ROBOTICS
General Operator’s Manual
Robot controller
User manual
Created on:
2021-08
Revision:
04
Author:
DIE/WOE
Document number:
E1102000220GB04
Modifications made:
Rev. 01: Document created from the original RE-CSO-A051.2
Rev. 02: Revised version of the original RE-CSO-A051.3 - RE-CSO-A051.6 (chapter: 2 "Introduction",
3 "Robot coordinate systems and operations", 4 "Teaching", 5 "Playback", 7 "Convenient functions"
and 9 "Parameter".
Rev.03: Revised version of the original RE-CSO-A051.7 and RE-CSO-A051.8, adaption of graphics
and legends according to new graphic guideline, corrections, standardization of language and terminology (2020-05)
Rev. 04: Revised version of the original RE-CSO-A051.9 - RE-CSO-A051.10 (chapter: 4.8 "Test run",
5.4 "Modifying play speed", 7.8 "Parameter setting function", 7.12 "Present robot position output function", 7.15 "Logging function" and new chapters: 7.26 "Multi-move function" and 7.27 "Robot motion
filter setting function".
© Copyright 2021
This documentation (or parts of it) must not be reproduced or made available to third parties without
the express approval of YASKAWA Europe "Robotics Division GmbH”.
We have checked the content of this publication for compatibility with the hardware described.
Nevertheless, discrepancies cannot be ruled out. Therefore, we cannot guarantee full compliance.
However, the information given in this publication is checked regularly and any necessary corrections
will be made in subsequent editions.
Subject to technical modifications.
Table of contents
Table of contents
1
General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
2
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.1
2.2
2.3
2.4
3
Notes for safe operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Frequently used terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
YASKAWA manual list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.6.1 Personal protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Manufacturer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Authorized representative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Overview of the robot controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Programming pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.2.1 Overview of programming pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.2.2 Key description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.2.3 Programming pendant keys/buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.2.4 Programming pendant display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.2.5 Screen descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.2.6 Character input operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.2.7 Numeric value input operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
2.2.8 Bilingual function (Optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
2.2.9 Screenshot acquisition function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
2.3.1 TEACH mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
2.3.2 PLAY mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
2.3.3 REMOTE mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
2.3.4 Priority of TEACH mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Security mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
2.4.1 Types of security modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
2.4.2 Selecting SECURITY mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Robot coordinate systems and operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
3.1
3.2
3.3
Control group and coordinate systems
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
3.1.1 Control group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
3.1.2 Types of coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
General operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.2.1 Safety check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.2.2 Selecting TEACH mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.2.3 Selecting CONTROL GROUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.2.4 Select coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.2.5 Select manual speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
3.2.6 SERVO ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
3.2.7 Axis operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
3.2.8 High speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Coordinate systems and axis movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3.3.1 Joint coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3
Table of contents
3.3.2 Cartesian coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
3.3.3 Cylindrical coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
3.3.4 Tool coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
3.3.5 Selecting the tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3.3.6 User coordinates setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
3.3.7 External axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
3.3.8 Motion about TCP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
3.3.9 Modification of TCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
3.3.10 Teaching line coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
4
Teaching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.1
4.2
4.3
4.4
4.5
4.6
4
Preparation for teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.1.1 Checking emergency stop buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.1.2 Setting the TEACH lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.1.3 Registering a JOB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Teaching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.2.1 Teaching window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.2.2 Interpolation type and PLAY speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
4.2.3 Teaching steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
4.2.4 Overlap the first step and the last step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Checking the steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
4.3.1 [FWD] or [BWD] key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
4.3.2 Examples of [FWD] and [BWD] moves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
4.3.3 Selecting manual speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4.3.4 Moving to reference point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4.3.5 Test run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
4.3.6 Machine Lock Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Modifying steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
4.4.1 Displaying the JOB CONTENT window for editing . . . . . . . . . . . . . . . . . . . . . . . 135
4.4.2 Inserting move instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
4.4.3 Deleting move instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
4.4.4 Modifying move instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
4.4.5 UNDO operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
4.4.6 Modifying reference point instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
4.4.7 Modifying TIMER instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Modifying JOBs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
4.5.1 Calling a JOB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
4.5.2 Windows related to JOB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
4.5.3 JOB HEADER window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
4.5.4 JOB CONTENT window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
4.5.5 COMMAND POSITION window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
4.5.6 JOB CAPACITY window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Editing instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
4.6.1 Instruction Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
4.6.2 Inserting instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
4.6.3 Deleting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
4.6.4 Modifying instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
4.6.5 Modifying additional numeric data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Table of contents
4.7
4.8
4.9
5
4.6.6 Modifying additional items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
4.6.7 Inserting additional items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
4.6.8 Delete additional items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Editing JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
4.7.1 Select a range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
4.7.2 Copy the range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
4.7.3 Cut the range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
4.7.4 Paste the range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
4.7.5 Paste the range reversely. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
4.7.6 Comment out a line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
4.7.7 Prohibit editing line-by-line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Test run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
4.8.1 Test operation (normal). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
4.8.2 Test operation (high accuracy) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
4.8.3 Test Operation: changing the motion speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Other JOB-editing functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
4.9.1 Editing play speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
4.9.2 Editing the interpolation type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
4.9.3 Editing condition files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
4.9.4 User Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
4.9.5 Edit local variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
4.9.6 Setting the number of local variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
4.9.7 Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
5.1
5.2
5.3
5.4
5.5
5.6
Preparations for playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
5.1.1 Calling JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
5.1.2 Registering master JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
5.1.3 Calling master JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
5.1.4 The PLAYBACK window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
5.2.1 Playback operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
5.2.2 Special playback operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Stop and Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
5.3.1 HOLD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
5.3.2 EMERGENCY STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
5.3.3 Stop by alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
5.3.4 Others . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Modifying play speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
5.4.1 Speed override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
5.4.2 Specification for speed override in AUTO cycle operation . . . . . . . . . . . . . . . . . 249
5.4.3 Specification for speed override with input signals . . . . . . . . . . . . . . . . . . . . . . . 254
5.4.4 Speed Override Setting Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Playback with reserved start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
5.5.1 Preparing the reserved start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
5.5.2 Playback of reserved start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
5.5.3 HOLD operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Displaying JOB stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
5
Table of contents
6
Editing JOB's. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
6.1
6.2
6.3
6.4
6.5
6.6
6.7
7
Convenient functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
7.1
7.2
7.3
7.4
7.5
7.6
6
Copying JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
6.1.1 Copying JOBs in the JOB CONTENT window . . . . . . . . . . . . . . . . . . . . . . . . . . 274
6.1.2 Copying JOBs in the JOB LIST window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Deleting JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
6.2.1 Deleting JOBs in the JOB CONTENT window . . . . . . . . . . . . . . . . . . . . . . . . . . 277
6.2.2 Deleting JOBs in the JOB LIST window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Modifying JOB name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
6.3.1 Modifying JOB names in the JOB CONTENT window . . . . . . . . . . . . . . . . . . . . 279
6.3.2 Modifying JOB names in the JOB LIST window . . . . . . . . . . . . . . . . . . . . . . . . . 281
Editing comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
JOB folder function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
6.5.1 Displaying JOBs by folders. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
6.5.2 Registering JOBs in folders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
6.5.3 Changing folder names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
6.5.4 Changing the order of the JOBs when displaying JOBs by folders . . . . . . . . . . 291
Setting EDIT LOCK for individual JOB units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Enabling the modification of position data only. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
One-touch operation “Direct open” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
7.1.1 Description of direct open function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
7.1.2 Direct open in the JOB CONTENT window . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
7.1.3 Direct open in the JOB LIST window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
Parallel shift function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
7.2.1 Function overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
7.2.2 Setting shift values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
7.2.3 Registering shift instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
7.2.4 Continuation of the parallel shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
7.2.5 Examples of usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
JOB conversion with the parallel shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
7.3.1 Coordinate systems for conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
7.3.2 Executing the JOB conversion with parallel shift . . . . . . . . . . . . . . . . . . . . . . . . 315
7.3.3 Specifying the shift value by means of position variables . . . . . . . . . . . . . . . . . 319
PAM function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
7.4.1 Function overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
7.4.2 Operating methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
Mirror-shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
7.5.1 Function overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
7.5.2 Pulse mirror-shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
7.5.3 Robot-coordinate mirror-shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
7.5.4 User-coordinate mirror-shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
7.5.5 Notes on the mirror-shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
7.5.6 Explanation of the mirror shift window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
7.5.7 Operation procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Multi-window function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
7.6.1 Setting the window pattern of the GP display . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
7.6.2 Displaying the multi-window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Table of contents
7.7
7.8
7.9
7.10
7.11
7.12
7.13
7.14
7.15
7.16
7.6.3 Operation multi-window function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
7.6.4 Switching the axis operation control group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
Simple menu function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
7.7.1 Registering layouts in the USER DEFINITION menu . . . . . . . . . . . . . . . . . . . . . 351
7.7.2 Opening registered layouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
7.7.3 Editing the USER DEFINITION menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
7.7.4 Saving/loading the data of the USER DEFINITION MENU on an external
storage medium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
Parameter setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
7.8.1 Teaching condition setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
7.8.2 Operate condition setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
7.8.3 Setting for operate enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
7.8.4 Setting for function enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
7.8.5 JOG condition setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
7.8.6 Playback condition setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
7.8.7 Functional condition setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
JOG key allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
7.9.1 JOG key allocation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
7.9.2 JOG key allocation setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
Energy saving function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
7.10.1 Setting the energy saving function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
7.10.2 Confirming the energy saving function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Color adjustment function for instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Present robot position output function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
7.12.1 Function for outputting present Cartesian position of robot to register . . . . . . . . 385
7.12.2 Function for Outputting Present Pulse Position to Register . . . . . . . . . . . . . . . . 388
7.12.3 Function for outputting TCP speed to register . . . . . . . . . . . . . . . . . . . . . . . . . . 391
7.12.4 Function for outputting each axis speed to register . . . . . . . . . . . . . . . . . . . . . . 392
7.12.5 Function for outputting each axis position to register . . . . . . . . . . . . . . . . . . . . . 394
7.12.6 Function for outputting torque command value to register . . . . . . . . . . . . . . . . . 398
SOFTLIMIT setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
7.13.1 About the SOFTLIMIT setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
7.13.2 SOFTLIMIT setting window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
7.13.3 Setting the SOFTLIMIT by entering a numeric value . . . . . . . . . . . . . . . . . . . . . 401
7.13.4 Setting the current value as the SOFTLIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
7.13.5 Set the SOFTLIMIT (+)/ the SOFTLIMIT (-) to the initial maker value . . . . . . . . 403
7.13.6 Changing the coordinate display for SOFTLIMIT (+) and SOFTLIMIT (-). . . . . . 404
JOB editing function during playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
7.14.1 JOB editing during playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
Logging function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
7.15.1 Data to be logged . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
7.15.2 Number of stored logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
7.15.3 Operating methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
Speed-dependent analog output function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
7.16.1 Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427
7.16.2 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
7.16.3 Filter process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435
7.16.4 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438
7
Table of contents
7.17 QR Code creation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438
7.17.1 Main function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
7.17.2 Starting the QR code creation function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
7.17.3 Display configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
7.17.4 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
7.17.5 Structure of a QR code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
7.18 Time measuring function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
7.18.1 Timer variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
7.18.2 Time measuring method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
7.18.3 Setting for time measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465
7.18.4 Displaying time measurement result in JOB window . . . . . . . . . . . . . . . . . . . . . 466
7.19 3D graphic display function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467
7.19.1 Operation method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
7.19.2 Window configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469
7.19.3 Operating the viewpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469
7.19.4 Present viewpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470
7.19.5 Current position 3D display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471
7.19.6 Teaching position 3D display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
7.19.7 Functional safety range display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
7.19.8 Other settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
7.20 Remote pendant operation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
7.20.1 Overview of the remote pendant operation function . . . . . . . . . . . . . . . . . . . . . . 481
7.20.2 Recommended environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
7.20.3 Connection with the robot controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482
7.20.4 User setting for the remote pendant operation . . . . . . . . . . . . . . . . . . . . . . . . . . 491
7.20.5 Start-up of the remote pendant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
7.20.6 Operation of the remote pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
7.21 High accuracy path control function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
7.21.1 Description of high accuracy path control function . . . . . . . . . . . . . . . . . . . . . . . 501
7.21.2 Instruction registration of high accuracy path control function . . . . . . . . . . . . . . 502
7.21.3 Instruction of high accuracy path control function . . . . . . . . . . . . . . . . . . . . . . . 503
7.21.4 Example of high accuracy path control function . . . . . . . . . . . . . . . . . . . . . . . . . 505
7.22 Speed priority control function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
7.22.1 Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
7.22.2 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
7.23 Alarm contents customize function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
7.23.1 ALARM CONTENTS CUSTOMIZE window . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
7.23.2 User alarm file storage location of the external device . . . . . . . . . . . . . . . . . . . . 514
7.23.3 Rules for creating a user alarm file (CSV file) . . . . . . . . . . . . . . . . . . . . . . . . . . 515
7.23.4 Error code list of the ALARM DETAIL window . . . . . . . . . . . . . . . . . . . . . . . . . . 515
7.24 Pendant buzzer function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517
7.25 JOB security function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
7.25.1 Prohibit displaying JOB contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
7.25.2 Prohibit JOB execution after loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
7.25.3 Prohibit saving a JOB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
7.25.4 Change security settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
7.25.5 Security JOB list settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 533
7.25.6 Saving/loading/verifying JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
8
Table of contents
7.26 Multi-move function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
7.26.1 Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537
7.26.2 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539
7.26.3 Specific output signals during multi-move operation . . . . . . . . . . . . . . . . . . . . . 539
7.26.4 Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
7.26.5 Motion example of the multi-move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
7.27 Robot motion filter setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
7.27.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
7.27.2 Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
7.27.3 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
7.27.4 Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
7.27.5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
8
External storage devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
8.1
8.2
8.3
9
Storage medium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
8.1.1 SD card. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
8.1.2 USB stick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547
Handling data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
8.2.1 Data classification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
8.2.2 Displaying previously existing files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557
Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558
8.3.1 Selecting the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
8.3.2 Folder operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
8.3.3 Saving data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
8.3.4 Overwriting when saving a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 568
8.3.5 Loading data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570
8.3.6 Overwriting when loading JOBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
8.3.7 Verifying data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
8.3.8 Deleting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
8.3.9 JOB selection mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
9.1
9.2
Parameter configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
Motion speed setting parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
9.2.1 In-guard safe operation max. speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
9.2.2 Dry-run speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
9.2.3 Joint speed for registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
9.2.4 Linear speed for registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590
9.2.5 Posture angle speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590
9.2.6 JOG operation absolute value speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590
9.2.7 Inching move amount . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591
9.2.8 Positioning zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591
9.2.9 Low-speed start up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
9.2.10 JOG operation link speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593
9.2.11 WORK HOME POSITION return speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593
9.2.12 Search max. speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593
9.2.13 Posture control at Cartesian operation of JOG. . . . . . . . . . . . . . . . . . . . . . . . . . 593
9.2.14 Operation in user coordinate system (when external reference point control
function used) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594
9
Table of contents
9.3
10
9.2.15 Controlled group JOB-Teach-IN position change . . . . . . . . . . . . . . . . . . . . . . . . 594
9.2.16 Operation after reset from path deviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
9.2.17 Operation program JOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
9.2.18 Deviated position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597
9.2.19 Circular interpolation tool position control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597
9.2.20 Emergency stop cursor advance control function. . . . . . . . . . . . . . . . . . . . . . . . 598
9.2.21 Emergency stop cursor advance control function cont process completion
position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598
9.2.22 Base axis operation key allocation setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598
9.2.23 INWARD-TURNING OPERATION ENABLE DURING MOVJ - MOVL . . . . . . . . 598
9.2.24 Position correcting function during playback . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
Mode operation setting parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
9.3.1 Security mode when control power supply is turned ON . . . . . . . . . . . . . . . . . . 601
9.3.2 Selection of Cartesian/Cylindrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
9.3.3 Coordinate switching prohibited . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
9.3.4 Execution units at "FORWARD" operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602
9.3.5 Instruction (except for move) execution at “FORWARD” operation . . . . . . . . . . 602
9.3.6 Changing step only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602
9.3.7 Manual speed storing for each coordinate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
9.3.8 Additional step position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
9.3.9 Master JOB changing operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 604
9.3.10 Check and machine-lock key operation in PLAYmode . . . . . . . . . . . . . . . . . . . . 604
9.3.11 Change reserved WORK JOB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 604
9.3.12 Master or sub master call operation in PLAY mode . . . . . . . . . . . . . . . . . . . . . . 605
9.3.13 Language level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605
9.3.14 Instruction input-learning function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605
9.3.15 Address setting when control power is turned ON . . . . . . . . . . . . . . . . . . . . . . . 606
9.3.16 Job list display method at job selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606
9.3.17 Initial operation of robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606
9.3.18 Playback execution at cycle mode ”1- step” . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607
9.3.19 External start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607
9.3.20 Programming pendant start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607
9.3.21 Speed data input form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608
9.3.22 Reserved start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608
9.3.23 Job selection at remote function (play mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . 608
9.3.24 External mode switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608
9.3.25 External cycle switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
9.3.26 Programming pendant cycle switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
9.3.27 SERVO ON not allowed from external programming pendant . . . . . . . . . . . . . . 609
9.3.28 Programming pendant operation when “IO” is selected for REMOTE MODE . . 610
9.3.29 Step registration at tool no. change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
9.3.30 REMOTE first cycle mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611
9.3.31 Local first cycle mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611
9.3.32 Power "ON" first cycle mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611
9.3.33 TEACH mode first cycle mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611
9.3.34 PLAY mode first cycle mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
9.3.35 Start condition after alarm 4107 "Out of range" absolute data . . . . . . . . . . . . . . 612
9.3.36 Alias function signal name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
Table of contents
9.4
9.5
9.6
9.7
9.3.37 Alias function signal name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615
9.3.38 Customize function I/O variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
9.3.39 WORD registration function / WORD function specification . . . . . . . . . . . . . . . . 618
9.3.40 JOB UNDELETE function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
9.3.41 TIME RESET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620
9.3.42 Tool number switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621
9.3.43 Position teaching buzzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621
9.3.44 Job linking designation (when twin synchronous function used) . . . . . . . . . . . . 621
9.3.45 PLAYBACK operation continuation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622
9.3.46 I/O name display function for JOB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 623
9.3.47 Display angle function for all axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 623
9.3.48 Control point operation setting on the SERVO TRACK . . . . . . . . . . . . . . . . . . . 625
9.3.49 Touch operation in the general screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625
9.3.50 Cursor movement due to touch operation in the Job window . . . . . . . . . . . . . . 625
Parameters according to interference area. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 626
9.4.1 PULSE SOFT LIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 626
9.4.2 Cube soft limit check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 626
9.4.3 S-axis interference check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628
9.4.4 Cube/axis interference check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628
9.4.5 Cube using method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631
9.4.6 CUBE SOFT LIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 634
9.4.7 S-axis interference area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 634
9.4.8 Cubic interface area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 634
9.4.9 Robot interference area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 634
9.4.10 Work home position cube length of its sides . . . . . . . . . . . . . . . . . . . . . . . . . . . 634
Parameters depending on the I/O status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635
9.5.1 User output relay when control power is on . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635
9.5.2 Parity of user input groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635
9.5.3 Parity of user output groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637
9.5.4 Data of user input groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638
9.5.5 Data of user output groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639
9.5.6 Module switchover for the user output group to be initialized. . . . . . . . . . . . . . . 640
9.5.7 User output no. when robot drop allowable range error occurs . . . . . . . . . . . . . 640
Parameters according to Coordinated or Synchronized Operation . . . . . . . . . . . . . . . . 641
9.6.1 +MOV or +SMOV instruction speed input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641
9.6.2 +MOV instruction interpolation input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641
9.6.3 Operation method at FWD/BWD operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642
9.6.4 JOB when MASTER OF SUBTASK is called with independent control . . . . . . . 642
9.6.5 Station axis current value display function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643
9.6.6 Station axis displayed unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643
9.6.7 Posture control of synchronized robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644
9.6.8 Posture control of robot in Multi-JOB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644
9.6.9 Operation of JOB without control group specification. . . . . . . . . . . . . . . . . . . . . 644
9.6.10 Execution of “BWD” operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645
9.6.11 Maximum deviation angle of current station position . . . . . . . . . . . . . . . . . . . . . 646
Parameters for Other Functions or Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
9.7.1 Small circle cutting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
9.7.2 Small circle cutting direction limit value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
11
Table of contents
9.7.3 Small circle cutting overlap value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
9.7.4 PATTERN CUTTING Dimension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
9.7.5 Mirror shift sign inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648
9.7.6 RELATIVE JOB operation method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648
9.7.7 Prohibit Welding Section Speed Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648
9.7.8 Display Welding Condition File Comment on the JOB Window Function. . . . . . 649
9.7.9 Analogue output filter constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649
9.7.10 Cut width correction value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649
9.8 Parameter for hardware control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 650
9.8.1 Anticipator function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 650
9.8.2 Setting of operating relay No. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651
9.8.3 Operating method of relays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651
9.8.4 Cooling fan alarm detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652
9.8.5 S2C789 to S2C792: fan alarm 1 operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652
9.8.6 S2C793 to S2C796: fan alarm 2 operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652
9.8.7 S2C797 to S2C800: fan alarm 3 operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652
9.8.8 S2C1174: fan alarm 4 operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 654
9.8.9 S2C801 to S2C804: Fan Alarm 1 Welder Status . . . . . . . . . . . . . . . . . . . . . . . . 654
9.8.10 S2C805 to S2C808: Fan Alarm 2 Welder Status . . . . . . . . . . . . . . . . . . . . . . . . 654
9.8.11 S2C809 to S2C812 Fan Alarm 3 Welder Status. . . . . . . . . . . . . . . . . . . . . . . . . 654
9.8.12 S2C1178: Fan 4 power source status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655
9.9 Transmission parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655
9.10 Application parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655
9.10.1 ARC welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655
9.10.2 Handling Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 656
9.10.3 Spot welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 657
9.10.4 GP application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658
10
Table of basic instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659
10.1
10.2
10.3
10.4
10.5
12
Operation Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659
I/O instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662
Control instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665
SHIFT instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667
Operating instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668
General
1
General
1.1
Notes for safe operation
DANGER!
Indicates an immediate high-risk hazard situation, which can cause death or serious bodily
injuries if no precautions are taken.
WARNING!
Indicates a possible medium-risk hazard situation, which can cause death or serious bodily
injuries if no precautions are taken.
CAUTION!
Indicates a potentially dangerous situation with a low risk of minor or moderate bodily
injuries if no precautions are taken. This signal word can also be used for property damage
warnings.
NOTICE
These warnings mean that damage to property may occur, if no precautions are taken.
Note:
Indicates important background information and application advice.
1 - 13
General
1.2
Frequently used terms
The YASKAWA robot is a product of YASKAWA Electric Corporation and is provided by
default with the robot control, the programming pendant and the robot cable.
The terms are designated as follows in this manual:
Term
Description
Control
Robot control
Industrial robot
Robot
Programming pendant / teach box
Programming pendant or PP
Supplying cable between robot and robot
control
Cable
Robot, robot control and cable
Robot system
YASKAWA Electric Corporation
YEC
YASKAWA Robotics Division
YEU-R
Moving, calibrating and setting up of the ro- Teaching
bot
1 - 14
Movement sequences of the robot
JOBs
Technical customer service
TCS
Functional safety unit
FSU
General purpose
GP
Feedback
FB
Time Measuring
TM
Personal computer
PC
Switch
SW
General
1.3
Target group
This manual is directed to users with the following knowledge:
•
Advanced knowledge of mechanical engineering
•
Advanced knowledge of electrical engineering
•
System knowledge of the robot control
•
Specially trained staff
Note:
According to the international DIN EN ISO 10218-1 standard, operators of a robot system
must receive training before they operate the robot.
For optimal use of our products, we recommend our customers to take part in a training
session at the YASKAWA Academy. For more detailed information on the training
programs, please visit www.yaskawa.eu.com or get in touch with your YASKAWA branch
office directly.
1 - 15
General
1.4
About this manual
NOTICE
•
This manual explains the upgrading procedures of the robot controller system. Read
this manual carefully and be sure to understand its contents before handling the robot
controller. Any matter, including operation, usage, measures, and an item to use, not
described in this manual must be regarded as prohibited or improper..
•
To ensure correct and safe operation, carefully read the operating instructions of the
robot controller ("Basic Information," "Setup," and "Connection and System Setup").
•
In order to illustrate details clearly, some drawings are shown with the protective covers
or shields removed. All protective covers and shields must be mounted before the robot
is operated.
•
The drawings and figures in this manual are representative illustrations. They may differ
from the product delivered.
•
YEU-R reserves the right to make technical changes. These changes may include
product improvements, modifications or changes in specifications
•
If your copy of the operating and maintenance instructions is damaged or lost, please
contact the local YASKAWA branch office to order a new copy. The official branch
offices are listed on the last page. Please mention the manual number in your order.
•
YASKAWA Europe GmbH is not responsible for damage caused due to unauthorised
modification of the system. If any impermissible modifications are made to the system
and to the robot, all warranty and liability claims as well as the declaration of
incorporation will expire.
Descriptions of the PP, buttons and displays are shown as follows:
Programming pendant
Manual designation
Character keys
Keys which have characters printed on them are denoted with [ ], e. g. [ENTER].
Axis key/numeric keys
[Axis key] and [Numeric key] are generic names for the
keys for axis operation and number input.
Keys pressed simultaneously
When two keys are to be pressed simultaneously, the
keys are shown with a “+” sign between them (e.g.
[SHIFT]+[COORD]).
Mode switch
Three kinds of modes that can be selected by the mode
switch: REMOTE, PLAY, TEACH
(The switch names are denoted as symbols.)
Button
There are three buttons on the PP, which are referred
to as follows: HOLD button; START button; EMERGENCY STOP button.
(The button names are denoted as symbols.)
Display
1 - 16
The menu displayed in the PP is denoted with { } (e.g.
{JOB}).
General
1 - 17
General
Description of the operation procedure
In the explanation of the operation procedure, the expression "Select" means,
•
that the cursor is moved to the object item and the [SELECT] key is pressed.
•
that the item is directly selected by touching the screen.
Registered Trademark
The names of companies and/or products used in this manual are trademarks. The
indications of ® and ™ are omitted.
Note:
The wheelie bin symbol on this product, manual or its packaging indicates that at
the end of life the product should enter the recycling system.
It must be disposed at an appropriate collection point for electrical and electronic
equipment (EEE) and should not be put in the normal waste stream.
1.5
YASKAWA manual list
It is important to have all the manuals on the YASKAWA control or robot available and to
know their contents. Please make sure you have all these manuals. If you are missing any
manual, please contact the local YASKAWA branch office.
You must have the YASKAWA manuals listed below available.
•
Instructions (E1102000214XX01* or higher).
•
Maintenance (E1102000215XX01* or higher
•
Install and Wiring (E1102000216XX01* or higher).
•
Alarm list (E1102000217XX01* or higher).
•
Operating and maintenance instructions for the specific robot type.
* "XX" is the language of the document.
1 - 18
General
1.6
Safety
Programming pendant
Emergency stop button
1
E
M
ER
P
1
G E N CY S T
O
Danger of death or injury from crushing
If the emergency stop button is not working properly, the robot cannot be stopped in the
event of an emergency.
•
The robot should not be used if the emergency stop button is not working.
Before operating the robot, check the function of the EMERGENCY STOP button. The
SERVO power must go off immediately when the EMERGENCY STOP button is
pressed on the programming pendant (see Fig. 1-2: "Emergency stop button").
When the servo power is turned off, the "SERVO ON" LED on the PP goes out (see Fig.
1-1: ""SERVO ON" LED").
Fig. 1-1: "SERVO ON" LED
EM
ER
OP
•
•
G ENCY S
T
Fig. 1-2: Emergency stop button
1 - 19
General
Danger of death or injury from crushing
Before you release the emergency stop button, note the following.
•
•
•
Make sure there is no one within the maximum operating range of the robot.
Clear the cell of all items with which the robot could collide.
Only then should you switch on the SERVO power by pressing the enabling switch on
the PP.
Danger of death or injury from crushing
If anyone enters the working area of the robot during operation or any problems occur,
always press the EMERGENCY STOP button immediately. It is located on the PP (see
figure „Programming pendant“).
Take the following precautions when performing teaching operations within the robot’s
operating range:
•
•
•
Position yourself in front of the robot whenever possible.
Always follow the prescribed operating procedure (see the instructions manual on robot
control as well as the operating instructions on general operations manual).
There must be a free space into which the operator can retreat in the event of an
emergency.
The following test steps absolutely must be performed before you teach the robot. Deal with
any problems you find immediately and make sure that any other necessary steps have
been taken.
•
Check for any problems in the movements of the robot.
•
Check that the connectors are well secured and none of the cables are damaged.
•
Hang the PP back on the robot controller after use.
•
Make sure that the key for the mode selector (teach/automatic) on the PP is kept by a
competent person who has been specially trained by us.
•
The key may only be inserted into the key switch of the PP during teaching. After
teaching, it must be immediately removed and kept in a safe place.
Different requirements in general apply for robots than is the case for other production
facilities. Among those are for example larger workspaces, high speed operation, speedy
arm movements etc., which can pose risks.
Please read through the handbook and related documents carefully. Please observe all
precautionary measures to avoid personal injuries and damage to the plant.
The owner is responsible for ensuring that all applicable standards, ordinances,
regulations, and legal provisions for safety are observed and that the operating conditions
are safe.
Caution!
According to the German Occupational Safety and Health Protection Act, teaching and
maintaining the robot are considered to be "dangerous activities" and must be performed
under the observance of the following provisions and regulations:
–
German Occupational Safety and Health Protection Act.
–
Implementation Order for the German Occupational Safety and Health Protection Act.
–
Ordinance Regarding the German Occupational Safety and Health Protection Act.
Other pertinent provisions are as follows
1 - 20
–
U.S.-American laws governing occupational safety and health protection.
–
EC Machinery Directive 2006/42/EC
General
Fig. 1-3: CE mark
Observe international standard EN ISO 10218-1 for a safe operation of the robot or robot
equipment.
Increase the efficiency of your safety management system by determining authorised
employees and safety managers and performing regular training.
Note:
In reference to international standard EN ISO 10218-1, an operator of a robot system must
be trained before using the robot.
For optimal use of our products, we recommend our customers to take part in a training
session at the YASKAWA Academy. For more detailed information on the training program,
please visit www.yaskawa.eu.com or directly get in touch with your YASKAWA branch
office.
1 - 21
General
1.6.1
Personal protection
The entire working area of the robot is potentially dangerous. The following staff must work
with appropriate preparation and subject to the maxim "Safety First" to ensure the safety
of all.
•
Safety management
•
Assembly staff
•
Operating staff
•
Maintenance staff
DANGER!
Death by electric shock; serious injury from fire hazard;
Avoid dangerous actions in the area where the robot is installed. Be sure to take safety
precautions
 Unauthorised persons should not have access to the robot.
 Unauthorised persons should not have access to the peripheral equipment.
 Put up signs in the respective working area, such as "Highly flammable","High
voltage","Stop" and "No unauthorized access" .
WARNING!
There is a risk of injury if there is contact with the robot or peripheral equipment.
Strictly observe the following items:
 Always wear approved work clothes (no loose-fitting clothes).
 Do not wear gloves when operating the robot.
 Personal Protective Equipment (PPE) is subject to the provisions of the 89/656/EEC
guideline.
 Do not wear large jewellery, such as earrings, rings or pendants.
 Always wear protective safety equipment such as protective helmets, safety shoes
(with anti-slip soles), face shields, safety goggles and gloves as necessary.
CAUTION!
Injury and material damage due to unforeseen movements.
Observe the following note:
•
1 - 22
Never forcibly move the robot axes.
General
•
Never lean against the robot control.
•
Avoid inadvertent pressing of the keys.
•
Do not allow unauthorised persons to touch the robot control during operation.
Fig. 1-4: Do not lean on
1 - 23
General
1.7
Manufacturer
Address:
YASKAWA ELECTRIC CORPORATION
2-1 KUROSAKISHIROISHI
YAHATANISHI-KU
KITAKYUSHU
JAPAN
1.8
Authorized representative
Address:
YASKAWA Europe GmbH
Robotics Division
Yaskawastr. 1
85391 Allershausen
Germany
1 - 24
Introduction
2
Introduction
2.1
Overview of the robot controller
For information on how to set up, install and connect the robot controller, refer to the manual
on setup and connection with the document number E1102000216XX01* or higher.
1
Hook for programming pendant
2
Programming Pendant
3
Door lock
4
Main power switch
4
1
3
2
2 - 25
Introduction
2.2
Programming pendant
2.2.1
Overview of programming pendant
The programming pendant is equipped with keys and switches that are used to TEACH-IN
the robot and edit JOBs.
Programming Pendant (front view)
2
[HOLD] button
3
EMERGENCY STOP button
4
[COORD] key
5
[SELECT] key
6
Axis keys
7
[SHIFT] key
8
[ENTER] key
9
Numeric keys / Function keys
10
[MANUAL SPEED] keys
11
Cursor keys
12
Display
13
Mode switch
REMOTE
1
2
13
3
M
G EN C Y ST
O
12
11
4
5
6
6
10
7
PLAY
8
TEACH
9
2 - 26
ER
P
[START] button
E
1
Introduction
SD card slot
2
Enable switch
3
USB slot
USB
1
SD
Programming Pendant (rear view)
3
1
2
2.2.2
Key description
2.2.2.1
Character keys and symbol keys
The keys with characters or symbols printed on them are denoted with [ ].
Example
ENTER
ENTER
is denoted as [ENTER].
To each numeric key, functions other than numerical entry are allocated.
In the description of our instruction manuals, only the function explained there is denoted
as the key.
Example
is denoted as [1] when the key is used to enter the numerical value 1 and denoted as
[TIMER] when used to register the timer instruction.
2 - 27
Introduction
2.2.2.2
Axis keys and numeric keys
The keys shown below are described as [Axis keys] and [Numeric keys].
1
Axis keys
2
Numeric keys
1
2.2.2.3
2
Keys pressed simultaneously
When two keys must be pressed simultaneously, the keys are shown with a “+” sign
between them, such as [SHIFT] + [COORD].
2 - 28
Introduction
2.2.3
Programming pendant keys/buttons
Button/Keys
[START]
Function
Starts the movement of the robot in playback mode.
•
•
[HOLD]
•
•
•
When the SERVO power is turned off, the SERVO ON LED on
the programming pendant goes out.
An emergency stop message appears on the display.
P
E
ER
This button is active in every mode.
The indicator light in the button stays on for as long as you
press it. Although the light goes out when you release the button, the robot remains stationary until it receives a START
command.
The HOLD indicator light comes on automatically in the following cases to indicate that the system has been stopped. As
long as this light remains on, the system cannot be put into operation, and the axis cannot be moved.
a) The HOLD signal is at the system input.
b) When the HOLD request is sent by a device in REMOTE
mode.
c) In HOLD situations caused by a fault in an operation such
as wire sticking in arc welding.
While communication between the YRC1000 and the programming pendant is disconnected, the robot does not stop its
operation even if [HOLD] is pressed.
Switches the SERVO power off.
•
M
The lamp also lights when the playback operation is started by
the system input START signal.
The light goes out when playback mode is stopped due to an
alarm, a HOLD signal or a switch of OPERATING mode.
Stops the movement of the robot.
•
•
EMERGENCY
STOP button
The indicator light in this button comes on during playback
mode.
GE N C Y ST
O
Mode switch
For selecting the PLAY, TEACH or REMOTE mode.
(Key switch)
•
PLAY: PLAY mode
The playback of taught JOBs is activated.
•
•
•
Start signals by external devices are not accepted.
TEACH: TEACH mode
Axis operation and editing using the programming pendant
are activated.
Start signals by external devices are not accepted.
REMOTE: REMOTE mode
Operation by means of external signals is activated.
The [START] key of the PP is ineffective in REMOTE mode.
While communication between the YRC1000 and the programming pendant is disconnected, the mode of the
YRC1000 cannot be changed.
2 - 29
Introduction
Button/Keys
Enable switch
Function
Turn ON SERVO.
•
•
[SELECT]
Selects display items.
•
•
•
Cursor
The switch is only activated when the SERVO ON LED is
flashing, the safety plug is switched on, and the mode selection switch is in the TEACH position.
To switch the power on, depress the enable switch slightly. To
switch the power off, depress the switch fully.
Selects menu items from the main menu and the menu area.
Allows the selected item to be set in the general display area.
Displays numerous messages in the message line.
Moves the cursor in the direction of the arrow.
•
•
The movement radius of the cursor and the area/position in
which it can be moved depend on the window.
If the UP cursor key is pressed when the cursor in in the first
line, it jumps to the last line of the JOB. The cursor accordingly
jumps to the first line of the JOB when the DOWN cursor key
is pressed when it is in the last line of the JOB.
[SHIFT] + [↑] UP: Moves the screen up.
[SHIFT] + [↓] DOWN: Moves the screen down.
[SHIFT] + [→] RIGHT: Moves the screen to the right.
[SHIFT] + [←] LEFT: Moves the screen to the left.
[MAIN MENU]
Displays the MAIN MENU.
• If this is pressed key when the main menu is open, the main
menu is closed.
[MAIN MENU] + UP: Increases the brightness of the screen.
[MAIN MENU] + DOWN: Decreases the brightness of the
screen.
[SIMPLE MENU]
Displays the SIMPLE MENU.
• If this key is pressed when the simple menu is open, the simple menu is closed.
[SHIFT] + [SIMPLE MENU]: Registers the layout displayed in
the universal area in the "User definition" menu.
Pressing [SIMPLE MENU] for three seconds displays the popup menu window.
[SERVO ON
READY]
Switches the SERVO power supply on.
•
•
•
2 - 30
Pressing this key switches on the SERVO power when it has
been switched off due to an emergency stop or an overrun signal.
If the SERVO power is switched on, the SERVO ON LED
comes on.
When this key is pressed:
a) The SERVO power is switched on in PLAY mode when
the protective housing is securely closed.
b) If the hold-to-run switch is switched on, the SERVO ON
LED flashes in TEACH mode and the SERVO power is
switched on.
Introduction
Button/Keys
[CANCEL]
Function
Cancels the current status.
•
•
•
•
Deletes the sub menu from the main menu and the menu area.
Cancels the input or input status in the general purpose display area.
Cancels multiple views on the human interface display area.
Cancels the current error.
[SHIFT] + [CANCEL]
When the JOB content is shown and the undo function is enabled,
the assist menu is shown.
[MULTI]
Works in the multi mode.
• If this key is pressed when multiple window function is on, the
active display changes.
[SHIFT] + [MULTI]: Switches between the multi-window display
and the single-window display when the multi mode is ON.
[COORD]
Selects the operating coordinate system when the robot is
operated manually.
•
•
The coordinates can be selected from the six coordinate systems (e.g. joint, Cartesian, cylindrical, tool, user and path-related). Each time the key, is pressed the coordinate system is
changed in the following order:
JOINT→WLD/CYL→TOOL→USER→TEACHING LINE (for
arc welding applications only).
The selected coordinate system is displayed in the status line.
[SHIFT] + [COORD]: The coordinate number can be changed
when the coordinate system TOOL or USER is selected.
[DIRECT OPEN]
Displays the contents associated with the current line.
•
•
[PAGE]
To display the contents of a called JOB or condition file, move
the cursor to the next line and press [DIRECT OPEN]. The file
is displayed for the selected line. The display depends on the
instruction type used in the JOB.
Example:
– In the case of a CALL instruction, the contents of the
called JOB are displayed.
– In the case of a work instruction, the contents of the condition file are displayed.
– In the case of input/output instructions, the input/output
condition is displayed.
The lamp on this button lights up while the direct open is ON.
While the lamp lights up, pressing this button effects a return
to the previous window.
Opens the next page.
The page can only be changed when the indicator light in the key
is on.
[SHIFT] + [PAGE]: Switches back to the previous page.
2 - 31
Introduction
Button/Keys
[AREA]
Function
Moves the cursor in the following order:
Menu area → GP display area → Human interface → Main
menu area
If no item is displayed, the cursor does not move.
[SHIFT] + [AREA]: The language setting can be changed if the bilingual function is used (the bilingual function is optional).
[AREA] + DOWN: Moves the cursor from the general display area
to the operating button when the operating button is displayed.
[AREA] + UP: Moves the cursor to the general display area when
the cursor is on the operating button.
[SHIFT]
Changes key functions when pressed together with other
keys.
Can be used with [SIMPLE MENU], [PAGE], [DIRECT OPEN],
[MULTI], [COORD], [AREA], [MOTION TYPE], the cursor, the numeric keys, [ROBOT], [EX. AXIS], or [AUX] to access alternate
functions.
Refer to the description of each key for the alternate functions with
[SHIFT].
[INTERLOCK]
Changes key functions when pressed together with other
keys.
Can be used with [TEST START], [FWD], the numeric keys (numeric key customize function), [ROBOT], or [AUX].
Refer to the description of each key for the alternate functions with
[INTERLOCK].
[INFORM LIST]
[ROBOT]
Displays the instruction lists with the commands available
for JOB processing.
Switches the robot axis to be operated.
•
•
Pressing this key enables the robot axis operation.
[ROBOT] is enabled for the system with one YRC1000 and
multiple robots or the system with one or more external axes.
[SHIFT] + [ROBOT]: In axis mode, the robot can be switched to a
robot axis that is not registered for the current JOB.
[INTERLOCK] + [ROBOT]: Changes the application if multiple applications are switched to a single robot.
[EX. AXIS]
Changes the external axis to be operated.
•
•
Pressing this key enables the external axis (base axis or station axis) operation.
[EX.AXIS] is activated in the case of systems with external axes.
[SHIFT] + [EX. AXIS]: In axis mode, the external axis can be
switched to an external axis that is not registered for the currently
selected JOB.
2 - 32
Introduction
Button/Keys
[MOTION TYPE]
Function
Selects the interpolation type for playback mode.
•
•
The selected interpolation type is displayed in the status line.
Each time this key is pressed, the interpolation type is
changed in the following order:
MOVJ→MOVL→MOVC→MOVS
[SHIFT] + [MOTION TYPE]: The interpolation mode changes in
the following order:
STANDARD→EXTERNAL REFERENCE POINT*→CONVEYOR*
The interpolation type can be changed in any mode.
* These modes are available as options.
[AUX]
Calls a function.
[INTERLOCK] + [AUX]
Shows the confirmation dialog for enabling/disabling the touch
panel.
[SHIFT] + [AUX]
When the JOB content is shown the welding line control list function is called (Only for the arc welding application).
[TEST START]
Pressing [TEST START] and [INTERLOCK] simultaneously
moves the robot is continuously through taught steps.
•
•
•
•
The robot can be moved to check the path of the taught steps.
Operation immediately stops when this key is released during
the continuous motion.
The robot works in accordance with the currently selected operating cycle: AUTO, 1CYCLE or STEP.
The robot works at the taught speed.
If the taught speed exceeds the maximum teach-in speed, the
robot works at the maximum teach-in speed.
[INTERLOCK] + [TEST START]
The robot moves through the taught steps in a continuous motion.
[FWD]
Moves the robot continuously through the taught steps as
long as this key is held down.
•
•
Only movement instructions are executed (one instruction at
a time, no welding instructions).
The robot moves at the selected manual speed.
Before operating the robot, make sure that the selected manual speed is set as intended.
[INTERLOCK] + [FWD]: All instructions are executed.
[REFP] + [FWD]: Moves the cursor to the reference point of the
cursor line. The robot works at the selected manual speed. Before
switching on, check that the correct manual speed is set.
2 - 33
Introduction
Button/Keys
[BWD]
Function
Moves the robot through the taught steps in the opposite direction as long as this key is held down.
•
•
[DELETE]
Deletes the registered instruction.
•
•
[INSERT]
ENTER
ENTER
[MANUAL SPEED]
Sets the speed for manual operation.
•
•
This speed also applies to applications with [FWD] and
[BWD].
Four speed levels can be set (slow, medium, fast and inching
mode). The speed is changed as described below. The selected speed is displayed in the status line.
The speed is modified as follows:
– Each time the [FAST] key is pressed, the manual speed is
changed in the following order:
INCH→SLOW→MED→FST
– Each time the [SLOW] keyis pressed, the manual speed
is changed in the following order:
FST→MED→SLOW→INCH
Moves the robot at high speed
•
•
2 - 34
Pressing this key turns on the indicator light in the key.
Pressing the [ENTER] key when this indicator light is on complete the change.
Registers instructions, data, the current position of the robot,
etc.
• When [Enter] is pressed, the command or data displayed in
the input buffer line is input to the cursor key position on the
display and the registration, insertion or modification operation is completed.
•
[HIGH SPEED]
Pressing this key turns on the indicator light in the key.
Pressing the [ENTER] key when this indicator light is on completes the insertion.
Changes the taught position data or an instruction.
•
•
[ENTER]
Pressing this key turns on the indicator light in the key.
Pressing the [ENTER] key when this indicator light is on completes the deletion.
Inserts a new instruction.
•
•
[MODIFY]
Only movement instructions are executed (not welding instructions).
The robot moves at the selected manual speed.
Before operating the robot, check that the correct manual
speed is set.
Pressing this key and one of the axis keys at the same time,
moves the robot at high speed. The speed setting does not
have to be changed.
The speed for [HIGH SPEED] is specified in advance.
Introduction
Button/Keys
[Axis keys]
Function
Moves specific axes of the robot.
•
•
•
•
[Numeric keys]
The robot axes can only be moved for as long as this key is
held down.
To operate multiple axes simultaneously, two or more keys
have to be pressed simultaneously.
The robot works in the selected coordinate system at the selected manual speed. Check that the correct coordinate system and manual speed are set before you switch the axis on.
A user-selected external axis can be allocated to [E-], [E+], [8], or [8+]. For details, refer to chapter 7.9 "JOG key allocation".
Allows to enter a number or symbol.
•
•
•
Input is allowed when the character ">" appears in the input
line.
"." is the decimal point. "-" is a minus sign or hyphen.
Numeric keys are also used as function keys.See the explanations of the various functions.
2 - 35
Introduction
2.2.4
Programming pendant display
The display of the programming pendant is a 5.7-inch colour display.
Alphanumeric characters can be entered.
The display can be operated using the keys of the PP or directly by touching the touch
screen.
2.2.4.1
Five display areas
The GP display area, menu area, human interface display area, and main menu area
among the following five areas can be moved by pressing [AREA], or can be selected by
directly touching the screen.
1
Menu area
2
Status display area
3
GP display
4
Message line
5
Main menu
1
5
2
3
4
Each time a window is opened during operation, the name appears in the upper-left corner
of the GP display.
2 - 36
Introduction
2.2.4.2
GP display area
On the general-purpose display area, various settings and contents such as JOBs and
characteristic files can be displayed and edited.
Displays also can be switched by scrolling the window, moving the cursor and switching
pages.
Character strings can be copied or the window can be zoomed in/out by touch operation
Scrolling the window
If there is too much content to be displayed on the GP display, you can scroll the window to
display the remaining content.
Methods to scroll the window:
•
•
Move through the window using the cursor keys:
Refer to chapter 2.2.3 "Programming pendant keys/buttons" on page 29.
Scroll the window by touching the display:
Touching the GP display moves the area displayed up, down or to the side.
To enable or disable scrolling the window by touch operation, select {DISPLAY SETUP}
→ {TOUCH OPE. SETTING} and make the setting.
<Example>
Touch the JOB window and slide it upwards (The window scrolls towards the lower part)
and then release the touch screen again.
Moving the cursor
The cursor can be displayed in some windows.
Proceed as follows to move the cursor position:
1) Use the cursor key to move the cursor:
Refer to chapter 2.2.3 "Programming pendant keys/buttons" on page 29.
2) Move the cursor by touching the display:
Touch the point for moving the cursor on the GP display and then release the touch
screen again.
Enable moving the cursor by touching
To enable or disable moving the cursor by touching, select {DISPLAY SETUP} → {TOUCH
OPE. SETTING}
To move the cursor in the JOB window by touch operation, proceed as follows (operations
can be switched on by means of parameters):
2 - 37
Introduction
Method A: Press [INTERLOCK] + method of touch operation.
1. While pressing [INTERLOCK], touch a position in the JOB window where the cursor can
move.
Method B: Touch operation + confirmation dialog
1. Touch a position in the JOB window where the cursor can move.
The confirmation dialog box appears.
2. Select YES.
2 - 38
Introduction
Page switching
When the [PAGE] indicator lights is on, the pages can be switched.
Select one of the following methods to switch the pages:
1) Page switching by [PAGE]:
Refer to chapter 2.2.3 "Programming pendant keys/buttons" on page 29.
2) Display the next page by touching the screen:
Touch the GP display and move it to the left, and then release the touch screen again.
3) Displaying the previous page by touch operation:
Touch the GP display and move it to the right and then release the touch screen again.
To enable or disable page switching by touch operation, select {DISPLAY SETUP} →
{TOUCH OPE. SETTING} and specify the setting.
Copy and paste of a character string
Character strings in the GP display area can be copied by touch operation. The copied
character string can be pasted on the [Result] field of the character input keypad.
By using the character input keypad, cut or paste of the character string can be undone by
{Undo} and a character string within 8 characters can be registered by {Regist}.
Copy a character string by the following procedure:
1. Touch and hold a character string in the GP display area.
The selection menu appears.
2. To change the length of the character string to be copied, touch and slide the copy
cursor.
3. Select {Copy} in the selection menu.
The character string is copied.
2 - 39
Introduction
Paste a character string by the following procedure:
1. Touch and hold the [Result] field of the character input keypad.
The selection menu appears.
2. Select {Paste} in the selection menu.
The copied character string is pasted.
To enable or disable copy and paste of a character string, select {DISPLAY SETUP} →
{TOUCH OPE. SETTING} and specify the setting.
2 - 40
Introduction
Zooming in/out of the window
To zoom in or out the GP display area, touch and hold the title or unused space.
Zoom by the following procedure:
1. Touch and hold the title of the GP display area.
Zoom in/out bar appears.
2. Touch and slide the cursor of the zoom in/out bar.
Only the main area of the GP display area is zoomed in/out.
3. Touch anywhere outside the zoom in/out bar.
The zoom in/out bar is closed and the entire GP display area is zoomed in/out.
To enable or disable zooming in/out of the window, select {DISPLAY SETUP} - {TOUCH
OPE. SETTING} and specify the setting.
2 - 41
Introduction
Operation buttons
On some windows an operation button appears.
Available options for selecting an operation button:
Press [SELECT] or touch the operation button to perform the operation allocated to the
operation button.
Press [AREA] + [↓] to move the cursor from the GP display area to the operation button.
Press [AREA] + [↑] or press [CANCEL] to move the cursor from the operation button to the
GP display area.
Pressing [←] or [→] moves the cursor in the operation button area. Pressing [SELECT]
performs the operation where the cursor is located.
EXECUTE: Continues operation of the contents displayed in the GP display area.
CANCEL: Cancels the contents displayed in the GP display area and returns to the
previous window.
COMPLETE: Completes the setting operation displayed in the GP display area
STOP: Stops loading, saving or verifying in the external memory device.
RELEASE: Releases the overrun and shock sensor function.
RESET: Resets an alarm (cannot reset main alarms).
PAGE: On a switchable page, pressing {PAGE} allows to directly enter a desired
page number. Pressing then [ENTER] switches to the desired page.
1 GB display area
2 Operating keys
1
2
On a window where a list appears, pressing [↓] or [↑] selects a desired
item on the list. Pressing then [ENTER] shows the desired item.
2 - 42
Introduction
2.2.4.3
Main menu
All menus and sub menus are displayed on the main menu.
The main menu is called by pressing [MAIN MENU] or tapping {Main Menu} in the lower left
corner of the window.
2.2.4.4
Status display
The control status is displayed in the status display. The display depends on the control
mode (PLAY/TEACH).
T
1
2
3
4
5
6
7
8
9
10
11
12 13
1
Control group
8
Tool number
2
Operating coordinate system
9
Page
3
Manual speed
10 Multi mode
4
SECURITY mode
11 Weak battery of memory
5
Operating cycle
6
Current status
12 Touch operation disabled or buzzer disabled
7
Mode
13 Saving data
1. Control group
Displays the active control group when the robot system includes the following:
•
•
Station axes
Multiple robot axes
to
Robot axes
to
Base axes
2 - 43
Introduction
to
Station axes
2. Operating coordinate system
Displays the selected coordinate system.
Press [COORD] to switch.
Joint coordinates
Cartesian coordinates
Cylindrical coordinates
Tool coordinates
User coordinates
Teaching Line Coordinates (arc welding purpose)
3. Manual speed
Displays the set speed. For details refer to chapter 3.2.5 "Select manual speed" on page 76.
Inching
Low speed
Medium speed
High speed
4. SECURITY mode
OPERATING MODE
EDITING MODE
MANAGEMENT MODE
SAFETY MODE
ONE-TIME MANAGEMENT MODE
2 - 44
Introduction
5. Operating cycle
Step
Cycle
Continuous
6. Current status
Displays the current status of the system (STOP, HOLD, ESTOP, ALARM or RUN).
Stop status
Hold status
Emergency stop status
Alarm status
Operating status
7. Mode
T
P
TEACH mode
PLAY mode
8. Tool number
From
to
Displays the tool number selected by the robot when the tool number
switch function is active (S2C431=1). For details refer to chapter
4.5.5 "COMMAND POSITION window".
9. Page
Displayed when the page can be switched.
10. Multi mode
Displayed when the multi window mode is set.
11. Weak battery of the memory
Displayed when the battery of the memory is weak.
2 - 45
Introduction
12. Touch operation disabled or buzzer disabled
Displayed when the touch panel operation is disabled.
Displayed when the battery of the memory is weak and touch operation is disabled.
Displayed when the pendant buzzer function is disabled.
Displayed when the battery of memory is weak and the pendant buzzer function
is disabled.
If both the touch panel operation and the pendant buzzer function are disabled, data indicating that the touch panel operation is disabled is displayed.
13. Saving Data
Displayed when the data is being saved.
2.2.4.5
Human interface display area
Messages are displayed in the human interface display area.
Turn on servo power
When there are two or more messages, a page symbol appears in the message display
area.
Activate the message display area and press [SELECT] to view the list of current
messages.
5/9
Cannot load macro job at current security mode
Cannot insert/modify/delete for group axis detachment
Cannot insert/modify/delete for axis detachment
To close the list, select {CLOSE} or press [CANCEL].
2 - 46
HELP
CLOSE
Introduction
2.2.4.6
Menu area
The menu area allows you to edit and manage jobs and execute various utilities.
2.2.4.7
Error dialog box
If an error occurs, an error dialog box appears in the middle of the display.
While the error dialog box is on the display, no operation can be performed.
Press [CANCEL] or select {CANCEL} by manually touching the window in the error dialog
box to continue operation.
To show the description of an error in the human interface display area instead of the error
dialog box, select {DISPLAY SETUP} → {TOUCH OPE. SETTING} and disable the error
dialog box.
2.2.5
•
Screen descriptions
The menu displayed on the programming pendant is shown in curly brackets { }.
The menu items at the top are {DATA}, {EDIT}, {DISPLAY} and {UTILITY}.
•
The windows are shown in full view or in partial view.
Fig. 2-1: Full-screen window
2 - 47
Introduction
Fig. 2-2: Upper part of the window
Fig. 2-3: Middle part of the window
Fig. 2-4: Lower part of the window
2.2.6
Character input operation
The procedure to call the software keypad is as follows:
1. Move the cursor to the data for which you want to make an entry.
2. Press [SELECT].
2.2.6.1
Character input
To enter characters, the software keypad on the programming pendant must be called.
There are three different software keypads:
•
The alphanumeric keypad for upper-case letters
•
The alphanumeric keypad for lower-case letters
•
The symbol keypad
The procedure to switch between the alphanumeric keypads and the symbol keypad, is as
follows:
1. Touch the button on the screen or press [PAGE].
The procedure to switch between the alphanumeric keypads for upper- and lower-case
letters is as follows:
1. Touch "CapsLock OFF" or "CapsLock ON".
2 - 48
Introduction
2.2.6.2
Operation of character input
Name of the key Keys on
the programming
pendant
Description
Cursor
Moves the cursor.
[SELECT]
Selects a character.
[CANCEL]
Clears all the characters being typed.
Press this key two times to close the software keypad.
[ENTER]
Applies the characters entered.
ENTER
ENTER
[PAGE]
Switches between the keypads displayed on the programming pendant.
[MAIN MENU]
Closes the software keypad.
Numeric keys
Numeric entry
to
2 - 49
Introduction
2.2.6.3
Alphanumeric input
NOTICE
Depending on the contents to be input, some characters may be restricted. If a registered
word includes a restricted character, the word cannot be used.
e.g., No lower-case character or decimal point can be used for a JOB name.
Numeric entries are made using the numeric keys or the window for alphanumeric entries.
The characters available are the digits 0 to 9, the decimal point (.) and the minus sign or
hyphen (-).
Please note that the decimal point cannot be used for JOB names.
To enter alphanumeric characters, perform the following steps:
1. Press the [PAGE] key to call the window for alphanumeric entries.
2.
Move the cursor to the desired letter.
3. Press [SELECT] to enter the letter.
Fig. 2-5: For numbers and upper-case letters
Fig. 2-6: For numbers and lower-case letters
2 - 50
Introduction
2.2.6.4
Symbol input
Note that only certain symbols are available for the entry of JOBs.
To enter symbols, perform the following steps:
1. Press the [PAGE] key to call the window for entering symbols.
2. Select {SYMBOL}.
3. Move the cursor to the desired symbol.
4. Press [SELECT].
Fig. 2-7: For symbols
NOTICE
When the focus is in the text box [Result], the cursor position can be changed by pressing
[Shift]+[→] or [Shift]+[←].
2 - 51
Introduction
2.2.6.5
Word register function
NOTICE
Depending on the contents to be input, some characters may be restricted. If a registered
word includes a restricted character, the word cannot be used.
e.g., No lower-case character or decimal point can be used for a JOB name.
This function activates the use of registered words during character input by entering the
word (string) in advance.
Using this function makes it easier to enter the same strings.
It can register 32 words of up to eight characters each.
1
Word area
2
Button area
1
2
Proceedings to register a word:
1) Register a word by means of the {REGISTER WORD} button if word processing with
use of the keypad is active (S2C410=1).
2) Register a word by using the button {Regist} in the REGISTER WORD window.
If no word is registered, {Name order}, {Delete} and {Delete All} are not active in the button
area.
Word registration
Example: Registration of the word "TEST"
1. Select {SETUP} → {SET WORD} in the main menu.
The REGISTER WORD window appears.
The registered words are displayed in the word area.
2 - 52
Introduction
2. Select {KEYBOARD}.
3. Use the keypad to enter "TEST" and select {Regist}.
The confirmation dialog box appears.
4. Select OK.
5. Select {REGISTER WORD}.
The word "TEST" appears in the word area.
Back space
Deletes the last character of the string entered.
2 - 53
Introduction
1. Select {Back space} in the REGISTER WORD window.
The last character of the string entered is deleted.
Cancel
Deactivates the input string.
1. Select {CANCEL} in the REGISTER WORD window.
Cancels the string if there is a string entered.
Cancels the word registration screen if there is no string entered there.
Use of registered words
Example: use of the entered word {TEST}.
1. Select {REGISTER WORD}.
The word area appears.
2. Select "TEST" in the word area.
The entered word "TEST" appears in the text box [Result] at the top.
3. Select {KEYBOARD}.
2 - 54
Introduction
4. Move the cursor to the end of the word, add "1". Press [SELECT].
The "1" is added in [Result] at the end of the word "TEST".
5. While "TEST1" is displayed in the field [Result] select {Regist}.
The confirmation dialog box appears.
6. Select OK.
2 - 55
Introduction
Changing the order of the words displayed
The order of the words displayed can be changed.
Listing the words in alphabetical order:
1. Select {Name Order} in the button area.
The words are displayed in alphabetical order.
The {Name Order} button changes to {Register order}.
Listing the words in the order of registration:
1. Select {Register order} in the button area.
The words are displayed in the order of registration.
The {Register order} button changes to {Name Order}.
2 - 56
Introduction
Deleting a registered word
The registered words can be deleted.
Delete the words when word processing with use of the keypad is active (S2C410=1) or
delete the word in the REGISTER WORD window.
Example: Deleting the word "TEST".
1. Select {REGISTER WORD} tab.
The word area appears.
2. Select "TEST" in the word area and then {Delete} in the button area.
The confirmation dialog box appears.
3. Select YES.
"TEST" is deleted from the word area.
2 - 57
Introduction
Deleting all registered words
Delete the words when word processing with use of the keypad is active (S2C410=1) or
delete the word in the REGISTER WORD window.
1. Select {Delete All} in the button area.
The confirmation dialog box appears.
2. Select YES.
All words are deleted.
2 - 58
Introduction
2.2.7
Numeric value input operation
To input numeric value, perform the following steps:
1. Move the cursor to the input data.
2. Press [SELECT].
The numeric value input area and the numeric value keypad are shown.
3. Enter the numeric value and confirm by pressing [ENTER] or touching {Enter}.
To enable or disable the numeric value keypad, select {DISPLAY SETUP} → {TOUCH
OPE.SETTING} and specify the setting.
2.2.7.1
Operation for numeric value input area
Name of the key Keys on
the programming
pendant
Description
Cursor
Moves the cursor (focus).
The down cursor can delete one number.
[CANCEL]
Clears all the characters being typed.
Press this key two times to close the software keypad.
[ENTER]
Enters the input numeric values.
ENTER
ENTER
Numeric keys
Numeric entry
To input E as the real number, press [SHIFT] and [-(minus)] together.
to
2 - 59
Introduction
2.2.7.2
Operation for numeric value input keypad
NOTICE
Numeric values to be input are limited depending on the contents. For the numeric values
which cannot be input, the color of numeric key becomes grey and the numbers cannot be
selected.
Name of the key Keys on the
Description
programming
pendant display
{Clear}
Clears all characters being typed.
{Backspace}
Deletes one number at the cursor position.
Clears all characters being typed.
{Cancel}
Press this key two times to closethe numeric value input area.
{Enter}
Confirms the input numeric values.
Select the base number (Binary, decimal, hexadecimal).
Change of base
number
or
Numeric keys
to
To input E as the real number, press [SHIFT] + [(minus)] together.
Numeric keys of
hexadecimal
to
Inputs numbers for the hexadecimal input.
Modify the numeric value which is being input in
the input area in accordance with the selected
base number.
Numeric entry
2 - 60
Introduction
2.2.8
Bilingual function (Optional)
NOTICE
Under the following circumstances, the two languages cannot be displayed alternately:
 When entering characters or numbers and when a confirmation dialog box is displayed.
 During axis movements and during FWD/BWD or test actions in TEACH mode.
 Use alphanumeric characters (single byte) for items registered by users, such as JOB
names and comments. Non-alphanumeric characters cannot be displayed correctly in
languages other than Japanese and English.
When the bilingual function (optional) is activated, you can alternate between two
languages by ONE-TOUCH operation.
1. Press [SHIFT] + [AREA].
The display language changes.
2.2.9
Screenshot acquisition function
The pendant display window can be saved to the external device as a JPG file.
This function is available for YAS2.10-00 or later (pendant OS 1.04 or later).
The JPG file is saved directly under the USB memory stick or the SD card which are
installed in the programming pendant.
2 - 61
Introduction
NOTICE
Up to 999 JPG files can be saved on the USB memory stick or the SD card.
After saving 999 files, the JPG file is not saved, even if [AUX] + [AREA] is pressed.
NOTICE
Do not press [AUX] + [AREA] continuously.
If pressing both keys continuously, reloading the window of the programming pendant may
be slow.
1. Press [AUX] + [AREA].
The completion dialog box appears after saving files.
The error dialog appears when no USB memory stick or SD card is installed in the
programming pendant.
2 - 62
Introduction
2.3
Mode
The robot controller can be operated in the following three modes:
•
TEACH mode
•
PLAY mode
•
REMOTE mode
2.3.1
TEACH mode
The following work can be performed in TEACH mode:
•
Preparation and teaching of a JOB.
•
Modification of a registered JOB.
•
Setting of various characteristic files and parameters.
2.3.2
PLAY mode
The following work can be performed in PLAY mode:
•
Playback of a taught JOB.
2.3.3
REMOTE mode
In REMOTE mode, commands such as SERVO ON Ready, Start, Cycle Change and Call
Master JOB can be controlled via external input signals.
The movements via external input signals are released in REMOTE mode. The [START]
key on the programming pendant is deactivated.
The data transfer function (option) is also available in REMOTE mode.
The following table shows how each movement is entered in the different modes.
Mode
TEACH
mode
Operation
PLAY
mode
REMOTE mode
SERVO ON Ready
PP
PP
External input signal
Start
Invalid
PP
External input signal
Cycle Change
PP
PP
External input signal
Call master JOB
PP
PP
External input signal
Note: PP refers to the programming pendant.
2 - 63
Introduction
2.3.4
Priority of TEACH mode
The following operations are disabled in TEACH mode.
1. Playback via [START].
2. Playback from the external input signals.
2.4
Security mode
2.4.1
Types of security modes
The following five modes are available for the robot controller:
•
•
•
•
•
OPERATING MODE
You can monitor the operation of the production line and stop the robot. If irregularities
are detected, repairs etc. can be carried out.
EDITING MODE
In addition to the functions that are possible in OPERATING MODE, JOB and operating
files can be edited.
– Teaching
– Editing of the robot's JOG operations
– Editing of JOB and operating files
MANAGEMENT MODE
In addition to the functions that are possible in EDITING MODE, you can make the
following changes.
– The parameters of the robot controller
– The time in management mode
– User ID
– etc.
SAFETY MODE
In addition to the operations possible in MANAGEMENT MODE, you can edit the
relevant files of the safety functions in order to manage the safety of the system.
If the optional functional safety function is enabled, SAFETY MODE is activated, in
which files such as the tool files can be edited.
One-time MANAGEMENT MODE
Maintenance work can be carried out in a higher-security mode than MANAGEMENT
MODE.
The one-time security code provided by YASKAWA must be entered.
In addition to the operations that are possible in SAFETY MODE, the load restriction is
lifted for the following data:
– CMOS.BIN
– Function definition parameters (FD.PRM)
– Batch parameters (ALL.PRM)
The user ID has to be entered for operations in EDITING MODE and MANAGEMENT
MODE. It must consist of 4 to 8 letters, numbers or symbols.
Any operation in EDITING MODE, MANAGEMENT MODE and SAFETY MODE requires a
password.
The password for EDITING MODE and MANAGEMENT MODE should have 4 to 16
characters/numbers.
The password for SAFETY MODE must have 9 to a maximum of 16 characters/numbers.
2 - 64
Introduction
Main menu
JOB
Sub menu
Permitted security mode
DISPLAY
EDIT
JOB
Operation
Edit
SELECT JOB
Operation
Operation
CREATE NEW JOB1
Edit
Edit
MASTER JOB
Operation
Edit
JOB CAPACITY
Operation
-
RES. START (JOB)1)
Edit
Edit
Operation
-
Operation
Operation
TRASH JOB LIST
Edit
Edit
JOB EDIT (PLAY)
Edit
Edit
PLAY EDIT JOB LIST
Edit
Edit
BYTE
Operation
Edit
INTEGER
Operation
Edit
DOUBLE
Operation
Edit
REAL
Operation
Edit
STRING
Operation
Edit
POSITION (ROBOT)
Operation
Edit
POSITION (BASE)
Operation
Edit
POSITION (ST)
Operation
Edit
LOCAL VARIABLE
Operation
-
FLAG
Operation
Edit
2
RES. STATUS
CYCLE
3
VARIABLES
2 - 65
Introduction
Main menu
IN/OUT
2 - 66
Sub menu
Permitted security mode
DISPLAY
EDIT
EXTERNAL INPUT
Operation
Edit
EXTERNAL OUTPUT
Operation
Edit
GENERAL PURPOSE INPUT
Operation
Operation
GENERALL PURPOSE OUTPUT
Operation
Operation
SYSTEM INPUT
Operation
-
SYSTEM OUTPUT
Operation
-
RIN
Operation
-
CPRIN
Operation
-
REGISTER
Operation
Management
AUXILIARY RELAY
Operation
-
CONTROL INPUT
Operation
-
PSEUDO INPUT SIG
Operation
Management
NETWORK INPUT
Operation
-
NETWORK OUTPUT
Operation
-
ANALOG OUTPUT
Operation
-
SV POWER STATUS
Operation
-
LADDER PROGRAM
Management
Management
I/O ALARM
Management
Management
I/O MESSAGE
Management
Management
TERMINAL
Operation
Edit
I/O SIMULATION LIST
Management
Management
SERVO ON FACTOR
Management
-
SERVO OFF MONITOR
Operation
-
Introduction
Main menu
ROBOT
Sub menu
Permitted security mode
DISPLAY
EDIT
CURRENT POSITION
Operation
-
COMMAND POSITION
Operation
-
SERVO MONITOR
Management
-
WORK HOME POS
Operation
Edit
SECOND HOME POS
Operation
Edit
DROP AMOUNT
Management
Management
POWER ON/OFF POS
Operation
-
TOOL
Edit
Edit
INTERFERENCE
Management
Management
SHOCK SENS LEVEL
Operation
Edit
USER COORDINATE
Edit
Edit
HOME POSITION
Management
Management
ROBOT TYPE
Management
-
Management
Management
Operation
Operation
LIMIT RELEASE
Edit
Edit
ARM CONTROL*1
Management
Management
SHIFT VALUE
Operation
-
SOFTLIMIT SETTING
Management
Management
SHOCK SEN LV.(CURRENT)
Operation
-
VERSION
Operation
-
MONITORING TIME
Operation
Management
ALARM HISTORY
Operation
Management
I/O MSG HISTORY
Operation
Management
LOGDATA
Operation
Management
USER DEFINITION MENU
Operation
Edit
SECURITY
Operation
Operation
CPU RESET
Operation
Edit
LOAD
Edit
-
SAVE
Operation
-
VERIFY
Operation
-
DELETE
Operation
-
DEVICE
Operation
Operation
FOLDERS
Operation
Management
INITIALIZE1
Operation
-
ANALOG MONITOR
OVERRUN&S-SENSOR
1
1
SYSTEM INFO
EX. MEMORY
2 - 67
Introduction
Main menu
PARAMETER
2 - 68
Sub menu
Permitted security mode
DISPLAY
EDIT
S1CxG
Management
Management
S2C
Management
Management
S3C
Management
Management
S4C
Management
Management
A1P
Management
Management
A2P
Management
Management
A3P
Management
Management
A4P
Management
Management
A5P
Management
Management
A6P
Management
Management
A7P
Management
Management
A8P
Management
Management
RS
Management
Management
S1E
Management
Management
S2E
Management
Management
S3E
Management
Management
S4E
Management
Management
S5E
Management
Management
S6E
Management
Management
S7E
Management
Management
S8E
Management
Management
Introduction
Main menu
SETUP
Sub menu
Permitted security mode
DISPLAY
EDIT
TEACHING COND.
Edit
Edit
OPERATE COND.
Management
Management
OPERATE ENABLE
Management
Management
FUNCTION ENABLE
Management
Management
JOG COND.
Management
Management
PLAYBACK COND.
Management
Management
FUNCTION COND.
Management
Management
DISPLY COLOR COND.
Edit
Edit
DATE/TIME
Management
Management
GRP COMBINATION
Management
Management
SET WORD
Edit
Edit
RESERVE JOB NAME
Edit
Edit
USER ID
Edit
Edit
SET SPEED
Management
Management
KEY ALLOCATION
Management
Management
JOG KEY ALLOC.
Edit
Management
RES. START(CNCT)
Management
Management
AUTO BACK SET
Management
Management
WRONG DATA LOG
Edit
Management
ENERGY SAVING FUNCTION
Edit
Management
ENCODER MAINTENANCE
Edit
Management
M-SAFETY SIGNAL ALLOC
Operation
Management
TIMER DELAY SET
Operation
Management
SAFETY LOGIC CIRCUIT
Operation
Management
PM (REDUCER)
Operation
Management
INSPECTION RECORD
Operation
Management
OPERATING STATUS
Operation
Edit
JOB MONITOR
Operation
Edit
STEP DIAGNOSIS
Operation
Edit
ROBOT MONITOR
Operation
Edit
CHANGE FONT
Operation
Operation
CHANGE BUTTON
Operation
Operation
INITIALIZE LAYOUT
Operation
Operation
CHANGE WINDOW PATTERN
Operation
Operation
TOUCH OPE. SETTING
Operation
Operation
2
SAFETY FUNC.
PM
DISPLAY SETUP
2 - 69
Introduction
Main menu
Sub menu
Permitted security mode
DISPLAY
EDIT
ARC START COND.
Operation
Edit
ARC END COND.
Operation
Edit
ARC AUX COND.
Operation
Edit
POWER SOURCE COND.
Operation
Edit
ARC WELD DIAG.
Operation
Edit
WEAVING
Operation
Edit
ARC MONITOR
Operation
Edit
ARC MONITOR (SAMPL)
Operation
-
APPLI COND.
Management
Management
HANDLING
HANDLING DIAGNOSIS
Operation
Edit
SPOT WELDING
WELD DIAGNOSIS
Operation
Edit
I/O ALLOCATION
Management
Management
GUN CONDITION
Management
Management
SPOT POWER SOURCE
COND.
Management
Management
APPLICATION CONDITION
SETTING
Management
Management
WELD DIAGNOSIS
Operation
Edit
GUN PRESSURE
Edit
Edit
PRESSURE
Edit
Edit
I/O ALLOCATION
Management
Management
GUN CONDITION
Management
Management
CLEARANCE SETTING
Operation
Edit
SPOT POWER SOURCE
COND.
Management
Management
TIP INSTALLATION
Operation
Management
APPLICATION SETTING
Management
Management
WEAVING
Operation
Edit
GENERAL DIAG.
Operation
Edit
I/O VARIABLE CUSTOMIZE
Operation
Operation
ARC WELDING
SPOT WELDING
(MOTOR GUN)
GENERAL
COMMON TO
ALL APPLICATIONS
1. Only in TEACH mode
2. Only in PLAY mode
3. Displayed if function to restore JOBs is enabled. *You 'll find additional information for the menu and the
security mode in a activated functional safety in the following English manual "OPTIONS INSTRUCTIONS FOR
FUNCTIONAL SAFETY BOARD OPERATION".
Tab. 2-1: Menu and SECURITY mode
2.4.2
Selecting SECURITY mode
To select the SECURITY mode, perform the following steps:
2 - 70
Introduction
1. Select {SYSTEM INFO} in the main menu.
The sub menu appears.
2. Select {SECURITY}.
The SECURITY window appears.
3. Select the desired SECURITY mode.
The SECURITY mode can be selected from the following:
•
OPERATING MODE
•
EDITING MODE
•
MANAGEMENT MODE
•
SAFETY MODE
If the selected SECURITY mode is a higher-level mode than the current security mode,
the password-entry status window appears for the user ID.
4. Enter the password if required.
Password recognition is set as follows in the factory:
•
EDITING MODE: [0000000000000000]
•
MANAGEMENT MODE: [9999999999999999]
•
SAFETY MODE: [5555555555555555]
5. Press [ENTER].
The SECURITY mode is changed if the password entered is correct.
2 - 71
Introduction
To change the SECURITY mode to ONE TIME MANAGE MODE perform the following
steps:.
1. Switch to MANAGEMENT mode.
In the MANANGEMENT mode, you can select the ONE-TIME MANAGEMENT MODE.
2. Select ONE-TIME MANAGEMENT MODE.
A keypad is displayed so that you can enter characters.
3. Enter the one-time security code provided by YASKAWA.
If the entered SECURITY code is correct, the ONE-TIME MANAGEMENT MODE is set.
2 - 72
Robot coordinate systems and operations
3
Robot coordinate systems and operations
3.1
Control group and coordinate systems
3.1.1
Control group
An axis group can be controlled simultaneously for the robot controller.
This group is called a control group and subdivided into three units:
•
•
•
ROBOT is the robot.
BASE is the axis that moves the entire robot in parallel.
STATION is the positioners, devices and tools that do not belong to ROBOT or BASE.
BASE and STATION are the external axes.
1
3
2
Fig. 3-1: Control group
1
ROBOT:
This is the axis for the robot.
2
STATION:
Each axis that is not a robot or base axis.
The axis indicates the tilt or rotational axis of the clamp.
3
BASE:
This is the axis that moves the entire robot.
It corresponds to the SERVO track.
This access controls the path of the moving robot.
3 - 73
Robot coordinate systems and operations
3.1.2
Types of coordinate systems
The following coordinate systems can be used to operate the robot:
•
•
•
•
•
•
3 - 74
Joint coordinates
Each axis of the robot is moved separately.
Cartesian coordinates
The tool tip of the robot is moved parallel to the X-, Y- and Z-axis.
Cylindrical coordinates
The  -axis moves around the S-axis. The R-axis moves parallel to the L-axis arm.
In a vertical movement, the tool tip of the robot moves parallel to the Z-axis.
Tool coordinates
The actual direction of the tool mounted in the wrist joint is defined as the Z-axis.
This axis controls the coordinates of the tool end point.
User coordinates
The Cartesian coordinates of the X-, Y- and Z-axis are set at any point and angle.
The tool tip of the robot is moved parallel to these axes.
Teaching line coordinates
In two steps, the Cartesian coordinates XYZ are set and the direction of the Z-axis of
the robot coordinates is set.
The tool tip of the robot is moved parallel to these axes.
Teaching line coordinates can only be used for arc welding.
Robot coordinate systems and operations
U
R
B
T
Z
L
Z
r
Y
S
r
X
1
3
2
Z
Z
Y
X
X
Y
Y
Z
4
X
5
6
1
Joint coordinates
4
Tool coordinates
2
Cartesian coordinates
5
User coordinates
3
Cylindrical coordinates
6
Teaching line coordinates
3 - 75
Robot coordinate systems and operations
3.2
General operation
3.2.1
Safety check
Before operating the YRC1000, read chapter 1.6 "Safety" of the INSTRUCTIONS of the
YRC1000. Always use caution around the robot system and peripherals.
3.2.2
Selecting TEACH mode
Set the mode switch on the programming pendant to TEACH.
3.2.3
Selecting CONTROL GROUP
If the robot controller has multiple control groups or coordinate control systems (optional
function), select the control group first.
If two or more control groups of ROBOT, BASE and STATION are registered, switch the
control group by pressing [SHIFT] + [ROBOT] or [SHIFT] + [EX]. AXIS].
Once you have selected a JOB, the control group registered in the selected job is activated.
The registered control group in the JOB editor can be switched by means of [ROBOT] or
[EX. AXIS].
Check the selected control group in the status display of the programming pendant.
3.2.4
Select coordinate system
Select a coordinate system. To do so, press [COORD].
Each time you press [COORD], the coordinate system is changed in the following order:
Joint → Cartesian (Cylindrical) → Tool → User → Teaching Line (only for arc welding
purpose).
Check the selected coordinate system in the status display of the programming pendant.
3 - 76
Robot coordinate systems and operations
3.2.5
Select manual speed
Select the manual speed. To do so, press [FAST] or [SLOW]. The selected speed applies
not just to the axis movements but also to the movements [FWD] and [BWD].
NOTICE
If the robot is controlled manually using the programming pendant, the maximum speed of
the TCP is limited to 250 mm/s.
Each time you press [FAST], the speed is changed in the following order:
INCH→SLOW→MED→FAST
INCH→SLOW→MED→FAST
Each time you press [SLOW], the speed is changed in the following order:
FAST→MED→SLOW→INCH
FAST→MED→SLOW→INCH
Check the selected manual speed in the status display of the programming pendant.
3.2.6
SERVO ON
To turn on the SERVO power perform the following steps:
1. Press [SERVO ON READY].
SERVO ON LED starts blinking.
2. Press the enable switch while the SERVO ON LED is blinking.
The SERVO ON LED starts lighting permanently.
SERVO power is ON.
3.2.7
Axis operation
Secure the area around the robot. Press the desired axis keys. The axis is moved in
accordance with the settings for the control group, coordinates and manual speed (see
chapter 3.3 "Coordinate systems and axis movements" on page 78.)
3.2.8
High speed
If [HIGH SPEED] is pressed together with an axis key, the robot works at high speed.
NOTICE
[HIGH SPEED] is ineffective if the manual speed is set to INCH.
