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Mitsubishi Electric CR750 Series, Instruction Manual

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Appendix-668 

  

Spline interpolation

7Appendix 

Fig.7-102:Import position variable

7.3.6 Creating the robot program

The robot program is created in the program edit screen of RT ToolBox2 or the teaching pendant.
To execute spline interpolation, use the commands and robot status variables listed in 

Table 7-16

 and 

Table 

7-18

. Refer to sections 

Page 168, "4.13 Detailed explanation of command words"

 and 

Page 311, "4.14 

Detailed explanation of Robot Status Variable"

.

Table 7-16:Commands used with spline interpolation

Table 7-17:Functions used with spline interpolation

Table 7-18:Robot status variables related to spline interpolation

Command word

Explanation

Reference 

page

MvSpl (Move Spline)

Executes spline interpolation.

263

EMvSpl (E Move Spline)

Executes Ex-T spline interpolation.

227

SetCalFrm (Set Calibration Frame)

Sets the coordinate system used with frame transformation.

289

Function name

Explanation

Reference 

page

SplPos

Substitute the path point data registered in the specified spline file for the position variable.

430

SplSpd

Substitute the speed at which an L2611 (path point is too close) error does not occur when 
executing the MvSpl/EMvSpl commands for the speed variable based on the specified spline 
file path point data.

431

SplECord

Substitute the Ex-T coordinate system origin data registered in the specified spline file for the 
position variable.

429

Variable 

name

No. of array 

elements

Details

Attribute

Note1) 

Note1) R ......................................... Read-only.

RW ..................................... Read and write possible.

Data type

Reference 

page

M_SplPno

Mechanism No. 
(1 to 3)

The number of the path point passed through most 
recently is returned.

R

Integer

363

M_SplVar

Mechanism No. 
(1 to 3)

The setting value of the most recent path point data is 
returned.
The value can be rewritten.

RW

Integer

364

Import 

position 

variable

Summary of Contents for CR750 Series

Page 1: ...troller INSTRUCTION MANUAL Detailed explanations of functions and operations BFP A8869 W This instruction manual apply to both the CR 750 Q CR751 Q CR760 Q controller corresponding to iQ Platform and the CR 750 D CR751 D CR760 D controller of standalone type ...

Page 2: ......

Page 3: ...s on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the operator and robot Installation of safety fence Establish a set signaling method to the related operators for starting work and follow this method Signaling of operation start As a principle t...

Page 4: ...nd securely grasp the workpiece Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approach...

Page 5: ...ically operate the robot regardless of whether the operation rights are enabled or not Do not remove the SSCNET III cable while power is supplied to the multiple CPU system or the servo amplifier Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo amplifier Eye discomfort may be felt if exposed to the light Reference SSCNE...

Page 6: ...perature or noise exists in the equipments connected to USB When using network equipment measures against the noise such as measures against EMI and the addition of the ferrite core may be necessary Please fully confirm the operation by customer Guarantee and maintenance of the equipment on the market usual office automation equipment cannot be performed CAUTION ...

Page 7: ... pins with the following numbers Crimping caulking is recommended to connect the ACIN terminals For single phase 1 and 3 For three phase 1 2 and 3 Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker 5 Connect this ACIN connector to the ACIN connector on the front of the controller 6 Connect the grounding cable to the PE terminal M4 screw 7 Connect t...

Page 8: ...anation of Output signal reset pattern The explanation of program selection rights setting were modified Origin points were added to Fig 4 3 Base conversion Commands which requires a control right by GetM command were listed Errors of an output condition of EMGERR were added The explanation of HANDENA parameter is modified The explanations were added to the parameters of OVRDTB and OVRDENA The exa...

Page 9: ...TIP parameter was modified Table 5 13 Port number to use was added The new function of S W Ver R5q F Q series S5q F Q series was added Type resetting operation by T B or RT ToolBox2 was added The parameters DRVMODE NVJBTOUT were added The robot status variable is added M_RCInfo 2015 10 30 BFP A8869 T The explanation of commands were modified Def Plt Wait Cmp Off The explanation parameters were mod...

Page 10: ...e 6 1 Overall I O signal map The description of DWord 32 bits was added to the Def IO command The setting range of the designated speed was added to the Spd command The description of the robot status variables J_Fbc J_AmpFbc was added to 4 of Explanation 2017 05 10 BFP A8869 W Description about the operation when a CPU error occurred in a PLC was added Contact information of the authorized repres...

Page 11: ...are not possible Note that this document is prepared for the following software versions Controller Version CR750 Q CR751 Q CR760 Q R5q or later CR750 D CR751 D CR760 D S5q or later T B Version 1 7 or later No part of this manual may be reproduced by any means or in any form without prior consent from Mitsubishi The details of this manual are subject to change without notice An effort has been mad...

Page 12: ... occurred SLOTINIT Input Cancels the paused status of the program and brings the exe cuting line to the top Executing a program reset makes it possi ble to select a program 1 1 Output Outputs that in the program selection enabled state CHNG DISP button UP DOWN button PRGSEL Input Selects the value inputted into the signal assigned to the numer ical input as a program number 1 Output PRGOUT Input O...

Page 13: ... 3 24 3 2 7 CYLNDER jog 3 25 3 2 8 WORK jog 3 25 3 2 9 Switching Tool Data 3 26 3 2 10 Changing the world coordinate specifies the base coordinate number 3 27 3 2 11 Impact Detection during Jog Operation 3 28 1 Impact Detection Level Adjustment during Jog Operation 3 29 3 3 Opening Closing the Hands 3 30 3 4 Returning to the Safe Point 3 31 3 5 Aligning the Hand 3 32 3 6 Programming 3 34 3 6 1 Cre...

Page 14: ...of operating screen 3 68 3 13 1 Display of the execution line 3 68 1 Select the confirmation menu 3 68 2 Step feed 3 68 3 Step jump 3 70 4 Step feed in another slot 3 70 5 Finishing of the confirmation screen 3 71 3 13 2 Test operation 3 71 1 Select the test operation 3 71 3 13 3 Operating the OPERATION screen 3 72 3 14 Operating the monitor screen 3 73 1 Input signal monitor 3 73 2 Output signal ...

Page 15: ...C IV 4 124 4 2 1 About MELFA BASIC V 4 124 4 2 2 The feature of MELFA BASIC V 4 124 4 2 3 Comparison with MELFA BASIC IV 4 124 4 3 Multitask function 4 125 4 3 1 What is multitasking 4 125 4 3 2 Executing a multitask 4 126 4 3 3 Operation state of each slot 4 126 4 3 4 Precautions for creating multitask program 4 128 1 Relationship between number of tasks and processing time 4 128 2 Specification ...

Page 16: ...5 Variables 4 141 4 4 16 Numeric value variables 4 142 4 4 17 Character string variables 4 142 4 4 18 Position variables 4 142 4 4 19 Joint variables 4 143 4 4 20 Input output variables 4 143 4 4 21 Array variables 4 143 4 4 22 External variables 4 144 4 4 23 Program external variables 4 144 4 4 24 User defined external variables 4 145 4 4 25 Creating User Base Programs 4 146 4 5 Coordinate system...

Page 17: ...d Base Coordinates 5 473 5 8 About user defined area 5 474 5 8 1 Selecting a coordinate system 5 475 5 8 2 Setting Areas 5 476 1 Position Area 5 476 2 Posture Area 5 477 3 Additional Axis Area 5 477 5 8 3 Selecting mechanism to be checked 5 478 5 8 4 Specifying behavior within user defined area 5 478 5 8 5 Example of settings 5 479 5 9 Free plane limit 5 480 5 9 1 The definition of a free plane li...

Page 18: ...nts for interference check 5 526 5 24 4 Registering a free plane limit 5 534 5 24 5 Support of additional axes 5 536 5 24 6 Setting the shared memory expanded function Checking for interference between robots 5 537 5 24 7 Calibration between robots Checking for interference between robots 5 539 5 24 8 Enabling and disabling the interference avoidance function 5 541 5 24 9 Using the interference av...

Page 19: ...3 Robot behavior during spline interpolation Appendix 615 4 Check related to path points Appendix 616 7 3 3 Explanation of functions Appendix 618 1 Path adjustment Appendix 618 2 Operation mode Appendix 621 3 Signal output Appendix 622 4 Numerical setting Appendix 623 5 Frame transformation Appendix 624 7 3 4 Work procedures Appendix 625 7 3 5 Creating the spline file Appendix 627 1 New file Appen...

Page 20: ...690 7 5 Cooperative operation function Appendix 692 7 5 1 Outline Appendix 692 7 5 2 System configuration Appendix 693 7 5 3 Sample program Appendix 693 1 Automatic operation program 1 prg Appendix 694 2 Robot adjustment program BFRM prg Appendix 695 7 5 4 Sequence program Appendix 696 7 5 5 Adjustment Appendix 697 1 Adjustment 1 Adjustment of the common base coordinates Appendix 697 2 Adjustment ...

Page 21: ...lained Explains the procedures required to operate the robot arm unpacking transportation installation confirmation of operation and the maintenance and inspection procedures Explains the procedures required to operate the controller unpacking transportation installation confirmation of operation basic operation from creating the program to auto matic operation and the maintenance and inspection p...

Page 22: ...ndling is mistaken Always observe these precau tions to safely use the robot Precaution indicating cases where the operator could be subject to fatalities or serious injuries if handling is mistaken Always observe these precautions to safely use the robot Precaution indicating cases where operator could be subject to injury or physical damage could occur if handling is mistaken Always observe thes...

Page 23: ...ng work This also applies to maintenance work with the power source turned ON Setting of emergency stop switch During teaching work place a sign indicating that teaching work is in progress on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the oper...

Page 24: ...ould lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approaching the robot or to incorrect operation When carrying out...

Page 25: ... the light Reference SSCNET III employs a Class 1 or equivalent light source as specified in JIS C 6802 and IEC60825 1 domestic standards in Japan Do not remove the SSCNET III cable while power is supplied to the controller Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables Eye discomfort may be felt if exposed to the light Reference SSCNET III employs...

Page 26: ...turns OFF the servo power The servo turns OFF 8 STATUS NUMBER display panel The alarm No program No override value etc are displayed 9 UP DOWN button This scrolls up or down the details displayed on the STATUS NUMBER dis play panel 2 About the status number display The following is a description of the simplified symbols shown on the 7 segment LED display when display ing a program name specified ...

Page 27: ... CLOSE 123 PARAMETER NAME MECHRST ELE DATA CLOSE 123 Next DATA Prev PARAMETER NAME MECHRST ELE DATA CLOSE 123 Next DATA Prev PARAMETER NAME MECHRST ELE DATA CLOSE 123 Next DATA Prev Turn on the power supply with pushing the RESET button Continuously pushing the RESET button is continued further About 3 seconds The resetting process will be executed if the RESET button is once released and the RESE...

Page 28: ...play panel The alarm No program No override value etc are displayed 10 MODE key switch This changes the robot s operation mode AUTOMATIC operations from the controller or external equipment are valid Operations for which the operation mode must be at the external device or T B are not possible It is necessary to set the parameter for the rights of operation to connection between the operation pane...

Page 29: ...秒 RESET ボタンを離して 再度 RESET ボタンを押すと リセット処理が実行される 電源リセットされる エラー発生時 エラー未発生時 PARAMETER MECHRST CLEAR CLOSE 123 PARAMETER NAME MECHRST ELE DATA CLOSE 123 Next DATA Prev PARAMETER NAME MECHRST ELE DATA CLOSE 123 Next DATA Prev PARAMETER NAME MECHRST ELE DATA CLOSE 123 Next DATA Prev Robot type can be reset by teaching pendant or RT toolBox2 The method for resetting the robot type by teaching pendant is sh...

Page 30: ...ey This stops the program and decelerates the robot to a stop 9 OVRD OVRD key Change moving speed Speed goes up by OVRD key Speed goes down by OVRD key 10 JOG operation key Move the robot according to jog mode And input the numerical value 11 SERVO key Press this key with holding Enable switch lightly then servo power will turn on 12 MONITOR key It becomes monitor mode and display the monitor menu...

Page 31: ... Controller operation panel Note3 Note3 When the operation right input signal IOENA is input from an external device the external signal has the operation rights and the personal computer s operation rights are disabled X X Note2 X Personal computer Note3 X X Note2 X External signal Note3 X X Note2 X Class Operation rights Operation Operation Note1 Servo ON X Servo OFF Program start Starting also ...

Page 32: ... workpiece conditions there are cases where this function may not be used Page 186 Cmp Tool Compliance Tool Impact Detection The robot stops immediately if the robot s tool or arm interferes with a peripheral device minimizing damage This function can be activated during automatic operation as well as dur ing jog operation Note Please note that this function cannot be used together with the multi ...

Page 33: ...ation via Ethernet Reference The data link refers to a given function in order to exchange data for instance amount of compensation with external devices e g vision sensors Refer to Page 340 M_In M_Inb M_In8 M_Inw M_In16 Page 352 M_Out M_Outb M_Out8 M_Outw M_Out16 Interrupt monitoring function With this function it is possible to monitor signals etc during program operation and pause the current p...

Page 34: ...56 A 180 00 Y 0 00 B 90 00 Z 845 23 C 180 00 L1 L2 FL1 7 FL2 0 COPY 123 POSI NEW PROGRAM COPY SRC NAME 1 DSR NAME CLOSE 123 PROGRAM RENAME SRC NAME 1 DST NAME CLOSE 123 PROGRAM DELETE NAME 1 CLOSE 123 PROTECT NAME 1 protect COMMAND OFF DATE OFF CLOSE 123 DATA CMD Title screen Program name input screen Menu screen 1 File Edit menu screen Program editing screen Position editing screen Program copy s...

Page 35: ... J1 01ag 4 J2 F 15K0 J3 01E27C J4 A 5g 4 J5 05H 30 J6 81 DA9 J7 J8 CLOSE 123 ORIGIN MECH COMPLETED J1 0 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 ORIGIN TOOL COMPLETED J1 0 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 Ａ 2 Run menu screen 3 Parameter screen 4 Origin Brake screen Check screen Test run screen Origin screen 1 Data screen 2 Mechanical stopper screen 3 Tool screen PROGRAM SELECTION S...

Page 36: ...screen ORIGIN USER J1 0 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 BRAKE J1 0 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL 2 Brake screen INITIALIZE 1 DATA 2 PARAMETER 3 BATTERY CLOSE 123 HOURE DATA POWER ON TIME 18 Hr BATTERY ACC 14089 Hr CLOSE 123 CLOCK DATE 08 05 07 TIME 16 04 50 CLOSE 123 VERSION R C Ver R3 T B Ver 1 7 CLOSE 123 1 Initialize screen 2 Operating time screen 3 Clock screen ...

Page 37: ...ND3 X HAND6 76543210 76543210 OUT 900 IN 900 CLOSE HND ALIGN SAFE Hand screen HAND key CYLNDR 3 XYZ WORK COORD WORK NUMBER 1 TEACHING POINT WO X 0 00 Y 0 00 Z 0 00 DEFINE 123 TEACH WX WY 2 WORK COORD SQ DIRECT JNT 100 POS 123 X 128 56 A 180 00 Y 0 00 B 90 00 Z 845 23 C 180 00 L1 L2 FL1 7 FL2 0 Next 123 TEACH MOVE Prev This function enable direct control of the robot by PLC Refer to separate manual...

Page 38: ...y and in the condition that ABC is displayed on the screen lower side press the character key Whenever the key as which two or more characters are displayed presses the key it changes the input character Ex The ABC key A B C a b c It repeats If it continues and inputs the character currently displayed on the same key once press the key and advance the cursor Ex If it inputs ABY push the ABC ABC tw...

Page 39: ...DIT and then press the EXE key The FILE EDIT screen will appear The same operations can be used on the other menu screens NEW PROGRAM PROGRAM NAME CLOSE ABC Correction of the input character CLEAR MNO WXYZ WXYZ WXYZ NEW PROGRAM PROGRAM NAME ABY CLOSE ABC MELFA CR75x D Ver S3 RH 3FH5515 D COPYRIGHT C 2011 MITSUBISHI ELEC TRIC CORPORATION ALL RIGHTS RESE RVED Display the MENU screen from the title s...

Page 40: ...racter These are assigned to F1 F2 F3 and F4 key sequentially from the left The menu currently displayed by pressing the corresponding function key can be selected And if is displayed at the right end of the menu it is shown that there is still the menu other than the current display and whenever it presses the FUNCTION key the display menu changes 3 XYZ CURRENT JOINT 50 M1 TO B1 J1 0 00 J5 0 00 J...

Page 41: ... joint type robot the direction from the mechanical inter face plane to the hand tip is Z In the case of a horizontal multi joint type robot the upward direction from the mechanical interface plane is Z XYZ jog Perform steps 1 to 3 above 4 Press the function key to change to the XYZ jog mode 5 Press the key corresponding to each of the axes from X Y Z A B C The axes are adjusted linearly with resp...

Page 42: ...n advance using the MEXTL parameter Notes Work coordinate system Set up beforehand eight kinds setting is available If the work coordinate system is not set up will move by the XYZ jog Refer to separate manual ROBOT ARM SETUP MAINTENANCE WORK jog Ex T jog mode This function can be used with in the following software version F Q series R5 or later F D series S5 or later Perform steps 1 to 3 above 4...

Page 43: ...each axis independently in angle units 3 2 4 XYZ jog Adjusts the axis coordinates along the direction of the robot coordinate system The X Y and Z axis coordinates are adjusted in mm units The A B and C axis coordinates are adjusted in angle units J1 ｰJ1 J2 J2 J4 J3 J4 J5 J5 J3 J6 J6 Ｚ Ｙ Ｘ Ａ Ａ Ｂ Ｂ Ｃ Ｃ ...

Page 44: ... 3 axis XYZ jog Adjusts the X Y and Z axis coordinates along the direction of the robot coordinate system in the same way as in XYZ jog feed The J4 J5 and J6 axes perform the same operation as in JOINT jog feed but the pos ture changes in order to maintain the position of the control point X Y and Z values The X Y and Z axis coordinates are adjusted in mm units The J4 J5 and J6 axis coordinates ar...

Page 45: ... Adjusting coordinates of the A B and C axes moves the hand in the same way as in XYZ jog feed The X and Z axis coordinates are adjusted in mm units The Y A B and C axis coordinates are adjusted in angle units 3 2 8 WORK jog Adjusts the axis coordinates along the direction of the work coordinate system The X Y and Z axis coordinates are adjusted in mm units The A B and C axis coordinates are adjus...

Page 46: ...l data during teaching does not match the tool number during operation To move the robot while switching tool data during the step operation of the program exercise caution as the robot moves to an unexpected direction if the tool data at the time of teaching does not match the tool number during step operation MODE MANUAL AUTOMATIC Down ENABLE Lighting Up DISABLE Rear of T B TOOL SELECT TOOL 0 0 ...

Page 47: ...er which you are using now is right Failure to confirm this could lead to personal injuries or damage if you teach by the wrong base coordinate number because the robot does the unexpected motion at program execution Make related the name of the position variable corresponding to the base coordinate number and please manage rightly Operating procedure is shown below 1 Set the controller mode to MA...

Page 48: ... for jog operation element 3 in cases other than program operation including position jump and step feed RH 3FH 6FH 12FH 20FH series 1 0 1 RV F series 0 0 1 RH 3FHR series 1 1 1 Detection level during jog operation COLLVLJG Integer 8 Set the detection level sensitivity during jog operation including pause status for each joint axis Unit Make the setting value smaller to increase the detection leve...

Page 49: ...l devices Operation after Impact If the servo is turned ON while the hand and or arm is interfering with peripheral devices the impact detection state occurs again preventing the servo from being turned ON If an error persists even after repeatedly turning ON the servo release the arm by a brake release operation once and then turn ON the servo again Or release the arm by turning ON the servo acco...

Page 50: ...y Opening and closing hand 2 Open Press B key Close Press B key Opening and closing hand 3 Open Press A key Close Press A key Opening and closing hand 4 Open Press Z key Close Press Z key Opening and closing hand 5 Open Press Y key Close Press Y key Opening and closing hand 6 Open Press X key Close Press X key It is possible to mount various tools on the robot s hand area In the case of pneumatic ...

Page 51: ...4 Pressing the function key currently assigned to SAFE is kept with the enabling switch 3 position switch pressed down While keeping pushing the robot does safe point return movement and START LED of the controller unit turns on during movement If either is detached in the middle of movement the robot will stop MODE MANUAL AUTOMATIC Down ENABLE Lighting Up DISABLE Rear of T B HAND C HAND1 Z HAND4 ...

Page 52: ...as follows 1 Set the controller mode to MANUAL Push the ENABLE switch of T B and enable T B 2 Press down the enabling switch 3 position switch press the SERVO key and carry out servo on 3 Press the HAND key and display the hand screen 4 Pressing the function key currently assigned to ALIGN is kept with the enabling switch 3 position switch pressed down While keeping pushing the robot does hand ali...

Page 53: ...t definition instruction Def Plt and the same posture component val ues include both 180 degrees and 180 degrees the hand will rotate and move in unexpected ways because the pallet operation calculates positions by dividing the distance between 180 degrees and 180 degrees When using position data whose posture component values include 180 degrees for pallet definitions use either or consistently f...

Page 54: ...04 24 17 20 32 22490 2 08 04 24 14 56 08 694 A1 08 04 24 13 05 54 2208 B1 08 04 24 13 05 54 1851 COPY 123 POSI EDIT NEW NEW PROGRAM PROGRAM NAME CLOSE ABC NEW PROGRAM PROGRAM NAME 1_ CLOSE ABC PROGRAM 1 100 TEACH 123 DELETE EDIT INSERT Inputs 1 of program name 1 EXE Edit of the constantly executed program ALWAYS attribute The program set as the constantly executed ALWAYS attribute with the SLTn pa...

Page 55: ...Press the CHARACTER key set it in the character input mode Press the MNO M MNO O 3 times and TUV V 3 times in order 4 Input P1 Press the SP space PQRS P Press the CHARACTER key set it in the number input mode and press the 1 key For the instruction word and the data which accompanies the command the space is required Step insertion F3 PROGRAM 1 100 TEACH 123 DELETE EDIT INSERT PROGRAM 1 100 CLOSE ...

Page 56: ... cursor to the next line press the key and select Displaying a specific line Press the FUNCTION key and change the function display and press the F2 key The display changes to the JUNP screen The specification line can be displayed if the step number to display in the parenthesis is inputted and the EXE key is pressed The step number can be omitted when inserting It is inserted in the next of the ...

Page 57: ...ogram F4 FILE EDIT 1 20 Rem 136320 1 08 04 24 17 20 32 22490 2 08 04 24 14 56 08 694 A1 08 04 24 13 05 54 2208 B1 08 04 24 13 05 54 1851 COPY 123 POSI EDIT NEW Precautions when saving programs Make sure to perform the operation above The edited data will not be updated if the power is turned off without doing so after modifying a program on the program edit screen Moreover as much as possible try ...

Page 58: ... key 3 times Move the cursor to o Press the CLEAR key twice and delete ov Leave M Press the TUV key 3 times input v the key the PQRS key 4 times input s Then 5 step is Mvs P5 Press the EXE key and regis ter step 5 PROGRAM 1 100 1 Mov P1 2 Mov P2 3 Mov P3 4 Mov P4 TEACH 123 DELETE EDIT INSERT PROGRAM 1 100 1 Mov P1 2 Mov P2 3 Mov P3 4 Mov P4 BWD 123 JUMP FWD PROGRAM 1 100 STEP 5 CLOSE 123 Call the ...

Page 59: ...onded for CLOSE is pressed in the middle of correction Correction of the character Move the cursor to up to the mistaken character and input the correct character after pressing the CLEAR key and deleting leftward If the program is corrected If the program is corrected certainly save Function key F4 which correspond for CLOSE are pushed or push the ENABLE switch on the back of T B and disable T B ...

Page 60: ...unction key corresponding to Yes then the robot s current position data will be taught to P5 and display will return to the original command edit screen The teaching can be canceled if the function key corresponding to No is pressed The teaching of the current position was completed above Call the step 5 F2 Call the step 5 5 EXE PROGRAM 1 100 1 Mov P1 2 Mov P2 3 Mov P3 4 Mov P4 BWD 123 JUMP FWD PR...

Page 61: ...he teaching can be canceled if the function key corresponding to No is pressed The teaching of the current position was completed above PROGRAM 1 1 Mov P1 2 Mov P2 3 Mov P3 4 Mov P4 CLOSE 123 CHANGE DIRECT Display the current position F2 POS JNT 100 P1 X 0 00 A 0 00 Y 0 00 B 0 00 Z 0 00 C 0 00 L1 0 00 L2 0 00 FL1 0 FL2 0 Prev 123 TEACH MOVE Next POS JNT 100 P5 X 0 00 A 0 00 Y 0 00 B 0 00 Z 0 00 C ...

Page 62: ... one by one by Prev F3 and Next F4 Usually although it is the call of only the position variable change the function key and the call can do the joint variable by the NAME F2 After calling the joint variable the joint variable of order can be called one by one by Prev F3 and If it displays to the head or the last by the joint variable it will return to the position variable by the next display PRO...

Page 63: ...UNCTION key is pressed 4 Deletion of the position variable Press the function key corresponding to Yes then the position variable is deleted Display the position edit screen F2 PROGRAM 1 1 Mov P1 2 Mov P2 3 Mov P3 4 Mov P4 CLOSE 123 CHANGE DIRECT POS JNT 100 P5 X 0 00 A 0 00 Y 0 00 B 0 00 Z 0 00 C 0 00 L1 0 00 L2 0 00 FL1 0 FL2 0 Prev 123 TEACH MOVE Next Call the position 5 F3 F4 POS JNT 50 P55 X ...

Page 64: ...es down still more strongly servo off will be carried out and the robot will stop The robot moves by this operation When the robot moves confirm not interfering with peripheral equipment etc beforehand We recommend you to lower speed at first And also important to predicting the trajectory of the robot by moving mode the joint the XYZ of operation Name Movement method Joint mode The robot moves wi...

Page 65: ...isplay the position edit screen Press the function key corresponding to CHANGE and display the position edit screen 2 Input 50 00 into Z axis element Press the key twice and move the cursor to the Z axis Press the CLEAR key and delete 0 00 currently displayed Press 5 0 and the EXE key As for the position variable P50 only the value of the Z axis is registered as the 50mm Display the position edit ...

Page 66: ... function key corresponding to DIRECT and display the direct execution screen 2 Execute the command after changing any statement if necessary To edit the command press the key to move the cursor to the target point and change it To perform the command as is press the EXE key The command is executed while the EXE key is held pressed The execution of the command stops when the EXE key is released PR...

Page 67: ...g switch 3 position switch or push in still more strongly thing servo off can be carried out and execution can be stopped During execution the lamp on the controller s START switch will light If execution of the one step is completed LED of the START switch will go out and LED of the STOP switch will turn it on If the F1 key is detached the cursor of the T B screen will move to the following step ...

Page 68: ...ep Supplement If it does step return after carrying out the step feed of the following program to Step 4 and step return is further done after returning to P1 it will return to the position at the time of the start which did step feed The position at the time of the start is the position which began to execute Step 1 Change of the execution step The execution step can be changed by cursor movement...

Page 69: ...Immediately stopping the robot during operation Press the EMG STOP emergency stop switch The servo will turn OFF and the moving robot will immediately stop To resume operation reset the alarm turn the servo ON and start step operation Release or for cibly press the enable switch The servo will turn OFF and the moving robot will immediately stop To resume operation lightly press the enable switch a...

Page 70: ...During execution the lamp on the controller s START switch will light If execution of the one step is completed LED of the START switch will go out and LED of the STOP switch will turn it on If the F1 key is detached the cursor of the T B screen will move to the following step Take special care to the robot movements during automatic operation If any abnormality occurs press the EMG STOP switch an...

Page 71: ...ven if it moves the cursor to Step 5 by the key 2 Execution of step feed If the function key corresponding to FWD is pressed step feed can be done from Step 5 Take special care to the robot movements during automatic operation If any abnormality occurs press the EMG STOP switch and immediately stop the robot PROGRAM 1 100 1 Mov P1 2 Mov P2 3 Mov P3 4 Mov P4 BWD 123 JUMP FWD PROGRAM 1 100 STEP 5 CL...

Page 72: ...3 8 2 Selecting the program No 1 Set the T B ENABLE switch to DIS ABLE 2 Set the controller mode to AUTOMATIC 3 Press the CHNG DISP switch and dis play PROGRAM NO on the STATUS NUMBER display 4 When the UP switch is pressed the reg istered program Nos will scroll up and then the DOWN switch is pressed the program Nos will scroll down Display the program No to be used for automatic operation They a...

Page 73: ...ush the SVO ON switch of the controller and servo power turn on 4 Automatic operation will start when the control ler START switch is pressed Continuous operation If the END switch is pressed during the contin uous operation the program will stop after one cycle The LED blinks during the cycle stop Before starting automatic operation always confirm that the target program No is selected Take speci...

Page 74: ...BLE switch does not need to be turned ON 3 Executing automatic operation START 4 Changing operation mode continuous cycle CONT CYCLE 5 Resetting a program RESET Other key operations 1 Changing the movement speed OVRD OVRD key Note When the controller drive unit mode is set to AUTOMATIC the robot moves at the regular speed When set to MANUAL the robot moves at low speed to confirm movement Set the ...

Page 75: ...PROGRAM NAME STEP PRG1 00001 STATUS STOP MODE CONT Note 3 Explanation of OPERATION screen START Starts program execution restarts from stopped state CONT CYCLE Switches over the operation mode RESET Cancels program s halted state and executes program reset Resets alarm if alarm is occurring CHOOSE Selects the program to start Opens the PROGRAM CHOICE screen SV ON SV OFF Turns the servo power ON OF...

Page 76: ...s on the T B 6 Press the function key F1 assigned to START to open the CHECK screen 7 Press the function key F1 assigned to YES Automatic operation of the currently selected program will start The screen will return to the OPERATION screen PROGRAM CHOICE PROGRAM NAME PRG2 CLOSE 123 OPERATION 100 Auto PROGRAM NAME STEP PRG2 00001 CHOOSE 123 CYCLE START RESET STATUS STOP MODE CONT Enter the program ...

Page 77: ...a stop 1 Operating with the controller 1 Press the STOP button 2 Operating with the T B 1 Press the STOP key OPERATION 100 Auto PROGRAM NAME STEP PRG2 00001 STATUS RUN MODE CYCLE CHOOSE 123 CONT START RESET Change operation mode F2 The figure shows an example of changing from CONT to CYCLE OPERATION 100 Auto PROGRAM NAME STEP PRG2 00001 STATUS RUN MODE CONT CHOOSE 123 CYCLE START RESET STOP Stop S...

Page 78: ...ATIC 3 Automatic operation will start when the control ler START button is pressed Continuation operation 1 cycle operation holds the former state Before starting automatic operation always confirm that the target program No is selected Take special care to the robot movements during automatic operation If any abnormality occurs press the EMG STOP switch and immediately stop the robot Don t turn o...

Page 79: ...hile holding down the RESET key The execution line will return to the head and the program will be reset Reset T B disable Execute of program reset DisplaytheprogramNo MODE MANUAL AUTOMATIC Prepare the control Down ENABLE Lighting Up DISABLE Rear of T B Controller enable CHNG DISP RESET Program reset RESET EXE Execute of program reset T B enable Controller disable Down ENABLE Lighting Up DISABLE R...

Page 80: ...the controller 1 Set the T B ENABLE switch to DISABLE 2 Set the controller mode to AUTO MATIC 3 When the SVO ON switch is pressed the servo will turn ON and the SVO ON lamp will light 4 When the SVO OFF switch is pressed the servo will turn OFF and the SVO OFF lamp will light Execute servo ON T B enable Controller disable Prepare the T B Servo ON operation SERVO Down ENABLE Lighting Up DISABLE Rea...

Page 81: ...or is canceled temporarily The RESET key corresponding to the CAUTION key in R56 57TB When operating with R56 57TB use the CAUTION key and perform following operation Operation to cancel errors temporarily from the T B 1 Set the Mode selection switch on the front of the controller to MANUAL 2 Set the T B ENABLE switch to ENABLE 3 Hold the enabling switch lightly hold down the SERVO key and keep on...

Page 82: ...ess the 1 key in the menu screen 1 FILE EDIT are selected and display the list of the pro grams Same operation can be done even if the cursor is moved to 1 FILE EDIT by the or key and it presses the EXE key And the program which is the target of each operation can also be selected The menu EDIT POSI NEW COPY corresponding to the function key is displayed under the screen Press the FUNCTION key the...

Page 83: ...put the program name copied in the parenthesis of the copy destination and press the EXE key PROGRAM COPY SRC NAME 1 DSR NAME CLOSE 123 FILE EDIT 1 20 Rem 136320 1 08 04 24 17 20 32 22490 2 08 04 24 14 56 08 694 A1 08 04 24 13 05 54 2208 B1 08 04 24 13 05 54 1851 COPY 123 POSI EDIT NEW PROGRAM COPY SRC NAME 1 DSR NAME 21 CLOSE 123 FILE EDIT 1 20 Rem 136320 1 08 04 24 17 20 32 22490 2 08 04 24 14 5...

Page 84: ... If it changes move the cursor by the arrow key Into the parenthesis of the renaming destination input the new program name and press the EXE key FILE EDIT 1 20 Rem 136320 1 08 04 24 17 20 32 22490 2 08 04 24 14 56 08 694 A1 08 04 24 13 05 54 2208 B1 08 04 24 13 05 54 1851 RENAME DELETE PRTCT CLOSE 123 PROGRAM RENAME SRC NAME 1 DST NAME CLOSE 123 FILE EDIT 1 20 Rem 136320 2 08 04 24 14 56 08 694 3...

