Mitsubishi Electric MELFA CR700 Series Manuals

Manuals and User Guides for Mitsubishi Electric MELFA CR700 Series. We have 2 Mitsubishi Electric MELFA CR700 Series manuals available for free PDF download: User Manual, Instruction Manual

Mitsubishi Electric MELFA CR700 Series User Manual (468 pages)

Brand: Mitsubishi Electric | Category: Industrial Equipment | Size: 14 MB

Table of Contents
14
Usage
21
How to Use this Document
21
Checking the Product
21
Checking the Package
21
Checking the CD-ROM Contents
21
About the "Melfarxm.ocx" Communications Middleware
21
Items to be Prepared by the Customer
22
Computer System
22
Computer Cable
22
Operating Environment
23
Connectable Robot Controllers
23
Computer System
24
Installation, Uninstallation
25
Installation
25
Uninstall
31
USB Driver (CR750-D/Crnd-700 Series Robot Controller) Installation
32
Crnq Communications USB Driver Installation
33
Crnq Communications USB Driver for GOT Transparent Function / GOT Communitation Installation
40
When Starting at the same Time as Another Product
42
Upgrade of Software
42
RT Toolbox2 Usage
43
Starting RT Toolbox2
43
Explanation of RT Toolbox2 Screens
44
Communications Server 2
48
About Operation Panel
50
How to Show Operating Panel for a Controller
51
Closing RT Toolbox2
51
Notes of When RT Toolbox2 Is Used with Iq Works (MELSOFT Navigator)
52
Notes of When RT Toolbox2 Is Installed
52
Notes Concerning Workspace Operation
52
Notes Concerning Project Operation
53
Notes to Edit the Workspace Created by Iq Works(MELSOFT Navigator)
54
Basic Functions
55
Workspaces and Projects
57
Creating a New Workspace
59
Opening an Existing Workspace
61
Closing a Workspace
61
Deleting a Workspace
62
Saving a Workspace
62
Changing a Workspace
63
Adding a Project
65
Changing a Project Name
66
Deleting a Project
67
Contents of Project Tree
68
Copying Programs between Projects
69
Import of Project
70
Offline/Online/Simulation
72
Connecting with the Robot
74
Robots Connected and Types of Communication
74
Connection Settings
76
USB Communication Settings
77
TCP/IP (Ethernet) Communication Settings
78
Communication Settings
80
GOT Communications Settings
81
Crnq Communications Settings
82
Travel Base Setting for Display
90
Robot Program Language Setting
93
Writing Programs
94
Writing a New Program
95
Writing a New Program on the Computer
95
Writing a New Program in the Robot Controller
96
Opening an Existing Program
97
Opening an Existing Program on the Computer
97
Opening a Program in a Robot Controller
97
Read Items When Opening Program in Robot Controller
98
Opening a Program in the Backup Data
99
Explanation of Program Edit Screen
100
Program Editing Menu Bar
101
Customizing the Program Edit Screen
103
Changing the Display Area
103
Command Format Hints
104
Character Colors
104
Changing the Font
105
Save and Read of Program
105
Get Current Position
106
Setting the Background Color of the Program Editor
106
Program Editing
108
MELFA-BASIC V Command Statement Editing
108
MELFA-BASIC IV and Movemaster Command Command Statement Editing
109
Position Variable Editing
110
Edit Assist Functions
112
Saving Programs
122
Save
122
Saving on Computer
123
Saving in Robot Controller
124
Items Written When Saving in Robot
125
Setting the Syntax Check for before Program Saving
127
Program Printing
128
Checking a Print Image
128
Printing a Program
128
Setting to Print a Program
128
Program Debugging
129
Starting Debugging
129
Executing Programs Step by Step
130
Revising Programs
130
Setting and Deleting Breakpoints
132
Position Jump
133
Ending Debugging
134
Set / Release Reading Protection
135
Program Management
136
Program List Display
137
Copy
138
Move
139
Delete
140
Rename
141
Protect Settings
141
Comparison
142
Program Conversion
144
Starting Program Conversion
144
Line Number Conversion (from MELFA-BASIC IV to MELFA-BASIC V)
145
Position Data Conversion (from E/EN/M1/M2 Series to CR750/700/500 Series)
147
Position Data Editing for SQ Direct
149
Diffence from Program Editting
150
Add/Edit Position Data
150
Delete Position Data
150
Editing Supporting Function
150
Online Editing
151
Offline Editing
152
Creating the New SQ Direct File
152
Program Management
153
List of SQ Direct Files Indication
154
Creating the Spline Files
156
New File
156
Creating a New File on the Computer
156
Creating a New File in the Robot Controller
156
Open File
157
Opening a Spline File Saved on the Computer
157
Opening a Spline File Saved in the Robot Controller
157
Selecting and Opening a Spline File from the List
157
Save File
158
Save
158
Save as
158
Setting Parameters
159
Editing from Parameter List
160
Starting
160
Parameter Editing
162
Edit of Parameter Changed from Initial Value
163
Parameter List Reading
164
Finding Parameters
164
Robot Controller Operation Modes for Parameter Writing
165
Movement Parameters
166
Motion Limit Parameter
166
Jog Parameter
167
Parameters of the Hand
168
Weight and Size Parameter
170
Tool Parameter
171
User-Defined Area Parameter
172
Free Plane Limit Parameter
173
Home Position Parameter
173
Robot Additional Axis Parameter
174
Collision Detection Parameter
175
Warm-Up Operation Parameter
176
Movement Parameter
177
