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Loctite CARTESIAN 200 series, Operation Manual

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Loctite CARTESIAN 200 series Operation Manual Download Page 27

 

 

[

Variables]

 

Category

 

Type Identifier

 

Description

 

boo #seqT(1 

to 

99)

 

Set to 1 when #seqTCount 
reaches the given value or 
greater.

 

num 

#seqTCount (1 to 50): Integrating Timer 
#seqTCount (51 to 99): Unintegrating Timer

 

One counter can count from 0.001 
to 2,147,483,647 seconds. (0.001 
sec increment)

 

boo 

#seqC (1 to 99)

 

1 when #seqCCount reaches the 
given value or greater.

 

Sequ

en

cer
 pr

ogra

m

 

num  #seqCCount (1 to 99)

 

One counter can count from 1 to 
2,147,483,657.

 

num  #point_X 

X coordinate value of current point

num  #point_Y 

Y coordinate value of current point

 

num  #point_Z 

Z coordinate value of current point

 

num  #point_R 

R coordinate value of current point

C

ur

re

nt po

in

t 

co

or

di

nat

es

 

num  #point_TagCode 

Tag code value of current point

 

num  #P_X(1 to last point count) 

X coordinate value of given point

 

num  #P_Y(1 to last point count) 

Y coordinate value of given point

 

num  #P_Z(1 to last point count) 

Z coordinate value of given point

 

num  #P_R(1 to last point count) 

R coordinate value of given point

 

Give

n po

in

t 

co

or

di

nat

es

 

num  #P_TagCode(1 to last point count) 

Tag code value of given point

 

num  #prog_P_X (1 to 255, 1 to last point count)

 

X coordinate value of given 
program and given point.

 

num  #prog_P_Y (1 to 255, 1 to last point count)

 

Y coordinate value of given 
program and given point.

 

num  #prog_P_Z (1 to 255, 1 to last point count)

 

Z coordinate value of given 
program and given point.

 

num  #prog_P_R (1 to 255, 1 to last point count)

 

R coordinate value of given 
program and given point.

 

Give

n prog

ra

m 

Give

n po

in

t c

oord

ina

te

s

 

num 

#prog_P_TagCode (1 to 255, 1 to last point 
count)

 

Tag code value of given program 
and given point

 

 

Features II                                               CARTESIAN Benchtop Robot

 

 

9

Summary of Contents for CARTESIAN 200 series

Page 1: ...chasing the Loctite Robot Read this manual thoroughly in order to properly use this robot Be sure to read For Your Safety before you use the robot It will protect you from possible dangers during operation After having read this manual keep it in a handy place so that you or the operator can refer to it whenever necessary ...

Page 2: ...urred if you neglect the safety notes Warnings Cautions These Cautions indicate the possibility of accidental injury or damage to property These Warnings indicate the possibility of death or serious injury Symbols indicating the type of Danger and Preventive Measures The following symbols indicate the type of safety measure that should be taken Indicates prohibition Do not touch contact prohibitio...

Page 3: ...sure to shut off the power supply before removing the power cord Change the robot s battery periodically approximately every three years to prevent malfunction or breakdown Keep the emergency stop switch within reach of an operator while teaching and running the robot Failure to do so may cause danger since the robot cannot be stopped immediately and safely Regularly check that the I O S circuits ...

Page 4: ...efect Power the unit only with the rated voltage Excessive voltage can cause fire or malfunction of the unit Do not sprinkle water or oil on the unit control box or its cable Contact with water can cause electric shock fire or malfunction of the unit IP Protection Rating is IP40 Warnings Features II CARTESIAN Benchtop Robot iii ...

Page 5: ...y or No Operating warning sign in a clearly visible position Install a safety barrier of adequate strength so as to protect the operator from moving tools and flying objects Always use protective wear helmet protective gloves protective glasses and protective footwear when going inside the safety barrier Take adequate precautions against objects the robot is gripping flying or falling off taking i...

Page 6: ...e back of the robot equipped with a cooling fan and the wall An insufficient or unstable area can cause the unit to fall overturn breakdown or overheat Do not attempt to disassemble or modify the machine Disassembly or modification may cause electric shocks fire or malfunction Be sure to use within the voltage range indicated on the unit Failure to do so may cause electric shock or fire Do not use...

Page 7: ... the machine while it is being transported or installed This can cause defects Use the machine in an environment where it is not exposed to direct sunlight Failure to do so may result in malfunction or defect Be sure to confirm that tools such as the electric screwdriver unit etc are properly connected Failure to do so may result in injury or defect Be sure to check the wiring to the main unit Imp...

Page 8: ... SAFETY Be sure to remove the eye bolt after installing the robot so that it does not hit the arm Failure to do so may result in injury or breakdown of the unit Warnings Features II CARTESIAN Benchtop Robot vii ...

Page 9: ... stop switch within the operator s reach For the operator s safety the emergency stop switch is necessary to make a quick and safe stop Install a safety barrier of adequate strength so as to protect operators from moving tools and flying objects Always use protective wear helmet gloves glasses and footwear when going inside the safety barrier Be sure to confirm that all the air tubes are connected...

