Teach Pendant Operators Manual

FANUC Robot LR Mate 100
SYSTEM R-J Controller
High-Performance Type Teach
Pendant Operator's Manual
MAROLHP1006401E
(B-80464E/Ol)
This publication contains proprietary information of FANUC Robotics
North America, Inc. furnished for customer use only. No other uses are
authorized without the express written permission of FANUC Robotics
North America, Inc.
FANUC Robotics North America, Inc.
2000 South Adams Road
Auburn Hills, Michigan 48326-2800
The descriptions and specifications contained in this manual were in effect
at the time this manual was approved for printing. FANUC Robotics
North America, Inc, hereinafter referred to as FANUC Robotics, reserves
the right to discontinue models at any time or to change specifications or
design without notice and without incurring obligations.
FANUC Robotics manuals present descriptions, specifications, drawings,
schematics, bills of material, parts, connections and/or procedures for
installing, disassembling, connecting, operating and programming FANUC
Robotics' products and/or systems. Such systems consist of robots,
extended axes, robot controllers, application software, the KAREL®
programming language, INSIGHT® vision equipment, and special tools.
FANUC Robotics recommends that only persons who have been trained in
one or more approved FANUC Robotics Training Course(s) be permitted
to install, operate, use, perform procedures on, repair, and/or maintain
FANUC Robotics' products and/or systems and their respective
components. Approved training necessitates that the courses selected be
relevant to the type of system installed and application performed at the
customer site.
A
WARNING
This equipment generates, uses, and can radiate radio
frequency energy and if not installed and used in
accordance with the instruction manual, may cause
interference to radio communications. As temporarily
permitted by regulation, it has not been tested for
compliance with the limits for Class A computing devices
pursuant to subpart J of Part 15 of FCC Rules, which are
designed to provide reasonable protection against such
interference. Operation of the equipment in a residential
area is likely to cause interference, in which case the user,
at his own expense, will be required to take whatever
measure may be required to correct the interference.
FANUC Robotics conducts courses on its systems and products on a
regularly scheduled basis at the company's world headquarters in Auburn
Hills, Michigan. For additional information contact
FANUC Robotics North America, Inc.
Training and Documentation Department
2000 South Adams Road
Auburn Hills, Michigan 48326-2800
Tel: (810)377-7234
FAX: (810)377-7367 or (810)377-7362
Copyright ©1994 by FANUC Robotics North America, Inc.
All Rights Reserved
The information illustrated or contained herein is not to be reproduced,
copied, translated into another language, or transmitted in whole or in part
in any way without the prior written consent of FANUC Robotics North
America, Inc.
ArcTool®, FANUC LASER DRILL®, KAREL®, INSIGHT®,
INSIGHT II®, PaintTool®, PAINTWorks®, PalletTool®,
SOCKETS®, SOFT PARTS® and SpotTool®, are Registered
Trademarks of FANUC Robotics.
FANUC Robotics reserves all proprietary rights, including but not limited
to trademark and trade name rights, in the following names:
ACCUFLOW®
ACCUSTAT®
ARC Mate®
ARC Mate Sr.®
DispenseTool®
IntelliTrak®
LaserTool®
MotionParts®
PAINTWorks II®
PALLETMATE®
SureWeld®
TurboMove®
When LR Mate is used
This manual describes the method of operation of FANUC Robot LR Mate 100. As for basic operation, the
latest LR Mate is operated in the almost same way as LR Mate 100. Therefore, this manual can be also used
when LR Mate is operated. When you operate LR Mate, you should know the differences from LR Mate 100
for the following items.
LR Mate 100
1 ) Robot model
FANUC Robot LR Mate 100
LR Mate
FANUC Robot LR Mate
2 ) Name of controller
FANUC SYSTEM R-J2 Mate
FANUC SYSTEM R-J Mate
3 ) Externals of controller
Refer to 2.3.
The switch of power supply ON/OFF is a
button switch.
4 ) Manual brake control
None
Refer to SUPPLEMENT for LR Mate in this
manual for details.
5 ) Area where path accuracy drops
Refer to Fig. 4.9.
Replace it with the motion range of LR Mate
and examine it.
6 ) Servo alarm
Refer to the alarm codes.
Refer to SUPPLEMENT for LR Mate in this
manual for details.
7) 1/0 point
DI 12 point DO 12 point
Refer to Fig. 3.10.
DI 8 point DO 12 point
8) 110 link
Can be used for either master or slave.
Refer to 3.1.
Can be used for both master and slave.
In this manual we have tried as much as possible to describe all the various matters. However, we
cannot describe all the matters which must not be done, or which cannot be done, because there
are so many possibilities. Therefore, matters which are not especially described as possible in this
manual should be regarded as "impossible".
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CONTENTS
1. INTRODUCTION ............................................................... .
1.1
Manual Plan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1.2
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
2. OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1
2.2
2.3
9
LR Tool Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
2.1.1
2.1.2
System setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
Jog feed of the robot . .. .. . .. . . . .. . . . . . . . . .. . . . . . . . . . . . .. . . .. .. . . . . . . . . .. . .. . .
11
2.1.3
Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
2.1.4
Test operation (test execution) . . . . . . . . . . . . . .. . . . . . . . . . . .. .. . . . . . . . . . .. . . . .. . . .
12
2.1.5
Automatic operation (operation execution) . . . . . . . . . .. . .. . . . . . . . . . . . . . . . . . . . . . . . .
12
Mechanical unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
2.2.1
Robot arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
2.2.2
Hands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
2.3.1
Teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
2.3.1.1 Keys on the teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
2.3.1.2 LEDs on the teach pendant . . . . . .. .. . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..
19
2.3.1.3 Display screen of the teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
2.3.1.4 Screen menu and function menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
2.3.2
Remote controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
2.3.3
Input/output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
2.3.4
Peripheral 1/0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
2.3.5
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
2.3.6
Internal memory circuit (memory) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
2.3.7
Motion of the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
2.3.8
extended axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
3. SETTING THE HANDLING SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
3.1
Input/Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
3.1.1
Digital 1/0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
3.1.2
Group 1/0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2
Robot 1/0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
40
43
3.3
Peripheral 1/0 .....................................................·. . . . . . . . . . . . . . . . .
47
3.4
Setting Automatic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
55
3.4.1
Program number selection (PNS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
57
Setting Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
59
3.5.1
Setting a tool coordinate system . . . .. . . . . . . . .. . . .. . . . . . . . . . . . . .. . . . . .. . . . .. .. . .
61
3.5.2
Setting a user coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
69
3.5.3
Setting a jog coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
77
3.6
Setting a Reference Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
82
3. 7
Joint Operating Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
86
3.8
Brake Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
87
3.9 User Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.10 System Config Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
90
92
3.11 Other Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
96
3.5
4. PROGRAM STRUCTURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Program Detail Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 .1
Program name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.2
Program comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.3 Subtype . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.4 Group mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
97
100
100
101
101
101
4.1 .5
Write protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.1.6
Interruption disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.2
Line Number, Program End Symbol, and Argument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.3
Motion Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
4.3. 1 Motion format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.3.2
Position data ................................................................ 110
4.3.2.1 Cartesian coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
4.3.2.2 Joint coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
4.3.2.3 Position variable and position register ..................................... 114
4.4
4.5
4.6
4.3.3
Feedrate ................................................................... 116
4.3.4
4.3.5
Additional motion instructions ................................................. 118
Palletizing Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
4.4. 1 Palletizing instruction .. . . .. . . . .. . . . .. . .. . .. .. . . .. . .. . .. . . . .. . . .. . .. . .. .. .. . .. 124
4.4.2
Palletizing motion instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
4.4.3
Palletizing end instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Register Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
4.5.1
Register instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
4.5.2
Position register instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
4.5.3
Position register axis instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4.5.4
Arithmetic palletizing register instructions ....................................... 130
1/0 Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
4.6.1
4. 7
4.8
4.9
Positioning path ............................................................. 117
Digital 1/0 instructions ........................................................ 132
4.6.2
Robot 1/0 instructions ........................................................ 134
4.6.3
Group 1/0 instruction .. . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . .. . . .. . . . . .. . . . . . . . . . . . .. 136
Branch Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
4.7.1
Label instruction ............................................................. 137
4.7.2
4.7.3
Unconditional branch instructions .............................................. 138
4.7.4
Conditional branch instructions ................................................ 139
Program end instruction ...................................................... 137
Wait Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
4.8. 1
Time-specified wait instruction . . . . . . . . . .. . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 142
4.8.2
Conditional wait instructions .................................................. 142
Skip Condition Instruction ............................................................ 144
4.1 O Offset condition instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
4.11 FRAME INSTRUCTIONS ............................................................ 146
4.12 Program Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
4.12.1
Halt instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
4.12.2 Abort instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
4.13 Other Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
4.13.1
User alarm instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . 149
ii
4.13.2
Override instruction .......................................................... 149
4.13.3
Comment instruction .. . . . . . . . . . . . . . . . . . . . .. .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . 150
4.13.4 Message instruction ......................................................... 150
4.13.5
Parameter instruction ........................................................ 150
5. PROGRAMMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
5.1
5.2
5.3
5.4
5.5
Tips on Effective Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
5. 1.1
Motion instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
5.1.2
Notes on programming with the simplified teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . 156
5.1.3
Predefined position . .. .. .. .. .. .. .. . .. .. .. .. .. .. .. .. . .. . .. .. . .. .. . .. .. . . .. .. .. 157
Turning on the Power and Jog Feed ................................................... 159
5.2.1
Turning on the power and turning off the power .. . . . .. . . . . . . . . .. . . . . . . . . . . . . . . . . . 159
5.2.2
Moving the robot by jog feed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Creating a Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
5.3.1
Registering a program .. . .. . .. .. . .. .. .. . .. .. . .. . .. . .. .. .. . .. .. . .. .. .. . . .. . .. . 170
5.3.2
Changing a standard motion instruction ......................................... 174
5.3.3
Teaching a motion instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
5.3.4
Teaching an supplementary motion instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
5.3.5
Teaching a control instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
5.3.6
TP start prohibition . .. . .. .. .. .. .. .. .. .. . . .. .. .. .. . . .. .. .. .. . .. .. . . .. . . .. .. . .. 184
Changing a Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
5.4.1
Selecting a program .. . .. . .. . . . .. . .. .. .. .. .. . .. .. . .. .. . .. .. . .. . . . .. .. . . .. .. .. 187
5.4.2
Changing a motion instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
5.4.3
Changing a control instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
5.4.4
Program edit instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Program Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
5.5.1
6.
Program operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
EXECUTING A PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
6.1
6.2
Program Halt and Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
6.1.1
Halt by an emergency stop and recovery ....................................... 213
6.1.2
Halt by a hold and recovery ................................................... 214
6.1.3
Halt caused by an alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Executing a Program ................................................................ 218
6.2.1
6.3
6.2.2
Robot motion ............................................................... 219
6.2.3
Resuming a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Testing
6.3.1
6.4
Starting a Program .......................................................... 218
224
Specifying test execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
6.3.2
Step test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
6.3.3
Continuous test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
6.3.4
Program look/monitor ........................................................ 231
Manual 1/0 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
6.4.1
Forced output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
6.4.2
Simulated 110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
6.5
Operating the Hand Manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
6.6
Automatic Operation ................................................................ 236
6.6.1
Automatic operation with program number selection (PNS) ........................ 238
iii
6.6.2
External override selection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
7. STATUS DISPLAY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
8.
7.1
LEDs on the Teach Pendant .......................................................... 244
7.2
User Screen ....................................................................... 245
7.3
Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
7.4
Position Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
7.5
Palletizing Registers ................................................................. 250
7.6
Current Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
7. 7
System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
7.8
Execution History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
FILE INPUT/OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
8.1
Setting a Communication Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
8.2
File lnpuVOutput Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
8.3
8.4
8.5
8.6
9.
8.2. 1
External memory unit . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 262
8.2.2
Floppy Cassette adapter .. . .. . .. . .. .. .. . . . .. . .. . . . . .. . . . . .. . . .. .. . . . .. . .. . . . . 263
8.2.3
Handy File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Files .............................................................................. 269
8.3.1
Program file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
8.3.2
Default Logic File . . . . . .. . .. .. . .. . .. . .. .. . .. .. .. . .. .. . . . .. .. . . .. . . . . .. . . . . . . .. 270
8.3.3
System file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
8.3.4
Data File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Saving Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
8.4.1
Saving with program selection screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
8.4.2
Saving all the program files using the file screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
8.4.3
Saving with a function menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
8.4.4
File manipulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
8.4.5
ASCII save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Loading Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
8.5.1
Loading using program selection screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
8.5.2
Loading a specified program file using the file screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Printing Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
8.6.1
Printer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
8.6.2
Printing files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
UTILITY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
9.1
Macro Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
9.1.1
Setting macro instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
9.1.2
Executing macro instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
10. PALLETIZING FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
10.1 Palletizing Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
10.2 Palletizing Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
10.3 Teaching the Palletizing Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
10.3.1
Selecting a palletizing instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
10.3.2
Inputting initial data .......................................................... 310
10.3.3 Teaching a stacking pattern ................................................... 315
10.3.4 Teaching a path pattern ...................................................... 319
10.3.5 Notes on teaching the palletizing function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
iv
10.3.6 Notes on handling the simplified teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
10.4 Executing the Palletizing Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
10.4.1
Palletizing register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
10.4.2 Controlling the palletizing function by a palletizing register . . . . . . . . . . . . . . . . . . . . . . . . . 325
10.4.3 Controlling the palletizing function by a register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
10.5 Modifying the Palletizing Function . . . . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . 328
10.6 Palletizing Function with extended axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
APPENDIX A.
. . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
A.1
List of Menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
A.2
Types of Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
A.3
List of Program Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
A.4
Program Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
APPENDIX B.
B.1
B.2
B.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
Start Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
B.1.1
Start up Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
B.1.2
Initial start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
B. 1.3
Controlled start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
B.1.4
Cold start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
Mastering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
B.2.1
Jig mastering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
B.2.2
Mastering at the zero-degree positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
B.2.3
Quick mastering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
B.2.4
Single axis mastering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
B.2.5
Setting mastering data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
Software Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
B.4
Robot Axis Status ..................... ·. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
B.5
World Frame Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Alarm codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
SYSTEM VARIABLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
SUPPLEMENT
485
INDEX
491
v
.....
z
-I
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0
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1. INTRODUCTION
B-80464E/01
1. INTRODUCTION
This chapter explains the manual plan and the safety precautions that must be observed in working with the
FANUC Robot LR Mate 100.
D Contents of this chapter
1.1 Manual Plan
1.2 Safety Precautions
-1-
B-80464E/01
1. INTRODUCTION
1.1 Manual Plan
FANUC Robot series LR Mate 100 Operator's Manual (High-performance Type Teach Pendant).
This manual describes how to operate the FANUC Robot LR Mate 100, a all-purpose compact robot. It is controlled by the FANUC SYSTEM R-J2 Mate controller containing the LR tool software.
This manual describes the following procedures for manipulating workpieces with the robot:
• Setting the system for manipulating workpieces
• Operating the robot
• Creating and changing a program
• Executing a program
• Status indications
• Alarm codes and system variables
Each chapter of the manual describes a single operation of the robot. The user can select and read chapters
describing required operations. The user can understand all the information presented in this the manual in
three or four hours if he or she reads it from cover to cover once.
Chapter 1
Introduction
Describes how to use this manual and the safety precautions that must
be observed in working with the robot. All users must read the safety
precautions.
Chapter2
Overview
Gives a basic knowledge of the robot. It describes the basic configuration
of the robot and the system for manipulating workpieces.
Chapter3
Describes the procedure for setting the system for manipulating workSetting the System for Manippieces, including input/output, coordinate system, and reference position.
ulating Workpieces
Chapter4
Program Structure
Describes the program structure and the syntax of program instructions.
Chapters
Creating a Program
Describes how to design, create, change, delete, and copy a program. It
also describes the procedures for turning the power on and moving the
robot by jog feed.
Chapters
Executing a Program
Describes how to execute and stop a program. It also describes the test
operation, automatic operation, and recovery from the alarm state.
Chapter7
Status Indications
Describes how to check the operating status of the robot, using the status indicator LEDs.
Chapters
File Input/Output
Describes how to store, read, and print a program file or system file.
Chapter9
Utility
Describes additional utility functions and macro functions.
Chapter 10
Palletizing function
Describes the setting and executing of palletizing function.
Appendix A
Describes lists of the menus, screens, and program instructions.
AppendixB
Describes the starting mode, mastering, software version, robot joint status and world frame origin.
Alarm Codes and System
Variables
Lists the alarm codes and system variables.
-2-
1. INTRODUCTION
B-80464E/01
Related manuals
The following FANUC Robot LR Mate 100 manuals are available:
FANUC Robot LR Mate 100
Operator's Manual
(High-performance Type Teach
Pendant)
B-80464E
FANUC Robot LR Mate 100
Maintenance Manual
B-80465E
Intended
readers
Operators responsible for designing,
introducing, operating, and adjusting the ro·
bot system at the work site.
Topics
Programming procedure and the procedure
for operating the robot with the high-perfor·
mance type teach pendant.
Use
Guide to teaching, introducing, and adjusting
the robot at the work site, and application
designing.
Topics
Installing and activating the robot, connect·
ing the mechanical unit to the controller, connecting the robot to the peripheral device,
maintaining the robot, and establishing an
operating area.
Use
Guide to installation, activation, connection,
and maintenance.
-3-
1. INTRODUCTION
B-80464E/01
1.2 Safety Precautions
Safety precautions
Unlike ordinary automatic machines, robots have arms and wrists which can be moved. A robot is quite flexible,
but on the other hand, it is quite dangerous. The robot is usually connected with peripheral equipment to comprise an automated system. Users must take safety precautions for the entire system.
The safety precautions are described below.
Safety precautions related to lnstallatlon and layout
• Use warning lamps and other provisions to indicate that the robot is operating.
Teaching
Do not enter
Flg.1.1 Alarm Indications
• Put a protective fence with safety door around the system so that only the operator can enter the operating
area by the door. Design the system so that it will stop when the door is opened.
• Put a protective fence so that the motion range of the robot is surrounded completely. Moreover, put the
controller outside of the protective fence.
•
Flg.1.2 Protective Fence
• Install an emergency stop button where it will be readily accessible to the operator.
- Upon receiving an emergency stop signal, the controller immediately stops the robot.
-4-
1. INTRODUCTION
B-80464E/01
Safety plug
..
When the safety plug is removed, the contact opens.
Con-
trol
circuit
to
stop
the
~-----robot
Fig. 1.3 Safety Plug
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B-80464E/01
1. INTRODUCTION
Safety precautions related to system design
• Install a safety joint between robot wrists. If an abnormal external force is applied to the robot, the safety
joint breaks and the robot stops.
- When the hand break (*HBK) input signal goes off, the controller immediately stops the robot.
• Ground all peripheral units properly.
• When a desired operating area is smaller than the maximum operating area of the robot, the desired area
can be specified by parameters.
• The robot receives interlock signals sent from remote equipment. Upon receiving a signal indicating the
operating status of the remote equipment, the robot can stop or halt.
• When required, install a lock so that only authorized personnel can switch the power on.
Safety precautions related to Inspection and maintenance
• Before starting the inspection or maintenance, turn off the power of the controller. Lock the circuit breaker
or place a guard to prevent someone else from switching the power on.
• Before disconnecting the pneumatic system, release the supply pressure.
• Before starting an inspection in which the electrical system of the robot need not be operated, press the
emergency stop button.
• When carrying out an inspection in which the robot needs to be operated, carefully observe the motion of
the robot. Immediately press the emergency stop button whenever required.
I
ON
@
0
OFl'
EMEGENCY
STOP
a
•
Emergency stop button
Emergency stop button
Ie
Fig. 1.5 Emergency Stop Button
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1. INTRODUCTION
B-80464E/01
Safety precautions related to transportation
• When carrying the robot or another unit on a carrier such as a crane or fork lift, securely fasten the robot
to the carrier.
• Carefully inspect the crane, fork lift, other carrying equipment, and carrying handle on the product.
Fig. 1.6 carrying the Robot
Safety precautions related to operation
• All robot system operators are requested to attend FANUC training courses to learn the safety precautions
and functions of the robot.
Fig. 1.7 Safety Clothes and Safety Helmet
• Before beginning to program the robot, make sure that there are no abnormal or dangerous conditions
around the robot and peripheral equipment.
• Before working within the operating area of the robot, even when the robot is not running, switch the power
off or press the emergency stop button. Place a guard to prevent some·one else from entering the operating
area of the robot or activating the robot from the operator's panel.
• While programming the robot in its operating area, place a guard so that the robot can be immediately
stopped in an emergency.
• Before approaching the robot to program it, hold the teach pendant in your hand, press the deadman
switch, and set the teach pendant enable switch on.
• If the deadman switch is released while the teach pendant enable switch is on, the robot immediately stops.
• Before moving the robot by jog feed, carefully observe the operation of the jog keys and the robot.
• Before moving the robot by jog feed, sufficiently lower the feedrate override of the robot.
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1. INTRODUCTION
B-80464E/01
Fig. 1.10 Teach Pendant Enable Switch
Fig. 1.9 Deadman Switch
Operator
Avoid dangerous behavior. Wear
working clothes, safety shoes,
and a safety helmet.
Operation
Attend training classes. Master
the operating procedures. Ex·
elude unauthorized personnel.
Workshop
Keep the workshop neat, tidy,
and clean. Install a protective
fence and warning indications.
Provide ventilation. Never bring
flammable material to the work·
shop.
Maintenance and inspection
Use only FANUC products for repair. Before starting maintenance
or inspection, turn the power off.
Close the controller door.
-8-
Transportation and installation
Keep the transportation lane free
from obstacles. When carrying
the robot or another unit on a car·
rier such as a fork lift or crane,
securely fasten it to the carrier.
Keep a sufficient operating area.
Make connection s properly.
Hand
Inspect and take care of cables.
Check the pneumatic pressure.
Inspect the hand mechanism.
I\)
0
<
m
:::0
:::s
m
=::
B-80464E/01
2.0VERVIEW
2. OVERVIEW
This chapter shows the basic configuration of the FANUC Robot LR Mate 100 System and briefly describes
the functions of each component.
D Contents of this chapter
2.1 LR Tool Software
2.1.1 System setting
2.1.2 Jog feed of the robot
2.1.3 Program
2.1.4 Test operation (test execution)
2.1.5 Automatic operation (operation execution)
2.2 Robot
2.2.1 Robot models
2.2.2 Hands
2.3 Controller
2.3.1 Teach pendant
2.3.2 Remote controller
2.3.3 Input/output
2.3.4 Peripheral 1/0
2.3.5 Communication
2.3.6 Internal memory circuit (memory)
2.3.7 Motion of the robot
2.3.8 extended axis
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B-80464E/01
2.0VERVIEW
This manual explains the handling system that consists of the LR tool application software, robot LR Mate
100(FANUC Robot LR Mate 100), and R-J2 Mate controller (FANUC SYSTEM R-J2 Mate).
.
The LR tool software is a software package for manipulating workpieces. It is contained in the R-J2 Mate controller. By selecting menus and instructions on the teach pendant, the operator can operate the robot as desired. The LR tool software contains all the instructions necessary to control the robot, hand, remote controller,
and other peripheral units. .
The LR tool software can also control input and output between robot LR Mate 100 with five basic axes or controller and the peripheral equipment. The peripheral equipment includes the CNC machine tool, cell controller,
external disk drive unit, and printer.
Robot LR Mate 100 has a hand or another end effector interface for control to do work. The FANUC robot is
ideal for manipulating workpieces.
The controller supplies the power for operating the mechanical unit. The controller of the LR Mate 100 is available in three types:the built-in type, which is contained in the CNC unit (FANUC Series 16 or Series 18),panelmounttype, which can be mounted to a machine tool, arid the stand-alone type (FANUC SYSTEM R-J2 Mate),
which has a control section housed in a cabinet.(These are hereinafterreferredto as the R-J2 Mate controller.)
Both types have identical functions for controlling the robot. The controller includes the LR tool software and
can control the teach pendant, operator's panel, and peripheral units.
Fig. 2.1 shows a typical system for manipulating workpieces. The system consists of robot LR Mate 100, R-J2
Mate controller, and peripheral units.
Robot LR Mate 100
R-J2 Mate controller
0
Fig. 2.1 Typical System for Manlpulatlng Workpieces
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2.0VERVIEW
B-80464E/01
2.1 LR Tool Software
The LR tool software has been specially designed to manipulate workpieces with the LR Mate 100. The LR
tool software is contained in the R-J2 Mate and enables the following:
• Setting the system for manipulating workpieces
• Creating a program
• Performing the test operation of a program
• Performing the automatic operation
When optional functions (for connecting a printer, connecting a floppy disk drive unit, selecting an external program, etc.) are incorporated, the system can be expanded and the management functions can be enhanced.
2.1.1 System setting
The LR tool software has an interface for specifying parameters of operation of the manipulation system. (For
how to set the handling system, see Chapter 3.) With the LR tool software, the hand, remote controller, and
other external units can be controlled. Before the manipulation is started, the following must be specified: input
from and output to the hand and other peripheral units, the coordinate system, communication, and automatic
operation.
2.1.2 Jog feed of the robot
Jog feed of the robot is the operation of moving the robot as desired by manually entering commands on the
teach pendant. When a motion instruction of a program is executed, the robot is moved to the target position
by jog feed, then the position is recorded. (For the jog feed of the robot, see Chapter 5.2.2)
2.1.3 Program
A program contains motion instructions, input/output instructions, register instructions, and branch instructions.
(For the program structure, see Chapter 4.) Each instruction is assigned a statement number. The target work
is accomplished by sequentially executing the instructions.
The LR tool software is used to create or correct a program. (For creation of a program, see Chapter 5.) The
program contains the following instructions. Fig. 2.2 shows a basic program for manipulating workpieces.
• Motion instruction: Moves the tool to the target position within the operating range.
• additional motion instruction: Performs an additional (special) operation during a motion.
• Palletizing instruction: Palletizes workpieces.
• Register instruction: Places (loads) numerical data into a register.
• Position register instruction: Places (loads) position data into a register.
• Input/output instruction: Sends or receives a signal to or from a peripheral unit.
• Branch instruction: Changes the flow of a program.
• Wait instruction: Delays the execution of a program.
• Macro instruction: Calls a specified program and executes it.
• Program end instruction: Terminates execution of a program.
• Comment instruction: Adds a comment to a program.
• Other instructions
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B-80464E/01
2.0VERVIEW
Program name
E
Line number
Program instructions
Motion instruction
Macro instruction
a!\~'.f J
2:
P [1] 100% FINE
HANDlCLOSE
3: J
4: L
- - - 1 - -......... HANDlOPEN
6: L
End instruction
Program end symbol
P c21 70% CNT50
P[3] 500111111/sec CNTlO
7:
P[4] 500111111/sec CNTlO
HANDlCLOSE
ABORT
[End]
POINT
TOUCHUP >
Fig. 2.2 Handling Program
2.1.4 Test operation (test execution)
After the system is set and a program is created, perform the test operation in the test execution mode to check
the program for normal operation. (For the test operation, see Sections 6.2 and 6.3.)
The test execution of the program is one of the most important steps in creating a good program. Before starting
automatic operation, test each program.
2.1.5 Automatic operation (operation execution)
Automatic operation (operation execution) is the final step in executing programs. In automatic operation, the
following processing is executed:
• Specified programs are started one after another. (For automatic operation, see Sections 3.4 and 6.6.)
• The processing is halted, then aborted or resumed. (For halting a program, see Section 6.1.)
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2.0VERVIEW
B-80464E/01
2.2 Mechanical unit
A robot is a mechanical unit consisting of axes and arms driven by servo motors. A place at which arms are
connected is a joint, or an axis.
J1 , J2, and J3 are main axes. The basic configuration of the robot depends on whether each main axis functions
as a linear axis or rotation axis.
The end effector (tool) mounted on the flange is moved about a wrist axis. The motion of the wrist and about
the wrist is done.
2.2.1
Robot arms
FANUC provides all-purpose compact robot LR Mate 100. Fig. 2.3 shows the robot LR Mate 100.
In a handling system, a hand is mounted on the wrist of the robot.
Fig. 2.3 Robot LR Mate 100
2.2.2 · Hands
A handling hand is mounted on the wrist flange of the robot. The LR tool software ensures optimum manipula·
tion of the workpieces by the hand. Consult a system designer and prepare a hand best suited for your application.
Single hand
Double hand
Fig. 2.4 Hands
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2.0VERVIEW
2.3 Controller
R-J2 Mate controller includes a power unit, user interface circuit, motion controlling circuit, memory circuit, and
input/output circuit.
The controller of robot LR Mate 100 is available in three types: the built-in type, which is contained in the CNC
unit (FANUC Series 16 or Series 18), panel mount type, which can be mounted to a machine tool, and the
stand-alone type (FANUC SYSTEM R-J2 Mate). (These are referred to as the R-J2 Mate controller.) These
types have identical functions for controlling the robot.
The stand-alone type R-J2 Mate, however, has additional switches and connectors.
• The R-J2 Mate has a circuit protector switch for turning the power on and off and an emergency stop but·
ton.
• The R-J2 Mate has a communication port.
Use a teach pendant to operate the controller.
The motion control circuit controls servo amplifiers. The servo amplifiers drive the robot arm and wrist about
all axes, including an extended axis, through connectors for controlling axes on the PC board for controlling
robot.
The memory circuit can store programs and data that the user has placed into the memory on the PC board
for controlling the robot.
The input/output (1/0) circuit interfaces the controller with the peripheral units by receiving and sending signals
via the 1/0 link cable and peripheral connecting cable. The remote input/output signal is used for communication with the remote controller.
0
Circuit protector switch
( * For turning the power on or off )
ON
EMERGENCY
STOP
qp
0
Emergency stop button
OFF
e
* When controlling for turning the power on or off
from external devices, operate the external
switches after turning the power on.
Fig. 2.5 R-J2 Mate
The circuitry of the controller depends on the robot and the system it controls. For details, refer to the maintenance manual.
-14-
2.0VERVIEW
B-80464E/01
Printed circuit board for controlling the robot
Fig. 2.6 Inside the Controller
The controller can communicate with various peripheral units. The figure below shows a sample connection
between the controller and peripheral equipment.
Floppy disk drive unit
Robot
Teach pendant
Workpiece feeder
Fig. 2.7 Controller and Peripheral Equipment
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2.0VERVIEW
2.3.1 Teach pendant
The teach pendant interfaces the LR tool software with the operator. The teach pendant is connected to the
PC board for controlling the robot in the controller by a cable.
All system operations can be specified on the teach pendant, including a jog feed of the robot, program generation, and test execution. The teach pendant has the following buttons and switches to enable these operations:
- The teach pendant enable switch enables or disables the teach pendant. When the teach pendant is disabled, a jog feed, program generation, or test execution cannot be carried out.
- If the deadman switch is released while the teach pendant is enabled, the robot is immediately stopped.
- When pressed, the emergency stop button immediately stops the robot.
Emergency
stop button
Fig. 2.8 Switches on the Teach Pendant
The teach pendant includes the following:
• Liquid crystal display of 40 characters by 16 lines
e 11 LEDs
• 61 keys (including two keys for the LR tool)
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B-80464E/01
2.0VERVIEW
1: J
2: J
3: L
Status indicator LEDs
PREVkey
4: L
5: J
pm
P [2]
P[3]
P [4]
P [1]
PAtJSl!:D
100t rlllll
70t CllTSO
1000cm/min CllT30
SOODa/sec l'INl!I
100t FINl!I
[Bnd]
Restores the most recent
state.
Teach pendant
enable switch
Emergency
stop button
MENUS key - - - Displays a screen menu.
FCTN key
Cursor keys
Displays a function
menu.
Moves the cursor.
STEP key
HOLD key
Selects the step operation mode.
Causes the robot to
halt.
RESET key
Releases the alarm state.
FWD key
Activates the robot.
BACK SPACE key - - - - -
Jog keys
Deletes the character or numeral immediately before the cursor.
Executes a jog
feed of the robot.
ITEM key
Places tfle cursor on a desired line or
item.
COORD key
Selects a jog type.
ENTER key
SELECT key
Enters a numeral or selects a menu.
Selects the program
selection screen.
EDIT key
TOOL 1 /2 key
Selects the program
edit screen.
Displays tool 1 or 2 screen.
DATA key
POSN key
Displays the current
position screen
I/Okey
Displays the VO screen
SET UP key
Displays the setup screen
STATUS key
Displays the status screen
Fig. 2.9 Teach Pendant
-17-
Selects a data screen
such as a register
screen.
Override keys
Adjust the speed of the robot.
2.0VERVIEW
B-80464E/01
2.3.1.1 Keys on the teach pendant
The teach pendant has the following keys:
Keys related to menus
(MENU~ (FCTN]
eELEC~
8
(DATA]
The MENUS key displays the screen menu.
The FCTN key displays the function menu.
The SELECT key displays the program selection screen.
The EDIT key displays the program edit screen.
The DATA key displays the program data screen.
~
~
~ETUPJ
~OS~
G ~TATU,
The MOVE MENU key moves the robot to the reference position. Make the program which moves the robot to the reference
position and assign this program to the macro instruction so that
this can be started by this MOVE MENU key.
The SET UP key displays the setup screen.
The STATUS key displays the current position screen.
The 1/0 key displays the 1/0 screen.
The POSN key displays the current position screen.
E)@J@JEJ~
The function (F) key selects a function menu at the bottom of
the screen.
B
The next page key displays the function menu on the next page.
(sHl1
The SHIFT key is used to execute a jog feed of the robot, teach
the position data, and start a program.
Keys related to jog feed
1-Z) I-YI I-XI (:ii l+YI l+il
~~~~~~
The jog key executes a jog feed of the robot.
[ID 00 00 raJ [ID
-Y
-X
+Z
+Y
+X
(J5)
(J4)
(JG)
(J5)
(J4)
~OOR~
The COORD key selects a manual-feed coordinate system
uog type). Each time the COORD key is pressed, it selects the
next jog type in the order: JOINT, JGFRM, TOOL, USER.
The override key adjusts the feedrate override. Each time the
override key is pressed, it selects the next override in the order:
VFINE, FINE, 1%, 5%, 50%, 100%.(changing amount 5% for
5% or less and changing amount 5% for 5% or more.)
Keys related to execution
The start key (+SH IFT key) starts a program. When the shift key
is released during regeneration, the program halts.
The HOLD key causes a program to halt.
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2.0VERVIEW
B-80464E/01
The STEP key selects step or continuous test operation.
Keys related to editing
8
The PREV key restores the most recent state.
The ENTER key enters a numeral or selects a menu.
The BACK SPACE key deletes the character or numeral immediately before the cursor.
The cursor key moves the cursor.
The cursor is the highlighted part which can move on the teach
pendant screen. This part becomes the object of operation ( input or change of the value or contents) from the teach pendant
key.
(ITEM)
The ITEM key moves the cursor to a line whose number is specified.
Keys related to handling
TOOL 1 or 2 key displays the tool 1 or 2 screen.
2.3.1.2 LEDs on the teach pendant
The teach pendant has the following LEDs:
- The FAULT LED indicates that an alarm has occurred.
- The HOLD LED indicates that the HOLD button is being pressed
- The STEP LED indicates that it is under step operation mode.
- The BUSY LED is lit while the robot is working. It is also lit when a program
is executed or when the printer or floppy disk drive unit is operating.
- The RUNNING LED indicates that the program is being executed.
- The JOINT LED is lit when joint jog is selected as the manual-feed coordinate
system Qog type).
- The XVZ LED is lit when Cartesian jog (JGFRM or USER) is selected as the
manual-feed coordinate system Qog type).
- The TOOL LED is lit when tool jog (TOOL) is selected as the manual-feed
coordinate system Oog type).
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2.0VERVIEW
2.3.1.3 Display screen of the teach pendant
The liquid crystal display screen (liquid crystal display) displays the LR tool software screen shown in Fig. 2.10.
To operate the robot, select a screen corresponding to a desired function. The screen is selected by the screen
menus shown in Fig. 2.11.
Program which Is beIng executed
Current line number
Indicates the number of the line
in the program being executed.
Program which
Is being edited
Manual-feed coordinate system Oog type)
Indicates the current jog type.
TP forward/backward disable
FBD is displayed when the teach
pendant is effective and is set
that start from teach pendant is prohibited.
Execution status
Indicates ABORTED,
PAUSED, or RUNNING.
PAUSED
Line number
Program end
symbol
1: J
2: J
3: L
P~] 100% FINE
70% CNTSO
lOOOcm/min CNT30
4: L P[4] SOOmm/sec FINE
5: J P[l] 100% FINE
[End]
P[2]
p [3]
Enter value of press ENTER
[CHO CE] POSITION
Feedrate override
The override key specifies the percentage of
the maximum feedrate.
Current llne and total number
of lines
Indicates the number of the fine in the
program being executed or edited and
the total number of fines in the current
Prompting message
program.
Prompts the operator to enter data. The message Function key menu
depends on the selected screen and the position
Indicates the function key labels. The menu depends
of the cursor.
on the selected screen and the position of the cursor.
Labels including [ ] shows that the selection menu is
displayed when this label is selected.
Fig. 2.1 O Program Edit Screen
2.3.1.4 Screen menu and function menu
Menus are used to operate the teach pendant. The screen menu is selected by the MENUS key and the function menu is selected by the FCTN key.
Screen menu
(pages 1 and 2)
Function menu
(pages 1 and 2)
"4 TOGGLE SUB GROUP" is displayed
only when ext.ended axis option is sup.
port.eel.
Fig. 2.11 Screen Menu and function menu
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2.0VERVIEW
B-80464E/01
Screen menu
The screen menu is used to select a screen. The screen menu lists the following options. (For the list of menus,
see Appendix a.2. For the screen type, see Appendix a.3.) To display the screen menu, press the MENUS key
on the teach pendant.
1 The utility screen is used to display the hint.
2 The test cycle screen is used to specify the data for test operation.
3 The manual operation screen is used to execute macro instructions.
4 The alarm history screen shows the history and details of alarms.
5 The 1/0 screen is used to display and set manual output, simulated input/out·
put, and assign of signals.
6 The setting screen is used to set the system.
7 The file screen is used to read or store files.
9 The user screen shows user messages.
1 The program selection screen is used to list or create the programs.
2 The program edit screen is used to correct and execute a program.
3 The program data screen shows the values in registers, position registers,
and pallet register.
4 The status screen shows the system status.
5 The current position screen shows the current position of the robot.
6 The system screen is used to set system variables and mastering.
Function menu
The function menu is used to execute a miscellaneous function. (For the list of menus, see Appendix a.2.) To
display the function menu, press the FCTN key on the teach pendant.
ABORT forces a program which is being executed or temporarily halted toterminate.
2 Disable FWD/BWD enables or disables starting a program with a teach pen·
dant
4 TOGGLE SUB GROUP toggles jog between robot standard axes and ex·
tended axes.
5 TOGGLE WRIST JOG toggles jog between the attitude control feed and the
wrist joint feed which does not maintain the wrist attitude in linear feed.
6 SAVE saves the data related to the current screen on a floppy disk.
8 PRINT SCREEN prints the data displayed on the current screen.
9 PRINT prints the data on the current screen exactly.
QUICK/FULL MENUS toggles the menu between a usual screen menu and
a quick menu.
Quick menu
When a quick menu is selected, the screen that can be displayed by using the screen menu is limited to the
following:
• ALARM I alarm history screene DATA e STATUS
e UTILITIES I hint screene Tool 1 e 1/0
e Set up e Tool 2 e POSITION
- 21-
B-80464E/01
2.0VERVIEW
- The program selection screen can be displayed by the SELECT key. But the function except selection
a program can not be used.
- The program edit screen can be displayed by the EDIT key. But the function except changing of the
position and the speed value can not be used.
2.3.2 Remote controller
The remote controller is an external unit of the system. It is connected to the R-J2 Mate controller. The remote
controller is customized by the user and connected to the R-J2 Mate controller. It controls the R-J2 Mate controller via peripheral 1/0 (see Section 3.3) or a communication port (see Section 8.1 ). A programmable controller
(PC) or host computer is used as the remote controller.
The user of the remote controller must get information about the system interface from the supplier.
2.3.3 Input/output
General-purpose and specialized inpuVoutput (110) signals are used to send the data of an external unit to the
LR tool software. The general-purpose signal (user-defined signal) is controlled by a program and is used to
send or receive data to or from the external units or hand. The specialized signal (system-defined signal) is
applied to a specific use.
The inpuVoutput signals include the following:
• Peripheral 1/0 (See Section 3.3.)
• Robot 1/0 (See Section 3.2.)
• Digital 1/0 (See Subsection 3.1.1.)
• Group 1/0 (See Subsection 3.1.2.)
The type and number of inpuVoutput signals depend on the type of devices which is connected by 1/0 link.
2.3.4 Peripheral 1/0
Peripheral 1/0 is a signal specialized for sending and receiving data to or from the remote controller or peripheral
equipment. As a result, the following operation can be done (See Section 3.3, "Peripheral 1/0"). 1/0 unit model
A, Process 1/0 PC board, and CNC can be connected to the controller. Process 1/0 PC board has the maximum
number of 1/0 signal lines which can be used. (See MAINTENANCE MANUAL)
Peripheral 1/0 signals perform the following:
• Select a program
• Start and stop a program
• Recover the system from the alarm state
2.3.5 Communication
The controller has a standard RS-232-C port for communication on the printed circuit board for controlling the
robot or operator's panel of the stand-alone type controller. (For communication port, see Section 8.1.)
2.3.6 Internal memory circuit (memory)
The controller has two internal memory circuits: RAM and ROM.
RAM
The controller uses the RAM as working memory or backup memory. All programs and data are read into the
RAM before they are used. The RAM always holds the programs and data even when the controller is not us
ed. The battery of the controller supplies power to the RAM so it can always keep holding the data.
ROM
The ROM includes the LR tool software. The ROM is mounted on the printed circuit board for controlling the
robot.
2.3.7 Motion of the robot
A single motion instruction specifies a motion of the robot, or a movement of the tool center point (TCP) from
the current position to the target position. The R-J2 Mate uses a motion control system that comprehensively
controls the tool path, acceleration/deceleration, positioning, feedrate, and other factors.
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2.0VERVIEW
B-80464E/01
The R-J2 Mate can control five axes of the LR Mate 1oo. Unlike the R-J, the R-J2 Mate cannot control multiple
groups.
The robot moves according to a jog feed specified on the teach pendant or a motion instruction specified in
a program.
To execute a jog feed of the robot, use the corresponding key on the teach pendant. In jog feed, the motion
of the robot depends on the selected manual-feed coordinate system Qog type) and feedrate override.
When a motion instruction is used, the motion of the robot depends on the position data, motion format, positioning path, traveling speed, and feedrate override specified in the instruction.
One of three motion formats -- Linear, Circular, and Joint -- can be selected to operate the robot. When Joint
is selected, the tool is moved arbitrarily between two specified points. When Linear is selected, the tool is moved
along a straight line between the two specified points. When Circular is selected, the tool is moved along an
arc connecting three specified points.
A positioning path can be selected from two options, Fine and Cnt.
Either of the motion distance and rotating angle of the axis per unit time can be chosen as the description of
the feedrate.
2.3.8 extended axis
Only one extended axis can be added to the standard axes (usually five axes) of the robot. The R-J2 Mate
can control up to six axes. The extended axis has the following two types:
• Extended axes - This can be controlled regardless of the robot motion and can move only at the joint motion.
• Integrated axes - This moves at the same time with the robot motion. This axis moves only at the joint motion. But the motion of the extended axes affects the robot motion.
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3. SETTING THE HANDLING SYSTEM
B-80464E/01
3. SETTING THE HANDLING SYSTEM
The LR tool application can be used after required data is specified. This chapter describes the data that
can be specified.
D Contents of this chapter
3.1 Input/Output Signals
3.2 Robot 110
3.3 Peripheral 1/0
3.4 Setting Automatic Operation
3.5 Setting Coordinate Systems
3.6 Setting a Reference Position
3.7 Joint Operating Area
3.8 Brake Control
3.9 User Alarm
3.10 System Config Menu
3.11 Other Settings
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B-80464E/01
3. SETTING THE HANDLING SYSTEM
3.1 Input/Output Signals
Input/output signals (1/0) are electric signals that allow the controller to communicate with the robot, end effector, external equipment, and other peripheral equipment of the system. The signals are divided into two group
s: general-purpose 1/0 and specialized VO.
General-purpose 1/0
The user can define the general-purpose 1/0 as required. The number of Input/Output signal lines can be expanded. The maximum number for each signal line is 256.
This group includes the following signals:
e Digital 1/0: Dl[i]/DO[i]
e Group 1/0: Gl[i]/GO[i]
Speclallzed 1/0
The use of the specialized 1/0 has already been defined. This group includes the following signals:
e Peripheral (UOP) 1/0: Ul[i]/UO[i]
e Robot 1/0: Rl[i]/RO[i]
[i] represents the logic number of each 1/0 signal and group signal.
• For Digital, Group, and Peripheral 1/0, the logic ports can be mapped to the physical ports. They can be
redefined.
·
• The physical numbers of the robot 1/0 are always the same as the logic numbers. They cannot be redefined.
Printed circuit board for controlling the robot
Fig. 3.1 Inside the Controller
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3. SETTING THE HANDLING SYSTEM
B-80464E/01
Configuration of the 1/0 Link
The 1/0 Link consists of the following hardware.
• Printed circuit board for controlling the robot
e FANUC 1/0 Unit-MODEL A (1/0 Unit-MODEL A)
e FANUC 1/0 Unit-MODEL B (1/0 Unit-MODEL B)
• Process 1/0 printed board
1/0 link data should be set at CNC side when R-J2 Mate is connected to CNC. Refer to the operator's manual
of CNC for details.
In Fig.3.2, R-J2 Mate and 1/0 Unit-MODEL A are connected to CNC as slave of
l/Olink.
In Fig.3.3, the process 1/0 PC board and the 1/0 Unit-MODEL A are connected to the robot control PC board
as the slave of 1/0 link. At this time, the robot controller board is a master of 1/0 link against these 1/0 modules.
Since JD4 and JD1 Bis the same connector, these can not be used at the same time. To specify one of these,
set a system variable, $10MASTER, as the following.
- TRUE : The robot control PC board is master. (JD4)
- FALSE : The robot control PC board is slave. (JD1 B)
Moreover, the default setting is FALSE.
Master
Slave
(R-J2 Mate)
(CNC)
PMC printed circuit board :
JD1 A
Printed circuit board for controlling the robot
DI--'-'____,
CRM5
D--- Peripheral equipment
1/0 Unit-MODEL A
ov
+24V
Peripheral equipment
Fig. 3.2 Input/Output Module Configuration (When R-J2 Mate Is slave)
-27-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
Slave
Master
(R-J2 Mate)
Printed circuit board
for controlling the robot
Process 1/0 printed board
: RACKO
D-
SLOT1
o-
JD4
(JD18)
CAMS
Peripheral equipment
~
DD-
Peripheral equipment
RACK48
Power supply unit
CPS
ov
+24V
SLOT 1
2
3
4
5
~
Peripheral equipment
ff-
r-
f-
RACK2
SLOT 1
2
3
4
5
r
Peripheral equipment
f-
1-
ff-
Fig. 3.3 Input/Output Module Configuration 2 (When R-J2 Mate Is master)
-28-
3. SETIING THE HANDLING SYSTEM
B-80464E/01
Configuring 110
Configuring 1/0 is to specify a physical number for logical number of ports. The system recognizes the connected equipment and configuring is done automatically. And it is possible to change arbitrarily. If Logical number is represented "i", logical ports are Dl/O[i],Gl/O[i],Ul/O[i] and RDl/O[i].
A physical number specifies each pin in the connector of 1/0 modules and interfaces CRMS, etc. A physical
number is represented with the rack, slot, and start point.
Rack
The rack indicates the master of 1/0 link against robot control PCB, the CRMS
interface, and the kind of hardware which composes 1/0 module.
- 32 =JD1 B interface
CNC which becomes master of 1/0 link to robot control PC board
- 48 =CRMS interface
- O = JD4 interface (Process 110 PC board)
- 1 or more
=JD4 interface (110 Unit-MODEL A) and, MODEL B
SLOT
The slot indicates numbers of 1/0 module parts which compose the rack. However, it is fixed to 1 concerning
JD1B and the CRMS interface.
• When the process 1/0 PC board is used, the first connected board is SLOT 1, the second is SLOT 2 and
others are numbered sequentially as this.
• When the 1/0 Unit-MODEL A is used, SLOT is the slot number of this MODEL A rack.
• When the 110 Unit-MODEL B is used, SLOT is the address of the DI/DO unit, which is set by dip switch.
Start point
START PT indicates numbers of pin on the 1/0 module parts or CRMS interface.
Digital 110 configuration screen
(Standard value)
;1;1wz§ri!i1!S'.¥t®ia;b11M111rnmmrnrnmrn:r@rn:Qlmrn1g§1;t;:;;r;
#
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
RANGE
DI [ 1- 8]
DI [ 9- 16]
DI[ 17- 24]
DI[ 25- 32]
DI[ 33- 40]
DI[ 41- 48]
DI[ 49- 56]
DI [ 57- 64]
DI [ 65- 72]
DI [ 73- 80]
DI [ 81- 88]
DI [ 89- 96]
DI [ 97-104]
DI [105-112]
DI [113-120]
DI [121-128]
DI[129-136]
DI[137-144]
DI [145-152]
.DI [153-160]
DI [161-168]
RACK
32
32
32
32
32
32
32
32
0
0
0
0
48
48
48
0
0
0
0
0
0
[ TYPE ] MONITOR IN/OUT
SLOT
1
1
1
1
1
1
1
1
0
0
0
0
1
1
1
0
0
0
0
0
0
START PT
9
17
25
33
41
49
57
65
0
0
0
0
1
9
17
0
0
0
0
0
0
DETAIL
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
HELP >
RANGE
DO[ 1- 8]
DO[ 9- 16]
DO[ 17- 24]
DO[ 25- 32]
DO[ 33- 40]
DO[ 41- 48]
DO[ 49- 56]
DO[ 57- 64]
DO[ 65- 72]
DO[ 73- 80]
DO[ 81- 88]
DO[ 89- 96]
DO[ 97-104]
D0[105-112]
D0[113-120]
D0[121-128]
D0[129-136]
D0[137-144]
D0[145-152]
D0[153-160]
D0[161-168]
RACK
32
32
32
32
32
32
32
32
0
0
0
0
48
48
0
0
0
0
0
0
0
[ TYPE ] MONITOR IN/OUT
-29-
SLOT
1
1
1
1
1
1
1
1
0
0
0
0
1
1
0
0
0
0
0
0
0
START PT
5
13
21
29
37
45
53
61
0
0
0
0
1
9
0
0
0
0
0
0
0
DETAIL
HELP >
B-80464E/01
3. SETTING THE HANDLING SYSTEM
Process 110 PC board
As for Input/Output signal lines on the process 1/0 PC board, when the peripheral 1/0 is allocated to the process
1/0 PC board, 8 input and 4 output signals are allocated in the peripheral 1/0. (See Section 3.3 "Peripheral 1/0'')
1/0 signal lines except the peripheral 1/0 are allocated in digital 1/0 and group 110 (See Section 3.1.1, "Digital
1/0" and Section 3.1.2 "Group 1/0"). When the peripheral 1/0 is not allocated, all the 1/0 signal lines are
allocated in digital 1/0 and group 1/0. To use the process 1/0 PC board, the controller needs to be mount type
or panel-mount type and the printed circuit board for controlling the robot needs to be in master mode.
NOTE
NOTE
Process 1/0 PC board AA or CA can be connected but analog input or output function is not
supported. Therefore the analog 1/0 cannot be used. When you want to use the process 1/0
PC board, inform FANUC about this.
Note) The common voltage of the DI signals input to pins 1 to 4 of connector CRM2A is
clamped +24V (common) in each process 1/0 PC board.
Process 1/0 PC board AB
JD4B
'
'
'
-----~-·-··r··r-
.. -···;-····1·-i··.-'
I
I·
DD
I
...... ,. ...................... .
.......................
1
I
I
I
I
I
I
I
'
'
'
'
JD4A
'
'
D
D
CRM2B
D
CRM2A
Fig. 3.4 Process 1/0 PC board
Process 1/0 PC board AB
PC board for controlling the robot
JD4
0-- --0
JD4A
CRM2A
0--
Peripheral equipment A1
CRM2B
0--
Peripheral equipment A2
JD4B
Fig. 3.5 Process 110 PC board Configuration
For details of process 1/0 PC board, refer to CONNECTION MANUAL. (Refer to MAINTENANCE MANUAL)
-30-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
01
02
03
04
05
06
07
OS
09
10
11
12
13
14
15
16
17
1S
01
02
03
04
05
06
07
OS
09
10
11
12
13
14
15
16
Peripheral equipment A1
CRM2A
out 1
in 1
in 2
in 3
in4
in5
in6
in7
ins
in9
in 10
in 11
in 12
in 13
in 14
in 15
in 16
19 out 13
20 out 14
21 out15
22 out16
23
24 out17
25 out1S
26 out19
27 out20
2S
29 in 17
30
31
32
in 1S
in 19
in20
33
34
35
36
37
38
39
40
41
out2
out3
out4
outs
out6
out7
outs
42
43
44
45
out9
out10
out 11
46
47
48
49
50
out12
Peripheral equipment A3
CRM2C
in41
in42
in43
in44
in45
in46
in47
in48
in49
in SO
in51
in52
in53
in54
in55
in56
33
19
20
21
22
out53
out54
out55
out56
23
24 out57
25
26
27
2S
29
out58
out59
out60
in57
30 in58
31 in59
32 in60
17
34
1 .....
36
37
3S
::!!I
4n
41
out41
out42
out43
out44
out45
out46
out47
out48
42
......
out49
......
out SO
out51
out52
45
!4R
47
!4A
49
50
1S
05
in21
in22
in23
in24
in25
06
07
OS
in26
in27
in2S
09
in29
in30
in31
in32
in33
in34
in35
01
02
03
04
10
11
12
13
14
15
16
17
1S
01
02
03
04
05
06
07
OS
09
10
11
12
13
14
15
16
17
1S
Peripheral equipment 81
CRM4A
01
02
03
04
05
06
07
in S1
inS2
in83
in84
in85
in86
inS7
OS
09
10
11
12
13
out SS
outS6
outS7
out SS
in88
14
15
16
17
1S
19
Peripheral equipment A2
CAM 28
out21
in36
19
20
21
22
out33
out34
out35
out36
23
24
25
26
27
2S
29
30
31
32
out37
out3S
out39
out40
in37
in3S
in39
in40
33
34
35
36
37
3S
39
40
41
42
43
44
45
46
47
48
49
50
out22
out23
out24
out25
out26
out27
out2S
out29
out30
out31
out32
Peripheral equipment A4
CRM2D
in61
in62
in63
in64
in65
in66
in67
in SS
in69
in70
in 71
in72
in73
in74
in75
in76
19
20
21
22
out73
out74
out75
out76
23
24
25
26
27
28
29
30
31
32
outn
out7S
out79
out SO
in77
in7S
in79
in SO
33
34
35
36
37
3S
39
40
41
42
43
44
45
46
47
4S
49
50
out61
out62
out63
out64
out65
out66
out67
out6S
out69
out70
out71
out72
Peripheral equipment 82
CRM48
outS1
outS2
outS3
outS4
01
02
03
04
05
06
07
20
inS9
in90
in91
in92
in93
in94
in95
OS
09
10
11
12
13
out93
Out94
out95
out96
in96
14
15
16
17
1S
19
20
outS9
out90
out91
out92
in**, out** indicates the physical number.
Fig. 3.6 Process 110 PC board Interface
-31-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
VO Unit-MODEL A
SLOT
(Connector) (Terminal)
Fig. 3.71/0 Unit-MODEL A
PC board for controlling the robot
ov _____
ov
+24V
+24V
JD4
~
SLOT1
~
§
2
§
8las
3
8las
p:i
OV
+24V
4
5
SLOT1
2
8las
3
4
5
Fig. 3.8110 Unit-MODEL A Configuration
-32-
3
5
§
p:i
2
4
RACK2
~
p:i
SLOT1
3. SETTING THE HANDLING SYSTEM
B-80464E/01
For details of FANUC 1/0 Unit-MODEL A, refer to FANUC VO Unit-MODEL A manual (B-61813E)
03
04
05
06
07
08
09
10
11
12
13
14
1S
16
17
1S
in31
in28
in25
+24V
OV
in20
in 17
+24V
ov
in 1S
in 12
in9
+24V
ov
in4
in 1
+24V
33
19
20
21
22
23
24
25
26
27
28
29
30
31
32
ln29
in26
CMC
in23
in21
in 1S
in 13
in 10
CMA
in7
1no
in 2
34
3S
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
ov
AID 16C/D
AID32E/F
AID32A/B
01
02
in32
in30
in27
CMC
in24
in22
In 19
CMC
CMC
in 16
in 14
in 11
CMA
ins
in6
in3
CMA
CMA
01
02
03
04
OS
OS
07
OS
09
10
11
12
13
14
1S
1S
17
1S
in31
in28
in2S
+24V
ov
in20
in 17
+24V
ov
in 1S
in 12
in9
+24V
ov
in4
in 1
+24V
19
20
21
22
23
24
25
2S
27
2S
29
30
31
32
in29
in26
CMD
in23
in21
in 1S
in 13
in 10
CMB
in7
lnS
in2
33
34
3S
3S
37
3S
39
40
41
42
43
44
45
46
47
48
49
ov
50
in32
in30
in27
CMD
in24
in22
in 19
CMC
CMC
in 1S
in 14
in 11
CMB
ins
ins
in3
CMA
CMA
01
03
OS
07
09
11
CM
in2
in4
inS
ins
in 10
13
1S
17
19
in 12
in 14
in 1S
01
in 1
in3
ins
in7
in9
in 11
in 13
in1S
01
02
03
04
05
06
07
08
09
10
11
12
13
14
1S
1S
17
1S
out31
out2S
out2S
+24V
OV
out20
out17
+24V
OV
out1S
out12
out9
+24V
ov
out4
out 1
+24V
OV
19
20
21
22
23
24
25
26
27
28
29
30
31
32
out29
out26
CMD
out23
out21
out 1S
out13
out 10
CMB
out7
outs
out2
33
34
3S
3S
37
3S
39
03
OS
07
40
41
42
43
44
45
46
47
48
49
50
CM indicates the common signal line.
out32
out30
out27
CMD
out24
out22
out19
CMC
CMC
out1S
out14
out 11
CMB
outs
outs
out3
CMA
CMA
AOD 16C/D
01
03
OS
07
09
11
13
1S
17
19
AOA 12 F
01
03
05
07
09
11
13
1S
17
19
out 1
out3
outs
CMA
out7
out9
out 11
CMB
02
04
06
outs
out10
out12
01
03
05
07
09
11
13
1S
17
19
06
08
10
12
14
1S
1S
20
in 1
in3
ins
in7
in9
in 11
in 13
in 1S
CM
CM
02
04
06
OS
10
12
14
1S
1S
20
in2
in4
ins
ins
in 10
in 12
in 14
in 1S
AODOBC/D
02
04
OS
OS
10
12
14
out 1
out3
outs
out7
CMA
out9
out 11
16
1S
20
out13
out1S
CMB
02
04
OS
OS
10
12
14
1S
1S
20
11
13
1S
17
19
01
03
OS
07
09
11
13
1S
17
19
AOAOBE
out2
out4
outs
08
10
12
14
16
18
20
CMA
out2
out4
outs
outs
CMB
out 10
out 12
out 14
out 1S
04
AIA 16G
09
AOD32NC/D
02
02
04
06
OS
10
12
14
1S
1S
20
in 1
in 2
in3
in4
ins
in 6
in7
ins
AOA05 E
out 1
out2
out3
out4
CMA
outs
outs
out7
outs
CMB
01
03
05
07
09
11
13
1S
17
19
CMA
out2
out4
outs
outs
CMB
out10
out12
out 14
out16
02
out1
04 out 1-C
06 out2
08 out2-C
10
12
14
1S
1S
20
out3
out3-C
out4
out4-C
outs
outs-c
in**, out** indicates the physical number
Fig. 3.9 1/0 Unit MODEL A Interface
-33-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
3.1.1
Digital 1/0
Digital 1/0 (DI/DO) is a group of general-purpose signals that send or receive the data of the peripheral equip·
ment via the CAMS interface on the printed circuit board for controlling the robot or the connected 1/0 modules.
Moreover, this can send or receive the data of master (CNC) of 1/0 link. The digital signal is set on or off.
The number of digital 1/0 signals depends on whether the eight input signals and four output signals of the peripheral 1/0 are allocated to the 1/0 interface on the printed circuit board for controlling the robot (CRMS inter
face) or the 1/0 interface on the 1/0 Link. (See Section 3.3, "Peripheral 1/0.")
• When the CNC is connected via the JD1 B interface, the peripheral 1/0 is allocated to the 1/0 Link interface
(standard setting). On the CAMS interface, 16 digital output signals and 20 digital input signals (DI (101
to 120]/DO (101 to 116]) can be used. On the VO Link via the JD1 B interface, 64 digital input signals and
64 digital output signals (DI (1 to 64]/DO (1 to 64]) can be used.
• When the CNC is not connected as the master of 1/0 link, the peripheral 1/0 should be allocated to the
CAMS interface or the connected 1/0 modules. (See Section 4.6, "Peripheral 1/0'1 On the CAMS interface,
12 digital input signals and 12 digital output signals (DI [101to108], DI [117to120]/DO [101to112]) can
be used.
NOTE
Do not redefine the allocation of Dl/O to the CRM5 interface and keep it standard setting.
Moreover, when the peripheral 1/0 is allocated to the CRM5 interface, do not use Dl[109 to
116]/D0[113to116], which is allocated to the same physical number as the peripheral 1/0.
~111~-m !i!!!li®i®~!.i!R
ft
13
14
15
I
RANGE
DI[ 97-104]
DI[l05-112]
DI[l13-120]
RACK
48
48
48
SLOT
1
1
1
[ TYPE ] MONITOR IN/OUT
START PT
1
9
17
DETAIL
I
HELP >
llBD---~
#
13
14
15
I
[
NOTE
RANGE
DO[ 97-104]
DO [105-112]
DO [113-120]
RACK
48
48
0
TYPE l MONITOR IN/OUT
SLOT
1
1
0
START PT
1
9
0
DETAIL
I
HELP >
In default setting, 64 digital input signals and 64 digital output signals are allocated to the JD1 B
interface. When the allocation is changed, the maximum number of general-purpose 1/0 is
232 for input or output signals.
-34-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
( R-J2
Mate)
Printed circuit board
for controlling the robot
PMC
~;-·~
LJ
<- RACK320
__rD
Peripheral equipment
<-RACK48
1/0 link interface
Peripheral equipment interface
Address of Input signals
. I'1nouts
De fau t settma o f d'1a1ta
in 1
in2
in3
in4
ins
ins
in7
*HOLD
DC~<CJ"
~TADT
C•ODO
D . . ~.
D•O~n
D . . ~~
D••~·
in9
nr 1
in 17
Dl9
in25
DI 17
m33
Dl25
in41
Dl33
in49
Dl41
m57
Dl49
in65
0157
in1n
n1<>
in 18
DI 1n
in26
DI 18
in34
Dl2R
in42
nlll4
in SO
Dl42
in58
nlM
in66
Dl58
in 11
n1 ..
in 19
DI 11
in27
DI 19
in3o
Dl27
in43
nlll5
in 51
Dl43
in59
nr 1;1
in67
Dl59
in 12
n1"
in20
DI 12
in28
Dl20
in3s
Dl2A
in44
nlllR
in52
Dl44
in SO
nl/;!)
in68
Dl60
in 14
nu:
in22
Dl14
in30
Dl22
in38
DIM
in46
nlllA
in54
Dl46
in62
nl/;4
in70
Dl62
;n 15
n17
in 23
DI 15
in31
Dl23
in39
Dlll1
in47
nlll!I
in55
Dl47
in63
nri;."
in71
Dl63
in 111
nlA
in24
DI 1R
in32
Dl24
in4D
Dlll2
in48
nl4n
in56
Dl48
in64
nlAA
in72
D164
in 1ll
n11;
in21
DI 1ll
in29
Dl21
in37
Dl2!1
in45
nlll7
in53
Dl45
in61
nl!;.':t
in69
Dl61
inB
(Interface when peripherel 1/0 is not allocated)
NOTE) In the CAMS interface, do not redefine
the allocation of Dl/O.
CRMS
Address of output signals
out 1
CMDENBL
nu+Q
nr 5
out17
D013
out25
D021
out33
D029
out41
D037
out49
D045
out57
D053
out65
uu61
. outputs
De fau It settoutg o f d'1g1ta
out2
01115
out3
out4
out7
outs
nr ,.,
-in!)
,n1
1'4111T ~·-····
nu+10 nut 11 nu+1!! ""'ill ""'14 nod 1/;
l'\r\R
,na nr 1n nr 11
nn7
nr "
out 18 out 19 out20 out21 out22 out23
,n14 nn15 " 1R
.. 17
" 1!1
" 1A
n•~ !)R
nu+27 nu+28 nut29 nut3Q nut31
D022 D023 D024 D025 D026 D027
non34 nut35 non38 nut37 nu• llR ""•llQ
Dnllo Dnll1 Dnll2 D033 D034 D035
out42 out43 out44 out45 out46 out47
" llA "' "IQ ",4n nr 41 nr "" ,, 43
n••M nod51 n..+5!)
""'""' ""'/;4 ""•/;!';
D046 D047 D048 D049 D050 D051
out58 out59 out60 out61 out62 out63
D054 D055 DOSS D057 DOSS D059
out66 out67 out68
D062 D063 D064
Rl'~V
outs
(Interface when peripheral 10 is ellocated)
nr,.._
nu•1~
, , •n
out24
",.,.,
""'""
D028
""""n
DO"•
out48
nr ,..,
""·~~
D052
out64
DO"n
Upper row ... physical number
Lower row ... logical number
Fig. 3.10Dlgltal1/0 Interface
-35-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
Configuration of Input/Output
Output
In digital 1/0, the configuration of the signal lines can be redefined. Eight signal lines band. Eight signal lines
which is included in the same class are allocated at the same time. The following items are set. Refer to Fig.
3.3 for the configuration of the rack and slot.
RACK
The rack indicates the master of 1/0 link, the CRM5 interface, and the kind of hardware which composes 1/0
module to robot control PC board.
- 32 = JD1 B interface
(CNC as the master of 1/0 link to the robot control PC board)
- 48 = CRM5 interface
- O= JD4 interface (Process 1/0 PC board)
- 1 or more = JD4 interface (1/0 Unit-MODEL A) and, MODEL B
SLOT
The slot indicates the number of 1/0 module parts which composes RACK. However, it is fixed to 1 for the CRM5
interface and JD1 B interface (CNC).
• When the process 1/0 PC board is used, the first connected board is SLOT 1, the second is SLOT 2 and
others are numbered sequentially as this.
• When the 1/0 Unit-MODEL A is used, SLOT is the slot number of this MODEL A rack.
e When the 1/0 Unit-MODEL B is used, SLOT is the address of the DI/DO unit, which is set by dip switch.
START PT
START PT allocates the logical number to the physical number to map the signal lines. The first physical number in the class of eight signals should be specified.
NOTE
NOTE
A physical number specifies the pin of lnpuVOutput lines on the 1/0 module. Logical number
is allocated to this physical number. And eight signal lines which is represented in logical number and is included in the same class are allocated at the same time.
Any physical number can be specified as the start point. Not allocated signal is automatically
allocated to other logical number.
Polarlty
The polarity selects whether the current is switched on or off when the signal is set on.
- NORMAL
- INVERSE
=The current is turned on when the signal is set on.
=The current is turned on when the signal is set off.
Complementary
Complementary is the function to set on or off two successive digital output signals: When a signal having an
odd number goes on (off), complementary sets the next signal having an even number off (on).
110 configuration can be done with 110 configuration screen and 110 detail screen. When the allocation or settings of 1/0 is changed, turn the power off and on to use new information. When the kind of 110 PC board are
changed to the different one, 110 configuration may be done again.
Output
The value of a digital output signal can be specified by executing a program or performing manual operation.
(See Section 4.6, "1/0 Instruction," and Section 6.4, "Manual 1/0 Control.")
Simulated Input/output
When simulated input/output is selected, a program can be tested without sending or receiving signals to or
from the external equipment. (See Section 6.3.1,"Specifying test execution")
-36-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
1 Press the MENUS key. The screen menu is displayed.
2 Select 5 (110).
3 Press the F1 key, TYPE. The screen change menu is displayed.
4 Select "Digital:
~[Ii:!!::::::.Iilmfai!HiM!l!ilam.R
# SIM STATUS
U ~ [
U
OFF [
U
OFF [
U
OFF [
U
OFF [
U
OFF [
U
OFF [
U
OFF [
U
OFF [
DO[l]
D0[2]
D0[3]
D0[4]
D0[5]
D0[6)
D0[7]
DO[B)
D0[9]
[TYPE]
CONFIG
IN/OUT
OFF
ON
Digital 1/0 Selection Screen
l[
5 To switch the input screen to the output screen, or vice versa, press the F3 key, IN/OUT.
TYPE ] CONFIG
IN/OUT
@]~
6 To allocate 1/0, press F2,CONFIG.
l[
TYPE ] CONFIG
IN/OUT
.,........
.....
~..,:I-
#
1
2
3
4
5
6
7
8
9
DO[
DO[
DO[
DO[
DO[
DO[
DO[
DO[
DO[
RANGE
1- 8)
9- 16)
17- 24)
25- 32)
33- 40)
41- 48)
49- 56)
57- 64)
65- 72)
RACK
K8
32
32
32
32
32
32
32
0
[ TYPE ] MONITOR IN/OUT
[ TYPE ] VERIFY
SLOT
1
1
1
1
1
1
1
1
0
START PT
5
13
21
29
37
45
53
61
0
DETAIL
Digital 1/0 configuration screen
To return to the selection screen, press F2,MONITOR.
7 To allocate signals, move the cursor to the each item, and enter a value.
8 To set the attribute of 1/0, press F4, DETAIL.
-37-
HELP >
>
B-80464E/01
3. SETTING THE HANDLING SYSTEM
HELP > )
DETAIL
u•·~···Q• Output Detail
Digital Output: DO[ 3]
Digital Outputs:
8]
l
Rack Number:
2
Slot Number:
3 Starting Point:
5
4
Comment:
l] [
5
Comment: [ 2] [
6
Comment: [ 3] [
7
Comment: [ 4] [
Polarity: [
Polarity: [
12
13
20
21
Complementary: [
Complementary: [
TYPE
NEXT
TYPE
VERIFY
l] NORMAL
2] INVERSE
l 3 -
2] TRUE
4] FALSE
>
IN/OUT
>
Digital 1/0 detail screen
To return to the configuration screen, press PREV key.
9 To add a comment:
1 Move the cursor to the comment line and press the ENTER key.
2 Select the method of naming the comment.
3 Press the appropriate function keys to add the comment.
4 When you are finished, press ENTER key.
Comment: [
4
TYPE
NEXT
l]
>
IN/OUT
1o To set the item, move the cursor to the setting column, and select the function key menu.
11 To set the next digital 110 group, presses F2, NEXT.
l[
TYPE
NEXT
Digital Output Detail
Digital Output: DO[ 9]
Digital Outputs: [ 9 - 16]
[ TYPE ] NEXT
IN/OUT
>
12 When you are finished, press the PREV key to return to the configuration screen.
RANGE
1
2
3
4
DO[ 1- 8]
DO[ 9- 16]
DO[ 17- 24]
DO[ 25- 32]
RACK
SLOT
32
32
32
32
TYPE
MONITOR IN/OUT
TYPE
VERIFY
1
1
START PT
5
13
1
21
1
29
DETAIL
HELP >
>
-38-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
13 To determine if the configuration is valid, press NEXT,>, and then press F2,VERIFY.
NOTE:
If the configuration is invalid, the message,"Port assignment is invalid,"is displayed. When this message is
displayed, the correct allocation need to be done.
14 To return to the list screen, press F2,MONITOR.
~·
#
El i !!!'. !HIJBB'f!AB
SIM STATUS
DO[
1) U OFF [DT
DO[
2) U
OFF [DT
DO[
3)
U
OFF [DT
DO[
4) U
OFF [DT
[ TYPE ] MONITOR IN/OUT
SIGNAL
SIGNAL
SIGNAL
SIGNAL
DETAIL
1 ]
2 ]
3 ]
4 ]
HELP >
15 Turn off the controller. Turn on the controller so it can use the new information.
16 To set or cancel a simulated flag, place the cursor on the simulated flag and press the corresponding function key.
: :;
IR~m-m
DI[l]
•
IN/OUT SIMULATE
OFF
UNSIM )
a~
~-~!ill
"[*-'ill?HB•J;ttf
DI [1] flfj
OFF [DIGITALl
[TYPE]
CONFIG
IN/OUT
SIMULATE
UNSIM
17 To perform forced output or simulated input/output of a signal, place the cursor on ON or OFF and press
the corresponding function key.
_I_N_f_OUT~~=O=N~~-OF_F~~J
a~
DI [1]
[TYPE]
S
-
CONFIG
[DIGITALl
IN/OUT
ON
OFF
For the forced output and simulated input of a signal, see Chapter 6, Section 6.4.
Warning:
The controller uses signals to control the peripheral equipment. The forced output or simulated inpuVoutput
may adversely affect the security of the system. Check the use of signals in the system before attempting
the forced output or simulated inpuVoutput.
-39-
B-80464E/01
3. SETIING THE HANDLING SYSTEM
3.1.2 Group 1/0
Group 1/0 (GI/GO) is a group of general-purpose signals that send or receive
the data by using two or more signal lines as the same group.
The value of the group 1/0 is represented in decimal or hexadecimal. When the data is sent, the value is transformed to the binary number. And when the data is received, the binary number is transformed to the decimal
or hexadecimal number.
Assignment of 1/0 slgnal
In the group 1/0, the signal number can be defined to one group. Signal lines from 2 to 16 can be defined as
one group. The defined group can overlap with the digital 1/0.
NOTE
However, the defined group can not overlap with the digital output which is included in the
complementary pair.
RACK
The rack indicates the master of 1/0 link to the robot control PC board, the CRM5 interface, and the kind of hardware which composes 1/0 modules.
- 32 = JD1 B interface
CNC as the master of 1/0 link to the robot control PC board
- 48 = CRM5 interface
- 0 = JD4 interface (process 1/0 PC board)
- 1 or more = JD4 interface (1/0 Unit-MODEL A) and, MODEL B
SLOT
The slot indicates the number of 1/0 module parts which composes the rack. However, it is fixed to 1 for the
CRM5 interface and JD1 B interface (CNC).
• When the process 1/0 PC board is used, the first connected board is SLOT 1,the second is SLOT 2 and
others are numbered sequentially as this.
• When the 1/0 Unit-MODEL A is used, SLOT is the slot number of this MODEL A rack.
• When the 1/0 Unit-MODEL B is used, SLOT is the address of the DI/DO unit, which is set by dip switch.
START PT
START PT allocates the logical number to the physical number to map the signal lines. The first physical number in the class of eight signals should be specified. The first physical number of the signal line is specified with
this rack.
NOTE
NOTE
NOTE
A physical number specifies the Input/Output pin on the 1/0 module. Logical number is allocated to this physical number. And eight signal lines which is represented in logical number
and is included in the same class are allocated at the same time.
Any physical number can be specified as the start point.
When two or more 1/0 boards are connected, the signal lines on the different boards can not
be allocated to one group.
NUMPTS
NUM PTS specifies the number of the digital signals which is assigned to one group.
NOTE
The number of the signal allocated to 1 group is from 2 to 16 points.
Execution of output
1/0 configuration can be done with 1/0 configuration screen and 1/0 detail screen. When 1/0 configuration is
changed, turn off the controller, and turn on the controller to use the new information.
Execution of simulated 1/0
The value of the group output can be set by executing the program or manual 1/0 control.(See Section 4.6, "1/0
instruction", and Section 6.4,"Manual 1/0 Control")
Simulating 1/0 allows you to test a program that uses 1/0. Simulating 1/0 does not actually send output signals
or receive input signals.(See Section 6.3.1 "Specifying test execution")
-40-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
1 Press the MENUS key. The screen menu is displayed.
2 Select 5 (110).
3 Press the F1 key, TYPE. The screen change menu is displayed.
4 Select Group. Group 110 list screen is displayed.
#
SIM VALUE
GO[
1]
0
GO[
2] *
0
GO[
3] *
0
GO[
4] *
0
GO[
5] *
0
GO[
6]
*
0
GO[
7]
*
0
GO [
8] *
0
GO[
9]
*
0
GO[ 10] *
0 [
]
[ TYPE ] CONFIG IN/OUT SIMULATE UNSIM
H
Group 1/0 list screen
l[
5 To switch the input screen to the output screen, or vice versa, press the F3 key, IN/OUT.
TYPE ] CONFIG
l[
IN/OUT
6 To allocate 1/0, press F2,CONFIG.
TYPE ] CONFIG
IN/OUT
GO # RACK SLOT START PT NUM PTS
-~~·
"'Ttm o
o
o
1
2
3
4
5
6
7
8
9
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
[ TYPE ] MONITOR IN/OUT
0
0
0
0
0
0
0
0
DETAIL
HELP >
Group 1/0 configuration screen
To return to the list screen, press F2,MONITOR.
[ TYPE ] MONITOR IN/OUT
7 To configure the 1/0,move the cursor to each item and type the value.
NOTE
The physical number to which the logical number of group 1/0 is assigned can be the same to
which the digital 1/0 is assigned.
-41 -
B-B0464E/01
3. SETTING THE HANDLING SYSTEM
8 To set the attribute of 1/0, press F4,DETAIL.
IN/OUT
DETAIL
HELP
J
1/5
Group Output Detail
Group Input: GO[ 1]
1
Rack Number: filfilg#fl,
Slot Number:
1
2
Starting Point:
5
3
8
4 Number of Points:
Comment: [
5
NEXT
IN/OUT
TYPE
TYPE
>
>
VERIFY
Group 1/0 detail screen
To return to the configuration screen, press PREV key.
9 To add a comment:
Move the cursor to the comment line and press the ENTER key.
2 Select the method of naming the comment.
3 Press the appropriate function keys to add the comment.
4 When you are finished, press ENTER key.
1OTo set the item, move the cursor to the setting column.and select the function key menu.
11 When you are finished, press the PREV key to return to the configuration screen.
GO
1
2
3
4
RACK
SLOT
rn~?,
32
32
0
1
1
1
0
START PT
5
NUM PTS
17
8
4
8
0
0
13
TYPE ] MONITOR IN/OUT
DETAIL
HELP >
12 To determine if the configuration is valid, press NEXT,>,and then press F2, VERIFY.
NOTE:
If the configuration is invalid, the message,"Port assignment is invalid,"is displayed. When this message is
displayed, the correct allocation need to be done.
13 To return to the list screen, press F2,MONITOR.
TYPE ] MONITOR IN/OUT
14 Turn off the controller. Turn on the controller so it can use the new information.
-42-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
3.2 Robot 1/0
Robot 1/0 are a group of robot digital signals connected to the robot via the CRF2 interface on the printed circuit
board for controlling the robot. This group includes the following signals:
• The specialized input signals *HBK, and *PPABN are processed in the mechanical unit of the robot.
• Signals R01 to ROS. These signals drive the solenoid valve that controls the air for opening or closing the
hand.
• Signals Rl1 to R14. These signals are used as the end effector 1/0 via the robot. The end effector 1/0 is
connected to the connector at the end of the robot arm.
End effector 1/0 consists of the four input pins (general-purpose signal) and the six output pins(only for opening
and closing the hand). The configuration of these signals cannot be changed.
Robot
Printed circuit board
for controlling the robot
EE
CRF2
(RI)
D----0
0-
End effector
·-~------
! CCb
'-r-rr--icr->-'---So/-•no_ldvaJve( In the J3 a.rm)
'---,----'
Tenninal block
End effector
EE
P&D
-
-
31
32
33
34
35
36
37
38
R01
R02
R03
R04
ROS
ROS
R 11
Rl2
39
40
41
42
43
44
45
Rl3
Rl4
+24V
+24V
+24V
OV
OV
46 RDICOM
47 *HBK
48 *ROT
49 *PPABN
50
51
1
2
3
4
R 11
Rl2
Rl3
Rl4
5
6
7
8
*HBK
+24V
+24V
OV
Terminal block
+24V
RDICOM
ov
*HBK
+24V
+24V
*PPABN
ov
Fig. 3.11 Robot 1/0 Interface
NOTE
To change the common setting of RI [ 1 to 4] and *PPABN, connect the *RDICOM signal to O
V or +24 Von the terminal block. (Refer to "Maintenance Manual.")
-43-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
Hand breakage Input slgnal, *HBK
The *HBK signal is connected to the robot hand and detects a breakage in the tool. In the normal state, the *HBK
signal is set on. When the *HBK signal goes off, an alarm occurs and the robot is immediately stopped.
NOTE
The *HBK signal is ignored when it is connected to +24 Von the terminal block. (Refer to
"Maintenance Manual.")
Abnormal air pressure Input slgnal, *PPABN Input
The *PPABN signal detects a drop in the air pressure. In the normal state, the *PPABN signal is set on. When
a drop in air pressure occurs, the *PPABN signal goes off, an alarm is issued, and the robot is immediately
stopped.
NOTE
The *PPABN signal is ignored when system variable $PARAM_GROUP.$PPABN_ENBL is set
to FALSE.
Solenoid valve control output signals, R01 to RO&
The solenoid valve control signals, R01 to ROS, drive the solenoid valve that controls the air for opening or
closing the hand. These signals start or shut off the supply of the air on the wrist casing and the J3 arm. R0[1
to 4] is set as the complementary pair in default setting.
End effector Input signals, R11 to RI 4
The end effector signals, Rl1 to RI 4, are general-purpose input signals.
-44-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
1 Press the MENUS key. The screen menu is displayed.
2 Select 5 {1/0).
I/O
3 Press the F1 key, TYPE. The screen change menu is displayed.
4 Select "Robot.•
mD.J!g/lliUM!!I lllI!J !!IlLl1l.fill!tilllUUilElll
#
RO[l]
R0[2]
R0[3]
R0[4]
R0[5]
R0[6]
R0[7]
STATUS
-[
ON [
[
ON
[
OFF
[
ON
[
*
*
*
RO[S]
R0[9]
[TYPE]
OFF
DETAIL
[
[
[
IN/OUT
ON
OFF
Robot 1/0 Selection Screen
5 To switch the input screen to the output screen, or vice versa, press the F3 key, IN/OUT.
[TYPE]
DETAIL
IN/OUT
6 To set the attribute of 1/0, press F4,DETAIL.
[TYPE]
DETAIL
IN/OUT
25 Polarity: [
26 Polarity: [
1]
2]
NORMAL
NORMAL
51 Complementary: [
52 Complementary: [
1 -
2]
3 -
4]
TRUE
TRUE
[ TYPE ] MONITOR IN/OUT
Robot 1/0 Detail Screen
To return to the list screen, press F2,MONITOR.
7 To add a comment:
1 Move the cursor to the comment line and press the ENTER key.
2 Select the method of naming the comment.
3 Press the appropriate function keys to add the comment.
4 When you are finished, press ENTER key.
8 To set the polarity and the complementary pair, move the cursor to the setting column.and select the function key menu.
-45-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
9 When you are finished.press F2,MONITOR to return to the list screen.
TYPE ] MONITOR IN/OUT
RO[
RO[
RO[
RO[
RO[
1]
2]
3]
4]
5]
(f:lt•
OFF
OFF
ON
ON
[ TYPE ] DETAIL
IN/OUT
ON
OFF
1OTurn off the controller. Turn on the controller so it can use the new information.
11 To perform forced output of a signal, place the cursor on ON or OFF and press the corresponding function
key.
RO[l]
IP~
~IN_f_o_UT~~-ON~~o_F_F~~j
RO[l]
[TYPE]
DETAIL
IN/OUT
ON
OFF
For the forced output of a signal, see Chapter 6, Section 6.4.
Warning:
The controller uses signals to control the peripheral equipment. The forced output may adversely affect the
security of the system. Check the use of signals in the system before attempting the forced output.
-46-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
3.3 Peripheral 110
Peripheral 1/0 (U l/UO) are a group of specialized signals whose usage is decided by the system. These signals
are connected with a remote controller and the peripheral devices via the following interfaces and 1/0 links and
they are used to control the robot from the outside.
• The JD1A interface (CNC is connected as a master of 1/0 link to R-J2 Mate.)
• CRM5 interface
• The JD4 interface (The process 1/0 PC board, the 1/0 Unit MODEL A and the MODEL B are connected
as the slave of 1/0 link to R-J2 Mate.)
Eight input signals and four output signals of peripheral 1/0 are assigned to the JD1 A interface in default setting
at shipment. In this case, 20 input signals and 16 output signals can be used as the general-purpose signal(
DI/DO ) in the CRM5 interface.
Configuration of 1/0
If the JD1 A interface is not used, allocate the peripheral 1/0 to the CRM5 interface. In this case, 12 input signals
and 12 output signals can be used as the general-purpose signal(D I/DO) in CRM5 interface.
NOTE
When the peripheral 1/0 is allocated to the CRM5 interface, don't use the Dl[109 to 116) and
the D0[113 to 116) which is assigned to the same physical number as peripheral 1/0.
When the robot is in the remote state.the program can be started by using the peripheral 1/0. Signals(*HOLD,ENBL) which has relation to safety is always effective whether the remote condition is satisfied
or not.
Remote condition
When the following remote conditions are satisfied, the robot is in the remote state.
• The teach pendant enable switch is set off.
• The ENBL signal of the peripheral 1/0 is set on.
• System variable $RMT_MASTER is set O(Peripheral device)
NOTE
$RMT_MASTER Specifies the kind of remote device.
O: Peripheral device
1: CRT/KB
2 : Host computer
3 : No remote device
A program including a motion (group) can be started when the following ready conditions are satisfied:
• The ENBL signal of the peripheral 1/0 is set on.
• The servo power is on (not in the alarm state).
The CMDENBL signal indicates whether the above conditions are satisfied. The signal is output when the following conditions are satisfied:
• The remote conditions are satisfied.
• Not alarm status.
• The continuous operation mode is selected (the single step mode is disabled).
Caution:
Peripheral 1/0 signals are disable in initial state. When a system variable $0PWORK.$UOP_DISABLE is set
0, this signal is effective. This signal can be effective by using the system config screen, too.
-47-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
When the peripheral VO is allocated to CNC. (JD1 B interface)
(Default setting)
( R-J2 Mate)
(CNC)
O
PMC
Printed circuit board
printed~ircuit boa~ for controlling the robot
<-RACK32,
SLOT1
D
Q- Peripheral equipment
1/0 link interface
Address of Input signals
Address of output signals
0
1
2
3
4
5
6
7
IS
MO
Dll 1
CMDENBL
FAULT
005
m
1-..
lltt2
BATALM
006
007
nn1d.
~·
11<
nn1>1 nn1>1> nn1>-..
0029 0030 0031
0037 0038 0039
0045 0046 0047
0053 0054 0055
0061 0062 0063
Dll3
BUSY
008
rn
1R
nn24
0032
0040
0048
0056
0064
Dll4
001
009
"
17
nn2i;
0033
0041
0049
0057
Dlli5
002
0010
rn
1A
nl"')?A
0034
0042
0050
0058
Dll!i
003
0011
"'' 19
nn?7
0035
0043
0051
0059
Dll7
on4
0012
rn I 2C
nn!IF
0036
0044
00""
0060
When the peripheral 1/0 is allocated to CRM5 interface.
When the peripheral 1/0 is allocated to
the process 1/0 PC board (JD4 interface)
( R-J2 Mate)
Printed circuit board
for controlling the robot
Printed circuit board
for controlling the robot
Process 1/0 PC board
0- Peripheral
equipment A1
0-- Peripheral
equipment A2
<- RACK 48,SLOT 1
Peripheral equipment
.:...:__o
Peripheral equipment A1
.......,-=="'"'
Fig. 3.12 Peripheral 1/0 Interface
-48-
CRM2A ===
3. SETTING THE HANDLING SYSTEM
B-80464E/01
Hold Input signals, *HOLD, UI [ 1 ]
The remote controller uses the hold signal to halt the robot. Because *HOLD input signal is a inverted signal,
normally set the signal on. When the signal goes off, the following is executed:
• The robot is decelerated until its stops, then the program execution is halted.
• After the robot is stopped, an alarm occurs and the servo power is turned off (when the halt alarm is enabled
with $SCR.$BRKHOLD_ENB set to TRUE).
Fault reset Input signal, RESET, UI [ 2]
The RESET signal cancels an alarm. If the servo power is off, the RESET signal turns on the servo power. The
alarm output is not canceled until the servo power is turned on. The alarm is canceled at the instant this signal
falls in default setting.
• If $SHELL_CFG.$USE_ABORT is set to FALSE, the program being executed is not terminated forcibly
by the RESET signal. (Standard setting)
• When $SHELL_CFG.$USE_ABORT is set to TRUE, the program being executed is terminated forcibly
by the RESET signal.
• When the system variable $SCR.$RESETINVERT is setto 1, alarm is canceled at the instant RESET signal rises.
You can change the setting of $SHELL_CFG.$USE_ABORT and $SCR.$RESETINVERT by using system
config screen.
Start Input signal, START, UI [ 3] (validated In the remote state)
The START signal has two functions. It can select or collate a program and start the program. (See Section 3.4,
"Setting Automatic Operation.")
• When the START signal goes high, PNS1 to PNS4 are read and the corresponding program is selected
or collated. Whether is program is selected or collated is specified by the setting of system variable
$SHELL_CFG.$NUM_RSR [1]. (See the description of signals PNS1 to PNS4.)
• When the START signal goes low, the current program is started from the line at which the cursor is placed
(current line).
Enable Input signal, ENBL, UI [ 4]
, The ENBL signal allows the robot to be moved and places the robot in the ready state. When the ENBL signal
is off, the system inhibits a jog feed of the robot and activation of a program including a motion (group). A program which is being executed is halted when the ENBL signal is set off.
NOTE
When the ENBL signal is not monitored, strap the signal with the ground.
A program number selection signal has two functions.
Program number selection signals, PNS1 to PNS4, UI [ 5 to 8] (validated In the remote state)
When the START signal goes on, PNS1 to PNS4 are read and the corresponding program is selected or
collated. Whether the program is selected or collated is specified by the setting of system variable
$SHELL_CFG.$NUM_RSR [1].
• In the program end state, a program is selected or collated according to the state (0 or 1) of the PNS signals.
The current line of the selected or collated program is set to 1.
- Type 1 (when $SHELL_CFG.$NUM_RSR [1] is set to 0)
The program specified by the PNS signals is selected.
- Type 2 (when $SHELL_CFG.$NUM_RSR [1] is set to 1)
The program specified by the PNS signals is collated with the current program. If the programs do not agree
with each other, an error occurs.
• If all PNS signals are low in the program end state, the current program is executed from the current line.
If no programs are selected, an error occurs.
• A halted program can be resumed only when all PNS signals are set off. Otherwise, an error occurs .
. • While a program is being executed, the PNS signals are ignored. (For program number selection, see Section 3.4.1.)
Command enable output signal, CMDENBL, UO [ 1 ]
The CMDENBL signal is output when the following conditions are satisfied. The CMDENBL signal indicates
that the remote controller can start a program including a motion (group).
• The remote conditions are satisfied.
-49-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
• The ready conditions are satisfied.
• The continuous operation mode is selected (the single step mode is disabled).
Fault output signal, FAULT, UO [ 2]
The FAULT signal is output when an alarm occurs in the system. The RESET signal cancels the alarm. If a
warning (WARN alarm) occurs, the FAULT signal is not output.
Battery alarm output signal, BATALM, UO [ 3 ]
The BATALM signal indicates that the voltage of the battery for supporting the memory has dropped. Replace
the battery while keeping the power of the controller on.
Busy output signal, BUSY, UO [ 4]
The BUSY signal is output while a program is being executed. The BUSY signal is not output while a program
is being halted.
-50-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
1 Press the MENUS key. The screen menu is displayed.
2 Select 5 (1/0).
3 Press the F1 key, TYPE. The screen change menu is displayed.
4 Select UOP.
~lli iiliffiHJ
#
STATUS
mD
UO[l]
U0[2]
U0[3]
U0[4]
U0[5]
U0[6]
U0[7]
U0[8]
U0[9]
OFF
OFF
ON
OFF
OFF
OFF
OFF
*
[ TYPE ] DETAIL
LI ! ! l!!~
[*HOLD
[FAULT reset
[Start
[Enable
[PNSl
[PNS2
[PNS3
[PNS4
[
IN/OUT
ON
OFF
Peripheral 1/0 Selection Screen
l[
5 To switch the input screen to the output screen, or vice versa, press the F3 key, IN/OUT.
TYPE ] DETAIL
IN/OUT
6 To allocate 1/0, press F2,CONFIG.
l[
TYPE ] DETAIL
IN/OUT
WJN.~S~WIAll7~M~
#
RANGE
RACK SLOT START PT
1
2
3
UI[ 1- 8]
UI[ 9- 16]
UI[ 17- 18]
32
0
W.-AI
[ TYPE ] MONITOR IN/OUT
1
0
0
DETAIL
1
0
0
HELP >
Peripheral 1/0 configuration screen
To return to the list screen, press F2,MONITOR
7 To configure the 1/0,move the cursor to each item and type the value.
NOTE:
In default setting, input pins 1 to 8 and output pins 1 to 4 on the JD1 B interface is assigned to the peripheral
110.
8 To set the attribute of 1/0, press F4,DETAIL.
-51-
B-80464E/01
3. SETIING THE HANDLING SYSTEM
DETAIL
HELP >
J
UOP Input Detail
UOP Input: UI[ 1]
8]
UOP Inputs:
1
Rack Number:
2
Slot Number:
3 Starting Point:
1
4
Comment:
1] [*HOLD
2] [Fault reset
5
Comment:
3][Start
6
Comment:
4] [Enable
7
Comment:
TYPE
NEXT
TYPE
VERIFY
>
IN/OUT
>
Peripheral 1/0 detail screen
To return to the configuration screen,press PREV key.
9 To add a comment:
1 Move the cursor to the comment line and press the ENTER key.
2 Select the method of naming the comment.
3 Press the appropriate function keys to add the comment.
4 When you are finished, press ENTER key.
4
TYPE
Comment: [
NEXT
l]
>
IN/OUT
1OTo set the item, move the cursor to the setting column.and select the function key menu.
11 When you are finished, press the PREV key to return to the configuration screen.
12 To determine if the configuration is valid,press NEXT,>,and then press F2, VERIFY.
NOTE:
If the configuration is invalid,the message,"Port assignment is invalid,"is displayed. When this message is
displayed, the correct allocation need to be done.
13 To return to the list screen, press F2,MONITOR key.
14 Turn off the controller. Turn on the controller so it can use the new information.
-52-
3. SETIING THE HANDLING SYSTEM
B-80464E/01
The following procedure is how to allocate the peripheral 1/0 assigned to the JD18 interface to CRMS interface on the robot control PC board or JD4 interface (the connected 1/0 modules ).
1 After the controller is turned off, 1/0 modules can be connected to the robot control PC board.
2 Press the MENUS key. The screen menu is displayed
3 Select 5 (1/0).
4 Press the F1 key, TYPE. The screen change menu is displayed and then select Digital.
Dor
DO[
DO[
lJ
2J
3J
SIM STATUS
u
U
OFF
U
OFF
mmn
TYPE J CONFIG
IN/OUT
ON
OFF
Digital 1/0 Selection Screen
5 Press F2,CONFIG. The configuration screen is displayed.
l'--_T_Y_P_E_J_c_oNF_I_G_
1
2
3
RANGE
DO [ 1- SJ
DO[ 9- 16J
DO[ 17- 24J
RACK
@~gi]J
32
32
TYPE J MONITOR IN/OUT
SLOT
START PT
1
1
1
5
13
21
DETAIL
HELP
>
Digital 1/0 configuration screen
6 Set all the setting columns of RACK.SLOT and START PTto Oby using the 1/0 configuration screen.(The
previous allocation is canceled by this procedure.)
it
1
2
3
RANGE
DO[ 1- SJ
DO[ 9- 16J
DO[ 17- 24J
RACK
'.Q
0
0
SLOT
0
0
0
START PT
0
0
0
_______________
\._. [ TYPE ] MONITOR IN/OUT
DETAIL
HELP ___,)
>
7 Press F1 key.TYPE. The screen change menu is displayed. Then select UOP.
I~
~
EJ~
UI[
lJ
UI[
2]
UI [
lJ
OFF
[
TYPE ] CONFIG IN/OUT
Peripheral 1/0 Selection Screen
-53-
B-80464E/01
3. SETIING THE HANDLING SYSTEM
L
a Press F2,CONFIG. The peripheral 1/0 configuration screen is displayed.
