrial Robots are understood. For information on basic operations, refer to the "Instruction Manual/Detailed explanations of functions and operations".

  • Page 9: Table Of Contents

    [CONTENTS] Before use ..............................1-1 This document ............................1-1 Checking before use ............................ 2-2 Items in package ............................. 2-2 Applicable models and software versions ....................2-3 System architecture ..........................2-4 Product specifications ..........................2-5 Equipment prepared by the customer..................... 2-6 Precautions .............................
  • Page 10 6.4.5 Stored data format ........................... 6-57 6.4.6 How to refer to stored data ......................6-59 6.4.7 Precautions ............................6-60 Oscillograph function ..........................6-61 6.5.1 Overview of the function ........................6-61 6.5.2 How to set the data saving interval ....................6-61 6.5.3 Stored data format ...........................

  • Page 11: Before Use

    1 Before use 1 Before use This chapter explains check points and precautions before using the industrial robot supporting service iQ Care MELFA Support. 1.1 This document This document explains the industrial robot supporting service iQ Care MELFA Support functions in the chapters shown in Table 1-1.

  • Page 12: Checking Before Use

    2 Checking before use 2 Checking before use 2.1 Items in package This product includes the following items as standard. Table 2-1 Product standard configuration Item Model Quantity iQ Care MELFA Support SD card RA-1W00M** RA-2W00M** RA-0W11M** RA-0W21M** RA-1W11M** RA-1W21M** (one of the above) Instruction Manual (included in the SD card) BFP-A3803...

  • Page 13: Applicable Models And Software Versions

    2 Checking before use 2.2 Applicable models and software versions iQ Care MELFA Support is not available for some models and some software versions of robot controllers and RT ToolBox3. Check the model and software version before use. Table 2-3 iQ Care MELFA Support target system configuration Item Description Remarks...

  • Page 14: System Architecture

    2 Checking before use 2.3 System architecture iQ Care MELFA Support can be used by inserting the dedicated SD card (iQ Care MELFA Support SD card) into the robot controller. The system architecture partially differs depending on the type of the robot controller. Refer to "2.5 Equipment prepared by the customer"...

  • Page 15: Product Specifications

    2 Checking before use 2.4 Product specifications The SD card for iQ Care MELFA Support can be used as an SD card memory for recording data in addition to enabling various functions of iQ Care MELFA Support. The basic specifications of the iQ Care MELFA Support SD card are shown below.

  • Page 16: Equipment Prepared By The Customer

    2 Checking before use 2.5 Equipment prepared by the customer The standard configuration for using iQ Care MELFA Support is as follows. Depending on the type of robot controller, equipment to be prepared by the customer will differ. These devices must be ordered separately by the customer.

  • Page 17: Precautions

    2 Checking before use 2.6 Precautions (1) When an optional SD card (model 2F-2GBSD) is used, the card cannot be used together with the iQ Care MELFA Support SD card. As for the log function that can be used with the SD card 2F-2GBSD, the iQ Care MELFA Support SD card can be used for the same purpose.

  • Page 18: Iq Care Melfa Support Sd Card

    3 iQ Care MELFA Support SD card 3 iQ Care MELFA Support SD card You can use the functions that correspond to the service package you purchased. For details on the functions, refer to "3.1 Function list". Table 3-1 Functions supported by service package (○: supported, □: not supported by some models, -: not supported) Additional warranty Inspection service...

  • Page 19: How To Start Using Iq Care Melfa Support And Various Settings

    3 iQ Care MELFA Support SD card 3.2 How to start using iQ Care MELFA Support and various settings 3.2.1 Difference between using a new product and taking over If you have already used one of the iQ Care MELFA Support packages, you can take over the conditions and accumulated data of the previous package.
  • Page 20 3 iQ Care MELFA Support SD card Connect the Ethernet cable between the LAN ports of the robot CPU module and the robot controller. * It is recommended to connect the devices via a hub because the computer with the controller programming support tool installed is also connected.

  • Page 21: Installing/Removing The Iq Care Melfa Support Sd Card

    3 iQ Care MELFA Support SD card 3.2.3 Installing/removing the iQ Care MELFA Support SD card When installing or removing the iQ Care MELFA Support SD card, keep it straight against the robot controller. Keep the card parallel when installing or removing it. iQ Care MELFA Support SD card Robot controller Fig.
  • Page 22 3 iQ Care MELFA Support SD card 3.2.3.2 Removing the iQ Care MELFA Support SD card The removing procedure of the iQ Care MELFA Support SD card is shown below. Removal lever Fig. 3-3 Removing the iQ Care MELFA Support SD card 1) Power off the robot controller.

