Hi40402JO1E
Robot Operation Manual
HYUNDAI Robot
Hi4
HYUNDAI
TP300
E.STOP
PF1
PF2
PF3
PF4
PF5
축
직교
ACC
보간
OFF
직선
원호
좌표계
보조축
GUN
연속
TOOL
SHIFT
(고속)
후진
취소
속도
E
N
.
S
W
스텝
전진
M
O
T
O
R
Rx+
Ry+
Rx-
Ry-
HR100P
Rz+
Rz-
보조점
8
I
,V
변
경
*
f1
7
9
위치수
정
명령수
CM
정
력
O
N
W
E
A
V
O
N
송
출
(
)
ARC4
5
6
M
OVE
D
?
f2
ARC
O
F
W
E
AV
O
F
후퇴(
3
)
문/변/함
정지
교시
/
재생
1
2
지난화
프로그
면
램
수동출
f3
f4
+
-
.
삭제
L
CD
0
STEP
Hi4 CONTROLLER
HR120S/150S
HR006
HR015
HR010L
HX130/165
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■ HEAD OFFICE
■ 본사
1, JEONHA-DONG, DONG-GU,
ULSAN, KOREA
울산광역시 동구 전하동 1번지
TEL: 82-52-230-7901~11
FAX: 82-52-230-7900
TEL: 052-230-7901~11
FAX: 052-230-7900
■ SEOUL OFFICE
■ 서울사무소
140-2,GYE-DONG, JONGNO-GU,
SEOUL,KOREA
서울특별시 종로구 계동 140-2
현대빌딩 14층
TEL: 82-2-746-4711~5
FAX: 82-2-746-4720
TEL: 02-746-4711~5
FAX: 02-746-4720
■ DAEGU OFFICE
■ 대구사무소
223-5, BUMEO 2-DONG,
SUSUNG-GU,DAEGU,KOREA
TEL : 82-53-746-6232
FAX : 82-53-746-6231
대구광역시 수성구 범어 2동 235-5번지
동일산업빌딩 6층
TEL: 053-746-6232
FAX: 053-746-6231
■ CHEONAN OFFICE
■ 천안사무소
355-15,DAGA-DONG,CHEONAN-SI,
CHUNGCHEONGNAM-DO,KOREA
TEL: 82-41-576-4294~5
충청남도 천안시 다가동 355-15번지
3층
TEL: 041-576-4294~5
FAX: 041-576-4296
FAX: 82-41-576-4296
■ GWANGJU OFFICE
■ 광주사무소
415-12,NONGSUNG-DONG,
SEO-GU,GWANGJU,KOREA
TEL: 82-62-363-5272
광주광역시 서구 농성동 415-12번지
현대빌딩 별관 3층
TEL: 062-363-5272
FAX: 82-62-363-5273
FAX: 062-363-5273
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Contents
Chapter 1. Safety, Operation panel, Teach Pendant
1.1
Safety ..................................................... 1 - 2
1.1.1 General .................................................... 1 - 2
1.1.2 Relevant safety standard ................................... 1 - 5
1.1.3 Safety training ............................................ 1 - 5
1.1.4 Safety marking ............................................. 1 - 5
1.1.5 Definition of safety functions ............................. 1 - 7
1.1.6 Installation of robot ...................................... 1 - 8
1.1.7 Safety working procedures ................................. 1 - 15
1.1.8 Safety measures for entering safety fence ................. 1 - 20
1.1.9 Safety measures for maintenance and repair ................ 1 - 21
1.1.10 Safety function ........................................... 1 - 24
1.1.11 Safety related to end effectors ........................... 1 - 28
1.1.12 Liabilities ............................................... 1 - 29
1.2
Operation Panel............................................ 1 - 31
1.2.1 External shape of operation panel ......................... 1 - 31
1.2.2 Buttons of operation panel ................................ 1 - 31
1.3
Teach pendant ............................................. 1 - 33
1.3.1 External shape of teach pendant ........................... 1 - 33
1.3.2 Screen of teach pendant ................................... 1 - 34
1.3.3 Keys of teach pendant ..................................... 1 - 35
Chapter 2. Basic operation of robot
2.1
Basic operation............................................ 2 - 2
2.1.1 Controller's power/motor ON/OFF ........................... 2 - 2
2.1.1.1 Power ON/Motor ON ........................................ 2 - 2
2.1.1.2 Power OFF/Motor OFF ....................................... 2 - 2
2.1.2 How to initiate the system ................................ 2 - 3
2.1.3 Teaching .................................................. 2 - 3
2.1.4 Step and function ......................................... 2 - 4
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2.2
Basic things for step ....................................... 2 - 5
2.2.1 The parameter of STEP command line ........................ 2 - 5
2.2.1.1 Interpolation-locus from between step and step ............ 2 - 6
2.2.1.2 Pose ..................................................... 2 - 7
2.2.1.3 Speed .................................................... 2 - 8
2.2.1.4 Accuracy ................................................. 2 - 8
2.2.1.5 Tool number .............................................. 2 - 8
2.2.1.6 Output option ............................................ 2 - 8
2.2.1.7 Stop condition ............................................ 2 - 9
2.2.1.8 Stop state variable ...................................... 2 - 9
2.2.2 Step position validation/modification method.............. 2 - 10
2.2.2.1 Encoder coordinate system ................................ 2 - 10
2.2.2.2 Base/Robot coordinate system ............................ 2 - 11
2.1.4 Coordinate system ........................................ 2 - 13
2.3.1 JOG operation key ....................................... 2 - 13
2.3.2 Axis coordinate ......................................... 2 - 14
2.3.3 Robot coordinate ........................................ 2 - 15
2.3.4 User coordinate ......................................... 2 - 17
2.3.5 Tool coordinate ......................................... 2 - 18
2.4
Auto tool setting ........................................ 2 - 19
Chapter 3. Service menu
3.1 Monitoring .................................................... 3 - 4
3.2 Register ..................................................... 3 - 15
3.2.1 XYZ Shift register ................................... 3 - 16
3.2.2 Shift buffers ........................................ 3 - 18
3.2.3 On-line shift register Group.......................... 3 - 20
3.2.4 Palletizing register.................................. 3 - 22
3.2.5 Frequency condition register.......................... 3 - 25
3.2.6 Conveyor data ........................................ 3 - 26
3.3 Variable ...................................................... 3 - 28
3.4 Edit program .................................................. 3 - 29
3.4.1 Modify writing condition totally...................... 3 - 30
3.4.2 Modify speed in record totally........................ 3 - 31
3.4.3 Modify position in record totally..................... 3 - 32
3.4.4 Step copy ........................................... 3 - 34
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3.4.5 Step reverse copy..................................... 3 - 36
3.4.6 Edit program in running (Hot edit) ................... 3 - 38
3.5 File management................................................ 3 - 43
3.5.1 Internal memory file name ............................ 3 - 44
3.5.2 Program first data.................................... 3 - 45
3.5.3 Internal program axis no.............................. 3 - 46
3.5.4 Rename ............................................... 3 - 47
3.5.5 Copy.................................................. 3 - 51
3.5.6 Delete ............................................... 3 - 53
3.5.7 Protect............................................... 3 - 55
3.5.8 Storage media format ................................. 3 - 58
3.5.9 Save/Load (SRAM Card) ................................ 3 - 59
3.6 Program conversion............................................. 3 - 61
3.6.1 Coordinate transformation ............................ 3 - 62
3.6.2 Mirror Image.......................................... 3 - 64
3.6.3 Off-Line XYZ shift ................................... 3 - 67
3.7 System checking ............................................... 3 - 69
3.7.1 System version........................................ 3 - 70
3.7.2 Run time ............................................. 3 - 71
3.7.3 Diagnosis of troubles................................. 3 - 74
3.7.4 Error logging ........................................ 3 - 76
3.7.5 Stop history ......................................... 3 - 78
3.7.6 Operation history .................................... 3 - 80
3.8 Date setting (Date, Time) ..................................... 3 - 81
Chapter 4. Condition setting
4.1 Cycle type ......................................................4-3
4.2 Step go/back max. speed..........................................4-3
4.3 Function in step go/back.........................................4-4
4.4 Speed rate.......................................................4-4
4.5 Robot lock.......................................................4-5
4.6 Record speed type................................................4-5
4.7 Interpolation base...............................................4-6
4.8 User coordinate .................................................4-6
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Chapter 5. Application condition
5.1 Conveyor operation .......................................... 5 - 3
5.2 Search range ................................................ 5 - 4
5.3 Search reference position record ............................. 5 - 4
5.4 Spot welding ................................................ 5 - 5
5.5 Gun search reference record .................................. 5 - 6
5.6 Output(DO) signal clear ...................................... 5 - 7
5.7 Online shift register clear .................................. 5 - 7
Chapter 6. System setting
6.1 User configuration .......................................... 6 - 5
6.1.1 Display language ..................................... 6 - 6
6.1.2 Pose reocrd type .................................... 6 - 6
6.1.3 Start type ........................................... 6 - 7
6.1.4 Change of cursor position in auto mode ............... 6 - 7
6.1.5 Confirm when the command delete....................... 6 - 8
6.1.6 WAIT(DI/WI) forcible release ......................... 6 - 8
6.1.7 Dettachment of Teach Pendant ......................... 6 - 9
6.1.8 Power failure detection(Not changeable) .............. 6 - 9
6.1.9 External program selection ........................... 6 - 9
6.1.10 Using the program strobe signal .................... 6 - 10
6.1.11 Step set alarm type................................. 6 - 11
6.1.12 Lowest position proportion of the cursor ........... 6 - 11
6.1.13 Using the collision sensor ......................... 6 - 12
6.2. Controller parameter ....................................... 6 - 13
6.2.1 Input/output signal selection ....................... 6 - 14
1: Input signal logic ............................... 6 - 15
2: Output signal logic .............................. 6 - 16
3: The attribution of output signal ................. 6 - 17
4: Setting the pulse table .......................... 6 - 18
5: Setting the delay table .......................... 6 - 19
6: Output signal assignment ......................... 6 - 20
7: Input signal assignment .......................... 6 - 21
8: Setting the earlier output ....................... 6 - 23
9: DIO name edit..................................... 6 - 24
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10: Setting the field bus............................. 6 - 26
6.2.2 Serial port ......................................... 6 - 31
1: Teach Pendant (CNTP) ............................. 6 - 31
2: Private serial port for I/O board ................ 6 - 31
3: Serial port #1 (CNSIO) ........................... 6 - 32
4: Serial port #2 (OPSIO) ........................... 6 - 33
6.2.3 Robot ready ......................................... 6 - 34
6.2.4 Home position registration .......................... 6 - 35
6.2.5 Return to the previous position ..................... 6 - 36
6.2.6 End relay output time ............................... 6 - 37
6.2.7 Interlock error time ................................ 6 - 38
6.2.8 External error output ............................... 6 - 39
6.2.9 Power Saving : PWM OFF .............................. 6 - 42
6.2.10 Shift limit ........................................ 6 - 43
6.2.11 Setting the user key ............................... 6 - 44
6.2.12 Coordination system registration ................... 6 - 46
1: User coordination registration ................... 6 - 46
2: Pedestal tool coordination system ................ 6 - 48
6.3 Machine parameter............................................ 6 - 49
6.3.1 Tool data ........................................... 6 - 50
6.3.2 Axis Constant ....................................... 6 - 54
6.3.3 Soft limit .......................................... 6 - 55
6.3.4 Arm interference angle .............................. 6 - 56
6.3.5 Encoder offset calibration .......................... 6 - 57
6.3.6 Accel./Decel. speed parameter ....................... 6 - 59
6.3.7 B축 axis dead zone .................................. 6 - 60
6.3.8 Accuracy ............................................ 6 - 61
6.3.9 Speed ............................................... 6 - 64
6.3.11 Additional load per each axis ...................... 6 - 65
6.4 Application parameter ....................................... 6 - 67
6.4.1 Spot & Stud ......................................... 6 - 68
1: Welding parameter ................................ 6 - 69
2: Servo gun parameter .............................. 6 - 71
3: Spot welding data(condition,sequence) ............ 6 - 76
4: Equalizing parameter ............................. 6 - 81
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6.4.2 Arc ................................................ 6 - 83
6.4.3 Palletizing ........................................ 6 - 85
1: Palletizing pattern register ..................... 6 - 86
2: Pallete dip angle measurement .................... 6 - 90
6.4.6 Conveyor ........................................... 6 - 91
1: Conveyor constant setting ........................ 6 - 92
2: Automatic setting of conveyor parameter .......... 6 - 95
6.4.7 Speed proportion voltage output ..................... 6 - 96
6.5 System format ............................................... 6 - 98
6.5.1 System format ....................................... 6 - 99
6.5.2 Robot type selection ................................ 6 - 100
6.5.4 Use setting ........................................ 6 - 103
6.5.5 Positioner group setting ............................ 6 - 104
6.6 Automatic constant setting ................................. 6 - 106
6.6.1 The optimization axis constant ...................... 6 - 107
6.6.4 Positioner calibration .............................. 6 - 109
Chapter 7. R code
7. 1 (1) R0
7. 2 (2) R5
7. 3 (3) R6
7. 4 (4) R10
7. 5 (5) R17
7. 6 (6) R18
7. 7 (7) R29
7. 8 (8) R44
7. 9 (9) R45
7.10 (10) R46
7.11 (11) R49
7.12 (12) R55
7.13 (13) R71
7.14 (14) R107
7.15 (15) R115
7.16 (16) R116
7.17 (17) R117
Step counter reser ............................ 7 - 5
External start selection ...................... 7 - 5
External program selection..................... 7 - 6
Run time display............................... 7 - 7
File name display in internal memory ......... 7 - 10
Frequency condition register.................. 7 - 11
Tool number setting .......................... 7 - 12
Conveyor data clear .......................... 7 - 13
Conveyor register manual input ............... 7 - 14
Manual conveyor limit switch on .............. 7 - 15
Speed variation setting ...................... 7 - 16
Palletize counter reset ...................... 7 - 17
Recorded speed selection...................... 7 - 18
Program head data display .................... 7 - 19
Program copy ................................. 7 - 19
Program number modification .................. 7 - 20
Program delete ............................... 7 - 21
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7.18 (18) R123
7.19 (19) R136
7.20 (20) R137
7.21 (21) R138
7.22 (22) R162
7.23 (23) R163
7.24 (24) R204
7.25 (25) R210
7.26 (26) R211
7.27 (27) R212
7.28 (28) R213
7.29 (29) R219
7.30 (30) R220
7.31 (31) R245
7.32 (32) R269
7.33 (33) R286
7.34 (34) R310
7.35 (35) R320
7.36 (36) R323
7.37 (37) R341
Robot lock ................................... 7 - 22
Modify accuracy in steps ..................... 7 - 23
Modify MX in steps............................ 7 - 24
Modify GUN in steps .......................... 7 - 25
Shift register value change .................. 7 - 26
On-line shift cancel ......................... 7 - 26
Spot welding condition manual output ......... 7 - 27
Serovo gun number selection .................. 7 - 28
Squeeze force setting ........................ 7 - 28
Moving-tip consumption preset ................. 7 - 29
Fixed-tip consumption preset .................. 7 - 29
Equalizerless gun number selection ........... 7 - 30
Equalizerless tip consumption preset .......... 7 - 30
Monitor mode selection........................ 7 - 31
Memory protection setting..................... 7 - 32
Software version display...................... 7 - 33
Manual output of GO-signal .................... 7 - 34
Set max. speed of step go/back ................ 7 - 35
Robot interrupt function record ............... 7 - 36
Execution code back-up ....................... 7 - 40
Chapter 8. Programming
8.1 Edit step..................................................... 8 - 3
8.2 Summary of operation keys..................................... 8 - 4
8.3 Edit command.................................................. 8 - 6
8.4 Example - move sentence....................................... 8 - 7
8.5 Variable, numerical formula and string edit .................. 8 - 13
8.6 Line number edit............................................. 8 - 17
8.7 Block edit................................................... 8 - 18
Chapter 9. Quick open function
9.1
9.2
9.3
9.4
Function summary............................................ 9 - 2
Move - step position........................................ 9 - 4
Welding start con. - execution at ASF#=X .................... 9 - 5
Welding end con. - execution at AEF#=X...................... 9 - 7
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9.5
9.6
9.7
9.8
9.9
Welding aux. con. - retry .................................. 9 - 9
Welding aux. con. - restart................................ 9 - 11
Welding aux. con. - auto. wire stick release............... 9 - 14
Weaving condition file .................................... 9 - 15
Program edit in running ................................... 9 - 17
9.10 Spot welding function ..................................... 9 - 18
9.10.1 Welding condition ........................................ 9 - 18
9.10.2 Welding sequence .......................................... 9 - 19
Chapter 10. Menu tree
10.1 MENU LIST .................................................. 10 - 2
10.2 MOTION I/O ................................................. 10 - 3
10.3 FLOW CONTROL ............................................... 10 - 5
10.4 ETC. ....................................................... 10 - 7
10.5 ARC ........................................................ 10 - 8
10.6 SUSTITUTIAL STATEMENT ..................................... 10 - 10
Chapter 11. Robot language explanation
11.1 BASIC ELEMENTS ............................................ 11 - 3
11.1.1 LINE ............................................. 11 - 3
11.1.2 CHARACTER ........................................ 11 - 3
11.1.3 ADDRESS .......................................... 11 - 3
11.1.4 CONSTANT ........................................ 11 - 4
11.1.5 ROBOT CONFIG. INFORMATION.......................... 11 - 5
11.1.6 VARIABLE ......................................... 11 - 6
11.1.7 OPERATOR ........................................ 11 - 10
11.1.8 FORMULA ......................................... 11 - 10
11.2 COMMAND LINE .............................................. 11 - 11
11.2.1 SUSTITUTIONAL ................................... 11 - 11
11.2.2 ROBOT CONTROL ................................... 11 - 12
11.2.3 INPUT/OUTPUT .................................... 11 - 14
11.2.4 PROGRAM FLOW CONTROL ............................. 11 - 16
11.2.5 COMMENT ......................................... 11 - 21
11.2.6 ARC WELDING ..................................... 11 - 21
11.3 OTHERS. ................................................... 11 - 25
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11.4 FUNCTION................................................... 11 - 40
11.4.1 ARITHEMATIC FUNCTION ............................. 11 - 40
11.4.2 STRING FUNCTION .................................. 11 - 41
11.4.3 ROBOT LANGUAGE SUBTITUTION OF OLD MIT FUNCTION CODE 11 - 42
Chapter 12. Signal connection
12.1 EXTERNAL INPUT SIGNAL (BD430/BD431)......................... 12 - 2
12.2 EXTERNAL OUTPUT SIGNAL (BD430/BD431)........................ 12 - 7
12.3 BD481 CIRCUIT ............................................. 12 - 17
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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Chapter 1.Safety, Operation
panel, Teach pendant
Contents
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
1.1
Safety ..................................................... 1 - 2
1.1.1 General .................................................... 1 - 2
1.1.2 Relevant safety standard ................................... 1 - 5
1.1.3 Safety training ............................................ 1 - 5
1.1.4 Safety marking ............................................. 1 - 5
1.1.5 Definition of safety functions ............................. 1 - 7
1.1.6 Installation of robot ...................................... 1 - 8
1.1.7 Safety working procedures ................................. 1 - 15
1.1.8 Safety measures for entering safety fence ................. 1 - 20
1.1.9 Safety measures for maintenance and repair ................ 1 - 21
1.1.10 Safety function ........................................... 1 - 24
1.1.11 Safety related to end effectors ........................... 1 - 28
1.1.12 Liabilities ............................................... 1 - 29
1.2
Operation Panel............................................ 1 - 31
1.2.1 External shape of operation panel ......................... 1 - 31
1.2.2 Buttons of operation panel ................................ 1 - 31
1.3
Teach pendant ............................................. 1 - 33
1.3.1 External shape of teach pendant ........................... 1 - 33
1.3.2 Screen of teach pendant ................................... 1 - 34
1.3.3 Keys of teach pendant ..................................... 1 - 35
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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Chapter 1. Safety, Operation panel, Teach Pendant
1.1 Safety
1.1.1 General
TheprimarypurposeofthisChapteristodefinethesafetyoftheuserandoperating
personnel when using Hyundai Industrial Robots i. e. HR series and HX series robot
together with Hi-4 Controller (Hereinafter referred to "the Robotics System").
This manual covers any functions and safety measures required for the operation and
maintenance of the Robotics System itself. However, this manual does neither cover
howtodesign, installandoperateacompleteworkcell, norallperipheralequipment
and tooling which can influence the safety of the complete work cell.
This manual enumerates the safety instructions and/or recommendations for robot
manipulatorandcontrollerinstrictlyaccordancewiththeAmericanNationalStandard
Safety Requirements for industrial robots "ANSI/RIA R15.06-1999".
The technical description and installation method of the Robotics System are
presented in detail at this Operation Manual and the relevant specifications for the
robot manipulator and controller.
All personnel who intend to install, operate, program, repair, adjust, maintain or
otherwise use the Robotics System must be trained in an approved Hyundai Robotics
training course and have a good understanding and knowledge of this Operation Manual
and the Maintenance Manual, and further pay their special attention and observation
to the articles marked with the symbol
which are of paramount importance among
the articles in this Chapter 1 "Safety".
Installation, replacement, adjustment, operation, maintenance and repair of the
RoboticsSystemmustbeperformedbythepersonnelwhowasdulytrainedinanapproved
Hyundai robotics training course and become familiar with the proper operation of
the Robotics System according to the instructions specified in Operation and
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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Maintenance Manual. Hyundai maintains its various application-specific training
courses for domestic and foreign customers respectively.
All owners, employers or users of the Robotics System have the responsibility to
review and observe any appliable safety laws and regulations in each country and to
take the necessary steps toguarantee the correct design, installation and operation
of all safety devices which can secure safety of all personnel in the workplace.
InaccordancewiththeAmericanNationalStandardSafetyRequirementsforindustrial
robots "ANSI/RIA R15.06-1999", the dangerous zones of the Robotics System, i. e. the
working range in which the robot together with tools, accessories and additional
equipment moves, must in all cases be safeguarded to prevent persons or objects from
entering the dangerous zones or to ensure that the robot system is immediately shut
down by Emergency Stop system if a person or object should nevertheless enter a
dangerous zone. All owners, employers or users of the Robotics System have the
responsibilitytotakeallnecessarystepstomakecorrectinstallation, examination
and operation of the relevant safety equipments.
This manual provides specific information regarding the operation of Hyundai Hi-4
Controller together with the following robot manipulator models for the possible
application usages as mentioned below;
Available manipulator Type
HR006F(floor mounting type, 6kg)
HR006V(wall mounting type, 6kg)
HR015F(floor mounting type, 15kg)
HR015V(wall mounting type, 15kg)
HR050F(floor mounting type, 50kg)
HR050V(wall mounting type, 50kg)
HR100P(for palletizing application, 100kg)
HR130IIF(floor mounting type, 130kg)
HR130IIV(wall mounting type, 130kg)
HR120S (shelf mounting type, 120kg)
HR150S (shelf mounting type, 150kg)
HX130F (floor mounting type, 130kg)
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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HX130V (wall mounting type, 130kg)
HX130S (shelf mounting type, 130kg)
HX165F (floor mounting type, 165kg)
HX165V (wall mounting type, 165kg)
HX165S (shelf mounting type, 165kg)
Possible Application Usages
The Robotics System is astandard six-axis but additional axis available industrial
robot for installation on the floor, on the wall or on the shelf. It is suitable for
both point-to-point and continuous-path controlled tasks.
The main areas of application are
- Spot welding
- Material Handling
- Assembly
- Application of adhesives, sealants and preservatives
- MIG/MAG welding
- Palletizing and Depalletizing
- Grinding
All owners, employers or users who intend to use the Robotics System for any other
purposes than the above-mentioned must request Hyundai's prior consideration and
confirmation whether it can be applied without failure and/or problems or not.
Please contact our Customer Satisfaction Department or your local distributor in
order to check and confirm it before any users implement any special applications
of the Robotics System.
Invalid environments
The Robotics System is strictly prohibited to be located, installed, maintained,
used or operated in an explosive environment and any areas contaminated by oil,
flammable material or chemical material.
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1.1.2 Relevant Safety Standards
TheRoboticsSystemisdesignedasperISO10218, January1992editionthatspecifies
theSafetyRequirementsforIndustrialRobotsandfurthermoreinstrictlyaccordance
with the ANSI/RIA 15.06 -1999 Safety Requirements.
1.1.3 Safety Training
All the personnel who intend to teach, operate or examine the Robotics System must
betrainedinanapprovedHyundaiRoboticsoperationandsafetytrainingcoursebefore
starting the teaching, operation or examination of the Robotics System.
The objective of the operation and safety training course is to provide information
on:
- the purpose of safety devices and their function
- safety procedures for handling the Robotics System
- performances of the robot or the Robotics System and possible hazards
- tasks associated with any specific robot applications
- safety concepts
1.1.4 Safety Marking
1.1.4.1 Safety Symbols
For the purpose of effective safety instructions, the following safety symbols are
used in this manual.
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Indicate a potentially hazardous situation which,
if not avoided, could result in death or serious
injury to personnel and damage to equipment.
The special attention to the careful operation and
handling must be paid by owner, employer,
operator or user.
means
WARNING:
Indicate the compulsory measures that should
be performed by owner, employer, operator and
user
means
MANDATORY:
!
Indicate the prohibited actions and/or
operations that should not be performed by
means
PROHIBTED:
1.1.4.2 Safety Marking
Identification plates, warning labels and safety symbols are attached to the robot
manipulator and to the inside and outside of control cabinet. The designation labels
and position marks are also attached to the following cables.
- Wire harness between the robot manipulator and the control cabinet
- All the electric cables in and outside both robot manipulator and control
cabinet
All of these plates, labels, symbols and marks constitute safety-relevant parts of
the Robotics System. They must remain attached to the robot manipulator or control
cabinet at their cleary visible positions all the time.
The painted markings on the floor and the signs indicating the dangerous zones must
be clearlydifferentinform, color and style from other markings on the machine near
to the Robotics System or inside the plant facilities where the Robotics System is
installed.
It is forbidden to remove, erase, cover, paint over or alter by way of
editing or spoiling the cleary visible identification plates, warning labels,
safety symbols, designation labels and cable marks
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1.1.5. Definition of Safety Functions
Emergency Stop Function- IEC 204-1,10,7
Thereisoneemergencystopbuttononthecontrollerandanotherontheteachpendant.
If necessary, additional emergency buttons can be connected to the robot's safety
chaincircuit.Theemergencystopfunction,whichoverridesallotherrobotcontrols,
removes drive power from robot axis actuators, stop all moving parts and disconnect
power in order not to use other dangerous functions controlled by the robot.
Safety Stop Function-ISO 10218(EN 775), 6.4.3
When a safety stop circuit is provided, each robot must be delivered with the
necessaryconnectionsforthesafeguardsandinterlocksassociatedwiththiscircuit.
The robot has a number of electrical inputs which can be used to connect external
safety equipment, such as safety gates and light curtains. This allows the robot's
safetyfunctionstobeactivatedbothbyperipheralequipmentandbytherobotitself.
Speed Limitation Function-ISO 10218(EN 775), 3.2.17
In manual mode, the speed of robot is strictly limited to 250 mm per second as a
maximum. The speed limitation applies not only to the TCP(Tool Center Point), but
to all parts of robot. The speed of equipment mounted on the robot can be monitored.
Working Envelope Restriction- ANSI/RIA R15.06-1999
Theworkingenvelopofeachrobotaxescanberestrictedusingsoftwarelimits. Axis
1,2,3 can also be restricted by means of mechanical stops.
Operation Mode Selection- ANSI/RIA R15.06-1999
Therobotcanbeoperatedeithermanuallyorautomatically.Inmanualmode,therobot
can be operated by using the teach pendant only, i. e. not by any external equipment.
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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1.1.6. Installation of Robot
1.1.6.1 Safety Fence
!
(1) Install Safety Fence away from the working space of robot in order to prevent
fromanypossiblecollisionandinterfacebetweenworkersandrobotduringtherobot
operation.
Any accidents can be take place when any workers or any other persons enter inside
the safety fence without protective actions. Safety fence shall be equipped with the
emergency stop mechanism that can activate emergency stop of robot if any workers
would get into the safety fence for examination of robot and welding equipment and
replacement of tip dresser and tip etc. during robot operation.
(2) Safety Fence shall fully cover the working space of robot and be installed to
secure the enough space in order to evade any interference with robot during
teaching and repair operation of workers within the safety fence. And it shall be
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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tightly fixed to the floor and have the relevant structure not to easily get over
the safety fence.
(3)Safetyfenceshallbefixedinstallationtypeandhavenodangerouselementssuch
as sharp edges and rough profile etc.
(4) Gate shall be installed at Safety Fence. Safety plug shall be attached to gate.
Unless unplug the safety plug from gate, gate shall not be opened. In case of
unplugging the safety plug, robot shall be motor off by interlock signal. It shall
be hard-wired to cause motors off the robot whenever the gate is opened. (Please
refer to Chapter 12.)
(5) In case of robot operation at the state of unplugging safety plug, it shall be
hard-wired to become a low speed playback mode. (Please refer to Chapter 12)
(6) Emergency stop button shallbe installed at workers' easily accessible distance.
(7)Ifthereisnosafetyfence,aphotoelectricswitchormatswitchinsteadofsafety
plugshallbeinstalledatallthespaceswithintheworkingrangeofrobot.Whenever
workers enter the working range of robot, robot will be automatically stopped.
(8) Working space of robot as the dangerous area shall be clearly marked by painting
on the floor.
1.1.6.2. Installation of robot and peripheral equipment
!
(1) Execute the connection work after ensuring the power-off status. There are many
risks of receiving electric shock due to the usage of high voltage power source
such as 220V, 440V, 80V etc. in case of primary power source connection to robot
controller or peripheral equipment.
(2) Attach the warning tag "No-Access during Operation" at the gate of safety fence
and further educate it as a precaution
(3) Locate controller, interlock paneland any other operationpanels outside safety
fence.
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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(4) In case of installation of operation stand, attach emergency stop button on it.
Emergency stop shall be available at any time from any locations that can operate
the robot.
(5) Execute cabling and piping work in proper way for robot manipulator, controller,
interlock panel, timer etc. Any loose or protruded cables and/or wires can cause
workers' slippery or disconnection of cable by fork lift.
(6) Locate robot manipulator, controller and operation stand where workers can
!
clearly see the movement of robot manipulator. When operator do not acknowledge
abnormal situation of robot or other workers' working at the robot due to the
invisible situation, operator's robot operation can cause a large accident.
(7) Limit the workable space of robot by utilizing soft limit or mechanical stopper
etc. when the required work space of robot is smaller than the workable space of
robot. In case of abnormal operation, any excessive working out of the workable
space can be stopped previously. (Please refer to Operation and Manipulator
Maintenance Manual)
(8) Install safety curtain or cover for spatters made during welding work which can
cause personal injury or fire accident. In any case, safety curtain or cover shall
be installed to allow operator to clearly see the movement of robot manipulator.
(9) Automatic operation and manual operation which mean the actual operation state
of robot shall be notified to workers even in the distance by easily visible light
ordevice.Installbuzzeroralarminglightforsignofstartingautomaticoperation
of robot.
(10)Removeanyprotrusions,sharpedgesatequipments,devicesaroundtherobotwhich
can cause personal injury or any other accidents.
(11) Input and output of workpiece by inserting worker's hands inside safety fence
shall be strictly prohibited due to the risks of pressure or cutting injury
accident.
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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1.1.6.3. Robot installation
!
Install robot as per the planning and layout which has been previously reviewed and
studied for the optimized performance and functionality of the robot. In case of bad
installation situation of robot, the serious problems can take place as follows;
- Error of relative position between robot and workpiece during operation.
- Bad performance quality of robot caused by vibration.
- Shortening lifetime of robot
- Cause of serious accidents
The following lists the safety precautions to which careful consideration must be
made by operator, worker or installation persons.
General Safety Precautions
(1) Design and install the robot system in completely compliance with laws,
regulations and safety requirements being valid in the country where the robot
system is installed.
(2) All the workers for the robot system must have the good knowledge on the
information specified in the operation and maintenance manual and also have a good
command of operation and maintenance of the robot.
(3) Installation workers of robot must follow the safety requirements when they face
any safety problems in installation.
(4) System Supplier must ensure that all the circuits utilizing safety function
perfectly perform their functionalities in a safe way.
(5) Install primary power supply which can be disconnected from the place outside
the operation area of the robot.
(6) System supplier must ensure that all the circuits utilizing emergency stop
function perform their functionalities in a safe way.
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(7) For immediate emergency stop, install emergency stop button within operator's
easily accessible distance.
Technical Safety Precautions
(1) Remove any interference problems with peripheral equipments considering
dimension and operating space of the robot.
(2) Evade the installation of robot at the places where have direct ray of sun, many
oil, chemical material, explosives, metal powder or humid and wet atmosphere.
(3) Install at the place where ambient temperature is 0∼ 45℃.
(4) Secure sufficient space for facilitation of disassembly and examination of the
robot.
(5) Install safety fence with a gate so that no worker can enter into the operating
range of robot without permission.
(6) Remove any obstacles out of operating space of robot.
(7) Take the special measure considering heat dynamics in case of installation of
robot at the places where have direct ray of sun or near heating equipment.
(8)Takethespecialmeasureincaseofinstallationofrobotattheplacewherethere
are a lot of dusty metal powder, chemical dusts in the air.
(9) Install robot not to receive any short circuit from welding gun and equipment.
(Insulate robot arm between spot sun completely)
(10) Grounding is very important for preventing from abnormal operation or electric
shock caused by noise. Observe the following installation method.
- Install exclusive grounding terminal using class 3 or higher grounding
method.(In case of input voltage of 400V or higher, observe special class 3
or higher grounding method.)
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- Connect Grounding line into the grounding bus-bar inside the controller.
- In case of direct grounding of the robot by anchoring at floor, two point
groundingbothbyrobotmanipulatorandbycontrollercanproduceclosedcircuit
and further cause abnormal operation of the robot on the contrary. In this
case,connectthegroundinglinetothebaseofrobotmanipulatoranddisconnect
to the controller. When robot trembles during stopping operation, check and
examine the grounding status immediately since the possible main causes are
incomplete grounding or closed circuit.
- In using built-in transformer gun, primary power cable can be easily worn out
by directly contacting with the gun. In this case, connect the grounding line
to the base of robot directly and disconnect to controller in order to protect
controller and preventing from any electric shock.
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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1.1.6.4 Space for robot installation
Install robot manipulator, controller, other peripheral equipment. Be sure that
there are sufficient rooms for maintenance on the manipulator, controller and other
peripheral equipment. Install robot manipulator and controller as per the guideline
as described in the figure below.
Door
Hi4
controller
1000mm
Enclosure
1000mm
Working envelope of
manipulator
Maximum working envelope of
manipulator including Tool or
Workpiece.
Install controller in order that maintenance work can be easily performed when
door open. Secure the maintenance free area whenever robot need to be maintained.
Dimension of controller as specified in the above figure can be changed according
to the kind of controller.
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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1.1.7. Safety Working Procedures
Safety working procedures must be observed to prevent from any accidents. Safety
device or circuit shall not be modified and disregarded by workers or operators at
any time.
Becarefulofanypossibleaccidentscausedbyelectricshock.Allnormaloperations
in automatic mode must be executed outside safety fence. Prior to operation, be sure
there are no personnel within the manipulator's working envelope.
1.1.7.1. Safety measure for robot operation
!
(1) Have the robot system operators, any workers who is possible to operate or any
superintendents attend the training courses held by Hyundai in order that they can
have a good command of safety and robot functions. Do not allow workers who do not
attend the training courses to operate the robot.
(2) Wear safety helmet, safety glass, safety boots during operation.
(3)2workersasateammustworktogether.Oneworkermustsupervisethroughoperation
panel while another worker make teaching operation. One worker always must be in
a position to push emergency stop button while another worker execute operation
work inside or outside the operation space of the robot with sufficient cautions.
Furthermore, all the workers must have a good knowledge on escaping route before
their operation work.
(4)Supplypower-onaftercertainlyensuringthatthereisnopersonswithinoperating
space of the robot.
(5)Doteachingworkoutsidetheworkingenvelopeoftherobot,inprinciple.However,
after motor-off, you may execute work within the working envelope of the robot by
hand-carrying key switch or safety plug, which will prevent from automatic
operation which can be made by any third parties. Furthermore, pay your special
attentiontodirectionofmovementswhichcanbemadebyabnormalorerrorsituation,
if any.
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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(6) Superintendent must observe the followings;
- Stay at the place where he can see robot entirely and concentrate on his job of
superintendence.
- Press emergency stop button if there is any abnormal situation.
- keep any people other than the workers who are working for the robot, away from
the working envelope of the robot.
(7) In manual mode, teaching must be made not more than the speed of 250mm/sec.
(8) Do the teaching work by laying of "Under Teaching Operation" signboard all the
time.
(9) Any workers who enter inside safety fence must unplug and bring the safety plug
into the safety fence.
(10)Donotuseanyequipmentwhichcanproduceanynoisearoundtheplaceforteaching
work.
(11) Do not operate teach pendant by feeling of hand only but operate it by watching
the keypads clearly.
(12) Pay your careful attention to the movement of the robot. Do not work for the
!
robot under the situation the robot is behind yourself.
(13) Watch your step during your teaching work. In case of high ground teaching work
more than 2 meters, start your work after securing the sufficient safety space for
workers' step-on.
(14) Followings are the counter measures which must be taken in case of any abnormal
!
situations
- Press emergency stop button immediately after finding any abnormal operation.
- When you want to check the abnormal situation after emergency stop, confirm the
stop status of the robot without any fail.
- Robot can stop automatically due to the abnormal power supply. In this case, check
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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first the stop status of the robot and further investigate the cause to execute
relevant measure.
- When the emergency stop function does not work, disconnect the power supply
immediately and further investigate the cause to execute relevant measure.
- No one who have no operation and maintenance training provided by Hyundai can be
authorized to do the investigation of the cause for abnormal situations. In the
event of emergency stop, re-start of motor must be made by the defined procedure
only after implementing the measure as a result of the detailed investigation
to the cause for abnormal operation.
(15) Prepare relevant working manual on robot operation, working method and the
required action for abnormal situations according to the installation places and
working contents. Proceed with any works as per the relevant working manual.
(16) Precautions during the stop of robot
Do not access to the robot even though the robot is just stopping. There can be
aseriousaccidentcausedbysuddenmovementofrobotwhenyouaccesstothestopped
robot without any precaution. Followings are the cases that the robot is under the
stop status.
No.
1
Robot Situation
Motor Accessible or not
Temporary stopping
ON
OFF
ON
Not accessible
Accessible
(small problem,Temporary stop switch)
Emergency stopping (Serious problem, Emergency stop
switch, safety gate)
2
Input Signal Stand-by from peripheral equipment (START
INTERLOCK)
3
Not accessible
4 During Playback completion
5 During Stand-by
ON
ON
Not accessible
Not accessible
Always, pay your careful attention to the unexpected movement of the robot even
thoughitistheabovesituationwhichyoucanentertoworkingenvelope. Entering
to the working envelope of the robot without any preparation for unexpected
emergency situation must be prohibited at any time.
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Note) As specified in the above table, in case of temporary stopping,
access to the working envelope of the robot is not allowed. However,
when you try to get inside the working envelope of the robot in order
to make corrections for minor problems such as nozzle contact and arc
trouble, enter the working envelope of robot only after following the
same method as you enter the working envelope for teaching work.
(17)Whenyoufinishtheoperationworkofrobot, docleaningworkfortheareainside
the safety fence to remove any tools, oil or foreign material which left on the
floor. Contamination of working area by oil and any left tools can cause slippery
and personal injury. Please do your cleaning and proper arrangement regularly,
1.1.7.2 Safety Measure for Robot Try-out
!
Engineering error, Teaching error and manufacturing defects on the total system
including teaching program, jig and sequence etc. can be found during try-out of the
robot. Therefore, do your try-out operation taking your due consideration into the
safety matter. Safety related accident can took place due to the combined reasons.
(1) Check first the functions of signals and buttons such as emergency stop button
and stop button etc. before robot operation and further check error detection
function. Checking of all the signals for stopping the robot is the most important
thing. When you can foresee the possible accident previously, the most important
thing is to stop the robot.
(2)Forthetry-outofrobot, operateinthelowerspeedof20%∼30%andfurthercheck
movement more than 1 cycle repeatedly. When you find any problems, modify them
immediately. Afterwards, make speed-up by the order of first 50%, second 75% and
final 100% and further check movement more than 1 cycle for each speed set-up
respectively. When you make speed set-up of high speed at the beginning, the
unexpected accident can take place.
(3) You can not foresee any problems to be made during try-out. Do not enter inside
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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the safety fence during try-out. Unexpected accidents can take place easily due
to the unreliable situations.
1.1.7.3 Safety measure for automatic operation
!
(1) Educate all the workers not to get inside the safety fence during the operation
while the sign-board "No Access During Operation" must be placed at the gate of
safety fence. When robot is stopping, you can get inside the safety fence after
careful judgment of the situation.
(2) First check and confirm whether there are any persons inside the safety fence
!
when you start your automatic operation. There can be any serious personal injury
when you operate without checking whether there are any persons inside the safety
fence.
(3)Startanyautomaticoperationafterconfirmingthattheconditionssuchasprogram
No., stepNo., mode, startselectionetc. isrelevantforautomaticoperation. When
you make start operation under the selection of the program or step which is not
valid for automatic operation, there can be serious accidents which is caused by
the unexpected movements of robot.
(4) First confirm whether robot is located at the place where it can be operated in
automatic mode. Further confirm whether program No., step No. and robot location
are correct. Even though program No. and step No. are correct, the wrong location
of robot can cause any serious accident by way of abnormal movement.
(5) You are ready to press emergency stop button during automatic operation. Press
emergency stop button immediately when you face any unexpected abnormal robot
movement or situations.
(6) Check any errors or abnormal status of moving path, moving situation and moving
sound etc. While robot can be failed suddenly, it also can be failed by way of
showing certain sympton of failure. Have your good understanding and recognition
on the normal operation situations of robot.
(7) When you find any abnormal situations, press emergency stop button immediately
!
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and make the necessary action to the abnormal situations. Unless you make any
necessary action, there can be a failure which possibly result in serious personal
accident as well as stop of production.
(8) When you make necessary action for any abnormal situation and check the normal
!
operation,youcancheckinlowspeedoperationwhetherabnormalsituationisfixed.
However, it must not be checked even in low speed operation under the situation
thatanyworkersstayinsidethesafetyfence. Sinceitisnotreliablesituation,
another abnormal situation or any unexpected accident can take place.
1.1.8. Safety Measures for Entering Inside the Safety Fence
!
The robot is extremely heavy and powerful, even at low speed. When entering inside
working envelope of the robot, the applicable safety regulations of the country
concerned must be observed.
Operators must be aware of the fact that the robot can make unexpected movements.
A pause(stop) of robot in pattern of movements may be followed by a movement at high
speed. Operators must be aware of the fact that external signals can affect robot
programs in such a way that a certain pattern of movement change without warning.
Duringprogrammingandtesting, theenablingdevicemustbereleasedassoonasthere
is no need for the robot to move.
Theprogrammermustalwaystaketheteachpendantwithhim/herwhenenteringthrough
the safety gate to the robot's working envelope so that no-one else can take over
control of the robot without his/her knowledge. Hang up the sign-board "Under robot
operation work" in front of the controller.
When you enter inside the working envelope of the robot, keep in mind the following
considerations.
(1) Any workers other than programmer must not be allowed within the working
envelope of the robot.
(2) The operation selector on the teaching pendant must be in the teach lock mode
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1. Safety, Operation Panel, Teach Pendant (1) Safety
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position.
(3)Theoperatingmodeselectoronthecontrollermustbeinthemanualmodeposition
to block operation from remote control panel.
(4) Always wear approved work clothes(no loose fitting clothes).
(5) Do not wear gloves when operating the Controller.
(6) Do not allow underwear, shirts, or neckties to hang out from the work clothes.
(7) Do not wear large jewelry, such as earring , rings, or pendants.
(8) Always wear protective safety equipment such as helmets, safety shoes(with
slip-proof shoes), face shields, safety glasses, and safety gloves as
necessary.
(9) Before operating the manipulator, confirm that the emergency stop circuit is
functioning by pressing the emergency stop button on the operation panel and
teach pendant, and confirm that MOTOR lamp is turned off.
(10) Always view the manipulator from the front when you execute any work.
(11) Follow the predetermined operating procedure.
(12) Always have an escape method and place in mind in case the manipulator comes
toward you unexpectedly.
1.1.9. Safety Measures for Maintenance and Repair
1.1.9.1. Safety measures for Maintenance and Repair of Controller
!
(1)Havealltheworkerswhowishtomaintenanceandrepairworkoftherobotattend
the special maintenance training course held by Hyundai.
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(2) Proceed with all the work according to the maintenance and repair procedures.
(3) Check safety conditions around the workers and secure the escaping route and
placeincaseofanydangeroussituationbeforestartingmaintenanceandrepair
work.
(4) Turn OFF the power supply when you start regular maintenance or repair, part
replacement work. To prevent anyone inadvertently turning ON the power supply
during maintenance, put up a warning sign such as "DO NOT TURN ON THE POWER"
at the primary power supply.
(5) Always use the designated part for the replacement of failed part.
(6) Turn OFF when you open the door of Controller.
(7) After turning OFF, wait at least 3 minutes to start any work.
(8) Do not touch the SERVOPACK heat sink and the regeneration resistor since they
become very hot.
(9) After maintenance is completed, carefully check that no tools are left inside
the controller and that the doors are firmly closed.
1.1.9.2 Safety Measures for Maintenance and Repair of robot systems and manipulators
!
(1) Refer to the safety measures for maintenance and repair of controller.
(2) Proceed with any maintenance or repair work of robot system and manipulator
strictly in accordance with the established procedures.
(3) The main power switch on the robot controller must be "OFF". To prevent from
power ON caused by any unauthorized persons, put up the warning sign such as
"DO NOT TURN ON THE POWER" at the primary power supply.
(4) Do your maintenance or repair work after fixing the robot arm in order that you
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can be safe from any possible accidents caused by falling down or unexpected
moving of robot arm.
1.1.9.3 Necessary Actions after Completion of Maintenance and Repair
!
(1)ChecktherearenoabnormallyconnectedcablesorassembledpartsofController.
(2) After maintenance is completed, carefully check that no tools are left inside
the Controller and that the door is firmly closed.
(3) Do not turn on the robot if you discover any problems or potential hazards.
(4) Prior to turning ON the power, be sure that there is no one within the working
envelope of manipulator, and be sure that you are in a safe place yourself.
(5) Turn ON the main circuit breaker on the control panel.
(6) Check current position and status of the robot
(7) Operate the manipulator at low speed.
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1.1.10. Safety Functions
1.1.10.1 Safety Control Chain of Operation
The robot's safety system is based on a two-channel safety circuit that is
continuously monitored. If an error is detected, the power supply to the motors is
switched off and the brakes engage. To return the robot to MOTORS ON mode, the two
identical chains of switches must be closed. As long as these two chains differ, the
robot will remain in the MOTORS OFF mode. Furthermore, when safety cuicuit is
disconnected, interrupting call will be sent automatically to the Controller tofind
out the reason for the interruption.
Arm
interference
LimitSwitch
Contactor
EmergencyA
Drive
Unit
EmergencyB
&
SafeguardA
SafeguardB
MOTORSON
MANUAL
AUTO
Motor
Thesafetycontrolchainofoperationisbasedondualelectricalsafetychainswhich
interact with the robot controller and the MOTORS ON mode.
Electrical safety chain consist of several switches connected in such a way that all
of them must be closed before the robot can be set to MOTORS ON mode. MOTORS ON mode
means that drive power is supplied to the motors.
If any contact in the safety chain of operation is open, the robot always reverts
toMOTORSOFFmode. MOTORSOFFmodemeansthatdrivepowerisremovedfromtherobot's
motors and the brakes are applied. MOTORS OFF mode means the status that there is
no power supply to motor of robot while brake of motor is woking. The status of the
switches is displayed on the teach pendant (Refer to the I/O monitoring screen of
Service Menu in Chapter 6).
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1. Safety, Operation Panel, Teach Pendant (1) Safety
------------------------------------------------------------------------------------------------
The Safety Chain of Operation
The emergency stop buttons on the operator's panel and on the teach pendant and
external emergency stop buttons are included in the safety chain of operation. You
are recommended to install safety devices such as safety plug and safety stop device
while entering inside the working envelope etc. which can be operated in the AUTO
operating mode. You can connect the general safety stop devices that is active in
all operating modes.
No workers/persons can enter inside the working envelope of robot in automatic
operation mode due to theunconditional operation of the safety devices(door, safety
mat, safety plug etc.). In manual mode, maximum speed of robot is completely
restricted to 250mm/s. The aim of this safeguarded stop function is to make the area
around the manipulator safe while still being able to access it for maintenance and
programming.
When the robot is stopped by a limit switch, it can be moved from this position by
jogging it with the move key in CONSTANT mode(refer to the Parameter Setting 1 of
Chapter 9). Status indication is available on the teach pendant display.
The safety chains must never be bypassed, modified or changed in any other way.
AUTO
safeguard
External
Em.stop
Emergency
stop
Motor
Modeselect
switch
MANUAL
<250mm/s
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1. Safety, Operation Panel, Teach Pendant (1) Safety
------------------------------------------------------------------------------------------------
1.1.10.2. Emergency Stop
Anemergencystopshouldbeactivatedwhenpeopleorequipmentislocatedatdagerous
area. Built-in emergency stop buttons are located both on the operator's panel of
the robot controller and on the teach pendant.
External emergency stop devices(buttons, etc.) can be connected to the safety chain
with the applicable standards for emergency stop circuits.
All controls, such as emergency stops, the control panel and control cabinet, must
be located outside working envelope and easily accessible at any time.
Emergency Stop
Button
Status of Emergency stop
When you press the emergency stop button,
- Robot stops immediately in any cases
- Power of the robot servo system turn off
- Motor brake of the robot is activated.
- Message of emergency stop is displayed on screen
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1. Safety, Operation Panel, Teach Pendant (1) Safety
------------------------------------------------------------------------------------------------
1.1.10.3. Operating Speed
To program the robot, the operating mode switch must be turned to MANUAL position.
Then the maximum velocity of robot is limited to 250mm/s.
1.1.10.4. Connection of Safety Device
Externalsafetydevicessuchaslight,curtains,lightbeamsorsensitivematswhich
can be adapted by the system builder execute interlocking the Controller by way of
connecting with safety chain of operation within the Controller. The above devices
are used for safety device during execution of normal program in automatic mode.
1.1.10.5 Limitation of Working Envelope
Whenrobotisnotnecessarytoreachcertainareaforspecificapplications, working
envelope of the robot can be limited to secure the sufficient safety working area.
This will reduce the damage or loss in case of robot's collision with external safety
arrangement such as safety fence, etc.
Movement about axes 1, 2 and 3 can be limited with adjustable mechanical stops or
by means of electrical limit switches. If working space is limited by means of stops
or switches, the corresponding software limitation parameters must also be changed.
If necessary, movement of the three wrist axis can also be limited by the central
processing unit. Limitation of working envelope for all the axes must be carried out
by the user. Hyundai Robot is delivered to customer as the status of full working
envelope setting.
Manual mode : Maximum speed is 250mm/s
The manual mode must be selected whenever anyone
enters the robot's safeguarded space.
Auto mode : The robot can be operated via a remove control device.
All safety equipments such as safety gates, safety mats,
etc., are active. No one can enter the robot's safeguarded
space.
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1. Safety, Operation Panel, Teach Pendant (1) Safety
------------------------------------------------------------------------------------------------
1.1.10.6. Monitoring Function
1) Motor Monitoring Function
The motors are protected against overload by means of temperature sensors in the
motor windings.
2) Voltage Monitoring Function
For the protection of power devices such as transistor etc. the servo amp module
automatically triggers off the power switch when the voltage is too low or high.
1.1.11 Safety Related to End Effectors
1.1.11.1 Gripper
(1) When a gripper is used to grip a workpiece, the relevant measure for preventing
from the unexpected dropping of the loaded workpiece due to loose gripper design
must be taken by users.
(2) When any end effectors ordevices are installed on robot arm, the followings must
be observed by users.
- Use the required size and quantity of bolt.
- Securely fasten as per the required torque by using torque wrench.
- Do not use the bolt which have rust or dirt.
(3)Endeffectormustbedesignedandmanufacturednottoexceedthemaximumallowable
load at the wrist of robot. Even though power or air supply stop, the gripped
workpiece must not be dropped from the gripper. In order to remove any risks and
problems which cause personal injury and/or physical damage, the sharp edge and
projection part of end effector must be made dull and smoothly.
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1. Safety, Operation Panel, Teach Pendant (1) Safety
------------------------------------------------------------------------------------------------
1.1.11.2. Tools and Workpiece
(1) It must be possible to replace tools, such as milling cutters, etc., in a safe
manner. Make sure that safety devices are working correctly until the cutters stop
rotating.
(2) Grippers must be designed to keep on gripping workpiece securely even though a
power failure or a control failure take place. It must be possible to release
workpiece from the gripper in manual mode.
1.1.11.3 Pneumatic and Hydraulic Systems
(1) Design and install pneumatic and hydraulic system according to the safety
regulations.
(2) Since, after stop of robot, residual energy of pneumatic and hydraulic systems
canbestillremaining,particularcareandattentionmustbepaidbyuser.Pressure
must be removed whenever you start repair work of pneumatic and hydraulic systems.
1.1.12. Liabilities
The robot system has been built in accordance with the latest technical standards
andsafetyrules.Nevertheless,theseriousaccidentssuchasdeathorpersonalinjury
of operators/workers can take place due to the collision between the robot system
and peripheral equipment.
The robot system must be used by operator who has perfect technical knowledge and
good understanding on its designated use and also pay his careful attention to the
possible dangers and risks involved in its operation. Use of the robot system is
subject to compliance with these operating instructions and the Operation and
Maintenance Manual supplied together with the robot system. The safety related
functions of the robot system must not be used for any purposes other than safety.
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1. Safety, Operation Panel, Teach Pendant (1) Safety
------------------------------------------------------------------------------------------------
Whenyouusetherobotsystemforanyotheroradditionalpurposethanitsdesignated
usage,atfirst,youmustreviewwhetheritisvalidinaccordancewithdesigncriteria.
The manufacturer can not be held liable for any damage or loss which resulted from
such misuse or improper use.
The user, operator, workers shall have the full responsibility for the risks caused
by such misuse or improper use. When you use and operate the robot system for its
designated use, you must have a good command of all the information contained at
these operating instructions as well as the maintenance manual.
Therobotsystemmaynotbeputintooperationuntilitisensuredthatthefunctional
machine or plant into which the robot system has been integrated conforms to the
specificationsoftheECdirectives89/392EWGdated14June1989and91/368EWGdated
20 June 1991.
Thefollowingharmonizedstandardsinparticularweretakenintoaccountwithregard
to the safety of the robot system:
IEC 204-1,10.7
ISO 11161,3.4
ISO 10218(EN 775), 6.4.3
ISO 10218(EN 775), 3.2.17
ISO 10218(EN 775), 3.2.8
ISO 10218(EN 775), 3.2.7
User must take the full responsibility for any accident caused by his negligence
or non-observance of these instructions. When the user provides any peripheral
equipment or other equipment which arenot included in the scope ofsupply of Hyundai
robot system, HHI will not take any liabilities and responsibilities for any damages
or losses caused by the mis-use or malfunction of the such equipments provided by
user. User must take the full liabilities and responsibilities for any risks and
damages which can take place due to the above peripheral equipments or other
equipments provided by user.
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1. Safety, Operation Panel, Teach Pendant (2) OP Panel
------------------------------------------------------------------------------------------------
1.2 Operation Panel
1.2.1 External Shape of Operation Panel
1.2.2 Buttons of Operation Panel
[ERROR]
LED(Light-emitting Diode) indicating Synthetic Error. It flickers when system
errors such as servo alarm, limit switch interference and arm interference etc.
[MOTOR ON]
Button for Operation Standby "ON". This button is used for connecting servo power
to the motors of robot. When operation standby is the state of "ON", [MOTOR ON] lamp
is turned on.
[EMERGENCY STOP]
Button for Operation Standby "OFF" in case of emergency stop and etc. This button
is used for disconnecting servo power to the motors of robot. When operation standby
is the state of "OFF", [MOTOR ON] lamp is turned off.
[START]
Button for starting operation. This button is used for making playback of program.
When operation start, [START] lamp is turned on and [STOP] lamp is turn off.
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1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant
------------------------------------------------------------------------------------------------
[STOP]
Buttonforstoppingoperation.Thisbuttonisusedforstoppingplaybackofprogram.
When operation stop, [STOP] lamp is turned on and [START] lamp is turned off.
[AUTO/MANUAL]
Key for selecting between automatic and manual operations. Selection state of this
key, the state of safety plug and JogEnable of Teach Pendant are the indispensable
factors for determining whether starting operation is ready or not.
Please refer to the following table.
AUTO/
MANUAL
AUTO
MAN.
Safety
plug
JogEnable-ON
JogEnable-OFF
JogEnable-ON
JogEnable-OFF
Impossible to Motor-ON Impossible to Motor-ON
Possible to operate JOG ImpossibletoOperateJog
Possible to Step Forward Impossible to Step
Release
and Feedback
forward and Feedback
Impossible to Motor-ON Impossible to Motor-ON
Possible to operate JOG ImpossibletoOperateJog
Possible to Step Forward Impossible to Step
Possible to Motor ON,
Locking
Impossible to Motor ONImpossible to normal
speed operation
and Feedback
forward and Feedback
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1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant
------------------------------------------------------------------------------------------------
1.3 Teach Pendant
1.3.1 External Shape of Teach Pendant
HYUNDAI
TP300
E.STOP
PF1
PF2
PF3
PF4
PF5
JOINT
CART
TOOL
PTP
LIN
CONTI
ACC
INTP
COORD
GUN
(Arc On)
AUX
AXIS
JOG ON
CIR
JOG ON
EN. SW
MOTOR
SHIFT
BWD
ESC
(FAST)
SPEED
STEP
FWD
LFT
(S+)
RHT
(S-)
Rx+
Rx-
(R2+)
(R2-)
(H+)
FWD
(H-)
Ry+
(B+)
Ry-
(B-)
BWD
DWN
(V-)
UP
(V+)
Rz+
Rz-
(R1+)
(R1-)
R..
(NO)
SET
(YES)
REFP
I,V MOD
GasChk
f1
f2
7
8
9
Pose MOD
REC
Ch/Var/Fn
CMD
WEAV5ON
6
ARCON
4
Inching(
)
?