3 - 77
Robot coordinate systems and operations
3.3
Coordinate systems and axis movements
3.3.1
Joint coordinates
When the robot is operating in the joint coordinates, each axis of the robot can be moved
independently.
If the axis key of an axis not included in the manipulator is pressed, no axis operates.
The motion of each axis is described in the table below.
Axis description
Major axes
Wrist axes
Axis key
Movement
S-axis
The main unit turns to the right and left.
L-axis
The lower arm moves forwards and
backwards.
U-axis
The upper arm moves up and down.
R-axis
The wrist rolls to the right and left.
B-axis
The wrist moves up and down.
T-axis
The wrist turns to the right and left.
E-axis
The lower arm turns to the right and left.
Tab. 3-1: Axis movement in the joint coordinates
NOTICE
When two or more axis keys are pressed at the same time, the robot performs a combined
movement.
If two different directional keys (such as [S -] + [S +]) for the same axis are pressed at the
same time, the axis will not operate. When [S -] + [S +] + [L +] are pressed, only the axis
corresponding to [L +] will operate.
3 - 78
Robot coordinate systems and operations
1
1
7-axis robot
2
2
6-axis robot
3 - 79
Robot coordinate systems and operations
3.3.2
Cartesian coordinates
In the case of Cartesian coordinates, the robot moves parallel to the X-, Y- or Z-axes.
The movement of each axis is described in the table below.
Axis description
Base axes
Wrist axes
Axis movement key
Movement
X-axis
Moves parallel to the X-axis.
Y-axis
Moves parallel to the Y-axis.
Z-axis
Moves parallel to the Z-axis.
The movement around the TCP is executed (refer to chapter
3.3.8 "Motion about TCP" on page 91.)
Tab. 3-2: Axis movement in the Cartesian coordinates
NOTICE
When two or more axis keys are pressed at the same time, the robot performs a combined
movement.
If two different directional keys (such as [X -] + [X +]) for the same axis are pressed at the
same time, the axis will not operate. When [X -] + [X +] + [Y +] are pressed, only the axis
corresponding to [Y +] will operate.
Z
Y
X
3 - 80
Robot coordinate systems and operations
Z
X
Z+
U+
Z-
U-
Y
Fig. 3-2: Movement parallel to X-, Y- and Z-axis
3 - 81
Robot coordinate systems and operations
3.3.3
Cylindrical coordinates
In the case of cylindrical coordinates, the robot moves as follows.
The movement of each axis is described in the table below.
Axis description
Base axes
Wrist axes
Axis movement key
Movement
-axis
The main unit rolls around the S-axis.
R-axis
Moves vertically to the Z-axis.
Z-axis
Moves parallel to the Z-axis.
The movement around the TCP is executed (see Chapter 3.3.8
"Motion about TCP" on page 91.)
Tab. 3-3: Axis movement in the cylindrical coordinates
NOTICE
If two or more axis keys are pressed at the same time, the robot executes a combined
movement.
However, if two different directional keys (such as [Z -] + [Z +]) for the same axis are pressed
at the same time, the axis will not operate. When [Z -] + [Z +] + [Y +] are pressed, only the
axis corresponding to [Y +] will operate.
Z
R
R
3 - 82
Robot coordinate systems and operations
2
1
R
R
1
Moves parallel to -axis
2
Moves parallel to R-axis
3 - 83
Robot coordinate systems and operations
3.3.4
Tool coordinates
In the case of tool coordinates, the robot moves parallel to the X-, Y- or Z-axes, which are
defined at the tool tip. The movement of each axis is described in the table below.
Axis description
Base axes
Axis movement key
Movement
X-axis
Moves parallel to the X-axis.
Y-axis
Moves parallel to the Y-axis.
Z-axis
Moves parallel to the Z-axis.
Wrist axes
The movement around the TCP is executed (see Chapter
3.3.8 "Motion about TCP" on page 91.)
Tab. 3-4: Axis movement in the cylindrical coordinates
NOTICE
When two or more axis keys are pressed at the same time, the robot performs a combined
movement.
If two different directional keys (such as [X -] + [X +]) for the same axis are pressed at the
same time, the axis will not operate. When [X -] + [X +] + [Y +] are pressed, only the axis
corresponding to [Y +] will operate.
X
X
Y
Z
Y
Z
Y
X
Z
The tool coordinates are defined at the tip of the tool, assuming that the effective direction
of the tool mounted on the robot wrist flange is the Z-axis. Therefore, the tool coordinates
axis direction moves with the wrist.
In the tool coordinates motion, the robot can be moved using the effective tool direction as
a reference regardless of the robot position or orientation. These motions are best suited
when the robot is required to move parallel while maintaining the tool orientation with the
workpieces.
3 - 84
Robot coordinate systems and operations
NOTICE
The tool file should be entered in advance for the tool coordinates. For additional
information refer to chapter "Tool data setting" in the "YRC1000 Instructions manual" with
document number E1102000214XX01* or higher.
3.3.5
Selecting the tool
Tool numbers are used to specify a tool if more than one tool is used in the system.
You can make a selection from up to 64 registered tool files when you change the tools on
the robot.
NOTICE
To switch the tools, settings for using two or more tools must be made in advance.
To use multiple tool files with a robot, set the following parameters in the main menu under
{SETUP} → {TEACHING COND.}:
S2C431: Parameter that specifies the tool number switch:
1: Can be switched
0: Cannot be switched
To select more than one tool, perform the following steps:
1. Press [COORD] and select the tool coordinates
.
Each time you press [COORD], the coordinate system is changed in the following order:
Joint → Cartesian (Cylindrical) → Tool → User → Teaching Line (only for arc welding
purpose)..
The selected coordinate system is displayed in the status display.
2. Press [SHIFT] + [COORD].
The TOOL NO SELECT window appears.
3. Move the cursor to the desired tool.
Example: TOOL NO. 0 (MT-3501) is selected.
The number of the selected tool appears in the status display.
4. Press [SHIFT] + [COORD].
The display switches back to the previous window.
3 - 85
Robot coordinate systems and operations
3.3.6
User coordinates setting
In the user coordinates, the robot moves parallel to each axis of the coordinates
predetermined by the user. The user must preset the X-, Y-, and Z-axes with desired slopes
at a desired position within the robots motion range.
Up to 63 types of the user coordinates can be registered, and each has a user coordinates
number and is called a user coordinates file.
The motion of each axis is described in the table below.
Axis description
Basic axes
Wrist axes
Axis movement key
Movement
X-axis
Moves parallel to the X-axis.
Y-axis
Moves parallel to the Y-axis.
Z-axis
Moves parallel to the Z-axis.
The movement around the TCP is executed (refer to chapter
3.3.8 "Motion about TCP" on page 91.)
Tab. 3-5: Axis movement in the user coordinates
3 - 86
Robot coordinate systems and operations
NOTICE
When two or more axis keys are pressed at the same time, the robot performs a combined
movement.
If two different directional keys (such as [X -] + [X +]) for the same axis are pressed at the
same time, the axis will not operate. When [X -] + [X +] + [Y +] are pressed, only the axis
corresponding to [Y +] will operate.
1
Station
Z
Z
Y
X
Y
X
1
1
Z
X
Y
Y
3 - 87
Robot coordinate systems and operations
3.3.6.1
Selecting user coordinates
To select the coordinate system from among the user coordinates entered, perform the
following steps:
1. Press [COORD] to select the user coordinates
.
Each time you press [COORD], the coordinate system is changed in the following order:
Joint → Cartesian (Cylindrical) → Tool → User → Teaching Line (only for arc welding
purpose).
The selected coordinate system is displayed in the status display.
2. Press [SHIFT] + [COORD].
The USER COORD SELECT window appears.
NOTICE
For additional information on the registration of user coordinates refer to chapter "Setting
user coordinates" in the "YRC1000 Instructions manual" with document number
E1102000214XX01* or higher.
3. Select the number of the desired user coordinates.
The number of the selected user coordinates appears in the status display.
4. Press [SHIFT] + [COORD].
The display switches back to the previous window.
3 - 88
Robot coordinate systems and operations
3.3.6.2
Using user coordinates
The user coordinates make teaching operations easier.
<Example>
•
When two or more fixtures are used, manual operation is simplified by setting the user
coordinates for each fixture. .
1
Fixture
2
User coordinates
2
1
2
•
When performing arranging or stacking operations, the incremental value for parallel
shift is easily set by setting the user coordinates on a pallet.
•
When performing conveyor tracking operations, the moving direction of the conveyor is
specified.
3 - 89
Robot coordinate systems and operations
3.3.7
External axes
The external axis can be operated by selecting BASE or STATION for the control group.
The movement of each axis is described in the table below.
Axis description
BASE or STA- 1st axis
TION
3 - 90
Axis movement key
Movement
The first axis moves.
2nd axis
The second axis moves.
3rd axis
The third axis moves.
Robot coordinate systems and operations
3.3.8
Motion about TCP
The movement around the TCP (Tool Center Point) can merely change the wrist alignment
at a fixed TCP position in all coordinate systems. The wrist coordinates are excepted from
this.
The movement of each axis is described in the table below.
Axis description
Axis movement key
Movement
Main axes
The TCP moves. These movements are
different, depending on the coordinate system (e.g. wrist, cylindrical, Cartesian, tool
or user).
Wrist axes
The wrist axes move with the fixed TCP.
These movements are different, depending
on the coordinate system (e.g. wrist, cylindrical, Cartesian, tool or user).
E-axis
* Available only for a 7-axis robot.
The arm position changes, while the position and posture of the tool remains unchanged (change of the Re angle).
Tab. 3-6: Axis movement around the TCP
NOTICE
If two or more axis keys are pressed at the same time, the robot executes a combined
movement.
If two different directional keys (such as [X -] + [X +]) for the same axis are pressed at the
same time, the axis will not operate (when [X -] + [X +] + [Y +] are pressed, only the axis
corresponding to [Y +] will operate).
Re is an element that specifies the posture of the 7-axis robot and is not changed by means
of the coordinates entered.
Re is defined below.
3 - 91
Robot coordinate systems and operations
TCP
Fig. 3-3: Torch welding
Fig. 3-4: Gun spot welding
3 - 92
Robot coordinate systems and operations
The rotation of each wrist axis is different in each coordinate system.
•
In the case of Cartesian or cylindrical coordinates, the axial rotations are based on the
X-, Y- or Z-axis.
Z
+
-
Y
+
Z
-
X
+
Y
X
•
In the case of the tool coordinates, the axial rotations are based on the X-, Y- or Z-axis
of the tool coordinates.
X
+
-
Z
+
+
Y
•
In the case of the user coordinates, the axial rotations are based on the X-, Y- or Z-axis
of the user coordinates.
Z
+
-
Y
+
X
+
Z
Y
X
3 - 93
Robot coordinate systems and operations
3.3.9
Modification of TCP
Control point change
The TCP is the destination point of the axis movements and is specified as a distance from
the front side of the flange.
The TCP change movement is an axis movement in which the desired tool file is selected
from a list of registered files (see section 3.3.5 "Selecting the tool" on page 85), and the axis
is then moved while the TCP is simultaneously changed.
With the exception of the joint coordinates, this can be done for all coordinate systems.
The axis movement corresponds to the movement around the TCP.
<Example 1>
TCP change movement with multiple tools.
1. The TCPs for tool 1 and tool 2 are referred to as P1 and P2.
2. If tool 1 is selected for an axis movement, P1 (the TCP of tool 1) is the destination point
of the movement. Tool 2 follows tool 1 and is not controlled by the axis movement.
3. On the other hand, if tool 2 is selected for an axis movement, P2 (the TCP of tool 2) is
the destination point of the movement. In this case, tool 1 only follows tool 2.
2
3
P1
P1
P2
P2
1
1
Fig. 3-5: Selection of tool 1 (tool 2) and axis movements with control of P1 (P2)
3 - 94
1
Workpiece
2
Tool 1
3
Tool 2
Robot coordinate systems and operations
<Example 2>
TCP change movement with a single tool.
1. The two corners of the workpiece held by the tool are referred to as P1 and P2 of the
TCP.
2. When two TCPs are selected alternately, the workpieces are as shown below:
P1
P1
P2
P2
1
1
Fig. 3-6: Movement around the TCP with P1 (P2) selected
1
Workpiece
NOTICE
For additional information on the registration of the tool data settings refer to the "YRC1000
Instructions manual" with document number E1102000214XX01* or higher.
3 - 95
Robot coordinate systems and operations
3.3.10
Teaching line coordinates
The path-related coordinates (teaching-line coordinates) are the coordinates that are set
with the two successive steps and the direction of the Z-axis of the robot coordinates.
The path-related coordinates can only be used for arc welding.
Each axis of the path-related coordinate system
X-axis
Direction of travel
Tangential direction in a circular arc path
Y-axis
Perpendicular direction with respect to the welding
line (direction of travel) and the Z-axis of base coordinates
Gy is outer product direction of the Z-axis of base coordinates and the X-axis of teaching line coordinates.
θR is the angle of Gy and the Z-axis of the tool coordinates.
θL is the angle of -Gy and the Z-axis of tool coordinates.
When θR is smaller than θL, the Y-axis of teaching
line coordinates is Gy.
When θL is smaller than θR, the Y-axis of teaching
line coordinates is -Gy.
Z-axis
Perpendicular direction with respect to the welding
line (direction of travel) and the Y-axis of teaching line
coordinates.
The Z-axis of teaching line coordinates is the outer
product direction of the X-axis of base coordinates
and Gy.
Z
Z
1
X
șL
șR
șL
3
1
Gy
Y
șR
Gy
Y
2
șL
2
șL
> șR
< șR
3
X
Fig. 3-7: Path-related coordinates
3 - 96
1
Tool coordinate Z-axis
X
X-axis (direction of movement)
2
Step n-1
Z
Z-axis
3
Step n
Y
Y-axis
Robot coordinate systems and operations
•
Torch angle and travel angle
Torch angle and Travel angle of the teaching line coordinates
Torch angle
The angle made between the Z-axis of tool
coordinates projected on the YZ-plane of
teaching line coordinates and the Y-axis of
teaching line coordinates.
Travel angle
The angle subtracted 90 degrees from the
angle made between the X-axis of teaching line coordinates and the Z-axis of tool
coordinates.
1
B
A
2
1
2
2
B
3
4
6
3
5
4
A
1
Path-related coordinates, Z-axis
4
Path-related coordinates, X-axis
2
Tool coordinates, Z-axis
5
Welding torch angle
3
Path-related coordinates, Y-axis
6
Angle of movement
3 - 97
Robot coordinate systems and operations
Linear interpolation and the path-related coordinates
1
Step 1
2
Step 2
3
Step 3
3
䠵
䠴
1
Step
2
Instructions
Instructions for the path-related coordinate system
NOP
1
MOVL
None
2
MOVL
3
MOVL
1 → 2
3 → 5 → 6
Circular interpolation and the path-related coordinates
1
Step 1
2
Step 2
3
Step 3
2
X
Y
Step
3
1
Instructions
Instructions for the path-related coordinate system
NOP
1
MOVC
None
2
MOVC
3
MOVC
1 → 2 → 3
4 → 5 → 6
The ranges near +90 degrees and -90 degrees of the torch angle and the travel angle are
movement-prohibited areas. If entry into one of these areas is attempted, the following
message appears:
“JOG operation is limited in the area that torch or travel angle is near 90 degree.”
•
Torch angle
1
Z-axis of teaching line coordinates
2
Limited operating range for the torch angle
3
Torch angle [+] direction
4
Y-axis of teaching line coordinates (Gy)
5
Torch angle [-] direction
6
Y-axis of teaching line coordinates
1
3
3
4
6
5
3 - 98
2
5
Robot coordinate systems and operations
•
Travel angle
1
Z-axis of teaching line coordinates
2
Travel angle [-] direction
3
X-axis of teaching line coordinates
4
Limited operating range for the torch angle
5
Travel angle [+] direction
1
5
2
3
4
5
3.3.10.1
2
Operations for teaching line coordinates
In the teaching line coordinates, manual operation can be performed as follows.
Axis name
Basic
axes
Axis movement key
Movement
X-axis
Moves parallel to the X-axis.
Y-axis
Moves parallel to the Y-axis.
[SHIFT]+[Y-], [SHIFT]+[Y+]
Moves parallel to the Gy-axis.
Z-axis
Moves parallel to Z-axis.
[INTERLOCK]+[Z-], [INTERLOCK]+[Z+]
Moves parallel to the Z-axis of tool coordinates.
Wrist axes
The position of TCP is fixed, and the
torch angle changes.
[SHIFT]+[x-], [SHIFT]+[x+]
The position of TCP is fixed, and the tool
posture changes around the X-axis.
The position of TCP is fixed, and the
travel angle changes.
[SHIFT]+[y-], [SHIFT]+[y+]
The position of TCP is fixed, and the tool
posture changes around the Gy-axis.
The position of TCP is fixed, and the tool
posture changes around the Z-axis of
tool coordinates.
[SHIFT]+[z-], [SHIFT]+[z+]
The position of TCP is fixed, and the tool
posture changes around the Z-axis.
Tab. 3-7: Axis motion in teaching line coordinates
3 - 99
Robot coordinate systems and operations
NOTICE
When two or more axis keys are pressed at the same time, the robot performs a combined
movement.
If two different directional keys (such as [X -] + [X +]) for the same axis are pressed at the
same time, the axis will not operate. When [X -] + [X +] + [Y +] are pressed, only the axis
corresponding to [Y +] will operate).
In the following operations and cases, manual operation in the teaching line coordinates is
limited:
Condition
Restrictions
JOB is not selected.
The following message appears:
The number of steps in the JOB is less than
2.
“Teach line JOG move not allowed for invalid teach line.”
The cursor is at the 1st step.
Axis operation cannot be performed.
The current step and the previous step are
the same position, or the distance between
these steps are short.
Direction of travel is the same as the Z-axis
direction of the base coordinates.
Move instruction of the current step is
MOVJ.
Move instruction of the current step is IMOV.
The torch angle is about ± 90°.
The following message appears:
“JOG operation is limited in the area that
torch or travel angle is near 90 degree.”
The following axis operations cannot be
performed:
• Y-axis of the teaching line coordinates
• Torch angle
The travel angle is about ± 90°.
The following message appears:
“JOG operation is limited in the area that
torch or travel angle is near 90 degree.”
The following axis operations cannot be
performed:
• Y-axis of the teaching line coordinates
• Torch angle
• Travel angle
3 - 100
Robot coordinate systems and operations
3.3.10.2
Welding related information display
Degrees of the angles in the teaching line coordinates are shown in the JOB CONTENT
window.
Regarding the movement to the target position (COMMAND in the following window), refer
to chapter 3.3.10.3 "Operation of moving to torch angle/travel angle".
1
2
3
1
Torch angle (-90.000 ~ 90.000)
CURRENT:
2
Travel angle (-90.000 ~ 90.000)
CURRENT:
3
Degrees of the torch angle of the current teaching line coordinates
Degrees of the travel angle of the current teaching line coordinates
Downward angle (-90.000 ~ 90.000)
CURRENT
Current downward angle:
The slope of the direction of travel of the welding line with respect
to the plane horizontal to the ground (Defined by subtracting 90
degrees from the angle made between the Z-axis of the base coordinates and the X-axis of the teaching line coordinates).
In the following operations and cases, ARC INFORMATION for the teaching line
coordinates is not displayed:
•
Selecting a JOB
•
Editing a JOB
•
Moving the cursor
•
The cursor is at the 1st step.
•
The current step and the previous step are the same position, or the distance between
these steps are short.
•
Move instruction of the current step is MOVJ.
•
Move instruction of the current step is IMOV.
•
Direction of travel is the same as the Z-axis of the base coordinates
3 - 101
Robot coordinate systems and operations
Switching welding-related information display
ARC INFORMATION can be hidden or shown as follows:
1. Select {JOB} in the main menu.
2. Select {JOB CONTENT}.
The JOB CONTENT window appears.
3. Select {DISPLAY} in the menu area.
4. Select {ARC INFORMATION}.
Welding-related information is shown.
3 - 102
Robot coordinate systems and operations
3.3.10.3
Operation of moving to torch angle/travel angle
The robot can be moved to the torch angle/travel angle specified as the target value in ARC
INFORMATION.
1. Select {Display} → {ARC INFORMATION}.
2. Touch ARC INFORMATION.
ARC INFORMATION is activated.
3. Select a data input area of the torch angle or travel angle.
4. Input a numeric value in the COMMAND field.
5. Press [ENTER].
The target value is set.
6. Press [NEXT].
The confirmation dialog box appears.
NOTICE
In the multi-window mode, operation of moving to the torch angle/travel angle is
unavailable. If [NEXT] is pressed when the cursor is on a move instruction, the next motion
of the move instruction is operated.
7. Select YES.
The confirmation dialog box disappears.
While ARC INFORMATION is activated, the confirmation dialog does not appear again
8. By pressing [NEXT] again, the robot moves to the target position.
The robot stops when the robot arrives at the target position.
The robot stops when [NEXT] is released.
3 - 103
Teaching
4
Teaching
4.1
Preparation for teaching
To ensure safety, the following operations should always be performed before the TEACHIN:
•
Check the function of the emergency stop button (see chapter 1.6 "Safety" on page 19).
•
Set the mode switch to TEACH.
•
Register a JOB.
4.1.1
Checking emergency stop buttons
The SERVO ON button on the programming pendant should be lit while the power is ON
for the SERVO system. Ensure that the emergency stop buttons on both the YRC1000 and
the programming pendant are functioning correctly before operating the robot.
To check, if the emergency stop button functions correctly, perform the following steps:
1. Press [EMERGENCY STOP]
Press the emergency stop button on the YRC1000 or the programming pendant.
Servo power is switched OFF.
SERVO ON LED is turned OFF.
An emergency stop message is displayed.
2. Confirm the SERVO power is turned OFF.
The SERVO ON LED on the programming pendant is turned OFF.
An emergency stop message is displayed.
3. After confirming correct operation, turn ON the SERVO power:
a) Confirm the emergency stop message on the display.
b) Press [SERVO ON READY] on the programming pendant.
The SERVO ON LED starts blinking.
c) Press the Enable Switch, while the SERVO ON LED is blinking.
The SERVO ON LED is ON. The SERVO power is ON.
4.1.2
Setting the TEACH lock
Before teaching always set the mode switch to TEACH position.
As long as the TEACH-IN lock is active, operation is only possible in TEACH mode and the
system cannot be operated by pressing [START] nor by an external input.
4.1.3
Registering a JOB
Specify the name, comments (as required) and control group to register a JOB.
4 - 104
Teaching
4.1.3.1
Registering JOB names
JOB names can use up to 32 alphanumeric and symbol characters. These different types
of characters can coexist within the same JOB name.
If the JOB name is already used, an input error is caused.
<Example>
J O B - 1
0 0 1
4.1.3.2
WO R K - A
Registering JOBs
1. Select {JOB} in the main menu.
2. Select {CREATE NEW JOB}.
The NEW JOB CREATE window appears.
3. Input JOB name.
a) Move the cursor to JOB NAME and press [SELECT].
b) Input JOB name using the character input operation.
For information on character input operation refer to chapter 2.2.6 "Character input
operation".
4. Press [ENTER].
The JOB is registered.
4.1.3.3
Registering comments
A comment consists of up to 32 alphanumeric and symbol characters.
1. Enter a comment.
a) In the NEW JOB CREATE window, move the cursor to the COMMENT field and
press [SELECT].
b) Enter a comment.
For information on character input operation refer to chapter 2.2.6 "Character input
operation".
4 - 105
Teaching
2. Press [ENTER].
The comment is registered.
4.1.3.4
Registering control groups
Select the control group that has been registered in advance.
If external axes (BASE or STATION) or multiple robot systems are not used, the registration
of control groups is not required.
4.1.3.5
Switching to the teaching window
After the name, comments (optional) and the control groups have been registered, switch
the window to the teaching window as follows:
1. Press [ENTER] or select {EXECUTE} in the NEW JOB CREATE window.
JOB name, comments, and control groups are all registered.
Then, the JOB CONTENT window appears.
NOP and END instructions are automatically registered.
NOTICE
Up to 10000 instructions can be registered per JOB (Including NOP and END, line 0 to
9999).
Note, that the number of registrable instructions is restricted in the following cases:
 The JOB capacity is not sufficient.
 The structured program language function is used.
 The ARCON instruction (for arc welding) is used.
 The SVSPOTMOV instruction (for spot welding using motor gun) is used.
4 - 106
Teaching
4.2
Teaching operation
4.2.1
Teaching window
The TEACH-IN is conducted in the JOB CONTENT window. The JOB CONTENT window
contains the following items:
1
3
2
Fig. 4-1: TEACH-IN window
1
Cursor
The cursor for robot control. For FWD, BWD, and test operation, the robot motion
starts from the line this cursor points..
2
Line number
The number of the JOB line is automatically displayed.
Line numbers are automatically updated if lines are inserted or deleted.
3
Instructions, additional items, comments, etc.
Example MOVE instruction
MOVJ
1
VJ = 50,00
2
3
4
Fig. 4-2: MOVE instruction
1
Instructions
Instructions, which are necessary for operation. In the case of MOVE instructions,
the instruction corresponding to the interpolation type is automatically displayed at
the time position is programmed.
2
TAG
3
Numeric value
4
Additional items
Speed and time are set depending on the type of interpolation. If needed, numerical
or character data is added to the tags (condition setting).
4 - 107
Teaching
4.2.2
Interpolation type and PLAY speed
The interpolation type specifies how the robot moves through the programmed steps during
PLAY mode. Play speed is the rate at which the robot moves.
Normally, the position data, interpolation type, and PLAY speed are registered together for
a robot axis step. If the interpolation type or play speed settings are omitted during TEACHIN, the data from the previous TEACH-IN step is automatically used.
4.2.2.1
JOINT interpolation
The JOINT interpolation is used when the robot does not need to move in a specific path
towards the next step position. If the JOINT interpolation is used for the teaching of a robot
axis, the move instruction is MOVJ.
For safety purposes, use the JOINT interpolation for the teach of the first step.
When [MOTION TYPE] is pressed, the move instruction on the input buffer line modifies.
PLAY speed setting window
•
PLAY speed for the JOINT interpolation is indicated as percentage of the maximum
rate.
•
Setting ”0:Speed Omit" sets the same speed as for the previous determination.
To set the PLAY speed, perform the following steps:
1. Move the cursor to the PLAY speed.
2. Set the PLAY speed by pressing [SHIFT] + cursor key.
The value of the JOINT speed increases or decreases.
Fast
100.00
50.00
25.00
12.50
6.25
3.12
1.56
Slow
4 - 108
0.78 %
Teaching
4.2.2.2
Linear interpolation
The robot moves in a linear path from one taught step to the next. If the linear interpolation
is used for the teach of a robot axis, the move instruction is MOVL. Linear interpolation is
used for operations such as welding. The robot moves automatically changing the wrist
position as shown in the following figure.
PLAY speed setting window (same for circular and SPLINE interpolation)
There are two types of speed units which can be switched depending on the application.
To set the PLAY speed, perform the following steps.
1. Move the cursor to the PLAY speed.
2. Set the PLAY speed by pressing [SHIFT] + cursor key.
The value of the PLAY speed increases or decreases.
Fast
1500.00
Fast
9000.00
750.00
4500.00
375.00
2250.00
187.00
1122.00
93.00
558.00
46.00
276.00
23.00
138.00
Slow 11 (mm/s)
Slow 66 (cm/min)
VMAX speed
This is the PLAY speed which is specified as the rate with respect to the maximum speed
of each axes. This TAG can be added to MOVL (linear interpolation). For example, if
VMAX=100 is set, the linear interpolation motion is performed at the TCP speed without
exceeding the maximum speed of each axis. If VMAX=50 is set, the motion is performed at
the half the TCP speed.
NOTICE
If VMAX speed is specified, TCP speed may not be stable since the speed of each axis is
controlled not to exceed the maximum speed during operation.
VMAX speed must be used in the case where the motion with stable speed is not required
for the operation. VMAX speed is not changed by operation for speed modification, TRT
and PAM function.
4 - 109
Teaching
4.2.2.3
Circular interpolation
The robot moves in an arc that passes through three points. If the circular interpolation is
used for the teaching of a robot axis, the move instruction is MOVC.
Single circular arc:
When a single circular movement is required, teach the circular interpolation for three points
(P1 to P3) as shown in the following figure.
The movement executed is determined by the movement instruction for the next
approached point. The movement instruction for P2 applies from P1 to P2. Exception: The
first MOVC instruction (here: P1) is always approached linearly.
Interpolation type for single circular arc
Item
Interpolation
type
Instruction
P0
JOINT or linear
MOVJ
MOVL
P2
P1
Circular
MOVC
JOINT or linear
MOVJ
P2
P3
P0
P1
P3
P4
P4
MOVL
Continuous circular arcs
When two or more successive circular movements with different curvatures are required,
the movements can be continuously performed by adding an FPT tag to the step whose
curvature is needed to be changed.
Interpolation type for continuous circular arcs using FTP
Item
Interpolation
Type
Instruction
P0
JOINT or linear
MOVJ
MOVL
P1
P2
Circular
MOVC
Circular
MOVC
P2
P5
P3
P0
P6
P3
FPT
P1
P4
P4
Circular
MOVC
JOINT or linear
MOVJ
P5
P6
MOVL
4 - 110
Teaching
If not adding an FPT tag, the successive circular movements must be separated from each
other. Thus add a joint or linear interpolation step at a connecting point of the preceding
movement and the following movement (P4). When the steps are taught at the same
connecting point, the movements cannot be performed continuously.
Interpolation type for continuous circular arcs without FTP
P2
Item
Interpolation
type
Instruction
P0
JOINT or linear
MOVJ; MOVL
P1
Circular
MOVC
P4
JOINT or linear
MOVJ; MOVL
P5
Circular
MOVC
JOINT or linear
MOVJ; MOVL
P2
P3
P0
P7
P3
P4
P5
P1
P8
P6
P6
P7
P8
Setting PLAY speed
•
The display for setting the PLAY speed is identical to that for the linear interpolation.
•
The speed is determined by the speed taught for the next approached point. The speed
programmed at P2 is applied from P1 to P2.
•
If a circular operation is programmed at high speed, the actual arc path has a shorter
radius than that of the programmed arc path.
4.2.2.4
Spline interpolation
The spline interpolation makes the TEACH-IN for workpieces with irregular shapes easier,
when performing operations such as welding, cutting and priming. The path of motion is a
parabola passing through three points. The move instruction for the SPLINE interpolation
is MOVS.
Single SPLINE curve:
When a single SPLINE curve movement is required, teach the SPLINE interpolation for at
least three points (P1 to P3) as shown in the following figure. If JOINT or linear interpolation
is programmed at point P0 (the point before starting the SPLINE interpolation) the robot
moves from P0 to P1 in a straight line.
4 - 111
Teaching
The movement performed is determined by the movement instruction for the next point
approached. The movement instruction for P2 is valid for P1 to P2. Exception: The first
MOVS statement (here P1) is always approached linearly.
Interpolation type for single SPLINE curve
P2
Item
Interpolation
type
Instruction
P0
JOINT or linear
MOVJ
MOVL
P1
Circular
MOVS
JOINT or linear
MOVJ
P2
P3
P4
MOVL
P0
P1
P3
P4
Continuous SPLINE curve:
The robot moves through the programmed path combining parabolic curves. This differs
from the circular interpolation in the way that steps with identical points are not required at
the junction between two SPLINE curves.
Interpolation type for continuous SPLINE curves
P2
Item
Interpolation
type
Instruction
P0
JOINT or linear
MOVJ
MOVL
P1
P5
MOVS
JOINT or linear
MOVJ
to
P5
P3
P0
P6
Parabolic
P1
P4
MOVL
P4
If the parabolas overlap, a composite motion path is created.
4 - 112
1
Beginning of path
2
End of path
1
2
Teaching
Setting PLAY speed
•
The PLAY speed setting window is identical to the linear interpolation setting window.
•
As with the circular interpolation, the speed is determined by the taught speed for the
next approached point. The speed taught at P2 applies from P1 to P2.
NOTICE
Distances between the three taught points must be roughly equal. If there are any
significant differences, an error will occur during playback and the robot may perform an
unexpected and dangerous movement. Ensure that the ratio of distances between steps
m:n is within the range of 0.25 to 0.75.
P2
P1
n
m
P3
4 - 113
Teaching
4.2.3
Teaching steps
4.2.3.1
Registering move instructions
Whenever one step is taught, one move instruction is registered.
There are two ways to teach a step:
•
Steps can be taught in sequence as shown in the following Fig. 4-3: "Registering move
instructions".
•
By inserting steps between already registered steps, as shown in the Fig. 4-4: "Inserting
move instructions".
This paragraph explains the teaching of steps in sequence and the operations involved in
registering new steps.
For registration, the instruction is always registered before the END instruction.
For more details on inserting steps between steps that have already be registered see
chapter 4.4.2 "Inserting move instructions".
2
1
3
Fig. 4-3: Registering move instructions
2
P1
1
3
Fig. 4-4: Inserting move instructions
Setting position data:
1. Select {JOB} in the main menu.
The sub menu appears.
4 - 114
Teaching
2. Select {JOB}.
The contents of the currently-selected JOB is displayed.
3. Move the cursor on the line immediately before the position where a move instruction
to be registered.
4. Press [SERVO ON] + the enable switch to switch on the SERVO power.
5. Move the robot to the desired position with the axis keys.
Setting the tool number:
1. Press [COORD] and select a coordinate system (JOINT,
TOOL).
XYZ/CYLINDRICAL or
2. Press [SHIFT] + [COORD].
The TOOL NO. SELECT window appears.
3. Select the desired tool number using the cursor.
The currently-selected tool number is displayed in the status display.
4. Press [SHIFT] + [COORD].
The tool is selected.
The JOB CONTENT window appears.
NOTICE
Using multiple tools with one robot.
 When multiple tools are to be used with one robot, set parameter S2C431 to 1.
 For details on this operation refer to chapter 3.3.5 "Selecting the tool".
Setting the interpolation type:
1. Press [MOTION TYPE].
2. Select the desired interpolation type.
When [MOTION TYPE] is pressed, MOVJ → MOVL → MOVC → MOVS appear in the
input buffer line.
4 - 115
Teaching
Setting PLAY speed:
1. Move the cursor to the instruction.
2. Press [SELECT].
The cursor moves to the input buffer line
3. Place the cursor on the PLAY speed.
4. Press [SHIFT] + the cursor [↑] or [] simultaneously.
The speed value increases or decreases.
5. Press [ENTER].
The move instruction is registered.
Follow the above instructions when conducting teaching (Tool number, interpolation type,
or PLAY speed does not need to be set if it is same as the previous step).
NOTICE
To hide the PLAY speed TAG by default, select {EDIT} → {ENABLE SPEED TAG} and
delete "*".
Position level:
The position level is the degree of approximation of the robot to a TEACH-IN position.
The position level can be added to move instructions MOVJ (JOINT interpolation) and
MOVL (linear interpolation).
If the position level is not set, the accuracy depends on the operation speed. Setting an
appropriate level moves the robot in a path suitable to circumferential conditions and the
workpiece.
NOTICE
 The position level can be set at the same time that the move instruction is registered.
 To display the position level tag as a default, select {EDIT} from the menu and then
select .ENABLE POS LEVEL TAG.
4 - 116
Teaching
The relationship between path and accuracy for position levels is as follows:
0
P2
P3
1
Position Levels
Accuracy
0
TEACH-IN position
1 to 8
Fine to rough
2
3
4
8
P1
Setting the position level:
1. Select move instruction.
The DETAIL EDIT window appears.
2. Place the cursor on UNUSED in the POS LEVEL box.
The selection dialog box appears.
3. Select PL.
The position level is displayed. The initial value of the position is 1.
4. To modify the position level, select the level in the input buffer line and type the value
using the numeric keys.
5. Press [ENTER].
The position level is registered.
4 - 117
Teaching
6. Press [ENTER].
The move instruction is registered.
Example
P1
P2 P4
P5
P3
P6
Steps P2, P4, and P5 are simple passing points and do not require accurate positioning.
Adding PL=1 to 8 to the move instructions of these steps moves the robot around the inner
corners, thereby reducing the cycle time.
If complete positioning is necessary as P3 or P6, add PL=0.
Passing points P2, P4, and P5:
MOVL V=138 PL=3
Positioning point P3 and P6:
MOVL V=138 PL=3
Position Distance (PD):
NOTICE
If a large value is specified for the position distance in a short-distance step, the accuracy
of the position distance may be deteriorated.
The robot starts its inward-turning operation in the latter half of the step's distance.
The position distance can be added to the instruction MOVL (linear interpolation). When the
position distance is specified, the robot (at the feedback position) starts inward-turning
operation from the specified point.
By adding this tag, a specific distance can be used to adjust how close the robot moves to
the taught position.
The relation among the position distance, the operation-command path and the robots
motion path (feedback position) is shown in the following figure. The robot can perform
inward-turning operation from the specified point.
4 - 118
Teaching
1
Motion path (feedback position)
2
Operation command path
3
Position distance
4
JOB example
P1
P3
JOB example
4
㻺㻻㻼
㻦
㻹㻻㼂㻸䚷
㻹㻻㼂㻸㻌㻼㻰㻩㻖㻖㻖㻌
㻹㻻㼂㻸䚷
㻦
㻱㻺㻰
3
1
2
P2
The relation between the robots path and the teaching position when the position distance
is specified is shown below.
1
Position distance 25 mm
2
Position distance 50 mm
3
Position distance 100 mm
㻼㻞
㻼㻟
1
2
3
㻼㻝
Setting the Position Distance
1. Select the MOVL instruction.
The DETAIL EDIT window appears.
2. Move the cursor to POS LEVEL → UNUSED..
The selection dialog box appears.
4 - 119
Teaching
3. Select PD.
The position distance is displayed. The position initial value is 0.1 mm.
4. To change the position distance, select the distance in the input buffer line and type the
value using [Numeric Key].
5. Press [ENTER].
The position distance is registered.
6. Press [ENTER].
The move instruction is registered.
4 - 120
Teaching
4.2.3.2
Registering reference point instructions
Reference point instructions (REFP) set an auxiliary point such as a wall point for weaving.
The reference points 1 to 8 are assigned for each application.
1. Select {JOB} in the main menu.
2. Select {JOB}.
3. Move the cursor to the line immediately before the position where the reference point
is to be registered.
4. Press [SERVO ON READY] + the enable switch.
SERVO power is switched on.
5. Move the robot to the position, which is to be registered as reference point using the
axis keys.
6. Press [REFP] or select REFP from the inform list.
The reference point instruction is displayed in the input buffer line.
7. Modify the reference point number in one of the following ways:
a) Move the cursor to the reference position. Press [SHIFT] + cursor key to modify the
number of the reference point.
b) Press [SELECT] when the cursor is on the number of the reference point.
The input buffer line appears. Type the number and press [ENTER].
8. Press [INSERT].
When registering before the END instruction, pressing [INSERT] is not needed.
The LED in the [INSERT] key lights up.
9. Press [ENTER].
The reference point is registered.
NOTICE
The [REFP] key on the programming pendant is not available for the application of:
 Spot welding
 Motor gun
 Material handling
 Assembling
 Cutting
4.2.3.3
Registering TIMER instructions
The TIMER instruction stops the robot for a specified time.
To register a TIMER instruction, perform the following steps:
4 - 121
Teaching
1. Select {JOB} in the main menu.
2. Select {JOB}.
3. Move the cursor to one line before the position where the TIMER instruction is to be
registered.
4. Press [INFORM LIST] and select {CONTROL} → {TIMER}.
The TIMER instruction is displayed in the input buffer line.
5. Modify the timer value in one of the following ways:
a) Move the cursor to the TIMER value and modify the value by pressing [SHIFT] +
the cursor key.
The TIMER value is set in units of 0.01s.
b) To use the numeric keys to enter the TIMER value, press [SELECT] when the
cursor is on the TIMER value. Input the value data input buffer line and press
[ENTER].
6. Press [INSERT].
When registering before the END instruction, pressing [INSERT] is not needed.
The LED in the [INSERT] key lights up.
7. Press [ENTER].
The TIMER instruction is registered.
4 - 122
Teaching
Changing TIMER value:
1. Select a TIMER instruction.
2. Press [SELECT].
The DETAIL EDIT window for the TIMER instruction appears.
3. Select the TIMER value option:
a) Select
to display the items available to be modified in the dialog box.
b) Select the item to be modified and press [ENTER].
4. Modify the timer value in one of the following ways:
a) Move the cursor to the TIMER value and modify the value by pressing [SHIFT]+
cursor key.
The TIMER value is set in steps of 0.01 s.
b) To use the axis keys to set the TIMER value, press [SELECT] while the cursor is on
the TIMER value. Enter the value in the input buffer line and press [ENTER].
5. Press [ENTER].
The DETAIL EDIT window is closed and the JOB CONTENT window appears again.
Modified content is displayed in the input buffer line.
6. Press [INSERT].
When registering before the END instruction, pressing [INSERT] is not needed.
The LED in the [INSERT] key lights up.
7. Press [ENTER].
The modified TIMER instruction is registered.
4 - 123
Teaching
4.2.4
Overlap the first step and the last step
Overlapping the first and last step improves work efficiency.
Example:
The JOB shown below is to be repeated. The robot moves from the last step (Step 6) to the
first step (Step 1). If Step 1 and Step 6 are placed at the same position, the robot moves
directly Step 5 to Step 1.
The position of step 6 is modified to overlap with step 1.
6
5
1
4
2
3
1. Move the cursor to the line of the first step.
2. Press [FWD].
The robot moves to the first step position.
3. Move the cursor to the line of the last step.
The cursor starts flashing.
The cursor blinks, if the position of the cursor line and the robot position are different in
the JOB CONTENT window.
4. Press [MODIFY].
The key LED will light.
5. Press [ENTER].
The position data for the first step is registered on the line of the last step.
At this time, only the position data is modified in the last step. Interpolation type and
PLAY speed are not modified.
4 - 124
Teaching
4.3
Checking the steps
4.3.1
[FWD] or [BWD] key
Check whether the position of the taught steps is appropriate using [FWD] or [BWD] on the
programming pendant. Each time [FWD] or [BWD] is pressed, the robot moves by a single
step.
[FWD]:
Moves the robot ahead in step number sequence.
Only the move instructions are executed when [FWD] is pressed.
[INTERLOCK] + [FWD]:
All instructions are executed successively as individual steps.
[BWD]:
Moves the robot backward a step at a time in reverse step number sequence.
Only the move instructions are executed.
NOTICE
For safety, set manual speed at
or below.
NOTICE
By using parameters, the movement at [FWD] operation can be set.
Refer to chapter 9.3.4 "Execution units at "FORWARD" operation" and chapter 9.3.5
"Instruction (except for move) execution at “FORWARD” operation".
To move the robot by pressing [FWD] / [BWD], perform the following steps:
1. Place the cursor on the step you want to check.
2. Press [FWD] or [BWD].
The robot reaches the following or previous step and stops.
4 - 125
Teaching
4.3.2
Examples of [FWD] and [BWD] moves
[FWD] moves
•
•
•
•
The robot executes the move instructions in the specified step order.
When [FWD] ist pressed, only move instructions are executed. To execute all
instructions, press [INTERLOCK] + [FWD].
At the end of a CALL JOB, the robot moves to the instruction after the CALL instruction
(see Fig. 4-5: "[FWD] move for CALL JOBs")
The robot stops after completing a single cycle. The robot does not move after the END
instruction is reached, even if [FWD] is pressed. After completing a called JOB the robot
moves to the instruction next to the CALL instruction.
1
JOB example
㻜㻜㻜㻜㻌㻺㻻㻼
㻜㻜㻜㻝
㻜㻜㻜㻞㻌㻯㻭㻸㻸㻌㻶㻻㻮㻦㻌㻝䚷
㻜㻜㻜㻟㻌
2
㻜㻜㻜㻠
㻜㻜㻜㻡
㻜㻜㻜㻢㻌㻱㻺㻰
JOB: 1
㻜㻜㻜㻜㻌㻺㻻㻼
㻜㻜㻜㻝
㻜㻜㻜㻞
㻜㻜㻜㻟
㻱㻺㻰
Fig. 4-5: [FWD] move for CALL JOBs
1
CALL JOB execution
2
Return to main JOB
[BWD] moves
•
•
•
•
The robot moves in reverse step number sequence.
Only move instructions are carried out.
At the beginning of a called JOB the robot moves to the instruction immediately before
the CALL instruction (see Fig. 4-6: "[BWD] move for CALL JOBs").
The robot does not move after the first step is reached, even if [BWD] is pressed.
3
JOB: 1
1
2
㻜㻜㻜㻜㻌㻺㻻㻼
㻜㻜㻜㻝
㻜㻜㻜㻞
㻜㻜㻜㻟
㻱㻺㻰
JOB example
㻜㻜㻜㻜㻌㻺㻻㻼
㻜㻜㻜㻝
㻜㻜㻜㻞㻌㻯㻭㻸㻸㻌㻶㻻㻮㻦㻌㻝䚷
㻜㻜㻜㻟㻌
㻜㻜㻜㻠
㻜㻜㻜㻡
㻜㻜㻜㻢㻌㻱㻺㻰
Fig. 4-6: [BWD] move for CALL JOBs
4 - 126
1
CALL JOB execution in reverse
2
Return to main JOB
3
Main JOB execution in reverse
Teaching
Circular movements with [FWD] / [BWD]
•
•
•
•
The robot moves in a straight line to the first step of the circular interpolation.
There must be three circular interpolation steps in a row to move the robot in an arc.
If [FWD] or [BWD] operation is restarted after being stopped to move the cursor or to
perform search, the robot moves in a straight line to the next step.
After being stopped to move the axis (see Fig. 4-7: "Circular movement using [FWD] /
[BWD]"), the robot moves in a straight line to P2. Circular movement is restored from
P2 to P3.
1
P2
P1
P3
Fig. 4-7: Circular movement using [FWD] / [BWD]
1
Movement with linear interpolation
Movement using the axis keys
Path of movement using [FWD] /
[BWD]
Path of movement during PLAYBACK
SPLINE curve movements with [FWD] / [BWD]
•
The robot moves in a straight line to the first step of the SPLINE interpolation.
•
There must be three SPLINE curve steps in a row to perform a spline curve operation.
•
Depending on the position where the [FWD] / [BWD] operation is performed, the alarm
IRREGULAR DISTANCES BETWEEN TEACHING POINTS may occur.
•
[FWD] / [BWD] inching operations modify the path of the robot and caution is therefore
required. Performing these operations increases the likelihood that the alarm
IRREGULAR DISTANCES BETWEEN TEACHING POINTS occurs.
•
After being stopped to move the cursor or perform a search, the [FWD] or [BWD]
operation moves the robot in a straight line to the next step.
•
After being stopped to move the axis (see Fig. 4-8: "SPLINE curve movement using
[FWD] / [BWD]"), the the [FWD] or [BWD] operation moves the robot in a straight line
to P2. SPLINE curve movement is restored from P2 onwards. The path between P2 and
P3 slightly differs from the path during PLAYBACK.
1
P2
P1
P3
Fig. 4-8: SPLINE curve movement using [FWD] / [BWD]
1
Movement with linear interpolation
Movement using axis keys
Path of movement using [FWD] /
[BWD]
Path of movement during PLAYBACK
4 - 127
Teaching
•
If the robot is moved from P2 to P3 with [FWD], stopped and then returned to P2 with
[BWD], and moved again to P3 with [FWD], the paths of movement between P2 and P3
are different.
P2
3
P4
1
2
P1
P3
Fig. 4-9: Paths of movement using [FWD] / [BWD]
4 - 128
1
[FWD] 1
2
[BWD]
3
[FWD] 2
Teaching
4.3.3
Selecting manual speed
When [FWD] or [BWD] is pressed, the robot moves at the manual speed selected at that
time. The selected manual speed can be checked in the status display area.
Manual speed is set with the keys [FAST] and [SLOW].
• Each time [FAST] is pressed, the speed switches in the order of
INCH→SLOW→MED→FAST.
• Each time [SLOW] is pressed, the speed switches in the order of FAST
→MED→SLOW→INCH.
FWD operation can be performed at a high speed by pressing [HIGH SPEED].
NOTICE
 [FWD] / [BWD] operation is performed at SLOW speed even if INCH is selected.
 Only the [FWD] operation can be performed at high speed.
4.3.4
Moving to reference point
To check the position of a programmed reference point, follow these procedures:
1. Move the cursor to the instruction line of the reference point to be checked.
2. Press [REFP] + [FWD].
The robot moves to the reference point.
NOTICE
The [REFP] key on the programming pendant is not available for the application of spot
welding and GP (= handling, assembling, cutting) or motor gun.
4 - 129
Teaching
4.3.5
Test run
For information on test operations refer to chapter 4.8 "Test run".
4.3.6
Machine Lock Operation
When the MACHINE LOCK function is activated, the [FWD] / [BWD] operation or the test
operation can be performed to check the status of input and output without moving the
robot.
NOTICE
The setting of MACHINE LOCK is maintained even after the mode is switched: If the
machine lock is set to VALID in the TEACH mode, it is still VALID after switching to the PLAY
mode.
The same applies when the mode is switched from the PLAY mode to the TEACH mode.
The MACHINE LOCK function becomes INVALID if the following operation is performed:
 {CANCEL ALL SELECT} is selected in the SPECIAL PLAY window.
 Turning off the main power.
To activate or deactivate MACHINE LOCK, perform the following steps:
1. Press [AREA].
2. Select {UTILITY}.
3. Select {SETUP SPECIAL RUN}.
The SPECIAL TEACH window appears.
4. Select MACHINE LOCK.
5. Press [SELECT] to switch between VALID (activated) and INVALID (deactivated).
4 - 130
Teaching
4.4
Modifying steps
1
Starting point for inserting a move
instruction.
2
Move the cursor to the spot where
you want to insert the instruction.
3
Perform axis operations.
4
Set the interpolation type.
5
Sets the PLAY speed.
6
Set position level when necessary.
7
Press [INSERT].
8
Press [ENTER].
9
Insertion completed
10 Starting point for deleting a move
instruction.
11 Move cursor to location of instruction to be deleted
12 Press [DELETE].
13 Press [ENTER].
11
10
10
22
11
11
33
12
12
44
13
13
55
14
14
66
14 Deletion completed
77
88
9
9
9
4 - 131
Teaching
1
Move the cursor to the step you want to
modify.
2
Modifying position data.
3
Move the robot to the position you want to
modify using the axis keys.
4
Press [MODIFY].
5
Press [MODIFY].
6
Modification completed.
7
Modifying interpolation type.
8
Move the axis to the position you want to
modify.
9
Delete MOV instruction.
11
22
7
7
33
88
44
4
99
10 Press [MOTION TYPE] and select the interpolation type.
11 Insert MOV instruction.
55
10
10
12 Modification completed.
66
11
11
12
12
NOTICE
It is not possible to modify a move instruction to a reference point instruction and vice versa.
4 - 132
Teaching
1
Starting point for modifying the REFP instruction.
2
Deletions
3
Move the cursor to the REFP instruction
you want to delete and move the robot to
the position.
4
Press [DELETE].
5
Press [ENTER].
6
Deletion completed.
7
Modifications
8
Move the cursor on the REFP instruction
you want to modify.
9
Perform axis operations.
11
22
77
33
88
44
99
55
10
10
66
11
11
10 Press [REFP].
11 Press [MODIFY].
12 Press [ENTER].
13 Modification completed.
12
12
13
13
4 - 133
Teaching
1
Starting point for modifying the TIMER instruction.
2
Deletions
3
Place the cursor on the TIMER instruction
you want to modify.
4
Press [DELETE].
5
Press [ENTER].
6
Deletion completed
7
Modifications
8
Place the cursor on the TIMER instruction
you want to modify.
9
Press [TIMER].
11
22
77
33
88
44
99
55
10
10
66
11
11
10 Enter timer value.
11 Press [MODIFY].
12 Press [ENTER].
13 Modification completed.
12
12
13
13
4 - 134
Teaching
4.4.1
Displaying the JOB CONTENT window for editing
4.4.1.1
Currently called up JOB
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
4.4.1.2
Calling additional JOBs
NOTICE
Mode switch must be set to TEACH mode.
1. Select {JOB} in the main menu.
2. Select {SELECT JOB}.
The JOB LIST window appears.
3. Select the the JOB you want to call.
4 - 135
Teaching
4.4.2
Inserting move instructions
NOTICE
Move instructions can only be inserted when the SERVO power is ON.
NOTICE
The standard position for inserting is before the next move instruction. Insertion can also be
done after the cursor line. This setting is made in the ”Move Instruction Register Method" in
the TEACHING CONDITION window.
1
2
Fig. 4-10: Step where move instruction is to be inserted
1
Path after insertion
2
Path before insertion.
To insert a move instruction, perform the following steps:
1. Move the cursor to the line immediately before the position where the move instruction
is to be inserted.
0006
0007
0008
0009
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVJ VJ=100.0
2. Turn ON the SERVO power.
NOTICE
Confirm the move instruction displayed in the input buffer line and set desired interpolation
type and PLAY speed.
3. Press the axis keys to move the robot to the position to be inserted.
4. Confirm the move instruction in the input buffer line by pressing [ENTER] and set
interpolation type and PLAY speed.
5. Press [INSERT].
If the new position is immediately before the END instruction, pressing [INSERT] is not
needed.
The LED in the key lights up.
6. Press [ENTER].
The move instruction is inserted before the next move instruction.
0006
0007
0008
0009
0010
7. Press [ENTER].
4 - 136
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVL V=558
MOVJ VJ=100.0
Teaching
Examples for inserting a move instruction
When a move instruction is inserted in the following JOB, it is placed on different lines
according to the setting in the TEACHING CONDITION window.
0006
0007
0008
0009
0006
0007
0008
0009
0010
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVL V=558
MOVJ VJ=100.0
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVJ VJ=100.0
0006
0007
0008
0009
0010
1
MOVL V=276
MOVL V=558
TIMER T=1.00
DOUT OT#(1) ON
MOVJ VJ=100.0
2
Fig. 4-11: Before inserting the move instruction
1
After inserting: when inserting before the next MOVE instruction
2
After inserting: when inserting after the cursor line
4 - 137
Teaching
4.4.3
Deleting move instructions
1
2
Fig. 4-12: Step where move instruction is to be deleted
1
Path before deletion.
2
Path after deletion.
To delete a move instruction, perform the following steps:
1. Place the cursor on the move instruction you want to delete.
0003
0004
0005
MOVL V=138
MOVL V=558
MOVJ VJ=50.00
NOTICE
If the robot position differs from the cursor position on the window, the cursor starts flashing.
Stop the flashing by one of the following procedures:
 Press [FWD] and move the robot to the position where the move instruction is to be
deleted.
 Press [MODIFY] + [ENTER] to modify the position data of the flashing cursor position
to the current robot position.
2. Press [DELETE].
The LED in the key lights up.
3. Press [ENTER].
The move instruction is deleted.
0003
0004
4 - 138
MOVL V=138
MOVJ VJ=50.00
Teaching
4.4.4
Modifying move instructions
4.4.4.1
Modifying position data
1. Move the cursor to the MOV instruction to be modified.
2. Turn ON the SERVO power.
3. Press the axis keys to move the manipulator to the desired position.
4. Press [MODIFY] + [ENTER].
The position data in the present position is registered.
NOTICE
For move instructions for which position variables have been set, the position variables will
not be modified.
4.4.4.2
Modifying interpolation type
NOTICE
Modifying only interpolation type is impossible. The interpolation type can be modified as
an option for modifying the position data.
1. Open the JOB CONTENT window.
2. Move the cursor to the move instruction for which interpolation type is to be changed.
3. Turn ON the SERVO power.
4. Press [FWD].
The robot moves to the position of the move instruction.
5. Press [DELETE] + [ENTER].
The cursor line step is deleted.
6. Press [MOTION TYPE] to modify the interpolation type.
Each time [MOTION TYPE] is pressed, the instruction displayed in the input buffer line
alternates.
7. Press [INSERT] + [ENTER].
The interpolation type and the position data are modified at the same time.
4 - 139
Teaching
4.4.5
UNDO operation
After inserting, deleting, or modifying an instruction, the operation can be undone.
The UNDO operation becomes enabled by selecting {EDIT} → {ENABLE UNDO} and
becomes disabled by selecting {EDIT} → {*ENABLE UNDO}.
NOTICE
 The UNDO instruction can be performed even if the robot is moved by the [FWD] or
[BWD] instruction or during a test run after inserting, deleting or modifying a move
instruction.
 The UNDO instruction cannot be undone if other instructions are edited or if a JOB is
executed in the PLAY mode after editing the move instruction.
 The undo operation works for the last five edited instructions only.
To execute the UNDO operation, perform the following steps:
1. Press [SHIFT] + [CANCEL].
The menu ASSIST appears.
UNDO
REDO
2. Select {UNDO}.
The last operation is undone.
3. Select {REDO}.
The last UNDO instruction is undone.
NOTICE
UNDO and REDO can also be performed by selecting {EDIT} → {UNDO} and {EDIT} →
{REDO} in the pull-down menu.
4.4.6
Modifying reference point instructions
4.4.6.1
Deleting reference point instructions
NOTICE
If the robot position differs from the cursor position, an error message is displayed. If this
occurs, follow either of the procedures below:
 Press [REFP] + [FWD] to move the robot to the position you want to delete.
 Press [MODIFY] + [ENTER] to modify the reference point position data to the current
position of the robot.
1. Place the cursor on the reference point instruction you want to modify.
2. Press [DELETE] + [ENTER].
The marked reference point instruction is deleted.
4 - 140
Teaching
4.4.6.2
Modifying reference point instructions
1. Move the cursor to the reference point instruction to be modified.
2. Turn ON the SERVO power.
3. Press the axis keys to move the robot to the desired position.
4. Press [REFP].
5. Press [MODIFY] + [ENTER].
The marked reference point instruction is modified.
4.4.7
Modifying TIMER instructions
4.4.7.1
Deleting TIMER instructions
1. Move the cursor to the timer instruction to be deleted.
0003
0004
0005
MOVJ VJ=50.00
TIMER T=0.50
MOVL V=138
2. Press [DELETE] + [ENTER].
The marked TIMER instruction is deleted.
0003
0004
4.4.7.2
1.
MOVJ VJ=50.00
MOVL V=138
Modifying TIMER instructions
Move the cursor to the timer instruction to be modified.
0003
0004
0005
0006
MOVJ VJ=50.00
TIMER T=0.50
MOVL VJ=138
MOVL VJ=138
2. Press [SELECT].
0003
0004
0005
0006
MOVJ VJ=50.00
TIMER T=0.50
MOVL VJ=138
MOVL VJ=138
3. Move the cursor to the input buffer line timer value.
TIMER T=0.50
4. To change the timer value, perform one of the following steps:
a) Press [SHIFT] + the cursor.
The timer value is set in 0.01 s steps.
b) Press [SELECT] and use the numeric keys to input data.
5. Press [MODIFY] + [ENTER].
The timer value is modified.
4 - 141
Teaching
4.5
Modifying JOBs
4.5.1
Calling a JOB
1. Select {JOB} in the main menu.
2. Select {SELECT JOB}.
The JOB LIST window appears.
3. Select the desired JOB.
4.5.2
Windows related to JOB
There are five types of JOB windows. JOBs can be checked and edited in these windows.
•
•
•
•
•
4 - 142
JOB HEADER window
Comments, date and time of registration, edit lock status, etc. are displayed and edited
in this window.
JOB CONTENT window
The registered JOBs are displayed and edited in this window.
COMMAND POSITION window
The programmed positions are displayed in this window.
JOB LIST window
The registered JOBs are sorted, displayed alphabetically and then selected in this
window.
JOB CAPACITY window
The number of registered JOBs, memory capacity, number of steps used, etc. is
displayed in this window.
Teaching
4.5.3
JOB HEADER window
The following information is displayed in the JOB HEADER window:
A
B
C
D
E
F, G
H
I
J
K
A. JOB NAME
Displays the name of the current JOB.
B. COMMENT
Displays the comments of the current JOB. Comments can be edited in this window.
C. JOB FOLDER
Displays the JOB folder in which the JOB is registered. The name of the JOB folder can be
edited in this window.
D. DATE
Displays the date and time of the last editing of the JOB.
E. CAPACITY
Displays the memory capacity needed to register the JOB.
F. LINES
Displays the total amount of instructions registered in the JOB.
G. STEPS
Displays the total amount of move instructions registered in the JOB.
H. EDIT LOCK
Displays whether the edit lock for the JOB is activated or deactivated. Settings for edit lock
can be modified in this window when the SECURITY MODE ist set to MANAGEMENT
MODE or higher.
I. TO SAVE TO FD
Displays whether or not the JOB has been stored on an external storage medium since the
last modification (DONE = stored / NOT DONE = not stored).
The JOB is marked as DONE only if it is saved as an independent JOB or as a related JOB.
If the JOB is stored in a CMOS batch instruction, it is not marked as DONE.
J. GROUP SET1
Displays the control group of the JOB. If the master axis is specified, the master axis is
highlighted.
K. JOB KIND1
Displays the type of this JOB (e.g. ROBOT JOB).
1
This item is displayed when a specific optional function is enabled.
4 - 143
Teaching
To open the JOB HEADER window, perform the following steps:
1. Select {JOB} in the main menu.
2. Select {JOB}.
3. Select {DISPLAY} → {JOB HEADER} in the pull-down menu.
The JOB HEADER window appears.
4. Use the cursor to navigate in the window.
5. To return to the JOB CONTENT window select {DISPLAY} → {JOB CONTENT}.
4 - 144
Teaching
4.5.4
JOB CONTENT window
The following information is displayed in the JOB CONTENT window:
A
B
A. Address area
Displays the line numbers, step numbers and tool numbers registered in each step.
B. Instruction Area
Displays instructions, additional items and comments. Lines can be edited.
Step numbers and tool numbers can be shown or hidden at the same time.
1
2
1
Step number
2
Tool number
NOTICE
Tool numbers only appear in the line during the move instruction and also appear under the
TEACH mode.
To open the JOB CONTENT window, perform the following steps:
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
4 - 145
Teaching
3. Navigate the window using the cursor keys:
← (Left): The cursor is moved to the address area.
→ (Right): The cursor is moved to the instruction area.
To show or hide step numbers and tool numbers in the address area, perform the
following steps:
1. Select the {JOB} in the main menu.
2. Select {JOB CONTENT}.
The JOB CONTENT window appears.
3. Select {DISPLAY} in the menu area.
The pull-down menu appears.
4. Select {ENABLE STEP NO}.
Step numbers appear in the address area.
In the pull-down menu, {ENABLE STEP NO} changes to {*ENABLE STEP NO}.
5. Select {*ENABLE STEP NO}.
Step numbers in the address area disappear.
In the pull-down menu {*ENABLE STEP NO} changes to {ENABLE STEP NO}.
4 - 146
Teaching
6. Select {ENABLE TOOL NO}.
Tool numbers appear in the address area.
In the pull-down menu, {ENABLE TOOL NO} changes to {*ENABLE TOOL NO}.
7. Select {*ENABLE TOOL NO}.
Step numbers in the address area disappear.
In the pull down menu, {*ENABLE TOOL NO} changes to {ENABLE TOOL NO}.
8. Select both {ENABLE STEP NO} and {ENABLE TOOL NO}.
Step numbers and tool numbers appear both in the address area.
In the pull down menu, {ENABLE STEP NO} changes to {*ENABLE STEP NO}.
In the pull down menu, {ENABLE TOOL NO} changes to {*ENABLE TOOL NO}.
Tool numbers only appear in the line during the move instruction and also appear in the
TEACH mode.
4 - 147
Teaching
4.5.5
COMMAND POSITION window
The following information is displayed in the COMMAND POSITION window:
Editing is not possible in the COMMAND POSITION window. The programmed PLAY
speed and the position data are displayed in this window.
A
B
C
D
A. Interpolation
Displays the interpolation type.
B. Speed
Displays the PLAY speed.
C. Command Position
Displays the tool file number and the position data programmed for this JOB. Steps without
position data (such as move instructions, which use position variables) are marked with an
asterisk (*).
D. Current Data
Displays the current tool file number and position of the robot.
To open the window, perform the following steps:
1. Select {ROBOT} in the main menu.
2. Select {COMMAND POSITION}.
4 - 148
Teaching
4.5.6
JOB CAPACITY window
The following information is displayed in the JOB CAPACITY window:
A
B
C
D
A. NUMBER OF JOBS
Displays the total amount of JOBs registered in the memory of the robot controller.
B. USED MEMORY
Displays how much of the robot controller's memory capacity is used.
C. STEPS
Displays the total number of used steps.
D. EDITING BUFFER
Displays the use of the clipboard.
To open the window, perform the following steps:
1. Select {JOB} in the main menu.
2. Select {JOB CAPACITY}.
4 - 149
Teaching
4.6
Editing instructions
The editable contents depend on the cursor position.
A
B
A. When the cursor is in the address area
Instructions can be inserted, deleted or modified.
B. When the cursor is in the instruction area
The data of additional items of already registered instructions can be modified, inserted or
deleted.
Editing only additional items is called "line editing".
When inserting or modifying instructions, input the instruction with the function keys such
as [TIMER], etc. or by using the instruction list dialog box.
The selected instruction is displayed on the input buffer line with the same additional items
as registered previously.
If the addition, deletion or modification of additional items is needed, use the DETAIL EDIT
window to edit the instruction. If this is not needed, continue the registration process.
4 - 150
Teaching
4.6.1
Instruction Group
The instructions are divided into eight groups.
Indication
Instruction Group
Content
Example
IN/OUT
I/O instruction
Controls input and output
DOUT, WAIT
CONTROL Control instruction
Controls processing and each
process
JUMP, TIMER
MOTION
Move instruction
Moves the robot
MOVJ, REFP
DEVICE
Work instruction
Controls arc welding, spot weld- ARCON, WVON,
ing, handling, painting, etc.
SVSPOT,
SPYON
ARITH
Standard operating
procedure
Performs arithmetic calculation
ADD, SET
SHIFT
Shift instruction
Shifts the TEACH-IN point
SFTON, SFTOF
SENS (Op- Sensor instruction
tion)
(option)
Instructions related to the sensor
COMARCON
OTHER
Other Instructions
Instructions for functions other
than above
SHCKSET
SAME
-
Specifies the instruction where
the cursor is.
PRIOR
-
Specifies the previously registered instruction.
List of instructions
By pressing [INFORM LIST], the instruction list dialog
box appears.
4 - 151
Teaching
By selecting a group, the instruction list dialog box of
the selected group appears.
4 - 152
Teaching
4.6.2
Inserting instructions
1. Make sure that you are in TEACH mode.
2. Move the cursor to the address area in the JOB CONTENT window.
3. Move the cursor to the line immediately before where the instruction is to be inserted.
4. Press [INFORM LIST].
The INFORM command list appears and the line number in the address area is
underlined.
5. Select the instruction group.
The instruction list dialog box appears. The selected instruction is displayed on the input
buffer line with the same additional items as registered previously.
6. Select the instruction.
7. Change the data of additional items or variables as required.
For additional information refer to the following chapters:
•
4.6.5 "Modifying additional numeric data"
•
4.6.6 "Modifying additional items"
•
4.6.7 "Inserting additional items"
•
4.6.8 "Delete additional items"
4 - 153
Teaching
8. Press [INSERT] + [ENTER].
The instruction displayed in the input buffer line is inserted.
4 - 154
Teaching
4.6.3
Deleting instructions
1. Make sure that you are in TEACH mode.
2. Open the JOB CONTENT window.
3. Place the cursor in the address area on the line you want to delete.
4. Press [DELETE] + [ENTER].
The instruction is deleted and the following lines move up.
4.6.4
Modifying instructions
1. Make sure you are in TEACH mode.
2. Move the cursor to the address area in the JOB CONTENT window.
3. Move the cursor to the instruction line to be modified.
4. Press [INFORM LIST].
The INFORM command list appears and the cursor automatically jumps to the dialog
box.
5. Select the instruction group.
4 - 155
Teaching
6. Move the cursor to the instruction to be modified and press [SELECT].
The selected instruction is displayed in the input buffer line together with the previously
registered additional items.
7. Change the data of additional items or variables as required.
For additional information refer to the following chapters:
•
4.6.5 "Modifying additional numeric data"
•
4.6.6 "Modifying additional items"
•
4.6.7 "Inserting additional items"
•
4.6.8 "Delete additional items"
8. Press [MODIFY] + [ENTER].
The instruction is modified in accordance with the instruction displayed in the input
buffer line.
4 - 156
Teaching
4.6.5
Modifying additional numeric data
1. Select the line where the number data is to be modified.
2. Move the cursor to the instruction area in the JOB CONTENT window.
3. Press [SELECT] to change the mode to line EDITING mode.
The selected line can now be edited.
4. Move the cursor to the numeric data to be modified.
5. To input the desired value, perform one of the following steps:
a) Press [SHIFT] + the cursor to increase or decrease the value.
b) To directly input the value, press [SELECT]. Type the value into the input buffer line
and press [ENTER].
6. Press [ENTER].
The value is modified.
4.6.6
Modifying additional items
1. Move the cursor to the instruction area in the JOB CONTENT window.
2. Select the instruction line for which the additional item is to be modified.
3. Press [SELECT] to change the mode to line editing mode.
The selected line can now be edited.
4. Move the cursor to the instruction in the input buffer line and press [SELECT].
The DETAIL EDIT window appears.
5. Select the additional item to be modified and press [SELECT].
The selection dialog box appears.
4 - 157
Teaching
6. Select the desired additional item and press [ENTER].
The modified additional item is displayed in the DETAIL EDIT window.
7. Press [ENTER].
The DETAIL EDIT window is closed and the JOB CONTENT window appears.
8. Press [ENTER].
Contents of the input buffer line are registered in the cursor line of the instruction area.
4 - 158
Teaching
4.6.7
Inserting additional items
1. Move the cursor to the instruction area in the JOB CONTENT window.
2. Select the instruction line to which the additional item is to be added.
3. Press [SELECT] to change the mode to line editing mode.
The selected line can now be edited.
4. Move the cursor to the instruction in the input buffer line.
The DETAIL EDIT window appears.
For additional items that are not used, UNUSED is set.
5. Move the cursor to UNUSED of the desired additional item and press [SELECT].
The selection dialog box appears.
6. Select the desired value and press [ENTER].
7. To insert or modify numeric data for the additional item, move the cursor to the value
and press [SELECT].
The input buffer line appears.
8. Input the value and press [ENTER].
The additional item is inserted.
9. Press [ENTER].
The DETAIL EDIT window is closed and the JOB CONTENT window appears.
10. Press [ENTER].
Contents of the input buffer line are registered in the cursor line of the instruction area.
4 - 159
Teaching
4.6.8
Delete additional items
NOTICE
This function cannot be used for additional items which are locked.
1. Open the JOB CONTENT window.
2. Move the cursor to the instruction area.
3. Select the line where the additional item is to be deleted.
4. Press [SELECT] to change the mode to line editing mode.
The selected line can now be edited.
5. Move the cursor to the instruction in the input buffer line and press [SELECT].
The DETAIL EDIT window appears.
6. Move the cursor to the additional item you want to delete and press [SELECT].
The selection dialog box appears.
7. Select UNUSED.
UNUSED is displayed in the DETAIL EDIT window.
8. Press [ENTER].
The DETAIL EDIT window is closed and the JOB CONTENT window appears.
9. Press [ENTER].
Contents of the input buffer line are registered in the cursor line of the instruction area.
4 - 160
Teaching
4.7
Editing JOBs
The following five functions are used to edit JOBs:
COPY:
Copies a specific area to the clipboard.
CUT:
Copies a specific JOB area to the clipboard, which is then deleted
in the JOB.
PASTE:
Inserts the contents of the clipboard into a JOB.
RESERVE PASTE:
Reverses the order of the contents of the clipboard and inserts
them into a JOB (refer to the following figure).
BASE REVERSE
PASTE:
Reverses the order of the contents of the clipboard and inserts
them into a JOB (refer to ).
The to-and-from speeds are adjusted.
Copy area
2
V=100
MOVL V=100 :Move to 1 at V=100
MOVL V=50 :Move to 2 at V=50
MOVL V=80 :Move to 3 at V=80
MOVL V=30 :Move to 4 at V=30
MOVL V=70 :Move to 5 at V=30
V=50
V=80
3
V=30
1
4
V=70
5
Fig. 4-13: Copy area
→ Execute REVERSE BASE
Speed and interpolation are different going and returning.
2
V=100
MOVL V=100 :Move to 1 at V=100
MOVL V=50 :Move to 2 at V=50
MOVL V=80 :Move to 3 at V=80
MOVL V=30 :Move to 4 at V=30
MOVL V=70 :Move to 5 at V=70
V=50
V=80
3
V=100
V=50
V=30
1
MOVL V=30 :Move to 4 at V=30
MOVL V=80 :Move to 3 at V=80
MOVL V=50 :Move to 2 at V=50
MOVL V=100 :Move to 1 at V=100
V=80
4
V=30
V=70
5
Fig. 4-14: Execute REVERSE BASE
→ Execute REVERSE BASE PASTE
Speed and interpolation are the same going and returning.
4 - 161
Teaching
2
V=100
MOVL V=100 :Move to 1 at V=100
MOVL V=50 :Move to 2 at V=50
MOVL V=80 :Move to 3 at V=80
MOVL V=30 :Move to 4 at V=30
MOVL V=70 :Move to 5 at V=70
MOVL V=70
MOVL V=30
MOVL V=80
MOVL V=50
V=50
V=80
3
V=80
V=50
V=30
1
V=30
4
:Move to 4 at V=70
:Move to 3 at V=30
:Move to 2 at V=80
:Move to 1 at V=50
V=70
V=70
5
Fig. 4-15: Execute REVERSE BASE PASTE
Example
1
MOVJ VJ=50.00
TIMER T=1.00
MOVL V=100
0000
0001
0002
0003
0004
0005
NOP
'TEST JOB
MOVJ VJ=50.00
TIMER T=1.00
MOVL V=100
MOVL V=100
0000
0001
NOP
'TEST JOB
0005
MOVL V=100
0000
0001
0002
0003
0004
0005
NOP
'TEST JOB
MOVJ VJ=50.00
TIMER T=1.00
MOVL V=100
MOVL V=100
0000
0001
0002
0003
0004
0005
NOP
'TEST JOB
MOVL V=100
TIMER T=1.00
MOVJ VJ=50.00
MOVL V=100
2
3
4
Fig. 4-16: Example JOB editing
4 - 162
1
COPY
2
CUT
3
PASTE
4
REVERSE PASTE
Teaching
4.7.1
Select a range
The functions COPY and DELETE can be executed after having marked the area.
1. Move the cursor to the instruction area in the JOB CONTENT window.
2. Move the cursor to the start line of the desired area and press [SHIFT] + [SELECT].
3. Move the cursor to the end line.
The area is defined and the address is displayed in reverse order.
The area is modified by moving the cursor. The area goes up to the upper line marked
by the cursor.
4 - 163
Teaching
4.7.2
Copy the range
1. Define the area you want to copy.
2. Select {EDIT} in the main menu.
The pull down menu appears.
3. Select {COPY}.
The defined area is copied to the clipboard.
4 - 164
Teaching
4.7.3
Cut the range
1. Define the area you want to cut.
2. Select {EDIT} in the main menu.
The pull down menu appears.
3. Select {CUT}.
The confirmation dialog box appears.
4. Select YES.
The defined area is deleted and copied to the clipboard.
If NO is selected, the operation is canceled.
4 - 165
Teaching
4.7.4
Paste the range
1. Store the area to be pasted in the clipboard.
2. Open the JOB CONTENT window.
3. Move the cursor to the line immediately before the desired position.
4. Select {EDIT} in the main menu.
The pull-down menu appears.
5. Select {PASTE}.
The confirmation dialog box appears.
6. Select YES.
The contents of the clipboard are pasted into the JOB.
If NO is selected, the operation is canceled.
4 - 166
Teaching
4.7.5
Paste the range reversely
1. Store the area to be pasted in the clipboard.
2. Open the JOB CONTENT window.
3. Move the cursor to the line immediately before the desired position.
4. Select {EDIT} in the main menu.
The pull-down menu appears.
5. Select {REVERSE PASTE}.
The confirmation dialog box appears.
6. Select YES.
The contents of the clipboard are pasted into the JOB in reverse order.
If NO is selected, the operation is canceled.
4 - 167
Teaching
4.7.6
Comment out a line
The lines in a JOB can be commented out by specifying line-by-line or multiple lines.
By commenting out a line, the line can be exempted from a target when executing a JOB.
When modifying or selecting the commented-out line, "ERROR 1012: This line is defined
as a comment” appears.
When performing the conversion operation, such as the parallel shift JOB conversion, for a
JOB that includes the commented-out line, the conversion operation cannot be performed
to the commented-out line.
Settings for the commented-out line:
•
Treated equivalent as a comment instruction
•
Cannot be edited
•
Displayed as a line or a step
•
The set position can be confirmed by using direct open function
•
Exempted from a target for the conversion operation
NOTICE
NOP and END cannot be commented out.
When NOP and END are tried to be commented out, "ERROR 2371: EDIT LOCK/
COMMENT functions cannot be applied to NOP and END" appears.
NOTICE
For the following sets of instructions, it is not possible to comment out only one instruction
independently from the other instruction. Select both instructions when commenting out. If
you try to comment out only one of the instructions, the following error message appears:
"ERROR 2372: This line cannot be defined as a comment." The comment out is not
executed.
 IFTHEN, ENDIF
 SWITCH, ENDSWITCH
For the following sets of instructions, when one of the instructions is commented out,
the other instruction will automatically be commented out as well.
 FOR, NEXT
 WHILE, ENDWHILE
4.7.6.1
Commenting out one line
1. Open the JOB CONTENT window.
2. Place the cursor on the line you want to comment out.
4 - 168
Teaching
3. Move the cursor to the instruction area.
4. Press [SHIFT] + [SELECT].
The line is selected.
4 - 169
Teaching
5. Select {EDIT} → {COMMENT OUT} in the pull-down menu.
The selected line is commented out.
"//" is displayed at the head of the selected line.
4 - 170
Teaching
4.7.6.2
Commenting out multiple lines
1. Open the JOB CONTENT window.
2. Place the cursor before the lines you want to comment out.
3. Move the cursor to the instruction area.
4. Press [SHIFT] + [SELECT].
The line is selected.
5. To mark more than just one line, move the cursor up or down.
4 - 171
Teaching
6. Select {EDIT} → {COMMENT OUT} in the pull down menu.
The selected lines are commented out.
"//" is displayed at the head of the selected lines.
4 - 172
Teaching
4.7.6.3
Canceling the comment out of one line
1. Open the JOB CONTENT window.
2. Place the cursor on the line whose comment out you want to cancel.
3. Move the cursor to the instruction area.
4. Press [SHIFT] + [SELECT].
The line is selected.
4 - 173
Teaching
5. Select {EDIT} → {*COMMENT OUT} in the pull down menu.
The comment out of the selected line is canceled.
"//" at the head of the line disappears.
4.7.6.4
Canceling the comment out of multiple lines
1. Open the JOB CONTENT window.
2. Place the cursor before the line whose comment out you want to cancel.
3. Move the cursor to the instruction area.
4 - 174
Teaching
4. Press [SHIFT] + [SELECT].
The line is selected.
5. To mark more than just one line for canceling the comment out, move the cursor up or
down.
6. Select {EDIT} → {*COMMENT OUT} in the pull down menu.
The comment out of the selected line is canceled.
"//" at the head of the line disappears.
4 - 175
Teaching
NOTICE
If lines, which are not commented out, are included in the selected lines, {COMMENT OUT}
(without "*") is displayed in the pull down menu.
In this case, if {COMMENT OUT} is selected, all the selected lines will be commented out.
4 - 176
Teaching
4.7.6.5
Canceling the comment out of all lines
1. Open the JOB CONTENT window.
2. Move the cursor to the instruction area.
3. Select {EDIT} → {COMMENT OUT CLR (ALL)} in the pull down menu.
The comment out of all lines of the displayed JOB is cancelled.
"//" at the head of the line disappears.
4 - 177
Teaching
4.7.7
Prohibit editing line-by-line
The EDIT LOCK setting can be performed to the JOBs line-by-line.
By setting the EDIT LOCK to a JOB line, the line will be prohibited from being edited.
When the editing operation (such as changing, deletion, selection, or cutting) is performed
to a line to which the EDIT LOCK is set, the error message "Error 1011: EDIT LOCK is set
for this line" appears.
When a conversion operation (such as the parallel shift JOB conversion) is performed to
the JOB including the lines to which the EDIT LOCK is set, the lines will not be converted.
NOTICE
EDIT LOCK cannot be set to NOP and END
When EDIT LOCK is tried to be set to NOP and END, the error message "ERROR 2371:
EDIT LOCK/COMMENT functions cannot be applied to NOP and END" appears.
