COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
MRODCONTO43E-5
Kawasak
Kawasaki Robotics (USA), Inc.
This publication contains proprietary information of Kawasaki Robotics (USA), Inc. and
is furnished solely for customer use only. No other uses are authorized or permitted without the express written permission of Kawasaki Robotics (USA), Inc. The contents of this
manual cannot be reproduced, nor transmitted by any means, e.g., mechanical, electrical, photocopy, facsimile, or electronic data media, without the express written permission of Kawasaki Robotics (USA), Inc.
All Rights Reserved.
Copyright © 2007, Kawasaki Robotics (USA), Inc.
Wixom, Michigan 48393
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
MRODCONTO43E-6
This manual presents information specific to the robot model listed on the title page of
this document. Before performing maintenance, operation, or programming procedures,
all personnel are recommended to attend an approved Kawasaki Robotics (USA), Inc.
training course.
KAWASAKI ROBOTICS (USA), INC. TRAINING
Training courses covering operation, programming, electrical maintenance, and mechanical maintenance are available from Kawasaki Robotics (USA), Inc. These courses
are conducted at our training facility in Wixom, Michigan, or on-site at the customer’s
location.
For additional information contact:
Kawasaki Robotics (USA), Inc.
Training and Documentation Dept.
28140 Lakeview Drive
Wixom, Michigan 48393
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
The descriptions and specifications in this manual were in effect when it was submitted
for publishing. Kawasaki Robotics (USA), Inc. reserves the right to change or discontinue specific robot models and associated hardware and software, designs, descriptions, specifications, or performance parameters at any time and without notice, without
incurring any obligation whatsoever.
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INTRODUCTION
I.0
I.1
I.1.1
I.2
I.2.1
INTRODUCTION ............................................................................................ I-2
Mechanical Unit .............................................................................................. I-2
Mechanical Unit Design Specifications ........................................................... I-3
Robot Controller ............................................................................................ I-10
Robot Controller Design Specifications ......................................................... I-11
February 26, 2007
I-1
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INTRODUCTION
I.0 INTRODUCTION
The D Series Controller Operations and Programming Manual is designed to assist the
operator whose primary responsibility is to program and operate the robot on a daily
basis. This manual provides specific information on safety, basic operation, programming path and auxiliary data, setting the Auxiliary Data screens, and error information.
I.1 MECHANICAL UNIT
The Kawasaki F-series, M-series, and ZZ-series AC servo driven industrial robots are
articulated coordinate-type robots designed for many applications in the industrial environment. The robot, with its AC servo closed-loop drive system, is built with high rigidity.
This design allows it to perform tasks that require high accuracy, speed, and wrist load
capacities, while achieving significant energy reduction through the use of high efficiency
brushless AC servo motors.
The mechanical unit has six or seven axes depending upon the configuration of the
robot.
The major axes are:
•
•
•
JT1 (R-axis) rotary; rotation of the base
JT2 (O-axis) out and in; rotation of the lower arm
JT3 (D-axis) down and up; rotation of the upper arm
The minor axes are:
•
•
•
JT4 (S-axis) swivel; sets orientation of JT5 for pitch/yaw motion
JT5 (B-axis) bend; provides pitch/yaw wrist motion
JT6 (T-axis) twist; provides rotation of the tool only
The auxiliary axis, if so equipped is:
•
I-2
JT7 (V-axis) traverse; linear positioning of the mechanical unit
March 15, 2004
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INTRODUCTION
The Kawasaki robot system supports Cartesian coordinate motion which includes:
•
•
Base (World) coordinates
Tool coordinates
These coordinate systems can be used when manually operating the robot in the teach
mode and with various program instructions for shifting program positional data, defining
tool center points, and recording positional data.
Kawasaki robot systems use the left-hand rule to determine the orientation of the base
or tool coordinate system. For additional information about the left-hand rule, refer to
section 6.4.2.
I.1.1 MECHANICAL UNIT DESIGN SPECIFICATIONS
List of the standards that the robot meets:
ANSI/RIA R15.06–1999
American National Standard
for Industrial Robots and Robots Systems–
Safety Requirements
UL 1740–1998
UL Standard for Safety
for Robots and Robotic Equipment, UL 1740
Second Edition, November 25, 1998
NFPA 79–2002
NFPA 79, Electrical Standard for Industrial
Machinery 2002 Edition
NFPA 70–2002
NFPA 70, National Electrical Code
2002 Edition
CSA Z434–03
Industrial Robots and Robot Systems–
General Safety Requirements
February 2003
List of the standards that the robot is third party certified to meet:
UL listed US and Canada
Table I-1 provides stopping time and distance data for the mechanical units that utilize
the D controller.
Table I-2 provides the design specifications for the mechanical units that utilize the D
controller.
March 15, 2004
I-3
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INTRODUCTION
Table I-1 Robot Stopping Time and Distance Data
ROBOT MODEL
JT1
JT2
JT3
Linear Average
at 1000 mm/s
FD50N
FS003N
FS06L
FS06N
FS10C
FS10E
1063 mm (41.9)
514 mm (20.2)
673 mm (26.5)
581 mm (22.9)
324 mm (12.8)
627 mm (24.7)
Time
0.38 seconds
0.30 seconds
0.35 seconds
0.37 seconds
0.25 seconds
0.25 seconds
Distance (in)
256 mm (10.1)
251 mm (9.9)
311 mm (12.2)
384 mm (15.1)
220 mm (8.7)
318 mm (12.5)
Time
0.24 seconds
0.27 seconds
0.46 seconds
0.41 seconds
0.38 seconds
0.54 seconds
Distance (in)
416 mm (16.4)
82 mm (3.2)
257 mm (10.1)
581 mm (22.9)
129 mm (5.1)
267 mm (10.5)
0.50 seconds
Distance (in)
Time
0.46 seconds
0.40 seconds
0.43 seconds
0.30 seconds
0.33 seconds
Distance (in)
*378 mm (14.9)
*148 mm (5.8)
68 mm (2.7)
78 mm (3.1)
74 mm (2.9)
77 mm (3.0)
Time
0.26 seconds
0.27 seconds
0.23 seconds
0.27 seconds
0.34 seconds
0.51 seconds
*Measured at maximum speed of linear motion
ROBOT MODEL
JT1
JT2
JT3
Linear Average
at 1000 mm/s
Distance (in)
FS10L
FS10X
FS20X
FS20C
FS20N
FS30L
782 mm (30.8)
1048 mm (41.3)
1020 mm (40.2)
438 mm (17.2)
710 mm (28.0)
581 mm (22.9)
Time
0.38 seconds
0.29 seconds
1.10 seconds
0.24 seconds
0.38 seconds
0.27 seconds
Distance (in)
450 mm (17.7)
1173 mm (46.2)
799 mm (31.5)
254 mm (10.0)
538 mm (21.2)
280 mm (11.0)
Time
0.28 seconds
0.18 seconds
0.40 seconds
0.58 seconds
0.50 seconds
0.27 seconds
Distance (in)
234 mm (9.2)
712 mm (28.0)
885 mm (34.8)
160 mm (6.3)
318 mm (12.5)
322 mm (12.7)
0.32 seconds
Time
0.32 seconds
0.35 seconds
0.50 seconds
0.21 seconds
0.24 seconds
Distance (in)
74 mm (2.9)
81 mm (3.2)
*183 mm (7.2)
77 mm (3.0)
94 mm (3.7)
36 mm (1.4)
Time
0.25 seconds
0.23 seconds
1.00 seconds
0.37 seconds
0.21 seconds
0.33 seconds
*Measured at maximum speed of linear motion
ROBOT MODEL
JT1
JT2
JT3
Linear Average
at 1000 mm/s
Distance (in)
FS30N
FS45C
FS45N
FS60L
MD400N
MX350L
547 mm (21.6)
542 mm (21.3)
727 mm (28.6)
615 mm (24.2)
1186 mm (46.7)
1904 mm (75.0)
Time
0.48 seconds
0.51 seconds
0.29 seconds
0.24 seconds
0.69 seconds
1.30 seconds
Distance (in)
317 mm (12.5)
216 mm (8.5)
238 mm (9.4)
321 mm (12.6)
286 mm (11.3)
341 mm (13.4)
Time
0.46 seconds
0.43 seconds
0.19 seconds
0.42 seconds
0.32 seconds
0.45 seconds
Distance (in)
221 mm (8.7)
192 mm (7.5)
407 mm (16.0)
120 mm (4.7)
236 mm (9.3)
566 mm (22.3)
0.58 seconds
Time
0.59 seconds
0.51 seconds
0.26 seconds
0.70 seconds
0.26 seconds
Distance (in)
101 mm (4.0)
76 mm (3.0)
83 mm (3.3)
72 mm (2.8)
100 mm (3.9)
179 mm (7.1)
Time
0.30 seconds
0.24 seconds
0.26 seconds
0.43 seconds
0.23 seconds
0.35 seconds
*Measured at maximum speed of linear motion
ROBOT MODEL
JT1
JT2
JT3
Linear Average
at 1000 mm/s
Distance (in)
JT2
JT3
Linear Average
at 1000 mm/s
MX500N
ZZD130S
ZZD250S
ZZT130U
ZZT165U
1939 mm (76.3)
2382 mm (93.8)
1624 mm (63.9)
1202 mm (47.3)
1202 mm (47.3)
0.58 seconds
Time
1.08 seconds
1.07 seconds
0.88 seconds
0.75 seconds
0.58 seconds
Distance (in)
350 mm (13.4)
333 mm (13.1)
393 mm (15.5)
211 mm (8.3)
166 mm (6.5)
184 mm (7.2)
Time
0.46 seconds
0.51 seconds
0.29 seconds
0.26 seconds
0.62 seconds
0.36 seconds
Distance (in)
325 mm (12.8)
258 mm (10.2)
544 mm (21.4)
355 mm (14.0)
353 mm (13.9)
353 mm (13.9)
Time
0.53 seconds
0.39 seconds
0.29 seconds
0.29 seconds
0.57 seconds
0.57 seconds
Distance (in)
106 mm (4.2)
159 mm (6.3)
113 mm (4.5)
96 mm (3.8)
87 mm (3.4)
87 mm (3.4)
Time
0.84 seconds
0.30 seconds
0.29 seconds
0.18 seconds
0.20 seconds
0.20 seconds
ROBOT MODEL
JT1
MX420L
2170 mm (85.4)
Distance (in)
ZZT200S
ZZX130L
ZZX165U
ZZX200S
ZZX300S
2388 mm (94.0)
640 mm (25.2)
1196 mm (47.1)
1442 mm (56.8)
1518 mm (59.7)
0.76 seconds
Time
1.01 seconds
0.37 seconds
0.58 seconds
0.78 seconds
Distance (in)
225 mm (8.9)
220 mm (8.7)
274 mm (10.8)
266 mm (10.5)
241 mm (9.5)
Time
0.33 seconds
0.20 seconds
0.21 seconds
0.18 seconds
0.21 seconds
Distance (in)
300 mm (11.8)
493 mm (19.4)
333 mm (13.1)
317 mm (12.5)
267 mm (10.5)
Time
0.34 seconds
0.30 seconds
0.24 seconds
0.21 seconds
0.22 seconds
Distance (in)
99 mm (3.9)
80 mm (3.1)
87 mm (3.4)
88 mm (3.4)
89 mm (3.5)
Time
0.22 seconds
0.25 seconds
0.34 seconds
0.22 seconds
0.26 seconds
a) Evaluated point:
center of flange
b) Stopping signal:
emergency stop
c) Evaluation condition: maximum reach and maximum payload
I-4
April 16, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INTRODUCTION
Table I-2 Robot Specifications
ROBOT MODEL
FD50N
FS03N
FS06L
FS06N
FS10C
FS10E
Number of Axes
5 (6)*
6 (7)*
6 (7)*
6 (7)*
6 (7)*
6 (7)*
6 (7)*
JT1
180°/sec
240°/sec
200°/sec
240°/sec
200°/sec
200°/sec
160°/sec
140°/sec
Maximum
Velocity
FS10L
JT2
150°/sec
100°/sec
140°/sec
200°/sec
140°/sec
140°/sec
JT3
180°/sec
140°/sec
200°/sec
250°/sec
200°/sec
200°/sec
160°/sec
JT4
350°/sec
360°/sec
360°/sec
430°/sec
360°/sec
360°/sec
330°/sec
330°/sec
JT5
—
180°/sec
360°/sec
430°/sec
360°/sec
360°/sec
JT6
—
360°/sec
600°/sec
720°/sec
600°/sec
600°/sec
500°/sec
JT7
1,000 mm/sec
(39.37 in/sec)
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
Maximum Linear
Tool Tip Speed
11,100 mm/sec
(437 in/sec)
9,200 mm/sec
(362.2 in/sec)
9,200 mm/sec
(362.2 in/sec)
8,000 mm/sec
(314.9 in/sec)
6,200 mm/sec
(244 in/sec)
8,800 mm/sec
(346.4 in/sec)
9,400 mm/sec
(370 in/sec)
Restricted
Space
(Stroke)
JT1
±157°
±160°
±160°
±160°
±160°
±160°
±160°
JT2
+140°/-95°
+60°/-150°
+140°/-105°
+140°/-105°
+140°/-105°
+140°/-105°
+140°/-105°
JT3
+30°/-205°
+210°/-270°
+295°/-225°
+295°/-225°
+295°/-225°
+295°/-225°
+295°/-225°
JT4
±360°
±360°
±270°
±270°
±270°
±270°
±270°
JT5
±10°
±135°
±145°
±145°
±145°
±145°
±145°
JT6
—
±360°
±360°
±360°
±360°
±360°
±360°
JT7
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
50 kg (110.2)
3 kg (6.6)
6 kg (13)
6 kg (13)
10 kg (22)
10 kg (22)
10 kg (22)
JT4
—
0.59 kg m (8.8)
12 Nm (8.8)
12 Nm (8.8)
21.5 Nm (15.8)
21.5 Nm (15.8)
21.5 Nm (15.8)
JT5
—
0.59 kg m (8.8)
12 Nm (8.8)
12 Nm (8.8)
21.5 Nm (15.8)
21.5 Nm (15.8)
21.5 Nm (15.8)
JT6
—
0.29 kg m (4.4)
6 Nm (4.4)
6 Nm (4.4)
9.8 Nm (7.2)
9.8 Nm (7.2)
9.8 Nm (7.2)
JT4
4.4 kg m s2
(31.8)
0.012 kg m s2
(1.72 )
0.24 kg m s2
(1.72 )
0.24 kg m s2
(1.72 )
0.63 kg m s2
(4.56)
0.63 kg m s2
(4.56)
0.63 kg m s2
(4.56)
JT5
—
0.012 kg m s2
(1.72)
0.24 kg m s2
(1.72)
0.24 kg m s2
(1.72)
0.63 kg m s2
(4.56)
0.63 kg m s2
(4.56)
0.63 kg m s2
(4.56)
JT6
—
0.003 kg m s2
(0.51)
0.07 kg m s2
(0.51)
0.07 kg m s2
(0.51)
0.15 kg m s2
(1.08 )
0.15 kg m s2
(1.08 )
0.15 kg m s2
(1.08 )
Repeatability (in)
±0.15 mm
(0.006)
±0.05 mm
(0.002)
±0.1 mm
(0.004)
±0.05 mm
(0.002)
±0.05 mm
(0.002)
±0.1 mm
(0.004)
±0.1 mm
(0.004)
Max. Payload (lb)
Wrist Rated
Torque
(ft lb)
Wrist Rated
Moment of
Inertia
(ft lb s2)
Drive
Source (hp)
Weight (lb)
JT1
4.2 kw (5.63)
100 w (0.13)
1.0 kw (1.34)
1.0 kw (1.34)
1.0 kw (1.34)
1.0 kw (1.34)
2.1 kw (2.82)
JT2
4.2 (5.63)
200 w (0.27)
1.0 kw (1.34)
1.0 kw (1.34)
1.0 kw (1.34)
1.0 kw (1.34)
2.1 kw (2.52)
JT3
3.1 (4.16)
75 w (0.10)
475 w (0.64)
475 w (0.64)
475 w (0.64)
475 w (0.64)
1.0 kw (1.34)
JT4
475 w (0.64)
30 w (0.040)
100 w (0.13)
100 w (0.13)
100 w (0.13)
100 w (0.13)
200 w (0.27)
JT5
475 w (0.64)
30 w (0.040)
100 w (0.13)
100 w (0.13)
100 w (0.13)
100 w (0.13)
200 w (0.27)
JT6
—
30 w (0.040)
100 w (0.13)
100 w (0.13)
100 w (0.13)
100 w (0.13)
200 w (0.27)
JT7
2.1 kw (2.82)
100 w (0.13)
2.5 kw (3.35)
2.5 kw (3.35)
2.5 kw (3.35)
2.5 kw (3.35)
2.5 kw (3.35)
6 *(5)
Axes
*580 kg (1279)
20 kg (44)
125 kg (276)
110 kg (243)
110 kg (243)
120 kg (264)
220 kg (484)
*Optional axis
F-series model number suffix key:
C = compact
N = normal
L = long
E = extended
X = extra long
February 26, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INTRODUCTION
Table I-2 Robot Specifications (Continued)
ROBOT MODEL
FS10X
FS20X
FS20C
FS20N
FS30L
FS30N
Number of Axes
6 (7)*
6 (7)*
6 (7)*
6 (7)*
6 (7)*
6 (7)*
6 (7)*
160°/sec
160°/sec
160°/sec
160°/sec
160°/sec
160°/sec
160°/sec
140°/sec
JT1
Maximum
Velocity
FS45C
JT2
140°/sec
140°/sec
140°/sec
140°/sec
140°/sec
140°/sec
JT3
200°/sec
160°/sec
160°/sec
160°/sec
160°/sec
160°/sec
160°/sec
JT4
300°/sec
330°/sec
330°/sec
330°/sec
240°/sec
240°/sec
240°/sec
240°/sec
JT5
360°/sec
330°/sec
330°/sec
330°/sec
240°/sec
240°/sec
JT6
600°/sec
500°/sec
500°/sec
500°/sec
340°/sec
340°/sec
340°/sec
JT7
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
Maximum Linear
Tool Tip Speed
1,500 mm/sec
(370 in/sec)
6,900 mm/sec
(271.6 in/sec)
6,900 mm/sec
(271.6 in/sec)
8,500 mm/sec
(334.6 in/sec)
11,100 mm/sec
(437 in/sec)
8,900 mm/sec
(350.3 in/sec)
8,900 mm/sec
(350.3 in/sec)
JT1
±160°
±160°
±160°
±160°
±160°
±160°
±160°
JT2
+140°/-105°
+140°/-105°
+140°/-105°
+140°/-105°
+140°/-105°
+140°/-105°
+140°/-105°
JT3
+295°/-225°
+295°/-225°
+295°/-225°
+295°/-225°
+295°/-225°
+295°/-225°
+295°/-225°
JT4
±270°
±270°
±270°
±270°
±270°
±270°
±270°
JT5
±145°
±145°
±145°
±145°
±130°
±130°
±130°
JT6
±360°
±360°
±360°
±360°
±360°
±360°
±360°
JT7
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
Max. Payload (lb)
10 kg (22)
20 kg (44)
20 kg (44)
20 kg (44)
30 kg (66)
30 kg (66)
45 kg (99)
176.4 Nm
(130.1)
176.4 Nm
(130.1)
Restricted
Space
(Stroke)
Wrist Rated
Torque
(ft lb)
JT4
21.5 Nm (15.8)
39.3 Nm (28.9)
39.3 Nm (28.9)
39.3 Nm (28.9)
176.4 Nm
(130.1)
JT5
21.5 Nm (15.8)
39.3 Nm (28.9)
39.3 Nm (28.9)
39.3 Nm (28.9)
176.4 Nm
(130.1)
176.4 Nm
(130.1)
176.4 Nm
(130.1)
JT6
9.8 Nm (7.2)
19.6 Nm (14.4)
19.6 Nm (14.4)
19.6 Nm (14.4)
98.0 Nm (72.2)
98.0 Nm (72.2)
98.0 Nm (72.2)
JT4
0.63 kg m s
(4.56)
2
0.88 kg m s
(6.37)
2
0.88 kg m s
(6.37)
2
0.88 kg m s
(6.37)
2
7.2 kg m s
(52.08)
2
7.2 kg m s
(52.08)
2
10.8 kg m s2
(78.12)
JT5
0.63 kg m s2
(4.56)
0.88 kg m s2
(6.37)
0.88 kg m s2
(6.37)
0.88 kg m s2
(6.37)
7.2 kg m s2
(52.08)
7.2 kg m s2
(52.08)
10.8 kg m s2
(78.12)
JT6
0.15 kg m s2
(1.08 )
0.25 kg m s2
(1.81 )
0.25 kg m s2
(1.81 )
0.25 kg m s2
(1.81 )
3.3 kg m s2
(23.87 )
3.3 kg m s2
(23.87 )
5.0 kg m s2
(36.17 )
Repeatability (in)
±0.23 mm
(0.004)
±0.1 mm
(0.004)
±0.1 mm
(0.004)
±0.1 mm
(0.004)
±0.15 mm
(0.006)
±0.15 mm
(0.006)
±0.15 mm
(0.006)
Wrist Rated
Moment of
Inertia
(ft lb s2)
Drive
Source (hp)
Weight (lb)
JT1
2.1 kw (2.82)
2.1 kw (2.82)
2.1 kw (2.82)
2.1 kw (2.82)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
JT2
2.1 kw (2.52)
2.1 kw (2.52)
2.1 kw (2.52)
2.1 kw (2.82)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
JT3
1.0 kw (1.34)
1.0 kw (1.34)
1.0 kw (1.34)
1.0 kw (1.34)
3.1 kw (4.16)
3.1 kw (4.16)
3.1 kw (4.16)
JT4
200 w (0.27)
200 w (0.27)
200 w (0.27)
200 w (0.27)
475 w (0.64)
475 w (0.64)
475 w (0.64)
JT5
200 w (0.27)
200 w (0.27)
200 w (0.27)
200 w (0.27)
475 w (0.64)
475 w (0.64)
475 w (0.64)
JT6
200 w (0.27)
200 w (0.27)
200 w (0.27)
200 w (0.27)
475 w (0.64)
475 w (0.64)
475 w (0.64)
JT7
2.5 kw (3.35)
2.5 kw (3.35)
2.5 kw (3.35)
2.5 kw (3.35)
2.5 kw (3.35)
2.5 kw (3.35)
2.5 kw (3.35)
6
Axes
550 kg (1,210)
205 kg (451)
205 kg (451)
210 kg (462)
580 kg (1,276)
540 kg (1,188)
540 kg (1,188)
*Optional axis
F-series model number suffix key:
C = compact
N = normal
L = long
E = extended
X = extra long
I-6
February 26, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INTRODUCTION
Table I-2 Robot Specifications (Continued)
ROBOT MODEL
FS45N
FS60L
MD400N
MX350L
MX420L
MX500N
Number of Axes
6 (7)*
6 (7)*
5 (6)*
6 (7)*
6 (7)*
6 (7)*
4 (5)*
160°/sec
160°/sec
80°/sec
80°/sec
80°/sec
80°/sec
135°/sec
JT1
Maximum
Velocity
ZZD130S
JT2
140°/sec
100°/sec
70°/sec
70°/sec
70°/sec
70°/sec
110°/sec
JT3
160°/sec
110°/sec
70°/sec
70°/sec
70°/sec
70°/sec
130°/sec
JT4
240°/sec
180°/sec
180°/sec
80°/sec
80°/sec
80°/sec
300°/sec
JT5
240°/sec
175°/sec
NA
80°/sec
80°/sec
80°/sec
1000 mm/sec
(39.37 in/sec)
120°/sec
120°/sec
120°/sec
NA
JT6
340°/sec
260°/sec
1000 mm/sec
(39.37 in/sec)
JT7
1,200 mm/sec
(47.24 in/sec)
1,200 mm/sec
(47.24 in/sec)
NA
1,000 mm/sec
(39.37 in/sec)
1,000 mm/sec
(39.37 in/sec)
1,000 mm/sec
(39.37 in/sec)
NA
Maximum Linear
Tool Tip Speed
9,700 mm/sec
(381.8 in/sec)
9,700 mm/sec
(381.8 in/sec)
2,000 mm/sec
(78.74 in/sec)
2,000 mm/sec
(78.74 in/sec)
2,000 mm/sec
(78.74 in/sec)
2,000 mm/sec
(78.74 in/sec)
1000 mm/sec
(39.37 in/sec)
Restricted
Space
(Stroke)
JT1
±160°
±160°
±180°
±180°
±180°
±180°
±180°
JT2
+140°/-105°
+140°/-105°
+90°/-45°
+90°/-45°
+90°/-45°
+20°/-130°
+90°/-50°
+15°/-120°
JT3
+295°/-225°
+295°/-225°
+14°/-125°
+20°/-115°
+20°/-125°
+165°/-95°
JT4
±270°
±270°
±360°
±360°
±360°
±360°
±360°
JT5
±130°
±130°
±10°
±110°
±110°
±110°
Custom Lengths
±360°
±360°
Custom Lengths
±360°
±360°
±360°
NA
JT6
JT7
Custom Lengths Custom Lengths
NA
Custom Lengths Custom Lengths Custom Lengths
NA
Max. Payload (lb)
45 kg (99)
60 kg (99)
400 kg (880)
350 (770)
130 (286)
500 (1,100)
130 kg (286)
JT4
176.4 Nm
(130.1)
235.2 Nm
(173.5)
NA
2,740 Nm
(2,020.8)
3,290 Nm
(2,891)
3,920 Nm
(2,891)
735 Nm
(542)
JT5
176.4 Nm
(130.1)
235.2 Nm
(173.5)
NA
2,740 Nm
(2,020.8)
3,290 Nm
(2,891)
3,920 Nm
(2,891)
735 Nm
(542)
JT6
98.0 Nm (72.2)
130.3 Nm (96.1)
N/A
1,960 Nm
(1,445.5)
1,960 Nm
(1,445.5)
1,960 Nm
(1,445.5)
421.4 Nm
(310.8)
JT4
10.8 kg m s2
(78.12)
24.8 kg m s2
(78.12)
20.4 kg m s2
(147.5)
40.8 kg m s2
(295)
40.8 kg m s2
(295)
40.8 kg m s2
(295)
5.1 kg m s2
(37)
JT5
10.8 kg m s2
(78.12)
24.8 kg m s2
(78.12)
20.4 kg m s2
(147.5)
40.8 kg m s2
(295)
40.8 kg m s2
(295)
40.8 kg m s2
(295)
NA
JT6
5.0 kg m s2
(36.17 )
6.7 kg m s2
(36.17 )
NA
26.4 kg m s2
(190.8)
26.4 kg m s2
(190.8)
26.4 kg m s2
(190.8)
NA
Repeatability (in)
±0.15 mm
(0.006)
±0.15 mm
(0.006)
±0.5 mm (0.20)
±0.5 mm (0.20)
±0.5mm (0.20)
±0.5 mm (0.20)
±0.5 mm (0.20)
Wrist Rated
Torque
(ft lb)
Wrist Rated
Moment of
Inertia
(ft lb s2)
Drive Source
(hp)
Weight (lb)
JT1
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
JT2
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
JT3
3.1 kw (4.15)
3.1 kw (4.15)
4.2. kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
JT4
475 w (0.64)
475 w (0.64)
3.1 kw (4.15)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
1.0 kw (1.34)
JT5
475 w (0.64)
475 w (0.64)
4.2. kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
JT6
475 w (0.64)
475 w (0.64)
4.2. kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
NA
JT7
2.5 kw (3.35)
2.5 kw (3.35)
NA
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
6 Axes
550 kg
(1,210)
550 kg
(1,210)
2,650 kg
(5,830) (5 Axes) 2,800 kg (6,160) 2,800 kg (6,160) 2,750 kg (6,050)
NA
1350 kg
(2970) (4 Axes)
*Optional axis
F-series model number suffix key:
C = compact
N = normal
L = long
E = extended
X = extra long
February 26, 2007
M-series and ZZ-series model number suffix key:
S = standard
U = upgradable
L = long arm
I-7
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INTRODUCTION
Table I-2 Robot Specifications (Continued)
ROBOT MODEL
ZZD250S
ZZT130U
ZZT165U
ZZT200S
ZZX130L
ZZX165U
ZZX200S
Number of Axes
4 (5)*
6 (7)*
6 (7)*
6 (7)*
6 (7)*
6 (7)*
6 (7)*
6 (7)*
JT1
95°/sec
105°/sec
105°/sec
100°/sec
110°/sec
110°/sec
100°/sec
100°/sec
Maximum
Velocity
JT2
95°/sec
105°/sec
105°/sec
100°/sec
110°/sec
110°/sec
100°/sec
85°/sec
JT3
95°/sec
105°/sec
105°/sec
90°/sec
110°/sec
110°/sec
95°/sec
85°/sec
JT4
190°/sec
140°/sec
135°/sec
120°/sec
140°/sec
135°/sec
120°/sec
90°/sec
JT5
1000 mm/sec
(39.37 in/sec)
135°/sec
135°/sec
115°/sec
135°/sec
135°/sec
115°/sec
90°/sec
JT6
NA
230°/sec
210°/sec
180°/sec
230°/sec
210°/sec
180°/sec
150°/sec
NA
1000 mm/sec
(39.37 in/sec)
1000 mm/sec
(39.37 in/sec)
1000 mm/sec
(39.37 in/sec)
1000 mm/sec
(39.37 in/sec)
1000 mm/sec
(39.37 in/sec)
1000 mm/sec
(39.37 in/sec)
1000 mm/sec
(39.37 in/sec)
3000 mm/sec
(118.1 in/sec)
2500 mm/sec
(98.42 in/sec)
2500 mm/sec
(98.42 in/sec)
2500 mm/sec
(98.42 in/sec)
2500 mm/sec
(98.42 in/sec)
2500 mm/sec
(98.42 in/sec)
2500 mm/sec
(98.42 in/sec)
2500 mm/sec
(98.42 in/sec)
JT7
Maximum Linear
Tool Tip Speed
Restricted
Space
(Stroke)
JT1
±180°
±180°
±180°
±180°
±180°
±180°
±180°
±180°
JT2
+90°/-50°
+60°/-75°
+60°/-75°
+60°/-75°
+75°/-60°
+75°/-60°
+75°/-60°
+75°/-60°
JT3
+15°/-120°
+165°/-95°
+165°/-95°
+165°/-95°
+250°/-120°
+250°/-120°
+250°/-120°
+250°/-120°
JT4
±360°
±360°
±360°
±360°
±360°
±360°
±360°
±360°
JT5
Custom
Lengths
±130°
±130°
±120°
±130°
±130°
±120°
±120°
JT6
NA
±360°
±360°
±360°
±360°
±360°
±360°
±360°
NA
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
Custom
Lengths
250 kg (550)
130 kg (286)
165 kg (363)
200 kg (440)
130 kg (286)
165 kg (363)
200 kg (440)
300 kg (660)
JT4
735 Nm
(542)
735 Nm
(542)
911.4 Nm
(672.2)
1274 Nm
(939.5)
735 Nm
(542)
911.4 Nm
(672.2)
1274 Nm
(939.5)
1715 Nm
(1264.8)
JT5
735 Nm
(542)
735 Nm
(542)
911.4 Nm
(672.2)
1274 Nm
(939.5)
735 Nm
(542)
911.4 Nm
(672.2)
1274 Nm
(939.5)
1715 Nm
(1264.8)
JT6
421.4 Nm
(310.8)
421.4 Nm
(310.8)
450.8 Nm
(332.5)
686 Nm
(505.9)
421.4 Nm
(310.8)
450.8 Nm
(332.5)
686 Nm
(505.9)
862 Nm
(836)
JT4
10.2 kg m s2
(74)
11 kg m s2
(79.53)
8 kg m s2
(57.84)
12 kg m s2
(86.8)
5.3 kg m s2
(38.3)
8 kg m s2
(57.84)
12 kg m s2
(86.8)
17 kg m s2
(122)
JT5
NA
11 kg m s2
(79.53)
8 kg m s2
(57.84)
12 kg m s2
(86.8)
5.3 kg m s2
(38.3)
8 kg m s2
(57.84)
12 kg m s2
(86.8)
17 kg m s2
(122)
JT6
NA
4.7 kg m s2
(33.98)
4.1 kg m s2
(29.6)
6.5 kg m s2
(47)
2.8 kg m s2
(20.2)
4.1 kg m s2
(29.6)
6.5 kg m s2
(47)
11 kg m s2
(79.5)
±0.5 mm
(0.20)
±0.3 mm
(0.12)
±0.3 mm
(0.12)
±0.3 mm
(0.12)
±0.3 mm
(0.12)
±0.3 mm
(0.12)
±0.3 mm
(0.12)
±0.3 mm
(0.12)
JT7
Max. Payload (lb)
Wrist Rated
Torque
(ft lb)
Wrist Rated
Moment of
Inertia
(ft lb s 2 )
Repeatability (in)
Drive
Source (hp)
Weight (lb)
ZZX300S
JT1
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kW (5.63)
4.2 kW (5.63)
4.2 kW (5.63)
4.2 kW (5.63)
JT2
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kW (5.63)
4.2 kW (5.63)
4.2 kW (5.63)
4.2 kW (5.63)
JT3
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kW (5.63)
4.2 kW (5.63)
4.2 kW (5.63)
4.2 kW (5.63)
JT4
1.0 kw (1.34)
3.1 kw (4.15)
3.1 kw (4.15)
3.1 kw (4.15)
3.1 kW (4.15)
3.1 kW (4.15)
3.1 kW (4.15)
3.1 kW (4.15)
JT5
4.2 kw (5.63)
3.1 kw (4.15)
3.1 kw (4.15)
3.1 kw (4.15)
3.1 kW (4.15)
3.1 kW (4.15)
3.1 kW (4.15)
3.1 kW (4.15)
JT6
NA
3.1 kw (4.15)
3.1 kw (4.15)
3.1 kw (4.15)
3.1 kW (4.15)
3.1 kW (4.15)
3.1 kW (4.15)
3.1 kW (4.15)
JT7
NA
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kw (5.63)
4.2 kW (5.63)
6
Axes
1350 kg (2970)
(4 Axes)
1750 kg (3850)
1550 kg (3410)
1600 kg (3520)
1400 kg (3080)
1350 kg (2970)
1400 kg (3080)
1400 kg (3080)
*Optional axis
M-series and ZZ-series model number suffix key:
S = standard
U = upgradable
L = long arm
I-8
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Table I-3 HardStop Specifications
ROBOT MODEL
JT1
JT2
JT3
JT2
JT3
FS06N
FS10C
FS10E
FS10L
FS10X
FS20X
FS45N
FS60L
base and rotor-table
Degree of adjustment
10 degrees
Location
reduction unit and lower arm
Degree of adjustment
22.5 degrees
Location
reduction unit and upper arm
Degree of adjustment
ROBOT MODEL
JT1
FS06L
Location
22.5 degrees
FS20C
FS20N
FS30N
FS30L
Location
FS45C
FD50N
base and rotor-table
Degree of adjustment
10 degrees
Location
reduction unit and lower arm
Degree of adjustment
22.5 degrees
Location
reduction unit and upper arm
Degree of adjustment
22.5 degrees
*
*Depending on specification
ROBOT MODEL
JT1
JT2
JT3
JT2
JT3
MX350L
Location
arm-base and lower arm
Degree of adjustment
15 degrees
Location
link-H and arm-base
Degree of adjustment
15 degrees
ZZD130S
ZZD250S
Location
ZZT130U
ZZT165U
ZZT200S
base and arm-base
Degree of adjustment
10 degrees
Location
Location
MX500N
15 degrees
Location
Degree of adjustment
MX420L
base and arm-base
Degree of adjustment
ROBOT MODEL
JT1
MD400N
arm-base and lower arm
stroke end
15 degrees
link-H and upper arm
reduction unit and upper arm
*
22.5 degrees
Degree of adjustment
*Depending on specification
ROBOT MODEL
JT1
JT2
JT3
Location
Degree of adjustment
Location
Degree of adjustment
Location
Degree of adjustment
February 26, 2007
ZZX130L
ZZX165U
ZZX200S
ZZX300 S
base and arm-base
10 degrees
arm-base and lower arm
15 degrees
reduction unit and upper arm
22.5 degrees
I-9
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I.2 ROBOT CONTROLLER
The Kawasaki D controller consists of printed circuit boards, optional interface panel,
and servo amplifiers. The D controller is used with a teach pendant. The D controller
model used depends on the mechanical unit.
Table I-4 lists the controller type (Dxx) by robot model.
Table I-4 Robot Controller Versions
D Controller Model
Robot Model
I-10
N. American
Specification
FS03N
D76
FS06L/FS06N/FS10C/FS10E/FS10L/FS20C/FS20N
D30
FD50N/FS10X/FS20X/FS30L/FS30N/FS45C/FS45N/FS60L
D32
MD400N
D34
MX350L/MX420L/MX500N
D34
ZZD130S/250S
D33
ZZT130U/ZZT165U/ZZT200S
D32
ZZX130L/ZZX165U/ZZX200S/ZZX300S
D32
February 26, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INTRODUCTION
I.2.1 ROBOT CONTROLLER DESIGN SPECIFICATIONS
Control System:
64 bit RISC main CPU
64 bit RISC servo CPU controller
Software controlled AC servo drive system using pulse width
modulation (PWM) circuitry.
Number of Axes:
6 standard; 7th and 8th optional
Motion Control:
Teach mode -
Joint
Base
Tool
Repeat mode - Joint move
Linear move
Linear 2 move (hybrid interpolation)
Circular move (optional)
FLIN move (optional)
Memory:
CMOS RAM
Memory Capacity:
Standard - 1024 KB (approx. 4,000 steps)
Optional - 4096 KB (approx. 34,000 steps)
Accuracy:
Four levels of accuracy for block step programs
F-series
Adjustable between 0.03 mm–5,000 mm
M-series
Adjustable between 0.5 mm–5,000 mm
ZZ-series
Adjustable between 0.3 mm–5,000 mm
Speed:
10 levels of speed for block step programs
(adjustable between 0%–100%)
Data Editing:
Step insertion and deletion, and rewriting of auxiliary and
positional data.
January 13, 2005
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Software Features:
Continuous path motion control - CP ON/OFF
Time delays
Coordinate modification
Process control programs (5)
Peripheral equipment control
Interrupt signal control
Error interrupt control
Input of real, string, and integer variables
Local variables
Subroutine calls with arguments (maximum stack = 20)
Program weld schedules
Servo shutdown timer
Auto start function
I/O Signals:
1GW/1HW I/O board
Robot internal
256
1JR I/O board (option)
Robot internal
32 inputs/32 outputs (128 maximum including dedicated signals)
16 inputs/16 outputs (on board
output relays)
256
1FS RI/O board (option)
Robot I/O
256 I/O (including dedicated signals)
Robot internal
256
A-B PLC
64 I/O
Weld controller
32 I/O
Non-retentive
128
Retentive
16
Timers
16
Counters
16
Message display 64
Slogic status
16
Control Net (option)
I-12
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D SERIES CONTROLLER
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INTRODUCTION
1HS RI/O board (option)
Robot I/O
256 I/O (including dedicated signals)
Robot internal
256
Mitsubishi PLC
128 I/O CC Link (Mitsubishi proprietary
communications)
Weld controller
64 I/O
Non-retentive
128
Retentive
16
Timers
16
Counters
16
Message display 64
Slogic status
16
Dedicated Signals:
Outputs -
Motor power ON
Error occurrence
Automatic
CYCLE_START
Teach mode
HOME1
HOME2
Power ON
RGSO
External program select (RPS) enabled
Dedicated Signals:
Inputs -
External motor power ON,
External error reset
External cycle start
External program select start (JUMP)
JUMP_ON
JUMP_OFF
JUMP_ST
External program select start (RPS)
RPS_ON
RPS_ST
Number of RPS code signal
First signal number of RPS code
External program reset
External hold (EXT_IT)
External condition wait (EXT_WAIT)
External slow repeat mode
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Error Messages:
Error code messages, self-diagnosis, error logging, operation
logging
Special Features:
Program check mode
Adjustable hard stops - F-series JT1, JT2, JT3, M-series
JT1, and ZZ-series JT1
Terminal box on robot arm (optional)
Robot application interface panel (optional)
Overtravel limit switch - JT1 (JT2, JT3 option)
Power lockout
Ethernet (option)
Teach Pendant:
Three-position enabling devices
16.3 cm (6.4 in) color LCD
Touch panel
Soft key panel
Teach-lock function
Emergency stop switch
Supplemental
Data Storage:
Power Requirements:
PC flash RAM Memory Card 16MB, PCMCIA 2.1 Slot
Floppy disk drive (option)
Personal computer (option)
N. American Spec.: 3-phase 440/460/480/515/575 VAC
Tolerance:
+/- 10%
Frequency:
60 Hz
Rated Load:
5.6 kVA (D30)
11 kVA (D32, D33, D34)
Ground:
less than 100 ohm ground line separated
from welder power ground
Dimensions:
N. American Spec.: WxDxH, 600 mm x 550 mm x 1200 mm
(inches: 23.6 x 21.7 x 47.3)
Weight:
N. American Spec.: 200 kg (441 lb)
I-14
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OVERVIEW
1.0
1.1
1.2
1.3
1.3.1
1.3.2
1.3.3
1.3.4
1.3.5
1.3.6
1.4
1.4.1
1.4.2
1.4.2.1
1.4.3
1.4.4
1.4.5
1.4.6
1.4.7
1.4.8
1.4.9
1.5
1.6
OVERVIEW .................................................................................................... 1-2
Major Features of the Robot System ............................................................. 1-2
Major Components of the Robot System ....................................................... 1-4
User Interface Devices ................................................................................... 1-7
Teach Pendant ............................................................................................... 1-8
Flash RAM PC Card ...................................................................................... 1-9
Controller Operation Panel ........................................................................... 1-10
Personal Computer ...................................................................................... 1-11
Optional Interface Panel ............................................................................... 1-11
Software Interface Panel .............................................................................. 1-12
Robot Controller Main Circuitry Overview .................................................... 1-13
1KA/1RA Main CPU Board .......................................................................... 1-13
MC Unit ........................................................................................................ 1-13
1KQ Board ................................................................................................... 1-14
1KB/1RB Servo CPU Board ......................................................................... 1-14
1KC/1KD Power Block Board ....................................................................... 1-14
1KP Power Sequence Board ........................................................................ 1-15
1GW/1HW Parallel I/O Board ....................................................................... 1-15
1FS Serial I/O Board .................................................................................... 1-15
1FG Encoder Battery Board......................................................................... 1-16
1HG Encoder Battery Board ........................................................................ 1-16
D Series Controller Digital Servo Control Overview ..................................... 1-18
Mechanical Unit Overview............................................................................ 1-20
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1.0 OVERVIEW
1.1 MAJOR FEATURES OF THE ROBOT SYSTEM
The Kawasaki F-series, M-series and ZZ-series robot systems consist of a mechanical
unit, controller, controller software, and supporting peripheral equipment. The following
major features are supported by D series controllers:
•
Joint coordinate movement
•
Linear movement in base and tool coordinate systems (linear 2 hybrid interpolation)
•
Fixed linear interpolation (FLIN) movement (optional)
•
Circular movement (optional)
•
Block step programming
•
AS Language programming
•
User friendly menu system for programming and system configuration
•
Multi-tasking with the capability to run five process control programs
•
Error message display, self diagnosis
•
Error and operation logging
•
Digital input and output interface
•
PC programming
•
Remote I/O with Klogic, Slogic programming or ControlNet, Ethernet compatible
(option)
•
Bilingual menus
•
Program editing, storage, and monitoring via personal computer
•
Software controlled AC servo drive system and excellent mechanical unit design
provide accurate, repeatable, high speed program playback.
•
High mechanical unit efficiency and smooth arm movement are assured through the
use of close tolerance bearings, gears, and speed reducers.
1-2
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The robot system, with proper tooling and interface, is capable of performing many tasks
in the industrial environment including:
•
Material handling
•
Spot welding
•
Servo gun spot welding
•
Arc welding
•
Sealing
•
Palletizing
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1.2 MAJOR COMPONENTS OF THE ROBOT SYSTEM
The two major components of the robot system are the controller and mechanical unit.
The D series controller is illustrated in figure 1-1.
The F-series, M-series, and ZZ-series mechanical units are illustrated in figures 1-2
through 1-4.
ON
OFF
MENU
T. LOCK
CHECK
TEACH
SPEED
INTER
CANCEL
A
SELECT
PROG
STEP
EXT AXIS
(Robot)
JOG
CONT
S
GO
CHECK
S
BACK
INS
DEL
O. WRITE
POS
MOD
1
— X
+
2
AUX
MOD REC
SPD
CL1
CL2
CLn
ACC
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
CC
ON
OFF
CLAUX
WRK
4 A 5 B 6 C CLEAR
1
,
0
2
3
-
.
C
— Y +
3
— Z
+
4
— rx +
5
— ry +
6
— rz +
—
7
+
J/E
I
6037-1200
CONTROL
POWER
MOTOR
POWER
CYCLE
START
ERROR
ERROR
RESET
HOLD RUN
TEACH REPEAT
S TO P
BRAKE RELEASE
JST
WARNING
AVERTISSEMENT
AC460V
Figure 1-1 North American D-Controller
1-4
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Figure 1-2 F-Series Mechanical Units
Figure 1-3 MD and MX-Series Mechanical Units
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Figure 1-4 ZZD, ZZT, ZZX-Series Mechanical Units
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1.3 USER INTERFACE DEVICES
The user interface devices include the following:
•
Teach pendant
•
PC card
•
Controller operation panel
•
Personal computer using KCMON, KCWIN, or KCWIN32 monitor software (option)
•
Optional interface panel
•
Optional software programmed interface panel
•
Optional floppy disk drive
NOTE
Newer notebook computers are equipped with a USB
port in place of an RS-232C port. An adapter interface
cable (available through most PC equipment suppliers)
may be required to connect to the controller host communication port.
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1.3.1 TEACH PENDANT
The teach pendant (TP), shown in figure 1-5, is equipped with an 16.3 cm (6.4 in) color
liquid crystal display (LCD) touch panel, touch panel keys, and soft keys. Hard switches
include; EMERGENCY STOP, TEACH LOCK, and two three-position enabling devices.
All of the robot functions are accessible through the teach pendant including system
configuration, teaching, and program editing.
Emergency
Stop Switch
Teach Lock
Switch
ON
OFF
MENU
T. LOCK
CHECK INTERP
TEACH
SPEED
PROG
STEP
EXT AXIS
(Robot)
JOG
CONT
CANCEL
A
SELECT
S
GO
CHECK
S
BACK
INS
DEL
O. WRITE
POS
AUX
MOD REC MOD
SPD
CL1
CL2
CLn
ACC
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
CC
4 A 5 B 6 C CLEAR
ON
OFF
CLAUX
WRK
1
2
3
C
,
0
-
.
— X
1
+
— Y
2
+
3
+
— Z
4
— rx +
Three-Position
Enabling Device
5
— ry +
6
— rz +
—
7
+
J/E
I
6037-1200
OFF ON OFF OFF ON OFF
Motor Drive Power
Figure 1-5 Teach Pendant
1-8
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1.3.2 FLASH RAM PC CARD
The flash RAM PC card is used with the D series controller to upload/download
programs and system configuration data, and install AS, teach pendant, and servo
system software.
The PC card is inserted into the PC card slot, located behind the accessory panel door,
on the left front of the D controller
A sixteen MB PC card is supplied with the controller.
To backup data, download the contents of the PC card onto a floppy disk or hard disk of
a personal computer.
A sixteen MB flash RAM PC card is shown in figure 1-6.
PCMCIA
ON
OFF
MENU
T. LOCK
CHECK
TEACH
SPEED
INTER
CANCEL
A
SELECT
PROG
STEP
EXT AXIS
(Robot)
S
MITSUBISHI PLASTICS
JOG
CONT
INS
DEL
AUX
MOD REC
O. WRITE
POS
MOD
CL2
CLn
TMR
TOOL
— X +
2
16MB
ADAPTER
MITSUBISHI PLASTICS
BACK
1
COMPACT
FlashExpress
COMPACT
GO
CHECK
S
CL1
SPD
ACC
— Y +
3
— Z
4
— rx
7 D 8 E 9 F BS
?
OX
WX
WS
CC
ON
OFF
CLAUX
WRK
,
0
2
3
-
.
+
5
— ry +
4 A 5 B 6 C CLEAR
1
+
6
— rz +
C
—
7
+
J/E
I
6037-1200
CONTROL
POWER
MOTOR
POWER
CYCLE
START
ERROR
RESET
HOLD RUN
TEACH REPEAT
RS-232C
ERROR
S TO P
BRAKE RELEASE
JST
WARNING
AVERTISSEMENT
FDD
AC460V
(OPTION)
(OPTION)
Figure 1-6 Flash RAM PC Card
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1.3.3 CONTROLLER OPERATION PANEL
The controller operation panel, shown in figure 1-7, is composed of switches used to
apply motor power, cycle start programs, hold or stop programs, select operation modes,
reset errors and manually release brakes (for manual brake release procedure, refer to
the Appendix, section A.2).
Lamps that indicate an error condition, controller power on, motor power on, and automatic operation in repeat mode (CYCLE START) are included.
An optional hour meter indicates controller power on time or motor power on time depending on customer specification.
CONTROL
POWER
MOTOR
POWER
CYCLE
START
ERROR
ERROR
RESET
HOLD RUN
TEACH REPEAT
S TO P
BRAKE RELEASE
JT1
JT2
JT3
JT4
JT5
JT6
JT7
JT8
ENABLE
Figure 1-7 North American Controller Operation Panel
1-10
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1.3.4 PERSONAL COMPUTER
A PC (personal computer) can be linked to the D Controller for program upload/download, program editing, and system monitoring. The PC requires the Kawasaki KCMON,
KCWIN, or KCWIN32 (Windows® 2000® and XP®) interface software to communicate
with the robot controller (see note, section 1.3).
1.3.5 OPTIONAL INTERFACE PANEL
The optional interface panels are designed to interface with peripheral equipment that is
connected to the robot.
The interface panel is located on the robot controller door and is available in many
configurations including custom designs to suit specific applications.
Figure 1-8 illustrates an interface panel typically used for spot welding applications.
Figure 1-8 Optional Interface Panel
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1.3.6 SOFTWARE INTERFACE PANEL
The optional software interface panels are programmed and displayed using the teach
pendant. The software interface panels are designed to interface the robot with peripheral equipment used in the automated process.
Figure 1-9 illustrates a software interface panel programmed for a palletizing application.
Figure 1-9 Software Interface Panel
1-12
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1.4 ROBOT CONTROLLER MAIN CIRCUITRY OVERVIEW
This section provides general information on the D series controller main circuitry. For
additional information, refer to the D Series Controller Electrical Maintenance Manual
unit 6, Printed Circuit Boards. The Kawasaki D series controller circuit board block
diagram, shown in figure 1-11, illustrates the major printed circuit boards inside of the
controller.
1.4.1 1KA/1RA MAIN CPU BOARD
The 1KA/1RA board is the main central processing unit (CPU) board in the D controller
and is equipped with a 64 bit reduced instruction set computer (RISC) processor running
at 167 MHz.
AS system software and servo system software are stored in flash memory on the 1KJ/
1QJ (flash ROM) daughter board. The standard 1KJ/1QJ board is equipped with 8 MB
of memory and the optional 1KJ/1QJ board is equipped with 16 MB of memory.
User programs and system configuration data reside in battery backed SRAM. The 1KA
board utilizes the standard 1 MB SRAM (2 MB for the 1RA board) and can be expanded
to 4 MB (5MB for 1RA board) with a 1KK SRAM memory expansion daughter board.
1KA boards equipped with a 1KN/1QN daughter board can be configured for Ethernet
communications. Ethernet is standard on the 1RA board.
A lithium battery and super capacitor back up circuit on the 1KA/1RA board provides
SRAM memory and real time clock (RTC) backup, when the board is removed from the
card rack.
The 1KA/1RA board processes the data needed for the execution of the AS software,
operation planning, servo position loop operations, coordinate conversions, path planning, and detection of abnormal +3.3 VDC, +5 VDC and +/- 12 VDC levels.
The 1KA/1RA board communicates with the servo board (1KB/1RB), power circuit
control board (1KP), I/O boards (1GW/1HW, 1FS), optional boards for arc interface,
vision, or analog input (IP), teach pendant, PC card, and external equipment such as a
personal computer.
1.4.2 MC UNIT
The MC unit consists of the 1KQ board, electromagnetic contactors, inrush protection
circuitry, and discharge control circuitry.
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1.4.2.1 1KQ BOARD
The 1KQ board controls the electromagnetic contactors for motor power, inrush circuit,
and discharge circuit control, distributes 210 VAC, and transfers signals to the 1KB/1RB
board and the 1KP board.
The 1KQ board:
•
Distributes 210 VAC to the AVR power supply, cooling fans, and hour meter.
•
Supplies 24 VDC for the MC unit cooling fan.
•
Supplies 24 VDC for servo motor brakes and detects and reports brake line abnormalities to the 1KB/1RB board.
•
Monitors the safety circuit and communicates the safety circuit’s state to the 1KP
board.
1.4.3 1KB/1RB SERVO CPU BOARD
The 1KB/1RB board is the servo CPU board. 1KB/1RB board uses two processors one
for the arm control section and one for the servo control section. A 1KV daughter board
is added for seventh axis control and two 1KV boards are added to control eight axes.
The 1KB/1RB board receives path data from the 1KA/1RA board, encoder data from the
robot axes and conveyor, and current data from the current detect modules, to generate
the pulse width modulation (PWM) signals that are sent to the intelligent power modules
(IPMs) located on the power block. The IPMs, in turn, allow current to flow through the
three-phase servo motor windings and produce motor rotation.
A 1GM board is attached to the 1KB/1RB board to provide an interface for the current
sensors. In addition, the 1KB/1RB board also controls servo motor brake functions,
overtravel limit switch signal processing, and servo system error processing.
1.4.4 1KC/1KD POWER BLOCK BOARD
The 1KC or 1KD board is the servo system power block board. The 1KC board is used
for robots with payload capacities of 30 kg or more and the 1KD board is used for robots
with payload capacities lower than 30 kg.
The power block is comprised of two sections: the power unit and the amplifier.
The power unit section rectifies and filters three-phase AC power for use by the servo
motors, monitors DC voltage levels, controls regenerative voltage levels, and reports
voltage level and regenerative resistor circuit errors.
1-14
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The amplifier section receives PWM signals from the 1KB/1RB board. The PWM signals
are used by the IPMs to control current flow through the servo motor windings.
Current detect modules are used to send current level data back to the 1KB/1RB board
to indicate robot load. The amplifier section also incorporates various protective functions that are monitored by the 1KB/1RB board.
1.4.5 1KP POWER SEQUENCE BOARD
The 1KP board controls the power up sequence of the controller and serial communication for the teach pendant 1KA/1RA and 1KB/1RB board. In addition, the 1KP board
powers down the controller if an abnormality of the +/-12 VDC, +5 VDC, or 24 VDC
levels exists.
1.4.6 1GW/1HW PARALLEL I/O BOARD
The difference between the 1GW and 1HW boards is the polarity of the inputs and
outputs are reversed (Table 1-1).
Table 1-1 1GW/1HW Polarity
Board
Input
Output
1GW
+ common
- common (sink)
1HW
- common
+ common (source)
The 1GW/1HW board is a parallel I/O board providing 32 input channels and 32 output
channels including dedicated signals. An optional 1GW/1HW board is available that
provides two channels of analog output in addition to the 32 parallel input/output channels. Up to four 1GW/1HW boards can be installed in the D controller for a total of 128
inputs and outputs and four channels of analog output.
1.4.7 1FS SERIAL I/O BOARD
The 1FS board (optional) is available in two versions: R/IO and RS485 communication,
or ControlNet communication. The board is equipped with a 32 bit RISC processor,
running at 20 MHz, and 2 MB, or 4 MB, of FLASH memory for software/Slogic program
storage. The RI/O version 1FS board can be configured as a remote rack of a programmable logic controller (PLC) and provides serial PLC and weld timer communication.
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1.4.8 1FG ENCODER BATTERY BOARD
The 1FG board is located in the base of the M-series and ZZ-series mechanical units.
The 1FG board converts +12 VDC from the controller to +5 VDC for encoder logic power.
The 1FG board provides +3.6 VDC battery power for the encoders, maintaining encoder data when the controller is off or the mechanical unit is disconnected from the
controller.
1.4.9 1HG ENCODER BATTERY BOARD
The 1HG board is located in the base of the F-series mechanical units.
The 1HG board converts +12 VDC from the controller to +5 VDC for encoder logic
power. The 1HG board provides +3.6 VDC battery power for the encoders, maintaining
encoder data when the controller is off or the mechanical unit is disconnected from the
controller.
1-16
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TEACH PENDANT
1KA/1RA
COLOR LCD
RISC
TOUCH PANEL
MEMORY–1KJ/1QJ, 1KK
TEACH PENDANT LCD CONTROLLER
PATH PLANNING
COORDINATE CONVERSION
1LS
VOLTAGE MONITORING
CONTROL PANEL
AVR
+5 VDC
SWITCHES & LAMPS
+12 VDC
-12 VDC
+24 VDC
1KX (VME BUS)
1KF
PC CARD I/F
FDD I/F (OPTION)
1KP
1GW/1HW
1FS (OPTION)
1JR (OPTION)
OPTION PCBs
POWER CONTROL
I/O RELAYS
ANALOG OUTPUT
(OPTION)
REMOTE I/O
PARALLEL I/O
VISION
CONTROL NET
ANALOG OUTPUT
(OPTION)
ARC I/F
VOLTAGE MONITOR
SERIAL COMMUNICATION
1KB/1RB
A–ARM CONTROL
B–SERVO CONTROL
JOINTS 1—8
JOINTS 1—8
RISC
RISC
ROBOT ARM
TRAJECTORY
CONTROL
ENCODER I/F
PWM
BRAKE CONTROL SEQUENCE
1KV
1KV
1GM
CURRENT CURRENT
FEEDBACK FEEDBACK
1KL/1KR 1KL/1KR
JT8
JT7
PWM
CURRENT
FEEDBACK
ENCODER
FEEDBACK
1KC (Large Type)
or
1KD (Small Type)
IPM
60/210 VAC
BRAKE
SERVO MOTOR
CURRENT DETECT MODULES
1FG, (1HG—F SERIES)
BATTERY BACKUP
POWER UNIT
+12 VDC to +5
H32/M30
ENCODER
Figure 1-10 Circuit Board Block Diagram
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1.5 D SERIES CONTROLLER DIGITAL SERVO CONTROL OVERVIEW
This section provides general information on the operation of the digital servo drive
system. For additional information, refer to the D Series Controller Electrical Maintenance Manual, unit 7, Servo System.
There are four major components in the D controller servo drive system:
•
Power block assembly
•
1KB/1RB board and servo software
•
AC servo motor assembly
•
Hybrid encoder assembly
The 1KB/1RB board receives path data from the 1KA/1RA board, encoder data from the
robot axes and conveyor, and load data from the current detect modules. The servo
software uses these signals to calculate and produce a digital command signal. The
command signal is combined with a triangular wave reference signal to determine the
sampling rate of the command signal and to generate the pulse width modulation (PWM)
signals that are sent to the intelligent power modules (IPMs) located on the power block.
A PWM signal is a pulsed signal with a width or duration that is changed proportionally
to motor demands. For example, when the motor starts from a stopped condition, the
width of the PWM signals are very wide in order to overcome inertia, in comparison to
the PWM signals required to sustain motor velocity.
The power block is comprised of two sections: the power unit and the amplifier. The
power unit receives 60 (teach)/210 (repeat) VAC/60Hz input power from the main transformer assembly. This voltage is filtered and rectified to provide 86 (teach)/300 (repeat)
VDC to the IPMs. The amplifier section receives the PWM signals from the 1KB/1RB
board. The PWM signals are used by the IPMs to control current flow through the servo
motor windings. The IPMs use six insulated gate bipolar transistors (IGBTs) arranged in
pairs, with each pair connected to a specific motor winding. When the IGBTs are gated
by the PWM signals, current flows through the U, V, and W phases of the AC servo
motor causing motor rotation.
Current detect modules located on the power block provide feedback to indicate the
current levels of the U and V phases. Signals from the modules are sent to the 1KB/1RB
board where they are used to calculate the W phase current, determine torque requirements, and detect overcurrent errors and current limiter conditions that could damage
the servo motor and power block.
1-18
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H32/M30
ENCODER
Control
IC
Wø
HIC
REGENERATION
SIGNAL
N
ENCODER SIGNAL
CURRENT FEEDBACK
IPM ERR
PWM
+12 VDC
TO
1KB/1RB
BOARD
ERROR SIGNAL
T
S
AC 210V
R
DIODE
MODULE
P
VOLTAGE
MONITORING
Control
IC
Uø
Control
IC
IGBT
+15 VDC
Control
IC
Vø
Control
IC
IGBT
IGBT
IGBT
IPM
Control
IC
IGBT
IGBT
CD
CD
V
U
SERVO MOTOR
W
The hybrid (both absolute and incremental data) encoder assembly is mounted to the
end of the servo motor and coupled to the servo motor shaft. Its function is to sense the
servo motor shaft position, direction of rotation, and velocity. This data is sent to the
1KB/1RB board for phase calculation and processing by the software position and velocity loop amplifiers. Figure 1-12 provides a block diagram of the servo amplifier circuitry.
Figure 1-11 Servo Amplifier Block Diagram
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1.6 MECHANICAL UNIT OVERVIEW
The mechanical unit consists of the arms, linkages, and drive components necessary to
provide smooth, accurate, and repeatable movement for consistent teaching and program playback. The typical mechanical unit provides six axes of motion and is available
in a variety of configurations that are suited for numerous applications under a variety of
conditions.
Table 1-2 lists the basic drive components of the robot axes.
Table 1-2 Drive Mechanisms
Robot Drive Mechanisms
FS02/03
FS06/10/20
FS30/40
JT1
Harmonic Drive
Cycloidal
Reduction Unit
Rota-Vector
Reduction Unit
JT2
Harmonic Drive
Cycloidal
Reduction Unit
JT3
Harmonic Drive
JT4
MX350/420/500
ZZD
ZZT/ZZX
Helical Gears
Helical Gears
Rota-Vector
Reduction Unit
Rota-Vector
Reduction Unit
Rota-Vector
Reduction Unit
Cycloidal
Reduction Unit
Cycloidal
Reduction Unit
Cycloidal
Reduction Unit
Cycloidal
Reduction Unit
Cycloidal
Reduction Unit
Rota-Vector
Reduction Unit
Cycloidal
Reduction Unit
Cycloidal
Reduction Unit
Cycloidal
Reduction Unit
Cycloidal
Reduction Unit
Harmonic Drive
Harmonic Drive
Rota-Vector
Reduction Unit
Cycloidal
Reduction Unit
Rota-Vector
Reduction Unit,
Spur Gears
Rota-Vector
Reduction Unitt
Cycloidal
Reduction Unit,
Spur Gears
JT5
Harmonic Drive
Harmonic Drive
Rota-Vector
Reduction Unit
Cycloidal
Reduction Unit
Cycloidal
Reduction Unit,
Bevel Gears,
Spur Gears
NA
Cycloidal
Reduction Unit,
Bevel Gears,
Spur Gears
JT6
Harmonic Drive
Harmonic Drive
Rota-Vector
Reduction Unit
NA
Cycloidal
Reduction Unit,
Bevel Gears,
Spur Gears
NA
Cycloidal
Reduction Unit,
Bevel Gears,
Spur Gears
1-20
MD400N
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.0
2.1
2.2
2.3
2.4
2.4.1
2.4.2
2.4.3
2.4.4
2.5
2.6
2.6.1
2.6.2
2.6.3
2.6.4
2.6.5
2.6.6
2.6.7
2.6.8
2.6.9
2.6.10
2.6.11
2.6.12
2.6.13
2.6.14
2.6.15
2.6.16
2.6.17
2.6.18
2.6.19
2.6.20
2.6.21
2.6.22
2.6.23
2.6.23
2.6.24
SAFETY ......................................................................................................... 2-2
Safety Information Contacts ........................................................................... 2-3
Warning and Caution Symbols ....................................................................... 2-5
Battery and Fuse Use and Disposal .............................................................. 2-6
Safety Categories .......................................................................................... 2-8
Personal Safety .............................................................................................. 2-8
Safety During Operation............................................................................... 2-10
Safety During Programming ......................................................................... 2-10
Safety During Inspection, Maintenance and Repair ..................................... 2-11
Safety Features ............................................................................................ 2-12
Restricted Space Drawings .......................................................................... 2-13
FS03N .......................................................................................................... 2-13
FS06N/FS10C.............................................................................................. 2-14
FS06L .......................................................................................................... 2-15
FS10E .......................................................................................................... 2-16
FS10L .......................................................................................................... 2-17
FS10X .......................................................................................................... 2-18
FS20X .......................................................................................................... 2-19
FS20C .......................................................................................................... 2-20
FS20N .......................................................................................................... 2-21
FS30L .......................................................................................................... 2-22
FS30N/FS45C .............................................................................................. 2-23
FS45N .......................................................................................................... 2-24
FD50N ......................................................................................................... 2-25
FS60L .......................................................................................................... 2-26
MD400N ....................................................................................................... 2-27
MX350L ....................................................................................................... 2-28
MX420L ....................................................................................................... 2-29
MX500N ....................................................................................................... 2-30
ZZD130S/250S ............................................................................................ 2-31
ZZT130U/165U ............................................................................................ 2-32
ZZT200S ...................................................................................................... 2-33
ZZX130L ...................................................................................................... 2-34
ZZX165U...................................................................................................... 2-35
ZZX200S ...................................................................................................... 2-36
ZZX300S ...................................................................................................... 2-37
February 26, 2007
2-1
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.0 SAFETY
Safety is the most important consideration when using industrial automated and robotic
equipment. All operators, teachers, maintenance, and repair personnel must be aware
of all automated, peripheral, and robotic equipment that occupy the safeguarded space
(refer to section 2.1.1 below), and their associated operational, maintenance, and repair
procedures. For this reason it is recommended that all personnel who operate, teach,
maintain, and repair Kawasaki industrial robots (hereafter referred to as robots), attend a
Kawasaki approved training course that pertains to each employee’s specific job responsibilities.
The information in this unit is intended to enhance existing safety guidelines that are
provided by municipal, state, or national governments; it does NOT supersede existing
rules, regulations, or guidelines. Because safety is the primary responsibility of the user,
owner, and employer, Kawasaki recommends that specific safety guidelines and recommendations be adopted from safety design and implementation professionals.
All safety issues and descriptions, presented in written or oral form by a representative
of Kawasaki Robotics (USA), Inc., are intended to provide general safety precautions
and procedures. These safety precautions and procedures are NOT intended to provide
all safety measures necessary for the protection of personnel and equipment in the work
environment.
Kawasaki robots are safe for use when all safety guidelines are followed. It is the responsibility of the end user to follow robot operation safety guidelines for the protection
of personnel and equipment.
NOTE
Ensure compliance with all local and national safety and
electrical codes for the installation and operation of the
robot system.
2-2
February 26, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.1 SAFETY INFORMATION CONTACTS
Four recommended sources for national safety laws and regulations are:
1.
Occupational Safety and Health Administration (OSHA)
U.S. Department of Labor
Office of Public Affairs
Occupational Safety and Health Administration - Room: 3647
200 Constitution Avenue
Washington, DC 20210
Phone: (202) 693-1999
http://www.osha-slc.gov/SLTC/robotics/index.html
2.
Mine Safety and Health Administration (MSHA)
http://www.msha.gov
3.
National Institute for Occupational Safety and Health (NIOSH)
Phone: (800) 35-NIOSH {(800) 356-4674}
Outside the U.S.: (513) 533-8328
http://www.cdc.gov/niosh/homepage.html
4.
American National Standards Institute (ANSI)
Headquarters
American National Standards Institute
1819 L Street, NW
Washington, DC 20036
Phone: (202) 293-8020
Fax: (202) 293-9287
Customer Service: (212) 642-4980
General Inquiries: (212) 642-4900
http://www.ansi.org
March, 15 2004
2-3
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D SERIES CONTROLLER
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To order the Industrial Robots And Robot Systems - Safety Requirements
(ANSI/RIA R15.06-1999):
http://webstore.ansi.org/ansidocstore/find.asp
In the “Standards Search/Lookup:” field, enter “robot” to locate
ANSI/RIA R15.06-1999.
Customer Service: (212) 642-4900, or E-mail: storemanager@ansi.org
2-4
March 15, 2004
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.2 WARNING AND CAUTION SYMBOLS
The following symbol and its enclosed text, when presented in Kawasaki Robotics
(USA), Inc. documentation, provides EXTREMELY IMPORTANT personnel safety information. The information relates to the text that directly follows the symbol.
WARNING
!
Warning symbols indicate processes or procedures that,
if not followed properly, can result in serious injury or
death to personnel.
The following symbol and its enclosed text, when presented in Kawasaki Robotics
(USA), Inc. documentation, provides VERY IMPORTANT equipment protection information. The information relates to the text that directly follows the symbol.
!
CAUTION
Caution symbols indicate processes or procedures that,
if not followed properly, can result in equipment damage.
!
WARNING
This symbol is used to indicate there is danger of shock
or electrocution from high voltage in the area where it is
affixed.
March, 15 2004
2-5
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Kawasak
D SERIES CONTROLLER
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SAFETY
2.3 BATTERY AND FUSE USE AND DISPOSAL
Batteries are used for data backup in the robot mechanical unit and controller. Figures
2-1 through 2-3 show the location of the batteries on the 1KA/1RA board and the 1FG/
1HG boards. If not used and disposed of properly these batteries may malfunction,
ignite, overheat, explode, corrode, leak, etc. Always use and dispose of all batteries in
compliance with the following warnings and cautions. Figure 2-4 shows the location of
fuses F1 (315mA, 125V/250V) and F2 (1A, 125V/250V) on the 1KP board.
WARNING
!
1. Only use batteries specified by Kawasaki.
2. Never re-charge, dismantle, convert and/or overheat
batteries.
3. Never dispose of batteries into water or fire.
4. Batteries with damaged cases may short internally
and must not be used.
5. Never short the positive and negative poles of a battery with material such as wire.
!
CAUTION
Never dispose of depleted batteries with garbage that is
disposed of in an incinerator, land-fill, dumping-ground,
etc. When disposing of batteries, insulate with tape so
as not to contact other metal. Comply with local regulations and rules for battery disposal.
2-6
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
CN6
CN8
+1.3V
GND
-12V
TP8
TP1
TP2
CN11
Battery
connector
CN7
+3.3?
+12V +5V
TP3
SW1
TP4
SW2
TP6 LED1 LED2 LED3
+1.2?
CN203
+2.5?
J3
LED2 LED3
LED11
LED1
Battery
Battery
TP4
TP6
LED201
SW2
SW1
LED202
TP3
+5V
1QN Board
TP2
+3.3V
-12V
TP1
CN11
Battery
Connector
+12V
GND
CN8
TP9 TP7 TP5
J5
CN6
J4
CN7
J10
IP board
CN9
IP Board
CN2
CN2
CN3
CN3
1QJ Board
1KK Board
1KK board
1KJ/1QJ
board
CN5
CN4 (P1)
CN10 (P2)
Figure 2-2 1RA Board Layout
TP4
CN13
CN3
CN2
CN12
TP1
TP2
TP5
CN11
TP4
TPG2
TP5
BAT
+24
VDC
GND
+24
VDC
TP3
CN1
DC to DC
Converter
CN10
TP2
+5 VDC
CN4
CN5
CN7
TP1
+12 VDC
CN9
TPG
GND
Battery
Battery
CN8
CN3
TP3
Batteries
Figure 2-1 1KA Board Layout
CN4 (P1)
CN4
CN10 (P2)
CN5
Figure 2-4 1HG Board Layout
CN6
Figure 2-3 1FG Board Layout
X7 connector
SW1
LS Override
F1 EMG Line 315 ma
JP1 JP2
RY14
Fuse 1
RY7
X8 connector
F2 I/O 24 V 1A
Fuse 2
X9 connector
RY13
1 2 3
1 2 3
JP1
JP2
LED10 LED8 LED6 LED4 LED2
RY12
RY11
LED9 LED7 LED5 LED3 LED1
RY10
TP2 (24G)
TP1 (+24V)
RY9
SW2
TH1
RY8
Thermal Switch
P1
Figure 2-5 1KP Board Layout
August 9, 2007
2-7
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.4 SAFETY CATEGORIES
Personnel safety is described in one of the following four categories:
•
Personal safety
•
Safety during operation
•
Safety during programming
•
Safety during inspection, maintenance, and repair.
Each safety category is described in the following sections.
2.4.1 PERSONAL SAFETY
All applicable safety procedures must be followed consistently and be an integral part of
standard operating procedures.
The following are personal safety guidelines:
•
Comply with ALL applicable OSHA, NIOSH, MSHA, local, state, national, and facility
safety specifications and procedures.
•
Before operating, teaching, maintaining, or repairing the robot controller or mechanical unit, ensure ALL operating, programming, maintenance, and repair procedures
are fully understood.
•
When performing robot controller or mechanical unit maintenance or repair, do not
wear loose clothing, scarves, wrist watches, rings, or jewelry. It is also recommended that if a necktie is worn, it be a clip-on (NOT tied) type.
•
When required by facility safety regulations, ALWAYS wear safety glasses or
goggles, approved safety shoes, hard hats, and other protective equipment.
•
Know the ENTIRE safeguarded space, including peripheral devices.
•
Know the extent of the ENTIRE mechanical unit restricted space.
•
Know the location of ALL emergency stop (E-stop) switches.
•
AVOID trap points where personnel can become trapped between moving and
stationary devices.
2-8
February 26, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
•
Before initiating robot motion, ensure that ALL personnel are clear of the safeguarded space and know how the robot will perform when motion is initiated.
•
Before operating the robot, ensure the work area is free of tools, lubricants, cleaning
equipment, and debris.
•
If unsafe working conditions are observed, IMMEDIATELY report them to the supervisor or facility safety coordinator.
•
ALL robot operators must be able to identify, by name and function, ALL switches,
control devices, and signals that initiate robot motion.
•
The operator must be aware that when the servo ON lamp (located on the mechanical unit) is illuminated, servo motor power is available to the robot and motion is
possible (refer to unit 4, for details).
•
NEVER defeat, render useless, jumper out, or bypass any mechanical or electrical
safety device.
•
To ensure personnel safety, ALL safety devices approved for use in the facility must
be properly installed and maintained.
•
During robot operation, NEVER attempt to stop or brake the mechanical unit with a
part of your body.
•
Use E-stop switches to stop mechanical unit motion in emergency situations ONLY.
•
During automatic operation, NEVER enter the safeguarded space.
February 26, 2007
2-9
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.4.2 SAFETY DURING OPERATION
•
Before operating the robot, know the boundaries of the restricted space.
•
ALWAYS keep the work area clean and free of debris which includes, but is not
limited to, oil, water, tools, and electronic test equipment.
•
Because the teach pendant has provisions to protect the operator during teaching
operations, the ONLY person allowed in the safeguarded space is the person operating the teach pendant. Teach pendant safety provisions include an E-stop switch
and enabling device.
•
Before performing teach operations, ALWAYS have a planned retreat path.
•
NEVER block the operator’s retreat path.
•
AVOID trap points.
•
AVOID pinch points
2.4.3 SAFETY DURING PROGRAMMING
•
Before operating the robot, know the boundaries of the restricted space.
•
Because the teach pendant has provisions to protect the operator during teaching
operations, the ONLY person allowed in the safeguarded space is the person operating the teach pendant. Teach pendant safety provisions include an E-stop switch
and enabling device.
•
AVOID trap points.
•
AVOID pinch points
•
Before operating the robot in point-to-point mode, the operator must be COMPLETELY clear of the safeguarded space. During point-to-point playback operations, the robot has information about its present location and the next point to which
it is programmed to move. If an object lies between these two points, the robot will
impact the object.
•
Playback accuracy and speed affect path coordinate geometry. When changing
program accuracy or speed, ALWAYS test a program in the point-to-point mode, or
at a slow speed, before performing continuous path operation in the repeat mode.
2-10
February 26, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
•
For a newly created program, before performing high-speed playback operation in
the repeat mode, ALWAYS run the new program in the point-to-point mode, or at a
slow speed.
2.4.4 SAFETY DURING INSPECTION, MAINTENANCE AND REPAIR
Before entering the safeguarded space to perform inspection, maintenance, or repair
procedures, set the robot controller main disconnect to OFF and tag and lock it out.
!
WARNING
When the robot controller’s main disconnect is set to
OFF, the input side may still be energized. Before performing maintenance on the main disconnect, ALWAYS
set the source disconnect to OFF and tag and lock it
out.
•
If an axis is not supported when the servo drive motor is removed, the axis will fall.
The brake assembly is part of the servo drive motor.
•
If an axis is not supported and the brake release switch is activated, the axis will fall.
•
Before working on pneumatic or high pressure water supplies, turn the supply pressure off, and purge ALL lines to remove residual pressure.
•
Assign ONLY qualified personnel to perform ALL maintenance or repair procedures.
•
Before performing maintenance or repair procedures, review ALL available documentation related to the procedure.
•
Use ONLY Kawasaki Robotics (USA), Inc. approved replacement parts.
•
Robot controller interlock control circuits are identified with yellow wiring. BEFORE
adjusting or repairing an interlock control circuit device, locate the disconnect supplying power to the device and set it to OFF.
•
During inspection, maintenance, or repair procedures, if the system is equipped with
safety fences and safety plugs, REMOVE and HOLD the safety plug while performing these procedures. In addition to this safety plug procedure, ALL safety procedures described above must be followed.
February 26, 2007
2-11
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.5 SAFETY FEATURES
To safeguard the user, Kawasaki robot systems are equipped with many safety features,
including the following:
•
All E-stops are hard-wired.
•
All robot controllers are equipped with a redundant dual channel safety circuit. Both
channels of the safety circuit must be closed to allow for robot operation in the teach
and repeat modes.
•
When the servo ON lamp (located on the mechanical unit) is illuminated, servo
motor power is available to the robot and motion is possible (refer to unit 4, for
details).
•
The teach pendant and operation panel are equipped with red mushroom-type Estop switches. If an optional interface panel is installed, the operation panel E-stop
switch is relocated to the optional interface panel.
•
The teach pendant is equipped with two, three-position, enabling devices. One of
the two enabling devices must be pressed to enable motor power in the teach and
check modes.
•
All robot axes are monitored by the robot controller for velocity and deviation errors.
If an over-velocity or deviation condition is detected, the robot faults in a velocity or
deviation error condition.
•
Teach and check mode velocities are limited to a maximum of 250 mm/sec
(10.0 in/sec).
•
All robot axes have software limits.
•
JT1 is equipped with overtravel limit switches. Optional overtravel limit switches are
available on JT2 and JT3 for Z series and M series robots.
•
All F-series, M-series, and Z-series mechanical units have overtravel hardstops on
the JT1, JT2, JT3, and JT5 axes. Mechanical hardstops are capable of stopping the
robot at full speed.
•
All robot axes are equipped with 24 VDC electromechanical brakes that engage
when power is removed. If the robot loses power unexpectedly, the mechanical unit
arm is held in position by the brakes and does not fall.
2-12
February 26, 2007
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D SERIES CONTROLLER
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SAFETY
2.6 RESTRICTED SPACE DRAWINGS
2.6.1 FS03N
Figure 2-6 FS03N Restricted Space
August 9, 2007
2-13
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Kawasak
D SERIES CONTROLLER
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2.6.2 FS06N/FS10C
Figure 2-7 FS06N/FS10C Restricted Space
2-14
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D SERIES CONTROLLER
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2.6.3 FS06L
Figure 2-8 FS06L Restricted Space
August 9, 2007
2-15
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D SERIES CONTROLLER
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2.6.4 FS10E
Figure 2-9 FS10E Restricted Space
2-16
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D SERIES CONTROLLER
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2.6.5 FS10L
Figure 2-10 FS10L Restricted Space
August 9, 2007
2-17
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Kawasak
2952
JT6:720°
JT5:290°
2
322
62
R1438
2652
2
120°
R170
185
off-set:150
5°
15
R896
200
62
JT4:540°
Z
160°
160°
20
272 277
275 222
65 65
JT1:320°
JT2:245°
JT3:275°
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.6 FS10X
10
5°
150
off-set:90
70
2
Figure 2-11 FS10X Restricted Space
August 9, 2007
1307
140
°
3482
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Y
R170
157
106
1700
210
X
1780
1100
L
100
02
1865
8
R2
25
80
10
2-18
R1
680
Kawasak
JT6:720°
JT5:290°
2703
1600
5°
off-set:150
15
R888
185
62
200
JT4:540°
160°
322
62
Z
X
R1343
120°
2403
10
5°
272
20 65
275
277
65
222
JT1:320°
JT2:245°
JT3:275°
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.7 FS20X
03
3
Figure 2-12 FS20X Restricted Space
2-19
950
80
1630
1168
off-set:90
150
3
183
130
140
°
3233
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
A
Y
120
160°
03
1650
R16
R160
55
10
August 9, 2007
R2
210
R16
680
Kawasak
D SERIES CONTROLLER
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SAFETY
2.6.8 FS20C
Figure 2-13 FS20C Restricted Space
2-20
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2.6.9 FS20N
Figure 2-14 FS20N Restricted Space
August 9, 2007
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2.6.10 FS30L
Figure 2-15 FS30L Restricted Space
2-22
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2.6.11 FS30N/FS45C
Figure 2-16 FS30N/FS45C Restricted Space
August 9, 2007
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2.6.12 FS45N
Figure 2-17 FS45N Restricted Space
2-24
August 9, 2007
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Kawasak
2208
Y
JT4:720°
JT5:±10°
2104
1000
°
off-set:150
205°
11
210
185
R5
62
Z
157
200
62
°
°
322
150
210
165
157
272
20
275
65
277
65
222
JT1:314°
JT2:235°
JT3:235°
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.13 FD50N
Figure 2-18 FD50N Restricted Space
2-25
950
1630
off-set:90
160
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
1052
140
4
30°
X
30°
80
10
August 9, 2007
°
R100
95
680
Kawasak
2634
140
°
210
160
JT6:720°
2104
JT5:260°
Z
160°
160°
R901
322
62
4
120°
95
R1
1804
04
R10
185
off-set:150
5°
15
R5
11
62
200
JT4:540°
210
Y
4
R100
1000
150
off-set:90
165
80
10
X
272
277
275 222
20 65 65
JT1:320°
JT2:245°
JT3:275°
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.14 FS60L
10
5°
00
4
Figure 2-19 FS60L Restricted Space
August 9, 2007
1630
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1052
950
680
2-26
570
L
R1
25
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.15 MD400N
Interference radius
around swivel arm
JT1: 180°
78
1300
R6
R26
84.
9
JT1: 180°
1305.1
1300
1175
1967
2065
1740
325
JT5
±10
°
JT3
420
250
14°
Motion range
of point “P”
1100
“P”
JT2
45°
JT2
JT4: ±360°
1160
600
623
1018
485.8
600
2710.4
3521
2510
°
90
JT3
5°
12
588
Figure 2-20 MD400N Restricted Space
August 9, 2007
2-27
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.16 MX350L
JT1: 180°
JT5: ±110°
R6
78
JT1: 180°
Interference radius
around the rotational axes
965
1600
2053
310
250
325
1100
JT2
45°
JT3 20°
JT4: ±360°
JT6: ±360°
JT2
2510
°
3502
90
600
600
459
1160
JT3
5°
11
Figure 2-21 MX350L Restricted Space
2-28
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.17 MX420L
JT1: 180°
JT5: ±110°
R6
78
JT1: 180°
Interference radius
around the rotational axis
730
1350
2048
310
250
325
JT3
20°
JT2
2510
°
90
JT2
45°
JT6: ±360°
3169.6
1100
JT4: ±360°
600
600
213
1160
JT3
5°
12
Figure 2-22 MX420L Restricted Space
August 9, 2007
2-29
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.18 MX500N
JT1: 180°
JT5: ±110°
R6
78
JT1: 180°
495
325
Interference radius
around the rotational axis
1,100
2,045
310
20°
250
JT3
JT2
45°
JT6: ±360°
2,839
1,100
JT4: ±360°
JT2
32
1,160
2,510
°
90
600
JT3
°
130
600
Figure 2-23 MX500N Restricted Space
2-30
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
270
1250
300
JT1: 180°
998
1130.9
JT3
1450
255
1600
“P”
2257
°
JT3
0°
12
JT4: ±360°
JT2
.3
R2875
Motion range of
point “P”
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.19 ZZD130S/250S
Figure 2-24 ZZD130S/250S Restricted Space
2-31
1.5
1800
338.2
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
JT2
50°
interference area
°
91
R13 Rear side
JT1: 180°
25
97
15°
810
R4
3075.3
Interference radius
around the rotational axis
300
2200
August 9, 2007
90
670
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.20 ZZT130U/165U
JT1: 180°
210
600.5
JT1: 180°
530
1100
300
165°
JT3
2103
JT2
°
75
4571
78
150
°
60
600
JT2
510
1300
1300
13
395
JT4: ±360°
JT5: ±130°
ZZT200S JT5: ±120°
231
231
°
95
1731
JT3
JT6: ±360°
80
3230
Figure 2-25 ZZT130U/165U Restricted Space
2-32
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.21 ZZT200S
JT1: 180°
210
600.5
JT1: 180°
530
1100
300
165°
JT3
2103
JT2
°
75
4571
78
150
°
60
600
JT2
510
1300
1300
13
395
JT4: ±360°
231
1731
231
°
95
JT5: ±120°
JT3
JT6: ±360°
80
3230
Figure 2-26 ZZT200S Restricted Space
August 9, 2007
2-33
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Kawasak
600.5
JT3
2265
9
28
R1
1199
JT2
°
60
H Link
288
JT1: 180°
Rear side interference area
17
JT1: 180°
H Link
150
13
JT2
75
°
1600
510
2951
228
JT5: ±130°
JT3 °
0
12
JT4: ±360°
695
JT4: ±360°
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.22 ZZX130L
70
°
Figure 2-27 ZZX130L Restricted Space
August 9, 2007
1490
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
210
270
1100
R5
1225
Interference radius around
the rotational axis
3640
4015
2-34
670
Kawasak
600.5
JT3
1965
R1
28
17
R5
JT1: 180°
1199
JT2
°
60
H Link
288
JT1: 180°
Rear side interference area
9
Interference radius around
the rotational axis
H Link
150
13
JT2
75
°
1300
510
2651
JT3 °
0
12
228
JT5: ±130°
JT4: ±360°
395
JT6: ±360°
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.23 ZZX165U
70
°
Figure 2-28 ZZX165U Restricted Space
2-35
3340
3415
1225
1490
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
210
270
1100
August 9, 2007
670
Kawasak
600.5
JT3
17
R5
JT1: 180°
1965
R1
1199
JT2 °
60
H Link
288
9
28
JT1: 180°
Rear side interference area
Interference radius around
the rotational axis
H Link
150
13
JT2
75
°
1300
510
2651
JT3 0°
12
231
JT5: ±120°
JT4: ±360°
395
JT6: ±360°
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.23 ZZX200S
70
°
Figure 2-29 ZZX200S Restricted Space
August 9, 2007
3340
3415
1225
1490
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
210
270
1100
2-36
670
Kawasak
600.5
JT3
17
R5
JT1: 180°
1815
R1
1199
JT2 °
60
H Link
288
9
28
JT1: 180°
Rear side interference area
Interference radius around
the rotational axis
H Link
150
395
2501
JT3
231
0°
12
JT5: ±120°
JT4: ±360°
JT2
75
°
1150
360
13
JT6: ±360°
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
SAFETY
2.6.24 ZZX300S
70
°
Figure 2-30 ZZX300S Restricted Space
2-37
3115
3190
1225
1490
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
210
270
1100
August 9, 2007
670
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
OPERATION PANEL
3.0 OPERATION PANEL ............................................................................................ 3-2
April 3, 2003
3-1
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
OPERATION PANEL
3.0 OPERATION PANEL
This unit provides information about the switches, indicators and connectors located on
the door and the main body of the controller.
The numbered call outs in figure 3-1 correspond with table 3-1 to identify the functions of
the components.
Teach Pendant
ON
OFF
MENU
T. LOCK
CHECK
TEACH
SPEED
INTER
CANCEL
A
SELECT
PROG
STEP
EXT AXIS
(Robot)
JOG
CONT
INS
DEL
O. WRITE
POS
MOD
S
GO
CHECK
S
BACK
1
— X +
2
AUX
MOD REC
CL1
CL2
CLn
SPD
ACC
TMR
TOOL
OX
WX
WS
CC
7 D 8 E 9 F BS
?
4 A 5 B 6 C CLEAR
ON
1
,
0
OFF
2
CLAUX
3
-
.
WRK
C
— Y +
3
— Z
+
4
— rx +
5
— ry +
6
— rz +
—
7
+
J/E
I
6037-1200
CONTROL
POWER
MOTOR
POWER
CYCLE
START
ERROR
ERROR
RESET
HOLD RUN
1
2
3
4
5
Operation Panel
TEACH REPEAT
S TO P
Disconnect
Switch
BRAKE RELEASE
JST
WARNING
AVERTISSEMENT
I/F Switch Panel
6
7
8
Teach Pendant
Connector
AC460V
Accessory
Panel Door
Figure 3-1 North American D Controller
3-2
March 15, 2004
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
OPERATION PANEL
Table 3-1 Operation Panel Switches
No.
Switch
Function
1.
The TEACH REPEAT switch selects the teach or repeat mode of operation.
2.
The white CONTROL POWER lamp indicates that the controller power supply
is turned ON.
3.
The orange MOTOR POWER switch turns servo motor power ON. The lamp
remains ON while motor power is ON.
4.
The green CYCLE START switch initiates execution of the selected program.
The lamp remains ON during program execution.
5.
The red EMERGENCY STOP switch turns the servo motor power OFF, the
brakes are applied, and the robot stops. The motor power lamp and cycle
start lamp are turned OFF at this time. Reset the E-stop by turning the
EMERGENCY STOP switch to the right, returning it to its original position, and
then pressing the ERROR RESET switch.
6.
The RUN position allows program execution and robot motion; the HOLD
position places the robot into a temporary stop condition.
7.
The yellow ERROR RESET switch resets the system and turns the error lamp
OFF. This switch does not clear the error if the error is continuous.
8.
The red ERROR lamp indicates that an error ahs occurred.
