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3.2 Teaching

3-7

n

Spline Motion Type

When performing operations such as welding, cutting, and applying primer; using the spline
motion type makes teaching for workpieces with irregular shapes easier. The path of motion is
a parabola passing through three points. When spline motion is used for teaching a robot axis,
the move instruction is MOVS.

Single Free Curve

When a single free curve movement is required, teach the spline motion for three points, P1 to
P3, as shown in the figure below. If joint or linear motion is taught at point P0, the point before
starting the spline motion, the manipulator moves from P0 to P1 in a straight line.

Continuous Free Curves

The manipulator moves through a path created by combining parabolic curves. This differs
from the circular motion type in that steps with identical points are not required at the junction

between two free curves.

When the parabolas overlap, a composite motion path is created.

Motion Type for a Single Free Curve

Point

Motion Type

Instruction

P0

Joint or Linear

MOVJ
MOVL

P1
P2
P3

Spline

MOVS

P4

Joint or Linear

MOVJ
MOVL

Motion Type for Continuous Free Curves

Point

Motion Type

Instruciton

P0

Joint or Linear

MOVJ
MOVL

P1
P2
P5

Spline

MOVS

P6

Joint or Linear

MOVJ
MOVL

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Summary of Contents for XRC 2001

Page 1: ...ane West Carrollton OH 45449 TEL 937 847 6200 FAX 937 847 6277 24 Hour Service Hotline 937 847 3200 Motoman XRC 2001 Controller Operator s Manual for Spot Welding Part Number 142101 1 Release Date November 28 2006 Document Status Final ...

Page 2: ...served Because we are constantly improving our products we reserve the right to change specifications without notice MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing COMPLETE OUR ONLINE SURVEY Motoman is committed to total customer satisfaction Please give us your feedback on the technical manuals you received with your Motoman robotic solution To participate go to the following...

Page 3: ...MOTOMAN i XRC Operator s Manual for Spot Welding TABLE OF CONTENTS Section Page 1 INTRODUCTION 1 1 2 SAFETY 2 1 3 XRC OPERATOR S MANUAL FOR BEGINNERS 3 1 4 XRC OPERATOR S MANUAL FOR SPOT WELDING 4 1 ...

Page 4: ...XRC Operator s Manual for Spot Welding ii MOTOMAN NOTES ...

Page 5: ...ist of reference documents and customer service information SECTION 2 SAFETY Provides information for the safe use and operation of Motoman products SECTION 3 OPERATOR S MANUAL FOR BEGINNERS Provides an introduction to the XRC controller and programming pendant including basic operating instructions in teaching playback and editing modes The spot welding section discusses specific keys teaching di...

Page 6: ...hnical assistance contact the Motoman service staff at 937 847 3200 Please have the following information ready before you call Robot Type UP6 UP130 UP165 etc Application Type welding handling etc Robot Serial Number located on the back side of the robot arm Robot Sales Order Number located on back side of XRC controller ...

Page 7: ...Way P O Box 3724 Ann Arbor Michigan 48106 TEL 313 994 6088 FAX 313 994 3338 Ultimately the best safeguard is trained personnel The user is responsible for providing personnel who are adequately trained to operate program and maintain the robot cell The robot must not be operated by personnel who have not been trained We recommend that all personnel who intend to operate program repair or use the r...

Page 8: ...mmediate and imminent hazards that if not avoided will result in immediate serious personal injury or loss of life in addition to equipment damage WARNING Information appearing under the WARNING caption concerns the protection of personnel and equipment from potential hazards that can result in personal injury or loss of life in addition to equipment damage CAUTION Information appearing under the ...

Page 9: ... Inputs and Outputs The robot must be placed in Emergency Stop E STOP mode whenever it is not in use In accordance with ANSI RIA R15 06 section 6 13 4 and 6 13 5 use lockout tagout procedures during equipment maintenance Refer also to Section 1910 147 29CFR Part 1910 Occupational Safety and Health Standards for General Industry OSHA 2 4 Mechanical Safety Devices The safe operation of the robot pos...

Page 10: ...l supervisors and anyone working near the robot must become familiar with the operation of this equipment All personnel involved with the operation of the equipment must understand potential dangers of operation Programming tips are as follows Any modifications to PART 1 of the controller PLC can cause severe personal injury or death as well as damage to the robot Do not make any modifications to ...

Page 11: ...rator s manuals the system equipment and options and accessories are permitted to operate this robot system Check all safety equipment for proper operation Repair or replace any non functioning safety equipment immediately Inspect the robot and work envelope to ensure no potentially hazardous conditions exist Be sure the area is clean and free of water oil debris etc Ensure that all safeguards are...

Page 12: ...ram changes are made A backup must always be made before any servicing or changes are made to options accessories or equipment to avoid loss of information programs or jobs Do not enter the robot cell while it is in automatic operation Programmers must have the teach pendant when they enter the cell The robot must be placed in Emergency Stop E STOP mode whenever it is not in use Be sure all safegu...

Page 13: ...ation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR S MANUAL YASNAC XRC OPERATOR S MANUAL FOR BEGINNERS The YASNAC XRC operator s manuals above correspond to specific usage Be sure to use the appropriate manual ...

Page 14: ...oduct The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product YASKAWA may modify this model without notice when necessary due to product improvements modifications or changes in specifications If such modification is made the manual number will also be revised If your copy of the manual is damaged or lost contact a YASKAWA...

Page 15: ...s a potentially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and dam age to equipment It may also be used to alert against unsafe practices Always be sure to follow explicitly the items listed under this heading Must never be perfor...

Page 16: ...rk envelope to teach a job Operator injury can occur if the Teach Lock is not set and the manipulator is started from the playback panel Observe the following precautions when performing teaching operations within the working envelope of the manipulator View the manipulator from the front whenever possible Always follow the predetermined operating procedure Ensure that you have a safe place to ret...

Page 17: ...re that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming pendant to the hook on the XRC cabinet after use The programming pendant can be damaged if it is left in the manipulator s work area on the floor or near fixtures Read and understand the Explanation of the ...

Page 18: ...th ex ENTER Symbol Keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture ex page key The cursor key is an exception and a picture is not shown Axis Keys Number Keys Axis Keys and Number Keys are generic names for the keys for axis operation and number input Keys pressed simultaneously When two keys are to be pressed simultaneously the keys are sho...

Page 19: ...HING 3 1 Manipulator Motion 3 1 3 1 1 Joint Coordinates 3 1 3 1 2 Rectangular Coordinates 3 3 3 1 3 Move Instructions and Steps 3 4 3 2 Teaching 3 5 3 2 1 Preparation Before Teaching 3 5 3 2 2 Teaching 3 8 n Teaching a Job 3 8 n Step 1 Start Position 3 9 n Step 2 Near the Work Start Location 3 10 n Step 3 Work Start Location 3 10 n Step 4 Work End Position 3 11 n Step 5 Position Away From Workpiec...

Page 20: ...7 5 4 3 Adjustments for Welding Defects 5 7 6 HANDLING 6 1 Example Job 6 1 6 2 Usage of HAND Instruction 6 2 6 2 1 Function 6 2 n SP single solenoid 6 2 n 2P double solenoid 6 2 n 3P triple solenoid 6 2 6 2 2 Instruction and Additional Items 6 2 6 3 Teaching Procedure 6 3 6 3 1 Teaching Points 6 3 6 3 2 Operation Procedure 6 3 n Step 2 Near Gripping Position before gripping 6 3 n Step 3 Gripping P...

Page 21: ...POT WELDING 8 1 Example Job 8 1 8 2 Setting Welding Conditions 8 2 8 2 1 Setting Spot Welding Gun Condition Files 8 2 8 2 2 Setting Welding Condition for the Welder 8 2 8 3 Teaching Procedure 8 3 8 3 1 Teaching Procedure Items 8 3 8 3 2 Operation Procedure 8 3 n Step 2 Near Welding Start Position 8 3 n Step 3 Welding Start Position 8 4 8 4 Welding Test 8 5 8 4 1 Check Run 8 5 8 4 2 Welding Executi...

Page 22: ...x ...

Page 23: ...ront of the XRC controller The programming pendant hangs from a hook located on the top right front face of the controller The playback panel can be found mounted on the cabinet door of the controller Find information for setup installation and connection of the XRC system by referring to the MOTOMAN Setup Manual ...

Page 24: ...1 2 Button Descriptions 1 2 1 2 Button Descriptions Playback panel buttons are enclosed in brackets throughout this manual TEACH on the playback panel TEACH ...

Page 25: ...1 3 Programming Pendant 1 3 1 3 Programming Pendant Programming Pendant ...

Page 26: ...mbol on them are not denoted with but depicted with a small pic ture excepted the cursor key It is denoted as Cursor n Axis Keys and Number Keys The axis key and number key are denoted with Axis Operation Keys and Number Keys when all of the keys are shown at one time n Simultaneously Pressed Keys When two keys are pressed simultaneously these keys are denoted through combining with such as SHIFT ...

Page 27: ...L ITY The items of the pull down menu are shown in the same manner e g Rename Job Four screen views are used in this manual to illustrate the programming pendant displays Full Screen View Upper Screen View Middle Screen View Lower Screen View JOB UTILITY DISPLAY EDIT J 12345678 S R1 SELECT JOB CALL MASTER JOB CREATE NEW JOB RENAME JOB COPY JOB DELETE JOB RENAME JOB JOB UTILITY DISPLAY EDIT S C L ...

Page 28: ...basic sequence is used to operate the manipulator 1 Turn on the XRC controller 2 Teach a job on the robot 3 Replay the job on the manipulator called playback 4 When finished turn off the power Be sure to follow the proper shutdown sequence as described in Section 6 ...

Page 29: ...Startup diagnostics will begin automatically 2 1 1 Startup Diagnostics The startup diagnostics are performed when the XRC main power is turned on and the star tup display is shown on the programming pendant screen 2 1 2 When Startup Diagnostics are Complete When the power is turned off the XRC saves all condition data including Mode of operation Cycle Called job active job if the XRC is in the pla...

Page 30: ...Y on the playback panel to turn on the servo power supply The button will light when the servo power is turned on 2 Press TEACH LOCK to enter the teach mode 3 The servo power is turned on and SERVO ON READY on the playback panel lights when the operator grips the dead man switch Servo Power ON OFF Deadman Switch When the operator squeezes the deadman switch the servo power turns ON However if the ...

Page 31: ...hen using the playback panel programming pendant or external signal to perform emer gency stop the servo power on operation from the deadman switch is cancelled When turning the power back on follow the previously listed instructions NOTE ...

Page 32: ...2 2 Turning on the Servo Power 2 4 ...

Page 33: ...anipulator Motion The robot is generally operated using two types of coordinates joint coordinates and rectan gular coordinates Press the axis operation keys on the programming pendant to move each axis of the manipulator 3 1 1 Joint Coordinates ...

Page 34: ...3 1 Manipulator Motion 3 2 ...

Page 35: ...3 1 Manipulator Motion 3 3 3 1 2 Rectangular Coordinates This figure shows direction only not position of rectangular coordinates ...

Page 36: ...ion is one step Step 1 is 001 and step 2 is 002 The next step is 003 and so on Position of Step1 corresponds to the position registered in the move instruction of Step number 001 S 001 Example Refer to the job content display in the following When executing playback the manipulator moves between Step 1 and Step 2 and the play speed is registered in Step 2 s move instruc tion After the manipulator ...

Page 37: ...g TEACH on the playback panel 3 Press TEACH LOCK TEACH LOCK will light indicating the Teach Lock is turned on The operation mode and cycle cannot be changed using the playback panel or an external input device Playback can not be performed Also if TEACH LOCK is not lit the servo power supply cannot be turned on using the deadman switch 4 Select JOB under the top menu and select CREATE NEW JOB in t...

Page 38: ... same to enter E S and T 8 Press ENTER to register UTILITY DISPLAY EDIT JOB S C R1 L EXEC CANCEL NEW JOB CREATE JOB NAME COMM GROUP SET R1 SELECT ALPHABET 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 0 1 2 3 4 5 6 7 8 9 _ _ S C R1 L ALPHABET 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 0 1 2 3 4 5 6 7 8 9 _ TEST S C R1 L SELECT UTILITY DISPLAY EDIT JOB EXEC CANCEL NEW JOB CREATE JOB ...

Page 39: ... Which Can Be Used for Job Names Job names can be created from numbers letters from the alphabet or registered charac ters The input display for each character is displayed when the page key is pressd during the operation between 5 and 6 Up to eight alphanumeric characters can be used UTILITY DISPLAY EDIT JOB S C R1 L JOB CONTENT J TEST S 000 R1 TOOL 0000 NOP 0001 END MOVJ VJ 0 78 SELECT SUPPLE ME...

Page 40: ...the manipulator will execute Jobs are created using a robot programming language called INFORM II The following example will instruct you how to teach the manipulator all of the steps from Point A to Point B of the following workpiece This job can be completed in 6 steps Actual work is not performed here ...

Page 41: ...ed 3 Select joint motion by pressing MOTION TYPE Joint instruc tion MOVJ will be displayed in the input buffer line 4 Move the cursor to the line number 0000 and press SELECT 5 The input buffer line is displayed Move the cursor to the right to VJ which shows the speed While pressing SHIFT simultaneously move the cursor up and down to higher and lower play speeds until the desired speed is specifie...

Page 42: ...tered 1 Change to medium speed by pressing FST or SLW until is displayed in the status area 2 Do not release the pose in Step 2 Press COORD to select the rectanglar coordinates Move the manipulator to the weld ing start location using the axis operation keys 3 Move the cursor to the line number 0002 and press SELECT 0000 NOP 0001 MOVJ VJ 50 00 0002 MOVJ VJ 50 00 0003 END ENTER M JOB CONTENT UTILIT...

Page 43: ...pulator is moving keep a wide enough distance to ensure it will not strike the workpiece There is no need to follow the work line too closely 2 Press MOTION TYPE to select linear motion MOVL 3 Move the cursor to the line number 0003 and press SELECT 4 The input buffer line is displayed Move the cursor to the right to V which shows the speed While pressing SHIFT simultaneously move the cursor up an...

Page 44: ...en the job is played the job will execute at the speed defined in Step 4 2 Move the manipulator with the axis operation keys to a posi tion where it will not strike the fixture 3 Press MOTION TYPE to set to the joint motion type MOVJ 4 Move the cursor to line number 0004 and press SELECT 0000 NOP 0001 MOVJ VJ 50 00 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 138 0005 END ENTER JOB CONTENT UT...