4.7.7.1
EDIT LOCK for one line
1. Open the JOB CONTENT window.
2. Place the cursor on the line for which you want to activate EDIT LOCK.
3. Move the cursor to the instruction area.
4. Press [SHIFT] + [SELECT].
The line is selected.
4 - 178
Teaching
5. Select {EDIT} → {LINE EDIT LOCK} in the pull down menu.
The selected line is locked for editing and X appears at the head of the line.
4 - 179
Teaching
4.7.7.2
EDIT LOCK for multiple lines
1. Open the JOB CONTENT window.
2. Place the cursor before the lines for which you want to activate EDIT LOCK.
3. Move the cursor to the instruction area.
4. Press [SHIFT] + [SELECT].
The line is selected.
5. To mark more than just one line for activating EDIT LOCK, move the cursor up or down.
4 - 180
Teaching
6. Select {EDIT} → {LINE EDIT LOCK} in the pull down menu.
The selected lines are locked for editing and X appears at the head of the line.
4 - 181
Teaching
4.7.7.3
Canceling EDIT LOCK for one line
1. Open the JOB CONTENT window.
2. Place the cursor on the line for which you want to deactivate EDIT LOCK.
3. Move the cursor to the instruction area.
4. Press [SHIFT] + [SELECT].
The line is selected.
4 - 182
Teaching
5. Select {EDIT} → {*LINE EDIT LOCK} in the pull down menu.
EDIT LOCK is deactivated for the selected line.
The X at the head of the line disappears.
4 - 183
Teaching
4.7.7.4
Canceling EDIT LOCK for multiple lines
1. Open the JOB CONTENT window.
2. Place the cursor before the lines for which you want to deactivate EDIT LOCK.
3. Move the cursor to the instruction area.
4. Press [SHIFT] + [SELECT].
The line is selected.
5. To mark more than just one line for deactivating EDIT LOCK, move the cursor up or
down.
4 - 184
Teaching
6. Select {EDIT} → {*LINE EDIT LOCK} in the pull down menu.
EDIT LOCK is deactivated for the selected lines.
The X at the head of the line disappears.
NOTICE
If lines for which EDIT LOCK is deactivated are included in the selected lines, {LINE EDIT
LOCK} (without *) will appear in the pull down menu.
If {LINE EDIT LOCK} is selected, EDIT LOCK is activated for all selected lines.
4 - 185
Teaching
4.7.7.5
Canceling EDIT LOCK for all lines
1. Open the JOB CONTENT window.
2. Move the cursor to the instruction area.
3. Select {EDIT} → {EDITLOCK CLR (ALL)} in the pull down menu.
EDIT LOCK is deactivated for all lines and the X disappears.
4 - 186
Teaching
4.8
Test run
4.8.1
Test operation (normal)
Playback operations can be simulated in the TEACH mode with test runs. This function is
convenient for checking continuous paths and move instructions.
NOTICE
Note that the path for the playback operation is replayed during the test operation.
 Always check safety conditions before pressing [INTERLOCK] + [TEST START] to start
the robot in motion.
 Make sure that there are no obstacles within the working area of the robot.
 Great caution should be exercised when the test operation is performed.
Test operation is performed by pressing [INTERLOCK] and [TEST START].
For safety purposes, these keys will only function while the keys are held down.
However, after the run operation started, the movement continues even if [INTERLOCK] is
released. The robot stops immediately when [TEST START] is released.
Test operation is different from the actual playback in the PLAY mode as follows:
•
Operation speeds greater than the maximum teaching speed are reduced to the
maximum teaching speed.
Only EDIT LOCK is available in PLAY mode.
Work instruction output (e.g. arc output, TOOLON) is not executed.
•
•
Motion path for test operation
NOTICE
There may be a slight difference between the motion path for the test operation and the
motion path for the playback operation due to a mechanical error or control delay, etc.
1
Path for playback operation
2
Path for test operation
P2
P3
2
1
P1
4 - 187
Teaching
JOB example
0000
NOP
0001
MOVJ VL=50,0
→ P1
0002
MOVL V=1500.0
→ P2
0003
MOVL V=1500.0
→ P3
Starting the test operation
NOTICE
Always check safety conditions before pressing [INTERLOCK] + [TEST START] to start the
robot in motion.
1. Select {JOB} in the main menu.
2. Press {JOB}.
The JOB CONTENT window for the test operation appears.
3. Press [INTERLOCK] + [TEST START].
The robot starts the test operation.
4.8.2
Test operation (high accuracy)
During test operation (high accuracy), the motion path of the robot’s control point for
playback operation is simulated in the programmed speed (speed override: 100%) by
executing a test operation.
Repeatability of the motion path during the test operation (high accuracy) has been
significantly improved in comparison to the conventional test operation (normal).
Motion path for test operation
Motion path for test operation
(normal)
(high accuracy)
P2
P3
P2
P3
2
3
1
1
P1
P1
1
Path for playback operation
2
Path for test operation (normal)
3
Path for test operation (high accuracy)
JOB example
4 - 188
0000
NOP
0001
MOVJ VL=50,0
→ P1
0002
MOVL V=1500.0
→ P2
Teaching
0003
MOVL V=1500.0
→ P3
For detailed information on the test operation, refer to chapter 4.8.1 "Test operation
(normal)".
Note:
The switching position of the cursor is different in test operation (high accuracy) and in test
operation (normal).
Always check the cursor position before editing a JOB (adding or modifying a programmed
position) or before performing a back operation after the test operation (high accuracy) is
interrupted.
Note:
No simulation possible during test operation (high accuracy)
If the following functions are executed during the test operation (high accuracy), the alarm
4909 TEST RUN(HIGH ACCURACY) ERROR is issued. Only perform the below functions
during test operation (normal):
•
•
•
•
•
•
Weaving function
COMARC function
Sensor function
Twin/triple coordinated control function
Conveyor synchronized function
Weld line coordinate shift function
Note:
When operating in test operation (high accuracy), in order to perform control for
reproducing the motion path of the robot control points during playback, robot motion may
have more vibrations than previous test operation (normal) for certain teaching positions
and teaching speeds.
If this happens, either use test operation (normal), or lower the motion speed in test
operation.
For details on the procedure for setting test operation (normal), see chapter 4.8.2 "Test
operation (high accuracy)".
For the procedure for changing the motion speed for test operation, see chapter 4.8.3 "Test
Operation: changing the motion speed".
4.8.2.1
Setting method
1. Select {SETUP} → {TEACHING CONDITION SETTING} in the main menu.
2. Move the cursor to TEST RUN CONTROL and select HIGH ACCURACY (NORMAL
and HIGH ACCURACY are displayed alternately).
HIGH ACCURACY is for test operation (high accuracy) and NORMAL is for
conventional test operation (default setting is NORMAL).
4 - 189
Teaching
To start the test operation (high accuracy), execute the test operation after having
performed the above-mentioned settings.
4.8.3
Test Operation: changing the motion speed
The motion speed for test operation can be changed to the manual speed levels of Low,
Medium, and High.
1. Select {SETUP} → {TEACHING CONDITION SETTING} to display the following
window.
2. Move the cursor to the "MANUAL SPEED SELECT (TEST RUN)", and select "VALID"
“VALID” and “INVALID” are displayed alternately.
TEACHING CONDITION SETTING
LANGUAGE LEVEL
INSTRUCTION INPUT LEARING
MOVE INSTRUCTION SET POSITION
BUZZER WHEN POSITION TEACHING
STEP ONLY CHANING
RECT/CYLINDRICAL
TOOL NO. SWITCH
TOOL NO. INTLK FOR STEP ENTRY
CHEK AT P-VAR TOOL NO. CHANGE
POS. TEACH ONLY JOG CONTROL GROUP
JOB UNDELETE FUNCTION
TEST RUN CONTROL
MANUAL SPEED SELECT(TEST RUN)
USER ALARM CAPACITY
PROMP BEF OVERWRITE POS VARIABLE
STANDARD
VALID
LINE
CONSIDER
PROHIBIT
RECT
PROHIBIT
PERMIT
INVALID
PROHIBIT
INVALID
HIGH ACCURACY
INVALID
STANDARD
INVALID
3. When MANUAL SPEED SELECT (TEST RUN) is set to "VALID", the Low, Medium, and
High levels appear for "MANUAL SPEED (TEST RUN)".
TEACHING CONDITION SETTING
LANGUAGE LEVEL
INSTRUCTION INPUT LEARING
MOVE INSTRUCTION SET POSITION
BUZZER WHEN POSITION TEACHING
STEP ONLY CHANING
RECT/CYLINDRICAL
TOOL NO. SWITCH
TOOL NO. INTLK FOR STEP ENTRY
CHEK AT P-VAR TOOL NO. CHANGE
POS. TEACH ONLY JOG CONTROL GROUP
JOB UNDELETE FUNCTION
TEST RUN CONTROL
MANUAL SPEED SELECT(TEST RUN)
MANUAL SPEED (TEST RUN): LOW
MANUAL SPEED (TEST RUN): MEDIUM
MANUAL SPEED (TEST RUN): HIGH
STANDARD
VALID
LINE
CONSIDER
PROHIBIT
RECT
PROHIBIT
PERMIT
INVALID
PROHIBIT
INVALID
HIGH ACCURACY
VALID
60 %
80 %
100 %
The motion speeds for the Low, Medium, and High test operation manual speeds can
be specified individually for each speed level.
At 100%, the maximum teaching speed (speed when MANUAL SPEED SELECT
(TEST RUN) is set to "INVALID") is used.
4 - 190
Teaching
4.9
Other JOB-editing functions
4.9.1
Editing play speed
There are thee ways to modify PLAY speed:
•
Modification of speed type
•
Relative modification
•
Modification by TRT (TRAVERSE TIME)
SPEED MODIFICATION window
Speed type modification and relative modification can be set in the SPEED MODIFICATION
window.
A
B
C
D
E
Fig. 4-17: SPEED MODIFICATION window
A. START LINE NO.
Displays the first line number of the section to be modified.
B. END LINE NO.
Displays the last line number of the section to be modified.
C. MODIFICATION TYPE
Selects the confirmation before changing: CONFIRM or NO CONFIRM.
Each time [SELECT] is pressed when the cursor is on this item, the setting alternates
between CONFIRM and NO CONFIRM.
If MODIFICATION TYPE is set to CONFIRM, the confirmation dialog box appears.
Press [ENTER] to modify the speed in the first line and to select the next speed setting.
Press the cursor key to keep the speed in the first line and to select the next speed setting.
To cancel the speed modification, press [CANCEL].
D. SPEED KIND
Selects the speed type.
When [SELECT] is pressed when the cursor is on this item, the selection dialog box
appears. Select the speed type you want to modify.
E. SPEED
Specifies the speed value.
When [SELECT] is pressed when the cursor is on this item, the number input mode is
activated. Input the speed value and press [ENTER].
4 - 191
Teaching
TRT window
Modification by TRT can be set in the TRT window.
A
B
C
D
A. START LINE NO.
Displays the first line number of the section to be measured and modified.
B. END LINE NO.
Displays the last line number of the section to be modified.
C. MOVING TIME
The weaving time needed to move from the first number to the last number is measured
and displayed.
D. SETTING TIME
Input the desired weaving time.
If the cursor is placed on this field and [SELECT] is pressed, the input buffer line appears.
4 - 192
Teaching
4.9.1.1
Change the speed type
This method is used to modify the speed type (VJ, V, VR and VE)
Type of speed
Explanation
VJ
Joint speed
V
TCP speed
VR
Posture Angle Speed
VE
Base Axis Speed
Normal robot axes
Example
0005
0006
0007
MOVJ VJ=25.00
MOVL V=138
MOVJ VJ=50.00
Only VJ is modified to 100.
0005
0006
0007
4.9.1.2
MOVJ VJ=100.00
MOVL V=138
MOVJ VJ=100.00
Relative modification
All steps are selected regardless of the play speed type. This method is used to modify all
steps by a specified percentage (1 % to 200 %). This is called relative modification.
The speed of the entire JOB or of a specified section can be modified.
For relative modification perform the following steps:
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
3. Move the cursor to instruction area.
4. Press [SHIFT] + [SELECT] in the speed modify start line.
If the section is not specified, the speed of the entire JOB will be modified.
5. Move the cursor to the end line.
The line numbers of the selected lines are highlighted.
6. Select {EDIT} in the main menu.
4 - 193
Teaching
7. Select {CHANGE SPEED}.
The SPEED MODIFICATION window appears.
A
B
C
D
E
8. Perform the desired settings:
A. START LINE NO.
B. END LINE NO.
C. MODIFICATION TYPE
To perform the relative modification of the play speed, select RELATIVE.
D. SPEED KIND
E. SPEED
Specify the percentage value for SPEED.
9. Select EXECUTE.
Speed is modified.
If MODIFICATION TYPE is set to CONFIRM, the confirmation dialog box appears.
Press [ENTER] to modify the speed in the first line and to select the next speed setting.
Press the cursor key to keep the speed in the first line and to select the next speed
setting.
To cancel the speed modification, press [CANCEL].
If MODIFICATION TYPE is set to NOT CONFIRM, all the speeds of the specified
section are modified.
Example
0005
0006
0007
MOVJ VJ=25.00
MOVL V=138
MOVJ VJ=50.00
Speed is doubled
0005
0006
0007
4 - 194
MOVJ VJ=50.00
MOVL V=276
MOVJ VJ=100.00
Teaching
4.9.1.3
Modification by TRT (TRAVERSE TIME)
Modifications made by TRT have the following characteristics:
•
By setting the time required to execute a move instruction (moving time) to a desired
value, speed can be modified.
•
It is possible to measure the moving time without actually moving the robot.
Example: The movement from lines 5 through 20 currently requires 34 seconds, and you
want to reduce it to 15 seconds or extend it to 50 seconds.
To modify speed by TRT perform the following steps:
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
3. Move the cursor to instruction area.
4. Press [SHIFT] + [SELECT] in the start line of the weaving time measurement.
5. Move the cursor to the end line.
The line numbers of the selected lines are highlighted.
6. Select {EDIT} in the main menu.
7. Select {TRT}.
The TRT window appears.
A
B
C
D
8. Perform the desired settings:
A. START LINE NO.
B. END LINE NO.
C. MOVING TIME
The weaving time needed to move from the first number to the last number is measured
and displayed.
D. SETTING TIME
Input the desired weaving time.
If the cursor is placed on this field and [SELECT] is pressed, the input buffer line
appears. Input the desired weaving time and press [ENTER].
9. Select EXECUTE.
The speed is modified according to the settings.
4 - 195
Teaching
NOTICE
•
If instructions that include specific speed data such as SPEED or ARCON instructions
(including speed data of the welding condition file) exist in the specified section, the
speed data for those steps are not modified. Therefore, in such cases, the set time and
the actual time required are not the same.
•
If the speed data is limited by the maximum value, the following message is displayed.
!Limited to maximum speed
•
4 - 196
The line to which the Edit Lock function is set or the comment out is performed cannot
be changed (For details, refer to chapter 4.7.6 "Comment out a line" and chapter 4.7.7
"Prohibit editing line-by-line").
Teaching
4.9.2
Editing the interpolation type
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
3. Move the cursor to instruction area.
4. Select the line you want to modify.
The instruction, where the cursor is located, is displayed in the input buffer line.
5. Press [SHIFT] + the cursor key simultaneously.
The modification of the speed according to the modification of the interpolation type is
calculated by the ratio to maximum speed for each speed.
JOINT speed MAX=100 %
Linear speed: MAX=9000 cm/min
JOINT speed 50 % = Linear Speed: 4500 cm/min
Linear speed: 10 % = Linear Speed: 900 cm/min
The interpolation type in the input buffer line is modified.
4 - 197
Teaching
6.
Press [ENTER].
The instruction, where the cursor is located, is replaced with the instruction displayed
in the input buffer line.
4.9.3
Editing condition files
Condition files are prepared in order to set the conditions for the robot to execute
instructions.
Multiple condition files are provided for each application. More than one pattern can be
defined in each condition file. The conditions are listed by condition numbers. The numbers
are specified by the work instruction in a JOB.
NOTICE
Refer to the operating instructions of the robot controller for information regarding contents
and editing methods of condition files.
A
B
1
1
1
2
4 - 198
C
3
•
Application: A, B, C
•
Condition number: 1, 2, 3, 4
2
2
3
4
Teaching
4.9.4
User Variables
User variables are used to store counters, calculation results or input signals. Since the
same user variables can be used in multiple JOBs, save the numerical values as common
references for the JOBs and the user variables are maintained even when the power is
turned OFF.
User variables have the following applications:
•
Controlling of the number of workpieces.
•
Controlling of the number of JOBs.
•
Sending/receiving of information between JOBs.
The data formats for user variables are described in the following table:
Data formats
Variable no. (Unit)
Functions
Byte type
B000 to B099 (100)
Range of storable values is from 0 to 255.
Can store I/O status.
Can perform logical operations (AND, OR,
etc.)
Integer type
I000 to I099 (100)
Range of storable values is from -32768 to
32767.
Double precision integer
type
D000 to D099 (100)
Range of storable values is from 2147483648 to 2147483647.
Real type
R000 to R099 (100)
Range of storable values is from -3.4E+38 to
3.4E38. Accuracy: 1.18E-38  x  3.4E38
Character type
S000 to S099 (100)
Maximum storable number of characters is
16.
Boolean type
(flag)
FL000 to FL1023
(1024)
Storable values are ON and OFF.
Position type
P000 to P127 (128)
Can store position data in pulse form or in
XYZ form.
BP000 to BP127 (128)
EX000 to EX127 (128)
XYZ type variable can be used as target position for move instructions and as increment
for parallel shift instructions.
Teaching line coordinates system cannot be
used.
Timer variable1
TM000 to TM059 (60)
Range of storable values is from 2147483648 to 2147483647.
1. * For the timer variable, refer to chapter 7.18.1 "Timer variable".
4 - 199
Teaching
NOTICE
•
PLAY speed V:
MOVL V=I000 The variable I000 is used for speed V with this move instruction.
The unit for V is 0.1 mm per second.
For example, if I000 were set as 1000, the following would be true:
I000 = 1000 → The unit for V is 0.1 mm/s → V=100.0 mm/s.
•
•
4 - 200
Note that, depending on the unit being used, the value of the variable and the value of
the actual speed may not match sometimes.
PLAY speed VJ:
MOVL VJ=I000
The unit for VJ is 0.01 %.
For example, if I000 were set as 1000, the following would be true:
I000 = 1000 → The unit for VJ is 0.01 % → VJ=10.00 %.
Timer T:
TIMER T= I000
The unit for T is 0.01 seconds.
For example, if I000 were set as 1000, the following would be true:
I000 = 1000 → The unit for T is 0.01 seconds. → T=10.00 seconds.
Teaching
4.9.4.1
Setting the variable type
1. Select {VARIABLE} in the main menu.
{BYTE}, {INTEGER}, {DOUBLE} and {REAL} are displayed in the sub menu.
2. Select the desired variable type (in this example {BYTE} is selected).
The BYTE VARIABLE window appears.
3. Move the cursor to the desired variable number.
If the desired variable number is not displayed, move the cursor by one of the following
operations:
a) Move the cursor to the variable number and press [SELECT].
Input the variable number using the numeric keys and press [ENTER].
b) Move the cursor to the menu area and select {EDIT} → {SEARCH}.
Input the variable number using the numeric keys and press [ENTER].
4. Move the cursor to the data of the variable.
The number can be entered directly.
4 - 201
Teaching
5. Input the desired value.
6. Press [ENTER].
The entered value is allocated to the variable.
4.9.4.2
Set character type variables
1. Select {VARIABLE} in the main menu.
2. Select {STRING}.
The STRING VARIABLE window appears.
4 - 202
Teaching
3. Move the cursor to the desired variable number.
If the desired variable number is not displayed, move the cursor by one of the following
operations:
a) Move the cursor to the variable number and press [SELECT]. Then input the
variable number using the numeric keys and press [ENTER].
b) Move the cursor to the menu area and select {EDIT} → {SEARCH}. Then input the
variable number using the numeric keys and press [ENTER].
4. Move the cursor to the data of the variable.
Characters can be entered directly.
5. Input the desired characters.
For information on character input operation, refer to chapter 2.2.6 "Character input
operation".
6. Press [ENTER].
The entered characters are allocated to the variable.
4 - 203
Teaching
4.9.4.3
Setting boolean type (Flag) variables
1. Select {VARIABLE} in the main menu.
2. Select {FLAG}.
The FLAG VARIABLE window appears.
3. Move the cursor to the desired variable number to change.
Move the cursor to the STATUS (“○” or “●”) of the variable to change.
4. Press [INTERLOCK] + [SELECT].
The STATUS is changed (●: ON, ○: OFF).
NOTICE
S2C1253: FLAG STATUS WHEN CONTROL POWER IS ON
Follow the procedure below to change the status of the flags:
0: Reset to the power OFF state (Default)
1: Initialized (all flags OFF)
4.9.4.4
Register names of variables
1. Select {VARIABLE} in the main menu.
2. Select the desired variable type: {BYTE}, {INTEGER}, {DOUBLE}, {REAL}, {ROBOT},
{STATION} oder {BASE} .
Select any variable type from among byte type, integer type, double precision integer
type, real type, robot position type, base position type, and station position type.
3. Move the cursor to the desired variable number.
If the desired variable number is not displayed, move the cursor by one of the following
operations:
a) Select the variable number, input the desired variable number and press [ENTER].
The cursor moves to the variable number to be input.
b) Move the cursor to the menu area and select {EDIT} → {SEARCH}. Input desired
variable number and press [ENTER].
The cursor moves to the variable number to be input.
4. Select NAME and press [ENTER].
The input buffer line appears.
NOTICE
For additional information refer to chapter 2.2.6 "Character input operation".
5. Enter the name.
4 - 204
Teaching
6. Press [ENTER].
The variable name is registered.
4.9.4.5
Displaying position variables
1. Select {VARIABLE} in the main menu.
2. Select the desired position variable type: {ROBOT}, {STATION} oder {BASE}.
The POSITION VARIABLE window of the desired type appears.
3. When the desired variable number is not displayed, move the cursor with one of the
following operations:
a) Press [PAGE] or [SHIFT] + [PAGE].
b) Press PAGE button. Input the variable No. using the numeric keys and press
[ENTER].
c) Move the cursor to the menu area and select {EDIT} → {SEARCH}. Input the
variable number using the numeric keys and press [ENTER].
The page of the variable is displayed.
4 - 205
Teaching
4.9.4.6
Setting position variables
The following table shows the types of position variables and their setting methods.
NOTICE
 The setting of position variables is done in the TEACH mode.
 Turn the SERVO power ON when setting the variables with the axis keys.
Types of position variables and their setting methods
Type
Pxxx (Robot)
Pulse
type
BPxxx (Base)
XYZ type
Pulse type
XYZ type
EXxxx (Station)
Pulse type
Select coordinates from base,
robot, user and
tool.
Z
Setting method
45000
7
8
9
4
5
6
1
2
3
0
.
-
X
Using the numeric keys
X-
S-
X+
S+
X-
X+
R-
R+
Y-
Y+
Y-
Y+
Z-
Z+
Z-
Z+
T-
T+
8-
8+
L-
U-
E-
L+
U+
E+
B-
B+
Using the axis keys
4 - 206
Y
Teaching
4.9.4.7
Setting position variables using the numeric keys
Pulse type
1. Select {VARIABLE} in the main menu.
2. Select the desired position variable type: {ROBOT}, {BASE} or {STATION}.
The corresponding variable window appears. (In the following example the POSITION
VARIABLE window is used.)
3. Select the variable data type.
The selection dialog box appears.
If the position variable has already been set, the confirmation dialog box for deleting the
data appears. If YES is selected, the data is deleted.
4. Select {PULSE}.
5. Move the cursor to the desired input buffer line and press [SELECT].
6. Input the value and press [ENTER].
The value is set to the cursor position.
XYZ type
1. Select {VARIABLE} in the main menu.
2. Select the desired position variable type: {ROBOT}, {BASE} or {STATION}.
4 - 207
Teaching
3. Select the variable data type.
The selection dialog box appears.
4. Select the desired coordinates except for PULSE.
5. Move the cursor to the desired input buffer line and press [SELECT].
6. Input the value and press [ENTER].
The value is set to the cursor position.
Setting of <TYPE>
Each time [SELECT] is pressed when the cursor is on the setting data in the input buffer
line, the setting alternates.
About <TYPE>
4 - 208
–
It is not necessary to set a type if the position variable is to be used for parallel shift
operations.
–
If the position variable is used with a move instruction such as MOVJ P001, it is
necessary to set a type. For details on types, refer to chapter 4.9.4.11 "Robot types".
Current Position Window (XYZ) shows the current setting of a type.
Teaching
4.9.4.8
Set position variables with axis keys
Pulse type and XYZ type
1. Select {VARIABLE} in the main menu.
2. Select the desired position variable type: {ROBOT}, {BASE} or {STATION}.
The desired variable window appears.
3. Press [SHIFT] + [ROBOT].
If you need an external axis position, press [SHIFT] + [EX.AXIS].
4. If there are two or more robot axes, base axes or station axes, specify the axis as
follows.
a) Robot:
Each time [SHIFT] + [ROBOT] is pressed, the axis displayed in the status line
modifies: R1 → R2 →... → R8.
b) Base axis or station axis:
Each time [SHIFT] + [EX.AXIS] is pressed, the axis displayed in the status line
modifies: B1 → B2 →...→ B8 → S1 → S2 →......→ S24.
5. Check the selected axis in the status line.
6. Use the axis keys to move the robot or the external axis to the desired position to set
the position variables.
7. Press [MODIFY] + [ENTER].
The position variable of the robot or the external axis is set.
4 - 209
Teaching
4.9.4.9
Deleting data sets of position variables
1. Select {VARIABLE} in the main menu.
2. Select the desired position variable type.
3. Select {DATA} in the menu area.
The pull down menu appears.
4. Select {CLEAR DATA}.
The position variable data on the displayed page are deleted.
4.9.4.10
Checking positions by position variables
NOTICE
The selected axis (robot, base, or station) moves directly to the set variable position.
Before pressing [FWD], check that the surrounding area is safe.
1. Select {VARIABLE} in the main menu.
2. Select desired position variable type: {ROBOT}, {BASE} or {STATION}.
When there are two or more robot, base, or a station, specify the axis with following
operation.
a) Robot
Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on the status line
changes: R1 → R2 →... → R8.
b) Base or Station Axis
Each time [SHIFT] + [EX.AXIS] is pressed, the axis displayed on the status line
changes: B1 → B2 →...→ B8 → S1 → S2 →......→ S24.
3. Check the selected axis on the status line.
4. Press [FWD]
Selected axis moves to the position specified by the variable.
4 - 210
Teaching
4.9.4.11
Robot types
If the position data of the JOB data are described using the XYZ format, several positions
are received according to the robot’s structure when moving it to the described position.
Although these positions have the same coordinates for the TCP they have different pulses
for each axis.
Therefore, it is not possible to clearly define the robot position exclusively by using the
coordinate value. To define the robot position you need to provide data going beyond the
mere coordinate value.
This is called “Type”.
These types also vary according to the robot models.
NOTICE
For a robot with seven axes, X, Y, Z, Rx, Ry, Rz, Re and Type are used. Re is an element
that specifies the position of the 7-axis robot and is not modified by means of the
coordinates entered. The definition of Re is shown in the following figure.
4.9.4.12
Flip/No Flip
If the angle of the B-axis is within the positive range (θB  0°), it is called ’Flip’. If the angle
is within the negative range (θB < 0°), it is called ’No Flip’.
4 - 211
Teaching
4.9.4.13
R-axis Angle
This specifies whether the R-axis angle is less than ±180° or greater than ±180°.
R  180°
R < 180°
0°
0°
360° -360°
-180° 180°
-180 <θ R  180
180 <θ R  360, -360 <θ R  -180
NOTICE
θ R is the angle when the R-axis home position is 0°.
4.9.4.14
T-axis Angle
This specifies positions of the R-, B-, and T-axis. For robots with wrist axes (three axes),
this specifies whether the T-axis angle is less than ±180° or greater than ±180°.
T < 180°
T  180°
0°
0°
360° -360°
-180° 180°
-180 <θ T  180
180 <θ T  360, -360 <θ T  -180
NOTICE
θ T is the angle when the T-axis home position is 0°.
4 - 212
Teaching
4.9.4.15
Front/back
Back and front specify where in the S-axis rotation center the B-axis rotation center locates
when viewing the L-axis and U-axis from the right-hand side. When viewed from the righthand side, the right of the S-axis rotation center is called the front, and the left is called the
back.
Right-hand side
S-axis = 0°
The diagram below shows the S-axis at 0° and at 180°.
This is the configuration when the L-axis and the U-axis are viewed from the right-hand
side.
1
Back
2
Front
S-axis 0°
S-axis 180°
1
2
2
1
For the robot with seven axes, this specifies where in the S-axis rotation center the U-axis
rotation center locates when viewing the L-axis and U-axis from the right-hand side.
4 - 213
Teaching
When viewed from the right-hand side, the right of the S-axis rotation center is called the
front and the left is called the back.
4.9.4.16
1
Back
2
Front
1
2
Upper Arm/Lower Arm
This specifies a type comprised of L-axis and U-axis when the L-axis and U-axis are viewed
from the right-hand side.
Right-hand side
4 - 214
1
Upper arm
2
Lower arm
1
2
Teaching
4.9.4.17
S-axis Angle
This designation is required for the robots which have working envelopes greater than
±180°. This specifies whether the S-axis angle is less than ±180° or greater than ±180°.
S  180°
S < 180°
0°
0°
360°
-180°
-360°
180°
-180 <θ S  180
180 <θ S  360, -360 <θ S  -180
NOTICE
θ S is the angle when the S-axis home position is 0°.
4.9.5
Edit local variables
Like user variables, local variables can also be used for the storage of counters,
calculations, and input signals. The data format is the same as that of user variables.
A local variable is indicated by the letter L in the variable number (see the following table).
Data formats
Variable no.
Functions
Byte Type
LB000 to LB □□□
Range of storable values is from 0
to 255. Can store I/O status. Can
perform logical operations (AND,
OR, etc.)
Integer Type
Ll000 to LI □□□
Range of storable values is from 32768 to 32767.
Double Precision Integer
Type
LD000 to LD □□□
Range of storable values is from 2147483648 to 2147483647.
Real Type
LR000 to LR □□□
Range of storable values is from 3.4E+38 to 3.4E+38 Accuracy:
1.18E-38 < x  3.4E+38.
Character
Type
LS000 to LS □□□
Maximum storable number of
characters is 16.
Position
Type
Robot axes
Base axes
Station axes
LP000 to LP □□□
Can store position data in pulse
form
or in XYZ form. XYZ type variLPB000 to LPB □□□
ables can be used as target posiLEX000 to LEX □□□ tion for move instructions and as
increment for parallel shift instructions.
Tab. 4-1: Local Variable
4 - 215
Teaching
Local variables differ from user variables in the following four ways:
Local variables are used in one JOB only
With user variables it is possible to define and use one variable in multiple JOBs. Local
variables are only used in the JOB in which they were defined. They cannot be read by
other JOBs.
Accordingly, local variables do not affect other JOBs, which makes it possible to separately
define a variable number (such as LB001) in different JOBs and to use it in different ways
in each of these JOBs.
B001
JOB1
JOB2
JOB3
JOB1
JOB2
JOB3
LB001
LB001
LB001
Fig. 4-18: User variables and local variables
Local variables can use any number of variables.
The number is set in the JOB HEADER window. When the number is set, the area for the
value is stored
The contents of the variables cannot be displayed.
To display the local variable contents, user variables are needed.
For example, to view the contents of local variable LP000, save it temporarily as user
variable P001. Then execute the instruction SET P001 LP000 and open the POSITION
VARIABLE window for P001.
4 - 216
Teaching
Local variables are activated only during the execution of a defined JOB.
The contents of the local variables are activated only during the execution of a defined JOB.
The local variable field is locked when the defined JOB is called (when the JOB is executed
by a CALL or JUMP instruction, or the JOB is selected in the menu). Once the JOB is
completed by the execution of a RET, END, or JUMP instruction, the local variable data that
was set is disabled. However, if a JOB which uses local variables itself calls a separate JOB
and is called again by means of a RET instruction, the data that was present prior to the
CALL instruction remains in effect and can be used.
NOTICE
Special note for variables and units.
As with user variables, depending on the value of the unit being used, the value of the
variable and the value of the actual speed or time may not match sometimes).
 For additional information refer to chapter 4.9.4 "User Variables" on page 199.
4.9.6
Setting the number of local variables
The number of local variables used in a JOB is set in the JOB HEADER window. When the
number of local variables is set, memory is allocated for those variables.
NOTICE
Local variables can only be used under the following conditions:
 The INSTRUCTION LEVEL must be expanded. LANGUAGE LEVEL must be set to
EXPANDED under {SETUP} → {TEACHING COND}. For details on setting the
language level refer to chapter “Instruction Level Setting” of "INSTRUCTIONS" manual
(document number E1102000214XX01* or higher).
 To confirm or change the number of local variables, {CONTENT DISPLAY} must be set
to PERMIT. Refer to chapter 7.25.1 "Prohibit displaying JOB contents" for setting the
displaying of JOB contents.
1. Select {JOB} in the main menu.
2. Select {JOB}.
3. Select {DISPLAY} in the menu area.
4 - 217
Teaching
4. Select {JOB HEADER}.
The JOB HEADER window appears.
Use the cursor to navigate in the window.
5. Select the type of local variables to be set (here: INT (LI)).
The input buffer line appears.
6. Input the number of local variables.
7. Press [ENTER].
The number of local variables is set.
4 - 218
Teaching
4.9.7
Search
When editing or checking, JOBs and steps can be searched for. Search can be done when
the cursor is either in the address or instruction area of the JOB CONTENT window.
To execute a search perform the following steps:
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
3. Select {EDIT} in the menu area.
The pull down menu appears.
4. Select {SEARCH}.
The selection dialog box appears.
5. Select the kind of search you want to do.
During the search process the cursor is moved to a specific step or instruction in the edit
JOB. You can directly search for the desired item or use the cursor to do so.
4 - 219
Teaching
4.9.7.1
Line search
This function moves the cursor to the desired line number.
1. Select {EDIT] → {SEARCH} → LINE SEARCH.
The number can be entered.
2. Input the desired line number.
3. Press [ENTER].
The cursor is moved to the line number and the window appears.
4 - 220
Teaching
4.9.7.2
Step search
This function moves the cursor to the desired step number (move instruction).
1. Select {EDIT] → {SEARCH} → STEP SEARCH.
The number can be entered.
2. Input the desired step number.
3. Press [ENTER].
The cursor is moved to the selected step number and the window appears.
4 - 221
Teaching
4.9.7.3
Label search
This function searches for the desired label and the instruction using that label.
1. Select {EDIT] → {SEARCH} → LABEL SEARCH.
The software key pad appears.
2. Input the desired label name.
Search can be conducted by entering any character of the label. For example, to search
for the START label, only enter S.
3. Press [ENTER].
The cursor is moved to the desired label and the window appears.
4. Use the cursor to continue search.
While searching, forward search and backward search are possible by pressing the
cursor key.
4 - 222
Teaching
5. To end the search, select {EDIT} → {END SEARCH} and press [SELECT].
4 - 223
Teaching
4.9.7.4
Instruction search
This function moves the cursor to a desired instruction.
1. Select {EDIT] → {SEARCH} → INSTRUCTION SEARCH.
The INFORM command list appears.
2. Select the desired instruction group.
3. Select the desired instruction.
The cursor is moved to the selected instruction and the window appears.
4 - 224
Teaching
4. Use the cursor to continue the search.
While searching, forward search and backward search are possible by pressing the
cursor keys [↑] [↓].
5. To end the search, select {EDIT} → {END SEARCH} and press [SELECT] or [CANCEL].
4.9.7.5
Tag search
This function moves the cursor to the desired tag.
1. Select {EDIT] → {SEARCH} → TAG SEARCH.
The INFORM command list appears.
2. Select the desired instruction group.
4 - 225
Teaching
3. Select the desired instruction in which you want to search for the tag.
In accordance with the selected instruction the dialog box for tag selection appears.
4. Select the desired tag.
The cursor is moved to the desired tag and the window appears.
5. Use the cursor to continue the search.
While searching, forward search and backward search are possible by pressing the
cursor keys [↑] [↓].
4 - 226
Teaching
6. To end the search, select {EDIT} → {END SEARCH} and press [SELECT] or [CANCEL].
4.9.7.6
Current position neighbor search
This function searches for a teaching point adjacent to the current position of the robot.
1. Select {EDIT} → {SEARCH} → CURRENT-POS NEIGHBOR SEARCH.
The number can be entered.
2. Enter the numerical value of the pulse range where the teaching point is searched.
Specify the pulse range so that the teaching point is present in the range from the value:
[current position of the robot minus the pulse range] to the value [current position of the
robot plus the pulse range].
3. Press [ENTER].
The cursor moves to the step where all axes of the control group included in the JOB
are present in the range from the value [current feedback pulse minus the pulse range]
to the value [current feedback pulse plus the pulse range].
4. Use the cursor to continue search.
While searching, forward search and backward search are possible by pressing the
cursor keys [↑] [↓].
4 - 227
Teaching
5. To end search, select {EDIT} → {END SEARCH} and press [SELECT] or [CANCEL].
4 - 228
Playback
5
Playback
5.1
Preparations for playback
Selecting JOBs
Playback is the execution of a taught JOB. Before playback, you must call the JOB you want
to execute.
5.1.1
Calling JOBs
1. Select {JOB} in the main menu.
2. Select {SELECT JOB}.
The JOB LIST window appears.
3. Select the desired JOB.
5 - 229
Playback
5.1.2
Registering master JOBs
If a particular JOB is executed quite often, it is advisable to register this JOB as a master
JOB (master registration).
A JOB registered as a master JOB can be called more easily than when using the method
described on the previous page.
NOTICE
Only one JOB can be registered as the master JOB. When a master JOB is registered, this
automatically cancels the existing registration of a master JOB.
Ensure that a master JOB is registered in TEACH mode.
1. Select {JOB} in the main menu.
2. Select {MASTER JOB}.
The MASTER JOB window appears.
3. Press [SELECT].
The selection dialog box appears.
4. Select {CALL MASTER JOB}.
The JOB LIST window appears.
5. Select a JOB to be registered as the master JOB.
The selected JOB is registered as the master JOB.
5 - 230
Playback
5.1.3
Calling master JOBs
This function calls a master JOB. The JOB can be called from the JOB CONTENT,
PLAYBACK, JOB SELECT or MASTER JOB window.
5.1.3.1
Calling from the JOB CONTENT, PLAYBACK and JOB SELECT window.
1. Select {JOB} in the main menu.
2. Select {MASTER JOB}.
The master JOB is called and the JOB CONTENT window appears.
5.1.3.2
Calling from the MASTER JOB window
1. Select {JOB} in the main menu.
2. Select {MASTER JOB}.
The MASTER JOB window appears.
3. Press [SELECT].
The selection dialog box appears.
5 - 231
Playback
4. Select {CALL MASTER JOB}.
The master JOB is called and the JOB CONTENT window (in TEACH mode) or the
PLAYBACK window (in PLAY mode) appears.
5.1.4
The PLAYBACK window
If the key switch on the programming pendant is set to PLAY when the JOB CONTENT
window is displayed, the PLAYBACK window appears.
A
B
D
C E
F
A. JOB contents
The cursor is moved in accordance with the playback movement. The contents are run
through automatically, as required.
B. Override speed settings
Displayed when the override speed setting is made.
C. Cycle time
Displays the robot's operating time. Each time the robot starts, the previous cycle time is
reset and a new measurement is started. The cycle time display can be switched on or off.
D. Start no.
First step of the measurement. The measurement starts when the LED in the [START] key
lights up and playback begins.
E. Movement time
Displays the robot's weaving time.
F. Playback time
Shows the time between the beginning and the end of the measurement. The measurement
ends when the robot stops and the LED in the [START] key turns off.
5 - 232
Playback
5.1.4.1
Displaying the cycle time
Carry out the steps described below to switch the display of the cycle time on or off.
1. Select {DISPLAY} in the main menu.
2. Select {CYCLE TIME}.
The cycle time is displayed.
3. Repeat the same steps to hide the display of the cycle time.
5.1.4.2
Operating cycle
There are three different operating cycles for the robot:
•
AUTO: Continuous repetition of a JOB.
•
1 CYCLE: One-time execution of a JOB. If a JOB is called during execution, it is
executed and the program then returns to the original JOB.
•
1 STEP: Execution of a step (instruction).
–
Changing the operating cycle
The operating cycle can be changed as follows:
1. Select {JOB} →{CYCLE} in the main menu.
2. Select the operating cycle you want to change.
The operating cycle is changed.
–
Automatic setting of the operating cycle
This setting can only be carried out in MANAGEMENT MODE.
The automatic setting of the operating cycle can be changed as follows:
1. Select {SETUP} in the main menu.
2. Select {OPERATE COND}.
The OPERATING CONDITION window appears.
5 - 233
Playback
3. Select the desired setting.
NOTICE
The NONE setting
The operating cycle is not changed if NONE is set. If the operating cycle changes when
CYCLE SWITCH IN PLAY MODE = NONE is set, the current cycle is continued even after
a change to PLAY mode
The selection dialog box appears.
4. Select a cycle.
The operating cycle is specified when the mode is changed.
5 - 234
Playback
5.2
Playback
5.2.1
Playback operation
NOTICE
Make sure that there is nobody near the robot before starting playback.
During playback, the taught JOB is executed.
Playback is started when the key selector switch on the programming pendant is set
accordingly.
Key switch on the programming
pendant
The JOB is started by
[PLAY]
[START] button on the programming pendant
[REMOTE]
Peripheral device (external start input)
To start playback with the programming pendant, perform following steps:
1. Select the starting device
Move the key selector switch on the programming pendant to PLAY.
PLAY mode is activated, REMOTE mode is deactivated.
The machines have to be started by means of the programming pendant.
2. Turn SERVO power ON.
Press [SERVO ON READY].
The SERVO ON indicator light on the programming pendant is lit and the robot
controller SERVO power supply is on.
3. Start operation.
Press [START].
The LED in the [START] key is lit and the robot goes into operation.
5 - 235
Playback
5.2.2
Special playback operations
The following special functions can be executed during playback:
•
Movement at low speed
•
Movement at limited speed
•
Movement at the dry-run speed
•
Machine lock operation
•
Check mode operation
•
Weaving prohibited operation
Two or more special functions can be executed simultaneously. If multiple functions are
selected, the play speed is limited to the speed of the slowest of these functions. The
settings for special functions are made in the SPECIAL PLAY window.
To activate a special function perform the following steps:
1. Open the PLAYBACK window.
2. Select {UTILITY} → {SPECIAL PLAY}.
The SPECIAL PLAY window appears.
3. Select a special function, for example LOW SPEED START.
4. Move the cursor to the input buffer area an press [SELECT].
Each time [SELECT] is pressed the setting alternates between VALID and INVALID.
5. Select COMPLETE to confirm.
The PLAYBACK window appears.
5.2.2.1
Movement at slow speed
The robot is moved at low speed in the first step after the start.
After this step, the robot stops independently of the selected operating cycle and the
operation at slow speed is aborted.
Even if the robot's movement is stopped during slow operation, the status of slow speed is
retained until it reaches the first step.
After the completion of a step, the robot moves at the taught speed when pressing [START].
The movement at slow speed is activated by the special function LOW SPEED START. (For
additional information refer to chapter 5.2.2 "Special playback operations".)
5 - 236
Playback
5.2.2.2
Movement at limited speed
The robot works in TEACH mode at limited speed. The speed is normally limited to 250 mm
per second.
Robot movements that carried out in steps and for which the set speed is under this limit
are executed at the actual playback speed.
The movement at limited speed is activated by the special function SPEED LIMIT. (For
additional information refer to chapter 5.2.2 "Special playback operations".)
5.2.2.3
Movement at dry-run speed
The dry-run speed is a constant speed that is independent of the speed used for teaching
and is usually 10 % of the maximum speed. The robot executes all the steps at the constant
speed, which is convenient for quick check of a JOB consisting of slow operations.
The movement at dry-run speed is activated by the special function DRY RUN SPEED. (For
additional information refer to chapter 5.2.2 "Special playback operations".)
NOTICE
Steps with speeds under the dry-run speed are executed at a speed that is higher than the
programmed speeds.
1
Speed
2
PLAY speed
3
Step
4
Dry-run speed
5
Safety speed
1
2
5
4
3
5.2.2.4
Machine lock operation
A JOB is executed without the robot being moved to check the input and output status.
The machine-lock operation is activated by the special function MACHINE LOCK. (For
additional information refer to chapter 5.2.2 "Special playback operations".)
NOTICE
The machine-lock setting is retained even after the mode has been changed. If the machine
is set to VALID in TEACH mode, the setting is retained even after the switch to PLAY mode
The same applies when you switch from PLAY mode to TEACH mode.
Note that the status of the machine lock becomes INVALID if one of the following steps is
carried out:
 CANCEL ALL SELECT is selected in the SPECIAL PLAY window.
 The power is switched off.
 When executing MACHINE LOCK: select {SETUP} → {PLAYBACK COND.} and set
CHECK/MACHINE LOCK to PERMIT.
5 - 237
Playback
5.2.2.5
Check mode operation
The machine runs without issuing work instructions, such as the TOOL ON instruction. It is
used primarily to check the path of the program.
The check mode operation is activated by the special function CHECK-RUN. (For additional
information refer to chapter 5.2.2 "Special playback operations".)
NOTICE
When executing CHECK-RUN select {SETUP} → {PLAYBACK COND.} and set CHECK/
MACHINE LOCK to PERMIT.
5.2.2.6
Weaving prohibited operation
Weaving is not executed in the weaving section of the JOB.
The weaving prohibition is activated by the special function WEAV PROHIBIT IN CHKRUN. (For additional information refer to chapter 5.2.2 "Special playback operations".)
5.2.2.7
Cancel all special operations
All special functions are deactivated by the following operation:
1. Select {EDIT} in the main menu.
2. Select {CANCEL ALL SELECT}.
The message "All special functions canceled" appears.
NOTICE
The special functions are also automatically canceled if the main power supply is switched
off.
5 - 238
Playback
5.3
Stop and Start
The robot or JOB in operations stops in the following conditions:
•
HOLD
•
Emergency stop
•
Stop by alarm
•
Stop by other causes
5.3.1
HOLD
By the HOLD operation, the JOB stops temporarily.
NOTICE
During the HOLD operation, the lamp on [START] turns OFF.
5.3.1.1
•
Using the programming pendant.
[HOLD]
1. Press [HOLD] on the programming pendant.
The lamp on [HOLD] lights up while [HOLD] is held down.
The robot stops temporarily.
•
Enable
1. Press [START] on the programming pendant.
The robot continues its movement at the position at which it was stopped.
5.3.1.2
•
Using an external input signal (system input)
HOLD
1. Switch the HOLD signal on via an external input (system input).
The robot is stopped temporarily.
External holding
The output signal HOLD turns ON.
The programming pendant [HOLD] lamp lights up.
•
Release
1. Turn off the hold signal from an external input (system input).
The HOLD signal is released.
2. Press [START] or switch on the external input signal (system input).
The robot continues its movement at the position at which it was stopped.
5 - 239
Playback
5.3.2
EMERGENCY STOP
In case of an EMERGENCY STOP, the servo power supply of the robot is switched off and
the robot is stopped immediately. An EMERGENCY STOP can take place in the following
manner:
–
Programming pendant
–
External input signal (system input)
•
EMERGENCY STOP on the programming pendant
1. Press the EMERGENCY STOP button.
The servo power is switched off, and the robot is immediately stopped.
Use of the EMERGENCY STOP button on the programming pendant:
Robot stops by P.P. emergency stop
Use of an external input signal (system input):
Robot stops by external emergency stop
•
Release
1. Move the cursor in the direction of the arrow.
2. Press [SERVO ON READY] and the enable switch on the programming pendant in
order to switch on the SERVO power again.
CAUTION!
Restart after an EMERGENCY STOP
 Before a restart after an EMERGENCY STOP, check the position for the next movement
and make sure that the robot cannot collide with the workpiece or clamp.
 An EMERGENCY STOP during high-speed movements in continuous steps can lead
to the robot being stopped two or three steps before the displayed step. Under these
conditions, there is a risk that the robot will collide with the workpiece or clamp when
restarted.
5.3.3
Stop by alarm
If an alarm is triggered during operation, the robot stops immediately. The ALARM window
appears on the programming pendant and indicates that the machine was stopped due to
an alarm.
If more than one alarm is triggered at once, all alarm messages can be displayed in the
window. Move down through the display area of the window.
5 - 240
Playback
In the alarm status, the following functions are available:
•
Window change
•
Mode change
•
Alarm reset
•
EMERGENCY STOP
In case of changes in the ALARM window, select {SYSTEM INFO} → {ALARM HISTORY}
in the main menu to call the window again.
•
Releasing alarms
<Minor Alarms>
1. Press [SELECT].
2. Select RESET in the ALARM window to enable the alarm status.
In case of an external input signal (system input), activate the ALARM RESET setting.
<Main Alarms>
In case of a major alarm, such as a hardware fault, the SERVO power of the robot is
switched off automatically and the robot is stopped. If an enable does not help, switch the
power supply OFF and perform the following steps:
1. Switch the power supply OFF.
2. Remedy the cause of the alarm.
5 - 241
Playback
5.3.4
Others
5.3.4.1
Temporary stop by mode change
If the PLAY mode is switched to TEACH mode during playback , the robot is stopped
immediately.
!Stopped by switching mode
To start the movement again, switch back to PLAY mode and restart.
5.3.4.2
Temporary stop by PAUSE instruction
During the execution of a PAUSE instruction, the robot is stopped.
!Robot stops by execution PAUSE command
To restart the operation, perform a start operation. The robot restarts from the next
instruction.
5.4
Modifying play speed
5.4.1
Speed override
Speed modifications using the speed override have the following features:
•
•
Speed can be modified during playback.
The JOB can be played back at various speeds until the play speed is properly
adjusted.
Speed can be increased or decreased by a ratio of the current play speed.
The ratio settings range from 10 % to 150 % in increments of 1 %.
This is convenient when, for example, all play speed settings are to be increased by
150 % at the same time.
The motion path of the manipulator's control point for playback operation in the teaching
speed (speed override: 100%) can also be operated and reproduced at a speed override
less than 100%.
To enable the control described above, select {SETUP} → {TEACHING CONDITION
SETTING}, and then set "TEST RUN CONTROL" to "HIGH ACCURACY" (Refer to chapter
4.8.2.1 "Setting method").
The operation flow is shown below:
5 - 242
Playback
Start speed override
Call JOB to perform speed override
Set speed override
(Speed dada mofify: OFF, specify the ratio)
Changes experimentally,
without modifying
registered speed
Start playback
Adjust the ratio during playback if needed
(1cycle completed)
YES
Reset and playback?
NO
NO
Modify?
YES
Call JOB to perform speed override
Set speed override
(Speed data modify: ON, specify the ratio)
Modifies play speed
Start playback
Modify play speed simultaneously
(1cycle completed)
End
5 - 243
Playback
5.4.1.1
Setting speed override
To set speed overrides, perform the following steps:
1. Select {UTILITY} in the menu area of the PLAYBACK window.
2. Select {SPEED OVERRIDE}.
The PLAYBACK window shows the speed override status in the SPEED
ADJUSTMENT input line.
3. Move the cursor to SPEED ADJUSTMENT → MODIFY and press [SELECT] to change
the status.
Each time [SELECT] is pressed, ON and OFF alternate.
Selecting ON changes the registered PLAY speed during playback.
Selecting OFF changes the play speed temporarily (for example, to experiment with
various speeds). When OFF is selected, the registered play speed is not modified.
5 - 244
Playback
4. Select ON.
Speed override is enabled.
The menu entry changes to {*SPEED OVERRIDE}.
5 - 245
Playback
5.4.1.2
Modifying the speed override percentage
Note:
•
•
Set the mode selection switch to PLAY.
This operation can be performed during playback.
To modify the speed override percentage, perform the following steps:
1. Select SPEED ADJUSTMENT.
2. Move the cursor to the RATIO edit box.
3. Modify the override ratio in one of the following ways:
a) To modify incrementally press [SHIFT] + cursor key.
The value is increased or decreased by 1 % increments.
b) To enter the percentage value directly, press [SELECT].
Enter the value by using the numeric keys.
4. Press [ENTER].
Speed override ratio is set.
5 - 246
Playback
5.4.1.3
Modifying play speed
1. Set speed override.
2. Playback the robot.
The play speed is increased or decreased in the set ratio.
When setting MODIFY to ON, the step’s play speed is modified when each step is
reached.
When one cycle is completed by the END instruction, the speed override setting is
canceled.
Note:
•
•
•
•
Assuming that the robot moves from step 1 to step 2. In this case, the play speed of
step 2 is not modified if the speed override is canceled before reaching step 2.
The play speed after the modification by the speed override is limited by the maximum
and the minimum speed of robot.
When the safety speed operation is commanded with the setting of MODIFY ON, the
robot operates at the safety speed. However, the play speed in memory is modified as
set by the speed override.
PLAY speed set by the SPEED instruction is not modified.
5.4.1.4
Canceling speed override settings
1. Select {UTILITY} → {*SPEED OVERRIDE} in the menu area of the PLAYBACK window.
The setting of the speed override ratio is canceled. The SPEED ADJUSTMENT input
buffer line is not displayed.
The menu entry changes to {SPEED OVERRIDE}.
5 - 247
Playback
Note:
The speed override settings are automatically canceled in the following cases:
•
•
•
•
•
5 - 248
When dry-run speed operation is set.
When the mode is changed to any mode other than the PLAY MODE.
When an alarm occurs.
When one cycle operation is completed with the END instruction.
When the power supply is turned OFF.
Playback
5.4.2
Specification for speed override in AUTO cycle operation
5.4.2.1
Functional overview
This specification allows the robot to temporarily change its operation speed during
playback.
The operation speed is specified by setting the Speed Override percentage (1 to 100 % in
increments of 1 %) for the operation speed (play speed) specified in the current JOB.
This function also enables an automatic setting of the Speed Override function when
changing modes from TEACH to PLAY.
Speed Override function can be performed with this specification by setting the parameter
S2C701.
5.4.2.2
Setting the speed override function
1. Set the mode selection switch to PLAY.
2. Select {JOB} in the main menu and press {JOB}.
The PLAYBACK window appears.
5 - 249
Playback
3. Select {UTILITY} → {SPEED OVERRIDE} in the menu area.
The SPEED ADJUSTMENT input buffer line appears.
For additional information refer to chapter 5.4.1.1 "Setting speed override".
4. Set the override ratio incrementally by using the cursor keys or enter the value directly.
For additional information refer to chapter 5.4.1.2 "Modifying the speed override
percentage".
5. Press [ENTER].
The setting is completed.
5.4.2.3
Performing the speed override function
1. Set the mode selection switch to PLAY.
2. Press [START]
Speed Override is executed.
The robot moves in the specified speed percentage.
5.4.2.4
Modifying the speed override percentage
Note:
• This operation can be performed during playback.
5 - 250
Playback
1. Set the mode selection switch to PLAY.
2. Set the override ratio incrementally by using the cursor keys or enter the value directly.
For additional information refer to chapter 5.4.1.2 "Modifying the speed override
percentage".
3. Press [ENTER] to confirm.
The robot moves in the specified speed.
5.4.2.5
Disabling the speed override function
1. Select {UTILITY} → {*SPEED OVERRIDE} on the menu area of the PLAYBACK
window.
The Speed Override function is disabled.
For additional information refer to chapter 5.4.1.4 "Canceling speed override settings".
5 - 251
Playback
5.4.2.6
Enabling an automatic setting of speed override
Note:
The function is enabled by setting the parameter S2C702.
This function allows speed override to be automatically set when the OPERATION MODE
is changed from TEACH to PLAY. The percentage corresponds to the manual speed
selected during the TEACH MODE.
Manual speed
Applicable percentage
Inching
Maximum JOG operation link speed x S1CxG045
Low
Maximum JOG operation link speed x S1CxG045
Medium
Maximum JOG operation link speed x S1CxG046
High
Maximum JOG operation link speed x S1CxG047
5.4.2.7
Manual speed in the TEACH MODE
Note:
The function is enabled by setting the parameter S2C699.
The manual speed (inching, low, medium, and high) in the TEACH MODE is changed by
pressing [MANUAL SPEED] on the programming pendant.
The manual speed is automatically set to LOW when:
5 - 252
•
Changing modes from PLAY to TEACH.
•
Changing coordinate system in the TEACH MODE.
•
Turning OFF the SERVO power in the TEACH MODE.
Playback
5.4.2.8
Parameter
Parameter
Description
Details
Setting
value
S2C699
Automatic change of
manual speed to
LOW
Automatically sets the manual speed to
LOW.
0
D0
D7
4
S2C701
3
2
1
1
The mode is changed to TEACH: 1
(Enable).
2
The operation coordinates are
changed: 4 (Enable).
3
The SERVO is turned OFF: 8 (Enable)
4
Speed fixed at LOW: 16 (Enable)
Speed Override set- Specifies the usage of Speed Override. 0
ting
0: Disables continuous cycle operation;
Enables speed modification (standard
specification).
1: Enables the Continuous Cycle operation; Disables speed modification.
S2C702
Automatic Speed
Override Setting 1 in
mode change
(When S2C701 = 1)
Specifies whether to automatically set
Speed Override when the mode is
changed to PLAY.
0 to 1
0: Disables Speed Override.
1: Sets the percentage corresponding to
the manual speed.
S2C709
Automatic Speed
Override Setting 2 in
mode change
(When S2C701 = 1)
Specifies whether to automatically set
Speed Override when the mode is
changed to PLAY.
0 to 1
0: Disables Speed Override.
1: Sets the percentage applied last time.
5 - 253
Playback
5.4.3
Specification for speed override with input signals
5.4.3.1
Functional overview
This specification allows the robot to temporarily change its operation speed during
playback using the external input signals.
The operation speed is specified by setting the speed override percentage (1 to 255 % in
increments of 1 %) for the operation speed (PLAY speed) specified in the current JOB.
2
3
4
1
5
6
7
1
Maximum PLAY speed
2
Speed
3
PLAY speed
4
Maximum override speed
5
Override speed percentage 1 to 255 %
6
Minimum override speed
7
Step
Note:
•
•
•
5 - 254
The speed override function can be continued in the auto cycle operation.
The PLAY speed data of the JOB will not be modified.
The maximum and minimum robot speeds limit the PLAY speed modified by speed
override.
Playback
5.4.3.2
Performing the speed override function
Note:
• Refer to chapter 5.4.3.4 "Parameters" when performing speed override with this
specification.
1. Set the mode selection switch to PLAY.
2. Playback a JOB.
3. Input the external signals for speed override.
The message "Over-riding speed" and the speed override percentage appears on the
screen.
4. Speed override is executed.
The robot moves in the specified speed.
5.4.3.3
Disabling the speed override function
Speed override is disabled when:
•
External signals are OFF.
•
Changing modes from PLAY to TEACH.
5 - 255
Playback
5.4.3.4
Parameters
Parameter
Description
Details
S2C701
Speed override setting
Specifies the usage of Speed override.
Setting
value
*To enable Speed override with external
signals, set "1" for the setting value.
0: Disables the continuous cycle opera- 1
tion; Enables speed modification (standard spec).
1: Enables the continuous cycle operation; Disables speed modification.
S4C287
5 - 256
Universal input
group number setting (signals 1 to 8)
Specifies the signals to be used.
S4C288
Speed percentage
(%) Signal 1
Specifies the speed percentage by the
Universal Input signals set in S4C287.
S4C289
Speed percentage
(%) Signal 2
Priority: Signal 1 > Signal 8
S4C290
Speed percentage
(%) Signal 3
S4C291
Speed percentage
(%) Signal 4
S4C292
Speed percentage
(%) Signal 5
S4C293
Speed percentage
(%) Signal 6
S4C294
Speed percentage
(%) Signal 7
S4C295
Speed percentage
(%) Signal 8
Eight universal Input points correspond
to the signals 1 to 8 of S4C288 to
S4C295.
If S4C288 to S4C295 are all "0", the input status 1 to 255 of the universal Input
signals (8 points) will be applied to the
speed percentage.
1 to 512
0 to 255
Playback
The speed override percentage can be specified with the parameters (S4C288 to S4C295)
in two ways as follows:
Setting a speed percentage with respect to each signal
•
Specify the speed percentage 1 to 255 in the parameters (S4C288 to S4C295). As to
the speed percentage for unused signals, set "0": Speed override will not take effect
even when the external signals are input.
•
The signal priority is: "Signal 1 > Signal 8". For example, when the signals 1 to 3 are
input simultaneously, Speed override will be performed applying the speed percentage
of signal 1.
Using eight points of external signals as the speed percentage data
•
Set "0" for all the parameters (S4C288 to S4C295).
•
Speed override will be performed applying the input status of signals 1 to 255 as the
speed percentage. For example, when the signals 5 and 7 are input simultaneously,
speed override will be performed applying 80% of the speed percentage.
Note:
When this function is enabled, speed override cannot be operated with a programming
pendant.
5.4.4
Speed Override Setting Screen
The current settings can be confirmed and changed in the SPEED OVERRIDE SETTING
window.
This function can be used starting from YAS4.00-00.
1. Select {SETUP} under {Main Menu}.
2. Select {SPEED OVERRIDE SETTING}.
The SPEED OVERRIDE SETTING window appears.
Supplement:
Settings can be changed only when in TEACH MODE and security is in MANAGEMENT
MODE or higher.
In the speed override setting window, the target items that can be confirmed and changed
vary depending on the setting method for speed override.
When {SETTING METHOD} is set to {PLAYBACK}, operation is performed as described in
chapter 5.4.1 "Speed override" and chapter 5.4.2 "Specification for speed override in AUTO
cycle operation".
When set to {I/O}, operation is performed as described in chapter 5.4.3 "Specification for
speed override with input signals". Also, the parameters are set as shown in the following
table.
Setting
Parameter value
S2C701
S4C287
Playback
No change
0
I/O
1
1
5 - 257
Playback
 When using SETTING METHOD: PLAYBACK
SPEED OVERRITE SETTING
SETTING METHOD
PLAYBACK
PLAYBACK
INVALID
CONTINUOUS CYCLE OPERATION
INVALID
AUTOMATIC SETTING
100%
INITIAL SPEED RATIO
IO
IG# 0
GP.INPUT
GROUP
SPEED SETTING
0 %
SPEED RATIO
0 %
SPEED RATIO
0 %
SPEED RATIO
0 %
SPEED RATIO
0 %
SPEED RATIO
0 %
SPEED RATIO
0 %
SPEED RATIO
Available settings
Unavailable settings
A. Continuous Cycle Operation
Specify how the speed override will be used.
When set to ”INVALID”, operation is performed as described in chapter 5.4.1 "Speed
override".
When set to ”VALID”, operation is performed as described in chapter 5.4.2 "Specification
for speed override in AUTO cycle operation".
Setting
Parameter value
S2C701
INVALID
0
VALID
1
B. Automatic Setting
When set to “VALID”, the speed override is set automatically when changing the mode from
TEACH to PLAY. Also, {INITIAL SPEED RATIO} (shown as C) is set to “HOLD”.
Setting
Parameter value
S2C702
S2C709
INVALID
0
0
VALID
0
1
C. Initial Speed Ratio
The initial speed ratio can be set when the override function is set.
When set to “HOLD”, the ratio that was set previously is used. If the power is turned off, the
initial speed ratio is reset to 100%.
For details on manual speed, see chapter 5.4.2.6 "Enabling an automatic setting of speed
override".
When continuous cycle operation is set to “INVALID”, the ratio is always 100%.
Setting
5 - 258
Parameter value
S2C702
S2C709
HOLD
0
1
MANUAL SPEED
1
0
Playback
 When using SETTING METHOD: I/O
SPEED OVERRITE SETTING
SETTING METHOD
I/O
PLAYBACK
VALID
CONTINUOUS CYCLE OPERATION
INVALID
AUTOMATIC SETTING
100%
INITIAL SPEED RATIO
IO
IG# 1
GP.INPUT
GROUP
SPEED SETTING
0 %
SPEED RATIO IN#0001
0 %
SPEED RATIO IN#0002
0 %
SPEED RATIO IN#0003
0 %
SPEED RATIO IN#0004
0 %
SPEED RATIO IN#0005
0 %
SPEED RATIO IN#0006
0 %
SPEED RATIO IN#0007
Unavailable settings
Available settings
A. GP Input
Set the signal group that will be used.
For details, see chapter 5.4.3.4 "Parameters".
Parameter
Setting value
S4C287
1 to 512
When the setting method is changed from {PLAYBACK} to {I/O}, the specified input group
number is changed to “1”. When it is changed from {I/O} to {PLAYBACK}, the number is
changed to “0”.
B. Speed Setting
This shows how to set the override speed ratio using I/O. The speed selection method
based on the setting for {SPEED RATIO}(shown as C) is displayed.
{BIT}: Used by setting the speed ratio for each signal.
{GROUP}: Used by setting the speed ratio data for 8 signals. For details, see chapter
5.4.3.4 "Parameters".
Parameter
Setting value
S4C288 to S4C295
0 to 255
5 - 259
Playback
5.5
Playback with reserved start
5.5.1
Preparing the reserved start
In the case of the reserved start function, the JOBs registered at the various stations are
listed in reserved order at the stations using the [START] buttons.
1
Station 1 (JOB 1 registered)
2
Station 2 (JOB 2 registered)
3
Station 3 (JOB 3 registered)
3
1
2
If three stations are processing three different workpieces, for example, (see the figure
above), the JOBs are registered as follows:
•
JOB 1 is registered for processing workpiece 1 in station 1.
•
JOB 2 is registered for processing workpiece 2 in station 2.
•
JOB 3 is registered for processing workpiece 3 in station 3.
To execute the JOBs, prepare workpiece 1 and press that [START] button at station 1. The
robot performs JOB 1.
Prepare workpieces 2 and 3 whilst JOB 1 is being performed and press the [START] buttons
of stations 2 and 3.
Even if JOB 1 is in progress, the JOBs at the various stations are reserved in the order in
which the [START] buttons have been pressed. They also will be executed in this order.
5 - 260
Playback
During playback, the reservation status can be checked in the RESERVATION STATUS
window.
A
B
A. STATUS
The reservation status is displayed.
STARTING: Displays the station that is currently running.
STOP: Displays the station at which the processing has been temporarily cancelled by
PRESSING the [HOLD] button.
RESERVE1, RESERVE2, etc.: Displays the order in which the JOBs have been reserved
for the start.
B. START IN
The input signal status is displayed.
● Input signal ON
○ Input signal OFF
5 - 261
Playback
5.5.1.1
Enabling the reserved status
The [START] button of the station is activated when the RESERVED START function was
enabled. The following start command can not be executed:
•
[START] on the programming pendant
•
Use of an external input signal (system input)
NOTICE
The OPERATING CONDITION window is only displayed in MANAGEMENT MODE.
1. Select {SETUP} in the main menu.
2. Select {OPERATE COND}.
The OPERATING CONDITION window appears.
The cursor moves up/down on the screen when it is at the top/bottom of the elements.
3. Select RESERVED STARTand press [SELECT].
Each time you press [SELECT], the display alternates between PERMIT and
PROHIBIT.
4. Select PERMIT.
NOTICE
When the reserved start is enabled, an external start and start via the programming pendant
are blocked, even if PERMIT is set.
Independently of the selected operating cycle, the reserved start is automatically set to
1CYCLE.
5 - 262
Playback
5.5.1.2
Registering the I/O signal for the reserved start
Registering the I/O signal for the reserved start within the scope of the preparations for the
start of the station.
NOTICE
This step can only be executed under the following conditions:
 The TEACH mode is set.
 The SECURITY MODE is set to MANAGEMENT MODE.
 The setting for RESERVED START JOB CHANGE is set to PERMIT in the
OPERATING CONDITION window.
1. Select {SETUP} in the main menu.
2. Select {RES. START(CNCT)}.
The RESERVED START (CNCT) window appears.
3. Select START IN or START OUT for each station by pressing [SELECT].
The input buffer line appears.
5 - 263
Playback
4. Specify the signal number and press [ENTER].
The input/output signal number is registered.
5.5.1.3
Registering JOBs at stations
Registering a start JOB for each station.
NOTICE
This step can only be executed under the following conditions:
 The TEACH mode is set.
 The setting for RESERVED START JOB CHANGE is set to PERMIT in the
OPERATING CONDITION window.
1. Select {JOB} in the main menu.
2. Select {RES. START(JOB)}.
The RESERVED START (JOB) window appears.
● Indicates that the input/output number is registered.
○ Indicates that the input/output number is not registered.
5 - 264
Playback
3. Move the cursor to the JOB name for the desired station.
The selection dialogue box appears.
4. Select SETTING START JOB.
The JOB LIST window appears.
5. Select a JOB.
The start JOB is registered.
5 - 265
Playback
5.5.1.4
Deleting start JOBs from stations
Deleting registered start JOBs for each station.
NOTICE
This step can only be executed under the following conditions:
 The TEACH mode is set.
 The setting for RESERVED START JOB CHANGE is set to PERMIT in the
OPERATING CONDITION window.
1. Select {JOB} in the main menu.
2. Select {RES. START(JOB)}.
The RESERVED START (JOB) window appears.
3. Select the start JOB name of the station to be deleted.
The selection dialog box appears.
4. Select CANCEL START JOB.
The registered start JOB is deleted.
5 - 266
Playback
5.5.2
Playback of reserved start
NOTICE
 While the JOB is being executed, the [START] button lamp on the station lamps.
 If the workpiece must be prepared at the station, prepare it before pressing the [START]
button.
 During the execution of a JOB for one station, if the [START] button of another station
is pressed, the JOB of the latter station is reserved and prepared to start. JOBs are
reserved and executed in the order that the [START] buttons have been pressed.
 When a JOB is reserved, the [START] button lamp on the station blinks.
 No station JOB is reserved when it is being executed even if its [START] button is
pressed.
 Performing the HOLD operation suspends a JOB from being executed.
5.5.2.1
Starting operation
1. Move the mode switch to PLAY.
2. Press the [START] button on the station.
The JOB registered for the station is started and the robot performs the programmed
JOB.
NOTICE
Reservations are canceled when the [START] button is pressed again during the JOB
reservation operation.
5 - 267
Playback
5.5.2.2
Checking the JOB reservation status
The JOB reservation status can be checked during playback.
1. Select {JOB} in the main menu.
2. Select {RES. STATUS}.
The RESERVATION STATUS window appears.
5 - 268
Playback
5.5.2.3
Resetting the JOB reservation
NOTICE
When STARTING appears, the JOB cannot be reset.
1. Select {JOB} in the RESERVATION STATUS window.
2. Reset the JOB reservation by one of the following methods:
a) Select {RESET RESERVATION}.
The JOB reservation is reset with a status of RESERVE.
b) Select {RESET ALL}.
The JOB reservation is reset with a status of STOP and RESERVE.
The confirmation dialog box appears.
3. Select YES.
NOTICE
All JOB reservations are automatically reset under the following conditions:
 If the reserved stop is set to PROHIBIT (if RESERVED START is set to PROHIBIT in
the OPERATING CONDITION window).
 If another JOB is called or the HOLD function is performed.
5 - 269
Playback
5.5.3
HOLD operation
The HOLD function stops all movements of the robot. You can execute the HOLD function
with the following keys or by signal:
•
[HOLD] on the programming pendant
•
External input signal (system input)
•
[HOLD] button for station axis
NOTICE
During the HOLD operation, the lamp on the [START] button turns OFF.
5.5.3.1
•
[HOLD] on the programming pendant
Hold
1. Press [HOLD] on the programming pendant.
The robot is stopped temporarily.
The [HOLD] lamp lights while the [HOLD] button is held down.
•
Release
1. Press the [START] button on the stopped station.
The robot continues its movement at the position at which it was stopped.
5.5.3.2
•
HOLD by external input signal (system input)
Hold
1. Input ON signal to the external input (system input) specified for the HOLD operation.
The robot is stopped temporarily.
External holding
The [HOLD] lamp for the external output signal lights.
The [HOLD] lamp on the programming pendant lights and the [START] lamp turns OFF.
•
Release
1. Input OFF signal to the external input (system input) specified for the HOLD operation.
HOLD is released.
2. Press the [START] button on the suspended station.
The robot restarts its operation from the position where it was stopped.
5 - 270
Playback
5.5.3.3
•
HOLD at the station
Hold
1. Press the [HOLD] button on the station.
The robot is stopped temporarily.
External holding
•
Release
1. Press the [HOLD] button on the stopped station again.
HOLD is released.
2. Press the [START] button on the station.
The robot restarts its operation from the position where it was stopped.
NOTICE
If you press the [START] button on the station at which the HOLD function was not
triggered, the robot will not restart. The JOB registered for the station is reserved or the
reservation, if already executed, will be canceled.
5.6
Displaying JOB stack
During the execution of the programmed JOBs combined with CALL or JUMP instructions,
the JOB stack can be displayed. This allows you to check where the current JOB is at the
moment and how many JOBs still have to be executed.
Stack Level 3
Stack Level 2
Stack Level 1
Stack Level 4
Job call
Job A
Job call
Job B
Job call
Job C
Return
Return
Job D
Job call
Return
NOTICE
JOBs can be called for up to 12 stack levels.
1. Select {DISPLAY} on the menu area of the PLAYBACK window.
5 - 271
Playback
2. Select {JOB STACK}.
In the example, the playback of JOB C is executed, and JOB C is called by JOB B. JOB
B is called by JOB A.
The status window for the JOB stack appears.
3. Select {DISPLAY} → {JOB STACK} in the menu again to close the status window for
the JOB stack,
NOTICE
If any of the following operations are performed, the job stack is canceled.
 Creating a new JOB.
 Calling the master JOB.
 Selecting JOBs.
 Copying and renaming JOBs.
 JOB conversion (relative job conversion, parallel shift JOB conversion, mirror shift JOB
conversion).
 Editing the JOB header window (change of axis operation control group, change the
coordinate display).
 Displaying JOBs by operating the direct open function.
 The operation of UNDO and REDO.
 Four point teaching.
 Executing TRT.
5 - 272
Editing JOB's
6
Editing JOB's
This section explains how the JOBs are managed without the robot moving. JOBs can only
be copied, deleted, and edited in TEACH mode. Other commands can be executed in any
other mode.
NOTICE
 JOBs cannot be edited if the editing lock is set.
See chapter 4 "Teaching" for basic information on editing move instructions..
It is not possible to add, delete, or modify move instructions which have position data. For
additional information, refer to chapter 4.4 "Modifying steps".
The following MOV instruction edit operations are explained in this section:
For movement instructions:
•
Insertion, deletion and modification of additional items
•
Changing of the interpolation type or the PLAY speed for movement instructions
•
Setting, modification or deletion of UNTIL instructions (interruption conditions based on
input signals)
•
Setting and deletion of NWAIT instructions
For movement instructions that use position variables:
•
Insertion and deletion of movement instructions
For additional information on character input, refer to chapter 2.2.6 "Character input
operation" on page 48.
6 - 273
Editing JOB's
6.1
Copying JOBs
This operation is used to copy registered JOBs and use them to create new JOBs. To copy
JOBs, open either the JOB CONTENT or the JOB LIST window.
6.1.1
Copying JOBs in the JOB CONTENT window
The current editing JOB becomes the source JOB for copying in the JOB CONTENT
window.
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
3. Select {JOB} → {COPY JOB} in the pull-down menu.
The alphanumeric input window appears.
4. Input the new JOB name.
The name of the source JOB is displayed in the text box. Part of the name can be
changed in order to create a new name.
6 - 274
Editing JOB's
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The JOB is copied and the new JOB is displayed.
If NO is selected, the operation is canceled.
6 - 275
Editing JOB's
6.1.2
Copying JOBs in the JOB LIST window
In the JOB LIST window, the source JOB can be selected from the registered JOBs and
the destination folder can be specified.
1. Select {JOB} → {SELECT JOB} in the main menu.
The JOB LIST window appears.
2. Move the cursor to the copy source JOB.
3. Select {JOB} → {COPY JOB} in the pull-down menu.
The alphanumeric input window appears.
4. Enter the new JOB name.
The name of the source JOB is displayed in the text box. Part of the name can be
changed in order to create a new name.
5. Press [ENTER].
The confirmation dialog box appears.
6 - 276
Editing JOB's
6. Select YES.
The JOB is copied and the new JOB is displayed.
If NO is selected, the operation is canceled.
6.2
Deleting JOBs
This function is used to delete registered JOBs. To delete JOBs, open either the JOB
CONTENT or the JOB LIST window.
6.2.1
Deleting JOBs in the JOB CONTENT window
The current editing JOB is deleted in the JOB CONTENT window.
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
3. Select {JOB} → {DELETE JOB} in the pull-down menu.
The confirmation dialogue box appears.
4. Select YES.
The editing JOB is deleted.
If NO is selected, the deletion is canceled.
After deletion is completed, the {JOB LIST} window appears.
6 - 277
Editing JOB's
6.2.2
Deleting JOBs in the JOB LIST window
A registered JOB is deleted from the list of registered JOBs in the JOB LIST window.
1. Select {JOB} → {SELECT JOB} in the main menu.
The JOB LIST window appears.
2. Position the cursor on the JOB you want to delete.
3. Select {JOB} → {DELETE JOB} in the pull-down menu.
The confirmation dialog box appears.
4. Select YES.
The selected JOB is deleted.
If NO or [CANCEL] is selected, the deletion is canceled and the JOB LIST window
appears.
After deletion is completed, the JOB LIST window appears.
6 - 278
Editing JOB's
6.3
Modifying JOB name
This function is used to change the name of a registered JOB. To delete the names of
registered JOBs, open either the JOB CONTENT or the JOB LIST window.
6.3.1
Modifying JOB names in the JOB CONTENT window
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
3. Select {JOB} → {RENAME JOB} in the pull-down menu.
The alphanumeric input window appears.
4. Enter the new JOB name.
The name of the source JOB is displayed in the text box. Part of the name can be
changed in order to create a new name.
6 - 279
Editing JOB's
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES
The JOB name is changed and the new JOB name is displayed.
If NO is selected, the operation is canceled.
6 - 280
Editing JOB's
6.3.2
Modifying JOB names in the JOB LIST window
In the JOB LIST window, the JOB to rename can be selected from the list of registered
JOBs.
1. Select {JOB} → {SELECT JOB} in the main menu.
The JOB LIST window appears.
2. Move the cursor to the JOB you want to rename.
3. Select {JOB} → {RENAME JOB} in the pull-down menu.
The alphanumeric input window appears.
4. Enter the new JOB name.
The name of the source JOB is displayed in the text box.
Part of the name can be changed in order to create a new name.
5. Press [ENTER].
The confirmation dialog box appears.
The JOB name is changed and the new JOB name is displayed.
If NO is selected, the operation is canceled.
6 - 281
Editing JOB's
6.4
Editing comments
To identify each JOB more clearly, up to 32 characters can be added to every JOB
comment. The comments are displayed and edited in the JOB HEADER window.
1. Select {JOB} in the main menu.
2. Select {JOB}.
3. Select {DISPLAY} in the pull-down menu.
4. Select {JOB HEADER}.
The JOB HEADER window appears.
5. Select COMMENT.
The input window appears.
6. Enter your comments.
Comments about JOBs that are already registered are displayed in the text box. Part of
the comments can be edited in order to create new comments.
7. Press [ENTER].
The comment is registered and displayed in the COMMENT area of the JOB HEADER
window.
6 - 282
Editing JOB's
6.5
JOB folder function
This function allows the JOBs in every folder to be classified.
The JOBs can be classified and displayed, which improves visibility.
Up to 100 folders can be registered for this function (including NONE (no folders)).
NONE contains JOBs that are not registered in folders.
NONE cannot be renamed.
The folder name can have up to 32 one-byte characters.
6.5.1
Displaying JOBs by folders
6.5.1.1
Operation for displaying JOBs by folders
To display JOBs by folders, perform the following steps:
1. Open the JOB LIST window.
2. Select {DISPLAY} → {FOLDER} in the pull-down menu.
The folder name is displayed on top of the JOBs..
3. To hide the JOBs registered in a folder, move the cursor to the folder name and press
[SELECT].
6 - 283
Editing JOB's
NOTICE
 Folders without JOBs are not displayed in the JOB LIST window.
 If you move the cursor to the folder name when the JOB details are displayed, all
information is displayed as asterisks (*).
6.5.1.2
Operation for canceling displaying JOBs by folders
To cancel displaying JOBs by folders, perform out the following steps:
1. Open the JOB LIST window.
2. Select {DISPLAY} → {*FOLDER} in the pull-down menu.
The folder name disappears, and only the JOB names are displayed.