February 26, 2007
3-3
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
POWER ON/OFF PROCEDURES
4.0
4.1
4.1.1
4.1.2
4.2
4.2.1
4.2.2
4.3
4.3.1
4.3.2
4.3.3
POWER ON/OFF PROCEDURES ................................................................... 4-2
Controller Power On/Off Procedures ................................................................ 4-2
Controller Power On Procedures ...................................................................... 4-2
Controller Power Off Procedures ...................................................................... 4-2
Servo Motor Power-On Procedures .................................................................. 4-5
Servo Motor Power-On in the Repeat Mode ..................................................... 4-5
Servo Motor Power-On in the Teach Mode ....................................................... 4-5
Methods for Stopping the Robot ....................................................................... 4-9
EMERGENCY STOP Switch ............................................................................ 4-9
HOLD/RUN Switch ........................................................................................... 4-9
TEACH/REPEAT Switch ................................................................................... 4-9
March 15, 2004
4-1
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
POWER ON/OFF PROCEDURES
4.0 POWER ON/OFF PROCEDURES
This unit provides the power ON/OFF procedures for the robot controller and servo
motors. Refer to figures 4-1 through 4-8 during these procedures.
4.1 CONTROLLER POWER ON/OFF PROCEDURES
4.1.1 CONTROLLER POWER ON PROCEDURES
1.
Ensure that all personal are clear of the work cell, and that all safety devices are in
place and operational.
2.
Turn the HOLD/RUN switch to the HOLD position.
3.
Place the controller main disconnect switch in the ON position. At this time the
CONTROL POWER indicator lamp illuminates.
4.1.2 CONTROLLER POWER OFF PROCEDURES
1.
Turn the HOLD/RUN switch to the HOLD position; the robot decelerates to a stop,
and the MOTOR POWER lamp turns off.
2.
Press the EMERGENCY STOP switch. At this time the CYCLE START lamp is
turned off.
3.
Place the controller main disconnect switch in the OFF position.
4-2
March 15, 2004
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
POWER ON/OFF PROCEDURES
ON
OFF
MENU
T. LOCK
CHECK
TEACH
SPEED
INTER
CANCEL
A
SELECT
PROG
STEP
EXT AXIS
(Robot)
JOG
CONT
S
GO
CHECK
S
BACK
1
INS
DEL
O. WRITE
POS
MOD
— X +
2
AUX
MOD REC
CL1
CL2
CLn
SPD
ACC
TMR
TOOL
OX
WX
WS
CC
ON
OFF
CLAUX
WRK
7 D 8 E 9 F BS
?
4 A 5 B 6 C CLEAR
1
,
0
2
3
-
.
C
— Y +
3
— Z
+
4
— rx +
5
— ry +
6
— rz +
—
7
+
J/E
I
6037-1200
Control Power Lamp
CONTROL
POWER
MOTOR
POWER
CYCLE
START
ERROR
ERROR
RESET
HOLD RUN
TEACH REPEAT
S TO P
BRAKE RELEASE
Disconnect
Switch
JST
WARNING
AVERTISSEMENT
AC460V
Figure 4-1 North American D Controller
March 15, 2004
4-3
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
POWER ON/OFF PROCEDURES
CONTROL
POWER
MOTOR
POWER
CYCLE
START
ERROR
ERROR
RESET
HOLD RUN
TEACH REPEAT
S TO P
BRAKE RELEASE
Figure 4-2 North American D Controller Operation Panel
Emergency
Stop Switch
Teach Lock
Switch
ON
OFF
MENU
T. LOCK
CHECK INTERP
TEACH
SPEED
PROG
STEP
EXT AXIS
(Robot)
JOG
CONT
INS
DEL
CANCEL
A
SELECT
S
GO
CHECK
S
BACK
O. WRITE
POS
AUX
MOD REC MOD
SPD
CL1
CL2
CLn
ACC
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
CC
4 A 5 B 6 C CLEAR
ON
OFF
CLAUX
WRK
1
2
3
C
,
0
-
.
— X
1
+
— Y
2
+
— Z
3
+
4
— rx
+
Three-Position
Enabling Device
5
— ry +
6
— rz +
—
7
+
J/E
I
6037-1200
OFF ON OFF OFF ON OFF
Motor Drive Power
Figure 4-3 Teach Pendant
4-4
January 13, 2005
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
POWER ON/OFF PROCEDURES
4.2 SERVO MOTOR POWER-ON PROCEDURES
4.2.1 SERVO MOTOR POWER-ON IN THE REPEAT MODE
1.
Place the TEACH/REPEAT switch in the REPEAT position.
2.
Place the TEACH LOCK switch in the OFF position.
3.
Press the MOTOR POWER switch.
4.
Place the HOLD/RUN switch in the RUN position. The MOTOR POWER lamp and
servo ON lamp (figures 4-4 through 4-8) illuminate.
5.
The robot is now ready to execute a program.
4.2.2 SERVO MOTOR POWER-ON IN THE TEACH MODE
1.
Place the TEACH/REPEAT switch in the TEACH position.
2.
Place the TEACH LOCK switch the ON position.
3.
Set the HOLD/RUN switch to RUN.
4.
At the BLOCK TEACHING screen, press and hold one of the enabling devices and
press either the MOTOR POWER switch or the MOTOR POWER touch key on the
teach pendant. At this time the MOTOR POWER lamp and servo ON lamp (figures
4-4 through 4-8) illuminate.
August 9, 2007
4-5
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
POWER ON/OFF PROCEDURES
Servo ON Lamp
LEFT
F-Series
BACK
Figure 4-4 F-Series Servo ON Lamp
Servo ON Lamp
MD-Series
MX-Series
Figure 4-5 M-Series Servo ON Lamp
4-6
March 15, 2004
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
POWER ON/OFF PROCEDURES
Servo ON Lamp
BACK
ZZD-Series
RIGHT
Figure 4-6 ZZD-Series Servo ON Lamp
Servo ON Lamp
ZZT- Series
Figure 4-7 ZZT-Series Servo ON Lamp
March 15, 2004
4-7
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
POWER ON/OFF PROCEDURES
Servo ON Lamp
BACK
ZZX-Series
RIGHT
Figure 4-8 ZZX-Series Servo ON Lamp
4-8
March 15, 2004
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
POWER ON/OFF PROCEDURES
4.3 METHODS FOR STOPPING THE ROBOT
Three methods can be used to stop robot motion. Each of these methods is described
in the following sections.
4.3.1 EMERGENCY STOP SWITCH
When the EMERGENCY STOP switch is pressed, motor power is turned off and the
brakes are applied stopping the robot immediately. This places very high loads upon the
robot and is only recommended for emergency situations. To stop the robot during nonemergency situations refer to section 4.3.2, HOLD/RUN SWITCH. Reset the E-stop by
turning the EMERGENCY STOP switch to the right, returning it to its original position,
and then pressing the ERROR RESET switch.
4.3.2 HOLD/RUN SWITCH
When the HOLD/RUN switch is turned to the HOLD position the robot decelerates
smoothly to a stop and the brakes are applied. This places the robot into a temporary
stop condition. The motor power lamp turns off and the CYCLE START lamp remains
ON. When the HOLD/RUN switch is again turned to the RUN position the robot continues the motion it had been executing prior to HOLD. To create a permanent stop condition, press the EMERGENCY STOP switch or turn the TEACH/REPEAT switch to the
TEACH position (the CYCLE START and MOTOR POWER indicator lamps turn off in
either case).
4.3.3 TEACH/REPEAT SWITCH
When the TEACH/REPEAT switch is turned to the TEACH position motor power is
turned off and the brakes are applied stopping the robot immediately. This places very
high loads upon the robot and is only recommended for emergency situations. To stop
the robot during non-emergency situations refer to section 4.3.2, HOLD/RUN SWITCH.
February 26, 2007
4-9
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
5.0
5.1
5.2
5.3
5.3.1
5.3.2
5.3.2.1
5.3.3
5.3.3.1
5.3.3.2
5.3.3.3
5.3.3.4
5.3.3.5
5.3.3.6
5.3.3.7
5.3.3.8
5.3.3.9
5.3.4
5.3.4.1
5.3.4.2
5.3.4.3
5.3.4.4
5.3.4.5
5.3.5
5.3.6
5.3.7
5.3.7.1
5.3.7.2
5.3.7.3
5.3.7.4
5.3.7.5
5.3.7.6
5.3.7.7
5.3.8
5.3.8.1
5.3.8.2
5.3.8.3
5.3.8.4
5.3.8.5
5.3.8.6
5.3.8.7
5.3.8.8
5.3.9
5.3.9.1
TEACH PENDANT......................................................................................... 5-3
Teach Pendant Description ............................................................................ 5-3
Teach Pendant Keys ...................................................................................... 5-5
Teach Pendant Screens ............................................................................... 5-10
Teach Pendant Screen Areas....................................................................... 5-10
Active and Non-Active Screen Areas ........................................................... 5-12
Switching Active Screen Area ...................................................................... 5-13
Program/Comment Area .............................................................................. 5-14
Program/Comment Drop-Down Menu .......................................................... 5-14
Program/Comment, Specify ......................................................................... 5-15
Program/Comment, Select ........................................................................... 5-16
Program/Comment, Delete .......................................................................... 5-17
Program/Comment, Input Comment ............................................................ 5-19
Program/Comment, Display Contents .......................................................... 5-20
Program/Comment, Copy ............................................................................ 5-21
Program/Comment, Rename ....................................................................... 5-23
Program/Comment, Cancel Register ........................................................... 5-24
Step Area ..................................................................................................... 5-25
Step Drop-Down Menu................................................................................. 5-25
Step, Specify ................................................................................................ 5-25
Step, Top ...................................................................................................... 5-26
Step, Bottom ................................................................................................ 5-26
Step Forward, Step Backward ...................................................................... 5-26
PC Program Area ......................................................................................... 5-27
System Message Area ................................................................................. 5-28
Status Area .................................................................................................. 5-28
Status Areas ................................................................................................ 5-29
Status Area A ............................................................................................... 5-30
Status Area B ............................................................................................... 5-32
Status Area C............................................................................................... 5-34
Status Area D............................................................................................... 5-35
Status Area E ............................................................................................... 5-37
Status Area F ............................................................................................... 5-38
Repeat Conditions ....................................................................................... 5-39
Repeat Conditions, Specify .......................................................................... 5-40
Repeat Conditions, + 10% ........................................................................... 5-40
Repeat Conditions, - 10% ............................................................................ 5-40
Repeat Conditions, Repeat Continuous/Once ............................................. 5-40
Repeat Conditions, Step Continuous/Once.................................................. 5-40
Repeat Conditions, RPS ON/OFF ................................................................ 5-41
Repeat Conditions, Dry Run ON/OFF .......................................................... 5-41
Manual Weld Mode ...................................................................................... 5-41
Screen Area B, Main Menu .......................................................................... 5-42
Main Menu, Teach ........................................................................................ 5-42
January 13, 2005
5-1
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
5.3.9.2
5.3.9.3
5.3.9.4
5.3.10
5.3.10.1
5.3.10.2
5.3.10.3
5.3.10.4
5.3.10.5
5.3.10.6
5.3.10.7
5.3.10.8
5.3.10.9
5.3.11
5.3.11.1
5.3.11.2
5.3.12
5.3.12.1
5.3.12.2
5.3.12.3
5.3.12.4
5.3.13
5.3.13.1
5.3.14
5.3.14.1
5-2
Main Menu, Aux Function ........................................................................... 5-42
Main Menu, Interface Panel ........................................................................ 5-43
Main Menu, Keyboard ................................................................................ 5-44
Screen Area C, Menu ................................................................................. 5-46
Joint Monitor Menu ..................................................................................... 5-47
Joint Monitor, Pose Information (Positional Data) ....................................... 5-47
Joint Monitor, Command Value (Positional Command) .............................. 5-48
Joint Monitor, Current Value (Current Positional Data) ............................... 5-48
Joint Monitor, Encoder Value (Encoder Positional Data) ............................ 5-49
Joint Monitor, Deviation Value (Positional Data Deviation) ......................... 5-49
Joint Monitor, Joint Speed .......................................................................... 5-50
Joint Monitor, Motor Speed ........................................................................ 5-50
Joint Monitor, F/B Current Value (Motor Current) ....................................... 5-51
Signal Monitor Menu .................................................................................. 5-51
Signal Monitor, Signal Name ...................................................................... 5-52
Signal Monitor, Signal Index ....................................................................... 5-54
Program Info. (Information) ......................................................................... 5-55
Program Information, Step Information Auxiliary Data ............................... 5-56
Program Information, Step Information Clamp Data .................................. 5-56
Program Information, PC Program Information .......................................... 5-57
Weld Cont. Monitor ..................................................................................... 5-58
Error Screen ............................................................................................... 5-59
Error Reset Procedure ............................................................................... 5-59
Warning Screen.......................................................................................... 5-62
Warning Reset Procedure .......................................................................... 5-62
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
5.0 TEACH PENDANT
5.1 TEACH PENDANT DESCRIPTION
The teach pendant, shown in figure 5-1, is equipped with a 16.3 cm (6.4. in) color liquid
crystal display (LCD) touch panel. Hard switches include; EMERGENCY STOP, TEACH
LOCK, and two three-position enabling devices. The functions of these components are
described in table 5-1.
If the teach pendant display is not touched for ten minutes, the display automatically
goes to a dark energy saving mode. Touching any area of the display screen, or any key
on the keypad, reactivates the display.
4. LCD Display
1. Emergency
Stop
ON
2. Teach
Lock
OFF
MENU
T. LOCK
CHECK INTERP
TEACH
SPEED
PROG
STEP
EXT AXIS
(Robot)
JOG
CONT
INS
DEL
CANCEL
A
SELECT
S
GO
CHECK
S
BACK
O. WRITE
POS
AUX
MOD REC MOD
3. Three-Position
Enabling Device
SPD
CL1
CL2
CLn
ACC
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
CC
4 A 5 B 6 C CLEAR
ON
OFF
CLAUX
WRK
1
2
3
C
,
0
-
.
—
1
X
+
—
2
Y
+
—
3
Z
+
—
4
rx
+
—
5
ry
+
—
6
rz
+
—
7
+
3. Three-Position
Enabling Device
J/E
I
6037-1200
Figure 5-1 Teach Pendant
January 13, 2005
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TEACH PENDANT
Table 5-1 Teach Pendant
N o.
Sw itch
Emergency Stop
1.
ON
OFF
2.
T. LOCK
3.
4.
Function
The red EMERGENCY STOP switch turns the servo motor
power OFF, the brakes are applied, and the robot stops.
The motor power lamp and cycle start lamp are turned
OFF at this time.
Teach lock ON - cycle start (program execution) is
disabled; teaching, jogging, and check mode operations
can be performed.
Teach lock OFF - cycle start is enabled; teaching, jogging,
and check mode operations cannot be performed.
Enabling Devices
One of two enabling devices must be pressed to enable
motor power in the teach mode and check mode.
Liquid crystal
display
Provides touch keys for teaching, editing, check mode
operations, and configuring and monitoring the robot
system. Also provides display areas for system status,
error messages, program data, system data, etc.
NOTE
If the LCD display screen of the teach pendant is exposed to high levels of static electricity, the display may
go blank for a short period. The display shows the
opening screen when the static electricity has dissipated. This condition does not cause an error message.
5-4
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TEACH PENDANT
5.2 TEACH PENDANT KEYS
Table 5-2 shows the teach pendant keys and describes the functions of the keys.
Table 5-2 Teach Pendant Keys
Key
Function
MENU
Displays the drop-down menu of the active screen area.
Switches active screen areas (between screen areas B and C), using the A + MENU
key combination.
Displays the repeat conditions drop-down menu, using the S + MENU key
combination.
In some screens the MENU key is used to select function keys.
In some screens the A + MENU key combination is used to select function keys.
Moves the cursor position to select steps, menu items, functions, and screens.
In some cases the cursor keys are used in combination with other keys.
S + up cursor key combination selects the previous screen.
S + down cursor key combination selects the next screen.
A + up cursor key combination selects the previous step during teaching or editing a
program.
A + down cursor key combination selects the next step during teaching or editing a
program.
SELECT
Select functions and items and determines input data.
CANCEL
Cancels operations or closes drop-down menus.
Returns the display to the original screen.
A
Makes some operations and functions available.
For example, the A + ON/1 key combination is used to force a selected signal ON, in
the Signal Monitor screen.
Used in combination with blue striped keys.
S
Changes some functions and selections.
For example the S + up and down cursor key combinations are used to scroll by page.
Used in combination with gray striped keys.
GO
Moves to the next program point in check mode.
Move to the next program step in step once repeat mode.
CHECK
April 3, 2003
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Table 5-2 Teach Pendant Keys (Continued)
Key
Function
CHECK
BACK
Moves to the previous program point in check mode.
CHECK
TEACH
SPEED
INTERP
PROG
5-6
Changes the jogging speed.
Changes the check speed, when used in combination with the S key.
Default jogging speed is slow speed (not inching).
Changes the jogging interpolation mode.
Changes the block teaching interpolation mode, when used in combination with the
S key.
Default interpolation is joint mode.
STEP
Activates the step selection menu.
Activates the program selection menu, when used in combination with the S key.
EXT AXIS
(Robot)
Selects external axes (if equipped) or robot 1/robot 2 in two arm configuration.
The lower LED illuminates to indicate joints eight to four teen.
The upper LED illuminates to indicate joints fifteen to eighteen.
JOG
Increases the inching increment or jogging and check mode speeds, when used in
combination with the axes keys.
CONT
Toggles between check once and check continuous in check mode.
Default check mode is check once.
INS
Activates the inser t mode.
The inser t mode is used to inser t program steps.
DEL
Activates the delete mode.
The delete mode is used to delete program steps.
AUX
MOD
Activates the auxiliary edit mode.
The auxiliary edit mode is used to edit the auxiliary data in a program step without
changing the positional data.
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Table 5-2 Teach Pendant Keys (Continued)
Key
POS
MOD
O. WRITE
REC
Function
Activates the positional data edit mode.
The positional data edit mode is used to edit the positional data in a program step
without changing the auxiliar y data.
Records a new step in a program.
Overwrites the current step with new step data, when used in combination with the A
key.
CL1
Sets the clamp 1 signal to ON or OFF.
Sets the teach data for clamp 1 to ON or OFF.
Sets the teach data and signal data for clamp 1 to ON or OFF, when used in
combination with the A key.
CL2
Sets the clamp 2 signal to ON or OFF.
Sets the teach data and data signal for clamp 2 to ON or OFF, when used in
combination with the A key.
CLn
Sets the clamp n (n=3–8) signal to ON or OFF, when used in combination with the
numeric keys 3–8.
Sets the teach data for clamp n (n=3–8) to ON or OFF, when used in combination
with the numeric keys 3–8.
Sets the teach data and signal data for clamp n (n=3–8) to ON or OFF, when used in
combination with the A key and the numeric keys 3–8.
—
Moves the robot axes JT1–JT7 in the positive or negative direction.
+
.
,
0
ON
1
August 9, 2007
Enters a ".".
Enters a "-", when used in combination with the S key.
Enters the numeric value 0.
Enters a ",", when used in combination with the S key.
Enters the numeric value 1.
Forces the selected output signal ON, when used in combination with the A key.
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TEACH PENDANT
Table 5-2 Teach Pendant Keys (Continued)
Key
OFF
2
CL AUX
3
ox
4
A
WX
5
B
WS
6
C
SPD
7
D
ACC
8
E
TMR
9
F
TOOL
BS
5-8
Function
Enters the numeric value 2.
Forces the selected output signal OFF, when used in combination with the A key.
Enters the numeric value 3.
Displays the clamp O/C auxiliar y data during block teaching, when used in
combination with the S key.
Enters the numeric value 4.
Displays OX data during block teaching, when used in combination with the S key.
Enters the alpha character A, when used in combination with the S key except
during block teaching.
Enters the numeric value 5.
Displays WX data during block teaching, when used in combination with the S key.
Enters the alpha character B, when used in combination with the S key except
during block teaching.
Enters the numeric value 6.
Displays weld schedule data during block teaching, when used in combination with
the S key.
Enters the alpha character C, when used in combination with the S key except
during block teaching.
Enters the numeric value 7.
Displays speed data during block teaching, when used in combination with the S key.
Enters the alpha character D, when used in combination with the S key except
during block teaching.
Enter the numeric value 8.
Displays accuracy data during block teaching, when used in combination with the S
key.
Enters the alpha character E, when used in combination with the S key except
during block teaching.
Enters the numeric value 9.
Displays timer data during block teaching, when used in combination with the S key.
Enters the alpha character F, when used in combination with the S key except during
block teaching.
Deletes characters (back space).
Displays tool data during block teaching, when used in combination with the S key
(QTOOL system switch ON).
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TEACH PENDANT
Table 5-2 Teach Pendant Keys (Continued)
Key
Function
CC
Clears the current input data.
Displays clamp condition code data during block teaching, when used in combination
with the S key.
CLEAR
WRK
C
J/E
I
Displays auxiliar y functions by number.
Displays work data during block teaching, when used in combination with the S key.
Activates the program edit function.
Displays the JUMP/END data during block teaching, when used in combination with
the S key.
Enters selected data.
Enters selected characters from the keyboard screen.
Switches the teach pendant display between the teach mode screen and the
software interface panel screen.
?
Toggles the Maintence Suppor t Function screen (option).
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5.3 TEACH PENDANT SCREENS
The screens and keys displayed on the teach pendant screens are detailed in the following sections.
5.3.1 TEACH PENDANT SCREEN AREAS
The teach pendant screen is divided into three areas. Figure 5-2 shows the screen
areas and table 5-3 provides descriptions of the contents of each area (A, B, and C).
Detailed information on each screen display is covered in the following sections.
ì
A Areas í
Program/Comment Area
Step Area
PC Program Status Area
Area
System Message Area
î
ì Main Area (Program Contents Display, Edit Area)
B Area Window
B Area í
î
ì Auxiliary Information Area (Current Pose, signal State, Step Details, etc.)
C Area Window
C Area í
î
Figure 5-2 Teach Pendant Screen Areas
5-10
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Table 5-3 Screen Area Descriptions
Area
Location
Description
Program/comment area
Top left A
Displays information about the current program.
The first row displays the program name.
The second row displays the program comment, up to 17
characters.
Step area
Top center A
Displays the current step number.
The first row is blank.
The second row displays the current step number.
The third row displays the axes coincidence comment.
PC program area
Top center A
Displays the selected PC programs.
Up to five PC programs can be selected.
Three PC programs can be displayed at one time.
An asterisk indicates a running PC program.
Status area
Top right A
Displays icons that indicate the current operation status of
the robot system.
There are two display types, teach mode and repeat
mode.
System message area
Bottom left A
Displays system operation and error messages.
Operation mode screens
B area
Displays the teach screen, auxiliary functions menu and
screens, interface panel screen, and keyboard screen.
Monitor screens
C area
Displays the joint monitor screens and signal monitor
screens.
August 9, 2007
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5.3.2 ACTIVE AND NON-ACTIVE SCREEN AREAS
The A area displays are always active. The status area changes color based on operation mode (teach or repeat mode).
Table 5-4 provides window colors according to mode.
Table 5-4 A Area Mode Colors
Display Area
Teach Mode Color
Repeat Mode Color
Program/comment area
Yellow
Yellow
Step area
Yellow
Yellow
PC program area
Yellow
Yellow
System message area
N/ A
N/A
Status area
Blue
Green
The B and C area operation screens have active (operable) and non-active (in-operable)
states determined by the color of the window.
Table 5-5 provides window colors according to mode.
Table 5-5 B and C Area Mode Colors
Area State
Item
Teach Mode Color
Repeat Mode Color
Window
Blue
Green
Characters
White
Black
Window
Gray
Gray
Characters
White
White
Active
Non-active
5-12
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5.3.2.1 SWITCHING ACTIVE SCREEN AREA
All of the A area screen displays are always active and switching is not necessary.
In the B and C areas, pressing the window of the non-active area activates that area.
The A + MENU key combination, on the teach pendant keypad, toggles the active area
between the A and B areas (Figure 5-3).
A + Menu Key Combination
MENU
CHECK INTERP
TEACH
SPEED
PROG
STEP
CANCEL
A
EXT AXIS
(Robot)
SELECT
S
GO
CHECK
S
BACK
JOG CONT
INS
O. WRITE
POS
AUX
MOD REC MOD
SPD
CL1
CL2
CLn
ACC
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
1
X
+
–
2
Y
+
–
3
Z
+
–
4
rx
+
–
5
ry
+
–
6
rz
+
–
7
CC
4 A 5 B 6 C CLEAR
ON
OFF CLAUX
1
2
,
-
J/E
0
.
I
3
–
DEL
WRK
C
+
6037-1200
Figure 5-3 Switching Active Screens
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5.3.3 PROGRAM/COMMENT AREA
The program/comment area displays the current (registered) program name and comment. For more information, refer to section 7.2.
5.3.3.1 PROGRAM/COMMENT DROP-DOWN MENU
The program/comment drop-down menu contains eight functions. These functions are
covered in the following sections.
There are two methods available to access the program/comment drop-down menu.
1.
Press the program/comment area on the touch screen.
2.
Use the S + PROG/STEP key combination on the teach pendant keypad (Figure 54).
Program/Comment Drop-down Menu
Program
pg5
[
Step
[Comment ]
]
[
1
]
S + PROG/STEP Key Combination
PC
1 pcprg1
Specify pg
Select
Delete
IntpComment
Spd Acc Tmr Tol Wrk Clamp J/E
Input
JOINT
9
1 0 1 0
Display contents
1 JOINT
9
1 0 1 0
Copy
2 LINEAR 7
3 1 1 0
3Rename
JOINT
9
2 0 1 0 1
register
4Cancel
LINEAR
5
1 2 1 0
5 JOINT
7
4 0 1 0 2
6 JOINT
8
1 3 1 0
7 JOINT
9
1 0 1 0
MENU
CHECK INTERP
TEACH
SPEED
PROG
STEP
CANCEL
A
EXT AXIS
(Robot)
SELECT
S
GO
CHECK
S
BACK
JOG CONT
INS
O. WRITE
POS
AUX
MOD REC MOD
SPD
CL1
CL2
CLn
ACC
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
1
X
+
–
2
Y
+
–
3
Z
+
–
4
rx
+
–
5
ry
+
–
6
rz
+
–
7
CC
4 A 5 B 6 C CLEAR
ON
OFF CLAUX
1
2
,
-
J/E
0
.
I
3
–
DEL
WRK
C
+
6037-1200
Figure 5-4 Program/Comment Drop-Down Menu
5-14
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5.3.3.2 PROGRAM/COMMENT, SPECIFY
The program/comment specify function is used to select a program with a “pg” prefix and
a numeric name. To select a program without a “pg” prefix use the program/comment
select function.
To specify (select) a program with a “pg” prefix:
1.
Display the program/comment drop-down menu as described in section 5.3.3.1
(Figure 5-4).
2.
Use the cursor keys to highlight Specify pg (Figure 5-4).
3.
To select a program, use the numeric keys on the teach pendant alphanumeric
keypad to enter the program number (Figure 5-5).
4.
Press the ENTER key to complete the procedure (Figure 5-5).
Alpha-Numeric Keypad
SPD
ACC
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
–
4
rx
+
–
5
ry
+
–
6
rz
+
–
7
CC
4 A 5 B 6 C CLEAR
ON
OFF CLAUX
1
2
,
-
J/E
0
.
I
WRK
3
C
+
6037-1200
Enter Key
Figure 5-5 Program Number Specify
NOTE
Only programs names with a “pg” prefix can be selected
as described above (maximum of five digits ).
Use the CC/CLEAR or TOOL/BS key to clear an incorrect entry and enter the correct “pg” number.
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5.3.3.3 PROGRAM/COMMENT, SELECT
To select a program from the program list:
1.
Use the cursor keys on the teach pendant keypad to highlight Select on the program/comment drop-down menu (Figure 5-4).
2.
Press the SELECT key. The program select screen is displayed (Figure 5-6).
SELECT
Select
pg ??
pcprg1
pcprg2
pcprg3
pg1
pg2
pg3
pg5
pg50
pg51
pg52
1/2
Input char
[
[
[
[
[wx
[ox
[
[
[
[
Next Page
] pg53
] pg54
] pg55
] pg56
] pg57
] pg58
] pg59
] pg6
] pg90
] pg95
[
[
[
[
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
]
pg
Figure 5-6 Program Select Screen
3.
To select a program, use the cursor keys to highlight “pg??” and enter the program
number (from the teach pendant alphanumeric keypad) and press the SELECT key.
If more than one page is available, use the Next Page and Previous Page keys to
access the additional pages.
Alternate methods for selecting a program are:
Use the cursor keys to highlight the program name on the program list screen and
press the SELECT key (Figure 5-6).
5-16
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Use the Input char key to access the keyboard screen (Figure 5-7) to enter an
existing or new program number (name). With the program number (name) entered
on the keyboard screen press the ENTER key on the keyboard screen or the teach
pendant keypad.
Keyboard
$
”
!
q
w
a
s
z
x
[{
]}
SHIFT
#
e
d
c
$
r
f
v
%
t
g
b
&
y
h
n
SPACE
’
u
j
m
(
i
k
,<
)
o
l
.>
=
p
;+
/?
^’
7
@~
4
:*
1
|¥
0
—
SHIFT
NEXT
8
5
2
9
6
3
BS
CTRL+L
ENTER
Figure 5-7 Keyboard Screen
5.3.3.4 PROGRAM/COMMENT, DELETE
To delete a program:
1.
Use the cursor keys on the teach pendant keypad to highlight Delete on the dropdown menu (Figure 5-4)
2.
Press the SELECT key. The program list screen is displayed (Figure 5-6).
3.
To select a program to delete, use the cursor keys to highlight “pg??” and enter the
program number from the teach pendant alphanumeric keypad and press the SELECT key.
If more than one page is available, use the Next Page and Previous Page keys to
access the additional pages.
April 3, 2003
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Alternate methods for selecting a program are:
Use the cursor keys to highlight the program name on the program list screen and
press the SELECT key (Figure 5-6).
Use the Input char key to access the keyboard screen (Figure 5-7) to enter an
existing or a new program number (name). With the program number (name) entered on the keyboard screen press the ENTER key on the keyboard screen or the
teach pendant keypad.
4.
Use the cursor keys to highlight “Yes“ and press the SELECT key to delete the
program (Figure 5-8). If “No” is selected the process is aborted and the program list
screen is displayed.
Delete
pg ??
pcprg1
pcprg2
pcprg3
pg1
pg2
pg3
pg5
pg50
pg51
pg52
1/2
Input char
Confirm
Next Page
, OK ?
Delete pg1
[wx
[ox
[
[
[
[
Yes
] pg57
] pg58
] pg59
] pg6
] pg90
] pg95
No
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
]
pg1
Figure 5-8 Program Delete Screen
NOTE
The active program (program name displayed in the program/comment window) cannot be deleted.
To close the delete function press the CANCEL key on
the teach pendant keypad (at the program list screen).
5-18
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5.3.3.5 PROGRAM/COMMENT, INPUT COMMENT
To add a comment in the comment field:
1.
Use the cursor keys on the teach pendant keypad to highlight Input Comment on the
drop-down menu (Figure 5-4).
2.
Press the SELECT key. The program list screen is displayed (Figure 5-6).
3.
To select a program, use the cursor keys to highlight “pg??” and enter the program
number from the teach pendant alphanumeric keypad and press the SELECT key.
If more than one page is available, use the Next Page and Previous Page keys to
access the additional pages.
Alternate methods for selecting a program are:
Use the cursor keys to highlight the program name on the program list screen and
press the SELECT key (Figure 5-6).
Use the Input char key to access the keyboard screen (Figure 5-7) to enter an
existing or new program number (name). With the program number (name) entered
on the keyboard screen press the ENTER key on the keyboard screen or the teach
pendant keypad.
4.
When the program number (name) is selected, the keyboard screen is displayed
(Figure 5-7). Enter the comment and press the ENTER key on the keyboard screen
or the teach pendant keypad.
After the comment is entered the program list screen is displayed and additional
comments can be entered to programs.
NOTE
To close the input comment function press the CANCEL
key on the teach pendant keypad (at the program list
screen).
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5.3.3.6 PROGRAM/COMMENT, DISPLAY CONTENTS
To display the contents of a program:
1.
Use the cursor keys on the teach pendant keypad to highlight Display Contents on
the drop-down menu (Figure 5-4).
2.
Press the SELECT key. The program list screen is displayed (Figure 5-6).
3.
Use the cursor keys to highlight “pg??” and enter the program number, from the
teach pendant alphanumeric keypad, to select a program and press the SELECT
key.
If more than one page is available, use the Next Page and Previous Page keys to
access the additional pages.
Alternate methods for selecting a program are:
Use the cursor keys to highlight the program name on the program list screen and
press the SELECT key (Figure 5-6).
Use the Input char key to access the keyboard screen (Figure 5-7) to enter an
existing or new program number (name). With the program number (name) entered
on the keyboard screen press the ENTER key on the keyboard screen or the teach
pendant keypad.
4.
The contents of the selected program is displayed.
If more than one page is available use the Next Page and Previous Page keys to
access the additional pages.
To display the clamp data press the “Change” key.
To exit the program display select Close on the display contents screen (Figure 5-9).
The program list screen is displayed.
5-20
April 3, 2003
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
Program display. - pg2
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
1 JOINT
9
1 0 1 0
[
2 JOINT
9
1 0 1 0
[
g1
pcpr
3 JOINT
9
1 0 1 0
[
g
pcpr
2
4 JOINT
9
1 0 1 0
[
5 JOINT
9
1 0 1 0
[
g3
pcpr
8
1 0 1 0
[
p6g1JIONT
7g JOINT
9
1 0 1 0
[
g
p8 2JOINT
[wx
]
p
57
9
1 0 1 0
[
p9g3JOINT
] pg58 [
9
1 [ox
0 1 0
10
9
1 [0 1 0
pg5JOINT
] pg59 [
pg50Change
[
] pg6 Next Page
pg51
[
] pg90
pg52
[
] pg95
WX
][
][
][
][
][
][
] [1,6,10,*
][ [
][ [
][ [
[
[
[
Comment
]
]
]
]
]
]
]
]
]
]
Close
]
]
]
]
]
]
]
]
]
]
pg2
Figure 5-9 Display Contents Screen
5.3.3.7 PROGRAM/COMMENT, COPY
To copy a program:
1.
Use the cursor keys on the teach pendant keypad to highlight Copy on the dropdown menu (Figure 5-4).
2.
Press the SELECT key. The program list screen is displayed (Figure 5-6).
3.
Use the cursor keys to highlight “pg??” and enter the program number, from the
teach pendant alphanumeric keypad, to select a program and press the SELECT
key.
If more than one page is available, use the Next Page and Previous Page keys to
access the additional pages.
Alternate methods for selecting a program are:
Use the cursor keys to highlight the program name on the program list screen and
press the SELECT key (Figure 5-6).
Use the Input char key to access the keyboard screen (Figure 5-7) to enter an
existing or new program number (name). With the program number (name) entered
on the keyboard screen press the ENTER key on the keyboard screen or the teach
pendant keypad.
April 3, 2003
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
4.
When the program number (name) is selected, the keyboard screen is displayed
(Figure 5-7). Enter the new program number (name) for the copy destination and
press the ENTER key on the keyboard screen, or the teach pendant keypad, to
complete the procedure.
The program list screen is displayed. Additional program copies can be made.
NOTE
To close the copy function press the CANCEL key on
the teach pendant keypad (at the program list screen).
If an existing program number (name) is selected for the
copy destination program an error occurs.
5-22
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D SERIES CONTROLLER
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TEACH PENDANT
5.3.3.8 PROGRAM/COMMENT, RENAME
To rename a program:
1.
Use the cursor keys on the teach pendant keypad to highlight Rename on the dropdown menu (Figure 5-4).
2.
Press the SELECT key. The program list screen is displayed (Figure 5-6).
3.
Use the cursor keys to highlight “pg??” and enter the program number, from the
teach pendant alphanumeric keypad, to select a program and press the SELECT
key.
If more than one page is available, use the Next Page and Previous Page keys to
access the additional pages.
Alternate methods for selecting a program are:
Use the cursor keys to highlight the program name on the program list screen and
press the SELECT key (Figure 5-6).
Use the Input char key to access the keyboard screen (Figure 5-7) to enter an
existing or new program number (name). With the program number (name) entered
on the keyboard screen press the ENTER key on the keyboard screen or the teach
pendant keypad.
4.
When the program number (name) is selected, the keyboard screen is displayed
(Figure 5-7). Enter the new program number (name) and press the ENTER key on
the keyboard screen, or the teach pendant keypad, to complete the procedure.
April 3, 2003
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
NOTE
1. A maximum of 15 characters can be used for a program name.
2. Only alphanumeric characters can be used.
3. The first character of the program name must be an
alphabetic character.
4. If a program that is renamed is called by the original
name an error occurs.
5. To close the rename function press the CANCEL key
on the teach pendant keypad (at the program list
screen).
5.3.3.9 PROGRAM/COMMENT, CANCEL REGISTER
To remove a program from the program/comment window (cancel register):
1.
Use the cursor keys on the teach pendant keypad to highlight Cancel Register on
the drop-down menu (Figure 5-4).
2.
Press the SELECT key. The Cancel Register confirmation screen is displayed
3.
Use the cursor keys to highlight “Yes“ (Figure 5-10).
4.
Press the SELECT key to remove the program from the program/comment window.
If “No” is selected the process is aborted (Figure 5-10).
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
JOINT
9
1 0 1 0
[
1 JOINT
9
1 0 1 0
[
Confirm
2 LINEAR 7
3 1 1 0
[1
3 JOINT
9
2 0 1 0 Cancels,
1
OK ?[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
No
Yes
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
WX
][
][
][
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
]
]
Figure 5-10 Program Cancel Register Screen
5-24
April 3, 2003
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
5.3.4 STEP AREA
The step area displays the current program step.
5.3.4.1 STEP DROP-DOWN MENU
A drop-down menu of the available step functions is accessed by pressing the Step area
on the screen. Pressing the PROG/STEP key on the teach pendant keypad also selects
the step drop-down menu (Figure 5-11).
Program
pg5
[
Step
[Comment ]
]
[
1
]
PC
1 pcprg1
Specify
Top
Intp Spd Acc Tmr Tol Wrk ClampBottom
J/E
Figure 5-11 Step Drop-Down Menu
5.3.4.2 STEP, SPECIFY
To select a program step number use the cursor keys on the teach pendant keypad to
highlight Specify on the drop-down menu (Figure 5-11) and press the SELECT key.
Enter the program step number from the teach pendant alphanumeric keypad. Press
the SELECT key on the teach pendant keypad, to complete the procedure.
NOTE
To display the last step of a program, a number larger
than the number of steps in the program can be entered.
April 3, 2003
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
!
WARNING
When the CYCLE START switch is pressed, the robot
program continues from the robot’s current position to
the selected step position. The robot makes this move
with total disregard for anything that may lie in its path.
5.3.4.3 STEP, TOP
To select the first step of the current program use the cursor keys on the teach pendant
keypad to highlight Top on the drop-down menu (Figure 5-11) and press the SELECT
key.
5.3.4.4 STEP, BOTTOM
To select the last step of the current program use the cursor keys on the teach pendant
keypad to highlight Bottom on the drop-down menu (Figure 5-11) and press the SELECT
key.
5.3.4.5 STEP FORWARD, STEP BACKWARD
Use the A + down cursor key combination to move forward one step in the current program (Figure 5-12).
Use the A + up cursor key combination to move backward one step in the current program (Figure 5-12).
A + Up Cursor Key Combination
MENU
CHECK INTERP
TEACH
SPEED
PROG
STEP
CANCEL
A
SELECT
EXT AXIS
(Robot)
GO
A + Down Cursor Key Combination
Figure 5-12 Step Forward, Step Back
5-26
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TEACH PENDANT
NOTE
The robot motion program must be in a hold condition to
step forward or backward in the program.
5.3.5 PC PROGRAM AREA
The PC program area displays the currently selected PC program(s). A PC program is a
background program that can monitor I/O signals, set internal signals, and perform
mathematical calculations, but cannot execute robot motion instructions.
Five PC programs are available, but only three PC programs can be displayed in the PC
program area, due to space limitations.
PC program names are displayed as “pcprg1” through “pcprg5”.
The example in figure 5-13 shows PC programs “pcprg1, pcprg2, and pcprg3” are selected and the asterisk preceding “pcprg1” indicates “pcprg1” is running.
For more information on PC programs refer to unit 9, auxiliary function 0810.
Program
pg5
[
[Comment ]
Step
02-08-26 09:30
Status
PC
JOINT
1*pcprg1 T
1
2 pcprg2 C
] [
] 3 pcprg3 R 60%
Error Push here for displaying error message
Reset (E1088) Destination is out of motion ra
R P S AUTO
nge.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
Comment
JOINT
9
1 0 1 0
[
][
]
1 JOINT
9
1 0 1 0
[
][
]
2 LINEAR 7
3 1 1 0
[1
][
]
3 JOINT
9
2 0 1 0 1
[
] [2
]
4 LINEAR 5
1 2 1 0
[2,5
][
]
5 JOINT
7
4 0 1 0 2
[
][
]
6 JOINT
8
1 3 1 0
[
] [3
]
7 JOINT
9
1 0 1 0
[
][
]
Figure 5-13 PC Program Area Display
April 3, 2003
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TEACH PENDANT
5.3.6 SYSTEM MESSAGE AREA
The system message area displays robot system errors, operational errors, and operational messages.
When an error is displayed, an error reset key is also displayed in the system message
area (Figure 5-13).
5.3.7 STATUS AREA
The status area displays the conditions of the robot system. Icons displayed change
according to system status.
The Status area display is different in teach mode and repeat mode. Figure 5-14 shows
an example of the status area display in teach mode.
Program
pg6
[
Step
[Comment ]
]
[
1
]
C
R
RPS
9371.099
795.000
375.000
JT 1
JT 2
JT 3
0.000
0.000
90.000
JT 4
0.000
JOINT
90%
AUTO
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
JOINT
9
1 0 1 0
[
1 JOINT
9
1 0 1 0
[
2 LINEAR 7
3 1 1 0
[1
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
Joint Monitor - Pose info.
X
Y
Z
O (DEG.)
(mm)
(mm)
(mm)
0.000
02-08-20 08:51
Status
PC
1 pcprg1 T
WX
][
][
][
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
]
]
A
(DEG.)
90.000
JT 5
0.000
T
(DEG.)
-90.000
JT 6
0.000
Figure 5-14 Status Area Display in Teach Mode
5-28
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5.3.7.1 STATUS AREAS
The status area is divided into six smaller areas. The areas are designated A through F,
as shown in figure 5-15. The status area window normally displays the date and time.
When the A + S key combination is used the software hour meter is displayed
(Figure 5-15).
02-08-20 08:51
Status
JOINT
T
C
R
RPS
Normal status
HOUR METER
area window display T
JOINT
C
R
90%
AUTO
RPS
Program/Comment Area
Step Area
319.7 [H]
90%
System Message Area
Press the A + S key
combination to display
the hour meter.
AUTO
PC Program Status Area A
Area
Hour meter status
area window display
Status Area B Status Area C
Status Area D Status Area E
Status Area F
Main Area (Program Contents Display, Edit Area)
Auxiliary Information Area (Current Pose, signal State, Step, Step Detail, etc.
Figure 5-15 Status Areas
•
Status Areas A, B, and E contain icons for indicators and touch keys.
•
Status Area C contains icons for indicators.
•
Status Area D contains motion condition indicator icons and the repeat conditions
drop-down menu.
•
Status Area F contains the manual weld icon (spot welding option).
January 13, 2005
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TEACH PENDANT
5.3.7.2 STATUS AREA A
Status area A contains teach speed, check speed, and repeat speed icons.
Table 5-6 provides a description of each icon.
Table 5-6 Status Area A Icon Descriptions
Icon
T
C
5-30
Function
Description
Teach speed
The red dot indicates inching mode.
In inching mode the robot moves a preset small increment each
time an axis key is pressed.
If the JOG key is pressed with an axis key the robot moves three
times the preset increment.
One bar indicates the robot moves at the preset slow speed, when
an axis key is pressed and held.
Two bars indicate the robot moves at the preset medium speed,
when an axis key is pressed and held.
If the JOG key is pressed with an axis key in slow speed or medium
speed the robot moves at high speed.
Three bars indicate the robot moves at the preset high speed when
an axis key is pressed and held.
To change the inching and speed modes, press status area A or the
CHECK/TEACH SPEED key on the teach pendant keypad.
Each time status area A or the CHECK/TEACH SPEED key is
pressed the mode increments from inching, to low speed, to
medium speed, to high speed, and back to inching.
Check speed
One bar indicates the robot moves at the preset slow speed, when
the CHECK GO or BACK key is pressed and held.
Two bars indicate the robot moves at the preset medium speed,
when the CHECK GO or BACK key is pressed and held.
Three bars indicate the robot moves at the preset high speed when
the CHECK GO or BACK key is pressed and held.
To change the speed modes, press the S key on the teach pendant
keypad + status area A or the S key + CHECK/TEACH SPEED key
on the teach pendant keypad.
Each time the S key + status area A or the S key + CHECK/TEACH
SPEED key is pressed, the mode increments from low speed, to
medium speed, to high speed, and back to low speed.
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Table 5-6 Status Area A Icon Descriptions (Continued)
Icon
R
10%
Function
Description
Repeat speed
Repeat speed indicates the repeat (monitor) speed set in repeat
conditions.
To change the repeat speed, access the repeat conditions dropdown menu by pressing status area D or pressing the S key +
Menu key on the teach pendant keypad.
At the drop-down menu select "Specify" to input a numeric value (1
–100) or "+10%, -10%" to change the speed in 10% increments (by
pressing the SELECT key).
At speed settings of 1–99% the numbers are red and the
background is blue. At 100% speed setting the numbers are white
and the background is red.
If the slow repeat signal is set in AUX 0601 Dedicated Input
Signals, the repeat speed icon changes to the slow repeat speed
icon as shown to the left. For more information about dedicated
input signals, refer to Unit 9 Auxiliary Functions.
January 13, 2005
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5.3.7.3 STATUS AREA B
Status area B contains interpolation, tool number, fixed tool number, cycle start, hold/
run, and emergency stop icons.
Table 5-7 provides a description of each icon.
Table 5-7 Status Area B Icon Descriptions
Icon
Function
Joint mode
Indicates joint mode interpolation.
In teach mode, each axis of the robot is moved independently.
In repeat mode, all joints are moved together to reach total
coincidence simultaneously.
Joint mode interpolation causes an arcing motion between taught
points.
Pressing the interpolation icon or the INTERP key on the teach
pendant keypad increments the interpolation mode from joint, to
base, to tool, and back to joint.
Base mode
Indicates base mode interpolation.
In base mode interpolation, axis movement is coordinated to move
the tool center point in a linear (straight line) motion at a constant
speed and maintain tool orientation.
In teach mode, base interpolation follows the base X, Y, and Z
coordinates.
Pressing the interpolation icon or the INTERP key on the teach
pendant keypad increments the interpolation mode from joint, to
base, to tool, and back to joint.
Tool mode
Indicates tool mode interpolation.
Tool mode interpolation is available in teach mode to move the
robot relative to the tool coordinate system during teaching
operation.
In tool mode interpolation, axis movement is coordinated to move
the tool center point in a linear (straight line) motion at a constant
speed and maintain tool orientation. In teach mode tool
interpolation follows the tool X, Y, and Z coordinates.
Pressing the interpolation icon or the INTERP key on the teach
pendant keypad increments the interpolation mode from joint, to
base, to tool, and back to joint.
Tool number
Displays and selects the tool used during teaching and program
playback.
The available tools are T1 through T9.
Pressing the tool icon increments the tool number from T1 through
T9 and back to T1.
JOINT
5-32
Description
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TEACH PENDANT
Table 5-7 Status Area B Icon Descriptions (Continued)
Icon
April 3, 2003
Function
Description
Fixed tool
number
Displays and selects the optional fixed tool used during teaching
and program playback.
The available fixed tools are F1 through F9.
Pressing the fixed tool icon increments the fixed tool number from
F1 through F9 and back to F1.
Cycle star t
The cycle star t indicator is ON during repeat mode operation.
Hold/run
The hold/run icon is displayed when the operation panel
HOLD/RUN switch is in the RUN position. The hold/run icon is not
displayed when the operation panel HOLD/RUN switch is in the
HOLD position.
Emergency
stop
The emergency stop icon is displayed when the EMERGENCY
STOP on the operation panel or the teach pendant is engaged.
When the EMERGENCY STOP switches are released the
emergency stop icon is not displayed.
5-33
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5.3.7.4 STATUS AREA C
Status area C contains the motor power icon, motor power switch (teach mode), and
external hold/run icon.
Table 5-8 provides a description of each icon.
Table 5-8 Status Area C Icon Descriptions
Icon
MOTOR
ON
5-34
Function
Description
Motor power
The motor power icon is displayed when motor power is ON.
When motor power is OFF the motor power icon is not displayed.
External
hold/run
The external hold icon is displayed when the robot system is in
external hold.
When the robot is not in an external hold condition the icon is not
displayed.
Motor power
switch
Displayed when the controller is set for teach mode and an enabling
device is engaged. Can be used to set motor power ON in teach
mode. When the enabling device is released, motor power is set
OFF.
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5.3.7.5 STATUS AREA D
Status area D contains icons for check, repeat, step, random program selection (RPS),
and automatic (AUTO). The display in status area D changes between teach and repeat
modes.
Table 5-9 provides a description of each icon.
Table 5-9 Status Area D Icon Descriptions
Icon
April 3, 2003
Function
Description
Check once
Indicates check once mode.
During program check mode, the robot stops at coincidence of each
taught point.
The CHECK GO or BACK keys must be released and pressed and
held again to continue to the next taught point.
Pressing the CONT key on the teach pendant keypad toggles
between check once and check continuous.
Check
continuous
Indicates check continuous mode.
During program check mode, the robot continues to move to each
taught point as long as the CHECK GO or BACK keys are held.
Program checking stops at the last step of the program.
Pressing the CONT key on the teach pendant keypad toggles
between check once and check continuous.
Repeat once
Indicates repeat once mode.
In repeat once mode, when the current program is run, in repeat
mode, the program runs one time.
To change between repeat once and repeat continuous, access the
repeat conditions drop-down menu by pressing status area D or
pressing the S key + Menu key on the teach pendant keypad.
At the drop-down menu select "Repeat: Cont/Once" and press the
SELECT key to toggle between repeat once and repeat continuous.
Repeat
continuous
Indicates repeat continuous mode.
In repeat continuous mode, when the current program is run, in
repeat mode, the program runs continuously.
To change between repeat once and repeat continuous, access the
repeat conditions drop-down menu by pressing status area D or
pressing the S key + Menu key on the teach pendant keypad.
At the drop-down menu select "Repeat: Cont/Once" and press the
SELECT key to toggle between repeat once and repeat continuous.
5-35
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Table 5-9 Status Area D Icon Descriptions (Continued)
Icon
5-36
Function
Description
Step once
Indicates step once repeat mode.
In step once repeat mode, the current program runs one step at a
time.
The CHECK GO key must be pressed to increment each step of the
program. To change between step once and step continuous,
access the repeat conditions drop-down menu by pressing status
area D or pressing the S key + Menu key on the teach pendant
keypad.
At the drop-down menu select "Step: Cont/Once" and press the
SELECT key to toggle between step once and step continuous.
When the proper mode is selected press the enter key.
Step
continuous
Indicates step continuous repeat mode.
In step continuous repeat mode, the current program runs
continuously through the program steps.
To change between step once and step continuous, access the
repeat conditions drop-down menu by pressing status area D or
pressing the S key + Menu key on the teach pendant keypad.
At the drop-down menu select "Step: Cont/Once" and press the
SELECT key to toggle between step once and step continuous.
When the proper mode is selected press the enter key.
RPS
Indicates RPS mode is enabled.
When RPS mode is enabled the RPS icon is yellow. When RPS
mode is disabled the RPS icon is gray.
To change between RPS enable and RPS disable, access the
repeat conditions drop-down menu by pressing status area D or
pressing the S key + Menu key on the teach pendant keypad.
At the drop-down menu select "RPS: ON/OFF" and press the
SELECT key to toggle between RPS ON and RPS OFF.
AUTO
Indicates normal repeat mode operation.
When the following conditions are met the AUTO icon is yellow.
Run, external hold release, repeat mode, repeat continuous, step
continuous, teach lock OFF, cycle star t, RGSO ON, and dry run
OFF.
If any of these conditions are not met the AUTO icon is gray.
April 3, 2003
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5.3.7.6 STATUS AREA E
Status area E contains dry run, record inhibit, and wait condition icons.
Table 5-10 provides a description of each icon.
Table 5-10 Status Area E Icon Descriptions
Icon
S-Logic
Function
Description
Dry run
Indicates dry run is ON.
When dry run is enabled the robot program runs without robot
motion.
To change between dry run enable and dry run disable, access the
repeat conditions drop-down menu by pressing status area D or
pressing the S key + Menu key on the teach pendant keypad.
At the drop-down menu select "Dry Run: ON/OFF" and press the
SELECT key to toggle between dry run ON and dry run OFF.
Record inhibit
Indicates the setting in auxiliary function 0802 is set to record
inhibit.
For setting procedure, refer to unit 9, auxiliary functions.
Wait condition
Indicates the robot system is in a wait condition.
When the robot system is waiting for an external input signal the
wait icon blinks.
Pressing the wait icon displays the wait override screen.
Slogic
Indicates the controller has an optional 1FS or 1HS board for RI/O
control. When Slogic is in the RUN mode the Slogic icon is green
with yellow and blue bars above and below the icon. When Slogic
is in the STOP mode the icon is gray. If Slogic is not used, the icon
is not displayed.
January 13, 2005
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
5.3.7.7 STATUS AREA F
Status area F contains the manual weld icon (option).
Table 5-11 provides a description of manual weld the icon.
Table 5-11 Status Area F Icon Description
Icon
MANUAL
WELD
5-38
Function
Description
Manual weld
The manual weld icon is displayed when manual weld mode is
selected from the repeat conditions drop-down menu. To access
the manual weld mode, the controller must be set for teach mode
with motor power on. When the A + CL1/CL2 key combination is a
manual weld is initiated (spot welding option).
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TEACH PENDANT
5.3.8 REPEAT CONDITIONS
Press status area D, or the S + MENU keys on the teach pendant keypad, to display the
repeat conditions drop-down menu (Figure 5-16). Use the cursor keys, on the teach
pendant keypad, to highlight the menu item. Press the SELECT key to select the highlighted menu item.
The eight functions available from the repeat conditions drop-down menu are covered in
the following sections.
02-08-20 09:40
Status
JOINT
T
C
R
90%
RPS
Specify
%
+ 10%
- 10%
Repeat Cont/Once
Step: Cont/Once
RPS ON/OFF
Dry Run ON/OFF
[
][
Manual Weld Mode
Comment
]
]
]
]
]
]
]
]
Figure 5-16 Repeat Conditions Drop-Down Menu
NOTE
To close the repeat conditions menu, press status area
D, CANCEL on the teach pendant keypad, or select another drop-down menu.
The drop-down menu is closed after changing settings,
except when changing repeat speed using the +10% or
-10% functions.
January 13, 2005
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TEACH PENDANT
5.3.8.1 REPEAT CONDITIONS, SPECIFY
This function is used to set repeat speed (monitor speed) by direct numeric input, using
the alpha-numeric keypad on the teach pendant. The allowable range is 1–100 percent.
Values over 100 percent are available as a system option.
5.3.8.2 REPEAT CONDITIONS, + 10%
This function is used to increase repeat speed in 10 percent increments by pressing the
SELECT key. If repeat speed is not set to an even increment, for example 72 percent,
the first increase is to an even increment, in this case 80 percent. After the first increase
sets the speed to a even increment, following increases are in 10 percent increments.
The maximum setting value is 100 percent (without available option).
At the 100 percent setting the display changes to white numbers with a red background.
5.3.8.3 REPEAT CONDITIONS, - 10%
This function is used to decrease repeat speed in 10 percent increments by pressing the
SELECT key. If repeat speed is not set to an even increment, for example 72 percent,
the first decrease is to an even increment, in this case 60 percent. After the first decrease sets the speed to a even increment, following decreases are in 10 percent increments.
The minimum setting value is 10 percent (using this function).
At settings below 100 percent the display changes to red numbers with a blue background.
5.3.8.4 REPEAT CONDITIONS, REPEAT CONTINUOUS/ONCE
This function is used to set program operation to continuous or once. Press the SELECT key on the teach pendant keypad to toggle the setting between continuous and
once. Press the ENTER key on the teach pendant keypad to complete the setting. For
more information on repeat continuous/once refer to table 5-9
5.3.8.5 REPEAT CONDITIONS, STEP CONTINUOUS/ONCE
This function is used to set program operation to execute program steps continuously or
one step at a time. Press the SELECT key on the teach pendant keypad to toggle the
setting between continuous and once. In step once mode the CHECK GO key is used to
step though the program. Press the ENTER key on the teach pendant keypad to complete the setting.
5-40
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5.3.8.6 REPEAT CONDITIONS, RPS ON/OFF
This function is used to enable or disable the selection of programs based on external
input signals set in the RPS auxiliary function. The SELECT key is used to toggle RPS
ON and OFF.
For more information on RPS refer to unit 9, auxiliary function 0502.
5.3.8.7 REPEAT CONDITIONS, DRY RUN ON/OFF
This function is used to enable or disable the dry run function. The dry run function is
used to run the robot program without robot motion to check the program contents or
input and output signal operation. The SELECT key is used to toggle dry run ON and
OFF.
5.3.8.8 MANUAL WELD MODE
This function is used to initiate a manual weld (spot welding option). To access the
manual weld mode, the controller must be set for teach mode with motor power on.
Select manual weld mode from the repeat conditions drop-down menu. When manual
weld mode is selected, the manual weld icon is displayed in the status area of the teach
pendant screen. Pressing the A + CL1/CL2 key combination sends the weld initiate
signal to the weld controller.
January 13, 2005
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TEACH PENDANT
5.3.9 SCREEN AREA B, MAIN MENU
With screen area B active, press the MENU key on the teach pendant keypad, or the
screen area B window, to display the main menu in the upper left of screen area B
(Figure 5-17). The main menu contains five selections. The five main menu selections
are covered in the following sections.
The Upsize selection enlarges the screen area B to cover screen areas B and C. When
Upsize is selected the menu item changes to Down size, used to return the display to
show the B and C areas.
Program
pg5
[
Step
[Comment ]
]
[
PC
1 1 pcprg1
]
Intp Spd Acc Tmr Tol Wrk Clamp J/E
JOINT
9
1 0 1 0
Teach 9
1 JOINT
1 0 1 0
2 LINEAR
7
3 1 1 0
Aux Function
3 JOINT
9
2 0 1 0 1
I/F Panel
4 LINEAR
5
1 2 1 0
Keyboard
5 JOINT
7
4 0 1 0 2
Upsize
6 JIONT
8
1 3 1 0
7 JOINT
9
1 0 1 0
Figure 5-17 Screen Area B Main Menu
5.3.9.1 MAIN MENU, TEACH
The teach screen is used to enter and edit positional and auxiliary data for program
steps. To display the teach screen use the cursor keys on the teach pendant keypad to
highlight “Teach” on the drop-down menu and press the SELECT key.
For details on recording and editing programs refer to unit 7, Recording and Editing
Programs.
5.3.9.2 MAIN MENU, AUX FUNCTION
The auxiliary function menu screen is used to display and enter data into system auxiliary functions. To display the auxiliary function menu screen use the cursor keys on the
teach pendant keypad to highlight “Aux Function” on the drop-down menu and press the
SELECT key.
For details on auxiliary functions refer to unit 9, Auxiliary Functions.
5-42
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5.3.9.3 MAIN MENU, INTERFACE PANEL
Figure 5-18 shows the I/F (Interface Panel) screen and describes the interface panel
selection procedure.
The interface panel function allows the operator to program nine different kinds of
switches, lamps, and data display boxes. The types of switches, lamps, and data display
boxes and their order on the interface panel is determined in auxiliary function 0509.
Four interface panel screens are available with 28 switch, lamp, and data display box
positions on each screen.
For more information on the interface panel refer to unit 9, auxiliary function 0509.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
JOINT
9
1 0 1 0
[
Teach
1 JOINT
9
1 0 1 0
[
Aux Function
2 LINEAR
7
3 1 1 0
[1
I/F Panel 9
3 JOINT
2 0 1 0 1
[
Keyboard5
4 LINEAR
1 2 1 0
[2,5
5 JOINT
4 0 1 0 2
[
Upsize 7
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
Joint Monitor - Pose info.
X
Y
Z
O (DEG.)
(mm)
(mm)
(mm)
9371.099
795.000
375.000
JT 1
JT 2
JT 3
0.000
0.000
Program
pg5
[
[Comment ]
]
90.000
Step
A
RPS
-90.000
0.000
2. Use the cursor keys to highlight “I/F
Panel” and press the SELECT key, on
the teach pendant keypad, to display
the interface panel screen.
0.000
02-03-23 09:30
JOINT
T
C
R
(DEG.)
1. With screen area B active, press the
MENU key, on the teach pendant
keypad, or the screen area B window,
to display the screen selection menu.
JT 6
Status
PC
T
(DEG.)
JT 5
0.000
1
]
Comment
]
]
]
]
]
]
]
]
90.000
JT 4
0.000
[
WX
][
][
][
] [2
][
][
] [3
][
100%
3. When the interface panel is displayed,
“Next Page” and “Prev Page” are
available on the drop-down menu to
access the four interface panel pages.
AUTO
Page 1/4
I/F Panel
button
Teach
Aux Function
Keyboardon
Next Page
Prev Page
digital
switch
0000
off
data1
0000
on
off
data2
0000
on
off
out
amp
0000
monitor
Figure 5-18 Selecting the Interface Panel Screen
January 13, 2005
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5.3.9.4 MAIN MENU, KEYBOARD
To display the keyboard screen, use the cursor keys on the teach pendant keypad to
highlight “Keyboard” on the drop-down menu and press the SELECT key. The keyboard
screen is used to enter AS Language commands and for character input. Screens that
require user input utilize a input character key that displays the keyboard.
The keyboard screen is shown in figure 5-19.
Table 5-12 provides the functions of the keyboard keys.
Selecting the Input char key displays the keyboard screen.
Select
pg ??
pcprg1
pcprg2
pcprg3
pg1
pg2
pg3
pg5
pg50
pg51
pg52
1/2
Input char
[
[
[
[
[wx
[ox
[
[
[
[
Next Page
] pg53
] pg54
] pg55
] pg56
] pg57
] pg58
] pg59
] pg6
] pg90
] pg95
[
[
[
[
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
]
pg
Keyboard
$
”
!
q
w
a
s
z
x
[{
]}
SHIFT
#
e
d
c
$
r
f
v
%
t
g
b
&
y
h
n
SPACE
’
u
j
m
(
i
k
,<
)
o
l
.>
=
p
;+
/?
^’
7
@~
4
:*
1
|¥
0
—
SHIFT
NEXT
8
5
2
9
6
3
BS
CTRL+L
ENTER
Figure 5-19 Keyboard Screen
5-44
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Table 5-12 Keyboard Keys
Key
Function
BS
The BS (back space) key is used to delete characters one at a time. Pressing
the A + left cursor keys, on the teach pendant keypad also deletes characters.
CLEAR
The CLEAR key deletes all of the characters in the current input line.
ENTER
The ENTER key is used to enter the selected characters.
SHIFT
The SHIFT key is used to select the right side character of dual character keys
and allows the selection of uppercase characters.
CTRL+L/CTRL+N
The CTRL+L/CTRL+N key displays the last 9 lines that were entered, one line at
a time. When the SHIFT key is pressed, CTRL+L changes to CTRL+N. The
CTRL+N key takes you to the next line, in order of input, after using the CTRL+L
key to access previous lines.
SPACE
The SPACE key inputs a blank space into a character string.
Teach pendant
cursor keys
The CURSOR keys on the teach pendant keypad can be used to highlight the
character to input. Pressing the SELECT key on the teach pendant keypad
enters the character into the current input line. The keyboard keys can also be
accessed directly on the keyboard screen.
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5.3.10 SCREEN AREA C, MENU
Screen area C contains the joint monitor screen, signal monitor screen, and program
information screen menus.
To access the menus in screen area C, press the A + MENU keys on the teach pendant
keypad or the screen area C window to activate screen area C.
Press the MENU key on the teach pendant keypad or screen area C window a second
time, to display the menu.
Use the cursor keys, on the teach pendant keypad, to select “Joint Monitor”, “Signal
Monitor”, “Program Info.” or “Weld Cont. Monitor” and press the SELECT key (Figure 520).
Joint Monitor Pose information
Y
Z
JointXMonitor
(mm)
(mm)
(mm)
Signal Monitor
3918.410
350.537
Pro3506.089
gram Info.
Weld
MonitorJT 2
JTCont.
1
JT 3
-0.046
0.748
-0.357
O
(DEG.)
89.729
JT 4
-0.665
A
(DEG.)
2.106
JT 5
-1.000
T
(DEG.)
-89.617
JT 6
0.732
Figure 5-20 Screen Area C Menu
The Joint Monitor menu contains eight menu items for axes and motor data.
The Signal Monitor menu contains two menu items for signal data.
The Program Info. menu contains three items for robot program step information and PC
program status information.
The weld cont. monitor contains a screen to monitor weld controller primary current for
weld controllers 1—8.
The following sections describe the details of these menu items.
5-46
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5.3.10.1 JOINT MONITOR MENU
The Joint Monitor menu contains eight menu items, shown in figure 5-21. For joint
monitor menu access instructions, refer to section 5.3.10.
The following sections describe the details of these menu items.
Joint Monitor
– Pose information
– Command Value
– Current Value
– Encoder Value
– Deviation Value
– Joint Speed
– Motor Speed
– F/B Current Value
Figure 5-21 Joint Monitor Menu
5.3.10.2 JOINT MONITOR, POSE INFORMATION (POSITIONAL DATA)
The Pose Information screen displays current robot positional data. The data is displayed in the XYZOAT (mm, degrees) and joint angles (degrees) format (Figure 5-22).
An additional line below JT1–JT7 is displayed if the system is equipped with more than
seven axes.
Joint Monitor Pose information
X
Y
(mm)
(mm)
Z
3506.089
3918.410
-6255.656
JT 1
JT 2
JT 3
-0.002
3.532
(mm)
12.837
O
(DEG.)
87.618
JT 4
15.350
A
(DEG.)
69.037
JT 5
8.438
T
(DEG.)
-31.054
JT 6
42.899
Figure 5-22 Joint Monitor Pose Information (Positional Data)
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5.3.10.3 JOINT MONITOR, COMMAND VALUE (POSITIONAL COMMAND)
The Command Value screen displays the command positional data. This data is the
positional data sent to robot and is displayed in joint angles (degrees) (Figure 5-23).
Joint Monitor Command Value
JT 1
JT 2
JT 3
0.000
0.000
0.000
JT 4
0.000
JT 5
0.000
JT 6
0.000
Figure 5-23 Joint Monitor Command Value (Positional Command)
5.3.10.4 JOINT MONITOR, CURRENT VALUE (CURRENT POSITIONAL DATA)
The Current Value screen displays the current positional data from the encoders. The
current value positional data is the current positional data of the robot axes displayed in
joint angles (degrees) (Figure 5-24).
Joint Monitor Current Value
JT 1
JT 2
0.000
0.000
JT 3
0.000
JT 4
0.000
JT 5
0.000
JT 6
0.000
Figure 5-24 Joint Monitor Current Value (Encoder Positional Data)
5-48
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5.3.10.5 JOINT MONITOR, ENCODER VALUE (ENCODER POSITIONAL DATA)
The Encoder Value screen displays the encoder positional data. This data is the current
positional data of the robot axes, displayed in encoder bits (Figure 5-25).
Joint Monitor Encoder Value
JT 1 (BIT)
JT 2 (BIT)
268435456
268435456
JT 3 (BIT)
JT 4 (BIT)
JT 5 (BIT)
JT 6 (BIT)
268435456
268435456
268435456
268435456
Figure 5-25 Joint Monitor Encoder Value (Encoder Positional Data)
5.3.10.6 JOINT MONITOR, DEVIATION VALUE (POSITIONAL DATA DEVIATION)
The Deviation Value screen displays positional data deviation. The Deviation Value data
is the difference between the commanded positional data and the current positional data
of the robot axes, displayed in encoder bits (Figure 5-26).
Joint Monitor Deviation Value
JT 1 (BIT)
JT 2 (BIT)
JT 3 (BIT)
0
0
0
JT 4 (BIT)
JT 5 (BIT)
JT 6 (BIT)
0
0
0
Figure 5-26 Joint Monitor Devation Value (Positional Data Deviation)
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5.3.10.7 JOINT MONITOR, JOINT SPEED
The Joint Speed screen displays the joint speed data of the robot axes, in degrees per
second (Figure 5-27).
Joint Monitor Joint Speed
JT 1 (DEG/SEC)
JT 2(DEG/SEC)
JT 3(DEG/SEC)
JT 4 (DEG/SEC)
JT 5 (DEG/SEC)
JT 6 (DEG/SEC)
0.000
0.000
-0.000
0.000
0.000
-0.000
Figure 5-27 Joint Monitor Joint Speed
5.3.10.8 JOINT MONITOR, MOTOR SPEED
The Motor Speed screen displays the motor speed data the robot axes, in revolutions
per minute (RPM) (Figure 5-28).
Joint Monitor Motor Speed
JT 1 (RPM)
JT 2 (RPM)
0
0
JT 3 (RPM)
JT 4 (RPM)
JT 5 (RPM)
JT 6 (RPM)
0
0
0
0
Figure 5-28 Joint Monitor Motor Speed
5-50
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5.3.10.9 JOINT MONITOR, F/B CURRENT VALUE (MOTOR CURRENT)
The F/B Current Value screen displays the motor current supplied to the axes motors, in
amps (RMS) (Figure 5-29).
Joint Monitor F/B Current Value
JT 1 (ARMS)
JT 2 (ARMS)
JT 3 (ARMS)
0.000
0.000
0.000
JT 4 (ARMS)
JT 5 (ARMS)
JT 6 (ARMS)
0.000
0.000
0.000
Figure 5-29 Joint Monitor F/B Current Value
5.3.11 SIGNAL MONITOR MENU
The signal monitor menu contains two menu items, shown in figure 5-30. For signal
monitor menu access instructions, refer to section 5.3.10.
The following sections describe the details of these menu items.
Signal Monitor
– Signal ( Signal name. )
– Signal ( Signal index. )
Figure 5-30 Signal Monitor Menu
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5.3.11.1 SIGNAL MONITOR, SIGNAL NAME
The signal monitor signal name screen displays external and internal input and output
signals and their assigned signal names as shown in figure 5-31.
Signal Monitor
OX1 sig.1
OX3 sig.2
OX5
OX7
OX9
OX11
Si g nal ( Si g nal name. )
OUT
OX2 option
OX4
OX6
OX8
OX10
OX12
WX1 home
WX3
WX5
WX7
WX9
WX11
IN
WX2
WX4
WX6 wait
WX8
WX10 hand close
WX12
Figure 5-31 Signal Monitor, Signal Name
Signal names are assigned in AUX function 0606. For information on assigning signal
names, refer to unit 9, Auxiliary Functions.
The S + right cursor or left cursor key combinations are used to switch between the
external input and output signals and internal input and output signals. The up and down
cursor keys are used to scroll by row. The S + up and down cursor key combinations are
used to scroll by page.
When the Signal Monitor screen is accessed, the cursor is in the same position as the
last time the screen was accessed. The signal selected by the cursor is outlined in red
as shown in figure 5-31 (OX1 sig.1).
Designated signal names:
External output: OX1–OX96
External input: WX1–WX96
Internal output: OUT97–OUT256
Internal input: IN97–IN256
Dedicated input and output—as assigned in AUX 0606
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When a dedicated signal number is assigned a name in AUX 0606, the assigned name
is displayed to the right of the signal number (for example OX1 sig.1 and WX6 wait) as
shown in figure 5-31.
The signal number and name character color and background color change according to
signal state (ON or OFF), as described in table 5-13.
Table 5-13 Signal State Display colors
Signal Type
Setting
Character
Color ON
Background
Color ON
Character
Color OFF
Background
Color OFF
Step
Standard
Black
Yellow
Black
Gray
Keep
AUX 0604
Blue
Yellow
Blue
Gray
Double
AUX 0604
Dark Green
Yellow
Red
Gray
Pulse
AUX 0604
Red
Yellow
Dark Green
Gray
Dedicated
AUX 0602
Black
Yellow
White
Dark Gray
For information on setting Keep, Double, Pulse and Dedicated signal types, refer to unit
9, Auxiliary Functions (Step is the default or standard setting).
To force a general purpose or internal output signal ON:
1.
Select teach or repeat mode:
2.
Select the signal with the cursor.
3.
Press the A + ON/1 key combination on the teach pendant keypad.
To force a general purpose or internal output signal OFF:
1.
Select teach or repeat mode:
2.
Select the signal with the cursor.
3.
Press the A + OFF/2 key combination on the teach pendant keypad.
Dedicated signals cannot be forced ON/OFF.
January 13, 2005
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5.3.11.2 SIGNAL MONITOR, SIGNAL INDEX
The signal monitor signal index screen displays external and internal input and output
signals, arranged by index number as shown in figure 5-32.
Signal Monitor
1
9
17
25
33
41
2
10
18
26
34
42
Si g nal ( Si g nal index. )
OUT
3
4
5
6
7
8
11 12
13 14 15 16
19 20
21 22 23 24
27 28
29 30 31 32
35 36
37 38 39 40
43 44
45 46 47 48
1
9
17
25
33
41
Cursor Position : si g .1
IN
2
3
4
5
6
10 11 12
13 14
18 19 20
21 22
26 27 28
29 30
34 35 36
37 38
42 43 44
45 46
7
15
23
31
39
47
8
16
24
32
40
48
Figure 5-32 Signal Monitor, Signal Index
The S + right cursor or left cursor key combinations are used to switch between external
input and output signals and internal input and output signals. The up and down cursor
keys are used to scroll by row. The S + up and down cursor key combinations are used
to scroll by page.
When the Signal Index screen is accessed, the cursor is in the same position as the last
time the screen was accessed. The signal selected by the cursor is outlined in red as
shown in figure 5-32 (output signal1).
When a dedicated signal number is assigned a name in AUX 0606, the assigned name
is displayed to the right of “Cursor Position” in the screen area C window (when the
signal is selected), as shown in figure 5-32 (sig.1).
Designated signal names:
External output: 1–96
External input: 1–96
Internal output: 97–256
Internal input: 97–256
Dedicated input and output—as assigned in AUX 0606
5-54
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The signal number character color and background color, change according to signal
state (ON or OFF), as described in table 5-13.
To force a general purpose or internal output signal ON:
1.
Select teach or repeat mode:
2.
Select the signal with the cursor.
3.
Press the A + ON/1 key combination on the teach pendant keypad.
To force a general purpose or internal output signal OFF:
1.
Select teach or repeat mode:
2.
Select the signal with the cursor.
3.
Press the A + OFF/2 key combination on the teach pendant keypad.
Dedicated signals cannot be forced ON/OFF.
5.3.12 PROGRAM INFO. (INFORMATION)
The program information menu contains three menu items as shown in figure 5-33. For
program information menu access instructions, refer to section 5.3.10.
The following sections describe the details of these menu items.
Program Info.
– Step ( Aux )
– Step ( Clamp )
– PC Program.
Figure 5-33 Program Information Menu
January 13, 2005
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OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
5.3.12.1 PROGRAM INFORMATION, STEP INFORMATION AUXILIARY DATA
The step information auxiliary data screen displays the current step auxiliary data (Figure 5-34). When the current step changes, the data is updated to the new current step.
To manually select the step displayed, press the A + up or down cursor keys on the
teach pendant keypad.
Program Info. – Step ( Aux )
JOINT Speed9
Accu1
OX= 2,5,9,11
WX= 3,8
Timer0
Tool1
Work0
Figure 5-34 Program Information, Step Information Auxiliary Data
5.3.12.2 PROGRAM INFORMATION, STEP INFORMATION CLAMP DATA
The step information clamp data screen displays the current step clamp signal data
(Figure 5-35). When the current step changes, the data is updated to the new current
step.
To manually select the step displayed, press the A + up or down cursor keys on the
teach pendant keypad.
Program Info. – Step ( Clamp )
Comment :
Clamp 1 (OFF, 0, 0,O) 2 (OFF, 0, 0,O) 3 (OFF, 0, 0,O)
5 (OFF, 0, 0,O) 6 (OFF, 0, 0,O) 7 (OFF, 0, 0,O)
4 (OFF, 0, 0,O)
8 (OFF, 0, 0,O)
Figure 5-35 Program Information, Step Information Clamp Data
5-56
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
5.3.12.3 PROGRAM INFORMATION, PC PROGRAM INFORMATION
The program information, PC program information screen displays the status of the PC
program(s) (Figure 5-36). The status of up to five PC programs is displayed.
To control PC program functions from this screen, press the select key, on the teach
pendant keypad, to display auxiliary function 0810 PC Program Run/Stop. For more
information on auxiliary function 0810 PC Program Run/Stop, refer to unit 9, Auxiliary
Functions.
Program Info. – PC Program.
No.
Program
Status
1: pcprg1
Running.
2: pcprg2
Hold.
3: pcprg3
Hold.
4:
No Regist.
5:
No Regist.
Comment.
[
[
[
[
[
]
]
]
]
]
Figure 5-36 Program Information, PC Program Information
January 13, 2005
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D SERIES CONTROLLER
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TEACH PENDANT
5.3.12.4 WELD CONT. MONITOR
The weld cont. monitor contains a screen to monitor weld controller primary current for
weld controllers 1—8 (Figure 5-37). For weld cont. monitor access instructions, refer to
section 5.3.10.
Program
pg70
[
Step
[Comment ]
]
[
PC
1
]
04-09-07 14:00
Status
JOINT
T
C
R
50%
S-Logic
RPS
Intp Spd Acc Tmr Tol Wrk Clamp J/E
JOINT
9
1 0 1 0
[
AUTO
OX
WX
][
Comment
]
Weld Cont. Monitor
Weld Primary Current
Weld Cont. #1 Weld Cont. #2 Weld Cont. #3 Weld Cont. #4
0A
0A
0A
0A
Weld Cont. #5 Weld Cont. #6 Weld Cont. #7 Weld Cont. #8
0A
0A
0A
0A
Figure 5-37 Weld Cont. Monitor
5-58
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TEACH PENDANT
5.3.13 ERROR SCREEN
When a error occurs the error screen is displayed (Figure 5-38).
Program
pg6
[
Step
[Comment ]
]
[
1
]
Status
PC
1 pcprg1 T
C
R
03-01-31 11:55
JOINT
90%
Program aborted. No = 1
RPS
Error
(E1088) 02-08-20(Tue) 10:03:12
Destination is out of motion range.
!
Close
Reset
JT 1
0.000
JT 2
0.000
JT 3
0.000
JT 4
0.000
JT 5
0.000
JT 6
0.000
Figure 5-38 Error Screen
5.3.13.1 ERROR RESET PROCEDURE
There are two error reset procedures.
Error reset procedure 1:
Highlight “Reset” on the error screen using the cursor keys and press “SELECT”. The
message “Cleared error state.” is displayed in the system message area of the screen
(Figure 5-39).
If the error does not reset using the error reset procedure, the cause of the error must be
determined and corrected. For more information on correcting error conditions, refer to
the D Series Controller Error Codes and Troubleshooting Manual.
January 13, 2005
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OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
Program
pg6
[
Step
[Comment ]
]
[
1
]
Status
PC
1 pcprg1 T
C
R
03-01-31 11:55
JOINT
90%
Cleared error state.
RPS
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
JOINT
9
1 0 1 0
[
1 JOINT
9
1 0 1 0
[
2 LINEAR 7
3 1 1 0
[1
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
Joint Monitor - Pose info.
X
Y
Z
O (DEG.)
(mm)
(mm)
(mm)
0.064
JT 1
0.063
58.353
1349.908
-90.161
JT 2
JT 3
JT 4
0.005
0.134
-0.249
WX
][
][
][
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
]
]
A
(DEG.)
0.211
JT 5
0.082
T
(DEG.)
89.114
JT 6
-0.733
Figure 5-39 Error Reset Procedure 1
Error reset procedure 2:
Highlight “Close” on the error screen using the cursor keys and press “SELECT”. The
error message and the error reset key is displayed in the system message area of the
screen (Figure 5-40). Press the error reset key in the system message area.
If the error does not reset using the error reset procedure, the cause of the error must be
determined and corrected. For more information on correcting error conditions, refer to
the D Series Controller Error Codes and Troubleshooting Manual.
5-60
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OPERATIONS AND PROGRAMMING MANUAL
TEACH PENDANT
Program
pg6
[
Step
[Comment ]
]
[
1
]
Status
PC
1 pcprg1 T
C
R
90%
Error Push here for displaying error message
Reset (E1088) Destination is out of motion ra
RPS
nge.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
JOINT
9
1 0 1 0
[
1 JOINT
9
1 0 1 0
[
2 LINEAR 7
3 1 1 0
[1
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
Joint Monitor - Pose info.
X
Y
Z
O (DEG.)
(mm)
(mm)
(mm)
0.064
JT 1
0.063
58.353
1349.908
-90.161
JT 2
JT 3
JT 4
0.005
0.134
-0.249
03-01-31 11:55
JOINT
WX
][
][
][
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
]
]
A
(DEG.)
0.211
JT 5
0.082
T
(DEG.)
89.114
JT 6
-0.733
Figure 5-40 Error Reset Procedure 2
NOTE
The current error is displayed on the error screen. If
there are several errors within an hour, a maximum of
five errors can be displayed.
To display the previous error screen, press the system
message area before pressing the error reset key. This
is used to display several errors at the same time.
Switching to another screen is not possible until the error condition is cleared.
If the error lamp is not extinguished after the error reset
key is pressed additional error messages are displayed.
January 13, 2005
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TEACH PENDANT
5.3.14 WARNING SCREEN
When a warning condition occurs during robot operation the warning screen is displayed
(Figure 5-41).
Step
[Comment ]
Program
pg70
[
]
[
PC
03-01-31 11:55
Status
T
1
]
C
R
10%
RPS
AUTO
Control Warning
(W1000) 02-08-20 (Tue) 11:00:25
Cannot move along straight line JT3 in this configuration.
X
(mm)
0.064
JT 1
18.222
Y
(mm)
Z
(mm)
O
(DEG.)
A
(DEG.)
T
(DEG.)
58.353Reset 1349.908
-90.161 Close 0.211
89.114
JT 2
JT 3
JT 4
JT 5
JT 6
59.886
29.558
10.437
-44.037
11.940
Figure 5-41 Warning Screen
5.3.14.1 WARNING RESET PROCEDURE
There are two warning reset procedures.
Warning reset procedure 1:
Highlight “Reset” on the warning screen using the cursor keys and press “SELECT”. The
message “Cleared error state.” is displayed in the system message area of the screen.
Warning reset procedure 2:
Highlight “Close” on the error screen using the cursor keys and press “SELECT”. The
warning message and the error reset key is displayed in the system message area of the
screen. Press the error reset key in the system message area. To display the warning
screen again press the system message area before pressing the error reset key.
5-62
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
JOGGING OPERATION
6.0 JOGGING OPERATION .................................................................................... 6-2
6.1 Keys Used for Jogging Operation ....................................................................... 6-2
6.2 Jogging Operation Procedures ........................................................................... 6-3
6.3 Optional Axes Operation .................................................................................... 6-6
6.3.1 Seventh Axis Operation ...................................................................................... 6-6
6.3.2 Eighth to Eighteenth Axes Operation ................................................................. 6-6
6.4 Coordinate Systems ........................................................................................... 6-6
6.4.1 Joint Coordinates ............................................................................................... 6-7
6.4.2 Base Coordinates ............................................................................................. 6-10
6.4.3 Tool Coordinates .............................................................................................. 6-13
6.4.4 Linear Movement Errors ................................................................................... 6-15
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JOGGING OPERATION
6.0 JOGGING OPERATION
This unit provides information for manual robot operation or jogging. Information provided includes the keys required for manual robot operation, movement modes, and an
explanation of the coordinate systems.
6.1 KEYS USED FOR JOGGING OPERATION
The teach pendant keys used for jogging the robot are shown in figure 6-1.
ON
Inching/Manual Speed Key
INTERP (Interpolation) Key
Ext Axis/Robot Key
OFF
MENU
T. LOCK
CHECK INTERP
TEACH
SPEED
PROG
STEP
EXT AXIS
(Robot)
JOG
CONT
INS
DEL
CANCEL
A
SELECT
S
GO
CHECK
S
BACK
O. WRITE
POS
AUX
MOD REC MOD
Three-Position
Enabling Device
CL1
SPD
ACC
CL2
TMR
CLn
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
CC
4 A 5 B 6 C CLEAR
ON
OFF
CLAUX
WRK
1
2
3
C
,
0
-
.
—
1
X
+
—
2
Y
+
—
3
Z
+
—
4
rx
+
—
5
ry
+
—
6
rz
+
—
7
+
Selects high speed or
increases the inching
increment
Axis Keys
Three-Position
Enabling Device
J/E
I
6037-1200
Figure 6-1 Teach Pendant Jogging Operation Keys
6-2
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JOGGING OPERATION
The keys used for jogging the robot include the following:
•
MENU key—to display the drop-down menu and select teach mode
•
Axis keys—for joint or directional movement
•
INTERP (interpolation) key for—coordinate system selection
•
CHECK/TEACH SPEED key—for inching/speed selection
•
EXT AXIS/ROBOT key—for optional axes selection
•
Enabling devices—enable motor power in the teach mode
6.2 JOGGING OPERATION PROCEDURES
HOLD RUN
CONTROL
POWER
TEACH REPEAT
ON
OFF
MENU
Teach
Aux Function
I/F Panel
Keyboard
Upsize
HOLD RUN
MOTOR
POWER
T. LOCK
1.
Ensure all personal are clear of the work cell, and all safety devices are in place and
operational.
2.
Set the HOLD/RUN switch in the HOLD position.
3.
Place the controller main disconnect switch in the ON position. At this time the
CONTROL POWER lamp illuminates.
4.
Set the TEACH/REPEAT switch to the TEACH position.
5.
Set the TEACH LOCK switch to the ON position.
6.
Activate screen area B, press the MENU key to display the drop-down menu and
use the cursor keys to highlight “Teach” and press the SELECT key to select teach
mode.
7.
Turn the HOLD/RUN switch to the RUN position.
8.
Press and hold one of the enabling devices. Press the motor power the MOTOR
POWER switch on the operation panel. At this time the MOTOR POWER lamp
illuminates.
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JOGGING OPERATION
9.
Select a coordinate system by pressing the INTERP (interpolation) key. This key
toggles between the JOINT, BASE, and TOOL coordinate systems and changes the
operation of the axis keys accordingly (Figure 6-2).
INTERP
JOINT, BASE, TOOL
JOINT
S
—
1
X
+
—
2
Y
+
—
3
Z
+
—
4
rx
+
—
5
ry
+
—
6
rz
+
—
7
+
Figure 6-2 Teach Pendant Axis Keys
6-4
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JOGGING OPERATION
10. Press the CHECK/TEACH SPEED key and select continuous or incremental robot
motion. The CHECK/TEACH SPEED key toggles between inching, low, medium,
and high jogging speeds. The selected speed, or inching, is shown by the teach
speed icon (Figure 6-3). The red dot indicates inching mode. One bar indicates low
speed, two bars indicate medium speed, and three bars indicate high speed.
CHECK
TEACH
SPEED
Figure 6-3 Speed and Inching Selection
When high, medium, or low speed is selected, the robot moves continuously while
an axis key is pressed. If the JOG key is pressed and held while an axis key is
pressed, the robot moves at high speed.
When inching is selected, the robot moves only the preset distance when an axis
key is pressed. If the JOG key is pressed and held while an axis key is pressed the
inching distance is multiplied by three.
11. Press one or more of the axis keys to select the joint(s) and direction the robot
moves.
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JOGGING OPERATION
6.3 OPTIONAL AXES OPERATION
6.3.1 SEVENTH AXIS OPERATION
If the robot system is configured for an additional axis, such as a traverse axis or a servo
gun, the operation is the same as for joints one through six using the axis key labeled 7.
6.3.2 EIGHTH TO EIGHTEENTH AXES OPERATION
EXT AXIS
(Robot)
For robot systems that utilize more than seven axes or a second manipulator, the EXT
AXIS/ROBOT key is used to select axes eight to fourteen or axes fifteen to eighteen.
Press the EXT AXIS/ROBOT key and the LED at the bottom of the key illuminates. This
allows operation of axes eight through fourteen, using the axes keys labeled 1 through 7.
Press the EXT AXIS/ROBOT key again and the LED at the top of the key illuminates.
This allows the operation of axes fifteen though eighteen, using the axes keys labeled 1
through 4.
6.4 COORDINATE SYSTEMS
The robot is equipped with three coordinate systems that are used during program
playback and teaching/editing operations. The coordinate systems - joint, base, and
tool, provide the means for linear and nonlinear motion control and program location
modification.
6-6
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6.4.1 JOINT COORDINATES
The joint coordinate system allows the robot axes to be driven without regard to tool
orientation and other coordinate systems. Use the INTERP (interpolation) key to select
JOINT interpolation as indicated by the JOINT interpolation icon in the teach pendant
status area.
INTERP
JOINT
In the teach mode, when the JOINT interpolation is selected, the robot axes can be
jogged individually to any arm position or orientation. Figures 6-4 through 6-6 illustrate
the robot joint coordinate mode and the positive and negative directions of movement.
JT4
JT5
JT3
JT6
JT2
Figure 6-4 Robot Joint Coordinate Mode
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JOGGING OPERATION
—
1
X
+
—
4
rx
+
—
2
Y
+
—
5
ry
+
—
3
Z
+
—
6
rz
+
Figure 6-5 F-Series Robot Joint Movement
6-8
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JOGGING OPERATION
—
1
X
+
—
4
rx
+
—
2
Y
+
—
5
ry
+
—
3
Z
+
—
6
rz
+
Figure 6-6 M-Series and ZZ-Series Robot Joint Movement
March 15, 2004
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JOGGING OPERATION
6.4.2 BASE COORDINATES
Use the INTERP (interpolation) key to select BASE interpolation as indicated by the
BASE interpolation icon in the teach pendant status area.
INTERP
The base coordinate mode provides a means for jogging the tool center point (TCP) in a
straight line, at a constant velocity, while maintaining tool orientation. The base coordinate system origin is initially located in the robot base (Figure 6-7) with an orientation
defined by the left-hand rule (Figure 6-8). The origin and the orientation of the base
coordinate system can be modified using AUX 0506 or the BASE command. In the
teach mode, the TCP can be driven in X, Y, or Z directions or rotated about the X, Y, and
Z axes using the rx, ry, and rz keys (Figure 6-9).
