Page 1 Mitsubishi Industrial Robot CR800-R Series Controller GOT Sample Screen Instruction Manual for IQ Platform Supporting Extended Function (MELSEC iQ-R FB version) BFP-A3657-A...
Page 3: Safety Precautions
Safety Precautions Before use of robots, be sure to read the safety precautions below and the supplementary “Safety Manual” carefully and take appropriate measures. A. See below for safety precautions based on the Ordinance on Labor Safety and Hygiene (Chapter 36,104, 150, and 151).
Page 4 B. See below for safety precautions given in the separate “Safety Manual”. For more details, refer to the “Safety Manual”. For automatic operations of a robot with multiple controllers (GOT, PLC, and push DANGER button switch), create interlocks for each device on your own. Use a robot in the environment given in the specifications.
Page 5 Do not stop or apply an emergency stop on the robot by turning the main power to robot controller off. Doing so during the automatic operation may cause a negative CAUTION impact on the robot accuracy or interfere with the peripheral device due to the fall or coasting of the arm.
Page 6 ■ Revision History Date of Print Instruction Manual No. Description 20/Nov/2018 BFP-A3657-* First Edition 5/Nov/2024 BFP-A3657-A ･ Added the predictive maintenance function screen. ･ Changed some sections.
Page 7 ■Introduction Thank you for purchasing the Industrial Robot MELFA manufactured by Mitsubishi Electric. This instruction manual is a GOT operation manual for effectively using iQ Platform supporting extended functions in CR800-R series robot controller. With the shared memory between the sequencer and robot, monitoring of robot status and data setting from GOT is made easy.
Page 8: Table Of Contents
Contents OUTLINE ..........................................1-1 1.1..................................1-1 YSTEM ONFIGURATION 1.2....................................1-3 ELATED ANUALS OPERATION PROCEDURE ..................................2-4 GOT SETTING ........................................3-5 3.1......................................3-5 YSTEM SETTING 3.1.1. Type Setting ....................................3-6 3.1.2. Screen Switching/ Window Setting ............................ 3-7 3.1.3. Language Switching ...................................
Page 9 7.4.6. Monitoring of the Robot Load Level Ratio ........................7-76 7.4.7. Robot Maintenance Forecast .............................. 7-79 7.4.8. Conducting Predictive Maintenance on the Robot ..................... 7-83 7.4.8.1. Configuring Predictive Maintenance I/O Signal Parameters ............... 7-84 7.4.8.2. Checking the Total Score ............................7-85 7.4.8.3.
Page 10: Outline
1. Outline 1.1. System Configuration System Control Panel <Ethernet> *（Note 1） Robot CPU（No.2～4） Teaching Box <Option> Robot Controller Robot 1 Robot 2 Robot 3 (CPU No.2) (CPU No.3) (CPU No.4) It adapts to 1 to 3 robots Robot configuration is set with ladder. For the setting method, refer to "4.4.1.
Page 11 Robot Controller Type CR800-R series controller Robot CPU R16RTCPU Either of the following options is required in order to use the predictive maintenance screen. Option 1) MELFA Smart Plus: Predictive maintenance function enabled 2) iQ Care MELFA Support: Within one year of starting the service or...
Page 12: Related Manuals
Platform Supporting Extended Function Instruction Manual (BFP-A3528) 3. Mitsubishi Industrial Robot CR800-D/CR800-R/CR800-Q Series Controller Predictive Maintenance Function User's Manual (BFP-A3663) 4 Mitsubishi Industrial Robot CR800-R Series Controller FB Library Reference Manual for iQ Platform compatible Robot CPU(R16RTCPU) (BFP-A3656) 5 Mitsubishi Industrial Robot CR800-D/CR800-R/CR800-Q Series Controller...
Page 13: Operation Procedure
2. Operation procedure After downloading the file from Mitsubishi Electric FA site, the procedure for starting robot operation with GOT is as follows. Start 1. Set system settings of GOT ................Refer to “Chapter 3.1” Set the type of GOT, set IP address, set connection controller etc 2.
Page 14: Got Setting
3. GOT Setting Describe the setting contents and operation method for GOT setting using GT Designer 3. 3.1. System setting 1) GOT Type Setting “Chapter 3.1.1” 2) Screen Switching / Window Setting “Chapter 3.1.2” 3) Language Switching “Chapter 3.1.3” 4) Key Window Setting “Chapter 3.1.4”...
Page 15: Type Setting
Type Setting 3.1.1. Please select your model. The sample screen setting is GT25**-V (640×480). When the resolution changes, it is necessary to adjust the screen layout.
Page 16: Screen Switching/ Window Setting
Screen Switching/ Window Setting 3.1.2. Input the devices (* The sample screen has already been set up)
Page 17: Language Switching
Language Switching 3.1.3. Check "Use Language Switching" and "Use System Language Switching" and input the devices (* The sample screen has already been set up) Key Window Setting 3.1.4. Set screen No. of key window (* The sample screen has already been set up)
Page 18: System Information Setting
System Information Setting 3.1.5. Check "Use System Information" and input the devices. (* The sample screen has already been set up) GOT IP Address Setting 3.1.6. Set the IP Address of GOT...
Page 19: Controller Setting
Controller Setting 3.1.7. Please set up connection method with PLC. The sample screen setting specifies EtherNet connection of CH1. Please set EtherNet information of PLC. 3-10...
Page 20: Write Files To Got
3.2. Write files to GOT Write screen data to GOT. * It will explain the case where the USB cable is connected to the PC and GOT. Select <Communication>-<Communication Configuration> and display "communication Configuration" screen. 2) On the "Communication Configuration" screen, operate the following. 1.
Page 21 4) On the "Communicatie with GOT" screen, operate the following. 1. Select "Package Data" 2. Select "C: Built-in Flash Memory" 3. Click "GOT Write" 5) When the file writing is completed, the completion screen will be displayed. 3-12...
Page 22: Plc Setting
4. PLC Setting Describe the setting contents and operation method using GX Works3, when changing the Module configuration, parameter setting, ladder change. 4.1. Module Configuration Setting The module configuration of the sample project is as follows. Unit Type Base R35B Power supply R64P R04CPU...
Page 23: System Parameter Setting
4.2. System Parameter Setting On the system parameter screen, make multiple CPU settings. The setting values of the sample project are as follows. Please make the settings in the table below based on module configuration. Setting Item Description Setting Value Communication PLC Unit Data Set up this to avoid data separation at...
Page 24 0.05ms Unit Specify whether to set the fixed scan Not Set Setting communication cycle in increments of 0.05ms. Please be sure to select "Not Set" when combining with robot CPU. Fixed Scan Select the fixed scan communication 0.222ms Interval Setting cycle to be set from the list items.
Page 25: Cpu Parameter Setting
4.3. CPU Parameter Setting On the CPU Parameter screen, set each parameter. The setting values of the sample project are as follows. File Setting 4.3.1. The File Register Setting of the sample project is as follows. Program Setting 4.3.2. The Program setting of the sample project is as follows FB/FUN File Setting 4.3.3.
Page 26: Change Ladder
4.4. Change ladder Setting the robot CPU mounting state 4.4.1. Set the mounting state of robot CPU by ladder editing of program MAIN. Setting the robot mounting state <Ladder change item> Program : MAIN Step No. : 0 step Instruction : [MOV H1 D5055] ->Set the robot mounting state to D5055 bit 0 : If robot CPU is installed in CPU No.
Page 27: Write To Plc
Write to PLC 4.5. Writing the sample project to the PLC (Multi-CPU No. 1). *It explains about using USB cable connected to PC and PLC. 1) Select <Online>-<Current Connecion Destination> and display “Specify Connection Destination Connection” screen. 1.Select “SerialUSB” 2.Select [PLC Module] 3.Select “No Specification”...