STOP
PROG
Retract(
)
ARCOF
WEAVOF
LCD
MAN
OUT
1
2
3
STEP
f3
f4
DEL
+
-
.
History
0
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1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant
------------------------------------------------------------------------------------------------
1.3.2 Screen of Teach Pendant
The following is an example display of teach pendant screen in case of manual mode.
14:39:38 *** M A N U A L ***
T0
← Title Frame
PN:999[*]__ S/F=3/0
Sp:100.00
Robot:H120, 6axes, 4stpes
S1 .MOVE L,S=50%,A=0,T=0
S2 .MOVE L,S=50%,A=0,T=0
.WEAVON WEV#=1
.ARCON ASF#=1
← Edit Frame
S3 MOVE L,S=40cm/min,A=0,T=0
ARCOF AEF#=1
WEAVOF
S4 MOVE L,S=50%,A=0,T=0
Select PF menu
>_
← Guide Frame
← Input Frame
← Menu Frame
Cond Set
Service System Rel.WAIT
Screen description
„ Title Frame: Current time (Hour: Minutes: Second: ), Mode, Accuracy Level and Manual Speed
are displayed.
„ Edit Frame: Program No., Step No., Function No., Speed, command message, position, condition
file and etc. are displayed. Robot pattern, No. of axes and total step Nos. are displayed, in
case of Step 0.
„ Guide Frame: Provide guide or instruction for user's operation. Errors or output messages
of teach pendant is displayed.
„ Input Frame : The status of the data input from the teach pendant is displayed. Also, the
range of the data to be input by user is displayed.
„ Menu Frame: It can be changed subject to any situations. Select one of the function keys from
[PF1] to [PF5].
Reference
Highlighted message of S3 above means that current step No. is 3. '.' in front of each
commandbeforeStepNo. 3meansthecommandwhichwasalreadyimplemented. Anycommandsafter
Step No. 3 mean not yet implemented.
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1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant
------------------------------------------------------------------------------------------------
1.3.3 Keys of Teach Pendant
The followings are the explanation to any keys of teach pendant.
[E. STOP]
Useforemergencystop. Whenyoupressthiskey, motorwillbeoff. Forre-startoperation,
you can start only after making motor-on.
[PF Keys]
Use for select a menu at the menu-frame on the screen.
Press [PF1] to select the 1st menu item of the menu-frame on the screen.
[COORD]
When you press an axis operation key, the coordinate system (axis, cartesian or user,
tool) which move robot is selected. The Coordinate System which is currently being
selected is displayed on the upper LED.
[AUX AXIS]
You can select auxiliary axis operation. When you press [Left] [Right] [Front] [Rear]
[Up][Down]duringlight-upofLED, the auxiliaryaxis1/2/3areoperatedtothedirection
of front or rear.
[CONTI / JOG ON]
Select it when you want to operate robot in manual mode. When you press it after pressing
[Motor-ON] Key of the operation panel, robot can be operated in manual mode and step
go/back is also possible. When you press it together with [Shift(FAST)] simultaneously,
you can select whether you want to implement it step by step or continuously during step
go/back. The currently selected status is displayed at the upper LED.
[GUN (Arc on)]
After your step recording work, you can decide whether you will record the signal of
GUN1 or not. When you press it together with [Shift(FAST)] simultaneously, the signal
output of GUN1 is manually made. For Arc welding application, light-up of the same LED
in playback mode means the actual arc welding operation is under processing. During
turning-off the same LED in playback mode, no actual arc welding operation but the
confirmation of the teached tracks is made.
[ACC / INTP]
You can select interpolation type(OFF, Linear, Circular) to be recorded during input
of move command. The currently selected interpolation type is displayed at the upper LED.
Whenyouuseittogetherwith[Shift(FAST)]simultaneously,youcanselectpositionmaking
level(0-3) to be recorded during the record of MOVE command. It is displayed at the upper
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1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant
------------------------------------------------------------------------------------------------
right position of Title Frame.
[SHIFT(FAST)]
You must use it only together with any of other keys. In order to implement the fuctions
indicated in sky blue color at the upper part of keys, it must be pressed together with
any of the sky blue color keys. When you press it together with Step Go/Back key
simultaneously, the high speed moving function is implemented.
[ESC]
You can use it if you want to cancel any key input or any status processing. And it also
have further function to switch to upper level of PF Menu.
[Axis Operation Key]
You can use it for the operation of axis.
[Direction Key]
You can use it for changing Step or Function. When '+'mark at the right side of PF5 Menu
is flickering, select the PF Menu at next page. When '+' mark at the right side of PF5
Menu is not indicating, move cursor of word within the below command. When you press
it together with [Shift(FAST)] Key simultaneously, you can scroll the fixed display.
[SPEED]
You can select not only the moving speed in manual operation but also the speed during
recording MOVE command. Speed can be selected among totally 8 levels. When you press
it together with [Shift(FAST)] simultaneously, shifting to highest or lowest speed is
made.
[STEP FWD/BWD]
You can use it when you want to move forward or backward step by step in manual mode.
When you press it together with [Shift(FAST)] simultaneously, move the high moving speed
previously assigned at condition assignment.
[User Key]
The functions allocated by f-key arrangement are implemented.
[QuickOpen]
When you press it on the specific command, the "QuickOpen function" is implemented. The
"QuickOpenfunction"isthefunctionthatcancheckandeditpositiondataoranycondition
file on welding condition and weaving condition etc. (Part of QuickOpen Function - Refer
to the Chapter 9) During the palyback mode, the shifting to Hot edit is made.
[?]
Provide the relevant help message according to the each situation.
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1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant
------------------------------------------------------------------------------------------------
[LCD]
When you press it together with [↑ /↓ ] Key simultaneously, you can control the
brightness of LCD display.
[← ] is BackSpace Key which can delete one by one the letters in front of the cursor.
If you press this key during selection of any factors for editing command, the figures
of factor selected will be deleted.
[Number Keys] : Input numbers.
[REFP] : Insert Reference Point Command
[I, V Change] : In Automatic Mode, first check welding current and voltage and further
change it if necessary.
[GasChk]: Check whether gas gushes out actually.
[ARCON]: Insert the command of ARCON
[WEAVON]: Insert the command of WEAVON
[Inching]: Feed the welding wire.
[ARCOF]: Insert the command of ARCOF
[WEAVOF]: Insert the command of WEAVOF
[Retract]: Rewind the welding wire.
[DEL]: Delete any commands or factors. Program will be deleted at the position of program
header(Step 0, Function 0).
[R..(NO)]:UsethiskeytoinputRCodeorinneedof"RESET"functionortoselectnegative
answer(No.) in case of requesting "Yes or No" answer.
[SET(Yes)]
Use this key to input command or in case of completion of data input. Contents of the
input frame will be reflected to the Editing Frame. Also use this key to select positive
answer "YES" in case of requesting "Yes or No" answer. As an additional function, you
can use this key to modify the command in manual mode. When you press this key, the cursor
covering the sentence will be changed the cursor covering word and at this time you can
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1. Safety, Operation Panel, Teach Pendant (3) Teach Pendant
------------------------------------------------------------------------------------------------
edit the factor. If you press this key while cursor is located at row number, the number
of row can be modified.
[Pose MOD/REC]
Use this key to add "MOVE" command. The "MOVE" command to be recorded consists of the
hidden PAUSE. (Refer to the Language Explanation Section in Chapter 11) When you press
it together with [Shift(FAST)] key simultaneously, you can modify the position of the
hiddenpauseMOVEcommand. Formodifyingfactorsotherthanposition, youmustusecommand
modification.
[Ch/Var/Fn/CMD]
Use this key to insert command. When you press it together with the Key[Shift(FAST)]
simultaneously, you can input letters, variables or functions.
[STOP/MANOUT]
Use this key to make output of "DO" Signal manually. When you press it together with
[Shift(FAST)] key simultaneously, you can stop the implementation of payback mode.
[PROG/STEP]
Use this key to stop the step. When you press it together with [Shift(FAST)] key
simultaneously, any programs will be selected.
[History]
Use this key to see the previous display.
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2. Basic operation
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Chapter 2. Basic operation
Contents
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
2.1
Basic operation............................................ 2 - 2
2.1.1 Controller's power/motor ON/OFF ........................... 2 - 2
2.1.1.1 Power ON/Motor ON ........................................ 2 - 2
2.1.1.2 Power OFF/Motor OFF ....................................... 2 - 2
2.1.2 How to initiate the system ................................ 2 - 3
2.1.3 Teaching .................................................. 2 - 3
2.1.4 Step and function ......................................... 2 - 4
2.2
Basic things for step ...................................... 2 - 5
2.2.1 The parameter of STEP command line ........................ 2 - 5
2.2.1.1 Interpolation-locus from between step and step ............ 2 - 6
2.2.1.2 Pose ...................................................... 2 - 7
2.2.1.3 Speed ..................................................... 2 - 8
2.2.1.4 Accuracy .................................................. 2 - 8
2.2.1.5 Tool number ............................................... 2 - 8
2.2.1.6 Output option ............................................. 2 - 8
2.2.1.7 Stop condition............................................. 2 - 9
2.2.1.8 Stop state variable ....................................... 2 - 9
2.2.2 Step position validation/modification method .............. 2 - 10
2.2.2.1 Encoder coordinate system ................................ 2 - 10
2.2.2.2 Base/Robot coordinate system ............................ 2 - 11
2.1.4 Coordinate system......................................... 2 - 13
2.3.1 JOG operation key ........................................ 2 - 13
2.3.2 Axis coordinate .......................................... 2 - 14
2.3.3 Robot coordinate ......................................... 2 - 15
2.3.4 User coordinate .......................................... 2 - 17
2.3.5 Tool coordinate .......................................... 2 - 18
2.4
Auto tool setting......................................... 2 - 19
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2. Basic operation
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Chapter 2. Basic operation of robot
2.1 Basic operation
Industrial robot is defined 『 The machine that is capable of physical operation and
manipulation by means of the automatic control and used by the industry by programming
in the various tasks(JIS)』.
Most of the industrial robot uses Teaching and Playback mode. Teaching means “ To instruct
robot of the operation task” and Playback means “ To carry out instructed work
repeatedly” . The operation method combining these two (Teaching and Playback) is also
called as "Teaching & Playback Method".
2.1.1 Controller's power/motor ON/OFF
2.1.1.1 Power ON/ Motor ON
1. Confirm nobody in safety fence and no dangerous machine within robot's working area.
2. Turn power switch located at the upper left corner of the controller's front side to CW
direction.
3. Push [Motor ON] switch on the operation panel.
4. Confirm whether [Motor ON] lamp is lighting up.
2.1.1.2 Power OFF/ Motor OFF
1. Push [STOP] button on the operation panel.
2. Turn [AUTO/MANUAL] switch on the operation panel to the MANUAL.
3. Push [Emergency Stop] button on teaching pendant or operation panel.
4.Turnpowerswitchlocatedattheupperleftcornerofcontroller'sfrontsidetoCCWdirection.
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2. Basic operation
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2.1.2 How to initiate the system
1. At manual mode, select “ System” [PF2] → 5: System format → 1. System format. If you
initialize the system, not only controller parameter file, machine parameter file, but also
all kinds of files shall be deleted. Do not use it except system installation at first time.
2. Select the type of robot connected controller.
3. In case of additional axis, key in the number of axis and decide that whether conveyor
synchronizing is "ON" or "OFF" and vibration control mode is "ON" or "OFF".
4. Turn the controller's power switch to "ON" form "OFF".
5. At manual mode, select "System"[PF2] → 3: Machine parameter → 5: Encoder offset
calibration, then execute encoder offset calibration.
6. At motor "ON" status, after move robot to basic position, execute encoder offset calibration
once more. This position data shall be used for encoder resetting when you change the motor.
7. Select program number 9999 and record one position step.
8. After selecting "MANUAL" mode and teaching automatic constant setting program, carry out
optimizing axis constant and tool length function.
2.1.3 Teaching
1. Select "MANUAL" mode.
2. Select program number by pressing [Shift(FAST)]+[Prog].
3. Push [Motor On] key on the operation panel.
4. Push [JOG ON] key on the teaching pendant and confirm the LED is lighting up..
5. Move the robot using axis operation buttons and setup the moving condition such as record
speed, interpolation type, accuracy etc.
6. Press [REC] key at the position that to be remembered.
7. Record the function.
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2. Basic operation
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2.1.4 Step and Function
The position which is remembered by [REC] key or defined by a variable position data is named
"STEP".
Working cannot be done by robot moving only. To carry out certain work, a signal communication
which is confirming peripheral equipment's status and transmitting robot condition between
robot and peripheral equipment is required. This kind of means for controller's signal exchange
and handing is named "Function".
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2. Basic operation
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2.2 Basic things for step
Step is a word indicating robot's certain position (or tool's end position).
Robot basically, move to other step from this recorded step and carry out any other function.
Move command "MOVE" is a command language instructing robot's moving and it is a most basic
command language in the robot programming. The position of tool end is recorded also various
item such as speed, interpolation, accuracy are designated.
STEP
14:39:38 *** M A N U A L *** A:0 S:4
T0
Manipulator
PNo:999[*]__ S/F:1/0
Spd:100.00
Robot:H6, 6axes, 2steps
S1 MOVE P,S=100mm/sec,A=0,T=0
S2 MOVE L,S=100mm/sec,A=0,T=0
STEP
Select PF menu
>
Service System Rel.WAIT
Cond Set
2.2.1 The parameter of STEP command line
MOVE L, P1, S=100%, A=0, T=0, G1, MX1, UNTIL I4, V1%
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|
+- (8) Stop status
+- (7) Stop condition
+- (6) Output(Spot), BM(block mark)
+- (5) Tool no. : 0∼3
+- (4) Accuracy : 0∼3
+- (3) Speed ( Unit : mm/sec, cm/min, %, sec )
+- (2) Pose(X,Y,Z, Rx,Ry,Rz, Cfg){Coord.} + shift(X,Y,Z, Rx,Ry,Rz){Coord.}
+- (1) interpolation : P(interpolation Off), L(liner), C(circular)
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2. Basic operation
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2.2.1.1 Interpolation - locus from between Step and Step
The interpolation method of [step n] decides the locus from between [step n-1] and [step n]..
„ P - interpolation off (point to point)
It is used the section which is not concerning for the locus form of the tool-end (control
point) movement to task point.
„ L - linear interpolation
Move linear locus form between two step. It is used such as welding section which needs
linear locus form. Tool and moves and changes the wrist pose automatically like in the
bellow's drawing.
Reference
1) Pose interpolation impossible condition
- Near the deadzone of B axis
- When the sign of B axis is changed.
- When the angle variation of R1, R2 axis is over 180 deg.
Ö It is varied according to interpolation execution method = <position interpolation, error
stop> of B axis deadzone's designated item.
- When the center of B axis or the end of tool is passing the circle center of S axis.
Ö Locus form tolerance or error can be occurred.
- When the angel variation of S axis is in excess of 180 deg.
Ö Error is occurred certainly.
„ C - circle interpolation
Move with circle locus form between two step. To make circle, 3 points are to be indicated.
The standard is as follows.
If the interpolation type is circle "C" when move to [step n+1] form [step n], look at
nextstep[stepn+2]. Iftheinterpolationtypeof[stepn+2]isalsocircle"C", thecircle
is made with [step n], [step n+1] and [step n+2]. Also robot moves following to arc of
[step n] ~ [step n+1] section. If the interpolation type is not circle interpolation, the
circle is made with [step n-1], [step n] and [step n+1] refer to previous step [step n-1].
In case of an exception, if the interpolation type of [step 2] is "C" and the interpolation
type of [step 3] is not "C", the last step [step n] must be referred to make circle.
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Step n: Start step
Setp n+1: C Int.
Object step
Step n+1: C int.
Object step
Setp n
Start step
Step n+2
Int.: L or P
Setp n-1
Ref. step
Step n+2: C Int.
Ref. step
If you use the above explanation's standard, you can do programming using double
registration of same point even in case of continuous circle.
Int. C
Int. C
Int. C
Int. C
Int. C
Int. C
Int. C
Int. C
Int. L(P)
Double registration of
same point
Like this, you can make program whatever your want. if your use double registration and
decide the interpolation type of step considering the locus form to be made.
2.2.1.2 Pose
It is the parameter to record robot's position. In case of input of [MOVE] sentence using
[CMD]key, youhavetouserposeparametersurely. Incaseofinputof[MOVE]sentencepressing
[REC]key,poseisnotshown(hiddenpose).Inthiscase,therobot'spositionwouldberecorded
as soon as you press [REC] key.
„ Pose : (X, Y, Z, Rx, Ry, Rz, Cfg) {coordinate system}
{coordinate system} : ' '
= Base coordinate system
R = Robot coordinate system
E = Encoder
„ Shift : (X, Y, Z, Rx, Ry, Rz) {coordinate system}*) R1∼R8 is same as in-line resister.
{coordinate system} : ' '
= Base coordinate system
R = Robot coordinate system
T = Tool coordinate system
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2.2.1.3 Speed
Designate the speed of tool end. There are mm/sec, cm/min, sec, % etc n a unit. Sec designate
speed as moving time, % is the ratio base on maximum speed.
2.2.1.4 Accuracy
Decide precision to pass the step (approach grade to recorded position) when the robot follow
to recorded step. When the end of tool moves to object step, if the difference is
uniform(accuracyO.K)betweenpresentpositionand recordedposition, the robotmoves tonext
step. Here, the difference is named accuracy. Accuracy 0 is most precision and accuracy 3
has the largest difference. This value can be defined in distance the number of bit at
“ System” [PF2] → 3: Machine parameter → 8: Accuracy.
P2
3
2
1
0
P3
Path of P2 accoring to accuracy
P1
2.2.1.5 Tool number
The position of robot is decided by the pose and position of tool end. Designate the number
of tool to be used.
2.2.1.6 Output option
G1, G2 - gun signal. - for spot welding.
MX1, MX2 - Maximum open. - for spot welding.
BM - block mark: At f key setting, speed 5% increase/decrease can be designated, when it if
only adapted to move command designated BM.
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2.2.1.7 Stop condition
Execute next command ( step or function ) after stop robot's movement if satisfy the condition
formula following UNTIL.
MOVE ... UNTIL I2=1
I2=1
2.2.1.8 Stop state variable
Storetheresultvalueofstopconditionformula.ItshowswhethertheMOVEmotioniscompleted
or not in accordance with condition formula.
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2. Basic operation
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2.2.2 Step position validation/modification method
After move robot with axis operation keys, if press [REC] key on teach pendant can verify or
modify robot's posture.
2.2.2.1 When the coordinate system is set as encoder
At manual mode, check the type of pose record from 'SYSTEM'[PF2] → 1 : User parameter →
2 : Default Pose. If the MOVE command's pose type is in a state of encoder, press
then
followingscreen will be displayed. For encodersettingrobot posture, validationof location
only can be done. You cannot modify position data.
14:39:38 *** Step Pose Data *** A:0 S:4
POSE OF CURRENT STEP
S :[ 00400000]
H :[ 00400000]
V :[ 00400000]
R2:[ 00400000]
B :[ 00400000]
R1:[ 00400000]
T1:[ 00400000]
T2:[ 00400000]
T3:[ 00400000]
Coordination : <Base,Robot,Encoder>
Press [Shift]+[<-][->] Key.
>
Save
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2.2.2.2 When the coordinate system is set as Base or Robot
At manual mode, check the type of pose record from 'SYSTEM'[PF2] → 1 : User parameter → 2 :
Default Pose. If the MOVE command's pose type is in a state of Base or Robot, press
then
following screen will be displayed. It shows that the robot configuration is designated as
'Define'.
14:39:38 *** Step Pose Data *** A:0 S:4
POSE OF CURRENT STEP
X: [
0.000] mm T1: [ 0.000] mm
Y: [ 880.000] mm T2: [ 0.000] mm
Z: [ 1020.000] mm T3: [ 0.000] mm
Rx:[ -90.000] deg
Ry:[
Rz:[
0.000] deg
0.000] deg
Coordination : <Base,Robot,Encoder>
Robot Configuration: <Define,Self-Cfg>
<Front,Rear> <Up,Down> <Flip,Non-flip>
within |PI|: S=<Y,N> R1=<Y,N> R2=<Y,N>
Select and Enter number. Press [SET]
>[-99999.999 - 99999.999]
Save
Reference
(1) Robot Configuration : When it need to record robot's position, there are multiple
solutions can be happened. To specify specific solution you should choose specific data
about robot style.
bit 0 : ( 0 : Define , 1 : Self-Cfg )
bit 1 : ( 0 : Front , 1 : Rear )
bit 2 : ( 0 : Up , 1 : Down ) → refer to following figure
⇒ related with H-axis and V-axis, all our robots are 'Up'.
bit 3 : ( 0 : Flip , 1 : Non-flip ) → refer to following figure
bit 4 : ( 0 : Left , 1 : Right ) → on screen it will displayed as
(│ S│ < 180, │ S│ = 180)
⇒ All our robots are 'Left'.
bit 5 : ( 0:│ R2│ <180, 1:│ R2│ >= 180 ) → It shows the location of R2-axis
bit 6 : ( 0:│ R1│ <180, 1:│ R1│ >= 180 ) → It shows the location of R1-axis
bit 7∼9 : ( 0 : base, 1 : robot, 2 : reversed, 3 : encoder)
→ All those are about coordinate system for reference, It shall not be calculated.
⇒ For customer's convenience, coordinate systems are shall be added on the
very end of letter.
Base coordinate = (X,Y,Z,Rx,Ry,Rz,cfg)
Robot coordinate = (X,Y,Z,Rx,Ry,Rz,cfg)
Encoder = (S,H,V,R2,B,R1)
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UP
FLIP
RIGHTY
LEFTY
NONFLIP
ARM
WRIST
DOWN
If the robot composition style is not set, the screen will be displayed as follow.
14:39:38 *** Step Pose Data *** A:0 S:4
POSE OF CURRENT STEP
X: [ 50.000] mm T1: [ 0.000] mm
Y: [ 880.000] mm T2: [ 0.000] mm
Z: [ 1020.000] mm T3: [ 0.000] mm
Rx:[ -90.000] deg
Ry:[
Rz:[
0.000] deg
0.000] deg
Coordination : <Base, Robot,Encoder>
Robot Configuration: <Define,Self-Cfg>
Select and Enter number. Press [SET]
>[-99999.999 - 99999.999]
Save
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2. Basic operation
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2.3 Coordinate system
2.3.1 JOG operation key
The following chart shows that the robot's moving direction in accordance with operation of
JOG key for each Axis coordinate, Robot coordinate, User coordinate and Tool coordinate. It
need to understand robot's movement according to coordinate system.
[Coordinate System]
Action
Robot
Robot
Jog Key
Axis coord.
Tool coord
(Robt coord.)
(User coord.)
Left(S+)
S [Left]
S [Right]
H [Front]
H [Back]
V [Up]
Xr (-)
Xr (+)
Yr (+)
Yr (-)
Zr (+)
Zr (-)
Rxr (+)
Rxr (-)
Ryr (+)
Ryr (-)
Rzr (+)
Rzr (-)
Xu (-)
Xu (+)
Yu (+)
Yu (-)
Zu (+)
Zu (-)
Rxu (+)
Rxu (-)
Ryu (+)
Ryu (-)
Rzu (+)
Rzu (-)
Xt (-)
Xt (+)
Yt (+)
Yt (-)
Zt (+)
Zt (-)
Rxt (+)
Rxt (-)
Ryt (+)
Ryt (-)
Rzt (+)
Rzt (-)
Right(S-)
Front(H-)
Back후(H+)
Up(V+)
Down(V-)
Rx+(R2+)
Rx-(R2-)
Ry+(B+)
V [Down]
R2 [+]
R2 [-]
B [+]
Ry-(B-)
B [-]
Rz+(R1+)
Rz-(R1-)
R1 [+]
R1 [-]
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2.3.2 Axis coordinate
On the state of Motor ON at manual mode, please check the JOG ON LED is lighted or not. When
press down Coordinate system key on teach pendant, if the light is on at axis it can be move
as operation of key. For the operation key, please refer to chart of 2.3.1 JOG operation key.
B(+)
V(Up)
R2(+)
R2(-)
B(-)
R1(+)
V(Down)
R1(-)
H(Back)
H(Front)
S(Right)
S(Left)
Axis Coord.
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2.3.3 Robot coordinate
On the state of Motor ON at manual mode, please check the JOG ON LED is lighted or not. When
press down Coordinate system key on teach pendant, if the light is on at cartesian it can be
move as operation of key. For the operation key, please refer to chart of 2.3.1 JOG operation
key.
Zr
Zr
Rzr-
Rzr+
Ryr+
Yr
Xr
Rxr-
Rxr+
Ryr-
Xr
base
Yr
Robot Coord.
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Reference
The following figure shows that how to determine the robot coordinate system. Stretch out left
hand's three fingers ; thumb, point finger and middle finger at a right angle. It means that
when the point finger's direction is aligned with Y-direction of robot coordinate, thumb's
direction is pointing Z and point finger's direction is pointing X.
<Reference>
Z
+(X,Y,Z)
R(X,Y,Z)+
Forward direction
Y
X
Rotation direction
Axis direction
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2. Basic operation
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2.3.4 User coordinate
Select user coordinate from 'System'[PF2] → 2 : Controller parameter → 12 : Coordinate
setting → 1:Usercoordinate,andthensettheselectedcoordinate.Afterthatplaytheprogram
understateof completionkeyin'CondSet'[PF5] → 8:Selectusercoordinate, thenrobot shall
move as following figure.
Origin point
Su
ppor
t
:
m
a
n
u
a
l
j
ogg
i
n
g
&
s
h
i
f
t
User Coor.
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2.3.5 Tool coordinate
On the state of Motor ON at manual mode, please check the JOG ON LED is lighted or not. When
press down Coordinate system key on teach pendant, if the light is on at tool. it can be move
as operation of key. For the operation key, please refer to chart of 2.3.1 JOG operation key.
Rxt-
Xt
Rzt-
Zt
Origin point
Rzt+
Rxt+
Ryt+
Ryt-
Yt
s
u
ppor
t
:
m
a
n
ua
l
j
ogg
i
n
g
&
s
h
i
f
t
Tool coord.(with torch)
It shows that the robot is operating without tool.
s
u
p
por
t
:
m
a
n
u
a
l
j
ogg
i
n
g
&
s
h
i
f
t
Tool coord.(without tool)
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2. Basic operation
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2.4 Auto tool setting
You can make the same program to the previous program by calibrating automatically the tool
constant without teaching when the teaching point in the previous program is different from
the previous teaching point resulting in changing, modification of the tool.
You can get angle, length of new tool if executing the function after moving the setting tool
in the step that taught previously. At this time, The position data of the step that is taught
is recorded as the pose data, accurate.
Press 'SYSTEM'[PF2] → 1 : User parameter → 2 : Default Pose then following screen will be
displayed.
14:39:38 ***AUTO TOOL SETg*** A:0 S:4
*) By jogging, place the tool-tip at
the point of reference step, with the
If the pose is not certain, execute
'Angle Setting' after this function.
Program No. = [ 0]
Step No. = [ 0]
Tool No. = [ 0]
Select and Enter number. Press [SET]
>[1 - 999]_
Execute
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3. Service menu
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Chapter 3. Service Menu
Contents
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.1 Monitoring ..................................................... 3 - 4
3.2 Register ...................................................... 3 - 15
3.2.1 XYZ Shift register.................................... 3 - 16
3.2.2 Shift buffers......................................... 3 - 18
3.2.3 On-line shift register Group.......................... 3 - 20
3.2.4 Palletizing register.................................. 3 - 22
3.2.5 Frequency condition register.......................... 3 - 25
3.2.6 Conveyor data......................................... 3 - 26
3.3 Variable....................................................... 3 - 28
3.4 Edit program................................................... 3 - 29
3.4.1 Modify writing condition totally...................... 3 - 30
3.4.2 Modify speed in record totally........................ 3 - 31
3.4.3 Modify position in record totally..................... 3 - 32
3.4.4 Step copy ............................................ 3 - 34
3.4.5 Step reverse copy..................................... 3 - 36
3.4.6 Edit program in running (Hot edit) ................... 3 - 38
3.5 File management................................................ 3 - 43
3.5.1 Internal memory file name ............................ 3 - 44
3.5.2 Program first data.................................... 3 - 45
3.5.3 Internal program axis no.............................. 3 - 46
3.5.4 Rename ............................................... 3 - 47
3.5.5 Copy.................................................. 3 - 51
3.5.6 Delete ............................................... 3 - 53
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.5.7 Protect .............................................. 3 - 55
3.5.8 Storage media format ................................. 3 - 58
3.5.9 Save/Load (SRAM Card) ................................ 3 - 59
3.6 Program conversion ............................................ 3 - 61
3.6.1 Coordinate transformation ............................ 3 - 62
3.6.2 Mirror Image ......................................... 3 - 64
3.6.3 Off-Line XYZ shift .................................. 3 - 67
3.7 System checking .............................................. 3 - 69
3.7.1 System version ....................................... 3 - 70
3.7.2 Run time ............................................ 3 - 71
3.7.3 Diagnosis of troubles................................. 3 - 74
3.7.4 Error logging ....................................... 3 - 76
3.7.5 Stop history ........................................ 3 - 78
3.7.6 Operation history ................................... 3 - 80
3.8 Date setting (Date, Time) .................................... 3 - 81
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3. Service menu
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Chapter 3 Service Menu
When you press the "Service [PF1]" on the Manual or Auto Mode. the following display
contents appear.
14:39:38 ** Service contents ** A:0 S:4
1: Monitoring
2: Register setting
3: Variables
[R245]
4: Program modify
5: File manager
6: Program conversion
7: System checking
8: Date setting(Day, Time)
Use [Number]/[Up][Down] and press [SET].
>
Previous Next
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.1 Monitoring
Outline
It displays encoder value of each axis, degrees of angle, coordinates value data
in/output condition. It is same as the code "R245 : Monitor mode selection"
Screen display
14:39:38 *** Monitoring *** A:0 S:4
0: Monitor OFF
1: Axis data
2: Private input
3: Private output
4: DIO( 1 - 24 )
5: DIO( 25 - 48 )
6: DIO( 49 - 72 )
7: DIO( 73 - 96 )
8: DIO( 97 - 120)
9: DIO(121 - 144)
10: DIO(145 - 168)
----------------------------------------
11: DIO(169 - 192)
12: DIO(193 - 216)
13: DIO(217 - 240)
14: DIO(241 - 256)
15: Spot welding input/output monitor
16: Brake slip count
17: DIO Name display
18: Conveyor data(with axis data)
19: Analog data
20: Servo GUN data
21: Palletize register
---------------------------------------
22: Equalizerless GUN data
23: DSP analog monitor
Use [Number]/[Up][Down] and press [SET].
>
Line
Previous Next
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3. Service menu
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Reference
ꢀ When you select the "Line[PF1]", you can change the number of lines of monitoring
function on the display screen.
14:39:38 *** Monitoring *** A:0 S:4
How many monitoring lines? [7]
Enter the number of line and press [SET]
>[2 - 7]
ꢀ Input the number of Line of Monitoring screen display by number key, press [SET].
After you input the number and press the "Complete[PF5]" the display screen returns
back the " Monitoring "
ꢀ You can see the following display screen when you select the number of Line "2" in
Manual Mode.
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
Current Command
S :040000 040000
Angle Coor(mm)
0.0deg X= 0.0
>
Service System Rel.WAIT
Cond Set
ꢀ You can see the following display screen when you select the number of Line "5" in
Manual Mode.
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
Current Command
S :040000 040000
H :040000 040000
V :040000 040000
R2:040000 040000
Angle Coor(mm)
0.0deg X=
90.0deg Y=
0.0deg Z=
0.0deg
0.0
0.0
0.0
>
Service System Rel.WAIT
Cond Set
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━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.1.0 Monitor OFF
Outline
It cancel the function of Monitoring that you already select.
3.1.1 Axis Data
Outline
It displays present encoder value of each axis, setting encoder value, degrees of
angle, coordinates value. When you press the [Shift] key, it displays the hidden
↓
item.
Screen display
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
Current Command
S :040000 040000
H :040000 040000
V :040000 040000
R2:040000 040000
B :040000 040000
R1:040000 040000
Angle Coor(mm)
0.0deg X=
90.0deg Y=
0.0deg Z=
0.0deg
0.0
0.0
0.0
0.0deg
0.0deg
>
Service System Rel.WAIT
Cond Set
3.1.2 Private Input
Outline
It displays the status of the fixed input signal. When you input the present fixed
input signal, it displays reverse indication. When you press the [Shift] key,
↓
it displays the hidden item.
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3. Service menu
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Screen display
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
<< Private Input Signal >>
Auto/Manual switch Enable switch
Hard limit
Overlaod
ARM interference
Motor overheat
Motor on(External)
MSPR ON
----------
MSHP on
Emergency stop
----------
>
Service System Rel.WAIT
Cond Set
3.1.3 Private Output
Outline
It displays the status of the fixed output signal. When you input the present fixed
output signal, it displays reverse indication. When you press the [Shift] key, it
displays the hidden item.
Screen display
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
<< Private Output Signal >>
Motors on(LED)
MSPR ON
Start(LED)
----------
MSPR ON
----------
Synthetic Err(LED) Stop(LED)
Hard limit release AUTO mode(Private)
>
Service System Rel.WAIT
Cond Set
3.1.4 DIO( 1 - 24 )
3.1.14 DIO(241 - 256)
Outline
It displays the status of common Input/Output.
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
Screen display
The following screen displays when you select "4;DIO( 1 - 24 )".
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0 Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
<< General I/O Signal >>
I1 I2 I3 I4 I5 i6 I7 I8
I9 I10 i11 I12 i13 I14 I15 I16
I17 I18 I19 I20 I21 I22 I23 I24
O1 o2 O3 O4 O5 O6 o7 O8
O9 o10 O11 O12 O13 O14 O15 O16
O17 O18 O19 O20 o21 O22 O23 O24
>
Service System Rel.WAIT
Cond Set
Reference
ꢀ "System"[PF2] -> 2. Controller parameter -> 1. Setting input & output signal -> 7:
Input signal assigning, 6: Output signal assigning Allocated signal displays small
letter.
※ Not allocated signal : O5 , I14
※ Allocated signal
: o5 , i14
3.1.15 Spot welding Input/Output Monitor
Outline
It displays the status of the welding condition signal, GUN signal, MX signal,
Welding finish Input signal in spot welding..
Screen display
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
<< Spot Welding I/O >>
WELDg-Cond output = 0 1 2 3 4 5 6 7
Gun output
MX output
WI input
= 1 2
= 1 2
= 1 2
>
Service System Rel.WAIT
Cond Set
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3. Service menu
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3.1.16 Break Slip Count
Outline
You can select/ display the slip count value over the range and initialize it when
you use in stud welding(Break ON type). You must select "System[PF2]" -> 5. System
format -> 4: Setting usage of the robot, set the menu Stud in GUN1 or GUN2.
Screen display
14:39:38 * Slip count display * A:0 S:4
1: Slip count display/setting
2: Slip count reset
Use [Number]/[Up][Down] and press [SET].
>
3.1.16.1 Slip Count display/setting
Outline
It displays the number of the break slip count in each axis and it is set the slip
count by user. You must select " System[PF2] -> 5. System format -> 4: Setting usage
of the robot, set the menu Stud in GUN1 or GUN2.
Screen display
14:39:38 * Slip count display * A:0 S:4
S: [
V: [
B: [
0]
0]
0]
H :[
R2:[
R1:[
0]
0]
0]
Enter number and press [SET]
>[0 - 65535]
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3. Service menu
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Operation method
Input the number of slip count by number key and press the [SET]. When the slip count
of each axis are input, press the "Complete[PF5]"
3.1.16.2 Slip Count reset
Outline
It initialize slip count in all axis.
Screen display
The following message displays on the screen.
Clear to slip count?
>
[YES/NO]
Operation method
When you select (YES), the slip count of all axis are 0 and initializes. When you
select (NO), it cancels.
3.1.17 DIO name display
Outline
It confirms the Input/Output signal name. Monitoring of DIO name display is
"System"[PF2] -> 2. Controller parameter -> 1. Setting input & output signal -> 9.
Editing DIO names, Write DIO name in DIO name edit.
Screen display
14:39:38
*** DIO name *** A:0 S:4
1: Page 1
2: Page 2
3: Page 3
4: Page 4
Use [Number]/[Up][Down] and press [SET].
>
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3. Service menu
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Operation method
When you select the page you want, the following screen displays the DIO name
monitoring.
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
<< DIO Name >>
I1 : Clamp check O1 : Clamp ON
I2 : Collition sens O5 : Program END
I8 : Ext. stop
I25 : Safety plug
________________
O8 : Emergency
O10 :
________________
>
Service System Rel.WAIT
Cond Set
3.1.18 Conveyor Data (Included axis data)
Outline
Whenyouusetheconveyor,itdisplaysthepresentencodervalueofeachaxis,setting
encodervalue,angle,coordinates,conveyorpulsecount,conveyorregister,conveyor
speed. Monitoring of Axis & Conveyor is "System"[PF2] ->5. System format -> 2.
Selecting type of the robot select and effective to use conveyor.
Screen display
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
Current Command Angle Coor(mm)
S :040000 0400C0 0.0deg X=
H :040000 0400C0 90.0deg Y=
V :040000 0400C0 0.0deg Z=
0.0
0.0
0.0
R2 :040000 0400C0 0.0deg CP= 12345
B :040000 0400C0 0.0deg CR= 500.7
R1 :040000 0400C0 0.0deg CS= 100.0
>
Service System Rel.WAIT
Cond Set
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3. Service menu
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3.1.19 Analog Data
Outline
It displays the input voltage, output voltage, speed of analog output for analog
port.
Screen display
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
<< Analog signal I/O >>
Port1 Port2 Port3 Port4
Input(V) -12.0 -12.0 -12.0 -12.0
Output(V)
0.0
0.0
0.0
=> Proportional speed(mm/s):
0.0
0.0
>
Service System Rel.WAIT
Cond Set
3.1.20 Servo GUN Data
Outline
When you use the servo GUN, it displays the encoder value, current, welding force
data for servo GUN, real inspection welding force in welding operation, distance
and wear amount between moving electrical pole and fixed electrical pole. You must
register the servo gun for additional axis for Servo gun axis data monitoring.
Screen display
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
<Servo GUN1 Data>
Axis encoder
Axis current
Current
=> 00000000 : 00000000
Command
=>
=>
0.00 : 0.00
0.00 : 350.00
Squeeze force
(Realistic squeeze force):
Length => 0.00 :
0.00
0.00
Consumption=>move: 0.00 fixed: 0.00
>
Service System Rel.WAIT
Cond Set
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3. Service menu
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3.1.21 Palletize Register
Outline
It displays the status of palletizing operation. It displays the status of
palletizing, pattern register number, counter,number of workpieces, and size of
workpiece.YoumustregisterthePalletizingforGUN2forpalletizingdatamonitoring.
"System"[PF2]->5. System format->4. Setting usageoftherobot:GUN2: Palletizing
Screen display
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
SFT+[<-][->]<Pa01> <Pa02> <Pa03> <Pa04>
Work state :
Pattern Reg :
ON
1
OFF
0
OFF
0
OFF
0
Counter :
Total No. :
20
80
0
0
0
0
0
0
Work size(X): 1000.0 0.0
Work size(Y): 1000.0 0.0
0.0
0.0
0.0
0.0
>
Service System Rel.WAIT
Cond Set
Reference
⑴ When you press the [Shift] ↓, [Shift] → key, it displays the hidden item.
3.1.22 Equalizeless GUN Data
Outline
When you use the eqaulizeless GUN, it displays the welding condition no., welding
force , 2-stroke data, in/output of welding- finish and wear amount of fixed
electrical pole. and fixed electrical pole. You must register the equalizeless gun
for GUN1 or GUN2 for equalizeless gun data monitoring. "System"[PF2] --> 5. System
format -> 4. Setting usage of the robot : GUN1 or GUN2: Spot and Air-GUN1 or Air-GUN
2 : EQ'less
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3. Service menu
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Screen display
14:39:38 *** M A N U A L *** A:0 S:4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,T=1
<Equalizerless GUN Data>
Welding CND number(M33) =
Gun1 Gun2
002
ON
xxx
OFF
OFF
OFF
Squeeze output
=
Two step stroke output =
Welding compete input =
ON
ON
Fixed tip consumption = 0.00 0.00
>
Service System Rel.WAIT
Cond Set
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3. Service menu
------------------------------------------------------------------------------------------------
3.2 Register
Outline
Itdisplays/changestheXYZshiftregister,Shiftbuffer,Onlineshiftregistergroup,
Palletize register, Frequency condition register.
Screen display
14:39:38
1: XYZ shift register
2: Shift buffer
*** Register ***
A:0 S:4
[R162]
3: ON-line shift register group
4: Palletizing register
5: Frequency condition register[R 18]
6: Conveyor data
Use [Number]/[Up][Down] and press [SET].
>
Previous Next
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3. Service menu
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3.2.1 XYZ Shift Register
Outline
It is keeping the tool angle of point that is already taught and a parallel movement
in XYZ dimension. XYZ register reserves 3 dimension of shift data.
Screen display
14:39:38
# XYZ shift register
*** Register ***
A:0 S:4
0.0]mm
X=[
0.0] Y=[
0.0] Z=[
Select and Enter number. Press [SET]
>[-3000.0 - 3000.0]
Operation method
ꢀ After moving the cursor to changing the position, and press [SET] after inputting
the numeric value with a numeric key.
ꢀ If setting is ended, press 'Complete"[PF5] and the data is saved. If press 'Cancel"
and it is canceled.
Reference
⑴ Playback of XYZ shift function
You must set the length in the direction of X,Y, and Z axis to the GUN -end exactly
because translation is keeping the GUN angle.
⑵ Application of XYZ shift function
In case of translating the work parallel from the points A, B, C and D to the points
a, b, c and d.
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3. Service menu
------------------------------------------------------------------------------------------------
Z축
C
c
D
A
B
d
b
a
Y축
X축
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3.2.2 Shift buffers
Outline
It is a parallel movement with keeping up the tool angle that already taught.
Screen display
14:39:38
1. Shift buffer for robot coordinate
X=[ 0.0] Y=[ 0.0] Z=[ 0.0]mm
*** Register ***
A:0 S:4
AX=[ 0.00] AY=[ 0.00] AZ=[ 0.00]dg
2. Shift buffer for tool coordinate
X=[
AX=[ 0.00] AY=[ 0.00] AZ=[ 0.00]dg
0.0] Y=[
0.0] Z=[
0.0]mm
Select and Enter number. Press [SET]
>[-3000.0 - 3000.0]
Reference
(1) Parallel movement shift
When the point of A, B, C, D and the points of a, b, c, d is a parallel movement
relationship between its two positions. If playback to a position of a, b, c and
d from the program of A, B, C and D with keeping up regularly the tool angle to a
extent of different between the point and the point A from the external.
A
B
D
C
a
b
d
c
(2) Angle calibration shift
A parallel movement shift is a parallel movement with preserving the tool angle but
an angle calibration shift make a shift while calibration correctly the tool angle
on the basis of a deviating angle in the robot coordination system from the external.
It can be playback regularly what is the tool angle for workpiece "A" is the point
"c" as is the tool angle for workpiece "a" to the point "c".
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A
b
B
c
C
work a
work A
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3.2.3 On-line shift register Group
Outline
On-line shift register group is a register that is set each axis length the palletize
turning number, shift data to be received from the external unit. There are total 8
units. It can be set double register.
Screen display
14:39:38
*** Register ***
A:0 S:4
1: ON-line shift register 1
2: ON-line shift register 2
3: ON-line shift register 3
4: ON-line shift register 4
5: ON-line shift register 5
6: ON-line shift register 6
7: ON-line shift register 7
8: ON-line shift register 8
Use [Number]/[Up][Down] and press [SET].
>
Operation method
Select register group to set. If register group 1 selected, it displays as follow;
14:39:38 *** Register *** A:0 S:4
# On-line shift register group
[Register1]
Request port No.=[0] Input state=[0]
X=[ 0.0] Y=[ 0.0] Z=[ 0.0]mm
AX=[ 0.00] AY=[ 0.00] AZ=[ 0.00]dg
Select and Enter number. Press [SET]
>[0 - 2]
Screen description
ꢀ RequestportNo. :Inputthenumberofserialporttobeinputtedfromvisionequipment
ꢀ Input value : If the shift value from vision equipment inputted and changed position
data, it changes to "1".
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Reference
ꢀ If set the on-line shift register clear as <ENBL>, from "Cond Set[PF5] -
AppliCnd[PF1] - 7. Shift register clear" the value of on-line shift register shall
be cleared to '0'.
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3.2.4 Palletizing register
Outline
It can be set freely the content of a palletizing register.
It can be selected GUN2 from "System"[PF2] -> 5. System format -> 4. Setting usage of
the robot.
Screen display
14:39:38
*** Register ***
A:0 S:4
1: Palletizing register
2: Palletizing preset
3: Palletizing reset
Use [Number]/[Up][Down] and press [SET].
>
3.2.4.1 Palletizing Register
Outline
Set manually the shift data for palletizing.
Screen display
14:39:38
# Palletizing register
1. Palletize shift data
*** Register ***
A:0 S:4
0.0]mm
X=[
0.0] Y=[
0.0] Z=[
AX=[ 0.00] AY=[ 0.00] AZ=[ 0.00]dg
2. Picking up shift data
X=[
0.0] Y=[
0.0] Z=[
0.0]mm
Select and Enter number. Press [SET]
>[-3000.0 - 3000.0]
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Screen description
ꢀ Palletize Shift Data : Input shift data for palletizing.
ꢀ Picking up Shift Data : Input shift data when lifting work piece.
※ To save changed data, press 'Complete'[PF5]. If press, [CANCEL], the data shall not
be saved
3.2.4.2 Palletizing Preset
Outline
Preset the start number of the palletizing workpiece in advance.
It is the function to start robotic palletizing, under the state of pallet No.
palletizing pattern register No. and start No. are completed set by user.
Screen display
14:39:38
# Palletizing preset
*** Register ***
A:0 S:4
= [ 0]
Palletize pallet No
Palletize pattern register No. = [ 0]
Start count = [ 0]
Select and Enter number. Press [SET]
>[1 - 16]
Screen description
ꢀ Palletize Pallet No : The number of pallet which will start work.
ꢀ Palletize Pattern Register No. : Input number of pattern register which will start
work.
ꢀ Start Count : When it start work, input the counted number of workpiece among the
total number of workpiece on the current pallet.
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3.2.4.3 Palletizing Reset
Outline
Reset the value of the counter, palletizing register forcibly.
Operation method
If select "Palletizing Reset" item, it will be appeared on the screen as followings
Input the palletize pallet number.(1-16)
>[1 - 16]
ꢀ If setting is ended, press [SET] key, it will be appeared on the screen as followings
End palletizing?
>
[YES/NO]
ꢀ If press [YES] key, it initialize the palletizing information, or press [NO] to
cancel the work to do.
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3. Service menu
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3.2.5 Frequency condition register
Outline
It sets freely the content of frequency condition register.
For example, when use those functions such as Step jump, Step call, Step return,
Function assigned step jump, Program call, Program jump, Function jump, Target program
call, etc. it compares with the value of frequency condition register to decide whether
continue work or not.
Screen display
14:39:38
*** Register ***
A:0 S:4
# Frequency condition register counter
1=[ 0] 2=[ 0] 3=[ 0] 4=[ 0]
5=[ 0] 6=[ 0] 7=[ 0] 8=[ 0]
9=[ 0] 10=[ 0] 11=[ 0] 12=[ 0]
13=[ 0] 14=[ 0] 15=[ 0] 16=[ 0]
Select and Enter number. Press [SET]
>[0 - 255]
Operation method
ꢀ After moving the cursor to changing position with direction key and press [SET] key
after inputting a numeric value with a numeric key.
ꢀ If press 'End'[PF5] key, changed data shall be stored. If press [CANCEL] key, the
inputted data shall be cleared.
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3.2.6 Conveyor Data
Outline
You can set the CR parameter and simulation speed for conveyor simulation and you can
check the conveyor data manual reset or quantity of workpiceses inline. You can set
the conveyor data when you select "System"[PF2] -> 5. System format -> 2. Selecting
type of the robot and select the Conveyor synchronization = <ON>.
Screen display
14:39:38
1: Conveyor simulation data [R 45]
2: Conveyor data reset [R 44]
*** Register ***
A:0 S:4
3: Current works' monitoring on C/V
Use [Number]/[Up][Down] and press [SET].
>
3.2.6.1 Conveyor Simulation Data
Outline
Youcansettheconveyorregister(CR)andconveyorspeed(CS)whenyouplaytheprogram
in the simulation.
Screen display
14:39:38 *** Register ***
# Conveyor simulation data
A:0 S:4
Rgister (CR) = [ 0.0] mm
Speed (CS)
= [ 0.0] mm/sec
Select and Enter number. Press [SET]
>[0.0 - 10000.0]
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Screen Description
ꢀ Register(CR) : Input the number of conveyor register.
ꢀ Speed(CS) : Input the number of conveyor speed.
※ If press 'Complete'[PF5] key, changed data shall be stored. If press [CANCEL] key,
the inputted data shall be cleared.
3.2.6.2 Conveyor Data Reset
Outline
Initialize the conveyor data register.
Screen display
Conveyor data clear. Continue? [YES/NO]
>
ꢀ If you select the [YES], then you can initialize the conveyor data, and if you select
[NO], then cancel it.
3.2.6.3 Monitoring for workpiece numbers on the conveyor
Outline
When there are many workpieces on the conveyor, you can monitor the number of
workpieces.
Screen display
14:39:38
*** Register ***
A:0 S:4
Works entered the CV line = [ 3]
>
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3.3 Variable
Outline
You can check or modify the present data of main variable and sub variable. Please refer
to the "11. Robot Language -> 11.1.3. Variable" for more details.
Screen display
14:39:38*** Var. Monitoring *** A:0 S:4
Select variable type to display.
Global Local
Integer
Real
V%
V!
V$
P
LV%
LV!
LV$
LP
String
Pose
Shift
R
LR
Select Var Type, Press [SET] or [PF5]
>
Operation Method
ꢀ When you select the variable type by cursor and press the [SET]. The following display
content is for selecting the constant variable type.
14:39:38*** Var. Monitoring *** A:0 S:4
Var.
Data
Var.
Data
V1%=[ 32519]
V3%=[ 8232]
V2%=[ 21961]
V4%=[ 2130]
V5%=[
V7%=[
0]
1]
V6%=[
V8%=[
0]
0]
V9%=[ 8194]
V11%=[ 4100]
V10%=[
V12%=[
V14%=[
31]
0]
V13%=[
1]
2]
V15%=[ 17828]
V17%=[-14671]
V19%=[-14448]
V16%=[ -320]
V18%=[
V20%=[
63]
63]
Select and Enter number. Press [SET]
>
ꢀ When you input the number of variable by keying the number and press the [SET].
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3.4 Edit Program
Select the "Program modify" and then displays as follows.
14:39:38 *** Program modify *** A:0 S:4
1: Condition modify
2: Speed modify
3: Step position modify
4: Step copy
5: Reverse step copy
6: Hot edit
Use [Number]/[Up][Down] and press [SET].
>
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3. Service menu
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3.4.1 Modify writing condition totally
Outline
You modify the condition in record of many steps in one program.
Screen display
14:39:38 ** Condition modify ** A:0 S:4
Program No. =[ 5]
Start step =[ 1]
End step =[ 10]
Accuracy = < Const, 0, 1, 2, 3 >
Tool
GUN 1
GUN 2
MX
= < Const, 0, 1, 2, 3 >
= < Const, Off, On >
= < Const, Off, On >
= < Const, Off, On >
= < Const, Off, On >
MX2
Select and Enter number. Press [SET]
>[1 - 999]
Display content
ꢀ Program No: It is used to modify the condition in record in step. First value is
present program number. Input the value when you need to modify it.
ꢀ Start Step: It is the first step to modify the condition in record. First value
of Start Step is set by 1. Input the value when you need to modify it.
ꢀ End Step: It is the last step to modify the condition in record. First value of
End Step is set by last step number of present program. Input the value when you
need to modify it.
ꢀ Accuracy, Tool, GUN1, GUN2, MX, MX2: Select the First Step and End Step by your
request.
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3.4.2 Modify speed in record totally
Outline
You modify the speed in record of many steps in one program.
Screen display
14:39:38** Speed Modification **A:0 S:4
Prog No. : [ 99]
Step :[ 1] To [ 9]
Mode :<Assign,Scale,Alter Unit>
Range:<All,Welding,Air-Cut,PTP,INT-On>
Unit :<mm/sec,cm/min,sec,%>
Spd/Ratio = [ 100.00]
Select and Enter number. Press [SET]
>[1 - 999]
Display content
ꢀ ProgramNo.:Itisusedtomodifythespeedinrecord. Firstvalueispresentselected
program number. Input the value when you need to modify it.
ꢀ Step: It is the step range to modify speed in record. Range value of Step is First
Step to Last Step. Input the value when you need to modify it.
ꢀ Mode: Determine the mode of speed select
① Assign: Modify the speed in record totally.
② Scale: Modify the % value of speed in present step when the speed and the unit
are same totally.
③ Alter Unit: Modify the unit of speed in record totally.
ꢀ Range: Determine the range for modifying step
ꢀ Unit: Modify the unit of speed in Speed Select and Unit Conversion. Modify the %
value in Magnification Select.
ꢀ Spd/Ratio: Modify the speed in Speed Select, and % value in Magnification Select.
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3. Service menu
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3.4.3 Modify position in record totally
Outline
You modify the position in record of many steps in one program.
Screen display
14:39:38 ** Position modify ** A:0 S:4
Program: [ 99] Step:[ 1] ~ [ 9]
Coord.fmt.: <Cartesian,Axis>
(Hidden pose of the step is shifted.)
X =[
Y =[
Z =[
RX=[
RY=[
RZ=[
0]mm
0]mm
T1=[
T1=[
T1=[
T1=[
T1=[
T1=[
]deg
]deg
]deg
]deg
]deg
]deg
0]mm
0]deg
0]deg
0]deg
Select and Enter number. Press [SET]
>[1 - 999]
Display content
ꢀProgram: It is used to modify the position in record. First value is present selected
program number. Input the value when you need to modify it.
ꢀStep: It is the step range to modify position in record. Range value of Step is First
Step to Last Step. Input the value when you need to modify it.
ꢀCoord. fmt.: Select the Cartesian type or Angular type to modify the position data
recorded in step.
① Cartesian: Modify the position data in record according to the Cartesian type.
Input the value in X,Y,Z, RX,RY,RZ,T1,T2,T3,T4,T5,T6.
② Axis : Modify the position data in record according to the angular type. Input
thevalueinX,Y,Z,RX,RY,RZ,T1,T2,T3,T4,T5,T6. WhenyouselecttheAngulartype,
Display contents as follows.
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14:39:38 ** Position modify ** A:0 S:4
Program: [ 99] Step:[ 1] ~ [ 9]
Coord.fmt.: <Cartesian,Axis>
(Hidden pose of the step is shifted.)
S =[ 100.0]deg
H =[ 100.0]deg
V =[ 100.0]deg
R2=[ 100.0]deg
B= [ 100.0]deg
R1=[ 100.0]deg
T1=[
T1=[
T1=[
T1=[
T1=[
T1=[
]deg
]deg
]deg
]deg
]deg
]deg
Select and Enter number. Press [SET]
>[1 - 999]
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3. Service menu
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3.4.4 Step Copy
Outline
You can copy the part of program or same program in the other program. This function
make you can copy the function in the recorded step, The step numbers that selected
by Jump or Call command are also changed automatically.
Example
This chart shows you can copy Step1 to Step 5 of the Program No.1 in the Step 2 of the
Program No. 2.
end step
start step
Source program
STEP1
(program 1)
1
2
3
4
5
6
before copy
Destination program
STEP2
(program 2)
1
4
2
3
insert step
3
4
5
6
after copy
Program 2
7
1
2
8
Screen display
14:39:38
Copy source
*** Step copy *** A:0 S:4
Program No. =[ 0] Start step =[ 1]
End step =[ 1]
Destination
Program No. =[ 0] Insert step =[ 1]
Select and Enter number. Press [SET]
>[1 - 999]
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3. Service menu
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Reference
⑴ The end step No. of the program to copy is bigger than the start step No.
⑵ Input step No. of the program to be copied is the former step No.
⑶ When you copy the steps included the End point, the End function is also copied,
On your request, you need to delete the end step.
⑷ You cannot copy the programs of Memory-protect or Program-protect.
⑸ When the Step-Jump, Call function are exist out of the range of the program to be
copied, TheStep No. arenotchanged. Youmust change thestepNo. after Copy-finish.
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3.4.5 Step Reverse-Copy
Outline
You can copy the part of program or same program in the other program reversibly. This
function make you can reverse-copy the function in the recorded step. The step numbers
that selected by Jump or Call command are also changed automatically.
Example
This chart shows you can reverse-copy Step1 to Step 5 of the Program No.1 in the Step
2 of the Program No. 2.
end step
start step
Source program
STEP1
(program 1)
1
2
3
4
5
6
5
6
1
2
3
4
before copy
Destination program
STEP2
(program 2)
1
4
2
3
insert step
3
4
5
6
after copy
2
3
5
4
Program 2
7
1
2
8
Screen display
14:39:38 * Reverse step copy * A:0 S:4
Copy source
Program No. =[ 0] Start step = [ 1]
End step = [ 1]
Destination
Program No. =[ 0] Insert step = [ 1]
Select and Enter number. Press [SET]
>[1 - 999]
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3. Service menu
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Reference
⑴ The end step No. of the program to copy is bigger than the start step No.
⑵ Input step No. of the program to be copied is the former step No.
⑶ When you copy the steps included the End point, the End function is also copied,
On your request, you need to delete the end step.
⑷ You cannot copy the programs of Memory-protect or Program-protect.
⑸ When the Step-Jump , Call function are exist out of the range of the program to be
copied, TheStepNo. arenotchanged. YoumustchangethestepNo. afterCopy-finish.
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3.4.6 Edit program in running (Hot Edit)
Outline
You can edit the program in the running mode like manual mode.
ꢀThis function operates when the Robot is operating.
ꢀWhen you use this function if it is not the running mode, the following message is
occurred.
Not running state. Use MANUAL mode.[ESC]
>
Reference
You can modify the program in running mode and you can operate the robot by the request
to accept modify the program, The robot moves as the modified program directly. You
must carefully the keep the attention not to break the jig by wrong modifying program.
3.4.3.1 In process
Outline
You can proceed in to the Hot Edit mode by 2 methods as follows. You can edit the
program in running program.