Page 10: ...hould you go inside the safety barrier or place your hands or head inside the safety barrier while the robot is operating If anything unusual e g a burning smell occurs stop operation and unplug the cable immediately Contact your dealer or the office listed on the last page of this manual Continuous use without repair can cause electric shock fire or breakdown of the unit During teaching tests and...

Page 11: ...s a pungent odor Immediately contact the dealer from which you purchased the product Continued operation may result in electric shock fire or malfunction Install the product in a place which can endure it s weight and conditions while running Be sure to leave a space greater than 30cm between the back of the robot equipped with a cooling fan and the wall Installation in an insufficient or unstable...

Page 12: ...il Failure to do so may result in electric shock or fire Turn off the unit before inserting and removing cables Failure to do so may result in electric shock fire or malfunction of the unit IP Protection Rating is IP30 IP40 for CE specification Keep the emergency stop switch within reach of an operator while teaching and running the robot Failure to do so may lead to danger since the robot cannot ...

Page 13: ...t is not exposed to direct sunlight Failure to do so may result in malfunction or defect Be sure to confirm that tools such as the electric screwdriver unit etc are properly connected Failure to do so may result in injury or defect Check the mounting screws regularly so that they are always firmly tightened Loose screws may cause injury or defect Be sure to check the wiring to the main unit Improp...

Page 14: ... robot Basic Instructions This volume provides safety precautions part names and the basic knowledge necessary to operate the Benchtop robot Dispensing This volume explains dispensing applications for the Benchtop Series robot Quick Start This volume explains the actual operation of the Benchtop robot with simple running samples Teaching Pendant Operation This volume explains how to operate the ro...

Page 15: ...olume are based on the standard application Menu items may vary depending on models Be sure to shut off the power supply before plugging in the power cord BE SURE TO MAKE A PROPER GROUNDING WHEN YOU INSTALL THE ROBOT Be sure to save data whenever it is added or modified Otherwise changes will not be saved if the power to the robot is cut off Features II CARTESIAN Benchtop Robot xiv ...

Page 16: ...1 to 4 _____________________ 15 Down timer downTimer1 to 10 ______________________________________________ 15 Point job starting height jobStartHight _________________________________________ 16 Pallet palletflag 1 to 100 palletCount 1 to 100 _______________________________ 17 Workpiece adjustment workAdj_X workAdj_Y workAdj_Z workAdj_R workAdj_Rotation ______________________________________ 19 Po...

Page 17: ...tart instruction waitStart waitStartBZ _______________________________ 45 Inputting from I O dataIn dataInBCD___________________________________________ 47 Pallet Control ________________________________________________________________ 48 Pallet Command loopPallet resPallet incPallet __________________________________ 48 Execution Flow Control ______________________________________________________...

Page 18: ...g arbitrary numbers on the 7SLED sys7SLED out7SLED ___________________ 75 COM Input Output _____________________________________________________________ 76 COM Input Output outCOM eoutCOM setCOM _________________________________ 76 cmpCOM ecmpCOM clrCOM shiftCOM___________________________ 76 PC Communication stopPC startPC___________________________________________ 80 Variables Comments System Con...

Page 19: ...ter is dealt with as a character Variable A variable is a container into which a value such as numeric values or strings are placed Built in variables which are built in as robot features and user definition variables which can be freely defined can be used with this robot User definition variables other than local variables variables effective only in defined point job data defined by the declear...

Page 20: ... Assigns the right value to a left value num str Returns 1 if the left value is larger than the right value 0 if the left value is smaller or the same num str Returns 1 if the left value is smaller than the right value 0 if the left value is larger or the same num str Returns 1 if the left value is larger than the right value or the same 0 if the left value is smaller num str Returns 1 if the left...

Page 21: ...BZ ON Time OFF Time Sounds an alarm buzzer off and on onoffGLED ON Time OFF Time The LED Green on the front body blinks for CARTESIAN only onoffRLED ON Time OFF Time The LED Red on the front body blinks for CARTESIAN only dataOut Output Value Output Destination Pulse Length Outputs a tag code assigned to numeric data or a point to I O ON OFF Output Control dataOutBCD Output Value Output Destinatio...

Page 22: ... resPalette Pallet Number Resets pallet counter Pallet incPalette Pallet Number Increases pallet counter number 1 callBase Calls a point job defined by type at the user definition type point to which a Point Job Number is set callJob Point Job Number Calls a subroutine of point job data specified by number callPoints Point String Identifier Executes a specified point string defined in Customising ...

Page 23: ...ative move command in the R direction initMec Axis Mechanical initialization of a specified axis for CARTESIAN only Move checkPos Position error detection for CARTESIAN only clrLCD Clears the LCD display clrLineLCD Rows 1 13 Clears a specified line on the LCD display outLCD Rows 1 13 Columns 1 40 Character String Displays character strings on the LCD display eoutLCD Rows 1 13 Columns 1 40 Characte...

Page 24: ...d from the COM Deletes data from the top to the Shift Number stopPC Stops PC communication of COM1 COM Input Output startPC Starts PC communication of COM1 declear Type Identifier Declare a local variable let Character String of a assignment expression Assigns data calculated in the left hand expression to a variable in the right hand expression can be used rem Character String One line comment cr...