Figure 6-7 Base Coordinate System Mode
6-10
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JOGGING OPERATION
An easy way to determine the orientation and direction of the base coordinate system is
illustrated by the “left-hand rule”, shown in figure 6-8. When using the left-hand rule,
orient your left hand so that your arm represents the cables entering the base of the
robot. From this orientation the middle finger, held 90 degrees from the arm points in the
positive X direction. The extended index finger points in the positive Y direction and the
extended thumb points in the positive Z direction.
+Z
-Z
-Y
+Y
-X
+X
Figure 6-8 Left-Hand Rule
April 3, 2003
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JOGGING OPERATION
—
1
X
+
—
4
rx
+
—
2
Y
+
—
5
ry
+
—
3
Z
+
—
6
rz
+
Figure 6-9 Base Coordinate System Movement
6-12
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JOGGING OPERATION
6.4.3 TOOL COORDINATES
Use the INTERP (interpolation) key to select TOOL interpolation as indicated by the
TOOL interpolation icon in the teach pendant status area.
INTERP
The tool coordinate mode provides another means for jogging the TCP in a straight line,
at a constant velocity, while maintaining tool orientation. The tool coordinate system
origin is the TCP, and is initially located and oriented at the center of the tool mounting
flange as shown in figure 6-10. When tool dimensions are entered into the robot system
using AUX 0304 or the TOOL command, the tool coordinate system origin and orientation change accordingly. The orientation of the tool coordinate system is typically set so
that its positive Z axis points in the direction of the tool. During jogging operation the
tool coordinate system maintains this orientation, but changes the directionality of the
coordinate axes when changes are made to the robot position (see figure 6-10). In
addition to moving in the tool coordinate X, Y, or Z directions, the TCP can also be rotated about the X, Y, and Z axes using the rx, ry, and rz keys (see figure 6-11).
Figure 6-10 Tool Coordinate System
January 13, 2005
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JOGGING OPERATION
—
1
X
+
—
4
rx
+
—
2
Y
+
—
5
ry
+
—
3
Z
+
—
6
rz
+
Figure 6-11 Tool Coordinate System Movement
6-14
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JOGGING OPERATION
6.4.4 LINEAR MOVEMENT ERRORS
When moving the robot in either base coordinate or tool coordinate mode, certain arm or
wrist positions do not allow linear movement (see figure 6-12). For example, when JT2
and JT3 align to a straight position, insufficient reach or velocity errors can occur. Another condition known as singularity occurs when JT5 moves to a 0° (straight) position
during linear movement. If any of these conditions occur during linear movement, the
robot shuts down, displaying an error related to arm configuration or speed. To avoid this
condition, reteach the affected locations with a different arm configuration or use the joint
mode.
To avoid a singularity condition in repeat mode where a linear move is required select
linear 2 interpolation. Linear 2 interpolation allows a hybrid interpolated move that is
able to work through most singularity conditions. In instances where a linear 2 move
does not work, reteach the positions with a different robot configuration or select joint
interpolation.
Figure 6-12 Linear Movement Errors
April 3, 2003
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OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.0
7.1
7.2
7.2.1
7.2.2
7.2.3
7.3
7.3.1
7.3.2
7.3.2.1
7.3.2.2
7.3.2.3
7.3.2.4
7.3.2.5
7.3.3
7.4
7.4.1
7.4.2
7.4.3
7.5
7.5.1
7.5.2
7.5.3
7.5.4
7.5.5
7.5.5.1
7.6
7.6.1
7.6.1.1
7.7
7.7.1
7.7.2
7.7.3
7.7.3.1
7.7.3.2
7.7.3.3
7.8
7.7.3.4
RECORDING AND EDITING PROGRAMS ................................................... 7-2
Preparation for Teaching ................................................................................ 7-2
Program Names ............................................................................................. 7-3
Program/Comment Drop-Down Menu ............................................................ 7-3
Assigning a Program Number ........................................................................ 7-4
Assigning a Program Name ........................................................................... 7-5
Creating a Program ........................................................................................ 7-8
Recording Program Steps .............................................................................. 7-8
Interpolation ................................................................................................. 7-14
Joint Interpolation ........................................................................................ 7-14
Linear Interpolation ...................................................................................... 7-14
Circular Interpolation .................................................................................... 7-15
Fixed Tool Coordinates (Fixed Linear Interpolation) ..................................... 7-17
Hybrid Interpolation ...................................................................................... 7-19
Setting Input and Output Signals ................................................................. 7-20
Checking Program Operation ....................................................................... 7-21
Check Once ................................................................................................. 7-21
Check Continuous ........................................................................................ 7-22
Check Back .................................................................................................. 7-22
Editing Program Data ................................................................................... 7-23
Overwriting Steps ......................................................................................... 7-23
Deleting Steps .............................................................................................. 7-24
Inserting Steps ............................................................................................. 7-26
Position Rewrite ........................................................................................... 7-28
Auxiliary Rewrite .......................................................................................... 7-29
Direct Speed ................................................................................................ 7-31
AS Language Teaching ................................................................................ 7-34
AS Language Teach Screen......................................................................... 7-34
Entering Pre-Programed Instructions ........................................................... 7-34
Program Edit Screen .................................................................................... 7-38
Accessing the Program Edit Screen ............................................................ 7-38
Item Edit Mode Drop-Down Menu ................................................................ 7-39
Edit Screen Modes ....................................................................................... 7-40
Item Editing Mode ........................................................................................ 7-40
Step Editing Mode ........................................................................................ 7-52
End of File Mode .......................................................................................... 7-60
Program Edit Screen .................................................................................... 7-61
Using Item Edit and Step Edit for On-Line Editing ....................................... 7-61
August 9, 2007
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7.0 RECORDING AND EDITING PROGRAMS
This unit covers teaching/recording program locations and auxiliary program data, program verification with the check step procedure, and program editing.
7.1 PREPARATION FOR TEACHING
The appendix section of this manual contains sample program sheets for spot welding
and material handling applications. These program sheets are helpful when planning
new programs. The program sheets are filled out prior to programming the robot and
provide the operator with a plan of the elements needed in the program.
The program sheets also identify peripheral components that interact with the program
such as input and output signal numbers, type(s) of clamps to use and auxiliary function
settings.
When the program sheet is filled out and the elements of the program are identified, the
actual recording of the program steps can begin.
7-2
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7.2 PROGRAM NAMES
The selection of a new program name is at the discretion of the programmer. Program
names should be consistent with company practices and the names of other programs
that are in system memory. The teach pendant must be in the teaching display to name
a new program, reference unit 5 of this manual for menu screen locations.
7.2.1 PROGRAM/COMMENT DROP-DOWN MENU
A drop-down menu of the available functions is accessed by pressing the program/
comment area on the screen. Using the S + PROG/STEP key combination on the teach
pendant keypad also selects the program/comment drop-down menu (Figure 7-1).
Program/Comment Drop-down Menu
Program
pg5
[
Step
[Comment ]
]
[
1
]
S + PROG/STEP Key Combination
PC
1 pcprg1
MENU
Specify pg
Select
Delete
IntpComment
Spd Acc Tmr Tol Wrk Clamp J/E
Input
JOINT
9
1 0 1 0
Display contents
1 JOINT
9
1 0 1 0
2Copy
LINEAR 7
3 1 1 0
3Rename
JOINT
9
2 0 1 0 1
register
4Cancel
LINEAR
5
1 2 1 0
5 JOINT
7
4 0 1 0 2
6 JOINT
8
1 3 1 0
7 JOINT
9
1 0 1 0
CHECK INTERP
TEACH
SPEED
PROG
CANCEL
A
SELECT
EXT AXIS
STEP (Robot)
S
GO
CHECK
S
BACK
JOG CONT
INS
O. WRITE
POS
AUX
MOD REC MOD
SPD
CL1
CL2
CLn
ACC
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
1
X
+
–
2
Y
+
–
3
Z
+
–
4
rx
+
–
5
ry
+
–
6
rz
+
–
7
CC
4 A 5 B 6 C CLEAR
ON
OFF CLAUX
1
2
,
-
J/E
0
.
I
3
–
DEL
WRK
C
+
6037-1200
Figure 7-1 Program/Comment Drop-Down Menu
January 13, 2005
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7.2.2 ASSIGNING A PROGRAM NUMBER
1.
Display the program/comment drop-down menu as described in section 7.2.1.
2.
Use the cursor keys to select Specify pg.
3.
To specify (select) a program with a “pg” prefix, use the numeric keys on the teach
pendant alphanumeric keypad to enter the program number and press the enter key
(Figure 7-2).
Alpha-Numeric Keypad
SPD
ACC
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
4
rx
+
–
5
ry
+
–
6
rz
+
–
7
CC
4 A 5 B 6 C CLEAR
ON
OFF CLAUX
1
2
,
-
J/E
0
.
I
3
–
WRK
C
+
6037-1200
Enter Key
Figure 7-2 Program Number Specify
NOTE
Only programs names with a “pg” prefix can be selected
as described above (maximum of five digits ).
Use the CC/CLEAR or BS key to clear an incorrect entry
and enter the correct “pg” number.
To select a program without a “pg” prefix, refer to section
7.23.
7-4
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7.2.3 ASSIGNING A PROGRAM NAME
Program names are assigned from the program select screen.
To display the program select screen:
1.
Use the cursor keys to highlight Select on the program/comment drop-down menu
(Figure 7-1).
2.
Press the SELECT key to display the program select screen.
To enter the program number or name:
1.
Use the cursor keys to highlight “pg??” and enter the program number from the
teach pendant alphanumeric keypad and press the SELECT key (Figure 7-4).
If more than one page is available, use the Next Page and Previous Page keys to
access the additional pages (Figure 7-3).
Alternate methods for selecting a program are:
Use the cursor keys to highlight the program name on the program list screen and
press the SELECT key (Figure 7-3).
Use the Input char key to access the keyboard screen (Figure 7-4) to enter an
existing or a new program number (name). With the program number (name) entered on the keyboard screen press the ENTER key on the keyboard screen or the
teach pendant keypad.
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SELECT
Select
pg ??
pcprg1
pcprg2
pcprg3
pg1
pg2
pg3
pg5
pg50
pg51
pg52
1/2
Input char
[
[
[
[
[wx
[ox
[
[
[
[
Next Page
] pg53
] pg54
] pg55
] pg56
] pg57
] pg58
] pg59
] pg6
] pg90
] pg95
[
[
[
[
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
]
pg
Figure 7-3 Program Select Screen
7-6
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Keyboard
$
”
!
q
w
a
s
z
x
[{
]}
SHIFT
#
e
d
c
$
r
f
v
%
t
g
b
&
y
h
n
SPACE
’
u
j
m
(
i
k
,<
)
o
l
.>
=
p
;+
/?
^’
7
@~
4
:*
1
|¥
0
—
SHIFT
NEXT
8
5
2
9
6
3
BS
CTRL+L
ENTER
Figure 7-4 Keyboard Screen
NOTE
A maximum of 15 characters can be used for a program
name.
Only alphanumeric characters can be used.
The first character of the program name must be an alphabetic character.
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7.3 CREATING A PROGRAM
Recording block step program steps includes two elements: positional and auxiliary data.
A block step program is a program recorded from the teach screen.
The positional data is the location of the robot that is repeated each time a step is executed.
The auxiliary data includes how the robot travels to the taught location (interpolation),
the speed of travel to the location, the type of tool installed, output signals generated
when it reaches the point, input signals to wait for at the point, etc..
When the O. WRITE/RECORD key is pressed, the axis joint angles of the current robot
position (positional data) are stored in the system memory as part of the program step.
In addition to the positional data recorded with each step, a set of auxiliary data entered
from the teach screen is recorded.
7.3.1 RECORDING PROGRAM STEPS
Program steps include positional and auxiliary data and are recorded from the teach
screen.
To access the teach screen:
1.
With screen area B active, press the MENU key or the area B window to display the
screen drop-down menu (Figure 7-5).
2.
Use the cursor keys to highlight Teach on the screen drop-down menu (Figure 7-5).
3.
Press the SELECT key to display the teach screen (Figure 7-6).
To record positional and auxiliary data:
1.
Use the jogging methods described, in unit 6 of this manual, to position the robot
tool in the location to record a position for a program step.
NOTE
The method used to jog the robot into position for recording a position is not part of the program, the auxiliary interpolation data controls the playback path.
7-8
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2.
Use the keys on the teach pendant alphanumeric keypad to set the correct auxiliary
data for the program step.
The Auxiliary data that is set from the teach screen is shown in figure 7-6 and is
detailed in table 7-1.
When new positions are recorded, the auxiliary data from the previous step is carried forward to the next step; if the auxiliary data is different for the next step it must
be changed before the O. WRITE/RECORD key is pressed.
3.
Press the O. WRITE/RECORD key to enter the location and auxiliary data into
memory.
The step number displayed in the Step window is incremented by one, and the
message “position recorded” is displayed in the system message area.
Teach
Aux Function
I/F Panel
Keyboard
Upsize
Figure 7-5 Selecting the Teach Screen
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NOTE
Recording positional data is only one element of a block
step program. Auxiliary data is recorded with the positional data to provide additional information that is part
of the program step (Table 7-1).
After the last step of the program is recorded, it is not necessary to identify the end of
the program. The controller recognizes the last taught step as the end of the program
and automatically adds an .END statement after the last step.
The teach screens are shown in figure 7-6. Screen one displays the auxiliary data for
the program steps. Screen two displays the clamp data for the program steps.
Use the S + right and left cursor keys to switch screens.
Table 7-1 provides details of the auxiliary data that is recorded for each block step of a
program.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
JOINT
9 1 0 1 0
[
1 JOINT
9
1 0 1 0
[
2 LINEAR 7
3 1 1 0
[1
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
WX
][
][
][
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
]
]
Title Row
Edit Row
Teach Screen One Auxiliary Data
Clamp
1
2
3
4
5
6
7
1 (OFF,
1 (OFF,
1 (OFF,
1 (ON ,
1 (OFF,
1 (OFF,
1 (OFF,
1 (OFF,
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
2 (OFF,
2 (OFF,
2 (OFF,
2 (OFF,
2 (OFF,
2 (ON ,
2 (OFF,
2 (OFF,
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
3 (OFF, 0,0,O)
3 (OFF, 0,0,O)
3 (OFF, 0,0,O)
3 (OFF, 0,0,O)
3 (OFF, 0,0,O)
3 (OFF, 0,0,O)
3 (OFF, 0,0,O)
3 (OFF, 0,0,O)
4 (OFF,
4 (OFF,
4 (OFF,
4 (OFF,
4 (OFF,
4 (OFF,
4 (OFF,
4 (OFF,
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
0,0,O)
Teach Screen Two Clamp Data
Figure 7-6 Teach Screens
7-10
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With the teach screen displayed, the auxiliary data items are selected using the right
and left cursor keys and the SELECT key, or the individual function keys, as described in
table 7-1.
Table 7-1 Auxiliary Data
AUXILIARY
DATA ELEMENT
Interpolation
Speed
Accuracy
January 13, 2005
KEY
S+
S+
S+
FUNCTION AND SETTINGS
INTERP
SPD
7
D
ACC
8
E
Sets the motion path of the robot to reach a taught position.
In JOINT interpolation, all joints move to reach total coincidence
simultaneously to achieve the recorded robot posture. The TCP
moves in an arcing motion.
In LINEAR interpolation, joint movement is coordinated to drive
the TCP in a linear motion and maintain tool orientation.
CIR1 and CIR2 move the TCP in a circular path based on at
least three points along an arc (option).
Use the S + INTERP key combination to select interpolation on
the edit line.
Use the up and down cursor keys to scroll through the
interpolation settings.
JOINTÖLINEARÖCIR1ÖCIR2Ö
Selects the speed of the step as a percent of maximum possible
machine speed.
Maximum possible machine speed is in degrees/second.
This applies only to joint moves.
Linear moves are slower than joint moves and are in units of
mm/second.
Ten settings are available (set in auxiliary function 0301).
Use the S + SPD/7 key combination to select speed on the edit
line.
Use the up and down cursor keys to scroll through the speed
settings.
SPEED 0ÖSPEED 1ÖSPEED 2Ö…SPEED 9Ö
Selects the accuracy that the robot will achieve before transition
to the next position.
Four settings are available (set in auxiliary function 0302).
Use the S + ACC/8/E key combination to select accuracy on the
edit line.
Use the up and down cursor keys to scroll through the accuracy
settings.
ACCU 1ÖACCU 2ÖACCU 3ÖACCU 4Ö
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Table 7-1 Auxiliary Data (continued)
AUXILIARY
DATA ELEMENT
Timer
Work
JUMP/END
KE Y
S+
S+
TMR
9
F
WRK
C
J/E
S+
I
ox
Output Signals
OX and Input
Signals WX
7-12
S+
4
S+
5
A
WX
B
FUNCTION AND SETTINGS
Selects a wait timer that star ts timing when the robot reaches
the accuracy range of the taught position.
0 indicates no timer is selected, nine settings are available (set
in auxiliary function 0303).
Use the S + TMR/9/F key combination to select timer on the edit
line. Use the up and down cursor keys to scroll through the
timer settings.
TIMER 0TIMER 1TIMER 2…TIMER
Allows the user to select a predefined alternative coordinate
system.
0 is used for the standard base coordinate system. Nine work
coordinate systems are available (defined in auxiliary function
0306).
Use the S + WRK/C key combination to select work on the edit
line.
Use the up and down cursor keys to scroll through the work
settings.
WORK 0WORK 1WORK2…WORK 9
When JUMP or END is used in a program, input signals are
evaluated to determine program selection.
Jump/End returns to blank after RECORD is pressed.
The Jump/End program command is used in conjunction with
dedicated signals set in auxiliary function 0601.
Use the S + J/E/I key combination to select JUMP/END on the
edit line.
Use the up and down cursor keys to scroll through the
JUMP/END settings.
BLANKJUMPEND
Press the OX and WX keys to change the display to allow the
selection of OX or WX signal(s) for the programmed step, see
figure 7-7 and 7-8.
Use the teach pendant numeric keypad to enter signal numbers.
To enter multiple signal numbers, use the ","/0 key to add comas
as separators.
The OX and WX screens are used in the same manner.
Press the teach pendant ENTER key to close the OX or WX
screen.
OX signals remain ON during the steps in which they are
programmed.
WX signals cause the robot to wait until the signals are ON or
wait override is used.
Press the O. WRITE/RECORD key to complete the procedure.
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Table 7-1 Auxiliary Data (continued)
AUXILIARY DATA
ELEMENT
Comment
KEY
Cursor keys and
SELECT key
CL1
Clamp 1 and
Clamp 2
A+
A+
CLn
CL2
CL1
The CL1 and CL2 keys set the clamp signals to turn ON or OFF
during a program step.
Using the A + CL1 or A + CL2 key combinations sets the actual
clamp signals ON and OFF and opens or closes the clamp.
CL2
The CLn key is used to set clamp signals for clamps 3 through 8
by entering the numeric value with the CLn key.
CLn + 3–8
The CLn key sets the clamp signals to turn ON or OFF during a
program step.
Using the A + CLn + 3–8 key combination sets the actual clamp
A + CLn + 3–8
signals ON and OFF and opens or closes the clamp.
WS
Weld Schedule
S+
Clamp Condition
Code
S+
Clamp Auxiliary
Data
S+
April 3, 2003
FUNCTION AND SETTINGS
When the COMMENT area is selected, using the right and left
cursor keys, the up and down cursor keys select default
comments.
Pressing the SELECT key displays the keyboard allowing the
user to enter a comment (up to eight characters).
After the characters are selected, press the ENTER key.
The comment is displayed in the comment area.
6
C
CC
CLEAR
CL AUX
3
The weld schedule (S + WS keys), clamp condition (S + CC
keys) code, and clamp auxiliary (S + CL AUX keys) data selected
for a program step is defined in auxiliary function 0605.
The up and down cursor keys or the teach pendant alphanumeric keypad is used to enter the weld schedule, clamp
condition code, and clamp auxiliary data on the edit line.
A spot welding application specifies a momentary output signal,
a weld schedule, and a clamp condition code.
A handling or sealing application specifies a sustained output
signal, and a clamp condition code.
An O (open) or a C (close), set for clamp auxiliary data, indicates
if a retractable clamp is par tially opened or par tially closed when
in the retract position.
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7.3.2 INTERPOLATION
Interpolation is the mathematical process that the CPU uses to plot a path for the robot
to travel from one position to another. The AS system starts processing the next step,
pose and auxilliary data, as soon as the robot begins motion towards the pose specified
in the current step. It is up to the programmer to determine the best path for the robot to
follow from one step to the next and set the auxilliary data appropriately.
7.3.2.1 JOINT INTERPOLATION
Steps programmed using joint interpolation move the robot from one pose to the next
with an arching path. The tool center point does not follow a linear path and tool orientation does not remain constant. An example of arching motion and changing tool orientation is shown in figure 7-7.
STEP 1
STEP 2
Figure 7-7 Joint Interpolation
7.3.2.2 LINEAR INTERPOLATION
Steps programmed using linear interpolation move the robot from one pose to the next
in a straight line. The tool center point maintains a fixed straight line path and tool orientation is able to remain constant. An example of linear motion is shown in figure 7-8
where tool orientation in step two is the same as in step one.
STEP 1
STEP 2
Figure 7-8 Linear Interpolation
7-14
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7.3.2.3 CIRCULAR INTERPOLATION
Steps programmed using circular interpolation move the robot from one pose to the next
in a circular path while maintaining tool orientation and a constant speed. The controller
computes the path based on a minimum of three taught poses.
The first, or starting pose, may be any type of move except CIR1 and is usually a joint or
linear move. The second pose in the arc must be a CIR1 move, and the third pose must
be a CIR2 move. Multiple CIR1 and CIR2 moves may be used to create complete
circles or multiple arcs in the same path. Refer to figures 7-9 through 7-11 for circular
interploation programming examples.
Figure 7-9 Single Arc Circular Interpolation Example
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(STEP 2)
CIR1
(STEP 1)
LINEAR
(STEP 3)
CIR1
(STEP 4)
CIR2
(STEP 6)
CIR2
(STEP 5)
CIR1
Figure 7-10 Multiple Arc Circular Interpolation Examples
7-16
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7.3.2.4 FIXED TOOL COORDINATES (FIXED LINEAR INTERPOLATION)
The fixed tool coordinates function allows the programming of moves relative to an
external fixed point within the work envelope. This type of interpolation is referred to as
a FLIN move, or fixed linear move. In a FLIN move the robot path is calculated to maintain a set relationship to a fixed point.
Applications for FLIN moves include moving a part around a fixed sealing dispenser or a
fixed stud welding gun. The FLIN path enables the programmer to reduce the number of
programmed poses needed to maintain a set distance and smooth rotation around a
fixed point while maintaining a constant tool speed.
Figure 7-11 shows the auxiliary function screen used to enter the dimensions for a fixed
tool used with FLIN moves.
Figure 7-12 shows how the path of a windshield moved by a robot differs with linear and
fixed linear interpolation.
Figure 7-11 AUX 0305 Fixed Tool Coordinates
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FIXED TOOL LOCATION
POINT A
TAUGHT HERE
POINT B
TAUGHT HERE
SEALANT
DISPENSER
PART BEING CARRIED BY
ROBOT TO RECEIVE SEALANT
LINEAR INTERPOLATED PATH FROM POINT A TO POINT B
FIXED LINEAR INTERPOLATION PATH
FROM POINT A TO POINT B
Figure 7-12 Fixed Linear Versus Linear Interpolation
7-18
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7.3.2.5 HYBRID INTERPOLATION
The optional linear 2 (LIN2) interpolation provides for hybrid interpolated movement.
Hybrid interpolation allows the programmer to avoid singularity conditions on axes when
linear moves are necessary.
The robot maintains the tool center point along the programmed linear path by rotating
the necessary axes to drive the knuckle through the singularity condition. Refer to figure
7-13 for a programming example of hybrid interpolation.
Figure 7-13 Hybrid Interpolation
!
CAUTION
Linear motion will be maintained when using hybrid
interpolation but unpredictable robot motion may occur.
Verify the program in teach mode before running in
repeat.
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7.3.3 SETTING INPUT AND OUTPUT SIGNALS
Input and output signals are used by the robot controller to communicate with peripheral
equipment used in the automation process.
Input signals cause the robot wait until a signal is received from an external device such
as a PLC or a proximity switch.
Outputs are used to control external devices such as welding, painting and sealing
equipment.
The screens used to set input (WX) signals and output (OX) signals in program steps
are similar, figure 7-14 shows the OX screen.
OX Output
1,5,12
Current Data:
Figure 7-14 OX Teach Screen
Once the OX or WX signals are selected and entered as described in table 7-1, the OX
and WX signals are displayed as shown on the teach screen in figure 7-15. The teach
screen in figure 7-15 shows output signals 1 and 2 ON for step 1, output signals 1, 2,
and 3 ON for steps two and four, and input signals 1 and 2 ON for steps two and four.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
LINEAR 6 3 0 1 0
[1,2,3
1 JOINT
9
4 0 1 0
[1,2
2 LINEAR 7
3 1 1 0 2
[1,2,3
3 LINEAR 5
3 0 1 0
[
4 LINEAR 6
3 0 1 0
[1,2,3
5 JOINT
7
3 0 1 0
[
WX
] [1,2
][
] [1,2
][
] [1,2
][
Comment
] Wait
]
]
]
] Wait
]
Figure 7-15 OX and WX Display on the Teach Screen
7-20
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.4 CHECKING PROGRAM OPERATION
CHECK
BACK
CONT
GO
CHECK
After the program is completed and the controller is in teach mode, the program check
feature can be used to confirm the program playback.
The CONT key switches between CHECK CONT and CHECK ONCE each time it is
pressed. The check continuous mode is used to check through the steps of the program
continuously to the end of the program. The check once mode is used to check the
program steps one at a time.
The check back mode is used to check steps backwards through the program one step
at a time.
7.4.1 CHECK ONCE
1.
Select CHECK ONCE, as described in section 7.4.
2.
Press and hold an enabling device.
3.
Set motor power to ON, refer to unit 4 Power On/Off Procedures for the motor power
on procedure.
4.
Press and hold the CHECK GO key to move the robot to the step displayed in the
step window.
When the CHECK GO key is released and pressed again, the robot moves to the
next step of the program.
The robot stops at the last step of the program and the step select procedure (refer
to sections 5.3.4.1–5.3.4.5) must be used to select the first step of the program to
check the program steps again.
NOTE
If step continuous is set to disable in AUX 0807, the S +
CHECK GO and S + CHECK BACK key combinations
must be used.
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.4.2 CHECK CONTINUOUS
1.
Select CHECK CONT, as described in section 7.4.
2.
Press and hold an enabling device.
3.
Set motor power to ON, refer to unit 4 Power On/Off Procedures for the motor power
on procedure.
4.
Press and hold the CHECK GO key to move the robot through the program at the
selected check speed.
The robot stops at the last step of the program and the step select procedure (refer
to sections 5.3.4.1–5.3.4.5) must be used to select the first step of the program to
check the program steps again.
7.4.3 CHECK BACK
1.
Select CHECK CONT or CHECK ONCE, as described in section 7.4.
2.
Press and hold an enabling device.
3.
Set motor power to ON, refer to unit 4 Power On/Off Procedures for the motor power
on procedure.
4.
Press and hold the CHECK BACK key to move the robot through the program backwards to the previous step.
The CHECK BACK key must be released and pressed and held again before the
robot moves to the next previous step.
For additional information, refer to unit 9, auxiliary function 0807 Check Specification.
NOTE
If step continuous is set to disable in AUX 0807, the S +
CHECK GO and S + CHECK BACK key combinations
must be used.
7-22
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.5 EDITING PROGRAM DATA
O. WRITE
REC
DEL
INS
POS
MOD
AUX
MOD
Once a program is written there are a number of ways that it can be modified: steps can
be added or deleted, locations changed, and auxiliary data modified.
Program editing must be done in the teach mode. At the teaching screen, the keys
shown above are used to edit the program.
7.5.1 OVERWRITING STEPS
O. WRITE
REC
The O. WRITE/RECORD key is used to record new steps in a program and to overwrite
existing steps.
When the O. WRITE/RECORD key is pressed the step number displayed in the Step
window is overwritten with the current positional and auxiliary data.
1.
Use the jogging methods described, in unit 6 of this manual, to position the robot
tool in the location to record the new position for the program step.
2.
Use the keys on the teach pendant alphanumeric keypad to set the correct auxiliary
data for the program step.
3.
Press the O. WRITE/RECORD key to enter the new location and auxiliary data into
memory.
The step number displayed in the Step window is incremented by one, and the
message “position recorded” is displayed in the system message area.
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.5.2 DELETING STEPS
DEL
To delete steps within a program:
1.
Use the A + up and down cursor keys to select the step to delete. In the example in
figure 7-16 this is step 5. The selected step is highlighted in green.
2.
With the step to delete selected, press the DEL key, the step highlighting changes to
red, and DEL is displayed at the left of the edit row (Figure 7-16).
3.
Press the O. WRITE/RECORD key.
4.
The step delete confirmation screen is displayed. Press “Yes” to delete the selected
step or “No” to abort the deletion process.
5.
If “Yes” is pressed, step 5 is deleted and what was step 6 is now step 5 (Figure 717).
To delete additional steps, repeat steps 1 through 4.
To exit the delete mode, press the DEL key.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
DEL. JOINT 7
2 2 1 0 2
[
2 LINEAR 7
3 1 1 0
[1
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
2 2 1 0 2
[
6 JOINT
7
2 2 1 0 2
[
7 JOINT
8
1 3 1 0
[
8 JOINT
9
1 0 1 0
[
WX
][
][
] [2
][
][
][
] [3
][
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
DEL. JOINT 7 2 2 1 0 2
[
][
2 LINEAR 7 Confirm
3 1 1 0
[1
][
3 JOINT
9
2 0 1 0 1
[
] [2
4 LINEAR 5
1 2 1 0 Delete step
[2,5
No.] [OK?
5 JOINT
7
2 2 1 0 2
[
][
6 JOINT
7
2 2 1 0 2
[
][
Yes
7 JOINT
8
1 3 1 0
[
] [3 No
8 JOINT
9
1 0 1 0
[
][
Comment
]
]
]
]
]
]
]
]
Edit row:
Displays auxiliary data
of the selected step.
The selected step is
highlighted green when
selected and changes to
red when the DEL key is
pressed.
Comment
]
]
]
]
]
]
]
]
The delete confirmation
screen is displayed. Press
“Yes” to delete the selected
step or “No” to abort the
delete operation.
Figure 7-16 Selecting Step to Delete
7-24
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
DEL. JOINT 7 2 2 1 0 2
[
2 LINEAR 7
3 1 1 0
[1
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
2 2 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
WX
][
][
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
]
Figure 7-17 Selected Step Deleted
If a number of steps are to be deleted, start with the highest number first, this eliminates
the need to figure out the new numbering sequence.
Figure 7-18 shows the renumbering process that takes place when steps are deleted.
Figure 7-18 Deleting Program Steps
NOTE
When delete mode is active, each time the O. WRITE/
RECORD key is pressed the highlighted step is deleted.
Ensure the delete mode is closed, by pressing the DEL
key, after the deletion process is completed to prevent
accidental step deletion.
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.5.3 INSERTING STEPS
INS
To insert steps into a program:
1.
Use the A + up and down cursor keys to select the step insertion point. In the
example in figure 7-19 this is step 5. The selected step is highlighted in green.
2.
With the step insertion point selected, press the INS key, the step highlighting
changes to pale blue, and INS is displayed at the left of the edit row (Figure 7-19).
3.
Use the jogging methods described, in unit 6 of this manual, to position the robot
tool in the location to record the new position for the program step.
4.
Use the keys on the teach pendant alphanumeric keypad to set the correct auxiliary
data in the edit row for the program step.
5.
Press the O. WRITE/RECORD key to complete the procedure. A new step 5 is
inserted and what was step 5 is now step 6 (Figure 7-20).
To insert additional steps at the same insertion point, repeat steps 1 through 5.
Ensure the auxiliary data, displayed in the edit row, and the positional data are
correct for each inserted step.
To exit the insert mode, press the INS key.
7-26
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
INS. JOINT 7 2 2 1 0 2
[
2 LINEAR 7
3 1 1 0
[1
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
2 2 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
WX
][
][
] [2
][
][
] [3
][
Edit row:
Displays auxiliary data
used for the new step.
Comment
]
]
]
]
]
]
]
The selected step is
highlighted green when
selected and changes to
pale blue when the INS
key is pressed.
Figure 7-19 Selecting Step Insertion Point
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
INS. JOINT 7 2 2 1 0 2
[
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
2 2 1 0 2
[
6 JOINT
7
2 2 1 0 2
[
7 JOINT
8
1 3 1 0
[
8 JOINT
9
1 0 1 0
[
WX
][
] [2
][
][
][
] [3
][
Comment
]
]
]
]
]
]
]
Figure 7-20 Step Inserted
If a number of steps are to be inserted, start with the highest number first, this eliminates
the need to figure out the new numbering sequence.
Figure 7-21 shows the renumbering process that takes place when steps are inserted.
Figure 7-21 Inserting Program Steps
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.5.4 POSITION REWRITE
POS
MOD
To rewrite positional data for a program step:
1.
Use the A + up and down cursor keys to select the step for positional rewrite. In the
example in figure 7-22 this is step 5. The selected step is highlighted in green.
2.
With the step selected, press the POS MOD key, the step highlighting changes to
purple, and POS.M. is displayed at the left of the edit row (Figure 7-23).
3.
Jog the robot to the new position using the axis keys (refer to unit 6, Jogging Operation).
4.
Press the O. WRITE/RECORD key to complete the procedure. The new position for
step 5 is recorded, overwriting the previous positional data (Figure 7-23).
The current robot position is used for the program step positional rewrite. To rewrite
additional steps, repeat steps 1 through 4. If the positional data is different for the
additional steps change the data as needed for each step.
To exit the positional rewrite mode, press the POS MOD key.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
JOINT 7 4 0 1 0 2
[
2 LINEAR 7
3 1 1 0
[1
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
WX
][
][
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
]
Figure 7-22 Selecting Positional Rewrite Step
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
POS.MJOINT 8 1 3 1 0
[
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
WX
] [3
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
Figure 7-23 Positional Rewrite Complete
7-28
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.5.5 AUXILIARY REWRITE
AUX
MOD
To rewrite auxiliary data for a program step:
1.
Use the A + up and down cursor keys to select the step for auxiliary rewrite. In the
example in figure 7-24 this is step 5. The selected step is highlighted in green.
2.
With the step selected, press the AUX MOD key, the step highlighting changes to
dark yellow, and AUX.M. is displayed at the left of the edit row (Figure 7-24).
3.
Use the left and right cursor keys to move the cursor to the auxiliary data to rewrite.
The selected data is highlighted in red (Figure 7-24). To access the clamp data on
the second auxiliary data screen use the S + Left or right cursor key combination.
4.
Make the necessary changes to the selected data using the up and down cursor
keys, to scroll through the settings, or the alpha-numeric keypad on the teach pendant.
5.
Press the O. WRITE/RECORD key to complete the procedure. The new auxiliary
data for step 5 is recorded, overwriting the previous auxiliary data (Figure 7-25).
The current auxiliary data in the edit row is used for the program step auxiliary
rewrite. The positional data is not changed in the auxiliary rewrite mode. To rewrite
additional steps, repeat steps 1 through 5. If the auxiliary data is different for the
additional steps change the data as needed for each step.
To exit the positional rewrite mode, press the AUX MOD key.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
AUX.MJOINT 7 4 0 1 0 2
[
2 LINEAR 7
3 1 1 0
[1
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
WX
][
][
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
]
Edit row:
Displays auxiliary data
used to rewrite the step.
The selected step is
highlighted green when
selected and changes to
dark yellow when the
AUX MOD key is pressed.
Figure 7-24 Selecting Auxiliary Rewrite Step
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
AUX.MJOINT 8 1 3 1 0
[
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
WX
] [3
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
Figure 7-25 Auxiliary Rewrite Complete
7-30
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.5.5.1 DIRECT SPEED
When the direct speed function (option) is installed, speed can be specified in millimeters per second (linear move) or in seconds (joint move). The following procedure is
used to select direct speed in a program.
1.
Use the A + up and down cursor keys to highlight the step to use direct speed. In
the example in figure 7-26 this is step 3. The selected step is highlighted in green.
Step
[Comment ]
Program
pg5
[
]
[
PC
3
]
JOINT
C
R
100%
RPS
AUTO
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
JOINT
9
1 0 1 0
[
1 JOINT
9
1 0 1 0
[
2 JOINT
7
3 1 1 0
[1
3 LINEAR 9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
Joint Monitor - Pose info.
X
Y
Z
O (DEG.)
(mm)
(mm)
(mm)
9371.099
795.000
375.000
JT 1
JT 2
JT 3
0.000
0.000
0.000
02-08-23 09:04
Status
T
90.000
JT 4
0.000
WX
][
][
][
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
]
]
A
(DEG.)
90.000
JT 5
0.000
T
(DEG.)
-90.000
JT 6
0.000
Figure 7-26 Direct Speed Step Select
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
2.
With the step selected, press the AUX MOD key, the highlighting changes to dark
yellow, and AUX.M. is displayed at the left of the edit row (Figure 7-27).
3.
Use the left and right cursor keys to move the cursor to “spd” on the edit line. When
selected “spd” is highlighted in red (Figure 7-27).
4.
Press the SELECT key and the direct speed input screen is displayed (Figure 7-27).
Program
pg5
[
Step
[Comment ]
]
[
PC
3
]
02-08-23 09:04
Status
JOINT
T
C
R
RPS
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
AUXMJOINT 9
1 0 1 0
[
1 JOINT
9
1 0 1 0
[
2 JOINT
7
3 1 1 0
[1
3 LINEAR 9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
100%
AUTO
WX
][
][
][
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
]
]
DIRECT SPEED
MOTION SPEED (mm/s)
10.00
Figure 7-27 Direct Input Screen
5.
Use the alpha-numeric keypad on the teach pendant to input the speed data (Figure
7-27).
7-32
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
6.
Press the O. WRITE/RECORD key to complete the procedure (Figure 7-28).
Program
pg5
[
Step
[Comment ]
]
[
PC
3
]
JOINT
C
R
100%
RPS
AUTO
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
JOINT 10.0 1 0 1 0
[
1 JOINT
9
1 0 1 0
[
2 JOINT
7
3 1 1 0
[1
3 LINEAR 10.00 2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
Joint Monitor - Pose info.
X
Y
Z
O (DEG.)
(mm)
(mm)
(mm)
9371.099
795.000
375.000
JT 1
JT 2
JT 3
0.000
0.000
0.000
02-08-23 09:04
Status
T
90.000
JT 4
0.000
WX
][
][
][
] [2
][
][
] [3
][
Comment
]
]
]
]
]
]
]
]
A
T
(DEG.)
90.000
JT 5
(DEG.)
-90.000
JT 6
0.000
0.000
Figure 7-28 Direct Speed Input Complete
7.
Press the AUX MOD key to exit the direct speed function.
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.6 AS LANGUAGE TEACHING
This section describes the AS Language teach screen.
For more information on AS Language programming refer to the D Series Controller AS
Language Reference Manual.
7.6.1 AS LANGUAGE TEACH SCREEN
The AS Language teach screen allows the operator to write AS Language programs
using pre-programmed instructions selected from instruction menus. The pre-programmed instructions are the commonly used AS Language program instructions. Preprogrammed instructions are grouped by instruction type, e.g., motion instructions.
Writing AS Language programs requires a working knowledge of the program instructions, syntax, and program structure. It is recommend that the operator attend an AS
Language programming training course before using this function.
7.6.1.1 ENTERING PRE-PROGRAMED INSTRUCTIONS
The following procedure is used to access AS Language pre-programmed instructions
selected from instruction type menus. The pre-programmed instructions from the menus
are entered in the same manor, the Signal/Waiting instructions menu is shown as an
example.
1.
With the teach screen displayed, press the J/E/I key to access the teach drop-down
menu (Figure 7-29)
2.
Use the cursor keys to select “AS Language Teach” (Figure 7-29), and press the
SELECT key. The program select screen is displayed (Figure 7-30).
Intp Spd Acc Tmr Tol Wrk Clamp J/E
JOINT
9
1 0 1 0
[
OX
Joint Monitor - Pose info.
X
Y
(mm)
(mm)
0.000
JT 1
0.000
60.000
JT 2
0.000
Z
(mm)
1350.000
JT 3
0.000
WX
][
Block Teach
AS Language Teach
Pose Teach
Program edit
O
(DEG.)
0.000
JT 4
0.000
Comment
]
A
(DEG.)
0.000
JT 5
0.000
T
(DEG.)
0.000
JT 6
0.000
Figure 7-29 Teach Screen Drop-Down Menu
7-34
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
Select
pg ??
pcprg1
pcprg2
pcprg3
pg1
pg2
pg3
pg5
pg50
pg51
pg52
1/2
Input char
[
[
[
[
[wx
[ox
[
[
[
[
Next Page
] pg53
] pg54
] pg55
] pg56
] pg57
] pg58
] pg59
] pg6
] pg90
] pg95
[
[
[
[
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
]
pg
Figure 7-30 Program Select Screen
3.
Use the procedure in section 7.2.3 to select the program name. When the program
is selected the AS Language teach screen is displayed (Figure 7-31).
4.
With screen area C active press the MENU key on the teach pendant keypad, or the
C area window, to display the AS Language program instruction drop-down menu
(Figure 7-31). For more information on AS Language program instructions refer to
the D Series Controller AS Language Reference Manual.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
JOINT
9
1 0 1
0
[
OX
WX
][
Comment
]
Registered Instruction
Motion Instruction
Signal / Waiting Instruction
Speed, Accuracy / Variable
Program Control Instruction / Structure Sentence
Function / etc.
Figure 7-31 AS Language Teach Screen
The type of instruction to add to the program is selected from the AS Language
program instruction menu.
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
5.
Use the cursor keys to select an instruction type from the AS Language program
instruction menu.
6.
Press the SELECT key, on the teach pendant keypad. The Signal/Waiting instruction menu is shown in figure 7-32.
AS Language Teach.
Instruction:
Signal / Waiting Instruction
Input Here
Pose
– SIGNAL
– PULSE
– BITS
– SWAIT
– TWAIT
Real
Program
– OPEN
– CLOSE
– OPENI
– CLOSEI
– RESET
Figure 7-32 Signal/Waiting Instruction Menu
4.
Use the cursor keys to select an instruction from the selected program instruction
menu. TWAIT is selected in figure 7-33.
AS Language Teach.
Instruction: TWAIT
Pose
– SIGNAL
– PULSE
– BITS
– SWAIT
– TWAIT
Signal / Waiting Instruction
Real
Program
– OPEN
– CLOSE
– OPENI
– CLOSEI
– RESET
Figure 7-33 Selecting AS Language TWAIT Program Instruction
7-36
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
5.
With the AS Language program instruction entered, press the O. WRITE/RECORD
key, on the teach pendant keypad. The instruction entered in the instruction window
is recorded as the first line in the program, as shown in figure 7-34.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
JOINT
9
1 0 1
0
[
1
TWAIT 1
AS Language Teach.
Instruction:
WX
][
Comment
]
Signal / Waiting Instruction
TWAIT
Pose
– SIGNAL
– PULSE
– BITS
– SWAIT
– TWAIT
OX
Real
Program
– OPEN
– CLOSE
– OPENI
– CLOSEI
– RESET
Figure 7-34 Recording AS Language TWAIT Program Instruction
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.7 PROGRAM EDIT SCREEN
The following sections describe the program edit screen functions and procedures.
7.7.1 ACCESSING THE PROGRAM EDIT SCREEN
With the teach screen displayed, press the J/E/I key to access the drop-down menu.
From the drop-down menu, select “Program Edit” (Figure 7-35). The program select
screen is displayed. Use the procedure in section 7.2.3 to select the program to edit.
When the program is selected the program edit screen is displayed (Figure 7-36).
Intp Spd Acc Tmr Tol Wrk Clamp J/E
JOINT
9
1 0 1 0
[
OX
Joint Monitor - Pose info.
X
Y
(mm)
(mm)
0.000
JT 1
0.000
60.000
JT 2
0.000
Z
(mm)
1350.000
JT 3
0.000
WX
Comment
][
Block Teach
AS Language Teach
Pose Teach
Program edit
O
(DEG.)
0.000
JT 4
0.000
]
A
(DEG.)
0.000
T
(DEG.)
0.000
JT 5
JT 6
0.000
0.000
Figure 7-35 Teach Screen Drop-Down Menu
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 LINEAR 8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
][
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
5 JOINT
9
1 0 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF]
Mode
Step
Program
Comment
] Home
]
]
]
] Wait
]
Write
End
Sets interpolation mode.
Figure 7-36 Program Edit Screen
7-38
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
NOTE
The program edit screen cannot be accessed from:
• Any auxiliary function data entry screen.
• An error, warning, confirmation, or inquiry screen.
• An OX/WX signal setting screen.
7.7.2 ITEM EDIT MODE DROP-DOWN MENU
The edit screen drop-down menu is used to select program editing modes.
With the edit screen displayed, press the MENU key (on the teach pendant keypad) or
the left side of the edit screen to display the drop-down menu (Figure 7-37). Use the
cursor keys to highlight an item and press the SELECT key. All menu items may not be
available in some edit modes. When a menu item is selected the appropriate screen is
displayed.
PROGRAM
EDIT : pg70
(Item Editing Mode)
Switch
Item/Step
Intp
Spd
Acc
Tmr
Tol
Wrk
Clamp
J/E
OX
WX
Select step
1 JOINT
1 0 1 0
[1,2
][
Specify
range.9
2 LINEAR 8
2 0 1 0
[3
] [1,2
Clear
specified9 ran1ge 0 1 0
3 JOINT
[
][
Select
program
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
5 JOINT
1 0 1 0
[2,3
] [1
Write
data 9
6 LINEAR 8
2 0 1 0
[
][
Exit
[EOF]
Mode
Step
Program
Write
Comment
] Home
]
]
]
] Wait
]
End
Sets interpolation mode.
Figure 7-37 Program Edit Screen Item Edit Drop-Down Menu
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.7.3 EDIT SCREEN MODES
The edit screen has two modes: item editing and step editing.
The item editing mode allows the operator to change auxiliary data, signal data, clamp
data, and robot positional data (section 7.7.3.1).
The step editing mode allows the operator to edit steps within the program, e.g., cut,
copy, paste, insert/overwrite, and delete (section 7.7.3.2).
Press the J/E/I key (on the teach pendant keypad), Mode function key (on the touch
screen) (Figure 7-37), or select the “Switch Item/Step” from the item edit menu (Figure
7-37) to change edit screen modes. The modes increment as shown below.
Item editingÖStep editingÖItem editing
To use edit mode screen function keys, press the A + MENU keys and use the cursor
keys to highlight the appropriate function key and press the SELECT key.
If the program is on the stack (program name is displayed in the program/comment area)
some edit functions are not available.
The selected mode is displayed in the center of the edit screen (B area) window (Figure
7-38).
7.7.3.1 ITEM EDITING MODE
The item editing mode screen allows the operator to change auxiliary data, signal data
(Figure 7-38), clamp data (Figure 7-39), and robot positional data (Figure 7-40). The
cursor keys are used to select items to edit. Access the item editing mode as described
in sections 7.7.1 through 7.7.3.
7-40
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
Table 7-2 describes the item edit screen menu (Figure 7-37) and function key functions
(Figure 7-38).
Table 7-2 Item Edit Screen Menu Items Functions
Menu Item
Function Key
Function
Switch item/step
Mode
Toggles between item editing mode and step editing mode.
Select step
Step
Used to select the step or first step to edit.
Specify range
Used to select multiple steps to edit.
Clear specify range
Used to clear specified steps to edit.
Select program
Program
Selects a program to edit.
Write data
Write
Writes the edited program contents (saves the edited program
by overwriting the previous program data).
Exit
End
Ends the edit session.
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 LINEAR 8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
][
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
5 JOINT
9
1 0 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF]
Mode
Step
Program
Comment
] Home
]
]
]
] Wait
]
Write
End
Sets interpolation mode.
Figure 7-38 Item Edit Mode Screen
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
PROGRAM EDIT
: pg70
Clamp
1 1(OFF, 0, 0,O) 2(OFF,
2 1(OFF, 0, 0,O) 2(ON ,
3 1(OFF, 0, 0,O) 2(OFF,
4 1(OFF, 0, 0,O) 2(ON ,
5 1(OFF, 0, 0,O) 2(OFF,
6 1(OFF, 0, 0,O) 2(OFF,
[EOF]
Mode
(Item Editing Mode)
0, 0,O)
0, 0,O)
0, 0,O)
0, 0,O)
0, 0,O)
0, 0,O)
3(OFF,
3(OFF,
3(OFF,
3(OFF,
3(OFF,
3(OFF,
Step
0, 0,O) 4(OFF,
0, 0,O) 4(OFF,
0, 0,O) 4(OFF,
0, 0,O) 4(OFF,
0, 0,O) 4(OFF,
0, 0,O) 4(OFF,
Program
0, 0,O)
0, 0,O)
0, 0,O)
0, 0,O)
0, 0,O)
0, 0,O)
Write
End
Enables/Disables clamp1 signal
Figure 7-39 Clamp Data Edit Screen
NOTE
Four clamps are displayed on clamp data edit screen 1.
If more clamps are used, clamps five through eight are
displayed on an additional clamp data edit screen.
Six axes are displayed on the joint edit screen. If additional axes are installed, axes seven through twelve are
displayed on joint edit screen 2, and axes thirteen to
eighteen are displayed on joint edit screen 3.
7-42
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
PROGRAM EDIT : pg70
(Item Editing Mode)
JT 1 (DEG.) JT 2 (DEG.) JT 3 (DEG.) JT 4 (DEG.) JT 5 (DEG.) JT 6 (DEG.)
1
63.425
29.580
-9.462
-21.530
6.902
-40.625
2
0.000
0.000
0.000
0.000
0.000
-75.448
3
0.000
0.000
0.000
0.000
0.000
0.000
4
0.000
0.000
0.000
0.000
0.000
0.000
5
0.000
0.000
0.000
0.000
0.000
0.000
6
0.000
0.000
0.000
0.000
0.000
0.000
[EOF]
Mode
Step
Program
Write
End
Sets Joint 1 value
Figure 7-40 Joint (Positional Data) Edit Screen
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
Item Edit Procedure for a Single Step:
1.
Select the step to edit using the A + up and down cursor keys on the teach pendant
keypad.
Alternate methods for step selection are:
Use the cursor keys to highlight “Select Step” from the item edit drop-down menu,
enter the step number and press the SELECT key on the teach pendant keypad
(Figure 7-37).
Press the A + MENU keys, on the teach pendant keypad, to select the function keys
on the touch screen. Use the cursor keys, on the teach pendant keypad, to select
the “Step” function key or press the “Step” function key. When the input step number
screen is displayed (Figure 7-41), use the numeric keypad on the teach pendant to
enter the step number and press the ENTER key on the teach pendant keypad.
The example in figure 7-40 shows step 5 selected.
If the function keys are selected, press the A + MENU keys to release the cursor
from the function keys.
If a number larger than the number of steps in the program is entered, the cursor is
moved to end of file [EOF]. For information on the end of file mode refer to section
7.7.3.3.
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 LINEAR 8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
][
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
5 LINEAR 9
1 0 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF]
Comment
] Home
]
]
]
] Wait
]
Input step number.
5
Figure 7-41 Step Number Entry Screen
7-44
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
2.
Use the right and left cursor keys to select the item to edit in the selected step. The
example in figure 7-42 shows timer selected. Use the S + right cursor keys to access the clamp data screen(s) and joint (positional data) edit screen(s) (figure 7-39
and 7-40). Use the POS/MOD key to access the joint (positional data) edit
screen(s) from the auxiliary data screen (Figure 7-42).
3.
Use the up and down cursor keys or the numeric keypad on the teach pendant to
edit the selected item.
NOTE
The joint screen data (positional data) cannot be edited
if the program is on the stack (program name is displayed in the program/comment area).
To remove the program from the stack, use the procedure described in section 5.3.3.9.
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 LINEAR 8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
][
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
5 LINEAR 9
1 0 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF]
Mode
Step
Program
Write
Comment
] Home
]
]
]
] Wait
]
End
Sets timer.
Figure 7-42 Item Edit Screen, Timer Selected
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
4.
Press RECORD (on the teach pendant keypad). Select write (touch screen function
key), or write data (item edit drop-down menu), to save the program edits when
editing is completed. The confirmation screen is displayed as shown in figure 7-43.
Select “Yes” to compete the edit process and press “Close” on the writing completion
screen to return to the editing mode screen. Select “No” to return to the editing
mode screen without saving the edits.
After a program is edited, “ Changed” is displayed in the upper right of the screen. The
same procedure can be used to edit additional programs. If no further editing is to be
done, select “End” or “Exit”. If no changes were made, the screen closes. If changes
were made, the confirmation screen shown in figure 7-44 is displayed.
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 LINEAR 8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
][
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
5 LINEAR 9
1 1 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF] Confirm
Write edited contents, OK ?
Yes
Mode
Step
Changed
Comment
] Home
]
]
]
] Wait
]
No
Program
Write
End
Sets timer.
Figure 7-43 Item Edit Mode Exit Screen
7-46
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 LINEAR 8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
][
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
5 LINEAR 9
1 1 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF] Confirm
Write edited contents, OK ?
Yes
Mode
Step
No
Changed
Comment
] Home
]
]
]
] Wait
]
Cancel
Program
Write
End
Sets timer.
Figure 7-44 Exit Confirmation Screen
Select “Yes” to save the program edits and exit the program edit screen. Select “No” to
exit the program edit screen without saving the program edits. Select Cancel to return to
the previous screen.
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
Item Edit Procedure for Multiple Steps:
In the example described below the interpolation for steps 2 to 5 is edited. If pose (location) data is edited the program cannot be on the stack (program name displayed in the
program/comment area).
1.
Select the first (reference) step to edit using the A + up and down cursor keys on the
teach pendant keypad. In this example step 2 is selected.
Alternate methods for step selection are:
Use the cursor keys to highlight “Select Step” from the item edit drop-down menu
(Figure 7-37), enter the step number and press the SELECT key on the teach pendant keypad.
Press the A + MENU keys on the teach pendant keypad to select the function keys
on the touch screen. Use the cursor keys on the teach pendant keypad to select
the “Step” function key or press the “Step” function key (on the edit screen). When
the input step number screen is displayed (Figure 7-41), use the numeric keypad on
the teach pendant to enter the step number and press the ENTER key, on the teach
pendant keypad.
The example in figure 7-45 shows step 2 selected as the first (reference) step.
If the function keys are selected press the A + MENU keys to release the cursor
from the function keys.
2.
From the item edit drop-down menu (Figure 7-37) select “Specify range”. When
specify range is selected step 2 is highlighted in purple (Figure 7-38).
3.
Use the A + up and down cursor keys to specify (select) the steps to edit. The
example in figure 7-46 shows the start (reference) step 2 and the range of steps 2 to
5 selected. The selected steps are highlighted in purple.
The A + up cursor keys are used to select steps to edit before the start (reference)
step. The A + down cursor keys are used to select steps to edit after the start (reference) step.
The alternate step selection methods described in step 1 can be used to select the
range of steps to edit. In the example shown in figure 7-46, step 5 is selected.
To release the specified range of steps, select “Clear specified range” from the item
edit drop-down menu (Figure 7-37).
7-48
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 LINEAR 8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
][
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
5 LINEAR 9
1 0 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF]
Mode
Step
Select steps.
Program
Comment
] Home
]
]
]
] Wait
]
Write
Now selected
End
2–
Figure 7-45 Item Edit First Step
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 LINEAR 8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
][
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
5 LINEAR 9
1 0 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF]
Mode
Select steps.
Step
Program
Now selected
Comment
] Home
]
]
]
] Wait
]
Write
End
2–
5
Figure 7-46 Item Edit Range of Steps
4.
Use the cursor keys to select the auxiliary data to edit. In the example in figure 7-46
interpolation is selected. The interpolation is changed from “LINEAR” (Figure 7-46)
to “JOINT” as shown in figure 7-47.
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 LINEAR 8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
][
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
5 JOINT
9
1 0 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF]
Mode
Step
Program
Select steps.
Changed
Comment
] Home
]
]
]
] Wait
]
Write
Now selected
End
2–
5
Figure 7-47 Item Edit Range of Steps, Interpolation Edit
5.
When editing is completed, press the ENTER key on the teach pendant keypad.
When the ENTER key is pressed the confirmation screen shown in figure 7-48 is
displayed.
6.
Select “Yes” to complete the edit process or select “No” (Figure 7-48) to return to the
item edit mode screen.
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 LINEAR 8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
][
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
5 JOINT
9
1 0 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF]
Confirm
Changed
Comment
] Home
]
]
]
] Wait
]
Write selected data in specified step range, OK ?
No
Yes
Mode
Select steps.
Step
Program
Now selected
Write
End
2–
5
Figure 7-48 Multiple Step Edit Confirmation Screen
7-50
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.
If “Yes” is selected the interpolation for the selected steps in this example are
changed to “JOINT” as shown in figure 7-49.
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 JOINT
8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
][
4 JOINT
7
3 0 1 0 2
[1,2,3
] [1,2
5 JOINT
9
1 0 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF]
Mode
Step
Program
Write
Changed
Comment
] Home
]
]
]
] Wait
]
End
Sets interpolation mode.
Figure 7-49 Multiple Step Edit Example Results
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.7.3.2 STEP EDITING MODE
The step editing mode allows the operator to edit steps within the program, e.g., cut,
copy, paste, insert/overwrite, and delete.
Table 7-3 describes the step edit screen menu and function key functions.
1.
To change modes to the step editing mode, press the J/E/I key (on the teach pendant keypad), Mode function key (on the edit screen), or select the Switch Item/Step
menu item (from the item edit drop-down menu) (Figure 7-37).
The selected mode is displayed in the center of the edit screen window (Figure 750).
PROGRAM EDIT : pg70
(Step Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
1 JOINT
9
1 0 1 0
[1,2
2 LINEAR 8
2 0 1 0 2
[3
3 JOINT
9
1 0 1 0
[
4 CIR1
7
3 0 1 0 2
[1,2,3
5 LINEAR 9
1 0 1 0
[2,3
6 LINEAR 8
2 0 1 0
[
[EOF]
Mode
Step
Ins/Ovwrt
Copy
Paste
Insert
WX
][
] [1,2
][
] [1,2
] [1
][
Comment
] Home
]
]
]
] Wait
]
Cut
Delete
Select step.
Figure 7-50 Step Edit Mode Screen
7-52
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
2.
With the edit screen displayed, press the MENU key or the left side of the edit
screen to display the drop-down menu (Figure 7-51).
3.
Use the cursor keys to highlight an item and press the SELECT key. All menu items
may not be available in some edit modes. When a menu item is selected the appropriate screen is displayed.
PROGRAM EDIT : pg70
(Item Editing Mode)
Insert
Switch
IntpItem/Step
Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
Select
step 9
1 JOINT
1 0 1 0
[1,2
][
Insert
/ Overwrite
2 LINEAR
8
2 0 1 0
[3
] [1,2
Specify
range.9
3 JOINT
1 0 1 0
[
][
Clear
specified
ran
e
g
4 CIR1
7
3 0 1 0 2
[1,2,3
] [1,2
Copy
5 JOINT
9
1 0 1 0
[2,3
] [1
Cut
6 LINEAR 8
2 0 1 0
[
][
Delete
[EOF] step
Paste
Paste reversely
Clear copied data
Record with AS command
Record with block command
Select program
Write data
Exit
Mode
Step
Ins/Ovwrt
Copy
Paste
Cut
Comment
] Home
]
]
]
] Wait
]
Delete
Select step.
Figure 7-51 Step Edit Mode Drop-Down Menu
Table 7-3 describes the step edit screen menu and function key functions.
August 9, 2007
7-53
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
Table 7-3 Step Edit Screen Menu Items Functions
Menu Item
Function Key
Function
Switch item/step
Mode
Toggles between item editing mode and step editing mode.
Select step
Step
Used to select the step or first step to edit.
Inser t/overwrite
Ins/Ovwr t
Selects inser t or overwrite for pasting steps.
Specify range
Used to select multiple steps to edit.
Clear specify range
Used to clear specified steps to edit.
Copy
Copy
Used to copy the selected steps. Used with Paste.
Cut
Cut
Deletes the selected steps and places them in memory. Used
with paste.
Delete step
Delete
Deletes the selected steps.
Paste
Paste
Pastes steps or data copied using Copy or Cut. The steps or
data can be inser ted or overwrite existing steps or data.
Paste reversely
Used to paste steps in the reverse order of which they were
copied. Available only if more than one step is copied.
Clear copied data
Clears all copied data. Paste is not available after copied data
is cleared.
Record with AS
command
Allows AS Language programming.
Record with block
command
Use to inser t before the selected step or overwrite block
teaching instructions to the selected step.
Select program
Program
Selects a program to edit.
Write data
Write
Writes the edited program contents (saves the edited program
by overwriting the previous program data).
Exit
End
Ends the edit session.
7-54
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
Step Edit Procedure for Cut/Copy and Paste for a Single Step:
1.
Select the step to cut/copy using the A + up and down cursor keys on the teach
pendant keypad.
Alternate methods for step selection are:
Use the cursor keys to highlight Select Step from the step edit drop-down menu
(Figure 7-50), enter the step number and press the SELECT key on the teach pendant keypad.
Press the A + MENU keys on the teach pendant keypad to select the function keys
on the touch screen. Use the cursor keys on the teach pendant keypad to select
the Step function key or press the Step function key (on the edit screen). When the
input step number screen is displayed (Figure 7-41), use the numeric keypad on the
teach pendant to enter the step number and press the ENTER key, on the teach
pendant keypad.
If the function keys are selected, press the A + MENU keys to release the cursor
from the function keys.
If a number larger than the number of steps in the program is entered, the cursor is
moved to end of file [EOF].
2.
Select Cut or Copy from the step edit drop-down menu or press the Cut or Copy
function key on the touch screen (Figure 7-51). If cut is selected, the step is deleted
and copied to the buffer memory. If copy is selected, the step remains in the current
location and is copied to the buffer memory.
3.
Press the INS key, on the teach pendant keypad, Ins/Ovwrt function key, on the
touch screen, or select Insert/Overwrite from the step edit drop-down menu to
toggle between the insert and overwrite modes as needed.
Insert or overwrite is displayed on the right in the step edit screen (B area) window.
4.
Select the destination step using the A + up and down cursor keys on the teach
pendant keypad or the alternate methods described in step 1.
5.
Press the Paste function key, on the touch screen or select Paste from the step edit
drop-down menu (Figure 7-51).
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
Step Edit Procedure for Cut/Copy and Paste for Multiple Steps:
1.
Select the start (reference) step to cut/copy using the A + up and down cursor keys
on the teach pendant keypad.
Alternate methods for step selection are:
Use the cursor keys to highlight Select Step from the step edit drop-down menu
(Figure 7-50), enter the step number and press the SELECT key, on the teach
pendant keypad.
Press the A + MENU keys on the teach pendant keypad to select the function keys
on the touch screen. Use the cursor keys on the teach pendant keypad to select
the Step function key or press the Step function key (on the edit screen). When the
input step number screen is displayed (Figure 7-41), use the numeric keypad on the
teach pendant to enter the step number and press the ENTER key, on the teach
pendant keypad.
If the function keys are selected, press the A + MENU keys to release the cursor
from the function keys.
If a number larger than the number of steps in the program is entered, the cursor is
moved to end of file [EOF].
2.
From the step edit drop-down menu select Specify range. When specify range is
selected step 2 is highlighted in purple.
3.
Use the A + up and down cursor keys to specify (select) the steps to cut/copy. The
example in figure 7-52 shows the start (reference) step 2 and the range of steps 2 to
5 selected. The selected steps are highlighted in purple.
The A + up cursor keys are used to select steps before the start (reference) step.
The A + down cursor keys are used to select steps after the start (reference) step.
The alternate step selection methods described in step 1 can be used to select the
range of steps to cut/copy. In the example shown in figure 7-52, step 5 is selected.
To release the specified range of steps, select Clear specified range from the step
edit drop-down menu (Figure 7-51).
7-56
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
1 JOINT
9
1 0 1 0
[1,2
2 LINEAR 8
2 0 1 0 2
[3
3 JOINT
9
1 0 1 0
[
4 CIR1
7
3 0 1 0 2
[1,2,3
5 LINEAR 9
1 0 1 0
[2,3
6 LINEAR 8
2 0 1 0
[
[EOF]
Mode
Step
Select steps.
Ins/Ovwrt
Copy
Now selected
Paste
Insert
WX
][
] [1,2
][
] [1,2
][
][
Comment
] Home
]
]
]
] Wait
]
Cut
2-
Delete
5
Figure 7-52 Step Edit Range of Steps
4.
Select Cut or Copy from the step edit drop-down menu or press the Cut or Copy
function key, on the touch screen (Figure 7-51). If cut is selected the steps are
deleted and copied to the buffer memory. If copy is selected the steps remain in the
current location and are copied to the buffer memory.
5.
To toggle between the insert and overwrite modes press the INS key, on the teach
pendant keypad, the Ins/Ovwrt function key, on the touch screen, or select “Insert/
Overwrite” from the step edit drop-down menu.
Insert or overwrite is displayed on the right in the step edit screen (B area) window.
6.
Select the destination step using the A + up and down cursor keys on the teach
pendant keypad or the alternate methods described in step 1. In the example
shown in figure 7-53, step 6 is selected.
7.
Press the “Paste” function key, on the touch screen or select Paste from the step
edit drop-down menu (Figure 7-51).
In the example in figure 7-53, insert mode is used to insert the copied steps before
step 6. The copied steps are inserted between steps 5 and 6, as steps 6 to 9, and
the original step 6 becomes step 10.
If overwrite mode is used step 6 is replaced with the first of the copied steps and the
copied steps are added to the end of the program. The result is a program with nine
steps (in this example).
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
PROGRAM EDIT : pg70
(Step Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
1 JOINT
9
1 0 1 0
[1,2
2 LINEAR 8
2 0 1 0 2
[3
3 JOINT
9
1 0 1 0
[
4 CIR1
7
3 0 1 0 2
[1,2,3
5 LINEAR 9
1 0 1 0
[2,3
6 LINEAR 8
2 0 1 0 2
[3
7 JOINT
9
1 0 1 0
[
8 CIR1
7
3 0 1 0 2
[1,2,3
9 LINEAR 9
1 0 1 0
[2,3
10 LINEAR 8
2 0 1 0
[
[EOF]
Mode
Step
Ins/Ovwrt
Copy
Insert
WX
][
] [1,2
][
] [1,2
] [1
] [1,2
][
] [1,2
] [1
][
Paste
Cut
Changed
Comment
] Home
]
]
]
] Wait
]
]
]
] Wait
]
Delete
Select step.
Figure 7-53 Cut/Copy and Paste Example
8.
If Paste reversely is selected from the step edit drop-down menu (Figure 7-51), the
steps are pasted in reverse order of which the steps are copied, as shown in figure
7-54.
PROGRAM EDIT : pg70
(Step Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
1 JOINT
9
1 0 1 0
[1,2
2 LINEAR 8
2 0 1 0 2
[3
3 JOINT
9
1 0 1 0
[
4 CIR1
7
3 0 1 0 2
[1,2,3
5 LINEAR 9
1 0 1 0
[2,3
6 LINEAR 9
1 0 1 0
[2,3
7 CIR1
7
3 0 1 0 2
[1,2,3
8 JOINT
9
1 0 1 0
[
9 LINEAR 8
2 0 1 0 2
[3
10 LINEAR 8
2 0 1 0
[
[EOF]
Mode
Step
Ins/Ovwrt
Copy
Paste
Insert
WX
][
] [1,2
][
] [1,2
] [1
] [1
] [1,2
][
] [1,2
][
Cut
Changed
Comment
] Home
]
]
]
] Wait
] Wait
]
]
]
]
Delete
Select step.
Figure 7-54 Cut/Copy and Paste Reversely Example
7-58
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
Step Edit Procedure to Delete a Single Step or Multiple Steps:
1.
For a single step, use the Cut/Copy and Paste for a Single Step procedure, step 1,
to select the step to delete.
For multiple steps, use the Cut/Copy and Paste for Multiple Steps procedure, steps
1 though 3, to select the steps to delete.
2.
Press the DEL key (on the teach pendant keypad) Delete function key (on the touch
screen) or select Delete step from the step edit screen drop-down menu.
The data is deleted without a confirmation screen and is not stored in the paste
buffer.
Step Edit Procedure to Replace Program Steps:
1.
Use the Cut/Copy and Paste for Multiple Steps procedure, steps 1 through 4, to
copy the replacement steps into the buffer memory.
The step replacement procedure cannot be used for a single step.
2.
Use the Cut/Copy and Paste for Multiple Steps procedure, steps 1 through 3, to
select the steps to replace.
3.
Press the Paste function key (on the touch screen) or select Paste from the step edit
drop-down menu.
The selected steps are deleted and replaced with the steps copied step 1.
The copied data remains in the buffer memory.
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.7.3.3 END OF FILE MODE
If end of file [EOF] is selected in the item editing mode the following functions are available (Figure 7-55):
•
Block Inst.: Adds a step after the last program step. Default auxiliary data and
current robot positional data are used.
•
Step:
Used to select a step in the displayed program.
•
Paste:
Adds copied step(s) after the last step.
•
Paste rev.: Adds copied steps after the last step in reverse order of which they were
copied.
•
Program:
Displays the program select screen.
•
Write:
Saves the edited program data.
•
End:
Exits the program edit screen.
PROGRAM EDIT : pg70
(Item Editing Mode)
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 JOINT
9
1 0 1 0
[1,2
][
2 JOINT
8
2 0 1 0 2
[3
] [1,2
3 JOINT
9
1 0 1 0
[
] [2
4 JOINT
7
3 0 1 0 2
[1,2,3
] [1,2
5 JOINT
9
1 0 1 0
[2,3
] [1
6 LINEAR 8
2 0 1 0
[
][
[EOF]
Block inst.
Step
Paste
Paste rev.
Program
Write
Changed
Comment
] Home
]
]
]
] Wait
]
End
Cursor is on EOF.
Figure 7-55 EOF Screen
7-60
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
RECORDING AND EDITING PROGRAMS
7.7.3.4 USING ITEM EDIT AND STEP EDIT FOR ON-LINE EDITING
When the program edit modes are used for the currently running program, editing in the
joint (positional data) screen is not allowed. To save changes in pose (positional) data
use the “Save as” function key displayed in the program edit confirmation screen to store
the changes under a different program name (Figure 7-56).
PROGRAM EDIT : pg71
(Step Editing Mode)
Insert
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
WX
1 LINEAR 9
1 0 1 0
[
][
]
2 LINEAR 9
1 0 1 0
[
][
]
3 JOINT
9
1 0 1 0
[
][
]
4 JOINT
9
1 0 1 0
[
][
]
5 JOINT
9
1 0 1 0
[
][
]
6 JOINT
9
1 0 1 0
[
][
]
7 JOINT
9
1 0 1 0
[
][
]
8 JOINTConfirm
[EOF] Cannot write pose data in running program, select <Save as.>
to save the edited pose data.
Cancel
Save as.
Mode
Step
Changed
Comment
Ins/Ovwrt
Copy
Paste
Cut
Delete
Select step.
Figure 7-56 Program Edit Positional Data Save Confirmation Screen
7.8 PROGRAM EDIT SCREEN
The program edit screen functions in the same manner as editing from the teach screen,
except the program edit screen allows editing interpolation of a program that is not
currently on the stack while the robot is in cycle.
To access the program edit screen, with the teach screen displayed, press the J/E/I key
and select Program Edit from the drop-down menu.
!
CAUTION
When interpolation is changed in a non-running program while the robot is in cycle, the updated programmed path should be verified in teach mode before
running in repeat. Care must be taken to ensure the robot or peripheral equipment is not damaged.
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
PROGRAM EXECUTION
8.0
8.1
8.1.1
8.1.2
8.2
8.2.1
8.2.1.1
8.2.1.2
8.2.1.3
8.2.1.4
8.2.1.5
8.2.1.6
8.2.1.7
8.2.1.8
8.3
8.4
8.4.1
8.4.2
8.4.2.1
8.4.2.2
8.4.2.3
8.4.2.4
8.4.2.5
8.4.2.6
8.4.2.7
8.4.2.8
8.4.2.9
8.4.2.10
8.4.2.11
8.4.2.12
8.4.2.13
8.4.2.14
8.4.2.15
8.4.2.16
8.4.2.17
8.5
8.6
8.7
8.7.1
8.7.2
PROGRAM EXECUTION ............................................................................. 8-2
Program Selection ........................................................................................ 8-2
Selecting a Program with a “pg” Prefix ........................................................ 8-4
Selecting a Program with an Alphanumeric Name ....................................... 8-5
Repeat Conditions Drop-Down Menu ........................................................... 8-7
Repeat Conditions Menu Items .................................................................... 8-7
Repeat Conditions, Specify .......................................................................... 8-7
Repeat Conditions, + 10%............................................................................ 8-7
Repeat Conditions, - 10% ............................................................................ 8-8
Repeat Conditions, Repeat Continuous/Once .............................................. 8-8
Repeat Conditions, Step Continuous/Once .................................................. 8-8
Repeat Conditions, RPS ON/OFF ................................................................ 8-8
Repeat Conditions, Dry Run ON/OFF .......................................................... 8-9
Manual Weld Mode ....................................................................................... 8-9
Running a Program .................................................................................... 8-10
Monitoring the Program .............................................................................. 8-11
Program List Screens ................................................................................. 8-12
Monitor Screens ......................................................................................... 8-15
Joint Monitor Menu ..................................................................................... 8-16
Joint Monitor, Pose Information (Positional Data) ....................................... 8-17
Joint Monitor, Command Value (Positional Command) .............................. 8-17
Joint Monitor, Current Value (Current Positional Data) ............................... 8-18
Joint Monitor, Encoder Value (Encoder Positional Data) ............................ 8-18
Joint Monitor, Deviation Value (Positional Data Deviation) ......................... 8-19
Joint Monitor, Joint Speed .......................................................................... 8-19
Joint Monitor, Motor Speed ........................................................................ 8-20
Joint Monitor, F/B Current Value (Motor Current) ....................................... 8-20
Signal Monitor Menu .................................................................................. 8-21
Signal Monitor, Signal Name ...................................................................... 8-21
Signal Monitor, Signal Index ....................................................................... 8-23
Program Info. (Information) ......................................................................... 8-25
Program Information, Step Information Auxiliary Data ............................... 8-25
Program Information, Step Information Clamp Data .................................. 8-26
Program Information, PC Program Information .......................................... 8-26
Weld Cont. Monitor ..................................................................................... 8-27
Stopping a Running Program ..................................................................... 8-28
Slow Repeat Mode ..................................................................................... 8-29
Wait Override ............................................................................................. 8-30
Block Step Program Wait Override ............................................................. 8-30
AS Language Program Wait Override ........................................................ 8-32
January 13, 2005
8-1
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
PROGRAM EXECUTION
8.0 PROGRAM EXECUTION
This unit provides information on how to select, run, monitor, and stop programs. Setting
repeat conditions and slow repeat speed, and how to override wait signals are also
covered.
!
WARNING
Before program execution, ensure that all personnel are
outside the safety fencing system and clear of robot operations. Ensure that the robot work space is properly
configured to execute the program selected.
8.1 PROGRAM SELECTION
To select a program, ensure control power is ON, the HOLD/RUN switch is in the HOLD
position, and the controller is in the REPEAT mode of operation, reference unit 4, Power
On/Off Procedures.
Access the PROGRAM/COMMENT drop-down menu by pressing the program/comment
area on the screen. Using the S + PROG/STEP key combination on the teach pendant
keypad, also selects the program/comment drop-down menu (Figure 8-1).
8-2
April 3, 2003
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Kawasak
PROGRAM EXECUTION
Program/Comment Drop-down Menu
Program
pg5
[
Step
[Comment ]
]
[
1
]
S + PROG/STEP Key Combination
PC
1 pcprg1
MENU
Specify pg
Select
Delete
IntpComment
Spd Acc Tmr Tol Wrk Clamp J/E
Input
JOINT
9
1 0 1 0
Display contents
1 JOINT
9
1 0 1 0
2Copy
LINEAR 7
3 1 1 0
Rename
3 JOINT
9
2 0 1 0 1
register
4Cancel
LINEAR
5
1 2 1 0
5 JOINT
7
4 0 1 0 2
6 JOINT
8
1 3 1 0
7 JOINT
9
1 0 1 0
CHECK INTERP
TEACH
SPEED
PROG
STEP
CANCEL
A
EXT AXIS
(Robot)
SELECT
S
GO
CHECK
S
BACK
JOG CONT
INS
CL1
CL2
CLn
ACC
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
+
–
2
Y
+
–
3
Z
+
–
4
rx
+
–
5
ry
+
–
6
rz
+
–
7
CC
4 A 5 B 6 C CLEAR
ON
OFF CLAUX
1
2
,
-
J/E
0
.
I
3
1
X
DEL
O. WRITE
POS
AUX
MOD REC MOD
SPD
–
WRK
C
+
6037-1200
Figure 8-1 Program/Comment Drop-Down Menu
January 13, 2005
8-3
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
Kawasak
PROGRAM EXECUTION
8.1.1 SELECTING A PROGRAM WITH A “PG” PREFIX
To select a program with a “pg” prefix, use the numeric keys on the teach pendant alphanumeric keypad to enter the program number and press the enter key (Figure 8-2).
To select a program with an alphanumeric (other than a “pg” prefix) refer to section 8.1.2.
Alphanumeric Keypad
SPD
ACC
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
4
rx
+
–
5
ry
+
–
6
rz
+
–
7
CC
4 A 5 B 6 C CLEAR
ON
OFF CLAUX
1
2
,
-
J/E
0
.
I
3
–
WRK
C
+
6037-1200
Enter Key
Figure 8-2 Program Number Select
NOTE
Many operators utilize a “mainline” program to select all
robot control programs. Mainline programs are normally
named ”pg00”. If your robot is integrated into a system
that is designed to operate with a mainline program, it is
important that the mainline program is selected to start
production. If an individual program is selected and run
independent of the mainline program, the required operations of the mainline program are not processed.
8-4
March 15, 2004
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
Kawasak
PROGRAM EXECUTION
8.1.2 SELECTING A PROGRAM WITH AN ALPHANUMERIC NAME
To select a program with an alphanumeric name, use the cursor keys to highlight select
on the drop-down menu, and press the SELECT key to display the program select
screen.
Use the cursor keys to highlight “pg??” and enter the program number (from the teach
pendant alphanumeric keypad) or use the cursor keys to highlight the program name on
the program list screen and press the SELECT key (Figure 8-3).
The Input char key is selected to access the keyboard screen (Figure 8-4) to enter an
existing or a new program number (name). With the program number (name) entered on
the keyboard screen, press the ENTER key on the keyboard screen or the teach pendant keypad.
SELECT
Select
pg ??
pcprg1
pcprg2
pcprg3
pg1
pg2
pg3
pg5
pg50
pg51
pg52
1/2
Input char
[
[
[
[
[wx
[ox
[
[
[
[
Next Page
] pg53
] pg54
] pg55
] pg56
] pg57
] pg58
] pg59
] pg6
] pg90
] pg95
[
[
[
[
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
]
pg
Figure 8-3 Program Select Screen
April 3, 2003
8-5
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D SERIES CONTROLLER
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Kawasak
PROGRAM EXECUTION
Keyboard
$
”
!
q
w
a
s
z
x
[{
]}
SHIFT
#
e
d
c
$
r
f
v
%
t
g
b
&
y
h
n
SPACE
’
u
j
m
(
i
k
,<
)
o
l
.>
NEXT
=
p
;+
/?
^’
7
~
@
4
:*
1
|¥
0
—
SHIFT
8
5
2
9
6
3
BS
CTRL+L
ENTER
Figure 8-4 Keyboard Screen
8-6
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PROGRAM EXECUTION
8.2 REPEAT CONDITIONS DROP-DOWN MENU
The repeat conditions drop-down menu is used to set operating conditions used during
repeat mode operation.
Press status area D, or the S key + the MENU key, on the teach pendant keypad to
display the repeat conditions drop-down menu (Figure 8-5). Use the cursor keys on the
teach pendant keypad to highlight the menu item and press the SELECT key.
02-08-20 09:40
Status
JOINT
T
C
R
90%
RPS
Specify
%
+ 10%
- 10%
Repeat Cont/Once
Step: Cont/Once
RPS ON/OFF
Dry Run ON/OFF
[
][
Manual Weld Mode
Comment
]
]
]
]
]
]
]
]
Figure 8-5 Repeat Conditions Drop-Down Menu
8.2.1 REPEAT CONDITIONS MENU ITEMS
8.2.1.1 REPEAT CONDITIONS, SPECIFY
This function is used to set repeat speed (monitor speed) by direct numeric input, using
the alphanumeric keypad on the teach pendant. The allowable range is 1–100 percent.
Values over 100 percent are available as a system option.
8.2.1.2 REPEAT CONDITIONS, + 10%
This function is used to increase repeat speed in 10 percent increments by pressing the
SELECT key. If repeat speed is not set to an even increment, for example 72 percent,
the first increase is to an even increment, in this case 80 percent. After the first increase
sets the speed to a even increment, following increases are in 10 percent increments.
The maximum setting value is 100 percent (without available option).
At the 100 percent setting the display changes to white numbers with a red background.
January 13, 2005
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
PROGRAM EXECUTION
8.2.1.3 REPEAT CONDITIONS, - 10%
This function is used to decrease repeat speed in 10 percent increments by pressing the
SELECT key. If repeat speed is not set to an even increment, for example 72 percent,
the first decrease is to an even increment, in this case 60 percent. After the first decrease sets the speed to a even increment, following decreases are in 10 percent increments.
The minimum setting value is 10 percent (using this function).
At settings below 100 percent the display changes to red numbers with a blue background.
8.2.1.4 REPEAT CONDITIONS, REPEAT CONTINUOUS/ONCE
This function is used to set program operation to continuous or once. Press the SELECT key on the teach pendant keypad to toggle the setting between continuous and
once. Press the enter key on the teach pendant keypad to complete the setting.
When continuous is selected the program is run continuously. When once is selected
the program runs once and stops after the last step is executed.
8.2.1.5 REPEAT CONDITIONS, STEP CONTINUOUS/ONCE
This function is used to set program operation to execute program steps continuously or
one step at a time. Press the SELECT key on the teach pendant keypad to toggle the
setting between continuous and once. Press the enter key on the teach pendant keypad
to complete the setting.
When step continuous is selected the program steps run continuously. When step once
is selected the CHECK GO key is used to step though the program one step at a time.
8.2.1.6 REPEAT CONDITIONS, RPS ON/OFF
This function is used to enable or disable the selection of programs based on external
input signals set in the RPS auxiliary function. The SELECT key is used to toggle RPS
ON and OFF.
For more information on RPS refer to unit 9, auxiliary function 0502.
8-8
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
PROGRAM EXECUTION
8.2.1.7 REPEAT CONDITIONS, DRY RUN ON/OFF
This function is used to enable or disable the dry run function. The dry run function
causes the robot program to run without robot motion. This function is used to check the
program contents or input and output signal operation without moving the robot. The
SELECT key is used to toggle dry run ON and OFF.
8.2.1.8 MANUAL WELD MODE
This function is used to initiate a manual weld (spot welding option). To access the
manual weld mode, the controller must be set for teach mode with motor power on.
Select manual weld mode from the repeat conditions drop-down menu. When manual
weld mode is selected, the manual weld icon is displayed in the status area of the teach
pendant screen. Pressing the A + CL1/CL2 key combination sends the weld initiate
signal to the weld controller.
January 13, 2005
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PROGRAM EXECUTION
8.3 RUNNING A PROGRAM
!
WARNING
It is important to realize that when CYCLE START is
pressed, the robot begins the program from its present
position and travels to the next taught position. The robot makes this move with total disregard for anything
that may be in its path.
1.
Select the program to run, using the method described in section 8.1.1 or 8.1.2.
2.
Set the repeat conditions as required to run the selected program, refer to sections
8.2.1.1 through 8.2.1.7.
3.
Place the RUN/HOLD switch in the HOLD position. This prevents unexpected external cycle start.
4.
Place the TEACH/REPEAT switch in the REPEAT position.
5.
Place the TEACH LOCK switch in the OFF position.
6.
Press the MOTOR POWER switch.
7.
Place the HOLD/RUN switch in the RUN position. The MOTOR POWER lamp
illuminates.
8.
Press the CYCLE START switch to execute the selected program.
Pressing the CYCLE START switch starts the program at whatever step is displayed on
the teach pendant and the robot moves to the next step in the program sequence. If the
program is required to start from a different step than the one currently displayed, the
step select function can be used to place the program at the desired step.
8-10
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PROGRAM EXECUTION
8.4 MONITORING THE PROGRAM
The operation screen displays updated information about the condition of the robot when
a program is running. Information about the speed, location, signal status, and program
progress are all displayed.
Figure 8-6 shows the operation screen and the information it provides for program monitoring.
Current Robot Program Step
Current PC Program
Current Robot Program
Date/Time
Program
pg5
[
Step
[Comment ]
]
[
1
]
02-08-20 08:51
Status
PC
1 pcprg1 T
C
R
90%
RPS
AUTO
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
JOINT
9
1 0 1 0
[
1 JOINT
9
1 0 1 0
[
2 LINEAR 7
3 1 1 0
[1
3 JOINT
9
2 0 1 0 1
[
4 LINEAR 5
1 2 1 0
[2,5
5 JOINT
7
4 0 1 0 2
[
6 JIONT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
][
][
][
] [2
][
][
] [3
][
Joint Monitor - Pose info.
(mm)
(mm)
X
Y
9371.099
JT 1
0.000
Z
(mm)
O
Repeat Condition Status,
System Status, and
Switch Status
JOINT
WX
(DEG.)
Comment
]
]
]
]
]
]
]
]
A
(DEG.)
Program List with
Current Step of the
Program Highlighted
(Step 1)
T
(DEG.)
795.000
375.000
90.000
90.000
-90.000
JT 2
JT 3
JT 4
JT 5
JT 6
0.000
0.000
0.000
0.000
Current Robot Position
0.000
Figure 8-6 Current Conditions
January 13, 2005
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PROGRAM EXECUTION
8.4.1 PROGRAM LIST SCREENS
To display the program list (display contents) screens, access the program/comment
drop-down menu by pressing the program/comment area on the screen. Using the S +
PROG/STEP key combination on the teach pendant keypad, also selects the program/
comment drop-down menu (Figure 8-7).
To select a program from the program select screen to display, use the cursor keys on
the teach pendant keypad to highlight Display contents on the drop-down menu, and
press the SELECT key.
Program
pg5
[
Step
[Comment ]
]
[
1
]
PC
1 pcprg1
Specify pg
Select
Delete
IntpComment
Spd Acc Tmr Tol Wrk Clamp J/E
Input
JOINT
9
1 0 1 0
Display contents
1 JOINT
9
1 0 1 0
2Copy
LINEAR 7
3 1 1 0
3Rename
JOINT
9
2 0 1 0 1
register
4Cancel
LINEAR
5
1 2 1 0
5 JOINT
7
4 0 1 0 2
6 JOINT
8
1 3 1 0
7 JOINT
9
1 0 1 0
Figure 8-7 Program/Comment Drop-Down Menu
8-12
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PROGRAM EXECUTION
Use the cursor keys to highlight “pg??” and enter the program number, from the teach
pendant Alphanumeric keypad, or use the cursor keys to highlight the program name on
the program list screen and press the SELECT key (Figure 8-8).
The Input char key is selected to access the keyboard screen (Figure 8-4) to enter an
existing program number (name). With the program number (name) entered on the
keyboard screen press the enter key on the keyboard screen or the teach pendant
keypad.
The contents of the selected program is displayed (Figure 8-9).
SELECT
Select
pg ??
pcprg1
pcprg2
pcprg3
pg1
pg2
pg3
pg5
pg50
pg51
pg52
1/2
Input char
[
[
[
[
[wx
[ox
[
[
[
[
Next Page
] pg53
] pg54
] pg55
] pg56
] pg57
] pg58
] pg59
] pg6
] pg90
] pg95
[
[
[
[
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
]
pg
Figure 8-8 Program Select Screen
January 13, 2005
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PROGRAM EXECUTION
Program display. - pg2
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
1 JOINT
9
1 0 1 0
[
2 JOINT
9
1 0 1 0
[
3 JOINT
9
1 0 1 0
[
4 JOINT
9
1 0 1 0
[
5 JOINT
9
1 0 1 0
[
6 JOINT
8
1 0 1 0
[
7 JOINT
9
1 0 1 0
[
8 JOINT
9
1 0 1 0
[
9 JOINT
9
1 0 1 0
[
10 JOINT
9
1 0 1 0
[
Next Page
Change
pg51
[
] pg53
pg52
[
] pg95
WX
][
][
][
][
][
][
] [1,6,10,*
][
][
][
[
[
Comment
]
]
]
]
]
]
]
]
]
]
Close
]
]
pg2
Figure 8-9 Program List (Display Contents) Screens
If more than one page is available, use the Next Page and Previous Page keys to access
the additional pages.
To exit the program display, select Close on the display contents screen (Figure 8-9).
The program list screen is displayed.
8-14
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PROGRAM EXECUTION
8.4.2 MONITOR SCREENS
Screen area C contains the joint monitor screen and signal monitor screen menus.
The joint monitor menu contains monitor screens used to monitor robot positional data
and operational data during program execution.
The signal monitor menu contains screens used to monitor input and output signals
during program execution.
The program info. monitor contains monitor screens to monitor robot program step
information and PC program status information.
The weld cont. monitor contains a screen to monitor weld controller primary current for
weld controllers 1—8.
To access the menus in screen area C:
1.
Press the A + MENU keys on the teach pendant keypad or the screen area C window to activate screen area C.
2.
Press the MENU key on the teach pendant keypad or screen area C window a
second time to display the menu.
3.
Use the cursor keys on the teach pendant keypad to select “Joint Monitor”, “Signal
Monitor”, “Program Info.” or “Weld Cont. Monitor” and press the SELECT key (Figure
8-10).
Joint Monitor Pose information
Y
Z
JointXMonitor
(mm)
(mm)
(mm)
Signal Monitor
3918.410
350.537
Pro3506.089
gram Info.
Weld
MonitorJT 2
JTCont.
1
JT 3
-0.046
0.748
-0.357
O
(DEG.)
89.729
JT 4
-0.665
A
(DEG.)
2.106
JT 5
-1.000
T
(DEG.)
-89.617
JT 6
0.732
Figure 8-10 Screen Area C Menu
January 13, 2005
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
PROGRAM EXECUTION
The Joint Monitor menu contains eight menu items for axes and motor data.
The Signal Monitor menu contains two menu items for signal data.