Page 28 3) On the "Online Data Operation" screen, do the following. 3)-1. Click "Parameter + Program". 3)-2. Check the File Register"RFILE". 3)-3. Click "Execuse". ->Files are written to PLC 3)-1 3)-2 3)-3 When the file writing is completed, a completion screen will be displayed. 4-19...
Page 29: Switch Display Comment (Language)
Switch display comment (language) 4.6. Japanese / English can be selected for comment display of sample project. Select <Vieaw> - <Multiple Comments Display Setting> to display the "Multiple Comment Display Setting" screen and select the display target comment. You can select the display target from available comments (3 below) 1．comment（Japanese）...
Page 30: Function Block
For details of the function block (FB) used in the sample project, please refer to the following manual. ･Mitsubishi Industrial Robot CR800-R Series Controller FB Library Reference Manual for iQ Platform compatible Robot CPU(R16RTCPU) (BFP-A3656) FB Library and manual can be downloaded from Mitsubishi Electric FA site. 4-21...
Page 31: Robot Parameter Setting
5. Robot Parameter Setting Describes the setting contents of robot parameters. When installing multiple robot CPUs, please set parameters for each robot. This manual explains the setting method from RT Toolbox 3. （For details to the operation of RT ToolBox3, please refer "RT ToolBox3／RT ToolBox3 mini User’s Manual （BFP-A3495）"...
Page 32: Enable The Cpu Buffer Memory Extended Functions(Parameter Iqmem Setting)
5.2. Enable the CPU buffer memory extended functions(Parameter IQMEM Setting) Figure. Parameter List screen of RT ToolBox3 (IQMEM) Double-click [Online] -> [Parameter] -> [Parameter List] in the project tree to open the “Parameter List” screen. (2) Enter “IQMEM” in [Parameter Name] and click [Read] to open the “Parameter edit” screen. Enter [1: 0000000000000011] (bit 0 and bit 1 are 1) and click [Write].
Page 33: Set Hand Control Permission Signal（Parameter Handena Setting
Set hand control permission signal（Parameter HANDENA Setting） 5.3. Figure. Parameter List screen of RT ToolBox3 (HANDENA) Double-click [Online] -> [Parameter] -> [Parameter List] in the project tree to open the “Parameter List” screen. (2) Enter “HANDENA” in [Parameter Name] and click [Read] to open the “Parameter edit” screen. Enter [1: 10079] [2: 10079] and click [Write].
Page 34: Set Jog Signal
Set jog signal 5.5. Figure. Jog screen of RT ToolBox3 Double-click [Online] -> [Parameter] -> [Signal Parameter] -> [Dedicated Input/Output Signal Assignment] -> [Jog] in the project tree to open the “Jog” screen. (2) Enter [10092] in [JOGmode specification JOGENA] under [Input (I)] Enter [10092] in [JOGmode specification JOGENA] under [Output (U)] (3) Enter [Start (S): 10096] [End (N): 10103] in [JOG(＋)specification JOG＋] under [Input (I)] (4) Enter [Start (S): 10104] [End (N): 10111] in [JOG (－) specification JOG－] under [Input (I)]...
Page 35: Resetting Plc
6. Resetting PLC When changing the robot parameters, it is necessary to perform reset operation of the PLC or turn the PLC off and on to reflect the change contents. The procedure for resetting the PLC is as follows. 6-26...
Page 36: Description Of Robot Screen
7. Description of Robot Screen 7.1. Common Operation How To Change The Display Language 7.1.1. Press the ‘EARTH’ bottun and ‘Language Setting’ window is displayed. Select the language you want to use in list on the ‘Language Setting’ window. The ‘EARTH’ button is located at top-right corner on the screens. ‘EARTH’...
Page 37: How To Select Robot
How To Select Robot 7.1.2. If two or more robot CPUs are mounted, please select the robot to be operated on the "Select Robot" screen. Press the "Robot *" button (* indicates the currently selected robot number) to display the "Select Robot" window.
Page 38: Screen Tree
7.2. Screen Tree Robot Main Menu 7.2.1. ① "7.2.2.Robot Operation Menu" Robot Operation Menu Robot Main Menu ② "7.2.3.Monitor/Maintenance Menu" Monitor/Maintenance Menu ① Language Setting *1 Robot Error History Robot Error Screen ② Select Robot *1 *1 Language Setting, Select Robot screen can also be displayed from other screen. 7-29...
Page 39: Robot Operation Menu
Robot Operation Menu 7.2.2. Robot Operation Menu Robot O/P (1 robot) Robot O/P (3 robots) *1 Jog/Hand Operation Execute Command (1 robot) Execute Command (3 robots) *1 Select Command Table Edit Command *1 Displayed only when two or more robots are mounted Refer to "4.4.1.Setting the robot CPU mounting state"...
Page 40 Robot Operation Menu Position Edit Joint Edit Numerical Edit Edit Direct Position 7-31...
Page 41: Monitor/Maintenance Menu
Monitor/Maintenance Menu 7.2.3. Monitor/Maintenance Menu Robot Current Position Monitor Current Monitor Status Variable Monitor Load Level Ratio Monitor Designated Signal Monitor Maintenance Forecast Robot Product Information Monitor Predictive Maintenance Menu 7-32...
Page 42 Abnormality Detection [gear] Robot Current Position Monitor Predictive Maintenance Menu Abnormality Detection Menu Abnormality Detection [encoder data abnormality] Operating Information Abnormality Detection [encoder communication abnormality] Consumption Degree Consumption Degree [maintenance parts] [overhaul parts] Warning Pause Maintenance Reset 7-33...
Page 43: Robot Operation On Got Screen
7.3. Robot Operation on GOT Screen Robot OP (Operation Panel) Operation 7.3.1. (1)Select [Robot Operation] from "Robot Main Menu"screen (2)Select [Robot OP] from "Robot Operation Menu"screen (3)"Robot OP"screen appears 7-34...
Page 44 (4) See below for details of the "Robot OP"screen. For details of each operation button, see “Table 7-1 Details and rolos of "Robot OP" operataion buttons”. ⑮ ① ⑤ ③ ④ ② ⑦ ⑨ ⑪ ⑥ ⑫ ⑧ ⑩ ⑬ ⑭...
Page 45 Table 7-1 Details and roles of "Robot OP" operataion buttons Category Name Function specifications Remarks Display UP▲ Gray Displays the next program. ― panel DN▼ Gray Displays the previous program. Automatic Operation Right Obtains robot operation permission at the indicator screen. Button operation Permission passes to the controller if pressed when...
Page 46: Perform Op Operation For 3 Robots On One Screen
7.3.1.1. Perform OP operation for 3 robots on one screen If two or more robot CPUs are mounted, the [3 robots] button will be displayed at the upper left of the "Robot OP" screen. Refer to "4.4.1.Setting the robot CPU mounting state"...
Page 47 (4) See below for details of the "Robot OP (3 Robots)"screen. For details of each operation button, see “Table 7-2 Details and rolos of "Robot OP(3 Robots)" operataion buttons”. Operation button for robot 2 Operation button for robot 3 Operation button for robot 1 In this screen, OP operations of three robots are executed on one screen.
Page 48 The functions of the operation buttons are common to robots 1 to 3. ･ ⑭ ⑤ ⑫ ⑪ ③ ④ ① ② ⑦ ⑥ ⑧ ⑨ ⑩ ⑬ [Screen specifications] This operation screen is used to specify operation settings in automatic operation mode. (1) Program: Displays the selected program No.
Page 49 Table 7-2 Details and roles of "Robot OP(3 Robots)" operataion buttons Category Name Function specifications Remarks Display UP▲ Gray Displays the next program. ― panel DN▼ Gray Displays the previous program. Automatic Operation Right Obtains robot operation permission at the indicator screen. Button operation Permission passes to the controller if pressed when...