ꢀ "Service"[PF1] -> 4. Program modify -> 6. Hot edit
ꢀ Push the
key in robot running
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Screen display
14:39:38 *** Hot edit *** A:0 S:4
SR:100% Cont
HotE:022/3/1
PB:022/4/0
S1 MOVE P,S=30%,A=1,T=0
S2 MOVE P,S=50%,A=0,T=0
S3 MOVE P,S=50%,A=0,T=0
PRINT #1,"READY"
S4 MOVE P,S=50%,A=0,T=0
S5 MOVE P,S=50%,A=0,T=0
S6 MOVE P,S=50%,A=0,T=0
S7 MOVE P,S=50%,A=0,T=0
Select PF menu
>
Escape Apply
OK
3.4.3.2 Edit type
Outline
It is same as the manual mode, but the following functions are not used. When you
push the key, it does not’ t operate.
ꢀJog key
ꢀ[Record] key (Record of Hidden Pose MOVE)
ꢀ[Pose Mod] key
ꢀ[Delete] key in the program header
3.4.3.3 Accept
Outline
For the safety in Hot Edit, Permit the edit of the COPY PROGRAM instead of ORIGINAL
PROGRAM.
Request accept
Playback cycle
dispaly
start
Request
accept
012
accept
Hot edit
Edit
File name
exchange
File copy
TempFilH.012
Temp. file1
TempFilh.012
Temp. file2
H120.012
Origianl file
File copy
Hot edit start
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ꢀORIGINAL PROGRAM is copied to the TEMP1 file and be modified by user. When user push
the " OK" [PF5] key , TEMP1 is copied to TEMP2 and displays the request of Accept.
Accept of ORIGINAL PROGRAM is proceeded by exchanging files between TEMP2 and
ORIGINAL PROGRAM.
ꢀAccept are occurred to the following chart.
Description
ꢀPractice the job
Accept time
Stating time of Re-cycle
(Accept the all files)
Job
process
ing
ꢀJob requested by CALL
The other Job
On the request
ꢀHot Edit cannot operates except running mode, But when the Stop function occurs by
the user's request or other interrupt, it is possible to Request of Accept. But it
is impossible to proceed Accept unless it starts by Re-cycle request.
ꢀWhen user push the [CMD] or [SET], [Delete] key in manual mode, the message occurs
as follows. Do you want to proceed the Hot Edit at first? [Y/N]
Apply hot edit, First ?
>
Service System Rel.WAIT
[YES/NO]
Cond Set
ꢀWhenyouselect the (YES), It is accepted. When youselect the(NO), cancel the accept
request and delete the TEMP2 file. If you select the Accept, it doesn't means new
start of re-cycle. the present Job and content of job in stack are totally changed
When you call the program, the problem can be occurred. The Call stack is cleared
and the following message occurs.
Applying initiated CALLing info.
>
Escape Apply
OK
ꢀWhen you operate the PLAY in the condition of Call Stack cleared, it can be abnormal
operation of CALL function.
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3.4.3.4 Confirm, Accept, Cancel
Outline
There are 3 types of Confirm, Accept, Cancel in PF menu in Hot Edit.
Function
ꢀWhen you push the "OK"[PF5], the message occurs "Do you want to Save?" When you
push (YES), Contents of Hot Edit is accepted Original file and Hot Edit is finished.
ꢀWhen you push the "Apply"[PF4], the message occurs "Do you want to Save?" When you
push (YES), Contents of Hot Edit is accepted Original file.
ꢀ When you push the "Escape"[PF3], the message occurs "Do you want to Cancel?" When
you push (YES), Hot Edit is finished.
3.4.3.5 Program Counter Information
Outline
No.2 frame(3rd paragraph) of Teaching Pendant Display are displayed as follows.
ꢀHotE : position of cursor to use edit in the Hot Edit mode.
(program no., step no., function no.)
ꢀPB : program counter in playback mode
(program no., step no., function no.)
ꢀ' * ' : Modify or Not-Modify status from Original file
ꢀ‘ >’
: Request or Not-Request from Original file
14:39:38 *** Hotedit *** A:0 S:4
SR:100% Cont
HotE:022/3/1
S1 MOVE P,S=30%,A=1,T=0
*> PB:022/4/0
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3. Service menu
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3.4.3.6 Select other program
Outline
When you push the [Program] key, you can select the other program.
ꢀWhen the program selected is not exist or the axis selected is different, the error
message is occurs and the operation is stopped. When the program selected is exist
andthe programismodified, the message " DoyouwanttoSave?"Whenyoupush (YES),
the program is saved and call the selected-program and display it. When you push
(NO), the program is not saved and call the selected-program and display it.
ꢀYou can not select the no-existing program, and the following message of No Program
is displayed in No.2 Frame.
14:39:38 *** Hot eidt *** A:0 S:4
SR:100% Cont
HotE:011[ ]
*> PB:022/4/0
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3. Service menu
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3.5 File Management
When you select File management, the following display occurs.
14:39:38 *** File manager *** A:0 S:4
1: Show file names in memory [R 17]
2: Show the headline of program[R107]
3: Show the number of axes for Prog.
4: Rename
5: Copy
[R116]
[R115]
[R117]
[R269]
6: Delete
7: Protect
8: Storage media format
9: Save/load all files. (SRAM card)
Use [Number]/[Up][Down] and press [SET].
>
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3. Service menu
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3.5.1 Internal memory file name
Outline
It displays file name, file content, no. of step in the internal memory.
Operation method
When you select the file name, the following message occurs.
All files? [Yes], or just programs? [No]
>
ꢀWhen you select (YES) key, you can see the information of all files. And when you select
(No), you can see the program file only. The following display are occurs when you
select the (Yes).
14:39:38 *** File display *** A:0 S:4
{Name}
H120
{Contents}
.990 'Spot 1
{Step}
8
18
H120
H120
H120
H120
.991 'Spot 2
.992 'Spot 3
.993 '???
20
22
.994 '???
24
ROBOT .C00 'Control Const file
ROBOT .C01 'Machine Const file
ROBOT .E01 'Error logging file
ROBOT .S01 'Stop logging file
ROBOT .TR0 'Operation Hist file
15 file, 31351 Block free. Page[ 1/ 2]
>
Previous Next Escape
Display content
ꢀFile name: Program file, Integer file, History of event Program name is consisted
of robot type and program no.
ꢀFilecontent:Whentheremarkofstep 0isexist, thecontentsofremarkisdisplayed.
When there is not the content of remark, it is displayed '???'
ꢀNo. of step: The number of total steps in program file.
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3.5.2 Program first data
Outline
Itdisplaystheremarkofstep0.,Andwhenthereisnotremarkdatainstep0,itdisplays
the remark content of step 1.
Screen display
14:39:38 *** M A N U A L *** A:0 S:4
T0
PN:100[*]__ S/F:4/0
Sp:100.00
PNo: Content of head data --------------
992: Main program
993: SPOT 1
994: MOVE P,S=100.00mm/sec,A=0,T=0
995: MOVE P,S=100.00mm/sec,A=0,T=0
Use cursor Up/Down, then [ESC] for exit.
>
Service System Rel.WAIT
Cond Set
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3.5.3 Internal program axis no.
Outline
It displays the integer, history in internal memory and robot name, no. of axis, total
steps, file content in Program file
Screen display
14:39:38 *** Number of axes *** A:0 S:4
1: Internal memory
8: SRAM card
Use [Number]/[Up][Down] and press [SET].
>
ꢀWhen you "1. Internal memory", the following display occurs.
14:39:38 *** Axes(RAM) *** A:0 S:4
ROBOT.C00 Controller constant file
ROBOT.C01 ROBOT constant file
ROBOT.E01 Error logging file
ROBOT.FBU Fieldbus data file
ROBOT.S01 Stop logging file
ROBOT.TR0 Operation history file
H120.996(6Ax,5Step) MOVE P,S=20.00%,A=0,
H120.997(6Ax,8Step) MOVE P,S=20.00%,A=0,
H120.999(6Ax,10Step) MOVE P,S=20.00%,A=0
9 file, 63156 block free. Page[ 1/ 1]
>
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3. Service menu
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3.5.4 Rename
Outline
You can use this function to change the file number. Rename can be changed all the
internal memory and file of SRAM card and all information (date, type...) are exist.
You can change the Rename about the protected files.
Screen display
14:39:38
1: Internal memory
8: SRAM card
*** Rename ***
A:0 S:4
Use [Number]/[Up][Down] and press [SET].
>
ꢀ When you "1. Internal memory", the following display occurs.
14:39:38 *** Rename(RAM) *** A:0 S:4
H120
H120
.991 31 2001-07-09 13:34__
.992 31 2001-07-09 13:34__
.993 31 2001-07-09 13:34__
.994 31 2001-07-09 13:34__
.995 31 2001-07-09 13:34__
H120
H120
H120
ROBOT .C00 78 2001-06-30 11:12__
ROBOT .C01 67 2001-06-30 11:12__
ROBOT .E01 93 2001-06-30 11:12__
ROBOT .IM0 10 2001-06-30 11:12__
ROBOT .S01 561 2001-06-30 11:12__
ROBOT .TR0 101 2001-06-30 11:12__
15 file, 31351 Block free. Page[ 1/ 2]
>
Select Cancel Previous Next Execute
Operation Method
ꢀSelectthefile,Push"Execute"[PF5].Refertoselectthefileasfollows.Forexample,
Select "991" program and Push the "Execute"[PF5] is as follows.
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3. Service menu
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14:39:38 *** Rename(RAM) *** A:0 S:4
H120
H120
H120
*991 31 2001-07-09 13:34__
.992 31 2001-07-09 13:34__
.993 31 2001-07-09 13:34__
Enter new No and press [SET]
>[1 - 999]
ꢀInput new no. and Press [SET]
File Select Method
1) Individual select
Select the file individually. When you move the file by cursor and press [SET] key,
the file is selected or canceled reversibly.
14:39:38 *** Rename(RAM) *** A:0 S:4
H120
H120
H120
.991 31 2001-07-09 13:34__
.992 31 2001-07-09 13:34__
.993 31 2001-07-09 13:34__
15 file, 31351 Block free. Page[ 1/ 2]
>
And Next Display, when you press [SET] key, '*' of "H120.991" selected file appears.
14:39:38 *** Rename(RAM) *** A:0 S:4
H120
H120
H120
*991 31 2001-07-09 13:34__
.992 31 2001-07-09 13:34__
.993 31 2001-07-09 13:34__
15 file, 31351 Block free. Page[ 1/ 2]
>
2) Group Select
Select the file by group. When you press "Select"[PF1] or "Cancel"[PF2} key, it is
displayedthe"KindsofGroupselect". Whenyoupress"Select"[PF1], youselect"Group
select". When you press "Cancel"[PF2], you select "Select Cancel". The following
displays Group Select.
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3. Service menu
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Use PF Key and select.
>
All fileAll ProgAll LogSeparateComplete
ꢀWhen you select " All file"[PF1], you can select all files.
14:39:38 *** Rename(RAM) *** A:0 S:4
H120
H120
H120
H120
H120
*991 31 2001-07-09 13:34__
*992 31 2001-07-09 13:34__
*993 31 2001-07-09 13:34__
*994 31 2001-07-09 13:34__
*995 31 2001-07-09 13:34__
ROBOT *C00 78 2001-06-30 11:12__
ROBOT *C01 67 2001-06-30 11:12__
ROBOT *E01 93 2001-06-30 11:12__
ROBOT *IM0 10 2001-06-30 11:12__
ROBOT *TR0 101 2001-06-30 11:12__
15 file, 31351 Block free. Page[ 1/ 2]
>
ꢀWhen you select " All Prog"[PF2], you can select program file only..
14:39:38 *** Rename(RAM) *** A:0 S:4
H120
H120
H120
H120
H120
*991 31 2001-07-09 13:34__
*992 31 2001-07-09 13:34__
*993 31 2001-07-09 13:34__
*994 31 2001-07-09 13:34__
*995 31 2001-07-09 13:34__
ROBOT .C00 78 2001-06-30 11:12__
ROBOT .C01 67 2001-06-30 11:12__
ROBOT .E01 93 2001-06-30 11:12__
ROBOT .IM0 10 2001-06-30 11:12__
ROBOT .S01 561 2001-06-30 11:12__
ROBOT .TR0 101 2001-06-30 11:12__
15 file, 31351 Block free. Page[ 1/ 2]
>
ꢀWhen you select " All log"[PF3], you can select all history files..
14:39:38 *** Rename(RAM) *** A:0 S:4
H120
H120
H120
H120
H120
.991 31 2001-07-09 13:34__
.992 31 2001-07-09 13:34__
.993 31 2001-07-09 13:34__
.994 31 2001-07-09 13:34__
.995 31 2001-07-09 13:34__
ROBOT .C00 78 2001-06-30 11:12__
ROBOT .C01 67 2001-06-30 11:12__
ROBOT *E01 93 2001-06-30 11:12__
ROBOT *IM0 10 2001-06-30 11:12__
ROBOT *S01 561 2001-06-30 11:12__
ROBOT *TR0 101 2001-06-30 11:12__
15 file, 31351 Block free. Page[ 1/ 2]
>
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
ꢀWhen you select " Separate"[PF4], you can select '1) select' select.
3) Direct input
You input the direct program No. and select it. If you know the program no. to be
selected, you press [Shift] [Program/Step] key and input the program no.. Then press
[SET] key, you can select or cancel the program file.
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3. Service menu
------------------------------------------------------------------------------------------------
3.5.5 Copy
Outline
File can be copied from storage device to the others or to itself. File that has been
copied does not have attribute. Time of file being copied is current time (Date can
not be copied) Copy can be possible for the file of internal memory and SRAM card.
Screen display
14:39:38
1: Internal memory
8: SRAM card
*** Copy ***
A:0 S:4
Use [Number]/[Up][Down] and press [SET].
>
Operation method
ꢀ1: The following is displayed as selecting internal memory.
14:39:38 *** Copy(RAM) *** A:0 S:4
H120 .991 31 2001-07-09 13:34__
H120 .992 31 2001-07-09 13:34__
H120 .993 31 2001-07-09 13:34__
ROBOT .C00 78 2001-06-30 11:12__
ROBOT .C01 67 2001-06-30 11:12__
ROBOT .E01 93 2001-06-30 11:12__
ROBOT .IM0 10 2001-06-30 11:12__
ROBOT .S01 561 2001-06-30 11:12__
ROBOT .TR0 101 2001-06-30 11:12__
8 file, 62094 block free. Page[ 1/ 1]
>
ꢀSelect file and press “ Execute” [PF5]. Refer to the above method to select file.
Example is when selecting program "991"and pressing "Execute"[PF5].
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
14:39:38 *** Copy(RAM) *** A:0 S:4
H120 *991 31 2001-07-09 13:34__
H120 .992 31 2001-07-09 13:34__
H120 .993 31 2001-07-09 13:34__
ROBOT .C00 78 2001-06-30 11:12__
ROBOT .C01 67 2001-06-30 11:12__
ROBOT .E01 93 2001-06-30 11:12__
ROBOT .IM0 10 2001-06-30 11:12__
ROBOT .S01 561 2001-06-30 11:12__
ROBOT .TR0 101 2001-06-30 11:12__
Where? (1:Internal Memory / 8:SRAM Card)
>
ꢀ Select either internal memory or SRAM card, Press [SET]key. The following is
displayed as selecting internal memory
14:39:38 *** Copy(RAM) *** A:0 S:4
H120
H120
H120
*991 31 2001-07-09 13:34__
.992 31 2001-07-09 13:34__
.993 31 2001-07-09 13:34__
Enter new No and press [SET].
>[1 - 999]
ꢀEnter new number and press [SET] to execute copy.
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3. Service menu
------------------------------------------------------------------------------------------------
3.5.6 Delete
Outline
Function to delete selected file. File delete can be carried out for the all files of
internal memory and SRAM card. However files of full or partial protection can not be
deleted.
Screen display
14:39:38
1: Internal memory
8: SRAM card
***Delete***
A:0S:4
Use [Number]/[Up][Down] and press [SET].
>
ꢀSelect internal memory or SRAM card and Press [SET] key. The following is displayed
as selecting internal memory.
14:39:38 *** Delete(RAM) *** A:0 S:4
H120
H120
H120
.991 31 2001-07-09 13:34__
.992 31 2001-07-09 13:34__
.993 31 2001-07-09 13:34__
ROBOT .C00 78 2001-06-30 11:12__
ROBOT .C01 67 2001-06-30 11:12__
ROBOT .E01 93 2001-06-30 11:12__
ROBOT .IM0 10 2001-06-30 11:12__
ROBOT .S01 561 2001-06-30 11:12__
ROBOT .TR0 101 2001-06-30 11:12__
15 file, 31351 Block free. Page[ 1/2]
>
ꢀ Select file and press “ Execute” [PF5]. Refer to the above method to select file.
Example is when selecting program "991"and pressing "Execute"[PF5].
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
14:39:38 *** Delete(RAM) *** A:0 S:4
H120
H120
H120
*991 31 2001-07-09 13:34__
.992 31 2001-07-09 13:34__
.993 31 2001-07-09 13:34__
ROBOT .C00 78 2001-06-30 11:12__
ROBOT .C01 67 2001-06-30 11:12__
ROBOT .E01 93 2001-06-30 11:12__
ROBOT .IM0 10 2001-06-30 11:12__
ROBOT .S01 561 2001-06-30 11:12__
ROBOT .TR0 101 2001-06-30 11:12__
H120 .991 : Delete? [Yes(All=1)/No]
>
ꢀThe selected file is deleted as pressing (YES) key or cancelled by pressing (NO)key.
ꢀPress [1] key to delete all selected file, the following is displayed as pressing
number [1] key.
Delete all the selected files? [YES/NO]
>
Select Cancel Previous Next
ꢀAll selected file is deleted as pressing (YES) key or cancelled as pressing (NO)
key.
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3. Service menu
------------------------------------------------------------------------------------------------
3.5.7 Protect
Outline
Importantprogramcanbeprotectedfrommodificationordeletion.Filescanbeprotected
from any modification or deletion in full protection setting, only position can be
editable in partial protection. playback staring from 0 step or step forward action
is protected in playback protection.
Notation
_ _
WP
: No protection
W_
S_
: Full protect
: Full protect +
Playback
: Partial protect
SP
:Partialprotect+
Playback
_ P
: Playback protect
Screen display
14:39:38
1: Internal memory
8: SRAM card
***Protect***
A:0S:4
Use [Number]/[Up][Down] and press [SET].
>
Operation Method
ꢀSelect either internal memory or SRAM Card and Press [SET] key. The following is the
window as selecting internal memory.
14:39:38 *** Protect(RAM) *** A:0 S:4
H120
H120
H120
.991 31 2001-07-09 13:34__
.992 31 2001-07-09 13:34__
.993 31 2001-07-09 13:34__
ROBOT .C00 78 2001-06-30 11:12__
ROBOT .C01 67 2001-06-30 11:12__
ROBOT .E01 93 2001-06-30 11:12__
ROBOT .IM0 10 2001-06-30 11:12__
ROBOT .S01 561 2001-06-30 11:12__
ROBOT .TR0 101 2001-06-30 11:12__
15file, 31351 Block free. Page[ 1/ 2]
>
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
ꢀSelect file and press "Execute"[PF5]. Refer to the above method to select file. The
following example is when selecting program 991 and pressing "Execute"[PF5].
14:39:38 *** Protect(RAM) *** A:0 S:4
H120
H120
H120
*991 31 2001-07-09 13:34__
.992 31 2001-07-09 13:34__
.993 31 2001-07-09 13:34__
ROBOT .C00 78 2001-06-30 11:12__
ROBOT .C01 67 2001-06-30 11:12__
ROBOT .E01 93 2001-06-30 11:12__
ROBOT .IM0 10 2001-06-30 11:12__
ROBOT .S01 561 2001-06-30 11:12__
ROBOT .TR0 101 2001-06-30 11:12__
Protect or Release?(1:Protect/Release)
>
ꢀSelect either protect or release and press [SET] key. The following message is
displayed as selecting protect. Protect is protecting file and Release is releasing
the protected file.
Protect type?(1:Whole/2:Section/3:Playb)
>1,
Select Cancel Previous Next
ꢀSelect desired type of protection. The following message is displayed as selecting
full protection.
14:39:38 *** Protect(RAM) *** A:0 S:4
H120
H120
H120
.991
.992
.993
31 2001-07-09 13:34 W_
31 2001-07-09 13:34 __
31 2001-07-09 13:34 __
ROBOT .C00 78 2001-06-30 11:12__
ROBOT .C01 67 2001-06-30 11:12__
ROBOT .E01 93 2001-06-30 11:12__
ROBOT .IM0 10 2001-06-30 11:12__
ROBOT .S01 561 2001-06-30 11:12__
ROBOT .TR0 101 2001-06-30 11:12__
15 file, 31351 Block free. Page[ 1/ 2]
>
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3. Service menu
------------------------------------------------------------------------------------------------
Reference
⑴ Constant file is in full protection mode even though partial protection is set.
⑵ File that is not program file can not set for playback protect.
⑶ Partial protection is identical to full protection when file is not the program
file.
⑷ Each history files is upgraded even though full protection is set
⑸ Program can be executed from step 1 because playback protect checks step 0.
⑹ Full protect(W) and Partial Protect(S) can not be assigned together. Playback
protect(P) can be assigned with either full protect(W) or partial protect(S)
together.
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.5.8 Storage Media Format
Outline
All the data in external storage device (SRAM Card Etc) can be deleted and DOS file
system is activated.
Screen display
14:39:38 * Storage Media Format *A:0 S:4
8: SRAM card
Use [Number]/[Up][Down] and pree [SET].
>
Operation method
The following is displayed as selecting 8: SRAM Card and Pressing [SET] key.
14:39:38 ** SRAM Card Format ** A:0 S:4
Select the number for the size of the
SRAM card format
[ 0] Unit : Byte
(1) 128K
(4) 1M
(3) 512K
(6) 4M
(5) 2M
Press execute[PF5] or [ESC] key
>[1 - 6]
ꢀFormat is executed as selecting storage capacity of SRAM card in the current board
and pressing "Execute" [PF5]
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3. Service menu
------------------------------------------------------------------------------------------------
3.5.9 Save/Load (SRAM Card)
Outline
System files and program files in memory of controller can be all saved or loaded to
SRAM card
Screen display
14:39:38* Save/Load all files * A:0 S:4
1: Save all files to the SRAM card
2: Load all files from the SRAM card
Use [Number]/[Up][Down] and press [SET].
>
Operation method
1) All file Save (Memory -> SRAM)
ꢀThe following is displayed as selecting 1: Save all files to the SRAM card.
1 folder, 2027 KB free.
Page [ 1/1]
>
Create
Previous Next Select
ꢀThe following is displayed by pressing "Create[PF1]" in teaching pendant
14:39:38* Save/load all files * A:0 S:4
.
[DIR]
“ ‘ *ABCDEFGHIJKLMNOPQRSTUVWXYZ
>
<-
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
ꢀEnter the name of directory with arrow keys and press : "Complete" [PF5]. Cursor
moves 5 section as pressing [Shift]key with arrow key.
2) All file Load (SRAM -> Memory)
ꢀThe following is displayed as selecting 2: Load all files form the SRAM card.
Enter the name if a folder to read.[Any]
>
ꢀThe following is displayed by pressing any key in teaching pendant
14:39:38* Save/load all files * A:0 S:4
.
AAA
[DIR]
[DIR]
2001-07-09 10:30 __
2 folder, 1999 KB free.
Page[ 1/ 1]
>
ꢀEnter the name of directory with arrow keys and press : "Select" [PF5].
Cursor moves 5 section as pressing [Shift] key with arrow key.
Reference
⑴ File can not be loaded or saved individually from the directory created from All
Save/Load (SRAM card)
⑵ Overwrite is not possible for the existing directory.
⑶ Notebook or PC card reader/writer device is needed in order to delete or rename
directory created within SRAM card
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3. Service menu
------------------------------------------------------------------------------------------------
3.6 Program Conversion
Outline
Program transformation is creating new program out of current existing program.
Screen display
14:39:38 *** Conversion ***
1: Coordinate transfer
2: Mirror Image
A:0 S:4
3: Off-Line XYZ shift
Use [Number]/[Up][Down] and press [SET].
>
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.6.1 Coordinate transformation
Outline
After teaching the program, in case of moving a target a workpiece in case of having
many same workpiece, it is possible to use new workpiece to convert original program.
Example
6
7
6
7
5
5
1
1
4
3
2
ㅍ
2
3
4
ㅍ
< Figure 1 >
< Figure 2 >
Afterteachingtheprogram<Program1>inthepositionoffigure1, itmakestheprogram
without teaching the entire steps in order to work the same workpiece of the position
of figure 2.
It is possible to convert another program after setting the reference step to teach
the step 1 to 3 of the converting program and (Program B) and the step 1 to 3 of
original program (Program A)
1
1
3
ㅍ
2
2
ㅍ
3
ㅍ
<Program A >
< Program B>
Program B
Program A
Reference
point
1
2
3
1
2
3
program
Conversion quantity calculation
Program 1
Program 2
Object
program
1
7
1
7
Conversion
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3. Service menu
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It calculates the transfer data from the 3 reference step of Program A and B..
Screen display
14:39:38 *** Coord Transf *** A:0 S:4
Reference point program
Source 3 points program = [ 0]
Destin 3 points program = [999]
Object program
Source program
Destination program
= [ 0]
= [999]
(In case of language-type program, only
HIDDEN-POSE steps will be converted.)
Enter number and press [SET]
>[1 - 999]
Contents of window
ꢀSource 3 points program : Program number where the program has 3 steps that are
reference steps and needed for coordinate conversion.(Example <Program A>)
ꢀDestin3pointsprogram:Program numberwhere theprogramhas3stepsthatareneeded
to define destination coordinate. (Example <Program B>)
ꢀSource program : Enter the number of program where the actual teaching job is
recorded( Example <Program 1>)
ꢀDestinationprogram:Entertheprogramnumberwhichconvertsprogramhavingteaching
point.(Example <Program 2>)
Reference
⑴ The accurate teaching to the 3 reference point has great effect on the accuracy of the
coordination transfer.
⑵ Please do not move on a large degree the posture of the wrist axis when you teach
the 3 reference point.
⑶ The distance between the 3 reference point shall have a great distance way as
far as possible.
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.6.2 Mirror Image
Outline
It makes the program with the position data that is the symmetry toward to the plane
passing through the line straight line being made by the S axis reference position of
the robot when a certain robot program is given. It makes a new program that is symmetry
to the position of wrist axis and the position of S-axis on the center of Y-Z plane
to the position of 0° axis of the robot.
Example
This function makes the best use in the work, request to the same movement for the two
robots in the right and left side. At this time, at first it teaches the work for the
one robot not the right side or left side, if it executes to transfer the program by
the mirror image.
[ Original Program → Mirror Image Transferred Program]
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3. Service menu
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Screen display
14:39:38 *** Mirror Image *** A:0 S:4
Source Program
= [ 0]
Destination Program = [ 0]
Additional axes
7Axis = <DSBL,ENBL>
======== Limit over(step#) ===========
(In case of language-type program, only
HIDDEN-POSE steps will be converted.)
Enter number and press [SET]
>[1 - 999]
Contents of window
ꢀSource Program : Enter the program number which has teaching points.
ꢀDestination Program : Enter the program number which convert the taught program as
mirror image program
ꢀAdditional Axes : Additional axes applicable to mirror image can be valid
Reference
⑴ Displays overrange in soft limit that is checked in each step during conversion and
displayed step number in over range step section.
14:39:38 *** Mirror Image *** A:0 S:4
Source Program
= [999]
Destination Program = [999]
Additional axes
7Axis = <DSBL,ENBL>
======== Limit over(step#) ===========
4, 7, 11, 16, 23, End
(In case of language-type program, only
HIDDEN-POSE steps will be converted.)
Enter number and press [SET]
>[1 - 999]
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
At this time, "End" means that the step being out of the range of the soft limit isn't
in the existence and larger => means that a greater number of step being out of the
range of the soft limit is in the existence
⑵ After conversion, in case of having step out of soft limit, you must check which
axis is out of soft limit.
⑶ The same type of robot must be used on right and left side for mirror image
⑷ The reference position of the encoder and 0 degree position of each axis set equally
to the robot of the right side and left side.
⑸ Attach so that the same Gun with Hand or Gun with Hand being symmetry it may be
symmetry to the right and left side or Gun with Hand being symmetry of the right
and left side uses in each robot
⑹ The cable of Gun or Hand attach soft limit may be symmetry to the right and left
side.
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3. Service menu
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3.6.3 Off-Line XYZ Shift
Outline
It shifts the step of the teaching completed within program and to make other program
Example
A
B
[Parallel transfer of the workpiece]
ꢀIn case of moving the workpiece from the position A to the position B, Set the moving
distance and execute " Off-Line XYZ shift", then program is transferred to program
B
1
5
2
3
4
[ Case where there are many workpiece with the same spec ]
ꢀIn case that there are several workpieces with the same spec, after teaching for
the workpiece 1, for the workpiece 2 ~ 5, execute Off-line shift to the taught
program.
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
Screen display
14:39:38 * Off-Line XYZ Shift * A:0 S:4
Source
Destination
= [999] Program = [999]
Program
Start step = [ 1] End step = [ 10]
Shift X=[ 0.0] Y=[ 0.0] Z=[ 0.0]
Coordinate = < ROBOT, TOOL >
User coordinate NO. = [ 0]
(In case of language-type program, only
HIDDEN-POSE steps will be converted.)
Enter number and press [SET]
>[1 - 999]
Contents of window
ꢀSource program : Enter the program number which has taught steps.
ꢀDestinationprogram:Entertheprogramnumberwhichconvertstaughtprogramthrough
Off-Line XYZ Shift.
ꢀStart step : Enter the first step to start shift.
ꢀEnd step : Enter the last step to end shift.
ꢀShift : Enter values of X, Y, Z direction.
ꢀCoordinate : Select either robot coordinate or tool coordinate as shift reference
ꢀUser coordinate No. : Enter the User coordinate number if assigned.
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3. Service menu
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3.7 System Checking
Following is displayed in system checking menu.
14:39:38 *** System checking *** A:0 S:4
1: System version
2: Running time
[R286]
[R 10]
3: Diagnosis of troubles
4: Error logging
5: Stop logging
6: History of operation
Use [Number]/[Up][Down] and press [SET].
>
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.7.1 System version
Outline
Displays software version of controller
Screen display
14:39:38 *** System version *** A:0 S:4
Robot type: H120
(Axis: 6 Tot Ax: 6)
Main system Version => Robot Language
Main S/W: V07.01-02 2001-06-18
Motion S/W: V07.00
T/P Ver : V01.03
I/O Ver : V01.00
2001-07-09
1999-05-31
1997-04-09
DSP Version
DSP1 S/W: V02.71
DSP2 S/W: V04.33
DSP3 S/W: V00.00
DSP4 S/W: V00.00
2000-03-20
1993-03-29
0-00-00
0-00-00
----------------------------------------
Control environment
Conveyor synchronization = OFF
Vibration control mode = OFF
Press [ESC] or [R..]
>
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3. Service menu
------------------------------------------------------------------------------------------------
3.7.2 Run time
Outline
It displays operating time of robot.
Screen display
14:39:38 *** Run time ***
1: Display of run time
A:0 S:4
2: Display of total run tiem
3:
4:
5:
6:
7:
8:
( Clear all data
( Clear run time
)
)
( Clear cycle count )
( Clear gun data
( Clear I wait data )
( Clear Timer wait data )
)
Use [Number]/[Up][Down] and press [SET].
>
3.7.2.1 Run time display
Screen display
14:39:38
*** Run time ***
A:0 S:4
*Run time =0:0: 0.00
Cycle time=0:0: 0.00
GUN1 time =0:0: 0.00
GUN2 time =0:0: 0.00
GUN3 time =0:0: 0.00
GUN4 time =0:0: 0.00
Cycle=0
count=0
count=0
count=0
count=0
DI Sig waiting time =0:0: 0.00
Timer waiting time =0:0: 0.00
Press [ESC] or [R..]
>
Contents of window
(1) Run time : It displays the time till turning off after the start lamp turns
on.
(It resets automatically after 24 hours in turning it ON.)
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3. Service menu
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(2) Cycle time : Number of the cycle played during the operation time. it is counted
at the step 1. And through the robot is stopped during operation, counting is
continued. (It is reset as exceeding 255 times)
(3) GUN ON Time : Gun signal output time per one cycle during operation.
(After the lamp is on, it is reset after 24 hours)
(4) GUN ON count: Gun On signal output per 1 cycle in the operation.
( After the lamp on, it is reset as exceeding 65535 times.)
3.7.2.2 Total Run time
Outline
Total amount of the operation time after power on. Total cycle time, total GUN ON time,
and total Gun On count are as above, too.
Screen display
14:39:38
*** Run time ***
A:0 S:4
*Total run time =0:0: 0.00
Total cycle count =0
GUN1 time =0:0: 0.00
GUN2 time =0:0: 0.00
GUN3 time =0:0: 0.00
GUN4 time =0:0: 0.00
count=0
count=0
count=0
count=0
DI Sig waiting time =0:0: 0.00
Timer waiting time =0:0: 0.00
Press [ESC] or [R..]
>
3.7.2.3 Operation time reset
Outline
(1) Clear all data
(2) Clear run time
..... All data is cleared
..... Total work time is cleared.
(3) Clear cycle count ..... Total cycle time is cleared
(4) Clear gun data ..... Total GUN ON time and count are cleared.
Operation method
The following is displayed as selecting 3: Clear all data, 4: Clear run time, 5: Clear
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3. Service menu
------------------------------------------------------------------------------------------------
cycle count, 6: Clear gun data, 7: Clear I wait data, 8: Clear Timer wait data.
Clear ( YES / NO )
>
ꢀData is cleared as selecting (YES) and following is displayed.
14:39:38
*** Run time ***
A:0 S:4
*Total run time =0:0: 0.00
Total cycle count =0
GUN1 time =0:0: 0.00
GUN2 time =0:0: 0.00
GUN3 time =0:0: 0.00
GUN4 time =0:0: 0.00
count=0
count=0
count=0
count=0
DI Sig waiting time =0:0: 0.00
Timer waiting time =0:0: 0.00
Press [ESC] or [R..]
>
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.7.3 Diagnosis of troubles
Outline
Displays the error diagnosis method of the robot.
When error occurs in the robot, it helps to main
Screen display
14:39:38 * Error code number * A:0 S:4
E0110 Discharge resister overheated.
Error code Number
Phenomena
Check point: 1
[ 110]
If you short-circuit TS1 and TS2 on
the Amp. any error occus?
(YES / NO)
Press [PF1],[PF2],[PF3] or [ESC]key!
>[1 - 1200]
Operation method
ꢀIn the diagnosis of the displayed error, select "YES"[PF1] key or "NO"[PF2]key for the
question to the check point.
ꢀWhen you diagnosis the error with the exception of the displayed one, specify the error
number and press [SET] key, and then "Execute" [PF5]key.
ꢀOr when your diagnose a trouble, select the item of the extraordinary using ↑, ↓ key
and press [SET] key, then following is displayed.
14:39:38 *** Phenomenon *** A:0 S:4
Phen1:Some axes do not move
Phen2:Malfunction of teaching pendant
Phen3:PLYBCK Pts mismatch recorded Pts
Phen4:Variation of playback point
Use [UP][Down]key and press [PF5]
>
ꢀUse the arrow ↑, ↓ key to highlight the item about the state of the robot and press
“ Check!” [PF5] key. Then answer to the displayed check point item by "Yes"[PF1] key
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3. Service menu
------------------------------------------------------------------------------------------------
or "No"[PF2] key.
ꢀWhen you press “ Yes” [PF1] or “ No” [PF2]key by mistake, press “ Return" [PF3]key to
return to the previous item.
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.7.4 Error logging
Outline
It displays the occurred error until now. It makes the restoration work, the occurring
cause of error judge correctly by referring to the history of error until now.
Screen display
14:39:38 *** Error logging *** A:0 S:4
1: W-0005 25 10:27
2: E-0107 25 10:27
3: E-0107 25 10:27
4: E-0008 25 10:26
5: E-0008 24 12:44
6: E-0120 24 10:44
7: E-0008 24 19:23
8: E-0107 23 18:28
9: E-0190 23 15:36
10: E-0190 23 12:29
11: E-0008 22 10:44
Use [Number]/[Up][Down] and press [SET].
>
Operation Method
ꢀFollowing is displayed as selecting 1: W0005 25 10:27.
14:39:38 *** Error Log NO. 01*** A:0 S:4
W0005 Backup battery voltage drop.
2001-07-25 10:27:11
Program No. =000
** Selection **
Step No. =000
[I signal] [O signal] [Axis data]
[Fixed Input] [Fixed output]
Use [Up][Down] and press [SET].
>
ꢀ When you select either of followings, General Input/Output, Axis data, Fixed
Input/Output, state condition of each signals or data at the error occurrence.
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3. Service menu
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Reference
ꢀFollowing is displayed in guide frame as selecting “ Refresh?” [PF1]key.
Refresh the recorded data?
>
[YES/NO]
Refresh?
Previous Next
ꢀIf (Yes)Key is selected, error history up to current list is all cleared If (No)Key
is selected, it is cancelled.
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.7.5 Stop History
Outline
It displays the stop history of the robot until now. It helps to maintain the robot
recording the status of input, output, axis data, step number, program no of input
content, stop time, a point of stop time in case of inputting the operating motor-off
or stop command while operating
Screen display
14:39:38 *** Stop Logging *** A:0 S:4
1: F-01
2: F-02
3: F-03
4: F-03
5: F-03
6: F-03
7: F-03
8: F-03
9: F-03
10: F-03
11: F-03
25 10:36
25 09:44
24 13:54
24 12:27
24 10:44
22 18:53
22 17:36
22 15:48
22 15:27
21 14:10
21 09:44
Use [Number]/[Up][Down] and press [SET].
>
Operation method
ꢀFollowing is displayed as selecting 1: F-01 25 10:36.
14:39:38 *** Stop Log NO.01 *** A:0 S:4
Internal stop have been inputted.
2001-07-25 10:36:11
Program No. =999
** Selection **
Step No. =010
[I signal] [O signal] [Axis data]
[Fixed Input] [Fixed output]
Use [Up][Down] and press [SET].
>
ꢀ When you select either of followings, General Input/Output, Axis data, Fixed
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3. Service menu
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Input/Output, state condition of each signals or data at the stop occurrence.
Reference
ꢀFollowing is displayed in guide frame as selecting “ Refresh?” [PF1] key.
Refresh the recorded data?
>
[YES/NO]
Refresh?
Previous Next
ꢀIf (Yes) Key is selected, error history up to current list is all cleared If (No)Key
is selected, it is cancelled.
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3. Service menu
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
3.7.6 Operation History
Outline
It displays an operation history until now. Stop command during operation or input in
case of operation ready off, time of stop, program number, step number, axis data and
input/output state at the stop are recorded to help maintenance of robot.
Screen display
14:39:38 ** Operation Hist ** A:0 S:4
1.[SET]
3.[PF3]
2.[ESC]
4.[PF4]
5.[SET]
6.[DOWN]
8.[DOWN]
10.[ESC]
12.[PF4]
14.[DOWN]
16.[DOWN]
18.[ESC]
20.[PF4]
22.[DOWN]
7.[DOWN]
9.[SET]
11.[PF3]
13.[SET]
15.[DOWN]
17.[SET]
19.[PF3]
21.[SET]
Press [PF3], [PF4], [ESC] or [R..]
>
Contents of window
(1) The names of keys operated on the teaching pendant
(2) The keys on OP Panel) is as follow
· Emergency stop
· Motor-ON/Off
· Start
· Stop
(3) Auto/Manual Switch
(4) Safety plug
Reference
ꢀFollowing is displayed in guide frame as selecting “ Refresh” [PF1] key.
Refresh the recorded data?
>
[YES/NO]
Refresh?
Previous Next
ꢀIf (Yes) Key is selected, error history up to current list is all cleared. If (No) Key
is selected, it is cancelled.
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3. Service menu
------------------------------------------------------------------------------------------------
3.8 Date setting (Date, Time)
Outline
Date setting (Date, Time) can change date/time of controller.
14:39:38 *** Date/Time set *** A:0 S:4
Date = 2001-07-25
Time = 10:30:02
Select and Enter number, Press [SET]
>[1980-2079]
Operation method
ꢀUse arrow key to move the cursor on items, and enter the value and press [SET] key to insert
input value.
ꢀModified data is stored as pressing "Complete"[PF5] key, Cancels as pressing [ESC] Key.
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4. Condition setting
------------------------------------------------------------------------------------------------
Chap 4 Condition Setting
Contents
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
4.1 Cycle type ......................................................4-3
4.2 Step go/back max. speed..........................................4-3
4.3 Function in step go/back.........................................4-4
4.4 Speed rate.......................................................4-4
4.5 Robot lock.......................................................4-5
4.6 Record speed type................................................4-5
4.7 Interpolation base...............................................4-6
4.8 User coordinate .................................................4-6
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4. Condition setting
------------------------------------------------------------------------------------------------
Chapter 4 Condition Setting
Press "Cond Set"[PF5] key in either playback mode or manual mode.
Screen display
14:39:38 *** Condition set *** A:0 S:4
1: Cycle type =<1Step,1Cycle,Continu>
2: Step go/back max.speed(mm/s) = [200]
3: Func in step GO/BACK =<Off,On,I On>
4: Speed rate=[100] GunStep=<DSBL,ENBL>
5: Robot lock
=<DSBL,ENBL>
Servo gun unlock=<DSBL,ENBL>
6: Rec speed type=<Standard,[%],[mm/s]>
7: Interpolation base= <R-tool,S-tool>
8: Select user coordinate
=[ 0]
Press [SHIFT]+[<-][->] Key.
>
Modification method
Locate highlight bar on the item. Enter the values in input frame when value is needed
to be entered. After entering numeric data keys, press [SET] for completion.
In case of selecting one of items in < >, press [SHIFT]+[→ ][← ] to move highlight bar
and for execution.
Reference
1) Condition setting is stored in (ROBOT.C00).
2) (ROBOT.C00) file can be modified even though it is in full protection.
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4. Condition setting
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4.1 Cycle type
Outline
Decide method of playback for the program.
① 1Step : 1step is executed while pressing start button. (Execution of step is
completed and robot stops as releasing the start button.)
② 1Cycle : Program is executed in one cycle and stop after pressing start button(Robot
stops when program reaches to the End command.)
③ Continue : Program is continuously executed. (Robot stop if external stop is
activated)
Reference
Following is displayed in accordance with setting for operation cycle.
14:39:38
T0
*** Playback ***
SR:100% 1Cycl
Sp:100.00
A:0 S:4
PN:100[*]__ S/F:4/0
Robot:H120, 6axes, 10steps
S1 MOVE P,S=100%,A=0,T=1
S2 MOVE P,S=100%,A=0,T=1
S3 MOVE P,S=100%,A=0,T=1
S4 MOVE P,S=100%,A=0,T=1
S5 MOVE P,S=100%,A=0,T=1
S6 MOVE P,S=100%,A=0,T=1
S7 MOVE P,S=100%,A=0,T=1
All condition is displayed as
“1Step” “1Cycl” “Conti”.
>
4.2 Step go/back max. speed
Outline
In manual mode, regardless of speed set in the program, speed of robot is operated between
1∼250mm/s at step go/back.
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4. Condition setting
------------------------------------------------------------------------------------------------
4.3 Function in step go/back
Outline
Decide activation of function at step go/back in manual mode.
① Off : Ignores other function except END function
② On : Execute all functions stored in step
③ I On : Execute Input delay function and END function only.
Reference
(1) At Step Back, Wait (I On) is only executed.
4.4 Speed rate
Outline
During the playback, speed recorded in step can be varied in setting rate within
[1∼100]％ of robot movement speed
„ Gun Step
① Disable : Speed variation can not be applied for the step of GUN 1 or GUN2.
② Enable : Speed variation can be applied for the step of GUN 1 or GUN2.
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4. Condition setting
------------------------------------------------------------------------------------------------
4.5 Robot lock
Outline
Program is only executed without robot movement. By doing this peripherals and states
of In/output and software limit can be checked
“ R123 in R code is the same function of Robot Lock.
① Disable : Robot Lock function is disabled.
② Enable : Robot Lock function is enabled.
Reference
Robot Lock is set as <Enable>, the following is displayed in Manual or Auto mode.
14:39:38 *** M A N U A L ***
T0 R-L
PN:100[*]__ S/F:4/0
A:0 S:4
Sp:100.00
Robot Lock is enabled
Robot:H120, 6axes, 17steps
S1 MOVE P,S=100%,A=0,T=1
Select PF menu
>
Service System Rel.WAIT
Cond Set
4.6 Record speed type
Outline
Unit of speed for the step to be recorded is set according to Interpolation condition.
R71 in R code "record speed setting method selection" is identical to the Record
function.
① Standard ---- Interpolation OFF
Linear Interpolation
: Percentage setting[%]
: Speed setting[mm/sec]
: Speed setting[mm/sec]
Circular Interpolation
② [%]
---- Interpolation ON/OFF : Percentage setting[%]
③ [mm/s] ---- Interpolation ON/OFF : Speed[mm/sec]
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4. Condition setting
------------------------------------------------------------------------------------------------
4.7 Interpolation base
Outline
Recordingstep,InterpolationreferencechangeInterpolationselectedautomatically.General
interpolation method is robot base interpolation so that default value of controller is
calculated with respect to robot base.
Inordertorecordinterpolationstepoffixture, fixtureissetasinterpolationreference
Reference
In order to record step with fixture interpolation reference, Coordinate system of fixture
is set. Refer to “ System” [PF2] → 2. Controller parameter → 12. Coordinate setting → 2:
Stationary tool coordinate.
4.8 User Coordinate
Outline
In manual operation, select coordinate system in order to activate linear coordinate
system. In Manual mode, with jog operation of robot, it is utilized to operate linear
coordinate with respect to User coordinate system
The robot executes to act the interpolation coordination system in direction of X,Y,
and Z axis of the set coordinate system. When you use the monitoring function in the
service of Manual or playback mode, X,Y and Z coordinate system of the front head of
the tool being output on the screen
Reference
„ In Manual mode, when Number of User coordinate is selected, the following is
displayed.
14:39:38 *** M A N U A L ***
T0
A:0 S:4
Crd:01
PN:100[*]__ S/F:4/0
Sp:100.00
Robot:H120, 6축, 10 steps
Displaying selected User
coordinate number
S1 MOVE P,S=100%,A=0,T=1
S2 MOVE P,S=100%,A=0,T=1
S3 MOVE P,S=100%,A=0,T=1
S4 MOVE P,S=100%,A=0,T=1
END
>
Service System Rel.WAIT
Cond Set
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4. Condition setting
------------------------------------------------------------------------------------------------
„ "0" is set as number of the user coordinate, it release the action for the user
coordinate system and then executes to monitor and act the interpolation coordinate
system for the robot coordinate system
„ Linear coordinate and monitoring to robot coordinate can be executed even though
user coordinate is not defined or registered,
„ Registering User coordinate, refer to “ System” [PF2] → 2. Controller parameter
→ 12. Coordinate setting → 1. User coordinate.
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5. Application condition
------------------------------------------------------------------------------------------------
Chapter 5
Application condition
Contents
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
5.1 Conveyor operation ........................................... 5 - 3
5.2 Search range ................................................. 5 - 4
5.3 Search reference position record ............................. 5 - 4
5.4 Spot welding ................................................. 5 - 5
5.5 Gun search reference record................................... 5 - 6
5.6 Output(DO) signal clear....................................... 5 - 7
5.7 Online shift register clear .................................. 5 - 7
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5. Application condition
------------------------------------------------------------------------------------------------
Chapter 5 Application condition
In “ Cond Set” [PF5], Press “ AppliCnd” [PF1].
Screen display
14:39:38* Application Condition A:0 S:4
1: Conveyor Oper=<Normal,Simulat.,Test>
2: Search range
3: Search reference Pt. record=<Off,On>
4: Spot welding =<Wd-On,Sq-On,SqOff>
=[0.0]
5: Gun search Ref.point record=<Off,On>
6: Output(DO) signal clear =<DSBL,ENBL>
7: Shift register clear
=<DSBL,ENBL>
Cond Set
Press [SHIFT]+[<-][->] Key
>
Operation method
Move the highlight bar on the item. For inserting numeric data, enter the numbers in
input frame. After entering the number, press[SET] key to apply.
In order to select item within < >, press [SHIFT]+[→ ][← ] to move the highlight bar
for selection.
※Press either [Esc] or "Cond Set"[PF5], "Condition setting Manu" is displayed.
Reference
1) Application condition data is stored in control constant file (ROBOT.C00).
2)Itcanbechangedevent though controlconstant file (ROBOT.C00) isinfullprotection.
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5. Application condition
------------------------------------------------------------------------------------------------
5.1 Conveyor operation
Outline
It determines the movement of robot when robot handles workpiece on conveyor,
① Normal : Robot moves synchronously according to actual movement of workpiece on
conveyor.
② Simulation : Without operating conveyor, user can operated robot movement by
entering conveyor speed. It is useful to check cycle time after teaching.
③ Test : Like plat test, it is the condition where conveyor is not operated and robot
movement can be checked. Different aspects from plan test is that teaching
point can be checked at stop condition of workpiece as pulse count is not
reset even though executing Program END
Reference
„ Depending on setting condition for conveyor movement, the following is displayed
in manual or auto mode.
14:39:38
T0
PN:100[*]__ S/F:4/0
*** A U T O ***
A:0 S:4
C-N SR:100% 1Cycl
Robot:H120, 6axes, 10 steps
S1 MOVE P,S=100%,A=0,T=1
S2 MOVE P,S=100%,A=0,T=1
S3 MOVE P,S=100%,A=0,T=1
S4 MOVE P,S=100%,A=0,T=1
S5 MOVE P,S=100%,A=0,T=1
S6 MOVE P,S=100%,A=0,T=1
S7 MOVE P,S=100%,A=0,T=1
S8 END
According to the
Mode,“C-N","C-S","
C-T" are displayed.
>
„ Conveyor pulse count not to related move type is only counted by activation of limit
switch.
„ In simulation, value calculated from distant is not always correct because pulse
counter of conveyor is separated from registry
„ Normally, in playback mode, conveyor speed has actual movement speed of conveyor,
but, in plan test operation, plan test speed entered from user is always 0 value.
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5. Application condition
------------------------------------------------------------------------------------------------
5.2 Search Range
Outline
Define the range to be searched when you use search function.
X value can be set between 0.0∼3.0 and the range is as follows.
Teaching Point
｜←
Teaching Point
→ ｜
L
● ----------------------● --------------｜
｜← Search Range = L(1+X) → ｜
5.3 Search reference position record
Outline
Search reference data is automatically recorded with reference position value of
workpiece after 1 cycle playback, as setting search function ON upon the condition that
workpiece is placed after the completion of teaching including search function.
① Off : Disable search reference position data record function.
② On : Enable search reference position data record function.
Reference
„ Thefollowingisdisplayedinmanualorautomodeassettingsearchreferenceposition
data record "On"
14:39:38
T0 SW
*** A U T O *** A:0 S:4
SR:100% 1Cycl
PN:100[*]__ S/F:4/0
Robot:H120, 6axes, 10 steps
State of search reference
position record.
S1 MOVE P,S=100%,A=0,T=1
S2 MOVE P,S=100%,A=0,T=1
>
„ 1 cycle playback shall have the same speed of normal playback at recording search
reference position data.
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5. Application condition
------------------------------------------------------------------------------------------------
5.4 Spot welding
Outline
In servo gun application and activating spot welding function, regardless setting of
defined welding sequence, pressurization and current signal output can be disabled.
This function is useful for teaching position check and spot point check when no actual
welding is performed and peripherals are not equipped.
① Wd-On : Execute all welding sequence defined in spot welding function.
② Sq-On : It activates pressurization movement and current signal is not output in
order to check pressurization point because welding signal is delayed.
③ SqOff : Pressurization and current signal output and welding complete delay are not
activated.
Reference
The following is displayed in manual or auto mode according to the condition of spot
welding output method
14:39:38
T0 G1
PN:100[*]__ S/F:4/0
*** A U T O ***
Wd-On
A:0 S:4
SR:100% 1Cycl
W:01S:01
Robot:H120, 6 axes, 10 steps
S1 MOVE P,S=100%,A=0,T=1
S2 MOVE P,S=100%,A=0,T=1
S3 MOVE P,S=100%,A=0,T=1
S4 MOVE P,S=100%,A=0,T=1
S5 MOVE P,S=100%,A=0,T=1
S6 MOVE P,S=100%,A=0,T=1
S7 MOVE P,S=100%,A=0,T=1
S8 END
According to the
output type,
"Wd-On","Sq-On","S
qOff"are displayed.
>
„ In playback with SqOff, robot skips to the next step without activating
pressurization at welding point.
„ In order to implement welding after checking teaching position, Wd-ON must be set.
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5. Application condition
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5.5 Gun Search reference point record
Outline
In case of using servo gun or equalizer, reference position shall be recorded to reduce
wear of electrode.
Refer to Servo gun manual or robot equalizer manual for Gun search operation
① Off : Disable function of Gun search reference position record
② On : Enable function of Gun search reference position record
Reference
„ The following is displayed in Manual or Auto mode, as setting On for Gun search
reference position record
14:39:38
T0 G1 SW Wd-On
*** A U T O ***
A:0 S:4
SR:100% 1Cycl
W:01S:01
PN:100[*]__ S/F:4/0
Robot:H120, 6 axes, 10 steps
S1 MOVE P,S=100%,A=0,T=1
S2 MOVE P,S=100%,A=0,T=1
S3 MOVE P,S=100%,A=0,T=1
S4 MOVE P,S=100%,A=0,T=1
S5 MOVE P,S=100%,A=0,T=1
S6 MOVE P,S=100%,A=0,T=1
S7 MOVE P,S=100%,A=0,T=1
S8 END
State of (Gun) search
reference position record.
>
„ Afterinstallation ofsystem, replaceelectrodewith new and operate one cycle before
teaching job.
„ “ System” [PF2] → 3. Machine parameter → 5. Setting encoder offset 2. Encoder
calibration (Data input) must be set and 1 cycle of playback has to be performed
to record Gun Search reference point
„ Without recording Gun search reference point, error will occur if spot welding or
Gun Search is executed,
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5. Application condition
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5.6 Output(DO) signal clear
Outline
In executing step 0, initialization for current general I/O and welding signal has to
be set.
① Disable : Does not initialize output signal (DO) at the execution step 0.
② Enable : Does initialize output signal (DO) at the execution step 0..
5.7 On-line Shift Register Clear
Outline
Setting to initialize shift registerof onlineshiftregistrygroupIn executingstep0.
① Disable : Does not initialize contents of shift register at the execution step 0
② Enable : Does initialize contents of shift register at the execution step 0.
Reference
This function is only used to decide for initialization in contents of online shift
register group and does always initialize the contents of XYZ shift register or online
shift buffer.
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6. System setting
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Chapter 6 System setting
Contents
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
6.1 User configuration ........................................... 6 - 5
6.1.1 Display language...................................... 6 - 6
6.1.2 Pose record type ..................................... 6 - 6
6.1.3 Start type............................................ 6 - 7
6.1.4 Change of cursor position in auto mode ............... 6 - 7
6.1.5 Confirm when the command delete....................... 6 - 8
6.1.6 WAIT(DI/WI) forcible release ......................... 6 - 8
6.1.7 Dettachment of Teach Pendant ......................... 6 - 9
6.1.8 Power failure detection(Not changeable) .............. 6 - 9
6.1.9 External program selection ........................... 6 - 9
6.1.10 Using the program strobe signal .................... 6 - 10
6.1.11 Step set alarm type................................. 6 - 11
6.1.12 Lowest position proportion of the cursor ........... 6 - 11
6.1.13 Using the collision sensor ......................... 6 - 12
6.2. Controller parameter ........................................ 6 - 13
6.2.1 Input/output signal selection ....................... 6 - 14
1: Input signal logic ............................... 6 - 15
2: Output signal logic .............................. 6 - 16
3: The attribution of output signal ................. 6 - 17
4: Setting the pulse table .......................... 6 - 18
5: Setting the delay table .......................... 6 - 19
6: Output signal assignment ......................... 6 - 20
7: Input signal assignment .......................... 6 - 21
8: Setting the earlier output ....................... 6 - 23
9: DIO name edit..................................... 6 - 24
10: Setting the field bus............................. 6 - 26
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6. System setting
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6.2.2 Serial port ........................................ 6 - 31
1: Teach Pendant (CNTP) ............................. 6 - 31
2: Private serial port for I/O board ................ 6 - 31
3: Serial port #1 (CNSIO) ........................... 6 - 32
4: Serial port #2 (OPSIO) ........................... 6 - 33
6.2.3 Robot ready ........................................ 6 - 34
6.2.4 Home position registration .......................... 6 - 35
6.2.5 Return to the previous position ..................... 6 - 36
6.2.6 End relay output time ............................... 6 - 37
6.2.7 Interlock error time ................................ 6 - 38
6.2.8 External error output ............................... 6 - 39
6.2.9 Power Saving : PWM OFF .............................. 6 - 42
6.2.10 Shift limit ....................................... 6 - 43
6.2.11 Setting the user key ............................... 6 - 44
6.2.12 Coordination system registration ................... 6 - 46
1: User coordination registration ................... 6 - 46
2: Pedestal tool coordination system ................ 6 - 48
6.3 Machine parameter ........................................... 6 - 49
6.3.1 Tool data .......................................... 6 - 50
6.3.2 Axis Constant ...................................... 6 - 54
6.3.3 Soft limit ......................................... 6 - 55
6.3.4 Arm interference angle .............................. 6 - 56
6.3.5 Encoder offset calibration .......................... 6 - 57
6.3.6 Accel./Decel. speed parameter ....................... 6 - 59
6.3.7 B축 axis dead zone .................................. 6 - 60
6.3.8 Accuracy ........................................... 6 - 61
6.3.9 Speed .............................................. 6 - 64
6.3.11 Additional load per each axis ...................... 6 - 65
6.4 Application parameter ...................................... 6 - 67
6.4.1 Spot & Stud ........................................ 6 - 68
1: Welding parameter ................................ 6 - 69
2: Servo gun parameter .............................. 6 - 71
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6. System setting
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3: Spot welding data(condition,sequence) ............ 6 - 76
4: Equalizing parameter ............................. 6 - 81
6.4.2 Arc ................................................. 6 - 83
6.4.3 Palletizing ......................................... 6 - 85
1: Palletizing pattern register ..................... 6 - 86
2: Palette dip angle measurement .................... 6 - 90
6.4.6 Conveyor ............................................ 6 - 91
1: Conveyor constant setting ........................ 6 - 92
2: Automatic setting of conveyor parameter .......... 6 - 95
6.4.7 Speed proportion voltage output ..................... 6 - 96
6.5 System format ................................................ 6 - 98
6.5.1 System format ........................................ 6 - 99
6.5.2 Robot type selection ................................ 6 - 100
6.5.4 Use setting ......................................... 6 - 103
6.5.5 Positioner group setting ............................ 6 - 104
6.6 Automatic constant setting .................................. 6 - 106
6.6.1 The optimization axis constant ...................... 6 - 107
6.6.4 Positioner calibration .............................. 6 - 109
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6. System setting
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Chapter 6 System setting
The following is displayed as selecting “ System” [PF2] of initial menu in Manual mode.