Page 85: ...l return to the program list display If it does not delete press the function key corresponding to No It returns to the deletion screen PROGRAM DELETE NAME 1 CLOSE 123 FILE EDIT 1 20 Rem 136320 1 08 04 24 17 20 32 22490 2 08 04 24 14 56 08 694 A1 08 04 24 13 05 54 2208 B1 08 04 24 13 05 54 1851 RENAME DELETE PRTCT CLOSE 123 PROGRAM DELETE 31 DELETE OK No 123 Yes PROGRAM DELETE NAME 31 CLOSE 123 FI...

Page 86: ... to DATA If the function key corresponding to ON is pressed it will be set up for protecting If the function key corresponding to OFF is pressed it will be set up for not protecting PROTECT NAME 1 protect COMMAND OFF DATE OFF CLOSE 123 DATA CMD FILE EDIT 1 20 Rem 136320 1 08 04 24 17 20 32 22490 2 08 04 24 14 56 08 694 A1 08 04 24 13 05 54 2208 B1 08 04 24 13 05 54 1851 RENAME DELETE PRTCT CLOSE 1...

Page 87: ...ion information is not copied in copy operation In initialization operation protection information is disregarded and execute initialization About data protection It is the function which protects the variable from the substitution to each variable by registration of the posi tion data based on the operation mistake change and the mistaken execution of the program Protection information is not cop...

Page 88: ... can be done 1 Step feed Pressing the F1 FWD key is kept and the robot will start moving If F1 FWD is released during this step the robot will stop And detach the enabling switch 3 position switch or push in still more strongly thing servo off can be carried out and execution can be stopped During execution the lamp on the controller s START switch will light 1 If execution of the one step is comp...

Page 89: ...key corresponding to BWD it returns to the front step Take special care to the robot movements during automatic operation If any abnormality occurs press the EMG STOP switch and immediately stop the robot CAUTION About step operation Step operation executes the program line by line The operation speed is slow and the robot stops after each line so the program and operation position can be confirme...

Page 90: ...e operation menu not in the edit screen Refer to Page 49 3 Step feed in another slot for operation method Immediately stopping the robot during operation Press the EMG STOP emergency stop switch The servo will turn OFF and the moving robot will immediately stop To resume operation reset the alarm turn the servo ON and start step operation Release or for cibly press the enable switch The servo will...

Page 91: ...sed during program execution it is change to the cycle mode of operation The CYCLE is displayed after the mode and the END but ton of the operation panel blinks Finish operation after executing the last line of the End command or the program PROGRAM 1 50 1 Mov P1 2 Mov P2 3 Mov P3 4 Mov P4 CLOSE 123 RUN 1 CHECK 2 TEST RUN 3 OPERATION CLOSE 123 MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT...

Page 92: ...1 CHECK 2 TEST RUN 3 OPERATION CLOSE 123 TEST RUN 1 Mov P1 PROG NAME 1 STEP 1 MODE CONT CLOSE 123 CSTOP If execution of the program is stopped it will become the continuation mode of operation If the STOP key is pressed in the cycle mode of operation and execution of the program is stopped it changes to the continuation mode of operation If it continues execution of the program by the cycle mode o...

Page 93: ...r 1 Press the 1 key in the monitor menu screen and display the input signal screen The input signal of the 32 points can be monitored on the one screen The case where the state of the input signals 8 15 is confirmed is shown in the following 2 Press the function key corresponding to NUMBER Set 8 as the start number MONITOR 1 INPUT 2 OUTPUT 3 INPUT REG 4 OUTPUT REG 5 VARIABLE 6 ERROR LOG CLOSE 123 ...

Page 94: ...0 40 71 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 56 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 NUMBER CLOSE 123 Next Prev INPUT 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 23 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 8 39 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 24 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 NUMBER CLOSE 123 Next Prev INPUT 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 23 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 8 39 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 24 9 8 7 6 5 4 3...

Page 95: ... indicates ON and white indicates OFF Press the function key corresponding to Next then display the next output signal screen Press the func tion key corresponding to Prev then display the previous output screen OUTPUT 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 15 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 0 31 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 16 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 NUMBER CLOSE 123 Next Prev MONITOR 1 INPUT...

Page 96: ... monitor menu screen OUTPUT START No 8_ 5432109876543210 OUT VALUE 0000000000000000 CLOSE 123 OUTPUT OUTPUT 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 15 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 0 31 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 16 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 NUMBER CLOSE 123 Next Prev OUTPUT 1 Mov P1 START No 8_ 3210987654321098 OUT VALUE 0000000000000001 CLOSE 123 OUTPUT OUTPUT 1 Mov P1 START No 8 3210987654...

Page 97: ...t the head for the input register No 8000 Press the function key corresponding to Next then display the next input register screen Press the func tion key corresponding to Prev then display the previous input register screen MONITOR 1 INPUT 2 OUTPUT 3 INPUT REG 4 OUTPUT REG 5 VARIABLE 6 ERROR LOG CLOSE 123 FILE EDIT 1 20 Rem 136320 1 08 04 24 17 20 32 22490 2 08 04 24 14 56 08 694 A1 08 04 24 13 0...

Page 98: ...the function key corresponding to NUMBER Set 8000 as the start number INPUT REGISTER 8000 0 0 0000 8001 0 0 0000 8002 0 0 0000 8003 0 0 0000 CLOSE 123 NUMBER Prev Next MONITOR 1 INPUT 2 OUTPUT 3 INPUT REG 4 OUTPUT REG 5 VARIABLE 6 ERROR LOG CLOSE 123 MONITOR 1 INPUT 2 OUTPUT 3 INPUT REG 4 OUTPUT REG 5 VARIABLE 6 ERROR LOG CLOSE 123 FILE EDIT 1 20 Rem 136320 1 08 04 24 17 20 32 22490 2 08 04 24 14 ...

Page 99: ... and erase the CLEAR key If it sets up by the hexadecimal number move the cursor to 0x by the arrow key and input C The unnecessary character should press and erase the CLEAR key Press the function key F1 corresponding to the OUTPUT then will actually output the set up value 5 Press the function key corresponding to CLOSE and return to the output register monitor screen 6 Press the function key co...

Page 100: ...ot number and the program name after slot Press the function key corresponding to the NAME and input the variable name to monitor MONITOR 1 INPUT 2 OUTPUT 3 INPUT REG 4 OUTPUT REG 5 VARIABLE 6 ERROR LOG CLOSE 123 FILE EDIT 1 20 Rem 136320 1 08 04 24 17 20 32 22490 2 08 04 24 14 56 08 694 A1 08 04 24 13 05 54 2208 B1 08 04 24 13 05 54 1851 COPY 123 POSI EDIT NEW Finish the monitor If the MONITOR ke...

Page 101: ...pressed finish the moni tor and return to the original screen VARIABLE SLOT 1 5 M1 1 CLOSE 123 VALUE SLOT NAME VARIABLE SLOT 1 5 M1 1 P1 595 40 0 00 829 C1 CLOSE 123 VALUE SLOT NAME Add the variable to monitor VARIABLE NAME DATA M1 1 CLOSE 123 SLOT NAME VALUE VARIABLE SLOT 1 5 M1 8 P1 595 40 0 00 829 C1 CLOSE 123 VALUE SLOT NAME VARIABLE SLOT 1 5 M1 8 P1 595 40 0 00 829 C1 CLOSE 123 VALUE SLOT NAM...

Page 102: ...arrow key MONITOR 1 INPUT 2 OUTPUT 3 INPUT REG 4 OUTPUT REG 5 VARIABLE 6 ERROR LOG CLOSE 123 ERROR LOG No 0001 H0120 08 05 08 16 51 00 Instantaneous power failure CLOSE 123 ERROR LOG No 0002 L1826 08 05 08 16 49 22 Pos data disagree Check origin CLOSE 123 ERROR LOG No 0001 H0120 08 05 08 16 51 00 Instantaneous power failure CLOSE 123 The right of operation is unnecessary It operates even when T B ...

Page 103: ...number by the CLEAR key If the EXE key is pressed the buzzer will sound the value will be fixed and it will return to the screen of the parameter If the function key corresponding to the CLOSE is pressed also after inputting the new preset value change can be canceled and it can return to the parameter screen And press the function key corresponding to Next will display the next parameter Display ...

Page 104: ... PARAMETER NAME MEXTL1 ELE DATA 0 00 0 00 0 00 0 00 0 00 0 00 CLOSE 123 Next DATA Prev PARAMETER NAME MEXTL ELE DATA 0 00 0 00 100 00 0 00 0 00 0 00 CLOSE 123 Next DATA Prev F3 F2 PARAMETER NAME MEXTL ELE 3 DATA 0 00 0 00 0 00 0 00 0 00 0 00 CLOSE 123 Next DATA Prev PARAMETER MEXTL 0 00 0 00 100 00 0 00 0 00 0 00 CLOSE 123 Next DATA Prev Power must be turned ON again The changed parameter will be ...

Page 105: ...on must be carried out with the T B operator giving signals The operation method is shown in the following Perform this operation in the condition that the enabling switch 3 position switch is pushed lightly 1 Press the 4 key in the menu screen and display the ORIGIN BRAKE screen 2 Press the 2 key in the ORIGIN BRAKE screen and display the BRAKE screen 3 Input 1 into the axis which release the bra...

Page 106: ... 7F series RH 3FHR series The brake is released continuously RH 6FH 12FH 20FH series The brake is released in an off and on way released locked released locked RV 13F series RV 20F series RV 50F series J2 and J3 axis brakes are released in an off and on way released locked released locked The others are released continuously The brakes will activate when the function key or enabling switch is rele...

Page 107: ... screen 1 Initialize the program Delete all the programs 1 Press the 1 key in the SET INITIALIZE screen and display the initial menu screen 2 Press the 1 key in the initial menu screen and select the program Display the screen of confirmation 3 If it initializes press the function key corresponding to Yes If it does not initialize press the function key corresponding to No The screen returns to IN...

Page 108: ...key corresponding to Yes If it does not initialize press the function key corresponding to No The screen returns to INITIALIZE screen INITIALIZE 1 DATA 2 PARAMETER 3 BATTERY CLOSE 123 SET INITIALIZE 1 INITIALIZE 2 POWER 3 CLOCK 4 VERSION CLOSE 123 Executed even when protected The program will be initialized even if the program protection or variable protection is set to ON SET INITIALIZE 1 INITIAL...

Page 109: ...ize press the function key corresponding to No The screen returns to INITIALIZE screen 4 Press the function key corresponding to CLOSE and return to the SET INITIALIZE screen INITIALIZE 1 DATA 2 PARAMETER 3 BATTERY CLOSE 123 SET INITIALIZE 1 INITIALIZE 2 POWER 3 CLOCK 4 VERSION CLOSE 123 SET INITIALIZE 1 INITIALIZE 2 POWER 3 CLOCK 4 VERSION CLOSE 123 INITIALIZE 1 DATA 2 PARAMETER 3 BATTERY CLOSE 1...

Page 110: ... calculated in the controller and a caution message is displayed when the battery is spent Always initialize the battery consumption time after replacing the battery to ensure that the caution message is displayed correctly If this initialization is carried out when the battery has not been replaced the display timing of the caution message will deviate Thus carry this step out only when the batte...

Page 111: ...n the SET INITIALIZE screen and display the VERSION screen 2 Press the function key corresponding to CLOSE and return to the SET INITIALIZE screen CLOCK DATE 08 05 07 TIME 16 35 20 CLOSE 123 SET INITIALIZE 1 INITIALIZE 2 POWER 3 CLOCK 4 VERSION CLOSE 123 SET INITIALIZE 1 INITIALIZE 2 POWER 3 CLOCK 4 VERSION CLOSE 123 VERSION R C Ver P2T T B Ver 1 2 1 CLOSE 123 VERSION R C Ver P2T T B Ver 1 2 1 CLO...

Page 112: ...jog operation If you use the work jog define the target work coordinates system The details of the operation method are described in the jog operation Please use with reference to them Reference 1 Setting of work coordinates work jog operation Separate manual ROBOT ARM SETUP MAINTENANCE 2 Types of jog feed This instruction manual Page 21 3 2 1 Types of jog feed 3 Related parameter This instruction...

Page 113: ...of F1 key and F3 key of T B 1 Set the display language The character displayed on the T B can be set to either Japanese or English 1 Press the F1 key in the initial setting screen and select 1 Configuration 2 Press the F1 key and select 1 Default Language 3 Display the JPN by F1 or F2 key then language is set as Japanese And display the ENG then language is set as English EXE 1 F1 2 F2 キ 1 Configu...

Page 114: ...pressed 7 T B starts in the language set up when the EXE key was pressed Japanese English Default Language 002 JPN UP DWN Back Default Language 001 ENG UP DWN Back 1 Default Language 2 Contrast 1 2 Next 1 Save and Exit 2 Exit without Save 1 2 Prev 1 Default Language 2 Contrast 1 2 Next 1 Save and Exit 2 Exit without Save 1 2 Prev 1 Configuration 2 Com Information 1 2 Rset 1 Configuration 2 Com Inf...

Page 115: ...bright the F1 key is pressed if it makes it dark press the F2 key and set it as the good brightness It becomes so bright that the numerical value is large 4 Press the EXE key and fix it 5 Press the EXE key and display finish screen 1 Configuration 2 Com Information 1 2 Rset 1 Default Language 2 Contrast 1 2 Next Contrast 012 UP DWN Back 1 Default Language 2 Contrast 1 2 Next 1 Default Language 2 C...

Page 116: ...tting screen And the setup can be done over again if the EXE key is pressed 7 T B starts in the contrast set up when the EXE key was pressed 1 Save and Exit 2 Exit without Save 1 2 Prev 1 Configuration 2 Com Information 1 2 Rset 1 Configuration 2 Com Information 1 2 Rset MELFA CR75x D Ver S3 RH 3FH5515 D COPYRIGHT C 2011 MITSUBISHI ELEC TRIC CORPORATION ALL RIGHTS RESE RVED ...

Page 117: ...Mvc 4 4 Continuous movement Cnt 5 5 Acceleration deceleration time and speed control Accel Oadl 6 6 Confirming that the target position is reached Fine Mov and Dly 7 7 High path accuracy control Prec 8 8 Hand and tool control HOpen HClose Tool 9 4 1 2Pallet operation Def Plt Plt 10 4 1 3Program control 1 Unconditional branching conditional branching waiting GoTo If Then Else Wait etc 11 2 Repetiti...

Page 118: ...nal bit 20 turns ON during movement to P1 the movement to P1 is stopped and the program proceeds to the next stop Mov P1 Type 1 0 Default value Long way around Specify either roundabout or shortcut when the operation angle of each axis exceeds 180 deg Program Explanation 1 Mov P1 1 Moves to P1 2 Mov P2 50 1 2 Moves from P2 to a position retracted 50mm in the hand direction 3 Mov P2 3 Moves to P2 4...

Page 119: ...mple Explanation Mvs P1 Moves to P1 Mvs P1 P2 Moves to the position obtained by adding the P1 and P2 coordinate elements Refer to Page 122 Mvs P1 P2 Moves to the position relatively converted from P1 to P2 Mvs P1 50 1 Moves from P1 to a position retracted 50mm in the hand direction Mvs 50 1 Moves from the current position to a position retracted 50mm in the hand direction Mvs P1 Wth M_Out 17 1 Sta...

Page 120: ...s reached Continuously move to next position without stopping at target position Page 102 4 Continuous movement Move with joint interpolation Page 98 1 Joint interpolation movement Move while drawing a circle or arc Page 100 3 Circular interpolation movement Add a movement command to the process Page 302 Wth With Command word Explanation Mvr Designates the start point transit point and end point a...

Page 121: ...vr P3 P4 P5 2 Moves between P3 P4 P5 as an arc 3 Mvr2 P5 P7 P6 3 Moves as an arc over the circumference on which the start point P5 reference point P6 and end point P7 in the direction that the reference point is not passed between the start point and end point 4 Mvr3 P7 P9 P8 4 Moves as an arc from the start point to the end point along the circumference on which the center point P8 start point P...

Page 122: ...ion deceleration time and speed control Designate the acceleration deceleration time Page 103 5 Acceleration deceleration time and speed control Confirm that the target position is reached Page 105 6 Confirming that the target position is reached Move with joint interpolation Page 98 1 Joint interpolation movement Move linearly Page 99 2 Linear interpolation movement Move while drawing a circle or...

Page 123: ...es whether the optimum acceleration deceleration function should be enabled or disabled Statement example Explanation Accel Sets both the acceleration and deceleration to 100 Accel 60 80 Sets the acceleration to 60 and the deceleration to 80 For maximum acceleration deceleration is 0 2 sec acceleration 0 2 0 6 0 33 sec deceleration 0 2 0 8 0 25 sec Ovrd 50 Sets the joint interpolation linear inter...

Page 124: ... 70 70 Sets the acceleration and deceleration to 70 of the maximum speed 9 Mvs P3 4 Moves linearly to P3 with the end speed 120mm s 10 Spd M_NSpd Returns the end speed to the default value 11 JOvrd 70 Sets the speed for joint interpolation to 70 12 Accel Returns both the acceleration and deceleration to the maximum speed 13 Mvs 50 1 5 Moves linearly with the default speed for linear movement from ...

Page 125: ...ing complete pulse count is 50 or less 6 M_Out 17 1 4 Turns output signal 17 ON when positioning finish pulse reaches 50 pulses 7 Fine 1000 Sets positioning finish pulse to 1000 8 Mvs P3 100 1 5 Moves linearly from P3 to position retracted 100mm in hand direction 9 Mvs P3 6 Moves with linear interpolation to P3 10 Dly 0 1 Performs the positioning by the timer 11 M_Out 17 0 7 Turns output signal 17...

Page 126: ...t interpolation from P1 to position retracted 50mm in hand direction 2 Ovrd 50 Sets the movement speed to half of the maximum speed 3 Mvs P1 2 Moves with linear interpolation to P1 4 Prec On The high path accuracy mode is enabled 5 Mvs P2 3 Moves the robot from P1 to P2 with high path accuracy 6 Mvs P3 4 Moves the robot from P2 to P3 with high path accuracy 7 Mvs P4 5 Moves the robot from P3 to P4...

Page 127: ...ed 9 Mvs 50 1 4 Moves linearly from current position P1 to position retracted 50mm in hand direction Lifts up workpiece 10 Mvs P2 50 1 5 Moves with joint interpolation from P2 to position retracted 50mm in hand direction 11 Ovrd 50 Sets movement speed to half of the maximum speed 12 Mvs P2 6 Moves with linear interpolation to P2 Goes to place workpiece 13 Dly 0 5 Wait for the 0 5 seconds for the c...

Page 128: ...to operate pallet No 1 with a start point P1 end point A P2 end point B P3 and diagonal point P4 a total of 12 work positions quantity A 4 quantity B 3 and a pallet pattern 1 Zigzag Def Plt 2 P1 P2 P3 8 5 2 Defines to operate pallet No 2 with a start point P1 end point A P2 and end point B P3 a total of 40 work positions quantity A 8 quantity B 5 and a pallet pattern 2 Same direction Def Plt 3 P1 ...

Page 129: ...mple to change the sign of 179 degrees to add 360 degrees and correct the value to 181 degrees Program example 1 shows an example where the posture components of the end points P3 and P4 and diagonal point P5 are adjusted according to the start point P2 when the hand direction is the same in all grid points of a pallet values of the A B and C axes are identical line numbers 10 to 90 Program exam p...

Page 130: ...d B and the diagonal point of the pallet definition The value of the start position of the pallet definition is employed for the multi rotation flag of grid points FL2 of position data as well If position data with different multi rotation flags are used for each point of the pallet definition the hand will rotate and move in unex pected ways depending on the robot positions the pallet operation g...

Page 131: ...ble M1 M1 is used as a counter 12 LOOP Designates label LOOP at the jump destination 13 Mov P1 50 1 Moves with joint interpolation from P1 to a position retracted 50mm in hand direction 14 Ovrd 50 Sets movement speed to half of the maximum speed 15 Mvs P1 Moves linearly to P1 Goes to grasp workpiece 16 HClose 1 Closes hand 1 Grasps workpiece 17 Dly 0 5 Waits 0 5 seconds 18 Ovrd 100 Sets movement s...

Page 132: ... P3 P4 P5 3 5 2 Defines the pallet Pallet No 1 start point P2 end point A P3 end point B P4 diagonal point P5 quantity A 3 quantity B 5 pallet pattern 2 Same direction 12 M1 1 Substitutes value 1 in numeric variable M1 M1 is used as a counter 13 LOOP Designates label LOOP at the jump destination 14 Mov P1 50 1 Moves with joint interpolation from P1 to a position retracted 50mm in hand direction 15...

Page 133: ...he designated variable and the designated conditions of that value The value conditions can be designated randomly Multiple types of conditions can be designated per command statement Wait Waits for the variable to reach the designated value Statement example Explanation GoTo FN Jumps unconditionally to the label FN step ON M1 GoTo L1 L2 L3 If the numeric variable M1 value is 1 jumps to step L1 if...

Page 134: ...atement while designated conditions are satisfied Statement example Explanation For M1 1 To 10 Next Repeat between For statement and Next statement 10 times The initial numeric variable M1 value is 1 and is incremented by one with each repetition For M1 0 To 10 Step 2 Next Repeat between For statement and Next statement 6 times The initial numeric variable M1 value is 0 and is incremented by two w...

Page 135: ...eration time depends on the Accel and Ovrd instructions Def Act 2 M_In 11 1 GoSub SUB2 L If input signal bit 11 is turned on for interrupt number 2 the subroutine on step SUB2 is defined to be called after the statement currently being executed is completed Def Act 3 M_In 12 1 GoSub SUB3 S If input signal bit 12 is turned on for interrupt number 3 the subroutine on step SUB3 is defined to be calle...

Page 136: ...d program as an argument FPrm An argument is transferred with the program called with the CallP command Statement example Explanation GoSub Calls the subroutine from step On GoSub Calls the subroutine from label GET ON M1 GoSub L1 L2 L3 If the numeric variable M1 value is 1 calls the subroutine at step L1 if 2 calls the subroutine at step L2 and if 3 calls the subroutine at step L3 If the value do...

Page 137: ...t signals Command word Explanation Hlt This instruction stops the robot and pauses the execution of the program When the program is started it is executed from the next step End This instruction defines the end of one cycle of a program In continuous operation the program is executed again from the start step upon the execution of the End instruction In cycle operation the program ends upon the ex...

Page 138: ...ach the designated state Statement example Explanation Wait M_In 1 1 Waits for the input signal bit 1 to turn ON M1 M_Inb 20 Substitutes the input signal bit 20 to 27 as an 8 bit state in numeric variable M1 M1 M_Inw 5 Substitutes the input signal bit 5 to 20 as an 16 bit state in numeric variable M1 Function Explanation page Signal output Page 118 2 Output signals Branching with input signal Page...

Page 139: ... When X 123 7 Y 238 9 Z 33 1 A 19 3 B 0 C 0 FL1 1 FL2 0 Print 1 M5 P5 Outputs the numeric variable M5 value and position variable coordinate value to file No 1 M5 and P5 are separated with a comma hexadecimal 2C Output data example 8 123 7 238 9 33 1 19 3 0 0 1 0 CR When M5 8 P5 X 123 7 Y 238 9 Z 33 1 A 19 3 B 0 C 0 FL1 1 FL2 0 Input 1 M3 Converts the input data into a value and substitutes it in ...

Page 140: ...ide the numeric variable M1 value by 2 Exponential operation M1 M1 2 Square the numeric variable M1 value Integer division M1 M1 3 Divide the numeric variable M1 value by 3 and make an integer round down MOD Remainder operation M1 M1 Mod 3 Divide the numeric variable M1 value by 3 and leave redundant Sign reversal P1 P1 M1 M1 Reverse the sign for each coordinate element in position variable P1 Rev...

Page 141: ...tput the numeric variable M1 value to output signal bit 20 to 27 Output bit signal 27 is always ON at this time Not NOT operation M1 Not M_Inw 1 Reverse the status of input signal bit 1 to 16 to create a value and substitute in numeric variable M1 Xor Exclusive OR operation N2 M1 Xor M_Inw 1 Obtain the exclusive OR of the states of M1 and the input signal bits 1 to 16 convert into a value and subs...

Page 142: ...responds to addition within the tool coordinate system while division corresponds to subtraction within the tool coordinate sys tem 3 Relative calculation of position data Addition An example of relative calculation Addition 1 P2 5 10 0 0 0 0 0 0 2 P100 P1 P2 3 Mov P1 4 Mvs P100 P1 200 150 100 0 0 45 4 0 In this example the hand is moved relatively within the robot coordinate system at teaching po...

Page 143: ...ns output signal bit 20 ON simultaneously with the start of movement to P1 Mov P1 WITHIF M_In 20 1 Hlt Stops if the input signal bit 20 turns ON during movement to P1 Mov P1 WthIf M_In 19 1 Skip Stops movement to P1 if the input signal bit 19 turns ON during movement to P1 and then proceeds to the next step Function Explanation page Joint interpolation movement Page 98 1 Joint interpolation moveme...

Page 144: ...ge only to the comment and character string data is possible for the small letter Numeral Mark Step number line number Add automatically by program regis tration as a step number It is necessary to input as a line num ber at programming The length of the one line Less than 240 characters Less than 127 characters Variable name The less than 16 characters The English capital letter and the English s...

Page 145: ... activating it from the operation panel or by a dedicated input signal or by executing an instruction related to multitask operation The execution environment for multitasking is shown in Fig 4 1 Fig 4 1 Multitask slot environment User base program Multitask slot environment External variables user defined external variables Slot 1 XRUN XLOAD XRST XSTP Program Slot 2 Slot n Program Program XCLR Ex...

Page 146: ...xecution type depending on the setting of the information of the SLT parameter the start operation starts concurrent execution or con stant concurrent execution or starts concurrent execution at error occur rence It is necessary to set the SLT parameter in advance This method does not rely on the program flow and is effective for carry ing out simultaneous execution with a preset format or for seq...

Page 147: ...m eters for details 3 Starting conditions START START Execution of a pro gram using the START but ton on the operation panel or the I O START signal Select START when it is desired to start normally Note1 Note1 The start operation conducted from the operation panel or by sending the dedicated input signal START will start the execution of programs of all the task slots whose start conditions are s...

Page 148: ...efined external vari ables refer to Page 145 4 4 24 User defined external variables An example is shown below In this example the on off status of input signal 8 is judged by the program specified in task slot 2 Then this program notifies the program specified in task slot 1 that the signal is turned on by means of the external variable M_00 4 Confirmation of operating status of programs via robot...

Page 149: ...T and STOP display the operation conditions of programs specified in task slots for which the start conditions are set to START in the corresponding SLT parameter If at least one program is operat ing the LED of the START switch lights up and the dedicated output signal START turns on If all the pro grams stop the LED of the STOP switch is lit and the dedicated output signal STOP turns on The dedi...

Page 150: ... position data lead in program Process flow P1 Workpiece pickup position Vacuum timer Dly 0 05 P2 Workpiece placing position Release timer Dly 0 05 P3 Vision pre position Do not stop at penetration point Cnt P4 Vision shutter position Do not stop at penetration point Cnt P_01 Vision compensation data P20 Position obtained by adding P2 to vision compensation data relative operation Workpiece pickup...

Page 151: ...05 Timer 0 05 second 26 Mov P20 10 Move to 10mm above P20 27 Cnt 0 Invalidate path connected movement 28 End End one cycle 2 Position data lead in program Program name 2 1 R 2 If M_01 0 Then GoTo R Wait for interlock variable M_01 to reach 1 3 Open COM1 AS 1 Open RS 232 C line 4 Dly M_03 Hypothetical process timer 0 05 second 5 Print 1 SENS Transmit character string SENS to RS 232 C vision side 6 ...

Page 152: ...emory 3 Program execution area The program execution area is used when operating a program automatically The capacity of the program execution area is 400 Kbytes The total capacity of programs loaded into the execution area at the same time via user base programs for multitasking purposes or by XRun and CallP instructions must be 400 Kbytes or less The capacity of the program execution area cannot...

Page 153: ... use an external output signal to select a program to be exe cuted the program name should be specified using the numbers If a program is executed as a sub pro gram via the CallP instruction more than four alphabetic characters may be used However such programs may not be selected from the operation panel 2 Command statement Example of constructing a statement 1 Mov P1 Wth M_Out 17 1 1 2 3 4 1 STE...

Page 154: ...moves to the position saved in variable name J1 A numeric value integer real value etc is saved The variable name starts with M Example M1 1 The value 1 is substituted in variable name M1 A character string is saved A is added to the end of the variable name Example C1 ERROR the character string ERROR is substituted in variable name C1 Note 1 Each variable is categorized into the following classes...

Page 155: ...ed in the memory it is stored in the order of the step Nos Step Nos can be any integer from 1 to 32767 4 4 5 Label A label is a user defined name used as a marker for branching A label can be created by inserting an asterisk followed by uppercase or lowercase alphanumeric char acters after the step No The head of the label must be an alphabetic character and the entire label must be within sixteen...

Page 156: ...of label names Class Available characters Program name Variable name Label name Alphabetic characters A B C D E F G H I J K L M N O P Q R S T U V W X Y Z O O O a b c d e f g h i j k l m n o p q r s t u v w x y z X O O Numerals 0 1 2 3 4 5 6 7 8 9 O Note1 Note1 Only alphabetical characters can be used as the first character of the variable name Numerals can be used as the second and succeeding char...

Page 157: ...tatement Example 1 Mov P1 GET GET will be set as the comment 2 GET PARTS This is the same as 150 Rem GET PARTS 4 Asterisk The asterisk is placed in front of label names used as the branch destination Example 2 CHECK 5 Comma The comma is used as a delimiter when there are several parameters or suffixes Example P1 200 150 6 Period The period is used for obtaining certain components out of multiple d...

Page 158: ...following characteris tics 1 Decimal number Example 1 1 7 10 5 1 2E 5 Exponential notation Valid range 1 7976931348623157e 308 to 1 7976931348623157e 308 2 Hexadecimal number Example H0001 HFFFF Valid range H0000 to HFFFF 3 Binary number Example B0010 B1111 Valid range B0000000000000000 to B1111111111111111 4 Types of constant The types of constants are specified by putting symbols after constant ...

Page 159: ...n and calculation in the program 2 Meaning of structure flag data type and meanings Format FL1 FL2 Meaning FL1 Posture data It indicates the robot arm posture in the XYZ coordinates FL2 Multiple rotation data It includes information of the rotational angle of each joint axis at the position XYZ and posture ABC expressed as XYZ coordinates Default value 0 The range is 0 to 4294967295 Information fo...

Page 160: ... the J3 axis of a horizontal multi joint type robot is a direct driven axis 900 540 180 0 180 540 900 2 E 1 F 0 1 2 Value of multiple rotation data Angle of each axis Value of multiple rotation data Designation of axis No 1 There is no need to describe the coordinate and posture data for all eight axes However if omitted the following axis data will be processed as undefined For a 4 axis robot X Y...

Page 161: ...and user defined external variable valid over programs The user defined external variable has a _ for the second character of the variable name Refer to Page 144 4 4 22 External variables for details Use of variables in joint element data The axis data is called the joint element data A variable cannot be contained in the joint constant data that configures the joint constant Note 1 Numeric value ...

Page 162: ...le precision double precision execution an error will occur Table 4 6 Range of numeric value variable data 4 4 17 Character string variables A character string variable should start with C and end with If it is defined by the Def Char instruction it is possible to specify a name beginning with a character other than C Example C1 ABC CS C1 Def Char MOJI MOJI MOJIMOJI 4 4 18 Position variables Varia...

Page 163: ...n variables and joint variables can all be used in arrays Designate the array elements at the subscript section of the variables Array variables should be declared with the Dim instruction It is possible to use arrays of up to three dimensions Example Example of definition of an array variable Dim M1 10 Single precision real number type Dim M2 10 Integer type Dim M3 10 Single precision real number...

Page 164: ...System status variables The robot status variables are controlled by the system and their usage is determined in advance M_In M_Out P_Curr M_PI etc Data type Variable name Note1 Note1 When you use the extension change the following parameter Qty Remarks Position P_00 to P_19 P_20 to P_39 20 20 Position array No of elements 10 P_100 to P_104 P_105 to P_109 5 5 Use the array element in the first dim...

Page 165: ...m in which they will be used It is not necessary to declare local variables variables valid only within programs again Example Example of using user defined external variables On the main program program name 1 side On the user base program program name UBP side Procedure before using user defined external variables 1 First write a user base program Use _ for the second character of the variables ...

Page 166: ...y the Instructions check box is checked 4 When the copy operation is complete perform the operation in step 3 above again Uncheck the Instructions check box and check the Position Variables check box this time and then execute 5 Write a user base program in the robot controller first when deleting a program and then register it again in the program management window as well What is a user base pro...

Page 167: ...the world coordinate system is in agreement with the base coordinate system Mechanical interface coordinate system Origin is 3 J6 axis rotation center on the tool installation surface A coordinate system established with reference to the robot s mechanical interface Tool coordinate system Origin is 4 A coordinate system established with reference to the robot s mechanical interface Its relation to...

Page 168: ...sing a Fram function etc do so by inversely converting the position data for example Base Inv P1 When you specify work coordinate system parameters WK1CRD WK3CRD by executing a Base command however you do not have to make the inverse conversion yourself as it is done in internal processing Example Base1 to Base 8 Fig 4 4 Base conversion Performing a base conversion changes the robot s current posi...

Page 169: ...nce for posture angles A B and C represent the robot s posture in the coordinate system of its hand s leading end or flange center where no tool setting is made each indicating a angle of rotation on the X axis Y axis and Z axis of the world coordinate system Rotation corresponding to the direction of a right handed screw when you look at the side of each coordinate axis is rotation Also rotation ...