Page 45: ...til the desired speed is specified Set the speed to 50 6 Press ENTER Step5 Line 0005 is registered 1 Move the manipulator near the start position with the axis operation keys 2 Press ENTER Step6 Line 0006 is registered MOVJ VJ 50 00 SHIFT 0000 NOP 0001 MOVJ VJ 50 00 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 138 0005 MOVJ VJ 50 00 0006 END ENTER 0000 NOP 0001 MOVJ VJ 50 00 0002 MOVJ VJ 50 0...

Page 46: ... Step1 start position identical 3 2 3 Path Confirmation The job is now complete Try to check each step separately to ensure there are no problems 1 Move the cursor to Step1 Line 0001 2 Press FWD The manipulator will move to Step1 3 Move the cursor to Step 6 Line 0006 4 Press MODIFY 5 Press ENTER This will change the position of Step 6 to be the same as Step1 1 Move the cursor to Step 1 Line 0001 0...

Page 47: ...manipula tor Each time FWD is pressed the manipulator moves one step 4 When you finish step confirmation move the cursor to the beginning of the job 5 Run all the steps continuously Hold down INTERLOCK and press TEST START The manipulator plays back all the steps continuously and stops when one cycle is finished After the job is corrected confirm the path 1 Select JOB under the top menu and JOB un...

Page 48: ...ing FWD 2 Move the manipulator to the modified position with the axis operation keys 3 Press MODIFY 4 Press ENTER The step s position data is changed 1 Move the manipulator to Step 5 Line 0005 by pressing FWD 2 Move the manipulator to the position at which you wish to add a step using the axis operation keys FWD MODIFY ENTER 0004 MOVL V 138 0005 MOVJ VJ 50 00 0006 MOVJ VJ 50 00 0007 END FWD ...

Page 49: ...nipulator to Step 6 Line 0006 by pressing FWD 2 Make sure the cursor is on the step you wish to delete and press DELETE 3 Press ENTER The step is deleted INSERT 0004 MOVL V 138 0005 MOVJ VJ 50 00 0006 MOVJ VJ 50 00 0007 MOVJ VJ 50 00 0008 END ENTER 0004 MOVL V 138 0005 MOVJ VJ 50 00 0006 MOVJ VJ 50 00 0007 MOVJ VJ 50 00 0008 END FWD DELETE 0004 MOVL V 138 0005 MOVJ VJ 50 00 0006 MOVJ VJ 50 00 0007...

Page 50: ... Cancel the error by pressing CANCEL and press FWD to move the manipulator If the cursor in the display is blinking the robot is not in the taught position 1 Move the cursor to Step 4 2 Move the cursor to the instruction and press SELECT 3 The input buffer line is displayed Move the cursor to the right to V 138 which shows the speed While pressing SHIFT simultaneously move the cursor up and down t...

Page 51: ...ected 1 Press TEACH LOCK After pressing the button be sure TEACH LOCK lights To run the program from the beginning of the job perform the following operation Move the cursor to the beginning of the job Move the manipulator close to Step 1 with the axis operation keys When playback is ready to begin the manipulator begins to move from the Step 1 1 Press PLAY on the playback panel 2 Press START on t...

Page 52: ...4 2 Playback 4 2 ...

Page 53: ...end LINE INSTRUCTION EXPLANATION 0000 NOP 0001 MOVJ VJ 25 00 Moves manipulator to waiting position Step 1 0002 MOVJ VJ 25 00 Moves manipulator near welding start position Step 2 0003 MOVJ VJ 12 50 Moves manipulator to welding start position Step 3 0004 ARCON Specifies manipulator arc start 0005 MOVL V 50 Moves manipulator to welding end position Step 4 0006 ARCOF Specifies manipulator arc end 0007...

Page 54: ...edure When the manipulator comes in contact with the workpiece during the teaching proce dure extend the wire 50 100mm and cut at an appropriate length After teaching is completed confirm the welding path with FWD and BWD 1 Using the axis operation keys specify the correct posture for the manipulator to begin welding 2 Press ENTER Step 2 is registered 1 Change to medium speed by pressing FST or SL...

Page 55: ...d 1 Move the manipulator to the welding end position with the axis operation keys While the manipulator is moving keep a wide enough distance to ensure it will not strike the workpiece There is no need to follow the work line too closely 2 Set the motion type to linear motion type MOVL by pressing MOTION TYPE 3 Move the cursor to the line number and press SELECT 4 The input buffer line is displaye...

Page 56: ... See OPERATOR S MANUAL FOR ARC WELDING for the arc start condition file 5 Press ENTER Step 4 is registered 6 Press ARCOF ARCOF is displayed in the input buffer line Press ENTER The ARCOF instruction is registered 1 Move the cursor to the ARCON instruction and press ENTER The ARCON instruction is displayed in the input buffer line Press SELECT The detail edit display is shown 0000 NOP 0001 MOVJ VJ ...

Page 57: ...alog The detail edit display is shown as follows 3 Input the current data AC and voltage data AVP or AV with the number keys and press ENTER The welding condi tion specified in the detail edit display is displayed in the input buffer line Press ENTER The welding condition is registered in the job CO2 MAG Gas Flow Rate for a Nozzle with a 20mm diameter Wire Length mm CO2 Gas Flow Rate 1 min MAG Gas...

Page 58: ...ITY and SPECIAL RUN The special play dis play is shown 3 Move the cursor to the CHECK RUN setting and press SELECT The condition becomes VALID and the check run is turned on PLAY EDIT DISPLAY DATA UTILITY SPECIAL PLAY LOW SPEED START INVALID SPEED LIMIT INVALID DRY RUN SPEED INVALID MACHINE LOCK INVALID CHECK RUN INVALID WEAV PROHIBIT IN CHK RUN INVALID R1 S C L COMPLETE EDIT DISPLAY DATA UTILITY ...

Page 59: ...ing speed are incorrect Torch angle and wire length are incorrect With no influence from the wind and when the torch angle and wire length are correct 15 301 min is assumed to be the suitable shield gas rate Change the gas flow rate according to the workpiece construction condi tion Remove the spatter frequently and thoroughly Choose the best welding condition and spatter will be prevented from oc...

Page 60: ...ncomplete penetration State where there is insuffi cient distance between the surface of the metal and the bottom of the welded area Unsuitable welding work piece condition It is easy for the welding current or the voltage correspond ing to the current to be too low Adjust the torch welding current welding speed wire aim position angle etc Overlap State where the toe of weld is not fused with the ...

Page 61: ...e seen in a downward weld at a vertical position or incline position Welding current is too high Arc voltage is too high Welding speed is too slow Lower the welding speed Adjust the voltage appropriately Meandering of beads State in which welding bead is shaped like a snake The welding wire is bent and twisted The welding chip s hole diameter is growing larger Magnetic blow influences welding Shor...

Page 62: ...5 4 Welding Test 5 10 ...

Page 63: ...05 TIMER T 0 50 Waiting for gripping the workpiece to be completed 0006 MOVL V 100 0 Move to near gripping position after gripping Step4 0007 MOVJ VJ 25 00 Move to waiting position Step5 0008 MOVJ VJ 25 00 Move near release position before releasing Step6 0009 MOVL V 100 0 Move to release assistance position Step7 0010 MOVL V 50 0 Move to release position Step8 0011 HAND 1 OFF Releasing the workpi...

Page 64: ...e when used as a single solenoid n 2P double solenoid The HAND instruction turns the tool valve x 1 ON OFF The inverse signal is output to the tool valve x 2 n 3P triple solenoid Adding ALL to the HAND instruction allows both tool valve x 1 and tool valve x 2 to be turned ON OFF simultaneously Functions as a double solenoid if ALL is not added to the HAND instruction 6 2 2 Instruction and Addition...

Page 65: ...ng Define the pose of the gripping torch Step1 which is the waiting position is adjusted to a safe position where the robot does not collide with the workpiece and jig etc Confirm the welding path by using FWD and BWD 1 Specify the correct posture with the axis operation keys for the manipulator to begin gripping the workpiece It is necessary to choose a direction in which the tools and the workpi...

Page 66: ...buffer line is displayed Move the cursor to the right to V 11 0 which shows the speed Set to 100 mm s with the number keys 6 Press ENTER Step 3 is registered 7 Press TOOL1 ON OFF HAND 1 ON is displayed in the input buffer line Press ENTER The HAND instruction gripping is registered 8 Press INFORM LIST The inform list is displayed Move the cursor up and down until the TIMER instruc tion is specifie...

Page 67: ... a direction in which the treatment device and the tools do not interfere when the manipulator moves and teach that position It is usually located right above the grip position The same positon as the steps is also available 2 Move the cursor to the line number and press SELECT 3 The input buffer line is displayed Move the cursor to the right to V 11 0 which shows the speed Set to 100 mm s with th...

Page 68: ...t buffer line is displayed Move the cursor to the right to VJ 0 78 which shows the speed While pressing SHIFT simultaneously move the cursor up and down to higher and lower play speeds until the desired speed is specified Set the speed 25 00 5 Press ENTER Step 6 is registered 1 When moving directly from the position in Step 6 to the release position the workpiece which has already been piled up an...

Page 69: ...area 2 Move the manipulator to the release position with the axis operation keys At this time do not release the pose input in Step 7 3 Move the cursor to the line number and press SELECT 4 The input buffer line is displayed Move the cursor to the right to V 11 0 which shows the speed Set to 50 mm s with the number keys MOVL V 11 0 SELECT 9 6 3 7 8 4 5 1 2 0 0000 NOP 0001 MOVJ VJ 25 00 0002 MOVJ V...

Page 70: ...p and down until the TIMER instruc tion is specified Press SELECT 9 The input buffer line is displayed Move the cursor to the right to T 1 00 which shows the time Set to 0 5s with the number keys Press ENTER The TIMER instruction is registered Press INFORM LIST again and turn off the LED of the INFORM LIST key 0000 NOP 0001 MOVJ VJ 25 00 0002 MOVJ VJ 25 00 0003 MOVL V 100 0 0004 HAND 1 ON 0005 TIM...

Page 71: ...oose a direction in which the tools and workpiece do not interfere and teach that posi tion It is usually located right above the release position 2 Move the cursor to the line number and press SELECT 3 The input buffer line is displayed Move the cursor to the right to V 11 0 which shows the speed Set to 100 mm s with the number keys 4 Press ENTER Step 9 is registered 1 Press PLAY on the playback ...

Page 72: ...r to the SPEED LIMIT setting and press SELECT The condition becomes VALID and the speed limit is turned on EDIT DISPLAY DATA UTILITY SPECIAL PLAY LOW SPEED START INVALID SPEED LIMIT INVALID DRY RUN SPEED INVALID MACHINE LOCK INVALID CHECK RUN INVALID WEAV PROHIBIT IN CHK RUN INVALID COMPLETE R1 S C L EDIT DISPLAY DATA UTILITY SPECIAL PLAY LOW SPEED START INVALID SPEED LIMIT VALID DRY RUN SPEED INV...

Page 73: ...are explained LINE INSTRUCTION EXPLANATION 0000 NOP 0001 MOVJ VJ 25 00 Move to the waiting positon Step1 0002 MOVJ VJ 25 00 Move near the cutting position Step2 0003 MOVJ VJ 12 50 Move to the cutting start position Step3 0004 TOOLON Start cutting 0005 MOVL V 50 0 Move to the cutting end position Step4 0006 TOOLOF End cutting 0007 MOVJ VJ 25 00 Move to the position which does not interfere with the...

Page 74: ...tep 2 is registered 1 Change to medium speed by pressing FST or SLW Medium speed is displayed in the status area 2 Move the manipulator to the gripping position with the axis operation keys At this time do not release the pose input in Step2 3 Move the cursor on the line number and press SELECT 4 The input buffer line is displayed Move the cursor to the right to VJ 25 00 which shows the speed Whil...

Page 75: ...nterfere when the manipulator moves and teach that position 2 Set linear motion MOVL by pressing MOTION TYPE 3 Move the cursor to the line number and press SELECT 4 The input buffer line is displayed Move the cursor to the right to V 11 0 which shows the speed Set to 50 mm s with the number keys 5 Press ENTER Step 4 is registered 0000 NOP 0001 MOVJ VJ 25 00 0002 MOVJ VJ 25 00 0003 MOVJ VJ 12 50 00...

Page 76: ...istered 1 Press PLAY on the playback panel to turn on the play mode 2 Select UTILITY and SPECIAL RUN The special play dis play is shown 3 Move the cursor to the SPEED LIMIT setting and press SELECT The condition becomes VALID and the speed limit is turned on TOOLOF f 1 ENTER PLAY EDIT DISPLAY DATA UTILITY SPECIAL PLAY LOW SPEED START INVALID SPEED LIMIT INVALID DRY RUN SPEED INVALID MACHINE LOCK I...

Page 77: ... Test 7 5 7 3 2 Cutting Execution Once the path has been determined cutting is finally executed at actual speed If the speed limitation drive is turned off cutting is executed at the same speed as during teaching ...

Page 78: ...7 3 Cutting Test 7 6 ...

Page 79: ...00 Move to waiting position Step 1 0003 MOVJ VJ 25 00 Move near welding start position Step 2 0004 MOVJ VJ 25 00 Move to welding start position Step 3 0005 SPOT GUN 1 MODE 0 WTM 1 Welding starts Specifies spot welding gun no 1 Specifies single gun Specifies welding condition 1 0006 MOVJ VJ 25 00 Moves to position a safe disatance away from equip ment Step 4 0007 MOVJ VJ 25 00 Moves to waiting posi...

Page 80: ... Welding Condition for the Welder It is necessary to set the welding power supply and the welding time for the welder during spot welding For the setting method refer to the manual of the welder being used Specify the Welding Condition No that you set in the SPOT instruction line 0005 Example WTM 1 For the welding power supply and the welding time refer to the following table Select SPOT WELDING u...

Page 81: ...e cycle Pressurizing Power kgf Current A Time cycle Pressurizing Power kgf Current A 1 0 10 225 8800 36 75 5600 2 0 20 470 13000 64 150 8000 3 2 32 820 17400 105 260 10000 Step1 which is waiting position is adjusted to a safe position where the robot does not collide with the workpiece and jig etc Set the gun to the opening condition during teaching Confirm the welding path by using FWD and BWD af...

Page 82: ...Press the axis operation keys to move the manipulator to the welding start position 3 Press ENTER to register Step 3 4 Press SPOT SPOT GUN 1 MODE 0 WTM 1 is dis played in the input buffer line Press ENTER The SPOT instruction is registered M JOB EDIT DISPLAY UTILITY JOB CONTENT S C R1 M FST MAN SPD SLW 0000 NOP 0001 MOVJ VJ 25 00 0002 MOVJ VJ 25 00 0003 MOVJ VJ 25 00 0004 END ENTER SPOT GUN 1 MODE...