Page 50: Jog/Hand Operation
Jog/Hand Operation 7.3.2. (1)Select [Robot Operation] from "Robot Main Menu"screen. (2)Select [Jog/Hand Operation] from "Robot Operation Menu"screen. (3)"Jog/Hand Operation"screen appears. 7-41...
Page 51 (4)See below for the details of the [Jog/Hand Operation] screen. For details of each operation button, see “Table 7-3:"Jog/Hand Operation"screen”. ④ ④ ⑤ ① ③ ② ⑥ [Screen specifications] Screen for jog/hand operations (1) Current Position・・・Joint jog operation→current position of 6 axes, XYZ and Tool jog operation→Displays the coordinate value and postural axis (2) Jog Operation・・・Jog operation of each axis (joint) and coordinate (XYZ and tool) (3) Hand Operation・・・Switching operation of each hand (hand 1, 2, 3, and 4)
Page 52 Table 7-3 Details and roles of "Jog/Hand Operation" operataion buttons Category Name Function specifications Remarks Current Current Position Displays the robot position Switches Position (Axis) (1) Joint jog operation The display character Displays the angle of each axis （J1～J6） string as Displays the angle of additional axis （J7～J8）...
Page 53: Editing Program Position Data
Editing Program Position Data 7.3.3. (1)Select [Robot Operation] from the "Robot Main Menu"screen. (2)Select [Edit Position] from the "Robot Operation Menu"screen. (3)"Position Edit"screen appears. 7-44...
Page 54: Screen Specifications
(4)See below for the details of "Position Edit" screen. For details of each operation button, see “Table 7-4: Details and rolos of " Position Edit " operataion buttons”. ③ ① ② ④ ⑤ ⑥ ⑦ ⑧ ⑨ 【Screen Specifications】 Operation screen to edit the position variable of the robot * For the position data of the program specified in the robot OP screen (1) Slot No.・・・Selects the task slot No.
Page 55 (5) See below for the character/number entry screens. ② ① 【Screen Specifications】 Operation screen to enter the variable name and position data * For the position data of the program specified in the robot OP screen (1) Character entry screen・・・enters the name of position variable with alphanumeric keys (2) Numeric value entry screen・・・enters position data with decimal input keys 7-46...
Page 56 Table 7-4 Details and roles of " Position Edit " operataion buttons Category Name Function specifications Remarks Target Slot No. ― Displays the task No.（0～32） to be edited Selection * Task slot No. 0 can be specified in setting the external variable Position UP▲...
Page 57: Editing Program Joint Data
Editing Program Joint Data 7.3.4. (1)Select [Robot Operation] from the "Robot Main Menu" screen. (2) Select [Edit Joint] from the "Robot Operation Menu" screen. (3)[Joint Edit] screen appears. 7-48...
Page 58 (4) See below for the details of "Joint Edit" screen. For details of each operation button, see “Table 7-5 Details and rolos of "Joint Edit" operataion buttons”. ③ ① ② ④ ⑤ ⑥ ⑦ ⑧ ⑨ 【Screen Specification】 Operation screen to edit the robot joint variable * For the joint data of the program specified in the robot OP screen (1) Slot No.・・・Selects the task slot No.
Page 59 (5) See below for the character/number entry screens. ② ① 【Screen Specification】 Operation screen to enter the variable name/joint data * For the joint data of the program specified in the robot OP screen (1) Character entry screen・・・Enters the joint variable name with the alphabetic keys (2) Number entry screen・・・Enters the joint data with the decimal input keys 7-50...
Page 60 Table 7-5 Details and roles of " Joint Edit " operataion buttons Category Name Function specifications Remarks Target Slot No. ― Displays the task slot No.（0-32）to be edited. Selection * Task slot No. can be specified in setting the external variable Position UP▲...
Page 61: Editing Program Numerical Data
Editing Program Numerical Data 7.3.5. (1) Select [Robot Operation] from the "Robot Main Menu" screen. (2)Select [Edit Numerical Value] from the "Robot Operation Menu" screen. (3)"Numerical Edit" screen appears. 7-52...
Page 62 (4)See below for the "Numerical Edit" screen. For details of the operation buttons, see “Table 7-6 Details and rolos of "Numerical Edit " operataion buttons”. ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ 【Screen Specifications】 Operation screen to set the numeric variable * For the variable name of the program specified in the robot OP screen (1) Slot No.・・・Selects the task slot (0~32) to be edited (2) UP/DOWN・・・Scrolls UP and DN (down) of the task slot No.
Page 63 (5)See below for the character/number entry screens. ② ① 【Screen Specifications】 Operation screen to enter the variable name/data * For the numerical data of the program specified in the robot OP screen (1) Character entry screen・・・Enters the joint variable name with the alphameric keys (2) Number entry screen・・・Enters the numeric value with the decimal input keys 7-54...
Page 64 Table 7-6 Details and roles of "Numerical Edit " operataion buttons Category Name Function specifications Remarks Target Slot No. Displays the task slot No.（0～32） to be edited ― Selection * Task slot No. can be specified in setting the external variable Position UP▲...
Page 65: Monitoring/Maintenance Operation From Got Screen
7.4. Monitoring/Maintenance Operation from GOT Screen Monitoring of the Current Robot Position and Program Execution Line 7.4.1. (1)Select [Monitor/Maintenance] from the "Robot Main Menu"screen. (2)Select [Robot Current position] from the "Monitor/Maintenance"screen. (3)"Robot Current Position Monitor" screen appears. 7-56...
Page 66 (4) See below for the "Robot Current Position Monitor"screen. For details of the operation button, see “Table 7-7: Details and roles of "Robot Current Position Monitor" operation buttons”. ① ⑦ ② ⑧ ③ ④ ⑤ ⑥ ⑨ 【Screen Specifications 】 Screen to monitor the current position of each robot axis (1) XYZ Coordinates・・・Displays the current position of each coordinate (X, Y, and Z axes: in mm), postural axis (A, B, and C: in angles), and configuration flag (FL1 postural flag;...
Page 67 (5) See below for the number-entry screen. ① 【Screen Specification】 Operation screen to enter the task slot No. (1) Number Entry Screen・・・Enters the task slot No. with the decimal input keys 7-58...
Page 68 Table 7-7 Details and roles of "Robot Current Position Monitor" operataion buttons Category Name Function specifications Remarks Display XYZ Coordinates Displays the current position and destination of each axis ― Current (1) Coordinate Position (X/Y/Z axis: mm) Position (2) Postural axis (A/B/C axis: in angle) (3) Configuration flag (FL1 postural flag;...
Page 69: Monitoring Of The Robot Status Variable
7.4.2. Monitoring of the Robot Status Variable (1)Select [Monitor/Maintenance] from the "Robot Main Menu"screen. (2)Select [Status Variable] from the "Monitor/Maintenance" menu. (3)"Status Monitor 1/2" screen appears. 7-60...
Page 70 (4)See below for "Status Variable Monitor 1/2" screen. For details of the operation button, see “Table 7-8: Details and roles of "Status Variable Monitor" operation buttons”. ⑤ ④ ⑥ ③ ① ② 【Screen Specifications】 Screen to monitor the internal robot variable data (1) Previous Screen・・・Switches the status variable monitor screens ［Status Variable Monitor 1/2］→［Status Variable Monitor 2/2］...
Page 71 (5)See below for "Status Variable Monitor 2/2" screen. For details of the operation button, see “Table 7-8: Details and roles of "Status Variable Monitor" operation buttons”. ⑤ ④ ⑥ ③ ① ② 【Screen Specifications】 Screen to monitor the internal variable data of the robot (1) Previous Screen・・・Switches the status variable monitor screens ［Status Variable Monitor 2/2］→［Status Variable Monitor 1/2］...
Page 72 Table 7-8 Details and roles of " Status Variable Monitor" operataion buttons Category Name Function specifications Remarks Screen Previous Screen Switches the state variable monitor screen in ascending order ― Switch (2/21/22/2) Screen Switches the state variable monitor screen in descending Next order (1/22/21/2) Display of...