Page 170: ...ard Tool Coordinates 1 Mechanical interface coordinate system As shown in Fig 4 6 a coordinate system having its origin point chosen at the center of the flange is called a mechanical interface coordinate system X axis Y axis and Z axis of the mechanical interface coor dinate system are denoted as Xm Ym and Zm respectively Zm is an axis which passes through the flange center and is perpendicular t...

Page 171: ...the tool coordinate system are denoted as Xt Yt and Zt respectively Fig 4 8 Mechanical interface coordinate system and tool coordinate system Tool data consists of the same elements as position data X Y Z Amount of shift Amount by which the origin point of the mechanical interface coordinate system is shifted to agree with that of the tool coordinate system in mm A B C Angle of rotation of each co...

Page 172: ...ase of tool data setting being made Travel in the direction of X axis Travel in the direction of X axis Travel in the direction of A axis Travel in the direction of A axis The robot hand rotates on the Xm axis of the mechanical interface coordinate system thus having a wide range of motion at its leading end The robot hand rotates on the Xt axis of the tool coordinate system Rotational motion on t...

Page 173: ... operating condition of the robot leads to an improved workability In the example shown in Fig 4 10 because the robot hand is oriented laterally to insert or remove the work the direction of the Z axis of the tool coordinate system is chosen to agree with the orientation of the work Fig 4 10 Approach pullout motion Making tool data settings will come in useful when you have to make changes to the ...

Page 174: ...4 154 Coordinate system description of the robot 4MELFA BASIC V Fig 4 11 Rotational motion in tool coordinate system Zt Yt Xt a Position of P1 b Position of Mov P1 0 0 0 0 0 45 45 ...

Page 175: ... R Position type 382 12 P_NTool Mechanism No 1 to 3 System default value tool conversion data R Position type 392 13 P_NBase Mechanism No 1 to 3 System default value base conversion data R Position type 382 14 M_Tool Mechanism No 1 to 3 Tool No 1 to 16 RW Integer type 367 15 J_ColMxl Mechanism No 1 to 3 Difference between estimated torque and actual torque R Joint type 317 16 M_ColSts Mechanism No...

Page 176: ...pe 322 39 M_AclSts Slot No 1to 32 Current acceleration deceleration status 0 Stopped 1 Accelerating 2 Constant speed 3 Decelerating R Integer type 322 40 M_SetAdl Axis No 1 to 8 Specify the acceleration deceleration time ratio of each axis RW Single precision real number type 360 41 M_LdFact Axis No 1 to 8 The load factor of the servo motor of each axis R Single precision real number type 345 42 M...

Page 177: ...0 60 M_In32 Input No 0 to 32767 Use this variable when inputting external input signals 32 bit units numerically General purpose bit device double word signal input The signal numbers will be 6000s for CC Link Ｒ Integer type 342 61 M_Out Output No 0 to 32767 Use this variable when outputting external output signals bit units General purpose bit device bit signal input 0 off 1 on The signal numbers...

Page 178: ...Double precision real number type 337 82 M_On None 1 is always set R Integer type 349 83 M_Off None 0 is always set R Integer type 349 84 M_Mode None Contains the status of the key switch of the operation panel MANUAL AUTOMATIC O P AUTOMATIC External 1 2 3 R Integer type 348 85 M_SplPno Mechanism No 1 to 3 During the spline interpolation movement the transit point No passed through most recently i...

Page 179: ...ion quick function GPS function R Integer type 347 Note1 Mechanism No 1 to 3 Specifies a mechanism number corresponding to the multitask processing function Slot No 1 to 32 Specifies a slot number corresponding to the multitask function Input No 0 to 32767 theoretical values Specifies a bit number of an input signal Output No 0 to 32767 theoretical values Specifies a bit number of an output signal...

Page 180: ...random number of arguments 416 Min Numeric expression Obtains the min value from a random number of arguments 417 Rad Numeric expression deg Converts the angle unit from radian rad to degree deg 421 Sgn Numeric expression Checks the sign of the number in the expression 428 Sqr Numeric expression Calculates the square root 432 Strpos Character string expres sion Character string expres sion Obtains...

Page 181: ...alue Position vari ables Dist Position Position Obtains the distance between two points 409 Position Fram Position 1 Position 2 Position 3 Calculates the coordinate system designated with three points Position 1 is the plane origin position 2 is the point on the X axis and position 3 is the point on the Y axis direction plane The plane origin point and posture are obtained from the XYZ coordinates...

Page 182: ...nored 437 Numeric value PosCq Position Checks whether position is within the movement range 419 Numeric value PosMid Position1 Position2 Numeric value1 Numeric value2 Calculates the middle position between position 1 and position 2 420 Position CalArc Position 1 Position 2 Position 3 Numeric value1 Numeric value2 Numeric value3 Position 4 Returns information of an arc created from position 1 posit...

Page 183: ...compliance in the JOINT coordinate system 182 Cmp Pos Compliance Posture Specification of compliance in the XYZ coordinate system 184 Cmp Tool Compliance Tool Specification of compliance in the Tool coordinate system 186 Cmp Off Compliance OFF Compliance setting invalid 188 CmpG Compliance Gain Compliance gain specification 189 Oadl Optimal Acceleration Sets the optimum acceleration deceleration 2...

Page 184: ... subroutine jump 271 Com On Com Off Com Stop Communication ON OFF Stop Allows prohibits stops communication interrupts 197 HOpen HClose Hand Open Hand Close Hand s open close 242 Error error User error 231 Skip Skip Skip while moving 291 Wait Wait Waiting for conditions 300 Clr Clear Signal clear 181 SplWrt Spline Write Creates the spline file 296 SplFWrt Spline Frame Write Rewrites the frame tran...

Page 185: ...nation Page XLoad X Load Loads a program to another task slot 305 XRun X Run Execute the program in another task slot 307 XStp X Stop Stop the program in another task slot 308 XRst X Reset Resets the program in another task slot being suspended 306 XClr X Clear Cancels the loading of the program from the specified task slot 304 GetM Get Mechanism Obtains mechanical control right 237 RelM Release M...

Page 186: ...Integer Integer Addition Subtract Multiplication Division Integer division Remainder MOD Exponent Substitution Comparison Compari son operators Logic Logic operators Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Real number Real number Real number Real number Integer Integer Real number Integer Integer Integer Real number Addition Subtract Multiplication Division ...

Page 187: ...l deeper Each command has a limit to the depth of the control structure Exceeding these limits will cause an error Table 4 14 Limit to control structure depth 4 12 Reserved words Reserved words are those that are already used for the system A name that is the same as one of the reserved words cannot be used in the program Instructions functions and system status variables etc are considered reserv...

Page 188: ... that a space is required Terminology Indicates the meaning and range etc of the argument Reference Program Indicates a program example Explanation Indicates detailed functions and cautions etc The available robot type Indicates the available robot type Related parameter Indicates the related parameter Related system variables Indicates the related system variables Related instructions Indicates t...

Page 189: ...on Adefaultvalueof100issetiftheargumentisomitted Itispossibletospecifytheargument either by a constant or variable Reference Program 1 Accel 50 100 Heavy load designation when acceleration deceleration is 0 2 sec onds the acceleration will be 0 4 and the deceleration will be 0 2 sec onds 2 Mov P1 3 Accel 100 100 Standard load designation 4 Mov P2 5 Def Arch 1 10 10 25 25 1 0 0 6 Accel 100 100 20 2...

Page 190: ...70 Detailed explanation of command words 4MELFA BASIC V Related instructions Oadl Optimal Acceleration Loadset Load Set Related system variables M_Acl M_DAcl M_NAcl M_NDAcl M_AclSts Related parameter JADL ...

Page 191: ... GoSub INTR Assign input signal 1 to the interrupt 1 condition 2 Mov P1 3 Act 1 1 Enable interrupt 1 4 Mov P2 5 Act 1 0 Disable interrupt 1 10 INTR 11 IF M_In 1 1 GoTo 110 Loops until the M_In 1 signal becomes 0 12 Return 0 2 When the input signal 1 turns on set to 1 while moving from P1 to P2 Operation is interrupted and the output signal 10 turns on 1 Def Act 1 M_In 1 1 GoSub INTR Assign input s...

Page 192: ... interrupt process should be done by describing either RETURN 0 or RETURN 1 How ever when returning from interruption processing to the next step by RETURN1 execute the statement to disable the interrupt When that is not so if interruption conditions have been satisfied because interrup tion processing will be executed again and it will return to the next step the step may be skipped 5 Even if the...

Page 193: ...1 8 Each value corresponds to parameter work coordinate system WK1CORD WK8CORD Note When a real number or a double precision real number is specified the fractional portion is round down Reference Program Specify by base conversion data 1 Base 50 100 0 0 0 90 A new world coordinate system is defined by conversion data in the form of a constant 2 Mvs P1 A move to P1 is made in the new world coordin...

Page 194: ... axis C Angle to turn toward the Z axis Elements A B and C are set to take a clockwise move as a forward rotation looking at the plus side from the origin point of the world coordinate system 2 The contents of the structural flag have no meaning 3 Base coordinate system which has been changed by this command is saved in parameter MEXBS and retained after controller power off too 4 Performing a bas...

Page 195: ...same as the newly established coordinate system If they do not match the robot can stray to unexpected positions possibly result ing in property damage or personal injury When using the base conversion function be sure to maintain positive control over relation between the base coordinate system subject to conversion and the position which the robot is taught to take so that a proper robot operati...

Page 196: ... Program 1 When passing the argument to the program to call Main program 1 M1 0 2 CallP 10 M1 P1 P2 3 M1 1 4 CallP 10 M1 P1 P2 10 CallP 10 M2 P3 P4 15 End Sub program side 1 FPrm M01 P01 P02 2 If M01 0 Then GoTo LBL1 3 Mov P01 4 LBL1 5 Mvs P02 6 End Return to the main program at this point When step 2 and 4 of the main program are executed M1 P1 and P2 are set in M01 P01 and P02 of the sub program...

Page 197: ... Plt and Dim instructions executed in the main program are invalid in a program called by the CallP instruction They become valid when the control is returned to the main program from the program called by the CallP instruction again 6 Tool data is valid in a sub program Values of Accel Spd Ovrd and JOvrd are invalid The mode of Oadl is valid 7 Another sub program can be executed by calling CallP ...

Page 198: ...bles and the element number of the completely matched character string array is set in search result storage destination Partially matched character strings are not searched Even if ChrSrch C1 1 ROBO M1 are described in the above statement example the matched character string is not searched 2 If the character string to be searched is not found 0 is set in search result storage destination 3 Chara...

Page 199: ...ables the interference prediction alarm An alarm L4931 would occur if this argument is omitted Reference Program Refer to Page 543 5 24 10 Sample programs Explanation 1 This command activates the stop function of the interference avoidance function The parameter CAV setting determines the initial status of the interference avoidance function Activating the interference avoidance function while the...

Page 200: ...shed The data left in the buffer will be processed as follows when the file is closed Table 4 15 Processing of each buffer when the file is closed 2 Executing an End statement will also close a file 3 If the file number is omitted all files will be closed Related instructions Open Open Print Print Input Input Close File No File No Buffer types Processing when the file is closed Communication line ...

Page 201: ...ramarecleared to zero 3 Clears all external numerical variables External system variables and user defined external variables andexternalnumericalarrayvariables settingthemto0 External position variables are not cleared Reference Program 1 The general purpose output signal is output based on the output reset pattern 1 Clr 1 2 The local numeric variables and numeric array variables in the program a...

Page 202: ...below do not function if this servo free equivalent behavior is in use 3 The soft state is maintained even after the robot program execution is stopped To cancel the soft status execute the Cmp Off command or turn Off the power 4 When pressing in the soft state the robot cannot move to positions that exceed the operation limit of each joint axis 5 If the amount of difference between the original t...

Page 203: ...ction is exe cuted or the power is turned off To execute a jog operation after setting the compliance mode with the Cmp Jnt instruction use the JOINT jog mode If any other jog mode is used the robot may operate in a direction different from the expected moving direction because the directions of the coordinate systems controlled by the jog operation and the compliance mode differ When performing t...

Page 204: ... amount of difference between the original target position and the actual robot position becomes greater than 200 mm by pushing the hand etc the robot will not move any further and the operation shifts to the next step of the program 7 It is not possible to use Cmp Jnt POS and Tool at the same time In other words an error occurs if the Cmp Pos or Cmp Tool instruction is executed while the Cmp Jnt ...

Page 205: ...erate in a direction different from the expected moving direction because the directions of the coordinate systems controlled by the jog operation and the compliance mode differ When performing the teaching of a position while in the compliance mode per form servo OFF first Be careful that if teaching operation is performed with Servo ON the original com mand position is taught instead of the actu...

Page 206: ...tion of the command position and actual position can be read with M_CmpDst The success fail ure of pin insertion can be checked using this variable 7 If the amount of difference between the original target position and the actual robot position becomes greater than 200 mm by pushing the hand etc the robot will not move any further and the operation shifts to the next step of the program 8 It is no...

Page 207: ...rogram number or operating the jog To execute a jog operation after setting the compliance mode with the Cmp Tool instruction use the Tool jog mode If any other jog mode is used the robot may operate in a direction different from the expected moving direction because the directions of the coordinate systems controlled by the jog operation and the compliance mode differ When performing the teaching...

Page 208: ...sing 1 sec 7 HOpen 1 Open the hand 8 Mvs 100 Retreats 100 mm in the Z direction of the Tool coordinate sys tem 9 Cmp Off Return to normal state Explanation 1 This instruction cancels the compliance mode started by the Cmp Tool Cmp Pos or Cmp Jnt instruction 2 In order to cancel jog operations in the compliance mode either execute this instruction in a program or execute it directly via the program...

Page 209: ... CmpG designates that spring constant 4 The deviation of the command position and actual position can be read with M_CmpDst The success failure of pin insertion can be checked using this variable 5 If a small gain is set and the soft state is entered with the Cmp Pos Cmp Tool and Cmp Jnt commands the robot position could drop Set the softness state gradually while checking it 6 The softness can be...

Page 210: ...nuous movement 5 Cnt 1 100 200 Continuous operation specification at 100 mm on the starting side and at 200 mm on the end side 6 Mvs P3 Continuous operation at a specified distance before and after an interpolation 7 Cnt 1 300 Continuous operation specification at 300 mm on the starting side and at 300 mm on the end side 8 Mov P4 Continuous operation specification at 300 mm on the starting side 9 ...

Page 211: ...tion starts to be accelerated On the other hand in the continuous operating mode the speed is reduced in front of the target position but it does not stop completely The speed for moving to the next target posi tion starts to be accelerated at that point Therefore it does not pass through each target position but it passes through the neighborhood position Fig 4 17 Acceleration deceleration moveme...

Page 212: ...command will be invalid 9 If the proximity distance value 1 value 2 is set small the movement time may become longer than in the status where Cnt 0 10 Even when continuous operation is specified acceleration deceleration is performed for the interpola tion instruction that specifies singular point passage as the interpolation method P1 P2 P3 If the neighborhood distance is not specified dotted lin...

Page 213: ...el for collision detection 2 ColChk On Enable the collision detection function 3 Mov P1 4 Mov P2 5 Dly 0 2 Wait until the completion of operation Fine instruction can also be used 6 ColChk Off Disable the collision detection function 7 Mov P3 Reference Program 2 If interrupt processing is used in the case of collision 1 Def Act 1 M_ColSts 1 1 GoTo HOME S Define the processing to be executed when a...

Page 214: ... interrupt processing is disabled while in the error non occurrence mode 8 If an collision is detected while in the error non occurrence mode the robot turns OFF the servo and stops Therefore no error occurs and operation also continues However it is recorded in the error log that an collision was detected The recording into the log is done only if no other errors occur simultaneously 9 If an atte...

Page 215: ...vices rather than enabling it for the entire program 14 This function cannot be used together with the multi mechanism control function 15 To continue the servo on after the detection set 1 in the parameter COLSERVO and designate NOErr error non occurrence mode However an overload error may be generated depending on the pressing amount at collision Related variables M_ColSts J_ColMxl P_ColDir Rela...

Page 216: ...el is increased the probability of erroneous detection becomes high Adjust the level such that it does not become too high Depending on the posture and operation speed erroneous detection may also occur with the initial value In this case the detection level should be lowered 6 When using the controller software version R6b S6b or later and RT ToolBox2 Ver 3 40S or later it is possible to choose R...

Page 217: ...me the Com On instruction is executed Format Terminology Communication Line No Describes numbers 1 to 3 assigned to the communication line If the argument is omitted 1 is set as the default value Reference Program Refer to Page 271 On Com GoSub ON Communication Go Subroutine Explanation 1 When Com On Off is executed even if communications are attempted the interrupt will not be gener ated 2 For in...

Page 218: ...xecution of the external override If the external override is small the time required for the robot to stop becomes longer but it will always stop at the same position S Stop type 2 The robot decelerates and stops in the shortest time and distance possible independently of the external override L Execution complete stop The interrupt processing is performed after the robot has moved to the target ...

Page 219: ... interrupts defined by Def Act 9 Def Act definitions are valid only in the programs where they are defined These are invalid when called up in a program by CallP If necessary the data in a sub program may need to be redefined 10 If an interrupt is generated when a GoTo command is designated by Process for a Def Act com mand during execution of the remaining program the interrupt in progress will r...

Page 220: ... Conceptual diagram showing the effects of different stop commands Related instructions Act Act External override 100 maximum speed External override 50 Stop type 1 If the argument is omitted S1 S2 Stop type 2 S Execution com plete stop L S3 S4 Speed Time Interrupt Stop distance S1 Time Speed Interrupt Stop distance S2 Speed Time Interrupt Speed Time Interrupt Decelerate and stop immediately Speed...

Page 221: ... P1 1 Performs the arch motion movement defined in the shape definition in step 1 3 Dly 0 3 4 Mva P2 2 The robot moves according to the default values specified by the parameters 5 Dly 0 3 Explanation 1 If the Mva instruction is executed without the Def Arch command the robot moves according to the arch shape specified by the parameters 2 Used to change the increments in a program etc Def Arch Arc...

Page 222: ...f Char instruction Format Terminology Character string variable name Designate a variable name Reference Program 1 Def Char MESSAGE Declare MESSAGE as a character string variable 2 MESSAGE WORKSET Substitute WORKSET in the MESSAGE variable 3 CMSG ABC Substitute ABC for variable CMSG For variables starting with C the definition of Def Char is not required Explanation 1 The variable name can have up...

Page 223: ...xplanation 1 FN Name becomes the name of the function The function name can be up to 8 characters long Example Numeric value type FNMMAX Identification character M Character string type FNCAME Identification character C Describe at the end of the name 2 A function defined with Def FN is called a user defined function A function as long as one step can be described 3 Built in functions and user def...

Page 224: ...signal No 851 is turned on 8 Hlt Halt program Explanation 1 The current position data of the robot set in Mechanism No is imported when the signal set in Input No satisfies the condition specified in Condition However the monitoring of the condition defined in this command is not started until the GpsChk On command is executed 2 The imported position data of the robot is stored in the P_GpsX X ind...

Page 225: ... Monitoring No of the Def Map command the monitored condition set in the command which is executed last is valid the one set in the command which was executed previously is deleted 11 During monitoring by executing the GpsChk On command the setting of target condition cannot be changed in this command The setting of condition can be changed after stopping monitoring by exe cuting the GpsChk Off co...

Page 226: ... 468000 is set to WORK3 4 Definition of the double precision type real number variable 1 Def Double WORK4 2 WORK4 100 3 Numerical 33 333332061767599 is set to WORK4 Explanation 1 The variable name can have up to 16 characters Refer to the Page 136 4 4 6 Types of characters that can be used in program for the characters that can be used 2 When designating multiple variable names the maximum value 2...

Page 227: ...it 6 10 PORT1 1 Output signal number 6 turns on 20 PORT1 2 Output signal number 6 turns off Because the lowest bit of the numerical value 2 is 0 21 M1 PORT1 Substitute the state of the input signal number 6 for M11 2 Assign the input variable named PORT2 to input output signal number 5 in byte type and specify the mask information as 0F in hexadecimal 1 Def IO PORT2 Byte 5 H0F 10 PORT2 HFF Output ...

Page 228: ... No 1 1 1 1 a b a Retains the current output status b Output data of this time Def Jnt Define Joint Function This instruction declares joint type position variables It is used when using a variable with a name that begins with a character other than J It is not necessary to declare variables whose names begin with the character J using the Def Jnt instruction Format Terminology Joint variable name...

Page 229: ...tbeinthepathofrobot slinearmovementfordetection The position set in Lowest position is defined as the first segment in the cassette Ifthelowest highestpositionissetoppositely thehighestposition set in Lowest position is defined as the first segment Number of segments Set the number of segments in the cassette Based on the set number of segments each space divided equally between the lowest and hig...

Page 230: ...ed 8 For M2 1 To 20 9 M_Out 6100 M2 M_Map3 M2 The results of the mapping are output with a signal the signal number 6101 is assigned for the first result 10 Next M2 The process performed for the first segment is repeated for the remaining segments Explanation 1 When the GpsChk Off command is executed the segment number in which the workpiece is present is calculated from the position data at the t...

Page 231: ... one defined in the Def Gps command can be defined for all slots 6 This command is not available for the programs in which the starting condition is set to ALWAYS or ERROR 7 This command is not covered by the continue function 8 If several conditions are set for one monitoring number the previously executed condition is overwritten by the condition to be executed subsequently 9 The condition setti...

Page 232: ...n 3 Arc pallet posture equal division 11 Zigzag posture fixation 12 Same direction posture fixation 13 Arc pallet posture fixation Reference Program 1 Def Plt 1 P1 P2 P3 4 3 1 Define a 3 point pallet 2 Def Plt 1 P1 P2 P3 P4 4 3 1 Define a 4 point pallet Explanation 1 The accuracy of the position calculation will be higher for a 4 point pallet than for a 3 point pallet 2 The command is valid only w...

Page 233: ... quadrilaterals lie within the movement range 10 If using as a line pallet define with Start Point and End Point B as the same point or with Start Point and End Point A as the same point If position data whose posture components A B and C are close to 180 degrees is set to Start Point End Point A End Point B and Diagonal Point of the pallet definition the hand will rotate and move in unexpected wa...

Page 234: ...ion of Def Pos is not required 3 WORKSET 250 460 100 0 0 90 0 0 0 0 4 Mov WORKSET Move to WORKSET Explanation 1 Use this instruction to define a XYZ type position variable by a name beginning with a character other than P 2 The variable name can have up to 16 characters Refer to the Page 136 4 4 6 Types of characters that can be used in program for the characters that can be used 3 When designatin...

Page 235: ...er start from 1 when actually referencing array variables For PDATA on step 1 of the statement example the element number will be 1 to 10 4 Eelement Value can be described with numeric constants from 1 to 999 It is not allowed to use a numerical value operation expression If the number of elements is specified using a real number an integer with rounded decimal part will be assumed Depending on th...

Page 236: ...als positioning movement instructions and for specifying pulse output times when used in a signal output statement such as 2 in Reference Example above 2 The pulse output will be executed simultaneously as the next command in the steps that follow 3 Up to 50 pulse outputs can be issued of all programs simultaneously Exceeding this an error will occur when the program tries to execute it 4 A pulse ...

Page 237: ...tion 4 EMvc 4 P3 Plt 1 5 P4 WthIf M_In 20 1 M_Out 21 1 Explanation 1 In Ex T control circular interpolation motion a circle along the work coordinates is formed with the 3 given points and the circumference is moved 360 degrees 2 The posture at the start point is maintained during Ex T circular interpolation The postures while passing points 1 and 2 are not considered 3 If the current position and...

Page 238: ...xplanation of command words 4MELFA BASIC V Related instructions EMvr E Move R EMvr2 E Move R 2 EMvr3 E Move R 3 EMvs E Move S Related system variables P_WkCord Work coordinates data Related parameter WK1CORD to WK8CORD ...

Page 239: ... WthIf M_In 20 1 M_Out 21 1 Explanation 1 In Ex T control circular arc interpolation motion a circular arc along the work coordinates is formed with the 3 given points and the movement is performed along the circular arc 2 Interpolation is performed for the posture at the start point and the end point The posture at the transit point does not affect the interpolation 3 If the current position and ...

Page 240: ...d the work coordi nates is also moved along with the robot Accordingly operating an additional axis using this command is not recommended Also do not perform synchronous control of additional axis while using this com mand 11 If 1 3 axis XYZ is specified to Constants 2 of this command movement of the robot is the same as 1 3 axis XYZ is specified to Constants 2 of Mvr command Related instructions ...

Page 241: ...ion and start point do not match the robot will automatically move with linear interpola tion 3 axis XYZ interpolation to the start point 4 If paused during execution of a Mvr instruction and restarted after jog feed the robot returns to the interrupted position by JOINT interpolation and restarts the remaining circle interpolation The interpolation method JOINT interpolation XYZ interpolation whi...

Page 242: ...orm synchronous control of additional axis while using this com mand 12 If 1 3 axis XYZ is specified to Constants 2 of this command movement of the robot is the same as 1 3 axis XYZ is specified to Constants 2 of Mvr command Related instructions EMvc E Move C EMvr E Move R EMvr3 E Move R 3 EMvs E Move S Related system variables P_WkCord Work coordinates data Related parameter WK1CORD to WK8CORD ...

Page 243: ...omatically move with linear interpola tion 3 axis XYZ interpolation to the start point 4 If paused during execution of a Mvr3 instruction and restarted after jog feed the robot returns to the interrupted position by JOINT interpolation and restarts the remaining circle interpolation The interpolation method JOINT interpolation XYZ interpolation which returns to the interrupted position can be chan...

Page 244: ...nd the work coordi nates is also moved along with the robot Accordingly operating an additional axis using this command is not recommended Also do not perform synchronous control of additional axis while using this com mand 14 If 1 3 axis XYZ is specified to Constants 2 of this command movement of the robot is the same as 1 3 axis XYZ is specified to Constants 2 of Mvr command Related instructions...

Page 245: ...along the work coordinate 1 by linear interpolation 1 EMvs 1 P1 2 Moves to the target position Plt 1 5 along the work coordinate 3 by linear interpolation 1 EMvs 3 Plt 1 5 3 Moves to the target position P1 along the work coordinate 2 by linear interpolation and simultaneously turns on the output signal 17 1 EMvs 2 P1 Wth M_Out 17 1 4 Turns on the output signal 20 if the input signal 18 is turned o...

Page 246: ...ted position by JOINT interpolation 10 This cannot be used in programs set to ALWAYS or ERROR The error L3287 will occur 11 When the work coordinates system is not specified the initial value is 0 0 0 0 0 0 0 for all elements If the Ex T control linear interpolation is executed in this condition the movement is performed along the world coordinates system origin 12 If any additional axis is provid...

Page 247: ...stance is des ignated with a constant or numerical variable Theaccelerationdistanceisthedistancerequiredtoacceleratefrom the start or movement to the designated speed Thedecelerationdistanceisthedistancerequiredtodeceleratefrom the designated speed to the end position Withsplineinterpolation theaccelerationdistanceanddeceleration distance are a common setting Setting range Value larger than 0 0 mm...

Page 248: ...pline interpolation 9 The acceleration movement generates speed to reach the Speed when the Acceleration decelera tion distance is moved from the Ex T spline interpolation start position The deceleration movement generates the speed to move the Acceleration deceleration distance from the Speed and stop at the end position If the Ovrd command and operation panel s override is set to a value smaller...

Page 249: ... type 1 is designated for the Def Act command interrupt condition and process definition if an interrupt occurs during the Ex T spline interpolation the robot will stop with the same deceleration as Stop type 2 21 The additional axis will not move from the Ex T spline interpolation start position Even if an additional axis position is set for one of the interim path points it will not be used duri...

Page 250: ...d dle and put it in the pause status 2 If executed from the operation panel a program is executed in the continuos operation mode it will be executed again from the top even if it contains an End instruction If it is desired to end a program at the End instruction press the End key on the operation panel to stop the cycle 3 It is allowed to have several End statements within one program 4 The End ...

Page 251: ...anation 1 It is possible to generate any error in the 9000 s number range by executing this instruction 2 If a LOW level or HIGH level error is generated the program is paused Steps after the Error command are not executed A CAUTION error does not pause a program the next step and onward are executed The action of system by error number is shown in the Table 4 17 3 It is possible to create up to 2...

Page 252: ...ogram until the Fine command is executed Once Fine is validated it remains valid until invalidated 4 Fine is invalidated at the end of the program Execution of the End instruction program reset after paus ing 5 When the continuous movement control valid state Cnt 1 is entered the Fine command will be ignored even if it is valid i e it will be treated as invalid but the status will be kept 6 To the...

Page 253: ...th a joint value resulting in more accurate positioning 2 The Fine J command deems the operation to be complete when the difference between the command joint position and feedback joint position for all enabled axes is within the Positioning Width 3 Furthermore there are also times when positioning is performed with a Dly command timer instead of the Fine J command This is easier to specify 1 Mov ...

Page 254: ...s performed with a Dly command timer instead of the Fine P command This is easier to specify 1 Mov P1 2 Dly 0 1 4 Fine P is disabled for all axes by default Once Fine P is enabled the enabled status is applied continu ously until disabled 5 Fine P is disabled when a program is terminated End command execution program reset following an interruption 6 The Fine P enabled status is temporarily ignore...

Page 255: ...y 1 from 1 to 10 for the numeric variable M1 3 For M2 1 To 10 Step 1 Increase the counter by 1 from 1 to 10 for the numeric variable M2 4 MBOX M1 M2 M1 M2 Substitute the value of M1 M2 for the array variable MBOX M1 M2 5 Next M2 Return to step 3 6 Next M1 Return to step 2 3 Process of the For Next can be skipped by Break 1 MSUM 0 Initialize the total MSUM 2 For M1 1 To 10 Increase the counter by 1...

Page 256: ...that uses arguments in a sub program i e when the host program uses another program with Call P Format Terminology Dummy Argument The variable in the sub program that is transferred to the main statement when executed All variables can be used Up to 16 variables may be used Reference Program Main program 1 M1 1 2 P2 P_Curr 3 P3 P100 4 CallP 100 M1 P2 P3 It can be described like CallP 100 1 P_Curr ...

Page 257: ...atus it is not necessary to use the GetM instruction 2 Because the control right of the same mechanism cannot be acquired simultaneously by multiple tasks the following procedure is required in order to operate the robot by other than slot 1 First release control right using the RelM instruction by the slot 1 program Next acquire control right using the GetM instruction by the slot program that op...

Page 258: ... return from the jump destination using the Return instruction Format Terminology Call Destination Describe the step label name Reference Program 1 GoSub LBL 2 End 20 LBL 21 Mov P1 22 Return Be sure to use the Return instruction to return Explanation 1 Make sure to return from the subroutine by using the Return command If return by GoTo command the memory for control structure stack memory will de...

Page 259: ...m branch to the specified label step unconditionally Format Terminology Branch Destination Describe the label name Reference Program 10 GoTo LBL Branches to the label LBL 100 LBL 101 Mov P1 Explanation 1 If a branch destination or label does not exist an error will occur during execution GoTo Branch Destination ...

Page 260: ...eference Program 1 Def Gps 7 852 Off 1 The position data of the mechanism No 1 is recorded for the monitoring No 7 when the signal No 852 is turned off 2 GpsChk On 7 Monitoring a condition for the monitoring No 7 is started 3 Mvs P1 Moves to P1 4 GpsChk Off 7 Monitoring a condition for the monitoring No 7 is stopped Explanation 1 This command starts stops monitoring the condition defined in the De...

Page 261: ... waiting state 2 In use of the multitasking function only the task slot which executed this command interrupts execution 3 To restart start the O P or issue the start signal from an external source The program will be restarted at the next step after the Hlt statement Note that if the Hlt statement is an appended statement the oper ation will restart from the same step of the program where it was ...

Page 262: ...able It can be set in the range of 0 00 sec to the maximum single precision real number The default value is 0 3 sec 1 It is valid only in our company electric hand Reference Program 1 HOpen 1 Open hand 1 2 Dly 0 2 Set the timer to 0 2 sec Wait for the hand to open securely 3 HClose 1 Close hand 1 4 Dly 0 2 Set the timer to 0 2 sec Wait for the hand to close securely 5 Mov PUP Explanation 1 The op...

Page 263: ...n8 M_Inw M_In16 900s number M_Out M_Outb M_Out8 M_Outw M_Out16 900s num ber M_HndCq Related instructions Loadset Load Set Oadl Optimal Acceleration Related parameter HANDTYPE HANDINIT Refer to Page 482 5 10 Automatic return setting after jog feed at pause and Page 485 5 13 About default hand status ...

Page 264: ...ontained in one step 2 It is allowed to split an If Then Else EndIf block over several steps 3 Else can be omitted 4 Make sure to include the EndIf statement in the If Then Else EndIf block 5 If the GoTo instruction is used to jump out from inside an If Then Else EndIf block an error will occur when the memory for control structure stack memory becomes insufficient 6 For If Then Else EndIf it is p...

Page 265: ... executed an error will occur 2 The type of data input and the type of variable that is substituting it must be the same 3 When describing multiple variable names use a comma between variable names as delimiters 4 When the Input statement is executed the status will be standby for input The input data will be substi tuted for the variables at the same time as the carriage return CR and LF are inpu...

Page 266: ...valid only during joint interpolation 2 The actual override is Operation panel T B override setting value x Program override Ovrd com mand x Joint override JOvrd command The JOvrd command changes only the override for the joint interpolation movement 3 The 100 Designate override is the maximum capacity of the robot Normally the system default value M_NOvrd is set to 100 The value is reset to the d...