Page 25: ...ariable or Expression Serial ON input ani Boolean Variable or Expression Serial OFF input or Boolean Variable or Expression Parallel ON input Condition ori Boolean Variable or Expression Parallel OFF input out Output Destination Coil drive set Output Destination Movement Holding Set reset Output Destination Movement Holding Reset pls Output Destination Output of the Leading Edge of Pulse Coil plf ...

Page 26: ...variable boo sysIn1 to 15 I O SYS boo genIn1 to 18 I O 1 Input Variable boo handIn1 to 4 I O H boo sysOut1 to 14 I O SYS boo genOut1 to 22 I O 1 Output Variable boo handOut1 to 4 I O H System Flag boo sysFlag 1 to sysFlag 999 Refer to the system flag table boo FBZ set FBZ Sound buzzer reset FBZ Stop buzzer Buzzer onoffBZ Sound buzzer intermittently num downTimer1 to 10 When a value is assigned it ...

Page 27: ... num P_X 1 to last point count X coordinate value of given point num P_Y 1 to last point count Y coordinate value of given point num P_Z 1 to last point count Z coordinate value of given point num P_R 1 to last point count R coordinate value of given point Given point coordinates num P_TagCode 1 to last point count Tag code value of given point num prog_P_X 1 to 255 1 to last point count X coordin...

Page 28: ...rmZ Current arm coordinate Z mm units num currentArmR Current arm coordinate R degree units Robot system num NumCOM COM Port Number Data byte count of COM receiving port num abs x Absolute value num max x y Maximum value num min x y Minimum value num degrad x Conversion from degree to radian x π 180 num raddeg x Conversion from radian to degree x 180 π num sqrt x Square root num sin x Sine num cos...

Page 29: ... Little Endian str str4SIBE x Rounds a numeric value to a 4 byte signed integer and converts it to a 4 byte string big endian 4 byte Signed Integer Big Endian str str4SILE x Rounds a numeric value to a 4 byte signed integer and converts it to a 4 byte string little endian 4 byte Signed Integer Little Endian str str4FBE x Regards a numeric value as a floating decimal and converts it to 4 byte strin...

Page 30: ...racters as a floating decimal big endian and converts it 4 byte Float Big Endian num val4FLE a Regards the top 4 characters as a floating decimal little endian and converts it 4 byte Float Little Endian num val8DBE a Regards the top 8 characters as a double floating decimal big endian and converts it 8 byte Double Big Endian num val8DLE a Regards the top 8 characters as a double floating decimal l...

Page 31: ...variable is a variable that retains its value even when the robot power is turned off mv 1 to 99 mkv 1 to 99 Boolean variable Boolean variable is a variable that can hold a 1 bit value of 0 or 1 It can be used as a condition operation expression ld ldi or assignment expression let parameter A sequencer program can also use Boolean type free variables mv 1 to 99 mkv 1 to 99 nv 1 to 99 nkv 1 to 99 D...

Page 32: ...r Description sysIn1 to 15 sysIn1 to 16 I O SYS Reference only Boolean variable genIn1 to 18 genIn1 to 8 I O 1 Reference only Boolean variable Input variable handIn1 to 4 I O H Reference only Boolean variable sysIn1 to 16 I O SYS are assigned a function in advance e g sysIn1 Start signal When ON signal received operation starts If you want to use sysIn1 to 16 I O SYS for a function other than the ...

Page 33: ...S are assigned a function in advance Ex sysOut1 Ready for Start ON signal Operation can be started If you want to use sysIn1 to 16 I O SYS for a function other than the one to which it has been assigned switch the run mode parameter setting to free I O SYS function assignment Down timer downTimer1 to 10 Numeric variable When assigned let a value counting down in msec units starts automatically A v...

Page 34: ...lready arrived at the point job start position Also since this variable acts only on the set point the point job start position of the next point does not change e g P01 Type CP start point Job before moving Point job data 3 Point job Point job data 12 jobStartHight 25 Point Job Data 3 Point Job execution start 2 5mm P Category Identifier Description Special variable Point job starts from a given ...

Page 35: ...t 1 to 100 Pallet counter corresponds to pallet 1 to 100 palletFlag 1 to 100 does not become 1 true even if a value which fills the counter is assigned to palletcount 1 to 100 e g Perform a pallet job by skipping a given pallet Pick up a workpiece at P1 places it on the pallet set at P2 and advances to the next point P3 where the pallet becomes full However there are 2 points P2 5 P2 11 on the pal...

Page 36: ...et handOut1 endIf loopPalette 3 1 palletCount 3 is other than 5 P2 5 11 P2 11 Place release workpiece Increase the pallet 3 counter by 1 If the counter becomes full advance to the next command In this case the point job ends because there is no next command If the counter is not full move to P1 Features II CARTESIAN Benchtop Robot 18 ...