Page 83: ...Press PLAY on the playback panel to turn on the play mode 2 Select UTILITY and SETUP SPECIAL RUN The special play display is shown 3 Move the cursor to the CHECK RUN setting and press SELECT The condition becomes VALID and the check run is turned on PLAY EDIT DISPLAY DATA UTILITY SPECIAL PLAY LOW SPEED START INVALID SPEED LIMIT INVALID DRY RUN SPEED INVALID MACHINE LOCK INVALID CHECK RUN INVALID W...

Page 84: ...8 4 Welding Test 8 6 ...

Page 85: ... operated The emergency stop button is on both the programming pendant and the playback panel The brake operates once the servo power supply is turned off and the manipulator can no longer operate The emergency stop mode can be operated at any time After turning off the servo power then turn off the main power When the main power switch on the front of the XRC is turned off the main power is cut E...

Page 86: ...9 2 Turning the Main Power Off 9 2 ...

Page 87: ......

Page 88: ...i Taiwan BEIJING OFFICE Room No 301 Office Building of Beijing Intemational Club 21 Jianguomenwai Avenue Beijing 100020 China SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China YASKAWA JASON HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong TAIPEI OFFICE Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road Taipei Taiwan BEIJING YASKAWA BEIKE AUTOMATION...

Page 89: ...ration read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR S MANUAL YASNAC XRC OPERATOR S MANUAL for BEGINNERS The YASNAC XRC operator s manuals above correspond to specific usage Be sure to use the appropriate manual ...

Page 90: ...product The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product YASKAWA may modify this model without notice when necessary due to product improvements modifications or changes in specifications If such modification is made the manual number will also be revised If your copy of the manual is damaged or lost contact a YASKA...

Page 91: ...s a potentially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and dam age to equipment It may also be used to alert against unsafe practices Always be sure to follow explicitly the items listed under this heading Must never be perfor...

Page 92: ...nvelope to teach a job Operator injury can occur if the Teach Lock is not set and the manipulator is started from the playback panel Observe the following precautions when performing teaching operations within the working envelope of the manipulator View the manipulator from the front whenever possible Always follow the predetermined operating procedure Ensure that you have a safe place to retreat...

Page 93: ...re that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming pendant to the hook on the XRC cabinet after use The programming pendant can be damaged if it is left in the manipulator s work area on the floor or near fixtures Read and understand the Explanation of the ...

Page 94: ...th ex ENTER Symbol Keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture ex page key The cursor key is an exception and a picture is not shown Axis Keys Number Keys Axis Keys and Number Keys are generic names for the keys for axis operation and number input Keys pressed simultaneously When two keys are to be pressed simultaneously the keys are sho...

Page 95: ...en 1 13 1 3 6 Character Input 1 14 n Number Input 1 14 n Letter Input 1 14 n Symbol Input 1 14 1 4 Modes 1 15 1 4 1 Operation Mode 1 15 1 4 2 Operation Location Mode 1 15 1 4 3 Teach Mode Priority 1 16 1 4 4 Edit Jobs and Active Jobs 1 16 1 5 About the Security Mode 1 17 1 5 1 Types of Security Modes 1 17 1 5 2 Modifying the Security Mode 1 20 2 Manipulator Coordinates 2 1 Robot Axes and Coordinat...

Page 96: ...n Circular Motion Type 3 5 n Spline Motion Type 3 7 3 2 3 Teaching Steps 3 8 n Registering Move Instructions 3 8 n Registering Reference Point Instructions 3 13 n Registering Timer Instructions 3 14 3 2 4 Overlapping the First and Last Steps 3 16 3 3 Checking Steps 3 17 3 3 1 FWD BWD Key Operations 3 17 n Precautions When Using FWD BWD Operations 3 17 n Selecting Manual Speed 3 19 n Moving to Refe...

Page 97: ...Lock Operation 4 12 n Check Operation 4 12 n Check Run and Weaving Prohibit 4 13 n Cancel All Special Operations 4 13 4 3 Stop and Restart 4 14 4 3 1 Hold 4 14 n Using the Playback Panel 4 14 n Using an External Input Signal Specific 4 14 4 3 2 Emergency Stop 4 15 4 3 3 Restart After Emergency Stop 4 17 4 3 4 Stop by Alarm 4 17 4 3 5 Others 4 18 n Temporary Stop By Mode Change 4 18 n Temporary Sto...

Page 98: ... n Setting Edit Lock on Individual Job Units 5 11 n Enabling Modification of Position Data Only 5 12 5 2 Editing Instructions 5 13 5 2 1 Editing Instructions 5 13 n Instruction Group 5 14 n Inserting Instructions 5 15 n Deleting Instructions 5 16 n Modifying Instructions 5 16 5 2 2 Editing Additional Items Line Edit 5 18 n Modifying Additional Numeric Data 5 18 n Modifying Additional Items 5 19 n ...

Page 99: ...ion Search 5 52 n Tag Search 5 53 5 4 Setting the Edit Lock 5 56 5 4 1 Edit Lock For All Jobs Option 5 56 6 Convenient Functions 6 1 One touch Operations 6 1 6 1 1 Direct Open 6 1 6 1 2 Reserved Display Call 6 3 n Registering Reserved Displays 6 4 n Calling Reserved Displays 6 4 6 2 Parallel Shift Function 6 5 6 2 1 Parallel Shift Function 6 5 6 2 2 Setting the Shift Value 6 7 n Registering Positi...

Page 100: ...ing 6 32 7 Controlling Peripheral Devices 7 1 Floppy Disk Unit 7 1 7 1 1 Floppy Disk Unit 7 1 n Notes on the Use of Floppy Disks and Disk Units 7 2 n Connecting Cables 7 2 n Inserting a Floppy Disk 7 4 7 1 2 File Management 7 5 n Data That Can Be Saved and Save Destination File Names 7 6 n Selecting a Memory Unit 7 9 n Formatting a Floppy Disk 7 10 n Loading 7 11 n Saving 7 14 n Verifying Data 7 2...

Page 101: ...G DIAGNOSIS 12 1 Spot Welding Diagnosis Display 12 1 n Tip Hit Count Clear 12 2 13 SPOT GUN MOTION CONTROL 13 1 Gun Motion Control 13 2 n X type gun 13 2 n C type gun 13 3 13 2 Process Timing 13 4 13 2 1 OPERATION MODE 0 SINGLE GUN OPEN WELDING OPEN 13 4 n Gun Motion Control With X gun C gun single type 13 4 13 2 2 OPERATION MODE 1 SHORT OPEN WELDING SHORT OPEN 13 5 n Gun Motion Control With C gun...

Page 102: ...ical stopper type 13 8 13 3 Stroke Change Control Method 13 9 13 3 1 Single gun C double gun X double cylinder gun 13 9 13 3 2 X Double Mechanical Stopper Type 13 9 n When OPEN SHORT is specified 13 9 13 3 3 When FULL OPEN LONG is specified 13 10 14 I O SIGNALS 14 1 I O Signal Diagram 14 1 14 2 I O Allocation Operation 14 2 n Input Allocation Display 14 2 n Output Allocation Display 14 3 n Pseudo ...

Page 103: ...xvi ...

Page 104: ...g pendant hangs on a hook below the playback panel Components Description Main Power Switch Turns the XRC power ON OFF Door Lock Locks the door Playback Panel Equipped with the keys and buttons used for playback of the manipulator For details see 1 2 Playback Panel Programming Pendant Equipped with keys and buttons used for conducting manipulator teaching operations and editing jobs For details se...

Page 105: ...anel Overview The playback panel is equipped with the buttons used to play back the manipulator 1 2 2 Button Description Playback panel buttons are enclosed in brackets throughout this manual TEACH on the playback panel START on the playback panel TEACH START ...

Page 106: ...ernal input signal to perform the start and mode switching operation Operation by remote signal input is possible when lamp is lit When lamp is lit playback panel will not operate Lights to indicate that an alarm or error has occurred To release the alarm press RESET on the programming pendant Starts the manipulator playback operation This lamp lights during the playback operation Temporarily stop...

Page 107: ...ogramming Pendant 1 4 1 3 Programming Pendant 1 3 1 Programming Pendant Overview The programming pendant is equipped with the keys and buttons used to conduct manipulator teaching operations and to edit jobs ...

Page 108: ...l printed on them are not denoted with but depicted with a small picture with the exception of the cursor key which is not shown with a picture n Axis Keys and Number Keys The keys pictured in the following are refered to as the axis keys and number keys when described n Keys Pressed Simultaneously When two keys are to be pressed simultaneously the keys are shown with a sign between them such as S...

Page 109: ... dead man switch Cursor Moves the cursor in the direction of the arrow The size of the cursor and the range place where the cursor can move will vary dependent on the display If the UP cursor button is pressed when the cursor is on the first line the cursor will move to the last line of the job Conversely if the cursor is on the last line of the job and the DOWN cursor button is pressed the cursor...

Page 110: ...ate system when the manipula tor is operated manually Five coordinate systems joint rectangular cylinder tool and user can be used Each time this key is pressed the coordinate system is switched in the following order JOINT à WLD CYL à TOOL à USER The selected coordinate system is displayed on the status display area When SHIFT is pressed simultaneously with COORD the coordinate number can be chan...

Page 111: ...continuous motion when TEST START and INTERLOCK are simulta neously pressed The manipulator can be moved to check the path of taught steps The manipulator opearates according to the currently selected operation cycle AUTO 1CYCLE or STEP If an operating speed exceeds the maximum teaching speed the opeara tion proceeds at the maximum teaching speed Operation stops immediately when this key is releas...

Page 112: ... data displayed in the input buffer line moves to the cursor position to complete a registration inser tion or modification SHIFT Changes the functions of the other keys Used with TOP MENU COORD MOTION TYPE CURSOR RESERVED DISPLAY KEY NUMBER KEY Page Key to access alternate functions Refer to the description of each key for the alternate SHIFT functions Number Key Enters the number or symbol when ...

Page 113: ...g on the controller mode Play Teach GROUP OPERATION AXIS Displays the active group axis for systems equipped with station axes or several robot axes R1 to R3 Robot Axes B1 to B3 Base Axes S1 to S6 Station Axes MENU AREA GENERAL DISPLAY AREA HUMAN INTERFACE DISPLAY AREA STATUS AREA R1 S C L EDIT DISPLAY JOB UTILITY JOB CONTENT J TEST S 003 R1 TOOL 00 0000 NOP 0001 TEST JOB 0002 MOVJ VJ 50 00 0003 M...

Page 114: ...AL SPEED Displays the selected speed Inching Low Speed Medium Speed High Speed OPERATION CYCLE Displays the present operation cycle Step Cycle Continuous STATE UNDER EXECUTION Displays the present system status STOP HOLD ESTOP ALARM or RUN Stop Status Hold Status Emergency Stop Status Alarm Status Operating Status PAGE Displays the screen where the page is switched U I L M H S C A S H A R ...

Page 115: ...messages and dialogs for input Error messages are given priority if errors occur during input Messages longer than one line length will scroll off the screen as you continue entering data 1 3 5 Screen Descriptions n Denotation The menu displayed in the programming pendant is denoted with The above menu items are denoted with JOB EDIT DISPLAY AND UTILITY Menu commands are denoted in the same manner...

Page 116: ...1 3 Programming Pendant 1 13 n Screen The screen can be displayed according to the view desired Full Screen View Upper Screen View Middle Screen View Lower Screen View ...

Page 117: ... the cursor up â Moves the cursor down n Number Input Number input is performed with the number key Numbers include 0 9 the deciamal point and the minus sign hyphen Note however that the decimal character cannot be used in job names n Letter Input Press the page key to display the Letter Input screen Move the cursor to the desired let ter and press SELECT to enter the letter n Symbol Input Press t...

Page 118: ...d jobs 1 4 2 Operation Location Mode Specifies the control point for operations such as manipulator mode cycle servo power and calling jobs The location mode is indicated by the REMOTE switch on the playback panel Playback panel mode Remote operation is not possible Playback panel Programming Pendant input is available Remote Mode Operation via remote input is possible The table below shows the mo...

Page 119: ...or editing are called edit jobs The name of the edit job is displayed in the status display in teach mode Jobs set for execution are called active jobs The name of the active job is displayed in the status display area in play mode When you change the operation mode the current job changes according to the mode For example If an edit job is open in Teach mode it will become the active job when the...

Page 120: ...f Security Modes The following three types of security modes are available Also any operations higher than the edit mode require a user ID The user ID must contain betwen 4 and 8 letters numbers or symbols Operation Mode During the operation mode the operator can monitor the line operation and start and stop the manipulator Repairs etc can be performed if any abnormalities are detected Editing Mod...

Page 121: ...ration RES START JOB Edit Edit RES STATUS Operation VARIABLE BYTE Operation Edit INTEGER Operation Edit DOUBLE Operation Edit REAL Operation Edit POSITION ROBOT Operation Edit POSITION BASE Operation Edit POSITION ST Operation Edit IN OUT EXTERNAL INPUT Operation EXTERNAL OUTPUT Operation UNIVERSAL INPUT Operation UNIVERSAL OUTPUT Operation SPECIFIC INPUT Edit SPECIFIC OUTPUT Edit RIN Edit REGISTE...

Page 122: ...S Operation TOOL Edit Edit INTERFERENCE Management Management USER COORDINATE Edit Edit HOME POSITION Management Management MANIPULATOR TYPE Management ROBOT CALIB Edit Edit ANALOG MONITOR Management Management OVERRUN S SENSOR Edit Edit LIMIT RELEASE Edit Management SYSTEM INFO MONITORING TIME Operation Management ALARM HISTORY Operation Management VERSION Operation FD PC CARD LOAD Edit SAVE Oper...

Page 123: ... Management Management S3E Management Management S4E Management Management SETUP TEACHING COND Edit Edit OPERATE COND Management Management DATE TIME Management Management GRP COMBINATION Management Management SET WORD Edit Edit RESERVE JOB NAME Edit Edit USER ID Edit Edit SET SPEED Management Management KEY ALLOCATION Management Management RES START CNCT Management Management From the Top Menu di...

Page 124: ...input the security mode is modified At the factory the user ID number below is preset Edit Mode 00000000 Management Mode 99999999 EDITING MODE Turn on servo power JOB ARC WELDING VARIABLE IN OUT ROBOT SYSTEM INFO OUT IN R1 S C L CYCLE SECURITY SUPPLE MENT EDITING MODE Turn on servo power JOB ARC WELDING VARIABLE IN OUT ROBOT SYSTEM INFO OUT IN R1 S C L CYCLE SECURITY OPERATION MODE EDITING MODE MA...