TYPE l CONFIG
IN/OUT
1
2
3
RANGE
UI [ 1- 8]
UI[ 9- 16]
UI[ 17- 24]
RACK
SLOT
START PT
32
1
1
0
0
0
0
0
TYPE ] MONITOR IN/OUT
DETAIL
HELP >
Peripheral 1/0 configuration screen
9 The rack, the slot, and start pt are set as follows.
Assignment to CAMS interface
I!l~~9f!Jw~i!iil&JJ!:iiii!1Ii:'.Millliii!;JIUf!t01iltrfif;t;\t§;ll1!11il1lri.iHl
#
RANGE
RACK SLOT START PT
1 ur r 1- 01 Htis
1
9
2
3
UI [ 9- 16]
UI[ 17- 24]
1
2
3
RANGE
UI [ 1- 8]
UI[ 9- 16]
UI[ 17- 24]
''··'a
0
0
0
0
0
'
SLOT
1
0
0
0
0
START PT
13
0
0
Assignmentto process 1/0 PC board
#
1
2
3
#
1
2
3
RANGE
UI [ 1- 8]
UI [ 9- 16]
UI [ 17- 24]
RACK
SLOT
0
0
1
0
0
1
0
0
SLOT
START PT
Ji/i[\Q
RANGE
RACK
UI [ 1- 8] !)ijj6
UI [ 9- 16]
0
UI [ 1 7- 24]
0
START PT
1
0
1
0
0
0
1OTurn off the controller. Turn on the controller so it can use the new information. Refer to the Fig. 3.12 for
the result of the configuration.
NOTE:
When the peripheral 1/0 is allocated to the CAMS interface, don't use 01[109 to 116] and 00[113 to 116]
since these signals are assigned to the same physical number as the peripheral 1/0.
NOTE:
The common voltage of the digital input pins 1 to 4 in the connector CRM2A is clamped +24V (common).
When you wantto use the standard settings.set all the item of RACK, SLOT and START PTO by using the 01/0,
U1/0 and G1/0 configuration screen. Then turn off the controller and turn on it so it can use the new information.
-S4-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
3.4 Setting Automatic Operation
Automatic operation is the function with which the remote controller starts a program, using the peripheral 1/0.
The automatic operation includes the following functions:
• The program number selection (PNS) function selects or examines a program, using the program number
selection signals (PNS1 to PNS4) and the START signal.
• The fault reset signal (RESET) forces the program which is being executed or halted to terminate.
- When $SHELL_CFG.$USE_ABORT is set to FALSE, the RESET signal does not forcibly terminate
the program being executed. (Standard setting)
- When $SHELL_CFG.$USE_ABORT is set to TRUE, the RESET signal immediately terminates the
program being executed forcibly.
• The START signal has the following two functions:
1 When the START signal is set on, the program specified by PNS1 to PNS4 is selected or collated. If
PNS1 to PNS4 are all off, the execution of the current program is continued.
2 When the START input signal goes off, the program is started. If the program is newly selected, it is
executed from the first line. If the program is resumed, it is executed from the line on which the cursor
is placed (current line).
A program can be started by entering the peripheral 1/0 only when the robot is in the remote state. The remote
state is established when the following remote conditions are satisfied:
• The teach pendant enable switch is set off.
• The ENBL signal of the peripheral 1/0 is set on.
• System variable $RMT_MASTER is set to 0 (peripheral equipment).
NOTE
The value of $AMT_MASTER can be set to 0 (peripheral equipment, 1 (CRT/KB), 2 (host computer), or 3 (no remote equipment).
A program including a motion (group) can be started when the following ready conditions are satisfied:
• The ENBL input signal of the peripheral 1/0 is set on.
• The servo power is turned on (not in the alarm state).
The CMDENBL signal indicates whether the above conditions are satisfied. The CMDENAL signal is output
when the following conditions are satisfied:
• The remote conditions are satisfied.
• The ready conditions are satisfied.
• The continuous operation mode is selected (the single step mode is disabled).
-55-
3. SETIING THE HANDLING SYSTEM
B-80464E/01
When the system variable $SHELL_CFG.$CONT_ONLY is set TRUE, the start signal is effective only to the
posed program. The standard setting is FALSE. This setting can be performed with the configuration screen.
0
Fig. 3.13 Automatic Operation of the Handling System
-56-
3. SETIING THE HANDLING SYSTEM
B-80464E/01
3.4.1
Program number selection (PNS)
The remote controller uses the program number selection (PNS) function to select or collate a program. Specify
a desired PNS program number with the input signals, PNS1 to PNS4.
1 The controller reads signals PNS1 to PNS4 when the START signal goes high.
2 The data of signals PNS1 to PNS4 is converted into a decimal PNS number. The sum of the PNS number
and the reference number is a PNS program number (four digits).
[O] + [PNS number + reference number] (four digits)
The program of the specified PNS program number is selected or collated.
Caution:
Specify a required program name in the form of [O] + [PNS program number]. Always enter four digits as
the PNS number, for example, 00106 instead of 0106.
The reference number is specified with the PNS setup screen. This setting is saved to
$SHELL_CFG.$JOB_BASE. A parameter instruction of a program can change it, too.
• In the program end state, a program is selected or examined according to the value of the PNS signals.
The current line of the selected or collated program is set to 1.
- Type 1 (when $SHELL_CFG.$NUM_RSR [1] is set to 0)
The program specified by the PNS signals is selected.
- Type 2 (when $SHELL_CFG.$NUM_RSR [1] is setto 1)
The program specified by the PNS signals is collated with the current program. If the programs do not
agree with each other, an error occurs.
• ff all PNS signals are low in the program end state, the current program is executed from the current line.
If no programs are selected, an error occurs.
• A halted program can be resumed only when all PNS signals are set off. Otherwise, an error occurs.
• While a program is being executed, the PNS signals are ignored.
3 When the START signal goes high, the selected program is started.
Setting the PNS function
Set the PNS function on the PNS setting screen [6 (SETUP). RSR/PNS].
Always set PNS in the "RSR or PNS" field.
The reference number is added to the PNS number to obtain a PNS program number.
The "Acknowledge pulse width" field is not currently supported.
-57-
B-80464E/01
3. SETIING THE HANDLING SYSTEM
BASE number
START Off __.On
PNS1 On
PNS 2 On
~
PNS3 On
PNS4
$SHELL_CFG.$JOB_BASE 100
PNS
program number
PNS number
0111 __. 7 __.
Binary
Decimal
~
--.
PNS program
I
00107
I
START On __.Off
1.
2.
3.
4.
The START signal goes high.
Signals PNS1 to PNS4 are read and the value is converted into a decimal number.
The PNS program having the specified PNS program number is selected.
When the START signal goes low, the selected PNS program is started.
Fig. 3.14 Program Number Selection
1 Press the MENUS key. The screen menu is displayed.
2 Select "6 (SETUP)."
3 Press the F1 key, TYPE. The screen change menu is displayed.
The PNS setting screen is displayed.
1 RSR or PNS
2 Base number
3 Acknowledge pulse width (msec) [ 200]
[TYPE]
4 Place the cursor on a desired field and enter a value.
NOTE
RSR function is not supported currently
-58-
PNS
RSR
3. SETTING THE HANDLING SYSTEM
B-80464E/01
3.5 Setting Coordinate Systems
A coordinate system defines the position and attitude of the robot. The system is defined for the robot or in a
work space. A joint coordinate system and a Cartesian coordinate system are used.
Joint coordinate system
The joint coordinate system is defined for robot joints. On the joint coordinate system, the position and attitude
of the robot are defined with regard to the reference joint coordinates of the joint base.
When the robot stands as shown in the right,
all joint coordinates are 0 on the joint coordi+
nate system.
J3
Fig. 3.15 Joint Coordinate System
Cartesian coordinate system
On the Cartesian coordinate system, the position and attitude of the tool are defined by coordinates, x, y, z, w,
p, and r. x, y, and z indicate the position of the zero point of the Cartesian coordinate system defined for the
tool (tool center point) with regard to the zero point of the Cartesian coordinate system defined in the work
space. w, p, and r indicate the angular displacement of the Cartesian coordinate system of the tool around the
X-, Y-, and Z-axes of the Cartesian coordinate system of the work space. The figure below illustrates the
meaning of (w, p, r).
Zu
Zu
.
Xu
.
Xu
Xu
Yu
Zu
Zt
Xu,Yu,Zu
Xt, Vt, Zt
Coordinate system defined in the work space
Coordinate system defined for the tool
Fig. 3.16 Meaning of (w, p, r)
-59-
Xu
B-80464E/01
3. SETTING THE HANDLING SYSTEM
To operate the robot in a user-specified environment, use a corresponding Cartesian coordinate system. The
following four coordinate systems are available:
Mechanical Interface coordinate system ( Coordinate system fixed to the tool )
A standard Cartesian coordinate system defined for the mechanical interface of the robot (the surface of wrist
flange). The coordinate system is fixed at a position determined by the robot. On the basis of the coordinate
system, a tool coordinate system is specified.
Tool coordinate system
A coordinate system that defines the position of the tool center point (TCP) and the attitude of the tool. The tool
coordinate system must be specified. If the coordinate system is not defined, the mechanical interface coordinate system substitutes for it.
World coordinate system ( Coordinate system fixed In the work space )
A standard Cartesian coordinate system fixed in a work space. The coordinate system is fixed at a position
determined by the robot. On the basis of the coordinate system, a user coordinate system and 9. jog coordinate
system are specified. The world coordinate system is used for specifying position data and executing the corresponding instruction. Refer to the supplement 8.6 "Origin of the world coordinate system" for the origin of the
world frame of robot LR Mate 100.
World coordinate system
Tool coordinate system
z
Fig. 3.17 World and Tool Coordinate Systems
User coordinate system
A Cartesian coordinate system defined by the user in each work space. It is used to specify a position register
,execute the corresponding position register instruction and position compensation instruction, etc. If the coordinate system is not defined, the world coordinate system substitutes for it.
Jog coordinate system
A coordinate system defined by the user. The jog coordinate system is used to efficiently move the robot by
jog feed. You need not take care of the jog frame origin.since it is used only when the jog frame is selected as
the manual-feed coordinate systems. If the coordinate system is not defined, the world coordinate system substitutes for it.
-60-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
3.5.1 Setting a tool coordinate system
A tool coordinate system is a Cartesian coordinate system that defines the position of the tool center point
(TCP) and the attitude of the tool. On the tool coordinate system, the zero point usually represents the TCP
and the Z-axis usually represents the tool axis. When the tool coordinate system is not defined, the mechanical
interface coordinate system substitutes for it.
Tool coordinates include (x, y, z) indicating the position of the tool center point (TCP), and (w, p, r) indicating
the attitude of the tool. Coordinates x, y, and z indicate the position of TCP on the mechanical interface coordinate system. Coordinates w, p, and r indicate the attitude of the tool and the angular displacement around the
X-, Y-, and Z-axes of the mechanical interface coordinate system.
The tool center point is used to specify the position data. The attitude of the tool is required to perform tool attitude control.
In the right figure, the position data of the tool coordinate system is
x:
y:
z:
w:
p:
r :
O.Omm
O.Omm
60.0mm
180.0deg
-90.0deg
O.Odeg
z
Tool center point
p
Mechanical interface coordinate system
Tool coordinate system
Fig. 3.18 Tool Coordinate System
The tool coordinate system is defined by using the frame setup screen or changing the following system variables. Five tool coordinate systems can be defined. The desired one can be selected.
• $MNUTOOL [ 1, i ] (Frame number i = 1 to 5) is set the value.
• $MNUTOOLNUM [ 1 ] is set the used tool frame number.
When no tool coordinate systems are defined (the system variable is setto 1), the mechanical interface coordinate system is used instead.
The tool frame can be set by three following methods.
Three Point Method (TCP auto set)
Use the three point method to define the tool center point(TCP). The three approach point must be taught with
the tool touching a common point from three different approach directions.
As a result, the location of TCP is automatically calculated.
To set TCP accurately, three approach directions had better differ from others as much as possible. The J4
angle and JS angle of three reference points had better differ from those of other's reference point.
In three point method, only tool center point (x,y,z) can be set. The setting value of the tool orientation is the
standard value(0,0,0). The tool orientation should be defined by the six point method or direct list method after
the location is set.(The orientation is not necessarily defined.)
-61 -
B-80464E/01
3. SETTING THE HANDLING SYSTEM
Fig. 3.19 TCP auto set by the three point method
Six Point Method
The tool center point can be set in the same method as the three point method.
The following three points need to be taught to defined the orientation:
-any one point in the space
-one point which is on the line parallel to the X axis of tool frame and
specifies the positive direction of the X axis.
-one point on the X-Z plane.
To keep the orientation of the tool.you should jog the robot by using XYZ jog or TOOL jog
z
1-
y
~: : !:SiX"-d-"'irection
..........
~~me parallel to the tool frame
Fig. 3.20 Six point method
Direct list method
The following values can be entered directly. One is the value (x,y,z) of the TCP position. The other is the rotating angle (w,p,r), which specifies the tool frame orientation, around the x-,y-,and z-axis of the mechanical interface frame.
Xm
Xm,Xt
Ym
Zm,Zt
Xm, Ym, Zm Mechanical interface frame
Xt, Vt, Zt Tool frame
Fig. 3.21 Meaning of (w,p,r) used In direct teaching method
-62-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
1 Press the MENUS key. The screen menu is displayed.
2 Select 6 (SETUP).
3 Press the F1 key, TYPE. The screen change menu is displayed.
l
4 Select Frames.
5 Press F3, OTHER and then select Tool Frame. Tool frame list screen is displayed.
Ulll!lllll lll-
6
E
1
V
~
[ TYPE ] DETAIL
. . . . .::::::::-
Einaamniil
.
.iii!: :li!E 111;;:: Jiiim41. :ill
Tool Frame setup/ Direct Entry
w.-~w
2 Jog Frame
3 User Frame
X
OTHER
~:
o.o
2:
3:
0.0
0.0
0.0
4:
5:
Y
o.o
0.0
0.0
0.0
1/5
Z
Comment
0.0 *************
0.0 *************
o.o *************
o.o *************
o.o o.o
0.0 *************
Active TOOL $MNUTOOLNUM[l]=l
[ TYPE ] DETAIL [OTHER ] CLEAR SETIND
Tool frame list screen
6 Move the cursor to the line of the tool frame number you want to set.
7 Press F2,DETAIL.
[ TYPE ] DETAIL [OTHER ]
The tool frame setup screen of the selected frame number is displayed.
-----
8 Press F2,METHOD and then select Three Point.
l[
2 Six Point
3 Direct Entry
TYPE ] METHOD FRAME
r
Tool Frame Setup/ Three Point
1/4
'~~~--Frame Number: 1
0.0
Y:
0.0
Z:
X:
W:
0.0
P:
0.0
R:
Comment:Approach point 1:
UNINIT
Approach point 2 :
UNINIT
Approach point 3:
UNINIT
Active TOOL $MNUTOOLNUM[1]=1
[ TYPE ] [METHOD] FRAME
Tool frame setup screen (Three Point Method)
9 To add a comment:
1 Move the cursor to the comment line and press the ENTER key.
2 Select the method of naming the comment.
3 Press the appropriate function keys to add the comment.
4 When you are finished, press ENTER key.
-63-
0.0
0.0
3. SETTING THE HANDLING SYSTEM
B-80464E/01
1O Record each approach point:
1 Move the cursor to each Approach point.
2 Jog the robot to the position you want to record.
3 Press and hold the SHIFT key and press F5,RECORD to record the data of current position as the
reference position. As for the taught reference point, RECORDED is displayed.
.
.
.
. .
·. :
1~~
;.;.·
FRAME
.
.
.
.
MOVE_TO RECORD
~8
~rn:::::::::K
j
::::::::.:::::1:::::·:Lm~
Approach point 1:
~rn1m:111rn:m =
Approach point 3:
EJ~
[TYPE ][METHOD] FRAME
RECORDED
RECORDED
UNINIT
MOVE_TO RECORD
11 When all the reference points are taught, USED is displayed. The tool frame has been set.
~11,
.1
I·; ·1
ii'.
alml!Ti
Tool Frame Setup/ Three Point
4/4
Frame Number: 1
X: 100.0
Y:
0.0
Z: 120.0
W:
0.0
P:
0.0
R:
0.0
TOOL 1
Comment:
Approach point 1:
USED
USED
==~~F.=:,~,:.ch point 2:
USED
~-~-=
[ TYPE ] [METHOD] FRAME
MOVE TO RECORD
12 To move the robot to a recorded position, press and hold the SHIFT key and press F4,MOVE_TO.
FRAME
MOVE_TO RECORD
j
13 To see each recorded position data, move the cursor to each reference position item and press the ENTER
key. The position detail screen of each position data is displayed. To return to the previous screen, press
the PREV key.
14 To display the tool frame list screen, press the PREV key. You can see the settings(x,y,z,and comment)
for all tool frames.
wa.,.-1a1am.x11Jm.11••
. .1/5.•
Tool Frame Setup/ Direct Entry
x
y
-~~3:
100.0
0.0
4:
0.0
0.0
5:
o.o
0.0
o.o
0.0
0.0
0.0
z
120.0
0.0
0.0
0.0
0.0
TYPE ] DETAIL [OTHER ]
Comment
TOOLl
*************
*************
*************
*************
CLEAR
SETIND
15 To use the set tool frame as an effective tool frame now, press F5,SETIND.
-64-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
FRAME
MOVE_TQ RECORD
j
NOTE:
To get the set frame effective, move the cursor to the desired frame and press F5,SETIND.
16 To delete the data of the set frame, move the cursor to the desired frame and press F4,CLEAR.
1 Display the tool frame list screen (Refer to the three point method).
Tool Frame
1:
~:
i:
X
100.0
0.0
0.0
0.0
Y
0.0
o.o
z
Comment
120.0
TOOLl
o.o *************
0.0 *************
0.0 *************
o.o *************
0.0
4:
0.0
5:
o.o 0.0
Active TOOL $MNUTOOLNUM[1]=1
[ TYPE ] DETAIL [OTHER ] CLEAR
SETIND
2 Move the cursor to the tool frame number line you want to set.
3 Press F2,DETAIL. The tool frame setup screen of the selected frame number is displayed.
4 Press F2,METHOD.
5 Select Six Point. The tool frame setup I six point screen is displayed.
[ TYPE ] DETAIL [OTHER ]
.......
l[
2 Six Point
3 Direct Entry
TYPE ] METHOD FRAME
filaW~J:~~#.-UJf-11
Tool Frame Setup/ Six Point
Frame Number: 2
0.0
Y:
0.0
Z:
X:
W:
0. ~.Jc'..m.*~~ff&~~
Comment: *·•mmruMmrITTf#3'il!'.TJ!.1ifil!m'!®i
Approach point 1:
UNINIT
Approach point 2:
UNINIT
Approach point 3:
UNINIT
Orient Origin Point: UNINIT
X Direction Point :
UNINIT
UNINIT
Z Direction Point :
Active TOOL $MNUTOOLNUM[1]=1
[ TYPE ] [METHOD] FRAME
1/7
0.0
0. 0
Tool frame setup screen (Six Point Method)
6 Add a comment and teach the reference point. For details, refer to TCP auto set (Three Point Method).
7 Press and hold the SHIFT key and press F5,RECORD to record the data of current
position as the reference position. As for the taught reference point, RECORDED is displayed.
-65-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
Approach point 1 :
RECORDED
Approach point 2 :
RECORDED
Approach point 3 :
RECORDED
fli!¥Ei;R¥~!#!)(ggffi!i: RECORDED
X Direction Point:
UNINIT
Z Direction Point:
UNINIT
Active TOOL $MNUTOOLNUM[l]=l
[ TYPE ] [METHOD] FRAME
MOVE_TO RECORD
8 When all the reference points are taught, USED is displayed. The tool frame has been set.
Tool Frame Setup/ Six Point
1/7
Frame Number: 2
X: 200.0
Y:
0.0
Z: 255.5
W: -90.0
P:
0.0
R: 180.0
comment
!tiimfa1Mi%Miiittl&t#~
Approach point 1:
USED
Approach point 2:
USED
Approach point 3 :
USED
Orient Origin Point: USED
X Direction Point:
USED
z Direction Point:
USED
Active TOOL $MNUTOOLNUM[l]=l
[ TYPE ] [METHOD] FRAME
=ill
9 Press the PREV key. The tool frame list screen is displayed. You can see all the tool frame settings.
8~
Direct Entry
Tool Frame
x
z
Comment
120.0
TOOLl
TOOL2
255.0
o.o
0.0 *************
3:
0.0 *************
4:
0.0
o.o 0.0
0.0 *************
5:
Active TOOL $MNUTOOLNUM[l]=l
[ TYPE ] DETAIL [OTHER ] CLEAR SET IND
100.0
200.0
0.0
0.0
y
30.0
0.0
1OTo get the set tool frame as effective now, press F5,SETIND.
[OTHER ]
CLEAR
SETIND
)
NOTE:
To get the set frame effective, move the cursor to the desired frame and press F5,SETIND.
To delete the data of the set frame, move the cursor to the desired frame and press F4,CLEAR.
[OTHER ]
CLEAR
SETIND
j
- 66-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
1 Display the tool frame list screen (Refer to the three point method).
x
1:
2:
~:
100.0
200.0
o.o
y
z
30.0
0.0
120.0
255.0
o.o
Comment
TOOLl
TOOL2
o.o *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
Active TOOL $MNUTOOLNUM[l)=l
[ TYPE ) DETAIL [OTHER ) CLEAR SETIND
2 Move the cursor to the tool frame number line you want to set.
3 Press F2,DETAIL or press the ENTER key. The tool frame setup screen of the selected frame number is
displayed.
4 Press F2,METHOD.
5 Select Direct Entry. Tool Frame Setup I Direct Entry screen is displayed.
[ TYPE ) DETAIL [OTHER )
1 Three Point
2 Six Point
l[
tlYS8.il?ff&'.m.
TYPE
METHOD FRAME
Comment:
X:
Y:
Z:
W:
P:
o.ooo
o.ooo
0.000
0.000
0.000
R:
0.000
Configuration: N D B, , O
Active TOOL $.MNUTOOLNUM[l)=l
[ TYPE ) [METHOD) FRAME
Tool frame setup screen (Direct List Method)
6 Add a comment. Refer to TCP auto set (Three Point Method) for details.
7 Enter the coordinate values of the tool frame.
1 Move the cursor to each component.
2 Enter a new numerical value by using numerical keys.
3 Press the ENTER key. A new numerical value is set.
-67-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
User Frame
Frame Number: 3
1 Comment:
2
X:
3
Y:
Direct Entry
4/7
TOOL3
0.000
0.000
4
z:
·~~qj[{pq)Q
5
W:
180.000
6
P:
0.000
7
R:
0.000
8
Configuration: N D B, , 0
Active TOOL $MNUTOOLNUM[l]=l
[ TYPE ] [METHOD] FRAME
8 To display the tool frame list screen, press the PREV key. You can see the settings of all the tool frame.
8~
Tool Frame
Direct Entry
y
z
x
Comment
100.0 30.0 120.0
TOOLl
TOOL2
200.0
o.o 255.0
TOOL3
0.0
0.0 350.0
4:
o.o
o.o *************
0.0
5:
0.0
0.0
0.0 *************
Active TOOL $MNUTOOLNUM[l]=l
[ TYPE ] DETAIL [OTHER ] CLEAR SET IND
1:
9 To get the set tool frame as effective, press FS,SETIND.
[OTHER
CLEAR
SETIND )
NOTE:
To get the set frame effective, move the cursor to the desired frame and press FS,SETIND.
To delete the data of the set frame, move the cursor to the desired frame and press F4,CLEAR.
[OTHER ]
CLEAR
SETIND
j
- 68-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
3.5.2 Setting a user coordinate system
A user coordinate system is a Cartesian coordinate system defined for each workspace by the user. If the coordinate system is not defined, the world coordinate system substitutes for it.
Define the user coordinate system by (x, y, z) indicating the position of the zero point and (w, p, r) indicating
the angular displacement around the X-, Y-, and Z-axes on the world coordinate system.
The user coordinate system is used to specify a position register and execute the corresponding position register instruction and position comensation instruction instruction. For the specification of the position register, see
Section 7.4, "Position Register." For the execution of the position register instruction, see Section 4.3.2, "Position Data.• For the execution of the position compensation instruction, see Section 4.3.5, "Additional Motion
Instruction."
In the right figure, the coordinates of user coordinate
system 1 are
x:
y :
z:
w:
p:
r :
70.0mm
-2500.0 mm
200.0mm
O.Odeg
O.Odeg
-30.0deg
World coordinate system
The coordinates of user coordinate system 2 are
x:
500.0mm
Z
y:
O.Omm
z : -200.omm
w:
O.Odeg
p:
O.Odeg
r : O.Odeg
Fig. 3.22 World and User Coordinate Systems
The following system variables are changed by defining the user frame with the frame setup screen. Five user
coordinate systems can be defined. The desired one can be selected
• $MNUFRAME [ 1, i] (Frame number i = 1 to 5) is set the value.
• $MNUFRAMENUM [ 1 ] is set the user frame number you want to use.
-69-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
The user frame can be defined by the following three methods.
Three Point Method
Teach the following three points:the origin of the x-axis,the point which specifies the positive direction of the
x-axis,and the point on the x-y plane. The origin of the x-axis is used as the origin of the frame.
Y-axis direction
Fig. 3.23 Three Point Method
Four Point Method
Teach the following four points:the origin of the x-axis parallel to the frame.the point which specifies the positive
direction of the x-axis, a point on the x-y plane, and the origin of the frame.
Y-axis direction
y
x
x
X-axis direction
Fig. 3.24 Four Point Method
Direct List Method
Enterthe following values directly:the value (x,y,z) which specifies the origin of the user frame and is the coordi·
nate values of the world frame and the rotating angle (w,p,r) around the x-,y-,and z-axis of the world frame.
Zw
Zw
..
...
Xw
Xw
Yw
Xw, Yw, Zw World coordinate system
Xt, Vt, Zt
User coordinate system
Fig. 3.25 Meaning of (w,p,r) used In direct list method
-70-
3. SETIING THE HANDLING SYSTEM
B-80464E/01
1 Press the MENUS key. The screen menu is displayed.
2 Select 6 (SETUP).
3 Press the F1 key, TYPE. The screen change menu is displayed.
4 Select Frames.
5 Press F3, OTHER and then select User Frame. The user frame list screen is displayed.
N D B, , 0
1 Tool Frame
1;~ 1ii~:tli•11;rJ;;
[ TYPE ] DETAIL
OTHER
User Frame Setup/ Direct Entry
1/5
X
Y
Z
Comment
0.0
o.o
0.0 *************
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
Active UFRAME $MNUFRAMNUM[l]=O
TYPE ] DETAIL [OTHER ] CLEAR SETIND
User frame list screen
6 Move the cursor to the line of the user frame number you want to set.
7 Press F2,DETAIL. The user frame setup screen of the selected frame number is displayed.
TYPE ] DETAIL [OTHER ]
The tool frame setup screen of the selected frame number is displayed.
8 Press F2,METHOD and then select Three Point.
l[
Four Point
3 Direct Entry
TYPE ] METHOD FRAME
i J§~BJiil•~E'.@i ii
JU@Jiiiii\Miii!Iiigg'.t~lii@g
User Frame Setup/ Three Point
Frame Number: 1
X:
0.0
Y:
0.0
Z:
W:
0.0
P:
0.0
R:
comment: ~lff;*l;m*t1!t\?;!!m!~i\twm
Orient Origin Point: UNINIT
X Direction Point:
UNINIT
Y Direction Point:
UNINIT
Active UFRAME $MNUFRAMNUM[l]=O
[ TYPE ] [METHOD] FRAME
User frame setup screen (Three Point Method)
9 To add a comment:
Move the cursor to the comment line and press the ENTER key.
- 71 -
1/4
0.0
0.0
'
[!!I
B-80464E/01
3. SETTING THE HANDLING SYSTEM
2 Select the method of naming the comment.
3 Press the appropriate function keys to add the comment.
4 When you are finished, press ENTER key.
~!
!rl1®11l®lfUrR.~
comment:
[ TYPE ] [METHOD] FRAME
1O Record each approach point:
1 Move the cursor to each Approach point.
2 Jog the robot to the position you want to record.
3 Press and hold the SHIFT key and press F5, RECORD to record the current position as the approach
point. As for the taught reference point, RECORDED is displayed.
1~:
J
lf5J8 EJ~
FRAME
MOVE_TO RECORD
. Orient Oric;iin Point:
~:
RECORDED
RECORDED
UNINIT
Y Direction Point :
Active UFRAME $MNUFRAMNUM[l]=O
[ TYPE ] [METHOD] FRAME
MOVE_TO RECORD
4 When all the reference points are taught, USED is displayed. The user frame has been set.
~~-~IM.flim!a
User Frame Setup/ Three Point
Frame Number: 1
X: 1243.6
Y:
0.0
Z:
W:
0.1
P:
2.3
R:
Comment :
REFERENCE FRAME
Orient Origin Point: USED
X Direction Point:
USED
4/4
10.0
3.2
~:USED
Active UFRAME $MNUFRAMNUM[l]=O
[ TYPE ] [METHOD] FRAME
MOVE_TO RECORD
11 To move to a recorded position, press and hold the SHIFT key and press F4,MOVE_TO.
FRAME
MOVE_TO RECORD
j
To see each recorded position data, move the cursor to each reference position item and press the ENTER
key. The position detail screen of each position data is displayed. To return to the previous screen, press the
PREV key.
12 To display the user frame list screen, press the PREV key. You can see the settings for all user frames.
-72-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
User Frame
X
1243.6
Y
0.0
0.0
0.0
0.0
Three Point
z
Comment
43.8 REFERENCE FR>
0.0 *************
3:
0.0 *************
4:
0.0 *************
5:
o.o o.o
0.0 *************
Active UFRAME $MNUFRAMNUM[1]=0
0.0
0.0
0.0
[ TYPE ] DETAIL [OTHER ]
CLEAR
SETIND
13 To use the set user frame as an effective user frame now, press FS,SETIND.
[OTHER ]
CLEAR
SETIND )
NOTE:
To get the set frame effective, move the cursor to the desired frame and press FS,SETIND.
To delete the data of the set frame, move the cursor to the desired frame and press F4,CLEAR.
[OTHER ]
CLEAR
SETIND
j
1 Display the user frame list screen (Refer to the three point method)
User Frame
X
1: 1243.6
0.0
0.0
0.0
Y
0.0
0.0
o.o
Z
Comment
43.8 REFERENCE FR>
0.0 *************
0.0 *************
4:
0.0
o.o *************
5:
o.o o.o
o.o *************
Active UFRAME $MNUFRAMNUM[1]=0
[ TYPE ] DETAIL [OTHER ]
CLEAR
SETIND
2 Move the cursor to the user frame number line you want to set.
3 Press F2,DETAIL. The user frame setup screen of the selected frame number is displayed.
4 Press F2,METHOD and then elect Four Point. The user frame setup I four point screen is displayed.
-73-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
l[
TYPE ] DETAIL [OTHER
User Frame
Four Point
Frame Number:
X:
0.0
Y:
0.0
Z:
W:
0.0
P:
0.0
R:
Comment : *°i~t~\t\:~\'i:%tit\~\'it\t!~\I~
Orient Origin Point: UNINIT
X Direction Point:
UNINIT
Y Direction Point:
UNINIT
System Origin:
UNINIT
Active UFRAME $MNUFRAMNUM[l]=O
[ TYPE ] [METHOD] FRAME
@]~
1 Three Point
2 Four Point
i~@iil~\W'.@~\N'fili~r.!;il
l[
TYPE ] METHOD FRAME
o.o
o.o
@]~
User frame setup screen (Four Point Method)
5 Add a comment and teach the reference point. For details, refer to TCP auto set (Three Point Method).
User Frame
Four Point
Frame Number:
Y: 525.2
Z:
43.9
X: 1243.6
W: 0.123
P:
2.34
R:
3.2
Comment:
RIGHT FRME
Orient Origin Point: USED
X Direction Point:
USED
Y Direction Point:
USED
~M~~l#()§.~ffi§§p:
USED
Active "UFRAME $MNUFRAMNUM [ l] =O
[ TYPE ] [METHOD] FRAME
MOVE TO RECORD
6 Press the PREV key. The user frame list screen is displayed. You can see all the user frame settings.
User Frame
X
Y
1: 1243.6
0.0
1243.6 525.2
0.0
0.0
Four
Z
Comment
43.8 REFERENCE FR>
43.8
RIGHT FRAME
o.o *************
4:
0.0
0.0
0.0 *************
5:
o.o 0.0
0.0 *************
Active UFRAME $MNUFRAMNUM[l]=O
["TYPE ] DETAIL [OTHER] CLEAR SETIND
7 To get the set tool frame as effective, press F5,SETIND.
[OTHER
CLEAR
SETIND
)
NOTE:
To get the set frame effective, move the cursor to the desired frame and press FS,SETIND.
To delete the data of the set frame, move the cursor to the desired frame and press F4,CLEAR.
-74-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
[OTHER ]
CLEAR
j
SETIND
1 Display the user frame list screen (Refer to the three point method).
~m:rn
m11H1!lnmm1mr11rn::mm
User Frame Setup/ Four Point
3/5
X
Y
Z
Comment
1: 1243.6
0.0
43.8 REFERENCE FR>
2: 1243.6 525.2
43.8
RIGHT FRAME
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
Active UFRAME $MNUFRAMNUM[l]=O
[ TYPE ] DETAIL [OTHER ] CLEAR SETIND
!f/mlll:
2 Move the cursor to the user frame number line you want to set.
3 Press F2,DETAIL or press the ENTER key. The user frame setup screen of the selected frame number
is displayed.
4 Press F2,METHOD and then select Direct List. The user frame setup I direct list is displayed.
l[
TYPE ] DETAIL [OTHER ]
Eil~H'.'.Filff
@]~
1 Three Point
2 Four Point
l[
·;r;;;;7;::::;:::1:i&iBJUi"Alf
User Frame Setup/ Direct Entry
1/7
Frame Number: 3
1 Comment:
·~jf:I~
2
X:
0.000
3
Y:
0.000
4
Z:
0.000
5
W:
0.000
6
P:
0.000
7
R:
0.000
Configuration: N D B, , 0
Active UFRAME $MNUFRAMNUM[l]=O
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
f-~-
TYPE ] METHOD FRAME
@]~
User frame setup screen (Direct List Method)
5 Add a comment and enter the coordinate values. For details, refer to tool frame (Direct List Method).
r
tMW.W.ZW~~~--~i@?it~'.4$
m..~BM~~;,~~~i
:
.~Mm
User Frame Setup/ Direct Entry
4/7
Frame Number: 3
1 Comment:
LEFT FRAME
2
X:
1243.6
3
Y:
4
Z:
5
6
7
W:
P:
R:
Ui.Wrt
0.123
2.34
3.2
Configuration: N D B, , 0
Active UFRAME $MNUFRAMNUM[l]=O
[ TYPE l [METHOD] FRAME MOVE_TO RECORD
-75-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
6 To display the user frame list screen, press the PREV key. You can see the settings of all the user frame.
User Frame Setup/ Three Point
3/5
"
X
Y
z
Comment
1: 1243.6
0.0
43.8 REFERENCE FR>
2: 1243.6 525.2
43.8
RIGHT FRAME
~: 1243.6 -525.2
43.8
LEFT FRAME
4:
o.o
5:
0.0
o.o
o.o
o.o
o.o
*************
*************
Active UFRAME $MNUFRAMNUM[1]=0
[ TYPE ] DETAIL [OTHER ] CLEAR
SETIND
7 To get the set user frame as effective, press F5,SETIND.
[OTHER ]
CLEAR
SETIND )
NOTE:
To get the set frame effective, move the cursor to the desired frame and press F5,SETIND.
To delete the data of the set frame, move the cursor to the desired frame and press F4,CLEAR.
[OTHER ]
CLEAR
SETIND
j
"
-76-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
3.5.3 Setting a jog coordinate system
A jog coordinate system is a Cartesian coordinate system defined in a work space by the user. It is used to
efficiently move the robot by Cartesian jog in the work space. (See Section 5.2.2.)
The jog coordinate system is defined by (x, y, z) indicating the position of the zero point, and (w, p, r) indicating
the angular displacement around the X-, Y-, and Z-axes on the world coordinate system.
NOTE
You need not take care of the jog frame origin.since it is used only when the jog frame is selected as the manual-feed coordinate systems. The zero point of the jog coordinate system
has no special meaning. Select any convenient position for defining the jog coordinate system.
Moreover, it is not received the effect such as switches of the user frame or the execution of the
program.
z
D
Fig. 3.26 Jog Coordinate System
The following system variables are changed by setting the jog frame with the frame setup screen.
• $JOG_GROUP [ 1 ] . $JOG FRAME is set the jog frame you want to used.
Five jog frames can be set and they can be switched according to the situation. It is substituted by the world
frame when undefined.
Jog frame can be set by two methods.
Three Point Method
Three reference points need be taught. They are the start point of the x-axis, the positive direction of the xaxis,and one point on the x-y plane. The start point of the x-axis is used as the origin of the frame. Refer to
Fig. 3.23.
Direct List Method
The origin position x,y and z of the jog frame in the world frame and the rotating angle w,p, and r around the
x-,y-,and z-axis of the world frame can be input directly. Refer to Fig. 3.25.
-77-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
1 Press the MENUS key. The screen menu is displayed.
2 Select 6 (SETUP).
3 Press the F1 key, TYPE. The screen change menu is displayed.
4 Select Frames.
5 Press F3, OTHER and then select Jog Frame. Jog frame entry screen is displayed.
l~­
EJ~
TYPE ] DETAIL
0
ISJ.BBIU,:., !Et!i!E!T! .J
1 Tool Frame
I'•
User
;;i
•r
.
.~
Jog Frame Setup I Three Point
1/5
X
Y
Z
Comment
~:
o.o
o.o
2:
3:
4:
5:
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
Frame
OTHER
0.0 *************
o.o
o.o
0.0
o.o
*************
*************
*************
*************
[ TYPE ] DETAIL [OTHER ]
CLEAR
JGFRM
Jog frame list screen
6 Move the cursor to the line of the jog frame number you want to set.
7 Press F2,DETAIL. The jog frame setup screen of the selected frame number is displayed.
l
TYPE ] DETAIL [OTHER ]
8 Press F2,METHOD and then select Three Point.
. . .1mll
l[
2 Direct Entry
'•h
hWN
,•
X:
W:
TYPE ] METHOD FRAME
~
·.•
,,;,, . .
'
"
,
,,
,
,
'..,
~ «~;,~~ ~--fl--
Jog Frame Setup I Three Point
Frame Number: 1
0.0
0.0
Y:
P:
0.0
0.0
Z:
R:
Comment:~~
Orient Origin Point: UNINIT
UNINIT
X Direction Point:
Y Direction Point :
UNINIT
1/4
0.0
0.0
[TYPE ][METHOD] FRAME
Jog frame setup screen (Three Point Method)
9 Add a comment and teach the reference point. For details, refer to TCP auto set(Three Point Method).
-78-
3. SETIING THE HANDLING SYSTEM
B-80464E/01
1:mi:~mnw¥E*imim;r1rn11irnm111m1mr@rn1ile!¥wn::112;1111i1
Jog Frame Setup I Three Point
4/4
Frame Number: 1
0.0
Z:
10.0
X: 1243.6
Y:
W: ~ 0.1
3.2
P:
2.3
R:
WORK AREA 1
Comment:
Orient Origin Point: RECORDED
X Direction Point:
RECORDED
!tilm!:imftet~&tilt~M~ni:
UNINIT
[ TYPE ] [METHOD] FRAME
MOVE_TO RECORD
,
1OPress the PREV key. The jog frame list screen is displayed. You can see all the jog frame settings.
11 To display the user frame list screen, press the PREV key. You can see the settings for all user frames.
Jog Frame Setup
Three Point
Z
Comment
60.0
WORK AREA 1
1243.6 525.2
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
x
y
0.0
0.0
4:
5:
0.0
o.o
0.0
0.0
TYPE ] DETAIL [OTHER ]
*************
*************
CLEAR
JGFRM
12 To get the set jog frame as effective now, press FS,JGFRM.
[OTHER ]
CLEAR
JGFRM
)
@]~
NOTE:
To get the set frame effective, move the cursor to the desired frame and press FS,JGFRM.
To delete the data of the set frame, move the cursor to the desired frame and press F4,CLEAR.
[OTHER ]
CLEAR
JGFRM
·
j
0
1 Display the jog frame list screen(Refer to the three point method).
-79-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
!~111~ f~~4fi!~lfffiM!IW1Wi!IMiitM!ii,!iliiiiilt~~H~!lI~2)!;~iiJIJ
Jog Frame Setup I Three Point
2/5
oX
Y
Z
Comment
1: 1243.6 525.2
60.0
WORK AREA 1
0.0
0.0
0.0 *************
4:
5:
0.0
0.0
0.0 *************
0.0
0.0
0.0
0.0
0.0
0.0
TYPE ] DETAIL [OTHER ]
*************
*************
CLEAR
JGFRM
2 Move the cursor to the jog frame number line you want to set.
3 Press F2,DETAIL or press the ENTER key. The jog frame setup screen of the selected frame number is
displayed.
4 Press F2,METHOD and then select Direct Entry.
L[
TYPE ] DETAIL [OTHER
Direct Entry
Jog Frame Setup
Frame Number: 2
1 Cormnent :
*.£~~%itiiii,i.iiii'Wti:%t
2
X:
0.000
3
Y:
0.000
4
Z:
0.000
5
W:
0.000
6
P:
0.000
7
R:
0.000
Configuration: N D B, , 0
EJ~
1 Three Point
l[
TYPE ]
METHOD
FRAME
[ TYPE ] [METHOD] FRAME
MOVE TO
RECORD
EJ~
Jog Frame Setup Screen (Direct Entry Method)
5 Add a comment and teach the reference point. For details, refer to TCP auto set(Three Point Method).
Jog Frame Setup
Frame Number: 2
1 Cormnent:
2
X:
Direct Entry
3
Y:
4
5
Z:
W:
6
7
P:
R:
Configuration:
0
TYPE ] [METHOD] FRAME
WORK AREA 2
1003.000
-236.000
IIi~9ti!29~
0.000
0.000
0.000
N D B, , 0
MOVE TO
RECORD
6 Press the PREV key. The jog frame list screen is displayed. You can see all the jog frame settings.
Jog Frame Setup I Three Point
x
y
Z
Cormnent
1243.6 525.2
60.0
WORK AREA 1
1003.0-236.0
90.0
WORK AREA 2
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
[ TYPE ] DETAIL [OTHER ]
CLEAR
-80-
JGFRM
3. SETTING THE HANDLING SYSTEM
B-80464E/01
7 To get the set tool frame as effective, press FS,JGFRM.
[OTHER ]
CLEAR
JGFRM
)
s~
NOTE:
. ff you don't press FS,JGFRM,the set frame will not be effective.
To delete the data of the set frame, move the cursor to the desired frame and press F4,CLEAR.
[OTHER ]
CLEAR
JGFRM
j
- 81 -
3. SETTING THE HANDLING SYSTEM
B-80464E/01
3.6 Setting a Reference Position
A reference position is a fixed (predetermined) position that is frequently used in a program or when the robot
is moved by jog feed. The reference position is a safe position, which is usually distant from the operating area
of the machine tool or peripheral equipment. Three reference positions can be specified.
Fig. 3.27 Reference Position
When the robot is at the reference position, a predetermined digital signal, DO, is output. If the reference position is invalidated, the DO signal is not output.
To make the robot move to the reference position, make the program which specifies the return path and
execute this program. Moreover, it is convenient to setthe return program as a macro instruction.(See Section
9.1, "Macro instruction'1
Specify the reference position on the reference position setting screen [6 (SETUP). Ref Position].
-82-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
1 Press the MENUS key.
2 Select SETUP.
(MENUS)
3 Press the F1 key, TYPE.
4 Select "Ref Position." The reference position selection screen is displayed.
NO
1
2
3
[TYPE]
End/Dsbl
@Pos
ijp~[§~!\li: FALSE
DISABLE
FALSE
DISABLE
FALSE
Comment
[
[
r
DETAIL
ENABLE
DISABLE
Reference Position Selection Screen
5 Press the F3 key, DETAIL. The detailed reference position screen is displayed.
Ref.Position Number:
1 Comment:
2 Enable/Disable:
3 Sinal definition:
4 Jl
0.0
5 J2
0.0
6 J3
0.0
7 J4
0.0
8 JS
0.0
9 J6
0.0
[TYPE]
1
[j:f,~!'.ft$mt$!1l
DISABLE
DO[ 0]
+/-
o.o
+/+/+/-
0.0
0.0
0.0
0.0
0.0
+/+/-
RECORD
Detailed Reference Position Screen
6 To enter a comment, follow these steps:
1 Place the cursor on the comment line and press the ENTER key.
2 Determine whether the comment is entered by words, alphabetic characters, or katakana.
3 Press the corresponding function key and enter the desired comment.
4 After entering the comment, press the ENTER key.
1
[TYPE]
-83-
Comment:
B-80464E/01
3. SETTING THE HANDLING SYSTEM
7 In the "Signal definition" line, specify the digital output signal to be output when the tool is at the reference
position.
3
Signal definition~[ 0]
DO
[TYPE]
::·t:
....l
RO
3/12
3
Signal definition:
Rf.till
[TYPE]
RECORD
8 To teach the reference position, place the cursor on the setting fields J1 to J9. While pressing the SHIFT
key, press the FS key, RECORD. The current position is recorded as the reference position.
RECORD
)
4
Jl
+/-
-
[TYPE]
0.0
RECORD
9 To enter the numeric value of the reference position directly, place the cursor on the setting fields J1 to JS
and enter the coordinates of the reference position. Enter the coordinates in the left column and allowable
errors in the right column. Moreover, the value entered to the setting field which specifies the not existed
axis is ignored.
...&TFUfiltrlll?l&1tE:Jl.i&BBl!!lJ"0 '
Reference Position
Ref.Position Number:
l Comment:
2 Enable/Disable:
3 Sinal definition:
4 Jl
129.000
5 J2
-31.560
6 J3
3.320
7 J4
179.240
8 JS
1.620
9 J6
33.000
[ TYPE ]
1/12
l
mmBl
ENABLE
RO[ l]
+/2.000
+/2.000
+/2.000.
+/2.000
+/2.000
2.000
+/RECORD
10 After the reference position is specified, press the PREV key. The reference position selection screen is
displayed again.
NO
l
2
3
[TYPE]
-84-
Enb/Dsbl
[I~
DISABLE
DISABLE
@Pos
FALSE
FALSE
FALSE
DETAIL
Comment
[Refposl
[
[
ENABLE
DISABLE
B-80464E/01
3. SETTING THE HANDLING SYSTEM
11 To enable or disable the reference position output signal, place the cursor on the ENABLE/DISABLE field
and press the corresponding function key.
NO
1
Enb/Dsbl
*iti)§M'jI@;j
@Pos
FALSE
~~E-NAB~LE~~-DI_S_AB_L_E~~J
Comment
[Refposl
[TYPE]
- 85-
DETAIL
ENABLE
DISABLE
B-80464E/01
3. SETTING THE HANDLING SYSTEM
3. 7 Joint Operating Area
The software restricts the operating area of the robot according to a specified joint operating area. The standard
operating area of the robot can be changed by specifying the joint operating area. Specify the joint operating
area on the system variable screen.
With system variable $PARAM_GROUP (1).$UPPERLIMS (1 to 5), specify the upper limit of the joint operating
area, which is the limit of the motion in the positive direction.
With system variable $PARAM_GROUP (1 ].$LOWERLIMS [1 to 5), specify the lower limit of the joint operating
area, which is the limit of the motion in the negative direction.
After a new joint operating area is specified, turn off the controller and cold-start the system. Then, the new
area is validated.
Warning:
A change in the joint operating area affects the operating area of the robot. To prevent any trouble from
occurring, carefully examine the effect of the new joint operating area before specifying it.
-86-
. 3. SETTING THE HANDLING SYSTEM
B-80464E/01
3.8 Brake Control
Brake control is the function to apply a brake after a motion is completed and the robot is stopped. When a predetermined time period (brake control delay time) elapses alter a motion is completed, the motor is de-energized and a brake is applied. In this way, the robot keeps its attitude. Using the brake control function, the user
can save energy. When the brake control function is disabled, the motor is not de-energized.
Caution:
The brake control function may cause a minute deviation in the position of joints when the brake is applied.
For the operation of the robot in which high precision is required, it is recommended that the brake control
function be disabled.
To execute the brake control function, specify the following:
• In $PARAM_GROUP [1].$SV_OFF_ENB [1to9], specify the joint for which the brake control function is
executed.
• In $PARAM_GROUP [1 ].$SV_OFF_TIME [1 to 9], specify a brake control delay time in milliseconds. (The
standard value is 10000 milliseconds.)
The brake control delay time is the time from when the robot is stopped after a motion is completed until
the brake is applied. When the brake control function is disabled, the entered value is invalidated.
• All axes simultaneous brake control, $PARAM_GROUP [1].$SV_OFF_ALL
- TRUE After the motion of all joints is completed, the brake control is simultaneously executed for the
joint specified by SV_OFF_ENB. When the motion is started, all brakes are released simultaneously.
(Standard setting= TRUE)
- FALSE When the motion of each joint is finished, the brake control function is executed for each joint
in order. Though other axes are moving, the axes which has completed the motion is applied the
brakes.
NOTE
Do not enable the brake control function for a joint not having a brake. The standard LR Mate
100 has brakes only for J2 and J3.
Warning:
If the brake control function is executed for a joint without a brake, the brake is not applied when the motor
is de-energized. The arm will drop.
Specify the brake control function on the system variable screen [6 (SYSTEM). Variables].
-87-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
1 Select the MENUS key. The screen menu is displayed.
2 Select "6 (SYSTEM)" on the second page.
3 Press the F1 key, TYPE. The screen change menu is displayed.
4 Select "Variables." The system variable screen is displayed.
1
2
3
4
5
6
$ACC MAXI.MT
$ACC-MINLMT
$ANGTOL
$APPLICATION
$AP MAXAX
$AP:)LUGGED
[9] of REAL
[3] of STRING[21]
536870912
2
[TYPE]
System Variable Screen
5 Place the cursor on $PARAM_GROUP and press the ENTER key.
95 $PARAM_GROUP
[TYPE]
fjj§~$.mg)~#~¥1iig~j)@i;!!'!ii!Ml.!i.@\:rn WI!w9~)igg'1fi
$PARAM GROUP[l]
1/98
1 $BELT ENABLE
2 $CART-ACCEL1
196
3 $CART-ACCEL2
84
4 $CIRC-RATE
4
5 $CONTAxISNUM
0
6 $EXP_ENBL
TRUE
[TYPE]
The cursor is moved to the option field.
NOTE
The total number of system variables depends on the system. Line numbers may not agree
with those displayed on the screen above.
-88-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
6 Place the cursor on $SV_OFF_XXX and enter a desired value.
46 $SV_OFF_ALL
[TYPE]
TRUE
FALSE
TRUE
FALSE
ALL
TRUE
FALSE
)
46 $SV_OFF_ALL
[TYPE]
7 Repeat steps 5 and 6 to change all the desired system variables.
8 To validate the new values, turn the power off and cold-start the controller.
-89-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
3.9 User Alarm
In the user alarm setup screen, the message displayed when the user alarm is generated is set.
The user alarm is the alarm which is generated when the user alarm instruction is executed.
Settings for user alarm is done in the user alarm setup screen[6 SETUP.User Alarm).
-90-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
1 Select the MENUS key. The screen menu is displayed.
2 Select 6(SETUP}.
3 Press the F1 key, TYPE. The screen change menu is displayed.
4 Select User Alarm. The user alarm setup screen is displayed.
l~
~am::
Al~~: No.
EJ~
[2] :
[3] :
[4] :
[5] :
[6] :
[7] :
[8]:
[9] :
mmrn rn rnnwu.Blf£
•
1/200
w•1·urm:IUslelrlMe•ssl!alien;• •
[
[
[
[
[
[
[
[
[ TYPE ]
User Alarm Setup Screen
5 Move the cursor to the line of the user alarm number you want to set and press the ENTER KEY. Enter the
message with the function keys.
[2]
[3]
[4]
~~;fa~!mi!llmllm.mwJJffJIBllJill
[
"B@faR
[
8~
~
3 Punctuation
.".,,,_!,_91>.!:J..sms
~~-FUrn!rni.JIMB
Alarm No.
User Message
[1] :
[2]:
[3]:
[WORK
Old Value:
ABCDEF GHIJKL
MNOPQR
STUVWX
YZ @*
6 When you are finished to input the message of the user alarm.press the ENTER key.
The user alarm message has been set.
Alarm No.
[1] :
[2]:
[3]:
[4]:
[5]:
[6]:
[7]:
[8]:
[9]:
User Message
[
[
[NO WORK
[
[
[
[
[
[
[ TYPE ]
-91 -
B-80464E/01
3. SETIING THE HANDLING SYSTEM
3.10 System Config Menu
System Config Menu includes some important components which should be set when the system is established.
In the system config menu,the following items can be referred or set.
e HOT START TRUE/FALSE
• 1/0 power fail recover
• Program automatically executed when turning on the controller
e HOT START done signal
• Restore selected program
e
e
e
e
UI signals TRUE/FALSE
START for CONTINUE only (not used)
CSTOPI for ABORT (not used)
PROD_START depend on PNSTROBE (not used)
• FAULT_RESET for rising edge or falling edge
• Use PPABN signal valid/invalid
• WAIT timeout
e RECEIVE timeout
• Return to top of program valid/invalid
• Word registered for inputting the program name
• Setting the default logical command
• Maximum or Minimum of ACC instruction
• WRIST JOINT for default motion valid/invalid
Use HOT START (Hot Start)
When the hot start is set to TRUE, hot start is done at turning on the controller.(Corresponding system variable
: $SEMIPOWERFL )(Default setting = FALSE)
1/0 power fail recovery
Specifies how the recovery of 1/0 is performed when hot start is valid. Moreover, this also specifies how the
recovery of simulated 1/0 is performed when hot start is invalid. (Correspoinding system variable: $PWF_10)
There are four modes in hot start:
- NOT RECOVER
Recovery of lnput/Ooutput signals can not be performed regardress of setting for hot start. All outputs are
turned off and simulated mode is released.
- RECOVER SIM
Simulated mode is recovered regardress of setting for hot start, but all real output signals and simulated
lnput/Ooutput signals are turned off.
- UNSIMULATE
Output signals are recovered when hot start is valid, but all simulated mode is released.
Since output signals are not recoverd when hotstart is invalid, this causes the same result as NOT RECOVER.
- RECOVER ALL
Input/Output signals are recovered when hot start is valid. Output signals and similated mode are the same
state as that at power down.
Since output signals are not recovered when hot start is invalid, this causes the same result as RECOVER
SIM.
Autoexec program for Cold start
Specifies the program name which is executed automatically when turning on the controller if the HOT START
is invalid. The specified program is executed just after turning on the controller.(Corresponding system variable
: $PWR_NORMAL)
-92-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
Autoexec program for Hot start
Specifies the program name which is executed automatically when turning on the controller if the HOT START
is valid. The specified program is executed just after turning on the controller.(Corresponding system variable
:$PWR_HOT)
NOTE:
The program automatically executed at turning on the controller is executed just before the servo power
is turned on. Therefore the robot can not be moved by this program. Set the program which initializes the
condition of setup and 1/0 of the system. You should set the name of program which sets up the system,initializes 1/0... etc. Moreover,the attributes should be set as the following with the program detail screen.
Group Mask:[ * , * , * , * ]
Ignore pause:[ TRUE
HOT START done signal
Specifies a digital output signal(DO) which is turned on when the hot start is completed. To make this function
valid, set 0 to this setting field.(Corresponding system variable : $PWFENBDO)
Restore selected program
Specifies whether the program selected at turning off the controller is selected after turning on the controller
when the cold start is done. When this is set to TRUE.the program selected at the power off is selected after
the power on again. When this is set to FALSE.the program is not selected after power on again.(Corresponding system variable : $DEFPROG_ENB) This is set to TRUE in standard setting.
Disable Ui signals
Selects whether a UI signal is valid or invalid. When this is set to FALSE.the peripheral input signals (Ul[1 to
8]) is disabled.(Corresponding system variable : $0PWORK.$UOP_DISABLE)
Detect FAULT_RESET signal
Specifies whether the reset signal is detected at instant it rises or it falls. When this setting is changed, turn off
the controller, and turn on the controller to use the new information. At this time the cold start is done automatically. (Corresponding system variable:$SCR.$RESETINVERT) The falling edge is detected in the standard setting.
Use PPABN signal
Specifies if the pneumatic pressure alarm(*PPABN) is detected for each motion group. Move the cursor to this
line and press ENTER key. The setup screen for each motion group is displayed. When *PPABN signal is not
used.set this invalid. When this setting is changed, turn off the controller.and turn on the controller to use the
new information. At this time the cold start is done automatically.(Corresponding system variable:$PARAM_GROUP.$PPABN_ENBL)
WAIT timeout
Specifies the period of time used in the conditional wait instruction(WAIT ... ,TIMEOUT LBL[... ] ). (Corresponding system variable : $WAITIMOUT) The period of time is 30 second.
-93-
3. SETTING THE HANDLING SYSTEM
B-80464E/01
Return to top of program
Specifies whether the cursor is moved to the top of the program or not when it is finished to be executed. When
this setting is TRUE.the cursor stays at the last line without returning to the top of the program when the program
is finished to be executed.(Corresponding system variable : $PNS_END_CUR) The default setting is TRUE.
It is effective in the standard.
Orlglnal program name(F1 to F5)
Specifies the words which is displayed as the soft key at registering a program. It is convenient to set the words
used many times as the program name to this.(Corresponding system variable : $PGINP_WORD:[1 TO 5))
Default logical command
It is possible to enter the screen to which standard instruction function key is set by pushing the input key from
the condition that there is a cursor in setting a standard instruction. Press the ENTER key when the cursor is
at the setting field for the logical command. Then the screen for setting the function key of logical command
is displayed.
- Name Specifies the name which is displayed as the function key title.(Up to 7 characters)(Corresponding system variables: $DEFLOGIC[*).$FUNC_TITLE)
- Lines Specifies the number of the logic command registered in on function key. The default logical
command up to four can be registered in one function key. When the Lines is set to O,the function of
teaching the default logical command is invalid.
Maximum of ACC Instruction
Specifies the maximum of the override value used in the acceleration override motion option(ACC ...).(Corresponding system value : $ACC_MAXLMT) The default value is 500.
Minimum of ACC Instruction
Specifies the minimum of the override value used in the acceleration override motion option(ACC ...).(Corresponding system value : $ACC_MINLMT)
WJNT for default motion
Motion option, Wjnt, can be added to all linear and circular default motion instructions or deleted from those
instructions using this function. Move the cursor to this setting field and then the following function label is displayed:
- F4 "ADD"
By pressing F4 "ADD" key, motion option, Wjnt, is added to all the linear and circular default motion instructions.
·
And then indication is changed to "ADD" from "DELETE" or"******". The message, "Added WJNTto default
motion" is displayed, too.
- F5 "DELETE"
By pressing F5 "DELETE" key, motion option, Wjnt, is deleted from all the linear and circular deault motion
instruction.
And then indication is changed to "DELETE" from "ADD" or"******". The message, "Deleted WJNT from
default motion" is displayed, too.
The duplicate operation of adding or deleteing the Wjnt is allowed.
The latest operation is displayed on this screen and this enables you to refer to the current state of default motion instruction. But adding or deleting the Wjnt by the program editing screen does not affect to the system
config screen.
-94-
8-80464E/01
3. SETTING THE HANDLING SYSTEM
1 Select the MENUS key. The screen menu is displayed.
2 Select 6(SYSTEM) in the next page.
3 Press the F1 key, TYPE. The screen change menu is displayed.
4 Select Config. The system configuration screen is displayed.
iiifii¥~1ii1%9.li~B!itiffmliiimt!Ji:tfifitffi!tH'.lt!liii.lfQ.l~I!ll$P.l!lti@
1 Use HOT START:
TRUE
2 I/O power fail recovery:NOT RECOVER
3 Autoexec program
[********]
for Cold start:
4 Autoexec program
[********]
for Hot start:
5 HOT START done signal:
DO[ 0]
6 Restore selected program:
TRUE
7 Enable UI signals:
FALSE
8 START for CONTINUE only:
FALSE
9 CSTOPI for ABORT:
FALSE
10 Abort all programs by CSTOPI: FALSE
11 PROD START depend on PNSTROBE:FALSE
12 Detect FAULT RESET signal:
FALL
13 Use PPABN signal:
<*GROUPS*>
~: :~~I~m~~:;~ut:
~~;~~' ::~
16 Retun to top of program:
TRUE
17 Original program name(Fl): [PROG
]
18 Original program name(F2): [MAIN
]
19 Original program name(F3): [SUB
]
20 Original program name(F4): [TEST
]
21 Original program name(F5): [*******]
22 Default logical command: <*DETAIL*>
23 Maximum of ACC instruction:
500
24 Minimum of ACC instruction:
0
25 WJNT for default motion:
DELETE
[ TYPE ]
System Configuration Screen
5 Move the cursor to the field you want to set and enter the new value by using the numerical key or using
the function key on the teach pendant. As for the field which should be set character string, move the cursor
to it and press the ENTER key. Then the character input becomes possible.
• As for the setting of "Use PPABN signal:" or "Default logical command:'',move the cursor to" <*GROUPS*>
or "<*DETAIL*>" and press the ENTER key. Then each setting screen is displayed. Press the PREV key
to get out of these screens.
13 Use PPABN signal:
14 WAIT timeout:
15 RECEIVE timeout:
6 When you change the setting that the cold start need to be done after the setting is changed, the message
to inform it is displayed at changing it. In case of that, do the cold start.(See Chapter 5,''Turning on the Power and Jog Feed")
Please power on again
[ TYPE ]
- 95-
B-80464E/01
3. SETTING THE HANDLING SYSTEM
3.11 Other Settings
Other settings [6 (SYSTEM). Variables] include the following: (See "System variable''
• Override restore function
• Automatic program start at power on
Override restore function
When the safety barrier, is opened, the *SFSPD signal is set off and the feedrate override is dropped to a predetermined value. The override restore function quickly restores the original feedrate override when the safety
barrier is closed again. The function can be enabled when the following conditions are satisfied:
• The remote conditions are satisfied.
• The feedrate override is not changed while the safety barrier is opened.
Halt alarm function
The halt alarm function issues an alarm when the operation is halted by the HOLD key. Then, it turns off the
servo power..
• If the function is disabled, no alarm is issued when the operation is halted by the HOLD key. (Standard
setting)
·
• If the function is enabled, an alarm is issued when the operation is halted by the HOLD key. The servo power is turned off.
The setting is recorded in system variable $SCR.$BRKHOLD_ENB.
-96-
B-80464E/01
4. PROGRAM STRUCTURE
4. PROGRAM STRUCTURE
This chapter describes the program structure and program instructions.
D Contents of this chapter
4.1 Program Detail Information
4.2 Line Number, Program End Symbol, and Argument
4.3 Motion Instructions
4.4 Palletizing Instructions
4.5 Register Instructions
4.6 1/0 Instructions
4.7 Branch Instructions
4.8 Wait Instructions
4.9 Skip Condition Instruction
4.10 Offset Condition Instruction
4.11 Frame Instructions
4.12 Program Control Instructions
4.13 Other Instructions
-97-
B-80464E/01
4. PROGRAM STRUCTURE
A handling application program consists of user-coded instructions for performing handling work, and other
associated information. A program contains program information specifying how handling work is to be performed, and also contains program detail information defining program attributes.
Creation Date:
10-MAR-1994
11-MAR-1994
Modification Date:
Copy Source:
[****************]
Positions: FALSE
Size:
[~~i.i[b
1 Program name:
[
None]
2 Sub Type:
3 Comment:
[SAMPLE PROGRAM 3]
4 Group Mask:
[1,*,*,*,*l
[
OFF]
5 Write protect:
6 Ignore pause:
[
OFF]
END
PREV
NEXT
Fig. 4.1 Program Information Screen
Program detail information consists of the following information items:
• Attribute-related information items such as a creation date, modification date, a copy source file name,
presence/absence of position data, and program data size.
• Information items related to an execution environment such as a program name, subtype, comment, group
mask, write protection and interruption disable.
r
Memory available
capacit~\'4.:t---+-------.r:;_-9740
bytes free
1/7
N~ ·1rnaiii111iiir1I1111ts~:m:;~GRAM
2
3
4
5
6
7
11
[SAMPLE PROGRAM 2]
[SAMPLE PROGRAM 3]
[PROGRAM001
]
[PROGRAM001
]
[CLllMP OPEN----:---...-~ Attribute
[CLllMP CLOSE
]
SAMPLE2
SAMPLE3
PROG001
PROG002
CLAMP1
C
2
Program name .,....,t--+----'
TYPE ] CREATE DELETE
COPY
DETAIL
LOAD
MONITOR [ATTR ]>
SAVE
Fig. 4.2 Program Selection Screen
-98-
PRINT
>
8-80464E/01
4. PROGRAM STRUCTURE
Program name
E
Line number
Program statement
Motion instruction
Macro
;;;;~~))J.J p [lJ 100% FINE
2: HANDlCLOSE
3: J
P [21 70% CNTSO
4: L P[3] 500mm/sec CNTlO
instruction--i-..5: HANDlOPEN
6: L P[4] 500mm/sec CNTlO
7: HANDlCLOSE
instructio,n--i--.e : ABORT
Abort
Program end symbo
[End]
POINT
TOUCHUP >
Fig. 4.2 Program Edit Screen
A program consists of the following information:
• Line number assigned to each program statement
• Motion instructions specifying how and where the robot is to move
• Program instructions including the following:
- Palletizing instructions for performing the palletizing function
- Instructions for storing numerical data in registers (register instructions)
- Instructions for storing robot position data in position registers (position register instructions)
- 1/0 instructions to output and input signals to and from peripheral devices
- Branch instructions for changing the flow of program control when a defined condition is satisfied (IF,
JMP/LBL, CALUEND)
- Wait instructions for suspending program execution
- Skip condition instruction for operating the robot until a signal is received. If the signal is not received,
a branch to a specified statement occurs. If the signal is received, the next statement is executed, cancelling the operation.
- Program comments
- Other instructions
• Program end symbol indicating that the program contains no more instructions
Program detail information is set on the program information screen. (See Subsection 5.3.1.) A program is registered on the program registration screen (See Subsection 5.3.1.) A program is created and changed on the
program edit screen. (See Sections 5.3 and 5.4.)
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B-80464E/01
4. PROGRAM STRUCTURE
4.1 Program Detail Information
Program detail information names a program and defines the attributes of the program. Program detail information consists of the following items:
• Attribute-related information items such as a creation date, modification date, a copy source file name,
presence/absence of position data, and program data size.
• Information items related to an execution environment such as a program name, subtype, comment, group
mask, write protection and interruption disable.
The program information screen is used to set program detail information. The program information screen is
displayed by selecting F2 (DETAIL) on the program selection screen. (For program detail information setting,
see Subsection 5.3.1, 5.5)
Moreover, as for the settings of a program comment, a write protection, a modification date, a memory size of
the program.and a copy source, they can be displayed on the selection screen by pressing F5,[ATTR] and selecting from a pull up menu.
Creation Date:
10-MAR-1994
Modification Date:
11-MAR-1994
Copy Source:
[****************]
Positions: FALSE Size:
312 Byte
1 Program name:
[SAMPLE3 ]
2 Sub Type:
[
None]
3 Comment:
[SAMPLE PROGRAM 3]
4 Group Mask:
[1,*,*,*,*l
END
4.1.1
PREV
NEXT
Program name
Program name is used to assign a name to a program. When a new program is created, a unique program name
must be assigned to the program. The program name is used to distinguish the program from the other programs stored in the memory of the controller.
Length
A program name must consist of one to eight characters. A unique name must be assigned to each program.
Usable characters
Character: Alphabetic characters, Number: Oto 9. No program name can start with a number. Symbol: Underscore U only. The at mark(@) and asterisk(*) cannot be used.
Informative name
A program should be named so that purpose or function of the program can be known from its name. When
a program for mounting workpiece A onto a lathe is to be named, for example, "MNT-WK-A" is a good name
to assign to the program since it indicates the function of the program.
NOTE
When using created data on the simplified teach pendant, assign a program name in the format 0 (the letter 0, not zero) followed by a four-digit integer such as 01234. (See Subsection
5.1.2.)
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4. PROGRAM STRUCTURE
B-80464E/01
4.1.2 Program comment
When a new program is created, a program comment can be added to the program name. A program comment
is used to describe additional information to be displayed on the selection screen together with the program
name.
Length
A program comment must consist of one to sixteen characters.
Usable characters
Character: Alphabetic characters, Number: Oto 9 Symbol: Underscore U. at mark(@), and asterisk(*)
Informative comment
A program comment should describe the purpose or function of the program.
4.1.3 Subtype
Subtype is used to set a type of program. The following subtypes are available:
• Omitted: This represents a program with no type specified.
• Job (JB): This represents a main program that can be started using a device such as a teach pendant.
Process programs are called in a main program for execution.
• Process (PR): This represents a subprogram that is called by a job program for execution of a particular
job.
• Macro (MR): This represents a program for executing a macro instruction. The subtype of a program registered on the macro instruction setting screen is automatically set to MR.
NOTE
When using a created program with the simplified teach pendant, be sure to specify the subtype. (See Subsection 5.1.2.)
4.1.4 Group mask
Group mask is used to set motion groups possessed by the program. With the R-J2 Mate, up to six axes can
possess one motion group (five are main axes and one is an additional axis).
When a program involving motion is coded, this item is to be specified as group 1 (1, *, *, *, *).
For a program that has no motion group (that is, a program involving no robot motion), this item is to be specified
as(*,*,*,*,*). A program that has no motion group can be started even when the system is not ready for operation.
The system is ready for operation when the following ready conditions are satisfied:
• The peripheral 1/0, ENBL input, is on.
• The peripheral 1/0, SYSRDY output, is on (With the servo power is on).
- 101 -
B-80464E/01
4. PROGRAM STRUCTURE
4.1.5 Write protection
Write protection specifies whether the program can be modified.
• When this item is set to ON, no data can be added to the program, and the program cannot be modified;
that is, the program is write protected. When a program has been created, and its operation is confirmed,
the user can set this item to ON to prevent the program from being modified by the user or someone else.
• When this item is set to OFF, the program can be modified; that is, program instructions can be added to
the program, and existing instructions can be modified. Write protection is normallysetto OFF as standard.
4.1.6 Interruption disable
Interruption disable (ignore pause) prevents a program being executed and not having the motion group from
being interrupted by an alarm (with a severity of SERVO or lower), emergency stop, or halt. When these signals
are to be ignored, set interruption disable to ON.
When interruption disable is set to ON, a program being executed can only interrupted by an abort instruction
in the program or an alarm with a severity higher than SERVO. (See Subsection 4.12.2.)
Warning:
When interruption disable is set to ON, a program being executed cannot be interrupted by pressing the
emergency stop or halt button on the teach pendant or operator's panel.
1 Press the MENUS key. The screen menu is displayed.
2 Select 1(SELECT). The program selection screen is displayed.
The program selection screen can be displayed by pressing the SELECT key without using above procedure 1 to 2,too.
58740 bytes free
1/7
No. Program name
Comment
1 ii$Bt@l!ii!I I II!RsAMPLE PROGRAM 11
2 SAMPLE2
[SAMPLE PROGRAM 2]
3 SAMPLE3
[SAMPLE PROGRAM 3]
4 PROGOOl
[PROGRAMOOl
]
[PROGRAMOOl
]
5 PROG002
6 CLAMPl
[CLAMP OPEN
]
7 CLAMP2
[CLAMP CLOSE
]
[ TYPE ] CREATE DELETE
MONITOR [ATTR ]>
COPY
SAVE
DETAIL
LOAD
PRINT
>
3 Switching the screen using sub type
To decide the program to be displayed for the sub type.press F1 ,[TYPE] and select the sub type of the program you want to display.
- None : All the programs are displayed.
- Job : Only job programs are displayed.
- Process : Only process programs are displayed.
- Program : All the programs except the macro are displayed.
- Macro : Only macro programs are displayed.
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4. PROGRAM STRUCTURE
B-80464E/01
3 Processes
4 TP Programs
5 Macro
TYPE
[ TYPE ] CREATE DELETE MONITOR [ATTR ]>
4 Switching the display using the attribute
To decide the program attribute to be displayed, press FS,[ATTR] and select the attribute type of the program you want to display.
- Comment : The comment is displayed.
- Protection : The setting of the write protection is displayed.
-
Last Modified : The latest date of the modification is displayed.
- Size : The number of the line and the program size are displayed.
- Copy Source : The name of the copy source program is displayed.
1 Comment
2 Protection
3 Last Modified
ji§+'.#~ililil'f@iMlM
5 Copy Source
bytes free
Size
No ·,,,,,,,,,,g5g,~iE'i'.~:!lL}Jffi1l~,,,,,,,,,,,,,
32/
1 rns~~i mi wnn c
2 SAMPLE2
[
12/
ATTR
TYPE ] CREATE DELETE
839]
1298]
MONITOR [ATTR ]>
5 Program Detail Screen
Press NEXT,> and press F2,DETAIL in the next page. The program detail screen is displayed.
l
DETAIL
COPY
LOAD
Creation Date:
10-MAR-1994
Modification Date:
ll-MAR-1994
Copy Source:
[****************]
Positions: FALSE
ci~tii}~
1 Program name: Size:
2 Sub Type:
[
None]
3 CollDllent:
[SAMPLE PROGRAM 3]
4 Group Mask:
[l,*,*,*,*l
5 Write protect:
[
OFF]
6 Ignore pause:
[
OFF]
END PREV NEXT
6 When you finish setting the program header information, press F1 ,END.
l
END
PREV
NEXT
-103-
B-80464E/01
4. PROGRAM STRUCTURE
4.2 Line Number, Program End Symbol, and Argument
· Line number
A line number is automatically inserted in front of an instruction when it is added to a program. When an instruction is deleted, or an instruction is moved to another location, the lines of the program are renumbered in ascending order; that is, the first line is numbered as 1, the second line is numbered as 2, and so forth.
When a program is to be modified, the cursor can be used to specify a line or a range of lines for movement
or deletion by line number.
The user can make the cursor jump to a desired line number by specifying a line number (with the ITEM key).
Program end symbol
The program end symbol ([End]) is automatically displayed on the line after the last instruction of a program.
Whenever a new instruction is added, the program end symbol moves downward on the screen. As a result,
it is always displayed on the last line.
When the execution of a program reaches the program end symbol after the last instruction in the program is
executed, the program execution automatically returns to the first line of the program for termination.However,
when the setting of "Return to top of program" is FALSE, the cursor stays the last line of the program after program execution is completed.
A description of the program instructions required to create and change a program follows. (For how to create
a program, see Section 5.3. For how to change a program, see Section 5.4.)
Argument I
Argument i is an index used in teaching control instructions (program instructions other than motion instruction).
Some arguments are specified directly; others are specified indirectly. In direct specification, an integer from
Oto 32767 is usually specified. The range of values used depends on the type of instruction. In indirect specification, the register number of a register holding a value is specified.
Argument
Direct specification
Number.(Example: RN)
Indirect specification
Uses the value of the register
with register number i as the
argument.(Example: R[R[i]])
Fig. 4.5 Format of Argument I
R [ i]
Register Screen
'--------.--~
R [ 1:
R [ 2:
• The teach pendant must be enabled.
-104-
11
0
B-80464E/01
4. PROGRAM STRUCTURE
• The teach pendant must be enabled.
1 Display the program selection screen.
2 Move the cursor to the program you want to edit and press ENTER key. The program edit screen is displayed.
No.
1
2
3
4
61276
Program name
SAMPLEl
SAMPLE2
::::~
8 ((>
ENTER \ ( ' '\
p [1]
100% FINE
2:J P[2] 70% CNT50
3:L P[3] lOOOcm/min CNT30
4:L P[4] 500mm/sec FINE
5:J P[5] 100% FINE
[End]
POINT
TOUCHUP>
3 Moving the cursor
To move the cursor.use the arrow keys such as up.down right.and left. To move quickly through the information, press and hold the SHIFT key and press the down or up arrow keys.
4 To select the line number, press the ITEM key and enter the line number you want to move the cursor.
5/6
808~
i@jr\i'\:i~4~. :J
500mm/sec FINE
1'~ PP [4]
;::::
[5] 100% FINE
[End]
'
5 Entering the numerical value
To enter the numerical value.move the cursor to the argument and press the numerical value keys. When
you are finished.press the ENTER key.
9:L P[5] 100% FINE
10: Doelm@)= ...
10:
[End]
Do[:)~J= ...
10/11
............ .
Enter value
DIRECT INDIRECT[CHOICE]
6 To use the indirect addressing with the register.press F3,INDIRECT.
l------DIRECT INDIRECT
10: Do~~r*n= ...
[End]Enter value
DIRECT INDIRECT[CHOICE]
-105-
10/11
B-80464E/01
4. PROGRAM STRUCTURE
4.3 Motion Instructions
A motion instruction moves a robot to a specified position at a specified feedrate in a specified mode of motion.
The items listed below must be specified in a motion instruction. The format of a motion instruction is shown
in Fig. 4.5.
• Motion format:
Specifies how to control the path of motion to a specified position.
• Position data:
• Feedrate:
Teaches a position to which the robot is to move.
Specifies the feedrate of the robot.
• Positioning path:
Specifies whether to position the robot at a specified point.
• Additional motion instruction:
Specifies the execution of an additional instruction while the robot is in
motion.
•
Position data format
p 1 - 1500 *
PR 1 -10
p [i]
J
Position data
UF:O UT:1
X: 1500.374 W: 10.000
Y: -342.992 P: 20.000
Z: 956.895 R: 40.000
CONF: N, R, D, F, 0, 0, 0
J%
Feedrate
Motion format
J
L
c
1-100%
1-2ooomm/sec
1-12ooocm/min
0.1-4724.0inch/min
1-500deg/sec
o. 1-200.osec
CNTk
Positioning path
FINE
CNT0-100
* A position number can be as large as the memory capacity allows.
Fig. 4.5 Motion Instructions
In teaching a motion instruction, a standard motion instruction is selected using one of the keys F1, F5. (For
modifying a standard motion instruction, see Subsection 5.3.2. For teaching a motion instruction, see Subsection 5.3.3. For changing a motion instruction, see Subsection 5.4.2.)
l
POINT
- F1 (POINT) is used to teach a motion instruction.
- F5 (TOUCHUP) is used to reteach taught position data.
-106-
TOUCHUP >
j
4. PROGRAM STRUCTURE
B-80464E/01
4.3.1
Motion format
For the motion format, the path of motion to a specified position is specified. Three options are available: joint
motion, which does not exercise path/attitude control and linear motion and circular motion, which exercise
path/attitude control.
• Joint motion (J)
• Linear motion (including the rotation motion)(L)
• Circular motion (C)
Joint motion J
The joint motion mode is the basic mode for moving the robot to a specified position. The robot accelerates
along or about all axes, moves at a specified feedrate, decelerates, and stops at the same time. The path of
motion is usually non-linear. The motion format is specified to teach an end.point. A percentage of a maximum
feedrate is specified as the feedrate of joint motion. The attitude of a tool being moved is not controlled.
Fig. 4.6 Joint Motion
Linear motion L
The linear motion mode controls the path of tool center point (TCP) motion from a start point to an end point;
the tool center point moves linearly. The motion format is specified to teach an end point. For linear feedrate
specification, a desired option must be chosen from mm/sec, cm/min, and inch/min. The attitude of a tool being
moved is controlled by distinguishing the attitude at a start point from the attitude at a target point. The LR Mate
100 uses five-axis control, so that attitude control is exercised only when the flange surface is facing directly
upward or downward.
Fig. 4.7 Linear Motion
-107-
B-80464E/01
4. PROGRAM STRUCTURE
Circular motion C
The circular motion mode controls the path of tool center point (TCP) motion from a start point to an end point
through a passing point; the tool center point moves circularly, and path/attitude control is exercised. Both a
passing point and a target point are taught in one instruction. For circular feedrate specification, a desired option
must be chosen from mm/sec, cm/min, and inch/min. The attitude of a tool being moved is controlled by distinguishing the attitude at a start point from the attitude at a target point. The LR Mate 100 uses five-axis control,
so that attitude control is exercised only when the flange surface is facing directly upward or downward.
~
•
Target point
Example:
Fig. 4.8 Circular Motion
Motion specific to the LR Mate 100
Since the LR Mate 100 is a five-axis robot, it has several unassumable attitudes. By this reason, the structural
restrictions described below are applied to the execution of attitude control motion (linear motion/circular motion). To overcome these restrictions, joint motion or wrist joint motion (WITHOUT ATTITUDE) can be used.
1 In linear jog feed, when the robot moves it assumes the attitude which most closely approximates the unassumable attitude. Care must be taken because this may cause the attitude of the tool to change very quickly. Rotational jog feed is impossible because the W, P, and R keys are disabled.
2 The LR Mate 100 can exercise attitude control only when the flange surface is facing directly upward or
downward, and the Z-axis in the tool coordinate system is perpendicular to the flange surface. In other
cases, care must be taken because when the robot moves it assumes the attitude which most closely
approximates the unassumable attitude.
3 When the flange surface faces directly upward or downward, the configuration of the wrist changes: the
configuration is NOFLIP when the flange surface is facing the robot, and the configuration is FLIP when
it is not. I n other cases, attitude control is impossible, which causes the configuration at an end point to
differ from that at a start point. In such a case, use joint motion or wrist joint motion (WITHOUT ATTITUDE).
-108-
4. PROGRAM STRUCTURE
B-80464E/01
4 When the control point (intersection of the rotation center axes of the J4-axis and JS-axis) passes near
the rotation center axis of the J1-axis, the J1-axis or JS-axis may turn at high speed, so the user !YIUSt
be careful.
S A stroke limit error occurs if the angular displacement per linear or circular motion is 180Kl or more with
respect to the JS-axis. In such a case, the angular displacement must be changed to less than 1SO!Zl per
linear or circular motion.
6 Precision in path control and palletizing tends to decrease near the periphery of the operating area of the
robot when the J2-axis arm is aligned with the J3-axis arm. Therefore, the user should avoid teaching near
the periphery. If teaching near the periphery is unavoidable, the user should teach extra points.
Fig. 4.9 Area with Decreased Precision
-109-
B-80464E/01
4. PROGRAM STRUCTURE
4.3.2 Position data
Position data includes the positions and attitudes of the robot. When a motion instruction is taught, position data
is written to the program at the same time.
Position data is classified into two types. One type consists of joint coordinates in a joint coordinate system.
The other type consists of Cartesian coordinates representing tool positions and attitudes in work space. Standard position data uses Cartesian coordinates.
4.3.2.1 Cartesian coordinates
Position data consisting of Cartesian coordinates is defined by four elements: the position of the tool center
point (origin of the tool coordinate system) in a Cartesian coordinate system, the inclination of the axis along
which the tool moves (tool coordinate system), configuration, and a Cartesian coordinate used. A Cartesian
coordinate system may be a world coordinate system. How to select the coordinate systems is explained later
in this subsection.
UF,UT,( X,Y,Z,W,P,R ), Configuration
User coordinate system number
Position
Configuration
Attitude
Tool coordinate system number
Fig. 4.10 Position Data (Cartesian Coordinates)
Position and attitude
• The position (x,y,z) represents the three-dimensional position of the tool center point (origin of the tool
coordinate system) in the Cartesian coordinate system.
• The attitude (w,p,r) represents angular displacements about the X-axis, Y-axis, and Z-axis in the Cartesian coordinate system.
World coordinate system
z
Tool coordinate system
Fig. 4.11 World Coordinate System/Tool Coordinate System
Configuration
A configuration represents the attitude of the robot. Several configurations are available which meet the condition of Cartesian coordinates (x,y,z,w,p,r). The turn number and joint placement of each axis must be specified.
-110-
4. PROGRAM STRUCTURE
B-80464E/01
J4
JS
JG
<~A>
Joint placement
{ FLIP
NOFLIP
Wrist up/down
Turn number
{ 1:
{ FRONT
BACK
O:
Arm front/back
-1:
180° - S39°
-179° - 179°
-S39° - -180°
Fig. 4.12 Configuration
Joint placement specifies the placement of the wrist and arm. This specifies which side the control point of the
wrist and arm is placed on against the control plane. When a control point is placed on the control plane, the
robot is said to be placed at a singular, or to be taking a peculiar attitude. Atthe singular, since the configuration
can not be decided to one by the specified cartesian coordinate values, the robot can not move.
• J4:...axis joint placement specifies on which side of the control plane the wrist control point (flange surface
center point) is placed.
• J1-axis joint placement specifies on which side of the control plane the arm control point (intersection of
the rotation center axes of the J4-axis and JS-axis) is placed.
When a control point is placed on the control plane, the robot is said to be placed at a singular, or to be taking
a singular attitude.
• In linear motion or circular motion attitude control is possible only when the J4-axis is placed at a singular.
This means that attitude control is enabled only when the flange surface is facing directly upward or downward, and the Z-axis in the tool coordinate system is perpendicular to the flange surface.
• In linear motion or circular motion, passage through a singular on the path Qoint placement change) is impossible. In such a case, use joint motion or wrist joint motion (WITHOUT ATTITUDE).
Turn number represents the number of revolutions of the JS-axis. Each axis returns to the original position after
one revolution. So, specify how many turns have been made. Turn number is 0 when each axis is at an attitude
of 01';1.
J4-axis joint placement
NOFLIP • :
:.. FLIP
.
J1-axis joint placement
:
FLIP: When the control point
is placed on the front side of the
control plane on the j4-axis
I
NOFLIP: When the control point
is placed on the back side of the
control plane on the j4-axis
FRONT: When the control point
is placed on the front side of the
control plane on the j1-axis
BACK: When the control point
is placed on the back side of the
control plane on the j1-axis
Fig. 4.13 Joint Placement
-111 -
BACK
FRONT
B-80464E/01
4. PROGRAM STRUCTURE
carteslan coordinate system reference
In playback of position data consisting of Cartesian coordinates, a Cartesian coordinate system reference
checks the coordinate system number of a Cartesian coordinate system to be used.
If the coordinate system number (a number from Oto 5) specified in the position data does not match the coordinate system number currently selected, the program is not executed for safety, and an alarm is issued.
A coordinate system number is written into position data in position teaching.
Tool coordinate system number (UT)
The tool coordinate system number specifies the coordinate system number of a mechanical interface coordinate system or tool coordinate system. Thus, the coordinate system of the tool is determined.
- O:
The mechanical interface coordinate system is used.
- 1 to 5: The tool coordinate system of a specified tool coordinate system number is used.
- F:
The coordinate system of the tool coordinate system number currently selected is used.
User coordinate system number (UF)
The user coordinate system number specifies the coordinate system number of a world coordinate system or
user coordinate system. Thus, the coordinate system of work space is determined. With the LR Mate 100, this
value is always set to 0.
- 0:
The world coordinate system is used.
Detail position data
Detail position data is displayed by pressing FS (POSITION).
1: J
2:
J
P[l] 100%
70%
Pfgj
COMMENT CHOICE POSITION
iI~s§~\1Il12~I~@~\¥!fi IWi
j
P[2]
X:
Y:
GP:l
UF:O
mm
iiffi IIIi.IIiI
~~
z
Fig. 4.13 Tool Coordinate System and User Coordinate System
-112-
Ii.!!9~ff't''I~9ii
UT:l CONF: N T,O
W: 40.000 deg
P: 10.000 deg
B-80464E/01
4. PROGRAM STRUCTURE
4.3.2.2 Joint coordinates
Position data consisting of joint coordinates is defined using angular displacements with respect to the joint
coordinate system on the base side of each articulation.
(J1 ,J2,J3,J4,J5,J6)
Main axis
Wrist axis Additional axis
Fig. 4.15 Position Data (Joint Coordinates)
Fig. 4.16 Joint Coordinate System
detail position data
Detail position data is displayed by pressing FS (POSITION).
1: J
2: J
P[l] 100%
Pft.1j 70%
CHOICE POSITION
m'.lmmEIEEEHW:tU.LCll~BaBll'MB
J
P[2)
Jl :Elflfj deg
J2: 23.590 deg
J4: -95. 000
JS:
0.789
deg
deg
~riai11 B.f.6&.a1ma;ialmm
-113-
B-80464E/01
4. PROGRAM STRUCTURE
4.3.2.3 Position variable and position register
In a motion instruction, position data is represented by a position variable (P[i]) or position register (PR[i]). Usually, a position variable is used.
p [ i]
Position number
(1 to 1500)
PR [i]
J
~
Direct: Position register number(1 to 1O)
L
Indirect: Register
Fig. 4.17 Position Variable and Position Register
Example
1 .J
2 L
3 L
P [12J 30% FINE
PR[l] 30011U11/s CNTSO
PR[R[3]] 30011U11/S CN'l50
- 114-
4. PROGRAM STRUCTURE
B-80464E/01
Position variable
The position variable is the variable usually used to hold position data. In motion instruction teaching, position
data is automatically saved.
When Cartesian coordinates are taught, the following Cartesian coordinate system and coordinate system
number are used:
- Coordinate system of the tool coordinate system number currently selected (UT= 1 to 5)
- World coordinate system (UF = 0)
In playback, the following Cartesian coordinate system and coordinate system number are used:
- Coordinate system of the taught tool coordinate system number (UT = 1 to 5)
- World coordinate system (UF = 0)
Position register
The position register functions as a general-purpose register for holding position data. (For position teaching
using a position register, see Section 7.4.)
When Cartesian coordinates are taught, the following Cartesian coordinate system and coordinate system
number are used:
- Coordinate system of the tool coordinate system number currently selected (UT = F)
- Coordinate system of the user coordinate system number currently selected (UF = F)
In playback, the following Cartesian coordinate system and coordinate system number are used:
- Coordinate system of the tool coordinate system number currently selected (UT = F)
- Coordinate system of the user coordinate system number currently selected (UF = F)
Position number
The position number is used to reference a position variable. A position number is automatically assigned each
time a motion instruction is taught and it is reflected in the program. For example, the first position number assigned is P[1], the second P[2], and so on.
When a motion instruction is added, it is assigned the position number obtained by incrementing the position
number assigned to the motion instruction added immediately before by one, regardless of where the newly
added instruction is placed in the program. However, this is not the case when a position number is changed.
When a position is deleted, the position numbers of other taught points remain unchanged. However, this is
not the case when a position number is changed. (For changing a position number, see Subsection 5.4.4.)
A comment consisting of up to 16 characters can be described for a position number or position register number. To add a comment.press the ENTER key when the cursor is at the position number or position register
number.
Example
NOTE
4: J
5: L
P[ll: APPROACH POS ] 30% FINE
PR[l: WAIT POS l 300mm/s CNT50
To be able to modify taught position data by using the simplified teach pendant, add a comment other than an asterisk (*) to the position number by using the high-performanced teach
pendant. When the simplified teach pendant is used, an asterisk is displayed to disable modification of a position that has no comment added to its position number.
-115-
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4. PROGRAM STRUCTURE
4.3.3 Feedrate
The feedrate specifies the speed at which the robot moves. During program execution, the feedrate is controlled by feedrate overriding. A feedrate override value of 1% to 100% can be used.
The unit used to specify a feedrate depends on the motion format taught with a motion instruction.
J P[1] 50% FINE
When the motion type is joint, a feedrate is specified as the following:
• A percentage from 1% to 100% of the maximum feedrate is to be specified.
• When the unit is sec.specify the value from 1 to 200.0 as the time took for motion. This specification is required,when the time took for motion is important.
L P[1] 100mm/sec FINE
If the specified motion format is linear motion or circular motion, specify a feedrate as follows:
• When the unit is mm/sec, specify a feedrate from 1 to 2000 mm/sec.
• When the unit is cm/min, specify a feedrate from 1 to 12000 cm/min.
• When the unit is inch/min, specify a feedrate from 0.1 to 4724.4 inch/min.
• When the unit is sec, specify the value from 0.1 to 200.0 as the time took for motion. This specification is
required when the time used for motion is important.
L P[1] 50deg/sec FINE
When the mode of motion is rotation about the tool center point, specify an angular displacement as follows:
• When the unit is deg/sec, specify an angular displacement from 1 to 500 deg/sec.
• When the unit is sec, specify the value from 0.1 to 200.0 as the time took for motion.
- 116-
4. PROGRAM STRUCTURE
B-80464E/01
4.3.4 Positioning path
The positioning path defines the method of ending robot operation in a motion instruction. Two positioning path
modes are available:
• FINE positioning path
• CNT positioning path
FINE positioning path J P[l] 50% FINE
When the FINE positioning path is specified, the robot stops at a target point before moving to the next target
point.
CNT positioning path J P[l] 50% CNT50
When the CNT positioning path is specified, the robot approaches a target point but does not stop at the point
and moves to the next point.
How closely the robot must approach a target point can be defined by specifying a value from Oto 100.
When Ois specified,the robot moves the nearest path to the destination position but moves to the next target
point without stopping at the target point. When 100 is specified, the robot moves along the farthest path to the
target point because the robot does not decelerates near the target point and it starts to move to the next target
point soon.
NOTE
When an instruction such as a wait instruction is taught, the robot stops at the target point to
execute that instruction.
Next point
P3
___. --
-- ... --...
CNTSO
:f
•
CNT 100
start point
:
P1
Fig. 4.18 Robot motion path using continuous termination type
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4. PROGRAM STRUCTURE
4.3.5 ·Additional motion instructions
An additional motion instruction causes the robot to perform a particular job. The following additional motion
instructions are available:
e Wrist joint motion instruction (WITHOUT ATTITUDE)
• Acceleration override instruction (ACC)
• Skip instruction (Skip,LBL[i])
• Offset condition instruction (Offset)
• Direct offset condition (Offset,PR[i])
• Incremental instruction (INC)
When teaching an additional motion instruction, move the cursor after the motion instruction, then press the
F4 (CHOICE) to display the list of additional motion instructions. Then select a desired additional motion
instruction.
500mm/sec
~~~~~C=H=O=IC_E~~~---j
2 Wrist Joint
3 Offset
5 Incremental
6 Skip, LBL [ ]
7
EJ~
Wrist joint motion instruction L P[i] 50% FINE WITHOUT ATTITUDE
iI¥21££9\8iiM99£!¥lliK;rnrn; ii
l
No .option . .. . ... 5 In
Ig n~™~F1!£q~nF1!iI!r:~;~!.f;
3 Offset
4 Offset,PR[ l
7
8
The wrist joint motion instruction specifies a path control operation that does not control the attitude of the wrist.
(In the standard mode, the attitude of the wrist is controlled until the end of the motion.) The wrist joint motion
instruction is used when a linear motion or circular motion is specified.
When the wrist joint motion instruction is used, the attitude of the wrist changes during the motion. However,
the tool center point can move along a programmed path without causing the wrist axis to invert due to a wrist
axis singular point.
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4. PROGRAM STRUCTURE
Acceleration override
J P[1] 50% FINE ACC200
!ll19~¥!§.#1i!iB¥M1
1 No option
2 Wrist Joint
iW!!!ii!Wi
ffiiMi%iR@Nllf l!iiiMJ;J!iff!rni!Jfi111Ii
;1;1.t1i~~•M1@1~i;;:;;;w;;:;;m1mm
This instruction specifies the percentage of the acceleration/deceleration rate during motion. When the acceleration override is reduced, acceleration time will be long (Acceleration and deceleration are done slowly).