  • Page 23: Data Transfer Of The Iq Care Melfa Support Sd Card

    3 iQ Care MELFA Support SD card 3.2.4 Data transfer of the iQ Care MELFA Support SD card This operation is not required for a robot controller for which the iQ Care MELFA Support service is started for the first time. For a robot controller that has used the iQ Care MELFA Support service more than once, the iQ Care MELFA Support ID information registered in the iQ Care MELFA Support SD card in use must be taken over to the next SD card to be used.
  • Page 24 3 iQ Care MELFA Support SD card 6) When you select the target file for takeover (WRTEXT.ser) to take over the original SD card, the screen for selecting the data to take over from the data stored on the SD card is displayed. Select the data you want to take over and select OK.

  • Page 25: Sd Card Data Structure

    3 iQ Care MELFA Support SD card 3.3 SD card data structure 3.3.1 iQ Care MELFA Support SD card directory structure Depending on the service type, the iQ Care MELFA Support SD card automatically generates certain folders and files in the memory area after the relevant function is enabled. Since files related to system operation are included, do not delete files other than the backup recommended data, or change the file name or file contents.
  • Page 26 3 iQ Care MELFA Support SD card Folder/file name Description Backup Maximum Remarks recommended number of files/folders MELFA_SUPPORT.ser File used to refer to the Stored at information on the iQ Care the time of MELFA Support being shipment. used. Updated * Refer to "3.3.2 Checking every time the status of the iQ Care...

  • Page 27: Checking The Status Of The Iq Care Melfa Support Registration

    3 iQ Care MELFA Support SD card 3.3.2 Checking the status of the iQ Care MELFA Support registration MELFA_SUPPORT.ser is a text file used to refer to the status of the iQ Care MELFA Support registration. The currently registered status can be checked by opening this file in text editor software, etc. This file is automatically edited in the system.

  • Page 28: Warranty Extension Service

    If a failure or defect (failure from herein) occurs within the period of additional warranty, and lies with our company, we will repair the product via your dealer or our service company for free. Mitsubishi Electric shall have no responsibility or liability for on-site re-adjustment, re-teaching, and test run involving the replacement of failing parts.

  • Page 29: Concept Of Period Of Warranty

    4 Warranty extension service 4.2 Concept of period of warranty The concept of the warranty extension service is shown below. For information on how to check the period of warranty, refer to "4.4 How to check the period of warranty". 4.2.1 Difference in start time between the period of standard warranty (free of charge) and period of additional warranty (1) Period of standard warranty (free of charge)

  • Page 30: When Signing Up For Additional Warranty Again Within The Period Of Additional Warranty

    4 Warranty extension service 4.2.2 When signing up for additional warranty again within the period of additional warranty After the period of additional warranty, grace period of takeover is set for two months (60 days). The period of additional warranty can be extended again by signing up the warranty extension service again during this grace period of takeover.

  • Page 31: When Signing Up For Additional Warranty Again From The Period Out Of The Period Of Additional Warranty

    4 Warranty extension service 4.2.3 When signing up for additional warranty again from the period out of the period of additional warranty The period of warranty will automatically terminate if you do not sign up with the warranty extension service during the grace period of takeover after the termination of the additional warranty package, or during the grace period of sign up for warranty after the termination of the inspection package.

  • Page 32: When Starting Use Additional Warranty Within The Period Of Standard Warranty (Free Of Charge)

    4 Warranty extension service 4.2.4 When starting use additional warranty within the period of standard warranty (free of charge) The period of additional warranty can be added after the period of standard warranty on the following condition: signing up for the additional warranty package and inserting the SD card into the robot controller within the period of standard warranty.