Page 267: ... in parameter JRCORG This can be used only for the user defined axis Axis No The target axis is specified with the number The priority axes are used if omitted Notethatthisargumentcannotbeomittedifadditionalaxesand oruser definedmechan ical axes are the targets Applicable Models and Applicable Axes 1 Applicable models and priority axes 2 Additional axes of all models 3 All axes of user defined mec...

Page 268: ...error will occur during the initialization Here Max is 2 Number of encoder bits 15 1 For example with a 13 bit encoder 8192 pulses this will be Max 2 13 15 1 0x0fffffff and for a 14 bit encoder 16384 pulses this will be Max 2 14 15 1 0x1fffffff The movement amount to pulse data conversion is as follows For rotating axis Pulse data movement amount deg 360 gear ratio denominator gear ratio numerator...

Page 269: ...s 3 Set the weight size X Y Z and center of gravity position X Y Z as the hand conditions in parameter HNDDAT 1 to 8 4 Set the weight size X Y Z and center of gravity position X Y Z as the workpiece conditions in parameter WRKDAT 1 to 8 5 The hand conditions and workpiece conditions changed when this command is executed are reset to the system default value when the program is reset and when the E...

Page 270: ...polation amount 4 Detour refers to the operating exactly according to the teaching posture Short cut operation may take place depending on the teaching posture 5 Short cut operation refers to posture interpolation between the start point and end point in the direction with less motion 6 The detour short cut designation is significant when the posture axis has a motion range of 180 deg or more 7 Ev...

Page 271: ...nstant or a joint variable Arch number A number defined by the Def Arch instruction 1 to 4 If the argument is omitted 1 is set as the default value Reference Program 1 Def Arch 1 5 5 20 20 Defines the arch shape configuration 2 Ovrd 100 20 20 Specifies override 3 Accel 100 100 50 50 50 50 Specifies acceleration deceleration rate 2 Mva P1 1 Performs the arch motion movement according to the shape c...

Page 272: ...nged by the RETPATH parameter The interpolation method JOINT interpolation XYZ interpolation which returns to the interrupted posi tion can be changed by the RETPATH parameter Refer to Page 482 5 10 Automatic return setting after jog feed at pause Fig 4 22 Example of arch interpolation motion path seen from the side The robot s locus of movement may change with specified speed Especially as for th...

Page 273: ...is moved 360 degrees 2 The posture at the starting point is maintained during circle interpolation The postures while passing points 1 and 2 are not considered 3 If the current position and the starting position do not match the robot automatically moves to the start ing point based on the linear interpolation 3 axis XYZ interpolation and then performs the circle inter polation 4 If paused during ...

Page 274: ...apositiontypevariableorconstant or a joint variable End Point Endpointforthearc Describeapositionusingapositiontypevariableorconstant or a joint variable Constants 1 Short cut detour 1 0 The default value is 0 Constants 2 Equivalent rotation 3 axis XYZ singular point passage 0 1 2 The default value is 0 Appended conditions The Wth and WthIf statements can be used Reference Program 1 Mvr P1 P2 P3 2...

Page 275: ...on is supporting only certain models Refer to Page 509 5 20 About singular point passage function in details 9 Constant 2 designates the posture interpolation type 3 axis XYZ is used when carrying out interpolation on the X Y Z J4 J5 J6 coordinate system and the robot is to move near a particular point 10 This instruction cannot be used in a constantly executed program Fig 4 24 Example of circular...

Page 276: ...able End Point Endpointforthearc Describeapositionusingapositiontypevariableorconstant or a joint variable Reference point Referencepointforacirculararc Describeapositionusingapositiontypevariable or constant or a joint variable Constants 1 Short cut detour 0 1 The default value is 0 Constants 2 Equivalent rotation 3 axis XYZ singular point passage 0 1 2 The default value is 0 Appended conditions ...

Page 277: ...unction is supporting only certain models Refer to Page 509 5 20 About singular point passage function in details 10 Constant 2 designates the posture interpolation type 3 axis XYZ is used when carrying out interpola tion on the X Y Z J4 J5 J6 coordinate system and the robot is to move near a particular point 11 This instruction cannot be used in a constantly executed program Fig 4 25 Example of c...

Page 278: ...polation method JOINT interpolation XYZ interpolation which returns to the interrupted position can be changed by the RETPATH parameter Refer to Page 482 5 10 Automatic return set ting after jog feed at pause 5 If the start point and end point structure flags differ when equivalent rotation constant 2 0 is specified an error will occur at the execution 6 If 3 axis XYZ is designated for the constan...

Page 279: ... registered posture data is shown at the movement target position but the actual posture is deviated by 360 degrees or 360 degrees For example when linear interpolation is performed from the 0 degree position to the 200 degree posi tion of the A axis the posture data at the current position is shown as 200 degrees but the robot oper ates to the 160 degree position When the position data is registe...

Page 280: ...used Separation Distance When this value is designated the axis will move the designated distance fromthecurrentpositiontotheZaxisdirection direction ofthetoolcoor dinate system Reference Program 1 Move to the target position P1 by XYZ interpolation 1 Mvs P1 2 Turns on the output signal 17 at the same time if it moves to the target position P1 by linear interpolation 1 Mvs P1 100 0 Wth M_Out 17 1 ...

Page 281: ...cur 7 If paused during execution of a Mvs instruction and restarted after jog feed the robot returns to the inter rupted position and restarts the Mvs instruction This can be changed by the RETPATH parameter and also the interpolation method JOINT interpolation XYZ interpolation which returns to the inter rupted position can be changed by same parameter Some robots for liquid crystal transportatio...

Page 282: ...cated on the same axis and it is not possi ble to calculate the robot position Fig 4 28 Singular point 1 About singular points of vertical 6 axis robots 1 Posture A Posture at which the flag changes status 2 Posture B 3 Posture C NONFLIP FLIP Precautions for registration of position data after execution of linear circular arc interpolation for vertical 5 axis robots In the linear circular arc inte...

Page 283: ...common setting Setting range Value larger than 0 0 mm Frame transformation The details for executing frame transformation are designated with a constant or numerical variable Setting range 0 Frame transformation is not executed 1 Frame transformation is executed using coordinate system set in spline file 2 Frame transformation is executed using coordinate system set with SetCalFrm command When omi...

Page 284: ...than Acceleration deceleration distance The effect of filters etc can cause the acceleration deceleration distance to be actually longer than the value set with Acceleration deceleration distance Fig 4 29 Acceleration with Acceleration deceleration distance 8 If 1 execute using coordinate system set in spline file or 2 execute using coordinate system set with SetCalFrm command is designated in Fra...

Page 285: ... and process definition if an interrupt occurs during the spline interpolation the robot will stop with the same deceleration as Stop type 2 19 The additional axis will not move from the spline interpolation start position Even if an additional axis position is set for one of the interim path points it will not be used during spline interpolation 20 Step feed can be executed for the MvSpl command ...

Page 286: ...performance will not be achieved Refer to Page 496 5 16 Hand and Workpiece Conditions optimum acceleration deceleration settings 2 Standard mode is specified as the default immediately after the power is turned ON 3 The operating characteristics mode returns to standard mode when a program is terminated End com mand execution program reset following an interruption however the current operating ch...

Page 287: ...igher as compared with the standard mode If this is inconvenient select the standard mode 7 The trajectory priority mode is adjusted so as to achieve maximum effect at operating speeds in medium to low speed range Therefore when a motion involved is such that a small circle is drawn vibration may increase as compared with the standard mode In this case use the Spd command to slow operat ing speed ...

Page 288: ...ved and operated at the operation control time currently 7 1msec 3 Operation of Mxt command 1 When this command is executed with the controller the controller enters the command value recep tion enabled state The workpiece grasp not grasp for when the hand is opened or closed is set with parameter HNDHOLD 1 to 8 2 When the controller receives the command value from the personal computer it will ou...

Page 289: ...workpiece 1 4 Mov P2 Move with hand 1 workpiece 1 load 5 HOpen 1 6 Mov P3 Move with hand 1 load 7 HClose 1 8 Mov P4 Move with hand 1 workpiece 1 load 9 Oadl Off When parameter HNDHOLD1 is set to 0 1 Explanation 1 The robot moves with the optimum acceleration deceleration according to the hand conditions and work piece conditions designated with the LoadSet command 2 The workpiece grasp not grasp f...

Page 290: ...ined by the JADL parameter This value varies with models in the S series Refer to the Page 448 JADL parameter Fig 4 30 Acceleration deceleration pattern at light load Related instructions Accel Accelerate Loadset Load Set HOpen HClose Hand Open Hand Close Related parameter HNDDAT 0 to 8 WRKDAT 0 to 8 HNDHOLD 1 to 8 ACCMODE JADL Speed Time Speed Time OADL ON ...

Page 291: ... will branch to label RECV 23 24 Com 1 Off Disable interrupt from file No 1 communication line 25 Close 1 26 End 30 RECV Communication interruption processing 31 Input 1 M0001 Set the received information as M0001 and P0001 32 Input 1 P0001 39 Return 1 Returns control to the next step of interrupted step Explanation 1 If the file No is omitted 1 will be used as the file No 2 The file Nos with the ...

Page 292: ...5 42 43 Return Be sure to return by using Return Explanation 1 The value of Expression determines which step label subroutine to call For example if the value of Expression is 2 the step label described for the second value is called 2 If the value of expression is larger than the number of destinations called up the program control jumps to the next step For example the program control jumps to t...

Page 293: ... 30 LJMP When M1 2 31 Describes processing when M1 2 32 40 L67 41 Describes processing when M1 6 or M1 7 42 50 L2 51 Describes processing when M1 3 M1 4 or M1 5 52 Explanation 1 This is the GoTo version of On GoSub 2 If the value of expression is larger than the number of destinations called up the program control jumps to the next step For example the program control jumps to the next step if the...

Page 294: ...om external source with 101 00 202 00 303 00 AscII for mat 5 P_01 X M1 6 P_01 Y M2 7 P_01 C Rad M3 Copy to global data 8 Close Close all opened files 9 End 2 File operation Create the file temp txt to the controller and write abc 1 Open temp txt FOR APPEND AS 1 2 Print 1 abc 3 Close 1 Explanation 1 Opens the file specified in File name using the file number Use this file No when reading from or wr...

Page 295: ...ws During joint interpolation Operation panel T B override setting value x Program override Ovrd com mand x Joint override JOvrd command During linear interpolation Operation panel T B override setting value x Program override Ovrd com mand x Linear designated speed Spd command 3 The Ovrd command changes only the program override 100 is the maximum capacity of the robot Normally the system default...

Page 296: ...2 Mov PLACE 50 Moves 50 mm above the pallet top mount position 23 Ovrd 50 24 Mvs PLACE 25 HOpen 1 Open the hand 26 Dly 0 5 27 Ovrd 100 28 Mvs 50 Moves 50 mm above the current position 29 M1 M1 1 Add the counter 30 If M1 12 Then LOOP If the counter is within the limits repeats from LOOP 31 Mov PICK 50 32 End Explanation 1 The position of grid of a pallet defined by the Def Plt statement is operated...

Page 297: ...rpolation movement with increased path accuracy 2 When this command is used the path accuracy is improved but the program execution time tact time may become longer because the acceleration deceleration times are changed internally 3 The enabling disabling of the high accuracy mode is activated from the first interpolation instruction after the execution of this command 4 The high accuracy mode is...

Page 298: ...put format of data reference The output space for the value for Expression and for the character string is in units of 14 characters When outputting multiple values use a comma between each Expression as a delimiter If a semicolon is used at the head of each space unit it will output after the item that was last dis played The carriage return code will always be returned after the output data 3 Th...

Page 299: ...rrent slot to 3 Slot 2 1 Priority 4 Sets the number of executed steps for this slot to 4 Explanation 1 Programs of other slots are not executed until the specified number of steps is executed For example as in the statement example above if Priority 3 is set for slot 1 s program and Priority 4 is set for slot 2 s program three steps of the slot 1 program are executed first then four steps of the s...

Page 300: ...ulationresult of the coordinate conversion When omitted the absolute coordinate is set Reference Program 1 Start the target vision sensor with Open Print Input command to substitute the acquired image coordi nate pixel for numeric variable 2 MX X pixcel of the vision sensor 3 MY Y pixcel of the vision sensor 4 MT θ deg of the vision sensor 5 PVS PVSCal 1 MX MY MT Changes the image coordinate to th...

Page 301: ... 2 XRun 2 10 Start the program 10 in slot 2 3 Wait M_Run 2 1 Wait for the starting confirmation of the slot 2 Task slot 2 Program 10 1 GetM 1 Get the control of mechanism 1 2 Servo On Turn on the servo of mechanism 1 3 Mov P1 4 Mvs P2 5 Servo Off Turn off the servo of mechanism 1 6 RelM Releases the control right of mechanism 1 7 End Explanation 1 Releases the currently acquired mechanism resource...

Page 302: ...nology Comment Describe a user selected character string Descriptions can be made in the range of position steps Reference Program 1 Rem MAIN PROGRAM 2 MAIN PROGRAM 3 Mov P1 Move to P1 Explanation 1 Rem can be abbreviated to be a single quotation mark 2 It can be described after the instruction like an 3 step in reference program Rem Comment ...

Page 303: ...tly executed programs Format Reference Program Example of execution in a constantly executed program 1 If M_Err 1 Then Reset Err Resets an error when an error occurs in the controller Explanation 1 This instruction is used in a program whose start condition is set to constant execution ALWAYS by the SLT parameter when it is desired to reset system errors of the robot 2 It becomes enabled when the ...

Page 304: ...Reference Program 1 The example of Return from the usual subroutine 1 MAIN PROGRAM 2 GoSub SUB_INIT Subroutine jumps to label SUB_INIT 3 Mov P1 10 SUB INIT Subroutine 11 SUB_INIT 12 PSTART P1 13 M100 123 14 Return Returns to the step immediately following the step where the subrou tine was called from 2 The example of Return from the subroutine for interruption processing Calls the subroutine on s...

Page 305: ...interruption processing to the next step by Return1 execute the statement to dis able the interrupt When that is not so if interruption conditions have been satisfied because interrup tion processing will be executed again and it will return to the next step the step may be skipped Please refer to Page 171 Act Act for the interrupt processing 6 When an interrupt occurs during execution of the circ...

Page 306: ...dition expression IS Comparison operator Constant Constant Constant To Constant Process Writes any command other than the GoTo command provided by MELFA BASIC V Reference Program 1 Select MCNT 2 M1 10 This line is not executed 3 Case Is 10 MCNT 10 4 Mov P1 5 Break 6 Case 11 MCNT 11 OR MCNT 12 6 Case 12 7 Mov P2 8 Break 9 Case 13 To 18 13 MCNT 18 10 Mov P4 11 Break 12 Default Other than the above 1...

Page 307: ...ut processing 3 The Select Case and End Select statements must always correspond If a GoTo instruction forces the program to jump out from a Case block of the Select Case statement the free memory available for control structure stack memory decreases Thus if a program is executed continuously an error will eventually occur 4 If an End Select statement that does not correspond to Select Case is ex...

Page 308: ...nd describe by constant or variable Reference Program 1 Servo On Servo On 2 L2 3 IF M_Svo 1 GoTo L2 Wait for servo On 4 Spd M_NSpd 5 Mov P1 6 Servo Off Explanation 1 The robot arm controls the servo power for all axes 2 If additional axes are attached the servo power supply for the additional axes is also affected 3 If used in a program that is executed constantly this instruction is enabled by ch...

Page 309: ...ction point in the X Y plane of the post frame trans formation reference coordinate system is designated with a position variable or numeric constant Reference Program 1 PR1 0 0 0 0 0 0 0 0 Origin position of pre frame transformation reference coordinate system 2 PR2 1 0 0 0 0 0 0 0 X axis position of pre frame transformation reference coordinate system 3 PR3 0 1 0 0 0 0 0 0 Y direction position o...

Page 310: ...stem or if the three position data items are arranged on the same line In this case error L2041 Can t calculate frame transformation coordinates will occur 4 The reference coordinate system is not set immediately after the controller power is turned ON The ref erence coordinate system is returned to the unset state with the main program s END command or pro gram reset operation 5 The mechanism con...

Page 311: ...ition variable P1 stop the robot interpolation motion and stop execution of this command and execute the next step 2 If M_SkipCq 1 Then Hlt Pauses the program if the execution is skipped Explanation 1 This command is described with the Wth or WthIf statements In this case the execution of that step is interrupted and control is automatically transferred to the next step Execution of skip can be se...

Page 312: ... Spd command 3 The Spd command changes only the linear circular designated speed 4 When M_NSpd The default value is 10000 is designated for the designated speed the robot will always move at the maximum possible speed so the line speed will not be constant optimum speed control 5 An error may occur depending on the posture of the robot despite of the optimal speed control If an excessive speed err...

Page 313: ...speed when passing through a point near the origin point O one of the robot s singular points as shown in Fig 4 32 causing an excessive speed error depending on the specified speed If SpdOpt On is executed the speed is adjusted automatically in order to prevent an excessive speed error from occurring For example while in operation at the command speed V it approaches the origin point O and the spe...

Page 314: ...4 axis passes through a singular point area shown in Fig 4 34 is executed and the oper ation is then suspended 7 Even if this instruction is described in a program it is ignored on models other than the applicable mod els 8 Even if the speed adjustment function is enabled an exceeded speed error may be generated if a path is connected by enabling the Cnt instruction near the origin point or a XYZ ...

Page 315: ...used for frame transformation is designated Reference Program 1 SplFWrt 1 PR1 PR2 PR3 PC1 PC2 PC3 Set the reference coordinate system used for frame transformation and the coordinate system after adjust ment to the spline file 1 Explanation 1 Registers the frame transformation information to the spline file specified by Spline No 2 Position data for defining the two types of reference coordinate s...

Page 316: ... coordinates number The number of the work coordinate to be a control point Setting range 0 to 8 When omitted Ex T spline function is invalid File version The version of the spline file to be created is designated Setting range 1 to 2 When omitted Create the splinefile of version 2 Createsthe latest version of the spline file corresponding to the controller Reference Program 1 SplWrt 1 01 csv Crea...

Page 317: ...utside the setting range is set for the M_SplVar function registered in File name error L2615 M_SplVar setting range exceeds setting range will occur 14 If a value outside the setting range is set for the tolerance registered in File name error L2615 Tol erance setting value exceeds range will occur 15 If a value outside the setting range is set for the output signal registered in File name error ...

Page 318: ...oth hands are of the same type the control point should be set by the MEXTL parameter instead of by the Tool command 2 The tool conversion data changed with the Tool command is saved in parameter MEXTL and is saved even after the controller power is turned OFF 3 The system default value P_NTool is applied until the Tool command is executed Once the Tool command is executed the designated tool conv...

Page 319: ...rque limit value of the specified axis so that a torque exceeding the specified torque value will not be applied during operation Specify the ratio relative to the standard torque limit value The standard torque limit value is predefined by the manufacturer 2 The available rate of torque limitation is changed by robot type The setting is made for each servo motor axis thus it may not be the torque...

Page 320: ...on is executed in several tasks at one time in the multitask execution status the processing time tact time may become longer and affect the system In such cases use the If Then instruction instead of the Wait instruction 4 Number of conditions which may be included in a Wait command is one If more than one is included an erroneous judgment or an error in execution process can result An example of...

Page 321: ...1 M1 1 Add 1 to M1 and reverse the sign 3 M_Out 8 M1 Output the numeric variable M1 4 If M_In 8 1 Then Break If the input signal 8 is turned on jump to Step 6 5 WEnd Return to the While statement step 1 6 If M_BrkCq 1 Then Hlt Explanation 1 The program between the While statement and WEnd statement is repeated 2 If the result of Expression is true not 0 the control moves to the step following the ...

Page 322: ...Reference Program 1 Mov P1 Wth M_Out 17 1 Dly M1 2 Simultaneously with the start of movement to P1 the out put signal No 17 will turn ON for the value indicated with the numeric variable M1 two seconds Explanation 1 This command can only be used to describe the additional condition for the movement command 2 An error will occur if the Wth command is used alone 3 The process will be executed simult...

Page 323: ... seconds 2 Mvs P2 WthIf M_RSpd 200 M_Out 17 1 Dly M1 2 3 If the rate of arrival exceeds 15 during movement to P3 turn on the output signal 1 3 Mvs P3 WthIf M_Ratio 15 M_Out 1 1 Explanation 1 This command can only be used to describe the additional conditions to the movement command 2 Monitoring of the condition will start simultaneously with the start of movement 3 It is not allowed to write the D...

Page 324: ... 12 XRst 2 Cancels the pause status of the program of task slot 2 13 Wait M_Psa 2 1 Waits until selection of a program is possible in task slot 2 14 XClr 2 Cancels the program selection status of task slot 2 15 End Explanation 1 An error occurs at execution if the specified slot does not select the program 2 If the designated program is being operating an error will occur at execution 3 If the des...

Page 325: ... L1 8 When the slot 2 is already operating execute from here Explanation 1 An error occurs at execution if the specified program does not exist 2 If the designated program is already selected for another slot an error will occur at execution 3 If the designated program is being edited an error will occur at execution 4 If the designated program is being executed an error will occur at execution 5 ...

Page 326: ...Set program execution start step to head step 16 Wait M_Psa 2 1 Wait for program reset to complete 20 XRun 2 Restart 21 Wait M_Run 2 1 Wait for restart to complete Explanation 1 This is valid only when the slot is in the stopped state 2 If used in a program that is executed constantly this instruction is enabled by changing the value of the ALWENA parameter from 0 to 7 and then turning the control...

Page 327: ...un 2 Start the slot 2 4 When the program of execution is specified by XLoad command cycle operation 1 XLoad 3 2 Select the program 2 as the slot 3 2 L2 3 If C_Prg 2 1 Then GoTo L2 Wait for load complete 4 XRun 3 1 Start the program 1 with cycle operation Explanation 1 An error occurs at execution if the specified program does not exist 2 If the designated slot No is already in use an error will oc...

Page 328: ...Reference Program 1 XRun 2 Execute 10 XStp 2 Stop 11 Wait M_WAI 2 1 Wait for stop to complete 20 XRun 2 Restart Explanation 1 If the program is already stopped an error will not occur 2 XStp can also stop the constant execution attribute program 3 If used in a program that is executed constantly this instruction is enabled by changing the value of the ALWENA parameter from 0 to 7 and then turning ...

Page 329: ...he signal 2 M_Out 10 1 Turn on the output signal 10 3 Pulse output of the signal 3 M_Out 17 1 Dly 2 0 Turn on the output signal 17 for 2 seconds Explanation 1 When using this additionally for the pulse output the pulse will be executed in parallel with the execution of the commands on the following steps 2 Be aware that if a pulse is output by M_Outb or M_Outw the bits are reversed in 8 bit units ...

Page 330: ...is is not referred to during the program 2 If the same label is defined several times in the same program an error will occur at the execution 3 The reserved words can t be used for the label 4 The underscore _ cannot be specified as the 2nd character This form is for the system external vari able For example A_ B_ Z_ etc are the syntax error When using the L_ the error occur at execution This for...

Page 331: ...s can be used in conditional expressions as well as in reference and assignment statements In the format example only reference and assignment statements are given to make the description simple Reference Program An example program using variables is shown Terminology This indicates the meaning and range of an argument Explanation This indicates detailed functions and precautions Reference This in...

Page 332: ...a character string 7 Cose 1 Closes the line 8 C_Com 2 ETH 192 168 0 11 10011 Set the IP address of the communication destination server cor responding to communication line COM2 9 O2 10 Open COM2 AS 1 As 192 168 0 11 and the port number as 10011 and then open the line 11 If M_Open 1 1 Then O2 Loops if unable to connect to the server 12 Print 1 C1 Sends a character string 13 Input 1 C2 Receives a c...

Page 333: ...variable returns the current date in the format of year month date Format Reference Program 1 C1 C_Date 2000 12 01 is assigned to C1 Explanation 1 The current date is assigned 2 This variable only reads the data Use the T B to set the date Reference C_Time C_Maker Function This variable returns information on the manufacturer of the robot controller Format Reference Program 1 C1 C_Maker COPYRIGHT1...

Page 334: ...is returned 3 This variable only reads the data Related instructions GetM Get Mechanism RelM Release Mechanism C_Prg Function This variable returns the selected program name number Format Terminology Character String Variable Specify a character string variable to be assigned Numeric 1 to 32 Enter the task slot number If the argument is omitted current task slot number is set as the default value ...

Page 335: ...ads the data 3 Use the T B to set the time Reference C_Date C_User Function This variable returns the data registered in the USERMSG parameter Format Reference Program 1 C1 C_User The characters registered in USERMSG are assigned to C1 Explanation 1 This variable returns the data registered in the USERMSG parameter 2 This variable only reads the data 3 Use the PC support software or the T B to cha...

Page 336: ...ned Mechanism Number Enter the mechanism number 1 to 3 If the argument is omitted 1 is set as the default value Reference Program 1 J1 J_Curr J1 will contain the current joint position Explanation 1 The joint type variable for the current position of the robot specified by the mechanism number will be obtained 2 This variable only reads the data Reference P_Curr Example Joint Type Variable J_Curr ...

Page 337: ...able collision level of each axis 2 M2 100 3 M3 100 4 M4 100 5 M5 100 6 M6 100 7 ColLvl M1 M2 M3 M4 M5 M6 Set the allowable collision level of each axis 8 ColChk On Enable the collision detection function Start the calculation of the maximum value of torque error 9 Mov P1 50 ColChk Off Disable the collision detection function End the calculation of the maximum value of torque error 51 M1 J_ColMxl ...

Page 338: ...0 when the servo is turned ON during the execution of a Col Chk ON or COLLVL instruction 5 Because they are joint type variables it will be conversion values from rad to deg if they are read as joint variables Therefore substitute each axis element by a numeric variable as shown in the syntax exam ple when using these joint type variables 6 This variable only reads the data Reference CavChk On Cav...

Page 339: ...omatic setting subroutine Remove the comment out of the head when set up automatically Moves in the optimal acceleration and deceleration Reads the information on the hand and the work piece For the system optimization of the acceleration and deceleration hours Re set up the collision detection level Moves to PHOME standby position Moves to P1 starting position Enable the collision detection Disab...

Page 340: ...t is omitted 1 is set as the default value Reference Program 1 J1 J_ECurr 1 JA will contain the encoder pulse value of mechanism 1 2 MA JA 1 Loads the encoder pulse value of the J1 axis to the MA Explanation 1 Although the value to be returned is a pulse value use the joint type as the substitution type Then spec ify joint component data and use by substituting in a numeric variable 2 This variabl...

Page 341: ...nd value to the servo and the delay in the actual servo 3 J_Fbc can also check if there is a difference as a result of executing a Cmp Jnt instruction 4 J_AmpFbc is a percentage of the rated current increment of 0 1 1000 100 5 This variable only reads the data Reference P_Fbc J_Origin Function Returns the joint data when the origin has been set Format Terminology Joint Type Variable Specify a join...

Page 342: ...the ratio of acceleration time set for task slot 1 2 M1 M_DAcl 2 M1 will contain the ratio of deceleration time set for task slot 2 3 M1 M_NAcl M1 will contain the ratio of initial acceleration time value set for task slot 1 4 M1 M_NDAcl 2 M1 will contain the ratio of initial deceleration time value set for task slot 2 5 M1 M_AclSts 3 M1 will contain the current acceleration deceleration status fo...

Page 343: ...ase coordinate number is other than one move to P2 5 Mov P2 6 EndIf Explanation 1 Base coordinate number being currently specified parameter MEXBSNO is read 2 The following coordinate system is set according to the value that is read a 0 System s initial value P_Nbase b 1 8 Work coordinate system number 1 through 8 parameter WK1CORD WK8CORD c 1 Base conversion setting is made by other than the abo...

Page 344: ...Cq variable is referenced even once the Break status is cleared The value is set to zero Therefore to preserve the status save it by substituting it into a numeric variable 4 The Break status is also cleared even if it is referenced on T B monitor screen and so forth M_BTime Function Returns the remaining hour of battery left Unit hour Format Terminology Numeric Variable Specifies the numerical va...

Page 345: ...interference between robots is predicted the robot CPU number 1 to 3 where the interference is predicted is written When an interference with a free plane limit is predicted 1 is written 2 The value is not cleared to 0 until an END command is executed To clear the value to 0 use an interrupt processing 3 The value is retained until the execution of the End command program reset or execution of Cav...

Page 346: ...o 3 If the argument is omitted 1 is set as the default value Reference Program 1 Mov P1 2 CmpG 0 5 0 5 1 0 0 5 0 5 Set softness 3 Cmp Pos B00011011 Enter soft state 4 Mvs P2 5 M_Out 10 1 6 Mvs P1 7 M1 M_CmpDst 1 M1 will contain the difference between the position specified by the operation command and the actual current position 8 Cmp Off Return to normal state Explanation 1 This is used to check ...

Page 347: ...0 Enable compliance mode 13 Act 1 1 Enable interrupt 1 14 Mvs P2 15 16 100 Lmt 101 Mvs P1 Movement to P2 is interrupted and returns to P1 102 Reset Err Reset the error 103 Hlt Execution is stopped Explanation 1 This is used to recover from the error status by using interrupt processing if an error has occurred while the command value in the compliance mode attempted to exceed a limit 2 For various...

Page 348: ...es 40 through 70 it jumps to interrupt processing 6 Mov P3 7 Mov P4 8 Act 1 0 100 HOME Interrupt processing during collision detection 101 ColChk Off Disable the collision detection function 102 Servo On Turn the servo on 103 PESC P_ColDir 1 2 Create the amount of movement for escape operation 104 PDst P_Fbc 1 PESC Create the escape position 105 Mvs PDst Move to the escape position 106 Error 9100 ...

Page 349: ... The status at this time is returned as 1 2 This variable only reads the data M_Cys Function Returns the status of whether or not a program is on cycle operation 1 In cycle operation operating mode set by the slot parameter SLT to 0 Other than above Format Terminology Numerical variable Specify the numerical variable to substitute Reference Program 1 M1 M_Cys The numerical value 1 is substituted f...

Page 350: ...n 1 Specifies the CC Link register number 6000 or above Equation 2 Specifies the CC Link register number 6000 or above Reference Program 1 M1 M_DIn 6000 M1 will contain the CC Link input register value If CC Link station number is 1 2 M1 M_DOut 6000 M1 will contain the CC Link output register value 3 M_DOut 6000 100 Writes 100 to the CC Link output register Explanation 1 For details refer to the C...

Page 351: ...ue to M1 2 M2 6002 Assigns 6002 to M2 3 M3 M_DIn32 M2 And H7FFFF Obtains a value of 32 bits from the CC Link register number specified by M2 and assigns the lowest 19 bit value from that value to M3 Explanation 1 Two points are used for obtaining 32 bit data from the specified CC Link register number 2 Use a long precision integer number variable for Numeric Variable If any other variable is used ...

Page 352: ...information may not be processed 4 Specify a CC Link register number between 6000 and 6254 If a number outside the range is specified an all zero value will be returned when referenced and no processing will be performed when written resulting in no error being generated However if a minus value is specified error L3110 will be gener ated 5 By setting the SYNCIO parameter to the high speed mode th...

Page 353: ...d value Reference Program 1 LBL If M_Err 0 Then LBL Waits until an error is generated 2 MD M_ErCode Reads the detailed error number substitutes for the long preci sion integer number 3 MS Int MD 1000 Mod 100 Obtains two digits of the detailed error number Explanation 1 If two or more errors occur returns the information on the highest level error Only one error 2 The detailed error number is a num...

Page 354: ... may be monitored using this variable for programs whose startup condition is set to ALWAYS by the SLT parameter The program set to ALWAYS will not stop even when an error is generated from other programs 2 If two or more errors occur returns the information on the high error of the error level most 3 The error level which M_ErrLvl returns and its meaning are shown below Table 4 20 The error level...

Page 355: ...eferring to the M_ESpd value with multi task the operation process or signal output etc can be executed according to the transit speed of Ex T spline interpolation 3 When the Ex T control Ex T spline interpolation is not executed 0 0 will be returned 4 M_ESpd returns the value indicated in the following table according to the state Table 4 21 Value returned by M_ESpd 5 M_ESpd is a read only status...

Page 356: ... Def Act 1 M_Fbd 10 GoTo SUB1 S Generate an interrupt when the difference between the command position and the feedback position reaches 10 mm or more 2 Act 1 1 An interrupt takes effect 3 Torq 3 10 Set the torque limit of the three axes to 10 or less using the torque instruction 4 Mvs P1 Moves 5 End 10 SUB1 11 Mov P_Fbc Align the command position with the feedback position 12 M_Out 10 1 Signal No...

Page 357: ...onstant 9 80665 Format Terminology Numeric Variable Specifies the numerical variable to assign Reference Program 1 M1 M_G Gravitational constant 9 80665 is assigned to M1 Explanation 1 This is used to perform calculation related to gravity 2 This variable only reads the data Example Numeric Variable M_G ...

Page 358: ...ignal No 851 is turned on 2 GpsChk On 1 Monitoring a condition for the monitoring No 1 is started 3 Mvs P1 Moves to P1 4 GpsChk Off 1 Monitoring a condition for the monitoring No 1 is stopped 5 M1 M_Gps 1 The number of the position data recorded in the P_Gps1 is stored 6 If M1 0 Then Error 9000 The error 9000 is generated if no position data is recorded Explanation 1 The current position data of t...

Page 359: ...on Enter the hand input signal number 1 to 8 Corresponds to input signals 900 to 907 Reference Program 1 M1 M_HndCq 1 M1 will contain the status of hand 1 Explanation 1 Returns one bit of the hand check input signal status such as a sensor 2 M_HndCq 1 corresponds to input signal number 900 Same result will be obtained using M_In 900 3 This variable only reads the data Example Numeric Variable M_Hn...