Page 73 Table 7-9 Details of "Status Variable Monitor 1/2" Variable Name Unit Description M_RDst [mm] Remaining distance to the target position while the robot is in motion. M_Ratio Returns how much the robot has approached the target position (0 to 100%) while the robot is moving. M_RSpd [mm/s] Current command speed...
Page 74: Monitoring Of Robot Signal
7.4.3. Monitoring of Robot Signal (1)Select [Monitor/Maintenance] from the "Robot Main Menu"screen. (2)Select [Robot Signal] from the "Monitor/Maintenance" menu. (3)"Designated Signal Monitor 1/2" screen appears. 7-65...
Page 75 (4)See below for " Designated Signal Monitor 1/2" screen. For details of the operation button, see “Table 7-11: Details and roles of " Designated Signal Monitor " operation buttons”. ⑤ ④ ⑥ ① ③ ② 【Screen Specifications】 Screen to monitor the designated robot input/output (I/O) signals (1) Back・・・Switches the dedicated signal monitor screens ［Dedicated Signal Monitor 1/2］→［Dedicated Signal Monitor 2/2］...
Page 76 (5)See below for " Designated Signal Monitor 2/2" screen. For details of the operation button, see “Table 7-11: Details and roles of " Designated Signal Monitor " operation buttons”. ⑤ ④ ⑥ ① ③ 【Screen Specifications】 Screen to monitor the dedicated robot I/O signals (1) Back・・・Switches the dedicated signal monitor screens ［Dedicated Signal Monitor 2/2］→［Dedicated Signal Monitor 1/2］...
Page 77 Table 7-11 Details and roles of "Robot Signal Monitor " operataion buttons Category Name Function specifications Remarks Screen Back Switches the state variable monitor screen in ascending order ― Switch (2/21/22/2) Next Switches the state variable monitor screen in descending order (1/22/21/2) Display of Operation Mode...
Page 78 Table 7-12 Details of " Dedicated Signal Monitor 1/2" Variable Name Classification Description Controller Power ON Output ON when the external input signal can be received after the power is ON Remote Mode Output ON when the key switch on the operation panel is set to AUTO and remote operation is valid Teach Mode Output...
Page 79: Confirming The Robot Product Info
7.4.4. Confirming the Robot Product Info (1)Select [Monitor/Maintenance] from the "Robot Main Menu"screen. (2)Select [Robot Information] from the "Monitor/Maintenance" menu. (3)"Robot Product Information Monitor" screen appears. 7-70...
Page 80 (4)See below for the "Robot Product Information Monitor" screen. For details of operation button, see “Table 7-14: Details and roles of the "Robot Production Information Monitor" operation buttons” ⑤ ⑥ ① ② ③ ④ ⑦ 【Screen Specifications】 Screen to monitor the product information of the robot body and controller (1) Robot Type Name・・・Type of the robot body (2) Controller Version・・・S/W version of the controller (3) Controller Serial No.・・・Specific serial No.
Page 81 Table 7-14 Details and roles of " Robot Product Info Monitor " operataion buttons Category Name Function specifications Remarks Product Product Info Displays the robot body info (1) and (4) and robot controller ― Info info (2) and (3) (1) Robot Type Name (2) Controller Version (S/W Version) (3) Controller Serial No.
Page 82: Monitoring Of The Robot Current
7.4.5. Monitoring of the Robot Current (1)Select [Monitor/Maintenance] from the "Robot Main Menu"screen. (2)Select [Current] from the "Monitor/Maintenance" menu. (3)"Current" screen appears. 7-73...
Page 83 (4)See below for the "Current" screen. For details of operation button, see “Table 7-15: Details and roles of the "Current" operation buttons” ⑦ ⑧ ① ② ③ ④ ⑥ ⑤ ⑨ 【Screen Specifications】 Screen to monitor the current of each robot axis (1) Current Feedback・・・Displays the feedback value from the servo (2) Maximum Current Command・・・Maximum current in the robot operation (3) Select Upper/Lower Limit・・・Switches the scale of the current (unit) shown on the chart...
Page 84 Table 7-15 Details and roles of "Current" operataion buttons Category Name Function specifications Remarks Display Display All Axes Displays the currents of all axes （J1～J6） on the chart ― Current (1) Feedback value from the servo (2) Electric current value All axes are color-coded J1(black), J2 (red), J3(green), J4 (blue), J5 (pink), and J6 (yellow)
Page 85: Monitoring Of The Robot Load Level Ratio
7.4.6. Monitoring of the Robot Load Level Ratio (1)Select [Monitor/Maintenance] from the "Robot Main Menu"screen. (2)Select [Load Level Ratio] from the "Monitor/Maintenance" menu. (3)"Load Level Ratio" screen appears. 7-76...
Page 86 (4)See below for the "Load Level Ratio" screen. For details of operation button, see “Table 7-16: Details and roles of the "Load Level Ratio" operation buttons”. ⑦ ⑧ ① ② ③ ④ ⑥ ⑤ ⑨ 【Screen Specifications】 Screen to monitor the Load Level Ratio of each robot axis (1) Axis Load Level・・・Displays the current load level of each axis (2) Maximum Axis Load Level・・・Displays the maximum load level calculated from when the operation starts (3) Select Upper Limit ・・・Switches the scale of the load level (unit) shown on the chart...
Page 87 Table 7-16 Details and roles of "Load Level Ratio" operataion buttons Category Name Function specifications Remarks Display Display All Axes Displays the load levels of all axes (J1～J6） on the chart ― Load (1) Axis Load Level (current load level of each axis) Level (2) Maximum Load Level (maximum load level measured after the operation starts)
Page 88: Robot Maintenance Forecast
7.4.7. Robot Maintenance Forecast (1)Select [Monitor/Maintenance] from the "Robot Main Menu"screen. (2)Select [Maintenance Forecast] from the "Monitor/Maintenance" menu. (3)"Maintenance Forecast 1/2" screen appears. 7-79...
Page 89 (4)See below for the "Maintenance Forecast 1/2" screen. For details of operation button, see “Table 7-17: Details and roles of the "Maintenance Forecast" operation buttons”. ⑥ ⑤ ③ ④ ① ② ⑦ 【Screen Specifications】 Screen to monitor the robot grease (1) Previous Screen・・・Switches the dedicated signal monitor screens [Dedicated Signal Monitor 1/2] →[Dedicated Signal Monitor 2/2] (2) Next Screen・・・Switches the dedicated signal monitor screens [Dedicated Signal Monitor 1/2]...
Page 90 (5)See below for the "Maintenance Forecast 2/2" screen. For details of operation button, see “Table 7-17: Details and roles of the "Maintenance Forecast" operation buttons”. ⑥ ⑤ ③ ④ ① ② ⑦ 【Screen Specifications】 Screen to monitor the dedicated robot input/output (I/O) signals (1) Previous Screen・・・Switches the dedicated signal monitor screens [Dedicated Signal Monitor 2/2] →[Dedicated Signal Monitor 1/2] (2) Next Screen・・・Switches the dedicated signal monitor screens [Dedicated Signal Monitor 2/2]...
Page 91 Table 7-17 Details and roles of "Maintenance Forecast" operataion buttons Category Name Function specifications Remarks Switch Previous Screen Switches the state variable monitor screen in ascending order ― Screen (2/2-1/2-2/2) Screen Switches the state variable monitor screen in descending Next order (1/2-2/2-1/2) Time Reset...
Page 92: Conducting Predictive Maintenance On The Robot
Conducting Predictive Maintenance on the Robot 7.4.8. Either of the following options is required in order to use the predictive maintenance screen. 1) MELFA Smart Plus: Predictive maintenance function enabled 2) iQ Care MELFA Support: Within one year of starting the service or within the warranty period For details on the contents of each screen, refer to "Predictive Maintenance Function User's Manual (BFP-A3663)".