The Program Info. menu contains three menu items for robot program step information
and PC program status information.
The Weld Cont. Monitor screen contains a screen to monitor weld controller primary
current for weld controllers 1– 8.
The following sections cover the details of these menu items.
8.4.2.1 JOINT MONITOR MENU
The Joint Monitor menu contains eight menu items, shown in figure 8-11.
Joint Monitor
– Pose information
– Command Value
– Current Value
– Encoder Value
– Deviation Value
– Joint Speed
– Motor Speed
– F/B Current Value
Figure 8-11 Joint Monitor Menu
8-16
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PROGRAM EXECUTION
8.4.2.2 JOINT MONITOR, POSE INFORMATION (POSITIONAL DATA)
The Pose Information screen displays current robot positional data. The data is displayed in the XYZOAT (mm, degrees) and joint angles (degrees) format (Figure 8-12).
An additional line below JT1–JT7 is displayed if the system is equipped with more than
seven axes.
Joint Monitor Pose information
X
Y
(mm)
(mm)
Z
3506.089
3918.410
-6255.656
JT 1
JT 2
JT 3
-0.002
3.532
(mm)
12.837
O
(DEG.)
87.618
JT 4
15.350
A
(DEG.)
69.037
JT 5
8.438
T
(DEG.)
-31.054
JT 6
42.899
Figure 8-12 Joint Monitor Pose Information (Positional Data)
8.4.2.3 JOINT MONITOR, COMMAND VALUE (POSITIONAL COMMAND)
The Command Value screen displays the command positional data. This data is the
positional data sent to robot and is displayed in joint angles (degrees) (Figure 8-13).
Joint Monitor Command Value
JT 1
JT 2
JT 3
0.000
0.000
0.000
JT 4
0.000
JT 5
0.000
JT 6
0.000
Figure 8-13 Joint Monitor Command Value (Positional Command)
January 13, 2005
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PROGRAM EXECUTION
8.4.2.4 JOINT MONITOR, CURRENT VALUE (CURRENT POSITIONAL DATA)
The Current Value screen displays the current positional data from the encoders. The
current value positional data is the current positional data of the robot axes displayed in
joint angles (degrees) (Figure 8-14).
Joint Monitor Current Value
JT 1
JT 2
0.000
0.000
JT 3
0.000
JT 4
0.000
JT 5
0.000
JT 6
0.000
Figure 8-14 Joint Monitor Current Value (Encoder Positional Data)
8.4.2.5 JOINT MONITOR, ENCODER VALUE (ENCODER POSITIONAL DATA)
The Encoder Value screen displays the encoder positional data. This data is the current
positional data of the robot axes, displayed in encoder bits (Figure 8-15).
Joint Monitor Encoder Value
JT 1 (BIT)
JT 2 (BIT)
268435456
268435456
JT 3 (BIT)
JT 4 (BIT)
JT 5 (BIT)
JT 6 (BIT)
268435456
268435456
268435456
268435456
Figure 8-15 Joint Monitor Encoder Value (Encoder Positional Data)
8-18
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PROGRAM EXECUTION
8.4.2.6 JOINT MONITOR, DEVIATION VALUE (POSITIONAL DATA DEVIATION)
The Deviation Value screen displays positional data deviation. The deviation value data
is the difference between the commanded positional data and the current positional data
of the robot axes, displayed in encoder bits (Figure 8-16).
Joint Monitor Deviation Value
JT 1 (BIT)
JT 2 (BIT)
JT 3 (BIT)
0
0
0
JT 4 (BIT)
JT 5 (BIT)
JT 6 (BIT)
0
0
0
Figure 8-16 Joint Monitor Deviation Value (Positional Data Deviation)
8.4.2.7 JOINT MONITOR, JOINT SPEED
The Joint Speed screen displays the joint speed data of the robot axes, in degrees per
second (Figure 8-17).
Joint Monitor Joint Speed
JT 1 (DEG/SEC)
JT 2(DEG/SEC)
JT 3(DEG/SEC)
JT 4 (DEG/SEC)
JT 5 (DEG/SEC)
JT 6 (DEG/SEC)
0.000
0.000
-0.000
0.000
0.000
-0.000
Figure 8-17 Joint Monitor Joint Speed
January 13, 2005
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PROGRAM EXECUTION
8.4.2.8 JOINT MONITOR, MOTOR SPEED
The Motor Speed screen displays the motor speed data of the robot axes, in revolutions
per minute (RPM) (Figure 8-18).
Joint Monitor Motor Speed
JT 1 (RPM)
JT 2 (RPM)
0
0
JT 3 (RPM)
JT 4 (RPM)
JT 5 (RPM)
JT 6 (RPM)
0
0
0
0
Figure 8-18 Joint Monitor Motor Speed
8.4.2.9 JOINT MONITOR, F/B CURRENT VALUE (MOTOR CURRENT)
The F/B Current Value screen displays the motor current supplied to the axes motors, in
amps (RMS) (Figure 8-19).
Joint Monitor F/B Current Value
JT 1 (ARMS)
JT 2 (ARMS)
JT 3 (ARMS)
0.000
0.000
0.000
JT 4 (ARMS)
JT 5 (ARMS)
JT 6 (ARMS)
0.000
0.000
0.000
Figure 8-19 Joint Monitor F/B Current Value
8-20
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PROGRAM EXECUTION
8.4.2.10 SIGNAL MONITOR MENU
The signal monitor menu contains two menu items, shown in figure 8-20. For signal
monitor menu access instructions, refer to section 8.4.2.
Signal Monitor
– Signal ( Signal name. )
– Signal ( Signal index. )
Figure 8-20 Signal Monitor Menu
8.4.2.11 SIGNAL MONITOR, SIGNAL NAME
The signal monitor signal name screen displays external and internal input and output
signals and their assigned signal names as shown in figure 8-21.
Signal Monitor
OX1 sig.1
OX3 sig.2
OX5
OX7
OX9
OX11
Si g nal ( Si g nal name. )
OUT
OX2 option
OX4
OX6
OX8
OX10
OX12
WX1 home
WX3
WX5
WX7
WX9
WX11
IN
WX2
WX4
WX6 wait
WX8
WX10 hand close
WX12
Figure 8-21 Signal Monitor, Signal Name
Signal names are assigned in AUX function 0606. For information on assigning signal
names, refer to unit 9, Auxiliary Functions.
The S + right cursor or left cursor key combinations are used to switch between the
external input and output signals and internal input and output signals. The up and down
cursor keys are used to scroll by row. The S + up and down cursor key combinations are
used to scroll by page.
January 13, 2005
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PROGRAM EXECUTION
When the Signal Monitor screen is accessed, the cursor is in the same position as the
last time the screen was accessed. The signal selected by the cursor is outlined in red
as shown in figure 8-21 (OX1 sig.1).
Designated signal names:
External output: OX1–OX96
External input: WX1–WX96
Internal output: OUT97–OUT256
Internal input: IN97–IN256
Dedicated input and output—as assigned in AUX 0606
When a dedicated signal number is assigned a name in AUX 0606, the assigned name
is displayed to the right of the signal number (for example OX1 sig.1 and WX6 wait) as
shown in figure 8-21.
The signal number and name character color and background color change according to
signal state (ON or OFF), as described in table 8-1.
Table 8-1 Signal State Display colors
Signal Type
Setting
Character
Color ON
Background
Color ON
Character
Color OFF
Background
color OFF
Step
Standard
Black
Yellow
Black
Gray
Keep
AUX 0604
Blue
Yellow
Blue
Gray
Double
AUX 0604
Dark Green
Yellow
Red
Gray
Pulse
AUX 0604
Red
Yellow
Dark Green
Gray
Dedicated
AUX 0602
Black
Yellow
White
Dark Gray
For information on setting Keep, Double, Pulse and Dedicated signal types, refer to unit
9, Auxiliary Functions (Step is the default or standard setting).
8-22
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PROGRAM EXECUTION
To force a general purpose or internal output signal ON:
1.
Select teach or repeat mode.
2.
Select the signal with the cursor.
3.
Press the A + ON/1 key combination on the teach pendant keypad.
To force a general purpose or internal output signal OFF:
1.
Select teach or repeat mode.
2.
Select the signal with the cursor.
3.
Press the A + OFF/2 key combination on the teach pendant keypad.
Dedicated signals cannot be forced ON/OFF.
8.4.2.12 SIGNAL MONITOR, SIGNAL INDEX
The signal monitor signal index screen displays external and internal input and output
signals, arranged by index number as shown in figure 8-22.
Signal Monitor
1
9
17
25
33
41
2
10
18
26
34
42
Si g nal ( Si g nal index. )
OUT
3
4
5
6
7
8
11 12
13 14 15 16
19 20
21 22 23 24
27 28
29 30 31 32
35 36
37 38 39 40
43 44
45 46 47 48
1
9
17
25
33
41
Cursor Position : si g .1
IN
2
3
4
5
6
10 11 12
13 14
18 19 20
21 22
26 27 28
29 30
34 35 36
37 38
42 43 44
45 46
7
15
23
31
39
47
8
16
24
32
40
48
Figure 8-22 Signal Monitor, Signal Index
The S + right cursor or left cursor key combinations are used to switch between external
input and output signals and internal input and output signals. The up and down cursor
keys are used to scroll by row. The S + up and down cursor key combinations are used
to scroll by page.
When the Signal Index screen is accessed, the cursor is in the same position as the last
time the screen was accessed. The signal selected by the cursor is outlined in red as
shown in figure 8-22 (output signal1).
January 13, 2005
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
PROGRAM EXECUTION
When a dedicated signal number is assigned a name in AUX 0606, the assigned name
is displayed to the right of “Cursor Position” in the screen area C window (when the
signal is selected), as shown in figure 8-22 (sig.1).
Designated signal names:
External output: 1–96
External input: 1–96
Internal output: 97–256
Internal input: 97–256
Dedicated input and output—as assigned in AUX 0606
The signal number character color and background color, change according to signal
state (ON or OFF), as described in table 8-1.
To force a general purpose or internal output signal ON:
1.
Select teach or repeat mode.
2.
Select the signal with the cursor.
3.
Press the A + ON/1 key combination on the teach pendant keypad.
To force a general purpose or internal output signal OFF:
1.
Select teach or repeat mode.
2.
Select the signal with the cursor.
3.
Press the A + OFF/2 key combination on the teach pendant keypad.
Dedicated signals cannot be forced ON/OFF.
8-24
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PROGRAM EXECUTION
8.4.2.13 PROGRAM INFO. (INFORMATION)
The program information menu contains three menu items as shown in figure 8-23. For
program information menu access instructions, refer to section 8.4.2.
The following sections describe the details of these menu items.
Program Info.
– Step ( Aux )
– Step ( Clamp )
– PC Program.
Figure 8-23 Program Information Menu
8.4.2.14 PROGRAM INFORMATION, STEP INFORMATION AUXILIARY DATA
The step information auxiliary data screen displays the current step auxiliary data (Figure 8-24). When the current step changes, the data is updated to the new current step.
To manually select the step displayed, press the S + up or down cursor keys on the
teach pendant keypad.
Program Info. – Step ( Aux )
JOINT Speed9
Accu1
OX= 2,5,9,11
WX= 3,8
Timer0
Tool1
Work0
Figure 8-24 Program Information, Step Information Auxiliary Data
January 13, 2005
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PROGRAM EXECUTION
8.4.2.15 PROGRAM INFORMATION, STEP INFORMATION CLAMP DATA
The step information clamp data screen displays the current step clamp signal data
(Figure 8-25). When the current step changes, the data is updated to the new current
step.
To manually select the step displayed, press the S + up or down cursor keys on the
teach pendant keypad.
Program Info. – Step ( Clamp )
Comment :
Clamp 1 (OFF, 0, 0,O) 2 (OFF, 0, 0,O) 3 (OFF, 0, 0,O)
5 (OFF, 0, 0,O) 6 (OFF, 0, 0,O) 7 (OFF, 0, 0,O)
4 (OFF, 0, 0,O)
8 (OFF, 0, 0,O)
Figure 8-25 Program Information, Step Information Clamp Data
8.4.2.16 PROGRAM INFORMATION, PC PROGRAM INFORMATION
The step information PC program information screen displays the status of the PC
program(s) (Figure 8-26). The status of up to five PC programs is displayed.
To control PC program functions from this screen, press the select key, on the teach
pendant keypad, to display auxiliary function 0810 PC Program Run/Stop. For more
information on auxiliary function 0810 PC Program Run/Stop, refer to unit 9, Auxiliary
Functions.
Program Info. – PC Program.
No.
Program
Status
1: pcprg1
Running.
2: pcprg2
Hold.
3: pcprg3
Hold.
4:
No Regist.
5:
No Regist.
Comment.
[
[
[
[
[
]
]
]
]
]
Figure 8-26 Program Information, PC Program Information
8-26
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PROGRAM EXECUTION
8.4.2.17 WELD CONT. MONITOR
The weld cont. monitor contains a screen to monitor weld controller primary current for
weld controllers 1—8 (Figure 8-27). For weld cont. monitor access instructions, refer to
section 8.4.2.
Program
pg70
[
Step
[Comment ]
]
[
PC
1
]
04-09-07 14:00
Status
JOINT
T
C
R
50%
S-Logic
RPS
Intp Spd Acc Tmr Tol Wrk Clamp J/E
JOINT
9
1 0 1 0
[
AUTO
OX
WX
][
Comment
]
Weld Cont. Monitor
Weld Primary Current
Weld Cont. #1 Weld Cont. #2 Weld Cont. #3 Weld Cont. #4
0A
0A
0A
0A
Weld Cont. #5 Weld Cont. #6 Weld Cont. #7 Weld Cont. #8
0A
0A
0A
0A
Figure 8-27 Weld Cont. Monitor
January 13, 2005
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PROGRAM EXECUTION
8.5 STOPPING A RUNNING PROGRAM
MOTOR
POWER
HOLD RUN
CYCLE
START
S TO P
NOTE
The EMERGENCY STOP switch (located on the teach
pendant and controller cabinet) should be pressed anytime an operator needs to stop robot motion immediately. However, it is recommended that the emergency
stop switch not be used as a routine method of stopping
robot motion. When the emergency stop switch is
pressed, power to the motors is immediately turned off
and the brakes applied. Because normal deceleration of
the robot does not occur in an emergency stop, the mechanical unit may be subjected to severe dynamic shock
loads.
The following procedure is used to stop a running program and set the motor power to
OFF:
1.
Turn the HOLD/RUN switch to the HOLD position, deceleration of robot motion
begins at the point that the switch is turned to HOLD, the robot comes to a complete
stop after deceleration. The CYCLE START lamp remains ON.
2.
Pressing the EMERGENCY STOP switch turns OFF the CYCLE START lamp,
removes motor power from the servo motors and applies the mechanical brakes.
3.
Control power can now be turned OFF.
To restart a program from the point where it was stopped, turn the HOLD/RUN switch
from the HOLD to the RUN position while the CYCLE START lamp is ON. This resumes
the program execution, from the point where it was stopped, when the HOLD/RUN
switch is turned to RUN.
8-28
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
PROGRAM EXECUTION
8.6 SLOW REPEAT MODE
The slow repeat mode is used to cause the robot to operate at a preset slow repeat
speed, based on the state of the slow repeat mode input signal.
The slow repeat mode speed is set between 1 and 25% in auxiliary function 0508. Refer
to unit 9, Auxiliary Functions for additional information on setting slow repeat mode
speed. A dedicated input signal is assigned to the slow repeat function in auxiliary
function 0601. Refer to unit 9, Auxiliary Functions, for additional information on setting
dedicated signals.
When the slow repeat signal is low (OFF), the program runs at the slow repeat speed.
When the slow repeat signal is high (ON), the program runs at the speeds set in the
program and the repeat speed set from the repeat conditions.
When the state of the slow repeat signal changes, the program momentarily stops
before it resumes at the new speed.
January 13, 2005
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PROGRAM EXECUTION
8.7 WAIT OVERRIDE
8.7.1 BLOCK STEP PROGRAM WAIT OVERRIDE
The wait override procedure is a method of bypassing an input signal when a program is
running and a WX (input) signal is not received. For more information on WX (input)
signals refer to section 7.3.2.
When a wait condition exists the WAIT icon blinks in the E status area. Pressing the
blinking WAIT icon displays the wait override screen (Figure 8-28).
To close the wait override screen press the Wait icon again. The wait override screen
closes and the WAIT icon blinks indicating a wait condition exists.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
JOINT
9
1 0 1 0
[
4 JOINT
9
1 0 1 0
[
5 JOINT
9
1 0 1 0
[
6 JOINT
9
1 0 1 0
[
7 JOINT
9
1 0 1 0
[
8 JOINT
9
1 0 1 0
[
9 JOINT
9
1 0 1 0
[
10 JOINT
9
1 0 1 0
[
Wait Conditions
WX1 [home
]
WX6 [wait
WX15 [
]
OX
]
WX
] [1,6,10,*
][
][
][
] [1,6,10,*
][
][
][
Comment
]
]
]
]
]
]
]
]
WX10 [hand close
All
]
Override
Figure 8-28 Wait Override Screen
!
WARNING
It is important to realize that when a wait condition is
overridden the robot begins the program from its
present position and travels to the next taught position.
The robot makes this move with total disregard for anything that may be in its path.
8-30
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PROGRAM EXECUTION
Use the following procedure to override all signals during a wait condition in a block step
program:
1.
With the wait override screen displayed, press the A + MENU keys. The cursor
highlights the function keys.
2.
Move the cursor to all and press SELECT or press the all function key on the touch
screen. All wait signals are overriding and the wait override screen is closed.
In the example in figure 8-23, WX1, WX6, WX10, and WX15 are overridden
Use the following procedure to select and override signals during a wait condition in a
block step program:
1.
With the wait override screen displayed, move the cursor to the signal to override
and press the SELECT key. The signal display changes to orange. One or more
signals can be selected to override. To deselect a signal move the cursor to the
signal and press SELECT.
2.
Move the cursor to the override function key and press SELECT. The selected
signal(s) changes to pale blue and the wait condition for that signal is released.
If all signals are overridden the wait override screen closes.
NOTE
The active screen area cannot be changed while the
wait override screen is displayed.
If the program cycle is interrupted by an error or changing to teach mode while the wait override screen is displayed, the wait override screen is closed and the previous screen is displayed.
The wait override screen can be displayed in check
mode if a step contains a wait signal. The wait override
screen closes if the enabling device, CHECK GO, or
CHECK BACK keys are released.
January 13, 2005
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PROGRAM EXECUTION
8.7.2 AS LANGUAGE PROGRAM WAIT OVERRIDE
Use the following procedure to override all signals during a wait condition in an AS
Language program:
1.
With the wait override screen displayed move the cursor to Override and press the
SELECT key. If more than one wait signal is in a step individual signals cannot be
overridden from this screen (Figure 8-29).
Wait Conditions
Program
: test
Step
: 5
Data
:
SWAIT 1001,1002,1003
Override
Figure 8-29 Repeat Condition Wait Display
NOTE
With the AS Language wait override screen displayed
the following screens can be selected:
•
•
•
•
•
•
8-32
Program selection
Step selection
Repeat conditions
Auxiliary functions
Keyboard
Interface panel
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.0
9.1
9.2
9.3
9.4
9.4.1
9.4.1.1
9.4.1.2
9.4.2
9.4.3
9.4.4
9.4.5
9.4.5.1
9.4.5.2
9.4.5.3
9.4.6
9.4.7
9.4.8
9.4.9
9.4.9.1
9.4.9.2
9.4.9.3
9.4.9.4
9.4.9.5
9.4.10
9.4.11
9.4.12
9.5
9.6
9.7
9.8
9.9
9.10
9.10.1
9.10.2
9.10.3
9.10.4
9.10.5
9.10.6
9.10.7
9.10.8
9.10.9
9.10.9.1
9.10.9.2
AUXILLIARY FUNCTIONS .......................................................................... 9-6
Auxiliary Function List .................................................................................. 9-7
Transfer Data, AUX 0101 ............................................................................ 9-11
Mirror Image, AUX 0102 ............................................................................. 9-13
Transform Data (Option), AUX 0103 ........................................................... 9-15
Off-Line Program Data ............................................................................... 9-17
Tool Data .................................................................................................... 9-18
Tool Posture Definition................................................................................ 9-19
Data Transformation Preparation ................................................................ 9-22
Creating Data for Automatic Measurement of On-line Tool Coordinates .... 9-23
Measuring Four Base Points with the On-Line Robot ................................. 9-24
Automatic Tool Measurement ..................................................................... 9-25
Automatic Tool Measurement, Gravity Compensation ................................ 9-25
Automatic Tool Measurement for the On-Line Machine .............................. 9-27
Displaying and Recording Tool Coordinate Data for the On-Line Machine . 9-28
On-Line Machine Tool Data Registration .................................................... 9-29
Four On-Line Machine Base Points Gravity Compensation ....................... 9-30
Off-Line Machine Tool Data Registration .................................................... 9-32
Executing Data Transformation................................................................... 9-33
Verify the Data for the On-Line and Off-Line Tool Coordinates ................... 9-33
Setting the Four Base Points and Tool Numbers ........................................ 9-34
Displaying Distances and Errors Between the Four Base Points ............... 9-36
Executing Data Transformation................................................................... 9-37
Off-Line Data Gravity Compensation .......................................................... 9-39
Confirm Transformed Program Data ........................................................... 9-41
Errors During Data Transformation Operation ............................................ 9-42
Data Transformation Errors ........................................................................ 9-43
XYZ Shift, AUX 0104 .................................................................................. 9-45
Joint Shift, AUX 0105 ................................................................................. 9-47
Tool Shift, AUX 0106 .................................................................................. 9-49
Work Shift, AUX 0107................................................................................. 9-51
Inverse Copy Program, AUX 0108.............................................................. 9-53
Save, AUX 0201 ......................................................................................... 9-55
All Data, AUX 0201-1 ................................................................................. 9-57
All Data (Only in Specified Program), AUX 0201-2 .................................... 9-59
Program, AUX 0201-3 ................................................................................ 9-60
Robot Data, AUX 0201-4 ............................................................................ 9-61
System Data, AUX 0201-5 ......................................................................... 9-62
Auxiliary Data, AUX 0201-6 ........................................................................ 9-63
Interface Panel Data, AUX 0201-7 ............................................................. 9-64
Error Logging, AUX 0201-8 ........................................................................ 9-65
Vision Data, AUX 0201-9............................................................................ 9-66
Vision All Data, AUX 0201-9-1 ................................................................... 9-67
Image Processing Parameter Data, AUX 0201-9-2 .................................... 9-68
April 3, 2003
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AUXILIARY FUNCTIONS
9.10.9.3
9.10.9.4
9.11
9.11.1
9.11.2
9.12
9.13
9.14
9.15
9.16
9.17
9.18
9.19
9.20
9.21
9.21.1
9.22
9.23
9.24
9.25
9.25.1
9.26
9.27
9.28
9.29
9.30
9.31
9.31.1
9.31.2
9.32
9.32.1
9.32.2
9.32.3
9.32.4
9.32.5
9.32.6
9.32.7
9.33
9.34
9.34.1
9.34.2
9.34.3
9.35
9.35.1
9-2
Calibration Data, AUX 0201-9-3 ................................................................. 9-69
Proto Data, AUX 0201-9-4.......................................................................... 9-70
Load, AUX 0202 ......................................................................................... 9-71
All Data, AUX 0202-1 ................................................................................. 9-71
Specified Data, AUX 0202-1....................................................................... 9-73
File List, AUX 0203 ..................................................................................... 9-76
Format, AUX 0204 ...................................................................................... 9-77
Delete File, AUX 0205 ................................................................................ 9-78
Rename File, AUX 0206 ............................................................................. 9-79
Copy File, AUX 0207 .................................................................................. 9-81
Set Verifying Function, AUX 0208 .............................................................. 9-83
Set Default Device, AUX 0209 .................................................................... 9-84
Autosave Configuration, AUX 210 .............................................................. 9-85
Speed, AUX 0301 ....................................................................................... 9-87
Accuracy, AUX 0302 ................................................................................... 9-88
Motion Type 1 and Motion Type 2 ............................................................... 9-89
Timer, AUX 0303 ........................................................................................ 9-91
Tool Coordinates, AUX 0304 ...................................................................... 9-92
Fixed Tool Coordinates (Option), AUX 0305 ............................................... 9-96
Work Coordinates (Option), AUX 0306 ...................................................... 9-98
Work Coordinates Definition Procedure ................................................... 9-101
AS Language Mode Setting, AUX 0307 ................................................... 9-103
Teach/Check Speed, AUX 0401 ............................................................... 9-104
Home Position, AUX 0402 ........................................................................ 9-105
Working Space (Option), AUX 0403 ......................................................... 9-107
Load on Arm, AUX 0404 .......................................................................... 9-109
Auto Tool Coordinates Register, AUX 0405 .............................................. 9-111
Setting Tool Center Point .......................................................................... 9-111
Setting Tool Center Point and OAT ........................................................... 9-113
Auto Load Measurement, AUX 0406 ........................................................ 9-116
Selecting Auto Load Measurement, AUX 0406 ........................................ 9-117
Auto Load Measurement Preparation ....................................................... 9-118
Tool Number Registration ......................................................................... 9-119
Setting the Operational Area .................................................................... 9-122
Operational Area Confirmation ................................................................. 9-124
Auto Load Measurement Execution ......................................................... 9-126
Registering Auto Load Measurement Results .......................................... 9-128
Rotation for Spin Axis Set (Option), AUX 0407 ........................................ 9-130
Zeroing, AUX 0501 ................................................................................... 9-131
Zeroing, AUX 0501-1 ................................................................................ 9-132
Zeroing Data Set/Display, AUX 0501-2..................................................... 9-134
Zeroing Encoder Rotation Counter Reset, AUX 0501-3 ........................... 9-136
System Switch, AUX 0502........................................................................ 9-138
CHECK.HOLD Switch .............................................................................. 9-140
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.35.2
9.35.3
9.35.4
9.35.5
9.35.6
9.35.7
9.35.8
9.35.9
9.35.10
9.35.11
9.35.12
9.35.13
9.35.14
9.35.15
9.35.16
9.35.17
9.35.18
9.35.19
9.35.20
9.35.21
9.35.22
9.35.23
9.35.24
9.36
9.37
9.38
9.39
9.40
9.40.1
9.41
9.42
9.42.1
9.42.2
9.42.3
9.42.4
9.42.5
9.42.6
9.42.7
9.42.8
9.42.9
9.42.10
9.42.11
9.43
9.44
CP (Continuous Path) Switch ................................................................... 9-140
CYCLE.STOP Switch ............................................................................... 9-141
OX.PREOUT Switch ................................................................................. 9-142
PREFETCH.SIGINS Switch ..................................................................... 9-143
QTOOL Switch ......................................................................................... 9-143
REP_ONCE (Repeat Once) Switch ......................................................... 9-143
RPS (Random Program Selection) Switch ............................................... 9-143
STP_ONCE (Step Once) Switch .............................................................. 9-144
AFTER.WAIT.TIMER Switch .................................................................... 9-144
FLEXCOMP Switch (Option) .................................................................... 9-144
SPOT_OP Switch ..................................................................................... 9-144
MESSAGES Switch .................................................................................. 9-144
SCREEN Switch ....................................................................................... 9-145
AUTOSTART.PC Switches ....................................................................... 9-145
ERRSTART.PC Switch ............................................................................. 9-145
DISPIO_01 Switch ................................................................................... 9-145
HOLD.STEP Switch.................................................................................. 9-146
WS_COMPOFF Switch ............................................................................ 9-146
WS.ZERO Switch ..................................................................................... 9-146
SLOW_START Switch .............................................................................. 9-146
ABS.SPEED Switch ................................................................................. 9-146
PLC.CHECK Switch ................................................................................. 9-147
FLOWRATE Switch .................................................................................. 9-147
Pos. Deviation Error Range at E-Stop, AUX 0503 .................................... 9-148
Encoder Value Error Range at Power-On, AUX 0504 ............................... 9-150
Robot Installation Posture, AUX 0505 ...................................................... 9-151
Base Coordinates, AUX 0506 ................................................................... 9-153
Motion Limits, AUX 0507 .......................................................................... 9-155
Overtravel Error Recovery ........................................................................ 9-156
Slow Repeat Mode, AUX 0508 ................................................................. 9-157
Interface Panel, AUX 0509 ....................................................................... 9-158
Interface Panel Screen, AUX 0509 ........................................................... 9-159
Interface Panel Lamp Setting Screen, AUX 0509 ..................................... 9-160
Interface Panel Push Button Setting Screen, AUX 0509 .......................... 9-162
Interface Panel Push Button with Lamp Setting Screen, AUX 0509 ......... 9-164
Interface Panel Two-Notch Selector Switch Screen, AUX 0509 ................ 9-166
Interface Panel Three-Notch Selector Switch Screen, AUX 0509............. 9-168
Interface Panel Digital Switch Setting Screen, AUX 0509 ........................ 9-170
Interface Panel Digital Display Setting Screen, AUX 0509 ....................... 9-173
Interface Panel Variable Data Display Setting Screen, AUX 0509 ............ 9-176
Interface Panel String Display Window Screen, AUX 0509 ...................... 9-178
Interface Panel Monitor-Command Button Screen, AUX 0509 ................. 9-179
Collision Detection Function (Option), AUX 0510 ..................................... 9-181
Dedicated Input Signals, AUX 0601 ......................................................... 9-182
August 9, 2007
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AUXILIARY FUNCTIONS
9.45
9.46
9.47
9.48
9.48.1
9.48.2
9.48.3
9.48.4
9.48.5
9.48.6
9.48.7
9.48.7.1
9.49
9.50
9.51
9.52
9.53
9.54
9.55
9.55.1
9.55.2
9.55.3
9.56
9.57
9.57.1
9.57.2
9.57.3
9.57.4
9.57.5
9.57.6
9.58
9.58.2
9.58.1
9.58.3
9.58.4
9.59
9.60
9.61
9.62
9.62.1
9.63
9.64
9.64.1
9.64.2
9-4
Dedicated Output Signals, AUX 0602....................................................... 9-183
Dedicated Signals Display, AUX 0603 ...................................................... 9-184
OX Specification Setting (Option), AUX 0604 ........................................... 9-185
Clamp Specifications, AUX 0605 .............................................................. 9-188
Application Field, AUX 0605-1 .................................................................. 9-191
Clamp Condition, AUX 0605-2 ................................................................. 9-192
Spot Weld Clamp Definition, AUX 0605-10 .............................................. 9-194
Spot Weld Control Definition, AUX 0605-11 ............................................. 9-196
Spot Weld Gun Definition, AUX 0605-12 .................................................. 9-199
Spot Weld Gun Input/Output Signal Timing .............................................. 9-201
Handling Clamp Signal Definition, AUX 0605-20 ...................................... 9-203
Handling Clamp Signal Timing ................................................................. 9-205
Signal Name, AUX 0606 ........................................................................... 9-206
Signal Allocation (Option), AUX 0608 ....................................................... 9-208
Input/Output Signals in Robot Arm, AUX 0610 ......................................... 9-209
Number of I/O Signals, AUX 0611 ............................................................ 9-210
RI/O PLC (NAC) Setting (Option), AUX 0612 ........................................... 9-211
RI/O Weld Control Setting (Option), AUX 0613 ........................................ 9-212
Slogic Control (Option), AUX 0614 ........................................................... 9-213
Slogic Control 1. Run/Stop (Option), AUX 0614-1 .................................... 9-214
Slogic Control 2. Download/Upload (Option), AUX 0614-2 ....................... 9-215
Slogic Control 3. Signal Forced Output (Option), AUX 0614-3 ................. 9-216
Signal Environment, AUX 0616 ................................................................ 9-217
Error Logging Display, AUX 0702 ............................................................. 9-218
Error Logging Display–All, AUX 0702-1 .................................................... 9-219
Error Logging Display–Operation Error (P), AUX 0702-2 ......................... 9-220
Error Logging Display–Mechanical/Control Warning (W), AUX 0702-3 .... 9-221
Error Logging Display–Error (E), AUX 0702-4 .......................................... 9-222
Error Logging Display–Fatal Error (D), AUX 0702-5 ................................. 9-223
Error Logging Display–Property of Logging, AUX 0702-6 ........................ 9-224
Operation Logging Display, AUX 0703 ..................................................... 9-225
Operation Logging Display–Operation Logging, AUX 0703-2 .................. 9-226
Operation Logging Display–All, AUX 0703-1 ............................................ 9-226
Operation Logging Display–Command Logging, AUX 0703-3 .................. 9-227
Operation Logging Display–Property of Logging, AUX 0703-5 ................ 9-227
Operating Data Display, AUX 0706........................................................... 9-228
Maintenance Support (Option), AUX 0707 ............................................... 9-229
Motor Torque Information (Option), AUX 0709 ......................................... 9-230
Slogic ....................................................................................................... 9-231
Remote I/O and Slogic Specifications ...................................................... 9-234
RI/O Last Weld Data (Option), AUX 0710 ................................................ 9-237
Slogic Etc. Monitor Menu (Option), AUX 0711.......................................... 9-238
Slogic Etc. Monitor 1. Signal Status (Option), AUX 0711-1 ...................... 9-239
Slogic Etc. Monitor 2. Timer Status (Option), AUX 0711-2 ....................... 9-240
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.64.3
9.64.4
9.64.5
9.65
9.66
9.67
9.68
9.69
9.70
9.71
9.72
9.72.1
9.73
9.74
9.74.1
9.74.2
9.74.3
9.74.4
9.74.5
9.74.6
9.75
9.76
9.77
9.78
9.79
9.80
9.80.1
9.80.2
9.80.3
9.80.4
9.81
9.81.1
9.81.1.1
9.81.1.2
9.81.1.3
9.81.1.4
9.81.1.5
9.81.1.6
9.81.1.7
Slogic Etc. Monitor 3. Counter Status (Option), AUX 0711-3 .................... 9-241
Slogic Etc. Monitor 4. Slogic Monitor (Option), AUX 0711-4 ..................... 9-242
Slogic Etc. Monitor 5. Slogic Status (Option), AUX 0711-5 ....................... 9-243
Memory Available, AUX 0801 ................................................................... 9-244
Inhibit Record, AUX 0802 ......................................................................... 9-245
Reset Check Sum Error, AUX 0803 ......................................................... 9-246
Software Version, AUX 0804 .................................................................... 9-247
Initialize System, AUX 0805 ..................................................................... 9-248
Battery Error Check, AUX 0806................................................................ 9-250
Check Specification, AUX 0807 ................................................................ 9-251
Environment Data, AUX 0808 .................................................................. 9-253
Teach Pendant Disconnect Procedure ..................................................... 9-254
Time/Date, AUX 0809 ............................................................................... 9-255
PC Program Run/Stop, AUX 0810 ............................................................ 9-256
PC Program Start, AUX 0810-1 ............................................................... 9-257
PC Program Abort, AUX 0810-2 .............................................................. 9-258
PC Program Stop, AUX 0810-3 ................................................................ 9-259
PC Program Continue, AUX 0810-4 ......................................................... 9-260
PC Program Kill, AUX 0810-5 .................................................................. 9-261
PC Program Status, AUX 0810-6 ............................................................. 9-262
Language, AUX 0811 ............................................................................... 9-263
Network Setting, AUX 0812 ...................................................................... 9-264
Option Board Support, AUX 0890 ............................................................ 9-265
Select Auxiliary Function, AUX 0897 ........................................................ 9-266
Change Operation Level, AUX 0898 ........................................................ 9-268
Random Program Selection (RPS)........................................................... 9-269
RPS Commands ...................................................................................... 9-269
RPS Signals ............................................................................................. 9-269
RPS Procedure ........................................................................................ 9-270
RPS Operation ......................................................................................... 9-273
ZZ-Series Robot Functions ...................................................................... 9-275
Arm ID Board Functions ........................................................................... 9-275
Maintenance Log, AUX 0704 .................................................................... 9-276
Maintenance Log Registration, AUX 0704-1 ............................................ 9-277
Maintenance Log Display, AUX 0704-2 .................................................... 9-279
Maintenance Log Deletion, AUX 0704-3 .................................................. 9-280
Setting Signal Allocation, AUX 0607 ........................................................ 9-281
Arm ID Board AS Language Commands ................................................. 9-282
Arm ID Board Errors and Error Codes ..................................................... 9-284
August 9, 2007
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9.0 AUXILIARY FUNCTIONS
Program
pg5
[
Step
[Comment ]
]
[
PC
1 1 pcprg1
]
Intp Spd Acc Tmr Tol Wrk Clamp J/E
JOINT
9
1 0 1 0
Teach 9
1 JOINT
1 0 1 0
2 LINEAR
7
3 1 1 0
Aux Function
3 JOINT
9
2 0 1 0 1
I/F Panel
4 LINEAR
5
1 2 1 0
Keyboard
5 JOINT
7
4 0 1 0 2
Upsize 8
6 JIONT
1 3 1 0
7 JOINT
9
1 0 1 0
SELECT
Figure 9-1 Screen Selection Drop-Down Menu
Auxiliary functions provide the operator the ability to view and change numerous settings
that affect robot operation. The auxiliary functions are accessed from the screen area B
drop-down menu. Use the cursor keys to highlight “Aux Function” and press the SELECT key on the teach pendant keypad to display the auxiliary function menu (Figure 92).
Aux.
1.
2.
3.
4.
5.
6.
7.
8.
Program Conversion
Save/Load
Aux. Data Setting
Basic setting
Advanced Setting
Input/Output Signal
Monitor
System
Selects Program Conversion
Figure 9-2 Auxiliary Function Menu Screen
With the auxiliary function menu displayed use the cursor keys to select an auxiliary
function group and press the SELECT key.
9-6
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9.1 AUXILIARY FUNCTION LIST
All of the auxiliary function numbers, the corresponding function names and a brief
description of each are provided in the Auxiliary Function List (Table 9-1). A detailed
explanation of each function and its use follows the Auxiliary Function List.
Table 9-1 Auxiliary Function List
Save/Load
Program Conversion
Group
Number
Name
Description
0101
Transfer Data
Transfers a program or program steps into another program
or the same program.
0102
Mirror Image
Conver ts programmed location into locations with mirror
symmetry with the Y and Z planes of the base coordinate
system.
0103
Transform Data
Transforms off-line data into on-line data (option).
0104
XYZ Shift
Shifts programmed locations in the base coordinate system.
0105
Joint Shift
Shifts the joint angle values for programmed locations.
0106
Tool Shift
Shifts programmed locations in the tool coordinate system.
0107
Work Shift
Shifts programmed locations in a work coordinate system.
0108
Inverse Program
Copy
Transfers program steps in reverse order.
0201
Save
Saves data in memory to external memory devices.
0202
Load
Loads file data from external memory devices to system
memory.
0203
File List
Displays a list of files stored in external memory devices.
0204
Format
Formats floppy discs or deletes files.
0205
Delete File
Deletes files from external memory devices.
0206
Rename File
Renames files in external memory devices.
0207
Copy File
Copies an existing file to a specified file in an external
memory device.
0208
Set Verifying
Function
Sets file verify function to ON/OFF.
0209
Set Default Device
Sets the default external memory device.
0210
Autosave
Configuration
Sets conditions for automatically saving data/programs.
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Table 9-1 Auxiliary Function List (Continued)
Basic Setting
Aux. Data Setting
Group
Number
Advanced Setting
Description
0301
Speed
Sets the ten speed values for in block step programming.
0302
Accuracy
Sets the four accuracy values for block step programming.
0303
Timer
Sets the nine timer values for block step programming.
0304
Tool Coordinates
Sets tool coordinates, mass, center of gravity, and iner tia
moment.
0305
Fixed Tool
Coordinates
Sets fixed tool coordinates (option).
0306
Work Coordinates
Sets alternate reference coordinate systems (option).
0307
AS Language
Mode Setting
Registers frequently used AS instructions for programming.
0401
Teach/Check
Speed
Sets teach and check modes speed values.
0402
Home Position
Sets or displays the robot home position.
0403
Working Space
Sets the top and bottom coordinates for the workspace
(option).
0404
Load on Arm
Sets the load on the arm value.
0405
Auto Tool
Coordinates
Register
Automatically measures and registers tool coordinates and
dimensions.
0406
Auto Load
Measurement
Automatically measures the mass, center of gravity, and
iner tia moment, of the load mounted to the robot arm.
0407
Rotation for Spin
Axis Set
Sets rotation number for JT6 when using the spin control
function (option).
Zeroing
Sets zeroing data.
Zeroing Data Set/
Display
Sets/displays zeroing data.
Encoder Rotation
Counter Reset
Resets the encoder rotation count.
0502
System Switch
Sets system software switches.
0503
Pos. Deviation
Error Range at
E-Stop
Sets allowable deviation range for checking encoder value
after an emergency stop.
0504
Encoder Value
Error Range at
Power-On
Sets the error range for checking encoder value at controller
power-up.
0505
Robot Installation
Posture
Sets the installation posture of the robot.
0506
Base Coordinates
Sets the base coordinates.
0507
Motion Limits
Sets upper and lower ranges for robot joint motion.
0501
9-8
Name
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Table 9-1 Auxiliary Function List (Continued)
Input/Output Signals
Advanced
Setting
Group
Number
Name
Description
0508
Slow Repeat
Sets the speed for slow repeat operation.
0509
Interface Panel
Configures the lamps and switches for the software interface
panel.
0510
Collision Detection
Function
Stops robot if a collision exceeds a pre-set force.
0601
Dedicated Input
Signals
Sets dedicated input signals.
0602
Dedicated Output
Signals
Sets dedicated output signals.
0603
Dedicated Signals
Display
Displays the status of dedicated input and output signals.
0604
OX Specification
Setting
Sets the specification for each OX signal.
0605
Clamp
Specifications
Sets clamp and gun specifications.
0606
Signal Name
Sets and displays names for the input, output, and internal
signals.
0607
Signal Setting of
Arm ID Board
Sets arm ID board I/O signals (ZZ-series, section 9.79.1.5).
0608
Signal Allocation
Sets the relationship between signals on the AS side and
recipient por ts to establish a field network (option).
0610
Input/Output
Signals in Robot
Arm
Sets usage of sensor input signals and built-in valve output
signals.
0611
Number of I/O
Signals
Sets the number of I/O signals used in fieldbus application.
0612
RI/O PLC (NAC)
Setting
Allows viewing and setting PLC node adapter chip (NAC)
parameters (option).
0613
RI/O Weld Control
Setting
Allows viewing and setting weld control parameters (option).
0614
Slogic Control
Allows Slogic program control (option).
0616
Signal
Environment
Sets cycle star t conditions and signal numbers to reset at
error reset.
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Table 9-1 Auxiliary Function List (Continued)
System
Monitor
Group
9-10
Number
Name
Description
0702
Error Logging
Display
Displays the error log.
0703
Operation Logging
Display
Displays the operation log.
0704
Maintenance Log
Used to display, add and delete maintenance log entries
(ZZ-series, section 9.79.1.1)
0706
Operating Data
Display
Displays robot operation information.
0707
Maintenance
Suppor t
Displays information for robot maintenance (option).
0709
Motor Torque
Information
Displays peak current value of each motor (option).
0710
RI/O Last Weld
Data
Displays the weld sequence parameters (option).
0711
Slogic Etc.
Monitor
Allows access to remote I/O functions (option).
0801
Memor y Available
Displays the available system memor y.
0802
Inhibit Record
Enables/disables recording or editing programs
0803
Reset Check Sum
Error
Enables/disables reset check sum error function.
0804
Software Version
Displays the versions of the teach pendant system, and
ser vo software.
0805
Initialize System
Deletes program data and sets system switches to defaults.
0806
Batter y Error
Check
Enables/disables batter y error check.
0807
Check
Specification
Enables/disables selected program instructions in check
mode.
0808
Environment Data
Sets a timer to turn off ser vo motor power automatically.
0809
Time/Date
Sets/displays time and date.
0810
PC Program Run/
Stop
Runs/stops a PC program.
0811
Language
Selects language displayed on the teach pendant screen.
0812
Network Setting
Sets network data.
0890
Option Board
Suppor t
Selects RI/O board installed in controller (1FS or 1HS)
(option)
0897
Select Auxiliar y
Function
Sets display level of auxiliar y functions.
0898
Change Operation
Level
Sets access levels for operating screens and functions.
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9.2 TRANSFER DATA, AUX 0101
The DATA TRANSFER function allows the operator to copy and paste program steps
from one program to another program or to a different location within the same program.
Figure 9-3, 1–4 shows the Transfer Data screens. Table 9-2 describes the screen entries.
Table 9-2 Transfer Data Screen Entries
Item
Description
Keys
Source Program
Specifies the source program.
Program
Source Step
Number
Specifies the first step in the source program to transfer (cannot use 0).
0–9
Number of
Transfer Steps
Specifies the number of steps to transfer (cannot use 0).
0–9
Destination
Program
Specifies the program to transfer the steps into.
Program
Destination Step
Number
Specifies the step in the destination program to transfer the steps after.
Enter 0 to transfer the steps after the last step.
0–9
NOTE
If “0” is entered for the source step or the number of
steps, an error is generated.
If the number of steps specified is greater than the last
step in the source program, the number of existing steps
are transferred.
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Aux. 0101. Transfer Data
Source Program
Source Step Number
1
Number of Transfer Steps
1
Destination Program
Destination Step Number
0
(Specifying 0 selects the last step of the destination program)
1. Press the Program function key on the
touch screen. The program list screen
is displayed. Select the source program from the program list screen and
press the ENTER key on the teach
pendant keypad.
Program
Input range : 20
Aux. 0101. Transfer Data
Source Program
pg1
Source Step Number
1
Number of Transfer Steps
1
Destination Program
pg123
Destination Step Number
1
(Specifying 0 selects the last step of the destination program)
2. Program “pg1” entered in step 1 is
displayed for the source program.
Enter the source step and number of
steps.
Enter the destination program as
described for entering the source
program in step 1. When the ENTER
key is pressed the screen in step 3 is
displayed.
Undo
Allowable input range : [0 – 10000]
Aux. 0101. Transfer Data
Source Program
Confirm Record
Source Step Number
1
Number of Transfer Steps
1
Records
, OK ?
Destination Program
Destination Step Number
0
No program)
Yeslast step of the destination
(Specifying 0 selects the
3. If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
Select “No” to return to the data entry
screen.
Program
Input range : 20
Aux. 0101. Transfer Data
Source Program
pg1
Source Step Number
1
Number of Transfer Steps
1
Destination Program
pg123
Destination Step Number
1
(Specifying 0 selects the last step of the destination program)
4. When the procedure is completed
“Copy completed.” is displayed in the
lower left of the screen.
Undo
Copy completed.
Figure 9-3 AUX 0101 Transfer Data Screens
9-12
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9.3 MIRROR IMAGE, AUX 0102
This function allows the operator to perform mirror imaging of taught location points.
This function mirrors data taught in the X-axis of the base coordinate system about the
YZ plane.
Another application for the MIRROR CONVERSION function is when two robots are
directly opposite each other on a line and are performing the same motion. In this case,
one program is recorded, transferred, mirrored, and used as a basis for the robot program on the opposite side of the line.
Figure 9-4 shows an application of the mirror conversion function.
Figure 9-5 shows the Mirror Image function screens.
Figure 9-4 Mirror Image Application
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1. Press the Program function key on the
touch screen. The Program List screen
is displayed. Select the program name
from the Program List screen and
press the ENTER key on the teach
pendant keypad.
Aux. 0102. Mirror Image
Program Name
Start Step
End Step (0: st. step only)
1
0
Program
Input range : 20
2. Program “pg1” entered in step 1 is
displayed for the program name.
Aux. 0102. Mirror Image
Program Name
Start Step
End Step (0: st. step only)
pg1
1
1
Enter the start step and the end step
and press the ENTER key on the teach
pendant keypad.
Undo
Allowable input range : [0 – 10000]
3. If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
Aux. 0102. Mirror Image
Program Name Confirm Record
Start Step
End Step (0: st. step only)
pg1
1
1 , OK ?
Records
No
Yes
Select “No” to return to the data entry
screen.
Undo
Input range : [0 – 10000]
Aux. 0102. Mirror Image
Program Name
Start Step
End Step (0: st. step only)
pg1
1
1
4. When the procedure is completed
“Setting complete.” is displayed in the
lower left of the screen.
Undo
Setting complete.
Figure 9-5 Mirror Image Screens
9-14
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9.4 TRANSFORM DATA (OPTION), AUX 0103
The Transform Data function allows the operator to utilize off-line programming processes to load program data.
One advantage of this process is a robot that is in a production operation does not need
to be taken off-line for teaching new programs.
Programmers can work off-line with computer simulation models to develop and test
program scenarios while keeping on-line machines in production.
The Transform Data function screens and procedures are shown in figure 9-6 through 930.
Table 9-3 provides descriptions of the Transform Data menu items.
Aux. 0103. Transform data
1.
2.
3.
4.
Start data transformation
Register tool Coordinates
Measure tool Coordinates
Compensate for gravity
Up Page
Starts data Transformation
Figure 9-6 Data Transformation Menu Screen
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Table 9-3 Transform Data Menu Item Descriptions
Item
Description
1. Displays the off-line and the on-line tool transformation data values.
Star t Data
Transformation
2. Sets four base points and the tool number.
3. Displays the distance and distance errors of the four base points.
4. Executes the data transformation.
Register Tool
Coordinates
Registers the off-line tool transformation value.
Measure Tool
Coordinates
Measures the tool transformation value automatically.
1. Compensates for gravity in the tool transformation value impor ted from the offline machine.
Compensate for
Gravity
2. Compensates for gravity within the four base points on the on-line machine.
3. Compensates for gravity in the off-line data created in CAD (ROSET).
NOTE
This function transforms program data created on an
off-line machine or robot simulator for on-line machine
use. For correct program operation:
1. Ensure the four base points in the work area are accurately recorded.
2. Ensure the tool transformation (X, Y, Z, O, A, T) values are correctly registered.
Even when the procedures are performed correctly
slight errors may still occur.
9-16
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9.4.1 OFF-LINE PROGRAM DATA
Before proceeding with the data transformation the following items must be completed.
If the following data is previously saved to a PC card it may be loaded from the PC card.
1.
Record four base points in the work area with the off-line machine.
2.
Record the program points within the four base points with the off-line machine.
3.
Define the tool transformation values (X, Y, Z, O, A, T) with the off-line machine.
4.
Record four base points in the work area with the on-line machine (section 9.4.4).
5.
Define the tool transformation values (X, Y, Z, O, A, T) with the on-line machine
(section 9.4.3).
NOTE
When performing data transformation and gravity compensation, the original off-line program data is overwritten with the transformed data in the controller memory.
As a precaution ensure the off-line program data is
backed up to a floppy disk or a PC card.
Ensure auxiliary function 0802 Inhibit Record is set to
enable. The enable setting allows the data transformation and gravity compensation functions to overwrite the
off-line program data.
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9.4.1.1 TOOL DATA
Six different tools can be used in the data transformation function (Tool 1–6).
The tool transformation values (X, Y, Z, O, A, T) for three tools, number 1 through 3,
should be set in auxiliary function 0304 Tool Coordinates before executing the data
transformation function.
The tool transformation values for tools 4 through 6 can be set using the data registration of the data transformation function. The initial values are set using auxiliary function
0304 Tool Coordinates
The tool center point (TCP) positional data (X, Y, Z) for tools 1 through 6 can be set
automatically using the automatic tool measuring function in the data transformation
function.
NOTE
The tool data measured using the automatic tool measuring function is valid only in the data transformation
function. The values set in auxiliary function 0304 Tool
Coordinates are not transformed.
The current tool transformation values (X, Y, Z, O, A, T)
measured result used for data transformation are shown
on the screen.
9-18
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9.4.1.2 TOOL POSTURE DEFINITION
Tool posture definition is the difference in the actual tool coordinates from the null tool X,
Y, and Z (mm) and the rotational angles O, A, and T (degrees). The tool posture definition is registered as tool transformation values. Figure 9-7 shows the X, Y, Z, O, A, and
T relationship.
ZT
Z
ZA
T
A
Y
O
X
Figure 9-7 Tool Posture Definition
O: Sets the rotation angle around the Z axis of null tool. Assume a positive direction of
X axis on null tool as 0°. Set rotation angle as ±180° with positive for rotation toward
the positive direction of the Y axis, and negative for rotation toward the negative
direction of the Y axis.
A: The rotation angle around the Y axis on the tool coordinates that are set after O is
set. Sets an angle between the positive direction of the Z axis of null tool and the
tool Z axis.
T:
The rotation angle around the Z axis on tool coordinates that are set after O and A
are set. Sets a rotation angle so that X and Y axes are set as specified.
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Figure 9-8 shows the X, Y, Z, O, A, and T definition for two different tool configurations.
XT
To register the gun shown to the left
as tool 1 the following data is used.
X, Y, Z, O, A, T = 0, 50, 300, 0, 0, 0
X
Z
50
ZT
300
Y
Fixed
point
YT
The X axis faces down, vertical to
the illustration plane.
X
Z
To register the gun shown to the left
as tool 2 the following data is used.
X, Y, Z, O, A, T = 0, 250, 50, 90, 90, 90
50
250
YT
The X axis faces down, vertical to
the illustration plane.
Fixed
point
Y
XT
Z
ZT
X
O=90°
O=90°
Y
Þ A=90°
X
Þ
Y
A=90°
X
Z
Þ T=90° Þ YT
Y
Z
T
XT
Figure 9-8 Example Tool Posture Definition
!
CAUTION
O, A, and T are displayed by values of -180° through
+180°.
Example:
Entering ,,,90,150,220 is expressed as:
O:
90.000
A: 150.000
T: -140.000
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Data Transformation Preparation
1. Install tooling.
2. Install fixturing and workpiece.
3. Load the off-line program fro data transformation.
4. Create data for automatic measurement of on-line tool coordinates.
5. Measure the distance between four base points using the on-line robot.
Execute On-Line Automatic Tool Measurement
1. Gravity compensation for tool measure data (if program data is created in
CAD).
2. Automatic tool measurement for the on-line machine.
3. Display and record tool coordinate data for the on-line machine.
Register Data for On-Line Tool Coordinates
If the data
transformation
error is large
1. Enter the tool data obtained using the automatic measurement procedure.
Gravity Compensation for the Four On-Line Base Points
If the error
exceeds
allowable
range
If off-line tool
data is incorrect
1. Gravity compensation (if program data is created in CAD).
Register Data for the On-Line Tool Coordinates
If on-line tool
data is incorrect
1. Register the off-line tool data.
Execute the Data Transformation
1. Verify the data for the on-line tool coordinates.
2. Verify the data for the off-line tool coordinates.
3. Set the four base points and tool numbers.
4. Display the distances and error between the four base points.
5. Execute the data transformation.
6. Gravity compensation (If the program data is created in CAD).
Confirm the Transformed Data After the Data Transformation
1. Run the transformed data program in check mode.
Figure 9-9 Data Transformation Operation Flowchart
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9.4.2 DATA TRANSFORMATION PREPARATION
Ensure all tooling and fixturing and the work piece are properly in place before continuing with the data transformation operation.
Figure 9-9 provides an operational flowchart for the data transformation procedure.
Figure 9-10 provides the procedure for loading the program for data transformation.
1. From the B area menu select auxiliary
functions and select “2. Save/Load”.
Aux. 0202. Load
1. All Data
2. Specified Data
2. Place the PC card containing the file
with the program for data transformation into the PC card slot.
3. From the save/load menu select “0202
Load” and select “All Data” or “Specified Data”.
Up Page
Selects All Data
Aux. 0202. Load 1. All Data
File Name
FILE1.AS
Device
0
File
Input char
Device List
0: PC Card
1: FDD
4. Select the file name, with the program
for data transformation, and press the
ENTER key on the teach pendant
keypad.
Example:
“FILE01.PG” program “PGXX”.
5. When the file loading is completed,
press the CANCEL key on the teach
pendant keypad.
Input range : 12
Figure 9-10 Loading Data Transformation File Screens
9-22
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.4.3 CREATING DATA FOR AUTOMATIC MEASUREMENT OF ON-LINE TOOL
COORDINATES
The following sections describe the procedures for creating data used for automatic
measurement of on-line tool coordinates.
Set up the fixed point measuring jig as shown in figure 9-11. Use the axis keys to jog
the robot into positions, as shown in figure 9-11. Ensure the parameters in figure 9-11
are followed. Each recorded position must be within 45 to 90 degrees of each other.
Tool Posture 2
45°—90°
Tool Posture 1
45°—90°
Tool Posture 3
45°—90°
Tool
Tool Posture 4
Measuring Jig
Figure 9-11 Automatic Tool Measurement
For more information on setting tool coordinates refer to auxiliary function 0304, Tool
Coordinates.
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AUXILIARY FUNCTIONS
9.4.4 MEASURING FOUR BASE POINTS WITH THE ON-LINE ROBOT
The four base points are used to establish the positional relationship between the work
area and the robot (on-line machine or the off-line machine). The four points are recorded to include all points in the work area as shown in figure 9-12.
Record the points to correspond with A, B, C, and D and record them in order as shown
in figure 9-12.
Step 1 = A
Step 2 = B
Step 3 = C
Step 4 = D
This diagram shows an example of the positional
relationship between the robot and the work area.
Robot
(Online Machine)
Recording two or more points at the
same position causes an error.
Robot
X Axis
Y Axis
Z Axis
B Step 2
A Step 1
D Step 4
C Step 3
X Axis
Line
Direction
Work Area
Base Point B
Y Axis
Base Point D
Base Point A
Base Point C
Work Area
The closer the angle ∠ B AC is to 90˚
the more accurate the robot operates.
An angle less than 45˚ causes a large
transformation error.
Figure 9-12 Recording Four Base Points
Select a program name and use the axis keys to jog the robot in position at points A, B,
C, and D and record as steps 1 through 4 as described above.
9-24
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AUXILIARY FUNCTIONS
9.4.5 AUTOMATIC TOOL MEASUREMENT
9.4.5.1 AUTOMATIC TOOL MEASUREMENT, GRAVITY COMPENSATION
The gravity compensation function is used when the off-line data is created with CAD.
The gravity compensation is to compensate for the effect of the load on the arm, which
is not accounted for in CAD off-line program development. The compensation is performed for the taught data obtained from automatic tool coordinate origin (X, Y, and Z).
The values obtained in auxiliary function 0304, Tool Coordinates Center of Gravity X, Y,
and Z, are entered as load position in step 4 below (figures 9-13 and 9-14).
Aux. 0103. Transform data
1. From auxiliary function 0103, Transform
Data menu select “4. Compensate for
gravity”.
4. Compensate for gravity
Program
Start Step
0
End Step (0: st. step only)
0
Load Weight
Load
0.0 kg
Load Position
X
0.0 mm
Y
0.0 mm
Z
0.0 mm
N0–Load
2. Select the program name that contains
the program steps to perform gravity
compensation.
Program
Input range : 20
Aux. 0103. Transform data
Program
Start Step
End Step (0: st. step only)
Load Weight
Load Position
3. Enter the start step (cannot use 0) and
end step (0 selects start step only) of
the program steps to perform gravity
compensation.
4. Compensate for gravity
pg99
1
4
Load
8.0 kg
X
150.0 mm
Y
200.0 mm
Z
60.0 mm
N0–Load
4. Enter the X, Y, and Z load position data
from auxiliary function 0304 as described above. When all data is
entered, press the ENTER key on the
teach pendant keypad.
Undo
Input range : [-9999.9 – 9999.9]
Figure 9-13 Gravity Compensation Screens
NOTE
If incorrect data is entered use the CLEAR key on the
teach pendant keypad to clear the incorrect data: re-enter the correct data.
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D SERIES CONTROLLER
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AUXILIARY FUNCTIONS
Aux. 0103. Transform data
Yes
Load Position
5. When ENTER is pressed the confirmation screen is displayed.
4. Compensate for gravity
Program
Confirm Record
Start Step
End Step (0: st. step only)
Load Weight
pg99
1
4 , OK ?
Records
Load
8.0 kg
X
150.0 mm
Y
200.0 mm
Z
60.0 mm
If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
N0–Load
No
Select “No” to return to the data entry
screen.
Undo
Input range : [-9999.9 – 9999.9]
Aux. 0103. Transform data
Program
Start Step
End Step (0: st. step only)
Load Weight
Load Position
6. When “Setting complete.” is displayed
in the lower left of the screen, press
CANCEL to exit the gravity compensation screen.
4. Compensate for gravity
pg99
1
4
Load
8.0 kg
X
150.0 mm
Y
200.0 mm
Z
60.0 mm
N0–Load
Undo
Setting complete.
Figure 9-14 Gravity Compensation Data Confirmation Screens
NOTE
1. Input the center of gravity of the load in the null tool
coordinate system, for load position.
2. When the load mass value is negative, load data is
transformed into no load data (this is necessary for
robots in measuring application). When the load
mass value is positive, no load data is transformed
into load data (this is necessary when CAD data is
used).
3. If the load mass is set to 0 kg, the data created by
CAD is transformed into no load data. If the load
mass is set to 1 kg, the data created by CAD is transformed into load data.
9-26
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D SERIES CONTROLLER
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AUXILIARY FUNCTIONS
9.4.5.2 AUTOMATIC TOOL MEASUREMENT FOR THE ON-LINE MACHINE
This procedure is used to automatically calculate the tool coordinates data for the on-line
machine (Figure 9-15). If this procedure is repeated, the last calculation is used by the
robot system.
Aux. 0103. Transform data 3. Measure tool Coordinates
Online
Tool 1
pg99
A : Program
Step
0
pg99
B : Program
Step
0
pg99
C : Program
Step
0
pg99
D : Program
Step
0
Program
1/ 6
1. From auxiliary function 0103, Transform
Data menu select “3. Measure Tool
Coordinates”.
2. Press the “Program” function key on
the touch screen. Select the program
name that contains the program steps
recorded in section 9.4.2. When the
program name is selected the program
name is automatically entered for A, B,
C, and D.
Prev Page Next Page
Input range : 20
Aux. 0103. Transform data 3. Measure tool Coordinates
Online
Tool 1
pg99
A : Program
1
Step
pg99
B : Program
2
Step
pg99
C : Program
3
Step
pg99
D : Program
4
Step
Undo
1/ 6
3. Use the teach pendant numeric keypad
to enter the program step numbers for
A, B, C, and D. When all data is
entered press the ENTER key on the
teach pendant keypad.
1/ 6
4. When ENTER is pressed the confirmation screen is displayed.
Prev Page Next Page
Input range : [0 – 10000]
Aux. 0103. Transform data 3. Measure tool Coordinates
Online
Tool 1
Confirm Record
A : Program
pg99
Step
1Records, OK ?
B : Program
pg99
Step
2
No
Yes pg99
C : Program
3
Step
pg99
D : Program
4
Step
If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
Select “No” to return to the data entry
screen.
Undo
Prev Page Next Page
Input range : [0 – 10000]
5. When “Setting complete.” is displayed
in the lower left of the screen, press
CANCEL to exit the measure tool
coordinates screen.
Figure 9-15 Automatic Tool Measurement (On-Line Machine) Screens
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AUXILIARY FUNCTIONS
NOTE
When the step numbers are set to 0, the tool calculation
is not made and the data is not transformed.
Several tools can be calculated and transformed.
9.4.5.3 DISPLAYING AND RECORDING TOOL COORDINATE DATA FOR THE ONLINE MACHINE
Verify the tool data obtained from the automatic measurement for the on-line machine is
correct. Make note of the X, Y, and Z values (Figure 9-16). Once these values are
entered and registered in the following procedure they are deleted. Make note of the
data in the start data transformation, it will be entered into auxiliary function 0304 Tool
Coordinates (section 9.4.5).
Aux. 0103. Transform data 1. Start data transformation
Tool Transf. Value Display
Online
Offline
Tool 1 Tool 2
Tool 3
Tool 4 Tool 5
X :
0.0
0.0
0.0
0.0
0.0
Y :
0.0
0.0
0.0
0.0
0.0
Z :
0.0
0.0
0.0
0.0
0.0
O :
0.0
0.0
0.0
0.0
0.0
A :
0.0
0.0
0.0
0.0
0.0
T :
0.0
0.0
0.0
0.0
0.0
1/ 4
Tool 6
0.0 mm
0.0 mm
0.0 mm
0.0 deg
0.0 deg
0.0 deg
1. From auxiliary function 0103, Transform
Data menu select “1. Start Data
Transformation”.
2. Confirm and note the displayed data.
On-line tool data is entered in auxiliary
function 0304.
Next Page
Figure 9-16 Display and Record On-Line Machine Tool Coordinates Screen
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9.4.6 ON-LINE MACHINE TOOL DATA REGISTRATION
This procedure is used to register the tool coordinate data obtained from function “3.
Measure Tool Coordinates” (section 9.4.4.2) and recorded from function “1. Start Data
Transformation” screen (section 9.4.4.3) . Enter the data as described in figure 9-17.
Aux. 0304. Tool Coordinates
Tool1
1/ 9
X
Y
Z
0.0 mm
0.0 mm
0.0 mm
O
A
T
0.0 deg
0.0 deg
0.0 deg
Undo
Load Mass
Center Of Gravity X
Center Of Gravity Y
Center Of Gravity Z
10.0 kgf
0.0 mm
0.0 mm
0.0 mm
Moment of Inertia ab.
Moment of Inertia ab.
Moment of Inertia ab.
0.0 kgm^2
0.0 kgm^2
0.0 kgm^2
1. From the auxiliary function menu,
select auxiliary function 0304 Tool
Coordinates.
2. Enter the tool data recorded from the
start data transformation screen in
section 9.4.4.3.
Next Page
Allowable input range : [-9999.9 – 9999.9]
Aux. 0304. Tool Coordinates
Tool1
1/ 9
X
Y
Z
106.0 mm
50.9 mm
-2.7 mm
O
A
T
10.0 deg
-30.2 deg
6.8 deg
Undo
Load Mass
Center Of Gravity X
Center Of Gravity Y
Center Of Gravity Z
10.0 kgf
3.0 mm
5.4 mm
2.8 mm
Moment of Inertia ab.
Moment of Inertia ab.
Moment of Inertia ab.
1.3 kgm^2
60.0 kgm^2
5.9 kgm^2
Next Page
Allowable input range : [0.0
– 100.0]
Aux. 0304. Tool Coordinates
Tool1
X
Y
Z
106.0 mm
50.9 mm
-2.7 mm
O
A
T
10.0 deg
-30.2 deg
6.8 deg
Undo
3. Ensure the data is correct and press the
ENTER key on the teach pendant
keypad.
1/ 9
Load Mass
Center Of Gravity X
Center Of Gravity Y
Center Of Gravity Z
10.0 kgf
3.0 mm
5.4 mm
2.8 mm
Moment of Inertia ab.
Moment of Inertia ab.
Moment of Inertia ab.
1.3 kgm^2
60.0 kgm^2
5.9 kgm^2
4. When “Setting complete.” is displayed
in the lower left of the screen, press
CANCEL to exit the tool coordinate
screen.
Next Page
Setting complete.
Figure 9-17 On-Line Machine Tool Data Registration Screens
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9.4.7 FOUR ON-LINE MACHINE BASE POINTS GRAVITY COMPENSATION
This procedure is used for gravity compensation on the four base points data measured
by the on-line machine (section 9.4.3). This procedure is used only when the off-line
program data is created using CAD (figures 9-18 and 9-19).
Aux. 0103. Transform data
Program
Start Step
End Step (0: st. step only)
Load Weight
Load Position
1. From auxiliary function 0103, Transform
Data menu select “4. Compensate for
Gravity”.
4. Compensate for gravity
0
0
Load
X
Y
Z
N0–Load
0.0 kg
0.0 mm
0.0 mm
0.0 mm
2. Press the “Program” function key on
the touch screen and select the program containing the four base points
recorded in section 9.4.3.
Program
Input range : 20
Aux. 0103. Transform data
Program
Start Step
End Step (0: st. step only)
Load Weight
Load Position
4. Compensate for gravity
pg99
1
4
Load
50.0 kg
X
50.0 mm
Y
100.0 mm
Z
150.0 mm
N0–Load
3. Enter the data as shown to the left. If
incorrect data is entered use the
CLEAR key to clear incorrect data and
enter correct data. When correct data
is entered press the ENTER key on the
teach pendant keypad.
Undo
Input range : [-9999.9 – 9999.9]
Figure 9-18 Four On-Line Machine Base Points Gravity Compensation Screens
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Aux. 0103. Transform data
4. Compensate for gravity
Confirm Record
Program
Start Step
End Step (0: st. step only)
Load Weight
Load Position
Yes
pg99
1
0 , OK ?
Records
Load
50.0 kg
X
50.0 mm
Y
100.0 mm
Z
150.0 mm
N0–Load
No
4. When ENTER is pressed the confirmation screen is displayed.
If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
Select “No” to return to the data entry
screen.
Undo
Input range : [-9999.9 – 9999.9]
Aux. 0103. Transform data
Program
Start Step
End Step (0: st. step only)
Load Weight
Load Position
4. Compensate for gravity
pg99
1
4
Load
50.0 kg
X
50.0 mm
Y
100.0 mm
Z
150.0 mm
N0–Load
5. When “Setting complete.” is displayed
in the lower left of the screen, press
CANCEL to exit the compensate for
gravity screen.
Undo
Setting complete.
Figure 9-19 Four On-Line Machine Base Points Gravity Compensation Confirmation
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9.4.8 OFF-LINE MACHINE TOOL DATA REGISTRATION
This procedure is used to set the tool transformation values (X, Y, Z, O, A, T) for off-line
machine tool numbers 4 through 6 (Figure 9-20).
Aux. 0103. Transform data 2. Register tool Coordinates
X :
Y :
Z :
O :
A :
T :
Tool 4
0.0 mm
0.0 mm
0.0 mm
0.0 deg
0.0 deg
0.0 deg
Tool 5
0.0 mm
0.0 mm
0.0 mm
0.0 deg
0.0 deg
0.0 deg
Tool 6
0.0 mm
0.0 mm
0.0 mm
0.0 deg
0.0 deg
0.0 deg
1. From auxiliary function 0103, Transform
Data menu select “2. Register Tool
Coordinates”.
Undo
Input range : [-9999.9 – 9999.9]
Aux. 0103. Transform data 2. Register tool Coordinates
X :
Y :
Z :
O :
A :
T :
Tool 4
150.0 mm
250.0 mm
350.0 mm
90.0 deg
90.0 deg
90.0 deg
Tool 5
0.0 mm
0.0 mm
0.0 mm
0.0 deg
0.0 deg
0.0 deg
Tool 6
0.0 mm
0.0 mm
0.0 mm
0.0 deg
0.0 deg
0.0 deg
2. Enter the data as shown to the left. If
incorrect data is entered use the
CLEAR key to clear incorrect data and
enter correct data. Use the “Undo”
function key to return to previous data.
3. When correct data is entered press the
ENTER key on the teach pendant
keypad, to store the data in system
memory.
Undo
Input range : [-9999.9 – 9999.9]
Figure 9-20 Off-Line Machine Tool Data Registration Screens
NOTE
When the data registration for tool 4 is entered, do not
terminate the data transformation function. The tool
data entered in this function is valid only in the data
transformation function. If the data transformation function is accidentally terminated the tool data must be reentered.
9-32
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9.4.9 EXECUTING DATA TRANSFORMATION
9.4.9.1 VERIFY THE DATA FOR THE ON-LINE AND OFF-LINE TOOL COORDINATES
Verify the tool coordinate data for the on-line and off-line tools in the start data transformation screen are the same as registered in auxiliary function 0304 Tool Coordinates
(Figure 9-21).
Aux. 0103. Transform data 1. Start data transformation
Tool Transf. Value Display
Online
Offline
Tool 1 Tool 2
Tool 3
Tool 4 Tool 5
X :
100.2
0.0
0.0
150.0
0.0
Y :
200.1
0.0
0.0
250.0
0.0
Z :
299.9
0.0
0.0
350.0
0.0
O :
0.0
0.0
0.0
90.0
0.0
A :
0.0
0.0
0.0
90.0
0.0
T :
0.0
0.0
0.0
90.0
0.0
1/ 4
Tool 6
0.0 mm
0.0 mm
0.0 mm
0.0 deg
0.0 deg
0.0 deg
1. From auxiliary function 0103, Transform
Data menu select “1. Start Data
Transformation”.
2. Ensure the tool coordinate data for
each tool is the same as registered in
auxiliary function 0304 Tool Coordinates.
Next Page
Figure 9-21 Verify Tool Data in the Start Data Transformation Screen
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9.4.9.2 SETTING THE FOUR BASE POINTS AND TOOL NUMBERS
This procedure is used to set the tool numbers used for teaching the four base points,
for the off-line and on-line machines. The program name and step numbers for the four
base points are also entered (figures 9-22 and 9-23).
Aux. 0103. Transform data 1. Start data transformation
4 Reference Points and Tool No
Offline
Online
Tool No.
0
0
A : Program
Step
0
0
B : Program
Step
0
0
C : Program
Step
0
0
D : Program
Step
0
0
Tool clearance Distance
dx
0.0 mm dy
0.0 mm dz
Undo
Prev Page
2/ 4
0.0 mm
Calculate
Input range : [0 – 99]
Aux. 0103. Transform data 1. Start data transformation
4 Reference Points and Tool No
Offline
Online
Tool No.
0
4
A : Program
pg99
Step
0
1
B : Program
pg99
Step
0
2
C : Program
pg99
Step
0
3
D : Program
pg99
Step
0
4
Tool clearance Distance
dx
0.0 mm dy
0.0 mm
Undo
Prev Page
2/ 4
dz
1. When the tool coordinate data is
confirmed in figure 9-21, press the
“Next Page” function key on the touch
screen.
2. Press the “Program” function key on
the touch screen. Select the program
name that contains the program steps
recorded in section 9.4.3. When the
program name is selected with the
cursor at A the program name is
automatically entered for A, B, C, and
D.
3. Enter the off-line tool number, program
name steps accordingly.
10.0 mm
Calculate
Input range : [0 – 10000]
Aux. 0103. Transform data 1. Start data transformation
4 Reference Points and Tool No
Offline
Online
Tool No.
4
1
A : Program
pg99
pg98
Step
1
1
B : Program
pg99
pg98
Step
2
2
C : Program
pg99
pg98
Step
3
3
D : Program
pg99
pg98
Step
4
4
Tool clearance Distance
dx
0.0 mm dy
0.0 mm
Undo
Prev Page
2/ 4
4. Enter the on-line tool number, program
and steps accordingly. If incorrect data
is entered use the CLEAR key to clear
incorrect data and enter correct data.
Use the “Undo” function key to return to
previous data.
If the data is correct press the ENTER
key on the teach pendant keypad.
dz
10.0 mm
Calculate
Input range : [0 – 10000]
Figure 9-22 Setting the Four Base Points and Tool Numbers Screens
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Aux. 0103. Transform data 1. Start data transformation
4 Reference Points and Tool No
Offline
Online
Confirm Record
Tool No.
4
1
A : Program
pg99
pg98
Records
,
OK
?
Step
1
1
B : Program
pg99
pg98
Step
No2
Yes2
C : Program
pg99
pg98
Step
3
3
D : Program
pg99
pg98
Step
4
4
Tool clearance Distance
dx
0.0 mm dy
0.0 mm
Undo
Prev Page
2/ 4
5. When data is entered press the “Calculate function key on the touch screen.
The confirmation screen is displayed.
If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
dz
10.0 mm
Calculate
Select “No” to return to the data entry
screen.
Input range : [0 – 10000]
Aux. 0103. Transform data 1. Start data transformation
4 Reference Points and Tool No
Offline
Online
Tool No.
4
1
A : Program
pg99
pg98
Step
1
1
B : Program
pg99
pg98
Step
2
2
C : Program
pg99
pg98
Step
3
3
D : Program
pg99
pg98
Step
4
4
Tool clearance Distance
dx
0.0 mm dy
0.0 mm
Undo
Prev Page
2/ 4
dz
6. When “Setting complete.” is displayed
in the lower left of the screen, this
procedure is complete. Press the “Next
Page” function key on the touch screen
to proceed to the next section.
10.0 mm
Calculate
Setting complete
Figure 9-23 Setting the Four Base Points and Tool Numbers Data Confirmation Screens
NOTE
Tool clearance distance shifts the positional data for
each axis in the base coordinates by the set amount after transformation based on the four base points positional data for the on-line machine. In the example in
figures 9-22 and 9-23 the positional data is transformed
to a position 10 mm above the dummy work piece (distance from the tool-tip taught-point dz=10).
After the data taught in an off-line machine is transformed, this data is used to move the tool away from the
work piece during repeat mode on-line. Set to 0 for normal operation.
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9.4.9.3 DISPLAYING DISTANCES AND ERRORS BETWEEN THE FOUR BASE
POINTS
When the “Next Page” function key is pressed in section 9.4.8.2, step 6, the “Distance
Between 4 Basic Points & Error” screen is displayed (Figure 9-24). This screen displays
any error between the point D values calculated by the transformation matrix and the
values measured using the on-line machine. Deviations between the two values are
displayed as dx, dy, and dz distances.
NOTE
If the values of dx, dy, and dz are not within ±3.0 mm,
the data conversion procedure must be executed from
the beginning. Ensure all procedures are performed
correctly and all data is entered correctly.
Aux. 0103. Data Convertion 1. Start Transforming
Distance Between 4 Basic Points & Error
Offline
Onlin e
AB :
200.0 mm
200.0 mm
BC :
447.2 mm
447.2 mm
CD :
200.0 mm
200.0 mm
DA :
447.2 mm
447.2 mm
AC :
400.0 mm
400.0 mm
BD :
400.0 mm
400.0 mm
dx :
dy :
dz :
3/ 4
1. Verify data is correct. The values of dx,
dy, and dz must be within ±3.0 mm.
2. If data is correct press the “Next Page”
function key on the touch screen and
proceed to the next section.
0. 0 mm
0.0 mm
0.0 mm
Prev Page Next Page
Figure 9-24 Distance Between Four Basic Points and Error Screen
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D SERIES CONTROLLER
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AUXILIARY FUNCTIONS
9.4.9.4 EXECUTING DATA TRANSFORMATION
This procedure performs data transformation based on the off-line program data. The
example in figures 9-25 and 9-26 use pg99.
Aux. 0103. Data Convertion 1. Start Transforming
Execute
Program
Start Step
1
1
End Step (0:Start step only)
Tool No.
Program
Offline
4/ 4
2. Press the “Program” function key on
the touch screen and select the program to transform.
4
Prev Page
1. When the “Next Page” function key is
pressed in section 9.4.8.3, step 2, the
“Execute” screen is displayed.
Execute
Input String Range : 20.
Aux. 0103. Data Convertion 1. Start Transforming
Execute
Program
pg99
Start Step
1
End Step (0:Start step only)
4
Tool No.
Offline
4/ 4
3. The tool numbers entered in section
9.5.8.2 are indicated.
Specify the first and last step of the
program for data transformation and
the off-line machine tool number(s).
4
4. When all data is correctly entered,
press the “Execute” function key on the
touch screen.
Undo
Prev Page
Execute
Input Range : [0 – 10000]
Figure 9-25 Data Transformation Execute Screen
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Aux. 0103. Data Convertion 1. Start Transforming
Execute
Program
pg99
Record Confirm
Start Step
1
End Step (0:Start step only)
Record4, OK ?
Tool No.
Undo
Offline
Yes
4
Prev Page
4/ 4
5. When the “Execute” function key is
pressed the confirmation screen is
displayed.
If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
No
Execute
Select “No” to return to the data entry
screen.
Input Range : [0 – 10000]
Aux. 0103. Data Convertion 1. Start Transforming
Execute
Program
pg99
Start Step
1
End Step (0:Start step only)
4
Tool No.
Offline
4/ 4
6. If the data transformation is performed
properly, the off-line program data is
transformed for use on the on-line
machine.
1
7. When “Setting complete.” is displayed
in the lower left of the screen, press
CANCEL to exit the execute screen.
Undo
Prev Page
Execute
Setting complete.
Figure 9-26 Data Transformation Execute Confirmation Screen
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AUXILIARY FUNCTIONS
9.4.9.5 OFF-LINE DATA GRAVITY COMPENSATION
This procedure is used only when the off-line program data is created using CAD. When
off-line program data is created using a on-line machine, do not perform gravity compensation.
Figures 9-27 and 9-28 use pg99 as a program example.
Aux. 0103. Transform data
Program
Start Step
End Step (0: st. step only)
Load Weight
Load Position
1. From auxiliary function 0103, Transform
Data menu select “4. Compensate for
Gravity”.
4. Compensate for gravity
0
0
Load
X
Y
Z
N0–Load
0.0 kg
0.0 mm
0.0 mm
0.0 mm
2. Press the ”Program” function key on
the touch screen and select the
program for gravity compensation.
Program
Input range : 20
Aux. 0103. Transform data
Program
Start Step
End Step (0: st. step only)
Load Weight
Load Position
4. Compensate for gravity
pg99
1
0
Load
50.0 kg
X
50.0 mm
Y
100.0 mm
Z
150.0 mm
N0–Load
3. Enter the start step, end step, and tool
data accordingly. If incorrect data is
entered use the CLEAR key to clear
incorrect data and enter correct data.
Use the “Undo” function key to return to
previous data.
If the data is correct press the ENTER
key on the teach pendant keypad.
Undo
Input range : [-9999.9 – 9999.9]
Figure 9-27 Off-Line Program Data Gravity Compensation Screen
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Aux. 0103. Transform data
Confirm Record
Program
Start Step
End Step (0: st. step only)
Load Weight
Load Position
4. When the ENTER key is pressed the
confirmation screen is displayed.
4. Compensate for gravity
Yes
pg99
1
0 , OK ?
Records
Load
50.0 kg
X
50.0 mm
Y
100.0 mm
Z
150.0 mm
N0–Load
No
If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
Select “No” to return to the data entry
screen.
Undo
Input range : [-9999.9 – 9999.9]
Aux. 0103. Transform data
Program
Start Step
End Step (0: st. step only)
Load Weight
Load Position
4. Compensate for gravity
pg99
1
4
Load
50.0 kg
X
50.0 mm
Y
100.0 mm
Z
150.0 mm
N0–Load
5. When “Setting complete.” is displayed
in the lower left of the screen, press
CANCEL to exit the compensate for
gravity screen.
Undo
Setting complete.
Figure 9-28 Off-Line Program Data Gravity Compensation Confirmation Screen
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9.4.10 CONFIRM TRANSFORMED PROGRAM DATA
When the data transformation is complete, verify the transformed program data using
the check mode and single step through the program (Figure 9-29).
Refer to section 7.4 Checking Program Operation, for detailed instructions for checking
program operation.
Robot
X Axis
Y Axis
Point B Step 5
Point A Step 2
Point E Step 14
Point D Step 4
Point C Step 3
Figure 9-29 Confirm Transformed Program Data
Program verification Procedure:
1.
Select the transformed program (section 5.3.3).
2.
Select the first step of the program (section 5.3.4).
3.
Set the controller to teach mode (section 4.2.2).
4.
Set the controller for check mode signal step (section 7.4), and press and hold one
of the enabling devices. To move the robot to the first program point, press and hold
the CHECK GO key.
5.
Release the CHECK GO key and press and hold the CHECK GO key to continue to
the next program point.
6.
Continue the procedure for all steps of the program.
7.
To exit the check mode press CANCEL on the teach pendant keypad.
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9.4.11 ERRORS DURING DATA TRANSFORMATION OPERATION
If on-line operations are not performed correctly, data transformation for the on-line
machine does not execute accurately, even if the off-line program data is correct.
To minimize transformation tool posture errors, use the same tool posture for the four online base points, four off-line base points and the actual program points.
When the tool posture for the four on-line base points, and the actual program points do
not match, a large transformation error occurs.
The graph in figure 9-30 shows the difference in error when the tool postures are not
limited (A) and when the tool postures are limited (B).
A
B
Figure 9-30 Transformation Data Error Graphs
NOTE
To reduce data transformation error:
When teaching the four base points for the on-line machine, use a tool posture as close as possible to the tool
posture used to teach the actual program points.
If tool postures for the actual program points differ dramatically, group similar postures and teach four base
points for each group. Perform data transformation for
each of the groups separately.
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AUXILIARY FUNCTIONS
9.4.12 DATA TRANSFORMATION ERRORS
If an error occurs during data transformation an error message is displayed in screen
area A. In some cases the data is not transformed. In other cases the data may be
transformed, but the program may not operate correctly because of the data transformation error(s).
Table 9-4 provides transformation error messages, possible causes, and solutions.
Table 9-4 Data Transformation Errors
Error Message
Possible Cause
Possible Solution
Step No. (xx) movement range
over. (Press "CONTINUE" for
rewrite.)
Calculated result exceeds joint
motion range.
Press "CONTINUE" on the Data
Transformation Execution screen to
rewrite the data within the motion
range and continue processing.
Step No. (xx) interference
range over. (Press
"CONTINUE" for rewrite.)
Calculated result exceeds joint
interference range.
Press "CONTINUE" on the Data
Transformation Execution screen to
rewrite the data within the
interference range and continue
processing.
Step No. (xx) JT 4, 5, 6 has
changed by 45 degrees
(Press "CONTINUE" for
rewrite.)
Difference between the values
for wrist axes (4, 5, and 6)
before and after calculation is
more than 45°. (Normally this
error does not cause a
problem.)
Press "CONTINUE" on the Data
Transformation Execution screen to
rewrite the data and continue
processing.
Auto measuring error.
Calculation of tool data did not
complete properly.
Check the parameters of the four
points used for the tool
measurement (may not be within
allowed range). Pressing
"CONTINUE" on the Data
Transformation Execution screen
does not rewrite the data in the
step and continues execution from
the next step.
Numerical operation error.
An error occurred in a numeric
calculation.
Pressing "CONTINUE" on the Data
Transformation Execution screen
does not rewrite the data in the
step and continues execution from
the next step.
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Table 9-4 Data Transformation Errors (Continued)
Error Message
Data is incorrect.
Possible Cause
Possible Solution
1. Tool coordinate position
(X, Y, Z) is set out of
range of ±12,000
(unit: 0.1 mm) in the tool
data registration screen.
2. Tool posture (O, A, T) is
set out of range of ±1800
(unit: 0.1 deg).
Reset the tool transformation value
(X, Y, Z, O, A, T).
Table 9-5 provides data transformation non-error messages and explanations.
Table 9-5 Data Transformation Non-Error Messages
Message
Description
Normally Completed
Displayed when calculation/function is completed properly
Executing
Displayed while transformation matrix data is calculated, in the four
base points and tool numbers screen.
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9.5 XYZ SHIFT, AUX 0104
The XYZ Shift function is used in conjunction with block step programs and shifts programmed locations in the base coordinate system.
The display screens used to set the shift information is shown in figure 9-31.
Table 9-6 provides descriptions of the XYZ Shift function data items.
Table 9-6 XYZ Shift Data Items Descriptions
Item
Description
Program Name
Specifies the program name.
Star t Step
(number)
Specifies the first step in the program to shift (cannot use 0).
End Step
(number)
Specifies the last step number to shift (0 specifies star t step only).
X Shift Value
Y Shift Value
Z Shift Value
Amount of shift in the X, Y, and Z directions in mm.
Teach mode maximum: ±500 mm
Repeat mode maximum: ±10 mm
Keys
Program
0–9
0–9
0–9
NOTE
When an XYZ shift is executed, the original positional
data in memory is overwritten. As a precaution ensure
the program is backed up to a floppy disk or a PC card.
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1. Press the “Program” function key on
the touch screen. From the Program
Select screen, select the program that
contains the points to shift.
Aux. 0104. XYZ Shift
Program Name
Start Step
End Step (0: st. step only)
1
0
X Shift Value
Y Shift Value
Z Shift Value
0.0 mm
0.0 mm
0.0 mm
Press the ENTER key on the teach
pendant keypad
Program
Input range : 20
2. Enter the start step, end step, and the
amount of shift in the X, Y, and/or Z
base coordinate. The shift value can
be in the positive or negative direction
in mm.
Aux. 0104. XYZ Shift
Program Name
Start Step
End Step (0: st. step only)
X Shift Value
Y Shift Value
Z Shift Value
pg1
1
20
1.5 mm
3.7 mm
2.3 mm
Press the ENTER key on the teach
pendant keypad
Undo
Allowable input range : [-500.0 – 500.0]
3. When the ENTER key is pressed the
confirmation screen is displayed.
Aux. 0104. XYZ Shift
Program NameConfirm Record
Start Step
End Step (0: st. step only)
X Shift Value
Y Shift Value
Z Shift Value
pg1
1
20 , OK ?
Records
1.5 mm
3.7 mm
2.3 mm
Yes
No
If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
Select “No” to return to the data entry
screen.
Undo
Input range : [-500.0 – 500.0]
4. When “Setting complete.” is displayed
in the lower left of the screen, press
CANCEL to exit the X, Y, Z shift screen.
Aux. 0104. XYZ Shift
Program Name
Start Step
End Step (0: st. step only)
X Shift Value
Y Shift Value
Z Shift Value
pg1
1
20
1.5 mm
3.7 mm
2.3 mm
Undo
Setting complete.
Figure 9-31 XYZ Shift Screens
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9.6 JOINT SHIFT, AUX 0105
The Joint Shift function is used in conjunction with block step programs and shifts programmed locations based on joint angle information.
The display screens used to set the information is shown in figure 9-32.
Table 9-7 provides descriptions of the Joint Shift function data items.
Table 9-7 Joint Shift Data Items Descriptions
Item
Description
Program Name
Specifies the program name.
Star t Step
(number)
Specifies the first step in the program to shift (cannot use 0).
End Step
(number)
Specifies the last step number to shift (0 specifies star t step only).
Joint Shift Value
JT1–JT6 degrees
JT7 mm
Amount of shift for JT1–JT6 in degrees or JT7 in mm.
Teach mode maximum: ±10°/±500 mm
Repeat mode maximum: ±1°/±10 mm
Keys
Program
0–9
0–9
0–9
NOTE
When a joint shift is executed, the original positional
data in memory is overwritten. As a precaution, ensure
the program is backed up to a floppy disk or a PC card.
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1. Press the “Program” function key on
the touch screen. From the Program
Select screen, select the program that
contains the points to shift.
Aux. 0105. Joint Shift
Program Name
Start Step
End Step (0: st. step only)
JT 1
JT 2
JT 3
JT 4
JT 5
JT 6
1
0
Joint Shift Value
0.0 deg
0.0 deg
0.0 deg
0.0 deg
0.0 deg
0.0 deg
Joint Shift Value
Press the ENTER key on the teach
pendant keypad
Undo
Input range : 20
2. Enter the start step, end step, and the
amount of shift for each joint. The shift
value can be in the positive or negative
direction in degrees.