14:39:38 *** System setting *** A:0 S:4
1: User parameter
2: Controller parameter
3: Machine parameter
4: Application parameter
5: System format
6: Automatic constant setting
Use [Number]/[Up][Down] and press [SET]
>
Selection method
① Use the arrow keys to move the highlight bar to the item to be selected and
press[SET]key to enter the next menu
② Use the numeric keys to insert item number to be selected and Press [SET]key to enter
sub menu.
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6. System setting
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6.1 User configuration
The following condition can be set in the window below as selecting user parameter.
14:39:38 * User configuration * A:0 S:4
1:Display language(언어)=<한글,English>
2:Default Pose
=<Base,Robot,Encoder>
3:Robot Start type=<In,Ex,Remote Start>
4:Cursor Change on AutoMode=<DSBL,ENBL>
5:Confirm Delete Command =<DSBL,ENBL>
6:WAIT(DI/WI) releas
7:Separation of T/P
=<DSBL,ENBL>
=<DSBL,ENBL>
8:Power failure detection =<DSBL,ENBL>
9:External program select =<DSBL,ENBL>
10:Step strobe signal use =<DSBL,ENBL>
11:Step set alarm type
=<ONE ,TWO >
----------------------------------------
12:Cursor Max. Line ratio
13:Collision sensor
= [ 80]%
(1)Sensor
(2)Signal logic
=<Emegency,Stop>
=<Posi,Negative>
Press [SHIFT]+[<-][->] Key.
>
Modification method
Place highlight bar on the item. In case of inserting numeric data, insert numeric data
in the input frame. After inputting numeric keys and press [SET] key for execution.
In case of selecting item within < >, press [ENABLE]+[→ ][← ] to move highlight bar
to the item for completion.
Reference
„ User system data is stored in control constant file (ROBOT.C00).
„ Modification or change is not allowed when control constant file (ROBOT.C00) is in
full protection. Except, 6.1.1 (Display language) can be changed and initialized
when main power is switched to "On".
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6. System setting
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6.1.1 Display language
Outline
Select current language at current display on Teaching pendant
① 한글 : Displays Korean language on Teaching pendant.
② English : Displays English Language on Teaching pendant.
Reference
„ Type of language is automatically selected according to Dip Switch no1. of BD411
board when main power is switched to" ON"
„ Dip Switch No 1 of BD411 : On → English, Off → Korean.
6.1.2 Pose Record Type
Outline
Position of robot is recorded as hidden pose when robot is recorded by pressing REC
key after movement. It will decide record type of current step position
① Base : Current step position is recorded in the reference of base coordinate system
② Robot:Currentsteppositionisrecordedinthereferenceofrobotcoordinatesystem
③ Encoder : Current step position is recorded as encoder value
Reference
„ Record the position of robot as hidden pose and press
key to check or modify
the record type of step.
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6. System setting
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6.1.3 Start type
Outline
Definestartingmethodofrobotsystem.Sameaspressing“ R5:externalstartselection
(Enable/Disable) of R code
① Internal : Press start button in OP panel to start the robot
② External : Start the robot by receiving external digital signal . Refer to chapter
12 Signal Connection → 1. External start of Standard Input signal.
③ Remote : Start the robot by receiving command from Central control unit. This is
not supported in Hi4 controller
Reference
„ Operator is in the range of robot working range or within safety fence, in case of
setting external or remote start for start type, robot might automatically move
certainly even though stop lamp in control cabinet is displayed because external
or remote start signal can be activated at any time. For safety, start type of robot
shall be set as internal start.
6.1.4 Change of cursor position in Auto mode
Outline
Decide cursor to be moved for step or function with Enable or Disable setting in Auto
mode. For safety, manufacturer recommend disable setting.
① Disable : Disable cursor movement for Step or Function in Auto mode
② Enable : Enable cursor movement for Step or Function in Auto mode
Reference
„ As setting cursor position change <Disable>, the following message is displayed when
up/down cursor key is pressed in Auto Mode.
Inhibit cursor step change on AUTO MODE
>
Service
Rel.WAIT
Cond Set
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6. System setting
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6.1.5 Confirm when the command delete
Outline
This function enables you to use this function by setting "Enable" or "Disable" when
youwanttoconfirmwhetheritisacceptableforyoutodeletesomecommandornotbefore
deleting the command.
① Disable : If you select this function, It does not ask to you whether it is good
or not to delete before you delete the function or step by pressing the
[SHIFT]+[DELETE] Key.
② Enable : If you select this function, It asks to you whether it is good or not to
delete before you delete the function or step by pressing
the [SHIFT]+[DELETE] Key.
Reference
„ It is displayed the following massage on the screen when you delete the function or
step by pressing the [SHIFT]+[DELETE] Key.
Delete(Yes/No)?
>
Service System Rel.WAIT
Cond Set
„ Delete when press [Yes] key, Cancel when press [No] key.
6.1.6 WAIT (DI/WI) Forcible Release
Outline
You can set up whether you will release forcibly the signal wait or not when press the
"WAIT RELEASE" for waiting the welding completion signal or input signal in the manual
mode or auto mode.
① Disable : It doesn't release forcibly the wait signal when pressing "WAIT
RELEASE" for waiting the welding completion signal or input signal .
② Enable : It release forcibly the wait signal when pressing "WAIT
RELEASE" for waiting the welding completion signal or input signal
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6. System setting
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6.1.7 Dettachment of Teach Pendant
Outline
It playbacks the teaching program after dettaching the teach pendent to protect the
program. But, only after completing the teaching.
① Disable : It occurs the communication error if you dettach the teach pendent to
the controller in case of setting the "Disable".
② Enable : You can operate the robot even though you dettach the teach pendent in case
of setting the "Enable".
6.1.8 Power failure Detection (Not Changeable)
Outline
Ifyouselect thisfunction, AfterThe robotrestores thepresentposition inthe Memory
inthetimeofthePowerfailureoccurrence, Youcanplaybacktherobotfromtheposition
which is restored in the memory when the Power failure supply.
① Disable : If you select this function, you can't use this power failure detection.
② Enable : In this case, you can use this function.
Reference
„ Because in the present controller Power failure detection sets <Enable>, you can't
change <Disable>.
6.1.9 External Program selection
Outline
Itdecidesthemethodthatselecttheprogramyoumade. Itisthesametothe"R6External
Program Selection (Enable/Disable) of R6.
① Disable : You can select the program by pressing the [SHIFT]+[Program]Key.
② Enable : It selects the program after receiving the digital signal from the external
device. Chapter 12. the connection of each signal → 1. Please refer to
the program selection signal of standard input signal.
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6. System setting
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Reference
„ It is displayed on the screen of Teach pendent in auto mode as following according
tocompounding“ System” [PF2] → 1.UserParameter → 3.STARTTYPEand9.External
Program Selection.
External Program
Disable
Enable
Start Type
Internal
External
Auto
Auto(Ext.Prog)
Auto(Ext.P&S)
Auto(Ext.Start)
6.1.10 Using the program strobe signal
Outline
You can use this function when you want to select the external program by receiving
the external digital signal from the external device..
① Disable : This function selects a program to be worked by receiving only program
selection signal.
② Enable : This function selects a program to be worked by receiving the program
selection signal in the moment of turning on input signal of program strobe.
Reference
„ It displays the following massage on the screen in case of the inputting the external
start signal without inputting the program selection signal in advance.
The value of Prog Selec Sig input is 0
>
Service System Rel.WAIT
Cond Set
„ Please refer to the chapter.12 Signal connection → 1. Program strobe of Standard input
signal..
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6. System setting
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6.1.11 STEP SET ALARM TYPE
Outline
This is a function that can output the alarm signal (pulse 200msec) when you select
the step that is out of the present step.
① ONE : This alarm signal comes when you select the step that is different more than
2 step compared to the present step a output signal in manual mode or 1
step( auto mode ).
② TWO :
- This alarm signal outputs in case of designating the step that is a different step
(more than 2step) compared to the present step in manual, auto (1step / 1cycle /
continue) mode.
- This alarm signal outputs in case of selecting different program when selecting
bigger step than step 0 in the present program in manual, auto (1step / 1cycle /
continue) mode.
- This alarm signal outputs in case of designating the same program when selecting
bigger step than step 2 in the present program in manual, auto (1step / 1cycle /
continue) mode.
Reference
„ This alarm signal outputs as the assigned signal in “ SYSTEM” [PF2] → 2. CONTROL
PARAMETER → 1. SETTING THE INPUT/OUTPUT SIGNAL → 6: OUTPUT SIGNAL ASSIGNMENT.
6.1.12 Lowest position proportion of the cursor
Outline
You can adjust the cursor position from the upper part to the lower part of the screen
by adjusting the position proportion of the cursor in the edit screen of manual mode.
Youcan'tseethenextfunction, stepofthelowestpartofthescreenbecausethecursor
moves to the lowest part of the screen in case that you adjust the position proportion
to maximum 100%.
The cursor can move within the range from the upper to the center if the proportion
is 50%, the screen scroll if the cursor move from the center to the lower.
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6. System setting
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6.1.13 Using the collision sensor
Outline
It selects one of the method that can stop the robot if the collision sensor active..
(1) Robot stop type
① Emergency stop : It stops the robot with MOTOR OFF.
② Stop : It stops the robot in the MOTOR ON status.
(2) Signal Logic
① Positive : It sets up input signal logic of collision sensor with positive.
② Negative : It sets up input signal logic of collision sensor with positive.
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6. System setting
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6.2 Controller Parameter
It displays the following massage on the screen if you select "SYSTEM[PF5] →
2.Controller Parameter" in the first screen of manual mode
14:39:38** Controller parameter**A:0 S:4
1: Setting input & output signal
2: Serial ports
3: Robot ready
4: Registration of home position
5: Return to the previous position
6: End relay timer
7: Interlock timer
8: Error-output to the outside
9: Power saving : PWM OFF
10: Shift limit
11: f-key setting
----------------------------------------
12: Coordinate setting
Use [Number]/[Up][Down] and press [SET].
>
Selection Method
① You can enter into the sub-menu if press [SET]Key after moving the highlights bar
with using the arrow key to the item as you want to select.
② You can enter into the sub-menu if press [SET]Key after the item number as you want
to select input with using the number key in the input frame.
Reference
„ The control parameter store in the control constant file (ROBOT.C00).
„ You can't change the contents of the control constant file (ROBOT.C00) in case of
being in perfectly protective status.
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6. System setting
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6.2.1 Input/Output signal selection
Outline
It sets up when you need to change the attribution of the input/output signal.
Screen display
14:39:38** DIO signal setting ** A:0 S:4
1: Input signal logic
2: Output signal logic
3: Output signal attribute
4: Pulse table setting
5: Delay table setting
6: Output signal assigning
7: Input signal assigning
8: Setting time for earlier output
9: Editing DIO names
10: Fieldbus configuration
Use [Number]/[Up][Down] and press [SET].
>
Selection Method
① You can enter into the sub-menu if press [SET]Key after moving the highlights bar
with using the arrow key to the item as you want to select.
② You can enter into the sub-menu if press [SET]Key after the item number as you want
to select input with using the number key in the input frame.
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6. System setting
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6.2.1.1 Input signal logic
Outline
It sets up the positive, negative of the general input signal.
Screen display
14:39:38*** DI signal logic *** A:0 S:4
DI1 = <Posi,Nega> DI2 = <Posi,Nega>
DI3 = <Posi,Nega> DI4 = <Posi,Nega>
DI5 = <Posi,Nega> DI6 = <Posi,Nega>
DI7 = <Posi,Nega> DI8 = <Posi,Nega>
DI9 = <Posi,Nega> DI10 = <Posi,Nega>
DI11 = <Posi,Nega> DI12 = <Posi,Nega>
DI13 = <Posi,Nega> DI14 = <Posi,Nega>
DI15 = <Posi,Nega> DI16 = <Posi,Nega>
DI17 = <Posi,Nega> DI18 = <Posi,Nega>
DI19 = <Posi,Nega> DI20 = <Posi,Nega>
Press [SHIFT]+[<-][->] Key
>
Selection Method
① The user move to the position that the user wants to change input signal logic. you
can use the "Next [PF4]", "Previous [PF3] if there is no signal that you want to
change in the present screen..
② It changes signal logic with using [Shift]+[← ][→ ]Key.
Reference
„ You must press the "Complete"[PF5] to save the changed content after finishing
tochange theinput signallogic, ifpress"Cancel" Keyyou can'tsavethechanged
content.
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6. System setting
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6.2.1.2 Output signal Logic
Outline
It sets up the positive, negative logic of the general output signal.
Screen display
14:39:38*** DO signal logic *** A:0 S:4
DO1 = <Posi,Nega> DO2 = <Posi,Nega>
DO3 = <Posi,Nega> DO4 = <Posi,Nega>
DO5 = <Posi,Nega> DO6 = <Posi,Nega>
DO7 = <Posi,Nega> DO8 = <Posi,Nega>
DO9 = <Posi,Nega> DO10 = <Posi,Nega>
DO11 = <Posi,Nega> DO12 = <Posi,Nega>
DO13 = <Posi,Nega> DO14 = <Posi,Nega>
DO15 = <Posi,Nega> DO16 = <Posi,Nega>
DO17 = <Posi,Nega> DO18 = <Posi,Nega>
DO19 = <Posi,Nega> DO20 = <Posi,Nega>
Press [SHIFT]+[<-][->] Key
>
Selection Method
① The user moves the cursor to the position where the user wants to change.
Youcanuse"Previous[PF3]", "Next[PF4]"ifthereisnosignalasyouwanttochange
in the present screen.
② You change the signal logic with using [Shift]+[← ][→ ]Key.
Reference
„ You must always press the "Complete [PF5]"Key to store the changing content after
finishing the change of output signal logic.
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6. System setting
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6.2.1.3 The attribution of Output signal
Outline
It decides the attribution of output signal. Ifthenumberofoutputsignal isnormal
"0", the number 1 to 15 output the pulse signal to be assigned in the pulse signal
table, and the number 16 to 30 output the delay signal assigned in the delay signal
table.
Screen display
14:39:38 ** DO Sig attribute ** A:0 S:4
DO1 = [ 0]
DO3 = [ 0]
DO5 = [ 0]
DO7 = [ 0]
DO9 = [ 0]
DO11 = [ 0]
DO13 = [ 0]
DO15 = [ 0]
DO17 = [ 0]
DO19 = [ 0]
DO21 = [ 0]
DO2 = [ 0]
DO4 = [ 0]
DO6 = [ 0]
DO8 = [ 0]
DO10 = [ 0]
DO12 = [ 0]
DO14 = [ 0]
DO16 = [ 0]
DO18 = [ 0]
DO20 = [ 0]
DO22 = [ 0]
Select and Enter number. Press [SET]
[Normal[0]; Pulse[1-15]; Delay[16-30]]
Selection Method
① The user moves the cursor to the position where the user wants to change the
attributionoftheoutputsignal. Youcanuse"Previous[PF3]", "Next[PF4]"ifthere
is no signal as you want to change in the present screen.
② You press the [SET]Key after inputting the number in the input frame with using the
number key.
Reference
„ You must press the "Complete"[PF5] to save the changed content after finishing
tochange theinput signallogic, ifpress"Cancel" Keyyou can'tsavethechanged
content.
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6. System setting
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6.2.1.4 Setting the Pulse table
Outline
3: It sets the content about the pulse signal of pulse number that input in the
attribution of the output signal.
Screen display
14:39:38 *** Pulse table *** A:0 S:4
Table Count ON time
OFF time
1 = [ 0] [ 0.00]sec [ 0.00]sec
2 = [ 0] [ 0.00]sec [ 0.00]sec
3 = [ 0] [ 0.00]sec [ 0.00]sec
4 = [ 0] [ 0.00]sec [ 0.00]sec
5 = [ 0] [ 0.00]sec [ 0.00]sec
6 = [ 0] [ 0.00]sec [ 0.00]sec
7 = [ 0] [ 0.00]sec [ 0.00]sec
8 = [ 0] [ 0.00]sec [ 0.00]sec
9 = [ 0] [ 0.00]sec [ 0.00]sec
10 = [ 0] [ 0.00]sec [ 0.00]sec
Select and Enter number. Press [SET]
>[1 - 100]
Selection Method
① The user moves the cursor to the position where the user wants to change the
attributionoftheoutputsignal. Youcanuse"Previous[PF3]", "Next[PF4]"ifthere
is no signal as you want to change in the present screen.
② You press the [SET]Key after inputting the number about the On/Off time, frequency
with using the number key in the input frame.
Reference
„ For example of outputting the pulse)
Frequency: 3,
1second 0.3second
→ ← →
+----------+ +----------+ +----------+
---+ +--+ +--+ +--
ON time: 1second,
OFF time: 0.3 second
←
„ Youmustpressthe"END"[PF5]tosavethechangedcontentafterfinishingtochange
the output signal attribution, if press "CANCEL" Key you can't save the changed
content.
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6. System setting
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6.2.1.5 Setting the delay table
Outline
3: It sets the content about the delay signal of delay number that input in the
attribution of the output signal.
Screen display
14:39:38 *** Delay table *** A:0 S:4
Table Count ON delay
OFF delay
16 = [ 0] [ 0.00]sec [ 0.00]sec
17 = [ 0] [ 0.00]sec [ 0.00]sec
18 = [ 0] [ 0.00]sec [ 0.00]sec
19 = [ 0] [ 0.00]sec [ 0.00]sec
20 = [ 0] [ 0.00]sec [ 0.00]sec
21 = [ 0] [ 0.00]sec [ 0.00]sec
22 = [ 0] [ 0.00]sec [ 0.00]sec
23 = [ 0] [ 0.00]sec [ 0.00]sec
24 = [ 0] [ 0.00]sec [ 0.00]sec
25 = [ 0] [ 0.00]sec [ 0.00]sec
Select and Enter number. Press [SET]
>[0 - 99.99]
Selection Method
① The user moves the cursor to the position where the user wants to change the
attribution. You can use "Previous [PF3]", "Next [PF4]" if there is no signal as
you want to change in the present screen.
② You press the [SET]Key after inputting the number about the On/Off delay with using
the number key in the input frame.
Reference
„ For example of the delay output)
ON delay: 1second, OFF delay: 0.5second
M ON
M OFF
0.5sec
← →
1sec
←
→ +-------------------+
--------------+ +----------
„ You must press the "Complete"[PF5] to save the changed content after finishing
to change the output signal attribution, if press "Cancel" Key you can't save
the changed content.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.1.6 Output signal Assignment
Outline
It uses the signal after output signal assign in special DO signal.
Screen display
14:39:38 ** DO Sig assignment ** A:0 S:4
GUN (squeeze) Sig = G1 [ 23] G2 [ 24]
MX(Unfolding) Sig = X1 [ 25] X2 [ 0]
Alarm to welding system
Weld stick warning
Program end
= [ 0]
= [ 0]
= [ 26]
= [ 27]
= [ 0]
= [ 0]
= [ 0]
= [ 0]
= [ 28]
Synthetic error
Emegency stop
Manual mode
Collision sense
Step set warning
Interlock-abnormal warning
Select and Enter number. Press [SET]
>[1 - 256]
Reference
⑴ All Initialize: It initializes all of assigned output signal. It displays the
following massage on the screen if you select All initialize function.
All Init.?Hardwiring:0,Fieldbus:1(0 - 1)
>[0 - 1]
All FormOne FormPrevious Next Complete
„ Ifyouselectthestandardnumber"0", Allofassignedsignalchangestheinitializing
value.
„ If you select the field bus(1), It redeploys output assignment signal to use the
field bus. if you select the field bus(1), it displays the following massage.
Input the start port number.(1 - 32)
>[1 - 32]
All FormOne FormPrevious Next Complete
Input the start port number to be assigned. if the start port number select "1",
it displays the following massage.
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6. System setting
------------------------------------------------------------------------------------------------
14:39:38 ** DO Sig assignment ** A:0 S:4
GUN (squeeze) Sig = G1 [ 1] G2 [ 2]
MX(Unfolding) Sig = X1 [ 3] X2 [ 0]
Alarm to welding system
Weld stick warning
Program end
= [ 0]
= [ 0]
= [ 7]
= [ 8]
= [ 0]
= [ 0]
= [ 0]
= [ 0]
= [ 13]
Synthetic error
Emegency stop
Manual mode
Collision sense
Step set warning
Interlock-abnormal warning
Select and Enter number. Press [SET]
>[1 - 256]
⑵ One initialize: Presently selected output assignment signal value return to the
initialize status.
⑶ Assigned DO signal displays the small character in the "Service"[PF1] → 1.
MONITORING.
ex) In case of not assigning : O31
In case of assigning
: o31
⑷ If press “ Complete” [PF5], Save changed information. if press [Cancel]Key, Cancel
them.
6.2.1.7 Input signal assignment
Outline
It uses the signal after output signal assign in special DI signal.
Screen display
14:39:38 ** DI Sig assignment ** A:0 S:4
External start
External stop
= [ 23]
= [ 24]
Prog selection bit= BO1[ 25] BO2[ 26]
BO3[ 27] BO4[ 28]
B05[ 29] BO6[ 30]
B07[ 31] BO8[ 32]
= [ 0]
Program Strobe
Binary/Discrete(OFF->Binary) = [ 0]
External reset
Low speed command
WI
= [ 0]
= [ 0]
= W1 [ 22] W2 [ 0]
Select and Enter number. Press [SET]
>[1-256]
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6. System setting
------------------------------------------------------------------------------------------------
Reference
⑴ All Initialize: It initializes all of output assignment signal. It displays the
following massage on the screen if you select All initialize function.
All Init.?Hardwiring:0,Fieldbus:1(0 - 1)
>[0 - 1]
All FormOne FormPrevious Next Complete
„ Ifyouselectthestandardnumber"0", allofassignedsignalchangestheinitializing
value.
„ If you select the fieldbus(1), It redeploys input assignment signal to use the
field bus. if you select the field bus(1), it displays the following massage.
Input the start port number.(1 - 30)
>[1 - 30]
All FormOne FormPrevious Next Complete
Input the start port number to be assigned. if the start port number select "1",
it displays the following massage.
14:39:38 ** DI Sig assignment ** A:0 S:4
External start
External stop
= [ 1]
= [ 2]
Prog selection bit= BO1[ 3] BO2[ 4]
BO3[ 5] BO4[ 6]
B05[ 7] BO6[ 8]
B07[ 9] BO8[ 10]
= [ 0]
Program Strobe
Binary/Discrete(OFF->Binary) = [ 0]
External reset
Low speed command
WI
= [ 0]
= [ 0]
= W1 [ 15] W2 [ 0]
Select and Enter number. Press [SET]
>[1-256]
⑵ One initialize: Presently selected output assignment signal value return to the
initialize status.
⑶ Assigned DO signal displays the small character in the "Service"[PF1] → 1.
MONITORING.
ex) In case of not assigning : O31
In case of assigning
: o31
⑷ If press “ Complete” [PF5], Save changed information. if press [Cancel]Key, Cancel
them.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.1.8 Setting the Earlier output
Outline
Usually, the DO signal output after getting to the step, You can use this function
when you output DO signal before getting to the step by setting this function.
Screen display
14:39:38 *** Earlier output *** A:0 S:4
Sig
DO
Time Low DO
= [ 0.00]sec [ 0]
High DO
[ 0]
Low GO
[ 0]
High GO
[ 0]
O-bype= [ 0.00]sec
Select and Enter number. Press [SET]
>[1 - 99.9]
Screen description
„ Earlier out time : It sets the first out time of group output signal( GO) or each
output signal before getting to the step.
„ DO lower number : This is a first number of each output signal(DO) that is going to
do first out.
„ DO upper number : This is a last number of each output signal(DO) that is going
to do first out.
„ GO lower number : This is a first number of each output signal(GO) that is going
to do first out.
„ GO upper number : This is a last number of each output signal(GO) that is going
to do first out.
Reference
„ But, This first out function can't apply when the step go and back in manual
mode.
„ If you press “ Complete” [PF5]key, save the changed information. If press [CANCEL]
key , Cancel them.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.1.9 DIO Name Edit
Outline
The user names in each in/out signal.
Screen display
14:39:38 *** DIO name *** A:0 S:4
1: Page 1
2: Page 2
3: Page 3
4: Page 4
Use [Number]/[Up][Down] and press [SET].
>
Operation Method
„ You press [SET] after selecting the page as you want with the cursor or number key.
if selecting page 1, the following massage is displayed.
14:39:38
*** Page 1 ***
A:0 S:4
<DI,DO> [ 0] [
]
]
]
]
]
]
]
]
]
]
<DI,DO> [ 0] [
<DI,DO> [ 0] [
<DI,DO> [ 0] [
<DI,DO> [ 0] [
<DI,DO> [ 0] [
<DI,DO> [ 0] [
<DI,DO> [ 0] [
<DI,DO> [ 0] [
<DI,DO> [ 0] [
Press [SHIFT]+[<-][->] Key.
>
Screen description
„ <DI,DO> : You can select input/output signal as you want to describe with using
[Enable][->][<-]key.
„ [ 0] : Input the number of in/output signal as you want to describe. Press the
[SET]key after inputting the number with the number key in input frame.
„ [
] : Resister the name of in/output signal.
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6. System setting
------------------------------------------------------------------------------------------------
Reference
⑴ The following massage is displayed if the highlight bar move to the position in the
[
] part.
Press [SET] for string input
>
„ Thefollowingmassagethatcaninputthecharacterstringisdisplayedif[SET]input.
14:39:38 ** Character input ** A:0 S:4
DIO name
1234567890 ABCDEFGHIJKLMNOPQRSTUVWXYZ
abcdefghijklmnopqrstuvwxyz
?!.,@#$%^&"+-*/<=>;:(){}[]'|~`
ㄱㄲㄴㄷㄸㄹㅁㅂㅃㅅㅆㅇㅈㅉㅊㅋㅌㅍㅎ
ㅏㅐㅑㅒㅓㅔㅕㅖㅗㅘㅚㅛㅜㅝㅞㅟㅠㅡㅢㅣ
ㄱㄲㄳㄴㄵㄶㄷㄸㄹㄺㄻㄼㄽㄿㅀㅁㅂㅄㅅㅆ
ㅇㅈㅊㅋㅌㅍㅎ
Use [Up][Down], and press [SET]
>
„ You can input the name of DIO if press [PF5]key after making the character with using
the arrow key and [SET]key in the input frame.
⑵ You can make the new file ( ROBOT.IMO : DIO FILE ) if press "Complete"[PF5]key after
inputting in the name description.
⑶ You can see about the recorded DIO name in “ SERVICE” [PF1] → 1. MONITORING OF DIO
NAME.
⑷ If you press “ Complete” [PF5]key, Save the changed information. If press [CANCEL]
key , Cancel them.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.1.10 Setting the field bus
Outline
It sets the Fieldbus parameter.
Screen display
14:39:38 ** Fieldbus Config ** A:0 S:4
1: En/Disable Fieldbus Adapter
2: Select Input Source
3: Assign Input No
4: Assign Output No
Use [Number]/[Up][Down] and press [SET]
>
Selecting Method
① You can enter into the sub-menu if press [SET] Key after moving the highlights bar
with using the arrow key to the item as you want to select.
② You can enter into the sub-menu if press [SET] Key after the item number as you want
to select input with using the number key in the input frame.
Reference
„ If you set up the field bus for the first time after formatting the controller,
the following massage is displayed when you select one of 4 menu.
File not exist, Create file? [YES]/[NO]
>
Done
„ You enter into the setting work with producing the ROBOT.FBU file to store the
field bus parameter if press [YES] key.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.1.10.1 Application of the field bus adapter
Outline
It select whether Fieldbus will use or not.
Screen display
14:39:38* En/Disable Fieldbus * A:0 S:4
Fieldbus Adapter
=<Off,On>
[SHIFT]+[<-][->] to En/Disable
>
Screen description
① Off : Can not use the field bus.
② On : Can use the field bus.
Reference
„ If you press “ Done” [PF5] key, save the changed information. If press [CANCEL]
key , Cancel them.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.1.10.2 Input source selection
Outline
It sets up from which of the hard wired or field bus the input receives.
Screen display
14:39:38 * Select Input Source *A:0 S:4
Select Input Source
0
1
DI1 - DI8 <- <HWrd,Fbus>
DI9 - DI16 <- <HWrd,Fbus>
2 DI17 - DI24 <- <HWrd,Fbus>
3 DI25 - DI32 <- <HWrd,Fbus>
4 DI33 - DI40 <- <HWrd,Fbus>
5 DI41 - DI48 <- <HWrd,Fbus>
6 DI49 - DI56 <- <HWrd,Fbus>
7 DI57 - DI64 <- <HWrd,Fbus>
Page 1/4
[SHIFT]+[<-][->] to select input src
>
Reference
All Init.?Hardwiring:0,Fieldbus:1(0 - 1)
>[0 - 1]
All FormPg FormPrevious Next
Done
⑴ All initialize : All of input source selection modify standard or Fbus at one time.
The following massage is displayed if “ All Form” [PF1] select.
„ All of input source of the screen change <STANDARD> if press [SET]key after
standard[0] input.
„ All of input source of the screen change <Fbus> if press [SET]key after field bus
[1] input.
⑵ Page initial : The page that describes on the present screen change the standard
or Fbus. The following massage is displayed if you select "Pg
Form” [PF2].
Pg Form .?Hardwiring:0,Fieldbus:1(0 - 1)
>[0 - 1]
All FormPg FormPrevious Next
Done
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6. System setting
------------------------------------------------------------------------------------------------
„ If press [SET]key after the standard [0] input the input source of the screen that
is displayed in the present teach pendent change <STANDARD>.
„ If press [SET]key after the field bus [1] input the input source of the screen that
is displayed in the present teach pendent change <Fbus>.
⑶ The present setting item will save if press “ Done” [PF5], it will not save if press
[CANCEL].
6.2.1.10.3 Input signal assignment
Outline
It sets each signal group unit how you will map each input.
Screen display
14:39:38 *** Assign Input No *** A:0 S:4
Assign Input No to Fbus Data
0
1
DI1 - DI8 <- [ 0] Fbus_0
DI9 - DI16 <- [ 1] Fbus_1
2 DI17 - DI24 <- [ 2] Fbus_2
3 DI25 - DI32 <- [ 3] Fbus_3
4 DI33 - DI40 <- [ 4] Fbus_4
5 DI41 - DI48 <- [ 5] Fbus_5
6 DI49 - DI56 <- [ 6] Fbus_6
Page 1/4
Set Fbus element No to map to input
>[0 - 31]
„ Please press the [SET] after inputting the Fbus data that should use the input to
be mapped as the input signal.
Reference
„ The first data of Fbus data is redeployed if press "ALL Form” [PF1].
„ Ifyoupress“ Done” [PF5]key, Savethechangedinformation. ifpress[CANCEL]key, Cancel
them.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.1.10.4 Output signal assignment
Outline
It sets each signal group unit how you will map each output.
Screen display
14:39:38*** Assign Outpur No *** A:0 S:4
Assign Output No to Fbus Data
0
O1 - O8 -> [ 0] Fbus_0
1 O11 - O18 -> [ 1] Fbus_1
2 O21 - O28 -> [ 2] Fbus_2
3 O31 - O38 -> [ 3] Fbus_3
4 O41 - O48 -> [ 4] Fbus_4
5 O51 - O58 -> [ 5] Fbus_5
6 O61 - O68 -> [ 6] Fbus_6
Page 1/4
Set Fbus element No to map to output
>[0 - 31]
„ Please press [SET]key after inputting Fbus data that should use the output to be
mapped in the standard output signal.
Reference
„ The first data of Fbus data is redeployed if press "ALL Form"[PF1.].
„ Ifyoupress“ Done” [PF5]key, Savethechangedinformation. Ifpress[CANCEL]key, Cancel
them.
Caution
⑴ Do always in the off status in case of not building in BD470. If you put in the On
status without building in BD470, All of the I/O function don't work with occurring
the error in the controller.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.2 Serial port
Outline
It sets up the use purpose of the serial port, and sets up the RS232C parameter
14:39:38 * Serial port select* A:0 S:4
1: Teach Pendant (CNTP)
2: Serial to I/O Board (CNIO)
3: Serial port #1 (CNSIO)
4: Serial port #2 (OPSIO)
Use [Number]/[Up][Down] and press [SET].
>
Previous Next
6.2.2.1 Teach Pendant (CNTP)
Outline
This port is only for teach pendent. The user can't change freely. The following
massage is displayed on the screen if the user select 1: Teach Pendant (CNTP).
Can't modify! Private port for T/P.[ESE]
>
Previous Next
6.2.2.2 Private serial port for I/O board
Outline
This is only for I/O board. You should set up the parameter (Baud rate, character
bit, stop bit, parity bit, echo ) to match with the present I/O board.
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6. System setting
------------------------------------------------------------------------------------------------
Screen display
14:39:38 *** Serial to I/O *** A:0 S:4
Baudrate = <...,9600,19200,38400,57600>
Character length = <7,8> bit
Stop Bit
Parity bit
Echo
= <1,2> bit
= <Disable,Odd,Even>
= <Disable,Enable>
Press [SHIFT]+[<-][->] Key
>
Reference
„ If you press “ Complete” [PF5] key, Save the changed information. If press [CANCEL]
key, Cancel them.
6.2.2.3 Serial port #1
Outline
This is a serial port (CNSIO), It sets up the communication information when you
communicate with a serial port. The user should select the purpose of the serial
port #1, echo, parity bit, stop bit, character bit, baud rate as you want.
Screen display
14:39:38 *** Serial port 1 *** A:0 S:4
Baudrate = <38400,19200,9600,4800,2400>
Character length = <7,8> bit
Stop bit
Parity bit
Echo
= <1,2> bit
= <Disable,Odd,Even>
= <Disbale,Enable>
Serial port usage= <FileMng,Sens>
Press [SHIFT]+[<-][->] Key
>
Reference
„ FileMng ...... You can use this function to download and up load the file from the
external computer and visa versa.
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6. System setting
------------------------------------------------------------------------------------------------
„ Sens ...... You can use this function to receive the shift value from the vision.
( Interface with the external vision system )
6.2.2.4 The use of the serial port #2
Outline
This is a serial port (OPSIO), It sets up the communication information when you
communicate with a serial port. The user should select the purpose of the serial
port #1, echo, parity bit, stop bit, character bit, baud rate as you want.
Screen display
14:39:38 *** Serial port 2 *** A:0 S:4
Baudrate = <-,19200,38400,57600,115200>
Character length = <7,8> bit
Stop Bit
Parity Bit
Echo
= <1,2> bit
= <Disable,Odd,Even>
= <Disable,Enable>
Serial port usage= <FileMng,Sens>
Press [SHIFT]+[<-][->] Key
>
Reference
„ FileMng ...... You can use this function to download and up load the file from the
external computer and visa versa.
„ Sens ...... You can use this function to receive the shift value from the vision.
( Interface with the external vision system )
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6. System setting
------------------------------------------------------------------------------------------------
6.2.3 Robot Ready
Outline
The robot outputs robot ready end signal if the robot is ready.
The robot ready output signal is a DO signal to be assigned in the “ SYSTEM” [PF2] →
2. Controller parameter → 1. IN/OUT SIGNAL SETTING → 6: OUTPUT SIGNAL ASSIGNMENT.
Screen display
14:39:38 *** Robot ready ***
Robot ready condition = [ 1]
0: Motor on + Auto Mode(1 cycle)
1: Motor on + Auto Mode(1 cycle)
A:0 S:4
>
+ External start + External program
2: Motor on
3: Motor on + Running
4: Motor on + Running + Interlock wait
5: Motor on + Auto Mode(1 Cycle/1 Step)
6: Motor on + Auto Mode(Continuous)
7: Motor on + Auto Mode
----------------------------------------
Robot ready condition = [ 1]
8: Auto Mode(1Cycle) + External start >
+ External program
9: MotorOn + Runnig + AutoMode(contin)>
+ Internal start + External program
10: Motor on + Playback(Continuous)
+ Internal start + External program
Enter number and press [SET]
>[0 - 10]
Previous Next Complete
Reference
⑴ You can see the result in the “ SERVICE” [PF1] → 1. MONITORING if the robot ready
signal comes out.
⑵ If you press “ Complete” [PF5]key, Save the changed information. If press [CANCEL]
key, Cancel them..
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6. System setting
------------------------------------------------------------------------------------------------
6.2.4 Home position registration
Outline
This signal outputs when a robot motion is in this home position after a specific
position of the robot register as a home position of this robot
The home position output signal is a DO signal to be assigned in the “ SYSTEM” [PF2]
→ 2. CONTROL PARAMETER → 1. IN/OUT SIGNAL SETTING → 6: OUTPUT SIGNAL ASSIGNMENT.
Actual screen
14:39:38 *** Home position *** A:0 S:4
Home 1 : Program No. = [ 0]
Step No. = [ 1]
Range
1000] H = [
Range
1000]
S = [
V = [
B = [
1000] R2= [
1000] R1= [
1000]
1000]
Select and Enter number. Press [SET]
>[0 - 999]
Screen description
„ Program No. : This is the program no. recorded the robot motion to be registered
as a home position.
„ Step No. : This is the step no. recorded the robot motion to be registered
as a home position.
„ Range : This is the range to the motion of each axis of the robot in home position.
Reference
⑴ If you press “ Complete"[PF5]key, Save the changed information. if press [CANCEL]
key , Cancel them.
⑵ The range set up as the value of encoder bit of each axis unit. The setting value
use the range of the - direction and + direction of home position point. For example
If you select 100Bit the output range of the home position signal is 200Bit.
⑶ Registration cancel automatically if delete step or program that is registered.
⑷ The registered step No. change automatically in case of adding and deleting the step
between the previous and next of home position step in the program that registered
as a home position.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.5 Return to the previous position
Outline
This is the function that the robot returns to the previous position automatically when
turning the motor on because the robot may be dropped to the down by the weight of the
robot when turning the motor off by the H/W error or emergency stop etc.
Screen display
14:39:38 ** Previous position ** A:0 S:4
Return to previous Posi = <DSBL, ENBL>
Limit for return[mm] = [ 10]
Limit for error detect[mm] = [ 100]
Press [SHIFT]+[<-][->]
>
Screen description
„ Previous return function : It selects whether the previous return function will use or
not.
„ Return range : It sets up the limit value that can return after dropping the robot The
alarm massage is displayed when dropping over the setting value.
„ Error detection range : This is for anti interference of the peripheral equipment. The
robot can't start without designating the step and occur the error when dropping over
the setting value.
Reference
⑴ If you press “ Complete” [PF5]key, Save the changed information. If press [CANCEL]
key , Cancel them.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.6 End Relay Output Time
Outline
It sets up the time until the step 0 execute again after end the program by setting
the output time of this signal when the program execute in continuous auto mode.
Screen display
14:39:38 *** End relay *** A:0 S:4
END relay ON time
= [ 0.0] sec
Enter number and press [SET]
>[0.0 - 10.0]
„ Press [SET] after input the end relay output time in input frame.
Reference
⑴ If you press “ Complete” [PF5]key, Save the changed information. If press [CANCEL]
key , Cancel them.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.7 Interlock error time
Outline
It sets up the maximum waiting time of input signal.
Interlock error time output if the time of input waiting status during playback is over
the reference time. This function that is to set up this reference time is a interlock
error time.
This interlock error time is a O signal to be assigned in the “ SYSTEM” [PF5] → 2.
CONTROL PARAMETER → 1. IN/OUT SIGNAL SETTING → 6: OUTPUT SIGNAL ASSIGNMENT.
Screen display
14:39:38 *** Interlock Abn.*** A:0 S:4
Interlock error timer = [ 60] sec
Enter number and press [SET]
>[0 - 255]
„ Press [SET] after inputting the interlock error time in the input frame.
Reference
⑴ If you press “ Complete” [PF5]key, Save the changed information. if press [CANCEL]
key , Cancel them.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.8 External error output
Outline
This is the function that outputs the detected error no. to the external device.
Screen display
14:39:38 *** Error output *** A:0 S:4
Serial output
=<Disable,Port1,Port2>
Discrete output = <Disable,8bit,16bit>
Press [SHIFT]+[<-][->]
>
„ The serial output outputs ASCII code to the external device using serial
interface(RS232C).
Output type are
First byte
: “ $”
2nd∼6th byte : “ ERROR”
7th byte
: “ ” (Blank)
8th∼11th byte : error number
12th byte
13th byte
: CR
: LF
For example
In case of error 0101( E0101 )
$ E R R O R
0 1 0 1 CR LF
└ ─ ┴ ─ ┴ ─ ┴ ─ ┴ ─ ┴ ─ ┴ ─ ┴ ─ ┴ ─ ┴ ─ ┴ ─ ┴ ─ ┴ ─ ┴
1 2 3 4 5 6 7 8 9 10 11 12 13
„ First number designation output outputs the error number to the external device through
the O signal assigned in the “ SYSTEM” [PF2] → 2. CONTROL PARAMETER → 1. IN/OUT
SIGNAL SETTING → 6: OUTPUT SIGNAL ASSIGNMENT.
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6. System setting
------------------------------------------------------------------------------------------------
Assignment and Quantity
Signal name
Type 1
Type 2
Error output select
Error output STRB
Error output Bit
Ο : 1EA
Ο : 1EA
Ο : 8EA
×
×
Ο : 16EA
① Type 1 (8bit output)
It outputs after dividing by 2 group. One is the upper 8 bit, The other is the lower
8 bit after the error number transfers the binary code. The signal classifying the
upper data and lower data is the error output selection signal, The strobe signal
deciding the data check timing is the error output STRB signal.
For example
the timing in case of occurring E0101
( 10110 = 006516 = 0000 0000 0110 01012 )
│ ← Lower data →
+-------------------+
01 -+ +----------0------------------
│ ← Upper data→ │
1
02 ----------0---------------------0------------------
+-------------------+
03 -+
1
0
+----------0------------------
0
04 ---------------------------------------------------
05 ----------0---------------------0------------------
+--------1----------+
06 -+
+--------1----------+
07 -+
0
+-----------------------------
0
+-----------------------------
0
0
08 ---------------------------------------------------
+-------------------+
The output selection -+
+-----------------------------
+---------+
+---------+
The error selection STRB ------+
│ ← → │ ←
+-----------+
→ │ ↔ │ ← → │ ←
+------------
→ │ ← → │
100ms 200ms 50ms 100ms 200ms 100ms
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6. System setting
------------------------------------------------------------------------------------------------
② Type 2 (16bit output)
It outputs 16bit data after the error number transfers the binary.
The strobe signal deciding the data check timing is
- System error => General error
- Operation error => Operation error
For example
The timing in case of occurring E0101(SYSTEM ERROR)
+-------1----------------------------------------
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
---+
0
----------------------------------------------------
+-------1----------------------------------------
---+
0
----------------------------------------------------
0
----------------------------------------------------
+-------1----------------------------------------
---+
+-------1----------------------------------------
---+
0
----------------------------------------------------
0
----------------------------------------------------
0
----------------------------------------------------
0
----------------------------------------------------
0
----------------------------------------------------
0
----------------------------------------------------
0
----------------------------------------------------
0
----------------------------------------------------
0
----------------------------------------------------
Operation error --------------------------------------------------
+----------------------------------------------
General error ---+
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6. System setting
------------------------------------------------------------------------------------------------
6.2.9 Power Saving : PWM OFF
Outline
Itsetsupthewaitingtimeuntilthepowersavingfunctionstartfromthelastoperation
time.
It economizes on the consumption power by cutting off the power supply of the motor
if the waiting time pass in case of the stop status for a long time resulting in input
signal wait, starting wait of the robot in auto mode.
Screen display
14:39:38 *** Power saving *** A:0 S:4
= < Disable,Enable >
= [ 12.8] min
Power saving
Waiting time
Press [SHIFT]+[<-][->] Key.
>
Screen description
„Power saving function: It sets up whether power saving function uses or not.
① Disable : It doesn't use the power save mode.
② Enable : It uses the power save mode.
„ Waiting time : It sets up the transferring time getting start the power save mode.
Reference
⑴ If you press “ Complete” [PF5]key, Save the changed information. if press [CANCEL]
key , Cancel them.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.10 Shift Limit
Outline
It sets up the limit value of the volume to be shifted.
It occurs the error if the shift volume is over the limit value that you set the limit
value of the value to be shifted using in the XYZ SHIFT, ON-LINE SHIFT function.
Setting
value
Name
Content
X axis direction limit
Y axis direction limit
Z axis direction limit
X axis angle limit
Y axis angle limit
Z axis angle limit
Shift Estimation
It is a limit value of X axis direction. 200 mm
It is a limit value of Y axis direction. 200 mm
It is a limit value of Z axis direction. 200 mm
It is a limit value of X axis angle. 20 deg
It is a limit value of Y axis angle. 20 deg
It is a limit value of Z axis angle. 20 deg
Option
5.0 mm
Screen display
14:39:38 *** Shift limit *** A:0 S:4
Axis Direction limit Angle limit
X = [ 200.0] mm
Y = [ 200.0] mm
Z = [ 200.0] mm
[ 20.0] deg
[ 20.0] deg
[ 20.0] deg
Shift evaluation value = [ 5.00] mm
Select and Enter number. Press [SET]
>[0 - 9999.9]
Reference
⑴ If you press “ Complete” [PF5]key, Save the changed information. if press [CANCEL]
key , Cancel them.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.11 Setting the user key
Outline
Itusesthisfunctionafterassigningsomefunctioninf1 ∼ f4keyoftheteachpendent
when the user wants to operate the robot easily.
For example
f key
Setting cancel
GUN2
Content
No.
0
It cancels the set content.
This the key for GUN2, same function to GUN key
It turns “ G2" ON/OFF in status line of manual mode
The GUN2 signal outputs manually.
501
502
503
[f?]key
[Enable]+[f?]key
MX
It operates the MX status(ON/OFF).
[f?]key
It turns “ MX" ON/OFF in the status line of manual mode
The MX signal outputs manually.
[Enable]+[f?]key
Tool selection
[f?]key
It selects Tool Number.
It describes “ T0∼T3" in status line of manual mode.
There is no function.
[Enable]+[f?]key
The recorded speed in presently selecting program goes up 5% at
Speed 5% Up
one time. It doesn't change the speed between the step recorded
block mark in case of being the step recorded block mark.
509
[f?]key
The recorded speed goes up 5% at one time.
No function.
[Enable]+[f?]key
The recorded speed in presently selecting program goes down 5%
Speed 5% Down
at one time. It doesn't change the speed between the step recorded
block mark in case of being the step recorded block mark.
510
523
524
[f?]키
The recorded speed goes down 5% at one touch.
No function.
[Enable]+[f?]키
MX2
This is the key for MX2, same function to MX(502) key.
It turns "MX2" ON/OFF in status line of manual mode..
The MX2 signal outputs manually.
[f?]key
[Enable]+[f?]키
This is the key to decide whether the servo gun
is a big open
GUN MANUALLY OPEN/CLOSE
[f?]key
or small open.
No function
This is the function that move only when you press the open/close
key as the stroke length as you set in the servo parameter.
[Enable]+[f?]key
Manually gun pressure
[f?]키
This is the key to decide manual pressure of the
No function
servo gun.
525
This is the function that the servo gun pressure only when you press
[Enable]+[f?]key
Manual welding condition
no. selection
This is the key to set up servo gun welding condition no. by manual.
526
527
[f?]key
It changes the W value of W:1S:0 in the status of manual mode.
[Enable]+[f?]key
No function
Manual welding sequence
Thisis thekey to set theservo gun welding sequence no. bymanual.
no. selection
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6. System setting
------------------------------------------------------------------------------------------------
Screen display
14:39:38 *** f-key setting *** A:0 S:4
f1=[ 0] f2=[ 0] f3=[ 0] f4=[ 0]
0 :Key setting cancel
501 :GUN2
502 :MX
503 :Tool selection
509 :Speed up by 5%
510 :Speed down by 5%
523 :MX2
524 :Servo GUN open/close
525 :Servo GUN squeeze
526 :Welding condition selection
----------------------------------------
f1=[ 0] f2=[ 0] f3=[ 0] f4=[ 0]
527 :Welding squence selection
Select and Enter number. Press [SET]
>[0 - 527]
Reference
⑴ If you press “ Complete” [PF5]key, Save the changed information. if press [CANCEL]
key , Cancel them.
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6. System setting
------------------------------------------------------------------------------------------------
6.2.12 Coordination system registration
Outline
It sets up the User coordination system or pedestal tool coordination system.
Screen display
14:39:38 *Coordinate assignment* A:0 S:4
1: User coordinate
2: Stationary tool coordinate
Use [Number]/[Up][Down] and press [SET].
>
9.2.12.1 User coordination registration
Outline
This is the registration of User coordination system that register, define the
coordination system, This means the coordination system that the user set up freely
It is different from robot coordination and tool coordination.
Procedure
To register the User coordination system need the procedure that defines coordination
system as you want in advance. This describes by teaching the program that have 3
reference points ( 3 steps ) defining the user coordination system.
Teaching method of 3 reference step to define the user coordination system
1) Step 1 : This is the step to define the zero point of user coordination.
2) Step 2 : This is the step to define the X axis of the User coordination.
3) Step 3 : This is the step to define the plain of XY of the User coordination
system , to decide the direction of Y axis and Z axis.
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6. System setting
------------------------------------------------------------------------------------------------
Z axis
X axis
User coord.
Step3
Step2
Y axis
XY PLANE of User coord.
Step1
Screen display
14:39:38 *** User coordinate *** A:0 S:4
User Coord. No. = [ 0]
Program No. for registration = [ 0]
Select and Enter number. Press [SET]
>[1 - 10]
Screen description
„ User coordination system No. : This is the number that will use as User coordination
system.
„ Program No. to register : This is the number that will register as User coordination
system.
Reference
⑴ You can register up to total 10 User coordination system.
⑵ Caution when record of the reference point to define the system.
① There aren't 3 reference points in the same straight line.
② Please doesn't make too narrow the length between 3 reference points.
③ Steps after step no. 4 doesn't make any effective on the coordination
system registration.
⑶ If you press “ Execute” [PF5]key, Save the changed information. If press [CANCEL]
key , Cancel them.
⑷ Please refer to the “ Condition Setting” [PF5] → 7. User Coordination system
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6. System setting
------------------------------------------------------------------------------------------------
6.2.12.2 Pedestal tool coordination system
Outline
It selects the position of tool end of pedestal tool in the outer of the robot.
You can input the XYZ coordination about the pedestal tool number. It is possible for
you to register 4 positions from 0 to 3.
XYZ coordination of tool end point of pedestal tool should input Base coordination of
thecontroller. UsuallyBasecoordinationofcontrolleristherobotbasecoordination.
Actual screen
14:39:38 *** Staionary tool *** A:0 S:4
Staionary tool 0
X0=[
Staionary tool 1
0.0] Y0=[ 1000.0] Z0=[
0.0]
0.0]
0.0]
0.0]
X1=[ 0.0] Y1=[ 1000.0] Z1=[
Staionary tool 2
X2=[ 0.0] Y2=[ 1000.0] Z2=[
Staionary tool 3
X3=[
0.0] Y3=[ 1000.0] Z3=[
Select and Enter number. Press [SET]
>[-5000.0 - 5000.0]
Reference
You can use the process as followings to know the position of the pedestal tool with
the robot coordination system..
First, You must calibrate accurately axis constant and tool constant. You can
calibrate the tool constant and axis constant with using “ SYSTEM” [PF2] → 6. AUTO
CONSTANT SETTING".
You should match accurately the tool end of pedestal tool end to the tool end of
the robot. At this time, the position of the tool end displayed on teach pendent
inputs in the pedestal tool number.
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6. System setting
------------------------------------------------------------------------------------------------
6.3 Machine Parameter
The following screen is displayed if you select the robot parameter.
14:39:38 ** Machine parameter ** A:0 S:4
1: Tool data
2: Axis constant
3: Softlimit
4: Arm interference angle
5: Setting encoder offset
6: Accel & Decel parameters
7: B axis dead zone
8: Accuracy
9: Speed
11: Additional weight on each axis
Use [Number]/[Up][Down] and press [SET].
>
Selection method
① You can enter into the sub-menu if press [SET]Key after moving the highlights bar
with using the arrow key to the item as you want to select.
② You can enter into the sub-menu if press [SET]Key after the item number as you want
to select input with using the number key in the input frame.
Reference
„ The robot parameter store in the Machine constant file (ROBOT.C01).
„ You can't change in case that machine constant file (ROBOT.C01) is in all protection
status.
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6. System setting
------------------------------------------------------------------------------------------------
6.3.1 Tool Data
Outline
You should register the length and angle of the tool. (Please register before teaching
work ) The robot does linear motion according to the setting length. The linear
coordination motion or fixing motion of the tool end do the linear interpolation motion
as you want if you must set the accurate value because the motion of the robot execute.
andalso, thetoolangledecidesthedirectionofthemotionincaseoftoolcoordination
motion.
For example
The tool angle is the angle (Tn) of the end of the center of the R1 axis. as describing
in the below feature. ( n : Tool no. = 0 ∼ 3 ) The tool length is the length to each
axis direction in the end of the center of the R1 axis. ( n : Tool no. = 0 ∼ 3 )
(1)The length of X axis direction Xn (2) The length of Y axis direction Yn
(3)The length of Z axis direction Zn (4) Rotation angle for X axis
Tn
Z축
Yn
R1축중심
Zn
Y축
X축
Yn
Z축
R1축중심
Tn: 툴각도(+방향)
Y축
Zn
X축
Screen display
14:39:38 *** Tool data *** A:0 S:4
Tool 0 :::::::::::::::::::::::::::::::
Weight [ 120.0] kg
Component: X
Angle [
Length[
Y
0.0] [
Z
0.0] [
0.0] [
0.0] deg
0.0] [ 0.00] mm
Inertia[ 0.00] [ 0.00] [
Center[ 0.0] [ 0.0] [
0.0]kgm2
0.0] mm
Use [Number]/[Up][Down] and press [SET].
>[0 - 1000.0]
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6. System setting
------------------------------------------------------------------------------------------------
Screen description
„ Weight : Record the weight of tool.
„ Initia : Record the initia of the tool for tool coordination.
„ Center : Record the weight centering position of the tool basis on the R1 axis center.
Inertia
(Ix, Iy, Iz)
Zf'
Zf
Iz
Ix
Xf'
Yf'
Iy
Xf
Weight: W
Yf
Center point
(Xg, Yg, Zg)
Finding method of the initia for a cylindrical tool and a square pillar below feature
is as following
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6. System setting
------------------------------------------------------------------------------------------------
Initia calculation for square pillared tool
Initia calculation for a cylinderical tool
Ix~=~{ ( Ly ^ 2 + Lz ^ 2 ) } / 12 X W
Iy~=~{ ( Lx ^ 2 + Lz ^ 2 ) } / 12 X W
Iz~=~{ ( Lx ^ 2 + Ly ^ 2 ) } / 12 X W
Ix~=~Iy~=~{ ( 3r ^ 2 + H ^ 2 ) } / 12 X W
Iz~=~{ r ^ 2 } / 2 X W
UNIT : WEIGHT[kg], LENGTH[m], INITIA[kg{m^2}]
Reference
⑴ Auto calibration
Outline
You can make the same program to the previous program by calibrating automatically
the tool constant without teaching when the teaching point in the previous program
is different from the previous teaching point resulting in changing, modification
of the tool.
You can get angle, length of new tool if executing the function after moving the
setting tool in the step that taught previously.
At this time, the position data of the step that is taught is recorded as the pose
data, accurate.
Screen display
14:39:38 ***AUTO TOOL SETg*** A:0S:4
*) By jogging, place the tool-tip at
the point of reference step, with the
same pose just as it was positioned.
If the pose is not certain, execute
'Angle Setting' after this function.
Program No. = [ 0]
Step No.
Tool No.
= [ 0]
= [ 0]
Select and Enter number. Press [SET]
>[1 - 999]
Screen description
„ Existed program no. : You should input program no. that is taught before modification
of the tool.
„ Step no. : Input the step no. that will execute tool constant auto calibration.
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6. System setting
------------------------------------------------------------------------------------------------
„ Tool no. to be set : Input the tool number that you want to set again.
⑵ Angle calibration
Outline
It executes the calibration, angle setting of the tool.
You should select “ Angle calibration” [PF2] key.
Screen display
14:39:38 ***TOOL ANGLE SETg*** A:0S:4
By jogging, let the tool be parallel to
z-axis at any point directing downward.
Then, Press PF5[Execute].
/ _____
/：//--HH：
： // HH：
：--->Torch
H：H
H：H
：
Torch
HH： Body
HH-
H：H
H H -->Body
H==H_
H H Front H
H
H
H
Side
-view -----
-view ------
Adjust angle by jogging, then push PF5
>
Operation method
„ Please press "Execute [PF5]" after the direction of X, Y, Z of tool coordination
that you want to define move the position of the robot to coincide with the direction
of X, -Z, Y.
„ At this time, the direction that the tool end is gong to move is the direction of
the tool coordination system.
Reference
Position of the robot
for tool angle calibration and setting
Z tool
Z robot
Y tool
Y robot
Direction from
outside of screen to
inner side of screen
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6. System setting
------------------------------------------------------------------------------------------------
6.3.2 Axis Constant
Outline
It register the reference position of each axis.
It decides the direction of the linear motion by the axis constant.
It sets up the standard value when shipment. You need to change the constant of R1 axis
according to the attaching direction of the tool, to change the constant of the S axis
according to the situation of the robot and its peripheral device.
Screen display
14:39:38 *** Axis constants *** A:0 S:4
S = [00400000] [00400000] [
H = [00400000] [00400000] [
V = [00400000] [00400000] [
R2= [00400000] [00400000] [
B = [00400000] [00400000] [
R1= [00400000] [00400000] [
0.0]
90.0]
0.0]
0.0]
0.0]
0.0]
Use [Up][Down] Key and press [SET].
>
Screen description
„ S : Set up to the position that the axis angle by operating the Left/Right key
is 0.
„ H : Set up to the position that the angle of H axis is 90 to the plain side.