Page 93: Configuring Predictive Maintenance I/O Signal Parameters
7.4.8.1. Configuring Predictive Maintenance I/O Signal Parameters The settings of "Pause of warning occurrence / signal output" and "Consumption degree reset" need to be configured when using the [Warning Pause] and [Maintenance Reset] functions. (1) Double-click [Maintenance] → [Predictive maintenance] in the workspace. (2) The "Predictive maintenance"...
Page 94: Checking The Total Score
7.4.8.2. Checking the Total Score (1) Select [Predictive Maintenance] from the "Monitor/Maintenance Menu" screen. (2) Select [Total Score] from the "Predictive Maintenance Menu" screen. (3) The "Total Score" screen will appear. 7-85...
Page 95 (4) The screen shows the results of the overall evaluation using the wear calculation function. For details on the operation buttons, see Table 7-18 Details and roles of "Total Score" operation buttons. ① ② ③ [Screen Explanation] ① Consumption Degree: The total score (wear/consumption rate [%] and remaining time) of maintenance parts (grease and timing belts), total score (wear/consumption rate [%]) of overhaul parts (reduction gears, bearings, ball screws, and ball splines), and cumulative servo ON time since the last overhaul calculated with the wear calculation function.
Page 96 Table 7-18 Details and roles of "Total Score" operation buttons Category Name Function specifications Remarks Consumption Update Updates the displayed data. degree Updating data Data update complete Messages Predictive Displays predictive maintenance messages. maintenance ▲ Scrolls up through the predictive maintenance message messages to display the previous message.
Page 97: Checking Detected Abnormalities
7.4.8.3. Checking Detected Abnormalities (1) Select [Predictive Maintenance] from the "Monitor/Maintenance Menu" screen. (2) Select [Abnormality Detection] from the "Predictive Maintenance Menu" screen to displaythe "Abnormality Detection Menu" screen. Select the abnormality detection data to view from the [Gear], [Encoder Communication Error], and [Encoder Data Error] menus on the "Abnormality Detection Menu"...
Page 98 (4) This is a function that detects abnormalities and wear of robot drive parts early. Abnormalities with the reduction gears and encoders can be detected before signs of abnormalities are apparent in the behavior of the robot. For details on the operation buttons, see Table 7-19 Details and roles of "Abnormality Detection"...
Page 99 ① ② ③ ④ [Screen Explanation] ① Score: Displays the score for the joint of each robot axis. The values are current values. ② Log data: Displays the largest value from the score of each axis from the past 365 days. The displayed value is the largest value of the day.
Page 100 Table 7-19 Details and roles of "Abnormality Detection" operation buttons Category Name Function specifications Remarks Updates the displayed data. Wear/consumption Update Updating data rate Data update complete 7 days It is possible to select the period of the log data 30 days displayed on the screen.
Page 101: Calculating Wear/Consumption
7.4.8.4. Calculating Wear/Consumption (1) Select [Predictive Maintenance] from the "Monitor/Maintenance Menu" screen. (2) Select [Consumption Degree] from the "Predictive Maintenance Menu" screen. (3) The "Maintenance Parts" screen will appear. 7-92...
Page 102 (4) Select either [Maintenance Parts] or [Overhaul Parts] to display the amount of wear on the parts and joint for the specified axis. For details on the operation buttons, see Table 7-20 Details and roles of "Maintenance Parts" operation buttons. ①...
Page 103 [Screen Explanation] ① Consumption Degree: Displays the amount of wear on the parts and joint for the specified axis in a graph and numeric values [%]. message: Displays predictive maintenance messages about the state of parts. Predictive maintenance ② If the remaining time exceeds the notification day, a predictive maintenance message will be displayed. Check the contents of the message and take necessary action.
Page 104: Checking Operating Information
7.4.8.5. Checking Operating Information (1) Select [Predictive Maintenance] from the "Monitor/Maintenance Menu" screen. (2) Select [Operating Information] from the "Predictive Maintenance Menu" screen. (3) The "Operating Information" screen will appear. 7-95...
Page 105 (4) Manage and display the total number of overhauls and the cumulative amount of time from when the last overhaul was conducted. For details on the operation buttons, see Table 7-21 Details and roles of "Operating Information" operation buttons. ① ②...
Page 106: Pausing Warnings
7.4.8.6. Pausing Warnings (1) Select [Predictive Maintenance] from the "Monitor/Maintenance Menu" screen. (2) Select [Warning Pause] from the "Predictive Maintenance Menu" screen. (3) The "Warning Pause" screen will appear. 7-97...
Page 107 (4) Displays current warnings, paused warnings, and warning signals in a list. It is possible to temporarily stop notifications (alarms/dedicated output signals) by disabling them here. For details on the operation buttons, see Table 7-22 Details and roles of "Warning Pause" operation buttons.
Page 108 Table 7-22 Details and roles of "Warning Pause" operation buttons Category Name Function specifications Remarks Warning Update Updates the displayed data. Pause Updating data Data update complete Write Writes the items that are selected Wear-related notifications can be temporarily disabled for part replacement (reset of consumption degree).
Page 109: Maintenance Reset
7.4.8.7. Maintenance Reset (1) Select [Predictive Maintenance] from the "Monitor/Maintenance Menu" screen. (2) Select [Maintenance Reset] from the "Predictive Maintenance Menu" screen. (3) The "Maintenance Reset" screen will appear. 7-100...
Page 110 (4) The accumulated information in the robot controller needs to be reset for the axis the maintenance was conducted on when overhauling, replacing parts, or replenishing grease. Information related to the amount of wear/consumption calculated by the robot controller wear calculation function can be reset on the Maintenance Reset screen.
Page 111 Table 7-23 Details and roles of "Maintenance Reset" operation buttons. Category Name Function specifications Remarks Maintenance Reset Resets the wear/consumption for the selected item. Reset Press this button to display the Reset Verification window. Press [Yes] to reset the maintenance information of the selected items.
Page 112: Error Information From Got Screen
7.5. Error Information from GOT Screen Check the Robot Error Information 7.5.1. (1)Select [Error Information] from the "Robot Main Menu"screen. (2)"Robot Error Screen" appears. 7-103...
Page 113 (3)See below for the "Robot Error Screen" screen. For details of operation button, see “Table 7-24: Details and roles of the "Robot Error Screen" operation buttons”. ① ② ③ ④ ⑤ ⑥ ⑧ ⑦ 【Screen Specifications】 Screen to monitor the robot errors in chronological order (1) Error Display・・・Displays the description of an ongoing error * Upper column: error description Middle column: cause...
Page 114 (4)See below for the "Robot Error History" screen. For details of operation button, see “Table 7-25: Details and roles of the "Robot Error History" operation buttons”. ① ② ③ ④ ⑤ 【Screen Specifications】 Screen to monitor the robot error history in chronological order (1) Error History・・・Displays the errors in the past in chronological order (2)▲/▼...
Page 115 Table 7-24 Details and roles of "Robot Error Screen" operataion buttons Category Name Function specifications Remarks Error Error Screen Displays the details of the ongoing error ― Screen Upper Error description Column Middle Causes Column Lower Restoration Column History Jumps to the screen with the past error information in chronological order Switches the errors to display UP△/DN▽...
Page 116: Direct Execution Operation
8. Direct Execution Operation 8.1. When Performing Direct Command Editing from the GOT Screen Select [Edit Direct Command] and edit direct execution. 8.1.1. * Before performing direct command editing, it is necessary to perform teaching from the expansion function PLC direct. Refer to the “CR800-R/CR800-Q Series Controller iQ Platform Supporting Extended Function Instruction Manual"...