When acceleration override is raised, acceleration time will be short (Acceleration and decelerate are done
quickly).
The time used for motion from a starting point to a destination point depends on the acceleration override. The
acceleration override value ranges from Oto 500%. Acceleration override is programmed at the destination
position.
Acceleration Override = 100
Acceleration
....-- Deceleration
Acceleration Override = 50
1 /
Programmed Speed
{
Acceleration~~-~---
~:.
. . -G
____,,__.. ._
:_ _ _ _ _ _
Fig. 4.19 Acceleration Override
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Deceleration
B-80464E/01
4. PROGRAM STRUCTURE
Skip Instruction
SKIP CONDITION [I/OJ
=[value)
J P[1] 50 FINE Sklp,LBL[3]
~r1111ut·:rm
5 Incremental
~
~
8
l!f!HUI'.! !J !!mi! Y[[[fr :::m::::;;w
A skip instruction causes a jump to a branch destination label if the skip condition is not satisfied. If the skip
condition is satisfied while the robot is moving to a target point, the robot cancels the motion and program
execution proceeds to the program statement on the next line. If the skip condition is not satisfied, program
execution skips aumps) to the line of the branch destination label after completion of the robot motion.
The skip condition instruction specifies, in advance, a skip condition {condition for executing a skip instruction)
to be used with it. Before a skip instruction can be executed, a skip condition instruction must be executed. A
skip condition once specified is valid until the execution of the program is completed, or the next skip condition
instruction is executed. (For the branch instructions, see Section 4. 7. For the skip condition instruction, see
Section 4.9.)
Fig. 4.20 Skip Instruction
Example
1: SKIP CONDITION DI [1]
2: J P[l] 100% FINE
3
4
5
6
L
L
= ON
P[2] lOOOmm/sec FINE Skip, LBL[l]
P[3] 50% FINE
LBL[l]
J
P[4] 50% FINE
-120-
4. PROGRAM STRUCTURE
B-80464E/01
OFFSET Instruction
Offset,PR[2] {UFRAME [1])
J P[1] 50% FINE Offset
6 Offset,PR[ ]
7 Incremental
8 -~next fa~---
Ji!ill@ IIE!i!illIU %ill
ill2
The OFFSET instruction alters positional information programmed at the destination position by the offset
amount specified by a position register.and moves the robot to the altered position.
The offset condition is specified by the OFFSET CONDITION instruction.
The OFFSET CONDITION instruction specifies the offset amount used by the OFFSET instruction in advance.
The OFFSET CONDITION instruction has to be specified before the OFFSET instruction is executed. The specified offset condition is available until the program is finished or the next OFFSET CONDITION instruction is
executed.
As for the offset condition, the following elements should be specified:
• The position register specifies the shifting direction and the shift amount.
• When the positional information is expressed in the joint frame, the shift amount of each axis is applied.
• When the positional information is expressed in the Cartesian coordinate system, the user frame by which
the offset condition is decided should be specified.(See Section 4.11, "FRAME INSTRUCTION) When it
is not specified,the user frame (UF) being selected now is used.(See Section 4.1 o, "OFFSET CONDITION
INSTRUCTION'1
The setting values of the tool frame number (UT) and the configuration (CONF:) are ignored.
When you teach or edit the positional information of the motion instruction with the OFFSET option.you can
teach the position which is subtracted the offset amount.
When you teach or edit the positional information of the motion instruction with the OFFSET option, the prompt
message is displayed to inquire the following element.
• Subtract offset data from current pos?
- Yes The positional information subtracted the offset data is taught.
- No The positional information is directly taught.
• Enter PR index of offset data :
- Enter the number of the position register specified in the OFFSET CONDITION instruction.
• Enter uframe no of offset data :
- Enter the number of the user frame which is used when the offset amount is subtracted.
When the positional information is manually edited with the numerical keys, you can not teach the positional
information subtracted the offset amount.
Moreover, even if the position teaching by which the amount of the correction is subtracted is effective, the current position will be taken in the following cases as it is.
• The specified position register is non-initialization.
• System variable $0FFSET_DIS is set to TRUE.(Default setting : FALSE)
When $OFFSET_DIS is TRUE, the current position is directly taught as the positional information (The prompt
message is not displayed) and the robot stops at the teaching position even if the OFFSET instruction is
executed.
When the offset amount is changed after the program is paused while the OFFSET instruction is on progress, this change is reflected to the motion after the program is resumed. But, when you change the number of
a position register in the OFFSET CONDITION instruction.this change is not reflected to the motion.
The robot moves to the offset position at the backward execution.(See Section 6.3.2,"Step testj
This is the same as the following explanation for the direct offset condition instruction.
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B-80464E/01
4. PROGRAM STRUCTURE
Direct offset condition Instruction
J P[1] 50% FINE Offset,PR[2]
mmrn1tr11.m1111;1lliI11:~~,i11.111.1o§;qr;;mmi
5 Offset
t!I~I~,~E*¥.F1~l!l~~t\M!~rlifffif!.!.il'Jfi
7 Incremental
The direct offset condition instruction alters positional information by the offset amount directly specified in the
position register without using the offset condition specified in the OFFSET CONDITION instruction. The reference frame is specified by the number of the user frame currently selected.
When you change or edit the motion instruction with the direct offset condition option.you can teach the positional information which is subtracted the offset amount.
When you teach or edit the motion instruction with the direct offset condition option, the prompt message is displayed to inquire the following elements:
• Subtract offset data from current pos?
- Yes The positional information subtracted the offset data is taught.
- No The positional information is directly taught.
When the positional information is manually edited with the numerical keys, you can not teach the positional
information subtracted the offset amount.
Moreover, even if the position teaching by which the offset amount is subtracted is effective, the current position
will be taught as it is in the following cases:
• The specified position register is non-initialization.
• The position register number used by direct offset condition instruction is non-initialization.
• The system variable $0FFSET_DIS is set to TRUE.(Default setting: FALSE)
When disabling offset instruction is effective, the current position is directly taught as the positional information
(The prompt message is not displayed) and the robot stops at the teaching point even if the offset instruction
is executed.
z
______........
User frame which is being selected
P1
\
Offset data
• • •
P2
Fig. 4.23 Offset Instruction
Example
1: OFFSET CONDITION PR[l]
2: J P[l] 100% FINE
3: L P[2] SOOmm/sec FINE Offset
Example
1: J
2: L
P [11 100% FINE
P[2] SOOmm/sec FINE Offset, PR[l]
-122-
PR[1] UF:F UT:F
X: 0.000 W: 0.000
Y: 300.000 P 0.000
Z: 100.000 R: 0.000
.
4. PROGRAM STRUCTURE
B-80464E/01
Incremental instruction
J P[1] 50% FINE INC
6 Offset,PR[ ]
r1,2:11:!rii1,~&nilw~;;;~:1::;;;M;1111~
8 ---next page--fil~fI~fJf:@m~f:fil@~1ilif1f.ii\fff~~fi~JiII1J.tfJW~~ff~filf.fJ.fifiliffi$.~
The incremental instruction uses the positional data in the motion instruction as the incremental amount from
the current position.and causes the robot to move to the destination position that the incremental amount is
added to the current position. This means that the incremental motion amount from the current position is re·
corded in the positional data in the motion instruction.
The incremental condition is specified by the following elements:
• When the positional data is joint frame value, the incremental amount of each axis is applied.
• When the positional variable (PD) is used as the positional data,the reference user frame is specified by
the number of the user frame which is specified in the positional data. However, the frame is verified.(See
Section 4.3.2.1, "Verification cartesian coordinate system")
• When the position register is used as the position data, the reference frame is user frame being selected
now.
• When the INC instruction is used with the OFFSET instruction,the type of the positional data in the motion
instruction should be corresponding to the type of the positional register for the offset. In this case.the offset
amount is used as the offset amount of the specified incremental amount.
Z
User frame 2
...
Position data
P(2] UF:2 UT:1
X: 500.000 W: 0.000
Y: 100.000 P 0.000
Z: 100.000 R: 0.000
Fig. 4.25 Incremental Instruction
Example
1: J
2: L
P[l] 100% FINE
P[2] SOOmm/sec FINE INC
Note the following atteaching the incremental instruction (See Section 5.3.4, "Teaching the incremental instruction"):
• Adding the INC option causes the positional data to be non-initialization.
• When the motion instruction with the INC option is taught.the positional data is set to be non-teaching.
• Editing the position in the motion instruction with the INC option removes the INC option automatically.
When the motion instruction with the INC option is paused and the position data is changed.that changes is
not immediately reflected. To move the robot to the changed position.resume the program from the just previous motion instruction or abort the program to start again.
-123-
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4. PROGRAM STRUCTURE
4.4 Palletizing Instructions
Palletizing is a function for orderly stacking workpieces by only teaching several representative points. (See
Section 10.1.)
Fig. 4.23 Palletlzlng
The following palletizing instructions are available:
e Palletizing instruction PALLETIZING-B_i
• Palletizing motion instruction L PAL_i [BTM] 100 mm/sec FINE
e Palletizing end instruction PALLETIZING-END-_i
4.4.1
Palletizing instruction
Based on the value held in the palletizing register, the palletizing instruction calculates the position of the current
stack point from a stacking pattern and the position of the current path from a path pattern. It then writes the
found values into the position data of a palletizing motion instruction.
PALLETIZING-B_i
L
Palletizing number(1 to 16)
(E, BX, and EX are not currently supported.)
Fig. 4.24 Palletizing Instruction
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4. PROGRAM STRUCTURE
B-80464E/01
4.4.2 Palletizing motion instruction
The palletizing motion instruction is a motion instruction that uses three path points - an approach point, stack
point, and retraction point- as position data. This instruction is dedicated to palletizing. Each palletizing instruction rewrites such position data.
J PAL_i [ Path point] 100% FINE
Palletizing number
{ 1 to 16 )
_J
L
Types of path points
A_n
Approach point n = oto 7
BTM
Stack point
R_n
Retraction point n = Oto 7
Fig. 4.25 Palletlzlng Motion Instruction
4.4.3 Palletizing end instruction
The palletizing end instruction increments or decrements the palletizing register.
PALLETIZING-END_i
L
Palletizing number{1 to 16)
Fig. 4.24 Palletlzlng End Instruction
Example
1:
2: L
3: L
4:
5: L
6:
PALLETIZING-B 3
PAL 3[ A 1 ] lOOmm/sec CNTlO
PAL-3[ BTM ] 50mm/sec FINE
HANDl OPEN
PAL 3[ R 1 l lOOmm/sec CNTlO
PALLETIZING-END 3
-125-
B-80464E/01
4. PROGRAM STRUCTURE
4.5 Register Instructions
The register instructions perform arithmetic operations on registers. The following register instructions are
available:
5 JMP/LBL .
2 I/0
6 CALL
3 IF/SELECT
4 WAIT
7 Palletizing
9 ---next page---
malli n::u:;mmrnmtrnrnrnu,n:rn:::::::::: 11mu::rn
• Register instructions
• Position register instructions
• Arithmetic palletizing register instructions
4.5.1
Register instructions
A register instruction performs an arithmetic operation on registers. A register is a variable for holding an integer
-or a decimal fraction. (See Section 7.3.) Thirty-two registers are provided.
R[I] = (value)
The instruction, R[i] = (value), loads a value into a specified register.
R [ i ] =(value)
Register number(1 to 32)
_J
Constant
R [ i] :
PR [i, j] :
Gl[i] :
GO[i] :
DI [ i] :
DO [i] :
RI [ i] :
RO [i] :
Value of R[i]
Value of position register element [i, j]
Group input signal
Group output signal
System digital input signal
System digital output signal
Robot digital input signal
Robot digital output signal
Fig. 4.27 Instruction R[i] =(value)
Example
1: ac11 = RI[3J
2: R[R[4]]
DI[R[l]]
=
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B-80464E/01
4. PROGRAM STRUCTURE
R[I] = (value) + (value)
The instruction, R[i] =(value)+ (value), loads the sum of two values into a specified register.
R[I] =(value) - (value)
The instruction, R[i] =(value) - (value), loads the difference between two values into a specified register.
R[i] = (value) * (value)
The instruction, R[i] = (value)* (value), loads the product of two values into a specified register.
R[IJ =(value) I (value)
The instruction, R[i] =(value) I (value), loads the quotient of two values into a specified register.
R[I] = (value) MOD (value)
The instruction, R[i] = (value) MOD (value), loads the remainder (value after decimal point) of the quotient of
two values into a specified register.
R[IJ = (value) DIV (value)
The instruction, R[i) = (value) DIV (value), loads the integer of the quotient of two values into a specified register.
R [ i ] = ( x - ( x MOD y ) ) I y
I
Register number(1 to 32)
R [ i] =
(value)
(operator)
(value)
Constant
R[ i] :
Value of R[i]
PR [ i, j ) : Value of position register element [i, j]
GI [ i ] : Group input signal
GO [ i ] : Group output signal
DI [ i ] : System digital input signal
DO [ i ] : System digital output signal
RI [ i ] : Robot digital input signal
RO [ i ] : Robot digital output signal
+
*
I
MOD
DIV
Fig. 4.28 Arithmetic Register Instruction
Example
3: R[3:flagJ = DI[4J+PR[ 1, 2 J
4: R[ R[4] ]
R[l]+l
=
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B-80464E/01
4. PROGRAM STRUCTURE
4.5.2 Position register instructions
A position register instruction performs an arithmetic operation on position registers. A position register instruction can load position data, the sum of two values, or the difference of two values, into a specified position register. A position register instruction uses the same format as a register instruction.
A position register is a variable for holding position data (x,y,z,w,p,r). (For position registers, see Section 7.4.)
Ten position registers are provided.
PR[i] = (value)
The instruction, PR[i] =(value), loads position data into a specified position register.
PR [ i] =(value)
Position register number
(1to10)
~ PR [ i ] :
_J
Value of position register [i]
Lpos :
Cartesian coordinates of the current position
Jpos :
Joint coordinates of the current position
UFRAM [ i] : Value of user coordinate system [i]
UTOOL [ i ] : Value of tool coordinate system [i]
Fig. 4.29 Instruction PR[I] =(value)
Example
1 : PR r1 J = Lpos
2: PR[ R[4] ]
UFRAME[ R[l]
3: PR[9] = UTOOL[l]
=
PR[I) =(value)+ (value)
The instruction, PR[i] = (value) + (value), loads the sum of two values into a specified register.
The instruction, PR[i] =(value) - (value), loads the difference of two values into a specified register.
I
Position register number(1 to 1O)
PR [ i] =
(value)
(operator)
(value)
+
PR [ i ] : Value of register [i]
Lpos : Current position in the Cartesian coordinate system
Jpos : Current position in the joint coordinate system
Fig. 4.30 PR[I] Arithmetic Instruction
Example
4: PR[3J
5: PR[4]
= PR[3J+Lpos
= PR[
R[l] ]
-128-
4. PROGRAM STRUCTURE
B-80464E/01
4.5.3 Position register axis instructions
A position register axis instruction performs an arithmetic operation on position register elements. i of PR[i,j]
represents a position register number, and j of PR[i,j] represents a position register element number. The position register axis instructions can load the value of one position data element, or the sum, difference, product,
or quotient of two values into a specified position register element. A position register axis instruction
uses the same format as a register instruction.
PR [i,
j]
_J
L
Position register number
(1to10)
Position register element number
Cartesian~coo~d!n~te system:
2=Y
3=Z
4=W
5=P
6=R
Joint coordinate system:
,...-- 1 = J1
,_ 2 =J2
,_ 3 =J3
' - 4=J4
,_ 5=J5
,_ 6 =J6
.._ n =Jn
Fig. 4.31 Format of PR[l,J]
PR[l,J] = (value)
The instruction, PR[i,j] =(value), loads the value of a position data element into a position register element.
PR [ i, j] = (value)
Position register number
(1 to 10)
_J
-
Constant
R[ i] :
PR [ i, j ] :
GI [ i] :
GO [ i ] :
DI [ i] :
DO [ i ] :
RI [ i ] :
RO [ i ] :
Register [i]
Position register element [i, j]
Group input signal
Group output signal
System digital input signal
System digital output signal
Robot digital input signal
Robot digital output signal
Fig. 4.32 Instruction PR[l,j] =(value)
Example
1: PR[ 1, 2 l
2: PR[ 4, 3 ]
= R[3J
= 324.5
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4. PROGRAM STRUCTURE
PR[I] =(value)+ (value)
The instruction, PR[i,j) = (value) + (value), loads the sum of two values into a specified position register element.
PR[I] =(value)- (value)
The instruction, PR[i,j] =(value) - (value), loads the difference of two values into a specified position register
element.
PR[I] =(value)* (value)
The instruction, PR[i,j) =(value) • (value), loads the product of two values into a specified position register element.
PR[I] =(value) I (value)
The instruction, PR[i,j) =(value) I (value), loads the quotient of two values into a specified position register element.
I
Position register number(1 to 1O)
PR [ i, j] = (value)
(operator)
+
(value)
Constant
R[i] :
PR [ i, j ] :
GI [ i I :
GO [ i ] :
DI [ i I :
DO [ i I :
RI [ i ] :
RO [ i ] :
*
I
MOD
DIV
Register [i]
Position register element [i, j]
Group input signal
Group output signal
System digital input signal
System digital output signal
Robot digital input signal
Robot digital output signal
Fig. 4.33 PR[l,J] Arithmetic Instruction
Example
1: PR[ 3, 5 ] = R[3]+DI [4]
2: PR[ 4, 3 ] =PR[ 1, 3 ]-3.528
4.5.4 Arithmetic palletizing register instructions
An arithmetic palletizing register instruction performs an arithmetic operation on palletizing registers. The arithmetic palletizing register instructions can assign or operate on palletizing register elements. An arithmetic palletizing register instruction uses the same format as a register instruction.
A palletizing register holds palletizing register elements Q,k,I). A program can use up to 32 palletizing registers.
(See Section 7.5.)
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4. PROGRAM STRUCTURE
B-80464E/01
Palletizing register element
For palletizing register elements, elements to be loaded into a palletizing register, or elements to be operated
on are specified. Three methods of element specification are available; - Direct specification: A numerical value is directly specified. - Indirect specification: The value of register [i] is specified. - Omitted: The asterisk(*)
specifies that no modification is to be made.
[ i ' j ' k]
L
Palletizing register elements
Direct specification : Number of rows, columns, and layers(1 to 127)
Indirect specification : Value of register [i]
Omited
: Asterisk (*) to specify that no
modification is be made
Fig. 4.34 Format of Palletizing Register Elements
PL[I] =(value)
The instruction, PL[i] =(value), loads (assigns) palletizing register elements into a specified palletizing register.
PL [ i] = (value)
Palletizing register number
(1 to 32)
t
_J
P.Ll.i]:
[I , J , k) :
Palletizing register [i]
Palletizing register elements
Fig. 4.35 Instruction PL [I]= (value)
Example
=
1: PL[l]
PL[3]
2 : PL [ 2] = [ 1, 2, 1 ]
3: PL[ R[3] ]= [ *, R[l], 1 ]
PL(I] =(value) (operator) (value)
The instruction, PL[i] = (value) (operator) (value), performs an arithmetic operation, then loads the result of the
operation into a specified palletizing register.
I
Palletizing register number(1 to 32)
PL [ i] =
(value)
I
(operator)
t
I
PL [ i ] :
(value)
I
Palletizing register [i]
P , J. k I : Palot•;"g
'°";"" e~monm
Fig. 4.36 Instruction PL [I]= (value) (operator) (value)
Example
1: PL[l]
2: PL[2]
= PL[3]+[ 1, 2, 1 1
=[
1, 2, 1 ]+[ 1, R[l], *]
- 131 -
B-80464E/01
4. PROGRAM STRUCTURE
4.6 1/0 Instructions
The 110 (input/output signal) instructions are used to change the state of a signal output to peripheral devices
and read the state of an input signal.
~M!iiil100!1JE!.:·:;.1;;;;;:Jlifiiifi.~~1 Reqisters
5 JMP/LBL
4 WAIT
7 Palletizinq
8 ---next paqe---
IDllr
r::::::rnI!!::::n::::::::::::n:
3 IF/SELECT
6 CALL
maU F : i:1 :. : ::: n ;;;: u: : : : :
::i: : u
• (System) digital 110 instruction
• Robot (digital) 110 instruction
• Group 110 instruction
NOTE
As for the 1/0 signal,the logical number need to be allocated to the physical number before
using it.(See Section 3.1, "Assignment of lnpuVOutput")
4.6.1 Digital 1/0 instructions
The digital input signal (DI) and digital output signal (DO) are input/output signals that can be controlled by the
user.
R[i]
=Dl[I]
The instruction, R[i]
=Dl[i] loads, the state of a digital input signal (on =1/off =0) into a specified register.
R [ i] =DI [ i]
Register number (1 to 32)
L
_J
Digital input signal number
Fig. 4.37 Instruction R[I]
Example
DO[i]
=Dl[I]
1: R[ll =DI[ll
2: R[ R[3] ] =DI[ R[4] ]
=ON/OFF
The instruction, DO[i] =ON/OFF, turns on or off a specified digital output signal.
DO [ i ] = (value)
Digital output signal number __J
L
C:::
ON : Turns on the digital output signal.
OFF: Turns off the digital output signal.
Fig. 4.38 Instruction DO[I]
Example
3: DO[l] = ON
4: DO[ R[3] ] =OFF
-132-
=ON/OFF
4. PROGRAM STRUCTURE
B-80464E/01
DO[I]
=PULSE,[WIDTH]
The instruction,DO[i]=PULSE,[WIDTH],turn on a specified digital output signal for a specified period of time.
If a specified signal is already on, it is turned off after a specified period of time passes. When no period of time
is specified, pulse output is performed for the time specified by $DEFPULSE(unit:0.1sec).The standard value
of $DEFPULSE is 4(=0.4sec).
DO [ i ] = PULSE, (value)
L
Digital output signal number _J
Fig. 4.39 Instruction DO[I)
Example
DO[I]
Pulse width (sec) (0.1 to 25.5 sec)
= PULSE,(WIDTH)
5: D0[1] = PULSE
6: D0[2] = PULSE, 0.2sec
7: DO[ R[3] ] = PULSE, 1.2sec
=R[I]
The instruction, DO[i]=R[i],turns on or off a specified digital output signal according to the value of a specified
register. When the value of the specified register is O, the digital output signal is turned off. When the value of
the specified register is other than 0, the digital output signal is turned on.
DO[i]=R[i]
L
Digital output signal number _J
Register number (1 to 32)
Fig. 4.40 Instruction DO[I] =R[I]
Example
7: D0[1J = R[2J
8: DO[ R[S] ] =R [ R[1] ]
-133-
B-80464E/01
4. PROGRAM STRUCTURE
4.6.2
Robot 1/0 instructions
The robot input signal (RI) and robot output signal (RO) are input/output signals that can be controlled by the
user.
R[I]
= Rl[I]
The instruction, R[i] = Rl[i], loads the state of a robot input signal (on= 1/off = 0) into a specified register.
R [i] =RI [ i]
Register number (1 to 32)
L
_J
Robot input signal number
Fig. 4.41 Instruction R[I]
Example
= Rl[I]
1: R[ll = RI[ll
2: R[ R[3] ] =RI[ R[4] ]
RO[I] = ON/OFF
The instruction, RO[i] = ON/OFF, turns on or off a specified robot digital output signal.
RO [ i] = (value)
Robot output signal number _]
L
L
ON : Turns on the robot output signal.
OFF: Turns off the robot output signal.
Fig. 4.42 Instruction RO[i]
Example
RO[i]
= ON/OFF
3: RO[l] =ON
4: RO[ R[3] ] = OFF
= PULSE,[WIDTH]
The instruction,RO[i]=PULSE,[WIDTH],turns on a specified digital output signal for a specified period of time.
If a specified signal is already on, it is turned off after a specified period of time passes. If no period of time is
specified.a pulse output is performed for the time specified by $DEFPULSE(unit:0.1 sec).The standard setting
value of $DEFPULSE is 4(=0.4sec).
RO [ i] = PULSE, [WIDTH ]
L
Robot output signal number _]
Fig. 4.43 Instruction of DO[i]
Example
= PULSE,[WIDTH]
5: RO[l] = PULSE
6: R0[2] = PULSE, 0.2sec
7: RO[ R[3] ] = PULSE, 1.2sec
-134-
Pulse width (sec) (0.1 to 25.5 sec)
B-80464E/01
4. PROGRAM STRUCTURE
RO[I]
= R[I]
The instruction, RO[i] = R[i], turns on or off a specified robot output signal according to the value of a specified
register. When the value of the specified register is 0, the robot output signal is turned off. When the value of
the specified register is other than O, the robot output signal is turned on.
RO [ i] = R [ i]
Robot output signal number
L
_J
Register number (1 to 32)
Fig. 4.44 Instruction RO[I]
Example
7: RO[ll = R[2l
8: RO[ R[5] ] = R[ R[l] ]
-135-
=R[I]
B-80464E/01
4. PROGRAM STRUCTURE
4.6.3 Group 1/0 Instruction
R [I]= GI [I]
The signal of the group input(GI) and the group output(GO) is that some digital input/output signals are grouped
and this is controlled by one instruction.
The instruction, R[i]=Gl[i),converts the binary value of the specified group input signal to the decimal value and
inputs it to the specified register.
R [ i] = GI [ i]
Register number ( 1 to 32 )
L
_J
Group input signal number
Fig. 4.45 Instruction R [ I ] = GI [ I ]
Example
7: ac11 = GI c11
8: R[ R[3] ]
GI[ R[4] ]
=
GO [ I ] = (value)
The GO[i]=(VALUE) instruction sends the binary equivalent of a value on the specified group output lines.
GO [ i ] = ( value )
L
Group output signal number _J
Group output signal value
Fig. 4.45 Instruction GO [ I ] = (value)
Example
3: GO[ll =
o
4: GO[ R[3] ] = 32767
GO[l]=R[I]
The GO[i]=R[i] instruction sends the binary equivalent of the contents of specified register on the specified
group output lines.
GO[i] = R[i]
L
Group output signal number _J
Register number (1 to 32)
Fig. 4.47 Instruction GO [ I ] = R [ I ]
Example
GO[ll = ac21
6: GO[ R[5] ] = R[ R[l] ]
s:
-136-
4. PROGRAM STRUCTURE
B-80464E/01
4.7 Branch Instructions
A branch instruction causes a branch from one line of a program to another line of the same program or to another program. Four types of branch instructions are available.
• Label instruction
• Program end instruction
• Unconditional branch instruction
• Conditional branch instruction
4.7.1 Label instruction
LABEL[I]
The label instruction (LBL[i]) is used to specify a program execution branch destination. A label is defined with
a label definition instruction.
1 Registers
2 I/O
3 IF/SELECT
6 CALL
7 Palletizing
A comment can be added to explain a label. Once a label is defined, it can be used for either an unconditional
branch or conditional branch. It is not possible to specify the label number as the indirect addressing. To add
a comment, move the cursor to the label number and press the ENTER key.
LBL [ i : Comment]
Label (1 to 32767)
_J
L
A comment can consist of up to 16 characters including
alphanumeric characters, asterisks (*), underlines LJ,
and at marks (@).
Fig. 4.48 LBL[I] Instruction
Example
1: LBL[l:
2: LBL[ R[3]
4.7.2 Program end instruction
END
The program end instruction indicates the end of a program. The execution of a program is terminated by this
instruction. If a program is called from another main program, control is returned to the main program.
END
Fig. 4.49 Program End Instruction
-137-
B-80464E/01
4. PROGRAM STRUCTURE
4.7.3 Unconditional branch instructions
An unconditional branch instruction, when executed, causes a branch from one line of a program to another
line of the same program or to another program. Two types of unconditional branch instructions are available.
• Jump instruction: Causes a branch to a specified label or program.
• Program call instruction: Causes a branch to another program.
Jump Instruction JMP LBL[i]
The JMP LBL[i] instruction transfers program control to a specified label.
JMP LBL [ i]
L
Label (1 to 32767)
Fig. 4.50 JMP LBL[I] Instruction
Example
3: JMP LBL[2:hand open]
4: JMP LBL[ R[4] ]
Program call Instruction CALL (program)
The CALL (program) instruction transfers program control to another program (subprogram) in order to execute
it. When program end instruction (END) in a called program is executed, control is returned to the instruction
immediately after the program call instruction in the calling program (main program). To enter the calling program name.select it with the sub-menu automatically displayed or press FS,STRINGS to enter characters directly.
CALL ( Program )
L
Name of a program to be called
Fig. 4.51 CALL (program) Instruction
Example
5: CALL SUBl
6: CALL PROGRAM2
-138-
4. PROGRAM STRUCTURE
B-80464E/01
4.7.4 Conditional branch instructions
A conditional branch instruction causes a branch from one location in a program to another when some condition is satisfied. Two types of conditional branch instructions are available.
fi! wn~W#M!IWP.n@@!UW@ml!.w i.@M@i ffiii!Ii@J(gg!N%lli[~§.'i:M
1 Registers
5 JMP/LBL
Ir~ii1~i$i.Bl!H!I!MIH@ ~ ~~etizing
• Conditional compare instruction: Causes a branch to a specified label or program when some condition
is satisfied. The register conditional compare instruction and 110 conditional compare instruction are available.
• Conditional select instruction: Causes a branch to a specified jump instruction or subprogram call instruction according to the value of a register.
Register conditional compare Instruction IF R[i] (operator) (value) (processing)
The register conditional compare instruction compares the value of a register with another value. When the
comparison condition is satisfied, specified processing is executed.
NOTE:
When the contents of register is compared with the real value with the operator,"=",the contents does not
always correspond to the real value because of the rounding-off error of the contents. To compare with the
real value, use the operator except the equal.
1/0 conditional compare Instruction IF (110) (operator) (value) (processing)
The 1/0 conditional compare instruction compares the value of an input/output signal with another value. When
the comparison condition is satisfied, specified processing is executed.
IF
R[i]
(variable)
(operator)
_j
'"-- >
'"-- >=
(value)
L
L
(Processing)
Constant
R[i]
t
JMP LBL[i]
CALL ( Program )
.....__ =
.....__ <=
'-- <
<>
Fig. 4.52 Register Condltlonal Compare Instruction
IF
(variable)
(operator)
GO[i]~
.....__ >
'-- >=
'-- =
GI [ i]
(value)
L
L
(Processing)
Constant
R[i]
.....__ <=
'-- <
'-- <>
Fig. 4.53 1/0 Conditional Compare Instruction 1
Example
7: IF R[l] = R[2], JMP LBL[l]
8: IF GI[ R[2] ]
100, CALL SUBPR02
=
-139-
t
JMP LBL[i]
CALL ( Program )
B-80464E/01
4. PROGRAM STRUCTURE
IF
(operator)
(variable)
~7!:~ ~
RO[i]
RI [ i]
t :>
~
(Processing)
(value)
t
..- ON
JMP LBL[i]
..- OFF
CALL ( Program )
..- DO[i]
..- DI [i]
.._ RO[i]
.._RI [i]
R [i]: 0 =off, 1 =on
Fig. 4.54 1/0 Condltlonal Compare Instruction 2
Example
10: IF R0[2] <>OFF, JMP LBL[l]
11: IF DI[3] =ON, CALL SUBl
Palletizing register conditional compare Instruction IF PL[i] (operator) (value) (processing)
The palletizing register conditional compare instruction compares the value of a palletizing register with the value of another palletizing register element. When the comparison condition is satisfied, specified processing is
executed. When O is entered to each element, "*" is displayed at it's element. Moreover, each compared elements can be specified only by the direct or remainder specification.
For palletizing register elements, specify elements subject to comparison with the value of a palletizing register.
Four methods of specification are available.
[i,j,k]
L
Palletizing register elements
Direct specification
: Number of rows, columns, and layers(1 to 127)
Indirect specification
: Value of register [i]
Remainder specification : a - b: A number which has remainder b when
divided by a (a: 1 to 64, b: oto 63)
Omitted
: Asterisk (*) to represent an arbitrary value
Fig. 4.55 Format of Palletlzlng Register Elements
IF
PL [ i]
Palletizing number
(1 to 16)
_J
(operator)
t :>
(value)
t=
(Processing)
PL [ i]
[ i, j, k]
t=
Fig. 4.56 Palletlzlng Register Conditlonal Compare Instruction
Example
12: IF PL[l] = PL[2], JMP LBL[l]
13: IF PL[2] <> [ 1, 1, 2 ], CALL SUBl
14: IF PL[ R[3] ] <> [ *, *, 2 ], CALL SUBl
-140-
JMP LBL [ i]
CALL ( Program )
4. PROGRAM STRUCTURE
B-80464E/01
Condltlonal select Instruction SELECT R[I] =(value) (processing)= (value) (processing)= (value) (processing) ELSE (processing)
The conditional select instruction consists of several register compare instructions. The conditional select
instruction compares the value of a register with one or more values, then selects a statement that satisfies the
comparison condition.
• If the value of a specified register matches one value, the jump instruction or subprogram call instruction
corresponding to the value is executed.
• If the value of a specified register does not match any of the values, the jump instruction or subprogram
call instruction corresponding to ELSE is executed.
When any one of the compare instructions in a conditional select instruction satisfies the comparison condition,
the instruction is valid until another compare instruction is added.
SELECT R [i]
Register number
(1 to 32)
_J
=
=
(value)
(value)
=
(value)
ELSE
Constant
R[i]
L
L
Fig. 4.57 Condltlonal Select Instruction
Example
11
12
13
14
15
SELECT R[l] = 1, JMP LBL[l]
= 2, JMP LBL[2]
= 3, JMP LBL[2]
= 4, JMP LBL[2]
ELSE, CALL SUB2
-141 -
(Precessing)
(Precessing)
(Precessing)
(Precessing)
L
L
JMP LBL[i]
CALL ( Program )
B-80464E/01
4. PROGRAM STRUCTURE
4.8 Wait Instructions
A wait instruction is used to stop program execution for a specified period of time or until a condition is satisfied.
When a wait instruction is executed, the robot performs no processing. Two types of wait instructions are available.
rtI~mi:IJ,i,~Mwl!1@1iiififff@\1IIMfif@Miii@ifiiiim~!lw!ii~§~'jj
l Registers
2 I/O
3 IF/SELECT
5
6
7
8
JMP/LBL
CALL
Palletizing
---next a e---
• lime-specified wait instruction: Stops program execution for a specified period of time.
• Conditional wait instruction: Stops program execution until a specified condition is satisfied or a specified
period of time has elapsed.
4.8.1 Time-specified wait instruction
WAIT(TIME)
The time-specified wait instruction stops program execution for a specified period of time (in seconds).
WAIT (value)
L
L
Constant
R[i]
Wait time (0 to 327.67 sec)
Wait time (sec)
Fig. 4.58 Time-Specified Wait Instruction
Example
l: WAIT
2: WAIT 10.Ssec
3: WAIT R[l]
4.8.2 Conditional wait instructions
WAIT (condition) (processing)
A conditional wait instruction stops program execution until a specified condition is satisfied or a specified period of time has elapsed. Two methods of specifying time-out processing are available:
• If no processing is specified, program execution is stopped until a specified condition is satisfied.
• When TIMEOUT LBL[i] is specified, program execution is stopped for the period of time specified by
$WAITTMOUT (Unit: 1Omsec). Program control is transferred to a specified label if the specified condition
is not satisfied during that wait time. The standard value of $WAITTMOUT is 3000( = 30 sec).
-142-
4. PROGRAM STRUCTURE
B-80464E/01
Register condltlonal wait Instruction
The register conditional wait instruction compares the value of a register with another value, and waits until the
comparison condition is satisfied,
1/0 conditional wait Instruction
The 1/0 conditional wait instruction compares the value of an input/output signal with another value, and waits
until the comparison condition is satisfied.
WAIT (variable) (operator)
R[i]
_j
-
>
-
>=
=
-
<=
<
<>
(value)
t=
(Precessing)
Constant
R[i]
t=
Omitted: Wait for an unlimited period of time.
TIMEOUT, LBL [ i ]
Fig. 4.59 Register Condltlonal Walt Instruction
Example
3: WAIT R[2] <> 1, TIMEOUT LBL[l]
4: WAIT R[ R[l] ]>
200
=
WAIT (variable) (operator)
DO[i]
DI [ i]
RO[ i]
RI [ i]
~
t= :>
(value)
(Precessing)
ON
.__OFF
-
t=
Omitted: Wait for an unlimited period of time.
TIMEOUT, LBL [ i ]
DO[i]
DI [i]
RO[i]
RI [i]
R [i]: O =off, 1 =on
Fig. 4.60 1/0 Condltlonal Walt Instruction
Example
5: WAIT DI[2] <>OFF, TIMEOUT LBL[l]
6: WAIT RI[ R[l] ] = R[l]
-143-
B-80464E/01
4. PROGRAM STRUCTURE
4.9 Skip Condition Instruction
The skip condition instruction specifies, in advance, a skip condition (condition for executing a skip instruction)
used with a skip instruction. Before a skip instruction can be executed, a skip condition instruction must be
executed. A skip condition once specified is valid until the execution of the program is completed, or the next
skip condition instruction is executed. (For the skip instruction, see Subsection 4.3.5.)
1 Miscellaneous
2 Offset
6
3 MACRO
7
4
A skip instruction causes a jump to a branch destination label if the skip condition is not satisfied. If the skip
condition is satisfied while the robot is moving to a target point, the robot cancels the motion and program
execution proceeds to the program statement on the next line. If the skip condition is not satisfied, program
execution skips oumps) to the line of the branch destination label after completion of the robot motion.
SKIP CONDITION [ i/O] (operator) (value)
DO[i]
DI [ i]
RO[ i]
RI [ i]
~
L
=
<>
ON
,..._ OFF
- DO[ i]
- DI [ i]
- RO[ i]
RI [ i]
- R [ i]: O =off, 1 =on
Fig. 4.61 Skip Condition Instruction
Example
1: SKIP CONDITION DI[ R[l]
2: J P[l] 100% FINE
3: L
4: J
5:
6: J
l <>ON
P[2] lOOOmm/sec FINE Skip, LBL[l]
P[3] 50% FINE
LBL[l]
P[4] 50% FINE
-144-
4. PROGRAM STRUCTURE
B-80464E/01
4.1 OOffset condition instruction
The OFFSET CONDITION instruction specifies the offset condition used in the OFFSET CONDITION instruction, in advance. The OFFSET CONDITION should be executed before the OFFSET instruction is executed.
The specified offset condition is effective until the program execution finishes or the next OFFSET CONDITION
instruction is executed.(See Section 4.3.5, "OFFSET CONDITION instruction")
Rifi'.Mfid
'.illE
1 Miscellaneous
il i .· . I J l l r - - - -
am1;;00; m•m mm;
3 MACRO
4 Program control
!811H11!![![
5 Skip
6
7
8 ---next page---
; i! .:.
.!.
; ;; !.!ITl!J
• The position register specifies the shifting direction and the shift amount.
• When the positional information is expressed in the joint frame, the shift amount of each axis is applied.
• When the positional information is expressed in the Cartesian coordinate system, the number of user frame
by which the offset condition is decided should be specified. When it is not specified.the user frame being
selected now is used.
The OFFSET instruction shifts positional information programmed at the destination position by the offset
amount specified by position register.and moves the robot to the shifted position.
The shifting condition is specified by the OFFSET CONDITION instruction.
OFFSET CONDITION PR [ i ] ( UFRAME [ j] )
Position register number
(1to10)
_J
L
User frame number
(1to5)
Fig. 4.62 Offset Condltlonal Instruction
Example
1: OFFSET CONDITION PR[ R[l] ]
2: J P[l] 100% FINE
3: L P[2] 500mm/sec FINE Offset
-145-
B-80464E/01
4. PROGRAM STRUCTURE
4.11
FRAME INSTRUCTIONS
The FRAME instruction is used to change the setting of the Cartesian coordinate system by which the robot
works. There are two kinds in the FRAME instruction.
5 Skip
6
7
3 MACRO
• Frame setup instruction - The definition of the specified frame is changed.
• Frame select instruction - The frame number being selected now is changed.
The frame setup Instruction
The tool frame setup instruction changes the setting of the tool frame specified by the tool frame number in this
instruction. The user frame setup instruction changes the setting of the user frame specified by the user frame
number in this instruction.
UTOOL [ i] =(value)
Tool frame number
( 1 to 5)
__J
L_
PR [ i]
Fig. 4.63 Tool Frame Setup Instruction
UFRAME [ i] =(value)
User frame number
( 1 to 5)
__J
L_
PR [ i ]
Fig. 4.64 User Frame Setup Instruction
Example
=
1: TOOL[l]
PR[l]
2: UFRAME[3]
PR[2]
=
-146-
4. PROGRAM STRUCTURE
B-80464E/01
Frame select Instruction
The tool frame select instruction changes the tool frame number being selected now.
The user frame select instruction changes the user frame number being selected now.
UTOOL_NUM = i
L_
Tool frame number
(1to5)
Fig. 4.65 Tool Frame Select Instruction
UFRAME_NUM = i
L_
User frame number
(1to5)
Fig. 4.66 User Frame Select Instruction
Example
1
2
3
4
5:
6:
UFRAME NUM = 1
J P[l] l00% FINE
L P[2] SOOmm/sec FINE
UFRAME NUM = 2
L P[3) SOOmm/sec FINE
L P[4] SOOmm/sec FINE
-147-
B-80464E/01
4. PROGRAM STRUCTURE
4.12 Program Control Instructions
The program control instructions control program execution.
•111u:nra11rnillf
:rnmm r!ill![5[filSkip
&mill! :rnrnrn1111»mn
1 Miscellaneous
2 Offset
3 MACRO
6
7
8 ---next pa e---
• Halt instruction
• Abort instruction
4.12.1 Halt instruction
PAUSE
The halt instruction interrupts program execution in the following way, causing the robot in motion to decelerate
and stop:
• A motion instruction being executed is aborted without waiting for the motion to be completed.
• The cursor is moved to the next line. When restarted, the program is executed starting from that line.
• Any specified timer continues its operation.
• A pulse output instruction being executed is terminated after the instruction is executed.
• All instructions other than program call instructions are terminated after being executed. Program call
instructions are executed after the program is restarted.
PAUSE
Fig. 4.67 Halt Instruction
4.12~2 Abort instruction
ABORT
The abort instruction aborts program execution in the following way, causing the robot in motion to decelerate
and stop:
• A motion instruction being executed is aborted without waiting for the motion to be completed.
• The cursor stops on the current line.
• When the abort instruction is executed, the execution of the program cannot be continued. Information
held by a program call instruction about the main program is lost.
ABORT
Fig. 4.68 Abort Instruction
NOTE
The ERROR_PROG and RESUME_PROG instruction is not supported currently.
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4. PROGRAM STRUCTURE
B-80464E/01
4.13 Other Instructions
The following miscellaneous instructions are available:
1p
2 ffset
3 MACRO
4 Program control
Bfal!l!IHI! i'.!IU!Ufil i
8 ---next paqe---
~illl!HDMIITTl!lffi[IITT~
NMllifil
• User alarm instruction
• Override instruction
• Comment instruction
• Message instruction
• Parameter instruction
4.13.1 User alarm instruction
UALM[I]
The user alarm instruction displays the alarm message corresponding to an already set user alarm number
on the alarm display line. The user alarm instruction pauses the program which is on progress. The user alarm
is set in the user alarm setup screen and this setting is registered in the system variable $UALM_MSG. The
total number of usable user alarms is set at the controlled start(See Section 8.1.3, "CONTROLLED START").
UALM[i]
L
Alarm number
Fig. 4.69 User Alarm Instruction
Example
1 : UALM [ 1]
( $UALRM- MSG [ 1]
= WORK
NOT FOUND
4.13.2 Override instruction
OVERRIDE
=(value)%
The override instruction changes a feedrate override.
OVERRIDE = (value)
L
%
Feedrate override (1 to 100)
Fig. 4.70 Override Instruction
Example
1: OVERRIDE
=
100%
-149-
B-80464E/01
4. PROGRAM STRUCTURE
4.13.3 Comment instruction
!(Remark)
The comment instruction adds a comment in a program. A comment has no effect on program execution. A
comment specified in a comment instruction can consist of up to 18 characters including alphanumeric characters, asterisks {*} underlines LJ, and at marks (@). To add a comment, press the ENTER key.
(Remark}
L
A comment can consist of up to 32 characters including alphanumeric characters,
asterisks (*), underlines LJ, and at marks (@).
Fig. 4.71 Comment Instruction
Example
1: !APPROACH POSITION
4.13.4 Message instruction
MESSAGE[message statement]
The message instruction displays a specified message on the user screen. (For the user screen, see Section
7.2.) A message can consist of up to 23 characters including alphanumeric characters, asterisks(*), underlines
U , and at marks (@}. To add a comment, press the ENTER key.
Message [message statement]
L
A message statement can consist of up to 24 characters including
alphanumeric characters, asterisks(*), underlines LJ, and at marks (@}.
Fig. 4.72 Message Instruction
Example
1: MESSAGE[ DI[l] NOT INPUT ]
4.13.5 Parameter instruction
$(SYSTEM VARIABLE NAME)
=(value)
The parameter instruction changes the value of a system variable. This instruction can be used only for a system variable containing a numeric value (constant}. You can enter the parameter name after pressing the EN·
TEA key. It is possible to enter the parameter name up to 30 characters or less without the first character,"$".
$ { SYSTEM VARIABLE name ) = (value)
System variable name
_J
L
System variable value (numeric value}
Fig. 4.73 Parameter Instruction
Example
NOTE
1: $SHELL_CONFIG.$JOB_BASE = 100
The TIMER and RSA instruction are not supported currently.
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5. PROGRAMMING
This chapter describes how to create and change a program for moving the robot.
0 Contents of this chapter
5.1
5.2
5.3
5.4
5.5
lips on Effective Programming
Turning on the Power and Jog Feed
Creating a Program
Changing a Program
Program Operation
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Various program instructions are issued to the robot and peripherals to specify motions and handling. When
these instructions are combined together, they create what is called a handling application program. A handling
application program for instance, can:
• Move the robot to desired positions in the operating area along the specified path
• Handle workpieces
• Send output signals to the peripherals
• Receive input signals from the peripherals
Before programming, design the outline of a program. In the design, incorporate the most effective method for
the robot to do the target work. This enables efficient programming and ensures that only the instructions appropriate for the purpose are used.
Instructions must be selected from menus displayed on the teach pendant during programming. To teach a
target position to the robot, the robot must be moved to the target position by jog feed.
After you have finished creating the program, change the program if necessary. To change, add, delete, copy,
find, or replace an instruction, select the desired item from the menu displayed on the teach pendant.
This chapter describes the following:
• Tips on effective programming
• Turning on the power and jog feed
• Creating a program
• Changing a program
See Chapter 4 for the configuration of a program and the program instructions.
0
Fig. 5.1 Programming by Teaching
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5.1 Tips on Effective Programming
This section describes tips on effective programming. The following items are explained:
• Motion instructions
• Fixed positions
NOTE
5.1.1
This section describes tips on programming, but does not describe tips on jog feed.
Motion instructions
Refer to the following instructions when teaching motions to the robot.
Fastest motion = JOINT motion
Specifies the fastest motion. Use joint motion to reduce the cycle time. The speed of a linear motion is a little
slower than that of a joint motion. Use the linear motion only if necessary.
Workpiece hold position = FINE positioning
Use FINE positioning for all workpiece hold positions. The robot stops exactly at the workpiece hold position.
When CNT positioning is used (explained next), the robot does not stop at taught points.
Moving around workpieces = CNT positioning
Use CNT positioning for moving around workpieces. The robot continuously moves to the next target point without stopping at taught points. If the robot moves near the workpieces, adjust the path of CNT positioning.
FINE
CNTO
CNTSO
CNT100
Fig. 5.2 Adjusting the path of CNT Positioning
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Fixing the attitude of the tool
Cycle time is wasted when the robot motion considerably changes the attitude of the tool. The robot moves
much faster when the attitude of the tool is changed smoothly and gradually. Teach positions so that the attitude
of the tool changes as gradually as possible with respect to the robot.
When the attitude of the tool must be changed considerably, teach one large motion by dividing it into several
small motions. Namely, teach positions so that the attitude of the tool changes gradually.
Fig. 5.3 Teaching Positions According to the Tool Attitude
To change the attitude of the hand as smoothly as possible:
1 Teach the first position of the work so that the robot has a normal attitude.
2 Move the robot to the last position of the work by jog feed. Then check that the robot has a normal attitude.
3 Teach the last position.
4 In accordance with the work, teach a position between the first and last positions.
5 Select a Cartesian coordinate system (user or jog coordinate system) and move the robot to the first position by jog feed.
6 Select the Cartesian coordinate system, move the robot toward the last position by jog feed, then stop the
robot at the next position to be taught.
7 Correct the taught position so that the robot has a normal attitude.
8 Repeat steps 6 and 7 for all the remaining positions to be taught between the first and last positions.
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Special motions of the LR Mate 100
Since the LR Mate 100 is a five-axis robot, it has some attitudes which are impossible. The following structural
limits are therefore set for linear and circular motions under attitude control. In such cases, use joint motions
or wrist joint motions (WRIST JOINT) to move the robot.
1 During linear jog feed, ifthe LR Mate 100 is programmed to move at an impossible attitude, it instead moves
atthe possible attitude which most closely approximates the impossible one. Therefore, care must be taken because this motion sequentially changes the attitude of the tool. Circular jog feed is impossible (W,
P, and R keys are disabled).
2 The attitude control is enabled in the LR Mate 100 only when the surface of the flange faces up or down.
Otherwise, care must be taken because the LR Mate 100 moves atthe possible attitude which most closely
approxinates the impossible attitude. Moreover, if the surface of the flange faces up or down during joint
jog, the waring message, "Horizontal fixture position", is displayed and the jog motion pauses.
3 When the surface of the flange faces up or down, the attitude of the wrist is changed (NOFLIP when the
surface of the flange faces the body of the robot or FLIP when the surface of the flange faces away from
the body of the robot). The robot cannot move under attitude control if the attitude of the wrist at the start
point is different from that at the end point. In this case, use joint motions or wrist joint motions (WRIST
JOINT) to move the robot.
4 Care must be taken when the control point, namely the intersection of the J4- and JS-axes, passes near
the J1-axis. This is because the robot may move around the J1- or JS-axis at high speed.
S A stroke limit error occurs when the robot moves 180° or more per stroke around the JS-axis. To prevent
this, the angle per stroke for linear or circular motion must always be less than 180°.
6 The accuracy of path control or palletizing tends to worsen near the boundary of the operating area (when
the J2- and J3-axis arms are arranged in a straight line). Avoid teaching positions near the boundary if
possible . When teaching positions cannot be avoided, add as many positions to be taught as possible.
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5.1.2 Notes on programming with the simplified teach pendant
A program can be changed on the simplified teach pendant connected to the R-J2 Mate using the quick teach
method. Observe the following rules in teaching a program using the high-performanced teach pendant.
Otherwise the program cannot be changed using the simplified teach pendant.
• A program name must be specified with the .letter 0 and a four-digit integer.
No character can be input on the simplified teach pendant.
Therefore, specify a program name starting with 0 and having a four-digit integer. For example, specify
01234. Program names in other notations can also be loaded on the simplified teach pendant. However,
several functions on the simplified teach pendant may be disabled (see Subsection 4.1.1).
• Subtypes of each program must always be specified.
In the quick teach method, a clear distinction is made between a main program and a subprogram. Because of this, always specify the following subtypes for each program (see subsection 4.1.3):
- Job (JB): Main program
On the simplified teach pendant.only the program whose subtype is job can be selected.
- Process (PR): Subprogram
This program is called by the main program whose subtype is job.
• Specify comments for positions that must be changed.
In the quick teach method, a distinction is made between a position that can be changed and a position
that cannot be changed. An asterisk (*) is displayed at a position for which no comment is specified, and
changing the position is disabled. Do not use asterisks in comments for positions that must be changed.
• Only user keys 1 to 4 can be used on the simplified teach pendant.
User keys (UK or SU) 1 to4 can be used to teach macro instructions. However, the simplified teach pendant
does not have user keys 5 to 7 (see Subsection 9.1.1 ).
• Other conditions must be noted when teaching the palletizing function (see Subsection 10.3.6).
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5.1.3 Predefined position
The predefined position is used in the program. This is the position that is referenced many times in the program. The predefined positions that is used often are the pounce position and the home(perch) position. You
should define these positions to program efficiently or improve cycle time slightly.
Pounce position
The pounce position is the reference position of the robot for all work. This is the safe position away from the
motion area of the machine tool and peripheral device.
Fig. 5.4 Pounce Position
Home(perch) position
The home position.or perch position, is a safety position away from the machine tool and the workpiece transfer
area. The reference position output signal of digital turned on when the robot is at this position.(See Section
3.6, "Setting a Reference Position)
Fig. 5.5 Home Position
Other predefined position
Recording the predefined position in the position register enable the robot to move to a pounce position without
the interference with the peripheral objects. This program for instance is showed as following.
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Example
1: PR[5] = JPOS
2: R[1] = PR[5,1]
3: R(2] = PR[5,2]
4: IF R[1] > 30, JMP LBL[1]
5: IF R[1] < (-30), JMP LBL[1]
6: IF R(2] < (-10), JMP LBL[2]
7: 00(4] =ON
8: UALM(4]
9:ENO
10:
11: LBL[1]
12: IF R[2] < (-5), JMP LBL(2]
13: 00[4] =ON
14: UALM[4]
15: END
16:
17: LBL[2]
18:PR[5,2] = (-40)
19: PR[5,3] = 0
20: J PR[5] 10% FINE
21: J PR[1 :pounce]
22: 00[7] = ON
Records current position
Records the angle of J1 axis to R[1]
Records the angle of J2 axis to R[2]
If the angle of J1 is rather than 30 degree, jump LBL[1]
If the angle of J1 is smaller than -30 degree, jump LBL[2]
If the angle of J2 is smaller than -1 Odegree, jump LBL[2]
Indicates a interference position
Alarm output
If angle of J2 axis is smaller than -5 degree, jump LBL[2]
Indicates a inference position
Alarm output
Sets angle of J2 axis -40 degree.
Sets angle of J3 axis Odegree.
Moves the robot to the not interference position.
Pounce position
Indicates that the program which moves the robot to pounce
position is completed
Records the pounce position
NO
'-----1~
Not inference position
Pounce position
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Inference position
UALM[4]
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5.2 Turning on the Power and Jog Feed
5.2.1 Turning on the power and turning off the power
Turning on the power starts up the robot system. Turning on the power normally executes internal processing
called a cold start or hot start, then the system is started up. The special operation is necessary to perform
processing with a control or initial start.(See Section B.1, "START MODE")
Hot start
You can select if the hot start is effective when starting up the robot system. The hot start is the function that
save the condition of the system just before power off and revives it after the next power on.(See Section 3.10,
"System config menu")
• If the hot start is set to be disable, the system starts up with the cold start. In cold start mode,the system
software of the controller is initialized during starting. When you change the setting of the system such as
1/0 configuration.you should start up in cold start mode.
• If the hot start is set to be effective, the system starts up in hot start mode. In hot start mode,the system
software of the controller is not initialized during starting up.
HOT START done slgnal
You can setthat the digital output signal( DO) is turned on when the hot start is finished. This function is set with
the system configuration screen [6 SYSTEM.Config].(See Section 3.10, "System Config Menu•i
Automatic start program
An automatic start program can be specified. The program is automatically started when the power is turned
on. If override and parameter instructions are specified in the program to be started, the system can be customized when the power is turned on (see Section 3.10).
The automatic start program cannot operate the robot. The automatic start program is used to set up the system
or initialize the state of 1/0,etc.(See Section 3.10, "System config menu")
Caution:
Some systems must be inspected before turning on the power to the robots. For safety, check how
to start up the system before turning on the power to the robot.
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Program selection after power on
The condition of the program selection after the power on is the following:
• When the hot start is disable.it depends on the setting of the system variable,$DEFPROG_ENB. You can
set $DEFPROG_ENG with the system config menu.(See Section 3.10)
- TRUE : The program which had been selected at the power off is selected as it is.
- FALSE : No program is selected.
•
When the hot start is effective.a program which had been selected at power off is selected as it is.
System condition
The condition of each setting becomes the following according to the hot start setting.
Hot start
Effective
Contents of register
Override
Selection program
Execution line
Condition of 1/0
TP screen
Disable(default setting)
A
A
A
A
A (NOTE1)
A
A
c
B
C
C
C
[10%)
(NOTE2)
[First line)
[OFF]
[HINT)
A : The value at power off is saved and it is revolved at the next power on.
B : The value at power off is not saved and it is set to the standard value at the next power on.
C: Some settings at power off is saved.
NOTE 1 ) The desired settings can be set to the default value using a program which is set to the system variable, $PWR_SEMI.
NOTE 2 ) The name of the main program, which call the sub program, is memorized.
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caution:
When external units such as a floppy disk drive unit and a printer are connected to the controller, first turn
on the power to the controller to protect the controller against a malfunction in any of the external u nits.
Visually inspect the robot, controller, and machining cell in the work area. Check whether all the safety devices work normally and whether the operator's work area is safe.
caution:
If a failure or latent danger has been found, stop turning on the power and notify the site manager of the
failure or latent danger immediately. If the power is turned on without inspecting the work area sufficiently,
the robot system may cause a serious accident.
2 Turn on the circuit protector switch on the operator's panel.
Circuit protector switch
(* Power ON/OFF)
I
0
I
ON
®
0
OFF
EMEGENCY
STOP
e
I
ON
&~
OFF
e
External ON/OFF control
At shipment, terminals, ON, COM, and OFF are short-circuited.When the external ON/OFF control is used,
remove this line for short before wiring. Moreover, to turn on or off from external devices, turn on the circuit protector switch on the operator's panel and then control the external switches.
Printed circuit board for emergency stop
TBLR
ON
COM
OFF
ON
OFF
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5. PROGRAMMING
3 The system is started up, and the following screen is displayed on the teach pendant.
MENUS - Provides a list of all menus.
FCTN - Provides helpful functions.
SELECT, EDIT, DATA, POSN, I/O, STATDisplays menus with those names.
Function keys with [ ] show more choices.
Fl[TYPE] function key lists related
screens within a menu.
HELP
[TYPE]
Caution:
When external units such as a printer and floppy disk drive unit are connected to the control·
ler, first turn off the power to these external units, then turn off the power to the controllerto protectthe external units from a malfunction in the controller.
1 While the robot program is running or the robot is operating, press the HOLD key on the teach pendant.
2 Turn off the circuit protector switch.
I
I
ON
Cl])~
0
I
Circuit protector switch
(* Power ON/OFF)
I
I
ON
@
0
OFF
EMEGENCY
STOP
e
I
OFF
e
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5.2.2 Moving the robot by jog feed
The robot moves by jog feed when the jog keys on the teach pendant are pressed. The robot must be moved
to a target position when motion instructions are specified in the program.
Jog feed depends on the following two factors:
• Feedrate override: Robot motion speed Qog feedrate)
• Manual-feed coordinate system: Coordinate system for robot motion Qog feed type)
Feedrate override
A feedrate override is one of the two factors on which jog feed depends. The feedrate override is represented
in percentage(%). The maximum feedrate is 100 %.
The current feedrate override is displayed at the upper right corner of the screen of the teach pendant.
Pressing the feedrate override key displays a pop up window in reverse video at the upper right of the screen
to call the user's attention. The popup window in reverse video automatically disappears after a few seconds
or when another key is pressed.
Feedrate override
Very low speed
Low speed
VFINE
FINE
1%
.J,
50%
J,
100%
Fig. 5.6 Screen Dlsplay for Feedrate Override
Feedrate override 100% means that the robot moves at the maximum feedrate. The step feed-rate of FINE
is specified by a system variable, $JOG_GROUP.$FINE_DIST in linear jog.(Standard : 0.1 mm) It is specified
with $SCR.$FINE_PCNT in joint jog. In standard setting, each axis rotates at 0.001 deg per step. The step width
of VFINE is one-tenth of that of FINE. The $SCR.$FINE_PCNT can not be changed usually. But you can
change it with the system variable screen during controlled start.
Table 5-1 shows the change in feedrate override when the override key is pressed.
Table 5.1 Feedrate Override
When the override key is pressed
When the override key is pressed
while pressing the SHIFT key(*1)
VFINE ~FINE~ 1% ~ 5% ~ 50% ~ 100%
In 1% increments
In 5% increments
VFINE ~FINE~ 5% ~ 50% ~ 100%
*1 Enabled only when $SHFTOV_ENB is 1
To change the feedrate override, press the override key. Whenever the override key is pressed while the shift
key is pressed, the feedrate changes sequentially in the order: FINE, VFINE, 5%, 50%, and 100%. However,
the feedrate is changed in this way only when system variable $8 HFTOV_ENB = 1.
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Fig. 5.7 Override Keys
A feedrate override must be determined according to the condition of the machining cell, type of the robot motion, or the skill of the operator. Therefore, an inexperienced robot operator should use a low feed rate override.
The feedrate override can only be increased up to the maximum value specified in $SCR.$JOGOVLIMT.
Jog feedrate
A jog feed rate is a speed at which the robot moves during jog feed. The jog feedrate is obtained by the following
expression:
Jog feedrate Ooint feed) =
Maximum joint feedrate x
Each axis 1·og override
Feedrate overr1"de
x
100
100
Jog feedrate (linear feed) (mm/sec) =
Maximum linear feedrate x Jog ~~~rride
Each axis jog override
Jog override
Maximum joint feedrate
Maximum linear feedrate
x Feedra~eogverride
$SCR_GRP.$JOGLIM_JNT[i] (%)
$SCR.$JOGLIM (%)
$PARAM_GROUP.$JNTVELLIM (deg/sec)
$PARAM_GROUP.$SPEEDLIM (mm/sec)
Fig. 5.8 Jog Feedrate
NOTE
NOTE
The $SCR ... and $SCR_GRP... can not be changed usually. The value can be change·d with
system variable screen during the controlled start.
When the $PARAM_GROUP is changed, turn off the controller, and turn on the controller in
cold start mode to use the new information.
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Manual-feed coordinate systems (Jog type)
Manual-feed coordinate systems determine how the robot moves during jog feed. The manual-feed coordinate systems are classified into three types:
Joint jog (JOINT)
During joint jog, the robot moves independently around each axis according to each joint coordinate system.
See Section 3.5 for the joint coordinate systems.
Joint coordinate systems
+
J3
J5
Fig. 5.9 Joint Jog
Cartesian jog (XVZ)
During Cartesian jog, the tool center point of the robot moves along the X-, Y-, and Z-axes of the user or jog
coordinate systems. You can not cause the robot to rotate the tool around x-,y-,and z-axis of the user frame
or jog frame.(See Section 3.5.2, "Setting a user coordinate system", and Section 3.5.3, "Setting a jog coordinate
system")
z
x
Cartesian coordinate systems
Oog or user coordinate systems)
Fig. 5.1 OCartesian Jog
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Tool jog (TOOL)
During tool jog, the tool center point (TCP) moves along the X-, Y-, and Z-axes of the tool coordinate system
defined for the wrist of the robot. You can not cause the robot to rotate the tool around x-,y-,and z-axis of the
tool frame.(See Section 3.5.1, "Setting a tool coordinate")
z
Fig. 5.11 Tool Jog
Selecting a manual-feed coordinate system
The current manual-feed coordinate system is displayed at the upper right corner of the screen of the teach
pendant.
Pressing the COORD key displays a popup menu in reverse video at the upper right of the screen to call the
user's attention. The popup menu in reverse video automatically disappear after a few seconds or when anoth·
er key is pressed.
Manual-feed coordinate systems ::~llBJiw=[fl·'mfm
JOINT
Joint jog
JGFRM Cartesian jog
USER
Cartesian jog
TOOL
Tool jog
COORD key
Fig. 5.12 Screen Display for Manual-Feed Coordinate Systems
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Whenever the COORD key on the teach pendant is pressed, the selected manual-feed coordinate system
change cyclically. When a manual-feed coordinate system changes sequentially in the order shown in Table
5.2. is selected, its corresponding LED lights.
Table 5.1 Jog type Selection Sequence
Screen display
JOINT
LED state
JOINT LED on
JGFRM
~
~
~
TOOL
~
USER
~
JOINT
XYZ LED on ~ TOOL LED on ~ XYZ LED on ~ JOINT LED on
If the COORD key is pressed when the teach pendant is enabled.the override is decreased to a setting of
$SCR.$COORDOVRD.(When the current override is less than setting.it it not changed)
You can change the setting of $SCR.$COORDOVRD with the system variable screen during the controlled
start.
Enabling a wrist joint feed
In wrist joint feed, the attitude of the tool is not held during linear feed (Cartesian jog feed) or circular feed (tool
jog feed).
• When wrist joint feed is disabled, the attitude of the tool is held during jog feed. (Standard setting)
• When wrist joint feed is enabled, the attitude of the tool is not held during jog feed. In this case, Wis displayed on the screen.
-
In linear feed (linear motion along the axes of the Cartesian coordinate system), the tool center point
moves linearly while the wrist joint is fixed.
Wrist joint feed enabled
~ (Wtl$~~ia!l~
Fig. 5.13 Indication that Wrist Joint Feed Is Enabled
NOTE
When the motion instruction for linear or circular motion under path control is executed, wrist
joint feed has the same function as the wrist joint motion instruction (WRIST JOINT).
Switch to extended axes
In one motion group.one extended axes(Sub group) is the available axis controlled by the controller beyond
the standard number of robot axes(usually 5 axes).
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• Do not enter the operating area. Do not put any obstacles within the work area.
Press the COORD key to display a desired manual-feed coordinate system on the teach pendant.
2 Press the override key to adjust the jog feedrate displayed on the teach pendant.
3 Hold the teach pendant and press the deadman switch on the back of the teach pendant. Continue pressing the deadman switch during jog feed.
4 Turn on the teach pendant enable switch.
NOTE
If the deadman switch is released when the teach pendant enable switch is on, an alarm occurs. To reset the alarm, press and hold down the deadman switch again, then press the RESET key on the teach pendant.
5 To move the robot by jog feed, press the jog key corresponding to the desired robot motion direction while
pressing the SHIFT key. When the jog key is released, the robot stops.
NOTE
When the override is FINE or VFINE,press the jog key and release it every time one step.
Switch to wrist Joint feed
6 Press the FCTN key. The function menu is displayed.
7 Select 5,TOGGLE WRIST JOG. The mark,W,is displayed to show the wrist joint jog mode. To release this
mode,select 5, TOGGLE WRIST JOG again.
Switch to a extended axis
8 Press the FCTN key. The function menu is displayed.
9 Select 4,TOGGLE SUB GROUP. The control of jog is switched from the robot standard axes to a extended
axis. The control will be returned when it is done again. A character S is displayed at the left side of the
frame display on the status display line to show that the control is switched to the extended axis side by
TOGGLE SUB GROUP. To jog the first axis in the extended axes, use +X or -X key.
10 To terminate jog feed, turn off the teach pendant enable switch and release the deadman switch.
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5.3 Creating a Program
To create a program, use the following procedure:
• Register a program and specify program information
• Modify standard motion instructions
• Teach motion instructions
• Teach various control instructions including a palletizing instruction
Change an existing program.
Create a new program.
Register the program .
Select a program.
....___ _ Change standard
motion instructions.
Teach motion
instructions. Correct
the instructions.
End
Fig. 5.14 Creating and Changing a Program
Registering a program
Create a null program with a new name.
Specifying program Information
Specify the attributes of the program.
Changing standard motion instructions
Respecify the standard instructions to be used when teaching motion instructions.
Teaching motion instructions
Teach a motion instruction and an supplementary motion instruction.
Teaching control Instructions
Teach control instructions including a palletizing instruction.
Use the teach pendant to create a new program and correct an existing program. To
do this, the teach pendant must be enabled beforehand.
To enable the teach pendant, satisfy the following condition:
• The teach pendant enable switch must be turned on.
To prevent the program from being started by mistake.prohibit starting a program with a teach pendant while
teaching.(See Section 2.3.1.4, "Function menu")
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5.3.1
Registering a program
Enter a program name and register the program. A program name consists of up to eight alphanumeric characters including symbols to discriminate program names from one another. For the program name, see Subsection 4.1.1.
Register a program on the program registration screen.
Warning:
When a new program is made, the current program or halted program is aborted.
Entering a program name
There are two methods for entering a program name:
• Words: Up to five words consisting of up to seven characters can be used as program names. Enter these
reserved words, such as PRG, MAIN, SUB, and TEST, in $PGINP_WORD[1 TO 5) in advance (See Sectioin 3.10, "System config menu"}
• Uppercase or lowercase alphabetic characters: Any letter of the alphabet can be specified for a program
name. The alphabetic characters combined with any numeric characters and/or any symbols are used as
the characters of a program name.
Options
During optional settings, an overwrite or insert mode can be specified for character entry, or character string
deletion.
• In the overwrite mode, entered characters are written over existing characters.
• In the insert mode, entered characters are inserted before the character pointed to by the cursor. In this
case, all the characters to the right of the entered character(s) are shifted to the right. INSERT or OVRWPT
is displayed on the screen.
• All the characters in the field where the cursor is positioned are deleted.
Setting program Information
Set the following program information items on the program information screen. See Section 4.1.
• Program name
• Subtype
• Comments: Comments can be written in a program. Up to 16 alphanumeric characters and symbols,
which can be used for a program name. can be entered for one comment. In some cases, comments may
not be entered.
• Group mask: Specifies a motion group to be controlled in a program. You can also set a program has no
motion group.
• Write protection: Prevents a program from being changed.
• Interruption disable: Causes the program having no motion no to be paused by the alarm that severity is
WARN,PAUSE,STOP,and SERVO, the emergency stop, and HOLD. However, this setting is not applied
to the alarm that is generated by the program.
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• The teach pendant must be enabled.
Press the MENUS key to display the screen menu.
2 Select SELECT.
Alternatively, the following program selection screen can also be displayed by pressing the SELECT key.
r
~
][§§[iggf@@!if@ifi!11MJ!f@! !Mi@! mrn@!U!!i ;; !t49!W!ff~!f;,;;
!t!if!irtl~~®ll,llifflnftff~l];::ru&i~iiigg~~Hi!!@JM!HJ
2 SAMPLE2
SAMPLE PROGRAM2
3
4
PROGOOl
PROG002
PROGRAMOOl
PROGRAM002
[TYPE]
CREATE
DELETE
MONITOR
[ATTR] >
COPY
DETAIL
LOAD
SAVE
PRINT
>
3 Press the F2 (CREATE) key.
The program registration screen is displayed.
2
3
4
Upper Case
Lower Case
---Insert---
---Create Teach Pendant Program--Program Name
[
]
Sub type
[
]
---End--Enter program name
PRG
MAIN
SUB
TEST
4 Select a method for entering a program name (words or alphabetic characters) using the cursor keys (and).
---Insert-----Create Teach Pendant Program--Program Name
[
J
---End--Enter program name
abcdef ghijkl mnopqr
- 171 -
stuvwx
yz_@*.
>
5. PROGRAMMING
B-80464E/01
5 Enter a program name by pressing the function keys corresponding to the characters in the program name.
The function key menu displayed depends on the method selected in step 4.
With alphabetic character entry, for instance, press the function key corresponding to a desired character
repeatedly until the character is displayed in the program name field; that is, if you want to enter P, press
the F4 function key four times. Press the NEXT key to move the cursor to the right one character. Repeat
this procedure until the program name is completely entered.
. lI
&Bit
L
abcdef ghijkl mnopqr st
::m1n11urnm: JllliRB
1/3
---Create Teach Pendant
Program name:
fl[
abcdef
ghijkl
mnopqr
Program-~
stuvwx
]
yz_@*.
>
6 After entering a program name, press the ENTER key.
lliiBDmrmarrn:::.Wil,.'
@trn·am
---Create Teach Pendant
Program Name: [SAMP~
lllJDL
]J : ;. " · E TC'L ·.''""-"' :¥JffiilflBD
1 Jobs
5
2
3
4
Processes
Macro
~J#Bl'.11GIL FKU:Hli
6
7
8
.; ;I ."!Ji i · , I .lf'E!]
---Create Teach Pendant Program--Program Name:
[SAMPLE3
)
Sub type
Rfilt:mfjl(illfiliKJj
---End--Select Sub type
7 Select a desired subtype and press the ENTER key.
~~trwa::1tW11tW11tW11tW1:1:;:1:u1::;;m;;~
1
2
3
Jobs
Processes
Macro
4
Select function
DETAIL
EDIT
8 To edit the registered program, press the F3 (EDIT) key. The program edit screen for the registered program is displayed.
Select function
DETAIL
EDIT
llB!m»»: ::::::mxrnt-1:m211mm · .••~
1/1
POINT
-172-
TOUCHUP >
5. PROGRAMMING
B-80464E/01
9 To enter program information, press the F2 (DETAIL) key (or the ENTER key). The program information
screen is displayed.
r
~
1~IM~l~irn~~~~~.i11~.:~i]~!iiRl~![~J]!!~::·~l®iU~~..,..4a
Select function
DETAIL
EDIT
1/6
Creation Date:
10-MAR-1994
Modification Date:
11-MAR-1994
Copy Source:
[****************)
Positions: FALSE Size:
312 Byte
1 Program name:
[SAMPLE3 )
2 Sub Type:
[
Process)
3 Comment:
[SAMPLE PROGRAM 3)
4 Group Mask:
[1,*,*,*,*l
[
OFF)
5 Write protect:
[
6 Ignore pause:
OFF)
END
PREV
NEXT
10 Specify the following program information items:
- To change a program name, move the cursor to the setting field, change the program name, then press
the ENTER key.
- To change a subtype (see Subsection 4.1.3), press the F4 (CHOICE) key to display a subtype menu.
Then, select None, Job, Process, or Macro.
- To enter comments, move the cursor to the setting field, enter the comments, then press the ENTER
key (see Subsection 4.1.2).
- To specify a group mask, move the cursor to the setting field and select 1, *.The specified motion group
is controlled (see Subsection 4.1.4). For safety, specify(*,*,*,*,*) for programs which do not contain
any motion instruction.
- To specify write protection, move the cursor to the setting field and select ON or OFF (see Subsection
4.1.5).
- To specify interruption disable, move the cursor to the setting field and press the function key (ON or
OFF) (see Subsection 4.1.6). Select ON for programs not to be halted when an alarm occurs such as
macro instructions or automatic start programs.
Creation Date:
Modification Date:
Copy Source:
[****************)
Positions: FALSE Size:
312 Byte
1 Program name:
[SAMPLE3 )
2 Sub Type:
Process)
[
3 Comment:
[SAMPLE PROGRAM 3)
[1,*,*,*,*)
4 Group Mask:
[
. OFF)
5 Write protect:
6 Ignore pause:
[
OFF)
END
PREV
NEXT
11 After entering the program information items, press the F1 (END) key. The program edit screen for the registered program is displayed.
l
....,
END
PREV
NEXT
~tlml'.ii:I!'.~«~tw%JtB
....
POINT
-173-
1/1
TOUCHUP >
B-80464E/01
5. PROGRAMMING
5.3.2 Changing a standard motion instruction
The standard motion instruction is the standard setting of a motion instruction. The standard motion instruction
is selected when a motion instruction is taught. The standard motion instruction specifies the most frequently
used motion instruction items: motion type, feedrate, positioning type, and supplementary motion instruction.
Standard motion Instruction
The standard motion instruction is the standard setting of a motion instruction and an supplementary motion
instruction.
To change a standard motion instruction, press one of the keys F1 to F4 to display the standard motion instruction menu. Then, press the same function key again to display the standard instruction edit screen.
l
TOUCHUP
POINT
>)
- Pressing the F1 (POINT) key displays the standard motion instruction menu.
Requirements:
• The program edit screen must be selected.
• The teach pendant must be enabled.
TOUCHUP >
POINT
1 Press the F1 (POINT) key. The standard motion instruction menu is displayed.
l
KMB~W.tMf~llilll'.~K~
POINT
1
2
J
3
J
L
4
L
P[ ] 100% FINE
P[ ] 100% FINE
P[ ] 1000cm/min CNTSO
P[ ] lOOOcm/min CNTSO
-~•r
.::;;;·31a,n,:; .,aw::J:.'•~
1/1
[End]
TOUCHUP >
ED DEF
2 To change a standard motion instruction, press the F1 (ED_DEF).
l
r
ED_DEF
~
---~I:Z:Kil·lJbLK&M.1 ·1~
filml J
2
3
4
J
L
L
1/4
P[
P[
P[
P[
100% FINE
100% FINE
lOOOcm/min CNTSO
lOOOcm/min CNTSO
DONE >
-174-
5. PROGRAMMING
B-80464E/01
3 Move the cursor to the instruction item to be changed (motion type, feedrate, positioning type, or supple·
mentary motion instruction) using the cursor keys.
1
J
4
L
P[ ] 100% FINE
~ ~ : ~ ~ !i~~~~c!~=n
CNT50
P[ ) lOOOcm/min CNT50
Enter value
[CHOICE]
DONE >
4 Select numeric keys and function keys to correct the instruction item.
To change the feedrate, for instance, move the cursor to feedrate. Enter a new value with numeric keys,
then press the ENTER key.
l
00~
Old Value: 100
~--
1
2
3
4
J
J
L
L
P[
P[
P[
P[
] 100% FINE
) :JlQ% FINE
) lOOOcm/min CNT50
) lOOOcm/min CNT50
Enter value
DONE>
5 When CHOICE is displayed in the F4 key name field, press the F4 key. Then, an option of another instruction item can be selected from the submenu.
j
[CHOICE]
- -
6
7
1
2
3
4
J
J
L
L
p [
P[
P[
P[
100% FINE
70%jf!Iyg\
lOOOcm/min CNT50
lOOOcm/min CNT50
Select item
[CHOICE]
1
2
3
4
J
J
L
L
P[
P[
P[
P[
DONE >
100% FINE
70% CNi§fij
lOOOcm/;;;i; CNT50
lOOOcm/min CNT50
Enter value
[CHOICE)
6 Repeat steps 3 to 5 for each instruction to be changed.
7 After teaching is completed, press the FS (DONE) key.
DONE
>
J
-175-
DONE >
B-80464E/01
5. PROGRAMMING
5.3.3 Teaching a motion instruction
A motion instruction moves the robot to the specified position in the work area at the specified feedrate using
the specified movement method. When the motion instruction is taught, the instruction items of the motion
instruction and position data are simultaneously taught.
The instruction items of a motion instruction are as follows (see Section 4.3 for the motion instruction):
• Motion type:
Controls a path to the specified position.
• Position variable: Stores data on positions to which the robot moves.
• Feedrate:
• Positioning type:
Specifies the speed of the robot when it moves.
Specifies whether positioning is performed at the specified position.
• Supplementary motion instruction: Specifies the execution of an additional instruction while the loader
robot is moving.
Teaching a motion instruction is selected after a standard motion instruction is created. In this case, the current
position (position data) is stored in the position variable.
• Press one of the keys F1 to F4 to display the registered standard instruction menu. Select the standard
instruction which will be taught a motion instruction.
• Specify the previously specified standard instruction by repeatedly pressing one of the keys F1 to F4 while
pressing the SHIFT key.
l
TOUCHUP
POIN'l'
>)
- Pressing the F1 (POINT) key displays the standard motion instructions menu.
NOTE
There are not standard motion instruction of F2 to F4 in LR tool software.
1 Move the robot to the desired position in the work area by jog feed.
2 Move the cursor to END.
l
POIN'l'
POINT
TOUCHUP >
3 Press the F1 (POINT) key to display the standard motion instruction menu.
-A8DBD.Ir
.:;~· .UJ.*
1 J P[ ] 100% FINE
2
3
4
J
L
L
-R~tllllf&
P[ ] 100% FINE
P[ ] lOOOcm/min CNT50
P[ ] lOOOcm/min CNT50
~lI!!I'. l..W•SM-B~tla
1/1
[End]
ED_DEF
TOUCHUP >
4 Select the standard motion instruction to be taught, press the ENTER key, and specify the desired position
and the motion instruction.
2
3
4
J
L
L
P[
P[
P[
....
. 1: J. P(l] 100% FINE
Position has been recorded to P[l].
POINT
TOUCHUP >
-176-
5. PROGRAMMING
B-80464E/01
5 Repeat steps 2 to 4 for each motion instruction to be specified in the program.
6 To specify the same standard motion instruction repeatedly, press the F1 (POINT) key while pressing the
SHIFT key. This adds the previously specified motion instruction to the currently selected standard motion
instruct ion.
l
~:;;;;;.
POINT
1: J
2: J
i: IT
::;· ·;; U:: ;::::; : ;· iEIIBB
3/3
P[l] 100% FINE
P[2] 100% FINE
~
Position has been recorded to P[2].
POINT
TOUCHUP >
5.3.4 Teaching an supple'mentary motion instruction
The supplementary motion instruction makes the robot do special work while it is moving according to the motion instruction. Some of the following supplementary motion instructions are provided (see Subsection 4.3.5
for the supplementary motion instructions):
• Wrist joint motion instruction
• Acceleration/deceleration override instruction
• Skip instruction
• Position compensation instruction
• Direct position compensation instruction
• Incremental instruction
To teach an supplementary motion instruction, place the cursor behind the motion instruction and press the
F4 (CHOICE) key to display the supplementary motion instruction menu. Select an supplementary motion
instruction from the menu. (See Appendix A.3 for the program instruction menu.)
[l~4/5
500mm/sec CNTlOWlfil
[CHOICE]
NOTE
)
The supplementary motion instructions vary according to the software configuration. Purchase
the software having the options necessary for your purposes.
1 Place the cursor immediately behind the motion instruction.
. .~~
..
4/5
~18,~W&W--
4: L P[3] 500mm/sec CNTlOmfl
[End]
[CHOICE]
-177-
B-80464E/01
5. PROGRAMMING
2 Press the F4 (CHOICE) key. The supplementary motion instruction menu is displayed.
JW'. iillH!!li[]Ul!ffUI~
4/5
500mm/sec CNTlO~
[CHOICE]
5 Offset
6 Offset,PR[
7 Incremental
8 ---next filaie-~
2 Wrist Joint
)
3 ACC
4 Skil LBL~~
uJUoo:i1 :nm ·.uoommn::::::m:
:zu:t1JB!
4/5
4:J P[3] 100% FINE
[End]
[CHOICE]
3 Select a desired item.
For example, the following screen teaches a acceleration override instruction.
!fl~
1 No option
2 Wrist Joint
5
6
4: L
mr:ntm11!ll1 rnrn:mrnrnrnE '
P[3] 500mm/sec CNTlO
: ACc 15olllH@
manni±ifd,:n::::::::::m
[End]
[CHOICE]
For details of the instructions, see Chapter 4.
1 Move the cursor to the space at the end of the motion instruction. The teaching incremental instruction is
shown as follow.
[CHOICE]
5'1*J®t ;;;:tPA'tBBlt.llM
4/5
500mm/sec CNTlOljfil
[CHOICE]
)
~••m.•r:m+mnm;::rn••~
1 No option
2 Wrist Joint
3 ACC
4 Skip,LBL[]
PROGRAMl
5
6
7
8
4:J P[3] 100% FINE
Offset
Offset,PR[ ]
Incremental
---next page---
lfJ
4/5
NOTE
Teaching the incremental instruction makes the position data has no position information.
2 Enter the incremental amount to the position data. The procedure of entering the incremental amount into
the position data directly is shown as following.
-178-
5. PROGRAMMING
B-80464E/01
4:J P . 100% FINE INC
[End]
[CHOICE] POSITION
[CHOICE] POSITION
)
CONF:N 00
P[32s GP:l UF:O UT:l
y
mm
*******
111111
111111
Z
*******
mm
x illi.D:::
w
******* c1e9
******* cleg
******* deS
p
R
~1.::rn::::::ma:11::1m.:r::
u::[[[[I
mm::.:•rn
4:J Pl'j 100% FINE INC
[End]
PAGE
CONFIG
DONE
4/5
[REPRE]
3 Enter the incremental amount directly.
p
R
0.000
*******
cleg
deg
~.~m·1:::::
I
P[3]
x
Y
Z
08~
GP:l UF:O UT:l
500.000
111111
w
100.000
mm P.
100.000
nun R
rnartJr::::::1rnmwm
CONF:N 00
0.000
000
4:J P~ 100% FINE INC
[End]
PAGE
CONFIG
DONE
cleg
cleg
cle
-·
4/5
[REPRE]
4 When you are fished to enter the position data.press F4,DONE.
r
~iffB.Rla!lfilr"8f~ilWt.&fA_.
.
4/5
4:J Pfilj 100% FINE INC
[End]
[CHOICE] POSITION
-179-
B-80464E/01
5. PROGRAMMING
5.3.5 Teaching a control instruction
A control instruction is a program instruction for the R-J2 Mate that is not a motion instruction. The control
instructions are as follows:
- Palletizing instruction for executing the palletizing function
- Register instruction for storing numeric data
- Position register instruction for storing robot position data
- 1/0 (input/output) instruction for sending signals to and receiving them from peripherals
. - Branch instruction for changing the program flow depending on whether the defined condition is satisfied
- Wait instruction for delaying the execution of the program
- Macro instruction for calling a program with the specified name
- Program end instruction for terminating the execution of a program
- Comment instruction for enter comments in a program
- Supplementary motion instruction, which is added to a motion instruction to control the motion
- Other instructions
To teach a control instruction, first press the F1 (INST) key to display the submenu. Then, select a desired control instruction item from the menu (see Appendix A.3 for the menu of the program instructions).
5 MACRO
5 JMP/LBL
2 I/O
3 IF/SELECT
4 WAIT
2 Program control
6 SENSOR
7 Palletizing
3 Skip
-~ Off~et:,
7 Multiple control
8 -"--ne~t. iage--:-- .. ,
8 ---next fa2e---
.
"""
•11111:;;;;;1u1:.:1 :::u::::::'.ir w2m1n•••
. TIZ'.r!lLI!JJJ][YIIilil!l.
Blf.l(Bm.
NOTE
6 CALL
The program instructions vary according to software configuration. Purchase the software having the options necessary for your purposes.
Requirements:
• The teach pendant must be enabled.
• The program edit screen must be selected.
r
~
waliD'&1w::rr1110ww~~-,..
2/2
••Im
1: J
P[l] 100% FINE
[EDCMD] >
[INST]
1 Move the cursor to END.
2 Press the F1 (INST) key. Then, the control instruction menu is displayed.
l
[INST]
5 JMP/LBL
2 I/O
3 IF/SELECT
4 WAIT
6 CALL
7 Palletizing
8 ---next pa9e---
~A1'&%i.'t.WWW.:ti.@®m%tir#.&<%
IDWJeM.~AWF.&.!lifil%1'@!!0000lriJ>)W,filU~J&Wiliii
-180-
[J]m
.· .®
5. PROGRAMMING
B-80464E/01
3 To teach a register instruction, select REGISTERS.
The following screens indicate that the value of register [1] is increased by one.
86s.p '\
5
2 I/O
3 IF /SELECT
4 WAIT
6 ••• = ..• DIV •••
ENTER 7 ~
7
•••
=... MOV •••
5
6
7
[End]
2 DO[
6 GO[ ]
7 GI [ ]
3 DI[
4 RO
8 ---next
RI
6 GO[
7 GI [
3 DI [ ]
2: R[l]=R[l]
[End]
1: J
2:
rsnaJ >,<
[INST]
For the details of the register instruction, see Chapter 4.
- 181 -
P[l] 100% FINE
R[l]=R[l]+l
[EDCMD]
>
B-80464E/01
5. PROGRAMMING
1 Move the cursor to END.
2 Press the F1 (INST) key. Then, the control instruction menu is displayed.
2 I/O
3 IF/SELECT
5 JMP/LBL
6 CALL
7 Palletizing
3 Select REGISTERS.
5
2 PL[
3 PR[
6
7
2: @j~@= ••• +...
[End]
4 Select PR[ ].
Teach the instruction assigning the Cartesian coordinates of the current position to the position register
on the following screens.
5 PR[
2 Jpos
3 UFRAME[
4
6
7
[CHOICE]
PR[ ]
2 Jpos
3 UFRAME[
4
2:
6
7
8 ---next
PR[lJ=j[(\j.@
[End]
2:
PR[l]=LPOS
l!il~fA~ii'Ji.111
[INST]
For details of the instruction, see Chapter 4.
-182-
[EDCMD]
>
5. PROGRAMMING
B-80464E/01
1 Move the cursor to END.
2 Press the F1 (INST) key. Then, the control instruction menu is displayed.
2 I/O
3 IF/SELECT
4 WAIT
l'fBl!l~ll§l§lm!
5 JMP LBL
6 CALL
7 Palletizinq
8 ~-next ~~-
:m.10000111:: :::::::::::::::um :ns:::::
3 Select 1/0.
Teach the instruction that turns on R0[1] on the following screens.
~
1 Relisters
~1'Jm.mu
3 IF/SELECT
4 WAIT
1.u;
5
6
7
8
2 R[ ]=DI[ ]
3 RO[ ]=...
5 GO[ ]= •••
6 R[ ]=GT[ ]
7
4R[J=RI[]
8
~'§'w.1, '.B.'.L®'JJRraE I B
5
2 Off
3 Pulse (,width)
4 R[ ]
PROGRAMl
6
7
8
2/3
2:
RO[l]=.Jm
[End]
....
2:
RO[l]=ON
[INST]
For details of the instruction, see Chapter 4.
-183-
[EDCMD]
>
B-80464E/01
5. PROGRAMMING
5.3.6 TP start prohibition
The R-J2 Mate controller can execute the program immediately while editing it. To prevent the program from
being executed by mistake.you can prohibit starting the program while teaching with this function.
When you select Disable FWD/BWD in the function menu.starting a program with a teach pendant is prohibited.
At this time,"FBD" is reversely displayed in the upper right hand corner of the teach pendant screen to inform
that TP FWD/BWD key is disabled.
This "FBD"means "Forward.Backward Disabled". To release the prohibition mode,press Disable FWD/BWD
in the function menu again. At this time, the indicator of "FBD". disappears and the override is decreased to the
setting value specified in the system variable,$SCR.$FWDENBLOVRD,when it is larger than the setting value.(Standard value: 10%)
Though the indicator, "FBD", displayed in upper right hand corner of the screen disappears when the teach pendant is disabled,"FBD" is displayed again when the teach pendant is enabled again.
Press and hold the SHIFT key.and press FWD or BWD in prohibition mode. At this time.a warning message,''Teach pendant is disabled",is displayed at the first line of the screen.
1 Press the FCTN key. The function menu is displayed.
2 Select 2 Disable FWD/BWD. "FBD" is reversely displayed in the uppermost right hand line of the screen.
[ INST ]
[EDCMD]>
3 To release the prohibition mode.select "2 Disable FWD/BWD" in the function menu again. "FBD" disappears and the override is reduced to a setting of $SCR.$FWDENBLOVRD.
[ INST
-184-
[EDCMD]>
5. PROGRAMMING
B-80464E/01
• TP is in prohibition mode.
• The teach pendant is disabled.
The following program edit screen is displayed.
"FBD" is not displayed in TP prohibition state because a teach pendant is disabled.
[ INST ]
[EDCMD]>
2 Enable the teach pendant.
"FBD" is displayed at uppermost right hand corner of the screen and the override is reduced to the setting
of $SCR.$FWDENBLOVRD.
[ INST ]
-185-
[EDCMD]>
B-80464E/01
5. PROGRAMMING
5.4 Changing a Program
An existing program can be changed (modified} whenever it needs to be. The following subsections related
to changing a program are described in this section:
• Selecting a program
• Modifying a standard motion instruction
• Changing a motion instruction
• Changing a control instruction
• Editing a program instruction
- Inserting a blank line
- Deleting a program instruction
- Copying a program instruction
- Finding a program instruction item
- Replacing a program instruction item
- Renumbering program lines
Selecting a program
Select a program from the menu of existing programs.
Changing a motion Instruction
Change a motion instruction item. An example is position data, which is an instruction item that must be frequently changed.
Changing other Instructions
Change other instructions.
-186-
5. PROGRAMMING
B-80464E/01
5.4.1
Selecting a program
When selecting a program, call the registered program to display the program edit screen for editing, changing
and playing back a program.
Once a program is selected, the program is effective until another program is selected. While another screen
is displayed such as the current position screen, the currently selected program is started by the start switch.
• When the teach pendant is enabled (The current or halted program is forcibly terminated when a program
is selected.)
• When the teach pendant is disabled
Another program cannot be selected while a program is being executed or halted.
Select a program on the program selection screen.
1 Press the MENUS key.
2 Select SELECT.
Alternatively, press the SELECT key to enable a program to be selected. In this case, the program selection
screen is displayed.
BJ.mlifi
l!fil"I l!. JR!fBB!iltt:llllmD
1
" ~
SAMPLEl
S~~2
4
5
PROGOOl
PROG002
61092 bytes free
3/5
JB[SAMPLE PROGRAMl
]
""' ~· JB [SAMPLE PJlO~~.
]
.
R:1~l.~l--J.1TuWJll
[TYPE]
PR[PROGRAMOOl
PR[PROGRAM002
CREATE
DELETE
MONITOR
]
]
[ATTR] >
3 Move the cursor to the name of a program to be corrected using the cursor keys (1' and .J.) press the ENTER
key.
The selected program edit screen is displayed.
BBJ
2 J
3 L
4 L
5 J
[End]
POINT
-187-
P[l]
P[2]
P[3]
P[4]
P[l]
100% FINE
70% CNTSO
lOOOcm/min CNT30
500mm/sec FINE
100% FINE
TOUCHUP >
B-804G4E/01
5. PROGRAMMING
5.4.2 Changing a motion instruction
When changing a motion instruction, change the instruction items of the motion instruction or change taught
position data. For the motion instructions, see Section 4.3.
Changing position data
To change position data, assign new position data to the position variable by pressing the FS (TOUCH UP) key
while pressing the SHIFT key.
Position data Information
The coordinates and configuration for position data can be directly changed on the position data information
screen.
- F2 (PAGE): Toggles between the standard axes and the extended axes
- F3 (CONFIG): Edits the configuration value.
- F4 (DONE): Terminates changing the position data information.
- FS (REPRE): Toggles between Cartesian coordinates and joint coordinates.
Changing an Instruction Item
To change an instruction item, press the F4 (CHOICE) key to display the motion instruction item menu, then
select an instruction item from the menu.
• Motion type: Controls a path to the specified position. When the motion type is changed, the feedrate unit
is also automatically changed.
• Position variable: The variable storing position data and the variable number are changed.
• Feedrate: The speed of the robot when it moves (robot motion speed) and the feedrate unit are changed.
• Positioning type: Positioning at the specified position is changed.
• Supplementary motion instruction: An additional instruction to be executed when the robot is moving is
changed.
Requirements:
• The program to be changed must be selected.
• The teach pendant must be enabled.
Move the cursor to the line number at which the motion instruction to be changed is displayed.
J
4
5
L
L
J
P[l]
P[2]
P[3]
P[4]
P[l]
100% FINE
70% CNT50
lOOOcm/min CNT30
500mm/sec FINE
100% FINE
[End]
POINT
TOUCHUP >
2 Move the robot to a new position and press the FS (TOUCH UP) while pressing the SHIFT key. The new
position is recorded.
-188-
5. PROGRAMMING
B-80464E/01
TOUCHUP >
1
P[l] 100% FINE
P[2] 70% CN'r50
3 L P[3] 1000cm/min CNT30
4 L P[4] 500mm/sec FINE
5 J P[l] 100% FINE
[End]
Position has been recorded to P[2].
POINT
TOUCHUP >
J
l!JllJ
3 When the position data is taught to the motion instruction with a incremental option again.a incremental
option is removed.
~J
TOUCHUP >
P [3] 100% FINE INC
[End]
POINT
TOUCHUP>
~J
P[3] 100% FINE INC
[End]
Delete Inc option and record position ?
YES
NO
- YES : A incremental option is removed and position data is taught.
- NO : The position data is not taught.
~~~-Y-E-S~~-N-0~___.j
BDJ P[3]
100% FINE
[End]
Position has been recorded to P[3].
POINT
TOUCHUP>
4 When position data is taught in the position register as a position variable, the position data in a register
is changed by editing.
TOUCHUP >
. . J PR[3] 100% FINE
[End]
Position has been recorded to PR[3].