Page 125: ...1 5 About the Security Mode 1 22 ...

Page 126: ...Coordinates 2 1 Robot Axes and Coordinates Names for Robot System Axes The external axes of the XRC are divided into base and station axes The relative individual axes of the robot system are divided by their function into robot base and station axes ...

Page 127: ...o the L axis arm For vertical motion the manipulator moves parallel to the Z axis Tool Coordinates The effective direction of the tool mounted in the wrist flange of the manipulator is defined as the Z axis This axis controls the coordinates of the end point of the tool User Coordinates The manipulator moves parallel to the axes of the user coordinates In any coordinate system it is possible to ch...

Page 128: ...possible using the HIGH SPD The manual speed set is also effective for FWD BWD operations in addition to the axis operations n Selecting with Manual Speed Keys Press FST or SLW Each time FST is pressed manual speed is changed in the following order Confirm the speed in the status display area Each time FST is pressed the manual speed changes in the following order INCH SLOW MED and FST Each time S...

Page 129: ...ed The coordination robot system option function with two or more axes switches the group axis in the job content display by the following procedure When the job content is displayed the group axes which are registered in the displayed job will be operated Example Case that the group axes registered in the displayed job is R1 S1 Press the group axes key The station number is shown in the status di...

Page 130: ...asic Axes S Axis Main unit rotates right and left L Axis Lower arm moves forward and backward U Axis Upper arm moves up and down Wrist Axes R Axis Wrist rolls right and left B Axis Wrist moves up and down T Axis Wrist turns right and left When two or more axis keys are pressed at the same time the manipulator will perform compound movement However if two different directional keys for the same axi...

Page 131: ... Y or Z axes The motion of each axis is described in the following table Axis Motion in Rectangular Coordinates Axis Name Axis Operation Key Motion Basic Axes X Axis Moves parallel to X axis Y Axis Moves parallel to Y axis Z Axis Moves parallel to Z axis Wrist Axes TCP Control Motion is executed See Section 2 8 Tool Tip Operations ...

Page 132: ...ressed at the same time the manipulator will perform com pound moves However if two different directional keys for the same axis are pressed at the same time such as X X none of the axes operate Moves parallel to X or Y axis Moves parallel to Z axis SUPPLE MENT ...

Page 133: ...on Key Motion Basic Axes θ Axis Main unit rolls around S axis r Axis Moves perpendicular to Z axis Z Axis Moves parallel to Z axis Wrist Axes TCP Control Motion is executed See 2 8 Tool Tip Operations When two or more keys are pressed at the same time the manipulator will perform com pound moves However if two different directional keys for the same axis are pressed at the same time such as Z Z no...

Page 134: ... axis Axis Motion in Tool Coordinates Axis Name Axis Operation Key Motion Basic Axes X Axis Moves parallel to X axis Y Axis Moves parallel to Y axis Z Axis Moves parallel to Z axis Wrist Axes TCP Control Motion is executed See 2 8 Tool Tip Operations When two or more keys are pressed at the same time the manipulator will perform com pound moves However if two different directional keys for the sam...

Page 135: ...the wrist In tool coordinates motion the manipulator can be moved using the effective tool direction as a reference regardless of the manipulator position or orientation These motions are best suited when the manipulator is required to move parallel while maintaining the tool orientation with the workpieces For tool coordinates the tool file should be registered in advance For further details refe...

Page 136: ...s JOINTà XYZ à TOOL à USER 2 The Tool Number Select Display is shown This operation can be performed only when numbers of the tool is more than one See YASNAC XRC INSTRUCTIONS for details about the setting procedure Press COORD and set to TOOL 1 Press SHIFT COORD 2 Select the desired tool number SUPPLE MENT Operation Explanation JOB CONTENT S C M R1 JOB EDIT DISPLAY UTILITY TOOL NO SELECT 0 TORCH ...

Page 137: ...The figure and the table below describe the motion of each axis when the axis key is pressed Axis Motion in User Coordinates Axis Name Axis Key Motion Basic Axes X Axis Moves parallel to X axis Y Axis Moves parallel to Y axis Z Axis Moves parallel to Z axis Wrist axes TCP Control Motion is executed See 2 8 Tool Tip Operations When two or more keys are pressed at the same time the manipulator will ...

Page 138: ...ations For exapmle When multiple positioners are used manual operation can be simplified by setting the user coordinates for each fixture When performing arranging or stacking operations the incremental value for shift can be easily programmed by setting user coordinates on a pallet Moves parallel to X or Y axis Moves parallel to Z axis ...

Page 139: ...inate system from among the regis tered user coordinates 1 When COORD is pressed the status area displays JOINT à XYZ à TOOL à USER 2 The User Coordinate Number Select Display appears Press COORD and set to USER 1 Press SHIFT COORD 2 Select the desired user number Operation Explanation S C M U R1 JOB CONTENT JOB EDIT DISPLAY UTILITY USER COORD SELECT 1 JIG 2 WORK1 3 PALLET 4 5 6 7 8 9 S C M U R1 J...

Page 140: ...IONS Axis Motion in Control Point Fixed Operations Axis Name Axis Key Motion Basic Axes Control points move These movements differ depending on rectangular cylinder tool and user coordinates Wrist Axes Wrist axes move by fixed control points These movements differ depending on rectangular cylin der tool and user coordinates When two or more keys are pressed at the same time the manipulator will pe...

Page 141: ... In the following case wrist axis rotations are based on the X Y or Z axis In tool coordinates wrist axis rotations are based on X Y or Z axis of the tool coordi nates In user coordinates wrist axis rotations are based on X Y or Z axis of the user coordi nates Torch Welding Gun Spot Welding ...

Page 142: ...cept the joint coordinates The axis operation is the same as that of the TCP fixed operation Example 1 TCP Change Operation with Multiple Tools The control points for Tool 1 and Tool 2 are taken as P1 and P2 respectively When Tool 1 is selected to perform axis operation Tool 1 control point P1 controls the operation Tool 2 fol lows Tool 1 and is not controlled by axis operation On the other hand T...

Page 143: ...hat the tool is holding are taken as control points P1 and P2 respectively By selecting two control points alternately the workpieces can be moved as shown below TCP fixed operation with P1 selected TCP fixed operation with P2 selected For registration of the tool file refer to YASNAC XRC INSTRUCTIONS SUPPLE MENT ...

Page 144: ...ight while servo supply is turned on When the emergency stop button is pressed and the servo power is turned off both SERVO ON button lamps will turn off 2 After confirming correct operation press SERVO ON READY on the playback panel to turn on the servo power 3 1 2 Setting the Teach Lock For safety purposes always set the teach lock before beginning to teach While the teach lock is set the mode o...

Page 145: ...maximum of six characters can be used for a reserved job name When a reserved job name is used additional characters are added by the system Example n Registering Job Names 1 The selection menu is displayed 2 Input job names using the character input operation For information on character input operation refer to 1 3 6 Character Input Press T LOCK 1 Select JOB under the top menu Select CREATE NEW ...

Page 146: ...automatically regenerated if lines are inserted or deleted Step Numbers Step numbers are automatically displayed at the move instruction line Step numbers are automatically regenerated if steps are inserted or deleted ƒ ƒ ƒ ƒInstructions Additional Items Comments Etc JOB CONTENT J TEST S 000 R1 TOOL 0000 NOP 0001 END MOVJ VJ 100 00 R1 S C L JOB EDIT DISPLAY UTILITY EDIT DISP JOB UTILITY JOB CONTEN...

Page 147: ...he move instruction is MOVJ For safety purposes use the joint motion type to teach the first step When MOTION TYPE is pressed the move instruction on the input buffer line changes Play Speed Setting Display Speeds are indicated as percentages of the maximum rate Setting 0 Speed Omit sets the speed at previous determination 1 The joint speed moves up and down Instructions These are instructions nee...

Page 148: ...k speed 1 The play speed moves up and down n Circular Motion Type The manipulator moves in an arc that passes through three points When circular motion is used for teaching a robot axis the move instruction is MOVC Single circular When a single circular movement is required teach the circular motion for three points P1 to P3 as shown in the figure below If joint or linear motion type is taught at ...

Page 149: ...dentical to that for the linear motion type The speed taught at P2 is applied from P1 to P2 The speed taught at P3 is applied from P2 to P3 If a circular operation is taught at high speed the actual arc path has a shorter radius than that taught Motion type for single circular Motion type Instruction P0 Joint or Linear MOVJ MOVL P1 P2 P3 Circular MOVC P4 Joint or Linear MOVJ MOVL Motion Type for C...

Page 150: ... is taught at point P0 the point before starting the spline motion the manipulator moves from P0 to P1 in a straight line Continuous Free Curves The manipulator moves through a path created by combining parabolic curves This differs from the circular motion type in that steps with identical points are not required at the junction between two free curves When the parabolas overlap a composite motio...

Page 151: ...f Fig Inserting Move Instructions is called Inserting move instruction to distin guish it from the method shown in Fig Registering Move Instructions For more details on this operation see 3 4 2 Inserting Move Instructions The basic operations for registration and insertion are the same The only difference is pressing INSERT in the case of insertion For registration the instruction is always regist...

Page 152: ...Select JOB under the top menu Select JOB Move the cursor on the line immediately before the position where a move instruction to be registered Grasp the deadman switch 1 Move the manipulator to the desired position using the axis key Press SHIFT COORD 1 Select desired tool number Press SHIFT COORD 2 JOB CONTENT J TEST S 000 R1 TOOL 0000 NOP 0001 END MOVJ VJ 0 78 R1 S C L JOB EDIT DISPLAY UTILITY O...

Page 153: ...ve Using Multiple Tools with 1 Robot When multiple tools are to be used with one robot set parameter S2C261 to 1 See 2 6 2 Selecting the Tool Number for details on this operation Press MOTION TYPE 1 Select the desired motion type Move the cursor to the play speed to be set 1 Press SHIFT the cursor key simultaneously Press ENTER 2 SUPPLE MENT Operation Explanation MOVJ VJ 0 78 Operation Explanation...

Page 154: ...el moves the manipulator in a path suitable to circumferen tial conditions and the workpiece The relationship between path and accuracy for position levels is as shown below Position Level 1 The motion type is displayed in the input buffer line When the motion type is selected the detailed edit display is shown The position level can be set at the same time that the move instruction is registered ...

Page 155: ... move instruction is registered To perform the movement steps shown below set as follows DETAIL EDIT MOVJ JOINT SPEED VJ 50 00 POS LEVEL UNUSED NWAIT UNUSED MOVJ VJ 50 00 R1 S C L JOB EDIT DISPLAY UTILITY PL UNUSED PL DETAIL EDIT MOVJ JOINT SPEED VJ 50 00 POS LEVEL PL 1 NWAIT UNUSED MOVJ VJ 50 00 PL 1 R1 S C L JOB EDIT DISPLAY UTILITY MOVE INSTRUCTION IS REGISTERED JOB CONTENT J TEST S 001 R1 TOOL...

Page 156: ...the cursor to the line immediately before the position where the reference point to be registered 2 The servo power is turned on 3 The reference point instruction is displayed in the input buffer line 4 Move the cursor to the reference point number and press SHIFT the cursor key to change the reference point number If you use the number keys to input the reference point number press SELECT when th...

Page 157: ...ng SHIFT the cursor key The timer unit of adjustment is 0 01 minutes If you use the number keys to input the timer value press SELECT when the cursor is on the timer value The data input line is displayed Input the value and press ENTER 4 The INSERT key lamp lights When registering before the END instruction INSERT is not needed Select JOB under the top menu Select JOB Move the cursor to inserted ...

Page 158: ...nput the desired value and press ENTER 3 The details edit display is closed and the job content display is shown again Modified content is displayed in the input buffer line Press TIMER Press SELECT 1 Input the timer value on the instruction details edit display 2 Press ENTER 3 Press INSERT 4 Press ENTER 5 0003 MOVJ VJ 50 00 0004 TIMER T 2 00 0005 MOVL V 138 TIMER INSTRUCTION REGISTERED Operation ...

Page 159: ... of the last step At this time only the position data can be changed in the last step Motion type and play speed do not change Why is overlapping the first and last step necessary Assume that the job shown below is to be repeated The manipulator moves from the last step Step 6 to the first step Step 1 If Step 6 and Step 1 are the same position the manipulator moves directly Step 5 to Step 1 thereb...

Page 160: ...ute all instructions press INTERLOCK FWD FWD Moves the manipulator ahead in step number sequence Only the move instruction is executed when FWD is pressed but when INTERLOCK FWD are pressed all instructions are executed BWD Moves the manipulator backward a step at a time in reverse step number sequence Only the move instruction is executed Move the cursor to the step to be confirmed Press FWD or B...

Page 161: ...ning of a called job the manipu lator moves to the instruction immediately before the CALL instruction Circular Movements with FWD BWD Key Operations The manipulator moves in a straight line to the first step of the circular motion type There must be three circular interpolation steps in a row to move the manipulator in an arc If FWD or BWD operation is restarted after being stopped to move the cu...

Page 162: ...or BWD operation is restarted after being stopped to move the axis as shown in the following the manipulator moves in a straight line to P2 the next free curve motion step Free curve motion is restored from P2 onward However the path followed between P2 and P3 is somewhat different from the path followed at playback If the manipulator is moved to P3 with FWD stopped and then returned to P2 with BW...

Page 163: ... checking continuous paths and operation instructions Test operation differs in the following ways from actual playback in the play mode Test operation is performed by pressing INTERLOCK and TEST START For safety pur poses these keys will only function while the keys are held down INCH LOW MED FST FST MED LOW INCH FWD BWD operation is performed with SLW speed even if INCH is selected HIGH SPD is a...

Page 164: ...on continues even if INTERLOCK is released The manipulator moves only while these keys are held down The manipulator stops immediately when TEST START is released Select JOB under the top menu Press JOB Press INTERLOCK TEST START 2 Always check safety conditions before pressing INTERLOCK TEST START to start the manipulator in motion Operation Explanation SUPPLE MENT ...

Page 165: ...ion where you want to insert the instruction Axis operations Set motion type Set play speed Set position level when necessary Press ENTER Insertion completed Begin move instruction deletion Move cursor to location of instruction to be deleted Press DELETE Deletion completed Press ENTER Press INSERT ...

Page 166: ... Move cursor to step to be modified Move to position to be modified using the axis operation keys Press MODIFY Press ENTER Modification completed Modifying position data Modifying motion type Perform axis operations to position to be modified Delete MOV instruction Press MOTION TYPE and select motion type Insert MOV instruction Modification completed NOTE ...