Page 37: ...amount in the Z direction Corresponds to workpiece adjustment 1 to 100 workAdj_R 1 to 100 Workpiece adjustment amount in the R direction Corresponds to workpiece adjustment 1 to 100 Workpiece adjustment workAdj_Rotation 1 to 100 Workpiece adjustment amount by rotating angle Corresponds to workpiece adjustment 1 100 e g Line dispense between P2 P3 At P1 workpiece adjustment amount workpiece offset ...

Page 38: ...s assigned to workAdj_X 6 workAdj_X 6 X direction adjustment amount of workpiece adjustment 6 Point job data set in P2 Setting point of Workpiece Adjustment set handOut1 Dispensing start Point job data set in P3 reset handOut1 Dispensing end When Workpiece Adjustment is set at the CP start point it is valid until the tool unit reaches the CP end point Features II CARTESIAN Benchtop Robot 20 ...

Page 39: ... job before moving includes this variable the P2 coordinates are retained Also this variable holds the original coordinates of the point This value does not change even when Workpiece Adjustment and jogStartHight are used Category Identifier Description point_X Running point X coordinate value point_Y Running point Y coordinate value point_Z Running point Z coordinate value point_R Running point R...

Page 40: ...Category Identifier Description X coordinate value of given point in current program P_X 1 to last point count P_Y 1 to last point count Y coordinate value of given point in current program P_Z 1 to last point count Z coordinate value of given point in current program P_R 1 to last point count R coordinate value of given point in current program Given point coordinate P_TagCode 1 to last point cou...

Page 41: ...Description X coordinate value of given point in given program prog_P_X 1 to 255 1 to last point count prog_P_Y 1 to 255 1 to last point count Y coordinate value of given point in given program prog_P_Z 1 to 255 1 to last point count Z coordinate value of given point in given program prog_P_R 1 to 255 1 to last point count R coordinate value of given point in given program Coordinates of given poi...

Page 42: ...rdinate X mm units num currentArmY Current arm coordinate Y mm units num currentArmZ Current arm coordinate Z mm units num currentArmR Current arm coordinate R degree units num numCOM port COM receive port data byte count currentMainProgNumber Holds the main program number currently running currentSubProgNumber Holds the subprogram number currently running When a subprogram is not run this variabl...

Page 43: ... sin x Sine num cos x Cosine num tan x Tangent num atan x Arc tangent num atan2 x y Arc tangent num int x Maximum integer which does not exceed x Ex int 1 3 1 int 1 3 2 Integer part of x sgn x int abs x num ip x When x is a negative number sgn x becomes 1 and when x is a positive number sgn x becomes 1 Ex ip 1 3 1 ip 1 3 1 num fp x Decimal part of x x ip x Ex fp 1 3 0 3 fp 1 3 0 3 num mod x y Valu...

Page 44: ...2SIBE x Rounds a numeric value to a 2 byte signed integer and converts it to a 2 byte string big endian 2 byte Signed Integer Big Endian str str2SILE x Rounds a numeric value to a 2 byte signed integer and converts it to a 2 byte string little endian 2 byte Signed Integer Little Endian str str4SIBE x Rounds a numeric value to a 4 byte signed integer and converts it to a 4 byte string big endian 4 ...

Page 45: ...endian and converts it 4 byte Signed Integer Big Endian num val4SILE a Regards the top 4 characters as a 4 byte signed integer little endian and converts it 4 byte Signed Integer Little Endian num val4FBE a Regards the top 4 characters as a floating decimal big endian and converts it 4 byte Float Big Endian num val4FLE a Regards the top 4 characters as a floating decimal little endian and converts...

Page 46: ...N OFF Output Control invPulse Output Destination Pulse Width OFF pulse inverting pulse output with a specified width to a specified output destination Example In this example a hand tool is connected to the robot as shown in the following figure Hand Tool OPEN Air 1 CLOSE Air 2 OPEN Hand Tool CLOSE Air 1 OPEN Air 2 CLOSE Air 1 OPEN Solenoid Valve 1 ON Air 2 OPEN Solenoid Valve 2 ON Air 1 CLOSE Sol...

Page 47: ...6 sysOut16 ON output sysOut15 OFF output Close hand tool The command set continues to output an ON signal unless the command reset is received Below are the output commands to open close the hand tool using the pulse pulse sysOut15 100 sysOut15 0 1sec ON OFF invPulse sysOut16 100 sysOut16 0 1sec ON OFF Open hand tool pulse sysOut15 100 sysOut15 0 1sec ON OFF pulse sysOut16 100 sysOut16 0 1sec ON O...

Page 48: ...0 pulse genOut2 200 set genOut3 set genOut1 delay 100 reset genOut1 set genOut2 delay 200 reset genOut2 set genOut3 genOut1 genOut1 genOut2 genOut2 genOut3 genOut3 delay 100 Stand by for 0 1 second in place You can set the pulse width for the commands pulse and invPulse using variables or expressions 0 1 sec 0 1 sec 0 2 sec Features II CARTESIAN Benchtop Robot 30 ...

Page 49: ...put Control delayReset Output Destination Delay Time OFF output after specified delay time The commands delaySet and delayReset move on to the next command before the pulse stops Timing of the next command execution differs from the case where signals are output by set reset after waitCondTime Example delaySet Example waitCondTime set 1 delaySet sysOut2 100 1 waitCondTime 100 2 set sysOut1 2 set s...

