Preparing And Connecting The Devices - Mitsubishi Electric CR750-Q Instruction Manual

5.24.2 Preparing and connecting the devices

The devices required to use this function are shown in
given in Fig. 5-14.
Refer to the figure and connect the required devices.
(1) Checking for interference between robots (Only for CR750-Q/CR751-Q controller)
Table 5-28:Required devices
No.
1 Up to two or three robots
(CR750-Q/CR751-Q controller)
2 Personal computer equipped with RT
ToolBox2
Robot CPUs communicate via
iQ shared memory
Personal computer
(RT-ToolBox2)
Connected to robot
CPU with USB, etc.
Fig.5-14:Connecting the devices
(2) Checking for interference between robot and free plane limit
Table 5-29:Required devices
No.
1 One robot
2 Personal computer equipped with RT
ToolBox2
<CR750-D/CR751-D controller>
Personal computer
(RT-ToolBox2)
Connected to robot
CPU with USB, etc.
Fig.5-15:Connecting the devices (CR750-D/CR751-D controller)
Device
This function uses direct communication between robot CPUs via the iQPlatform's
shared memory.
Robot controller software version:
Ver. R3 or later (shape of a simulated component: a sphere)
Ver. R3m or later (shape of a simulated component: a sphere, a cylinder)
Note) You should use by the same S/W versions.
Connects the robot CPUs.
RT ToolBox2 software version: Ver. 2.1L or later
Device
Checking for interference with only free plane limit of own robot.
Robot controller software version:
Ver. R6b/S6b or later
Connects the robot CPUs.
RT ToolBox2 software version: Ver. 3.40G or later
Table 5-28, and an example of the connection is
Drive unit
Robot arm
Drive unit
Note) This figure shows an example of connecting two robots.
Drive unit
Robot arm
5Functions set with parameters
Remarks
Robot arm
Remarks
Interference avoidance function 6-525