Page 167: ...he REFP instruction to be modified Press DELETE Move cursor to the REFP instruction to be deleted and move the manipulator to the position Press ENTER Deletion completed Deletions Modifications Perform axis operations Press REF PNT Press ENTER Modification completed Press MODIFY ...

Page 168: ...u Select JOB 1 In any other than the teach mode press TEACH on the playback panel Begin TIMER Instruction Modification Move cursor to the TIMER instruction to be modified Press DELETE Press ENTER Deletion completed Deletions Modification Press TIMER Enter timer value Press MODIFY Press ENTER Modification completed Move cursor to the TIMER instruction to be deleted Operation Explanation NOTE ...

Page 169: ... job name to be called Move instructions cannot be inserted when the servo power is not on Move the cursor to the line before the insert position 1 Press the axis operation key 2 Press INSERT 3 Press ENTER 4 Operation Explanation JOB LIST JOB00001 JOB00002 JOB00003 ARC JOB1 SAMPLE01 R1 S C L JOB EDIT DISPLAY UTILITY NOTE Operation Explanation 0006 MOVL V 276 0007 TIMER T 1 00 0008 DOUT OT 1 ON 000...

Page 170: ...n are inserted The default location for insertions is for before the next step but it is also possible to insert after the cursor line This setting is performed in the Move Instruction Register Method NOTE NOTE 0006 MOVL V 276 0007 TIMER T 1 00 0008 DOUT OT 1 ON 0009 MOVL V 558 0010 MOVJ VJ 100 0 MOVE INSTRUCTION IS ADDED NOTE 0006 MOVL V 276 0007 TIMER T 1 00 0008 DOUT OT 1 ON 0009 MOVJ VJ 100 0 ...

Page 171: ...cursor position on the display the cursor blinks Stop the blinking by either of the following procedures Press FWD and move the manipulator to the position where the move instruction is to be deleted Press MODIFY à ENTER to change the position data of the blinking cursor position to the current manipulator position Move the cursor to the MOV instruction to be modified 1 Press the axis operation ke...

Page 172: ...rsor line step is deleted 5 When MOTION TYPE is pressed one time the motion type after the change is selected Each time MOTION TYPE is pressed the input buffer line instruction alter nates 6 The motion type and position data are changed at the same time The values of the position variables are not changed Even MOV instructions for which position variables have been set are not changed Modifying on...

Page 173: ...e is changed Move the cursor to the reference point to be deleted Press DELETE 1 Press ENTER 2 If the manipulator position differs from the cursor position an error message is displayed If this occurs follow either of the procedures below Press REF PNT FWD to move the manipulator to the position to be deleted Press MODIFY then ENTER to change the reference point position data to the current positi...

Page 174: ...input buffer line timer value and press SELECT The number value is then input 2 This key lamp lights 3 The timer instruction at the cursor line is changed Move the cursor to the timer instruction to be deleted 1 Press DELETE 2 Press ENTER 3 Move the cursor to the timer instruction to be modified Press TIMER Move the cursor to the input buffer line timer value 1 Change the timer value 2 Press ENTER...

Page 175: ...easing the teach lock When the teaching operation is completed release the teach lock using the programming pendant 1 LED of the TEACH LOCK is turn off and the teach lock is released The message Caution TEACH LOCK mode released is displayed Press LOCK 1 Operation Explanation ...

Page 176: ...cular job is played back frequently it is convenient to register that job as a master job master registraton A job registered as the master job can be called more easily than the method described on the preceding page Select JOB under the Top Menu Select SELECT JOB 1 Select the desired job Operation Explanation JOB LIST TEST 1 JOB00002 JOB00003 ARC JOB1 SAMPLE01 R1 S C L JOB EDIT DISPLAY UTILITY R...

Page 177: ...ing a master job automatically releases the previously registered master job Select JOB under the Top Menu Select SELECT JOB 1 Select the desired job NOTE Operation Explanation MASTER JOB MASTER JOB R1 S C L JOB EDIT DISPLAY UTILITY CALL MASTER JOB SETTING MASTER JOB CANCEL MASTER JOB MASTER JOB MASTER JOB TEST 1 R1 S C L JOB EDIT DISPLAY UTILITY CALL MASTER JOB MASTER JOB TEST 1 JOB00002 JOB00003...

Page 178: ... The Pull Down Menu is displayed 2 The master job is called and the job content display is shown Select JOB under the Menu 1 Select CALL MASTER JOB 2 MASTER JOB MASTER JOB TEST 1 R1 S C L JOB EDIT DISPLAY UTILITY Operation Explanation JOB CONTENT J TEST 1 S 000 R1 TOOL 0000 NOP 0001 MOVJ VJ 50 00 0002 MOVL V 138 0003 MOVL V 138 0004 MOVL V 138 0005 MOVL V 138 0006 END MOVJ VJ 0 78 Turn on servo po...

Page 179: ...y during the teach mode or the playback display during the play mode is displayed Select JOB under the Top Menu 1 Select MASTER JOB 1 Press SELECT 2 Select CALL MASTER JOB 2 Operation Explanation MASTER JOB MASTER JOB TEST 1 R1 S C L JOB EDIT DISPLAY UTILITY CALL MASTER JOB SETTING MASTER JOB CANCEL MASTER JOB MASTER JOB MASTER JOB TEST 1 R1 S C L JOB EDIT DISPLAY UTILITY CALL MASTER JOB ...

Page 180: ... and a new measurement begins The setting can be made for dis play or no display Start No First step in the measurement Measurement ends when the manipulator stops and the start button lamp goes off Move Time Displays the moving time of the manipulator Playback Time Displays the time from beginning to the end of the measurement Measurement ends when the manipulator stops and the start button lamp ...

Page 181: ... Start Input The procedure to be used to start playback is specified by pressing REMOTE on the play back panel For playback using the playback panel follow the procedures below n Selecting the start device 1 The remote mode is disabled and the teach or play mode is enabled Select DISPLAY under the Menu Select CYCLE TIME 1 After checking to be sure there is no one near the manipulator start the pla...

Page 182: ...which the manipulator returns to the original job STEP Executes one step instruction at a time The operation cycle can be changed using the following 1 The operation cycle is changed Press PLAY on the playback panel 1 Press START on the playback panel 1 Select CYCLE under the menu in the top menu display Select the operation cycle to be changed 1 Operation Explanation Operation Explanation Operati...

Page 183: ...e Light ON Selected to REMOTE mode Light ON Selected to local mode Light OFF Turned the main power on Main Power ON Select SETUP under the top menu Select OPERATE COND 1 Select desired operation 2 Select desired cycle 3 PLAY TEACH REMOTE REMOTE Operation Explanation OPERATING CONDITION MASTER JOB CHANGE PERMIT RESERVED START PROHIBIT RESERVED START JOB CHANGE PERMIT SPEED DATA INPUT FORM cm min CY...

Page 184: ...ED DATA INPUT FORM cm min CYCLE SWITCH IN TEACH MODE CYCLE CYCLE SWITCH IN PLAY MODE CYCLE CYCLE SWITCH IN LOCAL MODE CYCLE CYCLE SWITCH IN REMOTE MODE CYCLE SET CYCLE ON POWER ON CYCLE R1 S C L EDIT DISPLAY DATA UTILITY STEP CYCLE AUTO NONE STEP SUPPLE MENT OPERATING CONDITION MASTER JOB CHANGE PERMIT RESERVED START PROHIBIT RESERVED START JOB CHANGE PERMIT SPEED DATA INPUT FORM cm min CYCLE SWIT...

Page 185: ...After the operation of this step the manipulator stops regardless of the selection of the operation cycle Low speed operation is canceled when the manipulator stops Even if the manipulator is manually stopped during low speed operation the low speed is cancelled 1 The setting alternates between VALID and INVALID 2 Return to the playback display 3 Set to VALID and start the playback operation Manip...

Page 186: ...n the dry run operation is started the manipulator executes all the steps at a constant dry run speed Dry run operation is convenient for quick check of a job consisting of slow operations The dry run speed is 10 of maximum speed 1 The setting alternates between VALID and INVALID 2 Return to the playback display 3 Set to VALID and start the playback operation The manipulator moves at dry run speed...

Page 187: ...ration the machine runs without issuing work instructions such as the arc instruction It is used primarily to check the path of the program 1 The setting alternates between VALID and INVALID 2 Return to the playback display 3 Set to VALID and start the playback operation The manipulator starts check opera tion Select MACHINE LOCK under the special play set display 1 Select COMPLETE 2 Press START o...

Page 188: ... the start operation The manipulator does not execute the weaving operation during check run execution n Cancel All Special Operations 1 The message All special functions canceled is displayed Select WEAV PROHIBIT IN CHK RUN under the special play set display 1 Select COMPLETE 2 Press START on the playback panel 3 Select EDIT from the menu Select CANCEL ALL SELECT 1 Special operations are also aut...

Page 189: ...on the playback panel is pressed the manipulator stops momentarily Release Press START on the playback box The manipulator restarts its operation beginning at the position at which it was stopped n Using an External Input Signal Specific Hold 1 The manipulator stops momentarily The external input signal HOLD lamp lights The playback panel HOLD lamp lights At the same time START lamp lights HOLD la...

Page 190: ...ng any of the fol lowing Playback Panel Programming Pendant External Input Signal Specific Emergency Stop 1 The servo power turns off and the manipulator stops immediately Using the playback panel Using the programming pendant Emergency Stop Using the Playback Panel Emergency Stop Using the Programming Pendant Emergency Stop Using External Input Signal Turn off the hold signal from an external inp...

Page 191: ...rogramming pendant Press SERVO READY on the playback panel or the deadman switch on the program ming pendant to turn on the servo power supply again Using the playback panel Using the programming pendant Turn the emergency stop button in the direction of the arrows 1 Operation Explanation TURN EMERGENCY STOP E STOP TURN SERVO ON READY ...

Page 192: ...top Release Alarms are classified by minor and major alarms Minor Alarms 1 Select RESET under the alarm display to release the alarm status When using an external input signal turn on the ALARM RESET setting Prior to restarting after an emergency stop confirm the position for the next operation and make sure there is no interference with the work piece or fixture The application of an emergency st...

Page 193: ...he operation perform a start operation The manipulator restarts from the next instruction 4 4 Modifying Play Speed 4 4 1 Modifying With Speed Override Speed modifications using the speed override have the following features Speed can be modified during playback The job can be played back at various speeds until the play speed is properly adjusted Speed can be increased or decreased by a ratio of t...

Page 194: ...ayback Adjust the ratio during playback if needed Reset and playback 1cycle completed Modify YES Call job perform speed override Set speed override Modify play ON specify the ratio Start playback Modify play speed simultaneously Start speed override Changes experimentally without modifying registered speed Modifies play speed NO YES 1cycle completed NO ...

Page 195: ... Input the override ratio using the number keys n Modifying Play Speed 1 After the speed override is set the manipulator starts operating The play speed is increased or decreased in the set ratio When setting MODIFY to ON the step s play speed is modified when each step is reached When one cycle is completed by the END instruction the speed override setting is released Select UTILITY under Menu in...

Page 196: ...en an alarm or error occurs When 1 CYCLE operation is completed using the END instruction When the power supply is turned off Assuming that the manipulator moves from step 1 to step 2 the play speed of step 2 is not modified if the speed override is released before reaching step 2 When the play speed is changed by speed override the maximum and minimum speed is limited by the manipulator When sett...

Page 197: ...to process workpiece 1 at Station 1 Job 2 is registered to process workpiece 2 at Station 2 Job 3 is registered to process workpiece 3 at Station 3 To play back the jobs prepare workpiece 1 and press the start button on Station 1 The manipulator executes Job 1 Prepare workpieces 2 and 3 while Job 1 is being executed and press the start buttons on Stations 2 and 3 Even if Job 1 is being executed at...

Page 198: ...of the items Enabling reserved start can not be performed if the EDIT LOCK option setting is ON Select SETUP under the top menu Select OPERATE COND 1 Select RESERVED START 2 The operation condition display is shown only when the security mode is management mode NOTE Operation Explanation OPERATING CONDITION EXTERNAL CYCLE SWITCH iii PERMIT PP CYCLE SWITCH iii PERMIT EXTERNAL SERVO ON a i PERMIT PP...

Page 199: ...cally set to 1CYCLE This operation can be done only when the operation mode is teach mode and the sucurity mode is management mode Select SETUP under the top menu Select RES START CNCT 1 Select START IN or START OUT for each station 2 Input desired signal number Press ENTER OPERATING CONDITION EXTERNAL CYCLE SWITCH iii PERMIT PP CYCLE SWITCH iii PERMIT EXTERNAL SERVO ON a i PERMIT PPANEL SERVO ON ...

Page 200: ...can be done only when the operation mode is teach mode and the setting of RESERVED START JOB CHANGE is PERMIT in the operation condition display For oparation refer to Enabling Reserved Start Select JOB under the top menu Select RES START JOB 1 Select job name for each station 2 Select SETTING START JOB 3 Select desired job 4 RESERVED START CNCT NO START IN START OUT 1 2 3 4 5 6 R1 S C L EDIT DISP...

Page 201: ...ode is teach mode and the setting of RESERVED START JOB CHANGE is PERMIT in the operation condition display For oparation refer to Enabling Reserved Start RESERVED START JOB NO JOB NAME CONNECTION 1 2 3 4 5 6 R1 S C L EDIT DISPLAY JOB UTILITY RESERVED START JOB NO JOB NAME CONNECTION 1 a 2 3 4 5 6 R1 S C L EDIT DISPLAY JOB UTILITY N ƒWƒ ƒu o CANCEL START JOB SETTING START JOB RESERVED START JOB NO...

Page 202: ...S START JOB 1 Select job name for each station 2 Select CANCEL START JOB 3 Press PLAY on the playback panel 1 Press start button on the station 2 Operation Explanation RESERVED START JOB NO JOB NAME CONNECTION 1 JOB1 a 2 JOB2 3 JOB3 4 JOB4 5 6 R1 S C L EDIT DISPLAY JOB UTILITY N ƒWƒ ƒu o CANCEL START JOB SETTING START JOB RESERVED START JOB NO JOB NAME CONNECTION 1 a 2 JOB2 3 JOB3 4 JOB4 5 6 R1 S ...

Page 203: ...ons are pressed When a job is reserved the start button lamp on the station blinks No station job is reserved when it is being executed even if its start button is pressed To suspend a job being executed perform the Hold operation Reservations are cancelled when the start button is pressed again during the job reserva tion operation Select JOB under the top menu Select RES STATUS 1 STARTING Indica...