  • Page 33: Warranty Contract Details

    4 Warranty extension service 4.3 Warranty contract details For details on the warranty contract, check the contract for the country of purchase. The contract for Japan is described in the catalog. 4.4 How to check the period of warranty This section explains how to check the warranty extension service contract status and the remaining period of warranty.
  • Page 34 Displays the distributor of the iQ Care MELFA Support MITSUBISHI ELECTRIC iQ Care MELFA Support SD distributor (JAPAN) card. Within standard warranty Displays the current status of period the warranty extension service.
  • Page 35 4 Warranty extension service Table 4-3 Display items of the warranty history screen Display item Display example Description Remarks The date when the event in Date yyyy/MM/dd the "Contents" column occurred is displayed. Shipping date Events related to the period of warranty are Start date of standard warranty displayed.
  • Page 36 4 Warranty extension service Parameter Parameter Number of Description Remarks name elements Indicates the status of the predictive maintenance function of iQ Care MELFA Support. 0: SD card not inserted 0, 1, and 6 1: With SD card/function disabled indicate that Predictive maintenance 2: Do not use (manufacturer settings) the predictive...
  • Page 37 4 Warranty extension service Parameter Parameter Number of Description Remarks name elements Indicates the total number of days of warranty period in the service currently in Period of warranty [day] MSWRT Integer 1 use. (Total of the period of standard warranty and the period of additional warranty) Indicates the total number of days of...

  • Page 38: Notification Setting Before Expiration Of The Warranty Period

    4 Warranty extension service 4.4.3 Notification setting before expiration of the warranty period For iQ Care MELFA Support, it is possible to set the related parameters to provide a warning prior to expiration that the warranty period approaching due date. If you continue to use the warranty extension service, set the parameters using the teaching pendant or RT ToolBox3 so that you will be aware of termination of the warranty period prior to expiration.

  • Page 39: Inspection Service

    5 Inspection service 5 Inspection service This chapter describes conditions and items to be checked when using the inspection service. 5.1 Service overview To manage the condition of industrial robots, service engineers will visit customers' robot delivery points to perform inspection.

  • Page 40: How To Use The Inspection Service

    5 Inspection service 5.2 How to use the inspection service This section explains the procedure for using the inspection service. 5.2.1 How to use the inspection service in Japan The procedure for using the inspection service in Japan is as follows. 1) Registration on the website 2) Inspection notice 3) Schedule adjustment...

  • Page 41: Checking The Inspection Service Information

    5 Inspection service 5.3 Checking the inspection service information You can check the contract status of the inspection service and the remaining number of inspections by referring to the parameters. Parameters related to this function are shown below. Table 5-3 Parameters related to iQ Care MELFA Support inspection services Parameter Parameter Number of...

  • Page 42: Precautions

    5 Inspection service 5.4 Precautions This section describes precautions to be observed when using the inspection service. (1) For information on how to sign up for additional warranty after inspection, refer to "4. Warranty extension service" in this manual. If an inspection is performed after the warranty period and the inspection results are acceptable, the customer can sign up for additional warranty.

  • Page 43: Monitoring Service

    6 Monitoring service 6 Monitoring service This chapter describes the conditions and items to be checked when using the monitoring service. 6.1 Service overview The monitoring service is a service that enables users to collect and refer to data related to maintenance and operation.

  • Page 44: Recovery Function

    6 Monitoring service 6.2 Recovery function 6.2.1 Overview of the function The recovery function automatically backs up various setting data and robot programs for the robot using iQ Care MELFA Support to use the data for restore. The robot controller status can be restored to the specified date when a robot failure is repaired or when the robot malfunctions due to incorrect settings.

  • Page 45: How To Recover Data (Restoring Data Using Automatic Backup Data)

    6 Monitoring service 6.2.3 How to recover data (restoring data using automatic backup data) The recovery function allows you to restore the robot controller to the state when the automatic backup data is saved using the dedicated screen of RT ToolBox3. The recovery procedure is as follows. A yellow label is displayed for the date on which backup is taken.

  • Page 46: Precautions

    6 Monitoring service 6.2.4 Precautions This section describes precautions to be observed when using the recovery function. (1) When the data capacity on the SD card is insufficient, automatic backup data will not be saved. Use the data backup function of RT ToolBox3 regularly to reserve the data capacity of the SD card. For details on how to back up data on the SD card, refer to "8.3 Backing up data on the iQ Care MELFA Support SD card".

  • Page 47: Condition Management Function

    6 Monitoring service 6.3 Condition management function 6.3.1 Overview of the function The condition management function automatically saves the operation information and maintenance information of the robot using iQ Care MELFA Support to the memory area of the SD card, and continuously checks the status of the robot.