Page 50: ...utput Destination BZ Stops an alarm buzzer ON OFF Output Control onoffBZ ON Time OFF Time Sounds an alarm buzzer off and on If these commands set onoffBZ are executed an alarm buzzer continues to sound until the reset command is executed ON Time and OFF Time for the command onoffBZ can be set using variables or expressions Features II CARTESIAN Benchtop Robot 32 ...

Page 51: ...D set Turns the LED Green ON reset Output Destination GLED Turns the LED Green OFF ON OFF Output Control onoffGLED ON Time OFF Time Blinks the LED Green After the onoffGLED command which turns ON or blinks the LED Green is executed the LED Green stays ON or keeps blinking until the reset command which turns the LED Green OFF is executed ON Time and OFF Time for onoffGLED command can be set using v...

Page 52: ...n RLED set Turns the LED Red ON reset Output Destination RLED Turns the LED Red OFF ON OFF Output Control onoffRLED ON Time OFF Time Blinks the LED Red After the onoffRLED command which turns ON or blinks the LED Red is executed the LED Red stays ON or keeps blinking until the reset command which turns the LED Red OFF is executed ON Time and OFF Time for onoffRLED command can be set using variable...

Page 53: ...ut Value for the commands dataOut and dataOutBCD Output Width The number of I Os to be used for output Output Destination The smallest number between I Os to be used for output e g If you use genOut8 to 10 the Output Destination is 8 The serial I Os are used for the commands dataOut and dataOutBCD You cannot use I Os that are not serial I Os Example Setting Command Output Value 6 dataOut 6 3 genOu...

Page 54: ...nOut1 If genIn2 is not ON descend the Z axis 10 mm and output a pulse to genOut2 The Commands for Example 1 are shown below genIn2 ON Raise by 10 mm Output to genOut1 Descend by 10 mm Output to genOut2 if ld genIn2 then upZ 10 20 pulse genOut1 200 else downZ 10 20 pulse genOut2 200 endIf If the following condition is true advance to then If false advance to else genIn2 ON Condition If the Conditio...

Page 55: ...t instruction is received End of If Branch It is not necessary that both then and else exist at the same time However an IF command without a corresponding endIf command is recognized as an error The command lines for waitCondTime timeUp endWait if endIf are indented See below waitCondTime 200 ld genIn2 timeUp set genOut2 if ld genIn1 then downZ 20 20 waitCondTime 200 ld genIn4 timeUp waitStartBZ ...

Page 56: ... OFF waitCond ld genIn2 endWait Stand by in place until the following conditions are met genIn2 ON Condition End of the condition line waitCondtime timeUp endWait Wait for the specified period of time until conditions are met e g If workpieces do not come within 30 seconds it is recognized as an error an external lamp connected to genOut2 comes ON and the robot stands by until a start instruction ...

Page 57: ... the local variable wtime If genIn3 ON then Assign 3000 to wtime if Assign 1000 to wtime Wait for 3 seconds 1 second until the following conditions are met genIn2 ON Condition If the conditions are not met within 3 seconds 1 second Output ON signal to genOut2 Stand by in place until a start instruction comes When a start instruction comes output OFF signal to genOut2 End of the command line if the...

Page 58: ...nternal relay mv keep relay mkv and pallet flag as well as I O SYS input sysIn I O 1 input genin and I O H input handIn can be given as command parameters Comparison operation expressions can also be used Variables and functions other than the above parameters can also be used in comparison operation expressions Comparison operation expression Meaning Comparison operation expression Meaning Equal ...

Page 59: ...of condition line count is a variable ani Series OFF input waitCond ldi genIn1 ani count 10 endWait Waits in place until the following conditions are met genIn1 is OFF condition 1 and count value is 10 or less condition 2 End of condition line or Parallel ON input waitCond ld genIn1 or genIn2 endWait Waits in place until the following condition is met genIn1 is ON condition 1 or genIn2 is ON condi...

Page 60: ...Wait End of condition line orb Block parallel connection waitCond Waits in place until the following conditions are met ld count 10 or flag Count is 10 or greater or flag is ON Condition 1 ldi genIn1 ani genIn2 genIn2 is OFF and genIn2 is also OFF Condition 2 orb Condition 1 or condition 2 is true endWait End of condition line When there is anb and orb but no corresponding Id or Idi Error on point...

Page 61: ...e command delay is invalid at a CP Passing Point and at a point whose Base Type is CP Passing Point delay Delay for the specified period of time Example set genOut1 Output ON signal to genOut1 delay 100 Delay for 0 1 sec reset genOut1 Output OFF signal to genOut1 set genOut2 Output ON signal to genOut2 delay 200 reset genOut2 Delay for 0 2 sec Output OFF signal to genOut2 0 1sec genOut1 genOut2 ON...

Page 62: ... genIn1 then wtime 100 else wtime 200 endIf set genOut1 delay wtime reset genOut1 Declare the local variable wtime If genIn1 ON then Assign 100 to wtime If not Assign 200 to wtime Output ON signal to genOut1 Delay for 0 1 sec 0 2 sec Output OFF signal to genOut1 Features II CARTESIAN Benchtop Robot 44 ...