Page 204: ...ob reservation stated to STOP and RESERVE is reset If STARTING is displayed the job can not be reset Select JOB on the job reservation status display Select RESET RESERVATION or RESET ALL 1 Select YES 2 All job reservations are reset automatically in the following conditions When the reserved start sets to PROHIBIT When another job is called or an edit operation is performed NOTE Operation Explana...

Page 205: ...at which it was stopped n Hold by External Input Signal Specific Hold 1 The manipulator stops temporarily The hold lamp for the external output signal lights The HOLD lamp on the playback panel lights and the START lamp goes off Release 1 Hold is released To continue the operation press the start button on the suspended station The manip ulator restarts its operation from the position at which it ...

Page 206: ... Hold is released To continue the operation press the start button on the station The manipulator restarts its operation from the position at which it was stopped Press the hold button on the station 1 Press the hold button on the suspended station 1 Operation Explanation External holding Operation Explanation ...

Page 207: ... The pull down menu is displayed Job calls can be used for up to 8 stack levels Select DISPLAY under the Menu in the playback display 1 Select JOB STACK 2 SUPPLE MENT Operation Explanation PLAYBACK J JOB A S 000 0000 NOP 0001 MOVJ VJ 100 00 0002 MOVL V 1500 0003 MOVJ VJ 100 00 0004 MOVL V 1500 0005 MOVJ VJ 100 00 0006 CALL JOB JOB B 0007 MOVJ VJ 100 00 CYCLE TIME JOB STACK JOB STACK JOB EDIT DISPL...

Page 208: ...ce more For example when the playback of Job C is executing Job C is called from Job B Also Job B is called from Job A PLAYBACK J JOB C S 004 R1 TOOL 0 0000 NOP 0001 MOVJ VJ 100 00 0002 MOVL V 1500 0003 MOVJ VJ 100 00 0004 MOVL V 1500 0005 MOVJ VJ 100 00 0006 MOVJ VJ 100 00 0007 MOVJ VJ 100 00 JOB STACK 1 JOB A 2 JOB B 3 4 5 6 7 8 R1 S C L JOB EDIT DISPLAY UTILITY ...

Page 209: ...4 6 Displaying Job Stack 4 34 ...

Page 210: ...s displayed Job Capacity Display The number of registered jobs amount of memory number of steps used etc is shown Job List Display The registered job is sorted alphabetically then displayed and the job is selected n JOB HEADER DISPLAY 1 The job header display is shown Scroll the display using the cursor Select JOB under the top menu Select JOB Select DISPLAY under the menu Select JOB HEADER 1 Oper...

Page 211: ...sk since the date and time of the last editing operation and displays NOT DONE if they are not saved The job is marked as DONE only if it is saved as an independent job or as a related job If it is saved in a CMOS batch operation it is not marked as DONE GROUP SET Displays the setting status for the group axes that this job controls If the master axis is specified the master axis is highlighted No...

Page 212: ...een taught for this job Steps which have no position data such as move instructions which use position variables are marked with an asterisk Current Data Displays the current tool file number and position of the manipulator n Job List Display Select ROBOT under the top menu Select COMMAND POSITION 1 Select JOB under the top menu Select SELECT JOB Operation Explanation COMMAND POSITION INTR JOINT S...

Page 213: ... remaining memory ƒ ƒ ƒ ƒNumber of Used Steps Number of Remaining Steps Displays the total number of registered steps and the number of remaining steps If a job has an error in the content its name blinks Select JOB under the top menu Select JOB CAPACITY NOTE Operation JOB CAPACITY NUMBER OF JOBS i 22 USED MEMORY 5932 BYTES REST ii ii 34904 BYTES ROBOT AXIS STEPS ii 378 STEP REMAIN STEPS ii 220 ST...

Page 214: ...on editing move instructions It is not possible to add delete or modify move instructions which have position data See 3 4 Modifying Steps for details The following MOV instruction edit operations are explained in this section For move instructions Insertion or deletion of move instruction Modification of motion type or play speed for move instructions Setting modification or deletion of UNTIL sta...

Page 215: ...d See 1 3 6 Character Input for information on letter input operations Explanation JOB CONTENT J JOB A S 000 R1 TOOL 0000 NOP 0001 THIS JOB IS TEST JOB 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 276 R1 S C L JOB EDIT DISPLAY UTILITY ƒWƒ ƒu à e J ì ÆA S 000 R1 TOOL 00 0000 NOP 0001 e 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 276 SELECT JOB CALL MASTER JOB CREATE NEW JOB RENAME JOB CO...

Page 216: ...lay or the job list display On the Job Content Display On the job content display the current edit job is deleted 1 The job content display is shown Select JOB under the top menu Select SELECT JOB 1 Use the cursor to move to the copy position Select JOB under the menu Select COPY JOB 2 Once the copy is completed it returns to the job list display Select JOB under the top menu Select JOB 1 Select J...

Page 217: ...ion Select JOB under the top menu Select JOB SELECT 1 Move the cursor to the job to be deleted Select JOB under the menu Select DELETE JOB 2 If NO is selected the job deletion is stopped ƒWƒ ƒu à e J ì ÆA S 000 R1 TOOL 00 0000 NOP 0 0 0 1 e 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 276 CALL MASTER JOB CREATE NEW JOB RENAME JOB COPY JOB DELETE JOB DELETE JOB R1 S C L JOB EDIT DISPLAY UTILIT...

Page 218: ...to be used at all press CANCEL to delete the char acters on the input line then enter a new job name Select JOB under the top menu Select JOB 1 Select JOB under the menu Select RENAME JOB 2 Input the job name 3 Press ENTER 4 See 1 3 6 Character Input for information on letter input operations Operation Explanation JOB CONTENT J JOB A S 000 R1 TOOL 0000 NOP 0001 THIS JOB IS TEST JOB 0002 MOVJ VJ 50...

Page 219: ... displayed and edited on the job header display Editing comments are viewed with the job header display Select JOB under the top menu Select SELECT JOB 1 Move the cursor to the name to be changed Select JOB under the menu Select RENAME JOB 2 Select JOB under the top menu Select JOB Select DISPLAY under the menu Select JOB HEADER 1 Select COMM Input comments 2 Press ENTER 3 JOB CONTENT J JOB A S 00...

Page 220: ... prevent inadvertent changes in registered jobs or data it is possible to apply an edit lock to individual jobs When a job is protected from editing the job cannot be edited or deleted Edit lock is set and cancelled in the job header display See 1 3 6 Character Input for information on letter input operations Select JOB under the top menu Select JOB Select DISPLAY under the menu Select JOB HEADER ...

Page 221: ...T and PER MIT Select SETUP under the top menu Select TEACHING COND 1 Select STEP ONLY CHANGING and setting is permitted 2 Teaching condition display is shown only when the security mode is higher than the edit mode Explanation JOB HEADER JOB NAME TESTJOB COMM THIS JOB IS TEST JOB DATE 1998 05 27 12 00 CAPACITY 1024 BYTE LINES 30 LINE STEPS 20 STEP EDIT LOCK OFF JOB EDIT DISPLAY UTILITY R1 S C L Op...

Page 222: ...ructions in jobs Deleting registered instructions Modifying registered instructions When inserting or modifying instructions input the instruction with the function keys such as TIMER etc or using the instruction list dialog The selected instruction is displayed on the input buffer line with the same additional items as registered previously This editing operation is done when the cursor is in the...

Page 223: ...d to the instruction group list dialog if is selected Group Contents Example I O Instructions Controls input and output DOUT WAIT Control Instruc tions Controls processing or each work JUMP TIMER Operating Instructions Performs arithmetic calculation ADD SET Move Instruc tions Moves the manipulator MOVJ REFP Shift Instructions Shifts the teaching point SFTON SFTOF Work Instruc tions Operates arc w...

Page 224: ... address area in the job content display 1 Press INFORM LIST 2 Select the instruction group 3 Select the instruction Press INSERT and ENTER 4 Operation Explanation 0020 MOVL V 138 0021 MOVL V 138 0022 MOVJ VJ 100 00 LINE BEFORE WHERE INSTRUCTION IS TO BE ADDED JOB CONTENT J TEST S 015 R1 TOOL 00 0017 TIMER T 1 00 0018 MOVJ VJ 12 50 0019 MOVJ VJ 50 00 0020 MOVL V 138 0021 MOVL V 138 0022 MOVJ VJ 10...

Page 225: ... 2 Move the cursor to the address area in the job content display 1 Press INFORM LIST 2 Select the new instruction group 3 Select the instruction Press MODIFY and ENTER 4 Operation Explanation 0020 MOVL V 138 0021 MOVL V 138 0022 MOVJ VJ 100 00 The line desired to be deleted 0021 MOVL V 138 0022 MOVJ VJ 100 00 0023 DOUT OT 1 ON INSTRUCTION MOVES UP ONE PLACE Operation Explanation 0022 MOVJ VJ 100 ...

Page 226: ...e with the same additional items as registered previously 4 Current instruction is modified to the instruction displayed in the input buffer line J TEST S 016 R1 TOOL 0017 TIMER T 1 00 0018 MOVJ VJ 12 50 0019 MOVJ VJ 50 00 0020 MOVL V 138 0021 MOVL V 138 0022 MOVJ VJ 100 00 0023 DOUT OT 1 ON PULSE OT 1 DOUT DIN WAIT PULSE AOUT ARATION ...

Page 227: ...instruction area Move the cursor to the line where the number data is to be modified in the job content dis play 1 Press SELECT 2 Move the cursor to the number data to be modified Select the numeric data by moving the cursor up down 3 Press ENTER 4 SUPPLE MENT JOB CONTENT J TEST S 003 R1 TOOL 00 0000 NOP 0001 THIS JOB IS TEST JOB 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 276 0005 TIMER T 1...

Page 228: ... INFORM command Press SELECT 3 Move the cursor to the addtional item to be modified Press SELECT 4 Select new addi tional item 5 Press ENTER 6 Press ENTER 7 PULSE OT 2 T I001 Output_no 1 J TEST S 015 R1 TOOL 0017 TIMER T 1 00 0018 MOVJ VJ 12 50 0019 MOVJ VJ 50 00 0020 MOVL V 138 0021 PULSE OT 1 T I001 0022 MOVJ VJ 100 00 0023 DOUT OT 1 ON PULSE OT 1 T I001 CHANGED NUMBER DATA INSTRUCTION LINE Oper...

Page 229: ... WAIT TARGET IN 1 CONDITION CONDITION ON TIME UNUSED WAIT IN 1 ON JOB EDIT DISPLAY UTILITY R1 S C L DETAIL EDIT WAIT WAIT TARGET IN 1 CONDITION CONDITION ON TIME UNUSED IN OT SIN SOUT IG OT JOB EDIT DISPLAY UTILITY R1 S C L DETAIL EDIT WAIT WAIT TARGET OT 1 CONDITION CONDITION ON TIME UNUSED JOB EDIT DISPLAY UTILITY R1 S C L J TEST S 015 R1 TOOL 0017 TIMER T 1 00 0018 MOVJ VJ 12 50 0019 MOVJ VJ 50...

Page 230: ...rsor to the addtional item to be inserted Press SELECT 4 Select insert ing additional item 5 Press ENTER 6 Press ENTER 7 Operation Explanation J TEST S 015 R1 TOOL 0017 TIMER T 1 00 0018 MOVJ VJ 12 50 0019 MOVJ VJ 50 00 0020 MOVL V 138 0021 WAIT IN 1 ON 0022 MOVJ VJ 100 00 0023 DOUT OT 1 ON WAIT IN 1 ON ADDITIONAL ITEM TO BE ADDED WAIT IN 1 ON DETAIL EDIT WAIT WAIT TARGET IN 1 CONDITION CONDITION ...

Page 231: ... not be used for the additional item which is locked Move the cursor to the line where the addtional item to be deleted Press SELECT 1 Move the cursor to the instruction Press SELECT 2 Move the cursor to the addtional item to be deleted Press SELECT 3 Select UNUSED 4 Press ENTER 5 Press ENTER 6 DETAIL EDIT WAIT WAIT TARGET IN 1 CONDITION CONDITION ON TIME T 0 01 JOB EDIT DISPLAY UTILITY R1 S C L W...

Page 232: ... 0018 MOVJ VJ 12 50 0019 MOVJ VJ 50 00 0020 MOVL V 138 0021 WAIT IN 1 ON T 1 00 0022 MOVJ VJ 100 00 0023 DOUT OT 1 ON WAIT IN 1 ON T 1 00 INSTRUCTION LINE OF ADDITIONAL ITEM TO BE DELETED WAIT IN 1 ON T 1 00 DETAIL EDIT WAIT WAIT TARGET IN 1 CONDITION CONDITION ON TIME T 1 00 WAIT IN 1 ON T 1 00 JOB EDIT DISPLAY UTILITY R1 S C L DETAIL EDIT WAIT WAIT TARGET IN 1 CONDITION CONDITION ON TIME T 1 00 ...

Page 233: ...e that there is not enough memory for the buffer and an error will occur If this happens either eliminate unnecessary jobs in order to free more memory or break the amount of data into smaller segments using multiple cut and paste operations J TEST S 015 R1 TOOL 0017 TIMER T 1 00 0018 MOVJ VJ 12 50 0019 MOVJ VJ 50 00 0020 MOVL V 138 0021 WAIT IN 1 ON 0022 MOVJ VJ 100 00 0023 DOUT OT 1 ON WAIT IN 1...

Page 234: ...T SELECT 2 Move the cursor to the end line3 Select EDIT under the menu 1 Select COPY 2 Operation Explanation JOB CONTENT J TEST S 002 R1 TOOL 00 0000 NOP 0001 THIS JOB IS TEST JOB 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 276 0005 TIMER T 1 00 0006 DOUT OT 1 ON MOVJ VJ 12 50 Turn on servo power MOVE CURSOR TO ADDRESS AREA JOB EDIT DISPLAY UTILITY R1 S C L JOB CONTENT J TEST S 003 R1 TOOL 0...

Page 235: ...fer Select EDIT under the menu 1 Select CUT 2 Move the cursor the line immediately before the desired position in the job content display Select EDIT under the menu 1 Select PASTE Select YES 2 Explanation JOB CONTENT J JOB A S 000 R1 TOOL 00 0000 NOP 0001 THIS JOB IS TEST JOB 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVJ VJ 12 50 TOP LINE END LINE COPY CUT COPY JOB EDIT DISPLAY UTILITY EDIT R1 S...