  • Page 48: Stored Data Format

    6 Monitoring service 6.3.3 Stored data format The data related to the condition management function is saved in the iQ Care MELFA Support SD card in the following file formats. These files are periodically overwritten with data according to the set data acquisition interval. Do not edit or delete the target file.
  • Page 49 6 Monitoring service Label name Unit Description Min. voltage(24V) Displays the minimum control voltage (24V system) for the target day. (Cannot be output for the R-type/Q-type.) Max. voltage(24V) Displays the maximum control voltage (24V system) for the target day. (Cannot be output for the R-type/Q-type.) Min.

  • Page 50: How To Refer To Stored Data

    6 Monitoring service 6.3.4 How to refer to stored data Using the condition management function, the cumulative data and the present status of the target robot can be checked by using the dedicated screen of RT ToolBox3. 6.3.4.1 Total Condition screen When online, click "Total Condition"...
  • Page 51 6 Monitoring service Display item Display example Description Remarks Displays the degree of wear for When the Maintenance parts. The ratio is calculated by predictive parts the predictive maintenance maintenance function. Blue for good, yellow function is Consumption Pie chart + Ratio [%] display for warning, and red for error disabled, conditions.
  • Page 52 6 Monitoring service Table 6-7 Display items of the Current Condition screen Display item Display example Description Remarks Connection ONLINE (blue)/OFFLINE (red) Displays the status of the connected robot in characters SVO ON (blue)/SVO OFF (gray) Servo and colors. START (blue)/STANDBY or Basic state Start STOPPING (gray)

  • Page 53: Log Screen

    6 Monitoring service 6.3.4.3 Log screen When online, click "Log"*1 in "Monitoring service" under "Online"-"iQ Care MELFA Support" in the tree structure on the workspace to display the log screen that allows you to view the robot status using tables and charts based on the data stored by the condition management function.
  • Page 54 6 Monitoring service Selecting a log file When online, click "Log" in "Monitoring service" under "Online"-"iQ Care MELFA Support" in the tree structure on the workspace to display the screen to select a log file displayed on the log screen. On the Select Log File screen, you can select whether to download and use the most recent log file in the iQ Care MELFA Support SD card installed in the robot controller, or to use an existing log file stored in another location.
  • Page 55 6 Monitoring service Log screen Setting view In the setting view, you can change the display period and display items of the main view and chart view. Fig. 6-7 Log screen: Setting view display example Table 6-9 Log screen: Display items of the setting view Display item Display example Description...
  • Page 56 6 Monitoring service Main view In the main view, the display items change according to the settings in the setting view. The display items are switched according to any setting of operation information, robot information, or controller information, and the log information of the robot acquired by the condition management function is displayed.
  • Page 57 6 Monitoring service 2) Robot information display Fig. 6-9 Log screen: Robot information display example in the main view Table 6-11 Log screen: Display items of robot information in the main view Display item Display example Description Remarks Ave. Period Specifies the length of the start Displayed when ** [day]...
  • Page 58 6 Monitoring service 3) Controller information display Fig. 6-10 Log screen: Controller information display example in the main view Table 6-12 Log screen: Display items of controller information in the main view Display item Display example Description Remarks Power voltage Displays the average value, rate Displayed when of change, and the latest value of...

  • Page 59: Predictive Maintenance Function

    6 Monitoring service Chart view In the chart view, the items that can be displayed and selected for the chart are changed according to the settings in the setting view. By selecting an item that can be displayed and selected and selecting items to be displayed in the chart, the time series data of the target items is displayed in the chart.
  • Page 60 6 Monitoring service Setting view Item that can be displayed and Description Remarks selection selected Displays the abnormality detection Target parts: reduction score up to the previous day for the gear, encoder data, Robot Abnormality detection score on the target part of the selected axis. encoder information previous day (<parts>)
  • Page 61 6 Monitoring service 6.3.5 Precautions This section describes precautions to be observed when using the condition management function. (1) If there is insufficient space on the SD card, condition management data will not be saved. Use the data backup function of RT ToolBox3 regularly to reserve the data capacity of the SD card. For details on how to back up data on the SD card, refer to "8.3 Backing up data on the iQ Care MELFA Support SD card".