„ V : Set up to the position that the angle of V axis is 0 to the plain side.
„ R2 : Set up to the position that R2 axis is 0.
„ B : Set up to the position that B axis is 0 when R2 axis is 0.
„ R1 : Set up to the position that R1 axis is 0 when R2 AND B axis is 0.
Reference
⑴ If you press “ END” [PF5]key, Save the changed information. If press [CANCEL]
key , Cancel them.
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6. System setting
------------------------------------------------------------------------------------------------
6.3.3 Soft Limit
Outline
It sets to restrict the working range for each axis.
It sets the maximum working range of the robot when shipment in the production shop.
Please reset according to the installation drawing when using in site.
Screen display
14:39:38 *** Software limit *** A:0 S:4
S LF=[0037FD56] [00400000] [
RG=[004802AA]
0.0]
90.0]
0.0]
0.0]
0.0]
H FW=[003C5F00] [00400000] [
BW=[0043A100]
V UP=[003E8800] [00400000] [
DW=[004562AA]
R2 DI=[0031899A] [00400000] [
RV=[004E7666]
B DI=[003ADA39] [00400000] [
RV=[004525C7]
Use [Up][Down] Key and press [SET].
>
Screen Description
„ S LF : It sets the restriction value of the right part of the S axis soft limit.
RG : It sets the restriction value of the left part of the S axis soft limit.
„ H FW : It sets the restriction value of the forward part of the H axis soft limit.
BW: It sets the restriction value of the backward part of the H axis soft limit.
„ V Up : It sets the restriction value of the upper part of the V axis soft limit.
DW : It sets the restriction value of the down part of the V axis soft limit.
„ R2 DI : It sets the restriction value of the positive direction of the R2 axis soft limit.
RV : It sets the restriction value of the reverse direction of the R2 axis soft limit.
„ B DI : It sets the restriction value of the positive direction of the B axis soft limit.
RV : It sets the restriction value of the reverse direction of the B axis soft limit.
„ R1 DI : It sets the restriction value of the positive direction of the R1 axis soft limit.
RV : It sets the restriction value of the reverse direction of the R1 axis soft limit.
„ It sets equally about the additional axis.
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6. System setting
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6.3.4 Arm Interference Angle
Outline
It sets the working limit between the ARM.
In case of the robot it restricts the angle between the H axis and V axis according
totherobotstructure. It setsthemaximumworkingrangebetweenthearmwhenshipment.
Screen display
14:39:38 ** ARM interference ** A:0 S:4
Min = [ 25.0]
Max = [ 155.0]
[ 90.0]
Use [Up][Down] Key and press [SET]
>
Screen Description
„ The minimum value : You can input the minimum value of the Arm interference
angle ( the minimum angle between H axis and V axis ).
„ The maximum value : You can input the maximum value of the Arm interference
angle(the maximum angle between H axis and V axis ).
Reference
If you press “ Complete” [PF5] key, Save the changed information. If press [CANCEL]
key , Cancel them.
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6. System setting
------------------------------------------------------------------------------------------------
6.3.5 Encoder Offset Calibration
Outline
It calibrates the original point of encoder.
It decides the original point of the encoder to the position of the reference pin of
each axis. You should calibrate the encoder to match the original point of encoder as
actual encoder values according to each axis are various.
You should set this value again only when you exchange the encoder, motor because of
setting this value when shipment.
Screen display
14:39:38 *** Encoder offset *** A:0 S:4
1: Encoder calibration(Position Rec)
2: Encoder calibration(Data input)
Use [Number]/[Up][Down] and press [SET].
>
6.3.5.1 Encoder Calibration (Position Record)
Outline
You can input the encoder calibration value by moving the axis.
The encoder value to be recorded is a HEX value.
Actual Screen
14:39:38 *** Encoder offset *** A:0 S:4
S = [00400000] [00400000] [
H = [00400000] [00400000] [
V = [00400000] [00400000] [
R2= [00400000] [00400000] [
B = [00400000] [00400000] [
R1= [00400000] [00400000] [
0.0]
90.0]
0.0]
0.0]
0.0]
0.0]
position
offset
Use [Up][Down] Key and press [SET].
>
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6. System setting
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Operating Method
„ The following message is displayed if you press [SET] after moving the cursor to the
position of the axis where you want to set.
After axis Oper, press [REC].[ESC]usable
>
„ It presses [RECORD] after moving the robot to the position of the reference pin with
operation button.
Reference
If you press “ Complete” [PF5] key, Save the changed information. If press [CANCEL]
key , Cancel them.
6.3.5.2 Encoder Calibration (Numeric input)
Outline
You can input directly the encoder calibration value.
The encoder value to be recorded is a Decimal value.
Screen display
14:39:38 *** Encoder offset *** A:0 S:4
S =[
H =[
V =[
R2=[
B =[
R1=[
0] [
0] [
0] [
0] [
0] [
0] [
0][
0][
0][
0][
0][
0][
0.0]
90.0]
0.0]
0.0]
0.0]
0.0]
Use [Up][Down] Key and press [SET]
>[-2000000000 - 2000000000]
„ It presses [SET] after inputting the offset value with numeric key after moving the
cursor to the position of the axis where you want to set.
Reference
⑴ If you press “ Complete” [PF5]key, Save the changed information. If press
[CANCEL] key, Cancel them.
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6. System setting
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6.3.6 Acceleration/Deceleration Speed Parameter
Outline
It sets acceleration/deceleration time.
It is a parameter that decides the maximum speed, acceleration/deceleration time of
each axis of the robot. When the robot is made a shipment from robot shop, it is set
to the most suitable value.
Speed
Maximum Speed
Time
Accel
Velocity
Section
Decel
Time
Time
Screen display
14:39:38 ** Accel. Parameter ** A:0 S:4
Axis Max speed Accel time Decel rate
S = [ 117]
H = [ 120]
V = [ 120]
R2= [ 150]
B = [ 150]
[ 80]
[ 40]
[ 60]
[ 25]
[ 25]
[ 1]
[ 1]
[ 1]
[ 1]
[ 1]
Select and Enter number. Press [SET]
>[1 - 9999]
Contents of the screen
„ Maximum speed : It sets the maximum speed of each axis.
„ Acceleration time : It sets the time of acceleration section.
„ Deceleration ratio : It decides the deceleration time as the ratio on the
acceleration/deceleration time.
Deceleration~time = Acceleration~time X {100 / (100 – Deceleration time)}
Reference
⑴ It displays the auxiliary axis in case that it exists.
⑵ Ordinarily, it can't be changed. but in case that you have to change it unavoidably,
please inquire to the after service person of our company or operator.
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6. System setting
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6.3.7 B axis Dead Zone
It sets the B axis Dead Zone.
The turning center of R1 axis and R2 axis is approximately parallel in the vicinity
of zero degree of B axis. In this case, the robot is put in sudden movement with a little
operation.
The vicinity of zero degree of B axis is called to Dead Zone. The controller adjusts
automatically the movement of robot so that the movement of the wrist axis doesn't be
more by free.
Screen display
14:39:38 ** B axis dead zone ** A:0 S:4
Setting value = [10] deg
Interpolation = <Position, Error-stop >
Enter number and press [SET]
>[0 - 90]
Contents of the screen
„ Setting value : It inputs the judgment angle of B axis Dead Zone.
„ Interpolation Execution Method
① Position Interpolation : It maintains the locus of only tool end without pose
interpolation.
② Error Stop : When the robot is in the B axis Dead Zone, it makes the robot
stopped by treating as error.
Reference
⑴ If[PF5]keywhichmeans"Complete"ispressed, theinformationwhichis
is saved. Conversely, if [ESC] key is pressed, it is cancelled.
changed
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6. System setting
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6.3.8 Accuracy
Outline
It sets the extent of coincidence with a destination position at the playback.
The range of accuracy is registered from zero to three. There are bit specifying type
and distance specifying type in the specification of accuracy value.
IncasethatthesteptomoveandnextsteparerecordedasinterpolationON,theaccuracy
attherecordedpointisautomaticallyspecifiedbydistance.Itissetwiththestandard
value at the shipment from robot shop. Please set it again according to the
circumstances.
< Accuracy Level >
Classification Bit specification
Level
Accuracy 0
Distance specification
( X = 0 ∼ 9 ) (Standard value at the shipment)
128
256
X + 128
X + 128
X + 128
X + 128
5 mm
10 mm
50 mm
100 mm
Accuracy 1
Accuracy 2
Accuracy 3
640
3200
※ But in case that X equals to 10, accuracy check isn't executed.
Screen display
14:39:38
Level
0 =
*** Accuracy ***
A:0 S:4
Distance
[ 5.0] mm
Bit
[ 2]
[ 2]
[ 2]
[ 2]
1 =
2 =
3 =
[ 10.0] mm
[ 50.0] mm
[ 100.0] mm
Select and Enter number. Press [SET]
>[0 - 10]
Reference
⑴ In case of the gun step, without having concern with accuracy, it is 196bit in the
interpolation OFF and in the interpolation ON, it restricts to that the distance
isn't bigger than 1.0mm.
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6. System setting
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⑵ Discontinuous step / Continuous step
① Discontinuous step : It means a step to move off on the aimed step.
The move-off point is a point which the current value (feedback encoder) reaches
to the accuracy level (Bit, Distance) designated in the step.
② Continuous step : It means a step which doesn't have the move-off point.
There are steps that the cornering is possible and impossible step in the
continuous step.
⑶ Step that the cornering is possible
① The step that the cornering is possible shifts after planning the route between
two steps. The step that the corneringis possibleis the sameas following. There
are P(Interpolation OFF), L(Straight Line Interpolation) and C(Circular Arc
Interpolation) in the interpolation type which supports in the Hi4 controller.
The continuous system which supports the cornering in these types is L-L, L-J,
J-L, C-J, J-C and J-J.
※ Only, the step which the coordinate system changes( for example, such case as
it shifts for the direction of the positioner motive interpolation step from the
robot tool interpolation ) is excluded in the cornering step.
Current step interpolation
method
Next step interpolation method
Cornering
MOVE L
MOVE P
Ο
MOVE C
MOVE P
MOVE P
MOVE P
MOVE P
MOVE P
MOVE L
MOVE C
Ο
Ο
Ο
Ο
Pedestal tool straight line Pedestal tool straight line
Ο
interpolation
interpolation
SMOV L
SMOV L
SMOV C
MOVE P
MOVE P
SMOV L
MOVE P
MOVE P
SMOV L
SMOV C
Ο
Ο
Ο
Ο
Ο
×
The case of continuous step except those
② The locus of L-L cornering
The L-L cornering is a method that plans the locus with a circular arc
between two locuci of continuous straight line. It corners describing the locus
of circular arc that circumscribes on the circle of accuracy range from two
straight lines and a point which is applicable to step1 in the following figure.
When replaying in the automatic mode, the locus should be checked in
advance due to shifting without reaching to designate step.
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6. System setting
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Step1
Step2
③ The locus of J-L and J-C cornering
If the J-L(or J-C) cornering enters in the accuracy range from the J step
(Previous step ), it plans to shift to the next step.
Continuity
Acceleration distance
Discontinuous route
Continuous route
④ The locus of L-J and C-J cornering
If the L-J (or C-J) cornering enters in the accuracy range from the L step
(Previous step ), it plans to shift to the next step.
Discontinuous
Continuous route
Continuit
⑷ If [PF5] key which means "Complete" is pressed, the information which is changed
is saved. Conversely, if [ESC] key is pressed, it is cancelled.
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6. System setting
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6.3.9 Speed
Outline
It decides the record speed in making a program.
It is a value that is recorded at the same time when you record the step. If it is
necessary, please set it again according to the use of robot.
There are from 1 level to 4 level in the high speed and from 1 level to 4 level in the
low speed in the playback speed to be recorded. It is recorded to already decided speed
in the following table according to level.
Classification Interpolation ON
(Interpolation
Interpolation OFF
(Joint action)
Level
Low speed 1
10 mm/sec
50 mm/sec
12.50 %
25.00 %
37.50 %
50.00 %
62.50 %
75.00 %
87.50 %
100.00 %
Low speed 2
Low speed 3
Low speed 4
High speed 1
High speed 2
High speed 3
High speed 4
100 mm/sec
200 mm/sec
300 mm/sec
500 mm/sec
800 mm/sec
1200 mm/sec
Screen display
14:39:38
Jog speed INTPOLTN ON
*** Speeds ***
A:0 S:4
INTPOLTN OFF
Low 1 = [ 10] mm/sec [ 12.50] [%]
2 = [ 50] mm/sec [ 25.00] [%]
3 = [ 100] mm/sec [ 37.50] [%]
4 = [ 200] mm/sec [ 50.00] [%]
High 1 = [ 300] mm/sec [ 62.50] [%]
2 = [ 500] mm/sec [ 75.00] [%]
3 = [ 800] mm/sec [ 87.50] [%]
4 = [1200] mm/sec [100.00] [%]
Select and Enter number. Press [SET]
>[1 - 2300]
Reference
⑴ If the [PF5] key which means "Complete" is pressed, the information which is changed
is saved. Conversely, if the [ESC] key is pressed, it is cancelled.
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6. System setting
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6.3.11 Additional load per each axis
Outline
It registers the information of transformer or the supporting structure for wiring which
equipped on the basic axis of robot and so forth.
Screen display
14:39:38* Additional mass set * A:0 S:4
1'st Axis =============================
Weight[
Component: X
Inertia[ 0.00] [ 0.00] [ 0.00]Kgm2
Center[ 0.0] [ 0.0] [ 0.0] mm
0.0] Kg
Y
Z
2'nd Axis =============================
Weight[ 0.0] Kg
Component: X
Inertia[ 0.00] [ 0.00] [ 0.00]Kgm2
Center[ 0.0] [ 0.0] [ 0.0] mm
Y
Z
----------------------------------------
3'rd Axis =============================
Weight[
Component: X
Inertia[ 0.00] [ 0.00] [ 0.00]Kgm2
Center[ 0.0] [ 0.0] [ 0.0] mm
0.0] Kg
Y
Z
Select and Enter number. Press [SET]
>[0 - 1000.0]
Contents of the screen
It inputs the load information of each axis by referring to the tool data of 6.3.1.
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6. System setting
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The coordinate system's origin on the each axis refers to the following figure.
The X, Y and Z direction of each axis are set to the same direction with the coordinate
system of robot.
Datum position of 3 axis
Datum position of 2 axis
Datum position of 1 axis
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6. System setting
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6.4 Application parameter
If you select the application parameter, the following screen is displayed.
14:39:38 *Application parameter* A:0 S:4
1: Spot & Stud
2: Arc
3: Palletizing
6: Conveyor
7: Volt. output proportional to Speed
Use [Number]/[Up][Down] and press [SET].
>
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6. System setting
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6.4.1 Spot & Stud
Outline
It is set to perform the spot & stud welding work.
Screen display
14:39:38 *** Spot&Stud Weld *** A:0 S:4
1: Air-gun welding data
2: Servo gun parameter
3: Servo-gun welding data(Cnd,Seq)
4: Air-gun equalizing parameter
Use [Number]/[Up][Down] and press [SET].
>
Reference
„ The welding parameter is taken in custody in the control constant file (ROBOT.C00)
and the servo gun parameter and the equalizing parameter are taken in custody in
the machine constant file (ROBOT.C01).
„ The spot welding data is taken in custody in the spot welding condition file (ROBOT.
WSD).
„ Incasethat thecontrolconstant file, the machineconstantfile andthe spot welding
condition file are protected completely, it can't be changed.
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6. System setting
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6.4.1.1 Welding parameter
Outline
It makes the welding work possible efficiently to save the information that is
necessary when it welds is a spot welding or stud welding.
Screen display
14:39:38 *Air-gun welding data* A:0 S:4
[Welding parameter] = [ GUN1] [ GUN2]
GUN waiting time(sec) = [ 0.00] [ 0.00]
Robot WAITg time(sec) = [ 0.00] [ 0.00]
Brake WAITg time(sec) = [ 0.00] [ 0.00]
Sticking detect (sec) = [ 0.00] [ 0.00]
Rewelding count
Reweld wait time(sec) = [ 0.00] [ 0.00]
= [
0] [
0]
Slip detect range(mm) = [
Slip detect count = [
0] [
0] [
0]
0]
Pulse width(0=level) = [ 0.00] [ 0.00]
Earlier gun time(sec) = [ 0.00] [ 0.00]
----------------------------------------
[Welding parameter]
Weld Cond Synchro = <Disable,Enable>
Weld Cond out type = <Discrete,Binary>
Earlier Cond time = [ 0.00]
WI common use
= <Disable,Enable>
Select and Enter number. Press [SET]
>[0.00 - 1.00]
Contents of the screen
„ Gun wait time (sec.) : It is a time when waits till the robot stops completely
before outputting the gun signal.
„ Robot wait time (sec.) : It is a time when waits till the gun is opened completely
after inputting the gun signal output and welding end signal. That is to say, it
is a time when waits till the time the robot's movement starts after pressurizing
the gun.
„ Brake wait time (sec) : It is a wait time to prevent the welding inferiority by
calibrating the ON/OFF motion completion time of motor brake. It holds the
motor brake because of the repulsion in the stud welding. It is a time when waits
till the motor brake operates completely.
„ Weld stick detection (sec.) : It is a option.
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6. System setting
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„ Re-welding count : In case that the welding completion signal doesn't be inputted
within the time set in the re-welding wait time after outputting the gun signal,
it decides how many times the gun signal is outputted.
„ Re-welding wait time (sec.) : It sets a wait time till the re-welding.
„ Swerving error detection range (mm) : It means the range to display the error after
detecting the slip of robot position by pressurization in doing the stud welding.
„ Swerving error detection count : After the exceeded frequency of swerving error
detection range counts in doing the stud welding, if it exceeds the set frequency,
it makes an error occurred .
„ Pulse width (0=level) : It decides whether to output the gun signal to the level or
the pulse. In case of the level, it sets 0, and then the gun signal becomes OFF after
inputting the welding completion signal (W1). And in case of the pulse, it sets the
value that is bigger than zero, and then the gun signal automatically becomes OFF
after outputting during the time when is set.
„ Gun signal first output time (sec.) : Usually, the gun signal is outputted. after
a robot moves within the set accuracy range. but it sets the first output time in
case of outputting gun signal before the robot arrives in the set range.
„ Welding condition synchronous output : Usually, the welding condition signal and the
gun signal work differently. but, in case of outputting the welding condition signal
synchronizing with gun signal, it is set to < Enable>.
① Disable : It doesn't use the welding condition synchronous output.
② Enable : It uses the welding condition synchronous output.
„ Welding condition output type : It decides whether to use the discrete type or the
binary type for the welding condition signal.
① Discrete number : It can output the number of welding condition from 0 to
7(8EA).
② Binary code : It can output the number of welding condition from 0 to
255(256EA).
„ Welding condition first output time : When wanting to output the welding condition
signal earlier than the gun signal, it is inputted.
„ WIcommonuse:Usually,eachweldingcompletionsignalissettotheGun1,Gun2signal,
but in case that the air gun more than two uses, it is a data that decides whether
to use the welding completion signal in commonness. The input signal assigned to
WI(welding completion) in “ System"[PF2] → 2.Control parameter → 1.Attribution
of input/output signal → 7.Input signal assignment is
the WI signal for the Gun1 and Gun2.
① Disable : It doesn't use the WI(welding completion) signal in commonness.
② Enable : It uses the WI signal in commonness.
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6. System setting
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6.4.1.2 Servo gun parameter
Outline
It is set to do the spot welding by using the servo gun.
The additional axis should be registered to the servo gun and in case of making out
the machine constant file, it is set to the initial value. If it is necessary, please
change it according to the gun or the welding method so forth.
Please refer to the servo gun function manual for more precise contents.
Screen display
14:39:38* Servo Gun Parameter * A:0 S:4
1: First(1) servo gun parameter
2: Second(2) servo gun parameter
Use [Number]/[Up][Down] and press [SET].
>
„ In case of using the multi-gun, it should be set on two items of the first and second
servo gun parameter.
If advanced to the first servo gun parameter, the following screen is displayed.
▶ In case of selecting the next screen
14:39:38** Servo Gun 1 Param.**A:0 S:4
Large stroke (mm)
Small stroke (mm)
= [
= [
90]
20]
Move tip clearance (mm)
Fix tip clearance (mm)
Max tip consumption (mm)
= [ 10.0]
= [ 2.0]
= [ 10.0]
Tip change consumption (mm) = [ 6.0]
Gun arm bent offset (mm) = [ 0.00]
Gun arm bent per 100Kgf (mm)= [ 0.31]
Fix tip bent rate (%)
Pressure match rate (%)
= [ 100]
= [ 5]
Pressure fault check time(s)= [ 3.0]
----------------------------------------
Max move tip consumption(mm)= [ 0.0]
Max fix tip consumption (mm)= [ 0.0]
Move tip change consumption = [ 0.0]
Fix tip change consumption = [ 0.0]
Enter number and press [SET]
>
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6. System setting
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14:39:38** Servo Gun 1 Param. ** A:0 S:4
**Pressure-Current Tab.1 (Gravitational)
Pressure(Kgf) Command(A) Feedback(A)
1. [
50]
[
[
[
[
[
2]
4]
[
[
[
[
[
2]
4]
2. [ 150]
3. [ 225]
4. [ 300]
5. [ 350]
6]
8]
6]
8]
10]
10]
----------------------------------------
**Pressure-Current Tab.1 (Gravitational)
Pressure(Kgf) Command(A) Feedback(A)
1. [
50]
[
[
[
[
[
2]
4]
[
[
[
[
[
2]
4]
2. [ 150]
3. [ 225]
4. [ 300]
5. [ 350]
6]
8]
6]
8]
10]
10]
Enter number and press [SET]
>[50 - 999]
Contents of the screen
„ Large open stroke (mm) : It designates the distance that in case of the manual opening
and closing (Enable+f), the movable electrode and the fixed electrode are opened
to the maximum.
„ Small open stroke (mm) : It designates the distance that in case of the manual opening
and closing (Enable+f), the movable electrode and the fixed electrode are closed
to maximum. Also, it designates the distance that in case of the manual gun
pressurization motions (Enable+f), the movable electrode and the fixed electrode
are opened to the maximum.
„ Movable electrode clearance (mm), Fixed electrode Clearance (mm) : In case of
replaying the spot welding function, it designates the pressurization starting
position.
„ Maximum electrode abrasion quantity (mm) : In case of using the Gun search function,
it decides the range of gun search. Two times value of the maximum electrode abrasion
quantity becomes the search range. Also, in case that the total abrasion quantity
detected with the gun search exceeds the maximum electrode abrasion quantity, it
displays the error message such as "E0154" Total electrode exceeded the maximum
abrasion quantity" and stops the playback. In case of being set to 0mm, it doesn't
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6. System setting
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check the abnormality of abrasion quantity.
„ Electrode exchange abrasion quantity (mm) : In case that the electrode's abrasion
quantity detected with the gun search exceeds the electrode exchange abrasion
quantity, it displays the warning message such as "W0105 Total electrode exceeded
exchange maximum abrasion quantity" and informs the exchange of electrode by
outputting the electrode abrasion warning signal. In case of being set to 0mm, it
doesn't check the abnormality of abrasion quantity.
„ Gun arm bending offset quantity (mm) : To originate the pressurization force, the
fixed electrode bending of a certain extent occurs. Like this, the bending of gun
togeneratethepressurizationforceiscalledtothegunarmbendingoffsetquantity.
Incaseofreplayingthespotweldingfunction,itpressurizesthepositionofmovable
and fixed electrode after compensating as the quantity of offset.
„ Gun arm bending quantity/100Kgf (mm) : It sets the bending quantity of gun arm by
the pressurization force to the bending quantity per 100kgf. In case of replaying
the spot welding function, it pressurizes the position of fixed electrode after
calculating and compensating the gun arm bending quantity through this set point
and the instruction pressurization force. The bending quantity of movable electrode
doesn't be compensated.
„ Fixed electrode/Total bending (%) : In case that both fixed electrode and movable
electrode bend when pressurizing, it sets the ratio of the bending quantity of fixed
electrode per total bending.
„ Pressurization force accuracy (%) : When checking the pressurization accord, if the
practicalpressurizationforcereachesintherangeofpressurizationforceaccuracy
comparing with the instruction pressurization force, it is recognized to the
pressurizationaccord. Incaseofbeing setto0, itdoesn'tcheckthepressurization
accord.
„ Pressurizationforceerrordetectiondelaytime(sec):Itsetsthetimewhenrequires
from the start of pressurization motions to the pressurization accord. In case of
being in pressurization accord within this time, it immediately outputs the signal
of sending an electric current at the moment of pressurization accord. If it is in
pressurization accord within this time, it stops after outputting the error message
such as "E1314 It exceeded the checking time of pressurization force accord". and
if it is set to 0.0 second, it outputs the signal that is sending an electric current
without checking the pressurization force accord.
„ Maximum movable electrode abrasion quantity (mm) : In case that the abrasion quantity
of movable electrode detected with the gun search exceeds this set point, it stops
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6. System setting
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after outputting the error message such as "E0156 The fixed electrode exceeded the
maximum abrasion quantity". and if it is set to 0.0mm, it doesn't perform the error
detection.
„ Maximum fixed electrode abrasion (mm) : In case that the abrasion quantity of fixed
electrode detected with the gun search exceeds this value, it stops after outputting
the error message such as "E0156 The fixed electrode exceeded the maximum abrasion
quantity". and if it is set to 0.0mm, it doesn't perform the error detection.
„ Movable electrode exchange abrasion quantity (mm) : In case that the quantity of
movable electrode detected with gun search exceeds this value, it informs the
exchange of electrode by outputting the warning signal after outputting the error
message such as "W106 Movable electrode exceeded the exchange abrasion quantity.
But in case of being set to 0.0mm, it doesn't perform the error detection.
„ Fixed electrode exchange abrasion quantity (mm) : In case that the quantity of fixed
electrode detected with the gun search exceeds this value, it informs the exchange
of electrode by outputting the warning signal after outputting the error message
such as "W107 The fixed electrode exceeded the exchange abrasion quantity. But in
case of being set to 0.0mm, it doesn't perform the error detection.
„ Pressurization speed (mm/sec) : When it performs the pressurization motions in case
of replaying the manual gun pressurization (Enable+f), the pressurization of gun
search and the spot welding function , it designates the movable speed of fixed
electrode and movable electrode.
„ Instruction value offset (mm) : To generate the pressurization force in case of
replaying the spot welding function, it makes the pressurization force generated
by outputting the instruction of movable electrode so much as the instruction value
offset distance for the direction of pressurization from the record position.
„ Gun type=<Robot gun, Pedestal gun> : In case of using the pedestal gun, it sets the
coordinate system of pedestal gun to that of user. But in case that it isn't the
pedestal gun, please set to the robot gun, and in case of using the pedestal gun,
please set the number of user's coordinate system in the coordinate number so that
the fixed electrode direction can be the Z direction of user's coordinate system.
Incasethatthenumberofcoordinatesissetto"0", itbecomesthecoordinatesystem
of robot.
„ Pressurization-Electric current table1(Gravity direction), Electric current table2
(Half-gravity direction) : It is used to adjust it in case that either the set
pressurization force or the practical pressurization force exceeds the permitted
limit in the measured value of pressurization force gauge. This electric current
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6. System setting
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pressurizationtablecansetthecurrentvalueonthepressurizationof5unitchoosed
freely.
Reference
⑴ Certainly, set a data before using the servo gun function.
⑵ Incasethatthesetpointisimproper,evenifthe"PF5"[Completion]keyispushed,
it isn't changed. Therefore, please set to proper value again as follows.
- The large open stroke should be set to being within the range of soft
limit.
- The small open stroke should be set to being smaller value than that of
the large open stroke.
- The movable electrode clearance should be set to being smaller value than
that of the small open stroke.
⑶ In the multi-gun, it is possible in motor-off to register the pedestal gun. but
in case of being set together with the robot gun, it can't do motor-on. therefore
you should select either all of the robot guns or all of the pedestal guns.
⑷ The number of pedestal gun coordinate system is effective only in case of that the
gun type is a pedestal gun.
⑸ The pressurization force-electric current table should be set by measuring with
the pressurization force gauge because it can be different according as whether
the movable electrode is a gravity direction or half-gravity direction.
⑹ Please refer to the specification manual on servo gun function for the precise
contents of parameter.
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6. System setting
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6.4.1.3 Spot welding data (condition, sequence)
Outline
It displays and changes the contents of a welding sequence data in the application
of servo gun.
The servo gun welding condition and sequence recorded in the spot welding
file(ROBOT.WSD) are datum which use in case that the spot welding function is
operated.
Please refer to the user manual on servo gun function for the precise contents.
Screen display
14:39:38*Servo-gun Welding Data* A:0 S:4
1: Sequence common data
2: Welding condition
3: Welding sequence
4: Welding data copy
Use [Number]/[Up][Down] and press [SET].
>
Reference
„ The spot welding data is taken in custody in the spot welding condition file
(ROBOT.WSD).
„ It can be changed in case that the spot welding condition file (ROBOT.WSD) is
completely taken in custody.
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6. System setting
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6.4.1.3.1 Common data
Outline
Itisadatawhichisappliedincommonnesswithouthavingconcernwiththewelding
condition or sequence number.
Screen display
14:39:38 *** Common Data *** A:0 S:4
Error processing =< Interlock,Stop >
GUN open to error stop =< DSBL,ENBL >
WI common use
=< DSBL,ENBL >
Press [SHIFT]+[<-][->] Key.
>
Contents of the screen
„ Treatment inthe error : It is a treatment whenthewelding completionsignal isn't
inputted.
① Interlock wait : It wait until the welding completion signal is inputted.
② Stop : If the welding completion signal isn't inputted, it makes the robot
stopped by treating as an error.
„ Gun open in the error/stop : It opens the servo gun and stops when the error or
stop occurs under the welding.
„ WI common use : It is a data that decides whether the welding completion signal
uses in commonness or not in case of using the servo gun more than two.
① Disable : It doesn't use the welding completion signal in commonness.
② Enable : It use the welding completion signal in commonness.
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6. System setting
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6.4.1.3.2 Welding condition
Outline
It is a data that decides the welding condition and the servo gun pressurization
force so forth.
Screen display
14:39:38 *** Weld Condition *** A:0 S:4
Number
=[ 1]
=[ 1]
Output data
Output type
Squeeze force =[ 50](Kgf)
=< Discrete,Binary >
Select and Enter number. Press [SET]
>
Contents of the screen
„ Number :It is the number that designatesin the spot weldingfunctionandthere
are 64 unit.
„ Output data : It inputs the welding condition signal to output to the welder
controller.
„ Output type : It is a data that designates the output type of welding condition
signal. This item is fixed to binary.
„ Pressurization force (Kgf) : It inputs the data of servo gun pressurization.
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6. System setting
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6.4.1.3.3 Welding sequence
Outline
It is a data that decides the welding sequence of controller in the playback of
the spot welding.
Screen display
14:39:38 *** Weld Sequence *** A:0 S:4
Number
=[ 1]
Condition signal =< DSBL,ENBL >
Squeeze signal =< DSBL,ENBL >
Welding command signal =< DSBL,ENBL >
WI wait
Welding wait time
Welding end wait time
=< DSBL,ENBL >
=[0.00]
=[0.00]
Select and Enter number. Press [SET]
>[1 - 64]
Contents of the screen
„ Number : It is the numberthatdesignatesin the spot weldingfunctionandthere
are 64 unit.
„ Condition signal : It designates whether to output the welding condition signal
or not. Currently, this item is fixed to <Enable>.
„ Pressurization signal : It designates whether to output the pressurization signal
or not. Currently, this item is fixed to <Disable>.
„ Weld signal : It designates whether to output the weld signal or not. Currently,
this item is fixed to <Enable>.
„ WI wait : It designates whether to do the welding completion wait or not after
outputting the weld signal. Currently, this item is fixed to <Enable>.
„ Weld wait time : It designates the wait time of welding completion signal after
outputting the weld signal. The 0.0 is the infinite wait.
„ Welding completion wait time : It designates the wait time of until the gun opens
after completing the welding. But in case that the gun open time is short, the
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6. System setting
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welding completion wait is also come to an end.
6.4.1.3.4 Data copy
Outline
It can copy the data of welding condition number and sequence number to that of
other number.
Screen display
14:39:38 *** Data Copy ***
Selection =< Condition,Sequence >
A:0 S:4
Source number =[ 1]
Destination number =[ 1]
Press [SHIFT]+[<-][->] Key.
>
Contents of the screen
„ Selection:Itselectsthatthedatatocopyiswhethertheweldingconditionnumber
or the welding sequence number.
„ Data number to copy : It inputs the data number to copy. ( 1 - 64 )
„ Data number to be copied : It inputs the data number to be copied.. ( 1 - 64 )
Reference
⑴ The spot welding data can be operated only in the servo gun
circumstances.
⑵ It can change the data in process of the playback.
⑶ The election of welding condition signal in the servo gun is impossible.
⑷ The deposition in the servo gun is possible only through the detection
by the outside signal.
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6. System setting
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6.4.1.4 Equalizing parameter
Outline
It is set to do the spot welding by using the equalizerless air gun.
TheG1orG2shouldbe<Eq'less>in"SYSTEM"[PF2] → 5.Initialization → 4. GUNmode
setting. If the initial value is set in making out the machine constant file, if
it is necessary, please change it according to the gun or the welding method.
Please refer to the specification manual on the robot equalizer function for the
precise contents.
Screen display
14:39:38* Equalizing Parameter *A:0 S:4
GUN1
GUN2
Fixed-tip clearance =[ 2.0] [ 2.0]mm
Maximum consumption =[20.0] [20.0]mm
Change consumption =[10.0] [10.0]mm
Search length of tip=[ 100] [ 100]mm
Robot equalize speed=[ 50] [ 50]mm/s
Guntype
=<Robot,Ext><Robot,Ext>
Coordinate number =[ 0] [ 0]
( for Ext.(stationary) gun )
Enter number and press [SET]
>[0.0 - 20.0]
Contents of the screen
„ Fixed electrode clearance : It designates the pressurization starting position in
the step that executes the order of gun pressurization.
„ Maximum fixed electrode abrasion quantity : If the abration quantity of fixed
electrode detected with the gun search exceedsthis value, it stops after outputting
the error message such as "E0156 The fixed electrode exceeded the maximum abration
quantity".
„ Fixed electrode exchange abration quantity : If the abration quantity of fixed
electrode detected with the gun search exceeds this value, it informs the exchange
ofelectrode after outputting the warning messagesuch as "W0107 The fixed electrode
exceeded the exchange abration quantity" and the warning signal of electrode
abrasion. At this time, it doesn't stop replaying.
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6. System setting
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„ Fixed electrode abration search distance : It is a parameter that decides the maximum
range of the robot to move so as to measure the abrasion quantity of fixed electrode.
The basis coordinate system of this gun search motions is a tool coordinate system
and it inputs the aimed position by measuring the quantity to move for the direction
of Z axis. In case of replaying after exceeding the fixed electrode abrasion search
distance, it stops after outputting the error message such as "E1320 The sensor
doesn't work in process of the gun search" and returning to the previous position
of the gun search.
„ Robot equalizing speed : It is a speed that is necessary to move the fixed electrode
equalizing motion to robot. The speed that the fixed electrode accesses to the test
piece will be different according to this value.
„ Gun type : It sets the coordinate system of pedestal gun to that of user in case
of using the pedestal gun. Please set to the robot gun in case of not pedestal gun.
Please set the number of user coordinate system in that of pedestal gun coordinate
system in case of using the pedestal gun.
In case that the number of coordinate system is set to "0", it becomes the coordinate
system of robot.
Reference
⑴ Please set the data without fail before using the robot equalizer function.
⑵ The number of pedestal gun coordinate system is enable only in case that the gun
type is a pedestal gun.
⑶ Please refer to the specification manual on the robot equalizer function for the
precise contents of parameter.
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6. System setting
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6.4.2 Arc
Outline
It sets a function to do the arc welding.
Please refer to the "Operation manual on the HR controller" for the precise contents.
Screen display
14:39:38 *** Arc Weld ***
1: Condition Parameter
A:0 S:4
Use [Number]/[Up][Down] and press [SET].
>
Reference
„ The arc condition parameter is taken in custody in the control constant file
(ROBOT.C00).
„ It can be changed in case that the control constant file (ROBOT.C00) is completely
taken in custody.
6.4.2.1 Condition parameter
Outline
It sets a variety of condition for the welding work in the arc welding.
Screen display
14:39:38
** Arc Weld **
A:0 S:4
1: Fast step Go/Back = Max.speed*[ 1]%
2: Inching Spd: Slow=[ 1]%,Fast=[ 1]%
3: Assign Welding Current Port =[ 0]
4: Assign Welding Voltage Port =[ 0]
5: Assign [ARC On] state output =[ 0]
6: Welder error input
7: Welding wire state
8: Shield Gas state
=<DSBL,ENBL>
=<DSBL,ENBL>
=<DSBL,ENBL>
9: Feeder Ty=(Motor & Dir.)=<DSBL,ENBL>
10: Gas Postflow at weld stop =[ 0.0]sec
Enter number and press [SET]
>[1 - 25]
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6. System setting
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Contents of the screen
1: High step forward/backward setting
It sets the speed in case of using the high speed movable function. That is to say,
it is the movable speed when the [SHIFT(high speed)] + [Step forward] and [Step
backward] are pressed.( Refer to the high speed movable function )
2: Inching speed setting
It is the wire feeding speed for the wire inching and the retract when using the
[Delivery],[Retreat] key. The wire speed is set at the rate of maximum speed. Also,
it sets the feeding speed of low speed or high speed(it works in pressing for more
than three seconds).( Refer to the Inching and Retract function )
3:Weldingelectriccurrentinstructionoutputportassignment ∼ 5:[ARCOn]keystate
output signal assignment
It assigns the port number of every kind signal used in the arc welding. That is to
say, it decides the number of DI and AO.
6: Welder error state input ∼ 8: Gas pressure state input
It decides whether to use a variety of the dedicated input signal used in the arc
welding or not.
9: [Inch.] output in case of [Retract]
It decides whether to output the delivery signal or not when pressing the [Retreat]
key for the welding wire retract.
10: Gas back-emission time in stopping in process of welding
Itinputsthetimewhenoutputsthegasintheemergencystopinprocessofthewelding
or when the robot is stopped by the outside error.
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6. System setting
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6.4.3 Palletizing
Outline
It sets the information that is necessary to use the palletizing function.
The GUN 2 should be set to the palleting in "SYSTEM"[PF2] → 5.Initialization → 4.GUN
mode setting.
Please refer to the "Palletizing function manual" for precise contents.
Screen display
14:39:38 *** Palletizing *** A:0 S:4
1: Palletize pattern register
2: Palette slope calculation
Use [Number]/[Up][Down] and press[SET].
>
Reference
„ The palletizing pattern register is taken in custody in the palletizing pattern file
(ROBOT.PAL).
„ Itcan'tbechangedincasethatthepalletizingpatternfile(ROBOT.PAL)iscompletely
taken in custody.
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6. System setting
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6.4.3.1 Palletizing pattern register
Outline
It saves the information that is necessary to use the palletizing function.
It inputs the basic element to execute the palletizing function. To use the
palletizing function, it has to be inputted.
It can save the "pattern register" of 16 unit at maximum. If it is necessary, please
change it according to the palletizing loading pattern.
Screen display
14:39:38** Palletize pattern ** A:0 S:4
1: Pattern register 1
2: Pattern register 2
3: Pattern register 3
4: Pattern register 4
5: Pattern register 5
6: Pattern register 6
7: Pattern register 7
8: Pattern register 8
9: Pattern register 9
10: Pattern register 10
11: Pattern register 11
---------------------------------------
-
12: Pattern register 12
13: Pattern register 13
14: Pattern register 14
15: Pattern register 15
16: Pattern register 16
Use [Number]/[Up][Down] and press [SET].
>
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6. System setting
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„ 1: If the pattern register 1 is selected, the next screen is displayed.
14:39:38 ** Pattern Register ** A:0 S:4
#Palletize pattern Reg.No 01
Not use/use
Palletize/Depalletize
=[
=[
0]
0]
1]
1]
1]
Pattern number(CNT/layter)=[
Subpattern number
Total layter number
Even layer rotation
Stacking direction
=[
=[
=<0,1,2>
=<0,1,2,3>
Tool
=<Fork,Vaccum> User coord =[ 0]
Basic Workpiece=[ 0.1][ 0.1][ 0.1]
Pallet slope =[ 0.00][ 0.00][ 0.00]
----------------------------------------
#Palletize pattern Reg.No 01
Slip compensation by work weight
St.layer=[ 1]Shift(mm) =[ 0.0]K=[ 1]
Tier sheet insertion function
Tier sheet insertion =every [ 0]tier
The last tier sheet =<NO,YES>
Thickness of tier sheet =[ 0.1]mm
Press [SHIFT]+[<-][->] Key
>[0 - 1]
Contents of the screen
„ Disuse/Use : It decides whether to use the present pattern register or not.
„ Palletizing/Depalletizing : It decides whether to execute the palletizing or
depalletizing.
„ Pattern number(the number/first stage) : The pattern number is the total work object
of one stage. There are patterns of 25 unit on the basis of the number of total
work object which can stack on one stage. It sets the wishful pattern number.
„ Sub-pattern number : It divides the pattern of other shape classified by the pattern
number. There are sub-pattrens of 6 unit which the loading shape and size are
different each other. It sets the sub-pattern number of wishful shape.
„ Total stage number : It sets the total stage number to stack.
„ Evennumberstageloadingrotativeangle:Itistoloadallofthepatternbyrotating
properly in the even number stage to prevent the work object from falling down.
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6. System setting
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It is possible for even number stage to rotate 0 , 90 and 180 on the basis
of the basic pattern.
It means 0 = 0 , 1 = 90 and 2 = 180 . Generally, The even number stage comparing
with the odd number is loaded rotating 180 .
„ Loading direction : It decides the loading direction to decide the working order in
loading the work object.
„ Handling tool : There are two cases which set this item.
㉠ The case that the position where picks up the work object is changed according
to the kind of handling tool.
㉡ The case that the position where picks up the work object is changed according
to the size variation of work object.
The robot should correspond to the position variation that picks up the work
object.
„ User coordinate system : The user coordinate system can use only in case that the
"handling tool" is set to the "vacuum". The step that this user coordinate system
is applied is applied only in the step which the step condition is "PK".(The PK
means what picks up the work object(picking))
The register of user coordinate system
Step 1 : It defines the origin of user coordinate system.
Step 2 : It defines the step that defines the X axis of user coordinate system.
Step 3 : It is the step that defines the XY plane of user coordinate system
and it decides the direction of Y axis and Z axis.
„ Basis work object size : It sets the size of basis work object.
„ Palette dip angle : It compensates as the quantity as inclined considering the
Palette dip angle in piling up the work object. The compensating quantity is
reflected by being increased and decreased on the shift quantity. It inputs the
measured value after measuring the Palette dip angle.
„ Opening stage number : It inputs the stage number to shift the compensation of
variation quantity.
„ Variation quantity : It inputs the value divided the total variation quantity by the
applied stage number.
„ k : It reflects the weight of work object according to the extent of deflection value.
„ Letter-paper insertion basis : It sets the basis that inserts the letter-paper.
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6. System setting
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„ Last letter-paper existence yes or no : It decides the existence yes or no of letter
-
paper at the end.
„ Letter-paper thickness : It inputs the letter-paper thickness.
Reference
⑴ Certainly, set the data before using the palletizing function.
⑵ In case that the set point is unsuitable, even if you press the [PF5] key, the
set point isn't changed. Therefore, please set to the proper value again as
follows.
- The GUN 2 should be set to the palletizing to set the palletizing pattern
register.
- In case of setting the pattern number and the sub-pattern number, please
confirm the number that doesn't support.
- Please refer to the Palette dip angle measurement for the Palette dip angle.
- The letter-paper insertion basis can't be bigger than the total stage number.
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6. System setting
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6.4.3.2 Palette dip angle measurement
Outline
It is a function that can measure the dip angle easily by making out the teaching
programseparatelyforthePalettedipanglewhichisdifficulttomeasurephysically
in the workshop.
Screen display
14:39:38 ** Pallet slope **
Pallet slope teaching program =[ 1]
Palletize base step number =[ 1]
Palletize Rec.Posi(X Direct.) =[ 1]
A:0 S:4
Pallet Rec.Posi(Y Direct.)
=[ 1]
Enter number and press [SET]
>[1 - 999]
Contents of the screen
„ Palette dip angle measurement program number : It inputs the program number made out
to measure the dip angle.
„ Palette basis step number : It records the position step thatthe palette and the initial
work object are to be put.
„ Palette X direction record step number : It records the step in the direction of X
axis.( robot coordinate system basis )
„ Palette Y direction record step number : It records the step in the direction of Y
axis.( robot coordinate system basis )
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6. System setting
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6.4.6 Conveyor
Outline
It sets a variety of parameter to use the conveyor synchronous function and also a
variety of condition to decide the motions shape of conveyor synchronous playback.
The conveyor synchronism should be set to the <ON> in "SYSTEM"[PF2] → 5.
Initialization → 2.Robot type selection.
Please refer to the "User manual on the conveyor function" for the precise contents.
Screen display
14:39:38
*** Conveyor ***
1: Conveyor parameter setting
A:0 S:4
2: Conveyor angle/centr auto-set
Use [Number]/[Up][Down] and press [SET].
>
Reference
„ The conveyor constant is taken in custody in the control constant file.(ROBOT.
C00)
„ It can't be changed in case that the control constant file(ROBOT.C00) is
completely taken in custody.
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6. System setting
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6.4.6.1 Conveyor constant setting
Outline
It sets a variety of parameter on the conveyor when intending to work by using the
conveyor.
Screen display
14:39:38** Conveyor Parameter ** A:0 S:4
Conveyor type
=<Lin.,Rot.>
=[ 1000]
Conveyor constant
Lin. horizontal angle
Lin. Vertical angle
=[
=[
0.0]
0.0]
0.0]
0.0]
0.0]
0.0]
0.0]
Rot. conveyor angle (X) =[
Rot. conveyor angle (Y) =[
Rot. conveyor center (X) =[
Rot. conveyor center (Y) =[
Rot. conveyor center (Z) =[
Sampling time =[ 0.10]
Allowed pulse error cnt. =[ 0]
----------------------------------------
-
Robot when CNVY stopped =<Stop,GO>
Conveyor Max Frequency
Conveyor Max Speed
=[ 10.0]
=[ 150.0]
Repeated LS on
CNVY TRACKg during hold =<DSBL,ENBL>
CNVY Pulse Count Type =<UP,UP/DOWN>
=<Count,Error,Ignore>
CNVY System Error Detect =<ENBL,DSBL>
Press [SHIFT]+[<-][->] Key
>
Contents of the screen
„ Conveyor type : It sets the conveyor type that decides whether the work conveyor
shape to work is a straight line or pattern. The conveyor of pattern type isn't
supported at present.
„ Conveyor constant : It inputs the pulse number generated from the pulse producer
when the conveyor moves 1m.
„ Straight line conveyor horizontal angle : It inputs the anglethe advancing direction
of conveyor rotates in the plus direction of robot coordinate system' Z axis center
on the basis of X axis of robot coordinate system.
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6. System setting
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„ Straight line conveyor vertical angle : It inputs the angle the advancing direction
of conveyor rotates in the plus direction of robot coordinate system' Y axis center
on the basis of X axis of robot coordinate system.
„ Pattern conveyor X axis rotative angle : The pattern conveyor isn't supported at
present.
„ Pattern conveyor Y axis rotative angle : The pattern conveyor isn't supported at
present.
„ Pattern conveyor center X value : The pattern conveyor isn't supported at present.
„ Pattern conveyor center Y value : The pattern conveyor isn't supported at present.
„ Pattern conveyor center Z value : The pattern conveyor isn't supported at present.
„ Sampling interval : It is fixed to the 0.1 second at present.
„ Pulse error detection permissible count : Even if the pulse error is made, it makes
the robot worked continuously to protect the work object in process of the
synchronous work. For example, if the pulse error detection permissible count is
set to 3, even if the pulse error in process of the synchronous work in the one work
object is detected more than three time, the robot doesn't make an error but makes
the synchronous work continued normally by making the proper pulse value
artificially.
„ Robot in case of the conveyor stop : When the signal isn't inputted in process of
operating the conveyor, that is to say, when the conveyor stops, it decides the
movement of robot.
① Execution : In case that the signal isn't inputted in process of operating the
conveyor, it stops after executing by the end of cycle in process of
replaying. and then it waits for the starting signal.
② Stop : In case that the signal is inputted in process of operating the conveyor,
it makes the robot stopped.
„ Conveyor permissible frequency : It sets the upper limit value of normal pulse number
outputted from the conveyor pulse producer per one second. It is possible to input
from 1kHz to 15kHz at present.
„ Conveyor permissible speed : It treats as the error in case that the conveyor speed
is higher than the set permissible speed.
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6. System setting
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„ Even number work object advance : It decides the contents to treat it in case that
another work object advances into the work space hitting the limit switch when the
robot works at the one work object on the conveyor.
① Permission : It permits the advance of even number work objects.
② Error : It makes the robot stopped by making an error in case that the even
number work objects are advanced.
③ Disregard : It disregards it even if the even number work objects are
advanced.
„ Synchronism in case of robot's temporary stop : It decides whether to carry out the
conveyor tracking or not in case that the robot temporarily stops by the input of
stop order in process of replaying.
① Prohibition : It doesn't carry out the conveyor tracking in case that the robot
stops by any cause in process of replaying.
② Permission : It carries out the conveyor tracking in case that the robot stops
by the stop order or occurrence of error so forth.
Please consult with the experts of our company for more precise
contents.
„ CNVY pulse counting type : It is a item to announce the jump setting of pulse count
circuit in the BD480 board to the controller.
① Jumper2(JP2) short of BD480 board : Up/Down count
② Jumper3(JP3) short of BD480 board : Up count
„ System error detection related with the synchronism : In case that the robot can't
be the operation preparation ON by making the system error related with synchronism
of conveyor due to the incompletion of system installation or board damage so forth,
it can be set not to make an relative system error so as to do the motions that aren't
related with the synchronous work such as making the robot moved to the position
designated specially by the manual operation.
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6. System setting
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6.4.6.2 Automatic setting of the conveyor angle and center
Outline
In case that the direction of conveyor isn't paralleled to the X axis or Y axis of
robot coordinate system when setting the horizontal/vertical angle of the conveyor,
it isn't easy to measure the conveyor angle precisely which is in the space of three
dimensions. It offers the method which can find the conveyor angle by the brief
operation of user to remove the inconvenience such as this.
Screen display
14:39:38* Auto Conveyor Angle * A:0 S:4
Conveyor type =<Lin., Rot.>
Program for automatic setting = [ 1]
Press [SHIFT]+[<-][->] Key
>
Contents of the screen
„ Conveyor type : It selects the conveyor type which wants to work with. The pattern
conveyor isn't supported at present.
„ Programnumberfortheautomaticsetting:Thestraightlineconveyorrecordstwopoints.
The method which records the position is that at first, records one point after the
tool end of robot indicates one point on the conveyor and then records additional one
point after the tool end of robot indicates the same position on the conveyor by moving
1m approximately.
If the conveyor angle is found by the execution, the result is displayed as following
screen.
14:39:38** Conveyor Parameter ** A:0 S:4
Conveyor type =<Lin., Rot.>
Program for automatic setting = [
1]
Lin. conveyor horizontal angle = 12.0
Lin. conveyor vertical angle =
0.0
Press [SHIFT]+[<-][->] Key
>
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6. System setting
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6.4.7 : Speed proportion voltage output
Outline
It makes the analog voltage in proportion to the tip velocity of robot outputted from
the BD480 board.( option )
If the outputted voltage is used in combination with the sealing equipment for the
voltage controller type, it is possible to maintain the discharge in the vicinity of
the sealing beginning position and corner in doing the sealing work.
Output voltage ( v )
+12
-12
Speed ( mm/sec )
속
0
2300
The output of analog voltage is made through the TBAO terminal of BD411 board connected
to the BD411 board and serial port.
(1) Specification of BD481 analog output part
Output channel number
Output voltage range
DAC Resolution
4 channel
-12.0V ∼ +12.0V
0 ∼ 3
(2) Analog output voltage per digital input value.
Digital input value
Analog output voltage
FFFh
800h
000h
+12V
0V
-12V
(3) Pin arrangement of analog output terminal
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6. System setting
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Terminal name
Pin number
Signal
1
2
3
4
5
6
7
8
Channel 0 output
AGND (Analog ground)
Channel 1 output
AGND (Analog ground)
Channel 2 output
AGND (Analog ground)
Channel 3 output
AGND (Analog ground)
TBA0
Screen display
14:39:38 ** Speed by voltage ** A:0 S:4
Minimum voltage = [ -3.7] (V)
Maximum voltage = [ -0.2] (V)
Minimum speed = [3368.0] (mm/sec)
Maximum speed = [6524.0] (mm/sec)
Port No.
= [ 160] 0=>No output
Select and Enter number. Press [SET]
>[-12.0 - 12.0]
Reference
(1) In case of selecting the " SERVICE"[PF1] → 1.Monitering → 19.Analog data,
you can do the monitoring on the input/output state of analog input/output signal.
(2) The speed proportion output data is taken in custody in the control constant file.
(ROBOT.C00)
(3) It can't be changed in case that the control constant file(ROBOT.C00) is completely
protected.
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6. System setting
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6.5 System format
If selecting the initialization, the following screen is displayed.
14:39:38 *** System format *** A:0 S:4
1: System format
2: Selecting type of the robot
4: Positioner group setting
5: Positioner group setting
Use [Number]/[Up][Down] and press [SET].
>
Previous Next
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6. System setting
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6.5.1 System format
Outline
It sets the control constant file (ROBOT.C00) to the value in the shipment from the
robot shop after deleting all of the data being in the custody range of controller.
Screen display
If selecting the system initialization, the following message is displayed.
Format?
>
Previous Next
„ If pressing the [Yes] key, the format is progressed. But conversely, if pressing the
[NO] key, it is canceled.
Reference
⑴ The following screen is displayed after the system initialization is progressed.
14:39:38
1: System format
2: Robot type selection
*** Format ***
ConsLock
Use [Number]/[Up][Down] and press [SET].
>
⑵ In case of selecting the system initialization, even if you initialize the system
one more time, the same screen as that of the upside is also displayed.
⑶ If selecting the "File control"[PF1], the following screen is displayed. This is
a function that is necessary to use the constant file made out at the former times
when the constant file doesn't exist. The operating method is same as the
"SERVICE"[PF1] → 5.File control.
14:39:38 *** File manager *** EditLock
1: Rename
2: Copy
3: Delete
4: Protect
Use [Number]/[Up][Down] and press [SET].
>
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6. System setting
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6.5.2 Robot type selection
Outline
Itsetsthe machineconstantfile(ROBOT.C01)tothevalueintheshipmentofcontroller
from the robot shop and it is a function that a variety of record files are newly made
out to the value set in the control constant file.
Screen display
14:39:38 *Robot type selection * A:0 S:4
1: H120 (Matsushita motor)
2: H150 (Matsushita motor)
3: H150S
4: H100P
5: H120S-02
6: H6-02 (without R2-cable coverty)
7: H6-03 (with R2-cable cover type)
8: H015-01 (Matsushita motor)
9: H015-03 (Tamagawa motor)
10: HR130-2
11: HR165-2
Use [Number]/[Up][Down] and press [SET].
>
„ If selecting the name that accords with the robot manipulator, the following screen is
displayed.
14:39:38 *Robot type selection* A:0 S:4
H120
The number of additional axes = [0]
Conveyor synchronization = <OFF,ON>
Vibration control mode= <OFF,ON>
Enter number and press [SET]
>[0 - 6]
Screen description
„ Additional axis number : It inputs the number of additional axis in case that the
additional axis exists. Because the additional axis number is set to the "0", in case
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6. System setting
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that the additional axis doesn't exist, if pressing the "Execution" key, the
reconfirmation message is displayed as follows. If pressing the [YES] key, the constant
file is made out and conversely, if pressing the [NO] key, it is cancelled.
Make?
>
Previous Next
„ Conveyor synchronism : When doing a work synchronizing with the conveyor, please
set to the ON.
„ Vibration damping controller application : If you want to use the vibration damping
controller, please set to the ON.
Reference
⑴ If the system initialization isn't done, the following message is displayed. And
if pressing the [Esc] key, you can begin it again.
No system file. Need to format first
>
Previous Next
⑵ If the machine constant file(ROBOT.C01) exists, the following message is displayed.
And if pressing the [YES] key, it is newly made out and if pressing the [Esc] key,
it is cancelled.
Warning! File exists. New?
>
[YES/NO]
Previous Next
⑶ If the machine constant file(ROBOT.C01) exists and the attribution of file is set
to the complete protection, the following message is displayed. And if pressing the
[Esc] key, you can begin it again.
Can't delete! Check file protection[ESC]
>
Previous Next
⑷ If the error history file(ROBOT.E01), stop history file(ROBOT.S01) and operation
history file(ROBOT.TR0) exist, the following message is displayed. And if pressing
the [Yes] key, it is newly made out and conversely, if pressing the [No] key, it
is cancelled.
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6. System setting
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Error log file already exists! New?[Y/N]
>
Previous Next
Stop log file already exists! New? [Y/N]
>
Previous Next
Operation history file exists! New?[Y/N]
>
Previous Next
⑸ If the error history file(ROBOT.E01), stop history file(ROBOT.S01) and operation
history file(ROBOT.TR0) exist and the attribution of file is set to the complete
protection, the following message is displayed. And if pressing the [Esc] key, you
can begin it again.
Can't delete! Check file protection[ESC]
>
Previous Next
⑹ The file protection can be changed in "SERVICE"[PF1] → 5.File control →
7.Protection .
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6. System setting
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6.5.4 Use setting
Outline
It is a function that sets the work use.
In case of using the palletizing function and the robot equalizing function, certainly,
the use setting should be changed.
Screen display
14:39:38 *** Usage setting *** A:0 S:4
GUN 1 = [ 0]
GUN 2 = [ 0]
0:Spot,1:Stud,2:Non,3:Palleting
Application ___________________________
ARC
= <DSBL,ENBL>
Air-GUN1 = <EQ,EQ'less>
Air-GUN2 = <EQ,EQ'less>
Enter number and press [SET]
>[0 - 2]
Contents of the screen
„ GUN1 : The users select the item that they intend to use for the use of GUN1.
„ GUN2 : The users select the item that they intend to use for the use of GUN2.
„ ARC : If the robot is used for the arc welding, it is set to the <Enable>.
„ Air gun : It selects whether to use the equalizer function on the GUN1 and GUN2 or to
use the equalizerless function.