Page 236: ... is cancelled Move the cursor to the line immediately before the desired position in the job content dis play Select EDIT under the menu Select REVERSE PASTE 1 Select YES 2 Explanation JOB CONTENT J JOB A S 000 R1 TOOL 00 0000 NOP 0001 THIS JOB IS TEST JOB 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVJ VJ 12 50 END LINE SEARCH COPY CUT PASTE PASTE JOB EDIT DISPLAY UTILITY EDIT R1 S C L Paste YES ...

Page 237: ...the play speed type This method is used to change all steps by a specified percentage This is called relative modification Type of Play Speed Explanation VJ Joint Speed Normal robot axes V Control Point Speed VR Posture Angle Speed VE Base Axis Speed 0005 MOVJ VJ 25 00 0006 MOVL V 138 0007 MOVJ VJ 50 00 ONLY VJ IS CHANGED TO 100 0005 MOVJ VJ 100 00 0006 MOVL V 138 0007 MOVJ VJ 100 00 0005 MOVJ VJ ...

Page 238: ...fies the speed value When SELECT is pressed when the cursor is on this item the mode changes to number input mode Input the speed value and press ENTER 3 If MODIFICATION TYPE is set to CONFIRM the confirmation dialog is displayed If YES is selected the speed on the first line in the range is changed and the next speed is searched If NO is selected the current speed is not changed and the next spee...

Page 239: ...tion to be measured and modified END NO Displays the last line number of the section to be measured and modified ƒ ƒ ƒ ƒMOVING The moving time needed to move from the first number to last number is measured and displayed SET Set the desired moving time When SELECT is pressed when the cursor is on this item the input buffer line is displayed Input the desired moving time and press ENTER 3 The speed...

Page 240: ...ta and SPEED or ARCON instructions are present the speed data for those steps are not changed If the speed data is limited by the maximum value the following message is displayed Maximum Speed Select JOB under the top menu Select JOB Move the cursor to the address area Select the line to be modified 1 Press SHIFT the cursor key simulta neously 2 Press ENTER 3 NOTE Limited to maximum speed Operatio...

Page 241: ...Editing User Variables User variables are used for temporary storage for counters calculations and input signals It is possible to edit which variables are used for what purpose for each job Since the same user variable can be used in multiple jobs save the numerical values as common references for the jobs User variables have the following applications Refer to XRC Instructions for information re...

Page 242: ...t P000 to P127 128 Can store position data in pulse form or in XYZ form XYZ type variable can be used as target position data for move instructions and as incremental values for parallel shift instructions Base BP000 to BP127 128 Station EX000 to EX127 128 Play Speed V MOVL V I000 The variable I000 is used for speed V with this move instruction The unit for V is 0 1mm per second For example if I00...

Page 243: ...ess ENTER Operation 2 Move the cursor to the menu area and select EDIT à SEARCH And then input the variable no with the number key and press ENTER Select VARIABLE under the top menu Select desired variable type 1 Move the cursor to the desired variable no 2 Operation Explanation BYTE VARIABLE NO CONTENTS NAME B000 2 0000_0010 WORK NUM B001 0 0000_0000 B002 255 1111_1111 B003 0 0000_0000 B004 0 000...

Page 244: ...ER Operation 2 Move the cursor to the menu area and select EDIT à SEARCH Then input the vari able no with the number key and press ENTER 3 The value input status display is shown 4 Input value is set to the variable on the cursor position Select VARIABLE under the top menu Select desired variable type 1 Move the cursor to the desired variable No 2 Move the cursor to the data of the variable 3 Pres...

Page 245: ...o be input Move the cursor to the menu area and select EDIT à SEARCH Input desired variable number and press ENTER The cursor moves to the variable number to be input 3 The input buffer line is displayed 4 The variable name is registered Select VARIABLE under the top menu Select desired variable 1 Move the cur sor to desired variable number 2 Select NAME 3 Input name Press ENTER 4 Refer to 1 3 6 C...

Page 246: ...Then input the variable no using the number key and press ENTER Operation 2 Move the cursor to the menu area and select EDIT à SEARCH Then input the vari able no with the number key and press ENTER Select VARIABLE under the top menu Select desired position variable type 1 Press the page key 2 Operation Explanation POSITION VARIABLE P000 ROBOT NAME SHIFT DATA R1 X 330 000 TOOL 01 Y 0 000 Z 10 000 T...

Page 247: ...etting of position variables is done in the teach mode Turn the servo power on when setting the variables with the axis keys Types of Position Variables and Setting Methods TYPE Pxxx Robot Axes BPxxx Base Axes EXxxx Station Axes Pulse Type XYZ Type Pulse Type XYZ Type Pulse Type Setting Method Select coordinates from base robot user tool NOTE ...

Page 248: ...d for data clear If YES is selected the data is cleared Select VARIABLE under the top menu Select desired position variable type 1 Select the variable data type 2 Select PULSE Move the cursor to desired data to be input and press SELECT Input the value Press ENTER 3 Operation Explanation POSITION VARIABLE P000 NAME S TOOL L U R B T Turn on servo power R1 S C L DATA EDIT DISPLAY UTILITY P000 NAME P...

Page 249: ...ition variable type Select the variable data type 1 Select desired coordinates except PULSE Move the cursor to desired data to be input and press SELECT Input the value Press ENTER 2 POSITION VARIABLE P000 PULSE NAME R1 S 45000 TOOL 00 L DATA EDIT DISPLAY UTILITY R1 S C L Operation Explanation P000 NAME PULSE BASE ROBOT USER TOOL MASTER TOOL POSITION VARIABLE P000 ROBOT NAME R1 X 330 000 TOOL 01 Y...

Page 250: ...ine changes R1 à R2 à R3 Base or Station Axis Each time SHIFT EX AXIS is pressed the axis displayed on the status line changes B1à B2 à B3 à S1 à S2 à S3 à S4 à S5 à S6 2 Move the manipulator or the external axis to the desired position to be set to position variable XYZ Type 1 Move the manipulator to the desired position to be set to position variable 2 Move the manipulator or the external axis t...

Page 251: ...sition variable type Select DATA under the menu 1 Select CLEAR DATA 2 Select VARIABLE under the top menu Select desired position variable type 1 Press FWD 2 The selected axis maipulator base or station moves directly to the set variable position Before pressing FWD check that the surrounding area is safe Operation Explanation POSITION VARIABLE P000 ROBOT NAME R1 X 330 000 TOOL 01 Y 0 000 Z 10 000 ...

Page 252: ...Comprised of the L and U Axis S Axis Angle These six types are described in the following Flip No Flip This shows the R Axis position When the R axis is in the position at A as shown in the following diagram it is known as Flip when it is in the B position it is called No Flip However in a robot in which the R axis can move more than 180 even in position A It is necessary to specify whether the R ...

Page 253: ...T Axis Angle The T axis is specified for manipulators which have three wrist axes T Axis Angle speci fies whether the T axis angle is less than 180 or greater than 180 R 180 R 180 180 θ R 180 180 θ R 180 360 θ R 180 θ R is the angle when the R axis home position is 0 T 180 T 180 180 θ T 180 180 θ T 180 360 θ T 180 θ T is the angle when the T axis home position is 0 NOTE NOTE ...

Page 254: ...s from the right hand side When viewed from the right hand side the right of the S axis rotation center is called the front and the left is called the back The diagram above shows the S axis at 0 and at 180 This is the configuration when the L axis and the U axis are viewed from the right hand side This configuration is required for SK K SV and S model robots Upper Arm Lower Arm This specifies a t...

Page 255: ...del robots S Axis Angle This specifies whether the S axis angle is less than 180 or greater than 180 This configuration is required for the robots which have working envelopes greater than 180 Upper Arm Lower Arm S 180 S 180 180 θ S 80 180 θ S 360 360 θ S 180 θ S is the angle when the S axis home position is 0 NOTE ...

Page 256: ... each of these jobs Able to Use Any Number of Variables The number is set in the job header display When the number is set the area for the value is saved in memory Local Variables Data Format Variable No Functions Byte Type LB000 to LBooo Range of storeable values is from 0 to 255 Can store I O status Can perform logical operations AND OR etc Integer Type Ll000 to LIooo Range of storeable values ...

Page 257: ...al variables itself calls a separate job then is returned to by use of a RET instruction the data that was present prior to the CALL instruction remains in effect and can be used n Setting the Number of Local Variables To use any of the variables in a job setting is done in the job header display When setting the number of variables only save it in that memory area Precautions for Variables and Un...

Page 258: ...a in the job con tent display 1 The job content display is displayed Select JOB under the top menu Select JOB 1 Select EDIT under the menu 2 Select SEARCH 3 Select the searching type Explanation JOB HEADER JOB NAME TEST JOB TO SAVE TO FD NOT DONE GROUP SET R1 LOCAL VAR NUM BYTE LB 0 INT LI 0 DOUBLE LD 0 REAL LR 0 ROBOT LP 0 0 R1 S C L JOB EDIT DISPLAY UTILITY JOB HEADER JOB NAME TEST JOB TO SAVE T...

Page 259: ...ER 2 JOB CONTENT J TEST S 003 R1 TOOL 00 0000 NOP 0001 THIS JOB IS TEST JOB 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 276 0005 TIMER T 1 00 0006 DOUT OT 1 ON MOVJ VJ 100 00 Turn on servo power TOP LINE END LINE SEARCH ENABLE SPEED TAG ENABLE POS LVL TAG SEARCH R1 S C L JOB EDIT DISPLAY UTILITY EDIT JOB CONTENT J TEST S 003 R1 TOOL 00 0000 NOP 0001 THIS JOB IS TEST JOB 0002 MOVJ VJ 50 00 00...

Page 260: ...s ENTER 2 Select LABEL SEARCH 1 Input desired label name 2 Press ENTER 3 Use the cursor to continue searching 4 JOB CONTENT J TEST S 081 R1 TOOL 00 0100 MOVJ VJ 100 00 0101 TIMER T 1 00 0102 MOVL V 138 0103 MOVL V 138 0104 MOVJ VJ 50 00 0105 MOVJ VJ 100 00 0106 DOUT OT 1 ON 0107 TIMER T 0 50 Turn on servo power JOB EDIT DISPLAY UTILITY R1 S C L Operation Explanation JOB CONTENT J TEST S 081 R1 TOO...

Page 261: ...NSTRUCTION SEARCH 1 Select desired instruction group Select desired instruction 2 Use the cursor to continue searching 3 0005 TIMER T 1 00 START JOB CONTENT J TEST S 081 R1 TOOL 00 0099 START 0100 MOVJ VJ 100 00 0101 TIMER T 1 00 0102 MOVL V 138 0103 MOVL V 138 0104 MOVJ VJ 50 00 0105 MOVJ VJ 100 00 0106 DOUT OT 1 ON Turn on servo power JOB EDIT DISPLAY UTILITY R1 S C L JOB CONTENT J TEST S 081 R1...

Page 262: ...2 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 276 0005 TIMER T 1 00 0006 DOUT OT 1 ON 0007 MOVL V 138 Turn on servo power JOB EDIT DISPLAY UTILITY R1 S C L IN OUT CONTROL DEVICE MOTION ARITH SHIFT JOB CONTENT J TEST S 005 R1 TOOL 0010 ARCON ASF 1 0011 MOVJ VJ 100 00 0012 TIMER T 1 00 0013 MOVL V 138 0014 MOVL V 138 0015 MOVJ VJ 50 00 0016 MOVJ VJ 100 00 0017 DOUT OT 1 ON Turn on servo power JOB E...

Page 263: ...8 Turn on servo power JOB EDIT DISPLAY UTILITY R1 S C L IN OUT CONTROL DEVICE MOTION ARITH SHIFT JOB CONTENT J TEST S 003 R1 TOOL 00 0000 NOP 0001 THIS JOB IS TEST JOB 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 276 0005 TIMER T 1 00 0006 DOUT OT 1 ON 0007 MOVL V 138 Turn on servo power B B D I OG OGH OT JOB EDIT DISPLAY UTILITY R1 S C L JOB CONTENT J TEST S 005 R1 TOOL 0010 DOUT OT 1 ON 001...

Page 264: ...he menu and press SELECT JOB CONTENT J TEST S 081 R1 TOOL 00 0010 DOUT OT 1 ON 0011 MOVJ VJ 100 00 0012 TIMER T 1 00 0013 MOVL V 138 0014 MOVL V 138 0015 MOVJ VJ 50 00 0016 MOVJ VJ 100 00 0017 DOUT OT 1 ON Turn on servo power JOB EDIT DISPLAY UTILITY EDIT TOP LINE END LINE SEARCH ENABLE SPEED TAG ENABLE POS LVL TAG END SEARCH R1 S C L ...

Page 265: ...are equipped with the optional EDIT LOCK switch on the playback box Turn the EDIT LOCK key to the ON position The edit lock is set and all editing operations are prohibited The key can be removed at this time When the EDIT LOCK key is turned to the OFF position the edit lock state is released See Setting Edit Lock on Individual Job Units for further information on the edit lock function for indivi...

Page 266: ...cursor to the required job name or con dition file name and simply press DIRECT OPEN KEY to display the contents of the file Direct open can be used for the following displays Job content display for a job name directly specified by a CALL instruction Condition file display for a file name directly specified by a work instruction Command position display for a move instruction I O display with an ...

Page 267: ...S INTR JOINT SPD 50 00 CMD TOOL 00 CURR TOOL 00 R1 S 18402 R1 S 18402 L 45714 L 45714 U 28450 U 28450 R 287 R 287 B 8090 B 8090 T 461 T 461 R1 S C L UNIVERSAL OUTPUT GROUP OG 01 1 DEC 01 HEX OUT 001 1010 WORK NUM OUT 002 1011 OUT 003 1012 OUT 004 1013 OUT 005 1014 OUT 006 1015 OUT 007 1016 OUT 008 1017 R1 S C L WEAVING CONDITION WEAVING COND NO 2 MODE 0 SINGLE 1 TRI 2 L 0 0 SMOOTH 1 NONE 0 SPEED 0...

Page 268: ...isplay mode However a display which is only used in the teach mode cannot be shown in the display mode and vice versa A display only used in the security mode cannot be shown in another mode NOTE NOTE R1 S C L JOB EDIT DISPLAY UTILITY WEAVING CONDITION WEAVING COND NO 2 MODE 0 SINGLE 1 TRI 2 L 0 0 SMOOTH 1 NONE 0 SPEED 0 FREQ 1 MOVING TIME 0 AMPLITUDE ACTIVE IN SINGL 234 567mm FREQUENCY 3 4Hz PATT...

