Mitsubishi Electric Industrial Robot

Robot Seminar Textbook <FR/F Series Basics>

BFP-A3592
MELFA Robot Seminar Curriculum <Basics>
Day 1 Day 2
Item Time Item Time
Opening Greetings (7) Review of previous day's lessons
Orientation (Inputting the program)

(1) Safety related laws 90 min. (8) Practice (Actual machine operation) 75 min.
 Industrial robot safety (video)  Individual command functions
 Safety Manual  Exercise 2

Break 15 min. Break 15 min.

(2) Introduction to MELFA (9) Input/output signal specifications and

 Device configuration, control power methods of use
 Operation panel, T/B
 Jog operation, hand operation (10) Practice (Actual machine operation)
60 min.  Individual command functions 75 min.
(3) Moving the robot with jog operation  Exercise 3
(Actual machine operation)
 Joint, Cartesian, Tool jog operation
 Opening/closing the hand, etc.

Lunch Lunch

(4) Moving the robot with automatic (11) Practice (Actual machine operation)
operation  Individual command functions
 Inputting a program with RT  Exercise 4 and 5
ToolBox3
 Position teaching with T/B
 Operation check with T/B
 Automatic operation 110
90 min.
min.
(5) Robot language
 MELFA-BASIC specifications
 Constants, variables, common
variables, etc.
 Program instructions
 Each command functions
Break 20 min. Break 20 min.

(6) Programming and teaching (12) T/B menus

 Exercise 1 (Actual machine operation)
 Programming and inputting
 Position teaching with T/B (13) Industrial robot mechanisms,
 Confirming the registered position functions and control technology
data operation 110 (video)
 Automatic operation 90 min.
min.
(14) Maintenance
 List of error codes
End
 After-sales servicing
End (Presentation of Certification of
Completion)
 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.

CAUTION All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned
ON.)
Enforcement of safety training

CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan. (This also applies to
maintenance work with the power source turned ON.)
Preparation of work plan

WARNING Prepare a device that allows operation to be stopped immediately during

teaching work. (This also applies to maintenance work with the power source
turned ON.)
Setting of emergency stop switch

CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc. (This also applies to maintenance work with the power
source turned ON.)
Indication of teaching work in progress

DANGER Provide a fence or enclosure during operation to prevent contact of the

operator and robot.
Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work, and
follow this method.
Signaling of operation start

CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress

CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
Inspection before starting work
 The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.

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. must be designed by the customer.

CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to a drop or reliability or faults. (Temperature, humidity,
atmosphere, noise environment, etc.)

CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.

CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.

CAUTION Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.

CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.

CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.

WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.

WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.

CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.

WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.

CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation
before starting automatic operation. Failure to do so could lead to interference
with peripheral devices because of programming mistakes, etc.

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, or use non-
designated maintenance parts.
Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not
place hands or fingers in the openings. Failure to observe this could lead to
hands or fingers catching depending on the posture.

CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during
automatic operation, the robot accuracy could be adversely affected. Moreover,
it may interfere with the peripheral device by drop or move by inertia of the arm.

CAUTION Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of the
robot controller may be damaged.

DANGER Do not connect the Handy GOT when using the GOT direct connection function
of this product. Failure to observe this may result in property damage or bodily
injury because the Handy GOT can automatically operate the robot regardless
of whether the operation rights are enabled or not.

DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR800-R controller. Failure to observe
this may result in property damage or bodily injury because the Handy GOT can
automatically operate the robot regardless of whether the operation rights are
enabled or not.

DANGER Do not remove the SSCNET III cable while power is supplied to the multiple
CPU system or the servo amplifier. Do not look directly at light emitted from
the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or
the servo amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET
III cable. If the cap is not attached, dirt or dust may adhere to the connector
pins, resulting in deterioration connector properties, and leading to malfunction.

CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer emer-
gency stop, and door switch) are working properly after the wiring setup is com-
pleted.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments
connected to USB. When using network equipment, measures against the noise,
such as measures against EMI and the addition of the ferrite core, may be
necessary. Please fully confirm the operation by customer. Guarantee and
maintenance of the equipment on the market (usual office automation
equipment) cannot be performed.

CAUTION To maintain the safety of the robot system against unauthorized access from
external devices via the network, take appropriate measures.
To maintain the safety against unauthorized access via the Internet, take mea-
sures such as installing a firewall.
■ Revision history
Date Manual number Revisions
2018-03-01 BFP-A3592 · First edition
Safety ............................................................................................................................................................................... 1
A. Related Laws ....................................................................................................................................................... 1
B. Laws and Standards for Ensuring Safety ............................................................................................................. 1
C. Special Safety and Health Training Curriculum (Ministry of Health, Labor and Welfare Ministerial Notification No.
49) ........................................................................................................................................................................ 1
D. Matters excluded from industrial robot ................................................................................................................. 2
E. Qualifications for Dangerous and Injurious Work ................................................................................................. 2
F. Industrial Accidents Caused by Industrial Robots ................................................................................................ 2
■ Introduction ................................................................................................................................................................. 4
Chapter 1 Introduction to MELFA ..................................................................................................................................... 6
(1) Types of robot arms ........................................................................................................................................... 6
(2) Types of controllers and drive units.................................................................................................................... 6
(3) Types of device connection cables .................................................................................................................... 7
1.1 Standalone type device configuration ................................................................................................................ 8
(1) F Series .............................................................................................................................................................. 8
(2) FR Series ........................................................................................................................................................... 8
1.2 iQ Platform compatible type device configuration .................................................................................................... 9
(1) CR750/CR751 drive unit (F Series).................................................................................................................... 9
(2) CR800 controller (FR Series) ........................................................................................................................... 13
1.3 Power cable connection terminals ......................................................................................................................... 15
(1) CR750 controller/drive unit (F Series) .............................................................................................................. 15
(2) CR751 controller/drive unit (F Series) .............................................................................................................. 16
(3) CR800 controller (FR Series) ........................................................................................................................... 17
1.4 Connecting the emergency stop ............................................................................................................................ 18
(1) CR750 controller/drive unit (F Series) .............................................................................................................. 18
(2) CR751 controller/drive unit (F Series) .............................................................................................................. 19
(3) CR800 controller (FR Series) ........................................................................................................................... 20
1.5 Mode Switching ..................................................................................................................................................... 21
(1) Mode selector switch connection (CR751 controller/drive unit) (F Series) ....................................................... 21
(2) Mode selector switch input connection (CR800 controller) (FR Series) ........................................................... 22
1.6 Turning the control power ON ............................................................................................................................... 23
(1) CR750/CR751 controller/drive unit (F Series) .................................................................................................. 23
(2) CR800 controller (FR Series) ........................................................................................................................... 25
1.7 Turning the control power OFF .............................................................................................................................. 26
(1) CR750/CR751 controller/drive unit (F Series) .................................................................................................. 26
(2) CR800 controller (FR Series) ........................................................................................................................... 27
1.8 Names and functions of CR750 controller/drive unit operation panel (O/P) parts ................................................. 28
1.9 Names and functions of teaching box (T/B) parts .................................................................................................. 30
1.10 Jog operation ....................................................................................................................................................... 32
(1) Joint jog mode .................................................................................................................................................. 32
(2) XYZ jog mode .................................................................................................................................................. 32
(3) Tool jog mode .................................................................................................................................................. 33
(4) Selecting the jog mode ..................................................................................................................................... 34
(5) Speed setting ................................................................................................................................................... 35
(6) Operation method ............................................................................................................................................ 36
1.11 Operating the hand .............................................................................................................................................. 37
(1) Pneumatic hand ............................................................................................................................................... 37
(2) Electric operated hand ..................................................................................................................................... 38
1.12 Useful functions ................................................................................................................................................... 40
(1) Hand alignment ................................................................................................................................................ 40
(2) Home Position .................................................................................................................................................. 41
Chapter 2 How to use RT ToolBox3 ............................................................................................................................... 42
■ Procedure from program creation to automatic operation ...................................................................................... 42
2.1 Starting/Ending RT ToolBox3 ................................................................................................................................ 43
(1) Start ................................................................................................................................................................. 43
(2) Communications Server2 ................................................................................................................................. 43
(3) End................................................................................................................................................................... 43
2.2 Explanation of the RT ToolBox3 screen ................................................................................................................ 44
(1) Main screen ..................................................................................................................................................... 44
(2) Program Editing window .................................................................................................................................. 46
2.3 Creating a new project........................................................................................................................................... 47
■ Workspace and project ...................................................................................................................................... 47
(1) Creating a new workspace and adding projects ............................................................................................... 47
(2) Step 1: Overview (project name and comment) ............................................................................................... 48
(3) Step 2: Robot model selection ......................................................................................................................... 48
(4) Step 3: Communication setting (iQ Platform compatible) ................................................................................. 49
(5) Step 3: Communication setting (stand-alone) .................................................................................................. 51
(6) Step 4: Language (setting the robot language) ................................................................................................ 52
(7) Completion of adding projects .......................................................................................................................... 52
2.4 Creating a program................................................................................................................................................ 53

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 (1) Preparation for program creation ..................................................................................................................... 53
(2) Creating a program .......................................................................................................................................... 54
(3) Saving the program .......................................................................................................................................... 55
(4) Connection with the robot controller ................................................................................................................. 56
(5) Writing the program to the robot controller ....................................................................................................... 57
2.5 Teaching position .................................................................................................................................................. 58
2.6 Debug .................................................................................................................................................................... 58
2.7 Automatic operation............................................................................................................................................... 59
2.8 Saving the programs (robot → personal computer).............................................................................................. 60
2.9 Editing and adding projects ................................................................................................................................... 62
2.10 Operation panel ................................................................................................................................................... 64
(1) Starting the operation panel (at online connection) .......................................................................................... 64
(2) Main screen ..................................................................................................................................................... 65
(3) Jog Operation window...................................................................................................................................... 66
2.11 Parameter setting ................................................................................................................................................ 67
2.12 Monitoring function .............................................................................................................................................. 68
(1) Program monitoring.......................................................................................................................................... 68
(2) Movement State ............................................................................................................................................... 70
(3) Error monitoring ............................................................................................................................................... 71
(4) Signal monitoring ............................................................................................................................................. 72
2.13 Backup and restore ............................................................................................................................................. 73
(1) Backup (robot → personal computer) ............................................................................................................. 73
(2) Restore (personal computer → robot) ............................................................................................................. 73
2.14 Simulation function .............................................................................................................................................. 74
Chapter 3 How to operate the Frequently Used T/B ...................................................................................................... 76
3.1 Displaying the program.......................................................................................................................................... 76
(1) Selecting the INSTRUCTION EDIT screen ...................................................................................................... 76
(2) Creating a new program ................................................................................................................................... 77
3.2 Teaching the current position ................................................................................................................................ 78
(1) Operation on the POSITION EDIT screen ....................................................................................................... 78
(2) Operation of the INSTRUCTION EDIT screen ................................................................................................. 80
3.3 Checking the registered position data (position jump) ........................................................................................... 81
3.4 Changing position data .......................................................................................................................................... 83
(1) Correcting (MDI compensation) ....................................................................................................................... 83
3.5. Saving a program ................................................................................................................................................. 85
3.6 Executing step operation ....................................................................................................................................... 86
3.7. Performing automatic operation (T/B)................................................................................................................... 87
(1) Automatic Operation ........................................................................................................................................ 87
(2) Changing operation mode ................................................................................................................................ 89
(3) Stopping and resuming .................................................................................................................................... 90
(4) Servo OFF ....................................................................................................................................................... 90
(5) Resetting the program ...................................................................................................................................... 91
(6) Exiting the operation panel ............................................................................................................................... 91
3.8. Performing automatic operation (O/P) (F Series) ................................................................................................. 92
(1) Automatic operation ......................................................................................................................................... 92
(2) Servo OFF ....................................................................................................................................................... 93
(3) Resetting the program ...................................................................................................................................... 93
Chapter 4 Robot Language ............................................................................................................................................ 94
4.1 MELFA-BASIC specifications ................................................................................................................................ 94
(1) Program name ................................................................................................................................................. 94
(2) Program instructions ........................................................................................................................................ 94
(3) Program constants and variables ..................................................................................................................... 97
4.2 Program instructions.............................................................................................................................................106
(1) Interpolation instruction ...................................................................................................................................106
(2) Speed instruction ............................................................................................................................................110
(3) Dly (Delay) ......................................................................................................................................................111
(4) Fine P (Fine Pause) ........................................................................................................................................112
(5) Subroutine instructions ....................................................................................................................................113
(6) Branch instruction ...........................................................................................................................................114
(7) Stop and end instructions ................................................................................................................................116
(8) Clear ...............................................................................................................................................................116
(9) Palletizing control instruction ...........................................................................................................................117
(10) Interrupt control instructions ............................................................................................................................118
Chapter 5 Input/Output Function ...................................................................................................................................120
5.1 Standalone type ...................................................................................................................................................120
(1) Required device ..............................................................................................................................................120
(2) Number of parallel input/output interface points (Option) ................................................................................120
(3) How to use the input/output signals ................................................................................................................120
(4) Types of extenral inputs and outputs ..............................................................................................................120
5.2 iQ Platform compatible type .................................................................................................................................121

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 (1) Types of external inputs and outputs ..............................................................................................................121
(2) General map of input/output signals................................................................................................................122
(3) PLC link input/output function .........................................................................................................................122
(4) PLC multi-CPU (GX-Works3) settings .............................................................................................................123
(5) Setting robot multi-CPU parameters (RT ToolBox3) .......................................................................................125
(6) Correspondence of CPU buffer memory and robot input/output signals .........................................................128
(7) Example of sequence ladder ...........................................................................................................................129
(8) Dedicated input/output signal assignment (Default settings) ...........................................................................130
5.3 Assigning dedicated signals .................................................................................................................................132
(1) When using the T/B.........................................................................................................................................132
(2) When using RT ToolBox3 ...............................................................................................................................132
5.4 General-purpose input/output signals ...................................................................................................................133
5.5 Controlling the general-purpose input/output signals............................................................................................133
Chapter 6 Practice Exercises ........................................................................................................................................136
6.1 Exercise 1: Material handling work (basic operation) ...........................................................................................136
6.2 Exercise 2: Material handling work using input/output signals (I/O) (Basic I/O process) ......................................136
6.3 Exercise 3: Take a look at the priority signals and sub-program ..........................................................................138
6.4 Exercise 4: Palletizing work ..................................................................................................................................140
6.5 Exercise 5: Adding the interrupt function ..............................................................................................................140
Appendix 1: Teaching Box ............................................................................................................................................142
Appendix 1.1: Basic menu ..........................................................................................................................................142
(1) FILE/EDIT menu .............................................................................................................................................143
(2) RUN menu ......................................................................................................................................................144
(3) PARAMETER menu ........................................................................................................................................145
(4) ORIGIN/BRAKE menu ....................................................................................................................................146
(5) SET/INITIALIZE menu ....................................................................................................................................146
(6) ENHANCED menu ..........................................................................................................................................147
Appendix 1.2 Monitor function ....................................................................................................................................147
Appendix 1.3 / Inputting the program with T/B............................................................................................................148
(1) Inputting a command.......................................................................................................................................148
(2) Deleting characters .........................................................................................................................................150
(3) Displaying the previous and next program line ...............................................................................................150
(4) Displaying a specific program line ...................................................................................................................150
(5) Adding a program line .....................................................................................................................................151
(6) Correcting the program line .............................................................................................................................152
(7) Deleting a program line ...................................................................................................................................152
Appendix 2: RT ToolBox3 Simulation Function .............................................................................................................154
Appendix 2.1 Creating a workspace and project ........................................................................................................154
Appendix 2.2 Simulation function ...............................................................................................................................154
(1) Starting the simulator ......................................................................................................................................154
(2) JOG operation .................................................................................................................................................155
(3) Hand alignment ...............................................................................................................................................157
(4) Home position .................................................................................................................................................158
(5) Creating a hand...............................................................................................................................................160
(6) Hand display condition setting ........................................................................................................................166
(7) Hand open/close operation .............................................................................................................................169
(8) Creating a layout .............................................................................................................................................170
(9) Setting the tool length .....................................................................................................................................174
(10) Creating a robot program ................................................................................................................................176
(11) Teaching operation .........................................................................................................................................178
(12) Carrying out debugging ...................................................................................................................................180
(13) Changing the layout display conditions ...........................................................................................................182
(14) Automatic operation ........................................................................................................................................185
Appendix 3: How to operate RT ToolBox2 ....................................................................................................................186
Appendix 3.1 Starting/Ending RT ToolBox2 ...............................................................................................................186
(1) Start ................................................................................................................................................................186
(2) Communication server ....................................................................................................................................186
(3) End..................................................................................................................................................................186
Appendix 3.2 Explanation of the RT ToolBox2 screen ...............................................................................................187
(1) Main screen ....................................................................................................................................................187
(2) Program Editing window .................................................................................................................................188
Appendix 3.3 Creating a new project ..........................................................................................................................189
■ Workspace and project .....................................................................................................................................189
(1) Creating a workspace and project ...................................................................................................................189
(2) Communication settings (F Series iQ Platform compatible) ............................................................................191
(3) Communication settings (F Series stand-alone) .............................................................................................193
(4) Offline robot settings .......................................................................................................................................194
Appendix 3.4 Creating a program ...............................................................................................................................195
(1) Preparation .....................................................................................................................................................195
(2) Creating a program .........................................................................................................................................196
(3) Saving the robot program ................................................................................................................................198
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 (4) Connecting to the robot controller ...................................................................................................................199
Appendix 3.5 Teaching position .................................................................................................................................201
Appendix 3.6 Debug ...................................................................................................................................................201
Appendix 3.7 Automatic operation ..............................................................................................................................202
Appendix 3.8 Saving the programs (robot → personal computer) .............................................................................203
Appendix 3.9 Editing and adding a project .................................................................................................................204
Appendix 3.10 Operation panel ..................................................................................................................................206
(1) Starting the operation panel (at online connection) .........................................................................................206
(2) Main screen ....................................................................................................................................................207
(3) JOG Operation window ...................................................................................................................................208
Appendix 3.11 Parameter setting ...............................................................................................................................209
Appendix 3.12 Monitoring function .............................................................................................................................210
(1) Program monitoring.........................................................................................................................................210
(2) Movement State ..............................................................................................................................................211
(3) Error monitoring ..............................................................................................................................................212
(4) Signal monitoring ............................................................................................................................................213
Appendix 3.13 Backup and restore ............................................................................................................................214
(1) Backup (robot → personal computer) ............................................................................................................214
(2) Restore (personal computer → robot) ............................................................................................................214
Appendix 3.14 Simulation function .............................................................................................................................215
(1) Starting the simulator ......................................................................................................................................215
(2) JOG operation .................................................................................................................................................216
(3) Hand alignment ...............................................................................................................................................218
(4) Home position return .......................................................................................................................................219
(5) Creating a hand...............................................................................................................................................221
(6) Setting the hand display conditions .................................................................................................................228
(7) Hand open/close operation .............................................................................................................................230
(8) Creating a layout .............................................................................................................................................231
(9) Setting the tool length .....................................................................................................................................235
(10) Creating a robot program ................................................................................................................................237
(11) Teaching operation .........................................................................................................................................239
(12) Debugging .......................................................................................................................................................242
(13) Changing the layout display conditions ...........................................................................................................244
(14) Automatic Operation .......................................................................................................................................248
Appendix 4: MELFA-BASIC ..........................................................................................................................................250
Appendix 4.1 Branch instruction .................................................................................................................................250
(1) Select Case (Select Case) ..............................................................................................................................250
(2) While-WEnd (While End) ................................................................................................................................250
Appendix 5: iQ Platform Compatible (MELSEC Q Series Compatible) (F Series) .........................................................252
Appendix 5.1 Input/output function .............................................................................................................................252
(1) Setting the PLC CPU parameters ...................................................................................................................252
(2) Setting the robot CPU parameters ..................................................................................................................253
(3) Correspodendence of CPU shared memory and robot input/output signals ...................................................254
(4) Program example of sequence ladder ............................................................................................................255
(5) Dedicated input/output signal assignment (Default settings) ...........................................................................255
Appendix 5.2 Setting the multi-CPU (using GX Works2) ............................................................................................259
(1) Setting GX Works2..........................................................................................................................................259
(2) Setting RT ToolBox2 .......................................................................................................................................266
Appendix 5.3 Setting Multi-CPU (Using GX Developer) .............................................................................................273
Appendix 6: Robot Start up and Maintenance ...............................................................................................................280
Appendix 6.1 Starting up after purchasing the robot ..................................................................................................280
Appendix 6.2 Maintenance .........................................................................................................................................281
(1) Maintenance and inspection timing .................................................................................................................281
(2) Daily inspection items .....................................................................................................................................282
(3) Periodic inspection items ................................................................................................................................283
Appendix 7: Frequently Used Parameters.....................................................................................................................284
Appendix 8: Dedicated input/output ..............................................................................................................................288
Appendix 9: List of Error Codes ....................................................................................................................................303

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Safety
A. Related Laws

Work using a robot is designated as "Dangerous and Injurious Works".

B. Laws and Standards for Ensuring Safety

1 Manufacturer side: (Ministry of Economy, Trade and Industry) JIS "B8433" Manipulating Industrial
Robots - Safety
2 User side: (Ministry of Health, Labor and Welfare) Industrial Safety and Health Laws, Labor Safety
and Health Regulations

C. Special Safety and Health Training Curriculum (Ministry of Health, Labor and Welfare
Ministerial Notification No. 49)
The following two articles have been added to Article 17.

<Special training related to teaching of industrial robots, etc.>

Article 18
(1) Special training related to operations listed in the Safety and Health Provisions Article 36-31
shall be carried out with classroom training and practical training.
(2) The above mentioned classroom training shall follow the courses listed below. The scope listed
below shall be covered for the specified time.
(3) For the practical training in Section 1, the following courses shall be conducted for the specified
time or longer.

Course Scope Time

Basics of Industrial Robots Types of industrial robots, and functions and
2 hours
handling methods of each part
Basics of Industrial Robot Operation methods, such as teaching, risks of
Operations such as Teaching operations such as teaching, coupling with 4 hours
related machines, etc.
Related Laws Laws, ordinances and related articles in Safety
1 hour
and Health Provisions

1. How to operate an industrial robot 1 hour

2. How to teach an industrial robot, etc. 2 hours

<Special training related to inspection of the industrial robot, etc.>

Article 19
(1) Special training related to the operations listed in Safety and Health Provisions Article 36-32
shall be carried out with classroom training and practical training.
(2) The above mentioned classroom training shall follow the courses listed below. The scope listed
below shall be covered for the specified time.
(3) For the practical training in Section 1, the following courses shall be conducted for the specified
time or longer.

Course Scope Time

Basics of Industrial Robots Types of industrial robots, control methods, drive
methods, structure, function and handling of each 4 hours
part, types and characteristics of control parts
Basics of Industrial Robot Inspection, etc., methods, risks in inspection work,
4 hours
Inspections, etc. etc., coupling with related machines, etc.
Related Laws Laws, ordinances and related articles in Safety
1 hour
and Health Provisions

1. How to operate an industrial robot 1 hour

2. How to inspect an industrial robot, etc. 3 hours

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 D. Matters excluded from industrial robot
1. Machine having a drive motor with a rated output of 80 watts or less (if machine has two or more
drive motor, the motor with the larger rated output)
2. Machine that repeats a simple operation of manipulator extension, vertical movement, left/right
movement or turning based on information from a fixed sequence control unit.
3. In addition to the machine listed in item 2 above, machine approved by the manager of the Ministry of
Health, Labor and Welfare's Labor Standards Bureau as a machine having a structure and
performance that will not pose a risk to the operator even if the said machine is touched.

E. Qualifications for Dangerous and Injurious Work

High
Qualification Duty Jurisdiction Work Type
Degree License Acquired National, Prefectural Crane, gas equipment, X-ray, boiler
of risk Skill training Completed Bureau-designated Slinging, fork lift, high-pressure gas
course training agency
Special training Completed Place of business Electric, arc, grinding, robot
Low
F. Industrial Accidents Caused by Industrial Robots
All of the following fatal accidents were caused by people being crushed after entering the enclosure
while an industrial robot was operating.
Overview of fatal accidents caused by industrial robots

1 At a plant where one industrial robot and four metal processing machines were surrounded by a
safety fence, the industrial robot started moving while the victim was measuring the product
inside the safety fence after it had been manufactured. The victim was crushed from behind
onto the product by the robot, which resulted in death by asphyxiation due to pressure on their
abdomen.

2 The victim was found in an automated line with their face in a coolant tank from where their
head had been pushed down from above by the tip of a manipulator. They died a month later in
hospital.

3 While the victim was dealing with machine trouble, the tray hand of an industrial robot which had
been on stand by above them fell. The victim died after being crushed between the tray hand
and tray.

4 An industrial robot stopped with an error, and the victim cleared the error by removing the
workpiece that the robot was grabbing. At that time, the robot started moving and the victim died
after their chest was crushed between the end of the robot manipulator and transfer table.

5 The victim entered the operating area without stopping an industrial robot that transfers pallets,
and died after their chest was crushed between the robot support column and the transfer
manipulator.

6 When the victim entered a robot operating area surrounded by a safety fence, they died after a
product holding guide at the tip of a manipulator holding a container swung round and crushed
the victim between the robot stand.

7 When the victim went under a 30cm gap in the fence of an industrial robot while the industrial
robot was automatically loading cargo onto a pallet, the manipulator that was holding the cargo
fell onto them and they died after their neck was crushed between the cargo and the floor.

-2-
8 A welding robot stopped due to an error. When the victim was fixing it, the manipulator
unexpectedly started to work and their chest was crushed. They died of asphyxiation.

9 The victim went under the manipulator of an industrial robot that transports workpieces
automatically which has an integrated NC lathe. They died after their neck was crushed by the
manipulator.

(Excerpts from item 1-1 by Safety Division, Industrial Safety and Health Department, Labor
Standards Bureau, Ministry of Health, Labor, and Welfare)

-3-
■ Introduction
The FR Series and F Series robots are available in the following two types:
· First edition iQ Platform compatible type
· First edition Standalone type

This textbook explains the FR Series and F Series with iQ Platform compatible type and stand
alone type.
In the following pages, refer to the following logo marks, and read the page for the robot you are using.

FR Series F Series

Logo iQ Platform iQ Platform

Standalone Standalone
compatible compatible
(D type) (D type)
(R type) (Q type)

COMMON    

FR series  

F series  

(FR/F )  

(FR ) 

(F ) 

Standalone
（FR/F series)  

Standalone
（F series) 

-4-
iQ Platform compatible type (FR Series R type/F Series Q type)
This controller is compatible with "iQ Platform" that integrates each type of controller and
HMI, engineering environment, and network seamlessly. With the multi-CPU configuration,
compatibility with FA devices is enhanced, and elaborate control and information manage
ment can be performed quickly and easily.

FR Series: MELSEC iQ-R Series

F Series: MELSEC Q Series

Slot in Slot in

Robot Robot
CPU CPU

FR Series: Controller FR Series: Controller

F Series: Drive unit F Series: Drive unit

※ When using an iQ Platform compatible type robot for the first time, a multi-CPU setup is ne
cessary.
The following are examples of how to set up multiple CPUs.
FR Series: Chapter 5 Input/Output Function 5.2 (4) PLC multi-CPU (GX-Works3) settings
F Series: Appendix 5 iQ Platform Compatible (MELSEC Q Series Compatible) Appendix 5.2
Setting Multi-CPU (Using GX Works2)

Standalone type (FR Series D type/F Series D type)

Cells can be built by using the robot controller as the main controller.
This type of robot is equipped with various types of interface as standard, and enables
users to build the best system for their application.

Robot controller Robot controller

-5-
 COMMON

Chapter 1 Introduction to MELFA

(1) Types of robot arms

The robot arms include:

1) Vertical articulated type, RV type

2) Horizontal articulated type, RH type

Vertical articulated type Horizontal articulated type

RV type RH type

(2) Types of controllers and drive units

1) F Series controller (O/P: Operation Panel)

Standalone iQ Platform compatible

CR750-D CR750-Q

With O/P With O/P

(Drive unit) (CPU)

CR751-D CR751-Q

No O/P No O/P

(Drive unit) (CPU)

CR760-D CR760-Q

(CPU)

With O/P for RV-3 With O/P for

(Drive unit)
5/50/70F RV-35/50/70F

2) FR Series controller (O/P: Operation Panel)

Standalone iQ Platform compatible

CR800-D CR800-R

No O/P No O/P

-6-
 COMMON

(3) Types of device connection cables

1) F Series connection cables
 CR750/CR751 controller/drive unit connection cables
1) For motor power
2) For encoder signals
These two types of cables are available, and they connect robot arms with controller/drive
unit.

<For CR750 controller/drive unit>

For motor power For encoder signal

<For CR751 controller/drive unit>

For motor power For encoder signal

 CR760 controller connection cable

This manual omits explanations for the CR760 controller/drive unit.
For details, confirm with their individual manuals.

2) FR Series connection cables

 CR800 controller connection cable
A single type of the CR800 controller connection cable is available.

<For CR800 controller>

-7-
 Standalone
（FR/F series)
1.1 Standalone type device configuration
(1) F Series

Robot arm Device connection cable Controller

For CR750 controller CR750-D

For CR751 controller CR751-D

CR760-D

(2) FR Series

Robot arm Device connection cable Controller

For CR800 controller CR800-D

-8-
 (F )
1.2 iQ Platform compatible type device configuration
(1) CR750/CR751 drive unit (F Series)
a) Standard device configuration

Robot arm PLC unit (MELSEC Q Series)

Controller
Cable Robot CPU unit (Note 1)
Q172DRCPU

Device connection cable

· For CR750 drive unit

Battery unit
Note 2) Do not remove
the battery unit.
· For CR751 drive unit Drive unit
CR750 drive unit

CR760 drive unit

CR751 drive unit

Note 1) The same type of robot CPU module is used for both robot arm types.
The CPU is mounted on the PLC unit (base board, power module, PLC CPU required)
prepared by the user.

-9-
 (F )
b) CPU unit connection cable types
The following types of connection cables are used. (These are dedicated for the robot.)
Use this cable to connect the robot CPU unit and drive unit.
(1) TU cable For T/B and operation panel signals

(2) DISP cable For T/B data transmission

(3) EMI cable For emergency stop signal

CPU side D/U side

(4) SSCNET III cable For servo amplifier control

c) Connection with CR750/CR751 drive units

Robot CPU unit

CR751 drive unit

(3) EMI cable (2) DISP cable

(4) SSCNET III cable

(1) TU cable
CR750 drive unit

Cable connection between the robot CPU unit and the CR750/751 drive units
For details, refer to d) Example connection with CR750 drive unit and e) Example of connection
with CR751 drive unit.

-10-
 (F )

d) Example of connection with CR750 drive unit

Rear view of drive unit

* The image shows an example of drive units.

Enlarge

Robot CPU system

*1) Robot CPU
Robot dedicated EMI cable module

PLC power
module

PLC base
module
*1)
Grounding
terminal *1)
EMI cable
Robot dedicated DISP cable
SSCNET III cable
DISP cable
*1)
TU cable Robot dedicated TU cable

Ferrite core
*1) Grounding the cable and attaching the ferrite core
For TU cables, DISP cables, and EMI cables, strip off the sheath of the cable, and connect the exposed metal blade section to the earth terminal on the
rear of the drive unit. Grounding clamp
Attach a ferrite core (included) to the TU cable within 500mm of where it is connected. (cable clamp accessory)

Drive unit side

Sheath Sheath
20 to 30mm Ferrite core
Metal blade section 150 to 200mm 500mm or less

-11-
 (F )

e) Example of connection with CR751 drive unit

Front view of drive unit
* The image shows an example of drive units.

Robot CPU system

Enlarge *1) Robot CPU
Robot dedicated EMI cable module

PLC power
module

PLC base
module
*1)
Grounding
terminal *1)
Robot dedicated DISP cable
EMI cable SSCNET III cable

DISP cable *1)

Robot dedicated TU cable
TU cable

Ferrite core
*1) Grounding the cable and attaching the ferrite core
With the TU cable, DISP cable and EMI cable, the metal blade section exposed by peeling the sheath is grounded to the grounding terminal on the front of
the drive unit.
Attach a ferrite core (included) to the TU cable within 500mm of where it is connected. Grounding clamp
(cable clamp accessory)

Drive unit side

Sheath Sheath
20 to 30mm Ferrite core
Metal blade section
150 to 200mm 500mm or less

-12-
 (FR )

(2) CR800 controller (FR Series)

a) Standard configuration

Robot arm PLC unit (MELSEC iQ-R Series)

Controller
Cable Robot CPU unit (Note 1)
R16RTCPU
Device connection cable

For CR800 controller

CR800 controller

Note 1) The same type of robot CPU module is used for both robot arm types.
The CPU is mounted on the PLC unit (base board, power module, PLC CPU required)
prepared by the user.

b) CPU unit connection cable types

Only one type of connection cable is available (robot dedicated).
Connects the robot CPU unit and robot controller.

(1) SSCNET III cable For servo amplifier control

-13-
 (FR )
c) Connection with CR800 controller

Robot CPU unit

CR800 controller

CN1 connector

OPT1 connector

(1) SSCNET III cable

Cable connection between robot CPU unit and CR800 controller

-14-
 F series

1.3 Power cable connection terminals

(1) CR750 controller/drive unit (F Series)

Controller/drive unit

ACACIN端子台
IN terminal block
For
単相用single-phase For single-phase/3-phase
単相/三相用
L1 L2 L1 L2 L3 L1 L2 L3

AC IN terminal block
Remove the power terminal
block cover.
Grounding Primary
一次電源 power 3-phase
三相一次電源 primary Single-phase
単相一次電源
アース端子(PE)
Terminal (PE) power primary power

Attach the primary power cable to the terminal block with the
fixing screw.
Screw size: M4
Solderless terminal: φ8 or less
Recommended product: 2-M4
(J.S.T. Mfg. Co., Ltd.)
Wire size: AWG #14(2mm2)/M4 screw
Note) When screwing the power cable onto the AC IN terminal block, hold down the
solderless terminal so it does not turn. The partition between the AC IN terminal
block terminals could break if force is applied.

Primary voltage specifications

RH-3FHR Series: Single-phase 180 to 253VAC
RH-6FH Series: Single-phase 180 to 253VAC
RH-12FH/20FH Series: 3-phase 180 to 253VAC, or single-phase 207 to 253VAC
RV-2F Series: Single-phase 180 to 253VAC
RV-4F Series: Single-phase 180 to 253VAC
RV-7F/13F/20F Series: 3-phase 180 to 253VAC, or single-phase 207 to 253VAC

-15-
 F series

(2) CR751 controller/drive unit (F Series)

Provide an earth leakage breaker (prepared by user) on the primary power of the
Caution
注意 controller/drive unit as protection against leakage currents.

Controller
3-phase Single-
AC200V phase
* The controller in the
image is an example.
AC IN connector

Primary side
Ground connection Ground connection
screw AC IN connector screw AC IN connector
Note 2)
Earth leakage
breaker (NV)
Protective grounding Protective grounding
terminal (PE) terminal (PE)
Secondary side

Note 1)
Included ACIN
connector or power
cable

Note 1) A crimping tool is recommended to connect included ACIN connectors. (Soldering is

acceptable)
Recommended crimping tool: 234171-1 (Tyco Electronics)
Note 2) The earth leakage breaker is prepared by the user. Make sure to use terminal covers.

Primary voltage specifications

RH-3FH/3FHR Series: Single-phase 180 to 253VAC
RH-6FH Series: Single-phase 180 to 253VAC
RH-12FH/20FH Series: 3-phase 180 to 253VAC, or single-phase 207 to 253VAC
RV-2F Series: Single-phase 180 to 253VAC
RV-4F Series: Single-phase 180 to 253VAC
RV-7F/13F/20F Series: 3-phase 180 to 253VAC, or single-phase 207 to 253VAC

The earth leakage breaker, primary power supply connection cable and earth cable are to be prepared
by the customer.
Component name Specifications
Earth leakage breaker Single-phase: NV30FAU-2P-10A-AC100-240V-30mA
(recommended) (terminal cover: TCS-05FA2)
3-phase: NV30FAU-3P-10A-AC100-240V-30mA
(terminal cover: TCS-05FA3)
Primary power supply AWG #14 (2 mm2) or more
connection cable
Primary power supply earth AWG #12 (3.5mm2) or more
cable

-16-
 FR series

(3) CR800 controller (FR Series)

Provide an earth leakage breaker (prepared by user) on the primary power of the
Caution
注意 controller/drive unit as protection against leakage currents.

Single-
3-phase phase Back of the controller
AC200V AC200V

Primary side

Note 1)
Earth leakage ACIN cable AC IN connector
breaker (NV) (included)
PE (protective
grounding) terminal
M4 screw
Secondary side
Earth cable
PE
PE
PE

Note 1) Make sure to install terminal covers to use the earth leakage breakers.

Primary voltage specifications

RV-2FR/4FR/7FR Series: Single-phase 200 to 230VAC
RH-3FRH/3FRHR/6FRH/12FRH/20FRH Series: Single-phase 200 to 230VAC
RV-13FR/20FR/7FRLL Series: Single-phase 230VAC/3-phase 200 to 230VAC

The earth leakage breaker, primary power supply connection cable and earth cable are to be prepared
by the customer.
Component name Specifications

Earth leakage breaker Single-phase: NV30FAU-2P-10A-AC100-240V-30mA

(recommended) (terminal cover: TCS-05FA2)
3-phase: NV30FAU-3P-10A-AC100-240V-30mA
(terminal cover: TCS-05FA3)
Primary power supply connection AWG #14 (2 mm2) or more
cable

Earth cable AWG #14 (2 mm2) or more

-17-
 F series

1.4 Connecting the emergency stop

Two circuits for the emergency stop input are provided on the "dedicated input/output" terminal
connector on the controller/drive unit. An example of the safety measures is given below. Refer to these
drawings and provide safety measures. The drawings show the normal state with no emergency stop.
(1) CR750 controller/drive unit (F Series)

<Wiring example> Connect the peripheral device's emergency stop switch.

The power in the controller/drive unit is used for the emergency stop detection power.
<Emergency stop operation>
When the emergency stop switch on the peripheral device is pressed, emergency stop is
also applied on the robot. Emergency stop switch
(2-contact type)
*1)
Peripheral device
Internal power 24V

*7) Short circuit

O/P Emergency
Stop button
*4)

*3) Short circuit

T/B Emergency
Stop button *5)
Safety fence door
Door switch input

Enabling
device

*8) *6)

Safety relay Emergency stop output

*1) Each terminal is a dual system with the

Mode same pin numbers assigned to each
output
Internal emergency connector CNUSR11 and CNUSR12.
stop circuit Both systems must always be connected.