Reference
⑴ If the engineer code isn't inputted, even if the "Complete"[PF5] key is pressed,
the GUN mode conversion information isn't saved.
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6. System setting
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6.5.5 Positioner group setting
Outline
It is a process that registers the positioner manipulator and it can set the additional
axis which is set to the Jig axis in the initialization menu to the positoner group.
The controller of our company supports the positioner of only two unit at present. and
the assignment of two axis per each positioner is possible.
Please refer to the "User manual on the positioner synchronous function" for the
precise contents.
Screen display
14:39:38 ** Positioner Group ** A:0 S:4
Additional Axis
---------------
T1 Axis
Positioner Group
----------------
[0]
[0]
[0]
T2 Axis
T3 Axis
Enter number and press [SET]
>[0 - 2]
Reference
⑴ Positioner group setting method
Example1) In case of setting the 2 axis positioner and the 1 axis positioner
(It is corresponded in case that all the additional 3 axes are set to the JIG.)
Additional Axis
----------------
Positioner Group
----------------
T1 Axis -------------> [1]
T2 Axis -------------> [1]
T3 Axis -------------> [2]
It is the case that the T1 and T2 axis make the first positiner group in the group
1 and the T3 axis singly makes the second positioner group.
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6. System setting
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Example2) In case of setting the 1 axis positioner and the 2 axis positioner
(It is corresponded in case that all the additional 3 axes are set to the JIG.)
Additional Axis
----------------
Positioner Group
----------------
T1 Axis -------------> [1]
T2 Axis -------------> [2]
T3 Axis -------------> [2]
It is the case that the T1 axis singly makes the first group of positioner in the
group 1 and makes the positioner 2 group by collating with T2 and T3.
Example3) In case that the 1 axis positioner exists two unit.
Additional Axis
----------------
Positioner Group
----------------
T1 Axis -------------> [1]
T2 Axis -------------> [1]
T3 Axis -------------> [0]
It is the case that the T1 axis makes the positioner 1 group and the T2 axis makes the
positioner 2 group.
Example4) In case of setting to the Jig axis that doesn't synchronize.
Additional Axis
----------------
Positioner Group
----------------
T1 Axis -------------> [0]
T2 Axis -------------> [0]
T3 Axis -------------> [0]
It is the case that uses the basic value.
⑵ The method that designates the positioner group.
① The designation of group should be carried out according to the order from low axis.
② The group that doesn't synchronize is designated to [0] and should be set next
to the axis that synchronizes.
③ You should not designate the 3 axis to the same group because the same group of
positioner supports only till the 2 axis.
④ You should press the "Complete"[PF5] key to finish the group setting right.
⑤ In case of defining the group setting again, you should execute the calibration
of positioner again because the constant value of positioner designated in the
former times is ineffective.
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6. System setting
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6.6 Automatic constant setting
If selecting the constant setting, the following screen is displayed.
14:39:38 *** Auto Const Set *** A:0 S:4
1: Optimizing axis Cnst.& tool length
4: Positioner Calibration
Use [Number]/[Up][Down] and press [SET].
>
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6. System setting
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6.6.1 The optimization of axis constant and tool length
Outline
It sets automatically after compensating the constant data of straight line
interpolation.
It is a function that gains the straight line interpolation constant compensated from
each step encoder data of the program recorded the same point as the various pose to
improve the accuracy of the straight line interpolation curve and coordinate
convertion.
Itcanautomaticallysetthedistancetillthenoseoftoolwhichisdifficulttomeasure
on the three dimensions. the straight line interpolation constants which are
compensated are the axis constant of H, V, R2, B axis and the tool length of X, Y, Z
direction.
Screen display
14:39:38** Axis/Tool optimize **A:0 S:4
Setting = < Constant & Tool, Tool >
Program No. = [ 0]
Tool NO. = [ 0]
Permissible position error = [ 0.1]mm
Max step position error(X) =
(Y) =
(Z) =
Press [SHIFT]+[<-][->] Key.
>
Screen description
„ Setting:Ifusingthe"constantandtool"mode, boththetoollengthsetin"SYSTEM"[PF2]
→ 3.Robot parameter → 1.Tool data and the value set in "SYSTEM[PF2] → 3.Robot
parameter → 2.Axis constant are compensated.
Therefore this mode is selected only in case of executing the function on the first
tool and from the second tool, please compensate only the tool length through the
selection of tool mode.
„ Program number : It is a program number recorded the same point as the various pose.
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6. System setting
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„ Tool number : It is a tool number that wants to set automatically and it should accord
with the tool number recorded in the program for setting.
„ Permissible range of step position error : When the maximum errors among the coordinates
is within the permissible error of step position error after calculating the X, Y, Z
coordinates of the nose of tool from the each step data of program for the setting by
usingtheconstantdatawhichiscompensated,itrenewstheconstantdataautomatically.
„ Maximum step position error : It outputs the maximum value of the error among the X,
Y, Z coordinates on the each step found in the permissible range of step position error.
Notice
⑴ Pleaseteachitastheerrorbetweenthetoolendandthefixedpointiswithin0.5mm.
⑵ Please teach it as all of the axes work.
⑶ Please teach it as the angle of B axis exists in the outside of the range that is from
-12 to 12 .
⑷ Pleaseteachitasthewristaxis(R2, B, R1)ontheeachstepworksasbigaspossible
and the difference of wrist axis angle among each step is sufficient.
⑸ It can't be executed in case that the machine constant file is protected.
Please execute it after lifting the file protection.
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6. System setting
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6.6.4 Positioner calibration
Outline
Please refer to the "User manual on the positioner synchronous function".
If not carrying out the "SYSTEM"[PF2] → 5.Initialization → 6.Positioner group
setting but selecting the positioner calibration, the following message is displayed.
You must setup the positioner Group[ESC]
>
Previous Next
Screen display
14:39:38*Positioner Calibration*A:0 S:4
Positioner Group No.
Program No.
= [ 0]
= [ 0]
Select and Enter number. Press [SET].
>[1 - 1]
„ If pressing the "Execute"[PF5] key after inputting the program number on the applicable
positioner group, the result appears.
Reference
⑴ The calibration of 1 axis positioner
① In case of the 1 axis positioner, it teaches the three points precisely rotating
30 per one time after fixing the sharp teaching point on the positioner and
then records the program. The teaching method is the same as following picture.
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6. System setting
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Point P
CP1
CP2
CP3
The calibration of 1 axis positioner
⑵ The calibration of 2 axis positioner
Supposing that it is identical with the calibration of 1 axis positioner, it is
different from in the record of the teaching point.
① It records the very first teaching point after situating the positioner at the basic
position.
② It records the same teaching point after rotating the 2 axis of positioner nearly
30.
③ It records the same teaching point after rotating the 2 axis of positioner nearly
30 more.
④ It records the fourth point after rotating only the 1 axis at the position of ③
nearly 30.
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6. System setting
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⑤ It records the fifth point after rotating only the 1 axis at the position of ④
nearly 30 more and then finishes.
Point P
CP1
1
5
CP2
2
4
CP3
3
The calibration teaching process of 2 axis positioner
„ If pressing the execution key after selecting the "SYSTEM"[PF2] → 6. Automatic
constantsetting → 4.Positionercalibrationandinputtingtheprogramnumberwhich
teaches thefifth point and the applicable positionergroup, the result is displayed
and the constant is saved in the controller.
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6. System setting
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14:39:38*Positioner Calibration* A:0 S:4
Positioner Group
Program No.
Positioner Group [1] POSE
= [ 0]
= [ 0]
X=
Y=
Z=
0, Rx=
500, Ry=
300, Rz=
-90.000
0.000
90.000
D-H Parameter
DH.a=
DH.d=
0, DH.alpha=
0, DH.theta=
90
0
Save?
>
„ If pressing the "Execute"[PF5] key, the message of upside is displayed. and at this
time, if you want to save it, press the [Yes] key.
Contents of the screen
„ Positioner Group [1] Pose : It is the position value from the base coordinates
to that of the positioner. The value of Rx, Ry, Rz are the angle value calculated
bytheabsoluteconversioninthedirectionofeachaxisfromthebasecoordinates.
„ D-H Parameter : In case of the 2 axis positioner, the value of DH .a and DH .alpha
are calculated. The DH .a is the distance between two rotation axes and the
DH .alpha is what indicates the angle between two rotation axes to the [deg].
Notice
⑴ The tool end position of robot should be accurate. Therefore you should know of the
tool information of robot precisely.
⑵ The calibration of robot should be carried out before the positioner calibration.
⑶ It can't be executed in case that the machine constant file is protected.
Please execute it after lifting the file protection.
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7. R code
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Chapter 7. R Code
Contents
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
7. 1 (1) R0
Step counter reset ............................ 7 - 5
External start selection ...................... 7 - 5
External program selection ..................... 7 - 6
Run time display............................... 7 - 7
File name display in internal memory ......... 7 - 10
Frequency condition register .................. 7 - 11
Tool number setting .......................... 7 - 12
Conveyor data clear .......................... 7 - 13
Conveyor register manual input ............... 7 - 14
Manual conveyor limit switch on .............. 7 - 15
Speed variation setting ...................... 7 - 16
Palletize counter reset ...................... 7 - 17
Recorded speed selection...................... 7 - 18
Program head data display .................... 7 - 19
Program copy ................................. 7 - 19
Program number modification .................. 7 - 20
Program delete ............................... 7 - 21
Robot lock ................................... 7 - 22
Modify accuracy in steps ..................... 7 - 23
Modify MX in steps............................ 7 - 24
Modify GUN in steps .......................... 7 - 25
Shift register value change .................. 7 - 26
On-line shift cancel ......................... 7 - 26
Spot welding condition manual output ......... 7 - 27
Serovo gun number selection .................. 7 - 28
Squeeze force setting ........................ 7 - 28
Moving-tip consumption preset ................. 7 - 29
Fixed-tip consumption preset .................. 7 - 29
7. 2 (2) R5
7. 3 (3) R6
7. 4 (4) R10
7. 5 (5) R17
7. 6 (6) R18
7. 7 (7) R29
7. 8 (8) R44
7. 9 (9) R45
7.10 (10) R46
7.11 (11) R49
7.12 (12) R55
7.13 (13) R71
7.14 (14) R107
7.15 (15) R115
7.16 (16) R116
7.17 (17) R117
7.18 (18) R123
7.19 (19) R136
7.20 (20) R137
7.21 (21) R138
7.22 (22) R162
7.23 (23) R163
7.24 (24) R204
7.25 (25) R210
7.26 (26) R211
7.27 (27) R212
7.28 (28) R213
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7. R code
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7.29 (29) R219
7.30 (30) R220
7.31 (31) R245
7.32 (32) R269
7.33 (33) R286
7.34 (34) R310
7.35 (35) R320
7.36 (36) R323
7.37 (37) R341
Equalizerless gun number selection ........... 7 - 30
Equalizerless tip consumption preset.......... 7 - 30
Monitor mode selection........................ 7 - 31
Memory protection setting..................... 7 - 32
Software version display...................... 7 - 33
Manual output of GO-signal.................... 7 - 34
Set max. speed of step go/back................ 7 - 35
Robot interrupt function record............... 7 - 36
Execution code back-up ....................... 7 - 40
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7. R code
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CHAPTER 7. R CODE
Outline
It manages general programs without recording in steps. That is it can sets several
conditions for controller state.
Operation method
⑴ If press Ｒ key, then the following message is displayed on the screen.
Enter R code No (0 - 9999)
>R
Service System Rel.WAIT
Cond SET
⑵ Press wanted code number, and then press [SET] key.
⑶ If you don't know specific code number, press
is displayed on the screen.
key. Then the following message
?
14:39:38
*** Manual *** A:0 S:H4
R0
R5
R6
: Step counter reset
: External start selection
: External program selection
R10 : Rum time display
R17 : Name of file in the memory
R18 : Frequency condition register
R29 : Tool number setting
R44 : Conveyor data clear
R45 : Conveyor register manual input
R46 : Manual conveyor limit switch on
R49 : Speed rate setting
----------------------------------------
R55 : Palletizing reset
R71 : Speed definition type selection
R107 : Program head data display
R115 : Program copy
R116 : Program renaming
R117 : Program deleting
R123 : Robot lock
R136 : Modifying accuracy in steps
R137 : Modifying MX in steps
R138 : Modifying GUN in steps
R162 : Shift register setting
Use [Number]/[Up][Down] and press [SET].
>
Previous Next
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7. R code
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▶ When you select, [NEXT] the following next message will be displayed on the screen.
14:39:38 *** Manual *** A:0 S:H4
R163 : Online shift cancel
R204 : Spot WELDg Cond. manual output
R210 : Servo GUN number selection
R211 : Squeeze force setting
R212 : Moving-tip consumption preset
R213 : Fixed-tip consumption preset
R219 : Equalizerless gun No. selection
R220 : Equalizing tip consump. preset
R245 : Monitor mode selection
R269 : Memory protection setting
R286 : Software version
----------------------------------------
R320 : Set Max speed of setp go/back
R323 : Robot interrupt
R341 : Execution code backup
Use [Number]/[Up][Down] and press [SET].
>
Previous Next
⑷ After choose what you want code, press [SET] key.
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7. R code
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7.1 (1) R0 STEP COUNTER RESET
Outline
It resets the step counter (step 0) and returns to the step 0 at any step.
Besides, it executes.
„ General error, Lamp Off
„ Alarm Off
„ WI wait clear.
Reference
⑴ It can't be executed during operation.
7.2 (2) R5 EXTERNAL START SELECTION (ENABLE/DISABLE)
Outline
It sets whether the external start selection is enable or disable.
It also can be set at start mode by press down "System'[PF2] -> 1. User parameter -> 3.
Robot Start type ,orderly.
Screen display
Set Ext start selection (DSBL=0,ENBL=1)
>R5,0
Service System Rel.WAIT
Cond Set
„ Select 1 ( = Enable ) or 0 ( = Disable ), and then press [SET].
Reference
⑴ It cannot be executed during operation.
⑵ The numerical value displayed before changing is the set value at that time.
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7. R code
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7.3 (3) R6 EXTERNAL PROGRAM SELECTION (ENABLE/DISABLE)
Outline
It sets whether the external program selection setting is enable or disable.
It also can be set at Ext. Program selection mode by press down "System' [PF2] -> 1. User
parameter -> 10. External program select, orderly.
Screen display
Set Ext program selection(DSBL=0,ENBL=1)
>R6,0
Service System Rel.WAIT
Cond Set
„ Select 1 ( = Enable ) or 0 ( = Disable ), and then press [SET].
Reference
⑴ It cannot be executed during operation.
⑵ The numerical value displayed before changing is the set value at that time.
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7. R code
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7.4 (4) R10 RUN TIME DISPLAY
Outline
It is the function to display Robot's run time.
It also can be access at Run time display by press down "Service' [PF1] -> 7. System
checking -> 2. Running time, orderly.
Screen display
14:39:38 *** Run time ***
1: Display of run time
A:0 S:4
2: Display of total run tiem
3:
4:
5:
6:
7:
8:
( Clear all data
( Clear run time
)
)
( Clear cycle count )
( Clear gun data
( Clear I wait data )
( Clear Timer wait data )
)
Use [Number]/[Up][Down] and press [SET].
>
7.4.1 Display of Run Time
Outline
It displays run time of robot motion.
Screen display
14:39:38
*** Run time ***
A:0 S:4
*Run time =0:0: 0.00
Cycle time=0:0: 0.00
GUN1 time =0:0: 0.00
GUN2 time =0:0: 0.00
GUN3 time =0:0: 0.00
GUN4 time =0:0: 0.00
Cycle=0
count=0
count=0
count=0
count=0
DI Sig waiting time =0:0: 0.00
Timer waiting time =0:0: 0.00
Press [ESC] or [R..]
>
Screen description
„ Run Time means the time till the lamp is off after the start lamp is ON. (It resets
automatically after 24 hours.)
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7. R code
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„ Cycle Counter means the cycle number playback during run time.
It counts in step 1, it counts the cycle number in spite of stopping in half way. (It
resets the counter after 255 times during run time.)
„ GUN ON Time means the GUN signal output signal per 1 cycle during run time.
(It resets automatically after 24 hours.)
„ GUN ON Count means the counts the GUN output signal per I cycle during run time.
(It
resets automatically after 65535 times.)
7.4.2 Total Run Time
Outline
Total amount of the operation time after power is ON.
Total cycle count, Total GUN On time, Total Gun ON count are as above too.
Screen display
14:39:38
*** Run time ***
A:0 S:4
*Total run time =0:0: 0.00
Total cycle count =0
GUN1 time =0:0: 0.00
GUN2 time =0:0: 0.00
GUN3 time =0:0: 0.00
GUN4 time =0:0: 0.00
count=0
count=0
count=0
count=0
DI Sig waiting time =0:0: 0.00
Timer waiting time =0:0: 0.00
Press [ESC] or [R..]
>
7.4.3 Run Time Reset
Outline
(1) All data clear ..... It resets the all data.
(2) Run time clear ..... Reset the total run time.
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7. R code
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(3) Cycle count clear ..... Reset the total cycle counter.
(4) GUN data clear ..... Reset total GUN on time and counter.
Screen display
After selecting "3" for All Data Clear or "4" for Run Time Clear, "5" for Cycle Count
Clear, "6" for Gun Data Clear. "7" for I Signal Waiting Data Clear, "8" for Timer Waiting
Data Clear , it will be displayed on the screen as followings.
Clear ( YES / NO )
>
„ If you select [YES] , the chosen data shall be cleared. Otherwise, If you select [NO] ,
the chosen data shall not be cleared.
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7. R code
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7.5 (5) R17 FILE NAME DISPLAY IN INTERNAL MEMORY
Outline
It displays the file name (Robot type, Program No.), file size, Date, file protection
etc. It displays the information of a total file, remained memory volume when ending a
file display. The content ofthedisplayis differentfrom"Service[PF1]-> 5. Filemanager
-> 1. Show file names in memory".
Screen display
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F=3/1 Sp:20.00
10 file, 62116 Block free
H120
H120
H120
.992
.993
.994
33 2001-08-20 08:54 W_
22 2001-08-20 08:54 __
44 2001-08-20 08:54 __
ROBOT .C00 130 2001-08-20 08:54 w_
ROBOT .C01 196 2001-08-20 08:54 W_
ROBOT .E01 1111 2001-08-20 08:54 __
ROBOT .S01 1111 2001-08-20 08:54 __
ROBOT .TR0
59 2001-08-20 08:54 __
Use cursor Up/Down, then [ESC] for exit.
>
Reference
⑴ It cannot be executed during operation.
⑵ WSP_ being displayed to the last means the protection type.
W: Whole protection (Deleting/changing prohibition)
S: Sectional protection
(It is possible only to modify the position in whole protection)
P: Playback protection (Playback from the step 0/Step forward prohibition)
_: No protection
⑶ It is possible to scroll the screen with
key.
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7. R code
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7.6 (6) R18 FREQUENCY CONDITION REGISTER DISPLAY/SETTING
Outline
It displays, sets the content of a frequency condition register.
It is the same as "Service"[PF1] -> 2: Register setting -> 5: Frequency Condition
Register".
Screen display
Enter frequency register No ( 1 - 16 )
>R18,0
Service System Rel.WAIT
Cond Set
Operation method
(1)AfterinputtingtheregisterNo., ifpress[SET]keyitwillbedisplayedonthescreen
as following message.
Enter register data ( 0 - 255 )
>R18,1,0
Service System Rel.WAIT
Cond Set
(2) After inputting the register data, press [SET] key.
Reference
⑴ It can not be executed during operation.
⑵ The numerical value displayed before changing is the set value at that time.
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7. R code
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7.7 (7) R29 TOOL NUMBER SETTING
Outline
It changes the selected tool number.
Input tool number what you want, press [SET] key.
Screen display
Enter tool No. ( 0 - 3 )
>R29,0
Service System Rel.WAIT
Cond Set
Reference
⑴ When [SET] key pressed after inputted tool number, the first line of Edit Frame screen
shall be changed.
⑵ It cannot be executed during operation.
⑶ The numerical value displayed before changing is the set value at that time.
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7. R code
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7.8 (8) R44 CONVEYOR DATA CLEAR
Outline
It clears Conveyor data ; CP, CR, CS.
The content which will be cleared can be different according to the selected mode at "Cond
Set"[PF5] -> "Applicnd"[PF1] -> 1: Conveyor oper = <Normal, Simulat, Test> as table.
General
CLEAR
Simulation
Test
Keep present
pulse
CP(Pulse)
CLEAR
CR(Distance)
CS(Speed)
CLEAR
CLEAR
CLEAR
CLEAR
CLEAR
Always '0'
It is the same function with 2.Conveyor data reset of "Service"[PF1] -> 2.Register ->
6. Conveyor Data.
Screen display
Conveyor data clear. Continue? [YES/NO]
>
Service System Rel.WAIT
Cond Set
„ If you select [YES], the conveyor data shall be cleared.
Otherwise, If you select [NO], this function shall be cancelled.
Reference
⑴ It cannot be executed during operation.
⑵ The limit switch input state will be cleared, too. So, to start pulse counting, it
needs new limit switch input.
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7. R code
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7.9 (9) R45 CONVEYOR REGISTER MANUAL INPUT
Outline
It sets Conveyor Register (CR) value as a manual inputted value.
If this function activated, the Conveyor Pulse (CP) value shall be automatically modified
in connection with Conveyor Register (CR) value.
It is the same function with CR viewed at 1. Conveyor Simulation Date Access of
"Service"[PF1] -> 2.Register setting -> 6. Conveyor Data
Screen display
Warning!)Change Conveyor Register? [Y/N]
>
Service System Rel.WAIT
Cond Set
„ If you select [YES] , can input Conveyor Register value by manual, if you select [NO] ,
this function shall be cancelled.
Enter CR value. (-99999.9 - 99999.9 mm)
>R45,
Service System Rel.WAIT
Cond Set
„ To finish, press [SET] key following input number.
Reference
⑴ It cannot be executed during operation.
⑵ In case of the Limit switch is not activated, the CP/CR value shall not be increased,
even if the manually inputted Conveyor Register(CR) value is not '0'.
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7.10 (10) R46 MANUAL CONVEYOR LIMIT SWITCH ON
Outline
It activates Pulse counting in force by inputting limit switchactivation signals without
relation of real performance of limit switch.
Screen display
Warning!) Limit Switch ON?
>
Service System Rel.WAIT
[YES/NO]
Cond Set
„ If you select [YES], can start pulse counting or access for multi-workpiece , if you
select [NO], this function shall be cancelled.
Reference
⑴ It cannot be executed during operation.
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7. R code
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7.11 (11) R49 SPEED VARIATION SETTING
Outline
It sets the value of speed variation during the play back.
It playback to variate in the range of 1 to 150% for the speed to be recorded on step.
You can set in the speed variation value of condition Setting 4. at "Cond Set"[PF5] ->
4. Speed rate.
Screen display
Enter speed rate ( 1 - 150 )
>R49,100
Service System Rel.WAIT
Cond Set
„ After inputting the speed variation value, if press [SET] key, it will be displayed
on the screen as following message.
14:39:38
T0
PN:999[*]__ S/F=3/1
*** A U T O ***
A:0 S:H4
SR:100% 1Cycl
>
Reference
⑴ It cannot be executed during operation.
⑵ The numerical value displayed before changing is the set value at that time.
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7. R code
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7.12 (12) R55 PALLETIZE COUNTER RESET
Outline
It can be used when you use the palletizing function.
It resets the contents of the palletize register.
Screen display
Input the palletize pallet number.(1-16)
>[1 - 16]
Service System Rel.WAIT
Cond Set
„ If press, wanted pallet No. (the number of palletizer pattern register) and [SET] key,
it will be displayed on the screen as followings.
End palletizing?
>
Service System Rel.WAIT
[YES/NO]
Cond Set
„ Press [YES] key to reset the palletizing data, and press [NO] to stop resetting.
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7. R code
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7.13 (13) R71 RECORDED SPEED SPECIFICATION METHOD SELECTION
Outline
It selects speed specification method in step recording.
There are 3 types of 0, 1, and 3.
Interpolation OFF
Interpolation ON
Interpolation OFF
Interpolation ON
Interpolation OFF
Specify Sec
Specify Speed
Specify Sec
Specify Sec
Specify Speed
0
1
2
Standard
Specify
Sec
Specify
Speed
Interpolation ON
Specify Speed
Interpolation On is the case of the linear interpolation or circular interpolation.
Screen display
Rec speed type?(Standard=0,%=1,mm/s=2)
>R71,0
Service System Rel.WAIT
Cond Set
„ After inputting the recorded speed specification type, if press [SET] key, it will
be displayed on the screen as following screen.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F=3/1
Sp:50
>
Service System Rel.WAIT
Cond Set
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7. R code
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7.14 (14) R107 PROGRAM HEAD DATA DISPLAY
Outline
It displays the content of the program head data (step 0).
It displays the content of step 1 if it hasn't the function in step 0.
It is the same function with "Service"[PF1] -> 5.File Manager -> 2. Show the headline
of program.
Screen display
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:100[*]__ S/F:4/0
Sp:100.00
PNo: Content of head datat ------------
992: main program
993: SPOT 1
994: 25.00sec(P) A0 T0
995: 25.00sec(P) A0 T0
Use cursor Up/Down, then [ESC] for exit
>
7.15 (15) R115 PROGRAM COPY
Outline
Itcopies a source program fileintheinternalmemoryto destinationprogram file. First,
inputthesourceprogramnumbertobecopied,andtheninputthedestinationprogramnumber.
It occurs to error when the destination program is already exist.
Screen display
Source program to copy? (1-999)
>R115,
Service System Rel.WAIT
Cond Set
„ After inputting the source program No. for copy, if press [SET] key, it will be appeared
on the screen as following message.
Destination program to copy (1-999)
>R115,999,
Service System Rel.WAIT
Cond Set
„ After inputting the destination program No. for copy, if press [SET] key, it will be
copied. However if press [ESC] key program copy will be cancelled.
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7. R code
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7.16 (16) R116 PROGRAM NUMBER MODIFICATION
Outline
It changes the program number in the internal memory.
First, input the program number to change, then input the program number you want.
If occurs to error when the destination program is already exist.
Screen display
Source program to modify? (1-999)
>R116,
Service System Rel.WAIT
Cond Set
„ After inputting the source program No. for modify, if press [SET] key, it will be
appeared on the screen as following message.
Destination program to modify? (1-999)
>R116,999,
Service System Rel.WAIT
Cond Set
„ After inputting the destination program No. for modify, if press [SET] key, it will
be appeared on the screen as following message.
H120.999->.005 : Modify?
>
Service System Rel.WAIT
[YES/NO]
Cond Set
„ If you want to modify press [YES] key, to cancel press [NO] key, it will be appeared
on the screen as following message.
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7. R code
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7.17 (17) R117 PROGRAM DELETE
Outline
It deletes the program stored in the internal memory.
Screen display
Program to delete? (1-999)
>R117,
Service System Rel.WAIT
Cond Set
„ After inputting the program No. for delete, if press [SET] key, it will be appeared
on the screen as following message.
H120.006 : Delete?
>
Service System Rel.WAIT
[YES/NO]
Cond Set
„ If you want to modify press [YES] key, to cancel press [NO] key.
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7.18 (18) R123 ROBOT LOCK
Outline
It sets the robot lock to ON/OFF.
If the robot-lock is set to ON, it is possible to execute a program without outputting
the move command even though playback or step go/back is executed in the motors-on state.
Screen display
Set robot lock ( DSBL=0,ENBL=1)
>R123,0
Service System Rel.WAIT
Cond Set
„ If you press [1] [SET] key (Enable) it will be appeared on the screen as following
message. or if you press [0] [SET] key(Disable) this function will be cancelled,
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:100[*]__ S/F:4/0
R-L
Sp:100.00
Robot:H120, 6axes, 1steps
S1 MOVE P,S=100%,A=0,H=1
Use cursor Up/Down, then [ESC] for exit
>
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7. R code
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7.19 (19) R136 MODIFY ACCURACY IN STEPS
Outline
It changes the accuracy of the selected step.
Screen display
Enter accuracy ( 0 - 3 )
>R136,0
Service System Rel.WAIT
Cond Set
„ If press 0 ~ 3 key what you want, and then press [SET] to finish.
Reference
⑴ It cannot be executed during operation.
⑵ The numerical value displayed before changing is the set value at that time.
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7. R code
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7.20 (20) R137 MODIFY MX IN STEP
Outline
It changes/adds MX of the currently selected step.
Screen display
Enter MX No ( 1 - 2 )
>R137,0
Service System Rel.WAIT
Cond Set
„ After inputting what you want key, if press [SET] key, it will be appeared on the screen
as following message.
Set MX signal ( Off=0, On=1 )
>R137,1,0
Service System Rel.WAIT
Cond Set
„ If you select [1] and [SET] keys MX signal will be stored. Or if you select [0] and
[SET] keys MX signal will be deleted.
Reference
⑴ It cannot be executed during operation.
⑵ The numerical value displayed before changing is the set value at that time.
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7. R code
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7.21 (21) R138 MODIFY GUN IN STEP
Outline
It changes/adds the GUN of the currently selected step.
Screen display
Enter gun No.( 1 - 2 )
>R138,0
Service System Rel.WAIT
Cond Set
„ After inputting 1 or２ key, if press ＳＥＴ key it will be appeared on the screen as
following message.
Set the gun signal (Off=0,On=1)
>R138,1,0
Service System Rel.WAIT
Cond Set
„ If you select [1] and [SET] keys GUN signal will be stored in step. Or if you select
[0] and [SET] keys GUN signal will be deleted.
Reference
⑴ It cannot be executed during operation.
⑵ The numerical value displayed before changing is the set value at that time.
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7.22 (22) R162 SHIFT REGISTER VALUE CHANGE
Outline
It displays/sets the on-line shift buffer's contents.
It is the same function with "Service"[PF1] -> 2.Register setting-> 2. Shift buffers.
Screen display
14:39:38 *** M A N U A L *** A:0 S:H4
1.Shift buffer for robot coordinate
X=[
0.0] Y=[
0.0] Z=[
0.0]mm
AX=[ 0.00] AY=[ 0.00] AZ=[ 0.00]dg
2.Shift buffer for tool coordinate
X=[
AX=[ 0.00] AY=[ 0.00] AZ=[ 0.00]dg
0.0] Y=[
0.0] Z=[
0.0]mm
Select and Enter number. Press [SET]
>[-3000.0 - 3000.0]
Reference
⑴ It cannot be executed during operation.
⑵ After select number, press [SET] key.
7.23 (23) R163 ON-LINE SHIFT CANCEL
Outline
It stops on-line shift and resets the shift data saved in the shift buffers resets to
"0".
Press [YES] or [NO] key by confirming message.
Screen display
WARNg) Cancel on-line shift
>
Service System Rel.WAIT
[YES/NO]
Cond Set
„ If you want to cancel, press [YES] key.
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7.24 (24) R204 SPOT WELDING CONDITION MANUAL OUTPUT
Outline
It outputs spot welding condition manually.
Operation method
„ In case of < Welding condition output type = Discrete >, at "System"[PF2] -> 4.
Application Parameter -> Spot & Stud -> 1.Welding Parameter. It will be appeared on
the screen as following message.
Input discrete welding condition (0 - 7)
>R204,
Service System Rel.WAIT
Cond Set
„ In case of < Welding condition output type = Binary code > at "System"[PF2] -> 4.
Application Parameter -> Spot & Stud -> 1.Welding Parameter. It will be appeared on
the screen as following message.
Input binary WELDg condition ( 0 - 255 )
>R204,
Service System Rel.WAIT
Cond Set
„ After inputting the welding condition with numeric key, press [SET] key.
Reference
⑴ It cannot be executed during operation.
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7.25 (25) R210 SERVO GUN NUMBER SELECTION
Outline
It is a code for selection of gun, in case of using multi-servo guns. It needs to execute
manual open/close of servo gun and to force manually for each gun.
Screen display
Enter gun number.( 1 - 2 )
>R210,1
Service System Rel.WAIT
„ After select gun number, press [SET] key.
Reference
Cond Set
⑴ It cannot be executed during playback / operation.
⑵ Tool number will be automatically modified by selection of Gun number.
7.26 (26) R211 SQUEEZE FORCE SETTING
Outline
It sets welding force.
Screen display
Enter gun pressure. ( 50 - 999 )Kgf
>R211,100
Service System Rel.WAIT
Cond Set
„ After input wanted welding force, press [SET] key.
Reference
⑴ It cannot be executed during playback / operation.
⑵ The welding force in welding condition file, will not be changed.
⑶ In case of the setting welding force is out of the available setting boundary, it
executes manual welding force within the limited range.
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7.27 (27) R212 MOVING-TIP CONSUMPTION PRESET
Outline
It sets wear amount of servo gun's moving welder tip.
Screen display
Enter move tip consumption.(-10. - 10.)
>R212,0.00
Service System Rel.WAIT
Cond Set
„ After input wanted wear amount with number keys, and then press [SET] key.
Reference
⑴ It cannot be executed during playback / operation.
⑵ In case of the setting wear amount is over the actual wear amount, it can cause
mismatching of welding force or interference with working material.
7.28 (28) R213 FIXED-TIP CONSUMPTION PRESET
Outline
It sets wear amount of servo gun's fixed welder tip.
Screen display
Enter fix tip consumption. (-10. - 10.)
>R213,0.00
Service System Rel.WAIT
Cond Set
„ After input wanted wear amount with number keys, and then press [SET] key.
Reference
⑴ It cannot be executed during playback / operation.
⑵ In case of the setting wear amount is over the actual wear amount, it can cause
mismatching of welding force or interference with working material.
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7.29 (29) R219 EQUALIZERLESS GUN NUMBER SELECTION
Outline
It selects gun, in case of equalizerless multi-air guns are using.
It needs for manual open/close and forcing manually.
Screen display
Enter gun number.( 1 - 2 )
>R219,1
Service System Rel.WAIT
Cond Set
„ After input wanted gun number, and then press [SET] key.
Reference
(1) It cannot be executed during playback / operation.
7.30 (30) R220 EQUALIZING WELDER TIP CONSUMPTION PRESET
Outline
It sets equalizerless air gun's wear amount manually.
Screen display
Enter fix tip consumption. (-10. - 10.)
>R220,0.00
Service System Rel.WAIT
Cond Set
„ After input wanted wear amount with number keys, and then press [SET] key.
Reference
⑴ It cannot be executed during playback / operation.
⑵ In case of the setting wear amount is over the actual wear amount, it can cause
mismatching of welding force or interference with working material.
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7.31 (31) R245 MONITOR MODE SELECTION
Outline
It displays the encoder value, angle and coordinates value of each axis and input/output
status of each axis.
It is the same function with "Service"[PF1] -> 1. Monitoring.
Screen display
14:39:38 *** Monitoring *** A:0 S:4
0: Monitor OFF
1: Axis data
2: Private input
3: Private output
4: DIO( 1 - 24 )
5: DIO( 25 - 48 )
6: DIO( 49 - 72 )
7: DIO( 73 - 96 )
8: DIO( 97 - 120)
9: DIO(121 - 144)
10: DIO(145 - 168)
Use [Number]/[Up][Down] and press [SET].
>
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7.32 (32) R269 MEMORY PROTECTION SETTING
Outline
It sets the program protection in the internal memory.
It is the same function with "Service"[PF1] -> 5. File Manager -> 7. Protect.
Operation method
Program to protect? (1-999)
>R269,
Service System Rel.WAIT
Cond Set
„ After inputting the program No. for protect with a numeric key, press [SET] key, then
it will be appeared on the screen as following messages.
Protect or Release?(1:Protect/2:Release)
>R269,6,
Service System Rel.WAIT
Cond Set
„ If you want to protect press [1] key, to release press ２ key, and press [SET] key
displayed following messages.
Protect type?(1:Whole/2:Section/3:Playb)
>R269,6,1,
Service System Rel.WAIT
Cond Set
„ After inputting the protect type with a numeric key, press [SET] key.
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7.33 (33) R286 SOFTWARE VERSION DISPLAY
Outline
It displays the system environment (Software Version) of HR Controller.
The display items are as following
(1) Robot type, number of robot axis and total number of axis.
(2) Main system version
- Version and the date of the manufacture of the main S/W
- Version and the date of the manufacture of the motion S/W
- Version and the date of the manufacture of T/P
- Version and the date of the manufacture of I/O
It is the same function with "Service"[PF1] -> 7. System checking -> 1. System version.
Screen display
14:39:38 *** System version *** A:0 S:4
(Axis: 6 Tot Ax: 6)
Robot type: H120
Main system Version => Robot Language
Main S/W: V07.01-02 2001-06-18
Motion S/W: V07.00
T/P Ver : V01.03
I/O Ver : V01.00
2001-07-09
1999-05-31
1997-04-09
DSP Version
DSP1 S/W: V02.71
DSP2 S/W: V04.33
DSP3 S/W: V00.00
DSP4 S/W: V00.00
2000-03-20
1993-03-29
0-00-00
0-00-00
Press [ESC] or [R..]
>
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7.34 (34) R310 MANUAL OUTPUT OF GO-SIGNAL
Outline
It outputs 8 signals as 1 group at the same time.
Operation method
Enter Group number ( 1 - 32 )
>R310,10
Service System Rel.WAIT
Cond Set
„ AfterinputtingthegroupNo. withanumerickey, ifpress[SET]Key, itwillbeappeared
on the screen as followings.
Input data to be output manually (0-255)
>R310,10.255
Service System Rel.WAIT
Cond Set
„ After inputting the data with a numeric key, press [SET] key.
Reference
⑴ It can not be executed during operation.
⑵ The displayed value before changing the numerical value displays the current setting
status.
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7.35 (35) R320 SET MAX. SPEED OF STEP GO/BACK
Outline
It sets the Max. speed when the step go/back in teach mode.
It is possible to change from the speed when the step go/back in the range of 1 to 250㎜/s
without the received speed.
Also, it is possible to set at "Condition Setting"[PF5] -> 2.Step Go/Back Max. Speed.
Screen display
Step GO/BACK speed? (1 - 255mm/s)
>R320,200
Service System Rel.WAIT
Cond Set
„ After inputting the speed ratio with a numeric key, press [SET] key.
Reference
⑴ It cannot be executed during operation.
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7.36 (36) R323 ROBOT INTERRUPT FUNCTION RECORD
Outline
While moving to target step, it skip to next step as interruption function by detecting
assigned signals.
Screen display
0:DI Sig,1:Analog,2:Weld sticking(0 - 1)
>R323,
Service System Rel.WAIT
Cond Set
„ Choose [0] for I-signal or [1] for Analog, [2] for Weld sticking is not available
now.
7.36.1 0 : I-signal
Outline
While moving to target step, it skip to next step as interruption function by detecting
assigned I-signal (input signal) input. (That is, treat as if reached at target step)
For example, if there is a recorded function at Step2 and fulfilled assigned condition
while performing Step 3, it moves to Step 4 from the point of Step 3.
Operation method
After inputting [0], if press [SET] key, it will be appeared on the screen as
followings.
Enter Input signal ( 1 - 240 )
>M29=
Service System Rel.WAIT
Cond Set
„ After inputting the No. of I-signal with a numeric key, if press [SET] key, it will
be appeared on the screen as followings.
Set "reference point setting" (0 - 1)
>M29=5,
Service System Rel.WAIT
Cond Set
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7. R code
------------------------------------------------------------------------------------------------
„ If you choose [0] for reference point setting, other parameters (reference X, reference
Y, reference Z) will be 0 automatically, and complete input. If you choose [1] for
reference point setting, there will be a message as followings using search function.
Enter reference X (-3000.0 - 3000.0)
>M29=5,1,
Service System Rel.WAIT
Cond Set
„ After inputting the No. of X-point with a numeric key, if press [SET] key, it will
be appeared on the screen as followings.
Enter reference Y (-3000.0 - 3000.0)
>M29=5,1,200.0,
Service System Rel.WAIT
Cond Set
„ After inputting the No. of Y-point with a numeric key, if press [SET] key, it will
be appeared on the screen as followings.
Enter reference Z (-3000.0 - 3000.0)
>M29=5,1,200.0,150.0,
Service System Rel.WAIT
Cond Set
„ After inputting the No. of Z-point with a numeric key, if press [SET] key, it will
be appeared on the screen as followings.
14:39:38 *** M A N U A L *** A:0 S:H4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6 axes, 1steps
S1 MOVE P,S=100%,A=0,H=1
>
7.36.2 1: Analog
Outline
In case of working material is access within the range of assigned voltage by detection
of analogue sensor which is attached at robot or other place, if [1] for Analog selected,
it performs next step after completion of robot moving.
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7. R code
------------------------------------------------------------------------------------------------
Example
S5
S6:End
S1
S2
Stop,decel. section
S4
S3
F001:M30[1,1.00,3.00,0,0,0,0]
Analog1 Voltage
: 2.00V
Option board
Operation method
After inputting [1], if press [SET] key, it will be appeared on the screen as followings
Enter port No ( 1 - 2 )
>M30=
Service System Rel.WAIT
Cond Set
„ After inputting Port No. if press [SET] key, it will be appeared on the screen as
followings
Input minimum voltage. (-10.0 - 10.0)
>M30,1,
Service System Rel.WAIT
Cond Set
„ After inputting the No. of Lower voltage with a numeric key, if press [SET] key, it
will be appeared on the screen as followings.
Input maximum voltage.(-10.0 - 10.0)
>M30=1,-5.00,
Service System Rel.WAIT
Cond Set
„ After inputting the No. of Upper voltage with a numeric key, if press [SET] key, it
will be appeared on the screen as followings.
Set "reference point setting" (0 - 1)
>M30=1,-5.00,5.00,
Service System Rel.WAIT
Cond Set
„ If you choose [0] for reference point setting, other parameters (reference X, reference
Y, reference Z) will be 0 automatically, and complete input. If you choose [1] for
reference point setting, there will be a message as followings.
----------------------------------------------------------------------------------------
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7. R code
------------------------------------------------------------------------------------------------
Enter reference X (-3000.0 - 3000.0)
>M30=1,-5.00,5.00,1,
Service System Rel.WAIT
Cond Set
„ After inputting the No. of reference X-value with a numeric key, if press [SET] key,
it will be appeared on the screen as followings.
Enter reference Y (-3000.0 - 3000.0)
>M30=1,-5.00,5.00,1,200.0,
Service System Rel.WAIT
Cond Set
„ After inputting the No. of reference Y-value with a numeric key, if press [SET] key,
it will be appeared on the screen as followings.
Enter reference Z (-3000.0 - 3000.0)
>M30=1,-5.00,5.00,1,200.0,150.0,
Service System Rel.WAIT
Cond Set
„ After inputting the No. of reference Z-value with a numeric key, if press [SET] key,
it will be appeared on the screen as followings.
14:39:38 *** M A N U A L *** A:0 S:H4
T0 G1
PN:100[*]__ S/F=4/0
Sp:100.00
Robot:H120, 6axes, 1 steps
S1 MOVE P,S=100%,A=0,H=1
>
Reference
⑴ It can not be executed during operation.
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7. R code
------------------------------------------------------------------------------------------------
7.37 (37) R341 EXECUTION CODE BACK-UP
Outline
ItbackupsexecutioncodeswhicharerecordedatflashmemoryofboardBD411throughPCMCIA
slot with Linear Flash Memory Card.
Screen display
Backup execution code of controller?[Y/N]
>
Service System Rel.WAIT
Cond Set
„ If you select [YES], the back up function will be activated or if you select [NO],
it will be canceled.
Reference
⑴ It can not be executed during operation
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8. Programming
------------------------------------------------------------------------------------------------
Chapter 8. Programming
Contents
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
8.1 Edit step..................................................... 8 - 3
8.2 Summary of operation keys..................................... 8 - 4
8.3 Edit command.................................................. 8 - 6
8.4 Example - move sentence....................................... 8 - 7
8.5 Variable, numerical formula and string edit .................. 8 - 13
8.6 Line number edit............................................. 8 - 17
8.7 Block edit................................................... 8 - 18
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8. Programming
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Chapter 8. PROGRAMMING
Outline
Program can be divided into 2 parts, Step and Function.
There are two way of recording Step
1) Method of recording current position by pressing [RECORD] key.
2) Method of selecting [MOVE] command at menu.
For 2) method, pose variables must be used as a factor.
To record function, both inputting by using PF keys and using keys of Teach Pendant are
available.
Both Step and Function will be saved as a form of Command, and these Commands can be
distinguished as a Command and Factor. Factor can be divided by Basic factor which is
necessary basically and Selectable factor which can be different by situation.
If you add Command, default value shall be stored as a Basic factor and it can be changed.
Selectable factors display as a form of '_', when the cursor moved over '_' mark, the
range of factor shall be listed on the screen.
WheneditfactorsofCommand,inputteddatashallbeinsertedatcursor.Thereareseveral
methodstoinput.Directinput:byusingNumerickeys,Selectioninput:inputtingindexes
whicharelistedin( )afterselectionvariablesandfunctions frommenu,andCharacter
input : inputting figures by using numerical formula or characters.
Contents of current program can be listed at Edit frame, and it need to press [SET] after
change. The [CANCEL] key means back to origin program in state of non-change.
To teach, please check the Teach mode is current mode or not, after press Power [ON]
-> Motor [ON]. If it is not Teach mode, you can change by pressing [MODE] key.
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8. Programming
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8.1 EDIT STEP
It is a Command to move manipulator of robot, and most fundamental Command.
The position of the end of tool, speed, interpolation etc shall be assigned.
8.1.1 Record of Step
There are two methods to store (adding MOVE command) steps.
„ Edition by using [MOVE] key.
At Edit frame, if [REC] key pressed the MOVE statement shall be added at next line, no
matterwherethecursorlocated.Inthiscasethelocationofstepwillbestoredascurrent
positioninastyleofhiddenpose(thefactorwhichindicatingpositionwillnotbeshown).
Forfactorssuchasspeed, accuracy, interpolation, thelisteddataonthecurrentscreen
of teach pendant will be selected basically, and it can be changed with proper factor.
The mode shall be changed to Edit mode in real time with recording.
Speed will be displayed at the right upper corner of frame.
Interpolation can be identified by the light of LED located under the [PF5] key.
„ Edition by using Command input from Menu
For adding steps, pose variables must be used with this method. For others .
same as using [MOVE] key.
8.1.2 Modification of Step
„ For step which is recorded by record key
- To modify position only, press [Enable], [Pos. Modify] keys.
- To modify others, change factors after press [Command Modify] key.
„ For [Command Input] PF keys used. - using pose variables.
- To modify position only, press [Enable], [Pos. Modify] keys.
- To modify others, change factors after press [Command Modify] key.
„ For modification position only
Press[Enable]+[Pos.Modify]keysatthesametimewhilethecursorlocatedonMOVE.
Then the hidden pose of that step will be changed as a current position of robot.
8.1.3 Delete of Step
Press [Enable]+[Delete] keys at the same time while the cursor located on the line for
deletion.
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8. Programming
------------------------------------------------------------------------------------------------
8.2 SUMMARY OF OPERATION KEYS
Command
Address Area
Statement Cursor Status
As word cursor status.
Word Cursor Status
-
Command
Modify
-
Modify position of current Modify position of current
EN
+
selected step (hidden
posemodify ).
selected step (hidden
posemodify).
-
Position
Modify
For modify posevariables
For modify posevariables and
and other factorsuse Commandother factorsuse Command edit
edit key key
Menu frame will be changed
to upper menu.
Menu frame will be changed Menu frame will be changed
In case of highest menu,
change to cursor mode.
Cancel input value of input
frame
Cancel
to upper menu..
to upper menu.
Record
Move
Adding hidden pose MOVE
command
Adding hidden pose MOVE command
Delete whole command
Adding hidden pose MOVE command
Selectable factor:Delete Able
Basic factor:Delete Disable
Placing the inputted factor
value at input frame to the
location word cursor
EN+Delete
Delete whole command
Placing the inputted line No.
at input frame to the
SET
-
cursor of address location
Converse with word cursor
Converse with word cursor
Converse with word cursor
Speed
mode to modify speed factor inmode to modify speed factor inmode to modify speed factor in
Modify
the current line of Move
command
the current line of Move
command
the current line of Move
command
WEAVON /
Signal
output
WEAVOF /
Wait
Add M-signal output
Add WEAVON command
Add M-signal output
Add WEAVON Command
Add M-signal output
Add WEAVON command
Add WAIT command
Add WEAVOF command
Display Function menu on
menu frame
Add WAIT command
Add WEAVOF command
Display Function menu on
menu frame
Add WAIT command
Add WEAVOF command
Display Function menu on
menu frame
Function /
DELAY
Add DELAY command
Add DELAY command
Add DELAY command
Display different menu
according to command and
factor
PF2
[BLOCK EDIT]
[BLOCK EDIT]
(Start
Status)
Display block edit menu.
Display main menu
Selected command will be
Display when the word cursor
Command
Menu
inputted at under the current is located at command.
Not display
cursor in a shape of default
Parameter
Change current commandwith
another command.
(PF1~PF5)
Block Edit Execute by block edit
Not display
Not display
Menu
menu (Selection, Copy,
Delete, Add, End)
(PF1~PF5)
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8. Programming
------------------------------------------------------------------------------------------------
Factor menu
(PF1~PF5)
Input/Modify of factor
command.
Not display
Not display
Move menu frame upward
and downward. In case of
there is no '+'mark on far
right end, it moves to word
cursor up/down
Move cursor upward and
downward
Move cursor upward and
downward
↑ ↓
Move cursor to Command
area
Move cursor to Address
area
Move word cursor to left
factor
←
Move cursor to Command
area
Move cursor to Address
area
Move word cursor to right
factor.
→
EN+↑ ↓
Page Up/Down
Page Up/Down
-
Move cursor to left/right in
input frame. In case of Word
input status, move cursor
left/Right per 3 words.
EN+← →
-
-
-
(After press EN +
Command modify)
At start : Delete contents of
Input frame
At start : Delete address
of Input frame
BS
While input : Delete left side
word of cursor
While input : Delete
numberleft side of cursor
Loading program which is
selected
Loading program which is
selected
EN+P|STEP
P|STEP
-
-
Move to selected step by
input of step number
Move to selected step by
input of step number
Display help menu for each Display help menu for each Display help menu for each
status status status
Contents or condition screen Contents or condition screen Contents or condition screen
display for each status. display for each status. display for each status.
HELP
QuickOpen
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8. Programming
------------------------------------------------------------------------------------------------
8.3 EDIT COMMAND
8.3.1 Edition Screen
„ Address Area
It means the area which displays line number (1~9999) and step number(S1~S999).
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:100[*]__ S/F:4/1 Sp:100.00
S1 MOVE P,S=100%,A=0,H=1
S2 MOVE P,S=30cm/min,A=0,H=1
WEAVON WEV#=1
ARCON ASF#=1
S3 MOVE L,S=30cm/min,A=0,H=1
ARCOF AEF#=1
WEAVOF
S4 MOVE P,S=30cm/min,A=0,H=1
END
Select PF menu
>S3
Service Blk.EditRel.WAIT
Cond Set
„ Command Area
It means the area which displays commands. When whole line of this area selected,
that means Word cursor status.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PNo:100[*]__ SNo/F:4/1
S1 MOVE P,S=100%,A=0,H=1
Spd:100.00
S2 MOVE P,S=30cm/min,A=0,H=1
WEAVON WEV#=1
ARCON ASF#=1
MOVE L,S=30cm/min,A=0,H=1
ARCOF AEF#=1
WEAVOF
S4 MOVE P,S=30cm/min,A=0,H=1
END
Select PF menu
>
Service System Rel.WAIT
Cond Set
Transfer between address area and command area can be done by using [Õ][Ö] keys.
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8. Programming
------------------------------------------------------------------------------------------------
8.4 EXAMPLE - MOVE SENTENCE
Method of adding move sentence is as follows ;
If press [REC] key, new move sentence will be created or added with already set performed
factors.
Interpolation : The lighted value on LED indicates current basic interpolation value.
To change interpolation, press [INTERPOLATION] key.
Pose (Tool End Position) : Storing Robot manipulator's current posture.
Speed : The value on Edit frame or on right upper side of title frame indicates basic
speed value.
Accuracy : The value on the title frame indicates basic accuracy value.
Tool : The value under the time display indicates selected tool.
Speed
Accuracy
14:39:38 *** M A N U A L *** A:0 S:H4
T0
Tool
PN:999[*]__ S/F:1/0 Sp:100.00
Robot:H6
, 6axes, 2steps
S1 MOVE P,S=100mm/sec,A=0,H=0,_ UNTIL>
S2 MOVE L,S=100mm/sec,A=0,H=0
Select interpolation type
>P
OFF
Linear Circular
If press [RECORD] key, move sentence will be added and changed to word cursor status
simultaneously, under basis of basic value functions.
In case of there is not needed to change, just press down [SET] key.
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8. Programming
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If you want to change factors, the procedure is same as edit with [Command Modify]
as follows ;
In case of adding MOVE sentence, first move cursor to the point of want. At that
point press [Command Input] or [RECORD] key, then command sentence will be added in
the line of the below of cursor point
< >: PF key , [ ] : T/P key , [CANCEL] : Upper menu. - Keys for user's operation
< Command Input > - Select inputting command
Select PF menu
>
MOVE,I/OFlowCtrl Etc. ARC Weld Assign
< MOVE,I/O > - Command related with Step(MOVE) and I/O
Select command
>
MOVE PRINT INPUT Sig.Out WAIT
< MOVE > - Add step
„ Inserting command under word cursor
Automaticallycreatedbasicfactorsasdefaultvaluecannotdeleted.Selectivefactor
(use when needed and possible without it) displayed as '_' on the point of cursor.
Bycommandadd,thecursortransferfromstatementcursorstatustowordcursorstatus.
After completion of command add, if it want to edit again, press [Command Modify]
to transfer from statement cursor status to word cursor status.
Press [SET] key to go back to statement cursor status, after edition.
Press [ESC] key to go back to statement cursor status, without any change.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:1/0 Spd:100.00
Robot:H6
, 6axes, 2steps
S1 MOVE P,P1,S=300mm/sec,A=0,H=0,_ UN>
Select interpolation type
>P
OFF
Linear Circular
< Linear > [SET] [Ö] - Selection of Linear Interpolation.
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8. Programming
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To move cursor to the next factor, use cursor keys.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:1/0 Spd:100.00
Robot:H6 , 6axes, 2steps
S1 MOVE L,P1,S=300mm/sec,A=0,H=0,_ UN>
Enter pose
>P1
P
P[]
P* P. Const Local
Atword mode which is cursor indicating factor, current selected factor shown in input
frameasaformofreversecharacter.Ifpress[BS]key,selectedfactorwillbedeleted.
If select menu, the reverse character part will be deleted and it changes to input
at start. It need to edit partly, select <Numerical Formula> for word units.
< P > - Selection of Pn among pose variables.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:1/0 Sp:100.00
Robot:H6 , 6axes, 2steps
S1 MOVE L,P1,S=300mm/sec,A=0,H=0,_ UN>
Enter index(1-999)
>P
+R
+R[]
Local Variable Expr.+
[3] < +R[ ] > [2] [SET] - Select +R[ ] after number 1 input. And then input number 2
[SET]: There will be change in Edit screen by the change of content at input frame
[CANCEL]: Return to statement cursor mode without saving
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8. Programming
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※ If there are 5 more menus, at the end of final menu ' * ' mark will be appeared.
By pressing [ ↑ ], [ ↓ ] keys, it displays as follows ;
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:1/0 Sp:100.00
Robot:H6 , 6axes, 2steps
S1 MOVE L,P3+R[2],S=300mm/sec,A=0,H=0>
Enter index(1-999)
>P3+R[2]
+R
+R[]
Local Variable Expr.+
[Ö] - Factor move
14:39:38 *** M A N U A L *** A:0 S:H4
T0
Select unit of
PN:999[*]__ S/F:1/0 Sp:100.00
Robot:H6 , 6axes, 2steps
S1 MOVE L,P3+R[2],S=300mm/sec,A=0,H=0>
velocity between
[mm/sec], [sec],
[%], [cm/min].
Enter speed ( 0.1-2300.0 )
>S(mm/sec)=300
Unit
Conv
Variable
[1][2][0][SET][Ö]-Press[SET]key,afterinputspeed120.Andthenfactormovefollows.
※ If it want to change speed to 300.12, press [ENABLE] + [⇒] key. Then cursor locates
at the end of numeric 300.
>S(mm/sec)=300_
At there input [.][1][2], it can be inserted.
If input [.][1][2] without pressing
[ENABLE] + [Ö] key previously, just "0.12" shall be appeared as speed except 300.
Conversion can be used in changing units while maintaining current speed.
For instance, 300 mm/sec equals 1800 cm/min. To change unit and value in a same
speed, press [CONVERSION] and select unit.
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14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:1/0 Sp:100.00
Robot:H6 , 6axes, 2steps
S1 MOVE L,P3+R[2],S=120mm/sec,A=0,H=0>
Enter accuracy ( 0-3 )
>A=0
Variable Expr.
[1] [SET] [Ö] [Ö] - Inputting accuracy. (H=0 ; Same method with Tool number
input) Move to MX.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:1/0 Spd:100.00
Robot:H6 , 6axes, 2stpes
S1 OVE L,P3+R[2],S=120mm/sec,A=1,H=0,_
Adjust output option(Toggle)
>
MX
MX2
G1
G2
BM
< MX > < G1 > [SET] - <MX>, <MX2>, <G1>, <G2>, <BM>. multi inputs
possible.
[CANCEL] - Transfer from word cursor mode to statement cursor mode.
[SET]
- Transfer to statement cursor mode.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PNo:999[*]__ SNo/F:1/0
Spd:100.00
Robot:H6 , 6axes, 2steps
S1 MOVE L,P3+R[2],S=120mm/sec,A=1,H=0>
Select PF menu
>
MOVE,I/OFlowCtrl Etc. ARC Weld Assign
Input completed.
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8. Programming
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※ To change contents in Edit frame with contents in Input frame, press [SET] key.
If press [SET] key one more time (that is, the contents of each frame are same), it
transfer from word cursor mode to statement cursor mode.
If want to change one factor, press [Command Modify] , move to the factor and input
values. Afterthatpress[SET]key2times. 1st[SET]keyexecutesconvertinginputted
data and 2nd [SET] means returning to previous state of [Command Modify] after complete
factor edition.
There are 3 forms of factor.
1. Arithmetic form
Arithmetic variables(V%, V!, … ), integral number, real number, arithmetic
functions. In case of there is noarithmeticalrules(+, -, *, /) it can be inputted
with numerical keys and menu.
2. Sentence form
Sentence form constant, sentence form variables, sentence form functions.
To input, use menu for functions / variables and use [SENTENCE INPUT] after converse
to statement input status menu for sentence form constant.