Work Coordinate Paramater
178
Parameters of Force Control
179
Parameters of Collision Avoidance
184
Parameters of Safety
187
Program Parameters
191
Slot Table Parameter
191
Program Language Parameter
192
Command Parameter
192
User Error Parameter
193
Signal Parameters
194
Output Signal Reset Pattern Parameter
194
Assigning Dedicated Input/Output Signals
195
Communication Parameters
200
Parameter
200
Ethernet Parameter
201
Field Network Parameters
205
CC-Link Parameter
205
PROFIBUS Parameter
206
PROFINET Parameter
207
Devicenet Parameter
208
Ethernet/Ip Parameter
209
PLC Cooperation Parameters
210
Multiple CPU Parameter
210
IO Unit Parameter
211
Parameter Printing
212
Offline Editing of Parameters
214
Compliant Version
214
Creating the New Parameter File
215
Edit of Parameter Backed up
216
Offline Editing of Parameter
217
Restoring the Edited Parameter to the Robot Controller
218
Deletion of Parameter Folder Edited by Offline
220
Status Monitoring
221
Robot Movement Monitoring
222
Slot Operation Status
222
Program Monitoring
223
Movement Status
226
Errors
227
Monitor
232
Signal Monitoring
235
General Signal
235
Named Signals
238
Stop Signal
240
Register (CC-Link)
241
IO Unit Monitor
245
DSI CNUSER2 Input Signal Monitor
246
Operation Monitoring
247
Operating Information
247
Production Information
247
Maintenance
248
Setting Origin Data
248
Origin Data Input Technique
250
Mechanical Stopper Technique
251
Tool Technique
251
ABS Origin Technique
252
User Origin Technique
252
Origin Parameter Backup
253
Initialization
254
Starting
254
Setting the Time in the Robot Controller
254
Deletion of All Robot Programs
255
Initializing the Battery Remaining Time
256
Serial Number
256
Maintenance Forecasting
257
Specifications
257
Starting
257
Forecasting
258
Settings
259
Reset Screen
261
Resetting Maintenance Forecast Information with Teaching Box
263
Others
264
Position Repair Function
265
Specifications
266
Starting
266
Flow of Operations
267
Introduction
268
Communications Settings
268
Robot Selection and Parameter Backup
269
Revision Parameter Generation Procedure Selection
270
Program Selection
271
Program Reading and Backing up
272
Tool Setting Check
273
Revision Parameter Selection
274
Reteaching Work
280
Writing Parameters
283
Controller Power Supply Off, on
284
Exit
285
Revision Parameter Editing
286
Tool Automatic Calculation
287
Specifications
287
Starting
287
Flow of Operations
289
Servo Monitor
291
Position (ABS)
292
Speed
293
Current
294
Load
295
Power
296
Security Function of the Robot Controller (Password Setup)
297
Register the Password
299
Change the Password
300
Delete the Password
301
File Manager
302
File List Display
304
Copy
305
Delete
305
Rename
305
Vision Calibration
306
Operating Procedure of 2D Vision Calibration
306
Vision Calibration Screen
309
Option Card
311
Backup and Restore
312
Backup(Robot -> PC)
314
Saving Data from One Robot Controller
315
Saving Data from All Robot Controllers(Online Project Backup)
317
Restore (PC -> Robot)
319
Deleting Backup Data
323
Open Backup Program
324
Check Backup Programs
325
Tool Function
326
Force Control Log File Viewer
326
User Definition Screen
327
Creating a New User Definition Screen File
328
Editing the Page of User Definition Screen
329
Edit of Existing Parts
343
Copy/Paste of Parts
344
Movement of Parts
345
Deletion of Parts
346
Change of
346
Edit of Ruled Line
347
Deletion of User Definition Screen
349
Import of the User Definition Screen
351
Export of the User Definition Screen
353
Oscillograph
354
Outline
354
Communication Method
354
Acquirable Data
355
Starting
356
Communication Settings
357
Start／Stop
358
Graph Setting
358
Graph Range Setting
359
Data Reproducing / Confirmation
360
Save Data／Log Setting
362
Load Data
363
Save Image
363
Gray Scale
363
Reflected to 3D Monitor
363
DXF File Import
365
Outline
365
Starting
365
Flow of Operations
367
Force Sensor Calibration
370
Outline
370
Starting
370
Simulation
371
Starting a Simulation
372
About the Warning at First-Time Startup Simulation
373
Explanation of the Simulation Operation Screen
374
Robot View (3D Monitor)
375
Robot View (3D Monitor) Start
375
Displaying Robots of more than One Projects in 3D
376
Click Movement of the Robot
377
Distance Measurement
379
Robot Display Option
380
Layout
395
Robot Arrangement
405
XYZ Position Variables
407
Hand
409
Save AVI
414
Robot Program Selection
417
Program Execution
418
Specifying the Starting Line for Program Execution
418
Breakpoint Setting
419
Step Operation
419
Direct Execution
420
Jog Operation
421
Simulation Robot Position Variable Editing
425
Tact Time Calculation
425
Conditions for Tact Time Measurement
426
Tact Time Measurement
428
Causes of Tact Time Deviation
431
Cooperative Control Simulation
433
Cooperative Operation
433
Interference Avoidance
436
Ending Simulation
437
MELFA-3D Vision
438
I/O Simulator
439
Simulator Settings
439
Signal Connection Edit Screen
441
Starting I/O Simulator
445
Stopping I/O Simulator
446
Melfarxm.ocx Communications Middleware Setup
447
CD-ROM Contents
447
User's Manual Reading Guide
448
Installation
448
Appendix
450
Index
463
Copyright, Disclaimer
466
Open Source Computer Vision Library
466