POINT
TOUCHUP>
-189-
B-80464E/01
5. PROGRAMMING
To display position data information, move the cursor to the desired position variable, then press the FS
(POSITION) key. The position data information screen is displayed.
I1!9.i)~£™2fllii98~il~~iilWII!ilii@iHiiH!iiiIHiliii%~iNW:Ia~M@
1
2
J
J
3
L
4
L
P[2]
UF:O
UT:l
CONF:FT.
X: !@:§~'.Q!ii~MiJi mm
W:
4 0 . 00 0
Y: -342.992 mm
P: 10.000
Z
mm
R: 20.000
P[l] 100% FINE
PJ'f'J 70% CNT50
p{jj lOOOcm/min
P[4] 500:mm/sec
J
~(?'\
2: J
COMMENT CHOICE POSITION
deg
deg
Pfl)l 70% CNT50
Enter value
PAGE
CONFIG
DONE
[REPRE]
2 To change the position, move the cursor to the coordinates for each axis and enter new coordinates.
p
X:
y:
iliii!!I!Iliimrn
mm
mm
0008(?\
3 To change the configuration value, press the F3 (CON FIG) key, move the cursor to the configuration field,
then enter a new configuration value with the cursor keys (t and J-).
CONFIG
DONE
[REPRE]
@J(?\
J
· P[2]
UF:O
X: 1500.374
Y: -300.000
2: J
UT:l
mm
mm
P:
10.000
deg
deg
Pli~I 70% CNT50
Select Flip or Non-flip by UP/DOWN key
POSITION
DONE [REPRE]
4 To change a coordinate system, press the FS (REPRE) key and select the coordinate system to be
changed.
p
Jl: JIQ[~~[?~)j! deg
J2: 23.590 deg
J4: -95. 000
JS:
0.789
5 After changing position data information, press the F4 (DONE) key.
CONFIG
DONE
[REPRE]
J
a(?\
-190-
deg
deg
5. PROGRAMMING
B-80464E/01
1 Move the cursor to the instruction item of a motion instruction to be changed.
2 Press the F4 (CHOICE) key to display the submenu of the instruction items, then select the instruction item
to be changed from the submenu.
The following screens show changing the motion type from linear motion to joint motion:
5:;fif;f@P [5] 500cm/min
[End]
2
3
Linear
Circular
~~~~cc_H_o_I_c_E_J~~~j
6~
5:@ftJij P[5] 500cm/min CNT30
[End]
Select item
[CHOICE]
5: J Pf~J 100% CNT30
[End]
2 Linear
3 Circular
4
Enter Value
COMMENT
[CHOICE]
POSITION
3 The following screens show changing from the position variable to the position register.
5: J
[End]
P~§)
100% CNT3
[CHOICE]
3
)
5: J Pf~J 100% CNT30
[End]
5: J PRISJ 100% CNT30
[End]
4
Enter Value
COMMENT
[CHOICE]
4 Change the feedrate.
2:
J
P[2] @Q'.Q% FINE
2: J P[2]
[End]
FINE
Enter Value
[CHOICE]
- 191 -
POSITION
B-80464E/01
5. PROGRAMMING
5 Change the feedrate unit.
4: L
P [2] if~Q[Qcm/mm
6
~~~-r_c_Ho_I_c_E_l~~~j
a~
sec
7
4: L
P [ 4]
l!§gg¢.iigili\
CNT30
[End]
6 Change the positioning type.
1 ot I~~J~iM
[CHOICE]
Select item
[CHOICE]
-192-
5. PROGRAMMING
B-80464E/01
Place the cursor at the motion type of the circular motion instruction to be changed.
The following screens show changing the circular motion instruction to the linear motion instruction.
6:
[5]
P[6] SOOcm/min CNT30
[End]
[CHOICE]
6:
P[S]
P [6] 500cm/min
[CHOICE]
1
Joint
3
4
,..,
·--
)
6:
6/7
flQ1'\lP[5]
P[6] SOOcm/min CNT30
6: L Pf§(j SOOcm/min CNT30
[End]
COMMENT
[CHOICE]
POSITION
When a circular motion instruction is changed to a joint or linear motion instruction, the taught
data for the passing point of the arc is deleted.
2 The following screens show changing the linear motion instruction to the circular motion instruction.
NOTE
6: L
[End]
P(§) SOOcm/min
[CHOICE]
j
6:
6:
[6] SOOcm/min CNT30
[6]
P[ •.. ] 500cm/min CNT30
[End]
[CHOICE]
NOTE
When a joint or linear motion instruction is changed to a circular motion instruction, the taught
data for the end point of the arc is canceled.
- 193-
5. PROGRAMMING
B-80464E/01
Move the cursor to the supplementary motion instruction to be changed or deleted.
The following screens show changing the wrist joint motion instruction (WRIST JOINT) to the incremental
instruction (INCREMENTAL).
!Ji:~i'.!i:t'.!l
7: L P[2] 300mm/sec FINE
[End]
[CHOICE]
100%
FINE li.)1f~tJ!
_________c_c_Ho_I_c_E_i______~j
El~
No Option
Wrist Joint
Offset
1
2
3
6
7
Skip,LBL[
zzzz
7: L P[2] 300mm/sec CNT30
[End]
$ \tf!~~~~@~~iI!!@IWi
6 Skip,LBL[ ]
7
8
7: L
P[2] 300mm/sec FINE
[End]
[CHOICE]
2 The following screens show deleting the incremental instruction.
7: L P[2] 300mm/sec FINE
[End]
300mm/sec FINE
:fil;j:
[CHOICE]
_________c_c_H_o_Ic_E_i______~j
:in@mrnrnrnt
1 iI!!I9:gtnm:11a1tt:m
Incremetai"". . .
2
3
Wrist Joint
Offset
4
6
7
8
Skip, LBL [ ]
zzzz
zzzz
7: L P[2] 300mm/sec FINE
[End]
2 Wrist Joint
3 Offset
4 Offset,PR[ ]
5
6
7
8
8~
7: L
P[2] 300mm/sec FINE
[End]
[CHOICE]
- 194-
5. PROGRAMMING
B-80464E/01
5.4.3 Changing a control instruction
You can change the syntax, item, or variable of a control instruction.
1 Move the cursor to the instruction item to be changed.
10: J P [5] 100%.. FINE
11: WAIT RI[lJ:j)ff@
12: RO[l]=ON
... ,,..
[CHOICE]
2 Press the F4 (CHOICE) key to display the instruction menu and select the instruction item to be changed.
The following screens show changing the wait instruction.
11: WAIT RI [1]5$.ij
12: RO[l]=ON ··········
Select item
[CHOICE]
11: WAIT RI [l] =R[jir)jj~[J
12: RO[l]=ON
Enter value
[CHOICE]
11: WAIT RI[l]=R[2]
12: RO[l]=ON
[CHOICE]
11: WAIT RI[l]=R[2]
TIMEOUT,LBL[2]
ii!P!gimRo [l] =ON
[CHOICE]
-195-
B-80464E/01
5. PROGRAMMING
5.4.4 Program edit instructions
The program edit instructions are used to edit a program in a lump.
Press the FS (EDCMDT) key to display the program edit instruction menu and select a desired program edit
instruction from the menu.
[EDCMD]>
)
2
3
4
5
6
Delete
Copy
Find
Replace
Renumber
EDCMD
Insert
Inserts blank lines, the number of which is specified, between the existing lines of a program. When blank lines
are inserted, the program lines are renumbered.
Delete
Deletes a series of instructions from a program. After the instructions are deleted, the program lines are renumbered.
Copy
Copies a series of instructions and inserts the instruction group into another location in the program. When a
series of instructions is copied, the instruction group is selected and recorded in memory. Once the series of
instructions is copied, it can be inserted into other locations in the program repeatedly.
Find
Finds the specified program instruction item.
Replace
Replaces an item of the specified program instruction with another item. This program is used, for example,
when setup data for the program is changed. The replace instruction is useful when the program is long and
the specified item must be found quickly.
Renumber
Renumbers the program lines by line number in ascending order. Whenever a motion instruction is taught, the
line number is increased regardless of locations in the program. When insertion and deletion are repeated, the
line numbers are not sequentially arranged in a program. Renumbering arranges them sequentially in the program.
-196-
5. PROGRAMMING
B-80464E/01
1 Press the next page key (NEXT) to display EDCMD in the FS key name field.
2 Press the FS (EDCMD) key. The edit instruction menu is displayed.
1: J
[EDCMD]
>)
P[l]
p c21
3: L P[3]
4: L P[4]
5: J P[l]
[End]
mw;;g#!: J
100% FINE
i~lfiHii##.!@1\1@
10% CNT50
2 Delete
lOOOcm/min CN 3 Copy
500mm/sec FIN 4 Find
100% FINE
5 Replace
6 Renumber
[INST]
[EDCMD]
In the example below, two blank lines are inserted between the 3rd and 4th lines.
3 Select Insert.
4 Move the cursor to the line where instructions are to be inserted. In this example, move the cursor to the
4th line.
~D
1: J
2: J
L
L
5 Replace
6 Renumber
[EDCMD]
J
p [l]
p [2]
p [3]
p [4]
p [1]
100% FINE
70% CNT50
lOOOcm/min CNT30
500mm/sec FINE
100% FINE
[End]
How many line to insert ?
5 Enter the number of blank lines to be inserted (two) and press the ENTER key.
1: J P[l] 100% FINE
2: J P[2] 70% CNT50
L P[3] 1000cm/min CNT30
6: L P[4] 500mm/sec FINE
5: J P[l] 100% FINE
[INST]
[EDCMD] >
The two blank lines are inserted into the program and all the lines in the program are renumbered.
-197-
5. PROGRAMMING
B-80464E/01
1 Move the cursor to the top of the line in which the instruction to be deleted is positioned. (Specify the line
to be deleted with the cursor.)
2 Press the next page key (NEXT) to display EDCMD in the FS key name field.
3 Press the FS (EDCMD) key to display the editing instruction menu.
8~
1: J
2: J
3: L
[EDCMD] > )
@ij'.~jjfilL
5: J
P[l]
P[2]
P[3]
P[4]
P[l]
100% FINE
70% CNTSO
lOOOcm/min
500mm/sec FI
100% FINE
[End]
1 Insert
fil@Jii.!:i!~~#~i1ffiitl
3 Copy
4 Find
5 Replace
6 Renumber
[INST]
[EDCMD]
4 Select Delete
1imiii8:
Cop
3
1:
2:
ENTER
4 Fin
5 Replace
6 Renumber
J
J
L
L
J
P[l]
P[2]
P[3]
P[4]
P[l]
100% FINE
70% CNTSO
lOOOcm/min cNT30
500mm/sec FINE
100% FINE
[End]
Delete line(s) ?
YES
NO
[EDCMD]
NOTE
Once an instruction is deleted, the instruction is not restored. Be sure to confirm whether an
instruction to be deleted should be done before doing it, or important data may be lost.
5 Specify the range of instruction lines to be deleted with the cursor keys (I' and .!.).
6 To cancel deleting the selected line, press the FS (NO) key. To delete the selected lines, press the F4 (YES)
key.
3: L
L
J
P[3] lOOOcm/
P[4] 500mm/s
P[l] 100% FI
End]
Delete line(s) ?
YES
NO
i;
1: J P[l] 100% FINE
2: J P[2] 70% CNTSO
3: L P[3] lOOOcm/min CNT30
rw~§i1rn@
[INST]
- 198-
[EDCMD] >
5. PROGRAMMING
B-80464E/01
1 Press the next page key (NEXT) until EDCMD is displayed in the F5 key name field.
P[l]
P[2]
3: L P[3]
4: L P[4]
5: J P[l]
[End]
J
J
100% FINE
70% CNTSO
1000cm/min CNT30
500mm/sec FINE
100% FINE
[INST]
[EDCMD]
2 Press the F5 (EDCMD) key. The editing instruction menu is displayed.
3 Select 3 Copy.
The following screens show copying 2th to 4th lines to 5th to 7th lines.
J
J
P[l]
P[2]
P[3]
P[4]
P[l]
100% FINE
70% CNT50
1000cm/min CNT30
500mm/sec FINE
100% FINE
3: L
4: L
5: J
[End]
Select lines
COPY
PASTE
4 Select the range of lines to be copied.
J
p [1]
J
:g~n=il~
4: L
5: J
P[4J~\("\
P[l]
1: J
P[l]
J
L
p [2]
P [3]
L
P[4]
P[l]
5: J
[End]
Select lines
COPY
[End]
Move cursor to select range
COPY
1: J
2: J
3: L
L
J
P[l]
P[2]
P[3]
P[4]
P[l]
100% FINE
70% CNT50
lOOOcm/min CNT30
500mm/sec FINE
100% FINE
[End]
Select lines
COPY
As a result of above steps, the selected instructions (2nd to 4th lines in this example) were copied in
memory.
5 Decide where you want to paste the sentences copied in the memory.
1:
2:
3:
4:
J
J
L
L
iM!~M J
P[l]
P[2]
P[3]
P[4]
p [1]
100% FINE
70% CNT50
lOOOcm/mi
500mm/sec
100% FINE
1: J
2: J
3: L
4: L
[End]
Select lines
COPY
PASTE )
~~
!fjf[j(f?J!J't J
P[l]
P[2]
P[3]
P[4]
P [ 1]
100% FINE
70% CNT50
1000cm/min CNT30
500mm/sec FINE
10 0% FINE
[End]
Paste before this line ?
LOGIC POS-ID POSITION
- 199-
CANCEL >
B-80464E/01
5. PROGRAMMING
6 Select the copying and pasting method (copying from the original).
LOGIC POS-ID POSITION
CANCELj
@]~
l:
2:
3:
4:
5:
6:
7:
J
J
L
L
J
L
L
~Jj((\afff) J
P[l]
P[2]
P[3]
P[4]
P[2]
P[3]
P[4]
P [1]
100% FINE
70% CNT50
1000cm/min CNT30
500mm/sec FINE
70% CNT50
1000cm/min CNT30
500mm/sec FINE
100% FINE
[End]
Select lines
COPY
PASTE >
7 By repeating the above steps 5 to 6, the same instruction group can be pasted at any number of locations
in the program.
8 To terminate the pasting of instructions, press the PREV key
Pasting methods
The following copying and pasting methods are provided:
LOGIC POS-ID POSITION
CANCELj
- F2 (LOGIC): Copying and pastes only the control instructions (other than motion instructions) in the original program.
- F3 (POS-10): Copies and pastes all the instructions in the original program. The same line numbers for
the motion instructions are also copied and pasted.
- F4 (POSITION): Copies and pastes all the instructions inthe original program. The program lines are renumbered.
Pressing the next page key (NEXT) displays the following function key menu:
These functions in the function key menu paste instructions copied from original program in the reverse
order.
Example
When the F4 (A-POSITION) is pressed
R-LOGIC-it-POS-ID-R-POSITION CANCEL
j
1:
2:
3:
4:
5:
6:
7:
J
J
L
L
J
L
L
\j);§\.!\.jJ
P[l]
P[2]
P[3]
P[4]
P[5]
P[6]
P[7]
P [1]
100% FINE
70% CNT50
1000cm/min CNT30
500mm/sec FINE
500mm/sec FINE
1000cm/min CNT30
70% CNT50
100% FINE
[End]
Select lines
COPY
-200-
PASTE >
5. PROGRAMMING
B-80464E/01
1 Press the next page key (NEXT) until EDCMD is displayed in the FS key name field.
P[l] 100% FINE
R[l]=O
3: LBL[l]
4:L P[2] lOOOcm/min CNT30
S:L P[3] SOOmm/sec FINE
6: IF DI[l]=ON JMP LBL[2]
7: R[l]=R[l]+l
8: JMP LBL[l]
9: LBL[2]
[End]
[ INST ]
[EDCMD]
>
2 Press the FS (EDCMD) key. The editing instruction menu is displayed.
3 Select Find.
4 Select a program instruction item to be found. The following screens show how to find instruction, WAIT.
; ~~~=o
1 Registers
2 CALL
3 I/O
.1~1~iOc>
5 Replace
6 Renumber
J
6 Miscellaneous
7 Program control
[EDCMD]
5
2 Skip
3 Offset
6
7
l~_E_n_t_e_r_i_·n_d_e_x_v_a_1_ue~@_ffi'_@_£_1~~~~~~~_,J
5 When the item to be found is an argument, enter the value. To find an item regardless of whether the item
is an argument, press the ENTER key without entering anything.
l
Enter index
valu~j~fjj
1/10
l:J P[l] 100% FINE
2: R[l]=O
3:
4:L
S:L
6:
7:
8:
9:
[End]
141®.If!\OO~
P[2] lOOOcm/min CNT30
P[3] SOOnun/sec FINE
IF DI[l]=ON JMP LBL[2]
R[l]=R[l]+l
JMP LBL[l]
LBL[2]
NEXT
EXIT
If the specified instruction is found in the program, the cursor stops at the instruction.
- 201 -
B-80464E/01
5. PROGRAMMING
6 To find the same instruction again, press the F4 (NEXT) key.
~~~~~~NE-X-T~-EX~I-T~~j
1/10
l:J
2:
3:
4:L
S:L
6:
P[l] 100% FINE
R[l]=O
LBL[l]
P[2] lOOOcm/min CNT30
P[3] SOOmm/sec FINE
IF DI[l]=ON JMP LBL[2]
~: ~ 1 1miaffi1
9:
[End]
LBL[2]
NEXT
7 To terminate finding an instruction, press the F5 (EXIT) key.
NEXT
EXIT
-202-
EXIT
B-80464E/01
5. PROGRAMMING
1 Press the next page key (NEXT) until EDCMD is displayed in the FS key name field.
lif)!jj~[jj:J P [1] 100% FINE
2:J P[2] 70% CNTSO
3: LBL[l]
4:L P[3] lOOOcm/min CNT30
S:L P[4] SOOmm/sec FINE
: SKIP LBL[2]
6: JMP LBL[l]
7: LBL[2]
S:J P[S] 100% FINE
[End]
[ INST ]
[EDCMD]>
2 Press the FS (EDCMD) key. The changing instruction menu is displayed.
3 3. Select Replace.
4 Select a program instruction item to be replaced and press the ENTER key.
In the screen below the feedrate specified in the motion instruction is changed to another value.
1 Insert
2 Delete
3 Copy
4 Find
1§i~a~~s~1rn1:
1 Registers
2 CALL
3 I/O
4
6 Renumber
EDCMD
2 Replace term
3 Insert option
5
6
7
The following replacement items are displayed:
- Replace speed:
Changes the feedrate to another value.
- Replace term:
Changes the positioning type to another value.
- Insert option:
Inserts an supplementary motion instruction.
- Remove option:
Deletes an supplementary motion instruction.
5 Select Replace speed.
5
6
7
- Unspecified type: Changes the feedrates in all motion instructions
- J: Changes the feedrates only in motion instructions for joint control.
- L: Changes the feedrates only in motion instructions for linear control.
- C: Changes the feedrates only in motion instructions for circular control.
-203-
B-80464E/01
5. PROGRAMMING
6 Specify the motion type of the motion instruction for which the feedrate is to be changed.
e
2 J
8~
3 L
4
;;;;~@i!;#.iims,1w,2nw&.1•111@1rnmrnm;r1m;m;;;~~~mii~~;l!m
5
c
1 %
2 mm/sec
3 cm/min
5 deg/sec
6 sec
7
7 Specify the unit of the feedrate to be changed.
2 mm/sec
3 cm/min
4 inch/min
l _ _ __
8h
Enter speed value;'!Ii@@
_"
5
6
ENTER
~\
8 Enter a desired feedrate.
l
Enter speed value j§gj
l:J P[l] )WQQ~ FINE
2 :J P r21 i6%wcNT5o
Modify OK ?
ALL
YES
NEXT
EXIT
The kinds of replacing items are displayed.
- F2 (ALL): Replaces all the items in the current fine and subsequent lines.
- F3 (YES): Replaces the item at the cursor and finds the next item.
- F4 (NEXT): Finds the next item.
l
9 Select a replacement method.
Modify OK
!u.
YES
P[l] 50% FINE
P[2] 50% CNT50
3: LBL[l]
4:L P[3] 1000cm/min CNT30
5:L P[4] 500mm/sec FINE
: SKIP LBL[2]
6: JMP LBL[l]
7: LBL[2]
8:J P[5] 50% FINE
[End]
[ INST ]
10 To terminate item replacement, press the FS (EXIT) key.
j
------YES
NEXT
EXIT
@]~
-204-
[EDCMD]>
j
5. PROGRAMMING
B-80464E/01
1 Press the next page key (NEXT), then press the FS (EDCMD) key.
f.ti!{,~i!~
P[B]
P[6]
3: L P[3]
4: L P[S]
5: J P[l]
6: L P[S]
5: J P[S]
[End]
100% FINE
70% CNT50
lOOOcm/min CNT30
500mm/sec FINE
100% FINE
500mm/sec FINE
100% FINE
[EDCMD]
[INST]
2 Press FS, EDCMD. The changing instruction menu is displayed.
3 Select Renumber.
1
2
3
4
5
Insert
Delete
Copy
Find
Replace
!ii:ifmnE.ii.iJ;i:i
r:::I ~
[=:J y \
l.
Renumber OK?
YES
NO
j
----------------~
~------E_D_CMD
_ _~J
~~
4 To renumber the program lines, press the F4 (YES) key. To cancel renumbering the program lines, press
the FS (NO) key.
3: L
4: L
5: J
6: L
7: J
[INST]
-205-
P[l]
P[2]
P[3]
P[4]
P[5]
P[4]
P[l]
100% FINE
70% CNT50
lOOOcm/min CNT30
500mm/sec FINE
100% FINE
500mm/sec FINE
100% FINE
[EDCMD]
B-80464E/01
5. PROGRAMMING
5.5 Program Operation
5.5.1
Program operation
This section describes the following program operations:
• Changing program information
• Deleting a program
• Copying a program
• Displaying the attribute of a program
Changing program Information
The program header information is changed with a program detail screen. Setting without the motion group
motion group can be done. The following items can be set:
• Program name: Name of program to be changed.
• Subtype: The subtype of a program to be changed.
• Comments: The comments in the program to be changed.
• Group mask: Specifies a motion group to be controlled in a program. You can also set so a program has
no motion group.
• Write protection: Prevents the modification of a program.
• Interruption disable: Causes a program that has no motion group no to be paused by the alarm whose severity is SERVO or lower, the emergency stop, and the hold.
·
Display the following items on the program information screen:
• Creation Date:
• Modification Date:
• Name of the file to be copied
e Positions: FALSEffRUE
• Memory area size of program
NOTE
The setting field of a Creation Date and a Modification Date is not used currently. For R-J2
Mate controller, this can be used.
Deleting a program
The unnecessary program can be deleted.
Copying a program
The program with another name in the same content can be reproduced.
Display of a program attribute
The following program header informations can be displayed on the program selection screen:
• Comment
- The comment in a header information is displayed.
• Protection
- The settings of "Write protect:" in a header information is displayed
• Last Modified - The settings of "Modification Date:" in a header information is displayed.
• Size
- The number of lines of program and memory size are displayed.
• Copy Source -The settings of "Copy Source:" in a header information is displayed.
NOTE
The size of memory free area is displayed on the program selection screen. This size does not
usually express the maximum size of the program which can be saved.
-206-
5. PROGRAMMING
B-80464E/01
changed.
Requirements:
• The teach pendant must be enabled.
1 1. Press the MENUS key to display the screen menu.
2 Select SELECT. The program selection screen is displayed.
Alternatively, press the SELECT key to display the program selection screen.
'I
iiEEfiil@fi!JfHlt\Hitiilifi!lt\11'!1t¥IfiiEI@i;!llf!1lliilli!1&lI&ii®i!~'.9~!!i
61092 bytes free
3/5
1 SAMPLEl
2 SAMPLE2
JB[SAMPLE PROGRAMl
JB[SAMPLE PROGRAM2
]
]
4 PROGOOl
5 PROG002
PR[PROGRAMOOl
PR[PROGRAM002
]
]
i!r&11r;;§&g~;wI:I&:11nr1M;11m1t~n11Rs9~imm:\j]m
[TYPE]
CREATE
DELETE
COPY
DETAIL
LOAD
MONITOR
SAVE
[ATTR] >
PRINT >
3 Press the NEXT key">" to display the next page, then press the F2 (DETAIL) key. The program information
screen is displayed.
_c_o_P_Y__D_E_T_A_I_L_L_o_AD
______)
Creation Date:
10-MAR-1994
Modification Date:
11-MAR-1994
Copy Source:
[****************]
Positions: FALSE Size:
312 Byte
1 Program name:
rnrnrNr•a@;rnmm
2 Sub Type:
[None
]
3 Comment:
[SAMPLE PROGRAM 3]
Group Mask:
[1, *, *, *, *]
4 Write protect:
[OFF
]
5 Ignore pause:
[OFF
]
END
PREV
NEXT
4 Specify each item (see Section 4.1 ).
If the motion instruction is taught in the program, you can not set the 3
"Group Mask:" of this program.
5 After specifying program information, press the F1 (END) key.
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5. PROGRAMMING
B-80464E/01
1 Press the MENUS key to display the screen menu.
2 Select SELECT. The program selection screen is displayed.
l SAMPLE3
2 PROGOOl
3 PROG002
JB[SAMPLE PROGRAM3
PR[PROGRAMOOl
PR[PROGRAM002
]
]
]
rn;1;'~1;ilii~11111m1rnm1;i;~lli111iilmrmw1~m
[TYPE]
CREATE
DELETE
MONITOR
[ATTR] >
3 Move the cursor to the name of a program to be deleted, then press the F3 (DELETE) key.
[TYPE]
CREATE
DELETE
)
zzzzz
YES
NO
4 Press the F4 (YES) key.
YES
NO
)
-~~
8~
5 The specified program is deleted.
l PROGOOl
2 PROG002
3 SAMPLEl
PR[PROGRAMOOl
PR[PROGRAM002
JB[SAMPLE PROGRAMl
i!i:imi!i.~!!lm1;rn1; lig§I~~r?~§~;;
[TYPE]
-208-
CREATE
DELETE
MONITOR
]
]
]
rnarn
[ATTR] >
5. PROGRAMMING
B-80464E/01
1 Display the program selection screen.
2 Press the F1 {COPY) key on the next screen to display the program copy screen.
2 Upper Case
3 Lower Case
4 ,Qptions
---Insert---
..U!:II H
'. l!'.i :;;;;i;: !HI'.!lii'.'. '. i'.J I i.lEl
-~Copy Teach Pendant Proqram--From: ~LE3
]
TO: ~
]
Press ENTER for next item
PRG
MAIN
SUB
TEST
3 Enter the name of the program to be copied, then press the ENTER key.
4 The desired program is copied to the specified program, PROGRAM1.
1Raiioo
2 Upper Case
3 Lower Case
"4 &1Jtl,on~
.
. . . .u:rn::::~
---Copy Teach Pendant
From: [SAMPLE3
]
]
To: iaoGRAMl
r. mmntttfffiliJ ·rrr 1anm<oa
48956 bytes free
3/6
1 PROGOOl
PR[PROGRAMOOl
]
2 PROG002
PR [PROGRAM002
L
~~; "j j(llimmnt.fil[";:::,:::;:1.@E!,.,Ih]
4 SAMPLEl
JB[SAMPLE PROGRAM!
]
5 SAMPLE2
JB[SAMPLE PROGRAM2
]
6 SAMPLE3
JB[SAMPLE PROGRAM3
]
[TYPE]
-209-
CREATE
DELETE
MONITOR
[ATTR] >
5. PROGRAMMING
B-80464E/01
1 Press the MENUS key. The screen menu is displayed.
2 Select "O -- next--". "1 SELECT" in the next page is displayed.
You can select a program selection screen by pressing the SELECT key instead of the above 1 to 2 procedure.
Program Selection Screen
llmlii :IL ]!II !I l!Ii !!~ill : ; ill!:IHlll 1!UillB
61276 bytes free
1/4
No. Pro~ram name
Comment
1
1
[SllMPLE PROGRAM 1]
2 SllMPLE2
[SllMPLE PROGRAM 2]
3 PROGOOl
[PROGRAMOOl
]
4 PROG002
[PROGRAM002
]
•nr•rn rn
[ TYPE ] CREATE DELETE
MONITOR [ATTR ]>
COPY
SAVE
DETAIL
LOAD
PRINT
>
3 Press FS,[ATTR].
4 Select Size.
1 Comment
2 Protection
3 Last Modified
''!!'!~A
(ENTER] ~
ATTR
5 The number of lines and size of a program is displayed at the place that the comments are displayed.
Emlilil' ..,! :J!E!JE T!HIIT[!i'"T&flJ.. ; i11B
61276 bytes free
Program name
Size
11~
10/
2 SAMPLE2
10/
3 PROGOOl
10/
4 PROG002
10/
1/2
No.
[ TYPE ] CREATE DELETE
1000]
1000]
1000]
1000]
MONITOR [ATTR ]>
6 When you want to display the other item.select the desired item in the procedure 4.
-210-
O>
"'IJm
JJ
><
o~
G>c
JJ -I
)>-
s:~
l>
6. EXECUTING A PROGRAM
B-80464E/01
6. EXECUTING A PROGRAM
This chapter describes testing a program and automatic operation.
D Contents of this chapter
6.1 Program Halt and Recovery
6.2 Executing a Program
6.3 Testing
6.4 Manual 1/0 Control
6.5 Operating the Hand Manually
6.6 Automatic Operation
-211 -
B-80464E/01
6. EXECUTING A PROGRAM
6.1 Program Halt and Recovery
Program halt refers to stopping a running program.
A program halt is caused by: - An alarm occurring accidentally while the program is running. - An intentional
stop of a running program by the operator.
The· operating robot stops in one of the following ways:
• Fast stop: The robot is quickly decelerated until it stops.
• Slow stop: The robot is slowly decelerates until it stops.
Program halt states are classified into two types:
• Forced termination (end}: The execution of a program is terminated. ABORTED is displayed on the screen
of the teach pendant.
If the main program is terminated while a subprogram is being executed, information on return of control
to the main program is lost.
• Halt (temporary stop): The execution of a program is stopped temporarily. PAUSED is displayed on the
screen of the teach pendant.
The temporarily stopped program can be restarted. The subprogram called with a program call instruction
returns control to the main program.
To start from another line in the same program or another program.abort a program to release the paused
state.
There are two methods to halt a program intentionally:
• Press the emergency stop button on the teach pendant or the machine operator's panel or release the
deadman switch.
• Press the HOLD button on the teach pendant or use the input signal *HOLD of the peripheral 1/0: These
inputs halt the execution of the program.
• Select 1 ABORT(ALL} from the miscellaneous menu. This method aborts the program.
- 212-
6. EXECUTING A PROGRAM
B-80464E/01
6.1.1
Halt by an emergency stop and recovery
To stop the robot immediately, press the emergency stop button on the machine operator's panel.
When the emergency stop button is pressed, an emergency stop alarm occurs.
Pressing the emergency stop button causes the following:
• The robot stops operating immediately and the program is halted.
• An alarm occurs and the power to the servo system is turned off.
Emergency stop procedure
1 Press the emergency stop button on the teach pendant or the machine operator's panel. This halts the
running program, PAUSED is displayed on the teach pendant.
The emergency stop button is locked to keep it pressed (on state). The emergency stop alarm message
is displayed on the screen of the teach pendant. The FAULT lamp lights.
I
ON
0
OFF
qp
SRV0-002 Teach Pendant E-Stop
SAMPLE1
Ie
LINE 2
ABORTED
W.i1H111m:um :u,1111oorni~rMimB
Recovery procedure
2 Eliminate the cause of the emergency stop. For example, correct the program.
3 Rotate the emergency stop button clockwise to unlock the button.
4 Press the RESET key on the teach pendant. The alarm message then disappears from the screen of the
teach pendant, and the FAULT lamp goes off.
- 213-
B-80464E/01
6. EXECUTING A PROGRAM
6.1.2 Halt by a hold and recovery
To decelerate the robot slowly until it stops, press the HOLD key on the teach pendant or the operator's panel.
Pressing the HOLD key causes the following:
• The robot decelerates slowly until it stops (the program is halted).
• Causes a alarm and turns off the power to the servo system ( A paused alarm is enable only when
$BRKHOLD_ENB is set to TRUE).
• When a halt alarm is disabled (standard setting), pressing the HOLD key does not turn off the power to the
servo system.
• When the halt alarm is enabled, pressing the HOLD key causes a halt alarm and turns off the power to the
servo system. For the halt alarm, see Section 3.10.
Hold procedure
1 Press the HOLD key on the teach pendant. The running program is halted, and PAUSED is displayed on
the teach pendant.
The alarm message is only displayed when the halt alarm is enabled.
Recovery procedure
2 To release the halt state, restart the program.
Release paused state
1 To release the paused state and make a program aborted, press the function key to display the function
menu.
2 Select ABORT(ALL). The halt state is released.
- 214-
6. EXECUTING A PROGRAM
B-80464E/01
6.1.3 Halt caused by an alarm
An alarm is issued when a failure is detected or when the emergency stop signal or another alarm signal is input
from a peripheral device while the operator teaches or plays back a program. The alarm notifies the operator
so he or she can halt the program before a problem occurs.
The kind of a alarm is recognized by a alarm code. The cause and corrective action of a alarm can be known
by a alarm code.(See APPENDIX)
Dlsplaylng an alarm
The operator can check whether an alarm has occurred by watching the FAULT lamps on the teach pendant
and the first line and second line on the screen of the operator's panel.
Alarm code
INTP-224
ID No.
Alarm detail code
MEM0-027
INTP-224 (SAMPLEl, 7) Jump label is fail
MEM0-027
line does not exist
MlNM!it)JiliJ!i2¥i~~)i
(SAMPLEl, 7) Jump label is
2 SRV0-002 Teach pendant E-stop
Fig. 6.1 Display and Indication of an Alarm
Alarm history
To display the alarm history, select an alarm history screen [4 ALARM].(See APPENDIX Alarm codes)
INTP-224 (SAMPLEl, 7) Jump label is fail
mi::~~~~'; ~~=£~r)}t; ;· · · ;,:;t;J;~r'''I: ;~!iryHii
MEM0-027 Spedified line does not exist
30-MAY-44 07: 15
f'j@ iJf)tNTP-224 (SAMPLE!, 7) Jump label is
2 SRV0-002 Teach pendant E-stop
3 R E S E T
4 SRV0-027 Robot not mastered(Group:l)
5 SYST-026 System normal power up
TYPE ]
NOTE
CLEAR
HELP
The WARN alarm history is not recorded when system variable $ER_NOHIS
- 215-
= 1.
B-80464E/01
6. EXECUTING A PROGRAM
Alarm detail Information
Alarm has the detail information. To display the alarm detail information, press F5, HELP in the alarm history
screen [4 ALARM].
INTP-224 (SAMPLEl, 7) Jump label is fail
MEM0-027 Spedified line does not exist
30-MAY-44 07:15
STOP.L
00000110
BBfi!l~l@li
IUJII! I!ilffi&MI!::: : : ::r:mmm&
1 Alarm code
2 Alarm detail code
3 Generation date
4 Alarm severity
• Alarm code: Identifies an alarm.
• Alarm detail code: Identifies an alarm detail.
• Generation date: The generation date of the alarm is indicated. (It is not supported currently.)
• Alarm severity: Indicates the severity of an alarm.
Resetting an alarm
After eliminating the cause of an alarm, press the RESET key to reset the alarm. After the RESET key is
pressed, the FAULT LED goes off and the power to the servo system is resumed.
Resetting an alarm usually enables the robot.
•
Fig. 6.2 RESET Key
Disabling the output of peripheral 1/0 alarm signals
The output of alarm signals (FAULT output) can be disabled.
e Set $ER_NO_ALM.$NOALMENBLE to 1 (enabled).
• Specify the number of alarms for which output is to be disabled in $ER_NO_ALM.$NOALM_NUM.
• Specify the codes of the alarms for which output is to be disabled in $ER_NO_ALM.$ER_CODE1 to
$ER_NO_ALM.$ER_CODE10. (See Alarm code)
11 002 (Meaning: SERV0-002 alarm)
Alarm ID Alarm No.
Halt alarm
The halt alarm function issues an alarm and turns off the power to the servo system when the operator presses
the HOLD key to halt the robot.
Use system variable $SCR.$BRKHOLD_ENB to specify the halt alarm function. See Section 3.11.
An alarm code is used to identify the type of alarm. The cause of and countermeasure for an alarm can be
checked with the alarm code (see appendixes).
- 216-
6. EXECUTING A PROGRAM
B-80464E/01
Alarm severity
The alarm severity indicates the severity of an alarm and the cause of the alarm. How the program stops and
the robot operates varies according to the alarm severity.
Table 6.1 Alarm Severity
NONE
WARN
Program
robot operation
none
none
pause
decelerate the robot
slowly until it stops
PAUSE.L
PAUSE.G
STOP.L
STOP.G
none
off
SERVO
ABORT.L
ABORT.G
SERV02
stop the robot immediately
none
abort
off
SYSTEM
NOTE
Power to servo system
Some alarms do not observe the above rules.
WARN
A WARN alarm warns the operator of a comparatively minor or unimportant failure. The
WARN alarm does not affect the operation of the robot. When a WARN alarm occurs,
no corresponding LED on the teach pendant or the machine operator's panel lights. To
prevent a possible failure in the future, action should be taken for this alarm.
PAUSE
When a PAUSE alarm occurs, the execution of the program is halted, and the operation
of the robot is stopped. Appropriate action must be taken for the alarm before the pro·
gram is restarted.
STOP
When a STOP alarm occurs, the execution of the program is halted, and the robot is
decelerated until it is stopped. Appropriate action must be taken for the alarm before
the program is restarted.
SERVO
When a SERVO alarm occurs, the execution of a program is paused(or aborted) and
the power to the servo system is turned off to stop the robot immediately. The most
common cause of a SERVO alarm is hardware failure.
ABORT
When an ABORT alarm occurs, the execution of the program is forcibly terminated, and
the robot is decelerated until it is stopped.
SYSTEM
A SYSTEM alarm is issued when a major system failure occurs. When a SYSTEM
alarm occurs, every robot in the system is disabled. Contact the FANUC Service Division. After taking appropriate action for the alarm, turn on the power again.
-217-
B-80464E/01
6. EXECUTING A PROGRAM
6.2 Executing a Program
To execute a program is to play back a taught program. A taught program is played back just like a recorded
video tape is played back.
6.2.1 Starting a Program
A program can be started by:
• Using the teach pendant (SHIFT key and FWD or BWD key)
• Setting the START signal of a peripheral high (ON)
Teach pendant
Fig. 6.1 Starting a program
For safety's sake, a program can be started only in a device having the right to start a program. The setting of
the teach pendant enable switch determines which device has the right to start a program.
Teach pendant
enable switch
On
I
~I
Stepoperation
~
Continuous operation
A program is started on the teach pendant.
Automatic operation
Off
A program is started in a peripheral.
Fig. 6.2 How to Set the Right to Start a Program
caution:
When the right to start a program is set with the teach pendant enable switch, a running or halted program
is halted.
-218-
6. EXECUTING A PROGRAM
B-80464E/01
6.2.2 Robot motion
The robot moves just as it is instructed by the motion instructions in the program. See Section 4.3.
The following factors determine the motion of the robot:
• Feedrate override: Robot motion speed (operating speed)
• Cartesian coordinate system: Work area where the robot moves
Feedrate override
The feedrate override determines the operating speed. The feedrate override is represented as a percentage
(%) of the feedrate specified in the program (programmed feedrate) for the robot.
The currentfeedrate override is displayed in the upper right corner of the screen of the teach pendant, as shown
in Fig. 6.3.
Pressing the feedrate override key displays a popup window in reverse video in the upper right corner of the
screen to call the operator's attention. The popup window in reverse video automatically disappears a few seconds later or after another key is pressed.
Feedrate override
VFINE
FINE
Very low speed
Low speed
1%
.J,
50%
.J,
100%
Fig. 6.3 Screen Display for Feedrate Override
A feedrate override of 100% means that the robot moves at the maximum feedrate specified in the program.
Table 6-1 shows the change in feedrate override when the override key is pressed.
Table 6.1 Feedrate Override
Pressing the override key
Pressing the override key while
pressing the SHIFT key(*1)
VFINE -7 FINE -7 1% -7 5% -7 50% -7 100%
1% increments from 1% too% 5'¥o increments from 5% to 100%
VFINE -7 FINE -7 5% -7 50% -7 100%
*1 Enabled only when $SHFTOV_ENB is 1
To change the feedrate override, press the override key. Whenever the negative override key is pressed while
the SHIFT key is pressed, the feedrate is decreased in the order: VFINE, FINE, 5%, 50%, 100%. However, the
feedrate is changed in this way only when system variable $SHFT OV_ENB = 1. ·
Note that FINE and VFINE are enabled only during a jog feed. When FINE or VFINE is specified, the robot
moves at a feedrate override of 1%.
-219-
B-80464E/01
6. EXECUTING A PROGRAM
or
Fig. 6.4 Override Keys
A feedrate override must be determined according to the condition of the machining cell, type of robot motion,
and the skill of the operator. Therefore, an inexperienced robot operator should use a low feedrate override.
The feedrate override can only be increased up to the maximum value specified in $SCR.$RUNOVLIM.
Operating speed
The operating speed is the speed at which the robot moves while the program is played back. The operating
speed is obtained from the following expressions:
Operating speed Ooint control motion) (deg/sec)=
Programmed feedrate
Coefficient of a joint feedrate
x
x Maximum joint feedrate
200
100
Programmed override
Feedrate override
100
x
100
x
Operating speed (motion under path control) (mm/sec)=
Programme d fee drat e x Programmed override x Feedrate override
100
100
Operating speed (motion under attitude control) (deg/sec) =
Programmed override
Feedrate override
x
Programmed feedrate x
100
100
Programmed override
$MCR_GRP.$PRGOVERRIDE (%)(Standard value= 100)
Coefficient of a joint feedrate $PARAM_GROUP.$SPEEDLIMJNT (Standard value = 2000)
Fig. 6.5 Operating Speed
-220-
6. EXECUTING A PROGRAM
B-80464E/01
Checking a carteslan coordinate system
When position data is played back according to Cartesian coordinates, the coordinate system number of the
Cartesian coordinate system to be used is checked.
When one of the coordinate system numbers Oto 5 is specified and the specified coordinate system number
does not agree with the currently selected coordinate system number, the program is not executed.
The coordinate system number is specified for position data when the position is taught.
Tool coordinate system number (UT)
The number of a mechanical interface coordinate system or tool coordinate system is specified as a tool coordi·
nate system number (UT). This number determines the tool coordinate system.
- 0: The mechanical interface coordinate system is used.
- 1 to 5: The tool coordinate system having the specified tool coordinate system is used.
- F: The coordinate system having the currently selected tool coordinate system number is used.
User coordinate system number (UF)
The number of a world coordinate system or user coordinate system is specified as a user coordinate system
number (U F). This number determines the coordinate system for the work area. This number is always 0 for
the R-J2 Mate.
- O: The world coordinate system is used.
- 1 to 5: The user coordinate system having the specified user coordinate system is used.
- F: The coordinate system having the currently selected user coordinate system number is used.
Position data Information
Pressing the F5 (DETAIL) key displays position data information.
UF:O
UT:l
z
World coordinate system
Tool coordinate system
z
z
Fig. 6.6 Selecting a Tool Coordinate System and User Coordinate System
- 221 -
B-80464E/01
6. EXECUTING A PROGRAM
6.2.3 Resuming a program
Resuming a program means to restart a halted program. Before a program is halted, the system records the
program. As a result, the following is possible:
• Control can be passed to the main program called with the program call instruction.
• The path for a circular motion can be reproduced.
Path for circular motion
In circular motion, the robot moves from the current position to the target point along the path that passes
through the passing point. After the robot motion is interrupted by program halt, the robot is moved by jog feed,
and the program is resumed. In this case, the robot moves along a path that is similar to the one that was specified before the program was halted.
!
Current position
The robot is moved \
by jog feed.
Position at which the robot
stops when the program Is
halted.
When the terminated program is started
•
Start point
p [ l]
p [ 2]
lOOOrnm/s
FINE
Fig. 6.7 Path for a Circular Motion
Releasing the halt state
The halt state of the program is released when:
• 1 PROGRAM ABORT is selected from the miscellaneous menu. When this happens, the running or halted
program is forcibly terminated.
• Creating another program forcibly terminates the halted program when the teach pendant is enabled. For
program creation, see Section 5.3.
• Selecting another program forcibly terminates the halted program when the teach pendant is enabled. For
program selection, see Subsection 5.4.1 .
Moving the cursor In the halt state
When the cursor is moved to a desired line in the halted program and the program is to be resumed, the system
asks the operator whether the program is to be resumed at the line to which the cursor has been moved. When
YES i s selected in response to this message, the program is halted at the line to which the cursor has been
moved. When NO is selected, the cursor is returned to the line it was at before it was moved (original line), then
the program is halted at that line. For both YES and NO, when the program is resumed, program execution
starts at the line to which the cursor has been moved.
-222-
6. EXECUTING A PROGRAM
B-80464E/01
Requirements
• The program must be halted. (PAUSED is displayed on the screen.)
2
IU]ILIIWl'ml
llti'.111]1§~-l~l
1[
1 Press the FCTN key to display the miscellaneous menu.
2 Select 1 PROGRAM ABORT. The program is terminated. (ABORTED is displayed on the screen.)
Requirements
• The program must be halted. (PAUSED is displayed on the screen.)
Move the cursor to the line where the program is to be resumed.
2 Restart the program.
The system asks the operator whether the program is to be resumed at the line to which the cursor has
been moved.
3: L
5: J
The cursor is on a different
line from where the program
PAUSED [2] .
Are you sure you want to run
from this line ?
P[3] 1(
i@m L P[4]
5(
P[l] 1(
K,,..
[End]
NO
3 Select YES to resume the program at the line to which the cursor has been moved. This line is then specified as the current line.
NO
SAMPLEl
LIW 4
PAUSED
BllllfIF. :::r::J '.!TJJ!;,, Tii'.f#JBTfiliiIIJ»lVJI
4/6
1: J
2: J
3: L
::w.JWA\iWJL
5: J
P[l]
P[2)
P[3]
P[4)
P[l]
100% FIW
70% CNT50
1000cm/min CNT30
500mm/sec FINE
100% FIW
[End]
Select NO to resume the program atthe line the cursor was at before it was moved (original line). The cursor
is then returned to the original line.
YES
---
-223-
B-80464E/01
6. EXECUTING A PROGRAM
6.3 Testing
Testing refers to checking the operation of the robot alone before automatically operating the robot in the site
line. Testing the program is very important. It must be done to ensure the safety of the workers and the peripheral devices.
The following two methods can be used for testing:
• Step test: Execute the program line by line using the teach pendant.
• Continuous test: Execute the program from the current program line to the end of the program (up to the
end-of-program symbol or program end instruction) using the teach pendant.
The teach pendant must be enabled before testing is performed using the teach pendant. The teach pendant
is enabled when.
• The teach pendant enable switch is on.
Before starting a program containing motion instructions, the following operation conditions must be satisfied:
• The input signal ENBL for the peripheral 1/0 must be on.
• An alarm must not be occurring
The typical test procedure is as follows:
1 Turn on the machine lock switch, perform step operation, and check program instructions and 1/0.
2 Perform step operation and check the operation of the robot, program instructions, and 1/0.
3 Perform continuous operation at low speed.
4 Perform continuous operation at high speed and check the position of the robot and the operation timing.
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6. EXECUTING A PROGRAM
B-80464E/01
6.3.1 Specifying test execution
To specify test execution is to specify the requirements for test execution of a program. These requirements
are valid until they are changed.
:1::::::::•
OFF
Robot lock:
Dry run:
Cart. dry run speed:
Joint dry run speed:
Digital/Analog I/O:
Step statement type:
Step path node:
[ TYPE ]
300.000 mm/s
25.000 %
ENABLE
STATEMENT
OFF
ON
OFF
Robot lock
This function specifies whether the robot is disabled. ON: The robot is disabled; it ignores all motion instructions. OFF: The robot is enabled, it usually accepts motion instructions.
When the robot lock function is ON, the power to the servo system is assumed to be on. Pressing the RESET
key resets all the servo alarms.
NOTE
Even when the robot lock is ON, the robot can be operated when the emergency stop button is
pressed.
Dry run
When this function is enabled, the robot moves at the speed specified with "Cart. dry run speed."
Cart. dry run speed
This parameter specifies a robot feedrate during a dry run. When the motion of the robot is under path control
(linear or circular motion control), the robot constantly moves at the specified speed (unit: mm/ s).
Joint dry run speed
This parameter specifies a robot feedrate during a dry run. When the motion of the robot is under joint control,
the robot constantly moves at the specified speed.
Digital/Analog 1/0
Digital/Analog 1/0 specifies whether to communicate with a peripheral device via digital 1/0 and group 1/0 signal
lines or not. When this is set to disable, robot does not send or receive the digital 1/0 signal with a peripheral
device. Internally, all the 1/0 signals are added the simulated flag(S) and the simulated flag can not be released
until the setting is set to enable.(See Section 6.4,"Manual 1/0 Control")
NOTE
Analog 1/0 is not supported currently.
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B-80464E/01
6. EXECUTING A PROGRAM
The state of output signals at setting disable is being kept to the peripheral device. The internal state can be
changed by manual forced simulated output. When the setting is set to enabled again, all the simulated flag
is released and previous output state is revived.
For the input signal from the peripheral devices, the state of input at setting disable is kept internally. Internal
state can be changed by the manual forced simulated input. And when the setting is set to effective again, the
simulated flag can not be released about the signal that internal state has been changed. When the simulated
state is manually released, the current state of input is reflected to the signal line.
Step statement type
Step statement type specifies how to execute a program in single step mode.
- STATEMENT : The program execution is paused every one line.
- MOTION : The program execution is paused every a motion instruction.
- ROUTINE : Almost same as STATEMENT,however,the pause is not done in a program that is called by
a CALL instruction.
- TP : The program does not pause at the KAREL instructions.
- TP & MOTION : At the KAREL instruction except the motion instruction, a program does not pause.
NOTE
"TP" and "TP & MOTION" is not used currently.
Step path node
When "Step path node" is set to be ON.robot pauses at every node during executing karel instruction,"MOVE
ALONG". (This instruction is not used now)
1 Press the MENUS key to display the screen menu.
2 Select 2 TEST CYCLE. The test cycle screen is displayed.
1 Robot lock:
2 Dry run:
3 Cart dry run speed:
4 Joint dry speed:
5 Digital/Analog I/O:
6 Step statement type:
7 Step path node:
[TYPE]
3 Specify requirements for test execution.
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300.000
25.000
ENABLE
STATEMENT
OFF
ON
OFF
6. EXECUTING A PROGRAM
B-80464E/01
6.3.2 Step test
To perform a step test (step operation) is to execute the program line by line. After one line of the program is
executed, the program is halted. After executing a logic instruction, the next line becomes the current line and
the cursor moves to the next line, but for the motion instruction, the cursor stays at the line that execution is
completed.
Specifying the step mode (single step)
To specify the step mode, press the STEP key on the teach pendant. When the step mode is specified, the
STEP LED on the teach pendant is lit. The STEP LED is off when continuous operation is specified.
Fig. 6.8 STEP Key
Step operation can be performed in two ways: Forward execution and backward execution.
Fig. 6.9 Starting Step Operation
Forward execution
In forward execution, the program is executed in normal order. To perform forward execution of the program,
press and hold down the SHIFT key, then press and release the FWD key on the teach pendant.
When a program is started, the program is executed for one line pointed to by the cursor, then the program is
halted.
When a motion instruction is executed, the cursor is held at the executed line. When a logic instruction is
executed, the cursor is moved to the next line.
Each time forward execution of the program is started, the next line of the program is executed.
When executing the circular motion instruction in step mode.robot pauses near the intermediate position on
an arc. Moreover, if the robot is paused just before the intermediate position, the robot does not stop at the intermediate position after resuming a program.
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6. EXECUTING A PROGRAM
Backward execution
In backward execution, the program is executed in reverse order. To perform backward execution of the program, press and hold down the SHIFT key, then press and release the BWD key on the teach pendant.
• During backward execution, only the motion instructions can be executed. However, a skip instruction is
ignored while the program is executed. After one line of the program is executed, the cursor is moved to
the previous line.
• The instruction before the line where the following program instructions is taught can not be executed in
backward execution. When you execute these instructions in backward execution, the cursor moves to
the line that is followed the line taught these instructions:
- Halt instruction (PAUSE)
- Abort instruction (ABORT)
- Program end instruction (END)
- Jump instruction (JMP LBL[])
- User alarm instruction (UALM[])
• The following program instructions cannot be executed:
- Incremental instruction (INC)
• A blank line does not affect the execution of the program (Both Forward and Backward execution)
When the terminated program is restarted, the motion instruction in the line pointed to by the cursor is executed,
then the program is halted.
- When the motion instruction specifies a joint or linear motion, it is executed.
- When the motion instruction specifies a circular motion, the robot moves linearly to the target point.
Each time backward execution of the program is started, the program is executed using the motion format and
feedrate specified in the current line, and the position data and positioning path of the motion instruction in the
previous line.
- When the motion instruction in the current line specifies a circular motion, the robot moves to the target
point along the path which passes through the passing point specified in the current line.
- When the motion instruction in the previous line specifies a circular motion, the robot moves to the destination position specified in the previous line using the motion format and feedrate specified in the current line.
To disable backward execution of the program while the program is being executed, insert the halt instruction
(PAUSE) into the desired location. After the halt instruction is executed, the cursor returns to the position it was
at before the program was executed.
When the halt instruction is specified in the line before the line at the cursor is pointed at, backward execution
of the program is disabled. To restart backward execution of the program, move the cursor to the line before
the line having the halt instruction (two lines before the line the cursor is pointed at).
Program end In backward execution
If the system variable $BWD_ABORT is set to TRUE, when the first line of the program is finished to be
executed during the backward execution, this program ends. However, for the program which is called another
program, when the first line is executed in backward execution, a program pauses and the cursor stays at that
line.
If $BWD_ABORT is set to FALSE, when the first line of the program is executed
in backward execution.a program pauses.
The standard value of $BWD_ABORT is FALSE.
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6. EXECUTING A PROGRAM
B-80464E/01
Requirements
• The teach pendant must be enabled.
• The single-step mode must be set.
• The system must be in the operation enable state.
• No one must be in the operating area. No obstacle must be placed in the operating area.
Press the SELECT key. The program selection screen is displayed.
2 Select the program to be tested and press the ENTER key. The program edit screen is displayed.
3 Press the STEP key to select the step mode. The STEP LED lights. (Checkthatthe STEP LED lights when
the STEP key is pressed.)
4 Move the cursor to the program start line.
5 Press and hold down the deadman switch, then turn on the teach pendant enable switch.
Warning:
The robot moves according to the instructions in the program. When the robot starts operation, an unexpected situation may occur. To prevent any problem from occurring, be sure to check that no one is in the
work area, that the work area is free from unnecessary equipment, and that the safety barrier is in place.
Otherwise, the robot may injure a person or damage the equipment in the work area. To cancel
execution of the program before it is terminated, release the SHI FT key or press the HOLD key or the emergency stop button.
6 Start the program.
- To perform forward execution of the program, press and hold down the SHIFT key, then press and
release the FWD key. Do not release the SHIFT key until execution of the program is completed.
- To perform backward execution of the program, press and hold down the SHIFT key, then press and
release the BWD key. Do not release the SHIFT key until execution of the program is completed.
7 After one line of the program is executed, the program is halted.
- When a motion instruction is executed, the cursor stops at the executed line. The next time forward
execution of the program is performed, the next line of the program is executed.
- When a control instruction is executed, the cursor moves to the next line.
8 To release the step mode, press the STEP key.
9 Turn off the teach pendant enable switch, then release the deadman switch.
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B-80464E/01
6. EXECUTING A PROGRAM
6.3.3 Continuous test
To perform a continuous test is to execute the program in the normal order from the current program line to the
end of the program (end-of-program symbol or the program end instruction). Backward execution of the program is disabled during a continuous test.
A continuous test can be started using the teach pendant.
To perform a continuous test using the teach pendant, press and hold the SHIFT key, then press and release
the FWD key. The program is then executed from the current line.
Requirements
• The teach pendant must be enabled.
• The continuous mode must be set. (The STEP lamp must be off.)
• The system must be in the operation enable state.
• No one must be in the operating area. No obstacle must be placed in the operating area.
Press the SELECT key. The program selection screen is displayed.
2 Select the program to be tested and press the ENTER key. The program edit screen is displayed.
3 Press the STEP key to set the continuous mode. Check that the STEP LED is off.
4 Move the cursor to the program start line.
5 Press and hold down the deadman switch, then turn on the teach pendant enable switch.
Warning:
The robot moves according to the instructions in the program. When the robot starts operation, an unex
pected situation may occur. To prevent any problem from occurring, be sure to check that no one is in the
work area, that the work area is free from unnecessary equipment, and that the safety barrier is in place.
Otherwise, the robot may injure a person or damage the equipment in the work area. To cancel
execution of the program before it is terminated, release the SHIFT key or press the HOLD key or the emergency stop button.
6 Press and hold down the SHIFT key, then press the FWD key. Hold down the SHIFT key until the execution
of the program is completed. When the SHIFT key is released, the program is halted. However, if you turn
off a teach pendant enable key with pressing the SHIFT key, program does not pause when the SHIFT
key is released.
The program is executed to the end, then forcibly terminated. The cursor is returned to the first line of the
program.
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6. EXECUTING A PROGRAM
B-80464E/01
6.3.4 Program look/monitor
When the program is executed, the screen of the teach pendant becomes a monitor screen by which the execution of the program is displayed. In the monitor screen, the cursor moves to follow the line which is executed
arid you can not edit a program.
Program Monitor Screen
Mt!l~M!l~t~~ : ~ ~ ~
3:J
4:J
S:J
6:J
P[3]
P[4]
P[S]
P[6]
100%
100%
100%
100%
100%
100%
FINE
FINE
FINE
FINE
FINE
FINE
LOOK
Press F2,LOOK,then the program looking screen is displayed and the cursor of the program which is being
executed stops(Program is kept to be executing). You can look at the desired part except the line which is
executed with the arrow keys.
Program looking screen
PROGRAMl
LINE 8
RUNNING
mm:m;:)~it\t p c11 100% FINE
3:J
4:J
S:J
6:J
P[2]
P[3]
P[4]
P[5]
P[6]
100%
100%
100%
100%
100%
FINE
FINE
FINE
FINE
FINE
mi~#ifi#~~ iA~~i!i!~lm
MONITOR
The message "Under the LOOK mode" is highlighted at the prompt line while looking at the program. To return
to the monitor screen, press F2,MONITOR. When the monitor screen is displayed, the cursor specifies the line
which is executed at that time.
If the execution of the program is paused or ended, the program edit screen is displayed in place of the program
looking screen.
Program edit screen
PROGRAMl
l:J
2:J
3:J
4:J
M@
P[l]
P[2]
P[3]
P[4]
P[5]
II!~~;~ p [ 6]
POINT
LINE 6
100%
100%
100%
100%
100%
100%
ABORTED
FINE
FINE
FINE
FINE
FINE
FINE
TOUCHUP>
- 231 -
B-80464E/01
6. EXECUTING A PROGRAM
6.4 Manual 110 Control
Under manual 1/0 control, signals are transmitted between the robot and peripherals before the program is
executed.
The manual 1/0 control refers to the following items:
• Forced output
• Simulated output and simulated input
• Wait instruction
6.4.1
Forced output
Forced output is to manually turn digital output signals on or off. For the group output and the analog output,
specify the value.
Requirements
• Assignment of the signals to be output must be completed.
1 Press the MENUS key to display the screen menu.
2 Select 5 1/0. The 1/0 screen is displayed.
Manual forced digital output
3 Press the F1 (TYPE) key to display the screen change menu.
4 Select Digital. The digital output screen or digital input screen is displayed.
If the input screen is displayed, press the F3 (IN/OUT) key to change the input screen to the output screen.
8
[TYPE]
~
El~
SIM
00[1]
00[2]
00[3]
00[4]
00[5]
00[6]
00[7]
00[8]
00[9]
[TYPE]
u
u
u
u
u
u
u
u
u
STATUS
eiiilir
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
CONFIG
[
[
[
[
[
[
[
[
IN/OUT
ON
OFF
5 Move the cursor to the status field for the signal number to be changed, then press the F4 (ON) or F5 (OFF)
key to change the signal output setting.
IN/OUT
ON
OFF
)
00[1]
00[2]
-232-
U
U OFF
6. EXECUTING A PROGRAM
B-80464E/01
Manual forced group output
6 Press F1 ,TYPE. The screen change menu is displayed.
7 Select Group. The group output screen is displayed.
[TYPE]
8~
SIM VALUE
#
GO[
GO[
GO[
GO[
GO[
GO[
GO[
GO[
GO[
6~
1]
2]
3]
4]
5]
6]
7]
8]
9]
u
u
u
23
[
[
[
*
*
*
*
*
*
*
*
*
*
*
*
[
[
[
[
[
[
[ TYPE ] CONFIG
IN/OUT
FORMAT
8 Move the cursor to the setting field of the signal number you want to change, enter the value. Pressing
F4,FORMAT toggles between the decimal expression and the hexadecimal expression.
VALUE
GO [
GO[
1]
2]
u
ff Eii@
U
10
6.4.2 Simulated 1/0
The Simulated 1/0 function changes the state of signals internally without making digital or group 1/0 communicate with peripherals. This function is used to execute the program or to test the 1/0 instruction when connection
of 1/0 with peripherals is not completed. Simulated input/output can be used for digital and group 1/0.
To enable simulated input/output, set the simulated flag, S,.
Simulated output
The simulated output function internally changes the signal state using the 1/0 instruction of the program or
manual output, but does not change the state of output to peripherals. This function holds the state of output
to peripherals when the simulated flag is set.
When the simulated flag is reset, the output is restored to the original state.
Simulated Input
The simulated input function internally changes the signal state with the 1/0 instruction of the program or manual
input. The state of input from peripherals is ignored, and the signal state is not changed internally.
When the simulated flag is reset, the input enters the current state.
Refer to 6.3.1,"Specifying test execution" to specify whether 1/0 signal is disable in the test execution.
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6. EXECUTING A PROGRAM
B-80464E/01
Requirements
• The input/output signal has been allocated.
1 Press the MENUS key. The screen menu is displayed.
2 Select 1/0. 1/0 screen is displayed.
3 Press F1, TYPE. The screen change menu is displayed.
4 Select Digital. Digital 1/0 screen is displayed.
l/168
#
8~
[TYPE]
6~
DI [1]
DI [2]
DI[3]
DI[4]
DI[S]
DI [6]
DI[7]
DI[8]
DI [9]
[TYPE]
1ilirnb~~Tu~ digi ta1
u
u
u
u
u
u
u
u
OFF
OFF
ON
ON
OFF
OFF
ON
ON
CONFIG
[digital
[digital
[digital
[digital
[digital
[digital
[digital
[digital
IN/OUT
signal
signal
signal
signal
signal
signal
signal
signal
signal
ON
1
2
3
4
5
6
7
8
9
OFF
5 Move the cursor to the SIM field for the signal number to be changed and press the F4 (S) or FS (U) key
to change the simulated setting.
DI[l]
DI[l]
OFF
IN/OUT SIMULATE
UNSIM )
[TYPE]
OFF
CONFIG
l
[digital signal l
IN/OUT SIMULATE
UNSIM
6 Move the cursor to the status field for the number of the signal to be simulated output and press the F4 (ON)
or FS (OFF) to change the simulated output setting.
DI[l]
IN/OUT
U
ON
Qlliii.
OFF
DI[l]
j
[TYPE]
-234-
S
CONFIG
[digital signal l
IN/OUT
ON
OFF
]
6. EXECUTING A PROGRAM
B-80464E/01
6.5 Operating the Hand Manually
To operate the hand manually using the teach pendant, hand instruction must be assigned to the manual operation screen when macro instructions are set.
When teaching the operation of the hand, check whether the hand can actually hold a workpiece atthe target
position by operating the hand.
The macro instructions are optional functions .
••
Fig. 6.12 Operating the Hand Manually
Requirements
• The teach pendant must be enabled.
• No one must be in the operating area. No obstacle must be placed in the operating area.
• The hand instruction must be defined as a macro for manual operation (MF).
1 Press and hold down the deadman switch, then turn on the teach pendant enable switch.
2 Press the TOOL1 (or TOOL2) key. The Tool 1 (or Tool 2) screen is displayed.
,.~@T'.!T!!FJE!ff! i,w&L Lw~.wd~JI.:113
Instruction
111. .~
2 Close hand 1
3 Relax hand 1
EXEC
3 Otherwise, select MANUAL FCTNS from the screen menu to display the manual operation screen.
Instruction
11. . . . .r:m
2 Close hand 1
3 Relax hand 1
[ TYPE ]
EXEC
4 Move the cursor to the desired macro instruction. Press and hold down the SHIFT key, then press the F3
(EXEC) key.
l
[TYPE]
EXEC
-235-
B-80464E/01
6. EXECUTING A PROGRAM
6.6 Automatic Operation
Automatic program execution starts the program with peripheral 1/0 input from the remote controller. The following automatic operation functions are provided:
• A program number selection (PNS) function which selects or checks a program according to a program
number selection signal (PNS1 to PNS4) and start signal (START input).
• A alarm reset input signal (RESET) which forcibly terminates a running or halted program.
- When $SHELL_CFG.$USE_ABORT is disabled, RESET input does notforciblyterminate the running
or halted program (standard setting).
- When $SHELL_CFG.$USE_ABORT is enabled, RESET input forcibly terminates the running or
halted program immediately.
• An input signal to start automatic operation (START) with the following two functions:
1 When the input signal START goes high (ON), a program specified with PNS1 to PNS4 is selected or
compared. When PNS1 to PNS4 are all OFF, the selected program is used again.
2 When the input signal START goes low (OFF), the currently selected program is started. A newly selected program is executed from the first program line. The program selected again is executed from
the line pointed to by the cursor.
To start a program by peripheral 1/0 input, the robot must be in the remote mode. The remote mode is set when
the following remote conditions are satisfied:
• The teach pendant enable switch is turned off.
• ENBL input of peripheral 1/0 is on.
• System variable $RMT_MASTER is O (peripherals).
To start a program containing motion instructions, the following ready conditions must be satisfied:
• ENBL input of peripheral 1/0 must be on.
• No alarm is being issued.
The signal CMDENBL is output to indicate thatthe above requirements are satisfied. This signal is output when
the following conditions are satisfied:
• Remote condition
• Operation enable condition
• Continuous mode (step mode is disabled)
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6. EXECUTING A PROGRAM
B-80464E/01
Fig. 6.1 OAutomatic CNC Drilling Machine
Fig. 6.11 Automatic Injection Molding Machine
-237-
6. EXECUTING A PROGRAM
6.6.1
B-80464E/01
Automatic operation with program number selection (PNS)
The program number selection (PNS) function selects or checks a program from the remote controller. Four
input signals, PNS1 .to PNS4, specify a PNS program number.
1 When the input signal START goes high, the controller reads the input of PNS1 to PNS4.
2 The values of the signals PNS1 to PNS4 are converted into a decimal number. The decimal number is a
PNS number. The value obtained by adding a base number to the PNS number is a four-digit PNS program
number. The letter 0 is prefixed to this four-digit PNS program number to obtain the program name to be
selected or compared; that is 0 plus (PNS number + base number) = program name.
caution:
The name of a program to be selected must be a PNS program number that follows the letter 0. Enter the
PNS program number in four digits. For example, a program name is not 0106, but 00106.
The base number is specified in $SHELL_CFG.$JOB_BASE. The base number specified for the program can
be changed by changing the parameter setting.
• Another program is selected or compared according to the PNS input value. The current line (namely, the
line pointed to by the cursor) of a selected or compared program is specified as 1.
- Type 1 (when $SHELL__CFG.$NUM_RSR[1] = 0)
The program specified by PNS input is selected.
- Type 2 {when $SHELL_CFG.$NUM_RSR[1] = 1)
The program specified by PNS input and the currently selected program are compared. If they
matches, the program is executed. When they do not match, error which prohibits the program to be
started occurs.
• When a program is terminated and all PNS input signals are off (PNS 1 to PNS 4), the currently selected
program is executed from the first line. When no program is selected, an error occurs.
• A halted program can be restarted only when all PNS input signals are off. Otherwise, an error occurs.
• While the program is running, PNS input is ignored.
3 The selected program starts when the input signal START goes low.
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6. EXECUTING A PROGRAM
B-80464E/01
START goes high ( OFF -> ON )
Base number
i
PNS1
PNS2
PNS3
PNS4
$SHELL_CFG.$JOB_BASE 100
On]
PNS number
PNS program number PNS program
On
on
~ 0111
~ 7
~
I 0107 I ~ 00107
Off
Binary number Decimal number
i
START goes low ( ON -> OFF)
1 START goes high.
2 PNS1 to PNS4 are loaded and their values are converted into a decimal number.
3 The PNS program having the selected PNS program number is selected.
4 START goes low and the selected PNS program is started.
Fig. 6.12 Program Number Selection
Requirements
• PNS setting must be completed.
• The remote condition must be satisfied.
• The operation enable condition must be satisfied.
• No one must be in the operating area. No obstacle must be placed in the operating area.
Warning:
Start automatic operation as follows: When the robot starts operation, an unexpected situation may occur.
To prevent any problem from occurring, be sure to check that no one is in the work area, that the work are
a is free from unnecessary equipment, that the safety barrier is in place, and that all the automatic operation
conditions are correctly specified. Otherwise, the robot may injure a person or damage the equipment in the work area.
1 Tum off the teach pendant enable switch.
2 Set the program number selection signals (PNS1 to PNS4) and START high (ON). The PNS program is
selected or compared. To use the current running program again, set PNS1 to PNS4 low (OFF).
3 Set START low. The selected program is then started.
4 To halt the running program, press the emergency stop button or the HOLD key or use the *HOLD signal
input or RESET signal. The alarm reset signal is effective when $SHELL_CFG.$USE_ABORT is TRUE.
-239-
B-80464E/01
6. EXECUTING A PROGRAM
6.6.2 External override selection function
The external override selection function changes feedrate override by turning on or off digital input (DI) signals.
Two DI signals are defined. These two signals can be combined in four different ways. So four types of feedrate
override can be selected.
l
Function Enable: iff~~!~\i!
2
3
Signall:
Signal2:
4
5
6
7
Signall
OFF
OFF
ON
ON
[TYPE]
SDI [ l] [ON ]
SDI[ 32] [OFF]
Signal2
OFF
ON
OFF
ON
ENABLE
Override
15%
30%
65%
100%
DISABLE
When the function changes the feedrate override, the feedrate override is not displayed, namely, the popup
menu is not displayed at the upper right corner of the screen.
To enable the external override selection function, the following requirements must be satisfied:
• The external override selection function must be enabled.
• The remote mode must be set.
When the external override selection function is enabled, the following occurs:
• The override key of the teach pendant is practically disabled. (The changed value is quickly returned to the
setting value by the external override selection.)
• The override instruction has no effect to the override value.
• You can not change the settings of DI signal number and Override. If you want to change these settings,
disable this function in advance.
• When this function is effective atturning off the power of the controller, the override will get the value which
had been set by this function when turning on it again.
• It is possible to specify the same number as two DI signal numbers. In this case, only the combination of
ON-ON or OFF-OFF has the meaning.
Moreover, note the following:
• After this function is disabled because the remote condition is not satisfied, the override keeps to remain
the value specified by this function in effective until the value is changed by the teach pendant or override
instruction.
Set this function on the external override selection setting screen (6 OVERRIDE SELECT).
-240-
6. EXECUTING A PROGRAM
B-80464E/01
1 Press the MENUS screen to display the screen menu, then select 6 SETUP.
2 $elect Ovrd Select from the screen change menu.
External override selection setting screen
1
Function Enable: fi!1i~~J§
2
3
Signall:
Signal2:
4
5
6
7
Signall
OFF
OFF
ON
ON
DI[***][***]
DI[***] [***]
Signal2
OFF
ON
OFF
ON
[TYPE]
ENABLE
Override
10%
10%
10%
10%
DISABLE
3 Set items.
1 Enable or disable the function.
2 Assign DI signals.
2
3
Signall:
Signal2:
DI [ 11] [ON ]
DI~~\f~J [***]
[TYPE]
ENABLE
DISABLE
The states of DI signals are indicated. When ... is displayed, the setting of the function cannot be
changed.
3 Feedrate override to be changed by turning on or off the signals
1
Function Enable:
2
3
Signall:
Signal2:
4
5
6
7
Signall
OFF
OFF
ON
ON
[TYPE]
- 241 -
DI[ 11] [ON ]
DI[ 12] [OFF]
Signal2
OFF
ON
OFF
ON
ENABLE
Override
15%
30%
65%
100%
DISABLE
B-80464E/01
7. STATUS DISPLAY
7. STATUS DISPLAY
The user can check various statuses of the robot with status display. Several types of screens are used for
status display.
D
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
Contents of this chapter
LEDs on the Teach Pendant
User Screen
Registers
Position Registers
Palletizing Registers
Current Position
System Variables
Execution History
-243-
B-80464E/01
7. STATUS DISPLAY
7.1 LEDs on the Teach Pendant
The LEDs on the teach pendant indicate the following statuses:
FAULT
This LED indicates that an alarm has been issued. When the alarm is released, this
LED goes off.
HOLD
This LED goes on while the HOLD key on the teach pendant is pressed or while the
peripheral 1/0 signal, *HOLD, is applied.
STEP
This LED goes on when the single step mode is set. This LED goes off when the continuous operation mode is set.
BUSY
This LED indicates that a program or other processing is being executed.
RUNNING
This LED indicates that a program is being executed.
JOINT
This LED goes on when the manual-feed coordinate system is a joint jog coordinate
system.
XYZ
This LED goes on when the manual-feed coordinate system is a Cartesian jog coordinate system Oog coordinate system or user coordinate system).
TOOL
This LED goes on when the manual-feed coordinate system is a tool jog coordinate
system.
Fig. 7.1 LEDs on the Teach Pendant
-244-
7. STATUS DISPLAY
B-80464E/01
7.2 User Screen
The user screen displays messages from a program being executed. The message instruction is used to display a program message. (For the message instruction, see Subsection 4.13.4.)
1 Press the MENUS key.
2 Select "9 USER."
NOTE
When a message instruction is not executed, nothing is displayed on this screen.
-245-
7. STATUS DISPLAY
B-80464E/01
7.3 Registers
A register is a variable for holding an integer or fraction. Thirty-two registers are provided. The register screen
is used to display and set registers.
1 Press the MENUS key to display the screen menu.
2 Press "NEXT, " then select "DATA."
Alternatively, instead of steps 1 and 2 above, the user can press the DATA key.
3 Press F1 "TYPE.''
4 Select "Registers." The register screen appears.
R [ l:
R [ 2:
R [ 3:
R [ 4:
R [ 5:
R [ 6:
0
0
0
0
0
[TYPE]
Warning:
Registers are used in a program. Never change the value of a register before checking how the register is
used in the system. Otherwise, the program can be adversely affected. Moreover, note that the motion of
palletizing might be negatively affected when the value of the register specified for a counter register with
a program information screen is changed.
5 To enter a comment, use the following procedure:
1 Move the cursor to a desired register number field, then press ENTER key.
2 Select a comment input method.
3 Press a desired function key, then enter a comment.
4 Upon completion of input, press the ENTER key.
6 To change the value of a register, move the cursor to the register value field, then enter a desired value.
R [ l:
R [ 2:
R [ 3:
R [ 4:
R [ 5:
R [ 6:
[TYPE]
-246-
0
0
0
0
0
7. STATUS DISPLAY
B-80464E/01
7.4 Position Registers
A program register [option= position register] is a variable for holding position data. Ten position registers are
provided. The position register screen is used to display and set registers.
1 Press the MENUS key to display the screen menu.
2 Press "O NEXT," then select ''3 DATA."
Alternatively, instead of steps 1 and 2 above, the user can press the DATA key.
3 Press F1 "TYPE" to display the screen change menu.
4 Select "Position Reg." The position register screen appears.
mmmi!IIi ilHffiHifltml.I
PR[
PR[
PR[
PR[
PR[
PR[
.t
2:
1:
3:
4:
5:
6:
[ TYPE ]
ff!!~
rnun1J1Hm1] == •*
1/10
=*
=*
*
=*
]
]
] =
]
RECORD POSITION
CLEAR
Warning:
Position registers are used in a program. Never change the value of a position register before checking how
the register is used in the system. Otherwise, the program can be adversely affected.
5 To enter a comment, use the following procedure:
a. Move the cursor to a desired position register number field, then press ENTER key.
b. Select a character input method.
c. Press a desired function key, then enter a comment.
d. Upon completion of input, press the ENTER key.
6 To change the value of a position register, move the cursor to the position register value field. Then, press
F3 "RECORD" while holding down the SHIFT key.
l[TYPE]
RECORD
PR [
PR[
PR[
PR[
PR[
PR[
=IIBJJ!IlllJR.ll
=
R
2:
3:
4:
5:
] =
] =
] =
]
*
6:
]
1
[ TYPE ]
*
=*
=*
RECORD POSITION
- "R" indicates that a position register already holds a taught value.
- An asterisk (*) indicates that it does not.
-247-
*
CLEAR
B-80464E/01
7. STATUS DISPLAY
7 To delete position data loaded into a position register, press FS "CLEAR" while holding down the SHIFT
key.
RECORD POSITION
CLEAR
)
~8 ~~
PR [ l:REF_POSITION
PR[l] will be cleared. O.K ?
YES
NO
8 Select ''YES." The position data of the desired position register is cleared.
_ _ _ _ _Y_E_s_ _ _N_o_~)
PR [ l:REF POSITION
PR[l] has been cleared
RECORD POSITION
TYPE ]
CLEAR
9 To find out the current values of position data, press F4 "POSITION." The position detail data screen appears. To change a value, move the cursor to the desired field, then enter a new value.
_RE_c_o_RD
__
Po_s_I_T_I_o_N_c_L_EAR_~J
M~9§l;!I!®?ini*@!~!¥~!!H!!iH!Wff1Hrni!i!ii!
i I1M! l§;[@~iil¥,~I.@
PR[l]
GP:l
UF:F
UT:F
CONF: FUT 0
:mm~Mil~§lqJ;f~@~E mm
W: 40.000 deg
Y: -342.992 mm
P: 10.000 deg
PR [ l:REF POSITION
CONFIG
DONE
[REPRE]
10 To change the configuration, press F3 "CON FIG." Move the cursor to a desired field, then change joint
placement data using the ,J. and t keys.
PR[l]
GP:l
X: 1500.374
Y: -342.992
UF:F
UT:F
CONF:
mm
W: 40.000 deg
mm
P: 10.000 deg
PR [ l:REF POSITION
Select Flip or Non-fliip by UP/DOWN key
CONFIG DONE [REPRE]
11 To change the storage form of the position data, press FS,[REPRE] and select the storage form.
CONFIG
Jl
J2
-248-
34 .304 deg
56.008 deg
J4
J5
27.089 deg
-10.503 deg
7. STATUS DISPLAY
B-80464E/01
12 Upon completion of setting, press F4 "DONE.•
CONFIG
DONE
[REPRE]
)
Bili !IHI Ji- I Ji
PR[
PR[
PR[
PR[
PR[
PR[
l:REF
2:REF
3:REF
4:REF
5:
POS
POS
POS
POS
iilUL :J ! Iii
l=ll
1
2
3
4
1/10
]=R
]=R
]=R
]=*
J=*
6:
[ TYPE ]
i'.11
RECORD POSITION
CLEAR
13 The position register can be used in the program as the following case: .
- Position data of motion instruction(See Section 4.3.2)
- Position register instruction and offset instruction.etc. (See Section 4.5 and Section 4.3.5)
Programming example
1/8
-:
13:
14:L
15:
16:L
17:L
LBL[l]
OFFSET CONDITION PR[l]
PR[2) 1000cm/min CNT100 Offset
PR[3,6]=R[10]
PR[3] 1000mm/s CNT100
PR[4] 1000mm/s CNT100 Offset
[ INST ]
-249-
[EDCMD]>
7. STATUS DISPLAY
B-80464E/01
7.6 Current Position
The current position of the robot shows the location and the orientation of the robot in the work space. The current position can be represented in the cartesian frame and the joint frame.
Joint coordinates
Joint coordinates represent the current position by the angular displacement from the base side of each axis.
Fig. 7.2 Joint Coordinate System
Displaying Joint coordinates
1Bmtire11:::mrn1m1::1i
uJ.rn::m~u:•
Joint
Tool: l
Jl:
J2:
0.000 J2:
0.000 JS:
El:
*****
[ TYPE ]
JNT
0.000 J3:
0.000
USER
WORLD
Displaying carteslan coordinates
The current position represented in cartesian coordinates is defined by the tool frame which is defined on the
wrist to specify the location and orientation of the tool ,and the cartesian frame which is fixed in the work space.
Cartesian coordinates is represented by the world frame or the user frame.
-251-
B-80464E/01
7. STATUS DISPLAY
z
World coordinate system
Tool coordinate system
z
z
Fig. 7.3 carteslan coordinate system
Displaying world coordinate system
Displaying user coordinate system
IBD.faJl':nm:~::::::::.:::r::.m:.::::u:T•lf'~twm
Rm:':di!B I::;;:::: EI! I'. u:e:;1 J
r
World
Configuration: FUT 0
x: 1380.000 y: -380.992
w:
40.000 p: -12.676
Tool: 1
z:
r:
~,:'I
User
Frame: 0
Configuration: FUT O
956.895
20.000
x: 1500.374
40.000
El:
*****
w:
*****
El:
[ TYPE ]
JNT
USER
WORLD
[ TYPE ]
JNT
y: -342.992
10.000
p:
USER
1 Press the MENUS key to display the screen menu.
2 Select NEXT, then select POSITION from the next menu.
3 The current position screen can be also displayed by pressing the POSN key.
- To display joint coordinates, press F2 "JNT."
- To display user coordinates, press F3 "USER."
- To display world coordinates, press F4 'WORLD." .PA (p.8-1)
-252-
!;: ~Pm
Tool: 1
z:
r:
WORLD
956.895
20.000
7. STATUS DISPLAY
B-80464E/01
7. 7 System Variables
All the system variables can be seen with the system variable screen. Settings of the system is stored in the
system variables.
1 Press the MENUS key. The screen select menu is displayed.
2 Select NEXT, then select SYSTEM.
3 Press F1 ,[TYPE].
4 Select Variables. The system variable screen is displayed.
1 $AP MAXAX
2 $AP-PLUGGED
3 $AP-TOTALAX
4 $AP-USENUM
5 $AuTOINIT
6 $BLT
7 $CRT DEFPROG
8 $CSTOP
9 $DEFPULSE
10 $DEVICE
i@~~t)g~~g
1/98
16777216
[12] of Byte
2
19920216
·*uninit*
TRUE
4
'P3:'
[ TYPE ]
5 To change the settings of the system variables, move the cursor to the desired field and press the ENTER
key after entering the value, or select the desired item from the function labels
6 When one of the system variables has plural items which belong to this variable(hierarchical structure),move the cursor to the desired system variable and press the ENTER key. Then the list of items which
belongs to this variable is displayed.
47
48
49
50
$0RIENTTOL
$0VRDSLCT
$PARAM GROUP
$PASSWORD
$PARAM GROUP
1 $BELT ENABLE
2 $CART-ACCEL1
3 $CART-ACCEL2
4 $CIRC-RATE
5 $CONTAxISNUM
6 $EXP ENBL
TYPE ]-
10.000
OVRDSLCT T
BliE&WiM
PASSWORD T
49/98
0
1
0
TRUE
7 To return to the upstairs layer.press the PREV key.
NOTE
Setting of the system variables which is protected to be written can be changed in the system
variable screen displayed at controlled start.
-253-
7. STATUS DISPLAY
B-80464E/01
7.8 Execution History
The function of the program execution history records the execution history of the program which has been
executed or which is being executed at the end, and enables you to see the execution history after the program
is finished or paused.
For example, this function enables you to recognize the execution status of the program at power failure after
the cold start is done in case that power supply is turned off for any causes while the program is executed.
NOTE You can not see the execution history of the program which is been executed.
The following informations can be referred with the execution history screen.
• Executed program name and line number(The status of the latest executed program is displayed at the
first line.)
• Direction of execution
- FWD: The line was executed by the forward execution.
- BWD: The line was executed by the backward execution.
• Status of execution
- Not exec: The line was read but the line has not been executed.
- Paused: (The program was paused while executing the line)
- Done: The execution of the line has been completed.
- Aborted: The program has finished to be executed.
The maximum number of the execution history which can be recorded is 20. When the execution history ex·
ceeds the number of the lines which can be recorded, the older execution histories which exceeds the limit are
cleared automatically.
Note the following when you use this function:
- When a macro is execute~ by using the manual function, user key, etc except the program, the execution
history of it is not be recorded. When the program assigned to be a macro is executed in the program edit
screen, the assigned program name in place of the macro name is recorded as the execution history.
- The execution history of the program automatically started at power on is not recorded.
-254-
7. STATUS DISPLAY
B-80464E/01
1 Press the MENUS key. The screen select menu is displayed.
2 Select STATUS from the next page.
3 Press F1 ,[TYPE].
4 Select Exec-hist. The execution history screen is displayed.
Rtllli!fU
;· . iiii!!ii1
Program name
PNS0001
PNS0001
PNS0001
PNS0001
PNS0001
[ TYPE ]
Line.
3
6
7
6
5
!IJH!Jii!iil&R11Hi !il!I
Dire.
F'llD
B'llD
F'llD
F'llD
F'llD
Stat.
Done
Paused
Paused
Done
Done
CLEAR
5 Only when the displayed status of a program is "Aborted", the execution history can be cleared by pressing
SHIFT+ F5,CLEAR.
-255-
co
:!!
r-
m
z
"1J
c:
:::!
0
c:
~
"1J
c:
-I
B-80464E/01
8. FILE INPUT/OUTPUT
8. FILE INPUT/OUTPUT
This chapter describes file transfer to and from a communication device.
D Contents of this chapter
8.1 Setting a Communication Port
8.2 File Input/Output Units
8.3 Files
8.4 Saving Files
8.5 Loading Files
8.6 Printing Files
-257-
B-80464E/01
8. FILE INPUT/OUTPUT
8.1 Setting a Communication Port
Data is transferred via the communication port on the main CPU printed circuit board by serial communication
with an external device via the RS-232-C interface. The communication port provides a RS-232-C interface
port.
I
ON
@
0
OFF
-
EMEGENCY
STOP
RS-232-C
interface port
Fig. 8.1 Connection of Communication Cable to Controller
-258-
8. FILE INPUT/OUTPUT
B-80464E/01
This item specifies a communication device to communicate with the R-J2 Mate
controller. The standard communication devices that can communicate with the
R-J2 Mate are listed below:
Device
- FANUC Handy File (A138-0159-8002)
Handy File:FANUC format
PS-100/200 Disk:MS-DOS format
- FANUC FLOPPY CASSETIE ADAPTER (A13B-0150-B001)
- FANUC PRINTER (A86L-0001-0103)
- Host Comm Used when the R-J2 Mate is connected to the host computer to
use the data transfer function.
When the communication device is changed, other settings such as a
baud rate are changed to the corresponding standard values. Later on,
the user can change each setting as desired.
NOTE
Speed (Baud rate)
Baud rate is the transmission rate and it is the number of codes which can be
transmitted per second.
Parity bit
To detect an error in data transfer, this item sets a mode of vertical parity check,
which adds one extra bit to each transferred character.
The number of 1'sin each transferred character must be an odd num- Odd:
ber.
- Even:
ber.
The number of 1'sin each transferred character must be an even num-
- None:
No parity check is made.
This item specifies the number of stop bits to be added at the end of each transferred character for data transfer synchronization.
One stop bit is added.
- 1 bit:
Stop bit
Time-out value (sec)
- 1.5 bits:
One and a half stop bits are added.
- 2 bits:
Two stop bits are added.
This item sets a maximum time during which control over transfer with a communication device must be exercised. If no data transfer occurs for a specified
period of time, the communication line is disconnected.
Table 8.1 Standard Settings for Communication Devices
Device
Speed
Parity bit
Stop bit
Time-out value
Handy File
9600
None
2 bits
0
PS-100/200 Disk
9600
None
1 bit
0
Floppy Cassette adapter
9600
None
2 bits
0
Printer
4800
None
1 bit
0
Host Comm
4800
Odd
1 bit
0
-259-
B-80464E/01
8. FILE INPUT/OUTPUT
1 Press the MENUS key to display the screen menu.
2 Select "6 SETUP."
3 Press F1 "TYPE" to display the screen change menu,
4 Select "Port lnit." The port selection screen appears.
Connector
1 RS-232-C
[ TYPE ]
l
1/3
Port
Comment
P3: f')llifj))J))jjjj~;\gyfi!f%~~J
DETAIL
5 Move the cursor to a desired connecter port field, then press F3 "DETAIL." The port setting screen appears.
{TYPE]
DETAIL
1
2
3
4
5
Device
Speed(Baud rate)
Parity bit
Stop bit"
Time out value(sec)
TYPE ]
LIST
]
[ 9600]
[ None]
2bits]
[
0]
[CHOICE]
6 To set a communication device, move the cursor to the "Device" field, then press F4 [CHOICE]. Select a
desired communication device from the menu.
~~~~r_c_Ho_I_CE~J~~~-j
a~
2 FANUC Floppy
3 PS-100/200 Disk
4 Printer
5 Sensor
6 Host Comm
7 No Use
8
1 Device
7 Select a communication device whose settings need to be changed. When the communication device is
entered, the standard values are entered in the other setting fields.
1
2
3
4
5
Hl
Device
~l'.B@iil~wBPR~IE
Speed (Baud late)
[ 9600
Parity bit
[ None
Stop bit
[ 2bits
Time out value (sec)
[
0
TYPE ]
LIST
]
]
]
]
[CHOICE]
The other setting fields can be changed field by field. When the "Device" field is changed to another communication device, the standard values for that device are entered in the other setting fields.
-260-
8. FILE INPUT/OUTPUT
B-80464E/01
l[
8 Upon completion of setting, press F3 "LIST." The port selection screen appears.
TYPE ]
LIST
r
W!i@»ll?k!l§f;¥!iliil.1i!f.lt.ili:i!i !I!ilii i'i!!H!ffiml
Connector port
1 PORT
[TYPE]
NOTE
'
ilii!i;t2'.Rli~P~i!i
Comment
1/1
(£~jjj(fi'.~i2Ylllrnii@:Jll
DETAIL
When setting the communications device, the error message,"The port was not initialized." ,may be displayed and the settings of the port is returned to the previous settings. In this
case, confirm the following.
- To set "Host Comm" to the field of device, software option, data transfer, is needed.
-261 -
B-80464E/01
8. FILE INPUT/OUTPUT
8.2 File Input/Output Units
8.2.1
External memory unit
The external memory unit consists of a floppy disk drive (FDD) for writing program files and data files onto a
floppy disk, and floppy disks for holding such files.
Two types of floppy disk drive (FDD) are available:
• Floppy Cassette adapter (A 168-0150-8001)
• Handy File (A168-0159-8002)
A 3.5-inch floppy disk is used. Before a new floppy disk can be used, it must be formatted by the following math·
od:
Table 8.2 Format Specification of Floppy Disk
Type of disk
3.5-inch, 2HD or 2DD
Floppy Cassette adapter
2HD, FANUC format, 71 files maximum
Handy File
2HD, FANUC format, 71 files maximum
2HD, MS-DOS format
2DD, MS-DOS format
The disk drive is connected via the RS-232-C port. Port 1 on the disk drive is used for connection. (For communication port setting, see Section 8.1.) Table 8.3 lists the standard disk drive settings.
Table 8.3 Standard Settings for Floppy Disk Drives
Speed
Stop bit
Parity bit
Data code
lime-out value
Floppy Cassette adapter
9600 baud
2 bit
None
ISO
Osec
Handy File
9600 baud
2 bit
None
ISO
Osec
PS-100/200 Disk
9600 baud
1 bit
None
ISO
Osec
Device
I
ON
@
0
OFF
EMEGENCY
STOP
•
A
RS-232-C
interface port
Fig. 8.2 Connection of Communication C&ble to Controller
NOTE
Do not eject the floppy disk from the external memory device accessing the floppy disk, otherwise, you could damage the contents of the floppy disk.
-262-
8. FILE INPUT/OUTPUT
B-80464E/01
8.2.2 Floppy Cassette adapter
The Floppy Cassette adapter is an external memory unit connected to the R-J2 Mate controller to save files
stored in the internal memory of the controller to a floppy disk or read files from a floppy disk. For detailed information about the Floppy Cassette adapter (A16B-0150-B001 ), refer to the "FANUC FLOPPY CASSETIE
ADAPTER Operator's Manual" (B-66040E).
Status indicator LED
-
Disk insertion slot
Rotary switch
Fig. 8.3 Floppy Cassette Adapter
Rotary switch setting
For port setting on the Floppy Cassette adapter, rotary switches 1 to 4 on the side panel are used. The standard
settings for connection with the R-J2 Mate controller are "3, 1, 0, O" from right side.
Table 8.4 Port Setting on Floppy Cassette Adapter
Standard setting
Speed
Stop bit
Parity bit
Number of files
Data code
9600
2bit
None
71
ISO
( 1) 3
Switch
( 2) 1
(3)0 (4)0
Status Indicator LEDs
The status indicator LEDs on the Floppy Cassette adapter indicate operation statuses.
QAlARM ~
QOVER
HEAT
QCLEAN
o '"'T
0
Green
Yellow
~Red
:J
Button
RESET
ON DOFF
Table 8.5 Status Indicator LEDs and Switches
Green
Yellow
Blinking alternately
Status
No floppy disk is inserted, or the door is not closed.
On
On(*1)
Ready (with write protection not applied)
On
Blinking
The floppy disk is being formatted.
Blinking
On
The floppy disk is being cleaned.
On
Blinking
Data is being written.
Blinking
On(*1)
Data is being read.
Blinking simultaneously A file is being deleted.
NOTE
*1 Turned off when the disk is write protected.
Button
Status
CLEAN
Used to clean the head
INIT
Used to format a floppy disk
RESET
Used to release an alarm
-263-
8. FILE INPUT/OUTPUT
B-80464E/01
1 Connect the Floppy Cassette adapter to the controller.
2 Turn on the power to the Floppy Cassette adapter. The green LED and yellow LED blink alternately.
-
Q
Green
Yellow
AlAR
QOVER
HEAT
~Red
oQcLEAN
'"'r ~ Button
Q
POWER
RESET
OFF
,"!Cil 0
0
3 Insert a floppy disk, then close the door. The green LED and yellow LED light to indicate that the Floppy
Cassette adapter is ready for operation. If the disk is write protected, the yellow LED does not light.
The Floppy Cassette adapter cannot be used if the door is not closed.
NOTE
Setting ports
4 To set the port, open the cover which is on the left side of the floppy cassette adapter and adjust the rotary
switches.
RSW4
RSW3
RSW2
fil1 fil1
D
3
B
4
5
c
A 9 8 7 6
D
3
B
4
5
c
RSW1
100001
100001
A 9 8 7 6
Initializing the floppy disks
5 To formatthe floppy disks, press and release the RESET button while holding down the !NIT button. Yellow
LED starts blinking to inform you of the start of initialization.
6 If an alarm is issued, press the RESET button.
-264-
8. FILE INPUT/OUTPUT
B-80464E/01
1 Connect the Handy File to the controller.
2 Turn on the power to the Handy File.
3 Insert a floppy disk, then close the door. The Handy File is now ready for operation.
[
No file
_ Ready
J
Port setting
4 The setting menu is used for port setting. Press the WRITE/SET key while holding down the SHIFT key.
The setting item menu appears.
Select setting item
#1 : Input/Output
In setting, switch between menu items with the J. and t keys. To select an item, press the ENTER key.
Select setting item
#2 : Protocol
5 Select "#2: Protocol" to display the protocol setting menu.
[
Protocol :
J
~-#-1~:-P_r_ot_o_c_o_l_B~~~~~~~~~~--'
In setting, switch between menu items with the J. and t keys. To select an item, press the ENTER key.