Page 63: ...tBZ Wait for start alarm buzzer For Example If genIn1 does not come ON within 2 seconds it is recognized as an error genOut2 connected to an external alarm error lamp comes ON and the robot stands by for start while sounding an alarm buzzer When an operator resolves the problem and sends a start instruction the OFF signal will be output to genOut2 and the operation will start from Point 05 waitCon...

Page 64: ... to exceed the 9th level of the indent If point job data including a line with an indent exceeding the 9th level it will recognize a running error and the message Error on point job will be displayed If timeUp or endWait precedes waitCondTime or if then elese or endIf precedes if it will be also recognized as an error and the message Error on point job will be displayed 3rd level 2nd level 1st lev...

Page 65: ...o input e g If you use genIn3 to 10 the Read Out Source is 3 The serial I Os from Input Destination to Input Width are used You cannot use I Os that are not serial I O s Example declear numeric code dataIn code genIn3 8 Declare the local variable code Read out data from genIn3 I O 1 to genIn10 as a value and assign it to code declear numeric code dataInBCD code genIn3 8 Declare the local variable ...

Page 66: ...pecifies it Auto Increment does not need a point job command to control the pallet operation The tool unit will automatically move to the next point and update the pallet counter However on the Auto Increment pallette the tool unit can only move in order of P2 1 P2 2 P2 3 and so on as shown below Example Pallet of Auto Increment To P3 P1 P2 P2 1 P2 8 P2 9 P2 5 P2 4 Plane Pallet Auto Increment P2 1...

Page 67: ... n The counter of Pallet Number n is not at the maximum OFF false The counter of Pallet Number n is at the maximum ON true paletteFlag n Boolean variable which has the following contents In the following example of point job data the robot picks the workpiece up from P1 set genout1 and places it at P2 reset genOut1 on the pallet of Increment by Point Job as shown in the figure Point Job Data for P...

Page 68: ...Pallet a pulse can also be output everytime the arm shifts to P1 reset genOut1 incPallet 10 Hold pick up the workpiece if ld paletteFlag 10 else pulse genOut5 200 goPoint PTP0 1 endif Increase the counter of Pallet 10 by one If The counter of Pallet 10 does not reachthe maximum Output a pulse Shift to P1 Pallet Number also go Point Number in case of loopPallet can be set using expressions Example ...

Page 69: ...ed to the right At this time the point job data which is executed at operation at P1 and P2 in the below figure becomes P1 Job before moving Point job data 5 Job while moving Point job data 6 Point job Point job data 7 Additional function PTP condition 9 Execute condition 1 P2 Job before moving Job before moving added to user definition type Job while moving Job while moving added to user definiti...

Page 70: ...tring added to the type at the user definition type point callBase The callBase command is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point The callBase command calls a subroutine of the job command string added to the type Therefore when the callBase command is executed in a job before moving job while moving and job while CP moving a subroutine command string for th...

Page 71: ...Job Point job data no Execution flow control The callJob command is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point set genOut1 downZ 20 20 Label 1 waitStartBZ if ld genIn1 then reset genOut1 else jump L1 endIf waitCondTime 200 ld genIn1 timeUp set genOut1 downZ 20 20 Label 1 waitStartBZ if ld genIn1 then reset genOut1 else jump L1 endIf endWait waitCondTime 200 ld g...

Page 72: ... be given by expression Example declear num ejob waitCondTime 200 ld genIn1 timeUp if ld genIn2 then ejob 9 else ejob 10 endIf callJob ejob endWait Local variable ejob declaration Waits for 0 2 seconds until the following conditions are met genIn1 ON condition When the condition is not met in 0 2 seconds if genIn2 ON then Assigns 9 to ejob If not Assigns 10 to ejob Calls a subroutine of the No 9 1...

Page 73: ...s Job returnJob Ends a point job Execution flow control e g Below is the Point Job Data for the operation Condition 1 Operation 3 Operation 2 Condition 2 Operation 1 returnJob shown in the chart to the right if Condition 1 then Operation 1 if Condition 2 then returnJob else Operation 2 endIf endIf Operation 3 If returnJob is omitted Operation 3 will be executed even if Condition 2 is ON YES Featur...

Page 74: ... After executing the called program it starts to execute the command in the next line of the callProg command in the calling program timeUp callProg 17 endWait This is the command to call out Program Number 17 endWait in this case The called program subprogram is run in one cycle regardless of the setting It does not return to the work home position Refer to the illustration below SP1 Subprogram P...

Page 75: ...ing three types Absolute Coordinates position data value is deemed as the fixed coordinates of the robot Relative Coordinates position data value is deemed as the distance from coordinates to where the program starts Moving Amount position data value is deemed as the distance to the next point If you set the subprogram to Relative or Moving Amount the tool unit always runs at an equal distance fro...

Page 76: ... value is set to Absolute Absolute Coordinates position data value is deemed as the fixed coordinates of the robot Relative Coordinates position data value is deemed as the distance from the coordinates where the program starts If the start coordinate is 0 0 it will be the same as Absolute Moving Amount position data value is deemed as the distance to the next point Depending on handling of the po...