Aux. 0105. Joint Shift
Program Name
Start Step
End Step (0: st. step only)
JT 1
JT 2
JT 3
JT 4
JT 5
JT 6
pg1
1
20
Joint Shift Value
1.2 deg
0.3 deg
-2.5 deg
0.7 deg
-0.2 deg
1.8 deg
Joint Shift Value
Press the ENTER key on the teach
pendant keypad
Undo
Allowable input range : [-10.0 – 10.0]
3. When the ENTER key is pressed the
confirmation screen is displayed.
Aux. 0105. Joint Shift
Program Name
Confirm Record
Start Step
End Step (0: st. step only)
JT 1
JT 2
JT 3
JT 4
JT 5
JT 6
pg1
1
20 , OK ?
Records
Joint Shift Value
Yes
1.2 deg
0.3 deg
-2.5 deg
0.7 deg
-0.2 deg
1.8 deg
Joint Shift Value
No
If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
Select “No” to return to the data entry
screen.
Undo
Input range : [-10.0 – 10.0]
4. When “Setting complete.” is displayed
in the lower left of the screen, press
CANCEL to exit the joint shift screen.
Aux. 0105. Joint Shift
Program Name
Start Step
End Step (0: st. step only)
JT 1
JT 2
JT 3
JT 4
JT 5
JT 6
Joint Shift Value
1.2 deg
0.3 deg
-2.5 deg
0.7 deg
-0.2 deg
1.8 deg
pg1
1
20
Joint Shift Value
Undo
Setting complete.
Figure 9-32 Joint Shift Screens
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9.7 TOOL SHIFT, AUX 0106
The Tool Shift function is used in conjunction with block step programs and shifts programmed locations in the tool coordinate system.
The display screens used to set the tool shift information is shown in figure 9-33.
Table 9-8 provides descriptions of the Tool Shift function data items.
Table 9-8 Tool Shift Data Items Descriptions
Item
Description
Program Name
Specifies the program name.
Star t Step
(number)
Specifies the first step in the program to shift (cannot use 0).
End Step
(number)
Specifies the last step number to shift (0 specifies star t step only).
X Shift Value
Y Shift Value
Z Shift Value
Amount of shift in the X, Y, and Z directions in mm.
Teach mode maximum: ±500 mm
Repeat mode maximum: ±10 mm
Keys
Program
0–9
0–9
0–9
NOTE
When a tool shift is executed, the original positional data
in memory is overwritten. As a precaution, ensure the
program is backed up to a floppy disk or a PC card.
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1. Press the “Program” function key on
the touch screen. From the Program
Select screen, select the program that
contains the points to shift.
Aux. 0106. Tool Shift
Program Name
Start Step
End Step (0: st. step only)
1
0
X Shift Value
Y Shift Value
Z Shift Value
0.0 mm
0.0 mm
0.0 mm
Press the ENTER key on the teach
pendant keypad
Program
Input range : 20
2. Enter the start step, end step, and the
amount of shift in the X, Y, and/or Z tool
coordinate. The shift value can be in
the positive or negative direction in
mm.
Aux. 0106. Tool Shift
Program Name
Start Step
End Step (0: st. step only)
pg1
1
20
2.3 mm
-3.1 mm
1.8 mm
X Shift Value
Y Shift Value
Z Shift Value
Press the ENTER key on the teach
pendant keypad
Undo
Allowable input range : [-500 – 500.0]
3. When the ENTER key is pressed the
confirmation screen is displayed.
Aux. 0106. Tool Shift
Program NameConfirm Record
Start Step
End Step (0: st. step only)
X Shift Value
Y Shift Value
Z Shift Value
Yes
pg1
1
20 , OK ?
Records
2.3 mm
-3.1 mm
1.8 mm
No
If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
Select “No” to return to the data entry
screen.
Undo
Input range : [-500 – 500.0]
4. When “Setting complete.” is displayed
in the lower left of the screen, press
CANCEL to exit the joint shift screen.
Aux. 0106. Tool Shift
Program Name
Start Step
End Step (0: st. step only)
X Shift Value
Y Shift Value
Z Shift Value
pg1
1
20
2.3 mm
-3.1 mm
1.8 mm
Undo
Setting complete.
Figure 9-33 Tool Shift Screens
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9.8 WORK SHIFT, AUX 0107
The Work Shift function is used in conjunction with block step programs and shifts programmed locations in the coordinate system defined as “work”.
The display screens used to set the information is shown in figure 9-34.
Table 9-9 provides descriptions of the Work Shift function data items.
Table 9-9 Work Shift Data Item Descriptions
Item
Description
Program Name
Specifies the program name.
Star t Step
(number)
Specifies the first step in the program to shift (cannot use 0).
End Step
(number)
Specifies the last step number to shift (0 specifies star t step only).
X Shift Value
Y Shift Value
Z Shift Value
Amount of shift in the X, Y, and Z directions in mm.
Teach mode maximum: ±500 mm
Repeat mode maximum: ±10 mm
Keys
Program
0–9
0–9
0–9
NOTE
When a work shift is executed, the original positional
data in memory is overwritten. As a precaution, ensure
the program is backed up to a floppy disk or a PC card.
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1. Press the “Program” function key on
the touch screen. From the Program
Select screen, select the program that
contains the points to shift.
Aux. 0107. Work Shift
Program Name
Start Step
End Step (0: st. step only)
X Shift Value
Y Shift Value
Z Shift Value
1
0
0.0 mm
0.0 mm
0.0 mm
Press the ENTER key on the teach
pendant keypad
Program
Input range : 20
2. Enter the start step, end step, and the
amount of shift in the X, Y, and/or Z
work coordinate. The shift value can
be in the positive or negative direction
in mm.
Aux. 0107. Work Shift
Program Name
Start Step
End Step (0: st. step only)
pg1
1
20
-1.9 mm
0.2 mm
3.6 mm
X Shift Value
Y Shift Value
Z Shift Value
Press the ENTER key on the teach
pendant keypad
Undo
Allowable input range : [-500.0 – 500.0]
3. When the ENTER key is pressed the
confirmation screen is displayed.
Aux. 0107. Work Shift
Program NameConfirm Record
Start Step
End Step (0: st. step only)
X Shift Value
Y Shift Value
Z Shift Value
Yes
pg1
1
20 , OK ?
Records
-1.9 mm
0.2 mm
3.6 mm
No
If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
Select “No” to return to the data entry
screen.
Undo
Input range : [-500.0 – 500.0]
4. When “Setting complete.” is displayed
in the lower left of the screen, press
CANCEL to exit the joint shift screen.
Aux. 0107. Work Shift
Program Name
Start Step
End Step (0: st. step only)
X Shift Value
Y Shift Value
Z Shift Value
pg1
1
20
-1.9 mm
0.2 mm
3.6 mm
Undo
Setting complete.
Figure 9-34 Work Shift Screens
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9.9 INVERSE COPY PROGRAM, AUX 0108
The Inverse Copy Program function is used to copy and paste program steps from one
program to another program or to a different location within the same program in reverse
order. The INVERSE COPY PROGRAM function works in the same manner as auxiliary
function 0101, Transfer Data except program steps are copied in reverse order.
Figure 9-35 shows the Inverse Copy Program screen.
Table 9-10 provides descriptions of the Inverse Copy Program function data items.
Table 9-10 Inverse Copy Program Data Items Descriptions
Item
Description
Keys
Source Program
Specifies the source program.
Program
Source Step
Number
Specifies the first step in the source program to copy (cannot use 0).
0–9
Number of
Transfer Steps
Specifies the number of steps to copy (cannot use 0).
0–9
Destination
Program
Specifies the program to transfer the steps into.
Program
Destination Step
Number
Specifies the step in the destination program to transfer the steps after.
Steps are transferred in reverse order of the source program.
Enter 0 to transfer the steps after the last step.
0–9
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AUXILIARY FUNCTIONS
Aux. 0108. Inverse Program Copy
Source Program
Source Step Number
1
Number of Transfer Steps
1
Destination Program
Destination Step Number
0
(Specifying 0 selects the last step of the destination program)
1. Press the Program function key on the
touch screen. The Program List screen
is displayed. Select the source program from the Program List screen and
press the ENTER key on the teach
pendant keypad.
Program
Input range : 20
Aux. 0108. Inverse Program Copy
pg1
Source Program
Source Step Number
1
Number of Transfer Steps
1
pg456
Destination Program
1
Destination Step Number
(Specifying 0 selects the last step of the destination program)
2. Program “pg1” entered in step 1 is
displayed for the source program.
Enter the source step and number of
steps.
Enter the destination program as
described for entering the source
program in step 1. When the ENTER
key is pressed the screen in step 3 is
displayed.
Undo
Allowable input range : [0 – 10000]
Aux. 0108. Inverse Program Copy
Source Program
Confirm Recordpg1
Source Step Number
1
Number of Transfer Steps
1Records, OK ?
pg456
Destination Program
1
Destination Step Number
No program)
(Specifying 0 selects theYes
last step of the destination
3. If the data entered is correct use the
cursor keys to select the “Yes” function
key on the touch screen and press
SELECT on the teach pendant keypad.
Select “No” to return to the data entry
screen.
Undo
Input range : [0 – 10000]
Aux. 0108. Inverse Program Copy
Source Program
pg1
Source Step Number
1
Number of Transfer Steps
1
Destination Program
pg456
Destination Step Number
1
(Specifying 0 selects the last step of the destination program)
4. When the procedure is completed
“Copy completed.” is displayed in the
lower left of the screen.
Undo
Copy completed.
Figure 9-35 Inverse Copy Program Screens
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AUXILIARY FUNCTIONS
9.10 SAVE, AUX 0201
This function is used to save data in the controller’s memory to a PC card or optional
floppy disk drive (FDD). The PC card is inserted into the PC card slot behind the accessary panel door on the left front of the controller. If installed, the optional FDD is located
behind the accessary panel door on the left front of the controller.
Figure 9-36 shows the save function menu screen
Aux. 0201. Save
1.
2.
3.
4.
5.
6.
7.
8.
9.
All Data
All Data (only in specified program)
Program
Robot Data
System Data
Auxiliary Data
Interface Panel Data
Error Logging
Vision Data
Up Page
Selects All Data
Figure 9-36 Memory PC Card Save Screen
The “Save” screen has nine selections available for storing different types of data. Data
is saved on the PC card as ASCII text files. Use the cursor keys or the numeric keypad
to select the desired option and press the SELECT key.
If a alphanumeric file name is desired press the “Input char” function key. Select the
desired characters for the file name and press the ENTER key. When the file name
screen is displayed press the ENTER key to complete the procedure.
•
File names are limited to eight characters (plus three character extension).
•
Alphanumeric file names must start with an alpha character.
•
File names cannot contain spaces.
•
An underscore or period is used as a delimiter.
The options for saving data on a PC card are shown in table 9-11.
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AUXILIARY FUNCTIONS
Table 9-11 PC Card Save File Extensions
Menu Item
Extension
Description
.AS
Includes all robot, system, auxiliary, program, variable and
program data.
2 All Data (only in
specified program)
.AS
Saves all data for up to five selected programs. This option
saves variables, system data and auxiliary data. If subroutines
are called they are not saved unless they are identified
individually.
3 Program
.PG
Saves program data only. System data and variables are not
saved. If the saved program calls other programs (subroutines),
the called programs are also saved.
4 Robot Data
.RB
Includes robot type, number of axes and specific software
settings.
5 System Data
.SY
Includes Base and tool coordinate data, dedicated signal data,
and system switch settings.
6 Auxiliary Data
.AU
Includes auxiliary data such as accuracy, timer and teach speed
settings, HOME positions, etc.
7 Interface Panel
Data
.IF
Includes interface panel switch, lamp, and text box parameters
and settings.
8 Error Logging
.EL
Saves the data from the error log up to the last 1,000 entries,
including the date and time of the entry.
9 Vision Data
(Option)
.VA
Saves image processing parameter data, calibration data, and
proto data set for the optional vision system.
1 All Data
When data is stored onto a PC card, a file number or name must be specified. The
display prompts the operator to enter a number for the file identification. The file extension is added to the file name based on the option of the file type selected.
If a file is identified with the same file number, or name, as an existing file, a backup file
is automatically created. A “B” is added to the extension of the original file name indicating a backup file (i.e. .BAS). Only one backup file is created, if additional files of the
same name are saved the backup file is overwritten.
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AUXILIARY FUNCTIONS
Table 9-12 lists the manufacturer and part numbers of D series controller compatible PC
cards.
Table 9-12 D Series Controller Compatible PC Cards
Manufacturer
Part Number
ATA ATA004M (4MB)
Magic RAM
ATA ATA008M (8MB)
ATA FL8MBATH (8MB)
Mitsubishi Electric
ATA MF0030M (30MB)
ATA SA4000F2SDSAA (4MB)
ATA SA8000F2SDSAA (8MB)
Mitsubishi Plastics
CF SC8000F1SDSAA+NS0000CMNN Adaptor (8MB)
CF SC016MF1SDSAA+NS0000CMNN Adaptor (16MB)
CF SDCFB-16-101+NS0000CMNN Adaptor (16MB)
CF LMC-CF16+LMC-CFAD Adaptor (16MB)
CF LMC-CF32+LMC-CFAD Adaptor (32MB)
Logitech
CF LMC-CF64+LMC-CFAD Adaptor (64MB)
CF LMC-CF96+LMC-CFAD Adaptor (96MB)
CF LMC-CF128+LMC-CFAD Adaptor (128MB)
CF PCCF-16MS+PCCF-ADP Adaptor (16MB)
CF PCCF-32MS+PCCF-ADP Adaptor (32MB)
CF PCCF-48MS+PCCF-ADP Adaptor (48MB)
I/O Data
CF PCCF-64MS+PCCF-ADP Adaptor (64MB)
CF PCCF-96MS+PCCF-ADP Adaptor (96MB)
CF PCCF-128MS+PCCF-ADP Adaptor (128MB)
ATA PCFCA-20M (20MB)
Melco
CF RCF-C32M+RCF-A Adaptor (32MB)
San Disk
ATA SDP3B-8-101 (8MB)
9.10.1 ALL DATA, AUX 0201-1
Figure 9-37 shows the AUX 0201-1 All Data save screens and describes the all data
save procedure. For more information on the Save function refer to section 9.10.
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Aux. 0201. Save
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 2 or 3.
1. All Data
File Name
Device
0
File
Device List
0: PC Card
1: FDD
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Select file.
1/1
Input char
FILE1 AS
FILE2 AS
FILE3 AS
FILE4 AS
FILE5 AS
FILE6 AS
FILE7 AS
FILE8 AS
FILE9 AS
FILE10 AS
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
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98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
FILE11 AS
FILE12 AS
FILE13 AS
FILE14 AS
FILE15 AS
FILE16 AS
10000
10000
10000
10000
10000
10000
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
Select file.
Input char
FILE1
FILE2
FILE3
FILE4
FILE5
FILE6
”
!
q
w
a
s
z
x
[{
]}
SHIFT
1/1
AS
AS
AS
AS
AS
AS
10000 98-07-10 13:11
10000 98-07-10 13:11
10000 98-07-10 13:11
10000 98-07-10 13:11
10000 98-07-10 13:11
10000 98-07-10 13:11
#
e
d
c
$
r
f
v
%
t
g
b
&
y
h
n
SPACE
’
u
j
m
FILE11
FILE12
FILE13
FILE14
FILE15
FILE16
(
i
k
,<
)
o
l
.>
NEXT
Aux. 0201. Save 1. All Data
File Name
FILE1.AS
Device
0
File
Device List
0: PC Card
1: FDD
AS
AS
AS
AS
AS
AS
=
p
;+
/?
^’
10000
10000
10000
10000
10000
10000
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
7
@~
4
:*
1
|¥
0
—
SHIFT
8
5
2
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
9
6
3
BS
CTRL+L
ENTER
5. If the file name and device data are
correct press the ENTER key on the
teach pendant keypad to complete the
procedure.
Input char
Input range : 12
Figure 9-37 AUX 0201-1 All Data Save Screens
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9.10.2 ALL DATA (ONLY IN SPECIFIED PROGRAM), AUX 0201-2
Figure 9-38 shows the AUX 0201-2 All Data (0nly in specified program) save screens
and describes the All Data (only in specified program) procedure. For more information
on the Save function refer to section 9.10.
Aux. 0201. Save
2. All Data (only in specified program)
File Name
Device
File
0
Device List
0: PC Card
1: FDD
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0201. Save 2. All Data (only in specified program)
File Name
FILE1.AS
Device
0
File
Device List
0: PC Card
1: FDD
Input char Next Page
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
Input range : 12
5. Five programs can be saved to the file.
Press the “Next Page” function key on
the touch screen to display the program entry screen.
Aux. 0201. Save
2. All Data (only in specified Program)
Specified Program 1:
2:
3:
4:
5:
*Up to 5 programs can be specified.
Program
6. Press the “Program” function key to
display the program list screen. Select
the program from the list screen or the
keyboard screen. When the
program(s) is/are selected press the
ENTER key on the teach pendant
keypad.
Prev Page
Input range : 20
Figure 9-38 AUX 0201-2 All Data (Only Specified Program) Save Screens
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9.10.3 PROGRAM, AUX 0201-3
Figure 9-39 shows the AUX 0201-3 Program screens and describes the program save
procedure. For more information on the Save function refer to section 9.10.
Aux. 0201. Save
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
3. Program
File Name
Device
File
0
Device List
0: PC Card
1: FDD
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0201. Save 3. Program
File Name
FILE1.AS
Device
0
File
Device List
0: PC Card
1: FDD
Input char Next Page
Input range : 12
Aux. 0201. Save
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
5. Five programs can be saved to the file.
Press the “Next Page” function key on
the touch screen to display the program entry screen.
3. Program
Specified Program 1:
2:
3:
4:
5:
*Up to 5 programs can be specified.
Program
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
6. Press the “Program” function key to
display the program list screen. Select
the program from the list screen or the
keyboard screen. When the
program(s) is/are selected press the
ENTER key on the teach pendant
keypad.
Prev Page
Input range : 20
Figure 9-39 AUX 0201-3 Program Save Screens
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9.10.4 ROBOT DATA, AUX 0201-4
Figure 9-40 shows the AUX 0201-4 Robot Data screens and describes the robot data
save procedure. For more information on the Save function refer to section 9.10.
Aux. 0201. Save
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
4. Robot Data
File Name
Device
File
0
Device List
0: PC Card
1: FDD
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0201. Save
4. Robot Data
File Name
FILE1.AS
Device
0
File
Device List
0: PC Card
1: FDD
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
Input char
Input range : 12
Aux. 0201. Save 4. Robot Data
Saving... (FILE1.AS)
Network Configuration data
ROBOT DATA
File save completed.
5. When the ENTER key is pressed the
save screen is displayed. During the
save function “Saving...” is displayed.
Ensure “File save completed.” is
displayed after the save is complete
Figure 9-40 AUX 0201-4 Robot Data Save Screens
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9.10.5 SYSTEM DATA, AUX 0201-5
Figure 9-41 shows the AUX 0201-5 System Data screens and describes the System
data save procedure. For more information on the Save function refer to section 9.10.
Aux. 0201. Save
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
5. System Data
File Name
Device
File
0
Device List
0: PC Card
1: FDD
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0201. Save
5. System Data
File Name
FILE1.AS
Device
0
File
Device List
0: PC Card
1: FDD
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
Input char
Input range : 12
Aux. 0201. Save 5. System Data
Saving... (FILE1.AS)
Network Configuration data
SYSTEM DATA
File save completed.
5. When the ENTER key is pressed the
save screen is displayed. During the
save function “Saving...” is displayed.
Ensure “File save completed.” is
displayed after the save is complete
Figure 9-41 AUX 0201-5 System Data Save Screens
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9.10.6 AUXILIARY DATA, AUX 0201-6
Figure 9-42 shows the AUX 0201-6 Auxiliary Data screens and describes the Auxiliary
data save procedure. For more information on the Save function refer to section 9.10.
Aux. 0201. Save
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
6. Auxiliary Data
File Name
Device
File
0
Device List
0: PC Card
1: FDD
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0201. Save
6. Auxiliary Data
File Name
FILE1.AS
Device
0
File
Device List
0: PC Card
1: FDD
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
Input char
Input range : 12
Aux. 0201. Save 6. Auxiliary Data
Saving... (FILE1.AS)
Network Configuration data
AUX DATA
File save completed.
5. When the ENTER key is pressed the
save screen is displayed. During the
save function “Saving...” is displayed.
Ensure “File save completed.” is
displayed after the save is complete
Figure 9-42 AUX 0201-6 Auxiliary Data Save Screens
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9.10.7 INTERFACE PANEL DATA, AUX 0201-7
Figure 9-43 shows the AUX 0201-7 Interface Panel Data screens and describes the
Interface panel data save procedure. For more information on the Save function refer to
section 9.10.
Aux. 0201. Save
7. Interface Panel Data
File Name
Device
File
0
Device List
0: PC Card
1: FDD
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0201. Save
7. Interface Panel Data
File Name
FILE1.AS
Device
0
File
Device List
0: PC Card
1: FDD
Input char
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
Input range : 12
Aux. 0201. Save 7. Interface Panel Data
Saving... (FILE1.AS)
Network Configuration data
INTERFACE PANEL DATA
INTERFACE PANEL COLOR DATA
File save completed.
5. When the ENTER key is pressed the
save screen is displayed. During the
save function “Saving...” is displayed.
Ensure “File save completed.” is
displayed after the save is complete
Figure 9-43 AUX 0201-7 Interface Panel Data Save Screens
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9.10.8 ERROR LOGGING, AUX 0201-8
Figure 9-44 shows the AUX 0201-8 Error Logging screens and describes the error
Logging save procedure. For more information on the Save function refer to section
9.10.
Aux. 0201. Save
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
8. Error Logging
File Name
Device
File
0
Device List
0: PC Card
1: FDD
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0201. Save
8. Error Logging
File Name
FILE1.AS
Device
0
File
Device List
0: PC Card
1: FDD
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
Input char
Input range : 12
Aux. 0201. Save 8. Error Logging
Saving... (FILE1.AS)
File save completed.
5. When the ENTER key is pressed the
save screen is displayed. During the
save function “Saving...” is displayed.
Ensure “File save completed.” is
displayed after the save is complete
Figure 9-44 AUX 0201-8 Error Logging Save Screens
April 3, 2003
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9.10.9 VISION DATA, AUX 0201-9
Figure 9-45 shows the AUX 0201-9 Vision Data menu screen. The four available functions are described in table 9-13. The following sections provide instructions for each
function. For more information on the Save function refer to section 9.10.
Aux. 0201. Save
1.
2.
3.
4.
9.
Vision Data
Vision All Data
Image Processing Parameter Data
Calibration Data
Proto Data
Up Page
Selects all Vision Data
Figure 9-45 AUX 0201-9 Vision Data Save Screen
Table 9-13 Vision Data Save Menu Item Descriptions
Menu Item
Description
1. Vision All Data
Saves image processing parameter data, calibration data, and proto data set
in the vision system.
2. Image Processing
Parameter Data
Saves data for image processing and system configuration.
3. Calibration Data
Saves the data registered for the robot coordinate system.
4. Proto Data
Saves the registered base data used by the vision system for object
recognition.
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9.10.9.1 VISION ALL DATA, AUX 0201-9-1
Figure 9-46 shows the AUX 0201-9-1 Vision All Data screens and describes the vision
all data save procedure. For more information on the Save function refer to section 9.10.
Aux. 0201. Save
9. Vision Data 1.
Vision All Data
0
Device List
0: PC Card
1: FDD
File Name
Device
File
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0201. Save 9. Vision Data 1.
File Name
FILE1.AS
Device
0
File
Vision All Data
Device List
0: PC Card
1: FDD
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
Input char
Input range : 12
Aux. 0201. Save 9. Vision Data 1. Vision All Data
Saving... (FILE1.AS)
Network Configuration data
(VISION) SYSTEM CONFIGURATION DATA
(VISION) IMAGE PROCESSING PARAMETER DATA
(VISION) CALIBRATION DATA
(VISION) PROTO DATA
File save completed.
5. When the ENTER key is pressed the
save screen is displayed. During the
save function “Saving...” is displayed.
Ensure “File save completed.” is
displayed after the save is complete
Figure 9-46 AUX 0201-9-1 Vision All Data Save Screens
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AUXILIARY FUNCTIONS
9.10.9.2 IMAGE PROCESSING PARAMETER DATA, AUX 0201-9-2
Figure 9-47 shows the AUX 0201-9-2 Image Processing Parameter Data screens and
describes the image processing parameter data save procedure. For more information
on the Save function refer to section 9.10.
Aux. 0201. Save
9. Vision Data 2.
Image Processing Parameter Data
File Name
Device
0
File
Device List
0: PC Card
1: FDD
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0201. Save 9. Vision Data 2.
File Name
FILE1.AS
Device
0
File
Image Processing Parameter Data
Device List
0: PC Card
1: FDD
Input char
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
Input range : 12
Aux. 0201. Save 9. Vision Data 2. Image Processing Parameter Data
Saving... (FILE1.AS)
Network Configuration data
(VISION) SYSTEM CONFIGURATION DATA
(VISION) IMAGE PROCESSING PARAMETER DATA
File save completed.
5. When the ENTER key is pressed the
save screen is displayed. During the
save function “Saving...” is displayed.
Ensure “File save completed.” is
displayed after the save is complete
Figure 9-47 AUX 0201-9-2 Image Processing Parameter Data Save Screens
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AUXILIARY FUNCTIONS
9.10.9.3 CALIBRATION DATA, AUX 0201-9-3
Figure 9-48 shows the AUX 0201-9-3 Calibration Data screens and describes the Calibration data save procedure. For more information on the Save function refer to section
9.10.
Aux. 0201. Save
9. Vision Data 3.
Calibration Data
File Name
Device
File
0
Device List
0: PC Card
1: FDD
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0201. Save 9. Vision Data 3.
File Name
FILE1.AS
Device
0
File
Calibration Data
Device List
0: PC Card
1: FDD
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
Input char
Input range : 12
Aux. 0201. Save 9. Vision Data 3.
Saving... (FILE1.AS)
Network Configuration data
(VISION) CALIBRATION DATA
File save completed.
Calibration Data
5. When the ENTER key is pressed the
save screen is displayed. During the
save function “Saving...” is displayed.
Ensure “File save completed.” is
displayed after the save is complete
Figure 9-48 AUX 0201-9-3 Calibration Data Save Screens
April 3, 2003
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AUXILIARY FUNCTIONS
9.10.9.4 PROTO DATA, AUX 0201-9-4
Figure 9-49 shows the AUX 0201-9-4 Proto Data screens and describes the proto data
save procedure. For more information on the Save function refer to section 9.10.
Aux. 0201. Save
9. Vision Data 4.
Proto Data
0
Device List
0: PC Card
1: FDD
File Name
Device
File
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0201. Save 9. Vision Data 4.
File Name
FILE1.AS
Device
0
File
Proto Data
Device List
0: PC Card
1: FDD
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to save data into and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to save data into and
press the ENTER key on the teach
pendant keypad.
Input char
Input range : 12
Aux. 0201. Save 9. Vision Data 4. Proto Data
Saving... (FILE1.AS)
Network Configuration data
(VISION) PROTO DATA
File save completed.
5. When the ENTER key is pressed the
save screen is displayed. During the
save function “Saving...” is displayed.
Ensure “File save completed.” is
displayed after the save is complete
Figure 9-49 AUX 0201-9-4 Proto Data Save Screens
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D SERIES CONTROLLER
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AUXILIARY FUNCTIONS
9.11 LOAD, AUX 0202
Figure 9-50 shows the AUX 0202 Load menu screen. The two available functions are
described in table 9-14. The following sections provide instructions for each function.
Aux. 0202. Load
1. All Data
2. Specified Data
Up Page
Selects All Data
Figure 9-50 AUX 0202 Load Screen
Table 9-14 Load Menu Item Descriptions
Menu Item
Description
1. All Data
Loads all data contained in the selected file.
2. Specified Data
Loads only specified data contained in the selected file
9.11.1 ALL DATA, AUX 0202-1
Figure 9-51 shows the AUX 0202-1 All Data load screens and describes the all data load
procedure.
!
CAUTION
Do not load robot data from one robot to another robot.
Incorrect robot data will adversely affect robot operation.
April 3, 2003
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AUXILIARY FUNCTIONS
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
Aux. 0202. Load 1. All Data
File Name
Device
File
0
Device List
0: PC Card
1: FDD
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0202. Load 1. All Data
File Name
FILE1.AS
Device
0
File
Device List
0: PC Card
1: FDD
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to load data from and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to load data from and
press the ENTER key on the teach
pendant keypad.
Input char
Input range : 12
5. When the ENTER key is pressed a
load robot data prompt is displayed.
Aux. 0202. Load 1. All Data
Loading... (FILE1.AS)
ROBOT DATA load to memory
Are you sure ? (Yes:1, No:0)
Enter Yes (1) or No (0) using the
number keys on the teach pendant
numeric keypad.
Yes (1) loads the robot data and all
other data contained in the selected
file. No (0) does not load the robot
data and loads all other data contained
in the selected file.
Aux. 0202. Load 1. All Data
Loading... (FILE1.AS)
ROBOT DATA load to memory
Are you sure ? (Yes:1, No:0)
1
ROBOT DATA
Loading...
Data in the file is the following. Confirm! (Press ENTER.)
[ ZX165U-A001 ( 2002-09-02 08:47 ) ]
6. If Yes (1) is selected confirm the robot
data is correct and press the ENTER
key on the teach pendent keypad.
Do not load robot data from one robot
to another robot.
When file loading is completed a
message is displayed confirming the
file loading is completed.
Figure 9-51 AUX 0202-1 All Data Load Screens
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AUXILIARY FUNCTIONS
9.11.2 SPECIFIED DATA, AUX 0202-1
Figures 9-52 and 9-53 show the AUX 0202-2 Specified Data load screens and describes
the specified data load procedure.
Table 9-15 provides descriptions of the selected file load prompt options.
!
CAUTION
Do not load robot data from one robot to another robot.
Incorrect robot data will adversely affect robot operation.
If a loaded program has the same name as a program in
the controller’s memory the program is overwritten.
If the process of overwriting a program in the controller’s
memory is aborted the file in memory is lost.
April 3, 2003
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AUXILIARY FUNCTIONS
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
Aux. 0202. Load 2. Specified Data
File Name
Device
File
0
Device List
0: PC Card
1: FDD
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Input char
Input range : 12
Aux. 0202. Load 2. Specified Data
File Name
FILE1.AS
Device
0
File
Input char
Device List
0: PC Card
1: FDD
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to load data from and press the
ENTER key on the teach pendant
keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to load data from and
press the ENTER key on the teach
pendant keypad.
Input range : 12
Figure 9-52 AUX 0202-2 Specified Data Load Screens
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5. When the ENTER key is pressed a
load robot data prompt is displayed.
Aux. 0202. Load 2. Specified Data
Loading... (FILE1.AS)
ROBOT DATA load to memory.
Are you sure ? (Yes:1, No:0)
Enter Yes (1) or No (0) using the
number keys on the teach pendant
numeric keypad.
Yes (1) loads the robot data from the
selected file. No (0) does not load the
robot data from the selected file.
6. If Yes (1) is selected confirm the robot
data is correct and press the ENTER
key on the teach pendent keypad.
Aux. 0202. Load 2. Specified Data
Loading... (FILE1.AS)
ROBOT DATA load to memory.
Are you sure ? (Yes:1, No:0)
0
ROBOT DATA not loaded.
OPERATION INFORMATION DATA
Load data? (1:Yes, 0:No / 2:Load all, 3:Exit)
Do not load robot data from one robot
to another robot.
A file load prompt is displayed for each
type of data in the file. Enter Yes (1),
No (0), Load all (2), or Exit (3) (see
table 9-15).
When file loading is completed a
message is displayed confirming the
file loading is completed.
Figure 9-53 AUX 0202-2 Specified Data Load Confirmation Screens
Table 9-15 Selected File Load Prompt Options
Prompt
Description
1:Yes
Loads data to memory.
0:No
Does not load data to memory and the next load data prompt is displayed.
2:Load all
Loads current data and all other data in the selected file without fur ther prompts.
3:Exit
Abor ts the data load process without loading data.
9:Force load
Causes the robot data to be force loaded.
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AUXILIARY FUNCTIONS
9.12 FILE LIST, AUX 0203
The File List screen displays the list of files contained on the PC card or the optional
floppy disk.
Figure 9-54 shows the AUX 0203 File List screens and describes the file list procedure.
1. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Aux. 0203. File List
Device
0
Device List
0: PC Card
1: FDD
2. Press the ENTER key on the teach
pendant keypad.
Undo
Allowable input range : [0 – 1]
Aux. 0203. File List
FILE1 AS 10000 98-07-10 13:11
FILE3 AS 10000 98-07-10 13:11
FILE5 AS 10000 98-07-10 13:11
FILE7 AS 10000 98-07-10 13:11
FILE9 AS 10000 98-07-10 13:11
FILE11 AS 10000 98-07-10 13:11
FILE13 AS 10000 98-07-10 13:11
FILE15 AS 10000 98-07-10 13:11
16 file(s) 160000 bytes
1240000 bytes free
FILE2 AS
FILE4 AS
FILE6 AS
FILE8 AS
FILE10 AS
FILE12 AS
FILE14 AS
FILE16 AS
10000
10000
10000
10000
10000
10000
10000
10000
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3. When the ENTER key is pressed the
file list screen is displayed.
If information is on more than one page
“Next Page” and “Prev Page” function
keys are displayed.
Figure 9-54 AUX 0203 File List Screens
!
CAUTION
Do not press the “Next Page or “Prev Page” function key
again until the next or previous page is displayed. The
processor in the controller needs time to finish one command before another is entered, to prevent processor
lock up.
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9.13 FORMAT, AUX 0204
The Format function is used to format a PC card or an optional floppy disk. Formatting a
PC card or a floppy disk deletes all data and sets up the file structure.
Figure 9-55 shows the AUX 0204 Format screens and describes the format procedure.
Flash ATA cards cannot be formatted by the user. Flash ATA cards are usually preformatted.
!
CAUTION
Formatting an SRAM card or a floppy disk deletes any
stored data.
Aux. 0204. Format
Memory Capacity
1.44MB
Capacity setting is needed for FDD
Device
0
1.25MB
Device List
0: PC Card
1: FDD
1. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
2. Press the ENTER key on the teach
pendant keypad.
Undo
Aux. 0204. Format
Memory Capacity
1.44MB
Capacity setting is needed for FDD
Device
0
1.25MB
3. When “Normally Completed.” is displayed in the lower left of the screen
the procedure is completed.
Device List
0: PC Card
1: FDD
Undo
Normally completed.
Figure 9-55 AUX 0204 Format Screens
April 3, 2003
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AUXILIARY FUNCTIONS
9.14 DELETE FILE, AUX 0205
The Delete file function is used to delete files from a PC card or an optional floppy disk.
Figure 9-56 shows the AUX 0205 Delete File screens and describes the delete file
procedure.
1. Press the “File” function key on the
touch screen to enter the file name as
described in steps 3 and 4.
Aux. 0205. Delete file
File Name
Device
0
Device List
0: PC Card
1: FDD
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Undo
Allowable input range : [0 – 1]
Aux. 0205. Delete file
File Name
Device
0
Device List
0: PC Card
1: FDD
3. When the “File” function key is pressed
the file list is displayed. Select the file
name to delete and press the SELECT
key on the teach pendant keypad.
4. Or, press the “Input char” function key
to display the keyboard screen. Enter
the file name to delete and press the
ENTER key on the teach pendant
keypad.
File
Input char
Input range : 12
Aux. 0205. Delete file
File Name
FILE1.AS
Device
0
Device List
0: PC Card
1: FDD
5. Press the ENTER key and when
“Normally completed.” is displayed in
the lower left of the screen, the procedure is complete.
Undo
Normally completed.
Figure 9-56 AUX 0205 Delete File Screens
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AUXILIARY FUNCTIONS
9.15 RENAME FILE, AUX 0206
The Rename file function is used to rename files on a PC card or an optional floppy disk.
Figures 9-57 and 9-58 show the AUX 0206 Rename file screens and describes the
rename file procedure.
1. Press the “File” function key on the
touch screen to enter the file names as
described in steps 3 and 4.
Aux. 0206. Rename file
Source File Name
Dest. File Name
Device
0
Device List
0: PC Card
1: FDD
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Undo
Allowable input range : [0 – 1]
3. Use the cursor keys to select “Source
File Name” and press the “File” function
key on the touch screen. Use the
cursor keys to highlight the file to
rename and press the SELECT key on
the teach pendant keypad. The selected file name is displayed as the
source file name.
Aux. 0206. Rename file
Source File Name
Dest. File Name
Device
File
FILE1.AS
0
Device List
0: PC Card
1: FDD
Input char
Input range : 12
Select file.
1/1
Input char
FILE1 AS
FILE2 AS
FILE3 AS
FILE4 AS
FILE5 AS
FILE6 AS
FILE7 AS
FILE8 AS
FILE9 AS
FILE10 AS
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
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FILE11 AS
FILE12 AS
FILE13 AS
FILE14 AS
FILE15 AS
FILE16 AS
10000
10000
10000
10000
10000
10000
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
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4. Use the cursor keys to select “Dest.
File Name” and press the “File” function
key on the touch screen. Press the
“Input char” function key to display the
keyboard screen. Enter the new file
name using the keyboard and press
the ENTER key on the teach pendant
keypad. The entered file name is
displayed as the destination file name.
Figure 9-57 AUX 0206 Rename File Screens
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AUXILIARY FUNCTIONS
5. Ensure the correct file names are
selected and press the ENTER key on
the teach pendant keypad.
Aux. 0206. Rename file
Source File Name
Dest. File Name
Device
File
FILE1.AS
FILE1234
0
Device List
0: PC Card
1: FDD
When the procedure is completed
“Normally completed.” is displayed in
the lower left of the screen.
Input char
Normally completed.
Figure 9-58 AUX 0206 Rename File Confirmation Screen
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AUXILIARY FUNCTIONS
9.16 COPY FILE, AUX 0207
The copy file function is used to copy a file into a specified file on a PC card or an optional floppy disk. When an exiting file is specified as the destination file, the data is
copied after the last step of the program in that file. When a new file is specified as the
destination file the data is copied into the new file.
Figures 9-59 and 9-60 show the AUX 0207 Copy File screens and describes the copy
file procedure.
1. Press the “File” function key on the
touch screen to enter the file names as
described in steps 3 and 4.
Aux. 0207. Copy file
Source File Name
Dest. File Name
Device
0
Device List
0: PC Card
1: FDD
2. Select the device using the number
keys on the teach pendant numeric
keypad. Enter 0 for PC card or 1 for
optional floppy disk drive, if installed.
Undo
Allowable input range : [0 – 1]
3. Use the cursor keys to select “Source
File Name” and press the “File” function
key on the touch screen. Use the
cursor keys to highlight the file to copy
and press the SELECT key on the
teach pendant keypad. The selected
file name is displayed as the source file
name.
Aux. 0207. Copy file
Source File Name
Dest. File Name
Device
File
0
Device List
0: PC Card
1: FDD
Input char
Input range : 12
Select file.
1/1
Input char
FILE1 AS
FILE2 AS
FILE3 AS
FILE4 AS
FILE5 AS
FILE6 AS
FILE7 AS
FILE8 AS
FILE9 AS
FILE10 AS
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
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FILE11 AS
FILE12 AS
FILE13 AS
FILE14 AS
FILE15 AS
FILE16 AS
10000
10000
10000
10000
10000
10000
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
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4. Use the cursor keys to select “Dest.
File Name” and press the “File” function
key on the touch screen. Use the
cursor keys to highlight the file, to
paste the copied file into, and press the
SELECT key on the teach pendant
keypad.
Figure 9-59 AUX 0207 Copy File Screens
April 3, 2003
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AUXILIARY FUNCTIONS
Select file.
Input char
FILE1
FILE2
FILE3
FILE4
FILE5
FILE6
”
!
q
w
a
s
z
x
[{
]}
SHIFT
1/1
AS
AS
AS
AS
AS
AS
10000 98-07-10 13:11
10000 98-07-10 13:11
10000 98-07-10 13:11
10000 98-07-10 13:11
10000 98-07-10 13:11
10000 98-07-10 13:11
#
e
d
c
$
r
f
v
%
t
g
b
&
y
h
n
SPACE
’
u
j
m
FILE11
FILE12
FILE13
FILE14
FILE15
FILE16
(
i
k
,<
)
o
l
.>
NEXT
Aux. 0207. Copy file
Source File Name
Dest. File Name
Device
File
FILE1.AS
FILE70.AS
0
Device List
0: PC Card
1: FDD
AS
AS
AS
AS
AS
AS
=
p
;+
/?
^’
10000
10000
10000
10000
10000
10000
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
7
@~
4
:*
1
|¥
0
—
SHIFT
8
5
2
5. Or, press the “Input char” function key
to display the keyboard screen. Enter
the destination file name using the
keyboard and press the ENTER key on
the teach pendant keypad. The entered file name is displayed as the
destination file name.
9
6
3
BS
CTRL+L
ENTER
6. Ensure the source file name and the
destination file name are correct and
press the ENTER key on the teach
pendant keypad.
Input char
Input range : 12
Aux. 0207. Copy file
FILE1.AS
Source File Name
State display.
FILE70.AS Copying...
Dest. File Name
Device
0 Copy completed.
Device List
0: PC Card
1: FDD
Close
File
7. When the file copy procedure is
complete “Copying... Copy completed.”
is displayed and the “Close” function
key is available.
Input char
Executing
Figure 9-60 AUX 0207 Copy File Confirmation Screens
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9.17 SET VERIFYING FUNCTION, AUX 0208
The Set Verifying function confirms copied, saved, transferred or loaded data was processed correctly. This function can be enabled or disabled. When the verifying function
is enabled processing time increases.
Figure 9-61 shows the AUX 0208 Set Verifying Function screens and describes the set
verifying function procedure.
Aux. 0208. Set Verifying function
PC Card
FDD
Enable
Enable
Disable
Disable
1. Use the cursor keys to select the
external device PC card or floppy disk
drive (FDD), If installed, and press the
SELECT key.
2. Use the cursor keys to select enable or
disable for the device and press the
SELECT key on the teach pendant
keypad.
Undo
Aux. 0208. Set Verifying function
PC Card
FDD
Enable
Enable
Disable
Disable
3. Ensure the settings are correct and
press the ENTER key on the teach
pendant keypad.
When the procedure is complete
”Normally completed.” is displayed in
the lower left of the screen.
Undo
Normally completed.
Figure 9-61 AUX 0208 Set Verifying Function Screens
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9.18 SET DEFAULT DEVICE, AUX 0209
If the optional floppy disk drive is installed, the Set default device function is used to
specify the default external memory device. The operator can specify the PC card the or
floppy disk drive.
Figure 9-62 shows the AUX 0209 Set Default Device screen and describes the set
default device procedure.
Aux. 0209. Set default device
Selects the default device displayed in device area.
Device
0
Device List
0: PC Card
1: FDD
1. Use the numeric keypad on the teach
pendant to enter 0 for PC card or 1 for
floppy disk drive and press the ENTER
key on the teach pendant keypad.
When the procedure is complete
”Normally completed.” is displayed in
the lower left of the screen.
Undo
Normally completed.
Figure 9-62 AUX 0209 Set Default Device Screen
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9.19 AUTOSAVE CONFIGURATION, AUX 210
This function is used to configure autosave of data stored in the system memory to a PC
card or optional floppy disk drive at set time intervals.
1. Use the cursor keys to select a menu
item and press the SELECT key, on the
teach pendant keypad, to display the
selected screen.
Aux. 0210. Autosave Configuration
1.
2.
3.
4.
Save Data1
Save Data2
Save Data3
Display of Autosave Log
Up Page
Selects Save Data1
Aux. 0210. Autosave configuration 1. Save Data1
Autosave
Day Of Week
Time
Device
Save File Name
Save Data
Specified Program
Enable
Mon
Tue
Everyday
0: 0
0
FILE0.as
All Data
Disable
Wed
Thu
Fri
Only Dedicated Signals
Sat
Sun
3. Select “All Data” to the right of “Save
Data” , to display the data to save
selection screen.
Device List
0: PC Card
With the data to save selection screen
displayed, select the data items to save
and press the ENTER key, on the teach
pendant keypad.
Undo
Select file.
1/1
Input char
FILE1 AS
FILE2 AS
FILE3 AS
FILE4 AS
FILE5 AS
FILE6 AS
FILE7 AS
FILE8 AS
FILE9 AS
FILE10 AS
2. Save data 1 screen is shown to the left.
Use the cursor and the SELECT keys
to select and set screen items.
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
FILE11 AS
FILE12 AS
FILE13 AS
FILE14 AS
FILE15 AS
FILE16 AS
10000
10000
10000
10000
10000
10000
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
98-07-10 13:11
4. When “Save File Name” is selected,
the select file screen is displayed, as
shown to the left.
5. Select a file name from the list or press
the “Input char” function key to display
the keyboard screen, to enter a new file
name.
6. When autosave configuration is complete, ensure the data is correct and
press the ENTER key, on the teach
pendant keypad.
Figure 9-63 AUX 210 Autosave Configuration Screens
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Aux. 0210. Autosave Configuration
01: 03/02/11 09:50 DATA1 OK
4. Display Of Autosave Log
7. With autosave enabled, select
“4. Display of Autosave Log” to display
the log as shown to the left.
Figure 9-64 AUX 210-4 Autosave Configuration, Autosave Log Screen
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9.20 SPEED, AUX 0301
From this screen, the operator can set the nine speeds that are used in block step programming. The acceptable speed range is from 0.1 to 100%.
Figure 9-65 shows the AUX 0301 Speed screen and describes the setting speed values
procedure.
For joint interpolated moves, the playback percentage speed is determined by the need
for all joints to reach total coincidence simultaneously.
For linear and circular interpolated moves, the playback percentage speed is determined
by the maximum linear interpolation speed.
When the robot is in the repeat mode of operation the playback speed is a function of
both the step speed and the repeat condition speed.
Default speed settings are shown in figure 9-65.
Aux. 0301. Speed
Speed 0
Speed 1
Speed 2
Speed 3
Speed 4
Speed 5
Speed 6
Speed 7
Speed 8
Speed 9
10
20
30
40
50
60
70
80
90
100
%
%
%
%
%
%
%
%
%
%
1. Use the cursor keys to select the
speed values to change.
2. Use the numeric keypad on the teach
pendant to enter the value for the
selected speed.
Ensure the entered data is correct and
press the ENTER key on the teach
pendant keypad.
Undo
Allowable input range : [0 – 100]
Figure 9-65 AUX 0301 Speed Screen
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9.21 ACCURACY, AUX 0302
From the accuracy screen, the operator sets the four accuracies used in block step
programming. The acceptable accuracy range for F-series is from 0.1 mm to 5000 mm
and for ZZ-series from 0.3 mm to 5000 mm.
When the robot is in the repeat mode of operation, the playback accuracy is affected by:
•
Distance between the taught points
•
Speed
•
Accel and decel parameters
•
CP switch setting
•
Timers and wait conditions
Figure 9-66 shows the AUX 0302 Accuracy screen and the default accuracy settings.
Aux. 0302. Accuracy
Accuracy 1
Accuracy 2
Accuracy 3
Accuracy 4
1.0 mm
10.0 mm
50.0 mm
100.0 mm
Undo
Allowable input range : [0.0
– 5000.0]
Figure 9-66 AUX 0302 Accuracy Screen
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9.21.1 MOTION TYPE 1 AND MOTION TYPE 2
The accuracy function incorporates Motion Type 1 (MT1) and Motion Type 2 (MT2) path
planning systems. Both of these systems blend two robot path segments to achieve
continuous path motion.
When a fine accuracy is used to reach a target point, maximum deceleration and acceleration are used to reach that point.
When a large accuracy is used, a continuous path motion is produced. The deceleration
of the current step and the acceleration of the next step creates a smooth transition from
one point to the next.
The MT1 path planning system determines the blending of multiple linear or joint interpolated segments based on the acceleration, deceleration, and the length of the blended
segments. Joint interpolated paths are planned using MT1.
MT2 was developed for the C controller to improve the repeat mode path accuracy and
repeatability. This is accomplished by blending two linear or circular segments based on
accuracy (Figure 9-67). MT2 path planning is valid only for Linear and Circular Interpolation motions, generated by AS/Block instructions, i.e., LINEAR, C1MOVE, C2MOVE,
FLIN and HMOVE.
ACCURACY RANGE
100 mm
50 mm
25 mm
A
B
C
Figure 9-67 Motion Type 2 Path
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Refer to figure 9-67 during the following explanation.
For Motion Type 2 the maximum allowable accuracy is determined by:
Maximum allowable accuracy, Amax = MIN (½ AB, ½ BC)
Where:
½ AB = Half the distance between point A and point B
½ BC = Half the distance between point B and point C
MIN = the minimum value of 2 real numbers
example : MIN(2, 3) = 2, MIN(8,5) = 5
Accuracy used is determined by:
Accuracy defined in the program = Aoperator and accuracy used by the software = Aused
IF Aoperator < Amax, THEN Aused = Aoperator
IF Aoperator > Amax THEN Aused = Amax
If a WAIT, SWAIT, TWAIT, TOOL or WORK instruction follows a motion instruction, MT2
is invalid and MT1 is used.
Example:
ACCURACY 25
LMOVE B
SWAIT 1001 ;The SWAIT instruction causes the software to ignore the 25 mm
;accuracy and decelerate to point B then resume motion to point C.
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9.22 TIMER, AUX 0303
The TIMER function allows the operator to set nine timers for use in block step programming. The timers can range from 0.1 second to 99.9 seconds. Timers begin timing out
when the robot reaches the accuracy range of the taught point.
Figure 9-68 shows the AUX 0303 Timer screen and the default settings.
Aux. 0303. Timer
Timer 1
Timer 2
Timer 3
Timer 4
Timer 5
Timer 6
Timer 7
Timer 8
Timer 9
0.1 s
0.2 s
0.3 s
0.4 s
0.5 s
0.6 s
0.7 s
0.8 s
0.9 s
Undo
Allowable input range : [0.0
– 1000.0]
Figure 9-68 AUX 0303 Timer Screen
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9.23 TOOL COORDINATES, AUX 0304
This function allows the operator to record the unique tool dimensions and orientation.
Up to nine separate tools can be defined with this function. Tool dimensions specified
from this function are associated with the nine tools identified in block step programs.
Tool dimensions are expressed in XYZ tool coordinates in 0.1 mm increments and 0.1
degree increments for the OAT rotation axes.
Nine separate screens are available for this function, pressing the “Next Page” key
displays the next available screen and the “Prev Page” key returns to the previous
screen.
The weight of the tool and the load it carries can also be entered from the tool dimensions screens. The “Undo” key can be used to restore previous tool dimensions and
weight information, if the ENTER key has not been pressed to record the new data.
Table 9-16 provides a description of the tool coordinates components and the setting
ranges.
Table 9-17 provides a description of the center of gravity and inertia moment ant the
setting ranges.
Figure 9-69 shows the AUX 0304 Tool Coordinates screen and describes the setting
procedure.
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Table 9-16 Tool Coordinates
Item
Description
Setting Range
X Direction
Difference of tool coordinate origin in the tool flange X axis
coordinate.
-9999.9–9999.9 mm
Y Direction
Difference of tool coordinate origin in the tool flange Y axis
coordinate.
-9999.9–9999.9 mm
Z Direction
Difference of tool coordinate origin in the tool flange Y axis
coordinate.
-9999.9–9999.9 mm
O Rotation
Z
Rotation of tool coordinate system around the tool Z axis.
-180.0–180.0°
Rotation of tool coordinate system around the tool Y axis.
After the O rotation is established.
0–180.0°
Rotation of tool coordinate system around the tool Z axis.
After the O and the A rotation is established.
-180–180.0°
Weight mounted on the robot arm, including payload in
handling application (within rated load limit).
0–rated load limit
O
Y
X
A Rotation
Z
Y
A
X
T Rotation
Z
T
Y
X
Weight of load
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Table 9-17 Tool Center of Gravity and Inertia Moment
Item
Description
Setting Range
Center of Gravity
X Position
The value of the difference between the tool center of
gravity and the null tool center of gravity in the X direction.
-9999.9–9999.9 mm
Center of Gravity
Y Position
The value of the difference between the tool center of
gravity and the null tool center of gravity in the Y direction.
-9999.9–9999.9 mm
Center of Gravity
Z Position
The value of the difference between the tool center of
gravity and the null tool center of gravity in the Z direction.
-9999.9–9999.9 mm
Iner tia Moment
Around X Axis
The moment of iner tia value around the X axis.
0–999.99 kgm2
Iner tia Moment
Around Y Axis
The moment of iner tia value around the Y axis.
0–999.99 kgm2
Iner tia Moment
Around Z Axis
The moment of iner tia value around the Z axis.
0–999.99 kgm2
NOTE
The center of gravity setting is standard for Z-series robots and is optional for other robot models.
!
CAUTION
Ensure the correct weight and center of gravity is entered. Entering the wrong data may cause mechanical
stress to the robot components and deviation errors.
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Aux. 0304. Tool Coordinates
Tool1
1/ 9
X
Y
Z
0.0 mm
0.0 mm
0.0 mm
O
A
T
0.0 deg
0.0 deg
0.0 deg
Undo
Load Mass
Center Of Gravity X
Center Of Gravity Y
Center Of Gravity Z
10.0 kgf
0.0 mm
0.0 mm
0.0 mm
Moment of Inertia ab.
Moment of Inertia ab.
Moment of Inertia ab.
0.0 kgm^2
0.0 kgm^2
0.0 kgm^2
1. Use the cursor keys to select each item
and use the numeric keypad on the
teach pendant keypad to enter the
values.
When more then one tool is used, use
the “Next Page” function key to access
additional tool screens. Tools 1
through 9 are available.
Next Page
Allowable input range : [-9999.9 – 9999.9]
Aux. 0304. Tool Coordinates
Tool1
1/ 9
X
Y
Z
106.0 mm
50.9 mm
-2.7 mm
O
A
T
10.0 deg
-30.2 deg
6.8 deg
Undo
Load Mass
Center Of Gravity X
Center Of Gravity Y
Center Of Gravity Z
10.0 kgf
3.0 mm
5.4 mm
2.8 mm
Moment of Inertia ab.
Moment of Inertia ab.
Moment of Inertia ab.
1.3 kgm^2
60.0 kgm^2
5.9 kgm^2
Next Page
Allowable input range : [0.0
– 100.0]
Aux. 0304. Tool Coordinates
Tool1
1/ 9
X
Y
Z
106.0 mm
50.9 mm
-2.7 mm
O
A
T
10.0 deg
-30.2 deg
6.8 deg
Undo
2. Ensure entered data is correct and
pres the ENTER key on the teach
pendant keypad.
Load Mass
Center Of Gravity X
Center Of Gravity Y
Center Of Gravity Z
10.0 kgf
3.0 mm
5.4 mm
2.8 mm
Moment of Inertia ab.
Moment of Inertia ab.
Moment of Inertia ab.
1.3 kgm^2
60.0 kgm^2
5.9 kgm^2
3. When “Setting complete.” is displayed
in the lower left of the screen the
procedure is complete.
Next Page
Setting complete.
Figure 9-69 AUX 0304 Tool Coordinate Screens
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9.24 FIXED TOOL COORDINATES (OPTION), AUX 0305
The FIXED TOOL DIMENSIONS function allows the operator to program moves that are
relative to an external fixed point in the work envelope. This type of interpolation is
called fixed linear interpolation (FLIN). In a FLIN move the robot path is calculated to
maintain a set relationship to a fixed point.
Applications for FLIN moves include moving a part around a fixed sealing dispenser or a
fixed stud welding gun. The FLIN path enables the programmer to reduce the number of
programmed points needed to maintain a fixed distance from the sealing dispenser.
Nine fixed tools are available.
The fixed tool coordinates are set as a transformation value that express the tool’s position and posture relative to the null base coordinate system.
Figure 9-70 shows the AUX 0305 Fixed Coordinates screens and describes the setting
procedure.
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Aux. 0305. Fixed Tool Coordinates
Fixed Tool F1
X
Y
Z
0.0 mm
0.0 mm
0.0 mm
O
A
T
0.0 deg
0.0 deg
0.0 deg
Undo
1/ 9
1. Use the cursor keys to select each item
and use the numeric keypad on the
teach pendant keypad to enter the
values.
When more then one fixed tool is used,
use the “Next Page” function key to
access additional fixed tool screens.
Fixed tools 1 through 9 are available.
Next Page
Allowable input range : [-9999.9 – 9999.9]
Aux. 0305. Fixed Tool Coordinates
Fixed Tool F1
X
Y
Z
20.6 mm
105.2 mm
-70.8 mm
O
A
T
36.4 deg
5.8 deg
17.9 deg
Undo
1/ 9
2. Ensure entered data is correct and
pres the ENTER key on the teach
pendant keypad.
1/ 9
3. When “Setting complete.” is displayed
in the lower left of the screen the
procedure is complete.
Next Page
Allowable input range : [-360.0 – 360.0]
Aux. 0305. Fixed Tool Coordinates
Fixed Tool F1
X
Y
Z
20.6 mm
105.2 mm
-70.8 mm
O
A
T
36.4 deg
5.8 deg
17.9 deg
Undo
Next Page
Setting complete.
Figure 9-70 AUX 0305 Fixed Tool Coordinate Screens
NOTE
If X, Y, and Z are set and 0 is set for O, A, and T the
fixed tool coordinates have the same posture and face in
the same direction as the base coordinates.
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9.25 WORK COORDINATES (OPTION), AUX 0306
The work coordinate function is active in the teach mode and allows the operator to jog
the robot relative to an alternative coordinate system.
The work coordinates are determined using the AS Language FRAME and POINT
commands to define a coordinate system based on the orientation of the work where
points are taught. Reference the D Series Controller AS Language Reference Manual
for information on the FRAME function and the commands needed to enter work coordinates.
Table 9-18 provides a description of the work coordinates components and the setting
ranges.
Figure 9-71 shows the AUX 0306 Work Coordinates screens and describes the setting
procedure.
Refer to section 9.25.1 for the work coordinate definition procedure.
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Table 9-18 Work Coordinates
Item
Description
Setting Range
X Direction
Difference of work coordinate origin in base coordinate X
axis direction.
-9999.9–9999.9 mm
Y Direction
Difference of work coordinate origin in base coordinate Y
axis direction.
-9999.9–9999.9 mm
Z Direction
Difference of work coordinate origin in base coordinate Z
axis direction.
-9999.9–9999.9 mm
O Rotation
Z
Rotation of work coordinate system around the base Z
axis.
-180.0–180.0°
Rotation of work coordinate system around the base Y
axis. After the O rotation is established.
0–180.0°
Rotation of work coordinate system around the base Z
axis. After the O and the A rotation is established.
-180.0–180.0°
O
Y
X
A Rotation
Z
Y
A
X
T Rotation
Z
T
Y
X
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Aux. 0306. Work Coordinates
Work Coordinates1
1/ 9
X
Y
Z
0.0 mm
0.0 mm
0.0 mm
O
A
T
0.0 deg
0.0 deg
0.0 deg
Undo
1. Use the cursor keys to select each item
and use the numeric keypad, on the
teach pendant, to enter the values.
When more then one work coordinate
is used, use the “Next Page” function
key to access additional work coordinates screens. Work Coordinates 1
through 9 are available.
Next Page
Input range : [-9999.9 – 9999.9]
Aux. 0306. Work Coordinates
Work Coordinates1
X
Y
Z
36.5 mm
50.2 mm
-27.6 mm
O
A
T
11.0 deg
2.6 deg
33.6 deg
Undo
1/ 9
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
1/ 9
3. When “Setting complete.” is displayed
in the lower left of the screen the
procedure is complete.
Next Page
Input range : [-360.0 – 360.0]
Aux. 0304. Tool Coordinates
Tool1
X
Y
Z
106.0 mm
50.9 mm
-2.7 mm
O
A
T
10.0 deg
-30.2 deg
6.8 deg
Undo
Load Mass
Center Of Gravity X
Center Of Gravity Y
Center Of Gravity Z
10.0 kgf
3.0 mm
5.4 mm
2.8 mm
Moment of Inertia ab.
Moment of Inertia ab.
Moment of Inertia ab.
1.3 kgm^2
60.0 kgm^2
5.9 kgm^2
Next Page
Setting complete.
Figure 9-71 AUX 0305 Work Coordinates Screens
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9.25.1 WORK COORDINATES DEFINITION PROCEDURE
1.
Jog the robot to the X, Y, and Z coordinates (Figure 9-72) for the new work dimension frame location.
Use the AS Location teaching screen or the keyboard with the HERE command to
record the three locations.
The X location is recorded as lc3, the Y location is recorded as lc4, and the Z location is recorded as lc2.
2.
At the keyboard enter the AS Language POINT command shown below.
POINT lc1 = FRAME(lc2,lc3,lc4,lc2)
When this command is entered, the location values for lc1 are displayed as shown
below.
X[mm]
-977.125
3.
Y[mm]
955.250
Z[mm]
667.542
O[deg]
-31.747
A[deg]
180.00
T[deg]
-7.240
Round the values to one decimal place and enter the values in AUX 306 as the work
dimensions for the desired WORK DIMENSION, screen 1 through 9, as shown in
figure 9-71.
X
WO
RK
D
IM
EN
S
IO
NS
Z
Z
X
Y
Y
Figure 9-72 Work Dimensions Orientation
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Figure 9-73 (A) shows the robot base coordinate system as X, Y, and Z and the desired
new base coordinate system as X1 and Y1.
Figure 9-73 (B) shows the three points to record (lc2, lc3, and lc4) to establish the new
coordinate system.
The line POINT lc1= FRAME(lc2,lc3,lc4.lc2) is entered at the keyboard screen (Figure 974B), to associate point lc1 to the frame. When this line is entered the resulting component values of lc1 are displayed. The resulting values are rounded to one decimal place
and entered as work dimensions in AUX 0305 Work Coordinates (Figure 9-71).
(See note on the following page)
A
B
Figure 9-73 Work Dimension Component Values
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AUXILIARY FUNCTIONS
9.26 AS LANGUAGE MODE SETTING, AUX 0307
Commonly used AS Language instructions can be entered in this function to make them
available from the AS Language teach screen instruction menu. A maximum of fifteen
instructions can be entered (Figure 9-74).
For information on using the AS Language instructions entered in AUX 0307, refer to
section 7.6.1.6.
1. Use the cursor keys to select a blank
line and press the SELECT key, on the
teach pendant keypad.
Aux. 0307. AS Language Mode Setting
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
In this example line 1 is selected.
Undo
Input range : 30 characters
2. When SELECT is pressed the instruction entry screen is displayed as shown
to the left.
Aux. 0307. AS Language Mode Setting
1
2
3
4
5
6
”
!
q
w
a
s
z
x
[{
]}
SHIFT
11
12
13
14
15
#
e
d
c
$
r
f
v
%
t
g
b
NEXT
&
y
h
n
SPACE
’
u
j
m
(
i
k
,<
Use the keyboard to enter the instruction and press the ENTER key, on the
keyboard.
)
o
l
.>
=
p
;+
/?
^’
7
@~
4
:*
1
|¥
0
—
SHIFT
8
5
2
9
6
3
BS
CTRL+L
ENTER
3. Ensure the entry is correct and press
the ENTER key on the teach pendant
keypad.
4. To enter more instructions, perform
steps 1 through 3 for each instruction.
Figure 9-74 AUX 0307 AS Language Mode Setting Screens
NOTE
Instructions must be entered in order (1–15) as needed.
To change the order of instructions (1–15), they must be
reentered.
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9.27 TEACH/CHECK SPEED, AUX 0401
The teach/check speed function allows the operator to set three teach speeds (teach
speeds 1, 2, and 3), three check speeds (check speeds 1, 2, and 3), and the inching
increment.
Table 9-19 provides the setting ranges and formats.
Figure 9-75 shows the AUX 0401 Teach/Check screen and describes the setting teach/
check speed values procedure.
Figure 9-75 shows the teach/check speed function default settings.
Table 9-19 Teach/Check Speed Setting Range and Formats
Item
Setting Range
Teach Speed
0.1–250.0 mm/s
One decimal place (xxx.x)
Check Speed
0.1–250.0 mm/s
One decimal place (xxx.x)
Inching
Increment
0–1.0 mm
Three decimal places (xxx.xxx)
Aux. 0401. Teach/Check Speed
Teach Speed
Speed 1
10.0 mm/s
Speed 2
80.0 mm/s
Speed 3
250.0 mm/s
Inching Increment
0.016 mm
Check Speed
10.0 mm/s
80.0 mm/s
150.0 mm/s
Format
1. Use the cursor keys to select each item
and use the numeric keypad on the
teach pendant keypad to enter the
values.
2. Ensure entered data is correct and
pres the ENTER key on the teach
pendant keypad.
Undo
Allowable input range : [0.1
– 250.0]
Figure 9-75 AUX 0401 Teach/Check Speed Screen
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9.28 HOME POSITION, AUX 0402
The HOME POSITION function allows the operator to set two home positions for the
robot. These home positions can be set to any location within the range of motion of the
robot.
Home positions have two unique characteristics:
1.
A dedicated output signal can be assigned to each of the home positions so that
whenever the robot is within the range set for that position the signal is generated.
2.
Home positions are also recognized in a unique way in AS Language commands,
the only code needed to send the robot to the home position is the statement
“HOME”. When this instruction is encountered, the robot performs a joint move to
the home position.
A second home position is identified by the designation HOME2 and is set from the
second home position screen.
From the home position 1, or home position 2 screen the operator can choose to enter
the home position in joint angles in degrees or as the current position of the robot.
To enter a home position other than the current position, use the cursor keys to select
“Key In.” and select the joint number. Enter the number of degrees for each joint and
press the ENTER on the teach pendant keypad to complete the procedure.
The range for the home position is also set from this screen (0.0–9999.9 mm). When
the robot reaches a point within the specified range, the output signal is generated.
The recommended minimum setting for the home position range is between 5 mm and
10 mm to ensure the home position output is generated.
Figure 9-76 shows the AUX 0402 Home Position screens (home position 1 and home
position 2) and describes the setting home position procedure.
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Aux. 0402. Home Position
Home Position 1
Set Opt.
Curr. Pose.
JT 1
0.000 deg
JT 2
0.000 deg
JT 3
0.000 deg
JT 4
0.000 deg
JT 5
0.000 deg
JT 6
0.000 deg
Home Range
Undo
1/ 2
Key In.
1. Use the cursor keys to select each joint
(JT1–JT6) and enter the joint angle in
degrees for each joint. Ensure the data
is correct and press the ENTER key on
the teach pendant keypad.
2. To use the current position of the robot,
select “Curr. Pose.” and press the
ENTER key on the teach pendant
keypad.
10.0 mm
Next Page
3. To set the “Home Range”: Use the
cursor keys to select “Home Range”
and enter the value in mm and press
the ENTER key.
Aux. 0402. Home Position
Home Position 2
Set Opt.
Curr. Pose.
JT 1
0.000 deg
JT 2
0.000 deg
JT 3
0.000 deg
JT 4
0.000 deg
JT 5
0.000 deg
JT 6
0.000 deg
Home Range
Undo
2/ 2
Key In.
4. To enter home position 2, press the
“Next Page” function key, on the touch
screen, and enter the data in the same
manner as home position 1.
10.0 mm
Next Page
Figure 9-76 AUX 0402 Home Position Screens
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9.29 WORKING SPACE (OPTION), AUX 0403
When the TCP is within the space defined by the working space function, the assigned
signal is on. Jog the robot to the UPPER and LOWER locations and record the X, Y, and
Z positional information for input into AUX 0403 Working Space.
Whenever the TCP is within the three dimensional space defined by the working space
function an output signal is on. The work space output signal is set in AUX 0602 Dedicated Output Signals. If a signal is not set in AUX 0602 a 0 is displayed for the output
signal number.
There are nine working spaces available (1–9). To access additional working space
screens press the “Next Page” function key on the touch screen.
Figure 9-77 shows the AUX 0403 Working Space screen and describes the setting
working space procedure.
Figure 9-78 shows an example of how the working space dimensions are determined.
Aux. 0403. Working Space
1/ 9
Working Space 1
Upper End X
Y
Z
0 mm
0 mm
0 mm
Lower End X
Y
Z
0 mm
0 mm
0 mm
Output Signal Number
Undo
0
1. Use the cursor keys to select each item
and use the numeric keypad on the
teach pendant keypad to enter the
values.
When more then one work space is
used, use the “Next Page” function key
to access additional work space
screens. Work Space screens 1
through 9 are available.
Prev Page Next Page
Allowable input range : [-9999 – 9999]
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
Figure 9-77 AUX 0403 Working Space Screen
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UPPER XYZ
LOCATION
WO
RK
S
DIM PACE
EN
SIO OUTP
NS UT
Z
X
LOWER XYZ
LOCATION
Y
Figure 9-78 Working Space Dimensions
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9.30 LOAD ON ARM, AUX 0404
This function sets the load on the upper arm or on the arm base of the robot to properly
adjust acceleration/deceleration and control vibration.
Table 9-20 provides a description of the load on arm settings and the setting ranges.
Figure 9-79 shows the AUX 0404 Load on Arm screen and describes the setting load on
arm procedure.
Table 9-20 Load on Arm Settings
Item
Description
Setting Range
Load on Upper Arm
Load mass on the upper arm of the robot
0.0–rated payload
Distance Between
JT3 Center and
Center of Gravity
Center of gravity position from the center of JT3
0.0–9999.0 mm
Load on Base
Load mass on the robot base
0.0–rated payload
Center of Gravity of
Load on the Base X
Axis
Center of gravity of the load mass on the X axis of the
base coordinates
-9999.9–9999.9
mm
Center of Gravity of
Load on the Base Y
Axis
Center of gravity of the load mass on the Y axis of the
base coordinates
-9999.9–9999.9
mm
Load Dimension X
X axis dimension of load installed on the base
0.0–9999.9 mm
Load Dimension Y
Y axis dimension of load installed on the base
0.0–9999.9 mm
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Aux. 0404. Load on Arm
Load on Upper Arm
Mass of Load on Arm Base
Mass Load on Arm
CTR Dist, J3 Rot/Mass
0.0 kgt
0 mm
Mass Load on Arm Base
Mass Center in Base X
Mass Center in Base Y
Dimension X of Load
Dimension Y of Load
0.0 kgf
0 mm
0 mm
0 mm
0 mm
1. Use the cursor keys to select each item
and use the numeric keypad on the
teach pendant keypad to enter the
values.
Undo
Input range : [0.0
– 165.0]
Aux. 0404. Load on Arm
Load on Upper Arm
Mass Load on Arm
CTR Dist, J3 Rot/Mass
Mass of Load on Arm Base
7.0 kgt
15 mm
Mass Load on Arm Base
Mass Center in Base X
Mass Center in Base Y
Dimension X of Load
Dimension Y of Load
9.0 kgf
235 mm
-403 mm
52 mm
31 mm
2. Ensure entered data is correct and
press the ENTER key on the teach
pendant keypad.
When “Setting complete.” is displayed
in the lower left of the screen the
procedure is complete.
Undo
Setting complete.
Figure 9-79 AUX 0404 Load on Arm Screen
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9.31 AUTO TOOL COORDINATES REGISTER, AUX 0405
Tools of different sizes and shapes may be mounted onto the tool mounting flange of the
robot arm. If the tool center point (TCP) is not set correctly the robot motion path may
be affected. If off-line transformations are used the probability of malfunctions and
errors becomes greater.
The following TCP setting procedure is used to properly set the tool coordinates to
prevent problems encountered from incorrect tool coordinates.
9.31.1 SETTING TOOL CENTER POINT
Figure 9-80 shows the AUX 0405 Auto Tool Coordinates Register screen.
Figures 9-81 and 9-82 show the tool positions to record the tool registration points.
Figures 9-83 and 9-84 describe the auto tool coordinates register procedure.
QTOOL switch must be set to on prior to setting tool dimensions (refer to AUX 0502
System Switch, section 9.35). For more information about tool dimensions refer to AUX
0304 Tool Coordinates in section 9.23.
To set the tool center point:
1.
Enter the tool name (no.) and the tool type (Only X, Y, Z) as shown in figure 9-81
and press the ENTER key on the teach pendant keypad. The screen for recording
the tool registration points is displayed.
2.
Points A1 through A4 are displayed. Record the individual tool positions as shown
in figure 9-81.
The joint angles recorded for each point are used by the controller’s CPU to calculate
the tool center point. Use the scroll keys to select a position to record. Figure 9-81
shows the tool position relative to points A1 through A4. The tool center point must
touch the stationary reference point at each position as shown in figure 9-81. The Z-axis
of the tool should be 90 degrees from the Z-axis of the fixed pointer for positions A1, A3,
and A4. For position A2, the Z-axis of the tool should be parallel to the Z-axis of the
stationary reference point as shown in figure 9-81.
4.
Once the robot position is at an “A” point, press the O.WRITE/RECORD key.
5.
Jog the tool to the next “A” point to record and repeat the procedure until all four “A”
points are recorded, refer to figure 9-81.
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6.
Once all points are recorded, press the ENTER key. The new tool points are now
recorded and “Setting complete” is displayed in the lower left of the screen.
Aux. 0405. Auto Tool Coordinates Register
(1) Tool Name
tool1
OnlyX,Y,Z
Tool Name (*)
Tool Type
1/ 1
X,Y,Z,O,A,T
(*) 1–9: for Tool Transformation Value
Others: for General Transformation Value
Undo
Variable
Input range : 15
Figure 9-80 AUX 0405 Auto Tool Coordinates Register Screen
Z+
A2
A3
A1
Y-
45-90
X+
45-90
45-90
A4
Y+
XStationary Reference
Point
Figure 9-81 Teaching Tool Coordinates (X, Y, Z)
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9.31.2 SETTING TOOL CENTER POINT AND OAT
In cases where greater TCP accuracy is desired select the X, Y, Z, O, A, T setting.
To set the tool center point and OAT angles, select X, Y, Z, O, A, T as the type from the
AUX 0405 screen. Use the procedure from section 9.31.1 to set points A1 through A4.
Once these points have been established, the OAT angles are set using points B and C
as shown in figure 9-82.
1.
Jog the tool center point to the position recorded as point A4. See figure 9-81.
2.
Jog the tool away (100 mm min.) from point A4 in the base interpolation mode along
the X-axis as shown in figure 9-82 (+X base and -Z tool). Select point B and press
the “O.WRITE REC” key on the teach pendant. This sets the tool X-axis.
3.
Return the tool to the position recorded as point A3 shown in figure 9-81.
4.
Jog the tool away (100 mm min.) from point A3 in the base interpolation mode along
the Y-axis as shown in figure 9-82 (+Y base and -Y tool). Select point C and press
the “O.WRITE/REC” key on the teach pendant. This sets the tool Y-axis.
5.
When all points are recorded, press the ENTER key on the teach pendant keypad.
The new tool points are now recorded, and “setting complete” is displayed in the lower
left of the screen.
Figure 9-82 Teaching Tool Orientation (O, A, T)
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Aux. 0405. Auto Tool Coordinates Register
(1) Tool Name
1/ 1
tool1
OnlyX,Y,Z
Tool Name (*)
Tool Type
X,Y,Z,O,A,T
(*) 1–9: for Tool Transformation Value
Others: for General Transformation Value
1. Use the cursor keys to select “Tool
Name” and enter the tool number (1–9)
or name (Press the “Variable” function
key on the touch screen) using the
alpha-numeric keypad on the teach
pendant.
2. Use the cursor keys to select the tool
type and press the ENTER key on the
teach pendant keypad.
Undo
Variable
Input range : 15
Aux. 0405. Auto Tool Coordinates Register
(2) Record Base Postures tool1
? 1:Posture A1
? 2:Posture A2
? 3:Posture A3
? 4:Posture A4
X
Y
Z
O
A
T
2/ 2
0.000 mm
0.000 mm
0.000 mm
0.000 deg
0.000 deg
0.000 deg
3. Move the robot and position the tool to
posture A1 as shown in figure 9-82 and
press the “O.WRITE/REC” key.
4. Repeat step 3 for postures A2, A3, and
A4 (refer to figure 9-81).
Ensure the four postures are recorded
45°–90° degrees apart as shown in
figure 9-81.
Select pose with cursor and press Record key.
Record all poses, and press Enter key.
Prev Page
Sets Posture A1
Aux. 0405. Auto Tool Coordinates Register
(2) Record Base Postures tool1
? 1:Posture A1
? 2:Posture A2
? 3:Posture A3
? 4:Posture A4
X
Y
Z
O
A
T
2/ 2
0.000 mm
0.000 mm
0.000 mm
0.000 deg
0.000 deg
0.000 deg
5. When each posture is recorded the
question mark (?) preceding the
posture is cleared.
Ensure all postures are recorded and
press the ENTER key on the teach
pendant keypad.
Select pose with cursor and press Record key.
Record all poses, and press Enter key.
Sets Posture A4
Figure 9-83 AUX 0405 Auto Tool Coordinates Register Screen
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Confirm Record
name [ tool1
registered ?
Aux. 0405. Auto Tool
Tool Coordinates
Reg] ister
(2) Record Base Postures tool1
X
100.014 mm
1:Posture
A1
X
Y
200.277 mm
2:Posture
A2
Y
Z
299.773 mm
3:Posture
A3
Z
O
0.000 deg
4:Posture
A4
O
A
0.000 deg
A
T
0.000 deg
T
Select pose with Yes
cursor and press Record key.
Record all poses, and press Enter key.
2/ 2
0.000 mm
0.000 mm
0.000 mm
0.000 deg
0.000 deg
0.000 deg
6. If the “Confirm record” screen displays
a warning, select “No” and repeat the
tool coordinate register procedure. If
no warning is displayed select “Yes”.
No
Sets Posture A4
Aux. 0405. Auto Tool Coordinates Register
(2) Record Base Postures tool1
1:Posture A1
2:Posture A2
3:Posture A3
4:Posture A4
2/ 2
X
Y
Z
O
A
T
100.014 mm
200.277 mm
299.773 mm
0.000 deg
0.000 deg
0.000 deg
Tool coordinates for tools 1–9 are
registered in their corresponding tool
numbers in AUX 0304 Tool Coordinates.
Select pose with cursor and press Record key.
Record all poses, and press Enter key.
Tool coordinates for tools with names
(i.e. abc, tool1) are registered as
variable names of transformation
values.
Sets Posture A4
Setting complete.
Aux. 0405. Auto Tool Coordinates Register
(2) Record Base Postures tool1
1:Posture A1
2:Posture A2
3:Posture A3
4:Posture A4
5:Point B
6:Point C
7. When the procedure is complete, the
tool coordinates are calculated, displayed, and stored in memory.
X
Y
Z
O
A
T
2/ 2
-14437.974 mm
1681.865 mm
126.494 mm
-71.734 deg
49.726 deg
90.000 deg
8. When selecting tool type X, Y, Z, O, A,
T, record postures A1–A4 and points B
and C before pressing the ENTER key.
When the procedure is complete
“Setting complete.” is displayed in the
lower left of the screen.
Select pose with cursor and press Record key.
Record all poses, and press Enter key.
Sets Point C
Setting complete.
Figure 9-84 AUX 0405 Auto Tool Coordinates Register Confirmation Screens
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9.32 AUTO LOAD MEASUREMENT, AUX 0406
The Auto Load Measurement function is performed with the load (tool and workpiece, if
applicable) mounted to the end of the robot arm. It is necessary to have the actual
operating load on the robot arm to automatically measure the mass, center of gravity,
and the moment of inertia around axes of the center of gravity parallel with the null tool
coordinates.
The controller measures and calculates the data as it moves JT3, 4, 5 and 6.
The auto load measurement includes several procedures that are performed in order as
described below.
1.
Set robot configuration:
The robot must be configured as described in section 9.32.2 to ensure accurate
auto load measurement.
2.
Tool registration:
Tool number registration assigns the auto load measurement results to the designated tool number as described in section 9.32.3.
3.
Set the operational area:
The operational area the robot uses during the auto load measurement execution is
set within a safe operating limits as described in section 9.32.4.
4.
Confirm the operational area:
The operational area setting can be confirmed from the operational area confirmation screen as described in section 9.32.5.
5.
Execute the auto load measurement:
When all settings are complete the auto load measurement is executed as described in section 9.32.6.
6.
Register the auto load measurement results:
If the auto load measurement execution is completed without errors the results can
be accepted or if the results are not correct aborted as described in section 9.32.7.
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9.32.1 SELECTING AUTO LOAD MEASUREMENT, AUX 0406
The following procedure is used to access the auto load measurement function screen.
For more information on auto load measurement refer to section 9.32.
1. Access the auxiliary functions as
described in section 9.0 and select “4.
Basic Setting”.
Aux. 4. Basic setting
1.
2.
3.
4.
5.
6.
7.
Teach/Check Speed
Home Position
Working Space
Load on Arm
Auto Tool Coordinates Register
Auto Load Measurement
Rotation for Spin Axis Set
2. From the “Basic setting” menu select
“6. Auto Load Measurement”.
Up Page
Selects Auto Load Measurement.
Aux. 0406. Auto Load Measurement
Tool number registration
Tool No.
0
No. 1–9 is set for tool 1–9 in block teaching.
No. 0 is set for AS programming.
1/ 3
3. When “Auto Load Measurement” is
select the tool number registration
screen is displayed as shown to the
left.
Undo
Input range : [0 – 9]
Figure 9-85 AUX 0406 Auto Load Measurement
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9.32.2 AUTO LOAD MEASUREMENT PREPARATION
To obtain accurate load measurement data, the robot configuration must be set as
shown in figure 9-86, for a floor mounted robot, or figure 9-87, for a shelf mounted robot.
For more information on auto load measurement refer to section 9.32.
Figure 9-86 Robot Configuration for a Floor Mounted Robot
Figure 9-87 Robot Configuration for a Shelf Mounted Robot
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9.32.3 TOOL NUMBER REGISTRATION
Tool number registration assigns the auto load measurement results to the designated
tool number.
For more information on auto load measurement refer to section 9.32.
1.
Install the tooling on the tool mounting flange.
2.
Use teach mode to configure the robot as shown in figure 9-86 or 9-87 (for information on jogging procedures refer to unit 6).
3.
With the robot in the proper configuration select repeat mode (for information on
repeat mode refer to unit 8).
Aux. 0406. Auto Load Measurement
Tool number registration
Tool No.
1/ 3
0
No. 1–9 is set for tool 1–9 in block teaching.
No. 0 is set for AS programming.
4. Enter the tool number (0–9) at the tool
number registration screen and press
the ENTER key, on the teach pendant
keypad.
If CANCEL is pressed the display
returns to the “Basic setting” menu
screen.
Undo
Input range : [0 – 9]
Aux. 0406. Auto Load Measurement
Tool number registration
Tool No.
24
No. 1–9 is set for tool 1–9 in block teaching.
No. 0 is set for AS programming.
1/ 3
5. If incorrect data is entered an error
message is displayed in the lower left
of the screen, as shown on the left.
In this case number 24 is not in the
range of 0–9.
Undo
Input numeric is out of range.
Figure 9-88 Tool Number Registration Screen
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NOTE
The tool number entered at the tool number registration
screen corresponds with tool data set for the same tool
number in auxiliary function 0304 Tool Coordinates.
The auto load measurement function sets program data and robot motion must be
stopped before the next step is performed. If robot motion is not stopped an error message is displayed in the lower left of the screen as shown in figure 9-89
Aux. 0406. Auto Load Measurement
Tool number registration
Tool No.
1/ 3
0
No. 1–9 is set for tool 1–9 in block teaching.
No. 0 is set for AS programming.
Undo
Turn off motor power.
Figure 9-89 Tool Number Registration Screen Motor Power Error
9-120
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
If the robot posture is not set as shown in figure 9-86 and 9-87 or the upper limit for JT3,
JT5, and/or JT6 is not set correctly (AUX 0507 motion limits) an out of range error message is displayed as shown in figure 9-90. The posture must be set correctly and the
upper limit must be set to allow sufficient robot movement.
Aux. 0406. Auto Load Measurement
Tool number registration
Tool No.
1/ 3
0
No. 1–9 is set for tool 1–9 in block teaching.
No. 0 is set for AS programming.
Undo
JT 3 5 6 out of motion range. Check operational area.
Figure 9-90 Tool Number Registration Screen Out of Range Error
August 9, 2007
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AUXILIARY FUNCTIONS
9.32.4 SETTING THE OPERATIONAL AREA
The operational area the robot moves in during execution of the auto load measurement
must be set within safe limits as described below.
For more information on auto load measurement refer to section 9.32.
During the auto load measurement, the robot moves from the pre-set position in the
positive direction. Ensure the range settings do not cause a collision with peripheral
equipment or other objects. For this procedure refer to figure 9-91.
Aux. 0406. Auto Load Measurement
Operational area setting
Tool0
Input range.
JT3
10 deg
( 10deg – 180deg )
JT4
90 deg
( 45deg – 180deg )
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Undo
2/ 3
1. Set the range for each axis using the
number keys on the numeric keypad,
on the tech pendant.
If the CANCEL key is pressed the
previous screen is displayed.
Prev Page
Input range : [10 – 180]
Aux. 0406. Auto Load Measurement
Operational area setting
Tool0
Input range.
200 deg
JT3
( 10deg – 180deg )
JT4
90 deg
( 45deg – 180deg )
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Undo
Prev Page
Input numeric is out of range.
2/ 3
If data is not set within the appropriate
range an out of range message is
displayed in the lower left of the screen
as shown on the left
2. Set the controller and teach pendant
for repeat mode operation.
TEACH LOCK = OFF
TEACH/REPEAT = REPEAT
MOTOR POWER = ON
HOLD/RUN = RUN
3. Ensure the data entered and teach
pendant and controller settings are
correct. If data and settings are correct
press the ENTER key, on the teach
pendant keypad.
Figure 9-91 Operational Area Setting Screen
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D SERIES CONTROLLER
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AUXILIARY FUNCTIONS
If teach pendant or controller settings are not correct an error message is displayed in
the lower left of the screen as shown in figure 9-92.
Aux. 0406. Auto Load Measurement
Operational area setting
Tool0
Input range.
JT3
10 deg
( 10deg – 180deg )
JT4
90 deg
( 45deg – 180deg )
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Undo
2/ 3
Prev Page
Cannot execute a program because motor power is OFF.
Aux. 0406. Auto Load Measurement
Operational area setting
Tool0
Input range.
JT3
10 deg
( 10deg – 180deg )
JT4
90 deg
( 45deg – 180deg )
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Undo
2/ 3
Prev Page
Cannot execute a program in TEACH mode.
Aux. 0406. Auto Load Measurement
Operational area setting
Tool0
Input range.
JT3
10 deg
( 10deg – 180deg )
JT4
90 deg
( 45deg – 180deg )
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Undo
2/ 3
Prev Page
Cannot execute a program because teach lock in ON.
Figure 9-92 Operational Area Setting Screen Errors
August 9, 2007
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AUXILIARY FUNCTIONS
9.32.5 OPERATIONAL AREA CONFIRMATION
Use the procedure in this section to check the operational area at a slow speed (Figure
9-93).
For more information on auto load measurement refer to section 9.32.
Aux. 0406. Auto Load Measurement
Confirm
Operational area setting
Execute the check program for operational area?
Tool0
Input range.
JT3
10 deg
( 10deg – 180deg )
Caution!!
g – 180de
JT4
deg robot
( 45de
) will be killed.
The90current
control
proggram
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
No
Skip
Yes
2/ 3
1. If the “Skip” function key is pressed the
confirmation is omitted and the auto
load measurement execution screen is
displayed.
If the “Yes” function key is pressed the
confirmation program is loaded.
If the “No” function key is pressed the
previous screen is displayed.
Undo
Prev Page
Input range : [10 – 180]
Aux. 0406. Auto Load Measurement
Confirm
Operational area setting
Cycle start ON.
Tool0
ge.
Confirm the Input
safety ran
of operational
area...
JT3
10 deg
( 10deg – 180deg )
JT4
90 deg
( 45deg – 180deg )
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Cancel
Undo
2/ 3
2. When “Yes” is selected ”Cycle start
ON” is displayed. Press the CYCLE
START switch on the controller to
execute the operational area confirmation program.
If “Cancel” is pressed before the
operational area confirmation is
complete the previous screen is
displayed.
Prev Page
Input range : [10 – 180]
Aux. 0406. Auto Load Measurement
Confirm
Operational area setting
Cycle start ON.
Tool0
ge.
Confirm the Input
safety ran
of operational
area...
JT3
10 deg
( 10deg – 180deg )
JT4
90 deg
( 45deg – 180deg )
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Cancel
Undo
2/ 3
3. During the operational area confirmation “Confirm the safety of operational
area...” is displayed. When the operational area confirmation program is
completed, the “Execute the load
measurement?” screen is displayed.
Prev Page
Input range : [10 – 180]
Figure 9-93 Operational Area Confirmation Screens
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AUXILIARY FUNCTIONS
If an error occurs during the operational area confirmation program execution, the error
screen shown in figure 9-94 is displayed. If the “Reset” function key is pressed the
failure screen in figure 9-95 is displayed. Press the “Close” function key on the failure
screen, correct the cause of the error and repeat the operational area confirmation
procedure.
Program
Step
[Comment ]
PC
[
]
[
]
03-01-10 16:44
Status
JOINT
T
C
R
10%
Program held. No = 1
RPS
Error
(E1163) 03-01-10(Fri) 16:44:01
Robot stopped. Checking operational area stopped.
!
Reset
Undo
Close
Prev Page
Input range : [10 – 180]
Figure 9-94 Operational Area Confirmation Error Screen
Aux. 0406. Auto Load Measurement
Confirm
Operational area setting
Cycle start ON.
Tool0
ge.
Confirm the Input
safety ran
of operational
area...
JT3
10 deg
( 10deg – 180deg )
g
g – 180deg )
JT4
90 in
deauto
(load
45de
Failed
measurement.
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Close
Undo
2/ 3
Prev Page
Input range : [10 – 180]
Figure 9-95 Operational Area Confirmation Failed Screen
August 9, 2007
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AUXILIARY FUNCTIONS
9.32.6 AUTO LOAD MEASUREMENT EXECUTION
When the operational area confirmation procedure is complete and the operational area
is safe, the Auto Load Measurement execution procedure is performed as described in
figure 9-96.
For more information on auto load measurement refer to section 9.32.
Aux. 0406. Auto Load Measurement
Confirm
Operational area setting
Execute the load measurement?
Tool0
Input range.
JT3
10 deg
( 10deg – 180deg )
JT4
90 deg
( 45deg – 180deg )
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Yes
Undo
2/ 3
1. Press the “Yes” function key to load the
auto load measurement program.
If the “No” function key is pressed the
“Tool number registration” screen is
displayed.
No
Prev Page
Input range : [10 – 180]
Aux. 0406. Auto Load Measurement
Confirm
Operational area setting
Cycle start ON.
Tool0
Measuring... Input range.