*2) *2) The connector CNUSR2 has two terminals,

and indicates that there are two systems.
(16/17 indicate that there are two terminals:
Error
pin No. 16 and pin No. 17.)
output
Both systems must always be connected.

*3) Indicates the T/B emergency stop button connected to the controller/drive unit.
*4) Emergency stop input detection relay
*5) The door switch input must be Close (door closed) to start automatic operation.
*6) Regardless of the door switch input state, the enabling device input must be Close (ON) to release the brakes.
*7) Indicates the emergency stop button on the controller/drive unit's operation panel. (Only on specifications with
operation panel.)
*8) The emergency stop input detection relay is used to control the safety relay in the controller/drive unit. When the
emergency stop input detection relay turns OFF, an emergency stop is detected and the safety relay turns OFF.

CNUSR11/ User wiring connector CNUSR2

12 connect Screwdriver connect
Cable fixing
screw Soldering
Connector fixing
screws
(2 places)
Cable insertion hole
Connection
Connection cable cable

-18-
 F series

(2) CR751 controller/drive unit (F Series)

<Wiring example> Connect the peripheral device's emergency stop switch.

The power in the controller/drive unit is used for the emergency stop detection power.
<Emergency stop operation>
When the emergency stop switch on the peripheral device is pressed, emergency stop is
also applied on the robot.
Emergency stop switch
Controller (2-contact type)
*1)
Peripheral device
Internal power 24V
*2)
T/B Short circuit
Emergency
Stop button
*3)

Short circuit
*4)
Safety fence door
Door switch input

Enabling
device

*6) *5)

Safety relay Emergency stop output

Mode *1) CNUSR1/2 each has two terminals,

output indicating that it has two systems.
Internal emergency Both systems must always be connected.
stop circuit *2) Indicates the T/B emergency stop button
*1) connected to the controller/drive unit.
*3) Emergency stop input detection relay
*4) The door switch input must be Close (door
Error closed) to start automatic operation.
output

*5) Regardless of the door switch input state, the enabling device input must be Close (ON) to release the brakes.
*6) The emergency stop input detection relay is used to control the safety relay in the controller/drive unit. When the
emergency stop input detection relay turns OFF, an emergency stop is detected and the safety relay turns OFF.

CNUSR1/2
connector

Soldering

Connection cable

-19-
 FR series

(3) CR800 controller (FR Series)

<Wiring example> Connect the peripheral device's emergency stop switch.

The power in the controller is used for the emergency stop detection power.
<Emergency stop operation>
When the emergency stop switch on the peripheral device is pressed, emergency stop is
also applied on the robot.
Emergency stop switch
(2-contact type)
T/B Emergency Stop button Peripheral device
*2) Internal power 24V *1)

Safety fence door

Door switch input

Mode selector
switch input

Internal emergency
stop circuit

Emergency stop output

Mode output

Error output

*1) CNUSR11 each has two terminals, indicating that it has two systems. Both systems must always be connected.
*2) Indicates the T/B emergency stop button connected to the controller.

User wiring connector

CNUSR11 Lever
connector

Cable
Cli Lever

Cable insertion hole

Flathead
screwdriver

-20-
 COMMON

1.5 Mode Switching

CR751 controller/drive units, and CR800 controllers do not have operation panels.
For mode switching (during teaching/during automatic operation), use the robot when the emergency
stop switch, door switch, and mode selector switch prepared by the user is connected.
For details, refer to the separate "INSTRUCTION MANUAL Controller setup, basic operation, and
maintenance".

<Operation rights (controller mode)>

AUTOMATIC (during automatic operation) Operation from external devices is available.
Operations requiring operation rights from the T/B
are not possible. To connect with external devices,
set parameters for operation rights.
For details of the AUTOMATIC mode, refer to the
separate "INSTRUCTION MANUAL Detailed
explanations of functions and operations".
MANUAL (during teaching) When the T/B is enabled, only the operation from the T/B is enabled.
Operations requiring operation rights from external devices are not
possible.

(1) Mode selector switch connection (CR751 controller/drive unit) (F Series)

MODE
MANUAL AUTOMATIC

* The image shows an example.

CNUSR1
Mode selector switch
(provided by customer)
Reference model: HA1K-2C2A (manufacturer: IDEC)

Connect switch contacts to the pins as shown below.

Pin numbers and functions (connector: CNUSR1) Switch mode Note 1)
Pin number Function MANUAL AUTOMATIC
49 Key input 1st system
24 Key input 1st system
Open Close
power supply
+24V
50 Key input 2nd system
25 Key input 2nd system
Open Close
power supply
+24V

Note 1) When both pin numbers 49 and 24 or pin numbers 50 and 25 are open or closed at the same
time, the mode switches. If the input status between two systems are different, the error H0044
(operation panel mode key line fault) occurs.

[Caution] In the customer's system, do not ground the + side of 24V power supply prepared by the
customer for input/output (related with emergency stop and parallel input/output) to connect
to the controller/drive unit.
Connecting the devices to the controller/drive unit with the + side grounded will cause a
malfunction in the controller/drive unit.

-21-
 FR series

(2) Mode selector switch input connection (CR800 controller) (FR Series)

MODE
MANUAL AUTOMATIC

* The image shows an example.

CNUSR11 connector
Mode selector switch
(provided by customer)
Reference model: HA1K-2C2A (manufacturer: IDEC)

Connect switch contacts to the pins as shown below.

Pin numbers and functions (connector: CNUSR11) Switch mode Note 1)
Pin number Function MANUAL AUTOMATIC
21 Key input 1st system
5 Key input 1st system
Open Close
power supply
+24V
28 Key input 2nd system
12 Key input 2nd system
Open Close
power supply
+24V

Note 1) When both pin numbers 21 and 5 or pin numbers 28 and 12 are open or closed at the same
time, the mode switches.
If the input status between two systems are different, the error H0044 (operation panel mode
key line fault) occurs.

[Caution] The emergency stop circuit inside the controller is a redundant (duplicated) configuration.
Make sure to connect each contact to the connector pins as follows and wire it so that it is
duplicated using the two point type switch for the emergency stop switch. If only a single
side pin is connected, errors cannot be canceled.

-22-
 F series

1.6 Turning the control power ON

(1) CR750/CR751 controller/drive unit (F Series)
The primary voltage specifications differ according to the type of controller/drive unit.
After wiring the primary power, turn the controller/drive unit's control power ON.
The position of the power switch differs according to the controller/drive unit.

[Caution] For the iQ Platform compatible type, turn ON the drive unit power supply switch, then turn
ON the robot CPU system power supply ON. (they can be turned ON simultaneously)
* Turning ON the drive unit power supply only will not turn on LEDs on the operation
panel.

a) CR750 controller/drive unit

<Confirmation of status>
The LED on the operation panel will turn ON approximately 15 seconds after the switch is turned
ON.
* When the operation starts normally, the speed ("o.100") appears at the STATUS NUMBER field.

STATUS NUMBER
Power switch
o. 100

Power ON

-23-
 F series

b) CR751 controller/drive unit

<Confirmation of status>
The CHARGE lamp on the front of the controller/drive unit turns ON approximately 15 seconds
after the switch is turned ON.

Note) The figure shows an

example of the connection
to a single-phase power
supply.

CHARGE lamp

Earth leakage
breaker

Power switch

* The figure shows a standalone controller.

The iQ Platform compatible type drive units
operate in the same way.

-24-
 FR series

(2) CR800 controller (FR Series)

When the primary power supply wiring is complete, turn ON the control power supply for the
controller.
Turn the power supply ON/OFF using the earth leakage breaker switch installed outside the unit.
Single-
3-phase phase
AC200V AC200V

Switch

Controller

Earth leakage
breaker (NV)

 CR800-D controller (standalone type)

1) Turn the earth leakage breaker switch ON to turn ON the power.
2) The POWER lamp turns on, and the control power supply turns on.

 CR800-R controller (iQ Platform compatible type)

1) Turn the earth leakage breaker switch ON to turn ON the controller.
2) The POWER lamp turns on, and the control power supply turns on.
3) Turn the robot CPU system power ON.

Power lamp

-25-
 F series

1.7 Turning the control power OFF

The procedures for turning the power OFF are explained below.
(1) CR750/CR751 controller/drive unit (F Series)
1) Confirm that the robot is stopped
If the robot is operating, press the [STOP] switch on the operation panel or teaching box and
stop the robot.
During teaching, the servo can be turned OFF or stopped by releasing the teaching box
ENABLE switch.
2) Close the program file (when editing the program or performing teaching)
Press the [F4] key (Close) on the teaching box.
[Caution] If file is not closed the program will not be saved and the edited details will be
invalidated.
3) Turn the servo power OFF
Press the [SVO OFF] button on the operation panel.
Servo OFF operations do not require operation rights, therefore the servo can be turned OFF
at any time by pressing the [SVO OFF] button.
4) Turn the control power switch OFF
[Caution] For the iQ Platform compatible type, turn the robot CPU system power OFF and
turn the drive unit power switch OFF.

Teaching box

1) 2)

Operation panel (O/P) Power switch

<CR750> <CR751> Note)

3) 1) 4) Power OFF
4)

Note) This photo is an example of a user-prepared leakage breaker.

-26-
 FR series

(2) CR800 controller (FR Series)

1) Confirm that the robot is stopped
If the robot is operating, press the [STOP] switch on the teaching box and stop the robot.
During teaching, the servo can be turned OFF or stopped by releasing the teaching box
ENABLE switch.
2) Close the program file (when editing the program or performing teaching)
Press the [F4] key (Close) on the teaching box.
[Caution] If file is not closed the program will not be saved and the edited details will be
invalidated.
3) Turn the servo power OFF
Press the [F2] key ("SV. OFF") on the teaching box.
When the function "SV. OFF" is not displayed, press the [FUNCTION] key and switch the
function menu display area.
4) Turn the control power switch OFF
[Caution] For the iQ Platform compatible type, turn the robot CPU system power OFF,
turn the earth leakage breaker power switch OFF.

Teaching box

1) 2)

Teaching box Power switch

Note)

Power OFF

Switch using
the [FUNCTION] key
4)

Note) This photo is an example of a user-prepared

leakage breaker.

3)

-27-
 F series

1.8 Names and functions of CR750 controller/drive unit operation panel (O/P) parts

1) 3)
4)

2)

Enlarged view of operation panel O/P

7)

5) 6)

8) 9) 10) 11) 12) 13)

Note) The CR751 controller/drive unit does not have an operation panel.

1) Interface cover
The standalone type (F-D Series) controller is equipped with a USB interface for connection
with a personal computer and a backup battery.
These are not provided on the iQ Platform compatible type (F-Q Series) drive unit.
2) T/B connection connector
Connect the teaching box with this connector.
3) MODE selection switch
This selection switch enables the robot operation.
Operation can be switched from the teaching box, operation panel or external switch.
4) Emergency stop switch (EMG.STOP)
Press this switch to immediately stop the robot. (The servo power turns OFF.)

-28-
 F series

5) STATUS NUMBER display

The status such as program No., error No., line No. or speed is displayed.
Symbols of the simple display used to show alphabetic characters are shown below.
A B C D E F G H I

J K L M N O P Q R

S T U V W X Y Z ?

6) CHANGING DISPLAY (CHNG DISP)

The display menu (STATUS NUMBER display) is alternated in the order of program No., line
No. and speed.
7) UP/DOWN button
Use these buttons to select the program No. and increase/decrease the speed on the display
menu (STATUS NUMBER display).
8) SVO ON button
Press to turn the servomotor power ON.
9) SVO OFF button
Press to turn the servomotor power OFF.
10) START button
Press to start the program. (Repeat operation will start.)
11) STOP button
Press to decelerate the robot to a stop. Press the START button to continue operation.
(The servo power will not turn OFF.)
12) RESET button
Press this to reset the currently occurring error.
The active program (program that was interrupted) will be reset and the program will return to the
head.
13) END button
When this button is pressed, the program end (END) instruction is executed and the program
stops.
Use this button to stop the robot operation after one cycle. (Repeat operation will not take place.)

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 COMMON

1.9 Names and functions of teaching box (T/B) parts

4)

Function menu display area

5)

2) Rear face of T/B

7) 6)
3)
1)
8)
9)
12)

11) 10)

1) T/B ENABLE switch

This switch selects the ENABLE/DISABLE state for operations using the teaching box.
2) EMG.STOP switch (Emergency stop)
This switch instantaneously stops the robot. (Turns the servo power OFF.)
3) STOP key
This switch decelerates the robot to a stop. Press the START button to start operation.
(The servo power does not turn OFF.)
4) Display panel
The teaching box's operation status is displayed on this panel.
5) Status indicator
These indicators show the teaching box and robot status.
(Power, Enable/Disable, servo status, current error)
6) "F1" "F2" "F3" "F4" keys
Press these keys to execute the functions indicated on the function menu display.
7) FUNCTION key
This key switches the function on each menu. The functions that can be executed are displayed at
the bottom of the screen.
8) SERVO key
The robot servo power is supplied if this key is pressed while the Enable switch is held down.
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 COMMON

9) MONITOR key
When this key is pressed, the monitor mode is enabled and the monitor menu appears.
The previous screen appears when this key is pressed again.
10) EXE key
Press this key to execute the input operation.
11) RESET key
Press this key to reset the current error.
12) Enable switch
This switch is the 3-position switch on the back of the teaching box. To carry out operations such
as jog operation and step execution, turn on TB ENABLE and ensure the servo status is set to ON.
Holding the switch lightly, perform a servo ON operation.
Additionally, during operation (servo ON), releasing this switch or holding it forcefully (pushing)
will turn the servo OFF, and the robot in operation will suddenly stop.
When the servo is OFF after an emergency stop or servo OFF operation, holding this switch
alone will not turn ON the servo. Try holding this switch lightly again, and carry out a servo ON
operation.
<ENABLE switch (3-position switch) operation>
ENABLE Servo ON
Servo status
ENABLE switch switch operation
Position 1

1) OFF Not available Servo OFF

Position 2
Servo ON
2) ON Available
available

Position 3

3) OFF Not available Servo OFF

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 COMMON

1.10 Jog operation

Jog operation is an operation that uses a teaching box to manually move a robot.
The following describes three commonly used modes.
(1) Joint jog mode
In this method, the robot operates by articulated axes. Each axis moves independently.

J2J2軸
axis
－ ＋
＋ J4
J4軸axis

－ J3 axis
J3軸
J5 J5軸
axis －

－ ＋ J1J1軸
axis
＋ ＋
J6J6軸
axis － － ＋

＋
J2
J2軸axis
－ J3 J3軸
axis

－ ＋
＋ －
－ ＋
J1 axis
J1軸

J4J4軸
axis

(2) XYZ jog mode

The robot control points move using world coordinates.
XYZ use mm units and operate in straight lines using XYZ coordinates while maintaining the
posture of the flange surface.
[Caution] The world coordinate system and the base coordinate system correspond to factory
default.

Tool
length

Control point Cartesian

End axis
coordinate
system origin

* The A axis, B axis, and C axis are angular * The C axis is an angular unit and
units and change the direction of the flange changes its direction by changing
surface while maintaining the control point the end axis.
position.

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 COMMON

(3) Tool jog mode

The robot control points move using TOOL coordinates.
XYZ use mm units and operate in straight lines using TOOL coordinates while maintaining posture
of the flange surface.

Tool
length

End axis Tool

Control point coordinate origin

* The A axis, B axis, and C axis are angular * The C axis is an angular unit and
units and change the direction of the flange changes its direction by changing
surface while maintaining the control point the end axis.
position.

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 COMMON

(4) Selecting the jog mode

2) 3) 4)

1) F1 F2
Corresponding function key

1) Displaying the JOG screen

The JOG screen shown on the right appears
when the [JOG] key is pressed.
The robot's current position, JOG mode and Unit: deg
speed, etc., are displayed.

2) Selecting the joint jog mode

When the function key corresponding to the "Joint" is pressed, "Joint" appears at the top of the screen.
(Above screen)

3) Selecting the Cartesian jog mode

When the function key corresponding to the
"Cartesian" is pressed, "Cartesian" appears at
the top of the screen. Unit: mm
deg

4) Selecting the tool jog mode

When the function key corresponding to the
"Tool" is pressed, "Tool" appears at the top of
the screen. Unit: mm
deg

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 COMMON

(5) Speed setting

<Setting the jog operation speed>
When carrying out jog operations, set a slow speed and check the operation before gradually increasing
speed.
Keep your eye on the robot.
1) Increasing the speed
The displayed speed value increases when the
[OVRD ↑] key is pressed.

2) Decreasing the speed

The displayed speed value decreases when the 1) Up
[OVRD ↓] key is pressed.
2) Down
* The speed can be set in the range of Low to 100%.

Low │ High │ 3% │ 5% │ 10% │ 30% │ 50% │ 70% │ 100%

← [OVRD ↓] key [OVRD ↑] key →

Low and High are for inching feed. The robot will move a set
amount each time the axis key is pressed.
The amount of movement is set by the following parameters.
The settings values can be changed as required.
Parameter name
JOGJSP: Joint jog
JOGPSP: XYZ jog
(For details of the parameters above, refer to "Appendix 7:
Frequently Used Parameters, Jog setting").

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 COMMON

(6) Operation method

The joint jog mode operation is explained as an example of the jog operation.
When operating the robot in other jog modes, refer to "(4) Selecting the jog mode" and switch the jog
mode.

J1
Servo ON
J2
Enable switch
J3
JOG
J4

J5

J6

(+) direction
(–) direction

<Movement with joint jog mode>

2) Hold the ENABLE switch on the rear of the teaching box.
Carry out the following operations while holding the ENABLE switch.
3) Press the [SERVO] key on the front side and turn the servo power ON.
4) Press the [JOG] key and enter the joint jog mode.
If other jog modes are displayed, press the [F1] key.
5) Set the robot operation speed.
6) Press the [-X] key and [+X] key for the axes to move.
(For the J1 axis, [-X(J1)] key and [+X(J1)] key)
The robot's J1 axis moves in the minus or plus directions only while the keys are pressed.

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 COMMON

1.11 Operating the hand

(1) Pneumatic hand
The hand is opened and closed from the teaching box. (Check the relation of the hand and taught
position.)
Use the [HAND] key and JOG operation key.
HAND 1 to HAND 6 can be opened and closed.

<Hand> screen
HAND 6
HAND 5

HAND 4

HAND HAND 3
HAND 2

HAND 1 Monitor the hand signal status.

Close

Open

<Hand> screen
OUT-900: Indicates the signal output to the solenoid valve for hand control.
IN-900: Indicates the hand open/close sensor status.
Furthermore, these signals are assigned to signal wires (GR1, GR2 connectors) installed in the
robot arm in advance. These signals are enabled by connecting solenoid valves and hand
sensors.

1) Hand open/close operation: Press the [HAND] key. The <HAND> screen will appear.
2) With the <Hand> screen displayed, press the JOG operation key to open and close the hand.
to
 Opening hand 1
Open/Close Close Open Close Open Close Open Close Open
Press the [+C(J6)] key.
Hand No.
 Closing hand 1
to
Press the [–C(J6)] key.
Input signal No.
Opening and closing hands 2 to 6
 Hand 2 opens when the [+B(J5)] key is pressed, and closes when the [–B(J5)] key is pressed.
 Hand 3 opens when the [+A(J4)] key is pressed, and closes when the [–A(J4)] key is pressed.
 Hand 4 opens when the [+Z(J3)] key is pressed, and closes when the [–Z(J3)] key is pressed.
 Hand 5 opens when the [+Y(J2)] key is pressed, and closes when the [–Y(J2)] key is pressed.
 Hand 6 opens when the [+X(J1)] key is pressed, and closes when the [–X(J1)] key is pressed.
[Caution] For double solenoids, hand numbers are 1 to 4; and for single solenoids, 1 to 8.

If error C0032 occurs at the open/close operations of the pneumatic hand, the sink
type/source type of the solenoid valve have not been set. After clearing the error, set the
Caution
注意 parameter HIOTYPE.
For parameters, refer to "Appendix 7: Frequently Used Parameters, Hand input/output type".

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 COMMON

(2) Electric operated hand

The hand is opened and closed from the teaching box. (Check the relation of the hand and taught
position.)
Press the [HAND] key to control the hand. The <Electric Operated Hand Operation> screen will
appear.
To operate the electrically operated hand, carry out the origin return (refer to next page).

<Electric Operated Hand Operation> screen

<Electric Hand Operation> HAND1
_ SPEED (30)% ORG ■ SRVO■
Close
Open

<Electric Hand Operation> HAND1

_ FORCE (30)% RDY ■ BUSY□
_ SPEED (100)% ORG ■ SRVO■
_ POINT No. ( 1) HandINPS□
<Electric HOLD■
_ FORCE (100)% Operation>
RDY ■ BUSY□HAND1
_ SPEED CURRENT POS( ORG 0.00)mm
_ POINT No.( (100)%
1) INPS□ ■ SRVO■
HOLD■
HOPEN_ HCLOSE
FORCE 123 HMOV
(100)% RDYHORG
CURRENT POS( ■0.00)mm
BUSY□
→
_ POINT No.( 1231) HSRVOFF
INPS□ HOLD■
POINT →
HHOLD
CURRENT POS( 0.00)mm
HAND HAND2 HAND3 123 NORMAL CLOSE →

* The function menu (screen lower part) is

switched by pressing the [FUNCTION] key.

(1) Origin return

Origin return refers to the operation to set the reference position for moving the hand. This
step must be completed before moving the hand.

1) Press the ENABLE switch to enable T/B.

2) Press the [HAND] key to display the <Electric Hand Operation> screen.

3) Press the function key ([F4]) corresponding to the "Origin" on the <Electric Operated Hand
Operation> screen.
The electric operated hand will return to the origin while the key is held down. The "BUSY"
indication on the T/B screen changes to "" during the movement.
When origin return is completed, the "BUSY" display changes to "", and the "Origin" display
changes to "".

<Electric Hand Operation> HAND1 <Electric Hand Operation> HAND1

_ SPEED (100)% ORG ■ SRVO■ _ SPEED (100)% ORG ■ SRVO■
_ FORCE (100)% RDY ■ BUSY□ _ FORCE (100)% RDY ■ BUSY□
_ POINT No.( 1) INPS□ HOLD■ _ POINT No.( 1) INPS□ HOLD■
CURRENT POS( 0.00)mm CURRENT POS( 0.00)mm
HOPEN HCLOSE 123 HMOV HORG → HOPEN HCLOSE 123 HMOV HORG →
Origin return: "Origin" [F4] key Origin return complete
* During hand operation, releasing the key stops the operation.

This completes the origin return operation for the electric operated hand.

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 COMMON

(2) Opening the electrically operated hand

<Electric Hand Operation>
Press the function key ([F1] key) which corresponds to "HOPEN" on the screen.
While the key is pressed, the hand will operate. (The "BUSY" indication changes to "" during
the movement.)

<Electric Hand Operation> HAND1 <Electric Hand Operation> HAND1

_ SPEED ( 30)% ORG ■ SRVO■ _ SPEED ( 30)% ORG ■ SRVO■
_ FORCE ( 30)% RDY ■ BUSY ■ _ FORCE ( 30)% RDY ■ BUSY □
_ POINT No.( 1) INPS □ HOLD □ _ POINT No.( 1) INPS ■ HOLD □
CURRENT POS ( 0.00)mm CURRENT POS ( 0.00)mm
HOPEN HCLOSE 123 HMOV HORG → HOPEN HCLOSE 123 HMOV HORG →
During hand operation: "HOPEN" = [F1] key Hand operation complete
* During hand operation, releasing the key stops the operation.

When movement to the hand open/close end is finished, the "INSP" indication changes to "".
Note) If an object is gripped during the movement, the "HOLD" indication changes to "".

(3) Closing the electrically operated hand

<Electric Hand Operation>
Press the function key ([F2] key) which corresponds to "HCLOSE" on the screen.
While the key is pressed, the hand will operate. (The "BUSY" indication changes to "" during
the movement.)

<Electric Hand Operation> HAND1 <Electric Hand Operation> HAND1

_ SPEED ( 30)% ORG ■ SRVO■ _ SPEED ( 30)% ORG ■ SRVO■
_ FORCE ( 30)% RDY ■ BUSY ■ _ FORCE ( 30)% RDY ■ BUSY □
_ POINT No.( 1) INPS □ HOLD □ _ POINT No.( 1) INPS ■ HOLD □
CURRENT POS ( 0.00)mm CURRENT POS ( 0.00)mm
HOPEN HCLOSE 123 HMOV HORG → HOPEN HCLOSE 123 HMOV HORG →
During hand operation: "HCLOSE" = [F2] key Hand operation complete
* During hand operation, releasing the key stops th

When movement to the hand open/close end is finished, the "INSP" indication changes to "".
Note) If an object is gripped during the movement, the "HOLD" indication changes to "".

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 COMMON

1.12 Useful functions

(1) Hand alignment
Use this to align the hand posture to straight down, straight up or to the straight side.
When the hand position approaches the straight down position, it is aligned straight down, and when
it approaches the straight up position, it is aligned straight up.
* Even though the hand is aligned, the control point position does not change.

1) While lightly holding the ENABLE switch, press the [SERVO] key and turn the servo ON.

2) While lightly holding the ENABLE switch, press the [HAND] key and open the <Hand> screen.
* When using the electric operated hand, the <Electric Operated Hand> screen will appear at
the above step.
Press the [FUNCTION] key, and display "Standard" at the bottom of the screen. Press the
function key corresponding to "Standard", and open the <Hand> screen.

3) While lightly holding the ENABLE switch, hold down the function key ([F2] key in this case)
assigned to "Alignment".
The robot will move and the hand will be aligned while the key is held down.

<HAND> ±C:HAND1 ±Z:HAND4

±B:HAND2 ±Y:HAND5
±A:HAND3 ±X:HAND6
76543210 76543210
_OUT-900 IN-900
_ SAFE ALIGN 123 E-HAND CLOSE →
Note)
3)

Note) "Electric" appears only when using the electric operated hand. If the function key ([F3] key in this
case) corresponding to this is pressed, the <Electric Operated Hand Operation> screen will open.

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 COMMON

(2) Home Position

It is possible to return the robot to its home position (position set in parameter JSAFE)
previously set.
1) While lightly holding the ENABLE switch, press the [SERVO] key and turn the servo ON.

2) While lightly holding the ENABLE switch, press the [HAND] key and open the <Hand> screen.
* When using the electric operated hand, the <Electric Operated Hand> screen will appear at
the above step.
Press the [FUNCTION] key, and display "Standard" at the bottom of the screen. Press the
function key corresponding to "Standard", and open the <Hand> screen.

3) While lightly holding the ENABLE switch, press and hold the function key (in this case the [F1]
key) which is assigned to "SAFE".
While pressing the key, the robot returns to its home position. The controller's [START] LED is
on during this operation. During operation, releasing either of keys stops the robot.

<HAND> ±C:HAND1 ±Z:HAND4

±B:HAND2 ±Y:HAND5
±A:HAND3 ±X:HAND6
76543210 76543210
_OUT-900 IN-900
_ SAFE ALIGN 123 E-HAND CLOSE →
Note)
3)

Note) "Electric" appears only when using the electric operated hand. If the function key ([F3] key in this
case) corresponding to this is pressed, the <Electric Operated Hand Operation> screen will open.
Note) The home position needs to be set by using the parameter "JSAFE" in advance.
"JSAFE" is shown by joint angles (units: deg) of each axes 1 to 8.

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 COMMON

Chapter 2 How to use RT ToolBox3

■ Procedure from program creation to automatic operation
Reference
Operating
Procedure Description (all the following references are included in
devices
Chapter 2 Operation Method of RT ToolBox3)
1 Starting RT ToolBox3 2.1 Starting/Ending RT ToolBox3
(1)Start

2 Creating a workspace and 2.3 Creating a new project

project (1) Creating a new workspace and adding
projects
(2) Step 1: Overview (project name and
comment)

3 Selecting the robot controller 2.3 Creating a new project

and robot (3) Step 2: Robot model selection

4 Communication setting 2.3 Creating a new project

(4) Step 3: Communication setting (iQ
Platform compatible) or
(5) Step 3: Communication setting
RT
(stand-alone)
ToolBox3
5 Selecting the robot language 2.3 Creating a new project
(6) Step 4: Language (setting the robot
language)

6 Preparation for program 2.4 Creating a program

creation (1)Preparation for program creation

7 Creating a program 2.4 Creating a program

(2) Creating a program
(3) Saving the program

8 Connecting to the robot 2.4 Creating a program

controller (4) Connection with the robot controller

9 Writing the program to the 2.4 Creating a program

robot controller (5) Writing the program to the robot controller

10 Teaching position 2.5 Teaching position

11 Debug (step operation) 2.6 Debug Teaching

2.12 Monitoring function box

12 Automatic operation 2.7 Automatic operation

13 Saving the program to a 2.8 Saving the programs (robot → personal RT

personal computer computer) ToolBox3

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 COMMON

2.1 Starting/Ending RT ToolBox3

(1) Start
Double-click the shortcut on the desktop.
Or, select the [Start] button → [All Programs] → [MELSOFT], and select [RT ToolBox3].

Default screen

Shortcut icon

(2) Communications Server2

When RT ToolBox3 starts, "Communications Server2" is minimized to the taskbar.
Do not end Communications Server2 (it ends automatically when RT ToolBox3 ends).
Communications Server2 has functions to connect the robot with robot controllers and virtual
controllers during simulation. Restore the minimized Communications Server2 to its original size
to check the connection status with the robot.

Iconized Communications Server2 Circuit status (Ex.:

light blue, blue: connected,
yellow: stand-by,
red: connection error)

Original Communications Server2

(3) End
Click [END] in the [Workspace] tab on the menu.
Or, click the [X] button at the upper right of the Workspace window.
When RT ToolBox3 ends, Communications Server2 automatically ends too.

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 COMMON

2.2 Explanation of the RT ToolBox3 screen

(1) Main screen
The configuration of the RT ToolBox3 main screen is as follows.

1) Title bar
The name of the workspace currently being edited is displayed.

2) Ribbon
Tabs are grouped for each command type.
Clicking a tab displays the list of commands registered in the tab.

3) Project tree
All projects registered in the workspace are displayed by function in a list.
The Program Editing window and Monitor window can be started.

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 COMMON

4) Properties window
Various attributes in the workspace currently being edited can be checked. Clicking an item in
the project tree displays the attributes.

5) Individual function tree

When a specific window such as the 3D Monitor window is displayed, a tree specifically for that
window is displayed. If multiple trees are displayed, switching tabs switches the trees
displayed.

6) Window
Windows such as the Program Editing window and Monitor window started from the project tree
are displayed.
The currently active window is displayed to the foreground.

7) Output window
The event logs and search results of RT ToolBox3 are displayed.
Event logs such as error details of program syntax checks are displayed in the Output window
and search results are output in the Search window, which enables users to copy displayed text
strings and save details.

8) Status bar
Status information such as RT ToolBox3 modes (Offline, Online, Simulation) and cursor
position during program edition is displayed.

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 COMMON

(2) Program Editing window

The upper section is the Program Instruction Statement Editing window, and the lower section is
the Position Variable Editing window.
Drag the boundary of these windows and change the position of the upper and lower window
separation.

Program tab switching display

1) Instruction Editing window

3) Step number

Position Variable display tab

to switch displays.
(XYZ/Joint/Workpiece coordinate) 2) Position Variable Editing window

1) Instruction Statement Editing window

Write the program here. Programs can be input in the same way as a general editor like
Notepad.

2) Position Variable Editing window

Edit the position variables. This list shows XYZ, Joint, and Workpiece coordinate variables.

3) Step number
During programming, step numbers are automatically numbered by pressing the [Enter] key on
the keyboard.

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 COMMON

2.3 Creating a new project

■ Workspace and project
RT ToolBox3 has workspaces and projects.
Information for one controller is managed as a single project.
A workspace can manage 32 projects at maximum.
Multiple workspaces cannot be edited at the same time. Register projects to be referred
at the same time in a single workspace.

RT ToolBox3

When using multiple robot controllers

(1) Creating a new workspace and adding projects

(1-1) Creating a new workspace

1) Click [Workspace] → [New] on the menu bar.

2) The New Workspace window is displayed.
After selecting the workspace location, name, and title, click
1) the [OK] button.
3) The Add Project window is displayed.
Set the robot type and communication method.

Add Project window

New Workspace window

2)

3)

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 COMMON

(2) Step 1: Overview (project name and comment)

(2-1) Inputting project names and comments
1) Input the project name.
RC1, RC2, or similar is input as a default value (leaving a default value is acceptable).
A comment can be set for the project if necessary.
2) Click "Next".

1)

2)

(3) Step 2: Robot model selection

(3-1) Selecting the controller and robot model
Select the series and model of the robot controller used in the project.
By selecting "Type" and "Maximum Load", the target models to be selected are narrowed down.

1) Narrow down the models by using the selection boxes Series, Type, and Maximum Load.
2) From the models at the bottom list, select the desired model, then click "Next".

1)

The selected model is displayed.

2)

2)

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 (FR/F )
(4) Step 3: Communication setting (iQ Platform compatible)
(4-1) Setting the communication method
1) Select "CRnQ_R" in "Connection Method", then click the "Detail" button.
The CRnQ_R communication is a communication method using either the PLC RCPU, universal
model QCPU, or Ethernet interface module when connecting with
CR800-R/CR750-Q/CRnQ-700 series controllers.

1)

(* Robot network setting: Set these items when using the communication method
"TCP/IP(Ethernet)".)

2) The CRnQ-R Communication Setting window opens.

Select "USB" for PC side I/F and "1 Serial port PLC module connection" for the route, then click the
"Detail" button.

2)

Detailed setting

2)

-49-
 (FR/F )
3) The CRnQ-R Communication Detail Setting window opens.
Select "2" for "Target CPU" in the CRnQ-R Communication Detail Setting window, then click the
"OK" button.
4) The window returns to the CRnQ-R Communication Setting window. Click "OK" and the window
returns to the Edit Project window.

3)

4)

[Caution] When using this robot for the first time, in addition to the above settings, it is also necessary
to write multi-CPU settings to PLC CPUs using sequence programming software (such as GX
Works3) or to robot CPUs using robot engineering software (such as RT ToolBox3).
When using an iQ Platform compatible type robot for the first time, a multi-CPU setup is
necessary.
Examples of the setting methods for each series are given in the following.
FR Series: Chapter 5 Input/Output Function 5.2 (4) PLC multi-CPU (GX-Works3) settings
F Series: Appendix 5 iQ Platform Compatible (MELSEC Q Series Compatible) Appendix 5.2 Setting
Multi-CPU (Using GX Works2)

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 Standalone
（FR/F series)
(5) Step 3: Communication setting (stand-alone)
(5-1) Setting the communication method
1) Select "USB" in "Connection Method".
2) Click "Next".

1)

2)

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 COMMON

(6) Step 4: Language (setting the robot language)

(6-1) Selecting the robot language used in the program
1) Select the robot language used.
2) Click "Finish" to save settings, and close the Edit Project window.

* 1)

2)
(* Step 5 (Travel axis): Used in simulations.)

(7) Completion of adding projects

(7-1) Completion of adding projects
1) The Operation Mode Change window is displayed. Click "Cancel".
2) The Operation Mode Change window closes, and the project settings are completed.
3) Click the project name in project tree to display the project settings in the Properties window.

1)

3) Project name
3)

* When changing the project settings, refer to "Chapter 2.9 Editing and adding projects".

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 COMMON

2.4 Creating a program

(1) Preparation for program creation
Decide the following items in preparation for program creation.
· Robot operation position and operation order
· Variable name of the robot operation position
· I/O signal functions and numbers (if necessary)

* As an example, a program that performs the following operation is created.

Robot model: RV-2FR-R

Start position P0

Removal position Delivery position

in the air P1 in the air P3

Removal Delivery
position P2 position P4

Pick Up!
Characters that cannot be used as a program file name
The file names shown below cannot be used as program file names.
① Program names that cannot be used on the personal computer
When the program name in the robot controller is the same as Windows "Reserved word",
attempting to open the program in the Program Editing window causes an error. In this case,
the program name needs to be changed in the controller.
"Reserved word" is a special character string used by Windows on the system, and this cannot
be used as a file name on a personal computer. "Reserved word" includes the following.
AUX, COM1 to COM9, CON, LPT1 to 9, NUL, PRN
② Program names that cannot be used on the robot controller
Program names shown below cannot be used on the robot controller.
1. Overlong program names (13 characters or longer)
2. Program names that include character strings other than alphabetic characters or numbers
(two-byte characters cannot be used)
3. Character strings starting with 0
If program names that include any of these are attempted to be used, a warning occurs at new
program creation, program copy, program name change, program conversion, and drag and
drop operations.

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 COMMON

(2) Creating a program

(2-1) Create a new program file (offline status).
1) Expand the [Online] item in the project tree.

1)

2) Right-click [Program] from [Offline] in the project tree to display a sub menu. Select
"New".
3) In the Robot program field, input the program file name, and click "OK".
* There are restrictions on the characters that can be used for the program file names and the
number of characters.
For details, refer to "Characters that cannot be used as a program file name" on the previous
page.

2)

3)

4) The Program Editing window opens.

4)

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 COMMON

(2-2) Input the program (offline status).

1) Input the program in the Program Editing window.

The following diagram shows the program that is designed to perform the operation shown in
"Chapter 2.4 (1) Preparation for programming" as an example.
* For details of robot program instructions, refer to the instruction manual "Detailed explanations
of functions and operations".

For pneumatic hands For electrically operated hands

(3) Saving the program

(3-1) Save the program in the RT ToolBox3 project (personal computer).

1) With the Program Editing window open, select

"Save" or "Save As → PC" in the [Save] group
in the [File] tab.
1) When "Save As → PC" is selected, the "Save
As" window is displayed.
1) 2) The saved programs are displayed under
Program in the project tree.
(The programs saved in the project folder on the
personal computer are displayed here.)
3) After saving the programs, close the Program
Editing window.

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(4) Connection with the robot controller

Connect RT ToolBox3 to the robot controller.
(4-1) Activate the online state of RT ToolBox3.
1) Click [Online] in the [Home] tab, or [Online] in the [Mode] group.
2) If there are multiple projects, Select the Projects window is displayed. Select the project in
which the mode will be changed, then click "OK".

1)

1)

2)

3) "Online" is displayed in the project tree, and RT ToolBox3 is connected to the robot controller.

"Online" display

Online display

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 COMMON

(5) Writing the program to the robot controller

(5-1) Open the program.

1) Open the program to be saved (double-click or right-click

menu) from [Program] under [Offline] in the project tree.

1)

2) Select "Save As → Robot" in the "File" tab.

The "Save As Robot Program" window
2) appears. Click "OK".
To change the file name, input another file
name.
3) Select the items to be written, and click "OK".

3)

4) The saved file names are displayed in Program

under "Online" in the project tree.
(The programs saved in the robot controller are
displayed.)