Page 360: ...f the input signal 0 1 or 0 2 M2 M_Inb 0 M2 will contain the 8 bit information starting from input signal 0 3 M3 M_Inb 3 And H7 M3 will contain the 3 bit information starting from input signal 3 4 M4 M_Inw 5 M4 will contain the 16 bit information starting from input signal 5 Explanation 1 Returns the status of the input signal 2 M_Inb M_In8 and M_Inw M_In16 will return 8 or 16 bit information star...

Page 361: ... O O X O The available X unavailable Bit width constant types Numeric variables types Other variables Numeric valueNote1 Ex 12 Note1 The real value is rounded off Binary number Ex B1100 Hexadecim al number Ex HC Integer Ex M1 Long precision integer number Ex M1 Single precision real number Note1 Ex M1 Double precision real numbe Note1 Ex M1 Positio Note1 Note2 Ex P1 X Note2 If the value of the var...

Page 362: ... width to the long precision numeric variable M1 as a value from the input signal 10000 4 P1 Y M_In32 10100 1000 0 The data of 32 bit width is inputted as a value from the input signal 10100 divide by 1000 and store it to Y element of position variable P1 The example that at the external equipment side the real number multiplied by 1000 and converted into integer Explanation 1 Return the input sig...

Page 363: ...O O X O The available X unavailable Bit width constant types Numeric variables types Other variables Numeric value Note1 Ex 12 Note1 The real value is rounded off Binary number Ex B1100 Hexadeci mal number Ex HC Integer Ex M1 Long pre cision inte ger number Ex M1 Single pre cision real number Note1 Ex M1 Double pre cision real number Note1 Ex M1 Position Note1 Note2 Ex P1 X Note2 If the value of t...

Page 364: ...in the current override value 2 M2 M_NOvrd M2 will contain the initial override value 100 3 M3 M_JOvrd M3 will contain the current joint override value 4 M4 M_NJOvrd M4 will contain the initial joint override value 5 M5 M_OPOvrd M5 will contain the current OP operation panel override value 6 M6 M_Ovrd 2 M6 will contain the current override value for slot 2 7 M_OPOvrd 20 The OP operation panel over...

Page 365: ... ratio is derived from the current that flows to each axis motor and its flow time 3 The load ratio rises when the robot is operated with a heavy load in a severe posture for a long period of time 4 When the load ratio reaches 100 an overload error occurs In the above example statement once the load ratio exceeds 90 the acceleration deceleration time is lowered to 50 5 To lower the load ratio meas...

Page 366: ... its flow time 3 The load ratio rises when the robot is operated with a heavy load in a severe posture for a long period of time 4 When the load ratio reaches 100 an overload error occurs In the above example statement once the load ratio exceeds 90 the acceleration deceleration time is lowered to 50 5 To lower the load ratio measures such as decreasing the acceleration deceleration time having th...

Page 367: ... a cassette can be checked Format Terminology Numeric Variable Specifies the numerical variable to assign The information of the workpiece presence recognition in the segment set in Numeric value is returned to the position variable The default value is set to 0 1 is stored for the segment in which the workpiece is present The value is cleared to zero when the GpsChk On command is executed Numeric...

Page 368: ...ion defined in the Def Map command is met The segment number in which the workpiece is present is calculated from that position data and the condition defined in the Def Map command and stored in this status variable 2 To send the data of workpiece position to an external device output the signal including the information stored in this status variable 3 The value is cleared to zero when the GpsCh...

Page 369: ...applications with the cooperative operation function 2 In the target CPU this variable reads and writes the data In other CPU this variable only reads the data 3 If the status variable is changed from 1 to 0 at the master robot during the cooperative operation the slave robot finishes Mxt command automatically 4 The initial value after power ON is 0 M_On M_Off Function Always returns 1 M_On or 0 M...

Page 370: ...mer to 0 4 O1 5 Open COM2 As 1 Opens the line 6 If M_Timer 1 10000 0 Then E1 Jumps when 10 seconds elapses 7 If M_Open 1 1 Then Goto O1 Loops if no connection is made 8 Def Act 1 M_Open 1 0 GoSub E2 Monitors the down state of the server using an interrupt 9 Act 1 1 Starts monitoring 10 M1 11 M1 M1 1 12 If M1 10 Then C1 MELFA Else C1 END Sends END after sending the MELFA string nine times 13 Print ...

Page 371: ...l input status is returned as is The power off status and cable disconnection status of the counterpart can be determined Mitsubishi genuine cable specification Can be used only when the RTS signal of the counterpart is enabled using model name RS MAXY CBL RS AT RCBL 1 Already connected CTS signal is ON 0 Not connected CTS signal is OFF 1 The file number is undefined not opened Communication line ...

Page 372: ...the output time for the pulse output as a constant or numeric opera tion expression Unit Seconds Numeric Variable Specifies the numerical variable to assign Supplementary explanation is shown in Table 4 28 Reference Program 1 M_Out 2 1 Turn ON output signal 2 1 bit 2 M_Outb 2 HFF Turns ON 8 bits starting from the output signal 2 3 M_Outw 2 HFFFF Turns ON 16 bits starting from the output signal 2 4...

Page 373: ... A The input in the key by T B etc to specify the input signal No 8 The result is 0 when 8 degree is converted to radian 0 14 and rounded off Because the unit of the element X Y and Z of the position variable is mm there is no such condition Joint Note1 Note2 Ex J1 J1 Charac ter string Ex C1 M_Out O O O O O O O O X X M_Outb M_Out8 O O O O O O O O X X M_Outw M_Out16 O O O O O O O O X X O The availa...

Page 374: ...f the P1 by 1000 and write to 32 bit width from the output signal number 10000 Integer 2 ack_wait 3 If M_In 7 0 Then ack_wait Wait until the input signal 7 turns on interlock 4 P1 Y M_In32 10100 1000 0 The data of 32 bit width is inputted as a value from the input signal 10100 divide by 1000 and store it to Y element of position variable P1 The example that at the external equipment side the real ...

Page 375: ...ther variables Numeric value Ex 12 Binary number Ex B1100 Hexadeci mal number Ex HC Integer Ex M1 Long pre cision inte ger number Ex M1 Single pre cision real number Note1 Ex M1 Double precision real numbe Note1 Ex M1 Position Ex P1 X Joint Ex J1 J1 Charac ter string Ex C1 M_Out32 ONote1 Note1 For the numerical value of the less than 16 bits of the binary number 32768 to 32767 the specified consta...

Page 376: ...selectable by the specified task slot 1 Program is selectable 0 Program not selectable when the program is paused Format Terminology Numeric Variable Specifies the numerical variable to assign Equation 1 to 32 Specifies the task slot number If this parameter is omitted the current slot will be used as the default Reference Program 1 M1 M_Psa 2 M1 will contain the program selectable status of task ...

Page 377: ...ies the task slot number If this parameter is omitted the current slot will be used as the default Reference Program 1 Mov P1 WthIf M_Ratio 80 M_Out 1 1 The output signal 1 will turn ON when the robot has moved 80 of the distance until the target position is reached while moving toward P1 Explanation 1 This is used for instance when performing a procedure at a specific position while the robot is ...

Page 378: ...er is assigned 3 For MT 1 To 8 4 METMP MT M_RCInfo 1 MT Read the temperature of the each axis encoder 5 METMPX MT M_RCInfo 2 MT Read the maximum temperature of the each axis encoder 6 Next 7 MRCTMP M_RCInfo 3 1 Read the temperature of inside the controller Explanation 1 If the value exceeding the setting value is specified as information ID number and element number the error L3110 will occur when...

Page 379: ...at a specific position while the robot is moving 2 This variable only reads the data M_Run Function Returns whether the program for the specified task slot is being executed 1 Executing 0 Not executing paused or stopped Format Terminology Numeric Variable Specifies the numerical variable to assign Equation 1 to 32 Specifies the task slot number If this parameter is omitted the current slot will be...

Page 380: ...on deceleration time distribution rate of the J2 axis to 100 8 Mov P3 Acceleration 100 deceleration 50 9 Accel 100 100 Return the overall deceleration distribution rate to 100 10 Mov P4 Explanation 1 The acceleration deceleration time distribution rate when optimum acceleration deceleration is enabled can be set in units of axes If 100 is specified the acceleration deceleration time becomes the sh...

Page 381: ...nt slot will be used as the default Reference Program 1 Mov P1 WthIf M_In 10 1 Skip If the input signal 10 is 1 when starting to move to P1 skip the Mov instruction 2 If M_SkipCq 1 Then GoTo Lskip If Skip instruction has been executed jump to line 1000 10 Lskip Explanation 1 Checks if a Skip instruction has been executed 2 This variable only reads the data 3 If the M_SkipCq variable is referenced ...

Page 382: ... will be used as the default Reference Program 1 M1 M_Spd M1 will contain the currently set speed 2 Spd M_NSpd Reverts the speed to the optimum speed control mode Explanation 1 M_RSpd returns the directive speed at which the robot is operating When the servo off condition the feedback speed is returned At this time even if the robot is stopping the value may change between 0 01 to 0 01 2 This can ...

Page 383: ...et input signal 100 to 115 status 4 L2 If M_SplPno 10 Then GoTo L2 Wait for path point 10 to be passed 5 M_01 M1 After passing through path point 10 substitute M1 details in M_01 Explanation 1 During spline interpolation the number of the path point passed through most recently is returned 2 By referring to the M_SplPno value with multi task the operation process or signal output etc can be execut...

Page 384: ...1 Pass through path point for which M_SplVar value is set to 1 5 M_SplVar 0 Reset M_SplVar value to 0 6 M_Out 100 1 Turn output signal 100 ON 7 Break 8 Default M_SplVar value is not 1 9 M_Out 100 0 Turn output signal 100 OFF 10 Break 11 End Select 12 If M_00 1 Then Goto L1 Repeat until spline interpolation finishes Explanation 1 During spline interpolation the numerical setting value set for the p...

Page 385: ...default value Reference Program 1 M1 M_Svo 1 M1 will contain the current status of the servo power supply Explanation 1 The status of the robot s servo can be checked 2 This variable only reads the data Status Value returned by M_SplVar Immediately after power ON 0 During spline interpolation execution Value corresponding to progress of spline inter polation Value set in spline file When passing t...

Page 386: ... Enter the number to 8 from 1 Parentheses are required Reference Program 1 M_Timer 1 0 2 Mov P1 3 Mov P2 4 M1 M_Timer 1 M1 will contain the amount of time required to move from P1 to P2 in ms Example If the time is 5 346 sec the value of M1 is 5346 5 M_Timer 1 1 5 Set to 1 5 sec Explanation 1 A value may be assigned The unit is seconds when set to M_Timer 2 Since measurement can be made in millise...

Page 387: ... Referencing the Tool Number 1 If M_In 900 1 Then Change the tool data by a hand input signal 2 M_Tool 1 Set tool 1 in tool data 3 Else 4 M_Tool 2 Set tool 2 in tool data 5 EndIf 6 Mov P1 Explanation 1 The values set in the MEXTL1 MEXTL2 MEXTL3 MEXTL16 tool parameters are reflected in the tool data It is also written into the MEXTL parameter 2 Tool numbers 1 to 16 correspond to MEXTL1 to 16 3 Whil...

Page 388: ... Variable Specifies the numerical variable to assign Mechanism Number Enter the mechanism number 1 to 3 If the argument is omitted 1 is set as the default value Reference Program 1 M1 M_Uar 1 AND H0004 The result for area 3 only is assigned to M1 2 If M1 0 Then M_Out 10 1 Output signal 10 turns ON if contained in area 3 Explanation 1 For details on how to use user defined areas refer to Page 474 5...

Page 389: ...a negative value results in decimal notation if bit 31 is 1 and therefore it is recommended that hexadecimal notation be used 5 This variable only reads the data Related System Variables M_Uar M_Uar32 and User defined Area Compatibility Example If contained in user defined area 5 and 10 this will be the combined value of H00000010 the value indicating area 5 and H00000200 the value indicating area...

Page 390: ...The value to specify omits the single digit low order of the top input out put number in the hexadecimal number Range H3E0 to H3E in hexadecimal expression 992 to 995 in the decimal number No 1 H3E0 992 in the decimal number No 2 H3E1 993 in the decimal number No 3 H3E2 994 in the decimal number No 4 H3E3 995 in the decimal number Note The write function is allowed to host CPU only Shared memory a...

Page 391: ...put signal number O The available X unavailable Bit width Numeric variables types Other variables Integer Ex M1 Long preci sion inte ger number Ex M1 Single pre cision real number Ex M1 Double precision real num ber Ex M1 Position Note1 Ex P1 X Note1 If the value of the variable is the angle the unit will be processed by the radian The elements of A B and C of position variable and all elements of...

Page 392: ...The available X unavailable Bit width constant types Numeric variables types Other variables Numeric value Note1 Ex 12 Note1 The real value is rounded off Binary number Ex B1100 Hexadeci mal number Ex HC Integer Ex M1 Long pre cision inte ger number Ex M1 Single pre cision real number Ex M1 Double pre cision real number Ex M1 Position Ex P1 X Joint Ex J1 J1 Charac ter string Ex C1 M_UDevW O O O O ...

Page 393: ...iable to assign Equation 1 to 32 Specifies the task slot number If this parameter is omitted the current slot will be used as the default Reference Program 1 M1 M_Wai 1 M1 will contain the standby status of slot 1 Explanation 1 This can be used to check whether the program has been paused 2 Combine M_Run and M_Wai to determine if the program has stopped in case the currently executed line is the t...

Page 394: ...ly reducing the speed 2 If the warm up operation mode is disabled the mode of the controller is set to TEACH or the machine is being locked the value is always 100 3 If the normal status changes to the warm up operation status or the warm up operation status is set immediately after power on the value specified in the first element the initial value of a warm up oper ation override of the WUPOVRD ...

Page 395: ... always returned 3 If the normal status changes to the warm up operation status or the warm up operation status is set immediately after power on the time specified in the first element the valid time of the warm up opera tion mode of the WUPTIME parameter is set as the initial value and the value of M_Wuprt decreases according to the operation of the robot And when the value is set to 0 the warm ...

Page 396: ...e WUPAXIS parameter warm up operation mode target axis continues to stop operating while the robot s warm up operation status the status in which operation is performed by automatically reducing the speed is canceled 2 If the warm up operation mode is disabled the time specified in the second element warm up operation mode resume time of the WUPTIME parameter is returned 3 If a target axis operate...

Page 397: ...e value of the sequencer input signal 1 1 or 0 is substituted to M2 2 M2 M_XDevB H10 The value of 8 bit width from 10 hexadecimal number of sequencer input signals is substituted to M2 3 M3 M_XDevW H20 And H7 The value of 3 bit width from 20 hexadecimal number of sequencer input signals is substituted to M3 4 M4 M_XDevW H20 The value of 16 bit width from 20 hexadecimal number of sequencer input si...

Page 398: ... O X M_XDevB O O O O O O X M_XDevW O O O O O O X M_XDevD X O O O O O X O The available X unavailable Bit width constant types Numeric variables types Other variables Numeric valueNote1 Ex 12 Note1 The real value is rounded off Binary num ber Ex B1100 Hexadeci mal number Ex HC Integer Ex M1 Long pre cision inte ger number Ex M1 Single pre cision real number Note1 Ex M1 Double pre cision real number...

Page 399: ...ric variable Although the useful range is H0 HFFF 0 to 4095 in decimal number in hexadecimal expression it differs for each status vari able M_YDev H0 HFFF 0 4095 M_YDevB H0 HFF8 0 4088 M_YDevW H0 HFF0 0 4080 M_YDevD H0 HFE0 0 4064 Note The real number is rounded off Numeric value Describe the value to output by the numeric variable the constant The useful ranges differ for each status variable M_...

Page 400: ... will occur if it is the abbreviation or outside the range 5 The following setup is necessary previously Validate the reference of the input signal with Parameter QXYREAD Set up the input output unit which will be managed by robot CPU with Parameter QXYUNITn n 1 4 6 The pulse output which combines the Dly command cannot be used If the Dly command is used error L4220 syntax error occurs 7 If the co...

Page 401: ...1 Charac ter string Ex C1 M_XDev O O O O O O O O X X M_XDevB O O O O O O O O X X M_XDevW O O O O O O O O X X M_XDevD O O O O O O O O X X O The available X unavailable Bit width constant types Numeric variables types Other variables Numeric value Note1 Ex 12 Note1 The real value is rounded off Binary number Ex B1100 Hexadeci mal number Ex HC Integer Ex M1 Long pre cision inte ger number Ex M1 Singl...

Page 402: ...ter the mechanism number 1 to 3 If the argument is omitted 1 is set as the default value Reference Program 1 P1 P_Base P1 will contain the base conversion data that is currently being set 2 Base P_NBase Resets the base conversion data to the initial value Explanation 1 P_NBase will contain 0 0 0 0 0 0 0 0 2 Be careful when using base conversion since it may affect the teaching data 3 Use the Base ...

Page 403: ...ssuming the maximum locomotive axis value as 1 0 Example When the robot is being operated at the ratio of X axis direction Y axis direction 2 1 P_CavDir 1 0 5 0 0 0 0 0 0 3 The posture axis and structural flag are always 0 0 0 0 0 0 0 is an arbitrary value 4 A value is calculated when an interference is predicted and then that value is retained until the next interference is predicted 5 If an inte...

Page 404: ...m travel axis as 1 0 Example If the robot was being operated at a ratio of X axis direction Y axis direction 2 1 P_ColDir 1 0 5 0 0 0 0 0 0 3 The posture axis and structural flag are always 0 0 0 0 0 0 0 4 A value is calculated when an collision is detected and then that value is retained until the next collision is detected 5 If an collision is detected when an external object hits the robot in t...

Page 405: ...s a position variable to be assigned Mechanism No Enter the mechanism number 1 to 3 If the argument is omitted 1 is set Reference Program Refer to Page 543 5 24 10 Sample programs Explanation 1 The base coordinates of the robot looking from the common coordinates are read The setting value of parameter RBCORD 2 All coordinates are read as 0 when the parameter RBCORD is set to the initial value 0 0...

Page 406: ... value Reference Program 1 Def Act 1 M_In 10 1 GoTo LACT Defines interrupt 2 Act 1 1 Enables interrupt 3 Mov P1 4 Mov P2 5 Act 1 0 Disables interrupt 100 LACT 101 P100 P_Curr Loads the current position when an interrupt signal is received 102 Mov P100 100 Moves 100 mm above P100 i e 100 mm in the Z direc tion of the tool 103 End Ends the program Explanation 1 This can be used to identify the curre...

Page 407: ...minology Position Variable Specifies a position variable to be assigned Mechanism No Enter the mechanism number 1 to 3 If the argument is omitted 1 is set Reference Program Refer to Page 543 5 24 10 Sample programs Explanation 1 The current position looking from the common coordinates is read 2 The value which is converted from P_Curr by the parameter RBCORD is returned 3 This is read only 4 The v...

Page 408: ...referring to the P_ECord value with multi task the operation process or signal output etc can be executed according to the progress of spline interpolation 3 P_ECord returns the value indicated in the following table according to the state Table 4 42 Value returned by P_ECord 4 P_ECord is a read only status variable Related instructions EMvc E Move C EMvr E Move R EMvr2 E Move R 2 EMvr3 E Move R 3...

Page 409: ...sition variable to assign Mechanism Number Enter the mechanism number 1 to 3 If the argument is omitted 1 is set as the default value Reference Program 1 P1 P_Fbc P1 will contain the current position based on the feedback Explanation 1 Returns the current position based on the feedback values from the servo 2 This variable only reads the data Reference Torq Torque J_Fbc J_AmpFbc M_Fbd Example Posi...

Page 410: ... of the master robot 2 to 4 Reference Program Open MXT QRBUS2 As 1 Specify the robot CPU No 2 in the shared memory as a master robot Mov P_GCurr 2 The start positions of movement at the host CPU is aligned with the robot CPU No 2 Explanation 1 This command can be used to obtain the start position data of movement in the application with the cooperative operation function 2 This variable only reads...

Page 411: ...gnal No 852 is turned on 2 GpsChk On 1 Monitoring a condition for the monitoring No 1 is started 3 Mvs P1 Moves to P1 4 GpsChk Off 1 Monitoring a condition for the monitoring No 1 is stopped 5 M1 M_Gps 1 The number of the position data recorded in the P_Gps1 is stored 6 If M1 0 Then Error 9000 The error 9000 is generated if no position data is recorded 7 Mvs P_Gps1 1 The robot moves its arm to the...

Page 412: ..._Tool P_NTool Function Returns tool conversion data P_Tool Returns the tool conversion data that is currently being set P_NTool Returns the initial value 0 0 0 0 0 0 0 0 0 0 Format Terminology Position Variables Specifies the position variable to assign Mechanism Number Enter the mechanism number 1 to 3 If the argument is omitted 1 is set as the default value Reference Program 1 P1 P_Tool P1 will ...

Page 413: ...rogram 1 P_UDev H3E1 10010 P_Curr Write the current position to the shared memory address 10010 of the CPU module No 2 2 P1 P_UDev H3E2 10001 Read the position data from the shared memory address 10001 of the CPU module No 3 and substitute the read value for the position variable P1 Explanation 1 This command writes reads the position data to from the CPU shared memories of programmable con trolle...

Page 414: ...ics in mind provide an interlock device to the head of the transmitted data to prevent data inconsistency between transmitted data Variable types Constant types Numeric variable types Other variables Numeric value Note1 Ex 12 Note1 The real value is rounded off Binary number Ex B1100 Hexadecim al number Ex HC Integer Ex M1 Long precision integer Ex M1 Single precision real number Note1 Ex M1 Doubl...

Page 415: ...s of the above operations for work coordinate 2 Set them to parameter WK2CORD 5 Base 2 Let work coordinate 2 be a new world coordinate system 6 Mov P1 2 Specification of PA as a work coordinate 4 and Ex T control linear interpolation movement along the work coordinate 4 1 P_WkCord 4 PA Specify PA as a work coordinate 4 Set it to parameter WK4CORD 2 EMvs 4 P1 Moves to P1 along the work coordinate 4...

Page 416: ...is referred to by the designated work coordinate number and used as the Ex T control point Therefore specifying P_WkCord also specifies the control point coordinates in the Ex T control Related instructions Base Base EMvc E Move C EMvr E Move R EMvr2 E Move R 2 EMvr3 E Move R 3 EMvs E Move S Related parameter MEXBSNO WKnCORD n is 1 to 8 WKnWO WKnWX WKnWY n is 1 to 8 P_Zero Function Always returns ...

Page 417: ...n Format This indicates how to input the function argument Reference Program An example program using function is shown Terminology This indicates the meaning and range of an argument Explanation This indicates detailed functions and precautions Reference This indicates related function 4 15 2 Explanation of Each Function Each variable is explained below in alphabetical order ...

Page 418: ...e of a given value Format Reference Program 1 P2 C Abs P1 C P2 C will contain the value of P1 C without the sign 2 Mov P2 3 M2 100 4 M1 Abs M2 100 is assigned to M1 Explanation 1 Returns the absolute value Value with the positive sign of a given value Reference Sgn Numeric Variable Abs Equation ...

Page 419: ... arc cosine with specified expression and returns the result The unit is radian Setting range 0 to PI Equation Specifies the cosine Setting range 1 0 to 1 0 Reference Program 1 MRad ACos 0 6 Assigns the arc cosine of 0 6 0 927295218001612 rad to the MRad Explanation 1 Returns the arc cosine from the specified equation Unit is in radians Numeric Variable ACos Equation ...

Page 420: ...the Mov instruction Format Reference Program 1 P1 P_Curr 2 P2 Align P1 3 Mov P2 Explanation 1 Converts the A B and C components of the position data to the closest XYZ postures 0 90 and 180 2 Since the return value is of position data type an error will be generated if the left hand side is of joint variable type 3 This function cannot be used in vertical multi joint 5 axes robot The following sho...

Page 421: ...first character in the string Format Reference Program 1 M1 Asc A H41is assigned to M1 Explanation 1 Returns the character code of the first character in the string 2 An error will be generated if the string is a null string Reference Chr Val Cvi Cvs Cvd Numeric Variable Asc Character String Expression ...

Page 422: ...lated value of delta Y delta X Equation 1 delta Y Equation 2 delta X Reference Program 1 M1 Atn 100 100 PI 4 is assigned to M1 2 M2 Atn2 100 100 PI 4 is assigned to M1 Explanation 1 Calculates the arc tangent of a given equation Unit is in radians 2 The range of the returned value for Atn is PI 2 Atn PI 2 3 The range of the returned value for Atn2 is PI Atn PI 4 If Equation 2 evaluates to 0 Atn2 w...

Page 423: ... will contain the character string of 11111111 Explanation 1 Value is converted to a binary string 2 If the equation does not evaluate to an integer the integral value obtained by rounding the fraction will be converted to a binary string 3 Val is a command that performs the opposite of this function Reference Hex Str Val Character String Variable Bin Equation ...

Page 424: ... error occurs 3 MR M10 Radius 4 MRD M20 Circular arc angle 5 MARCLEN M30 Circular arc length 6 PC P10 Coordinates of the center point Explanation 1 Provides information regarding the arc that is determined by the three specified points position 1 posi tion 2 and position 3 2 If the arc generation and calculation of various values succeeded 1 will be returned as the return value 3 If some points ha...

Page 425: ...teger the character will be returned whose character code cor responds to the integral value obtained by rounding the fraction Reference Asc Cint Function Rounds the fractional part of an equation to convert the value into an integer Format Reference Program 1 M1 Cint 1 5 2 is assigned to M1 2 M2 Cint 1 4 1 is assigned to M2 3 M3 Cint 1 4 1 is assigned to M3 4 M4 Cint 1 5 2 is assigned to M4 Expla...

Page 426: ...e of the string an error will be generated 3 If the end position exceeds the end of the string checksum from the starting position to the last character in the string will be calculated 4 If the result of addition exceeds 255 a degenerated value of 255 or less will be returned 5 It is not possible to describe a function that contains an argument in Character String Equation 1 and Equation 2 If suc...

Page 427: ...unt of communication data when transmitting numerical data with external devices Reference Asc Cvs Cvd Mki Mks Mkd Cvs Function Converts the character codes of the first four characters of a string into a single precision real number Format Reference Program 1 M1 Cvs FFFF 12689 6 is assigned to M1 Explanation 1 Converts the character codes of the first four characters of a string into an single pr...

Page 428: ... Mki Mks Mkd Deg Function Converts the unit of angle measurement from radians rad into degrees deg Format Reference Program 1 P1 P_Curr 2 If Deg P1 C 170 Or Deg P1 C 150 Then NOErr 3 Error 9100 4 NOErr Explanation 1 Converts the radian value of an equation into degree value 2 When the posture angles of the position data are to be displayed using positional constants the unit used for 500 0 600 180...

Page 429: ...ed for calculation 3 The joint variables cannot be used Trying to use it will result in an error during execution 4 It is not possible to describe a function that contains an argument in position 1 and position 2 If such a function is described an error will be generated during execution Exp Function Calculates exponential functions an equation that uses e as the base Format Reference Program 1 M1...

Page 430: ...gram 1 M1 Fix 5 5 5 is assigned to M1 Explanation 1 Returns the integral portion of the equation value 2 If the equation evaluates to a positive value the same number as Int will be returned 3 If the equation evaluates to a negative value then for instance Fix 2 3 2 0 will be observed Reference Cint Int Numeric Variable Fix Equation ...

Page 431: ... what represents the position of the origin point of base coordinate system viewed from P10 4 Base P10 Newly establish the position of P10 defined in Step 2 in the world coordinate system Explanation 1 This can be used to define the base coordinate system 2 This creates a plane from the three coordinates X Y and Z for the three positions to calculate the posi tion of the origin and the inclination...

Page 432: ...orms this procedure in reverse 5 If number of output characters is specified it is not possible to describe a function that contains an argument in Equation If such a function is described an error will be generated during execution NG example C1 Hex Asc a 1 Reference Bin Str Val Int Function Returns the largest integer that does not exceed the value of the equation Format Reference Program 1 M1 I...

Page 433: ...verted into position data Format Reference Program 1 P1 JtoP J1 The position that expresses the J1 joint type position using the XYZ type will be assigned to P1 Explanation 1 Converts the joint data into the position data 2 Position variables cannot be used as the argument When a position variable is used an error will be generated 3 Since the return value is a position data an error will be gener...

Page 434: ...a negative value or is longer than the string 3 It is not possible to describe a function that contains an argument in Character String and Equation If such a function is described an error will be generated during execution Reference Mid Right Len Function Returns the length of the string Format Reference Program 1 M1 Len ABCDEFG 7 is assigned to M1 Explanation 1 Returns the length of the argumen...

Page 435: ... error will be generated if the equation evaluates to a zero or a negative value Reference Exp Log Log Function Returns the common logarithm Base 10 Format Reference Program 1 M1 Log 2 0 301030 is assigned to M1 Explanation 1 Returns the common logarithm of the value of the equation 2 An error will be generated if the equation evaluates to a zero or a negative value Reference Exp Ln Numeric Variab...

Page 436: ...on of the string Format Reference Program 1 C1 Mid ABCDEFG 3 2 CD is assigned to C1 Explanation 1 A string of the length specified by argument 3 is extracted from the string specified by the first argument starting from the position specified by argument 2 and returned 2 An error will be generated if equation 2 or 3 evaluates to a zero or a negative value 3 An error is generated if the position of...

Page 437: ...n Equation 1 Equation 2 and If such a function is described an error will be generated during execution Reference Max Mirror Function Inverts the bit string representing each character code of the string in binary and obtains the character coded string Format Reference Program 1 C1 Mirror BJ RB is assigned to C1 BJ H42 H4A B01000010 B01001010 Inverted H52 H42 B01010010 B01000010 Output RB Explanat...

Page 438: ...rical data to external devices Reference Asc Cvi Cvs Cvd Mks Mkd Mks Function Converts the value of an equation single precision real number into a four byte string Format Reference Program 1 C1 Mks 100 1 100 1 is assigned to C1 2 M1 Cvs C1 100 1 is assigned to M1 Explanation 1 Converts the lowest four bytes of the value of an equation single precision real number into the strings 2 Use Cvs to con...

Page 439: ... data when transmitting numerical data to external devices Reference Asc Cvi Cvs Cvd Mki Mki PosCq Function Checks whether the given position is within the movement range Format Reference Program 1 M1 PosCq P1 M1 will contain 1 if the position P1 is within the movement range Explanation 1 Check whether the position data given by an argument is within the movement range of the robot Value 1 will be...

Page 440: ...on that contains an argument in Position Variables 1 Position Variables 2 Equation 1 and Equation 2 If such a function is described an error will be generated during execution PtoJ Function Converts the given position data into a joint data Format Reference Program 1 J1 PtoJ P1 J1 will contain the value of P1 XYZ position variable that has been con verted into joint data type Explanation 1 Convert...

Page 441: ... Terminology Position Variables Specifies the position variable from which the structure flag will be extracted Equation Specifies which structure flag is to be extracted 0 R L 1 A B 2 N F Reference Program 1 P1 100 0 100 180 0 180 7 0 Since the structure flag 7 B111 is RAN 2 C1 Rdfl1 P1 1 C1 will contain A Explanation 1 Of the structure flags in the position data specified by argument 1 the flag ...

Page 442: ...is function extracts information from the FL2 element of position data 4 Structure flag 2 multiple rotation information has a 32 bit structure which contains 4 bits of information per axis for 8 axes 5 When displaying in T B and the multiple rotation is a negative value value of 1 to 8 is converted into F to 8 4 bit signed hexadecimal notation and displayed 6 It is not possible to describe a funct...

Page 443: ...ument and extracts a random number 2 If the equation provided as the argument evaluates to 0 initialization of random numbers will not take place and the next random number will be extracted 3 When the same value is used to perform initialization of random numbers identical random number sequence will be obtained Right Function Obtains a string of the specified length starting from the right end F...

Page 444: ...on data The content of the position data given by the argument will remain unchanged 3 The structure flag will be specified starting from the last character in the string Therefore for instance if the string LR is specified the resulting structure flag will be L 4 If the flags are changed using a numerical value set P1 FL1 7 5 Structure flags may have different meanings depending on the robot mode...

Page 445: ...changing the position data s multiple rotation information of the joint axis specified by equation 1 to the value specified by equation 2 2 This function changes information from the FL2 element of position data 3 The content of the position of position variables given by the argument X Y Z A B C and FL1 will remain unchanged 4 It is not possible to describe a function that contains an argument in...

Page 446: ...is used for the J4 and succeeding axes 5 Mov J2 6 Next M1 7 M0 Rad 0 8 M90 Rad 90 7 J3 SetJnt M0 M0 M90 M0 M90 M0 10 Mov J3 Explanation 1 The value of each axis in joint variables can be changed 2 Variable can be described as arguments 3 Arguments can be omitted except for the J1 axis They can be omitted for all subsequent axes Argu ments such as SetJnt 10 10 10 cannot be described 4 In an argumen...

Page 447: ... Only for the value of the Z axis it is rotated by 10 mm each time The same value is used for the A and succeeding axes 5 Mov J2 6 Next M1 Explanation 1 The value of each axis in joint variables can be changed 2 Variable can be described as arguments 3 Arguments can be omitted except for the X axis They can be omitted for all subsequent axes Argu ments such as SetPos 10 10 10 cannot be described 4...