  • Page 62: Outline Of Functions

    6 Monitoring service 6.4 Predictive maintenance function 6.4.1 Outline of functions The predictive maintenance function in iQ Care MELFA Support can use all the preventive maintenance functions and predictive maintenance functions that can be used in MELFA Smart Plus (optional). In addition, information related to the predictive maintenance of robots using iQ Care MELFA Support can be automatically saved to the memory area of the SD card and checked together with the data saved by the condition management function.
  • Page 63 6 Monitoring service 6.4.2 Usage conditions of the predictive maintenance function Unlike other monitoring-service functions, predictive maintenance functions in iQ Care MELFA Support are limited in usable time. Please note that the usable time varies depending on the service package of iQ Care MELFA Support you purchased.

  • Page 64: How To Use The Predictive Maintenance Function

    6 Monitoring service 6.4.3 How to use the predictive maintenance function 6.4.3.1 Enabling the predictive maintenance function To enable the predictive maintenance function, the function enable parameter must be set while the iQ Care MELFA Support SD card is inserted in the robot controller. Use the teaching pendant or RT ToolBox3 to set the corresponding parameters.
  • Page 65 6 Monitoring service 4) Exit RT ToolBox3 once. Right-click on the RT ToolBox3 desktop icon and select Run as administrator. 5) Select [Option] from the Workspace tab. 6) Select [MELFA Smart Plus] from the tree structure on the left of the Option window. 7) Enter the function code described in step 3) in the "Function code"...

  • Page 66: Predictive Maintenance Function

    6 Monitoring service 6.4.4 Predictive maintenance function 6.4.4.1 Functions common with the preventive/predictive maintenance of MELFA Smart Plus Refer to the corresponding chapters in the "BFP-A3663 Predictive Maintenance Function User's Manual" for how to refer to the basic screens for predictive/preventive maintenance using RT ToolBox3, as well as how to use the wear calculation function, fault detection function, and maintenance simulation.

  • Page 67: Stored Data Format

    6 Monitoring service 6.4.5 Stored data format The data related to the predictive maintenance function is saved in the iQ Care MELFA Support SD card in the following file format. This file is periodically overwritten according to the set data acquisition interval. Do not delete the target file.
  • Page 68 6 Monitoring service Label name Unit Description Remarks Consumption Displays the arrival status of until the Servo on time(at status specified overhaul time for the cumulative overhaul servo on time. implementation) 0: good, 1: warning, 2: error Displays the wear status of grease for each Grease axis.

  • Page 69: How To Refer To Stored Data

    6 Monitoring service 6.4.6 How to refer to stored data 6.4.6.1 Functions common with the preventive/predictive maintenance of MELFA Smart Plus Refer to the corresponding chapters in the "BFP-A3663 Predictive Maintenance Function User's Manual" for how to refer to the basic screens for predictive/preventive maintenance using RT ToolBox3, as well as how to use the wear calculation function, fault detection function, and maintenance simulation.

  • Page 70: Precautions

    6 Monitoring service 6.4.7 Precautions This section describes precautions to be observed when using the predictive maintenance function. (1) If there is insufficient space on the SD card, condition management data will not be saved. Use the data backup function of RT ToolBox3 regularly to reserve the data capacity of the SD card. For details on how to back up data on the SD card, refer to "8.3 Backing up data on the iQ Care MELFA Support SD card".

  • Page 71: How To Set The Data Saving Interval

    6 Monitoring service 6.5 Oscillograph function 6.5.1 Overview of the function The oscillograph function is used to compile time series data of devices that can be referenced by the real time monitor function of RT ToolBox3, such as motor current values and load ratios of individual axes, into files, which are stored periodically on the SD card.

  • Page 72: Stored Data Format

    6 Monitoring service 6.5.3 Stored data format The data related to the oscillograph function is saved in the iQ Care MELFA Support SD card in the following file format. Up to four types of data can be acquired per file. For each type of data, data is saved in the csv file. The value is acquired in 3.5ms cycle (CR800-D/CR800-R) or 7.1ms cycle (CR800-Q).

  • Page 73: How To Refer To Stored Data

    6 Monitoring service MSOSD Notation on graph Unit Description setting Ex-T coordinate transit speed during Ex-T control/Ex-T spline Ex-T coordinates speed [mm/s] interpolation Ex-T coordinate transit speed during Ex-T control/Ex-T spline Ex-T coordinates position [mm deg] interpolation Spline path point of adjusted Path point number on which speed adjustment occurred speed during spline interpolation/Ex-T spline interpolation...