Program display

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2.5 Teaching position

1) Open the program with the robot controller. For details of the procedure, refer to "Chapter 3
3.1 Displaying the program".
2) Move the robot to the operation position with the JOG operation, and register the position to
the position variable used in the program. For details of the procedure for teaching operations
using the teaching box, refer to "Chapter 3 3.2 Teaching the current position".
3) To check the registered position data, refer to "Chapter 3 3.3 Checking the registered position
data (position jump)" (if necessary).
4) When position teaching is complete, save the program. For details of the procedure for saving
programs, refer to "Chapter 3 3.5 Saving programs".

Teaching in the Instruction Editing window

Teaching in the Position Editing window

2.6 Debug
1) Execute the program by one line at a time (step operation) to check if the program operates
normally.
2) For details of the procedure for the step operation using the teaching box, refer to "Chapter 3
3.6 Executing step operation".
Execution in the Instruction Editing window

3) If an error occurs, check the error code and error message displayed on the teaching box.
4) Press the [RESET] button on the teaching box to clear the error.
5) Refer to "Appendix 9: List of Error Codes" and take measures for errors.

When errors occur

Error code 3)
Error message
4)

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2.7 Automatic operation

1) Perform the automatic operation for the program.
2) Before the automatic operation, check that no person enters the operation range, and that the
program operates normally by step operation. Set a slow speed at first.
3) For details of the procedure for automatic operation using the teaching box, refer to "Chapter 3
3.7 Performing automatic operation (T/B)".

4) For details of the procedure for automatic operation using the operation panel, refer to
"Chapter 3 3.8 Performing automatic operation (O/P) (F Series)".
STATUS NUMBER
on the controller/drive unit
operation panel (O/P)

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2.8 Saving the programs (robot → personal computer)

Save the programs in the robot controller to a personal computer.
(1) Open the Program Manager window.
1) Right-click "Program" under "Online" in the RT ToolBox3 project tree and select
"Program Manager".

Hover over "Program"

1)

(2) Select the programs to be saved, and save them.

1) Select "Robot" for source, and select the robot controller. The list of programs in the controller is
displayed. Select the programs to be saved.
2) Specify the destination.
Select "Project" for destination (the list of programs in the controller is displayed).
3) Click "Copy" in the lower part of the window.

Source Destination

2)

3)
1)
Program list

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 COMMON

4) If the file name is not changed in the Setting for copy

window, click "OK".
5) To change the file name, select "Rename", input a
new name in the field below, then click the "OK"
5) button.

4)

◆◇◆ Preparations for automatic operation of the robot have been completed. ◆◇◆

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2.9 Editing and adding projects

Edit and add projects in the offline state.
(1) Opening a workspace
(1-1) Close the workspace currently in operation.
* When opening other workspaces, or creating new workspaces, it is necessary to close the
workspace currently in operation.

1) If the [New] and [Open] buttons in the [Home] tab cannot be selected, the workspace is open.
2) Click [Close] in the [Home] tab and close the currently open workspace.
3) The [New] and [Open] buttons are displayed in color.

If the buttons are grayed

out and cannot be 2)
clicked, the workspace
is open.

1)

The buttons are displayed in color, 3)

and they can be clicked.

(1-2) Open the workspace.

1) Open the workspace using either of the following methods.
a) Click [Open] in the [Home] tab. Specify the workspace location with the "Browse" button,
select the workspace name, and click "OK".
b) Click the [Workspace] tab in the ribbon to display the names of the workspaces recently
used.
From these names, select the workspace name to open.

b) The workspaces
a) recently used are
displayed.

a)
The workspace opens.

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(2) Editing the project

1) Display the Edit Project window using one of the following methods.
a) Double-click the project in the project tree.
b) Select the project in the project tree, right-click and select "Edit project".
c) Select the project from [Project] in the [Home] tab, and click [Edit].
2) Check that <Project name> specified in Step 1: Overview is the project to be edited.
3) For the project editing method, refer to "Chapter 2.3 Creating a new project".

Project selection
a) Edit button

c)
Project name

b) 2)

Right-click menu
1) Edit Project window

(3) Adding the project

1) Display the Add Project window using one of the following methods.
a) Double-click the workspace name in the project tree.
b) Select the workspace in the project tree, right-click and select "Add project".
c) Click [Add] in the [Project] group in the [Home] tab.
2) For information on how to add a project, refer to "Chapter 2.3 Creating a new project".

Add button
a)
c)
Workspace name
b)

Right-click menu

Add Project window

1)

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2.10 Operation panel

The robot may operate at 100% speed during the program operation and
debugging.
DANGER Pay attention to safety around the robot.
Before using the operation panel, prepare a T/B in hand and set the robot in a
state in which an emergency stop can be made at any time.
For RT ToolBox3, the operation panel that operates a robot can be started at online connection and
simulation start.
Robot programs, hand operation, and JOG operation can be performed in the operation panel.
Program debugging can be carried out by step operation.
Although Hand operation and JOG operation can be performed on the robot, pay full attention to
robot's surroundings.
(1) Starting the operation panel (at online connection)
1) Connect RT ToolBox3 to the robot controller.
For details of connection methods, refer to "Chapter 2.4 Creating a program (4) Connecting
to the robot controller".
2) Click [Online] in the project tree, and double-click [Operation Panel].
3) When starting the program or carrying out the direct execution, the Caution window is
displayed.
Clicking the [OK] button starts the robot operation. Make sure it is safe around the robot
and prepare a T/B before starting the robot operation.

Caution window

2)

4) Click [OK] in the Caution window, and the operation panel is displayed.

4)

Screen color
During online connection: Blue
At simulation start: Green

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(2) Main screen

Programs selected in the operation panel and programs in the debug state can be executed.
When the program is opened in the debug state, it can be executed by step operation.

(1) Task slot status and settings: Select, Jump

(3) Override

(2) Monitor

(4) Operation panel

(5) Direct

(6) Step

(9) Driving speed

(7) HAND

(8) JOG

1) Task slot status and specifications

Displays the task slot status, selected program, and line number being executed.
· Click the [Select] button to specify the program to be executed.
· Click the [Jump] button to specify the program execution line.
2) Monitor
Displays the 3D Monitor, Error Monitor window, and Program Monitor window.
3) Override
Displays and sets the robot speed override.
4) Operation panel
Starts, stops, resets, and ends the program operation, and turns the servo ON/OFF.
5) Direct
Performs a direct execution of an instruction (regardless of the robot program).
6) Step
Controls the program in the debug state.
· [FORWD], [BACKWD]: Executes one line of the robot program, and moves the execution line to
the previous or next line.
· [CONT]: Executes a program that has stopped by a breakpoint or the stop command
continuously from the stopped line.
7) HAND
Operates the robot hand. Click this button to display the Hand Operation window.
In addition to the opening and closing of each hand, hand alignment and home position
return can be performed.
(To open and close the electrically operated hand, perform direct execution.)
8) JOG
Performs JOG operation on the robot (For details, refer to "(3) Jog Operation window" on the
next page). Click this button to display the JOG Operation window.
9) Driving speed
Selects the robot driving speed from Normal and Low.
When Low is selected, the robot moves at the maximum JOG operation speed.
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(3) Jog Operation window

The robot JOG operations displayed in the robot view can be performed in the online or simulation
mode. Click the "JOG" button in the operation panel to display the JOG Operation window.
To perform JOG operation online (when connected to a robot controller), the personal computer
needs to be set to acquire operation rights.
When the MODE key of the robot controller is set to "Automatic" and external I/O signals are used,
set inputs of operation rights from external I/O to OFF.

1) Robot model selection

Selects the robot model to be operated when multiple robots are connected.
2) Hand Align
Aligns the posture of the hand attached to the robot in units of 90 degrees.
This feature moves the robot to the position where the A, B and C components of the current
position are set at the closest values in units of 90 degrees.
3) Move method
Select the method in which the robot moves. For details on the Move method,
refer to "Appendix 2: RT ToolBox3 Simulation Function 2.2 Simulation function (2) Jog
operation".
4) Movement distance setting
Selects the robot movement distance. Selectable move distances are "Off", "High", and "Low".
5) Current robot position
6) Axis JOG operation
Performs the JOG operation on each robot axis.
The robot moves while holding down the [+] or [-] button with the mouse.
7) Change TOOL
8) Change Workpiece
9) Adjust settings with the slider bar
When Joint or XYZ jog is selected, the corresponding coordinate axis can be moved by moving
the slider bar to the left and right. The slider bar can be moved only in the simulation mode.
10) Move robot to the specified coordinate
Specify the Joint or XYZ coordinates directly to move the robot.

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2.11 Parameter setting

The parameter information set in the robot controller can be referred to and overwritten.
Set the parameters with the robot controller connected to RT ToolBox3.
To set parameters in the robot controller, select [Parameter] under [Online].
Expanding the items in [Parameter] displays items to start each parameter setting window.
Frequently used parameters are described in "Appendix 7: Frequently Used Parameters".
* For details of parameters, refer to the instruction manual "Detailed explanations of functions and
operations".
Referring to and overwriting the parameter information

[Reference]
1) Expand [Online] → [Parameter] in the project tree, and double-click [Parameter List].
2) Or, expand each parameter under [Parameter], and double-click the parameter.
3) For [Parameter List], double-click the parameters displayed in the list.
After inputting a parameter in "Parameter Name", click the "Read" button to search for the
parameter.
[Overwrite]
4) To change parameters, change the parameter values and click "Write".
5) To enable the changed parameter values, power on the robot controller again.

Parameter name input

1) 3)

2)

4)

2)

4)

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2.12 Monitoring function

Monitor the items related to the operation of the connected robot.
(1) Program monitoring
The program information of current operations can be monitored.
Information such as the line currently being executed, variable values, robot posture, and position
information can be checked.

(1) Program
information

(2) Program

(3) Variable monitor

(4) Variables

1) Program information
The program name currently selected, its operation status, and the model name of the
connected robot can be checked.
2) Program
The programs currently selected are displayed. The line currently being executing is highlighted.
3) Variable monitor
The names of the variables used in the selected programs can be checked.
The variables to be monitored can be selected with the buttons displayed at the lower part of the
window.
4) Variables
Add or select variables to be monitored.
Information currently being monitored can be saved to a file.
The saved variable names and types can be read from the file, and they can be set as variables to
be monitored.

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How to display the Program window

1) With the program open or being executed, click [Online] → [Monitor] → [Robot
Movement] → [Program] for the target project in the project tree.
2) For automatic operation, double-click "Task slot1". For debug state, double-click "Edit slot".
3) Clicking [Monitor] → [Program] in the operation panel also displays the program monitor (it
is not necessary to select a task slot in the project tree).

2)
Automatic operation
Task slot 1

2)
Debug status
Edit slot

3)

Program monitoring

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(2) Movement State

The current position, target position, and hand open/close status of the robot can be checked.
How to display the movement state
1) Double-click [Online] → [Monitor] → [Robot Movement] → [Movement State] for the
target project in the project tree.
Movement State window

1)

Movement State

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(3) Error monitoring

The errors currently occurring are displayed.
In the Error Detail window, details (causes and recovery methods) of errors that have occurred can
be checked.
How to display the Error window

1) Double-click [Online] → [Monitor] → [Robot Movement] → [Error] for the target project in the
project tree.
2) Clicking [Monitor] → [Error] in the operation panel also displays the error.
3) To reset the error, click [RESET] in the operation panel.

Error number display

1) 3)

2) Reset
Error

Error

Operation panel at error occurrence

How to display the Error Detail window

1) Select the error and click the [Details] button, or double-click the error message on the Error
Monitor window.
Error window

Error number, error cause,

recovery method
Error number, details

Error Detail window

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(4) Signal monitoring

The statuses of signals input to the robot controller from external equipment and signals output
from the robot controller to external equipment can be checked on the General Purpose Signal
monitor.
a) Monitor settings: Signals displayed on the monitor can be set in a continuous range.
b) Pseudo-input: Signals are input to the robot controller from a personal computer, not from
external equipment.
c) Forced output: Signals can be forcibly output to external equipment from the robot controller.
How to display the General Purpose Signal monitor

1) Expand [Online] → [Monitor] → [Signal] for the target project in the project tree, and select
"General Purpose Signal".

b)

1) a)

c)

How to set the signals that are displayed

1) Click the Monitor Setting button (a) to display the Monitor Setting window.
2) Input the start numbers of the signals displayed in [Input signal#] and [Output signal#], set
their display ranges in [Lines], and then click the [OK] button.

2)

Example)
Input signal: Signal number 10000 or later, 8 lines displayed
Output signal: Signal number 10000 or later, 6 lines displayed

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2.13 Backup and restore

Backup or restore data with the robot controller connected to RT ToolBox3.
(1) Backup (robot → personal computer)
Save the information in the robot controller to a file in a personal computer.
Backup of data in one connected controller

1) Expand [Online] → [Backup] in the project tree. Double-click the item to be backed up from
the four types of backup methods displayed in the project tree.
2) The backup method can be changed by selecting a check box in the Backup window.
3) Specify the backup destination, and click "OK".
4) The Confirmation window is displayed, and the backup starts.
5) When the backup has completed, the backup data is displayed under [Backup] in the project
tree.

1)
2)

4) 3)

(2) Restore (personal computer → robot)

Transfer information backed up on the personal computer to the robot controller.

1) Expand [Backup] in the project tree. Select the data to be restored, right-click and select
"Restore".
2) Specify the restoration method, and click "OK".

1)

2)

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2.14 Simulation function

For details of the RT ToolBox3 simulation function, refer to "Appendix 2: RT ToolBox3
Simulation Function".

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<<MEMO>> * Use this page to write down notes.

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 COMMON

Chapter 3 How to operate the Frequently Used T/B

3.1 Displaying the program
(1) Selecting the INSTRUCTION EDIT screen
Step Operation T/B screen Explanation of Operation
1
Controller/ <Title screen> <F Series (CR750, CR760)>
drive unit (O/P) Set the controller/drive unit's
MODE selector switch to
1) "MANUAL".
<FR Series, F Series
(CR751)>
Switch the mode selector
switch prepared by the user
to "MANUAL".

2 Teaching box (T/B) <Title screen> Press the TB ENABLE switch

TB ENABLE switch on on the back of the teaching box
back side (T/B) to enable the T/B
operation.
(TB ENABLE switch turns
ON.)
2)
If an alarm occurs, reset it by
pressing the [RESET] key at
the lower left of the teaching
box.

Out: Disabled
Depressed: Enable
(lamp ON)

TB on back side

3
<Menu screen> The <Menu> screen opens
when the [EXE] key is pressed
in the title screen.
The cursor will flicker at
"1. FILE/EDIT" (selected
item).

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Step Operation T/B screen Explanation of Operation

4
< FILE/EDIT screen> Press the number key [1]
to open the < FILE/EDIT >
screen.
A list of registered programs
will appear.
When opening the saved
program, select the program
name with the cursor and
press the [EXE] key
to open the <INSTRUCTION
EDIT> screen.

(2) Creating a new program

Step Operation T/B screen Explanation of Operation
1
< FILE/EDIT screen> When creating a new program,
press the [F3] key ("NEW") to
open the new program creation
screen.
Set the program No. (name).

2
< FILE/EDIT screen> To set the program No. (name)
to 1, press the number key [1].
Press the [EXE] key to finalize
1 it.
The edit screen for program
No. 1 opens, and the first line
appears.

3
<INSTRUCTION EDIT screen> The program name appears
at the top line of the
<INSTRUCTION EDIT>
screen.
Nothing is displayed when
creating a new program.
Input the program in this
screen.
If the program closes without a
program being entered, the
program name is deleted.

* To input and correct a program with T/B, refer to "Appendix 1: Teaching Box Appendix 1.3 / Inputting the
program with T/B ".

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3.2 Teaching the current position

(1) Operation on the POSITION EDIT screen
Step Operation T/B screen Explanation of Operation
1 <INSTRUCTION EDIT screen> Open the <INSTRUCTION
EDIT> screen.
Press the [FUNCTION] key
and display "SWITCH" at the
function menu at the bottom of
the screen.

2 <POSITION EDIT screen> Press the [F2] key ("SWITCH")

to open the <POSITION EDIT>
screen.

3 <POSITION EDIT screen> Press the [F3] key ("Prev") or

[F4] key ("Next") displayed at
the very bottom of the
・ <POSITION EDIT> screen
and display the position
variable to be edited.
(Display P10 in this case.)
* Prev (= Previous): Go to the
previous screen
Next: Go to the next
screen
4
<JOG screen> Press the [JOG] key to open
the JOG screen.
Lightly hold down the ENABLE
switch on the back of the T/B
and press the [SERVO] key to
Servo ON turn the servo ON. Move the
robot to the teaching position
<Jog operation>
with jog feed.

5 <POSITION EDIT screen> After moving the robot to the

teaching position, press the
[JOG] key (disable JOG mode)
again and return to the
<POSITION EDIT> screen.

6 <POSITION EDIT screen> Press the [F2] key ("Teach").

The message "Current
position will be registered in
P_ _. Okay?" will appear.

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 COMMON

Step Operation T/B screen Explanation of Operation

7 <POSITION EDIT screen> Press the [F1] key ("YES") to
register the current position.
To cancel the registration,
press the [F4] key ("NO").

8 <POSITION EDIT screen> Press the [F4] key ("Next").

The position variable will
appear.
Perform step 4 to step 7 and
register the points in order.

9 <POSITION EDIT screen> When registering the position

data is completed, press the
[FUNCTION] key and display
"SWITCH" at the function
menu at the bottom of the
screen.
Switch using the [FUNCTION] key Press the [F3] key
("CHANGE") to return to the
<INSTRUCTION EDIT>
screen.
F3 Press F3.

<INSTRUCTION EDIT screen>

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 COMMON

(2) Operation of the INSTRUCTION EDIT screen

1) Open the <POSITION EDIT> screen.
2) Press the [FUNCTION] key, and display "SWITCH"
at the bottom of the screen.
3) Press the function key ([F3]) for "SWITCH".
4) The <INSTRUCTION EDIT> screen will open.

Teaching (registering) a position (the INSTRUCTION EDIT screen is an example).

The following shows the method for teaching the position from the INSTRUCTION EDIT screen.
Step Operation T/B screen Explanation of Operation
1 Look at an example to teach
P10. Press the [↓] and [↑] keys
to move the cursor to the step
where P10 is written.

2 Press the [JOG] key to open

the JOG screen.
Lightly hold down the ENABLE
switch on the back of the T/B
Servo ON and press the [SERVO] key to
turn the servo ON. Move the
<Jog operation> robot to the teaching position
with jog feed.
3 After moving the robot to the
teaching position, press the
[JOG] key again and disable
the JOG mode. The
ISNTRUCTION EDIT screen
opens.
4 Press the [F4] key ("TEACH").
The confirmation message
"Current position will be
registered. Okay?"

5 When the [F1] key ("YES") is

pressed, the current position
data is registered at P10.
To cancel the registration,
press the [F4] key ("NO").

Pick Up!
When multiple position variables
If multiple position variables exists in one line such as "Mov P10+P2", when teaching
from the INSTRUCTION EDIT screen, only the first position variable can be taught.

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3.3 Checking the registered position data (position jump)

With this procedure, the robot is moved to the registered position data and the position data is confirmed.
(Perform this procedure if necessary.)
* Before starting, confirm that the robot will not interfere with peripheral devices even if it moves from
the current position.
Step Operation T/B screen Explanation of Operation
1 <INSTRUCTION EDIT screen> Follow "(1) Steps for
INSTRUCTION EDIT screen
section 3.1 Displaying the
program" in this chapter and
open the <INSTRUCTION
EDIT> screen for the created
program.

2 Press the [FUNCTION] key

and display "SWITCH" at the
function menu at the bottom of
the screen.

3 <POSITION EDIT screen> Press the [F2] key ("SWITCH")

to open the POSITION EDIT
screen.

4 Press the [F3] key ("Prev") and

[F4] key ("Next") to display the
position variable to be
confirmed.
Press the [OVRD↑] key and
[OVRD↓] key and set a safe
speed.
5 Lightly hold down the ENABLE
switch on the back of the T/B
and press the [SERVO] key to
turn the servo ON.
Servo ON Hold down the function key
([F1]) for "MOVE".
The robot will move toward the
position of the displayed
position variable while the [F1]
key is held down.
The robot will move to the
registered position and then
stop.
The interpolation method
follows the method set for jog
operation.

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 COMMON

Step Operation T/B screen Explanation of Operation

6 <POSITION EDIT screen> When confirming the position
data is completed, press the
[FUNCTION] key and display
"SWITCH" at the function
menu at the bottom of the
screen.
Press the [F3] key
Switch using the [FUNCTION] key ("CHANGE") to return to the
<INSTRUCTION EDIT>
screen.
F3 Press F3.

<INSTRUCTION EDIT screen>

There are two interpolation methods:

"JOINT" is displayed for joint interpolation Note) Before starting, confirm that the
robot will not interfere with the
"CARTESIAN" is displayed for linear interpolation
peripheral devices even if it moves
(These depend on the jog mode.) from the current position.

Joint interpolation Linear interpolation

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3.4 Changing position data

(1) Correcting (MDI compensation)
Step Operation T/B screen Explanation of Operation
1 Press the [FUNCTION] key
and display "SWITCH" at the
function menu at the bottom of
the screen.

2 <POSITION EDIT screen>

Press the [F2] key ("SWITCH")
to open the <POSITION EDIT>
screen.

3 Press the [F3] key ("Prev") and

[F4] key ("Next") to display the
position variable to be edited.

4 Press the arrow keys ([↓], [→])

and move the cursor to the
coordinate to be edited.
Hold down the [CLEAR] key
. and delete the displayed
"+0.00".

5 Input the new value and

Number key press the [EXE] key.
Ex) Setting the Z axis value to
50mm
Press the [5], [0] and [EXE]
keys. Only the Z axis value in
the position variable P2 is
registered as 50mm.

Pick Up!
Correcting position
The position data can be corrected in the same manner.
After the position data is finalized, hold down the [F1] key ("MOVE") to move to the compensated data
position.
* Note that the current position data is registered again when the [F2] key ("Teach") is pressed on this
screen.

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 COMMON

(2) Deleting
Step Operation T/B screen Explanation of Operation
1 <POSITION EDIT screen>
Open the <POSITION EDIT>
screen.

2
Press the [F3] key ("Prev") and
[F4] key ("Next"), and display
. the position variable to be
deleted.

3
Press the [FUNCTION] key
and display "DELETE" at the
function menu.

4
Press the [F1] key ("DELETE").
The confirmation message "xxx
will be deleted. Okay?"

5
When the [F1] key ("YES") is
pressed, that position variable
data is deleted.

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 COMMON

3.5. Saving a program

Step Operation T/B screen Explanation of Operation
1
<INSTRUCTION EDIT screen>
Press the [FUNCTION] key
and display "CLOSE" at the
function menu.

2
<MANAGE/EDIT screen>
When the [F4] key ("CLOSE")
is pressed, the program is
saved and closed.
The list of programs opens.

3
<Menu screen>
Press the [FUNCTION] key,
switch the function menu and
press the [F4] key ("CLOSE").
→ The <Menu> screen opens.

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 COMMON

3.6 Executing step operation

With this procedure, the program is executed one line at a time in order of numbers to confirm that the
program runs correctly.
Step Operation T/B screen Explanation of Operation
1 <INSTRUCTION EDIT screen> Follow "(1) Steps for
INSTRUCTION EDIT screen
section 3.1 Displaying the
program" in this chapter and
open the <INSTRUCTION
EDIT> screen of the program.
2 Press the [FUNCTION] key
and display "FWD" and "BWD"
at the function menu at the
bottom of the screen.

3 Lightly hold down the ENABLE

switch on the back of the T/B
Servo ON and press the [SERVO] key to
turn the servo ON.
When the [F1] key ("FWD" is
(FWD) pressed, the step at the cursor
location is executed while the
key is held down. The program
execution stops when the
function key is released.
During execution, LED above
the [START] button on the
operation panel turns ON.
When execution of one step is
completed, the [START]
switch's LED turns OFF, and
the LED above the [STOP]
switch turns ON. When the key
is released, the cursor on the
T/B automatically moves to the
next step.
* The override should be set to
a delay for safety purposes.

Use this operation to execute

each line and confirm the
operation.
4 To quit, press the "CLOSE"
button and save the program.

Pick Up!
Step Return
If the [F4] key ("BWD") is pressed after step feed has been executed several times, program can be
executed and the operation confirmed while returning one step at a time. However, this function is
limited to the movement command for up to 4 continuous steps.

♦◊♦ This completes confirmation of the robot operation (debugging).

Next, try moving the robot with automatic operation!! ♦◊♦

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 COMMON

3.7. Performing automatic operation (T/B)

Automatic operation can be executed with the controller/drive unit's operation panel (O/P) or
teaching box (T/B).
When operating with the operation panel (O/P), refer to "3.8. Performing automatic operation (O/P)
(F Series) ".

♦◊♦ Initially set a low movement speed, and gradually increase it. ♦◊♦

(1) Automatic Operation

Step Operation T/B screen Explanation of Operation
1 Teaching box (T/B) <Title screen> Press the TB ENABLE switch
TB ENABLE switch on on the back of the teaching box
back side (T/B) to disable the T/B
operation (turn OFF the TB
ENABLE switch), and set the
mode selector switch of the
controller prepared by the user
to "AUTOMATIC".

When the mode selector switch

is switched to AUTO while TB
ENABLE of the T/B is enabled,
error H5000 "TB Enable key is
Out: Disabled ON" occurs.
Depressed: Enable
(lamp ON)

TB on back side

2 <Menu screen> The <Menu> screen opens

when the [EXE] key is pressed
in the title screen.

3 <RUN screen> Press the number key [2] and

display the <RUN> menu
screen.

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 COMMON

Step Operation T/B screen Explanation of Operation

4 <OPERATION screen> Press the [3] key on the RUN
screen to display the
<OPERATION> screen.

ENABLE lamp on front of The status indicator "ENABLE"

the teaching box (T/B) of the T/B flashes.

lamp flashes

5 <OPERATION screen> Press the [OVRD↑] key and

[OVRD↓] key and set a safe
speed.

Set speed to 10%

6 <PROGRAM selecting screen> When the [F4] key
("CHOOSE") is pressed, the
<PROGRAM CHOICE> screen
is displayed.
(Displays the selected program
name.)

7 <OPERATION screen> Input the program name to be

Program name input started in the parentheses of
the PROGRAM NAME and
press the [EXE] key.
A new program is displayed
and the display returns to the
<OPERATION> screen.
Changed the program name to
* Always confirm that the
PRG2 program to be started is
selected.
* When the indication of
program execution status is
"STOP", the program cannot
be changed.
Press down the [RESET] (F3
key) to set the status indicator
to "READY", and then operate
again.

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 COMMON

Step Operation T/B screen Explanation of Operation

8 When the function of "SV. ON"
is not displayed, press the
[FUNCTION] key and switch
the function menu display area.

9 <OPERATION screen> Before turning ON the servo,

confirm that there are no
Servo ON operators within the operating
range of the robot, then press
the [F1] key ("SV. ON").
* The servo can be turned ON
with the [SERVO] button of
the T/B.
* You do not have to hold the
"ENABLE switch" for this
operation.
10 <STARTING PROGRAM CHECK> After pressing the [FUNCTION]
key and switching the function
menu display area, press the
→ [F1] key ("START") to open the
CHECK screen.

screen>
11 <OPERATION screen> When the [F1] key ("YES") is
pressed, the automatic
operation starts for the
currently selected program.
The screen returns to the
<OPERATION> screen. The
operation mode is based on the
mode displayed on the screen.
Operation mode

(2) Changing operation mode

Step Operation T/B screen Explanation of Operation
1 Change the operation mode if
necessary.
When the [F2] key is pressed,
the operation mode can be
changed.
* The operation mode can be
When the operation mode changed when "STATUS" is
has changed to <CYCLE> "RUN".
Cycle ········ Use this button to stop
the robot operation
after one cycle.
Continuous··Repeats the program
execution.

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 COMMON

(3) Stopping and resuming

a) Stopping
The running program is immediately stopped, and the moving robot is decelerated to a stop.
Step Operation Explanation of Operation
1 Front of the teaching box (T/B) Press the [STOP] key on the front of the teaching box (T/B).

[STOP] key

b) Resuming automatic operation

When resuming automatic operation, always confirm that the program to be started is selected.
Step Operation T/B screen Explanation of Operation
1 <OPERATION screen> When the [F1] key ("YES") is
pressed, the automatic
operation starts for the
currently selected program.
The screen returns to the
<OPERATION> screen. The
operation mode is based on the
mode displayed on the screen.

(4) Servo OFF

Step Operation T/B screen Explanation of Operation
1 When the function "SV. OFF" is
not displayed, press the
[FUNCTION] key and switch to
the function menu display area.

2 <OPERATION screen> Press the [F2] key ("SV. OFF").

Servo OFF

* The brakes will automatically become active when the servo is turned OFF.
(Depending on the type of robot, some axes may not have brakes.)

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 COMMON

(5) Resetting the program

The program's stopped state is canceled, and the execution line is returned to the head.
Step Operation T/B screen Explanation of Operation
1 When the function "RESET"
is not displayed, press the
[FUNCTION] key and switch
to the function menu display
area.

2 <OPERATION screen> When the [F3] key ("RESET")

is pressed, STEP will return
to its initial position, and the
program will be reset.
The program cannot be reset
while the program is running.
Operate while the program is
suspended.

(6) Exiting the operation panel

Step Operation T/B screen Explanation of Operation
1 When the function "CLOSE"
is not displayed, press the
[FUNCTION] key and switch
to the function menu display
area.

2 <RUN screen> Pressing the [F4] key

("CLOSE") closes the
operation panel.

[Caution]
① Even if the operation panel is closed, the status "SV. ON" will continue to be displayed if the
servo is not turned OFF as described in item (4). Display the "OPERATION" again and perform
item (4), the "Servo OFF" operation.
② If the mode selector switch prepared by the user is switched to "MANUAL" while the
OPERATION is displayed, the mode switches to "MANUAL". The servo power turns OFF, but in
the "MANUAL" mode, the servo does not turn ON unless the T/B ENABLE is enabled and
ENABLE switch is held lightly.

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 F series

3.8. Performing automatic operation (O/P) (F Series)

(1) Automatic operation
Step Operation O/P screen Explanation of Operation
1 <T/B> Press the TB ENABLE switch on
Disabled STATUS NUMBER on
Enabled controller/drive unit's the back of the T/B to disable it,
operation panel (O/P) and set the controller/drive unit
Back of T/B MODE to AUTOMATIC.
While TB ENABLE is enabled,
<O/P>
when the "MODE" key is switched
to "AUTO", error H5000 "TB
Enable key is ON" occurs.

2 <Setting the movement speed> Press the [CHNG DISP] button,

and display the "Override" at the
STATUS NUMBER on STATUS NUMBER display.
controller/drive unit's * Press the [DOWN] button and
operation panel (O/P) set to approx. 10%.

3 <Selecting the program No.> Press the [CHNG DISP] button,

and display the "Program No." at
STATUS NUMBER on the TSATUS NUMBER display.
controller/drive unit's Press the [UP] or [DOWN] button
operation panel (O/P) to display the program No. to run
with automatic operation.
* If the program No. cannot be
selected, press the [RESET]
button to cancel the robot's
stopped state.

4 Before turning ON the servo,

confirm that there are no operators
within the operating range of the
robot, then press the [SVO ON]
button.
The servo turns ON, and the green
lamp on the top of the [SVO ON]
button turns ON.
5 Automatic operation (continuous
operation) starts when the
[START] button is pressed.
If the [END] button is pressed
during continuous operation, the
operation will stop after one cycle.

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 F series

Step Operation O/P screen Explanation of Operation

6 When the [STOP] button is
pressed, the robot will decelerate
and stop immediately.

7 When the [START] button is

pressed again, the automatic
operation will resume (repeated
operation).

(2) Servo OFF

Step Operation O/P screen Explanation of Operation
1 Press the [SVO OFF] button.
The green LED on the top of the
[SVO OFF] button turns ON.
* Switch the mode selector switch
to "MANUAL" if necessary.

2 Switch the mode selector switch

<O/P>
prepared by the user to
"MANUAL" if necessary.

* The brakes will automatically become active when the servo is turned OFF.
(Depending on the type of robot, some axes may not have brakes.)

(3) Resetting the program

The program's stopped state is canceled, and the execution line is returned to the head.
Step Operation O/P screen Explanation of Operation
1 Press the [RESET] button.
The green LED on the top of the
[RESET] button turns ON.

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 COMMON

Chapter 4 Robot Language

The MELFA-BASIC language is used with the MELFA Series.
Programming using this language is explained in this section.

4.1 MELFA-BASIC specifications

(1) Program name
Uppercase alphanumeric characters are used for the
STATUS NUMBER on
program name. Up to 12 characters can be set. controller/drive unit operation panel
The number of characters in the program name that can be (O/P)
displayed on the controller/drive unit operation panel is
within four characters.
When specifying a program via a GOT or programmable
controller, create a name that includes only numbers. Display of program name

(2) Program instructions

Instructions are Instruction statement
configured of the
following parts:
1 Mov P1
• Step number Step No. command data
• Command
• Data 10 Mvs J10 Wth M_Out(8)=1
• Ancillary statement Step No. command data ancillary statement

In MELFA BASIC, uppercase and lowercase alphanumeric characters can be used for
commands and variable names.

a) Step number
The integers 1 to 32,767 can be used for the step number.
The program is executed from the first step (in ascending order of step numbers).
In MELFA BASIC, inputting step numbers during programming is not necessary.
Step numbers are automatically numbered.

Program A Program B

Step No. Step No.

1 ······ 1 ······
2 ······ 2 ······
3 ······ 3 ······
4 End 4 End

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 COMMON

b) Commands
Commands prepared for the MELFA-BASIC can be used.
Typical instruction
No. Item Details Related commands

1 Robot movement control Joint interpolation movement Mov

2 Linear interpolation movement Mvs
3 Circular interpolation movement Mvr, Mvr2, Mvc
Continuous path mode
4 Cnt
specification
Optimized acceleration/
5 Oadl
deceleration movement
6 Positioning range specification Fine P
7 Hand control (pneumatic hand) HOpen, HClose
Hand control (electric operated
8 EHOpen, EHClose
hand)
9 Pallet operation Def Plt, Plt
Program control Unconditional branch,
10 GoTo, If Then Else
Conditional branch
11 Waiting for conditions Wait
12 Limited repetition For Next
13 Interrupt Def Act, Act
14 Subroutine GoSub, CallP
15 Timer Dly
16 Stop End, Hlt
17 External signal Input/output signal M_In, M_Out
Output signal/variable
18 Output signal/variable clear Clr
clear

c) Data
Data is described with constants and variables.

Dly 0.5 Constant notation

Wait time Time 0.5 sec.

Mov P10 Variable notation

Movement Target position
command

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 COMMON

d) Ancillary statement
A process command can be added only to movement commands.

Mov P1 Wth M_Out(17)=0 The robot turns off the output

number 17 while moving to P1.
Movement Command
command statement
statement
Ancillary phrase

An ancillary phrase can be used to connect command statements.

This is limited to movement commands.

e) Label
The label is used to designate a branch destination in the program.

1 *START
2
3
100 *DATASET ············ Label
4 Branch
5 GoSub *DATASET 101 P100=P15+P50
6 102 P110=P20-P51
103 Return

f) Usable characters
Class Usable characters
ABCDEFGHIJKLMNOPQRSTUVWXYZ
Alphabet
abcdefghijklmnopqrstuvwxyz
Numbers 0123456789
Symbols !”#$%&()*+-.,/:;=<>?@’[\]^{}~|
Special
Blank Blank character (space)
characters
Underline _ (underscore)

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 COMMON

(3) Program constants and variables

(1) Data types
A constant is a fixed value that is set beforehand.
A variable is a container for storing data.
There are various types of constants and variables depending on the data used or stored.

Constant

Numeric type Variable

Constant

Character string
Variable
type

Constant
Position type

Variable

Constant

Joint type

Variable

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 COMMON

(2) Variables
The following types of variables are used:
• Calculation formula
• Character string Variables Arithmetic type
• Position
• Joint
Character string type
• Input/output
These are called variable types. The variable
Position type
name is described with 16 or less
alphanumeric characters. Joint type

Input/output type

Variable type

(3) Variable types

The following alphabet is added to indicate the variable type.
• Numeric variable M is added to head
• Position variable P is added to head
• Joint variable J is added to head
• Character string variable C is added to head

Variable type M1, M10, M_00 Numeric variable

P1, PCV, P_02 Position variable

J1, J5, J_08 Joint variable

Character string
C1$, C10$, C_00$ variable

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 COMMON

(4) Types of variables

There are two types of variables:
• Local variable valid only in one program
• External variable common in all programs

Variable valid only in one program Local variable Ex.) M1, P1, etc.

Variable common in all programs External variable Ex.) M_01,P_01

 Program external variable
 Status variable
 User-defined external variable

Program 1
1 Mov P2
2 Mov P_01
3 Mov P3
4 If M_200=1 Then Hlt
······ External variable
Common to program
Local variable M1=1
1 and 2
Valid in program 1 P2=(100,0,200,0,0,0)
P3=(50,50,150,0,0,90)
······ P_01
M_200
Program 2

1 Mov P3
2 Mov P_01
3 Mov P2
4 If M_200=0 Then Hlt
・・・・・・
Local variable M1=1
Valid in program 2 P2=(-200,0,100,-90,0,0)
P3=(-150,0,200,0,0,180)
・・・・・・

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 COMMON

(5) Processing numeric variables

Numeric variables
are processed with Integer type
the following types: ‐32768 to 32767
• Integer type
• Single-precision
Single-precision real number type
real number type
-3.40282347e+38 to 3.40282347e+38
• Double-precision Note: e is the exponential of 10
real number type
Double-precision real number type
-1.7976931348623157e+308 to 1.7976931348623157e+308

(6) Configuration of position variable

The position variable starts with the alphabet P, and is configured with a number, alphabet
character or element, etc.

P1, P10, P150 (number)

PA, PDV, PWORK (alphabet)

P1.Z, PDV.X (element data)

Element data is used to set or change the specified value (such as "X" and
"Z") in the position variable.
Example) P1=(200, 300, 400, 180, 0, 180, 0, 0)
P1.Z=500

P1=(200, 300, 500, 180, 0, 180, 0, 0)

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 COMMON

(7) Constants
There are five types of constants.
Constant Numeric constant
• Numeric value
• Character string
Character string
• Position constant
• Joint
Position constant
• Angle

Joint constant

Angle constant

(8) Numeric constants

Numeric constants
include: Numeric constant
Example
• Decimal
• Hexadecimal (1) Decimal: 0 to 9, 1.5 Wait M_Inb(10)=10
• Binary
(2) Hexadecimal: &H6B Wait M_Inb(10)=&H000A

For a hexadecimal Wait M_Inb(10)=&B00001010

number, add &H at the
beginning.