6 Select "1 Protocol B".
NOTE
Use "1 Protocol B" to FANUC format and Use "2 Robot" to MS-DOS format.
7 Upon completion of protocol setting, press the END key. The setting item menu is displayed.
(
Select setting item
#3 : Baud rate
J
----
8 Set all the setting items as the same way as the above. When all menu items have been set, press the END
key.
(
No file
Ready
J
-------
-266-
8. FILE INPUT/OUTPUT
B-80464E/01
Formatting the floppy disk
9 When the floppy disk is not formatted, a message is displayed.
/
! FD fo:cmat error
Initialize FD.
>FUNC: SELECT FUNCTI.
\.
1OThe function menu is used to formatthe floppy disk. To display the function menu, press the READ/FU NC
key while holding down the SHIFT key.
Select function
#1 : Initialize FD
11 Select "#1 : Initialize FD" to format the floppy disk.
Select f o:cmat of FD
#1 : 2HD, 1.02MB FANUC
12 Select a format.
[~-~-e_~_n_xi::_._um_e_r=_o_f~f-il-e~~~~~~~~~---'J
13 Set a maximum number of files. For this example, enter"71."
NOTE
Only when the FANUC format is selected, enter the maximum number of the files.
Set number of file
> Maximum = 71
[
J
' - - - - - - - - - - - '
Initialize FD :
Press START key
14 Press the START key to start the formatting of the floppy disk.
8~
(
(
Initialize FD
> Executing
Initialize FD
> Complete
15 Upon completion of floppy disk formatting, press the END key.
/ Select function
I #1 : Initialize FD
-267-
J
J
8. FILE INPUT/OUTPUT
B-80464E/01
16 To terminate the function menu, press the END key.
(
J
No fil•
Ready
NOTE
When you initialize the floppy disk in MS-DOS format, select Protocol Bas the communication protocol. After initializing it, select Robot as the communication protocol again.
Cleanlng the head
17 The function menu is used to clean the head. Select "#2: Cleaning" to clean the head.
(
Select
fuocti~
#2 : Cleaning
J
18 Press the START key to start cleaning the head. Upon completion of head cleaning, press the END key.
-268-
8. FILE INPUT/OUTPUT
B-80464E/01
8.3 Files
A file is a unit of data storage in the memory of the R-J2 Mate controller. The following types of file are used
mainly:
• Program file (*.MN)
• Default Logic File (*.DF)
8.3.1
• System file
Used to store the settings of the system.
• 1/0 Config Data File (*.10)
Used to store the settings of Input/Output configuration.
• Date file
Used to store data such as register data
Program file
A program file (*.MN) contains a sequence of instructions for the robot. These instructions are called program
instructions. Program instructions control robot operations, peripheral devices, and each application.
A program file is automatically stored in the RAM of the controller. A directory of program files is displayed on
the program selection screen ("SELECT").
The directory of program files is not displayed on the file screen. The file screen enables you to
select the external memory device which includes the desired files and manipulate the files.
On the program selection screen, operations such as copy, delete, and rename can be performed. (For program operations, see Section S.S.)
NOTE
• Registering a program (See Subsection S.3.1.)
• Deleting a program (See Section S.S.)
• Copying a program (See Section S.S.)
• Changing program detail information (including the renaming of a program) (See Section S.S.)
A program file also includes the information items listed below. These information items can be checked on the
program selection screen by pressing FS [ATTA].
• Comment: The function of a program is summarized.
• Write protection: This prevents the program from being modified and deleted.
• Modification Date: Indicates the latest date when the program was modified.
• Program size: The size of the program is indicated in bytes.
• Copy source: The name of the source program from which the program was copied is indicated. When
the program is an original program, this information item is blank.
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B-80464E/01
8. FILE INPUT/OUTPUT
8.3.2 Default Logic File
The default logic file (*.DF) includes the settings of the default logic instruction assigned to each function key
(F2,F3 and F4 key) in the program edit screen.
The default logic file is divided to the following kinds:
- DEF_MOTNO.DF Stores the settings of the default motion instructions.
The following three files stores the settings of the default logic instruction assigned to each function keys which
is displayed in the next page.
- DF_LOGl1.DF
F2 key
- DF_LOGl2.DF
F3 key
- DF_LOGl3.DF
F4 key
8.3.3 System file
A system file ( *.SV) contains a system control program for operating the application tool software, or contains
data used with the system. The following types of system file are used:
• SYSVARS.SV: Used to store the settings of the system variables relation to the frames.reference
points.joint operating area and brake control.
• SYSSERVO.SV: Used to store servo parameter data
• SYSMAST.SV: Used to store mastering data
• SYSMACRO.SV: Used to store the settings of the macro command.
• FRAMEVAR.SV: Used to store the settings of the reference position which is used at setting the
frame.comments.etc.
8.3.4 Data File
Date file (*. VR,* .10) is the file which stores the data used by the system. The following kinds are in the data file:
• Data file (*. VR)
- NUMREG.VR: Used to store the data of the register.
- POSREG. VR: Used to store the data of the position register.(Only when position register software option is used.)
- PALREG. VR: Used to store the data of the pallet register.
• 1/0 configuration data file (*.10)
- DIOCFGSV. 10: Used to store the settings of the 1/0 assignment.
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8. FILE INPUT/OUTPUT
B-80464E/01
8.4 Saving Files
The function of saving files stores the data which exists in the RAM memory in the controller to the external
storage device such as the floppy disks, etc. The following screens on the teach pendant can be used to save
the files.
• Program selection screen: A specified program is saved to a floppy disk as program files.
• File screen: The specified program file.system file,etc can be saved to a floppy disk. The following files can
be saved:
- Program file
- System file
- Default logic file
• "6 SAVE" in the function menu: It is possible to preserve it on the floppy disk as program file and a system
file, etc. of the program and the data, etc. displayed on the screen. The following files can be preserved:
- Program file
- System file
- Data file
- Default logic file
8.4.1 Saving with program selection screen
Program selection screen enables you to save the specified program as the program file.
• The floppy disk drive must be connected to the controller.
• A formatted floppy disk must be inserted. (See Section 8.2.)
• Port setting must be completed. (See Sections 8.1 and 8.2.)
Saving a specified program file using the program selection screen
1 Press the MENUS key to display the screen menu.
2 Select NEXT and then select "1 SELECT" on the next page. The program selection screen appears.
lm:m~~almtlmtltmamlm~~
56080 bytes free
1 PROG1
2 PROG2
3 SAMPLE1
, .4 .,SA!JPLE2
-~~{];;
··.~ (S~!.-E PR9.G~2
;·
]
]
]
] , ..
:11't$.~~$D.B'ilWAIJJ
[TYPE]
CREATE
DELETE
MONITOR
COPY
DETAIL
LOAD
SAVE
- 271-
5/5
PR [PROGRAM001
PR [PROGRAM002
JB [SAMPLE PROGRAM1
[ATTR] >
PRINT >
8. FILE INPUT/OUTPUT
B-80464E/01
8.4.2 Saving all the program files using the file screen
File screen enables you to save the program file or system file which is saved in the RAM memory in the floppy
disk.
The following files can be saved:
• Program file (*.MN): Used to store all the programs file which has contents of programs.
• Default logic file (*.OF): Used to store the settings of default logic instructions.
• System file (*.SV ): Used to store the following files:
- System variable file ( SYSVARS.SV)
- Servo parameter file ( SYSSERVO.SV)
- Mastering data file ( SYSMAST.SV)
- Macro data file ( SYSMACRO.SV)
To interrupt the saving.press the PREV key while saving.
• Port setting must be completed. (See Section 8.1 or 8.2)
• Floppy disk drive has been connected to the controller.
• Initialized floppy disk must be inserted.(See Section 8.2)
Press the MENUS key to display the screen menu.
2 Select "7 FILE." The file screen appears.
wm:::
rnr::: : :
P3· *·*
l ;. . 1:.
··
2 *
3 *
4 *
5 *
6 *
Press DIR to
I
::II'"T'" · ..BBl.'B'£ff
.BBE.f!il[Ji ,,·,. !H*B
XL (all
CF (all
TX (all
LS (all
DT (all
generate
[ TYPE ] [ DIR ]
DELETE
COPY
KAREL source)
command files)
text files)
KAREL listings)
KAREL data files)
directory
LOAD
[BACKUP] [UTIL ]>
DISPLAY
>
Saving program files
3 Press F4 "BACKUP", then select ''TPE programs."
~8~
LOAD
BACKUP
[UTIL]
a(p\
>)
•11·
7
8
9
10
*
*
*
*
::
PC (all KAREL p-code)
TP (all TP programs)
MN (all MN programs)
VR (all variable files)
Save P2:\SAMPLE1.TP ?
EXIT
ALL
YES
NO
- F2, EXIT Ends saving program files
- F3,ALL Saves all the program file and default logic instruction file.
- F4 YES Saves the specified file (program.default logic instruction).
- F5,NO Does not save the specified file (program.default logic instruction). After the current file is saved,
you can select if the next file is saved by answering the prompt message.
4 Select the desired function key. In this case.program file (*.MN) is saved in the floppy disk.
-273-
B-80464E/01
8. FILE INPUT/OUTPUT
l ....s_av_i_n_g_P_3_:\-SAMP--LE-1_.MN_,-p-le_a_s_e_w_a-it_._·_·_
__,J
5 When the file which has the same name as you specified already exists in the floppy disk,the following
message is displayed.
P3:\SAMPLE1.MN already exists
OVERWRITE SKIP
CANCEL
- F3,0VERWRITE The specified file is overwritten and saved.
- F4,SKIP Does not save the specified file.
- FS,CANCEL Ends saving files.
Saving the system flle.
6 Press F4,SAVE and select System files. The following file is displayed.
2 TPE programs
3 Application
LOAD
BACKUP
P3:\*.*
[UTIL] >
.-,mag;
i!::: Ii II Jill~UJ llBll[!:J I ; '.! i!!Hil ; ;
SYSVARS.SV
SYSSERVO. SV
SYSMAST.SV
SYSMACRO.SV
Backup to disk?
YES
NO
7 To save all the system files.press F4,YES. System files (SYSVARS.SV,SYSSERVO.SV,SYSMAST.SV,SYSMACRO.SV) are saved in the floppy disk.
J
~---=Y=E=s,...-_ _N_o__
a~
l.__B_a-ck_i_n_g_u_p_t_o_d_i-sk_:_P_3:-\-SY_S_VAR_s_._sv_ _
__,.J
8 When the file having the same name as you want to save exists in the floppy disk, the following message
is displayed.
P3:\SYSVARS.SV already exists
OVERWRITE SKIP
CANCEL
- F3,0VERWRITE The specified file is saved by overwriting.
- F4,SKIP The specified fi.le is not saved.
- FS,CANCEL Saving files is ended.
9 When the floppy disk is filled with files.exchange the floppy disk and press R4,CONTINUE.
Disk is full, change to empty disk
CONTINUE CANCEL
-274-
8. FILE INPUT/OUTPUT
B-80464E/01
8.4.3 Saving with a function menu
By selecting SAVE from a function menu, the data of a screen currently displayed can be saved into the floppy
disk. The data of the following screens can be saved:
• Program edit screen Program file (*.MN)
• System variable screen System variable file (SYSVARS.SV)
• Servo parameter screen Servo parameter file ( SYSSERVO.SV)
• Positioning screen Mastering data file ( SYSMAST.SV)
• Macro instruction setting screen Macro data file ( SYSMACRO.SV)
• Frame setup screen Frame setup data file ( FRAMEVAR.SV)
• Register screen Register data file ( NUMREG. VR )
• Position register screen Position register data file ( POSREG.VR)
• Pallet register screen Pallet register data file (PALREG. VR)
• 1/0 screen 110 configuration data screen ( DIOCFGSV.IP)
• Edit screen for each default logic instruction. Each default logic instruction. ( *.DF)
• Port setting must be completed. (See Section 8.1 or 8.2)
• Floppy disk drive has been connected to the controller.
• Initialized floppy disk must be inserted.(See Section 8.2)
Saving program flies.
1 Display the program edit screen or the program selection screen.
No.
Program name
Comment
@iii! ™iiiif!R9'.€%R:4f!iiiii i!i!Jiliii~E~9~~!£9!Wi
2
3
4
5
PROG002
SAMPLE!
SAMPLE2
SAMPLE3
iii!!H~J@Jiii
PR [PROGRAM002
]
JB [SAMPLE PROGRAM l]
JB [SAMPLE PROGRAM 2]
JB [SAMPLE PROGRAM 3]
TYPE ] CREATE DELETE
MONITOR [ATTR ]>
2 To display a function menu.press the FCTN key.
3 Select "6 SAVE."
A selected program file is saved.
4 When the program having the same name as you want to save exists in the floppy disk,the file can not be
saved.
l~-F-i-le~a-1-re_a_d_y_e_x_i_s-ts~~~~~~~~~j
5 When the floppy disk is filled with the files, exchange the floppy disk and press F4,CONTINUE. All the data
being saved at exchanging floppy disk is saved into the exchanged floppy disk.
l
No room to save file
CONTINUE CANCEL
-275-
j
8. FILE INPUT/OUTPUT
.B-80464E/01
Saving other files.
1 Display the screen you want to save.
J=U
R[
1:COUNTER1
R[
R[
R[
2:
3:
4:
R[
5:
J=O
J=O
]=O
J=O
R[
6:
]=0
1/32
[ TYPE ]
2 Display the function menu by pressing the FCTN key.
3 Select "6 SAVE."
The contents of the screen being displayed is saved.
4 When the file having a same name exists in the floppy disk, the file is overwrite.
5 When the floppy disk is filled with the files, exchange the floppy disk and press F4, CONTINUE. All the data
being saved at exchanging floppy disks is saved into the exchanged floppy disk.
l
No room to save file
CONTINUE cANCEL
-276-
J
8. FILE INPUT/OUTPUT
B-80464E/01
8.4.4 File manipulation
File screen enables you to display the list of the files which are saved into the floppy disk,to delete them.etc.
• Port setting must be completed. (See Section 8.1 or 8.2)
• The floppy disk drive must be connected to the controller.
• The files has been saved into the floppy disk. (See Section 8.2)
1 Press the MENUS key. The screen menu is displayed.
2 Select 7 FILE. The file screen is displayed.
llll'TII IF !!! .! :moor:: Ii !IET
II ::; !lHll
P3: *·*
11
.1n:::rn::as;;;r
BIB
::::+::•
2 *
KL (all KAREL source)
3 *
CF (all command files)
4 *
TX (all text files)
5 *
LS (all KAREL listings)
6 *
DT (all KAREL data files)
Press DIR to generate directory
[ TYPE ] [ DIR ] LOAD [BACKUP] [UTIL ]>
DELETE
COPY
DISPLAY
>
Displaying the list of files.
3 Press F2,(DIR].
9fali::n:rn:RRRRRRillR. R;"R.:m.mfJBJ~
1
2
3
4
*·*
*.KL
*.CF
*.TX
ElB I ]L <
5
6
7
8
*.LS
*.DT
*.PC
---next
rn ; ;;
q
~
pa~e---
.·.z LU
L .~
4 Select"*. *"(all files).The list of the files being saved into the floppy disk is displayed.
U:J.B
:.".
;;;;;;:."..
..:::•~
* *
!.B~::a~J
P3:
!J :; .LTI
2 PROGRAM2 MN
384
25600
3 SYSVARS SV
4 SYSMACRO SV
324
5 NUMREG
VR
708
6 DIOCFGSV IO
476
(all files)
7 *
*
8 *
KL (all KAREL source)
DELETE
COPY DISPLAY
-277-
>
8. FILE INPUT/OUTPUT
B-80464E/01
Deleting files
5 Select the file you want to delete and press F1 ,DELETE.
l
Delete P3:\PROGRAM3.MN?
-
l
DELETE
COPY
J
NO
YES
DISPLAY
6 Press F4, YES. The file will be deleted.
r
-~
!i
v
F
.
-i : lflf4UDJJ1
P3:\*.*
1 PROGRAM! MN
768
384
2 ~ROG~ MN
.
.;.;.-....
4 SYSMACRO SV
324
Deleted file P3:\PROGRAM3.MN
DELETE
COPY DISPLAY
~
.,,~,,~
3/19
:iS::::l
~-
-278-
>
8. FILE INPUT/OUTPUT
B-80464E/01
8.4.5 ASCII save
ASCII save function is that saves the program which is saved in R-J2 Mate controller in binary (intemal) format
to the extemal memory device in ASCII format. This ASCII format is like the output of the printer.
Necessary devices and software version
The programs, which is saved to the floppy disk by this function, can be loaded to the personal computer and
can be edited by it. Moreover, the program which is saved to the floppy disk in ASCII format can not be directly
loaded into the R-J2 Mate controller.(When it is converted to the internal expression by other option software
on the personal computer, it can be loaded into the controller.) Moreover, only FANUC format can be treated
by the FLOPPY CASSETTE ADAPTER. Therefore the floppy disk which is initialized by the FLOPPY CAS·
SETTE ADAPTER can not be used by the personal computer.
Settings of Handy Fiie
The software version of the FANUC Handy File needs to be 07G or more.
Set the FANUC Handy File so the floppy disk initialized in MS-DOS format can be used.(For details, refer to
FANUC FLOPPY CASSETTE ADAPTER OPERATOR'S MANUAL.)
Table 8.7 Example for port setting of Handy Fiie
Setting items
MS-DOS format
Protocol
Robot
Speed
9600baud
Stop bit
1 bit
Parity bit
None
Data code
Receive
Send
Channel
RS-232-C
Subprogram
None
I
ISO/EIA
ISO
Select PS-100/200 Disk as the port settings on the R-J2 Mate controller side and setthe Handy File according
to the above table.
Initializing floppy disks
When the floppy disk which has been already initialized is prepared, there is no necessity to initialize. When
you want to use files in the floppy disk on the personal computer side, you should use the floppy disk which
has been initialized according to the format of the computer. (Refer to the FANUC Handy File operator's manual
for operation)
Or, use the floppy disk with the Handy File after initializing it in MS-DOS format with the personal computer etc.
Setting of R-J2 Mate
Select PS-100/200 Disk as the port connected to the FANUC Handy File with the port setting screen.
Set $ASCll_SAVE to TRUE with the system variable screen.
Saving the program files
When you output the programs to the Handy File with the program selection screen or file screen, they are
saved in ASCII format. The extension of the file is PJ when the R-J2 Mate is Japanese version and it is PE
when English.
-279-
B-80464E/01
8. FILE INPUT/OUTPUT
• The floppy disk drive must be connected to the controller and it must be set so that the floppy disk initialized
in MS-DOS format can be used.
• The floppy disk which has been initialized in MS-DOS format must be inserted.
Select PS-100/200 Disk as the communication device in the port detail screen.(See Section 8.1)
[6 SETUP.Port lnit]
l[
DETAIL
TYPE ]
@]~
LIST
[CHOICE]
1 Handy File
5 Sensor
@miKimi~i~ili¥1R1
; :~s~s;omm
m:i~a'.iiiimHiWMiJ11@irn@lmiii1i;JiiMi1iiii1iimm1mn
j
2 Set $ASCII_SAVE to TRUE in the system variable screen.
[6 SYSTEM. Variables]
TRUE
FALSE
a~
j
SAMPLEl
LINE 0
9 $ASCII SAVE
10 $AUTOINIT
[ TYPE ]
TRUE
FALSE
3 Program files can be saved with the program selection screen, edit screen or file screen. Enter the program
name you want to save and press ENTER key. (See Section 8.4)
[1 SELECT]
PROG002
LINE 0
No. Program name
Comment
1 l~R®m!liilfflI!@;m)li!rsAMPLE PROGRAM 1]
2 SAMPLE2
JB [SAMPLE PROGRAM 2]
COPY
DETAIL LOAD
SAVE
PRINT >
LOAD
SAVE
PRINT
--- Save Teach Pendant Program
Program Name [SAMPLEl ]
Enter program name
PRG
MAIN
SUB
TEST
4 The following screen will be displayed on the Handy File. And saving is executed.
001: SAMPLEl.PJ
Write> Executing
NOTE
When you want to return the saving format to binary.set $ASCII_SAVE to FALSE.
-280-
8. FILE INPUT/OUTPUT
B-80464E/01
8.5 Loading Files
Loading files is to load the files being saved in the floppy disk to the RAM memory in the controller. The files
can be loaded with the following screens on the teach pendant:
• Program selection screen - The specified program file is loaded from the floppy disk as the program,
• File screen - The specified program files and system files can be loaded. The following files can be loaded.
- Program file (*.MN)
- Default logic instruction (*.DF)
- System file (*.SV)
- Data file (*.VR,*.10)
8.5.1 Loading using program selection screen
In the program selection screen.the specified program file can be loaded from the floppy disk as the program.
• Communication port setting must be completed. (See Sections 8.1 and 8.2.)
• The floppy disk drive must be connected to the controller.
• The data must be saved to the floppy disk (See Section 8.2).
Press MENUS key to display the screen menu.
2 Select "O -- NEXT --" and select "1 SELECT" from the next page.
Program selection screen is displayed.
No.
P.i;,g)!.;.e.m name
1
SA$.!i$).
2
3
4
5
SAMPLE2
SAMPLE3
PROGOOl
PROG002
Comment
[SAMPLE PROGRAM 1]
[SAMPLE PROGRAM 2]
[SAMPLE PROGRAM 3]
PR [PROGRAMOOl
]
PR [PROGRAM002
]
JB
JB
JB
TYPE ] CREATE DELETE
COPY
DETAIL
LOAD
MONITOR [ATTR ]>
SAVE
PRINT
3 Press "NEXT",>, and press F3,LOAD, on the next page. Program load screen is displayed.
LOAD
SAVE
PRINT >
J
2
3
Upper Case
Lower Case
---Load Teach Pendant Program--Program Name t/;;iill
1
Enter program name
PRG
MAIN
SUB
4 Enter the name of a program to be loaded, then press the ENTER key.
Program Name PROGOOi!faJ
Enter program name
PRG
MAIN
- 281 -
TEST
>
B-80464E/01
8. FILE INPUT/OUTPUT
8.5.2 Loading a specified program file using the file screen
In the file screen, the specified file is loaded from the floppy disk to the memory.
The following files can be read:
• Program file (*.MN) -Program file having contents of the program can be loaded.
• Default logic file (* .DF) -Default logic file having the settings of the default logic instruction can be loaded.
The method of loading is the same as the program file.
• Data file (*.VR,*.10 )-The following data file can be loaded.
- Register data file ( NUMREG.VR)
- Position register data file ( POSREG. VR )
- Pallet register data file ( PALREG.VR)
- VO config data file (DIOCFGSV.10)
• System file (*.SV) -The following system files can be loaded. However.system files can be loaded only
at the controlled start.(See Section B.1.3 controlled start)
- System variable file ( SYSVARS.SV)
- Servo parameter file ( SYSSERVO.SV )
- Mastering data file ( SYSMAST.SV )
- Macro data file ( SYSMACRO.SV)
- Frame setup data file( FRAMEVAR.SV)
• Communication port setting must be completed. (See Sections 8.1 and 8.2.)
• The floppy disk drive must be connected to the controller.
• The data must be saved to the floppy disk (See Section 8.2).
1 Press the MENUS key to display the screen menu.
2 Select "7 FILE" to display the file screen.
1m~~::m.:r:m:rmnm::::::;m=mmm.:m:xmurmn:mrrm~J£¥Aimt~
P3:\*.*
tUU:iJfil.IJPJ'I.
nVf!f9f.tf!!'I source>
3 *
CF (all
4 *
TX (all
5 *
LS (all
6 *
DT (all
7 *
PC (all
8 *
TP (all
9 *
MN (all
10 *
VR (all
Press DIR to generate
[ TYPE ] [ DIR ] LOAD
DELETE
-282-
COPY
1/13
·.·.~n
command files)
text files)
KAREL listings)
KAREL data files)
KAREL p-code)
TP programs)
MN programs)
variable files)
directory
[BACKUP] [UTIL ]>
DISPLAY
>
8. FILE INPUT/OUTPUT
B-80464E/01
Loading a program flle
3 Press F2 "DIR."
l[
TYPE ] [ DIR ]
LOAD
6 *.DT
7 *.PC
2 *.KL
3 *.CF
4 *.TX
5 *.IO
6 *.DF
7 *.ASCII Files
8 ---next
2 *.TP
3 *.VR
4 *.SV
4 Select "*.MN" (program file). The directory of program files stored on the floppy disk is displayed.
1/17
2 *.TP
*
3 *.VR
7
4 *.SV
8 --
2 PROGRAM2 MN
3 TESTl
MN
4 TEST2
MN
*
*
384
6016
704
*
(all files)
(all KAREL source)
TYPE ] [ DIR ] LOAD [BACKUP] [UTIL ]>
5
6
KL
5 Move the cursor to the program file you want to load and press F3,LOAD.
TYPE ] [ DIR ]
LOAD
l __L_o_a_di_·n-g-PR_O_G_RAM_l_._MN_,_P_r_e_v_t_o_e_x_it_._ _____,J
Selected program is loaded from the floppy disk.
l_L_o_a_d_e_d_P_R_o_G_RAM_l_._MN
__________
_..J
6 If a program with the same name already exists in the RAM, the following indication is provided:
PROGRAMl.MN already exists
OVERWRITE SKIP
CANCEL
- OVERWRITE Loads the new file and overwrites it.
- APPEND Loads the new file and append it at the end of the old file.
NOTE
When the label number is doubly defined by APPEND, alarm will occurs. In this case, the new
file will be added by the line just before the label which occurs the double definition.
-283-
B-80464E/01
8. FILE INPUT/OUTPUT
-~;;;;;.Iii I
: iil!Ili [!!Elli i ::::::::trn: ::. 11-.
8/13
ru·s.1:::·
: . ::: ::: VR: : .·:mu..-.::
:u:::.::::::::::n
9 *
(all variable files)
10 *
SV (all system files)
Press DIR to generate directory
[TYPE]
[DIR]
LOAD
[BACKUP]
l[
[UTIL]
7 If you want to load all program files in the lump, select "*.MN" and press F3,LOAD. When the PREV key
is pressed, the operation is interrupted after a file being loaded at this time is loaded
TYPE ] [ DIR ]
LOAD
@]~
Loading a data file
l
8 Press F2, DIR. Sub-menu is displayed.
[TYPE]
[DIR]
LOAD
~-1:::::111:::
1 *.TP
2 * MN
·11m!rt!ll!'.illlf iillfiH'. f ! rn
4 *.SV
801. ·: I i
ifnliiii~
5 *.IO
6 ASCII Files
7 Loadable Files
8 ---next pa~e---
iiiIIif ..
&: . ·.
W.C
9 Select "*. VR" (variable data file). The directory of variable data files stored on the floppy disk is displayed.
Select a program to be loaded. The selected program is loaded from the floppy disk.
11inf~tm:::m::::::~I!!:m:~:~·~~·~
.. ~.~··m·L&~r•
~.::::::::......, :::ii:: ··· · BDtm::r ""'"' Kiji·::;;rr
2 POSREG
1024
(all files)
KL (all KAREL source)
4
CF (all command files)
5
TX
(all text files)
6
[ TYPE ] [ DIR ] LOAD [BACKUP] [UTIL ]>
3
l[
VR
*
*
*
*
*
1OSelect a program file you want to load and press F3, LOAD.
TYPE] [DIR]
LOAD
l. .
_Lo_a_di_·n_g_NUMRE
_ _G_.VR_,_P_r_e_v_t_o_e_xi_·-t•_ _ _____,J
The specified program is loaded from the floppy disk. Loaded data is set as the current data.
l
J
Loaded NUMREG. VR
11 If you want to load all the file which has the same extension.Select "*.VR","*.10",etc and press F3,LOAD .
8
*
" :::;;: :;;
'·"·~
. . ?', '°"":'9/13
;"'
MN ~.Je!.!.~~~~fs.?.~~X~nm~_,.,
: 11UtilJilt!iA'Bm.f..:~i.
10 *
SV (all system files)
Press DIR to generate directory
[ TYPE ] [ DIR ] LOAD [BACKUP] [UTIL ]>
-284-
8. FILE INPUT/OUTPUT
B-80464E/01
Loading system variable files
• Turn on the power by controlled start (See Section B.1 .3 controlled start). The following simplified system
starts.
1 $AP MAXAX
2 $AP-PLUGGED
3 $AP-TOTALAX
4 $AP-USENUM
5 $AUTOINIT
6 $BLT
1~at:lfz9111.1.;mw
4
16777216
[12] of Byte
2
19920216
TYPE ]
12 Press the MENUS key, then select "2 File." The file screen appears.
2 *
3 *
4 *
5 *
6 *
Press DIR to
KL (all
CF (all
TX (all
LS (all
DT (all
generate
[ TYPE ] [ DIR ]
LOAD
KAREL source)
command files)
text files)
KAREL listings)
KAREL data files)
directory
[BACKUP] [UTIL ]>
13 Press F2 "DIR" to display the submenu.
L
[TYPE]
[DIR]
LOAD
*.MN
6
7
8 ---next
*.VR
l
a e---
14 Select "*.SV" (system variable data file). The list of the system files which are saved in the floppy disk is
displayed.
[TYPE]
[DIR]
LOAD
3 SYSMAST SV
4 SYSMACRO SV
5 *
*
6 *
KL
TYPE
[DIR]
6016
704
(all files)
(all KAREL source)
LOAD
[BACKUP][UTIL ]>
15 Select the file you want to load and press F3,LOAD.
When you press the PREV key while the system files are loaded by selecting "*.SV'',loading is kept on until
the file being loaded at pressing the PREV key is finished to be loaded.
16 Turn off the power again. Then, select "1 START (COLD)" from the function menu. The system is cold
started.
-285-
B-80464E/01
8. FILE INPUT/OUTPUT
8.6 Printing Files
8.6.1
Printer
The printer prints out the contents of a program, data file, system variable, and so forth. A FANUC standard
printer is available for connection with the R-J2 Mate controller.
e FANUC Printer (A86L-0001-0103)
The FANUC PRINTER is a serial, desktop dot-matrix printer which can print at high speed .
•
LINE
FORM
SELECT
FEED FEED TOP SET r
1 ALARM POWER
D O D D oc:::::io
Fig. 8.5 FANUC Printer
The Printer must be connected to a RS-232-C port. (For communication setting, see Section 8.1.)
Table 8.7 Standard Port Setting for the Printer
Device
Speed
Stop bit
Parity bit
Data code
lime-out value
Printer
4800baud
1 bit
None
ISO
Osec
I
ON
®
0
OFF
EMEGENCY
STOP
e
RS-232-C
interface port
Fig. 8.6 Connection of Communication cable to Controller
-286-
8. FILE INPUT/OUTPUT
B-80464E/01
Table 8.8 Functions of LEDs and Switches
Status
LED indication
POWER (green)
Is lit when the power goes on.
ALARM (red)
Lights when a form is used up.
SELECT (green)
Is lit in the receive state (SELECT), and goes off in the local state. The SELECT
switch is used to switch between the receive state and local state.
Switch
Status
POWER
Turns on and off the power.
SELECT
Switches between the receive state and local state.
TOP SET
Functions when the local state is set. The position of the first line is memorized. So
position the form on the first line.
FORM FEED
Functions when the local state is set. This switch feeds the form to the first line of the
next page.
LINE FEED
Functions when the local state is set. This switch advances the form one line.
For detailed information about the FANUC Printer (A86L-0001-0103), refer to the "FANUC Printer Operator's
Manual."
1 Connect the Printer to the controller.
2 Turn on the power to the Printer.
3 Set an ink ribbon cartridge and form. Press the SELECT switch to set the receive state. The SELECT lamp
lights.
r SELECT]
II
L__J
,\I'"
o-=
::
~-,,.,1.\''
-287-
B-80464E/01
8. FILE INPUT/OUTPUT
8.6.2 Printing files
The contents of a file stored in the RAM can be printed out. The image being displayed on the teach pendant
screen can also be printed out (print screen).
Printing files can be executed by the following screens.
• Program selection screen: Can print the program files.
• The function menu[9 PRINT]: Can print the contents of the following screens.
- Program edit screen: Program detail information and contents of program.
- System variable screen: System variable data
• Communication port setting must be completed. (See Sections 8.1 and 8.5.1.)
• The Printer must be connected to the controller.
Printing out a program file using the program selection screen
1 Press the MENUS key to display the screen menu.
2 Select "1 SELEcr· on the next page.
The program selection screen appears.
1
2
PROGOOl
PROG002
4
5
SAMPLE2
SAMPLE3
56080 bytes free
PR [PROGRAMOOl
PR [PROGRAM002
3/5
]
]
~llil!a~l~!i~:mge11·
llli~MiitliJ~tti~m~.·.Jil.:::&ffli~-[SAMPLE PROGRAM2
[SAMPLE PROGRAM3
[TYPE]
CREATE
DELETE
MONITOR
COPY
DETAIL
LOAD
SAVE
]
]
[ATTR] >
PRINT >
3 Press FS "PRINr' on the next page.
The program print screen appears.
LOAD
SAVE
PRINT >
J
a~
Upper Case
Lower Case
Options
3
4
---Insert~-
l&J£&J! · ; . 'II:: :"~m::w'.c
·: ::
---Print Teach Pendant Program--Program Name lf~LE3
]
Enter program name
PRG
MAIN
SUB
TEST
4 Enter the name of a program file to be printed out, then press the ENTER key.
Program Name SAMPLE3
Enter program name
PRG
MAIN
SUB
(ENTER]~
~
,
5 The specified program file is printed out.
-288-
8. FILE INPUT/OUTPUT
B-80464E/01
Printing programs
• The program edit screen is displayed.
~ J P[l) 100% FINE
2: J P[2) 70% CNTSO
3: L P[3] lOOOcm/min CNT30
4: L P[4] 500nnn/sec FINE
5: J P[l] 100% FINE
[End]
POINT
TOUCHUP
>
6 Press the FCTN key to display the function menu and select "9 PRINT."
7 The program currently displayed is printed out.
Requirement for printing system variable files
• The system variable screen must be displayed.
IRBIJWJJJ'mlf#B.
"'. .
.. . .
, ~-~w~
. '
=1/98 .
~
3
4
5
6
::-=ED
$AP-TOTALAX
$AP-USENUM
$AUTOINIT
$BLT
flfJDDDU
16777216
[12) of Byte
2
19920216
[TYPE]
1 Press the FCTN key to display the function menu and select "9 PRINT."
2 The directory of system variables is printed out.
NOTE
It will take over three hours to print out all the system variables. To interrupt printing system
variables, press the PREV key.
3 When only lower-level system variables are to be printed out, such as in the case of $PARAM_GROUP,
display the screen of $PARAM_GROUP, then perform steps 1 and 2 above.
-289-
8. FILE INPUT/OUTPUT
B-80464E/01
'I
lri:!$.l~W.g1tv~i~ll~~ll!iiIIiffiilllti!Wil!ffilffffi!§~~I~fiiI
47
48
$0RIENTTOL
$0VRDSLCT
51
52
$PGDEBUG
$PMR
lF~~Il!Hf!!!~~YP
GNTER) ~
y ,_
$PARAM GROUP
1 $BELT ENABLE
2 $CART-ACCEL1
3 $CART-ACCEL2
4 $CIRC-RATE
5 $CONTAxISNUM
6 $EXP_ENBL
49/98
FALSE
192
KQ\1ilmi1rnm rnrnrn
1
TRUE
[TYPE]
• The desired screen to be printed out is displayed.
1 Press the FCTN key to display the function menu and select "8 PRINT SCREEN."
2 The displayed screen is printed out. "\" is printed as the part of the highlight display on the teach pendant.
- 290-
co
c:
::!
r
=i
-<
9. UTILITY
B-80464E/01
9. UTILITY
This chapter explains a macro instruction, which is a special function of the R-J2 Mate controller.
D Contents of this chapter
9.1 Macro Instruction
9.1.1 Setting macro instructions
9.1.2 Executing macro instructions
- 291 -
B-80464E/01
9. UTILITY
9.1 Macro Instruction
A macro instruction is a function for registering a program consisting of a sequence of instructions as one
instruction, and calling such a set of instructions for execution as required.
Macro instruction
I hand1open l ~
Macro program
HOPN1.TP
1: RO [1]=0N
2: RO [2] =OFF
3: .WAIT RI [1) =ON
To open the hand
R0[1]
R0[2)
----.
Fig. 9.1 Macro Instructions
A macro instruction has the following capabilities:
• A macro instruction, when taught in a program, can be started as a program instruction.
• A macro instruction can be started using the manual operation screen on the teach pendant.
• A macro instruction can be started using a user key on the teach pendant.
• You can start the macro command using DI or RI.
Existing programs can be registered as macro instructions. Up to 20 macro instructions can be registered. A
macro instruction can be used according to the following procedure:
1 Create a program to be executed as a macro instruction.
2 Register the created macro program as a macro instruction and determine from which device the macro
instruction is to be called.
3 Execute the macro instruction.
The macro instruction setting screen [6 SETUP. Macro) is used for setting a macro instruction.
-292-
9. UTILITY
B-80464E/01
9.1.1 Setting macro instructions
The setting of a macro instruction involves the following items:
• Macro program
• Name of a macro instruction
• Assignment of a device used to start the macro instruction
Macro program
A macro program is a program started by a macro instruction. A macro program can be taught and played back
(when played back as a program) in the same way as an ordinary program, except for the following restrictions:
• The subtype of a program, when registered as a macro program, is changed to MR (macro). When the
registration of the macro program is canceled, the subtype returns to the original one. (For information
about the subtype s, see Subsection 4.1.3.)
• A macro program registered as a macro instruction cannot be deleted.
• A program not including a motion (group) can be started even when the motion enabled state is not set
(even when an alarm is issued). (For the group mask, see Subsection 4.1.4.) For group mask setting, the
program information screen is used. (See Subsection 5.3.1.)
• The macro command not having the motion instruction should be made as the program which does not
contain the motion group.
Name of a macro Instruction
The name of a macro instruction is used to call the macro program in the program. A macro instruction name
must consist of an alphanumeric character string not longer than 16 characters. And then the macro command
can be started while robot is moving.
-293-
9. UTILITY
B-80464E/01
Assignment of a device
A macro instruction must be assigned to a key, screen item, etc. so it can be called. The item to which a macro
instruction is assigned is called a device. The following devices are available:
• Items on the manual operation screen on the teach pendant (MF)
• User keys on the teach pendant (UK and SU)
• 01,RI
Warning:
When a key on the teach pendant is assigned to a macro instruction, it becomes that macro instruction's
device, and the key can no longer be used for its original function.
Macro instructions can be assigned to the following devices:
- MF[1] to MF[99]: Items on the manual operation screen
- UK[1] to UK[7]: User keys 1 to 7 on the teach pendant
- SU[1] to SU[7]: User keys 1 to 7 +SHIFT key on the teach pendant
- 01[1] to 01(999]: DI 1 to 999
- Rl[1] to Rl[4]:
RI 1to4
NOTE
MF numbers from 1 to 99 can be used, but no more than 20 macro instructions can be assigned to MF items.
NOTE
The total number of the assign to the DI and RI is up to 5.
NOTE The number which can be actually used is only logical number allocated to the input signal
line.
The macro instruction setting screen [6 SETUP. Macro] is used for setting a macro instruction.
-294-
9. UTILITY
B-80464E/01
• A macro program is created.
2/6
1: RO[l]=ON
~R0[2]=0FF
3: WAIT RI[l]=ON
[END)
POINT
>
TOUCHUP
• Macro program detail information is set.
NOTE
For greater convenience, a group mask can be set for a program not including motion instructions.
llm&mBl'l!lH!]!Utl[ I~
1
2
3
4
5
6
1/7
t~
[None=··
]
Program name:
Sub Type:
Comment:
Group Mask:
Write protect:
Ignore pause:
END
PREV
[Open
HANDl
J
[ * * * * * ]
[OFF
[OFF
]
]
NEXT
Changing the motion group (setting a group mask)
1 The program information screen is used to change the group mask.
2 Press the MENUS key to display the screen menu.
3 Select "1 SELECT'' on the next page. The program selection screen appears.
4 Press F2 "DETAIL" on the next page. The program information screen appears.
5 Move the cursor to group 1 of "Group Mask." Press F5 "*"to set(*,*,*,*,*).
1
*
)
END
NOTE
PREV
NEXT
1
*
If a motion instruction is already taught in a program to be modified, no group mask can be
set.
-295-
B-80464E/01
9. UTILITY
Setting a macro Instruction
1 Press the MENUS key to display the screen menu.
2 Select "6 SETUP."
3 Press F1 "TYPE" to display the screen change menu.
4 Select "Macro." The macro instruction setting screen appears.
;~1•~gff@a1u1m11m1111rnm:111@:rn;;;mm@1;m;11s9:i,~E~~w1:1!
Instruction name
Program
1
[
2
[
3
][
4
][
5
l[
[TYPE]
Assign
l
l
l
l
l
[
[
[
[
[
CLEAR
5 For macro instruction input, press the ENTER key to display the character string input screen, then enter
characters using an F key.
iH~§~@!g9.El.U!iU!!f;@rtm:1rnIW
Instruction name
1
111mmm;:;;mwrnm@1J c
l [
2 [
8~
~iPeii99m#J~lilii!ifi@iiimM
2
j
4
(j
ABCDEF
MNOP
11!
Instruction name
1 ~!i~!WH@
l [
GHIJKL
Options
~(#;§!\jg§~!!i'ii,\ji@i@
Instruction name
1
Upper Case
I!§i!i~eii~@H~~~~!I!ff!ii
abcdef
ghijkl
---Insert---
i\ii w:: '::;,:::,:::;;;;;;;;;;;;::'Si
Program
1c
mnopqr
Assigli
1 -- c
stuvwx
yz-@*. >
Upon completion of input, press the ENTER key.
[TYPE]
CLEAR
[CHOICE]
NOTE
No duplicate macro instruction definition is allowed.
6 For macro program input, press F4 [CHOICE] to display a directory of programs, then choose a program
from the directory. When the macro program name is entered withoutthe macro name, the program name
will be used as the macro name.
-296-
9. UTILITY
B-80464E/01
j
[CHOICE]
r 1: : :PROGRAMl
: Jill ::i: :rn:::n ::m :i ::rrn5 1SAMPLEl
::::u:r:: ~~
2 PROGRAM2
6 SAMPLE2
:::r::::Jtll!Ii ::::::::: !
1
4 HCLSl
~-U:
Instruction name
1 [handlopen
[TYPE]
g;:Irn:;;;
illlRJi!!Fi~
Assign
]
-- [
CLEAR
. . .Instruction
. .:iii11!!H!!Hffi11!!!!!m!Effi%!!
name Proqram
111~
5
1 PROGRAMl
2 PROGRAM2
8 ---next paje--
r\
6
1 [handlopen
.4 .
.,rn;m11~~
HCLSl
ENTER
[TYPE]
l [HOPNl
!.._
Assign
l [
[CHOICE]
CLEAR
7 For device assignment, press F4 "[CHOICE]" to display a directory of programs, then choose a program
from the directory.
j
[CHOICE]
T] ; : r;;: TIT .i I'. . ·.·. ·
\!:!IT i!]jllltUD
1 -2 UK
3 SU
5
6
7
8
SP
DI
RI
--NEXT---
Instruction name Proqram
Assign
1 [handlopen
][HOPNl
] ~[
[TYPE]
NOTE
CLEAR
[CHOICE]
On R-J2 Mate, SP (operator control panel) cannot be used for the device to be assigned.
I'
~&WJfilL}[ i.i'.!];)'.][""'*j,Ailk'»~
TW.T''.i .Jli!J.IL f. Hl'.Hillfil
Instruction name Proqram
1 [handlopen
] [HOPNl
]
[TYPE]
CLEAR
[TYPE]
CLEAR
Assign
l!'I [
[CHOICE]
\.
8 Enter a desired device number.
ftW.tr~. . . .
Proqram
[HOPNl ]
Assi~
MFUj
9 For macro instruction deletion, move the cursor to a desired field, then press F2"CLEAR" while holding
down the SHIFT key.
RV~~r•l¥f~
l
Instruction name Pros
1 l~,J"~ [HOPNl
2 lh'~Ci1ciose · ] [HCLSl
[TYPE]
CLEAR
-.-.~-lW.:$1',JfJ
Instruction name Program
1 @flifJI .
illillfill [HOPNl ]
] [HCLSl
]
2 [handlclose
3 [
][
l
4[
[TYPE]
-297-
][
CLEAR
Assign
MF [ 1 ]
MF [ 2 ]
[
l
]--[
l
B-80464E/01
9. UTILITY
9.1.2 Executing macro instructions
A macro instruction can be executed by:
• Selecting an item on the manual operation screen on the teach pendant (with the SHIFT key held down)
• Pressing user keys on the teach pendant (without pressing the SHIFT key)
• Pressing user keys on the teach pendant (with the SHIFT key held down)
e Dl,RI
• Calling the macro instruction from the program
When a macro instruction is started, the macro program is executed in the same way as an ordinary program
is executed, except for the following restrictions:
• The single step mode is disabled. The continuous operation mode is always used.
• The macro program is always aborted without the pausing status.
• The macro program is always executed starting from the first line.
When a macro program includes a motion instruction (possesses a motion group), the motion enabled state
must be set to execute the macro instruction. When no motion group is possessed, the motion enabled state
need not be set.
The motion enabled state is set when:
• ENBLison.
• No alarm is issued.
Table 9.1 Macro Instruction Execution Conditions
Without a motion group
MF[ 1 - 99]
SU [ 1 - 7]
I
Executable(*1)
I
Executable
Executable
UK [ 1 ....... 7]
DI [ 1 - 999]
RI [ 1 ....... 4]
NOTE
TP enabled
With a motion group
TPenabled Executable
Executable
*1 Even when the teach pendant is disabled, a macro instruction that does not possess a motion group can be executed from an MF or SU by setting system variable $MACRTPDSBEXE
=TRUE.
-298-
9. UTILITY.
B-80464E/01
• The teach pendant is enabled.
Even when the teach pendant is disabled, a macro instruction that does not possess a motion
group can be executed from an MF or SU by setting system variable $MACRTPDSBEXE =
TRUE.
• A device from MF[1] to MF[99] is set using the macro instruction setting screen.
NOTE
~ill
Ji!IIH :1 K
Instruction name
J:!
Assign
Program
1 ~J]Cli:)CHOPN1
2 [handlclose
3 [
] [HCLS1
][
4 [
][
l
]
]
]
MF [
MF [
[
[
1
2
[TYPE]
1 Press the MENUS key to display the screen menu.
2 Select "3 MANUAL FCTNS."
3 Press F1 "TYPE" to display the screen change menu.
4 Select "Macros.• The manual operation screen appears.
[TYPE]
l
EXEC
5 To start a desired macro instruction, press F3 "EXEC" while holding down the SHIFT key. The macro program is started. Hold down the SHIFT key until the execution of the macro program is completed. If the
SHIFT key is released during execution, the macro program is terminated forcibly. Note that when execution is interrupted and F3 "EXEC" is pressed again, the macro program is executed from the first line again.
EXEC
[TYPE]
• The teach pendant is enabled.
Even when the teach pendant is disabled, a macro instruction that does not possess a motion
group can be executed from an MF or SU by setting system variable $MACRTPDSBEXE =
TRUE.
• A device from UK[1] to UK[7] or SU[1] TO SU[7] is set on the macro instruction setting screen.
NOTE
-299-
B-80464E/01
9. UTILITY
Uflsf,9K9l~. .;m@m~rmww1t1~mr&M!iiitfitf!IW§mfiWt~f!!itt
Instructionname Program
1 ~11~~-+siln:Iiif!l!!!i~ [HOPNl
l
2 [handlclose
] [HCLSl
]
3[
][
l
4[
][
l
Assign
SU [ 1
SU [ 2
[
[
TYPE ] CLEAR
1 To start a macro instruction on the teach pendant, use the assigned user key on the teach pendant.
2 When a user key from UK[1] to UK[7] is assigned to the macro instruction, press the assigned user key
to start the macro instruction.
Warning:
A macro instruction that possesses a motion group cannot be executed using a device from UK[1] to UK[7].
A device from SU[1] to SU[7] must be assigned to such a macro instruction.
3 When a device from SU[1] to SU[7] is assigned to the macro instruction, press the user key while holding
down the SHIFT key.
Hold down the SHIFT key until the execution of the macro program is completed. If the SHIFT key is released during execution, the macro program is terminated forcibly. Note that when execution is interrupted
and F3 "EXEC" is pressed again, the macro program is executed from the first line again.
UK[1] or SU[1]
UK[2] or SU[2]
UK[3] or SU[3]
UK[4] or SU[4]
UK[S] or SU[S]
UK[7] UK[6]
or
or
SU[7] SU[6]
Fig. 9.2 User Keys on Teach Pendant
-300-
9. UTILITY
B-80464E/01
Warning:
When a key on the teach pendant is assigned to a macro instruction, it becomes that macro instructions
device, and the key can no longer be used for its original function.
NOTE
On the simplified teach pendant, only user keys 1 to 4 can be used for UK and SU. User keys 5
to 7 are not available on the simplified teach pendant.
-301-
9. UTILITY
B-80464E/01
• The teach pendant must be disabled.
• 01[1 to 99], Rl[1 to 4] or Ul[1 to 8] is specified as the device in the macro instruction setting screen.
Instruction name
1
Program
[f@mj@glJD.Eg@§J [REFPOS
2 [WORK1 CLAMP
] [CLAMPl
3 [PROCESSING PREP ] [PREP
4 [
l[
Assign
]UI [ 7]
]DI [ 2]
]RI[ 3]
]--[ l
[ TYPE ] CLEAR
1 To start the macro command using DI or Rl,input the digital signal from the external device or directly input
these signals in the 1/0 screen on the teachpendant.
2 When DI or RI which is set in the macro instruction setting screen is inputted, the macro command which
is assigned to the signal will be started.
3 To assign the macro to Ul,$MACROUOPENBL should be set beforehand. The value of the signal name
to be allocated is made TRUE. In R-J2 Mate, the following variables can be set:
$MACROUOPENBL.$UOP_HOLD
. $UOP_RESET
. $UOP_START
.$UOP_ENBL
. $UOP_RSR1[2l $UOP_RSR4
Moreover, $MACROUOPENBL can be changed in the system variable screen displayed at the controlled
start.
WARNING:
Since UI is the specialized 1/0, this usually has the special meaning. Though this can be assigned to the
macro command, it is necessary to note not to have a bad effect on the safety of the system.
-302-
....
0
'Tl .,,
c: )>
zror-im
--1
oz!:::!
z
"
B-80464E/01
10. PALLETIZING FUNCTION
1O.PALLETIZING FUNCTION
This chapter explains the palletizing function.
D Contents of this chapter
10.1 Palletizing Function
10.2 .Palletizing Instructions
10.3 Teaching.the Palletizing Function
10.3.1 Selecting a palletizing instruction
10.3.2 Inputting initial data
10.3.3 Teaching a stacking pattern
10.3.4 Teaching a path pattern
10.3.5 Notes on teaching the palletizing function
10.3.6 Notes on handling the simplified teach pendant
10.4 Executing the Palletizing Function
10.5 Modifying the Palletizing Function
10.6 Palletizing Function with extended axes
-303-
10. PALLETIZING FUNCTION
B-80464E/01
10.1 Palletizing Function
Palletlzlng function
Palletizing is a function for stacking of workpieces orderly by only teaching several representative points.
• A stacking pattern can be created easily by teaching representative stack points.
• A path pattern can be created by teaching path points (approach points and retraction points).
Flg.10.1 Palletlzlng
Structure of the palletizing function
The palletizing function consists of the following two patterns:
• Stacking pattern: Determines the method of stacking workpieces.
• Path pattern:
Determines the path along which the robot hand moves to stack workpieces.
Stacking pattern
Flg.10.2 Palletlzlng Pattern
-304-
10. PALLETIZING FUNCTION
B-80464E/01
Retraction point 2
Retraction point 1
•
· Approach
~~pomt2
Approach
point 1
Stack point
Flg.10.4 Path Pattern
Fig. 10.3 Stacking pattern
With the R-J2 Mate, only the palletizing-8 function can be taught.
Palletizing B can achieve a comparatively easy stacking pattern by one kind of path pattern. In R-J2 Mate, an
easy attitude control can be done.
Workpieces in the same orientation
Workpieces in the different orientation.
Fig. 10.5 Palletlzlng-B Function
Palletlzlng register
The current stack point position is managed by a palletizing register. The robot performs palletizing while updating the palletizing register value using the palletizing instruction. (See Subsection 10.4.1, "Palletizing Register.")
When a palletizing instruction is executed, the palletizing register is used to determine at which position (row,
column, and layer) a workpiece is to be stacked.
-305-
B-80464E/01
10. PALLETIZING FUNCTION
10.2 Palletizing Instructions
The following palletizing instructions are available:
Palletizing instruction
Calculates the current path based on a stacking pattern, path pattern,
and the value held in the palletizing register, and rewrites the position
data of a palletizing motion instruction.
Palletizing motion instruction
A motion instruction dedicated to palletizing. It has position data of an
approach point, stack point, or retraction point.
Palletizing end instruction
Increments (or decrements) the value of a palletizing register.
Palletlzlng Instruction
Based on the value held in the palletizing register, the palletizing instruction calculates the position of the current
stack point from a stack pattern, and also calculates the current path from a path pattern. It then rewrites the
position data of a palletizing motion instruction.
PALLETIZING-B_i
L
Palletizing number (1 to 16)
Fig. 10.6 Format of the Palletizing Instruction
Palletizing motion Instruction
The palletizing motion instruction is a motion instruction that uses three path points -- an approach point, stack
point, and retraction point -- as position data. This instruction is dedicated to palletizing. Each palletizing
instruction rewrites such position data.
J
Palletizing number
( 1 to 16)
PAL_i
_J
[A_1]
100%
L
FINE
Path point
A_n
Approach point, n =Oto 7
BTM
Stack point
R_n : Retraction point, n = Oto 7
Fig. 10.7 Format of the Palletizing Motion Instruction
-306-
10. PALLETIZING FUNCTION
B-80464E/01
Palletlzlng end Instruction
The palletizing end instruction calculates the next stack point and increments (or decrements) the palletizing
register value.
PALLETIZING-END_i
L
Palletizing number (1 to 16)
Flg.10.8 Format of the Palletlzlng End Instruction
Example
1:
2: J
3: L
4: L
5:
6: L
7: J
8.:
PALLETIZING-B 3
PAL 3[ A 2 ] SO% CNT50
PAL-3[ A-1 ] 100mm/sec CNT10
PAL-3[ BTM ] 50mm/sec FINE
handl open
PAL 3[ R 1 ] lOOmm/sec CNT10
PAL-3[ R-2 ] 50% CNT50
PALLETIZING-END_3
Palletlzlng number
Upon completion of the teaching of palletizing data, palletizing numbers are written automatically together with
the instructions (palletizing instruction, palletizing motion instructions, and palletizing end instruction).
When a new palletizing operation is taught, a palletizing number is assigned automatically.
Palletizing register Instruction
The palletizing register instruction is used to control palletizing. It performs stack point specification, comparison, and branch. (See Subsection 4.5.4, "Palletizing Register Instruction" and Subsection 10.5.2, "Controlling
the Palletizing Function by the Palletizing Register.")
PL [ i] =(value)
Palletizing register number
(1 to 32)
_J
t
Fig. 10.9 Palletlzlng Register
-307-
PL [ i ] : Pallet register [ i ]
[ i, j, k] : Palletizing register element
Row, column, layer (1 to 27)
B-80464E/01
10. PALLETIZING FUNCTION
10.3 Teaching the Palletizing Function
The palletizing function is taught using the following procedure:
Program edit screen
Teach palletizing
Select a palletizing instruction
- - 10.3.1
Input initial data
- - 10.3.2
Teach a stacking pattern
- - 10.3.3
Teach a path pattern
- - 10.3.4
End teaching
Palletizing edit screens
Program edit screen
Fig. 10.1 O Procedure for Teaching the Palletizing Function
The palletizing function is taught on the palletizing edit screens. One of the palletizing edit screens appears
automatically when a palletizing instruction is selected.
When the palletizing function is taught, necessary palletizing instructions such as a palletizing instruction, palletizing motion instruction, and palletizing end instruction are inserted automatically.
NOTE
To improve the motion accuracy of palletizing, TCP should be accurately set. ( See section
3.5.1,"Setting a tool coordinate system")
-308-
B-80464E/01
10. PALLETIZING FUNCTION
10.3.1 Selecting a palletizing instruction
Select palletizing-B as the palletizing instruction.
• Make sure that the teach pendant is enabled.
• Make sure that the palletizing instruction is selected on the program edit screen.
...
~l'.II!I!'.
!!!iii!:I
5: J P[2] 300mm/sec CNT50
POINT
TOUCHUP >
Press NEXT">" to display the next page. Press F1 "[INST]" to display a submenu.
l
[INST]
2 PALLETIZING-END
3
4
6
7
8
~1 .:
:
::r:::IFL .· ·Trtr•
:::::•
6/6
5: J P[2] 300mm/sec CNTSO
2 Select "Palletizing."
m'st " . H; i Jfim@Jllli*
5 JMP/U!.L
6 CALL
5
2 PALLETIZING-END 6
8 --next
3
4
flf,JFJ.l~fD.le"IAI
~---··;'·&~-·,
7
8
5: J P[2] 300mm/sec CNTSO
3 Select "PALLETIZING-B." The screen then changes to the initial data input screen automatically, one of
the palletizing edit screen.
&R'BI
: .rwr .:::r:::r::·:·F\W£B•ct•
PALLETIZING Configuration
PALETIZING_l fl. [[ Hfil[J[[l[[[[@llJ
TYPE = [PALLET ]
INCR = [
1 ]
PAL REG
= [ 1] ORDER = [RCL
ROWS
= [ 1 FIX ]
COLUMNS = [ 1
FIX ]
LAYERS = [ 1
FIX ]
AUXILIARY POS
NO ]
APPR =[ 1] RTRT =[ 1]
Press ENTER
=[
PROG
-309-
DONE
B-80464E/01
10. PALLETIZING FUNCTION
10.3.2 Inputting initial data
On the initial data input screen, specify how palletizing is performed. The data set on the initial data input screen
is used for subsequent teach screens. The initial data screen contains the following items:
Initial data Input screen
~
;1*
rg~•~:t11:1;;1;1;m:;iltMm~1;:;;;:11'ii1!iiir1r1Jiilii!ii!i@!P'.g~lil';ii!!!@911~:;m
p~:i;~~~;G~~nf~im~ii9Ri~mmm;: 1
TYPE = [PALLET ]
INCR = [ 1 ]
PAL REG
[ 1] ORDER = [RCL
ROWS
= [ 5 FIX ]
COLUMNS =
LAYERS =
AUXILIARY
APPR =[ 2]
Press ENTER
[
[
4
3
FIX
FIX
POS = [ NO
RTRT =[ 2]
]
]
]
DONE
PROG
Initial Data Input Screen
Table 10.2 lnltial Palletizing Data
Palletizing number
A number is assigned automatically when a palletizing statement is taught.
PALLETIZING_N: 1to16
Palletizing type
Specify whether the palletizing register is to be incremented or decremanted by the palletizing end instruction. (See Subsection 10.4.1.)
Select stacking (PALLET) or unstacking (DEPALLET).
Register increment
Specify the value by which the value held in the palletizing register is to be
incremented or decremented by the palletizing end instruction. (See Sub~
section 10.4.1.)
Palletizing register
Specify the palletizing register to be used by the palletizing instruction and
palletizing end instruction.
Order
Specify the stacking (unstacking) order of row, column, and layer.
R: Row, C: Column, L: Layer
Numbers of rows, columns,
and layers
Attitude control
Numbers of rows, columns, and layers for a stacking pattern.
(See Subsection 10.3.3.) 1to127
Control the attitude at rows,columns,and layers for a stacking pattern. Select FIX or INTER.
Number of approach points
Number of approach points in a path pattern
(See Subsection 10.3.4.) Oto 7
Number of retraction points
Number of retraction points in a path pattern
(See Subsection 10.3.4.) 0 to 7
Initial data related to the stacking method
In the palletizing function, the stack point is controlled using a palletizing register. (See Subsection 10.4.1, "Palletizing Register.") How the palletizing register is controlled can be specified as initial data. According to this
data, the way of stacking is determined.
TYPE = [PALLET]
[1]
PAL REG =
Palletizing register number
e For the pallet type (TYPE), specify either PALLET or DEPALLET (standard setting: PALLET). (See Subsection 10.4.1, "Palletizing Register.")
-310-
10. PALLETIZING FUNCTION
B-80464E/01
• For the register increment (INCR), specify by which amount the stack (unstack) position advances or retracts. That is, specify a value by which the palletizing register is incremented or decremented by the palletizing end instruction. The standard setting is 1. (See Subsection 10.4.1, "Palletizing Register.")
• As the palletizing register, specify the register number of a palletizing register used for stack control.
Caution:
Make sure that the specified palletizing register number is not used by another palletizing function.
• For the order (ORDER), specify the stacking/unstacking order of row, column, and layer.
Stacking Workpieces in the order: Row, column, layer
Layer
Layer
Row
[ 3, 3,
2]~[ 4,
3,
2]~[
1, 1, 3]
Fig. 10.11 Palletlzlng Order
Initial data related to a stacking pattern
As the stacking pattern data, specify the numbers of rows, columns, and layers, attitude control type and also
specify whether to provide an auxiliary position. (See Subsection 10.3.3, ''Teaching a Stacking Pattern.")
Numbers of rows, columns, and layers
Rows
COLUMNS
Initial data related to a path pattern
As the initial path pattern data, specify the number of approach points and the number of retraction points. (See
Subsection 10.3.4, "Teaching a Path Pattern.")
APPR =
[2]
No. of approach points
- 311 -
B-80464E/01
10. PALLETIZING FUNCTION
1 As the palletizing instruction, select palletizing-B. The initial data input screen then appears. (See Subsection 10.3.1, "Selecting a Palletizing lnstruction.'1
RJi!JkW
1rn:: rn::::u rrn:r1:: : : : : : : : :•.~
PALLETIZING Conf
i~ration
PALETIZING_l Jt.&i!lU I . ;::::::::::::::oou
TYPE = [PALLET ]
INCR = [
1 ]
PAL REG
[ 1] ORDER = [RCL
ROWS
= [ 1
FIX ]
COLUMNS = [ 1
FIX ]
LAYERS = [ 1
FIX ]
AUXILIARY POS = [ NO ]
APPR =[ 1] RTRT =[ 1]
Press ENTER
PROG
DONE
2 To enter a comment, follow the procedure below.
1 Place the cursor on the comment line, then press a ENTER key. The character input submenu
ap(p.10-1 O)pears.
-
]
" ::.
INCR=[ 1 ]
'.l
2 Select the type of character inputto be used -- upper case, lower case, punctuation or options --with
the t and ! keys.
3 Press an appropriate function key, then enter characters.
4 After a comment has been completely entered, press the ENTER key.
EJggJJEL l"•T> . , , '.LJ'.ilw&l~D
PALLETIZING Configuration
PALLETIZING 1
[WORK4.
PROG
DONE
3 To select a palletizing type, move the cursor to the TYPE field, then select a function key.
l
PROG
PALLET
DEPALL
~-::::
·::::::::; '. .JFTMT". mf~J:g
PALLETIZING Configuration
TYPE=~
PROG
-312-
PALLET
DEPALL
INCR = [1]
DONE
10. PALLETIZING FUNCTION
B-80464E/01
4 To enter a numeric value, press a numeric key, then press the ENTER key.
=.
.PALLETIZING
. . .::: :::::::::::!LE
:::::::::mrn::::::::.:m•E•
Configuration
TYPE = [PALLET]
INCR
DONE
PROG
5 Specify a palletizing order by selecting the function keys in the target order.
l
PROG
R
c
~
LLII'.111 EEi JI'. IE I :1:::D&&:E
PALLETIZING Configuration
PAL REG = [ 1 ]
PROG
ORDER = - ]
c
R
DONE
L
After the second item has been selected, the third item is determined automatically (for example, if row is
selected first and column second, then layer is automatically selected.)
l
PROG
R
c
PAL REG = [ 1 ]
PROG
ORDER =
c
R
L
ilmJ
DONE
6 To specify the type of attitude control, move the cursor to the setting field and select the function key.
l
PROG
FIX
INTER
BllRt'.'. : : : l[tL:mr.: L :'f{-JJ.D.BDW.B.
PALLETIZING Configuration
LAYERS = [ 1 AUXILIARY POS = [ NO
PROG
FIX
INTER
DONE
7 To select whether there is a auxiliary position or not, move the cursor to the setting field and select function
key menu.
l
PROG
YES
NO
mllM'.J ·. ;;;·;: ·, .«~v ::.-t&il&JIBmlUZM
PALLETIZING Configuration
LAYERS
1
FIX
AUXILIARY POS = -
=[
PROG
-313-
YES
NO
DONE
B-80464E/01
10. PALLETIZING FUNCTION
8 To stop the initial data setting, press F1 "PROG."
caution:
When the initial data setting is stopped before it is completed, the values set up that time are invalidated.
M1~~~~;11m11mm@rn1rn1t11@1rn11rn11;;;;11oc9w«~Irn11.9rn~m1
PALLETIZING Configuration
PALETIZING 1
TYPE = [PALLET . J
.L1'<.;K PAL REG
[ 1] ORDER
ROWS
5
FIX ]
COLUMNS
4
FIX ]
LAYERS = [ 3
FIX ]
AUXILIARY POS
NO ]
APPR =[ 2] RTRT =[ 2]
Press ENTER
=[
=[
L
=
]
1 ]
[RCL
=[
PROG
DONE
9 When all data items have been entered, press FS "DONE." The initial data input screen then disappears
and the palletizing stacking pattern teach screen appears.
DONE
)
*P
*P
3: *P
4: *P
BACK
1,
5,
1,
1,
1,
1,
4,
1,
1
1
1
3
RECORD
DONE >
When the palletizing stacking pattern teach screen is displayed after the setting or changing of initial palletizing
data is completed with FS "DONE," the palletizing register is initialized automatically. {See Subsection 10 .4.1,
"Palletizing Register.")
- 314-
B-80464E/01
10. PALLETIZING FUNCTION
10.3.3 Teaching a stacking pattern
On the palletizing stacking pattern teach screen, teach representative stack points of a stacking pattern. From
these representative points, a target stack point is calculated automatically at the time of palletizing.
Stacking Pattern Teach Screen
!iifi!!IR~t!i!!lli!lliffi!!Mllirnifii!llliI!ii!Mi@!@tJffl:;;\fgµt~Jg§~!\I
PALLETIZING Bottom Points
p [ 1, 1, 1
p [ 5, 1, 1
3: p [ 1, 4, 1
4: p [ 1, 1, 3
l
l
l
l
BACK
RECORD
DONE
>
For palletizing-8, a quadrangular stacking pattern is taught. A list of the positions to be taught is displayed
based on the initial palletizing data. Following this list, teach the positions of the representative stack points.
For the stacking pattern without a auxiliary position, individually teach four tops of the quadrangle of the stacking pattern.
Initial data
Points to be taught
ROWS
= [4 FIX]
COLUMNS = [3 FIX]
LAYERS
= [5 FIX]
AUXILIALY POS = [YES]
p
p
p
p
[1,1,1)
[ 4, 1, 1 1
[ 1, 3, 1 1
[1,1,5)
Fig. 10.12 Stacking Pattern with No Auxiliary Position
-315-
B-80464E/01
10. PALLETIZING FUNCTION
For a stacking pattern with an auxiliary position, when the shape of the first layer is a trapezoid, also teach the
fifth position using the function provided.
Initial data
ROWS
= [4 FIX]
COLUMNS = [3 FIX]
LAYERS
= [5 FIX]
AUXILIALY POS =[YES]
Points to be taught
p [1,1,1)
p
p
p
[ 4, 1, 1 ]
[ 1, 3, 1 ]
[ 4, 3, 1]
p
[1,1,5)
[1,1,5)
Auxiliary position
Flg.10.13 Stacking Pattern with an Auxlllary Position
Attitude control type
In case of fixed attitude, the attitude at all the stacking point is the attitude taught at [1, 1, 1] (default).
Initial data
ROWS
= [5 FIX]
COLUMNS = [1 FIX]
LAYERS
= [1 FIX]
AUXILIALY POS =[NO]
[ 1, 1, 1 ]
Flg.10.14 Attitude at the stacking point In fixed attitude
Division attitude is the intermediate attitude between the attitudes taught to edge two points.
Initial data
ROWS
= [5 INTERJ
COLUMNS = [1 FIX]
= [1 FIX]
LAYERS
AUXILIALY POS =[NO]
[ 5, 1, 1 ]
[ 1, 1, 1 ]
Fig.10.15 Attitude at the stacking point In division attitude
-316-
B-80464E/01
10. PALLETIZING FUNCTION
Based on the initial data setting, a list of stack points to be taught is displayed.
IBBDl
::::::::::::::IJ!J!ILIT.!IFJIJI ii 1nm::::rnmn
PALLETIZING Bottom Points
mil*P
2: *P
3: *P
4: *P
[
[
[
[
1, 1, 1]
4, 1, 1 ]
1, 3, 1 ]
1, 1, 5 ]
RECORD
BACX
DONE >
2 Move the robot by jog feed to a position which is to be taught as a representative stack point.
~
Place the cursor on the appropriate line, and press F4 "RECORD" while holding down the SHIFT key. The
current robot position is then recorded.
~JIIU:i i!LITWi@l.JL®tit"
PALLETIZING Bottom·PointS
P[T)[$*P[ 1, 1, 1
RECORD
DONE > )
~t.
JILT.
PALLETIZING Bottom Points
m.lm*P
2: *P
3: *P
4: *P
[
[
[
[
.El£19&11fn
1, 1, 1]
4, 1, 1 ]
1, 3, 1 ]
1, 1, 5 ]
BACK
RECORD
DONE >
The positions not yet taught are marked with an asterisk. The positions already taught are marked with -
-.
4 To display detailed position data for a taught representative stack point, move the cursor to the target stack
point number, then press FS "POSITION." The detailed position data is then indicated.
PALLETIZING Bottom Points
1 :-P
cIDlfrlllif&l
POSITION>)
1: *P
~
2: *P [ 4, 1, 1 ]
3: *P [ 1, 3, 1 ]
4: *P [ 1, 1, 5 l
CONFIG
DONE
Numeric values can also be entered directly to specify position data. To return to the previous stacking pattern teach screen, press F4 "DONE."
-317-
B-80464E/01
10. PALLETIZING FUNCTION
PALLETIZING Bottom Points
~*P [ 1, 1, 1]
2: *P [ 4, 1, 1 ]
3: *P [ 1, 3, 1 ]
4: *P [ 1, 1, 5 ]
BACK
RECORD
DONE
>
5 Pressing the FWD key while holding down the SHIFT key causes the robot to move to the representative
stack point indicated by the cursor. This operation can be performed to confirm the taught point.
6 To return to the previous initial data teach screen, press F1 "BACK."
l
BACK
7 To proceed to the next path pattern teach screen, press F5 "DONE."
RECORD
DONE >
j
m&iill!
;;; TTL,:::::::::~·:·m111aa
PALLETIZING Route Points
1/3
IF PL[ 1]=[*, 3-1, *]
~:J P[A 2] 30% FINE
2:* P[A-1) 30% FINE
3:* P[BTM] 30% FINE
4:* P[R 1] 30% FINE
5:* P[R-2) 30% FINE
Teach Route Points
BACK
POINT
RECORD
DONE >
-318-
10. PALLETIZING FUNCTION
B-80464E/01
10.3.4 Teaching a path pattern
On the palletizing path pattern teach screen, set several path points which are passed before and after a workpiece is stacked (or unstacked) at a stack point. The path points change depending on the position of the stack
point.
~I
I_;'. !I ::J!illl; I
PALLETIZING Route Points
IF PL[ 1]=[*, 3-1, *]
~J P[A 2] 30% FINE
2:* P[A-1] 30% FINE
3:* P[BTM] 30% FINE
4:* P[R 1] 30% FINE
5:* P[R-2] 30% FINE
Teach Route Points
BACK
POINT
Htllil!IJI L:
RECORD
1/3
DONE
>
Path Pattern Teach Screen
Path pattern
Path points for a stack point[2, 3, 4]
Retraction point 2
etraction point 1 ~
~ Approach point 2
Approach point 1
Stack point
Fig. 10.16 Palletlzing Path
-319-
B-80464E/01
10. PALLETIZING FUNCTION
1 Based on the initial data setting, a list of the path points to be taught is displayed.
PALLETIZING Route Points
l/3
"'@j;I@Jifj
IF PL [ l] = [*, *, *]
Th
* P[A 2] 30% FINE
2:* P[A-l] 30% FINE
3:* P[BTM] 30% FINE
4:* P[R l] 30% FINE
5:* P[R-2] 30% FINE
Teach Route Points
BACK
POINT
RECORD
DONE
>
2 Move the robot by jog feed to a position which is to be taught as a path point.
3 Move the cursor to the setting field to be taught and teach the position using one of the following operation.
a. Press F2 "POINT' while holding down the SHIFT key. When pressing F2 "POINT', without pressing
and holding the SHIFT key, default logical motion menu is displayed and then you can set the motion
type or feedrate,etc.(This key is displayed only at teaching route pattern points.)
b. Press and hold the SHIFT key and press F4 "RECORD".
l
BACK
POINT
PALLETIZING Route Points
l/3
It:@HiOC!~JIF PL[ l]=[*, 3-l, *]
:;;:::
RECORD
DONE >
J
2:*
3:*
4:*
5:*
BACK
P [A 2]
P[A-l]
P[BTM]
P[R l]
P[R=2]
30%
30%
30%
30%
30%
FINE
FINE
FINE
FINE
FINE
POINT
RECORD
DONE
>
The positions not yet taught are marked with an asterisk*. The positions already taught are marked with
"Joint" or "Linear."
4 To display detailed position data for a taught path point, move the cursor to the target path point number,
and press F5 "POSITION." The detailed position data is then indicated.
p{~ffifili~~!iil~l UF~O ~:l lS~~:~NT~~g
Y
lll.347
mm
P
0.000
PALLETIZING Route Points
IF PL[ l]=[*, 3-l, *]
P[A 2] 30% FINE
2:* P[A-1] 30% FINE
3:* P[BTM] 30% FINE
CONFIG
deg
l/3
DONE
Numeric values can also be entered directly to specify position data. To return to the previous path pattern
teach screen, press F4 "DONE."
-320-
10. PALLETIZING FUNCTION
B-80464E/01
. . .Eli !!!!!i!lll!!@.llilml:UMTII
1/3
PALLETIZING Route Points
IF PL[l]=[*,*,*]
l.liJmJoint P[A_2] 100% FINE
2: Joint P[A 1] 100% FINE
3: Joint P[BTM] 100% FINE
4: Joint P[R 1] 100% FINE
5: Joint P[R:2] 100% FINE
BACK
POINT
RECORD
DONE >
5 Pressing the FWD key while holding down the SH IFT key causes the robot to move to the path point indi·
cated by the cursor. This operation can be performed to confirm the taught point.
6 To return to the stacking pattern teach screen, press F1 "BACK."
l
BACK
7 Press FS "DONE" to terminate the palletizing edit screen and return to the program screen. The palletizing
instructions are automatically written in the program.
RECORD
DONE>
J
·.··<.:-:~ttlD
13/13
5:
6:
7:
8:
9:
10:
L P[2] 300mm/sec CNT50
PALLETIZING-B 1
J PAL l[A 2] 100%-FINE
J PAL-l[A-1] 100% FINE
J PAL-l[BTM] 100% FINE
J PAL-l[R 1] 100% FINE
11: J PAL-l[R-2] 100% FINE
12:
PALLETIZING-END 1
li:m&'B
POINT
TOUCHUP >
8 Editing, such as modifying a hand instruction executed at a stack position or the motion format at a path
point can be performed on this program screen, in the same way as for normal programs.
P[2] 300111111/sec CNT50
PALLETIZING-B 1
7: L PAL l[A 2] lOOOciii/min CNT30
8: L PAL-l[A-1] 300111111/sec CNT30
9: L PAL-l[BTM] 50mm/sec FINE
10:
hand open
11: L PAL l[R 1] 300mm/sec CNT30
12: L PAL-l[R-2] lOOOcm/min CNT30
13:
PALLETIZING-END_l
5: L
6:
Bl
POINT
TOUCHUP >
For details of palletizing programs, see Section 10.4, "Executing the Palletizing Function."
-321 -
B-80464E/01
10. PALLETIZING FUNCTION
10.3.5 Notes on teaching the palletizing function
• The palletizing function is enabled only when a program contains these three instructions: A palletizing
instruction, palletizing motion instruction, and palletizing end instruction. When just one of the three instructions is taught into a subprogram by another operation such as copying, normal operation cannot be performed.
• When all palletizing data has been taught, palletizing numbers are automatically written together with the
instructions (a palletizing instruction, palletizing motion instruction, and palletizing end instruction). The
user need not be concerned about the duplication of these numbers in other programs. (Each program has
its own data for palletizing numbers.)
• In the palletizing motion instruction, C (circular motion) cannot be specified as the motion format.
• When palletizing by the system with extended axes, there are some notice items. For the system with extended axes, refer to Section 10.6 "Palletizing Function with extended axes"
10.3.6 Notes on handling the simplified teach pendant
When the simplified teach pendant is connected to the R-J2 Mate, programs can be modified using a quick
teach method. To enable palletizing using the quick teach method, perform the following items beforehand in
teaching the palletizing function with the complete teach pendant:
• If the identical palletizing number is assigned to two or more palletizing instructions in programs, assign
a unique number to each instruction.
Palletizing numbers are assigned automatically at the time of teaching. These numbers must not be duplicated not only within the main program but also among all the subprograms that are called from the main
program. If a duplication is found, change the duplicated palletizing number. (See Section 10.5, "Modifying
the Palletizing Function.")
• Set a register which is used for managing the number of unpalletized workpieces.
When the simplified teach pendant is used, the palletizing function is controlled with this register, instead
of the palletizing register. Therefore, the system must be set so that this register, not the palletizing register,
is used for palletizing control. Set the register on the palletizing detail screen. (See Subsection 10.4.3,
"Controlling the Palletizing Function by a Register.")
• Teach a palletizing passing point.
With the simplified teach pendant, only one point located directly above or below the stack point can be
specified as the palletizing passing point. Therefore, as the passing point, teach one approach point and
one retraction point by specifying the same position directly above (or below) the stack point.
-322-
10. PALLETIZING FUNCTION
B-80464E/01
10.4 Executing the Palletizing Function
The execution of the palletizing function is shown below.
Retraction
point
Flg.10.17 Example of Palletlzlng
Example
5: J
6: J
7: L
8:
9: L
10:
11: L
12:
13:
L
14: L
15:
16: J
17: J
P[l] 100% FINE
P[2] 70% CN'l'50
P[3] 50mm/sec FINE
hand close
P[2] lOOmm/sec CN'l'50
PALLETIZING-B 3
PAL 3[ A 1 ] Ioomm/sec CNTlO
PAL-3[ BTM ] 50mm/sec FINE
hand open
PAL 3[ R 1 ] lOOmm/sec CN'l'lO
PALLETIZING-END 3
P[2] 70% CNT50 P[l] 100% FINE
•..v8
~·
•
A palletizing instruction
The robot carries a workpiece The robot opens its hand
is executed to calculate
to the stack point.
at the stack point
the position of a path point.
and releases the workpiece.
The robot first moves to this point.
Fig. 10.18 Workpiece Stacking Process
-323-
The palletizing end
statement is executed
to increment the
palletizing register value.
B-80464E/01
10. PALLETIZING FUNCTION
10.4.1 Palletizing register
The palletizing register manages the position of the current stack point. When a palletizing instruction is
executed, the value held in the palletizing register is referenced, and the actual stack point and path points are
calculated. (See Section 7.5, "Palletizing Register.")
[ i,
i.
LL
k
I
LLayer
Row Column
Flg.10.19 Palletlzlng Register
The palletizing register indicates the row, column, and layer which are used for calculating the position of the
stack point when the palletizing instruction is executed.
~
If the palletizing register
value is [2, 2, 3]
[3,2,3]
If the palletizing register
value is [3, 2, 3]
Fig. 10.20 Relationship between the Palletlzlng Register and Stack Point
Updating the Palletizing Register
The palletizing register is incremented (or decremented) by executing the palletizing end instruction. The increment (decrement) method is determined depending on the initial data setting.
For 2-row, 2-column, and 2-layer palletizing with ORDER = [RCL] specified, executing the palletizing end
instruction changes the palletizing register as follows:
[1, 2, 2]
Fig. 10.21 Example of 2-Row, 2-Column, and 2-Layer Palletlzlng
-324-
10. PALLETIZING FUNCTION
B-80464E/01
TYPE =[PALLET]
Initial value
.J,
.J,
.J,
.J,
.J,
.J,
.J,
.J,
TYPE
=[DEPALLET]
INCR =[1)
INCR =[-1)
INCR =[1]
INCR =[-1)
[1, 1, 1)
[2, 1, 1)
[1, 2, 1)
[2, 2, 1)
[1, 2, 1)
[2, 1, 1)
[2, 2, 2)
[1, 2, 2)
[2, 1, 2)
[1, 1, 2)
[2, 1, 2)
[1,1,1)
[2, 2, 2]
[1, 2, 2)
[2, 1, 2)
[1, 1, 2)
[2, 2, 1)
[1, 1, 2)
[2, 2, 1)
[1, 2, 1)
[2, 1, 1)
[1, 1, 1)
,[2, 2,2)
[2,
[1,
[2,
[1,
[2,
[1,
2, 1)
1, 2)
1, 2)
2, 2)
2, 2]
1, 1)
[1, 2, 2)
[2, 2, 2)
[1,1,1)
[2,1,1)
[1, 2, 1)
[2, 2, 1)
[1, 1, 2)
Flg.10.22 Incrementing (Decrementing) Order of the Palletizing Register
Initializing the palletizing register
When F5 "DONE" is pressed upon completion of the setting or changing of initial palletizing data, the palletizing
stacking pattern teach mode is set. Atthis time, the palletizing register is initialized automatically. (See Subsection 10.3.2, "Inputting Initial Data.")
Initial data
TYPE
PALLET
DE PALLET
initial value
INCR
ROWS
COLUMNS
LAYERS
Positive value
1
1
1
Negative value
Total number of rows
Total number of
columns
1
Positive value
Total number of rows
Total number of
· columns
Total number of layers
Negative value
1
1
Total number of layers
Flg.10.23 lnltial Value of the Palletizing Register
10.4.2 Controlling the palletizing function by a palletizing register
In 5-row, 1-column, and 5-layer palletizing, suppress stack operation for the fifth workpiece in each evennumbered layer. (Stack five workpieces in odd-numbered layers, and stack four workpieces in even-numbered layers.)
...
PL[l] = [1,1,1] - - - - - - - 1 - Palletizing register [1] is loaded with [1, 1, 1].
LBL[l]
IF PL[l] = [2-0,*,5],JMP LBL[2]
3:
4: L P[l] 100111111/sec FINE
5:
hand close
If the row is 5 and the layer is an even number,
6:
PALLETIZING-B 1
a jump to label [2] is performed.
7: L PAL l[A 1] 100mm/sec CNT30
8: :L PAL-l[BTM] 50mm/sec FINE
2:.
9:
10:
11:
12:
13:
14:
15:
16:
[End]
POINT
hand open
L
PAL l[R 1] 300mm/sec CNT30
LBL(2] IF PL[ll = [5 1,5] ,JMP LBL[3l---+--lfthe row, column, and layer values are [5,1,5],
PALLETIZING-END 1
a jump to label [3] is performed.
JMP LBL[l]
LBL[3]
Set the values of the row, column and layer for
END
the next stack operation in the palletizing register [1].
TOUCHUP >
-325-
B-80464E/01
10. PALLETIZING FUNCTION
10.4.3 Controlling the palletizing function by a register
The palletizing function can be controlled by not only a palletizing register but also by a register. When a register
(counter register) is used for controlling palletizing, the following operation is performed:
If the counter register value is 0, the total number of workpieces is set in the counter register.
LBL[l]
11:
12: L
13: L
14:
15: L
16:
21:
51:
[End]
POINT
PALLETIZING-B 1
PAL 1[ A 1] 100mm/sec CNT30
PAL-1[ BTM] 50mm/sec FINE
hand close
PAL 1 [ R 11 1oomm/sec CNT30
When a counter register is set, the register valPALLETIZING-END_1--------1-ue is incremented by one by executing the palletizing end instruction.
IF PR[ll]> 0, JMP LBL[l]
Palletizing is repeated until the counter register
END
,R[1], value becomes 0.
TOUCHUP >
Specify a counter register on the palletizing information screen.
caution:
When the value of the register specified as a counter register with a palletizing detail information screen
is changed through a register screen, this affect will be exerted on palletizing motion.
Press the MENUS key to display the screen menu. Select "O NEXT' to display the next page. Then press
"1 Select." The program selection screen appears.
1
2
PROGRAMl
PROGRAM2
[SAMPLE PROGRAMl
[SAMPLE PROGRAM2
i!i~i ii!~~~ lt.!ii fj i~~!!!!a~~§~jfil
[TYPE]
CREATE
DELETE
MONITOR
M
[ATTR] >
2 Press NEXT ">"to display the next page. Then press F2 "DETAIL." The program information screen appears.
Creation Data:
Modification Data:
Copy Source:
Positions: FALSE
92-03-08
92-03-16
]
Size: 312Bytes
1 Program name:
2 Sub Type:
[None
[SAMPLE PROGRAM3]
1 *
* * l
3 Comment:
4 Group Mask:
END
-326-
PREL
NEXT
10. PALLETIZING FUNCTION
B-80464E/01
3 On the program information screen, press NEXT">" while holding down the SHIFT key. The palletizing
information screen appears.
PROGRAM NAME: SAMPLE3
PALLET NUMBER
-
1
2
REGISTER
ca
[ * ]
WORK NUMBER
[
[
-
60)
100)
Specify the register number of the register to be used as the counter register. If no register number is set,
an asterisk (*) is indicated.
••w1frnrn:::.·.:::::::::::::.:::::::::n.rn
6/82
5: L P[2] 300mm/sec CNTSO
6:
PALLETIZING-il;j
7: L PAL_l [ A_2 ] lOOOcm/min CNT30
LIST >
[MODIFY]
1 To display the palletizing status, place the cursor on the palletizing instruction, then press F5 "[LIST]." The
current stack point and the value of the palletizing register are displayed.
LIST>
)
~
:::;::::;;;:::::
WJ:.VBBmU.
PALLETIZING-B 1
CURRENT BOTTOM POINT
[ 3, 1, 1 ]
PALLET REGISTER [ 1 ]= [ 4, 1, 1 ]
ROUTE PATTERN [ 1 ] = [ *, *, * ]
•~::::::::::u::u::::1
-327-
v
"
:b. .1111•6/82
. m
B-80464E/01
10. PALLETIZING FUNCTION
10.5 Modifying the Palletizing Function
Modifying the palletlzlng function
The palletizing data and palletizing instructions which were taught can be modified later.
5: L
6:
7: L
P[2] 300mm/sec CNT50
PALLETIZING-Sa~!)
PAL_l[A_2] lOOOcm/min CNT30
Select item
[MODIFY]
LIST
>
1 Place the cursor on the palletizing instruction which is to be modified, then press F1 "[MODIFY]" to display
the modification menu.
2 Select a target palletizing edit screen in the modification menu.
PALLETIZING Bottom
--P [ 1, 1, 1 ]
2 : --P [ 4, 1, 1 ]
3: --P [ 1, 3, 1 ]
4 : --P [ 1, 1, 5 ]
[End]
BACK
RECORD
DONE >
To proceed to the next palletizing edit screen, press F5 "DONE."
To return to the previous palletizing edit screen, press F1 "BACK."
NOTE
After palletizing data has been modified, the normal edit screen can be called from any palletizing screen. In this case, the new data after modification is kept valid.
3 When the modification is completed, press NEXT">" to display the next page. Then press F1 "PROG."
l
PROG
-328-
B-80464E/01
10. PALLETIZING FUNCTION
6/52
6:
7: L
8: L
9:
10: L
11:
PALLETIZING-Bjjfil
PAL l[A 1] 300111111/sec CNT30
PAL-l[BTM] 50111111/sec FINE
hind open
PAL l[R 1] 300mm/sec CNT30
PALLETIZING-END 1
Place the cursor on the palletizing instruction having the palletizing number which is to be changed, then
enter a new number.
mliB:::: 1::1:rn1a::::i:rr::
6: PALLETIZING-Bji!
~
r :
r ::: i: :
:: 1 n:rnm:::::. . . . .•
6/52
6:
PALLETIZING-B_llli
7: L PAL 2[A 1] 300111111/sec CNT30
8 : L PAL-2 [BTM] 50111111/ sec FINE
9:
hand open
10: L PAL 2[R 1] 300mm/sec CNT30
11:
PALLETIZING-END 2
At the same time the palletizing number of the palletizing instruction is changed, the palletizing numbers
of the palletizing motion and palletizing end instructions are also changed.
Caution:
When changing palletizing numbers, make sure that the new numbers are not used by other palletizing
instructions.
-329-
B-80464E/01
10. PALLETIZING FUNCTION
10.6 Palletizing Function with extended axes
This section explains the notice items when using the palletizing on the system with extended axes.
When teaching the bottom point or route points for palletizing, which is different from the usual teaching of mo·
tion instruction.the position which is removed the position of extended axes is recorded.
Execution
When palletizing is executed, palletizing will be done at the position of the extended axes at that time.(Robot
does not automatically return to the position of the extended axes at teaching bottom points or route points.)
For example.on the system with the linear extended axis.when the palletizing instruction is executed at the
point which is 1000 mm away from the position at teaching palletizing.robot will perform the same motion as
taught at the position which is 1000 mm away from the teaching position.
Position teaching/modifying
When teaching the bottom/route points for palletizing on the system with the extended axes or modifying the
position.the following attention is necessary.
• When teaching bottom/route points for palletizing, it needs to be done at the fixed point.
- When the position of extended axes shifts while teaching the bottom/route points for the same palletizing.robot will perform the different path from teaching when the program is executed.
• When modifying the position, move the robot to the position of the extended axes at teaching bottom/route
points before modifying.
Flg.10.24 Palletlzlng function with extended axes
-330-
APPENDIX A.
B-80464E/01
APPENDIX A.
This appendix summaries iteins necessary for using this model. It may also be used as an index.
0 Contents of this appendix
A.1 List of Menus
A.2 Types of Screens
A.3 List of Program Instructions
A.4 Program Instructions
-331 -
APPENDIX A.
B-80464E/01
A.1 List of Menus
1 ABORT (ALL)
-----------------
Program abort
2 Disable FWD/BWD - - - - - - - - - - - - - - - Disabling FWD/BWD fi'om teach pendant
3
4 TOGGLE SUB GROUP - - - - - - - - - - - - Sub group toggle
Wrist jog toggle
5 TOGGLE WRIST JOG
Save
6SAVE
7
8 PRINT SCREEN - - - - - - - - - - - - - - 9 PRINT - - - - - - - - - - - - - - - - - - - - 0--NEXT--
Screen print
Print
1 QUICK/FULL MENUS - - - - - - - - - - - - - Quick/full menu switch
2
3
4
5
6
7
8
9
0--NEXT--
-332-
l>
"tJ
"tJ
m
z
c
x
l>
APPENDIX A.
B-80464E/01
1 UTILITIES
Hints- - - - - -
2TESTCYCLE
1
Test Cycle - - -
FS
Hint
3 MANUAL FCNTS - - Macros- - - - -
Manual operation
4 ALARM
Alarm history
5 II 0
Alarm Log- - -
Help
Test cycle
Digital - - - - -
Digital input
Alarm detail
F5
F2 Digital configuration F t Digital detail
Group - - - - Robot- - - - -
Group 110
Robot 1/0
F2 Group ConfigurationFt Group detail
F2 Robot Input/Output detail
--+
UOP- - - - - - Peripheral device llOF2 UOP configuration F t UOP detail
Inter Conect-- DI-to-DO connection setting
6SETUP
Frames - - - -
Frame entry
Ref position - -
Reference position selection
RSR I PNS - -
PNS setting
Port lnit - - - -
Port selection
Ovrd Select- Macro - - - - -
t
User Alarm - ~ FILE
- - - - - - - - - - - - - - - - - - -
L 9 USER
Program selection
2 EDIT - - - - - - - - - - - - - - - - - - - - -
Program edit
3 DATA
Position Reg- -
Register
Position register
Pallet regis - -
Palletizing register
Axis - - - - - -
Robot axis status
Version ID - - -
Software version
Exec-hist - - -
Execution history
1
5 POSITION - - - - - - - - - - - - - - - - -
Current position
6SYSTEM
System variable
Variables - - -
F
Reference position setting
3
Port setting
File
1 SELECT - - - - - - - - - - - - - - - - - - -
4STATUS
Frame detail
Macro entry
User alarm setup screen
User
1
1
-
F3
External override setting
-- - - - - - - - - - - - - - - - - 0--NEXT--
Registers - - -
F2
F4
Master I cal *a
Positioning
OT Release - -
Over travel release screen
Position data information
Servo param *b Servo parameter screen
Config - - - - -
System setup screen
7
8
9
0--NEXT-NOTE
*a - can be displayed by setting $MASTER_ENB to 1.
*b - can be displayed by setting $SVPRM_ENB to 1.
-333-
APPENDIX A.
B-80464E/01
A.2 Types of Screens
[ 2 TEST CYCLE ]
Test cycle screen
[ 1 UTILITIES ]
Hint screen
....
I'
r
~••m i1e11m1Hnmni,...
,..,,,.. ...........
MENUS - Provides a list of all menus.
FCTN - Provides helpful functions.
SELECT, EDIT, DATA, POSN, I/O, STATDisplays menus with those names.
Function keys with [ ] show more choices.
Fl [TYPE] function key lists related
screens within a menu.
LI
~
2/7
GROUP:l
1 Robot lock:
2 Dry run:
3 Cart. dry run speed:
4 Joint dry run speed:
5 Digital/Analog I/O:
6 Step statement type:
7 Step path node:
~~LI
HELP
TYPE
«·
~
·~·
TYPE
gm
OFF
300.000mm/s
25.000%
ENABLE
STATEMENT
OFF
ON
OFF
~---
.. . .. : ...
.... .
[ 3 MANUAL FCTNS ]
Manual operation screen
1
2
3
4
5
6
Instruction
Open handl
Close handl
Relax handl
Open hand2
Close hand2
Relax hand2
NOT
NOT
NOT
NOT
NOT
NOT
ASSIGN
ASSIGN
ASSIGN
ASSIGN
ASSIGN
ASSIGN
EXEC
[4ALARM]
Alarm history screen
Alarm detail screen
INTP-224 (SAMPLE1, 7) Jump label is fail
MEM0-027 s. ';,dified. ~ine does .. n,?t. ~.:idst.
wnac:
· :. ~
, I~TP-224 (SAMPLE1,
l&WIBJi!::: . :;
<
)L Jumir label
l~.
fail. .
fl®. . ; L]JkB , E¥&.@I. J !.. \
INTP-224 (SAMPLE1, 7) Jump label is fail
MEM0-027 Specified line does not exist
30-MAY-44 07:15
STOP.L
00000110
1/7
!l[IAf@INTP-224 (SAMPLE1, 7) Jump label is
2 SRV0-002 Teach pendant E-stop
3 R E S E T
4 SRV0-027 Robot not mastered(Group:l)
5 SYST-026 System normal power up
CLEAR
m
1a.1:;m J:mm:1m1m:me12rnrm tmn ~n x···1 .JB
=~
1/7
(SAMPLEl, 7) Jump label is
2 SRV0-002 Teach pendant E-stop
3 R E S E T
4 SRV0-027 Robot not mastered(Group:l)
5 SYST-026 System normal power up
TYPE ]
CLEAR
HELP
w~1INTP-224
HELP
-334-
APPENDIX A.