6 - 284
Editing JOB's
6.5.2
Registering JOBs in folders
You can assign a JOB to the desired folder by creating a new JOB or by changing the folder
after creating a new JOB.
6.5.2.1
Registering JOBs in folders (by creating a new JOB)
To register a new JOB in a folder, perform the following steps:
1. Open the NEW JOB CREATE window.
2. Move the cursor to the folder name and press [SELECT].
The JOB FOLDER LIST window appears.
3. Move the cursor to the folder name and press [SELECT].
The name of the selected folder is displayed in the text box JOB FOLDER.
6 - 285
Editing JOB's
4. Press [ENTER].
A new JOB is created.
NOTICE
Before shipment, the folder name is set to NONE or FOLDER001 to 099.
6.5.2.2
Changing the folder registration of a JOB
The folder in which the created JOB is registered can be changed to a different folder.
•
Change the folder of a JOB
1. Open the JOB LIST window.
2. Move the cursor to the JOB whose registered folder you want to change.
3. Select {JOB} → {FOLDER CHANGE} in the pull-down menu.
The JOB FOLDER LIST window appears.
6 - 286
Editing JOB's
4. Move the cursor to the name of the folder into which the JOB is to be moved, and press
[SELECT].
This JOB is moved to the specified folder.
•
Change the folder for multiple JOBs
1. Open the JOB LIST window.
2. Move the cursor to the JOB whose registered folder you want to change.
3. Press [SHIFT] + [SELECT] to select the JOBs.
Select all JOBs you want to change.
4. Select {JOB} → {FOLDER CHANGE} in the pull-down menu.
The JOB FOLDER LIST window appears.
6 - 287
Editing JOB's
5. Move the cursor to the name of the folder into which the JOBs are to be moved and
press [SELECT].
The JOBs are moved to the specified folder.
NOTICE
When a JOB is loaded from an external storage medium, the folder name of the loaded JOB
is automatically registered under the following conditions:
•
The loaded JOB has a folder name.
•
This folder name is not yet registered in the robot controller.
The following requirements must be met:
Among the 99 folder names except for NONE, there should be a folder with the default
name containing all JOBs that are not registered.
If no folder meets this requirement,,the loaded JOB is registered to the folder NONE.
NOTICE
If the bilingual function is activated, the folder names can be registered in the first and
second language.
Example:
The following folder name can be set to FOLDER001:
First language: FOLDER 1
Second language: FOLDER-1
The folder name of a JOB loaded from an external storage medium is registered
automatically. The language of the folder name depends on the language loaded and used.
6 - 288
Editing JOB's
6.5.3
Changing folder names
6.5.3.1
Changing folder names in the JOB FOLDER LIST window
1. Open the JOB FOLDER LIST window.
2. Move the cursor to the folder name you want to change.
3. Select {DATA} → {RENAME (FOLDER)} in the menu area.
The alphanumeric input window appears.
4. Enter the new name of the folder.
The folder name is changed.
The folder name is changed for all JOBs registered in the folder.
6 - 289
Editing JOB's
6.5.3.2
Changing folder names in the JOB LIST window
1. Open the JOB LIST window and display the JOBs by folders.
2. Move the cursor to the folder name you want to change.
3. Select {JOB} → {RENAME (FOLDER)} in the menu area.
the alphanumeric input window appears.
4. Enter the new folder name.
The folder name is changed.
The folder name is changed for all JOBs registered in the folder.
6 - 290
Editing JOB's
6.5.4
Changing the order of the JOBs when displaying JOBs by folders
When the JOBs are displayed by folders, the order of the JOBs can be changed.
•
Display by names
1. Select {DISPLAY} → {NAME} in the menu area.
The JOBs are displayed in alphabetical order for each folder.
•
Display by dates
1. Select {DISPLAY} → {DATE} in the menu area.
The JOBs are displayed in chronological order for each folder.
6 - 291
Editing JOB's
6.6
Setting EDIT LOCK for individual JOB units
To avoid changes being made to the registered JOBs or dates inadvertently, an editing lock
can be set for each JOB.
A JOB protected with an editing lock cannot be edited or deleted.
The EDIT LOCK can be set or released in the JOB HEADER window.
NOTICE
The setting of the editing lock can only be changed if the SECURITY mode is set to the
MANAGEMENT mode or higher.
1. Select {JOB} in the main menu.
2. Select {JOB}.
3. Select {DISPLAY} in the pull-down menu.
4. Select {JOB HEADER}.
The JOB HEADER window appears.
JOB HEADER
JOB NAME.: TEST01
COMMENT
JOB FOLDER
DATE
CAPACITY
LINES / STEPS
EDIT LOCK
TO SAVE TO FD
GROUP SET
NONE
2019/11/05 11:55
74 BYTE
5 LINE/
3 STEP
OFF
NOT DONE
R1
5. Set the cursor on EDIT LOCK and press [SELECT].
Each time [SELECT] is pressed, the setting alternates between ON (editing lock
activated) and OFF (editing lock deactivated).
The editing lock is activated/deactivated.
6 - 292
Editing JOB's
6.7
Enabling the modification of position data only
The position data can be changed even for a JOB with an activated editing lock.
NOTICE
The TEACHING CONDITION SETTING window is only displayed if the SECURITY mode
is set to the EDITING mode or MANAGEMENT mode.
1. Select {SETUP} in the main menu.
2. Select {TEACHING CONDITION SETTING}.
The TEACHING CONDITION SETTING window appears.
3. Move the cursor to STEP ONLY CHANGING and press [SELECT].
Each time [SELECT] is pressed, the setting alternates between PROHIBIT and
PERMIT.
6 - 293
Convenient functions
7
Convenient functions
7.1
One-touch operation “Direct open”
7.1.1
Description of direct open function
The direct open function immediately calls the JOB CONTENT window or the condition file
of a JOB called by means of a CALL instruction.
Pressing the [DIRECT OPEN] key displays the contents of a file.
The direct open function can be used for the following windows:
•
The JOB CONTENT window for a JOB name specified directly by means of an CALL
instruction. Direct open can be executed repeatedly in the window openend by
[DIRECT OPEN].
•
The CONDITION FILE window for a file name specified directly by means of an editing
instruction.
•
The COMMAND POS window for a movement instruction.
•
I/O window with an I/O instruction (if the I/O numbers are defined).
To use the direct open function, perform the following steps:
1. Move the cursor to the name of the desired JOB or condition file.
2. Press the [DIRECT OPEN] key.
The lamp in the [DIRECT OPEN] key lights up or blinks.
The target window appears.
7 - 294
Convenient functions
Example for direct open:
7 - 295
Convenient functions
7.1.2
Direct open in the JOB CONTENT window
Open a JOB using [DIRECT OPEN]
1. Open the JOB CONTENT window.
2. Move the cursor to the JOB name.
3. Press [DIRECT OPEN].
The lamp on the [DIRECT OPEN] key blinks.
Another JOB CONTENT window appears.
4. Press [SHIFT] + [DIRECT OPEN] to return to the previous JOB CONTENT window.
The lamp in the [DIRECT OPEN] key turns OFF.
The previous JOB CONTENT window appears.
Open a condition file using [DIRECT OPEN]
1. Open the JOB CONTENT window.
2. Move the cursor to the name of the condition file.
3. Press [DIRECT OPEN].
The lamp on the [DIRECT OPEN] key lights up.
The CONDITION FILE window appears.
4. Press [DIRECT OPEN] again to return to the former JOB CONTENT window.
The lamp in the [DIRECT OPEN] key turns OFF.
The previous JOB CONTENT window appears.
NOTICE
 If another window is selected while the direct open function is effective, the function is
automatically canceled and the lamp on the direct open key turns off.
 Once another JOB CONTENT window is opened by the direct open function, the former
JOB cannot be continuously operated (it is stopped until the opened JOB CONTENT
window is closed).
7.1.3
Direct open in the JOB LIST window
1. Open the JOB LIST window.
2. Move the cursor to a JOB name.
3. Press [DIRECT OPEN].
The lamp on [DIRECT OPEN] lights up.
The JOB VIEW window appears.
4. Press [DIRECT OPEN] again to return to the JOB LIST window.
The lamp in the [DIRECT OPEN] key turns OFF.
The JOB LIST window appears.
NOTICE
In the JOB VIEW window, JOBs cannot be edited.
7 - 296
Convenient functions
7.2
Parallel shift function
7.2.1
Function overview
A parallel shift is the shifting of an object from a fixed position in which all points within this
object are shifted by the same distance.
In the model described below for the parallel shift, the shift value can be defined as the
distance L (three-dimensional coordinate shift).
The parallel shift function is important for the actual operation of the robot, since it reduces
the amount of work involved at TEACH-IN by shifting a taught travel path (or taught
position).
L
Example
The taught position A is shifted in increments of the distance L so that the JOB taught at
position A can also be executed at positions B to G.
This example is a three-dimensional XYZ shift, which can be recognized by the robot.
L
1
1
Teaching position A
7 - 297
Convenient functions
7.2.1.1
Parallel shift for steps
The block from the SFTON instruction to the SFTOF instruction is shifted.
Line (step)
Instruction
0000
NOP
0001 (001)
MOVJ VJ=50.00
0002 (002)
MOVL V=138
0003
SFTON P□□□UF#(1)
0004 (003)
MOVL V=138
0005 (004)
MOVL V=138
0006 (005)
MOVL V=138
0007
SFTOF
0008 (006)
MOVL V=138
1
2
3
Shifted block
4
5
SFTON
SFTOF
3
7.2.1.2
6
4
5
Parallel shift for JOBs
When an entire series of JOBs is shifted, the range to be shifted by means of the shift
instruction can be defined using the method described above. The method described
below, in which the part to be shifted becomes a new JOB, can also be used.
SFTON P □□□
CALL JOB: □□□ →
SFTOF ←
7 - 298
JOB for which the shift is executed.
Convenient functions
7.2.2
Setting shift values
7.2.2.1
Coordinate systems
The shift value for the parallel shift is the X, Y and Z increment in each coordinate.
There are four coordinate systems:
•
Base coordinate system
•
Robot coordinate system
•
Tool coordinate system
•
User coordinate system
NOTICE
Teaching line coordinates cannot be used
In systems without a servo track, the base coordinates and robot coordinates are the same.
1
Base coordinates
2
Robot coordinates
3
Tool coordinates
4
User coordinates
3
1
2
4
4
7 - 299
Convenient functions
7.2.2.2
Setting shift values
Use the current position (coordinates) of the robot in the window to set the shift value for
the position variables.
1
Teaching position
2
Position to be moved to (move the
robot using the programming pendant).
3
1
Shift values (differences.between the
values from (1) and (2)).
2
3
(a) Creating the shift data
The shift value is the XYZ difference between the shift position and the teach-in position and the difference in the angle shift RX, RY, and RZ (normally set to "0").
If the shift is carried out at the same pitch intervals (e.g. for palletizing), ascertain the
difference between the teach-in position and the final shift position. Then divide the
difference by the number of pitch intervals (number of divisions) to calculate the shift
value per pitch.
1
Teaching position
2
Final shift position
3
Number of pitches
L1
L2
L2=
L1
3
1
7 - 300
2
Convenient functions
(b) Creating the shift data
The posture of the joint is determined by the angle shift of the coordinates of the joint
axes. If the shift value is only specified with X, Y and Z (RX, RY, RZ=0), the joint is
shifted and remains in the same position as the teaching position. Since the shift is
generally carried out without a change of joint posture, an angle shift does not have
to be specified for the joint. In a parallel shift, the following movement is executed:
1
Teaching position
2
Shift without a change of
the joint posture
3
Shift with change of the
joint posture
4
2
(RX,RY,RZ=0)
1
(RX,RY,RZ0)
3
Shift value
4
The shift value is calculated in the position data window for the coordinates in which the shift
is executed. Since the calculation is generally carried out in the user coordinates, the
position data window is used for the user coordinates.
NOTICE
The shift amount of posture displacement (Rx, Ry, Rz) in the Cartesian coordinates is not
calculated by the difference of degrees between the components of posture at the shifted
position and the components of posture at the taught position.
To calculate the shift amount with the posture displacement values (Rx, Ry, Rz), use the
MSHIFT instruction described in chapter 7.2.3.3 "MSHIFT instruction".
7 - 301
Convenient functions
7.2.3
Registering shift instructions
To register shift instructions, carry out the following steps.
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
A
B
3. Move the cursor to the address area (A).
7.2.3.1
SFTON instruction
The parallel shift can be started using this function.
To start the parallel shift, perform the following steps:
1. Move the cursor to the line before the position at which the SFTON instruction is to be
registered.
0020
0021
0022
MOVL V=138
MOVL V=138
MOVL V=138
2. Press [INFORM LIST].
The dialog box for instruction groups appears.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SFTON
SHIFT
SFTOF
OTHER
MSHIFT
SAME
PRIOR
3. Select {SHIFT}.
4. Select the SFTON instruction.
The SFTON instruction is displayed in the input line.
7 - 302
Convenient functions
5. If necessary, change the additional items or numeric values.
•
a) If no changes are necessary, proceed to step 6.
b) To add or modify additional items, perform the following steps:
Change the position variables
Move the cursor to the number of the position variable and press [SHIFT] + cursor
key to increase or reduce the value.
SFTON P000
To enter the value directly using the numeric keys, press [SELECT].
The input buffer line appears.
P=
SFTON
•
Enter the numeric value and press [ENTER].
Add the coordinate system
Move the cursor to the instruction in the input line and press [SELECT].
SFTON P001
The DETAIL EDIT window appears.
Move the cursor to UNUSED and press [SELECT].
The selection dialog box appears.
Position the cursor on the coordinate system to be added, and press [SELECT].
Press [ENTER].
The DETAIL EDIT window is closed, and the JOB CONTENT window appears.
6. Press [INSERT] + [ENTER].
The instruction in the input line is registered.
0020
0021
0022
MOVL V=138
SFTON P001 BF
MOVL V=138
7 - 303
Convenient functions
7.2.3.2
SFTOF instruction
Parallel shift function can be ended using this function.
To end the parallel shift, perform the following steps:
1. Move the cursor to the line before the position at which the SFTOF instruction is to be
registered.
0006
0007
0008
MOVL V=138
DOUT OT#(1) ON
TIMER T=1.00
2. Press [INFORM LIST].
The dialog box for instruction groups appears.
3. Select {SHIFT}.
4. Select the SFTOF instruction.
The SFTOF instruction is displayed in the input line.
SFTOF
5. Press [INSERT] + [ENTER].
The SFTOF instruction is registered.
0030
0031
0032
7 - 304
MOVL V=138
SFTOF
MOVL V=138
Convenient functions
7.2.3.3
MSHIFT instruction
If you try to apply a parallel shift to the joint posture, it is possible in the following cases that
the robot is not shifted to the destination posture.
•
A posture shift (Rx, Ry, Rz) is executed based on a shift value specified by the user. If
a shift is calculated between two points by means of an INFORM instruction (ADD
instruction, SUB instruction, etc.) and a joint shift (Rx, Ry, Rz) is specified in the shift
value.
In these cases, the MSHIFT instruction can be used to calculate the optimum shift value for
a shift to the destination position and posture.
By means of an MSHIFT instruction, the shift value between the reference position and the
destination position (shift position) for a parallel shift is determined in the specified
coordinate system and set as the specified position variable.
To register MSHIFT instructions, perform the following steps:
1. Move the cursor to the line before the position at which the MSHIFT instruction is to be
registered.
0003
0004
0005
MOVJ VJ=10.00
GETS PX001 $PX000
END
2. Press [INFORM LIST].
The dialog box for instruction groups appears.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SFTON
SHIFT
SFTOF
OTHER
MSHIFT
SAME
PRIOR
3. Select {SHIFT}.
4. Select the MSHIFT instruction.
The MSHIFT instruction is displayed in the input line.
7 - 305
Convenient functions
5. If necessary, change the additional items or numeric values.
•
a) If no changes are necessary, proceed to step 6.
b) To add or modify additional items, perform the following steps:
Change the position variables
Move the cursor to the number of the position variable and press [SHIFT] + cursor
key to increase or reduce the value.
MSHIFT PX000 BF PX001 PX002
To enter the value directly using the numeric keys, press [SELECT].
The input buffer line appears.
PX =
MSHIFT
•
0 BF PX001 PX002
Enter the numeric value and press [ENTER].
Add the coordinate system
Move the cursor to the instruction in the input line and press [SELECT].
MSHIFT PX000 BF PX001 PX002
The DETAIL EDIT window appears.
Move the cursor to BF and press [SELECT].
The selection dialog box appears.
Position the cursor on the coordinate system to be added, and press [SELECT].
Press [ENTER].
The DETAIL EDIT window is closed, and the JOB CONTENT window appears.
6. Press [INSERT] + [ENTER].
The instruction in the input line is registered.
0003
0004
0005
7 - 306
MOVJ VJ=10.00
GETS PX001 $PX000
MSHIFT PX000 RF PX001 PX002
Convenient functions
7.2.4
Continuation of the parallel shift function
CAUTION!
Because no parallel shift is performed if the operation is restarted in the middle of the JOB,
the robot may interfere with the workpiece or fixture.
 If the parallel shift function is canceled because of JOB editing, etc. after the execution
of a parallel shift instruction, start up the JOB again from the beginning.
The shift function is canceled if you perform one of the following actions after executing a
parallel shift instruction:
•
Editing of a JOB (modification, deletion, addition).
•
Copying of JOBs.
•
Renaming of JOBs.
•
Registration of a new JOB.
•
Deletion of a JOB.
•
Modification of a selected JOB.
•
Restart after an alarm.
•
If the robot controller's power supply is switched off.
NOTICE
The parallel shift remains effective in the case of all other actions.
7 - 307
Convenient functions
7.2.5
Examples of usage
7.2.5.1
Example of the use of a shift addition/subtraction
Line
Instruction
0000
NOP
0001
SET B000 0
0002
SUB P000 P000
0003
*A
0004
MOVJ
Step 1
0005
MOVL
Step 2
0006
Grip the workpiece
0007
MOVL
Step 3
0008
MOVL
Step 4
0009
SFTON P000 UF#(1)
Shift start
0010
MOVL
Shift position step 5
0011
Release the workpiece
0012
SFTOF
Shift end
0013
ADD P000 P001
Add the shift value for the next step.
0014
MOVL
Step 6
0015
MOVL
Step 7
0016
INC B000
0017
JUMP *A IF B00<6
0018

Set the first shift value to zero.
SFTON P000
UF#(1)SFTOFSUB
P000 P001
Since the shift data remains saved, the
same data can be used to unload a workpiece (with a subtraction instead of an addition).

1
Workpiece
1,7 3
4,6
2
1
7 - 308
5
Convenient functions
7.2.5.2
Example of the use of an MSHIFT instruction
Line
Instruction
Explanation
0000
NOP
0001
MOVJ VJ=20.00
Move the robot to the reference position.
0002
GETS PX000 $PX000
Set the reference position as the position variable P000.
0003
MOVJ VJ=20.00
Move the robot to the reference position.
0004
GETS PX001 $PX000
Set the reference position as the position variable P001.
0005
MSHlFT PX010 BF PX000
PX001
Set the shift value and define it as the
position variable P010.
0006
END
7 - 309
Convenient functions
7.3
JOB conversion with the parallel shift function
If the robot and base positions are moved after the teach-in of a job, the whole JOB has to
be modified.
In this cases, the JOB conversion with the parallel shift function reduces the required time
because all the steps of the JOB are shifted by the same value to create a new JOB.
If you perform the JOB conversion with the parallel shift function, all JOB steps are shifted
by the same value.
NOTICE
Steps outside the maximum range of the P point:
•
"/OV" is displayed for steps in a position outside the maximum range of the robot's P
point. If the position is adjusted, "/OV" disappears.
Position variable:
•
Position variables are not subject to the JOB conversion with the parallel shift function.
JOB without conversion:
The following JOBs cannot be converted:
•
JOBs without group axes
•
Parallel JOBs (option)
NOTICE
You must save the JOB on an external storage medium or copy the JOB before
performing the conversion.
If a JOB name is not defined after conversion with parallel shift, the position data of the JOB
are shifted and converted. After the shift, the data are overwritten with the new position
data.
7 - 310
Convenient functions
7.3.1
Coordinate systems for conversion
In case of a JOB conversion with a parallel shift, the coordinate system in which the
conversion is carried out has to be specified.
The following coordinate systems can be used:
•
Base coordinate system
•
Robot coordinate system
•
Tool coordinate system
•
User coordinate system (64 types)
•
Master tool coordinate system (R*+R* JOB)
•
Pulse coordinate system
In the case of a normal JOB, for which the group axes are registered, the shift conversion
is carried out in accordance with the selected coordinate system. The connections between
the group combinations and coordinates are shown in the table below.
The corresponding explanations for 1 to 4 are provided after the table.
Group combination in
the JOB
R
Explanation
Coordinate system that can be used
The shift is carried out on the basis of the selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user coordinates, and pulse coordinates
R(B)
The shift is carried out on the basis of the selected coordinates.
1. Base coordinates The base axis is shifted by the specified
amount.
The robot's TCP is shifted by the specified
amount within the base coordinates.
2. Robot coordinates
The base axis is shifted by the specified
amount.
The robot's TCP is shifted by the specified
amount within the robot coordinates. These
shift movements are carried out independently of each other.
3. Tool coordinates
The base axis is shifted by the specified
amount.
The robot's TCP is shifted by the specified
amount within the tool coordinates. These
shift movements are carried out independently of each other.
4. User coordinates
The base axis is shifted by the specified
amount.
The robot's TCP is shifted by the specified
amount within the user coordinates.
5. Pulse coordinates
S
The taught position of each axis is shifted in
accordance with the value entered on the
basis of the pulse values.
The shift is carried out on the basis of the pulse values regardless of the
coordinates.
7 - 311
Convenient functions
Group combination in
the JOB
R+S
Explanation
Coordinate system that can be used
The robot is shifted within the selected coordinates. The station axis is
shifted on the basis of the pulse values regardless of the coordinates.
Base coordinates, robot coordinates, tool coordinates, user coordinates, and pulse coordinates
R (b) + S
The robot is shifted within the selected coordinates (as in 1 to 5 above).
The station axis is shifted on the basis of the pulse values regardless of
the coordinates.
R+R
Two robots are shifted within the selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user coordinates, master tool coordinates1, pulse coordinates.
R(B) + R(B)
Two robots are shifted within the selected coordinate system (as in 1 to
5 above). Two base axes are also shifted.
1. In the master tool coordinates, the conversion is only carried out at the "slave" (from the perspective of the
SMOV instruction).
About 1 to 4 in the table
1. Base coordinates
The base axis is shifted by B. The robot's TCP is shifted by A within the base
coordinates.
1
Base coordinates
2
Stand
1
2
2. Robot coordinates
The base axis is shifted by B. The robot's TCP is shifted by A within the base
coordinates.
These shift movements are carried out independently of each other.
1
Base coordinates
2
Robot coordinates
1
7 - 312
2
Convenient functions
3. Tool coordinates
The base axis is shifted by B. The robot's TCP is shifted by A within the tool coordinates.
These shift movements are carried out independently of each other.
1
Base coordinates
2
Tool coordinates
1
2
4. User coordinates
The base axis is shifted by B. The robot's TCP is shifted by A within the user
coordinates.
These shift movements are carried out independently of each other.
1
Base coordinates
2
User coordinates
2
1
7 - 313
Convenient functions
Conversion of R*+R* JOBs with the master tool coordinates
For R*+R* jobs, a JOB conversion with parallel shift can be carried out within the master
tool coordinates. Only steps taken at the "slave" (from the perspective of the SMOV
instruction) are converted (i.e., the steps of R2 in the figure below).
1
R1 (MASTER)
2
R2 (SLAVE)
3
Master tool coordinates
X
Y
3
Z
2
1
1
Displays R1
2
Displays R2
3
Motion path after conversion
1
1
2
6
5
2
3
7 - 314
4
3
Convenient functions
7.3.2
Executing the JOB conversion with parallel shift
7.3.2.1
Window display
A
B
C
D
E
F
A. SOURCE JOB
Selects the JOB before conversion.
The JOB displayed in the JOB CONTENT window is set at the beginning.
To change the JOB, perform the following steps:
1. Move the cursor to the JOB name, and press [SELECT].
The JOB LIST window appears.
2. Select the desired JOB.
B. STEP SECTION (start step  end step)
Specifies the step section of the source JOB.
All steps are set at the beginning. If a source JOB does not contain any steps, "***" is
displayed.
To change the step section, perform the following steps:
1. Move the cursor to the step section and press [SELECT].
The input line appears.
2. Specify the step number and press [ENTER].
C. DESTINATION JOB
Specifies the converted JOB.
If the converted JOB is not specified ("********" is displayed), the source JOB is overwritten
with the converted JOB.
If the converted JOB is specified, the source JOB is copied and converted.
To change the JOB, perform the following steps.
1. Move the cursor to the name of the converted JOB and press [SELECT].
The input line appears.
The name of the source JOB is displayed in the input line.
2. To enter a different name than the name of the source JOB, press [CANCEL] and then
enter a JOB name.
D. COORDINATES
Selects the conversion coordinates.
To select the conversion coordinates, perform the following steps:
7 - 315
Convenient functions
1. Move the cursor to the coordinate name and press [SELECT].
The selection dialogue box appears.
2. Select the desired coordinates.
If you select the user coordinates, the number input line appears.
3. Specify the desired user coordinate number and press [ENTER].
E. BASE POINT
Calculates the difference as a shift value on the basis of the two teach positions.
F. SHIFT VALUE
The axis shown is changed in accordance with the setting of "D. Coordinates."
To enter the shift value directly, perform the following steps:
1. Move the cursor to the input line and press [SELECT].
If the shift value is calculated on the basis of the two teach-in positions, the difference
is displayed as a shift value.
7.3.2.2
JOB conversion with the parallel shift
The shift value can be entered in two ways:
•
Enter the shift value directly using the numeric keypad.
•
Calculate the shift value by teaching the initial base point and the calculated base point.
NOTICE
In addition to the two abovementioned methods, position variables, which are set using
parameters can be used. For additional information refer to chapter 7.3.3 "Specifying the
shift value by means of position variables" on page 319.
The individual methods for setting the shift value for the JOB conversion with parallel shift
are described in the following:
•
Input via the numeric keypad
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
3. Select {UTILITY} in the pull-down menu.
4. Select {PARALLEL SHIFT JOB}.
The PARALLEL SHIFT JOB window appears.
5. Enter a value for each conversion element.
7 - 316
Convenient functions
6. Select the shift value you want to change.
7. Enter the shift value directly using the numeric keypad.
8. Press [ENTER].
The shift value is set.
9. Select EXECUTE in the PARALLEL SHIFT JOB window.
The confirmation dialog box appears if the converted JOB is not specified.
10. Select YES.
The JOB CONTENT window appears, when the conversion is completed.
If you select CANCEL, the JOB CONTENT window appears and the conversion is not
carried out.
NOTICE
If an alarm is output during conversion, the conversion is stopped.
•
Calculation through teach-in
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window appears.
3. Select {UTILITY} in the pull-down menu.
7 - 317
Convenient functions
4. Select {PARALLEL SHIFT JOB}.
The PARALLEL SHIFT JOB window appears.
5. Enter a value for each conversion element.
6. Select BASE POINT → TEACH SETTING.
The BASE POINT window appears.
7. Select BASE POINT(SRC).
8. Move the robot to the initial base point using the axis keys.
9. Press [MODIFY] + [ENTER].
The initial base point is set.
10. Select BASE POINT(DEST).
11. Move the robot to the converted base point using the axis keys.
12. Press [MODIFY] + [ENTER].
The converted base point is set.
7 - 318
Convenient functions
13. Select EXECUTE.
The difference is calculated on the basis of the two teach-in positions and set as the
shift value.
14. Select EXECUTE in the PARALLEL SHIFT JOB window.
The confirmation dialogue box appears if the converted JOB is not specified.
15. Select YES.
The JOB CONTENT window appears, when the conversion is completed.
If you select CANCEL, the JOB CONTENT window appears and the conversion is not
carried out.
NOTICE
If an alarm is output during conversion, the conversion is stopped.
7.3.3
Specifying the shift value by means of position variables
7.3.3.1
Window display
The shift value can be defined using position variables set via parameters.
Parameter S2C652: SHIFT VALUE FOR PARALLEL SHIFT JOB CONVERSION
0: Shift value through numbers/teach-in (default setting).
1: Shift value via position variables.
A
B
C
D
E
A. FILE NO.
7 - 319
Convenient functions
Specifies the position variables.
B. SHIFT JOB NAME
The job displayed in the JOB CONTENT window is set at the beginning.
To change the JOB, perform the following steps:
1. Move the cursor to the name of the converted JOB and press [SELECT].
The JOB LIST window appears.
2. Move the cursor to the desired JOB and press [SELECT].
The PARALLEL SHIFT JOB window appears and the selected JOB name is displayed.
C. MODE
Specifies the conversion mode.
SINGLE (INDEPENDENT JOB CONVERSION)
Only the selected JOB is converted, even if the selected JOB includes JOBs called by
JUMP or CALL instructions.
Associated JOBs are not converted.
RELATIVE (RELATIVE JOB CONVERSION)
The selected JOB and all associated JOBs (the JOBs called by JUMP or CALL instructions)
are converted.
For additional information refer to chapter 7.3.3.2 "Converting selected JOBs" on page 321.
D. COORDINATES
Specifies the conversion coordinates.
To specify the conversion coordinates, perform the following steps:
1. Move the cursor to the coordinate name and press [SELECT].
The selection dialog box appears.
2. Select the desired coordinates.
If you select the user coordinates, the input line appears.
3. Specify the desired user coordinate number and press [ENTER].
E. CONV. METHOD
Specifies the conversion methods for the associated JOBs (e.g. a coordinated JOB with two
robots or a system with multiple stations).
COMMON (COMMON SHIFT)
All robots (or bases or stations) are converted using the same shift value.
EACH (INDIVIDUAL SHIFT)
Each robot (or base or station) is converted separately with different shift values.
For additional information refer to chapter 7.3.3.3 "Converting coordinated JOBs" on page
322.
7 - 320
Convenient functions
7.3.3.2
Converting selected JOBs
A JOB can be converted in two ways:
• Conversion of independent JOBs
Only the selected JOB is converted, even if the selected JOB includes JOBs called by
JUMP or CALL instructions.
Associated JOBs are not converted.
1
Selected JOB (editing JOB)
2
Converted
3
Associated JOBs are not converted.
JOB
2
1
JOB
JOB
3
JOB
JOB
JOB
JOB
•
Conversion of associated JOBs
The selected JOB and all associated JOBs (the JOBs called by JUMP or CALL
instructions) are converted.
1
Selected JOB (editing JOB)
2
Converted
JOB
1
JOB
JOB
2
JOB
JOB
JOB
JOB
7 - 321
Convenient functions
7.3.3.3
Converting coordinated JOBs
An associated JOB (such as a coordinated JOB with two robots or a system with multiple
stations) can be converted in two ways:
•
Common shift
Each robot (or base or station) is converted with the same shift value.
Fig. 7-1: Coordinated JOB with R1 + R2
Fig. 7-2: System with multiple stations
7 - 322
Convenient functions
•
Individual shift
Each robot (or base or station) is converted separately with different shift values.
Fig. 7-3: Coordinated JOB with R1 + R2
Fig. 7-4: System with multiple stations
7 - 323
Convenient functions
•
Use of variables for individual shift
NOTICE
Please always use variables with consecutive numbers after the selected number.
Variables with numbers that are not consecutive cannot be selected.
Example 1
P010 is selected for a coordinated JOB with R1 + R2:
Use P010 for R1.
Use P011 for R2.
JOB R1
JOB R2
P010
P011
Example 2
EX005 is selected for multiple JOBs with four stations:
Use EX005 for S1.
Use EX006 for S2.
Use EX007 for S3.
Use EX008 for S4.
7 - 324
JOB S1
JOB S2
JOB S3
JOB S4
EX005
EX006
EX007
EX008
Convenient functions
•
Relationship between variables and JOBs in the case of conversion to an
individual shift
•
In case of the conversion of an independent JOB:
– Coordinated JOB with R1 + R2
Different shift values can be set for each robot and stand.
1
Variables
2
BP001 for base R1
3
P002 for base R2
4
P001 for R1
5
P002 for R2
–
1
R1 + R2
3
5
JOB with R□(+ S□)
Use one variable for a JOB with one robot.
1
Variables
2
P001 for R1
3
BP001 for base R1
1
JOB
3
2
R
•
2
4
JOB
In case of the conversion of an associated JOB:
Different shift values can be set for each robot, base, and station.
Example System with R1 and R2
1
JOB without group axes
2
Variables
3
P001 for R1
4
P002 for R2
5
EX001 for S1
6
EX002 for S1
7
EX0012 for S1
8
BP001 for base R1
9
P002 for base R2
2
8
3
1
4
R1 + R2
R1
R2
S1
9
S12
5
6
7
7 - 325
Convenient functions
7.3.3.4
Operation procedure
Specify the position variable in advance if you want to use the set value as the shift value.
The input line on which the editing lock or the comment-out function has been activated
cannot be changed.
To execute a JOB conversion with parallel shift using position variables, perform the
following steps:
1. Set the parameter.
Set parameter S2C652 (SHIFT VALUE FOR PARALLEL SHIFT JOB CONVERSION)
to 1
2. Set the position values.
Specify a position variable in advance when you set a shift value by means of position
variables.
For additional information on the setting of position variables, refer to chapter 4.9.4
"User Variables".
3. Select {JOB} in the main menu.
4. Select {JOB}.
The {JOB CONTENT} window appears.
5. Select {UTILITY} in the pull down menu.
6. Select {PARALLEL SHIFT JOB}.
The PARALLEL SHIFT JOB window appears.
7. Enter a value for each conversion element.
8. Select EXECUTE.
The JOB conversion with parallel shift is executed.
The JOB CONTENT window appears on completion of the conversion.
If CANCEL is selected, the JOB CONTENT window appears and the conversion is not
carried out.
NOTICE
If an alarm is output during conversion, the conversion is stopped.
7 - 326
Convenient functions
7.4
PAM function
7.4.1
Function overview
The function for setting the position during playback (PAM: Position Adjustment by Manual)
allows the position to be set easily while the movement of the robot is monitored and without
the need to stop the robot. The positions can be set in TEACH mode and PLAY mode.
The following data can be set using the keypad on the programming pendant:
•
Teaching point (position)
•
Teaching point (posture angle)
•
Operation Speed
•
Position level
Input ranges for the adjustment data
Data
Input range
Number of adjustment steps
Up to 10 steps can be set at the same time.
Position adjustment range (X, Y, Z)
Unit: mm, with an accuracy of two decimal points,
up to ±10 mm.
Posture angle adjustment range
(Rx, Ry, Rz)
Unit: Degrees, with an accuracy of two decimal
points, up to ±10°.
Speed adjustment range (V)
Unit: %, with an accuracy of two decimal points, up
to ±50 %.
Note: PLAY speed VMAX cannot be modified
PL adjustment range
0 to 8
Adjustment coordinates
Robot coordinates, base coordinates, tool coordinates and user coordinates (default coordinates:
robot coordinates).
NOTICE
The input ranges for adjustment data can be changed by the following parameters (For
details, refer to chapter 9 "Parameter"):
 S3C1098: Range for position adjustment (unit: 0.001 mm).
 S3C1099: Range for speed adjustment (unit: 0.01 %).
 S3C1100: Specification of the adjustment coordinate.
 S3C1102: Adjustment range for the posture angle (unit: 0.01°)
7 - 327
Convenient functions
NOTICE
 The data of the base axis and station axis cannot be adjusted.
 The adjustment is made during execution of a TCP instruction by setting the data of the
selected tool.
 If user coordinates are used for adjustment, an error can occur if teach-in was not
carried out with the user coordinates.
 If you would like to adjust the PL and the step you want to adjust does not include the
PL, an error message is output.
 The position variables and the steps of the reference point cannot be adjusted. If you
still try to make this adjustment, an error message will be output.
 An attempt to adjust the speed at the step where the speed tag VJ, V,VR,VE is not
added or the PLAY speed VMAX is specified cause an error.
Description of the PAM window
A
B
C
G
D
H
E
F
A. JOB
Name of the JOB to be adjusted.
B. Status
Indicates the adjustment status of the PAM function.
NOT DONE is displayed if no adjustment is carried out. DONE is displayed once the
adjustment is carried out.
C. Input Coord
Determines the coordinate system.
D. Step number
Determines the step number.
E. XYZ coordinate adjustment
Specifies the direction and the value of the X, Y and Z coordinates.
E. Rx, Ry, Rz coordinate adjustment
Specifies the direction and the value of the posture angle for Rx, Ry and Rz.
G. V coordinate adjustment
Determines the speed.
H. PL
The position level of the JOB to be adjusted in step D. Step number is displayed. The data
can be changed.
7 - 328
Convenient functions
If the position level is not yet specified, [-] is displayed and the setting cannot be made.
7.4.2
Operating methods
7.4.2.1
Setting adjustment data
1. Select {JOB} in the main menu.
2. Select {JOB}.
The JOB CONTENT window (in TEACH mode) or the PLAYBACK window (in PLAY
mode) appears.
3. Select {UTILITY} in the pull-down menu.
4. Select {PAM}.
The PAM window appears.
A
B
C
G
D
H
E
F
7 - 329
Convenient functions
5. Set the adjustment data:
a) Enter the name of the JOB to be adjusted.
Position the cursor and press [SELECT] to call the JOB LIST window.
Move the cursor to the desired JOB, and press [SELECT] to enter the adjusted
JOB.
b) Determine the desired coordinates.
Position the cursor on INPUT COORD and press [SELECT] to call the selection
dialog box.
Move the cursor to the desired coordinate system and press [SELECT].
c) Determine the step number.
Position the cursor on STEP NUMBER and press [SELECT] to call the input line.
Enter the step number and press [ENTER].
d) Specify the direction and the value of the X, Y and Z coordinates.
Position the cursor on the desired XYZ coordinate and press [SELECT] to call the
input line.
Enter the numeric data and press [ENTER].
e) Specify the direction and the value of the posture angle for Rx, Ry and Rz.
Position the cursor on the desired Rx, Ry, Rz coordinate and press [SELECT] to call
the input line.
Enter the numeric data and press [ENTER].
f) Determine the speed.
Position the cursor on the desired field and press [SELECT] to call the input line.
Enter the numeric data and press [ENTER].
g) Specify the position level.
Position the cursor on the PL field and press [SELECT].
Enter the value and press [ENTER].
NOTICE
The input line on which the editing lock or the comment-out function has been activated
cannot be changed (For details, refer to chapter 4.7.6 "Comment out a line" and chapter
4.7.7 "Prohibit editing line-by-line").
If you select the editing lock, the following error messages appear.
 1011: EDIT LOCK is set for this line.
 1012: This line is defined as a comment.
7.4.2.2
Executing the adjustments
In TEACH mode, the JOB adjustment is executed immediately. In PLAY mode, the JOB
adjustment is executed when the NOP instruction of the JOB is executed.
7 - 330
Convenient functions
1. Select COMPLETE:
The confirmation dialog box appears.
2. Select YES.
After the JOB is set, the set data is removed from the PAM window. If the position set
for the step exceeds the software limit switch, an error message is output. The data of
this step cannot be removed from the window.
7.4.2.3
Canceling the processing of the adjustments
During the processing of the adjustments, the STOP button is displayed in the PAM window
in PLAY mode.
To cancel the processing of the adjustments, select STOP.
The adjustment is also canceled automatically in the following cases:
•
When the mode is changed.
•
When an alarm occurs.
•
When the power is switched off.
7.4.2.4
Clearing data
If the data setting is incorrect or the adjustment of a step is unnecessary, the data can be
deleted.
7 - 331
Convenient functions
1. Move the cursor to the step whose data you want to clear.
2. Select {EDIT} in the pull-down menu.
3. Select {LINE CLEAR}.
The data in the line is cleared.
7.4.2.5
Copying data
If the line in which the data is to be copied does not have a speed value or PL value, it
cannot be copied.
To enter the same data as before, perform the following steps:
1. Move the cursor to the line you want to copy.
2. Select {EDIT} in the main menu.
The pull-down menu appears.
3. Select {LINE COPY}.
4. Position the cursor on the line to which the element is to be copied.
5. Select {EDIT} in the main menu.
6. Select {LINE PASTE}.
The desired data is copied to the line.
7.4.2.6
Canceling adjustments
After the position adjustment in the PAM function, the JOB status can only be reset to the
status prior to the adjustment during TEACH mode.
Note that the JOB cannot be undone during playback.
To cancel the adjustments perform the following steps:
7 - 332
Convenient functions
1. Check the status of adjustment.
After the position adjustment, the status is DONE.
2. Select {EDIT} in the main menu.
The pull-down menu appears.
3. Select {UNDO} in the pull-down menu.
The confirmation dialog box appears.
4. Select YES.
The status changes to NOT DONE and the job is undone.
If NO is selected, the status does not change and the job is not undone.
7 - 333
Convenient functions
7.5
Mirror-shift function
7.5.1
Function overview
The mirror-shift function converts a JOB into a JOB in which the travel path is symmetrical
to that of the initial JOB. The conversion can be carried out for the specified coordinate,
which can be selected from the X-Y, X-Z or Y-Z coordinates of the robot coordinates and
user coordinates.
There are three types of mirror-shift functions:
•
The pulse mirror-shift function
•
The robot-coordinate mirror-shift function
•
The user-coordinate mirror-shift function
1
The original travel path before the mirror shift
2
Mirror shift
3
The converted travel path
after the mirror shift
2
1
7 - 334
3
Convenient functions
7.5.2
Pulse mirror-shift function
The pulse mirror-shift function executes the mirror shift by reversing the sign (+/-) for the
axes specified by means of the parameter.
R
T
R
T
S
7.5.2.1
S
Parameter setting
Specify the axis for which the sign is to be reversed by means of the following parameters.
1
The first axis (0: not reversed, 1: reversed)
2
The sixth axis
1
2
7.5.2.2
Object JOB
JOBs without a group axis and relative JOBs cannot be converted.
7.5.2.3
Specification of group axes
In a system with multiple group axes, the group axes specified in the original JOB and the
converted JOB must be the same.
•
Robot axis: Same model
•
Base axis: Same configuration
•
Station axis: Same configuration
7.5.2.4
Position variables
Position variables cannot be converted by means of the mirror-shift function.
7 - 335
Convenient functions
7.5.3
Robot-coordinate mirror-shift function
The robot-coordinate mirror-shift function executes the mirror shift on the X-Z coordinate of
the robot coordinates.
Z
Z
Y
Y
X
7.5.3.1
X
Object JOB
JOBs without a group axis cannot be converted.
7.5.3.2
Specification of group axes
In a system with multiple group axes, the group axes specified in the original JOB and the
converted JOB must be the same.
•
Robot axis: Same model
•
Base axis: Same configuration
•
Station axis: Same configuration
7.5.3.3
Position variables
Position variables cannot be converted by means of the mirror-shift function.
NOTICE
 The mirror-shift conversion for the base axis is not executed by means of the robotcoordinate mirror-shift function.
 The robot-coordinate mirror-shift function carries out the mirror-shift conversion for the
station axis by reversing the sign for the axes specified by means of the parameter
S1CxG065 "Mirror-shift sign-reversing axis specification."
7 - 336
Convenient functions
7.5.4
User-coordinate mirror-shift function
The user-coordinate mirror-shift function executes the mirror shift on the X-Z, X-Y or Y-Z
coordinate of the specified user coordinates.
Z
7.5.4.1
Z
Y
Y
X
X
Object JOB
JOBs without a group axis cannot be converted.
7.5.4.2
Specification of group axes
In a system with multiple group axes, the group axes specified in the original JOB and the
converted JOB must be the same.
•
Robot axis: Same model
•
Base axis: Same configuration
•
Station axis: Same configuration
7.5.4.3
Position variables
Position variables cannot be converted by means of the mirror-shift function.
NOTICE
The user-coordinate mirror-shift function carries out the mirror-shift conversion for the
station axis by reversing the sign for the axes specified by means of the parameter
S1CxG065 "Mirror-shift sign-reversing axis specification."
7 - 337
Convenient functions
7.5.5
Notes on the mirror-shift function
For robots such as a polishing joint whose center of rotation on the S-axis and T-axis are
shifted in the direction of the X coordinate, the mirror shift cannot be executed correctly with
the pulse mirror-shift function.
Be sure to use the robot-coordinate mirror-shift function or the user-coordinate mirror-shift
function with the user coordinates specified in the center of rotation of the T axis.
1. Use of the robot-coordinate mirror-shift function
If the robot-coordinate mirror-shift function is used, the mirror shift is executed on the
X-Z coordinate of the robot coordinates. The converted JOB has the following travel
path:
Robot-coordinate mirror-shift conversion
1
After the conversion
2
Before the conversion
1
2
2. Use of the user-coordinate mirror-shift function
In order to be able to use the user-coordinate mirror-shift function, specify the user
coordinates in the center of rotation of the T axis.
User-coordinate mirror-shift conversion
1
User conversion
2
After the conversion
3
Before the conversion
1
3
2
NOTICE
“/OV” is added to the step when its position exceeds the P-point maximum envelope due to
the conversion. For the step to which “/OV” is added, if the pulse limit is exceeded, the
position after conversion is taught. If the interpolation motion is impossible, the pulse before
conversion is taught when the taught position is in pulses, and the Cartesian values after
conversion is taught when the taught position is in the Cartesian values.
7 - 338
Convenient functions
7.5.6
Explanation of the mirror shift window
A
B
C
D
E
F
G
H
I
A. SOURCE JOB
Selects the source JOB of the conversion.
To convert a different JOB, the cursor is moved to the name and [SELECT] is pressedto call
the JOB list. The desired JOB is selected by pressing [SELECT].
B. SOURCE CTRL GROUP
Displays the control group of the conversion source JOB.
C. STEP SELECTION
Shows the conversion steps.
The steps from the first to the last step of the selected JOB are specified as the initial value.
C. DESTINATION JOB
Specifies the converted JOB name.
To enter the name, the cursor is moved to the name and press [SELECT].
The name of the source JOB of the conversion is displayed in the input area as an initial
values. If "***" is displayed, the name of the converted JOB matches that of the conversion
source JOB.
E. DEST CTRL GROUP
Selects the control group for the converted JOB.
If the name of the destination JOB is entered, the same control group is automatically set
as for the conversion source JOB.
To change the control group, the cursor is moved to the control group and the selection
dialog box is called by pressing [SELECT].
F. COORDINATES
Specifies the coordinates used for conversion.
PULSE: Executes the pulse mirror-shift conversion.
ROBOT: Executes the mirror-shift conversion on the basis of the Cartesian coordinates.
USER: Executes the mirror-shift conversion on the basis of the specified user coordinates.
G. USER COORD NO.
Specifies the user coordinate number when USER is selected in COORDINATES (F).
This item cannot be set when PULSE or ROBOT is selected in COORDINATES.
H. TARGET
7 - 339
Convenient functions
Specifies the coordinate in which the conversion takes place when ROBOT or USER is
selected in COORDINATES. XY, XZ or YZ can be selected.
Always specify XZ for ROBOT.
I. EXECUTE
The mirror-shift function is executed by pressing EXECUTE or [ENTER]. If no JOB is
entered after the conversion, a JOB is created with the name of the conversion source JOB.
7.5.7
Operation procedures
7.5.7.1
Calling up the JOB CONTENT window
To call up the JOB CONTENT window of the job to be converted perform the following
steps:
•
For the current JOB
1. Select {JOB} in the main menu.
2. Select {JOB}.
•
For another JOB
1. Select {JOB} in the main menu.
2. Select {SELECT JOB}.
The JOB LIST window appears.
3. Select the desired JOB.
7.5.7.2
Mirror shift conversion
1. Open the JOB CONTENT window.
2. Select {UTILITY} in the pull-down menu.
The MIRROR SHIFT window appears.
3. Select {MIRROR SHIFT}.
The MIRROR SHIFT window appears.
4. Enter the desired settings and press EXECUTE or [ENTER].
7 - 340
Convenient functions
7.6
Multi-window function
In the case of the multi-window function, the GP display is divided into 4 windows, which
are all visible at the same time
Optionally, up to seven window patterns can be selected as required.
7.6.1
Setting the window pattern of the GP display
The window pattern of the GP display can be changed in the adjustment window.
Number of windows
1
Window pattern
1 window
1
2
2 windows
2
1
3
2 windows
1
2
4
3 windows
1
5
2
3
1
2
3
3 windows
7 - 341
Convenient functions
Number of windows
6
Window pattern
3 windows
1
2
3
7
4 windows
1
3
7.6.1.1
2
4
Setting the window pattern
1. Select {DISPLAY SETUP} → {CHANGE WINDOW PATTERN} in the main menu.
The window for the selection of the window pattern appears.
7 - 342
Convenient functions
2. Select the desired window pattern.
Select the desired window pattern by on of the following methods:
a) Selection via key 1: Cursor key
When Window Pattern is displayed in the window, the possible window patterns can
be scrolled through up and down depending of the direction of movement of the
cursor.
b) Selection via key 2:[SELECT]
Press [SELECT] when the cursor is on Window Pattern.
The list of possible window patterns appears.
Select the desired pattern and press [SELECT] to close the list.
c) Selection by touch operation:
Touch the desired template on the GP display.
7 - 343
Convenient functions
3. Touch the [OK] button or move the cursor to the button and press [SELECT].
The window for selecting the window pattern is closed and the selected window pattern
(selected using method a), b), or c)) is displayed.
7.6.1.2
Canceling the adjustment procedure
1. Touch the [CANCEL] button or move the cursor to the button and press [SELECT].
The window for the selection of the window pattern is closed. The window setting in the
GP display does not change.
NOTICE
 The cursor is moved in the window for selecting the window pattern by pressing the
[AREA] key.
7 - 344
Convenient functions
7.6.2
Displaying the multi-window
7.6.2.1
Multi-window and single-window mode
If you select a window pattern with two or more windows, several windows are opened at
once in the GP display.
This is the so-called multi-window mode.
To display the active window on a single display, press [SHIFT] + [MULTI].
This is the so-called single-window mode.
By pressing [SHIFT] + [MULTI], you can switch the display from single-window mode to
multi-window mode. The mode can be switched as required.
7.6.2.2
Status indicator in multi-window mode
If you select two or more windows as the desired setting,
appears at the top of the
window. This display does not appear in case of only one window.
7.6.2.3
Display of the active and inactive window
In multi-window mode, one window should be active, whilst the others are inactive. The title
of the active window is dark blue, whilst the title of the inactive windows is light blue.
Each press of a key affects the active window.
In addition, the menu area and keys in the GP display are used for actions in the active
window.
7.6.2.4
Limitations in multi-window mode
Due to the size limitation, a window in multi-window mode can have different content than
in single-window mode. The normal window content appears again as soon as you switch
to single-window mode.
•
The input line in the JOB window appears only when the window is active.
•
An auxiliary window is not opened.
7 - 345
Convenient functions
7.6.3
Operation multi-window function
7.6.3.1
Switching between multi-window and single-window mode
If two or more windows are shown in the GP display, you can switch from multi-window
mode to single-window mode.
1. Switch to multi-window mode.
2. Press [SHIFT] + [MULTI].
The active window is displayed in the GP display in single-window mode.
7 - 346
Convenient functions
3. Press [SHIFT] + [MULTI] in single-window mode.
The GP display switches to the preset window pattern in multi-window mode.
7.6.3.2
Switching the active window in multi-window mode
1. Set the mode of the general-purpose displaying area to multi window mode.
7 - 347
Convenient functions
2. Switch the active window by one of the following methods:
a) Key operation:
Press [MULTI].
The window to be activated is switched.
The active window is switched in the order specified in 7.6.1 "Setting the window
pattern of the GP display" (1→2→3→4→1).
b) Selection by touching:
Touch the window you want to activate.
The window that was touched is activated.
7.6.3.3
Switching the active window in single-window mode
1. Set the mode of the general-purpose displaying area to single window mode.
7 - 348
Convenient functions
2. Press [MULTI].
The active window is switched in the order specified in 7.6.1 "Setting the window pattern
of the GP display" on page 341 (1→2→3→4→1).
NOTICE
If an alarm is output before you can select the menu, the active window cannot be switched.
The active window cannot be switched in the following cases:
 The alarm window is displayed.
 The direct activation is switched on.
 A window has been opened by a key.
7 - 349
Convenient functions
7.6.4
Switching the axis operation control group
The corresponding control group for the axis movement is selected automatically according
to the window status or its movement in the active window. Based on this function, the
control group for the axis movement can vary according to the currently active window if the
GP display is in multi-window mode.
For safety reasons and in order not activate another control group by mistake, the user is
informed before the switch of the active window when the user executes the switch using
the [MULTI] key or the touch screen.
NOTICE
It the user executes the switch of the control group for axis movement using the main menu
and not the [MULTI] key or the touch screen, no message appears.
7.6.4.1
S2C540 "Selection of the notification type regarding the change of the
axis movement control group when switching the active window"
The notification type regarding a change in the axis movement control group when
switching the active window can be changed using a parameter.
7 - 350
•
Set value: 0
– Lets the message appear on the screen for three seconds.
– The "Control group switched by switching the active window" message appears.
•
Set value:1
– Opens the confirmation dialogue box to confirm the change of the active window.
– The "Control group will be changed. Switch the active window?" message appears.
– YES: After the window is activated, a message appears on the screen.
– NO: The window is not activated.
•
Set value: 2
– No message regarding a change in the control group appears on the screen.
Convenient functions
7.7
Simple menu function
This function allows the user to create a USER DEFINITION menu by registering the
layouts (screen-dividing layouts and screen to be displayed) in the universal display.
Up to eight layouts can be registered for the user-defined menu.
The registered layouts can be called easily using the buttons of the simple menu.
7.7.1
Registering layouts in the USER DEFINITION menu
7.7.1.1
Registration with the REGIST button
Use the REGIST button on the USER DEFINITION menu to register the layouts.
1. Press the [SIMPLE MENU] key or click the {Simple Menu} button on the screen while
the layout to be registered is displayed on the GP display.
The USER DEFINITION menu appears.
2. Press REGIST.
The USER DEFINITION menu is closed.
The confirmation dialog box appears.
7 - 351
Convenient functions
3. Select YES.
The layout is registered and the dialogue box closes.
If NO is selected, the operation is canceled.
7.7.1.2
Registration with the keys
Use the programming keys to register the layouts in the USER DEFINITION menu.
1. Press [SHIFT] + [SIMPLE MENU] while the layout to be registered is displayed on the
GP display.
The confirmation dialog box appears.
2. Select YES.
The layout is registered and the dialogue box closes.
If NO is selected, the operation is canceled.
7 - 352
Convenient functions
7.7.1.3
Prerequisites for registering the layouts
In some cases it is not possible to register the layouts in the USER DEFINITION menu.
In the following situations, the layout cannot be registered and the messages listed below
appear.
Prerequisites
Message
1
The layout is already registered.
This layout is already registered.
2
Eight layouts are registered already. There is not an undefined domain.
3
In order to register a layout, a window is required that cannot be called
from {Main Menu}.
The screen which I cannot register is included
[W1W2W3W4].
The numbers W1 to W4 refer to the windows
that are actually open in the universal display.
The window with the marked number cannot
be registered.
*For layouts 1 to 4, see table 7.7.1.4 "The displayed layout name" on page 354.
4
A single window is displayed in
multi-window mode.
Cannot be registered in the current OPERATING MODE.
NOTICE
The screens that cannot be called from the main menu cannot be registered.
In addition, the layouts of the windows called by means of {EXTERNAL MEMORY DEVICE}
or the ladder editor (optional function) cannot be registered.
7 - 353
Convenient functions
7.7.1.4
The displayed layout name
Once a layout has been registered in the USER DEFINITION menu, it is named in
accordance with the status of the GP display at the time the layout was generated.
Status of the universal dis- Name registered in the USER DEFINITION menu
play
1 Single-window mode
(identical in the sub menu and main menu)
2 Multi-window mode
Layout -n ("n" stands for a number from 0 to 7)
You can change the name according to the registration (refer to chapter 7.7.3.3 "Changing
the name of the registered layout" on page 357).
7.7.2
Opening registered layouts
7.7.2.1
Opening
To open a registered layout, perform the following steps:
1. Press the [SIMPLE MENU] key or press the {Simple Menu} button in the lower left
corner of the screen.
The USER DEFINITION menu appears.
2. Press a button on the USER DEFINITION menu to display the desired layout.
The USER DEFINITION menu is closed.
The selected layout appears in the universal display.
7 - 354
Convenient functions
7.7.2.2
Prerequisite for calling the layout
In some cases, the layout cannot be opened. In the following situations, the layout cannot
be called. Tthe messages listed below appear.
Prerequisites
1
Message
The registered layout windows
There are no windows to display within the chocannot be displayed due to the se- sen layout.
curity mode or the purpose.
If the screen that is not displayed is not part of the layout to be called due to the above
reasons, the message "Please selected a Main Menu" appears on the screen.
7 - 355
Convenient functions
7.7.3
Editing the USER DEFINITION menu
For the objects registered in the USER DEFINITION MENU window the following editing
procedures can be performed:
•
Change registered names.
•
Delete registered elements.
Editing is performed in the USER DEFINITION MENU window. The USER DEFINITION
MENU window can be opened in OPERATING MODE or higher. The menu can be edited
in EDITING MODE or higher.
7.7.3.1
Opening the USER DEFINITION MENU using the {EDIT} button
1. Press the [SIMPLE MENU] key or click the {Simple Menu} button in the lower left corner
of the screen.
The USER DEFINITION window appears.
2. Press the {EDIT} button.
The USER DEFINITION menu is closed.
The USER DEFINITION MENU window appears in the active window of the universal
display.
7 - 356
Convenient functions
7.7.3.2
Opening the USER DEFINITION MENU window in the main menu
The USER DEFINITION MENU window can be opened in the main menu.
1. Select {SYSTEM INFO} in the main menu.
The {SYSTEM INFO} submenu appears.
2. Select {USER DEFINITION}.
The USER DEFINITION MENU window appears in the active window of the universal
display.
7.7.3.3
Changing the name of the registered layout
The registered layout names can be changed.
1. Open the USER DEFINITION MENU window.
7 - 357
Convenient functions
2. Move the cursor to the layout name you want to change and press [SELECT].
The input line appears.
3. Enter the layout name and press the [ENTER] key or press the {ENTER} button.
The input keypad is closed.
The name is changed.
If input via the software keypad is canceled using the [CANCEL] key or {CANCEL}
button, the editing of the name is also canceled.
NOTICE
If the bilingual feature is enabled, the name can be entered in either language.
7 - 358
Convenient functions
7.7.3.4
Deleting layouts
1. Open the USER DEFINITION MENU window.
2. Move the cursor to the layout to be deleted and press [SHIFT] + [SELECT] (multiple
selection is possible).
A bullet point (●) appears next to the selected line.
3. Select {DATA} in the menu area.
The pull-down menu appears.
4. Select {DELETE MENU}.
The confirmation dialog box appears.
5. Select YES.
The highlighted layout is deleted.
If NO is selected, the operation is canceled.
7 - 359
Convenient functions
7.7.3.5
Deleting all layouts
All layouts registered in the USER DEFINITION menu can be deleted at the same time.
1. Open the USER DEFINITION MENU window.
2. Select {EDIT} in the main menu.
The pull-down menu appears.
3. Select {SELECT ALL}.
A bullet point (●) appears next to all the registered layouts.
4. Select {DATA} in the menu area.
The pull-down menu appears.
5. Select {DELETE MENU}.
The confirmation dialog box appears.
6. Select YES.
The highlighted layouts are deleted.
If NO is selected, the operation is canceled.
7 - 360
Convenient functions
NOTICE
To delete the bullet point (●), position the cursor on the line with the bullet point (●) and
press [SHIFT] + [SELECT].
If {EDIT} → {CANCEL SELECT} is selected from the pull-down menu, all bullet points (●)
disappear.
7.7.4
Saving/loading the data of the USER DEFINITION MENU on an
external storage medium
The data registered in the USER DEFINITION menu (user menu data) can be saved on an
external storage medium and loaded from there.
The corresponding file has the name USERMENU.DAT.
7.7.4.1
Saving user menu data
The user menu data can be saved at the OPERATING MODE security level or higher.
1. Select {EX. MEMORY} in the main menu.
The sub menu appears.
2. Select {SAVE}.
The {SAVE} window of the external storage medium appears.
3. Select {FILE/GENERAL DATA}.
The FILE/GENERAL DATA window of the external storage medium appears.
7 - 361
Convenient functions
4. Select {USER MENU DATA}.
 appears next to USER MENU DATA.
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The USER MENU DATA is saved.
If NO is selected, the operation is canceled.
7.7.4.2
Loading user menu data
The user menu data can be loaded at the OPERATING MODE security level or higher.
1. Select {EX. MEMORY} in the main menu.
The sub menu appears.
7 - 362
Convenient functions
2. Select {LOAD}.
The {LOAD} window of the external storage medium appears.
3. Select {FILE/GENERAL DATA}.
The {FILE/GENERAL DATA} window of the external storage medium appears.
4. Select {USER MENU DATA}.
 appears next to USER MENU DATA.
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The user menu data is loaded.
If NO is selected, the operation is canceled.
7 - 363
Convenient functions
7.8
Parameter setting function
Among the parameters explained in chapter 9 "Parameter", frequently used parameters’
settings can be changed from the exclusive windows.
Those windows are sorted out depending on the parameters’ function as shown below.
•
•
•
•
•
•
•
TEACHING CONDITION SETTING
The parameters that are important for teaching are displayed.
OPERATE CONDITION SETTING
The parameters that are important for the mode switch/power supply are displayed.
OPERATE ENABLE SETTING
The parameters that are important for activating/deactivating the robot are displayed.
FUNCTION ENABLE SETTING
Indicates whether the optional, function-relevant parameter settings are activated/
deactivated.
JOG CONDITION SETTING
The JOG-related parameters are displayed.
PLAYBACK CONDITION SETTING
The parameters that are important for playback are displayed.
FUNCTIONAL CONDITION SETTING
The execution of every function-relevant parameter is displayed.
For parameter setting perform the following steps:
1. Select a menu listed above in the {SETUP} window of the main menu using the cursor.
7 - 364
Convenient functions
2. Change the parameter setting depending on the parameter content.
The setting can be changed in three ways:
a) In case of two options:
The option changes each time [SELECT] is pressed.
TEACHING CONDITION SETTING
LANGUAGE LEVEL
SUBSET
INSTRUCTION INPUT LEARING
VALID
MOVE INSTRUCTION SET POSITION
STEP
b) In case of three or more options:
A dialogue box with the available options appears. Select an option to change the
setting.
TEACHING CONDITION SETTING
LANGUAGE LEVEL
SUBSET
STANDARD
INSTRUCTION INPUT LEARING
EXPANDED
MOVE INSTRUCTION SET POSITION
c) If a value has to be entered:
Enter a value using the numeric keypad and press [ENTER] to change the settings.
POS. CHEK
0
START METHOD AFTER ABSO OVER
SIGNAL NO. WHEN DROP VALU OVER
7.8.1
Teaching condition setting
1. Select {SETUP} → {TEACHING CONDITION SETTING}.
The TEACHING CONDITION SETTING window appears.
TEACHING CONDITION SETTING
LANGUAGE LEVEL
INSTRUCTION INPUT LEARING
MOVE INSTRUCTION SET POSITION
BUZZER WHEN POSITION TEACHING
STEP ONLY CHANING
RECT/CYLINDRICAL
TOOL NO. SWITCH
TOOL NO. INTLK FOR STEP ENTRY
CHEK AT P-VAR TOOL NO. CHANGE
POS. TEACH ONLY JOG CONTROL GROUP
JOB UNDELETE FUNCTION
TEST RUN CONTROL
MANUAL SPEED SELECT(TEST RUN)
SUBSET
VALID
LINE
CONSIDER
PROHIBIT
RECT
PROHIBIT
PERMIT
INVALID
PROHIBIT
INVALID
NORMAL
INVALID
2. Enter the desired settings:
•
LANGUAGE LEVEL (S2C211)
Setting
Parameter value
SUBSET
0
STANDARD
1
EXPANDED
2
7 - 365
Convenient functions
•
•
•
•
•
•
•
•
7 - 366
INSTRUCTION INPUT LEARNING (S2C214)
Setting
Parameter value
INVALID
0
VALID
1
MOVE INSTRUCTION SET POSITION (S2C206)
Setting
Parameter value
STEP
0
LINE
1
BUZZER WHEN POSITION TEACHING (S2C433)
Setting
Parameter value
CONSIDER
0
NOT CONSIDER
1
STEP ONLY CHANGING (S2C203)
Setting
Parameter value
PERMIT
0
PROHIBIT
1
RECT/CYL INDRICAL (S2C196)
Setting
Parameter value
CYL
0
RECT
1
TOOL NO. SWITCH (S2C431)
Setting
Parameter value
PROHIBIT
0
PERMIT
1
TOOL NO. INTERLOCK FOR STEP ENTRY(S2C234 d0 bit)
Setting
Bit status
PERMIT
0
PROHIBIT
1
TOOL NO. MODIFICATION CHECK BY POSITION VARIABLE (S2C234 d1 bit)
Setting
Bit status
PERMIT
0
PROHIBIT
1
Convenient functions
•
•
•
POS. TEACH ONLY JOG CONTROL GROUP (S2C320)
Setting
Parameter value
PROHIBIT
0
PERMIT
1
JOB UNDELETE FUNCTION (S2C413)
Setting
Parameter value
INVALID
0
VALID
1
INDEPENDENT: MOTION OF NEXT/TEST(S2C231)
The setting appears only if independent control is valid.
Setting
Parameter value
SINGLE
0
ALL
1
•
BWD OPERATION NO GROUP AXIS (S2C688 d0 Bit).
•
BWD OPERATION CONCURRENT JOB (S2C688 d1 bit)
The setting appears only if independent control is valid.
•
Setting
Bit status
PERMIT
0
PROHIBIT
1
STATION TWIN (S2C434)
The setting appears only if STATION TWIN SYNCHRONOUS JOB is valid.
•
Setting
Parameter value
INVALID
0
VALID
1
CLEARANCE TEACHING METHOD (S2C612)
The setting appears only if the SERVO gun is used.
•
Setting
Parameter value
UPPER TIP
0
LOWER TIP
1
GUN CLOSE
2
TEST RUN OPERATION (S2C896)
The setting appears only if the SERVO gun is used.
Setting
Parameter value
NORMAL
0
HIGH-PRECISION
1
7 - 367
Convenient functions
7.8.2
Operate condition setting
1. Select {SETUP} → {OPERATE CONDITION SETTING} to open the following window.
The OPERATING CONDITION SETTING window appears.
OPERATE CONDITION SETTING
SPEED DATA INPUT FORM
CYCLE SWITCH IN TEACH MODE
CYCLE SWITCH IN PLAY MODE
CYCLE SWITCH IN LOCAL MODE
CYCLE SWITCH IN REMOTE MODE
SET CYCLE ON POWER ON
SECURITY MODE WHEN POWE ON
JOB STEP WHEN POWER ON
GENERAL OUT KEEP WHEN POWER ON
FUNC DISABLE MODE SECURITY(FSU)
TOOL(INTF)FILE OPE SECURITY(FSU)
SIGNAL POINT PASS CHECK
mm/sec
CYCLE
CYCLE
CYCLE
CYCLE
CYCLE
EDITING MODE
POWER OFF
POWER OFF
SAFETY MODE
SAFETY MODE
INVALID
2. Enter the desired settings:
•
•
•
•
7 - 368
SPEED DATA INPUT FORM (S2C221)
Setting
Parameter value
mm/sec
0
cm/min
1
inch/min
2
mm/min
3
CYCLE SWITCH IN TEACH MODE (S2C313)
Setting
Parameter value
Step
0
1 Cycle
1
Auto
2
None
3
CYCLE SWITCH IN PLAY MODE (S2C314)
Setting
Parameter value
Step
0
1 Cycle
1
Auto
2
None
3
CYCLE SWITCH IN LOCAL MODE (S2C294)
Setting
Parameter value
Step
0
1 Cycle
1
Auto
2
None
3
Convenient functions
•
•
•
•
•
•
CYCLE SWITCH IN REMOTE MODE (S2C293)
Setting
Parameter value
Step
0
1 Cycle
1
Auto
2
None
3
SET CYCLE ON POWER ON (S2C312)
Setting
Parameter value
Step
0
1 Cycle
1
Auto
2
None
3
SECURITY MODE WHEN POWER ON (S2C195)
Setting
Parameter value
OPERATING MODE
0
EDITING MODE
1
MANAGEMENT MODE
2
JOB STEP WHEN POWER ON (S2C215)
Setting
Parameter value
Power OFF
0
Initial
1
GENERAL-PURPOSE OUT KEEP WHEN POWER ON (S2C235)
Setting
Parameter value
Power OFF
0
Initial
1
DISABLE MODE OPERATION (FUNCTIONAL SAFETY) (S2C1201)
This appears only when the SECURITY mode is set to the SAFETY mode under one
of the following conditions:
– Axis range limit function is enabled
– Robot range limit function is enabled
– Tool angle monitor function is enabled
– Functional safety and tool change monitor function are enabled
Setting
Parameter value
SAFETY MODE
0
EDIT MODE
1
MANAGEMENT MODE
2
7 - 369
Convenient functions
•
•
7 - 370
TOOL (INTERFERENCE) FILE OPERATION (FUNCTIONAL SAFETY) (S2C1235)
This appears only when the functional safety is enabled and the SECURITY mode is
set to the SAFETY mode
Setting
Parameter value
SAFETY MODE
0
EDIT MODE
1
MANAGEMENT MODE
2
SINGULAR POINT PASS CHECK (S2C892 d1 bit)
This appears only when the singular point pass check function is enabled
Setting
Bit status
INVALID
0
VALID
1
Convenient functions
7.8.3
Setting for operate enable
1. Select {SETUP} → {OPERATE ENABLE SETTING}.
The OPERATE ENABLE SETTING window appears.
OPERATE ENABLE SETTING
EXTERNAL START
PP START
EXTERNAL MODE SWITCH
EXTERNAL CYCLE SWITCH
PP CYCLE SWITCH
EXTERNAL SERVO ON
PP SERVO ON
DSW SERVO ON
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
2. Enter the desired settings:
•
•
•
•
•
EXTERNAL START (S2C219)
Setting
Parameter value
PERMIT
0
PROHIBIT
1
PP START (S2C220)
Setting
Parameter value
PERMIT
0
PROHIBIT
1
EXTERNAL MODE SWITCH (S2C225)
Setting
Parameter value
PERMIT
0
PROHIBIT
1
EXTERNAL CYCLE SWITCH (S2C227)
Setting
Parameter value
PERMIT
0
PROHIBIT
1
PP CYCLE SWITCH (S2C228)
Setting
Parameter value
PERMIT
0
PROHIBIT
1
•
EXTERNAL SERVO ON (S2C229 d0 bit).
•
PP SERVO ON (S2C229 d1 bit).
•
DSW SERVO ON (S2C229 d2 bit)
Setting
Bit status
PERMIT
0
PROHIBIT
1
7 - 371
Convenient functions
7.8.4
Setting for function enable
1. Select {SETUP} → {FUNCTION ENABLE SETTING}.
The FUNCTION ENABLE SETTING window appears.
FUNCTION ENABLE SETTING
MASTER JOB CHANGE
RESERVED START
RESERVED START JOB CHANGE
JOB SELECT WHEN PLAY MODE
JOB SELECT WHEN REMOTE AND PLAY
I/O-VARIABLE CUSTOMIZE FUNCTION
GENERAL I/O NAME DISP. ON JOB
ANTICIPATION FUNCTION
ALL AXES ANGLE DISP FUNCTION
SAVE DATA CRC CHEK FUNC.(FSU)
PERMIT
PROHIBIT
PERMIT
PERMIT
PERMIT
INVALID
VALID
INVALID
INVALID
VALID
2. Enter the desired settings:
•
•
•
•
•
•
7 - 372
MASTER JOB CHANGE (S2C207)
Setting
Parameter value
PERMIT
0
PROHIBIT
1
RESERVED START (S2C222)
Setting
Parameter value
PERMIT
0
PROHIBIT
1
RESERVED START JOB CHANGE (S2C209)
Setting
Parameter value
PERMIT
0
PROHIBIT
1
JOB SELECTION IN PLAY MODE (S2C552)
Setting
Parameter value
PERMIT
0
PROHIBIT
1
JOB SELECT WHEN REMOTE OR PLAY (S2C224)
Setting
Parameter value
PERMIT
0
PROHIBIT
1
I/O-VARIABLE CUSTOMIZE FUNCTION (S2C397)
Setting
Parameter value
Invalid
0
Valid
1
Convenient functions
•
•
•
•
GENERAL-PURPOSE I/O NAME DISP. ON JOB (S2C544)
Setting
Parameter value
Invalid
0
Valid
1
ANTICIPATION FUNCTION (S2C646)
Setting
Parameter value
Invalid
0
Valid
1
ALL AXES ANGLE DISP FUNCTION (S2C684 d0 bit)
Setting
Bit status
Invalid
0
Valid
1
SAVE DATA CRC CONFIRM FUNCTION (FUNCTIONAL SAFETY) (S2C1202)
This appears only when the functional safety is enabled and the SECURITY MODE is
set to the SAFETY MODE.
Setting
Parameter value
Invalid
0
Valid
1
7 - 373
Convenient functions
7.8.5
JOG condition setting
1. Select {SETUP} → {JOG CONDITION SETTING}.
The JOG CONDITION SETTING window appears.
JOG CONDITION SETTING
COORD SWITCH WHEN JOG OPERATION
MANUAL SPEED SAVE EVERY COORDS
CONTROL POINT OPERATION(BASE)
RECTANGULAR JOG COORDINATE
TOOL&USER OK
INVALID
INVALID
BASE
2. Enter the desired settings:
•
•
•
•
7 - 374
COORD SWITCH WHEN JOG OPERATION (S2C197) (Refer to chapter 9.3.3
"Coordinate switching prohibited").
Setting
Parameter value
TOOL & USER OK
0
TOOL NG
1
USER NG
2
TOOL & USER NG
3
MANUAL SPEED SAVE EVERY COORDS (S2C204) (Refer to chapter 9.3.7 "Manual
speed storing for each coordinate").
Setting
Parameter value
Invalid
0
Valid
1
CONTROL POINT OPERATION (BASE) (S2C713) (Refer to chapter 9.3.48 "Control
point operation setting on the SERVO TRACK".
This appears only when the robot system includes a base axis.
Setting
Parameter value
Invalid
0
Valid
1
RECTANGULAR JOG COORDS (S2C724)
This appears only when the robot system includes two or more robots.
Setting
Parameter value
BASE COORDS
0
ROBOT COORDS
1
Convenient functions
7.8.6
Playback condition setting
1. Select {SETUP} → {PLAYBACK CONDITION SETTING}.
The PLAYBACK CONDITION SETTING window appears.
PLAYBACK CONDITION SETTING
CHECK/MACHINE LOCK
MASTER CALLING UP
INITIAL MOVE SPEED OF ROBOT
START METHOD AFTER ABSO OVER
SIGNAL NO. WHEN DROP VALUE OVER
PROHIBIT
PERMIT
SPECIAL PLAY
POS.CHECK
0
2. Enter the desired settings:
•
•
•
•
•
CHECK/MACHINE LOCK (S2C208) (Refer to chapter 9.3.10 "Check and machine-lock
key operation in PLAYmode").
Setting
Parameter value
PERMIT
0
PROHIBIT
1
MASTER CALLING UP (S2C210) (Refer to chapter 9.3.12 "Master or sub master call
operation in PLAY mode").
Setting
Parameter value
PERMIT
0
PROHIBIT
1
INITIAL MOVE SPEED OF ROBOT (S2C217) (Refer to chapter 9.3.17 "Initial operation
of robot").
Setting
Parameter value
SPECIAL PLAY
0
LOW SPEED AFTER EDIT
1
START METHOD AFTER ABSO OVER (S2C316) (Refer to chapter 9.3.35 "Start
condition after alarm 4107 "Out of range" absolute data").
Setting
Parameter value
POS. CHECK
0
LOW SPEED
1
SIGNAL NO. WHEN DROP VALUE OVER (S2C240) (Refer to chapter 9.5.7 "User
output no. when robot drop allowable range error occurs").
7 - 375
Convenient functions
7.8.7
Functional condition setting
1. Select {SETUP} → {FUNCTIONAL CONDITION SETTING}.
The FUNCTIONAL CONDITION SETTING window appears.
FUNCTIONAL CONDITION SETTING
COORDINATE (PAM)
POSITION ADJUST RANGE (PAM)
SPEED ADJUST RANGE (PAM)
POSTURE ANGLE ADJUST RANGE (PAM)
ROBOT
10.000 mm
50.00 %
10.00 deg.
2. Enter the desired settings:
•
COORDINATE (PAM) (S3C1100) (Refer to chapter 9.2.24 "Position correcting function
during playback").
Setting
Parameter value
BASE
0
ROBOT
1
TOOL
2
USER #1
3
....
....
USER #63
65
•
POSITION ADJUST RANGE (PAM) (S3C1098)
•
SPEED ADJUST RANGE (PAM) (S3C1099)
•
POSTURE ANGLE ADJUST RANGE (PAM) (S3C1102) (Refer to chapter 9.2.24
"Position correcting function during playback").
7.9
JOG key allocation
7.9.1
JOG key allocation function
This function allows the external axis to be operated without switching the control group by
means of the operating keys of the 7th axis (E+, E-) and 8th axis (8+,8-) on the
programming pendant.
An external axis must be allocated for this purpose.
NOTICE
 An external axis can only be operated by means of the allocated keys of the 7th and 8th
axes when a robot is operated. Operate external axes with the operating keys for the
1st axis. If the robot is equipped with a 7th and 8th axis, the existing axes are operated
using the keys on the programming pendant.
 If the robot has 7 axes, for example, the E axis is operated even if the operation of the
external axis is allocated to the operating key for the 7th axis (E+, E-).
7 - 376
Convenient functions
NOTICE
This function allows a different control group from the one displayed in the upper part of the
programming pendant to be operated (status display or LED of the [ROBOT] or [EX.AXIS]
key).
In addition, the robot and the external axes can be controlled simultaneously if multiple axis
operating keys are pressed at the same time. Please note the axis movements when
operating the keys.
7.9.2
JOG key allocation setting
7.9.2.1
Allocating the JOG key
NOTICE
 Allocation of the JOB keys is only valid in MANAGEMENT MODE, while the
confirmation of the allocated axes is valid in OPERATING MODE and EDITING MODE.
NOTICE
The setup conditions are saved in the following parameters. Even if the external axes are
allocated to a key with the same numbering (e.g., S1 for the 1st axis), the parameter value
to be saved depends on the composition of the system's control group. You should
therefore always check the allocation status when loading the parameter file (ALL.PRM or
AC.PRM) before you execute the function.
Parameters for saving the setup conditions of the JOG key allocation.
S2C739 7th axis
S2C740 8th axis
1. Select {SETUP} in the main menu.
2. Select {JOG KEY ALLOCATION}.
The JOG key assignment window appears.
3. Move the cursor to GROUP and press [SELECT].
A list of the external axes that can be allocated appears.
4. Select an external axis to be allocated.
The selected external axis is listed under GROUP and "1" is specified under AXIS NO.
7 - 377
Convenient functions
5. In the cases in which the external axis consists of more than two axes and the axis is
operated by the second axis: Position the cursor on AXIS NO, and press [SELECT].
A list of the selected external axes appears.
6. Select an axis number.
The selected axis is specified under AXIS NO.
7.9.2.2
Canceling JOG key allocation
1. Select {SETUP} in the main menu.
2. Select {JOG KEY ALLOCATION}.
The JOG key assignment window appears.
3. Position the cursor on GROUP and press [SELECT].
A list of the external axes that can be allocated appears.
4. Select NONE.
"******" is specified under GROUP and AXIS NO.
7.9.2.3
Operating method of the allocated external axis
NOTICE
 If the same external axis (same group and axis number) is allocated to the keys of the
7th and 8th axis, it is not operated, even when the two keys are pressed individually. In
this case, the message "Check the setting of JOG KEY ALLOCATION (7th and 8th)"
appears to point out that the same external axis is allocated between different keys.
Cancel the allocation or allocate a different external axis to one of the keys.
1. Press the [ROBOT] key.
A robot marker on the left-hand side of the status area of the programming pendant
indicates that the robot has been selected for operation.
The LED of the [ROBOT] key lights up.
2. Press the axis keys for the 7th axis (E+, E-) or 8th axis (8+, 8-).
The allocated external axis is operated, provided that there is no 7th or 8th axis and the
allocation has been made correctly.