  • Page 74: Drive Recorder Function

    6 Monitoring service 6.6 Drive recorder function 6.6.1 Outline of functions If a specified error occurs in the robot that uses iQ Care MELFA Support, the error will trigger the drive recorder function to store logs of servo data for several seconds before and after the error occurrence. The saved log data can be viewed in RT ToolBox3 using the real time monitor function.

  • Page 75: Data That Can Be Checked By The Drive Recorder Function

    6 Monitoring service 6.6.4 Data that can be checked by the drive recorder function The drive recorder function saves the following data as a log according to the trigger setting error. The saved data can be checked by using the oscillograph function of RT ToolBox3. For information on how to refer to saved data, refer to "6.6.5 How to refer to saved files".

  • Page 76: How To Refer To Saved Files

    6 Monitoring service 6.6.5 How to refer to saved files Log files are saved in the backup data, and the file name is "SDLog#*.sdl (* represents any number from 1 to 10)". Data can be referenced using the following steps. For details on how to use the oscillograph function, refer to "Oscillograph"...

  • Page 77: Precautions

    6 Monitoring service 3) The "Open Log file" dialog will appear. Select a file (file extension: sdl) you want to check, then press OK. 6.6.6 Precautions This section describes precautions to be observed when using the drive recorder function. (1) Log data is automatically acquired according to the occurrence of specified errors. The oldest data is overwritten when the number of data increases.

  • Page 78: Maintenance History Function

    6 Monitoring service 6.7 Maintenance history function The maintenance history function is used to check the repair and inspection history. Service engineers can save the repair and inspection information to an SD card after the service. The information can be saved as a report and checked by the customer.
  • Page 79 6 Monitoring service Press the Display report button. The report is displayed and the repair (or inspection) results can be checked. Maintenance history function 6-69...
  • Page 80 6 Monitoring service ■ Repair ■ Inspection service (10) Fig. 6-12 Examples of displayed reports Table 6-27 List of contents in the displayed reports Items Contents Display Repair Failure date yyyy/MM/dd HH：mm Repair date yyyy/MM/dd HH：mm Customer’s representative Company name Department name My name Service engineer representative...

  • Page 81: Error List

    7 Error list 7 Error list This chapter describes causes and solutions for iQ Care MELFA Support related errors. The meaning of the error Nos. are show below. ００００＊ ・An error marked with a * reset by turning the power OFF and ON. Take the measures given.
  • Page 82 7 Error list Error Causes and solutions number Error message Warranty period will be expired Cause Warranty period will be expired soon. L6210 To continue the warranty extension, take over to the additional warranty Solution package. Error message Warranty period was expired Cause Warranty period was expired.
  • Page 83 7 Error list Error Causes and solutions number Error message No MELFA Support SD card C6230 Cause MELFA Support SD card is not inserted. Solution Insert a valid iQ Care MELFA Support SD card. Error message Failed to open file Cause Failed to open file because target file not found.
  • Page 84 7 Error list Error Causes and solutions number Error message Failed to open history file Cause Failed to open history file. If the history file does not exist, the iQ Care MELFA Support history C6245 information cannot be displayed. When the history file "HISTORY.ser" Solution exists on the iQ Care MELFA Support SD card, delete the file.

  • Page 85: Appendix

    8 Appendix 8 Appendix 8.1 Viewing iQ Care MELFA Support information In RT ToolBox3 (optional), you can view the contract status of iQ Care MELFA Support. When online, you can read information registered for iQ Care MELFA Support by clicking "iQ Care MELFA Support information"...

  • Page 86: Removing The Iq Care Melfa Support Sd Card

    8 Appendix Display item Display example Description Remarks Displays the distributor of the iQ Care MELFA Support MITSUBISHI ELECTRIC iQ Care MELFA Support SD distributor (JAPAN) card. Within standard warranty Displays the current status of period the warranty extension service.

  • Page 87: Backing Up Data On The Iq Care Melfa Support Sd Card

    8 Appendix 8.3 Backing up data on the iQ Care MELFA Support SD card If the iQ Care MELFA Support SD card is physically damaged, the data stored on the SD card cannot be restored. Back up the data stored on the SD card regularly to an external computer or other device to protect the data. Data related to various iQ Care MELFA Support functions can be backed up to RT ToolBox3 project folders using the dedicated screen of RT ToolBox3.
  • Page 88 8 Appendix The time required to complete the backup depends on the data capacity in the SD card and the performance of the computer being used. In addition, if automatic backup data and the oscillograph data are selected for backup, the time until completion may be longer. Because the backup operation is performed by removing the SD card from the robot controller, the robot can be operated normally during the backup operation.