Page 448: ...alue 1 0 0 Negative value 1 Sin Function Calculates the sine Format Reference Program 1 M1 Sin Rad 60 0 866025 is assigned to M1 Explanation 1 Calculates the sine to which the given equation evaluates 2 The range of values will be the entire range that numerical values can take 3 The range of the return value will be from 1 to 1 4 The unit of arguments is in radians Reference Cos Tan Atn Atn2 Nume...

Page 449: ...data registered in the spline file specified by Spline No 2 If a spline file corresponding to the Spline No is not saved in the controller the error L2610 Can t open spline file will occur 3 If 1 execute using coordinate system set in spline file or 2 execute using coordinate system set with SetCalFrm command is designated in Frame transformation the Ex T coordinate system origin data is converted...

Page 450: ...ied spline file is substituted to the configuration flag 3 If a spline file corresponding to the Spline No is not saved in the controller the error L2610 Can t open spline file will occur 4 If a path point information corresponding to the Path point No is not saved in the spline file the error L2610 Path point is not registered will occur 5 If 1 execute using coordinate system set in spline file o...

Page 451: ... spline interpolation is executed using spline file 8 path point data for MS 2 MvSpl 8 MS 50 Executes spline interpolation to pass through the spline file 8 path point at the speed specified with MS Explanation 1 Calculates the maximum speed which can be specified without an error from the path point data regis tered in the spline file specified by Spline No 2 The calculated maximum speed is the s...

Page 452: ...os ABCDEFG DEF 4 is assigned to M1 Explanation 1 Returns the position of the first occurrence of the string specified by argument 2 from the string specified by argument 1 2 An error will be generated if the length of the argument 2 is 0 3 For instance if argument 1 is ABCDEFG and argument 2 is DEF 4 will be returned 4 If the search string could not be found 0 will be returned 5 It is not possible...

Page 453: ...reverse Reference Bin Hex Val Tan Function Calculates the tangent Format Reference Program 1 M1 Tan Rad 60 1 732051 is assigned to M1 Explanation 1 Returns the tangent of the value to which the equation evaluates 2 The range of arguments will be the entire range of values that are allowed 3 The range of return values will be the entire range that numerical values can take 4 The unit of arguments i...

Page 454: ...gram 1 M1 Val 15 2 M2 Val B1111 3 M3 Val HF Explanation 1 Converts the given character string expression string into a numerical value 2 Binary B decimal and hexadecimal H notations can be used for the string 3 In the example above M1 M2 and M3 evaluate to the same value 15 Reference Bin Hex Str Numeric Variable Val Character String Expression ...

Page 455: ...and C they are checked by rotating in the positive direction from the angle in position 2 to position 3 and by seeing if the target value is inside the swiped range Example If P2 A is 100 and P3 A is 100 if P1 A is 50 the value is within the range Similar checking will be performed for B and C axes Refer to diagram below 4 For components that are not checked or do not exist if the unit is in degre...

Page 456: ...anation 1 This will check if position 1 is inside the cylindrical area Refer to diagram below defined by the two points position 2 and position 3 and the radius represented by the equation If the point is inside the space 1 is returned otherwise 0 is returned 2 This function checks whether the check position X Y and Z coordinates is within the specified area but does not take the posture component...

Page 457: ...efined by the three points position 2 position 3 and position 4 and the Equation W Equation H and Equation L If the point is inside the space 1 is returned otherwise 0 is returned 2 This function checks whether the check position X Y and Z coordinates is within the specified area but does not take the posture components into consideration 3 It is not possible to describe a function that contains a...

Page 458: ... set the items pertaining to communications Page 468 Parameter Parameter name No of arrays No of characters Details explanation Factory setting Joint movement range MEJAR Real value 16 Set the overrun limit value for the joint coordinate system Sets the movement range for each axis Expanding of the move ment range is not recommended since there is possibility that the robot may strike the mechanic...

Page 459: ...nates Refer to 4 5Coordinate system description of the robot 5 6Standard Tool Coordinates MEXTL Real value 6 Initial values will be set for the hand tip control point and the mechanical interface hand mounting surface The factory default setting is set to the mechanical interface as the control point Change this value if a hand is installed and the control point needs to be changed to the hand tip...

Page 460: ...control point and the mechanical interface hand mounting surface This parameter is not changed by the Tool command or M_Tool X Y Z A B C 0 0 0 0 0 0 0 0 0 0 0 0 User area Refer to 5 8About user defined area Specify the user definition area maximum of 32 area and the action when the robot enters in the area AREA CS is 1 to 32 Integer 1 Specify the coordinate system of the user definition area 0 Bas...

Page 461: ...Mechanism 2 3 Mechanism 3 0 AREA AT is 1 to 32 Integer 1Outside of the area Specify desired behavior when the robot enters the user defined area 0 Invalid This function will be invalid 1 In zone signal output The dedicated output and the status variable output 2 Error output Details of the setting NOTES If error output is opted for a check is performed only in the posi tion area ignoring the postu...

Page 462: ...later Robot RH 3FHR series Movement can be limited in the cylinder area centering on the J1 axis Set the radius centering on the J1 axis as the parameter MECAR Real value 2 Constitution of the parameter The radius J2 axis limitation angle Set the radius as the 1st element Unit mm Valid to two digits decimal If the radius is 0 this function does not function If the radius is minus value or the dist...

Page 463: ...ting the origin this parameter is automatically set 0 Mechanicalstopper origin MORG Real value 8 Designate the mechanical stopper origin J1 J2 J3 J4 J5 J6 J7 J8 Unit deg It varies with models User designated origin USERORG Real value 8 Designate the user designated origin position This normally does not need to be set J1 J2 J3 J4 J5 J6 J7 J8 Unit deg It varies with models Select the function of si...

Page 464: ... to WO of the teach ing operation by T B Refer to above figure X Y Z Unit mm Notes The work coordinates are not defined by merely inputting this coordinate value Calculate the work coordinates by performing DEFINE on the TB work coordinate setting screen or by performing Write on the RTToolBox2 work coordinate parameter screen 0 00 0 00 0 00 WKnWX n is 1 to 8 Real value 3 Set the position of X axi...

Page 465: ...pause Refer to 5 10Automatic return setting after jog feed at pause RETPATH Integer 1 While running a program if the program is paused by a stop and then the robot is moved by a jog feed for instance at the time of restart this setting makes the robot return to the position at which the program was halted before continuing If this function is disabled movement instructions will be carried out from...

Page 466: ... 9 0 0 and 8 5 0 0 0 0 0 0 0 0 Hand initial state Refer to 5 13About default hand status HANDINIT Integer 8 Set the pneumatic hand I F output for when the power is turned ON This parameter specifies the initial value when turning ON the power to the dedicated hand signals 900 S at the robot s tip To set the initial status at power ON when controlling the hand using general purpose I Os other than ...

Page 467: ...ation set the actual hand condition before using If it is not set erroneous detection may occur Weight size X size Y Size Z center of gravity X center of gravity Y center of gravity Z Unit Kg mm Setting value for each mechanism HNDDAT is 1 to 8 Real value 7 Set the initial condition of the hand Designate with the tool coordinate system Weight size X size Y Size Z center of gravity X center of grav...

Page 468: ...nclude is suppressed to the minimum When this vibration does not affect the robot s operations the high acceleration and deceleration rate can be chosen and the robot can be operated at high speed Refer to the separate standard specification for details of the acceleration and deceleration rate 0 Optimum speed control adjustment coefficient Available soft ware versions S W Ver F Q series R5 or lat...

Page 469: ...n the model Servo status after collision detection Available soft ware versions S W Ver F Q series R5 or later F D series S5 or later COLSERVO Integer 1 Specifies the servo status after the collision detection For this function using the impact detection in the NOERR mode is required 0 Servo off 1 Servo on held 0 Selection of wrist rotation angle axis A coordinate system RCD Integer 1 Switch the c...

Page 470: ...fy the initial value of an override warm up operation override to be applied to the operation speed when in the warm up operation status Setting range 50 to 100 Ratio of value constant time Specify the duration of time during which the override to be applied to the operation speed when in the warm up operation status does not change from the initial value using the ratio to the valid time Setting ...

Page 471: ...e next exe cution of Cmp Jnt instruction 1 Optimization of overload detection level OLTMX Integer 1 Set the upper limit of the ambient temperature for the robot s working environment The overload detection level for robot movement is optimized based on this setting value Unit C Setting range 0 40 Please refer to Page 521 5 22 Optimizing the overload level for details of this parameter s function R...

Page 472: ...Controller CPU drive mode DRVMODE Integer 1 Specifies whether the connection with a robot is required or not when simulating by a software In F Q series specifies whether the connection with a drive unit is required or not 0 Normal mode Connection with robot or drive unit is required 1 Robot servo separation mode Connection with robot or drive unit is not required 0 Feedback gain adjustment coeffi...

Page 473: ...mal open Robot error output ROBOTERR Integer 1 Set the error level that opens the robot error output terminal When shipped from the factory this setting is set so that it will open at any error level For example if the warning level is ignored and either or both a low level or high level error occurs set 3 to open this output ter minal Refer to the following manual for details Instruction Manual R...

Page 474: ...ti CPU quan tity setting CR7xx Q series only QMLTCPUN Integer 1 At the multi CPU system set the number of CPU units with which the standard base unit is equipped 2 Multi CPUn high speed communi cation area setting CR7xx Q series only QMLTCPUn n 1 to 4 Integer 4 At the multi CPU system set the number of points performing transmission and receipt between each CPU unit for the high speed communicatio...

Page 475: ... mode of the signal output Note1 SYNCIO Integer 1 Specify the processing mode of signal output by M_Out M_Outb M_Out8 M_Outw M_Out16 M_Out32 M_Dout and Def Io Compatibility mode High speed mode 1 High speed mode 2 Compatibility mode Process by compatibility conventional without accelerating the renewal cycle of the signal High speed mode 1 Accelerate the signal output of M_Out M_Outb M_Out8 M_Outw...

Page 476: ...t signal 7 turns on interlock 4 M_Out 9 0 Turn off the output signal 9 5 End Reference value of speed improvement In the above mentioned program example processing time is reduced about 80 However the CC Link profibus and parallel I O interface card are effective in case the command of the signal output of two or more lines is continuing CR7xx D series In the following program example 2 processing...

Page 477: ...rds Robot input Not used Robot CPU No 1 Robot CPU No 2 Robot CPU No 3 Robot I O no bit units Robot I O no bit units Robot I O no bit units 10000 18191 10000 18191 10000 18191 Shared memory word units U3E0 G10000 U3E0 G10511 U3E0 G10512 U3E0 G11023 U3E0 G11024 U3E0 G11535 10000 18191 U3E1 G10000 U3E1 G10511 10000 18191 U3E2 G10000 U3E2 G10511 10000 18191 U3E3 G10000 U3E3 G10511 Sequencer Sequencer ...

Page 478: ...2 G10000 U3E2 G10511 10000 18191 U3E3 G10000 U3E3 G10511 10000 18191 U3E0 G10000 1 U3E0 G10511 1 10000 18191 U3E0 G10000 2 U3E0 G10511 2 10000 18191 U3E0 G10000 3 U3E0 G10511 3 Shared memory word units Shared memory word units Shared memory word units Shared memory word units Shared memory word units Shared memory word units Sequencer Sequencer Sequencer Sequencer Sequencer Sequencer Sequencer out...

Page 479: ...al signals while the operation panel has operation rights External OP 0 1 1 OP RMTPSL Integer 1 Enables program selection using the operation panel while the external I O has operation rights External OP 0 1 0 External OVRD limitation from operating panel OPNOOVRD Integer 1 Sets enable disable of the override change from the controller operation panel 0 Enable 1 Disable 0 Operation panel display s...

Page 480: ...g is not calculated precisely 1 Maintenance fore cast warning day MFWRNDAY Integer 1 This sets the number of remaining days until the maintenance time When the number of remaining days calculated by the maintenance forecast function becomes equal to or falls below the number of days specified by the parameter an alarm is gen erated Setting range 1 to 365 Unit days 14 Operating hours per day MFOPTI...

Page 481: ...sition Restoration Support tool is input Do not change it with any tool other than the Position Restoration Support tool X Y Z A B C 0 0 0 0 0 0 0 0 0 0 0 0 MEXDTL1 Real value 6 The correction data for tool number 1 obtained by the Position Restoration Support tool is input Do not change it with any tool other than the Position Restoration Support tool X Y Z A B C 0 0 0 0 0 0 0 0 0 0 0 0 MEXDTL2 R...

Page 482: ...6b or later CATEGORY Integer 1 Set the behavior of the RESET key input at the error occurrence on dual system 3 Enable the error reset 4 Disable the error reset Target errors are following H0039 Door Switch Signal line is faulty H0046 Faulty wiring Enabling Device H0051 Wiring of the external emergency stop is abnormal 3 Parameter Parameter name No of arrays No of characters Details explanation Fa...

Page 483: ...his is executed by the START button on the operation panel or by the start signal ALWAYS This is executed immediately after the controller s power is turned on This program does not affect the sta tus such as startup To edit a program whose attribute is set to ALWAYS first cancel the ALWAYS attribute A program with the ALWAYS attribute is being executed continuously and therefore cannot be edited ...

Page 484: ...ram selection is not main tained at the end of cycle operation The param eter value becomes P 0000 Setting values and operations 0 Disable storage do not maintain 1 Enable storage do not maintain initial value 2 Disable storage maintain 3 Enable storage maintain 1 Enable storage do not maintain Setting that allows the execution of X instructions and Servo instruc tion in an ALWAYS program Refer to...

Page 485: ...function the changes are not reflected in the slot table Disable the continue function once turn the power supply off and then on and then change parameters in the slot table 5 High speed RAM mode and continue function cannot be used together If continue function is valid high speed RAM mode ROM DRV parameter should be invalid 0 Invalid JRC command Multiple rotation function of axes Set the execut...

Page 486: ...two or three places after the decimal point 3 RH FH RH 3FHR 2 Other than the above Robot language setting RLNG Integer 1 Select the robot language 2 MELFA BASIC V 1 MELFA BASIC IV 2 Display language Note1 LNG Character string 1 Set up the display language JPN Japanese ENG English The following language is changed 1 Personal computer support software alarm message of the robot Parameter explanation...

Page 487: ...command is executed in a sub program When the program is switched When the XClr command is executed When the program is cleared after the cycle operation 0 Not saved 1 Saved 1 Note1 The parameter is set up based on the order specifications before shipment Order to dealer when the instruction manual of the other language is necessity More the caution seals that stuck on the robot arm and the contro...

Page 488: ...nd 8 Parameters are starting from the left COM1 COM2 COM8 in that order When the data link is applied by ethernet I F setting is neces sary OPT11 to OPT19 are allocated Here RS 232C of the controller is previously allocated to COM1 Note Since the communication interface is not prepared for robot CPU of the notes CRnQ 700 series and the drive unit this parameter cannot be used RS232 For ethernet NE...

Page 489: ...anged leave it as is 5001 For ethernet NETMODE Numerical value 9 Server designation 1 Server 0 Client When the data link is applied by ethernet I F setting is neces sary Correspond to OPT11 to 19 of COMDEV OPT11 OPT12 OPT13 OPT14 OPT15 OPT16 OPT17 OPT18 OPT19 1 1 1 1 1 1 1 1 1 NETHSTIP Characterstring 9 The IP address of the data communication destination server When the data link is applied by et...

Page 490: ... series S6 or later EBWRTAG Characterstring 1 Set an initial symbolic tag name 128 characters or less for the vision sensor designated in the EBWrite command This parameter setting value is specified when the tag name is omitted in description of the EBWrite command None Parameter Parameter name No of arrays No of characters Details explanation Factory setting ...

Page 491: ... axis Z axis rotation in the tool coordinate system A case for a vertical 6 axis robot 1 Sample parameter setting Parameter name MEXTL Value 0 0 95 0 0 0 2 Sample Tool instruction setting 1 Tool 0 0 95 0 0 0 A 6 axis robot can take various postures within the movement range A case for a vertical 5 axis robot 1 Sample parameter setting Parameter name MEXTL Value 0 0 95 0 0 0 2 Sample Tool instructi...

Page 492: ...epending on the robot model See Table 5 8 to set the appropriate data Table 5 8 Valid axis elements of the tool conversion data depending on the robot model Type Number of axis An axis element of the tool conversion data Note1 Note1 Valid Unused This is meaningless and ignored if set The setting value is fixed to 0 If a value other than 0 is set operation may be adversely affected X Y Z A B C RV 2...

Page 493: ...orld coordinate system C axis Z axis rotation in the world coordinate system Example 1 Sample parameter setting Parameter name MEXBS Value 100 150 0 0 0 30 2 Sample Base instruction setting 1 Base 100 150 0 0 0 30 Normally the base coordinate system need not be changed If you wish to change it see the sample above when configuring the system Note that the Base instruction within the robot pro gram...

Page 494: ...in letting the robot operate in coordination of its peripherals or in avoiding inter ference between the robot and the peripherals where the robot shares work space with the peripherals Besides position area this function can be used for making judgment on the robot in relation to posture area or additional axis area as well This function can be used by the following parameter setting 1 Selecting ...

Page 495: ...ordinate system Change of base coordinate system does not cause the user defined area to move Relative posi tional relation between the robot arm and the user defined area is stationary This provision helps when the user proceeds with operation after making a change to the base coor dinate system but wants to keep stationary relative positional relation between the robot arm and the user defined a...

Page 496: ... must be those that were specified for the coordinate system selected in the parameter AREAnCS XYZ coordinate values displayed on the T B RT ToolBox or the like are those that refer to the world coordinate system Thus when base coordinate system is selected in the parameter AREAnCS coordinate values appearing on the display differ from those to be specified In this case it is necessary to make set...

Page 497: ... is selected in the parameter AREAnCS coordinate values appearing on the display differ from those to be specified In this case it is necessary to make settings either by converting the displayed coordinate values into those for the base coordinate system or by temporarily returning the world coordinate system to its initial state The base coordinate system and world coordinate system are in agree...

Page 498: ... using the multi mechanism etc set up the corresponding mechanism number 5 8 4 Specifying behavior within user defined area Specify the behavior of whether the robot is in the user defined area area by setting of parameter AREAnAT The behavior prepared is shown in Table 5 11 Table 5 11 Specifying behavior within user defined area Settings Within user defined area Outside user defined area 0 Invali...

Page 499: ...y 1 1 AREA1AT Area 1 disable signal output error 0 1 2 1 AREA2CS Selects coordinate system for Area 2 0 AREA2P1 Position data of diagonal point 1 in Area 2 X Y Z A B C L1 L2 x21 y21 z21 360 360 360 0 0 AREA2P2 Position data of diagonal point 2 in Area 2 X Y Z A B C L1 L2 x22 y22 z22 360 360 360 0 0 AREA2ME Target mechanism number Usually 1 1 AREA2AT Area 2 disable signal output error 0 1 2 1 USRAR...

Page 500: ...er s power ON again This will allow the generation of free plane limit error when it crosses the plane Parameter and value Explanation SFCnP n 1 to 8 Specifies the 3 points that define the plane P1 coordinates X1 Y1 and Z1 The origin of the plane P2 coordinates X2 Y2 Z2 A position on the X axis of the plane P3 coordinates X3 Y3 Z3 A position in the positive Y direction of the X Y plane in the plan...

Page 501: ...e system SFCnCS 0 When the base coordinate system is changed the free plane limit moves concurrently A change occurs in the relative positional relation between the robot arm and the free plane limit Base coordinate system SFCnCS 1 Change of base coordinate system does not cause the free plane limit to move Relative positional relation between the robot arm and the free plane limit is stationary T...

Page 502: ...he robot If RETPATH 1 or 2 is set as shown in the figure below and the robot is operated continuously continuous path operation using the Cnt instruction the robot returns to a position on the travel path from P1 to P2 instead of the suspended position When RETPATH 0 is set the robot moves to the target position from the current position Parameter and value Description of the operation RETPATH 1 D...

Page 503: ...ition and operation status The point here is the start condition ALWENA 0 1 In the ALWAYS program it is possible to execute multitask related instructions such as XRun and XLoad and also the Servo instruction 1 Auto Start Sample Program 2 3 Execute Program 1 if the key switch is AUTOMATIC O P 4 Stop the program and return the execution line to the beginning of the program if the key switch is not ...

Page 504: ... solenoid type double solenoid type for the solenoid valve and the output signal number for driving the solenoid valve From the left the values correspond to hand 1 2 and so on The default value is shown below Hand 1 accesses signals 900 and 901 Hand 2 accesses signals 902 and 903 Hand 3 accesses signals 904 and 905 Hand 4 accesses signals 906 and 907 The hand numbers 1 through 4 or 8 will be used...

Page 505: ...ion This parameter specifies the initial value when turning ON the power to the dedicated hand signals 900 s at the robot s tip To set the initial status at power ON when controlling the hand using general purpose I Os other than 900 s specifying a signal other than one in 900 s by the HANDTYPE parameter do not use this HANDINIT parameter but use the ORS parameter The value set by the ORS paramete...

Page 506: ...n the power is turned ON the following should be set Caution If you set the initial hand status to Open note that the workpiece may be dropped when the power is turned ON Hand type Status Status of output signal number Double solenoid is assumed Hand 1 Open Hand 2 Open Hand 3 Open Hand 4 Open 764 0 765 0 766 0 767 0 768 0 769 0 770 0 771 0 Type Parameter name Value Hand output signal ORST764 Signa...

Page 507: ...000 ORST224 00000000 00000000 00000000 00000000 PROFIBUS option ORST2000 00000000 00000000 00000000 00000000 ORST2032 00000000 00000000 00000000 00000000 ORST2064 00000000 00000000 00000000 00000000 ORST2096 00000000 00000000 00000000 00000000 ORST2128 00000000 00000000 00000000 00000000 ORST2160 00000000 00000000 00000000 00000000 ORST2192 00000000 00000000 00000000 00000000 ORST2224 00000000 000...

Page 508: ...or is generated next time the power is turned on PLC link Note1 ORST10000 Signal number 10000 10007 10008 10015 10016 10023 10024 10031 00000000 00000000 00000000 00000000 ORST10032 10032 10039 10040 10047 10048 10055 10056 10063 00000000 00000000 00000000 00000000 ORST10064 00000000 00000000 00000000 00000000 ORST10096 00000000 00000000 00000000 00000000 ORST10128 ORST18160 00000000 00000000 0000...

Page 509: ... set to define the sub net work The format of the sub net mask is composed of 4 numbers of 0 to 255 and the dot between the numbers For example it is set as 255 255 255 0 or 255 255 0 0 As usual it is allowed to set default value If it is connected to the local area network LAN the sub net mask must be set as instructed by the manager of customer s LAN system 3 NETPORT port No The port No of the r...

Page 510: ...he equipment connected to the robot controller This function corresponds to the software version H7 or later In the version older than H7 the robot controller operates only as a server 7 NETHSTIP The IP address of the server of the data communication point Set up when using the robot controller as a client by the data link function Specify the IP address of the partner server which the robot contr...

Page 511: ...ndows Vista lower right screen The personal computer IP address is set with the Windows TCP IP Property Network setting property in network computer Because the set up screen differs with versions of Windows refer to the manuals enclosed with Windows etc for details on setting this address Refer to the instruction manuals enclosed with the personal computer support software for details on setting ...

Page 512: ...rs with versions of Windows refer to the manuals enclosed with Windows etc for details on setting this address Refer to the instruction manuals enclosed with the personal computer support software for details on setting and using the personal computer support software Item Setting value Robot controller IP address 192 168 0 20 Personal computer IP address 192 168 0 2 Robot controller port No 10003...

Page 513: ...ed with the personal computer support software for details on setting and using the personal computer support software Item Setting value Robot controller IP address 192 168 0 20 Personal computer IP address 192 168 0 2 Robot controller port No 10003 Communication line No Open command COM No COM3 Parameter name to be changed Before after change Parameter value NETIP Before 192 168 0 20 After 192 1...

Page 514: ...th versions of Windows refer to the manuals enclosed with Windows etc for details on setting this address Refer to the instruction manuals enclosed with the personal computer support software for details on setting and using the personal computer support software Item Setting value Robot controller IP address 192 168 0 20 Personal computer IP address 192 168 0 2 Robot controller port No 10000 Para...

Page 515: ...below If the communication is normal Reply from will appear as shown below If the communication is abnormal Request time out will appear No Confirmation item Check 1 Is the teaching pendant securely fixed 2 Is the Ethernet cable properly connected between the controller and personal computer 3 Is any proper Ethernet cable used This cross cable is used to connect the personal computer and controlle...

Page 516: ... values that define grasping or not grasping is shown from the left for cases where the hand is open or closed 0 Set to not grasping 1 Set to grasping Depending on the hand s open close status optimum acceleration deceleration calculation will be per formed for either hand alone condition or hand and workpiece condition The hand s open close status can be changed by executing the HOpen HClose inst...

Page 517: ...tal type Z Definitions of Coordinate Axes The tool coordinate is used for the coordinate axes Axes that must be set Only the X Y and Z elements of the center of gravity and the X Y and Z elements of the size must be set Y X 6 axis type Z Y X Definitions of Coordinate Axes In the coordinate system with the tip of the J4 axis as the origin Z axis The upward direction is positive X axis The direction...

Page 518: ...eturn operations 3 MS position moving operation 4 Direct execution operation If the robot approaches a singular point by any of the operations listed above the buzzer of the controller keeps buzzing continuous sound However the STATUS NUMBER display on the operation panel does not change Also in the case of 1 Jog operation other than in joint jog mode above a warning is displayed on the T B screen...

Page 519: ...RV shown in Table 5 14 and then turn the power off and on Refer to Page 83 3 15 Operation of parameter screen for details on changing the parameters Table 5 14 List of ROM high speed RAM operation parameters Table 5 15 Role of each memory and relation of ROMDRV parameters Parameter Description and value ROMDRV Switches the program execution operation between SRAM operation and DRAM operation 0 SRA...

Page 520: ...M but some restrictions apply Refer to the following precautions ROMDRV Power ON Parameter RAM mode 0 High speed RAM mode 2 Default setting File System SRAM Area Execution Area DRAM Area high speed execution SRAM Area save enabled Target of executable programs Programs to be backed up Changing parameters Saving error logs Reading programs Editing writing programs Copying moving and renaming progra...

Page 521: ...ing variables during DRAM operation SRAM operation Variable Note1 Note1 The variables include numeric variables character string variables position variables and joint variables During high speed RAM operation DRAM operation During SRAM operation Local variable The program variables being executed at power off are discarded The variables are saved when the program is selected or when the CallP ins...

Page 522: ... use the warm up operation mode specify 1 enable in the WUPENA parameter and power on the con troller again When the Warm Up Operation Mode Is Enabled When the warm up operation mode is enabled powering on the controller enters the warm up operation status the speed is automatically reduced In the warm up operation status the robot operates at a speed lower than the specified operation speed then ...

Page 523: ...oint section cools down at a low temperature if the robot continues to stop after the warm up operation status is canceled Therefore if a target axis continues to stop for a prolonged period the setting value at shipment from the factory is 60 min the warm up operation status is set again and the robot operates at a reduced speed Note 1 When powering off the controller and then powering on again i...

Page 524: ...nceled if a target axis continues to stop Setting range 1 to 1440 WUPOvrd Perform settings pertaining to the speed in the warm up operation status Specify the initial value in the first element and the value constant time in the second element The unit is for both Initial value Specify the initial value of an override warm up operation override to be applied to the operation speed when in the warm...

Page 525: ... external I O Also no input is accepted dur ing operation or jog operation Note 3 The enable disable status specified by this dedicated input signal is held even after the control right of external I O is lost 3 When the Warm Up Operation Mode Is Enabled When the warm up operation mode is enabled powering on the controller enters the warm up operation status In the warm up operation status the rob...

Page 526: ...warm up operation status is exceeded the normal status switches to the warm up operation status again Canceling the warm up operation status If the accumulated time a target axis has operated exceeds the valid time of the warm up operation sta tus the warm up operation status is canceled and the normal status is set Specify the valid time of the warm up operation status in the first element of the...

Page 527: ...initial value is 70 and the ratio is 50 30 sec in the settings at ship ment from the factory These values can be checked with the M_Wupov status variable Fig 5 9 Changes in Warm Up Operation Override Normal status Operating Stopping Accumulated value of target axis operation time Time during which a target axis continues to stop Warm up operation status Valid time Resume time Because the accumulat...

Page 528: ...ating in the warm up operation status If an error occurs when the warm up operation override is set to the initial value decrease the value of the initial value the first element of the WUPOvrd parameter If an error occurs while the warm up operation override is increasing to 100 the valid time of the warm up operation status or the value constant time may be too short Increase the value of the fi...

Page 529: ...positions are called singular points and they cannot be reached through XYZ jog and linear interpolation based operation To avoid this problem in the past the operation layout had to be designed such that no singular points would exist in the working area or the robot had to be operated using joint interpolation if it could not avoid passing a singular point The singular point passage function all...

Page 530: ...ion The robot can pass a singular point when the robot s motion path passes through the singular point If the motion path does not go through the singular point passes near the singular point the robot continues operation without switching the value of the structure flag Positions D E F The robot s motion path passes through a singular point the structure flag switches before and after position E ...

Page 531: ...ction is specified to be valid 1 or invalid 0 by parameter FSPJOGMD 1 The normal XYZ TOOL WORK jog operation refers to the operation in which the posture is maintained and the structure flags are not switched 2 For robots that cannot use the singular point passage function changing the setting value of parameter FSPJOGMD has no effect robots perform the normal operation The posture is maintained a...

Page 532: ...cked between the starting point and the end point if the singular point passage function is specified Moreover since the structure flag of the target position cannot be identified the move ment range is not checked for the target position and intermediate positions before the start of operation 3 If a speed is specified with the Spd instruction the specified speed is set as the upper limit and the...

Page 533: ...us the posture of the robot at the completion of interpolation may be different from the case where the operation is not paused 8 If the singular point passage function is specified the operation speed may be lowered compared to nor mal linear interpolation etc Moreover the singular point passage function may affect the execution speed of programs as the function involves complicated processing Sp...

Page 534: ...n detection function is enabled or disabled Even if the collision detection function is enabled it is not possible to prevent dam age to robots hands and workpieces due to interference with peripheral devices completely As a general rule pay sufficient attention to avoid interference with peripheral devices when operating and handling robots Interference detection principle If a robot interferes w...

Page 535: ...alue prescribed in the collision detection function The smaller the value the higher the detection level Setting range 1 to 500 unit The setting varies depending on the model COLLVLJG Set the detection level sensitivity of each joint axis at jog operation including pause status This value is a scaling factor that amplifies the detection level standard value prescribed in the collision detection fu...

Page 536: ...plement for details Behavior when interference is detected If an interference with peripheral devices or similar is detected during jog operation an error numbered in the 1010 s the least significant digit is the axis number is generated and the robot is stopped as the servo is turned off If the robot is in the NOERR mode 2 is specified for element 3 of the COL parameter no error is generated but ...

Page 537: ...n enable 1 disable 0 RH 3FH 6FH 12FH 20FH series 1 0 1 RV F series 0 0 1 RH 3FHR series 1 1 1 COLLVL Set the detection level sensitivity of each joint axis at jog operation including pause status The setting varies depending on the model HNDDAT is 1 to 8 Set the hand conditions via tool coordinates The setting varies depending on the model WRKDAT is 1 to 8 Set the workpiece conditions via tool coo...

Page 538: ... value each time 4 Obtain the maximum value for each joint axis from multiple J_ColMxl values and add some margin e g 20 to the value Then set this value as the argument of the ColLvl command 5 Set the value obtained in step 4 to the ColLvl command and run the program to check that no erroneous detection occurs at the operation for which the collision detection function is used If an interference ...

Page 539: ... collision does not happen will identify a collision when the robot arm receives an external force during normal operation For example the robot hand may experience a drag from inter ference with a piping or cabling Depending on the amount of resultant external force the collision detec tion function judges that a collision has occurred Check to see if the robot is not subjected to any force other...

Page 540: ...L COLLVLJG parameters it will be an indication when deciding the set value Fig 5 12 Oscillograph screen of Ref value of COL level As shown in Fig 5 12 when the collision detection function is effective and servo power is on the collision detection level is output by real time to the oscillograph This value is consulted and the collision detection level is set to the movement which makes the collis...

Page 541: ...ection occurs at the operation for which the collision detection function is used If interference is errone ously detected gradually increase the value of the argument of the ColLvl command to lower the detection level until no erroneous detection occurs Parameter Parameter name No of arrays No of characters Details explanation Factory setting Optimization of overload detec tion level OLTMX Intege...

Page 542: ...he normal pallet and the arc pallet 2 When a joint angle is greatly different even if the multi rotation flag from 1 matches Each point of the pallet definition is compared with the start point for the joint coordinate position of the multi rotational axis the J1 axis and J4 axis for RV models with six J axes the J1 axis for RV models with five axes and RH models If a joint angle is different by 1...

Page 543: ... a corresponding version Fig 5 13 Interference check during robot operation automatic operation jog operation This interference avoidance function makes simulated robot arm hand and work piece If these simulated components overlap and pose the risk of interference the robot movement is controlled so that interference does not actually occur Simulated components that match the robot movement must b...

Page 544: ...erfer ence between robots for details 6 Setting the interference avoidance function Enable the interference avoidance function with parameters Refer to Page 541 5 24 8 Enabling and disabling the interference avoidance function for details 7 Using the interference avoidance function The interference avoidance operation during jog operation and program exe cution are explained in the section startin...

Page 545: ... shared memory Robot controller software version Ver R3 or later shape of a simulated component a sphere Ver R3m or later shape of a simulated component a sphere a cylinder Note You should use by the same S W versions 2 Personal computer equipped with RT ToolBox2 Connects the robot CPUs RT ToolBox2 software version Ver 2 1L or later No Device Remarks 1 One robot Checking for interference with only...