(3) Binary: &B00001010

For a binary number,
add &B at the
beginning.

(9) Character string constant

String constants are characters enclosed by double quotations (").
Ex.) "ABCDEFGHIJKLMN" "123"

Pick Up!
Up to 240 characters per character string
· The character string can have up to 240 characters including the step numbers and double
quotations.
· Input two double quotations in succession to include them in a character string. For the
character string AB"CD, input "AB" "CD".

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 COMMON

(10) Position constant

Position constants are configured of position data for eight axes, including the additional axes,
and a structure flag that indicates the posture.

(X, Y, Z, A, B, C, L1,L2)(FL1,FL2)
P10= ( 30 0, 100, 350, 179, 0, 170, 0, 0) ( 7, 0)

Coordinate data Posture data Structure flag

Coordinate value of the Posture of the robot tip FL1: Posture flag
robot tip ABC (unit: deg) FL2: Multi-rotation data
XYZ (unit: mm)
Variable name: The first Additional axis data (travel axis, etc.)
character is "P". L1, L2

Example)
P1=(300, 100, 400, 180, 0, 180, 0, 0)(7,0)
P2=(100, 200, 50, 0, 0, 90, 0, 0)(4,0) ········· [4-axis horizontal multi-joint type]
P3=(0, 0, 50, 0, 0, 0)(0,0) ······················· [No additional axis data]

(11) Joint constant

The structure of the joint constant is shown below. Variables cannot be described in the joint
constant.
(J1, J2, J 3, J4, J 5, J 6, J 7, J 8)
J20=(10, -20, 90, 0, 90, 60, 0, 0)

Robot axis data J7, J8: Additional axis data

J1 to J6 (omittable)
(unit: mm or degree) (travel axis, etc.)
L1, L2
Variable name: The first
character is "J".

Example)
J21=(0, 10, 90, 10, 90, 90, 0, 200) ··········· [6-axis robot + additional axis]
J22=(10, 90, 30, 10) ····························· [4-axis robot]
J23=(10, 90, 30, 10, , , 0, 200) ················ [4-axis robot + additional axis]

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 COMMON

(12) Structure flag (FL1, FL2)

Posture flag (FL1) example

[Vertical multi-joint robot]

<RIGHT/LEFT>
6-axis type: Indicates the position (P) of the J5 axis rotation center in respect to the straight above
the J1 axis rotary center.
5-axis type: Indicates the position of the center of the flange (R) in relation to the rotary center
of the J1 axis.

J1 axis J1 axis F L 1 (Flag 1)

Rotation Rotation &B00000000
center center ↑
1 / 0 = RIGHT / LEFT
Note) &B indicates a binary.
6-axis type 5-axis type

<ABOVE/BELOW>
Indicates the J5 axis rotation center position (P) from the J2 axis rotation center to the J3 axis
rotary center.

J3 axis
Rotation center

J2 axis
Rotation center

F L 1 (Flag 1)
&B00000000
↑
1 / 0 = ABOVE / BELOW
Note) &B indicates a binary.
5-axis type/6-axis type

<NONFLIP/FLIP>
Indicates the flange surface direction in respect to the J4 axis rotation center to the J5 axis rotation
center.

J4 axis F L 1 (Flag 1)
&B00000000
↑
1 / 0 = NONFLIP / FLIP
J6 axis flange Note) &B indicates a binary.
surface

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 COMMON

[Horizontal multi-joint robot]

<RIGHT/LEFT>
Indicates the position (P) of the tip axis to the vertical line that passes from the J1 axis rotary
center to the J2 axis rotary center.

RIGHT

LEFT
P

F L 1 (Flag 1)
&B00000000
↑
J2 axis 1 / 0 = RIGHT / LEFT
Rotation center Note) &B indicates a binary.

J1 axis
Rotation center

Multi-rotation flag (FL2)

The wrist tip axis value in the XYZ coordinates system (J6 axis in a vertical multi-joint
robot) is the same as that after one rotation (360 degrees). For this reason, FL2 is used
to count the number of rotations.

Multi-rotation data values

Angle of each axis

Multi-rotation
data values

The multi-rotation flag data shows 0=&H00000000 (Hexadecimal)

the status of all axes in decimal Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axis 8

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 COMMON

Pick Up!

Singularities (- Precautions when teaching a vertical multi-joint robot -)

· If the J5 axis angle is 0° when performing linear interpolation movement using the position data
of the XYZ coordinates system, infinite combinations of angles formed by the J4 and J6 axes
may exist. However, the robot cannot always be made to move to the desired position and
posture. This position is called a singularity.
· A singularity occurs when the center of the axis J5 is on the Z axis of the base coordinate
system and the wrist is facing upward.
· When the structure flag changes during the linear interpolation movement, a singularity occurs.
· When a robot with a singularity is being operated at the XYZ jog, TOOL jog, CYCLINDER jog, or
WORK jog using a T/B, an alarm is generated to warn the operators of the robot if the control
point of the robot approaches the singularity.
· For robots with a singularity pass function, enabling the function allows the robot to pass through
the singularity by the XYZ jog or linear interpolation. This expands the work area by the linear
interpolation and enhances the flexibility of the layout.

Posture at start point

Posture at the singularity

Start point

Operation
direction

Target
position J4 axis
Rotation

Target
position
Operation at the singularity
When the robot attempts to pass through the singularity (J5 axis
= 0˚) or its vicinity with a fixed posture, the J4 axis of the robot
rotates rapidly and the robot cannot pass through.

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 COMMON

4.2 Program instructions

The typical instructions used for programming are explained in this section.

(1) Interpolation instruction

This instruction is used to move the robot.
All axes start simultaneously and stop simultaneously.

a) Mov (Move)
The robot moves with joint interpolation to the target position.
Moves with joint interpolation Start
point

Target
position

Gradual curve

b) Mvs (Move S)
The robot moves with linear interpolation to the target position.

Start
point
Moves with linear interpolation
Target
position

c) Mvr (Move R)
The robot moves with circular interpolation to the target position.

Start
point
Moves with circular
interpolation Transit
point
(Designate the transit point) End point

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 COMMON

d) Cnt (Continuous)
Select from one of the following actions to be taken when passing through the taught points:
• Decelerate and stop
• Do not accelerate or decelerate, and complete smooth interpolation to the end point
When moving from P1 to P5 via P2, P3, and P4

For Cnt1 (continuous operation):

Pass through the vicinity of each point and
(1) P5 (5)
move with continuous operation. P4
P1
(Acceleration/deceleration operation at the (4)
initial value) (Deceleration)

<Program example> (2) (3)

1 Mov P1 'Move with

P2 P3
acceleration/deceleration (1) to P1.
2 Cnt 1 'Enable continuous operation.
V (Speed)
3 Mvs P2 '
Continuous operation (2), (3)
4 Mvs P3 '
5 Mvs P4 'Move with deceleration (4) to P4.
6 Cnt 0 'Disable continuous operation.
Speed transition graph t (Time)
7 Mvs P5 'Move with (Note 1)
acceleration/deceleration (5) to P5.

For Cnt0 (acceleration/deceleration

operation):
Pass through each point and move with
P5 P4
acceleration/deceleration. P1
(Acceleration/deceleration operation at the
initial value)
(Deceleration) (Acceleration)
<Program example>
1 Mov P1 P2 (Acceleration) P3
Acceleration/decelerati
2 Mvs P2 (Deceleration)
on operation (Not set =
4 Mvs P3
acceleration/decelerati V (Speed)
5 Mvs P4 ' on operation)
6 Mvs P5

Speed transition graph t (Time)

(Note 1)

Note 1) "Speed transition graph" shown above is an example. Depending on the movement
distance and speed, acceleration/deceleration may occur during interpolation connection.

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 COMMON

e) Convenient interpolation instructions

Approach interpolation instruction Separation interpolation instruction

(Approach instruction)
The robot separates from the current position
The robot approaches the target position

Current position

Approaches target Separate from current

position position
50mm 50mm

Target position: P1 Current position

RV type: Mov P1, –50 RV type: Mvs, –50

RH type: Mov P1, 50 RH type: Mvs, 50

Note 1) The approach distance and separation distance are expressed as values in the tool coordinate
system's Z axis direction.

If the flange surface is facing the vertical direction, the robot will move in the vertical direction
as shown above.

If the flange surface is not facing the vertical direction, the

robot will move in the direction that the flange surface is
facing as shown below.

Current position
Separate from P1

Approaches target position

Separation distance 50mm

Approach distance 50mm

Target position: P1

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 COMMON

Position data addition/subtraction Example) Addition: P1 + P100

The addition/subtraction is made Subtraction: P1 - P20
with mutual data elements.

Position calculation in the robot tool coordinate system

Position calculation can be performed in the robot tool coordinate system.

The position calculation uses "*".

P1*(0,50,0,0,0,0)

Y Tool coordinate system

Position: P1

P1*(0,0,50,0,0,0)

Using the robot tool coordinate, you can operate the robot along the hand surface direction.
This enables the adjustment of the hand posture for the target workpiece and easy change of
the posture of the held workpiece.

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 COMMON

(2) Speed instruction

Speed instructions are used to control the movement speed while the robot is operating.
a) Ovrd (Override) Program example
Override is valid for all interpolation instructions.
Set the percentage to the general speed (maximum Ovrd <Designated value>
speed) reached during operation. 1 Ovrd 80

Value range: 1 to 100%

Robot operation speed

Override display of the T/B Program description
× 56%
70% Ovrd 80% (70% × 80% = 56%)

b) Spd (Speed)
Speed is valid for the Mvs and Mvr instructions. Program example
Set the movement distance per second (mm/sec)
1 Ovrd 80
* The robot's execution speed is calculated by multiplying
the following three elements: 2 Mov P1
• Speed set on operation panel 3 Spd 500
• Override (Ovrd) instruction speed 4 Mvs P10, 100
• Speed (Spd) instruction speed

Operation panel Override instruction Spd instruction Movement distance per second
speed setting × speed × speed 400mm/sec
100% 80% 500mm/sec (100% × 80% × 500mm/sec)

c) Hand processing instructions

These instructions are used to control a tool attached to Control tool attached to
the robot. robot end
1) HOpen/EHOpen (Hand open)
The hand designated in the program opens.
(HOpen: Pneumatic hand,
EHOpen: Electric operated hand)
2) HClose/EHClose (Hand close)
The hand designated in the program closes.
(HClose: Pneumatic hand,
EHClose: Electric operated hand)

Program example Program example

1 Ovrd 80 1 Ovrd 80
2 Mov P_00 2 Mov P_00 * The following format is used for the electric operated
hand instructions.
3 Mov P10, 100 3 Mov P10, 100 • EHOpen <Hand No.>, <Speed(%)>, <Power(%)>
• EHClose <Hand No.>, <Speed(%)>, <Power(%)>
4 HOpen 1 4 HClose 1 Describe the instructions as follows:
EHOpen 1, 100, 100
5 Dly 0.5 5 Dly 0.5 EHClose 1, 100, 100

When using the pneumatic hand, the hand numbers 1 to 4 are used for the double solenoid, and numbers
1 to 8 for the signal solenoid. When using the electric operated hand, the hand numbers are 1 to 3.

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 COMMON

(3) Dly (Delay)

When this instruction is used, the program waits the designated time before moving to execution of
the instruction on the next line.
Use this to complete the hand open/close operation or wait for the operation stabilization of the
robot.
For the description of the appropriate wait time, use "Fine P (Fine Pause)".

Wait the time designated in the program Adjust the robot movement time

Program example

9 Mvs P10
10 Dly 0.3
The hand closes after the robot finishes
11 HClose 1 movement, and starts the next movement
12 Dly 0.3 after the hand completely closes

13 Mvs P10+P100
14 Mov P20+P100
15 Mvs P20
16 Dly 0.3 The hand opens after the robot finishes
17 HOpen 1 movement, and starts the next movement
after the hand completely opens
18 Dly 0.3
Note) The values (time) shown above are reference values. These must be adjusted for actual operation.

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 COMMON

(4) Fine P (Fine Pause)

This instruction specifies the conditions in which the robot will complete its positioning with
a linear distance.
Use this to wait for the target position to be reached.
Fine P is disabled for all axes by default. Once Fine P is enabled, the enabled status is
applied continuously until disabled.
Note) During the continuous path control (Cnt 1), the Fine P instruction is disabled.

Program example

Fine <Linear distance> , P

Distance between N 1 Fine 0.5,P
the target position 2 Mov P20
< 3 HClose 1
Setting value?

Y Close the hand when the robot reaches P20 (within 0.5mm).

To the next line A sphere with a radius of

0.5mm
Current position

Positioning is completed when the control point enters the

P20
sphere with a radius of 0.5mm centered on P20.

Pick Up!
Differences with the Dly instruction
The Dly instruction specifies the waiting time for the robot positioning completion. If the time specified
is not appropriate, time may be wasted in standby. The Fine P instruction reduces the wasted wait
time since the operation proceeds to the next step when the positioning is completed.

The following shows when the program example for the Dly instruction description is replaced with the
Fine P instruction.

Replace the movement completion of the robot with the Fine P instruction.

Program example

8 Fine 0.5,P Set the movement completion of the robot within 0.5mm
9 Mvs P10
Wait until the robot enters within 0.5mm
10 HClose 1 of the target position
11 Dly 0.3
12 Fine 0,P Disable the Fine P setting
13 Mvs P10+P100
Operate without waiting for positioning completion
14 Mov P20+P100
15 Fine 0.5,P Set the movement completion of the robot within 0.5mm
16 Mvs P20
Wait until the robot enters within 0.5mm
17 HOpen 1 of the target position
18 Dly 0.3
19 Fine 0,P Disable the Fine P setting

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 COMMON

(5) Subroutine instructions

a) CallP (call program) and FPrm (F parameter)
The designated program is called and executed.
The variables defined in the program to be called can be handed over.

Format

CallP "<program name>" [,<argument> [, <argument>] ]

FPrm <argument> [, <argument>]

Main Program Sub-program "10"

1 FPrm M1,P1,P2
1 M1=0
2 If M1=1 Then *L
2 CallP "10",M10,P1,P5
3 Mov P1
3 M20=M10
4 *L
4 Wait M_In(10)=1 5 Mvs P2
5 Mov P5 6 End

b) GoSub (Go subroutine) and Return (return)

The subroutine for the designated label is executed.
The main routine is returned to with the return command in the subroutine.

Program structure Main routine Subroutine

1 'MAIN PRO
2 Ovrd 90
Main
routine 3 Mov P_Safe
4 Wait M_In(12)=1 50 *DATA
5 GoSub *DATA 51 P100=P1
6 Mov P10, 100 52 P100.X=P100.X+5
7 Mvs P10 53 P100.Y=P100.Y-2
8 Dly 0.3 54 P110=P10
9 HClose 1 55 P110.X=P110.X-2
Sub- 10 Dly 0.3 56 P110.Y=P110.Y+1
routine 57 Return
49 End

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 COMMON

(6) Branch instruction

Branch instructions are used in the command for unconditional jump or jump based on condition
judgment.

Program

Branch
destination

Label *ABC
Unconditional jump

GoTo

Other instructions including the following are

also used.
Select Case (Select Case)
Conditional branch While Wend (While End)

If Then Else
(Refer to Appendix 4 MELFA-BASIC.)

a) GoTo (go to)

The program jumps to the designated label.

Program A

1 Ovrd 80
2 Mov P1
3 GoTo *INIT
4 *LOOP
5 Mov P10+P100
6 Mvs P10

49 End
50 *INIT
51 M_Outb(0)=0
52 Dly0.5
53 M10=1
54 GoTo *LOOP

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 COMMON

b) If Then Else (If then else)

If the condition expression designated with the If statement is established (true), the instruction after
Then is executed.
If not established (false), the next step is executed.
If Else is designated after Then and the condition expression designated with the If statement is
established (true), the instruction after Then is executed. If not established (false), the instruction after
Else is executed.

Program example

11 *Loop
Judgment expression 12 If M_In(7)=1 Then GoTo *WK1
13 If M_In(8)=1 Then GoTo *WK2
14 If M_In(9)=1 Then GoTo *WK3 Else GoTo *Loop
15 *WK1
Results
20 *WK2
·

25 *WK3
·

* In this example, the GoTo instruction is set after

Established: Then the Then, Else instructions, so the Goto
instruction after the Then, Else instructions can
be omitted
Not established: Else

If <expression statement> Then <branch destination> Else < branch destination>

c) Wait (wait)
The robot waits here until the variable data reaches the value designated in the program.
Use this for interlock control, etc.

Program example
Variable data
= N
designated value? Wait <Numeric variable> = <Value>

1 Wait M_In(10)=1
2 Mov P20,100
Y

To next line Use for interlock with external signal

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 COMMON

(7) Stop and end instructions

(1) Hlt (halt)
This is the program stop instruction.
The program will stop when this instruction is executed.
The start signal is used to resume the program.

Program example

50 Act 1=0
51 M_Out(10)=1 Dly 1
52 M10=1
53 Hlt Stop automatic operation
54 P100=P_Curr
55 Return 0
To start Start signal

(2) End (end)

This instruction defines the last line of the program.
When cycle stop turns ON, one cycle operation is executed and then the program ends.

Cycle stop ON Program example

1 Ovrd 80
2 Mov P10,100
One cycle operation 3 Mov P1
4 M_Out(8)=0
5 Dly 0.5
6 End Defines last line of program

(8) Clear
This instruction clears general-purpose output signals, local numeric variables in a program, and
external numeric variables.

1 Clr 1 The general-purpose output signals are returned to the initial values that
··· are set beforehand.···(1)
···

1 Clr 2 The local numeric variables and numeric array variables in the program
··· are cleared to 0.···(2)
···

1 Clr 3 All external numeric variables and external numeric array variables are
··· cleared to 0.···(3)
···

1 Clr 0 The operations (1) to (3) above are performed simultaneously.

···
···

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 COMMON

(9) Palletizing control instruction

When carrying out the operation to arrange workpieces with equal distance (palletizing), or removing
workpieces arranged with equal distance (depalletizing), the reference workpiece positions on the
four corners are taught and other positions can be obtained by calculation.
1) Def (define) and Plt (pallet)
This instruction sets the conditions
for using the pallet.
The instruction is described in the
following order:
• Definition/pallet
• Pallet number
• Start point
• End points A, B
• Diagonal point
• Quantity A, B
• Numbering direction

Program example: Def Plt 1, P10, P11, P12, P13, 5, 4, 1

Quantity A
1 2 3 4 5

1 Start point End point

P10 P11
(1) (2) (3) (4) (5)
Numbering
2 direction

(10) (9) (8) (7) (6) Grid point No.

Quantity B 3
(11) (12) (13) (14) (15)
Diagonal
4 End point B point
P12
(20) (19) (18) (17) (P13) (16)

Pallet No.: Plt 1

* To move to a grid point into the pallet, describe the instruction in the following order:
• Mov (move)
• Pallet No.
• Grid point No.

Typically, the alphabet M variable is used as a counter for the grid point number.
Program example

Mov Plt 1, M10

Pallet No.

Grid point No.

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 COMMON

(10) Interrupt control instructions

Set a specified condition beforehand to stop the instruction that is being currently
processed and execute another process (branched to the designated line) when the
condition is satisfied. (Returning to the interrupt source line is possible.)
1) Def (define) and Act (act)
These instructions define the processing details for an interrupt during program execution.
The instruction is described in the following order:
• Define/act Program execution
• Act No.
• Condition expression for interrupt
• Process at interruption Interrupt execution
• Type

Process definition

Program example: Def Act 1,M_In(15)=1 GoSub *EROR ,S

: When the type designation is omitted, the robot stops at the position assuming 100%
: When S is designated for the type, the robot decelerates to a stop with the shortest time
: When L is designated for the type, the robot stops after finishing the execution

* Up to eight types of interrupt processes can be defined

simultaneously. (Act No. 1 to 8) Act 1=1 : Interrupt enabled
The smaller the act No. is, the higher the priority it.
* Designate whether or not to enable the interrupt process with the
act statement. Act 1=0 : Interrupt disabled
 When 1 is designated, the interrupt process is enabled.
 When 0 is designated, the process is disabled
Act 1=-1: Interrupt released and
 When -1 is designated, the interrupt processing state is
monitoring stopped
released and the interruption is disabled.
 When nothing is specified, the interruption is disabled
(default).

* The method of returning from the jump destination depends on the 1 or 0 described after the return
instruction.

Program A Program B
Act 1 High 1 Def Act 1,M_In(10)=0 GoSub *SACT,S
2 2 Def Plt 1,P10,P11,P12,P13,7,3,2
3 Ovrd 90
3 4 Mov P_Safe 70 *SACT
• 5 Mov P10+P100 71 M_Out(15)=1 Dly 1
Priority 6 Wait M_In(8)=1
• 72 Hlt
7 Mvs P10 73 '
8 8 Act 1=1 74 Wait M_In(10)=1
Low Interrupt 75 Return 0
occurrence
•
15 Act 1=0 •
16 Mov P10+P100 •
17 M_Outb(10)=0

Return 1 → Return to line after line where interrupt occurred

Return 0 → Return to line where interrupt occurred

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<<MEMO>> * Use this page to write down notes.

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 Standalone
（FR/F series)
Chapter 5 Input/Output Function
5.1 Standalone type
(1) Required device
The 24VDC power must be prepared by the user.
(2) Number of parallel input/output interface points (Option)
Option slot Input Output
SLOT1 32 points (bits 0 to 31) 32 points (bits 0 to 31)
SLOT2 32 points (bits 32 to 63) 32 points (bits 32 to 63)

Power line Pin No.

0V 1C
24V 1D, 2C

(3) How to use the input/output signals

Up to 32 input points and 32 output points can be used Dedicated input Dedicated output
with one parallel input/output interface. These 32 points signal signal
are used for the dedicated input/output signals (used to Stop Stopped
control the robot), the general input/output signals (for Servo OFF In servo OFF
the interlock, part type and sensor signals, etc., in the Error reset Error occurring
robot program). Start Running
The table on the right shows some examples of the Operation rights Operation rights active
dedicated input/ output signals. The bit numbers for the Servo ON Within user-defined
dedicated input/output signals are set with the area
parameters.

(4) Types of extenral inputs and outputs

The following types of external inputs and outputs are available.
a) Dedicated input/output .............. These input/output signals are used for remote operation such as
executing the robot program or stopping, and to indicate the status
such as information on operation being executed and the servo
power, etc. A function is assigned to each input/output signal. These
assignments can be made by setting the working signal NO. of each
dedicated parameter, and the emergency stop input. Signals with a
high frequency of use are assigned beforehand. These can be added
and changed.
b) General purpose input/output .... These signals are used to communicate with PLC, etc., using the
robot program. Use these to retrieve the positioning signals from the
peripheral devices, and to confirm the robot position, etc.
c) Hand input/output ..................... These signals are used to control the hand. They issue the hand
open/close instructions and retrieve information from the sensors
attached to the hand. (The electric operated hand cannot be
controlled with the input/output signals.) The signals are wired
beforehand to near the end of the robot hand. (The hand output is an
option.)
General map of input/output signals
Input/output
Usage method
signal No.
Hand input/output 900 to 907 Refer/substitute with M_In, M_Inb, M_Inw, M_Out, M_Outb,
(for pneumatic hand) M_Outw
Also possible with HOpen, HClose instructions
Ex) If M_In(900) Then M_Out(900)=1 HOpen 1, HClose 1

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 (FR/F )
5.2 iQ Platform compatible type
(1) Types of extenral inputs and outputs
The following types of external inputs and outputs are available.
a) Dedicated input/output ............... These input/output signals are used for remote operation such as
executing the robot program or stopping, and to indicate the status
such as information on operation being executed and the servo power,
etc. A function is assigned to each input/output signal. These
assignments can be made by setting the working signal NO. of each
dedicated parameter, and the emergency stop input. Signals with a
high frequency of use are assigned beforehand. These can be added
and changed.
b) General purpose input/output .... These signals are used to communicate with PLC, etc., using the
robot program. Use these to retrieve the positioning signals from the
peripheral devices, and to confirm the robot position, etc.
c) Hand input/output ....................... These signals are used to control the hand. They issue the hand
open/close instructions and retrieve information from the sensors
attached to the hand. (The electric operated hand cannot be
controlled with the input/output signals.) The signals are wired
beforehand to near the end of the robot hand. (The hand output is an
option.)

d) Device ··········· As with PLCs, devices include bit devices, such as X and Y, used to store
information in increments of one bit and word devices, such as D, used to
store information in increments of one word.
These devices are used to exchange information with GOTs and
SLMP-compatible equipment.
They are used to publish robot information and provide instructions to robots
from external equipment.
External input/output correspondence table by series
Dedicated General Hand
Device
input/output input/output input/output

MELSEC iQ-R series

○ ○ ○ ○
compatible (FR series)

MELSEC Q series
○ ○ ○ -
compatible (F series)

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 (FR/F )

(2) General map of input/output signals

a) MELSEC iQ-R series compatible (FR series)
Input/output
Usage method
signal No.
Hand 900 to 907 Refer/substitute with M_In, M_Inb, M_Inw, M_Out,
input/output M_Outb, M_Outw
Also possible with HOpen, HClose instructions
Ex) If M_In(900) Then M_Out(900)=1 HOpen 1, HClose 1
Refer/substitute with M_In, M_Inb, M_Inw, M_Out,
M_Outb, M_Outw
PLC link Ex) If M_In(10080)=1 Then M Out(10080)=1
10000 to 18191
input/output
Note) If a dedicated output is assigned to the signal, an
output cannot be made using the M_Out, M_Outb
or M_Outw variables.
SKIP input 800 to 803 800: Exclusively for stop input
801 to 803: Reference with M_In variables

b) MELSEC Q series compatible (F series)

Input/output
Usage method
signal No.
Hand 900 to 907 Refer/substitute with M_In, M_Inb, M_Inw, M_Out,
input/output M_Outb, M_Outw
Also possible with HOpen, HClose instructions
Ex) If M_In(900) Then M_Out(900)=1 HOpen 1, HClose 1
Refer/substitute with M_In, M_Inb, M_Inw, M_Out,
M_Outb, M_Outw
PLC link Ex) If M_In(10080)=1 Then M Out(10080)=1
10000 to 18191
input/output
Note) If a dedicated output is assigned to the signal, an
output cannot be made using the M_Out, M_Outb
or M_Outw variables.

(3) PLC link input/output function

This function communicates by the sequence ladder program using the memory shared by the
PLC CPU and the robot CPU.
During communication, the "CPU buffer memory periodical communication area" in the CPU
buffer memory is used for the MELSEC iQ-R series (FR series) and the "multi-CPU high-speed
communication area" in the shared memory is used for the MELSEC Q series (F series).
The robot CPU uses the signal numbers 10000 to 18191 for both input signals and output signals.
To use this function, set multi-CPU related parameters for both the PLC CPU and
robot CPU.
For the setting method of multi-CPU related parameters, refer to the following.
FR Series: Chapter 5 Input/Output Function 5.2 (4) PLC multi-CPU (GX-Works3) settings
F Series: Appendix 5 iQ Platform Compatible (MELSEC Q Series Compatible) (F Series)
Appendix 5.2 Setting Multi-CPU (Using GX Works2)

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 (FR )

(4) PLC multi-CPU (GX-Works3) settings

Set the multi-CPU parameters using GX-Works3.

1) Set a module configuration before setting the multi-CPU. Based on the actual module
configuration, arrange the modules as shown below. The following shows a setting example
for a system having three PLC CPUs and three robot CPUs.

GX Works3 Module Configuration screen example (three robots)

2) When the Module Configuration screen is closed after arranging the modules,
the following dialogue box will appear. Click [Yes].

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 (FR )
3) Open the System Parameter screen to set the multi-CPU.

Set the number of points in units of K words.

The robot CPU uses less than 1K word, but this should be set
to 1K word.

Setting item Explanation Setting value

Communication PLC Unit Data Set this item to avoid data Enable
Setting separation of each PLC unit at
between CPUs data communications by refresh
among CPU modules.
Fixed Scan Set whether to use the fixed Use
Communication scan communication function.
Function Always select "Use" when using
together with a robot CPU.
Fixed Scan Set the transmission area range <The CPU buffer memory
Communication of each unit in the fixed scan extended function is valid>
Area Setting communication area Note1). The · CPU No. 1···Sum of the size
necessary areas for robot are (1K) of the data to be
as follows. sent to the robot and
the size of the data to
<The CPU buffer memory be sent to other
extended function is valid> modules
· Robot input area···1.0K · Robot CPU···Set 1K.
· Robot output area···1.0K · Other CPU modules···
<The CPU buffer memory Set the transmission
extended function is invalid> size of the host CPU.
· Robot input area···0.5K <The CPU buffer memory
· Robot output area···0.5K extended function is invalid>
· CPU No. 1···Sum of the size
(0.5K) of the data to
be sent to the robot
and the size of the
data to be sent to
other modules
· Robot CPU···Set 1K.Note2)
· Other CPU modules···
Set the transmission
size of the host CPU.
Operation Stop Setting If a major or moderate error Major: All Station Stop,
Mode Setting occurs at any of the CPUs, set Moderate: All Station Continue
whether to stop or continue * Set for all CPU modules.
operation for all CPUs.
Synchronous Set this item to synchronize the Synchronize
Startup Setting startup time of CPU modules in
the multi-CPU system.
* Always select "Synchronize" since
the robot CPU takes approximately
60 seconds to startup.
Note 1) For the multi-CPU and fixed scan communication area, refer to the RCPU manual
(MELSEC iQ-R CPU Module User's Manual (Application)).
Note 2) Because the area can be set in 1K units only, allocate 1K in the case of 0.5K.

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 (FR )
4) Set the parameters for the multi-CPU setting using GX Works3 and write them to the PLC CPU, then reset them.
(5) Setting robot multi-CPU parameters (RT ToolBox3)
Set the multi-CPU parameters of the robot using RT ToolBox3.
(→ Refer to "MELSEC iQ-R series robot CPU parameter")

Procedure for displaying the RT ToolBox3 multi-CPU setting screen

1) After the communication settings, activate the online state between the robot and RT
ToolBox3.
2) Right-click [Online] in the project tree and display the menu. Expand [Parameter] → [PLC
cooperation parameter], and then click [Multiple CPU].
3) The multi-CPU setting screen is displayed.
4) Enter the multi-CPU parameters and click [Write].
5) Write the parameters in the robot controller and reset the power supply.

1)

2)

3)
The multi-CPU input offset
parameter "QMLTCPUS" can
be set.

The synchronous startup and

fixed-cycle communication
area setting automatically

RT ToolBox3 multi-CPU setting screen 4)

5)
5)

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 (FR )

[Start address of the robot input offset]

The following table lists the start addresses of the robot input area with the initial robot setting
(multi-CPU input offset parameter "QMLTCPUS" is "-1") (the start address differs depending on
enable/disable state of the CPU buffer memory extended function).
Start address of the robot input area with the initial robot setting
CPU buffer memory extended
CPU No. function
Disable Enable
CPU No. 2 (robot 1) 0K 0K
CPU No. 3 (robot 2) 0.5K 1.0K
CPU No. 4 (robot 3) 1.0K 2.0K

If the enable/disable state of the CPU buffer memory extended function of other CPUs differs or a
unit other than robot is inserted, the start address of the robot input area may differ from the above
table.
In such a case, set the multi-CPU input offset parameter "QMLTCPUS".

What is the multi-CPU input offset parameter (QMLTCPUS)?

This parameter is used to set an offset to the input signal of the robot in the multi-CPU in 1K
word unit.
For example, when 1 is set to QMLTCPUS, the start address of the robot input area becomes
an address (U3E0\HG1024) that is offset by 1K word from the start address of the PLC No. 1
transmission area.
When -1 (initial value) is set to QMLTCPUS, the start addresses of the robot input area are
shown in the above table.

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 (FR )
Robot CPU parameter
Parameter
Details Default setting
name
QMLTCPUN Number of multi-CPU modules setting 2
Set the number of multi-CPU modules mounted in the main base unit
of the multi-CPU system.
Range: 1 to 4
QMLTCPUn CPU buffer memory fixed scan communication area setting (n = 1 to 1,0,1,1
n=1 to 4 4)
In the multi-CPU system, read the number of points transmitted and
received in the CPU buffer memory fixed scan communication area of
the CPU No. 1 to 4 from the CPU No. 1, and set it automatically. The
value does not need to be changed.
Element 1: Size of the fixed scan communication area (K word)
Range: 0 to 12
*The total size of all CPUs is 24K words at maximum.
Element 2: Number of automatically refreshed points (word)
Range: 0 to 14335
The robot CPU does not support the automatic refresh
area, so always set the number of automatic refresh area
points to 0.
Element 3: System reservation
Element 4: Multiple CPU synchronous startup (1: Enabled, 0: Disabled)
The robot CPU takes time to start up. Keep the setting 1
(Synchronize) and do not change it. The settings of all
CPUs must be the same.
IQMEM
Select the CPU buffer memory extended function. 00000000
A function is assigned for each bit.1/0= Enabled/Disabled 00000000
15 0
00000000 00000000
bit2-3, 5-15 bit0: Use the extended function
are not used bit1: PLC direct execution fucntion

bit4: Interference avoidance function

IQSPEC Set the functions of the CR800-R series controller. 0000000000000

A function is assigned for each bit.1/0= Enabled/Disabled 001
15 0
00000000 00000000
bit1-15 is not bit0: Writing direction of the CPU buffer
used memory
=0: Execute read/write in order from
head to last address
=1: Execute read in order from head,
and write in order from last
address

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 (FR )

(6) Correspondence of CPU buffer memory and robot input/output signals

In the PLC CPU, the CPU buffer memory is accessed like U3E0\HG511. The CPU buffer memory
of the robot CPU No. n accesses like U3En\G511. (n = 1 to 3, up to three robot CPUs can be
used.) The robot CPU's input/ output signal numbers are 10000 to 18191 respectively. Note that
the PLC side uses word devices, and the robot side uses bit devices.
Note that the correspondence of the CPU buffer memory and robot input/output signals is as
shown in the following table and it cannot be changed.
Correspondence of CPU buffer memory and robot input/output signals
PLC (word device) Robot (bit device)

Output U3E0\HG0 to U3E0\HG511 Input Robot CPU No.1 / 10000 to 18191

U3E0\HG512 to U3E0\HG1023 Robot CPU No.2 / 10000 to 18191

U3E0\HG1024 to U3E0\HG1535 Robot CPU No.3 / 10000 to 18191

Input U3E1\HG0 to U3E1\HG511 Output Robot CPU No.1 / 10000 to 18191

U3E2\HG0 to U3E2\HG511 Robot CPU No.2 / 10000 to 18191

U3E3\HG0 to U3E3\HG511 Robot CPU No.3 / 10000 to 18191

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 (FR )

(7) Example of sequence ladder

An example for turning the operation panel's "Robot operation right enable button: X0" ON, set the
operation panel's "Robot operation rights enabled lamp: Y20" and output the robot's operation right
enabled state is shown below.
The multi-CPU is configured of the No. 1 unit: PLC RnCPU and No. 2 unit: robot R16RTCPU.
[Explanation]
<Lines 0 to16 > M100 to M131 are written into the U3E0\HG0 and U3E0\HG1shared device memory,
and are handled as the input from the PLC to the robot. The U3E1\HG0 and U3E1\HG1
shared device memory is read as the M200 to M231 bit device, and handled as the
output from the robot to the PLC.
<Lines 17 to 22 > When X0 turns ON, M105 turns ON and U3E0\HG0 bit 5 of the PLC corresponding to
M105 turns ON. Then, the robot input 10005 turns ON, and the operation rights
assigned to the dedicated input signal are enabled. When the operation rights are
enabled, the robot output 10005 assigned to the dedicated output signal turns ON, and
the robot's U3E1\ HG0 bit 5 turns ON. This causes the PLC M205 corresponding to the
U3E1\HG0 bit 5 to turn ON, and Y20 to turn ON. In this example, bit device M201
(U3E0\HG0 bit 1, or robot output 10001) indicates the completion of the controller
power ON (outputs that external input signal can be received).

Example of sequence ladder

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 (FR )

(8) Dedicated input/output signal assignment (Default settings)

The default dedicated input/output signal assignments are shown below.
Dedicated input/output signal assignment (default settings)
Parameter Input signal name G device
Output signal name Input Output
name (* Operation rights required) Note 1)

Stop input (assignment change

STOP Pausing output 10000 10000
is impossible)
RCREADY - Controller power ON ready - 10001
ATEXTMD - Remote mode output - 10002
TEACHMD - Teaching mode output - 10003

ATTOPMD - Teaching mode output - 10004

IOENA Operation rights input signal Operation rights output signal 10005 10005

START Start input (*) Operating output 10006 10006

STOPSTS - Stop signal input - 10007

HG0
SLOTINIT Program reset (*) Program selection enabled output 10008 10008

ERRRESET Error reset input signal Error occurring output signal 10009 10009

SRVON Servo ON input signal (*) In servo ON output signal 10010 10010

SRVOFF Servo OFF input signal Servo ON disable output signal 10011 10011
In cycle stop operation output
CYCLE Cycle stop input signal 10012 10012
signal
In safe point return output
SAFEPOS Safe point return input signal (*) 10013 10013
signal
BATERR - Battery voltage low - 10014
General-purpose output signal
OUTRESET - 10015 -
reset (*)
HLVLERR - High level error output signal - 10016
LLVLERR - Low level error output signal - 10017
Warning level error output
CLVLERR - - 10018
signal
EMGERR - Emergency stop output signal - 10019
PRGSEL Program selection input signal - 10020 -
OVRDSEL Override selection input signal - 10021 -
PRGOUT Program No. output request Program No. output signal 10022 10022
LINEOUT Line No. output request Line No. output request 10023 10023
HG1
OVRDOUT Override value request Override value output signal 10024 10024
ERROUT Error No. output request Error No. output signal 10025 10025
- - - - -
- - - - -
- - - - -
- - - - -
- - - - -
- - - - -
Numeric value input 0 Numeric value output 0 10032 10032
IODATA Numeric value input 1 Numeric value output 1 10033 10033 HG2

Numeric value input 2 Numeric value output 2 10034 10034

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 (FR )
Parameter Input signal name G device
Output signal name Input Output
name (* Operation rights required) Note 1)

Numeric value input 3 Numeric value output 3 10035 10035

Numeric value input 4 Numeric value output 4 10036
Numeric value input 5 Numeric value output 5 10037
Numeric value input 6 Numeric value output 6 10038
Numeric value input 7 Numeric value output 7 10039
Numeric value input 8 Numeric value output 8 10040
IODATA Numeric value input 9 Numeric value output 9 10041 HG2
Numeric value input 10 Numeric value output 10 10042
Numeric value input 11 Numeric value output 11 10043
Numeric value input 12 Numeric value output 12 10044
Numeric value input 13 Numeric value output 13 10045
Numeric value input 14 Numeric value output 14 10046
Numeric value input 15 Numeric value output 15 10047
- Hand output signal state 900 - 10048
- Hand output signal state 901 - 10049
- Hand output signal state 902 - 10050
- Hand output signal state 903 - 10051
HNDCNTL1
- Hand output signal state 904 - 10052
- Hand output signal state 905 - 10053
- Hand output signal state 906 - 10054
- Hand output signal state 907 - 10055
HG3
- Hand input signal state 900 - 10056
- Hand input signal state 901 - 10057
- Hand input signal state 902 - 10058
- Hand input signal state 903 - 10059
HNDSTS1
- Hand input signal state 904 - 10060
- Hand input signal state 905 - 10061
- Hand input signal state 906 - 10062
- Hand input signal state 907 - 10063
- User-designated area 1 - 10064
- User-designated area 2 - 10065
- User-designated area 3 - 10066
- User-designated area 4 - 10067
USRAREA HG4
- User-designated area 5 - 10068
- User-designated area 6 - 10069
- User-designated area 7 - 10070
- User-designated area 8 - 10071
Note 1) The address of the multi-CPU share device. (Address seen from the sequencer CPU side)

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 COMMON

5.3 Assigning dedicated signals

(1) When using the T/B
Specify the parameter name in [3.PARAM.] on the MENU screen.
(For the operation method, refer to "Appendix 1: Teaching Box 1.1 Basic menu (3) Parameter menu".)