Page 117 (4)See below for details of the " Select Command Table 1/2"screen. For details of each operation button, see “Table 8-1 Details and rolos of "Select Command Table" operataion buttons”. ② ① ③ [Screen specifications] This operation screen is used to edit all table commands by direct execution. (1) Table (*1): Selects the Table (1 to 20) for which command editing is to be performed.
Page 118 (5)See below for details of the " Select Command Table 2/2"screen. For details of each operation button, see “Table 8-1 Details and rolos of "Select Command Table" operataion buttons”. ② ① ③ [Screen specifications] This operation screen is used to edit all table commands by direct execution. (1) Table (*1): Selects the Table (21 to 30) for which command editing is to be performed.
Page 119 (6)This section describes the "Edit Command" screen. For details of each operation button, see “Table 8-1 Details and rolos of "Edit Command" operataion buttons”. ① ② ④ ③ ⑥ ⑤ ⑦ ⑧ ⑨ ⑩ ⑪ ⑫ [Screen specifications] This operation screen is used to edit all table commands by direct execution. (1) Table: Displays the selected table No.
Page 120 Table 8-1 Details and roles of "Select Command Table" operataion buttons Category Name Function specifications Remarks Table Table 1 to 20 Selects the table (1 to 20) for which command editing is to be ― selection performed. * For [Select Command Table 1/2] Table 21 to 30 Selects the table (21 to 30) for which command editing is to be performed.
Page 121 (7) The following is an example of the move command input screen. For details of operation button, see “Table 8-3 Details and roles of "Edit Command-Select Motion/Control Command screen" operataion buttons” Specify settings such as move commands, operation positions, speed and acceleration at the GOT screen to operate the robot in the specified order.
Page 122 Table 8-3 Details and roles of "Edit Command-Select Motion/Control Command screen" operataion buttons Category Name Function specifications Remarks Operation Position Performs joint interpolation motion to the specified ― command (Mov) destination position. Approach The approach coordinate position coordinate value (add A joint (MovA) position) is added to the coordinate value for the specified...
Page 123 (8)This screen is used to set move commands. The command items differ depending on the move command. Refer to “Table 8-4 "Command Setting" Details” for details on command settings. • If the command item characters are in black, the setting must be specified. •...
Page 124 [Screen 1] 8-115...
Page 125 Table 8-4 "Command Setting" details 1) Robot move commands Joint proximity Linear proximity Joint motion Linear motion Item motion motion MovA MvsA Command No. Movement destination Command data 1 Position No. Offset distance Offset distance (Z-direction tool Added (Z-direction tool Added Command data 2 distance)
Page 126: When Performing Direct Command Execution From The Got Screen Got
8.2. When Performing Direct Command Execution from the GOT Screen GOT Select [Direct Command] and perform direct execution. 8.2.1. * Before performing direct command editing, it is necessary to perform teaching from the expansion function PLC direct. Refer to the “CR800-R/CR800-Q Series Controller iQ Platform Supporting Extended Function Instruction Manual"...
Page 127 (4)See below for details of the "Execute Command"screen. For details of each operation button, see “Table 8-5 Details and rolos of "Execute Command" operataion buttons”. ⑤ ④ ② ③ ⑫ ① ⑥ ⑧ ⑦ ⑨ ⑪ ⑩ [Screen specifications] This operation screen is used to edit all table commands by direct execution. (1) Table No.
Page 128 (5) This section describes the "Select Command Table" screen. ① [Screen specifications] This operation screen is used to select command tables. (1) Select Command Table screen: Used to select the table No. 8-119...
Page 129 Table 8-5 Details and roles of "Execute Command" operataion buttons Category Name Function specifications Remarks Table Table 1 to 30 Selects the table (1 to 30) for which command editing is to be ― selection performed. Direct CONT/CYCLE Selects the command execution type. ―...
Page 130: Perform Direct Command Execution For 3 Robots On One Screen
8.2.1.1. Perform Direct Command Execution for 3 robots on one screen (1)If two or more robot CPUs are mounted, the [3 robots] button will be displayed at the upper right of the "Execute Command" screen. Refer to "4.4.1.Setting the robot CPU mounting state"...
Page 131 (4)See below for details of the "Execute Command (3 Robots)"screen. For details of each operation button, see “Table 8-6 Details and rolos of " Execute Command (3 Robots)" operataion buttons”. Operation button for robot 2 Operation button for robot 3 Operation button for robot 1 In this screen, "Execute Command"...
Page 132 The functions of the operation buttons are common to robots 1 to 3. ･ ⑫ ⑤ ③ ⑩ ② ① ④ ⑦ ⑥ ⑨ ⑧ ⑪ [Screen specifications] This operation screen is used to edit all table commands by direct execution. (1) Table No.
Page 133 Table 8-6 Details and rolos of " Execute Command (3 Robots)" operataion buttons Category Name Function specifications Remarks Table Table 1 to 30 Selects the table (1 to 30) for which command editing is to be ― selection performed. Direct CONT/CYCLE Selects the command execution type.
Page 134: When Performing Direct Position Editing Got From The Got Screen
8.3. When Performing Direct Position Editing GOT from the GOT Screen Select [Direct Position Edit] and perform position editing. 8.3.1. * Before performing direct command execution, it is necessary to perform teaching from the expansion function PLC direct. Refer to the “SQ Series iQ Platform Compatible Expansion Function Instruction Manual”...
Page 135 (4)See below for details of the "Edit Direct Position Command"screen. For details of each operation button, see “Table 8-7 Details and rolos of "Edit Direct Position Command" operataion buttons”. ③ ② ① ④ [Screen specifications] This operation screen is used to edit all position data with direct position commands. (1) Position No.
Page 136 (5) This section describes the " Direct Position Input" screen and "Value Input" screen. For details of each operation button, see “Table 8-8 Details and rolos of "Direct Position Input/ Value Input" operataion buttons”. ⑤ ① ③ ② ④ [Screen specifications] This operation screen is used to edit position data and select position No.
Page 137 Table 8-7 Details and roles of "Edit Direct Position Command" operataion buttons Category Name Function specifications Remarks Direct Position No. Selects the position No. (1 to 999) to be edited. ― position Press the value display area to display the Edit Direct edit Position Command input screen, and then edit the applicable position data at this screen.
Page 138: Appendix
9. Appendix 9.1. Screen Title List GOT screen title list is as follows. Base screens 9.1.1. Screen No. Name Description Robot Main Menu Selects the Main Menu. 1011 Robot Error Screen Displays and resets the current robot error. 1013 Robot Error History 1 Displays and resets the robot 1 error history.
Page 139 Screen No. Name Description 1511 Edit Command A-1 1512 Edit Command A-2 1513 Edit Command A-3 1514 Edit Command A-4 1515 Edit Command A-5 1521 Edit Command B-1 1522 Edit Command B-2 1523 Edit Command B-3 Edits/sets the command table. 1524 Edit Command B-4 1525...
Page 140: Windows Screens
Windows screens 9.1.2. Screen No. Name Description ASCII Input Key This is a character input ten-key. HEX-ASCII Input Key This is a hexadecimal value input ten-key. DEC Input Key This is a decimal value input ten-key. This screen displays “Not available now.” when the screen currently being prepared is 1001 Not available now.
Page 141: Comments
comments 9.1.3. Name Description Common Message Sets characters displayed on all buttons and in titles. Robot display Message1 Sets characters displayed on all buttons and in titles. Robot error Message Sets the robot error content for each error No. Robot error Cause Sets the robot error cause for each error No.
Page 142: Device List
9.2. Device List The device usage list of the PLC is as follows. M-Devices 9.2.1. ■M3600～M3699 Details Details RB Select OK(GOT) HAND1 Open Button 3600 3650 RB1 Select (GOT) HAND1 Close Button 3601 3651 RB2 Select (GOT) HAND2 Open Button 3602 3652 RB3 Select (GOT)
Page 143 ■M3700～M3799 Details Details Z/J3- Lamp RB1PRG.RESET Button 3700 3750 A/J4- Lamp RB1ERR.RESET Button 3701 3751 B/J5- Lamp RB1Tabel Exec START Lamp 3702 3752 C/J6- Lamp RB1Tabel Exec Stop Lamp 3703 3753 L1/J7- Lamp RB1Tabel Exec ExecError Lamp 3704 3754 L2/J8- Lamp 3705 3755 RB1[Oeration right] Button...