  • Page 89: Solutions To Take When The Robot Controller Time Setting Is Changed

    8 Appendix 8.4 Solutions to take when the robot controller time setting is changed If the robot controller's time setting has been changed for reasons such as exhausting the robot's battery or changing the settings of the robot CPU of CR800-R/CR800-Q controller, abnormal values may be shown as the period of warranty depending on the time after the change.

  • Page 90: Changing The Combination Of The Robot Arm And The Robot Controller

    8 Appendix For the CR800-R/CR800-Q controllers, the correct time setting is not applied if the parameter "TIMESYNC" is set to 0 (Time synchronization between the robot CPU and robot controller is disabled). When using the CR800-R/CR800-Q controllers, set the parameter "TIMESYNC" to 1 (Time synchronization between the robot CPU and robot controller is enabled).

  • Page 91: How To Manipulate Data On The Iq Care Melfa Support Sd Card

    8 Appendix 8.6 How to manipulate data on the iQ Care MELFA Support SD card The data saved on the iQ Care MELFA Support SD card can be referenced by removing the SD card from the robot controller, installing it in the computer, etc., and copying the file. In addition, the data can be referenced without removing the SD card if the communication middleware "MelfaRXM.ocx"...
  • Page 92 8 Appendix [Reading files from the external storage device] Item Description Summary Reads the contents of files stored in the external storage device of the robot controller. Request ID Argument File name <LF> when Data type requested Data received File name <LF> Number of data characters used in the file <LF>...
  • Page 93 8 Appendix [Reading files from the external storage device (file output)] Item Description Summary Reads files from the external storage device of the robot controller and outputs them. Request ID Argument Number of read files <LF> when Data type <LF> requested Read source file name 1 <LF>...

  • Page 94: Solutions If Error L6209 Occurs

    8 Appendix 8.7 Solutions if error L6209 occurs If error L6209 (robot time setting error) occurs at the start of iQ Care MELFA Support, the error can be resolved with the timestamp adjustment function of RT ToolBox3. * The timestamp adjustment function is available for RT ToolBox3/RT ToolBox3 mini/RT ToolBox3 Pro version 2.30G or later.

  • Page 95: Steps To Operate The Timestamp Adjustment Function

    8 Appendix 8.7.2 Steps to operate the timestamp adjustment function Perform the numbered operations shown on the Time stamp adjustment screen in order. [Step 1] Acquire a full backup. [Step 2] Set the time of the robot controller to the current time. [Step 3] Set the timestamp of the robot controller.
  • Page 96 8 Appendix [Step 3] If the manufacturing date data of the controller (timestamp of the controller) differs from the actual manufacturing date, correct the timestamp of the controller. Perform the following steps: Check the manufacturing date of the controller (current timestamp). Press the Set time stamp button.
  • Page 97 8 Appendix [Step 4] If the first power-on date data (timestamp of the robot) differs from the actual power-on date, correct the first power-on date data. Perform the following steps: Check the first power-on date (current timestamp). Press the Set time stamp button. The Set time stamp screen of the robot will appear. Press the Set time stamp button.
  • Page 98 8 Appendix Press the Write button. The timestamp of the robot will be updated. Updated Press the Close button to complete the settings. Set the first power-on date (timestamp of the robot) to a date later than the manufacturing date of the controller (timestamp of the controller). 8-88 Solutions if error L6209 occurs...

  • Page 99: Descriptions Based On "Marking For The Restriction Of The Use Of Hazardous Substances In Electrical And Electronic Product

    9 Descriptions based on "Marking for the restriction of the use of hazardous substances in electrical and e lectronic product" 9 Descriptions based on "Marking for the restriction of the use of hazardous substances in electrical and electronic product" 按照中华人民共和国公布的“电器电子产品有害物质限制使用标识”要求，对使用的标识记载如下 The following are descriptions based on "Marking for the restriction of the use of hazardous substances in electrical and electronic product"...
  • Page 100 9 Descriptions based on "Marking for the restriction of the use of hazardous substances in electrical and electronic product" 9-90...
  • Page 102 May. 2024 Specifications are subject to change without notice.

This manual is also suitable for:

Cr800-r seriesCr800-q seriesRa-1w00m seriesRa-2w00m seriesRa-0w11m seriesRa-0w21m series ... Show all

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