<Example 1> Parameter name: START

Function: This screen sets the robot program start into the open input signal number 7.

[Before setting] [After setting]

"-1" is not set [Input signal] [Output signal]

<Example 2> Parameter name: IODATA

Function: This screen sets the numeric data into the open input signal numbers 8 to 11 and
open output signal numbers 8 to 11.

[Before setting] [After setting]

[Input signal] [Output signal] BCD code

(2) When using RT ToolBox3

1) Expand [Online] → [Parameter] → [Signal Parameter] → [Dedicated Input/Output Signals
Assignment] in the project tree.
2) Select each item under [Dedicated Input/Output Signals Assignment] and change the parameter
values.
3) After changing the parameter values, click the [Write] button to write them to the robot controller.

Enter the parameter value. 2)

1)

3)

* After changing the parameters, always turn the controller/drive unit control power OFF and ON.
Turning off and on the control power supply of the controller/drive unit enables the changed
parameters.

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5.4 General-purpose input/output signals

The remaining open <signals> can be used by the user for general-purpose input/output signals.

[Reference] For details on the input/output signal pin numbers, refer to the section "External input/output
functions" in the separate "Instruction Manual / Detailed explanation of functions and
operation".

5.5 Controlling the general-purpose input/output signals

 Example to read the general-purpose input/output signal conditions, judge whether the conditions are
true or false, and execute branching
[Caution] In the following example, the general-purpose input/output signal numbers are based on the
standalone type (F-D Series). When using the iQ Platform compatible type (F-Q Series), the
general- purpose input/ output signal numbers are in the 1000s addresses.

<Example 1> Read whether the designated general-purpose input signal (8) is ON, and branch
depending on true or false
If M_In(8)=1 Then *OK Else *NG

<Example 2> Read whether the designated general-purpose input signal (9) is OFF and branch
depending on true or false
If M_In(9)=0 Then *GET1 Else *GET2

<Example 3> Wait for designated general-purpose input signal (10) to turn ON (wait for hand input signal
(900) to turn ON)
Wait M_In(10)=1
Wait M_In(900)=1

<Example 4> Read whether the four bits of designated general-purpose input signals ( (8) to (11) ) are
ON, and branch depending on true or false
If M_Inb(8)=&B00001111 Then *GETWK Else *WT
If M_Inb(8)=15 Then *GETWK Else *WT
If M_Inb(8)=&H0F Then *GETWK Else *WT

Designated number of bits Designated bit No.

No. of bits = 8 bits (1 byte)

Data method
(15) (14) (13) (12) (11) (10) (9) (8)
Binary (&B) 0 0 0 0 1 1 1 1
Decimal (Dec) 128 64 32 16 8 4 2 1
Hexadecimal (&H) 0 0 0 0 8 4 2 1

<Example 5> Substitute the 8 bits of input signal data (BCD) from bit No. (8) in numeric variable "M1"
M1=M_Inb(8)

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 COMMON

 Example of program for processing genera-purpose input/output signals

<Example 1> Turn ON designated general-purpose output signal (8)

M_Out(8)=1
M_Out(8)=1 Dly 0.5 (pulse output) (parallel process)

<Example 2> Turn OFF designated general-purpose output signal (9)

M_Out(9)=0

<Example 3> Turn ON only the designated general-purpose output signals (8) to (11)
M_Outb(8)=&B00001111 ' Binary
M_Outb(8)=15 ' Decimal
M_Outb(8)=&H0F ' Hexadecimal
M1=15 ' Variable
M_Outb(8)=M1

<Example 4> Turn OFF all 8 bits from the designated general-purpose output signal (8)
M_Outb(8)=0

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<<MEMO>> * Use this page to write down notes.

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 COMMON

Chapter 6 Practice Exercises

6.1 Exercise 1: Material handling work (basic operation)

(1) Start at P1, move the workpiece from P10 to P12, and then return to P1.
(Input the Z data with the MDI for P2.)

Hand

P1

P10+P2 P12+P2
50mm 50mm

Conveyor
P10 P12

(2) Change the P10+P2 operation to 10, -50 (proximity interpolation instruction (approach instruction),
and observe the differences.

[Caution] For the RV type robot, decrease the Z data by 50mm and for the RH type increase by 50mm.
Set the approach instruction to "P10, -50" for the RV type, and "P10, 50" for the RH type.

6.2 Exercise 2: Material handling work using input/output signals (I/O) (Basic I/O
process)

Try adding conditions (1) and (2) to the Exercise 1 program

(1) After input signal (11008) turns ON, pickup the workpiece at P10. Set it at P12, and then turn the output
signal (11008) ON for 0.5 seconds.

(2) After input signals (11008), (11009) and (11010) turn ON, pickup the workpiece at P10. Set it at P12,
and then turn output signals (11008), (11009) and (11010) ON. Return to P1 and turn all signals OFF.

[Caution] To create a program using the standalone type robot, read the I/O signals (11008 to
11010) to (8 to 10).

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 COMMON

Example exercise responses

Example response for Exercise 1: Material handling work (basic operation)

* The example response assumes that an electric operated hand is being used. When using a pneumatic hand,
change EHOpen 1,100,100 to HOpen 1, EHClose 1,1000,1000 to HClose 1.
<Example for (1)'s response> <Example for (2)'s response> <Details of operation>

1 Ovrd 80 1 Ovrd 80 ; Set movement speed to 80%

2 EHOpen 1,100,100 2 EHOpen 1,100,100 ; Open hand 1
3 Mov P1 3 Mov P1 ; Move to retract position
4 Mov P10+P2 4 Mov P10,-50[Caution] ; Move to 50mm above workpiece grasp position
5 Mvs P10 5 Mvs P10 ; Move to workpiece grasp position
6 Dly 0.3 6 Dly 0.3 ; 0.3 sec. timer (wait for robot operation to settle)
7 EHClose 1,100,100 7 EHClose 1,100,100 ; Grasp workpiece
8 Dly 0.5 8 Dly 0.5 ; 0.5 sec. timer (wait for hand to completely close)
9 Mvs P10+P2 9 Mvs ,-50[Caution] ; Move 50mm up from current position
10 Mov P12+P2 10 Mov P12,-50[Caution] ; Move to 50mm above workpiece setting position
11 Mvs P12 11 Mvs P12 ; Move to workpiece setting position
12 Dly 0.3 12 Dly 0.3 ; 0.3 sec. timer (wait for robot operation to settle)
13 EHOpen 1,100,100 13 EHOpen 1,100,100 ; Release workpiece
14 Dly 0.5 14 Dly 0.5 ; 0.5 sec. timer (wait for hand to completely open)
15 Mvs P12+P2 15 Mvs ,-50[Caution] ; Move 50mm up from current position
16 Mov P1 16 Mov P1 ; Return to retract position
17 Hlt 17 Hlt ; Stop
18 End 18 End ; End of program

[P2 is input with MDI]

[Caution]
The values for steps 4, 9, 10 and 15 are input as "-50" for the RV
type and "+50" for the RH type.
(Tool coordinate system's Z axis direction and distance)

Example response for Exercise 2: Material handling work using input/output signals (Basic
I/O process)
(1) Insert between Steps 4 and 5:
*IOCK
If M_In(11008)=0 Then *IOCK[Supplement] ; After input signal 11008 turns OFF, branch to *IOCK (wait
for it to turn ON). Go to next line after input signal turns ON.
Insert between Steps 15 and 16:
M_Out(11008)=1 Dly 0.5 ; Turn output signal ON for only 0.5 sec. (pulse)

[Supplement] Describe as follows when using the Wait instruction:

Wait M_in(11008)=1

(2) Insert the following Steps 4 and 5:

*IOCK
If M_Inb(11008)<>&B111 Then *IOCK ; If input signals 11008, 11009 and 11010 are not all turn ON,
wait for them to turn ON. Go to next line if all signals are ON.
Insert between Steps 15 and 16:
M_Outb(11008)=&B111 ; Turn output signals 11008, 11009 and 11010 all ON
Insert between Steps 16 and 17: Clr 1 ; Set all of the output signals to the parameter-set state
beforehand (hold ON, OFF)

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 COMMON

6.3 Exercise 3: Take a look at the priority signals and sub-program

In this example, there are three conveyors. The signal input first is read in, and the workpiece is picked up
at each position and transferred to P12. Create a sub-program to remove the workpiece.

[Caution] For the RV type robot, decrease the Z data by 50mm and for the RH type increase by 50mm.
[Caution] To create a program using the standalone type robot, read the I/O signals (11008 to 11010)
to (8 to 10).

M_In(11010) M_In(11009) M_In(11008) Place of retrieval

0 0 0 Standby
0 0 1 P10
0 1 0 P20
0 1 1 P10, P20
1 0 0 P30
1 0 1 P10, P30
1 1 0 P20, P30
1 1 1 P10, P20, P30

Hand

P1

M_In(11008)=1
* Substitute P10 position data in
P100, -50
50mm

Conveyor
P10 M_In(11009)=1 P12, -50
(Substitute in P100)
* Substitute P20 data in P100 50mm

Conveyor
P12
P100, -50
50mm

Conveyor M_In(11010)=1
P20
(Substitute in P100) * Substitute P30 data in P100

P100, -50
50mm
Conveyor
P30
(Substitute in P100)

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 COMMON

Example exercise responses

Example response for Exercise 3: Create the priority signals and sub-program
(Incorporate the main program and sub-program concepts as an efficient structure.)

[Caution] For the 19th, 26th, 28th and 33rd lines,

the RV type is input as "-50" and the RH type is input as "+50".

* The example response assumes that an electric operated hand is being used. When using a
pneumatic hand, change EHOpen 1,100,100 to HOpen 1, EHClose 1,1000,1000 to HClose 1.

1 Ovrd 100 ; Set operation speed to maximum speed

2 EHOpen 1,100,100 ; Open hand 1
3 Mov P1 ; Move to retract position
4 *CHECK8
5 If M_In(11008)=0 Then *CHECK9 ; After input signal No. 11008 turns OFF, branch to *CHECK9
6 P100=P10 ; Substitute P10 in P100
7 GoSub *GETPUT ; Branch to *GETPUT (common program for handling)
8 *CHECK9
9 If M_In(11009)=0 Then *CHECK10 ; After input signal No. 11009 turns OFF, branch to *CHECK10
10 P100=P20 ; Substitute P20 in P100
11 GoSub *GETPUT ; Branch to *GETPUT (common program for handling)
12 *CHECK10
13 If M_In(11010)=0 Then *CHECK8 ; After input signal No. 11010 turns OFF, branch to *CHECK8
14 P100=P30 ; Substitute P30 in P100
15 GoSub *GETPUT ; Branch to *GETPUT (common program for handling)
16 End ; End of program
17 ’ ; Comment line (nothing is executed)
18 *GETPUT
19 Mov P100,-50 [Caution] ; Move to 50mm above workpiece grasp position
(P10, P20 or P30 is substituted)
20 Ovrd 50 ; Set movement speed to 50%
21 Mvs P100 ; Move to workpiece grasp position
22 Dly 0.3 ; 0.3 sec. timer (wait for robot operation to settle)
23 EHClose 1,100,100 ; Grasp workpiece
24 Dly 0.5 ; 0.5 sec. timer (wait for hand to completely close)
25 Ovrd 100 ; Set movement speed to maximum speed
26 Mvs ,-50 [Caution] ; Move to 50mm above current position
27 ’ ; Comment line (nothing is executed)
28 Mov P5,-50 [Caution]
; Move to 50mm above workpiece setting position
29 Mvs P5 ; Move to workpiece setting position
30 Dly 0.3 ; 0.3 sec. timer (wait for robot operation to settle)
31 EHOpen 1,100,100 ; Release workpiece
32 Dly 0.5 ; 0.5 sec. timer (wait for hand to completely open)
33 Mvs ,-50 [Caution] ; Move to 50mm above current position
34 Mov P1 ; Return to retract position
35 Return ; Go to step after GoSub

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 COMMON

6.4 Exercise 4: Palletizing work

(1) Pick up the workpiece with conveyor P10, and palletize it to pallet 4×3 = 12.
(2) Try considering a one-row pallet 4×1.

[Caution] For the RV type robot, decrease the Z data by 50mm and for the RH type increase by 50mm.

Hand

<Pallet1: Plt 1>

P1
1 2 3 4

1 P20 P21

2
P10, -50
50mm
3 P22
Conveyor
P10 Pallet counter: M1
Calculated pallet position: P100
* Substitute the pallet's nth position data into
P100 and use
P100, -50
50mm

P100

View of pallet 1 from side

6.5 Exercise 5: Adding the interrupt function

Try adding the interrupt function to the movement in Exercise 4

After the input signal (11012) turns ON during the operation, the output signal (11012) turns ON and the
robot stops.
After restarting, the output signal (11012) turns OFF, and the operation is executed from the line where the
interrupt occurred.

[Caution] To create a program using the standalone type robot, read the I/O signal (11012) to (12).

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 COMMON

Example exercise responses

Example response for Exercise 4: Palletizing work

[Caution] For the 7th, 12th, 15th, 20th and 23rd lines,
the RV type is input as "-50" and the RH type is input as "+50".

* The example response assumes that an electric operated hand is being used. When using a
pneumatic hand, change EHOpen 1,100,100 to HOpen 1, EHClose 1,1000,1000 to HClose 1.
1 Def Plt 1,P20,P21,P22,,4,3,1 ; Define No. 1 pallet (position, size, quantity, order No.)
2 M1=1 ; Substitute value 1 in variable M1
(M1 is used for pallet grid point No.)
3 Ovrd 100 ; Set movement speed to maximum speed
4 EHOpen 1,100,100 ; Open hand 1
5 Mov P1 ; Move to home position
6 *LOOP
7 Mov P10,-50 [Caution] ; Move to 50mm above workpiece grasp position
8 Mvs P10 ; Move to workpiece grasp position
9 Dly 0.3 ; 0.3 sec. timer (wait for robot operation to settle)
10 EHClose 1,100,100 ; Grasp workpiece
11 Dly 0.5 ; 0.5 sec. timer (wait for hand to completely close)
12 Mvs ,-50 [Caution] ; Move to 50mm above current position
13 ’ ; Comment line (nothing is executed)
14 P100=Plt 1,M1 ; Operate the grid point position indicated by the pallet M1 value, and
substitute into P100
15 Mov P100,-50 [Caution] ; Move to 50mm above grid point position above pallet
16 Mvs P100 ; Move to grid point position above pallet
17 Dly 0.3 ; 0.3 sec. timer (wait for robot operation to settle)
18 EHOpen 1,100,100 ; Release workpiece
19 Dly 0.5 ; 0.5 sec. timer (wait for hand to completely open)
20 Mvs ,-50 [Caution] ; Move to 50mm above current position
21 M1=M1+1 ; Add 1 to the M1 value (number of next grid point on pallet)
22 If M1<=12 Then *LOOP ; Repeat until pallet is filled. (* To LOOP)
Go to next step when pallet is full
23 Mov P10,-50 [Caution] ; Move to 50mm above workpiece grasp position
24 Hlt ; Stop
25 End ; End of program
Example response for Exercise 5: Adding the interrupt function
Add between steps 2 and 3:
Def Act 1,M_In(11012)=1 GoSub *STP ; Define No. 1 interrupt (after input signal No. 11012 turns ON,
execute *STP sub-routine)
Act 1=1 ; Enable the No. 1 interrupt
Add to the end of the program
*STP
M_Out(11012)=1 ; Turn output signal 11012 ON
Hlt ; Stop
M_Out(11012)=0 ; Turn output signal 11012 OFF
Return 0 ; Return to line where interrupt occurred

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 COMMON

Appendix 1: Teaching Box

Appendix 1.1: Basic menu

TB ENABLE switch
1) Press the TB Enable switch on the back of the teaching box.
2) Press one of the keys (i.e., [EXE] key.)
3) The <MENU> screen will appear.
There are six types of menus:
1. FILE/EDIT menu
2. RUN menu
3. PARAMETER menu
4. ORIGIN/BRAKE menu
5. SET/INITIALIZE menu
6. ENHANCED menu

Pressing the number keys, switches

the screen to each function screen.

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 COMMON

(1) FILE/EDIT menu

The operations related with the program management in the controller can be performed.
Press the number key [1] on the <MENU> screen.
The <MANAGE/EDIT> Screen (Program List) opens.

MENU screen MANAGE/EDIT screen (Program List)

[FUNCTION] key

Press the [FUNCTION] key to change the

function.
(Valid only when "⇒" is displayed at the
bottom right of the screen.)

a) Inputting a program
1) Press the function key ([F3]) corresponding to "NEW".
2) Input a new program name.
Ex.) When the new program name is "10" ••• Press the number keys [1] and [0], and then press
the [EXE] key.
3) The program input screen will open.
4) The program is created by using "Edit" and "Insert".
Adding command: INSERT ••• Press (F3).
Correcting command: EDIT ••• Press (F1).

F1 F3

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 COMMON

b) Managing the programs

1. COPY
A registered program can be copied as another program.

2. RENAME
A registered program can be renamed.

3. DELETE
Registered programs can be deleted in a batch.

4. PROTECT
The register and change protection state of the registered programs, instruction statements and
data can be set.

(2) RUN menu

The current status of the robot can be checked and the operations equivalent to the operation panel
(O/P) can be performed.
1) Press the number key [2] on the <MENU> screen.
2) The <OPERATION> screen opens.

<RUN screen menu>

1. Confirm
The program being executed is displayed and step operation is performed. The multi-tasking
details can also be displayed.

2. Test run
Switch between continuous operation and cycle operation.

3. Operation panel
Automatic operation can be started from the teaching box.

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 COMMON

(3) PARAMETER menu

Each parameter setting of the robot can be configured.
1) Press the number key [3] on the <MENU> screen.
2) The <PARAMETERS> screen opens.
3) Input the parameter name in "NAME ( )" to confirm and change the setting values.
(If the [EXE] key is pressed without inputting the entire parameter name, the parameters closest to the
input name will appear. The parameters can be scrolled back and forth with the "Prev" (previous) and
"Next" (Next) keys.)

[EXE] key Read the parameter value.

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 COMMON

(4) ORIGIN/BRAKE menu

The origin setting of the robot and brakes for each axis are released.
1) Press the number key [4] on the <MENU> screen.
2) The <ORIGIN/BRAKE> screen opens.

<ORIGIN/BRAKE screen menu>

1. ORIGIN
The origin data unique to the robot's mechanism is registered.

2. BRAKES
The brakes for each axis are released. The robot arm is moved while supporting it with a hand.

(5) SET/INITIALIZE menu

Initialization of the program and time setting are performed.
1) Press the number key [5] on the <MENU> screen.
2) The <SETTING/INITIALIZATION> screen opens.

<SET/INITIALIZE screen menu>

1. INITIALIZATION
There are several functions: function to erase all registered programs, function to return
parameters to default settings, and function to initialize internal battery's consumption time.
When the battery's consumption time is initialized, the remaining time is set to 14,600 hours.

2. OPERATION
The cumulative time that the controller/drive unit power was ON and the battery's remaining time
are displayed.

3. TIME SETTING
The date and time are displayed and set.

4. VERSION
The robot CPU and teaching box software versions are displayed.

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 COMMON

(6) ENHANCED menu

Enhanced functions can be used.
1) Press the number key [6] on the <MENU> screen.
2) The < ENHANCED > screen opens.

<ENHANCED screen menu>

1. PLC DIRECT (only iQ Platform compatible type)
Settings related to the functions that directly control the robot with the PLC program are made
here.

2. WORK COORDINATES
Define the workpiece coordinate system required for work jog operations.

Appendix 1.2 Monitor function

Press the [MONITOR] key on any screen.
The <MONITOR> screen opens.

<MONITOR screen menu>

1. INPUT
Signals input from an external source (parallel input signals) can be monitored.

2. OUTPUT
Signals output to an external source (parallel output signals) can be monitored.

3. INPUT REGISTER
The input register value can be monitored when using CC-Link.

4. OUTPUT REGISTER
The output register value can be monitored when using CC-Link.

5. VARIABLES
The details of variables used in the program can be confirmed.

6. ERROR HSITORY
The alarm history is displayed.

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 COMMON

Appendix 1.3 / Inputting the program with T/B

(1) Inputting a command
Ex.) Inputting "1 Ovrd 80"
Step Operation T/B screen Explanation of Operation
1
Open the <INSTRUCTION
EDIT> screen.

2
Press the [F3] key ("INSERT")
and enable the Insert Line
mode.

The Insert Line screen opens.

3
Press the [1] key.
1
"1" is input at the step No.

4
Press the [CHARACTER] key
1 and change the display at the
center bottom of the screen to
"ABC".
ABC "ABC" indicates the Character
Input mode.
5
Insert a space before inputting
"Ovrd". Press the [-C/SP] key.
1
A space " " is input.
SP

ABC
6
Press the [+A/MNO] key three
1 O times.
"O" is input.
ABC

7
Press the [-B/TUV] key three
1 OV times.
"V" is input to the right of "O".
ABC

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 COMMON

Step Operation T/B screen Explanation of Operation

8
Next, input R and D.
1 OVRD Press the [ /PQRS] key three
＋
times, and then press [+Z/DEF]
, 3 DEF key once.
ABC The Ovrd instruction is input.

9
Insert a space before inputting
1 OVRD "80". Press the [-C/SP] key.

SP A space " " is input.

ABC

10
Press the [CHARACTER] key
1 OVRD and change the display at the
center bottom of the screen to
"123". "123" indicates the
Numeral Input mode.
Press the [8] and [0] keys.
SP
"80" is input.
11
Press the [EXE] key.
1 Ovrd 80 "1 Ovrd 80" is finalized, and the
program proceeds to the next
step (Step 2).

Pick Up!
Step number
· Inputting the step number is not necessary (A step number is automatically numbered).

Inputting numbers and characters

 Switch between the number input and character input models by pressing the [CHARACTER] key. The
number input mode is active when "123" is displayed at the center bottom of the screen, and the character
input mode is active when "ABC" is displayed. The mode alternates with each press of the [CHARACTER]
key.
 The number keys are displayed at the lower right of each key. (Number, – (minus), . (decimal point).
The character keys show three or four characters each on the lower right of the key.
Each time the key is pressed, the display will alternate between the several characters shown on the key.
To finalize the character, press another character key or press the "→" key.
 Characters that are not shown on the key can be input. The keys assigned to the hidden characters and the
characters that can be input with that key are shown below.
a) [ ‘ ( ) ] key .......................... ' → (→ ) → " → ^→ : → ; → \ → ?
b) [ @ = ] key ......................... @ → = → + → – → * → / → < → >
c) [ , % ] key........................... , → % → # → $ → ! → & → _ → .
When an incorrect syntax of the command or characters that cannot be used are used, an error (such
as L4220) occurs.

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 COMMON

(2) Deleting characters

Step Operation T/B screen Explanation of Operation
1 Move the cursor above the
character to be deleted.
When the [CLEAR] key is
pressed, that character is
deleted and the characters to
the right of the cursor are
shifted to the left.

(3) Displaying the previous and next program line

Step Operation T/B screen Explanation of Operation
1
The highlight moves to the
next line when the [↓] is
pressed.

2
The highlight moves to the
previous line when the [↑]
is pressed.

(4) Displaying a specific program line

Step Operation T/B screen Explanation of Operation
1
Press the [FUNCTION] key
and display "JUMP" at the
function menu at the bottom of
the screen.

2
Press the [F2] key ("JUMP") to
display the Step No. input
screen.
Input the number of the step to
call out (i.e., 7th step).

3
Press the [EXE] key to finalize
the input.
The 7th step of the program
appears at the 2nd line.

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 COMMON

(5) Adding a program line

Step Operation T/B screen Explanation of Operation
1
In this example, one line will be
added between Step 4 and
Step 5.
Press the [↓] and [↑] keys to
move the cursor to Step 4.

2
Press the [F3] key ("INSERT")
to activate the Insert Line
mode.
* If "INSERT" does not appear
in the function menu at the
bottom of the screen, press
the [FUNCTION] key and
display "INSERT".
3
Input the instruction.
Number key
Character key

4
Press the [EXE] key to finalize
the line. The input program line
is arranged in step order, and
the cursor moves to the next
line.
The step numbers are also
reassigned.

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 COMMON

(6) Correcting the program line

Step Operation T/B screen Explanation of Operation
1
Press the [↓] and [↑] keys to
move the cursor to the step to
be corrected.

2
Press the [F1] key ("EDIT") to
activate the Edit Line mode.
* If "EDIT" does not appear in
the function menu at the
bottom of the screen, press
the [FUNCTION] key and
display "EDIT".
3
Edit (correct) the instruction.
Arrow key
CLEAR key

4
Press the [EXE] key to finalize
the changes.
The program line is corrected.

(7) Deleting a program line

Step Operation T/B screen Explanation of Operation
1
Press the [↓] and [↑] keys to
move the cursor to step to be
deleted.

2
Press the [F2] key ("DELETE").
The step to be deleted appears
with the confirmation message
"xxx will be deleted. Okay?"

3
When the [F1] key ("YES") is
pressed, that step is deleted.

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<<MEMO>> * Use this page to write down notes.

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 COMMON

Appendix 2: RT ToolBox3 Simulation Function

Appendix 2.1 Creating a workspace and project
Create a workspace and project by referring to "Chapter 2: How to use RT ToolBox3 2.3
Creating a new project".

Appendix 2.2 Simulation function

(1) Starting the simulator
(1-1) Start the simulator.

1) Click [Simulator] on the [Home] tab in the ribbon, or in the [Mode] group in the [Online] tab.
2) If there are multiple projects, then "Select the Projects" window will display. Select the project
for which the simulation is to be performed, then click "OK".

1)

1)
2)

3) "Simulation" is displayed in the project tree, and the simulator starts.

"Simulation" appears

3D Monitor

Operation panel

"Simulation mode" appears

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 COMMON

(2) JOG operation

(2-1) Click the "JOG" button to open the JOG panel.

JOG

JOG panel

(2-2) Check the operation in the Joint JOG mode.

1) Select "Joint" for JOG mode.

2) Click [-] or [+] for J1 to J6, and check that the
Joint 1) robot operates.

＋ J4
J4軸axis

－ J3
J3軸axis
－
J5 axis
J5軸

－ ＋
＋ ＋
J6 J6軸
axis －

J2 axis
J2軸
－
J1 to J6
－ ＋
＋
J1 axis
J1軸

2)
Joint JOG mode
(For the RV type)

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 COMMON

(2-3) Check the operation in the XYZ JOG mode.

1) Select "XYZ" for JOG mode.

2) Click [-] or [+] for X to C, and check that the robot
operates.
XYZ 1)

Tool length

Control

X to C

XYZ JOG mode

2) (For the RV type)

(2-4) Check the operation in the TOOL JOG mode.

1) Select "TOOL" for JOG mode.

2) Click [-] or [+] for X to C, and check that the robot
operates.
Tool 1)

Tool
length

Control

X to C

2) TOOL JOG mode

(For the RV type)

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 COMMON

(3) Hand alignment

(3-1) Check the hand alignment operation (correct the robot posture).

3D Monitor

1) Click the "Hand Align" button.

Hand Align 1)

3D Monitor

2) The hand moves to the closest posture in

increments of 90 degrees.
If the hand almost faces the side, it
2) completely turns to the side. If the hand
almost faces upward, it completely turns
upward.

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 COMMON

(4) Home position

(4-1) Return to home position.

3D Monitor

Home position 1) 2)

J5 upward

1) Click the "Home position" button.

2) Move to (J1, J2, J3, J4, J5, J6) = (+0.00, +0.00, +90.00, +0.00, -90.00, +0.00) set in the
parameter "JSAFE".

(4-2) Changing the home position.

1)

2)

3)

1) Right-click [Simulation] in the project tree to display the sub menu.

2) Move the cursor to [Parameter] to display another sub menu, then move the cursor to
[Movement Parameter].
3) In the same way as above select [Home Position] in the displayed menu. click [Home Position]

4) The Home Position Parameter

window will display. Change the
values and click [Write].

J5: 90
J5: -90
Example) Changing the J5 axis value
from "-90" to "+90"

4)

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 COMMON

5) Are you sure you want to write the parameter to the robot
controller? → "Yes"
6) Are you sure you want to restart the robot controller? →
"Yes"
5)

6)

7) Are you sure you want to restart the robot

controller? → "Yes"
7)

3D Monitor

8) The simulator restarts.

J5 downward

Posture after restart

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 COMMON

(5) Creating a hand

Display the hand in robot tool in the 3D Monitor. The hands to be displayed can be switched
depending on the signal status.
<Hand File Manager window>
Clicking [Hand File Manager] in the [Hand File] group in the [3D View] tab displays the "Hand file
manager" window and a list of hands registered in this workspace.
Set the hand to be displayed in the 3D Monitor and the hand display conditions in the
Properties window.

Hand file manager

Hand file list

Properties window Hand to be displayed

in 3D Monitor

Hand file display

conditions

Individual function tree

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 COMMON

(5-1) Create a hand file.

1) Click [Hand file manager] in the [3D view] tab to display

the "Hand file manager" window.
1) 2) Click "Add".

Add

2)

3) To create a new layout file, select [New].

(To correct the existing file, select
3) [Existing].)

4)
4) Input the file name, and click [OK].
5) Hand file created.

5)

Hand file

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 COMMON

(5-2) Creating hand component parts.

There are four types of 3D parts that can be set as hands: cuboids, cylinders, spheres, and 3D models.
· Cuboids, cylinders, spheres: Specify the size in RT ToolBox3.
· 3D models: Read data created in CAD beforehand.
Readable formats include STL (Stereolithography), OBJ (Wavefront format), etc.

1) Select the hand file to be edited, and

click [Edit file] in the Hand file manager
window.

2) To create a new file, click [Add].

3) The Hand editor tab and Hand edit
tree will display.

1)
Hand editor tab Hand edit tree

2)
3)

4) Set the shapes of the 3D parts in the Properties

window.
4) 5) Right-click [Mechanical interface] in [Hand edit tree] to
display the menu and click [Add object].
6) Input shapes and positions of the 3D parts in the
Properties window.
Right-click menu

Input a hand name.

Select the shape and

Operations can be
color.
performed while checking
the preview.
Specify the model
size (based on the
center of the base).

Specify the position and direction

Scroll
of the created model (based on
the center of the base).

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 COMMON

(5-3) Adding parts to the hand.

1) Right-click [Mechanical interface] in [Hand

Add here. edit tree] to display the menu and click [Add
object].
2) Select the parts added in [Hand edit tree],
1) and input 3D part information in the
Properties window.

2)

(5-4) Copy an existing hand part to create a new part.

1) Select the parts to be copied in

[Hand edit tree] then right-click and
select Copy.
1) 2) Click [Paste].
3) A part with the same name is
added. Input the part information in
the Properties window.

2)

The number of parts with the

same name increases.

3)

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 COMMON

(5-5) Save the hand settings file.

1) Click [Save] in the [Hand File] group in the [3D view] tab.
2) A popup is displayed. Click "Save" or "Save as".
1)

2)

3) The hand file saved in the Hand file manager window will display in the Title name field.
4) Selecting the hand file in the Title name field displays the hand in the preview area.

Select to display preview.

Hand file manager window

(5-6) Copy the hand setting file to create a new hand setting file.

1) Click [Edit file] to open the hand setting file to be copied in the Hand file manager window.
2) Click [Save] in the [Hand File] group in the [3D view] tab.
3) A pop-up is displayed. Click "Save as" and input a file name.

1) 2)

3)

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 COMMON

(5-7) Changing the hand to a hand holding a workpiece (hand closed).

1) Select the hand file, and click [Edit file] in the Hand file manager window.

1)

2) Add a new part (workpiece).

Ex.) Workpiece
Size (150, 60, 80)
Position (0, 0, 150)
Rotation (0, 0, 0)

3) Save the settings.

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 COMMON

(6) Hand display condition setting

By setting the hand display conditions, the hand can be displayed only when the I/O status or the
tool with which the specified target hand file is selected.
When "I/O (Valid Only in Simulation)" is selected for [Display condition] in the "Display condition"
field of "Hand" in the Properties window, the condition setting field is displayed.

<Display condition>
Specify the I/O conditions to display the target hand file. These conditions are valid only
during simulation.
If no I/O condition is specified, select [Default], and if I/O conditions are specified, select [I/O
(Valid Only in Simulation)].
When [I/O (Valid Only in Simulation)] is selected, items of [Condition 1] to [condition 3] are
displayed and up to three I/O conditions can be specified. When all the conditions are satisfied,
the hand file is displayed.
1) In Enable option select [True] only for the number of I/O conditions to be set. Selecting
[True] here enables the settings of the following conditions.
2) I/O type
Specify the I/O type.
3) Start signal #
Specify the I/O Start number.
4) Bit size
Specify the number of bits (number of registers) from the I/O start signal.
5) Signal value
Specify the numeric values to be compared with the I/O status.

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 COMMON

(6-1) Registering the hand in the workspace.

1) Switch [Hand edit tree] to [Layout tree].
2) Select the project in which the hand is registered in [Layout tree], and click "Add hand" in the
right-click menu.
3) A hand icon is added under the project in [Layout tree].
4) In the [Properties] window, click "Select" in the field [Hand name].
5) The Select hand file window will display, Select the hand file and click "OK"
6) The selected hand file name is displayed in [Hand name] in the [Properties window] and in
[Layout tree].

Click to switch between Layout tree

and Hand edit tree.
1)

2)

4)
5)

6)

3)

A hand icon appears

under the project.
6)

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 COMMON

(6-2) Setting the display conditions for the hand.

1) Select the hand in [Layout tree]. Properties of the hand are displayed in the [Properties]
window.
2) To display the hand on the 3D Monitor, select "True" in [Display while offline] option
3) Select "I/O (Valid Only in Simulation)" in [Display condition] option
4) Select "True" in [Enable] option(for not required)
5) Signal setting items will display. Input the hand display conditions.
(The following shows the example setting)
If "Default" is selected for Display condition,
[Condition] field is not displayed.

2)
3)
4)

5)

Example) If #900 output signal is 1 (ON),

the hand is displayed.

Example) If #900 output signal is 0 (OFF),

the hand will not display

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 COMMON

(7) Hand open/close operation

(7-1) The hand open/close operation can be checked in the operation panel

1) Click the "HAND" button in the operation panel

to display the Hand Operation panel.

1)

Operation panel

Use [-] and [+] of hand 1 (number on the far left)

to switch the hand display on the 3D Monitor.
2) Click [-] to display the closed hand (with
2) 3) workpiece).
3) Click [+] to display the open hand (without
workpiece).

Hand Operation panel

[-]: Close
[+]: Open

3D Monitor 3D Monitor

[+]: Open [-]: Close

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 COMMON

(8) Creating a layout

(8-1) Create a layout file.

1) Click [Layout File Manager] in the [3D view] tab to display

the "Layout file manager" window.
1) 2) Click "Add".

Add

2)

3) To create a new layout file, select [New].

(To correct the existing file, select
3) [Existing].)

4)
4) Input the file name, and click [OK].
5) The layout file is created.

5)

Layout file

If the 3D Monitor is not displayed,

double-click the robot name under
"Simulation" in the project tree.

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 COMMON

(8-2) Create layout component parts.

There are four types of 3D parts that can be set as layouts: cuboids, cylinders, spheres, and 3D models.
· Cuboids, cylinders, spheres: Specify the size in RT ToolBox3.
· 3D models: Read data created in CAD beforehand.
Readable formats include STL (Stereolithography), OBJ (Wavefront format), etc.

1) Select the layout file to be edited, and

click [Load] in the Layout file manager
window.

2) To create a new layout, click [add].

2) 1)

3) Set the shapes of the 3D parts in the Properties window.

4) Right-click in [Layout tree] to display the menu and click

[Add object].
5) Input shapes and positions of the 3D parts in the
3) Properties window. The procedure is the same as when
creating a hand.

Right-click menu Example)

Position: (300, -300, -20)
Size: (200, 200, 20)

3D Monitor

Scroll
Operations can be performed
while checking the preview.

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 COMMON

(8-3) Adding parts to the layout.

1) Right-click in [Layout tree] to display the menu and

click [Add object].
2) Select the parts added in [Layout tree], and input 3D
Add here. part information in the Properties window.

1) 3D Monitor
2)

Example)
Position: (300, -300, 0)
Size: (150, 60, 80)

(8-4) Copy an existing layout part to create a new part.

1) Select the parts to be copied in [Layout tree] then

right-click and select Copy.
2) Click [Paste].
3) A part with the same name is added. Input the part
information in the [Properties] window.
1)

The number of parts with the

same name increases.

3)
2)

3D Monitor

When the Y direction

of the copied part is
changed

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 COMMON

(8-5) Save the layout file.

1) Click "Save" or "Save as" in the [Layout File] group in the [3D view] tab.

1)

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 COMMON

(9) Setting the tool length

By setting the tool length, the robot tool coordinate can be used.
Using the robot tool coordinate can operate the robot along with hand surface direction and make
the change of the hand posture and workpiece posture held by the hand easier.
For details of the robot tool coordinate, refer to "Chapter 4 Robot Language 4.2 Program
instructions Position operation in the robot tool coordinate system".
(9-1) Display the Tool parameter window.

1) Right-click [Parameter] under [Simulation] in the project tree to display a sub menu.
2) Move the cursor to [Movement Parameter] to display another sub menu, then move the
cursor to [Tool].

1)

2)

(9-2) Input the tool length in the tool coordinate system.

1) Input the tool data in [STD Tool coordinate], Signs are based on the flange coordinates of the
robot.
2) Click the [Write] button.
3) In the confirmation window for writing data to the controller → Click "Yes".