7 - 378
Convenient functions
7.10
Energy saving function
The energy saving function interrupts the robot's power supply after the motor is slowed
down. None of the robot's axes can be operated for a certain period when the SERVO
power is switched on in PLAY mode. The following duration is preset: 10 min.
The energy saving function is active when all the following prerequisites are met:
1. The energy saving function is valid.
2. The system's input signal (signal that suppresses the energy saving mode #40580) is
switched off.
When the function is valid, the robot has the following status:
1. The message "On energy saving mode" appears on the programming pendant.
2. The SERVO is turned on.
3. The JOBs currently being executed are executed without interruption.
4. The system output signal (ENERGY SAVING:SOUT#0576 (#50727)) indicates that the
energy saving function is switched on while the other signals do not change.
NOTICE
This function is canceled in the following cases:
 When the programming pendant switches to TEACH mode.
 When the system input signal of the external SERVO OFF (1, 2, 3) is entered.
 When the axis that belongs to the corresponding control group of the executed JOB is
to be operated and the energy saving function is valid.
 When there is an emergency stop or SERVO OFF in the event of an alarm.
NOTICE
This function is not canceled when the system's input signal (signal that suppresses the
energy saving function #40580) is switched on. This signal merely prevents a switch to the
energy saving function.
7 - 379
Convenient functions
7.10.1
Setting the energy saving function
7.10.1.1
Setting the energy saving function to valid/invalid
NOTICE
 The energy saving function can only be set to valid/invalid in MANAGEMENT mode.
Confirmation of the energy saving function is possible only in OPERATING mode and
EDITING mode.
1. Select {SETUP} in the main menu.
2. Select {ENERGY SAVING FUNCTION}.
The ENERGY SAVING FUNCTION window appears.
3. Set the cursor on ENERGY SAVING FUNCTION.
4. Press [SELECT]
Each time [SELECT] is pressed, the setting alternates between valid and invalid.
5. Set the cursor on {SETTING TIME UNIT} and press [SELECT].
The unit of energy saving setting time alternates each time [SELECT] is pressed.1
6. Set the cursor on {SETTING TIME} and press [SELECT].
1
7 - 380
Switching the unit of energy saving setting time is available for the software version YAS1.32-00 or later.
Convenient functions
7. Enter the time period after which you want the energy saving function to start after the
robot has stopped.
The initial value is set to: 10 min.
A time period from 1 to 60 minutes or 1 to 3600 seconds can be entered.
7.10.1.2
Clearing the accumulated energy saving time
1. Select {SETUP} in the main menu.
2. Select {ENERGY SAVING FUNCTION}.
The ENERGY SAVING FUNCTION window appears.
3. Move the cursor to {ACCUMULATED ENERGY-SAVING TIME}.
4. Select {DATA} in the pull-down menu and press [SELECT].
{CLEAR ACCUMULATED} appears in the pull-down menu.
5. Select {CLEAR ACCUMULATED}.
The confirmation dialog box appears.
6. Select YES.
The accumulated energy-saving time is cleared.
7 - 381
Convenient functions
7.10.2
Confirming the energy saving function
7.10.2.1
Confirming the total energy saving time
1. Select {SETUP} in the main menu.
2. Select {ENERGY SAVING FUNCTION}.
The ENERGY SAVING FUNCTION window appears.
The total energy-saving time is counted as long as the energy-saving function is active.
7.10.2.2
Confirming the system output signal
1. Select {IN/OUT} in the main menu.
2. Select {SPECIFIC OUTPUT}.
The SPECIFIED OUTPUT window appears.
3. Press [PAGE] or [SELECT] to display SOUT#0576 (#50727).
The system output status during activation of the energy saving function is displayed.
In the energy saving mode, the signal is switched on.
On termination of the energy saving mode, the signal is switched off.
7 - 382
Convenient functions
7.11
Color adjustment function for instructions
By using this function, each instruction type can be displayed in different colors on the JOB
window.
Display colors can be specified for the following types of instructions:
•
Move instructions
•
Work instructions
•
Comment instructions
•
Label instruction
•
Macro instruction (if the macro function is active)
•
I/O instruction
•
Instructions for which LINE EDIT LOCK is set
•
Instructions for which LINE COMMENT is set
•
All instructions other than those listed above
The color of each instruction in the JOB window can be set in the DISPLAY COLOR
CONDITION SETTING window.
1. Select {SETUP} in the main menu.
2. Select {DISPLAY COLOR COND.}.
The DISPLAY COLOR CONDITION SETTING window appears.
7 - 383
Convenient functions
3. Move the cursor to the instruction you want to change and press [SELECT].
The list of colors that can be selected for the instruction is displayed.
4. Select a color.
The selected color is set for the instruction.
5. Select the JOB window.
Each instruction in the JOB window is displayed in its selected color.
7 - 384
Convenient functions
7.12
Present robot position output function
7.12.1
Function for outputting present Cartesian position of robot to
register
7.12.1.1
Outline
Output of the current Cartesian position (base coordinates) of the robot to the specified
register.
7.12.1.2
Parameter
The following parameters specify the function and number of the output register.
S1CxG
Description
208
Specify a function that outputs a specific value of the current Cartesian position (base coordinates) to the register.
0: Invalid
1: Valid
209
Specify the output size to the register.
0: 2-byte output
1: 4-byte output
210
Cartesian position (command value) X register number of the output destination.
211
Cartesian position (command value) Y register number of the output destination.
212
Cartesian position (command value) Z register number of the output destination.
213
Cartesian position (command value) Rx register number of the output destination.
214
Cartesian position (command value) Ry register number of the output destination.
215
Cartesian position (command value) Rz register number of the output destination.
216
Cartesian position (command value) Re register number of the output destination.
217
Specify a function that outputs an FB value of the current Cartesian position
(base coordinates) to the register.
0: Invalid
1: Valid
218
Specify the output size to the register.
0: 2-byte output
1: 4-byte output
219
Cartesian position (FB value) X register number of the output destination.
220
Cartesian position (FB value) Y register number of the output destination.
221
Cartesian position (FB value) Z register number of the output destination.
222
Cartesian position (FB value) Rx register number of the output destination.
223
Cartesian position (FB value) Ry register number of the output destination.
7 - 385
Convenient functions
S1CxG
Description
224
Cartesian position (FB value) Rz register number of the output destination.
225
Cartesian position (FB value) Re register number of the output destination.
(Example 1)
S1C1G
Set value
208
1
209
0
210
10
211
11
212
12
213
13
214
14
215
15
216
16
If you set the parameters as shown above, the current Cartesian position of the robot is
output to the registers as follows:
M010
= current Cartesian position of the robot (command value)
X
[unit: mm]
M011
= current Cartesian position of the robot (command value)
Y
[unit: mm]
M012
= current Cartesian position of the robot (command value)
Z
[unit: mm]
M013
= current Cartesian position of the robot (command value)
Rx [unit: deg]
M014
= current Cartesian position of the robot (command value)
Ry [unit: deg]
M015
= current Cartesian position of the robot (command value)
Rz [unit: deg]
M016
= current Cartesian position of the robot (command value)
Re [unit: deg
(Example 2)
7 - 386
S1C1G
Set value
217
1
218
1
219
10
220
12
221
14
222
16
223
18
224
20
225
22
Convenient functions
M010 =
The lower 2 bytes of the current Cartesian position of
the robot (FB value)
X
[unit: µmm]
M011 =
The upper 2 bytes of the current Cartesian position of
the robot (FB value)
X
[unit: µmm]
M012 =
The lower 2 bytes of the current Cartesian position of
the robot (FB value)
Y
[unit: µmm]
M013 =
The upper 2 bytes of the current Cartesian position of
the robot (FB value)
Y
[unit: µmm]
M014 =
The lower 2 bytes of the current Cartesian position of
the robot (FB value)
Z
[unit: µmm]
M015 =
The upper 2 bytes of the current Cartesian position of
the robot (FB value)
Z
[unit: µmm]
M016 =
The lower 2 bytes of the current Cartesian position of
the robot (FB value)
Rx [unit: 0.001°]
M017 =
The upper 2 bytes of the current Cartesian position of
the robot (FB value)
Rx [unit: 0.001°]
M018 =
The lower 2 bytes of the current Cartesian position of
the robot (FB value)
Ry [unit: 0.001°]
M019 =
The upper 2 bytes of the current Cartesian position of
the robot (FB value)
Ry [unit: 0.001°]
M020 =
The lower 2 bytes of the current Cartesian position of
the robot (FB value)
Rz [unit: 0.001°]
M021 =
The upper 2 bytes of the current Cartesian position of
the robot (FB value)
Rz [unit: 0.001°]
M022 =
The lower 2 bytes of the current Cartesian position of
the robot (FB value)
Re [unit: 0.001°]
M023 =
The upper 2 bytes of the current Cartesian position of
the robot (FB value)
Re [unit: 0.001°
Note:
•
•
•
•
•
When checking the register output function for the set point value (S1CxG208=1), do
not forget to set the output register number (S1CxG210 to 216) for each coordinate
value.
When checking the register output function for the FB value (S1CxG217=1), do not
forget to set the output register number (S1CxG219 to 225) for each coordinate value.
If the register output size (S1CxG209=1 or S1CxG218=1) is set at 2 bytes, the unit of
the coordinate values of the X-, Y- and Z-axes is "mm," and the unit of the Rx, Ry, Rz
and Re angle values is "degrees." In both cases, only the lower 2 bytes are output.
If the register output size (S1CxG209=1 or S1CxG218=1) is set at 4 bytes, the unit of
the coordinate values of the X-, Y- and Z-axes is "µm," and the unit of the Rx, Ry, Rz,
and Re angle values is "0.0001°."
If the register output size (S1CxG209=1 or S1CxG218=1) is set at 4 bytes, the upper
byte of the coordinate value is output to the following register of the specified output
register number. Therefore, confirm the usage status of the register before you set the
output size for the register.
7 - 387
Convenient functions
7.12.2
Function for Outputting Present Pulse Position to Register
7.12.2.1
Outline
The present position of the robot axis, the base axis, or the station axis in pulses is output
to the specified registers.
Parameter
The following parameters specify the details of the function and output register numbers.
S1CxG
Description
202
Specifies the axis to apply the function 1 for outputting the present position in pulses to registers (command value). The axis is specified in
bits.
Bit OFF: disable
Bit ON: enable
203
Specifies the axis to apply the function 1 for outputting the present position in pulses to registers (FB value). The axis is specified in bits.
Bit OFF: disable
Bit ON: enable
204
Specifies the output size to the register.
Bit OFF: output in 2 bytes
Bit ON: output in 4 bytes
205
Specifies the axis to apply the function 2 for outputting the present position in pulses to registers (command value). The axis is specified in
bits.
Bit OFF: disable
Bit ON: enable
206
Specifies the axis to apply the function 2 for outputting the present position in pulses to registers (FB value). The axis is specified in bits.
Bit OFF: disable
Bit ON: enable
207
Specifies the output size to the register.
Bit OFF: output in 2 bytes
Bit ON: output in 4 bytes
7 - 388
1090 to1097
Function 1 register number of output destination
1100 to1107
Function 1 resolution setting
1110 to1117
Function 1 offset value setting
1120 to1127
Function 2 register number of output destination
1130 to1137
Function 2 resolution setting
1140 to1147
Function 2 offset value setting
Convenient functions
2-byte output specification:
•
(specified M register) = (pulse (command or FB)) / (resolution) + (offset value) [unit:
pulse]
Note:
When the output size to the register is set to 2 bytes (no axis specified in S1CxG204 or
S1CxG207), the pulse value in the size of 2 bytes will be output to the specified register
number. If the size exceeds 2 bytes, only the lower 2 bytes will be output.
4-byte output specification:
•
(specified M register) = Lower 2 bytes of {(pulse (command or FB)) / (resolution) +
(offset value)} [unit: pulse]
•
(specified M register + 1) = Upper 2 bytes of {(pulse (command or FB)) / (resolution) +
(offset value)} [unit: pulse]
Note:
When the output size to the register is set to 4 bytes (an axis specified in S1CxG204 or
S1CxG207), the lower 2 bytes will be output to the specified register number, and the upper
2 bytes will be output to the next number of the specified register number. Before performing
setting, check the usage status of the registers.
<Example 1>
S1C1G
Set value
202
63
203
0
204
0
1090
10
1091
11
1092
12
1093
13
1094
14
1095
15
When the parameters are set as shown in the above table, the present position is output to
the registers as follows:
M010 = Present pulse position (command value)
S (1st axis)
[unit: pulse]
M011 = Present pulse position (command value)
L (2nd axis)
[unit: pulse]
M012 = Present pulse position (command value)
U (3rd axis)
[unit: pulse]
M013 = Present pulse position (command value)
R (4th axis)
[unit: pulse]
M014 = Present pulse position (command value)
B (5th axis)
[unit: pulse]
M015 = Present pulse position (command value)
T (6th axis)
[unit: pulse]
M016 = Present pulse position (command value)
S (1st axis)
[unit: pulse]
7 - 389
Convenient functions
<Example 2>
S1C1G
Set value
202
0
203
63
204
63
1090
10
1091
12
1092
14
1093
16
1094
18
1095
20
When the parameters are set as shown in the above table, the present position is output to
the registers as follows:
7 - 390
M010 = Lower 2 bytes of the
Present pulse position
(FB value)
S (1st axis)
[unit: pulse]
M011
= Upper 2 bytes of the
Present pulse position
(FB value)
S (1st axis)
[unit: pulse]
M012 = Lower 2 bytes of the
Present pulse position
(FB value)
L (2nd axis)
[unit: pulse]
M013 = Upper 2 bytes of the
Present pulse position
(FB value)
L (2nd axis)
[unit: pulse]
M014 = Lower 2 bytes of the
Present pulse position
(FB value)
U (3rd axis)
[unit: pulse]
M015 = Upper 2 bytes of the
Present pulse position
(FB value)
U (3rd axis)
[unit: pulse]
M016 = Lower 2 bytes of the
Present pulse position
(FB value)
R (4th axis)
[unit: pulse]
M017 = Upper 2 bytes of the
Present pulse position
(FB value)
R (4th axis)
[unit: pulse]
M018 = Lower 2 bytes of the
Present pulse position
(FB value)
B (5th axis)
[unit: pulse]
M019 = Upper 2 bytes of the
Present pulse position
(FB value)
B (5th axis)
[unit: pulse]
M020 = Lower 2 bytes of the
Present pulse position
(FB value)
T (6th axis)
[unit: pulse]
M021 = Upper 2 bytes of the
Present pulse position
(FB value)
T (6th axis)
[unit: pulse]
Convenient functions
Note:
•
•
•
•
If the pulse is a negative value, the pulse will be output to the register in 2’s complement
notation.
Even in one control group, “command value” or “FB value” can be specified differently
for each axis. However, if “command value” and “FB value” are specified for the same
axis, the value “0” will be output to the register.
If “0” is set as the resolution setting parameter (S1CxG1110 to 1117, S1CxG1130 to
1137), it will be treated as “1” when output to the register is performed.
If “0” is set as the register number of output destination (S1CxG1090 to 1097,
S1CxG1120 to 1127), the present pulse position will not be output to the register. Thus,
no value can be output to the register number M000. Also, if the same register number
of output destination is used more than twice, the former data will be overwritten by the
latter data.
7.12.3
Function for outputting TCP speed to register
7.12.3.1
Outline
The TCP (tool center point) speed of the manipulator is output to the specified registers.
7.12.3.2
Parameters
The following parameters specify the details of the function and output register numbers.
S1CxG
Description
330
Enables/Disables the function for outputting the TCP speed to registers
(command value).
0: no output to register
1: output in 2 bytes [unit: mm/s]
2: output in 4 bytes [unit: µm/s]
331
TCP speed (command value)
register number of output destination
332
Enables/Disables the function for outputting the TCP speed to registers (FB
value).
0: no output to register
1: output in 2 bytes [unit: mm/s]
2: output in 4 bytes [unit: µm/s]
333
TCP speed (FB value) register number of output destination.
<Example 1>
S1C1G
Set value
330
1
331
10
332
2
333
11
When the parameters are set as shown in the above table, the speed is output to the
registers as follows:
M010
TCP speed (command value)
[unit: mm/s]
7 - 391
Convenient functions
M011
Lower 2 bytes of the
TCP speed (FB value)
[unit: µm/s]
M012
Upper 2 bytes of the
TCP speed (FB value)
[unit: µm/s]
Note:
•
•
•
When the output size to the register is set to 2 bytes (“1” is set in S1CxG330 or
S1CxG332), the TCP speed in the size of 2 bytes will be output to the specified register
number. If the size exceeds 2 bytes, only the lower 2 bytes will be output.
When the output size to the register is set to 4 bytes (“2” is set in S1CxG330 or
S1CxG332), the lower 2 bytes will be output to the specified register number, and the
upper 2 bytes will be output to the next number of the specified register number. Before
performing setting, check the usage status of the registers.
If “0” is set as the register number of output destination (S1CxG331 or S1CxG333), the
present TCP speed will not be output to the register. Thus, no value can be output to
the register number M000. Also, if the same register number of output destination is
used more than twice, the former data will be overwritten by the latter data.
7.12.4
Function for outputting each axis speed to register
7.12.4.1
Outline
The speed of each axis of the robot axis, the base axis and the station axis is output to the
specified registers.
7.12.4.2
Parameters
The following parameters specify the details of the function and output register numbers.
S1CxG
Description
334
Enables/Disables the function for outputting each axis speed to registers
(command value).
0: no output to register
1: output in 2 bytes [unit: deg/sec (mm/s for a linear motion axis)]
2: output in 4 bytes [unit: 0.0001 deg/s (µm/s for a linear motion axis)]
335
Enables/Disables the function for outputting each axis speed to registers
(FB value).
0: no output to register
1: output in 2 bytes [unit: deg/s (mm/s for a linear motion axis)]
2: output in 4 bytes [unit: 0.0001 deg/s (µm/s for a linear motion axis)]
7 - 392
1270 to1277
Each axis speed (command value) register number of output destination.
1280 to1287
Each axis speed (FB value) register number of output destination.
Convenient functions
<Example 1>
S1C1G
Set value
334
1
335
0
1270
10
1271
11
1272
12
1273
13
1274
14
1275
15
When the parameters are set as shown in the above table, the speed is output to the
registers as follows:
M010
= Each axis speed (command value)
S (1st axis)
[unit: deg/s]
M011
= Each axis speed (command value)
L (2nd axis)
[unit: deg/s]
M012
= Each axis speed (command value)
U (3rd axis)
[unit: deg/s]
M013
= Each axis speed (command value)
R (4th axis)
[unit: deg/s]
M014
= Each axis speed (command value)
B (5th axis)
[unit: deg/s]
M015
= Each axis speed (command value)
T (6th axis)
[unit: deg/s]
<Example 2>
S1C1G
Set value
334
0
335
2
1280
10
1281
12
1282
14
1283
16
1284
18
1285
20
When the parameters are set as shown in the above table, the speed is output to the
registers as follows:
M010
= Lower 2 bytes
of the
Each axis speed (FB S (1st axis)
value)
[unit: 0.0001 deg/s]
M011
= Upper 2 bytes
of the
Each axis speed (FB S (1st axis)
value)
[unit: 0.0001 deg/s]
M012
= Lower 2 bytes
of the
Each axis speed (FB L (2nd axis)
value)
[unit: 0.0001 deg/s]
M013
= Upper 2 bytes
of the
Each axis speed (FB L (2nd axis)
value)
[unit: 0.0001 deg/s]
M014
= Lower 2 bytes
of the
Each axis speed (FB U (3rd axis)
value)
[unit: 0.0001 deg/s]
7 - 393
Convenient functions
M015
= Upper 2 bytes
of the
Each axis speed (FB U (3rd axis)
value)
[unit: 0.0001 deg/s]
M016
= Lower 2 bytes
of the
Each axis speed (FB R (4th axis)
value)
[unit: 0.0001 deg/s]
M017
= Upper 2 bytes
of the
Each axis speed (FB R (4th axis)
value)
[unit: 0.0001 deg/s]
M018
= Lower 2 bytes
of the
Each axis speed (FB B (5th axis)
value)
[unit: 0.0001 deg/s]
M019
= Upper 2 bytes
of the
Each axis speed (FB B (5th axis)
value)
[unit: 0.0001 deg/s]
M020
= Lower 2 bytes
of the
Each axis speed (FB T (6th axis)
value)
[unit: 0.0001 deg/s]
M021
= Upper 2 bytes
of the
Each axis speed (FB T (6th axis)
value)
[unit: 0.0001 deg/s]
Note:
•
•
•
When the output size to the register is set to 2 bytes (“1” is set in S1CxG334 or
S1CxG335), the axis speed in the size of 2 bytes will be output to the specified register
number. If the size exceeds 2 bytes, only the lower 2 bytes will be output.
When the output size to the register is set to 4 bytes (“2” is set in S1CxG334 or
S1CxG335), the lower 2 bytes will be output to the specified register number and the
upper 2 bytes will be output to the next number of the specified register number. Before
performing setting, check the usage status of the registers.
If “0” is set as the register number of output destination (S1CxG1270 to 1277,
S1CxG1280 to 1287), the present axis speed will not be output to the register. Thus, no
value can be output to the register number M000. Also, if the same register number of
output destination is used more than twice, the former data will be overwritten by the
latter data.
7.12.5
Function for outputting each axis position to register
7.12.5.1
Outline
The position of each axis of the robot axis, the base axis, and the station axis is output to
the specified registers.
7.12.5.2
Parameters
The following parameters specify the details of the function and output register numbers.
S1CxG
Description
336
Enables/Disables the function for outputting each axis speed to registers (command value).
0: no output to register
1: output in 2 bytes [unit: deg/sec (mm/s for a linear motion axis)]
2: output in 4 bytes [unit: 0.0001 deg/s (µm/s for a linear motion axis)]
337
Enables/Disables the function for outputting each axis speed to registers (FB value).
0: no output to register
1: output in 2 bytes [unit: deg/s (mm/s for a linear motion axis)]
2: output in 4 bytes [unit: 0.0001 deg/s (µm/s for a linear motion axis)]
7 - 394
Convenient functions
S1CxG
Description
1290 to1297
Each axis speed (command value) register number of output destination.
1300 to1307
Each axis speed (FB value) register number of output destination.
7 - 395
Convenient functions
<Example 1>
S1C1G
Set value
336
1
337
0
1290
10
1291
11
1292
12
1293
13
1294
14
1295
15
When the parameters are set as shown in the above table, the position is output to the
registers as follows:
M010
= Each axis position (command value)
S (1st axis)
[unit: deg]
M011
= Each axis position (command value)
L (2nd axis)
[unit: deg]
M012
= Each axis position (command value)
U (3rd axis)
[unit: deg]
M013
= Each axis position (command value)
R (4th axis)
[unit: deg]
M014
= Each axis position (command value)
B (5th axis)
[unit: deg]
M015
= Each axis position (command value)
T (6th axis)
[unit: deg]
<Example 2>
S1C1G
Set value
336
1
337
0
1300
10
1301
12
1302
14
1303
16
1304
18
1305
20
When the parameters are set as shown in the above table, the position is output to the
registers as follows:
7 - 396
M010
= Lower 2 bytes of the
Each axis position S (1st axis)
(FB value)
[unit: 0.0001 deg]
M011
= Upper 2 bytes of the
Each axis position S (1st axis)
(FB value)
[unit: 0.0001 deg]
M012
= Lower 2 bytes of the
Each axis position L (2nd axis)
(FB value)
[unit: 0.0001 deg]
M013
= Upper 2 bytes of the
Each axis position L (2nd axis)
(FB value)
[unit: 0.0001 deg]
M014
= Lower 2 bytes of the
Each axis position U (3rd axis)
(FB value)
[unit: 0.0001 deg]
Convenient functions
M015
= Upper 2 bytes of the
Each axis position U (3rd axis)
(FB value)
[unit: 0.0001 deg]
M016
= Lower 2 bytes of the
Each axis position R (4th axis)
(FB value)
[unit: 0.0001 deg]
M017
= Upper 2 bytes of the
Each axis position R (4th axis)
(FB value)
[unit: 0.0001 deg]
M018
= Lower 2 bytes of the
Each axis position B (5th axis)
(FB value)
[unit: 0.0001 deg]
M019
= Upper 2 bytes of the
Each axis position B (5th axis)
(FB value)
[unit: 0.0001 deg]
M020
= Lower 2 bytes of the
Each axis position T (6th axis)
(FB value)
[unit: 0.0001 deg]
M021
= Upper 2 bytes of the
Each axis position T (6th axis)
(FB value)
[unit: 0.0001 deg]
Note:
•
•
•
•
If the axis position is a negative value, the axis position will be output to the register in
2’s complement notation.
When the output size to the register is set to 2 bytes (“1” is set in S1CxG336 or
S1CxG337), the axis position in the size of 2 bytes will be output to the specified register
number. If the size exceeds 2 bytes, only the lower 2 bytes will be output.
When the output size to the register is set to 4 bytes (“2” is set in S1CxG336 or
S1CxG337), the lower 2 bytes will be output to the specified register number, and the
upper 2 bytes will be output to the next number of the specified register number. Before
performing setting, check the usage status of the registers.
If “0” is set as the register number of output destination (S1CxG1290 to 1297,
S1CxG1300 to 1307), the present axis position will not be output to the register. Thus,
no value can be output to the register number M000. Also, if the same register number
of output destination is used more than twice, the former data will be overwritten by the
latter data.
7 - 397
Convenient functions
7.12.6
Function for outputting torque command value to register
7.12.6.1
Outline
The torque command value of the robot is output to a register. The torque command value
is the current torque command value of the measured axis. The torque command value is
expressed as a percentage [%] with the rated motor torque of the axis as 100%.
7.12.6.2
Parameters
The following parameters specify the details of the function, output register numbers, and
offsets.
S1CxG
Description
122
Specifies the output axis to apply the function for a outputting a
torque command value to a register. The axis is specified in bits.
Bit OFF: disable
Bit ON: enable
910 to 917
Specifies the register number of the output destination for outputting a torque command value to a register.
1060 to 1067
Specifies the offset for outputting a torque command value to a
register.
Output specification
• (specified M register) = (torque command value) + (offset) [unit: %]
<Example 1>
S1C1G
Setting value
122
63
910
10
911
11
912
12
913
13
914
14
915
15
When the parameters are set as shown in the above table, the torque command values are
output to the registers as follows:
7 - 398
M010 = Torque (command value)
S (1st axis)
[unit: %]
M011 = Torque (command value)
L (2nd axis)
[unit: %]
M012 = Torque (command value)
U (3rd axis)
[unit: %]
M013 = Torque (command value)
R (4th axis)
[unit: %]
M014 = Torque (command value)
B (5th axis)
[unit: %]
M015 = Torque (command value)
T (6th axis)
[unit: %]
Convenient functions
Note:
•
If "0" is set as the register number of the output destination (S1CxG910 to 917), the
torque command value will not be output to the register. Thus, no value can be output
to the register number M000. Also, if the same register number of the output destination
is used more than once, the former data will be overwritten by the latter data.
•
The update cycle for the register output values of the torque command values is
approximately 100 msec.
7 - 399
Convenient functions
7.13
SOFTLIMIT setting function
7.13.1
About the SOFTLIMIT setting function
The SOFTLIMIT setting function is set to limit the movement range of the robot by means
of the software.
7.13.2
SOFTLIMIT setting window
NOTICE
The SOFTLIMIT setting window is only displayed in TEACH mode and MANAGEMENT
mode.
1. Select {ROBOT} in the main menu.
2. Select {SOFTLIMIT SETTING}.
The SOFTLIMIT SETTING window appears.
3. Select the desired control group by performing one of the following steps:
a) Press [PAGE] on the programming pendant.
b) Use the selection dialog box:
Select {Page} and position the cursor in the desired control group.
Press [SELECT].
7 - 400
Convenient functions
7.13.3
Setting the SOFTLIMIT by entering a numeric value
1. Position the cursor on the desired axis for SOFTLIMIT (+) or SOFTLIMIT (-), and press
[SELECT].
2. Enter the values for SOFTLIMIT (+) and SOFTLIMIT (-), and press [ENTER].
The SOFTLIMIT is set.
7.13.4
Setting the current value as the SOFTLIMIT
1. Move the robot with the axis keys.
Use the axis keys to put the robot in the position whose value is the maximum or
minimum value for the SOFTLIMIT.
2. Position the cursor on the desired axis for SOFTLIMIT (+) or SOFTLIMIT (-).
a) To change the maximum value of the first SOFTLIMIT, position the cursor on the
first axis for SOFTLIMIT (+).
b) To change the minimum value of the first SOFTLIMIT, position the cursor on the first
axis for SOFTLIMIT (-).
3. Press [MODIFY].
The message "Update the data with <ENTER>" is displayed.
7 - 401
Convenient functions
4. You can cancel the operation or confirm by pressing [ENTER].
a) If you take one of the following steps, the change is canceled:
•
Press [MODIFY].
•
Press [SELECT].
•
Press one of the arrow keys: [↑] [↓] [←] [→].
•
Press [PAGE].
•
Press [DIRECT OPEN].
•
Press one of the numeric keys.
•
Select the reserved window.
•
Switch the window.
•
Change the mode.
The message "Update operation <CHANGE> has been cancelled" appears.
b) Press [ENTER].
The current position is set as the SOFTLIMIT.
7 - 402
Convenient functions
7.13.5
Set the SOFTLIMIT (+)/ the SOFTLIMIT (-) to the initial maker value
1. Select {DATA} → {Initial Maker Value}.
The confirmation dialog box appears.
2. Select YES.
The initial value is set for all displayed axes.
If you select NO, the operation is canceled.
NOTICE
The initial value limits the robot's mechanical range of movement and depends on the robot
model.
The initial value differs from the movement range set to add the base station axes.
7 - 403
Convenient functions
7.13.6
Changing the coordinate display for SOFTLIMIT (+) and SOFTLIMIT
(-)
1. Select {DISPLAY} → {Coordinate Change}.
•
If the coordinate displayed is a pulse coordinate, the robot axis switches to the angle
display, the base axis switches to the distance display, and the station axes switch for
each axis to the value of the display parameter of the station axis (S2C265 to 288).
•
If the first bit is OFF, the first axis switches to the angle display.
•
If the second bit is ON, the second axis switches to the distance display.
•
If the displayed coordinates are angle/distance, all axes switch to the pulse display.
NOTICE
 If the display of the SOFTLIMIT value is the angle display, then the pulse display and
the sign may differ.
 Be sure to confirm the movement range by JOG operation after you have changed the
SOFTLIMIT value.
7 - 404
Convenient functions
7.14
JOB editing function during playback
JOBs can be edited both during playback and in PLAY mode.
<Editable>: User JOB.
<Not editable>: Macro JOB and system JOB.
7.14.1
JOB editing during playback
7.14.1.1
Basic operation
To edit a JOB during playback, perform the following steps:
1. During playback select {JOB} → {SELECT JOB} in the main menu.
The JOB LIST window appears.
2. Select {JOB} → {EDITING} in the menu area.
3. Select the JOB to be edited from the JOB list.
The selected JOB is registered in the display of the PLAY EDIT JOB LIST submenu.
7 - 405
Convenient functions
4. Edit the selected JOB in the same way as in TEACH mode.
For additional information on editing restrictions refer to chapter 7.14.1.2 "Editing".
5. Select {JOB} → {WRITING} in the menu area in order to mirror the edited data.
If the JOB you want to write is already in the JOB LIST, a confirmation dialog box
appears.
6. Select YES.
If a JOB with the same name is not in the JOB LIST, the JOB is added to the JOB LIST.
NOTICE
If data is mirrored during playback, the message "Requesting playback edit JOB writing"
appears and the status becomes a write request. To save the JOB, execute the
LATESTJOB instruction in the write request status or terminate playback. If data is mirrored
in PLAY mode but not playback, the JOB is written immediately.
However, if the JOB to be written is executed (including JOBs in the JOB LIST), the
message "Error 5240: Can not write in the JOB in execution." appears and the edited data
is not mirrored.
If a JOB in the JOB LIST is to be written in PLAY mode but not playback, the message "Error
5241: Can not write in the JOB in JOB STACK." appears and the edited data is not mirrored.
If data is mirrored during TEACH-IN, the JOB is written immediately.
7 - 406
Convenient functions
7.14.1.2
Editing
The data of the selected JOB can be edited in the same way as in the normal TEACH mode.
(For additional information refer to step 4 in chapter 7.14.1.1 "Basic operation")
The functions for influencing the movement of the robot are limited as follows:
•
The TEACH-IN position cannot be edited.
•
The pull-down menu is limited during editing, as shown in Fig. 7-5: to Fig. 7-8: .
Fig. 7-5: EDIT pull-down menu * Cursor is on line number
Fig. 7-6: EDIT pull-down menu * Cursor is on instruction
Fig. 7-7: DISPLAY pull-down menu
Fig. 7-8: UTILITY pull-down menu
In addition to the described JOB editing function, the {JOB} pull-down menu also contains
{CREATE NEW JOB}, {RENAME JOB}, {COPY JOB}, and {DELETE JOB}.
All the above operations are executed for the JOBs in the PLAY EDIT JOB LIST.
To save the edited data in the JOB from the JOB list, {WRITING} is required.
Only JOBs contained in the PLAY EDIT JOB LIST can be deleted using {DELETE JOB}.
The JOBs in the JOB LIST are not deleted.
NOTICE
The above-mentioned operations {WRITING}, {DELETE JOB}, {RENAME JOB} and
{COPY JOB} can be executed in the same way in the PLAY EDIT JOB LIST window.
7 - 407
Convenient functions
7.14.1.3
Editing multiple JOBs
To delete or write multiple JOBs simultaneously in the PLAY EDIT JOB LIST window,
perform the following steps:
•
Deleting multiple JOBs
1. {JOB} → {PLAY EDIT JOB LIST} in the main menu.
2. Select the JOB to be deleted by pressing [SHIFT] + [SELECT].
● appears to the left of the selected JOB.
3. Select {JOB} → {DELETE JOB} in the main menu.
A confirmation dialog box appears for each JOB selected.
4. Select YES
The JOB is deleted from the PLAY EDIT JOB LIST window.
7 - 408
Convenient functions
•
Writing multiple JOBs
1. {JOB} → {PLAY EDIT JOB LIST} in the main menu.
2. Select the JOB to be written by pressing [SHIFT] + [SELECT].
● appears to the left of the selected JOB.
3. Select {JOB} → {WRITING} in the menu area.
If the JOB you want to write is already in the JOB LIST, a confirmation dialog box
appears.
4. Select YES.
The edited data is mirrored.
If you select NO or press [CANCEL] the operation is canceled.
If a JOB of the same name is not in the JOB LIST, the JOB to be written is added to the JOB
LIST.
7 - 409
Convenient functions
NOTICE
 If data is mirrored during playback, the message "Requesting playback edit JOB
writing" appears and the status becomes a write request. To save the JOB, execute the
LATESTJOB instruction in the write request status, or terminate playback. If data is
mirrored in PLAY mode but not playback, the JOB is written immediately.
 If the JOB to be written is executed (including JOBs in the JOB LIST), the message
"Error 5240: Can not write in the JOB in execution." appears and the edited data is not
mirrored.
 If a JOB in the JOB LIST is to be written in PLAY mode but not playback, the message
"Error 5241: Can not write in the JOB in JOB STACK." appears and the edited data is
not mirrored.
 If data is mirrored during TEACH-IN, the JOB is written immediately.
7 - 410
Convenient functions
7.14.1.4
Canceling the write request
To cancel a write request, perform the following steps:
1. Select {JOB} → {PLAY EDIT JOB LIST} or {JOB} → {JOB EDIT (PLAY)} in the main
menu.
2. Select {JOB} → {WRITING CANCEL} in the menu area.
7 - 411
Convenient functions
NOTICE
•
If the mode is changed to teach during editing of the JOB.
Even if the mode is changed to TEACH without mirroring or cancellation of the edited data,
the changed data is saved. In this case, select {JOB} → {SELECT JOB} or {PLAY EDIT JOB
LIST} in the main menu to edit the data in the same way as in PLAY mode. However, the
teaching of the position is not possible.
The data of a JOB edited in PLAY mode is not mirrored when the mode is changed to
TEACH mode as long as {WRITING} has not been executed.
•
Write a JOB.
{WRITING} works differently, depending on the status of the robot.
Select {JOB} → {WRITING} to mirror the edited data in the JOB. The data is mirrored as
described below, depending on whether or not the JOB is executed.
1. If the JOB is not executed: The data is mirrored immediately.
2. If the JOB is executed: The data is mirrored when the LATESTJOB instruction is
executed or the JOB is completed.
The message "Requesting playback edit JOB writing" is displayed when waiting for
mirroring (during a write request).
It is not possible to write in the executed JOB, not even with the LATESTJOB instruction.
If there is a power failure during the write request, the write request is canceled after the
restart and the JOB is not mirrored.
•
During file transfer.
{WRITING} cannot take place during file transfer (i.e., data transfer to an external storage
medium).
Moreover, a file cannot be transferred during a write request.
•
During a write request.
Editing is not possible during a write request (when the message "Requesting playback edit
JOB writing" is displayed).
To edit data, wait for the write operation to finish or cancel the write request.
7 - 412
Convenient functions
7.15
Logging function
By using the logging function, the history (log) of the controller's operation, data editing, and
JOB execution can be saved in chronological order and displayed on the screen.
The user can select operations to be logged and save the log data in an external device.
7.15.1
Data to be logged
The following data can be saved by using this function:
•
Operation log:
– Mode switch (PLAY / TEACH / REMOTE) (operations in the REMOTE MODE are
also saved in logs.)
– Safeguarding OPEN (PLAY)
– Selection of JOBs (including direct opened)
– Calling the master JOB
– Initializing a file or JOB
– Loading and saving of files or JOB (normal termination/abnormal termination)
(Loading and saving operations by the DCI function or the data transmission
function are not saved in logs).
– Creating, deleting, renaming a JOB
– Converting a JOB
– Parallel shift JOB conversion, mirror shift JOB conversion, relative JOB conversion,
user coordinates shift conversion, PAM (position correcting during playback), PMT
(position correcting due to tool deformation), 4-point teaching.
– Changing the home position of the roboot
– Login/logoff (Only available when the password protection function (optional) is
used.)
•
Turning ON/OFF the power supply
•
Forced Cancel of WAIT Command (*1)
– From the {UTILITY} pull-down menu in the PLAYBACK window, select {SKIP WAIT
INST} to record that the condition waiting status of the WAIT command was
canceled. This is recorded only when condition waiting was canceled by user
operation.
•
Speed Override Operation (*1)
– This records whether the speed override status is set or canceled and whether the
speed ratio was changed. Override that is performed using an external input signal
(see chapter 5.4.1.2 "Modifying the speed override percentage") is not recorded.
•
Interface Panel Button Operation (*1) (Option Function)
–
•
This records that a button was pressed. The only buttons that are recorded are the
buttons pressed when the I/O, variables, or registers are edited. When these buttons
are pressed, an edit log of the data assigned to the buttons is also recorded
simultaneously. Nothing is recorded for [VIEW ONLY] or [COUNTER] buttons or when
button usage is disabled.
Button type
Button status when log recorded
HOLD-DOWN button
ON is recorded whenever this button is pressed.
PUSH button
ON is recorded when this button is pressed, and OFF is recorded when it is released.
7 - 413
Convenient functions
•
Button type
Button status when log recorded
SELECTOR SW
Even when the switch is set to {LEFT ON}, {RIGHT ON}, or
{2 POINTS OUTPUTS}, ON is recorded whenever the button is pressed.
PRESET COUNTER
ON is recorded whenever this button is pressed.
OPERATE
{PERMIT} or {PROHIBIT} is recorded based on the button
display status.
Edit log
– JOB *Including edit jobs during playback (*1):
Adding an instruction
Changing conditions in an instruction
Deleting an instruction
Cut, paste, and reverse paste
UNDO and REDO
Editing a JOB header
Line edit lock and line commenting out
Canceling all line edit lock, canceling all line commenting out
Creating, renaming, deleting, or writing to an edit JOB during playback (*1)
– Editing a condition file/general data
– Editing a parameter
– Editing the CIO. Editing on the ladder program window.
When compiling is executed, the edit histories (addition/modification/deletion of
lines) are output together. The recorded times are the actual times at which the lines
were edited, so they may not be the same as the time at which compiling was
executed.
– Editing a variable
Operations in the remote mode are not saved in logs.
– Editing I/O
A log is recorded when the signals in the following table are switched ON/OFF.
Signal type
Recording
of ON/OFF
status
Recording
of forced
signal output status
Signal number when
recorded
USER INPUT SIGNAL
○1
○2
I/O number (1-4096) /
Relay (#00010-#05127)3
USER OUTPUT SIGNAL
○
x
I/O number (1-4096) /
Relay (#10010-15127)3
EXTERNAL INPUT SIGNAL
○1;2
○2
Relay (#20010-#25127)
EXTERNAL OUTPUT SIGNAL
1;2
○
2
Relay (#30010-#35127)
2
x
I/F PANEL INPUT SIGNAL
○
○
Relay (#60010-#60647)
1. This is recorded only when the forced signal output status is ENABLE.
2. This is recorded starting from YAS4.10-00.
3. Switchable by the S2C1585 d0 bit. (Bit OFF: I/O number, Bit ON: Relay number)
7 - 414
Convenient functions
•
Register editing (*1)
Note:
•
Only the editing operations performed by the user will be logged. If the status of a
variable, I/O, or register is modified by an instruction in the JOB, etc., such modification
will not be logged.
JOB execution log:
The JOB execution log can be saved when a JOB is started, completed, or stopped,
and this log can be referred to later. For example, if the power supply is turned OFF for
some reason and the job is stopped during execution, the JOB execution log can be
used to make recovery operations easier.
– JOB name
– Line number
– Task (local task number)
– Event (START, NEXT, BACK, TEST, STOP, PSTART (*1))
– Cause of stop
Completion of execution (execution of the instruction of a given line number is
completed), END (END of the JOB), PAUSE instruction, ABORT instruction, servo
OFF, hold, key OFF (key is released during FWD, BWD, or test operation), turning
OFF of the power supply.
– Date
Note:
The JOB execution logs of JUMP, CALL, PSTART (independent control function),
interrupt job, etc., in which JOBs are switched during execution, are not saved.
7 - 415
Convenient functions
7.15.2
Number of stored logs
For each data type, the following number of log entries is saved:
•
Operation logs: 200
•
Edit logs: 200
•
JOB execution logs: 200
If the number of saved entries exceeds the number mentioned above, old data is deleted
and new data is recorded.
7.15.3
Operating methods
7.15.3.1
Displaying the log list
To open the log list, perform the following steps:
1. Select {SYSTEM INFO} → {LOGDATA} in the main menu.
2. Select {LOGDATA}
The LOGDATA window appears.
The list of logs can be shown for each log type (OPERATION/EDIT/JOB execution).
1. Select {DISPLAY} in the menu area.
{ALL}, {OPERATION}, {EDITING} and {JOB EXECUTION} appear.
2. Select the desired log type.
The list of logs of the selected log type appears.
Select {ALL} to see the list of all logs of OPERATION, EDIT and JOB execution.
Alternatively
1. Touch {PAGE} at the bottom of the window.
The dialog box for selecting the log type ALL, OPERATION, EDIT or JOB EXECUTION
appears.
2. Select the desired log type to see the list of logs.
Press [PAGE] to switch the list of logs in the order of ALL → OPERATION →EDIT →
JOB EXECUTION → ALL.
7 - 416
Convenient functions
Operation log list.
Edit log list.
JOB execution log list.
7.15.3.2
Displaying log details
To display the desired log details, perform the following steps:
1. Move the cursor to the desired log in the {LOGDATA} window.
2. Press [SELECT].
3. To return to the LOGDATA window, touch the {RETURN} button at the bottom of the
window or press [CANCEL].
The entries shown in the DETAIL window are shown in the tables on the following pages.
The following entries are always displayed, regardless of the displayed log type
(OPERATION, EDIT or JOB EXECUTION):
•
INDEX
•
DATE
•
EVENT
•
LOGIN NAME
7 - 417
Convenient functions
7.15.3.3
Displaying log details
Log name
Comment
Elements shown in the detailed display
START
-
Series
JOB name
Line number
Current
value
-
HOLD
-
Series
JOB name
Line number
Current
value
-
ESP
-
Series
JOB name
Line number
Current
value
-
TEACH MODE
-
-
-
-
-
-
PLAY MODE
-
-
-
-
-
-
REMOTE mode
-
-
-
-
-
-
SELECT JOB
-
Series
JOB name
-
-
-
SAFETY FENCE
OPEN
-
Series
JOB name
Line number
Current
value
-
MASTER JOB CALL
-
Series
JOB name
-
-
-
FILE INIT
-
File names
-
-
-
-
FILE LOAD END
-
File names
-
-
-
-
FILE SAVE END
-
File names
-
-
-
-
FILE LOAD ERROR
-
File names
-
-
-
-
FILE SAVE ERROR
-
File names
-
-
-
-
JOB CREATE
-
JOB name
-
-
-
-
JOB DELETE
-
JOB name
-
-
-
-
JOB RENAME
-
JOB name
Target JOB
name
-
-
-
PARALLEL SHIFT
-
JOB name
Target JOB
name
-
-
-
MIRROR SHIFT
-
JOB name
Target JOB
name
-
-
-
JOB (PAM)
-
JOB name
Target JOB
name
-
-
-
JOB (RELATIVE)
-
JOB name
Target JOB
name
-
-
JOB (USER DCOORD.
SHIFT)
-
JOB name
Target JOB
name
-
-
JOB (4-POINT TEACH) -
JOB name
-
-
-
-
JOB (PMT)
-
JOB name
-
-
-
-
ORG ABSO
-
Group number
Axis number
Setting
Current
value
-
LOGIN
-
-
-
-
-
-
LOGOUT
-
-
-
-
-
-
POWER ON
-
-
-
-
-
-
POWER OFF
-
-
-
-
-
-
SKIP WAIT INST
-
Task
JOB name
Line number
-
-
7 - 418
Convenient functions
Log name
Comment
Elements shown in the detailed display
SPEED OVERRIDE
SETTING
-
Override status
Speed ratio
-
-
-
I/F PANEL OPERATION
-
PAGE NO.
Button arrange
Button type
Button
status
-
I/F PANEL OPERATION (EDITLOCK)
-
Button status
-
-
-
-
Tab. 7-1: Operation log
Log name
Comment
Elements shown in the detailed display
JOB EDIT(INS)
-
Task
JOB name
Line number Value after
editing
Current
value
JOB EDIT(MOD)
-
Task
JOB name
Line number Value after
editing
-
JOB EDIT(DEL)
-
Task
JOB name
Line number Deleted
line
-
JOB EDIT(P. REG)
-
Task
JOB name
Line number Current
value
-
JOB EDIT(P. MOD)
-
Task
JOB name
Line number Current
value
-
JOB EDIT
-
Task
JOB name
Start line
End line
-
-
Task
JOB name
Start line
End line
-
-
Task
JOB name
Start line
End line
-
-
Task
JOB name
Start line
End line
-
-
Task
JOB name
Start line
End line
-
-
Task
JOB name
Start line
End line
-
JOB EDIT(CUT)
-
Task
JOB name
Processing
of starting
position
Processing of end
position
-
JOB EDIT(PASTE)
-
Task
JOB name
Processing
of starting
position
Processing of end
position
-
JOB EDIT(R. PST)
-
Task
JOB name
Processing
of starting
position
Processing of end
position
-
JOB EDIT(UNDO)
-
Task
JOB name
-
-
-
JOB EDIT(REDO)
-
Task
JOB name
-
-
-
(EDITLOCK)
JOB EDIT
(EDITLOCK CLR)
JOB EDIT
(EDITLOCK CLR ALL)
JOB EDIT
(COMMENT OUT)
JOB EDIT
(COMMENT OUT
CLR)
JOB EDIT
(COMMENT OUT CLR
ALL)
7 - 419
Convenient functions
Log name
Comment
Elements shown in the detailed display
JOB EDIT(HEADER)
Numeric
value
JOB
name
Element
number
Value before
editing
Value after
editing
-
Character
string
JOB
name
Element
number
Value after
editing
-
-
P-JOB CREATE
-
JOB
name
-
-
-
-
P-JOB RENAME
-
JOB
name
-
-
-
-
P-JOB DELETE
-
JOB
name
-
-
-
-
P-JOB WRITING
-
JOB
name
-
-
-
-
P-JOB EDIT(INS)
-
Task
JOB name
Line Number
After edit
-
P-JOB EDIT(MOD)
-
Task
JOB name
Line Number
After edit
-
P-JOB EDIT(DEL)
-
Task
JOB name
Line Number
After edit
-
P-JOB EDIT
-
Task
JOB name
Start line
End line
-
-
Task
JOB name
Start line
End line
-
-
Task
JOB name
Start line
End line
-
-
Task
JOB name
Start line
End line
-
-
Task
JOB name
Start line
End line
-
-
Task
JOB name
Start line
End line
-
P-JOB EDIT(CUT)
-
Task
JOB name
Start line
End line
-
P-JOB EDIT(PASTE)
-
Task
JOB name
Start line
End line
-
P-JOB EDIT(R. PST)
-
Task
JOB name
Start line
End line
-
P-JOB EDIT(HEAD)
Numeric
value
JOB
name
Element
Before edit
After edit
-
Character
string
JOB
name
Element
After edit
-
-
Numeric
value
File
names
Element
number
Value before
editing
Value after
editing
-
Character
string
File
names
Element
number
Value after
editing
-
-
Parame- Parameter
ter type number
Value before
editing
Value after
editing
(EDITLOCK)
P-JOB EDIT
(EDITLOCK CLR)
P-JOB EDIT
(EDITLOCK CLR ALL)
P-JOB EDIT
(COMMENT OUT)
P-JOB EDIT
(COMMENT OUT
CLR)
P-JOB EDIT
(COMMENT OUT CLR
ALL)
OTHER FILE EDT
PARAMETER EDIT
7 - 420
-
Convenient functions
Log name
Comment
Elements shown in the detailed display
LADDER EDIT(ADD)
-
Line
number
Value after
editing
System/
user
-
-
LADDER EDIT(CHG)
-
Line
number
Value after
editing
System/
user
-
-
LADDER EDIT(DEL)
-
Line
number
Deleted line
System/
user
-
-
COMPILE
-
-
-
-
-
-
VARIABLE EDIT
Numeric
value
Variable
type
Edit number Value before
editing
Value after
editing
-
Character
string
Variable
type
Edit number Value after
editing
-
-
Position
variable
Variable
type
Edit number Set value
-
-
I/O EDIT
-
I/O num- Value after
ber
editing
-
-
-
I/O EDIT(SIM)
-
I/O num- After edit
ber
-
-
-
I/O EDIT(ALL SIM)
-
I/O type
After edit
-
-
-
REGISTER EDIT
-
Register NO
Before edit
After edit
-
-
Tab. 7-2: Edit log
Log name
Comment
Elements shown in the detailed display
START
-
Task
JOB name
Line number
-
NEXT
-
Task
JOB name
Line number
-
BACK
-
Task
JOB name
Line number
-
-
TEST
-
Task
JOB name
Line number
-
-
STOP
-
Task
JOB name
Line number
Cause of stop
-
PSTART
-
Task
JOB name
Line number
-
-
-
Tab. 7-3: JOB execution log
7 - 421
Convenient functions
7.15.3.4
Updating log information
If a new log is added during the display of the {LOGDATA} window, perform the following
steps:
1. Press [SELECT].
The confirmation dialog box appears.
2. Select YES.
The log data is updated.
If you select NO, the operation is canceled.
3. Press [SELECT] again to display the same confirmation dialog box again.
NOTICE
If the log type to be displayed is set to OPERATION, EDIT or JOB EXECUTION, the
confirmation dialog box appears only if the added log is of the displayed type and [SELECT]
is pressed.
7.15.3.5
Deleting log information
Only when the SECURITY mode is set to MANAGEMENT mode, {INITIALIZE} is displayed
in the {DATA} pull-down menu of the LOGDATA window.
1. Open the LOGDATA window.
2. Select {DATA} → {INITIALIZE} in the menu area.
The confirmation dialog box appears.
3. Select YES.
All data of the currently displayed log type is deleted.
7 - 422
Convenient functions
7.15.3.6
Selecting certain instructions for logging
The recording of unnecessary logs can be prevented by selecting the instructions whose
log data should be recorded in advance.
1. Select {SETUP} → {LOGDATA COND.} in the main menu.
The LOGDATA CONDITION SETTING window appears.
2. Move the cursor to the element whose data you want to log and press [SELECT].
The setting switches between SAVE and NOT SAVE.
If you set NOT SAVE for an element, its log data is not recorded even if SAVE has been
selected.
The names of the elements and destination logs are as follows:
Name of the element
Destination log
POWER ON/OFF LOG
POWER ON, POWER OFF
EXECUTE JOB LOG
START, NEXT, BACK, TEST, STOP, PSTART
SAFETY FENCE LOG
SAFETY FENCE OPEN
MODE SWITCH LOG
•
•
•
JOB SELECTION LOG
SELECT JOB
MASTER JOB SELECTION LOG
MASTER JOB CALL
LOG ON/LOG OFF LOG
•
•
FILE INITIALIZE LOG
FILE INIT
FILE LOAD LOG
•
•
TEACH MODE
PLAY MODE
REMOTE MODE
LOGIN
LOGOUT
FILE LOAD END
FILE LOAD ERROR
7 - 423
Convenient functions
Name of the element
Destination log
FILE SAVE LOG
•
•
FILE SAVE END
FILE SAVE ERROR
JOB CREATE/DELETE LOG
•
•
•
•
JOB CREATE
JOB DELETE
P-JOB CREATE
P-JOB DELETE
JOB RENAME LOG
•
•
JOB RENAME
P-JOB RENAME
JOB SHIFT LOG
•
•
PARALLEL SHIFT
MIRROR SHIFT
JOB PAM LOG
PAM
ABSO SET LOG
ORG ABSO
JOB EDIT LOG
•
JOB EDIT
•
•
(INS, MOD, DEL, P.REG, P.MOD, EDITLOCK, EDITLOCK CLR, EDITLOCK CLR
ALL, COMMENT OUT, COMMENT OUT
CLR, COMMENT OUT CLR ALL)
P-JOB WRITE
P-JOB EDIT
(INS, MOD, DEL, EDITLOCK, EDITLOCK
CLR, EDITLOCK CLR ALL, COMMENT OUT,
COMMENT OUT CLR, COMMENT OUT
CLR ALL)
•
JOB EDIT
•
(CUT, PASTE, R. PST)
P-JOB EDIT
(CUT, PASTE, R. PST)
JOB UNDO/REDO LOG
•
•
JOB EDIT(UNDO)
JOB EDIT(REDO)
JOB HEADER EDIT LOG
•
•
JOB EDIT(HEADER)
P-JOB EDIT(HEADER)
LINE EDIT PROHIBIT/RELEASE
LOG
•
•
•
JOB EDIT(EDITLOCK)
JOB EDIT(EDITLOCK CLR)
JOB EDIT(EDITLOCK CLR ALL)
COMMENT/RELEASE LOG
•
•
•
JOB EDIT(COMMENT)
JOB EDIT(COMMENT CLR)
JOB EDIT(COMMENT CLR ALL)
FILE EDIT LOG
OTHER FILE EDT
PARAMETER EDIT LOG
PARAMETER EDIT
VARIABLE EDIT LOG
VARIABLE EDIT
SIGNAL EDIT LOG
•
•
•
•
JOB CUT/PASTE LOG
7 - 424
I/O EDIT
I/O EDIT(SIM)
I/O EDIT(ALL SIM)
REGISTER EDIT
Convenient functions
Name of the element
Destination log
LADDER EDIT LOG
•
•
•
SKIP WAIT INST LOG
SKIP WAIT INST
SPEED OVERRIDE SETTING LOG
SPEED OVERRIDE SETTING
I/F PANEL OPERATION LOG
•
•
LADDER EDIT(ADD)
LADDER EDIT(CHG)
LADDER EDIT(DEL)
I/F PANEL OPERATION
I/F PANEL OPERATION(EDITLOCK)
7 - 425
Convenient functions
7.16
Speed-dependent analog output function
The speed-dependent analog output function automatically changes the value of the analog
output depending on the robot's speed of movement. This function makes it unnecessary
to reset the analog output value depending on the speed of movement, thus reducing the
duration of JOB TEACH-IN.
If the thickness of a seal or paint is to remain the same, for example, the amount of sealant
or paint taken can be controlled by the robot's speed of movement.
1
Speed: slow
Amount taken: small
2
Speed: fast
Amount taken: large
1
2
NOTICE
The following expansion board is required for the speed-dependent analog output function.
 Expansion board for the analog output: JANCD-AEW02-E
7 - 426
Convenient functions
7.16.1
Instructions
7.16.1.1
Instructions for the speed-dependent analog output function
The instructions ARATION and ARATIOF are used for the speed-dependent analog output
function.
• ARATION
The speed-dependent analog output function is executed after the execution of the
ARATION instruction. This instruction is valid during circular interpolation, linear
interpolation or spline interpolation. It is only executed in playback or by means of the
[FWD] key. It is not executed as long as the axis is in operation.
This instruction is also used when each set value for the speed-dependent analog
output function is changed.
ARATION AO#(1) BV=10.00 V=200.0 OFV=2.00 FINE DELAY=1.00
1
1
2
3
4
5
6
Output port number
General analog output port for the execution of the speed-dependent analog output
function.
Setting range: 1 to 40
2
Basic voltage
Output voltage at the speed set with the basic speed.
Setting range: -14.00 to +14.00V
3
Basic speed
Speed of movement used as a basis when the set voltage is output.
Setting range: 0.1 to 1500.0 mm/s
Setting range: 1 to 9000 cm/min
4
Offset voltage
Analog voltage when the speed of movement is "0".
Setting range: -14.00 to +14.00V
5
Fine output
Analog output is performed corresponding to the feedback speed, not corresponding
to the command speed (the speed defined by path calculation).
When this tag is added, filtering will not be performed.
6
Delay time
Delay time for the analog output corresponding to the feedback speed.
Setting range: 0.00 to 10.00 s
The output characteristic data for the relationship between the speed of movement and the
analog voltage is calculated on the basis of the set value of the ARATION instruction. The
speed-dependent analog output function is executed depending on this output
characteristic data.
7 - 427
Convenient functions
The output characteristic data is shown in the graphic below.
Output characteristics when the function of analog output corresponding to
Speed is used
1
Analog voltage
2
Basic voltage
3
Offset voltage
4
Basic speed
5
Speed of movement
1
14V
2
3
0
4
5
NOTICE
If the value of the analog output is greater than ± 14.00 V due to the speed of movement,
the value is limited to ± 14.00 V.
•
ARATIOF
If the ARATIOF instruction is used, the speed-dependent analog output function is
terminated, and the set offset voltage becomes the fixed output power.
1
Output port number
GP analog output port to end the analog output corresponding
to speed.
Setting range: 1 to 40
7 - 428
ARATIOF AO#(1)
11
Convenient functions
7.16.1.2
Registering instructions
The instructions can be registered when the cursor is in the address area of the JOB
CONTENT window in TEACH mode.
Perform the following steps before you register an instruction:
1. Select {JOB} in the main menu
2. Select {JOB CONTENT}.
3. Move the cursor to the address area (1).
1
Address area
2
Instruction area
1
•
2
ARATION
1. Position the cursor in the line above the position at which you want to register the
ARATION instruction.
2. Press [INFORM LIST].
3. Select {IN/OUT}.
The dialog box for instruction groups appears.
4. Select {ARATION}.
The ARATION instruction is displayed in the input line.
5.
To register without changes, continue with step 7.
7 - 429
Convenient functions
6. To change the additional items and values perform the following steps:
a) Change the output port number by on of the following methods:
–
Move the cursor to the output port number and press [SHIFT] + cursor key to increase
or decrease the value.
–
Move the cursor to the output port number and press [SELECT] to call the numeric input
line. Enter a number and press [ENTER] to change the number displayed.
–
b) Change base voltage, speed, offset voltage, fine output or delay time.
Move the cursor to the instruction in the input line, and press [SELECT].
The DETAIL EDIT window appears.
–
–
–
Move the cursor to UNUSED of the additional item you want to change and press
[SELECT].
The selection dialogue box appears.
Move the cursor to the additional item you want to change and press [SELECT].
When the additional item is changed, press [ENTER].
The DETAIL EDIT window is closed and the JOB CONTENT window appears.
7. Press [INSERT] + [ENTER].
The instruction in the input line is registered.
•
ARATIOF
1. Position the cursor on the line above the position at which you want to register the
ARATION instruction.
2. Press [INFORM LIST].
7 - 430
Convenient functions
3. Select {IN/OUT}.
The dialogue box for instruction groups appears.
4. Select {ARATIOF}.
The ARATIOF instruction is displayed in the input buffer line.
5. Press [INSERT] + [ENTER].
The ARATIOF instruction is registered.
7 - 431
Convenient functions
7.16.1.3
Analog output window
The current settings can be confirmed in the analog output window.
A
B
C
D
E
F
G
A: TERMINAL
General analog output port.
B:OUTPUT (V)
Specifies the current output voltage.
C: BASIC (V)
Specifies the basic voltage used for the speed-dependent analog output function.
This value is used until a new value is set by means of the ARATION instruction.
D: TRAIT
Specifies the current output characteristic data of the output port.
SP RAT: During the execution of the speed-dependent analog output function.
STATIC: Fixed output status.
E: OFFSET (V)
Specifies the offset voltage used for the speed-dependent analog output function.
This value is used until a new value is set by means of the ARATION instruction.
F: BASIC SPD
Specifies the basic speed used for the speed-dependent analog output function.
This value is used until a new value is set by means of the ARATION instruction.
G: ROBOT
Specifies the robot number used for the speed-dependent analog output function.
1. Select {IN/OUT} in the main menu.
2. Select {ANALOG OUTPUT}.
The analog output window appears.
The numbers of the output terminals for AOUT4 can be switched and displayed by
means of the [PAGE] key.
7 - 432
Convenient functions
7.16.2
Examples
7.16.2.1
Examples of output characteristic data
The graphic below shows how the output characteristic data is changed when the following
JOB is executed.
Output voltage (V)
MOVJ VJ=50.00
ARATION AO#(1) BV=7.00 V=150.0 OFV=-10.00
7.00
MOVL V=50.0
-4.33
MOVC V=100.0
1.33
MOVC V=100.0
1.33
MOVC V=100.0
1.33
MOVL V=200.0
12.67
1
Analog voltage
(V)
2
Basic voltage
1
3
Offset voltage
4
Basic speed
5
Speed of movement
14V
2
10
7
5
0
50
100
150
4
200
5
(mm/s)
-5
3 -10
7 - 433
Convenient functions
7.16.2.2
Example of a change to the speed of movement and the analog output
value
The graphic below shows how the analog output is changed when the speed changes.
4
MOVL V=200.0
ARATION AO#(1) BV=10.00 V=200.0 OFV=-2.00
5
MOVC V=150.0
6
MOVC VR=20.0
7
MOVC V=150.0
8
MOVL V=180.0
9
MOVL
When the speed at the tool center point is 100 mm per second.
When the speed at the tool center point is 180 mm per second.
10 AOUT AO# (1) 10.00
1
Analog voltage
2
Speed of movement
(mm/s)
3
Time
1
(V)
2
10
10
4
8.8
200
8
9
7
180
5
7
4
150
6
100
3
NOTICE
 Since the speed related analog output is made with respect to the calculated speed, it
may differ from the actual operating speed of the robot.
 When the posture angle is specified as the speed, the analog output corresponding to
speed is made with respect to the operating speed at the TCP.
7 - 434
Convenient functions
7.16.3
Filter process
In the speed-dependent analog output function, the analog signal of the output can be
filtered by setting a filter constant in the parameters.
7.16.3.1
If the parameter is set to 0
The analog signal is output on the basis of the speed reference (the speed determined by
means of a path movement).
1
Voltage
2
Speed
3
Analog output signal
4
Actual speed of the robot
5
Time
7.16.3.2
3
4
1 2
5
If the parameter is not set to 0
The analog signal is output on the basis of the speed of the filtered speed reference. As a
result of the filtering, the output signal can be close to the actual speed of the robot.
1
Voltage
2
Speed
3
Analog output signal
4
Actual speed of the robot
5
Time
3
4
1 2
5
7 - 435
Convenient functions
7.16.3.3
Parameter setting
Set the parameters during the actual movements.
7 - 436
Parameter
number
Analog output
Content
Unit
S3C1111
Analog output no. 1
Primary filter constant
[ms]
S3C1112
Analog output no. 1
Secondary filter constant
[ms]
S3C1113
Analog output no. 2
Primary filter constant
[ms]
S3C1114
Analog output no. 2
Secondary filter constant
[ms]
S3C1115
Analog output no. 3
Primary filter constant
[ms]
S3C1116
Analog output no. 3
Secondary filter constant
[ms]
S3C1117
Analog output no. 4
Primary filter constant
[ms]
S3C1118
Analog output no. 4
Secondary filter constant
[ms]
S3C1119
Analog output no. 5
Primary filter constant
[ms]
S3C1120
Analog output no. 5
Secondary filter constant
[ms]
S3C1121
Analog output no. 6
Primary filter constant
[ms]
S3C1122
Analog output no. 6
Secondary filter constant
[ms]
S3C1123
Analog output no. 7
Primary filter constant
[ms]
S3C1124
Analog output no. 7
Secondary filter constant
[ms]
S3C1125
Analog output no. 8
Primary filter constant
[ms]
S3C1126
Analog output no. 8
Secondary filter constant
[ms]
S3C1127
Analog output no. 9
Primary filter constant
[ms]
S3C1128
Analog output no. 9
Secondary filter constant
[ms]
S3C1129
Analog output no. 10
Primary filter constant
[ms]
S3C1130
Analog output no. 10
Secondary filter constant
[ms]
S3C1131
Analog output no. 11
Primary filter constant
[ms]
S3C1132
Analog output no. 11
Secondary filter constant
[ms]
S3C1133
Analog output no. 12
Primary filter constant
[ms]
S3C1134
Analog output no. 12
Secondary filter constant
[ms]
S3C1135
Analog output no. 13
Primary filter constant
[ms]
S3C1136
Analog output no. 13
Secondary filter constant
[ms]
S3C1137
Analog output no. 14
Primary filter constant
[ms]
S3C1138
Analog output no. 14
Secondary filter constant
[ms]
S3C1139
Analog output no. 14
Primary filter constant
[ms]
S3C1140
Analog output no. 14
Secondary filter constant
[ms]
S3C1141
Analog output no. 16
Primary filter constant
[ms]
S3C1142
Analog output no. 16
Secondary filter constant
[ms]
S3C1143
Analog output no. 17
Primary filter constant
[ms]
S3C1144
Analog output no. 17
Secondary filter constant
[ms]
S3C1145
Analog output no. 18
Primary filter constant
[ms]
S3C1146
Analog output no. 18
Secondary filter constant
[ms]
S3C1147
Analog output no. 19
Primary filter constant
[ms]
S3C1148
Analog output no. 19
Secondary filter constant
[ms]
Convenient functions
Parameter
number
Analog output
Content
Unit
S3C1149
Analog output no. 20
Primary filter constant
[ms]
S3C1150
Analog output no. 20
Secondary filter constant
[ms]
S3C1151
Analog output no. 21
Primary filter constant
[ms]
S3C1152
Analog output no. 21
Secondary filter constant
[ms]
S3C1153
Analog output no. 22
Primary filter constant
[ms]
S3C1154
Analog output no. 22
Secondary filter constant
[ms]
S3C1155
Analog output no. 23
Primary filter constant
[ms]
S3C1156
Analog output no. 23
Secondary filter constant
[ms]
S3C1157
Analog output no. 24
Primary filter constant
[ms]
S3C1158
Analog output no. 24
Secondary filter constant
[ms]
S3C1159
Analog output no. 25
Primary filter constant
[ms]
S3C1160
Analog output no. 25
Secondary filter constant
[ms]
S3C1161
Analog output no. 26
Primary filter constant
[ms]
S3C1162
Analog output no. 26
Secondary filter constant
[ms]
S3C1163
Analog output no. 27
Primary filter constant
[ms]
S3C1164
Analog output no. 27
Secondary filter constant
[ms]
S3C1165
Analog output no. 28
Primary filter constant
[ms]
S3C1166
Analog output no. 28
Secondary filter constant
[ms]
S3C1167
Analog output no. 29
Primary filter constant
[ms]
S3C1168
Analog output no. 29
Secondary filter constant
[ms]
S3C1169
Analog output no. 30
Primary filter constant
[ms]
S3C1170
Analog output no. 30
Secondary filter constant
[ms]
S3C1171
Analog output no. 31
Primary filter constant
[ms]
S3C1172
Analog output no. 31
Secondary filter constant
[ms]
S3C1173
Analog output no. 32
Primary filter constant
[ms]
S3C1174
Analog output no. 32
Secondary filter constant
[ms]
S3C1175
Analog output no. 33
Primary filter constant
[ms]
S3C1176
Analog output no. 33
Secondary filter constant
[ms]
S3C1177
Analog output no. 34
Primary filter constant
[ms]
S3C1178
S3C1179
Analog output no. 34
Analog output no. 35
Secondary filter constant
Primary filter constant
[ms]
[ms]
S3C1180
S3C1181
Analog output no. 35
Analog output no. 36
Secondary filter constant
Primary filter constant
[ms]
[ms]
S3C1182
S3C1183
Analog output no. 36
Analog output no. 37
Secondary filter constant
Primary filter constant
[ms]
[ms]
S3C1184
S3C1185
Analog output no. 37
Analog output no. 38
Secondary filter constant
Primary filter constant
[ms]
[ms]
S3C1186
S3C1187
Analog output no. 38
Analog output no. 39
Secondary filter constant
Primary filter constant
[ms]
[ms]
S3C1188
S3C1189
Analog output no. 39
Analog output no. 40
Secondary filter constant
Primary filter constant
[ms]
[ms]
S3C1190
Analog output no. 40
Secondary filter constant
[ms]
7 - 437
Convenient functions
The parameters are set by default as follows:
•
Small robots with a load-carrying capacity of 6 kg and 16 kg:
Primary filter constant: 50 ms
•
Secondary filter constant: 50 ms
Large robots with a load-carrying capacity of 60 kg and 130 kg:
Primary filter constant: 100 ms
Secondary filter constant: 100 ms
7.16.4
Notes
7.16.4.1
When analog output corresponding to speed is interrupted
If the robot is stopped for some reason and the editing operation is performed, the analog
output corresponding to speed is interrupted. This interruption is performed in all output
terminals and the analog voltage immediately before the interruption is output to each
output terminal.
The above-mentioned case is the only case where the analog output corresponding to
speed is interrupted.
7.16.4.2
When multiple robots are used
The attribute of the JOB where the instruction is executed determines the robot for which
the analog output corresponding to speed is performed.
In coordinated interpolation (SMOV□), the analog output corresponding to speed is
performed with respect to the “relative speed” of the slave-side robot to the master-side
robot.
7.17
QR Code creation function
This function encodes the status of the robot controller (system configuration, alarm
information, current position data, etc.) in a QR code shown on the display of the
programming pendant.
Using this function, you can send the current status of the robot controller quickly and
precisely to your local YASKAWA branch in case of questions or irregularities.
You can also use the Android app "MOTOMAN Touch!" to send the QR code attached to
the robot controller with serial number and other information, as well as photos of the
situation, to your local YASKAWA branch. This app lets you sent correct information within
a short period of time. This can help you minimise downtimes.
7 - 438
Convenient functions
NOTICE
<QR code creation function>
•
During the execution of the QR code creation function, only the keys provided for this
function and the following additional keys are available: (For additional information refer
to chapter 7.17.4 "Procedure" on page 445).
[START]
[HOLD]
[EMERGENCYSTOP]
Mode switch
Enable switch
Accordingly, the operation of the robot in TEACH mode (JOG mode) is not possible.
During the execution of the QR code creation function the robot stops operation.
•
Do not execute this function whilst one of the axis keys is pressed since the JOB
executed by the key will resume immediately when the function is completed.
Even if PLAYBACK OPERATION CONTINUATION FUNCTION (S2C437=1) is set to
VALID, the related window is not displayed during execution of the QR code creation
function.
<MOTOMAN Touch!>
•
•
•
Information regarding the download of "MOTOMAN Touch!" can be obtained from your
local YASKAWA branch.
"MOTOMAN Touch!" is not designed to prevent faults or minimize restoration times.
Inform your local YASKAWA branch about sending data using "MOTOMAN Touch!" in
advance. Otherwise, the processing by YASKAWA could be delayed.
7.17.1
Main function
QR code creation function
Element
Specification
QR code data
•
•
•
•
•
•
ALARM (the last four alarms)
ALARM HISTORY (the last ten alarms for each alarm)
MAJOR FAILURE ALARM
MINOR FAILURE ALARM
USER ALARM (SYSTEM)
USER ALARM (USER)
OFF-LINE ALARM
MONITORING TIME
SYS MONITORING TIME
SERVO POWER TIME
PLAYBACK TIME
MOVING TIME
OPERATING TIME
HOME POSITION
CURRENT POSITION
SERVO MONITOR
Note: In MAINTENANCE MODE, only the data in the ALARM and
ALARM HISTORY are available.
7 - 439
Convenient functions
Element
Specification
Function
•
Instructions executed by a key
Switch of the display (using the [FWD] or [BWD] key)
•
Format of the QR
code
•
•
•
•
Execution of the QR code creation function
Instructions executed by a button on the display
Switch of the display ("Next," "Back," or "First").
Execution of the QR code creation function
Format type: 10 to 18
(set automatically according to the number of data items)
8-bit byte data (binary)
Level of error correction
Level M
Maximum number of data in a QR code
Max. 560 byte (for format type 18)
Most important information regarding "MOTOMAN Touch!"
Function
Explanation
Reading/display of
the serial number of
the robot controller,
etc.
Read the QR code on the robot controller using the QR code
reader of your smart phones. After that, the serial number, etc. is
displayed.
Reading/display of
the alarm history of
the robot controller,
etc.
Read the QR code for programming using the QR code reader of
your smart phones. After that, the alarm history, etc. is displayed.
Sending an e-mail
Attach the above mentioned QR code data and photos to an email and send it to the responsible call center (use the mailer).
"MOTOMAN Touch!" runs under Android 4.2 and later versions of this operating system. It
is possible, however, that the app might not work on the devices of certain manufacturers
or types.
QR code is a trademark of DENSO WAVE INCORPORATED.
Android is a trademark of Google Inc.
7 - 440
Convenient functions
7.17.2
•
Starting the QR code creation function
Starting the function from the main menu:
1. Select {SYSTEM INFO} in the main menu.
The submenu appears.
2. Select {QR CODE}.
The window for creating a QR code appears.
3. Select the data that you want to encode in a QR code and press {Create}.
A QR code appears.
7 - 441
Convenient functions
•
Starting the function from the menu area with {QR CODE DISPLAY}:
1. Select {UTILITY} in the menu area.
QR CODE functions appear in the submenu, if the window has a function to display QR
code data.
2. Select {QR CODE DISPLAY}.
The QR code creation function is started and a QR code of the data displayed in the
window appears.
7 - 442
Convenient functions
•
Starting the function from the menu area with {QR CODE ALL PAGE}.
1. Select {UTILITY} in the menu area.
QR CODE functions appear in the submenu, if the window has a function to display QR
code data.
2. Select {QR CODE ALL PAGE}.
The QR code creation function is started and the QR code of the windows whose pages
or displays can be switched are displayed.
When ALARM HISTORY is selected, a list of the last ten alarms will appear for each
alarm.
7 - 443
Convenient functions
7.17.3
Display configuration
The window of the function for creating a QR code consists of two areas:
•
A Data for QR code select area: to select the data to be converted into a QR code.
•
A QR code display area.
The display status of the button depends n whether the button function is switched on or off
and which display is active.
Example: {Next}
Normal display
Active display
No display
The QR code number and total number of QR codes are displayed in the QR code display
area.
7 - 444
Convenient functions
7.17.4
Procedure
7.17.4.1
Data for QR code select area
Select the data that you want to encode in a QR code and then press {Create}.
The QR code is displayed.
Use the keys on the programming pendant or the buttons on the display to execute the
function.
The following keys are available on the programming pendant:
•
•
•
•
•
Cursor
– Switch of the active display.
[SELECT]
– If the list of data to be encoded as a QR code is activated, the data to be converted
into a QR code can be selected.
– If {Create} is activated, a QR code is created.
[PAGE]
– Displays the following QR codes one after the other (if more than two QR codes
were generated).
– Displays the previous QR code when you press [SHIFT] + [PAGE].
[AREA]
– Switch of the active display.
[CANCEL]
– Termination of the QR code creation function.
7.17.4.2
Area for displaying QR codes
A QR code can be displayed or the QR code to be displayed can be switched.
Use the keys on the programming pendant or the buttons on the display to execute the
function.
The following keys are available on the programming pendant:
•
•
•
•
•
Cursor
– Switch of the active display.
[SELECT]
– If {Return} is activated: Display of the first QR code.
– If {BACK} is activated: Display of the previous QR code.
– If {Next} is activated: Display of the next QR code.
– If {Close} is activated: Termination of the QR code creation function.
[PAGE]
– Displays the following QR codes one after the other (if more than two QR codes
were generated).
– Displays the previous QR code when pressing [SHIFT] + [PAGE].
[AREA]
– Switch of the active display.
[CANCEL]
– Termination of the QR code creation function.
7 - 445
Convenient functions
7.17.5
Structure of a QR code
7.17.5.1
Basic structure
The basic structure of a QR code is as follows:
• Data header
• System information
• Data 1
If the data volume is too large, the function divides the data into several sections before it
is encoded into a QR code.
At this point in time, the data header and system information are added to the initial data.
• Data header
• System information
• Data 1
• Data 2
• Data 3
To separate the data, the following characters are used: "(comma)," "(space)," and "(line
break)."
Data that was not selected in the "Data for QR code select" area is not included in the QR
code.
7.17.5.2
Data header
No. Item
Construction
1
Version
??x.xx
2
Year, month, date
YYMMDD
3
Time
HHTT
Note: “?”: any character, “*” : any line, “X”: any number
1. Version
Syntax
: "??x.xx"
??
: Version of the controller.
If the controller is YRC1000, “D2” is indicated.
x.xx
2.
7 - 446
: Version of the QR code creation function (decimal number).
Year, month, date
Syntax
: "YYMMDD"
YY
: Year when the QR code is created (last two digits).
MM
Month when the QR code is created.
DD
: Date when the QR code is created.
Convenient functions
3. Time
Syntax
: "HHTT"
HH
: Hour when the QR code is created.
TT
Minute when the QR code is created.
7.17.5.3
System information
No. Item
Construction
1
System version
??x.xx
2
Parameter version
xx.xx
3
Purpose of system
*
Note: “?”: any character, “*” : any line, “x”: any number
1. Version
Syntax
: “*.x.xx*(*)-xx”
System version number displayed on the version window
2.
Parameter version
Syntax
: "xx.xx"
Parameter version number displayed on the version window.
3. Purpose of system
Syntax
: "*"
Purpose of system displayed on the version window.
7.17.5.4
Alarm
Up to four alarms can be encoded in one QR code.
No
.
Position
Structure
1
Alarm data code
<Alarm>
2
Alarm data
Refer to the alarm data
1. Alarm data code
Syntax
: <Alarm>
The first line of the alarm data.
•
Alarm data
No
.
Position
Structure
1
Alarm number
xxxx
2
Sub code
*
3
Information on options.
*
4
Date on which the alarm occurred.
YYYY/MM/DD
5
Time at which the alarm occurred.
HH:TT:SS
7 - 447
Convenient functions
Note: "?": any character, "*": any line, "X": any number
1. Alarm number
Syntax
: "xxxx"
Alarm number
2. Subordinate code
Syntax
: "*"
Sub code
Only the highlighted characters are displayed, if present.
Example: code
[R1 : HIGH : RT]
3.
Information on options.
Syntax
: "*"
Sub code
Information on options.
4.
Date on which the alarm occurred.
Syntax
: "YYYY/MM/DD"
Date on which the alarm occurred.
5.
Time at which the alarm occurred.
Syntax
: "HH:TT:SS"
Time at which the alarm occurred.
7.17.5.5
Alarm history
The latest ten alarms, in the order of registration for each alarm type can be codified.
7 - 448
No. Item
Construction
1
Alarm history data code
<ALARM HISTORY>
2
Major failure alarm code
MAJOR
3
Major failure alarm data
Refer to Alarm data
4
Minor failure alarm code
MINOR
5
Minor failure alarm data
Refer to Alarm data
6
User alarm (system) code
IO_SYS
7
User alarm (system) data
Refer to Alarm data
8
User alarm (user) code
IO_USR
9
User alarm (user) data
Refer to Alarm data
10
OFF line alarm code
OFFLINE
11
OFF line alarm data
Refer to Alarm data
Convenient functions
1. Alarm history data code
Syntax
: “ <ALARM HISTORY>”
The first line of the alarm history data.