3. Pose form
Pose constant, pose variables, shift etc.
For each form, several different factors can be used at the same time. For example,
in case of index of pose variable, Arithmetic form can be used because index treated as
a numerical formula(including constant).
For more detail, refer to Language Explanation chapter.
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8. Programming
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8.5 Variable, numerical formula and string edit
In case that variable, numerical formula and string edit is needed when editing an
instruction statement, it can be selected in menu. Variable is input by menu method which
is in case of unitary (one variable without operator, but a subscript can be used as a
variable), numerical formula uses number and variable which includes operator, and it
uses edit method by a character.
„ Variable
We take a speed input screen for an example.
Enter speed( 0.1-1100.0 )
>S(mm/sec)=120
Unit
Conv
Variable Expr.
< Variable > - Entry into variable input state.
Enter variable
>120
V
pose shift
out
in
< V > - Select variable.
Enter variable
>120
V%
V!
V%[]
V![]
< V%[ ] > - Select variable type to input.
Enter variable
>V%[]
<
>
=
Variable Expr.
If you select variable type that has subscript, cursor is located on subscript input
position as inputting.
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8. Programming
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※ If you input it on the input frame, it as added just in front front of cursor.
< Variable > < V > < V% > - Select variable again by subscript.
Enter variable
>V%[V%]
<
>
=
[2] [SET] - Numerical formula in the input frame becomes highlighted and input contents
are reflected in the edit frame.
Enter variable
>V%[V2%]
<
>
=
[SET]
Variableinputcompletion. Afterchangedvalueisreflectedintheinstructionstatement,
it returns to the statement cursor again.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PNo:999[*]__ SNo/F:1/0 Spd:100.00
Robot:H6 , 6axes, 2steps
S1 MOVE L,P3+R[2],S=V%[V2%]mm/sec,A=1>
Select PF menu
>
MOVE,I/OFlowCtrl Etc. Arc Weld Assign
„ Numerical formula
We take a speed input screen for an example. When the present speed is V1%mm/sec,
if it inputs the speed in numerical formula form
Enter speed( 0.1-1100.0 )
>S(mm/sec)=V1%
Unit
Conv
Variable Expr.
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8. Programming
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< Numerical formula > - Entry into numerical formula input state.
“ ‘ +-*/^=<>&|~(),[]%!$?{}:;`. @#₩
>V1%
Delete
<-
->
space
Present value is displayed in highlighted in the guide frame position. If you want
to ignore existing value and input newly, you can input it directly in number or input
character frame, and if you want to change it by using present value, press arrow of
PF2, PF3 and then the cursor will appear.
※ Press [SET] after selecting relevant character that is in input character frame.
PF2[<-], PF3[->] will make it move by one step, and if pressing with [ENABLE] will
make it move by 5 steps.
< -> > [ENABLE]+[Ö] < SET > [2]
“ ‘ +-*/^=<>&|~(),[]%!$?{}:;`. @#￦
>S(mm/sec)=V1%/2
Delete
<-
->
space
< Completion > - It returns to previous state (high position menu) which is not inputting
numerical formula.
Enter speed( 0.1-1100.0 )
>S(mm/sec)=V1%/2
Unit
Conv
Variable Expr.
[SET] - It is reflected in the edit frame after completion of inputting by using numerical
formula method.
[SET] - It changes instruction statement and then it returns to the statement cursor.
„ String
[Character input/8] If you press the key, it changes to the character input state and
input method is the same as the numerical formula input.
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8. Programming
------------------------------------------------------------------------------------------------
“ ‘ ABCDEFGHIJKLMNOPQRSTUVWXYZ
“ ‘ _abcdefghkjklmnopqrstuvwxyz
“ ‘ +-*/^=<>&|~(),[]%!$?{}:;`._@#￦
ㄱㄲㄴㄷㄸㄹㅁㅂㅃㅅㅆㅇㅈㅉㅊ
ㅋㅌㅍㅎ +
ㅏㅐㅑㅒㅓㅔㅕㅖㅗㅛㅜㅠㅡㅣ
+
>*Weld
Delete
<-
->
space
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8. Programming
------------------------------------------------------------------------------------------------
8.6 Line number edit
Step number is created at the same time when MOVE statement (step) is input. Line
number is available within 1∼9999 and the input method is that it is input line number
in the address area.
At first, move a cursor to the address area,
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PNo:100[*]__ SNo/F:4/1
S1 MOVE P,S=100%,A=0,H=1
Spd:100.00
S2 MOVE P,S=30cm/min,A=0,H=1
WEAVON WEV#=1
ARCON ASF#=1
S3 MOVE L,S=30cm/min,A=0,H=1
ARCOF AEF#=1
WEAVOF
S4 MOVE P,S=30cm/min,A=0,H=1
END
Select PF menu
>
Service Blk.EditRel.WAIT
Cond Set
and then press [SET] after inputting line number.
[1] [0] [SET]
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:100[*]__ S/F:4/1 Sp:100.00
S1 MOVE P,S=100%,A=0,H=1
S2 MOVE P,S=30cm/min,A=0,H=1
10 WEAVON WEV#=1
ARCON ASF#=1
S3 MOVE L,S=30cm/min,A=0,H=1
ARCOF AEF#=1
WEAVOF
S4 MOVE P,S=30cm/min,A=0,H=1
END
Select PF menu
>10
Line number is reflected on the edit frame.
When a cursor is in address area in a instruction statement with line number, because the
linenumberishighlightedininputframe, changeisthatinputtingthelinenumberlikeinput,
and input has the same method with change method, and in case of delection, the line number
is deleted when you press [SET] after deleting by using a backspace[BS].
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8. Programming
------------------------------------------------------------------------------------------------
8.7 Block edit
Is is a function that copying and moving to other place or deleting after copying whole
lines of program. The control statement which includes step number has target step number's
change automatically after copying. It is possible to edit by line at the address cursor
mode. Step number is automatically changed.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:0/2 Sp:100.00
Robot:H6 , 6axes, 14steps
1 V10!=0
V11!=0
S1 MOVE L,P1+R[2],S=120mm/s,A=0,H=0
*WELDING
45 DELAY 1
GOTO S2
S2 MOVE L S=100mm/sec,A=0,H=0
END
Select PF menu
>
Service Blk.EditRel.WAIT
Cond Set
< block edit > [ Ø ] - Press block edit for copy/move/deletion by line.
All of address, instruction areas are highlighted. You can move it to selection
beginning line by using a cursor key.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:0/2
Robot:H6 , 6axes, 14steps
1 V10!=0
Sp:100.00
V11!=0
S1 MOVE L,P1+R[2],S=120mm/s,A=0,H=0
*WELDING
45 DELAY 1
GOTO S2
S2 MOVE L S=100mm/sec,A=0,H=0
END
Set start position of block region
>
Select
Delete Close
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8. Programming
------------------------------------------------------------------------------------------------
< Selection > [Ø][Ø][Ø][Ø][Ø] - Press <Selection>key atthe beginning line of block
to select. Move to last line of block to select by using a cursor key. Selected
area is displayed in highlighted as following picture.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:0/2 Sp:100.00
Robot:H6 , 6axes, 14steps
1 V10!=0
V11!=0
S1 MOVE L,P1+R[2],S=120mm/s,A=0,H=0
*WELDING
45 DELAY 1
GOTO S2
S2 MOVE L S=100mm/sec,A=0,H=0
END
Set end position of block region
>
Select
Delete Close
< Selection > - At the end line of selection area, it ends selection of block area
by using a <Selection> key. The end line is flickering, so it is copied and moved
by using this line as a reference.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:2/0 Sp:100.00
Robot:H6 , 6axes, 14steps
1 V10!=0
V11!=0
S1 MOVE L,P1+R[2],S=120mm/s,A=0,H=0
*WELDING
45 DELAY 1
GOTO S2
S2 MOVE L S=100mm/sec,A=0,H=0
END
Select block edit function
>
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8. Programming
------------------------------------------------------------------------------------------------
[×] [×] - It moves to front line of the line where copied area will be pasted by using
a cursor key. (45 DELAY 1 line)
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:1/2 Sp:100.00
Robot:H6 , 6axes, 14steps
1 V10!=0
V11!=0
S1 MOVE L,P1+R[2],S=120mm/s,A=0,H=0
*WELDING
45 DELAY 1
GOTO S2
S2 MOVE L S=100mm/sec,A=0,H=0
END
Select block edit function
>
Unselect Copy
Move Delete Close
<Copy> - Copied area is pasted just below a cursor.
14:39:38 *** M A N U A L *** A:0 S:H4
T0
PN:999[*]__ S/F:1/3 Sp:100.00
Robot:H6 , 6axes, 14steps
1 V10!=0
V11!=0
S1 MOVE L,P1+R[2],S=120mm/s,A=0,H=0
*WELDING
45 DELAY 1
V11!=0
Selected region copied
>
Unselect Copy
Move Delete Close
Labelinstruction can't be copied - Linenumberisn'talsocopied but onlythe instruction
statement can be copied.
The step number of the step to move is changed automatically.
If you press <End>, it returns to the initial screen.
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9. Quick Open Function
------------------------------------------------------------------------------------------------
Chapter 9. Quick Open Function
CONTENTS
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
9.1
9.2
9.3
9.4
9.5
9.6
9.7
9.8
9.9
Function summary............................................ 9 - 2
Move - step position........................................ 9 - 4
Welding start con. - execution at ASF#=X .................... 9 - 5
Welding end con. - execution at AEF#=X...................... 9 - 7
Welding aux. con. - retry................................... 9 - 9
Welding aux. con. - restart................................ 9 - 11
Welding aux. con. - auto. wire stick release. .............. 9 - 14
Weaving condition file..................................... 9 - 15
Program edit in running.................................... 9 - 17
9.10 Spot welding function...................................... 9 - 18
9.10.1 Welding condition ......................................... 9 - 18
9.10.2 Welding sequence........................................... 9 - 19
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9. Quick Open Function
------------------------------------------------------------------------------------------------
9.1 FUNCTION SUMMARY
OUTLINE
In case of teaching a work program of arc welding, it is required to set a detailed
arc exclusive function such as weaving, Retry/Restart and welding machine's
characteristic as well as welding relating condition such as voltage and current. And
there's also several cases to need to check the step or auxiliary point's position
basically.Theconditionsrelatedwitharcweldingaremanagedasfilesinnercontroller,
so there are needs to have functions to edit these condition files in easy and quick
way. Because of these reasons, Quick Open function can be an answer that can check and
change in controlling the key just once.
If taking a welding start condition for an example, if pressing [Quick Open] key( )
when cursor is on the ARCON instruction statement which is used for Arc On, condition
number'scontentsin weldingstartconditionaredisplayed usinginpresentinstruction
statement, and you can check and change the contents detailed in this screen. As well,
if there is an other condition file related with present condition file, it's possible
to move immediately. In other words, it is function that check and change the relating
contentsdetailedsuchasconditionfileorsteppositionwhichisrelatedwithspecific
instruction statement in easy and quick way.
WEAVING CONDITION FILE
ARC START CONDITION FILE
Cond No : [1]
Cond No
Commnet
Retry
Current
Voltage
Wait time
: [1]
Mode : <Single,Triangle,L>
Freq. : [2.5]Hz
Pattern Vertical : [2.0]mm
Horizontal: [2.0]mm
: [Sample Welding]
: <Ok,No>
: [200] A
: [ 20.0] V
: [0.10] sec
14:39:38
T=0
*** M A N U A L ***
Robot:H6, 6axes, 4steps
Angle : [90.0]deg
S1 MOVE L, S=50%, A=0, H=0
S2 MOVE L, S=50%, A=0, H=0
WEAVON WEV#=1
ARCON ASF#=1
Forw Angle
: [ 0.0]deg
WCR Wait :<Disable,Enable>
S3 MOVE L, S=40cm/min, A=0, H=0
ARCOF AEF#=1
WEAVOF
S4 MOVE L, S=50%, A=0, H=0
E ND
Select PF menu
>
POSE OF CURRENT STEP
X
Y
Z
: [ 200.000] mm
: [1200.000] mm
: [ 240.000] mm
CRATER CONDITION FILE
Cond No
: [1]
Comment : [Sample Welding]
StickRecover: <Ok,No>
Rx : [-135.000] deg
Ry : [ 0.000] deg
Current
Voltage
: [180] A
: [ 20.0] V
Servie
System Rel.WAIT
Co
Rz : [ 0.000] deg
Coordination:
.........
Crater time : [0.10] sec
비상정지
PF1 PF2 PF3 PF4 PF5
In a specific instruction statement, if you press [QuickOpen] key, the relating file
or detailed contents are displayed. When it ends after saving, press "Complete"[PF5],
when it ends without saving, press [Cancel].
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9. Quick Open Function
------------------------------------------------------------------------------------------------
In each instruction statement, when [QuickOpen] is pressed, the contents are as
followings.
instructi
on
statement
file, contents
detailed contents
remark
present position, ordered position*.
X Y Z(mm) Rx Ry Rz(.)
Position
*can be edit
MOVE
Robot Configuration
CALL
JMPP
program called
imperative sentence display
welding start condition
Condition No., explanation, Voltage check, RETRY check, Action
mode, Current, Voltage, WCR input wait check, wait (delay)
time
weld'gstartcon. welding aux. condition
file -RETRY: No. of times, RETRACT time, retract/welding line
move amount, speed, Current, Voltage
-RESTART: No. of times, amount of superposition, Velocity,
Current, Voltage, overlap condition setting
weld'g aux. con.
file
ASF#=
welder characteristic
welder No., name, explanation, power, setting, diameter of wire,
welding machine
characteristic
file
prominence length, wire stick detecting time, arc off detecting
time.
-current characteristic
polarity, ordering value(V), measured value(A), compensation
value.
-voltage characteristic
polarity, ordering value(V), measured value(V,%),
compensation value
weld'g end con. file
welding end con.
file
condition No., Voltage check, explanation, Auto wire stick
release, current,
weld'g aux. con. Voltage, condition holding time, gas holding time
file
weld'g aux. condition file
AEF#=
welderchar.file auto wire stick release: No. of times, current, voltage, delay
time
weaving con. file
WEAVON
WEV#=
weaving
condition
condition No, weaving type, frequency, basic pattern,
moving time, timer
present position, ordering
value.
ordering value can be edit.
same screen with “ position”
screen
reference point
REFP
X Y Z(mm) Rx Ry Rz(.)
substitu-
tional
statement
It can monitor a relevant variable and change the value
depending on the variable type of substitutial statement.
V%, V!, V$, P, R, LV%, LV!, LV$, LP, LR
variable check
and change
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9. Quick Open Function
------------------------------------------------------------------------------------------------
9.2 MOVE - step position
Outline
Press
(QuickOpen) key at move instruction.
Screen display
14:39:38 *** Step Pose Data *** A:0 S:4
POSE OF CURRENT STEP
X: [ 840.000] mm
Y: [ 960.000] mm
Z: [ 0.000] mm
Rx:[ 0.000] deg
Ry:[ 0.000] deg
Rz:[ 0.000] deg
Coordination : <Base,Robot,Encoder>
Robot Configuration: <Define,Self-Cfg>
<Front,Rear> <Up,Down> <Flip,Non-flip>
Select and Enter number. Press [SET]
>[-99999.999 - 99999.999]
Save
screen contents
„ present step position
(1) It displays relevant step position(pose).
(2) When changing a step position, it is moved by using a cursor key, when it is edited,
if [SET]key is pressed after inputing number, the contents input is reflected.
„ coordinate type : It selects the display type of present step position among Base
coordinate system, Robot coordinate system and Encoder value.
„ robot config. type : It is displayed when the coordinate system form is Base or Robot
coordinate system, and when the robot position is decribed, if you decribe the form
uniquly, the selection of robot config. is needed because there are several values
considering of its mechanism. In case of selecting the items, press [Shift(high
speed)]+[<-] [->].
Edit method
Move the highlight bar on the item. In case of inputting the numerical value, if you
press[SET]keyafterinputtingnumberontheinputframe,thecontentswillbereflected.
In case of selecting one out of items in < >, if you press [Shift(high speed)]+[<-][->],
the highlight bar is moving and then it is immediately reflected. If you want to reflect
it to program, you finish it by pressing “ record” [PF5]. If you finish by pressing
[cancel], the contents displayed on the screen is not reflected.
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9. Quick Open Function
------------------------------------------------------------------------------------------------
9.3 WELDING START CONDITION - EXE. AT ASF#=x
Outline
If you press
key, when a cursor is at the ARCON ASF#= instruction line, the edit
screen appears as followings.
Entry screen
14:39:38** Arc Condition File **A:0 S:4
ARC START CONDITION FILE 1/2
Cond No
Comment
: [ 1] (chg:[Sft]+[Up/Down])
: [Arc Start Cond 1 ]
Vol Confirm: <Done, Not Done>
Retry : <OK,No>
Retry Mode : <Reenter,Shift,Weld Path>
Current
Voltage
WCR Wait : <Disable,Enbale>
: [200] A
: [ 20.0] V
Wait Time : [0.10] sec
Gas Preflow: [ 0.5] sec (if GasControl)
----------------------------------------
<Initial Condition (Disable:0sec)> 2/2
Initial Time : [0.00] sec
Initial Current : [ 0] A
Initial Voltage : [ 0.0] V
Output method : <constant,Slope>
Select and Enter number. Press [SET]
>
Aux Cond Welder Previous Next
Save
screen contents
„ con. No. : It assigns the welding con. No. (32 conditions are available.)
„ explanation : It records the explanation about usage of the welding condition.
„ voltage check : It sets whether the checked control method of welding power machine is
unification or individuation.
„ retry : In case of not detecting WCR signal after outputting ARCON signal, it determines
whether using retry function or not.
„ action mode : It is the moving direction of torch when it retries.
① re-entry : In case that arc occurrence is failed, after moving back to before step,
it tries to make an arc occurrence again. The moving distance can be set as retract
distance on the welding auxiliary condition retry screen. Because it steps moving
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9. Quick Open Function
------------------------------------------------------------------------------------------------
forward after retracting in certain amount of distance, the voltage/current
condition follows the welding start condition.
② Shift : After moving in scheduled moving amount at the retry condition of welding
aux. condition, it returns to the arc occurrence step. And it tries to make
an arc occurrence in the voltage/current condition at retry condition.
③ welding line move: After moving by scheduled distance at the retract distance of
welding aux. condition's retry condition with welding line, it tries to make
an arc occurrence in the scheduled voltage/current condition at retry
condition. If the arc occurrence is success, after it returns to the welding
start point again with holding this arc, it processes the welding.
„ Output current : It inputs the welding current value to output at welding power
machine.
„ Output voltage : It inputs the welding voltage value to output at welding power
machine.
„ WCR input wait : It selects whether waiting WCR input or not waiting and just processing
after outputting the welding condition.
„ Wait time : In case that WCR input wait is “ enable” : it displays “ wait time” . timeout
time, that is WCR input maximum wait time, it processes even though the signal is not
detecting.
In case that WCR input wait is “ disable” : it displays “ delay time” . It is the time
when robot is not moving after outputting the condition.
„ Gas blowing out : It inputs the time of gas to blow out before the arc welding starts.
„ Initial condition time : After WCR is input, it sets the holding time of initial current
and voltage.
„ Initial current : It sets the current value until WCR is input.
„ Initial voltage : It sets the voltage value until WCR is input.
„ Output type : While an arc welding, it selects whether you make it steep or unchangible
which is the status of current and voltage from initial time to the steady state.
Reference
(1)[cancel]endswithoutsaving, “ completion” [PF5]endsaftersavingthechangeditems.
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9. Quick Open Function
------------------------------------------------------------------------------------------------
9.4 WELDING END CONDITION - EXE. AT AEF#=
OUTLINE
When a cursor is at ARCOF AEF#= instruction line, if you press
is displayed as followings.
key, edit screen
Entry screen
14:39:38** Arc Condition File **A:0 S:4
CRATER CONDITION FILE
Cond No
Comment
: [ 1] (chg:[Sft]+[Up/Dwn])
: [Crater Condition 1 ]
Vol Confirm : <Done,Not Done>
StickRecover: <Ok,No>
Current : [180] A
Voltage : [20] V
Creater Time: [0.10]sec
Out Method : <constant,Slope>
Gas Postflow: [ 2.0] sec
Select and Enter number. Press [SET]
>
Aux Cond Welder
Save
Screen contents
„ Con. No. : It assigns the welding condition No. (32 conditions are available.)
„ Explanation : It records explanation about usage of the welding condition.
„ Voltage check : It sets what you checked whether the control way is unification or
individuation.
„ Auto wire stick release : In case that wire stick is happened after ARCOF is output, it
decides whether using the auto wire stick release function or not.
„ Output current : It inputs welding current value to output at the welding power machine.
„ Output voltage : It inputs welding voltage value to output at the welding power machine.
„ Condition holding time : It inputs the time when current and voltage of welding end
condition holds.
„ Outputway:Whenthearcweldingends,itselectswhetheryoumakeitsteeporunchangable
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9. Quick Open Function
------------------------------------------------------------------------------------------------
which is condition of current and voltage value from in steady state to in end state.
„ Gas blowing out : It inputs the time when the gas is blew out continuously after Arc
off.
Reference
(1) If you press [cancel], it ends without saving, if you press “ completion” [PF5], it ends
after saving the changed contents.
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9. Quick Open Function
------------------------------------------------------------------------------------------------
9.5 WELDING AUXILIARY CONDITION - RETRY
Outline
If you press "aux. condition"[PF1] at the welding start condition file screen, the
varieties of auxiliary condition file are displayed separately.
Entry screen
14:39:38** Arc Condition File **A:0 S:4
ARC AUXILIARY CONDITION FILE
<RETRY>
Repetition
RETRACT Time
: [1] Times
: [1.50] sec
Reentr/Path Dist: [ 3.00] mm
Shift Dist. : X=[ 2.00] mm
Y=[ 2.00] mm
Y=[ 2.00] mm
Select and Enter number. Press [SET]
>[1-100]
Restart ASF
Save
Screen contents
„ Count of times : It assigns the maximum number of times repeating. If arc occurrence
fails within number of times assigned, it stops after returning to the reference point
(initial arc on occurrence try point, welding start point).
„ RETRACT time : When it retries, it assigns the time when wire is retracted. Torch is
moved after Retract, and then it makes arc on after inching.
„ Retract/weldinglinemove:Whenanactionmodeissettore-entryorweldingline move,
it is the distance of torch when it is retried. An action mode setting is assigned at
start condition.
„ Shift move amount : When an action mode is set to shift, it is the move amount of torch
when it is retried.
„ Speed : When a retry, it is the speed of body moving to the retry point assigned or
returning to the welding start point.
„ Current : It is the output value of welding current when a retry.(It is applied until
the body is returned to the welding start point.) But, in case that current value is
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9. Quick Open Function
------------------------------------------------------------------------------------------------
0,it starts with the current value of welding start condition.
„ Voltage : It is the output value of welding voltage when a retry.(It is applied until
the body returns to the welding start point.) But, in case that voltage value is 0,
it starts with the current value of welding start condition.
Reference
(1) It ends without saving when you press [cancel], but it ends after saving the contents
changed when you press “ completion” [PF5].
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9. Quick Open Function
------------------------------------------------------------------------------------------------
9.6 WELDING AUXILIARY CONDITION - RESTART
Outline
If you select “ aux. condition” [PF1] at the welding start condition screen and press
“ restart” [PF1], restart setting screen is displayed as followings
Entry screen
14:39:38** Arc Condition File **A:0 S:4
ARC AUXILIARY CONDITION FILE
<RESTART>
Repetition : [2] Times
Overlap Length : [ 5.0] mm
Speed
: [ 27] cm/min
: [ 0] A
Current
Voltage
OVERLAP CONDITIONS
: [ 0.0] V
Arc Off : <Stop,Conti,SemiAuto,Auto>
Gas Off : <Stop,SemiAuto>
Wire Off : <Stop,SemiAuto>
Select and Enter number. Press [SET]
>
Retry
ASF
Save
Screen contents
„ Number of times : It assigns max. repeating number of times of restart process in the
same welding area.
„ Amount of superposition : It is the distance of superposition(Overlap distance) when
a restart. It starts to weld after returning as long as a superposition distance.
„ Speed : It is a speed of overlapping after moving to superposition position. When error
occurs, it has three times of assigned speed when it moves as long as overlap distance,
andthisspeedisappliedwhenitweldsinoverlaparea. AfterweldinginOverlapsection,
the normal welding speed is applied.
④
②
③
①
Overlap
distance
Speed in restart process
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9. Quick Open Function
------------------------------------------------------------------------------------------------
In case that error occurs(②) when a welding processes from welding start point(①)
to welding end point(④), it moves in three times of speed assigned here as long as
amount of superposition(③). It welds with current, voltage and speed which is assigned
at restart until ②, and it welds in normal condition assigned at start condition from
② to ④. But, during a welding in overlap section (from ③ to ②), when error occurs,
it immediately starts welding in that point without overlapping again.
„ Current : It is a welding current at superposition section when overlapping. But, when
a voltage value is 0, it starts with the current value of welding start condition.
„ Voltage : It is a welding voltage when overlapping. But, when a voltage value is 0,
it starts with the voltage value of welding start condition.
„ Overlap condition setting : If Arc Off, Gas Off, Wire Off signal is input when a arc
welding, following exe. methods are determined depending on the restart type of welding
auxiliary condition file.
(1) Arc Off : It is the processing method when “ Arc Off detect” input signal is input.
① Enable : It stops with “ current not detecting during E1189 welding” message, and
it doesn't do a bid overlap when starting after pressing “ start” button
again.
② Ignore : It's still working with “ current not detecting during E1189 arc welding.”
③ Semi-auto : It stops the robot with “ current not detecting during E1189 arc
welding” message and waits for a manual operation. If you press "start"
button in manual operation after clearing error, it returns as long as
amount of superposition assigned at restart condition in three times of
assigned speed, and outputs condition current and voltage, and welds by
arc Off point by making Torch Switch On in a setting speed, and if it gets
to arc Off position, it outputs current and voltage value of welding start
condition, and it continues to do a normal arc welding to the target point.
④ Auto : It stops the robot with “ current not detecting during E1189 arc welding”
message and automatically returns to the three times of setting speed at
restart condition, and it outputs current and voltage of restart condition,
and makes Torch Switch On, and it welds by the arc Off position in a setting
speed, and if it gets to the arc Off position, it outputs current and voltage
value of the welding start condition, and it continues to do a normal welding
to the target point.
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9. Quick Open Function
------------------------------------------------------------------------------------------------
(2) Gas Off : It is a processing method when “ Gas status(enable/disable)” input signal
is input.
① Disable:It stopswith“ E1275gaspressure isnot enough.” message, and itdoesn't
do a bid overlap when it starts after pressing “ start” button again.
② Semi-auto : It stops the robot to wait manual operation with “ E1275 gas pressure
is not enough.” message. If you press "start" button after clearing Error
by a manual operation, It returns as long as assigned amount of superposition
from gas Off position, and outputs current and voltage of restart condition,
and makes Torch Switch On and it welds by gas Off position in a setting speed,
and if it gets to the gas Off position, it outputs current and voltage value
of welding start condition and it continues to do a normal welding to the
target point.
Reference
„ "system"[PF2] → 4. application parameter → 2. arc → 1. If you set a gas pressure
status input signal "0", it ignores even though signals are input.
(3) Wire Off : It is a processing method when “ Wire status(enable/disable)” input signal
is input.
① disable:It stopswith“ E1276weldingwireis not enough.” message, and itdoesn't
do a bid overlap when it starts after pressing "start" button.
② seim-auto : It stops the robot to wait manual operation with “ E1276 welding wire
is not enough.” message. If you press "start" button after clearing Error
by a manual operation, it returns as long as assigned amount of superposition
from wire Off position, and outputs current and voltage of restart condition,
and makes Torch Switch On and it welds by wire Off position in a setting speed,
and if it gets to the wire Off position, it outputs current and voltage value
ofweldingstartconditionanditcontinuestodoanormalweldingtothetarget
point.
Reference
„ "system"[PF2] → 4. application parameter → 2. arc → 1. If you set a Wire status
input signal "0", it ignores even though signals are input.
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9. Quick Open Function
------------------------------------------------------------------------------------------------
9.7 WELDING AUXILIARY CONDITION - AUTO. WIRE STICK RELEASE
Outline
If you select “ auxiliary condition” [PF1] at welding end condition, automatic wire
stick release setting screen is displayed as followings.
Entry screen
14:39:38** Arc Condition File **A:0 S:4
ARC AUXILIARY CONDITION FILE
<AUTO STICK RECOVERY>
Repeat : [1] Times
Current : [ 0] A
Voltage : [ 20.0] V
Delay : [0.30] sec
Select and Enter number. Press [SET]
>[0.0 - 200.0]
AEF
Save
Screen contents
„ Number of times : It inputs the maximum repeating times of wire stick release.
„ Current : It inputs the output value of welding current during a wire stick release.
„ Voltage : It inputs the output value of welding current during processing a wire stick
release.
„ Delay time : It inputs the time when a wire stick release condition outputs.
Reference
„ Move a cursor on the content which you want to change, and press [SET] and inputting
numerical number. The setting value will be changed. You should press "completion"[PF5]
to save the changed value.
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9. Quick Open Function
------------------------------------------------------------------------------------------------
9.8 WEAVING CONDITION FILE
Outline
If you press
key, when there is a cursor in WEAVON WEA#= instruction line, the edit
screen is displayed as followings.
Entry screen
14:39:38** Arc Condition File **A:0 S:4
WEAVING CONDITION FILE
Cond No: [1]
Mode : <Single,Triangle,L>
Freq. : [2.5]Hz (0Hz: Moving Time)
Pattern:
Vertical [10.0]mm
Horizontal [10.0]mm
Angle
Forw Angle:
[90.0]deg
[ 0.0]deg
Segment
Moving Time
[0.10] sec
[0.10] sec
[0.10] sec
[0.10] sec
Timer
1
=>
=>
=>
=>
2
3
4
Segment
1
2
3
4
=>
=>
=>
=>
[0.00] sec
[0.00] sec
[0.00] sec
[0.00] sec
Select and Enter number. Press [SET]
>
Previous Next
Save
Screen contents
„ Condition number : It is the number of weaving condition. You can input the number
directly or move to previous or next number by using [ENABLE]+[↑ ] [↓ ].
„ Weaving type : It supports simple harmonic motion, triangle wave and L type wave.
„ Frequency : If 0, it selects moving time. Frequency can be set within 0.1∼5.0Hz.
„ Basic pattern
(1) Vertical direction : Ver. distance can be input within 1.0∼25.0mm.
(2) Horizontal direction : Hor. distance can be input within 1.0∼25.0mm.
(3) Angle : Angle can be input within 0.1∼180.0 degree.
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9. Quick Open Function
------------------------------------------------------------------------------------------------
„ Moving angle : moving angle can be set within -90.0∼90.0 degree.
„ Moving time : moving time can be set within 0.04∼9.99sec.
„ Timer : timer can be set within 0.00∼2.00sec.
Reference
„ Moveacursoronthecontentwhichyouwanttochange, anditissetbyinputtingnumerical
number or using [Enable]+[→ ]/[← ] key. After changing, if you press [cancel], it ends
without saving, and if you press "record"[PF5], it ends after saving.
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9. Quick Open Function
------------------------------------------------------------------------------------------------
9.9 PROGRAM EDIT IN RUNNING
Outline
If you press
key when a robot program is playing back, the program edit in running
(Hot Edit) screen is displayed as followings. The function explanation about program
edit in running (Hot Edit) can be referred to “ service” [PF1] -> 4: program edit ->
6: program edit in running(Hot Edit).
14:39:38 *** Hot edit ***
A:0 S:4
SR:100% Cont
PB:022/4/0
HotE:022/3/1
S1 MOVE P,S=30%,A=1,T=0
S2 MOVE P,S=50%,A=0,T=0
S3 MOVE P,S=50%,A=0,T=0
PRINT #1,"READY"
S4 MOVE P,S=50%,A=0,T=0
S5 MOVE P,S=50%,A=0,T=0
S6 MOVE P,S=50%,A=0,T=0
S7 MOVE P,S=50%,A=0,T=0
Select PF menu
>
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9. Quick Open Function
------------------------------------------------------------------------------------------------
9.10 SPOT WELDING FUNCTION
Outline
When SPOT or M72 (spot welding function) is recorded as a function in editing program,
if you press
key after moving a cursor on, the screen is displayed as followings.
14:39:38*Servo-gun Welding Data*A:0 S:4
1: Welding condition
2: Welding sequence
Use [Number]/[Up][Down]and press [SET].
>
9.10.1 welding condition
Ifyouselectweldingcondition,followingscreenisdisplayed.Thedetailsaboutscreen
are referred to “ system” [PF2] → 4: application parameter → 1: spot & stud → 3:
spot welding data (condition, sequence) → 2: welding condition part. The difference
from this part is that the number of welding condition can not be changed but only the
parameter about number of relevant welding condition can be changed.
14:39:38 *** Weld Condition *** A:0 S:4
Welding Cond. 1
Output data
Output type
Squeeze force =[ 50](Kgf)
=[ 1]
=< Discrete,Binary >
Select and Enter number. Press [SET]
>[50 - 999]
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9. Quick Open Function
------------------------------------------------------------------------------------------------
9.10.2 welding sequence
If you select welding sequence, following screen is displayed. The detail about screen
can be referred to “ system” [PF2] → 4: application parameter → 1: spot & stud →
3: spot welding data (condition, sequence) → 2: welding system part. The difference
from this part is that the number of welding sequence can not be changed but only the
parameter about relevant welding sequence number can be changed.
14:39:38 *** Weld Sequence *** A:0 S:4
Welding Sequence 1
Condition signal =< DSBL,ENBL >
Squeeze signal =< DSBL,ENBL >
Welding command signal=< DSBL,ENBL >
WI wait =< DSBL,ENBL >
Welding wait time =[0.00]
Welding end wait time =[0.00]
Press [SHIFT]+[<-][->] Key.
>
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10. Menu Tree
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
Chapter 10. Menu Tree
CONTENTS
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
10.1 MENU LIST................................................... 10 - 2
10.2 MOTION I/O.................................................. 10 - 3
10.3 FLOW CONTROL................................................ 10 - 5
10.4 ETC......................................................... 10 - 7
10.5 ARC ........................................................ 10 - 8
10.6 SUSTITUTIAL STATEMENT...................................... 10 - 10
----------------------------------------------------------------------------------------
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10. Menu Tree
------------------------------------------------------------------------------------------------
CHAP. 10 MENU TREE
10.1 MENU LIST
This picture displays groups that each instruction is located at initial menu and
instruction input.
CMD
function
FlowCtrl
Etc.
Assign
MOVE, I/O
ARC Weld
ABS
MAX
MIN
MOVE
PRINT
INPUT
Sig.Out
WAIT
GOTO
'
ARCON
V
GOSUB
CALL
REM
ARCOF
WEAVON
WEAVOF
REFP
pose
shift
DEGRAD
RADDEG
SQR
M code
I code
IF
out
T code
CALLPR
LETN
FOR
in
SIN
SMOV
RETURN
ELSEIF
ELSE
ARCCUR
ARCVOL
ARCDC
ARCDV
System
COS
TAN
TIERST
PALPU
PAL
ATN
ENDIF
NEXT
ON GOTO
JMPP
DELAY
STOP
END
ATN2
DIST
PALEND
PALRST
SEA
ORD
VAL
STRPOS
LEN
SELCRD
SONL
TIMER
CHR$
STR$
BIN$
레
이블
SPOTCND
SREQ
SREQT
SXYZ
HEX$
MIRROR$
LEFT$
MID$
TONL1
TONL2
RINT
RINTA
CNVSYNC
CLR232C
SPOT
RIGHT$
DATE$
TIME$
GUNSEA
----------------------------------------------------------------------------------------
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10. Menu Tree
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
10.2 Move, I/O
Grammar:MOVE<interpolation>[,<pose>],S=<speed>,A=<accuracy>,T=<TOOL>[,MX][,MX2]
[,G1] [,G2] [,BM] [,UNTIL <conditional expression>]
,S=100
Unit
/
MOVE
,P1
P
mm/sec, sec
cm/min, %
P
+R
+R[]
+LR
+LR[]
Global
Variable
Expr.
OFF
MOVE
Conversion
P[]
P*
/
/
/
/
Linear
Local
Variable
Expr.
mm/sec, sec
cm/min, %
Circular
P.Const
Local
/
/
Variable
Expr.
,_MX
UNTIL _DI20=1
,A=0
,H=0
<
>
MX
MX2
G1
Variable
Variable
Expr.
Expr.
=
/
/
/
/
/
/
Variable
Expr.
G2
BM
Grammar: PRINT <ouput direction> , <information,...>
----------------------------------------------------------------------------------------
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10. Menu Tree
------------------------------------------------------------------------------------------------
#0
PRINT
,V1%
T/P
PRINT
,
;
COM1
/
/
/
/
COM2
String
Variable
Expr.
/
/
Grammar: INPUT <input direction> , <variable> [,<timeout time>]
,V1%
#0
INPUT
,_100
V
pose
shift
out
T/P
INPUT
Variable
COM1
/
/
/
/
Expr.
COM2
/
/
/
/
/
in
System
Signal output (DO signal): It is the same as <variable>'s <out> menu.
WAIT <conditional expression> [,<timeout time>, <feedback address>]
,_1
,_1
WAIT
DI20=1
STEP
Variable
WAIT
<
>
=
LABEL
Expr.
/
/
/
/
Line no.
/
/
/
/
/
Variable
Expr.
----------------------------------------------------------------------------------------
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10. Menu Tree
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
10.3 FLOW control
IF <conditional expression> THEN <address> [ELSE <address>]
IF <conditional expression> THEN ∼ [ELSEIF <conditional expression> THEN ∼] [ELSE ∼]
ENDIF
IF
_ELSE 10
V1%=1 THEN
_1
V1%=1 THEN
ELSEIF
STEP
<
>
<
>
STEP
IF
/
ELSEIF
LABEL
LABEL
/
/
/
/
Line no.
=
=
/
Line no.
/
/
Variable
Expr.
/
Variable
Expr.
/
/
/
FOR <variable name>=<initial value> TO <end value> [STEP <augmenter>] ∼ NEXT
,V1%
FOR
TO 10
_STEP 10
1
V
pose
shift
out
FOR
Variable
Variable
Variable
/
/
/
/
Expr.
Expr.
Expr.
/
/
/
/
/
/
/
/
/
in
system
----------------------------------------------------------------------------------------
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10. Menu Tree
------------------------------------------------------------------------------------------------
GOTO <address>
ON <number> GOTO <address> [,<address>,...]
JUMP(CALL)
GOSUB <address> ∼ RETURN
<program number>
JMPP 1
CALL 1
,_1
ON V1%
GOTO 1
GOTO 1
GOSUB 1
STEP
Variable
STEP
Variable
STEP
LABEL
Line no.
/
LABEL
Expr.
LABEL
Expr.
Line no.
/
/
/
/
/
/
Line no.
/
/
/
/
/
DELAY <time>
DELAY
,1
DELAY
Variable
/
/
/
/
Expr.
/
/
/
* (LABEL): It starts with an alphabet within 8 characters. an alphabet, number, under bar(_)
is available.
----------------------------------------------------------------------------------------
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10. Menu Tree
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
10.4 ETC.
All instruction input methods except REM are the same as the old
REM _COMMEMT
M code input method.
It inputs by using guide frame and input (status) frame without menu.
(input state)
----------------------------------------------------------------------------------------
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10. Menu Tree
------------------------------------------------------------------------------------------------
10.5 ARC
ARCON [ASF#=<file number>]
ARCON C=<current output value> ,
{V=<voltage output value>|VP=<voltage ratio>}
[,T=<time>] [,RETRY]
,V=100
,_T=1
,_RETRY
_C=100
ARCON
ARCON
_ASF#=1
C
VP
Variable
RETRY
ASF#
Variabe
Expr.
ARCON
ARCON
V
Expr.
/
/
Variable
/
/
/
/
/
/
/
/
Variable
Expr.
수식
Expr.
수식
ARCOF [AEF#=<file number>]
ARCOF C=<current output value> ,
{V=<voltage output value>|VP=<voltage ratio>}
[,T=<time>] [,ANTSTK]
,_ANTSTK
,_T=1
,V=100
_C=100
ARCOF
ARCOF
_AEF#=1
C
ANTSTK
Variable
VP
AEF#
Varibale
Expr.
ARCOF
ARCOF
/
Expr.
/
V
/
/
/
/
/
/
/
/
Variable
Variable
Expr.
수식
Expr.
수식
ARCCUR C=<current output value> ARCVOL {V=<voltage output>|VP=<voltage ratio>}
ARCDC <current instruction value> ARCDV <voltage instruction value>
----------------------------------------------------------------------------------------
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10. Menu Tree
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
ARCVOL
V=100
C=100
ARCCUR
ARCVOL
VP
V
Variable
ARCCUR
수식
수식
변수
수식
Expr.
수식
변수
수식
수식
수식
변수
수식
Variable
Expr.
수식
ARCDV 10
ARCDC 10
Variable
Variable
Expr.
수식
변수
수식
Expr.
수식
변수
수식
WEAVON WEV#=<file number> REFP <reference point number> , [<auxiliary point>]
REFP
1,
P1
WEV#=1
WEAVON
REFP
P
Variable
WEAVON
/
/
/
/
P[]
P*
Expr.
변수
수식
수식
/
/
/
/
/
/
P.const
Local
----------------------------------------------------------------------------------------
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10. Menu Tree
------------------------------------------------------------------------------------------------
10.6 substitutional Statement
Itisaformof“ variable=expression” . Inallcasethatarithmeticstatementcanbeinput
as well as substitutional statement, formula menu is supported . At this time, variable
menu is as followings. Formula input can be referred to the explanation (screen) about
instruction statement edit.
Variable
=
Expression
V
pose
shift
out
Variable
Expr.
in
system
V
shift
pose
V%
V!
V$
X
Y
Z
R
T
CFG
R
+R
+R[]
V$[]
R[]
LR
(L)V$[]
V%[]
V![]
Local
Variable
Expr.
LR[]
Local
R const
out
In
systme
DO
DI
DI[]
GI
$CONVREG
$CONVSTAT
DO[]
GO
GO[]
AO
GI[]
AI[]
AO[]
AI
----------------------------------------------------------------------------------------
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
Chapter. 11 Robot Language
Explanation
CONTENTS
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
11.1 BASIC ELEMENTS ............................................. 11 - 3
11.1.1 LINE .............................................. 11 - 3
11.1.2 CHARACTER ......................................... 11 - 3
11.1.3 ADDRESS ........................................... 11 - 3
11.1.4 CONSTANT ......................................... 11 - 4
11.1.5 ROBOT CONFIG. INFORMATION.......................... 11 - 5
11.1.6 VARIABLE .......................................... 11 - 6
11.1.7 OPERATOR ......................................... 11 - 10
11.1.8 FORMULA .......................................... 11 - 10
11.2 COMMAND LINE............................................... 11 - 11
11.2.1 SUSTITUTIONAL .................................... 11 - 11
11.2.2 ROBOT CONTROL .................................... 11 - 12
11.2.3 INPUT/OUTPUT ..................................... 11 - 14
11.2.4 PROGRAM FLOW CONTROL ............................. 11 - 16
11.2.5 COMMENT .......................................... 11 - 21
11.2.6 ARC WELDING ...................................... 11 - 21
11.3 OTHERS..................................................... 11 - 25
11.4 FUNCTION................................................... 11 - 40
11.4.1 ARITHEMATIC FUNCTION ............................. 11 - 40
11.4.2 STRING FUNCTION .................................. 11 - 41
11.4.3 ROBOT LANGUAGE SUBTITUTION OF OLD MIT FUNCTION CODE 11 - 42
----------------------------------------------------------------------------------------
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
CHAP. 11 ROBOT LANG. EXPLANATION
There are two ways to teach an industrial robot greatly. One is an instruction code method,
and the other is a robot language method.
OuroldcontrollermodelsuchasHi3CE,Hi3TB,etc..inHicontrollerserieshasaninstruction
code method to teach.
instruction code of Hi controller
section
step
class
role
example
340.5mm/s(L) A0 T0 G1 X2
speed 340mm/s
step code move of tool end in robot
accuracy 0, tool 0, gun1, X2
signal input/output
jump, call, stop
conditional jump, call, stop
repeating execution
conditional repeating
M1 1
M20
DI1 signal output
step jump
M81 5,I1
M44 3,50
DI conditional program call
GI3 group signal output
execution setting
M code
on-line shift
welding condition,
palletize etc.
M53 1,1,5,7 online coordinate conversion
M33 2 spot welding condition output
M99 'spot comment statement
functio
n
various application
function execution.
etc....
I25 I18
DI18 signal wait
I code DI signal wait
T code time delay
I53 IB1,101,2,0 time conditional
GIsignal(AND)
T 5.0
5sec. wait
A teaching person can make a work program which can control a robot action fussily by using
hundred tens of instruction codes. But, it is very difficult or almost impossible to make
a program with instruction codes that needs numerical formula or string process and many
data's saving and process. Also, it is difficult to analyze a program for beginner because
instruction codes are consists of number codes.
On the other hand, robot language method supply that various arithmetics, string variable,
functions and numerical formula type with instruction statement groups in English.
It is general that industrial robot makers has their own unique robot language. Hyundai Hi4
has its unique robot language named HR-BASIC. This language is similar with BASIC language
grammar which is used in PC.
----------------------------------------------------------------------------------------
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.1 basic elements
11.1.1 Line
Line number can be added at forefront of line.(optional).
254 characters can be described in 1 line. 1 line can has only 1 instruction statement.
11.1.2 Character
A ∼ Z, a ∼ z, Korean (capital character can be usable except in comment
statement contents and string )
letter
digit
symbol
space
0 ∼ 9
! " ' # $ % & ( ) * + - . , / ₩ : ; = < > ? @ ` [ ₩ ] ^ { } ｜ _
<space> <tab>( conversion to <space> before transmission to controller)
11.1.3 Address
explana- line No., step No. or label. It is used for jump such as GOTO, GOSUB, etc.
tion
line No. can be omit.
step No. is automatically numberring when MOVE statement is
used.
step
number
S0∼S999
The procedure of line No. is not connected to the procedure of
program execution.
line No. 1∼9999
label *<label name>
label name can be consists of alphabet and under bar within 8
characers. It should start with alphabet.
example 50 PRINT.... GOTO 10
for use *ERRHDL
GOSUB *CALC
Reference
(1) Unsigned integer can only be used in line No. and step No.
(real number, arithmetic statement X)
(2) Label number per program is within 100.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.1.4 Constant
constant type
dec.
range
example
-32768∼32767
2150, -440
constant
bin.
hex.
&B0∼B1111111111111111 &B01101011, &B1000
&H0∼&HFFFF
&H3F77, &H2A
55.6, 0.5E-2
real number
-3.4E+38∼3.4E+38
"INPUT WORK NUMBER:",
"INVALID DATA"
string
enable with 35 char.
constant
type
coordinate type
range
example
basic coordinate
system
(204.5, 3719.35, 277.94, 0, 50, 0, 24)
(P* is present pose of robot)
real number range
robot coordinate
system
pose
real number range (204.5, 3719.35, 277.94, 0, 50, 0, 24)R
(&H400000,&H400000,&H400000,
0∼&HFFFFFFFF
encoder type
&H400000,&H400000,&H400000)E
basic coordinate
system
real number range (0, 50, 0, 0, 0, 0)
shift
(0, 50, 0, 0, 0, 0)T
real number range (if T, tool coordinate system
reference)
tool coordinate
system
Reference
(1) Suffix is not added in basic coordinate system, but suffix is added in robot coordinate
system.
(2) In case of basic coordinate system or robot coordinate system, each elements are (X,
Y, Z, RX, RY, RZ, cfg.). If there is an additional axis, it is continued after RZ. X,
Y, Z are coordinate(unit: mm), RX, RY, RZ are each rotational angle of x axis, y axis,
axis(unit: degree).
cfg.(configuration) is consists of 8bit (0∼255) robot type information.
(3) In case that there is not additional axis, it is the same whether R is added or not.
(4) In case of encoder type, suffix is added.
(5) Each elements of encoder type is (S, H, V, R2, B, R1), and there is not cfg. If there
is an additional axis, it is continued after R1.
(6) In case that T is added, only tool coordinate system is applied, so even though user
coordinate system is set, it is ignored.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.1.5 Robot type information
9∼7 bit 6 bit
0: base
5 bit
4 bit
3 bit
2 bit
0: up
1 bit
0 bit
0: R2<180 0: R1<180 0: S<180 0: flip
0: front 0: manual
1: rear 1: auto
1: robot
3: encoder
1: R2>=180 1:R1>=180 1: S>=180 1: noflip 1: down
Reference
(1) 0 bit : It is an auto. cfg. function. If it is 0, type information assigned at 1 bit∼6
bit is applied, if it is 1, it uses proper type created ignoring assigned type.
(2) 9∼7 bit : It is a coordinate type of pose. When you want to use by reading coordinate
information of pose in program routine, this bit is used. In case that it is set
differently between coordinate system suffix and this bit, you can follow suffix.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.1.6 Variable
11.1.6.1 Global variable
It can be shared and used in whole program.
variable type
grammar
example
V10%, V%[20], V%[50+V2%]
(The type of numerical formula can be written in
[ ].)
V1%∼V400% or
V%[1]∼V%[400]
contsant
arithmetic
real V1!∼V400! or
number V![1]∼V![400]
V10!, V![20], V![50+V2%]
V10$, V$[20], V$[V2%]
V1$∼V40$ or
V$[1]∼V$[40]
strings
P50, P[70], P[50+V2$] , P[20].RZ, P[10].X
(The access to the elements (X, Y, Z, RX, RY, RZ,
T1, T2,... T6, CFG) are available.)
P1∼P999 or
P[1]∼P[999]
pose
R20, R[30], R[20+V2$], R[20].RZ, R[10].X
(The access to the elements (X, Y, Z, RX, RY, RZ)
are available.)
R1∼R100 or
R[1]∼R[100]
shift
Reference
(1) Pose type elements and shift type elements are dealt as real number type.
(2) The number of pose element T1, T2... should be matched with the number of additional
axis.
(3) When pose is encoder type, (S, H, V, R2, B, R1) elements can be accessed by using each
X, Y, Z, RX, RY, RZ.
(4) At the time when controller's system is initialized, all arithmetics type variables,
poseandvariableelementsbecome0, andstringvariablesareinitializedtoblankstring.
It is not initialized automatically when the cycle begins and program is changed.
(5) All variables are reserved even though the power is turned off.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.1.6.2 Local variable
It exists separately in each main program and auxiliary program called. It is impossible
to access local variables of other program.
variable type
grammar
example
LV10%, LV%[5], LV%[5+LV2%]
(The type of numerical formula is only written
in [ ].)
LV1%∼LV50% or
LV%[1]∼LV%[50]
constant
arithmetic
real LV1!∼LV50! or
number LV![1]∼LV![50]
LV10!, LV![5], LV![5+LV2%]
LV10$, LV$[5], LV$[LV2%]
LV1$∼LV10$ or
LV$[1]∼LV$[10]
string
LP5, LP[7], LP[5+LV2$], LP[2].RZ, LP[10].X
(Access to elements (X, Y, Z, RX, RY, RZ, T1,
T2,... T6, CFG) is possible.)
LP1∼LP100 or
LP[1]∼LP[100]
pose
LR2, LR[3], LR[2+LV2$], LR[2].RZ, LR[10].X
(Access to elements (X, Y, Z, RX, RY, RZ) is
possible.)
LR1∼LR50 or
LR[1]∼LR[50]
shift
Reference
(1) Pose type elements and shift type elements are dealt as real number type.
(2) The number of pose element T1, T2... should be matched with the number of additional
axis.
(3) When pose is a encoder type, (S, H, V, R2, B, R1) elements can be accessed by using each
X, Y, Z, RX, RY, RZ.
(4) At the time when controller's system is initialized, all arithmetics type variables,
poseandvariableelementsbecome0, andstringvariablesareinitializedtoblankstring.
It is not initialized automatically when the cycle begins and program is changed.
(5) All variables are reserved even though the power is turned off.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.1.6.3 Input/output variable
single general
output
(bit)
DO2=1 (If 0, RESET, If not 0, SET)
(SET general output signal DO2)
DO1∼256
GO1∼32
DO
ou
tp
ut
va
ri
ab
le
group general
output
GO3=&B00001111 or GO3=&H0F
(Output 0F(HEX) through GO3)
GO
(byte)
single dedicated
output
SO4=0 (if 0, RESET, if not 0, SET)
(RESET dedicated output signal SO4)
SO1∼8
AO1∼4
SO
(bit)
analogue
AO
AO1 = 3.5
(output 3.5 V through analog No. 1 output channel)
single dedicated
input
V2%=DI3
(Set present status of general input signal DI3 to
V2% variable)
(it becomes 1 or 0, read only variable)
DI1∼240
DI
(bit)
in
pu
t
group general
input
GI
V3%=GI4 (0∼255, read only variable)
GI1∼30 (Set present status of group general input signal GI4 to
(byte) V3% variable)
va
ri
ab
le
single dedicated
input
V3%=SI4
(It becomes 1 or 0, read only variable)
SI1∼8 (Set present status of dedicated input signal to V3%
variable)
SI
(bit)
V3!=AI2
(read only variable)
analogue
AI
AI1∼4 (Substitute input channel value of analog No.2 to %V3!
variable)
Reference
(1) When you use index as a type of numerical type, write it in [] like DO[], GO[], AO[].
(2) The range of analog input/output value is -12V∼12V when it is based that BD480 is
equipped.
11.1.6.4 System variable
These are variables to get or to set the information of inner system. In present, there are
variable which is relevant to number of times register and two read only variables which are
relevant to option board.
Read only variable is not substituted. It means that it can't be located in left side of the
substitutional statement.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
_RN1~16
or
It’ s relevant to number of times register No.1~No.16
Encoder pulse count value of option board
_RN[1]~_RN[16]
$CONVREG
Read only
Read only
Status of option board
$CONVSTAT
Bit 0 : status in encoder singer wire short(active high)
Bit 1 : start limit switch(active high)
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.1.7 Operator
high
example
( )
priorit
↑
V10! = (V1!^2 + V2!^2 + V3!^2)*2.5
IF(V24!>=V50! AND V10$= “ WELD”
sign(+ -)
^
* / ₩ MOD
+ -
(1) Three operators are available in String
operation which are +(connection between two
strings), =(equal) and <>(difference).
= <> < > <=
>=
↓
NOT
(2) Pose operation can be used only in type of
<pose>+<shift>.
low
AND OR XOR
priorit
(3) ₩ is a integer division operator that the value
of left side's divided operator is divided by the value of right side's value and it
is rounded off.
(4) MOD is a operation that finds remainder of division.
(5) AND, OR, XOR are bit operators, and if you want to use it as a logical operator, we
recommend that operand should be 0 or 1. So at that time, the result can be accurate.
(6) NOT is only used as a bit operator, and logical NOT is not exist. So we recommend you
to use <> instead.
(7) In case of operation between integer and real number, integer is converted to real
number automatically and then the operation is executed.
(The result type of operation is real number type.)
11.1.8 Formula
Integer, real number, integer type variable, real number type variable,
arithmetic function, pose element, shift element, it includes operation which
arithme-
tic
has integer type or real number type in result.
statement
Example: -10, 10.12, V1%, V1!, SQR(V1%), P1.X, R2.Y, (V2!+V3!)/2+&HC000
String constant, string variable, string function, it includes operation which
string
has string type in result.
statement
Example: "COMM ERR", "ABCD"+"EFCD", LEFT$("ROBOT INIT", 5)
pose Poseconstant,posevariable,itincludesoperationwhichhasposetypeinresult.
statement Example: (204.5, 37.35, 2.94, 0, 50, 0, 24)R+(0, 10, 0, 0, 0, 0)H, P1+R1
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.2 Command line
11.2.1 Substitution
Description Substitute the value to the variable.
Syntax
<Variable>=<Value>
Variabl Arithmetic, String, Pose, Shift
Parameter
Value
Arithmetic, String, Pose, Shift constant, and shift variable
V![V1%]=5.5 V2$= "EMERGENCY STOP!!"
R2 = (0, 100, 0, 0, 0, 0)
V5%=20
example
Comment
P3 = P3+R1
The value type must be identical to the variable type. However, the integer
and float types are automatically converted for each other.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.2.2 Robot Control
11.2.2.1 MOVE Command
Description The tool end of the robot moves to pose position.
MOVE <Interpolation>, [<Pose>], S=<Speed>, A=<Accuracy>, H=<Tool Number>
Syntax
[,<Output Option>] [ UNTIL <Condition>[,<Interrupt Status Variable>] ]
Interpo
lation
P : No Interpolation,
L : Straight,
C : ARC
Pose type, Target pose to move. If there is hidden pose,
it is omitted or only the shift type is specified.
Pose
Arithmetic Equation. The moving speed of the tool end.
Unit(mm/sec, cm/min, sec, %) has to be accompanied.
Speed
Accurac
y
Tool
Arithmetic Equation.
Arithmetic Equation.
0∼3 0 is most accurate
0∼3
Parameter
Number
Output
Option
MX, MX2, G1, G2, BM (Multiple selection possible)
Conditi If the condition is met, robot operation stops and it
on is assumed to reach the specified pose.
Interru Saves the result of the condition.
Used with
Provides the information if Move command is exited by UNTIL
pt
Status the condition.
command
MOVE C, P[0]+R[1], S=800mm/s, A=0, H=1
MOVE P, R1, S=80%, A=1, H=3 UNTIL DI1=1
example
Note
(hidden pose)
MOVE L, S=0.5sec, A=0, H=0, MX, G1 UNTIL DI2=&H7F, V1% (hidden pose)
(1) If Move command is input by using <REC> key of T/P, it becomes hidden pose type.
(2) If shift data is recorded in the pose position by using T/P, it becomes hidden pose
type.
(3) There are MX, G1, PU, PK, PS in the output option of palletizing mode. Signals such
as MX and G1 or PU, PK, PS cannot be used simultaneously. Detailed is referred to the
Palletizing function.
(4) When using robot equalizing, G1 and G2 cannot be used simultaneously.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.2.2.2 SMOVE Command
Description The tool end of the robot moves to pose position with positioner synchronizing.
SMOVE <Interpolation>, [<Pose>], S=<Speed>, A=<Accuracy>, H=<Tool Number>
Syntax
[,<Output Option>] [ UNTIL <Condition>[,<Interrupt Status Variable>] ]
Positio
Referred to the positioner synchronizing.
ner No.
Interpo
lation
P : No Interpolation,
L : Straight,
C : ARC
Pose type, Target pose to move. If there is hidden pose,
it is omitted or only the shift type is specified.