B-80464E/01
[51/0]
Digital output configuration screen
Digital input screen
#
DI[
DI[
DI[
DI[
DI[
DI[
DI[
DI[
DI[
1]
2]
3]
4]
5]
6]
7]
8]
9]
#
1
SIM STATUS
U [
U OFF [
U OFF [
U ON [
U ON [
U OFF [
U OFF [
U ON [
U ON [
CONFIG
RANGE
DO[
DO [
DO[
DO[
DO[
DO[
DO[
DO[
DO[
2
3
4
5
6
7
8
9
IN/OUT
ON
RACK
0
1-~~
9-lMRll
17253341495765-
24]
32]
40]
48]
56]
64]
72]
0
1
0
0
0
0
0
0
1
2
2
2
2
2
*
[ TYPE ] MONITOR IN/OUT
OFF
SLOT
1
*
*
HELP >
DETAIL
Group output configuration screen
Group output screen
r
.,
··:.·:-=·
..
#
GO[
GO[
GO[
GO[
GO[
GO[
GO[
GO[
GO[
J
~.--
..
.
SIM VALUE
1
1]10
2] u
23
3] u
4] *
0
5] *
0
6]
0
*
7] *
0
8] *
0
9]
0
*
mmnllB»!flil~.1
.* »:""
SLOT
2
1
.
.
,
0
.
2
2 h.
2
3
0
4
*
*
5
*
*
GO #
[
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
[
[
6
7
8
9
IN/OUT SIMULATE UNSIM
CONFIG
TYPE
.
RACK
*
*
*
*
· i1m1, !!]!lmfB•
START PT
17
21
25
NUM PTS
4
4
8
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
[ TYPE ] MONITOR IN/OUT
HELP >
DETAIL
i-suiU
Robot data output screen
#
RO[
RO[
RO[
RO[
RO[
RO[
RO[
RO[
RO[
TYPE
1]
2]
3]
4]
5]
6]
7]
8]
9]
Robot output detail screen
•DBnmn
:::::~:mi-.::e.-~a••
Robot Output Detail
STATUS
1
2
Be
OFF
OFF
ON
ON
OFF
OFF
ON
OFF
DETAIL
[
[
3
4
5
6
7
8
9
[
[
[
[
[
[
IN/OUT
ON
OFF
Comment:
Comment:
Comment:
Comment:
Comment:
Comment:
Comment:
Comment:
Comment:
[
[
[
[
[
[
[
[
[
1]~]
2] [
3] [
4][
5][
6][
7] [
8][
9] [
[ TYPE ] MONITOR IN/OUT
-335-
]
]
]
]
]
]
]
]
B-80464E/01
APPENDIX A.
[51/0]
Peripheral device data input screen
r
Biii!HM!ll
t
UI[
UI[
UI[
UI[
UI[
UI[
UI[
UI[
UI[
UI[
J
TYPE
1)
2)
3)
4)
5)
6)
7)
8)
9)
10)
.an
nn :mrnmmrnuoo
•
STATUS
[
[
[
[
[
[
[
[
[
[
OFF
ON
ON
OFF
OFF
ON
*
*
CONFIG
i
!11111
*Hold]
Falt reset]
Start]
Enable]
PNS1]
PNS2]
PNS3]
PNS4]
]
]
IN/OUT
ON
OFF
,,
[mm11:1:11~:1:111:m:m
DI-to-DO connection setting screen (DI)
DI-to-DO connection setting screen (RI)
. . .WUf&m!f][BJltff@lJIB@iillm~g
NO.
1 iii.iiabl
2
DISABLE
3
DISABLE
4
DISABLE
DISABLE
5
6
DISABLE
7
DISABLE
DISABLE
8
DISABLE
9
TYPE
IN/OUT
INPUT
RI[ 1)
RI [ 2)
RI[ 3)
RI [ 4)
RI [ 5)
RI [ 6)
RI [ 7)
RI [ 8)
RI [ 9)
->
->
->
->
->
->
->
->
->
ENABLE
NO.
1
2
3
4
5
6
7
8
9
OUTPUT
DO[ 0)
DO[ 0)
DO[ 0)
DO[ 0)
DO[ 0)
DO[ 0)
DO[ 0)
DO[ 0)
DO[ 0)
·-
Enb/Disabl
DISABLE
DISABLE
DISABLE
DISABLE
DISABLE
DISABLE
DISABLE
DISABLE
TYPE
DISABLE
~
-336-
INPUT
DI [ 1)
DI[ 2)
DI[ 3)
DI[ 4)
DI[ 5)
DI [ 6)
DI[ 7)
DI [ 8)
DI [ 9]
IN/OUT
->
->
->
->
->
->
->
->
->
ENABLE
OUTPUT
RO[ OJ
RO[ 0)
RO[ 0)
RO[ 0)
RO[ 0)
RO[ 0)
RO[ 0)
RO[ 0)
RO[ 0]
DISABLE
APPENDIX A.
B-80464E/01
[ 6 SETUP]
Tool frame entry screen
1/5
Tool Frame Setup/ Direct Entry
x
0.0
0.0
0.0
0.0
3:
4:
5:
z
y
o.o
0.0
0.0
0.0
0.0
0.0
140.5
200.0
0.0
0.0
0.0
Comment
*************
*************
*************
*************
*************
\il!'mf.§~!Et®i'.~1
2 Joq Frame
3 User Frame
DETAIL
TYPE
SETI ND
OTHER
Tool frame setup screen (Six Point Method)
Tool frame setup screen (Three Point Method)
/
Six Point
Tool Frame Setup/ Three Point
3/4
Frame Number: 3
0.0
Z:
0.0
X:
0.0
Y:
0.0
R:
W:
0.0
P:
0.0
REF FRM
Comment:
RECORDED
Approach point 1:
UN IN IT
11!!~!~?~r1~~*~~;11e:
UNINIT
100.0
Y:
Z: 300.0
0.0
0.0
P:
0.0
R:
0.0
Comment:********************
X:
W:
Approach point 1:
Approach point 2:
Appro
RECORDED
RECORDED
RECORDED
UNINIT
UNI NIT
UN IN IT
d££ '
iil -~;~;~~#.
X
2 Six Point
3 Direct Entry
[ TYPE l METHOD IFRAME
4/7
TYPE ] METHOD
MOVE TO RECORD
FRAME
MOVE TO RECORD
\.
User frame entry screen
Tool frame setup screen (Direct Entry Method)
Tool Frame Setup/ Direct Entry
Frame Number: 3
1 Comment:********************
2
X:
3
Y:
I Q.[;qQ.J:!
4
5
6
Z:
W:
P:
200.000
0.000
0.000
7
R: 1 Three Point
Cor1 2 Six Point
3/7
x
i
ii@~§~
z
y
1243.6
0.0
1243.6 525.2
3: 1243.6-525.2
4:
0.0
0.0
5:
0.0
0.0
0.000
43.8
43.8
43.8
0.0
0.0
Comment
REF FRM
*************
*************
*************
*************
1 Tool Frame
2 Joq Frame
O.OOO
B, O, ' O
I~ '.!~~¥ fg#~ff
!i6¥i!f&i
TYPE
[ TYPE ] METHOD [FRAME
\.
-337-
DETAIL
OTHER
CLEAR
SETIND
B-80464E/01
APPENDIX A.
[6 SETUP]
User frame setup screen (Four Point Method)
User frame setup screen (Three Point Method)
!!1$ir&illil¥.•@II@lilff !MiIWMIWiti!ii!ii«.om~tfa~[o!itiM!t@
User Frame Setup/ Three Point
3/4
Frame Number: 1
X: 1243.6
Y:
0.0
Z:
43.8
W:
0.1
P:
2.3
R:
3.2
Comment:********************
Orient Origin Point: RECORDED
X Direction Point:
RECORDED
WlXiiil@.1~~'£i:f:l(.Z'.!QWi:i:l#"-.
UNINIT
iM1lI§i1w,tll\\liil4i@!M@!Iil.Wiliii!ii!!i Il!@l\?Q~N®IlI~P[,J!Ii.
User Frame Setup/ Four Point
Frame Number: 1
Y:
X: 1243.6
o
W:
0.1
P:
2.3
R:
REF FRM
Comment:
Orient Origin Point: USED
X Direction Point :
USED
USED
1 Three Point
USED
oliHW!lil!iliMJllitil!ibt
**±iBEil§s~nifm
3 Direct Entry
[ TYPE ] METHOD
MOVE TO RECORD
Jog frame entry screen
1 Tool Frame
~------
3 User Frame
OTHER
CLEAR
8
Enb/Dsbl
@~tiiI
2
3
DISABLE
DISABLE
@Pos
TRUE
FALSE
FALSE
DETAIL
MOVE_TO RECORD
Reference position setting screen
Ref.Position Number
1
Comment
Enable/Disable
2
ENABLE
3
Signal definition:
DO[ OJ
4
Jl
129.000
+/2.000
5
J2
-31.560
+/2.000
6
J3
3.320
+/2.000
7
J4
179.240
+/2.000
8
JS
1.620
+/2.000
9
J6
33.000
+/2.000
Comment
[ REFPOSl
[ REFPOS2
[ REFPOS3
ENABLE
1~; ~~iii1;nii;.y I
[ TYPE l METHOD IFRAME
SETIND
Reference position selection screen
1
MOVE TO RECORD
Jog Frame Setup I Direct Entry
2/7
Frame Number: 1
WORK AREA 1
1 Comment:
2
X:
ii@j jgg~:@ill§§'.ql@i
3
Y:
0.000
4
Z:
10.000
5
W:
0.123
6
P:
2.340
7
R:
3.200
:!@fi'.g~\J.j~- ii.i
No.
FRAME
Jog frame setup screen (Direct Entry Method)
2/5
Jog Frame Setup I Three Point
x
y
z
Comment
1243.6
0.0
0 . 0 WORK AREA 1
1003.0 525.2
60.0 WORK AREA 2
3: 1003.0 236.0
90.0 WORK AREA 3
4:
0.0
0.0
0.0 *************
5:
o.o 0.0
0.0 *************
[ TYPE ] DETAIL
3.2
:g; iilfi!l;;;~§'.ii!!ll!lii
2 Four Point
3 Direct Entry
[ TYPE l METHOD IFRAME
5/5
DISABLE
-338-
TYPE
RECORD
APPENDIX A.
B-80464E/01
[ 6 SETUP]
Macro instruction setting screen
External override setting screen
Wri:l!!~!~~!!fiii11@1!!!g!!11!iip!"!!''~tiii
l
Function Enable:ENABLE
2
3
Signall:
Signal2:
DI [ l] [ ON]
DI[ 32] [OFF]
Signall
OFF
OFF
ON
ON
4
5
6
7
l
2
3
4
5
6
Signal2
OFF
ON
OFF
ON
Override
15%
30%
65%
100%
ENABLE
[()~p@W)(~ij~J!!j l
[
[
[
[
[
Close handl
Relax handl
Open hand2
Close hand2
Relax hand2
7[
8[
9[
DISABLE
_
u
TYPE
]
]
]
]
]
[HOPNl
[HCLSl
[HRLXl
[
[
[
][
][
] [
l
]
]
J
]
]
]
]
]
MF
MF
MF
MF
MF
MF
[ l]
[ 2]
[ 3]
[ll]
[12]
[13]
[]
[]
[]
CLEAR
PNS setting screen
l
2
3
RSR or PNS
Base number
Acknowledge pulse width(msec) [ 200]
TYPE
PNS
RSR
Port selection screen
Port setting screen
l
2
3
4
5
TYPE
DETAIL
[TYPE]
-339-
Device
Handy
Speed (Baud rate)
[
Parity hit
[
Stop hit
[
Time out value (sec)
[
LIST
[CHOICE]
file ]
9600 ]
None ]
2hits]
0 ]
B-80464E/01
APPENDIX A.
[7 FILE]
[ 6 SETUP]
User alarm setting screen
Alarm No.
[1] :
[2] :
[3]:
[4] :
[5]:
File screen
" : .::::: ·:rn::::::::1::::
User Message
::::11:::: n111 :::i:::
[
[
[
!l:r:::::: :::::::ii:: : :1]
]
]
[
n~.1 ii ::::n:::::d,M1::: ::::;
2 *
KL (all KAREL source)
3 *
CF (all command files)
4 *
TX (all text files)
5 *
LS (all KAREL listings)
6 *
DT (all KAREL data files)
7 *
PC (all KAREL p-code)
8 *
MN
(all MN programs)
9 *
TP (all TP. programs)
10 *
VR
(all variable files)
Press DIR to generate directory
[ TYPE ] [ DIR ] LOAD [BACKUP] [UTIL ] >
l
[ TYPE ]
DELETE
COPY
DISPLAY
>
[ 1 SELECT]
Program selection screen
Program registration screen
BmifilXOOIZIIMIIBIIUU~.rnrnrnoom::JB.Ram
58740bytes free
3/5
No. Program name
Comment
[SAMPLEPROGRAMl
1 SAMPLEl
2 SAMPLE2
[SAMPLEPROGRAM2
3 . . . .ilf.nJP'itmal [SAMPLEPROGRAM3
4 PROGOOl
[PROGRAM.--=0-..0...1_ ___..._,
5 PROG002
[PRO ~11mmmoo
2 Protection
3 Last modifie
4 Size
5 Copy Sourse
[TYPE]
CREATE
DELETE
COPY
DETAIL
LOAD
---Create Teach Pendant
Program Name
[SAMPLE3
Sub type
[Jobs
Select function
DETAIL
EDIT
Program-~
]
]
------
ATTR >
SAVE
PRINT>
[2 EDIT)
Program information screen
Program edit screen
r
~a~mn•~
1/6
Creation Date:
10-MAR-1994
Modification Date:
11-MAR-1994
Copy Source:
[****************]
Positions: FALSE Size:
2l!~~e
1 Program name:
[~]
2 Sub Type:
[
None]
3 Comment:
[SAMPLE PROGRAM 3]
4 Group Mask:
[1,*,*,*,*l
5 Write protect:
[
OFF]
6 Ignore pause:
[
OFF]
END
PREV
. .J
2: J
3: L
4: L
5: J
[End]
NEXT
-340-
P [1]
P[2]
P[3]
P[4]
P[l]
100% FINE
70% CNT50
lOOOcm/min
500mm/sec FI
100% FINE
1
2
3
4
5
6
Insert
Delete
Copy
Find
Replace
Renumber
[INST]
EDCMD
POINT
TOUCHUP
APPENDIX A.
B-80464E/01
[3 DATA]
[ 2 EDIT]
Program edit screen/control instruction selection screen
Register screen
@jli§.p~~~amltf'iri@[J;!I@!Iiiififi!!i@ltil!M!W!~iiti~B~i~Wi
1 Registers
2 I/O
3 IF/SELECT
5 JMP/LBL
R[
R[
R[
R[
R[
3: L P[3] SOOmm/sec CNTlO
~mn/41
[INST]
i\fl!ill!lMfiI!!!Hi!lm!I:!Hlill\~ -o
-5
]=12
]=50000
]=0
]=0
]=0
]=0
]=0
3:
4:
5:
R[
6:
R[
R[
R[
7:
8:
9:
[EDCMD]
Position register screen
Position register screen/position data i1
t!IRs~!ltmmn; ~~lf~@~rnrnm;
PR[
PR[
PR[
PR[
PR[
PR[
PR[
PR[
PR[
1 ~;g§gfi~ft@UMli
2:REF POS 2
3:REF POS 3
4:REF POS 4
Wit II 1=*
5:
6:
7:
8:
9:
rn ;rn;:irnim
;rn 11¥ti!lmwt:1~,fi!W:
CONF:N 00
PR[l]
UF:F UT:l
fjj~!l\~R.~~f@.Z~il mm
W:
Y: -342.992 mm
P:
]=*
]=*
]=*
]=*
] =*
]=*
] =*
]=*
PR
PR
PR
PR
40.000
10.000
20
deg
deg
1 : ZERO POS
2:
3:
4:
=*
=*
Enter value
RECORD POSITION
CONFIG
CLEAR
DONE
[REPRE]
[ 4 STATUS]
Robot axis status screen (Status 1 screen)
Robot axis status screen (Torque monitor screen)
/
Jl:
J2:
J3:
J4:
~u
TYPE
Flag Bitsl/2
0000000000000000
0000000000000000
0000000000000000
0000000000000000
0000000000000000
0000000000000000
0000000000000000
0000000000000000
STATUSl
GRP[l]
History
(0000000000000000)
(0000000000000000)
(0000000000000000)
(0000000000000000)
(0000000000000000)
(0000000000000000)
(0000000000000000)
(0000000000000000)
STATUS2
PULSE
[ UTIL
Jl:
J2:
J3:
J4:
JS:
,
-341 -
[TYPE]
GRP[l]
Torque Monitor
Ave.
I
Max.
Inpos OT VRDY
0.000/
0.000
1
0
OFF
0.000/
0.000
0
OFF
1
0.000/
0.000
1
0
OFF
0.000/
0.000
1
0
OFF
0.000/
0.000
1
0
OFF
MONITOR
TRACKING DISTURB [ UTIL ]
APPENDIX A.
B-80464E/01
[4 STATUS]
Software version screen (Software version screen)
Software version screen (Motor ID screen)
1/16
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
ITEM:
Appl/ToolJ[&if fi
Appl/Tool ID:
Robot Model:
S/W Serial No:
Core Name:
Core ID:
Library Name:
Library ID:
Servo Code ID:
Mot Param ID:
Update . #1:
Update #2 :
Update #3 : .
Update #4 :
Update #5:
Update #6:
Update #7 :
Update #8:
Update #9:
Update #10:
Build ID:
~ TYPE
SOFTWARE:
GRP:
1118
1:
2:
3:
4:
5:
6:
7:
8:
9:
LR-MATE-100
R-J2 Mate
7D40
JB02.02
12345678
1
1
1
1
1
*
*
*
*
AXIS:
1
2
3
4
5
*
*
*
*
MOTOR ID:
ACA0.5 12A
ACA0.5 12A
ACA0.5 12A
ACA0.5 3A
ACA0.5 3A
Uninitialized
Uninitialized
Uninitialized
Uninitialized
[ TYPE ]SOFTWARE MOT_ID MOT_INF SER_PAR
Execution history screen
W&~~i~UllJ(!!Rll!!ll!:IIJL.~Dn
M4.00P/02
1
2
3
4
5
02/28/94
OFTWARE MOT_ID MOT_INF SER_PAR
~
Program name
PNSOOOl
PNSOOOl
PNSOOOl
PNSOOOl
PNSOOOl
Line. Dire.
3 FWD
6
7
BWD
FWD
6
5
FWD
FWD
1/6
Stat.
Done
Paused
Paused
Done
Done
[ TYPE ]
CLEAR
[ 5 POSITION ]
Current position screen (Joint coordinates)
Current position screen (User coordinates)
2-~-jiJlill':V•••m
Joint
Jl:
J4:
El:
90.045
40.000
J2:
JS:
42.195
10.000
J3:
Configuration: N,0,,0
X: 1500.374
Y: -342.999
W:
40.000
P:
10.000
E:
*****
29.336
*****
JNT
USER
WORLD
TYPE
-342-
JNT
USER
Z: 956.895
R: 20.000
WORLD
APPENDIX A.
B-80464E/01
[6SYSTEM]
System variable screen
Positioning screen
r
1
2
3
4
5
6
7
8
9
10
$JIP MAXAX
$AP-PLUGGED
$JIP-TOTALAX
$JIP- USENUM
$AUTOINIT
$BLT
$CRT DEFPROG
$CSTOP
$DEFPULSE
$DEVICE
~
~lmn'lllfill!iM!IMJ!HMrilf._
1/98
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4
16777216
[12] of Byte
2
19920216
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
*uninit*
TRUE
Press 'ENTER' or number key to select.
4
'P3:'
lJ
TYPE
~---
-343-
LOAD
RES_PCA
DONE
APPENDIX A.
B-80464E/01
[6SYSTEM]
System config screen
[3 DATA]
Palletizing register screen
1/21
1 Use HOT START:
TRUE
2 I/O power fail recovery:NOT RECOVER
3 Autoexec program
[********]
for Cold start:
4 Autoexec program
[********]
for Hot start:
5 HOT START done signal:
DO[ O]
6 Restore selected program:
TRUE
7 Enable UI signals:
FALSE
8 START· for CONTINUE only:
FALSE
9 CSTOPI for ABORT:
FALSE
10 Abort all programs by CSTOPI: FALSE
11 PROD START depend on PNSTROBE:FALSE
12 Detect FAULT RESET signal:
FALL
13 Use PPABN signal:
<********>
14 WAIT timeout:
~sec
15 RECEIVE timeout:
30. 00 sec
16 Retun to top of program:
TRUE
17 Original program name(Fl): [PRG
]
]
18 Original program name(F2): [MAIN
19 Original program name(F3): [SUB
]
20 Original program name(F4): [TEST
l
21 Original program name(F5): [*******]
22 Default logical command: <*DETAIL*>
23 Maximum of ACC instruction:
500
24 Minimum of ACC instruction:
0
25 WJNT for default motion:
DELETE
[ TYPE ]
-344-
PL
PL
PL
PL
PL
PL
PL
PL
PL
[
[
[
[
[
[
[
[
[
1 :pallet work
2:
3:
4:
5:
6:
7:
8:
9:
[ TYPE ]
=Ii,
1/32
1, 1]
[ 1, 1, 1
[ 1, 1, 1
[ 1, 1, 1
= [ 1, 1, 1
[ 1, 1, 1
[ 1, 1, 1
[ 1, 1, 1
[ 1, 1, 1
l
l
l
]
l
l
l
l
APPENDIX A.
B-80464E/01
A.3 List of Program Instructions
E
Joint
~ P[ ]
Liner ~
Circular
-
~ ( feedrate)
L
PR[ ]
'----~-
FINE ·
CNT (value)
Wjnt - - - - - - - - - - - - - - - - - - - - .- - - Wrist joint motion instruction
ACC (value) - - - - - - - - - - - - - - - - - - - Acceleration/deceleration override instruction
Skip, LBL[ ] - - - - - - - - - - - - - - - - - - - Skip instruction
Offset - - - - - - - - - - - - - - - - - - - - - - Offset instruction
Offset, PR[ ] - - - - - - - - - - - - - - - - - - - Direct offset condition instruction
INC - - - - - - - - - - - - - - - - - - - - - - - - Incremental instruction
1 Register
f= ~/,~·[·~ ~--~ --------
R[ ]=
t
PR [ ] =....
21/0
t
Register instruction
Rl/O[ ] ... .
GI/ 0 [ ] ... .
----- ---- --------------
PL [ ] = .... - - - - - - - - - - - - - - - - - - - - - - -
Position register instruction
Palletizing register instruction
~~ ~ ~
110 instruction
:: : -----------------------
GO[]= ....
3 IF /SELECT
4WAIT
SJMP/LBL
6 CALL/END
IF
1
L
L
L
f
R [ 1- - - - - - - - - - - -- - - - - - ~-··
PL [ ]- ... .
"0 [
Comparison
condition instruction
]= ... .
SELECT R [ ] = .... - - - - - - - - - - - - - - - - - - -
Selection condition instruction
WAIT
(time) - - - - - - - - - - - - - - - - - - - - - -
lime wait instruction
WAIT
R [ ]= .... - - - - - - - - - - - - - - - - -
L
Conditional wait instruction
" 0 [ ]= ....
LBL [ 1- - - - - - - - - - - - - - - - - - - - - - - - - JMP LBL [ ] - - - - - - - - - - - - - - - - - - - - - - -
Jump instruction
~~~L ~ ~r~~r~~ !~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~
Program call instruction
Program end instruction
-345-
Label instruction
APPENDIX A.
7 Palletizing
B-80464E/01
----r-
Palletizing - B - - - - - - - - - - - - - - - - - - - - - - Palletizing instruction
L Palletizing - END - - - - - - - - - - - - - - - - - - - 8 Program Control --,-- PAUSE -------------------------L_ ABORT - - - - -·- - - - - - - - - - - - - - - - - - - - 9 Miscellaneous
UALM[] ------------------------
Palletizing end instruction
Halt instruction
Abort instruction
User alarm instruction
TIMER [ ] .... - - - - - - - - - - - - - - - - - - - - - - limer instruction
OVERRIDE [ ] .... - - - - - - - - - - - - - - - - - - - - Override instruction
Remark - - - - - - - - - - -.- - - - - - - - - - - - - - Comment instruction
Message [ ] - - - - - - - - - - - - - - - - - - - - - - -
Message instruction
$ ( SYSTEM Variable ) = .. .. - - - - - - - - - - - - - - Parameter instruction
10 Skip
11 Offset
11 Macro
1
SKIP CONDITION I / 0 [ ] = .... - - - - - - - - - - - Skip condition instruction
OFFSET CONDITION PR[] =.... - - - - - - - - - - UFRAME[] =.... - - - - - - - - - - - - - - - - - - - - UFRAME_NUM =.... - - - - - - - - - - - - - - - - - - UTOOL[ ] =.... - - - - - - - - - - - - - - - - - - - - - - UTOOL_NUM =.... - - - - - - - - - - - - - - - - - - - -
-----------------------------------------
-346-
Offset condition instruction
User frame setup instruction
User frame selection instruction
Tool frame setup instruction
Tool frame selection instruction
Macro instruction
APPENDIX A.
B-80464E/01
A.4 Program Instructions
Motion Instructions
J
Motion format
Moves all robot axes simultaneously.
Moves the robot tool linearly.
Moves the robot tool along an arc.
L
c
P[ i·: Comment] Standard variable for storing position data.
PR[ i : Comment ] Register for storing position data. i: 1 -10
Position variable
Feedrate unit
% Specify the rate of a feedrate to the highest feedrate of the robot.
mm/sec, cm/min, inch/min, deg/sec Specify the feedrate along a straight line or arc.
sec Specify the time required during a motion.
Positioning path
FINE
CNTn
The robot stops at the specified position and starts the next motion.
The robot moves gradually from the specified position to the position at
which the next motion starts.
n (0 - 100): Degree of gradual motion. The higher the specified number,
the more gradual the robot moves.
Additional motion Instructions
Wrist joint motion
Wjnt
On a linear or arc motion, the wrist axis moves with a joint motion,
and the joint coordinates vary.
Incremental
INC
Makes the robot move to the position where the value of the posi
tion variable is added to the current position.
Positional offset
Offset
Skip
Skip, LBL[]
Makes the robot move to the position where the value specified
by the offset condition instruction is added to the positional vari
able.
Offset,PR[i:comment]
Makes the robot move to the position where the value specified
by the offset condition instruction and the value of position regis
ter are added to the positional variable.
Causes a branch to the specified label when the condition speci
fied in a skip condition instruction is not satisfied. When the
condition is satisfied, cancels the motion and executes the next
line.
Acceleration/decel- ACCn
eration override
Sets the rate of acceleration/deceleration when moving. n=O to
500(%)
JLP[J~mL
%
PR[]
sec
~
CNTn
L LP[)~
PR[]
m
1
FINE~
mm/seer=
cm/min
CNTn
inch/min
deg/sec
sec
LP[]~
PR[]
Example
l
2
3
4
5
J
p [l] 100% FINE
L P[2:LINE] SOOmm/sec CNTlOO Wjnt
Offset, PR[l]
L P[3] 3.Ssec CNTlOO INC
L P[4] lOOcm/min FINE Wjnt
Skip I LBL [100]
C P[S]
P[6] 300mm/sec CNTSO
-347-
ACCn
Skip, LBL [ ]
E
LFINETE
Offset
Offset (,PR[] )
INC
Wjnt
ACCn
Skip, LBL [ ]
INC
APPENDIX A.
B-80464E/01
Register and 1/0 Instructions
Register
R[ i:]
i: Register number. i: 1-32
Position rli)gister
PR[i :]
i: Position register number. i: 1 -10
PR[i :,j :]
Fetches a position data element.
j: Number of an element in a position register. j: 1- 9.
P[ i: I
Position data
i: Position number. i: 1 - memory limit
Lpos
Cartesian coordinates of the current position
Jpos
Joint coordinates of the current position
UFRAME
[ i : ] User coordinate system
UTOOL
[ i : ] Tool coordinate system
Input/output signal
R[ ]
DI[ i : ], DO[ i : I System digital signals
RI[ i : ], RO[ i : ] Robot digital signals
GI[ i : ], GO[ i : ] Group signals
Constant -..-----.,....-
=
R[
+
Constant
I
DIV
MOD
PR [i, j]
Dl/O []
Rl/O []
GI /0 []
I
R[
PR[i,j]
DI/ 0 [ I
Rl/O [ I
Gl/O []
Example
PR [I
1: R [1] = RI [3]
2: R[3:]
DI[4]*PR[1,2]
=
JL+T[
PR []
Lpos
Jpos
UFRAME []
UTOOL[]
Example
1:
2:
3:
4:
PR[ i, J]
GO [
ON
OFF
R []
RO[l] = ON
R0[3:]
PULSE,1.0sec
R0[4] = R[l]
G0[9]
R[2:contro1]
=
=
-348-
Constant
F:q I
PR [ i, J]
Dl/O
Rl/O
Gl/O
UTOOL[2]
Pulse ( , width )
1
2
3
4
PR[ I
Lpos
Jpos
= PR[6]
= PR[4]+Lpos
= UFRAME[l]
PR[l]
PR[3:]
PR[S]
PR[9] =
DO[J1=1_
RO[] _J
Example
I
I --y-
Constant
L_R[]
APPENDIX A.
B-80464E/01
Unconditional branch Instructions
Label
LBL[ i : COMMENT]
JMP LBL[ i]
Specifies the instruction which the program branches to.
Causes a branch to the specified label.
Program call
CALL ( program-name )
Causes a branch to the specified program.
Program end
END
Ends the program and returns control to the calling pro
gram.
JMP LBL[]
CALL ( Program name ) LBL[ ]
Example
l: LBL [l: HANDCLOSE]
2: JMP LBL[2]
3: CALL SAMPLEl
Conditional branch Instructions
Comparison condition
Selection condition
Specifies a comparison condition and an
instruction or program to which the program
branches to.
SELECT R[ i ) = (value ) ( branch) Specifies a selection condition and an
instruction or program to which the program
branches to.
I
R[
IF
IF (condition) (branch)
GO[
GI [
>
I
--.---r-- Constant
I
GO [I
GI [ I
R[
>=
I
<=
'LJMPLBL[ 1
CALL ( Program name )
<
<>
DO
[I
RO
[1
DI
[I
[I
RI
r=<:
-~~-ON
OFF
R[
I
DO []
RO [I
DI [ ]
RI [
SELECT R []
- - = (condition) - -
I
, ~ JMP
LcALL
Example
l: IF R[2J >= R[3J,LBL[l:HANDOPENJ
2: IF DI[2]
ON,CALL SUBPROGRAM
Example
3: SELECT R[2]
l,JMP LBL[l]
4:
2,JMP LBL[2]
5:
3,JMP LBL[3]
6: ELSE,CALL MAINPROG
=
=
=
=
-349-
B-80464E/01
APPENDIX A.
Walt Instruction
Waits until the specified condition is satisfied or until
the specified time has elapsed.
WAIT < condition >
Wait
WAIT<time>
R[ ]
WAIT
f
DO[]
RO[]
DI [ ]
RI [ ]
( , TIMEOUT, LBL [ ] )
ON
OFF
<>
R[ ]
Constant
DO []
Constant sec
RO []
R[ ]
DI [ ]
RI [ ]
Example
1: WAIT RI[l] =ON
2: WAIT 10.Ssec
3: WAIT R[2],TIMEOUT,LBL[1]
Skip and Offset condition Instruction
Skip condition
SKIP CONDITION ( condition)
Offset condition
OFFSET CONDITION (offset amount)
Specifies the amount of offset used by the
motion instruction.
SKIP CONDITION
l f
DO [ ]
RO [ ]
Specifies the skip execution condition for an
additional motion instruction.
ON
OFF
<>
DI [ ]
DO[]
RI [ ]
RO[.]
DI [ ]
RI [ ]
OFFSET CONDITION PR[ ] (, UFRAME[ ] )
TOOL OFFSET CONDITION PR[ ] (, UTOOL[ ])
Example
1:
2:
3:
4:
SKIP CONDITION DI [1] = ON
SKIP CONDITION RI[2] <> DI[3]
OFFSET CONDITION PR[l],UFRAME[l]
TOOL OFFSET CONDITION PR[2],UTOOL[1]
Frame setup Instruction
User frame
User frame selection
UFRAME[i]
UFRAME_NUM
User frame i=1 to 5
The number of current user frame.
Tool frame
Tool frame selection
UTOOL[]
UTOOL_NUM
Tool frame. i=1 to 5
The number of current tool frame
UFRAME[]
- - PR[]
UTOOL[]
UFRAME_NUM
---i--
UTOOL_NUM
__J
Example
---i--
Constant
LR[]
1: UTOOL[3]=PR[1]
2: UFRAME_NUM=3
-350-
APPENDIX A.
B-80464E/01
Program control Instructions
PAUSE Halts a program.
ABORT Aborts a program.
Halt
Abort
Example
1: PAUSE
2: ABORT
Other Instructions
UALM[ i : comment-text]
Displays a user alarm on the alarm line.
Sets override.
OVERRIDE
!(comment)
Inserts a comment in a program.
Displays a user message on a user screen.
MESSAGE[ message-text ]
Changes the value of a system variable.
User alarm
Override
Comment
Message
Parameter
OVERRIDE = m%
$(system variable name)
Example
Constant
OVERRIDE = 50%
$NRM TURN = 1
$NRM-TURN
1
UALM-[3:no work]
! STEP 2 START
MESSAGE [STEPl EXECUTION]
$NRM_TURN = 1
3:
4:
5:
7:
8:
10:
11:
=
Macro Instruction
Macro
(macro-instruction)
Example
Executes a program defined on the macro
instruction setting screen.
1: HANDl OPEN
2: HAND2 CLOSE
Palletizing instructions
Palletizing
PALLETIZING-B_i
Calculates palletizing.
Palletizing end
PALLETIZING-END_i
increases or decreases the contents of a palletizing reg
ister. i: 1 - 16
Palletizing motion
L PAL_i[ A-j] 300mm/s FINE Specifies the palletizing position.
i: Palletizing number (0 - 7). j: Number of the approach point.
J
L
T
PAL_i[
i -
m1 %
mm/sec
cm/min
r=
deg/sec
sec
Example
1:
2:
3:
4:
5:
6:
7:
8:
PALLETIZING-B 3
PAL 3[A 2]-50% CNT50
L PAL-3[A-1] lOOmm/sec CNTlO
L PAL-3[BTM] 50mm/sec FINE
HANDl OPEN
L PAL 3[R 1] lOOmm/sec CNTlO
J
PAL-3[R-2] 50% CNT50
PALLETIZING-END 3
J
- 351 -
FINE
CNTn
i: Palletizing number
l>
""CJ
""CJ
m
z
c
x
m
APPENDIXB.
B-80464E/01
APPENDIX B.
This appendix summaries items necessary for using this model. It may also be used as an index.
D Contents of this appendix
B.1 Start Mode
B.2 Mastering
B.3 Software Version
B.4 Robot Axis States
B.5 World Frame Origin
-353-
B-80464E/01
APPENDIXB.
B.1 Start Mode
B.1.1 Start up Methods
R-J2 Mate controller has the following four start up methods(start mode):
lnltlal start
The initial start loads the system software, the application tool software, and the option software to the R-J2
Mate controller. Initial start clears all contents of the internal memory. Controlled start automatically starts after
initial start.
Controlled start
The selection of the robot models and settings of the system configuration can be done at controlled start. To
start cold start mode, select START (COLD) from the function menu after controlled start.
Cold start
The cold start turns the power to the robot and the controller and initializes the system environment of the controller. This is automatically started when the power is turned on if the hot start is setto disable. Though the hot
start is set to invalid, the cold start mode can be started by the settings at power on.
Hot start
The hot start turns on the power to the robot and the controller and does not initializes the system environment
of the controller and. This mode is automatically started by turning on the power to the robot and the controller
if the hot start is set to enable.
The cold start or the hot start is started in usually operation. Which mode is used depends on whether the hot
start is enable or disable.
The initial start and the controlled start will be used when shipping at the factory and maintaining it. These
modes will not be used in usually operation.
I Start mode selection
Usual turning on
Cold start
Hot start
System starts
Fig. B.1 Start mode
B.1.2 Initial start
The initial start changes the system software and the tool software stored in ROM of the controller.
The controlled start is automatically started after the end of the execution of the initial start.
Before performing the initial start, clear all the data memorized in the RAM in the controller.
caution:
When the initial start is performed, all the data in the memory in the controller are cleared. Do not use this
start mode without loading the system software. Moreover, you should backup the necessary system files
before the initial start.
-354-
APPENDIXB.
B-80464E/01
0
Press and hold the PREV key and RESET key and then turn on the circuit protector switch on the operator
panel . The boot monitor screen is displayed.
I
i6J [··9
'98
ON
~~
0
-.._
r
*** BOOT MONITOR for R-J2 Mate
Version l.OOA
F-ROM SIZE
D-RAM SIZE
C-MOS SIZE
MCARD IF PCB
Current TIME
OFF
***
01-MAR-1994
200000H (2 .OMB)
300000H (3. OMB)
SOOOOH (0.SMB)
Not found
2-MAR-1994 19:57:17
BMON>
COLD
\
CNTRL
CLEAR
CLEAR
INIT
NOLOAD
START >
CRT
FLOPPY
FROM
~
>
MCARD
>
Clearing all memory
2 To clear all the memory, press F1 "CLEAR", press F1 "CMOS", and press ENTER key.
NOLOAD
START
> )
BMON> CLEAR
CMOS
l
DRAM
FROM
CLEAR
3 Enter 1 (YES) to the confirmation message of clearing all the memory.
/
BMON> CLEAR CMOS
Are you sure ? (Y=l/N=O) :
---c-1-ea_r_e_n_t_i-re_C_-_M_O_S_m_e_m_o_r_y_b_y_Z_e_r_o__ ___,,_
4 To start the initial start, press F3 "INIT', and press ENTER key.
INIT
NOLOAD
START
BMON> INIT
INIT Start is selected
5 Press F5, START and press ENTER key. And then initial start is started.
NO LOAD
START > )
**** LR Mate 100 initialization ****
Auto initialization
O: Auto init from F-ROM (no support)
1: Auto init from Port
2: Manual init (default)
Select initialization type?
-355-
~
~ \
1.;1
1 (ENTER) ~
8-,80464E/01
APPENDIXB.
B.1.3 Controlled start
The controlled start initializes the system software. The following processes can be done by initializing the system software:
• Settings of the robot system configuration
• Selection of the robot models
Simplified system will start after execution of the controlled start. In the simplified system, operating the robot
can not be done but setting of the items which should be set before system starts can be set.
You will see the following screen of the teach pendant.
• System variable screen: Sets the system variables. System variable (RO) which cannot be usually
changed can be changed.
• File screen: Loads the system files (.SV). The system files will be loaded before the system starts.
• Port setup screen: Sets the communication ports. When the file should be loaded through the port at the
controlled start, the port can be set.
• Software version screen: Displays the version of the software.
• Alarm history screen: Displays the history of the alarm.
After setting, to start the cold start, turn off and on the controller or select "1 START (COLD)" from the function
menu.
-356-
APPENDIXB.
B-80464E/01
Press and hold the PREV key and RESET key and then turn on the circuit protector switch ori the operator
panel . The boot monitor screen is displayed.
I
ON
r
.*** BOOT MONITOR for R-J2 Mate ***
&~
0
01-MAR-1994
Version 1.00A
F-ROM SIZE
D-RAM SIZE
C-MOS SIZE
MCARD IF PCB
Current TIME
OFF
200000H (2. OMB)
300000H (3. OMB)
BOO OOH (0. 5MB)
Not found
2-MAR-1994 19:57:17
BMON>_
COLD
CNTRL
INIT
NOLOAD
START >
2 To perform controlled start, press F2 "CNTRL", and press ENTER key.
l
COLD
CNTRL
INIT
BMON> CNTRL
CONTROLLED start is selected
3 Press FS "STARr', and press ENTER key. Controlled start begins. You can see a below screen.
NOLOAD
START >
J
r
**** LR Mate 100 initialization ****
Auto initialization
0: Auto init from F-ROM (no support)
1: Auto init from Port
2: Manual init (default)
Select initialization type?
NOTICE:
The above-mentioned procedures 1 to 3 are not necessary when starting the initial start.
4 Select 2: Manual init (default).(O and 1 are not supported now)
Robot Initialization screen
r
--SELECT TYPE-1: INITIALIZE SYSTEM VARIABLE
2: EXTENDED AXES SETUP/INIT
3: CHANGE NUMBER OF MISC VARS
4: EXIT
\.
5 Select a setting item and set about it with the displayed robot initialization screen.
• Operation of initializing system variable
- This operation can not be omitted if the controlled start following to the initial start is performed.
- This operation can be omitted if the controlled start is performed first.
NOTICE:
Select "1 : Load from F-ROM" for the "Servo parameter loading".
-357-
B-80464E/01
APPENDIXB.
• Use the standard value as it is without changing the maximum number of the system.
6 When you finish setting.end the robot initialization screen. To end the controlled start,select "4 EXlr'. Controlled start ends and then the simplified system starts.
Additionally, the following screens of the teach pendant can be displayed:
- System variable screen: Sets the system variable.
- File screen: Loads the system files.
- Software version screen: Displays the version of the software.
- Alarm history screen: Displays the history of the alarm.
- Port setup screen: Sets the communication ports.
1 $ACC MAXI.MT
2 $ACC-MINLMT
3 $ANGTOL
4 $APPLICATION
5 $AP MAXAX
6 $AP- PLUGGED
7 $AP-TOTALAX
8 $AP-USENUM
9 $ASCII_SAVE
•
0
:::i
[9] of REAL
[3] of STRING[21]
53680912
2
16777216
[32) of BYTE
FALSE
[ TYPE ]
To operate the robot, the cold start need to be started. To start the cold start, turn off and turn on the controller or select "1 START (COLD)" from the function menu.
7 Press the FCTN key. The function menu is displayed.
- Cold start
- Release of all the simulated 1/0.
8 Select "1 START (COLD)". The cold start is started.
-358-
APPENDIXB.
B-80464E/01
B.1.4 Cold start
The cold start turns the power to the robot and the controller and resets the operating environment of the system
once. The following precessings are done by this:
- The outputs of the digital and group are reset to the initial value (OFF).
- The current line of the program is reset to the first line.
The changed settings (e.g. 1/0 configuration, joint operating area, brake control,etc) are effective.
Speed override is reset to the initial value ( 10% ).
- Manual-feed coordinate system becomes JOINT.
The procedure for cold start depends on the setting of the hot start.
• Hot start must be set to invalid.
Turn on the power to the controller. The following screen is displayed after the system stars by cold start.
I
ON
~~
0
OFF
Tiii!!HK! Bft!lll•
MENUS - Provides a list of all menus.
FCTN - Provides helpful functions.
SELECT, EDIT, DATA, POSN, I/O, STAT Displays menus with those names.
Function keys with [] show more choices.
Fl [ TYPE ] function key lists related
screens within a menu.
[ TYPE ]
HELP
NOTICE:
The above-mentioned procedure 1 is not necessary when the cold start following to the controlled start
is automatically started
-359-
B-80464E/01
APPENDIXB.
• In the case hot start is set to enable
Press and hold the PREV key and RESET key and then turn on the circuit protector switch on the operator
panel
The boot monitor screen is displayed.
I
15) (PRE~
'98
ON
r
~~
0
'I
BOOT MONITOR for R-J2 Mate
***
01-MAR-1994
Version 1.00A
F-ROM SIZE
D-RAM SIZE
C-MOS SIZE
MCARD IF PCB
Current TIME
OFF
***
200000H (2.0MB)
300000H (3.0MB)
SOOOOH (0. SMB)
Not found
2-MAR-1994 19:57:17
BMON>
COLD
CNTRL
INIT
NO LOAD
\.
START >
,)
2 To start the cold start, press F1 "COLD" and press ENTER key.
l
COLD
CNTRL
INIT
r
I
BMON> COLD
COLD start is selected
3 Press FS "START" and press ENTER key. The cold start will be started. You will see the following screen
after a while.
NOLOAD
START
>
J
MENUS - Provides a list of all menus.
FCTN - Provides helpful functions.
SELECT, EDIT, DATA, POSN, I/O, STAT Displays menus with those names.
Function keys with [] show more choices.
Fl [ TYPE ] function key lists related
screens within a menu.
[ TYPE ]
HELP
• Hot start must be set to enable.
Turn on the power to the controller. The screen which was being displayed at power off will be displayed
on the screen of the teach pendant after a few seconds. The message,"Power failure recovery",is displayed in the alarm history screen. If 110 configuration was changed, cold start is started.
-360-
APPENDIXB.
B-80464E/01
8.2 Mastering
Mastering associates the angle of each axis of the robot with the pulse count of the absolute pulse coder (APC)
connected to the motor of each axis. More specifically, mastering is performed by obtaining the pulse count
read at the zero-degree position.
The current position of the robot is determined by the pulse counts of the absolute pulse coders (APCs) for the
axes.
Since mastering data is factory-set, mastering is unnecessary in normal operation. If one of the following
events occurs, however, mastering must be performed:
• Mastering data is lost for some reason such as a drop in the voltage of the backup battery for C-MOS in
the controller or memory erasing with an initial start.
• The APC pulse counts are lost for some reason such as a drop in the voltage of the backup battery for APC
pulse counts backup in the mechanical unit or exchange of pulse coder.
• The pulse counts do not indicate the angles of the axes because the mechanical unit was hit bumped, etc.
Warning:
The robot data including mastering data and the pulse coder data are maintained independently by backup
batteries. If the batteries go empty, data is lost. To prevent this, replace both batteries periodically. When
the battery voltage drops, an alarm 'BLAL' notifies the user.
There are five types of mastering as listed below.
Table B.1 Mastering types
Type of mastering
Explanation
Jig mastering
Mastering is performed using a special jig. Jig mastering is performed
at the factory.
Mastering at the zero-degree
positions
Mastering is performed with each axis of the robot aligned with the
zero-degree position. The zero-degree position mark attached to
each axis.of the robot is referenced.
Quick mastering
The mastering position can be set at any position. To do this, reference points must be set in advance.
Single axis mastering
Single axis mastering is that the mastering is performed every one
axis.
Setting mastering data
Mastering data is set in mastering counters directly.
After mastering, be sure to perform positioning (calibration). Positioning means that the controller reads the
current APC pulse counts and recognizes the current position.
- 361 -
B-80464E/01
APPENDIXB.
Mastering table 1
Angle of axis
1 deg
APC pulse count
1 144.ooo 1
$PARAM_GROUP.$ENCSCALE
Mastering table 2
Angle of axis
1 sodeg
I
9deg
Odeg
APC pulse count
I2s,600,ooo I
I16,900,000 I •
Quick mastering
I15•600•000 I •
Mastering at the
zero-degree positions
$DMR_GRP.$MASTER_COUN
-90deg
I 2,600,000 I •
Jig mastering
Fig. B.2 Mastering
The current position of the robot is determined by the following data:
• Pulse count per degree (See mastering table 1.) This value is defined in system variable $PARAM_GROUP.$ENCSCALE.
• Pulse count at the zero-degree position (See mastering table 2.) This data is stored in $DMR_GRP.$MASTER_COUN by mastering.
- In jig mastering, the pulse count at the jig position is received and converted to mastering data.
- In quick mastering, the pulse count at the quick mastering reference position defined by the user is
received and converted to mastering data.
• Current pulse count. The current pulse count is received from the APC by calibration.
Mastering and calibration are performed on the Master/Cal screen [6 SYSTEM, Master/Cal].
NOTICE:
Mastering by mistake may cause the robot to move unexpectedly and it is very dangerous. Therefore,
the Master/Cal screen will be displayed only when the system variable, $MASTER_ENB, is set to 1 or 2.
Press FS,DONE,which is displayed in the Master/Cal screen after mastering. $MASTER_ENG is automatically set to Oand then the Master/Cal screen can not be displayed. If you want to display the Master/Cal
screen again, set $MASTER_ENB to 1 in the system variable screen again.
-362-
APPENDIXB.
B-80464E/01
B.2.1 Jig mastering
Jig mastering is performed at the factory using a special jig. This mastering is performed at the mastering position set beforehand.
With this mastering, the accurate mastering can be performed by using the special jig.
This mastering is usually unnecessary to perform it in normal operation because this is used at shipment.
For details of jig mastering, refer to the maintenance manual.
• System variable $MASTER_ENB must be set to 1.
(-"
,..,
57 $MASTER_ENB
Press the MENUS key. The screen menu is displayed.
2 Select "O -- NEXT --" and then select "6 SYSTEM".
3 Press F1 "TYPE." The screen change menu is displayed.
4 Select "Master/Cal" on the screen change menu. The positioning screen appears.
~
a~
! · L'.!IIHJT...U.00. . . . .
~l:B.iBm!i. · i I
mlf:llBWl~i
2
3
4
5
6
ZERO POSITION MASTER
QUICK MASTER
SINGLE AXIS MASTER
SET QUICK MASTER REF
CALIBRATE
Press 'ENTER' or number key to select.
[TYPE]
LOAD RES_PCA
DONE
5 Move the robot by jog feed to the mastering position. Release the brake on the manual brake control screen
if necessary.
6 Select "1 FIXTURE POSITION MASTER" and press the F4 key (yes). Mastering data is set.
...,
li~!mlEHM!EHI!EB~
~.ailf/1tSn%CiWJt8~'"™1%.W4WdMW@.~
&&&d&~~~~!&k1'Wi@
Master at master position? [NO]
[ TYPE ]
YES
NO
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
Robot Mastered! Mastering Data:
<0> <11808249> <38767856>
<9873638> <122000309> <2000319>
[ TYPE ] LOAD RES_PCA
DONE
-363-
B-80464E/01
APPENDIXB.
7 Select "6 CALIBRATE" and press the F4 key (yes). Calibration is performed.
Calibrate? [NO]
___
Calibrate? [NO]
[ TYPE ]
J
YES ____..
NO
1
FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
:rn. 1mm !! :
·
:: 1
:i:::;i
::
Robot Calibrated! Cur Jnt Ang (deg) :
<10.000> <-25.000> <40.000>
<5.000> <-15.000> <0.000>
[ TYPE ] LOAD RES_PCA
DONE
::i:
8 Press F5 "DONE", after mastering.
DONE
)
9 Alternatively, to perform positioning, turn the power off, then turn it on again. Calibration is performed whenever the power is turned on.
-364-
APPENDIXB.
B-80464E/01
B.2.2 Mastering at the zero-degree positions
Mastering atthe zero-degree positions is performed for the robot with its all axes atthe zero-degree positions.
On each axis of the robot, a zero-degree position mark is attached. Using these marks as a reference, move
the robot by jog feed to the zero-degree positions for all axes.
Mastering at the zero-degree positions cannot be performed as accurate by as other types of mastering because it relies on visual adjustment. Perform mastering at the zero-degree positions only as an emergency
measure.
For details of mastering at the zero-degree positions, refer to the maintenance manual.
• System variable $MASTER_ENB must be set to 1 or 2.
1 Press the MENUS key. The screen menu is displayed.
2 Select ·o -- NEXT --" and then select "6 SYSTEM".
3 Press F1, TYPE. The screen change menu is displayed.
4 Select "Master/Cal" on the screen change menu. The Master/Cal screen appears.
mB.lmtUl][]l};::;::;;;:::::::::r
§~-
Blll!ilfi!ilHB~:::;;;;:::::n
2
3
4
5
6
C!J111
ZERO POSITION MASTER
QUICK MASTER
SINGLE AXIS MASTER
SET QUICK MASTER REF
CALIBRATE
Press 'ENTER' or number key to select.
[TYPE]
LOAD RES PCA
DONE
5 Move the robot by jog feed to the zero-degree positions for all axes. Set brake control to off, if necessary.
6 Select "2 ZERO POSITION MASTER" and press the F4 key (yes). Mastering data is set.
filt------1ENTERJ~
. 3
~
p\
QUICK MASTER
""'
'
Master at zero position? [NO]
YES
NO
)
1 FI~TURE POSITION MASTER
Hltl.UBdR'<llllB
a.a rnrmr1mn,,.,,m: ·12&1
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
Robot Mastered! Mastering Data:
<0> <11808249> <38767856>
<9873638> <122000309> <2000319>
[ TYPE ]
-365-
LOAD
RES_PCA
DONE
B-80464E/01
APPENDIXB.
7 Select "6 CALIBRATE" and press the F4 key (yes). Calibration is performed.
......... ... .
~.,.
~
~
... .
Calibrate? [NO]
YES
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET ,QUICK MASTER REF
NO
m::::rnm.ua:r
: I nlI!ii]]iii!!Ui!tEEB!lllii
Robot Calibrated! Cur Jnt Ang(deg):
JI
<0.000> <0.000> <0.000>
<0.000> <0.000> <0.000>
[ TYPE ]
LOAD
RES_PCA
DONE
8 Press F5 "DONE", after mastering.
9 Alternatively, to perform calibration, turn the power off, then turn it on again. Calibration is performed whenever the power is turned on.
DONE
)
-366-
APPENDIXB.
B-80464E/01
B.2.3 Quick mastering
Quick mastering allows mastering at any user-defined position. The pulse counts are calculated from the
speed and angular displacement within one rotation of the APCs connected to the motors. Quick mastering
uses the fact that the absolute angular displacement within one rotation is not lost.
• If mastering data is lost due to the empty of the backup battery for the APC pulse coder, quick mastering
can be used.
• When the pulse coder is replaced or when mastering data in the robot controller is lost, quick mastering
cannot be used.
Before performing quick mastering, set the mastering position. (See "Setting reference points.") It is recommended that the reference points be set at the zero-degree positions.
Angle of axis
9 deg
Absolute APC value
I
260,000
I I 1Odeg
I I 304,000
CD ®
APC pulse count
116,900,000
1 deg= 144,000
1rotaHon=520,000
I
Fig. B.3 Quick Mastering
Quick mastering uses the fact that the deviation of the angle of the axis from the reference point can accurately
be compensated when it is within one rotation of the APC.
For details of quick mastering, refer to the maintenance manual.
• System variable $MASTER_ENB must be set to 1 or 2.
1 Select "6 SYSTEM" on the screen menu.
2 Select "Master/Cal" on the screen change menu. The Master/Cal screen appears.
H±
2
3
4
5
6
iiID;i\li!ffR9i!~;e¥!ml§'!i~
ZERO POSITION MASTER
QUICK MASTER
SINGLE AXIS MASTER
SET QUICK MASTER REF
CALIBRATE
rn t , 11111 '
Press 'ENTER' or number key to select.
[TYPE]
LOAD RES PCA
DONE
3 Move the robot by jog feed to the quick mastering reference position. Set brake control to off, if necessary.
4 Select "4 SET QUICK MASTER REF" and press the F4 key (yes). The reference points for quick mastering
are stored in memory.
-367-
B-80464E/01
APPENDIXB.
4 SINGLE AXIS MASTER
RHJ.llmBA~ ~
6 CALIBRATE
YES
~~'
NO
)
• System variable $MASTER_ENB must be set to 1 or 2.
• Quick mastering reference position (reference position) must be set.
Display the Master/Cal screen.
~~~Iii~iRRRR~::i~!B~·irmOOBll
~; "·g;·g~·!ljlJ!fiim.RRU,111:11!]
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5
SET QUICK MASTER REF
6 CALIBRATE
Press 'ENTER' or number key to select.
[TYPE]
LOAD RES_PCA
DONE
2 Jog the robotto the quick mastering position(reference position). If it is necessary,turn off the brake control.
3 Select "3 QUICK MASTER" and press the F4 key (yes). Mastering data is set.
2 ZERO POSITION MASTER
~E~
YES
NO
)
4 Select "6 CALIBRATE" and press the F4 key (yes). Calibration is performed.
5 Press FS "DONE" after mastering.
DONE
)
-368-
APPENDIXB.
B-80464E/01
B.2.4 Slngle axis mastering
User can select the arbitrary position for the mastering of each axis.
Single axis mastering should be used when the mastering data of some axes is lost for some reason such as
the drops of the voltage of the backup battery for APC pulse coder or exchanging of the pulse coder.
r
:;:wfI~limmm~rt11§wmt11mrim11m1w11Mit?P,w1.w.~1tI@:liZ~rm
ACTUAL POS
Jl
25.255
J2
25.550
J3
-50.000
J4
12.500
JS
31.250
J6
0.000
El
0.000
E2
0.000
E3
0.000
\.
(SEL)
(0)
(0)
(0)
(0)
(0)
(0)
(0)
(0)
(0)
~illai4@~;1~
0.000)
(
(
(
(
(
(
(
(
0.000)
0.000)
0.000)
0.000)
0.000)
0.000)
0.000)
GROUP
1/9
[ST]
[2]
[2]
[2]
[2]
[2]
[2]
[2]
[2]
[2]
EXEC
ACTUAL POS
The current position expressed by joint (degree) of the robot is displayed.
MSTR POS
Specifies the mastering position to the axis to be performed the single axis mastering. It
is usually specified 0 degree.
SEL
For the axis to be performed mastering.set this item to 1. It is usually 0.
ST
Display the state of completion of the single axis mastering. The value displayed at this
item can not be directly changed. The values of $EACHMST_DON[1 to 9] are displayed at this column.
O Specifies that the mastering data has been lost. The single axis mastering
need to be performed.
1 The mastering data has been lost.(Only other interactive axes is performed
mastering.) This axis need to be performed mastering.
2 The mastering has been completed.
Refer to the maintenance manual for an accurate method of single axis mastering.
• System variable $MASTER_ENB must be set to 1 or 2.
1 Select "6 SYSTEM" on the screen menu.
2 Select "Master/Cal" on the screen change menu. The Master/Cal screen appears.
!iJ!!iifi't1~iE¥ '.~9~!!'14\~Ii~§!l§ffrn!IffiIItli,liWMllWW
2
3
4
5
6
ZERO POSITION MASTER
QUICK MASTER
SINGLE AXIS MASTER
SET QUICK MASTER REF
CALIBRATE
Press 'ENTER' or number key to select.
[TYPE]
LOAD RES_PCA
DONE
3 Select "4 SINGLE AXIS MASTER''. The single axis mastering screen is displayed.
-369-
B-80464E/01
APPENDIXB.
In a right example, the mastering of J2
and the J3 axis need to be executed.
1/9
ACTUAL POS
Jl
J2
J3
J4
JS
J6
El
E2
E3
2S.2SS
2S.SSO
-so.ooo
12.SOO
31.2SO
0.000
0.000
0.000
0.000
(MSTR POS )
!!E!.E!ilM'
0. 000)
1
(
(
(
(
(
(
(
(
0. 000)
0. 000)
0. 000)
0. 000)
0. 000)
0. 000)
0 .000)
(SEL) [ST]
<0 >
(0)
(0)
(0)
(0)
(0)
(0)
(0)
(0)
GROUP
c2 1
[0]
[O]
[2]
[2)
[2]
[2]
[2]
[2]
EXEC
4 Enter 1 to SEL setting field of the axis that you want to perform the mastering. SEL can be specified every
one axis or plural axes simultaneously.
a::::
!Jll!!Ei1ii!IH!lli.IL d]JJlli'
o.ooo>
I>
0. 000)
(0)
2/9
[0]
[0]
J2
J3
2S.SSO
-S0.000
0. 000)
0.000)
(1)
•
GROUP
3/9
[O]
[O]
EXEC
5 Jog the robot to the mastering position. Turn off the brake control if it is necessary.
6 Enter the axis data of the mastering position.
II Mifl!!llI! iru~
IJ!lilfRll
(
0.000)
2/9
<1 > ro1
(1)
[0]
J2
J3
2S.SSO
-so.ooo
(
0.000)
~
(1)
(1)
GROUP
EXEC
7 Press F5 "EXEC." The mastering is performed. This operation causes that SEL is set to oand ST is set
to2or1.
GROUP
,~~~..,
1/9
ACTUAL POS
Jl
J2
J3
J4
JS
J6
El
E2
E3
(MSTR POS )
2S.2SS
2S.5SO
•mr:1rm1
(
0. 000)
12.500
0.000
90.000
0.000
0.000
0.000
(
(
(
(
(
(
(
-so.ooo
0. 000)
0. 000)
0. 000)
90. 000)
0. 000)
0. 000)
0. 000)
(SEL) [ST]
<0 >
(0)
(0)
(0)
(0)
(0)
(0)
(0)
(0)
GROUP
c2 1
[2]
[2]
[2)
[2]
[2]
[2]
[2]
[2]
EXEC
,
8 When the single axis mastering is completed, press the PREV key to display the Master/Cal screen.
Wl!Wil!Hm~~z-~~ifir&
~~~--~~~~~w~:!i:®
Press 'ENTER' or number key to select.
[TYPE]
-370-
LOAD RES_PCA
DONE
APPENDIXB.
B-80464E/01
9 Select "6 CALIBRATE" and press F4 "YES." The calibration is performed.
1O Press FS "DONE", after calibration.
DONE
)
B.2.5 Setting mastering data
Mastering data can directly be set to the system variable. Setting mastering data can be performed when the
APC pulse counts are not changed.
• If C-MOS mastering data is lost for some reason such as an initial start, set the recorded mastering data.
• Setting mastering data cannot be performed when APC pulse count data is lost.
1 Select "6 SYSTEM" on the screen menu.
2 Select "Variables" on the screen change menu. The system variable screen appears.
1 $AP MAXAX
2 $AP-PLUGGED
3 $AP-TOTALAX
4 $AP-USENUM
5 $AUTOINIT
6 $BLT
iii~@~~]@g,J,~fi!jji
4
16777216
[12] Of Byte
2
19920216
[TYPE]
3 Change mastering data.
Mastering data is stored in system variable $DMR_GRP.$MASTER_COUN.
13 $DMR GRP
14 $ENC~)TAT
;;~~!~~&li
[2]of ENC_STAT_T
[TYPE]
4 Select "$DMR_GRP."
iiPMi£~~&\f:W
[2] of ENC_STAT_T
I
8~
r
;;;;§~§Bi¥~#w~±~~rn;;;;
$DMR GRP
1 111
- 371 -
irnm;:;;;;rn;; ;;;rnr;;p;9w¥~in~ll!im
;;pgll~&w::
1/1
B-80464E/01
APPENDIXB.
_...:;a~•:::r::rurmiEDB.
$DMR GRP
1 $MASTER DONE
2 $OT MINUS
3 $OT-PLUS
4 $MASTER COUN
5 $REF DONE
6 $REF-POS
7 $REF-COUNT
8 $BCKLSH SIGN
[ TYPE ]
-
1/8
FALSE
[9]of Boolean
-~ole.•n
~·
FALSE
[9]of Real
[9]of Integer
[9]of Boolean
TRUE
FALSE
5 Select "$MASTER_COUN" and enter mastering data.
$DMR GRP[1].$MASTER COUN
1 111
2
3
4
5
6
BJlfJID
-
[2]
[3]
[4]
[5]
[6]
1/9
10223045
3020442
304055030
20497709
2039490
[TYPE]
6 Press the PREV key.
7 Set "$MASTER_DONE" to "TRUE."
TRUE
FALSE
)
~Jal~~ED.
$DMR GRP[l]
1 $MASTER_DONE
2 $OT_MINUS
iliaf ".· ·
1/8
j[jjjjj_[j
[9]of Boolean
8 Display the Master/Cal screen and select "6 CALIBRATE."
1
FIXTURE POSITION MASTER
ZERO POSITION MASTER
QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
2
3
~
~-•::
Calibrate? [NO]
YES
EJ~
9 Press F5 "DONE", after calibration.
DONE
::::::r:u::: i: :.. : ::: :::r:·J:-:- : : .:11
)
-372-
NO
APPENDIXB.
B-80464E/01
8.3 Software Version
Screens related to the software version display identification information of the controller. This information is
to be reported to FANUC if a failure occurs in the controller. The following are the screens related to the software
version:
l
[TYPE] SOFTWARE
MOT_ID
MOT_INF
SER_PAR
j
- F2 "SOFTWARE" : Displays the software version screen.
- F3 "MOT_ID": Displays the motor ID screen.
- F4 "MOT_INF": Displays the motor information screen.
- FS "SER_PAR": Displays the servo parameter information screen.
Software version screen
The software version screen displays the following information:
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
ITEM:
SOFTWARE:
Appl/Tool: ~
Appl/Tool ID:
LR MATE 100
Robot Model:
S/W Serial No:
Core Name:
R-J2 Mate
Core ID:
7D40
Library Name:
Library ID:
Servo Code ID: JB02.02
Mot Param ID: 12345678
Update #1:
Update #2 :
Update #3:
Update #4:
Update #5:
Update #6:
Update #7 :
Update #8:
Update #9:
Update #10:
Build ID:
M4.00P/03
04/22/94
[ TYPE ]SOFTWARE MOT_ID MOT_INF SER_PAR
Motor ID screen
The motor ID screen displays the ID of each axis.
r
'
-~~~
1/16
1:
2:
3:
4:
5:
6:
7:
8:
9:
GRP:
1
1
1
1
1
*
*
*
*
AXIS:
1
2
3
4
5
*
*
*
*
MOTOR ID:
ACA0.5 12A
ACA0.5 12A
ACA0.5 12A
ACA0.5 3A
ACA0.5 3A
Uninitialized
Uninitialized
Uninitialized
Uninitialized
TYPE ]SOFTWARE MOT_ID MOT_INF SER PAR
-373-
B-80464E/01
APPENDIXB.
Motor Information screen
The motor information screen displays servo control information on each axis.
GRP:
1:
2:
3:
4:
5:
1
1
1
1
1
6:
7:
8:
9:
*
*
*
*
AXIS:
1
2
3
4
5
*
*
*
*
MOTOR INFO:
Hl DSPl-L
H2 DSPl-M
H3 DSP2-L
H4 DSP2-M
HS DSP3-L
Uninitialized
Uninitialized
Uninitialized
Uninitialized
TYPE ]SOFTWARE MOT_ID MOT_INF SER PAR
Servo parameter Information screen
The servo parameter information screen displays the ID of the servo parameter for each axis.
GRP:
1:
2:
3:
4:
1
1
1
1
5: 1
6: *
7: *
8: *
9:
*
AXIS:
1
2
3
4
5
*
*
*
*
SERVO PARAM ID:
PB02.01
PB02.01
PB02.0l
PB02.0l
PB02.01
Uninitialized
Uninitialized
Uninitialized
Uninitialized
TYPE ]SOFTWARE MOT_ID MOT_INF SER PAR
-374-
APPENDIXB.
B-80464E/01
1 Press MENUS key to display the screen menu.
2 Select ·o -- NEXT --" and then select "4 STATUS" on the next page.
3 Press F1 "TYPE" to display the screen change menu.
4 Select "Version ID" . Software version screen is displayed.
~
6~
mmffm.[U !JillHI!::E
ITEM:
;;; !RBW
1/21
SOFTWARE:
m&11BMJI£::::r::::1111111::
2 Appl/Tool ID:
3
4
5
6
7
8
Robot Model:
LR MATE 100
S/W Serial No:
Core Name:
R-J2 Mate
Core ID:
7D40
Library Name:
Library ID:
[ TYPE ]SOFTWARE MOT_ID MOT_INF SER_PAR
- F2 "SOFTWARE" : Displays the software version screen.
- F3 "MOT_ID": Displays the motor ID screen.
- F4 "MOT_INF": Displays the motor information screen.
- F5 "SER_PAR": Displays the servo parameter information screen.
-375-
B-80464E/01
APPENDIXB.
B.4 Robot Axis Status
The robot axis status screens displays the status of each axis motor of the robot. The status of each axis is
updated in real time. This status information is used during maintenance.
Status 1 screen
The status 1 screen displays the alarm status of the servo system. The status information consists of servo
alarm status 1 (16 bits) and servo alarm status 2 (16 bits).
amm:
11:11
:mm~I
i: •n111m 11'.I
!!! ii
GRP[ 1 ]
History
Flag Bits 1/2
Jl: 0000000000000000 (0000000000000000)
0000000000000000 (0000000000000000)
J2: 0000000000000000 (0000000000000000)
0000000000000000 (0000000000000000)
J3: 0000000000000000 (0000000000000000)
0000000000000000 (0000000000000000)
[ TYPE ]STATUSl STATUS2
Flag 1
Flag2
PULSE
[UTIL ]>
Servo alarm status 1
Servo alarm status 2
Table B.2 Servo Alarm Status 1
MSB
814
~3
~2
~1
~o
~
BS
OVL
LVAL
OVC
HCAL
HVAL
DCAL
FBAL
ALDF
87
B6
BS
84
83
82
81
LSB
MCAL
MOFAL
EROFL
CUER
SSTB
PAWT
SRDY
SCRDY
LVAL
When this bit is 1, it indicates a low voltage alarm.
When this bit is 1, it indicates an overcurrent (OVC) alarm.
When this bit is 1, it indicates an high current alarm.
When this bit is 1, it indicates an high voltage alarm.
When this bit is 1, it indicates a regenerative discharge alarm.
When this bit is 1, it indicates precharge fail alarm
When this bit is 1, it indicates a motion command overflow alarm.
When this bit is 1, it indicates a positioning deviation overflow alarm.
When this bit is 1, it indicates that servo software starts normally.
When this bit is 1, it indicates the servo ready state.
Flag for communication between the servo and host.
Flag for communication between the servo and host.
ovc
HCAL
HVAL
DCAL
MCAL
MOFAL
ERO FL
SSTB
SRDY
SCRDY
CUER
OVL
FBAL
ALDF
1
1
0
0
1
0
1
0
1
Alarm
Motor overload alarm (not used for a serial pulse coder)
Amplifier overload alarm
Pulse coder disconnection alarm (not used for a serial pulse coder)
-376-
APPENDIXB.
B-80464E/01
Table B.3 Servo Alarm Status 2
MSB
B14
B13
B12
B11
B10
B9
B8
BS
B4
B3
B2
B1
LSB
I CLALM I
B7
B6
IWhen this bit is 1, it indicates a collision detection alarm.
ICLALM
Status 2 screen
The status 2 screen indicates the pulse coder alarm status (16 bits).
GRP [ 1 ]
Jl:
J2
J3:
J4
JS:
J6:
Alarm Status
0000000000000000
0000000000000000
0000000000000000
0000000000000000
0000000000000000
0000000000000000
· History
(0000000000000000)
(0000000000000000)
(0000000000000000)
(0000000000000000)
(0000000000000000)
(0000000000000000)
[ TYPE ]STATUSl STATUS2
IAlarm Status
PULSE
[UTIL ]>
IPulse coder alarm status
Table B.4 Pulse Coder Alarm Status
MSB
B14
B13
B12
DSAL
B11
B10
B9
I SPHAL ISTBERR ICRCERRI DTERR
B7
BS
BS
B4
B3
B2
B1
OHAL
LDAL
BLAL
PHAL
CMAL
BZAL
PMAL
DSAL
SP HAL
STBERR
CRCERR
DTERR
OHAL
LDAL
BLAL
PHAL
CMAL
BZAL
PMAL
BS
I
LSB
When this bit is 1, it incicates a pulse data not set.
When this bit is 1, it indicates a soft phase alarm (abnormal acceleration).
When this bit is 1, it indicates a start/stop bit alarm.
When this bit is 1, it indicates a CRC alarm.
When this bit is 1, it indicates a data alarm.
When this bit is 1, it indicates a over heat alarm.
When this bit is 1, it indicates a LED alarm.
When this bit is 1, it indicates the low voltage alarm of the battery.
When this bit is 1, it indicates a phase alarm.
When this bit is 1, it indicates a pulse count miss alarm.
When this bit is 1, it indicates an exhausted battery alarm.
When this bit is 1, it indicates a pulse missing alarm.
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B-80464E/01
APPENDIXB.
Pulse screen
The pulse screen displays the servo delay, machine position, and status of the motion command.
Machine
Pulse
Position
Error
Jl:
J2:
J3:
J4:
JS:
[TYPE] STATUSl
Position Error
Machine Pulse
Motion Command
0
0
0
0
0
0
0
0
0
0
STATUS2
Motion
Command
0
0
0
0
0
PULSE [ UTIL ]
Servo delay (pulses). Delay of the actual pulse to the command pulse
Machine position (pulses). Actual absolute pulses
Relative command pulses from the host (pulses)
Monitor screen
The monitor screen displays the current values, and the status of the position, overtravel, and servo amplifier.
Load to the motor and thermal loss can be estimated using the root-mean-square current values.
Torque Monitor
Ave. / Max.
Inpos OT VRDY
Jl:
0.000/
0.000
1
0 OFF
J2:
0.000/
0.000
1
0 OFF
J3:
0.000/
0.000
1
0 OFF
J4:
0.000/
0.000
1
0 OFF
JS:
0.000/
0.000
1
0 OFF
J6:
0.000/
0.000
1
0 OFF
TYPE ]MONITOR TRACKING DISTURB[UTIL ]>
Ave.
Max.
lnpos
OT
VRDY
Average of the root-mean-square current values (A)
Maximum of the root-mean-square current values (A)
Position status (0 or 1)
Overtravel status (0 or 1)
Servo amplifier ready status (on or off)
Tracking screen
The tracking screen displays the status of the tracking servo system.
Pl:
P2:
Pl:
P2:
Tracking Status
Flag Bitsl
Flag Bits2
0000000000000000 0000000000000000
0000000000000000 0000000000000000
Alarm status
Counter Value
000000000000
0
000000000000
0
[TYPE] MONITOR
Flag Bits 1
Flag Bits 2
Alarm Status
Counter Value
TRACKING
Servo alarm status 1
Servo alarm status 2
Pulse coder alarm status
Line tracking counter
For the servo and pulse coder alarm statuses, see Tables B.1, B.2, and 7-3.
-378-
DISTURB
APPENDIXB.
B-80464E/01
Disturbance torque screen
The disturbance torque screen displays the disturbance torque to each motor (current torque and maximum
and minimum torque for each ITP). The disturbance torque is indicated with the current values estimated from
the difference between the scheduled and actual values of the pulse coder. If the maximum or minimum value
set for the disturbance torque is exceeded, the collision detection function of the servo system regards a collision as occurring and turns the servo power off.
Disturbance Torque
Current
Max.
Jl:
0.000 I -360.000
J2:
0.000 I -360.000
0.000 I -360.000
J3:
J4:
0.000 I -360.000
JS:
0.000 I -360.000
0.000 I -360.000
J6:
[TYPE]
Current
Max.
Min.
MONITOR TRACKING
I
I
I
I
I
I
Min.
360.000
360.000
360.000
360.000
360.000
360.000
DISTURB [UTIL ]>
Estimated disturbance torque to the servo motor (A)
Maximum value of the above estimated disturbance torque (A)
Minimum value of the above estimated disturbance torque (A)
1 Press the MENUS key to display the screen menu.
2 Select "O --NEXT--" to display the next page, then select "4 STATUS."
3 Press the F1 key "[TYPE]" to display the screen change menu.
4 Select "Axis." The robot axis status screens can be displayed.
GRP [ 1 ]
Flag Bits 1/2
Jl: 0000000000000000
0000000000000000
J2: 0000000000000000
0000000000000000
J3: 0000000000000000
0000000000000000
History
(0000000000000000)
(0000000000000000)
(0000000000000000)
(0000000000000000)
(0000000000000000)
(0000000000000000)
TYPE ]STATUSl STATUS2
PULSE
[UTIL ]>
TYPE ]MONITOR TRACKING DISTURB[UTIL ]>
- F2 "STATUS 1": Displays the status 1 screen.
- F3 "STATUS 2": Displays the status 2 screen.
- F4 "PULSE": Displays the pulse screen.
- F2 "MONITOR" on the next page: Displays the monitor screen.
- F3 ''TRACKING" on the next page: Displays the tracking screen.
- F4 "DISTURB" on the next page: Displays the disturbance torque screen.
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B-80464E/01
APPENDIXB.
B.5 World Frame Origin
This section describes the world frame origin of the each robot model (See section 3.6,"Setting Coordinate Systems0 for the world frame). When the user frame or tool frame is set, refer to this.
S series/LR Mate 100
A crossing point between J1 axis and level plane which includes the J2 axis.
Word frame origin
Fig. B.4 World Frame Origin
-380-
l>
rJ>
:::0
s:
0
0
c
m
CJ)
Alarm codes
B-80464E/01
Alarm codes
This part of this manual describes alarm codes, alarm severity, causes, and actions.
D Description of an alarm code table
~
Servo-001 SERVO OPERATING
Alarm code
PANEL E-stop
Alarm ID: Alarm type
Alarm number
Alarm message: Description of the alarm
Alarm severity
Program
Robot
Power to the servo system
Does not stop.
Does not stop.
Halts.
Decelerates and stops.
Not turned off
SERVO
Stops immediately.
Turned off
ABORT.L
ABORT.G
Decelerates and stops.
Not turned off
Stops immediately.
Turned off
NONE
WARN
PAUSE.L
PAUSE.G
STOP.L
STOP.G
SERV02
Terminates forcibly.
SYSTEM
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B-80464E/01
Alarm codes
An alarm is issued when a failure occurs while the program is taught or played back or when the emergency
stop signal or another alarm signal is input from a peripheral unit. The alarm is issued to notify the operator of
the failure so the operator can halt processing for safety's sake.
alarm codes dlsplay or Indication
When an alarm is issued, the alarm LED lights on the teach pendant and the alarm message is displayed in
the first and second line of the screen. The operator can find out which alarm has been issued by looking at
the LED and message.
Alarm code
Detail code
(ID-number)
Fig. E.1 Alarm Display
Alarm severity
How to operate the program or the robot until the program or the robot stops depends on the seriousness of
the cause of the alarm. This "seriousness" is called alarm severity. The degree of alarm severity is indicated
as follows:
WARN alarm
A WARN alarm warns the operator of a comparatively minor or unimportant failure.
The WARN alarm does not affect the operation of the robot. When the WARN alarm
occurs, no corresponding LED on the teach pendant or the machine operator's panel lights. To prevent a possible failure, appropriate action should be taken.
PAUSE alarm
When a PAUSE alarm occurs, the execution of the program is halted, and the operation of the robot is stopped after the operation in progress is completed. Appropriate action must be taken for the alarm before the program is restarted.
STOP alarm
When a STOP alarm occurs, the execution of the program is halted, and the robot
is decelerated until it is stopped. Appropriate action must be taken for the alarm
before the program is restarted.
SERVO alarm
When a SERVO alarm occurs, the power to the servo system is turned off to halt
the execution of the program and to stop the robot immediately. A SERVO alarm is
issued for safety's sake or when a failure occurs during robot operation.
ABORT alarm
When an ABORT alarm occurs, the execution of the program is forcibly terminated,
and the robot is decelerated until it is stopped.
SERV02 alarm
When a SERV02 alarm occurs, the power to the servo system is turned off to forcibly terminate the program and to stop the robot immediately. A SERV02 alarm is
issued for safety's sake or when a failure occurs during robot operation.
SYSTEM alarm
A SYSTEM alarm is issued when a major system failure occurs. When the SYSTEM alarm is issued, every robot in the system is disabled. After taking appropriate
action for the alarm, turn the power off, the turn it on again.
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Alarm codes
B-80464E/01
• Alarms have been issued.
INTP-224 (SAMPLEl, 6) Jump label is fail
MEM0-027 Specified line does not exist
lnlJJ11 ·i. iii !I.ii i!Ji!iIIi: '. L.!IBB.f{M
6/7
1:
2:J
3:J
4:L
5:L
6:
BBB
LBL[l]
P[l] 100% FINE
P[2] 70% CNT50
P[3] lOOOcm/min CNT30
P[4] 500mm/sec FINE
JMP LBL[2]
[ INST ]
[EDCMD]>
1 Press the MENUS key to display the screen menu.
2 Select "4 ALARM".
The alarm history screen is displayed.
INTP-224 (SAMPLEl, 7) Jump label is fail
MEM0-027 Specified line does not exist
illlUJIITJU !Ji HIT!HfflYf lilfUi! ~l!BI
1/25
1 INTP-224 (SAMPLEl, 7) Jump label is
2 SRV0-002 Teach pendant E-stop
3RESET
4 SRV0-027 Robot not mastered(Group:l)
5 SYST-026 System normal power up
[ TYPE ]
CLEAR
HELP
3 To display the alarm detail screen, press the FS "HELP" key.
CLEAR
HELP
j
INTP-224 (SAMPLEl, 7) Jumi label is fail
r··INTP-224
·;,. rnrn:m:rnrnn
n::rnf;m ru ·1:rn::rnrrr:::·. ·.m"*
(SAMPLEl, 7) Jump label is fail
MEM0-027 Specified line does not exist
30-MAY-44 07:15
STOP.L
00000110
nn ::·rnmrnmm zm:ll rnrnw: mm :mi r; nrm:mmum
1/25
1 INTP-224 (SAMPLEl, 7) Jump label is
2 SRV0-002 Teach pendant E-stop
[ TYPE ]
CLEAR
HELP
4 To return to the alarm history screen, press the PREV key.
5 To delete all the alarm histories, press and hold down the SHIFT key, then press the F4 "CLEAR" key.
-383-
Alarm codes
B-80464E/01
CLEAR
NOTE
HELP
J
When system variable $ER_NOHIS = 1, NONE alarms or WARN alarms are not recorded.
-384-
Alarm codes
B-80464E/01
Halt caused by a major alann
1 When an alarm is issued, the running program is halted, and PAUSED or END is displayed on the screen
of the teach pendant.
An alarm message is also displayed on the screen of the teach pendant and the ALARM lamp lights.
Recovery from a deadman switch alarm (SERV0-003)
1 Press and hold down the deadman switch, then press the RESET key.
SRV0-003 Deadman switch released
LINE
Recovery from a robot over travel alarm (SERV0-005) and a broken wrist alarm (SERV0-006)
1 Press and hold down the SHIFT key, then press the RESET key.
2 While pressing the SHIFT key, press the appropriate jog key to move the robot to a position where it can
be repaired.
SRV0-006 Hand broken
SAMPLEl
LINE 2
Recovery from a pulse mismatch alarm, a BZAL alarm and a CMAL alarm (SRV0-038, 062, 073)
SRV0-038 Pulse mismatch
Press the MENUS key to display the screen menu.
2 Press "O -- NEXT--" and then select "6 SYSTEM" on the next page. Press F1 "[TYPE]" and then select
"Variables". A system variable screen is displayed.
3 Set TRUE to $MCR.$SPC_RESET. (This system variable is automatically set to FALSE soon again.)
4 Press RESET key to release a alarm.
-385-
B-80464E/01
Alarm codes
5 Rotate the motor until it makes one revolution to have the pulse coder detect the position before mastering.
When the alarm message, "Pulse not established'', is disappeared by pressing RESET key, the pulse coder has detected the position.
Recovery from other alarms
1 Remove the cause of an alarm. For example, correct the program.
2 Press the RESET key to reset the alarm. Then, the alarm message disappears on the screen of the teach
pendant. The ALARM LED goes off.
-386-
Alarm codes
B-80464E/01
SRVO Error Codes
SRV0-002 SERVO Teach pendant E-stop
Cause:
Remedy:
The teach pendant emergency stop push button is pressed.
Twist the teach pendant emergency stop push button clockwise to release. Press
reset.
SRV0-003 SERVO Dead.man switch released
Cause:
Remedy:
The teach pendant deadman switch is released while the teach pendant is enabled.
Press teach pendant deadman switch. Press reset.
SRV0-005 SERVO Robot overtravel
Cause:
Remedy:
A Robot overtravel limit switch is pressed.
Select the OT_RELEASE menus. Cursor to the axis that is overtraveled, OT_MINUS or
OT_PLUS is TRUE, and press RELEASE. Press reset, wait for servo power to engage,
and jog the robot off the overtravel switch. Check CRF2 connection on main cpu pcb.
SRV0-006 SERVO Hand broken
Cause:
Remedy:
The hand broken (*HBK) robot input is asserted.
If using *HBK input, determine the cause of the error and correct. If not, check the
position of the *HBKjumper on the robot.
SRV0-009 SERVO Pneumatic pressure alarm
Cause:
Remedy:
The pneumatic pressure (PPABN) robot input is asserted.
If using pneumatic pressure input clear source of fault, press reset. If pneumatic
pressure is not used set $PPABN_ENBL system variable to FALSE. PPABN originates
on main cpu pcb.
SRV0-011 SERVO TP released while enabled
Cause:
Remedy:
Teach pendant is released while it is enabled.
Press reset.
SRV0-014 WARN Fan motor abnormal
Cause:
Remedy:
Cabinet fan motor overheat.
Clean debris from fan intake and/or replace defective fan.
SRV0-015 SERVO System over heat
Cause:
·Overheat sensor on backplane closed.
Remedy: The cabinet overheat sensor is located on the backplane. If the internal cabinet
temperature is greater than 65 degrees Centigrade, check the cabinet fans for proper
operation. Replace the backplane if cabinet temperature is within specification.
SRV0-021 SERVO SRDY off (Group:%d Axis:%d)
Cause:
Remedy:
Remedy:
Remedy:
Remedy:
Servo amplifier can not be turned on. Though alarm could not be detected from servo
amplifier, MCC of servo amplifier can not be turned on. Servo amplifier may be out of
order.
1 Check the voltage to the servo amplifier. If this voltage is below 170V, check input
power source.
2 Replace main cpu pcb.
3 Check the cables between servo amplifier and main cpu pcb, and replace it.
4 Replace servo amplifier.
-387-
B-80464E/01
Alarm codes
SRV0-022 SERVO SRDY on (Group:%d Axis:%d)
Cause:
Remedy:
Remedy:
Remedy:
Servo amplifier is already on. MCC of servo amplifier is already on when HRDY is
turned on. Servo amplifier may be out of order.
1 Replace main cpu pcb.
2 Check the cable between servo amplifier and main cpu pcb and replace it.
3 Replace servo amplifier.
SRV0-023 SERVO Stop error excess(G:%d A:%d)
Cause:
Remedy:
Remedy:
Remedy:
Remedy:
The servo error, which is specified in $PARAM_GROUP . $STOPERLIM, is too big when
the robot is stopping. The servo error occurs when the axes moves for some reason
during the robot is stopping.
1 If the robot is loaded beyond specification, make the load within specification.
2 Check the three phase input to the servo amplifier for voltage within specification, if
this voltage is below 170VAC check the input power source.
3 If the input power source is beyond 170AVC, replace servo amplifier.
4 Replace motors.
SRV0-024 SERVO Move error excess(G:%d A:%d)
Cause:
Remedy:
The servo error is too big when the the robot is moving, or if the robot moves and it is
supposed to be stopped.
Same as SRV0-023 Stop error excess.
SRV0-025 SERVO Motn dt overflow (G:%d A:%d)
Cause:
Remedy:
The motion command exceeded specification.
Internal motion error. Document enough information to duplicate the error and contact
service.
SRV0-026 WARN Motor speed limit(G:%d A:%d)
Cause:
Remedy:
Motor can not rotate as fast as the calculated speed required for the current motion.
Even though this is just a warning, every attempt should be made to eliminate this
error.
SRV0-027 WARN Robot not mastered(Group:%d)
Cause:
Remedy:
System variable $master_done set FALSE.
Master robot.
SRV0-030 SERVO Brake on hold (Group:%d)
Cause:
This alarm occurs when HOLD is pressed with brake on hold option turned on.
Remedy: 'This is not a problem.
SRV0-031 SERVO User servo alarm (Group:%d)
Cause:
Remedy:
User servo alarm occurred.
This is not a problem.
SRV0-033 WARN Robot not calibrated(Grp:%d)
Cause:
Remedy:
System variable $calibrate set FALSE.
Calibrate the robot.
SRV0-034 WARN Ref pos not set (Group:%d)
Cause:
Remedy:
Reference position has not been set when quick mastering.
Quick mastering may not be possible. Fixture or zero master.
-388-
Alarm codes
B-80464E/01
SRV0-035 WARN Joint speed limit(G:%d A:%d)
Cause:
Remedy:
Joint can not rotate as fast as the calculated speed required for the current motion.
Even though this is just a warning, every attempt should be made to eliminate this error.
SRV0-036 SERVO Inpos time over (G: %d A: %d)
Cause:
Remedy:
Robot is not in position for the specified period of time.
Same as SRV0-023 Stop error excess.
SRV0-037 SERVO IMSTP input (Group: %d)
Cause:
Remedy:
IMSTP (immediate stop) UOP input asserted.
If using UOP, determine the cause and repair. If not using UOP, select the 1/0 menus and zero UOP
mapping.
SRV0-038 SERV02 Pulse mismatch (G: %d A: %d)
Cause:
Remedy:
Pulse counts at power down and at power up mismatch.
This feature is only available after core software version V3.06P. If your software version is
V3.06P or V3.06PA set $MCR.$SPC_RESET = TRUE from the teach pendant and remaster the
robot. If your software version is V3.06PB or greater, press RES_PCA (F3) softkey in the
SYSTEM Master/Cal window, and remaster the robot. If this problem occurs repeatedly, replace
the pulse coder.
SRV0-039 SERVO Motor speed excess(G:%d A:%d)
Cause:
Remedy:
Cartesian Filter cannot work because the calculated motor speed exceeded specification
Reduce the motion speed or set Cartesian Filter
SRV0-041 SERV02 MOFAL alarm (Grp: %d Ax: %d)
Cause:
Remedy:
The motion command after the ramping algorithm in servo software exceeded one word.
Internal motion error. Document enough information to duplicate the error and contact service.
SRV0-043 SERVO DCAL alarm(Group: %d Axis: %d)
Cause:
Remedy:
When the regenerative energy is too big, this alarm occurs. The regenerative circuit of servo
amplifier may be out of order.
When 8 is indicated on the servo amplifier PSM LED,
a. If the rapid acceleration or deceleration is done, relax the operating condition.
b. Replace servo amplifier.
SRV0-044 SERVO HVAL alarm(Group:%d Axis:%d)
Cause:
Remedy:
Remedy:
Remedy:
The DC voltage on the main power circuit of the servo amplifier input exceeded specification. 7 is
indicated on the servo amplifier PSM LED.
1. Check the three phase voltage to the servo amplifier, if this voltage is beyond 253 VAC
phase-to-phase, check the input power source.
~
2. If the load on the robot exceeds the specification, make the load within specification.
3. Replace the servo amplifier.
SRV0-045 SERVO HCAL alarm( Group: %d Axis: %d)
Cause:
Remedy:
The current in the main power circuit of the servo amplifier exceeded specification. 8, 9, A, b, c, d,
E, 8., 9., A., b., c., d., or E. is indicated on the servo amplifier SVM LED or 1 is indicated on the
servo4implifier PSM LED.
1. Disconnect the motor power wires from the servo amplifier and turn on power. If an HCAL
~curs, replace the servo amplifier.
-389-
Alarm codes
B-80464E/01
Remedy:
Remedy:
Remedy:
2. Disconnect the motor power wires from the servo amplifier and measure the
resistance between GND and U, V, W individually on the cable terminals. If shorted,
cables in the robot may be bad. Determine if the cable is bad and replace it.
3. Disconnect the motor power wires from the servo amplifier and check the resistance
between U-V, V-W, and W-U at the cable terminations. If shorted, motor, robot
connection cables, or cables in the robot may be bad. Check if they are bad and
replace them.
·
4. Replace the main cpu pcb.
SRV0-046 SERV02 OVC alarm (Group:%d Axis:%d)
Cause:
Remedy:
Remedy:
Remedy:
Remedy:
Remedy:
The average current calculated by the servo software exceeded specification.
1. Make sure the robot is not loaded beyond specification and make the load within
specification.
2. Check the three phase voltage to the servo amplifier, if it is below 170VAC
phase-to-phase, check input power to the servo amplifier.
3. Replace main cpu pcb.
4. Replace servo amplifier.
5. Replace motor.
NOTE
For details of OVC, OVL, HC alarm, refer to the maintenance manual.
SRV0-047 SERVO LVAL alarm(Group:%d Axis:%d)
Cause:
Remedy:
Remedy:
Remedy:
The DC voltage on the main power circuit of the servo amplifier is lower than the
specification even though MCC in on.
1. When 2 in indicated on the servo amplifier SVM LED,
a. Check the three phase voltage to the servo amplifier, if it is below 170 VAC
phase-to-phase, check if input power is correct.
b. Replace servo amplifier.
2. When 5 is indicated on the servo amplifier SVM LED or 4 is indicated on PSM,
a. Check the three phase voltage to the servo amplifier, if it is below 170 VAC
phase-to-phase, check if input power is correct.
b. Check the circuit breaker on the servo amplifier, if it is on, turn it off.
c. Replace servo amplifier.
3. When 6 is indicated on the servo amplifier PSM LED,
a. Check if the cable for three phase voltage to the servo amplifier is
disconnected.
SRV0-049 SERVO OHALl alarm (Grp:%d Ax:%d)
Cause:
Remedy:
Remedy:
Cause:
Remedy:
1. The thermostat switch in the servo amplifier was on. The servo amplifier overheated.
3 is indicated on the servo amplifier PSM LED.
1. Check if the robot is loaded beyond the specification and make the load within
specification.
2. Replace the servo amplifier.
2. The servo amplifier cool fan stopped. 1 is indicated on the servo amplifier SVM LED
and 2 is indicated on the servo amplifier SPM LED.
Replace servo amplifier.
SRV0-050 SERVO CL.ALM alarm (Grp:%d Ax:%d)
Cause:
Remedy:
The servo software detected a disturbance torque that was too high, and tripped a
collision detection alarm.
Reset the robot by using the teach pendant reset and JOG the robot away from any
obstruction. If no collision, the load on the robot may exceed the specification. Check
input power to the servo amplifier. It should be greater than 170 VAC
-390-
Alarm codes
B-80464E/01
phase-to-phase. Also check the voltage between U-V, V-W, and U-W. Each
should measure the same ("' 21 OVAC).
SRV0-051 SERV02 CUER alarm(Group:%d Axis:%d)
Cause:
Remedy:
The feedback current is abnormal.
Replace the AXIS module on the main cpu pcb. Replace the servo amplifier.
SRV0-062 SERV02 BZAL alarm(Group:%d. Axis:%d)
Cause:
Remedy:
The battery voltage for the pulse coder is zero volts.
If this alarm occurs along with a SRV0-068 DTERR, SRV0-069 CRCERR, or
SRV0-070 STBERR, disregard this alarm and refer to the other three alarm remedies.
If SRV0-047 LVAL occurs before this alarm, batteries are drained to zero. Replace the
pulse coder batteries and master the robot. If no SRV0-047 LVAL occurs before,
check the battery cables to the motors.
SRV0-064 SERV02 PHAL alarm(Group:%d Axis:%d)
Cause:
The relationship between the analog signals on the pulse coder are abnormal.
Remedy:
If this alarm occurs along with a SRV0-068 DTERR, SRV0-069 CRCERR, or
SRV0-070 STBERR, disregard this alarm and refer to the other three alarm remedies.
Replace the pulse coder or motor and master the robot.
SRV0-065 WARN BLAL alarm(Group:%d Axis:%d)
Cause:
The pulse coder batteries are low.
Remedy:
If this alarm occurs along with a SRV0-068 DTERR, SRV0-069 CRCERR, or
SRV0-070 STBERR, disregard this alarm and refer to the other three alarm remedies.
Replace the pulse coder batteries while controller power is turned on.
SRV0-067 SERV02 OHAL2 alarm (Grp:%d Ax:%d)
Cause:
The pulse coder overheated.
Remedy:
If this alarm occurs along with a SRV0-068 DTERR, SRV0-069 CRCERR, or
SRV0-070 STBERR, disregard this alarm and refer to the other three alarm remedies.
If the load on the robot or duty cycle exceeds the specification, this alarm will occur.
Allow the motor to cool. If the alarm stills occurs, replace the pulse coder or motor.
SRV0-068 SERV02 DTERR alarm (Grp:%d Ax:%d)
Cause:
Remedy:
The main cpu pcb sent the request signal, but did not receive serial data from the pulse
coder.
Check pulse coder cables. Replace the AXIS module on the main cpu pcb. Replace the
.pulse coder. If a serial pulse coder is plugged into a line tracking port, this alarm will
occur. Check main cpu pcb hardware configuration. Replace the main cpu pcb.
SRV0-069 SERV02 CRCERR alarm (Grp:%d Ax:%d)
Cause:
The serial data from the pulse coder changed during communication to the main cpu
pcb.
Remedy:
Check pulse coder cables. Make sure the cable shields are grounded. Replace the
AXIS module on the main cpu pcb. Replace the main cpu pcb. Replace the pulse
coder.
SRV0-070 SERV02 STBERR alarm (Grp:%d Ax:%d)
Cause:
The communication stop and start bits are abnormal.