Page 144 ■M3800～M3899 Details Details VariableOpe: FB Start 3800 3850 MechaSelect FB Exec Status VariableOpe: FB Exec Status 3801 3851 MechaSelect FB Errore Done VariableOpe: FB Error Done 3802 3852 VariableOpe: FB OK Done 3803 3853 3804 3854 ControlDataMoni: FB Start ProgramOpe: FB Start 3805 3855 ControlDataMoni: FB Exec Status...
Page 145 ■M3900～M3999 Details Details TableMoni1: FB Start RB3TableExec Prog Cancel 3900 3950 TableMoni1: FB Exec Status 3901 3951 TableMoni1: FB Error Done 3902 3952 TableMoni1: FB Done 3903 3953 3904 3954 TableExec2: FB Start RB1NamedSig: FB Start 3905 3955 TableExec2: FB Exec Status RB1NamedSig: FB Exec Status 3906 3956...
Page 146 ■M4000～M4099 Details Details RB1System Start 4000 4050 RB1System Error 4001 4051 RB1System Error Reset Reqest 4002 4052 4003 4053 RB1TableExec: Start 4004 4054 RB1TableExec: Cycle Mode 4005 4055 4006 4056 4007 4057 4008 4058 4009 4059 RB2System Start 4010 4060 RB2System Error 4011 4061...
Page 147 ■M4100～M4199 Details Details 4100 Acquisition Start: GOT input [mode check] 4150 Warning/Error Message: Scroll up possible Variable Acquisition Preparation Complete [mode 4101 check] 4151 Scroll Up 4102 Acquisition Completed [mode check] 4152 Warning/Error Message: Scroll down possible 4103 Variable Acquisition Completed [mode check] 4153 Scroll Down 4104...
Page 148 ■M4200～M4299 Details Details 4200 J1 Graph Plotting Settings Flag 4250 Warning Pause Write Check Box 4201 J2 Graph Plotting Settings Flag 4251 Warning Pause Write Check Box 4202 J3 Graph Plotting Settings Flag 4252 Warning Pause Write Check Box 4203 J4 Graph Plotting Settings Flag 4253 Warning Pause Write Check Box...
Page 149 ■M4300～M4399 Details Details 4300 Signal Output Box 4350 Displaying Total Score Screen 4301 Signal Output Box 4351 Displaying Consumption Degree Screen 4302 Signal Output Box 4352 Displaying Abnormality Detection Screen 4303 Signal Output Box 4353 Displaying Operating Information Screen 4304 Signal Output Box 4354 Displaying Warning Pause Screen...
Page 150 ■M4400～M4499 Details Details 4400 Grease Warning Pause Input 4450 4401 Grease Warning Pause Input 4451 4402 Grease Warning Pause Input 4452 4403 Grease Warning Pause Input 4453 4404 Grease Warning Pause Input 4454 4405 Grease Warning Pause Input 4455 4406 Grease Warning Pause Input 4456 4407...
Page 151 ■M4500～M4599 Details Details 4500 Acquisition Start: GOT input [operating information] 4550 4501 Acquisition Preparation [operating information] 4551 4502 Acquisition Completed [wear/consumption display] 4552 Variable Acquisition Completed [operating 4503 information] 4553 4504 Display Process End [operating information] 4554 4505 4555 4506 4556 4507 4557...
Page 152 ■M4600～M4699 Details Details 4600 4650 Ball Parts Reset All Selection 4601 4651 Ball Parts All Axes Reset Configured 4602 4652 Ball Parts All Axes Reset Unconfigured 4603 4653 4604 4654 4605 4655 4606 4656 4607 4657 4608 4658 4609 4659 4610 Grease Reset All Selection 4660...
Page 153: D-Devices
D-Devices 9.2.2. ■D5000～D5099 Details Details BaseDisplay Change Robot No [0-2] 5000 5050 OverLap1Display Change Mecha No [1-3] 5001 5051 OverLap2Display Change Selected Mecha No [1-3] 5002 5052 OverLap3Display Change 5003 5053 OverLap4Display Change JOG Mode [0-4] 5004 5054 OverLap5Display Change Robot mounting status [bit information] 5005 5055...
Page 154 ■D5100～D5199 Details Details 1stLine Command NO /Pos1-X/J1 4thLine CommandData2 /Pos3-C/J6 5100 5150 1stLine CommandData1 /Pos1-X/J1 4thLine CommandData3 /Pos3-C/J6 5101 5151 1stLine CommandData2 /Pos1-Y/J2 4thLine CommandData4 /Pos3-L1/J7 5102 5152 1stLine CommandData3 /Pos1-Y/J2 4thLine CommandData5 /Pos3-L1/J7 5103 5153 1stLine CommandData4 /Pos1-Z/J3 4thLine CommandData6 /Pos3-L2/J8 5104 5154 1stLine CommandData5 /Pos1-Z/J3...
Page 155 ■D5200～D5299 Details Details 7thLine CommandData4 /Pos6-X/J1 10thLine CommandData6 /Pos8-C/J6 5200 5250 7thLine CommandData5 /Pos6-X/J1 10thLine CommandData7 /Pos8-C/J6 5201 5251 7thLine CommandData6 /Pos6-Y/J2 10thLine CommandDat8 /Pos8-L1/J7 5202 5252 7thLine CommandData7 /Pos6-Y/J2 10thLine CommandDat9 /Pos8-L1/J7 5203 5253 7thLine CommandData8 /Pos6-Z/J3 10thLine CmdData10/Pos8-L2/J8 5204 5254 7thLine CommandData9 /Pos6-Z/J3...
Page 156 ■D5300～D5399 Details Details 13thLine CmdData8 /1thL PosN 16thLine CommandData10 5300 5350 13thLine CmdData9 /2thL PosN 16thLine CommandData11 5301 5351 13thLine CmdData10/3thL PosN 16thLine CommandData12 5302 5352 13thLine CmdData11/4thL PosN 16thLine CommandData13 5303 5353 13thLine CmdData12/5thL PosN 16thLine CommandData14 5304 5354 13thLine CmdData13/6thL PosN 16thLine CommandData15 5305...
Page 157 ■D5400～D5499 Details Details 19thLine CommandData12 2thLine CommandData4 5400 5450 19thLine CommandData13 2thLine CommandData5 5401 5451 19thLine CommandData14 2thLine CommandData6 5402 5452 19thLine CommandData15 2thLine CommandData7 5403 5453 20thLine Command NO. 2thLine CommandData8 5404 5454 20thLine CommandData1 2thLine CommandData9 5405 5455 20thLine CommandData2 2thLine CommandData10 5406...
Page 158 ■D5500～D5599 Details Details Complete Status [1: OK/Other: NG] Line Number 5500 5550 Function Number Program WordQuantity 5501 5551 Slot Number Program Data#0 5502 5552 Program Name#0 Program Data#1 5503 5553 Program Name#1 Program Data#2 5504 5554 Program Name#2 Program Data#3 5505 5555 Program Name#3...
Page 159 ■D5600～D5699 Details Details Program Data#48 Read Data#18 5600 5650 Program Data#49 Read Data#19 5601 5651 Program Data#50 Read Data#20 5602 5652 Program Data#51 Read Data#21 5603 5653 Program Data#52 Read Data#22 5604 5654 Program Data#53 Read Data#23 5605 5655 Program Data#54 Read Data#24 5606 5656...