Example)
1) Z +170

2)

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 COMMON

(9-3) Checking the tool in the 3D Monitor.

1) Select the project name in [Layout tree] to display the project properties in the Properties
window.
2) Expand [Robot Model] and select "True" for [Display tool coordinate system] and [Display tool
position]. The tool coordinate system position is displayed in the 3D Monitor.

2)

1)

Before setting the tool length After setting the tool length
(flange center)

[Caution] If the program operated by the simulator has an electric hand instruction, home
position return of multi-function electric hand needs to be performed in the program.

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 COMMON

(10) Creating a robot program

(10-1) Create a new robot program.

1) Right-click [Program] under [Simulation] in the project tree, then right-click and select "New".
2) Input the robot program file name, and click "OK".
3) The program editing screen opens. Write the program (instruction statement) here.
4) The [File], [Edit], [Debug], and [Tool] tabs are added to the ribbon.
These have functions such as program editing tools, debugging, and file saving.

1)

2)

The program editing tab is

added.File, edit, debug, tool
3) Program Editing window

4)

*If the program operated by the simulator has an electric hand instruction, the home position
return of the multi-function electric hand needs to be performed in the program.

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 COMMON

(10-2) Saving the robot program.

1) Click [Save] in the [File] tab.

2) To change the file name, click [Save As Robot] and input a file name.
3) Select the items to be written, and click "OK".

1)

2)
3)

(10-3) When a syntax error occurs.

1) When a syntax error occurs, the message "Syntax check Error" and an error message are
displayed in the [Output] window.
2) Clicking "OK" in the "Syntax check Error" message displays the save confirmation window.
Click "No".
3) Correct the syntax error, and save the program.

Output

1)
2)
Output window

3)

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 COMMON

(11) Teaching operation

(11-1) Opening an existing program.

1) Select the program file from Program in the project tree, right-click and select "Open Program".
2) Check the items to be read, and click "OK".
3) Since the position variable used in the program is registered in the position data field, it is clear
which position variables are required for teaching.

1)

(11-2) Acquiring position data. (Method 1) (JOG operation → current position reading)

1) To acquire the desired position data, move the robot

arm to the desired position by using the JOG
operation.
2) Select the position variable in the Position window.
3) To create a new position variable, click "Add" and
1) input a variable name.
(If no variable name is input, registration cannot be
made.)
4) Click "Get Current Pos." in the Position window.
5) Current robot position data and posture are input.

3) 4)
5)

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 COMMON

(11-3) Acquiring position data. (Method 2) (Robot click movement → current position reading)
By clicking the object in the 3D Monitor window while pressing the Ctrl key with the simulation
started, the robot moves to the position which has been clicked.
· When no object is set at the position which has been clicked or the position is outside the robot
operation range, the robot does not move.
· The robot body does not move based on the posture and status of the multi-rotation joint. This
is because the robot body moves independently while maintaining the posture and status of the
multi-rotation joint.
· This operation is invalid during the robot operation.

1) Click the top center of the target layout configuration part of the 3D Monitor while pressing the
[Ctrl] key.
2) The robot moves to the position which has been clicked.

Move

2)
Ctrl + click 1)
3) Select the position variable or add a variable, and click "Get Current Pos." in the Position
window.

(11-4) Saving the program.

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 COMMON

(12) Carrying out debugging

(12-1) Check the program operation with Step operation.

1) Select [Program] under [Online] in the project tree, right-click and select "Debug Open" to
open the corresponding program.

Debug statusLight
blue screen

1)
Program Editing window

2) Pressing the "FORWD" button in the operation panel executes the program by one step.
Check the posture and operation of the robot by executing the program by one step.

Debugging

Forward

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 COMMON

(12-2) Return the program execution line to the first line.

[Reset]
Pressing the "RESET" button in the operation panel returns the program to the first line.

Reset

The execution line returns to

the first line.

(The RESET button does not

initialize signal status, robot
posture, variables, or similar.)

[Jump]
Pressing the "Jump" button in the operation panel and Specify the line to be executed.

Input the step number of

the line to be executed.
Jump

The execution line moves.

(12-3) Execute the program continuously.

Pressing the "CONT" button on the operation

panel continuously executes the program for
one cycle.

Continue

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 COMMON

(13) Changing the layout display conditions

By specifying the I/O conditions for the layout parts, the corresponding parts can be displayed
or hidden. This function is valid only during simulation.

If no I/O condition is specified, select [Default],

and if I/O conditions are specified select
[I/O(Valid Only in Simulation)].

1) ON→OFF
Set the conditions to hide the target layout parts.
2) OFF→ON
Set the conditions to display the target layout parts.
3) Condition
I/O conditions can be set by selecting [I/O].
4) I/O type:
Specify the I/O type.
5) Start signal #
Specify the I/O Start number.
6) Bit size
Specify the number of bits (number of registers) from the I/O start signal.
7) Signal value
Specify the numeric values to be compared with the I/O status.
8) Project
Specify the target projects (robots) those I/O conditions are checked while using the 3D
Monitor of the whole workspace. The projects do not need to be set in the 3D Monitor for
each project.

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 COMMON

(13-1) Setting the display conditions for the layout configuration parts.

1) Select the part for which display conditions are set in [Layout tree].
2) Attributes of the selected part are displayed in the [Properties] window.
3) Click "Edit" in the [Condition] field.
4) The [Layout Object Condition Edit] window will display. Select "I/O (Valid Only in Simulation).
5) Input display conditions, and click "OK".

1) Edit

3)

4)

5)
Setting example)
ON→OFF
Output signal, start number: 100, number of bits: 1, signal status: 0
OFF→ON
Output signal, start number: 100, number of bits: 1, signal status: 1
Program description:
Display → Hide: M_Out(100)=0
Hide → Display: M_Out(100)=1

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 COMMON

(13-2) Save the layout file.

1) Click "Save" or "Save as" in the [Layout File] group in the [3D view] tab.

1)

(13-3) Setting the display conditions for the robot program.

1) Open the program, and describe commands of the parts display conditions.

Example)

1) Display → Hide: M_Out(100)=1

Hide → Display: M_Out(101)=0

(13-4) Carry out debugging and check the program operation.

Debugging

For the debugging method, refer to "(12) Carrying out debugging" in this chapter.

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 COMMON

(14) Automatic operation

(14-1) Select the program and perform the automatic operation.

1) Click the "Select" button in the operation panel.

2) Select the program.
3) The selected program name is displayed in "Program" in the operation panel.
4) Press the "START" button in the operation panel.

1)

2)
Select button

3)

4) Start button

(14-2) Check if the robot operation and the program are correct.

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 F series

Appendix 3: How to operate RT ToolBox2

Appendix 3.1 Starting/Ending RT ToolBox2
(1) Start
Double-click the shortcut on the desktop.
Or, select the [Start] button → [All Programs] → [MELSOFT], and select [RT ToolBox2].

Default screen

Shortcut icon

(2) Communication server

When RT ToolBox2 starts, "Communications Server2" starts while minimized in the taskbar.
Restore the minimized Communications Server2 to its original size to check the connection
status of the robot.
Since Communications Server2 has functions to connect the robot with robot controllers and
virtual controllers during simulation, do not end it manually.

Minimized Com
munications Se

Circuit status (Ex.: yellow: stand-by, light blue, blue: connected, red: connection error)

(3) End
Click [WorkSpace] → [Exit] on the menu bar. Or, click the [X] button in the upper right of the
window.
When RT ToolBox2 closes, Communications Server2 automatically ends.

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Appendix 3.2 Explanation of the RT ToolBox2 screen

(1) Main screen
The configuration of the RT ToolBox2 main screen is as follows.

(1) Title bar

The name of the workspace currently being edited is displayed.

(2) Menu bar

The names of menu items that can be used in RT ToolBox2 are displayed.
Selecting the menu item displays a drop-down menu, and various functions are available.
The display and enabled/disabled status of the menu bar differ depending on the
currently active window.
(3) Drop-down menu
The names of functions that can be used in RT ToolBox2 are displayed.
(4) Tool bar
Functions assigned to the menu bar will display as buttons.
The display of the tool bar differs depending on the currently active window and connection
status of the robot.

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(5) Project tree

All projects registered in the workspace will display by function in a list.
The Program Editing window and Monitor window can be started.
(6) Properties window
Various attributes in the workspace currently being edited can be checked.
Clicking an item in the project tree displays the attributes.
(7) Window
Windows such as the Program Editing window and Monitor window started from the
project tree are displayed. The currently active window is displayed to the foreground.
(8) Status bar
Status information such as RT ToolBox3 modes (Offline, Online, Simulation) and the
position of the cursor while editing a program is displayed.

(2) Program Editing window

The upper section is the Program Instruction Statement Editing window, and the lower section is
the Position Variable Editing window.
Drag the boundary of these windows and change the position of the upper and lower window
separation.

1) Instruction Editi

3) Step number

XYZ coordinate type variable

2) Position Variable Editing window

Joint coordinate type variable

1) Instruction Statement Editing window

Write the program here. Programs can be input in the same way as a general editor like Notepad.
Input of [Enter] (line break) at the end of each line is not required.
2) Position Variable Editing window
Edit the position variables. The upper part is a variable list for the XYZ coordinate type, and lower
part is that for the joint coordinate type.
3) Step number
During programming, step numbers are automatically numbered by pressing the [Enter] key on
the keyboard.
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Appendix 3.3 Creating a new project

■ Workspace and project
RT ToolBox2 has workspaces and projects.
Information for one controller is managed as a single project.
A workspace can manage 32 projects at maximum.
Multiple workspaces cannot be edited at the same time. Register projects to be referred at the
same time in a single workspace.

Image for using multiple robot controllers

(1) Creating a workspace and project

(1-1) Create a new workspace.
Click "New" in the WorkSpace tab.

(1-2) Choose the folder in which the workspace is to be created.

Click "Browse" in the Workspace path field and select
a folder in which the workspace is to be created.

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(1-3) Enter a workspace name.

Input a workspace name in the "Workspace name"
field, then click "OK".
(Ex.) For123_xyzEquipment

A folder with the workspace name input here is

created in the folder selected in (1-2).
(This folder is the workspace.)

*Workspace information is automatically saved.

(1-4) The Edit Project window is displayed.

1) Input a project name in the "Project name"

field.
RC1, RC2, or similar is input as a default
value (leaving a default value is acceptable).

(E.g.) "RV-2F-Q_Trans"

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 (F )
(2) Communication settings (F Series iQ Platform compatible)
(2-1) Change the R/C type field in "Communication setting" to "CRnQ-7xx/CR75x-Q".

(2-2) Configure the details of the communication settings.

1) Check that "CRnQ" is selected in the "Method" field, then click the "Detail" button.

1)

2) The CRnQ communication setting window opens.

Select "USB" for PC Side I/F and "1 Serial port PLC module connection" for the route, then click
the "Detail" button.

2)

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 (F )

3) The CRnQ communication detail setting window opens.

Select "2" for "Target CPU" in the CRnQ-R Communication Detail Setting window, then click the
"OK" button.
4) The window returns to the CRnQ communication setting window. Click the "OK" button and the
window returns to the Edit Project window.

3)
4)

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 Standalone
（F series)
(3) Communication settings (F Series stand-alone)
(3-1) Change the controller field "R/C type" in "Method" to "CRnD-7xx/CR75x-D".

1) Set the Method field to "USB".

For D-type robots, detailed communication
setting is not necessary.

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(4) Offline robot settings

(1) Select the robot.

1) Click "Select" in the Robot model field.

1)

2) Select a robot from the Robot list in the

Robot model selection window, then click
"OK".

2)

a) Click "Type" to display the series

a) names.
Selecting a series name displays model
lists by series, making it easier to select
Series name robots.

3) After completion of the communication settings

and robot model name selection, click "OK" to
display the main screen.

* While changing the project settings, refer to

"Appendix 3.9 Editing and adding a project".

While using a travel base, configure

the travel axis display settings here.

3)

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Appendix 3.4 Creating a program

(1) Preparation
Decide the details of the following items in preparation for program creation.
• Robot operation position and operation order
• The robot operation position variable name
• I/O signal functions and numbers (if necessary)
* In the sections that follow, we will create an example program that performs the operation in the
figure below.

Robot model: RV-2FQ

Start position P0

Retrieval raised 1) 7) Delivery raised

position P1 position P3

4)

2) 3) 5) 6)
Retrieval Delivery
position P2 position P4

Pick Up!
Characters that cannot be used as a program file name
The file names shown below cannot be used as program file names.
① Program names that cannot be used on a personal computer
When the program name in the robot controller is the same as a Windows "reserved word",
attempting to open the program in the Program Editing window causes an error. In this case,
the program name needs to be changed in the controller.
"Reserved word" is a special character string used by Windows on the system, and this cannot
be used as a file name on a personal computer. "Reserved word" includes the following.
AUX, COM1 to COM9, CON, LPT1 to 9, NUL, PRN
② Program names that cannot be used on the robot controller
Program names shown below cannot be used on the robot controller.
1. Overlong program names (13 characters or longer)
2. Program names that include character strings other than alphabetic characters or numbers
(two-byte characters cannot be used)
3. Character strings starting with 0
If program names that include any of these are attempted to be used, a warning occurs at new
program creation, program copy, program name change, program conversion, and drag and
drop operations.

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(2) Creating a program

(1) Create a new program file. (Offline status)
1) Click the [+] mark at the left of "Offline" in the project tree to expand offline items.

1)

2) Right-click [Program] under [Offline] in the project tree to display a sub menu. Select "New".
3) In the Robot program field, input the robot program file name, and click "OK".
* There are restrictions on the characters that can be used for the program file names and the
number of characters.
For details, refer to "Characters that cannot be used as a program file name" on the previous page.

2)

3)

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4) The Program Editing window opens.

The Program Editing menu is displayed on the menu bar.

Program Editing menu

[File] and [Edit]

4) Program Editing window

(2) Input the program. (Offline status)

1) Input the program in the Program Editing window.

The following diagram shows the program that is designed to perform the operation shown in
"Appendix 3.4 (1) Preparation" as an example.
* For details of robot program instructions, refer to the instruction manual "Detailed
explanations of functions and operations".
For pneumatic hands For electrically operated hands

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(3) Saving the robot program

(1) Save the robot program in the RT ToolBox2 project (personal computer).

1) With the Program Editing window open, select "Save"

or "Save As → PC" on the "File" menu.
1) If "Save As → PC" is selected, the "Save As" window
is displayed.
2) The saved programs are displayed under Program in
the project tree.
(The programs saved in the project folder on the
personal computer are displayed here.)
3) After saving the programs, close the Program Editing
2) window.

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(4) Connecting to the robot controller

Connect RT ToolBox2 to the robot controller.
(1) Activate the Online state of RT ToolBox2.
1) Click the [Online] icon (blue) or, click [Online] → [Online] on the menu.

Blue

2) If there are multiple projects, then Select the projects window will display Select which
project's mode to change, then click "OK".

Select

3) "Online" will display in the project tree, and

RT ToolBox3 is connected to the robot

(Online) is displayed

Online is displayed

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Writing the program to the robot controller

(5-1) Open the program.

1) Open the program from [Program] under [Offline] in the

project tree.
(double-click or right-click)

2) Select "Save As → Robot" in "File" on the menu.

The "Save As Robot Program" window appears.
Click "OK".
(To change the file name, input another file
name.)

3) The saved file names are displayed in Program under

"Online" in the project tree.
(The programs saved in the robot controller are
displayed.)

Program is display

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Appendix 3.5 Teaching position

1) Open the program with the robot controller. For details of the procedure, refer to " Chapter 3
3.1 Displaying the program".
2) Move the robot to the operation position with the JOG operation, and register the position to
the position variable used in the program. For details of the procedure for teaching operations
using the teaching box, refer to "Chapter 3 3.2 Teaching the current position".
3) To check the registered position data, refer to "Chapter 3 3.3 Checking the registered position
data (position jump) " (if necessary).
4) When position teaching is complete, save the program. For details of the procedure for saving
programs, refer to "Chapter 3 3.5 Saving a program".
Teaching in the Instruction Editing window

Teaching in the Position Editing window

Appendix 3.6 Debug

1) Execute the program by one line at a time (step operation) to check if the program operates
normally.
2) For details of the procedure for the step operation using the teaching box, refer to "Chapter 3
3.6 Executing step operation".
Executing the program in the Instruction Editing window

3) If an error occurs, check the error code and error message displayed on the teaching box.
4) Press the [RESET] button on the teaching box to clear the error.
5) Refer to " Appendix 9: List of Error Codes" and take measures for errors.

When errors occur

Error code 3)
Error message
4)

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Appendix 3.7 Automatic operation

1) Run the program for automatic operation.
2) Before automatic operation, check that no one is within the robot's operation range, and that the
program operates normally by step operation. Set a slow speed at first.
3) For details of the automatic operation procedure using the teaching box, refer to "Chapter 3 3.7.
Performing automatic operation (T/B) ".

4) For details of the procedure for automatic operation using the operation panel, refer to "Chapter 3
3.8. Performing automatic operation (O/P) (F Series) ".

STATUS NUMBER on the controller/drive unit

operation panel (O/P)

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Appendix 3.8 Saving the programs (robot → personal computer)

Save the programs in the robot controller to a personal computer.
(1) Open the Program Manager window.

1) Right-click "Program" under "Online" in the RT ToolBox2

project tree and select "Program Manager".

Right-click Program

1)

(2) Select and save the programs.

1) Select the programs to be saved.

Destination
Source Select "Robot" for Source, and select the
robot controller. The list of programs in the
controller is displayed. Select the programs
to be saved.
2) 2) Specify the destination.
1) Select "Project" for destination.
(A list of programs is displayed within the
program window.)
3) Click "Copy" in the bottom of the window.
Program list

3)

4) If the file name is not changed in the Setting for copy

window, click "OK".
5) To change the file name, select "Rename", input a new
name in the field below, then click "OK".
5)

4)

The procedures for automatic operation are complete.

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Appendix 3.9 Editing and adding a project

Edit and add projects in the offline state.
(1) Opening a workspace
(1-1) Close the workspace currently in operation.
* When opening other workspaces, or creating new workspaces, it is necessary to close the
workspace currently in operation.
1) If [New] and [Open] cannot be selected from [WorkSpace] on the menu bar, the workspace is
open.
2) Click [Close] from [WorkSpace] on the menu bar and close the currently open workspace.
3) The menu items [New] and [Open] become selectable.

If they are grayed out and cannot

be clicked, the workspace is open.
1)

2)

They become selectable.

3)

(1-2) Open the workspace.

1) Click [WorkSpace] → [Open] on the menu bar.
2) Click "Browse" to select a workspace location.
3) Select the workspace name, then click "OK".

2)
1)

3)

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(2) Editing the project

1) Display the Edit Project window. Double-click the project name in the project tree.
Or, select the project name in the project tree, and select "Edit Project" from the right-click
menu. For details on editing the project, refer to "Appendix 3.3 Creating a new project".

Project name

Right-click menu

Edit Project window

(3) Adding the project

1) Click [WorkSpace] → [Add project] on the menu bar.
Or, select the workspace name in the project tree, right-click and select "Add project" to display
the Edit Project window.
For details on editing the project, refer to "Appendix 3.3 Creating a new project".

Workspace name

Edit Project window

Right-click menu

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Appendix 3.10 Operation panel

The robot may operate at 100% speed during the program operation and debugging.
Pay attention to safety around the robot.
Danger
Before using the operation panel, prepare a T/B in hand and set the robot in a state
in which an emergency stop can be made at any time.

For RT ToolBox2, the operation panel that operates a robot can be started at online connection and
simulation start.
Robot programs, hand operation, and JOG operation can be performed in the operation panel.
Program debugging can be carried out by step operation.
Although Hand operation and JOG operation can be performed on the robot, pay full attention to
robot's surroundings.
(1) Starting the operation panel (at online connection)
1) Connect RT ToolBox2 to the robot controller.
For details of connection methods, refer to "Appendix 3.4 Creating a program (4) Connecting
to the robot controller".
2) Click [Online] in the project tree, and double-click [Operation panel].
3) When starting the program or carrying out direct execution, the Caution window is displayed.
Clicking the [OK] button starts the robot operation. Therefore, check the safety around the
robot and prepare a T/B before starting the robot operation.

Caution window

3)

2)

4) Click [OK] in the Caution window, and the operation panel is displayed.

4)

Screen color
During online connection: Blue
At simulation start: Green

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(2) Main screen

Programs selected in the operation panel and programs in the debug state can be executed.
When the program is opened in the debug state, it can be executed by step operation.

(1) Task slot status: Setting, select, jump

(3) Override

(2) Monitor

(4) Operation panel

(5) Direct

(6) Step

(9) Driving speed

(7) HAND

(8) JOG

1) Task slot status and specification

Displays the task slot status, selected program, and line number being executed.
• Click the [Select] button to specify the program to be executed.
• Click the [Jump] button to specify the program execution line.
2) Monitor
Displays the 3D monitor, Error monitor window, and Program monitor window.
3) Override
Displays and sets the robot speed override.
4) Operation panel
Starts, stops, resets, and ends the program operation, and turns the servo ON/OFF.
5) Direct
Performs a direct execution of an instruction (regardless of the robot program).
6) Step
Controls the program in the debug state.
• [FORWD], [BACKWD]: Executes one line of the robot program, and moves the execution line to
the previous or next line.
• [CONT]: Executes a program that has stopped by a breakpoint or the stop command
continuously from the stopped line.
7) HAND
Operates the robot hand. Click this button to display the Hand Operation window.
In addition to the opening and closing of each hand, hand alignment and home position
return can be performed.
(To open and close the electrically operated hand, perform direct execution.)
8) JOG
Performs the JOG operation on the target robot.(For details, refer to "(3) JOG Operation
window" on the next page)
Click this button to display the JOG Operation window.
9) Driving speed
Selects the robot driving speed from Normal to Low.
When Low is selected, the robot moves at the maximum JOG operation speed.

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(3) JOG Operation window

The robot JOG operations displayed in the robot view can be performed in the online or
simulation mode. Click the "JOG" button in the operation panel to display the JOG Operation
window.
To perform JOG operation online (when connected to a robot controller), the personal computer
needs to be set to acquire operation rights.
When the MODE key of the robot controller is set to "Automatic" and external I/O signals are
used, set inputs of operation rights from external I/O to OFF.

1) Robot model selection

Selects the robot model to be operated when multiple robots are connected.
2) Hand Align
Aligns the posture of the hand attached to the robot in units of 90 degrees.
This feature moves the robot to the position where the A, B and C components of the current
position are set at the closest values in units of 90 degrees.
3) Move method
Select the method in which the robot moves. For details of the movement method, refer to
"Appendix 3.14 Simulation function (2) JOG operation".
4) Movement distance setting
Selects the robot movement distance. Selectable move distances are "off", "High", and "Low".
5) Current robot position
6) Axis JOG operation
Performs the JOG operation on each robot axis.
The robot moves while holding down the [+] or [-] button with the mouse.
7) Change TOOL
8) Change Workpiece
9) Operation by slider bar
When Joint or XYZ jog is selected, the corresponding coordinate axis can be moved by
moving the slider bar to the left and right. The slider bar can be moved only in the
simulation mode.
10) Move the robot by inputting coordinates.
Specify the joint or XYZ coordinates directly to move the robot.

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Appendix 3.11 Parameter setting

The parameter information set in the robot controller can be referred to and overwritten.
Set the parameters with the robot controller connected to RT ToolBox2.
To set parameters in the robot controller, select [Parameter] under [Online].
Expanding the items in [Parameter] displays items to start each parameter setting window.
Frequently used parameters are described in " Appendix 7: Frequently Used Parameters".
* For details of parameters, refer to the instruction manual "Detailed explanations of functions and
operations".
Referring to and overwriting the parameter information

[Reference]
1) Expand [Online] → [Parameter] in the project tree, and double-click [Parameter list].
2) Or, expand each parameter under [Parameter], and double-click the parameter.
3) For [Parameter List], double-click the parameters displayed in the list.
After inputting a parameter in "Parameter Name", click the "Read" button to search for
the parameter.
[Overwrite]
4) To change parameters, change the parameter values and click "Write".
5) To enable the changed parameter values, power on the robot controller again.

Parameter name input

1)

2) 3)

4)

2)

4)

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Appendix 3.12 Monitoring function

Monitor the items related to the operation of the connected robot.
(1) Program monitoring
The program information in operation can be monitored.
Information such as the line currently being executed, variable values, robot posture, and position

(1) Program information

(2) Program

(3) Variable monitor

(4) Variable

information can be checked.

1) Program information
The program name currently selected, its operation status, and the model
name of the connected robot can be checked.
2) Program
The currently selected programs are displayed. The line currently being executing is
highlighted.
3) Variable monitor
The names of the variables used in the selected programs can be checked.
The variables to be monitored can be selected with the buttons displayed at bottom of the
window.
4) Variables
Add or select variables to be monitored.
Information currently being monitored can be saved to a file.
The saved variable names and types can be read from the file, and they can be set as
variables to be monitored.

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How to display the Program window

1) With the program open or being executed, click [Online] → [Monitor] → [Robot Movement] →
[Program] for the target project in the project tree.
2) For automatic operation, double-click "Task slot1". For debug state, double-click "Edit slot".
3) Clicking [Monitor] → [Program] in the operation panel also displays the program monitor
(it is not necessary to select a task slot in the project tree).

Automatic operation Debug status

Task slot 1 2) Edit slot 2)

3)

Program monitoring

(2) Movement State

The current position, target position, and hand opening/closing status of the robot can be checked.
How to display the movement state

1) Double-click [Online] → [Monitor] → [Robot Movement] → [Movement State] for

the target project in the project tree.

Movement State window

1)

Movement State

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(3) Error monitoring

The errors currently occurring are displayed.
In the Error Detail window, details (causes and recovery methods) of errors that have occurred can
be checked.
How to display the Error window

1) Double-click [Online] → [Monitor] → [Robot Movement] → [Error] for the target project in the
project tree.
2) Clicking [Monitor] → [Error] in the operation panel also displays the error.
3) To reset the error, click [RESET] in the operation panel.

When errors occur

Operation panel Error number display

3)

2) Reset
1)
Error
Error

How to display the Error Detail window

1) Select the error and click the [Details] button, or double-click the error message on the Error
window.
Error Occurrence

Error message

Error Detail window

Error number
Error cause
Recovery method

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(4) Signal monitoring

The status of signals input to the robot controller from external equipment and signals output from
the robot controller to external equipment can be checked on the General Purpose Signal monitor.
a) Monitor settings: Signals displayed on the monitor can be set in a continuous range.
b) Pseudo-input: Signals are input to the robot controller from a personal computer, not from
external equipment.
c) Forced output: Signals can be forcibly output to external equipment from the robot controller.
How to display the General Purpose Signal monitor

1) Expand [Online] → [Monitor] → [Signal] for the target project in the project tree, and select
"General Purpose Signal".

b)

1) a)

c)

How to set the signals that are displayed

1) Click the Monitor Setting button (a) to display the Monitor Setting window.
2) Input the start numbers of the signals displayed in [Input signal#] and [Output signal#], set
their display ranges in [Lines], and then click the [OK] button.

2)

Example)
Input signal: Signal number 10000 or later, 8 lines displayed
Output signal: Signal number 10000 or later, 6 lines displayed

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Appendix 3.13 Backup and restore

Set the parameters with the robot controller connected to RT ToolBox2.
(1) Backup (robot → personal computer)
Save the information in the robot controller to a file in a personal computer.

1) Expand [Online] → [Backup] in the project tree, and double-click the items to be backed up.
2) The backup method can be changed by selecting the check box in the window.
3) Specify the backup destination, and click "OK".
4) The Confirmation window is displayed, and the backup starts.
5) When the backup has completed, the backup data is displayed under [Backup] in the project
tree.

2)
1)
3)

(2) Restore (personal computer → robot)

Transfer information back up on the personal computer to the robot controller.

1) Expand [Backup] in the project tree, select the items to be restored, and select
"Restore" from the right-click menu.
2) Specify the restoration method, and click "OK".

1)

2)

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Appendix 3.14 Simulation function

(1) Starting the simulator
(1-1) Start the simulator.
1) Click the [Simulation] icon. (light blue)

Light blue

2) If there are multiple projects, then Select the projects window will display Select the project to
be executed, then click "OK".

Select

3) The simulator starts.

"Simulation" display

3D monitor

Operation panel

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(2) JOG operation

(2-1) Click the "JOG" button to open the JOG panel.

JOG

JOG panel

(2-2) Check the operation in the Joint JOG mode.

1) Select "Joint" for "JOG mode".

2) Click [-] or [+] for J1 to J6, and check that the robot
Join 1) operates.

＋ J4 axis
J4軸

－ J3J3軸
axis
J5軸 －
J5 axis
－ ＋
＋ ＋
J6軸
J6 axis －

J2
J2軸axis
－
J1 to J6
－ ＋
＋
J1軸
J1 axis

2)
Joint JOG mode
(For the RV type)

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(2-3) Check the XYZ jog mode operation.

1) Select "XYZ" for "JOG mode".

2) Click [-] or [+] for X to C, and check that the robot
operates.
XYZ 1)

Tool length

Control point

X to C

XYZ JOG mode

2) (For the RV type)

(2-4) Check the operation in the TOOL JOG mode.

1) Select "TOOL" for " JOG mode".

2) Click [-] or [+] for X to C, and check that the robot
operates.
Tool 1)

Tool
length

Control point

X to C

2) TOOL JOG mode

(For the RV type)

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(3) Hand alignment

(3-1) Check the hand alignment operation (correct the robot posture).

3D Monitor

1) Click the "Hand Align"

button.

Hand Align 1)

3D Monitor

2) 2) The hand moves to the closest posture

in increments of 90 degrees.
If the hand almost faces the side, it
completely turns to the side. If the hand
almost faces upward, it completely turns
upward.

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(4) Home position return

(4-1) Perform the home position return operation.

3D Monitor

Home position 1) 2)

J5 upward

1) Click the "Home position" button.

2) Move to (J1, J2, J3, J4, J5, J6) = (+0.00, +0.00, +90.00, +0.00, -90.00, +0.00) set in the
parameter "JSAFE".

(4-2) Change the home position.

1)

2)
3)
1) Right-click [Online] in the project tree to display a sub menu.
2) Move the cursor to [Online] to display another sub menu, then move the cursor to
[Movement parameter].
3) In the same way as above select [Home Position] in the displayed menu, click [Home position].

4) The Home Position Parameter

window will display. Change the
values and click [Write].

Example) Changing the J5 axis value

from "-90" to "+90"

4)

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5) Are you sure you want to write the parameter to the robot
controller? → "Yes"
6) Are you sure you want to restart the robot controller? →
5) "Yes"

6)

7) Are you sure you want to restart the robot

controller? → "Yes"
7)

3D Monitor
8) The simulator restarts.

J5 downward

Posture after restart

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 F series

(5) Creating a hand

Display the hand in robot tool in the 3D Monitor. The hands to be displayed can be switched
depending on the signal status.

<Hand file manager window>

Click [3D View] → [Hand] on the menu bar to display the "Hand file" window.
Hand files displayed in this window are displayed as hands of the robot on the 3D Monitor window.
If the [Display] check box is deselected, no hands are displayed at all. Deselecting the check
boxes for registering each hand file hides the hand files.

[Display] check box

Check box for Hand file display

registering the hand file condition

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 F series

(5-1) Create a hand setting file.

1) Select [Hand] from [3D View] in the menu.

2) Click [Add] in the Hand file window.
1) 3) To create a new hand file, select [New].
(To correct the existing file, select [Existing].)
4) Input the file name, and click [OK].
→ The hand setting file is created.

2)

3)

4)
If "Hand" is not displayed under "3D View" on the menu

[3D View] on the menu

Double-click the robot

model name in the
project tree.
3D Monitor: RC1 is displayed
→ Activating this window displays
[3D View] in the menu.

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 F series

(5-2) Creating hand component parts.

There are four types of 3D parts that can be set as hands: cuboids, cylinders, spheres, and 3D models.
· Cuboids, cylinders, spheres: Specify the size in RT ToolBox2.
· 3D models: Read data created in CAD beforehand.
Readable format: STL (Stereolithography), OBJ (Wavefront format), etc.

1) Select the hand file to be edited (Ex.: Hand), and click [Edit] in the Hand file window.

1)

2) To create a new file, click [Add].

2)

3) Set the 3D part shape and click [Close] in the Hand edit window.
Input a hand name.

Input a group name, or select an existing group.

Operation can be performed

Select the shape and color. while checking the preview.

Specify the position and direction of the

created model (based on the bottom center).

Specify the model size

(default is bottom center).
Click "Close" to register the settings.

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 F series

(5-3) Adding parts to the hand.

1) Click [Add].
Add here (Right-click the window to
display the menu.)
2) Input the name, group,
position, direction, size, and
other elements.
3) Click [Close].
1)

Input the name, group, shape,

position, size, and other elements.

3)

(5-4) Copy an existing hand part to create a new part.

1) Select the part to be copied, and

1) click [Copy].
(Or, right-click the window to
display the menu.)
2) 2) Click [Paste].
3) A part with the same name is
added. Click [Edit] and change the
information.

The number of parts with the Change the name.

same name increases.

Example) Only set a

negative value for Y.
3)

Example) A part with the

same shape as Finger1, and
which differs from others in
the Y position only.

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 F series

The parts can be edited, copied, and pasted in a group.

1)

1) Select the group, and click [Copy] →

[Paste].
2) A new group is added.
The number of groups named
<name_copy> increases. 3) Select the new group, then click
[Edit].
4) Input the group name and amount of
position and direction to be changed.
3)

4)
Change the name.

Input amount of position and

direction to be changed.
(Ex.: The hand moves -150 mm in
the Y direction.)

Example) Parts with the same shape

as hand 1, and which differ from
others in the Y position only.

(5-5) Save the hand setting file.

1) Click [Save].
In the save completion
window, click "YES".

1)

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 F series

(5-6) Copy the hand setting file to create a new hand setting file.

Example) hand.hpx

1)

1) Select the hand setting file, and click

[Copy] → [Paste].
2) The <Save as> window is displayed. Input
a new hand file name, and click "Save".

2)

Example) hand2.hpx

<Title> <File>
hand hand2.hpx

(5-7) Changing the hand to a hand holding a workpiece (hand closed).

1) Select the second hand (hand2.hpx), and click [Edit].

<File>
hand2.hpx

1)

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 F series

2) Add a new part (workpiece).

2)

3) Add a new part (workpiece).

Ex.) Workpiece
Position (0, 0, 70)
Rotation (0, 0, 0)
Size (20, 60, 100)

4) Change the positions of Finger 1

and 2, and close the hand fingers.

Example) Change the Y value of the

finger operation direction
Finger 1 position (0, 35, 50)
Finger 2 position (0, -35, 50)

5) Save the settings.

After change = hand closed

5)

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 F series

(6) Setting the hand display conditions

By setting the hand display conditions, the hand can be displayed only when the I/O status or the
tool with which the specified target hand file is selected.
When a hand file for which display conditions are set is selected and the [Set condition] button is
clicked in the Hand file window, the "Hand file condition" window is displayed.

<Tool number>
Specify the tool number to display the target hand file. This condition is valid both
during simulation and during connection with the actual controller.
<Condition>
Specify the I/O conditions to display the target hand file. These conditions are valid only
during simulation.
If no I/O condition is specified, select [Default], and if I/O conditions are specified, select
[I/O]. When all the conditions are satisfied, the hand file is displayed.
1) Condition
I/O conditions can be set by selecting [I/O].
2) I/O type
Specify the I/O type.
3) Start signal #
Specify the I/O Start number.
4) Bit size
Specify the number of bits (number of registers) from the I/O start signal.
5) Signal value
Specify the numeric values to be compared with the I/O status.
<Hand files displayed when Offline>
The target hand file is displayed offline.

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 F series

(6-1) Setting the display conditions for the hand.

1) Select the hand, and click

"Set condition".
2) Input values in the Hand
file condition window, then
click "OK".
1) 3) After the setting, click "OK".

If #900 output signal is 1,

Signal No.
the hand is displayed.

Signal status: "1"

I/O type
Note that "output signal" is selected.

Example) Settings are configured to display the hand in the 1st line if output #900 is ON, and the
hand in the 2nd line if the output #900 is OFF.

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 F series

(7) Hand open/close operation

(7-1) The hand open/close operation can be checked on the operation panel.

1) Click the "HAND" button in the operation panel

to display the Hand Operation panel.

1)

Operation panel

Use [-] and [+] of hand 1 (number on the far left)

to switch the hand display on the 3D Monitor.
2) Click [-] to display the closed hand (with
workpiece).
3) Click [+] to display the open hand (without
2) 3) workpiece).

Hand Operation window

[-]: Close
[+]: Open

3D Monitor 3D Monitor

[+]: Open [-]: Close

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 F series

(8) Creating a layout

(8-1) Create layout component parts.

1) Select [Layout] from [3D View] on the menu.

1) 2) Click [Add] in the Layout list window.
3) Create layout component parts in the Layout list
window.
The procedure is the same as when creating a hand.

2)

3D Monitor

Example)
Position: (300, -300, -20)
Size: (200, 200, 20)

3)

[3D View] on the menu

If "Layout" is not displayed under "3D View" on the menu

"3D Monitor: RC1" is

displayed → Click this
Double-click the robot
window.
model name in the
project tree.

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 F series

(8-2) Adding layout component parts (workpieces).

1) Click [Add] in the Layout list window.

2) Create a part (workpiece) in the Layout edit window.

1)

Example)
Same group
Position: (300, -300, 0)
Size: (20, 60, 100)

3D Monitor

2)

(8-3) Copying the layout group.

1) Select the group, and click

[Copy] → [Paste] in the
Layout list window.

1)

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 F series

(8-4) Changing the name and position of the group that was copied.

1) Select the group, and click

[Edit] in the Layout list
window.
2) Change the group name
in the Layout group edit
window.
3) Input the movement and
rotation amount.
1)
3D Monitor

2)

3)
Example)
Group name: B-base
Position: Change amount Y direction +600 mm

(8-5) Change the name, position and direction, and size of the component parts as necessary.

1) Select the parts to be

changed, and click
[Edit] in the Layout list
window.
2) Change the parts in the
Layout edit window.
3) Click [Close].

2)

1)

3)

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 F series

(8-6) Save the layout file.

1) Click [Save] in the Layout list

window.
2) Specify a preferred file name.
layout.xml is input as the
default value.
This may be saved as is
(without change).

1)

2)

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 F series

(9) Setting the tool length

By setting the tool length, the robot tool coordinate can be used.
Using the robot tool coordinate can operate the robot along the hand surface direction and make the
change of the hand posture and workpiece posture held by the hand easier.
For details of the robot tool coordinate, refer to "Chapter 4 Robot Language 4.2 Program
instructions Position operation in the robot tool coordinate system".
(9-1) Displaying the Tool parameter window.