2. Major failure alarm code
Syntax
: "<MAJOR>"
The first line of the major failure alarm data.
4. Minor failure alarm code
Syntax
: “<MINOR>”
The first line of the minor failure alarm data.
6. User alarm (system) code
Syntax
: “ IO_SYS”
The first line of the user (system) alarm data.
8. User alarm (user) code
Syntax
: “ IO_USR”
The first line of the user (user) alarm data.
10. OFF line alarm code
Syntax
: “ OFFLINE”
The first line of the OFF line alarm data.
7 - 449
Convenient functions
•
Alarm History Data
Following shows the structure of the alarm history data (one line).
No. Item
Construction
1
Alarm number
xxxx
2
Sub code
*
3
Mode
*
4
Information about options
*
5
Date of alarm occurrence
YYYY/MM/DD
6
Time of alarm occurrence
HH:TT:SS
Note: “?”: any character, “*” : any line, “X”: any number
1. Alarm number
Syntax
: “ xxxx”
Alarm number
2. Sub code
Syntax
: “*”
Sub code
Only the inverted characters are displayed if there are.
Example: Sub code
[R1:HIGH:RT]
3. Mode
Syntax
: “*”
Mode
4. Information about options
Syntax
: “*”
Sub code
Information about options.
5. Date of alarm occurrence
Syntax
: “YYYY/MM/DD”
Date when the alarm occurred.
6. Time of alarm occurrence
Syntax
: “HH:TT:SS”
Time when the alarm occurred.
7 - 450
Convenient functions
7.17.5.6
Monitoring time
No. Item
Construction
1
Monitoring time data code
<MONITORING TIME>
2
System monitoring time code
SYS MONITORING TIME
3
System monitoring time data
Refer to System monitoring time data.
4
SERVO power time code
SERVO POWER TIME
5
SERVO power time data
Refer to Data for SERVO power time,
play back time and moving time.
6
Playback time code
PLAYBACK TIME
7
Playback time data
Refer to Data for SERVO power time,
playback time and moving time.
8
Moving time code
MOVING TIME
9
Moving time data
Refer to Data for SERVO power time,
playback time and moving time.
10
Operating time code
OPERATING TIME
11
Operating time data
Refer to Data for SERVO power time,
playback time and moving time.
1. Monitoring time data code
Syntax
: "<MONITORING TIME>"
The first line of the monitoring time data.
2. System monitoring time code
Syntax
: "SYS MONITORING TIME"
The first line of the system monitoring time data.
4. SERVO power time code
Syntax
: "SERVO POWER TIME"
The first line of the SERVO power time data.
6. Playback time code
Syntax
: "PLAYBACK TIME"
The first line of the playback time data.
8. Moving time code
Syntax
: "MOVING TIME"
The first line of the moving time data.
10. Operating time code
Syntax
: "OPERATING TIME"
The first line of the operating time data.
7 - 451
Convenient functions
•
System monitoring time data
Following shows the structure of the system monitoring time data (one line).
No. Item
Construction
1
Item code
*
2
Starting date of measurement
YY/MM/DD
3
Starting time of measurement
HH:TT
4
Elapsed time
xxxxx:xx’xx
Note: “?”: any character, “*” : any line, “X”: any number
1. Item code
Syntax
: "*"
CONTROL POWER
SERVO POWER
PLAYBACK TIME
MOVING TIME
OPERATING TIME
ENERGY TIME
2. Starting date of measurement
Syntax
: "YY/MM/DD"
Date when the measurement is started.
3. Starting time of measurement
Syntax
: "HH:TT"
Time when the measurement is started.
4. Elapsed time
Syntax
: "xxxxx:xx’xx"
Elapsed time since the measurement is started (do not use “0”).
7 - 452
Convenient functions
•
Data for SERVO power time, playback time and moving time
Following shows the structure of the SERVO power time data, playback time data and
moving time data (one line).
No. Item
Construction
1
Control group
*
2
Starting date of measurement
YY/MM/DD
3
Starting time of measurement
HH:TT
4
Elapsed time
xxxxx:xx’xx
Note: “?”: any character, “*” : any line, “X”: any number
1. Control group
Syntax
: "*"
Control group
Robot
: R1 to R8
Base
: B1 to B8
Station
: S1 to S24
Setting is unnecessary if the control group does not exist in the system.
2. Starting date of measurement
Syntax
: "YY/MM/DD"
Date when the measurement is started.
3. Starting time of measurement
Syntax
: "HH:TT"
Time when the measurement is started.
4. Elapsed time
Syntax
: "xxxxx:xx’xx"
Elapsed time since the measurement is started (do not use “0”).
7 - 453
Convenient functions
•
Operating time data
No. Item
Construction
1
Purpose of operation
*
2
Starting date of measurement
YY/MM/DD
3
Starting time of measurement
HH:TT
4
Elapsed time
xxxxx:xx’xx
Note: “?”: any character, “*” : any line, “X”: any number
1. Purpose of operation
Syntax
: "*"
Purpose of this operation.
Setting is unnecessary if the control group does not exist in the system.
2. Starting date of measurement
Syntax
: "YY/MM/DD"
Date when the measurement is started.
3. Starting time of measurement
Syntax
: "HH:TT"
Time when the measurement is started.
4. Elapsed time
Syntax
: "xxxxx:xx’xx"
Elapsed time since the measurement is started (do not use “0”).
7.17.5.7
Zero position
No. Position
Structure
1
Zero position data code
<ZERO POSITION>
2
Zero position data
Refer to the zero position data
1. Zero position data code
Syntax
: <ZERO POSITION>
The first line of the zero position data.
•
Zero position data
Following the structure of the zero position data (one line).
No. Position
Structure
1
Control group (robot/station)
?xx
2
Axis name 1 to 8: Absolute data 1 to 8
?:-xxxxx • • •
3
Control group (base)
?xx
4
Axis name 1 to 8: Absolute data 1 to 8
?:-xxxxx • • •
Note: "?": any character, "*": any line, "X": any number
1. Control group (robot/station)
7 - 454
Convenient functions
Syntax
: <ZERO POSITION>
Control group
Robot
: R1 to R8
Station
: S1 to S24
If the system does not contain a control group, this setting is not required.
2. Axis name: Absolute data
Syntax
: "?:-xxxxx • • • "
?
: S, L, U, R, B, T, E, 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
-
: :- (minus sign)
If no negative data is present, this setting is not required.
xxxxx
: Absolute data
Display "*" if "*" is used for the display.
3. Control group (base)
Syntax
: "?xx"
Control group
Base
: B1 to B8
If the system does not contain a control group, this setting is not required.
4. Axis name: Absolute data
Syntax
: "?:-xxxxx • • •
"
?
: 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
-
: :- (minus sign)
If no negative data is present, this setting is not required.
xxxxx
: Absolute data
Display "*" if "*" is used for the display.
7.17.5.8
Current position
No. Position
Structure
1
Data code of the current position
<CURRENT POSITION>
2
Current position data
See the current position data (pulse coordinates) and chapter 7.8.1 "Teaching condition setting"
1. Data code of the current position
Syntax
: <CURRENT POSITION>
The first line of the current position data.
2. Current position data
The setting of the current position requires a coordinate (pulse, robot or user) selected in
the current position window. If a coordinate other than the one specified is selected, the
current position must be set with the pulse coordinate.
7 - 455
Convenient functions
•
Current position data (pulse coordinate)
Following shows the structure of the current position data (one line).
No. Position
Structure
1
Coordinate
*
2
Tool
TOOL:xx
3
Control group (robot/station)
?xx
4
Axis name 1 to 8: Absolute data 1 to 8
?:-xxxxx • • •
5
Control group (base)
?xx
6
Axis name 1 to 8: Absolute data 1 to 8
?:-xxxxx • • •
Note: "?": any character, "*": any line, "X": any number
1. Coordinate
Syntax
: "*"
: PULSE (pulse coordinates)
2. Tool
Syntax
: "TOOL:xx"
xx : 00 to 63 (tool number)
3. Control group (robot/station)
Syntax
: "?xx"
Control group
Robot
: R1 to R8
Station
: S1 to S24
If the system does not contain a control group, this setting is not required.
4. Axis name: Current position data
Syntax
: "?:-xxxxx • • •
"
? : S, L, U, R, B, T, E, 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxxxx : Current position data
Display "*" if "*" is used for the display.
5. Control group (base)
Syntax
: "?xx"
Base
: B1 to B8
If the system does not contain a control group, this setting is not required.
6. Axis name: Current position data
Syntax
: "?:-xxxxx • • •
"
? : 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
7 - 456
Convenient functions
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxxxx : Current position data
•
Current position data (base/user/robot coordinates)
No. Position
Structure
1
Coordinate
*
2
Tool
TOOL:xx
3
Control group (robot/station)
?xx
4
Coordinate of the X-axis
X:-xxx.xxxmm
5
Coordinate of the Y-axis
Y:-xxx.xxxmm
6
Coordinate of the Z-axis
Z:-xxx.xxxmm
7
Angle Rx
Rx:-xxx.xxxxdeg.
8
Angle Ry
Ry:-xxx.xxxxdeg.
9
Angle Rz
Rz:-xxx.xxxxdeg.
10
Re angle (7-axis robot)
Re:-xxx.xxxxdeg.
11
Diagram (front or rear)
*:*
12
Diagram (up or down)
*:*
13
Diagram (flip or no flip)
*:*
14
Coordinate of the X0-axis (base)
X0:-xxx.xxxmm
15
Coordinate of the Y0-axis (base)
Y0:-xxx.xxxmm
16
Coordinate of the Z0-axis (base)
Z0:-xxx.xxxmm
Note: "?": any character, "*": any line, "X": any number
1. Position code
Structure
: "*"
: ROBOT (robot coordinate)
: BASE (base coordinate)
: USER#1 to USER#63 (user coordinate)
2. Tool
Structure
: "TOOL:xx"
xx : 00 to 63 (tool number)
3. Control group
Structure
: "?xx"
Control group
Robot
: R1 to R8
If the system does not contain a control group, this setting is not required.
4. Coordinate of the X-axis
Structure
: "X:-xxx.xxxmm"
- : :- (minus sign)
If no negative data is present, this setting is not required.
7 - 457
Convenient functions
xxx.xxx• • •
Current position data (unit: mm)
5. Coordinate of the Y-axis
Structure
: "Y:-xxx.xxxmm"
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • •
Current position data (unit: mm)
6. Coordinate of the Z-axis
Structure
: "Z:-xxx.xxxmm"
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • •
Current position data (unit: mm)
7. Angle Rx
Structure
: "Rx:-xxx.xxxxdeg."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • •
Current position data (unit: degrees)
8. Angle Ry
Structure
: "Ry:-xxx.xxxxdeg."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • •
Current position data (unit: degrees)
9. Angle Rz
Structure
: "Rz:-xxx.xxxxdeg."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • •
Current position data (unit: degrees)
10. Angle Re
Structure
: "Re:-xxx.xxxxdeg."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • •
Current position data (unit: degrees)
11. Diagram (front or rear)
Structure
: "*"
* : FRONT
: REAR
* : S<180
: S>=180
7 - 458
Convenient functions
12. Diagram (up or down)
Structure
: "*"
* : UP
: DOWN
* : R<180
: R>=180
xxx.xxx• • •
Current position data (unit: degrees)
13. Diagram (flip or no flip)
Structure
: "*"
* : FLIP
: NO FLIP
* : T<180
: T>=180
xxx.xxx• • •
Current position data (unit: degrees)
14. Coordinate of the X0-axis
Structure
: "X0:-xxx.xxxxmm."
- : :- (minus sign)
If no negative data is present, this setting is not required.
14. Coordinate of the Y0-axis
Structure
: "X0:-xxx.xxxxmm."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • •
Current position data (unit: degrees)
14. Coordinate of the Z0-axis
Structure
: "Z0:-xxx.xxxxmm."
- : :- (minus sign)
If no negative data is present, this setting is not required.
xxx.xxx• • •
7.17.5.9
Current position data (unit: degrees)
SERVO monitor
No. Position
Structure
1
Data of the SERVO monitor
<SERVO MONITOR>
2
Feedback pulse code
FEEDBACK PULSE
3
Feedback pulse data
Refer to the SERVO monitor data
4
Error pulse code
ERROR PULSE
5
Error pulse data
Refer to the SERVO monitor data
6
Speed deviation code
SPEED DEVIATION
7
Speed deviation data
Refer to the SERVO monitor data
8
Speed instruction code
SPEED INST
7 - 459
Convenient functions
No. Position
Structure
9
Speed instruction data
Refer to the SERVO monitor data
10
Speed feedback code
FEEDBACK SPEED
11
Speed feedback code
Refer to the SERVO monitor data
12
Torque instruction code
TORQUE SPEC
13
Torque instruction data
Refer to the SERVO monitor data
14
Code of the maximum torque
MAX TORQUE
15
Data of the maximum torque
Refer to the SERVO monitor data
16
Cumulative encoder rotation code
ENCODER ROTATE SUM
17
Cumulative encoder rotation data
Refer to the SERVO monitor data
18
Position code in 1 turn
IN 1 TURN POSITION
19
Position data in 1 turn
Refer to the SERVO monitor data
20
Absolute value code of the motor
MOTOR ABSOLUTE
21
Absolute value data of the motor
Refer to the SERVO monitor data
22
Encoder temperature code
ENCODER TEMP.
23
Encoder temperature data
Refer to the SERVO monitor data
24
Code of the maximum torque (constant
engine speed)
MAX TRQ (CONST)
25
Data of the maximum torque (constant
engine speed)
Refer to the SERVO monitor data
26
Code of the minimum torque (constant
engine speed)
MIN TRQ (CONST)
27
Data of the minimum torque (constant
engine speed)
Refer to the SERVO monitor data
28
Code of the ratio of motor torque and
load
MOTOR DUTY CYCLE
29
Data of the ratio of motor torque and
load
Refer to the SERVO monitor data
30
Time code of the load ratio measurement
MEASURE TIME DUTY
31
Time data of the load ratio measurement
Refer to the SERVO monitor data
1. Data code of the SERVO monitor
Syntax
: <SERVO MONITOR>
The first line of the SERVO monitor data.
2. Feedback pulse code
Syntax
: FEEDBACK PULSE
The first line of the feedback pulse data.
4. Error pulse code
Syntax
: ERROR PULSE
The first line of the error pulse data.
6. Speed deviation code
7 - 460
Convenient functions
Syntax
: SPEED DEVIATION
The first line of the speed deviation data.
8. Speed deviation code
Syntax
: SPEED INST
The first line of the speed instruction data.
10. Speed feedback code
Syntax
: FEEDBACK SPEED
The first line of the speed feedback data.
12. Torque instruction code
Syntax
: TORQUE SPEC
The first line of the torque instruction data.
14. Code of the maximum torque
Syntax
: MAX TORQUE
The first line of the maximum torque data.
16. Cumulative encoder rotation code
Syntax
: ENCODER ROTATION SUM
The first line of the cumulative encoder rotation data.
18. Position code in 1 turn
Syntax
: IN 1 TURN POSITION
The first line of the position data in 1 turn.
20. Absolute value code of the motor
Syntax
: MOTOR ABSOLUTE
The first line of the motor absolute value data.
22. Encoder temperature code
Syntax
: ENCODER TEMP.
The first line of the encoder temperature data.
24. Code of the maximum torque (constant engine speed)
Syntax
: MAX TRQ(CONST) TEMP.
The first line of the maximum torque data (constant engine speed).
26. Code of the minimum torque (constant engine speed)
Syntax
: MIN TRQ(CONST) TEMP.
The first line of the minimum torque data (constant engine speed).
28. Code of the ratio of motor torque and load
Syntax
: MOTOR DUTY CYCLE
The first line of the data of the ratio of motor torque and load.
30. Time code of the load ratio measurement
7 - 461
Convenient functions
Syntax
: MEASURE TIME DUTY
The first line of the time data of the load ration measurement.
•
SERVO monitor data
Following shows the structure of the SERVO monitor data (one line).
No. Position
Structure
1
Control group (robot/station)
?xx
2
Axis name 1 to 8: SERVO monitor data 1 to 8
?:-xxxxx • • •
3
Control group (base)
?xx
4
Axis name 1 to 8: SERVO monitor data 1 to 8
?:-xxxxx • • •
Note: "?": any character, "*": any line, "X": any number
1. Control group (robot/station)
Syntax
: ?xx
Control group
Robot
: R1 to R8
Station
: S1 to S24
If the system does not contain a control group, this setting is not required.
2. Axis name: SERVO monitor data
Syntax
: ?:-xxxxx • • •
? : S, L, U, R, B, T, E, 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
-
:- (minus sign)
If no negative data is present, this setting is not required.
xxxxx • • •
Current position data
3. Control group (base)
Syntax
: ?xx
Base
: B1 to B8
If the system does not contain a control group, this setting is not required.
4. Axis name: SERVO monitor data
Syntax
: ?:-xxxxx • • •
? : 1, 2, 3, 4, 5, 6 (axis name)
If the system does not contain a control group, this setting is not required.
-
:- (minus sign)
If no negative data is present, this setting is not required.
xxxxx • • •
7.18
Current position data
Time measuring function
Time measuring function measures the execution time for the specified section in the JOB
or the signal output time of the specified signal.
7 - 462
Convenient functions
7.18.1
Timer variable
The result measured by the time measuring function is stored in the timer variable. The
contents of the timer variable can be checked in the TIMER VARIABLE window.
To display the TIMER VARIABLE window, select {VARIABLE} → {TIMER VARIABLE} in the
main menu.
A
B
C
* The unit is 0.01 s (example: 100 corresponds to 1.00 s).
* When setting a name to the timer variable which is set to be displayed in the JOB window,
the set name and the time measurement result are displayed in the JOB window.
A. Variable number
To move the cursor to a variable number, perform the following steps:
1. Move the cursor to any variable number and press [SELECT].
The numerics input box is displayed.
2. Enter a variable number in the box and press [ENTER].
The cursor moves to the variable number.
B. Variable contents
The contents cannot be edited, but can be updated by executing the SETTM instruction.
C. Variable name
To register a variable name, perform the following steps:
1. Move the cursor to the NAME field of the variable to be registered and press [SELECT].
The character input line appears.
2. Enter a name for the variable and press [ENTER].
The input variable name is registered.
7.18.2
Time measuring method
Verwenden Sie die SETTM-Anweisung der INFORM-Anweisungen, um die Zeit zu
messen.
SETTM
SUBSET
STANDARD
EXPANDED
Nicht verfügbar
vorhanden
vorhanden
Funktion
Führen Sie diese Funktion für das Starten, Beenden und Zurücksetzen der Messung und
das Einstellen der Zeit aus.
Syntax
7 - 463
Convenient functions
SETTM
1
TM
Variable
number
2
TSTART
3
TSTOP
4
TRESET
5
D/LD
D[]/LD[]
END
Constant
6
TM
Variable
Number
Erläuterung
1. TM-Variablennummer
Fügen Sie das folgende Tag hinzu:
Nr.
Tag
Erläuterung
Hinweis
1
TM-Variablennummer
Gibt die TM-Variablennummer für
das Schreiben der Messzeit an.
Anzahl: 0 bis
59
2. TSTART/TSTOP/TRESET/D-Variablennummer
/LD-Variablennummer/D
[Anordnungsnummer]/LD [Anordnungsnummer]/Konstante/TM-Variablennummer
Wählen Sie eines der Tags in der nachfolgend dargestellten Tabelle aus:
Nr.
Tag
Erläuterung
2
TSTART
Gibt den Start der Zeitmessung
an.
3
TSTOP
Gibt das Ende der Zeitmessung
an.
4
TRESET
Gibt das Rücksetzen der Zeitmessung an.
5
D-Variablennummer/
Gibt die Zeitmessung über die In- Anzahl:
teger-Typ-Variable an.
-2147483648
bis
2147483647
LD-Variablennummer/
D [Anordnungsnummer]/
LD [Anordnungsnummer]/
Hinweis
[Constant]
6
7 - 464
TM-Variablennummer
Gibt die Zeitmessung über die
Timer-Variable an.
Anzahl:
0 bis 59
Convenient functions
Beispiel
Bewegungseinstellung von SETTM
1) SETTM TM000 TSTART
2)
3)
4)
5)
Startet die Messung und legt die Messzeit von TM000 fest.
SETTM TM000 TSTOP
Beendet die Messung und legt die Messzeit von TM000 fest.
SETTM TM000 TRESET
Legt 0 für die Messzeit von TM000 fest.
SETTM TM000 1000
Legt 1000 für die Messzeit von TM000 fest und startet gleichzeitig die Messung.
SETTM TM000 TM001 Legt TM001 für die Messzeit von TM000 fest und startet
gleichzeitig die Messung.
7.18.3
Setting for time measurement
For time measurement, set a measuring method for each timer variable. Perform the setting
in the SETTM SETUP window.
Display the SETTM SETUP window as follows:
1. Set the SECURITY mode to MANAGEMENT mode or higher.
2. Select {SETUP} → {SETTM SETUP} in the main menu.
A
B
C
D
E
F
G
A. Timer variable number whose time measuring method is to be set
To change the timer variable number, press the [PAGE] key or the {PAGE} button at the
bottom of the window.
B. Setting for displaying the result in the JOB window
Available options: OFF, ON(LINE1), ON(LINE2) or ON(LINE3).
When ON(LINE1), ON(LINE2) or ON(LINE3) is selected, the time measuring result is
displayed on the specified line in the auxiliary area of the JOB window. The same setting
cannot be performed for two or more timer variables.
* Example: while ON(LINE1) is set for the timer variable 0, it is changed to OFF if
ON(LINE1) is specified for the timer variable 1.
C. Measuring target
Available options: ELAPSED TIME, SIGNAL ON TIME or SIGNAL OFF TIME.
When ELAPSED TIME is selected, the time measuring target is the elapsed time in the
specified section. When SIGNAL ON TIME or SIGNAL OFF TIME is selected, the time
measuring target is ON or OFF time of the specified signal in the specified section.
7 - 465
Convenient functions
D. Signal number when the measuring target is SIGNAL ON TIME or SIGNAL OFF
TIME
Sets a signal number whose time is to be measured when the measuring target is SIGNAL
ON TIME or SIGNAL OFF TIME.
E. Measuring type
Available options: LOCAL or GLOBAL.
If LOCAL is selected, only the time when the JOB is executed is measured. If GLOBAL is
selected, the time when the JOB is stopped is also measured.
F. Additional output destination where the measuring time is to be output.
Available options: NONE, GENERAL-PURPOSE OUTPUT (2 GROUP), GENERALPURPOSE OUTPUT (4 GROUP), REGISTER (1) or REGISTER (2).
When GENERAL-PURPOSE OUTPUT (2 GROUP), GENERAL-PURPOSE OUTPUT (4
GROUP), REGISTER (1) or REGISTER (2) is selected, the measuring time is set to the
specified output destination.
G. Signal number or register number to be output additionally
Sets a signal number when the additional output target is GENERAL-PURPOSE OUTPUT
2 GROUP or GENERAL-PURPOSE OUTPUT 4 GROUP.
* Example: -32768 to 32767 is output for GENERAL-PURPOSE OUTPUT 2 GROUP.
Sets a register number when the additional output target is REGISTER 1 or REGISTER 2.
* Example: As for REGISTER 1, 0 to 32767 is output when the measuring time is a positive
value. 65535 to 32768 is output when the measuring time is a negative value.
*When the measuring time is out of the output range, the minimum value or the maximum
value of the output range is output.
7.18.4
Displaying time measurement result in JOB window
The time measuring result can be checked in the JOB window.
To display the time measuring result in the JOB window, perform th following steps:
1. Set the SECURITY mode to MANAGEMENT mode or higher.
2. Select {SETUP} → {SETTM SETUP} in the main menu.
3. Set DISPLAY ON JOB CONTENT to ON(LINE1), ON(LINE2) or ON(LINE3) in the
SETTM SETUP window.
4. Select {JOB} → {JOB CONTENT} in the main menu.
7 - 466
Convenient functions
5. Select {DISPLAY} → {TIME MEASUREMENT} in the pull down menu.
A
B
C
Timer variable number (A), timer variable name (B) and time measuring result (C) are
displayed.
* Up to three time measuring results can be displayed.
7.19
3D graphic display function
The 3D graphic display function (inthe following reeferred to as 3D display function)
displays a 3D model of the robot on the programming pendant window and allows to check
the current value of the robot.
By using the multi-window function, the teaching position of the job displayed in the job
details on the 3D display screen can be checked as well.
When the functional safety function is valid, the functional safety range can be displayed
too.
NOTICE
Only the robot is displayed. Peripheral devices cannot be displayed.
This function uses the free software, ”Panda3D”. ”Panda3D” is licensed under the following
conditions:
Panda3D License
What follows is the Modified BSD License.
See also http://www.opensource.org/licenses/BSD-3-Clause
7 - 467
Convenient functions
Copyright (©) 2008, Carnegie Mellon University. All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are
permitted provided that the following conditions are met:
1) Redistributions of source code must retain the above copyrightnotice, this list of
conditions and the following disclaimer.
2) Redistributions in binary form must reproduce the above copyrightnotice, this list of
conditions and the following disclaimer in thedocumentation and/or other materials
provided with the distribution.
3) Neither the name of Carnegie Mellon University nor the names ofother contributors may
be used to endorse or promote productsderived from this software without specific prior
written permission.
THIS SOFTWARE IS PROVIDED BY THE AUTHORS "AS IS" AND ANY EXPRESS OR
IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY DIRECT,
INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
7.19.1
Operation method
The operations for the 3D display function are described in this chapter.
The 3D display function operations are basically performed by touching the window.
How to start the 3D Graphic Display Function
1. Select {ROBOT} → {3D GRAPHICS} in the main menu.
7 - 468
Convenient functions
7.19.2
Window configuration
The window configuration is described below.
The 3D display function, when starting, is displayed on the GP display area.
1
2
Name
Function
1
3D display area
The area that displays the robot model in 3D.
2
Human interface display area
Messages notifying the 3D display function mode
are displayed.
7.19.3
Operating the viewpoint
To change the viewpoint perform the following steps:
1. Select {UTILITY} in the menu area.
2. Select a viewpoint operating method.
3. Touch the 3D display area with one finger and then move the finger up, down, left and
right.
Touch operations using two fingers or multiple fingers are not supported.
The viewpoint operation can also be performed by key operations.
Types of viewpoint operations
Name
Function
ORBIT
The viewpoint rotates in the direction of the operation performed using a finger.
7 - 469
Convenient functions
Types of viewpoint operations
Name
Function
PAN
The viewpoint moves parallel in the direction of the operation performed using
a finger.
ZOOM
The viewpoint zooms in when an upward operation is performed using a finger,
and zooms out when a downward operation is performed using a finger.
Key operations
Name
Function
ORBIT
[SHIFT] + [CURSOR]
PAN
[CURSOR]
ZOOM
[INTERLOCK] + [CURSOR]
7.19.4
Present viewpoint
The preset viewpoint, such as the viewpoint position when starting, the top surface and the
side, can be called.
1. Select {UTILITY} in the menu area.
2. Select the preset viewpoint.
6
7
1
2
3
4
5
Preset viewpoint and viewpoint direction
Name
Function
1
DEFAULT
Changes to the viewpoint when starting.
2
TOP SURFACE
Changes to the viewpoint observed from above.
3
LOWER SURFACE
Changes to the viewpoint observed from below.
4
FRONT SURFACE
Changes to the viewpoint observed from front.
5
BACK SURFACE
Changes to the viewpoint observed from back.
6
LEFT SIDE
Changes to the viewpoint observed from the left side.
7
RIGHT SIDE
Changes to the viewpoint observed from the right side.
Top surface, lower surface, front surface, back surface, left side and right side are the
viewpoints observed from a perpendicular direction from each side of the cuboid defined in
the 3D graphic space.
7 - 470
Convenient functions
TOP SURFACE
LEFT SIDE
BACK SURFACE
FRONT SURFACE
RIGHT SIDE
LOWER SURFACE
7.19.5
Current position 3D display
The current position 3D display mode is described in this chapter.
To change to the current position 3D display mode, perform the following steps:
1. Select {DISPLAY} in the menu area.
2. Select {CURRENT POS 3D}.
In the human interface display area, the message “CURRENT POSITION 3D DISPLAY
MODE.” is displayed.
Display during TEACH mode
In the TEACH mode, the posture of the robot in the 3D display area changes according to
the jog operation or the FWD key operation of the robot. When operating by using the
Cartesian coordinates system, the tool coordinates system, and the user coordinate
system, an arrow that indicates the operation direction is displayed. The displayed position
is the position (TCP position) considering the selected tool data.
The directions of the arrow are the positive directions of the X-axis, the Y-axis, and the Zaxis.
The axes are displayed as follows:
•
X-axis direction is blue
•
Y-axis direction is green
•
Z-axis direction is red
7 - 471
Convenient functions
NOTICE
The robot cannot be operated by dragging the arrow.
Display During PLAY mode
Even in the PLAY mode, the posture of the robot in the 3D display area changes in
accordance with the robot movement.
Additionally the motion path is displayed during playback. The motion path in the working
section is displayed in different color. When the IO instruction is executed, the icon is
changed and displayed.
NOTICE
 The motion path display requires processing for drawing the information, it is displayed
slightly later than the actual motion of the robot.
 Since the path is displayed on the basis of sampling data, depending on the speed, the
angular position may not be displayed at the corner.
7 - 472
Convenient functions
7.19.6
Teaching position 3D display
The teaching position 3D display mode is described in this chapter.
In teaching position 3D display mode, the JOB teaching position displayed in the JOB
contents is displayed in 3D. When performing the JOG operation, the operation will not be
reflected to the robot and the current position will not be displayed.
The teaching position 3D display mode is only valid in the TEACH mode. When the mode
is changed to the PLAY mode, it is changed to the current position 3D display mode.
NOTICE
When changing to the PLAY mode, the menu item {TEACHING POS 3D} will not be
displayed.
The JOB CONTENT window must be displayed.
To change to the teaching position 3D display mode, perform the following steps:
1. Select {DISPLAY} in the menu area.
2. Select {TEACHING POS 3D}.
In the human interface display area, the message “TEACHING POSITION 3D DISPLAY
MODE.” is displayed.
Display content in the JOB CONTENT window
In the JOB content window, when the cursor is moved to the move instruction position, the
posture of the robot in the 3D display area changes to the posture of the teaching position.
•
The teaching positions of the previous five steps and the following five steps are
displayed in broken lines.
•
The position of each broken line indicates the TCP position with an icon.
•
The teaching position currently displayed has a large icon.
•
The step number is displayed next to the icon.
7 - 473
Convenient functions
NOTICE
 Only steps of the JOB displayed in the JOB contents are displayed. JOB calls are not
displayed.
 The broken lines connect the teaching positions linearly, so they differ from the actual
motion path of the robot.
7 - 474
Convenient functions
7.19.7
Functional safety range display
The functional safety range display is described in this chapter.
For a system which functional safety is valid, the functional safety range is displayed on the
3D display window. The areas that can be displayed are the robot operation limit range and
the tool interference. The robot model for the range monitoring is also displayed.
1
Robot model
2
Tool interference
3
Robot range limit
ROBOT MODEL
TOOL INTERFERE
ROBOT RANGE LIMIT
7.19.7.1
Display setting
To define the safety range display settings, perform the following steps:
1. Select {SAFETY FUNC.} in the main menu.
2. Select {ROBOT RANGE DISPLAY}.
The ROBOT RANGE LIMIT DISPLAY window is displayed.
7 - 475
Convenient functions
3. Select the target robot model.
4. Select the model color.
The tool interference model is selected by the tool of the target robot.
The color of the tool interference model can be changed.
After selection of the robot model, the target robot range limit display file is displayed.
5. To display the file number set DISPLAY to ON. To hide the file number set DISPLAY to
OFF.
7 - 476
Convenient functions
6. Press {DISPLAY}.
The confirmation dialog box appears.
7. Select YES.
The settings are reflected in the 3D display function.
When NO is selected, the settings will be canceled.
7 - 477
Convenient functions
7.19.7.2
Concealing setting
To conceal all functional safety range, perform the following steps:
1. Select {SAFETY FUNC.} in the main menu.
2. Select {ROBOT RANGE DISPLAY}.
The ROBOT RANGE LIMIT DISPLAY window is displayed.
3. Select {ALL RESET}.
The confirmation dialog box appears.
4. Select YES.
The settings are reset.
When NO is selected, the operation will be canceled.
5. Press {DISPLAY}.
The confirmation dialog box appears.
7 - 478
Convenient functions
6. Select YES.
The settings are reflected in the 3D display function.
When NO is selected, the settings will be canceled.
7 - 479
Convenient functions
7.19.8
Other settings
How to change the robot model arrangement in a multiple robot system
For multiple robot systems, the robot arrangement displayed in the 3D display function can
closely match the actual arrangement.
To change the arrangement, perform the following steps:
1. Select {SETUP} in the main menu.
2. Select {ROBOT ARRANGEMENT SETUP}.
The ROBOT ARRANGEMENT SETUP window is displayed.
3. Enter the arrangement.
4. To change the robot to set, press {PAGE} and then select.
Also pressing the [PAGE] key can be used.
The entered settings are reflected in the 3D graphic window.
7 - 480
Convenient functions
7.20
Remote pendant operation function
7.20.1
Overview of the remote pendant operation function
By using the remote pendant operation function, the display of the programming pendant
can be viewed and controlled via a web browser. Thus, the display of the programming
pendant can be shown and the status of the YRC1000 can be checked from a remote
location. The administrator can set the login name and password of the user who performs
the remote pendant operation and also can set the access method for viewing or operating
the programming pendant for each user.
The administrator can register up to 100 user accounts.
Only the administrator can modify the data of a registered user account.
This function is available for YAS1.11-00 or later.
NOTICE
 While the programming pendant is being controlled by the remote pendant operation,
the programming pendant itself cannot be used for operation.
 In the remote pendant operation, the MAINTENANCE mode cannot be operated.
7.20.2
Recommended environment
For security and convenience, we recommend the following web browsers with the latest
versions when using the remote pendant operation function.
• Recommended web browsers:
Microsoft Internet Explorer 10.0 or later
Firefox 6 or later
Chrome 4 or later
7 - 481
Convenient functions
7.20.3
Connection with the robot controller
7.20.3.1
Ehternet cable connections
Connect the Ethernet cable (shielded cable: category 5 or higher) to the LAN connector,
CN106 (LAN2) or CN107 (LAN3) which are located on the front panel of the ACP01 board
inside the CPU rack.
Note:
To the enabled interface (LAN2 or LAN3), the YRC1000 confirms the presence or the type
of the connected cable when starting. To avoid performing an unnecessary check process,
enable only the interface that is actually connected over an Ethernet cable. Note that LAN3
cannot be enabled by itself. To enable LAN3, make sure that LAN2 is also enabled.
There are three LAN connectors (RJ45) in front of the ACP01 board and CN106 (LAN2) or
CN107 (LAN3) are the connectors for the Ethernet communication function. Do not connect
the connector to or disconnect the connector from CN105 (LAN1) since it is exclusively
used for the programming pendant.
7 - 482
Convenient functions
1
2
CN107
(LAN3)
3
CN106
(LAN2)
4
CN105
(LAN1)
DS1
LED
1
2
3
4
BAT
5
LED
5
6
7
8
CN104(SD)
S1
10
11
13
12
LED
9
10
11
12
CN112
LINK
CN113
RS232C/422
CN103
(COM)
CN111
USB
6
CN102
(USB)
CN101
(PSU)
7
8
9
Fig. 7-9: CPU unit configuration (JZNC-ARK05□-□E)
1
CPU board JANCD-ACP01-E
2
CN107 (LAN3)
3
CN106 (LAN2)
4
CN105 (LAN1) for programming pendant
5
CN104 (SD Card)
6
CN101 (CPS input connector)
7
CN111 (Control communication connector) (Communication with SERVO control
board/safety circuit board)
8
PCI slot for sensor circuit board
9
Ground connection terminal
10 S1 (Rotary switch)
11 CN112 (I/O I/F (Communication with optional I/O))
12 Robot I/F board JANCD-AIF01-□E battery (back side)
13 PCIe Slots (2pcs.)
7 - 483
Convenient functions
7.20.3.2
LAN interface setting
For performing the data communication by using the Ethernet, first perform the LAN
interface settings. These settings are required to use the data communication described in
this manual.
NOTICE
 Make sure to perform the following settings in the MANAGEMENT mode.
 In the OPERATION mode or the EDIT mode, only reference to the settings is available.
1. Turn ON the power supply while pressing [Main Menu].
The MAINTENANCE mode starts.
2. Set the SECURITY mode to the MANAGEMENT mode.
3. Select {SYSTEM} in the main menu.
The submenu appears.
4. Select {SETUP}.
The SETUP window appears.
7 - 484
Convenient functions
5. Select OPTION FUNCTION.
The OPTION FUNCTION window appears.
6. Select LAN INTERFACE SETTING → DETAIL.
The LAN INTERFACE SETTING window appears.
7. Select IP ADDRESS SETTING(LAN2).
The pull-down menu appears.
8. Select either MANUAL SETTING or DHCP SETTING.
9. Select the communication parameter to be modified.
Select the parameter by using the pull-down menu, or enter the parameter directly by
using the virtual keyboard.
7 - 485
Convenient functions
10. Press [ENTER].
The confirmation dialog box appears.
11. Select YES.
The OPTION FUNCTION window opens.
12. Turn the power OFF and then ON again.
The normal operation mode will start.
7.20.3.3
LAN interface setting items
In the LAN interface settings, perform the following settings:
Host Setting
Select the host name setting method of the YRC1000 from the pull-down andmenu.
MANUAL SETTING:
The character string set in the following item is used as the
host name.
DCHP SETTING (LAN2): The host name is acquired from the LAN2 DCHP server.
DCHP SETTING (LAN3): The host name is acquired from the LAN3 DCHP server
•
HOST NAME
If MANUAL SETTING is set for host setting method, enter the host name by using the
character string.
Characters which can be used for the host name are half-width alphanumeric
characters, hyphens (-) and underscores (_).
Include one or more alphabetic characters and set the name within 32 characters.
Setting the Domain
Select the domain name of the YRC1000 setting method from the pull-down menu
MANUAL SETTING:
The character string set in the following item is used as the domain name.
DCHP SETTING (LAN2): The domain name is acquired from the LAN2 DCHP server.
DCHP SETTING (LAN3): The domain name is acquired from the LAN3 DCHP server
•
7 - 486
DOMAIN NAME
If MANUAL SETTING is set for domain setting method, enter the domain name by using
the character string.
Characters which can be used for the domain name are half-width alphanumeric
characters, hyphens (-) and underscores (_).
Convenient functions
Include one or more alphabetic characters and set the name within 32 characters.
IP Address (LAN2)
Select the LAN2 IP address setting method from the pull-down menu.
NOT USED:
LAN2 is not used. Thus, LAN3 cannot be used either.
MANUAL SETTING: The value set in the following item is used as the LAN2 IP address/
subnet mask.
DCHP SETTING:
•
The IP address (LAN2) is acquired from the DCHP server.
IP ADDRESS
If MANUAL SETTING is set for IP address (LAN2) setting method, set the LAN2 IP
address to this item. Use half-width numbers and periods (.) for the IP addres and set
“xx.xx.xx.xx” using the following format: xx is decimal number from 0 to 255
(Example) 192.168.255.1
NOTICE
YRC1000 supports only IPv4 and does not support IPv6.
[10.0.0.xx] (xx: 0 to 255) cannot be used for the IP address of the LAN2.
•
SUBNET MASK
If MANUAL SETTING is set for IP address (LAN2) setting method, set the LAN2 subnet
mask to this item. Use half-width numbers and periods (.) for the subnet mask and set
“xx.xx.xx.xx” using the following format: xx is decimal number from 0 to 255.
(Example) 255.255.255.0
IP Address (LAN3)
Select the LAN3 IP address setting method from the pull-down menu.
NOT USED:
LAN3 is not used.
MANUAL SETTING: The value set in the following item is used as the LAN3 IP address/
subnet mask.
DCHP SETTING:
The IP address (LAN3) is acquired from the DCHP server.
NOTICE
Enable LAN2 before using LAN3.
LAN3 cannot be used without using LAN2.
7 - 487
Convenient functions
•
IP ADDRESS
If MANUAL SETTING is set for IP address (LAN3) setting method, set the LAN3 IP
address to this item. Use half-width numbers and periods (.) for the IP address and set
“xx.xx.xx.xx” using the following format: xx is decimal number from 0 to 255.
(Example) 172.16.0.1
NOTICE
YRC1000 supports only IPv4 and does not support IPv6.
[10.0.0.xx] (xx: 0 to 255) and the address of the same network as LAN2 cannot be used for
the IP address of LAN3.
•
SUBNET MASK
If MANUAL SETTING is set for IP address (LAN3) setting method, set the LAN3 subnet
mask to this item. Use half-width numbers and periods (.) for the subnet mask and set
“xx.xx.xx.xx” using the following format: xx is decimal number from 0 to 255.
(Example) 255.255.255.0
Default Gateway
Select the default gateway of the YRC1000 setting method from the pull-down menu.
NOT USED:
The default gateway is not used.
MANUAL SETTING:
The value set in the following item is used as the default
gateway.
DCHP SETTING (LAN2):
The default gateway is acquired from the LAN2 DCHP server.
DCHP SETTING (LAN3)
The default gateway is acquired from the LAN3 DCHP server
•
7 - 488
DEFAULT GATEWAY
If MANUAL SETTING is set for default gateway setting method, set the default gateway
to this item. Use half-width numbers and periods (.) for the default gateway and set
“xx.xx.xx.xx” using the following format: xx is decimal number from 0 to 255.
(Example) 192.168.255.200
Convenient functions
Static Route (LAN2)
Select whether to perform the static route control via LAN2 from the pull-down menu.
NOT USED:
The static route control via LAN2 is not performed.
MANUAL SETTING: Perform the static route control using the value set in the following
item.
•
•
•
NETWORK DESTINATION
If MANUAL SETTING is set for static route (LAN2) setting method, set the network
destination to perform static route control via LAN2 to this item. Use half-width numbers
and periods (.) for the network destination and set “xx.xx.xx.xx” using the following
format: xx is decimal number from 0 to 255.
SUBNET MASK
If MANUAL SETTING is set for static route (LAN2) setting method, set the subnet mask
to perform static route control via LAN2 to this item. Use half-width numbers and
periods (.) for the subnet mask and set “xx.xx.xx.xx” using the following format: xx is
decimal number from 0 to 255
GATEWAY
If MANUAL SETTING is set for static route (LAN2) setting method, set the gateway to
perform static route control via LAN2 to this item. Use half-width numbers and periods
(.) for the gateway and set “xx.xx.xx.xx” using the following format: xx is decimal number
from 0 to 255.
Static Route (LAN3)
Select whether to perform the static route control via LAN3 from the pull-down menu.
NOT USED:
The static route control via LAN3 is not performed.
MANUAL SETTING: Perform the static route control using the value set in the following
item.
•
•
•
NETWORK DESTINATION
If MANUAL SETTINGMANUAL SETTING is set for static route (LAN3) setting method,
set the network destination to perform static route control via LAN3 to this item. Use
half-width numbers and periods (.) for the network destination and set “xx.xx.xx.xx”
using the following format: xx is decimal number from 0 to 255.
SUBNET MASK
If MANUAL SETTING is set for static route (LAN3) setting method, set the subnet mask
to perform static route control via LAN3 to this item. Use half-width numbers and
periods (.) for the subnet mask and set “xx.xx.xx.xx” using the following format: xx is
decimal number from 0 to 255.
GATEWAY
If MANUAL SETTING is set for static route (LAN3) setting method, set the gateway to
perform static route control via LAN3 to this item. Use half-width numbers and periods
(.) for the gateway and set “xx.xx.xx.xx” using the following format: xx is decimal number
from 0 to 255.
7 - 489
Convenient functions
DNS Setting
For using the DNS (Domain Name System) client function and for the setting method of
DNS server when using the DNS client function, select from the pull-down menu.
NOT USED:
The DNS is not used.
MANUAL SETTING:
The value set in the following item is used as the DNS server.
DCHP SETTING (LAN2): The DNS Server is acquired from the LAN2 DCHP server.
DCHP SETTING (LAN3): The DNS Server is acquired from the LAN3 DCHP server.
•
DNS SERVER
If MANUAL SETTING is set for DNS setting method, set the IP address of the DNS
server to this item. Use half-width numbers and periods (.) for the IP address of the DNS
server and set “xx.xx.xx.xx” using the following format: xx is decimal number from 0 to
255.
SNTP Setting
For using the SNTP (Simple Network Time Protocol) client function and for the setting
method of SNTP server when using the SNTP client function, select from the pull-down
menu.
NOT USED:
The SNTP is not used.
MANUAL SETTING:
The value set in the following item is used as the DNS server.
DCHP SETTING (LAN2): The SNTP Server is acquired from the LAN2 DCHP server.
DCHP SETTING (LAN3): The SNTP Server is acquired from the LAN3 DCHP server.
•
SNTP SERVER
If MANUAL SETTING is set for SNTP setting method, set the SNTP setting to this item.
Use half-width numbers and periods (.) for the SNTP server IP address and and set
“xx.xx.xx.xx” using the following format: xx is decimal number from 0 to 255.
•
•
7 - 490
Note that if the DNS client function is enabled, the FQDN (Fully Qualified Domain
Name: “Hostname@domainname” name format) can also be set. Characters which can
be used for the FQDN are half-width alphanumeric characters, hyphens (-),
underscores (_) and the at-sign (@) which is the character boundary between the host
name and the domain name. Set it within 128 characters.
TIME DIFFERENCE FROM UTC
The time that can be acquired by using SNTP is UTC (Coordinated Universal Time). To
calculate the local time from UTC, enter the time difference between UTC and the local
time.
Every time a symbol is selected, “+” and “-” switches. Enter half-width numeric
characters for each hour and minute. The settable range is from -12:00 to +14:00.
INQUIRY INTERVAL (H)
Enter a time interval for making an inquiry to the SNTP server. Enter the hour (H) using
half-width numeric characters. The settable range is 10 to 99.
Convenient functions
7.20.4
User setting for the remote pendant operation
NOTICE
Set the SECURITY mode to MANAGEMENT mode or higher.
7.20.4.1
Registration of a new user account
To register a new user account, perform the following steps:
1. Select {SYSTEM INFO} → {USER PASSWORD} in the main menu.
The USER PASSWORD LIST window appears.
2. Move the cursor to USER NAME and press [SELECT].
The selection list appears.
3. Move the cursor to REGISTER and press [SELECT].
The USER PASSWORD EDIT (REGISTER/MODIFY) window appears.
7 - 491
Convenient functions
4. Make the settings for the user account as shown below.
USER NAME:
For the user name, 1 to 16 alphanumeric characters can be used.
PASSWORD:
For the password, 4 to 16 numeric characters can be used.
REMOTE PENDANT OPERATION:
Specify whether to use this user name or not in the remote pendant operation function.
(USED/NOT USED)
OPERATION:
Select the access level of the user (PROHIBIT/PERMIT).
5. Press [ENTER] or select {EXECUTE}.
The user account is registered.
7.20.4.2
Modification of a user account
To modify the user account, perform the following steps:
7 - 492
Convenient functions
1. Select {SYSTEM INFO} → {USER PASSWORD} in the main menu.
2. Move the cursor to the user name to be modified and press [SELECT].
The selection list appears.
3. Move the cursor to MODIFY and press [SELECT].
The USER PASSWORD EDIT (REGISTER/MODIFY) window appears.
4. Set the user account.
USER NAME:
For the user name, 1 to 16 alphanumeric characters can be used.
PASSWORD:
For the password, 4 to 16 numeric characters can be used.
REMOTE PENDANT OPERATION:
Specify whether to use this user name or not in the remote pendant operation function.
(USED/NOT USED)
OPERATION:
Select the access level of the user (PROHIBIT/PERMIT).
7 - 493
Convenient functions
5. Press [ENTER] or select {EXECUTE}.
The user account is modified as specified.
7 - 494
Convenient functions
7.20.4.3
Deletion of a user account
To delete the user account, perform the following steps:
1. Select {SYSTEM INFO} → {USER PASSWORD} in the main menu.
2. Move the cursor to the user name to be deleted and press [SELECT].
The selection list appears.
3. Move the cursor to DELETE and press [SELECT].
The confirmation dialog box appears.
4. Select YES.
The user account is deleted.
7 - 495
Convenient functions
7.20.4.4
Deletion of all user accounts
To delete all user accounts, perform the following steps:
1. Select {SYSTEM INFO} → {USER PASSWORD} in the main menu.
2. Move the cursor to USER NAME and press [SELECT].
The selection list appears.
3. Move the cursor to DELETE ALL and press [SELECT].
The confirmation dialog box appears.
4. Select YES.
All the user accounts are deleted.
7 - 496
Convenient functions
7.20.5
Start-up of the remote pendant
7.20.5.1
Start-up of the remote server
To start up the remote server, perform the following steps:
1. Select {REMOTE PENDANT} → {REMOTE SERVER START} in the main menu.
The confirmation dialog box appears.
2. Select YES.
7.20.5.2
Settings for the remote server
NOTICE
If the remote server is already started, the settings will not be reflected.
To make the settings for the remote server, perform the following steps:
1. Select {REMOTE PENDANT} → {REMOTE SERVER SETTING} in the main menu.
The SETTINGS window appears.
7 - 497
Convenient functions
2. Make the settings for the remote server as shown below.
•
Jpeg compression level:
•
The Jepg compression level can be specified within the range between 1 (low
compression) to 5 (high compression).
Refresh Time:
The refresh interval at which the image on the display of the programming pendant is
distributed to the client.
7.20.5.3
End of the remote server
To end the remote server, perform the following steps:
1. Select {REMOTE PENDANT} → {REMOTE SERVER END} in the main menu.
The confirmation dialog box appears.
2. Select YES.
7.20.5.4
Automatic start-up of the remote server
To activate automatic start-up of the remote server, set the parameter S2C1364 to 1.
After changing the parameter, turn the power OFF and ON again.
7.20.6
Operation of the remote pendant
7.20.6.1
Login
To log in, perform the following steps:
7 - 498
Convenient functions
1. Start up the web browser and enter the following URL into the URL field.
http://xxx.xxx.xxx.xxx:20080/
As “xxx.xxx.xxx.xxx”, enter the IP address specified according to chapter 7.20.3.1
"Ehternet cable connections".
2. The LOGIN window appears.
Enter the user name assigned by the administrator into the UserName field.
3. Enter the password assigned by the administrator into the Password field.
4. Press Login.
NOTICE
When starting monitoring or operating the programming pendant from the client, the
following message appears on the programming pendant.
5. To access the programming pendant from the client, select YES in the confirmation
dialog box or leave the confirmation dialog as it is for a while.
If NO is selected, the programming pendant cannot be accessed from the client.
7.20.6.2
Monitoring
When the user without the authorization for the remote pendant operation logs in, the
following window appears.
•
{Logout} button
Press the {Logout} button to end monitoring of the remote pendant and return to the
LOGIN window.
7.20.6.3
Operation of character input
When the user with the authorization for the remote pendant operation logs in, the following
window appears.
7 - 499
Convenient functions
•
•
•
•
7 - 500
{Press Key Simultaneous} button
By pressing the {Press Key Simultaneous} button, 2 keys can be pressed
simultaneously.
Other buttons
These buttons have the same functions as the keys on the programming pendant.
Axis keys, TEST START, BWD and FWD cannot be used.
{Logout} button
Press the {Logout} button to exit the remote pendant operation and return to the LOGIN
window.
Operation on the programming pendant display by using the mouse.
Touch-screen operation on the programming pendant can also be performed by using
the mouse.
The icon ○ blinks where the cursor is located.
Convenient functions
7.21
High accuracy path control function
7.21.1
Description of high accuracy path control function
The high accuracy path control function allows the motion path of the robot to be with high
accuracy by moving the motion path of the robot closer to the command path.
Using this function, the path difference during the linear interpolation or the inward-turning
amount during the circular interpolation is reduced.
The operation command speed slows down automatically to reproduce the operationcommand path more faithfully during the circular interpolation. The operation command
speed is adjusted automatically, therefore, the adjustment of the teaching speed does not
have to be done while confirming the path and the teaching work can be reduced.
NOTICE
Using this function, the operation of the robot may vibrate depending on the teaching
position or the teaching speed.
Correct the teaching position and the teaching speed when the operation of the robot
vibrates or disable the high accuracy path control function.
Using this function, the shock sensor may occur. When the shock sensor occurs, change
the shock sensor level.
For details, refer to chapter Shock detection function in YRC1000 Instructions manual
(E1102000214XX01* or higher).
1
3
2
Fig. 7-10: Image of the operation-command trajectory and the motion path
1
Instruction path (red)
2
High accuracy path control/motion path (black)
3
Normal motion path (blue)
7 - 501
Convenient functions
7.21.2
Instruction registration of high accuracy path control function
The instructions, HTRAJON and HTRAJOF, are used for the function of the high accuracy
path control.
The high accuracy path control will be valid in the operation of the area between the
HTRAJON instruction and the HTRAJOF instruction.
The high accuracy path control function can be used for the robot.
NOTICE
Use the high accuracy path control in the operating area where the highly accurate path is
required.
HTRAJON Instruction
This is the instruction to enable the high accuracy path control.
This instruction is applied during the playback or test operation, not during the axis
operation.
The additional items of the HTRAJON instruction are shown below.
HTRAJON R1㻌RND=1
1
1
2
Robot
Select the robot to apply the high accuracy path control.
If omitted, this instruction is enabled to the robot specified by the JOB control group.
2
Roundness Distance Specification
When the circular interpolation operation (or the consecutive MOVC instruction) is in
the high accuracy path control area, the amount of inward turning operation (=roundness distance) of the motion path for the robot to the circular interpolation operation
can be specified.
Unit: 0.001 mm
This specification can be omitted. If omitted, the roundness distant specification
operated in the default value 0.5 mm.
1
2
3
Fig. 7-11: Roundness distance
1
Instruction path (red)
2
Motion path (black)
3
Roundness distance
HTRAJOF Instruction
This is the instruction to end the high accuracy path control.
HTRAJOF R1
1
7 - 502
will
be
Convenient functions
1
Robot
Select the robot to apply the high accuracy path control.
NOTICE
In the high accuracy path control area which is between the HTRAJON instruction and the
HTRAJOF instruction, the positioning zone (PL) can be used even in steps where the
circular interpolation operation (continuous MOVC instructions) and interpolation
instruction types are different.
*The continuous circular interpolation (MOVC instruction) only supports PL=0.
For additional information refer to chapter 9.2.8 "Positioning zone".
7.21.3
Instruction of high accuracy path control function
When the cursor is in the address area, the instruction can be registered by using the JOB
CONTENT window. Before registering the instruction, perform the following steps:.
HTRAJON Instruction
1. Move the cursor to the line above the place to register HTRAJON.
2. Press [INFORM LIST].
The instruction list dialog appears.
3. Select {OTHER}.
4. Select {HTRAJON}.
The HTRAJON instruction is indicated in the input buffer line.
+75$-21
7 - 503
Convenient functions
5. Change the additional items or number values or proceed to step 6.
Change the robot or the roundness distance specification:
a) Move the cursor to the instruction in the input buffer line and press [SELECT].
The DETAIL EDIT window appears.
b) Move the cursor to UNUSED of the additional item to be changed and then press
[SELECT].
The selection dialog is displayed.
c) Move the cursor the desired additional item and then press [SELECT].
'(7$,/(',7
+75$-21
52%27
5281'1(66(55
8186('
51'
8186('
d) When the additional item is changed, press [ENTER].
The DETAIL EDIT window closes, and the JOB CONTENT window appears.
6. Press [INSERT] + [ENTER].
The instruction indicated in the input buffer line is registered.
029-9- 029/9 3/ +75$-21
'28727 21
029&9 3/ HTRAJOF Instruction
1. Move the cursor to the line above the place to register HTRAJOF.
2. Press [INFORM LIST].
The instruction list dialog appears.
3. Select {OTHER}.
4. Select {HTRAJOF}.
HTRAJOF instruction appears on the input buffer line.
+75$-2)
7 - 504
Convenient functions
5. Press [INSERT] + [ENTER].
HTRAJOF instruction is registered.
029&9 3/ 029/9 +75$-2)
029/9 (1'
7.21.4
Example of high accuracy path control function
JOB examples to use the high accuracy path control function are shown below.
1
21
8
16
15
9
2
19
10
6
4
5
17
18
0000
NOP
0001
MOVJ VJ=10.00
0002
MOVL V=100.0 PL=0
0003
HTRAJON
…High Accuracy Path Control Function
starts.
DOUT
The operation starts.
0004
MOVC V=1200.0 PL=1
0005
MOVC V=1200.0
0006
MOVC V=1200.0 PL=1
Circular operation can be done by teaching
the consecutive circular interpolation (or the
consecutive MOVC instruction).
0007
MOVL V=1200.0
0008
MOVC V=1200.0 PL=1
0009
MOVC V=1200.0
0010
MOVC V=1200.0 PL=1
0011
MOVL V=1200.0
0012
MOVC V=1200.0 PL=1
0013
MOVC V=1200.0
0014
MOVC V=1200.0 PL=1
0015
MOVL V=1200.0 PL=0
0016
MOVL V=1200.0 PL=3
0017
MOVL V=1200.0 PL=8
0018
MOVL V=1200.0 PL=0
The circular operation moves at the limited
speed for the inward-turning only the specified roundness distance.
Amount of inward-turning can be adjusted by
using the specified the positioning (PL).
For details of the positioning zone, refer to
chapter: 9.2.8 "Positioning zone".
7 - 505
Convenient functions
7 - 506
0019
MOVL V=1200.0
0020
HTRAJOF
0021
MOVJ VJ=10.00
0022
END
High Accuracy Path Control Function ends.
Convenient functions
7.22
Speed priority control function
NOTICE
This function moves the robot at the speed priority, therefore, the robot may vibrate.
When the robot vibrates, set the move instruction to ACC (acceleration adjustment ratio) or
DEC (deceleration adjustment ratio) or review the teaching speed.
This function may not make the teaching motion speed reach the specified speed.
When the motion speed does not reach the specified speed, review the posture or the
motion speed of the robot.
This function makes the robot move at the forcibly specified speed.
When using this function, set only the required range to the speed priority control range.
Speed priority control function enables the robot to move at the specified speed even when
the distance between teaching positions is short.
When the distance between teaching positions is short, the robot may move at the slower
speed than the specified speed as shown in the figure due to the required distance is not
enough to reach the specified speed.
By using the speed priority control function, the robot moves at the specified speed, as
shown in the figure, even when the distance between teaching positions is short.
1
2
5
3
4
Fig. 7-12: Operating speed when the distance between teaching positions is short
1
Specified speed
2
Declining speed
3
Time to reach the teaching point
4
Time
5
Speed
7 - 507
Convenient functions
1
1
4
2
2
3
Fig. 7-13: Operating speed when using the speed priority control function
1
Specified speed
2
Time to reach the teaching point
3
Time
4
Speed
7.22.1
Instruction
7.22.1.1
Instruction of the speed priority control function
The instructions, HPVELON and HPVELOF are used for the function of the speed priority
control.
HPVELON Instruction
This is the instruction to start the speed priority control.
This instruction is executed only at the playback or the test operation, not executed during
the axis operation.
HPVELON
HPVELOF Instruction
This is the instruction to end the speed priority control.
HPVELOF
NOTICE
Even in the speed priority instruction area, the speed priority control function is not enabled,
if any of the following conditions are met:
7 - 508
•
The current step interpolation is other than linear interpolation (MOVL instruction) and
circular interpolation (MOVC instruction).
•
The motion of the previous step and the current step is not continued.
•
The teaching position of the previous step and the current step is matched.
•
The distance between steps is long.
•
The positioning level is set to the current step.
•
The angle of the previous step and the current step is larger than the reference value
of the speed priority instruction angle.
Convenient functions
ș$QJOHRIWKHSUHYLRXVVWHSDQGWKHFXUUHQWVWHS
1
2 ĺ7KHSUHYLRXVVWHS
3 ĺ7KHFXUUHQWVWHS
ș
1
θ: Angle of the previous step and the current step
2
The previous step
3
The current step
ș
The reference value of the speed priority instruction angle is set by the parameter.
For details of this parameter, refer to chapter 7.22.1.2 "Parameter of the speed priority
control function".
This function affects the motion of the step outside the section, therefore, the speed priority
control function is not enabled in the step immediately after the HPVELON instruction and
the step immediately before the HPVELOF instruction.
7.22.1.2
Parameter of the speed priority control function
The reference value of the speed priority instruction angle is set by the following parameter.
S3C
Details
1395
Reference value of the speed priority instruction angle (Unit: 0.1°)
0 (initial setting value): 25.0°
7 - 509
Convenient functions
7.22.1.3
Registration of the instruction of the speed priority control function
When the cursor is in the address area, the instruction can be registered by using the JOB
CONTENT window.
To register the instruction, perform the following steps:
1. Select {JOB} in the main menu.
2. Select {JOB CONTENT}.
3. Move the cursor to the address area.
-2%
',63/$<
(',7
-2%&217(17
-7(67B-2%
&21752/*52835
123
͂7(67
029-9- 029/9 029/9 029/9 029/9 029/9 7,0(57 '28727 21
(1'
87,/,7<
6
722/
029/9 0DLQ0HQX
6LPSOH0HQX
HPVELON Instruction
1. Move the cursor to the line above the place to register HPVELON.
͂7(67
029-9- 029/9 2. Press [INFORM LIST].
The instruction list dialog box appears.
-2%
(',7
',63/$<
-2%&217(17
-7(67B-2%
&21752/*52835
123
͂7(67
029-9- 029/9 029/9 029/9 029/9 029/9 7,0(57 '28727 21
(1'
87,/,7<
+39(/21
0DLQ0HQX
,1287
6
722/
&21752/
'(9,&(
027,21
$5,7+
23721
6+,)7
2372)
27+(5
+39(/21
+39(/2)
6LPSOH0HQX
3. Select {OTHER}.
4. Select {HPVELON}.
The HPVELON instruction is indicated in the input buffer line.
+39(/21
5. Press [INSERT] + [ENTER].
HPVELON instruction is registered.
͂7(67
029-9- +39(/21
029/9 7 - 510
6$0(
35,25
Convenient functions
HPVELOF Instruction
1. Move the cursor to one line above the place to register HPVELOF.
029/9 029/9 7,0(57 2. Press [INFORM LIST].
The instruction list dialog box appears.
-2%
',63/$<
(',7
-2%&217(17
-7(67B-2%
&21752/*52835
029/9 029/9 029/9 029/9 029/9 7,0(57 '28727 21
(1'
87,/,7<
+39(/2)
0DLQ0HQX
,1287
6
722/
&21752/
'(9,&(
027,21
$5,7+
23721
6+,)7
2372)
27+(5
+39(/21
6$0(
+39(/2)
35,25
6LPSOH0HQX
3. Select {OTHER}.
4. Select {HPVELOF}.
The HPVELOF instruction is indicated in the input buffer line.
+39(/2)
5. Press [INSERT] and [ENTER].
HPVELOF instruction is registered.
029-9- 029-9- +39(/2)
7,0(57 7 - 511
Convenient functions
7.22.2
Example
7.22.2.1
Motion example of the speed priority control
JOB examples to use the speed priority control function are shown below.
1
2
4
6
8 9
11
5
7
10
13
0000
NOP
0001
MOVJ VJ=10.00
0002
MOVL V=320.0
0003
HPVELON
Speed priority control
function starts.
0004
MOVL V=320.0
1
0005
MOVL V=320.0
0006
MOVL V=320.0
0007
MOVL V=320.0
0008
MOVL V=320.0
0009
MOVL V=320.0
3
0010
MOVL V=320.0
4
0011
MOVL V=320.0
0012
HPVELOF
0013
MOVJ VJ=10.00
0014
END
2
: Speed priority control
function ends.
Even if the robot moves at a slower speed than the specified speed due to a short distance
to the next teaching position such as motion instructions 1 to 4 , the motion can be
executed while maintaining the specified speed.
7.23
Alarm contents customize function
With the alarm contents customize function, the user alarm file (CSV file) created and
registered by the user is displayed on the ALARM CONTENTS window when the user
alarm (8000s) and the user I/O alarm (9000s) occurs.
This function is available for YAS2.55-00 or later.
The following operation procedures are described in this chapter:
•
•
•
7 - 512
Saving the default user alarm file to the external device from the ALARM CONTENTS
CUSTOMIZE window.
Editing the user alarm file on PC.
Loading the user alarm file to the programming pendant from the ALARM CONTENTS
CUSTOMIZE window.
Convenient functions
7.23.1
ALARM CONTENTS CUSTOMIZE window
1. Set the SECURITY mode to the MANAGEMENT mode or higher.
2. Select {SYSTEM INFO} → {ALM CONT. CUSTOMIZE} in the main menu.
The ALARM CONTENTS CUSTOMIZE window appears.
3. Perform loading and saving operations of the user alarm file:
a) Select an external device.
Select either SD:Pendant or USB:Pendant (SD:Pendant ist set by default).
Processing is performed for the selected device.
b) Select a user alarm file to load and save.
All files are selected and enabled by default. If no files are selected, an error
message will be displayed.
c) Select {LOAD}.
The targeted user alarm file is loaded to the Programming Pendant from the
external device.
The user alarm files of all languages stored in the external device are saved at
once.
If a user alarm file is not stored in the Programming Pendant, save the default user
alarm file.
d) Select {CLOSE}.
The ALARM CONTENTS CUSTOMIZE window is closed.
7 - 513
Convenient functions
7.23.2
User alarm file storage location of the external device
When loading a user alarm file, correctly set the folder structure and the file storage location
of the external device.
Storage Card / USB Memory
|-- AlarmContentsCustomize Storage folder of the user alarm file
|-- Default
Storage folder of the default user alarm file
|-- ALARM8000-user.csv
Default user alarm file (Used for saving only)
|-- ALARM9000-user.csv
|-- XX
Language name folder (JP, EN, CN, etc., multiple setting is
available)
|-- ALARM8000-user.csv
Created user alarm file
|-- ALARM9000-user.csv
Language name folder
7 - 514
JP
...
Japanese
EN
...
English
DE
...
German
SE
...
Swedish
FR
...
French
FI
...
Finnish
IT
...
Italian
ES
...
Spanish
KR
...
Korean
CN
...
Chinese
TW
...
Taiwanese
CZ
...
Czech
PL
...
Polish
RU
...
Russian
TH
...
Thai
NL
...
Dutch
ID
...
Indonesian
PT
...
Portugese
TR
...
Turkish
SL
...
Slovene
RO
...
Romanian
SK
...
Slovak
Convenient functions
7.23.3
Rules for creating a user alarm file (CSV file)
Create the user alarm file according to the following rules:
•
•
•
•
•
•
•
•
•
•
•
•
Edit with a text editor.
Use a comma (,) as separator between items.
When using double quotation marks (“) as a character, write two consecutive double
quotation marks.
When using a comma (,) as content of an item, enclose the entire character string in
double quotation marks.
If the number of characters used for the contents of cause increases, insert a line feed
code.
Do not use ‘0’ in the sub code.
It is possible not to specify a sub code value.
To set multiple sub codes for one alarm, write to multiple lines.
When setting multiple sub codes for one alarm, the data for which the sub code value
is set and the data without setting a sub code value cannot be mixed.
When setting multiple sub codes for one alarm code, set “Alarm Number”, “Alarm
Name/Message”, and “Contents” only for the first data.
Insert a line feed code at the end of each data.
When "Notes" of the last data has multiple lines, enclose the entire character string in
double quotation marks.
7.23.4
Error code list of the ALARM DETAIL window
NOTICE
 The user alarm file is only stored in the Programming Pendant.
Load the user alarm file again when the Programming Pendant is replaced.
 When setting the user alarm file in the multiple functions, correct the user alarm file
already loaded.
 When deleting the user alarm file, load a user alarm with empty data set.
If the user alarm file is not set correctly, an error message and an error code will be
displayed on the ALARM DETAIL window.
In this case set the user alarm file correctly.
7 - 515
Convenient functions
Error Cause
code
Measure
9
Alarm number is not found.
Check that the described contents and
the format of the alarm number are correct.
10
Sub code is not found.
Check that the described contents and
the format of the sub code are correct.
11
Cause and remedy are not found.
Check that the described contents and
the format of the cause and the following
are correct.
14
Check that the described contents and
When there are multiple lines for
the format of cause and the following are
cause and remedy, the second and
subsequent cause and remedy are not correct.
found.
13
21
15
18
19
When there are multiple lines of sub Check that the described contents and
the format of the alarm number/message
code, the second and subsequent
alarm names/messages, contents and and the following are correct.
sub codes are not found.
When there are multiple lines of mean- Check that the described contents and
the format of meaning and the following
ing, the second and subsequent
meanings are not found.
are correct.
Error Code = 10
Example:
No comma set for the sub code
Correction method:
Set a comma for the sub code
Error Code = 13
Example:
Sub code is not correct. (1266 has been set instead of 1265.)
Correction method:
Set 1265 for the sub code.
Error Code = 15
7 - 516
Example:
No line feed code at the last line.
Correction method:
Insert a line feed code at the last line.
Convenient functions
Error Code = 19
Example:
The data meaning and the following is not set.
Correction method:
Set the data for meaning and the following and insert a line
feed code.
Error in the contents of the user alarm file
If there is an error in the contents of the user alarm file, an error message is not displayed
on the ALARM DETAIL window, but the contents may be displayed incorrectly.In this
case, check the contents of the user alarm file and load the corrected user alarm file.
Example:
Comma is used as a character without using double quotation marks.
Normal display
7.24
Error display
Pendant buzzer function
The pendant buzzer function controls operation sounds (touch sounds and key tones) and
beep sounds (alarms, errors, registration) of the programming pendant after connecting to
the controller.This function is available for YAS2.60-00 (pendant OS 1.06 or later).
1. Set the SECURITY mode to the MANAGEMENT mode or higher.
7 - 517
Convenient functions
2. Select {SETUP} → {FUNCTION ENABLE} in the main menu.
The FUNCTION ENABLE SETTING window appears.
3. Select {PENDANT BUZZER FUNCTION}
The selection list appears.
7 - 518
Convenient functions
4. Select the desired PENDANT BUZZER FUNCTION option.
The pendant buzzer invalid icon appears in the status area, when the following options
are set:
OPERATION SOUND INVALID, BEEP INVALID, OPE.&BEEP INVALID
NOTICE
The operation sounds of the programming pendant and the beep sounds cannot be
controlled before connecting to the controller. (Operation and beep sounds cannot be
disabled.)
7.25
JOB security function
The JOB security function allows a password to be set for each target JOB so that created
JOBs cannot be easily distributed to other controllers.
This function is available for YAS3.03-00 or later.
This function can be set and changed when the SECURITY mode is set to MANAGEMENT
mode or higher.
Example usage: Selling a JOB created by a system integrator
Manufacturers and system
integrators
Customer A
Customer B
Controller 1
JOB A
(created)
sell JOB A
JOB A
(created)
For JOB A (purchased from the system integrator), SAVE
JOB is set to PROHIBIT.
JOB A cannot be saved and moved to another customer.
7 - 519
Convenient functions
Manufacturers and system
integrators
Customer A
Customer B
Conditions for selling JOB A: Conditions to execute a purchased
• Set CONTENTS DISPLAY JOB:
• Set EXEC to PERMIT in the SECURITY JOB LIST window.
to PROHIBIT.
• Set EXECUTE JOB to
PROHIBIT.
(The password required to cancel the
• Set SAVE JOB to PROHIB- restriction is set by the system integrator.)
IT.
The password required to
cancel these restrictions is
managed by the system integrator and not given to users.)
Controller 1
Controller 2
Controller 3
Controller 4
For JOB A (purchased from the system
integrator) SAVE JOB is set to PROHIBIT.
JOB A cannot be saved and moved to
another controller.
Each target JOB can be managed by setting password information (4 to 16 half-width
alphanumeric characters) for the following three types of security settings:
•
Display/hide JOB contens
•
Execute JOB after loading
•
Permit/prohibit JOB saving
Parameter
Detail and setting values
Default value
S2C1560
Shows or hides the permit save setting items.
0
0: Hide the permit save setting item.
1: Show the permit save setting item.
The loss of JOBs can be prevented by managing JOBs with passwords for the following
purposes:
•
To hide the contents of JOBs.
•
To prevent JOBs from being executed on other controllers after loading.
•
To prevent saving JOBs to external memory devices.
The security settings (CONTENTS DISPLAY, EXECUTE JOB (After a Load), and SAVE
JOB → PERMIT/PROHIBIT) can be set for JOBs, macro JOBs and system JOBs.
However, the security settings cannot be set for the JOB edit function during PLAYBACK.
7 - 520
Convenient functions
7.25.1
Prohibit displaying JOB contents
You can prohibit displaying the contents of each JOB in order to hide the contents of those
JOBs.
For a JOB with CONTENTS DISPLAY set to PROHIBIT, all instructions on the JOB
CONTENT window are displayed as invisible except for the NOP and END instructions.
For a JOB with CONTENTS DISPLAY set to PROHIBIT, only the JOB name and control
group are displayed normally.
The display colors are reset and all items are displayed in black, regardless of the display
color settings. For display color settings, refer to chapter 7.11 "Color adjustment function for
instructions".
The step number and tool number in the title area are masked with asterisks (****).
Fig. 7-14: JOB with CONTENTS DISPLAY set to PROHIBIT
The following operations are not possible for JOBs with CONTENTS DISPLAY set to
PROHIBIT:
•
•
•
•
•
•
•
•
Editing a JOB (adding, changing and deleting instructions).
Deleting, renaming or copying a JOB.
Displaying the contents of instructions with [DIRECT OPEN].
Displaying the command position on the COMMAND POSITION window.
Setting a JOB as a target for conversion.
Performing JOB operations during PLAYBACK.
Operations that change the contents of JOBs during playback execution, such as
changing the speed of MOVE instructions with speed override, can change the contents
of JOBs even if CONTENTS DISPLAY is set to PROHIBIT. For information on speed
override, refer to chapter 5.4 "Modifying play speed".
To prohibit changing a JOB during PLAYBACK execution, set EDIT LOCK to ON. (To
prohibit editing of JOBs, refer to chapter 6.6 "Setting EDIT LOCK for individual JOB
units".)
Using UNDO and REDO functions.
Using search, copy, cut, paste and reverse paste.
To prohibit saving JOBs to an external memory device while CONTENTS DISPLAY is set
to PROHIBIT, set SAVE JOB to PROHIBIT. For details refer to 7.25.3 "Prohibit saving a
JOB".
To set CONTENTS DISPLAY to PROHIBIT or PERMIT, perform the following steps:
1. Select {JOB} in the main menu.
7 - 521
Convenient functions
2. Select {JOB}.
3. Select {DISPLAY} in the pull-down menu.
4. Select {JOB HEADER}.
The JOB HEADER window appears.
7 - 522
Convenient functions
5. Select {UTILITY} in the pull-down menu.
6. Select {SECURITY}.
The JOB SECURITY window appears.
7. Select CONTENTS DISPLAY and press [SELECT].
The PERMIT and PROHIBIT list is displayed.
8. Select PROHIBIT to display the password setting window.
7 - 523
Convenient functions
9. Set the password (4 to 16 characters).
The JOB SECURITY window appears after you finished entering the password.
10. Select {COMPLETE}.
The window returns to the JOB HEADER window.
NOTICE
When CONTENTS DISPLAY is set to PROHIBIT, the contents of CAPACITY, LINES /
STEPS and the number of local variables (Only available when expanding the
INSTRUCTION LEVEL.) are not displayed on the JOB HEADER window.
Even if CONTENTS DISPLAY is set to PROHIBIT the contents of COMMENT, JOB
FOLDER, EDIT LOCK and SAVE JOB can be changed, if EDIT LOCK is ON.
11. Select {DISPLAY} in the pull-down menu.
7 - 524
Convenient functions
12. Select {JOB}.
The JOB CONTENT window appears.
7.25.2
Prohibit JOB execution after loading
To prohibit created JOBs from being executed after being loaded on other controllers,
EXECUTE JOB (After a Load) can be set to PROHIBIT for each JOB.
For a JOB with EXECUTE JOB (After a Load) set to PROHIBIT, the JOB does not appear
on the JOB LIST window after it is loaded on another controller. Instead, it appears on the
SECURITY JOB LIST window.
To execute a prohibited JOB, the registered password must be entered on the SECURITY
JOB LIST window and the setting must be changed to PERMIT.
To set EXECUTE JOB (After a Load) to PERMIT or PROHIBIT for each JOB on the JOB
HEADER window, perform the following steps:
1. Select {JOB} in the main menu.
2. Select {JOB}.
7 - 525
Convenient functions
3. Select {DISPLAY} in the pull-down menu.
4. Select {JOB HEADER}.
The JOB HEADER window appears.
5. Select {UTILITY} in the pull-down menu.
7 - 526
Convenient functions
6. Select {SECURITY}.
The JOB SECURITY window appears.
When CONTENTS DISPLAY is set to PROHIBIT, the items EXECUTE JOB (After a
Load) and SAVE JOB appear.
7. Select EXECUTE JOB (After a Load) and press [SELECT].
The PERMIT and PROHIBIT list is displayed.
8. Select PROHIBIT to display the password setting window.
9. Set the password (4 to 16 characters).
The JOB SECURITY window appears after you finished entering the password.
7 - 527
Convenient functions
10. Select {COMPLETE}.
The window returns to the JOB HEADER window.
7.25.3
Prohibit saving a JOB
To prohibit saving a created job to an external memory device, SAVE JOB can be set to
PROHIBIT for each job.
A job with SAVE JOB set to PROHIBIT cannot be saved to an external memory device.
For the operation to save data to an external memory device, refer to chapter 8.3.3 "Saving
data".
If an attempt is made to save a JOB with SAVE JOB set to PROHIBIT to an external
memory device using the data transfer function, high-speed Ethernet server function, FTP
function, or MotoPlus function an error occurs and the save operation cannot be completed.
Error code: 2110 "This data cannot be accessed"
To prohibit saving a created JOB to an external memory device, perform the following steps:
1. Select {JOB} in the main menu.
2. Select {JOB}.
7 - 528
Convenient functions
3. Select {DISPLAY} in the pull-down menu.
4. Select {JOB HEADER}.
The JOB HEADER window appears.
5. Select {UTILITY} in the pull-down menu.
7 - 529
Convenient functions
6. Select {SECURITY}.
The JOB SECURITY window appears.
When CONTENTS DISPLAY is set to PROHIBIT, the items EXECUTE JOB (After a
Load) and SAVE JOB appear.
7. Select SAVE JOB and press [SELECT].
The PERMIT and PROHIBIT list is displayed.
8. Select PROHIBIT to display the password setting window.
9. Set the password (4 to 16 characters).
The JOB SECURITY window appears after you finished entering the password.
7 - 530
Convenient functions
10. Select {COMPLETE}.
The window returns to the JOB HEADER window.
7.25.4
Change security settings
Changing passwords
To change security settings and passwords perform the following steps:
1. Open the JOB HEADER window.
2. Select {UTILITY} → {SECURITY} in the pull-down menu.
The JOB SECURITY window appears.
7 - 531
Convenient functions
3. Move the cursor to the password input item to change and press [SELECT].
The character input keypad appears.
4. Enter the current password.
If the password is wrong, the following error code appears:
1030 "Unauthorized ID No."
5. Enter the new password (4 characters or longer).
6. The new password is enabled.
7 - 532
Convenient functions
7. Select {COMPLETE}.
The window returns to the JOB HEADER window.
7.25.5
Security JOB list settings
The SECURITY JOB LIST window displays the list of JOBs for which CONTENTS
DISPLAY, EXECUTE JOB (After a Load) and SAVE JOB are set to PROHIBIT.
To display the SECURITY JOB LIST window perform the following steps:
1. Select {JOB} in the main menu.
2. Select {SECURITY JOB LIST}.
The SECURITY JOB LIST window appears.
Selecting one JOB
To select one JOB in the SECURITYJOB LIST window perform the following steps:.
1. Open the SECURITY JOB LIST window.
2. Press [SELECT] on each item to switch to its password input window.
3. Enter the password.
If the entered password matches the registered password, a confirmation dialog box
appears.