Page 546: ...tion the Jn axis section or the flange section Note The shape of a simulated component is a sphere and a cylinder Parameters CAVKDA1 to 8 The set hand number is inter linked to the hand condition number for the Loadset Load Set command Note The shape of a simulated component is a sphere and a cylinder Parameters CAVKDH1 to 8 The set workpiece number is interlinked to the workpiece con dition numbe...

Page 547: ... whether to temporarily disable a simulated component when T B is enabled Note The simulated hand and workpiece must be disabled during teaching Parameters CAVSCA1 to 8 Parameters CAVSCH to 8 Parameters CAVSCW1 to 8 Note1 The initial settings for each model are set at the factory Parameter Parameter name No of arrays No of characters Details explanation Factory setting Registration section and sha...

Page 548: ...0 J1 axis reference 1 J3 axis reference 3 J2 axis reference 2 Base J1 axis J2 axis J3 J4 axis RH 3FH 6FH 12FH 20FH series RH 3FHR series Base J1 axis Base section 0 J1 axis reference 1 J2 axis J2 axis reference 2 J3 axis reference 3 J3 J4 axis Note The numbers in parentheses indicate the 1st element reg istration section Jn axis setting values of the parame ters CAVKDA1 to 8 registration section a...

Page 549: ... of registration sections and simulated component type settings RH F series RV F series CAVKDA2 0 0 CAVKDA1 0 1 CAVKDA3 1 0 CAVKDA4 2 0 CAVKDA5 2 0 CAVKDA6 2 0 CAVKDA7 2 0 CAVKDA8 4 1 CAVKDA1 0 0 CAVKDA2 0 1 CAVKDA3 2 1 CAVKDA4 4 1 CAVKDA5 5 0 Note These are simulated hand and workpiece ...

Page 550: ...e 5th element angle of rotation on Y axis degree 6th element angle of rotation on Z axis degree Note Calculate the rotation angle in order of Z Y X axis If shape is the sphere setting of the rotation angle is unnecessary The position of the simulated component to set up Sphere Cylinder Center Length Radius Endpoint of length Note 1 The numbers in parentheses indicate the 1st element registration s...

Page 551: ...rrays No of characters Details explanation Factory setting Simulated compo nent robot arm size CAVSZA1 to 8 Real number 4 Set the size of each simulated component Each simulated component corresponds to the last digit 1 to 8 of the parameter name 1st element Radius mm 2nd element Length mm 3rd element Fixed to 0 4th element Fixed to 0 Note Setting of length is unnecessary if shape is the spheric R...

Page 552: ...CA7 0 0 0 CAVSCA8 0 0 0 RV F series CAVSCA1 1 0 0 CAVSCA2 1 0 0 CAVSCA3 1 0 0 CAVSCA4 1 0 0 CAVSCA5 1 0 0 CAVSCA6 0 0 0 CAVSCA7 0 0 0 CAVSCA8 0 0 0 Parameter Parameter name No of arrays No of characters Details explanation Factory setting Hand number and shape hand CAVKDH1 to 8 Integer 2 Set the hand number and shape of a simulated hand to be registered Up to eight simulated hand types can be regi...

Page 553: ...r teaching setting the simulated hand or workpiece to 0 Disable can be convenient 3rd element Fixed to 0 Set all parameters CAVSCH1 to 8 to 0 0 0 Parameter Parameter name No of arrays No of characters Details explanation Factory setting Workpiece num ber and shape workpiece CAVKDW1 to 8 Integer 2 Set the workpiece number and shape of simulated workpiece to be registered Up to eight simulated workp...

Page 554: ...shape is the sphere setting of the length is unnecessary Set all parameters CAVSZW1 to 8 to 0 0 0 0 Simulated compo nent enable dis able workpiece CAVSCW1 to 8 Integer 3 Set whether to check enable or disable interference for each simulated component Each simulated component corresponds to the last digit 1 to 8 of the parameter name 1st element Enable disable setting 0 Disable 1 Enable 2nd element...

Page 555: ...the 3 points that define the plane P1 coordinates X1 Y1 and Z1 The origin of the plane P2 coordinates X2 Y2 Z2 A position on the X axis of the plane P3 coordinates X3 Y3 Z3 A position in the positive Y direction of the X Y plane in the plane CAVSCFn n 1 to 8 Specifies the valid Invalid of checking for interference with the set free plane limit 0 Invalid default 1 Valid Ｐ１ Ｐ２ P３ Note The figure is ...

Page 556: ...meter name No of arrays No of characters Details explanation Factory setting Interference avoidance addi tional axis loco motion axis number CAVAXJNO Integer 1 Set up the axial number of the additional axis locomotion axis made into the target of interference avoidance The interference check is not made other than 7 and 8 axes Setting value 0 7 or 8 0 Additional axis Synchronization direction AXDI...

Page 557: ...odule high speed com munication area QMLTCPUn n 1 to 4 Integer 4 Set the number of points for transmitting and receiving data between each CPU module when using high speed communication function between 1 to 4 modules in a multi CPU system The parameter setting values must match all CPUs If a parameter setting value does not match an error will occur in the PLC CPU Make sure that each CPU paramete...

Page 558: ...n of the shared memory address corresponds to the robot No Each slot position in the robot CPU system iQPlatform has a fixed robot No U3En G10000 ユーザエリア 0 5k ワード U3En G10512 U3En G11024 ロボット間協調 制御機能エリア 1 0k ワード U3En G12047 拡張機能エリア 0 5k ワード 合計 2k ワード Module No 4 Robot No 3 Module No 3 Robot No 2 Module No 2 Robot No 1 Module No 1 PLC CPU Robot CPU system Note 2 Note 2 Shared memory map Relation of ...

Page 559: ...int of each robot in parameter RBCORD looking from that common coordinate system Fig 5 25 Image of calibration between robots Z X Y Zb3 Xb3 Yb3 Zb2 Xb2 Yb2 Zb1 Xb1 Yb1 1 1 1 Robot 3 base coordinate system Rotation angle Zb3 Rotation angle Bb3 Rotation angle Ab3 Robot 1 base coordinate system Robot 2 base coordinate system Rotation angle Zb1 Rotation angle Bb1 Rotation angle Ab1 Rotation angle Zb2 ...

Page 560: ...alues do not match correct the parameter RBCORD setting value 5 Carry out the above steps for all robots which are using the interference avoidance function Fig 5 26 Checking the setting for calibration between robots Parameter Parameter name No of arrays No of characters Details explanation Factory setting Common coordi nates for robots RBCORD Real number 6 The robot s Base coordinate system orig...

Page 561: ...ble to the second element of the simulated component enable disable setting parameters CAVSCA1 to 8 robot arm CAVSCH to 8 hand and CAVSCW1 to 8 workpiece Every time the CLEAR key is pressed the status switches between Enable and Disable CAV is displayed at the bottom center of the T B screen when set to Enable If the robot cannot be restarted from an interference state by CLEAR key if the operator...

Page 562: ... interrupt process being set Overview of interrupt process An interference is detected when the robot system status variable M_CavSts value changes from 0 Make a decla ration to execute the interrupt process in this state A sample program is given on Page 543 5 24 10 Sample programs If origin setting is not completed the current joint position of all axes will be executed as 0 always For this reas...

Page 563: ...nce function with the No 2 robot CavChk OFF 2 End the interference avoidance function with the robot No 2 MVS P5 Movement when the interference avoidance function with the robot No 2 is dis abled To start the interference avoidance function with the No 2 robot CavChk ON 2 Resume the interference avoidance function with the robot No 2 MVS P6 Movement when the interference avoidance function with th...

Page 564: ...nterference avoidance function is enabled Mov P2 Movement when the interference avoidance function is enabled Mov P3 Movement when the interference avoidance function is enabled Home Step to interrupt when interference is detected CavChk Off M_CavSts 0 Clear the interference state MDist Sqr P_CavDir X P_CavDir X P_CavDir Y P_CavDir Y P_CavDir Z P_CavDir Z Find the movement rate ratio PESC P_CavDir...

Page 565: ...output unit input output mixing unit managed by other CPU with parameter QXYREAD Specification is shown in Table 5 44 Table 5 44 Specification 1 To refer the signals which managed by robot CPU with sequencer CPU or GX Developer GX Works connected to sequencer CPU it is necessary to validate the ALL CPUs can read all inputs and outputs under the I O sharing when using Multiple CPUs setting Refer to...

Page 566: ...r Response time Page 456 1 Refer to the input output signal a Setup of the parameter Set the robot s parameter QXYREAD Set up valid invalid of the function which refers to the signal of the input output unit which managed by other CPU b Set up Multiple CPU settings of the sequencer Put the check into ALL CPUs can read all inputs and outputs under the I O sharing when using Multiple CPUs setting an...

Page 567: ...Us and enable the reference of input and output state besides the group Fig 5 28 The setting screen of multi CPU in GX Developer Supplementary To refer the signals which managed by robot CPU with sequencer CPU or GX Developer GX Works con nected to sequencer CPU it is necessary to validate the ALL CPUs can read all inputs and outputs under the I O sharing when using Multiple CPUs setting Refer to ...

Page 568: ...sequencer input signals is substituted to M4 Page 377 M_XDevD Reads the sequencer input signal X per double word ex 1 M5 M_XDevD H100 The value of 32 bit width from 100 hexadecimal num ber of sequencer input signals is substituted to M5 Page 377 M_YDev Reads Writes the sequencer output signal Y per bit ex 1 M_YDev 2 1 Dly 0 5 Turns on the sequencer output signal 2 for the 0 5 sec onds pulse output...

Page 569: ...tion of Each Robot Status Variable for details Table 5 48 Related Robot Status Variable No Item Specification 1 Available software version This function can be used with in the following software version Controller R2b Note There exists no limitation of the software version of R32TB R33TB R56TB R57TB and RT ToolBox2 2 Available device range Range which can be specified by the multi CPU shared devi...

Page 570: ...5 50 Table 5 50 Action to the settings To reflect the settings of this parameter you must turn the controller s power on again Note The setting shown in this section is to select the behavior in a state without any abnormalities on the related signal lines or wiring With the abnormalities the errors shown above cannot be reset regardless of the parameter setting Error number Content H0039 Door Swi...

Page 571: ...hecking the robot posi tion 3 Hand input output These are control signals for the hand and are used for reading hand open and close instructions and information from sensors attached to the hand These signals can be controlled at the user program and are wired up to near the tip of the hand Hand output signals are optional Table 6 1 Overall I O signal map Item I O signal no Usage method Hand input...

Page 572: ...lti CPU parameter settings 1 CPU quantity At the multi CPU system set the number of CPU units with which the standard base unit is equipped 2 Synchronous start up between multi CPUs It takes the robot CPU system several seconds to start up from the time the power is turned ON It is therefore recommended that synchronous start up be set check box selected at the multi CPU sys tem 3 High speed commu...

Page 573: ...oints Range 0 to 14335 However the robot CPU does not support auto refresh and therefore the number of points for the robot CPU auto refresh are should always be set to 0 Third element System area size K points Range 1 or 2 Fourth element Multi CPU synchronous start up 1 Yes 2 No Robot CPUs take some time to start up and therefore the current setting of 1 synchronous start up should not be changed...

Page 574: ...B to set the parameters for the sequencer CPU use GX Developer for the motion controller CPU use MT Developer and for the NC CPU use Remote Monitor Tool and so on Refer to the operation manual for each setting tool for further details CPU type Model Remarks Sequencer CPU Universal model QCPU Q03UD E CPU Q04UD E HCPU Q06UD E HCPU Q10UD E HCPU Q13UD E HCPU Q20UD E HCPU Q26UD E HCPU Q50UDEHCPU Q100UD...

Page 575: ...he U3E0 G10000 and U3E0 G10001 shared device memory and this rep resents the input from the sequencer to the robot The U3E1 G10000 and U3E1 G10001 shared device memory is read to the bit devices for M200 to M231 and this represents the output from the robot to the sequencer 17 to 22nd row By turning X0 ON M105 turns ON and the sequencer U3E0 G10000 bit 5 corresponding to M105 turn ON Consequently ...

Page 576: ...3 Sequence ladder example Stop input Robot numerical value input Under the waiting Robot numerical value output Operation rights input Operation rights is robot Opera tion rights button robot Complete of control ler power ON Complete of control ler power ON Operation rights ...

Page 577: ... servo ON output signal 10010 10010 SRVOFF Servo OFF input signal Servo ON disable output signal 10011 10011 CYCLE Cycle stop input signal In cycle stop operation output signal 10012 10012 SAFEPOS Safe point return input signal In safe point return output signal 10013 10013 BATERR Battery voltage drop 10014 OUTRESET General purpose output signal reset 10015 HLVLERR High level error output signal 1...

Page 578: ...utput signal state 901 10049 Hand output signal state 902 10050 Hand output signal state 903 10051 Hand output signal state 904 10052 Hand output signal state 905 10053 Hand output signal state 906 10054 Hand output signal state 907 10055 HNDSTS1 Hand input signal state 900 10056 Hand input signal state 901 10057 Hand input signal state 902 10058 Hand input signal state 903 10059 Hand input signal...

Page 579: ...can be performed TEACHMD Input 1 No meaning 10003 1 No meaning 1 Output Teaching mode output This output indicates that the controller mode is set to Teaching mode ATTOPMD Input 1 No meaning 10004 1 No meaning 1 Output Automatic mode output This output indicates that the controller mode is set to AUTOMATIC and local operation mode IOENA Input Operation rights input signal Sets the validity of the ...

Page 580: ...s that the program is paused The specification is the same as for the STOP parameter STOPSTS Input 1 No meaning 10007 1 No meaning 1 Output Stop signal input Outputs that the stop is being input Logical ADD of all devices SLOTINIT Operation right required Input Program reset This input cancels the paused status of the program and brings the executing line to the top Executing a program reset makes...

Page 581: ...dge 10012 10012 1 1 Output In cycle stop operation output signal Outputs that the cycle stop is operating Turns OFF when the cycle stop is completed MELOCK Operation right required Input Machine lock input sig nal Sets releases the machine lock state for all mechanisms This can be set or released when all slots are in the program selection state Signal level will be set to Level when program selec...

Page 582: ... out put Outputs the operating state for each slot n 1 to 32 SnSTOP n 1 to 32 Input Slot n stop input Outputs the operating state for each slot n 1 to 32 Level 1 1 1 1 Output Slot n in pausing output Outputs that each slot and program is tempo rarily stopped n 1 to 32 MnSRVOFF n 1 to 3 Input Mechanism n servo OFF input signal This signal turns OFF the servo for each mechanism n 1 to 3 The servo ca...

Page 583: ...rical values are output as binary values Program number Output by the PRGOUT Override Output by the OVRDOUT Outputs the line number output by the LINE OUT Error number output by the ERROUT The bit width can be set arbitrarily However the accuracy of output values cannot be guar anteed when they exceed the set bit width Read this signal when at least 15 ms has elapsed following the start of input o...

Page 584: ... Level 1 Start bit 1 End bit 1 Start bit 1 End bit 1 Start bit 1 End bit 1 Start bit 1 End bit Output Jog mechanism num ber output start No end No Outputs the current mechanism number JOG Input Jog feed plus side for 8 axes start No end No Designates the jog operation axis JOINT jog mode J1 J2 J3 J4 J5 J6 J7 and J8 axes from the start number XYZ jog mode X Y Z A B C L1 and L2 axes from the start n...

Page 585: ...ily ignoring input signal Temporarily ignores errors that cannot be reset during jog operation Level 1 1 1 1 Output Errors during jog opera tion Temporary ignoring out put signal Outputs that the error is being ignored tempo rarily This signal is applicable to only machine 1 HNDCNTLn n 1 to 3 Input HNDCNTL1 10048 Start bit 10055 End bit 1 Start bit 1 End bit Output Mechanism n hand out put signal ...

Page 586: ... number 30 will be generated Level 1 1 1 1 Output Mechanism n hand error output signal Outputs that a hand error is occurring AIRERRn n 1 to 5 Input Mechanism n pneu matic pressure error input signal Request the pneumatic pressure error occur rence A LOW level error error number 31 will be generated Level 1 1 1 1 Output Mechanism n pneu matic error output sig nal Outputs that a pneumatic pressure ...

Page 587: ...is out putted PSTYPE Input Position data type specification Type of the position data which the user wants to be outputted is specified Conditions for specification 0 OFF Position type variable P1 P10 or the like 1 ON Joint type variable J1 J10 or the like Change is available in the state input signal of parameter PSOUT is OFF Level 1 1 Output Specified position data type output Type of the positi...

Page 588: ...2 CR7xx D series 2000 3632 Profibus 6000 7728 CC Link Unit of each component value for position data expressed by a 32 bit signal is micrometer um 10 3 mm or 10 3 degree Take note that outputted data comes as a signed integer 231 231 1 However structural flags are outputted in the form of values they carry without being con verted in terms of micrometer Position type variable X Y Z A B C L1 L2 FL1...

Page 589: ...with every 2 seconds CC Link register supported DOORSTS1 Input 1 1 1 1 Output States of the door switch 1 Output that the status of the door switch 1 sys tem DOORSTS2 Input 1 1 1 1 Output States of the door switch 2 Output that the status of the door switch 2 sys tem DOORSTS Input 1 1 1 1 Output States of the door switches Output that the logical ADD of the door switch 1 and 2 systems Both systems...

Page 590: ...027 to 10031 Parameter IODATA 10027 10030 10027 10031 Note3 Set in the order by input start No input end No output start No and output end No Use from the start No to the end No and express as a binary The start No indicates the low order bit and the end No indicates the high order bit Set only the numbers required to express the value For example when using only the joint mode and XYZ mode at Jog...

Page 591: ...ENA Mechanism n warm up operation mode enable input START SnSTART n 1 to 32 Start input These function only when the external input output has the operation rights when IOENA output is ON SLOTINIT Program reset SRVON MnSRVON n 1 to 3 Servo ON input MELOCK MnMELOCK n 1 to 3 Machine lock input SAFEPOS Safe point return input PRGSEL Program selection input OVRDSEL Override selection input JOGENA Jog ...

Page 592: ...ndicates when the key switch on the operation panel is the AUTOMATIC and the IOENA is on Teach mode output TEACHMD Indicates when the key switch on the operation panel is TEACH Output Auto mode output ATTOPMD Indicates when the key switch on the operation panel is Auto Op Output Indicates when the key switch on the operation panel is the AUTOMATIC and the IOENA is off Operation right input IOENA O...

Page 593: ...l was input Program reset SLOTINIT Program selectable output SLOTINIT Intput Output 30 ms or more 15ms or more Error reset input ERRRESET Output during error occurrence ERRRESET Intput Output When the SRVOFF SnSRVOFF or emergency stop signal was input Servo ON input SRVON Output during servo ON SRVON Intput Output 30 ms or more 15ms or more Servo OFF input SRVOFF Servo ON disable output SRVOFF Int...

Page 594: ...n returning to retreat point is complete Return to retreat point input SAFEPOS Output during return to retreat point SAFEPOS Intput Output 30 ms or more 15ms or more Output Low battery voltage BATERR Indicates that the battery voltage is low Intput General purpose output signal reset OUTRESET Resets the general purpose output signal 30 ms or more 15ms or more Output High level error output HLVLERR...

Page 595: ...n aborting SnSTOP Intput Output 30 ms or more 15ms or more When the SRVON SnSRVON or SRVON signal was input Mechanical n servo OFF input MnSRVOFF Mechanical n servo ON disable output MnSRVOFF Intput Output 30 ms or more 15ms or more When the SRVOFF SnSRVOFF or emergency stop signal was input Mechanical n servo ON input MnSRVON Output during mechanical n servo ON MnSRVON Intput Output 30 ms or more...

Page 596: ...of a program number line number or error number was input Override value output request OVRDOUT Override value output request OVRDOUT Intput Output Numeric value output IODATA 30 ms or more 15ms or more Program number When the output request of a line number override value or error number was input Program number output request PRGOUT Outputting program number PRGOUT Intput Output Numeric value ou...

Page 597: ...est ERROUT Outputting error number ERROUT Intput Output Numeric value output IODATA 30 ms or more 15ms or more Jog enable input JOGENA Output during jog enabled JOGENA Intput Output Jog mode Replies the setting value of the jog mode input signal with jog mode output Jog mode input JOGM Jog mode output JOGM Intput Output 30 ms or more Jog mode 15ms or more Jog operation axis 8 axes on jog feed plus...

Page 598: ...input signal status of the hand Mechanical n hand input signal status HNDSTSn Output Hand input signal status Mechanical n hand error input HNDERRn Output during mechanical n hand error occurrence HNDERRn Intput Output Mechanical n pneumatic error input AIRERRn Outputting mechanical n pneumatic error AIRERRn Intput Output Within the user specified area User specified area 8 points USRAREA Output I...

Page 599: ...BAT 1 sec or more 1 sec メンテ情報 グリース のリセット入力 RSTGRS メンテ情報 グリース のリセット完了出力 RSTGRS 出力 1sec 1sec以上 軸ビットパターン 数値入力 IODATA 入力 Maintenance forecast reset grease input RSTGRS Output Maintenance forecast reset grease com pleted output RSTBAT Input Numeric value input IODATA 1 sec or more 1 sec Axis bit pattern メンテ情報 ベルト のリセット入力 RSTBLT メンテ情報 ベルト のリセット完了出力 RSTBLT 出力 1sec 1sec以上 軸ビットパターン 数値入力 IODATA 入力 Maintenan...

Page 600: ...Output Numeric value output Operating status output Waiting status output Program selection enabled output Cycle stop operating status output signal Error occurring status output signal IODATA PRGSEL START STOP IOENA SLOTINIT CYCLE ERRRESET IOENA IODATA START STOP SLOTINIT ERRRESET PRGOUT CYCLE 1 2 3 1 2 3 Error occurring status Program selection Program start Stop Restart Stop Program reset Error...

Page 601: ...RGOUT OVRDSEL OVRDOUT LINEOUT START SRVON IODATA IOENA START SLOTINIT SRVOFF IOENA 1 80 50 5 80 50 0 1 5 5 Program No 1 Program No 5 Operation rights request Servo ON Servo OFF Override output Override selection Program start Program selection Program No output Override selection Program END Line No output Program start Line No output Program No output Program selection input signal Input Numeric ...

Page 602: ... ON input signal Servo OFF input signal Error reset input signal General purpose output signal reset Program reset Operation rights input signal General purpose output Input Operation rights output signal Emergency stop output signal Operation rights request Program start Program start Servo ON Servo OFF Servo ON Servo ON Servo ON Restart Restart Emergency stop ON Error reset Error reset Error occ...

Page 603: ... Output Recovery work In servo ON Jog enable input signal Jog mode input Jog mode output In servo OFF Operation rights request Servo ON Program start H Error occurrence Servo ON Jog command J1 Jog command J2 Jog command end Jog command Z Jog command end Safe point return start Safe point return end Program reset Program start Start input Servo ON input signal Error reset input signal Operation rig...

Page 604: ...UT input off and then back on To determine which position is subject to data output check slot number output PSSLOT position data type output PSTYPE and position number output PSNUM 5 If required program has not been loaded into the specified slot 0x7FFFFFFF is outputted for each of axes associated with specified position data output PSPOS 6 If a specified position does not exist 0x80000000 is out...

Page 605: ...up basic operation and maintenance 6 6 1 Robot Behavior upon Emergency Stop Input When an emergency stop signal is input while the robot is operating the servo power supply is cut off by means of hardware control The robot s tip path and stopping position after the input of an emergency stop signal cannot be specified An overrun may occur depending on the robot speed or load condition of the tool ...

Page 606: ...acket in this document Position command data type Monitor data type 1 Rectangular coordinate data 2 Joint coordinate data 3 Motor pulse coordinate data 1 Rectangular coordinate data 2 Joint coordinate data 3 Motor pulse coordinate data 4 Rectangular coordinate data command value after filter processing 5 Joint coordinate data command value after filter processing 6 Motor pulse coordinate data afte...

Page 607: ... command is issued Packet data transmission Application program end Reception of packet data Transmission of packet data Ethernet initialization socket creation etc Application program start Creation of transmission packet data Robot program start Automatically repeated until end command is received End command received Robot controller side Personal Communication packet data ...

Page 608: ...e the validity of the real time external command and the end 0 Real time external command invalid 1 Real time external command valid 255 Real time external command end Transmission data type des ignation SendType unsigned short 2 byte 1 When transmitting commanding from the personal computer to the controller designate the type of position data transmitted from the personal computer There is no da...

Page 609: ... use whichever Reservation reserve unsigned short 2 byte Not used Position data Pos jnt pls POSE JOINT or PULSE 40 byte Refer to strdef h in the sample program for details on each data structure 1 When transmitting commanding from the personal computer to the controller designate the command position data transmitted from the personal computer Set this to the same data type as that designated for ...

Page 610: ...ontroller to personal computer if the timeout time parameter MXTTOUT is a value other than 1 this indicates the No of times communication with the controller was not possible When the No of times is counted and reaches the maximum value the value will return to the minimum value 0 and the count will be repeated This is set to 0 when the MXT command is started Counter value for communi cation data ...

Page 611: ...rver when using the personal computer as the server and using the controller as the client About the work of 1 2 the client and the server are the same Here VB requires either Professional Edition or Enterprise Edition Learning Edition can not be used since Winsock Windows Socket control is not appended 1 Preparation of Winsock control Winsock control is added to the project Start up VB newly open...

Page 612: ...entWidth 4800 LinkTopic Form1 ScaleHeight 3795 ScaleWidth 4800 StartUpPosition 3 Predefined value of Windows Begin MSWinsockLib Winsock Winsock1 Left 2040 Top 2040 _ExtentX 741 _ExtentY 741 End Begin VB CommandButton Command1 Caption Send Enabled 0 False Height 375 Left 3960 TabIndex 6 Top 1080 Width 735 End Begin VB CheckBox Check1 Caption Connection Height 375 Left 3960 TabIndex 4 Top 360 Major ...

Page 613: ... 3735 End Begin VB TextBox Text2 Height 375 Left 2280 TabIndex 3 Text 10003 Top 360 Width 1575 End Begin VB TextBox Text1 Height 375 Left 120 TabIndex 2 Text 192 168 0 1 Top 360 Width 2055 End Begin VB Label Label4 Caption Receive data Height 195 Left 120 TabIndex 9 Top 1560 Width 975 End Begin VB Label Label3 Caption Send data Height 195 Left 120 TabIndex 8 Top 840 Width 975 End Begin VB Label La...

Page 614: ...ion check button is clicked If Check1 Value Then Winsock1 RemoteHost Text1 Text Winsock1 RemotePort Text2 Text Winsock1 Connect Else Winsock1 Close End If End Sub Private Sub Winsock1_Connect Process when the network can be connected Command1 Enabled True End Sub Private Sub Winsock1_Close Process when the network is closed Check1 Value False End Sub Private Sub Command1_Click Process when Transmi...

Page 615: ... Check1_Click Process when the connection check button is clicked If Check1 Value Then Text1 Text Winsock1 LocalIP Winsock1 LocalPort Text2 Text Winsock1 Listen Else Command1 Enabled False Winsock1 Close End If End Sub Private Sub Winsock1_Connect Process when the network can be connected Command1 Enabled True End Sub Private Sub Winsock1_Close Process when the network is closed Check1 Value False...

Page 616: ... False Command1 Enabled False Winsock1 Close MsgBox Error Number Description End Sub Relation of Open command communication line file name COMn and parameter COMDEV COMDEV 1 2 3 4 5 6 7 8 Channel name assigned to parameter COMDEV and protocol setting parameter name OPT11 to OPT19 are assigned to 1 to 8 The protocol is set in 2 data link Communication line file name COMDEV COM1 1 COM2 2 COM3 3 COM4...

Page 617: ...onsole Application Using the project setting add wsock32 lib to the object library module 2 Create program sample cpp strdef h Newly create the header file strdef h and source file sample cpp Notes at compiling Use the setup of the alignment compiler option of the structure member with the 8 bytes of initial value After new creation of the project of Visual C if the setup is used with initial valu...

Page 618: ...at z Z axis coordinate value mm float a A axis coordinate value radian float b B axis coordinate value radian float c C axis coordinate value radian float l1 Additional axis 1 mm or radian float l2 Additional axis 2 mm or radian WORLD typedef struct WORLD w unsigned int sflg1 Structural flag 1 unsigned int sflg2 Structural flag 2 POSE Pulse coordinate system Set unused axis to 0 These coordinates ...

Page 619: ...ric current command define MXT_TYP_FBKCUR11 Electric current feedback unsigned short reserve Reserved union rtdata Command data POSE pos XYZ type mm rad JOINT jnt Joint type rad PULSE pls Pulse type pls long lng1 8 Integer type non unit dat unsigned short SendIOType Send input output signal data designation unsigned short RecvIOType Return input output signal data designation define MXT_IO_NULL0 N...

Page 620: ...e string h include math h include strdef h define NO_FLAGS_SET 0 define MAXBUFLEN 512 INT main VOID WSADATA Data SOCKADDR_IN destSockAddr SOCKET destSocket unsigned long destAddr int status int numsnt int numrcv char sendText MAXBUFLEN char recvText MAXBUFLEN char dst_ip_address MAXBUFLEN unsigned short port char msg MAXBUFLEN char buf MAXBUFLEN char type type_mon 4 unsigned short IOSendType Send ...

Page 621: ...ut signal cout Input bit mask pattern for output as hexadecimal 0000 to FFFF cin getline msg MAXBUFLEN if msg 0 0 sscanf msg 4x IOBitMask else IOBitMask 0 cout Input bit data for output as hexadecimal 0000 to FFFF cin getline msg MAXBUFLEN if msg 0 0 sscanf msg 4x IOBitData else IOBitData 0 cout Input the data type of command n cout 0 None 1 XYZ 2 JOINT 3 PULSE n cout please input the number 0 3 c...

Page 622: ... destSockAddr destAddr inet_addr dst_ip_address memcpy destSockAddr sin_addr destAddr sizeof destAddr destSockAddr sin_port htons port destSockAddr sin_family AF_INET Socket creation destSocket socket AF_INET SOCK_DGRAM 0 if destSocket INVALID_SOCKET cerr ERROR socket unsuccessful endl status WSACleanup if status SOCKET_ERROR cerr ERROR WSACleanup unsuccessful endl return 1 MXTCMD MXTsend MXTCMD M...

Page 623: ...type case MXT_TYP_JOINT memcpy MXTsend dat jnt jnt_now sizeof JOINT MXTsend dat jnt j1 float delta ratio 3 141592 180 0 break case MXT_TYP_POSE memcpy MXTsend dat pos pos_now sizeof POSE MXTsend dat pos w x delta ratio break case MXT_TYP_PULSE memcpy MXTsend dat pls pls_now sizeof PULSE MXTsend dat pls p1 long delta ratio 10 break default break MXTsend SendIOType IOSendType MXTsend RecvIOType IORe...

Page 624: ... sendto unsuccessful endl status closesocket destSocket if status SOCKET_ERROR cerr ERROR closesocket unsuccessful endl status WSACleanup if status SOCKET_ERROR cerr ERROR WSACleanup unsuccessful endl return 1 memset recvText 0 MAXBUFLEN retry 1 No of reception retries while retry FD_ZERO SockSet SockSet initialization FD_SET destSocket SockSet Socket registration sTimeOut tv_sec 1 Transmission ti...

Page 625: ...a else sprintf str int DispType void DispData switch disp_data case 0 DispType MXTrecv RecvType DispData MXTrecv dat break case 1 DispType MXTrecv RecvType1 DispData MXTrecv dat1 break case 2 DispType MXTrecv RecvType2 DispData MXTrecv dat2 break case 3 DispType MXTrecv RecvType3 DispData MXTrecv dat3 break default break switch DispType case MXT_TYP_JOINT case MXT_TYP_FJOINT case MXT_TYP_FB_JOINT ...

Page 626: ...E case MXT_TYP_CMDCUR case MXT_TYP_FBKCUR if loop 1 memcpy pls_now MXTrecv dat pls sizeof PULSE loop 2 if disp PULSE l PULSE DispData sprintf buf Receive ld TCount d Type PULSE OTHER d n ld ld ld ld ld ld ld ld s MXTrecv CCount MXTrecv TCount DispType l p1 l p2 l p3 l p4 l p5 l p6 l p7 l p8 str cout buf endl break case MXT_TYP_NULL if loop 1 loop 2 if disp sprintf buf Receive ld TCount d Type NULL...

Page 627: ...End program if No of retries is 0 while retry while loop End cout End sprintf buf counter ld counter cout buf endl Close socket status closesocket destSocket if status SOCKET_ERROR cerr ERROR closesocket unsuccessful endl status WSACleanup if status SOCKET_ERROR cerr ERROR WSACleanup unsuccessful endl return 0 ...

Page 628: ...plane through the J1 axis vertical to the ground 5 axis type robot P is center of J5 axis rotation in comparison with the plane through the J1 axis vertical to the ground 6 axis type robot Fig 7 1 Configuration flag Right Left 2 ABOVE BELOW P is center of J5 axis rotation in comparison with the plane through both the J3 and the J2 axis Fig 7 2 Configuration flag ABOVE BELOW ５軸タイプ ６軸タイプ RIGHT LEFT ...

Page 629: ...eans in which side the J6 axis is in comparison with the plane through both the J4 and the J5 axis Fig 7 3 Configuration flag NONFLIP FLIP FLIP NON FILIP J4 axis J6 axis flange surface FL1 Flag1 B 0 0 0 0 0 0 0 0 1 0 NONFLIP FLIP Note B is shows the binary The illustration is an example ...

Page 630: ... the location of the end axis relative to the line that passes through both the rotational center of the J1 axis and the rotational center of the J2 axis Fig 7 4 Configuration flag Right Left FL1 Flag1 B 0 0 0 0 0 0 0 0 1 0 Right Left Note B is shows the binary RIGHT LEFT The illustration is an example ...