Mitsubishi Electric MELFA CR700 Series Instruction Manual (346 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 65 MB

Safety Precautions
3
Table of Contents
6
Chapter 1 Before Use

13
- Instruction Manual
  13
- Download Wizard
  14
- Terms and Symbols Used in this Manual
  15
- Items in Package
  15
Chapter 2 Connecting the Controller

16
- Installation of the T/B
  16
- Removal of the T/B
  17
Chapter 3 Specifications

18
- Product Specifications
  18
- Function List
  19
- Part Names
  20
Chapter 4 Basic Operations

21
- How to Use the T/B
  21
- 3-Position Enable Switch
  21
- How to Operate the Touch Panel
  22
- Operation Image
  22
Chapter 5 Connecting a Usb Memory

23
- Installing a USB Memory
  23
- Removing the USB Memory
  23
Chapter 6 Explanations on Screens

24
- Header
  25
- Connection Status
  25
- Program Information
  26
- Program Change
  26
- Error Display
  26
- Robot/Tool/Base/Workpiece Information
  27
- HOME Screen
  28
- Auxiliary Screen
  29
- Footer
  29
- Page List Screen
  30
- Opening a Page
  30
- Key Operation Guide
  31
Chapter 7 Initial Settings

32
Chapter 8 Setting a Robot Targeted for Multi-Mechanism Control

33
Chapter 9 Operating the Robot (Jog Operation)

34
- Speed Settings
  35
- Jog Mode
  36
- Switching Jog Mode
  37
- Switching Tool Data
  38
- Switching Base Coordinates
  39
- Jog Operation
  40
- Operating Multiple Axes Simultaneously
  42
- Canceling the Operating Range
  43
- Jog Operation with the Wheel (Fixed-Length Feeding)
  44
- Direct Execution
  45
- Hand Alignment
  46
- Home Position Return
  47
- Collision Avoidance
  47
- Force Sense Control
  48
- Hand Operation
  49
- Multi-Function Electric Hand Operation
  50
- Standard Hand Operation
  52
- Simple Jog
  53
- Direct Teaching
  55
- Jog Operation (Tool Jog)
  57
- Inching
  59
- Joint Operation (Joint Jog)
  61
- Switching to Normal Jog
  61
- Aligning the Hand
  62
- Moving to the Home Position
  63
- Opening and Closing the Hand
  63
- Teaching
  64
Chapter 10 Creating a Program