4. Select YES to cancel the restriction. Select NO to keep the restriction.
7 - 533
Convenient functions
Password entered for
Password cancelled for
CONTENTS DISPLAY: PROHIBIT
• CONTENTS DISPLAY: PROHIBIT
• EXECUTE JOB (After a Load): PROHIBIT
• SAVE JOB: PROHIBIT
EXECUTE JOB (After a Load): PROHIBIT EXECUTE JOB (After a Load): PROHIBIT
SAVE JOB: PROHIBIT
SAVE JOB: PROHIBIT
Conditions for showing items on the SECURITY JOB LIST window:
CONTENTS DISPLAY: PROHIBIT
JOB LIST
SECURITY JOB LIST
hide
show
show
show
hide
show
show
hide
EXECUTE JOB: PROHIBIT
CONTENTS DISPLAY: PROHIBIT
EXECUTE JOB: PERMIT
CONTENTS DISPLAY: PERMIT
EXECUTE JOB: PROHIBIT
CONTENTS DISPLAY: PERMIT
EXECUTE JOB: PERMIT
NOTICE
JOBs with EXECUTE JOB (After a Load) set to PROHIBIT are set in the list only when
loaded. The JOB cannot be executed unless EXEC is set to PERMIT on the SECURITY
JOB LIST window.
Selecting multiple JOBs
To select multiple JOBs in the SECURITYJOB LIST window perform the following steps:.
1. Press [SHIFT]+[SELECT].
The selected JOB files are marked.
2. Select {UTILITY} in the pull-down menu.
3. Select {DISPLAY CANCEL}, {EXECUTE CANCEL} or {SAVE CANCEL}.
The password input window appears.
7 - 534
Convenient functions
4. Enter the passwords for CONTENTS DISPLAY, EXECUTE JOB and SAVE JOB.
If the entered passwords match the passwords for all selected JOBs, a confirmation
dialog box appears.
NOTICE
If you forgot the passwords, contact your YASKAWA representative.
5. Select YES to batch cancel all the restrictions for the selected JOBs. Select NO to keep
the restrictions for the selected JOBs.
7.25.6
Saving/loading/verifying JOBs
JOBs with CONTENTS DISPLAY set to PROHIBIT are output as security JOBs in a binary
format so that the contents cannot be understood from the format output to an external
memory device.
On the SAVE/LOAD windows of the external memory device menu, switch between the text
format (JBI) and binary format (JBS) with the function key.
JBS: Security JOB (binary format)
JBI: Individual JOB (text format)
Verification cannot be performed on security JOBs (JBS).
SAVE window
Switch between text format (*.JBI) and binary format (*:JBS) by selecting {Binary Job} /
{Text Job}.
7 - 535
Convenient functions
LOAD window
Switch between text format (*.JBI) and binary format (*:JBS) by selecting {Binary Job} /
{Text Job}.
7.26
Multi-move function
The multi-move function is a new acceleration/deceleration control function that can
generate an acceleration/deceleration pattern spanning multiple steps.
This function is available in YAS2.82-00 or later.
When the distance between teaching positions is short, the robot may operate at a slower
speed than the specified speed. This happens because the necessary distance to reach the
specified speed is insufficient.
By using the multi-move function, the robot moves at the specified speed, as shown in the
figure, even when the distance between teaching positions is short.
7 - 536
Convenient functions
Path with short distances between teaching positions
㻌
Teaching positions
Specified speed
Speed㻌
Multi-move function: Enabled
㻌
Multi-move function: Disabled
㻌
Time㻌
Note:
The following restrictions apply when using the multi-move function.
•
•
•
•
This function can be applied to move instructions in JOBs with the R1 control group only
(This function cannot be applied to move instructions in coordinated JOBs).
This function can be applied to the MOVL and IMOV move instructions only.
This function can be used with the following instructions inside a multi-move section
only.
DOUT, DIN, PULSE, CALL (no conditions specified), JUMP (no conditions specified),
LABEL,COMMENT, INC, DEC, SET, ADD, SUB, MUL, DIV, SQRT, SIN, COS, ATAN,
MULMAT, INVMAT, SFTON, and SFTOF
If the VMAX, CR, PD, or PL tag is added to a move instruction in the multi-move section
and VMAX, CR, PD, or PL ≠ 0, alarm "4295 HPMMV CTRL FAILED" will occur.
Note:
This function may cause the robot to vibrate, depending on the teaching position or
teaching speed.
When the robot vibrates, set ACC = (acceleration adjustment ratio) or DEC = (deceleration
adjustment ratio) to the HPMMVON instruction, or review the teaching speed.
7.26.1
Instructions
The instructions HPMMVON and HPMMVOF are used for the multi-move function.
 HPMMVON Instruction
This is the instruction to start the multi-move operation. This instruction is executed only at
the playback or the test operation. It is not executed during the axis operation.
7 - 537
Convenient functions
Additional items for the HPMMVON instruction are as follows:
HPMMVON V=100.0 ACC=20 DEC=20 APPR=50.00
1
2
3
4
(1) Control speed
Specify the control point speed in the multi-move section.
When this speed is specified, the speed specified by the move instruction in the multi-move
section will be ignored. In the same manner, the speed specified by the SPEED instruction
will also be ignored.
Specify the speed unit on the OPERATE CONDITION SETTING window.
(2) Acceleration adjustment ratio: 20% to 100%
Specify the acceleration adjustment ratio.
The acceleration adjustment ratio controls the acceleration slope at the specified ratio of
normal acceleration.
(3) Deceleration adjustment ratio: 20% to 100%
Specify the deceleration adjustment ratio.
The deceleration adjustment ratio controls the deceleration slope at the specified ratio of
normal deceleration.
(4) Degree of approximation: 50% to 100%
Specify the degree of approximation.
The degree of approximation represents how close the robot passes through the teaching
position.
As shown in the figure, when 100% is specified, the robot completely reaches the target
position. When 50% is specified, the robot approaches halfway between the start position
of the move instruction and the target position.
When the degree of approximation is specified, if PL=0 is added to the move instruction in
the multi-move section, alarm "4295 HPMMV CTRL FAILED" will occur.
P3㻌
P2
APPR=50%㻌
APPR=75%㻌
APPR㻌
=100%
㻌
APPR=100%
APPR㻌
=75%
㻌
APPR㻌
=50%
㻌
P1
 HPMMVOF Instruction
This is the instruction to end the multi-move operation.
HPMMVOF
7 - 538
Convenient functions
Note:
If any of the following conditions is satisfied, even when the robot is in a multi-move section,
the multi-move section is canceled at that path and restarted from the next path.
•
When the teaching position for the previous step and current step are the same.
•
When it is determined that torque saturation of any axis will occur by executing multimove operation.
•
When the angle between the previous step and current step is larger than the reference
value of the multi-move instruction angle.
$QJOHEHWZHHQWKHSUHYLRXVVWHSDQGFXUUHQWVWHSș
ș
ș
ĺ䠖Previous step
ĺ䠖Current step
The reference value of the multi-move angle is set by the parameter. Details on this
parameter are described in chapter 7.26.2 "Parameter".
Note:
The manipulator control method differs before and after the HPMMVON instruction. For this
reason, the robot first decelerates due to normal control in the step immediately before
HPMMVON, and then it accelerates due to multi-move control in the step immediately after
HPMMVOF.
In the same manner, the manipulator first decelerates due to multi-move control in the step
immediately before HPMMVOF, and then it accelerates due to normal control in the step
immediately after HPMMVOF.
Note:
If one of the following operations is performed after playback is stopped in the multi-move
section, multi-move control will be canceled when operation is restarted and operation will
restart in normal control. In all other cases, multi-move control will continue.
•
When the cursor is moved by an operation that changes the line number, etc., on the
PP when the robot is stopped.
•
When another JOB is called.
•
When an edit (add, modify, delete) operation is performed using the PP.
7.26.2
Parameter
The reference value of the multi-move angle is set by the following parameter.
S3C
Details
1405
Reference value of the multi-move angle (Unit: 0.1°)
0 (initial setting value): 25.0°
7.26.3
Specific output signals during multi-move operation
During multi-move operation, the following specific output signals are turned ON for each
control group (robot). When operation is stopped, the specific output signals are turned
OFF.
7 - 539
Convenient functions
53407
53406
53405
53404
53403
53402
53401
53400
During
During
During
During
During
During
During
During
HPMMVON
HPMMVON
HPMMVON
HPMMVON
HPMMVON
HPMMVON
HPMMVON
HPMMVON
SOUT
SOUT
SOUT
SOUT
SOUT
SOUT
SOUT
SOUT
#2720
#2719
#2718
#2717
#2716
#2715
#2714
#2713
R8
R7
R6
R5
R4
R3
R2
R1
7.26.4
Registration
When the cursor is in the address area, the instruction can be registered by using the JOB
CONTENT window of TEACH MODE. Perform following operations before registering the
instruction.
1. Select {JOB} on the main menu.
2. Select {JOB CONTENT}.
3. Move the cursor to the address area.
0000 NOP
0001 MOVJ VJ=50.00
0002 MOVL V=500.0
0003 MOVL V=500.0
0004 MOVL V=500.0
0005 MOVL V=500.0
0006 MOVL V=500.0
0007 MOVL V=500.0
0008 MOVL V=500.0
0009 END
 HPMMVON Instruction
1. Move the cursor to one line above the place to register HPMMVON.
0000 NOP
0001 MOVJ VJ=50.00
0002 MOVL V=500.0
2. Press [INFORM LIST].
3. Select {OTHER}.
4. Select {HPMMVON}.
The HPMMVON instruction is displayed in the input buffer line.
HPMMVON V=500.0
Change the numeric value of V at this time to adjust the speed in the section.
5. Press [INSERT] and [ENTER].
The HPMMVON instruction is registered.
0000 NOP
0001 MOVJ VJ=50.00
0002 HPMMVON V=500.0
0003 MOVL V=500.0
7 - 540
Convenient functions
 HPMMVOF Instruction
1. Move the cursor to one line above the place to register the HPMMVOF instruction.
0008 MOVL V=500.0
0009 MOVL V=500.0
0010 END
2. Press [INFORM LIST].
3. Select {OTHER}.
4. Select {HPMMVOF}.
– The HPMMVOF instruction is displayed in the input buffer line.
HPMMVOF
5. Press [INSERT] and [ENTER].
– The HPMMVOF instruction is registered.
0008 MOVL V=500.0
0009 MOVL V=500.0
0010 HPMMVOF
0011 END
7.26.5
Motion example of the multi-move
An example of a JOB that performs multi-move operation is shown below.
1
2
4
5
6 7
8
9
10
11
12
13
21
14
15 16 17 18
19
23
20
7 - 541
Convenient functions
0000 NOP
0001 MOVJ VJ=10.00
0002 MOVL V=200.0
0003 HPMMVON V=200.0
0004 MOVL
0005 MOVL
0006 MOVL
0007 MOVL
0008 MOVL
0009 MOVL
0010 MOVL
0011 MOVL
0012 MOVL
0013 MOVL
0014 MOVL
0015 MOVL
0016 MOVL
0017 MOVL
0018 MOVL
0019 MOVL
0020 MOVL
0021 MOVL
0022 HPMMVOF
0023 MOVJ VJ=10.00
0024 END
••• Multi-move operation starts
Even when the distance between
teaching positions is short and the
robot operates at a slower
speed than the specified speed,
operation can be executed that
maintains the specified speed.
••• Multi-move opertion ends.
7.27
Robot motion filter setting function
7.27.1
Outline
When the robot vibrates, using this function to set the robot motion filter can make the robot
move smoothly and reduce vibrations.
This function is available in YAS4.13-00 or later.
Note:
The following restrictions apply when using the robot motion filter setting function.
•
•
•
This function can be applied JOBs in which the control group is the robot itself. This
function cannot be applied to JOBs with multiple control groups.
If the SMOOTH instruction is executed in a JOB with multiple control groups, alarm
"4429: WRONG SPECIFIED CONTROL GROUP [27]" will occur.
When the SMOOTH instruction is executed consecutively, only the last instruction is
valid.
SMOOTH ADDRATIO=100
SMOOTH ADDRATIO=70
SMOOTH ADDRATIO=60
MOVL V=* ← This instruction operates with a 60% robot motion filter.
When the SMOOTH instruction is executed, the robot first stops.
Note:
If one of the following operations is performed after playback is stopped in the robot motion
filter setting section, the robot motion filter that was set will be disabled when operation is
restarted. In all other cases, the robot motion filter that was set will be maintained.
7 - 542
Convenient functions
•
•
•
When the cursor is moved by an operation that changes the line number, etc., on the
PP when the robot is stopped.
When another JOB is called.
When an edit operation is performed (add, modify, delete) using the PP.
Note:
This function will increase the inward-turning amount, depending on the teaching position
or teaching speed.
For this reason, always check the operating path of the robot after the function is applied.
7.27.2
Instructions
This function uses the SMOOTH instruction to specify the move instruction section for
which the robot motion filter will be set and the robot motion filter ratio.
If the ADDRATIO=*** tag (*** is the motion filter ratio) is added to the SMOOTH instruction,
the robot motion filter with the ratio specified by *** is applied from the motion by
subsequent move instructions.
To end the application of the robot motion filter, add the NEUTRAL tag to the SMOOTH
instruction.
 SMOOTH ADDRATIO=
This is the instruction to start the application of the robot motion filter.
SMOOTH
ADDRATIO=100
1
(1) Robot motion filter ratio
Specify the robot motion filter ratio to apply (setting range: 0% to 300%).
 SMOOTH NEUTRAL
This is the instruction to end the application of the robot motion filter.
7.27.3
Parameter
The robot motion filter setting function is enabled or disabled by the following parameter.
S2C
Details
1596
Enable robot motion filter setting function.
0: Disable
1: Enable
The setting value when the robot motion filter ratio is 100 % can be changed with the
following parameters (when the initial value is "0", the setting value is automatically
calculated for each model).
S1CxG
Details
1520 to 1529
Filter setting value for the robot motion filter setting function
0: Manufacturer setting value (automatically calculated for each
model)
Other than 0: Applies the setting value.
7 - 543
Convenient functions
7.27.4
Registration
 Registration of the SMOOTH Instruction
1. Move the cursor to one line above the place to register the instruction.
2. Press [INFORM LIST].
3. Select {OTHER}.
4. Select {SMOOTH}.
The SMOOTH instruction is displayed in the input buffer line.
SMOOTH ADDRATIO=100
5. Select the SMOOTH instruction displayed on the input buffer line and open the detailed
settings window.
Select the "ADDRATIO=" or "NEUTRAL" tag to enable or disable the instruction.
DETAIL SETTING
SMOOTH
ADDITION RATIO
ADDRATIO
NEUTRAL
6. Press [INSERT] and [ENTER].
The SMOOTH instruction is registered.
0000 NOP
0001 SMOOTH ADDRATIO=100
0002 MOVL V=1500
7.27.5
Example
0000 NOP
0001 MOVJ VJ=10.00
0002 MOVL V=200.0
0003 SMOOTH ADDRATIO=100 ••• Set robot motion filter (100 %).
0004 MOVL V=200.0
0005 MOVL V=200.0
0006 MOVL V=200.0
These instructions operate with
0018 MOVL V=200.0
the robotmotion filter set by the
0019 MOVL V=200.0
SMOOTH instruction (100 %).
0020 MOVL V=200.0
0021 MOVL V=200.0
0022 SMOOTH NEUTRAL
••• Cancel robot motion filter.
0023 MOVJ VJ=10.00
0024 END
7 - 544
External storage devices
8
External storage devices
8.1
Storage medium
The following data storage media can be used in the robot controller to save and load data
such as jobs and parameters.
Unit
Function
Data carrier (destination of the saved/
loaded data)
SD: Pendant
Standard
SD card
Required optional functions
No requirement.
Programming pendant is equipped
with a slot.
USB: Pendant
Standard
USB memory stick
No requirement.
FC1 (YRC)
Optional1
Personal computer
(FC1 emulator)
Personal computer with “FC1 emulator”
PC
Optional
Personal computer
(MOTOCOM32 host)
Via RS-232C: “Data transmission
function” and “MOTOCOM32”
Programming pendant is equipped
with a connector.
Via Ethernet: “Ethernet function”
plus above two requirements
FTP
Optional
FTP server such as
personal computer
“Data transmission function”, “MOTOCOM32”, and “FTP function”
USB1: Controller
Standard
USB memory stick
No requirement.
CPU board (CPU board (JANCDACP01)) is equipped with a connector.
1. For the operation, refer to instruction manuals for each optional function.
8.1.1
SD card
The programming pendant is equipped with the SD card slot. Use a FAT16 or FAT32
formatted SD card.
SD/SDHC/SDEX cards are usable.
8.1.1.1
Recommended SD card
Refer to chapter "Device" in the “YRC1000 INSTRUCTIONS manual (document number
E1102000214XX01* or higher) for the recommended products used for external memory of
YRC1000. Model numbers are subject to be updated due to termination of product and new
addition.
If necessary, please contact your YASKAWA branch office.
8 - 545
External storage devices
8.1.1.2
•
•
•
•
•
Notes on handling SD card
Do not drop or bend exerting any shock or strong force to the SD card.
Keep away from water, oil, organic solvent, dust, dirt, etc.
Do not use or keep the SD card in places where strong static electricity or electronic
noise may occur.
Do not insert or remove the SD card or turn OFF the power when accessing the SD card
(writing-in or reading-out the data).
To protect the data, back up the data regularly on other media. Damages or loss of data
due to operation errors or accidents can be minimized.
*An SD card has a limited life span.
The life span differs depending on products or status of use. However, normal use of SD
card as an external memory device for the YRC1000 does not adversely affect the SD card.
For details, refer to instruction manuals for each medium.
8.1.1.3
Inserting the SD card
When inserting an SD card, take note of insertion direction.
Keep the programming pendant with its back side up. Keep the SD card with its top surface
up and with its connector downward, and insert it into the SD card slot on the back side of
the programming pendant.
Forcible insertion may result in damage to the SD card or the SD card slot.
After inserting the card, be sure to close the cover of the slot before starting operation.
1
Slot for SD card
1
8 - 546
External storage devices
8.1.2
USB stick
The programming pendant or the CPU board (JANCD-ACP01) is equipped with a USB
connector. Use the FAT16 or FAT32 formatted USB memory stick..
8.1.2.1
Recommended USB stick
Refer to “YRC1000 INSTRUCTIONS (Document-Nr.: E1102000214XX01* or higher) to
chapter "Device” for the recommended products used for external memory of YRC1000.
Model numbers are subject to be updated due to termination of product and new addition.
If necessary, please contact your YASKAWA branch office.
8.1.2.2
•
•
•
•
•
Notes on handling a USB stick
The USB stick must not be subjected to any shocks, impacts or other strong external
forces.
It must not come into contact with water, oil, organic solvents, dust or dirt.
Never keep the USB stick in locations where there is strong static electricity or where
there are sources of electronic interference.
Do not remove the USB stick or switch the power off while the USB stick is being
accessed (to read or write data).
Carry out regular backups of the data saved on the data carriers. This largely eliminates
the risk of damaging or losing data as a result of error or accidents.
* USB sticks have a limited service life.
The service life depends on the products and how they are used. Normal use of a USB
stick as an external storage medium for the robot controller has no negative effects on
the USB stick.
8 - 547
External storage devices
8.1.2.3
Rules for USB connector and USB stick
Followings are the rules of the USB connector on the CPU board (JANCD-ACP01) and the
USB stick to be installed.
1. Prohibition of insertion/removal of the USB stick during control power ON.
The device recognition process is executed when the USB stick is inserted. Do not
insert or remove the USB stick while the control power supply is ON. Failure to observe
this rule may affect the operation of the robot (cycle time).
2. Prohibition of disconnection of the control power and insertion/removal of USB stick
during file access
Do not disconnect the control power or insert/remove the USB stick during file access.
Failure to observe this rule may breakdown the FAT.
3. Operating temperature range of USB memory stick
Use a USB stick that is guaranteed to work in the range of temperature of the YRC1000.
4. USB memory stick’s falling off by controller vibration
Prevent the USB stick from falling off by the vibration of the controller (Countermeasure
example).
Fix the USB stick with jigs not to fall off, etc.
5. USB connector on the front surface of the CPU board (JANCD-ACP01).
The USB connector on the front surface of the CPU board (JANCD-ACP01) accepts
only the USB stick.
Do not connect a USB hub or other USB devices.
8 - 548
External storage devices
8.1.2.4
Inserting a USB stick in programming pendant
When inserting a USB stick, take note of insertion direction.
Keep the programming pendant with its back side up. Keep the USB stick with its top
surface up and with its connector downward, and insert it into the USB stick connector on
the back side of the programming pendant.
Forcible insertion may result in damage to the USB stick or USB connector.
After inserting the stick, be sure to close the cover of the connector before starting operation
Using an USB stick
1
Slot for USB stick
1
NOTICE
When a USB stick is used, the waterproof property of the programming pendant cannot be
maintained.
If the USB stick is always set in the programming pendant, the stick may fall out of the
pendant.
If it is impossible to maintain the waterproof property of the programming pendant or to
prevent the USB stick from falling out of the programming pendant, use an SD card instead.
8 - 549
External storage devices
8.1.2.5
Inserting a USB stick in the CPU board
Make sure to insert the USB stick with its connector kept in the correct direction: Keep the
USB stick with its top surface right and insert it slowly into the connector on the CPU board.
Forcible insertion may result in damage to the USB stick or USB connector.
Using an USB stick
1
Slot for USB stick
CN107
(LAN3)
CN106
(LAN2)
CN105
(LAN1)
DS1
LED
1
2
3
4
BAT
LED
5
6
7
8
CN104(SD)
S1
LED
9
10
11
12
CN112
CN113
LINK
CN103
(COM)
CN111
CN102
(USB)
CN101
(PSU)
8 - 550
1
External storage devices
8.2
Handling data
8.2.1
Data classification
The data that can be saved online for the robot controller can be subdivided into the
following seven categories.
1. JOB
2. FILE/GENERAL DATA
3. PARAMETERS1
4. I/O DATA
5. SYSTEM DATA
6. PENDANT LOG
7. SYSTEM BACKUP (CMOS.BIN)
Data saved on an external storage device can be loaded into the robot controller again.
The data in the seven categories varies depending on the application or option.
If the device is set to PC or FTP, only data of type 1. JOB and 2. FILE/GENERAL DATA can
be processed.
Even the 1. JOB whose name has more than nine letters cannot be processed with FC1.
The pendant log is available for YAS2.60-00 or later. Only the devices SD:Pendant and
USB:Pendant are available. Th pendant log is only output, if a pendant application error
occurs. The pendant log is not included in the system backup.
NOTICE
 SYSTEM BACKUP (CMOS.BIN), including PARAMETER, SYSTEM DATA, I/O DATA
and their data, have system-specific information of each controller.
 PARAMETER, SYSTEM DATA, I/O DATA and SYSTEM BACKUP (CMOS.BIN), which
contain the data of the previous three records, have system-specific information of each
controller.
 If this data is loaded from other controllers, the data may be overwritten inadvertently.
In addition, this may result in unforeseen movements or a faulty system initialisation.
 Do not load this backup data into other controllers.
 If the same JOB is loaded into two controllers, the travel paths of the two robots will
differ due to their home position or mechanical faults in the components.
 Read the operating manual before commissioning.
1
SFT5
OPN
EDIT
MAN
SFT
Load
MAN4
CMOS.BIN
Save
EDIT3
6. SYSTEM BACKUP (CMOS.BIN)
File name (saved
data)
OPN1
Data classification
○2
○
○
○
x6
x
x
x
PARAMETER BATCH comprises all 3. PARAMENTER.
8 - 551
External storage devices
8 - 552
SFT5
OPN
EDIT
MAN
SFT
Load
MAN4
Save
EDIT3
File name (saved
data)
OPN1
2. FILE/GENERAL DATA
6
1. JOB
Data classification
Single JOB
JOBNAME.JBI
○
○
○
○
x
○
○
○
Related JOB (JOB + condition)
JOBNAME.JBR
○
○
○
○
x
○
○
○
Tool data
TOOL.CND
○
○
○
○
x
○
○
○
Weaving data
WEAV.CND
○
○
○
○
x
○
○
○
User coordinates
UFRAME.CND
○
○
○
○
x
○
○
○
Data-type variable
VAR.DAT
○
○
○
○
x
○
○
○
Arc-start condition data
ARCSRT.CND
○
○
○
○
x
○
○
○
Arc-end condition data
ARCEND.CND
○
○
○
○
x
○
○
○
Additional welding property data
ARCSUP.DAT
○
○
○
○
x
○
○
○
Welding machine characteristic
data
WELDER.DAT
○
○
○
○
x
○
○
○
Definition of welding machine
characteristic data:
WELDUDEF.DAT
○
○
○
○
x
○
○
○
Collision-detection threshold data
SHOCKLVL.CND
○
○
○
○
x
○
○
○
JOB registration data
JET.DAT
○
○
○
○
x
○
○
○
Interference area file
CUBEINTF.CND
○
○
○
○
x
○
○
○
Motor gun pressure data
SGPRS.CND
○
○
○
○
x
○
○
○
Motor gun dry pressure data
SGPRSCL.CND
○
○
○
○
x
○
○
○
Spot Gun Condition Data
SGSPEC.DAT
○
○
○
○
x
○
○
○
Spot Welder I/F Data
SGWELDIF.DAT
○
○
○
○
x
○
○
○
Gun Open Position Data
STROKE.DAT
○
○
○
○
x
○
○
○
Spot I/O Allocation Data
SGIO.DAT
○
○
○
○
x
○
○
○
Spot Welding Condition Data
SPOTWELD.DAT
○
○
○
○
x
○
○
○
Clearance Setting Data
SGCLARNC.DAT
○
○
○
○
x
○
○
○
Motor Gun Auto Tuning Data
SGUNAUTO.DAT
○
○
○
○
x
○
○
○
Gun Detail Setting Data
SGDTL.DAT
○
○
○
○
x
○
○
○
Spot Management Data
SGSPTMNG.DAT
○
○
○
○
x
○
○
○
Manual Press Condition Data
SGMNLPRS.CND
○
○
○
○
x
○
○
○
Tip Dress Condition Data
SGTIPDRS.CND
○
○
○
○
x
○
○
○
Air gun condition data
AIRGUN.DAT
○
○
○
○
x
○
○
○
User menu data
USERMENU.DAT
○
○
○
○
x
○
○
○
Timer variable data
TMVAR.DAT
○
○
○
○
x
○
○
○
Paint condition
PNTCND.CND
○
○
○
○
x
○
○
○
Paint calibration set
PNTCLB.DAT
○
○
○
○
x
○
○
○
Paint time chart
PNTTC.DAT
○
○
○
○
x
○
○
○
Paint data set
PNTDATA.DAT
○
○
○
○
x
○
○
○
External storage devices
MAN4
SFT5
OPN
EDIT
MAN
SFT
Load
EDIT3
3. PARAMETERS
Save
ALL.PRM
○
○
○
○
x
x
○
○
Robot parameters
RC.PRM
○
○
○
○
x
x
○
○
System definition parameters
SD.PRM
○
○
○
○
x
x
○
○
Coordinate zero position parameters
RO.PRM
○
○
○
○
x
x
○
○
System parameters
SC.PRM
○
○
○
○
x
x
○
○
ClO parameters
CIO.PRM
○
○
○
○
x
x
○
○
Function definition parameters
FD.PRM
○
○
○
○
x
x
○
○
Application parameters
AP.PRM
○
○
○
○
x
x
○
○
Transmission parameters (general)
RS.PRM
○
○
○
○
x
x
○
○
Sensor parameters
SE.PRM
○
○
○
○
x
x
○
○
SERVO power parameters
SV.PRM
○
○
○
○
x
x
○
○
SERVO motor parameters
SVM.PRM
○
○
○
○
x
x
○
○
Movement control parameters
AMC.PRM
○
○
○
○
x
x
○
○
SERVO power block parameters
SVP.PRM
○
○
○
○
x
x
○
○
Movement function parameters
MF.PRM
○
○
○
○
x
x
○
○
SERVOPACK parameters
SVS.PRM
○
○
○
○
x
x
○
○
Converter parameters
SVC.PRM
○
○
○
○
x
x
○
○
Expanding the robot controller pa- RE.PRM
rameters
○
○
○
○
x
x
○
○
Safety function parameter
FMS.PRM
○
○
○
○
x
x
○
○
CIO program
CIOPRG.LST
○
○
○
○
x
x
○
○
I/O name data
IONAME.DAT
○
○
○
○
x
x
○
○
Pseudo-input signal
PSEUDOIN.DAT
○
○
○
○
x
x
○
○
External I/O name data
EXIONAME.DAT
○
○
○
○
x
x
○
○
Register name data
IOMNAME.DAT
○
○
○
○
x
x
○
○
YSF logic file
YSFLOGIC.DAT
○
○
○
○
x
x
○
○
3. PARAMETERS
4. I/O DATA
6
File name (saved
data)
OPN1
Data classification
8 - 553
External storage devices
SFT5
OPN
EDIT
MAN
SFT
Load
MAN4
Save
EDIT3
5. SYSTEM DATA
6
File name (saved
data)
OPN1
Data classification
Second home position
HOME2.DAT
○
○
○
○
x
x
○
○
User word
UWORD.DAT
○
○
○
○
x
x
○
○
SV monitor signal
SVMON.DAT
○
○
○
○
x
x
○
○
Variable name
VARNAME.DAT
○
○
○
○
x
x
○
○
Alarm history data
ALMHIST.DAT
○
○
○
○
x
x
x
x
Home position calibrating data
ABSO.DAT
○
○
○
○
x
x
○
○
System information
SYSTEM.SYS
○
○
○
○
x
x
x
x
Controller information
PANELBOX.LOG
○
○
○
○
x
x
x
x
Work home position data
OPEORG.DAT
○
○
○
○
x
x
○
○
I/O message history data
IOMSGHST.DAT
○
○
○
○
x
x
x
x
Function key allocation data
KEYALLOC.DAT
○
○
○
○
x
x
○
○
Arc monitor data
ARCMON.DAT
○
○
○
○
x
x
x
x
Wear detection base position data SGWEARBP.DAT
○
○
○
○
x
x
○
○
External IO ALLOC data
EIOALLOC.DAT
○
○
○
○
x
x
○
○
Max/ Min torque data
TRQDAT.DAT
○
○
○
○
x
x
○
○
Log data
LOGDATA.DAT
○
○
○
○
x
x
x
x
PM (reducer) file
PMTRQDB.DAT
○
○
○
○
x
x
○
○
PM (reducer) condition
PMCOND.CND
○
○
○
○
x
x
○
○
Encoder maintenance
ENCHEAT.DAT
○
○
○
○
x
x
x
x
Inspection record file
PMLOG.DAT
○
○
○
○
x
x
x
x
Robot stop FACTR file
RBSTPFCT.DAT
○
○
○
○
x
x
x
x
SETTM setup file
SETTM.DAT
○
○
○
○
x
x
○
○
Timer variable name
TMNAME.DAT
○
○
○
○
x
x
○
○
Paint system
PNTSYS.DAT
○
○
○
○
x
x
○
○
Paint special
PNTSPCL.DAT
○
○
○
○
x
x
○
○
Paint time chart set
PNTTCSET.DAT
○
○
○
○
x
x
○
○
1. OPN = OPERATING mode
2. O = possible
3. EDIT = EDITING mode
4. MAN = MANAGEMENT mode
5. SFT = SAFETY mode
6. X = not possible
8 - 554
SFT5
OPN
EDIT
MAN
SFT
Load
MAN4
CMOS.BIN
Save
EDIT3
6. SYSTEM BACKUP (CMOS.BIN)
File name (saved
data)
OPN1
Data classification
○2
○
○
○
x6
x
x
x
External storage devices
MAN4
SFT5
OPN
EDIT
MAN
SFT
Load
EDIT3
3. PARAMETERS
Save
Single JOB
JOBNAME.JBI
○
○
○
○
x
○
○
○
Related JOB (JOB + condition)
JOBNAME.JBR
○
○
○
○
x
○
○
○
Tool data
TOOL.CND
○
○
○
○
x
○
○
○
Weaving data
WEAV.CND
○
○
○
○
x
○
○
○
User coordinates
UFRAME.CND
○
○
○
○
x
○
○
○
Data-type variable
VAR.DAT
○
○
○
○
x
○
○
○
Collision-detection threshold data
SHOCKLVL.CND
○
○
○
○
x
○
○
○
Interference area file
CUBEINTF.CND
○
○
○
○
x
○
○
○
User menu data
USERMENU.DAT
○
○
○
○
x
○
○
○
Timer variable data
TMVAR.DAT
○
○
○
○
x
○
○
○
ALL.PRM
○
○
○
○
x
x
○
○
Robot parameters
RC.PRM
○
○
○
○
x
x
○
○
System definition parameters
SD.PRM
○
○
○
○
x
x
○
○
Coordinate zero position parameters
RO.PRM
○
○
○
○
x
x
○
○
System parameters
SC.PRM
○
○
○
○
x
x
○
○
ClO parameters
CIO.PRM
○
○
○
○
x
x
○
○
Function definition parameters
FD.PRM
○
○
○
○
x
x
○
○
Application parameters
AP.PRM
○
○
○
○
x
x
○
○
Transmission parameters (general)
RS.PRM
○
○
○
○
x
x
○
○
Sensor parameters
SE.PRM
○
○
○
○
x
x
○
○
SERVO power parameters
SV.PRM
○
○
○
○
x
x
○
○
SERVO motor parameters
SVM.PRM
○
○
○
○
x
x
○
○
Movement control parameters
AMC.PRM
○
○
○
○
x
x
○
○
SERVO power block parameters
SVP.PRM
○
○
○
○
x
x
○
○
Movement function parameters
MF.PRM
○
○
○
○
x
x
○
○
SERVOPACK parameters
SVS.PRM
○
○
○
○
x
x
○
○
Converter parameters
SVC.PRM
○
○
○
○
x
x
○
○
Expanding the robot controller pa- RE.PRM
rameters
○
○
○
○
x
x
○
○
Safety function parameter
FMS.PRM
○
○
○
○
x
x
○
○
CIO program
CIOPRG.LST
○
○
○
○
x
x
○
○
I/O name data
IONAME.DAT
○
○
○
○
x
x
○
○
Pseudo-input signal
PSEUDOIN.DAT
○
○
○
○
x
x
○
○
External I/O name data
EXIONAME.DAT
○
○
○
○
x
x
○
○
Register name data
IOMNAME.DAT
○
○
○
○
x
x
○
○
YSF logic file
YSFLOGIC.DAT
○
○
○
○
x
x
○
○
3. PARAMETERS
4. I/O DATA
6
File name (saved
data)
OPN1
2. FILE/GENERAL DATA
6
1. JOB
Data classification
8 - 555
External storage devices
MAN4
SFT5
OPN
EDIT
MAN
SFT
Load
Second home position
HOME2.DAT
○
○
○
○
x
x
○
○
User word
UWORD.DAT
○
○
○
○
x
x
○
○
SV monitor signal
SVMON.DAT
○
○
○
○
x
x
○
○
Variable name
VARNAME.DAT
○
○
○
○
x
x
○
○
Alarm history data
ALMHIST.DAT
○
○
○
○
x
x
x
x
Home position calibrating data
ABSO.DAT
○
○
○
○
x
x
○
○
System information
SYSTEM.SYS
○
○
○
○
x
x
x
x
Controller information
PANELBOX.LOG
○
○
○
○
x
x
x
x
Work home position data
OPEORG.DAT
○
○
○
○
x
x
○
○
I/O message history data
IOMSGHST.DAT
○
○
○
○
x
x
x
x
Function key allocation data
KEYALLOC.DAT
○
○
○
○
x
x
○
○
External IO ALLOC data
EIOALLOC.DAT
○
○
○
○
x
x
○
○
Max/ Min torque data
TRQDAT.DAT
○
○
○
○
x
x
○
○
Log data
LOGDATA.DAT
○
○
○
○
x
x
x
x
PM (reducer) file
PMTRQDB.DAT
○
○
○
○
x
x
○
○
PM (reducer) condition
PMCOND.CND
○
○
○
○
x
x
○
○
Encoder maintenance
ENCHEAT.DAT
○
○
○
○
x
x
x
x
Inspection record file
PMLOG.DAT
○
○
○
○
x
x
x
x
Robot stop FACTR file
RBSTPFCT.DAT
○
○
○
○
x
x
x
x
SETTM setup file
SETTM.DAT
○
○
○
○
x
x
○
○
Timer variable name
TMNAME.DAT
○
○
○
○
x
x
○
○
1. OPN = OPERATING mode
2. O = possible
3. EDIT = EDITING mode
4. MAN = MANAGEMENT mode
5. SFT = SAFETY mode
6. X = not possible
8 - 556
Save
EDIT3
5. SYSTEM DATA
6
File name (saved
data)
OPN1
Data classification
External storage devices
8.2.2
Displaying previously existing files
The following data categories indicate whether or not the file to be saved with the same file
name already exists on an external data carrier.
•
JOB
No marker appears if there is a file with the same name in the selected folder.
•
The asterisk (*) indicates that there is no file with this name in the folder.
FILE/GENERAL DATA, PARAMETER, SYSTEM DATA, I/O DATA
A black dot (●) appears if there is a file with the same name in the selected folder.
A small white circle (○) indicates that there is no file with this name in the folder.
NOTICE
You can check whether the JOB has been saved after editing by means of TO SAVE TO
FD in the JOB HEADER window.
Fig. 8-1: Example of a JOB
Fig. 8-2: Example of FILE/GENERAL DATA
•
Saving by overwriting
“6.PENDANT LOG” and "7. SYSTEM BACKUP (CMOS.BIN)" can be overwritten.
As for “1. JOB”, “2. FILE/GENERAL DATA”, “3. PARAMETER”, “4. I/O DATA” and “5.
SYSTEM DATA”, those data can be overwritten if overwrite mode is valid while saving
files.
“1. JOB”, “2. FILE/GENERAL DATA”, “3. PARAMETER”, “4. I/O DATA” and “5. SYSTEM
DATA” cannot be overwritten if overwrite mode is invalid while saving files.
If the mode is invalid, delete the target file in the device before the saving operation.
For details on the settings for overwriting when saving a file, refer to chapter 8.3.4
"Overwriting when saving a file".
8 - 557
External storage devices
If "SD: PP", "USB:Pendant" or "USB:Controller" is used as a storage medium, another
folder can be created to save the data. For details on folders refer to chapter 8.3.2
"Folder operation".
8.3
Operation Flow
The following description is the operation flow for external memory devices:
Main Menu
{EX. MEMORY}
Sub Menu
{LOAD}
{SAVE}
{VERIFY} {DELETE}
Select Data Category
Select Data*3
{DEVICE}
*1
{FOLDER}
Select
Device
*2
Operate Folder
Select Folder
Select [ENTER] or {EXECUTE}
•
SELECT DEVICE
Select {EX. MEMORY} → {DEVICE}, and the destination device for saving.
•
•
•
•
•
8 - 558
The device selected is valid after turning the power supply ON again.
SELECT FOLDER
Select {EX. MEMORY} → {DEVICE}, and the destination folder for saving.
The folder selected is invalid after turning the power supply ON again.
*1: {FOLDER} appears when using the “SD:Pendant”, “USB: Prendant” or “USB1:
Controller” as a device.
*2 The settings of {CREATE NEW FOLDER}, {DELETE FOLDER}, and {ROOT
FOLDER} can be set.
SELECT SUB MENU
Select an operation to be performed from {LOAD}, {SAVE}, {VERIFY}, and {DELETE}.
SELECT DATA CATEGORY
Select the target data category.
SELECT DATA
Select the target data.
“7. SYSTEM BACKUP (CMOS.BIN)” does not require this operation.
*3 Individual selection, batch selection, marker (*) selection and canceling selection can
be performed.
EXECUTE
Select [ENTER] or {EXECUTE}.
External storage devices
8.3.1
Selecting the device
To select the device used as an external memory for saving and loading data, perform the
following steps:
1. Select {EX. MEMORY} in the main menu.
2. Select {DEVICE}.
The DEVICE / SETUP window appears.
3. Enter the desired settings:
a) DEVICE
SD:Pendant
USB:Pendant
USB1:Controller
The selected device is valid after turning the power supply ON again.
b) FILE SAVE OVERWRITE
INVALID: Prohibits overwriting when saving files.
VALID: Permits overwriting when saving files.
c) JOB LOAD OVERWRITE
INVALID: Prohibits overwriting when loading a file.
VALID: Permits overwriting when loading a file.
NOTICE
If JOB LOAD OVERWRITE is set to VALID, JOBS stored in the controller are deleted when
overwriting is executed.
Before overwriting, check whether backup of JOBs is necessary.
8 - 559
External storage devices
8.3.2
Folder operation
Folders can be used in order to classify and sort out the data such as jobs and condition
files when using the “SD: PP”, “USB: PP” or “USB1: Controller”. The folders can be created
in hierarchical structure positioning a root folder at the top.
•
Restrictions
Folder name: Up to 8 characters + 3 characters for extension
*Long folder names cannot be used such as the name that exceeds the restricted
number of characters mentioned above as created in PC, etc.
Maximum path length: 48 characters
•
*”ERROR 3360: INVALID FOLDER” appears when selecting the folder of which name
exceeds the maximum path length.
Selecting folders
1. Select {EXTERNAL MEMORY DEVICE} in the main menu.
2. Select {FOLDER}.
The FOLDER LIST window appears.
3. Move the cursor to a folder and press [SELECT].
The desired folder is selected.
4. To move the hierarchy from a child folder to a parent folder, move the cursor to [..] and
press [SELECT].
•
Creating a folder
1. Set the SECURITY mode to MANAGEMENT mode or higher.
2. Select {EX. MEMORY} in the main menu.
3. Select {FOLDER}.
The FOLDER LIST window appears.
4. Move the cursor to a higher level folder in which you want to create the new folder and
press [SELECT].
This step is not necessary if you create the folder at the root level.
5. Select {DATA} → {CREATE NEW FOLDER} in the pull-down menu.
6. Enter the folder name by using the keyboard on the screen and press [ENTER].
A folder is created.
8 - 560
External storage devices
•
Deleting a folder
1. Set the SECURITY mode to MANAGEMENT mode or higher.
2. Select {EX. MEMORY} in the main menu.
3. Select {FOLDER}.
The FOLDER LIST window appears.
4. Move the cursor to a higher-level folder containing the folder to be deleted and press
[SELECT].
This step is not necessary if you create the folder at the root level.
5. Move the cursor to the folder you want to delete.
6. Delete the files and sub folders contained in the folder to be deleted.
The higher level folder cannot be deleted if it contains files or sub folders.
7. Select {DATA} → {DELETE FOLDER} in the pull-down menu.
•
Initial Folder Setting
You can speed up the selection of a folder at a lower level of the folder hierarchy.
If you select {LOAD}, {SAVE}, {VERIFY} or {DELETE} from the sub menu of {EX.
MEMORY}, the folder set as the initial folder becomes the current folder.
1. Select the MANAGEMENT mode as the SECURITY mode.
2. Select {EXTERNAL MEMORY DEVICE} in the main menu.
3. Select {FOLDER}.
The FOLDER LIST window appears.
4. Select a folder as the root folder and press [SELECT].
5. Select {DISPLAY} → {ROOT FOLDER} in the pull-down menu.
The INITIAL FOLDER SETTING window appears.
The currently selected folder is displayed in CURRENT FOLDER and the initial folder
is displayed in ROOT FOLDER.
6. Select {EDIT} → {SETUP FOLDER} in the pull-down menu.
8 - 561
External storage devices
7. Move the cursor to AUTO CHANGE and press [SELECT].
The initial folder opens in the ROOT FOLDER output line.
AUTO CHANGE is set to ON so that the setting of the initial folder is valid.
After that, at every selection of {EX. MEMORY}  {FOLDER}, the set initial folder
becomes the current folder.
NOTICE
If the initial directory does not exist due to a change of the SD Card, the error message
ERROR 3360: INVALID FOLDER appears, when you select {LOAD}, {SAVE}, {VERIFY},
{DELETE}, or {FOLDER} under {EX. MEMORY},
At the same time, the initial folder becomes invalid. Make sure AUTO CHANGE is set to ON
so that the setting of the initial folder is valid.
8 - 562
External storage devices
8.3.3
Saving data
To transfer data from the memory of the robot controller to an external storage medium,
perform the following steps:
NOTICE
After modifying data, save the data individually.
•
Saving a JOB
1. Select {EX. MEMORY} in the main menu.
2. Select {SAVE}.
The following window appears.
3. Select {JOB}.
The JOB LIST window appears.
4. Select the JOB you want to save.
The selected JOB is marked with a star .
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The selected JOB is saved.
8 - 563
External storage devices
•
Saving condition files or general data
1. Select {EX. MEMORY} in the main menu.
2. Select {SAVE}.
The following window appears:
3. Position the cursor on {FILE/GENERAL DATA} press [SELECT].
The selection window appears.
The displayed contents depend on the applications and options.
4. Select the condition files or general data you want to save.
The selected files are marked with a star .
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The selected files are saved.
8 - 564
External storage devices
•
Saving parameters
1. Select {EX. MEMORY} in the main menu.
2. Select {SAVE}.
The following window appears
3. Move the cursor to PARAMETER and press [SELECT].
The selection window for the parameters appears.
4. Select the parameters you want to save.
The selected parameters are marked with a star .
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The selected parameters are saved.
8 - 565
External storage devices
•
Saving I/O data
1. Select {EX. MEMORY} in the main menu.
2. Select {SAVE}.
The following window appears:
3. Move the cursor to I/O DATA press [SELECT].
The selection window for the I/O data appears.
4. Select the I/O data you want to save.
The selected I/O data is marked with a star .
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The selected I/O data is saved.
8 - 566
External storage devices
•
Saving the system data
1. Select {EX. MEMORY} in the main menu
2. Select {SAVE}.
The following window appears:
3. Move the cursor to SYSTEM DATA and press [SELECT].
The selection window for the system data appears.
4. Select the system data you want to save.
The selected system data is marked with a star .
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The selected system data is saved.
8 - 567
External storage devices
NOTICE
Data types JOB, FILE/GENERAL DATA, PARAMETER, SYSTEM DATA and I/O DATA
cannot be overwritten.
In this case, delete the file with the same name or create a new folder in which the data can
be saved.
•
Saving SYSTEM BACKUP (CMOS.BIN)
1. Select {EX. MEMORY} in the main menu
2. Select {SAVE}.
The following window appears:
3. Select {SYSTEM BACKUP(CMOS.BIN).
The confirmation dialog box appears.
4. Select YES.
If CMOS.BIN does not exist, the saving of SYSTEM BACKUP (CMOS.BIN) begins.
If CMOS.BIN is already created, the confirmation dialog box appears.
5. Select YES.
The saving of SYSTEM BACKUP (CMOS.BIN) begins.
Note:
Saving of SYSTEM BACKUP (CMOS.BIN) cannot be performed while SERVO is turned
ON, data is transmitted together with data modification, automatic backup, or when the
media free space is less than 35 MB (less than 55 MB free space for YAS4.00.00A-00 and
later).
For about 2 seconds right after SYSTEM BACKUP (CMOS.BIN) saving is started, the
hourglass icon appears at the center of the window and all the operations become invalid.
Operations become valid when the hourglass disappeared.
Do not turn OFF the power supply because SYSTEM BACKUP (CMOS.BIN) is being saved
in the saving device while the hourglass is appeared in the status area.
8.3.4
Overwriting when saving a file
If data is saved in the external memory while FILE SAVE OVERWRITE is set to VALID, the
OVERWRITE MODE selection window appears.
8 - 568
External storage devices
Available options for the OVERWRITE MODE:
• FORCED EXEC
When performing a saving operation by means of selecting all the target files at a time
and selecting EXECUTE while FORCED EXEC is set, a confirmation dialog asking
whether to overwrite the files will appear. After confirmation all files are saved at once.
1. Set OVERWRITE MODE to FORCED EXEC.
2. SELECT {EXECUTE}.
The confirmation dialog box appears.
3. Select YES.
All files are saved at once.
• DIALOG EXEC
The saving operation is executed file by file with a confirmation message asking
whether to overwrite or not.
1. Set OVERWRITE MODE to DIALOG EXEC.
NOTICE
Confirmation for each file is not performed on the dialog execution screen when there is no
existing file, even if DIALOG EXEC is set.
8 - 569
External storage devices
2. SELECT {EXECUTE}.
The confirmation dialog box appears.
3. Select YES.
The dialog execution window appears.
PROGRESS displays the progress of saving.
FILE NAME displays the name of the currently selected file.
4. Select {EXECUTE}.
The confirmation dialog box appears.
5. Select YES.
The currently selected file is saved.
8.3.5
Loading data
To transfer data from an external storage medium to the memory of the robot controller,
perform the following steps.
8 - 570
External storage devices
NOTICE
 SYSTEM BACKUP (CMOS.BIN), including PARAMETER, SYSTEM DATA, I/O DATA
and their data, have system-specific information of eachMEMORY controller.
 PARAMETER, SYSTEM DATA, I/O DATA and SYSTEM BACKUP (CMOS.BIN), which
contain the data of the previous three records, have system-specific information of each
controller.
 If this data is loaded from other controllers, the data may be overwritten inadvertently.
In addition, this may result in unforeseen movements or a faulty system initialisation.
 Do not load this backup data into other controllers.
 If the same JOB is loaded into two controllers, the travel paths of the two robots will
differ due to their home position or mechanical faults in the components.
 Read the operating manual before commissioning.
NOTICE
When the ladder program used in the DX200 is tried to be loaded, the confirmation dialog
“DX200 CIOPRG DOWNLOAD?” is displayed. Select YES to load the ladder program of
the DX200. If [CANCEL] is pressed or NO is selected in the dialog, the ladder program will
not be loaded.
When the ladder program used in the DX200 is loaded to the YRC1000, make sure to
confirm that the APPLI of the program in the DX200 system and the YRC1000 system to
which the program is loaded are the same. Do not load a ladder program which has a
different APPLI. The “different APPLI” also means the case that the number of APPLIs are
different (ex. “Arc” and “Arc + Arc”).
The ladder program used in the DX100 can also be loaded to the YRC1000.
If the ladder program used in the DX100/DX200 for arc welding is loaded to the YRC1000,
some new functions added in the DX200 cannot be used (only for arc welding). In order to
use the new functions added in the DX200, reflect the content edited in the DX100/DX200
to the YRC1000 ladder program without loading the ladder program of the DX100/DX200.
8 - 571
External storage devices
•
Loading JOBs
1. Select {EX. MEMORY} in the main menu.
2. Select {LOAD}.
The following window appears:
3. Select {JOB}.
The selection window for the JOBs appears.
4. Select the JOB you want to load.
The selected JOBs are marked with a star "".
5. Press [ENTER].
The confirmation dialog box appears.
/2$'"
<(6
6. Select YES.
The selected JOBs are loaded.
8 - 572
12
External storage devices
•
Loading condition files or general data
1. Select {EX. MEMORY} in the main menu.
2. Select {LOAD}.
The following window appears:
3. Position the cursor on FILE/GENERAL DATA and press [SELECT].
The selection window for the settings file/general data appears.
4. Select the condition files or general data you want to load.
The selected files are marked with a star "".
5. Press [ENTER].
The confirmation dialog box appears.
/2$'"
<(6
12
6. Select YES.
The selected files are loaded.
8 - 573
External storage devices
•
Loading parameters
1. Select {EX. MEMORY} in the main menu.
2. Select {LOAD}.
The following window appears.
3. Move the cursor to {PARAMETER} and press [SELECT].
The selection window for the parameters appears.
4. Select the parameters you want to load.
The selected parameters are marked with a star "".
5. Press [ENTER].
The confirmation dialog box appears.
/2$'"
<(6
6. Select YES.
The selected parameters are loaded.
8 - 574
12
External storage devices
•
Loading I/O data
1. Select {EX. MEMORY} in the main menu.
2. Select {LOAD}.
The following window appears:
3. Move the cursor to {I/O DATA} and press [SELECT].
The selection window for the I/O data appears.
4. Select the I/O data you want to load.
The selected I/O data is marked with a star "".
5. Press [ENTER].
The confirmation dialog box appears.
/2$'"
<(6
12
6. Select YES.
The selected I/O data is loaded.
8 - 575
External storage devices
•
Loading system data
1. Select {EX. MEMORY} in the main menu.
2. Select {LOAD}.
The following window appears:
3. Move the cursor to {SYSTEM DATA} and press [SELECT].
The selection window for the system data appears.
4. Select the system data you want to load.
The selected system data is marked with a star "".
5. Press [ENTER].
The confirmation dialog box appears.
/2$'"
<(6
6. Select YES.
The selected system data are loaded.
8 - 576
12
External storage devices
8.3.6
Overwriting when loading JOBs
If JOBs are loaded while JOB LOAD OVERWRITE is set to VALID, the OVERWRITE
MODE selection window appears.
Available options for the OVERWRITE MODE:
• FORCED EXEC
When performing a loading operation by means of selecting all the target files at a time
and selecting EXECUTE while FORCED EXEC is set, a confirmation dialog asking
whether to overwrite the files will appear. After confirmation all files are loaded at once.
1. Set OVERWRITE MODE to FORCED EXEC.
2. SELECT {EXECUTE}.
A confirmation dialog box appears.
3. Select YES.
All files are loaded at once.
• DIALOG EXEC
The loading operation is executed file by file with a confirmation message asking
whether to overwrite or not.
1. Set OVERWRITE MODE to DIALOG EXEC.
8 - 577
External storage devices
2. SELECT {EXECUTE}.
The confirmation dialog box appears.
3. Select YES.
The dialog execution window appears.
PROGRESS displays the progress of saving.
FILE NAME displays the name of the currently selected file.
4. Select {EXECUTE}.
The confirmation dialog box appears.
5. Select YES.
The currently selected file is saved.
NOTICE
Confirmation for each file is not performed on the dialog execution screen when there is no
existing file, even if DIALOG EXEC is set.
8.3.7
Verifying data
To verify the data saved on the robot controller and the data saved on an external storage
medium, perform the following steps:
NOTICE
SYSTEM BACKUP (CMOS.BIN) cannot be verified.
•
Verifying JOBs
1. Select {EX. MEMORY} in the main menu.
8 - 578
External storage devices
2. Select {VERIFY}.
The following window appears:
3. Select JOB.
The selection window for the JOBs appears.
4. Select the JOB you want to verify.
The selected JOBs are marked with a star .
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The selected JOBs are verified.
8 - 579
External storage devices
•
Verifying files
1. Select {EX. MEMORY} in the main menu.
2. Select {VERIFY}.
The following window appears.
3. Select a group in which the file you want to verify is located (FILE, GENERAL DATA,
PARAMETER, I/ODATA, SYSTEM DATA).
4. Select the file you want to verify.
The selected files are marked with a star.
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The selected files are verified.
8 - 580
External storage devices
8.3.8
Deleting data
To delete one or more files from external storage media, perform the following steps:
•
Deleting JOBs
1. Select {EX. MEMORY DEVICE} in the main menu.
2. Select {DELETE}.
The following window appears
3. Select JOB.
The selection window for the JOBs appears.
4. Select the JOB you want to delete.
The selected JOBs are marked with a star .
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The selected JOBs are deleted.
8 - 581
External storage devices
•
Deleting files
1. Select {EX. MEMORY} in the main menu.
2. Select {DELETE}.
The following window appears.
3. Select a group in which the file you want to delete is located (FILE/GENERAL DATA,
PARAMETER, I/O DATA, SYSTEM DATA).
4. Select the file you want to delete.
The selected files are marked with a star .
5. Press [ENTER].
The confirmation dialog box appears.
6. Select YES.
The selected files are deleted.
8 - 582
External storage devices
•
Deleting SYSTEM BACKUP (CMOS.BIN)
1. Select {EX. MEMORY} in the main menu.
2. Select {DELETE}.
The following window appears.
3. Select SYSTEM BACKUP(CMOS.BIN).
If CMOS.BIN already exists on the storage medium, a confirmation dialog box appears.
(This dialog box does not appear if CMOS.BIN does not exist on the storage medium.)
4. Select YES.
SYSTEM BACKUP (CMOS.BIN) is deleted.
NOTICE
SYSTEM BACKUP (CMOS.BIN) is not deleted while data is being transferred together with
a data update.
8 - 583
External storage devices
8.3.9
•
•
•
•
JOB selection mode
Individual selection
JOBs and data files are selected individually and one by one.
Batch selection
JOBs and files are selected all at once.
Marker (*) selection
Loading: The files on the external storage medium are selected.
Saving: The files in the memory of the robot controller are selected.
Verification: The files on both the external storage medium and the memory of the
robot controller are selected.
Batch selection (individual file)
JOBs and data files (FILE/GENERAL DATA, PARAMETER, I/O DATA, SYSTEM DATA)
are selected all at once.
This operation can be performed on the window where the data type of the external
memory device is selected. Only in case of saving and verifying, operation of the
external memory device can be performed.
NOTICE
Pendant logs, system backups, user definition files (when the optional function is enabled)
are not included in batch selection.
To select JOBs and files for loading, saving, verifying and deleting, perform the following
steps:
•
Using individual selection
1. Open the JOB LIST window or file selection window.
2. Position the cursor on the JOB or file you want to select.
3. Press [SELECT].
4. Move the cursor to a desired file and press [SELECT] again.
The selected JOBs are marked with a star .
*To cancel the selection, select {EDIT} → {CANCEL SELECT}.
8 - 584
External storage devices
•
Using batch selection
1. Open the JOB LIST window or the file selection window of the external storage medium.
2. Select {EDIT}.
The pull-down menu appears.
3. Select {SELECT ALL}.
All JOBs are selected.
*To cancel the selection, select {EDIT} → {CANCEL SELECT}.
•
Using marker (*) selection
1. Open the JOB LIST window or the file selection window of the external storage medium.
2. Select {EDIT}.
The pull-down menu appears.
3. Select {SELECT MARKER (*)}.
*To cancel the selection, select {EDIT} → {CANCEL SELECT}.
8 - 585
External storage devices
•
Using Batch Selection (individual file)
For two or more types of data (JOB, FILE/GENERAL DATA, PARAMETER, I/O DATA,
SYSTEM DATA), the data can be selected all at one time. This operation can be performed
when saving or verifying the data in the external memory device.
1. Open the window where the types of data in the external memory device are selected,.
2. Select {EDIT} → {SELECT ALL (INDIVIDUAL)}
The selected items are marked with a star .
3. Press [ENTER].
The confirmation dialog box appears (example for saving files).
4. Select YES.
The data of all selected data type is saved or verified in the external memory device.
NOTICE
 Move the cursor to the data type (JOB, FILE/GENERAL DATA, PARAMETER, I/O
DATA, SYSTEM DATA) and press [SHIFT] + [SELECT] to individually select/cancel the
data type.
 To perform operation (save/verify) of the external memory device for one specific data
type at the same time, press [SHIFT] + [SELECT] and while the specific data type is
selected, perform the steps 3 to 4 above.
8 - 586
External storage devices
NOTICE
To cancel all the selection on the window where the data type is selected, select {EDIT} →
{CANCEL ALL (INDIVIDUAL)}. The selection of the data types is canceled all at one time,
and the  signs on the left of JOB, FILE/GENERAL DATA, PARAMETER, I/O DATA, and
SYSTEM DATA are hidden.
8 - 587
Parameter
9
Parameter
9.1
Parameter configuration
The parameters of robot controller can be classified into the following seven.
•
Motion speed setting parameter
Determines the Robot motion speed for JOG operation at teaching, test operation, or
playback operation.
Mode operation setting parameters
Makes the setting for various operations in the TEACH mode or REMOTE mode.
Parameters according to interference area
Limits the P-point maximum envelope of the robot or sets the interference area for axis
interference or cubic interference.
Parameters according to status I/O
Sets the parity check or I/O setting for user input/output signals.
Parameters according to coordinated or synchronized operation
Makes the settings for coordinated or synchronized operations between robots or
between robots and stations.
Parameters for other functions or applications
These parameters make the settings for other functions or applications.
Hardware control parameters
Makes the hardware settings for fan alarm or relay operation, etc.
•
•
•
•
•
•
NOTICE
S1CxG Parameters
The initial setting of S1CxG parameters depends on the robot model
For a system in which two Robots are controlled, the following two types of parameters are
used: S1C1G and S1C2G.
9.2
Motion speed setting parameters
These parameters set the robot motion speed for jog operation at teaching, test operation,
or playback operation.
9.2.1
In-guard safe operation max. speed
S1CxG000
Units: 0.01%
The upper speed limit is set for IN-GUARD-SAFE operation. While the IN-GUARD-SAFE
operation command signal is being input, the TCP speed is limited to the TCP max speed.
9 - 588
Parameter
9.2.2
Dry-run speed
S1CxG001
Units: 0.01%
This is a dry-run operation speed setting value used when checking the path. Take safety
into consideration when setting changes are unnecessary.
S1CxG001
1
Normal playback operation speed
2
Operation speed under in-guard
safe operation
3
Teach mode
4
Operation speed when dry-run is
specified.
5
Dry-run speed
6
In-guard safe operation speed limit
9.2.3
1
6
2
5
3
4
Joint speed for registration
S1CxG002 to S1CxG009
Units: 0.01%
The value set in these parameters is registered as the joint speed for each speed level
when teaching the position data with the programming pendant. The percentage
corresponding to the set value at each level is registered as 100% of the value set in the
playback speed limit. Values greater than those set as speed limit values cannot be set.
S1CxG002: Level 1
S1CxG003: Level 2



S1CxG009: Level 8
9 - 589
Parameter
9.2.4
Linear speed for registration
S1CxG010 to S1CxG017
Units: 0.1mm/s
The value set in these parameters is registered as the linear speed for each speed level
when teaching the position data with the programming pendant. Values greater than those
set as playback speed limit cannot be set.
S1CxG010: Level 1
S1CxG011: Level 2



S1CxG017: Level 8
9.2.5
Posture angle speed
S1CxG018 to S1CxG025
Units: 0.1°/sec
The value set in these parameters is registered as the position angle speed for each speed
level when teaching the position data with the programming pendant. Values greater than
those set as playback speed limit cannot be set.
S1CxG018: Level 1
S1CxG019: Level 2



S1CxG025: Level 8
9.2.6
JOG operation absolute value speed
S1CxG026 to S1CxG029
Units: 0.1mm/s
These are setting values of JOG operation speed set by the programming pendant. Values
greater than those set as JOG operation speed limit value cannot be set.
9 - 590
S1CxG026: Low level speed:
JOG operation speed when “LOW” manual
speed is specified.
S1CxG027: Medium speed:
JOG operation speed when “MEDIUM” manual
speed is specified.
S1CxG028: High level speed:
JOG operation speed when “HIGH” manual
speed is specified.
S1CxG029: High-speed-level:
JOG operation speed when [HIGH SPEED] is
pressed.
Parameter
9.2.7
Inching move amount
S1CxG030 to S1CxG032
These parameters specify the amount per move at inching operation by the programming
pendant. The referenced parameter differs according to the OPERATION mode at inching
operation.
S1CxG030:
Joint operation (unit: 1 pulse)
S1CxG031:
Cartesian/cylindrical (unit: 0.001 mm)
S1CxG032:
Motion about TCP (unit: 0.001 deg)
NOTICE
If the value set for S1CxG031 or S1CxG032 is too small, the inching operation does not
proceed.
9.2.8
Positioning zone
S1CxG033 to S1CxG040
This parameter value is referenced if the positioning is defined with the MOVE instruction.
MOVJ (joint movement) or MOVL (linear movement).
1
Positioning level
2
Positioning specification
MOVL V=100.0 PL=1
1
2
The value set for this parameter specifies the input range relative to the teach-in point for
this step positioning. Once the positioning range has been entered, the robot moves to the
next step. The system is also set up so that an inward turn is made in the movement range
during the movement to the next step. The speed changes gradually.
Because the movement is inward during playback (see the figure below), take into account
safety aspects when you set the values.
S1CxG033: Position level 1 (µm)
Position level 0
S1CxG034: Position level 2 (µm)
S1CxG035
P2
Position level 3 (µm)
S1CxG036: Position level 4 (µm)
S1CxG037: Position level 5 (µm)
S1CxG038: Position level 6 (µm)
S1CxG33
S1CxG34
S1CxG35
S1CxG039: Position level 7 (µm)
P3
Position level 1
Position level 2
Position level 3
S1CxG040: Position level 8 (µm)
S1CxG40
Position level 8
P1
9 - 591
Parameter
NOTICE
Positioning level (PL: Position level)
Position levels are divided into nine levels (0 to 8) and can be specified by using the “MOV”
instruction.
The functions on each level are as follows:
0: Complete positioning to the target point
1 to 8: Inward turning operation
The processing details and their relationships to the parameters are explained below.
Level 0: Determines the completion of positioning when the distance (number of pulses)
from the target point on each axis is within the position specified by the parameter. Once
positioning is completed, the instruction system starts with the instructions for the next
target point.
Level 1 to 8: Recognizes virtual positioning before the target point. The distance of the
virtual target position from the target point is specified at the positioning level. Distance data
corresponding to each level are set in the parameter. Determination of the virtual target
position is carried out in the instruction system.
Set zone: The zone of each positioning level set in the parameter. (µm).
Example: MOVL V=500 PL=1
9.2.9
Low-speed start up
S1CxG044
Units: 0.01%
This parameter specifies max. speed at low speed start. Specify the starting method for
“initial operation speed of Robot” (S2C217).
9 - 592
Parameter
9.2.10
JOG operation link speed
S1CxG045 to S1CxG048
Units: 0.01%
These parameters prescribe the link speed at jog operation by the programming pendant.
Specify the percentage (%) for the JOG operation speed limit, the joint max. speed.
S1CxG045: JOG operation link speed at level “LOW”
S1CxG046: JOG operation link speed at level “MEDIUM”
S1CxG047: JOG operation link speed at level “HIGH”
S1CxG048: JOG operation link speed at level “HIGH SPEED”
9.2.11
WORK HOME POSITION return speed
S1CxG056
Units: 0.01%
This parameter specifies the speed for returning to WORK HOME POSITION against the
maximum speed.
9.2.12
Search max. speed
S1CxG057
Units: 0.1mm/s
This parameter specifies the max. speed for searching.
9.2.13
Posture control at Cartesian operation of JOG
This parameter specifies whether or not posture control is performed at Cartesian operation
of “JOG” by the programming pendant. Use posture control unless a special robot model is
used.
0:
With posture control
1:
Without posture control
9 - 593
Parameter
9.2.14
Operation in user coordinate system (when external reference
point control function used)
S2C202
This parameter specifies the TCP or reference point of motion about TCP when the external
reference point control function is used and the user coordinate system is selected by the
programming pendant.
0: When robot TCP is selected
1
Robot TCP
1
1: When external reference point is selected
1
External reference point
1
9.2.15
Controlled group JOB-Teach-IN position change
S2C320
This parameter is used to change only the JOB teaching position of controlled group axis.
0: Not changed
1: Changed
9 - 594
Parameter
9.2.16
Operation after reset from path deviation
S2C422
0: Movement to the next step (initial setting).
1: After moving back to the deviated position, movement to the indicated step.
2: Move back to the deviated position and stop.
0: Movement to the indicated step
1
Emergency stop
2
Movement when restarting. Movement to
the next step.
1
2
1: After moving back to the deviated position, movement to the indicated step
1
Emergency stop
2
Moves back to the deviated position and
stops. When restarting, moves to the indicated step.
1
2
2: Movement back to the deviated position and stop
1
Emergency stop (SERVO OFF)
2
Moves back to the deviated position and
then moves to the indicated step.
1
2
9 - 595
Parameter
9.2.17
Operation program JOG
S2C423
These parameters specify the method for a restart of the robot if it deviates from its normal
path in the event of an emergency stop or a JOG movement, for example.
0: Movement to the next step (initial setting).
1: After moving back to the deviated position, movement to the indicated step.
2: Move back to the deviated position and stop.
NOTICE
 The robot moves in a straight line at a slow speed to the position at which it deviated
from the path (SICxG044). This is a linear movement. After the reset from the deviation,
the movement is resumed at the taught speed.
 The initial setting (before sending) is 0: The robot moves in a straight line from the
current position to the indicated step.
0: Movement to the next step.
1
Movement at restart
1
JOG
1: After moving back to the deviated position, movement to the indicated step
1
Emergency stop (SERVO OFF)
2
Moves back to the deviated position and
stops. When restarting, moves to the indicated step.
1
JOG
2
2: Movement back to the deviated position and stop
1
Emergency stop (SERVO OFF)
2
Moves back to the deviated position and
then moves to the indicated step.
1
JOG
9 - 596
2
Parameter
9.2.18
Deviated position
S2C424
This parameter specifies whether the deviated position is to be the robot current (reference)
position or the feedback position.
0: Return to the feedback position.
1: Return to the current value (reference) position.
When emergency stop is applied during high-speed motion, the deviated position differs
from the robot current value (reference) position and feedback position as shown in the
following.
Deviated position
1
Current value (reference) position
2
Emergency stop
3
Feedback position
9.2.19
3
1
2
Circular interpolation tool position control
S2C425
This parameter selects tool position control methods at circular interpolation operation.
0: Fixed angle position
Interpolation is performed depending on the position change viewed from the base coordinate.
As the figure below (left) shows, when tool position viewed from outside is not significantly changed and that position is mainly taught at teaching, this setting is required.
1: Rotating position by circular arc path
Interpolation is performed depending on the position change corresponding to circular
arc path.
As the figure below (right) shows, when tool position corresponding to circular arc path
(tool position viewed from the center of the circular arc) is not significantly changed,
and that position is mainly taught at teaching, this setting is required.
0: Fixed angle position
1: Rotating position by circular
arc path
P0
1
2
P1
P1
P2
P2
P0
9 - 597
Parameter
9.2.20
Emergency stop cursor advance control function
S2C653
This parameter specifies whether to use the cursor advance control function or not.
0: Not use
1: Use
9.2.21
Emergency stop cursor advance control function cont process
completion position
S2C654
Units: %
If the CONT process stops during the inner circle, specify which position on the inner circle
is to be considered as the end of the step.
1
Step 4
2
Step 3
1
100%
B
50%
A
2
0%
When 50% is set, moves to step 3 if the robot stops in A section and moves to step 4 if the
robot stops in B section.
9.2.22
Base axis operation key allocation setting
S2C698
Coordinates/parameter
S2C698= “0”
S2C698= “1”
Joint
Axis number order
Specified
Cylindrical
Axis number order
Specified
Cartesian
Specified
Specified
Tool
Specified
Specified
User
Specified
Specified
Axis number order: X: First axis, Y: Second axis, Z: Third axis
Specified: X: X-direction (RECT-X), Y: Y-direction (RECT-Y), Z: Z-direction (RECT-Z)
9.2.23
INWARD-TURNING OPERATION ENABLE DURING MOVJ - MOVL
These parameters specify whether the inward-turning operation is executed when
positioning is set between the MOVJ - MOVL commands.
0: Execution OFF
9 - 598
Parameter
1: Execution ON
P3
P2
NOP
MOVJ VJ=100.00 PL=1
MOVL V=1600.0
END
: S2C[1586]=1
: S2C[1586]=0
P1
9 - 599
Parameter
9.2.24
Position correcting function during playback
S3C1098 to S3C1102
These parameters specify the necessary data for position correcting function (PAM) during
playback operation.
S3C1098: Specifies the limit of position correcting range (units: mm)
S3C1099: Specifies the limit of speed correcting range (units: 0.01%)
S3C1100: Specifies the correcting coordinates.
0: Stand
1: Robot
2: Tool
3: User #1
through
26: User #24
S3C1102: Specifies the limit of posture angle adjustment range (units: 0.01°)
9 - 600
Parameter
9.3
Mode operation setting parameters
Numerous movements are set using these parameters in TEACH mode or REMOTE mode.
Some parameters can be set by means of {SETUP} → {TEACHING COND} or {OPERATE
COND}.
9.3.1
Security mode when control power supply is turned ON
S2C195
The operation level when the control power supply is turned ON is set.
0: OPERATING mode
1: EDIT mode
2: MANAGEMENT mode
9.3.2
Selection of Cartesian/Cylindrical
S2C196
This parameter specifies whether the Cartesian mode or Cylindrical mode is affected when
Cartesian/Cylindrical mode is selected by operation (coordinate) mode selection at axis
operation of programming pendant. This specification can be done on the TEACHING
CONDITION window.
0: Cylindrical mode
1: Cartesian mode
9.3.3
Coordinate switching prohibited
S2C197
This parameter permits or prohibits switching coordinates during JOG operation by the
programming pendant.
0: Switching permitted for tool coordinates and user coordinates
1: Switching prohibited for tool coordinates
2: Switching prohibited for user coordinates
3: Switching prohibited for tool coordinates and user coordinates
9 - 601
Parameter
9.3.4
Execution units at "FORWARD" operation
S2C198
This parameter specifies the execution units at step mode of “FORWARD” operation by the
programming pendant.
Parameter setting val- Operation units
ue
0
MOVL
Stops at every instruction
DOUT
TIMER
DOUT
MOVL
1
MOVL
Stops at move instruction
DOUT
TIMER
DOUT
MOVL
9.3.5
Instruction (except for move) execution at “FORWARD” operation
S2C199
This parameter specifies the execution method for instructions other than move instructions
at “FORWARD” operation by the programming pendant.
0: Executed by pressing [FWD] + [INTERLOCK]
1: Executed by pressing [FWD] only
2: Instruction not executed
9.3.6
Changing step only
S2C203
This parameter specifies whether to permit only step changes in an editing-prohibited JOB.
When permitted, only position data can be changed but additional data such as speed
cannot be changed. This specification can be done on the TEACHING CONDITION
window.
0: Permitted
1: Prohibited
9 - 602
Parameter
9.3.7
Manual speed storing for each coordinate
S2C204
This parameter specifies whether to assign different manual speeds for the joint
coordinates and other coordinates. If “NOT STORED” is selected, manual speed is not
affected by changing the coordinates. If “STORED” is selected, manual speeds can be
selected separately for the joint coordinates and other coordinates.
0: Not stored
1: Stored
9.3.8
Additional step position
S2C206
This parameter designates either “before next step” or “after the cursor position (between
instructions)” as additional step position. This specification can be done on the TEACHING
CONDITION window.
Example
1
Line
2
Instruction
3
Cursor position
11
22
10
MOVL V=100
11
TIMER T=1.00
12
DOUT OT# (1) ON
13
MOVL V=50
3
S2C206-0 (before the next step)
1
Line
2
Instruction
3
Added step
11
22
10
MOVL V=100
11
TIMER T=1.00
12
DOUT OT#(1) ON
13
MOVL V=100
14
MOVL V=50
33
9 - 603
Parameter
S2C206-1 (between instructions)
1
Line
2
Instruction
3
Added step
11
22
10
MOVL V=100
11
TIMER T=1.00
12
MOVL V=100
13
DOUT OT# (1) ON
14
MOVL V=50
3
3
9.3.9
Master JOB changing operation
S2C207
This parameter specifies whether to permit or prohibit master job changing operation. If
“PROHIBIT” is specified, the master JOB cannot be changed (or registered) easily. The
setting can be made on the OPERATING CONDITION window.
0: Permitted
1: Prohibited
9.3.10
Check and machine-lock key operation in PLAYmode
S2C208
This parameter specifies whether to permit or prohibit in PLAY mode to change the
operation that changes the operation condition. Even if an error occurs because of the
operation with the keys, the manipulator does not stop. The setting can be made on the
OPERATING CONDITION window.
0: Permitted
1: Prohibited
9.3.11
Change reserved WORK JOB
S2C209
This parameter specifies whether to permit reserved work JOB changing operation.
The setting can be made on the OPERATING CONDITION window.
0: Permitted
1: Prohibited
9 - 604
Parameter
9.3.12
Master or sub master call operation in PLAY mode
S2C210
This parameter specifies whether the master or sub master call operation in PLAY mode is
permitted or not. When the independent control function is valid, the master JOB for subtask is specified at the same time. The setting can be made on the OPERATING
CONDITION window.
0: Permitted
1: Prohibited
9.3.13
Language level
S2C211
This parameter defines the level of the robot language (INFORM III). The levels simplify the
registration of instructions. All robot instructions can be executed with the robot controller
regardless of the command sets that are set. The setting can be made on the TEACHING
CONDITION window.
The setting can be made under {SETUP} → {TEACHING COND} LANGUAGE LEVEL.
For additional information refer to chapter "Instruction level setting" in the INSTRUCTIONS
manual (E1102000214XX01* or higher).
0: Contracted level
Only frequently used robot instructions are selected. This reduces the number of
instructions to be registered. The number of robot instructions displayed in the instruction
dialog box is also reduced, so the specification of settings is simplified.
1: Standard level
2: Expanded level
All robot instructions are available at the standard level and the expanded level. The two
levels differ in that they have a different number of additional information elements (tags)
that can be used with the robot instructions. The following functions are available at the
expanded level.
•
Local variables and array variables
•
Use of variables for tags (e.g. MOVJ VJ=I000): These functions are not available at the
standard level. However, less data is required to register instructions, which simplifies
registration.
9.3.14
Instruction input-learning function
S2C214
This parameter specifies whether to set a line of instructions that has been input on the
input buffer line when pressing the first soft key for each instruction. If ”PROVIDED” is
selected, the instructions are set.
0: Without learning function
1: With learning function
9 - 605
Parameter
9.3.15
Address setting when control power is turned ON
S2C215
This parameter specifies the processing of the JOB name, the step number and the line
number set when the control power supply is switched on.
0: Reproduces the addresses if the control voltage is switched on.
1: Line address (line 0) of the master JOB.
9.3.16
Job list display method at job selection
S2C216
These parameters specify the displaying method on the JOB LIST window at JOB
selection.
0: Order of names.
1: Order of date.
9.3.17
Initial operation of robot
S2C217
This parameter specifies the operation speed level of the first section when starting. Specify
the operation speed with the low-speed start (S1CxG044). When starting at low-speed, the
Robot stops after reaching the indicated step regardless of the cycle setting. Once the
Robot is paused during the low-speed operation, it moves at teaching speed when
restarted.
0: Specified on the SPECIAL PLAY window. Operates at low speed only when low speed
start is set. Operates at taught speed when not instructed.
1: Starts at low speed after editing regardless of soft key instructions.
9 - 606
Parameter
9.3.18
Playback execution at cycle mode ”1- step”
S2C218
Parameter setting val- Operation units
ue
0
MOVL
Stops at every instruction
DOUT
TIMER
DOUT
MOVL
1
MOVL
Stops at move instruction
DOUT
TIMER
DOUT
MOVL
NOTICE
When operating “FORWARD” by the programming pendant, the units for execution are set
in another parameter (S2C198).
9.3.19
External start
S2C219
This parameter specifies whether a start instruction from external input is accepted or not.
The setting can be made on the OPERATING CONDITION window.
0: Permitted
1: Prohibited
9.3.20
Programming pendant start
S2C220
This parameter specifies whether a start instruction from the programming pendant is
accepted or not.
The specification can be done on the OPERATE ENABLE SETTING window
0: Permitted
1: Prohibited
9 - 607
Parameter
9.3.21
Speed data input form
S2C221
This parameter specifies the units for speed data input and display.
mm/s: in units of 0.1 mm/s
cm/min: in units of 1 cm/min
inch/min: in units of 1 inch/min
mm/min: in units of 1 mm/min
The setting can be made on the OPERATING CONDITION window.
0: mm/s
1: cm/min
2: inch/min
3: mm/min
9.3.22
Reserved start
S2C222
This parameter specifies whether a reserved start instruction from the programming
pendant is accepted or not.
The specification can be done on the FUNCTION ENABLE SETTING window.
0: Permitted
1: Prohibited
9.3.23
Job selection at remote function (play mode)
S2C224
This parameter specifies whether a JOB selection in PLAY mode at remote function is
prohibited or not.
The setting can be made on the FUNCTION ENABLE SETTING window.
0: Permitted
1: Prohibited
9.3.24
External mode switch
S2C225
This parameter specifies whether mode switching from the outside is accepted or not. The
setting can be made on the OPERATE ENABLE SETTING window.
0: Permitted
1: Prohibited
9 - 608
Parameter
9.3.25
External cycle switching
S2C227
This parameter specifies whether cycle switching from the outside is accepted or not. The
setting can be made on the OPERATE ENABLE SETTING window.
0: Permitted
1: Prohibited
9.3.26
Programming pendant cycle switching
S2C228
This parameter specifies whether cycle switching from the programming pendant is
accepted or not. The setting can be made on the OPERATE ENABLE SETTING window.
0: Permitted
1: Prohibited
9.3.27
SERVO ON not allowed from external programming pendant
S2C229
This parameter specifies whether a SERVO ON instruction is accepted or not. More than
one instruction can be specified.
The setting can be made on the OPERATING CONDITION window.
Example: to permit the SERVO ON instruction from an external input only, set “2.”
In this case, SERVO ON instruction from the programming pendant is not accepted.
1
External input prohibited
2
Programming pendant
3
DSW
d7
d0
11
21
: 1 (VALID)
31
: 4 (VALID)
: 2 (VALID)
9 - 609
Parameter
9.3.28
Programming pendant operation when “IO” is selected for
REMOTE MODE
This parameter specifies whether each operation of the following is valid when “IO” is
selected for remote function selection. IO and COMMAND are available for remote function
selection: “IO” is set prior to shipping. "COMMAND" is valid when transmission function
(optional) is specified.