Page 160 ■D5700～D5799 Details Details M_SetAdl [%]-J2 CmpG -J5/B 5700 5750 CmpG -J6/C M_SetAdl 値[%]-J3 5701 5751 M_SetAdl [%]-J4 5702 5752 （Reserve） M_SetAdl [%]-J5 5703 5753 （Reserve） M_SetAdl [%]-J6 MvTune/Prec [1-4] 5704 5754 M_SetAdl [%]-J7 Current Tool Number 5705 5755 M_SetAdl [%]-J8 5706 5756 FineType [0: None/1: F/2: FJ/3: FP]...
Page 161 ■D5800～D5899 Details Details DestinationPos (XYZ)-X DestinationPos (Joint)-J8 5800 5850 DestinationPos (XYZ)-X DestinationPos (Joint)-J8 5801 5851 DestinationPos (XYZ)-Y 5802 5852 DestinationPos (XYZ)-Y 5803 5853 DestinationPos (XYZ)-Z 5804 5854 DestinationPos (XYZ)-Z 5805 5855 DestinationPos (XYZ)-A Position INFO Number 5806 5856 DestinationPos (XYZ)-A Joint INFO1Number 5807 5857...
Page 162 ■D5900～D5999 Details Details Joint-PositionData2-J3 Belt Time-J2 5900 5950 Joint-PositionData2-J3 Belt Time-J2 5901 5951 Joint-PositionData2-J4 Belt Time-J3 5902 5952 Joint-PositionData2-J4 Belt Time-J3 5903 5953 Joint-PositionData2-J5 Belt Time-J4 5904 5954 Joint-PositionData2-J5 Belt Time-J4 5905 5955 Joint-PositionData2-J6 Belt Time-J5 5906 5956 Joint-PositionData2-J6 Belt Time-J5 5907 5957 Joint-PositionData2-J7...
Page 163 ■D6000～D6099 Details Details Select Machine: FB ErrorCode RB1 OVRD 6000 6050 Control Monitor: FB ErrorCode RB1 Line Number 6001 6051 Status Monitor: FB ErrorCode RB1 Error Number 6002 6052 CurrentPos Monitor: FB ErrorCode 6003 6053 XYZ-INFO Monitor: FB ErrorCode 6004 6054 JointINFO Monitor1: FB ErrorCode RB2NamedSignal: FB Error Code...
Page 164 ■D6100～D6199 Details Details 6100 Calculation 1 6150 FB Argument: Variable name 6101 6151 FB Argument: Variable name 6102 Calculation 2 6152 FB Argument: Variable name 6103 Calculation 2 -surplus 6153 FB Argument: Variable name 6104 Calculation 3 6154 FB Argument: Variable name 6105 6155 FB Argument: Variable name...
Page 165 ■D6200～D6299 Details Details 6200 Robot 1: Maintenance mode 6250 End Loop Count [mode check] 6201 Robot 2: Maintenance mode 6251 End Loop Count [total score] 6202 Robot 3: Maintenance mode 6252 End Loop Count [abnormality detection] 6203 6253 End Loop Count [warning pause] 6204 6254 End Loop Count [wear/consumption display]...
Page 166 ■D6300～D6499 Details D6300～D6499 Total Score Display Device ■D6500～D6599 Details Details 6500 Abnormality Detection: Display device 1 6550 6501 6551 6502 6552 6503 6553 6504 6554 6505 6555 6506 6556 6507 6557 6508 6558 6509 6559 Abnormality Detection: Display device 2 log 6510 6560 accumulation days...
Page 167 ■D6600～D6699 Details Details 6600 Warning Occurrence Parts 6650 Warning Occurrence Parts 6601 Warning Occurrence Parts 6651 Warning Occurrence Parts 6602 Warning Occurrence Parts 6652 Warning Occurrence Parts 6603 Warning Occurrence Parts 6653 Warning Occurrence Parts 6604 Warning Occurrence Parts 6654 Warning Occurrence Parts 6605 Warning Occurrence Parts...
Page 168 ■D6700～D6799 Details Details 6700 Grease Warning Pause 6750 Part Number of This Loop 6701 6751 Part Number of Last Loop 6702 6752 6703 6753 6704 6754 6705 6755 6706 6756 6707 6757 6708 6758 6709 6759 6710 6760 6711 6761 6712 6762 6713...
Page 169: W-Devices
■D6800～D6899 Details D6800～D6999 Wear/Consumption Display: Display device ■D7000～D7029 Details D7000～D7029 Wear/Consumption Display: Display device ■D7100～D7399 Details D7100～D7399 Maintenance Reset Axis Settings ■D7400～D7599 Details D7400～D7599 Acquired Variable Name ■D7600 Details D7600 Error Message Maximum ■D7601～D7650 Details 7601～D7650 Error No. Storage Device W-Devices 9.2.3.
Page 170: T-Devices
T-Devices 9.2.4. ■T0～T99 Details No. Details ProgramLine MonitorInterval DirectPosData ReadTime RB1 ProgramSelect TimeUp RB2 ProgramSelect TimeUp RB3 ProgramSelect TimeUp FB Execute Delay [mode check] FB Execute Delay [total score] FB Execute Delay [abnormality detection] FB Execute Delay [warning pause] FB Execute Delay [wear/consumption display] FB Execute Delay [operating information] Graph Re-plotting Delay [abnormality detection] 9-161...
Page 171: B-Devices
B-Devices 9.2.5. ■B0～B5F Details No. Details RB1Pausing output RB1Hand output signal state 900 RB1Controller power ON ready RB1Hand output signal state 901 RB1Remote mode output RB1Hand output signal state 902 RB1Teaching mode output RB1Hand output signal state 903 RB1Teaching mode output RB1Hand output signal state 904 RB1Operation rights output RB1Hand output signal state 905...
Page 172 ■B60～BBF Details No. Details RB2High level error output RB2User-designated area 1 RB2Low level error output RB2User-designated area 2 RB2Warning level error output RB2User-designated area 3 RB2Emergency stop output RB2User-designated area 4 RB2User-designated area 5 RB2User-designated area 6 RB2Program No. output signal RB2User-designated area 7 RB2Line No.
Page 173 ■BC0～B11F Details No. Details RB3Numeric value output 0 RB3Numeric value output 1 RB3Numeric value output 2 RB3Numeric value output 3 RB3Numeric value output 4 RB3Numeric value output 5 RB3Numeric value output 6 RB3Numeric value output 7 RB3Numeric value output 8 RB3Numeric value output 9 RB3Numeric value output 10 RB3Numeric value output 11...
Page 174 ■B120～B17F Details No. Details RB1Numeric value input 0 RB2Stop input RB1Numeric value input 1 RB1Numeric value input 2 RB1Numeric value input 3 RB1Numeric value input 4 RB1Numeric value input 5 RB2Operation rights input signal RB1Numeric value input 6 RB2Start input RB1Numeric value input 7 RB1Numeric value input 8 RB2Program reset...
Page 175 ■B180～B1DF Details Details RB3Program selection input RB3Override selection input RB3Program No. output request RB3Line No. output request RB3Override value request RB3Error No. output request RB3Numeric value input 0 RB3Numeric value input 1 RB3Numeric value input 2 RB3Numeric value input 3 RB3Numeric value input 4 RB3Numeric value input 5 RB3Numeric value input 6...
Page 176: P-Devices
Table data for sequencer direct command editing for robot 3 R20000～R29999 Please refer to the following manual for detailed contents of R device ･Mitsubishi Industrial Robot CR800-R Series Controller FB Library Reference Manual for iQ Platform compatible Robot CPU(R16RTCPU) (BFP-A3656) 9-167...
Page 178 Nov. 2024 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice...

Mitsubishi Electric CR800-R Series Instruction Manual

Quick Links

Need help?

Questions and answers

Related Manuals for Mitsubishi Electric CR800-R Series

Summary of Contents for Mitsubishi Electric CR800-R Series

Table of Contents