Pose
Arithmetic Equation. The moving speed of the tool end.
Unit(mm/sec, cm/min, sec, %) has to be accompanied.
Speed
Accurac
y
Tool
Parameter
Arithmetic Equation.
Arithmetic Equation.
0∼3 0 is most accurate
0∼3
Number
Output
Option
MX, MX2, G1, G2, BM (Multiple selection possible)
Conditi If the condition is met, robot operation stops and it
on is assumed to reach the specified pose.
Interru Saves the result of the condition.
Used with
Provides the information if Move command is exited by UNTIL
pt
Status the condition.
command
MOVE C, P[0]+R[1], S=800mm/s, A=0, H=1
MOVE P, R1, S=80%, A=1, H=3 UNTIL DI1=1
example
Note
(hidden pose)
MOVE L, S=0.5sec, A=0, H=0, MX, G1 UNTIL DI2=&H7F, V1% (hidden pose)
(1) Detailed about Positioner Synchronizing is referred to the Positioner Synchronizing
operation manuals.
(2) If Move command is input by using <REC> key of T/P in the position synchronizing mode,
it becomes hidden pose type.
(3) If shift data is recorded in the pose position by using T/P, it becomes hidden pose
type.
(4) There are MX, G1, PU, PK, PS in the output option of palletizing mode. Signals such
as MX and G1 or PU, PK, PS cannot be used simultaneously. Detailed is referred to the
Palletizing function.
(5) When using robot equalizing, G1 and G2 cannot be used simultaneously.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.2.3 I/O
11.2.3.1 I/O Substitution
Description Outputs DO signal or inputs the DI signal status.
<Output Variable> = <Output Value>
Syntax
<Arithmetic Variable> = <Variable>
Output
Variabl
Variable corresponding to DO signal.
Single signal is DO, Group signal is GO
Output Arithmetic Equation. 0∼255. (Discards the digits after the decimal
Value
Parameter
example
point if float type)
Input
Variabl
Variable corresponding to DI signal.
Single signal is DI, Group signal is GI
DO3 = 1
V20% = DI2
GO2 = &H7F
V21% = GI2
11.2.3.2 PRINT Command
Description Outputs the specified information to Teach Pendant screen or to serial port.
Syntax
PRINT <Output Direction>, <Information,… >
Output #0 : Teach Pendant
Directi #1 : Serial port COM 1
Parameter
on
Informa
tion
#2 : Serial port COM 2
Arithmetic Equation., String equation
example
Comment
PRINT #0, "SIGNAL VALUE = " ; V1!
If the information is divided by ',', informationsare separated by 1 character
space’ and by ‘ ;’ , it is output without space.
If ‘ ;’ is at the end, no open line character is attached.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.2.3.3 INPUT Command
Description InputstheinformationtovariablefromtheTeachPendantscreenorserialport.
Syntax
INPUT <Input Direction>, <variable>[, <timeout time>]
Input #0 : Teach Pendant
Directi #1 : Serial port COM1
on
Variabl
e
#2 : Serial port COM2
Parameter
Arithmetic Variable, String variable
sec unit
integer
0.0∼60.0
Arithmetic Equation. If certain time is elapsed, moves
to the next line.
timeout
INPUT #1, V20!, 5
INPUT #0, V1$
example
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.2.4 Program Flow Control
11.2.4.1 GOTO Command
Description Jumps to the specified address.
Syntax
GOTO <Address>
Parameter Address Address to be jumped.
GOTO 99
example
GOTO *ERRHDL
11.2.4.2 GOSUB ∼ RETURN Command
Calls for the address specified by GOSUB.
Description
When met with RETURN command, returns to the next line of GOSUB command.
Syntax
GOSUB <Address> ...... RETURN
Address Address to call
Parameter
GOSUB 150
END
150 REM ---- Subroutine for testing ----
PRINT #0, "Subroutine Start"
PRINT #1, "Subroutine End"
RETURN
example
11.2.4.3 JMPP Command
Description Jumps to the specified program
Syntax
JMPP <Program Number>
Program
Number
Parameter
Positive integer, Program number to call
1∼999
IF DI29=1 THEN
JMPP 909
ENDIF
REM --- subprogram 909 - ERROR STOP
PRINT #0, "Unrecoverble Error!!!", TIME$
END
example
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.2.4.4 CALL Command
Calls for the specified program.
Description
When met with END command, returns to the next line of CALL command called.
Syntax
CALL <Program Number> ...... END
Program
Number
Parameter
Positive integer, Program number to call
1∼999
‘ Distance calculation
between P4 and P7.
P300=P4
REM --- subprog. 902 -------------------
REM
REM -
V300! = <Distance between P300 and P301>
------------------------------
example
P301=P7
V300! = (P300.X-P301.X)^2 + (P300.Y-P301.Y)^2
CALL 902
+ (P300.Z-P301.Z)^2
END
‘ Result Output
PRINT #0, "Dist = "; V300!
11.2.4.5 ON∼GOTO Command
Description Jumps to the various address depending on the condition number after ON.
Syntax
ON <Number> GOTO <Address>[, <Address>, <Address>,.....]
Arithmetic Equation. Number determining the jump
address.
Number
The digit after the decimal point is discarded if
Float type. If it's smaller than 1 or bigger than the
address number, moves to the next command line.
Parameter
It jumps to if the condition is set to 1, the first
address, if 2, second address. Up to 10 addresses can
be used.
Address
ON V5% GOTO 210, 220, *CONT
GOTO *ERR
210 PRINT #0, "V5%=1"
GOTO *CONT
example
220 PRINT #0, "V5%=2"
*CONT
11.2.4.6 DELAY Command
Description Delays as much as the specified time.
Syntax
Parameter Time
example DELAY 0.5
DELAY <Time>
Unit : sec
0.1∼60.0
Arithmetic Equation. Standby time
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11. Robot Language Explanation
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11.2.4.7 STOP Command
Description Stops the program. If restarted, it is continued from the next line.
Syntax
STOP
IF DI9=1 THEN
STOP
ENDIF
example
11.2.4.8 END Command
Description Stops the program. If restarted, it starts over from the beginning.
Syntax
END
END
example
11.2.4.9 WAIT Command
Wait until the condition is met. If the timeout time exceeded, jumps to the
shelter address.
Description
Syntax
WAIT <Condition>[, <timeout Time>, <shelter Address>]
Condition ArithmeticEquation. Waituntiltheconditionismet.
timeout
Unit : sec
0.0∼60.0
Parameter
example
Arithmetic Equation. Limit time of the standby.
Time
shelter
Address
The address to be jumped when the timeout time is
exceeded.
WAIT DI20=1, 1.5, *ERR
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.2.4.10 IF∼ELSEIF∼ELSE∼ENDIF Command
Description Jumps according to the Condition.
IF <Condition> THEN <Address> [ELSE <Address>]
IF<Condition> THEN
∼
[ELSEIF <Condition>
Syntax
∼ ] (Several Times)
[ELSE
∼ ]
ENDIF
Condition
file
If 0, false
If not 0, true.
Arithmetic Equation, String Condition
Parameter
THEN : If condition is satisfied, jump.
ELSE : If condition is not satisfied, jump.
Address
IF V2!>SQR(V50!^2+V51!^2) THEN 150 ELSE *AGAIN (Example of simple if
instruction)
IF DI1>=10 THEN
instruction)
PRINT #0, "HIGH"
PRINT #1, "HR-MSG: HIGH"
ELSEIF DI1>=0
PRINT #0, "LOW"
ELSE
(Example of complex if
example
GOTO *ERR
ENDIF
11.2.4.11 FOR∼NEXT Commands
Repeats the block incrementing the variable value as long as it is smaller
or the same as the end value.
Description
Syntax
FOR <Variable>=<Initial Value> TO <End Value> [STEP <Increment>] ∼
NEXT
Arithmetic Variable. Variable for determining the
Variable
repetition.
Initial
Arithmetic Equation. Initially set value for variable
Value
Parameter
Arithmetic Equation. Repeats only if the variable value
End Value
is smaller or the same as the end value.
Increment Arithmetic Equation. Increment value for the variable
REM -- Moves toward the shift direction gradually slowing down.
FOR V1!=300 TO 0 STEP -33.3
example
P1=P1+R1
MOVE L, P1, S=V1!mm/sec,A=3,H=1 UNTIL DI1
NEXT
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
※ Note : The commands inserted between the commands such as GOSUB∼RETURN, IF∼ENDIF,
FOR∼NEXT must be executed in one's inside. In other words, program can not branch
off toone's outside by using command such asGOTO or IF commandwhen the block commands
is being executed. If not, program can not be executed properly.
But it can branch off one's inside.
(1) Example can make errors.
IF V1%>100 THEN
GOTO *RANGE
ENDIF
← IF command branch off the outside. It can be errors.
PRINT V1%
END
*RANGE
PRINT "RANGE ERROR"
END
(2) Example can executed properly
IF V1%>100 THEN *RANGE
PRINT V1%
END
*RANGE
PRINT "RANGE ERROR"
END
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11. Robot Language Explanation
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11.2.5 Comments
Description Used for describing the program operation. No effect on the execution.
Syntax
REM <Description>
Descriptio String for description. Up to 254 single byte
Parameter
n
characters can be used.
REM SPOT WELDING #1
'Variables Setting ------------
example
11.2.6 ARC Welding
11.2.6.1 ARCON Command
Description Outputs the welding start command.
ARCON
ARCON ASF#=<File Number>
Syntax
ARCONC=<CurrentOutputValue>,{V=<VoltageOutputValue>|VP=<VoltageRate>}
[,T=<time>] [,RETRY]
File
Arithmetic Equation. The number of the welding start
Rounded 1∼32
Unit:A Rounded
Number condition file
Current
Arithmetic Equation. Welding current output value
Output
Value
(0∼500)
Voltage
Output
Value
Arithmetic Equation. Welding voltage output value
(Individual Power Source) (0∼40)
Unit: V [0.0]
Unit: % Rounded
Parameter
Arithmetic Equation. Output value rate about the
appropriate welding voltage (Single Power source)
(0∼100)
Voltage
Rate
ArithmeticEquation. Standbytimepriortothemotion Unit: sec
Time
start after ARC On. (0∼10)
[0.00]
RETRY
Retry when the arc generation fails.
ARCON ASF#=1
ARCON C=260, V=30, RETRY
example
Comment
The result for each usage is as follows;
1. ARCON : Start welding as set by the condition using ARCCUR,
ARCVOL commands.
2. ARCON <File> : Start welding as set by the conditions of condition file.
3. ARCON <Parameter> : Start welding as set by the parameters.
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11. Robot Language Explanation
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11.2.6.2 ARCOF Command
Description Outputs the Welding End Command.
ARCOF
ARCOF AEF#=<File Number>
Syntax
ARCOFC=<CurrentOutputValue>,{V=<VoltageOutputValue>|VP=<VoltageRate>}
[,T=<Time>] [,ANTSTK]
File
ArithmeticEquation. Numberofweldingendcondition
Rounded. 1∼32
Unit: A Rounded
Number file.
Current
Arithmetic Equation. Welding current output
value(0∼500)
Output
Value
Voltage
Output
Value
Arithmetic Equation. Welding voltage output value
(Separate power source) (0∼40)
Unit: V [0.0]
Unit: % Rounded
Parameter
Arithmetic Equation. Voltage output rate about the
appropriate welding voltage (Single power source)
(0∼100)
Voltage
Rate
ArithmeticEquation. Thedelaytimeoftherobotbody Unit: sec
before the ARC Off. (0∼10) [0.00]
Time
ANTSTK Automatic Anti-Stick feature
ARCOF AEF#=1
ARCOF C=300, V=V10!, T=1.00, ANTSTK
example
Comment
The result for each usage is as follows;
1. ARCOF :WeldingendsaspreviouslysetbytheconditionwithARCCUR, ARCVOL
commands.
2. ARCOF <File> : Welding ends as set by the conditions of the condition file.
3.ARCOF<Parameters>:Weldingendsassetbytheconditionsoftheparameters.
11.2.6.3 ARCCUR Command
Description Sets the welding current output value with the set value.
Syntax
ARCCUR C=<Current Output Value>
Arithmetic Equation. Welding current Unit: A
Parameter
example
Current Output Value
ARCCUR C=200
output value (0∼500)
Rounded.
11.2.6.4 ARCVOL Command
Description Sets the welding voltage output value with the set value
Syntax
ARCVOL {V=<Voltage Output Value> | VP=<Voltage Rate>}
Voltage Output Arithmetic Equation. Welding voltage output
Unit: V [0.0]
Value
value (0∼40)
Parameter
example
Arithmetic Equation. The voltage rate about
the appropriate welding voltage (Single power
source) (0∼100)
Unit: %
Rounded.
Voltage Rate
ARCVOL V=30
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11. Robot Language Explanation
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11.2.6.5 ARCDC Command
Description Sets the welding current command value with the set value.
Syntax
ARCDC <Current Command Value>
Current
Arithmetic Equation. Welding current command
value
Parameter
example
Command
Value
-14.0∼+14.0
ARCDC 12
11.2.6.6 ARCDV Command
Description Sets the welding voltage command value with the set value.
Syntax
ARCDV <Voltage Command Value>
Voltage
Arithmetic Equation. Welding voltage command
value.
Parameter Command
Value
-14.0∼+14.0
example
ARCDV 2.5
11.2.6.7 WEAVON Command
Description Starts the weaving motion
Syntax
WEAVON WEV#=<File Number>
File
Number condition file
Arithmetic Equation. The number of the weaving Rounded.
Parameter
example
1∼32
WEAVON WEV#=5
11.2.6.8 WEAVOF Command
Description Stops the weaving motion.
Syntax
WEAVOF
WEAVOF
example
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11. Robot Language Explanation
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11.2.6.9 REFP Command
Description Sets the reference point for weaving wall point.
Syntax
REFP <Ref. Point Number> , [<Aux. Point>]
Ref. Point
Unsigned integer.
Number
1∼8
Parameter
Aux. Point Pose type. If hidden pose, it's not set.
REFP 1, P8
REFP 2, (-1073.33, 739.01, 258.30, 0, 76, 23)
example
Note
(1) REFP Command belongs to the step as the MOVE command.
(2) When the REFP command is input using the <Aux. Point> key at T/P, it becomes the hidden
pose type.
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11. Robot Language Explanation
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11.3 Others
※ All the factor values can be used in the Arithmetic Equation.
11.3.1 PRINT Command
Description
Syntax
Robot Interrupt (I signal) (M29)
RINT I=<Isignal>,RF=<STD.>,X=<X coord>,Y=<Y coord>, Z=<Z
coord>
I signal the number of DI signal receiving interrupt
DI range
Select 0 when using general robot interrupt and select
STD
1 when using search function. Search function referred 0∼1
to M59.
Parameter
Example
X,Y,Z
coord.
-3000.0
When using search function
∼3000.0
RINT I=<Isignal>,RF=<STD>,X=<X coord>,Y=<Y coord>, Z=<Z
coord>
Introduction
If the I signal is input during moving to the destination, robot will move the next step.
(That is, it is regarded that robot moved to the destination.)
Example
If this condition is satisfied from step 2 recorded this function to step3, robot will
execute the functions of step 3 and move to the step 4.
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11. Robot Language Explanation
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11.3.2 RINTA Command
Descri
Robot Interrupt(Analog signal) (M30)
ption
RINTA PT=<Port No>,VL=<Lower volt>,VH=<Upper volt>
Syntax
,RF=<STD>,X=<X coord>,Y=<Y coord>, Z=<Z coord>
Port No.
Analog port No. receiving interrupt signal
1∼4
Lowervolt
if the value of analog is between lower and upper
volt, interrupt occurs.
-10.0
∼10.0
Parame
ter
Uppervolt
STD
0 is off, 1 is On
0∼1
X,Y,Z
coord
-3000.0
Used at search function
∼3000.0
Exampl
e
RINTA PT=<Port No>,VL=<Lower volt>,VH=<Upper volt>
,RF=<STD>,X=<X coord>,Y=<Y coord>, Z=<Z coord>
Introduction
If input voltage is satisfied fixed voltage range by using analog sensor, robot will
regard as arriving to the next step.
Example
S5
S6:End
S1
S2
Deceleratin point
S4
S3
F001:M30[1,1.00,3.00,0,0,0,0]
Analog1 Voltage
: 2.00V
Option board
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11. Robot Language Explanation
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11.3.3 SPOTCND Command
Description Spot Welding Condition (M33)
Syntax
SPOTCND <Condition Number>
Condition The condition number output to the welder for welding
Parameter
example
0∼255
Number
current change.
SPOTCND 2
Introduction
Spot welding condition signal is used to change the welding current according the
thickness of the materials or sheets when spot welding.
Welding condition can be freely changed by connecting this signal to the welder. The
welding condition can be to maximum 256 level (0 ∼ 255) .
It is output in Binary type of 8bit (0 ∼ 255) .
Or it can be output in Discrete type (0 ∼ 7) when selecting <Line No> of welding
condition output type (SYSTEM[PF5] → 4.APPLICATION PARAMETER → 1.SPOT&STUD → 1.
WELDING PARAMETER)
This signal is to output as welding condition number that is fixed up in "SYSTEM [PF5]
→ 2. CONTROL PARAMETER → 1. SET UP IN/OUT SIGNAL → 6. ARRAY OUTPUT SIGNAL.
11.3.4 SREQ Command
Description Shift Requirement (M51)
Syntax
SREQ R=<Register Number>,PT=<Port Number>
Reg. Number Register number for saving the received shift amount. 1∼8
Parameter
example
RS232C port number to be used for shift requirement and
transmission.
Port Number
1∼1
SREQ R=1,PT=1
Introduction
SREQ is a function to request external equipment to send shift amount. The shift
amount is recorded in on line shift register group.
When this function is executed, robot would output data of the format such as SHIFT
※1 CR LF (※1 is register No.) through RS232C port. Then, robot would receive data
of the format such as SHIFT X, Y, Z, θX, θY, θZ, CR. The input is recorded in the
register ※1. The format of transmit data is ASCII code.
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11. Robot Language Explanation
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11.3.5 SONL Command
Description On-line shift (M52)
SONL ST=<Start/End>,RF=<Std>,R=<Register Number>,SS=<Shelter Step
Syntax
No>
If 1, starts the shift application. If 0, ends.
If 0, all other factors are ignored.
Start/End
Std.
0∼1
If 0, based on the ground plane. If 1, based on the tool. 0∼1
Parameter
The register number where the received shift amount is
Reg. Number
Shelter
1∼8
stored.
Steptojumptowhentheshiftamountisnotinputwithin
0∼999
Step No. the specified time period.
SONL ST=1,RF=0,R=1,SS=10
example
Introduction
On-line shift is a function to shift parallelly the teaching point to an any place
of X, Y, Z coordination by using the shift amount transmitted through the external
equipments such as vision system. Generally it is used on the robot base coordination
but the robot tool coordination can be selected.
Examples
(1) Parallel shift
When the points A, B, C, D is parallel to the point a, b, c, d as the following
picture,therobotplaysbacktheA, B, C,Dprogramthatiscorrectedthedifference
of 'A' and 'a' by using data from the external equipment with fixed tool angle.
(2) Tool angle correction shift
Robot makes a shift with fixed tool angle in the parallel shift. But in the tool
angle correction shift, robot makes X, Y, Z shift with corrected tool angle
according to the angle of robot coordination from the external equipment.
As the following picture,
(3) Jump to shelter
It is a function to jump to shelter step in case that data is not transmitted
to robot during sometime when robot is in on-line shift.
(4) Request shift amount (M51)
Shift amount is a need to be transmitted from external equipment. This function
(SREQ) is to request shift amount.
(5) Request shift amount on condition that time (M56)
This function is same as SREQ. But robot waits during some time (0.1 ~ 60.0sec).
And then robot jumps to a shelter if shift amount is not transmitted during that
time.
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11. Robot Language Explanation
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11.3.6 TONL1 Command
Description Online coordinate conversion (Slipping) (M53)
TONL1 ST=<Start/End>,RF1=<Basic Step number1>,RF2=<Basic Step
number2>,RF3=<Basic Step number3>
Syntax
Start/End If 1, Coordinate conversion starts. If 0, exits.
0∼1
Parameter
example
Basic Step
The step numbers to be set for 3 base points.
number
0∼999
TONL1 ST=1,RF1=1,RF2=5,RF3=7
Introduction
Online coordinate conversion (Slipping) is a function to play back teached position
correcting the difference transmitted from the external equipments such as vision
system.
It finds a shift amount of specified basic 3 points and saves the shift amount
transmitted through RS232C port in shift registers.
11.3.7 TONL2 Command
Description Online coordinate conversion (coordinate value) (M54)
TONL2 ST=<Start/End>,RF1=<Basic Step number1>,RF2=<Basic Step
number2>,RF3=<Basic Step number3>
Syntax
Start/End If 1, coordinate conversion starts. If 0, exits
0∼1
Parameter
example
Basic Step
Step numbers to be set for 3 base points.
number
0∼999
TONL2 ST=1,RF1=1,RF2=5,RF3=7
Introduction
Online coordinate conversion (coordinate value) is a function to play back teached
position correcting the difference transmitted from the external equipments such as
vision system.
Itfindsacoordination(robotcoordination)ofspecifiedbasic3pointsandreceives
coordination through RS232C port and saves shift amount in on line shift registers.
Note
(1) TONL1 (M53) : Online coordinate conversion (Slipping) uses the contents of shift
registers as shift amount.
(2)TONL2(M54): Onlinecoordinate conversion(coordinatevalue) usesthecontents
of shift registers as coordination system.
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11. Robot Language Explanation
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11.3.8 SREQT Command
Description Timer conditional shift function (M56)
SREQT R=<Reg. Number>,PT=<Port Number>,WT=<Standby time>,SS=<shelterStep
Number>
Syntax
Reg. Number Register number for saving the received shift amount. 1∼8
RS232Cportnumbertobeusedforshiftrequirementand
shift amount transmission.
Port Number
1∼1
Parameter
example
Standby
Time
0.0∼60.0
(sec)
Standby time until receiving the shuft amount.
shelter
Step No
Step number to be jumped when the standby time is
elapsed.
0∼999
SREQT R=1,PT=1,WT=10.0,SS=100
Introduction
SREQT is same function as Shift Requirement (M51). But it makes a differences to
jump to the shelter step if shift amount is not input during the specified time.
11.3.9 SXYZ Command
Description XYZ Shift (M58)
SXYZ RF=<Base>,X=<X Shift Amount>,Y=<Y Shift Amount>,Z=<Z Shift
Syntax
Amount>
Base
If 0, ground base. If 1, tool base.
0∼1
Parameter
example
Shift
Amount
-3000.0∼
3000.0
Shift Amount to be shifted parallel in 3D.
SXYZ RF=0,X=10.50,Y=20.50,Z=0.00
Introduction
XYZ Shift is a function that makes parallel shift with fixed tool angle in XYZ
coordination and saves shift amount of 3 dimension.
Note
(1) The Playback of XYZ shift
The distance of X, Y, Z to the end of tool must be set accurately because it
makes parallel shift with fixed tool angle.
(2) The Application of XYZ shift
As the following picture, it is used when the points A,B,C,D of workpiece
parallelly face each other to the points a, b, c, d.
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11. Robot Language Explanation
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11.3.10 SEA Command
Description Search function (M59)
Syntax
SEA ST=<On/Off>,RF=<Base>,R=<Reg. Number>
On/Off
Base
If 1, On. If 0, Off
0∼1
0∼1
If 0, ground base. If 1, tool base.
Parameter
example
-3000.0∼
3000.0
Reg. Number Register number to be used for online shift.
SEA ST=1,RF=0,R=1
Introduction
Search function (M59) can find the differences of the position of workpiece and
correct it's differences. It is possible to correct in tool coordination and robot base
coordination.
How to use
1. Specify the search range
(Application condition → Search range)
2. Teach program
Record requested search function
(1) Start search
(2) Robot Interrupt (DI signal)
(3) End search
(4) On line shift
3. Turn on the record data of search base
(Application condition → 3. Record search base data)
4. Play back program and record by using interrupt function in
1 cycle mode.
5. Turn off the record data of search base
(Application condition → 3. Record search base data)
6. Play back program
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11. Robot Language Explanation
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Application of Search
(1) 1 dimension search
5
4
6
3
2
7
8
1
1 Direction Search
Teach Point
Welding Line
Search Range
As the above picture, 1 dimension search can be used in the case of an alike workpiece
moving or same type workpiece that have different size.
Search function is used with interrupt function as the above. It correct the
difference by using on-line shift after recording the shift amount in shift register.
Robot interrupt works at step 3 and saves the shift amount in shift registers. Robot
plays back step 4 ∼ step 7 correcting position by using shift registers. And robot
interrupt function is used with a step of interpolation record
★ a step of interpolation record is a step recorded that interpolation (linear,
circular) is on.
(2) 2 dimension search
1
15
3
13
2
12
16
Q
18
14
17P
5
7
10
6
4
11
8
9
2 Dimension search
Teach Point
Welding Line
Search Range
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11. Robot Language Explanation
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2 dimension search uses search function twice and records the shift amounts of point
P,Q. The shift amount of point P is recorded in R1 register andreferenced during moving
to P point. The shift amount of point Q is recorded in R2 register and referenced during
moving to Q point.
11.3.12 SPOT Command
Description Servo Gun Welding (M72)
Syntax
SPOT GN=<Gun No.>,CN=<Welding Condition>,SQ=<Sequence No>
Gun No.
Welding
Gun No to weld
1∼2
Welding condition No of data for pressure, welding
1∼64
Parameter
condition condition
Sequence No that gun actuation and electrifying signal
Sequence No
1∼64
are recorded.
Example
SPOT GN=1,CN=1,SQ=10
Introduction
Itisafunctionofspotwelding.Gunactuationiscontrolledbyservosysteminadifferent
way of air gun and outlay electrifying signal to a welder after gun acting.
Note
(1) Tool number is changed automatically when gun number is selected(R210) in using of
multi gun. But gun number is not changed automatically when tool number is selected (R49).
(2) Spot function must be recorded at the first function of astep. It will not be executed
when recorded at the second of a step.
(3) Use one touch recording (Gun LED flickering) when step recording. If not, correction
of tip abrasion would not be executed.
(4) Use in small pressure lest a test workpiece is not deformed when teaching. If a test
workpiece is deformed, move the fixed tip.
(5) If the step where spot welding function (M72) is recorded is modified, the amount
of abrasion would be corrected too.
11.3.13 GUNSEA Command
Description Gun Search (M73)
syntax
GUNSEA GN=<Gun No>,SE=<Search No>,PR=<Gun Pressure>
Gun No the gun number to weld
Search No 1: Gun search 1 , 2: Gun search 2
Gun
SPOT GN=1,SE=1,PR=50
1∼2
Parameter
Example
1∼2
Gun actuation pressure
50∼999
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11. Robot Language Explanation
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Introduction
It is a function to measure the abrasion amount of tip.
Gun search 1 is to use for measurement the total abrasion amount of tip and Gun search
2 is for measurement the abrasion amount of moving tip. The abrasion amount of fixed tip can
be calculated by subtracting the abrasion amount of fixed tip from total abrasion amount.
Note
(1) Record servo gun axis parameter and the base position of gun search before measuring
abrasion amount.
(2) Turn on Application → 7. Gun search base position Recording for base position
recordingofgunsearch. Themeasurementdataisnotabrasionvaluebutbasicvaluetomeasure.
(3) Gun search 2 must follow gun search 1.
(4) Proceed at the position where gun is open, when recording gun search function,
11.3.14 TIERST Command
Description Call program to put in a insert sheet (M94)
TIERST R=<Register No>,P=<Pallet No>,PR=<Pattern Register
No>,TP=<Insert sheet Program>
Syntax
Register NoOn line shift register number
Pallet No Pallet number
1∼8
1∼16
Pattern
Parameter
Example
Palletizing pattern register number
Register NO
1∼16
Insert
Insert sheet program number
sheet
1∼999
TIERST R=1,P=4,PR=2,TP=800
Introduction
It is a function to put in a insert sheet when palletizing. This function is executed
when the condition to put in a insert sheet is met.
Note
(1) An sheet insertion program must be fixed up before using this function.
(2)Makesurethattheinformationtoputinainsertsheetforapatternregisteriscorrect.
Wrong information can cause collision.
(3) This function must be between PAL and PALEND.
(4) This function can be used before palletizing or depalletizing the initial workpiece.
The basic position of sheet insertion is the lower of first level when palletizing and the
upper of maximum level when depalletizing.
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11.3.15 PALPU Command
Description Palletizing picking up shift (M95)
Syntax
PALPU P=<Pallet No>,SL=<Start level>,SH=<shift amount>
Pallet No Pallet number
1∼16
Start level the level to pick up (1-base)
1∼100
Parameter
Example
-2000.0∼
2000.0
Shift amountshift amount when picking up
PALEND P=1,SL=4,SH=1000
Introduction
It is a function to shift the position where robot picks up the workpiece after gripping.
Robot can take a optimum path according to the change of loading height by using this
function.
Picking up shift
Destination point
Pickup point
Note
(1) This function must be between PAL and PALEND.
11.3.16 PAL Command
Description Palletize (Data Input) (M96)
PAL P=<PalletNo>, PR=<PatternregisterNo>, W=<Workpiece size>, L=<Workpiece
size>, H=<Workpiece size>
Syntax
Pattern Number Palletize number
1∼16
1∼16
Pattern Number Palletize pattern register number
Workpiece
0.1∼
3000.0
width of workpiece
size(W)
Workpiece
0.1∼
3000.0
length of workpiece
size(L)
Workpiece
0.1∼
3000.0
height of workpiece
size(H)
example
PAL PAL P=1, PR=1, W=500, L=300, H=250.5
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11. Robot Language Explanation
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Introduction
It makes shift amount to palletize by using the data that recorded in palletizing pattern
register.
Note
(1) Set up Gun 2 as Palletizing in the menu of "System"[PF2] → 5.Initialize → 4.Set up
Using item
(2) Always conform the data of palletizing pattern register ("System"[PF2] →
5.Initialize→ 3.Palletizing → 1. PalletizingPatternregister)beforeusingthisfunction.
If using wrong data, robot could not work properly.
(3) This function works only in the step where the condition is PS.
(4) This function(M96) must be one pair with Palletizing End(M97)
11.3.17 PALEND Command
Description Exits the palletize (Data Input) (M97)
Syntax
PALEND P=<Pallet number>, ES=<ending signal>
Pallet
Pallet number to exit
number
1∼16
Parameter
example
Ending
signal
the output signal (DO) to be transmitted after ending
palletizing. If 0, there is nothing transmitted.
DO range
PALEND P=1, ES=81
Introduction
It is a function to end palletizing. If this function runs, robot would initialize shift
amount and transmit specified signal to transfer a pallet.
11.3.18 PALRST Command
Description Palletize reset (Data Input) (M98)
PALRST P=<Pallet number>, CS=<Condition signal>,RS=<Response
Syntax
signal>
Pallet
number
Condition Inputsignaltoreceivewhenresetpalletizingbyforce.
Pallet number
1∼16
Parameter
example
DI range
DO range
signal
If 0, reset unconditionally.
Response
signal
Output signal to respond to forced reset
PALRST P=1, CS=1, RS=5
Introduction
It is a function to reset palletizing by force. If the specified signal is input, robot
would initialize all of informations and transmit a specified output signal to transfer a
pallet.
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11. Robot Language Explanation
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11.3.19 CALLPR Command
Description Calls other program (Unconditional) (M102)
Syntax
CALLPR <Program Number>
Program
Number
Parameter
example
Program number to be called.
1∼999
CALLPR 2
Introduction
In case that a robot is handling same workpieces that have a different position
repeating identical action, there are specific repeated actions.
or
CALLPR(Call relative program) is used in such case that relative position and
direction are same but absolute position is different. You could program the
specific programs as one program and call to use it if there is a need.
There is a different point that called program is run in the base of that current
position and direction when the program is called compared to just CALL PROGRAM.
You could the result that program No.1 called relatively No.2 as following picture.
n
RS4(END)
RS1
o
a
Program2
RS3
S1
F1:M102[2]
RS2
Program1
S7(END)
S2
S6
F1:M102[2]
S3
S5
S4
F1:M102[2]
RS3
RS4(END)
S1
RS1
RS2
Playback of Program1
S6
S7(END)
RS4(END)
S5
RS4(END)
RS3
S2
S4
RS1
RS1
S3
RS2
RS3
RS2
Note
When called program is finished, robot executes the next step or function after returning
to calling program
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11. Robot Language Explanation
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11.3.20 SELCRD Command
Description Shift coordinate system selection (M113)
Syntax
SELCRD <Coordinate System Number>
Coordinate
Coordinate System Number to be used among the user
coordinate systems.
Parameter System
Number
0∼10
example
SELCRD 4
Introduction
It is a function to select a base coordination to shift. Robot shifts in the base of selected
coordination.
Generally shift is executed in the base of robot coordination but robot could execute shift
in base of user coordination by using SELCRD command when shift data is transmitted in the
form of user coordination.
After this function is executed, all of shift is in the base of selected coordination. So
you must select "0" coordination to return to robot coordination.
(1) This function can not change the coordination of "tool coordination shift" in the base
of tool coordination.
▶the result of SELCRD in various conditions
Coord. No.
0
1 ∼ 10
base
Ground(robot coord.)
Tool(Tool coord.)
Robot coord. shift
Tool coord. shift
User coord. shift
Tool coord. shift
(2) Shift coordination would be changed at the next step that this function is recorded.
(3) SELCRD function can be applied to the following functions
· SONL (M52) on-line shift
· TONL1 (M53) & TONL2 (M54) on-line coordination transformation
· SXYS (M58) XYZ shift
· SEA (M59) search
· PAL (M96) palletizing (data input)
(4) There are referent functions such as "SYSTEM[PF2] → 2. CONTROL PARAMETER → 12. RECORD
COORDINATION → 1. RECORD USER COORDINATION" and "SET UP CONDITION[PF5] → 8. SELECT USER
COORDINATION"
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.3.21 MIT Code
Description All kinds of M.I.T. function codes can be used as required.
M<Code Number> <Factor 1>,<Factor 2>
I<Code Number> <Factor 1>,<Factor 2>
T <Delay Time>
Syntax
Code Number Positive Integer, M : 0∼113, I : 1∼55
Parameter
Arithmetic Equation, Factors to be handed to M, I, T
function.
Factor
M0
M81 5,1
M99 ARC WELDING 1
M101 1,"JOB FINISHED"
M105 8,V1%
example
I52 1,2.0,1
I53 1,&B10001,2.0,1
T 0.5
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.4 Function
11.4.1 Arithmetic Function
The functions that have the numeric value returned, are called the arithmetic functions.
Function Name Description
Example
ABS(a)
Returns the absolute value of a
V19!+ABS(V20!)
MAX(V20!, 0)
MIN(V20!, 10)
DEGRAD(270)
RADDEG(3.1415*V20!)
SQR(V20!)
MAX(a, b)
MIN(a, b)
DEGRAD(a)
RADDEG(a)
SQR(a)
Returns the bigger value between a and b.
Returns the smaller value between a and b.
Returns radian value of a in degree.
Returns degree value of a in radian.
Returns a square root of a.
SIN(a)
Returns a sine value of a in radian.
Returns a cosine value of a in radian.
Returns a tangent value of a in radian.
Returns a arctangent value of a in radian.
SIN(V20!)
COS(a)
COS(V20!)
TAN(a)
TAN(V20!)
ATN(a)
ATN(V20!)
Returns a arctangent value of a triangle which have
x length of a and y length of b, in radian.
ATN2(a, b)
DIST(a, b)
ATN(V25!, V26!)
Returns the distance to a point which x coordinate
is a and y coordinate is b.
DIST(V5!, V6!)
ORD("ERROR")
Returns the character code for the first character
of the string.
ORD(a)
VAL(a)
Returns the value of a number described in string. VAL("29.38E-2")
Returns the first location matching to b string
STRPOS(V7$, "=")
STRPOS(a, b)
LEN(a)
within a string.
Returns the length of a string.
LEN(V8$)
TIMER
Gets the elapsed time from the power on in seconds. TIMER
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
11.4.2 String Function
The functions that have the string returned, are called the string functions.
Function Name Description
Returns a character which has the character code
of a.
Example
CHR$(7)
CHR$(a)
STR$(a)
BIN$(a)
HEX$(a)
Returnsadecimal stringcorrespondingtonumber
a.
STR$(13.25)
Returnsabinarystringcorrespondingtoanumber
a.
BIN$(&B0010)
HEX$(&H7A2F)
MIRROR$("HELLO")
Returns a hexa string corresponding to a number
a.
Returns the reverse string corresponding to a
binary string a.
MIRROR$(a)
LEFT$(a, b)
Returns a string of b characters of string a. LEFT$("HELLO", 2)
Returns a string of c characters from bth
MID$("HELLO", 1, 3)
MID$(a, b, c)
RIGHT$(a, b)
characters of string a.
Returns a string of b characters from the back
RIGHT$("HELLO", 2)
of string a.
DATE$
TIME$
Returns a current date string (YY/MM/DD)
Returns a current time string (HH:MM:SS)
DATE$
TIME$
11.4.3 Robot Language corresponding to a existing MIT Function Code.
The same result of each operation of existing MIT function code can be obtained by using the
robot language command instructions in appropriate places. The followings are the examples
of such cases. The code corresponding to the other command instruction are indicated by the
background color.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
M I T Function Code
Example of corresponding HR - BASIC syntax.
GO1=0
M0
DO signal RESET
M1∼8
M10
DO signal ON/OFF
DO signal RESET
DO1=1∼DO8=1 or
GO2=0
DO1=0∼DO8=0
M11∼18 DO signal ON/OFF
DO11=1∼DO18=1 or DO11=0∼DO18=0
GOTO <Address>
M20
M21
M22
M23
Step Jump (Uncond.)
Step Call (Uncond.)
GOSUB <Address>
Step Return (Uncond.) RETURN
Step Jump (Conditional) IF DIn=1 THEN <Address>
IF DIn=1 THEN
GOSUB <Address>
ENDIF
M24
Step Call (Conditional)
IF DIn=1 THEN
RETURN
ENDIF
Step Return
(Conditional)
M25
M26
Step Jump (Count
Conditional)
IF Vn%=<Count> THEN <Address>
Vn%=Vn%+1 (Vn% value is initialized out of cycle).
IF Vn%=<Count> THEN
GOSUB <Address>
Step Call (Count
Conditional)
M27
ENDIF
Vn%=Vn%+1 (Vn% value is initialized out of cycle).
IF Vn%=<Count> THEN
RETURN
Step Return (Count
Conditional)
M28
M29
ENDIF
Vn%=Vn%+1 (Vn% value is initialized out of cycle).
Robot Interrupt (DI
signal)
MOVE L, P1, S=..., A=..., H=... UNTIL <I Signal>=1
DOn=1
M32
M33
M34
M41
Output signal SET
Spot welding condition SPOTCND
Output signal RESET
Robot Stop (Uncond.)
DOn=0
STOP
IF DIn=1 THEN
STOP
ENDIF
M42
Robot Stop (Conditional)
Line number designated
output within MB signal
group
M43
M44
GO<Group Number>=<8bit Binary>
GO<Group Number>=<Data>
binary coded output
within MB signal group.
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
M I T Function Code
Example of corresponding HR - BASIC syntax.
M51
M52
Shift Requirements
SREQ
SONL
Online Shift
Online Coordinate
Conversion
M53
M54
M56
TONL1
Online Coordinate
Conversion
TONL2
Timer Cnditional Shift
Function.
SREQT(SREQT)
M58
M59
XYZ Shift
SXYZ
SEA
Search Function
Function setting Step
Jump (Uncond.)
M62
M63
GOTO <Address>
Function setting Step
Jump (I conditional)
IF DIn=1 THEN <Address>
Function setting Step IF Vn%=<Count> THEN <Address>
Jump (Count Conditional) Vn%=Vn%+1 (Vn% value is initialized out of cycle).
M64
Shift Amount
Substitution
M68
M69
M70
M80
Rn=<Pose Constant>
n= 1∼8
Rn.X=Rn.X+<Addition value>.... n is 1∼8 for each
element.
Shift Amount Addition
Count Register Initial
Value Setting
LETN
CALL <Program Number> (At the end of called program
END)
IF DIn=1 THEN
Program Call (Uncond.)
CALL<ProgramNumber> (Attheendofcalledprogram
END)
M81
M82
Program Call (DI Cond.)
ENDIF
IF Vn%=<Count> THEN
CALL <Program Number> (At the end of called
program, END)
Prograsm Call
(Count Conditional)
ENDIF
Vn%=Vn%+1 (Vn% value is initialized out of cycle).
M83
M84
Program Jump (Uncond.) JMPP <Program Number>
IF DIn=1 THEN
Program Jump (DI Cond.)
JMPP <Program Number>
ENDIF
IF Vn%=0 THEN
JMPP <Program Number>
Program Jump
(Count Conditional)
M85
ENDIF
Vn%=Vn%+1 (Vn% value is initialized out of cycle).
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11. Robot Language Explanation
------------------------------------------------------------------------------------------------
M I T Function Code
Example of corresponding HR - BASIC syntax.
Vp%=Vn%/<Division Count> or Vp%=Vn% MOD <Division
Count>
Function Jump (Count
Conditional)
M86
value is initialized out of cycle).
ON Vp%+1 GOTO <Address1><Address2><Address3>...
Function Jump (I
Conditional)
Vn% = DIn2*2^2 + DIn1*2 + DIn0
ON Vn%+1 GOTO <Address1><Address2><Address3>...
M87
M88
M92
Function Jump Exit
END
Not required
END
Call Insert sheet
program
M94
M95
TIERST R=1,P=4,PR=2,TP=800
PALPU P=1,SL=4,SH=1000
Palletizing picking up
shift
M96
M97
M98
M99
Palletizing shift
Palletizing end
Palletizing reset
Comment Function
PAL P=1,PR=1,W=500,L=300,H=250.5
PALEND P=1,ES=81
PALRST P=1,CS=1,RS=5
'SPOT WELD
or
REM SPOT WELD
M101
M102
M103
String Output (RS-232C) PRINT #1,“ <String>”
Other Program Call
CALLPR
(Uncond.)
Other Program Call (I
Use IF instruction
Cond.)
Other Program Call
(Count Cond.)
M104
M105
M113
Use IF instruction, and variable value increment
Output Signal(ON/OFF) DOn=1 or DOn=0
Shift Coordinate System
SELCRD
Selection
I1∼24
I25
Signal Wait
WAIT DIn=1
WAIT DIn=1
I Signal Wait (Input
Signal Setting)
I Signal Wait (Sub-Logic
Signal)
I26
I52
WAIT DIn=0
Time Conditional I
Signal Wait
WAIT DIn=1,<Wait Time>,<shelterAddress>
Time Conditional IB
Signal (AND)
WAIT (GIn AND <Binary Condition>)=<Binary Condition>,
<Wait Time> , <shelterAddress>
I53
Time Conditional IB
Signal (OR)
WAIT GIn AND <Binary Condition>, <Wait Time>,
<shelterAddress>
I54
I55
Time Conditional IB
Signal
WAIT GIn=<Binary Condition>, <Wait Time>,
<shelterAddress>
T
Delay Time Setting
DELAY <Delay Time>
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
Chapter 12 Signal Connection
INDEX
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
12.1 EXTERNAL INPUT SIGNAL (BD430/BD431)......................... 12 - 2
12.2 EXTERNAL OUTPUT SIGNAL (BD430/BD431)........................ 12 - 7
12.3 BD481 CIRCUIT ............................................. 12 - 17
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
CHAPTER 12 SIGNAL CONNECTION
12.1 EXTERNAL INPUT SIGNAL (BD430/BD431)
12.1.1 INPUT CIRCUIT
- Connector Specification
Board-side : 3M MDR 10240-52A2JL
16 15 14
13 12 11 10
9
8
7
6
5
4
3
2
1
20 19 18 17
25 24 23 22 21
40 39 38 37 36 35 34 33 32 31 30 29 28 27 26
Plug-side : 3M MDR 10140-3000VE (HOOD;10340-55F0-008)
20
40
18
38
16
36
14
34
12
32
10
30
8
6
4
2
19
39
17
37
15
35
13
33
11
31
9
7
5
3
1
28
26
24
22
29
27
25
23
21
1
2
3
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20
21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
- Connection Specification
Input port device : AC input type photocoupler
Input impedance = 3㏀
Common (+) input voltage = 24VDC
Common (-) input voltage = 0VDC
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
- Connection Diagram
Common (+) or (-) voltage
User's System
BD430 or BD431 Board
COMIN1,2,3,4,5,6,7,8
+24V (or 0V)
R
R
C
Input
User's SMPS
Signals
Contact
0V (or +24V)
Note.
(1) Use external power source.
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
12.1.2 CNIN2 Input Signal
Pin No. Symbol
Description (for expanded board / for base board)
general-purpose input 1
1
DI01
2
DI02
general-purpose input 2
3
DI03
general-purpose input 3
4
DI04
general-purpose input 4
5
DI05
general-purpose input 5
6
DI06
general-purpose input 6
7
DI07
general-purpose input 7
8
DI08
general-purpose input 8
9
COMIN5
COMIN5
DI09
common voltage input (user's power): +24 V or 0V for DI01~DI08
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
general-purpose input 9
general-purpose input 10
general-purpose input 11
general-purpose input 12
general-purpose input 13
general-purpose input 14
general-purpose input 15
general-purpose input 16
DI10
DI11
DI12
DI13
DI14
DI15
DI16
COMIN6
COMIN6
DI17
common voltage input (user's power) : +24 V or 0V for DI09~DI16
general-purpose input 17
DI18
general-purpose input 18
DI19
general-purpose input 19
DI20
general-purpose input 20
DI21
general-purpose input 21
DI22/WI
DI23/EX_START
DI24/EX_STOP
COMIN7
COMIN7
DI25/PI1
DI26/PI2
DI27/PI3
DI28/PI4
DI29/PI5
DI30/PI6
DI31/PI7
DI32/PI8
COMIN8
COMIN8
general-purpose input 22(welding complete signal input)
general-purpose input 23(external start signal input)
general-purpose input 24(external stop signal input)
common voltage input (user's power) : +24 V or 0V for DI17~DI24
general-purpose input 25(external program select signal 1)
general-purpose input 26(external program select signal 2)
general-purpose input 27(external program select signal 3)
general-purpose input 28(external program select signal 4)
general-purpose input 29(external program select signal 5)
general-purpose input 30(external program select signal 6)
general-purpose input 31(external program select signal 7)
general-purpose input 32(external program select signal 8)
common voltage input (user's power) : +24 V or 0V for DI25~DI32
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
1) General DI Signal
DI1 ∼ DI18 signal connect as followings.
Connector
+24V (External
CNIN2
power)
Pin no.
(1)
COMIN
5, 6, 7
Signal
DI01
contact
contact
DI 08
(8)
+24V GND
(External power)
2) External start, External stop
It connects external Start/Stop signal, External Motors OFF for controlling the
operation in external unit.
connector
+24V (External
CNIN2
power)
Pin no.
COMIN
7
signal
Ext. start
(
(27)
contact
contcat
Ext.
stop
(24)
(28)
+24V GND
(External power)
But, set up External stop as 0 of "PF2(system), 2 : Control parameter, 1:Set up of
In/Out signal, 6:Array of input signal" in case that you don't use external stop.
3) Connection of Program selection Signal, Discrete/Binary Signal
It is selects the external program selection by this signal at playback. It is selected
to [Enable] "System[PF5] → 1. User Define → 8. External Program Select. There are
Discrete/Binaryinputinprogramselectionsignal. Youcanselectoneof8signalforDiscrete
input, and one of 225 signals for binary input.
Connect program selection signal as followings.
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
+24V
(External power)
connector
CNIN2
COMIN
8
pin no
signal
PI 1
(31)
(38)
contact
contact
PI 8
+24V GND
(Exteranl power)
Connect Discrete/Binary input signal as followings.
+24V
(External power)
connector
CNIN2
COMIN
7
pin no
signal
binary/
discrete
(27)
(User setting)
cont
act
+24V GND
(External power)
※ It is a binary input in case that this signal is open.
4) Program Strobe Signal
It decides to confirm program selection signal.
It acquire the signal in a stable timing between the input signals to decide the timing
being read for the program selection for external.
(1) Binary program selection in case that program strobe signal is not used.
+24V
connector
(External power)
CNIN2
COMIN
pin no
7
signal
program
strobe
(User setting)
cont
cat
+24V GND
(External power)
※ Turn it on always.
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
12.2 External Output Signal (BD430, BD431)
12.2.1 Output Circuit
All output circuit are as followings.
- Connector Specification
Board-side : 3M MDR 10250-52A2JL
25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26
Plug-side : 3M MDR 10150-3000VE (HOOD;10350-52F0-008)
24
49
22
47
20
45
18
43
16
41
14
39
12
37
10
35
8
6
4
2
19
44
17
42
15
40
13
38
11
36
9
7
5
3
1
25
50
23
48
21
46
33
31
29
27
34
32
30
28
26
1
2
3
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
30 31 32
33
34 35 36 37 38
39 40 41 42 43 44 45 46 47 48 49 50
26 27 28 29
- Connection Specification
* BD430
Output port device : PNP transistor open collector
Output rating = 125mA(Continuous load current), 24VDC
Common (-) input voltage = 0VDC
* BD431
Output port device : MOS relay
Output rating = 125mA(Continuous load current), 24VDC
Common (+) input voltage = 24VDC
Common (-) input voltage = 0VDC
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
- Connection Diagram
BD431 Board : Common (+) or (-) voltage
User's System
+24V(0V)
BD431 Board
Output
Signals
Load
User's SMPS
0V(+24V)
COMOUT1,2,3,4,5,6,7,8
BD430 Board : Common (-) voltage only
BD430 Board
User's System
Output
Signals
+24V
Load
User's SMPS
0V
COMOUT1,2,3,4,5,6,7,8
Note
(1)Use external power source for power source.
(2)Alloutputsignalsarefromtransistoropencollectoroutput. So, usethemwithin
the rating. (Otherwise a circuit may be damaged.)
(3) Set noise absorbing diode to a load.
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
12.2.3 CNOUT2 Output signal
Pin
1
Singal
Discription
DO01
General output signal 1
General output signal 2
General output signal 3
General output signal 4
General output signal 5
General output signal 6
General output signal 7
General output signal 8
2
DO02
3
DO03
4
DO04
5
DO05
6
DO06
7
DO07
8
DO08
9
COMOUT5
COMOUT5
DO09
common voltage input (user's power): +24 V or 0V for DO01~DO08
10
11
General output signal 9
General output signal 10
General output signal 11
General output signal 12
General output signal 13
General output signal 14
General output signal 15
General output signal 신호 16
DO10
13
14
15
16
DO11
DO12
DO13
DO14
DO15
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
DO16
COMOUT6
COMOUT6
common voltage input (user's power): +24 V or 0V for DO09~DO16
DO17
DO18
DO19
DO20
DO21
DO22
General output signal 17
General output signal 18
General output signal 19
General output signal 20
General output signal 21
General output signal 22
DO23/GUN1
General output signal 23 / GUN Signal 1
General output signal 24 / GUN Signal 2
DO24/GUN2
COMOUT7
common voltage input (user's power): +24 V or 0V for DO17~DO24
COMOUT7
DO25/MX
General output signal 25 / MX Signal
DO26/PROGRAM END
DO27/TOTAL ERROR
DO28/INTERLOCK ERROR
DO29/RUNNING
DO30/AUTO MODE
DO31/ROBOT READY OK
DO32/HOME
General output signal 26 / Program end signal
General output signal 27 / System fault
43
44
45
46
General output signal 28 / Input Signal Wait Time Over
General output signal 29 / Robot running
General output signal 30 / Auto Mode
General output signal 31 / When Robot is ready to Start
General output signal 32 / When Robot is on the Home Position
48
49
50
COMOUT8
common voltage input (user's power): +24 V or 0V for DO25~DO32
COMOUT8
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
1) General DO Signal
Connect DO 1∼ DO 8, DO 11 ∼ DO 18 output signal as followings.
connector
CNOUT2
load
pin no
(1)
signal
DO 1
output
24V
DO 8
(8)
COMOUT5
(9), (10)
connecot
CNOUT2
load
pin no
(11)
signal
DO 11
output
24V
DO 15
(18)
COMOUT6
(19), (20)
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
2) GUN Signal
It is output this signal after arriving to the recorded point (destination point)
if it is GUN output function on a destination step at playback.
connector
CNOUT2
load
pin no
signal
GUN 1
(37)
output
24V
GUN 2
(38)
COMOUT6
(39), (40)
(
3) MX Signal
It is output (ON/OFF) according to the condition of destination step before
starting from destination step.
connector
CNOUT2
load
signal
MX
pin no
(18)
(41)
output
24V
(49), (50)
(9, (20)
COMOUT6
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
4) PROGRAM END
It is output when program is ended in playback.
Refer to "SYSTEM [PF5] → 2. CONTROL PARAMETER → 6. END Relay Output
Time for the setting of end signal output time.
connector
CNOUT2
load
signal
Program
END
pin no
(42)
output
24V
(49), (50)
)
COMOUT7
5) TOTAL ERROR SIGNAL
It is output in case of occurring a serious system error. It resets the
output status by the motors ON after curing error or RESET SET key.
Connector
CNOUT2
load
signal
Tota error
pin no
(43)
output
24V
(49), (50)
)
COMOUT7
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
6) EMERGENCY STOP
It is output when emergency stop is pressed.
connector
CNOUT2
load
signal
pin no
(User setting)
output
Emegency
stop
24V
(User setting)
COMOUT7
7) STEP SET ALARM SIGNAL
It is output this signal when a step which is kept away from the current
step by two or more steps, is specified in the one step or teach mode. It is
output for 200msec.
connector
CNOUT2
signal
signal
step SET
alarm
pin no
(User setting)
output
24V
(User setting)
COMOUT7
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
8) INTERLOCK ERROR SIGNAL
It is output this signal in case that interlock signal is not input despite of
exceeding the time set in "SYSTEM [PF5] → 2. CONTROL PARAMETER →
7. Interlock Error Time waiting interlock in playback.
If interlock signal is normally input after this signal is output, the next step
is executed at that state.
connector
CNOUT2
load
signal
pin no
(44)
output
interlock
error
24V
(49), (50)
COMOUT7
9) PROGRAM ACK. SIGNAL
It is output the confirming signal when program is selected by external program
selection. This signal is output for 200msec
connector
CNOUT2
load
signal
pin no
(User setting)
output
program
ACK
24V
(User setting)
COMOUT7
----------------------------------------------------------------------------------------
12 - 14
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
10) ROBOT RUNNING
It is out the confirming signal that robot is running.
connector
CNOUT2
load
signal
robot
running
pin on
(45)
output
24V
(49), (50)
COMOUT8
11) IN LOW MODE SIGNAL
It is output when low speed command is input or low speed mode is set.
connecror
CNOUT2
load
signal
pin no
(User setting)
low speed
mode
output
24V
(49), (50)
(User setting)
COMOUT8
----------------------------------------------------------------------------------------
12 - 15
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
12) ROBOT READY SIGNAL
It is output when automatic operation is enable.
Refer to "SYSTEM [PF5] → 2.CONTROL PARAMETER → 3.Robot Ready for the condition
of robot ready.
connector
CNOUT2
load
signal
Robot
ready
pin no
(47)
output
24V
(49), (50)
COMOUT8
13) ROBOT HOME SIGNAL
It is output when the robot locates on the position set on "SYSTEM [PF5] →
2. CONTROL PARAMETER 4. Home Position Registration.
connector
CNOUT2
load
signal
Home
position
pin no
(48)
output
24V
(49), (50)
COMOUT8
----------------------------------------------------------------------------------------
12 - 16
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
12.3 BD481 CIRCUIT DRAWING
BD481 CNWIFConnector
1
2
11
12
1 : outTORCHSW
2 : outINCHING
3 : outRETRACT
4 : outSTICKCHK
5 : outGASVALVE
6 : outRESERVED
7 : N.C.
8 : outCOM
9 : outCOM
10 : outCOM
1
11
3
4
5
6
13
14
15
16
2
4
6
12
14
16
L
EXTERNAL
WELDING
SYSTEM
2
3
5
13
15
5A2
102-
3M
7
8
17
18
19
20
11 : inWCR
3V0E
12 : inSHOCKSENSOR
13 : inWIRESTICK
14 : inWELDERERROR
15 : inWIRESTATE
16 : inGASSTATE
17 : N.C.
18 : AGND
19 : AGND
20 : AGND
102-
7
9
17
19
9
3M
8
18
20
10
10
Specification of Connector
ITEM
Receptacle
MAKER
3M
TYPE SPECIFICATION
10220-52A2JL MDR system, 20-Pin
Header
Hood
3M
3M
10120-3000VE MDR system, 20-Pin
10320-52F0-008 MDR system, 20-Pin
----------------------------------------------------------------------------------------
12 - 17
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12. Signal connection (3) BD481 circuit
------------------------------------------------------------------------------------------------
BD481 TBAIO Terminal Block
10
L
9
A
N
10 : AOUT4
9 : AOUT3
I
8
RM
E
T
7
8 : AOUT2
X
I
N
6
7 : AOUT1
6 : AGND
5
PHOE
4
5 : AGND
EXTERNAL
SYSTEM
3
4 : AIN4
2
3 : AIN3
2 : AIN2
1 : AIN1
1
ITEM
MAKER
TYPE
SPECIFICATION
TERMINAL BLOCK
PHOENIX
PHOENIX
MCV1.5/10-ST-3.81 10-pin, 3.81mm pitch, Plug Part
( Plug Part )
TERMINAL BLOCK
MCV1.5/10-G-3.81
10-pin, 3.81mm pitch, Housing
( Housing )
BD481 CNSTK Connector
L
A
N
I
M
EXTERNAL
WELDING
SYSTEM
R
E
T
X
I
N
E
2 : WS_B
1 : WS_A
2
PHO
1
ITEM
MAKER
TYPE
MKDS 1/2-3.81
SPECIFICATION
2-pin, 3.81mm pitch,
Terminal Block
TERMINA
L BLOCK
P
H
BD481 CNPOW Connector
1
SMPS
0
2
1
7
1&
1
P
M
A
8-
2
1
71265-
M1
P1
M1(24V GND)
P1(24V)
1
790
P
M
A
ITEM
CONNECTOR(Header)
CONNECTOR(Plug)
MAKER
AMP
TYPE
SPECIFICATION
770966-1
172165-1
770988-1
MATE-N-LOCK Header, 2-Pin
MATE-N-LOCK Plug, 2-Pin
MATE-N-LOCK Contact, AWG22
AMP
CONNECTOR(Contact)
AMP
----------------------------------------------------------------------------------------
12 - 18
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