1
Programming pendant ([SERVO ON
READY] key) valid / invalid
2
Programming pendant (Enable switch)
3
Mode switching valid/invalid
4
Master call valid/invalid
5
Cycle switching valid/invalid
6
Start valid/invalid
9.3.29
d7
d0
1
2
3
44
55
66
: 1 (VALID)
: 2 (VALID)
: 4 (VALID)
: 8 (VALID)
5
5
: 16 (VALID)
: 32 (VALID)
Step registration at tool no. change
S2C234
This parameter is used to specify whether or not step registration is accepted if there is a
change of tool number.
0: Permitted
1: Not permitted
If this parameter is set to 1 (not permitted), the following operations are not permitted:
•
•
•
9 - 610
Modification of a step:
If the tool number of the taught step deviates from the currently selected tool number,
the step cannot be modified.
Deletion of a step:
Even if the position of a taught step matches the current position, the step cannot be
deleted if the tool number of the taught step does not match the currently selected tool
number.
Addition of a step:
If the tool number of the taught step at which the cursor is located deviates from the
currently selected tool number, the step cannot be deleted.
Parameter
9.3.30
REMOTE first cycle mode
S2C293
This parameter specifies whether cycle switching from the programming pendant is
accepted or not. The setting can be made on the OPERATING CONDITION SETTING
window.
0: Step
1: 1 cycle
2: Continuous
3: Setting retained
9.3.31
Local first cycle mode
S2C294
This parameter sets the first cycle mode for when the power is turned ON. The setting can
be made on the OPERATING CONDITION SETTING window.
0: Step
1: 1 cycle
2: Continuous
3: Setting retained
9.3.32
Power "ON" first cycle mode
S2C312
This parameter sets the cycle that changes from the REMOTE mode to the local mode. The
setting can be made on the OPERATING CONDITION SETTING window.
0: Step
1: 1 cycle
2: Continuous
3: Setting retained
9.3.33
TEACH mode first cycle mode
S2C313
This parameter sets the cycle that changes from the PLAY mode to the TEACH mode.
The setting can be made on the OPERATING CONDITION SETTING window.
0: Step
1: 1 cycle
2: Continuous
3: Setting retained
9 - 611
Parameter
9.3.34
PLAY mode first cycle mode
S2C314
This parameter sets the cycle that changes from the TEACH mode to the PLAY mode.
The setting can be made on the OPERATING CONDITION SETTING window.
0: Step
1: 1 cycle
2: Continuous
3: Setting retained
9.3.35
Start condition after alarm 4107 "Out of range" absolute data
S2C316
This parameter specifies the activating method after the alarm 4107 (“OUT OF RANGE
(ABSO DATA)”) occurs.
The setting can be made on the PLAYBACK CONDITION SETTING window.
0: Position check operation required
1: Low-speed start up
9 - 612
Parameter
9.3.36
Alias function signal name
S2C395
On the JOB CONTENT window, the name assigned to the user input/output signal number
can be displayed instead of the signal number.
0: Function invalid
1: Function valid
1. If this function is valid, the "Register by name (alias)?" confirmation dialog box appears
when a signal (IN#(), OT#(), IG#(), OG#(), IGH#(), OGH#()) is selected on the DETAIL
EDIT window.
2. Select YES. The signal selection window appears. Enter the new user ID and press
[ENTER]. The registered name is displayed instead of the signal number. However, if
the signal name has not yet been registered, the number continues to be displayed.
<Example>
Registration of the name of the user output OUT#0001 as OUTPUT 1.
In the case of the DOUT instruction:
S2C395=0: DOUT OT#(1) ON
S2C395=1: DOUT OT#(OUTPUT 1) ON
NOTICE
Select {IN/OUT} → {UNIVERSAL INPUT/OUTPUT} to edit the signal names in the window.
Up to 16 characters can be entered as the signal name.
If the function is valid and the content below is entered, an error message is output and the
name is not registered.
•
The name is already registered.
•
The name starts with a number.
•
The name contains the following signs: (,), [,], =, <, >, space, comma.
•
The name starts with a letter that stands for a variable + a number.
<Example>
B0..., I0..., BP1..., LEX2...
Letters that stand for variables: B, I, D, R, S, P, BP, EX, PX, LB, LI LD, LR, LS, LP, LBP,
LEX, LPX.
A name that begins with " ' " is treated as a comment. The same content can be registered
for multiple signals. In this case, the number is displayed instead of the name on the JOB
CONTENT window if the function is valid.
<Example>
Registration of the name of the user output.
OUT#0002 as " 'OUTPUT 2"
S2C395=0: DOUT OT#(2) ON
S2C395=1: DOUT OT#(2) ON
9 - 613
Parameter
NOTICE
A JOB including 513 or more aliases cannot be saved in or loaded from the external
memory device, but the JOB can be executed.
Examples of cases where saving and loading can be performed:
•
Registering “OT#(1)” 513 times.
•
Registering “OT#(OUTPUT 1)” for 513 signal numbers.
•
Registering each from “OT#(OUTPUT 1)” to “OT#(OUTPUT 512)” and registering one
B000 without using an alias.
Examples of cases where saving and loading cannot be performed:
9 - 614
•
Registering each from “OT#(OUTPUT 1)” to “OT#(OUTPUT 513)”.
•
Registering each from “OT#(OUTPUT 1)” to “OT#(OUTPUT 512)”, and registering one
B000 with using an alias.
Parameter
9.3.37
Alias function signal name
S2C396
On the JOB CONTENT window, the name assigned to the variable (including a local
variable) can be displayed instead of the variable number.
0: Function invalid
1: Function valid
1. If this function is valid, the "Register by name (alias)?" confirmation dialog box appears
when you select the variable on the DETAIL EDIT window.
2. Select YES, and the variable selection window appears. Then select the target variable
of the number and press [ENTER]. The registered name is displayed instead of the
variable number. However, if the variable name has not yet been registered, the number
continues to be displayed.
<Example>
Registration of the byte type variable as WORK KIND with the SET instruction.
S2C396=0: SET B000 128
S2C396=1: SET WORK KIND 128
NOTICE
Select {VARIABLE} from the menu for each variable and edit the variable name. Up to 16
characters can be entered as the variable name.
If the function is valid and the content below is entered, an error message is output and the
name is not registered.
•
The name is already registered.
•
The name starts with a number.
•
The name contains the following signs: ( , ) , [ , ] , = , < , > , space, comma.
•
The name starts with a letter that stands for a variable + a number.
<Example>
B0..., I0..., BP1..., LEX2...
Letters that stand for variables: B, I, D, R, S, P, BP, EX, PX, LB, LI LD, LR, LS, LP, LBP,
LEX, LPX.
A name that begins with " ' " is treated as a comment. The same content can be registered
for multiple variables. In this case, the number is displayed instead of the name in the JOB
CONTENT window if the function is valid.
<Example>
Registration of the byte type variable B001 as WORKNUM.
S2C396=0: SET B001 10
S2C396=1: SET B001 10
9 - 615
Parameter
NOTICE
A job including 513 or more aliases cannot be saved in or loaded from the external memory
device, but the JOB can be executed.
Examples of cases where saving and loading can be performed:
•
Registering “OT#(1)” 513 times.
•
Registering “OT#(OUTPUT 1)” for 513 signal numbers.
•
Registering each from “OT#(OUTPUT 1)” to “OT#(OUTPUT 512)”, and registering one
B000 without using an alias.
Examples of cases where saving and loading cannot be performed:
9 - 616
•
Registering each from “OT#(OUTPUT 1)” to “OT#(OUTPUT 513)”.
•
Registering each from “OT#(OUTPUT 1)” to “OT#(OUTPUT 512)”, and registering one
B000 with using an alias.
Parameter
9.3.38
Customize function I/O variable
S2C397
This function enables registration of any particular input/output signal/variable. Reference
and editing of signals/variables are possible on the same window.
0: Function Invalid
1: Function valid
With this function valid, the sub-menu {I/O-VARIABLE CUSTOMIZE} opens under the main
menu {ARC WELDING}, {SPOT WELDING}, {GENERAL}, {HANDLING} (differs by
application). Select {I/O-VARIABLE CUSTOMIZE} and the I/O-VARIABLE CUSTOMIZE
window appears as follows.
Fig. 9-1: I/O VARIABLE CUSTOMIZE Window
On the I/O-VARIABLE CUSTOMIZE window, any of the input/output signals/variables can
be selected and registered (up to 32 items). Registrable signals/variables are as follows:
Input / Output signals
USER INPUT SIGNAL
USER OUTPUT SIGNAL
PSEUDO INPUT SIGNAL
Variables
BYTE TYPE VARIABLE (B VARIABLE)
INTEGER TYPE VARIABLE (I VARIABLE)
DOUBLE-PRECISION INTEGER TYPE VARIABLE (D VARIABLE)
The contents and names of the registered signals/variables can be checked and edited on
this window.
In addition, the data list of registered signals/variables can be loaded, saved, verified or
deleted with an external memory unit.
Only when this function is valid, “I/O-VARIABLE CUSTOMIZE (file name:
USRIOVAR.DAT)" is displayed and can be selected. To display the "I/O-VARIABLE
CUSTOMIZE (file name: USRIOVAR.DAT)", select {EX.MEMORY} → {LOAD} {SAVE}
{VERIFY} {DELETE} → {SYSTEM DATA}.
9 - 617
Parameter
9.3.39
WORD registration function / WORD function specification
S2C410
Specifies whether the function that allows you to edit words while entering characters is
valid or invalid.
0: Invalid
1: Valid
Note: Words can only be edited, when the SECURITY mode is set to EDIT mode or
MANAGEMENT mode.
9.3.40
JOB UNDELETE function
S2C413
When deleting a JOB, this function allows you to retain the JOB data without completely
deleting it from the memory so that the JOB can be restored if necessary.
This parameter can be set on the TEACHING CONDITION window.
If a JOB is deleted while this function is valid, the JOB disappears from the JOB LIST
window. In this case, {TRASH JOB LIST} is newly displayed to {JOB} on the main menu
and the deleted JOB is listed on it.
NOTICE
The JOB will not be listed on the trash JOB list and will not be restored if it is deleted when
this function is invalid.
On the trash JOB list, the deleted JOBs are displayed.
9 - 618
Parameter
On this window, the following operations are available with the same operations as on the
JOB list window.
•
Batch selection / canceling selection of the JOBs ({EDIT} → {SELECT ALL} →
{CANCEL SELECT})
•
JOB search ({EDIT} → {JOB SEARCH COND})
•
Rearrange of the JOBs in the order of date / order of name ({DISPLAY} → {DATE}
{NAME})
•
JOB detailed information display ({DISPLAY} → {DETAIL})
–
Restoring the JOB
1. Choose a JOB to be restored and select {JOB} → {UNDELETE JOB} from the pull down
menu.
The confirmation dialog box appears.
2. Select YES.
The JOB is restored.
The restored JOB is deleted from the trash JOB list and newlly listed to the JOB list.
If NO is selected, the operation is canceled.
9 - 619
Parameter
–
Deleting the JOB completely
1. Choose a JOB to be completely deleted and select {JOB} → {DELETE JOB} from the
pull down menu.
The confirmation dialog box appears.
2. Select YES.
The JOB is deleted completely from the memory.
The JOB is deleted from the trash JOB list.
The JOB will not be restored after this operation.
If NO is selected, the operation is canceled.
NOTICE
The JOB data remains in the memory until it is completely deleted. The capacity of the
memory decreases as long as this function is valid. Delete unnecessary data to keep
enough JOB capacity.
9.3.41
TIME RESET
S2C415 to S2C419
These parameters specify whether resetting operation of the specified times is permitted or
not.
S2C415: CONTROL POWER ON TIME
S2C416: SERVO POWER ON TIME
S2C417: PLAYBACK TIME
S2C418: WORK TIME
S2C419: WEAVING TIME
0: Prohibit Resetting
1: Permit resetting
“PERMIT” is set as the initial value for the work time and motion time.
9 - 620
Parameter
9.3.42
Tool number switching
S2C431
This parameter specifies whether tool number switching is permitted or not.
0: Prohibited (only number “0” can be used.)
1: Permitted (64 type of tools from number “0” to “63” can be used.)
9.3.43
Position teaching buzzer
S2C433
This parameter specifies whether the buzzer sound at position teaching is used or not.
0: With buzzer
1: Without buzzer
9.3.44
Job linking designation (when twin synchronous function used)
S2C434
This parameter specifies whether the robot at the synchronizing side is to be linked when
the robot and the station at the synchronized side are performing FWD/BWD or test run, by
using the twin synchronous function.
0: Not operating
1: Linking
1
Synchronizing side
1
Does not operate the synchronizing side while teaching the synchronized side.
1
Links the synchronizing side while teaching the synchronized side.
9 - 621
Parameter
9.3.45
PLAYBACK operation continuation function
S2C437
This function is used to decide where to resume the playback on the start operation after
suspending the playback and moving the cursor or selecting other JOBs.
0:Starts operation where the cursor is located in the JOB displayed at the moment.
1:The playback continuation window appears. Select “YES” and the playback resumes
where the cursor has been located when the playback suspended. If “NO” is selected, the
playback resumes where the cursor is located in the JOB displayed at the moment.
0: Resumes where the cursor is located in the JOB displayed at the moment.
1: Resumes where the cursor has been located when the playback suspended OR
where the cursor is located in the JOB displayed at the moment.
<Example>
Suspended at step 0003 during the playback of JOB A.
↓
Displays JOB B
↓
Starts operation
↓
On the playback operation continuation window.
When “YES” selected, the playback resumes from step 0003 of JOB A.
When “NO” selected, the playback resumes from the current position in JOB B.
Tab. 9-1: S2C437
* When this function is valid (S2C437=1), a light blue cursor is displayed at the instruction
section of step where the playback has been stopped. When “YES” is selected, the
playback resumes where this cursor is located.
NOTICE
If a JOB has been edited or FWD/BWD/TEST RUN operation(s) have been executed, the
playback cannot resume where it has suspended. Also this function is invalid if the reserved
start function is set valid (S2C222=0).
9 - 622
Parameter
9.3.46
I/O name display function for JOB
S2C544
When a user input/output signal, whose name is already set, is used as a JOB, this function
displays the signal name in the form of a comment.
NOTICE
When the specification of the signal is group specification (IG#, IGH#, OG#, OGH#), the
name will not be displayed. Also, the name will not be displayed when the JOB is saved at
external memory devices.
The setting can be made on the FUNCTION ENABLE window.
0: Invalid
1: Valid
9.3.47
Display angle function for all axes
S2C684
This function enables to change the display of robot position from pulse-formed to angleformed on the specific window.
This function is valid in the following windows:
•
Current value (however, it is invalid if the present displayed coordinate systems are
“base”, “robot” or “user”.)
•
Command position
•
Home Position
•
Second work home position
1
Function valid / invalid
2
Coordinated system pulse / angle
3
Data system when angle is specified
absolute /ground
4
Valid
5
Angle
6
Ground angle
d7
d0
1
3
5
:1 2
:2 4
:4 6
6
The setting can be made on the FUNCTION ENABLE window.
9 - 623
Parameter
1. Select {DISPLAY} on the pull down menu while this function is valid.
{PUSLE}, {ABSOLUTE ANGLE} and {GROUND ANGLE} appear.
2. Select one so that the presently displayed data can be changed to the selected data
type.
PULSE:
Indicates the pulse data of each axis.
ABSOLUTE ANGLE:
Indicates the independent angle at every axes on the basis that the absolute value is 0
[deg] when the pulse is 0.
GROUND ANGLE:
Indicates the L- and U-axes angle according to the robot installation direction. The value of
unoperated axes may vary depending on the robot’s posture.
NOTICE
As for the SERVO track, angle is not indicated but distance (unit [mm]).
9 - 624
Parameter
9.3.48
Control point operation setting on the SERVO TRACK
S2C713
This parameter is used to define a movement system that fixes the control point of the robot
as long as SERVO track is active.
However, it applies only if the selected control group is defined as SERVO track and
SERVO track is operated with JOG keys in the Cartesian coordinates.
0: Normal OPERATION mode
1: Setting control point operation with SERVO track
9.3.49
Touch operation in the general screen
S2C1203
This parameter specifies whether window scrolling, page switching and cursor movement
by touch operation in the GP display area are enabled or disabled.
The specification is done through the bit specification.
1
Window scrolling valid/invalid 1: (invalid)
2
Page switching valid/invalid: 2: (invalid)
3
Cursor movement valid/invalid 4: (invalid)
9.3.50
d7
d0
1
2
3
Cursor movement due to touch operation in the Job window
S2C1204
This parameter defines the cursor movement due to touch operation in the JOB window.
The setting can be made on the FUNCTION ENABLE SETTING window.
0: Press [INTERLOCK] + touch operation (contact operation).
1: Touch operation + DIALOG confirmation (TOUCH OPERATION + DIALOG CONFIRMATION).
2: Cursor movement due to touch operation is not available.
NOTICE
S2C1203: When 2 is set and the cursor movement by touch operation in the GP display is
disabled, the cursor cannot be moved.
9 - 625
Parameter
9.4
Parameters according to interference area
These parameters limit the P-point maximum envelope of the Robot or set the interference
area for axis interference or cubic interference.
9.4.1
PULSE SOFT LIMIT
S1CxG400 to S1CxG415
Soft limit is set independently for each axis by pulse value setting. Set current value (pulse
value) of the axis at the soft limit set up position.
1
Range of movement
2
Soft limit
3
Limit switch
4
Mechanical operation limit
9.4.2
1
2
3
4
Cube soft limit check
S2C001
This parameter is used to specify whether or not the soft limit of the cube is checked. More
than one soft limit can be specified.
0: Without check
1: With check
1
Soft limit of cube 1, robot 1
d7
2
Soft limit of cube 2, robot 2
8 7 6 5 4 3
3
Soft limit of cube 3, robot 3
4
Soft limit of cube 4, robot 4
5
Soft limit of cube 5, robot 5
6
Soft limit of cube 6, robot 6
7
Soft limit of cube 7, robot 7
8
Soft limit of cube 8, robot 8
If WITH CHECK is selected, set the following parameters:
Units: m
Cube soft limit (basic coordinates of the robot TCP):
S3C000: Robot 1: + side: X
S3C001: Robot 1: + side: Y
S3C002: Robot 1: + side: Z
S3C003: Robot 1: - side: X
S3C004: Robot 1: - side: Y
S3C005: Robot 1: - side: Z
S3C006: Robot 2: + side: X
S3C007: Robot 2: + side: Y
9 - 626
d0
2 1
Parameter
S3C008: Robot 2: + side: Z
S3C009: Robot 2: - side: X
S3C010: Robot 2: - side: Y
S3C011: Robot 2: - side: Z
•
•
•
S3C042: Robot 8: + side: X
S3C043: Robot 8: + side: Y
S3C044: Robot 8: + side: Z
S3C045: Robot 8: - side: X
S3C046: Robot 8: - side: Y
S3C047: Robot 8: - side: Z
NOTICE
Soft limit
The soft limit is a software function that limits the robot's range of movement.
If the TCP reaches the soft limit during operation, the robot automatically stops and no
longer continues to move in the same direction. An error message is output if this soft limit
is exceeded during playback. There are two types of soft limit:
Soft limit of the cube
The soft limit is set to the basic coordinates with the absolute value.
z
x
Y
Pulse soft limit (independent axis soft limit): See chapter 9.4.1 "PULSE SOFT LIMIT".
9 - 627
Parameter
9.4.3
S-axis interference check
S2C002
This parameter specifies whether to check for interference with each Robot. If “WITH
CHECK” is selected, set up the following parameters. Units: Pulse
S3C048: S-axis interference area robot 1 (+)
S3C049: S-axis interference area robot 1 (-)
S3C050: S-axis interference area robot 2 (+)
S3C051: S-axis interference area robot 2 (-)
•
•
•
S3C063: S-axis interference area robot 8 (-)
9.4.4
Cube/axis interference check
S2C003 to S2C066
1. Designation of checking: These parameters specify the cube/axis interference to be
used by bit.
0: Cube Interference/Axis Interference Not Used
1: Robot 1
2: Robot 2
3: Robot 3
4: Robot 4
5: Robot 5
6: Robot 6
7: Robot 7
8: Robot 8
9: Base Axis 1
10: Base Axis 2
.......
16: Base Axis 8
17: Station Axis 1
18: Station Axis 2
.......
40: Station Axis 24
2. Checking method
Designates whether checking is performed by command or feedback.
1
Designation of checking (data setting)
0: Not Used
1: Robot 1, -----, 40: Station Axis 40
2
1
Checking method (bit setting)
2
0: Command
1: feedback
NOTICE
Checking method:
The checking method differs according to ON/OFF status of SERVO power supply.
Checking Method Designation
SERVO power ON
SERVO power OFF
Command
Command
Command
Feedback
Feedback
Feedback
During the SERVO float function operation, checking is performed by feedback regardless
of the checking method designation.
Interference area:
9 - 628
Parameter
It is possible to output whether the TCP during operation is inside or outside as a status
signal, and to set the area to control the position by parameters S2C003 to S2C194. When
the robot attempts to enter this area, the corresponding input signal (e.g. an “entrance
prohibit signal”) is detected. The robot stops immediately if there is an input signal and goes
into waiting status until this signal is cleared. This signal is processed in the I/O section.
Three methods of interference area settings are prepared for Robots and stations. For a
system with one robot, use robot 1.
S-axis Interference Area Position is controlled by the pulse value of the S-axis
1
(-) Side
2
In right area
3
In left area
4
(+) Side
4
1
3
2
Cubic interface area
1
Cube Setting Method
2
Use cube interference check?
3
No
4
Yes
5
Decide the using method
6
Complete
7
Set the area
1
S2C003-S2C066
2
3
2
2
4
S2C067-S2C194
5
S3C064-S3C1087
6
7
1
2
Base coordinates (robot coordinates, user
coordinates)
Z
1
Up to 64 cubic areas can be set, each cube
is set parallel to the set coordinates.
X
Y
2
Axis interference area
Up to 64 areas can be set.
The maximum value (+ side) and minimum value (-side) of the operation area are set on
the + and-sides of the robot, base axis, and station axis.
9 - 629
Parameter
Axis interference area
Max value positive side (+)
2
Min value negative side (-)
0
1
OF F
1
9 - 630
ON
2
Parameter
9.4.5
Cube using method
S2C067 to S2C194
For each interference signal, the reference coordinate system for the interference area can
be specified by the type and number of the coordinate system.
S2C067: Cube/axis interference signal 1 Type of the coordinate system
S2C068: Cube/axis interference signal 1 Number of the coordinate system
S2C069: Cube/axis interference signal 2 Type of the coordinate system
S2C070: Cube/axis interference signal 2 Number of the coordinate system
....
....
....
S2C194: Cube/axis interference signal 64 Number of the coordinate system
1. Type of the coordinate system
Specify the reference coordinate system for the interference area.
Coordinate specification
0: Pulse (Axis interference)
2: Robot coordinates
1: Base coordinates
3: User coordinates
2. Number of the coordinate system
When “3: User coordinates” is specified for the type of the coordinate system, specify
the number of the user coordinates here.
NOTICE
Precaution when setting the interference area:
It will be necessary to consider the following when setting the cubic interference and S-axis
interference areas. The Robot is processed to decelerate to stop from the point where it
enters in the area. Therefore, set the areas in consideration of the amount of the Robot
movement in the deceleration section shown in the figure below.
1
Interference area
2
Deceleration
3
Hold operation
4
Speed reduction section
5
Movement
6
Speed
1
2
3
6
5
4
9 - 631
Parameter
The move amount in the speed reduction section is dependent on the moving speed of the
robot at that time:
V = 1500 mm/s → approx. 300 mm (max.)
V = 1000 mm/s → approximately 160 mm
V = 30 mm/s → approx. 3 to 4 mm
V = 20 mm/s → approximately 2 mm
NOTICE
Interference prevention in interference area:
Processing to prevent interference is executed in the I/O processing section. The relation
between the YRC1000I/O signal and robot operation is shown below.
9 - 632
1
Start
2
Is the TCP within the interference area?
3
Yes
4
No
5
Is the INTERFERENCE AREA
ENTRANCE PROHIBIT signal
ON?
1
2
4
3
5
3
4
6
7
6
Outputs WAIT signal
7
WAIT reset
8
Robot stops
9
OPERATING IN INTERFERENCE AREA signal output
10
10 Has the TCP left the interference area?
3
8
9
4
Parameter
If the status becomes the wait status by the entrance prohibit signal, the robot enters the
area just a little bit because of the deceleration process, and then stops.
The robot does not enter the interference area where the entrance prohibit signal is already
valid.
Connection Example Where Two Robots are Operated in the Same Area
1
Operating inside CUBE2
2
Output in cube during operation
3
Interference waiting
4
Output during waiting by entrance prohibit
signal
5
Inside CUBE1 entrance prohibit
6
These signals are checked when entering
the cube
7
Inside CUBE2 entrance prohibit
8
Robot A
9
Operating inside CUBE1
1
3
2
4
5
6
7
8
9
15
10 Operating inside CUBE2
10
16
11 Operating inside CUBE2
11
17
13 Inside CUBE2 entrance prohibit
12
18
14 Interference waiting
13
19
14
20
12 Inside CUBE1 entrance prohibit
15 Robot B
16 Inside CUBE1 entrance prohibit
17 Inside CUBE2 entrance prohibit
18 Operating inside CUBE1
21
19 Operating inside CUBE2
20 Interference waiting
21 Alarm signal
9 - 633
Parameter
9.4.6
CUBE SOFT LIMIT
S3C000 to S3C047
These parameters specify auxiliary functions of S2C001 parameter. For details, see
chapter 9.4.2 "Cube soft limit check" on 626.
9.4.7
S-axis interference area
S3C048 to S3C063
These parameters specify auxiliary functions of S2C002 parameter. For details, see
chapter 9.4.3 "S-axis interference check" on 628.
9.4.8
Cubic interface area
S3C064 to S3C1087
These parameters specify auxiliary functions of S2C003 to S2C066 parameters. For
details, see chapter "S2C003 to S2C066: 9.4.4 "Cube/axis interference check" on 628.
9.4.9
Robot interference area
S3C1089 to S3C1096
These parameters specify auxiliary functions of S2C236 to S2C263 parameters. For
details, see chapter S3C000 to S3C047: 9.4.6 "CUBE SOFT LIMIT" on 634.
9.4.10
Work home position cube length of its sides
S3C1097
Units: 1 µm
This parameter specifies a side length of the cube for the work home position.
9 - 634
Parameter
9.5
Parameters depending on the I/O status
These parameters set the parity check or I/O setting for user input/output signals.
9.5.1
User output relay when control power is on
S2C235
This parameter specifies the state of the user output relays when the control power is turned
ON. Since the power OFF state, including peripheral devices, cannot be completely
reproduced, take note when restarting.
0: Reset to the power OFF state
1: Initialized (all user relays OFF)
9.5.2
Parity of user input groups
S4C000 to S4C015, S4C1100 to S4C1115
These parameters specify whether priority checks are carried out for the parameters when
instructions are executed for the input group (1G#). The instructions for the input groups are
listed below.
•
IF-SENTENCE (JUMP, CALL, RET, PAUSE)
•
PATTERN JUMP, PATTERN JOB CALL
•
DIN
•
WAIT
A parity check is carried out against the input group where an ON bit (1) has been set on
this parameter.
S4C000 to S4C015: IG#(1) to IG#(256)
S4C1100 to S4C1115: IG#(257) to IG#(512)
9 - 635
Parameter
d15
d0
d15
S4C000
d0
S4C001
d15
IG#01
IG#17
IG#02
IG#18
IG#03
IG#19
IG#04
IG#20
IG#05
IG#21
IG#06
IG#22
IG#07
IG#23
IG#08
IG#09
IG#24
IG#25
IG#10
IG#26
IG#11
IG#27
IG#12
IG#28
IG#13
IG#29
IG#14
IG#30
IG#15
IG#16
IG#31
IG#32
d0
S4C002
IG#33
IG#34
IG#35
IG#36
IG#37
IG#38
IG#39
IG#40
IG#41
IG#42
IG#43
IG#44
IG#45
IG#46
IG#47
IG#48
The parity bits are set as the highest-level bits of each input group and are written in even
parity. If an error is detected during the parity check, an error message is output and the
robot stopped. Remains unchanged if no parity check is carried out.
9 - 636
Parameter
9.5.3
Parity of user output groups
S4C016 to S4C031, S4C1116 to S4C1131
These parameters specify whether the output group instruction is carried out with a parity
check (even parity).
A parity check is carried out against the input group where an ON bit (1) has been set on
this parameter.
S4C016 to S4C031: IG#(1) to IG#(256)
S4C1116 to S4C1131: IG#(257) to IG#(512)
d15
d0
d15
S4C016
d0
S4C017
d15
OG#01
OG#17
OG#02
OG#18
OG#03
OG#19
OG#04
OG#20
OG#05
OG#21
OG#06
OG#22
OG#07
OG#23
OG#08
OG#09
OG#24
OG#25
OG#10
OG#26
OG#11
OG#27
OG#12
OG#28
OG#13
OG#29
OG#14
OG#30
OG#15
OG#16
OG#31
OG#32
d0
S4C018
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
The parity bits are set as the highest-level bits of each output group. For example, if OG#01
is set with parity and DOUT OG# (1) 2 is executed, the result will be 00000010 if 2 is binary
converted. Since there will then only be one ON bit (odd), the parity bit (highest-level bit) is
set to ON, and 10000010 (130) is output to OG# (1).
In the case of a variable such as DOUT OG# (1) B003, parity bits are added to the variables.
However, if a variable exceeds a value of 127, as in the case of DOUT OG# (1) 128, for
example, an error message is output. Remains unchanged if no parity check is carried out.
9 - 637
Parameter
9.5.4
Data of user input groups
S4C032 to S4C047, S4C1132 to S4C1147
•
These parameters specify whether the input group data is to be treated as binary or
BCD data when an instruction is executed for the input group (1G#). The instructions
for the input groups are listed below.
•
IF-SENTENCE (JUMP, CALL, RET, PAUSE)
•
PATTERN JUMP, PATTERN JOB CALL
•
DIN
•
WAIT
The input group with the bit set to ON (1) by this parameter is treated as BCD data.
S4C031 to S4C047: IG#(1) to IG#(256)
S4C1132 to S4C1147: IG#(257) to IG#(512)
d15
d0
d15
S4C032
d0
S4C033
d15
IG#01
IG#17
IG#02
IG#18
IG#03
IG#19
IG#04
IG#20
IG#05
IG#21
IG#06
IG#22
IG#07
IG#23
IG#08
IG#09
IG#24
IG#25
IG#10
IG#26
IG#11
IG#27
IG#12
IG#28
IG#13
IG#29
IG#14
IG#30
IG#15
IG#16
IG#31
IG#32
d0
S4C034
IG#33
IG#34
IG#35
IG#36
IG#37
IG#38
IG#39
IG#40
IG#41
IG#42
IG#43
IG#44
IG#45
IG#46
IG#47
IG#48
9 - 638
Parameter
9.5.5
Data of user output groups
S4C048 to S4C063, S4C1148 to S4C1163
These parameters specify whether the output group instruction is carried out with binary or
BCD data.
The output group with the bit set to ON (1) by this parameter is treated as BCD data.
S4C048 to S4C063: IG#(1) to IG#(256)
S4C1148 to S4C1163: IG#(257) to IG#(512)
d15
d0
d15
S4C048
d0
S4C049
d15
OG#01
OG#17
OG#02
OG#18
OG#03
OG#19
OG#04
OG#20
OG#05
OG#21
OG#06
OG#22
OG#07
OG#23
OG#08
OG#09
OG#24
OG#25
OG#10
OG#26
OG#11
OG#27
OG#12
OG#28
OG#13
OG#29
OG#14
OG#30
OG#15
OG#16
OG#31
OG#32
d0
S4C050
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
NOTICE
Differences between binary and BCD data:
In the case of the input and output groups, the result depends on whether the binary or BCD
formula is used.
<Example>
When the input function is [01010101].
In the case of BCD data, it is not possible to use a value that is greater than 9 in the ones
or tens digit place because the upper limit for the value is 99.
9 - 639
Parameter
1
Status
2
Binary
3
Housing
DATA
EDIT
USER INPUT
GROUP
4
Binary values
5
BCD data values
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
1
2
0:10 00:161
20 = 1
DISPLAY
IG#01
21 = 2
22 = 4
23 = 8
24 = 16
25 = 32
26 = 64
0
#10010
#10011
#10012
#10013
#10014
#10015
#10016
#10017
1
0
1
0
1
0
27 = 128
!
9.5.6
1
0
4
0
16
0
64
0
3
BCD
20 = 1
3
1
21 = 2
22 = 4
23 = 8
20 = 1
21 = 2
22 = 4
23 = 8
0
Total
is in
ones.
5
4
0
1
0
Total
is in
tens.
5
4
0
85
55
4
5
Module switchover for the user output group to be initialized
S4C064 to S4C079, S4C1164 to S4C1179
Set the user output group to be initialized when the mode is switched.
Use these parameters if you are using user output signals as instructions for the peripheral
devices.
The signal of the output group where the bit-on (1) is done by this parameter will be turned
OFF at mode switching
S4C064 to S4C079: IG#(1) to IG#(256)
S4C1164 to S4C1179: IG#(257) to IG#(512)
d15
d0
d15
S4C064
d0
S4C066
d15
OG#01
OG#17
OG#02
OG#18
OG#03
OG#19
OG#04
OG#20
OG#05
OG#21
OG#06
OG#22
OG#07
OG#23
OG#08
OG#09
OG#24
OG#25
OG#10
OG#26
OG#11
OG#27
OG#12
OG#28
OG#13
OG#29
OG#14
OG#30
OG#15
OG#16
OG#31
OG#32
d0
S4C066
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
9.5.7
S4C240
9 - 640
User output no. when robot drop allowable range error occurs
Parameter
This parameter specifies the user output number to output the robot drop allowable range
error alarm occurrence externally. When this function is not used, set at “0”.
9.6
Parameters according to Coordinated or Synchronized
Operation
These parameters make the settings for coordinated or synchronized operations between
robots or between robots and stations.
9.6.1
+MOV or +SMOV instruction speed input
S2C212
This parameter specifies whether or not speed input is permitted for movement instructions
of the master robot in a coordinated JOB.
<Example>
0: Not provided for
SMOVL V=100
+MOVL
← Master side
Speed specification not provided for
<Example>
1: Provided for
SMOV L V=100
+MOV L V=100
← Master side
Speed specification provided for
9.6.2
+MOV instruction interpolation input
S2C213
This parameter specifies which interpolation is permitted for move instructions for the
master robot in a coordinated JOB. More than one instruction can be specified.
1
+MOVJ: 4 (Valid)
2
+ MOVL: 8 (Valid)
3
+MOVC: 4 (Valid)
4
+ MOVS: 8 (Valid)
d7
d0
1
2
3
4
9 - 641
Parameter
9.6.3
Operation method at FWD/BWD operation
S2C231
This parameter specifies the operation method at FWD/BWD operation or test run by
independent control.
0: The JOB of the currently displayed task operates.
1: JOBs of all the tasks operate.
1. When master task is currently displayed
Sub task
2 1
1
3
2. When sub task 1 is currently displayed
2
2
1
1
3
3
3. When sub task 2 is currently displayed
2
1
3
1
Master task
: Not operating
2
Subtask 1
: Operating
3
Subtask 2
0: One of the task JOBs that are currently displayed operates.
1: JOBs of all tasks operate.
9.6.4
JOB when MASTER OF SUBTASK is called with independent
control
S2C232
This parameter specifies the JOB which is called up when the master of the subtask is
called up by independent control.
0: Master JOB
1: Root JOB
Master JOB: JOB registered in the master control window.
Root JOB: JOB activated by PSTART instruction.
9 - 642
Parameter
9.6.5
Station axis current value display function
S2C264
This parameter specifies whether the function to display the current value of the station axis
in the following units is valid/invalid.
0: Invalid
1: Valid
Rotating axis: Angle (deg)
Servo track : Distance (mm)
For the specification of the rotary axis or the servo track, refer to chapter "S2C265 to
S2C288: 9.6.6 "Station axis displayed unit".
9.6.6
Station axis displayed unit
S2C265 to S2C288
This parameter specifies the station axis displayed unit (bit specification).
0: Display angle (deg)
1: Display in distance (mm)
Setting method:
Set a numerical value (decimal) where the bit of the axis to be displayed in the units of
distance becomes 1.
1
Decimal
2
Station 1st Axis
3
Station 2nd axis
4
Station 3rd axis
5
Station 4th axis
6
Station 5th axis
7
Station 6th axis
d7
d6
d4
d3
d2
d1
d0
(32) (16)
(8)
(4)
(2)
(1)
d5
1
2
3
4
5
6
7
<Example>
When 1st and 3rd axes of station 1 are displayed in the units of distance:
1
Set 1 to axis displayed in distance.
d7
d6
d5
d4
d3
d2
d1
d0
0
0
0
1
(4)
0
1
(1)
4
+
1
1
1
=
5
Therefore, set parameter S2C265 of station 1 to 5.
9 - 643
Parameter
9.6.7
Posture control of synchronized robot
S2C420
This parameter specifies the posture control method for synchronized robot performing
compensation during playback by using the twin synchronous function.
0: Change posture according to station movement
1: Fixed in relation to the ground
1
Change posture according to station movement.
2
Fixed in relation to the ground.
9.6.8
1
2
Posture control of robot in Multi-JOB
S2C421
This parameter specifies the posture control method for robot executing compensation at
the linking side when JOB linking is performed during FWD/BWD operation by the twin
synchronous function.
0: Change posture according to station movement.
1: Fixed in relation to the ground.
9.6.9
Operation of JOB without control group specification
S2C687
When the SERVO power supply is individually turned OFF where JOBs in multiple number
of tasks are operated using the independent control function, the JOB execution of the
control group whose SERVO power supply is turned OFF is interrupted. The JOBs of other
control groups continue their execution.
For the JOBs without control group specification such as master JOB, the conditions for
execution can be set by the parameter.
0: Execution possible only when SERVO power supply to all the axes have been turned
ON.
1: Execution possible only when SERVO power supply for any axis is turned ON.
9 - 644
Parameter
9.6.10
Execution of “BWD” operation
S2C688
This parameter prohibits step-back operation of a JOB without a step.
1
BWD operation for a JOB without a group axis.
0: Enabled
1: Disabled.
2
BWD operation for CONCURRENT JOB.
d7
d0
1
2
0: Enabled
1: Locked
9 - 645
Parameter
9.6.11
Maximum deviation angle of current station position
S3C1101
Used if the twin synchronous function is used. This parameter specifies the maximum
deviation between the taught position and the current position of the station.
0: No deviation check
Other than 0: Deviation angle (units: 0.1°).
1
Compensation
2
Robot on synchronizing side
3
Position set at TEACH-IN of the synchronizing side
4
Deviation at playback
5
Station
6
Station S1
7
Subtask 2
8
Subtask 1
2
1
3
4
5
8
7
R1
R2
6
In the figure above on the left, the follower R2 executes the JOB of subtask 2 synchronously
with the movement of the station axis, which is moved by the R1 JOB. The JOB of subtask
2 only controls the R2 robot axis.
If the taught position of the station in subtask 2 does not match the station's current position
(checked by the subtask 1 JOB), the difference is automatically compensated so that R2
maintains the taught position relative to the station.
The difference between the taught position and the current position is constantly monitored.
As soon as the difference exceeds the limit value set for the parameter, the error message
"PULSE LIMIT (TWIN COORDINATED)" is output.
9 - 646
Parameter
9.7
Parameters for Other Functions or Applications
These parameters make the settings for other functions or applications.
9.7.1
Small circle cutting
S1CxG049 to S1CxG051
These parameters prescribe cutting operation at small circle cutting.
S1CxG049 (minimum diameter):
Set the minimum diameter of a figure in the units of
µm that can be processed by small-circle cutting
machine.
S1CxG050 (maximum diameter):
Set the minimum diameter of a figure in the units of
µm that can be processed by small-circle cutting
machine.
S1CxG051 (Maximum speed):
Set the maximum cutting speed at operation by
CUT instruction in the units of 0.1mm/s.
9.7.2
Small circle cutting direction limit value
S1CxG052 to S1CxG053
These parameters set the cutting direction limits at small circle cutting.
S1CxG052 (+ direction):
Set the limit value in the positive direction of cutting angle
DIR set by CUT instruction, in the units of 0.01°.
S1CxG053 (- direction):
Set the limit value in the negative direction of cutting angle
DIR set by CUT instruction, in the units of 0.01°.
9.7.3
Small circle cutting overlap value
S1CxG054 to S1CxG055
These parameters set the overlapped value at small circle cutting.
S1CxG054 (Operation radius):
Set the radius at inner rotation in the units of 0.1 µm
after overlapping by CUT instruction.
S1CxG055 (Rotation angle):
Set the twisting angle at inner rotation in the units of
0.1° after overlapping by CUT instruction.
9.7.4
PATTERN CUTTING Dimension
S1CxG063, S1CxG064
This parameter sets the minimum diameter (S1CxG063) and maximum diameter
(S1CxG064) for pattern cutting in µm
9 - 647
Parameter
9.7.5
Mirror shift sign inversion
S1CxG065
This parameter sets the axis to be shifted (mirror-shift: invert the sign).
1
0: Axis (0: not inverted,
1: inverted)
2
1
7. Axis
2
9.7.6
RELATIVE JOB operation method
S2C430
This parameter specifies how to operate a RELATIVE JOB. A method to convert a
RELATIVE JOB into a standard JOB (pulse) and a conversion method to calculate the
aimed position (pulse position) when a RELATIVE JOB is operated can be specified.
0: Previous step with priority (B-axis moving distance minimized).
1: Form with priority.
2: Previous step with priority (R-axis moving distance minimized).
4: Previous step with priority (R-axis moving distance minimized and pulse limit avoided).
9.7.7
Prohibit Welding Section Speed Override
S2C1135
This parameter prohibits the speed override within the welding section. While the robot is
in the welding section, it moves at the same speed as in the situation where the speed
override is not specified.
0: Invalid
1: Valid
0000
9 - 648
0001
MOVL P000 V=50
0002
ARCON ASF#(1)
0003
MOVL P001 V=30
0004
MOVL P002 V=30
0005
MOVL P003 V=30
0006
ARCOF
0007
MOVL P004 V=50
0008
END
Speed override is prohibited
Parameter
9.7.8
Display Welding Condition File Comment on the JOB Window
Function
S2C1137
This parameter specifies a comment to the welding start condition file or the welding end
condition file and then displays the comment on the JOB window when teaching the file by
ARCON, ARCOF or ARCSET instruction.
0: Invalid
1: Valid
0000
0001
MOVL P000 V=50
0002
ARCON ASF#(1) //Current200A Voltage10V
0003
MOVL P001 V=30
0004
MOVL P002 V=30
0005
MOVL P003 V=30
0006
ARCOF
0007
MOVL P004 V=50
0008
END
9.7.9
Analogue output filter constant
S3C1111 to S3C1190
(When analog output corresponding to speed function is used)
By setting a constant to filter, a filter processing can be performed for the output analog
signal.
9.7.10
Cut width correction value
S3C1191
(When form cutting function is used)
This parameter specifies the path correction value for pattern cutting operation. A value ½
of the cut width is set in units of µm.
9 - 649
Parameter
9.8
Parameter for hardware control
These parameters make the hardware settings for fan alarm or relay operation, etc.
9.8.1
Anticipator function
S2C646
This parameter specifies anticipation output.
0: Invalid
1: Valid
The anticipator function is a function to quicken or slow the ON/OFF timing of four user
output signals and two user output groups. Using this function, signal output can be carried
out before or after the step is reached. As a result, timing deviation due to delayed motion
of peripheral devices and robot motion can be adjusted.
Setting the time to a negative value (-) advances the signal output.
This setting is effective when adjusting timing deviation due to delayed motion of peripheral
devices.
Setting the time to a positive value (+) delays the signal output.
This setting is effective when adjusting timing deviation due to delayed robot motion.
<Advanced signal output>
Signal output is carried out before the step is reached.
1
Step
2
Instructions
3
User output
4
Setting time for advanced
output
1
:
n-1
n
n+1
1
3
<Delayed signal output>
9 - 650
2
2
:
MOVL
MOVL NWAIT
ANTOUT AT#(1) ON
MOVL
n-1
n
ON
OFF
4
n+1
Parameter
Signal output is carried out after the step is reached.
1
Step
2
Instructions
3
User output
4
Setting time for delayed output
1
:
n-1
n
n+1
1
3
9.8.2
n-1
2
:
MOVL
MOVL NWAIT
ANTOUT AT#(2) ON
MOVL
n
n+1
ON
OFF
4
Setting of operating relay No.
S4C327 to S4C390
Up to 64 output signals can be turned ON/OFF with the programming pendant. The object
relay No. is set in these parameters. Although it is possible to set optional values for output
No. 1 to 4096 in the parameters, the following must be taken into consideration.
•
Avoid setting duplicate numbers.
•
The signal turned ON or OFF with the programming pendant is operated again or
remains unchanged until the instruction is executed.
9.8.3
Operating method of relays
S4C391 to S4C454
These parameters specify the operating method of output signals by the programming
pendant. The operating method can be specified for each output signal.
0:
1:
+ON
ON
-OFF
OFF
+ON
ON
OFF
ON/OFF with the key.
ON while the key is pressed.
OFF if the key is not pressed.
9 - 651
Parameter
9.8.4
Cooling fan alarm detection
S2C786 to S2C788
This parameter specifies a detection for cooling fan 1 to 3 with alarm sensor, connected to
power ON unit.
0: No detection.
1: Detected with message display.
2: Detected with message and alarm display.
S2C1170 to S2C1171
This parameter specifies a detection for cooling fan 4 to 5 with alarm sensor, connected to
power ON unit.
0: No detection.
1: Detected with message display.
2: Detected with message and alarm display.
S2C786
This parameter specifies a detection for cooling fan 1 with alarm sensor, connected to
power ON unit.
0: No detection.
1: Detected with message display.
2: Detected with message and alarm display.
9.8.5
S2C789 to S2C792: fan alarm 1 operation
9.8.6
S2C793 to S2C796: fan alarm 2 operation
9.8.7
S2C797 to S2C800: fan alarm 3 operation
S2C797 to S2C800
These parameters specify the operation of cooling fan 1 to 3 with alarm sensor, connected
to power ON unit.
Each bit specifies the power ON unit to which the detecting sensor is connected.
9 - 652
Parameter
d7
d0
S2C789,S2C793,S2C797
SERVOPACK#1
SERVOPACK#2
d7
d0
S2C790,S2C794,S2C798
SERVOPACK#3
SERVOPACK#4
d7
d0
S2C791,S2C795,S2C799
SERVOPACK#5
SERVOPACK#6
d7
d0
S2C792,S2C796,S2C800
SERVOPACK#7
SERVOPACK#8
9 - 653
Parameter
9.8.8
S2C1174: fan alarm 4 operation
S2C1174
These parameters specify the operation of cooling fan 4 with alarm sensor, connected to
power supply contactor unit.
9.8.9
S2C801 to S2C804: Fan Alarm 1 Welder Status
9.8.10
S2C805 to S2C808: Fan Alarm 2 Welder Status
9.8.11
S2C809 to S2C812 Fan Alarm 3 Welder Status
These parameters define in which states a fan alarm is detected.
0: Detect when the control voltage is switched off
1: Detect when the SERVO voltage is switched on
d7
d0
S2C801,S2C805,S2C809
SERVOPACK#1
SERVOPACK#2
d7
d0
S2C802,S2C806,S2C810
SERVOPACK#3
SERVOPACK#4
d7
d0
S2C803,S2C807,S2C811
SERVOPACK#5
SERVOPACK#6
d7
d0
S2C804,S2C808,S2C812
SERVOPACK#7
SERVOPACK#8
9 - 654
Parameter
9.8.12
S2C1178: Fan 4 power source status
This parameter specifies the power status that detects a fan alarm.
0: Detect during control power ON
1: Detect during SERVO power ON
9.9
Transmission parameters
These parameters are used when the optional FC1, FC2, or data transmission function is
used.
For details, refer to the optional manual “YRC1000 INSTRUCTIONS FOR DATA
TRANSMISSION FUNCTION".
9.10
Application parameter
9.10.1
ARC welding
9.10.1.1
AxP000: Applications
This parameter specifies the application. Set “0” for arc welding.
9.10.1.2
AxP003: Welding assignment of welding start condition file
This parameter specifies the beginning condition number in the welding start condition file
to be assigned to Power Source 2. Condition files of a lower number are automatically
assigned to Power Source 1. For a system with one Power Source, set “49” (maximum
value).
1
Condition file
2
Power Source 1
3
Power Source 2
1
2
3
9.10.1.3
AxP004 Welding assignment of welding end condition files
This parameter specifies the beginning condition number in the welding END condition file
to be assigned to Power Source 2. Condition files of a lower number are automatically
assigned to Power Source 1. For a system with one Power Source, set “13” (maximum
value).
1
Power Source 1
2
Power Source 2
1
2
9 - 655
Parameter
9.10.1.4
AxP005: Welding speed priority
This parameter specifies whether the welding speed is specified by the ARCON instruction,
by the welding start condition file, or by the additional times of the MOV instruction.
9.10.1.5
AxP009 Work continuing
This parameter specifies whether to output an ARCON instruction at restart after the robot
stopped while the ARCON instruction is being output.
9.10.1.6
AxP010: Welding instruction output
This parameter specifies the beginning number (0 to 12) of the analog output channel to the
Power Source. “0” indicates that no Power Source exists.
9.10.1.7
AxP011 to AxP012: Manual wire operation speed
These parameters specify the manual wire operation speed as a percentage of the
maximum instruction value. Instruction polarity is determined by the current instruction in
the Power Source characteristic file. The setting range is from 0 to 100.
9.10.1.8
AxP013 to AxP014: Welding control time
These parameters specify the welding control time in units of minutes. The setting range is
from 0 to 999.
9.10.1.9
AxP015 to AxP017: Number of welding control
These parameters specify the number of welding controls. The setting range is from 0 to 99.
9.10.1.10 AxP026 to AxP029: Tool on/off user output no.
These parameters specify the user output number for the tool open/close operation by
specific keys.
9.10.2
Handling Application
9.10.2.1
AxP002, AxP004: f1 Key function
These parameters set the output signal to assign for f1 key.
0: Not specified
1 to 4: Specific outputs for HAND-1 to HAND4-1
5: User output (No. is specified by AxP004).
9.10.2.2
AxP003, AxP005: f2 Key function
These parameters set the output signal to assign for f2 key.
0: Not specified
1 to 4: Specific outputs for HAND-2 to HAND4-2
5: User output (No. is specified by AxP005)
9 - 656
Parameter
9.10.3
Spot welding
9.10.3.1
AxP003: Maximum numbers of connected power sources
This parameter specifies the maximum number of power sources to be used. The value is
automatically set at start-up. No modification is needed.
9.10.3.2
AxP004: Gun full open stroke on/off signal
This parameter specifies which stroke switching signal is output ON or OFF to make the
gun fully-opened for each gun.
Bit specification (1 for 01) for 8 guns. The initial setting is “0".
0
0
0
0
0
0
0
0
|
|
|
|
|
|
|
|
8
7
6
5
4
3
2
1
9.10.3.3
Welding gun number
AxP005: Stroke change answer time limit
When using the X2 gear mechanical stopper gun and switching gun stroke, this parameter
sets the time from the stroke-switching-sequence start until the pressure instruction end.
The initial setting is “0,” with which the switching signal is output for the “stopper-type stroke
switching time” set in the file, and then the gun pressure instruction is turned OFF.
9.10.3.4
AxP006: Parity specification for welding conditions
When adding the parity signal to the welding condition signal with the power source
connected to each welding gun, this parameter specifies odd or even parity.
Bit specification for 4 power sources. (0: odd number, 1: even number). The initial setting is
“0”.
0
0
9.10.3.5
0
0
0
0
0
0
|
|
|
|
4
3
2
1
Welding power source number
AxP007: Anticipate time
When executing the GUNCL or SPOT instruction with NWAIT specified in the previous
move instruction but the time is not specified by ATT in the GUNCL or SPOT instruction,
this parameter specifies the anticipate condition (time). The initial setting is “0,” with which
the each instruction is executed as soon as the taught position of the previous move
instruction is reached, as normal operation.
9.10.3.6
AxP015: Welding error reset output time
This parameter sets the output time of the welding error reset signal to the Power Source
when the alarm reset signal is input.
If the setting is "0," the welding error reset signal is not output to the Power Source even if
the alarm reset signal is input.
9.10.3.7
AxP016, AxP017: Electrode wear amount alarm value
These parameters set the electrode wear amount alarm values (AxP016: movable side,
AxP017: fixed side) at the wear detection.
9 - 657
Parameter
9.10.4
GP application
AxP009: Work continue prohibit
This parameter specifies whether to output TOOLON instruction or not at restarting when
the work is stopped for some reasons during the output of TOOLON instruction.
9 - 658
Table of basic instructions
10 Table of basic instructions
<> indicates numeric or alphabetical data. If multiple items are shown in one section, select
one of the items.
10.1
Operation Instructions
Function
Moves to a programmed point with JOINT interpolation.
Additional item
Position data
Position variables of base axis
These data do not appear on
the screen
MOVJ
Position variables of station axis
VJ =<PLAY speed>
VJ: 0.01 to 100 %
PL = <Position Level>
0 to 8
NWAIT
UNTIL = statement
ACC = acceleration adjustment ratio
ACC: 20 to 100 %
DEC = deceleration adjustment ratio
DEC: 20 to 100 %
Example
MOVJ VJ=50.00 PL=2 NWAIT UNTIL IN#(16)=ON
Function
Moves to a programmed point with linear interpolation.
Additional item
Position data
Position variables of base axis
These data do not appear on
the screen
MOVL
Position variables of station axis
VJ= <PLAY speed>
VJ: 0.1 to 1500 mm/s
VR= <Playback speed of position>
1 to 9000 cm/min
VE= <Playback speed of external axis>
VR: 0.1 to 360 deg/s
VMAX= <VMAX speed>
VE: 0.01 to 100 %
VMAX: 50 to 100 %
PL= <Position Level>
0 to 8
CR= (Corner Radius)
CR: 1.0 to 6553.5 mm/s
NWAIT
UNTIL = statement
Example
ACC = acceleration adjustment ratio
ACC: 20 to 100 %
DEC = deceleration adjustment ratio
DEC: 20 to 100 %
MOVL V=138 PL=0 NWAIT UNTIL IN#(16)=ON
10 - 659
Table of basic instructions
Function
Moves to a programmed point with circular Interpolation.
Additional item
Position data
Position variables of base axis
These data do not appear on
the screen
MOVC
Position variables of station axis
VJ =<PLAY speed>
VJ: 0.1 to 1500 mm/s
VR =<Playback speed of position>
1 to 9000 cm/min
VE = <Playback speed of external axis>
VR: 0.1 to 360 deg/s
VE: 0.01 to 100 %
PL= <Position Level>
0 to 8
NWAIT
ACC = acceleration adjustment ratio
ACC: 20 to 100 %
DEC = deceleration adjustment ratio
DEC: 20 to 100 %
COORD = (Arc attitude control specification)
COORD: 0 to 1
MOVS
FPT: Arc end-point setting
Example
MOVC V=138 PL=0 NWAIT
Function
Moves to a programmed point with SPLINE interpolation.
Additional item
Position data
Position variables of base axis
These data do not appear on
the screen
Position variables of station axis
VJ=<PLAY speed>
VJ: 0.1 to 1500 mm/s
VR= <Playback speed of position>
1 to 9000 cm/min
VE= <Playback speed of external axis>
VR: 0.1 to 360 deg/s
VE: 0.01 to 100 %
PL= <Position Level>
0 to 8
NWAIT
Example
10 - 660
ACC = acceleration adjustment ratio
ACC: 20 to 100 %
DEC = (deceleration adjustment ratio)
DEC: 20 to 100 %
MOVS V=120 PL=0
Table of basic instructions
Function
Moves the specified increment from the current position with linear interpolation type.
Additional item
Moves the specified increment from the current position with linear interpolation type.
P <variable number>
BP <variable number>
EX <variable number>
VJ=<PLAY speed>
VJ: 0.1 to 1500 mm/s
VR= <Playback speed of position>
1 to 9000 cm/min
VE= <Playback speed of external axis>
VR: 0.1 to 360 deg/s
IMOV
VE: 0.01 to 100 %
PL= <Position Level>
0 to 8
NWAIT
BF, RF, TF, UF# (<user coordinates number>)
BF: Base coordinates
RF: Robot coordinates
TF: Tool coordinates
UF: User coordinates
NWAIT
UNTIL = statement
ACC = acceleration adjustment ratio
ACC: 20 to 100 %
DEC = (deceleration adjustment ratio)
DEC: 20 to 100 %
Example
IMOV P000 V=138 PL=1 RF
Function
Defines a reference point (e.g. wall point for weaving)
Additional item
<reference point number>
Wall point 1 for weaving: 1
REFP
Wall point 2 for weaving: 2
Position data
Position variables of base axis
These data do not appear on
the screen
Position variables of station axis
REFP 1 P000
Function
Sets play speed.
Additional item
VJ= <JOINT speed>
VJ: Same as MOVJ
V= <TCP speed>
V, VR, VE: Same as MOVL.
SPEED
Example
VR= <Playback speed of position>
VE= <Playback speed of external axis>
Example
SPEED VJ=50.00
10 - 661
Table of basic instructions
NOTICE
If the IMOV instruction is stopped during execution by one of the following operations and
then restarted, the robot moves by linear interpolation from the stopped position by adding
the set incremental value to the stopped position, thus the robots travel distance becomes
larger than the set incremental value. Thus, in a case where modification in the robots travel
distance by a stop causes a problem, do not execute the IMOV instruction.
 External SERVO OFF signal 2 (#40066)
 Turning OFF the SERVO power due to alarm occurrence
 Enable signal
 Switching the mode
 Enable Switch
10.2
I/O instructions
Function
Turns the external output signals ON and OFF.
Additional item
OT# (<output number>)
OGH# (<output group number>)
OG# (<output group number>)
OGU# (<user group output number>)
DOUT
Number of addressed input signals:
OT#(xx)=1; OGH#(xx)=4 (per group)
OG#(xx)=8 (per group)
OGU#(xx)=32 max. (per group)
OGH# (xx) is not subject to parity check; only the binary specification is allowed.
Example
DOUT OT#(12) ON
Function
Outputs a pulse signal as an external output signal.
Additional item
OT# (<output number>)
OGH# (<output group number>)
PULSE
OG# (<output group number>)
OGU# (<user group output number>)
T= <Time (seconds)>
0.01 to 65.535 s
0.300 s unless otherwise specified
Example
10 - 662
PULSE OT# (10) T=0.60
Table of basic instructions
Function
Sets input signals in variables.
Additional item
B <variable number>
IN# (<input number>)
IGH# (<input group number>)
IG# (<input group number>)
IGU# (<user group input number>)
OT# (<output number>)
OGH# (<output group number>)
OG# (<output group number>)
OGU# (<user group output number>)
SIN# (<system input number>)
SOUT# (<system output number>)
DIN
Number of addressed input signals:
IN#(xx)=1
IGH#(xx)=4 (per group)
IG#(xx)=8 (per group)
IGU#(xx)=32 max. (per group)
Number of addressed input signals:
OT#(xx)=1;OGH#(xx)=4(per group)
OG#(xx)=8(per group)
OGU#(xx)=32 max. (per group)
IGH# (xx) and OGH# (xx) are not subject to parity check; only the binary
specification is allowed.
Example
DIN B016 IN#(16)
DIN B002 IG#(2)
10 - 663
Table of basic instructions
Function
Waits until the external input signal status matches the specified status.
Additional item
IN# (<input number>)
IGH# (<input group number>)
IG# (<input group number>)
IGU# (<user group input number>)
OT# (<output number>)
OGH# (<output group number>)
OG# (<output group number>)
OGU# (<user group output number>)
SIN# (<system input number>)
WAIT
SOUT# (<system output number>)
B <set variable number>
Number of addressed input signals:
IN#(xx)=1; IGH#(xx)=4 (per group)
IG#(xx)=8 (per group)
IGU#(xx)=32 max. (per group)
Number of addressed input signals:
OT#(xx)=1; OGH#(xx)=4 (per group)
OG#(xx)=8 (per group)
OGU#(xx)=32 max. (per group)
T= <Time (seconds)>
Example
0.01 to 65.535 s
WAIT IN# (12)=ON T=10.00
Function
Outputs the specified voltage to the GP analog output port.
Additional item
AO# (<output port number>)
1 to 40
<output voltage (V)>
-14 to 14 V
Example
AOUT AO# (2) 12,7
Function
Starts the analog output corresponding to the speed.
Additional item
AO# (<output port number>)
1 to 40
BV = <basic voltage>
-14 to 14 V
V= <basic speed>
0.1 to 150 mm/s
ARATION
AOUT
WAIT IN# (12)=B002
1 to 9000 cm/min
ARATIOF
OFV = <offset voltage>
-14 to 14 V
Example
ARATION AO#(1) BV=10.00 V=200.0 OFV=2.00
Function
Ends the analog output corresponding to the speed.
Additional item
AO# (<output port number>)
Example
ARATIOF AO#(1)
10 - 664
1 to 40
Table of basic instructions
10.3
Control instructions
Function
Jumps to the specified label or JOB.
Additional item
* <Label character string >
JOB:<JOB name>
LABEL: <label elements>
IG# (<input group number>)
JUMP
B <variable number>
I <variable number>
D <variable number>
S <variable number>
UF# (user coordinates number)
*(LABEL)
IF statement
Example
JUMP JOB:TEST1 IF IN#(14)=OFF
Function
Indicates a jump destination.
Additional item
<Jump destination>
Example
*123
Function
Calls the specified JOB.
Additional item
JOB: <JOB name>
8 characters or less
IG# (<input group number>)
B <variable number>
I <variable number>
D <variable number>
S <variable number>
ARGF <argument 1>
ARGF <argument 2>
CALL
ARGF <argument 3>
ARGF <argument 4>
ARGF <argument 5>
ARGF <argument 6>
ARGF <argument 7>
ARGF <argument 8>
UF# (user coordinates number)
IF statement
Example
CALL JOB:TEST1 IF IN# (24)=ON
CALL IG#(2)
(The JOB is called by the patterns of input signal. In this example, JOB 0
cannot be called.)
10 - 665
Table of basic instructions
Function
Returns to the call source JOB.
Additional item
B <variable number>
I <variable number>
RET
D <variable number>
R <variable number>
S <variable number>
Constant, String
* (comment)
PAUSE
UNTIL statement
IF statement
TIMER
NOP
END
IF statement
Example
RET IF IN#(12)=OFF
Function
Indicates the end of a JOB.
Additional item
Example
END
Function
No operation
Additional item
Example
NOP
Function
Stops for the specified time.
Additional item
T= <Time (seconds)>
Example
TIMER T=12.50
Function
Evaluates the specified condition and concludes accordingly. Described after an instruction that specifies a certain action.
0.01 to 65.535 s
Format: <Item1>=,<>,<=,>=,<,><Item2>
Additional item
<Item1>
<Item2>
Example
JUMP *12 IF IN#(12)=OFF
Function
Monitors the specified input signal during an action and stops the action
when the specified signal status is observed. Described after an instruction
that specifies a certain action.
Additional item
IN# (<input number>)
<status>
Example
MOVL V=300 UNTIL IN#(10)=ON
Function
Instructs a pause.
Additional item
IF statement
Example
PAUSE IF IN#(12)=OFF
Function
Displays a comment.
Additional item
<(comment)>
Example
’Draws a 100 mm sized square
10 - 666
32 characters or less
Table of basic instructions
Function
Waits for execution of the instruction in the next line. Used with the NWAIT
tag which is an additional item of a move instruction
CWAIT
Additional item
Example
MOVL V=100 NWAIT
DOUT OT#(1) ON
CWAIT
DOUT OT#(1) OFF
ADVSTOP
ADVINIT
MOVL V=100
Function
Initializes the pre-reading instruction processing. Used to adjust the access
time for variable data.
Additional item
Example
ADVINIT
Function
Stops the pre-reading instruction processing. Used to adjust the access time
for variable data.
Additional item
Example
10.4
ADVSTOP
SHIFT instructions
Starts a SHIFT operation.
Additional item
P <variable number>
BF: Base coordinates
BP <variable number>
RF: Robot coordinates
EX <variable number>
TF: Tool coordinates
BF, RF, TF,
UF: User coordinates
SFTON
Function
SFTOF
UF# (<user coordinate number>)
Example
SFTON P001 UF#(1)
Function
Ends a shift operation.
Additional item
Example
SFTOF
Function
Obtains the SHIFT value in the specified coordinate system from DATA 2 and
3. Element values are stored in DATA 1.
Format: MSHIFT <DATA1><Coordinate><DATA2><DATA3>
DATA1
PX <variable number>
Coordinate
BF, RF, TF,
BF: Base coordinates
UF# (<user coordinate
number>), MTF
RF: Robot coordinates
MSHIFT
Additional item
TF: Tool coordinates
UF: User coordinates
MTF: Tool coordinates for the
master
Example
DATA2
PX <variable number>
DATA3
PX <variable number>
MSHIFT PX000 RF PX001 PX002
10 - 667
Table of basic instructions
10.5
Function
Operating instructions
Adds DATA1 and DATA2 and stores the result in DATA1.
Format: ADD<DATA1><DATA2>
Additional item
DATA1
P <variable number>
DATA1 must always be a variable.
BP <variable number>
EX <variable number>
BF, RF, TF,
ADD
UF# (<user coordinate
number>)
DATA2
Constant
B <variable number>
I <variable number>
D <variable number>
R <variable number>
P <variable number>
BP <variable number>
EX <variable number>
Example
ADD I012 I013
Function
Subtracts DATA2 from DATA1 and stores the result in DATA1.
Format: SUB<DATA1><DATA2>
Additional item
DATA1
B <variable number>
I <variable number>
D <variable number>
R <variable number>
P <variable number>
BP <variable number>
SUB
EX <variable number>
DATA2
Constant
B <variable number>
I <variable number>
D <variable number>
R <variable number>
P <variable number>
BP <variable number>
EX <variable number>
Example
10 - 668
SUB I012 I013
DATA1 must always be a variable.
Table of basic instructions
Function
Multiplies DATA1 by DATA2 and stores the result in DATA1.
Format:MUL<DATA1><DATA2>
DATA1 can be an element in a position variable.
If omitted, all elements are specified.
Pxxx(1): 1st axis data, Pxxx(2): 2nd axis data, Pxxx(3): 3rd axis data,
Pxxx(4): 4th axis data, Pxxx(5): 5th axis data, Pxxx(6): 6th axis data,
Pxxx(7): 7th axis data, Pxxx(8): 8th axis data
Additional item
DATA1
B <variable number>
DATA1 must always be a variable.
I <variable number>
D <variable number>
MUL
R <variable number>
P <variable number> (<element number>)
BP <variable number> (<element number>)
EX <variable number> (<element number>),
DATA2
Constant
B<variable number>
I<variable number>
D<variable number>
R<variable number>
Example
MUL I012 I013
MUL P000 (3) 2 (Multiply the Z-axis data by 2.)
10 - 669
Table of basic instructions
Function
Divides DATA1 by DATA2 and stores the result in DATA1.
Format:DIV<DATA1><DATA2>
DATA1 can be an element in a position variable.
If omitted, all elements are specified.
Pxxx(1): 1st axis data, Pxxx(2): 2nd axis data, Pxxx(3): 3rd axis data,
Pxxx(4): 4th axis data, Pxxx(5): 5th axis data, Pxxx(6): 6th axis data,
Pxxx(7): 7th axis data, Pxxx(8): 8th axis data
Additional item
DATA1
B <variable number>
DATA1 must always be a variable.
I <variable number>
D <variable number>
DIV
R <variable number>
P <variable number> (<element number>)
BP <variable number> (<element number>)
EX <variable number> (<element number>)
DATA2
Constant
B <variable number>
I <variable number>
D <variable number>
R <variable number>
Example
DIV I012 I013
DIV P000 (3) 2 (Divide the Z-axis data by 2.)
Increases the value of the specified variable by 1.
Additional item
B<variable number>
INC
Function
I<variable number>
D<variable number>
INC I043
Function
Decreases the value of the specified variable by 1.
Additional item
B <variable number>
DEC
Example
I <variable number>
D <variable number>
Example
DEC I043
Function
Obtains the AND of DATA1 and DATA2 and stores the result in DATA1.
Format: AND<DATA1><DATA2>
AND
Additional item
DATA1
B <variable number>
DATA2
B <variable number>
Constant
Example
10 - 670
AND B012 B020
Table of basic instructions
Function
Obtains the OR of DATA1 and DATA2 and stores the result in DATA1.
OR
Format: OR<DATA1><DATA2>
Additional item
DATA1
B <variable number>
DATA2
B <variable number>
Constant
Example
OR B012 B020
Function
Obtains the NOT of DATA2 and stores the result in DATA1.
NOT
Format: NOT<DATA1><DATA2>
Additional item
DATA1
B <variable number>
DATA2
B <variable number>
XOR
Constant
Example
NOT B012 B020
Function
Obtains the exclusive OR of DATA1 and DATA2 and stores the result in DATA1. Format: XOR<DATA1><DATA2>
Additional item
DATA1
B <variable number>
DATA2
B <variable number>
Constant
Example
XOR B012 B020
Function
Sets DATA2 to DATA1. Format: SET<DATA1><DATA2>
Additional item
DATA1
B <variable number>
DATA1 must always be a variable.
I <variable number>
D <variable number>
R <variable number>
P <variable number>
S <variable number>
SET
BP <variable number>
EX <variable number>
DATA2
Constant
B <variable number>
I <variable number>
D <variable number>
R <variable number>
S <variable number>
EXPRESS
Example
SET I012 I020
10 - 671
Table of basic instructions
Function
Sets data to an element in a position variable.
Pxxx(1): 1st axis data, Pxxx(2): 2nd axis data, Pxxx(3): 3rd axis data
SETE
Pxxx(4): 4th axis data, Pxxx(5): 5th axis data, Pxxx(6): 6th axis data,
Pxxx(7): 7th axis data, Pxxx(8): 8th axis data
Additional item
DATA1
P <variable number> (<element number>)
BP <variable number> (<element number>)
EX <variable number> (<element number>),
DATA2
D <variable number>, <double precision integer type constant>
Example
SETE P012 (3) D005
Function
Extracts an element in a position variable.
Pxxx(1): 1st axis data, Pxxx(2): 2nd axis data, Pxxx(3): 3rd axis data
GETE
Pxxx(4): 4th axis data, Pxxx(5): 5th axis data, Pxxx(6): 6th axis data,
Pxxx(7): 7th axis data, Pxxx(8): 8th axis data
Additional item
D <variable number>
P <variable number> (<element number>)
BP <variable number> (<element number>)
EX <variable number> (<element number>)
Example
GETE D006 P012 (4)
Function
Sets a system variable to the specified variable.
Additional item
B <variable number>
I <variable number>
D <variable number>
R <variable number>
PX <variable number>
GETS
$B <variable number>
$I <variable number>
$D <variable number>
$R <variable number>
$PX <variable number>
$RV
Example
GETS B000 $B000
GETS I001 $I[1]
GETS PX003 $PX001
10 - 672
System variable
Table of basic instructions
Function
Converts the position variable (DATA2) into a position variable of the specified
coordinate system and stores the converted variable in DATA1.
Format: CNVRT<DATA1><DATA2><Coordinate>
Additional item
DATA1
PX <variable number>
DATA2
PX <variable number>
CNVRT
BF, RF, TF, UF# (<user coordinates number>), MTF
BF: Base coordinates
RF: Robot coordinates
TF: Tool coordinates
UF: User coordinates
MTF: Tool coordinates for the
master
TL# (<tool number>)
Example
CNVRT PX000 PX001 BF
Function
Starting with the variable number in DATA1, clears (sets to zero) as many variables as specified by a number in DATA2.
Format: CLEAR<DATA1><DATA2>
Additional item
DATA1
B <variable number>
I <variable number>
D <variable number>
R <variable number>
CLEAR
$B <variable number>
$I <variable number>
$D <variable number>
$R <variable number>
DATA2
<number of variables>,
ALL,STACK
ALL: Clears variables of the variable number in DATA1 and of all
the variable numbers that follow.
STACK: Clears all variables in the
JOB call stack.
Example
CLEAR B000 ALL
CLEAR STACK
Function
Obtains the sine of DATA2 and stores the result in DATA1.
Format: SIN<DATA1><DATA2>
SIN
Additional item
DATA1
R <variable number>
DATA2
<Constant>
DATA1 must always be a real type
variable.
R <variable number>
Example
SIN R000 R001 (Sets the sine of R001 to R000.)
10 - 673
Table of basic instructions
Function
Obtains the cosine of DATA2 and stores the result in DATA1.
COS
Format: COS<DATA1><DATA2>
Additional item
DATA1
R <variable number>
DATA2
<Constant>
DATA1 must always be a real type
variable.
ATAN
R <variable number>
Example
COS R000 R001 (Sets the cosine of R001 to R000.)
Function
Obtains the arc tangent of DATA2 and stores the result in DATA1. Format:ATAN<DATA1><DATA2>
Additional item
DATA1
R <variable number>
DATA2
<Constant>
DATA1 must always be a real type
variable.
SQRT
R <variable number>
Example
ATAN R000 R001 (Sets the arc tangent of R001 to R000.)
Function
Obtains the square root of DATA2 and stores the result in DATA1. Format:SQRT<DATA1><DATA2>
Additional item
DATA1
R <variable number>
DATA2
<Constant>
DATA1 must always be a real type
variable.
R <variable number>
Example
SQRT R000 R001 (Sets the square root of R001 to R000.)
Function
Creates a user coordinate using the position data of the given three points as
definition points.
<DATA1> indicates the position data of the definition point ORG.
INVMT
MULMAT
MFRAME
<DATA2> the position data of the definition point XX.
<DATA3> the position data of the definition point XY.
Format: MFRAME <user coordinate> <DATA1> <DATA2> <DATA3>
Additional item
UF# (<user coordinate number>)
DATA1
PX <variable number>
DATA2
PX <variable number>
DATA3
PX <variable number>
1 to 24
Example
MFRAME UF#(1) PX000 PX001 PX002
Function
Obtains the matrix product of DATA2 and DATA3 and stores the result in DATA1. Format: MULMAT <DATA1> <DATA2> <DATA3>
Additional item
DATA1
P <variable number>
DATA2
P <variable number>
DATA3
P <variable number>
Example
MULMAT P000 P001 P002
Function
Obtains the inverse matrix of DATA2 and stores the result in DATA1.
Format: INVMAT <DATA1> <DATA2>
Additional item
Example
10 - 674
DATA1
P <variable number>
DATA2
P <variable number>
INVMAT P000 P001
Table of basic instructions
Function
Modifies the contents data of a condition file into the numeric data of DATA1.
SETFILE
The contents data of a condition file to be modified is specified by the element
number.
Additional item
Contents
data of a
condition
file
WEV# (<condition file number>)(<element number>)
DATA1
Constant,
D <variable number>
Example
SETFILE WEV#(1)(1) D000
Function
Stores the contents data of a condition file in DATA1.
GETPOS
GETFILE
The contents data of a condition file to be obtained is specified by the element
number.
Additional item
DATA1
D <variable number>
Contents
data of a
condition
file
WEV# (<condition file number>)(<element number>)
Example
GETFILE D000 WEV#(1)(1)
Function
Stores the position data of DATA2 (step number) in DATA1.
Additional item
DATA1
PX <variable number>
DATA2
STEP# (<step number>)
Example
GETPOS PX000 STEP#(1)
Function
Converts the numeric value of the string (ASCII) of DATA2 into the real number
and stores the result in DATA1.
Format: VAL <DATA1> <DATA2>
Additional item
DATA1
B <variable number>
VAL
I <variable number>
D <variable number>
R <variable number>
DATA2
Character string
S <variable number>
Example
VAL B000 “123”
Function
Obtains the character code of the first letter of the string (ASCII) of DATA2 and
stores the result in DATA1.
ASC
Format: ASC<DATA1><DATA2>
Additional item
DATA1
B< variable number>
DATA2
Character string
S <variable number>
Example
ASC B000 “ABC”
10 - 675
Table of basic instructions
CHR$
Function
Obtains the character (ASCII) with the character code of DATA2 and stores the
result in DATA1.
Format: CHR$<DATA1><DATA2>
Additional item
DATA1
S <variable number>
DATA2
Constant
B <variable number>
Example
CHR$ S000 65
Function
Obtains the string (ASCII) of any length (DATA 3, 4) from the string (ASCII) of
DATA2 and stores the result in DATA1.
Format: MID$<DATA1><DATA2><DATA3><DATA4>
Additional item
DATA1
S <variable number>
DATA2
Character string
S <variable number>
MID$
DATA3
Constant
B <variable number>
I <variable number>
D <variable number>
DATA4
Constant
B <variable number>
I <variable number>
D <variable number>
Example
MID$ S000 123ABC456 4 3
Function
Obtains the total number of bytes of the string (ASCII) of DATA2 and stores the
result in DATA1. Format: LEN<DATA1><DATA2>
Additional item
DATA1
B <variable number>
LEN
I <variable number>
D <variable number>
DATA2
Character string
S <variable number>
LEN B000 “ABCDEF”
Function
Combines the string (ASCII) of DATA2 and DATA3 and stores the result in DATA1. Format: CAT$<DATA1><DATA2><DATA3>
Additional item
DATA1
S <variable number>
DATA2
Character string
CAT$
Example
S <variable number>
DATA3
Character string
S <variable number>
Example
10 - 676
CAT$ S000 “ABC” “DEF”
Table of basic instructions
10 - 677
YASKAWA GRUPPE
DISTRIBUTORS
AT
YASKAWA Austria
Schwechat/Wien
+43(0)1-707-9324-15
BG ARAMET ROBOTICS Ltd.
Yambol +359-885 317 294
CZ
YASKAWA Czech s.r.o.
Rudná u Prahy +420-257-941-718
ES
YASKAWA Ibérica, S.L.
Gavà/Barcelona +34-93-6303478
FR
YASKAWA France SARL
Le Bignon +33-2-40131919
FI
YASKAWA Finland Oy
Turku +358-(0)-403000600
GB YASKAWA UK Ltd.
Banbury +44-1295-272755
IT
YASKAWA Italia s.r.l.
Torino +39-011-9005833
IL
YASKAWA Europe Technology Ltd.
Rosh Ha’ayin +972-3-9004114
NL
YASKAWA Benelux B.V.
Eindhoven +31-40-2895500
PL
YASKAWA Polska Sp. z o.o.
Wrocáaw +48-71-7928670
RU YASKAWA Europe Holding AB
Moskva +46-480-417-800
SE
YASKAWA Nordic AB
Torsås +46-480-417-800
SI
YASKAWA Slovenia
Ribnica +386-1-8372-410
TR
YASKAWA Turkey Elektrik
Ticaret Ltd. Sti.
østanbul +90-216-5273450
ZA
YASKAWA Southern Africa (PTY) Ltd
Johannesburg +27-11-6083182
YASKAWA Headquarter
YASKAWA Europe GmbH
Robotics Division
Yaskawastraße 1
85391 Allershausen
Tel. +49 (0) 8166/90-0
Fax +49 (0) 8166/90-103
robotics@yaskawa.eu.com
www.yaskawa.eu.com
Kammarton Bulgaria Ltd.
Sofia +359-02-926-6060
DK Robotcenter Danmark
Løsning +45 7022 2477
EE
RKR Seadmed OÜ
Tallinn/Estonia +372-68-35-235
GR Gizelis Robotics
Schimatari Viotias +30-2262057199
HU Flexman Robotics Kft
Budapest +36 1 259 0981
LT
Profibus UAB
Panevezys +370-45-518575
NO Skala Robotech AS
Lierstranda +47-32240600
PT
ROBOPLAN Lda
Aveiro +351-234 943 900
RO Sam Robotics srl
Timisoara +40 720 279 866
MPL Automation S.R.L.
Satu Mare +40 261 750 741
NORMANDIA S.R.L.
Bra‫܈‬ov +40 268 549 236
YASKAWA ACADEMY and
sales office Frankfurt
YASKAWA Europe GmbH
Robotics Division
Hauptstraße 185
65760 Eschborn
Tel. +49 (0) 6196/77725-0
Fax +49 (0) 6196/77725-39
All drawing dimension in mm.
Subject to technical changes and errors excepted.
Dimensional data can be requested at robotics@yaskawa.eu.com.