Page 77: ...dently not callProg running Registering the program set to Relative If you register a point in JOG mode you have to select Absolute regardless of the position data setting If you create a Relative program shift all points offset so that the coordinates of the first point become 0 0 0 after registering the point Registering a program set to Moving Amount The registered coordinates cannot be convert...

Page 78: ...e Base Type is CP Passing Point Example The following point job data is set to P1 if ld genIn1 then callPoints cleaning downZ 10 10 Command used to call a point string cleaning out genOut1 If genIn1 is ON go to the point string cleaning and execute point job data and additional function data set to cleaning Then go to P1 lower the Z axis by 10 mm and output ON signal to genOut1 If genIn1 is OFF lo...

Page 79: ... Data for the operation shown to the right chart genIn2 ON Raise the Z axis to the highest position and end the program waitCondTime 500 ld genIn2 timeUp movetoZ 0 10 endProg endWait endProg is a command to end the program at the current point without returning to the Work Home position It is different from stop in that the robot will not restart operation You have to start the job from the beginn...

Page 80: ...e specified expression as a returned value and end the function returnFunc Expression Execute Flow Control The command returnFunc cannot be used for point job data Jopint Job Data Function Identifier radians outLCD 7 4 radians x Call a function returnFunc 0 017453 x A returned value of radians function for Argument x is displayed on the teaching pendant LCD Features II CARTESIAN Benchtop Robot 62 ...

Page 81: ...int or a point whose Base Type is CP Passing Point Point Number or Relative Point Number of goPoint and goRPoint can be set using variables or expressions A destination for goCRPoint can also be set using variables or expressions In this case the value must be either 0 or 1 genIn2 ON waitStartBZ goRPoint PTP3 8 Example Below is the Point Job Data for the operation shown in the chart to the right w...

Page 82: ...tive point specified by number goCRPoint PTP3 1 This command is used to jump to a specified point while running in CP drive The movement from a CP Start Point to a CP End Point is regarded as one action If you set 0 as the destination the arm will return to the point where it started the operation in CP drive CP Start Point PTP Condition is 03 If you set 1 as the destination the arm will jump to t...

Page 83: ...o the next job Label 1 Destination mark if If the following condition is true go to then If not go to the next of endIf ld genIn2 genIn2 ON then If the condition is true execute the following commands waitStartBZ Sound a buzzer and stand by in place until a start signal is received jump L1 endIf Jump to Label 1 when a start signal is received End of if Branch The command Label cannot be set betwee...

Page 84: ...ions declear num ival for ival 1 to 8 step 1 contents of repetition next Declare the local variable ival The initial value of the variable ival is 1 Add to the variable by one for every looping and repeat the commands from for to next until ival becomes 8 declear num ival for ival 1 to 8 step 1 contents of repetition if ld genIn1 then exitFor endIf next Declare the local variable ival exitFor is a...

Page 85: ... as the variable loop 5 6 do exitDo loop Repeat an operation from do to loop until it exits by exitDo do contents of repetition loop If there is no condition to exit from repetition repeat looping endlessly do contents of repetition if ld genIn1 then exitDo endIf contents of repetition loop contents of repetition can be put before or after Condition Condition If genIn1 1 exit from the repetition o...

Page 86: ... the specified Z coordinates Absolute coordinates Move commands are invalid at the CP passing point and points whose Base Type is CP Passing Point the base type Example 1 The current movement condition is PTP movement 2 The arm stops descending before holding the workpiece 3 The sensor detects the workpiece 4 The hand tool descends slowly to hold the workpiece Hand Tool Workpiece Conveyor Belt Sen...

Page 87: ...nates of P1 P_Z 1 Variable which has the Z coordinates of P1 as a value in the current program point_Z Variable which has the Z coordinates of the current point as a value If you assign a value to the variable jobStartHight for a Job before Moving or a Job while Moving let the robot starts a point job from an assigned value above the set point Z coordinate Example P01 Type CP Start Point Job befor...

Page 88: ...id at the CP Passing Point or a point whose Base Type is CP Passing Point Enter not the coordinates but the distance from the current point to the destination point where you want to shift as Distance Enter 0 for the direction in which you do not want to shift The distance can be entered using a variable or an expression instead of a value lineMoveSpeed 20 Shown to the right are the parameters of ...

Page 89: ...Shifting to the specified distance is not complete due to conditions Condition to stop shifting Exceeding the Move Area Limit of lineMoveSpeed If the arm exceeds the move area limit it will stop shifting at the position where it reaches the move area limit and advance the next command In this case you can check with the system flag sysFlag33 to find out whether it stopped before or after shifting ...

Page 90: ... Command Category Command Parameter Job Axis specification Move initMec Execute mechanical initialization for a specified axis Move command is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point Axis specification Contents All Execute mechanical initialization for all the axes x Execute mechanical initialization for the x axis y Execute mechanical initialization for the ...

Page 91: ...mmand Category Command Parameter Job Move checkPos Detects position errors The Move command is invalid at the CP Passing Point or a point whose Base Type is a CP Passing Point For the results of position error detection refer to the system flag sysFlag 35 Normal 0 Position Error 1 Example checkPos If position error detection is executed and a position error is found a buzzer sounds and the robot w...