JT3
10 deg
( 10deg – 180deg )
JT4
90 deg
( 45deg – 180deg )
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Cancel
Undo
2/ 3
During the auto load measurement
“Measuring...” is displayed.
Prev Page
Input range : [10 – 180]
Aux. 0406. Auto Load Measurement
Confirm
Operational area setting
Cycle start ON.
Tool0
Measuring... Input range.
JT3
10 deg
( 10deg – 180deg )
g)
JT4
90 Load
deg measurement
( 45deg – 180de
Auto
is completed.
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Close
Undo
2. When “Yes” is selected ”Cycle start
ON” is displayed. Press the CYCLE
START switch on the controller to
execute the auto load measurement
program.
2/ 3
If the “Cancel” function key is pressed
before CYCLE START is pressed the
operational area confirmation screen is
displayed.
3. When the auto load measurement
program is complete, “Auto load
measurement is completed.” is displayed.
If the auto load measurement is
completed without an error, the results
screen is displayed.
Prev Page
Input range : [10 – 180]
Figure 9-96 Auto Load Measurement Screens
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AUXILIARY FUNCTIONS
If an error occurs during the auto load measurement program execution, the error
screen shown in figure 9-97 is displayed. If the “Reset” function key is pressed the
failure screen in figure 9-98 is displayed. Press the “Close” function key on the failure
screen, correct the cause of the error and repeat the operational area confirmation
procedure.
Program
Step
[Comment ]
PC
[
]
[
]
03-01-10 16:45
Status
JOINT
T
C
R
10%
Program held. No = 1
RPS
Error
(E1132) 03-01-10(Fri) 16:45:17
Motor power OFF. Measurement stopped.
!
Reset
Undo
Close
Prev Page
Input range : [10 – 180]
Figure 9-97 Auto Load Measurement Error Screen
Aux. 0406. Auto Load Measurement
Confirm
Operational area setting
Cycle start ON.
Tool0
Measuring... Input range.
JT3
10 deg
( 10deg – 180deg )
g
g – 180deg )
JT4
90 in
deauto
(load
45de
Failed
measurement.
JT5
45 deg
( 30deg – 130deg )
JT6
90 deg
( 90deg – 180deg )
Close
Undo
2/ 3
Prev Page
Input range : [10 – 180]
Figure 9-98 Auto Load Measurement Failure Screen
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AUXILIARY FUNCTIONS
9.32.7 REGISTERING AUTO LOAD MEASUREMENT RESULTS
When the auto load measurement is completed without an error the results screen is
displayed (Figure 9-99).
For more information on auto load measurement refer to section 9.32.
Aux. 0406. Auto Load Measurement
Results
Tool0
X
0.000 mm
Y
0.000 mm
Z
0.000 mm
O
A
T
0.000 deg
0.000 deg
0.000 deg
3/ 3
Load Mass
0.4
Center Of Gravity X 4397.50
Center Of Gravity Y 4914.84
Center Of Gravity Z 6758.20
Moment of Inertia X
Moment of Inertia Y
Moment of Inertia Z
kgf
mm
mm
mm
0.000 kgm^2
0.000 kgm^2
0.000 kgm^2
Undo
1. The auto load measurement results are
displayed and can be manually adjusted is necessary.
To register the results press the
ENTER key, on the teach pendant
keypad.
If the CANCEL key, on the teach
pendant keypad, before or after registration the tool number registration
screen is displayed.
Input range : [0.0 – 10.0]
Aux. 0406. Auto Load Measurement
3/ 3
Results
Confirm
Tool0
X
0.000 mm
Load Mass
0.4 kgf
Y
0.000 mmRegister,Center
OK ? Of Gravity X 4397.50 mm
Z
0.000 mm
Center Of Gravity Y 4914.84 mm
Center Of Gravity Z 6758.20 mm
No
Yes
O
0.000 deg
A
0.000 deg
Moment of Inertia X
0.000 kgm^2
T
0.000 deg
Moment of Inertia Y
0.000 kgm^2
Moment of Inertia Z
0.000 kgm^2
2. When the ENTER key is pressed, the
register results confirmation screen is
displayed.
Press the “Yes” function key to register
the results for the tool number selected.
If the “No” function key is pressed the
procedure is aborted and the registration is not completed.
Undo
Input range : [0.0 – 10.0]
Figure 9-99 Auto Load Measurement Results Screens
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AUXILIARY FUNCTIONS
The results cannot be registered if the load mass value is over the load rating. If the
load mass value is over the load rating an error is displayed in the lower left of the
screen, as shown in figure 9-100.
Aux. 0406. Auto Load Measurement
Results
Tool0
X
0.000 mm
Y
0.000 mm
Z
0.000 mm
O
A
T
3/ 3
Load Mass
200
Center Of Gravity X 4397.50
Center Of Gravity Y 4914.84
Center Of Gravity Z 6758.20
0.000 deg
0.000 deg
0.000 deg
Moment of Inertia X
Moment of Inertia Y
Moment of Inertia Z
kgf
mm
mm
mm
0.000 kgm^2
0.000 kgm^2
0.000 kgm^2
Undo
Input numeric is out of range.
Figure 9-100 Load Mass Value Error Screen
If the moment of inertia value exceeds the maximum allowable limit, the value can be
registered and a warning message is displayed, as shown in figure 9-101.
Program
[
Step
[Comment ]
]
[
PC
1
]
03-01-10 16:49
Status
JOINT
T
C
R
10%
Program completed. No = 1
RPS
Control Warning
(W1019) 03-01-10 (Fri) 16:48:58
The registered value is beyond rated load.
Reset
Close
Undo
Input range : [-9999.999 – 9999.999]
Figure 9-101 Moment of Inertia Warning Screen
August 9, 2007
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AUXILIARY FUNCTIONS
9.33 ROTATION FOR SPIN AXIS SET (OPTION), AUX 0407
This function changes the number of rotations for JT6 in memory, from the current value
to the value set within the input range, without moving the robot. This function is available for robots with the spin control function, and the motion range of JT6 is not limited.
For information on the spin control function, refer to the D Series Controller Spin Control
Function Manual.
Figure 9-102 shows the AUX 0407 Rotation for Spin Axis Set screen.
Aux. 0407. Rotation for Spin Axis Set
Rotation Number
( 0:Reset )
0
Undo
Input range : [-100 – 99]
Figure 9-102 AUX 0407 Rotation for Spin Axis Set
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9.34 ZEROING, AUX 0501
Figure 9-103 shows the AUX 0501 Zeroing menu screen.
The menu contains three functions used to restore the zeroing of the robot after maintenance or repair .
!
CAUTION
Operators must be aware of the effect changes made in
this function have on the position of programmed locations. Changing this data without following the complete
zeroing process may move programmed locations to positions that cause damage to the robot, fixtures, or work.
Aux. 0501. Zeroing
1. Zeroing
2. Zeroing Data Set/Display
3. Encoder Rotation Counter Reset
Up Page
Selects Zeroing
Figure 9-103 AUX 0501 Zeroing Menu Screen
August 9, 2007
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9.34.1 ZEROING, AUX 0501-1
This function is used to set the current position of the robot (encoder values) as the zero
position.
Table 9-21 describes the settings and provides the setting ranges.
Figure 9-104 shows the screen for setting zeroing data and describes the setting procedure.
Before the zeroing function is preformed the encoder rotation counter reset procedure
must be performed (refer to section 9.34.3)
Table 9-21 Zeroing Settings and Setting Ranges
Item
Description
Setting Range
Joint No.
Specifies the joint number to zero. Enter "0" to set all
joints.
0–6 or 0–7
JT Angle Set
Normally the scribe mark alignment position (0°) is set for
all joints. In some cases an offset is used (i.e. the robot
axis cannot be moved to the zero position).
±180° JT1–JT6
-9999.0–9999.0 mm
JT7 (traverse axis)
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AUXILIARY FUNCTIONS
1. Jog all axes to zero, to algin the
zeroing scribe marks.
Aux. 0501. Zeroing 1. Zeroing
JT 1
JT 2
JT 3
JT 4
JT 5
JT 6
Joint No.
0:all joint
Undo
SETTING
268435456
268435456
268435456
268435456
268435456
268435456
0
CURRENT
268435456
268435456
268435456
268435456
268435456
268435456
2. Select auxiliary function 0501 Zeroing
3. Encoder rotation Counter Reset, and
enter the joint number to zero. To zero
all joints, “0” is entered for the joint
number.
JT Angle set
Allowable input range : [0 – 6]
0
deg,mm
If a single joint is selected set the “JT
angle set” value if other than 0°.
3. Select auxiliary function 0501 Zeroing
1. Zeroing and set the zero position
value by entering the joint number to
zero. To zero all joints, “0” is entered
for the joint number.
If a single joint is selected set the “JT
angle set” value if other than 0°.
4. Confirm the new zero position by
operating the robot in the check mode
on a previously taught program to
verify the playback accuracy of locations.
Figure 9-104 AUX 0501-1 Zeroing Screen
For further information about the zeroing process, reference the D Series Controller
Electrical Maintenance Manual, unit 8, Zeroing.
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9.34.2 ZEROING DATA SET/DISPLAY, AUX 0501-2
Auxiliary function 0501-2 Zeroing Data Set/Display is not normally used for zeroing. Use
the procedures in sections 9-34.1 and 9-34.3.
!
CAUTION
Do not use this function as a normal operation. This
function is used for maintenance purposes to adjust the
mechanical origin of each axis. This procedure is used
only as described below.
1. To verify if the zeroing data has changed, if the robot
arm position is incorrect.
2. To enter the correct value if changed.
Use caution when changing the setting values in this
function, as the values for the current robot position also
change. Any changes alter the robot movement positions and trajectory during program playback.
Figure 9-105 shows the zeroing data set/display screens and describes the setting
procedure.
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AUXILIARY FUNCTIONS
Aux. 0501. Zeroing 2. Zeroing Data Set/Display
JT 1
JT 2
JT 3
JT 4
JT 5
JT 6
SETTING
268435456
268435456
268435456
268435456
268435456
268435456
1/ 2
1. Use the cursor keys to select the joint
number to enter data. Use the numeric
keypad on the teach pendant to enter
the data. Press the ENTER key on the
teach pendant keypad to complete the
procedure.
2/ 2
2. Press the “Next Page” function key to
display the “OFFSET” screen. It is not
recommended that any changes are
made in this screen.
CURRENT
268435456
268435456
268435456
268435456
268435456
268435456
Next Page
Undo
Allowable input range : [0 – 999999999]
Aux. 0501. Zeroing 2. Zeroing Data Set/Display
OFFSET
JT 1
JT 2
JT 3
JT 4
JT 5
JT 6
Undo
0
0
0
0
0
0
Prev Page
Allowable input range : [0 – 999999999]
Figure 9-105 AUX 0501-2 Zeroing Data Set/Display Screens
August 9, 2007
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9.34.3 ZEROING ENCODER ROTATION COUNTER RESET, AUX 0501-3
Auxiliary function 0501-3 Encoder Rotation Counter Reset is used to set the current
encoder count as the zero position of the robot axes.
Table 9-22 describes the settings and provides the setting ranges.
Figure 9-106 shows the encoder rotation counter reset screens and describes the setting procedure.
Table 9-22 Settings and Setting Ranges
Setting
Joint No.
JT Angle
Set
Axes
Range
Description
All
0
Resets all axes encoder counter.
Individual
JT1–JT7
Resets the specified axis encoder counter.
Individual
(only)
±180° JT1–JT6
-9999.0–9999.0 mm JT7
(traverse axis)
Normally the scribe mark alignment position (0°) is
set for all joints. In some cases an offset is used
(i.e. the robot axis cannot be moved to the zero
position).
!
CAUTION
The encoder rotation counter reset function calibrates
the robot’s mechanical origin (axes zero positions) with
the encoder origin (encoder counter value registered as
the zero position).
An encoder is coupled to each axis and re-calibration is
required when the encoder or any related parts are replaced (motor, encoder, 1KA/1RA board, etc.). If the
settings in this function are not set properly the mechanical origin and encoder origin do not match causing
deviation from the programmed positions.
Only properly trained personal should perform the zeroing procedures.
9-136
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AUXILIARY FUNCTIONS
1. Jog all axes to zero, to algin the
zeroing scribe marks.
Aux. 0501. Zeroing 3. Encoder Rotation Counter Reset
JT 1
JT 2
JT 3
JT 4
JT 5
JT 6
SETTING
268435456
268435456
268435456
268435456
268435456
268435456
Joint No.
0
0:reset all joint
Undo
CURRENT
268435456
268435456
268435456
268435456
268435456
268435456
JT Angle set
2. Select auxiliary function 0501 Zeroing
3. Encoder rotation Counter Reset, and
enter the joint number to zero. To zero
all joints, “0” is entered for the joint
number.
0
deg,mm
If a single joint is selected set the “JT
angle set” value if other than 0°.
Allowable input range : [0 – 6]
3. Select auxiliary function 0501 Zeroing
1. Zeroing and set the zero position
value by entering the joint number to
zero. To zero all joints, “0” is entered
for the joint number.
If a single joint is selected set the “JT
angle set” value if other than 0°.
4. Confirm the new zero position by
operating the robot in the check mode
on a previously taught program to
verify the playback accuracy of locations.
Figure 9-106 AUX 0501-3 Encoder Rotation Counter Reset Screen
August 9, 2007
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9.35 SYSTEM SWITCH, AUX 0502
The System Switch function allows the operator to set software switches on and off to
alter functions of the robot system. The operator must realize that any changes made to
the status of these switches are global and affect all programs in the system memory.
Figure 9-107 shows the system switch screens and describes the setting procedure.
Aux. 0502. System Switch
Class
Switch Name
CHECK.HOLD
On
CP
On
CYCLE.STOP
On
OX.PREOUT
On
PREFETCH.SIGINS
On
QTOOL
On
REP_ONCE
On
RPS
On
STP_ONCE
On
AFTER.WAIT.TMR
On
FLEXCOMP
On
SPOT_OP
On
Undo
Next Page
Starting program by command input ON:only HOLD, OFF:both HOLD & RUN
Aux. 0502. System Switch
Class
Switch Name
MESSAGES
SCREEN
AUTOSTART.PC
AUTOSTART2.PC
AUTOSTART3.PC
AUTOSTART4.PC
AUTOSTART5.PC
ERRSTART.PC
DISPIO_01
HOLD.STEP
WS_COMPOFF
WS.ZERO
Undo
Prev Page Next Page
Message output to screen (PRINT/TYPE)
Aux. 0502. System Switch
Class
Switch Name
SLOW START
ABS.SPEED
PLC.CHECK
FLOWRATE
Undo
Prev Page
Restart speed at first motion step
1/ 3
Off
Off
Off
Off
Off
Off
Off
Off
Off
Off
Off
Off
2/ 3
On
On
On
On
On
On
On
On
On
On
On
On
Off
Off
Off
Off
Off
Off
Off
Off
Off
Off
Off
Off
1. Use the cursor keys to select the
switch to change. Use the SELECT
key, on the teach pendant keypad, to
toggle between On and Off.
2. When the settings are complete press
the ENTER key on the teach pendant
keypad.
The “Next Page” function key is used to
display the remaining switches.
Moving the cursor to a system switch
displays an explanation of the system
switch at the bottom of the screen as
shown to the left.
ON:Effect, OFF:Ineffect
3/ 3
On
On
On
On
Off
Off
Off
Off
ON:Slow repeat sp., OFF:Original sp.
Figure 9-107 System Switches
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Table 9-23 shows the default settings for the system switches. When the system is
initialized, all switches are reset as shown in table 9-23.
Table 9-23 System Switches Default Settings
Switch
August 9, 2007
Default Setting
CHECK.HOLD
OFF
CP
ON
CYCLE.STOP
OFF
OX.PREOUT
ON
PREFETCH.SIGINS
OFF
QTOOL
ON
REP_ONCE
OFF
RPS
OFF
STP_ONCE
OFF
AFTER.WAIT.TMR
OFF
FLEXCOMP
OFF
SPOT_OP
OFF
MESSSAGES
ON
SCREEN
ON
AUTOSTART.PC
OFF
AUTOSTART2.PC
OFF
AUTOSTART3.PC
OFF
AUTOSTART4.PC
OFF
AUTOSTART5.PC
OFF
ERRSTART.PC
OFF
DISPIO_01
OFF
HOLD.STEP
OFF
WS_COMPOFF
OFF
WS.ZERO
OFF
SLOW_START
OFF
ABS.SPEED
OFF
PLC.CHECK
OFF
FLOWRATE
OFF
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9.35.1 CHECK.HOLD SWITCH
This function affects the AS Language commands EXECUTE, DO, STEP MSTEP and
CONTINUE. When the CHECK.HOLD switch is ON these commands are available only
if the HOLD/RUN switch is in the HOLD position.
The controller accepts these commands with the HOLD/RUN switch in the HOLD position, but robot motion is not initiated until the switch is manually placed in the RUN
position.
The default setting for this switch is OFF.
9.35.2 CP (CONTINUOUS PATH) SWITCH
The CP switch activates the continuous path function. When the CP switch is ON and
the accuracy ranges are large enough, the robot makes smooth transitions from
point-to-point, as indicated in figure 9-108.
When the switch is OFF, the robot decelerates and stops at each recorded point regardless of the accuracy of those points.
The default setting for this switch is ON.
Robot path with CP ON
Robot path with CP OFF
TAUGHT POSITION
ACCURACY RANGE
Figure 9-108 CP Switch
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9.35.3 CYCLE.STOP SWITCH
The CYCLE.STOP switch is used in conjunction with an external input signal used to
stop the motion of the robot.
With the switch ON, when the input signal is received the robot stops and the CYCLE
START light turns off. When the program is started again it starts at the beginning. If
the program was called from another program, the program restarts at the beginning of
the main program.
With the switch OFF, when the input signal is received the robot stops and the CYCLE
START light remains ON. The robot is in a hold condition and, when the program is
restarted, it continues at the point in the cycle where it stopped.
The default setting for this switch is OFF.
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9.35.4 OX.PREOUT SWITCH
The OX.PREOUT switch affects the timing of output signal generation in block step
programs.
When the OX.PREOUT switch is ON, an output programmed for a given point (step 2 in
figure 9-109) is set ON when the robot reaches the accuracy range of the preceding
point (step 1 in figure 9-109). When the robot reaches the accuracy range of the preceding point (step 1 in figure 9-109) it is considered as at that point and then begins the
transition to the following point.
With the OX.PREOUT switch OFF, an output programmed for a given point is set ON at
the accuracy range of the point.
Figure 9-109 shows the different effects the OX.PREOUT switch has on signal timing.
Clamp signals are not affected by the setting of the switch.
The default setting for this switch is ON.
OX 2 Programmed at step 2
With the OX.PREOUT
switch ON
OX 2 is set ON here
With the OX.PREOUT
switch ON
OX 2 is set OFF here
Accuracy Range
2
2
1
3
2
Accuracy Range
2
2
With the OX.PREOUT
switch OFF
OX 2 is set ON here
With the OX.PREOUT
switch OFF
OX 2 is set OFF here
Figure 9-109 OX.PREOUT Switch
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9.35.5 PREFETCH.SIGINS SWITCH
The PREFETCH.SIGINS switch is used in conjunction with AS Language instructions
and has the same affect on signal timing that the OX.PREOUT switch has with block
step instructions.
The default setting for this switch is OFF.
9.35.6 QTOOL SWITCH
This switch allows the operator to identify tools to use in block step or AS Language
programming.
When the QTOOL switch is ON, the programmer has up to nine tools available to use for
programming and jogging. The unique tool dimensions are recorded and assigned a tool
number using auxiliary function 0405.
When the QTOOL switch is ON, the selected tool dimensions are in effect for jogging
and linear playback of block step programs.
When the QTOOL switch is OFF, the tool identified with AS Language instructions is
utilized.
The default setting for this switch is ON.
9.35.7 REP_ONCE (REPEAT ONCE) SWITCH
When the REP_ONCE switch is ON, programs run one time.
With the switch OFF, programs run continuously.
The default setting for this switch is OFF.
9.35.8 RPS (RANDOM PROGRAM SELECTION) SWITCH
This switch enables the processor to scan for a binary input from peripheral devices and
select which program is executed.
The AS Language instructions EXTCALL, JUMP and END combined with the input
signal and RPS function determine which program runs.
The default setting for this switch OFF.
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9.35.9 STP_ONCE (STEP ONCE) SWITCH
When the STP_ONCE switch is ON, the repeat condition function of progressing through
a program one step at a time becomes active.
The step forward key must be used to progress through a program. When the switch is
OFF, programs run continuously.
The default setting for this switch is OFF.
9.35.10 AFTER.WAIT.TIMER SWITCH
When the AFTER.WAIT.TIMER switch is in the ON position, timers begin their timing at
a specified step when all wait conditions are satisfied.
With the switch in the OFF position, timers begin timing when the robot reaches coincidence of the taught point.
The default setting for this switch is OFF.
9.35.11 FLEXCOMP SWITCH (OPTION)
Enables and disables the deflection compensation function.
The default setting for this switch is OFF.
9.35.12 SPOT_OP SWITCH
This switch allows the robot controller to monitor the time between weld initiate and weld
tip closed and adjust the weld initiate signal timing to optimize the program.
The default setting for this switch is OFF.
9.35.13 MESSAGES SWITCH
The MESSAGES switch allows PRINT and TYPE information, which is part of programs,
to be displayed for operator viewing. If the MESSAGES switch is OFF this information is
not displayed.
The default setting for this switch is ON.
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9.35.14 SCREEN SWITCH
This switch enables or disables the scrolling of the screen when the LIST command is
used.
With this switch ON, information is scrolled on the screen using the “Next Page” and
“Prev Page” function keys
The default setting for this switch is ON
9.35.15 AUTOSTART.PC SWITCHES
The AUTOSTART.PC, AUTOSTART2.PC, THROUGH AUTOSTART5.PC switches automatically start the associated PC program when control power is applied. For information on PC programs see the D Series Controller AS Language Reference Manual.
The default setting for these switches is OFF.
9.35.16 ERRSTART.PC SWITCH
When operator specified errors occur a PC program can be started if the ERRSTART.PC
switch is in the ON position.
The default setting for this switch OFF.
9.35.17 DISPIO_01 SWITCH
This switch allows the operator to select the type of display used to view the status of
input and output signals.
If the switch is ON, 1s and 0s are displayed to identify the signal state of individual
signals. A 1 represents a signal that is on, and a 0 represents a signal that is off.
If the switch is OFF, xs and os are used to represent the signal states. An o represents
a signal that is ON, and an x represents a signal that is OFF.
The X and O display also identifies if a signal number has a dedicated function. Dedicated signals are represented by uppercase Xs and Os.
The default setting for this switch is OFF.
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9.35.18 HOLD.STEP SWITCH
When this switch is ON and the HOLD/RUN switch is placed in the HOLD position, the
current logic or motion step is displayed.
When the switch is OFF and the HOLD/RUN switch is placed in the HOLD position, the
last motion step executed is displayed.
The default setting for this switch is OFF.
9.35.19 WS_COMPOFF SWITCH
When this switch is ON, the WS bits are set low after they are sent rather than when the
robot is at the next step of the program.
The default setting for this switch is OFF.
9.35.20 WS.ZERO SWITCH
When this switch is ON and weld schedule 0 is selected, the controller waits for the weld
complete signal before continuing robot motion.
When this switch is OFF and weld schedule 0 is selected the controller does not wait for
the weld complete signal.
The default setting for this switch is OFF.
9.35.21 SLOW_START SWITCH
Enables and disables the SLOW_START function.
The default setting for this switch is OFF.
9.35.22 ABS.SPEED SWITCH
When this switch is ON speeds are specified as absolute speeds. Degrees per second
for joint moves and mm per second for linear moves.
When this switch is OFF speeds are specified as percentages of maximum robot speed.
The default setting for this switch is OFF.
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9.35.23 PLC.CHECK SWITCH
This function enables the 1KA/1RA board CPU and the Sharp Sequencer Board
CPU watchdog communication. Watchdog communication is an error checking
function.
The default setting for this switch is OFF.
9.35.24 FLOWRATE SWITCH
This switch is available with sealing software only.
With sealing software installed and the FLOWRATE switch ON, data in AUX 65 is used
to control sealer dispensing.
With this switch OFF, data defined using the AS Language command SETOUTSPEED is
used.
The default setting for this switch is OFF.
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9.36 POS. DEVIATION ERROR RANGE AT E-STOP, AUX 0503
The Pos. Deviation Error Range at E-Stop function is used to set a comparison range for
checking the robot’s commanded position when an emergency stop is applied with the
position when motor power is reapplied.
If the difference between the robot’s position when motor power is reapplied and when
the emergency stop was pressed is greater than the set value, a position offset error is
displayed.
The position offset error generated from this function cannot be reset and motor power
cannot be applied. The error range must be reset to a value that does not cause an
error.
The purpose of this function is to prevent interference with fixtures, jigs, or work pieces
when the robot is restarted after an emergency stop condition.
The acceptable range of data for the position error range at emergency stop is from 0.1
degree to 10.0 degrees for axes one to six and from 0.1 mm to 100 mm for a seventh
axis. If 0 is entered the error check is not performed. The default setting for this function
is 0.
Figure 9-110 shows the Pos. Deviation Error Range at E-Stop screen and describes the
setting procedure.
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Aux. 0503. Pos. Deviation Error Range at E–stop
JT 1
JT 2
JT 3
JT 4
JT 5
JT 6
1.000 deg
1.000 deg
1.000 deg
1.000 deg
1.000 deg
1.000 deg
1. Use the cursor keys to select the joint
number to set an error range. Use the
numeric keypad on the teach pendant
to enter the value and press the
ENTER key.
Error check is not executed for input of 0.0.
Undo
Allowable input range : [0.000 – 10.000]
Aux. 0503. Pos. Deviation Error Range at E–stop
JT 1
JT 2
JT 3
JT 4
JT 5
JT 6
1.000 deg
1.000 deg
1.000 deg
1.000 deg
1.000 deg
1.000 deg
2. When “Setting complete.” is displayed
in the lower left of the screen the
procedure is complete.
Error check is not executed for input of 0.0.
Undo
Setting complete.
Figure 9-110 AUX 0503 Position Deviation Error Range at E-Stop Screens
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9.37 ENCODER VALUE ERROR RANGE AT POWER-ON, AUX 0504
This function sets the range of encoder deviation allowed before an error is displayed
upon applying power to the controller. The encoder value when control power is turned
off is compared to the encoder value when control power is turned on.
If the difference is larger than the range set, a JT encoder abnormality error is displayed.
The range of acceptable data for this function is from 0.1 degree to 10.0 degrees for
axes one to six and from 0.1 mm to 100 mm for a seventh axis. The default setting for
the encoder value range at power-up is 2.0 degrees.
Operators should be aware that if this range is set too low, error messages may be
displayed when the system is performing within design performance specifications.
The “Undo” function key is on the touch screen is used to restore the settings if the
ENTER key has not been pressed.
Figure 9-111 shows the AUX 0504 Encoder Value Error Range at Power-On screen and
describes the setting procedure.
Aux. 0504. Encoder Value Error Range at Power–ON
JT 1
JT 2
JT 3
JT 4
JT 5
JT 6
2.000 deg
2.000 deg
2.000 deg
2.000 deg
2.000 deg
2.000 deg
Undo
Allowable input range : [0.100 – 10.000]
1. Use the cursor keys to select the joint
to set an error range value. Use the
numeric keypad on the teach pendant
keypad to enter the value.
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
When “Setting complete.” is displayed
in the lower left of the screen the
procedure is complete.
Figure 9-111 AUX 0504 Encoder Error Range at Power-On Screen
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9.38 ROBOT INSTALLATION POSTURE, AUX 0505
This function allows the operator to define the mechanical unit’s configuration, such as
floor, wall, or ceiling installation.
The robot’s base coordinates are set as shown in figure 9-112 for each installation
posture.
Figure 9-113 shows the AUX 0505 Robot Installation Posture screen and describes the
setting procedure.
Floor
Ceiling
Z
Z
Y
Y
Wall 2
Wall
Z
Z
Y
Y
Figure 9-112 Robot Installation Posture Base Coordinates
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Aux. 0505. Robot Installation Posture
Robot Installation Posture
Floor
Wall
Ceiling
Wall2
1. Use the SELECT key to select the
correct posture and press the ENTER
key, on the teach pendant keypad.
Undo
Figure 9-113 AUX 0505 Robot Installation Posture Screen
NOTE
The O, A, T values setting in auxiliary function 0506
Base Coordinates must be set to zero.
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9.39 BASE COORDINATES, AUX 0506
This function allows the operator to redefine the base reference frame by effectively
shifting the base transformation values XYZ and OAT.
When the machine is first initialized the transformation values of the base coordinate
system are all set to a null or zero position. A null base has the transformation values
0,0,0,0,0,0.
The base coordinate function is used to change the base reference location.
Programmers must be aware of the impact shifting the base coordinate origin has on
program playback. Shifting the base coordinate origin results in the equivalent shift
occurring for all transformation locations stored in the controller memory.
Locations recorded as precision points are played back based on the joint angles of the
robot’s six axes and are not affected by a base coordinate shift.
The acceptable range for the base coordinate shift function is from -9999.9 mm to
9999.9 mm in the XYZ directions and from -360.0° to 360.0° for angles OAT.
Figure 9-114 shows the AUX 0506 Base Coordinates screens and describes the setting
procedure.
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Aux. 0506. Base Coordinates
X
Y
Z
24.9 mm
-15.5 mm
40.6 mm
O
A
T
101.9 deg
8.7 deg
4.5 deg
1. Use the cursor keys to select the item
to enter a value. Use the numeric
keypad on the teach pendant to enter
the value.
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
Undo
Allowable input range : [-360.0 – 360.0]
Aux. 0506. Base Coordinates
X
Y
Z
24.9 mm
-15.5 mm
40.6 mm
O
A
T
101.9 deg
8.7 deg
4.5 deg
3. When “Setting complete.” is displayed
the procedure is complete.
Undo
Setting complete.
Figure 9-114 AUX 0506 Base Coordinate Screens
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9.40 MOTION LIMITS, AUX 0507
This function allows the operator to set the upper and lower limits of robot travel as
expressed in degrees of axes rotation. The robot cannot travel to locations that are
outside of these limits.
During jogging operations, an audible beep indicates the robot is approaching a software
limit. The frequency of the audible beep increases as the robot moves closer to the limit.
When the limit is reached, the robot stops moving in that direction and the audible tone
is constant, no error message is generated.
The robot can be jogged away from software limits by simply changing direction. If the
robot is moved with the brake release to a location beyond the software limits or the
software limits are changed, placing the robot outside the software limits, the operator
can jog back into the software limits envelope.
If the overtravel limit switch is engaged (JT1), the overtravel error recovery procedure
(see 9.40.1) must be used.
The allowable maximum and minimum settings are displayed along with the current
settings. Use the cursor keys and numeric keypad to change the settings. If data is
entered that is beyond the allowable settings, an out of range error occurs.
The operator must be aware that the minus sign for the lower limit settings is not assumed and must be included when data for the lower limits is set.
Figure 9-115 shows the AUX 0507 Motion Limits screen and describes the setting procedure.
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Aux. 0507. Motion Limits
Lower Limit
Allowed Lower Lmt Setting value
JT 1
-180.000
-180.000 deg
JT 2
-60.000
-60.000 deg
JT 3
-120.000
-120.000 deg
JT 4
-360.000
-360.000 deg
JT 5
-130.000
-130.000 deg
JT 6
-360.000
-360.000 deg
Upper Limit
Allowed Upper Lmt Setting value
JT 1
180.000
180.000 deg
JT 2
75.000
75.000 deg
JT 3
250.000
250.000 deg
JT 4
360.000
360.000 deg
JT 5
130.000
130.000 deg
JT 6
360.000
360.000 deg
1. Use the cursor keys to select the joint
number to set a motion limit. Use the
numeric keypad on the teach pendant
to enter the value and press the
ENTER key.
Undo
Input range : [-180.000 – 180.000]
Figure 9-115 AUX 0507 Motion Limits Screen
9.40.1 OVERTRAVEL ERROR RECOVERY
To recover from an overtravel error, the operator must press and hold the red override
switch located on the 1KP board and reset the error by pressing the ERROR RESET
switch on the operation panel.
With the override switch held, apply servo power and jog the robot off the limit switch.
An alternate method is to use the brake release switch for JT1 and manually move the
robot.
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9.41 SLOW REPEAT MODE, AUX 0508
This function allows the operator to set the slow repeat mode speed of the robot from 1
to 25% of maximum speed.
A dedicated input signal must be assigned in auxiliary function 0601 Dedicated Input
Signals for the slow repeat mode function. When this signal is LOW (OFF), the slow
repeat mode operation is activated.
Figure 9-116 shows the AUX 0508 Slow Repeat Mode screen and describes the setting
procedure.
Aux. 0508. Slow Repeat
Slow Repeat Speed
10 %
1. Use the numeric keypad on the teach
pendant to enter the slow repeat mode
value. Press the ENTER key on the
teach pendant keypad to complete the
procedure.
Undo
Allowable input range : [1 – 25]
Figure 9-116 AUX 0508 Slow Repeat Mode Screen
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9.42 INTERFACE PANEL, AUX 0509
The interface panel function allows the operator to program ten different kinds of
switches, lamps, and data display boxes. The types of switches, lamps, and data display
boxes and the order on the interface panel is determined in auxiliary function 0509.
Four screens are available with 28 switch, lamp, and data display positions on each
screen.
Figure 9-117 shows the Interface Panel screen and describes the interface panel selection procedure.
Figure 9-118 shows the AUX 0509 Interface Panel setting screen and the following
sections describe the interface panel setting procedures.
Intp Spd Acc Tmr Tol Wrk Clamp J/E
OX
JOINT
9
1 0 1 0
[
Teach
1 JOINT
9
1 0 1 0
[
Aux Function
2 LINEAR
7
3 1 1 0
[1
I/F
Panel
3 JOINT
9
2 0 1 0 1
[
Keyboard5
4 LINEAR
1 2 1 0
[2,5
5 JOINT
4 0 1 0 2
[
Upsize 7
6 JOINT
8
1 3 1 0
[
7 JOINT
9
1 0 1 0
[
Joint Monitor - Pose info.
X
Y
Z
O (DEG.)
(mm)
(mm)
(mm)
9371.099
795.000
375.000
JT 1
JT 2
JT 3
0.000
0.000
Program
pg5
[
[Comment ]
]
Step
90.000
RPS
-90.000
0.000
2. Use the cursor keys to highlight “I/F
Panel” and press the SELECT key on
the teach pendant keypad, to display
the interface panel screen.
0.000
02-03-23 09:30
JOINT
T
C
R
(DEG.)
1. With screen area B active, press the
MENU key on the teach pendant
keypad or the screen area B window, to
display the screen selection menu.
JT 6
Status
PC
T
(DEG.)
JT 5
0.000
1
]
Comment
]
]
]
]
]
]
]
]
A
90.000
JT 4
0.000
[
WX
][
][
][
] [2
][
][
] [3
][
100%
3. When the interface panel is displayed,
“Next Page” and “Prev Page” are
available on the drop-down menu to
access the four interface panel pages.
AUTO
Page 1/4
I/F Panel
button
Teach
Aux Function
Keyboardon
Next Page
Prev Page
data1
0000
digital
switch
0000
off
on
off
data2
0000
on
off
out
amp
0000
monitor
Figure 9-117 Selecting the Interface Panel Screens
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9.42.1 INTERFACE PANEL SCREEN, AUX 0509
Figure 9-118 shows the AUX 0509 Interface Panel screen and the following sections
describe the interface panel setting procedures.
For information on the interface panel refer to section 9.42.
1. Use the cursor keys to select the
window under the number that corresponds with the screen position to
place the Switch, Lamp, or text box.
2. Use the numeric keypad on the teach
pendant to enter the number that
corresponds with the type of switch,
lamp or text box (1 through 10 except 9
or 0 for blank).
3. Press the “Set” function key on the
touch screen to display the setting
screen corresponding to the switch,
lamp, or text box selected.
Figure 9-118 AUX 0509 Interface Panel Setting Screen
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9.42.2 INTERFACE PANEL LAMP SETTING SCREEN, AUX 0509
Figure 9-119 shows the AUX 0509 Interface Panel Lamp setting screen and the procedure is described below.
For information on the interface panel refer to section 9.42.
Enter “1” in the selected interface panel screen position (Figure 9-118) and press the
“Set” function key on the touch screen to display the lamp parameter setting screen
(Figure 9-119).
Aux. 0509. Interface Panel
Position [ 1]: Pilot Lamp
Label 1 lamp
2
3
4
Color
(ON)
(OFF)
Signal Number (Lamp)
Excl. Mark in Sig OFF
Label Color
10
Background Color 0
2
1
1001
On
Off
0
8
Undo
1 2 3 4 5 6 7
9 10 11 12 13 14 15
Go Back
Allowable number of input characters :
Figure 9-119 AUX 0509 Interface Panel Lamp Setting Screen
Set the data fields as described below.
1.
Labels 1–4:
Labels 1–4 allow a maximum of ten characters for each label. Use the cursor keys
to select label 1–4 and press the SELECT key on the teach pendant keypad. The
keyboard is displayed to enter the label characters.
The example in figures 9-119 and 9-120 show the label “lamp” entered for label 1.
Characters entered for labels 2–4 are displayed in order below label 1 on the lamp.
2.
Label color (character color), background color, color ON, and color OFF:
Use the cursor keys to select “Label Color” and enter the number corresponding
with the color selected from the color palette displayed in the lower right of the
screen (see table 9-24).
Select the “Background Color”, “Color (ON)”, and “Color (OFF)” as described for
label color (character color) above.
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3.
Signal:
Use the cursor keys to select “Signal Number (Lamp)” and use the numeric keypad
on the teach pendant keypad to enter an input signal number. When the selected
signal is ON the lamp is displayed in the ON color. When the selected signal is OFF
the lamp is displayed in the OFF color (Figure 9-120). If “Excl. Mark in Sig OFF” is
set to ON, the OFF state of the selected signal displays an exclamation mark (Figure 9-120).
ON
Label 1 Characters
OFF
lamp
OFF, Excl. Mark set ON
lamp
lamp
Blue
Red
Figure 9-120 Interface Panel Lamp Examples
Table 9-24 Interface Panel Color Palette
Number
Color
Number
Color
Number
Color
Number
Color
0
Gray
4
Green
8
Pink
12
Navy
1
Blue
5
Pale Blue
9
White
13
Reddish Brown
2
Red
6
Yellow
10
Black
14
Dark Green
3
Orange
7
White
11
Cyan
15
Lavender
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9.42.3 INTERFACE PANEL PUSH BUTTON SETTING SCREEN, AUX 0509
Figure 9-121 shows the AUX 0509 Interface Panel Push Button setting screen and the
procedure is described below.
For information on the interface panel refer to section 9.42.
Enter “2” in the selected interface panel screen position (Figure 9-118) and press the
“Set” function key on the touch screen to display the push button parameter setting
screen (Figure 9-121).
Aux. 0509. Interface Panel
Position [ 17]: Flush Button
Label 1 switch
2
3
4
Color
(ON)
(OFF)
Signal Number (Switch)
Label Color
10
2
1
1
0
8
Undo
1 2 3 4 5 6 7
9 10 11 12 13 14 15
Go Back
Allowable number of input characters :
Figure 9-121 AUX 0509 Interface Panel Push Button Setting Screen
Set the data fields as described below.
1.
Labels 1–4:
Labels 1–4 allow a maximum of ten characters for each label. Use the cursor keys
to select label 1–4 and press the SELECT key on the teach pendant keypad. The
keyboard is displayed to enter the label characters.
The example in figures 9-121 and 9-122 show the label “switch” entered for label 1.
Characters entered for labels 2–4 are displayed in order below label 1 on the button.
2.
Label color (character color), color on, and color off:
Use the cursor keys to select “Label Color” and enter the number corresponding
with the color selected from the color palette displayed in the lower right of the
screen (see table 9-24).
Select the “Color (ON)” and “Color (OFF)” as described for label color (character
color) above.
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3.
Signal:
Use the cursor keys to select “Signal Number (Switch)” and use the numeric keypad
on the teach pendant keypad to enter an output signal number. When the selected
signal is ON the switch is displayed in the ON color. When the selected signal is
OFF the switch is displayed in the OFF color (Figure 9-122).
Pressing the switch on the interface panel toggles the switch and selected signal ON
and OFF.
4.
If “No Operating” is set to “Inhibit” the “INH/ACCEPT” key is displayed in the normally
blank status area F (Figure 9-117). The switch displayed on the interface panel
does not operate. Pressing the “INH/ACCEPT” key toggles between operative and
inoperative for interface panel switches.
ON
OFF
switch
Red
switch
Blue
Figure 9-122 Interface Panel Switch Examples
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9.42.4 INTERFACE PANEL PUSH BUTTON WITH LAMP SETTING SCREEN, AUX
0509
Figure 9-123 shows the AUX 0509 Interface Panel, Push Button with Lamp setting
screen and the procedure is described below.
For information on the interface panel refer to section 9.42.
Enter “3” in the selected interface panel screen position (Figure 9-119) and press the
“Set” function key on the touch screen to display the push button with lamp parameter
setting screen (Figure 9-123).
Aux. 0509. Interface Panel
Position [ 18]: Push Button with Lamp
Label 1 button
Label Color
2
3
Color :Lamp
4
Color
(ON)
2
(OFF)
1
Signal Number (Switch)
2
(Lamp)
1001
0
8
Undo
10
(ON)
(OFF)
4
3
1 2 3 4 5 6 7
9 10 11 12 13 14 15
Go Back
Allowable number of input characters :
Figure 9-123 AUX 0509 Interface Panel, Push Button with Lamp Setting Screen
Set the data fields as described below.
1.
Labels 1–4:
Labels 1–4 allow a maximum of ten characters for each label. Use the cursor keys
to select label 1–4 and press the SELECT key on the teach pendant keypad. The
keyboard is displayed to enter the label characters.
The example in figures 9-123 and 9-124 show the label “button” entered for label 1.
Characters entered for labels 2–4 are displayed in order below label 1 on the button.
2.
Label color (character color), color on, color off, lamp color on, and lamp color off:
Use the cursor keys to select “Label Color” and enter the number corresponding
with the color selected from the color palette displayed in the lower right of the
screen (see table 9-24).
Select the “Color (ON)”, “Color (OFF)”, “Color :Lamp (ON)”, and “Color :Lamp
(OFF)” as described for label color (character color) above.
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3.
Switch signal:
Use the cursor keys to select “Signal Number (Switch)” and use the numeric keypad
on the teach pendant keypad to enter an output signal number. When the selected
signal is ON the switch is displayed in the ON color. When the selected signal is
OFF the switch is displayed in the OFF color (Figure 9-124).
Pressing the switch on the interface panel toggles the switch and selected signal ON
and OFF.
4.
Lamp signal:
Use the cursor keys to select “Signal Number (Lamp)” and use the numeric keypad
on the teach pendant keypad to enter an input signal number. When the selected
signal is ON the lamp is displayed in the ON color. When the selected signal is OFF
the lamp is displayed in the OFF color (Figure 9-124).
5.
If “No Operating” is set to “Inhibit” the “INH/ACCEPT” key is displayed in the normally
blank status area F (Figure 9-117). The switch displayed on the interface panel
does not operate. Pressing the “INH/ACCEPT” key toggles between operative and
inoperative for interface panel switches.
Switch ON
Switch OFF
button
button
Blue
Red
Green
Lamp ON
Lamp OFF
button
button
Orange
Figure 9-124 Interface Panel Push Button with Lamp Examples
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9.42.5 INTERFACE PANEL TWO-NOTCH SELECTOR SWITCH SCREEN, AUX 0509
Figure 9-125 shows the AUX 0509 Interface Panel Two-Notch Selector Switch setting
screen and the procedure is described below.
For information on the interface panel refer to section 9.42.
Enter “4” in the selected interface panel screen position (Figure 9-118) and press the
“Set” function key on the touch screen to display the two-notch selector switch parameter
setting screen (Figure 9-125).
Aux. 0509. Interface Panel
Position [ 19]: 2-Notch Selector Switch
Label 1 2-switch
Label Color
2
3
Display Type
4
Color
(Left) (Up)
2
(Right) (Down)
1
Signal Number (Left) (Up)
3
(Right) (Down)
4
0
8
Undo
10
Up Down
Rotation
1 2 3 4 5 6 7
9 10 11 12 13 14 15
Go Back
Allowable number of input characters :
Figure 9-125 AUX 0509 Interface Panel Two-Notch Selector Switch Setting Screen
Set the data fields as described below.
1.
Labels 1–4:
Labels 1–4 allow a maximum of ten characters for each label. Use the cursor keys
to select label 1–4 and press the SELECT key on the teach pendant keypad. The
keyboard is displayed to enter the label characters.
The example in figures 9-125 and 9-126 show the label “2-switch” entered for label
1. Characters entered for labels 2–4 are displayed in order below label 1 on the
switch.
2.
Display type:
Use the cursor keys to select “Display Type” and use the SELECT key on the teach
pendant keypad to toggle between “Up Down” and “Rotation”.
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3.
Label color (character color), color left/up, and color right/down:
Use the cursor keys to select “Label Color” and enter the number corresponding
with the color selected from the color palette displayed in the lower right of the
screen (see table 9-24).
Select the “Color (Left) (Up)” and “Color (Right) (Down)” as described for label color
(character color) above.
4.
Left/up and right/down signals:
Use the cursor keys to select “Signal Number (Left) (Up)” and use the numeric
keypad on the teach pendant keypad to enter an output signal number.
Use the cursor keys to select “Signal Number (Right) (Down)” and use the numeric
keypad on the teach pendant keypad to enter an output signal number.
When the left/up signal is ON the switch is displayed in the left/up color. When the
right/down signal is ON the switch is displayed in the right/down color (Figure 9126).
Pressing the switch on the interface panel toggles the switch and selected signals
between left/up and right/down.
5.
If “No Operating” is set to “Inhibit” the “INH/ACCEPT” key is displayed in the normally
blank status area F (Figure 9-118). The switch displayed on the interface panel
does not operate. Pressing the “INH/ACCEPT” key toggles between operative and
inoperative for interface panel switches.
Rotation Switch Right
Rotation Switch Left
2-switch
2-switch
Blue
Red
Up/Down Switch, Down
Up/Down Switch, Up
2-switch
2-switch
Red
Blue
Figure 9-126 Interface Panel Two-Notch Selector Switch Examples
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9.42.6 INTERFACE PANEL THREE-NOTCH SELECTOR SWITCH SCREEN, AUX
0509
Figure 9-127 shows the AUX 0509 Interface Panel Three-Notch Selector Switch setting
screen and the procedure is described below.
For information on the interface panel refer to section 9.42.
Enter “5” in the selected interface panel screen position (Figure 9-118) and press the
“Set” function key on the touch screen to display the three-notch selector switch parameter setting screen (Figure 9-127).
Aux. 0509. Interface Panel
Position [ 20]: 3-Notch Selector Switch
Label 1 3-switch
Label Color
10
2
3
Display Type
Up Down
Rotation
4
Color
(Left) (Up)
2
(Middle)
6
(Right) (Down)
1
Signal Number (Left) (Up)
5
(Middle)
6
0 1 2 3 4 5 6 7
(Right) (Down)
7
8 9 10 11 12 13 14 15
Undo
Go Back
Allowable number of input characters :
Figure 9-127 AUX 0509 Interface Panel Three-Notch Selector Switch Setting Screen
Set the data fields as described below.
1.
Labels 1–4:
Labels 1–4 allow a maximum of ten characters for each label. Use the cursor keys
to select label 1–4 and press the SELECT key on the teach pendant keypad. The
keyboard is displayed to enter the label characters.
The example in figures 9-127 and 9-128 show the label “3-switch” entered for label
1. Characters entered for labels 2–4 are displayed in order below label 1 on the
button.
2.
Display type:
Use the cursor keys to select “Display Type” and use the SELECT key on the teach
pendant keypad to toggle between “Up Down” and “Rotation”.
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3.
Label color (character color), color left/up, color Middle, and color right/down:
Use the cursor keys to select “Label Color” and enter the number corresponding
with the color selected from the color palette displayed in the lower right of the
screen (see table 9-24).
Select the “Color (Left) (Up)”, “Color (Middle)”, and “Color (Right) (Down)” as described for label color (character color) above.
4.
Left/up, middle, and right/down signals:
Use the cursor keys to select “Signal Number (Left) (Up)” and use the numeric
keypad on the teach pendant keypad to enter an output signal number.
Use the cursor keys to select “Signal Number (Middle)” and use the numeric keypad
on the teach pendant keypad to enter an output signal number.
Use the cursor keys to select “Signal Number (Right) (Down)” and use the numeric
keypad on the teach pendant keypad to enter an output signal number.
When the left/up signal is ON the switch is displayed in the left/up color. When the
middle signal is ON the switch is displayed in the middle color. When the right/down
signal is ON the switch is displayed in the right/down color (Figure 9-128).
Pressing the switch on the interface panel toggles the switch and selected signals
between left/up, middle, and right/down.
5.
If “No Operating” is set to “Inhibit” the “INH/ACCEPT” key is displayed in the normally
blank status area F (Figure 9-117). The switch displayed on the interface panel
does not operate. Pressing the “INH/ACCEPT” key toggles between operative and
inoperative for interface panel switches.
Rotation Switch Left
Rotation Switch Middle
Rotation Switch Right
3-switch
3-switch
3-switch
Red
Blue
Yellow
Up/Middle/Down Switch, Up
Up/Middle/Down Switch, Middle
Up/Middle/Down Switch, Down
3-switch
3-switch
3-switch
Red
Yellow
Blue
Figure 9-128 Interface Panel Three-Notch Selector Switch Examples
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9.42.7 INTERFACE PANEL DIGITAL SWITCH SETTING SCREEN, AUX 0509
Figure 9-129 shows the AUX 0509 Interface Panel Digital Switch setting screen and the
procedure is described below.
For information on the interface panel refer to section 9.42.
Enter “6” in the selected interface panel screen position (Figure 9-118) and press the
“Set” function key on the touch screen to display the digital switch parameter setting
screen (Figure 9-129).
Aux. 0509. Interface Panel
Position: [ 21] : Digital Switch
Label 1 digital
Label Color
10
2
Background Color
0
Figures (2–5)
4
Input Type Ten Keys Push Switch Minus Value
On
Off
Data Limit:
On
Off
Top Signal No.
2001
Number of Signals Used
8
Signal Type
BCD
Binary
Upper Limit
200
0 1 2 3 4 5 6 7
Lower Limit
0
8 9 10 11 12 13 14 15
Undo
Go Back
Allowable number of input characters :
Figure 9-129 AUX 0509 Interface Panel Digital Switch Setting Screen
Set the data fields as described below.
1.
Labels 1–2:
Labels 1 and 2 allow a maximum of ten characters for each label. Use the cursor
keys to select label 1 or 2 and press the SELECT key on the teach pendant keypad.
The keyboard is displayed to enter the label characters.
The example in figures 9-129 and 9-130 show the label “digital” entered for label 1.
Characters entered for label 2 are displayed below label 1 on the switch.
2.
Label color (character color) and background color:
Use the cursor keys to select “Label Color” and enter the number corresponding
with the color selected from the color palette displayed in the lower right of the
screen (see table 9-24).
3.
Figures (2–5):
Figures (2–5) sets the number of digits displayed on the digital switch. Use the
cursor keys to select “Figures (2–5)” and use the numeric keypad on the teach
pendant to enter the number of digits (2–5), to display on the digital switch.
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4.
Input type:
Use the cursor keys to select “Input Type” and use the SELECT key to toggle between “Ten Keys” and “Push Switch”. When “Ten Keys” is selected, pressing the
switch displays the digital switch input screen, used to enter the numeric value.
When “Push Switch” is selected, each time the switch is pressed the value is
incremented.
5.
Data limit:
Use the cursor keys to select “Data Limit” and use the SELECT key to toggle between “On” and “Off”. When “On” is selected the allowable input data is restricted
within the range specified by “Upper Limit” and “Lower Limit”.
6.
Top signal number:
Use the cursor keys to select “Top Signal Number” and use the numeric keypad on
the teach pendant to enter the first signal number to use in the binary signal bit
pattern.
7.
Number of signals:
Use the cursor keys to select “Number of Signals Used” and use the numeric keypad on the teach pendant to enter the number of signals to use in the binary signal
bit pattern. The pattern starts with the first signal number entered in step 6.
8.
Signal type:
Use the cursor keys to select “Signal Type” and use the SELECT key to toggle
between “BCD” and “Binary”. When binary coded decimal (BCD) “BCD” is selected
the signal bit pattern is as shown in the second example in figure 9-130. When
“Binary” is selected the signal bit pattern is as shown in the first example in figure 9130.
9.
Minus value:
Use the cursor keys to select “Minus Value” and use the SELECT key to toggle
between “On” and “Off”. When “Minus Value” is set to “On” positive and minus
values are allowed. When “Minus Value” is set to “Off” only positive values are
allowed.
10. If “No Operating” is set to “Inhibit” the “INH/ACCEPT” key is displayed in the normally
blank status area F (Figure 9-117). The switch displayed on the interface panel
does not operate. Pressing the “INH/ACCEPT” key toggles between operative and
inoperative for interface panel switches.
With the values set as shown in figure 9-129, the output signal bit patterns with 0060
selected on the digital switch are shown in figure 9-130 (Binary and BCD).
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digital
0060
MSB
Digital Switch Signal Bit Pattern
LSB
Digital Switch
Setting
128
(2008)
64
(2007)
32
(2006)
16
(2005)
8
(2004)
4
(2003)
2
(2002)
1
(2001)
0060
OFF
OFF
ON
ON
ON
ON
OFF
OFF
8-Bit Binary Code Example
MSB
Digital Switch Signal Bit Pattern
LSB
Digital Switch
Setting
8
(2008)
4
(2007)
2
(2006)
1
(2005)
8
(2004)
4
(2003)
2
(2002)
1
(2001)
0060
OFF
ON
ON
OFF
OFF
OFF
OFF
OFF
8-Bit Binary Coded Decimal (BCD) Example
Figure 9-130 Interface Panel Digital Switch Examples
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9.42.8 INTERFACE PANEL DIGITAL DISPLAY SETTING SCREEN, AUX 0509
Figure 9-131 shows the AUX 0509 Interface Panel Digital Display setting screen and the
procedure is described below.
For information on the interface panel refer to section 9.42.
Enter “7” in the selected interface panel screen position (Figure 9-118) and press the
“Set” function key on the touch screen to display the digital display parameter setting
screen (Figure 9-131).
Aux. 0509. Interface Panel
Position: [ 22] : Digital Display
Label 1 display
Label Color
2
Background Color
Minus Value
Figures (2–5)
2
Top Signal No.
2001
Number of Signals Used
8
Signal Type
BCD
Binary
0
8
Undo
10
0
On
Off
1 2 3 4 5 6 7
9 10 11 12 13 14 15
Go Back
Allowable number of input characters :
Figure 9-131 AUX 0509 Interface Panel Digital Display Setting Screen
Set the data fields as described below.
1.
Labels 1–2:
Labels 1 and 2 allow a maximum of ten characters for each label. Use the cursor
keys to select label 1 or 2 and press the SELECT key on the teach pendant keypad.
The keyboard is displayed to enter the label characters.
The example in figures 9-131 and 9-132 show the label “display” entered for label 1.
Characters entered for label 2 are displayed below label 1 on the display.
2.
Label color (character color) and background color:
Use the cursor keys to select “Label Color” and enter the number corresponding
with the color selected from the color palette displayed in the lower right of the
screen (see table 9-24).
3.
Figures (2–5):
Figures (2–5) sets the number of digits displayed on the digital display. Use the
cursor keys to select “Figures (2–5)” and use the numeric keypad on the teach
pendant to enter the number of digits (2–5), to display on the digital display.
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4.
Top signal number:
Use the cursor keys to select “Top Signal Number” and use the numeric keypad on
the teach pendant to enter the first signal number to use in the binary signal bit
pattern.
5.
Number of signals:
Use the cursor keys to select “Number of Signals Used” and use the numeric keypad on the teach pendant to enter the number of signals to use in the binary signal
bit pattern. The pattern starts with the first signal number entered in step 4.
6.
Signal type:
Use the cursor keys to select “Signal Type” and use the SELECT key to toggle
between “BCD” and “Binary”. When “Binary” is selected the signal bit pattern is as
shown in the first example in figure 9-132. When binary coded decimal (BCD)
“BCD” is selected the signal bit pattern is as shown in the second example in figure
9-132.
7.
Minus value:
Use the cursor keys to select “Minus Value” and use the SELECT key to toggle
between “On” and “Off”. When “Minus Value” is set to “On” positive and minus
values are allowed. When “Minus Value” is set to “Off” only positive values are
allowed.
With the values set as shown in figure 9-131, the input signal bit patterns to display “60”
on the digital display are shown in figure 9-132 (Binary and BCD).
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MSB
Digital Display Signal Bit Pattern
LSB
Digital
Display Input
128
(2008)
64
(2007)
32
(2006)
16
(2005)
8
(2004)
4
(2003)
2
(2002)
1
(2001)
60
OFF
OFF
ON
ON
ON
ON
OFF
OFF
8-Bit Binary Code Example
MSB
Digital Display Signal Bit Pattern
LSB
Digital
Display Input
8
(2008)
4
(2007)
2
(2006)
1
(2005)
8
(2004)
4
(2003)
2
(2002)
1
(2001)
60
OFF
ON
ON
OFF
OFF
OFF
OFF
OFF
8-Bit Binary Coded Decimal (BCD) Example
display
60
Figure 9-132 Interface Panel Digital Display Examples
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9.42.9 INTERFACE PANEL VARIABLE DATA DISPLAY SETTING SCREEN, AUX
0509
Figure 9-133 shows the AUX 0509 Interface Panel Variable Data Display setting screen
and the procedure is described below.
For information on the interface panel refer to section 9.42.
Enter “8” in the selected interface panel screen position (Figure 9-118) and press the
“Set” function key on the touch screen to display the variable data display parameter
setting screen (Figure 9-133).
Aux. 0509. Interface Panel
Position: [ 23] : Variable Data Display
Label 1 data dis
Label Color
2
Background Color
Figures (2–5)
4
Variable a
Data Type
0
8
Undo
10
0
Real
Int.
1 2 3 4 5 6 7
9 10 11 12 13 14 15
Go Back
Allowable number of input characters :
Figure 9-133 AUX 0509 Interface Panel Variable Data Display Setting Screen
Set the data fields as described below.
1.
Labels 1–2:
Labels 1 and 2 allow a maximum of ten characters for each label. Use the cursor
keys to select label 1 or 2 and press the SELECT key on the teach pendant keypad.
The keyboard is displayed to enter the label characters.
The example in figures 9-133 and 9-134 show the label “data dis” entered for label 1.
Characters entered for label 2 are displayed below label 1 on the display.
2.
Label color (character color) and background color:
Use the cursor keys to select “Label Color” and enter the number corresponding
with the color selected from the color palette displayed in the lower right of the
screen (see table 9-24).
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3.
Figures (2–5):
Figures (2–5) sets the number of digits displayed on the digital display. Use the
cursor keys to select “Figures (2–5)” and use the numeric keypad on the teach
pendant to enter the number of digits (2–5), to display on the digital display.
4.
Variable:
Use the cursor keys to select “Variable” and press the SELECT key on the teach
pendant keypad. The keyboard is displayed to enter the variable name. The example in figure 9-133 shows “a” as the variable name. The example in figure 9-134
shows the display when the variable is assigned as a=135.
5.
Data type:
Use the cursor keys to select “Data Type” and use the SELECT key to toggle between “Real” and “Int.”. When “Real” is selected the data is displayed as real number values. Real number values have whole number and fractional parts. When
“Int.” is selected the data is displayed as integer values. Integer values are whole
numbers without fractional parts.
6.
If “No Operating” is set to “Inhibit” the “INH/ACCEPT” key is displayed in the normally
blank status area F (Figure 9-117). The variable data display on the interface panel
does not operate. Pressing the “INH/ACCEPT” key toggles between operative and
inoperative for interface panel variable data display.
data dis
0135
Figure 9-134 Interface Panel Variable Data Display Example
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9.42.10 INTERFACE PANEL STRING DISPLAY WINDOW SCREEN, AUX 0509
Figure 9-135 shows the AUX 0509 Interface Panel String Display Window setting screen
and the procedure is described below.
For information on the interface panel refer to section 9.42. For more information on the
IFPWPRINT command and how it works in conjunction with AUX 0509, refer to the D
Series Controller AS Language Reference Manual.
Enter “9” in the selected interface panel screen position (Figure 9-118) and press the
“Set” function key on the touch screen to display the string display window setting screen
(Figure 9-135).
Figure 9-135 AUX 0509 Interface Panel String Display Window Setting Screen
Set the data fields as described below.
1.
Window number:
Selects the window in which to display a string in the selected screen position. Up
to 4 windows can be used and each of the 4 windows can be displayed on multiple
interface panel pages. Use the keypad to select window 1-4 and press the Enter
soft key to accept.
2.
Window Size:
Sets the size of the window to be displayed. Sizes 1-4 can be used where 1 occupies 1 screen position and 4 occupies 4 screen positions, horizontally, from left to
right. Use the keypad to select sizes 1-4 and press the Enter soft key to accept.
3.
Default Background Color:
Sets the default color of the display window. The color can later be changed using
the IFPWPRINT programming command.
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9.42.11 INTERFACE PANEL MONITOR-COMMAND BUTTON SCREEN, AUX 0509
Figure 9-136 shows the AUX 0509 Interface Panel Monitor-Command Button setting
screen and the procedure is described below.
For information on the interface panel refer to section 9.42.
Enter “10” in the selected interface panel screen position (Figure 9-118) and press the
“Set” function key on the touch screen to display the monitor-command button parameter
setting screen (Figure 9-114).
Aux. 0509. Interface Panel
Position [ 24]: Monitor Command Button
Label 1 monitor
Label Color
10
2
3
4
Color
(ON)
2
(OFF)
1
Command String No.
1
Command String
do home
0 1 2 3 4 5 6 7
8 9 10 11 12 13 14 15
Undo
Go Back
Allowable number of input characters :
Figure 9-136 AUX 0509 Interface Panel Monitor-Command Button Setting Screen
Set the data fields as described below.
1.
Labels 1–4:
Labels 1–4 allow a maximum of ten characters for each label. Use the cursor keys
to select label 1–4 and press the SELECT key on the teach pendant keypad. The
keyboard is displayed for entering the label characters.
The examples in figures 9-136 and 9-137 show the label “monitor” entered for label
1. Characters entered for labels 2–4 are displayed in order below label 1 on the
button.
2.
Label color (character color), color on, and color off:
Use the cursor keys to select “Label Color” and enter the number corresponding
with the color selected from the color palette displayed in the lower right of the
screen (see table 9-24).
Select the “Color (ON)”, and “Color (OFF)” as described for label color (character
color) above.
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3.
Command string:
Use the cursor keys to select “Command String” and press the SELECT key on the
teach pendant keypad. The keyboard is displayed for entering the command string.
The example in figure 9-135 shows “do home” as the command string.
4.
If “No Operating” is set to “Inhibit” the “INH/ACCEPT” key is displayed in the normally
blank status area F (Figure 9-117). The monitor-command button on the interface
panel does not operate. Pressing the “INH/ACCEPT” key toggles between operative
and inoperative for interface panel button.
With the values set as shown in figure 9-136, the monitor-command button color
changes to red when pressed and the DO HOME monitor command is executed. When
the button is released the color changes to blue, as shown in figure 9-137.
monitor
Red
monitor
Blue
Figure 9-137 Interface Panel Monitor-Command Button Example
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9.43 COLLISION DETECTION FUNCTION (OPTION), AUX 0510
This function detects a collision or interference with the robot arm and peripheral equipment, or other objects, using software. When a pre-set threshold is reached an emergency stop is applied. Stopping the robot using an emergency stop condition minimizes
damage to the robot and equipment.
Figure 9-138 shows the AUX 0510 Collision Detection Function screen.
For information on collision detection refer to the D Series Controller Collision Detection
Manual.
Aux. 0510. Collision Detection Function
1.
2.
3.
4.
5.
Set threshold for Teach mode.
Set threshold for Repeat mode.
Register threshold.
Auto Calibration
Property
Up Page
Selects Set threshold for Teach mode.
Figure 9-138 AUX 0510 Collision Detection Function
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9.44 DEDICATED INPUT SIGNALS, AUX 0601
Figure 9-139 shows the AUX 0601 Dedicated Input Signals setting screen and the
procedure is described below.
The dedicated input signals function allows the operator to select signal numbers used
for specific purposes. Once the signal number is dedicated to a specific purpose it
cannot be used for other purposes. The dedicated input signals available is software
version dependant.
Aux. 0601. Dedicated Input Signals
Signal Name
EXT. MOTOR ON
EXT. ERROR RESET
EXT. CYCLE START
EXT. PROGRAM RESET
Ext. prog. select (JUMP)
JUMP_ON
JUMP_OFF
JUMP_ST
Ext. prog. select (RPS)
RPS_ON
RPS_ST
Number of RPS code signals
Undo
Next Page
Aux. 0601. Dedicated Input Signals
Signal Name
First signal No. of RPS code
Code (0:Binary 1:BCD)
EXT_IT
EXT. SLOW REPEAT MODE
WORK SENSING
SENSING SPEED
External phototube signal
I/F PANEL PAGE1 SELECT
I/F PANEL PAGE2 SELECT
I/F PANEL PAGE3 SELECT
I/F PANEL PAGE4 SELECT
Undo
Set/Reset
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
Set/Reset
BINARY
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
1/ 2
Signal Number
CANCEL
1032
CANCEL
1031
CANCEL
1030
CANCEL
0
CANCEL
0
0
0
CANCEL
0
0
0
1. Use the cursor keys to select the signal
to change. Use the SELECT key, on
the teach pendant keypad, to toggle
between “DEDICATED” and “CANCEL”.
2/ 2
Signal Number
0
The “Next Page” function key is used to
display the additional Dedicated Input
Signals screens.
BCD
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
0
0
0
0
0
0
0
0
0
2. Use the numeric keypad, on the teach
pendant keypad, to enter the signal
number.
The RPS output signals “JUMP_ST”
and “RPS_ST” are set from the Dedicated Inputs Signals screen.
3. When the settings are complete press
the ENTER key on the teach pendant
keypad.
Prev Page
Allowable input range : [1001 – 1128]
Figure 9-139 AUX 0601 Dedicated Input Signals Setting Screen
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9.45 DEDICATED OUTPUT SIGNALS, AUX 0602
Figure 9-140 shows the AUX 0602 Dedicated Output Signals setting screen and the
procedure is described below.
The dedicated output signals function allows the operator to select signal numbers used
for specific purposes. Once the signal number is dedicated to a specific purpose it
cannot be used for other purposes. The dedicated output signals available are software
version dependant.
Aux. 0602. Dedicated Output Signals
Signal Name
MOTOR ON
ERRROR
AUTOMATIC
Panel switch in RUN.
EXT_IT not set to hold.
Panel switch in REPEAT.
Repeat continuous.
Step continuous.
TEACH LOCK OFF.
CYCLE START ON.
RGSO ON.
Dryrun mode off.
Undo
Next Page
Set/Reset
DEDICATED
DEDICATED
DEDICATED
SET
SET
SET
SET
SET
SET
SET
SET
SET
1/ 3
Signal Number
CANCEL
32
CANCEL
31
CANCEL
30
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
Aux. 0602. Dedicated Output Signals
Signal Name
CYCLE START
TEACH MODE
HOME1
HOME2
POWER ON
RGSO
Ext. prog. select (RPS) enabled
WORK_SPACE1
WORK_SPACE2
WORK_SPACE3
WORK_SPACE4
WORK_SPACE5
Undo
Prev Page Next Page
Set/Reset
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
2/ 3
Signal Number
CANCEL
29
CANCEL
28
CANCEL
27
CANCEL
0
CANCEL
0
CANCEL
0
CANCEL
0
CANCEL
0
CANCEL
0
CANCEL
0
CANCEL
0
CANCEL
0
Aux. 0602. Dedicated Output Signals
Signal Name
WORK_SPACE6
WORK_SPACE7
WORK_SPACE8
WORK_SPACE9
Sensor signal output
No. of signals
First signal No. of output
First signal No. of sensor input
Delayed Limit Switch Signal
Delayed Phototube Switch Signal
MECHANICAL WARNING
In conveyor simulation mode
Prev Page
Undo
Set/Reset
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
1. Use the cursor keys to select the signal
to change. Use the SELECT key, on
the teach pendant keypad, to toggle
between “DEDICATED” and “CANCEL”.
2. Use the numeric keypad, on the teach
pendant keypad, to enter the signal
number.
The “Next Page” function key is used to
display the additional Dedicated Output
Signals screens.
3. When the settings are complete press
the ENTER key on the teach pendant
keypad.
3/ 3
Signal Number
CANCEL
0
CANCEL
0
CANCEL
0
CANCEL
0
CANCEL
4
13
1013
CANCEL
0
CANCEL
0
CANCEL
0
CANCEL
0
Figure 9-140 AUX 0602 Dedicated Output Signals Setting Screen
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9.46 DEDICATED SIGNALS DISPLAY, AUX 0603
The dedicated signals display allows the operator to view dedicated input and output
signal numbers that are set. This is a display screen only. Dedicated signal numbers
cannot be set or released from this screen.
Figure 9-141 shows the AUX 0603 Dedicated Signals Display screen.
Aux. 0603. Dedicated Signals Display
1/ 2
Dedicated signals are set
EXT. MOTOR ON = 1032
EXT. ERROR RESET = 1031
EXT. CYCLE START = 1030
MOTOR ON = 32
ERROR = 31
AUTOMATIC = 30
Condition : Panel switch in RUN.
Condition : Panel switch in REPEAT.
Condition : Repeat continuous.
Condition : Step continuous.
CYCLE START = 29
Next Page
Aux. 0603. Dedicated Signals Display
2/ 2
TEACH MODE = 28
HOME1 = 27
Prev Page
Figure 9-141 AUX 0603 Dedicated Signals Display Screen
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9.47 OX SPECIFICATION SETTING (OPTION), AUX 0604
The OX specification setting function allows four signal types STEP, KEEP, DOUBLE
(XOR), and PULSE. Each signal type is describe below.
•
The STEP type signal is the standard type of output signal used without the optional
OX specification function. The STEP type signal is turned on at each step of the
block step program that specifies the signal number as ON. When a step that does
not specify the signal number as ON, or specifies the signal number as OFF, the
signal is turned OFF. Enter “0” as “Type” to specify a STEP type signal.
•
The KEEP type of signal remains on until a program step that specifies OFF is
executed. Enter “1” as “Type” to specify a KEEP type signal.
•
The (XOR) DOUBLE type signal turns one signal on and one off; DOUBLE type
signals must be entered in pairs. Enter “2” as “Type” to specify an (XOR) DOUBLE
type signal.
•
The PULSE type signal remains on for the specified length of the pulse time, in
seconds. When PULSE is selected as “Type”, the pulse time is specified in “Pulse”.
The allowed pulse time is 0 through 99 seconds. If “0” is entered for pulse time, a
0.04 second pulse time is used. Enter “3” as “Type” to specify a pulse type signal.
Figure 9-142 shows the AUX 0604 OX Specification Setting screen and the procedure is
described below.
Figure 9-143 shows the timing of each type of signal.
NOTE
To change the STEP type and KEEP type signal timing
to after robot axis coincidence, set the OX.PREOUT
system switch (section 9.35.4) to OFF (Figure 9-143).
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Aux. 0604. OX Specification Setting
2
0
0
3 4 5
0 0 0
0 0 0
1/ 2
Type:
Pulse:
1
0
0
6
0
0
7
0
0
8
0
0
Type:
Pulse:
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Type: 0:Each Step
Next Page
Undo
9 10 11 12 13 14 15 16
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
1:Keep
2:XOR
1. Use the cursor keys to select the “Type”
window for a signal number. Use the
numeric keypad, on the teach pendant
keypad, to enter the signal number. If
“3” is selected for “Type”, use the
cursor keys to select “Pulse” and use
the numeric keypad on the teach
pendant to enter the pulse time in
seconds.
3:Pulse
Input range : [0 – 3]
Aux. 0604. OX Specification Setting
Type:
Pulse:
Type:
Pulse:
Undo
1
3
0
2
0
0
3 4 5
0 0 0
0 0 0
1/ 2
6
0
0
7
0
0
8
0
0
9 10 11 12 13 14 15 16
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Type: 0:Each Step
Next Page
1:Keep
2:XOR
2. Use the ‘Next Page” function key on the
touch screen to access additional
signal numbers.
Ensure the data is correct and press
the ENTER key, on the teach pendant
keypad.
3:Pulse
Input range : [0 – 99]
Aux. 0604. OX Specification Setting
2/ 2
Type:
Pulse:
33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Type:
Pulse:
49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Undo
Type:
Prev Page
0:Each Step
1:Keep
2:XOR
3:Pulse
Input range : [0 – 3]
Figure 9-142 AUX 0604 OX Specification Setting Screen
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Step
Change
Step
Change
Axis
Coincidence
Robot A Point
OX None
B Point
OX1 ON
Step
Change
Axis
Coincidence
C Point.
OX None
Step
Change
Axis
Coincidence
D Point
OX1 OFF
Axis
Coincidence
E Point
OX None
STEP Type
(OX.PREOUT ON)
STEP type
(OX.PREOUT OFF)
KEEP Type
(OX.PREOUT ON)
KEEP Type
(OX.PREOUT OFF)
DOUBLE Type
(XOR)
OX1
OX2
PULSE Type
Figure 9-143 Output Signal Timing
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9.48 CLAMP SPECIFICATIONS, AUX 0605
The clamp specification menu contains three menu items for setting specifications for up
to eight clamps. The data specified includes defining application type, clamp spot weld
clamp conditions, and handling clamp signal definition.
Table 9-25 provides descriptions for the clamp specifications menu items.
Figure 9-144 shows the AUX 0605 Clamp Specification Setting screens menu and the
procedures are described in the following sections.
Table 9-25 Clamp Specifications Menu Items
Menu Item
Description
1. Application Field
Used to set the application type. The types are: not used, spot weld, or
handling
2. Clamp Condition
Used to set the anticipation of clamp output time, motion star t delay after weld
time, and the gun number. Used only when spot weld type is set in 0605-1.
10. Spot Weld Clamp
Definition
Used to set the I/O signals for the weld controller for each clamp number.
11. Spot Weld
Control Definition
Used to set the I/O signals for the weld controller in conjunction with settings
made in 10. Spot Weld Clamp Definition.
12. Spot Weld Gun
Definition
Used to set the gun specifications used for the settings made in 2. Clamp
Condition.
20. Handling Clamp
Signal Definition
Used to set handling clamp output signals. Used only when handling type is
set in 0605-1.
1. Use the cursor keys to select the menu
item or enter the menu item number in
the lower right of the screen.
Aux. 0605. Clamp Specifications
1. Application Field
2. Clamp Condition
10. Spot Weld Clamp Definition
11. Spot Weld Control Definition
12. Spot Weld Gun Definition
20. Handling Clamp Signal Definition
2. Press the SELECT key, on the teach
pendant keypad, to display the selected menu item screen.
Up Page
Selects Application Field
Figure 9-144 AUX 0605 Clamp Specifications Menu Screen
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The flowchart shown in figure 9-145 describes the procedure for setting up a spot weld
gun or material handling clamp.
START
0605-1 CLAMP APPLICATION
TYPE
0605-2 CLAMP CONDITION(CC)
DEFINITION
Modify if
necessary
For material handling
application
For spot welding
application
0605-10 SPOT WELD
CLAMP DEFINITION
.
0605-11 SPOT WELD
CONTROL DEFINITION
0605-12 SPOT WELD GUN
DEFINITION
0605-20 HANDLING
CLAMP DEFINITION
Teach program
Check content of
program
Production operation
End
Figure 9-145 Clamp Setting Flowchart
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The diagram in figure 9-146 shows the input and output signals used for the spot welding process. These signals are set in the sub menus of auxiliary function 0605 Clamp
Specifications.
The following sections describe the process for setting these signals.
Weld schedule
(six bits or less)
Weld initiate
Weld completed
Weld
Controller
Weld fault
Reset weld fault
Robot
Controller
Weld gun clamp
Stroke change.
(Single solenoid/double solenoid)
Retractable gun retract detection
Retractable gun extend detection
Figure 9-146 Spot Welding Process I/O
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9.48.1 APPLICATION FIELD, AUX 0605-1
From this screen, up to eight clamps are defined as spot welding or material handling.
For each clamp number 1 is entered to define a spot welding application, a 2 is entered
to define a material handling application, and a 0 is entered if the clamp is not used.
Figure 9-147 shows the AUX 0605-1 Application Field screen and describes the setting
procedure.
Aux. 0605. Clamp Specifications 1. Application Field
Clamp1
Clamp2
Clamp3
Clamp4
Clamp5
Clamp6
Clamp7
Clamp8
Application
1
2
0
0
0
0
0
0
1. Use the cursor keys to select the clamp
number and use the numeric keypad,
on the teach pendant, to enter the
application code number as described
above.
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
0:Not Used, 1:Spot Weld, 2:Handling
Undo
Allowable input range : [0 – 2]
Figure 9-147 AUX 0605-1 Application Field Screen
If a spot welding clamp is specified, additional specifications are set from AUX 0605-2,
AUX 0605-10, AUX 0605-11, and AUX 0605-12 (see sections 9.48.2 through 9.48.5).
If a handling clamp is specified, additional specifications are set from AUX 0605-20
Handling Clamp Signal Definition screen (see section 9.48.6).
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9.48.2 CLAMP CONDITION, AUX 0605-2
This screen is used to set the anticipation of clamp output time, motion start delay after
weld time, and the gun number.
Figure 9-148 shows the AUX 0605-2 Clamp Condition screen and describes the setting
procedure. This function is not used when a handling clamp is specified.
The data entered for each item on the screen is described below.
Use the “Next Page” function key on the touch screen to displays the screens for clamp
conditions 2 through 9.
Anticipation of Clamp Output specifies when clamping pressurization begins before the
clamp reaches coincidence with the taught location. The default setting for the anticipation of clamp is 0.00 seconds. Corresponds to T1 in figure 9-151 spot weld gun signal
timing.
The range for the anticipation of clamp is between 0.00 and 0.99 seconds.
Motion Start Delay after Weld specifies how long the weld clamp remains in position
after the weld complete signal is received. The default setting for the motion start delay
after weld is 0.30 seconds. Corresponds to T2 and T6 in figure 9-151 spot weld gun
signal timing.
The range for the motion start delay after weld setting is between 0.00 and 0.99 seconds.
Gun No. (gun number) specifies the weld parameters are used for a specific gun. When
0 is entered for the gun number, the weld parameters are controlled by a clamp subroutine.
9-192
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
Aux. 0605. Clamp Specifications 2. Clamp Condition
Anticipation of Clamp Output
Motion Start Delay after Weld
Gun No.
code1
0.00 s
0.00 s
0
1/ 9
1. Use the cursor keys to select the item
to set and use the numeric keypad, on
the teach pendant, to enter the data as
described below.
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
Undo
Next Page
Allowable input range : [-0.99 – 0.99]
Figure 9-148 AUX 0605-1 Clamp Condition Screen
August 9, 2007
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9.48.3 SPOT WELD CLAMP DEFINITION, AUX 0605-10
This screen is used to set the I/O signals for the weld controller for each clamp number.
Figure 9-149 shows the AUX 0605-10 Spot Weld Clamp Definition screen and describes
the setting procedure. This function is not used when a handling clamp is specified.
The data entered for each item on the screen is described in table 9-26.
1. With AUX 0605-10 screen displayed,
enter the clamp number (1–8). Ensure
the correct clamp number is entered
and press the ENTER key, on the teach
pendant keypad.
Aux. 0605. Clamp Specifications 10. Spot Weld Clamp Definition
Clamp Number
1
Undo
Input range : [1 – 8]
Aux. 0605. Clamp Specifications 10. Spot Weld Clamp Definition
Clamp Number
1
Weld Control Number
1
Gun Clamp Command Output
22
Following are for retractive gun only.
Extend Output Signal
Retract Output Signal
Extend Position Input Signal
Retract Position Input Signal
Undo
Prev Page Next Page
0
0
0
0
1/ 8
2. When the ENTER key is pressed the
screen shown to the left is displayed.
Eight screens are available for spot
weld guns (clamps) 1–8.
The weld controller number and signal
number settings are described in table
9-26.
Default settings are shown.
Input range : [1 – 8]
Figure 9-149 AUX 0605-10 Spot Weld Clamp Definition Screens
9-194
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AUXILIARY FUNCTIONS
Table 9-26 AUX 605-10 Settings
Item
Setting
Weld Control
Number
Used to set the weld controller number used to control the selected spot weld
gun. Weld controllers 1–8 are available.
Gun Clamp
Command Output
Used to set the output signal number used to control the selected spot weld gun.
A "0" indicates no signal is set.
Extend Output
Signal
Used to set the output signal number used to extend a two-stroke retractable gun.
A "0" indicates no signal is set.
Retract Output
Signal
Used to set the output signal number used to retract a two-stroke retractable gun.
A "0" indicates no signal is set.
Extend Position
Input Signal
Used to set the input signal number used to confirm the extended position for a
two-stroke retractable gun. When this signal is set, the robot does not move after
the gun is pressurized and extended until this signal is received.
A"0" indicates no signal is set.
Retract Position
Input Signal
Used to set the input signal number used to confirm the retracted position for a
two-stroke retractable gun. When this signal is set, the robot does not move after
the gun is pressurized and retracted until this signal is received.
A"0" indicates no signal is set.
NOTE
Two-stroke retractable gun input signals are set in AUX
605-10, and the option to monitor the input signals or
not monitor the input signals is set in AUX 605-12.
April 3, 2003
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9.48.4 SPOT WELD CONTROL DEFINITION, AUX 0605-11
This screen is used to set the I/O signals for the weld controller in conjunction with the
settings made from AUX 0605-10.
Figure 9-150 shows the AUX 0605-11 Spot Weld Control Definition screen and describes the setting procedure. This function is not used when a handling clamp is specified.
The data entered for each item on the screen is described in table 9-27.
Examples of weld schedule signal states for binary and individual settings are shown in
tables 9-28 and 9-29.
1. With AUX 0605-11 screen displayed,
enter the weld controller number (1–8).
Ensure the correct weld controller
number is entered and press the
ENTER key, on the teach pendant
keypad.
Aux. 0605. Clamp Specifications 11. Spot Weld Control Definition
Weld
1
Undo
Input range : [1 – 8]
Aux. 0605. Clamp Specifications 11. Spot Weld Control Definition
Weld
1
Weld Start Output
23
Output Time
0.00
Weld Schedule Output Top Signal
17
Number of Signals to Use
4
Output Format
Binary
(0:Not Used)
Weld Comp. Input signal
Weld Comp. Input Monitor
Weld Fault Input Signal
Weld Fault Reset Output
Undo
Prev Page Next Page
1029
3 s
0
0
1/ 8
(0.00:Level)
each
2. When the ENTER key is pressed the
screen shown to the left is displayed.
Eight screens are available for weld
controllers 1–8.
The weld controller number and signal
number settings are described in table
9-27.
Default settings are shown.
Range :[1–160]
Figure 9-150 AUX 0605-11 Spot Weld Control Definition Screens
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Table 9-27 AUX 605-11 Settings
Item
Setting
Weld Star t Output
Used to set the output signal number sent to the weld controller to initiate welding.
Output Time
Used to set the output signal ON time for the weld star t output signal.
Weld Schedule
Output Top Signal
Used to set the top (first) output signal number of the binary bits or individual
signals sent to the weld controller to select weld schedules.
Number of
Signals to Use
Used to set the number of output signals used for weld schedule selection
including the top (first) signal number.
Output Format
Used to set how the weld schedule output signals are sent to the weld controller.
The signal format is set to binary (bit pattern) or individual signals (each).
Weld Comp. Input
Signal
Used to set the weld complete input signal number sent from the weld controller.
Weld Comp. Input
Monitor
Used to set the wait time for receiving the weld complete input signal from the
weld controller after the weld star t output signal is sent to the weld controller. If
the signal is not received within the set time, an error occurs and the robot stops.
If "0" is entered the signal is not monitored.
Weld Fault Input
Signal
Used to set the weld fault input signal number sent from the weld controller.
If "0" is entered the signal is not monitored.
Weld Fault Reset
Output
Used to set the output signal number sent to the weld controller when the ERROR
RESET switch is pressed to reset a weld fault error.
If "0" is entered the signal is not sent.
Table 9-28 Weld Schedule Output Signal State Binary Example
Weld schedule
April 3, 2003
LSB
WS Signals
MSB
17
18
19
20
WS 1
ON
OF F
OFF
OF F
WS 2
OFF
ON
OFF
ON
WS 3
ON
ON
OFF
OF F
WS 4
OF F
OF F
ON
OF F
WS 5
ON
OF F
ON
OF F
WS 6
OFF
ON
ON
OF F
WS 7
ON
ON
ON
OF F
WS 8
OFF
OFF
OFF
ON
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Table 9-29 Weld Schedule Output Signal State Individual Example
Weld schedule
9-198
WS Signals
17
18
19
20
WS 1
ON
OFF
OFF
OF F
WS 2
OF F
ON
OFF
OF F
WS 3
ON
OF F
ON
OF F
WS 4
OFF
OFF
OFF
ON
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AUXILIARY FUNCTIONS
9.48.5 SPOT WELD GUN DEFINITION, AUX 0605-12
This screen is used to set gun specifications used in conjunction with the settings in
AUX 605-2.
Figure 9-151 shows the AUX 0605-12 Spot Weld Gun Definition screen and describes
the setting procedure. This function is not used when a handling clamp is specified.
The data entered for each item on the screen is described in tables 9-30 and 9-31.
1. With AUX 0605-12 screen displayed,
enter the spot weld gun number (1–8).
Ensure the correct spot weld gun
number is entered and press the
ENTER key, on the teach pendant
keypad.
Aux. 0605. Clamp Specifications 12. Spot Weld Gun Definition
Gun No.
1
Undo
Input range : [1 – 8]
Aux. 0605. Clamp Specifications 12. Spot Weld Gun Definition
1/ 8
Gun No.
1
Gun Type
Single
C-ret
X-ret
Servo Welding Gun
Following are for retractive gun only.
Weld Delay on Retract–> Extend
Motion Delay Extend–> Retract
Retract Monitor
Extend Monitor
Extend Signal Output Delay
Retract Signal Output Delay
Undo
Prev Page Next Page
0.5 s
1.0 s
not
not
0.5 s
0.2 s
monitor
monitor
2. When the ENTER key is pressed the
screen shown to the left is displayed.
Eight screens are available for spot
weld guns 1–8.
The spot weld gun number and signal
number settings are described in table
9-29.
Default settings are shown.
Figure 9-151 AUX 0605-12 Spot Weld Gun Definition Screens
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Table 9-30 AUX 605-12 Settings
Item
Setting
Gun Type
Used to set the type of spot weld gun used.
Single: Single stroke spot weld gun
X-ret: two-stroke retractable X gun
C-ret: two-stroke retractable C gun
Servo Welding Gun: spot weld gun with servo motor drive
For Servo Welding Gun settings refer to the Servo Spot Weld Gun Instruction
Manual.
Weld Delay on
RetractYExtend
Used to set a time delay to allow a two-stroke gun to move from the retracted
position to the extended position before the weld star t output signal is sent.
Corresponds to T3 in figure 9-152 Spot Weld Signal Timing. Default setting is 0.5
second.
Motion Delay
ExtendYRetract
Used to set a time delay to allow a two-stroke gun to move from the extended
position to the retracted position before moving to the next program point. Default
setting is 1.0 second.
Retract Monitor
If "monitor" is selected the retract position input signal is monitored when the gun
is stationary or the robot is moving. If the signal is not received when the gun is
retracted (open) and error is generated and the robot stops. If "not" is selected
the signal is not monitored.
Extend Monitor
If "monitor" is selected the extend position input signal is monitored when the gun
is stationary or the robot is moving. If the signal is not received when the gun is
extended (closed) and error is generated and the robot stops. If "not" is selected
the signal is not monitored.
Extend Signal
Output Delay
Used to set a time delay for sending the extend output signal. This signal is sent
when the gun moves form the retracted position to the extended position.
Corresponds to T4 in figure 9-152 Spot Weld Signal Timing. Default setting is 0.5
second.
Retract Signal
Output Delay
Used to set a time delay for sending the retract output signal. This signal is sent
when the gun moves form the extended position to the retracted position.
Corresponds to T5 in figure 9-152 Spot Weld Signal Timing. Default setting is 0.2
second.
NOTE
Two-stroke retractable gun input signals are set in AUX
605-10, and the option to monitor the input signals or
not monitor the input signals is set in AUX 605-12.
9-200
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Table 9-31 Retract/Extent Input Signal Monitor
Signal
Setting
Retract Position/Extend Position Input Signal
0 (0 set for signal)
1 (signal number set)
Retract/Extend Signal Monitor
0 (not)
0 (not)
1 (monitor)
Not monitored
Monitored
Signal State
1 (monitor)
Not monitored
9.48.6 SPOT WELD GUN INPUT/OUTPUT SIGNAL TIMING
For figure 9-152 Spot Weld Signal Timing descriptions, refer to AUX 0605-2, AUX 060512, and table 9-32.
1. Spot welding using 2. Spot welding 3. Spot welding using 4. Spot welding
on extend
extend®retract
retract®extend
on retract
Move
Move
Robot motion
Move
Taught data
extend
Taught data
extend
T1
«
«
T2
«
T1
T2
«
Move
Taught data
extend
T1
«
T6
«
Taught data
retract
T1
«
T6
«
Gun clamp
command output
Stroke switching
Using double cylinder
T4
«
T5
«
Using stopper
T3
T3
Weld start output
«
«
Weld complete input
Weld schedule output
areas can be enabled or disabled
Figure 9-152 Spot Weld Signal Timing
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Table 9-32 Spot Welding Input/Output Signal Timing Descriptions
Time Indicator
9-202
Description
T1
Anticipation of clamp output: The time (T1) before the robot reaches the
program point for sending the gun clamp command output signal.
T2
Motion star t delay after weld: The time (T2) for the robot to wait after the weld
complete signal is received before star ting motion to the next program point.
T3
Weld delay on retractYextend: The time (T3) for delay to allow a two-stroke
gun to move from the retracted position to the extended position before the
weld star t output signal is sent.
T4
Extend Signal Output Delay: The time for delay before sending the extend
output signal to a stopper type two-stroke retractable gun to move from the
retracted position to the extended position.
T5
Retract Signal output delay: The time for delay before sending the retract
output signal to a stopper type two-stroke retractable gun to move from the
extended position to the retracted position.