Remedy:
Check pulse coder cables. Replace the AXIS module on the main cpu pcb. Replace the
pulse coder.
-391 -
B-80464E/01
Alarm codes
SRV0-071 SERV02 SPHAL alarm (Grp:%d Ax:%d)
Cause:
Remedy:
The feedback velocity exceeds specification.
If this alarm occurs with another pulse coder alarm, refer to the remedy of the other
alarm first. If no other alarms, the robot load may exceed the specification. If the load is
within specification, replace the serial pulse coder or motor.
SRV0-072 SERV02 PMAL alarm(Group:%d Axis:%d)
Cause:
Remedy:
The interpolation circuits of the pulse coder are abnormal.
If this alarm occurs along with a SRV0-068 DTERR, SRV0-069 CRCERR, or
SRV0-070 STBERR, disregard this alarm and refer to the other three alarm remedies.
Replace the pulse coder and master the robot.
SRV0-073 SERV02 CMAL alarm(Group:%d Axis:%d)
Cause:
Remedy:
First one: The count mistake to position data occurred in the pulse coder. Second one:
The pulse coder got abnormal for noise.
·
If this alarm occurs along with a SRV0-068 DTERR, SRV0-069 CRCERR, or
SRV0-070 STBERR, disregard this alarm and refer to the other three alarm remedies.
Master the robot. Check and strengthen the shield of the pulse coder.
SRV0-074 SERV02 LDAL alarm(Group:%d Axis:%d)
Cause:
Remedy:
LEDs in the pulse coder are disconnected.
If this alarm occurs along with a SRV0-068 DTERR, SRV0-069 CRCERR, or
SRV0-070 STBERR, disregard this alarm and refer to the other three alarm
remedies. Replace the pulse coder and ma.ster the robot. .
SRV0-075 WARN Pulse not established(G:%d A:%d)
Cause:
Remedy:
The pulse coder has not known its own position yet.
Jog the axis manually by more than one motor rotation.
SRV0-081 WARN EROFL alarm (Track enc:%d)
Cause:
Remedy:
Line tracking overflow error.
None applicable.
SRV0-084 WARN BZAL alarm (Track enc:%d)
Cause:
Remedy:
The battery voltage for the line tracking pulse coder is zero volts.
Refer to SRV0-062 remedy.
SRV0-086 WARN PHAL alarm (Track enc:%d)
Cause:
.The relationship between the analog signals on the line tracking pulse coder are
abnormal.
Remedy: Refer to SRV0-064 remedy.
SRV0-087 WARN BLAL alarm (Track enc:%d)
Cause:
Remedy:
The line tracking pulse coder batteries are low.
Refer to SRV0-065 remedy.
SRV0-089 WARN OHAL2 alarm (Track enc:%d)
Cause:
Remedy:
The line tracking pulse coder overheated.
Refer to SRV0-067 remedy.
SRV0-090 WARN DTERR alarm (Track enc:%d)
-392-
Alarm codes
B-80464E/01
Cause:
Remedy:
The main cpu pcb sent the request signal, but did not receive serial data from the line
tracking pulse coder.
Refer to SRV0-068 remedy.
SRV0-091 WARN CRCERR alarm (Track enc:%d)
,Cause:
Remedy:
The serial data from the line tracking pulse coder changed during communication to
the main cpu pcb.
Refer to SRV0-069 remedy.
SRV0-092 WARN STBERR alarm (Track enc:%d)
Cause:
Remedy:
The communication stop and start bits for line tracking axis are abnormal.
Refer to SRV0-070 remedy.
SRV0-093 WARN SPHAL alarm (Track enc:%d)
Cause:
The feedback velocity exceeds specification for line tracking axis.
Remedy:
Refer to SRV0-071 remedy.
SRV0-094 WARN PMAL alarm (Track enc:%d)
Cause:
The interpolation circuits of the pulse coder are abnormal.
Remedy:
Refer to SRV0-072 remedy.
SRV0-095 WARN CMAL alarm (Track enc:%d)
Cause:
Remedy:
First one: The count mistake to position data occurred in the pulse coder.
Second one: The pulse coder got abnormal for noise.
Refer to SRV0-073 remedy.
SRV0-096 WARN LDAL alarm (Track enc:%d)
Cause:
Remedy:
LEDs in the pulse coder are disconnected.
Refer to SRV0-074 remedy.
SRV0-097 WARN Pulse not established(Enc:%d)
Cause:
Remedy:
The pulse coder has not known its own position yet.
Refer to SRV0-075 remedy.
SRV0-160 SERVO Panel/External E-stop
Cause:
The operator panel emergency stop push button is pressed or the external emergency
stop push button is pressed.
Remedy: .Twist the operator panel emergency stop push button clockwise to release and then
press reset. If using external emergency stop, clear source of fault, and press reset. If
not, check wiring at EMGIN1, EMGIN2, and EMGINC on EMG Control pcb.
-393-
B-80464E/01
Alarm codes
SYST Error Codes
SYST-001 PAUSE.G HOLD button is being pressed
Cause:
Remedy:
An operation is attempted with the hold button (input) pressed.
Clear the hold button (input), and try the same operation.
SYST-002 PAUSE.G HOLD is locked by program
Cause:
The condition that the robot is being held is locked by the program, and it could not be
cleared.
Remedy: If a HOLD statement is executed in a KAREL program, the held condition can only be
.cleared by the same program using the UNHOLD statement/action, or by aborting the
program. If a motion is attempted in such condition, this error message is displayed.
Wait until the UNHOLD statement is executed by the KAREL program, or abort the
KAREL program.
SYST-003 WARN TP is enabled
Cause:
Remedy:
TP is enabled, and the attempted operation cannot be done.
Disable the teach pendant, and try the same operation again.
SYST-004 WARN SOP is enabled
Cause:
Remedy:
The System operator panel is enabled, and the attempted operation could not be done.
Turn the REMOTE switch on the SOP to REMOTE side, and try the same operation
again.
SYST-005 WARN UOP is the master device
Cause:
Remedy:
UOP is enabled, and the attempted operation could not be done.
Turn the REMOTE switch to local side (if the operation is attempted from the SOP), or
set the $RMT_MASTER system variable correctly.
SYST-006 WARN KCL is the master device
Cause:
Remedy:
KCL is the master device, and the attempted operation could not be done.
Turn the REMOTE switch to local side (if the operation is attempted from the SOP), or
set the $RMT_MASTER system variable correctly.
SYST-007 WARN NETWORK is the master device
Cause:
The NElWORK command processor is the master device, and the attempted
operation could not be done.
Remedy: .Setthe $RMT_MASTER system variable correctly.
SYST-008 WARN Nothing is the master device
Cause:
· The setting of $RMT_MASTER is to disable all devices. No remote device can issue
motion.
Remedy: Setthe $RMT_MASTER system variable correctly.
SYST-009 WARN Safety Fence open
Cause:
Remedy:
Safety fence is open, and the attempted operation could not be done.
Close the safety fence, and try the same operation again.
SYST-010 WARN Max num task reached
Cause:
Remedy:
The number of task has reached the maximum.
Abort one of the running tasks.
-394-
Alarm codes
B-80464E/01
SYST-011 WARN Failed to run task
Cause:
Remedy:
The system has failed to run the program.
See the HELP display for this error to find out the reason why this error has occurred.
SYST-012 WARN Not in remote
Cause:
Remedy:
Remote condition is not satisfied.
Turn the remote switch on.
SYST-013 WARN Invalid program number
Cause:
Remedy:
The specified PNS number is not in the range of 1 to 9999.
Specify correct program number.
SYST-014 WARN Program select failed
Cause:
Remedy:
PNS operation has failed by some reason.
Refer to the HELP message for the reason of this error.
SYST-015 WARN Robot Service Request failed
Cause:
Remedy:
RSA operation has failed by some reason.
Refer to the HELP message for the reason of this error.
SYST-016 WARN ENBL signal is off
Cause:
Remedy:
ENBL signal in UOP is off
Set ENBL signal ON
SYST-017 WARN Single step operation effective
Cause:
Remedy:
Single step operation is effective
Disable single step switch
SYST-018 WARN Continuing from different line
Cause:
Remedy:
Attempt to continue program from different line from paused line
Respond YES or NO in the prompt box on the teach pendant
SYST-019 WARN Program not selected
Cause:
Remedy:
Program has not been selected
Select a program from the program select menu on the teach pendant, or use PNS
SYST-020 WARN Program not verified by PNS
Cause:
Remedy:
Program specified by PNS is different from current selected program.
Select a correct program from the program select menu on the teach pendant.
SYST-021 WARN System not ready, press reset
Cause:
Remedy:
An error has been detected by the system.
Press RESET to clear error condition.
SYST-022 WARN PNS not zero, cannot continue
Cause:
Remedy:
Paused program cannot be continued if PNS input ports are not zero.
Set all PNS input ports to OFF.
SYST-023 SYSTEM Teach Pendant communication error
Cause:
For a communication cable is broken, TP communication error occurred.
-395-
B-80464E/01
Alarm codes
Remedy:
Check or change a cable of Teach Pendant.
SYST-024 WARN PNSTROBE is OFF. Cannot start exec
Cause:
Remedy:
Because PNSTROBE is off, prod_start could not be processed.
Set PNSTROBE input to ON.
SYST-025 WARN Teach Pendant is different type
Cause:
Remedy:
The connected Teach Pendant is a different type than the one that was disconnected.
Connect the same type that was disconnected.
SYST-026 WARN System normal power up
Cause:
Remedy:
System has executed normal power startup.
This is a notification message.
SYST-027 PAUSE.G HOT start failed (Error:%d)
Cause:
Remedy:
HOT start has failed by some reason.
(Error:1) Power failure was happened during system start up
(Error:2) Flash ROM module was changed
(Error:3) Run-time error was occurred
(Error:4) Internal error 1
.(Error:5) Internal error 2
COLD start has been selected automatically.
SYST-028 WARN (%s) Program timed out
Cause:
Remedy:
$PWR_HOT,$PWR_SEMI program has been aborted by the system due to time out
(15sec)
Decrease program size so that it can be executed within the time out limit
SYST-029 PAUSE.G Robot was connected (Group:%d)
Cause:
Remedy:
The connect/isolate key was turn to the connect side
This is a notification message
SYST-030 PAUSE.G Robot was isolated (Group:%d)
Cause:
Remedy:
The connect/isolate key was turn to the isolate side
.This is a notification message
-396-
Alarm codes
B-80464E/01
JNTP Error Codes
INTP-000 ABORT.G Req has not been processed yet
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
INTP-001 PAUSE.G Has not locked the motion grp
INTP-001 PAUSE.G Cannot lock the motion grp
Cause:
Remedy:
Motion control for the specified group cannot be locked.
Check the teach pendant enable switch and other running programs to determine who
has motion control.
INTP-002 ABORT.G Program manager internal error
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
INTP-003 ABORT.G Invalid request
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
INTP-004 PAUSE.G Cannot ATTACH with TP enabled
Cause:
The ATIACH statement requires the teach pendant to be disabled.
Remedy:
Disable the teach pendant.
INTP-005 PAUSE Cannot release motion control
Cause:
Motion control cannot be released.
Remedy:
Abort the running or paused program.
INTP-100 ABORT.L (%s 4, %d 5) Internal error (PXnn)
A
Cause:
Remedy:
A
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
INTP-101 ABORT.L (%s 4, %d 5) Internal error (system)
A
A
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
INTP-102 ABORT.L (%s 4, %d 5) Code format is invalid
A
A
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
INTP-103 ABORT.L (%s" 4, %d" 5) Program error
Cause:
Remedy:
An error occurred while the program was running.
Refer to the error cause code.
-397-
B-80464E/01
Alarm codes
INTP-104 ABORT.L (%s" 4, %d" 5) Single step failed
Cause:
Remedy:
Single step cannot be executed.
Refer to the error cause code.
INTP-105 PAUSE.L (%s "4, %d" 5) Run request failed
Cause:
Remedy:
Program cannot be started.
Refer to the error cause code.
INTP-106 PAUSE.L (%s" 4, %d" 5) Continue request failed
Cause:
Remedy:
Program cannot be resumed.
Refer to the error cause code.
INTP-107 ABORT.L (%s" 4, %d" 5) Pause request failed
Cause:
Remedy:
An alarm occurred when program execution was held.
Refer to the error cause code.
INTP-108 ABORT.L (%s" 4, %d" 5) Abort request failed
Cause:
Remedy:
An error occurred when program execution was aborted.
Refer to the error cause code.
INTP-109 WARN (%s" 4, %d" 5) BWD motion request failed
Cause:
Remedy:
Backward motion cannot be executed.
Refer to the error cause code.
INTP-110 WARN (%s" 4, %d" 5) Get task status request failed
Cause:
Remedy:
The specified task attribute is not found or is not read accessible.
Check the attribute.
INTP-111 WARN (%s" 4, %d" 5) Skip statement request failed
Cause:
Remedy:
The currently executing line cannot be changed.
Refer to the error cause code.
INTP-112 PAUSE.L Cannot call interrupt routine
Cause:
Remedy:
The interrupt routine cannot be executed.
Refer to the error cause code.
INTP-113 PAUSE.L (%s" 4, %d" 5) Stop motion request failed
Cause:
An error occurred when motion was stopped.
Remedy:
Refer to the error cause code.
INTP-114 PAUSE.L (%s" 4, %d" 5) Cancel motion request failed
Cause:
Remedy:
An error occurred when motion was canceled.
Refer to the error cause code.
INTP-115 PAUSE.L (%s"4, %d "5) Resume motion request failed
Cause:
Remedy:
An error occurred when motion was resumed.
Refer to the error cause code.
INTP-116 PAUSE.L (%s "4, %d A 5) Hold motion request failed
Cause:
An error occurred when motion was held.
-398-
B-80464E/01
Remedy:
Alarm codes
Refer to the error cause code.
INTP-117 PAUSE.L (%s "'4, %d"' 5) Unhold motion request failed
Cause:
Remedy:
An error occurred when motion was unheld.
Refer to the error cause code.
INTP-118 PAUSE.L (%s"' 4, %d"' 5) Walk back data request failed
Cause:
Remedy:
An error occurred trying to obtain the execution history.
Refer to the error cause code.
INTP-119 PAUSE.L (%s"'4, %d "'5) Get trace data request failed
Cause:
Remedy:
An error occurred trying to obtain the trace data.
Refer to the error cause code.
INTP-120 PAUSE.L (%s "'4, %d"' 5) Unwait action request failed
Cause:
Remedy:
An error occurred trying to continue program execution.
Refer to the error cause code.
INTP-121 PAUSE.L (%s"' 4, %d"' 5) Release inquiry request failed
Cause:
Remedy:
An error occurred trying to obtain motion information for the RELEASE statement.
Refer to the error cause code.
INTP-122 PAUSE.L (%s"' 4, %d"' 5) Process motion data failed
Cause:
Remedy:
An error occurred during process motion.
Refer to the error cause code.
INTP-123 PAUSE.L (%s "'4, %d"' 5) Process application data failed
Cause:
Remedy:
An error occurred during process application.
Refer to the error cause code.
INTP-124 ABORT.L (%s "'4, %d"' 5) Specified ITR is softparts rtn
INTP-124 ABORT.L (%s "'4, %d"' 5) Invalid ITR routine
Cause:
Remedy:
The specified interrupt routine is not a valid type.
Refer to the error cause code.
INTP-125 ABORT.L Convert position rep failed
INTP-125 ABORT.L Failed to convert position
Cause:
Remedy:
The conversion of one position type to another failed.
Refer to the error cause code. ·
INTP-126 ABORT.L Vision built-in return failed
Cause:
Remedy:
The vision built-in failed to return.
Refer to the error cause code.
INTP-127 WARN Power fail detected
Cause:
Remedy:
Power failure was detected.
N/A
-399-
Alarm codes
B-80464E/01
INTP-200 PAUSE.L (%s"' 4, %d"' 5) Unimplemented TP instruction
Cause:
Remedy:
The teach pendant program instruction is not available.
Check the appropriate option is loaded.
INTP-201 PAUSE.L (%s"' 4, %d"' 5) Untaught element encountered
Cause:
Remedy:
The instruction is not taught.
Teach the instruction.
INTP-202 PAUSE.L (%s"'4, %d"'5) Syntax error
Cause:
Remedy:
Instruction syntax error.
Reteach the instruction.
INTP-203 PAUSE.L (%s "'4, %d"' 5) Variable type mismatch
Cause:
Remedy:
The variable type is not correct.
Check the variable type.
INTP-204 PAUSE.L (%s "'4, %d"' 5) Invalid value for index
Cause:
Remedy:
The index value is invalid.
Check the index value.
INTP-205 PAUSE.L (%s"' 4, %d"' 5) Analog port access error
Cause:
Remedy:
Analog 1/0 is not functioning properly.
Refer to the error cause code.
INTP-206 PAUSE.L (%s"' 4, %d"' 5) Digital port access error
Cause:
Remedy:
Digital 1/0 is not functioning properly.
Refer to the error cause code.
INTP-207 PAUSE.L (%s"' 4, %d"' 5) Group 1/0 port access error
Cause:
Remedy:
Group 1/0 is not functioning properly.
Refer to the error cause code.
INTP-208 PAUSE.L (%s "'4, %d"' 5) Divide by 0
Cause:
Remedy:
.Division by owas executed.
Check the value.
INTP-209 PAUSE.L (%s"' 4, %d"' 5) SELECT is needed
Cause:
Remedy:
A CASE instruction was executed before a SELECT instruction.
Add a SELECT instruction before the CASE instruction.
INTP-212 PAUSE.L (%s"'4, %d"'5) Invalid value for OVERRIDE
Cause:
Remedy:
The indicated value cannot be used for the OVERRIDE instruction.
Check the value.
INTP-213 PAUSE.L %s"' 7 (%s "'4, %d"' 5) UALM[%d"' 9]
Cause:
Remedy:
A user alarm occurred.
Refer to the user alarm code.
INTP-214 PAUSE.L (%s"'4, %d "'5) Specifed group not locked
-400-
Alarm codes
B-80464E/01
Cause:
Remedy:
The position register or frame setup instructions were executed in a program without a
motion group.
Set up the motion group in the program DETAIL screen.
INTP-215 PAUSE.L (%s"' 4, %d"' 5) Group mismatch
Cause:
Remedy:
The position data is invalid.
Check the position data.
INTP-216 PAUSE.L (%s "'4, %d"' 5) Invalid value for group number
Cause:
Remedy:
The indicated value is invalid for the motion group value.
Check the value.
INTP-217 PAUSE.L (%s"'4, %d"' 5) SKIP CONDITION needed
Cause:
Remedy:
The SKIP instruction was executed before a SKIP CONDITION instruction.
Add a SKIP CONDITION instruction.
INTP-218 PAUSE.L (%s "'4, %d"' 5) Skip failed
Cause:
Remedy:
The SKIP instruction or SKIP CONDITION instruction cannot be executed.
Refer to the error cause code.
INTP-219 ABORT.L (%s"' 4, %d"' 5) Pause task failed
Cause:
Remedy:
The PAUSE instruction cannot be executed.
Refer to the error cause code.
INTP-220 ABORT.L (%s"' 4, %d"' 5) Abort task failed
Cause:
Remedy:
The ABORT instruction cannot be executed.
Refer to the error cause code.
INTP-221 PAUSE.L (%s"' 4, %d"' 5) Application failed
Cause:
Remedy:
The application instruction cannot be executed.
Refer to the error cause code.
INTP-222 PAUSE.L (%s"'4, %d "'5) Call program failed
Cause:
Remedy:
The program CALL instruction cannot be executed.
.Refer to the error cause code.
INTP-223 PAUSE.L (%s"' 4, %d"' 5) Delay time failed
Cause:
·The WAIT instruction cannot be executed.
Remedy: Refer to the error cause code.
INTP-224 PAUSE.L (%s "'4, %d"' 5) Jump label failed
Cause:
Remedy:
The BRANCH instruction cannot be executed.
Refer to the error cause code.
INTP-225 PAUSE.L (%s"' 4, %d"' 5) Motion statement failed
Cause:
Remedy:
The MOTION instruction cannot be executed.
Refer to the error cause code.
INTP-226 PAUSE.L (%s"' 4, %d"' 5) Read position register failed
Cause:
The position register cannot be read.
-401 -
Alarm codes
Remedy:
B-80464E/01
Refer to the error cause code.
INTP-227 PAUSE.L (%s"" 4, %d"" 5) Write position register failed
Cause:
Remedy:
The position register cannot be written.
Refer to the error cause code.
INTP-228 PAUSE.L (%s ""4, %d"" 5) Read register failed
Cause:
Remedy:
The register cannot be read.
Refer to the error cause code.
INTP-229 PAUSE.L (%s"" 4, %d"" 5) Write register failed
Cause:
Remedy:
The register cannot be written.
Refer to the error cause code.
INTP-230 PAUSE.L (%s ""4, %d"" 5) Wait condition failed
Cause:
Remedy:
A condition WAIT instruction cannot be executed.
Refer to the error cause code.
INTP-231 PAUSE.L (%s""4, %d""5) Read next line failed
Cause:
Remedy:
The next line cannot be read.
Refer to the error cause code.
INTP-232 PAUSE.L (%s"" 4, %d"" 5) Invalid frame number
Cause:
Remedy:
The frame number is invalid.
Check the frame number.
INTP-233 PAUSE.L (%s"" 4, %d"" 5) Read frame value failed
Cause:
Remedy:
The specified frame cannot be read.
Refer to the error cause code.
INTP-234 PAUSE.L (%s"" 4, %d"" 5) Write frame value failed
Cause:
Remedy:
The specified frame cannot be written.
Refer to the error cause code.
INTP-235 PAUSE.L (%s ""4, %d"" 5) Read pos item failed
Cause:
Remedy:
The position variable cannot be read.Refer to the error cause code.
INTP-236 PAUSE.L (%s ""4, %d"" 5) Write pos item failed
Cause:
Remedy:
The position variable cannot be written.
Refer to the error cause code.
INTP-237 WARN (%s"" 4, %d"" 5) No more motion for BWD
Cause:
Remedy:
Backward execution cannot be executed any more because the current program line is
at the top.
N/A
INTP-238 WARN (%s"" 4, %d"" 5) BWD execution completed
Cause:
Remedy:
Backward execution was completed.
N/A
-402-
Alarm codes
B-80464E/01
INTP-239 WARN (%s"' 4, %d"' 5) Cannot execute backwards
Cause:
Remedy:
The instruction cannot be executed backwards.
Set the cursor to the following line.
INTP-240 PAUSE.L (%s"'4, %d "'5) Incompatible data type
Cause:
Remedy:
The specified data type in the PARAMETER instruction is invalid for the parameter type.
Check the data type.
INTP-241 PAUSE.L (%s"' 4, %d"' 5) Unsupported parameter
Cause:
Remedy:
This type of parameter cannot be used.
Check the parameter type.
INTP-242 PAUSE.L (%s"'4, %d "'5) Offset value is needed
Cause:
Remedy:
An OFFSET instruction was executed before an OFFSET CONDITION instruction. A
position register was not taught in the OFFSET PR[] instruction.
Add an OFFSET CONDITION instruction before the OFFSET instruction. Teach the
position register.
INTP-243 ABORT.L (%s"' 4, %d"' 5) Def grp is not specified
Cause:
Remedy:
This program has no motion group defined. The MOTION instruction cannot be
executed.
Remove the MOTION instruction or set up the motion group in the program DETAIL
screen.
INTP-244 PAUSE.L (%s "'4, %d"' 5) Invalid line number
Cause:
Remedy:
The input line number is incorrect.
Check the line number.
INTP-245 PAUSE.L (%s "'4, %d"' 5) RCV stmt failed
Cause:
Remedy:
The RECEIVE R[] instruction cannot be executed.
Refer to the error cause code.
INTP-246 PAUSE.L (%s"'4, %d"' 5) SEMAPHORE stmt failed
Cause:
Remedy:
The SEMAPHORE instruction cannot be executed.
Refer to the error cause code.
INTP-247 PAp-SE.L (%s"'4, %d "'5) Pre exec failed
Cause:
Remedy:
Pre-planned execution of the program failed.
N/A
INTP-248 PAUSE.L (%s"' 4, %d"' 5) MACRO failed
Cause:
Remedy:
The MACRO instruction cannot be executed.
Refer to the error cause code.
INTP-249 PAUSE.L Macro is not set correctly
Cause:
Remedy:
The MACRO setup was invalid.
Check the MACRO setup.
INTP-250 PAUSE.L (%s"'4, %d "'5) Invalid uframe number
Cause:
The user frame number is invalid.
-403-
B-80464E/01
Alarm codes
Remedy:
Refer to the error cause code,
INTP-251 PAUSE.L (%s"' 4, %d"' 5) Invalid utool number
Cause:
Remedy:
The tool frame number is invalid.
Refer to the error cause code.
INTP-252 PAUSE.L User frame number mismatch
Cause:
Remedy:
The user frame number in the positional data is not the same as the currently selected
user frame number.
Check the user frame number.
INTP-253 PAUSE.L Tool frame number mismatch
Cause:
Remedy:
The tool frame number in the positional data is not the same as the currently selected
tool frame number.
Check the tool frame number.
INTP-254 PAUSE.L (%s"' 4, %d"' 5) Parameter not found
Cause:
Remedy:
The specified parameter name cannot be found.
Check the parameter name.
INTP-255 PAUSE.L (%s"' 4, %d"' 5) CAL_MATRIX failed
Cause:
Remedy:
The CAL_MATRIX instruction cannot be executed.
Refer to the error cause code.
INTP-256 PAUSE.L (%s"' 4, %d"' 5) No data for CAL_MATRIX
Cause:
Remedy:
The origin 3 points or destination 3 points are not taught.
Teach the origin 3 points or destination 3 points.
INTP-257 PAUSE.L (%s "'4, %d"' 5) Invalid delay time
Cause:
Remedy:
The wait time value is negative or exceeds the maximum value of 2147483.647 sec.
Input a correct value.
INTP-258 PAUSE.L (%s "4, %d" 5) Weld port access error
Cause:
Remedy:
The weld is not functioning properly.
Refer to the cause error code.
INTP-259 PApSE.L (%s"4, %d "5) Invalid position type
Cause:
Remedy:
The data type of the position register was taught using joint type.
N/A
INTP-260 PAUSE.L (%s "4, %d" 5) Invalid torque limit value
Cause:
Remedy:
Invalid torque value.
Input a correct value.
INTP-261 PAUSE.L (%s" 4, %d"' 5) Array subscript missing
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
INTP-262 PAUSE.L (%s "4, %d" 5) Field name missing
Cause:
Internal execution error.
-404-
Alarm codes
B-80464E/01
Remedy:
·cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
INTP-300 ABORT.L (%s "'4, %d"' 5) Unimplemented P-code
Cause:
Remedy:
This is a KAREL program error. This KAREL statement cannot be executed.
Check the KAREL translator software version.
INTP-301 ABORT.L (%s"' 4, %d"' 5) Stack underflow
Cause:
Remedy:
This is a KAREL program error. Execution entered into a FOR loop by the GOTO
statement.
A GOTO statement cannot be used to enter or exit a FOR loop. Check the label of the
GOTO instruction.
INTP-302 ABORT.L (%s"' 4, %d"' 5) Stack overflow
Cause:
Remedy:
The program stack overflowed. Too many local variables were declared or too many
routines were called.
For KAREL programs, refer to the KAREL Reference Manual, Stack Usage and the
%STACKSIZE Translator Directive.
INTP-303 ABORT.L (%s"' 4, %d"' 5) Specified value exceed limit
Cause:
Remedy:
This is a KAREL program error. The specified value exceeds the maximum limit.
Check the value.
INTP-304 ABORT.L (%s"' 4, %d"' 5) Array length mismatch
Cause:
Remedy:
This is a KAREL program error. The dimensions of the arrays are not the same.
Check the dimensions of the arrays.
INTP-305 ABORT.L (%s"' ., %d"' 5) Error related condition handler
Cause:
Remedy:
This is a KAREL program error. A condition handler error occurred.
Refer to the error cause code.
INTP-306 ABORT.L (%s"' 4, %d"' 5) Attach request failed
Cause:
Remedy:
This is a KAREL program error. The ATIACH statement failed.
Refer to the error cause code.
INTP-307 ABORT.L (%s"' 4, %d"' 5) Detach request is failed
Cause:
This is a KAREL program error. The DETACH statement failed.
Remedy: ·Refer to the error cause code.
INTP-308 ABORT.L (%s"' 4, %d"' 5) No case match is encountered
Cause:
Remedy:
This is a KAREL program error. The CASE statement does not match any branches.
Check the CASE value and branches.
INTP-309 ABORT.L (%s"' 4, %d"' 5) Undefined WITHCH parameter
Cause:
Remedy:
This is a KAREL program error. The specified parameter cannot be used in the with
clause of the condition handler.
Check the parameter.
INTP-310 ABORT.L (%s"' 4, %d"' 5) Invalid subscript for array
Cause:
Remedy:
This is a KAREL program error. The index of the array is illegal.
Check the length of the array and the index value.
.:..40s-
B-80464E/01
Alarm codes
INTP-311 PAUSE.L (%sA4, %d A5) Uninitialized data is used
Cause:
This is a KAREL program error. Untaught or uninitialized data was used.
Remedy:
Teach or initial.ize the data before using it.
INTP-312 ABORT.L (%s A4, %d A5) Invalidjoint number
Cause:
This is a KAREL program error. The wrong axis number was used.
Remedy:
Check the axis number and the data value.
INTP-313 ABORT.L (%s A4, %d A5) Motion statement failed
Cause:
This is a KAREL program error. The MOTION statement cannot be executed.
Remedy:
Refer to the error cause code.
INTP-314 ABORT.L (%s A4, %d A5) Return program failed
Cause:
Remedy:
This is a KAREL program error. Execution cannot be returned from the routine.
Refer to the error cause code.
INTP-315 ABORT.L (%s A4, %d A5) Built-in execution failed
Cause:
Remedy:
This is a KAREL program error. A built-in routine error occurred.
Refer to the error cause code.
INTP-316 ABORT.L (%s A 4, %d A5) Call program failed
Cause:
This is a KAREL program error. The routine cannot be called.
Remedy:
Refer to the error cause code. Verify the routine is loaded.
INTP-317 ABORT.L (%s A4, %d A5) Invalid condition specified
Cause:
Remedy:
This is a KAREL program error. The specified condition was invalid.
Check the condition.
INTP-318 ABORT.L (%s A 4, %d A5) Invalid action specified
Cause:
This is a KAREL program error. The specified action was invalid.
Remedy:
Check the action.
INTP-819 ABORT.L (%sA4, %dA5) Invalid type code
Cause:
This is a KAREL program error. The data type was invalid.
Remedy:
Check the data type.
INTP-320 ABORT.L (%s A 4, %d A5) Undefined built-in
Cause:
Remedy:
This is a KAREL program error. The built-in routine is not defined.
Check the appropriate option is loaded.
INTP-321 ABORT.L (%s A 4, %d A5) END stmt of a func rtn
Cause:
Remedy:
This is a KAREL program error. The END statement was executed in a function routine
instead of a RETURN statement.
Add a RETURN statement to the function routine.
INTP-322 ABORT.L (%s A 4, %d A5) Invalid arg val for builtin
Cause:
Remedy:
This is a KAREL program error. The argument value of the built-in routine was wrong.
Check the argument value.
INTP-323 ABORT.L (%sA4, %d A5) Value overflow
-406-
B-80464E/01
Cause:
Remedy:
Alarm codes
This is a KAREL program error. The data value for the variable was too large.
Check the variable's type and data value.
INTP-324 ABORT.L (%s A4, %d A5) Invalid open mode string
Cause:
Remedy:
This is a KAREL program error. The usage string in the OPEN FILE statement was
invalid.
Check the usage string in the OPEN FILE statement.
INTP-325 ABORT.L (%s A 4, %d A 5) Invalid file string
Cause:
Remedy:
This is a KAREL program error. The file string in the OPEN FILE statement was invalid.
Check the file string. If no device is specified, the default device is used.
INTP-326 ABORT.L (%s A4, %d A5) File var is already used
Cause:
This is a KAREL program error. The file variable is already being used.
Remedy:
Close the file before reusing the FILE variable or add a new FILE variable.
INTP-327 ABORT.L (%sA4, %dA5) Open file failed
Cause:
Remedy:
This is a KAREL program error. The file could not be opened.
Refer to the error cause code.
INTP-328 ABORT.L (%s A 4, %d A5) File is not opened
Cause:
Remedy:
This is a KAREL program error. The specified file was not opened before operation.
Open the file before operation.
INTP-329 ABORT.L (%s A 4, %d A5) Write variable failed
Cause:
Remedy:
This is a KAREL program error. The value cannot be written to the variable.
Refer to the error cause code.
INTP-330 ABORT.L (%sA4, %d A5) Write file failed
Cause:
This is a KAREL program error. Writing to the file failed.
Remedy:
Refer to the error cause code.
INTP-331 ABORT.L (%s A4, %d"' 5) Read variable failed
Cause:
Remedy:
This is a KAREL program error. Reading the variable failed.
Refer to the error cause code.
INTP-332 ABORT.L (%s A4, %d A5) Read data is too short
Cause:
Remedy:
This is a KAREL program error. Data read from the file is too short.
Check the data in the file
INTP-333 ABORT.L (%s A 4, %d"' 5) Invalid ASCII stirng for read
Cause:
This is a KAREL program error. The string read from the file is wrong.
Remedy:
Check the data of the file.
INTP-334 ABORT.L (%s"' 4, %d"' 5) Read file failed
Cause:
Remedy:
This is a KAREL program error. Reading from the file failed.
Refer to the error cause code.
INTP-335 ABORT.L (%s"' 4, %d A5) Cannot open pre-defined file
Cause:
This is a KAREL program error. A file pre-defined by the system cannot be opened.
-407-
Alarm codes
Remedy:
B-80464E/01
Use the file defined by the system without opening it.
INTP-836 ABORT (%s"' 4, %d"' 5) Cannot close pre-defined file
Cause:
This is a KAREL program error. A file pre-defined by the system cannot be closed.
Remedy:
Do not try to close it.
INTP-337 ABORT.L (%s"' 4, %d"' 5) Invalid routine type
Cause:
This is a KAREL program error. This routine cannot be used.
Remedy:
Check the routine type and name.
INTP-838 ABORT.L (%s'"' 4, %d"' 5) Close file failed
Cause:
This is a KAREL program error. Closing the file failed.
Remedy:
Refer to the error cause code.
INTP-339 ABORT.L (%s"' 4, %d"' 5) Invalid program name
Cause:
This is a KAREL program error. The program name is invalid.
Remedy:
Check the program name.
INTP-340 ABORT.L (%s 4, %d 5) Invalid variable name
A
A
Cause:
This is a KAREL program error. The variable name is invalid.
Remedy:
Check the variable name.
INTP-341 ABORT.L (%s"' 4, %d"' 5) Variable not found
Cause:
Remedy:
This is a KAREL program error. The variable cannot be found.
Verify variable name.
INTP-342 ABORT.L (%s"' 4, %d"' 5) Incompatible variable
Cause:
This is a KAREL program error. The data type defined by the BYNAME function and
the variable type are mismatched.
Remedy:
Check the data type and variable type.
INTP-343 ABORT.L (%s"' 4, %d'"' 5) Reference stack overflow
Cause:
This is a KAREL program error. Too many variables are passed using the BYNAME
function.
Remedy:
Decrease the number of BYNAME functions.
INTP-344 AB9RT.L (%s"' 4, %d"' 5) Readahead buffer overflow
Cause:
Remedy:
This is a KAREL program error. The buffer to read ahead from the device overflowed.
Increase the buffer size.
INTP-345 ABORT.L (%s'"' 4, %d"' 5) Pause task failed
Cause:
This is a KAREL program error. The PAUSE statement cannot be executed.
Remedy:
Refer to the error cause code.
INTP-846 ABORT.L (%s"' 4, %d'"' 5) Abort task failed
Cause:
Remedy:
This is a KAREL program error. The ABORT statement cannot be executed.
Refer to the error cause code.
INTP-347 ABORT.L (%s"'4, %d"' 5) Read 1/0 value failed
Cause:
This is a KAREL program error. The digital input signal cannot be input.
-408-
B-80464E/01
Remedy:
Alarm codes
Refer to the error cause code.
INTP-348 ABORT.L (%s"' 4, %d"' 5) Write 1/0 value failed
Cause:
Remedy:
This is a KAREL program error. The digital output signal cannot be output.
Refer to the error cause code.
INTP-349 ABORT.L (%s "'4, %d"' 5) Hold motion failed
Cause:
Remedy:
This is a KAREL program error. The HOLD statement cannot be executed.
Refer to the error cause code.
INTP-350 ABORT.L (%s"' 4, %d"' 5) Unhold motion failed
Cause:
Remedy:
This is a KAREL program error. The UNHOLD statement cannot be executed.
Refer to the error cause code.
INTP-351 ABORT.L (%s"' 4, %d"' 5) Stop motion failed
Cause:
Remedy:
This is a KAREL program error. The STOP statement cannot be executed.
Refer to the error cause code.
INTP-352 ABORT.L (%s"' 4, %d"' 5) Cancel motion failed
Cause:
Remedy:
This is a KAREL program error. The CANCEL statement cannot be executed.
Refer to the error cause code.
INTP-353 ABORT.L (%s"' 4, %d"' 5) Resume motion failed
Cause:
Remedy:
This is a KAREL program error. The RESUME statement cannot be executed.
Refer to the error cause code.
INTP-354 ABORT.L (%s"' 4, %d"' 5) Break point failed
Cause:
Remedy:
This is a KAREL program error. The break point function cannot be executed.
Refer to the error cause code.
INTP-355 ABORT.L (%s"' 4, %d"' 5) AMR is not found
Cause:
Remedy:
This is a KAREL program error. The AMR operated by the RETURN_AMR built-in
routine was not found.
Check program operation.
INTP-356 ABORT.L (%s"' 4, %d"' 5) AMR is not processed yet
Cause:
Remedy:
.This is a KAREL program error. The RETURN_AMR built-in routine cannot be used for
an unoperated AMR.
Operate the AMR using the WAIT_AMR built-in routine.
INTP-357 ABORT.L (%s"' 4, %d"' 5) WAIT_AMR is cancelled
Cause:
Remedy:
This is a KAREL program error. The execution of the WAIT_AMR built-in routine was
cancelled.
N/A
INTP-358 ABORT.L (%s "'4, %d"' 5) Timeout at read request
Cause:
Remedy:
This is a KAREL program error. The READ statement timed out.
Check the device being read.
INTP-359 ABORT.L (%s"' 4, %d"' 5) Read request is nested
-409-
Alarm codes
Cause:
Remedy:
B-80464E/01
This is a KAREL program error. Another READ statement was executed while a READ
statement was waiting for input.
Remove nested reads.
INTP-360 ABORT.L (%s" 4, %d" 5) Vector is 0
Cause:
Remedy:
This is a KAREL program error. The vector value was invalid.
Check the vector value.
INTP-361 PAUSE.L (%s" 4, %d" 5) FRAME:P2 is same as Pl
Cause:
Remedy:
This is a KAREL program error. The X-axis direction cannot be calculated in the
FRAME built-in routine because P1 and P2 are the same point.
Teach P1 and P2 as different points.
INTP-362 PAUSE.L (%s" 4, %d" 5) FRAME:P3 is same as Pl
Cause:
Remedy:
This is a KAREL program error. The X-Y plane cannot be calculated in the FRAME
built-in routine because P1 and P3 are the same point.
Teach P1 and P3 as different points.
INTP-363 PAUSE.L (%s"4, %d" 5) FRAME:P3 exists on line P2-Pl
Cause:
Remedy:
This is a KAREL program error. The X-Y plane cannot be calculated in the FRAME
built-in routine because P3 is located in the X-axis direction.
Teach P3 out of the X-axis direction.
INTP-364 ABORT.L (%s" 4, %d" 5) String too short for data
Cause:
Remedy:
This is a KAREL program error. The target string was too short.
Increase thetarget string size.
INTP-365 ABORT.L (%s" 4, %d" 5) Predefined window not opened
Cause:
Remedy:
This is a KAREL program error. A FILE pre-defined by the system is not opened.
Check the use of this file.
INTP-366 ABORT.L (%s" 4, %d" 5) 1/0 status is not cleared
Cause:
Remedy:
This is a KAREL program error. The last file operation failed.
Resetthe error using the CLR_IO_STAT built-in routine.
INTP-367 ABORT.L (%s" 4, %d" 5) Bad base in format
Cause:
Remedy:
This is a KAREL program error. 1/0 mode operates only from binary to hexadecimal.
Check the specified mode.
INTP-368 PAUSE.L (%s"4, %d" 5) Cannot use specified program
Cause:
Remedy:
This is a KAREL program error. The specified program cannot be used.
Refer to the error cause code.
INTP-369 ABORT.L (%s "'4, %d" 5) Timeout at WAIT_AMR
Cause:
Remedy:
This is a KAREL program error. The WAIT_AMR built-in routine timed out.
N/A
INTP-370 ABORT.L (%s" 4, %d" 5) Vision CPU not plugged in
Cause:
Remedy:
This is a KAREL program error. The vision CPU board is not plugged in.
Plug in the vision CPU board.
-410-
B-80464E/01
Alarm codes
INTP-371 ABORT.L (%s "'4, %d"' 5) Vision built-in overflow
Cause:
This is a KAREL program error. The operation overflowed in the vision built-in routine.
Remedy:
N/A
INTP-372 ABORT.L (%s"' 4, %d"' 5) Undefined vision built-in
Cause:
Remedy:
This is a ·KAREL program error. The vision built-in routine is not defined.
Check the appropriate option is loaded.
INTP-373 ABORT.L (%s"' 4, %d"' 5) Undefined vision parameter type
Cause:
Remedy:
This is a KAREL program error. The parameter to the vision built-in routine is invalid.
Check the parameter of the vision built-in routine.
INTP-374 ABORT.L (%s"' 4, %d"' 5) Undefined vision return type
Cause:
Remedy:
This is a KAREL program error. The return value from the vision built-in routine is
invalid.
Check the return value from the vision built-in routine.
INTP-400 ABORT.L (%s"' 4, %d"' 5) Number of motion exceeded
Cause:
Remedy:
Too many motions are executed at the same time.
Execute the next motion after the completion of the last motion. Decrease the number
of motions in the same time.
INTP-401 ABORT.L (%s"' 4, %d"' 5) Not On Top Of Stack
Cause:
Remedy:
Paused motion exists after motion was resumed.
Resume the motion that was previously paused.
-411 -
B-80464E/01
Alarm codes
JOG Error Codes
JOG-001 WARN Overtravel Violation
Cause:
Remedy:
A robot overtravel has occurred.
Use the MANUAL FCTNS OT release menu to find out which axis is in an overtravel
condition. Release overtravel by holding the SHIFT key and pressing the RESET key.
At this time the servo power will be turned on. If the SHIFT key is released, the servo
power will be turned off again. You can only use JOINT to jog the axis out of overtravel.
If you want to jog the overtraveled axis further into the overtravel direction, you have to
· release the axis by moving the cursor to the axis direction you want, then press the
release function key in the OT release menu. At this point you can jog the axis to that
direction.
JOG-002 WARN Robot not Calibrated
Cause:
Remedy:
Robot has not been calibrated.
Set the system variable $MASTER_ENB to 1'.This will cause the Master/Cal menu of
SYSTEM menu to display. Select the calibrate item in this menu to calibrate the robot.
JOG-003 WARN No Motion Control
Cause:
Remedy:
Other program has motion control.
Abort the program that has motion control by pressing FCTN key then selecting
ABORT.
JOG-004 WARN Illegal linear jogging
Cause:
Remedy:
You cannot do more than one rotational jog at a time.
Only press one rotational jog key at a time.
JOG-005 WARN Can not clear hold flag
Cause:
Remedy:
The system call to clear hold flag failed.
Cold start the controller by turning the controller off, then turning it on again.
JOG-006 WARN Subgroup does not exist
Cause:
Remedy:
No extended axis exist in this group with which to jog.
None required.
JOG-007 WARN Press shift key to jog
Cause:
The SHIFT key is not pressed
Remedy: .You must press the SHIFT key when jogging the robot. Release the jog key then hold
the SHIFT key and press the jog key to jog.
JOG-008 WARN Turn on TP to jog
Cause:
Remedy:
Teach pendant is not enabled.
Hold the DEADMAN and turn on the teach pendant before jogging the robot.
JOG-009 WARN Hold deadman to jog
Cause:
Remedy:
The DEADMAN switch is not pressed.
Press the DEADMAN switch, then press the RESET key to clear the error.
JOG-010 WARN Jog pressed before shift
Cause:
Remedy:
The jog key was pressed before the shift key was pressed.
Release the jog key. Then, hold the SHIFT key then press the jog key.
-412-
B-80464E/01
Alarm codes
JOG-011 WARN Utool changed while jogging
Cause:
Remedy:
The selected tool frame changed while jogging.
Release the shift key and the jog key. The new TOOL frame will take effect
automatically. To start jogging, press the shift and the jog key.
JOG-012 WARN manual brake enabled
Cause:
Remedy:
The manual brake is enabled.
Engage all the brakes by pressing the EMERGENCY STOP button, then press the
RESET key. To start jogging, press the shift and the jog key.
JOG-013 WARN Stroke limit (G:%d A:%x Hex)
Cause:
The robot axis has reached its specified stroke limit.
Remedy:
None required.
JOG-014 WARN Vertical fixture position
Cause:
· Remedy:
The robot has reached its vertical fixture position.
None required.
JOG-015 WARN Horizontal fixture position
Cause:
Remedy:
The robot has reached its horizontal fixture position.
None required.
-413-
B-80464E/01
Alarm codes
TPIF Error Codes
TPIF-001 WARN Mnemonic editor error (%s" 1)
Cause:
Remedy:
Illegal case occurred on software.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
TPIF-002 WARN Operating system error (%s" 1)
Cause:
Remedy:
Illegal case occurred on software.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
TPIF-003 WARN Window 1/0 error (%s" 1)
Cause:
Remedy:
Illegal case occurred on software.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
TPIF-004 WARN Memory write error
Cause:
Remedy:
Illegal case occurred on software.
Cold start the controller to reset the error. ff the error still occurs, record the events that
fed up to the error and call your FANUC technical representative.
TPIF-005 WARN Program is not selected
Cause:
Remedy:
The program was not selected when the program was displayed at the edit screen.
Select a program in the SELECT screen.
TPIF-006 WARN SELECT is not taught
Cause:
Remedy:
This taught statement needed the SELECT statement before the current fine.
Teach the SELECT statement before the current fine.
TPIF-007 WARN Robot is not calibrated
Cause:
Remedy:
The calibration was not finished yet
Finish the calibration.
TPIF-008 WARN Memory protect violation
Cause:
Remedy:
Program's write protection is set on.
_Release protection on select screen.
TPIF-009 WARN Cancel delete by application
Cause:
Program is protected
Remedy:
Try delete after release protection by application
TPIF-010 WARN Cancel enter by application
Cause:
Remedy:
Program is protected
Try edit after release protection by application
TPIF-011 WARN Item is not found
Cause:
Remedy:
Item is not found below this fine
Try another item or close search function
TPIF-012 WARN Kinematics solution is invalid
-414-
Alarm codes
B-80464E/01
Cause:
Remedy:
Can not translate position data
Check the configuration of robot and $MNUTOOL/$MNUFRAM of system variables
TPIF-013 WARN Other program is mnning
Cause:
Remedy:
Can not select the program when other is running or pausing.
Select program after aborting the program which is running or pausing.
TPIF-014 WARN Teach pendant is disabled
Cause:
Remedy:
Can not be edit a program when the Teach pendant is disabled.
Edit program after Teach pendant is enabled.
TPIF-015 WARN Bad position register index
Cause:
The specified position register index is invalid.
Remedy:
Check the index of the position register.
TPIF-016 WARN Memory access failed (%s"' 1)
Cause:
Remedy:
Illegal case occurred on software.
Cold start the controller. If the error still occurs, record the events that led up to the
error and contact you FANUC technical representative.
TPIF-017 WARN Memory read failed
Cause:
Remedy:
Illegal case occurred on software.
Cold start the controller. If the error still occurs, record the events that led up to the
error and contact you FANUC technical representative.
TPIF-018 WARN Unspecified index value
Cause:
Remedy:
Specified index value is invalid.
Check specified index value.
TPIF-019 WARN This item cannot be replaced
Cause:
Remedy:
This item can not be replaced.
Try another item or close replace function.
TPIF-020 NONE Mnaction search error
Cause:
Remedy:
Illegal case occurred on software.
Cold start the controller. If the error still occurs, record the events that led up to the
.error and contact you FANUC technical representative.
TPIF-021 NONE Mnteach software error
Cause:
Illegal case occurred on software.
Remedy:
Cold start the controller. If the error still occurs, record the events that led up to the
error and contact you FANUC technical representative.
TPIF-030 WARN Program name is NULL
Cause:
Remedy:
Program name was not entered.
Enter program name.
TPIF-031 WARN Remove num from top of Program name
Cause:
Remedy:
Top of program name is number.
Remove number from top of program name.
-415-
B-80464E/01
Alarm codes
TPIF-032 WARN Remove space from Program name
Cause:
Remedy:
A space is included in the program name.
Remove space from program name.
TPIF-033 WARN Remove comma from Program name
Cause:
Remedy:
A comma is included in the program name.
Remove comma from program name.
TPIF-034 WARN Remove dot from Program name
Cause:
Remedy:
A dot is included in the program name.
Remove dot from program name.
TPIF-035 WARN Remove minus from Program name
Cause:
Remedy:
A minus is included in the program name.
Remove minus from program name.
TPIF-036 WARN Memory is not enough
Cause:
Remedy:
Not enough memory available.
Delete unused programs.
TPIF-040 WARN Label is already exist
Cause:
Remedy:
Same label No. already exists.
Change to different label No.
TPIF-041 WARN MNUTOOLNUM number is invalid
Cause:
Remedy:
Specified MNUTOOLNUM number is invalid.
Check MNUTOOLNUM number in SYSTEM variables.
TPIF-042 WARN MNUFRAMENUM number is invalid
Cause:
Remedy:
Specified MNUFRAMNUM number is invalid.
Check MNUFRAMNUM number in SYSTEM variables.
TPIF-043 WARN External change is valid
Cause:
Remedy:
Can not change robot (group), because the function that select robot by external DI is
valid.
Set $MULTl_ROBO.CHANGE_SDI in SYSTEM variables to ZERO.
TPIF-044 WARN Program is unsuitable for robot
Cause:
Remedy:
The group mask of program differs from selected robot (group).
Check to select robot (group) or check group mask of program attribute.
TPIF-045 WARN Pallet number is over max
Cause:
Remedy:
Palletizing instruction can not teach more than 16 in one program.
Teach another program.
TPIF-046 WARN Motion option is over max
Cause:
Remedy:
Too many motion option of default motion
Please decrease motion option of default motion
TPIF-047 WARN Invalid program is selected
-416-
Alarm codes
B-80464E/01
Cause:
Remedy:
Program type is wrong.
Select TPE program.
TPIF-048 WARN Running program is not found
Cause:
Running program does not exist.
Remedy:
N/A
TPIF-049 WARN Port number is invalid
Cause:
Remedy:
Port is not set for outside device.
Set port for outside device.
TPIF-050 WARN Macro does not exist
Cause:
Remedy:
A program is not assigned to this macro command .
Assign a program to this macro command.
TPIF-051 WARN Program has been selected by PNS
Cause:
Remedy:
When a program has been selected by PNS, you can not select program at SELECT
screen.
You have to turn off the signal of PNSTROBE.
TPIF-052 WARN FWD/BWD is disabled
Cause:
Remedy:
When the Disabled FWD function has been selected, you can not execute the program
byTP
Please select the Disabled FWD in the function menu, then you can release from the
Disable FWD
TPIF-095 WARN Execution history table error
Cause:
Remedy:
Software internal error
Please do controlled start( it isn't necessary to re-set the new item)
TPIF-097 WARN Running task's history can't display
Cause:
Remedy:
The execution history of the executing program can not be displayed
Please refer this screen when the program is paused or aborted
TPIF-098 WARN %s was not run
Cause:
Remedy:
The program of $PWR_HOT, $PWR_SEMI or $PWR_NORMAL is not executed
.Read the cause code
TPIF-099 WARN This program is edited
Cause:
Remedy:
The program specified in $PWR HOT, $PWR SEMI and $PWR NORMAL is not
executed, when the program is iii editing.
Select the other program
TPIF-100 WARN No vacant table space
Cause:
Remedy:
N/A
N/A
TPIF-101 WARN No such menu
Cause:
Remedy:
N/A
N/A
- 417-
B-80464E/01
Alarm codes
TPIF-102 WARNE.STOP is asserted
Cause:
Remedy:
N/A
N/A
TPIF-103 WARN Dead man is released
Cause:
Remedy:
When starting the program with the teach pendant, the deadman switch was released.
Press and hold the deadman switch and start a program.
TPIF-104 WARN Teach Pendant is disabled
Cause:
Remedy:
A program was not started because the teach pendant was disabled.
After turning on the enable switch of the teach pendant, start a program.
TPIF-105 WARN Program is not selected
Cause:
Remedy:
A program was started without selecting a program.
After selecting a program, start the program.
TPIF-106 WARN Program is already running
Cause:
Remedy:
While a program was running, starting from teach pendant was performed.
Start a program after waiting for program's ending or aborting it.
TPIF-107 WARN FWD/BWD is disabled
Cause:
Cause:
Remedy:
Remedy:
Starting a program was performed when the starting was prohibited such as entering
the value into the message line.
A program was not selected.
After finishing the procedure of entering the value, start a program.
Select a program and then start a program.
TPIF-108 WARN Form error, line %d, item %d
Cause:
N/A
Remedy:
N/A
TPIF-109 WARN %v not specified correctly
Cause:
Remedy:
N/A
N/A
-418-
Alarm codes
B-80464E/01
MOTN Error Codes
MOTN-001 STOP.G Internal error in osmkpkt
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-002 STOP.G Internal error in ossndpkt
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-003 STOP.G Internal error in oswrtmbx
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-004 STOP.G Internal error in ossigflg
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-005 STOP.G Internal error in osclrflg
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-006 STOP.G Internal error in osrcvpkt
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-007 STOP.G Internal error in osredmbx
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-008 STOP.G Internal error in oswaiflg
Cause: · .Internal execution error.
Remedy: Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-009 STOP.G Internal error for single step
Cause:
Remedy:
The robot paused at the intermediate position of circular motion for step mode.
Neglect this.
MOTN-010 STOP.G Internal error in osathpkt
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
-419-
B-80464E/01
Alarm codes
MOTN-011 STOP.G Internal error in osdltpkt
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-017 STOP.G Limit error (G:%d A2, A:%xA 3 Hex)
Cause:
Limit error.
Remedy:
Reteach position.
MOTN-018 STOP.G Position not reachable
Cause:
Position not reachable.
Remedy:
Reteach position.
MOTN-020 WARN Wrist joint warning
Cause:
Wrist joint is not performed.
MOTN-021 STOP.G No kinematics error
Cause:
Remedy:
No kinematics.
Use joint motion.
MOTN-022 STOP.G Invalid limit number
Cause:
Remedy:
Invalid limit number.
Set limit number correctly.
MOTN-023 STOP.G In singularity
Cause:
Position near by singularity
Remedy:
Reteach position
MOTN-030 STOP.G Internal error in MMGR:PEND
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN -031 STOP.G Internal error in MMGR:ESEG
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-032 STOP.G Internal error in MMGR:PRSD
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-033 STOP.G Internal error in MMGR:GNL
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-034 STOP.G Internal error in MMGR_MMR
Cause:
Internal execution error.
-420-
B-80464E/01
Remedy:
Alarm codes
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-035 STOP.G Internal error in MMGR_MIR
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-036 STOP.G Internal error in MMGR:MSTR
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-037 STOP.G Internal error in MMGR:MDON
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-038 STOP.G Internal error in MMGR:CAN
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-039 STOP.G Internal error in MMGR:FCAN
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-040 STOP.G Internal error in MMGR:CAND
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-041 STOP.G Internal error in MMGR:PSTR
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-042 STOP.G Internal in MSSR
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-043 STOP.G Internal error in MMGR:EPKT
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-044 STOP.G Internal error in MMGR:ERR
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
- 421 -
B-80464E/01
Alarm codes
MOTN-045 STOP.G Internal error in pro. start
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-046 STOP.G Internal error in MMGR:LSTP
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-047 STOP.G Internal error in MMGR:PRST
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-049 STOP.G Attempt to move w/o calibrated
Cause:
Remedy:
Robot not calibrated.
Calibrate robot using SYSTEM Master/Cal.
MOTN-050 STOP.G Invalid spdlim (G:%d"" 2 A:%x"" 3 H)
Cause:
Invalid joint speed limit.
Remedy:
Set $SPEEDLIMJNT correctly.
MOTN-051 STOP.G Speed out of range (G:%d "'2)
Cause:
Remedy:
Speed out of range.
Set speed correctly.
MOTN-052 STOP.G Jntvellim out of range (G:%d"" 2)
Cause:
Joint vel limit out of range.
Remedy:
Set $JNTVELLIM correctly.
MOTN-053 STOP.G Internal planner error (G:%d"" 2)
Cause:
Remedy:
MOTN-054
Internal Planner error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
S~OP.G
Cause:
Remedy:
Uninitialized dest pos (G:%d"" 2)
Uninitialized destination position.
Teach destination position.
MOTN-055 STOP.G Uninitialized via pos (G:%d"' 2)
Cause:
Remedy:
Uninitialized via position.
Teach via position.
MOTN-056 WARN Speed limits used (G:%d"" 2)
Cause:
Remedy:
Speed limits used.
Just a warning, no action required.
MOTN-057 STOP.G Invalid mir (G:%d"" 2)
Cause:
Invalid packet received by planner.
-422-
B-80464E/01
Remedy:
Alarm codes
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-058 STOP.G Invalid cancel request (G:%d"' 2)
Cause:
Invalid cancel request received by planner.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-059 STOP.G Null segment received (G:%d "'2)
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-060 STOP.G Uninitialized base vec (G:%d "'2)
Cause:
Remedy:
Uninitialized base vector in relative moves.
Initialize base vector.
MOTN-061 STOP.G Uninitialized distance (G:%d "'2)
Cause:
Remedy:
Uninitialized distance in relative moves.
Initialize distance.
MOTN-062 STOP.G Invalid position type (G:%d"' 2)
Cause:
Invalid position type received by planner.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-063 STOP.G Position config change (G:%d"' 2)
Cause:
Configuration mismatch.
Remedy:
Reteach destination position so that its configuration string matches start position's
MOTN-064 STOP.G Rs orientation error (G:%d A 2).
Cause:
RS orientation planning error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-065 STOP.G AES orientation error (G:%d"' 2)
Cause:
AES orientation planning error.
Remedy:
.Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-066 STOP.G Degenerate circle (G:%d"' 2)
Cause:
Remedy:
A degenerate circle was created.
Reteach via and/or destination positions.
MOTN-067 STOP.G Ata2 error in circle (G:%d"' 2)
Cause:
Internal system error during circular planning.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-068 STOP.G Invalid Prgoverride (G:%d "'2)
Cause:
Prgoverride is not within Oto 100.
-423-
B-80464E/01
Alarm codes
Remedy:
Set $prgoverride within Oto 100.
MOTN-069 STOP.G Error in mocmnd (G:%d"' 2)
Cause:
Internal error: planner received invalid mocmnd.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-070 STOP.GErrorinmotype (G:%d"'2)
Cause:
Internal error: planner received invalid motype.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-071 STOP.G Error in termtype (G:%d"' 2)
Cause:
Internal error: planner received invalid termtype.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN -072 STOP.G Error in segtermtype (G:%d"' 2)
Cause:
Internal error: planner received invalid segtermtype.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-073 STOP.G Error in orientype (G:%d"' 2)
Cause:
Internal error: planner received invalid orientype.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-074 STOP.G Error in speed (G:%d"' 2)
Cause:
Speed is not within 0 to $speedlim.
Remedy:
Set speed within 0 to $speedlim.
MOTN-075 STOP.G Error in rotspeed (G:%d"' 2)
Cause:
Rotspeed is not within Oto $rotspeedlim.
Remedy:
Set rotspeed within Oto $rotspeedlim.
MOTN-076 STOP.G Error in contaxisvel (G:%d"' 2)
Cause:
Contaxisvel is not within 0 to 100.
Remedy:
'Set contaxisvel to within 0 to 100.
MOTN-077 STOP.GErrorinseg_time (G:%d"'2)
Cause:
Seg_time is negative.
Remedy:
Set seg_time positive.
MOTN-078 STOP.GErrorinaccel_ovrd (G:%d"'2)
Cause:
Accel_ovrd to greater than 500.
Remedy:
Set accel_ovrd within 0 to 500.
MOTN -079 STOP.G Error in accu_num (G:%d "'2)
Cause:
Internal error: planner received invalid accu_num.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
-424-
Alarm codes
B-80464E/01
MOTN-080 STOP.G Via position required (G:%d"'2)
Cause:
Missing via position for circular motion.
Remedy:
Teach via position.
MOTN-081 STOP.G Extended position error (G:%d"' 2)
· Cause:
Remedy:
Internal error: planner received invalid extended position representation.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-088 STOP.G Null Mm pointer (G:%d"' 2)
Cause:
Internal error: planner received segment belonging to another group.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-085 STOP.G Error in gp_concurrent(G:%d"' 2)
Cause:
Remedy:
Internal error: planner received invalid mmr.gp_concurrent.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-086 STOP.G Not all CON_SEGs recvd(G:%d"' 2)
Cause:
Group motion: not all segments are received.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-087 STOP.G Utool change not allowed(G:%d"' 2)
Cause:
$utool is changed before move.
Remedy:
Do not change $utool for this move.
MOTN-088 STOP.G Not Cartesian move (G:%d /\ 2)
Cause:
Remedy:
Motype is not Cartesian.
Set motype to Cartesian.
MOTN-089 STOP.G Segment not planned (G:%d"' 2)
Cause:
Internal plan error:seg in list not all planned.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-090 STOP.G MIR mismatch (G:%d"' 2)
Cause:
Internal plan error:mir mismatch.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-091 STOP.G Va orientation error (G:%d /\2)
Cause:
Internal plan error:atan2 error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-092 STOP.G Extended not supported (G:%d"' 2)
Cause:
Remedy:
Extended axes not supported.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
-425-
B-80464E/01
Alarm codes
MOTN-093 STOP.G Internal PLAN blend err(G:%d"' 2)
Cause:
Remedy:
Internal plan error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-095 STOP.G Internal PLAN blend err(G:%d"' 2)
MOTN-096 STOP.G Cart rate not equal(G~%d"' 2)
Cause:
Remedy:
lntellitrak On: $1inear_rate and $circ_rate must be equal.
Set $1inear_rate equal to $circ_rate. cycle power.
MOTN-097 WARN INTR overrun %d"' 3 (G:%d "'2)
Cause:
Remedy:
Interpolator overrun.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-099 STOP.G INTR Fail to get MIRPKT (G:%d"' 2)
Cause:
Remedy:
Internal interpolator error:failed to receive mir when expecting one.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-100 STOP.G INTR Fail to get FDO (G:%d"' 2)
Cause:
Remedy:
Internal interpolator error:failed to receive fdo when expecting one.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-101 STOP.G Mffi list is empty (G:%d"' 2)
Cause:
Remedy:
Internal interpolator error: mir list is empty when it shouldn't be.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-102 STOP.G SEG list is empty (G:%d "'2)
Cause:
Remedy:
Internal interpolator error: seg list is empty when it shouldn't be.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-103 STOP.G Send ENB pkt fail (G:%d"' 2)
Cause:
Remedy:
,Internal interpolator error: error in sending ENB packet.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-104 STOP.G Send DSB pkt fail (G:%d"' 2)
Cause:
Remedy:
Internal interpolator error: error in sending DSB packet.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-105 STOP.G Send TRG pkt fail (G:%d"' 2)
Cause:
Remedy:
Internal interpolator error: error in sending TRG packet.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
-426-
B-80464E/01
Alarm codes
MOTN-106 STOP.G Process motion done (G:%d"' 2)
Cause:
Remedy:
Internal interpolator error: process motion had completed without being restarted.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-107 STOP.G Bad filter type (G:%d"' 2)
Cause:
Remedy:
Internal interpolator error: invalid filter type received.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-108 STOP.G INTR seglist error (G:%d"' 2)
Cause:
Internal interpolator error: error in seg list management.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-109 STOP.G Internal INTR error (G:%d "'2)
Cause:
Internal interpolator error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-110 STOP.G Use FINE in last L (G:%d"' 2)
Cause:
Remedy:
Cannot replan joint motion in interpolator for this move
use FINE in last L statement
MOTN-111 WARN Can't switch filter(G:%d "'2)
Cause:
Remedy:
Warning message to indicate that switch filter cannot take place.
No action required.
MOTN-112 WARN unknown error (M0112)
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-113 WARN Robot not calibrated
Cause:
Remedy:
Robot not calibrated.
Calibrate the robot.
MOTN-114 WARN Servo is on (G:%d "'2)
Cause:
Remedy:
Servo in still on.
Turn off servo.
MOTN-115 WARN Invalid brake mask (G:%d"' 2)
Cause:
Remedy:
Invalid brake mask.
Check brake mask.
MOTN-116 WARN Invalid solution
Cause:
Remedy:
Invalid kinematics solution.
Reteach position.
MOTN -117 WARN Robot not mastered (G:%d"' 2)
Cause:
Robot not mastered.
-427-
Alarm codes
Remedy:
B-80464E/01
Master the robot.
MOTN-118 WARN Robot in over travel (G:%d "2)
Cause:
Remedy:
Robot in overtravel.
Reset overtravel. Jog the robot outside overtravel position.
MOTN-119 WARN Servo is off (G:%d" 2)
Cause:
Remedy:
Robot servo is off.
Turn on servo.
MOTN-120 WARN Invalid reference position (G:%d "2)
Cause:
Remedy:
Invalid reference position.
Check reference position and reteach if necessary.
MOTN-121 WARNinvalidconfig. string (G:%dA2)
Cause:
Remedy:
Invalid config string.
Reteach your config string.
MOTN-122 STOP.G Dfilter not empty (G:%d" 2)
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-123 WARN Not enough node (G:%d A2)
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-124 STOP.G INTR:Bad Mirpkt req_code(G:%d" 2)
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-125 STOP.G INTR got illegal pkt (G:%d"' 2)
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-126 STOP.G Can't init CH KPT (G:%d" 2)
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-127 STOP.G Can't detach CH PKT (G:%d" 2)
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
MOTN-128 STOP.G Group mtn not supported(G:%d" 2)
Cause:
Group motion not supported.
-428-
B-80464E/01
Remedy:
Alarm codes
Record the events that led up to the error and contact your FANUC technical
representative.
MOTN-129 STOP.G Local cond ptr conflict(G:%d "2)
Cause:
Remedy:
Conflict in local condition list pointers.
Record the events that led up to the error and contact your FANUC technical
representative.
MOTN-130 STOP.G Non-empty local cond list(G:%d" 2)
Cause:
Remedy:
Local condition list attached to SEG is not NULL.
Record the events that led up to the error and contact your FANUC technical
representative.
MOTN-131 STOP.G In singularity
Cause:
Remedy:
Position near by singularity.
Reteach the position.
MOTN-132 STOP.G Group circ not supported(G:%d" 2)
Cause:
Remedy:
Group motion: circular motype for all groups not supported.
Reteach motype.
MOTN-133 WARN Time after limit used(G:%d "2)
Cause:
Remedy:
Local condition time after value is too big. The system will use time after limit. This is
only a warning.
No corrective action required.
MOTN -134 STOP.G Can not move path backward (G:%d" 2)
Cause:
Remedy:
Backward path/subpath motion is not supported.
Remove backward command.
MOTN-135 STOP.G Last motype can't be circular (G:%d "2)
Cause:
Remedy:
Backward last node motype can not be circular
Change last node motype
MOTN -136 STOP.G Illegal filter switch line:%d"' 5
Cause:
Remedy:
Cartesian filter to Joint filter transition supports only JOINT motype
Change motype to JOINT
MOTN-137 STOP.G No circular softpart (G:%d "2)
Cause:
Remedy:
The circular motion softpart is not loaded in the system.
Load the circular softpart
MOTN-138 STOP.G No joint short motion SP (G:%d" 2)
Cause:
Remedy:
Joint short motion softpart is not loaded in the system.
Load joint short motion softpart
MOTN-139 STOP.G No cart short motion SP (G:%d" 2)
Cause:
Remedy:
Cartesian short motion softpart is not loaded in the system.
Load cartesian short motion softpart
MOTN-140 STOP.G No KAREL motion softpart (G:%d" 2)
-429-
B-80464E/01
Alarm codes
Cause:
Remedy:
The KAREL motion softpart is not loaded in the system.
Load the KAREL motion softpart.
MOTN-141 STOP.G No KAREL motion func. ptr (G:%d "'2)
Cause:
Remedy:
The KAREL motion function pointer is not initialized or does not exist.
Check that the KAREL Motion softpart has been loaded, and restart the controller.
MOTN-142 STOP.G No Group Motion SP (G:%d" 2)
Cause:
Remedy:
The Group Motion softpart is loaded and multi-group motion is specified
Check that the Group Motion softpart has been loaded, and restart the controller.
MOTN-143 STOP.G No Motion Resume SP (G:%d "2)
Cause:
The Motion Resume softpart is loaded and path resume motion is specified
Remedy:
Check that the Motion Resume softpart has been loaded, and restart the controller.
MOTN-144 STOP.G No joint Turbo Move SP (G:%d"' 2)
Cause:
Remedy:
Joint Turbo Move softpart is not loaded in the system.
Load joint Turbo Move softpart
MOTN-145 STOP.G No cart Turbo Move SP (G:%d" 2)
Cause:
Cartesian Turbo Move softpart is not loaded in the system.
Remedy:
Load cartesian Turbo Move softpart
-430-
B-80464E/01
Alarm codes
PALT Error Codes
PALT-001 ABORT Inadequate register value
Cause:
Remedy:
Column/row/layer number is illegal.
Please confirm palletizing register.
PALT-002 ABORT Computing shift vector
PALT-003 ABORT Computing rotation matrix
Cause:
Remedy:
Increment value of palletizing config screen is illegal.
Please correct increment value
PALT-004 ABORT Increment value is ill
Cause:
Remedy:
The register increment value of the palletizing initial data is illegal.
Please confirm the increment value.
PALT-005 ABORT Application item unfound
Cause:
Remedy:
Internal error
Teach a pallet instruction again.
PALT-006 ABORT Amr number is differnet
Cause:
Remedy:
Software internal error
Teach a pallet instruction again.
PALT-007 ABORT Configuration not decided
Cause:
Remedy:
Numbers of rows, columns, and layers of the palletizing initial data is illegal.
Set the numbers again.
P ALT-008 ABORT Route pattern duplicated
Remedy:
Set the condition of route pattern correctly
P ALT-009 ABORT Bottom point unfound
Remedy:
Teach the bottom point again.
PALT-010 ABORT Route pattern unfound
Cause:
Remedy:
.Route pattern which satisfies the condition can not be found.
Confirm the condition of route pattern.
PALT-011 ABORT Route point unfound
Cause:
Remedy:
Route point which satisfies the condition can not be found.
Teach the route point again.
PALT-012 ABORT Route Bottom point unfound
Cause:
Remedy:
The bottom point of the current route pattern can not be found.
Teach the bottom point of the current route pattern again.
PALT-013 ABORT Memory id error
Cause:
Remedy:
The setting of the palletizing data is incomplete.
Contact service.
-431 -
B-B0464E/01
Alarm codes
PALT-014 ABORT Illegal bottom number
Cause:
Software internal error
PALT-015 ABORT Illegal pattern number
Cause:
Software internal error
PALT-016 ABORT lliegal rout number
Cause:
Software internal error
PALT-017 ABORT lliegal current number
Cause:
Software internal error
PALT-018 ABORT lliegal key input
Cause:
Software internal error
PALT-019 ABORT lliegal point data
Cause:
Software internal error
PALT-020 ABORT Function code unfound
Cause:
Software internal error
PALT-021 ABORT Register index ill value
Cause:
Software internal error
PALT-022 ABORT Item code cannot be found
Cause:
Software internal error
PALT-023 ABORT lliegal element value
Cause:
Software internal error
PALT-024 ABORT Calculation error occurred
Cause:
Remedy:
Palletizing data is incomplete.
Teach bottom point all? Teach rout point all?
PALT-025 ABORT OS error occurred
Cause:
Software internal error
PALT-026 ABORT Access failed to pallet register
Cause:
Software internal error
PALT-027 ABORT Failed program close
Cause:
Software internal error
PALT-028 ABORT Failed program open
Cause:
Software internal error
PALT-029 ABORT Not exist application data
Cause:
Software internal error
P ALT-030 WARN Pallet number is over max
Cause:
Don't teach palletizing instruction over 16.
-432-
B-80464E/01
Remedy:
Alarm codes
Don't teach more than 16 Palletizing instruction in this program.
Please teach another program.
PALT-031 WARN UNUSED ERROR CODE(PL31)
-433-
B-80464E/01
Alarm codes
PROG Error Codes
PROG-001 ABORT.L Invalid pointer is specified
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
PROG-002 ABORT.L Invalid task name is specified
Cause:
Remedy:
The task name specified is invalid.
Check the task name.
PROG-003 ABORT.L Invalid prog name is specified
Cause:
Remedy:
The program name specified is invalid.
Check the program name.
PROG-004 ABORT.L Invalid wait type is specified
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
PROG-005 WARN Program is not found
Cause:
Remedy:
The specified program cannot be found.
Check the program name.
PROG-006 WARN Line is not found
Cause:
Remedy:
The specified line number cannot be found.
Check the line number.
PROG-007 WARN Program is already running
Cause:
Remedy:
The specified program is already being executed.
Check the program name.
PROG-008 WARN In a rtn when creating a task
Cause:
Remedy:
Execution cannot be started in a sub-routine program.
Check the line number.
PROG-009 WARN Line not same rt:h as paused at
Cause:
Remedy:
Resumption was attempted at a different line from the paused line.
Check the line number.
PROG-010 WARN Not same prg as paused
Cause:
Remedy:
Resumption was attempted in a different program from the paused one.
Check the program name.
PROG-011 PAUSE.L Cannot get the motion control
Cause:
Motion control cannot be obtained.
Remedy:
Check the teach pendant enable switch and other running programs to determine who
has motion control.
PROG-012 WARN All groups not on the top
-434-
B-80464E/01
Alarm codes
Cause:
There is paused motion later than motion that was attempted to resume.
Remedy:
Resume the motion paused the last time.
PROG-013 WARN Motion is stopped by program
Cause:
Remedy:
This motion was paused by the MOTION PAUSE instruction. Only the RESUME
MOTION program instruction can resume the motion.
Use the RESUME MOTION instruction in the program.
PROG-014 WARN Max task number exceed
Cause:
The number of programs yot.i attempted to start exceeded the maximum number.
Remedy:
Abort dispensable programs or perform a CTRL start and select the PROGRAM INIT
option to increase the number of tasks allowed.
PROG-015 WARN Cannot execute backwards
Cause:
Remedy:
Backward execution cannot be used.
N/A
PROG-016 WARN Task is not found
Cause:
The specified task is not running or paused.
Remedy:
Check the task name. The task name is always the name of the program that was run.
The task name will not change even if the running program calls a routine from a
different program.
PROG-017 WARN Task is not running
Cause:
Remedy:
The specified task is not running.
Check the task name.
PROG-018 ABORT.G Motion stack overflow
Cause:
Remedy:
Too many programs are paused
Resume or abort some programs.
PROG-019 WARN Ignore pause request
Cause:
Remedy:
The request to pause the program was ignored.
Change the NOPAUSE task attribute or use the KCL PAUSE command with the FORCE
option.
PROG-020 WARN Task is already aborted
Cause:
Remedy:
The specified program was already aborted.
Check the program name.
PROG-021 WARN Ignore abort request
Cause:
The request to abort the program was ignored.
Remedy:
Change the NOABORT task attribute or use the KCL ABORT command with the
FORCE option.
PROG-022 WARN Invalid request type
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
PROG-023 WARN Task is not paused
-435-
Alarm codes
Cause:
Remedy:
B-80464E/01
The specified program is not paused.
Pause the program.
PROG-024 WARN Not have motion history
Cause:
Remedy:
The motion path record is lost.
N/A
PROG-025 WARN Cannot execute backwards
Cause:
Remedy:
Backward execution cannot be used.
N/A
PROG-026 WARN No more motion history
Cause:
Remedy:
Backward execution cannot be used any more. The current line is on top of the
memorized path.
N/A
PROG-027 WARN Invalid task number
Cause:
Remedy:
The task number specified is invalid.
Check the task number.
PROG-028 WARN Invalid buffer size
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
PROG-029 WARN Buffer size is not enough
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
PROG-030 WARN Attribute is not found
Cause:
Remedy:
The specified task attribute is not found.
Check the attribute.
PROG-031 WARN Attribute is write protected
Cause:
Remedy:
The specified task attribute is write protected.
.Do not try to change the attribute.
PROG-032 WARN Invalid value for attribute
Cause:
Remedy:
The value for the specified attribute is invalid.
Check the attribute value.
PROG-033 WARN Arrived at the end of task
Cause:
Remedy:
Internal execution error.
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
PROG-034 WARN Routine not found
Cause:
Remedy:
The specified routine cannot be found.
Check the routine name and verify it is loaded.
-436-
Alarm codes
B-80464E/01
PROG-035 WARN Not locked the specified group
Cause:
Remedy:
Motion control for the specified group cannot be locked.
Check the teach pendant enable switch and other running programs to determine who
has motion control.
PROG-036 WARN The length of trace array is 0
Cause:
Not enough memory or the task attribute is not set correctly.
Remedy:
Set the trace buffer length using the KCL SET TASK TRACELEN command.
PROG-037 WARN No data in the trace array
Cause:
There is no execution record in memory.
Remedy:
Turn on tracing using the KCL SET TRACE ON command.
PROG-038 WARN Inconsistency in task status
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
PROG-039 WARN locked, but not get mctl
Cause:
Motion control for the specified group was reserved, but is cannot be obtained.
Remedy:
Check the teach pendant enable switch and other running programs to determine who
has motion control.
PROG-040 PAUSE Already locked by other task
Cause:
Remedy:
Motion control for the specified group was already reserved by another program.
Check the other running programs to determine who has motion control.
PROG-041 WARN mctl denied because released
Cause:
Remedy:
Motion control is released. The teach pendant currently has motion control. The robot
cannot be started until motion control is obtained.
Disable the teach pendant.
PROG-042 WARN Already released
Cause:
Remedy:
Motion control was already released.
NIA
PROG-043 WARN Already released by you
Cause:
Remedy:
Motion control was already released by request of this program.
NIA
PROG-044 WARN Arm has not been released yet
Cause:
Remedy:
Motion control is not released yet.
NIA
PROG-045 WARN Other than requestor released
Cause:
Remedy:
Motion control was already released by the request of another program.
NIA
PROG-046 PAUSE.L TP is enabled while running (%s"' 7)
Cause:
The teach pendant was enabled while the program is executing.
-437-
Alarm codes
Remedy:
B-80464E/01
N/A
PROG-047 PAUSE.LTP is disabled while running (%s"' 7)
Cause:
Remedy:
The teach pendant was disabled while the program is executing.
N/A
PROG-048 PAUSE.L Shift released while running (%s"' 7)
Cause:
Remedy:
The shift key was released while the program is executing.
N/A
PROG-049 WARN Cannot release, robot moving
Cause:
Remedy:
Motion control cannot be released because the robot is moving.
Check the status of robot motion.
PROG-050 WARN Abort still in progress
Cause:
Remedy:
The program is in the process of being aborted.
Wait a second. If this error continues to occur, cold start the controller. If the error still
occurs, record the events that led up to the error and call you FANUC technical
representative.
PROG-051 WARN Cannot skip the return stmt
Cause:
Remedy:
The specified lines to which a move was attempted exceed the number of lines in the
program.
Check the line number.
PROG-052 ABORT.L Process is aborted while executing
Cause:
Remedy:
The user application task was forced to abort while the application is executing.
N/A
PROG-053 ABORT.L User AX is not running
Cause:
Remedy:
The user application task was not executed.
Start the user application task before executing the application.
-438-
Alarm codes
B-80464E/01
MACR Error Codes
MACR-001 WARN Can't assign to MACRO command
Cause:
There are bad conditions to assign the macro.
Remedy:
Is it Double definitions? Is the index over the range?
MACR-003 WARN Can't assign motn_prog to UK
Cause:
Remedy:
It is impossible to assign the program with MOTION lock group to User Key(UK) .
Remove the motion lock group from the program.
MACR-004 WARN Can't execute motn_progby UK
Cause:
Remedy:
It is impossible to execute the program with MOTION lock group by User Key(UK)
bottom.
Remove the motion lock group from the program.
MACR-005 WARN Please enable teach pendant
Cause:
Remedy:
It is possible to execute the program only when teach pendant is enabled.
Enable the teach pendant.
MACR-006 WARN Please disable teach pendant
Cause:
Remedy:
It is possible to execute the program only when teach pendant is disabled.
Disable the teach pendant.
MACR-007 WARN The same macro type exists
Cause:
Remedy:
The macro assign type has already exist.
Change the assign type to the other.
MACR-008 WARN Remote-cond isn't satisfied
Cause:
This assign type is only enable at REMOTE condition.
Remedy:
Create REMOTE condition.
MACR-009 WARN The index is out of range
Cause:
Remedy:
This assign index is out of range.
Change the assign index.
MACR-010 WARN This SOP button is disabled
Cause:
Remedy:
This SOP button is disabled for macro execution.
Change $MACRSOPENBL.
MACR-011 WARN This UOP button is disabled
Cause:
Remedy:
This UOP signal is disabled for macro execution.
Change $MACRUOPENBL.
MACR-012 WARN Nuinber of DI+RI is over
Cause:
Remedy:
The number of Rl+DI is over the maximum number.
Release the other RI or DI setting.
MACR-013 ABORT MACRO execution failed
Cause:
Remedy:
N/A
N/A
-439-
B-80464E/01
Alarm codes
MEMO Error Codes
MEM0-002 WARN Already opened for modify
Cause:
Remedy:
N/A
N/A
MEM0-003 WARN Already opened for read
Cause:
Remedy:
N/A
N/A
.MEM0-004 WARN Already opened for write
Cause:
N/A
Remedy:
N/A
MEM0-006 WARN Protection error occurred
Cause:
Remedy:
N/A
N/A
MEM0-013 WARN Program type is different
Cause:
Remedy:
The specified program type is different from that of the object being processed;
Specify the same program type.
MEM0-014 WARN Label already exists
Cause:
Remedy:
Specified label id exists in the program.
Specify another label number.
MEM0-015 WARN Program already exists
Cause:
Remedy:
Specified program exists in the system.
Specify another program name.
MEM0-019 WARN EPT table is full
Cause:
Remedy:
N/A
N/A
MEM0-021 WARN EPT does not exist
Cause:
Remedy:
N/A
'N/A
MEM0-022 WARN Index is not found
Cause:
Remedy:
N/A
N/A
MEM0-025 WARN Label does not exist
Cause:
Remedy:
Specified label data does not exist.
Set the index to an existing label.
MEM0-026 WARN Line table is full
Cause:
Remedy:
N/A
N/A
-440-
B-80464E/01
Alarm codes
MEM0-027 WARN Specified line does not exist
Cause:
Remedy:
N/A
N/A
MEM0-028 WARN Line number does not exist
Cause:
Remedy:
N/A
N/A
MEM0-029 WARN Different data size(modify)
Cause:
Remedy:
N/A
N/A
MEM0-030 WARN Next list does not exist
Cause:
Remedy:
N/A
N/A
MEM0-031 WARN Prev list does not exist
Cause:
Remedy:
N/A
N/A
MEM0-032 WARN Open for modify is rejected
Cause:
Remedy:
N/A
N/A
MEM0-034 WARN Type miss error occurred
Cause:
Remedy:
N/A
N/A
MEM0-038 WARN MPT is full
Cause:
Remedy:
The number of programs exceeded the maximum possible number (32767).
Delete unnecessary programs.
MEM0-051 WARN EPT cannot be deleted
Cause:
Remedy:
N/A
N/A
MEM0-052 W~N Program cannot be deleted
Cause:
Remedy:
N/A
N/A
MEM0-054 WARN Buffer size is not enough
Cause:
Remedy:
N/A
N/A
MEM0-056 WARN MPT Sort Table does not exist
Cause:
Remedy:
N/A
N/A
MEM0-059 WARN Specified id is not read ace
Cause:
N/A
-441 -
Alarm codes
Remedy:
B-80464E/01
N/A
MEM0-061 WARN Specified id is not write ace
Cause:
Remedy:
N/A
N/A
MEM0-065 WARN Too many opened programs
Cause:
Remedy:
The number of opened programs exceeded the maximum possible number.
Close unnecessary programs.
MEM0-067 WARN Out of range
Cause:
Remedy:
N/A
N/A
MEM0-068 WARN Program is in use
Cause:
Remedy:
Program cannot be reloaded or deleted because it is in use.
Abort the program, if necessary. Select a different program from the TP and/or CRT
and/or KCL.
MEM0-069 WARN Program already exists in MST
Cause:
Remedy:
N/A
N/A
MEM0-071 WARN Position does not exist
Cause:
Remedy:
N/A
N/A
MEM0-072 WARN Position data already exists
Cause:
Remedy:
Position data already exists in the specified position you want to move.
Specify another position. Or, delete the data in the specified position.
MEM0-073 WARN Program does not exist
Cause:
Remedy:
N/A
N/A
MEM0-074 WARN Program type is not TP
Cause:
Remedy:
.N/A
N/A
MEM0-076 WARN Program name is not correct
Cause:
Remedy:
N/A
N/A
MEM0-078 WARN Program type error occurred
Cause:
Remedy:
The program type is incorrect.
Specify correct program type.
MEM0-081 WARN Read open is rejected
Cause:
The program cannot be opened because it is already opened somewhere else.
-442-
Alarm codes
B-80464E/01
Remedy:
Abort the program, if necessary. Select a different program from the teach pendant
and/or CRT and/or KCL.
MEM0-083 WARN Routine does not exist
Cause:
Remedy:
N/A
N/A
MEM0-086 WARN Specified RRD does not exist
Cause:
Remedy:
N/A
N/A
MEM0-088 WARN Specified program is deleted
Cause:
Remedy:
N/A
N/A
MEM0-091 WARN Specified id is too big
Cause:
Remedy:
N/A
N/A
MEM0-093 WARN Write open is rejected
Cause:
Remedy:
The program cannot be opened because it is already opened somewhere else.
Abort the program, if necessary. Select a different program from the teach pendant
and/or CRT and/or KCL.
MEM0-095 WARN Program name does not exist
Cause:
Remedy:
N/A
N/A
MEM0-098 WARN EOF occurs in file access
Cause:
Remedy:
N/A
N/A
MEM0-099 WARN Not ASCII name format
Cause:
Remedy:
N/A
N/A
MEM0-100 WARN Program not equal to routine
Cause:
Remedy:
N/A
N/A
MEM0-102 WARN Over pcode size
Cause:
Remedy:
N/A
N/A
MEM0-103 WARN Check sum error occurs
Cause:
Remedy:
N/A
N/A
MEM0-104 WARN Program already exists
Cause:
N/A
-443-
Alarm codes
Remedy:
B-80464E/01
N/A
MEM0-113 WARN File access error
Cause:
Remedy:
N/A
N/A
MEM0-119 WARN Application data does not exist
Cause:
Remedy:
N/A
N/A
MEM0-120 WARN Application index over
Cause:
Remedy:
N/A
N/A
MEM0-122 WARN SST Table does not exist
Cause:
Remedy:
N/A
N/A
MEM0-123 WARN Application data is not found
Cause:
Remedy:
N/A
N/A
MEM0-124 WARN Program version is too new
Cause:
KAREL program version number is newer than that of the system.
Remedy:
Translate the program with an older version of the Translator.
MEM0-125 WARN Program version is too old
Cause:
Remedy:
KAREL program version number is older than that of the system.
Translate the program with a newer version of the Translator.
MEM0-126 WARN No more available memory
Cause:
Remedy:
Lack of the memory which can be used.
Delete unnecessary programs.
MEM0-127 WARN Same posn referenced over 255
Cause:
Remedy:
Reference of the same position exceeded the maximum count (256).
Set new position ID for the referenced position.
MEM0-128 WARN %s parameters are different
Cause:
A routine exists in memory with a different parameter definition than the routine in the
PC file being loaded.
Remedy:
Update the calling convention in the KAREL program being loaded or delete the
obsolete routine froni system memory.
-444-
Alarm codes
B-80464E/01
APSH Error Codes
APSH-001 PAUSE %s
Cause:
Internal execution error.
Remedy:
Cold start the controller to reset the error. If the error still occurs, record the events that
led up to the error and call your FANUC technical representative.
APSH-002 WARN REMOTE switch must be on LOCAL
Cause:
Remedy:
The robot's REMOTE condition is TRUE, so the remote operating device (PLC)
currently has motion control over the robot.
Disable the REMOTE condition by turning the REMOTE keyswitch on the SOP to
LOCAL.
APSH-003 WARN Place robot into REMOTE state
Cause:
Remedy:
The REMOTE condition is currently false, so the robot is not under the control of the
remote operating device (PLC).
Verify that the following conditions are true in order to put the robot into the REMOTE
condition:
1. UOP inputs #1 (IMSTP), #3 (SFTYSPD), and #8 (ENBL) are all HIGH.
2. SOP REMOTE/LOCAL keyswitch is set to REMOTE.
3. Teach pendant is disabled.
4. Robot Auto/Bypass mode input is HIGH (if so assigned).
5. Make sure a user program is not setting $RMT_MASTER = 1
APSH-004 WARN RESET Failure
Cause:
There is an active fault, which prevents the reset request from executing.
Remedy:
Clear the source of the fault (usually an external E-Stop) and press FAULT RESET.
APSH-005 WARN Step mode must be disabled
Cause:
Remedy:
Step mode is enabled, which prevents the run request from executing
Disable step mode by pressing the STEP hardkey.
APSH-006 WARN Robot is not under PLC control
Cause:
The UOP is not the master device, which prevents the run request from executing.
Remedy:
Turn SOP REMOTE/LOCAL keyswitch to REMOTE. Make sure all UOP signals are
correct for execution. Set $RMT_MASTER to O.
APSH-007WARNWARNING- Systemisindryrun
Cause:
This is just a warning to notify the user that a production job is running with the sealant
disabled.
Remedy:
None needed.
APSH-008 WARN WARNING - Machine lock is on
Cause:
This is just a warning to notify the user that a production job is running with machine
lock on.
Remedy:
None needed.
APSH-010 WARN Job queue is full
Cause:
Remedy:
The job queue cannot accept the next job because it is full.
Manually edit the job queue to delete any unneeded jobs.
APSH-011 WARN Job queue is empty
-445-
B-80464E/01
Alarm codes
Cause:
Remedy:
A request to run the next job in the queue came in, but the queue is empty.
Check the external device to make sure that a job number was correctly sent to the
controller, or manually edit the job queue to CREATE a job.
APSH-012 WARN Robot motion is not enabled
Cause:
Remedy:
Robot motion and/or program execution cannot occur unless UOP input 8 is
Check UOP 1/0 setup. UOP input 8 must be high.
APSH-013 WARN Safety fence is open
Cause:
Remedy:
The safety fence is open, as indicated by UOP input [3] being low.
Close the fence, and/or check UOP 1/0 setup. UOP input [3] is high when fence is
closed.
APSH-014 WARN Teach Pendant is enabled
Cause:
The teach pendant is enabled which prevents the run request from being executed.
Remedy:
Disable the teach pendant.
APSH-015 WARN Program %snot loaded
Cause:
Remedy:
The program name that the shell was requested to run is not loaded on the controller.
Check PLC- >Robot style communication. Verify that specified JOB name was
requested by PLC. Load or create the specified JOB program.
APSH-016WARNWARNING-Runningat < 100%%
Cause:
Remedy:
This is just a warning to notify the user that a production job is running at less than
100% speed override.
None needed.
APSH-017 WARN Program already running
Cause:
Remedy:
The shell detected a start signal but a program is already running.
Re-issue start request when current program is paused or aborted.
APSH-018 WARN Must complete fault recovery
Cause:
The shell detected a run request but there is still fault recovery which has not been
completed.
Remedy:
Complete the fault recovery as directed under the Recovery menu (under ALARMS).
APSH-019 WARN Job root string is uninitialized
Cause:
The shell could not build up the job name because $SHELL CFG.$JOB ROOT is
uninitialized.
-
Remedy:
Set$SHELL_CFG.$JOB_ROOT.
APSH-020 WARN Set $SHELL_CFG.$JOB_ROOT
APSH-021 WARN No paused program to continue
Cause:
Remedy:
A UOP CYCLE START input was detected but there is no paused program to continue.
If UOP CYCLE START should run as well as resume, then set
$SHELL_CFG.$CONT_ONLY= FALSE.
APSH-022 WARN $SCR.$CONT_ONLY =TRUE
-446-
Alarm codes
B-80464E/01
CMND Error Codes
CMND-001 WARN Directory %snot found
Cause:
Remedy:
The specified directory can not be found.
Check the device and path that you entered. If none entered, check the system default
device from the FILE Menu or from the KCL command, CHOIR.
CMND-002 WARN File %snot found
Cause:
Remedy:
The specified file could not be found.
Check to make sure the file has been spelled correctly and that it exists. Also verify the
device and path name are correct.
CMND-003 WARN File %s cannot be overwritten
Cause:
Remedy:
The file already exists and could not be overwritten.
Make sure the overwrite option has been specified.
CMND-004 WARN File %s already exists
Cause:
Remedy:
The file could not be created because it already exists.
Delete the existing file before you create a new one.
CMND-005 WARN Cannot create file %s
Cause:
Remedy:
The file could not be created.
Verify the device and path names are correct. If you are writing to floppy, verify that
write protection is set to off on the disk.
CMND-006 WARN Self copy not allowed: %s
Cause:
Remedy:
A file can not be copied to itself.
Change the name .of the destination file so it is different from the source file.
CMND-007 WARN Input file not found
Cause:
Remedy:
The specified input file could not be found.
Check to make sure the file has been spelled correctly and that it exists. Also verify the
device and path name are correct.
CMND-008 WARN Output file not found
Cause:
Remedy:
The specified output file could not be opened.
Check to make sure the file has been spelled correctly and that it exists. Also verify the
device and path name are correct. If you are writing to floppy, verify that write
'protection is set to off on the disk.
CMND-009 WARN Position types are the same
Cause:
Remedy:
N/A
N/A
CMND-010 WARN Source type code is invalid
Cause:
Remedy:
N/A
N/A
CMND-011 WARN Destination type code is invalid
Cause:
Remedy:
N/A
N/A
-447-
B-80464E/01
Alarm codes
CMND-012 WARN Type codes do not match
Cause:
N/A
Remedy:
N/A
CMND-013 WARN Representation mismatch
Cause:
Remedy:
N/A
N/A
CMND-014 WARN Positions are not the same
Cause:
Remedy:
N/A
N/A
CMND-015 WARN Both arguments are zero
Cause:
Remedy:
N/A
N/A
CMND-016 WARN Division by zero
Cause:
Remedy:
N/A
N/A
CMND-017 WARN Angle is out of range
Cause:
N/A
Remedy:
N/A
CMND-018 WARN Invalid device or path
Cause:
An invalid device or path has been specified.
Remedy:
Check the device and path that you entered. If none entered, check the system default
device from the FILE Menu or from the KCL command, CHOIR.
CMND-019 WARN Operation cancelled
Cause:
Remedy:
The operation was cancelled because CTRL-C or CTRL-Y was pressed.
None.
CMND-020 WARN End of directory
Cause:
Remedy:
The directory listing is finished.
None.
CMND-021 WARN Can not rename file
Cause:
The destination file name contained both alphanumeric characters and the global
character'*'.
Remedy:
Use only alphanumeric characters or a single global character when renaming a file.