1) Right-click [Parameter] under [Online] in the project tree to display a sub menu.
2) Move the cursor to [Movement parameter] to display another sub menu, then click [Tool].

1)

2)

(9-2) Inputing the tool length in the tool coordinate system.

1) Input the tool data in the tool coordinate system. Signs are based on the flange coordinates of
the robot.
2) Click the [Write] button.
3) Confirmation window for writing data to the controller → Click "YES".
4) Write completion window → Click "OK".

Example)
1) Z +70

2)

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 F series

(9-3) Check the tool on the 3D monitor.

1) Click [3D View] → [Robot display option] from the menu.

2) Select [Robot model] on the left menu in the Robot display option window.
3) Check [Tool] in Display items and click [Refresh].

1)

2)

3)

Before setting the tool length

(Flange center) After setting the tool length

[Caution] If the program operated by the simulator has an electric hand instruction, home position
return of multi-function electric hand needs to be performed in the program.

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 F series

(10) Creating a robot program

(10-1) Create a new robot program.

1) Right-click [Program] from [Online] or [Offline] in the project tree, and select "New" from the
sub menu.
2) Input the robot program file name, and click "OK".
3) The new Program Editing window opens. Write the program (instruction statement) here.

1)

3)

2)

* If the program operated by the simulator has an electric hand instruction, home position
return of multi-function electric hand needs to be performed in the program.

(10-2) Saving the robot program.

1) Select "Save As → Robot" in "File" on the menu.

2) Check the items to be written, and click [OK].
If no error is displayed, the items are written to the robot controller.
3) Click [× (Close)] in the Program Editing window, and close the program.

1)

3)
2)

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 F series

(10-3) When the program is opened again, the position data required for the program will be clear.

1) Select the program file from Program in the project tree, right-click and select "Open
Program".
2) Check the items to be read, and click "OK".
3) Since the position variable used in the program is registered in the position data field, it is
clear which position variables are required for teaching.

1)

Example)
Teaching for PA, PB, and PHome is
necessary.
(POfs1 and POfs2 are set in the program.)

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 F series

(11) Teaching operation

(11-1) Acquiring position data. (Method 1) (JOG operation → current position reading)

1) To acquire the desired position data, move the robot

arm to the desired position by using the JOG
operation. (For details, refer to "Appendix 2.2 (2) JOG
operation".)
2) When incorporating positions into existing position
variables, select the position variable and click "Edit" in
1) the Position Variable Editing window.
3) To create a new position variable, click "Add".

3)

2)

4) To create a new position variable or change the variable name, input a variable name in
the Edit Position data window.
* If an existing variable name is input, it will be overwritten.
(An overwrite confirmation message is not displayed)
5) Clicking "Get current position" in the Edit Position data window inputs position data.
6) Check the position data and variable name, and press the "OK" button.

4)

5)

6)

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 F series

(11-2) Acquiring position data. (Method 2) (Robot click movement → current position reading)
By clicking the object in the 3D Monitor window while pressing the Ctrl key with the simulation
started, the robot moves to the position which has been clicked.
· When no object is set at the position which has been clicked or the position is outside the robot
operation range, the robot does not move.
· The robot body does not move based on the posture and status of the multi-rotation joint. This
is because the robot body moves independently while maintaining the posture and status of the
multi-rotation joint.
· This operation is invalid during the robot operation.
1) Click the top center of the target layout configuration part of the 3D Monitor while pressing the
[Ctrl] key.
2) The robot moves to the position which has been clicked.
3D Monitor

Mov

2)
Ctrl + click 1)

3) Select the position variable and click "Edit" in the Position Variable Editing window.

3)

4) Clicking "Get current position" in the Edit Position data window inputs position data.
5) Check the position data and variable name, and click "OK".

4)

5)

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 F series

(11-3) Saving the program.

1) Select [Save] or [Save As → Robot] from [File] on the menu.

(If [File] is not on the menu, click the Program Editing window.)
2) If [Save As → Robot] is selected, input the file name in the "Save As Robot program" window.
3) Check the items to be written, and click [OK].

1)

3)

2)

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 F series

(12) Debugging
(12-1) Check the program operation with Step operation.

1) Right-click the corresponding program from [Program] under [Online] in the project tree, and
select "Debug Open" from the sub menu.

1)

2) Pressing the "FORWD" button on the operation panel executes the program by one step.
Check the posture and operation of the robot by executing the program by one step.

Debugging 3D Monitor

Forward

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 F series

(12-2) Return the program execution line to the first line.

[Reset]
Pressing the "RESET" button in the operation panel returns the program to the first line.

Reset
The execution line returns to the
first line.

(The RESET button does not

initialize signal status, robot
posture, variables, or similar.)

[Jump]
Pressing the "Jump" button in the operation panel specifies the execution line.

Input the step number of

Jump the line to be executed.

The execution line moves.

(12-3) Execute the program continuously.

Pressing the "CONT" button on the operation

panel continuously executes the program for
one cycle.

Continue

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 F series

(13) Changing the layout display conditions

Click the [Edit...] button in the "Layout edit" window to display the "Layout condition edit"
window.
By specifying the I/O conditions for the layout parts, the corresponding parts can be displayed
or hidden. This function is valid only during simulation.

If no I/O condition is specified, select [Default],

and if I/O conditions are specified, select [I/O].

1) ON→OFF
Set the conditions to hide the target layout parts.
2) OFF→ON
Set the conditions to display the target layout parts.
3) Condition
I/O conditions can be set by selecting [I/O].
4) I/O type
Specify the I/O type.
5) Start signal #
Specify the I/O Start number.
6) No. of bits
Specify the number of bits (number of registers) from the I/O start signal.
7) Signal value
Specify the numeric values to be compared with the I/O status.
8) Project
Specify the target projects (robots) whose I/O conditions are checked when using the 3D
Monitor of the whole workspace. The projects do not need to be set in the 3D Monitor of
each project.

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 F series

(13-1) Setting the display conditions for the layout configuration parts.

1) Select [Layout] from [3D View] on the menu.

2) Select the parts to be set, and click "Edit" in the
1) Layout list window.

2)

3) Click [Edit] in Condition in the Layout edit window to

display the Layout condition edit window.
4) In the Layout condition edit window:
• Select "I/O (Valid Only in Simulation)".
• Set signals for ON→OFF and OFF→ON.
5) Click "OK".

Example)
ON→OFF
3) Output signal, start number: 100, number of bits: 1, signal status: 0
OFF→ON
Output signal, start number: 100, number of bits: 1, signal status: 1

Program description:
Display → Hide: M_Out(100)=0
Hide → Display: M_Out(100)=1
4)

5)

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 F series

6) To set other parts, perform steps 1) to 5).

(Configure settings for each part.)
Example)
ON→OFF
Output signal, start number: 101, number of bits: 1, signal status: 0
OFF→ON
Output signal, start number: 101, number of bits: 1, signal status: 1

Program description:
Display → Hide: M_Out(101)=0
Hide → Display: M_Out(101)=1

(13-2) Save the layout file.

1) Click [Save] in the Layout list

window.
2) Overwrite and save the file as
is.

1)

2)

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 F series

(13-3) Setting the display conditions for the robot program.

1) Select the program file from Program in the project tree, right-click and select "Open Program".
Check the items to be read and click "OK".
2) Describe commands of the parts display conditions.

1)
2)

Example)
Display → Hide: M_Out(100)=1
Hide → Display: M_Out(101)=0

2)

(13-4) Carry out debugging and check the program operation.

3D Monitor

For the debugging method, refer to "(12) Carrying out debugging" in this chapter.

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 F series

(14) Automatic Operation

(14-1) Select the program and perform the automatic operation.

1) Click the "Select" button in the operation panel.

2) Select the program.
3) The selected program name is displayed in "Program" in the operation panel.
4) Press the "START" button in the operation panel.

Select button
1)

2)

3)

4)
START button

(14-2) Check if the robot operation and the program are correct.

3D Monitor

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<< MEMO >> * Use this page to write down notes.

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 COMMON

Appendix 4: MELFA-BASIC
Appendix 4.1 Branch instruction
(1) Select Case (Select Case)
This instruction executes one of multiple statement blocks according to the conditional expression
value.
If the condition matches one of the Case items, the process will be executed until the
Break, next Case, Default, or End Select.
If the condition does not match any of the Case items but Default is described, that block will be
executed.

Program example Select <Condition>

Case <Expression>
1 Select MCNT Value of MCNT [Process]
Break
2 Case Is <= 103 Default <Expression>
MCNT <= 10
Mov P1 Execute Mov P1 and skip the Select [Process]
4 Break statement. Break
End Select

5 Case 11
6 Case 12 MCNT = 11 or 12
Execute Mov P2 and skip the Select
7 Mov P2
statement.
8 Break

9 Case 13 To 18 13 <= MCNT <= 18

10 Mov P4 Execute Mov P4 and skip the Select
11 Break statement.

12 Default Other than the above

13 M_Out(10)=1 Execute M_Out(10)=1 and skip the Select
14 Break statement.

15 End Select End

(1-5) While-WEnd (While End)

This instruction repeats the program between the While statement and WEnd
statement as long as the loop conditions are satisfied.

Program example

1 M=1
2 While M1 <= 5
•••••• M1 repeats the processes 1 to 5.
15 M1=M1+1
16 WEnd

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 (F )
Appendix 5: iQ Platform Compatible (MELSEC Q Series Compatible)
(F Series)
Appendix 5.1 Input/output function
(1) Setting the PLC CPU parameters
Set the multi-CPU parameters using GX Works2. The following examples apply for a system
having one PLC CPU and one robot CPU.
1) Number of CPU modules
Set the number of CPU modules mounted on the main base unit in the multi-CPU system.
2) With multi-CPU synchronous startup, it takes 10 to 15 seconds for the system to start up after the
robot CPU power is turned ON. Thus, set simultaneously setup for the multi-CPU system (check
the box).
3) Set the number of multi-CPU high-speed communication area setting points as a "K word unit".
The robot CPU uses less than 1K word, but this should be set to 1K word.

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 (F )

(2) Setting the robot CPU parameters

Set the multi-CPU parameters using RT ToolBox2.
Setting the robot CPU parameters
Parameter name Details Default setting

QMLTCPUN Number of multi-CPU modules setting 2

Set the number of multi-CPU modules mounted in the main base
unit of the multi-CPU system.
Range: 1 to 4
QMLTCPUn Multi-CPUn unit high-speed communication area setting (n=1 to 4) 1,0,1,1
=1 to 4 Set the number of points for sending and receiving data between
each CPU module when using high-speed communication function
between 1 to 4 units in a multi-CPU system. The parameter setting
values must match all CPUs. If the parameter setting values do not
match, an error will occur in the PLC CPU. Make sure that each
CPU parameter value matches.
Element 1: Size of user's free area (K points)
Range: 1 to 14 (maximum)
Setting range according to number of CPU modules
No. of CPUs Setting range
2 0 to 14K points
3 0 to 13K points
4 0 to 12K points
Element 2: Number of automatically refreshed points (points)
Range: 0 to 14335
The robot CPU does not support the automatic refresh area, so
always set the number of automatic refresh area points to 0.
Element 3: Size of system area (K points)
Range: 1 or 2
Element 4: Multi-CPU synchronous startup (1: Enable, 0: Disable)
The robot CPU takes time to start up, so basically this setting must
not be changed. Leave it set to 1 (Enable synchronization). All CPUs
must be set to the same setting.
IQMEM Note 1) Select the shared memory expansion function. A function is 00000000
assigned for each bit. (1: Enable, 0: Disable) 00000000
15 0
00000000 00000000
bit2-3, 5-15 bit0: Shared memory expansion function
are not use bit1: PLC direct execution function

bit4: Multi-robot cooperative control function

IQSPEC Note 1) Set the functions of the drive unit for the iQ Platform compatible 000000000000
robot. 0001
A function is assigned for each bit. (1: Enable, 0: Disable)
15 0
00000000 00000000
bit1-15 is not bit0: Shared memory write direction
used =0: Execute read/write in order from
head to last address
=1: Execute read in order from head,
and write in order from last address
Note 1) Refer to the separate "Instruction Manual / iQ Platform compatible expansion function manual
(BFP-A8787)" for details on this function (expansion function: PLC direct execution function).

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 (F )
(3) Correspodendence of CPU shared memory and robot input/output signals
With the PLC CPU, the CPU's shared memory is accessed as U3E0\G1000. The robot CPU
No.n CPU shared memory is accessed as U3En\G10000. (n = 1 to 3, up to three robot CPUs
can be used.) The robot CPU's input/output signal numbers are 10000 to 18191 respectively.
Note that the PLC side uses word devices, and the robot side uses bit devices.
The correspondence of the CPU shared memory and robot input/output signals is shown
below. This cannot be changed.
Correspondence of CPU shared memory and robot input/output signals
PLC (word device) Robot (bit device)

Output U3E0\G10000 to U3E0\G10511 Input Robot CPU No.1 / 10000 to 18191

U3E0\G10512 to U3E0\G11023 Robot CPU No.2 / 10000 to 18191

U3E0\G11024 to U3E0\G11535 Robot CPU No.3 / 10000 to 18191

Input U3E1\G10000 to U3E1\G10511 Output Robot CPU No.1 / 10000 to 18191

U3E2\G10000 to U3E2\G10511 Robot CPU No.2 / 10000 to 18191

U3E3\G10000 to U3E3\G10511 Robot CPU No.3 / 10000 to 18191

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 (F )

(4) Program example of sequence ladder

An example for turning the operation panel's "Robot operation right enable button: X0" ON, set the
operation panel's "Robot operation rights enabled lamp: Y20" and output the robot's operation right
enabled state is shown below.
The multi-CPU is configured of the No. 1 unit: PLC QnUD(H)CPU and No. 2 unit: robot Q172DRCPU.
[Explanation]
<Lines 0 to16 > M100 to M131 are written into the U3E0\G10000 and U3E0\G10001 shared
device memory, and are handled as the input from the PLC to the robot. The
U3E1\G10000 and U3E1\G10001 shared device memory is read as the M200
to M231 bit device, and handled as the output from the robot to the PLC.
<Lines 17 to 22 > When X0 turns ON, M105 turns ON and U3E0\G10000 bit 5 of the PLC
corresponding to M105 turns ON. Then, the robot input 10005 turns ON, and
the operation rights assigned to the dedicated input signal are enabled. When
the operation rights are enabled, the robot output 10005 assigned to the
dedicated output signal turns ON, and the robot's U3E1\G10000 bit 5 turns ON.
This causes the PLC M205 corresponding to the U3E1\G10000 bit 5 to turn
ON, and Y20 to turn ON. In this example, bit device M201 (U3E0\G10000 bit 1,
or robot output 10001) indicates the completion of the controller power ON
(outputs that external input signal can be received).

Example of sequence ladder

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 (F )
(5) Dedicated input/output signal assignment (Default settings)
The default dedicated input/output signal assignments are shown below.

Dedicated input/output signal assignment (default settings)

Parameter Input signal name G device
Output signal name Input Output
name (* Operation rights required) Note1)

Stop input (assignment cannot Output stopped (assignment

STOP 10000 10000
be changed) cannot be changed)
RCREADY - Controller power ON complete - 10001

ATEXTMD - Remote mode output - 10002

TEACHMD - Teach mode output - 10003

ATTOPMD - OP mode output - 10004

IOENA Operation rights input Operation rights output 10005 10005

START Start input (*) Running output 10006 10006

STOPSTS - Inputting stop signal - 10007

G10000
SLOTINIT Program reset (*) Program selectable output 10008 10008

ERRRESET Error reset input Outputting error occurrence 10009 10009

SRVON Servo ON input (*) Outputting servo ON 10010 10010

Outputting servo ON not
SRVOFF Servo OFF input 10011 10011
possible
CYCLE Cycle stop input Outputting cycle stop operation 10012 10012

SAFEPOS Retract position return signal (*) Outputting retract point return 10013 10013

BATERR - Battery voltage low - 10014

General-purpose output signal
OUTRESET - 10015 -
reset (*)
HLVLERR - Outputting high level error - 10016
LLVLERR - Outputting low level error - 10017
CLVLERR - Outputting warning level error - 10018
EMGERR - Outputting emergency stop - 10019
PRGSEL Program selection input - 10020 -
OVRDSEL Override selection input - 10021 -
PRGOUT Program No. output request Outputting program No. 10022 10022
LINEOUT Step No. output request Outputting step No. 10023 10023
G10001
OVRDOUT Override value output request Outputting override value 10024 10024
ERROUT Error No. output request Outputting error No. 10025 10025
- - - - -
- - - - -
- - - - -
- - - - -
- - - - -
- - - - -

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Parameter Input signal name G device

Output signal name Input Output
name (* Operation rights required) Note 1)

IODATA Numeric input 0 Numeric output 0 10032 10032

Numeric input 1 Numeric output 1 10033 10033
Numeric input 2 Numeric output 2 10034 10034
Numeric input 3 Numeric output 3 10035 10035
Numeric input 4 Numeric output 4 10036
Numeric input 5 Numeric output 5 10037
Numeric input 6 Numeric output 6 10038
Numeric input 7 Numeric output 7 10039
G10002
Numeric input 8 Numeric output 8 10040
Numeric input 9 Numeric output 9 10041
Numeric input 10 Numeric output 10 10042
Numeric input 11 Numeric output 11 10043
Numeric input 12 Numeric output 12 10044
Numeric input 13 Numeric output 13 10045
Numeric input 14 Numeric output 14 10046
Numeric input 15 Numeric output 15 10047
HNDCNTL1 - Hand output signal status 900 - 10048
- Hand output signal status 901 - 10049
- Hand output signal status 902 - 10050
- Hand output signal status 903 - 10051
- Hand output signal status 904 - 10052
- Hand output signal status 905 - 10053
- Hand output signal status 906 - 10054
- Hand output signal status 907 - 10055
G10003
HNDSTS1 - Hand input signal status 900 - 10056
- Hand input signal status 901 - 10057
- Hand input signal status 902 - 10058
- Hand input signal status 903 - 10059
- Hand input signal status 904 - 10060
- Hand input signal status 905 - 10061
- Hand input signal status 906 - 10062
- Hand input signal status 907 - 10063
USRAREA - User-defined area 1 - 10064
- User-defined area 2 - 10065 G10004
- User-defined area 3 - 10066

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Parameter Input signal name G device

Output signal name Input Output
name (* Operation rights required) Note 1)

USRAREA - User-defined area 4 - 10067

- User-defined area 5 - 10068
- User-defined area 6 - 10069 G10004
- User-defined area 7 - 10070
- User-defined area 8 - 10071

Note 1) The device addresses are common for multi-CPUs. (Address viewed from PLC Side.)

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Appendix 5.2 Setting the multi-CPU (using GX Works2)
The steps for setting the PLC communication, multi-CPU and personal computer support software are
explained in this section.
These examples apply for when the personal computer and PLC are connected with a USB cable.
In the following explanation, the PLC parameters are set with "GX Works2".
When using "GX Developer", refer to "Appendix 5.3 Setting Multi-CPU (Using GX Developer) " in this
chapter.

(1) Setting GX Works2

1) GX Works2 is used to set PLC communication and write the settings to the PLC.
GX Works2 is also used to set the multi-CPU.
Connect the PLC and personal computer with a USB cable.

2) Start up GX Works2.

Start up screen

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3) Select "PC READ" under "ONLINE".

4) The "SELECT PC SERIES" window opens. Select "QCPU (Q MODE)" and then click "OK".

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5) The "CONNECTION" window opens.

a) Select "SERIAL USB" for Personal Computer I/F
b) Select "CPU MODUEL" for PLC I/F
c) Select "NO OTHER STATION" for Other station Designation
d) Select "PLC No.1" for Target System
Click "Communication Test".

a)

b)

c)

d)

6) The connection status appears on the "MELSOFT APPLICATION" window. When "OK"
is clicked, the "CONNECTION" window appears again. Click "OK" again.

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7) The "ONLINE DATA OPERATION" window opens.

a) Click "Parameter + Program", and confirm that the check box for the corresponding
data (program, parameter) is checked. Check the box if it is not checked yet.
Click the "EXECUTE" button.

a)

Box is checked.

8) The "PC READ" window opens, and data is read from the PLC. When all of the data has been
read out, click the "CLOSE" button.
The "ONLINE DATA OEPRATION" screen opens again, so click "CLOSE" again.

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9) Click "PC PARAMETER" under "PARAMETER" shown on the left of the screen.

10) The "Q PARAMETER SETTING" window opens.

Select the "MULTI CPU SETTING" tab.

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11) Perform the following on the "MULTI CPU SETTING" screen.

a) Change "NO. OF CPU MODULES" to "2 MODULES".
b) Change the No. of points for the No. 1 and No. 2 units in "MULTI-CPU HIGH-SPEED
COMMUNICATION AREA SETTING" to "1". (The initial value is "7").
c) Click the "END SETTING" button.

a)

b)

c)
Note) Do not set the robot's CPU.

12) Write the set parameters to the PLC.

Select "PC WRITE" from the "ONLINE" tab.

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13) The "ONLINE DATA OPERATION" window opens.
a) Click "PARAMETER + PROGRAM", and confirm that the check box for the corresponding
data (program, parameter) is checked. Check the box if it is not checked yet.
Click the "EXECUTE" button.

a)

Box is checked.

14) a) A window opens and the message "Execute PC write?" appears. Click "YES".
b) The message "Overwrite?" appears, so click "ALL".
c) The message "WRITING COMPLETE" appears. When all writing has been completed, click "CLOSE".
d) The message "Is remote-RUN executed?" appears. Click "Yes".
This completes the settings on the GX Works2 side.

a) b)

d)
c)

Next, set the personal computer support software "RT ToolBox2".

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(2) Setting RT ToolBox2

1) Complete the settings for communicating with the personal computer support software.
First, start up the personal computer support software (RT ToolBox2).

Click the icon shown on the left.

The following screen will open.

2) Select "NEW" from "WORKSPACE" on the top.

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3) Create a new workspace.
Input the workspace name and title, and click the OK button.

4) Select "CRnQ-7xx/CR75x-Q" from the CONTROLLER tab on the "EDIT PROJECT" window.

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5) Check that "CRnQ" is selected in the "COMMUNICATION" tab. Next, click the "DETAIL
SETTINGS" button.

6) Complete the detailed settings.

a) Set "USB" for the Personal Computer I/F setting, and
b) Set ROUTE to "1 SERIAL COMMUNICATION CPU MODUEL CONENCTION".
c) Click the "DETAIL SETTINGS" button.

a)

c)
b)

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7) In the DETAIL SETTINGS window, set "TARGET CPU" to "No. 2 unit" and click the "OK" button.
The "CRnQ COMMUCNIATION" screen opens again, so click the "OK" button.

8) Select the model name under "OFFLINE ROBOT SETTING". Click "OK" after selecting.
This completes the communication settings.

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9) Complete the "MULTI-CPU SETTINGS" next.
First, activate the online state between the robot and RT ToolBox2 to enable communication and
work with the robot.
Click the "ONLINE" button and wait for the communication server to change to online.

ONLINE button

Offline Online
Click the ONLINE button. The communication server will change to online shortly.

10) Expand "Online" → "Parameter" → "PLC cooperation parameter" in Workspace, and click" Multiple
CPU".

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11) The MULTI CPU SETTING screen opens

The same settings as "(1) GX Works2" step "11" are made here.
a) Change "NO. OF CPU MODULES" to "2 MOUDLES".
b) Change the No. of points (K) for the No. 1 and No. 2 units in "MULTI-CPU HIGH-SPEED
COMMUNICATION AREA SETTING" to "1".
After inputting the setting value, click the "WRITE" button.

a)

b) Note) Do not set the robot CPU

automatic refresh function.

12) The write confirmation screen opens, so click "YES".

13) Close the MULTI CPU SETTING screen.

This completes the setting of the multi-CPU on the robot CPU side.
To enable the changed parameters, turn both the drive unit and robot CPU power OFF and ON.

This completes the settings.

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[Reference] After creating the project, open "Edit Project" with the button shown below to change
each setting again.

Click this button to open "Edit Project".

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Appendix 5.3 Setting Multi-CPU (Using GX Developer)

The steps for setting the PLC communication, multi-CPU and personal computer support software are
explained in this section.
These examples apply for when the personal computer and PLC are connected with a USB cable.

1) GX Developer is used to set PLC communication and write the settings to the PLC.
GX Developer is also used to set the multi-CPU.
Connect the PLC and personal computer with a USB cable.

Screen at start up
2) Start up GX Developer.

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3) Select "PC READ" from "ONLINE"

4) The "SELECT PC SERIES" window opens. Select "QCPU (Q MODE)" for the PLC Series, and
then click OK.

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5) The "CONNECTION" window opens.

a) Select "SERIAL USB" for Personal Computer I/F
b) Select "CPU MODUEL" for PLC I/F
c) Select "No Specification" for Other Station Setting
d) Select "PLC No.1" for Target PLC
Click "Communication Test".

a)

b)

c)

d)

6) The "PC READ" window opens.

a) When "PARAMETER + PROGRAM" is clicked, the boxes for the corresponding data are
checked. Click the "EXECUTE" button.

a)
Boxes are checked

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7) The data is read from the PC and the message "Finished" appears. This completes the
communication test.

8) Click "PC PARAMETER" under "PARAMETER" shown on the left of the screen.

9) The "Q PARAMETER SETTING" window opens.

10) Click the "MULTI CPU SETTING" button.

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11) The MULTI CPU SETTING screen opens
a) Change "NO. OF CPU MODULES" to "2 MODULES".
b) Change the No. of points for the No. 1 and No. 2 units in "MULTI-CPU HIGH-SPEED
COMMUNICATION AREA SETTING" to "1".
c) Click the "SETTING COMPLETE" button.

a)

b)

c)
Note) Do not set the robot CPU.

12) The "MULTI CPU SETTING" buttons will change to blue. (Initially these are pink.)
Press the "SETTING COMPLETE" button again.

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13) Write the set parameters to the PLC.
Select "PC WRITE" from the "ONLINE" tab.

14) The "PC WRITE" window opens.

a) When "PARAMETER + PROGRAM" is clicked, the boxes for the corresponding data are
checked. Click the "EXECUTE" button.

a)

Boxes are checked

15) a) A window opens and the message "Execute PC write?" appears. Click "YES".
b) The message "Overwrite?" appears, so click "ALL".
c) The message "WRITING COMPELTE" appears. This completes the settings on the
GX Developer side.

a)
b)
c)

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 COMMON

Appendix 6: Robot Start up and Maintenance

Appendix 6.1 Starting up after purchasing the robot

Step Item Reference and Instruction Manuals Remarks

1 Check the product Product inspection report Order form
Check the optional parts Standard specifications Delivery form
2 Install the robot arm and controller/drive Standard specifications Enclosed parts
unit From robot arm setup to maintenance
Remove the fixing brackets
3 Check and wire the controller/drive unit's Standard specifications
primary power specifications (also connect From controller setup, basic operations to
the ground) maintenance
4 Connect the device connection cables Standard specifications Final
Connect the T/B From controller setup, basic operations to confirmation of
maintenance specifications
5 With Emergency Stop applied, turn ON the Standard specifications Confirmation of
controller's control power (Wait 15 sec.) From controller setup, basic operations to safety
maintenance
6 Alarm "H0060" is the controller's Troubleshooting Confirmation of
emergency stop emergency
Alarm "H0070" is the T/B's emergency stop stop function
Cancel the emergency stop and press the
[RESET] key
7 Origin setting (data method) From robot arm setup to maintenance Operate with
Input the enclosed mechanism origin data T/B
into the controller
8 After setting the origin, check the From robot arm setup to maintenance
movement of all axes with jog feed Detailed explanation of functions and
operations
9 After confirming the movement, attach the From robot arm setup to maintenance Check hand
optional parts and hand related parts From controller setup, basic operations to movement
maintenance

This completes startup of the robot.

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Appendix 6.2 Maintenance

(1) Maintenance and inspection timing
Maintenance and inspection includes inspections that are performed daily and periodic
inspections that are performed at a set timing.

Inspection schedule
In addition to the monthly inspection, add items that are inspected every three months
(estimating 500Hr operation hours) as shown below.

0 Hr
1-month
inspection
1-month
inspection
500 Hr 1-month 3-month
inspection inspection
1-month
inspection
Daily inspection

1-month
inspection
1,000 Hr 1-month 3-month 6-month
inspection inspection inspection
1-month
inspection
1-month
inspection
1,500 Hr 1-month 3-month
inspection inspection
1-month
inspection
1-month
inspection
2,000 Hr 1-month 3-month 6-month 1-year
inspection inspection inspection inspection

6,000 Hr 1-month 3-month 6-month 1-year 3-year

inspection inspection inspection inspection inspection
Operation
hours

<Guide to inspection timing>

1 shift
8Hr/day × 20 days/month × 3 months = approx. 500Hr
10Hr/day × 20 days/month × 3 months = approx. 600Hr

2 shifts
15Hr/day × 20 days/month × 3 months = approx. 1,000Hr

[Caution] As shown above, when running two shifts, perform the 3-month inspection,
6-month inspection and 1-year inspection when half the period has passed.

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(2) Daily inspection items

The daily inspection items differ according to the purchased model. (An example is shown below.)

Step Inspection Item (Details) Action when problem is found

Before power ON (Check the following inspection items before turning the power ON.)
1 Are any of the robot mounting bolts loose? Securely tighten the bolts.
(Visual)
2 Are any of the cover tightening screws loose? Securely tighten the screws.
(Visual)
3 Are any of the hand mounting bolts loose? Securely tighten the bolts.
(Visual)
4 Is the power cable correctly connected? Securely connect.
(Visual)
5 Are the device connection cables between the robot Securely connect.
controller and the drive unit correctly connected?
(Visual)
Are there any cracks on the robot? Is any foreign matter Replace with a new part, or take remedial
6
attached, or are there any obstacles? measures.
7 Are there any problems in the pneumatic system? Are Discharge the drainage, and fix the air leak
there any air leaks, built up drainage or broken hoses? (replace the part).
Is the air source normal?
(Visual)
After power ON (Monitor the robot while turning the power ON.)
Is there any abnormal movement or abnormal sound Refer to Troubleshooting and take actions.
1
when the power is turned ON?
During operation (Try moving with an original program)
1 Check that none of the movement points are deviated. Refer to Troubleshooting and take actions.
Check the following items if there is any deviation.
1. Are any of the mounting bolts loose?
2. Are any of the hand mounting bolts loose?
3. Is the position of the jigs other than the robot
deviated?
4. If the position deviation cannot be eliminated, refer to
"Troubleshooting", check the state and take actions.
2 Is there any abnormal movement or abnormal sound? Refer to Troubleshooting and take actions.
(Visual)

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(3) Periodic inspection items

The inspection items differ according to the purchased model. (An example is shown below.)

Step Inspection Item (Details) Action when problem is found

1-month inspection items

1 Are any of the robot arm bolts or screws loose? Securely tighten the bolts.
Are any of the connector fixing screws or terminal
2 Securely tighten the screws.
block terminal screws loose?
3-month inspection items
Adjust the timing belt if it is loose or too
1 Is the timing belt properly tensed?
tight.
6-month inspection items
Replace if any of the teeth are missing or
1 Are the timing belt teeth heavily worn?
if there is marked wear.
1-year inspection items
1 Replace the backup battery in the robot arm.
Replace if any of the teeth are missing or
2 Are the timing belt teeth heavily worn?
if there is marked wear.
3 Is the timing belt properly tensed? Adjust the tension if the timing belt is too
Is the timing belt causing positional deviation? loose or too tight.
3-year inspection items

1 Lubricate the reduction gears for each axis.

Periodically service the robot to ensure correct and safe use for a long time.

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Appendix 7: Frequently Used Parameters

Parameter Parameter No. of Details explanation Factory setting
name arrays
No. of
characters
Joint operation MEJAR Real Specify the overrun limit value of the joint Setting value per
range number 16 coordinate system. mechanism
Set the operation range for each axis.
It is not recommended to expand the
operation range. The robot may hit a
mechanical stopper.
Note) When the J1 offset angle
(J1OFFSET) is set for a vertical 5-axis
type robot, the joint operation range of the
J1-axis cannot be changed.
Minus and plus directions (-J1, +J1, -J2,
+J2,......-J8, +J8) Unit: deg
XYZ movement MEPAR Real Specify the overrun limit value of the XYZ (-X, +X, -Y, +Y, -Z, +Z) =
range number 6 coordinates system. -10000, 10000,
Limit the operation range of the robot in -10000, 10000,
the XYZ coordinates system. -10000, 10000
Set up the robot in the controller and then
set this parameter to prevent it from
hitting peripheral devices during manual
operation.
Minus and plus directions (-X, +X, -Y, +Y,
-Z, +Z)
Unit: mm
User-defined Set the user-defined area(s) (up to 32 areas) and specify robot behavior in those areas.
area
AREA*CS Integer 1 Set the coordinate system of the 0
* indicates 1 user-defined area(s)*. (* = 1 to 32)
to 32. 0: World coordinate system (compatible
with the conventional robots)
1: Base coordinate system
AREA*P1 Real Set the position coordinate of the (X, Y, Z, A, B, C, L1, L2)
* indicates 1 number 8 diagonal point 1, posture data, and = 0.0, 0.0, 0.0, -360.0
to 32. additional axis coordinate of the -360.0, -360.0, 0, 0
user-defined area*. They are defined from
the first element in order of X, Y, Z, A, B,
C, L1, and L2.
AREA*P2 Real Set the position coordinate of the (X, Y, Z, A, B, C, L1, L2)
* indicates 1 number 8 diagonal point 2, posture data, and = 0.0, 0.0, 0.0, +360.0,
to 32. additional axis coordinate of the +360.0, +360.0, 0, 0
user-defined area*. They are defined from
the first element in order of X, Y, Z, A, B,
C, L1, and L2.
Free plane limit Set the overrun limit value in the free plane.
The coordinates of the three points create a plane and the area which does not include the origin is
outside the operation range. Use the following three types of parameters to set up to eight limits.
SFC*P Real Specify three points to create a plane. (X1, Y1, Z1, X2, Y2, Z2,
* indicates 1 number 9 X1, Y1, Z1: Origin position on the plane X3, Y3, Z3) =
to 8. X2, Y2, Z2: Position on the X-axis of the 0.0, 0.0, 0.0, 0.0, 0.0,
plane 0.0, 0.0, 0.0, 0.0
X3, Y3, Z3: Position on the X-Y plane in
the +Y-axis direction
SFC*ME Integer 1 Specify the mechanism number which 0
* indicates 1 enables the free plane limit.
to 8. Set the number within the range of 1 to 3.
(normally set to 1)

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Parameter Parameter No. of Details explanation Factory setting

name arrays
No. of
characters
SFC*AT Integer 1 Specify whether to enable or disable the 0 (Disable)
* indicates 1 set free plane limit.
to 8. 0: Disable (initial value)
1: Enable (The operable area is at the
robot coordinate origin side.)
-1: Enable (The operable area does not
include the robot coordinate origin.)
Home position JSAFE Real Specify the home position. The setting varies
number 8 The robot moves to the home position by depending on the model.
executing Mov P_SAFE in the robot
program or inputting the SAFEPOS signal
of the external signal.
(J1, J2, J3, J4, J5, J6, J7, J8) Unit: deg
Standard tool MEXTL Real Set the initial values for the relationship (X, Y, Z, A, B, C) = 0.0,
coordinate number 6 between the hand tip (control point) and 0.0, 0.0, 0.0, 0.0, 0.0
the mechanical interface (hand mounting
surface).
In the factory setting, the mechanical
interface is set as the control point.
Change this setting to attach the hand
and set the hand tip as the control point.
(Posture control can be performed on the
hand tip at the XYZ or tool jog.)
(X, Y, Z, A, B, C) Unit: mm for XYZ, deg
for ABC
Hand/workpiece Set the hand and workpiece conditions in the program when Oadl ON (initial value) is set.
conditions Up to eight conditions can be set and the combination of the conditions used can be selected with
(Used for the LoadSet instruction.
optimized Note) Set the hand and workpiece conditions correctly. If the conditions set are less than the actual
acceleration/ mounted load, the life of mechanical components used in the robot may be shortened.
deceleration or
impact HNDDAT0 Real Set the initial conditions of the hand. The setting varies
detection) number 7 (Specify them in the tool coordinate depending on the model.
system.)
These values are used just after
power-on.
To use impact detection during the jog
operation, set the actual hand conditions.
Failure to do so could lead to incorrect
impact detection.
(Weight, size X, size Y, size Z, center of
gravity X, center of gravity Y, center of
gravity Z) Unit: Kg, mm
HNDDAT* Real Set the conditions of the hand. (Specify Standard load
* indicates 1 number 7 them in the tool coordinate system.) ,0.0,0.0,0.0,0.0,0.0,0.0
to 8. (Weight, size X, size Y, size Z, center of
gravity X, center of gravity Y, center of
gravity Z) Unit: Kg, mm
WRKDAT0 Real Set the initial conditions of the workpiece. 0.0,0.0,0.0,0.0,0.0,0.0,
number 7 (Specify them in the tool coordinate 0.0
system.)
These values are used just after
power-on.
(Weight, size X, size Y, size Z, center of
gravity X, center of gravity Y, center of
gravity Z) Unit: Kg, mm
WRKDAT* Real Set the conditions of the workpiece. 0.0,0.0,0.0,0.0,0.0,0.0,
* indicates 1 number 7 (Specify them in the tool coordinate 0.0
to 8. system.)
(Weight, size X, size Y, size Z, center of
gravity X, center of gravity Y, center of
gravity Z) Unit: Kg, mm

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Parameter Parameter No. of Details explanation Factory setting

name arrays
No. of
characters
HNDHOLD* Integer 2 Set whether or not to hold a workpiece 0,1
* indicates 1 when HOPEN* or HCLOSE* is executed.
to 8. (Setting for OPEN/CLOSE)
(Not holding/holding = 0/1)

Jog setting JOGJSP Real Specify the joint jog feed amount and step Setting value per
number 3 operation speed. (Inching H, inching L, mechanism
maximum override)
Inching H: Feed amount when the jog
speed is High Unit: deg
Inching L: Feed amount when the jog
speed is Low Unit: deg
Maximum override: Operation is
performed under OP override × maximum
override.
JOGPSP Real Specify the XYZ jog feed amount and Setting value per
number 3 step operation speed. (Inching H, inching mechanism
L, maximum override)
Inching H: Feed amount when the jog
speed is High Unit: mm
Inching L: Feed amount when the jog
speed is Low Unit: mm
Maximum override: Operation is
performed under OP override × maximum
override. Operation exceeding the
maximum speed of 250 mm/s cannot be
performed.
Hand HIOTYPE Integer 1 Set the electrical specifications -1
input/output type (source/sink) of the built-in air hand
interface. Set them according to the
specifications of the solenoid valve and
others used.
-1: Not set/0: Source/1: Sink

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 COMMON

Appendix 8: Dedicated input/output

Dedicated input/output signals have the functions shown in the table below.
These functions are used by the parallel input/output unit by assigning the signal No. in
the parameter. The signal No. is assigned by the signal No. used in the order of "input
signal" and "output signal" in each parameter. Refer to the parameter setting method.
Furthermore, when -1 is assigned for the signal No., this signal will not be used.
Set input/output parameters either in the T/B parameter screen, or with the
maintenance tools of the personal computer support software (optional). Additionally,
an example signal timing diagram is in "Controller INSTRUCTION MANUAL Detailed
explanations of functions and operations" for your reference.
Dedicated input/output signals are enabled when the controller mode is "AUTOMATIC",
and the operation rights input signal (IOENA) is ON.
Dedicated input/output list
Signal number at factory default
Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
RCREADY Input - - -1 (No meaning), -1 (No meaning),
10001 -1
Output Controller power After turning the power ON,
ON complete outputs that an external input
signal can be received.
ATEXTMD Input - - -1 (No meaning), -1 (No meaning),
Output Remote mode Outputs that the controller 10002 -1
output mode is "AUTOMATIC". This is
the remote mode.
The condition is that this signal
is ON for the control with an
external signal.
TEACHMD Input - - -1 (No meaning), -1 (No meaning),
Output Teach mode Outputs that the controller 10003 -1
output mode is "MANUAL".
ATTOPMD Input - - -1 (No meaning), -1 (No meaning),
Output Automatic mode Outputs that the controller 10004 -1
output mode is "AUTOMATIC".
IOENA Input Operation rights Enables/disables operation Level 10005, 5,
input signal rights for the external signal 10005 3
control.
Output Operation rights Outputs operation rights
output signal enabled status for the external
signal control.
When the controller mode is
set to "AUTOMATIC", the
operation rights input signal is
ON, and no other devices
acquire operation rights, the
operation rights are acquired
from the external signal.