T6
Motion star t delay after weld: The time (T2) for the robot to wait after the weld
complete signal is received before star ting motion to the next program point. If
retract is specified in the next program step the gun moves from extended to
retracted.
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9.48.7 HANDLING CLAMP SIGNAL DEFINITION, AUX 0605-20
This screen is used to set handling clamp output signals. This screen is used only when
handling type is selected in AUX 0605-1.
Figure 9-153 shows the AUX 0605-20 Handling Clamp Signal definition screen and
describes the setting procedure. This function is not used when a spot weld clamp is
specified.
The data entered for each item on the screen is described below.
Aux. 0605. Clamp Specifications 20. Handling Clamp Signal Definition.
Clamp1
Clamp2
Clamp3
Clamp4
Clamp5
Clamp6
Output Signal with Clamp ON
24
24
24
24
24
24
Output Signal with Clamp OFF
0
0
0
0
0
0
Specify either side for single, both sides for double sol. valve.
Undo
1. Use the cursor to select the clamp
signal ON or clamp signal OFF and
use the numeric keypad on the teach
pendant to enter the signal number.
If no signal is used enter a “0” (zero).
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
Input range : [0 – 128]
Figure 9-153 AUX 0605-20 Handling Clamp Signal Definition Screen
Single solenoid valve:
When a single solenoid valve is used enter one signal for ON or OFF.
When the signal number is entered as “Output Signal with Clamp ON”, the signal is set
ON (high) when a block step program step calls for clamp ON (normally open clamp).
When the signal number is entered as “Output Signal with Clamp OFF”, the signal is set
ON (high) when a block step program step calls for clamp OFF (normally closed clamp).
Double solenoid valve:
When a double solenoid valve is used enter two signals one for ON and one for OFF.
When a block step program step calls for clamp ON the signal number specified as
“Output Signal with Clamp ON” is set ON (high) and the signal number specified as
“Output Signal with Clamp OFF” is set OFF (low).
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When a block step program step calls for clamp OFF the signal number specified as
“Output Signal with Clamp ON” is set OFF (low) and the signal number specified as
“Output Signal with Clamp OFF” is set ON (high).
9-204
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9.48.7.1 HANDLING CLAMP SIGNAL TIMING
Figure 9-154 shows the handling clamp signal timing for a block step program.
The clamp signal is set to ON as motion starts toward the blockstep program point that
specifies clamp ON. The clamp signal is set to OFF when a step is executed that does
not specify clamp ON.
X
Robot Program Path
X
O
X
X = Clamp OFF step
O = Clamp ON step
X
X
ON
Clamp Signal
OFF
Figure 9-154 Handling Clamp Signal Timing
August 9, 2007
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9.49 SIGNAL NAME, AUX 0606
This function is used to add name or a comment to an input or output signal. A maximum or 64 outputs, 64 inputs, and 64 internal signals are available to add names or
comments. The signal names or comments are displayed with signal numbers on the
signal monitor screen.
Figures 9-155 and 9-156 show the AUX 0606 Signal Name screens and describes the
setting procedure.
1. Use the cursor keys to select the signal
type from the menu and press the
SELECT key on the teach pendant
keypad.
Aux. 0606. Signal Name
1. OX (Output)
2. WX (Input)
3. INT (Internal)
Up Page
Selects OX (Output)
Aux. 0606. Signal Name
SignalNo.
0
0
0
0
0
0
0
0
0
0
1. OX (Output)
Name
Undo
SignalNo.
0
0
0
0
0
0
0
0
0
0
1/ 4
Name
Next Page
2. Use the cursor keys to select “Signal
No.” and use the numeric keypad on
the teach pendant to enter the signal
All clear
Allowable input range : [0 – 64]
Aux. 0606. Signal Name
SignalNo.
1
0
0
0
0
0
0
0
0
0
1. OX (Output)
Name
Undo
SignalNo.
0
0
0
0
0
0
0
0
0
0
Next Page
1/ 4
Name
3. Use the cursor keys to select “Name”.
When “Name” is selected the function
keys at the bottom of the screen
change.
4. Press “Input char” to display the
keyboard.
All clear
Input range : 14
Figure 9-155 AUX 0606 Signal Name Screen, Signal Number Entry
9-206
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Aux. 0606. Signal Name
SignalNo.
1
0
0
0
0
0
”
!
q
w
a
s
z
x
[{
]}
SHIFT
Name
#
e
d
c
1/ 4
SignalNo.
0
0
0
0
0
0
$
r
f
v
%
t
g
b
&
y
h
n
SPACE
’
u
j
m
(
i
k
,<
)
o
l
.>
Name
=
p
;+
/?
^’
7
@~
4
:*
1
|¥
0
—
SHIFT
NEXT
Aux. 0606. Signal Name
SignalNo.
1
abc
0
0
0
0
0
0
0
0
0
1. OX (Output)
1. OX (Output)
Name
Input char
SignalNo.
0
0
0
0
0
0
0
0
0
0
Next Page
8
5
2
5. Use the keyboard to enter the signal
name or comment and press the
ENTER key on the keyboard.
9
6
3
BS
CTRL+L
ENTER
1/ 4
Name
6. When all signal numbers and names or
comments are entered correctly, press
the ENTER key on the teach pendant
keypad.
If incorrect data is entered and the
ENTER key has not been pressed, use
the “All Clear” function key on the touch
screen to clear all data fields.
All clear
Input range : 14
Figure 9-156 AUX 0606 Signal Name Screen, Signal Name Entry
August 9, 2007
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9.50 SIGNAL ALLOCATION (OPTION), AUX 0608
The D series controller can be used to build a field network in factory automation systems by connecting devices with various types of fieldbus. Signal numbers are assigned
using AUX 0608 to build the field network (Figure 9-157).
Aux. 0608. Signal Allocation
1. Allocate Signals to Ports
2. Assign Ports to Physical Interfaces
3. Set Signals Order
Up Page
Selects Allocate Signals to Ports
Figure 9-157 AUX 0608 Signal Allocation
For information on signal allocation for fieldbus applications, refer to the D Series Controller General Fieldbus I/O Usage Manual.
9-208
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9.51 INPUT/OUTPUT SIGNALS IN ROBOT ARM, AUX 0610
This function is used to enable or disable the usage of the user sensor input an built-in
valve output to the robot arm. Figure 9-158 shows the AUX 0610 screen and describes
the setting procedure.
Aux. 0610. Input/Outout Signals in Robot Arm
User Sensor Input
Enable
Disable
Built-in Valve Output
Enable
Disable
1. Use the cursor keys to select the menu
items and use the SELECT key, on the
teach pendant keypad, to toggle
between enable and disable.
Ensure the settings are correct and
press the ENTER key, on the teach
pendant keypad.
Figure 9-158 AUX 0610 Input/Output Signals in Robot Arm
August 9, 2007
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9.52 NUMBER OF I/O SIGNALS, AUX 0611
This function is used to set the number of I/O signals used by the controller. Although
the signals may be available the number of signals must be designated for the controller
software to recognize them.
The number of signals available depends on system configuration.
Figure 9-159 shows the AUX 0611 Number of I/O Signals screen and describes the
setting procedure.
Aux. 0611. Number of I/O Signals
Number of Output Signals
Number of Input Signals
Number of Internal Signals
128
128
256
1. Use the cursor keys to select the signal
type and use the numeric keypad, on
the teach pendant keypad, to enter the
number of signals.
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
Undo
Allowable input range : [0 – 512]
Figure 9-159 AUX 0611 Number of I/O Signals Screen
9-210
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9.53 RI/O PLC (NAC) SETTING (OPTION), AUX 0612
This function allows the operator to view and set parameters for the PLC node adapter
chip (NAC) settings (Figure 9-160).
Program
pg70
[
Step
[Comment ]
]
[
PC
1
]
04-09-07 13:55
Status
JOINT
T
C
R
50%
S-Logic
RPS
AUTO
1. Use the cursor keys to select the data
field and setting. Use the numeric
keypad, on the teach pendant keypad,
to enter the rack address and starting
quarter.
Aux. 0612. RI/O PLC (NAC) Setting
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
*NAC control
USED
Baud rate (bps)
Rack address
Last Rack
Starting quarter
Rack size
Signal bits
Yes
57600
0
Yes
1
1/4
32
No
115200
230400
No
1/2
64
3/4
FULL
Figure 9-160 AUX 0612 RI/O PLC (NAC) Setting Screen
August 9, 2007
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9.54 RI/O WELD CONTROL SETTING (OPTION), AUX 0613
This function allows the operator to view information about the weld control settings.
The operator can select if the application is used, or not, and select the number of weld
controllers that are used. Changes to other options cannot be made, it is used only for
displaying the current settings (Figure 9-161).
Program
pg70
[
Step
[Comment ]
]
[
PC
04-09-07 13:56
Status
JOINT
T
1
]
C
R
50%
S-Logic
RPS
AUTO
Aux. 0613. RI/O Weld control Setting
1. Use the cursor keys to select the
USED field and setting (Yes or No).
Use the cursor keys to select the
number of weld controllers field and the
numeric keypad, on the teach pendant
keypad, to enter the number of weld
controllers.
*Weld control
USED
Baud rate (bps)
Weld message string variable
Number of Weld controllers
Numbers of Signal
Yes
19200
W
8
32
No
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
Figure 9-161 AUX 0613 RI/O Weld Control Setting Screen
9-212
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.55 SLOGIC CONTROL (OPTION), AUX 0614
The Slogic Control screen allows the operator to control the Slogic program or function.
The operator can activate (run) or deactivate (stop) the Slogic program by selecting
SLOGIC RUN or SLOGIC STOP respectively.
To edit the Slogic program:
•
Select SLOGIC STOP to deactivate the Slogic program.
•
Load the Slogic program into the 1KA/1RA board memory by selecting SLOGIC
UPLOAD.
•
Edit the Slogic program as needed using the keyboard screen (see section 9.56).
•
Select SLOGIC DOWNLOAD to load the edited Slogic program to the 1FS board
memory. Enter the password when prompted (see section 9.56).
•
Select SLOGIC RUN to activate the Slogic program.
Slogic programs can also be started and stopped from the keyboard screen using AS
Language commands (see section 9.56).
Figure 9-162 shows the Slogic control menu.
The menu items are described in sections 9.55.1 through 9.55.3.
Program
pg70
[
Step
[Comment ]
]
PC
1
]
[
04-09-07 13:39
Status
JOINT
T
C
R
1. Use the cursor keys to select the menu
item and press the SELECT key.
50%
S-Logic
RPS
AUTO
Aux. 0614. SLogic Control
1. Run/Stop
2. Download/Upload
3. Signal Forced Output
Up Page
Selects Signal Forced Output
Figure 9-162 AUX 0614 Slogic Control Menu Screen
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.55.1 SLOGIC CONTROL 1. RUN/STOP (OPTION), AUX 0614-1
This function allows the operator run or stop the Slogic program.
The Slogic control run/stop screen is shown in figure 9-163.
Program
pg70
[
Step
[Comment ]
]
[
04-09-07 13:58
Status
PC
JOINT
T
1
]
C
R
50%
2. Ensure the selection is correct and
press the ENTER key on the teach
pendant keypad.
S-Logic
RPS
AUTO
Aux. 0614. SLogic Control 1. Run/Stop
Run/Stop
Run
1. Use the cursor keys to select Run or
Stop.
Stop
Figure 9-163 AUX 614-1 Slogic Control 1. Run/Stop Screen
NOTE
The Slogic program must be set to Stop to download the
program to the 1FS board.
The Slogic program must be set to Run to operate.
9-214
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.55.2 SLOGIC CONTROL 2. DOWNLOAD/UPLOAD (OPTION), AUX 0614-2
This function is used to download the Slogic program from the 1KA/1RA board to the
1FS board and upload the Slogic program from the 1FS board to the 1KA/1RA board.
The Slogic program is uploaded to the 1KA/1RA board for editing. After editing, the
Slogic program is downloaded to the 1FS board for operation. To download the Slogic
program enter the password “4989”.
Figure 9-164 shows the Slogic Control 2. Download/Upload screen.
Program
pg70
[
Step
[Comment ]
]
[
04-09-07 13:58
Status
PC
JOINT
T
1
]
C
R
50%
S-Logic
RPS
AUTO
Aux. 0614. SLogic Control 2. Download/Upload
Download/Upload
Password
Download
****
Upload
1. Use the cursor keys to select Download or Upload. If Download is selected use the cursor keys to select the
password field and the numeric keypad, on the teach pendant keypad, to
enter the password “4989”.
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
Input range : [1 – 9999]
Figure 9-164 AUX 0614-2 Slogic Control 2. Download/Upload Screen
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.55.3 SLOGIC CONTROL 3. SIGNAL FORCED OUTPUT (OPTION), AUX 0614-3
This function is used to force RI/O signals ON or OFF. This function cannot be used
when the Slogic program is in the run state. A minus sign (-) followed by the signal
number is used to set a signal OFF.
Figure 9-165 shows the Slogic control 3. RI/O signal forced output screen.
Program
pg70
[
Step
[Comment ]
]
[
04-09-07 13:59
Status
PC
JOINT
T
1
]
C
R
50%
S-Logic
RPS
AUTO
1. Use the numeric keypad, on the teach
pendant keypad, to enter the signal
number. If the signal is to be forced
OFF, a minus sign (-) is used preceding
the signal number.
Aux. 0614. SLogic Control 3. Signal Forced Output
Signal No.
0
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
Input range : [-9999 – 9999]
Figure 9-165 AUX 0614-3 Slogic Control 3. Signal Forced Output Screen
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.56 SIGNAL ENVIRONMENT, AUX 0616
This function is used to set conditions for cycle start. Cycle start can be initiated from
the control panel CYCLE START switch or the cycle start dedicated input signal. This
function allows the operator to select either or both cycle start conditions.
This function also is used to select signal numbers to be reset when an error reset is
initiated (Figure 9-166).
Aux. 0616. Signal Environment
Cycle Strating Conditions
Signal For Reset By Error Reset
Signal No.
Signal No.
Signal No.
Signal No.
Signal No.
Both
External
Internal
21
0
0
0
0
1. Use the SELECT key to select the
cycle start condition, Both, External, or
Internal.
2. Ensure the selection is correct and
press the ENTER key on the teach
pendant keypad.
Undo
Aux. 0616. Signal Environment
Cycle Strating Conditions
Signal For Reset By Error Reset
Signal No.
Signal No.
Signal No.
Signal No.
Signal No.
Both
21
0
0
0
0
External
Internal
3. Use the numeric keypad, on the teach
pendant keypad, to enter the signal
number.
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
Undo
Range :[1–32] (0:Not Use)
Figure 9-166 AUX 0616 Signal Environment
August 9, 2007
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.57 ERROR LOGGING DISPLAY, AUX 0702
Up to 1,000 errors are recorded by this function. The errors are listed in chronological
order with the most recent entry first. The date, time, error number, and a description of
the error are listed. Error messages cannot be deleted or edited and remain in memory
even after the controller is initialized.
Errors are categorized by type as describes in table 9-33.
Figure 9-167 shows the AUX 0702 Error Logging Display menu screen and describes
the procedure to display the six menu items. Each menu item is described in the following sections.
Table 9-33 Error Log Code Descriptions
Error Log Code
Description
Comment
P
Operation Error
Does not affect robot motion.
W
Mechanical/Control Warning
May cause an error if not corrected.
E
Error
When error is corrected, press error reset.
D
Fatal Error
Hardware, software, or peripheral device error.
When error is corrected control power must be
cycled OFF and ON.
1. Use the cursor keys to select the menu
item and press the SELECT key on the
teach pendant keypad.
Aux. 0702. Error Logging Display
1.
2.
3.
4
5.
6.
All
Operation Error (P)
Mechanical/Control Warning (W)
Error (E)
Fatal Error (D)
Property of Logging
Up Page
Selects All
Figure 9-167 AUX 0702 Error Logging Display Menu Screen
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.57.1 ERROR LOGGING DISPLAY–ALL, AUX 0702-1
This screen displays all types of logged errors.
Figure 9-168 shows the AUX 0702-1 Error Logging Display–All screen.
Aux. 0702. Error Logging Display 1. All
1/ 2
1. Use the cursor keys to select an error
listing and press the SELECT key on
the teach pendant keypad.
1/ 2
2. When the SELECT key on the teach
pendant keypad is pressed, in step 1,
the screen data changes as shown in
the example screen to the left.
2/ 2
3. When the Next Page function key on
the touch screen is pressed, in step 2,
the screen data changes as shown in
the example screen to the left.
1 – [02/08/22 15:04:39] (SIGNAL:00)
(E1016) No 1 CC-LIK board is not installed.
2 – [02/08/22 13:05:45] (SIGNAL:00)
(D1507) AC primary power off.
3 – [02/08/22 13:05:41] (SIGNAL:00)
(E0903) Check sum error of system data.
4 – [02/08/22 13:05:40] (SIGNAL:00)
(E1030) Encoder dat is abnormal. ( jt 1 2 3 4 5 6)
5 – [02/08/22 13:05:39] (SIGNAL:00)
(E1016) No 1 CC-LIK board is not installed.
6 – 02/08/22 13:05:17] (SIGNAL:00)
(D1507) AC primary power off.
Next Page
Aux. 0702. Error Logging Display 1. All
1 – [02/08/22 11:30:53 SIGNAL:00 MON. SPEED : 80] No = 1
(W5001) PLC communication error.
OPERATION1: [02/08/22 08:14:22] ( Motor power ON )
OPERATION2: [02/08/22 08:14:22] ( HOLD RUN )
OPERATION3: [02/08/22 07:40:08] ( Motor power ON )
JT1
8.0
JT2
-6.2
JT3
-62.1
JT4
9.8
JT5
15.0
JT6
-2.9
Next Page
Aux. 0702. Error Logging Display 1. All
1 – [02/08/22 11:30:53 SIGNAL:00 MON. SPEED : 80] No = 1
(W5001) PLC communication error.
4. When the Prev Page function key on
the touch screen is pressed, the
previous page is displayed.
Prev Page
Figure 9-168 AUX 0702-1 Error Logging Display–All Screen
August 9, 2007
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OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.57.2 ERROR LOGGING DISPLAY–OPERATION ERROR (P), AUX 0702-2
This screen displays operation errors only.
Figure 9-169 shows the AUX 0702-2 Error Logging Display–Operation Error (P) screen.
Aux. 0702. Error Logging Display 2. Operation Error (P)
1/ 2
1. Use the cursor keys to select an error
listing and press the SELECT key on
the teach pendant keypad.
1/ 2
2. When the SELECT key on the teach
pendant keypad is pressed, in step 1,
the screen data changes as shown in
the example screen to the left.
2/ 2
3. When the Next Page function key on
the touch screen is pressed, in step 2,
the screen data changes as shown in
the example screen to the left.
1 – [05/01/13 15:29:33] (SIGNAL:00) No = 1
(P1014) Cannot excute because the program is already used.
2 – [05/01/13 15:23:21] (SIGNAL:00) No = 1
(P0109) Invalid statement.
3 – [05/01/13 15:22:50] (SIGNAL:00) No = 1
(P0109) Invalid statement.
4 – [05/01/13 15:22:03] (SIGNAL:00) No = 1
(P0109) Invalid statement.
5 – [05/01/13 15:02:37] (SIGNAL:00) No = 1
(P1000) Cannot execute a program because motor power is OFF.
6 – 05/01/18 14:38:58] (SIGNAL:00) No = 1
(P0108) Syntax error.
Next Page
Aux. 0702. Error Logging Display 2. Operation Error (P)
1 – [05/01/18 15:29:33 SIGNAL:00 MON. SPEED : 80] No = 1
(P1014) Cannot execute because the program is already used.
OPERATION1: [05/01/18 15:29:33] ( lsqexecute )
OPERATION2: [05/01/18 15:26:17] ( Motor power ON )
OPERATION3: [05/01/18 15:26:17] ( HOLD RUN )
ROBOT
PROGRAM: lsqpg STEP NO : 1 STATUE: NOT_ACTIVE
JT1
8.0
JT2
-6.2
JT3
-62.1
JT4
9.8
JT5
15.0
JT6
-2.9
Next Page
Aux. 0702. Error Logging Display 2. Operation Error (P)
1 – [05/01/18 15:29:33 SIGNAL:00 MON. SPEED : 80] No = 1
(P1014) Cannot execute because the program is already used.
4. When the Prev Page function key on
the touch screen is pressed, the
previous page is displayed.
Prev Page
Figure 9-169 AUX 0702-2 Error Logging Display–Operation Error Screen
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.57.3 ERROR LOGGING DISPLAY–MECHANICAL/CONTROL WARNING (W), AUX
0702-3
This log monitors motor current values for axes JT1–JT6 and displays the warning
history in order with the most recent warning first.
Figure 9-170 shows the AUX 0702-3 Error Logging Display–Mechanical/Control Warning
(W) screen. This screen displays mechanical/control warnings only.
Aux. 0702. Error Logging Display 3. Mechanical/Control Warning (W)
1/ 2
1. Use the cursor keys to select an error
listing and press the SELECT key on
the teach pendant keypad.
1/ 2
2. When the SELECT key on the teach
pendant keypad is pressed, in step 1,
the screen data changes as shown in
the example screen to the left.
2/ 2
3. When the Next Page function key on
the touch screen is pressed, in step 2,
the screen data changes as shown in
the example screen to the left.
1 – [05/01/21 13:03:56] (SIGNAL:00) No = 1
(W5001) PLC communication error.
2 – [05/01/20 11:30:53] (SIGNAL:00) No = 1
(W5001) PLC communication error.
3 – [05/01/20 08:14:22] (SIGNAL:00) No = 1
(W5001) PLC communication error.
4 – [05/01/20 07:40:08] (SIGNAL:00) No = 1
(W5001) PLC communication error.
5 – [05/01/19 09:19:12] (SIGNAL:00) No = 1
(W5001) PLC communication error.
6 – 05/01/19 09:18:50] (SIGNAL:00) No = 1
(W1008) Parameter is changed. Turn OFF & ON the control power.
Next Page
Aux. 0702. Error Logging Display 3. Mechanical/Control Warning (W)
1 – [05/01/21 13:03:56 SIGNAL:00 MON. SPEED : 80] No = 1
(W5001) PLC communication error.
OPERATION1: [05/01/20 11:30:53] ( Motor power ON )
OPERATION2: [05/01/20 11:30:53] ( HOLD RUN )
OPERATION3: [05/01/20 08:14:22] ( Motor power ON )
JT1
8.0
JT2
-6.2
JT3
-62.1
JT4
9.8
JT5
15.0
JT6
-2.9
Next Page
Aux. 0702. Error Logging Display 3. Mechanical/Control Warning (W)
1 – [05/01/21 13:03:56 SIGNAL:00 MON. SPEED : 80] No = 1
(W5001) PLC communication error.
4. When the Prev Page function key on
the touch screen is pressed, the
previous page is displayed.
Prev Page
Figure 9-170 AUX 0702-3 Error Logging Display–Mechanical/Control Warning Screen
August 9, 2007
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AUXILIARY FUNCTIONS
9.57.4 ERROR LOGGING DISPLAY–ERROR (E), AUX 0702-4
This screen displays Errors only.
Figure 9-171 shows the AUX 0702-4 Error Logging Display–Error (E) screen.
Aux. 0702. Error Logging Display 4. Error (E)
1/ 2
1 – [05/01/19 03:15:37] (SIGNAL:00) No = 1
(E1164) [LSEQ] Program execution error in turning on control power. (code x)
2 – [05/01/18 15:03:04] (SIGNAL:00) No = 1
(E1074) Over maximum signal number.
3 – [05/01/18 07:33:52] (SIGNAL:00) No = 1
(E1021) Arm ID board error. (code FF)
4 – [05/01/17 16:22:57] (SIGNAL:00) No = 1
(E1021) Arm ID board error. (code FF)
5 – [05/01/17 14:44:22] (SIGNAL:00) No = 1
(E1030) Encoder dat is abnormal. ( jt 1 2 3 4 5 6)
6 – [05/01/17 14:44:22] (SIGNAL:00) No = 1
(E0903) Check sum error of system data.
Next Page
Aux. 0702. Error Logging Display 4. Error (E)
1/ 2
1 – [05/01/19 09:15:37] SIGNAL:00 MON. SPEED : 80 ] No = 1
(E1164) [LSEQ] Program execution error in turning on control power. (code x)
OPERATION1: [05/01/18 15:32:01] ( REPEAT TEACH )
OPERATION2: [05/01/18 15:31:19] ( CYCLE START )
OPERATION3: [05/01/18 15:31:18] ( Motor power ON )
ROBOT
PROGRAM: lsqpg STEP NO : 3 STATUE: NOT_ACTIVE
JT1
0.0
JT2
0.0
JT3
0.0
JT4
0.0
JT5
0.0
1. Use the cursor keys to select an error
listing and press the SELECT key on
the teach pendant keypad.
2. When the SELECT key on the teach
pendant keypad is pressed, in step 1,
the screen data changes as shown in
the example screen to the left.
JT6
0.0
Next Page
Aux. 0702. Error Logging Display 4. Error (E)
2/ 2
1 – [05/01/19 09:15:37] SIGNAL:00 MON. SPEED : 80 ] No = 1
(E1164) [LSEQ] Program execution error in turning on control power. (code x)
3. When the Next Page function key on
the touch screen is pressed, in step 2,
the screen data changes as shown in
the example screen to the left.
4. When the Prev Page function key on
the touch screen is pressed, the
previous page is displayed.
Prev Page
Figure 9-171 AUX 0702-4 Error Logging Display–Error Screen
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AUXILIARY FUNCTIONS
9.57.5 ERROR LOGGING DISPLAY–FATAL ERROR (D), AUX 0702-5
This screen displays fatal errors only.
Figure 9-172 shows the AUX 0702-5 Error Logging Display–Fatal Error (D) screen.
Aux. 0702. Error Logging Display 5. Fatal Error (D)
1/ 2
1. Use the cursor keys to select an error
listing and press the SELECT key on
the teach pendant keypad.
1/ 2
2. When the SELECT key on the teach
pendant keypad is pressed, in step 1,
the screen data changes as shown in
the example screen to the left.
2/ 2
3. When the Next Page function key on
the touch screen is pressed, in step 2,
the screen data changes as shown in
the example screen to the left.
1 – [05/01/20 11:38:06] (SIGNAL:00) No = 1
(D1507) AC primary power off.
2 – [05/01/20 11:05:17] (SIGNAL:00) No = 1
(D1507) AC primary power off.
3 – [05/01/20 11:04:51] (SIGNAL:00) No = 1
(D1507) AC primary power off.
4 – [05/01/19 11:04:51] (SIGNAL:00) No = 1
(D1507) AC primary power off.
5 – [05/01/19 11:04:22] (SIGNAL:00) No = 1
(D1507) AC primary power off.
6 – [05/01/18 11:04:22] (SIGNAL:00) No = 1
(D1507) AC primary power off.
Next Page
Aux. 0702. Error Logging Display 4. Fatal Error (D)
1 – [05/01/20 11:38:06 SIGNAL:00 MON. SPEED : 80] No = 1
(D1507) AC primary power off.
OPERATION1: [05/01/20 11:30:53] ( Motor power ON )
OPERATION2: [05/01/20 11:30:53] ( HOLD RUN )
OPERATION3: [05/01/20 08:14:22] ( Motor power ON )
JT1
8.0
JT2
-6.2
JT3
-62.1
JT4
9.8
JT5
15.0
JT6
-2.9
Next Page
Aux. 0702. Error Logging Display 4. Fatal Error (D)
1 – [05/01/20 11:38:06 SIGNAL:00 MON. SPEED : 80] No = 1
(D1507) AC primary power off.
4. When the Prev Page function key on
the touch screen is pressed, the
previous page is displayed.
Prev Page
Figure 9-172 AUX 0702-5 Error Logging Display–Fatal Error Screen
August 9, 2007
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AUXILIARY FUNCTIONS
9.57.6 ERROR LOGGING DISPLAY–PROPERTY OF LOGGING, AUX 0702-6
This screen is used to specify the type of errors and I/O signal status that is displayed in
the error log.
Figure 9-173 shows the AUX 0702-6 Error Logging Display–Property of Logging screen.
Aux. 0702. Error Logging Display 6. Property of Logging
Error Filtered
Input after translating (P:–1 W:–2 E:–3 D:–4)
1
5
9
0
0
0
Logging Signal
1
0
5
0
2
6
10
2
6
0
0
0
0
0
Undo
Allowable input range : [-99999 – 0]
3
7
3
7
0
0
0
0
4
8
4
8
0
0
0
0
1. Use the cursor keys to select one of
the “Error Filtered” fields (1–10) to
enter the code for the error type to omit
from the error log.
2. Use the numeric keypad, on the teach
pendant, to enter the number that
corresponds with the error type code,
shown at the top right of the screen.
3. Use the cursor keys to select one of
the “Logging Signal” fields (1–8) to
enter a signal number to include in the
error log.
4. Use the numeric keypad to enter the
I/O signal number to display the ON/
OFF state at the time of an error.
5. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad
Figure 9-173 AUX 0702-6 Error Logging Display–Property of Logging Screen
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.58 OPERATION LOGGING DISPLAY, AUX 0703
Up to 100 operations are logged by this function. The operations are listed in chronological order with the most recent entry first. The date, time, operation interface, and a
description of the operation are listed. Operation log entries cannot be deleted or edited
and remain in memory even after the controller is initialized.
Figure 9-174 shows the AUX 0703 Operation Logging Display menu screen and describes the procedure to display the four menu items. Each menu item is described in
the following sections.
1. Use the cursor keys to select the menu
item and press the SELECT key on the
teach pendant keypad.
Aux. 0703. Operation Logging Display
1.
2.
3.
5.
All
Operation Logging
Command Logging
Property of Logging
Up Page
Selects All
Figure 9-174 AUX 0703 Operation Logging Display Menu Screen
August 9, 2007
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OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.58.1 OPERATION LOGGING DISPLAY–ALL, AUX 0703-1
This screen displays all types of logged operations.
Figure 9-175 shows the AUX 0703-1 Operation Logging Display–All screen.
Aux. 0703. Operation Logging Display 1. All
1/ 1
1 – [02/08/22 15:04:40] (SIGNAL:00) [ TP ] ereset
2 – [02/08/22 13:05:44] (SIGNAL:00) [ STD ] ere
3 – [02/08/22 13:05:43] (SIGNAL:00) [ STD ] chsum
4 – [02/08/22 13:05:41] (SIGNAL:00) [ STD ] ere
5 – [02/08/22 13:04:59] (SIGNAL:00) [ STD ] lo k0822. as
6 – [02/08/22 13:04:56] (SIGNAL:00) [ STD ] lo k08 lo k0822aa
7 – [02/08/22 13:04:50] (SIGNAL:00) [ TP ] ereset
8 – [02/08/22 13:04:24] (SIGNAL:00) [ TP ] OK
Figure 9-175 AUX 0703-1 Operation Logging Display–All Screen
9.58.2 OPERATION LOGGING DISPLAY–OPERATION LOGGING, AUX 0703-2
This screen displays operations only.
Figure 9-176 shows the AUX 0703-2 Operation Logging Display–Operation Logging
screen.
Aux. 0703. Operation Logging Display 2. Opertion Logging
1/ 1
1 – [05/01/21 14:45:49] (SIGNAL:00) [ PNL ] Motor power ON
2 – [05/01/21 14:55:49] (SIGNAL:00) [ PNL ] HOLD RUN
3 – [05/01/21 13:39:14] (SIGNAL:00) [ PNL ] Motor power ON
4 – [05/01/21 13:38:58] (SIGNAL:00) [ PNL ] HOLD RUN
5 – [05/01/21 13:38:58] (SIGNAL:00) [ PNL ] Motor power ON
6 – [05/01/21 13:34:35] (SIGNAL:00) [ PNL ] HOLD RUN
7 – [05/01/21 13:34:35] (SIGNAL:00) [ PNL ] Motor power ON
8 – [05/01/21 13:03:56] (SIGNAL:00) [ PNL ] HOLD RUN
Figure 9-176 AUX 0703-2 Operation Logging Display–Operation Logging Screen
9-226
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.58.3 OPERATION LOGGING DISPLAY–COMMAND LOGGING, AUX 0703-3
This screen displays commands only.
Figure 9-177 shows the AUX 0703-3 Operation Logging Display–Command Logging
screen.
Aux. 0703. Operation Logging Display 3. Command Logging
1/ 1
1 – [02/08/22 15:04:40] (SIGNAL:00) [ TP ] ereset
2 – [02/08/22 13:05:44] (SIGNAL:00) [ STD ] ere
3 – [02/08/22 13:05:43] (SIGNAL:00) [ STD ] chsum
4 – [02/08/22 13:05:41] (SIGNAL:00) [ STD ] ere
5 – [02/08/22 13:04:59] (SIGNAL:00) [ STD ] lo k0822. as
6 – [02/08/22 13:04:56] (SIGNAL:00) [ STD ] lo k08 lo k0822aa
7 – [02/08/22 13:04:50] (SIGNAL:00) [ TP ] ereset
8 – [02/08/22 13:04:24] (SIGNAL:00) [ TP ] OK
Figure 9-177 AUX 0703-3 Operation Logging Display–Command Logging Screen
9.58.4 OPERATION LOGGING DISPLAY–PROPERTY OF LOGGING, AUX 0703-5
This screen is used to specify the I/O signal status that is displayed in the Operation log.
Figure 9-178 shows the AUX 0703-5 Operation Logging Display–Property of Logging
screen.
Aux. 0703. Operation Logging Display 6. Property of Logging
1
5
Logging Signal
0
0
2
6
0
0
3
7
0
0
4
8
0
0
1. Use the cursor keys to select one of
the “Logging Signal” fields (1–8) to
enter a signal number to include in the
operation log. Start with field 1.
2. Use the numeric keypad to enter the
I/O signal number to display the ON/
OFF state at the time of an operation.
Undo
Allowable input range : [0 – 9999]
3. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad
Figure 9-178 AUX 0703-5 Operation Logging Display–Property of Logging Screen
August 9, 2007
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AUXILIARY FUNCTIONS
9.59 OPERATING DATA DISPLAY, AUX 0706
These screens display operating data as shown in figure 9-178.
Figure 9-179 shows the AUX 0706 Operating Data Display screens.
Aux. 0706. Operating Data Display
Robot No.
1/ 3
1
1. If more than one robot is used, use the
numeric keypad on the teach pendant
to enter the robot number.
2. Press the “Next Page” function key on
the touch screen to display the first
operating data screen.
Next Page
Allowable input range : [1 – 1]
Aux. 0706. Operating Data Display
2/ 3
Operation information (02/8/22 13:04:16 – )
HOUR METER
21.0 [H]
Time of control power ON
0.7 [H]
Time of servo ON
0.0 [H]
Frequency of motor ON
0
Frequency of servo ON
0
Frequency of E-STOP (moving)
0
4. Use the “Prev Page” function key on
the touch screen to return to the
previous page
Prev Page Next Page
Clear
Aux. 0706. Operating Data Display
3/ 3
JT1
Total time
Total displace.
JT2
Total time
Total displace.
JT3
Total time
Total displace.
0.0 [H]
0.000 [H]
[x1000 DEG]
0.0 [H]
0.000 [H]
[x1000 DEG]
0.0 [H]
0.000 [H]
[x1000 DEG]
JT4
Total time
Total displace.
JT5
Total time
Total displace.
JT6
Total time
Total displace.
3. Press the “Next Page” function key on
the touch screen to display the next
operating data screen.
0.0 [H]
0.000 [H]
[x1000 DEG]
5. Use the “Clear” function key on the
touch screen to reset the data to zero.
When the data is reset, the previous
data can not be recovered.
6. Use the “Prev Page” function key on
the touch screen to return to the
previous page
0.0 [H]
0.000 [H]
[x1000 DEG]
0.0 [H]
0.000 [H]
[x1000 DEG]
Prev Page
Figure 9-179 AUX 0706 Operating Data Display Screens
9-228
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.60 MAINTENANCE SUPPORT (OPTION), AUX 0707
This function is used to display information for robot maintenance.
Figure 9-180 shows the AUX 0707 Maintenance Support screen.
Aux. 0707. Maintenance Support
1. Maintenance Support Aux.
2. Error List
Up Page
Selects Maintenance Support Aux.
Figure 9-180 AUX 0707 Maintenance Support
For information on the maintenance support function refer to the D Series Controller
Maintenance Support Function (TP Version) Instruction Manual.
August 9, 2007
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AUXILIARY FUNCTIONS
9.61 MOTOR TORQUE INFORMATION (OPTION), AUX 0709
This function is used to detect possible failure by comparing the standard motor current
value calculated and stored for each program to the current value at the time of program
execution.
Figure 9-181 shows the AUX 0709 Motor Torque Information screen.
Aux. 0709. Motor Torque Information
1.
2.
3.
4.
Peak Current
Duty
Failure Prediction Setting
Base Data
Up Page
Selects Peak Current
Figure 9-181 AUX 0709 Motor Torque Information
For information on the motor torque information function refer to the D Series Controller
Failure Prediction Function for Reduction Gear manual.
9-230
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D SERIES CONTROLLER
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AUXILIARY FUNCTIONS
9.62 SLOGIC
Relay circuitry for the robot interface is reduced by replacing it with the Slogic software
function. Slogic is similar to ladder logic, used with programmable controllers (table 934). Making signal assignments using Slogic is much easier than making changes on
hard-wired systems. For hard-wired systems, changes are made by physically making
connections. Using Slogic, changes are made by simply making changes to programs.
Slogic program instructions are used to specify outputs, timers, and counters. Slogic
program instructions are edited on the 1KA/1RA board (main CPU) via the teach pendant and then transferred to the 1FS (R I/O) board, which executes the Slogic program.
The remote input/output (R I/O) function is performed by the optional 1FS board. The
RI/O system provides Allen-Bradley (A-B) programmable logic controller (PLC) serial
communication, weld control serial communication, and Slogic execution.
The R I/O function provides the status of all signals, including A-B PLC and weld control
serial signals. Internal Slogic signals can be displayed via the teach pendant.
The R I/O system performs the following functions:
•
A-B PLC serial communication is performed by the A-B node adapter chip (NAC).
Robot controllers are daisy chained through the NAC, enabling communication with
the line PLC system. A maximum of 128 I/O channels are available.
•
Weld control serial communication is performed by the 1FS board serial I/O function, which is capable of controlling a maximum of four weld controllers. A maximum
of 16 I/O channels are available for each weld controller.
•
The Slogic function is similar to a PLC instruction which uses Slogic instructions for
outputs, timers, and counters. The Slogic instructions are edited on the robot controller through the 1KA/1RA board (main CPU), and then transferred to the 1FS
board for execution of Slogic programs.
August 9, 2007
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AUXILIARY FUNCTIONS
Table 9-34 Ladder Logic to Slogic Conversion
101
101
301
SOUT 301 = 101
302
SOUT 302 = 101 AND 102
102
101
303
SOUT 303 = 101 OR 102
102
101 102
304
SOUT 304 = (-101 AND -102) OR -103
103
101 102
305
SOUT 305 = (101 OR 103) and (102 OR -104)
103 104
101
5s
TIM
2601
2601
STIM 2601 = 101, 5.0
SOUT 306 = 2601
306
101
CUP
110
102
10
CDP CNT
2701
R
SCNT 2701 = 101, 110, 102, 10
SOUT 307 = 2701
2701
307
9-232
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AUXILIARY FUNCTIONS
The following is an example of the process used to edit the Slogic program (SPG) using
the keyboard screen or a notbook PC with KCWIN/KCMON terminal software installed.
Select the Keyboard Screen or KCWIN/KCMON on a notebook PC.
>SS
>SU
SLOGIC Stop
SLOGIC Upload - Upload Slogic from the 1FS board to the 1KA board
to edit the program SPG.
Program SPG can now be edited.
>ED SPG
1 SOUT 301 = 101
1?
2 SOUT 302 = 101 AND 102
2?
3 SOUT 303 = 101 OR 102
3?
4 SOUT 304 = (-101 AND -102) OR -103
4?
5 SOUT 305 = (101 OR 103) AND (102 OR -104)
5?
6 STIM 2601 = 101, 5.0
6?
7 SOUT 306 = 2601
7?
8 SCNT 2701 = 101, 110, 102, 10
8?
9 SOUT 307 = 2701
9?
10?E
Exit
>SD
SLOGIC Download - Download the program from the 1KA board to the
1FS board to execute the program.
Password
4989 (same for all controllers)
>SR
SLOGIC Run
e
l
p
m
a
S
m
a
r
g
o
r
P
Editing SLOGIC
S STEP#
I
D
O
E
The step number to be edited
Insert lines before the current step.
Delete the program step.
Places the cursor on the current step for editing (overwrite)
Exits from the editor to the monitor mode.
Note: Output may be used only once.
January 13, 2005
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AUXILIARY FUNCTIONS
9.62.1 REMOTE I/O AND SLOGIC SPECIFICATIONS
The following are specifications for remote I/O and Slogic functions:
Control method:
Stored program (Slogic)
Program size:
Approximately 1,500 steps (max. 72,000 characters)
Note: 1.
The following example Slogic instruction is considered two steps:
SOUT XXXX=YYYY + 80 comment characters = 96 total characters
2.
The following example Slogic instruction is considered three steps:
SOUT XXXX=YYYY AND ZZZZ + 119 comment characters = 144 total characters
Execution cycle time:
1-300 steps
301-900 steps
901-1500 steps
5ms
10ms
15ms
Number of parallel signals:
Standard signals (one 1GW board):
Optional signals:
32 I/O channels
24 VDC, 100mA
64 I/O channels (one additional 1GW board)
96 I/O channels (two additional 1GW boards)
128 I/O channels (three additional 1GW boards)
Number of internal signals:
Non-retentive relay
Retentive relay
Timer
Counter
Message display
Slogic status
9-234
128
16
16 (range: 0.1 to 999.9 seconds)
16 (range: 1 to 9999 counts)
64
16
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AUXILIARY FUNCTIONS
OX signals = Robot Output signals 1-64
WX signals = Robot Input signals 1001-1064
Robot CPU (1KA/1RA)
Robot Output 1 ~ 256
Robot Input 1001 ~ 1256
Robot Internal 2001 ~ 2256
PLC
Serial
Input
1001 ~ 1256
1 ~ 256
1501 ~ 1564
Allen-Bradley
PLC
Arm ID (1GV)
*1451 ~ 1458 *451 ~ 474
*1601 ~ 1632
*1729 ~ 1792
1FS Board
Weld
Serial
Input
**SLOGIC Functions
(Internal Signals)
PLC
Serial
Output
501 ~ 564
1301~1428 301~428
I/O Boards
(1GW/1HW 4 max.
1JR 3 max.
optional)
Weld
Controllers
(maximum 8)
*601 ~ 632
*729 ~ 792 Weld
Serial
Output
*These signal numbers
are software version
dependant
**SLOGIC Functions (Internal Signals)
Relays: Non-Retentive
2301 ~ 2428
Relays: Retentive
2501 ~ 2516
Relays: Timers
2601 ~ 2616
Relays: Counters
2701 ~ 2716
SLOGIC Status Signals
2801 ~ 2816
W/C #1 Not Connected
2801
W/C #2 Communication Error 2802
NAC Communication Error
2803
Battery Error
2804
W/C #2 Not Connected
2805
W/C #2 Communication Error 2806
Spare
2807 ~ 2816
Message Display
2901 ~ 2964
An additional magnetic
relay output "SRUN" signal
is available. This signal
indicates that SLOGIC is
running. It does not have
a signal number.
SLOGIC messages must be named $w2901 ~ $w2964.
Refer to AS Language manual for steps to create string
variables (e.g., $w2901 = "message").
Signal for Last Weld Current
2965
Figure 9-182 Robot Signal Numbers (1FS Board)
August 9, 2007
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AUXILIARY FUNCTIONS
OX signals = Robot Output signals 1~64
WX signals = Robot Input signals 1001~1064
Robot CPU (1GA/1HA)
Robot Output 1~256
Robot Input 1001~1256
Bit
Data
1001~1256
Input
Word
Data
1~256
D1001~D1032
D1~D32
1501~1564
Bit Data
Mitsubishi
PLC
CC-Link
Output
1HS Board
501~564
RS-485
Serial
*SLOGIC Functions
(Internal Signals)
Input
D1501~D1516
Input
1601~1632
601~632
Output
Weld
Controllers
(maximum 8)
Word
Data
Output
D501~D516
1301~1428
301~428
1GW
Parallel I/O Boards
(optional, 4 maximum)
*SLOGIC Functions (Internal Signals)
Bit Data
1GW Internal Relay Signals
Relays: Timers
3001~3064
Relays: Non-Retentive 3065~3096
Relays: Counters
3097~3128
Relays: Retentive
2001~2512
2501: 1st 1GW 1~16
2502: 1st 1GW 17~32
2503: 2nd 1GW 1~16
2504: 2nd 1GW 17~32
2505: 3rd 1GW 1~16
2506: 3rd 1GW 17~32
2507: 4th 1GW 1~16
2508: 4th 1GW 17~32
Word Data
D/A Output
D301~D304
A/D Input
D1301~D1304
Internal Register D2001~D2064
Constant Bit
Internal Relay Signals
2510: Always OFF
2511: Always ON
Figure 9-183 Robot Signal Numbers (1HS Board)
9-236
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D SERIES CONTROLLER
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AUXILIARY FUNCTIONS
9.63 RI/O LAST WELD DATA (OPTION), AUX 0710
The LAST WELD DATA screen displays the weld sequence parameters. Use the NEXT
PG and PRE PG keys to display the three available screens. Figure 9-184 shows the
two available screens.
Program
pg70
[
Step
[Comment ]
]
PC
[
04-09-07 13:50
Status
JOINT
T
1
]
C
R
50%
S-Logic
RPS
AUTO
Aux. 0710. RI/O Last Weld Data
1/ 2
Weld Cont. #1 Weld Cont. #2 Weld Cont. #3 Weld Cont. #4
Sequence No.
12
12
12
12
Stepper No.
9
9
9
9
Present No.
Comp.
Comp.
Comp.
Comp.
Welds Mode
3456
3456
3456
3456
Power Factor
6 deg
6 deg
6 deg
6 deg
Weld Primary Current
6666 A
6666 A
6666 A
6666 A
Weld Sec. Current #1
45.6 KA
45.6 KA
45.6 KA
45.6 KA
Weld Sec. Current #2
45.6 KA
45.6 KA
45.6 KA
45.6 KA
Weld Line Voltage
456 V
456 V
456 V
456 V
Next Page
Program
pg70
[
Step
[Comment ]
]
[
PC
1
]
04-09-07 13:51
Status
JOINT
T
C
R
50%
S-Logic
RPS
Aux. 0710. RI/O Last Weld Data
AUTO
2/ 2
Weld Cont. #5 Weld Cont. #6 Weld Cont. #7 Weld Cont. #8
Sequence No.
12
12
12
12
Stepper No.
9
9
9
9
Present No.
Comp.
Comp.
Comp.
Comp.
Welds Mode
3456
3456
3456
3456
Power Factor
6 deg
6 deg
6 deg
6 deg
Weld Primary Current
6666 A
6666 A
6666 A
6666 A
Weld Sec. Current #1
45.6 KA
45.6 KA
45.6 KA
45.6 KA
Weld Sec. Current #2
45.6 KA
45.6 KA
45.6 KA
45.6 KA
Weld Line Voltage
456 V
456 V
456 V
456 V
Prev Page
Figure 9-184 AUX 0710 RI/O Last Weld Data Screens
August 9, 2007
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9.64 SLOGIC ETC. MONITOR MENU (OPTION), AUX 0711
This function allows the operator to access functions regarding the remote I/O functions
(Figure 9-185).
Program
pg70
[
Step
[Comment ]
]
[
PC
1
]
04-09-07 13:40
Status
JOINT
T
C
R
50%
S-Logic
RPS
AUTO
Aux. 0711. SLogic Etc. Monitor
1.
2.
3.
4.
5.
Signal Status
Timer Status
Counter Status
SLogic Monitor
SLogic Status
Up Page
Selects Signal Status
Figure 9-185 AUX 0711 Slogic Etc. Monitor Menu Screen
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9.64.1 SLOGIC ETC. MONITOR 1. SIGNAL STATUS (OPTION), AUX 0711-1
The signal status screens, shown in figure 9-186, allows the operator to view the status
of all remote I/O and robot signals. Figure 9-186 shows two of four signal status
screens. Use the Next Page key to display the remaining screens
Program
pg70
[
Step
[Comment ]
]
PC
[
04-09-07 13:40
Status
JOINT
T
1
]
C
R
50%
S-Logic
RPS
AUTO
Aux. 0711. SLogic Etc. Monitor 1. Signal Status
32 –
1
1032 – 1001
332 – 301
1332 – 1301
532 – 501
1532 – 1501
632 – 601
1632 – 1601
760 – 729
1760 – 1729
2332 – 2301
2532 – 2501
Program
pg70
[
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
Next Page
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
Step
PC
[Comment ]
]
[
1/ 4
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
C
R
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
04-09-07 13:40
Status
JOINT
T
1
]
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
50%
S-Logic
RPS
AUTO
Aux. 0711. SLogic Etc. Monitor 1. Signal Status
64 – 33 0000 0000 0000
1064 – 1033 0000 0000 0000
364 – 333 0000 0000 0000
1364 – 1333 0000 0000 0000
564 – 533 0000 0000 0000
1564 – 1533 0000 0000 0000
664 – 633 0000 0000 0000
1664 – 1633 0000 0000 0000
792 – 761 0000 0000 0000
1792 – 1761 0000 0000 0000
2364 – 2333 0000 0000 0000
2632 – 2601 0000 0000 0000
Prev Page Next Page
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
2/ 4
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
Figure 9-186 AUX 0711-1 Slogic Etc. Monitor 1. Signal Status Screen
August 9, 2007
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AUXILIARY FUNCTIONS
9.64.2 SLOGIC ETC. MONITOR 2. TIMER STATUS (OPTION), AUX 0711-2
The timer status function allows the operator to view the timer set values and elapsed
time (Figure 9-187).
Program
pg70
[
Step
[Comment ]
]
[
PC
1
]
04-09-07 13:43
Status
JOINT
T
C
R
50%
S-Logic
RPS
AUTO
Aux. 0711. SLogic Etc. Monitor 2. Timer Status
NO.
2601
2602
2603
2604
2605
2606
2607
2608
SET
1.2
2.3
3.4
4.5
5.6
6.7
7.8
8.9
CURRENT
1.1
2.2
3.3
4.4
5.5
6.6
7.7
8.8
NO.
2609
2610
2611
2612
2613
2614
2615
2616
SET
10.0
11.2
22.3
33.4
44.5
55.6
66.7
77.8
CURRENT
9.9
11.1
22.2
33.3
44.4
55.5
66.6
77.7
Figure 9-187 AUX 0711-2 Slogic Etc. Monitor 2. Timer Status Screen
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AUXILIARY FUNCTIONS
9.64.3 SLOGIC ETC. MONITOR 3. COUNTER STATUS (OPTION), AUX 0711-3
The counter status function allows the operator to view the counter set values and the
current values (Figure 9-188).
Program
pg70
[
Step
[Comment ]
]
[
PC
1
]
04-09-07 13:44
Status
JOINT
T
C
R
50%
S-Logic
RPS
AUTO
Aux. 0711. SLogic Etc. Monitor 3. Counter Status
NO.
2701
2702
2703
2704
2705
2706
2707
2708
SET
12
23
34
45
56
67
78
89
CURRENT
11
22
33
44
55
66
77
88
NO.
2709
2710
2711
2712
2713
2714
2715
2716
SET
100
112
223
334
445
556
667
778
CURRENT
99
111
222
333
444
555
666
777
Figure 9-188 AUX 0711-3 Slogic Etc. Monitor 3. Counter Status Screen
August 9, 2007
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
AUXILIARY FUNCTIONS
9.64.4 SLOGIC ETC. MONITOR 4. SLOGIC MONITOR (OPTION), AUX 0711-4
The Slogic monitor screen (Figure 9-189) allows the operator to monitor output signals
used by the Slogic program. It also displays the status of the signal (OFF or ON). When
this function is accessed, enter the output signal number at the prompt and press the
ENTER key on the teach pendant keypad.
Program
pg70
[
Step
[Comment ]
]
[
04-09-07 13:47
Status
PC
JOINT
T
1
]
C
R
50%
1. Use the numeric keypad, on the teach
pendant keypad, to enter the signal
number.
S-Logic
RPS
2. Ensure the data is correct and press
the ENTER key on the teach pendant
keypad.
AUTO
Aux. 0711. SLogic Etc. Monitor 4. SLogic Monitor
Signal No.
0
Input range : [0 – 999]
Program
pg70
[
Step
[Comment ]
]
[
PC
1
]
04-09-07 13:47
Status
JOINT
T
C
R
50%
S-Logic
RPS
Aux. 0711. SLogic Etc. Monitor 4. SLogic Monitor
1
2
3
4
5
6
7
8
9
10
SOUT
SOUT
SOUT
SOUT
SOUT
SOUT
SOUT
SOUT
SOUT
SOUT
AUTO
1/ 2
301 = 1
302 = 2
303 = 3
1001 = 1501
1002 = 1502 AND 3
1003 = 1503
1004 = 1504
1005 = 1505
1006 = 1506
1007 = 1507
Next Page
Figure 9-189 AUX 0711-4 Slogic Etc. Monitor 4. Slogic Monitor Screen
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9.64.5 SLOGIC ETC. MONITOR 5. SLOGIC STATUS (OPTION), AUX 0711-5
The Slogic status screen allows the operator to view the status of the Slogic program
(Figure 9-190). It displays the status of Slogic programs as active (RUN) or inactive
(STOP). It also indicates how many steps are used in the Slogic program, the number of
bytes free in the memory, and the date and time the Slogic program was downloaded.
Program
pg70
[
Step
[Comment ]
]
[
PC
1
]
04-09-07 13:54
Status
JOINT
T
C
R
50%
S-Logic
RPS
AUTO
Aux. 0711. SLogic Etc. Monitor 5. SLogic Status
SLogic Status
SLogic Steps
SLogic Memory
Download Date
STOP
0
0 Bytes Free
00–00–00 00:00:00
Figure 9-190 AUX 0711-5 Slogic Etc. Monitor 5. Slogic Status Screen
August 9, 2007
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D SERIES CONTROLLER
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AUXILIARY FUNCTIONS
9.65 MEMORY AVAILABLE, AUX 0801
This function is used to display the amount of memory available for programming and
variables. The available memory is displayed in bytes and percentage.
Figure 9-191 shows the AUX 0801 Memory Available screen.
Aux. 0801. Memory Available
Total memory, 524288 bytes.
Available memory size 508116 bytes. ( 96%)
Figure 9-191 AUX 0801 Memory Available Screen
NOTE
A portion of the controller’s memory is dedicated to robot operation. The memory available reflects the
memory available for user programs and variables.
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D SERIES CONTROLLER
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AUXILIARY FUNCTIONS
9.66 INHIBIT RECORD, AUX 0802
This function is used to prevent accidental recording or changing of programs.
When “Record” is set to inhibit, using the teach pendant to record or edit positional or
auxiliary data is prohibited.
When “Program Change” is set to inhibit, the use of the AS Language instructions EDIT,
TEACH, COPY, XFER, and LOAD are prohibited. If “Program Change” is set to inhibit
during execution of the EDIT instruction, inhibit is effective after the current execution of
the EDIT instruction is completed.
Figure 9-192 shows the AUX 0802 Inhibit Record screen.
Aux. 0802. Inhibit record
Record
Program Change
Accept
Accept
Inhibit
Inhibit
1. Use the cursor keys to select the item
to set and use the SELECT key, on the
teach pendant keypad, to toggle
between “Accept” and “Inhibit”.
2. Ensure the setting is correct and press
the ENTER key, on the teach pendant
keypad.
Undo
Figure 9-192 AUX 0802 Inhibit Record Screen
August 9, 2007
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D SERIES CONTROLLER
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9.67 RESET CHECK SUM ERROR, AUX 0803
The Reset Check Sum Error function allows the operator to clear error E0903, check
sum error of system data.
A check sum error is generated when the processor calculates a difference between
data when the controller is powered up compared to data in memory.
When error E0903 occurs select AUX 0803, and change the setting to “Enable”.
When control power is cycled OFF and ON, the error should clear and the setting is
returned to “Disable”.
If the check sum error is not cleared when the control power is cycled, an additional
screen is displayed with further troubleshooting information.
Figure 9-193 shows the AUX 0803 Reset Check Sum Error screen.
Aux. 0803. Reset Check Sum Error
Clear Check Sum Error
Enable
Disable
1. Use the SELECT key, on the teach
pendant keypad, to toggle between
“Enable” and “Disable” and press the
ENTER key, on the teach pendant
keypad.
Undo
Figure 9-193 AUX 0803 Reset Check Sum Error Screen
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D SERIES CONTROLLER
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AUXILIARY FUNCTIONS
9.68 SOFTWARE VERSION, AUX 0804
This function displays the software version for the controller and the teach pendant,
robot model number, robot serial number and the number input and output signals
installed.
Figure 9-194 shows the AUX 0804 Software Version screen.
Aux. 0804. Software Version
1/ 2
1. Use the ”Next Page” function key, on
the touch screen, to display the next
page of information.
2/ 2
2. Use the ”Prev Page” function key, on
the touch screen, to display the previous page of information.
Robot name : ZX165U-A001 Num of axes 6 Serial No. 1
Seq. board
: CCL000 ... 1999-03-08 12:00:00
Seq. board
: CCL000 ... 1999-03-08 12:00:00
Number of signals: output = 128 input = 128 internal = 256
Clamp number: 6 MOTION TYPE : 2 SERVO TYPE : 2
Vision
:
Vision
:
[SOFT VERSION]
=== AS GROUP ===
: AS_01000002 2002/08/07 15:02
USER IF AS
: UAS01000002 2002/08/22 12:04
USER IF TP
: UTP01000002 2002/08/22 11:55
ARM CONTROL AS
: AAS01000002 2002/08/07 15:24
Next Page
Aux. 0804. Software Version
USER IF AS MESSAGE FILE : MAS000002EN 2002/08/07 15:24
USER IF TP MESSAGE FILE : MTP000002EN 2002/08/07 15:23
ARM DATA FILE
: ARM01000002 2002/08/07 15:02
=== SERVO GROUP ===
: SV_01000002 2002/08/07 15:02
Prev Page
Figure 9-194 AUX 0804 Software Version Screen
August 9, 2007
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D SERIES CONTROLLER
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9.69 INITIALIZE SYSTEM, AUX 0805
This function is used to initialize the system. When the system is initialized, all programs
and variables are deleted and system switches and auxiliary data are set to default
values. Zeroing data and dedicated signal settings are not affected.
Figure 9-195 shows the AUX 0805 Initialize system screens and describes the initialize
system procedure.
!
CAUTION
Initializing the system erases all program and variable
data and reset system data to default settings. If a PC
is connected to the controller and the initialization function is selected, care must be taken not to initialize the
hard drive of the PC.
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Aux. 0805. Initialize system
Are you sure to initialize?
Initialize
Not initialize
******************
*
Caution !! *
******************
This function
deletes memory data.
All system switches
are initialized.
Press ENTER key to continue.
1. Use the SELECT key, on the teach
pendant keypad, to select “Initialize”
and press the ENTER key, on the teach
pendant keypad.
Undo
Aux. 0805. Initialize system
Are you sure Confirm
to initialize?
Record
Initialize
Not initialize
2. Use the cursor keys to highlight “Yes”
and press the SELECT key, on the
teach pendant keypad.
Records, OK ?
******************
*
Caution !! *
No
Yes
******************
This function
deletes memory data.
All system switches
are initialized.
Press ENTER key to continue.
Undo
Aux. 0805. Initialize system
Are you sure to initialize?
Initialize
Not initialize
3. When “Setting complete.” is displayed
in the lower left of the screen, the
procedure is completed.
******************
*
Caution !! *
******************
This function
deletes memory data.
All system switches
are initialized.
Press ENTER key to continue.
Undo
Setting complete.
Figure 9-195 AUX 0805 Initialize System Screen
August 9, 2007
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D SERIES CONTROLLER
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9.70 BATTERY ERROR CHECK, AUX 0806
This function is used to enable/disable the battery voltage check at controller power-up.
If enable is selected, the RAM memory back-up battery voltage is checked. If the battery voltage is low an error message is displayed.
If disable is selected the battery voltage is not checked and the low voltage error is not
generated, if the battery voltage is low.
Figure 9-196 shows the AUX 0806 Battery Error Check screen and describes the battery
error check enable/disable setting procedure.
Aux. 0806. Battery Error Check
Battery Error Check
Enable
Disable
1. Use the SELECT key, on the teach
pendant keypad, to select “Enable” or
“Disable” and press the ENTER key, on
the teach pendant keypad.
Undo
Figure 9-196 AUX 0806 Battery Error Check Screen
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9.71 CHECK SPECIFICATION, AUX 0807
Figure 9-197 shows the AUX 0807 Check Specification screen and describes the setting
procedure.
Tables 9-35 and 9-36 provide descriptions of the check specification settings.
Table 9-35 Check Specification Descriptions
Item
Call
Timer
Jump/End
OX
WX
Clamp
Setting
Enable
CALL instruction is executed during check mode operation
Disable
CALL instruction is not executed during check mode operation
Enable
TIMER instruction is executed during check mode operation
Disable
TIMER instruction is not executed during check mode operation
Enable
JUMP/END instructions are executed during check mode operation
Disable
JUMP/END instructions are not executed during check mode operation
Enable
OX signals are output during check mode operation
Disable
OX signals are not output during check mode operation
Enable
WX signals are recognized during check mode operation
Disable
WX signals are not recognized during check mode operation
Enable
Clamp signals are output during check mode operation
Disable
Clamp signals are not output during check mode operation
Enable
In CHECK ONCE mode, the robot moves to the next or previous step
using the CHECK GO or CHECK BACK keys, only when the robot
axes reach coincidence.
Disable
In CHECK ONCE mode, the robot moves to the next or previous step
using the S + CHECK GO or S + CHECK BACK keys.
Enable
The robot operates at a maximum speed of 250 mm/s regardless of
the taught speed. This setting is valid in CHECK ONCE mode only.
Disable
The slower the taught speed the faster the robot accelerates and
decelerates.
Enable
When velocity priority and velocity priority2 are set to enable, the robot
operates with priority to 250 mm/s in CHECK ONCE and CHECK
CONT modes.
Disable
When velocity priority2 is disabled, velocity priority setting is used.
Step Continuous
Velocity Priority
Velocity Priority2
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Description
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Table 9-36 Check Specification Descriptions for Check Forward and Check Backward
Item
Check Forward
Call
According to setting
Always disabled
Timer
According to setting
Always disabled
Jump/End
According to setting
Always disabled
OX
According to setting
According to setting
WX
According to setting
Always disabled
Clamp
According to setting
According to setting
Aux. 0807. Check Specification
Call
Timer
Jump/End
OX
WX
Clamp
Continuous Step Mode
Velocity Priority Mode
Velocity Priority Mode 2
Check Backward
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Disable
Disable
Disable
Disable
Disable
Disable
Disable
Disable
Disable
1. Use the cursor keys to select the item
to set and use the SELECT key, on the
teach pendant keypad, to toggle
between “Enable” and “Disable”.
2. Ensure the settings are correct and
press the ENTER key, on the teach
pendant keypad.
Undo
Figure 9-197 AUX 0807 Check Specification Screen
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D SERIES CONTROLLER
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9.72 ENVIRONMENT DATA, AUX 0808
The environment data function is used to activate the Auto Servo Off Time and to allow
for operation of the robot system with the teach pendant disconnected. To operate the
robot system with the teach pendant disconnected follow the procedure described in
section 9.72.1.
The time set in “Auto Servo Off Time” is the time delay before motor power is dropped
from the motors and the brakes are engaged, when the robot is in a wait condition.
Motor power remains available and is immediately restored when the wait condition is
satisfied. The robot resumes operation as if the “Auto Servo Off Time” function did not
drop motor power from the motors.
Figure 9-198 shows the AUX 0808 Environment Data screen and describes the setting
procedure. The teach pendant disconnect procedure is described in section 9.55.1.
Aux. 0808. Environment Data
Auto Servo Off Time
Teach Pendant
0s
0s:Do not servo off
Conn.
Disconn.
1. Use the numeric keypad, on the teach
pendant, to enter the time in seconds
for “Auto Servo Off Time”. A setting of
“0” (zero) sets the “Auto Servo Off
Time” as ineffective.
2. Use the cursor keys to select “Teach
Pendant” and use the SELECT key, on
the teach pendant keypad, to toggle
between “Conn.” (connected) and
“Disconn.” (disconnected).
Undo
Allowable input range : [0 – 9999]
3. Ensure the data is correct and press
the ENTER key, on the teach pendant
keypad.
Figure 9-198 AUX 0808 Environment Data Screen
August 9, 2007
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9.72.1 TEACH PENDANT DISCONNECT PROCEDURE
The teach pendant can be disconnected and operate the robot in repeat mode, using the
following procedure in conjunction with the teach pendant disconnect function in AUX
0808.
1.
Set the TEACH/REPEAT switch, on the operation panel, to REPEAT.
2.
Set the “Teach Pendant” function to “Disconn.” (disconnected) in AUX 0808 and
press the ENTER key, on the teach pendant keypad.
3.
Set the controller power to OFF.
4.
Disconnect the teach pendant connector.
5.
Connect a dummy plug (E-stop circuit jumper plug) in place of the teach pendant
connector.
6.
Set the controller power to ON. The robot is now able to operate in repeat mode
without the teach pendant connected
NOTE
Ensure the TEACH/REPEAT switch is set to REPEAT
before setting “Teach Pendant” in AUX 0808 to
“Disconn.” (disconnected).
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9.73 TIME/DATE, AUX 0809
This function is used to set the time and date for the controller system clock.
The time and date set in AUX 0809 is displayed on the teach pendant screen and is
used as the date and time for the error and operation logs.
Figure 9-199 shows the AUX 0809 Time/Date screen and describes the setting procedure.
1. Use the cursor keys to select the date
or time field and use the numeric
keypad on the teach pendant to enter
the date and time data.
Aux. 0809. Time/Date
Date
2002 – 8 – 22
Time
15 :
58 : 52
2. Ensure the time and date are correct
and press the ENTER key on the teach
pendant keypad. The ENTER key must
be pressed immediately or the time
delay causes an error in the time
entered.
Undo
Allowable input range : [2001 – 2099]
3. If no changes are made, press the
CANCEL key on the teach pendant
keypad. If CANCEL is not pressed the
time displayed when the screen was
opened is set as the current time.
Figure 9-199 AUX 0809 Time/Date Screen
August 9, 2007
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9.74 PC PROGRAM RUN/STOP, AUX 0810
The PC Program Run/Stop screen provides menu driven PC program control. The
equivalent AS Language commands are included.
Table 9-37 provides descriptions of the PC program run/stop commands.
Figure 9-200 shows the AUX 0810 PC Program Run/Stop screen and the following
sections describe the PC program control procedures.
Table 9-37 PC Program Run/Stop Commands
Command
AS Language
Command
Description
START
Executes the designated PC program. The number of execution
cycles and the star t step can also be defined.
PCEXECUTE
ABORT
Interrupts the currently executing PC program.
PCABORT
STOP
Stops the PC program at the next robot program STOP command, or
after the last step of a robot program is executed.
PCEND
CONTINUE
Star ts PC program execution, after interruption by a PCABORT or a
PCEND command.
PCCONTINUE
KILL
Cancels the currently selected PC program.
PCKILL
STATUS
Displays the status of the currently executing PC program.
PCSTATUS
1. Use the cursor keys to select the menu
item and press the SELECT key, on the
teach pendant keypad.
Aux. 0810. PC Program Run/Stop
1.
2.
3.
4.
5.
6.
Selects Start
(PCEXECUTE)
Selects Abort
(PCABORT
Selects Stop
(PCEND)
Select Continue (PCCONTINUE)
Kill PC Prg. (PCKILL)
Selects Status
(PCSTATUS)
Refer to the following sections for
instructions for each menu item.
Up Page
Select Start
(PCEXECUTE)
Figure 9-200 AUX 0810 PC Program Run/Stop Menu Screen
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9.74.1 PC PROGRAM START, AUX 0810-1
Figure 9-201 shows the AUX 0810-1 PC Program Start screen and describes the PC
program start procedure.
1. Use the cursor keys to select “PC
Program No.” and use the numeric
keypad, on the teach pendant, to enter
the PC program number (1–5).
Aux. 0810. PC Program Run/Stop 1. Selects Start (PCEXECUTE)
PC Program No.
1
Program Name
Repeat Cycles
Start Step
1
1
Undo
Input range : [1 – 5]
Specify program.
pg ??
pcprg1
pcprg2
pcprg3
pg1
pg2
pg3
pg5
pg50
pg51
pg52
1/2
Input char
[
[
[
[
[wx
[ox
[
[
[
[
Next Page
] pg53
] pg54
] pg55
] pg56
] pg57
] pg58
] pg59
] pg6
] pg90
] pg95
[
[
[
[
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
]
2. The program select screen is displayed.
3. Use the cursor keys to select the
program to use as the PC program
number selected in step 1.
4. Press the SELECT key, on the teach
pendant keypad.
pg
Aux. 0810. PC Program Run/Stop 1. Selects Start
PC Program No.
Program Name
Repeat Cycles
Start Step
1
pg1
1
1
(PCEXECUTE)
5. Use the cursor keys to select “Repeat
Cycles” and use the numeric keypad,
on the teach pendant, to enter the
number of times to repeat the program.
6. Use the cursor keys to select “Start
Step” and use the numeric keypad, on
the teach pendant, to enter the step
number of the program to start the first
execution cycle.
Undo
Input range : [-1 – 9999]
7. Ensure the data is correct and press
the ENTER key, on the teach pendant
keypad.
Figure 9-201 AUX 0810-1 PC Program Start Screen
August 9, 2007
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9.74.2 PC PROGRAM ABORT, AUX 0810-2
Figure 9-202 shows the AUX 0810-2 PC Program Abort screen and describes the PC
program abort procedure.
Aux. 0810. PC Program Run/Stop 2. Selects Abort
PC Program No.
(PCABORT)
1
1. Use the numeric keypad, on the teach
pendant, to enter the PC program
number (1–5).
2. Press the ENTER key, on the teach
pendant keypad.
Undo
Input range : [1 – 5]
Aux. 0810. PC Program Run/Stop 2. Selects Abort
PC Program No.
Confirm Record
(PCABORT)
3. The confirmation screen is displayed.
1
Executes, OK ?
No
Yes
4. Use the cursor keys to highlight “Yes”
and press the SELECT key, on the
teach pendant keypad.
Undo
Input range : [1 – 5]
Aux. 0810. PC Program Run/Stop 2. Selects Abort
PC Program No.
1
(PCABORT)
5. When “Setting complete.” is displayed
in the lower left of the screen the
procedure is complete.
Undo
Setting complete.
Figure 9-202 AUX 0810-2 PC Program Abort Screen
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9.74.3 PC PROGRAM STOP, AUX 0810-3
Figure 9-203 shows the AUX 0810-3 PC Program Stop screen and describes the PC
program stop procedure.
Aux. 0810. PC Program Run/Stop 3. Selects Stop
PC Program No.
(PCEND)
1
1. Use the numeric keypad, on the teach
pendant, to enter the PC program
number (1–5).
2. Press the ENTER key, on the teach
pendant keypad.
Undo
Setting complete.
Aux. 0810. PC Program Run/Stop 3. Selects Stop
PC Program No.
Confirm Record
(PCEND)
1
Executes, OK ?
No
Yes
3. The confirmation screen is displayed.
4. Use the cursor keys to highlight “Yes”
and press the SELECT key, on the
teach pendant keypad.
Undo
Input range : [1 – 5]
Aux. 0810. PC Program Run/Stop 3. Selects Stop
PC Program No.
1
(PCEND)
5. When “Setting complete.” is displayed
in the lower left of the screen the
procedure is complete.
Undo
Setting complete.
Figure 9-203 AUX 0810-3 PC Program Stop Screen
August 9, 2007
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9.74.4 PC PROGRAM CONTINUE, AUX 0810-4
Figure 9-204 shows the AUX 0810-4 PC Program Continue screen and describes the
PC program continue procedure.
Aux. 0810. PC Program Run/Stop 4. Select Continue (PCCONTINUE)
PC Program No.
1
1. Use the numeric keypad, on the teach
pendant, to enter the PC program
number (1–5).
2. Press the ENTER key, on the teach
pendant keypad, to restart the PC
Program.
Undo
Input range : [1 – 5]
Figure 9-204 AUX 0810-4 PC Program Continue Screen
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9.74.5 PC PROGRAM KILL, AUX 0810-5
Figure 9-205 shows the AUX 0810-5 PC Program Kill screen and describes the PC
program kill procedure.
Aux. 0810. PC Program Run/Stop 5. Kill PC Prg. (PCKILL)
PC Program No.
1
1. Use the numeric keypad, on the teach
pendant, to enter the PC program
number (1–5).
2. Press the ENTER key, on the teach
pendant keypad.
Undo
Input range : [1 – 5]
Aux. 0810. PC Program Run/Stop 5. Kill PC Prg. (PCKILL)
PC Program No.
Confirm Record
3. The confirmation screen is displayed.
1
Executes, OK ?
No
Yes
4. Use the cursor keys to highlight “Yes”
and press the SELECT key, on the
teach pendant keypad.
Undo
Input range : [1 – 5]
Aux. 0810. PC Program Run/Stop 5. Kill PC Prg. (PCKILL)
PC Program No.
1
5. When “Setting complete.” is displayed
in the lower left of the screen the
procedure is complete.
Undo
Setting complete.
Figure 9-205 AUX 0810-5 PC Program Kill Screen
August 9, 2007
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9.74.6 PC PROGRAM STATUS, AUX 0810-6
Figure 9-206 shows the AUX 0810-6 PC Program Status screen and describes the PC
program status procedure.
Aux. 0810. PC Program Run/Stop 6. Selects Status (PCSTATUS)
PC Program No.
1
1. Use the numeric keypad, on the teach
pendant, to enter the PC program
number (1–5).
2. Press the ENTER key, on the teach
pendant keypad, to display the status
of the selected PC Program number.
Undo
Input range : [1 – 5]
Aux. 0810. PC Program Run/Stop 6. Selects Status (PCSTATUS)
PC status:
Program is not running.
Execution cycles
Completed cycles:
0
Remaining cycles:
0
Program name
Priority Step No.
No program is running.
Figure 9-206 AUX 0810-6 PC Program Status Screen
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9.75 LANGUAGE, AUX 0811
This function allows the operator to select between Japanese (Second) and English
(First) language for the display screens.
Figure 9-207 shows the AUX 0811 Language screen and describes the language selection procedure.
Aux. 0811. Choose language
Language
First
Second
1. Use the SELECT key, on the teach
pendant keypad, to toggle between
“First” and “Second”.
2. Ensure the setting is correct and press
the ENTER key, on the teach pendant
keypad.
Undo
Figure 9-207 AUX 0811 PC Language Screen
August 9, 2007
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9.76 NETWORK SETTING, AUX 0812
Figure 9-208 shows the AUX 0812 Network Setting screen and describes the network
setting procedure.
When an optional 1KN/1QN board with Ethernet is installed the robot can be set as a
node on a network.
This function allows the operator to set the following parameters for networking.
•
IP address
•
Hostname (Host name)
•
Subnet mask
•
Gateway (IP address)
•
Primary DNS server
•
Secondary DNS server
•
Domain name
•
MAC address
1. Use the cursor keys to select each
item.
Aux. 0812. Network Setting
IP Address
Hostname
Subnet Mask
Gateway
Primary DNS Server
Secondary DNS Server
Domain Name
192 . 168 . 242 . 224
KA1
255 . 255 . 255 . 0
192 . 168 . 242 . 1
192 . 168 . 242 . 10
192 . 168 . 242 . 20
robot.khi.co.jp
MAC Address
00:09:0F:01:12
Undo
Sets IP Address
Allowable input range : [0 – 255]
For the “Host Name” and “Domain
Name” press the SELECT key, on the
teach pendant keypad, to display the
keyboard and enter the name.
For the other items use the numeric
keypad on the teach pendant to enter
the data.
2. Ensure the data is correct and press
the ENTER key, on the teach pendant
keypad.
Figure 9-208 AUX 0812 Network Setting Screen
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9.77 OPTION BOARD SUPPORT, AUX 0890
This function is used to select the type of optional RI/O board that is installed in the
controller. The options are a 1FS board, one 1HS board or two 1HS boards (Figure 9209).
Aux. 0890. Option board support
Select Board
1FS Remote-I/O Control-Net
1HS (CC-LINK Comm.) No. 1
1HS (CC-LINK Comm.) No. 2
Device
0
Device List
0: PC Card
Undo
Figure 9-209 Option Board Support Screen
August 9, 2007
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9.78 SELECT AUXILIARY FUNCTION, AUX 0897
Auxiliary functions can be set to display or not display in the auxiliary function menu. By
setting operation levels for functions, functions are only displayed in the menu when the
operation level set in AUX 0897 is the same level or lower than set in AUX 0898. Auxiliary functions set to levels 2 and 3 are not displayed in the menu when the operation
level is set to 1 in AUX 0898.
Figures 9-210 and 9-211 show the AUX 0897 Select Auxiliary Function screens and
describes the select auxiliary function procedure.
1. Use the cursor keys to select the
auxiliary function group and press the
SELECT key, on the teach pendant
keypad.
Aux. 0897. Select auxiliary function
1.
2.
3.
4.
5.
6.
7.
8.
Program Conversion
Save/Load
Aux. data Setting
Basic setting
Advanced Setting
Input/Output Signal
Monitor
System
2. When the function group is displayed,
use the cursor keys to select the
function to set the operation level (1–
3).
Up Page
Selects Program Conversion
Figure 9-210 shows an example of the
operation level settings.
Figure 9-210 AUX 0897 Select Auxiliary Function Menu Screen
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Aux. 0897. Select auxiliary function 1. Program Conversion
Program Conversion
2
Transfer Data
2
Mirror Image
2
Transform data
2
XYZ Shift
2
Joint Shift
2
Tool Shift
2
Work Shift
2
Inverse Program Copy
2
Aux. 0897. Select auxiliary function 5. Advanced Setting
Advanced Setting
2
Zeroing
2
System Switch
2
Pos. Deviation Error Range at
2
Enc. Value Error Range at Pow 2
Robot Installation Posture
2
Base Coordinates
2
Motion Limits
2
Slow Repeat
2
Interface Panel
2
Collision Detection Function
2
Undo
Undo
Allowable input range : [1 – 3]
Allowable input range : [1 – 3]
Aux. 0897. Select auxiliary function 2. Save/Load
Save/Load
2
Save
2
Load
2
File List
2
Format
2
Delete file
2
Rename file
2
Copy file
2
Set Verifying function
2
Set default device
2
Aux. 0897. Select auxiliary function 6. Input/Output Signal
Input/Output Signal
2
Dedicated Input Signals
2
Dedicated Output Signals
2
Dedicated Signals display
2
OX Specification Setting
2
Clamp Specifications
2
Signal Name
2
Signal Setting of Arm ID boa
2
2
Signal Allocation
Input/Output Signals in Robo 2
Number of I/O Signals
2
Undo
Undo
Allowable input range : [1 – 3]
Allowable input range : [1 – 3]
Aux. 0897. Select auxiliary function 4. Basic setting
Basic setting
2
Teach/Check Speed
2
Home Position
2
Working Space
2
Load on Arm
2
Auto Tool Coordinates Regis 2
Aux. 0897. Select auxiliary function 7. Monitor
Monitor
2
Error Logging Display
2
Operation Logging Display
2
Maintenance Log
2
Operating Data display
2
Maintenance Support
2
Undo
Undo
Allowable input range : [1 – 3]
Allowable input range : [1 – 3]
Aux. 0897. Select auxiliary function 3. Aux. Data Setting
Aux. Data Setting
2
Speed
2
Accuracy
2
Timer
2
Tool Coordinates
2
Fixed Tool Coordinates
2
Work Coordinates
2
Aux. 0897. Select auxiliary function 8. System
System
2
Memory Available
2
Select auxiliary function
Inhibit record
2
Change operation level
Reset Check Sum Error
2
Enable maintenance function
Software Version
2
Initialize system
2
Battery Error Check
2
Check Specification
2
Environment Data
2
Time/Date
2
PC Program Run/Stop
2
Choose language
2
Network Setting
2
Undo
Undo
Allowable input range : [1 – 3]
2
1
1
Allowable input range : [1 – 3]
Figure 9-211 AUX 0897 Select Auxiliary Function Screen Example Settings
August 9, 2007
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9.79 CHANGE OPERATION LEVEL, AUX 0898
This function is used to set the operation level for which AUX functions are displayed in
the auxiliary function menu. The operation level must be set to the same or lower level
in AUX 0897 to be displayed in the auxiliary function menu. Functions assigned to levels
2 and 3 in AUX 0897 are not displayed In the auxiliary function menu when operation
level 1 is entered in AUX 0898 (Figure 9-212).
Aux. 0898. Change operation level
Operation Level
2
1. Use the numeric keypad, on the teach
pendant keypad, to enter the password
level (1–3) and press the ENTER key,
on the teach pendant keypad.
Undo
Allowable input range : [1 – 2]
Figure 9-212 AUX 0897 Select Auxiliary Function Menu Screen
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9.80 RANDOM PROGRAM SELECTION (RPS)
Random program selection allows the operator to select robot motion programs through
a programmable logic controller (PLC). The following commands, signals, and procedures are used to set up and operate the RPS function.
9.80.1 RPS COMMANDS
JUMP
Is used to “jump” to another program and return to the step following
the jump command based on RPS signal states.
END
Is used to call another program, at the end of a program, based on
RPS signal states. If the RPS signals are not changed, the same
program repeats.
9.80.2 RPS SIGNALS
RPS_ON
Is used to activate the RPS function by a PLC output signal.
RPS_ST
Is used by the PLC to monitor the RPS function status by a robot
controller output signal.
JUMP_ON
Is used to allow a “jump” to another program and return to the step
following the jump command after the “jump” program is completed.
JUMP ON is a PLC output signal.
The RPS function must be active and the jump signal in the ON
state. The “jump” program is determined by the state of the RPS
program selection signals.
JUMP_OFF
Is used to disable the “jump” function.
The END command is executed independent of JUMP ON/OFF
signals.
JUMP OFF is a PLC output signal.
JUMP_ST
Is used by the PLC to monitor the JUMP function status by a robot
controller output signal.
RPS code
Is a binary or binary coded decimal signal used by the controller to
determine program selection.
The RPS code signals are PLC output signals.
January 13, 2005
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9.80.3 RPS PROCEDURE
1.
Programs are named pg0 – pgxx and must contain END commands as the last step.
JUMP commands are optional.
2.
I/O signals are set in auxiliary function 0601. See figure 9-213 for example of signals to set.
Aux. 0601. Dedicated Input Signals
Signal Name
EXT. MOTOR ON
EXT. ERROR RESET
EXT. CYCLE START
EXT. PROGRAM RESET
Ext. prog. select (JUMP)
JUMP_ON
JUMP_OFF
JUMP_ST
Ext. prog. select (RPS)
RPS_ON
RPS_ST
Number of RPS code signals
Undo
Next Page
Aux. 0601. Dedicated Input Signals
Signal Name
First signal No. of RPS code
Code (0:Binary 1:BCD)
EXT_IT
EXT. SLOW REPEAT MODE
WORK SENSING
SENSING SPEED
External phototube signal
I/F PANEL PAGE1 SELECT
I/F PANEL PAGE2 SELECT
I/F PANEL PAGE3 SELECT
I/F PANEL PAGE4 SELECT
Undo
Set/Reset
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
Set/Reset
BINARY
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
DEDICATED
1/ 2
Signal Number
CANCEL
1032
CANCEL
1031
CANCEL
1030
CANCEL
0
CANCEL
0
0
0
CANCEL
0
0
0
2/ 2
Signal Number
0
BCD
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
CANCEL
0
0
0
0
0
0
0
0
0
Prev Page
Allowable input range : [1001 – 1128]
Figure 9-213 AUX 0601 RPS Signals
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3.
Signals selected in auxiliary function 0601 must be hard wired with a 1GW/1HW
board (discrete I/O) or programed through the Slogic program with a 1FS board. An
example Slogic program, to use the RPS signals selected in auxiliary function 0601,
is shown in figure 9-214.
1 SOUT 1010 = 1307
1?
2 SOUT 1011 = 1308
2?
3 SOUT 1012 = 1301
3?
4 SOUT 1013 = 1302
4?
5 SOUT 1014 = 1303
5?
6 SOUT 1015 = 1304
6?
7 SOUT 1016 = 1305
7?
8 SOUT 301 = 15
8?
9 SOUT 302 = 16
9?
Figure 9-214 RPS Slogic Program Example
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4.
Set the RPS system switch in AUX 0502 to ON and press ENTER (Figure 9-215).
For the RPS switch to remain ON, RPS signals in AUX 0502 must be entered and
accepted.
Aux. 0502. System Switch
Class
Switch Name
CHECK.HOLD
On
CP
On
CYCLE.STOP
On
OX.PREOUT
On
PREFETCH.SIGINS
On
QTOOL
On
REP_ONCE
On
RPS
On
STP_ONCE
On
AFTER.WAIT.TMR
On
FLEXCOMP
On
SPOT_OP
On
Undo
Next Page
Starting program by command input ON:only HOLD, OFF:both HOLD & RUN
1/ 3
Off
Off
Off
Off
Off
Off
Off
Off
Off
Off
Off
Off
Figure 9-215 RPS System Switch
5.
From the screen area D drop-down menu select RPS ON/OFF and select ON (Figure 9-216).
02-08-20 09:40
Status
JOINT
T
C
R
90%
RPS
Specify
%
+ 10%
- 10%
Repeat Cont/Once
Step: Cont/Once
RPS ON/OFF
Dry Run ON/OFF
[
][
Comment
]
]
]
]
]
]
]
]
Figure 9-216 RPS Enable
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9.80.4 RPS OPERATION
For more information on the RPS function refer to the D Series Controller I/O Interface
Manual.
RPS program names are assigned binary values using a maximum of sixteen bits
(Tables 9-38 and 9-39).
Table 9-38 RPS Codes Table
MSB
RPS CODE SIGNALS
LSB
PROGRAM
RPS64
(1019)
RPS32
(1018)
RPS16
(1017)
RPS8
(1016)
RPS4
(1015)
RPS2
(1014)
RPS1
(1013)
pg0
OFF
OFF
OFF
OFF
OFF
OFF
OFF
pg1
OFF
OFF
OFF
OF F
OF F
OFF
ON
pg2
OFF
OFF
OF F
OF F
OF F
ON
OFF
pg3
OFF
OFF
OF F
OFF
OFF
ON
ON
pg15
OFF
OFF
OFF
ON
ON
ON
ON
pg16
OFF
OF F
ON
OFF
OFF
OFF
OFF
ON
ON
OFF
OF F
OFF
ON
ON
.
.
.
.
.
.
.
.
pg99
7-Bit Binary RPS Code Examples
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Table 9-39 RPS Binary Coded Decimal (BCD) Codes Table
MSB
RPS CODE SIGNALS
LSB
PROGRAM
RPS8
(1020)
RPS4
(1019)
RPS2
(1018)
RPS1
(1017)
RPS8
(1016)
RPS4
(1015)
RPS2
(1014)
RPS1
(1013)
pg0
OFF
OFF
OFF
OFF
OFF
OFF
OF F
OFF
pg1
OFF
OFF
OF F
OFF
OFF
OFF
OF F
ON
pg2
OFF
OFF
OF F
OFF
OFF
OFF
ON
OFF
pg3
OFF
OF F
OFF
OFF
OFF
OFF
ON
ON
pg15
OFF
OFF
OFF
ON
OFF
ON
OF F
ON
pg16
OFF
OFF
OFF
ON
OFF
ON
ON
OFF
ON
OFF
OFF
ON
ON
OFF
OF F
ON
.
.
.
.
.
.
.
.
pg99
8-Bit Binary Coded Decimal RPS Code Examples
If BCD is selected, four bits allows up to nine programs, five bits allows up to nineteen
programs, and six bits allows up to thirty nine programs (sixteen bits maximum).
If no RPS signals are present and RPS is enabled, the controller is in a wait condition
until RPS signals are received.
If JUMP ON and JUMP OFF signals are received at the same time an error occurs.
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9.81 ZZ-SERIES ROBOT FUNCTIONS
9.81.1 ARM ID BOARD FUNCTIONS
The arm ID board is installed in the robot arm ID board box (Figure 9-217). The arm ID
board stores model information, maintenance log information, and I/O signal settings.
Functions and settings of the arm ID board are accessed from the controller.
The functions and settings of the arm ID board include:
•
•
•
•
entries to the maintenance log (AUX 0704-1)
display of the maintenance log (AUX 0704-2)
deletion of maintenance log entries (AUX 0704-3)
settings for I/O signals to the robot arm (AUX 0607)
The setting procedures are described in the following sections.
ON
OFF
MENU
T. LOCK
CHECK
TEACH
SPEED
INTER
CANCEL
A
SELECT
PROG
STEP
EXT AXIS
(Robot)
JOG
CONT
INS
DEL
S
GO
CHECK
S
BACK
1
— X +
2
O. WRITE
POS
AUX
MOD REC MOD
CL1
SPD
ACC
CL2
CLn
TMR
TOOL
7 D 8 E 9 F BS
?
OX
WX
WS
CC
ON
OFF
CLAUX
WRK
4 A 5 B 6 C CLEAR
1
,
0
2
3
-
.
C
— Y +
3
— Z
+
4
— rx +
Arm ID Board
5
— ry +
6
— rz +
—
7
+
J/E
I
6037-1200
CONTROL
POWER
MOTOR
POWER
CYCLE
START
ERROR
RESET
HOLD RUN
TEACH REPEAT
ERROR
S TO P
BRAKE RELEASE
JST
WARNING
AVERTISSEMENT
AC460V
Robot Controller
Communication
Line
Robot
Figure 9-217 Robot Arm ID Board Location
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9.81.1.1 MAINTENANCE LOG, AUX 0704
The maintenance log is accessed through AUX 0704 Maintenance Log (Figure 9-218).
Select functions using cursor keys or by function number and press the SELECT key, on
the teach pendant keypad.
The following items are available form the Maintenance Log menu.
1.
2.
3.
Maintenance Log Registration—person in charge and maintenance log entries
Maintenance Log Display—display maintenance log
Maintenance Log Deletion—delete maintenance log entries
Aux. 0704. Maintenance Log
1. Maintenance Log Registration
2. Maintenance Log Display
3. Maintenance Log Deletion
Up Page
Sets Maintenance Log Registration
Figure 9-218 AUX 0704 Maintenance Log
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9.81.1.2 MAINTENANCE LOG REGISTRATION, AUX 0704-1
Figures 9-219 and 9-220 shows the maintenance log registration screens and provides a
description of the maintenance log entry procedure.