Page 631: ...m origin at a specified speed Ex T coordinate system origin viewed from workpiece moves relatively at spec ified speed The robot can be moved along a curved path that was not possible with conventional linear or circular inter polation This interpolation can be used for sealing polishing and chamfering processes etc Fig 7 5 Outline of spline interpolation 2 Features A smooth spline curve is genera...

Page 632: ...signated software version for the teaching pendant R32TB R33TB R56TB R57TB 4 Terminology The terminology used when explaining spline interpolation is shown in Table 7 2 Table 7 2 Explanation of terminology Device Function Controller RT ToolBox2 Compatible software version Spline interpolation F Q series Ver R5 or later F D series Ver S5 or later Ver 3 10L or later Ex T spline interpolation F Q ser...

Page 633: ... BASIC V MvSpl command EMvSpl command SetCalFrm command SplPos function SplSpd function SplECord function status variables M_SplPno M_SplVar Not supported with MELFA BASIC IV Moving method The spline file is registered into the controller and the spline interpolation command is executed The spline curve is generated to pass through the path points registered in the spline file The robot moves alon...

Page 634: ...t position coordinate values during spline interpolation Cnt command Even if the interpolation continuous movement is designated with the Cnt command this does not function for the spline interpolation start position and end position Oadl command Even if optimum acceleration deceleration control is enabled with the Oadl command it does not function for spline interpolation MvTune command Operation...

Page 635: ...ot will move with Ex T linear interpolation to the start position and then will start Ex T spline interpolation During Ex T linear interpolation the robot moves with the speed designated with Ovrd command Spd command and override Even with the additional axis if the current position and start position differ the robot will move to the start position Fig 7 11 When current position and start positio...

Page 636: ...ce between path points The program is checked to confirm there is adequate distance between two adjacent path points The appropriate distance differs according to the designated speed and if two path points are too close for the speed error L2611 path points too close will occur Refer to the following table and graph and determine the command speed and distance between path points The command spee...

Page 637: ...ange too large will occur In Ex T spline interpolation the program is checked to confirm that the posture change of path points on the workpiece is not too large Configuration flag value The program is checked to confirm that the configuration flag values for two adjacent path points are the same If the configuration flag values are different error L2611 path point config uration flags differ will...

Page 638: ...ding on the version of the spline file 1 Spline file version 02 When two consecutive blocks are designated as an arc arc designation at start point of a block the curve that consist of those two blocks will be an arc instead of a spline If this is applied at a section requiring an arc shaped curve such as at a corner an accurate arc can be drawn with fewer path points than the spline curve Fig 7 1...

Page 639: ... With arc designation three consecutive path points must always be designated If only one point is desig nated the designation will be ignored and a spline curve will be drawn If only two points are designated the error L2613 not enough points designated for arc will occur If the three designated points are on a straight line and the arc cannot be generated the error L2613 block data calculation e...

Page 640: ...le the spline curve will be split at path point n The robot will decelerate to a stop once at the path point n where the spline curve is split and then will accelerate and execute the remaining interpolation The cancel angle setting range is shown below This angle can be set individually for each spline interpola tion Setting range 0 to 180 degrees 1 degree increments Spline cancel does not functi...

Page 641: ...d speed If the designated speed is high or if the posture variation amount in respect to the distance between path points is large the speed may be exceeded during the movement An operation mode is available so that in such cases the designated speed is not maintained but the robot moves while not generating an excessive speed when possible There are two operation modes as shown in Table 7 6 Table...

Page 642: ...lue is 1 The setting range is shown above but the head No that can actually be output will depend on the type of connected device Bit width Designate the bit width of the signal to be output Setting range 1 8 16 32 bit The default value is 1 bit Bit mask Designate the mask pattern for enabling the signal output in bit units in respect to the desig nated bit width The setting range changes accordin...

Page 643: ...g to the status vari able M_SplVar with multi task a preset process can be executed when the specified path point is passed through during spline interpolation When a non set path point is passed the status variable M_SplVar value will not change The value held at that time will be returned Output data Designates the data to be signal output The setting range differs according to the bit width The...

Page 644: ...stem in the same manner In this example position data PC1 PC2 and PC3 is designated and the transformed reference coordinate system Xfc Zfc Yfc is set When frame transformation is executed all path points are calculated so that the relative displacement from the reference coordinate system s origin to the path point is the same before and after the transformation In the example the path points P11...

Page 645: ... transformation is executed with the RT ToolBox2 Spline File Edit screen A spline file is created using the transformation results as the path points When individually compensating the trans formed path point data using jog operation etc When using the transformed path point data as the source data for another path Save coordinate system in spline file The coordinate system settings are saved in a...

Page 646: ...e actual system using the RT ToolBox2 Spline File Edit screen 1 Using debugging operations confirm the spline interpolation movement in the actual system 2 Read the spline file to the Spline File Edit screen 3 Correct the path point position and path adjustment setting as needed 4 Write the spline file to the controller 5 Repeat steps 1 to 4 to create the required path and adjust the spline file d...

Page 647: ...File Edit screen The screen can also be opened by clicking menu File New Fig 7 25 Creating a new file in the personal computer Newly creating in the controller Select Online Spline for the project to be newly created and click the right mouse button The Context menu will open so click New and open the Spline File Edit screen The screen can also be opened by clicking menu File New Fig 7 26 Creating...

Page 648: ...DXF file Select Tool DXF File Import from the project tree and click the right mouse button A context menu will appear and a dialog to open a DXF file will appear when Open is clicked Fig 7 27 File selection screen The contents of selected DXF file is displayed in the DXF file viewer The following graphic data can import by a DXF files LINE ARC CIRCLE SPLINE POLYLINE LWPOLYLINE Light weight polyli...

Page 649: ...m Layer list in Layers page Fig 7 29 Layers selection screen 3 Selecting entities Select entities to import from Entities page Fig 7 30 Entities selection screen Hold down the Ctrl key and click entities to be imported by DXF file they will be added to Entity list Fig 7 31 Selecting entities ...

Page 650: ...anged Fig 7 33 Selecting entities Down By selecting an entity from the Entity list and clicking the Reverse button the Start point and End point of the selected entity can be reversed Fig 7 34 Selecting entities Reverse When the Sort button is clicked a confirmation dialog will appear Fig 7 35 Sort confirmation dialog By clicking Yes at the confirmation dialog box entities registered in the Entity...

Page 651: ...efault grasp position X Y Z The following three types of Ex T coordinate setting methods are available Selecting from existing spline files Clicking the Select from spline file button displays the spline file selection screen Fig 7 38 Select spline file screen Ex T coordinate data stored in the selected spline file is read Reading from work coordinate parameters By setting the parameter to be read...

Page 652: ... circle center point is displayed as the CAD coordinate system default The following two types of calibration setting methods are available Selecting from existing spline files By clicking the Select from spline file button the Select spline file screen similar to that for Ex T control settings appears Calibration data stored in the spline selected in the screen is read Setting from three points o...

Page 653: ...CP for the posture type the posture is registered with the tangent direction for each path point as the tool direction Fig 7 40 Posture registration screen Constant with respect to TCP By selecting Fixation for the posture type the same posture as that for the Start point is regis tered for all path points Fig 7 41 Posture registration screen Fixation ...

Page 654: ...n appears By specifying the number of the spline file to be saved and clicking the Save button spline files can be saved By selecting the Tolerance of posture is 0 check box the data is output to the spline file with a 0 tolerance for the posture at each path point To operate the robot in the posture imported by DXF file select the check box The check box is selected in the initial state The Toler...

Page 655: ...spline files saved using the SplFWrt spline frame write command at robot controllers with software version R6b S6b or later Refer to SplFWrt Spline Frame Write for command details 4 Opening an existing spline file Opening a spline file saved in the personal computer Select Offline Spline for the target project and expand it The saved spline files will appear in the proj ect tree so double click th...

Page 656: ... 45 Selecting and opening a spline file from the list The number of path point data items and comments registered in the spline file will appear in the list Refer to this information and select the target spline file Click the Open button 5 Explanation of Spline File Edit screen The Spline File Edit screen is explained below Fig 7 46 Spline File Edit screen The Spline File Edit screen is configure...

Page 657: ... point data items can be selected simultaneously by using the personal computer s keyboard and mouse Fig 7 48 Selecting the path point data Path point data reference edit area The path point data selected in the path point data list area is referred to and edited in this area When the path point data is selected in the path point data list area the details are displayed with gray char acters in th...

Page 658: ...rrent position data Cartesian coordinate system data of the robot connected in the target position is displayed If the target project is not connected with a robot offline mode the Get current position button will not appear in this area or the path point data reference edit area 6 Menu bar for Spline File Editing File Edit and Tool appear on the menu bar when editing the spline file Fig 7 51 Menu...

Page 659: ... is saved as cut data The original path point data is cut out when Paste is executed 662 Copy The selected path point data is saved as copy data 662 Paste The path point data saved with Cut or Copy is pasted into the designated path point data 662 Copy Posi tion variable The selected position data is saved to be copied 663 Paste Posi tion variable The saved position data is pasted into the designa...

Page 660: ...ommands using the spline file being edited 665 Spline curve The spline curve registered in the spline file being edited is dis played 664 Robot pro gram Con vert to program Converts the spline file being edited to the robot program 666 Robot pro gram Import posi tion variables Imports the position data registered in the robot program to the spline file being edited 667 Note1 MXT file is a file tha...

Page 661: ...selected path point data A line can also be added by clicking menu Edit Insert Output signal Head No Designate the head address of the output signal Setting range 1 to 32767 1 means signal output invalid 1 Bit width Designate the bit width of the output signal Setting range 1 8 16 32 bit 1 Bit mask Designate the mask pattern of the bit with valid signal output 0 Setting value Designate the data to...

Page 662: ...t values of inserted path point data Selected line Default value of path point data Head line The same values as Table 7 12 Default value when newly added are applied Other than head line Position X to L2 The average value of the path point data on the line before the selected path point data FLG1 FLG2 Same value as selected path point data Other than position The same values as Table 7 12 Default...

Page 663: ...ton appears at the top of the path point data refer ence edit area The robot s current position is imported as the path point position data when this button is clicked Click the Apply button to register the set details as the path point data The set details will not be registered as the path point data until this Apply button is press Click the Cancel button when not registering the details Editin...

Page 664: ...at one time To use this function the RT ToolBox2 version 3 40S or later is required To batch edit FLG1 values select the path point data to be edited in the path point data list area and right click Click Edit FLG1 in the context menu that appears to display an FLG1 batch editing screen This screen can also be displayed by clicking Edit Edit FLG1 on the menu Fig 7 56 Edit FLG1 screen By changing t...

Page 665: ...batch edit the amount of tolerance select the path point data to be edited in the path point data list area and right click Click Edit tolerance in the context menu that appears to display the Tolerance batch editing screen This screen can also be displayed by clicking Edit Edit tolerance on the menu Fig 7 58 Edit tolerance screen By changing the amount of tolerance and clicking the OK button chan...

Page 666: ...ting screen Fig 7 60 Interpolation settings screen If the OK button is clicked after changing the settings the changes will be saved and the setting screen will close If the Cancel button is clicked the setting screen will close without saving the changes The setting range for each item is shown in Table 7 14 Table 7 14 Setting range for interpolation setting items Item Setting range Default value...

Page 667: ...e spline file list Make it easier to select the spline file by entering the work details or condi tions etc as a comment When the menu File Properties is clicked the comment entered in the spline file on the active Spline File Edit screen appears on the Property screen Fig 7 62 Property screen Up to 192 characters can be entered for the comment Note that a Line Return cannot be entered The default...

Page 668: ...efer to Page 618 Arc designation for details on differences between file versions 9 Saving the spline file The details edited on the Spline File Edit screen are applied onto the spline file and saved Click menu File Save as The Save spline file screen will open Fig 7 64 Save spline file screen Select the destination from Personal computer or Robot Robot cannot be selected in the offline mode Next ...

Page 669: ...tton is clicked the edited details are saved in the spline file and the Spline File Edit screen will close When the Cancel button is clicked the Save screen will close without saving the details and the Spline File Edit screen will open If the No button on the confirmation dialog is clicked the edited details will be discarded and the Spline File Edit screen will close If the Cancel button on the ...

Page 670: ...cked Fig 7 66 Deleting a spline file When the Yes button is clicked the designated spline file will be deleted When the No button is clicked the deletion process will be canceled 11 Changing the spline No Select the target spline file from the project tree and click the right mouse button A context menu will appear When Renumber is clicked a dialog for designating a new spline No will appear Fig 7...

Page 671: ...ecified spline file is copied By clicking the No button copying is canceled If a spline file with spline No that already exists in the copy destination is copied an overwrite confirmation dialog box appears Fig 7 69 Overwrite confirmation dialog box 13 Spline file manager A Spline file manager screen has been added for RT ToolBox2 Ver 3 40S or later Select Online Spline for projects for which spli...

Page 672: ...clicking the Copy button the selected spline file is copied to the destination If a spline file with the same number exists in the destination the spline No can be changed and copied Fig 7 71 File copy on the Spline file manager screen Fig 7 72 Renumber Copy Delete the spline file By selecting the file to be deleted from the source or destination spline file list and then clicking the Delete butto...

Page 673: ...CSV file as the path point data Commas are used as delimiters The data is written so that one path point data is shown on one line Table 7 15 Data described in CSV file Data identification tag Details X Designates the X axis coordinate value of the path point Unit mm Y Designates the Y axis coordinate value of the path point Unit mm Z Designates the Z axis coordinate value of the path point Unit m...

Page 674: ... 32767 1 means signal output invalid Bit Designates the bit width of the signal to be output Setting range 1 8 16 32 bit Mask Designates the mask pattern of the bit to enable the signal to be output with a hexadecimal OutVal Designates the data to be signal output with a hexadecimal Pulse Designates the pulse output Setting range Designated 1 Not designated 0 Data identification tag Details Bit wi...

Page 675: ...and for grasping to the robot Click Robot setting Change to display the Robot details setting screen Click the Signal setting button on the Robot details setting screen to display the Hand I O screen and then grasp the workpiece Fig 7 76 Grasping workpieces ...

Page 676: ...ocedure in 4 Creating paths Click Work flow to display the Work flow screen Click the Get location button on the Work flow screen to teach the position at which the workpiece is to be grasped The data taught here is the grasp position Ensure not to move the workpiece after teaching the grasp position Fig 7 77 Teaching the grasp position ...

Page 677: ...kpiece and then clicking the Add button the processing path can be registered With Ex T spline reverse the Z axis according to the Ex T coordinate Fig 7 78 Creating paths 5 Creating the work flow Create the work flow The work flow procedure differs between spline and Ex T spline and therefore caution is advised Click Work flow to display the Work flow screen Click the flow Add button to add a flow...

Page 678: ... 80 Flow creation grasp position registration 6 Outputting MXT files Output an MXT file for the created work flow By clicking the Conv button at the Work flow screen an output destination setting dialog box appears By entering an appropriate name for the program name and then clicking the OK button a program and MXT file with the entered program name are created in the project folder specified at ...

Page 679: ...ance setting screen for RT ToolBox2 Ver 3 51D or earlier appears Fig 7 83 Import setting screen Tolerance setting screen By setting the tolerable error mm for the point sequence data and spline curve and then clicking the OK button By selecting the Tolerance of posture is 0 check box on the Import settings screen the data is imported with a 0 tolerance for the posture at each path point To operate...

Page 680: ...tting the grasping position and Ex T coordinates appears In RT ToolBox2 Ver 3 51D or earlier select the check box on the Ex T control settings screen By clicking the Read position variable button the Select robot program screen appears allowing the pro gram created when outputting the MXT file to be selected Fig 7 85 Ex T control settings screen settings RT ToolBox2 Ver 3 60N or later RT ToolBox2 ...

Page 681: ...creen By selecting the position data grasp position data taught when creating MXT file to be read and clicking the OK button the grasp position is set Fig 7 88 Ex T control settings Setting the grasping position By setting the Ex T coordinates and clicking the OK button the content of the MXT file is converted to Ex T spline path point data and then imported RT ToolBox2 Ver 3 60N or later RT ToolB...

Page 682: ... data list area and click menu Edit Cut Next select the path point data to where the cut data is to be pasted and select menu Edit Paste The path point data saved with the Cut operation will be pasted in order into the path point data At the same time the cut source path point data will be deleted from the list Fig 7 89 Cut Paste Copy Paste The designated path point data is copied and pasted into ...

Page 683: ...lect the path point data to where the copied data is to be inserted and select menu Edit Insert copied path point The path point data saved with the Copy operation will be inserted before the path point data selected as the insert destination Fig 7 92 Insert copied path point 41 Edit Copy Designate copy source Edit Paste Designate copy destination Execute copy When there are not enough path point ...

Page 684: ...s the spline curve Displays the spline curve To use this function the RT ToolBox2 version 3 20W or later is required By clicking Tool Spline curve on the menu a 3D Monitor screen appears showing a 3D model of the spline curve for the spline file being edited Fig 7 93 Displays the spline curve Refer to the RT ToolBox2 RT ToolBox2mini Instruction Manual for details on using the 3D Monitor screen 17 ...

Page 685: ...ol Motion range check on the menu the robot moves to each path point on the active Spline editing screen A completion dialog box appears if successful An error dialog box appears if an error occurs Refer to the separate Troubleshooting manual for error details The robot trajectory when performing the motion range check is not guaranteed Fig 7 96 Motion range check complete dialog left Error dialog...

Page 686: ...king Tool Robot program Convert to program on the menu the New Robot program dialog box appears for the active Spline editing screen Fig 7 98 New Robot program screen By entering the name of the robot program to be saved and clicking the OK button the Speed setting dia log box appears Fig 7 99 Speed setting dialog By setting the control point speed and clicking the OK button the content of the spl...

Page 687: ... screen for the program to be imported to the active Spline editing screen appears Fig 7 101 Select robot program By selecting the robot program for which position data is to be imported and clicking the OK button posi tion data is imported to the active Spline editing screen Position data that can be imported is PP n n path point number or P path point number If no path point corresponding to the...

Page 688: ...alFrm Set Calibration Frame Sets the coordinate system used with frame transformation 289 Function name Explanation Reference page SplPos Substitute the path point data registered in the specified spline file for the position variable 430 SplSpd Substitute the speed at which an L2611 path point is too close error does not occur when executing the MvSpl EMvSpl commands for the speed variable based ...

Page 689: ...polation Fine 200 Change positioning pulse to 200 Spd 100 Set linear interpolation speed to start position to 100mm s M_00 1 Turn slot 2 synchronization flag ON MvSpl 5 50 10 Spline interpolate path 1 with acceleration decelerate distance 50mm s M_00 0 Turn synchronization flag OFF Fine 0 Disable positioning pulse designation Mvs P1 Move to wait position with linear interpolation PR1 0 0 0 0 0 0 0...

Page 690: ...which numerical setting value is set to 1 PORT1 1 Turn output signal 100 ON Break Case 2 Pass through path point for which numerical setting value is set to 2 PORT1 2 Turn output signal 101 ON Break Default Numerical setting value is not 1 or 2 PORT1 0 Turn output signal 100 and 101 OFF Break End Select If M_00 1 Then Goto L2 Repeat until spline interpolation is finished End Robot program and spli...

Page 691: ...in the RT ToolBox2 for adjusting the position data and the parameter SPLOPTGC active gain control gain compensation rate are explained in this section 1 Position adjustment function The same type of adjustment as the MELFA BASIC V position data s relative calculation can be applied on the path point data s robot position The two compensation methods shown in Table 7 19 can be used Table 7 19 Posit...

Page 692: ...d Multiple path point data items can be selected Vector product operation P P The adjustment data values are multiplied in respect to the path point data s robot position data Position after adjustment Path point position adjustment data The adjustment follows the tool coordinate system The configuration flag multi rotation flag and additional axis data are not changed from the original value Adju...

Page 693: ...djustment results will be discarded and the Position adjust ment screen will close 2 Frame transformation function When the menu Tool Frame transformation is clicked a screen for executing frame transformation onto the path point data in the active Spline File Edit screen will open Refer to Page 624 5 Frame transformation for details on frame transformation Fig 7 106 Frame transformation screen Se...

Page 694: ...ancel button is clicked the transformation results will be aborted and the Frame transformation screen will close If the coordinate system settings are not correct on same point or 3 points on the same line the message Invalid the frame settings will appear and the frame transformation cannot be executed Fig 7 109 Dialog when coordinate system settings are not correct when executing transformation...

Page 695: ...ck the Fig 7 106 E Clear button to clear the coordinate system settings saved in the Spline File Edit screen A confirmation dialog will appear when this button is clicked Fig 7 111 Coordinate system clear confirmation dialog When the Yes button is clicked the coordinate system settings saved in the Spline File Edit screen are cleared When the No button is clicked the settings are not changed and t...

Page 696: ...rom the default setting value For the movement path at the curve section to further improve the inner turn in respect to the command increase the setting value When the setting value is increased the path accuracy may be improved Conversely to suppress robot sway or vibration reduce the setting value The state may be improved Table 7 20 Parameter SPLOPTGC Parameter Parameter name No of arrays No o...

Page 697: ...ive supplied from the fixed dispenser to the workpiece Fig 7 113 Example of polishing Fig 7 114 Example of coating When the fixed tool grinder dispenser etc is used and processing deburring polishing sealing etc of workpieces held and moved by the robot is performed as shown in the figure above it is quite difficult to cre ate a program for movement along the specified processing route while maint...

Page 698: ...ications Compatible robot Vertical multiple joint 6 axis robots horizontal multiple joint 4 axis robots The function is not available for the vertical multiple joint 5 axis robots and the user mech anisms Compatible robot language MELFA BASIC V The following commands have been added to MELFA BASIC V The functions of the following status variables of MELFA BASIC V have been changed Number of Ex T c...

Page 699: ...ork coordinates WKnWO n is 1 to 8 Set the position of the work coordinates Ex T coordinates origin as a teaching position of work coordinates Ex T coordinates Correspond to WO of the teaching operation by T B Refer to above figure X Y Z Unit mm Notes The work coordinates Ex T coordinates are not defined by merely inputting this coordinate value Cal culate the work coordinates Ex T coordinates by p...

Page 700: ...explanation WKnJOGMD n is 1 to 8 The operation mode in WORK jog operations is specified for each work coordinate 0 WORK jog The operation of A B and C elements is rotation around the axis parallel to the X Y and Z axes of the work coordinates The control point position does not change 1 Ex T jog The operation of A B and C elements is rotation around the X Y and Z axes of the work coordi nates with...

Page 701: ...otation around the X Y and Z axes of the Ex T coordinates system work coordinates system The robot position also changes Movement example 1 and Movement example 2 in Fig 7 116 show the example of C element move ment in the Ex T jog W0 Wx Wy shows the Ex T coordinates system work coordinates system when viewed from Wz rep resents the robot control point TCP and the square with rounded corners repre...

Page 702: ... W8 The number of work coordinates Ex T coordi nates can be changed by the arrow key Upper arrow Lower arrow Push the key Upper arrow the number will increase W1 W2 W8 Conversely push the key Lower arrow the number will decrease Always confirm that the number of the target work coordinates system Ex T coordinates system is displayed correctly Display of W1 W8 at the upper right of the screen If mi...

Page 703: ...t will move along the Y axis Yw plus direction on the work coordinates system When the Y J2 keys are pressed Move along the minus direction When the Z J3 keys are pressed the robot will move along the Z axis Zw plus direction on the work coordinates system When the Z J3 keys are pressed Move along the minus direction X Y Z Z Ｙ Ｘ ツ ー ル 長 Xw Yw Zw The jog movement based on work coordinates system Th...

Page 704: ...s direction of the work coordinate system When the B J5 keys are pressed rotate in the minus direction When the C J6 keys are pressed the Z axis will rotate in the plus direction of the work coordinate system When the C J6 keys are pressed rotate in the minus direction X Y Z Z Ｙ Ｘ ツール長 Xw Yw Zw Zw Xw Yw Yw Xw Zw Yw Zw Xw Changing the flange surface posture 1 Work jog mode The position of the contr...

Page 705: ...of work coordinates system Ex T coordinates system When the C J6 keys are pressed the control point will rotate in the minus direction X Y Z Z Ｙ Ｘ Xw Yw Zw Zw Xw Yw X Y Z Z Ｙ Ｘ Xw Yw Zw Zw Xw Yw SPACE X Y Z Z Ｙ Ｘ Xw Yw Zw Zw Xw Yw 2 Ex T jog mode The control point rotates around each axes of work coordinates system Ex T coordinates system When the A J4 or the A J4 key is pressed the control point ...

Page 706: ...t will move along the Y axis Yw plus direction on the work coordinates system When the Y J2 keys are pressed Move along the minus direction When the Z J3 keys are pressed the robot will move along the Z axis Zw plus direction on the work coordinates system When the Z J3 keys are pressed Move along the minus direction X X Y Y Z Z Xw Yw Zw Zw Xw Yw ツール長 The jog movement based on work coordinates sys...

Page 707: ...s are pressed the control point will rotate in the plus direction around the Z axis Zw of work coordinates system Ex T coordinates system When the C J6 keys are pressed the control point will rotate in the minus direction X X Y Y Z Z Z Z Xw Yw Zw Zw Xw Yw ツール長 Changing the end axis posture 1 Work jog mode The position of the control point does not change The end axis is rotated Tool length Control...

Page 708: ...bot will move along the Y axis Yw plus direction on the work coordinates system When the Y J2 keys are pressed Move along the minus direction When the Z J3 keys are pressed the robot will move along the Z axis Zw plus direction on the work coordinates system When the Z J3 keys are pressed Move along the minus direction X X Z Y Z Y ツール長 Z Z Zw Zw Xw Xw Yw Yw Control point Work coordinates system Th...

Page 709: ...he minus direction When the C J6 keys are pressed the Z axis will rotate in the plus direction of the XYZ coordinate system When the C J6 keys are pressed rotate in the minus direction X X Z Y Z Y ツール長 Z Z Zw Zw Xw Xw Yw Yw Work coordinates system Changing the end axis posture 1 Work jog mode Control point Tool length The position of the control point does not change The end axis is rotated X X Z ...

Page 710: ... Operation example 1 By overlaying the figures the actual operation is shown as follows No Type of commands Added commands Functions Reference page 1 Linear interpolation EMvs E Move S Linear interpolation along the work coordinates Ex T coordinates 225 2 Circular interpola tion EMvc E Move C Circular interpolation along the work coordinates Ex T coordinates 217 3 Circular arc inter polation EMvr ...

Page 711: ...s jog feed along the processing tool Step 3 Creation of the program Create the MELFA BASIC V program Some of the actual necessary operations such as workpiece holding movement and input output of signals are omitted in this example Example program Mov P001 Moves to the position 1 Dly 0 5 Spd 50 Sets the processing speed workpiece moving speed to 50 mm sec EMvs 1 P002 Moves to the target position 2...

Page 712: ... position data of robot No 1 every controller control time approximately 7 1 msec via a PLC and tracks robot No 1 operation Fig 7 119 Cooperative operation The accuracy of the transport path by both robots operation and the tracking intervals of robot No 2 are not guaranteed When the operation speed of robot No 1 is set to high the operation of robot No 2 may be delayed Robot No 1 motion path Robo...

Page 713: ...ram Sample programs are shown below Robot Program Content Robot 1 Master 1 prg A program for automatic operation of the robot actuation between two teach ing positions BFRM prg A program for adjustment of setting the common coordinates in robot No 1 and robot No 2 Robot 2 Slave 1 prg A program for automatic operation of the robot tracking robot No 1 to its desti nation BFRM prg A program for adjus...

Page 714: ...ooperative movement Dly 0 5 Wait for MXT command execution Spd 30 Set the operation speed at 30 mm s Mvs P1 Mvs P2 Spd M_NSpd Dly 0 1 Send stop command for the cooperative operation at operational end position M_Mxt 2 0 Wait M_Mxt 3 0 Stop cooperation Teaching point P0 Safe point before starting the cooperative operation Wait M_Mxt 2 0 M_Mxt 3 0 Wait at the standby position for start command from ...

Page 715: ...tion of Robot 1 to PPK1 variable 3 Input the theching data of PPK2 variable of Robot 2 Execute next three lines PBT PPK1 PPK2 2 Calculate the center position between Robot 1 and Robot 2 PTL1 Inv PPK1 PBT Calculate the common TOOL data for Robot 1 Tool PTL1 End Teaching point PPL1 PPL2 PPL3 Common coordinate Calcurated point PFR1 Origin point of the common coordinate Robot 1 PFR2 Origin point of th...

Page 716: ... the data of the robot No 1 current position to the shared memory It is required to enable the extended function parameter IQMEM for robot No 1 and robot No 2 Refer to separate instruction manual CR750 Q CR751 Q series CRnQ 700 series iQ Platform Support ing Extended Function Instruction Manual for details ...

Page 717: ...e coordinates of robot No 1 and robot No 2 2 Set the common frame coordinates in robot No 1 and robot No 2 Program PFR1 Fram PPL1 PPL2 PPL3 Calculate the origin data of common frame of robot No 1 PFR2 Fram PPL1 PPL2 PPL3 Calculate the origin data of common frame of robot No 2 3 Use the setting of the robot No 1 base coordinates for robot No 2 base coordinates setting on robot No 2 only Program Sha...

Page 718: ...the tool coordinate of robot 1 Program PBT PPK1 PPK2 2 Determine the midpoint by calculation between the work piece removing positions for robot No 1 and robot No 2 PTL Inv PPK1 PBT Determine the common tool by calculation in robot No 1 and robot No 2 Tool PTL 3 Set the tool coordinate of robot 2 Program PBT PPK1 PPK2 2 Determine the midpoint by calculation between the work piece removing position...

Page 719: ...parameter to enable each extended function for robot No 1 and robot No 2 Outline of setting procedure 1 Teach the workpiece transport destination to robot No 1 P1 P2 2 Set the parameter to enable each extended function for robot No 1 and robot No 2 Change 1 00000000000000000 to 1 00000000000000011 Fig 7 123 Teaching and parameter setting of the workpiece transport destination Common tool position ...

Page 720: ...rallel straight motion 2 Rotating motion by robot No 1 Robot No 1 and robot No 2 rotate the workpiece about the common tool position as a center of rotation Fig 7 125 Rotating motion Common tool position Parallel straight motion P_D5100 PBASE P1 P2 Robot No 1 Master Robot No 2 Slave Common tool position PBASE Robot No 1 Master Robot No 2 Slave ...

Page 721: ... Function Usage 1 Position data acquisition at the sensor input timing Alignment correction 2 Workpiece presence recognition in a cassette Mapping Item Specifications Position data acquisi tion at the sensor input timing Condition for the position data acquisition Define a condition for the position data acquisition in the Def Gps command Controlling to start stop monitoring Control to start stop ...

Page 722: ... separate manual Controller setup basic operation and maintenance for details on the pin assignment CR750 controller CR751 controller CNUSR2 connector Pin name Pin number Input signal number MPI11 1 input signal 850 MPI14 26 input signal 851 MPI16 27 input signal 852 SKIP22 35 input signal 801 SKIP32 36 input signal 802 SKIP42 37 input signal 803 CR760 controller EMG2 connector Pin name Pin number...

Page 723: ...ix 703 Fig 7 126 Location of connector POWER CR760 Non CE marking specification CE marking speci fication A View A Inside of CR760 controller CR750 controller CR751 controller CR760 controller CNUSR2 connector Safety unit R760 SFT EMG2 connector ...

Page 724: ...fication of the SKIP input Item Specifications Internal circuit Type DC input No of input point 2 Insulation method Photo coupler insulation Rated input coltage DV 24 V 10 Rated input current Approx 2 mA Input resistance Approx 10kΩ Common method 2 points per common Item Specifications Internal circuit Type DC input No of input point 2 Insulation method Photo coupler insulation Rated input coltage...

Page 725: ...variable P_GpsX X indi cates the same number as the target monitoring number from 1 to 8 Up to 400 position data can be stored for one monitoring number A numerical value in the array elements is numbered in turn every time the position data is obtained The number of position data stored in the P_GpsX is retained in the status variable M_Gps n The position data stored in the M_Gps n and P_GpsX is ...

Page 726: ...er from 1 to 8 The number of stored position data is retained in the status variable M_Gps n The data stored in the M_Gps n and M_MapX is cleared to zero when the GpsChk On command GpsChk On n statement is executed next time n in GpsChk Off n statement and the status variable M_Gps n indicates the target monitoring number from 1 to 8 1 Def Gps 1 850 On 1 The position data of the mechanism No 1 is ...

Page 727: ...onitoring No 3 is started The position data of the mechanism No 1 is recorded when the signal No 851 is turned on 4 Mvs PM2 The robot moves its arm to the mapping stop position 5 GpsChk Off 3 Monitoring a condition for the monitoring No 3 is stopped Using the recorded position data the segment number in which the workpiece is present is stored in the M_Map3 6 M1 M_Gps 3 The number of the position ...

Page 728: ...input screen Press the EXE key on the parameter input screen 3 When you check that error H0009 is displayed reset the power supply of the controller 4 When a buzzer goes off from the controller turn off the controller s power supply The upgrade of the servo software is completed For the use of RT ToolBox2 you can upgrade the servo software on the parameter list screen 3 5 0 7 5 7 9HU 659 2 1 0 520...

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Page 730: ...ADA MINAMI HIGASHI KU NAGOYA 461 8670 JAPAN Authorised representative Mitsubishi Electric Europe B V FA European Business Group Mitsubishi Electric Platz 1 D 40882 Ratingen Germany Tel 49 0 2102 4860 May 2017 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...

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