65
- Creating a New Program
  66
- Opening an Existing Program
  67
- Read Items When Opening a Program
  67
- Updating the List of Programs
  67
- Program Editing Screen
  68
- Editing a Program
  69
- Editing Command Statements
  69
- Editing Position Variables
  70
- Edit Assist Functions
  74
- Tool
  77
- Syntax Check
  77
- Easy Program Editing
  84
- [Move] Command
  84
- [Hand] Command
  85
- [Wait] Command
  86
- [Output] Command
  87
- [Calculus] Command
  88
- [Continuous] Command
  89
- Position Jump
  90
- Saving a Program
  91
- Program Debugging
  92
- Start Debugging
  92
- Running a Program Using Step Operation
  93
- Program Reset
  94
- Modifying a Program
  95
- Editing a Command Line
  95
- Setting and Deleting Breakpoints
  96
- Finish Debugging
  97
- Program Manager
  98
- Copying Programs
  98
- Program Comparison
  99
- Rename
  99
- Protection Settings
  100
- Deleting Programs
  101
- Editing Position Data for SQ Direct
  102
- SQ Direct Editing Screen
  102
- Editing Position Data
  103
- Initializing Position Data
  103
- Checking Position Data (Position Jump)
  103
- Auto Indent with Specific Commands
  106
Chapter 11 Creating Spline Files

107
- Creating a New File
  107
- Opening an Existing File
  108
- Updating the List of Spline Files
  108
- Spline File Editing Screen
  108
- Editing Spline Files
  109
- Editing Path Point Data
  109
- Edit Assist Functions
  110
- Tools
  110
- Interpolation Settings
  111
- Position Adjustment
  112
- Position Jump
  114
- Saving Spline Files
  115
- Spline Manager
  115
- Copying Spline Files
  115
- Comparing Spline Files
  116
- Changing Spline Numbers
  116
- Deleting Spline Files
  116
Chapter 12 Setting Parameters

117
- Parameter Menu Screen
  117
- Editing from the Parameter List
  118
- Displaying the Parameter List Screen
  118
- Parameter Editing
  119
- Editing Parameters Changed from the Initial Values
  120
- Parameter List Reading
  120
- Finding Parameters
  121
- Parameter Initialization
  121
- Movement Parameters
  122
- Operating Range
  122
- Jog
  123
- Hand
  124
- Electric Hand
  127
- Weight and Size
  132
- Tool
  133
- User-Defined Area
  134
- Free Plane Limit
  135
- Home Position
  136
- Additional Axes
  137
- Collision Detection
  139
- Warm-Up Operation
  140
- Movement
  141
- Workpiece Coordinates
  142
- Force Sense Control
  143
- Force Sensor
  143
- Control Mode
  145
- Control Characteristics
  146
- Logging Function
  147
- Collision Avoidance
  148
- Safety
  152
- Speed Monitoring
  155
- Program Parameters
  158
- Slot Table
  158
- Robot Language
  159
- Programs
  160
- User Errors
  161
- Signal Parameters
  162
- Output Signal Reset Pattern
  162
- Assigning Dedicated I/O Signals
  164
- Network Parameters
  174
- Ethernet
  175
- Real-Time Monitor
  178
- CC-Link
  180
- CC-Link IE Field
  181
- CC-Link IE Field Basic
  182
- Profibus
  183
- Profinet
  184
- Devicenet
  185
- Ethernet/Ip
  186
- Ethercat
  187
- Programmable Controller Cooperation Parameters
  188
- Multiple CPU
  188
- IO Unit
  189
- Safety Parameters
  190
- Safety Diagnosis Function
  190
- Safety Option
  192
- Basic Settings
  192
- Safety Logic
  194
- Sos
  199
- Sls
  200
- Speed Parameters
  200
- Slp
  202
- Area Parameters
  203
- Operation Check
  204
Chapter 13 Status Monitoring

205
- Monitor Menu Screen
  205
- Movement Monitor
  206
- Slot Status
  206
- Program Monitor
  207
- Display Format
  208
- Variable Monitor
  210
- Changing Variables
  212
- Register Monitor
  213
- Program External Variable Monitor
  214
- Operation Status
  215
- Event History
  216
- Event History List
  216
- Error
  217
- Error History
  218
- Error Record
  219
- Signal Monitor
  220
- General-Purpose Signals
  220
- Forced Output
  223
- Named Signals
  224
- Stop Signals
  226
- Register
  227
- Monitor Settings
  228
- IO Unit
  230
- Safety Input Signals
  231
- Devices
  232
- Operation Monitor
  233
- Operating Information
  233
- Production Information
  233
- Option Card
  234
- Servo Monitor
  235
- Abs
  235
- Speed
  236
- Current
  237
- Load
  238
- Power
  239
Chapter 14 Maintenance