Page 92: ...t of a character string expression entered a specified position on the LCD display Rows or columns can be specified using variables or expressions Also a string can be specified using string expressions for the command outLCD outLCD 7 4 PULSE Display the string PULSE on the teaching pendant LCD outLCD 7 4 sv 24 sv 25 Display the combined value of the string expressions sv 24 and sv 25 on the teach...

Page 93: ...ay Type Display value Outputs number to 7SLED Parameter display type of out7SLED can be selected from the following 4 items Display value can also be specified using variables or expressions Display Type Description Num Displays a specified number on the 7 SLED Er Displays one after the other between Er and a specified number St Displays one after the other between St and a specified number Ur Dis...

Page 94: ...nto System Flag sysFlag 1 to 20 ecmpCOM Port Character String Expression clrCOM Port Clears a buffer received from the COM Shifts data received from the COM shiftCOM Port Shift Number Deletes data from the top to the Shift Number COM Output outCOM eoutCOM A character string with up to 255 characters can be output from the COM Select a port COM No under outCOM eoutCOM to display the Character Entry...

Page 95: ...red and a specified character string one by one from the top character The comparison results will be reflected by a system flag A system flag indicates the condition e g not equal comparing a specified number of characters is finished or data has not been received after the robot stands by for the set wait time You can set a wait time for receiving data using setWTCOM If setWTCOM is not used the ...

Page 96: ...Number of Character Turns sysFlag 3 ON Turns sysFlag 5 ON Turns sysFlag 2 ON Turns sysFlag 4 ON Go to the next command Received Time Out X 1 If point job data including this receive comparison command is set at a CP Passing Point the robot stands by for 0 sec to receive data Features II CARTESIAN Benchtop Robot 78 ...

Page 97: ...eceived data will not replace the existing receive data but will be written after the existing data A receive buffer will be cleared by turning the power OFF or executing clrCOM command Shifting COM Receive Data shiftCOM A specified data byte of the receive buffer is deleted e g 2 byte Shift Receive Buffer A B C D E F G H C D E F G H You can tell whether the data is stored in each receive buffer b...

Page 98: ...to devices to control the robot by point job commands it is necessary to stop PC communication transaction operated by the system If stopPC command is executed PC communication does not work until the power is turned OFF or startPC command is executed After executing stopPC command C T data cannot be sent received Please preferably use a connector other than COM1 to connect devices Features II CAR...

Page 99: ...displayed Command category Command Set parameters Job declear Type identifier Local variable declaration Variable comment system control let Assignment expression Assigns the result of calculation of the right side expression to the left side variable e g declear command declear numeric abc declear string def Numeric variable abc declaration String variable def declaration e g let command count 0 ...

Page 100: ...0 then exitDo endIf loop count local variable declaration numeric type Sets initial value 0 into count Repeats up to the loop command Loads 1 into count Executes point job data 24 If the value of count was 10 or greater Jumps to the command after the loop command Returns to the do command e g Point job data 24 declear count count 0 Label 1 pulse genOut11 250 count count 1 if ld count 3 then jump L...

Page 101: ...or If genIn1 is true then waitStartBZ genIn1 Obstruction sensor Comment line Sounds a buzzer and stands by until start is given e g if ld genIn1 crem genIn1 Obstruction sensor then waitStartBZ If genIn1 is true genIn1 Obstruction sensor Comment line Sounds a buzzer and stands by until start is given For a teaching pendant when the comment is longer than 1 line even when crem end of line comment is...

Page 102: ...s to Program 2 after running Program 1 You can also set the programs to change from 2 to 3 and to 1 repeatedly You can set a program number according to input from COM using the point job at the work home You can connect a barcode reader to COM and change the program according to the value of the barcode If you change the number while running a program the running program or sequencer program will...

Page 103: ...un Mode and setSeqNo01 for Job on End of Cycle Job on Run Mode the 2nd sequencer program will be executed during the operation and the 1st sequencer program will be executed during standby If you change the number while running a program the running program or sequencer program will not be changed instantly After changing the number the running program will be changed when the robot restarts from ...

Page 104: ...caused by the purchaser s misuse neglect or unauthorized alteration or repair All costs attributed to accident or other factors beyond Henkel s control 2 A thirty 30 day warranty will be extended on any items subject to normal wear such as Pump Seals Tubing Wear Surfaces of Wiping Rollers O Rings Hoses Purchased items used in Loctite dispensing equipment are covered under warranties of their respe...

Page 105: ...profits In addition this warranty shall not apply to any products which have been subjected to abuse misuse improper installation improper maintenance or operation electrical failure or abnormal conditions and to products which have been tampered with altered modified repaired or reworked by anyone not approved by seller Buyer s sole and exclusive remedy under this warranty shall be limited to at ...

Page 106: ...ithout prior notice to improve its quality No part of this manual may be reproduced in any form including photocopying reprinting or translation to another language without the prior written consent of LOCTITE 2005 JSMC Ltd All rights reserved P N 989524 Features II Manual 07 2005 ...

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