Aux. 0704. Maintenance Log 1. Maintenance Log Registration
Person in Charge
nakamura
2. Use the cursor keys to move the cursor
into the “Person in Charge” data entry
box and press the SELECT key, on the
teach pendant keypad.
Undo
Allowable number of input characters :
Aux. 0704. Maintenance Log 1. Maintenance Log Registration
Person in Charge
nakamura
Input Notes
3. When SELECT is pressed the keyboard screen is displayed. From the
keyboard screen enter the name of the
person making the maintenance log
entry.
Ensure the entry is correct and press
the ENTER key, on the keyboard
screen
4. Press the ENTER key, on the teach
pendant keypad to display the maintenance log entry screen.
5. Press the SELECT key, on the teach
pendant keypad, to display the keyboard screen.
Non of abnormality
Undo
1. When “1. Maintenance Log Registration” is selected from the function
menu, the maintenance name entry
screen is displayed, as shown to the
left.
6. At the keyboard screen enter the
maintenance performed and press the
ENTER key on the keyboard screen.
Prev Page
Input range : 78
Aux. 0704. Maintenance Log 1. Maintenance Log Registration
Person in Charge
nakamura
Input Notes
jt3 encoder change
Undo
7. The maintenance log entry is displayed
on the maintenance log entry screen.
If the ENTER key, on the teach pendant keypad, is pressed a second time
at step 4, the default message “Non of
abnormality” is displayed.
8. Ensure the entry is correct; press the
ENTER key on the teach pendant
keypad to display the maintenance log
entry confirmation screen.
Prev Page
Allowable number of input characters :
Figure 9-219 AUX 0704-1 Maintenance Log Registration
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Aux. 0704. Maintenance Log 1. Maintenance Log Registration
Record Confirm
It registers from the following contents.
Person in CharPerson
ge
nakamura
nakamura
Memo jt3 encoder change
Input Notes
jt3 encoder change
Yes
Undo
No
9. Use the cursor keys to select “Yes” to
register the entry into the maintenance
log and press the SELECT key, on the
teach pendant keypad.
Select “No” to cancel the maintenance
log entry.
Prev Page
Input String Range : 78
Figure 9-220 Maintenance Log Registration Confirmation Screen
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9.81.1.3 MAINTENANCE LOG DISPLAY, AUX 0704-2
Figure 9-221 shows the maintenance log display screens and describes the procedure
used to display the maintenance log.
Aux. 0704. Maintenance Log 2. Maintenance Log Display
1/ 1
1. When “2. Maintenance Log Display” is
selected from the function menu, the
maintenance log entries are displayed,
as shown to the left.
1/ 1
2. If the SELECT key is pressed with the
maintenance log displayed, the log
entries are displayed in a pop-up
window as shown to the left.
1 – [02/09/09 14:46:02 nakamura] jt3 encoder change
Aux. 0704. Maintenance Log 2. Display Maintenance Log
1 – [02/09/17Maintnenace
14:45:02 nakamura]
log No. 1jt3 encoder change
Person nakamura [02/09/17 16:52:30]
Memo jt3 encoder change
Close
Figure 9-221 AUX 0704-2 Maintenance Log Display
August 9, 2007
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9.81.1.4 MAINTENANCE LOG DELETION, AUX 0704-3
Figure 9-222 shows the maintenance log deletion screens and describes the procedure
used to delete maintenance log entries.
Aux. 0704. Maintenance Log 3. Maintenance Log Deletion
1 – [02/08/22 15:42:03 nakamura] jt3 encoder change
1/ 1
1. When “3. Maintenance Log Deletion” is
selected from the function menu, the
maintenance log entries are displayed,
as shown to the left.
2. Use the cursor keys to select the
maintenance log entry to delete and
press the ENTER key, on the teach
pendant keypad.
Aux. 0704. Maintenance Log 3. Delete Maintenance Log
Record Confirm
Delete Maintenance
No. 1, OK?
1 – [02/09/17 15:42:03
nakamura] lo
jt3g encoder
change
Person nakamura [02/09/17 15:07:21]
Memo jt3 encoder change
Yes
No
3. When the ENTER key is pressed in
step 2, the confirmation screen is
displayed, as shown to the left.
4. Use the cursor keys to select “Yes” to
delete the entry from the maintenance
log and press the SELECT key, on the
teach pendant keypad.
Select “No” to cancel the maintenance
log deletion.
Figure 9-222 AUX 0704-3 Maintenance Log Deletion
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9.81.1.5 SETTING SIGNAL ALLOCATION, AUX 0607
To set the allocation of parallel I/O signals for the arm ID board, access AUX 0607 Signal Setting of Arm ID Board (Figure 9-223).
Aux. 0607. Signal Setting of Arm ID Board
TOP SIGNAL
SIGNAL NUMBER
OUTPUT SIGNAL 1
0
INPUT SIGNAL
0
1001
Undo
Input range : [1 – 64]
Figure 9-223 AUX 0607 Setting Arm ID Board I/O Signals
Use the cursor and numeric keys, on the teach pendant keypad, to enter data. TOP
SIGNAL is the first signal number in the sequence. See table 9-40 for proper data.
Table 9-40 Arm ID Board Signal Allocation
Inputs
Outputs
Standard (1GV Board)
2
0
Optional (1GV + 1JD Board)
24
8
Conditions:
•
•
•
•
Output signals up to number 64 are used.
Input signals up to number 1064 are used.
Signal numbers do not have to be consecutive.
When two or more robots are used, redundant signal allocation is not possible.
August 9, 2007
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AUXILIARY FUNCTIONS
9.81.1.6 ARM ID BOARD AS LANGUAGE COMMANDS
The AS Language commands used with the arm ID board are:
•
•
•
MNTREC – maintenance log record
MNTLOG – maintenance log display
ARMIOSET – arm ID board I/O set
>MNTREC robot_number
The MNTREC command is used to register maintenance log entries. If the robot number is omitted, 1 is assumed. The maintenance log stores the last 100 entries. When
over 100 entries are made the oldest entry is deleted.
EXAMPLE:
>MNTREC <ENTER>
Person in charge of record (input)? Joe Supervisor <ENTER>
Non of abnormality : 0 Memo input : 1? 1<ENTER>
(Memo input) : JT1 motor replaced <ENTER>
content of registration
Person in charge : Joe Supervisor
Memo : JT1 motor replaced
Are you sure? (Yes:1, No:0) 1 <ENTER>
Arm ID board is busy.
Writing ended.
>
NOTE
Do not turn controller power off until “Writing ended” is
displayed, or entry is not accepted.
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>MTLOG robot_number
The MNTLOG command is used to display the contents of the maintenance log. If the
robot number is omitted, 1 is assumed. The maintenance log displays the last 100
entries, starting with the most recent. Press ENTER to stop the listing.
EXAMPLE:
>MNTLOG <ENTER>
1-[00/06/24 12:03:00 Joe Supervisor]
[REPLACE JT1 HARNESS]
2-[00/04/12 14:20:32 Kawasaki]
[REPLACE JT2 MOTOR]
>ARMIOSET robot_number,output_signal_No.,number_of_output_signals,
input_signal_No.,number_of_input_signals
The ARMIOSET command is used to allocate arm board parallel I/O signals. If the robot
number is omitted 1 is assumed. Top signal range for output is 1 - 64. Number of output
signals is 1 - 8. Top signal range for input is 1001 - 1064. Number of input signals is 1 24.
EXAMPLE:
>ARMIOSET <ENTER>
TOP SIGNAL,
SIGNAL NUMBER
OUTPUT SIGNAL
1
0
Change? (If not, Press RETURN only.)
6,8 <ENTER>
TOP SIGNAL,
SIGNAL NUMBER
OUTPUT SIGNAL
6
8
Change? (If not, Press RETURN only.)
<ENTER>
TOP SIGNAL,
SIGNAL NUMBER
INPUT SIGNAL
1001
0
Change? (If not, Press RETURN only.)
1012,24 <ENTER>
TOP SIGNAL,
SIGNAL NUMBER
INPUT SIGNAL
1012
24
Change? (If not, Press RETURN only.)
<ENTER>
>
January 13, 2005
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AUXILIARY FUNCTIONS
9.81.1.7 ARM ID BOARD ERRORS AND ERROR CODES
When the controller is powered up and robot data in the controller memory is different
than the robot data in the arm ID board, the message “Robot 1 type is not corresponding” or “Zeroing data of robot 1 is not corresponding” is displayed (Figure 9-224).
************************************
*KAWASAKI ROBOT SYSTEM [AS] START *
*
*
*
KAWASAKI HEAVY INDUSTRIES LTD *
*
*
************************************
UAS01000101
2002/09/13 16:14
************************************
*KAWASAKI ROBOT SYSTEM [AS] START *
*
*
*
KAWASAKI HEAVY INDUSTRIES LTD *
*
*
************************************
UAS01000101
2002/09/13 16:14
Please wait 5 seconds.
Please wait 5 seconds.
Or
Initialize ?
0:NO
1: Initialization of the system
2: Setting to the shipment state
999: Initialization of all data
>
Initialize ?
0:NO
1: Initialization of the system
2: Setting to the shipment state
999: Initialization of all data
>
AC primary power off.
AC primary power off.
Robot 1 type is not corresponding
[
Arm side] Robot name: FS010N-A001 Num of axes 6 Serial No. 1
[ Controller side] Robot name: FS010N-B001 Num of axes 6 Serial No. 1
Zeroing data of robot 1 is not corresponding
Select number
1[
Arm side]
ZEROING 268435456 268435456 268435456 268435456 268435456 268435456
OFFSET
32767
32767
32767 32767
32767
32767
2 [ Controller side]
ZEROING 268435456 268435456 268435456 268435456 268435456 268435456
32768 32768 32768
32768
32768
OFFSET
32768
Number ?
Select number
1. Start by the arm side data.
2. Start by the controller side data
Number ?
Figure 9-224 Arm ID Board Start-up Messages
The messages in figure 9-224 are displayed when the:
•
•
•
•
controller or controller CPU board is replaced.
system is initialized.
robot is replaced.
arm ID board is replaced with arm ID board with different robot data stored.
When 1 is entered, the controller uses robot and zeroing data from the arm ID board and
data on the controller CPU board is overwritten.
When 2 is entered, the controller uses robot and zeroing data from the controller CPU
board and data on the arm ID board is overwritten.
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When the controller is powered up and there is no data in the arm ID board (new board)
or a check sum error occurs in the arm ID board, the message “There is no data in the
arm ID board” or “Flash memory check sum error in the arm ID board” is displayed
(Figure 9-225).
************************************
*KAWASAKI ROBOT SYSTEM [AS] START *
*
*
*
KAWASAKI HEAVY INDUSTRIES LTD *
*
*
************************************
UAS01000101
2002/09/13 16:14
************************************
*KAWASAKI ROBOT SYSTEM [AS] START *
*
*
*
KAWASAKI HEAVY INDUSTRIES LTD *
*
*
************************************
UAS01000101
2002/09/13 16:14
Please wait 5 seconds.
Please wait 5 seconds.
Initialize ?
0:NO
1: Initialization of the system
2: Setting to the shipment state
999: Initialization of all data
>
Initialize ?
0:NO
1: Initialization of the system
2: Setting to the shipment state
999: Initialization of all data
>
Or
AC primary power off.
AC primary power off.
There is no data in the arm ID board. No = 1
Starting by the controller side data.
Confirm! (Press ENTER)
Flash memory check sum error in the arm ID board. No = 1
Starting by the controller side data.
Confirm! (Press ENTER.)
Figure 9-225 Arm ID Board Error Messages
August 9, 2007
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AUXILIARY FUNCTIONS
At controller start-up, if arm side data is selected and robot model corresponding to the
controller is not found the message “Arm data is not found” is displayed. Confirm robot
model using the ZROBOT instruction (Figure 9-226).
************************************
*KAWASAKI ROBOT SYSTEM [AS] START *
*
*
*
KAWASAKI HEAVY INDUSTRIES LTD *
*
*
************************************
UAS01000101
2002/09/13 16:14
Please wait 5 seconds.
Initialize ?
0:NO
1: Initialization of the system
2: Setting to the shipment state
999: Initialization of all data
>
AC primary power off.
Robot 1 type is not corresponding
[
Arm side] Robot name: JS005-E001 Num of axes 6 Serial No. 1
[ Controller side] Robot name: FS010N-A001 Num of axes 6 Serial No. 1
Select number
1. Start by the arm side data.
2. Start by the controller side data
Number ?1
Arm data is not found.
Please confirm by the ZROBOT instruction.
Starting by the controller side data.
Confirm! (Press ENTER.)
Figure 9-226 Arm ID Board Robot Data Not Found
At controller start-up, if the arm ID board on the robot was used with a C controller, the
screen shown in figure 9-227 is displayed. Confirm the robot model and the controller
for the arm ID board.
************************************
*KAWASAKI ROBOT SYSTEM [AS] START *
*
*
*
KAWASAKI HEAVY INDUSTRIES LTD *
*
*
************************************
UAS01000101
2002/09/13 16:14
Please wait 5 seconds.
Initialize ?
0:NO
1: Initialization of the system
2: Setting to the shipment state
999: Initialization of all data
>
AC primary power off.
There is no robot classification code on the arm side.
Please confirm by the ZROBOT instruction.
Confirm! (Press ENTER.)
Figure 9-227 Arm ID Board Used With a C Controller
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Error code messages displayed are shown in figure 9-228. Refer to table 9-41 for error
code descriptions.
************************************
*KAWASAKI ROBOT SYSTEM [AS] START *
*
*
*
KAWASAKI HEAVY INDUSTRIES LTD *
*
*
************************************
UAS01000101
2002/09/13 16:14
Please wait 5 seconds.
Initialize ?
0:NO
1: Initialization of the system
2: Setting to the shipment state
999: Initialization of all data
>
AC primary power off.
(D2002) No response from the arm ID board.
************************************
*KAWASAKI ROBOT SYSTEM [AS] START *
*
*
*
KAWASAKI HEAVY INDUSTRIES LTD *
*
*
************************************
UAS01000101
2002/09/13 16:14
Please wait 5 seconds.
Initialize ?
0:NO
1: Initialization of the system
2: Setting to the shipment state
999: Initialization of all data
>
AC primary power off.
(E1021) Arm ID board error. (codeXX)
************************************
*KAWASAKI ROBOT SYSTEM [AS] START *
*
*
*
KAWASAKI HEAVY INDUSTRIES LTD *
*
*
************************************
UAS01000101
2002/09/13 16:14
Please wait 5 seconds.
Initialize ?
0:NO
1: Initialization of the system
2: Setting to the shipment state
999: Initialization of all data
>
AC primary power off.
(E1157) Arm ID I/F board error. (codeXX)
Figure 9-228 Arm ID Board Error Codes
August 9, 2007
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Error Codes (see table 9-41)
(D2002) No response from the arm ID board.
Possible damaged arm ID board or power sequence board.
(E1021) Arm ID board error (code xxx).
Possible damaged arm ID board or power sequence board.
(E1157) Power sequence board error (code xxx).
Possible damaged power sequence board.
Table 9-41 Arm ID Board Error Codes
Code
NA
4AH
4FH
C1H
C5H
C6H
C7H
F1H
F2H
F4H
F5H
FFH
Discription
No response from the arm ID board
Arm ID board data is not normal or corrupt
Writing error to arm ID board memory1
Communication check sum error2
Communication protocol error2
Communication response time-out error2
Communication character string time-out error2
ROM check sum error (at board star t-up)3
Abnormal RAM (at board star t-up)3
Abnormal SRAM (at board star t-up)3
Abnormal DRAM (at board star t-up)3
Other errors
D2002
x
E1021
x
x
x
x
x
E1157
x
x
x
x
x
x
x
x
x
1
Cannot write to arm ID board memory. Replace arm ID board.
Damaged or disconnected communication cable.
3
Cycle controller power ON and OFF. If error does not clear further diagnosis is needed
(possible damaged arm ID board or power sequence board).
2
9-288
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APPENDIX
A.0
A.1
A.2
A.3
APPENDIX .......................................................................................................... A-2
Setting Tool Coordinates ..................................................................................... A-2
Manual Brake Release Procedure ...................................................................... A-5
Programming Sheets .......................................................................................... A-8
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APPENDIX
A.0 APPENDIX
A.1 SETTING TOOL COORDINATES
AUX Function 0304 - Tool Coordinates, shown in figure A-1, allows the operator to set
and store tool dimensions and coordinate system orientation parameters for one to nine
different end effectors.
Changes in the X, Y, and Z directions are measured in millimeters. The range is from
–9,999.9 mm to +9,999.9 mm, measured in tenths of a millimeter (0.1 mm).
Changes in the O, A, and T tool coordinate rotation angles are measured in degrees.
The range is from –180° to +180°, and is measured in tenths of a degree (0.1°).
Refer to section 9.23 for more information on setting tool coordinates.
Figure A-1 AUX Function 0304 - Tool Coordinates
A-2
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APPENDIX
The base and tool coordinate systems shown in figure A-2 show the standard
orientation and origin of each coordinate system.
The tool coordinate system has been rotated, through system software, from the base
coordinate orientation by using the O, A, and T angles of +90°, +90°, and –90°
respectively. For this reason, the robot location is shown as having O, A, and T angles
of +90°, +90°, and –90° when the wrist is in a straight, or zero position, and the tool
dimension is set with O, A, and T angles of 0°, 0°, and 0°.
The tool coordinate system can be rotated into other orientations by defining the proper
O, A, and T angles. Typically this is done so that the "Z" tool coordinate axis is aligned
in the direction of the tool.
Z
Z
X
Y
Tool Coordinate System
X, Y, Z, O, A, T = 0, 0, 0, 0, 0, 0
Y
Base Coordinate System
X, Y, Z, O, A, T = 0, 0, 0, 0, 0, 0
X
Figure A-2 Robot Coordinate Systems
April 3, 2003
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APPENDIX
Figure A-3 shows the rotation of the tool coordinate system in its standard orientation
from the base coordinate system orientation, with the values O = +90°, A = +90°, and
T = –90°. This standard orientation is displayed as O = 0°, A = 0°, and T = 0° on the tool
dimension setup screens (AUX function 0304). To properly specify the OAT angles, the
tool coordinate system axes must be rotated in the correct order, beginning with the O
angle, then the A angle, and finally the T angle.
O — Turning angle around the Z-axis
A — Turning angle around the Y-axis after O has been specified
T — Turning angle around the Z-axis after O and A have been specified
1
2
Defining O=90
Z
3
Defining A=90
Defining T=-90
Z
Y
Y
+
-
+
+
-
Y
Z
X
-
X
X
O - Defined
T - Defined
A - Defined
Z
Y
Y
Z
X
Z
X
X
Y
Figure A-3 Orientation of XYZ and OAT
A-4
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APPENDIX
A.2 MANUAL BRAKE RELEASE PROCEDURE
The manual brake release switches are located under the access door on the controller
operation panel (Figure A-4). The manual brake release switches allow the operator to
move individual robot axes without using motor power for maintenance and emergency
situations.
CONTROL
POWER
MOTOR
POWER
CYCLE
START
ERROR
ERROR
RESET
HOLD RUN
TEACH REPEAT
S TO P
BRAKE RELEASE
JT1
JT2
JT3
JT4
JT5
JT6
JT7
JT8
ENABLE
Figure A-4 Manual Brake Release Switches
!
WARNING
Unsupported axes may fall when the brake release
switch is pressed. Axes which are overhung, particularly
JT2 and JT3, will fall the fastest, depending on robot position, weight of the end-of-arm tooling, and wrist axis
position.
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APPENDIX
!
WARNING
To prevent injury to persons or damage to robotic equipment; provide suitable support for the robot arm, end-ofarm tooling and payload, before using a brake release
switch if there is a risk of personal injury.
The robot arm can be supported overhead using a sling
and overhead crane or from underneath using an adjustable support stand (Figure A-5).
Overhead:
Sling Support
Underneath:
Adjustable Support Stand
Figure A-5 Robot Arm Support
A-6
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APPENDIX
To manually release axes brakes use the following procedure.
1.
Set motor power OFF.
2.
Ensure all personnel are clear and all safety precautions are followed.
3.
Provide suitable support of the robot arm, end-or-arm tooling, and payload if there is
a risk of personal injury (refer to figure A-5).
4.
Loosen the thumb screw on the manual brake release switches access door.
5.
Open the access door.
6.
Ensure the switches are in the OFF position and in operating condition.
7.
Press and hold the “ENABLE” switch.
8.
Press the manual brake release switch for the axis to release the brake.
9.
The brake remains released until the brake release switch is released.
10. After using the brake release switches, close the access door and tighten the thumb
screw.
Brake Release Axes
6 - Axes Robot Model
Brake Release Axes
4/5 - Axes Robot Model
JT5
JT6
JT3
JT3
JT5 (MD)
JT4
JT4
JT2
JT2
JT1
JT1
Figure A-6 Brake Release Axes
March 15, 2004
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APPENDIX
A.3 PROGRAMMING SHEETS
The following pages contain examples of block step programming sheets. Programming
sheets are used when programs are written and for tracking changes to production
programs. They are particularly useful in tracking input and output signal numbers and
their assigned functions.
A-8
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APPENDIX
A-9
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Interpolation
Line No./Station
Kawasak
A-10
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APPENDIX
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GLOSSARY
GLOSSARY ................................................................................................................ G-2
April 3, 2003
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GLOSSARY
This glossary contains definitions of terms used by operators, programmers, and maintenance personnel who work with Kawasaki robots. The definitions are listed in alphabetical order.
A
•
ACCELERATE
To speed up a process.
•
ACCURACY
A measure of the difference between the commanded robot arm position and the
actual position. Also identifies how well an indicated value conforms to a true value
(i.e., an actual or accepted standard value).
•
ACRONYM
A word formed from the initial letters of words in a name or phrase. For example,
ASCII is an acronym for American Standard Code for Information Interchange.
•
ADDRESS
A number that identifies a specific location in the computer’s or processor’s memory.
Means of identifying a location or data in a control system.
•
ADDRESSING
Computer operations store data in specific memory locations or addresses. The
largest memory location determines the amount of data that can be stored. The
larger the number, the larger the possible program.
•
AIR CUT
Moving a weld gun into position but without generating an arc.
•
ALGORITHM
A finite set of well-defined rules or procedures for solving a problem step-by-step.
•
ALPHANUMERIC
Pertaining to a set of symbols that contain both letters and numbers, either individually or in combination.
•
AMBIENT TEMPERATURE
The temperature of air or liquid that surrounds a device.
•
AMPERE (AMP)
A unit of electrical current flow that is equivalent to one (1) coulomb per second.
One (1) volt across one (1) ohm of resistance causes a current flow that is equivalent to one (1) amp.
G-2
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GLOSSARY
•
ANALOG
A continuously changing electrical voltage signal. In robot systems, the magnitude
or value of the signal represents commanded robot axis motion.
•
ANALOG DATA
Information that is represented by a characteristic of the value or magnitude of an
electrical signal, such as the amplitude, phase, or frequency of the voltage, the
amplitude or duration of a pulse, the angular position of a shaft, or the pressure of a
fluid number.
•
ANTI-FRICTION BEARING
A rolling element which is used to support a rotating shaft.
•
ARC SENSOR
A sensor that detects weld lines utilizing arc characteristics.
•
ARGUMENT
A value applied to a procedure; data used by a function or other command. For
instance, in the AS command JMOVE flange, 2. The variable, flange, and the clamp
number 2 are the arguments of the function JMOVE.
•
ARRAY
An ordered set of addresses or their values. Elements of an array can be referenced individually or collectively. Array elements all have the same type of data, for
instance, integer or character, and are usually presented in rows and columns.
•
ARTICULATED
To join together permanently or semi-permanently by means of a pivot connection
for operating separate segments as a unit.
•
ARTICULATED ROBOT
A robot arm which contains at least two consecutive revolute joints, acting around
parallel axes, resembling human arm motion. The work envelope is formed by
partial cylinders or spheres. The two basic types of articulated robots, vertical and
horizontal, are sometimes called anthropomorphic because of the resemblance to
the motions of the human arm.
•
AS LANGUAGE
Kawasaki robot language used to communicate commands and instructions from a
keyboard to the CPU.
•
ASCII
An acronym for American Standard Code for Information Interchange. This standard 8-bit code is used by many devices, such as keyboards and printers.
April 3, 2003
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GLOSSARY
•
ASSIGNMENT
An instruction used to express a sequence of operations, or used to assign operands to specified variables, or symbols, or both.
•
ASYNCHRONOUS
A means of data communication where the data is sent a character at a time preceded by a start bit and followed by a stop bit. No direct timing signal links the
transmitter and receiver.
•
AUTOMATIC MODE
Operating mode in which the control system operates in accordance with the task
program.
•
AUTOMATIC OPERATION
The state in which the robot is executing its programmed task.
•
AUXILIARY DATA
Information about a point, other than the positional data, such as speed, accuracy,
weld schedule and clamp condition.
•
AXIS
A straight line about which sections of the mechanical unit rotate (e.g., joints JT1,
JT2, JT3 etc.).
B
•
BACKLASH
The clearance, slack, or play between adjacent gears, or the jar or reaction often
caused by such clearance when the parts are suddenly put in action or are in irregular action.
•
BASE COORDINATE
A fixed coordinate system having an origin at the intersection of the X, Y, and Z
axes.
•
BAUD RATE
Determines the number of bits per second (bps) or characters transmitted between
devices.
G-4
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GLOSSARY
•
BCD
An abbreviation for binary coded decimal. The BCD 8-4-2-1 code expresses each
decimal digit by its own 4-bit binary equivalent. The 8-4-2-1 code is identical to
binary through the decimal number 9. Above the decimal number 9 each decimal
digit is represented by its own 4-bit binary equivalent. For example, using the 8-4-21 binary-coded system, the number 10 is interpreted as 0001 0000.
•
BINARY CODE
A system in which characters are represented by a group of binary digits, that have
the value of either 0 or 1, true or false, on or off.
•
BIT
Acronym for binary digit, having one of two values: 0 or 1.
•
BOOT
The method by which computers are brought from a non-operating to an operating
state. During this sequence, the computer memory is usually reset. This is often
performed to restart the computer after a crash, to bring it on-line.
•
BUFFER
A temporary memory storage area in a computer or electronic device.
•
BUG
A problem in a software or hardware element of a system.
•
BUS
The primary communication path in the controller along which internal signals are
sent among processors and memories.
C
•
CABLE CARRIER
A device which carries cables and hoses (including power sources) from a stationary location to a linear moving device.
•
CARTESIAN COORDINATE
A location in space defined by three axes at right angles to each other, commonly
labeled X, Y, Z.
•
cc
Abbreviation for cubic centimeter.
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
CELL
A manufacturing unit consisting of two or more work stations or machines, and the
material transport mechanisms and storage buffers that interconnect them.
•
CENTER OF GRAVITY
The point at which the entire weight of a body may be considered as concentrated,
so that if supported at this point the body would remain in equilibrium in any position.
•
CHARACTER
A term that describes all numbers, letters, and other symbols typically found on a
computer keyboard.
•
CHECK MODE
A procedure that allows the user to check positional data and auxiliary data while in
the teach mode with the Kawasaki robot . This procedure is in many ways analogous to reverse point and forward point operations in other robot models.
•
CHECKSUM
A method by which the contents of data or a transmission are verified to be accurate. This method ‘sums’ all the characters and translates them into a number which
is appended to the data.
•
CHEMICAL ANCHOR
A threaded rod installed in a structure (e.g., a concrete floor) and secured by epoxy,
for the purpose of securing hardware.
•
CIRCULAR INTERPOLATION
A path taken by the robot that connects at least three points with an arching motion.
The CPU will calculate a path that places the taught points on a section of a circle.
•
CLOSED-LOOP SYSTEM
A system in which a command value is output and a feedback value is returned.
The resulting error, the difference between the command and the feedback, is used
to correct the signal. In a robot system, the command signal is output by the controller, causing the robot arm to move, and the feedback signal is produced by the
encoder, which reads the current position of the arm.
•
CODE
1: A set of rules for expressing information in a language that is understood and
processed by a control system. 2: Also, a term for instructions in a computer program. Code performs a process, and data is the information that is processed.
G-6
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
COMMAND
An analog signal, or group of signals or pulses, which cause a specified function to
be performed. An instruction or request in a computer program that performs a
particular action. Commands that are needed to run the operating system are
called a command language.
•
COMMENT
Optional, non-executing remarks added to a program to explain various aspects of
the program.
•
COMPILER
A system task that translates a program written in source code, into binary code that
can be understood by the processor.
•
COMPOUND TRANSFORMATION
A location in the Cartesian coordinate system that is defined relative to another
Cartesian coordinate location.
•
CONTIGUOUS FILE
A file that is stored in continuously adjacent areas of memory, in contrast to a file
which is scattered to make more efficient use of disk space.
•
CONTINUOUS PATH CONTORL
1: A type of robot control in which the robot moves according to a replay of closely
spaced points, programmed on a constant time base during teaching. The points
are first recorded as the robot is taught along a desired path, and the position of
each axis is recorded by the control unit on a constant time basis by scanning axis
encoders during the robot motion. The replay algorithm attempts to duplicate that
motion. 2: Interpolation of a desired path curve between a few taught points.
•
CONTINUOUS PATH SYSTEM
A type of robot movement in which the tool performs the task while the motion axes
are moving. All motion axes may move simultaneously, each at a different velocity,
in order to trace a required path or trajectory.
•
CONTROL ERROR CODE
A code which identifies system problems whenever an alarm condition occurs.
•
CONTROLLED AXIS
A robot axis that is operated by electrical or hydraulic power.
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
CONTROLLER
The manipulator power supply and control system. The controller contains microprocessors; memory for the operating system, programs, and data; operator and
equipment interfaces; communication hardware and software; and servo amplifiers
to drive the manipulator servo motors.
•
CONVEYER TRACKING
Used to make the robot follow a part on a conveyor, without the use of a traverse
axis.
•
COORDINATE
A set of numbers that locate a point in space.
•
CPU
Abbreviation for central processing unit. A collection of hardware in a computer
which performs all calculations, handles I/O, and executes programmed tasks.
•
CRASH
A situation where the computer fails to operate, due to a software or hardware
problem.
•
CRT
Abbreviation for cathode ray tube. A CRT is a charge storage tube in which the
information is written by means of the cathode ray beam.
•
CURRENT LOOP
A circuit in which a portion of the output is returned to modify the control circuit
output. This circuit may be used as a limiting device, for safety protection.
•
CURSOR
A pointer or indicator on a computer screen, that identifies the current position on
the screen.
•
CYCLE
A complete path of trajectory performed by the robot for a specific application.
•
CYCLOIDAL DRIVE
A mechanical gear reduction unit that reduces the speed of the input and increases
the torque capacity. The cycloidal unit consists of an internal arrangement of discs
and pins that are driven by an eccentric drive cam. This type of gear reduction
offers low gear train backlash and the capability to achieve high reduction ratios
from a single contained unit.
G-8
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
D
•
DATA
A term given to information, instructions, words or symbols that are usually transmitted, processed, or stored as a group.
•
DEBUG
The process by which an operator’s program is checked for mistakes and then
corrected.
•
DECIMAL NUMBER
Numbers in the base-10 numbering system, which uses the numerals 0 - 9.
•
DEDICATED
A term used to describe a system resource, such as an I/O device or terminal,
which is used for only one purpose, or assigned a single function.
•
DEDICATED SIGNAL
A term used to describe a signal which is used for only one purpose, or assigned a
single function. Both inputs and outputs can be dedicated.
•
DEFAULT
A value or operation that is automatically entered by the system, if the operator does
not specify one. Typically, the default is the standard or expected response.
•
DELETE
A command which will eliminate unwanted data.
•
DELIMITER
A character which separates a group of items or a character string, from other
groups, or which terminates a task.
•
DETENT
A part of a mechanism that locks or unlocks a movement.
•
DEVIATION ERROR
In all mechanical devices, the actual position of the mechanical unit will lag behind
the electrical command of the controller. An allowable limit is assigned for this
difference. However, if the controller detects a condition where the difference between this mechanical value and the desired electrical position is larger than the
established value limit, the robot controller will generate a deviation error. This error
is sometimes referred to as a FOLLOWING ERROR in the robot industry.
March 15, 2004
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
DEVICE
Any peripheral hardware connected to the processor and capable of receiving,
sorting, or transmitting data.
•
DIAGNOSTICS
Function performed by the processor to identify and check for error conditions in the
robot arm and peripheral devices.
•
DIP SWITCH
DIP is an acronym for dual in-line package. A set of small switches on circuit boards
that can be set for different configurations.
•
DIRECTORY
A logical structure that organizes a group of similar files.
•
DISCONNECT
A switch that isolates a circuit or one or more pieces of electrical apparatus after the
current has been interrupted by other means.
•
DISK
A high-speed, random-access memory device.
•
DISK-BASED SYSTEM
System in which programs and files are stored on the hard disk and are read into
memory when requested by the user.
•
DISK PACK
A device which is used to store additional data in a computer system, and is usually
removable.
E
•
ECHO
Process in which characters that are typed on a keyboard are also displayed on the
screen or are sent to the printer.
•
EDITOR
An aid for entering information into the computer system and modifying existing text.
•
EMERGENCY STOP (E-Stop)
The operation of a circuit that overrides all other robot controls, removes drive
power, causes all moving parts to stop, and removes power from other hazardous
functions present in the safeguarded space, and does not cause additional hazards.
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
ENABLING DEVICE
A manually operated device which, when continuously activated, permits robot
motion (trigger switch or deadman switch).
•
ENCODER
An electromechanical device that is connected to a shaft to produce a series of
pulses that indicate the position of the shaft.
•
EPROM
Acronym for erasable programmable read-only memory. The contents of this
memory (computer chip) are retained, even when power to the system is turned off.
Usually stores executive programs and critical system variables.
•
ERROR LOG
A report which contains a sequential list of system error messages.
•
ERROR MESSAGE
Messages displayed on the plasma screen of the robot controller, when the action
requested by the operator could not be completed. Error messages can occur
when components malfunction or if an incorrect command is typed by the operator.
•
EXPRESSION
A combination of real-valued variables and functions, and mathematical and logical
operators. When evaluated, this combination yields a numeric value.
F
•
FEEDBACK
The transmission of a signal from a measuring device (e.g., encoder, transducer) to
the device which issued the command signal within a closed-loop system. See
CLOSED-LOOP SYSTEM.
•
FIELD SIGNALS
All electrical signals that exit or enter an electrical panel.
•
FILE
A set of related records or data elements, which are stored using one name and are
arranged in a structure that can be used by a program.
•
FILESPEC
Includes the name, creation date and size of the specified file.
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
FIXED DISK
An electromagnetic mass storage device which is not removable. Hard disks have
much higher storage capacity than floppy disks.
•
FLOPPY DISK
An electromagnetic mass storage device which can be removed and exchanged.
•
FORM FEED
Process which causes a printer to advance the paper to the top of the next page.
•
FUNCTION
A formula or routine for evaluating an expression.
G
•
GAIN
A proportional increase in power or signal value relative to a control signal. The
ratios of voltage, power, or current as related to a reference or control signal input.
•
GLOBAL
Refers to a function or process that affects the entire system or file.
•
GRAY CODE
A positional binary number notation in which any two numbers whose difference is
one are represented by expressions that are the same except in one place or column and differ by only one unit in that place or column.
H
•
HALF-DUPLEX COMMUNICATION
Data transmission between two devices, where the signal is sent in only one direction at a time.
•
HANDSHAKING PROTOCOL
Communication rules used for data transmissions between devices. Each device
must recognize the same protocol in order to communicate.
•
HANG
A term which refers to the state of a computer system that seems to be inoperative
when processing should be taking place.
•
HARDSTOP
A mechanical constraint or limit on motion.
G-12
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
HARDWARE
Physical equipment and devices such as computer hard disk, cables, printer, etc.
•
HAZARD
A potential source of harm.
•
HAZARDOUS SIDE
The unsafe side of a component or panel, such as the inside of the control panel
when power is applied and functions are being performed.
•
HOLD
When an external or an internal input is available for a hold condition, the robot will
stop its motion and servo drive power will be removed from the robot. When an
external hold reset is performed, the servo drive power will be energized.
•
HOME POSITION
Refers to the starting or resting position of the robot.
•
HYBRID ENCODER
On the Kawasaki robot a hybrid encoder is used to generate positional data, and is
composed of an incremental encoder that generates incremental pulses, and an
absolute encoder that generates gray code binary data.
I
•
I/O
Abbreviation for Input/Output. The interconnections through which the computer
and its peripheral devices communicate.
•
ID
Abbreviation for Identification.
•
INCHING
A value that is used during the jogging process that allows the user to position the
robot in small minute increments.
•
INCREMENTAL CODE
A digital closed loop feedback code that provides digital feedback pulses to the
robot controller for the purpose of providing positional information. These incremental pulses are generated by an encoder through the use of an optical disk with
alternating opaque and transparent bars or lines around the periphery of the disk.
On one side of the disk a light source is mounted, and on the opposite side a
phototransistor When the disk rotates, the phototransistor is alternately forced into
saturation and cutoff, producing the digital signal.
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
INDUSTRIAL ROBOT
An automatically controlled, multipurpose manipulator, programmable in three or
more axes. It may be either fixed in place or mobile for use in industrial automation
applications.
•
INPUT
Transmission of an external signal into a control system.
•
INSTRUCTIONS
Discrete steps in a computer program that are commands or statements that tell a
computer to do something or identify data.
•
INTEGER
A whole number, a number without a fractional part such as 7, -318, or 19.
•
INTEGRATED CIRCUIT (IC)
A combination of interconnected circuit elements which are within a continuous
substrate.
•
INTERACTIVE SYSTEM
System where the user and the operating system communicate directly; the user
through the keyboard, and the operating system via the display screen.
•
INTERFACE
The circuitry that fits between a system and a peripheral device to provide compatible coupling between the two pieces of equipment.
•
INTERLOCK
An arrangement whereby the operation of one part or mechanism automatically
brings about or prevents the operation of another.
•
INTERPOLATION
The mathematical process that the CPU utilizes to plot a path for the robot to travel
from one position to another. A mathematical process that evaluates a number of
dependent and independent variables for the purpose of comparison and prediction.
•
INTERPRETER
A program that changes English-like commands into machine language. An interpreter translates and executes one command at a time.
•
INTERRUPT
An external signal that halts program execution so that the computer can service the
needs of some peripheral device or subsystem.
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
INTRINSIC SAFETY BARRIER (ISB)
An electronic device used in robot controllers to restrict current and voltage to a safe
level.
•
INVERTER
A circuit which switches a positive signal to a negative signal, and vice versa.
•
IPM
Abbreviation for Intelligent Power Module
J
•
JOG
A term used to describe the process in which the user moves the mechanical unit
through interaction with the robot controller and the teach pendant. Sometimes
referred to as slewing.
•
JOINT
1: A term used to describe the individual axes of a robot. 2: A term used to describe the jogging process in which the robot is jogged one axis at a time.
•
JOINT MOVE
A mode of operation in which the robot moves from one point to the next with an
arching path. All axes motors (required for the move) begin and end their rotation at
the same time. The tool center point does not follow a linear path to reach the
taught position.
L
•
LABEL
An identifier for a program command line. To identify an instruction, memory location, or part of a program.
•
LAN
An acronym for local area network. A group of computer terminals interconnected
by cables, allowing communication of information via the network.
•
LCD
Abbreviation for liquid crystal display. This type of display is made of material whose
reflectance or transmittance of light changes when an electric field is applied.
•
LIMIT SWITCH
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
An electrical switch positioned to be switched when a motion limit occurs, thereby
deactivating the actuator that caused the motion (overtravel limit switch).
•
LINEAR MOVE
An operation where the rate and direction of relative movement of the robot arm are
continuously under computer control.
•
LINE PRINTER
A high-speed output device that prints a line at a time.
•
LINE TURN-AROUND
Changing the source of transmission in half-duplex communications.
•
LM
Abbreviation for linear motion.
•
LOAD
The weight applied to the end of the robot arm.
•
LOCKOUT
Serving to prevent operation of a device or part of it.
•
LOGICAL OPERATION
Any of several operations that manipulate information according to the rules of logic
(e.g., AND, OR, NOT, and exclusive OR).
•
LSB
Abbreviation for least significant bit.
M
•
MACHINE LANGUAGE
A low-level computer language, usually written in binary code.
•
MANIPULATOR
a mechanism, usually consisting of a series of segments or links, jointed or sliding
relative to one another, usually in several degrees of freedom. It is remotely operated using a controller. The term refers to the mechanical portion of the robot (mechanical unit).
•
MASS-STORAGE DEVICE
An input/output device that retains data input to it. Examples include: hard disk
drives, magnetic tapes, floppy diskettes, and disk packs.
•
MECHANICAL UNIT
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
robot (excluding controller)
•
MEMORY
An area of the computer which stores data, either permanently or temporarily.
When a program is requested, it is first loaded into memory so it can be accessed
quickly by the processor.
•
MHz
Abbreviation for megahertz. One million cycles per second.
•
MIRROR IMAGE
A process which converts the positive and negative values of a taught path from a
right-handed robot to a left-handed robot, or vice versa. The actions of the opposing
robots are then coordinated and synchronized.
•
mm
Abbreviation for millimeter.
•
MNEMONIC
A term used to help the operator remember a large string of words or commands.
•
MODEM
A signal conversion device that modulates and demodulates data into an audio
signal for transmission.
•
MOMENT OF INERTIA
Used to calculate end of arm tooling and handling weights. The sum of the products
formed by multiplying the mass of the load by the square of the distance from the
tool mounting flange.
•
MONITOR PROGRAM
An administrative computer program that oversees operation of a system. The AS
monitor accepts user input and initiates the appropriate response, follows instructions from user programs to direct the robot, and performs the computations necessary to control the robot.
•
MSB
Abbreviation for most significant bit.
•
MSEC
Abbreviation for millisecond (0.001 seconds).
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D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
N
•
NOISE
Any unwanted disturbance within a dynamic, mechanical, or electrical system.
•
NULLED
An electrical zero state.
O
•
OCTAL NUMBER
A numeral in the base-8 numbering system, which uses the numerals 0 - 7.
•
OFF LINE
A state in which communications between two devices cannot occur (e.g., between
a printer and a computer, if the printer is off line).
•
ON LINE
A state in which communication between two devices can occur.
•
OPEN LOOP
A control which does not use feedback to determine its output.
•
OPERATING SYSTEM
A set of system tasks and commands that are entered by the operator and interpreted and performed by the system.
•
OPERATOR
1: Any mathematical action or function. The arithmetic operators are: add, subtract,
multiply, divide, modulo, and exponent. The relational operators are: greater than,
less than, equal to, and their combinations. The logical operators are: AND, OR,
exclusive OR, negate. The binary logical operators are AND, OR, exclusive OR,
ones complement. 2: The person designated to start, monitor, and stop the operation of a robot or robot system. The operator may also interface with a robot for
production purposes.
•
OPTO
An optical isolator or level converter.
•
OVERFLOW
When a value or buffer exceeds a predefined limit.
G-18
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
OVERTRAVEL
An error condition that exists when the robot exceeds its normal software limit values, and then actuates an overtravel limit switch.
•
OVERVELOCITY
When an axis exceeds a preset value for velocity.
•
OX (OUTPUT EXTERNAL)
Information transferred from the robot controller through output modules to control
output devices.
P
•
PARITY
Method by which errors are detected. In this method the combined binary values of
a byte are flagged as 1 or 0.
•
PARSE
To break a command string into individual elements, so it can be interpreted.
•
PASSWORD
A code, entered by the user, to permit access to protected information.
•
PATH
The path traced by the tool center point (TCP) during the execution of a task program.
•
PAYLOAD
The maximum weight that a robot can handle satisfactorily during its normal operations and extensions.
•
PC PROGRAM
PC is an abbreviation for process control. A PC program cannot contain any step
that causes robot motion. PC programs are used to evaluate logic and variables
and execute program CALL and GOTO commands
•
PERIPHERAL DEVICE
Hardware equipment which is external to the CPU, but that transmits and/or receives I/O from the processor. Examples include: printer, CRT screen, or disk.
March 15, 2004
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
PERIPHERAL EQUIPMENT
The equipment used in conjunction with the robot for a complete robotic system.
This equipment includes grippers, dispensers, weld guns, conveyors, part
positioners, part or material feeders, and any equipment located within the safeguarded space that is not part of the robot.
•
PHASE
The angular relationship between current and voltage in alternating current circuits.
In a waveform or period function, the fraction of the period that has elapsed, as
measured from a reference point. Phase angle is determined by multiplying the
phase by 360 degrees.
•
PINCH POINT
Any point where it is possible for a part of the body to be injured between the moving or stationary parts of a robot and the moving or stationary parts of associated
equipment, or between the material and moving parts of the robot or associated
equipment.
•
PLA
Abbreviation for programmable logic array. Used in many servo drive circuits.
•
PLAYBACK
An operation where a taught path is run for evaluation purposes.
•
PLC
Abbreviation for programmable logic controller. Usually referred to as the cell module
controller.
•
POINT-TO-POINT CONTROL
A robot motion control in which the robot can be programmed by the operator to
move from one position to the next. The intermediate paths between these points
cannot be specified.
•
POINT-TO-POINT SYSTEM
Robot movement in which the robot moves to a numerically defined position and
stops, performs an operation, and then moves to another numerically defined position and stops, and so on.
•
POLARITY KEYS
These teach pendant or multi function panel keys allow the user to jog or slew the
robot in the Joint, Base (XYZ), or Tool coordinates system.
G-20
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
PORT
The connection point of an opening or passage that is usually located outside the
housing of a device.
•
POSITIONAL DATA
The location in space of the robot manipulator.
•
POUNCE POSITION
A positional location at a point near the workpiece, clear of the transfer mechanism
and part, from which the robot is ready to begin production.
•
PRECISION POINT
The play back of robot location based on the angular position of the six axes, joint
angles
•
PRINTED CIRCUIT
An assembly of electronic elements that provide a complete path of electrical current through conductive material deposited between terminals on an insulated
surface.
•
PRINTING
A process in which characters are stamped on a surface, usually paper.
•
PROCESSOR
Generally, any hardware or software system for carrying out programs and acting on
data.
•
PROGRAM
A predefined, step-by-step set of instructions that are entered into a computer so a
specific process can be performed repeatedly without reentering all the steps. Robot paths are stored and run as part of programs.
•
PROGRAM EDIT
Modification of an existing program.
•
PULSE WIDTH MODULATION (PWM)
A modulation process in which the instantaneous sampling of the modulating wave
is caused to modulate the duration of the pulse. This type of modulation is also
referred to as pulse duration modulation (PDM), or pulse length modulation (PLM).
March 15, 2004
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
R
•
RAM
Acronym for random access memory. An area used by the CPU for processing and
temporarily loading programs so they can be accessed quickly. The contents of
RAM are lost when the computer is powered down, unless battery backup is provided.
•
REAL NUMBER
A number with a fractional part, such as 1.75, -31.89, .5, -4.00, etc.
•
REAL-TIME
The actual time during which the computer analyzes and processes data: information is usually processed as it is received.
•
REAL VARIABLE
AS language term for a variable that has had a real value assigned to it.
•
REPEAT MODE
A mode of operation that allows the user to check positional and auxiliary information at a selected speed value, in a continuous or a step by step type of movement
of the mechanical unit.
•
REPEATABILITY
The measurement of the closeness of agreement among repeated measurements
of the same variable under the same conditions.
•
RESTRICTED SPACE
The space defined by the maximum reach of the manipulator, including the endeffector and work piece, in all directions, after a limiting device is actuated (work
envelope).
•
REWRITE MODE
A mode of operation which allows the user to rewrite positional, or auxiliary data,
and to insert or delete step address locations.
•
RISC
Acronym for reduced instruction set computer.
•
ROM (read-only memory)
A memory device which is programmed at the factory and whose contents thereafter cannot be altered.
G-22
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
RS-232C
An ASCII specification for connections and communication between serial devices.
•
RUN
A mode of operation that allows the user to select servo motor power to provide
drive energy to the robot, allowing it to perform such modes of operation as teach,
check, repeat, and rewrite.
S
•
SAFEGUARDED SPACE
The space defined by the perimeter safeguarding devices (work cell).
•
SAFEGUARDING DEVICE
A device that detects or prevents access to a hazard.
•
SAFETY PLUG
A device used with safety fencing to interlock the opening of the fence with the
removal of power to the robot.
•
SCROLL
When more information exists than can be displayed on one screen, the operator
can move up and down through the data to view it. When data is scrolled to the
screen, the information previously viewed moves up off the screen, and new information enters the screen from the bottom.
•
SENSOR
A device used to detect various conditions: proximity, heat, pressure, etc. An electrical signal from the sensor can be used to communicate information to a robot program.
•
SEQUENTIAL ACCESS
A method used by many computers whereby data is read in the order in which it is
physically stored.
•
SERIAL
A method of transmitting data by which only one bit is sent or received at any one
point in time.
•
SINGULARITY POSITION
When the robot is processing a linear or circular move and two or more joints are in
alignment. The CPU cannot process the ambiguity of a singularity configuration and
an error is generated.
March 15, 2004
G-23
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
SLOW SPEED CONTROL
A mode of robot motion control where the speed is limited to 250 mm/sec. This
allows the teacher to either withdraw from hazardous motion or stop the robot.
•
SOFTWARE
A set of written programs and instructions that are executed by a computer system.
•
SOFTWARE LIMITS
Programmed values that are included in a program at the point before a mechanical
device hits an overtravel limit switch or a hard limit.
•
SOURCE CODE
A program that contains the actual software instructions entered by the user, in
contrast to object code which is source code that has been translated into a language which can be interpreted by the computer.
•
STRING
A series of characters that have been entered in a distinct sequence that can be
interpreted as a valid statement or command.
•
STROKE
The movement in either direction of a mechanical part having a reciprocating motion. The entire distance passed through in such a movement.
•
SUBSCRIPT
A set of numbers that identifies an element of an array.
•
SUBROUTINE
A set of instructions that is run by another routine.
•
SYMBOL
A character or design that has a distinct meaning and/or is associated with something.
•
SYNTAX
The proper way in which commands and phrases should be typed in order to be
understood by the control system. If the operator incorrectly types a command (i.e.,
misspelled or invalid characters), a syntax error message will be displayed.
•
SYSTEM DATA
Data that is specific to a individual robot. Zeroing data, upper and lower software
limits, and software switch settings are all examples of system data.
G-24
March 15, 2004
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
SYSTEM SWITCH
Software switches that are set to determine various configurations and characteristics of the robot system performance.
T
•
TEACH MODE
A mode selected on the operator panel, during which robot arm axes positions can
be taught by the operator and are recorded by the robot.
•
TEACH PENDANT
A portable hand-held programming device that interfaces with the robot controller. It
contains keys (soft or touch keys), switches (e.g., emergency stop, enabling device,
teach/automatic mode), indicators, and a display. Used to direct the controller to
position the robot, record positional and auxiliary data information, and interface
with auxiliary equipment (multi function panel).
•
TEACH PROGRAMMING
A method of entering a control program into the robot controller. The robot is manually moved by an operator using a teach pendant. The teacher records positions
and other data which is saved to the robot controller as the robot is moved through
the desired path.
•
TEACHER
A person who provides the robot with a set of instructions to perform a task.
•
TOOL COORDINATES
A Cartesian coordinate system in which the origin point is at the face plate of the
robot and the orientation of the tool can be expressed in terms of a 3-dimensional
space representation of X, Y, and Z projections.
•
TOOL MODE
A mode of operation in which all motions are calculated to maintain the orientation
of the tool in space.
•
TORQUE
Something which produces or tends to produce rotation or torsion and whose effectiveness is measured by the product of the force and the perpendicular distance
from the line of action of the force to the axis of rotation.
•
TRANSFORMER
A device to convert the current of a primary circuit into variations of voltage and
current used in secondary circuits.
March 15, 2004
G-25
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
•
TRANSFORMATION
A mathematical description of a location that defines the position and orientation of
the location without regard for the configuration of the robot when it is at that location.
•
TRAP POINT
Any point where it is possible for a person to become injured while between the
robot and other equipment or objects.
•
TRIANGULAR WAVEFORM
A waveform that has the shape of a triangle and is used in determining sampling
values for servo drive circuits that utilize pulse width modulation.
•
TTL
Abbreviation for transistor-transistor logic.
•
TWO’S COMPLEMENT
A means of representing a negative number as one more than the binary complement of the absolute value of the number.
U
•
UHF
Abbreviation for ultra-high frequency.
V
•
VARIABLE
The name of a memory location or stored value. A variable can refer to a scalar or
an array.
•
VELOCITY COMMAND
This analog signal is directly proportional to motor speed, and provides the initial
signal that is processed by the servo drive system to drive a servo motor.
•
VELOCITY ERROR
When the robot controller detects an axis that has exceeded a preset value for
velocity, the robot controller will E-stop the robot.
•
VOLT
A unit of electrical potential difference and electromotive force. One volt is equivalent to the force required to produce one amp of current through one ohm of resistance.
G-26
March 15, 2004
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
GLOSSARY
W
•
WORK ENVELOPE
Refer to restricted space.
•
WORLD COORDINATES
A Cartesian coordinate system in which the origin point is near the base of the
robot, and robot movement can be expressed in terms of a 3-dimensional space
representation of X, Y, and Z projections.
•
WRITE
In computer systems, a process in which information is output to and stored by a
device or area in memory.
•
WS (WELD SCHEDULE)
Data that is stored in the weld controller and provides the specific current, clamp
pressures, etc. for spot welding applications.
•
WX (WAIT EXTERNAL)
The wait external signal is one of many inputs that are processed by the robot
controller. When the robot encounters a wait external condition, the robot will cease
motion and the servo power will be removed.
Z
•
ZEROING
This procedure provides the robot controller with encoder data that is referenced
from a known mechanical position (zeroing witness marks, in simple zeroing, or
inclinometer values in precision zeroing) and then establishes an encoder value for
this known position. Two methods can be used, simple and precision zeroing.
Some robot manufacturers call this procedure mastering or calibration.
March 15, 2004
G-27
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Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
INDEX
......................................................................................................................IN-2
August 9, 2007
IN-1
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
Symbols
",", "0" (Comma, Zero) Key, 5-7
"-", "." (Hyphen, Period) Key, 5-7
1 and 0 Display, 9-145
1FG Board, 1-16
1FS Board, 1-13, 1-15, 9-231
1GA Board, 9-231
1GW/1HW, 1-15
1GW/1HW Board, I-12, 1-13, 1-15
1GW/1HW Polarity, 1-15
1HG Board, 1-16
1KA/1RA, 1-13, 1-18
1KB/1RB, 1-14, 1-15, 1-18
1KC Board, 1-14
1KC/1KD Board, 1-14
1KD Board, 1-14
1KK Board, 1-13
1KN Board, 1-13
1KP Board, 1-15
1KQ Board, 1-13, 1-14
A
A Key, 5-5
ABS.SPEED Switch, 9-146
AC Servo, I-2
AC Servo Drive, 1-2
ACC/8/E (Accuracy Data) Key, 5-8
Accuracy, I-11, 2-10, 7-11
Accuracy, AUX 0302, 9-88
Active Screen Areas, 5-12
AFTER.WAIT.TIMER Switch, 9-144
All Data, AUX 0201-1, 9-57
All Data, AUX 0202-1, 9-71
Allen-Bradley, 9-231
American National Standards Institute (ANSI), 2-3
Amplifier, 1-14
ANSI, 2-3
Application Field, AUX 0605-1, 9-191
Application Type, 9-188
Arm ID Board, 9-275
Arm ID Board AS Language Commands, 9-282
Arm ID Board Error Codes, 9-288
Arm ID Board Errors, 9-284
Arm ID Board Signal Allocation, 9-281
AS Language Mode Setting, AUX 0307, 9-103
AS Language Program Wait Override, 8-32
AS Language Programming, 1-2
AS Language Teaching, 7-34
AUTO Icon, 5-36
Auto Load Measurement, AUX 0406, 9-116
Auto Tool Coordinates Register, AUX 0405, 9-111
Automatic Load Measurement Preparation, 9-118
IN-2
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
Autosave Configuration, AUX 210, 9-85
AUTOSTART.PC Switch, 9-145
AUX 0101 Transfer Data, 9-11
AUX 0102 Mirror Image, 9-13
AUX 0103 Transform Data, 9-15
AUX 0104 XYZ Shift, 9-45
AUX 0105 Joint Shift, 9-47
AUX 0106 Tool Shift, 9-49
AUX 0107 Work Shift, 9-51
AUX 0108 Inverse Copy Program, 9-53
AUX 0201 Save, 9-55
AUX 0201-1 All Data, 9-57
AUX 0201-2 All Data (Only Specified Program), 9-59
AUX 0201-3 Program, 9-60
AUX 0201-4 Robot Data, 9-61
AUX 0201-5 System Data, 9-62
AUX 0201-6 Auxiliary Data, 9-63
AUX 0201-7 Interface Panel Data, 9-64
AUX 0201-8 Error Logging, 9-65
AUX 0201-9 Vision Data, 9-66
AUX 0201-9-1 Vision All Data, 9-67
AUX 0201-9-2 Image Processing Parameter Data, 9-68
AUX 0201-9-3 Calibration Data, 9-69
AUX 0201-9-4 Proto Data, 9-70
AUX 0202 Load, 9-71
AUX 0202-1 All Data, 9-71
AUX 0202-1 Specified Data, 9-73
AUX 0203 File List, 9-76
AUX 0204 Format PC Card, 9-77
AUX 0205 Delete File, 9-78
AUX 0206 Rename File, 9-79
AUX 0207 Copy File, 9-81
AUX 0208 Set Verifying Function, 9-83
AUX 0209 Set Default Device, 9-84
AUX 0301 Speed, 9-87
AUX 0302 Accuracy, 9-88
AUX 0303 Timer, 9-91
AUX 0304 Tool Coordinates, 9-92, A-2
AUX 0305 Fixed Tool Coordinates (Option), 9-96
AUX 0306 Work Coordinates, 9-98
AUX 0307 AS Language Mode Setting, 9-103
AUX 0401 Teach/Check Speed, 9-104
AUX 0402 Home Position, 9-105
AUX 0403 Working Space (Option), 9-107
AUX 0404 Load on Arm, 9-109
AUX 0405 Auto Tool Coordinates Register, 9-111
AUX 0406 Auto Load Measurement, 9-116
AUX 0407 Rotation for Spin Axis Set (Option), 9-130
AUX 0501 Zeroing, 9-131
AUX 0501-1 Zeroing, 9-132
AUX 0501-2 Zeroing Data Set/Display, 9-134
AUX 0501-3 Zeroing Encoder Rotation Counter Reset, 9-136
AUX 0502 System Switch, 9-138
August 9, 2007
IN-3
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
AUX 0503 Pos. Deviation Error Range at E-Stop, 9-148
AUX 0504 Encoder Value Error Range at Power-On, 9-150
AUX 0505 Robot Installation Posture, 9-151
AUX 0506 Base Coordinates, 9-153
AUX 0507 Motion Limits, 9-155
AUX 0507 Slow Repeat Mode, 9-157
AUX 0509 Interface Panel, 9-158
AUX 0509 Interface Panel Digital Display Setting S, 9-173
AUX 0509 Interface Panel Digital Switch Setting Sc, 9-170
AUX 0509 Interface Panel Lamp Setting Screen, 9-160
AUX 0509 Interface Panel Monitor-Command Button Sc, 9-179
AUX 0509 Interface Panel Push Button Setting Scree, 9-162
AUX 0509 Interface Panel Push Button with Lamp Set, 9-164
AUX 0509 Interface Panel Setting Screen, 9-159
AUX 0509 Interface Panel Three-Notch Selector Swit, 9-168
AUX 0509 Interface Panel Two-Notch Selector Switch, 9-166
AUX 0509 Interface Panel Variable Data Display Set, 9-176, 9-178
AUX 0510 Collision Detection Function (Option), 9-181
AUX 0601 Dedicated Input Signals, 9-182
AUX 0602 Dedicated Output Signals, 9-183
AUX 0603 Dedicated Signals Display, 9-184
AUX 0604 OX Specification Setting (Option), 9-185
AUX 0605 Clamp Specifications, 9-188
AUX 0605-1 Application Field, 9-191
AUX 0605-10 Spot Weld Clamp Definition, 9-194
AUX 0605-11 Spot Weld Control Definition, 9-196
AUX 0605-12 Spot Weld Gun Definition, 9-199
AUX 0605-2 Clamp Condition, 9-192
AUX 0605-20 Handling Clamp Signal Definition, 9-203
AUX 0606 Signal Name, 9-206
AUX 0607 Setting Signal Allocation, 9-281
AUX 0608 Signal Allocation (Option), 9-208
AUX 0610 Input/Output Signals in Robot Arm, 9-209
AUX 0611 Number of I/O Signals, 9-210
AUX 0612 RI/O PLC (NAC) Setting (Option), 9-211
AUX 0613 RI/O Weld Control Setting (Option), 9-212
AUX 0614 Slogic Control (Option), 9-213
AUX 0616 Signal Environment, 9-217
AUX 0702 Error Logging Display, 9-218
AUX 0702-1 Error Logging Display–All, 9-219
AUX 0702-2 Error Logging Display–Operation Error (, 9-220
AUX 0702-3 Error Logging Display–Mechanical/Contro, 9-221
AUX 0702-4 Error Logging Display–Error (E), 9-222
AUX 0702-5 Error Logging Display–Fatal Error (D), 9-223
AUX 0702-6 Error Logging Display–Property of Loggi, 9-224
AUX 0703 Operation Logging Display, 9-225
AUX 0703-1 Operation Logging Display–All, 9-226
AUX 0703-2 Operation Logging Display–Operation Log, 9-226
AUX 0703-3 Operation Logging Display–Command Loggi, 9-227
AUX 0703-5 Operation Logging Display–Property of L, 9-227
AUX 0704 Maintenance Log, 9-276
AUX 0704-1 Maintenance Log Registration, 9-277
AUX 0704-2 Maintenance Log Display, 9-279
IN-4
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
AUX 0704-3 Maintenance Log Deletion, 9-280
AUX 0706 Operation Data Display, 9-228
AUX 0707 Maintenance Support (Option), 9-229
AUX 0709 Motor Torque Information (Option), 9-230
AUX 0710 RI/O Last Weld Data (Option), 9-237
AUX 0711 Slogic Etc. Monitor Menu (Option), 9-238
AUX 0801 Memory Available, 9-244
AUX 0802 Inhibit Record, 9-245
AUX 0803 Reset Check Sum Error, 9-246
AUX 0804 Software Version, 9-247
AUX 0805 Initialize System, 9-248
AUX 0806 Battery Error Check, 9-250
AUX 0807 Check Specification, 9-251
AUX 0808 Environment Data, 9-253
AUX 0809 Time/Date, 9-255
AUX 0810 PC Program Run/Stop, 9-256
AUX 0810-1 PC Program Start, 9-257
AUX 0810-2 PC Program Abort, 9-258
AUX 0810-3 PC Program Stop, 9-259
AUX 0810-4 PC Program Continue, 9-260
AUX 0810-5 PC Program Kill, 9-261
AUX 0810-6 PC Program Status, 9-262
AUX 0811 Language, 9-263
AUX 0812 Network Setting, 9-264
AUX 0897 Select Auxiliary Function, 9-266
AUX 0898 Change Operation Level, 9-268
AUX 210 Autosave Configuration, 9-85
AUX MOD (Auxiliary Data Modification) Key, 5-6
Auxiliary Data, 7-11, 7-12, 7-13
Auxiliary Function List, 9-7
Auxiliary Rewrite, 7-29
AVR Power Supply, 1-14
Axis Keys, 5-7, 6-3, 6-4, 6-5
B
Backup File, 9-56
Base Coordinate, 6-12, 9-153
Base Coordinate Shift, 9-153
Base Coordinate System, 6-4, 6-10, A-3
Base Coordinates, I-3, 6-10
Base Coordinates, AUX 0506, 9-153
Base Mode, I-11, 5-32, 5-33
Battery Error Check, AUX 0806, 9-250
Battery Use and Disposal, 2-6
Block Step Program Wait Override, 8-30
Block Step Programming, 1-2
Brake Assembly, 2-11
Brakes, 2-12
C
Calibration Data, AUX 0201-9-3, 9-69
CANCEL Key, 5-5
August 9, 2007
IN-5
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
Cartesian Coordinate Motion, I-3
Caution Symbol, 2-5
CC/CLEAR (Clamp Condition Data) Key, 5-8
Change Key, 5-20
Change Operation Level, AUX 0898, 9-268
CHECK BACK Key, 5-6
Check Continuous Icon, 5-35
CHECK GO Key, 5-5
Check Mode, 2-12
Check Once Icon, 5-35
Check Specification, AUX 0807, 9-251
Check Speed, 5-30, 5-31
CHECK.HOLD Switch, 9-140
CHECK/TEACH SPEED Key, 5-6, 6-3, 6-5
Checking Program Operation, 7-21
CIR1, 7-15
CIR2, 7-15
Circuit Board Block Diagram, 1-17
Circular Interpolation, 7-15
Circular Move, I-11
Circular Movement, 1-2
CL AUX/3 (Clamp Auxiliary Data) Key, 5-8
CL1 (Clamp 1) Key, 5-7
CL2 (Clamp 2) Key, 5-7
Clamp 1, 7-12
Clamp 2, 7-12
Clamp Auxiliary Data, 7-13
Clamp Condition, 7-13
Clamp Condition, AUX 0605-2, 9-192
Clamp Conditions, 9-188
Clamp Data, 7-11
Clamp Definitions, 9-188
Clamp n (CLn), 7-13
Clamp Specifications, AUX 0605, 9-188
CLn (Clamp n) Key, 5-7
Collision Detection Function (Option), AUX 0510, 9-181
Computer Simulation Models, 9-15
CONT (Continuous/Once) Key, 5-6
Continuous Path, 2-10
CONTROL POWER Lamp, 3-3, 6-3
Controller Main Disconnect Switch, 4-2
Controller Power OFF Procedures, 4-2
Controller Power ON Procedures, 4-2
ControlNet, 1-2, 1-15
Coordinate Systems, 6-6
Coordinate Systems, BASE, A-3
Coordinate Systems, TOOL, A-3
Copy File, AUX 0207, 9-81
CP Switch, 9-140
Creating a Program, 7-8
Current Conditions, 8-11
Cursor Keys, 5-5
CYCLE START Icon, 5-32, 5-33
IN-6
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
CYCLE START Lamp, 4-2
CYCLE START Switch, 3-3
CYCLE.STOP Switch, 9-141
D
D Controller, I-10
D Controller Operation Panel, 4-4
Data Editing, I-11
Data Storage, I-14
Dedicated Input Signals, AUX 0601, 9-182
Dedicated Output Signals, AUX 0602, 9-183
Dedicated Signals, I-13
Dedicated Signals Display, AUX 0603, 9-184
Default Speed Settings, 9-87
DEL (Delete) Key, 5-6
Delete File, AUX 0205, 9-78
Deleting Steps, 7-24
Design Specifications, I-11
Designated Signal Names, 5-52, 5-54, 8-22, 8-24
Deviation Error, 2-12
Dimensions, I-14
Direct Speed, 7-31
DISPIO_01 Switch, 9-145
Display Inputs/Outputs, 9-145
Double Type Output Signal, 9-185
Drive Components, 1-20
Drive Mechanisms, 1-20
Dry Run Icon, 5-37
Dry Run ON/OFF, 8-9
E
E-stop Switch, 2-8, 2-9, 2-10, 2-12
Edit, Online, 7-61
Edit Screen Drop-Down Menu, 7-39
Edit Screen Modes, 7-40
Editing Program Data, 7-23
Eighth to Eighteenth Axes Operation, 6-6
EMERGENCY STOP, 1-8
EMERGENCY STOP Icon, 5-32, 5-33
EMERGENCY STOP Switch, 3-3, 4-2, 4-9, 5-3, 5-4
Enabling Device, 1-8, 2-10, 5-3, 5-4, 6-3
Encoder Abnormality Error, 9-150
Encoder Board, 1-16
Encoder Deviation, 9-150
Encoder Value Error Range at Power-On, AUX 0504, 9-150
END Command, 9-269
End of File Mode, 7-60
Enter Key, 5-9
Environment Data, AUX 0808, 9-253
ERROR Lamp, 3-3
Error Logging, AUX 0201-8, 9-65
Error Logging Display, AUX 0702, 9-218
August 9, 2007
IN-7
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
Error Logging Display–All, AUX 0702-1, 9-219
Error Logging Display–Error (E), AUX 0702-4, 9-222
Error Logging Display–Fatal Error (D), AUX 0702-5, 9-223
Error Logging Display–Mechanical/Control Warning (, 9-221
Error Logging Display–Operation Error (P), AUX 070, 9-220
Error Logging Display–Property of Logging, AUX 070, 9-224
Error Messages, I-14
Error Reset Procedure, 5-59
ERROR RESET Switch, 3-3
Error Screen, 5-59
ERRSTART.PC Switch, 9-145
Ethernet, 1-2
EXT AXIS/ROBOT Key, 6-3
EXT. AXIS/Robot Key, 5-6
External Fixed Point, 9-96
EXTERNAL HOLD/RUN Icon, 5-34
F
F-Series Encoder Board, 1-16
FC06N Restricted Space, 2-14
FD50N Restricted Space, 2-25
File Extension, 9-56
File List, AUX 0203, 9-76
Fixed Linear Interpolation, 7-17
Fixed Linear Interpolation (FLIN), 9-96
Fixed Linear Interpolation (FLIN) Movement, 1-2
Fixed Tool Coordinates, 7-17
Fixed Tool Coordinates (Option), AUX 0305, 9-96
Fixed Tool Dimensions, 9-96
Fixed Tool Number, 5-32, 5-33
Flash RAM PC Card, 1-9
FLEXCOMP Switch, 9-144
FLIN, 7-17
Floppy Disk Drive, 1-7
FLOWRATE Switch, 9-147
FS03N Restricted Space, 2-13
FS06L Restricted Space, 2-15
FS10C Restricted Space, 2-14
FS10E Restricted Space, 2-16
FS10L Restricted Space, 2-17
FS10X Restricted Space, 2-18
FS20C Restricted Space, 2-20
FS20N Restricted Space, 2-21
FS20X Restricted Space, 2-19
FS30L Restricted Space, 2-22
FS30N Restricted Space, 2-23
FS45C Restricted Space, 2-23
FS45N Restricted Space, 2-24
FS60L Restricted Space, 2-26
G
Global Changes, 9-138
IN-8
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
Goggles, 2-8
H
Handling Clamp Signal Definition, AUX 0605-20, 9-203
Handling Clamp Signal Timing, 9-205
Hard Hat, 2-8
Hardstop, 2-12
HardStop Specifications, I-9
High-Speed Playback, 2-11
HOLD.STEP Switch, 9-146
HOLD/RUN Icon, 5-32, 5-33
HOLD/RUN Switch, 4-2, 4-5, 4-9, 6-3, 8-10
Home Position, 9-105
Home Position, AUX 0402, 9-105
Hybrid Encoder, 1-18
Hybrid Interpolation, I-11, 1-2, 6-15, 7-19
I
I/O Channels, 9-231, 9-234
I/O Signals, I-12
Image Processing Parameter Data, AUX 0201-9-2, 9-68
Inching, 6-5
Inhibit Record, AUX 0802, 9-245
Initialize System, AUX 0805, 9-248
Input/Output Signals in Robot Arm, AUX 0610, 9-209
Inputs, I-13
INS (Insert) Key, 5-6
Inserting Steps, 7-26
Insulated Gate Bipolar Transistors (IGBTs), 1-18
Intelligent Power Modules (IPMs), 1-18
INTER (Interpolation) Key, 5-6, 6-3, 6-4, 6-13
Interface Panel, 1-7, 1-11
Interface Panel, AUX 0509, 9-158
Interface Panel Digital Display Setting Screen, AU, 9-173
Interface Panel Digital Switch Setting Screen, AUX, 9-170
Interface Panel Lamp Setting Screen, AUX 0509, 9-160
Interface Panel Monitor-Command Button Screen, AUX, 9-179
Interface Panel, Optional, 2-12
Interface Panel Push Button Setting Screen, AUX 05, 9-162
Interface Panel Push Button with Lamp Setting Scre, 9-164
Interface Panel Setting Screen, AUX 0509, 9-159
Interface Panel String Display Window Screen, 9-178
Interface Panel Three-Notch Selector Switch Screen, 9-168
Interface Panel Two-Notch Selector Switch Screen, 9-166
Interface Panel Variable Data Display Setting Scre, 9-176
Interlock Control Circuit, 2-11
Interpolation, 7-11, 7-14
Inverse Copy Program, AUX 0108, 9-53
IPMs, 1-14
Item Edit Screen Menu, 7-41
Item Editing Mode, 7-40
August 9, 2007
IN-9
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
J
J/E/I (JUMP/END/Edit) Key, 5-9
Jgging Operation, 6-2
JOG Key, 5-6, 6-5
Jogging Operation Keys, 6-2
Joint Coordinate System, 6-4
Joint Coordinates, 6-7
Joint Interpolation, 6-7, 7-14
Joint Mode, I-11, 5-32, 5-33
Joint Monitor, Command Value (Positional Command), 5-48, 8-17
Joint Monitor, Current Value (Current Positional D, 5-48, 8-18
Joint Monitor, Deviation Value (Positional Data De, 5-49, 8-19
Joint Monitor, Encoder Value (Encoder Positional D, 5-49, 8-18
Joint Monitor, F/B Current Value (Motor Current), 5-51, 8-20
Joint Monitor, Joint Speed, 5-50, 8-19
Joint Monitor Menu, 5-47, 8-16
Joint Monitor, Motor Speed, 5-50, 8-20
Joint Monitor, Pose Information (Positional Data), 5-47, 8-17
Joint Movement, 1-2
Joint Shift, AUX 0105, 9-47
JT1 (R-Axis), I-2
JT2 (O-Axis), I-2
JT3 (D-Axis), I-2
JT4 (S-Axis), I-2
JT5 (B-Axis), I-2
JT6 (T-Axis), I-2
JT7 (V-Axis), I-2
JUMP Command, 9-269
JUMP/END, 7-12
JUMP_OFF, 9-269
JUMP_ON, 9-269
JUMP_ST, 9-269
K
KCMON, 1-7, 1-11
KCWIN, 1-7, 1-11
KCWIN32, 1-11
Keep Type Output Signal, 9-185
Keyboard Back Space Key, 5-45
Keyboard Clear Key, 5-45
Keyboard CTRL+L/CTRL+N Key, 5-45
Keyboard Enter Key, 5-45
Keyboard Keys, 5-45
Keyboard Screen, 5-44, 7-7, 8-6
Keyboard Shift Key, 5-45
Keyboard Space Key, 5-45
Klogic, 1-2
L
Ladder Logic, 9-231
Language, AUX 0811, 9-263
IN-10
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
LCD, 5-3
Left-Hand Rule, I-3, 6-11
Limit Switch, 2-12
LIN2, 7-19
Linear 2 Interpolation, 6-15
Linear 2 Move, I-11, 1-2
Linear Interpolation, 7-14
Linear Move, I-11
Linear Movement, 1-2
Linear Movement Errors, 6-15
Liquid Crystal Display (LCD), 1-8, 5-4
Load, AUX 0202, 9-71
Load on Arm, AUX 0404, 9-109
Lock Out, 2-11
Lower Limits, 9-155
M
M-Series Encoder Battery Board, 1-16
Main Circuitry, 1-13
Main Disconnect, 2-11
Main Menu, Aux Function, 5-42
Main Menu, Keyboard, 5-44
Main Menu, Teach, 5-42
Maintenance Log, 9-275
Maintenance Log Deletion, AUX 0704-3, 9-280
Maintenance Log Display, AUX 0704-2, 9-279
Maintenance Log Registration, AUX 0704-1, 9-277
Maintenance Support (Option), AUX 0707, 9-229
Major Axes, I-2
Major Components, 1-4
Major Features, 1-2
Material Handling Clamp, 9-191
MC Unit, 1-13, 1-14
MD400N Restricted Space, 2-27
Mechanical Unit, I-2, 1-20
Memory Available, AUX 0801, 9-244
Memory Capacity, I-11
MENU Key, 5-5, 6-3
MESSAGES Switch, 9-144
Mine Safety and Health Administration (MSHA), 2-3
Minor Axes, I-2
Mirror Image, AUX 0102, 9-13
Monitor Screens, 8-15
Monitoring the Program, 8-11
Motion Control, I-11
Motion Limits, AUX 0507, 9-155
MOTOR POWER Icon, 5-34
MOTOR POWER Lamp, 3-3, 4-2, 4-5, 6-3, 8-10
Motor Power ON, Repeat Mode, 4-5
MOTOR POWER Switch, 4-5, 6-3, 8-10
Motor Torque Information (Option), AUX 0709, 9-230
MSHA, 2-3, 2-8
August 9, 2007
IN-11
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
Multi Function Panel/Type 2 Teach Pendant, 9-231
MX350L Restricted Space, 2-28
MX420L Restricted Space, 2-29
MX500N Restricted Space, 2-30
N
Network Setting, AUX 0812, 9-264
NIOSH, 2-3, 2-8
Node Adapter Chip (NAC), 9-231
Non-Active Screen Areas, 5-12
Null, 9-153
Number of I/O Signals, AUX 0611, 9-210
O
O. WRITE/REC (Overwrite/Record) Key, 5-7
OAT, 9-113
OAT Angles, A-4
Off Line Programming, 9-15
Off-Line Program Data, 9-17
OFF/2 Key, 5-7
ON/1 Key, 5-7
Operation Data Display, AUX 0706, 9-228
Operation Logging Display, AUX 0703, 9-225
Operation Logging Display–All, AUX 0703-1, 9-226
Operation Logging Display–Command Logging, AUX 070, 9-227
Operation Logging Display–Operation Logging, AUX 0, 9-226
Operation Logging Display–Property of Logging, AUX, 9-227
Operation Panel, 1-7, 1-10, 2-12
Operation Panel Switches, 3-3
Optional Axes Operation, 6-6
OSHA, 2-3, 2-8
Outputs, I-13
Overtravel Error Recovery, 9-156
Overwriting Steps, 7-23
OX and WX Display, 7-20
OX PREOUT Switch, 9-142
OX Signal, 7-12, 7-20
OX Specification Setting (Option), AUX 0604, 9-185
OX.PREOUT Switch, 9-143
OX/4/A (External Output Data) Key, 5-8
P
Parallel I/O Board, 1-15
Parts, Replacement, 2-11
PC Card, 1-7
PC Card Format, AUX 0204, 9-77
PC Card Slot, 1-9
PC Program Abort, AUX 0810-2, 9-258
PC Program Area, 5-27
PC Program Continue, AUX 0810-4, 9-260
PC Program Kill, AUX 0810-5, 9-261
PC Program Run/Stop, AUX 0810, 9-256
IN-12
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
PC Program Start, AUX 0810-1, 9-257
PC Program Status, AUX 0810-6, 9-262
PC Program Stop, AUX 0810-3, 9-259
PC Programming, 1-2
Peripheral Device, 2-8
Personal Computer, 1-11
Personal Safety, 2-8
pg00, 8-4
Pinch Points, 2-10
Playback Accuracy, 9-88
Playback Speed, 9-87
PLC.CHECK Switch, 9-147
Pneumatic, 2-11
Point-to-Point Mode, 2-10
Pos. Deviation Error Range at E-Stop, AUX 0503, 9-148
Position Deviation Error Range, 9-148
Position Rewrite, 7-28
Power Block, 1-18
Power ON Teach Mode, 4-5
Power ON/OFF Procedures, 4-2
Power Requirements, I-14
Power Unit, 1-14
Pre-Programed Instructions, 7-34
PREFETCH.SIGINS Switch, 9-143
Preparation for Teaching, 7-2
PROG/STEP Key, 5-6
PROGRAM, 7-61
Program Edit Screen, 7-38
Program Execution, 8-2
Program List Screen, 8-12, 8-14
Program Names, 7-3, 7-5
Program Number, 7-4
Program Number Select, 8-4
Program Select Screen, 8-5, 8-13
Program Selection, 8-2
Program Step Comment, 7-12
Program/Comment Area, 5-14
Program/Comment, Cancel Register, 5-24
Program/Comment, Copy, 5-21
Program/Comment, Delete, 5-17
Program/Comment, Display Contents, 5-20
Program/Comment Drop-Down Menu, 5-14, 7-3, 8-3
Program/Comment, Input Comment, 5-19
Program/Comment, Rename, 5-23
Program/Comment, Select, 5-16
Program/Comment, Specify, 5-15
Programmable Logic Controller (PLC), 9-231
Programming Sheets, 7-2, A-8
Proto Data, AUX 0201-9-4, 9-70
Pulse Type Output Signal, 9-185
Pulse Width Modulation (PWM), 1-18
PWM Signals, 1-15
August 9, 2007
IN-13
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
Q
QTOOL Switch, 9-143
R
Random Program Selection (RPS), 9-269
Record Inhibit Icon, 5-37
Recording and Editing Programs, 7-2
Recording Program Steps, 7-8
Remote I/O, 9-234
Rename File, AUX 0206, 9-79
REP_ONCE Switch, 9-143
Repeat Condition Speed, 9-87
Repeat Conditions, 5-39, 8-7, 8-8
Repeat Conditions, + 10%, 5-40
Repeat Conditions, - 10%, 5-40
Repeat Conditions Drop-Down Menu, 5-39
Repeat Conditions, Dry Run ON/OFF, 5-41
Repeat Conditions, Repeat Continuous/Once, 5-40
Repeat Conditions, RPS ON/OFF, 5-41
Repeat Conditions, Specify, 5-40
Repeat Conditions, Step Continuous/Once, 5-40
Repeat Continuous Icon, 5-36
Repeat Continuous/Once, 8-8
Repeat Mode, I-11, 2-10
Repeat Once Icon, 5-36
Repeat Speed, 5-30, 5-31
Replacement Parts, 2-11
Reset Check Sum Error, AUX 0803, 9-246
Restricted Space, 2-8, 2-10, 2-13
Retreat Path, 2-10
Rewrite Auxiliary Data, 7-29
RI/O Last Weld Data (Option), AUX 0710, 9-237
RI/O PLC (NAC) Setting (Option), AUX 0612, 9-211
RI/O Weld Control Setting (Option), AUX 0613, 9-212
Robot Controller Versions, I-10
Robot Installation Posture, AUX 0505, 9-151
Robot Specifications, I-5, I-6, I-7, I-8
Rotation for Spin Axis Set (Option), AUX 0407, 9-130
RPS Codes, 9-269, 9-273
RPS Enable, 9-272
RPS Icon, 5-36
RPS ON/OFF, 8-8
RPS Operation, 9-273
RPS Procedure, 9-270
RPS Slogic Program Example, 9-271
RPS Switch, 9-143
RPS System Switch, 9-272
RPS_ON, 9-269
RPS_ST, 9-269
RUN/HOLD Switch, 3-3
Running a Program, 8-10
IN-14
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
S
S Key, 5-5
Safeguarded Space, 2-2, 2-8, 2-9, 2-10, 2-11
Safety Categories, 2-8
Safety Coordinator, 2-9
Safety Device, 2-9
Safety During Inspection and Maintenance, 2-11
Safety During Operation, 2-10
Safety During Programming, 2-10
Safety Features, 2-12
Safety Fence, 2-11
Safety Glasses, 2-8
Safety Plug, 2-11
Safety Shoes, 2-8
Save All Data (Only Specified Program), AUX 0201-2, 9-59
Save, AUX 0201, 9-55
Save Auxiliary Data, AUX 0201-6, 9-63
Save Interface Panel Data, AUX 0201-7, 9-64
Save Program, AUX 0201-3, 9-60
Save Robot Data, AUX 0201-4, 9-61
Save Screen, 9-55
Save System Data, AUX 0201-5, 9-62
Save Vision Data, 9-66
Screen Area A, 5-12
Screen Area B, Main Menu, 5-42
Screen Area C, Menu, 5-46
Screen Area Descriptions, 5-11
Screen Areas B and C, 5-12
SCREEN Switch, 9-145
Select Auxiliary Function, AUX 0897, 9-266
SELECT Key, 5-5, 6-3
Selecting the Teach Screen, 7-9
Serial Communication, 9-231
Serial I/O Board, 1-15
Servo Control, 1-18
Servo Drive Motor, 2-11
Servo Motor, 1-18
Servo Software, 1-18
Set Default Device, AUX 0209, 9-84
Set Verifying Function, AUX 0208, 9-83
Setting Signal Allocation, AUX 0607, 9-281
Seventh Axis Operation, 6-6
Signal Allocation (Option), AUX 0608, 9-208
Signal Environment, AUX 0616, 9-217
Signal Monitor Menu, 5-51, 8-21
Signal Monitor, Signal Index, 5-54, 8-23
Signal Monitor, Signal Name, 5-52, 8-21
Signal Name, AUX 0606, 9-206
Signal State Display colors, 5-53, 8-22
Signal Timing, 9-142
Singularity, 6-15
Slogic, 9-231, 9-233, 9-234
August 9, 2007
IN-15
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
Slogic Control (Option), AUX 0614, 9-213
Slogic Editing, 9-233
Slogic Etc. Monitor Menu (Option), AUX 0711, 9-238
Slogic Program, 9-233
Slogic Programming, 1-2
Slow Repeat Mode, 8-29
Slow Repeat Mode, AUX 0508, 9-157
SLOW_START Switch, 9-146
Soft Keys, 1-8
Software Interface Panel, 1-12
Software Limit, 2-12
Software Programmed Interface Panel, 1-7
Software Switches, 9-138
Software Version, AUX 0804, 9-247
SPD/7/D (Speed Data) Key, 5-8
Specified Data, AUX 0202-1, 9-73
Speed, I-11, 2-10, 7-11
Speed, AUX 0301, 9-87
Spot Weld Clamp Definition, AUX 0605-10, 9-194
Spot Weld Control Definition, AUX 0605-11, 9-196
Spot Weld Gun Definition, AUX 0605-12, 9-199
Spot Weld Gun Signal Timing, 9-201
Spot Welding Clamp, 9-191
SPOT_OP Switch, 9-144
Status Area, 5-28
Status Area A, 5-30
Status Area A Icons, 5-30, 5-31
Status Area B, 5-32
Status Area B Icons, 5-32, 5-33
Status Area C, 5-34
Status Area C Icons, 5-34
Status Area D Icons, 5-35, 5-36
Status Area E, 5-37, 5-38
Status Area E Icons, 5-37
Status Areas, 5-29
Step Area, 5-25
Step Backward, 5-26
Step, Bottom, 5-26
Step Continuous Icon, 5-36
Step Continuous/Once, 8-8
Step Drop-Down Menu, 5-25
Step Edit Screen Menu, 7-54
Step Editing Mode, 7-52
Step Forward, 5-26
Step Once Icon, 5-36
Step, Specify, 5-25
Step Speed, 9-87
Step, Top, 5-26
Step Type Output Signal, 9-185
Stopping a Running Program, 8-28
Stopping the Robot, 4-9
STP_ONCE Switch, 9-144
Switching Active Screen, 5-13
IN-16
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
System Message Area, 5-28
System Switch, AUX 0502, 9-138
T
Tag Out, 2-11
TEACH LOCK, 1-8
TEACH LOCK Switch, 4-5, 5-3, 5-4, 6-3, 8-10
Teach Mode, I-11, 2-12
Teach Pendant, I-14, 1-7, 1-8, 2-10, 2-12, 4-4, 5-3, 5-4, 6-2
Teach Pendant Cursor Keys, 5-45
Teach Pendant Disconnect, 9-254
Teach Pendant Keys, 5-5, 5-6, 5-7, 5-8, 5-9
Teach Pendant Screen Areas, 5-10
Teach Pendant Screens, 5-10
Teach Screens, 7-10
Teach Speed, 5-30, 5-31
Teach/Check Speed, 9-104
Teach/Check Speed, AUX 0401, 9-104
TEACH/REPEAT Switch, 3-3, 4-5, 4-9, 6-3, 8-10
Time/Date, AUX 0809, 9-255
Timer, 7-11, 9-91
Timer Function, 9-91
TMR/9/F (Timer Data) Key, 5-8
Tool Center Point, 9-113
Tool Coordinate System, 6-4, 6-13, A-3
Tool Coordinates, I-3, 6-13, 6-14
Tool Coordinates, AUX 0304, 9-92
Tool Dimensions, 9-92, 9-143
Tool Mode, I-11, 5-32, 5-33
Tool Number, 5-32, 5-33
Tool Shift, AUX 0106, 9-49
TOOL/9/BS (Tool Data/BackSpace) Key, 5-8
Touch Panel, 1-8
Touch Panel Keys, 1-8
Transfer Data, AUX 0101, 9-11
Transform Data, AUX 0103, 9-15
Trap Point, 2-10, 2-8
U
Upper Limits, 9-155
User Interface Devices, 1-7
V
Velocity Error, 2-12
Vision All Data, AUX 0201-9-1, 9-67
W
Wait Condition Icon, 5-37
Wait Override, 8-30
Warning Reset Procedure, 5-62
Warning Screen, 5-62
August 9, 2007
IN-17
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak
D SERIES CONTROLLER
OPERATIONS AND PROGRAMMING MANUAL
INDEX
Warning Symbol, 2-5
Water, High Pressure, 2-11
Weld Complete Signal, 9-192
Weld Control, 9-231
Weld Parameters, 9-192
Weld Schedule, 7-13
Work, 7-12
Work Coordinates (Option), AUX 0306, 9-98
Work Shift, AUX 0107, 9-51
Working Space (Option), AUX 0403, 9-107
WRK/C (Auxiliary Function/Work Data) Key, 5-8
WS.ZERO Switch, 9-146
WS/6/C (Weld Schedule Data) Key, 5-8
WS_COMPOFF Switch, 9-146
WX Signal, 7-12
WX Signals, 7-20
WX/5/B (External Output Data) Key, 5-8
X
X and O Display, 9-145
XYZ Shift, AUX 0104, 9-45
Z
Zeroing, 9-130
Zeroing, AUX 0501, 9-131
Zeroing, AUX 0501-1, 9-132
Zeroing Data Set/Display, AUX 0501-2, 9-134
Zeroing Encoder Rotation Counter Reset, AUX 0501-3, 9-136
ZZ-Series Encoder Battery Board, 1-16
ZZD130S/250S Restricted Space, 2-31
ZZT130U/165U Restricted Space, 2-32
ZZT200S Restricted Space, 2-33
ZZX130L Restricted Space, 2-34
ZZX165U Restricted Space, 2-35
ZZX200S Restricted Space, 2-36
ZZX300S Restricted Space, 2-37
IN-18
August 9, 2007
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Kawasak