240
- Origin Settings
  241
- Origin Data Input Method
  241
- Mechanical Stopper Method
  243
- Tool Method
  245
- ABS Origin Method
  247
- User Origin Method
  249
- Backing up Origin Parameters
  250
- Initialization
  251
- Setting the Time on the Robot Controller
  251
- Deleting All Robot Programs
  251
- Serial Number
  252
- Initializing the Battery Remaining Time
  253
- Maintenance Forecast
  254
- Forecast (Battery, Grease, and Belt)
  254
- Display Unit
  255
- Settings
  256
- Reset
  258
- Others
  260
- Releasing Brakes
  261
- Releasing the Brake of One Axis
  261
- Releasing the Brakes of Two or more Axes
  262
- Robot Controller Security Function (Password Settings)
  263
- Password Registration
  265
- Changing the Password
  265
- Deleting the Password
  266
- Version
  266
Chapter 15 Backup and Restore

267
- Backup/Restore Screen
  267
- Backup
  268
- Backup Information
  268
- Restore
  269
- Restore Settings
  270
Chapter 16 Tool Functions

273
- Oscillograph
  274
- Real Time Monitor Settings
  274
- Acquirable Data
  274
- Oscillograph Screen
  276
- Communication Settings
  277
- Start/Stop
  278
- Display Points of the Graph
  278
- Graph Settings
  278
- Display Range Settings
  279
- List of Elements Displayed on the Graph
  280
- Gray Scale of the Graph
  280
- Data Saving Settings
  281
- Reading Data
  283
- Saving Data
  283
- Saving an Image
  283
- File Management
  283
- File Management
  284
- Copying Files
  285
- Deleting Files
  285
- Renaming Files
  285
- Comparing Files
  285
- Tool Automatic Calculation
  286
- Measurement Method
  287
- User Definition Screen
  288
- Creating a New User Definition Screen
  290
- Copying User Definition Screens
  290
- Deleting User Definition Screens
  291
- Editing User Definition Screens
  292
- Button Settings
  295
- Lamp Settings
  296
- Label Settings
  301
- Image Settings
  306
- Message Settings
  307
- Signal Settings
  309
- Importing and Exporting User Definition Screens
  310
- Displaying the User Definition Screen
  311
- Importing/Exporting Workspaces
  312
- Import
  312
- Export
  313
Chapter 17 Operation Panel Functions

314
- Task Slot Status
  315
- Operation Buttons
  316
- Starting/Stopping Automatic Operation
  316
- Reset
  316
- Cycle Stop
  316
Chapter 18 3D Monitor

317
- Monitor (Full Screen)
  317
- Monitor (Auxiliary Screen)
  318
- Viewpoint Operation
  318
- Zoom In/Out
  318
- Viewpoint Rotation
  319
- Moving the Viewpoint Parallel
  319
- Options
  320
- Projection Type Switching
  321
- Zoom Type Switching
  321
- Light Source Position
  321
- Floor
  322
- Color Settings
  322
- Displaying Coordinate Axes
  323
- Background Color
  323
- Robot Model
  323
- Display Type
  323
- Model Type
  324
- Layout
  325
- Safety Monitoring
  327
Chapter 19 System Options

329
- Display Language
  331
- Screen Theme
  331
- Regional Language
  332
- First Screen
  333
- Locking the Screen
  334
- Menu Type
  335
- JOG Type
  336
- User Management
  337
- Editing the User Level
  337
- Switching the User Level
  339
- Shortcut
  340
- Updating the T/B
  341
- Revisions
  343
- Trademarks
  344

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Mitsubishi Electric MELFA CR700 Series Manuals

Mitsubishi Electric MELFA CR700 Series User Manual (468 pages)

Table of Contents

Mitsubishi Electric MELFA CR700 Series Instruction Manual (346 pages)

Table of Contents

Chapter 1 Before Use

Chapter 2 Connecting the Controller

Chapter 3 Specifications

Chapter 4 Basic Operations

Chapter 5 Connecting a Usb Memory

Chapter 6 Explanations on Screens

Chapter 7 Initial Settings

Chapter 8 Setting a Robot Targeted for Multi-Mechanism Control

Chapter 9 Operating the Robot (Jog Operation)

Chapter 10 Creating a Program

Chapter 11 Creating Spline Files

Chapter 12 Setting Parameters

Chapter 13 Status Monitoring

Chapter 14 Maintenance

Chapter 15 Backup and Restore

Chapter 16 Tool Functions

Chapter 17 Operation Panel Functions

Chapter 18 3D Monitor

Chapter 19 System Options

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