-448-
Alarm codes
B-80464E/01
COND Error Codes
COND-001 WARN Condition does not exist
Cause:
Remedy:
Specified condition does not exist.
Check for condition statements to verify if the specified condition has really been
created or not.
COND-002 WARN Condition handler superseded
Cause:
Remedy:
The specified condition number already exists in the system, and has been superseded
by the new condition.
This is just a notification, and you do not have to do anything for this warning message.
COND-003 WARN Already enabled, no change
Cause:
The specified condition is already enabled. No change has been made.
Remedy:
N/A
COND-004 WARN Already disabled, no change
Cause:
Remedy:
The specified condition is already disabled. No change has been made.
N/A
COND-009 WARN Break point encountered
Cause:
Remedy:
Break point has been encountered.
N/A
COND-010 WARN Cond exists, not superseded
Cause:
Remedy:
Specified condition already exists. Condition was not superseded.
N/A
COND-011 ABORT.G Scan time took too long
Cause:
Remedy:
There are too many conditions defined. It took too long to scan them all.
Reduce the number of conditions defined.
-449-
B-80464E/01
Alarm codes
DICT Error Codes
DICT-001 WARN Dictionary already loaded
Cause:
Remedy:
A dictionary cannot be reloaded if it was loaded into FROM.
Load into a different language and use KCL SET LANG to set the language.
DICT-002 WARN Not enough memory to load diet
Cause:
Remedy:
There is no more permanent memory available in the system to load another dictionary.
Clear all unnecessary programs, dictionaries or variables.
DICT-003 WARN No diet found for language
Cause:
Remedy:
There are no dictionaries loaded for the specified language.
Use the DEFAULT language or a language in which a dictionary has been loaded.
DICT-004 WARN Dictionary not found
Cause:
Remedy:
The specified dictionary was not found.
Use KCL LOAD DICT to load the dictionary into the DEFAULT language or the current
language.
DICT-005 WARN Dictionary element not found
Cause:
Remedy:
The dictionary element was not found.
Check the dictionary or element number to be sure it is specified correctly.
DICT-006 WARN Nested level too deep
Cause:
Remedy:
Only five levels of dictionary elements can be nested.
Fix the dictionary text file to include fewer nested levels.
DICT-007 WARN Dictionary not opened by task
Cause:
Remedy:
The dictionary was never opened.
Remove the close operation.
DICT-008 WARN Dictionary element truncated
Cause:
Remedy:
The dictionary element was truncated because the KAREL string array is not large
enough to hold all the data.
Increase eitherthe size of the string or the number of strings in the array.
DICT-009 WARN End of language list
Cause:
Remedy:
The language list has completed.
None required.
DICT-010 WARN End of dictionary list
Cause:
Remedy:
The dictionary list has completed.
None required.
DICT-011 WARN Diet opened by too many tasks
Cause:
Remedy:
Only five dictionaries can be open by one task at one time.
Load the dictionary to CMOS or close an unused dictionary.
DICT-012 WARN Low on FROM, loaded to CMOS
Cause:
Not enough memory exists in FROM so the dictionary was loaded to CMOS.
-450-
B-80464E/01
Remedy:
Alarm codes
None required.
DICT-013 WARN Cannot open dictionary file
Cause:
Remedy:
The dictionary file does not exist on the specified device or in the specified directory.
Select the proper device/directory and try again.
DICT-014 WARN Expecting$ in dictionary file
Cause:
Remedy:
The dictionary text incorrectly specifies an element without a $.
Make sure all dictionary elements begin with $.
DICT-015 WARN Reserved word not recognized
Cause:
Remedy:
A reserved word was not recognized in the dictionary text.
Check for misspelling or look up the correct word in the KAREL Reference Manual.
DICT-016 WARN Ending quote expected
Cause:
Remedy:
The dictionary text incorrectly specifies an element without using quotes.
Make sure all dictionary text is surrounded by double quotes. Use a backslash if you
want an actual quote to appear in the text. For example, \"This is an example\" will
produce "This is an example".
DICT-017 WARN Expecting element name or num
Cause:
Remedy:
A reference to another element is expected.
Use the element number to reference the element.
DICT-018 WARN Invalid cursor position
Cause:
Remedy:
The cursor position is specified incorrectly or the values are outside the limits.
Make sure the cursor position is valid. For example, use @1, 1 for the first row and col
respectively.
DICT-019 WARN ASCII character code expected
Cause:
Remedy:
A series of digits are expected after the# to specify an ASCII character code.
Remove the # or look up the ASCII character code in the KAREL Reference Manual.
DICT-020 WARN Reserved word expected
Cause:
Remedy:
An identifier is expected after the & to specify a reserved word.
Remove the & or look up the reserved word in the KAREL Reference Manual.
DICT-021 WARN Invalid character
Cause:
Remedy:
An unexpected character was found in the dictionary text file.
Make sure all dictionary text is correct.
DICT-022 WARN Diet already opened by task
Cause:
Remedy:
Dictionary is already open by the task.
None required.
DICT-023 WARN Diet does not need to be opened
Cause:
Remedy:
Dictionaries loaded to FROM and CMOS do not need to be opened.
Do not try to open the dictionary file.
DICT-024 WARN Cannot remove dictionary file
Cause:
Dictionaries loaded to FROM cannot be removed.
- 451 -
Alarm codes
Remedy:
B-80464E/01
Do not try to remove the dictionary.
DICT-025 WARN Invalid state - internal error
DICT-028 WARN No FROM write, loaded to CMOS
Cause:
Remedy:
Not enough memory exists in FROM so the dictionary was loaded to CMOS.
None required.
DICT-029 WARN Help element not found
Cause:
Remedy:
The help dictionary element was not found.
Check the dictionary to be sure the help dictionary element was specified correctly.
The help dictionary element must be specified with a question mark (?) followed by the
element number.
DICT-030 WARN Function key element not found
Cause:
Remedy:
The function key dictionary element was not found.
Check the dictionary to be sure the function key element was specified correctly. The
function key element must be specified with a caret ("") followed by the element
number.
-452-
Alarm codes
B-80464E/01
LANG Error Codes
LANG-004 WARN File is not open
Cause:
Remedy:
1.
2.
3.
4.
1.
2.
3.
4.
A file of the same name already exists.
The file has already been opened.
In case of floppy disk the write protect tab is on.
In case of floppy disk, there is not enough room to save the file.
Delete the file.
Close a file.
Remove write protect.
Use a new floppy disk. Or, delete unnecessary files from floppy disk.
LANG-005 WARN Prog type is different
Cause:
Remedy:
Specified program type is not a TPE program.
Only TPE programs can be used.
LANG-014 WARN Program is already exist
Cause:
Remedy:
The program that is loading already exists in the system.
If it is necessary to load the program, delete the program first then load it again.
LANG-015 WARN Can not write file
Cause:
Remedy:
Write protection is on.
Remove write protection.
LANG-016 WARN Can not read file
Cause:
Remedy:
It failed that reading the data from the floppy.
Please check the connection of the device.
LANG-018 WARN Group mask value is incorrect
Cause:
Remedy:
A group number of position data is doubling.
Position data that a group number does not double, it is remade.
LANG-085 WARN Attribute data is invalid
Cause:
Remedy:
Program attribute data or its format is not correct.
Check the attribute data and its format.
LANG-086 WARN Position data is invalid
Cause:
Remedy:
'Format of position data is not correct.
Check the position data format.
LANG-088 WARN Application data is invalid
Cause:
Remedy:
Application data or its format is not correct.
Check the application data and its format.
LANG-089 WARN Program syntax error
Cause:
Remedy:
The specified program contains some syntax errors.
Check the syntax of the program.
LANG-094 WARN File already exists
Cause:
Remedy:
The specified file already exists in the floppy.
If you need to write the file, please delete the file in the floppy.
-453-
B-80464E/01
Alarm codes
MCTL Error Codes
MCTL-001 NONE TP is enabled
Cause:
The teach pendant is enabled, and the motion control was not granted.
Remedy:
Disable the teach pendant and try the operation again.
MCTL-002 NONE TP is disabled
Cause:
The teach pendant is disabled, and the motion control was not granted.
Remedy:
Enable the teach pendant and try the operation again.
MCTL-003 NONE system is in error status
Cause:
Remedy:
The motion control was not granted because the system is in error status.
Clear the error, and try the operation again.
MCTL-004 NONE motion is in progress
Cause:
Remedy:
The motion is still in progress, and the motion control was not granted.
Wait until the robot comes to a complete stop.
MCTL-005 NONE not in control of motion
Cause:
Remedy:
The motion control was not granted because of some unknown reason.
Clear the reason, and try the operation again.
MCTL-006 NONE TP has motion control
Cause:
Remedy:
The motion control was not granted because the teach pendant currently has motion
control.
Disable the teach pendant, and try the same operation again.
MCTL-007 NONE PROG has motion control
Cause:
Remedy:
The motion control was not granted because the program has motion control
Pause or abort the program, and try the operation again.
MCTL-008 NONE Operator panel has motion control
Cause:
The motion control was not granted because the operator panel has the motion
control.
Remedy:
Set the $AMT_MASTER system variable correctly, and try the operation again.
MCTL-009 NONE Other has motion control
Cause:
Another device has motion control, and the motion control was not granted.
Remedy:
Set the $AMT_MASTER system variable correctly, and try the operation again.
MCTL-013 NONE ENBL input is off
Cause:
Remedy:
ENBL input on the UOP is off.
Set ENBL input ON.
MCTL-014 NONE Waiting for Servo ready
Cause:
Remedy:
The motion control was not granted because servo was not up.
Wait for a few seconds until servo is up and ready.
MCTL-015 NONE Manual brake enabled
Cause:
The motion control was not granted because manual brake control is enabled.
-454-
B-80464E/01
Remedy:
Alarm codes
Disable the manual brake control.
-455-
B-80464E/01
Alarm codes
PRIO Error Codes
PRI0-001 WARN Illegal iotype
Cause:
Remedy:
Port type specified is invalid.
Use one of the port types defined in IOSETUP.KL.
PRI0-002 WARN Illegal index
Cause:
Remedy:
Port number is invalid or not presently assigned.
Correct the port number.
PRI0-003 SYST No memory available
Cause:
Remedy:
Memory required for this operation is not available.
Delete KAREL programs and/or variables to free memory.
PRI0-004 WARN too few ports on mod
Cause:
Remedy:
Too few ports on module. There are not enough ports on the specified board or
module to make the specified assignments.
Correct either the first port number or the number of ports.
PRI0-005 WARN bad logical port no
Cause:
Remedy:
The specified port number in an assignment is invalid; must be in the range 1..32767.
Correct the logical port number.
PRI0-006 WARN bad log port number in asgt
Cause:
Remedy:
The specified port number in an assignment is invalid; must be in the range 1.. 32767.
Correct the logical port number.
PRI0-007 WARN no match in deassign call
Cause:
Remedy:
Port being deassigned is not presently assigned.
Correct the port number.
PRI0-008 WARN phys ports not found
Cause:
Remedy:
Physical port being assigned to does not exist.
Correct the rack number, slot number, or port number.
PRI0-009 WARN n_ports invalid
Cause:
Remedy:
The number of ports in an assignment is invalid; must be in the range 1.. 128.
·correct the number of ports.
PRI0-010 WARN bad phys port number is asgt
Cause:
Remedy:
Invalid physical port number in assignment request; must be greater than 1.
Correct the physical port number.
PRI0-011 WARN asgt overlaps existing asgt
Cause:
Remedy:
The logical port numbers being assigned overlap existing assignments.
Correct the first port number or number of ports.
PRI0-012 WARN bad board num
Cause:
The specified rack and/or slot number specified is invalid or refers to an unused
rack/slot number.
-456-
B-80464E/01
Remedy:
Alarm codes
Correct the rack and/or slot number.
PRI0-013 WARN no ai seq for bd
Cause:
Remedy:
An attempt was made to delete an analog input sequence which has not been defined.
Check the rack and/or slot number.
PRI0-014 WARN ai seq too long
Cause:
Remedy:
The specified analog input sequence is too long; must be 1 to15 port numbers.
Supply a sequence of an appropriate length.
-457-
B-80464E/01
Alarm codes
ROUT Error Codes
ROUT-022 PAUSE.G Bad index in ORD
Cause:
Incorrect number is specified for ORD built-in routine.
Remedy:
Specify a number less than the string length.
ROUT-023 PAUSE.G Bad index in SUBSTR
Cause:
Remedy:
Incorrect number is specified for SUBSTR built-in routine
Specify a number less than the string length
ROUT-024 PAUSE.G SUBSTR length less than 0
Cause:
Remedy:
Negative number is specified for length argument for SUBSTR built-in routine.
Specify a positive number.
ROUT-025 PAUSE.G Illegal semaphore number
Cause:
Remedy:
Incorrect number is specified for semaphore id.
Specify a number between 1 and 32.
ROUT-026 WARN lliegal group number
Cause:
Remedy:
Invalid group number is specified.
Specify existing group number.
ROUT-027 WARN String size not big enough
Cause:
Remedy:
Specified string variable does not have enough room to hold the return data.
Specify larger size string variable.
ROUT-028 ABORT.G Illegal file attribute number
Cause:
Incorrect file attribute id was specified.
Remedy: . Specify correct file attribute id.
ROUT-029 ABORT.G Illegal file attribute value
Cause:
Remedy:
Incorrect file attribute value was specified.
Specify correct attribute value.
ROUT-030 WARN Non existent register n'ilmber
Cause:
Remedy:
A non-existent register number is specified.
·specify a correct register value
ROUT-031 WARN Illegal register type
Cause:
Remedy:
Incorrect register type is specified.
Specify the correct register type for the attempted operation.
ROUT-032 ABORT.G Position type mismatch
Cause:
Remedy:
Position type is not correct for the operation.
Specify correct position type.
-458-
B-80464E/01
Alarm codes
ROUT-033 ABORT.G Illegal attribute type
Cause:
Remedy:
Illegal attribute id was specified.
Specify correct attribute id .
ROUT-034 WARN Not a TPE program
Cause:
A non-tpe is specified.
Remedy:
Specify a program name other than a KAREL program.
ROUT-035 WARN Value is out of range
Cause:
Remedy:
The specified value is out of range.
Specify a value within the range.
-459-
B-80464E/01
Alarm codes
SCIO Error Codes
SCI0-016 WARN This option does not exist
SCI0-020 WARN LBL[%d] exists in line %d:
Cause:
Remedy:
This label number exists in another line.
Select another label number.
-460-
en
-<
~
m
s:
<
)>
:II
l>
m
m
rU'J
SYSTEM VARIABLES
B-80464E/01
SYSTEM VARIABLES
This part of this manual describes the names, functions, standard settings, and valid ranges of system variables.
D Format of a system variable table
System variable name
Whether the power must be turned
off then on again
$PARAM_GROUP [group] . $P
BOOLEAN RW PU
BN_ENBL
TRUE
TRUE/FALSE
System variable name
Standard value
* Intrinsic value for each model
Variable type
BOOLEAN
BYTE
SHORT
INTEGER
REAL
CHAR
XYZWPR
Changeable/unchangeable
Changeable
Unchangeable
Whether the power must be
turned off then on again
Indicates that the power must be turned on again.
Valid range (unit)
-461 -
True/false type (TRUE/FALSE)
Integer (0 to 255)
Integer (-32768 to 32767)
Integer (-1000000 to 1000000)
Real number (-10000000000 to 1000000000)
Character string ("abcdefg'1
Cartesian coordinates
SYSTEM VARIABLES
B-80464E/01
1 Press the MENUS key.
2 Select 0 (NEXT), then select 6 (SYSTEM).
3 Press the F1 (TYPE) key.
4 Select Variables. Then, the system variable screen is displayed.
1
2
3
4
5
6
7
8
9
10
j§~~iltltiii:
$AP MAXAX
$AP-PLUGGED
$AP-TOTALAX
$AP-USENUM
$AUToINIT
$BLT
$CRT DEFPROG
$CSTOP
$DEFPULSE
$DEVICE
4
16777216
[12] of Byte
2
19920216
*uninit*
TRUE
4
'P3:'
[TYPE]
5 To change the value of a system variable, move the cursor to a desired item, enter a new value, then press
the ENTER key or select a desired item by pressing the corresponding function key.
6 When a system variable contains multiple system variables, move the cursor to a desired item and press
the ENTER key. Then, the low-order system variables are displayed.
47
48
49
50
$0RIENTTOL
$0VRDSLCT
$PARAM GROUP
$PASSWORD
@~¥l§,mif@mi%.~l~~i
$PARAM GROUP
1 $BELT ENABLE
2 $CART-ACCEL1
3 $CART-ACCEL2
4 $CIRC-RATE
5 $CONTAxISNUM
6 $EXP_ENBL
10.000
OVRDSLCT T
iiW!9!!&1
PASSWORD_T
;:;:7';;+1;;;;
iilli!J~INWiiil!~t;!
49/98
192
0
1
0
TRUE
[TYPE]
7 After changing the setting of the system variable for which PU is specified, turn off the power, then turn it
on again. (PU is specified for all $PARAM_GROUP system variables.)
caution:
The setting of a system variable for which RO (unchangeable) is specified cannot be changed.
Brake control
-462-
SYSTEM VARIABLES
B-80464E/01
$PARAM_GROUP[ 1 ] . $SV_OFF_ENB[ 1 ]
*
$PARAM_GROUP[ 1 ] . $SV_OFF_ENB[ 2]
$PARAM_GROUP[ 1]. $SV_OFF_ENB[3]
$PARAM_GROUP[ 1 ] . $SV_OFF_ENB[ 4]
$PARAM_GROUP[ 1 ] . $SV_OFF_ENB[ 5)
$PARAM_GROUP[ 1 ] . $SV_OFF_ENB[ 6]
$PARAM_GROUP[ 1 ] . $SV_OFF_ENB[ 7]
$PARAM_GROUP[ 1 ] . $SV_OFF_ENB[ 8]
$PARAM_GROUP[ 1 I . $SV_OFF_ENB[ 9)
BOOLEAN
[Function)
RW
PU
TRUE I FALSE
Enables or disables the brake control function for individual joints.
[Description]The break control function applies the brakes of joints after the motion is completed and the
robot stops to save energy and maintain the attitude of the robot. This function is enable only
to the joints having a break.
$PARAM_GROUP[ 1). $SV_OFF_TIME[ 1]
20000
$PARAM_GROUP[ 1 ) . $SV_OFF_TIME[ 2)
20000
$PARAM_GROUP[ 1 ] . $SV_OFF_TIME[ 3)
20000
$PARAM_GROUP[ 1). $SV_OFF_TIME[ 4)
20000
$PARAM_GROUP[ 1 ] . $SV_OFF_TIME[ 5)
20000
$PARAM_GROUP[ 1 ] . $SV_OFF_TIME[ 6]
0
$PARAM_GROUP[1 ].$SV_OFF_TIME[7)
0
$PARAM_GROUP[ 1). $SV_OFF_TIME[ 8]
0
$PARAM_GROUP[ 1]. $SV_OFF_TIME[ 9]
0
INTEGER
[Function)
RW
PU
O- 100000000 ( msec )
Specify the brake control delay time for each joint brjike
[Description) The brake control delay time is the time from when the robot is stopped after a motion is completed until the brake control is applied and the current of the motor is shut down.
-463-
SYSTEM VARIABLES
B-80464E/01
$PARAM_GROUP[ 1 ] . $SV_OFF_ALL
RW PU TRUE I FALSE
BOOLEAN
[Function]
TRUE
Enables or disables the break control function
[Description] Specifies how the brakes are applied.
TRUE: It puts on/off breaks for all axes at same time, i.e. it does not put on all breaks
till all axes finish to move and ·it puts off all breaks when one axis start to move.
FALSE: It puts on/off breaks independently, i.e. it puts on each break which axis finish to move
and it never put off each break which axis starts to move.
-464-
B-80464E/01
SYSTEM VARIABLES
Mastering
$MASTER ENB
0
BOOLEAN
[Function]
RW
1I 0
Displays positioning screen
[Description] When this variable is enabled, the positioning screen [6 (SYSTEM).Master/Cal] is displayed
on the teach pendant.
O: Positioning screen not displayed.
1 : Positioning screen displayed.
$DMR_GRP[ 1 ]. $MASTER_DONE
BOOLEAN
[Function]
RW
TRUE
TRUE I FALSE
Indicates if mastering is completed.
[Description] Indicates if mastering has been completed.
[Setting]
On the positioning screen [6 (SYSTEM).Master/Cal]
$DMR_GRP[ 1 ]. $MASTER_COUN[ 1 ]
$DMR_GRP[ 1 ]. $MASTER_COUN[ 2]
$DMR_GRP[ 1 ]. $MASTER_COUN[ 3]
$DMR_GRP[ 1 ]. $MASTER_COUN[ 4]
$DMR_GRP[ 1 ]. $MASTER_COUN[ 5]
$DMR_GRP[ 1 ]. $MASTER_COUN[ 6]
$DMR_GRP[ 1 ]. $MASTER_COUN[ 7]
$DMR_GRP[ 1 ]. $MASTER_COUN[ 8]
$DMR_GRP[ 1 ]. $MASTER_COUN[ 9]
LONG
[Function]
RW
0 - 100000000 ( pulse )
Store mastering pulse counts
[Description] Pulse coder count at zero degree position is stored. This value is calculated from current
count at mastering and current position.
$PARAM_GROUP[ 1 ]. $MASTER_POS[ 1 I
$PARAM_GROUP[ 1 ]. $MASTER_POS[ 2]
$PARAM_GROUP[ 1 ]. $MASTER_POS[ 3 ]
$PARAM_GROUP[ 1 ]. $MASTER_POS[ 4]
$PARAM_GROUP[ 1 ]. $MASTER_POS[ 5]
$PARAM_GROUP[ 1 ]. $MASTER_POS[ 6]
$PARAM_GROUP[ 1 ]. $MASTER_POS[ 7]
$PARAM_GROUP[ 1 ]. $MASTER_POS[ 8]
$PARAM_GROUP[ 1 ]. $MASTER_POS[ 9]
INTEGER
[Function]
RW
PU
-100000 - 100000 ( deg )
Store jig position for jig mastering
[Description] Jig position for jig mastering is stored. Mastering pulse count is calculated from this data.
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SYSTEM VARIABLES
Quick mastering
FALSE
$DMR_GRP[ 1 ]. $REF_DONE
BOOLEAN
RW
TRUE I FALSE
[Function]
Indicates if setting of the reference point for quick mastering is completed.
[Setting]
On the positioning screen [6 (SYSTEM).Master/Cal]
$DMR_GRP[ 1 ]. $REF_COUNT[ 1 ]
0
.$DMR_GRP[ 1 ]. $REF_COUNT[ 2]
0
$DMR_GRP[ 1 ]. $REF_COUNT[ 3]
0
$DMR_GRP[ 1 ]. $REF_COUNT[ 4]
0
$DMR_GRP[ 1 ]. $REF_COUNT[ 5]
0
$DMR_GRP[ 1 ]. $REF_COUNT[ 6]
0
$DMR_GRP[ 1 ]. $REF_COUNT[ 7]
0
$DMR_GRP[ 1 ]. $REF_COUNT[ 8]
0
$DMR_GRP[ 1 ]. $REF_COUNT[ 9]
0
INTEGER
[Function]
RW
o- 100000000 ( pulse )
Store reference point mastering count
[Description] Store the count of the pulse coder when the robot is positioned at the reference point.
$DMR_GRP[ 1 ]. $REF_POS[ 1 ]
0
$DMR_GRP[ 1 ]. $REF_POS[ 2]
0
$DMR_GRP[ 1 ]. $REF_POS[ 3]
0
. $DMR_GRP[ 1 ]. $REF_POS[ 4]
0
$DMR_GRP[ 1 ]. $REF_POS[ 5]
0
$DMR_GRP[ 1 ]. $REF_POS[ 6]
0
$DMR_GRP[ 1 ]. $REF_POS[ 7]
0
$DMR_GRP[ 1 ]. $REF_POS[ 8]
0
$DMR_GRP[ 1 ]. $REF_POS[ 9]
0
RW -100000- 100000 (deg)
Store reference point to be set during quick mastering
INTEGER
[Function]
[Description] Store the reference point to be set during quick mastering.
Positioning
$MOR_GRP[ 1 ]. $CAL_DONE
BOOLEAN
[Function]
RW
TRUE
TRUE I FALSE
Indicates if calibration is completed.
[Description] To check the current position of the robot, the count of the pulse coder issued and the current
position is calculated using mastering count. This check is usually performed when the power
is turned on.
[Setting]
On the positioning screen [6 (SYSTEM).Master/Cal]
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SYSTEM VARIABLES
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Specifying coordinate systems
$MNUFRAMENUM[ 1 ]
BYTE
[Function]
RW
0
0 / 255
Specifies user coordinate system number
[Description] Specifies the number of the user coordinate system currently used.
0:
World coordinate system
1to5: User coordinate system
$MNUFRAME[ 1, 1 ]
$MNUFRAME[ 1, 2 ]
$MNUFRAME[ 1, 3 ]
$MNUFRAME[ 1, 4]
$MNUFRAME[ 1, 5 ]
POSITION
[Function]
AW
XVZWPR
XVZWPA
XVZWPA
XVZWPA
XVZWPA
XVZWPA
Specifies Cartesian coordinates in user coordinate system
[Description] Specifies the Cartesian coordinates in the user coordinate system. Up to five user coordinate
systems can be registered.
$MNUTOOLNUM[ 1 ]
BYTE
[Function]
AW
0
0 / 255
Specifies tool coordinate system number
[Description] Specifies the number of the tool coordinate system currently used.
0:
Mechanical interface coordinate system
1 to 5: Tool coordinate system
[Setting]
On the tool coordinate system setting screen [6 SYSTEM.Coordinate.Tool]
$MNUTOOL[ 1, 1 ]
XVZWPA
$MNUTOOL[ 1, 2 ]
XVZWPA
$MNUTOOL[ 1, 3 ]
XVZWPA
$MNUTOOL[ 1, 4]
XYZWPA
$MNUTOOL[ 1, 5 ]
XVZWPA
POSITION
[Function]
AW
XVZWPA
Specifies the Cartesian coordinates of tool coordinate system
[Description] Specify the Cartesian coordinates in the tool coordinate system. Five tool coordinate systems
can be registered.
$JOG_GAOUP[ 1 ]. $JOG_FAAME
POSITION
AW
XYZWPA
XVZWPA
[Function] Specifies the Cartesian coordinates of jog coordinate system
[Description] Specifies the Cartesian coordinates in the jog coordinate system.
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SYSTEM VARIABLES
B-80464E/01
Setting motors
$SCR_GRP[ 1 ]. $AXISORDER[ 1 ]
$SCR_GRP[ 1 ]. $AXISORDER[ 2]
2
$SCR_GRP[ 1 ]. $AXISORDER[ 3]
3
$SCR_GRP[ 1 ]. $AXISORDER[ 4]
4
$SCR_GRP[ 1 ]. $AXISORDER[ 5]
5
$SCR_GRP[ 1 ]. $AXISORDER[ 6]
6
$SCR_GRP[ 1 ]. $AXISORDER[ 7]
0
$SCR_GRP[ 1 ). $AXISORDER[ 8]
0
$SCR_GRP[ 1 ). $AXISORDER[ 9]
0
INTEGER
[Function)
RO
0-16
Specify axis order
[Description) Specifies the order of axes by assigning the physical number of a servo motor controlled by
the servo amplifier (servo register) to the logical number of a robot joint axis specified in software (Jx-axis). For instance, when $AXISORDER[1] = 2, servo motor 2 is assigned to the
J1-axis. When $AXISORDER[1] = O, no servo motor is assigned as the J1-axis.
$SCR_GRP[ 1 ]. $ROTARY_AXS[ 1]
$SCR_GRP[ 1 ]. $ROTARY_AXS[ 2]
$SCR_GRP[ 1 ). $ROTARY_AXS[ 3]
$SCR_GRP[ 1 ]. $ROTARY_AXS[ 4]
$SCR_GRP[ 1 ]. $ROTARY_AXS[ 5]
$SCR_GRP[ 1 ). $ROTARY_AXS[ 6]
$SCR_GRP[ 1 ]. $ROTARY_AXS[ 7]
$SCR_GRP[ 1]. $ROTARY_AXS[ 8]
$SCR_GRP[ 1 ). $ROTARY_AXS[ 9]
BOOLEAN
[Function]
RO
TRUE I FALSE
Specify axis type
[Description) Specifies whether joint axes of the robot are rotational or linear.
TRUE: Rotational
FALSE: Linear
$PARAM_GROUP[ 1 ]. $MOSIGN[ 1 ]
$PARAM_GROUP[ 1 ]. $MOSIGN[ 2]
$PARAM_GROUP[ 1 ). $MOSIGN[ 3]
$PARAM_GROUP[ 1 ). $MOSIGN[ 4]
$PARAM_GROUP[ 1 ]. $MOSIGN[ 5]
$PARAM_GROUP[ 1 ]. $MOSIGN[ 6]
$PARAM_GROUP[ 1 ). $MOSIGN[ 7]
$PARAM_GROUP[ 1 ]. $MOSIGN[ 8]
$PARAM_GROUP[ 1 ). $MOSIGN[ 9]
BOOLEAN
[Function]
RW
PU
TRUE I FALSE
Specify direction of rotation around axes
[Description] Specify whether the robot moves in the positive or negative direction when the motor rotates
positively for each axis.
TRUE: The robot moves in a positive direction when the motor rotates positively.
FALSE: The robot moves in a negative direction when the motor rotates positively.
$PARAM_GROUP[ 1 ]. $ENCSCALES[ 1 ]
$PARAM_GROUP[ 1 ). $ENCSCALES[ 2]
$PARAM_GROUP[ 1 ]. $ENCSCALES[ 3]
$PARAM_GROUP[ 1 ]. $ENCSCALES[ 4]
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SYSTEM VARIABLES
B-80464E/01
$PARAM_GROUP[ 1 ]. $ENCSCALES[ 5]
$PARAM_GROUP[ 1 ). $ENCSCALES[ 6]
$PARAM_GROUP[ 1 ). $ENCSCALES[ 7]
$PARAM_GROUP[ 1 ). $ENCSCALES[ 8]
$PARAM_GROUP[ 1 ). $ENCSCALES[ 9]
REAL
[Function)
RW
PU
-10000000000 - 10000000000 (pulse/deg, pulse/mm)
Specify unit of pulse coder count
[Description] Specify how many pulses are required for the pulse coder when the robot moves around a
joint axis one degree or the robot moves along a joint axis 1 mm.
Rotation axis: $ENCSCALES = 2E19 x deceleration ratio/360
$PARAM_GROUP[ 1 ]. $MOT_SPD_LIM[ 1]
$PARAM_GROUP[ 1 ). $MOT_SPD_LIM[ 2]
$PARAM_GROUP[ 1 ]. $MOT_SPD_LIM[ 3]
*
$PARAM_GROUP[ 1 ). $MOT_SPD_LIM[ 4]
$PARAM_GROUP[ 1 ). $MOT_SPD_LIM[ 5]
$PARAM_GROUP[ 1 ). $MOT_SPD_LIM[ 6]
$PARAM_GROUP[ 1 ). $MOT_SPD_LIM[ 7]
$PARAM_GROUP[ 1 ]. $MOT_SPD_LIM[ 8]
$PARAM_GROUP[ 1 ). $MOT_SPD_LIM[ 9]
REAL
[Function]
RW
PU
0 - 100000 (rpm)
Specify maximum motor speed
[Description] Specifies the maximum speed of each servo motor for the robot for each axis. When the robot
moves around or along a certain axis at a speed exceeding the maximum speed, a warning
is issued. Then, the robot decelerates and moves at a speed not exceeding the maximum
speed. In this case, the robot may not trace the specified path.
Override
$SHIFTOV_ENB
TRUE
BOOLEAN
[Function]
RW
TRUE I FALSE
Enables or disables shift override
[Description] The shift override function changes the feedrate override in five steps. To change the feedrate
override, press and hold down the SHIFT key, then press the override key as many times as
necessary to select the desired override.
TRUE: Enables shift override.
FALSE: Disables shift override.
Press and hold down the SHIFT key, then press the override key: The feedrate override changes
in the order: VFINE ~ FINE~ 5% ~ 50% ~ 100%.
$MGR. $GENOVERRIDE
10
RW
INTEGER
[Function)
0 - 100 ( % )
Specifies the rate of change in feedrate override
[Description] Specifies the rate of changes in the robot feedrate in percentage.
The feedrate changes in this order:
FINE ~ VFINE ~ 0% ~ 50% ~ 100%. From 0% to 100% it changes in 5% increments.
Use the override keys on the teach pendant.
[Setting)
$MCR. $PROGOVERRIDE
INTEGER
[Function)
100
RW
0-100(%)
Specifies program override
[Description] Specifies the percentage of the robot feedrate while the program is being played back.
$SCR_GRP. $JOGLIM
INTEGER
[Function)
12
RO
0 -100%
Maximum speed scale for coordinate jogging
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SYSTEM VARIABLES
[Description] Percentage of the maximum speed when jogging the robot in the x, y, or z directions using
xvz or TOOL frame. The maximum speed at linear motion is specified in $PA·
RAM_GROUP[group].$SPEEDLIM.
$SCR. $JOGLIMROT
INTEGER
[Function]
12
RO
0 -100%
Maximum speed scale for orientation jogging
[Description] Percentage of the maximum speed when jogging the robot aboutthe x, y, or z axes using XYZ
or TOOL frame. The maximum speed at orientation motion is specified in $PARAM_GROUP[group].$ROTSPEEDLIM.
$SCR_GRP[ 1 ]. $JOGLIM_JNT[ 1 I
$SCR_GRP[ 1 ). $JOGLIM_JNT[ 2]
$SCR_GRP[ 1 ]. $JOGLIM_JNT[ 3 I
$SCR_GRP[ 1 ). $JOGLIM_JNT[ 4 I
$SCR_GRP[ 1 ]. $JOGLIM_JNT[ 5 I
$SCR_GRP[ 1 ]. $JOGLIM_JNT[ 6 I
$SCR_GRP[ 1 ]. $JOGLIM_JNT[ 7 I
$SCR_GRP[ 1 ]. $JOGLIM_JNT[ 8]
$SCR_GRP[ 1 ]. $JOGLIM_JNT[ 9 I
RO 0-100 (%)
INTEGER
[Function]
Specify joint jog override
[Description] The joint jog override function specifies the percentage of the robotfeedrate for each axis during jog feed. Specify a low jog override because it is generally unnecessary to move the robot
at high speed, and because it is always prudent to avoid danger.
$SCR.$COLDOVRD
INTEGER
10
RO
0-100(%)
[Function] Specifies maximum feedrate override after a cold start
· [Description] The feedrate override is set to this value after a cold start.
$SCR. $COORDOVRD
INTEGER
[Function]
10
RO
0-100 (%)
Specifies maximum feedrate override when the manual-feed coordinate system is changed
[Description] The feedrate override is set to this value or less when the manual-feed coordinate system
is changed.
$SCR. $TPENBLEOVRD
INTEGER
10
RO
0-100(%)
[Function] Specifies the maximum feedrate override when the teach pendant is enabled
[Description) The feedrate override is set to this value when the teach pendant is enabled.
$SCR. $JOGOVLIM
INTEGER
[Function)
100
RO
0-100(%)
Specifies the maximum feedrate override during jog feed
[Description] The feedrate override is set to this value or less during jog feed.
$SCR. $RUNOVLIM
50
INTEGER
[Function]
RO 0-100(%)
Specifies the maximum feedrate override when the program is executed
[Description] The feedrate override is set to this value or less when the program is executed.
Feedrate
$PARAM_GROUP[ 1 ]. $JNTVELLIM[ 1 I
$PARAM_GROUP[ 1 ). $JNTVELLIM[ 2 I
$PARAM_GROUP[ 1 ). $JNTVELLIM[ 3]
$PARAM_GROUP[ 1 ]. $JNTVELLIM[ 4 I
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SYSTEM VARIABLES
B-80464E/01
$PARAM_GROUP[ 1 ]. $JNTVELLIM[ 5]
$PARAM_GROUP[ 1 ]. $JNTVELLIM[ 6]
$PARAM_GROUP[ 1 ]. $JNTVELLIM[ 7]
$PARAM_GROUP[ 1 ]. $JNTVELLIM[ 8]
$PARAM_GROUP[ 1 ]. $JNTVELLIM[ 9]
REAL
[Function]
RW
O - 100000 ( deg/sec, mm/sec )
PU
Specify the maximum joint speed
[Description] Specify the maximum joint speed for each axis. When the robot moves around or along a car·
tain axis at a speed exceeding the maximum joint speed, a warning is issued. Then, the robot
decelerates and moves at a speed not exceeding the maximum joint speed.
$PARAM_GROUP[ 1 ]. $SPEEDLIM
REAL
[Function]
RW
2000
PU
0 - 3000 ( mm/sec)
Specifies the maximum linear feedrate
(Description] Specifies the maximum feedrate during linear or circular motion under path control.
$PARAM_GROUP[ 1 ]. $ROTSPEEDLIM
REAL
[Function]
RW
PU
90
0 - 1440 ( deg/sec )
Specifies the maximum circular feedrate
[Description] Specifies the maximum feedrate during circular motion under attitude control.
Jog feedrate Qoint feed) =
x
Maximum joint speed
Joint jog override
Feedrate override
100
100
Jog override
Feedrate override
100
100
Jog feedrate (linear feed) ( mm/sec ) =
Maximum linear feedrate
x
Joint jog override
$SCR_GRP. $JOGLIM_JNT [ i] ( o/o)
Jog override
$SCR . $JOGLIM ( o/o)
Maximum joint speed
$PARAM_GROUP. $JNTVELLIM
Maximum linear feedrate
$PARAM_GROUP. $SPEEDLIM (mm/sec)
Operation speed Qoint motion) =
Maximum joint speed
x
Coefficient of joint speed
200
x
Programmed override
~"""""-~~~~~"""
100
Programmed speed
100
Feedrate override
100
Operation speed ( linear motion ) ( mm/sec ) =
Programmed override
Programmed speed
x
100
Feedrate override
Operation speed ( circular motion ) ( deg/sec ) =
Programmed override
Programmed speed
x
100
Feedrate override
Programmed override
$MCR_GRP . $PROGOVERRIDE ( o/o)
Coefficient of joint speed
$PARAM_GROUP. $SPEEDLIMJNT
$PARAM_GROUP[ 1]. $LOWERLIMS[ 1]
$PARAM_GROUP[ 1 ]. $LOWERLIMS[ 2 J
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100
100
B-80464E/01
SYSTEM VARIABLES
$PARAM_GROUP[ 1 ). $LOWERLIMS[ 3 ]
$PARAM_GROUP[ 1 ). $LOWERLIMS[ 4]
$PARAM_GROUP[ 1 ). $LOWERLIMS[ 5]
$PARAM_GROUP[ 1 ]. $LOWERLIMS[ 6]
$PARAM_GR~UP[
1 ]. $LOWERLIMS[ 7]
$PARAM_GROUP[ 1 ]. $LOWERLIMS[ 8]
$PARAM_GROUP[ 1 ]. $LOWERLIMS[ 9]
REAL
RW PU -100000 - 100000 (deg, mm )
[Function]
Specify the lower limit of the joint operating area
[Dascription] Specify the lower limit of the joint operating area which is the limit of the motion in the negative
direction.
[Setting)
Joint operating area screen [6 (SETTING).Joint Area]
$PARAM_GROUP[ 1 ]. $UPPERLIMS[ 1 ]
$PARAM_GROUP[ 1 ). $UPPERLIMS[ 2]
$PARAM_GROUP[ 1 ]. $UPPERLIMS[3]
$PARAM_GROUP[ 1 ). $UPPERLIMS[ 4]
$PARAM_GROUP[ 1 ]. $UPPERLIMS[ 5]
$PARAM_GROUP( 1 ). $UPPERLIMS[ 6]
$PARAM_GROUP[ 1 ). $UP PE RUMS[ 7 ]
$PARAM_GROUP( 1 ). $UPPERLIMS[ 8]
$PARAM_GROUP[ 1 ]. $UPPERLIMS[ 9]
REAL
(Function]
RW
PU
-100000 - 100000 (deg, mm)
Specify the upper limit of the joint operating area
[Description) Specify the upper limit of the joint operating area, which is the limit of the motion in the positive
direction.
Joint operating area screen (6 (SETTING).Joint Area]
(Setting]
$PARAM_GROUP[ 1 ). $STOPTOL[ 1 ]
$PARAM_GROUP[ 1 ). $STOPTOL[ 2]
$PARAM_GROUP[ 1 ]. $STOPTOL[ 3]
$PARAM_GROUP[ 1 ). $STOPTOL[ 4]
$PARAM_GROUP[ 1 ). $STOPTOL[ 5]
$PARAM_GROUP[ 1 ). $STOPTOL[ 6]
$PARAM_GROUP[ 1 ). $STOPTOL( 7]
$PARAM_GROUP[ 1 ]. $STOPTOL[ 8]
$PARAM_GROUP[ 1 ). $STOPTOL[ 9]
INTEGER
[Function]
RW
PU
0 - 100000000 ( pulse)
Specify the effective position range
[Description] Specify the effective position range to which the robot moves for each axis. There is always
a little difference between the value specified for the motion instruction in the program and
the actual value. When the difference is within this range, the system assumes that the robot
has completed moving to the specified position.
$PARAM_GROUP[ 1 ]. $1NPOS_TIME[ 1]
5000
$PARAM_GROUP[ 1 ]. $1NPOS_TIME[ 2]
5000
$PARAM_GROUP[ 1 ]. $1NPOS_TIME[ 3]
5000
$PARAM..:.GROUP[ 1 ). $1NPOS_TIME[ 4]
5000
$PARAM_GROUP[ 1 ). $1NPOS_TIME[ 5]
5000
$PARAM_GROUP[ 1 ). $1NPOS_TIME[ 6]
5000
$PARAM_GROUP[ 1 ]. $1NPOS_TIME[ 7]
5000
$PARAM_GROUP[ 1 ). $1NPOS_TIME[ 8]
5000
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SYSTEM VARIABLES
B-80464E/01
$PARAM_GROUP[ 1 ]. $1NPOS_TIME[ 9]
LONG
[Function]
RW
5000
PU 0 - 100000 ( msec)
Specify the effective range monitoring time
[Description] Specify the wait time from when the motion instruction in the program is issued until the robot
actually completes moving to the position corresponding to the specified coordinates. If the
robot does not move to the specified position in the effective range within this time, an alarm
is issued and the robot stops.
$PARAM_GROUP[ 1 ]. $MOVER_OFFSET[ 1 ]
*
$PARAM_GROUP[ 1 ]. $MOVER_OFFSET[ 2]
$PARAM_GROUP[ 1 ]. $MOVER_OFFSET[ 3]
*
$PARAM_GROUP[ 1 ]. $MOVER_OFFSET[ 4]
*
$PARAM_GROUP[ 1 ]. $MOVER_OFFSET[ 5]
$PARAM_GROUP[ 1 ). $MOVER_OFFSET[ 6]
*
$PARAM_GROUP[ 1 ]. $MOVER_OFFSET[ 7]
$PARAM_GROUP[ 1 ]. $MOVER_OFFSET[ 8]
*
$PARAM_GROUP[ 1 ]. $MOVER_OFFSET[ 9]
*
INTEGER
[Function]
RW
PU
0 - 100000000 ( pulse )
Specify the allowance for positional error while the robot moves
[Description) Specify the positional error allowance while the robot moves to the specified position for each
axis. When this allowance (difference between the value specified for the motion instruction
in the program and the actual value) is exceeded, an alarm is issued and the robot stops.
For example, if robot can not move with the specified speed, above difference may be appear.
$PARAM_GROUP[ 1 ). $STOPERLIM[ 1 ]
$PARAM_GROUP[ 1 ). $STOPERLIM[ 2]
$PARAM_GROUP[ 1 ). $STOPERLIM[ 3]
$PARAM_GROUP[ 1 ]. $STOPERLIM[ 4]
$PARAM_GROUP[ 1 ]. $STOPERLIM[ 5]
$PARAM_GROUP[ 1 ]. $STOPERLIM[ 6]
$PARAM_GROUP[ 1 ]. $STOPERLIM[ 7]
$PARAM_GROUP[ 1 ]. $STOPERLIM[ 8]
$PARAM_GROUP[ 1 ). $STOPERLIM[ 9]
INTEGER
[Function]
RW
PU
0 - 100000000 ( pulse )
Specify the allowable range of the robot stop position
[Description] Specify the allowable range of the position at which the robot stops for each axis. When this
range (difference between the stop position specified for the motion instruction in the program
and the actual stop position) is exceeded, an alarm occurs and the robot stops.
When the robot is moved around or along a certain axis by an external force while it is
stopped, the difference between the coordinates of the specified stop position and the coordi·
nates of the actual stop position may be appear.
Acceleratlon/deceleratlon time constant
$PARAM_GROUP[ 1 ). $ACCEL_TIME1[ 1]
$PARAM_GROUP[ 1 ). $ACCEL_TIME1[ 2]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME1[ 3]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME1[ 4]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME1[ 5]
$PARAM_GROUP[ 1 ). $ACCEL_TIME1[ 6]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME1[ 7]
$PARAM_GROUP[ 1 ). $ACCEL_TIME1[ 8]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME1[ 9]
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SYSTEM VARIABLES
SHORT
[Function]
RW
PU
O - 100000 ( msec)
Specify the 1st acceleration/deceleration time constant for joint motion
[Description] Specify the 1st acceleration/deceleration time constant for joint motion for each axis.
$PARAM_GROUP[ 1 ]. $ACCEL_TIME2[ 1]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME2[ 2]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME2[ 3]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME2[ 4]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME2[ 5]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME2[ 6]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME2[ 7]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME2[ 8]
$PARAM_GROUP[ 1 ]. $ACCEL_TIME2[ 9]
SHORT
[Function]
RW
PU
O- 100000 ( msec)
Specify the 2nd acceleration/deceleration time constant for joint motion.
[Description] Specify the 2nd acceleration/deceleration time constant for joint motion for each axis.
Linear acceleratlon/deceleratlon time constant
$PARAM_GROUP[ 1]. $CART_ACCEL1
SHORT
[Function]
RW
PU
O - 10000 ( msec )
Specifies the 1st linear acceleration/deceleration time constant
[Description] Specifies the 1st acceleration/deceleration time constant for linear motion.
$PARAM_GROUP[ 1]. $CART_ACCEL2
SHORT
[Function]
RW
PU
o- 10000 ( msec)
Specifies the 2nd linear acceleration/deceleration time constant
[Description] Specifies the 2nd acceleration/deceleration time constant for linear motion.
Exponential acceleratlon/deceleratlon time constant
$PARAM_GROUP[ 1 ]. $EXP_ENBL
BOOLEAN
[Function]
RW
PU TRUE I FALSE
Specifies use of an exponential acceleration/deceleration time constant
[Description] Specifies the use of the exponential acceleration/deceleration time constant.
$PARAM_GROUP[ 1 ]. $EXP_ACCEL[ 1 ]
$PARAM_GROUP[ 1 ]. $EXP_ACCEL[ 2]
$PARAM_GROUP[ 1 ]. $EXP_ACCEL[ 3]
$PARAM_GROUP[ 1 ]. $EXP_ACCEL[ 4]
$PARAM_GROUP[ 1 ]. $EXP_ACCEL[ 5]
$PARAM_GROUP[ 1]. $EXP_ACCEL[ 6]
$PARAM_GROUP[ 1 ]. $EXP_ACCEL[ 7]
$PARAM_GROUP[ 1 ]. $EXP_ACCEL[ 8]
$PARAM_GROUP[ 1 ]. $EXP_ACCEL[ 9)
SHORT
[Function]
RW
PU
O - 32767 ( msec )
Specifies the exponential acceleration/deceleration time constant
[Description] Specify the exponential acceleration/deceleration time constant for each axis. Shortest time
control
$PARAM_GROUP[ 1 ] • $MIN_ACCTIME
INTEGER
[Function)
RW
*
0 -10000 msec
Minimum acceleration time
[Description] When the calculated time for acceleration is less than this value in cases of acceleration option function or Mincycle control is used, this value is used for acceleration time instead of
calculated one.
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SYSTEM VARIABLES
B-80464E/01
TRUE
$GROUP[ 1 ]. $USEMAXACCEL
BOOLEAN
TRUE I FALSE
RW
Specifies use of the maximum acceleration/deceleration time constant
[Function]
[Description] Specifies that the maximum joint acceleration/deceleration time constant calculated under
Mincycle control is used instead of the maximum joint acceleration/deceleration time
constant.
*
$GROUP[1].$USE_CARTACC
BOOLEAN
RW
TRUE I FALSE
Enable/disable Mincycle control for linear motion
[Function)
[Description] Mincycle control is used to improve cartesian cycle time.
$PARAM_GROUP[ 1 ). $SERVO_CTRL
BOOLEAN
[Function]
RW
PU
0
0/ 1
Enable/disable Load torque data function
[Description]This function increases the feedrate.
$GROUP[ 1 ]. $CNSTNT_PATH
BOOLEAN
[Function]
RW
FALSE
TRUE I FALSE
Enables same (constant) path function
[Description) When this function is enabled the same path is used regardless of the feedrate override.
Program to be automatically started when the power Is turned on
$POWER_NORMAL
CHAR
[Function)
uninit
RW
Behar
Specifies the program to be automatically started when the power is turned on
[Description) Specifies the program to be automatically started at power on when the power failure processing is disabled. If no program is specified, no program is automatically started.
NOTE
If the number of registers is increased, the size of the memory area available for system use is
decreased.
Executing a program
$SCR. $PRE_EXE_ENB
BOOLEAN
[Function]
TRUE
RO
TRUE I FALSE
Enables or disables sequential execution
[Description] Enables or disables execution of the instructions immediately after the instruction in the current program line to shorten program execution time.
$WAITIMOUT
3000
INTEGER
[Function]
RW
0-100000 ( msec)
Specifies the standard wait time
[Description) Specifies the standard time to wait according to the conditional wait instruction.
$DEFPULSE
4
SHORT
[Function]
RW
0 - 10000 ( 100 msec )
Specifies the standard DO output pulse width
[Description)This value is used when the pulse width is not specified for the output of a DO signal pulse.
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SYSTEM VARIABLES
B-80464E/01
Teaching a position
$.JPOSREC_ENB
BOOLEAN
FALSE
RW
TRUE I FALSE
[Function] Specifies whether joint coordinates or cartesian coordinates are used for position data
[Description] Specifies whether position data is recorded with joint coordinates or cartesian coordinates
when the position data is taught.
FALSE: Position data is recorded with cartesian coordinates when the position data is taught.
TRUE: Position data is recorded with joint coordinates when the position data is taught.
Using a mode
$GROUP[ 1 ]. $USE_CONFIG
BOOLEAN
[Function]
RW
TRUE
TRUE I FALSE
Specifies whether the wrist form is used
[Description) Specifies whether the robot moves according to the wrist form specified in position data on
the target point when the robot moves along or around an axis to the target point specified
with Cartesian coo rdinates. The wrist form cannot be changed during linear or circular motion.
TRUE: The wrist form specified for position data on the target point is used. When the wrist form
at the start point is different from that at thetarget point, an alarm is issued, then the robot
stops.
FALSE: The robot moves using the wrist form specified for position data of the start point.
$GROUP[ 1 ). $USE_TURNS
BOOLEAN
[Function]
RW
TRUE
TRUE I FALSE
Specifies whether the rotation speed is used
[Description) Specifies whether the robot moves according to the rotation speed specified for position data
of the target point when the robot moves by a joint motion to the target point specified with
Cartesian coordinates . FALSE is always specified during linear or circular motion.
TRUE: The rotation speed specified for position data on the target point is used.
FALSE: The rotation speed for the target point is not used and the rotation speed enabling the
smoothest rotation is automatically used when the robot moves 180° or more around the
swiveling axis.
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SYSTEM VARIABLES
B-80464E/01
Automatic operation
0
$RMT MASTER
RW
INTEGER
[Function]
0-3
Specifies which remote unit is used
[Description] Specifies which remote unit is used. The specified remote unit has the right to start the robot.
O:
Peripheral unit (remote controller)
1: CRT/keyboard
2:
Host computer
3:
No remote unit
FALSE
$SHELL_CFG. $CONT_ONLY
BOOLEAN
[Function]
RW
TRUE I FALSE
Disables a new job from being started
[Description] The following procedure is performed when START signal goes high at remote control.
FALSE: The program selected on the teach pendant is executed from the line number pointed
to by the cursor. When a program is halted, it is resumed.
TRUE: A program is resumed. The program which is not halted cannot be started.
$SHELL_CFG.$USE_ABORT
BOOLEAN
[Function]
FALSE
RW
TRUE I FALSE
Specifies whether the program being executed is terminated forcibly when the RESET signal
goes high.
[Description] Specifies whether the program being executed is terminated forcibly when the RESET signal
goes high during automatic operation.
FALSE: The program being executed is not terminated forcibly.
TRUE: The program being executed is terminated forcibly.
$SHELL_CFG.$NUM_RSR[1]
SHORT
[Function]
RW
0
0/1
Collation function at PNS execution
[Description] Alarm is issued if the currently selected program is different from the program which is selected by PNS function when the program is executed using PNS function.
O:Collation function is disabled
1: Collation function is enabled
E-STOP Recovery
$SCR. $KEPT_MIRLIM
INTEGER
[Function]
1
RW
1- 8
Number of motion which can be resumed
[Description] Specify the number of motion which can be resumed. If you want to resume motion completely after E-STOP, you should set 5.
User-defined word Input function
$PGINP_WORD[ 1 ]
program
$PGINP_WORD[ 2]
test
$PGINP_WORD[ 3]
sub
$PGINP_WORD[ 4]
test
$PGINP_WORD[ 5]
CHAR
[Function]
RW
7char
User-defined words are assigned to these variables
[Description] Specifies reserved words that can be used to name a program to be registered. The system
variables correspond to the F1 to F5 function keys.
NOTE
Left-justify a word when specifying it.
Deleting the warning history
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SYSTEM VARIABLES
B-80464E/01
(Description] Specify move distance for FINE override of coordinate jogging. In the case of VFINE override,
move distance is 10% of this value.
10
$SCR. $FINE_PCNT
INTEGER
[Function]
RO
1 -100 %
Move distance for joint or orientation step jogging
[Description] Specify move distance for FINE override of joint or orientation jogging. In the case of VFINE
override, move distance is 10% of this value.
1/0 setting
$10LNK[ 16] . $RACK
INTEGER
[Function]
*
RW
Unknown 1/0 device setting
(Description] If you use non standard 1/0 device (ex. 90-30 PLC, 1/0 link adapter, JEMA PC), you must set
this variable for the device as follows. You can use 16 unknown device. Set this variable with
the following $10LNK[i].$SLOT, IOLNK[i].$1NPUT_N and IOLNK[i].$0UTPUT_N.
*
$10LNK[ 16 ] . $SLOT
INTEGER
(Function]
RW
Unknown 1/0 device slot number
$10LNK[ 16 ] . $1NPUT_N
INTEGER
[Function]
*
RW
Unknown 1/0 device input signal number
*
$10LNK[ 16]. $0UTPUT_N
INTEGER
(Function]
RW
Unknown 1/0 device output signal number
*
$0PWORK. $UOP_DISABLE
BYTE
(Function]
RW
0/1
Enable/disable UOP 1/0
[Description] If you want to move robot without setup UOP 1/0, you must disable UOP 1/0. In this case, you
can use this variable. Please note that after you setup UOP 1/0, you must set this variable
to 0. If not, UOP 1/0 is ignored.
$SCR . $RESETINVERT
BOOLEAN
[Function]
FALSE
RW
TRUE I FALSE
FAULT_RESET input signal detection.
[Description] When you set this value to "TRUE", an error is reset by rising edge of FAULT_RESET input
signal. If "FALSE" is set, an error is reset by falling edge is detected.
TRUE: Check rising edge of reset input signal.
FALSE: Check falling edge of reset input signal.
$PARAM_GROUP.$PPABN_ENBL
BOOLEAN
[Function]
RW
FALSE
TRUE I FALSE
Enable/disable pressure abnormal *PPABN input
[Description] Specifies if pressure abnormal signal is detected or not. If you want to use *PPABN input, you
should set this variable to TRUE.
TRUE: Enable
FALSE: Disable
$PARAM_GROUP. $BELT_ENBLE
BOOLEAN
[Function]
RW
FALSE
TRUE I FALSE
Enable/disable belt broken detection
[Description] If you want to detect belt broken input (Rl[7]), you should set this variable to TRUE. A51 Oand
L1000 use this signal, then this variable is set to TRUE automatically.
TRUE: Enable
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B-80464E/01
SYSTEM VARIABLES
FALSE: Disable
Default logic Instruction
$DEFLOGIC[ I] • $FUNC_TITLE
CHAR
[Function]
*
RW
Name of function keys
[Description] Specifies the title of function keys used at teaching default logic instruction. If you do not set
this variable, default logic key does not work.
$DEFLOGIC[1].$FUNC_TITLE is displayed to F2.
$DEFLOGIC[2].$FUNC_TITLE is displayed to F3.
$DEFLOGIC[3].$FUNC_TITLE is displayed to F4.
$DEFLOGIC[ I ] • $TOTAL_NUM
UBYTE
[Function]
RW
0
0-4
Number of default logic menu
[Description] The number of default logic per one function key can be set to this variable (0 to 4). You can
define default logics for every function key up to this value.
Pulsecoder reset
$MCR • $SPC_RESET
FALSE
BOOLEAN
[Function]
RW
TRUE I FALSE
Resets serial pulsecoder
[Description] If "SRV0-038 Pulse mismatch", "SRV0-062 BZAL alarm" or "SRV0-063 RCAL alarm"
alarm occurs, it is needed to set this variable to TRUE once, and COLD start. Note that when
these alarms occur, you have to master the robot again after reset this alarm.
ASCII save function
$ASCII SAVE
FALSE
BOOLEAN
[Function]
RW
TRUE I FALSE
save program with ASCII/BINARY format
[Description] Specify ASCII/BINARY format to save program to floppy.
TRUE: Save program with ASCII format
FALSE: Save program with BINARY format
To load the programs which are saved in ASCII format, another option is needed.
Data transfer function
$COMP_IF[ 1 ]
TRUE
BOOLEAN
[Function]
RW
TRUE I FALSE
Enable/disable notification of alarms other than communication alarm.
[Description] Specify if a robot alarm is transferred to host or not in data transfer function. In the default setting, this variable is TRUE. If you use a system including data transfer function with no host
connected, you should set this variable to FALSE.
Software version
$VERSION
*
CHAR
[Function]
RW
Software version
[Description] The version of software which is installed in the controller.
Acceleration override Instruction
$ACC_MAXLMT
500
ULONG
[Function]
RW
0 - 500
Upper limit of acceleration/deceleration override value
[Description] Specifies the upper limit of override value which is used with acceleration override motion option. (See Section 3.1 O,"System config menu)
$ACC_MINLMT
0
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SYSTEM VARIABLES
B-80464E/01
ULONG
[Function]
RW
0 - 500
Lower limit of acceleration/deceleration override value
[Description] Specifies the lower limit of override value which is used with acceleration override motion option. (See Section 3.10,"System config menu)
Backward execution
$BWD ABORT
FALSE
BOOLEAN
[Function]
RW
TRUE I FALSE
Program end in backward execution
[Description] If this variable is set to TRUE, when the first line of the program is finished to be executed
during the backward execution, this program ends. However, for the program which is called
by another program, when the first line is executed in backward execution, this program
pauses and the cursor stays at that line.
When this variable is set to FALSE, the first line of the program is executed in backward
execution, this program pauses. (See Section 6.3.2, "Step test")
Calling a selected program
$DEFPROG_ENB
BOOLEAN
TRUE
RW
TRUE I FALSE
[Description] Specify whether to select the program which was selected at power down after turning on the
power in cold start or not. (See Section 3.10, "System config menu")
TRUE: Selects the program which was selected at power down after turning on the pow
er.
FALSE: There is no program being selected after turning on the power.
Execution macro Instructions
$MACRTPDSBEX
BOOLEAN
[Function]
FALSE
RW
TRUE I FALSE
Macro command execution condition
[Description] Specifies whether a macro instruction that does not possess a motion group can be executed
or not from an MF or SU even when the teach pendant is disabled.
TRUE: A program can be executed even when the teach pendant is disabled.
FALSE: A program can be executed only when the teach pendant is enabled.
$MACRUOPENBL • $UOP_HOLD
FALSE Ul[1]
$MACRUOPENBL.$UOP_RESET
FALSE Ul[2]
$MACRUOPENBL.$UOP_START
FALSE Ul[3]
$MACRUOPENBL.$UOP_ENBL
FALSE U1[4]
$MACRUOPENBL.$UOP_RSR1
FALSE Ul[5]
$MACRUOPENBL.$UOP_RSR2
FALSE Ul[6]
$MACRUOPENBL • $UOP_RSR3
FALSE U1[7]
$MACRUOPENBL.$UOP_RSR4
FALSE Ul[S]
BOOLEAN
[Function]
RO
TRUE I FALSE
Settings which enable the device UI to be assigned to macro.
[Description] To assign the macro to UI, you need set $MACROUOPENBL beforehand. Set the value of
signal name you want to assign to TRUE. (See Section 9.1.2, "Execution macro instructions")
NOTE
UI has a special function since it is specialized signal. You must note no to affect the system.
Parameter Instruction
$PARAM_MENU[ 1 ]
DEFPULSE
$PARAM_MENU[ 2]
WAITTMOUT
$PARAM_MENU[ 3 ]
RCVTMOUT
$PARAM_MENU[ 4]
$PARAM_MENU[ 21 ]
-481 -
SYSTEM VARIABLES
B-80464E/01
STRING RW
'
[Description] To specify the system variable at teaching parameter instruction, you can select the system
variable from the submenu displayed by pressing F4,CHOICE. Selecting items which is displayed in the submenu are specified. (See Section 4.13.5, "Parameter instruction•i
Halt alarm function
$SCR.$BRKHOLD_ENB
BOOLEAN
FALSE
RW
TRUE I FALSE
[Description] Halt alarm function issues the alarm and turns off the servo amplifier power when the HOLD
key is pressed.
FALSE: Does not issue the alarm when the HOLD key is pressed.
TRUE: Issues the alarm and turns off the servo amplifier power when the HOLD key is pressed.
TP start prohibition
$SCR.$FWDENBLOVRD
INTEGER
10
RW
1 -100
[Description] If the override is larger than the setting of $SCR.$FWDENBLOVRD when releasing the TP
start prohibition mode, the override is decreased to this setting. (See Section 5.3.6, "TP start
prohibition")
Automatic operation
$SHELL_CFG.$JOB_BASE
INTEGER
[Function]
RW
0
1 - 9999
Base number
[Description) The base number which is used by the program number selection (PNS) function is set to this
variable.
$SHELL_CFG.$NUM_RSR[1]
SHORT
RW
0
0 - 9999
[Description] A program is selected or collated according to the PNS input value. The current line of the
selected or collated program is set to 1. (See Section 6.6.1, "Automatic operation with program number selection (PNS>"i
O:The program which is specified by PNS input is selected.
1:The program which is specified by PNS input and the currently selected program are
collated. If they matches, the program is executed. When they do not match, error which
prohibits the program to be started occurs.
Servo parameter screen
$SVPRM_ENB
0
ULONG
[Fur:iction]
RW
0/1
Display of a servo parameter screen
[Description] Specifies whether a servo parameter screen is displayed ornot. (See Section A.1, "List of Menus")
O:The screen can be not displayed.
1:The screen can be displayed.
0
$SYNC_GAIN
INTEGER
RW
0 -100000
[Description) Specifies the rotational shift range, in which a warning alarm, "JOG-015 Horizontal fixture
position" is occurred, from actual horizontal fixture position.
Setting Range
1
0.06 degree
2
0. 18 degree
3
1.81 degree
4
5. 71 degree
-482-
SYSTEM VARIABLES
B-80464E/01
This warning alarm is occurred when the flange plane faces up or down and then orientation con. trol is enabled.
-483-
en
c:
"'tJ
"'tJ
r-
m
:s:
m
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-I
SU PL EM ENT
B-80464E/01
SUPPLEMENT
This part of this manual describes the manual brake release and servo alarm only for LR Mate
D Contents of this chapter
1 Manual brake release
2 Servo alarm
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SUPLEMENT
B-80464E/01
1 Manual Brake Release
Manual brake release is a function to release the brake which is applied to the robot being stopped using the
teach pendant. This function is generally used during maintenance.
The brake to stop the robot is provided to prevent the robofs arm from dropping when the activating current
to the motor is shut down due to brake control or an alarm. This function does not work with an axis which does
not have a brake installed.
The brakes are applied to all the axes in the same brake system simultaneously.
Manual brake release function release the brake being applied. And this function can be performed only when
the servo power is off at the controller.
Caution:
When the brake is released by manual brake release, robot arms come down.
Perform manual brake release on the manual brake release screen [6 SYSTEM, Brake Cntrl].
• The servo power must be off.
• Press the emergency stop button to turn off the servo power. Do not press the RESET key to keep the servo-power-off state. ( However, release the emergency stop button.)
Press MENUS key to display a screen menu.
2 Press "O -- NEXT --" and then select "6 SYSTEM".
3 Press F1, TYPE, to display the screen change menu.
4 Select "Brake Cntrl" on the screen change menu. The manual brake release screen appears.
~Rll~·~.~~.-~~~;,B.~RBRBB"~Ul~JI
GROUP:l
AXIS
1
SELECTED
NO
2
3
YES
YES
4
NO
NO
5
TYPE ]ENG-SEL REL-SEL
TYPE ] ENG-ALL REL-ALL
BRAKE STATE
~
RELEASED
RELEASED
ENGAGED
ENGAGED
YES
NO
>
>
5 Select "YES" for the axis to which the brake is to be released. manual brake release is enabled.
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SUPLEMENT
B-80464E/01
REL-SEL
YES
NO
>)
Caution:
When selecting ''YES" for one axis in a brake system, also select "YES" for all other axes in the brake
system.
6 Press the F3 key "REL-SEL" to release the brake to the selected axis. Press the F2 key "ENG-SEL" to
apply the brake.
l
[TYPE] ENG_SEL
REL_SEL
7 Press the F2 key "ENG-ALL" on the second page of the manual brake release screen to apply the brakes
to all axes. Press the F3 key "REL-ALL" on the second page to release the brakes to all axes. No brake
can be applied to an axis which does not have a brake installed.
l
[TYPE] ENG ALL
REL ALL
@]~
Caution:
When manual brake release is enabled (i.e. YES or REL_ALL is selected), the
servo power cannot be turned on.
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SUPLEMENT
B-80464E/01
2 Servo Alarm
This section describes characteristic servo alarms only for LR Mate and not for LR Mate 100.
SRVO Error Codes
SRV0-001 SERVO Operator panel E-stop
Cause:
Remedy:
The operator panel emergency stop push button is pressed.
Twist.the operator panel emergency stop push button clockwise to release. Press
reset.
SRV0-007 SERVO External emergency stops
Cause:
The external emergency stop push button is pressed.
Remedy:
If using external emergency stop, clear source of fault, and press reset. If not, check
wiring at EMGIN1, EMGIN2, and EMGINC on EMG Control pcb. Check for 100 VAC
input to the EMG Control pcb.
SRV0-012 SERVO Power failure recovery
Cause:
Normal power on (hot start).
Remedy:
This is not a problem.
SRV0-013 SYSTEM Srvo module config changed
Cause:
The configuration of digital servo modules has changed.
Remedy:
Re-configure system with new digital servo module changes. Cycle power.
SRV0-021 SERVO SRDY off (Group:%d Axis:%d)
Cause:
The axis control asserts *HRDY signal to servo amplifier, the servo amplifier asserts
*SRDY. If *SRDY can not be asserted and the servo amplifier can not determine the
problem, this alarm occurs.
Remedy:
Check the voltage at 1OOA and 1008, if this voltage is below 85V, determine the cause
and repair. Check the cables and connections between servo amplifier and axis control
pcb. Replace Servo Interface (SIF) module on axis control pcb. Replace the servo
amplifier.
SRV0-023 SERVO Stop error excess(G:%dA:%d)
Cause:
The servo error is too big when the the robot is stopping, or if the robot is stopped, and
.it will not move.
Remedy:
Is the robot loaded beyond specification? The torque necessary to decelerate a
overloaded motor may cause this alarm to occur. Check the three phase input to the
servo amplifier for voltage within specification; 170 - 253 VAC. Also, check for
balanced voltage between all three phases. Check the cables and connections
between servo amplifier and axis control pcb. Replace the Servo Interface (SIF) module
on axis control pcb. Replace the servo amplifier.
SRV0-042 SERV02 MCAL alarm(Group:%d Axis:%d)
Cause:
The servo amplifier magnetic contactor (MCC) is welded closed.
Remedy:
If this alarm occurs with a SRV0-049OHAL1, turn off the controller power for fifteen
seconds and turn on again. Check the cable between the servo amplifier and axis
control pcb. Replace the servo amplifier.
SRV0-043 SERV02 DCAL alarm(Group:%d Axis:%d)
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SUPLEMENT
B-80464E/01
Cause:
Remedy:
The regenerative energy produced by the motor, exceeded specification.
If a 4 is indicated on the servo amplifier LED, a DCSW condition exists. DCSW alarm
occurs when the regenerative transistor is on for one second or longer. To repair a
DCSW, replace the servo amp. If problem persists, the load of the robot may exceed
the specification. lfa 5 is indicated on the servo amplifier LED, a DCOH condition
exists. DCOH alarm occurs when the regenerative resistor overheats and is sensed by
the thermostat. The average regenerative energy is excessive, relax the operating
conditions. If using a separate regenerative discharge unit, check the wiring or replace.
SRV0-044 SERV02 HVAL alarm(Group:%d Axis:%d)
Cause:
Remedy:
The DC voltage on the main power circuit of the servo amplifier exceeded specification.
Check the three phase voltage to the servo amplifier input. It should not exceed 253
VAC phase-to-phase. If the load on the robot exceeds the specification, this alarm
could occur. If using a separate regenerative discharge unit, check the wiring or
replace. Replace the servo amplifier. For auxiliary axes, the operating condition {duty
cycle) may not be appropriate for the specification of the motor or amplifier. If the duty
cycle can not be reduced, select a larger motor or amplifier.
SRV0-045 SERV02 HCAL alarm(Group:%d Axis:%d)
Cause:
Remedy:
The current in the main power circuit of the servo amplifier exceeded specification ..
Disconnect the motor power wires from the servo amplifier and turn on power. If an
HCAL occurs, replace the transistor module or servo amplifier. Measure the resistance
between GND and U, V, W individually on the cable terminals. If shorted, determine if
the cable or motor is bad. Check the resistance between U-V, V-W, and W-U using
a measuring instrument sensitive enough to detect small resistances at the cable
terminations. If the resistances are not the same replace the servo amplifier. If the
resistances are different, determine if the cable or motor is bad. If the problem persists,
replace the SIF module on the axis control for the defective axis.
SRV0-047 SERV02 LVAL alarm(Group:%d Axis:%d)
Cause:
Remedy:
The DC voltage on the main power circuit of the servo amplifier is lower than the
specification even though MCC is on.
If a 2 is indicated on the servo amplifier LED, the 5 voe is 4.6 volts or less. Check input
power to the servo amplifier. It should be greater than 170 VAC phase-to-phase.
Replace the servo amplifier if the input power is correct. If a 3 is indicated on the servo
amplifier LED, the main power is too low. Check input power to the servo amplifier. It
should be greaterthan 170 VAC phase-to-phase. Replace the servo amplifier ifthe
input power is correct. Check to make the circuit breaker is not off. If a 7 is indicated on
the servo amplifier LED, MCC is welded closed.
SRV0-049 SERV02 OHALl alarm (Grp:%d Ax:%d)
Cause:
Remedy:
The servo amplifier overheated.
If the robot is overloaded or the duty cycle exceeds specification, this alarm occurs.
Check regenerative discharge transistor 01 . Check the thermostat on the servo
amplifier after the servo amplifier has cooled. It should not be open. If the problem
persists, replace the servo amplifier.
·
SRV0-061 SERV02 CKAL alarm(Group:%d Axis:%d)
Cause:
Remedy:
The clock for the rotation counter in the pulse coder is abnormal.
If this alarm occurs along with a SRV0-068 DTERR, SRV0-069 CRCERR, or
SRV0-070 STBERR, disregard this alarm and refer to the other three alarm remedies.
Replace the pulse coder or motor and master the robot.
SRV0-063 SERV02 RCAL alarm(Group:%d Axis:%d)
Cause:
The built-in rotation counter on the pulse coder is abnormal.
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B-80464E/01
SUPLEMENT
Remedy:
If this alarm occurs along with a SRV0-068 DTERR, SRV0-069 CRCERR, or
SRV0-070 STBERR, disregard this alarm and refer to the other three alarm remedies.
Replace the pulse coder or motor and master the robot.
SRV0-066 SERV02 CSAL alarm(Group:%d Axis:%d)
Cause:
Remedy:
The pulse coder ROM checksum data are abnormal.
If this alarm occurs along with a SRV0-068 DTERR, SRV0-069 CRCERR, or
SRV0-070 STBERR, disregard this alarm and refer to the other three alarm remedies.
Replace the pulse coder or motor and master the robot.
-490-
zc
m
x
INDEX
SYMBOL
$PWF_I0,92
$PWFENBD0,93
!(Remark),instruction,150
$PWR_HOT,93
[ ],Function key menu,20
$(SYSTEM VARIABLE NAME)
tion,150
= (value),instruc-
$PWR_NORMAL,92
$RMT_MASTER,47
$BWD_ABORf,228
$SCR
.$BRKHOLD ENB,49
.$FWDENBLOVRD,184
.$JOGLIM,164
.$JOGOVLIMT,164
.$RESETINVERf,49,93
.$RUNOVLIM,220
$DEFLOGIC,.$FUNC_TITLE,94
$SCR_GRP,.$JOGLIM_JNT,164
$DEFPROG_ENG,93
$SHELL CFG
.$CONT ONLY,56
.$JOB BAsE,57,238
.$NUM_RSR[l ],49,57
.$USE_ABORT,49,236
$ACC_MAXLMT,94
$ACC_MINLMT,94
$ASCII_SAVE,279
$BRKHOLD_ENB,214
$DEFPULSE,133,134
$DMR_GRP,.$MASTER_COUN,362,371
$ER NO ALM
.$ER CODEl to 10,216
.$NOALM NUM,216
.$NOALMENBLE,216
$SHFT OV_ENB,219
$UALM_MSG,149
$WAITTMOUT,93,142
$ER_NOHIS,215
$JOG_GROUP,.$JOGFRAME,77
A
$MACRTPDSBEXE,299
$MASTER_DONE,372
Abnormal air pressure input signal, *PPABN input,44
$MASTER_ENB,362
ABORT,function menu,21
$MCR_GRP,.$PROGOVERRIDE,220
Abort instruction, 148,351
$MNUFRAME,69
ACC instruction,Minimum of,94
$MNUFRAMENUM,69
Acceleration override instruction,119
system variable,480
$MNUTOOL,61
$MNUTOOLNUM,61
$0PWORK,.$UOP_DISABLE,47,93
$PARAM GROUP
.$ENCSCALE,362
.$JNTVELLIM,164
.$LOWERLIMS,86
.$PPABN ENBL,93
.$SPEEDLIM,164
.$SPEEDLIMJNT,220
.$SV OFF ALL,87
.$SV-OFF- ENB,87
.$SV=OFF=TIME,87
.$UPPERLIMS,86
$PGINP_ WORD,94
$PNS_END_ CUR,94
$POWERFL,92
Acceleration/deceleration override instruction,347
Acceleration/deceleration override instruction ,177
Acceleration/deceleration time constant,system variable,473
additional motion,instruction, 11
Additional motion instructions,118,345,347
Alarm,215
recovery,386
resetting,216
Alarm code,381
Alarm codes
APSH,445
CMND,447
COND,449
DICT,450
INTP,397
-491 -
Backward execution,228
program end in,228
system variable,481
JOG,412
LANG,453
MACR,439
MCTL,454
MEM0,440
MOlN,419
PALT,431
PRI0,455
PROG,434
ROUT,457
SCI0,459
SRV0,387
SYST,394
TPIF,414
BATALM, UO [ 3 ],50
Battery alarm output signal, BATALM, UO [ 3 ],50
Brake Control,87
Brake control,system variable,462
brake control function,Setting,88
Branch,instruction, 11
Branch Instructions,137
BUSY,LED,244
Alarm detail information,216
BUSYLED,19
Alarm history,215
Busy output signal, BUSY, UO [ 4 ],50
alarm history screen,screen menu,21
BUSY, UO [ 4 ],50
Alarm history/alarm detail information,displaying,383
c
Alarm output,system variable,478
Alarm severity,217,381,382
Alarms,recovery,385
Calling a selected program,system variable,481
Approach point,305
Cartesian coordinate system,59
checking,221
approach point,61
Cartesian coordinate system reference,112
APSH Error Codes,445
Argument i,104
Cartesian coordinates,110
displaying,251
Arithmetic palletizing register instructions,130
Cartesian jog,165
ASCII save,279
Changing a circular motion instruction,193
ASCII save function,system variable,480
Changing a control instruction,195
Assignment of a device,macro instruction,294
Changing a motion instruction,188,191
Attitude and Position,110
Changing a Program,186
Attribute of the program,Displaying,210
Autoexec program,system variable,475
Changing a standard motion instruction,174
Changing or deleting an supplementary motion instruction,194
Autoexec program for Cold start,system config
Changing position data,188
menu,92
Autoexec program for Hot start,system config menu,93 Changing position data information,190
Automatic Operation,Setting,55
Automatic operation,55,236
system variable,477,482
Changing program information,206,207
Checking a Cartesian coordinate system,221
Circular motion,108
Automatic operation (operation execution),12
Circular motion instruction,changing,193
Automatic operation with program number selection
(PNS),238
CMDENBL, UO [ 1 ],49
CMND Error Codes,447
Automatic start program,159
CNT,117
Axis, extended, 167
Cold start ,354,359
axis,extended,23
Column,311
B
BACK SPACE key,19
Command enable output signal, CMDENBL UO [ 1
],49
'
Comment,instruction, 11
Comment instruction,150,351
-492-
D
Communication,22
Communication port,setting,258
Complementary,36
COND Error Codes,449
Conditional branch instructions, 139,349
Conditional select instruction,141
Conditional wait instructions,142
Configurating Peripheral 1/0 1,51
Configurating Peripheral 1/0 2,53
Configuration,110
system variable,476
Configuration of 1/0,47
Configuration of Input/Output ;36
Configuration of the 1/0 Link,27
Configuring Digital 1/0,37
Configuring group 1/0,41
Configuring 1/0,29
Continuous test,230
Control instruction
changing,195
teaching, 180
Controlled start,356
Controlled start ,354
Controller,14
inside,15
Controller and Peripheral Equipment,15
COORD key,18
coordinate system,59
cartesian,59
jog,60
joint,59
mechanical,60
tool,60
user,60
world,60
Coordinate Systems,Setting,59
Coordinate systems,system variable,467
Copy.program edit instruction,196
Copying a program,206,209
Copying and pasting instructions,199
Current position,251
DATAkey,18
Data transfer function,system variable,480
Date file(* .VR, *.I0),270
Deadman Switch,7
deadman switch,16
Default logic file (* .DF),270
Default logic instruction,system variable,480
Default logical command,94
Delete, program edit instruction,196
Deleting a program,206,208
Deleting instructions,198
Detail Information,of program,100
Detail position data,112,113
Detect FAULT_RESET signal,system config menu,93
DI,132
DICT Error Codes,450
Digital 1/0,Configuring,37
Digital 1/0 ,34
Digital 1/0instructions,132
Digital 1/0 Interface,35
Digital/Analog 1/0,test execution,225
Direct List Method,70,77
Direct list method,62
Direct offset condition instruction,122
Direct position compensation instruction, 177
direct specification,104
Disable FWD/BWD,function menu,21
Disable UI signals,system config menu,93
Display of a program attribute,206
Display screen of the teach pendant,20
Displaying current position screen ,252
Displaying program execution history,255
Displaying register screen,246
Displaying system variable screen,253
Displaying the alarm history/alarm detail information,383
Displaying the Attribute of the Program,210
D0,132
Current position screen,displaying,252
E
current position screen,screen menu,21
cursor,19
cursor key,19
E-STOP Recovery,system variable,477
EDITkey,18
-493-
FINE,117,163
Floppy cassette adapter,263
Forced output,232
Forced termination,212
Forward execution,227
Emergency stop,213
Emergency stop and recovery,213
emergency stop button,16
Enable input signal, ENBL, UI [ 4 ],49
ENBL, UI [ 4 ],49
End effector input signals, Rll to RI 4,44
Four Point Method,70
FRAME instruction,146
Frame Origin,world,380
Frame setup instruction,350
Frame( =coordinate system),59
function (F) key,18
Function key menu,20
Function menu,20,21
ENIBR key,19
Entering a program name,170
Executing a macro instruction
using manual operation screen,299
using user keys,299
Executing a program,218
system variable,475
Executing macro instructions,298
Executing the Palletizing Function,323
Execution History ,254
Execution of macro command, using DI, RI and UI,302
Exponential acceleration/deceleration time
constant,system variable,474
Extended axes,167
extended axis,23
External memory unit ,262
External ON/OFF control,161
External override selection function,240
G
General-purpose 1/0 ,26
GI,136
G0,136
Group 1/0,40
group 1/0,Configuring,41
Group 1/0 instruction ,136
Group mask,101
H
F
Fast stop,212
FAULT,LED,244
FAULT LED,19
Fault output signal, FAULT, UO [ 2 ],50
Fault reset input signal, RESET, UI [ 2 ],49
FAULT, UO [ 2 ],50
FCTNkey,18
Feedrate,116
system variable,470
Feedrate override,163
Feedrate unit,347
feedrate unit,116
Fence,protective,4
File manipulation,277
file screen,screen menu,21
Files,269
Find,program edit instruction,196
Finding a program instruction item,201
Halt,212
Halt alarm function,96
system variable,482
Halt caused by a major alarms and recoveries,385
Halt instruction,148
Halt state,releasing,223
Hand breakage input signal, *HBK,44
Hands,13
Handy file,265
HBK,44
input signal,5
HOLD,LED,244
Hold and recovery,214
Hold input signals, *HOLD, UI [ 1 ],49
HOLD key,18,214
HOLDLED,19
HOLD, UI [ 1 ],49
Home(perch) position,157
HOT START,system config menu,92
-494-
HOT START done signal,system config menu,93
interface
of I/O Unint MODEL A,33
of process I/0 pcb,31
of robot I/0,43
HOT START done signal ,159
Internal memory circuit (memory),22
Hot start,159
Hot start ,354,360
Interruption disable,102
INTP Error Codes,397
INTRODUCTION,l
i (Argument),104
ITEMkey,19
I/O
Configuring,29
general-purpose,26
specialized,26
I/0 conditional compare instruction,139
I/0 conditional wait instruction,143
I/0 instruction,teaching,183
I/0 Instructions,132
I/0 instructions,348
I/Okey,18
I/O Link,27
configurarion of,27
I/0 modules,29
I/0 power fail recovery,system config screen,92
I/0 screen,screen menu,21
I/O setting,system variable,479
I/0 Unit MODEL A interface,33
I/0 Unit- MODEL A,32
ignore pause,102
J
JGFRM,79,81
Jig mastering,361,363
Jog
cartesian, 165
joint,165
tool,166
JOG Error Codes,412
Jog coordinate system,60
jog coordinate system,77
Setting,77
Jog feed,163
jog feed,moving the robot by,168
Jog feed of the robot,11
Jog feedrate,164
Jog Frame
Setting Up Using the direct List Method,79
Setting Up Using Three Point Method,78
Incremental instruction, 123,347
teaching,178
jogkey,18
Incremental instruction ,177
JOINT,LED,244
index,104
Joint coordinate system,59
Jogging,system variable,478
indirect specification, 104
Joint coordinates,113,251
Initial start,354
joint coordinates,113
Input/Output,Configuration of,36
Joint jog,165
Input/output,22
instruction, 11
JOINT LED,19
joint motion,107
input/output,Simulated,36
Joint Operating Area,86
Input/output signal,348
Joint placement,111
Input/Output Signals,26
Jump instruction,138
Insert, program edit instruction,196
K
Inserting blank lines,197
Instructions,list of,345
Interface
of Digital I/0,35
of peripheral 1/0,48
Keys on the teach pendant,18
Keys related to editing,19
Keys related to execution,18
-495-
Keys related to jog feed,18
Keys related to menus,18
L
Labe~349
Label instruction,137
LANG Error Codes,453
Layer,311
LEDs on the teach pendant,19,244
Line number,104
Linear acceleration/deceleration time constant,system,474
linear motion,107
List of menus,332
List of program Instructions,345
Loading Files,281
Loading files
using file screen,282
using program selection screen,281
LR Mate,supplement for,485
LR Tool Software,11
M
MACR Error Codes,439
Macro,instruction, 11
Macro instruction,292,351
nameof,293
Macro instructions
executing,298
setting,293
system variable,481
Macro program,293
Manual brake release,for LR Mate,485
Manual I/O control,232
manual operation screen,screen menu,21
Manual Plan,2
Manual-feed coordinate systems,165
manuals,related,3
master of I/O link,27
Mastering,361
system variable,465
Mastering at the zero-degree positions,361,365
mastering data,setting,371
Maximum of ACC instruction,system config menu,94
MCTL Error Codes,454
Mechanical interface coordinate system,60
MEMO Error Codes,440
memory circuit,intemal,22
Menus,list of,332
MENUS key,18
Message instruction,150,351
MESSAGE[message statement],instruction,150
Minimum of ACC instruction,system config menu,94
Modifying the palletizing function,328
Monitor,for program look,231
Motion,instruction,11
Motion format,107,347
motion format,107
Motion instruction
changing,188,191
teaching,176
Motion Instructions,106
Motion instructions,153,345,347
Motion of the robot,22
Motion specific to the LR Mate 100,108
MOTN Error Codes,419
Motors,system variable,468
MOVE MENU key,18
Moving the cursor in the halt state,222,223
Moving the robot by jog feed,168
N
Name of a macro instruction,293
next page key,18
Notes on handling the quick teach pendant,322
Notes on teaching the palletizing function,322
0
OFFSET CONDITION instruction,121
Offset condition instruction,145,350
OFFSET instruction,121,145
Operating speed,220
Original program name(Fl to F5),system config
menu,94
Other Settings,96
Output,36
forced,232
OVERRIDE,instruction,149
-496-
Override,system variable,469
Override instruction,149,351
override key,18
Override restore function,96
OVERVIEW,9
p
Palletizing end instruction,125
Palletizing function,304
executing,323
modifying,328
with extended axes,330
Position data information,221
changing,190
Position number,115
Position register,115,348
instruction,11
position register,114
Position register axis instructions,129
Position register instruction,teaching,182
Position register instructions,128
Position register setting,247
Position registers,247
Position variable,114,115,347
Positional offset instruction,347
Positioning,system variable,466
Palletizing Instructions,124,306
Positioning path, 117,347
Palletizing instructions,351
POSNkey,18
Palletizing motion instruction,125
Pounce position,157
Palletizing number,307
PPABN,44
Palletizing register,250,324
Predefined position,157
initializing,325
PREVkey,19
Palletizing register conditional compare instruction,140
Pringing files, using program selection screen,288
Palletizing register element,131
PRINI;function menu,21
Palletizing register instruction,307
PRINT SCREEN,function menu,21
PALT Error Codes,431
Printer,286
Parameter instruction, 150,351
Printing files,286
system variable,481
using function menu,289
Path pattem,304
Printing the displayed screen (print screen ),290
teaching,319
PRIO Error Codes,455
PAUSE,instruction,148
Process 1/0 PC board,30
Perch position,157
Process 1/0 PC board interface,31
Peripheral and Controller Equipment,15
PROG Error Codes,434
Peripheral 1/0,22,47
Program,11
Configuring,51,53
changing,186
Peripheral 1/0 lnterface,48
executing,218
registering,170,171
PNS,55,57
selecting,187
PNS (Program number selection),automatic operation
starting,218
with,238
Program attribute,206
PNS function
display of,206
Settiing,58
Pro~am call instruction,138,349
Setting,57
Program comment,101
PNSl to PNS4, UI [ 5 to 8 ],49
Program control instructions,351
Polarity,36
program control instructions,148
Position and attitude,110
program data screen,screen menu,21
Position compensation instruction,177
Program Detail Information,100
Position data,110
changing,188
Program edit instructions, 196
Palletizing instruction ,124
-497-
program edit screen,screen menu,21
recoveries,for major alarms,385
Program end,instruction, 11
Recovery from other alarms,386
Program end in backward execution,228
Reference,of cartesian coordinate system,112
Program end iinstruction,349
Reference Position,Setting,82
Program end instruction ,137
reference position,82
Setting,83
Program end symbol,104
program execution history,displaying,255
Program file,269
Register,246,348
instruction, 11
Register conditional compare instruction,139
Program halt,212
Register conditional wait instruction,143
Program information
changing,206,207
setting, 170
Register instruction,teaching,180
Program Instructions,list of,345
Register screen,displaying,246
Program look/monitor,231
Registering a program, 170, 171
Program name,100
entering, 170
Releasing the halt state,222,223
Program number selection (PNS),57
automatic operation with,238
remote conditions,47
Register instructions, 126,348
Remote conditions,236
Remote controller,22
program number selection (PNS) function,55
Renumber,program edit instruction,196
Program number selection signals, PNSl to PNS4, UI [
Renumbering the position number,205
5 to 8 ],49
Replace,program edit instruction,196
Program operation ,206
Program selection after power on,160
program selection screen,screen menu,21
PROGRAM STRUCTURE,97
Prohibiting Starting with Teach Pendant,184
protection, write, 102
PULSE,133,134
Pulsecorder reset,system variable,480
Replacing a program instruction item,203
RESET, UI [ 2 ],49
Resetting an alarm,216
Restore selected program,system config menu,93
Resuming a program,222
Retraction point,305
Return to top of program,system config menu,94
RI,134
Q
R0,134
robot,13
Quick mastering,361,367
system variable,466
Robot 1/0,43
Setting,45
Quick menu,21
Robot 1/0 instructions,134
Quick teach pendant,notes on,322
Robot 1/0 interface,43
QUICK/FULL MENUS,function menu,21
Robot lock,test execution,225
Robot motion,219
R
ROM,22
ROUT Error Codes,457
RACK,36
Row,311
Rack,29
RS-232-C,22,258
RAM,22
RUNNING,LED,244
ready conditions,47,101
RUNNING LED,19
-498-
s
Settings, Other,96
Severity,of alarm,217,381,382
Safety Precautions,4
SHIFT key,18
Safety precautions
related to inspection and maintenance,5
related to operation,6
related to system design,5
related to transportation,6
simplified teach pendant,156
Simulated 1/0,233
Safety precautions related to installation and layout,4
Six Point Method,62
SAVE,function menu,21
Skip Condition Instruction, 144
Saving files,271
using file screen,273
using function menu,275
using program selection screen,271
Skip condition instruction,350
SCIO Error Codes,459
SLOT,29
Screen menu,20,21
SLOT,36
SELECT key,18
Slow stop,212
Selecting a program,187
Software Version,373
Servo alarm,for LR Mate,485
Software version,system variable,480
Servo parameter screen,system variable,482
SETUP key,18
SETIND,66,73,74,76
Setting a jog coordinate system,77
Setting a Reference Position,82
Setting a reference position,83
Setting a tool coordinate system,61
Setting a user coordinate system,69
Setting Automatic Operation,55
Setting Coordinate Systems,59
Setting macro instructions,293
Simulated input/output,36
Single axis mastering,361,369
Skip instruction,120,177,347
slave of 1/0 link,27
Solenoid valve control output signals, ROl to R06,44
Special motions of the LR Mate 100,155
Specialized I/0 ,26
Specification of motion,to the LR Mate 100,108
Specifying test execution,225
Specifying the step mode,227
SRVO Error Codes,387
Stack point,305
Stacking pattern,304
teaching,315
Standard motion instruction,174
changing, 174
Setting mastering data,361,371
Start input signal, START, UI [ 3] (validated in the remote state),49
Setting program information ,170
start key ( + SHIFT key),18
Setting Robot 1/0,4~
Start Mode,354
setting screen,screen menu,21
STARTPT,36
Setting the brake control function,88
START signal,55
SETIING THE HANDLING SYSTEM ,25
START, UI [ 3 ],49
Setting the PNS function,57,58
Starting a Program,218
Setting The System ,95
STATUS key,18
Setting Up Jog Frame Using the Direct List Method,79 status screen,screen menu,21
Setting Up Jog Frame Using Three Point Method,78
STEP,LED,244
Setting Up the User Alarm,91
STEPkey,19
Setting Up Tool Frame Using the Direct List Method,67
STEPLED,19
Setting User Frame Using Direct List Method,75
Step test,227
Setting User Frame Using Four Point Method,73
Subtype,101
Step mode,specifying,227
-499-
Supplementary motion instruction
changing or deleting,194
teaching,177
SYST Error Codes,394
System,setting,95
System condition,160
System Config Menu ,92
System file ( *.SV ),270
TOOL,LED,244
TOOL 1 or 2 key,19
tool center point (TCP),22
Tool coordinate system,60
tool coordinate system,Setting,61
tool coordinate system number,112
Tool coordinate system number (UT),221
System setting ,11
Tool Frame
Setting Up Using the Direct List Method,67
Setting Up Using the Six Point Method,65
System variable,461
Tool frame instruction,350
System variable screen,displaying,253
tool frame select instruction,147
System variables screen,253
Tool frame selection instruction,350
system screen,screen menu,21
tool frame setup instruction,146
T
Tool jog,166
TOOLLED,19
TCP,22
TP start prohibition,system variable,482
TCP auto set (Three Point Method),63
TP start prohibition ,184
Teach pendant,16
display screen of,20
enable switch,16
TPIF Error Codes,414
Turn number,111
Teach Pendant Enable Switch, 7
Turning off the power,162
Teaching a control instruction,180
Turning on the power,161
Teaching a motion instruction,176
u
Teaching a path pattern,319
Teaching a position,system variable,476
Teaching a register instruction,180
Teaching a stacking pattern,315
Teaching an I/0 instruction,183
Teaching the incremental instruction, 178
Teaching the palletizing function,308
notes on,322
Teaching the position register instruction,182
Teaching the supplementary motion instruction,177
test cycle screen,screen menu,21
Test execution,setting,225
Test operation (test execution),12
Testing,224
Three Point Method,70
TCP auto set,63
UALM,instruction,149
UF,221
Unconditional branch instructions,138,349
Use PPABN signal,system config menu,93
User Alarm,90
Setting up,91
User alarm,system variable,478
User alarm instruction,149,351
User coordinate system,60
user coordinate system,Setting,69
user coordinate system number,112
User coordinate system number (UF),221
User coordinates,252
Three Point Method ,77
User Frame
Setting Up Using Three Point Method,71
Setting Using Direct List Method,75
Three Point Method (TCP auto set) ,61
User frame instruction,350
Time-specified wait instruction,142
user frame select instruction,147
TOGGLE SUB GROUP,function menu,21
User frame selection instruction,350
TOGGLE WRIST JOG,function menu,21
user frame setup instruction,146
-500-
User Frame Using Four Point Method,setting,73
Wait instruction,350
User screen,245
user screen,screen menu,21
User-defined word input function,system variable,477
UI;221
utility screen,screen menu,21
Wait Instructions,142
v
Version
of software,373
system variable,480
VFINE,163
WAIT timeout,system config,93
Warning history,system variable,477
World coordinate systein,60
World coordinates,252
World frame origin,380
WRIST JOINT,instruction,167
Wrist joint feed,167
Wrist joint motion instruction, 118,177,347
Wrist joint motion instruction (WRIST JOINT),167
Write protection,102
w
Wait,instruction,11
WAIT (condition) (processing),instruction,142
WAIT (TIME),instruction,142
x
XYZ,LED,244
XYZLED,19
-501-
Jun., '94
Date
01
Edition
Contents
Edition
Date
Contents
FANUC Robot LR Mate 100 OPERATOR'S MANUAL High-performance Type Teach Pendant (B-80464E)
Revision Record