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Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
START Input Start input Starts the program. Edge 10006, 3,
(Operation rights To start the specified program,
required) select the program in the
program select signal
"PRGSEL" and the numeric
value input "IODATA", and then
input the start signal.
When the parameter "PST" is
enabled, the program number
is read from numerical value
input (IODATA) and the
program starts. (Program
selection will not be required.)
During the multi-task operation,
this parameter executes all
task slots.
However, slots with a starting
condition that is set to
ALWAYS or ERROR via a
parameter "SLT**" will not be
executed.
Output Running output Outputs that the program is 10006 0
running.
During the multi-task operation,
if at least one task slot is
running, this parameter is ON.
However, slots with a starting
condition that is set to
ALWAYS or ERROR via a
parameter "SLT*" will not be
executed.
STOP Input Stop input Stops the running program. Level 10000 0
(Slots that have start-up (Cannot be (Cannot be
conditions of ALWAYS and changed), changed),
ERROR setting is excluded.)
Stop input is fixed to input
signal 0, and this number
cannot be changed.
During the multi-task operation,
this parameter stops all task
slots. However, slots with a
starting condition that is set to
ALWAYS or ERROR via a
parameter "SLT**" will not be
executed. Normal open and
normal close may be changed
using the parameter INB.
Output Output stopped Outputs that the program is 10000 -1
stopped.
Turns ON when slot multi-task
is not running, and at least one
slot is suspending.
However, slots with a starting
condition that is set to
ALWAYS or ERROR via a
parameter "SLT**" will not be
executed.
STOP2 Input Stop input Stops the running program. Level -1, -1,
(Specifications are the same as
the one for the STOP
parameter.)
Unlike the STOP parameter,
the signal number can be
changed.
Output Output stopped Outputs that the program is -1 -1
stopped.
(Specifications are the same as
the one for the STOP
parameter.)

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 COMMON

Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
STOPSTS Input - - -1 (No meaning), -1 (No meaning),
Output Inputting stop Outputs that the stop signal is 10007 -1
signal being input.
(Logical ADD of all devices.)
SLOTINIT Input Program reset Cancels the program stop Edge 10008, -1,
(Operation rights state, and returns the program
required) execution line to the first line.
Executing a program reset
makes it possible to select a
program.
When used with multi-task, this
parameter resets the program
for all task slots.
However, slots with a starting
condition that is set to
ALWAYS or ERROR via a
parameter "SLT**" will not be
executed.
Output Program Outputs that program is 10008 -1
selectable output selectable.
When the program is
running/not stopped, this
parameter is ON.
During the multi-task operation,
if all task slots are running/not
stopped, this parameter is ON.
However, slots with a starting
condition that is set to
ALWAYS or ERROR via a
parameter "SLT**" will not be
executed.
ERRRESET Input Error reset Clears the error. Edge 10009, 2,
[INPUT] signal 10009 2
Output Error [OUTPUT] Outputs that there an error.
signal
SRVON Input Servo ON Turns the robot servo power Edge 10010, 4,
(Operation rights [INPUT] signal ON.
required) With a multi-mechanism
configuration, the servo power
supplies for all mechanisms will
be turned ON.
Output Servo ON When the robot servo power is 10010 1
enabled ON, this parameter is ON.
[OUTPUT] signal When the servo power is OFF,
this parameter is OFF. With a
multi-mechanism configuration,
this output turns ON when the
servo of at least one
mechanism is ON.
SRVOFF Input Servo OFF Turns the robot servo power Level 10011, 1,
[INPUT] signal OFF. (All mechanisms are
supported.) While this signal is
being input, servo ON cannot
be executed.
Output Servo ON This output indicates a status 10011 -1
disabled where the servo power supply
[OUTPUT] signal cannot be turned ON.
(Echo back)

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 COMMON

Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
AUTOENA Input Automatic Disables automatic operation Level -1, -,1
operation when inactive.
enabled input If this signal is inactive, and the
AUTOMATIC mode is entered,
a low level error L5010 will
occur.
This input is used to interlock
the operations via the operation
panel with the I/O signals. Use
of this input is not a
requirement.
Output Automatic Outputs the automatic -1 -1
operation operation enabled status.
enabled output
CYCLE Input Cycle stop Starts the cycle stop. Edge 10012, -1,
[INPUT] signal 10012 -1
Output In cycle stop Outputs that the cycle stop is
operation operating.
[OUTPUT] signal Turns OFF when the cycle stop
is completed.
MELOCK Input Machine lock Sets/releases the machine lock Level -1, -1,
(Operation rights [INPUT] signal state for all mechanisms.
required) This parameter can be set or
released when all slots are in
the program selection state.
Signal level will be set to Level
when program selection is
enabled.
Output In machine lock Outputs the machine lock -1 -1
status [OUTPUT] status.
signal This parameter turns ON when
at least one mechanism is in
the machine lock state.
During the machine lock status,
the robot will not move, and
program operation will be
enabled.
SAFEPOS Input Home position Requests the Home position Edge 10013, -1,
(Operation rights return [INPUT] return operation.
required) signal This signal initiates a joint
interpolation movement to the
position set by the parameter
"JSAFE". The speed is
determined by the override
setting.
Make sure the robot does not
interfere with any peripheral
devices.
Output Returning to Outputs that Returning to home 10013 -1
home position position is taking place.
[OUTPUT] signal
BATERR Input - - -1 (No meaning), -1,
Output Battery voltage Outputs that the controller 10014 -1
low battery voltage is low.
The output is turned OFF when
the controller power supply is
reconnected after battery
replacement. This signal is also
output under the following
conditions.
The cumulative time when the
controller power supply is
turned OFF exceeds 14600
hours.
The output is turned OFF if the
battery depletion time is reset.

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 COMMON

Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
OUTRESET Input General-purpose Resets the general-purpose Edge 10015, -1,
(Operation rights output signal output signal.
required) reset The operation at the input is set
with parameters ORST0 to
ORS18160.
Output - - -1 (No meaning) -1 (No meaning),
HLVLERR Input - - -1 (No meaning), -1 (No meaning),
Output High level error Outputs that a high level error 10016 -1
[OUTPUT] signal is occurring.
LLVLERR Input - - -1 (No meaning), -1 (No meaning),
Output Low level error Outputs that a low level error is 10017 -1
[OUTPUT] signal occurring.
CLVLERR Input - - -1 (No meaning), -1 (No meaning),
Output Warning level Outputs that a warning level 10018 -1
error [OUTPUT] error is occurring.
signal
EMGERR Input - - -1 (No meaning), -1 (No meaning),
Output Emergency stop Outputs that an emergency 10019 -1
[OUTPUT] signal stop is occurring. [EMGERR
output conditions]
External emergency stop error:
H0050, H0051 (Dual line is
faulty)
Operation panel emergency
stop error: H0060, H0061
(Dual line is faulty)
T/B emergency stop error:
H0070, H0071 (Dual line is
faulty)
Door switch signal faulty:
H0039, H0040 (Dual line is
faulty)
Wiring error of EMGIN
connector: H0141
SnSTART Input Slot n start Starts each slot. n = 1 to 32 Edge -1, -1,
(n=1 to 32) [INPUT] -1 -1
(Operation rights Output Slot n in Outputs the running status of
required)
operation each slot. n = 1 to 32
[OUTPUT]
SnSTOP Input Slot n stop Stops each slot. n = 1 to 32 Level -1, -1,
(n=1 to 32) [INPUT] -1 -1
Output Slot n suspended Outputs that each slot has
[OUTPUT] temporarily stopped and the
program is suspended. n = 1 to
32
MnSRVOFF Input Mechanism n Turns OFF the servo for each Level -1, -1,
(n=1 to 3) servo OFF mechanism. n = 1 to 32
[INPUT] signal The servo cannot be turned ON
while this signal is being input.
Output Mechanism n Outputs the servo ON disabled -1 -1
servo ON status. (Echo back)
enabled
[OUTPUT] signal
MnSRVON Input Mechanism n Turns the servo ON for each Edge -1, -1,
(n=1 to 3) servo ON mechanism. n = 1 to 3 -1 -1
(Operation rights [INPUT] signal
required) Output Mechanism n Outputs the servo ON status. n
servo ON = 1 to 3
[OUTPUT] signal
MnMELOCK Input Mechanism n Sets/releases the machine lock Edge -1, -1,
(n=1 to 3) machine lock status of each mechanism. -1 -1
(Operation rights [INPUT] signal n = 1 to 3
required) Output Mechanism n Outputs that the machine is in
machine lock the lock state.
[OUTPUT] signal n = 1 to 3

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 COMMON

Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
BRKLOCK Input Brake lock This input signal is turned ON Level -1, -1,
[INPUT] to lock the brake during servo
ON.
This function is available for all
of the axes with brakes.
Output Brake locked This output signal is turned ON -1 -1
[OUTPUT] when the Brake lock [INPUT]
signal is turned ON.
PRGSEL Input Program Designates the setting value for Edge 10020 -1,
(Operation rights selection the program No. with numeric
required) [INPUT] signal value input signals.
Select the program for slot 1.
Output this signal when at least
15ms has elapsed following the
output to the numerical input
(IODATA). This signal should
also be output to the robot for
at least 15ms.
Output - -
OVRDSEL Input Override Designates the setting value for Edge 10021 -1,
(Operation rights selection the override with the numeric
required) [INPUT] signal value input signals.
Output this signal when at least
15ms has elapsed following the
output to the numerical input
(IODATA). This signal should
also be output to the robot for
at least 15ms.
Output - -
IODATA Input Numeric input Reads the numerical values as Level Note 2) Note 2)
(Start bit number, binary values. 10032 (Start bit) -1 (Start bit),
end bit number) Program number is read by the 10047 (End bit), -1 (End bit),
PRGSEL. If the parameter
"PST" is enabled, it is read by
the Start signal.
Override is read by the
OVRDSEL. The bit width can
be set arbitrarily. However, the
accuracy of output values
cannot be guaranteed when
they exceed the set bit width.
Output this input to the robot for
at least 15ms before inputting
PRGSEL or other setting
signals.
IODATA Output Numeric output Outputs the numerical values 10032 (Start bit), -1 (Start bit),
(Start bit number, as a binary value. 10047 (End bit) -1 (End bit),
end bit number) · Program number (Output by
the PRGOUT),
· Override (Output by the
OVRDOUT),
· Line number (Output by
LINEOUT),
· and error number (output in
ERROUT) are output.
The bit width can be set
arbitrarily. However, the
accuracy of output values
cannot be guaranteed when
they exceed the set bit width.
Read this signal after at least
15ms has elapsed following the
input of a program number
(PRGOUT) or other signal to
the robot.

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 COMMON

Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
PRGOUT Input Program No. Outputs the program number Edge 10022, -1,
output request for task slot 1 to the numerical
output (IODATA).
Read the numerical output
(IODATA) signal after at least
15ms has elapsed following the
input of this signal to the robot.
Output Program No. Outputs the "program number 10022 -1
[OUTPUTTING] output in progress" status to
signal the numerical output.
LINEOUT Input Line No. Outputs the line number for Edge 10023, -1,
[OUTPUT task slot 1 to the numerical
REQUEST] output (IODATA).
Read the numerical output
(IODATA) signal after at least
15ms has elapsed following the
input of this signal to the robot.
Output Line No. Outputs the "line number
10023 -1
[OUTPUTTING] output in progress" status to
signal the numerical output.
OVRDOUT Input Override value Outputs the OP override the Edge 10024, -1,
output request numerical output (IODATA).
Read the numerical output
(IODATA) signal after at least
15ms has elapsed following the
input of this signal to the robot.
Output Override value Outputs the "override output in
10024 -1
[OUTPUTTING] progress" status to the
signal numerical output.
ERROUT Input Error No. output Outputs the error number to the Edge 10025, -1
request numerical output (IODATA).
Read the numerical output
(IODATA) signal after at least
15ms has elapsed following the
input of this signal to the robot.
Output Error No. Outputs the "error number
10025 -1
[OUTPUTTING] output in progress" status to
signal the numerical output.
JOGENA Input JOG valid Carries out the JOG operation Level -1, -1,
(Operation rights [INPUT] signal of the designated axis in the
required) designated mode.
Operation takes place while
this signal is ON.
Output JOG valid Outputs that the JOG operation
-1 -1
[OUTPUT] signal is carried out.
JOGM Input JOG mode Designates the JOG mode. Level Note 3) Note 3)
[INPUT] 0/1/2/3/4/5 = -1 (Start bit), -1 (Start bit),
(start No., end Joint/XYZ/Cylindrical/3-axis -1 (End bit), -1 (End bit),
No.) XYZ/tools/Works (Ex-T) -1 (Start bit), -1 (Start bit),
Output -1 (End bit) -1 (End bit)
JOG mode Outputs the current JOG mode.
[OUTPUT]
(start No., end
No.)
JOGMENO Input JOG mechanism Designates the mechanism Level -1 (Start bit), -1 (Start bit),
number [INPUT] number. -1 (End bit), -1 (End bit),
(start No., end If this parameter is not -1 (Start bit), -1 (Start bit),
No.) specified, the mechanism -1 (End bit) -1 (End bit)
number is fixed to machine 1.
Output JOG mechanism Outputs the current mechanism
number number.
[OUTPUT]
(start No., end
No.)

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 COMMON

Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
JOG+ Input JOG feed plus Designates the JOG operation Level Note 4) Note 4)
side for 8-axis axes. -1, -1,
(start No., end Joint JOG mode: -1 -1
No.) J1, J2, J3, J4, J5, J6, J7, and
J8 axes from the start number
XYZ JOG mode: X, Y, Z, A, B,
C, L1, and L2 axes from the
start number
CYLINDER JOG mode: X, θ, Z,
A, B, C, L1, and L2 axes from
the start number
3-axis XYZ JOG mode: X, Y, Z,
J4, J5, and J6 axes from the
start number
TOOL JOG mode: X, Y, Z, A,
B, and C axes from the start
number
WORK JOG mode (Ex-T JOG
mode): X, Y, Z, A, B, and C
axes from the start number
Output - -
JOG- Input JOG feed minus Designates the JOG operation Level Note 4) Note 4)
side for 8-axis axes. -1, -1,
(start No., end Joint JOG mode: -1 -1
No.) J1, J2, J3, J4, J5, J6, J7, and
J8 axes from the start number
XYZ JOG mode: X, Y, Z, A, B,
C, L1, and L2 axes from the
start number
CYLINDER JOG mode: X, θ, Z,
A, B, C, L1, and L2 axes from
the start number
3-axis XYZ JOG mode: X, Y, Z,
J4, J5, and J6 axes from the
start number
TOOL JOG mode: X, Y, Z, A,
B, and C axes from the start
number
WORK JOG mode (Ex-T JOG
mode): X, Y, Z, A, B, and C
axes from the start number
Output - -
JOGWKNO Input Workpiece Specify the workpiece Level Note 3) Note 3)
coordinate coordinate number (Ex-T -1 (Start bit), -1 (Start bit),
number coordinates number) for the -1 (End bit), -1 (End bit),
standard of WORK JOG -1 (Start bit), -1 (Start bit),
operation with numerical -1 (End bit) -1 (End bit)
values from 1 to 8.
Note) This input signal is read
with the edge (change from
OFF to ON) of JOG valid input
signal: JOGENA.
When you change the
workpiece coordinate number,
change JOG valid input signal:
JOGENA from OFF to ON first.
Output Outputs the current value input
into the workpiece coordinate
number (Ex-T coordinate
number).
JOGNER Input Temporarily Temporarily ignores errors that Level -1, -1,
(Operation rights ignore JOG cannot be reset during JOG
required) operation error operation.
[INPUT] signal *This signal is applicable to
only machine 1.
Output Temporarily Outputs that the error is being
-1 -1
ignore JOG ignored temporarily.
operation error *This signal is applicable to
[OUTPUT] signal only machine 1.

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 COMMON

Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
HNDCNTLn Input - -
(n=1 to 3)
Output Mechanism n Outputs the hand output (n=1) HNDCNTL1 -1 (Start bit),
hand [OUTPUT] 900 to 907 status. 10048 -1 (End bit)
signal status Outputs the hand output (n=2) (Start bit),
(start No., end 910 to 917 status. 10055
No.) Outputs the hand output (n=3) (End bit)
920 to 927 status.
Example) To output the four
points from 900 through 903 to
general-purpose output signals
3, 4, 5 and 6, set the
HNDCNTL1 to (3, 6).
HNDSTSn Input - -
(n=1 to 3)
Output Mechanism n Outputs the hand input (n=1) HNDSTS1 -1 (Start bit),
hand [INPUT] 900 to 907 status. 10056 -1 (End bit)
signal status Outputs the hand input (n=2) (Start bit),
(start No., end 910 to 917 status. 10063
No.) Outputs the hand input (n=3) (End bit)
920 to 927 status.
Example) To output the four
points from 900 through 903 to
general-purpose output signals
3, 4, 5 and 6, set the HNDSTS1
to (3, 6).
HANDENA Input Hand control Permit or prohibit control of the Level -1, -1,
permission robot by the external signal. 1/0
[INPUT] = permitted/prohibited -1 -1
Note) The control of the robot
hand is available during
automatic execution. For
safety, ensure that there is an
interlock of the robot and
external equipment, such as
the sequencer.
When the control of robot hand
by an external signal is
permitted, the commands
"HOpen/HClose", of a program
becomes invalid.
Output Hand control Outputs the permission
permission condition of robot hand control
[OUTPUT] by the external signals. 1/0 =
permitted/prohibited
When the Hand control
permission [INPUT] signal is
turned ON and T/B is not
available, this signal turns ON.
HANDOUT Input Hand output Set the external input-signal Edge -1, -1,
control signal range for controlling the robot -1 -1
hand.
The input signal set up here is
matched in order with the hand
signal set up by parameter:
HANDTYPE.
Element 1: Hand output control
signal start number
Element 2: Hand output control
signal end number
Output - -
HNDERRn Input Mechanism n Requests the hand error Level -1, -1,
(n=1 to 3) hand error occurrence.
[INPUT] signal A low level error No. 30 will be
generated.
Output Mechanism n Outputs that a pneumatic -1 -1
pneumatic error pressure error is occurring.
[OUTPUT] signal

-296-
 COMMON

Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
AIRERRn Input Mechanism n Request the pneumatic Level -1, -1,
(n=1 to 5) pneumatic pressure error occurrence.
pressure error A low level error No. 31 will be
[INPUT] signal generated.
Output Mechanism n Outputs that a pneumatic -1 -1
pneumatic error pressure error is occurring.
[OUTPUT] signal
USRAREA Input - - Note 5) Note 5)
Output User-designated Outputs that the robot is in the 10064 -1 (Start bit),
area 32-points user-designated area. (Start bit), -1 (End bit)
(start No., end 10071
The output is made
No.) (End bit)
sequentially for areas 1, 2 and
3, as designed from the one
closest to the start number.
The area is set with parameters
AREA1P1, AREA1P2 to
AREA32P1, and AREA32P2.
Setting example)
When USRAREA is used as an
example:
If only area 1 is used,
USRAREA: 8, 8 → Setting
valid
If area 1,2 are used,
USRAREA: 8, 9 → Setting
valid
USRAREA: -1,-1 → Setting
invalid
USRAREA: 8,-1 → Setting
invalid (No Error) USRAREA:
-1,8 → Setting invalid (No
Error) USRAREA: 9,8 →
Setting invalid (Error L6643)
MnPTEXC Input - - -1 (No meaning), -1 (No meaning),
(n=1 to 3) Output Warning for Outputs that the replacement Level
maintenance time of maintenance parts has -1
-1
parts been reached.
replacement time
MnWUPENA Input Mechanism n Enables the warm-up operation Level -1, -1,
(n=1 to 3) warm-up mode of each mechanism.
(Operation rights operation mode (n=1 to 3)
required) enable [INPUT] Note) To switch the warm-up
signal operation mode enable/disable
using this input signal, it is
necessary to enable the
warm-up operation mode with
the WUPENA parameter, etc.
If the warm-up operation mode
has been disabled with a
parameter, inputting this input
signal will not enable the mode.
Output Mechanism n Outputs that the warm-up -1 -1
warm-up operation mode is enabled.
operation mode (n=1 to 3)
[OUTPUT] signal
MnWUPMD Input - - -1 (No meaning), -1 (No meaning),
(n=1 to 3) Output Mechanism n Outputs that the status is the
warm-up warm-up operation status, and -1
-1
operation status thus the robot will operate at a
[OUTPUT] signal reduced speed. (n=1 to 3)

-297-
 COMMON

Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
PSSLOT Input Position data Specifies the slot numbers (1 to Level -1 (input start bit),
output slot 32) for the output targets of -1 (input end bit),
number position data. -1 (output start bit),
specification Load target programs in slots -1 (output end bit)
specified here in advance. *Input/output are both maximum 6 bit
*Unless the input signal of width
parameter: PSOUT (position
data output instruction) on the
external device side is OFF,
the slot number will not be
changed.
Output Position data Outputs the slot numbers
output slot (response) for the current
number output targets of position data.
[OUTPUT]
PSTYPE Input Position data Specifies the data type for the Level -1 , -1
type specification output targets of position data.
1/0 = Joint-type
variable/position-type variable
*Unless the input signal of
parameter: PSOUT (position
data output instruction) on the
external device side is OFF,
the position data type will not
be changed.
Output Position data Outputs the data type
type [OUTPUT] (response) for the current
output targets of position data.
1/0 = Joint-type
variable/position-type variable
PSNUM Input Position number Specifies the output target Level -1 (input start bit),
specification position data numbers -1 (input end bit),
(joint-type -1 (output start bit),
variable/position-type variable -1 (output end bit)
numbers). *Input/output are both maximum 16 bit
Position data number range: 0 width
to 65535

Example) When the output

target is P100, specify the
number "100" between the
input start bit and input end bit.

(Note) Variables including "0"

in higher level digits such as
"P001" cannot be specified.
*Unless the PSOUT input
signal (position data output
instruction) is OFF on the
external device side, the
position data number will not
be changed.
Output Specified Outputs the number (response)
position number of the position data that is the
[OUTPUT] current output target.
Outputs the position number
specified on the input side.

-298-
 COMMON

Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
PSOUT Input Position data A command which outputs the Edge -1 , -1
output command specified robot position data. +
When this signal changes from Level
OFF to ON (edge), this
parameter outputs the output
position data that is the current
output target to the signal
number specified in parameter:
PSPOS (position data output
bit area), and while this signal
remains ON (level), the output
status is maintained. (The real
time update is not carried out.)

Edge: Position data output

update
Level: Output value retained
0 to 1: Position data output
update
1: Output status retained
0: Output target position data
can be changed
Output Position data Outputs that the specified
[OUTPUTTING] position data is being output.
[Output information]
OFF: Position data not yet
output
ON: Position data being output
PSPOS Input - - - -1, (No meaning)
-1
Output Position data Specifies the start number of
output signal the signal range that outputs
range the position data.
(Note 7) The range is 8-axis coordinates
(32 bit × 8 axes) and structure
flag (32 bit × 2 elements), and
requires a consecutive 320-bit
range. The following ranges
can be set.
(1) CR800-R Series
10000 to 17872: CPU buffer
memory
(2) CR800-D Series
2000 to 3632: PROFIBUS
6000 to 7728: CC-Link
Array of position data to
output
Position-type variable:
X,Y,Z,A,B,C,L1,L2,FL1,FL2
Joint-type variable:
J1,J2,J3,J4,J5,J6,J7,J8
Outputs each coordinate
value as an integer ×1000.
(mm, degrees) On
external device side,
recognize the values as
1/1000 ones. For FL1 and
FL2, values are output as it
is.
Data range that can be
output
Signed integer:
-2147483648 to
2147483647

-299-
 COMMON

Signal number at factory default

Signal Input, Output
Parameter name Class Name Function
level iQ Platform
Standalone
compatible
TMPOUT Input Temperature Outputs the temperature inside Edge -1 , -1
[OUTPUT the robot controller to the
REQUEST] numerical output (IODATA).
The temperature is output as a
binary integer.
Read the numerical output
(IODATA) signal after at least
15ms has elapsed following the
input of this signal to the robot.
Output Temperature Outputs "Temperature output in -
[OUTPUT] signal progress" status to the
numerical output.
RSTBAT Input Battery Resets the battery cumulative - -1,
cumulative time time.
reset
Output Reset Outputs that the reset has been -1
[COMPLETE] completed.
RSTGRS Input Maintenance Reset the grease information of - -1,
forecast reset the maintenance forecast.
(Grease) *The axis bit pattern is
specified by the parameters
IODATA or DIODATA.
Output Reset Outputs that the reset has been -1
[COMPLETE] completed.
RSTBLT Input Maintenance Reset the belt information of - -1,
forecast reset the maintenance forecast.
(belt) *The axis bit pattern is
specified by the parameters
IODATA or DIODATA.
Output Reset Outputs that the reset has been -1
[COMPLETE] completed.
SVDATA Input - - - -1 (No meaning) -1,
-1,
Output Load factor data The maximum load factor (%) -1
of J1 axis to J8 axis is output (Start register)
from the register number -1
specified as the 3rd element of (End register)
this parameter to the number
specified as the 4th element.
The outputted load factor is
updated with every 2 seconds.
(CC-Link register supported)
DOORSTS1 Input - - - -1, -1,
Output Door switch 1 Outputs the status of the door
status switch 1 system. -1 -1
DOORSTS2 Input - - - -1, -1,
Output Door switch 2 Outputs the status of the door
status switch 2 system. -1 -1
DOORSTS Input - - - -1, -1,
Output Door switch Outputs that the logical ADD of -1 -1
status the door switch 1 and 2
systems.
This signal turns ON when both
of the systems 1 and 2 are ON.

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 COMMON

Note 1) The meanings of the signal level are explained below.

Level: → The designated function is validated when the signal is ON, and the function is
invalidated when the signal is OFF.
Make sure the signal is turned ON for at least 15ms.
Edge: → The designated function is validated when the signal changes from the OFF to ON
state, and the function maintains the original state even when the signal returns to
the OFF state.

Secure 15 ms or more. Secure 15 ms or more.

Note 2) Set in the order of input start No. input end No. output start No. and output end No. When
using as the input or output of an actual value, use from the start No. to the end No. and
express as a binary. The start No. indicates the low-order bit, and the end No. indicates
the high-order bit. Set only the numbers required to express the numerical values.
For example, when using for program selection and only programs 1 to 6 are available, the
expression can be created by setting 3 bits. Up to 16 bits can be set.
Assignment examples are shown below.
Example) To set the start input signal in general-purpose input 10016, and the operating
output signal in general-purpose output 10026
Parameter START= {10016, 10026}
Example) When setting 4 bits of numerical input to general-purpose inputs 10027 to 10030,
and 5 bits of numerical output to general-purpose outputs 10027 to 10031
Parameter IODATA = {10027, 10030, 10027, 10031}
Note 3) Set in the order of input start No. input end No. output start No. and output end No.
Use the value from the start No. to the end No. and express as a binary. The start No.
indicates the low-order bit, and the end No. indicates the high-order bit. Set only the
numbers required to express the numerical values.
For example, when using only the joint mode and XYZ mode at JOG mode input (JOGM),
the expression can be created by setting 1 bits.
Note 4) Set in the order of an input starting No. and then an input end No. Specify the J1/X axis for
the start No. and the J8/L2 axis for the end No. at its maximum.
For example, when using a 6-axis robot, only 6 bits need to be set.
Even if using a 4-axis robot, when using the XYZ mode, the C axis is required, so 6 bits
must be set.
Up to 8 bits can be set.
Note 5) Set in the order of output start No. and output end No. The start number specifies area 1,
while the end number specifies area 32 at the maximum.
For example, when only two areas are used, only 2 bits need to be set. Up to 32 bits can
be set.
Note 6) The range of values that can be set in the parameters above are 0 to 255, 2000 to 3951,
6000 to 8047, and 10000 to 18191.

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<< MEMO >> * Use this page to write down notes.

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Appendix 9: List of Error Codes
This chapter describes only errors that may occur during practice of this course.
(Errors not described in this chapter may occur depending on the conditions and error detection timing.)
For the errors not described in the list, refer to the following manuals.
• CR800 Series Controller INSTRUCTION MANUAL Troubleshooting (BFP-A3480)
• CR750/CR751/CR760 Series Controller INSTRUCTION MANUAL Troubleshooting (BFP-A8871)
[Classification of the first letter of error numbers. → H: High level error, L: Low level error, C: Caution
(Warning). "n" at the end of the last digit of the error No. in this list indicates the axis number (1 to 8).]
Error No. Error message Check item Solution

H0045 Faulty Line (T/B ENABLE The user lost grip of the ENABLE Ensure that the ENABLE switch
switch) switch during operation of the is properly pressed down.
teaching box. (Only 1 of the 2
ENABLE switch contacts is being
operated)
H0046 Faulty wiring (Enabling The enabling device is turned off. Turn on the enabling device.
Device)
H0050 EMG signal is input The external emergency stop switch Release the external emergency
(external) on the display panel is pressed. stop switch on the display panel.
H0051 The external emergency The external emergency stop switch Release the external emergency
stop is being input. Or, the on the display panel is pressed. (If the stop switch on the display panel.
fuse of the safety unit is emergency stop of T/B turns on, this
blown. error may occur simultaneously.)
H0060 EMG signal is input The emergency stop switch on the Release the emergency stop
(O.Panel) operation panel of the controller/drive switch on the operation panel of
unit is pressed. the controller/drive unit.
H0061 The emergency stop for the The emergency stop switch on the Release the emergency stop
controller front part is being operation panel of the controller/drive switch on the operation panel of
input unit is pressed. the controller/drive unit.
H0070 EMG signal is input. The emergency stop switch of the Release the emergency stop
(T.Box) teaching box is pressed. Or, the switch of the teaching box.
teaching box is disconnected.
H0071 The T/B emergency stop is The emergency stop switch of the Release the emergency stop
input teaching box is pressed. Or, the switch of the teaching box.
teaching box is disconnected.
H0074 Faulty line (T/B The state of the duplicated T/B Switch the TB ENABLE switch
Enable/Disable) enabled/disabled switch line does not correctly.
match.
H0075 T/B communication error The teaching box is disconnected. Or, Connect the teaching box
the teaching box is not connected. correctly. (When the teaching
box is not required, connect the
dummy plug.)
C0150 Undefined robot serial Undefined robot serial number Input the robot serial number.
number
H094n Servo amplifier overload 1 Operations with high loads (including Decrease the operation speed or
collisions) were performed for more extend the
than the permissible time. acceleration/deceleration time.
H096n Excessive error 1 Deviation of the instructed position Check the load and robot
and actual position (including impacts) pressing force, etc.
has been exceeded. (Additionally, this
error may occur during
emergency-stop deceleration.)
H098n Excessive error 3 Deviation of the instructed position Check the connection of motor
and actual position exceeded with no power line (such as the machine
current flowing to the motor. cable and the locomotion-axis
cable).

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Error No. Error message Check item Solution

H101n Collision detection A collision was detected. If the robot has stopped by
interference with peripheral
equipment, move the arm to part
from peripheral equipment using
jog operation.
Depending on the severity of the
collision, the collision detection
error may occur again. If this
occurs, turn on the servo power
again and do jog operation.
If it still recurs, release the brake
and move the arm by hand.
H109n * Servo AMP initialization The initial communication between the Turn the power off and on once.
error servo amplifier failed. (For Qtype, turn on the drive
unit, then the robot CPU.)
H112n * Encoder ABS position The current position data in the Set up the origin by ABS method
data lost position detector was lost. The voltage after replacing the batteries.
of the robot-arm or additional axis's
backup battery may be dropping.
C133n Encoder battery voltage The battery voltage supplied to the Replace the backup battery.
low position detector dropped. (Even if this warning occurs,
along as the controller is turned
on again, it will operate perfectly.
However, if battery consumption
is intense, the Encoder ABS
position data lost error (H112n)
may occur when the controller is
turned on again. It is
recommended to replace the
battery at the earliest
opportunity.)
C1690 Cannot brake operation The servo cannot be turned on while Turn the enable switch on before
(DEADMAN) the enable switch is off. operating.
C1700 Cannot brake operation The brakes cannot be released while Release the emergency stop
(EMG) the emergency stop is input. state before operating.
C1710 Cannot brake operation The brakes cannot be operated during Turn the servo off before
(SRVON) servo on. operating.
L182n Position data inconsistent. The motor rotated during power off Check the origin, re-install if
Check origin because of external force or vibration, shifting.
or the multiple rotation information of
the encoder holding was not correct.
L2000 The servo is OFF The start instruction (including jog Turn the servo on and then
operation) was performed while the restart.
servo was off or before turning on the
servo was completed.
H213n Jn Speed is excessive When moving by the linear Change the movement position.
(command) interpolation (or circle interpolation) or Or, lower moving speed by the
XYZ jog having a singular point, the Ovrd command and Spd
speed of an axis (especially 4 or 6 command.
axis) exceeds the limit near a singular
point.
L2601 Start pos. exceeds the limit The start position is outside the Adjust the start position data.
operation range (JOINT movement
range, Narrow angle/Wide angle, or
XYZ movement range).
L2602 DSTN pos. exceeds the The target position is outside the Adjust the target position data.
limit operation range (JOINT movement
range, Narrow angle/Wide angle, or
XYZ movement range).

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Error No. Error message Check item Solution

L2603 Med pos. data exceeds the The intermediate position is outside Check that the intermediate
limit the operation range (JOINT path at the linear interpolation
movement range, Narrow angle/Wide and the route at circle
angle, or XYZ movement range). interpolation are not outside
the operation range.
Or, correct the data of the start
position, intermediate position,
or target position.
L2800 Illegal position data This may occur for a position to which Confirm the error occurrence
the robot cannot reach at singular line, check if the position is
point passage or position data where outside the operation range
a circle or an arc cannot be generated when transmitting the singular
at circle interpolation. point with the position variable
value, and correct the value.
L2801 Illegal position data (start) This may occur for a start position to Confirm the error occurrence
which the robot cannot reach. line, check that the value of the
start position does not indicate
the position to which the robot
cannot reach, and correct the
value.
L2802 Illegal position data (dstn) This may occur for a target position to Confirm the error occurrence
which the robot cannot reach. line, check that the value of the
target position does not indicate
the position to which the robot
cannot reach, and correct the
value.
L2803 Illegal assisting position The intermediate path at the linear Confirm the error occurrence line
data (intmed) interpolation and the route at circle and confirm that there is no
interpolation are the position to which position to which the robot
the robot cannot reach. cannot reach. And, correct the
data of start position, midway
position, or target position.
L2810 Structure flag inconsistent. The structure flag of the start point Adjust the position data.
and target point do not match.
L3110 Argument value range over A pallet created by the argument (start Correct the value (data) of the
(Def Plt command) point, end point A, end point B, and argument (start point, end point
diagonal) (of the Def Plt command) is A, end point B, and diagonal) of
outside the operation range. the Def Plt command.
L3285 Cannot execute (RUN or A program is edited or deleted while Reset the program (cancel the
WAI) the program is running or suspended. suspended state).

L3850 Undefined PLT The Def Plt command is not defined. Use it after defining a pallet
with the Def Plt command.
L4130 Illegal program name An illegal character was used in the Change the program name.
program name. (Only numbers and alphabetic
characters can be used.)
L4140 The program was not The designated program was not Designate a different program,
found found. (It is not registered with a name or create the designated
that can be selected. Or, it has program.
already deleted.)
L4170 The program is being The program is being edited. Close the program being edited.
edited
L4180 Program is running The program is running. Stop the program.

L4190 The program is selected The program is preparing to execute. Reset the program.

L4220 Syntax error There is an error in the syntax of the Re-input in the correct syntax
input command statement. (Includes after checking the contents.
spaces, commas, periods and
misspelt words.)

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Error No. Error message Check item Solution

L4340 The variable is not defined The variable has not been defined. Define the variable.
(Data is not registered)
H5000 TB Enable key is ON The T/B ENABLE switch is set to Invalidate the T/B ENABLE
"ENABLE" when the MODE switch of switch, or change the key of the
the operation panel is set to operation panel to the teach
"AUTOMATIC". mode.
L5600 Cannot execute during An operation is performed during an Reset the error.
an error error.
C7500 No battery voltage The battery is spent. Replace the battery of the
(Only for F Series) controller. If a file is broken,
write the backup file.
C7510 Battery voltage low (R/C) The battery will be spent soon. Replace the battery of the
(Only for F Series) controller. (If you do not have a
new battery, resetting allows you
to use the controller until it is
powered off.)
C7520 Battery consumption time The battery will be spent soon. Replace the batteries of both the
is over robot arm and controller, and
(Only for F Series) perform the battery cumulative
time reset operation.
L8145 Home position return of Home position return of the Perform the home position
multi-function electric hand multi-function electric hand 1 is not return. (The home position of the
1 is not complete complete. electric hand is lost when the
power supply is turned ON.)

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This textbook was published in March 2018. Note that the specifications are subject to change without notice. Issued: March 2018 (1803)MEE