Page 269: ...wn Call the display to be registered 1 Press SHIFT RESERVED DISPLAY CALL KEY 2 Press RESERVED DISPLAY CALL KEY 1 If another display is selected while a reserved display is on the screen the reserved dis play call is automatically cancelled and the RESERVED DISPLAY CALL lamp goes out The reserved display call function cannot be used for some displays for example the character input temporary displa...

Page 270: ...ent The parallel shift function is relevant to the actual operation of the manipulator because it can be used to reduce the amount of work involved in teaching by shifting a taught path or position In the example in the figure below the taught position A is shifted in increments of the dis tance this is actually a three dimensional XYZ displacement that can be recognized by the robot in order to e...

Page 271: ...ut the method shown in the following in which just the part to be shifted is made into a separate job can also be used SFTON P ooo CALL JOB ooo Job to be shifted SFTOF Line Instruction 0000 NOP 0001 001 MOVJ VJ 50 00 0002 002 MOVL V 138 0003 SFTON PoooUF 1 0004 003 MOVL V 138 0005 004 MOVL V 138 0006 005 MOVL V 138 0007 SFTOF 0008 006 MOVL V 138 Shifted Block 1 2 3 4 5 6 ...

Page 272: ...is performed at a location shifted from the taught position by the amount registered for the specified position variable The position variable display is shown in the following n Coordinates The shift value for parallel shift is X Y and Z increment in each coordinates There are four coordinates base coordinates robot coordinates tool coordinates and user coordinates In systems with no travel axes ...

Page 273: ...X Y and Z only RX RY RZ 0 the wrist is shifted while maintaining the same posture as at the teaching point Since shifting is normally performed without changing the posture there is no need to specify an angular dis placement for the wrist The motion when a parallel shift is performed is shown in the follow ing CUR POS COORDINATE USER COORD UF 01 TOOL 00 R1 X 5 360 mm Rx 179 91 deg Y 66 080 mm Ry ...

Page 274: ... Instructions To register the instruction move the cursor to the address area in the job content display dur ing teach mode Select JOB under the top menu Select JOB Move the cursor to the address area 1 Operation Explanation JOB CONTENT J TEST S 003 R1 TOOL 00 0000 NOP 0001 THIS JOB IS TEST JOB 0002 MOVJ VJ 50 00 0003 MOVJ VJ 12 50 0004 MOVL V 276 0005 TIMER T 1 00 0006 DOUT OT 1 ON MOVJ VJ 100 00...

Page 275: ...T is pressed the input line is displayed Input using the number key and press ENTER to modify the number value in the input buffer line When inserting SHIFT COORD move the cursor to the instruction at the top of the input buffer line press SELECT and the detail edit display is shown Move the cursor to the position before where the SFTON instruction is to be registered 1 Press INSTRUCTION LIST 2 Se...

Page 276: ...nput buffer line is registered n SFTOF Instruction This is the instruction that ends a parallel shift Move cursor to inserting line 1 Press INFORM LIST Select SFTOF instruc tion 2 Select SHIFT Press INSERT and then ENTER 3 SFTON P001 DETAIL EDIT SFTON P VAR ROBOT P000 COORDINATE UNUSED SFTON P000 JOB EDIT DISPLAY UTILITY R1 S C L DETAIL EDIT SFTON P VAR ROBOT P000 COORDINATE UNUSED SFTON P000 JOB ...

Page 277: ...ion and target position shift position when parallel shift is performed is determined in the specified coordinate system and set as the specified position variable Posture displacement Rx Ry Rz is specified to the shift value set by the user When a displacement between two points is calculated using an INFORM operating instruction ADD instruction SUB instruction etc and a pos ture displacement Rx ...

Page 278: ... input line is displayed Input using the number key and press enter to modify the number value in the input buffer line When inserting SHIFT COORD move the cursor to the instruction at the top of the input buffer line press SELECT and the detail edit display is shown Explanation 0003 MOVJ VJ 10 00 0004 GETS PX001 PX000 0005 END Line im m ediately before where MSHIFT instruction is to be registered...

Page 279: ...deleting adding Cursor position change step line etc in the job Job copy job name change Registering a new job deleting a job or modifying a selected job Restart after the alarm occurs When control power is turned off If the shift function is cancelled through a job editing operation after execution of a parallel shift instruction the job must be started again from the beginning Because no shift i...

Page 280: ... SUB P000 P000 A MOVJ MOVL Gripping workpiece MOVL MOVL SFTON P000 UF 1 MOVL Releasing workpiece SFTOF ADD P000 P001 MOVL MOVL INC B000 JUMP A IF B00 6 SFTON P000 UF 1 SFTOF SUB P000 P001 Make the first shift value zero Step 1 Step 2 Step 3 Step 4 Shift start Shift position Step 5 Shift end Add the shift value for the next operation Step 6 Step 7 Since the shift data is retained in memory the same...

Page 281: ...manipulator to the reference position 0002 GETS PX000 PX000 Set the reference position as position variable P000 0003 MOVJ VJ 20 00 Move the manipulator to the target position 0004 GETS PX001 X000 Set the target position as position variable P00 0005 MSHlFT PX010 BF PX000 PX00 Set shift value and set it as position variable P010 0006 END ...

Page 282: ... is to be performed The shift coordinates can be selected from the fol lowing Base Coordinates Robot Coordinates Tool Coordinates User Coordinates 24 types Master Tool Coordinates R1 R2 job Joint Coordinates In the case of an ordinary job for which group axes are registered shift conversion is per formed in accordance with the selected coordinate system The relationship between group combinations ...

Page 283: ...axis is shifted by the specified amount The tool center point of the manipulator is shifted by the speci fied amount in the tool coordinates These shifts are carried out independently User Coordinates The base axis is shifted by the specified amount and the tool center point of the manipulator is shifted by the specified amount in the user coordinates S Shift is performed on the basis of pulse val...

Page 284: ...xis is shifted by B and the tool center point of the manipulator is shifted by A in the base coordinates Robot Coordinates The base axis is shifted by B The tool center point of the manipulator is shifted by A in the robot coordinates These shifts are carried out independently ...

Page 285: ...Coordinates The base axis is shifted by B and the control point of the manipulator is shifted by A in the tool coordinates User Coordinates The base axis is shifted by B and the tool center point of the manipulator is shifted by A in the user coordinates ...

Page 286: ...ted jobs can be subjected to parallel shift job conversion in the master tool coordinates Only steps taken at the slave from the standpoint of the SMOV instruction are subject to conversion 0001 MOV MOV 0002 MOV MOV 0003 SMOV MOV 0004 SMOV MOV 0005 SMOV MOV 0006 MOV MOV 1 2 3 4 5 6 Path of motion after conversion ...

Page 287: ...er line is displayed Input the step number and press ENTER ƒ ƒ ƒ ƒConverted Job Specifies the converted job If this is not specified is displayed the original job is converted To change the job do the following things Press SELECT when the cursor is on the original job name The job list display is shown Select the desired job Conversion Coordinates Selects the conversion coordinates Press SELECT w...

Page 288: ...t amount is set Display the parallel shift job conversion display Select the shifting direction 1 Input the shifting amount Press ENTER 2 Operation Explanation R1 S C L PARALLEL SHIFT JOB SOURCE JOB JOB1 STEP SECTION 001 010 DESTINATION JOB JOB2 COORDINATES ROBOT BASE POINT TEACH SETTING SHIFT VALUE R1 X 0 000 Y 0 000 Z 0 000 EDIT DISPLAY DATA UTILITY à R1 S C L PARALLEL SHIFT JOB SOURCE JOB JOB1 ...

Page 289: ... and ENTER 2 Select BASE POINT DEST Press MODIFY and ENTER 3 Select EXEC 4 Operation Explanation PARALLEL SHIFT JOB BASE POINT SRC BASE POINT DEST R1 X 0 000 R1 X 0 000 Y 0 000 Y 0 000 Z 0 000 Z 0 000 R1 S C L EDIT DISPLAY DATA UTILITY EXEC CANCEL PARALLEL SHIFT JOB BASE POINT SRC BASE POINT DEST R1 X 230 000 R1 X 0 000 Y 40 000 Y 0 000 Z 20 000 Z 0 000 R1 S C L EDIT DISPLAY DATA UTILITY EXEC CANC...

Page 290: ...OB1 STEP SECTION 001 010 DESTINATION JOB JOB2 COORDINATES ROBOT BASE POINT TEACH SETTING SHIFT VALUE R1 X 230 000 Y 20 000 Z 80 000 EDIT DISPLAY DATA UTILITY à Operation Explanation R1 S C L PARALLEL SHIFT JOB SOURCE JOB JOB1 STEP SECTION 001 010 DESTINATION JOB JOB2 COORDINATES ROBOT BASE POINT TEACH SETTING SHIFT VALUE R1 X 230 000 Y 20 000 EDIT DISPLAY DATA UTILITY Overwrite YES NO EXEC CANCEL ...

Page 291: ... decimal places valid initial value 10mm Speed Adjustment Range V Unit two decimal places valid maximum 50 PL Adjustment Range 0 to 4 Adjustment Coordinates Robot coordinates base coordinates tool coordinates user coordinates Default coordinates robot coordinates Base axis and station axis data cannot be adjusted Adjustment when a TCP instruction is executed performed by adjusting the data of the ...

Page 292: ...the step number to be adjusted Line up the cursor and press SELECT to show the number input status display Input the step number and press ENTER to set the value XYZ Coordinate Adjustment Set the direction and amount of the X Y and Z coordinates Line up the cursor with the data to be adjusted and press SELECT to show the number input status display Input the number data and press ENTER to set the ...

Page 293: ...uted In the play mode the job can be adjusted just before execution move operation When the job adjustment is completed the set data shown in the PAM status display is cleared However if the step s adjusted position exceeds the soft limit an error occurs in that step only and the data on the display cannot be cleared If editing of the job is prohibited EDIT LOCK on the playback panel is turned on ...

Page 294: ...tep becomes unnecessary the data can be cleared Move the cursor to the line of the data to be cleared 1 Select EDIT under the menu Select LINE CLEAR 2 PAM 007 10 00 00 00 00 00 00 00 008 10 00 00 00 5 00 00 00 010 00 00 15 00 00 00 00 00 02 000 00 00 00 00 00 00 00 00 000 00 00 00 00 00 00 00 00 000 00 00 00 00 00 00 00 00 000 00 00 00 00 00 00 00 00 Correct NO YES DONE CANCEL R1 S C L DATA EDIT D...

Page 295: ...lect EDIT under the menu Select LINE PASTE 2 Explanation Step in data to be cleared PAM JOB TEST INPUT COORD ROBOT COORD STEP X mm Y mm Z mm V PL 001 10 00 00 00 00 00 00 00 002 00 00 8 00 10 00 00 00 01 003 10 00 00 00 00 00 00 00 005 00 00 12 00 00 00 00 00 000 00 00 00 00 00 00 00 00 000 00 00 00 00 00 00 00 00 R1 S C L DATA EDIT DISPLAY UTILITY Operation Explanation PAM JOB TEST INPUT COORD RO...

Page 296: ... executed after which the other robot can also perform the job n Object Job Jobs and relative jobs without group axes cannot be converted n Group Axes Which Become Objects When the job group axes in the multiple group axis system are specified the specified job conversion and origin job conversion group axes should be the same Robot Axis Same model Base Axis Same model Station Axis Same model ...

Page 297: ...gn reversing axis specification 6 5 2 Operation Method n Converting The job conversion job content display is shown Callled Job Other Called Jobs 1 The job list display is shown Converting Execution Select JOB under the top menu Select JOB Select JOB under the top menu Select SELECT JOB Select the job to be called Select UTILITY under the menu Select MIRROR SHIFT 1st Axis 0 No reverse 1 Reverse 6t...

Page 298: ...ot using the conversion origin job name press CANCEL and input the new job name New Job Control Group If the job name is set as the same as the origin job name the control group is also the same To change the control group of the new job line up the cursor with the control group and press SELECT to display the select dialog Select the control group and press SELECT Execute Line up the cursor and p...

Page 299: ...6 5 Mirror Shift Function 6 34 ...

Page 300: ...nit YASNAC FC2 specially designed for the XRC is available as an option The conventional floppy disk unit YASNAC FC1 can also be used The floppy disk unit is used to save various data and parameters on a 3 5 inch floppy disk The floppy disk unit YASNAC FC2 is shown below Front view Rear view Floppy Disk Unit YASNAC FC2 ...

Page 301: ...astic case Floppy disks kept inside plastic cases cannot be bent easily However store them in a box to further ensure they will not accidentally be broken or bent Floppy Disk Units The floppy disk unit is a precision mechanism and should be handled as such Do not jar or shock the floppy disk unit Do not expose the floppy disk unit to an environment that includes a large amount of iron particles or...

Page 302: ...ith the YASNAC MRC and ERC Select XRC using the MRC ERC selector switch on the rear panel of the YASNAC FC2 When using the XRC flip the switch to the MRC side Back of YASNACFC2 The YASNAC FC2 has a power switch on its front panel Flip the switch to the on position to turn on the power A lamp inside the switch lights when the power is supplied The power supply receptacle must have a grounding Groun...

Page 303: ...tion When the disk has been inserted correctly it clicks into position To remove the floppy disk press the eject button at the upper right corner Confirm that there is no floppy disk inside the slot before turning the power on or off A purchased floppy disk cannot be used before it is formatted Refer to section 8 1 2 of File Maintanance Floppy disk initialization The access lamp lights during data...

Page 304: ...low shows file transfer and file management The operations are performed with the progamming pendant Top Menu FD PC CARD Sub Menu LOAD SAVE VERIFY DELETE FORMAT DEVICE Select Data Group Select Floppy Type Select Device Select Data Select Format Size Press EXEC END ...

Page 305: ... USER MEMORY all data belonging to groups and are saved as one file When ƒ BATCH USER MEMORY BATCH CMOS or ˆ ALL CMOS AREA is selected jobs are also saved but the job headers of the saved jobs are not saved to an external memory unit Saving of job headers is only completed if JOB is selected to save the data Refer to YASNAC XRC Instructions for the method to reload into the memory any data belongi...

Page 306: ...ull Open Position Data STROKE DAT PARAMETER BATCH ALL PRM X PARAME TER Robot matching parameter RC PRM X System definition parameter SD PRM X Coordinate origin parameter RO PRM X System matching parameter SC PRM X ClO parameter CIO PRM X Function definition parameter FD PRM X Application parameter AP PRM X Transmission general parameter RS PRM X Sensor parameter SE PRM X Servo parameter SV PRM X S...

Page 307: ...ation UWORD DAT X SV monitor signals SVMON DAT X Variable Name VARNAME DAT X Second home position HOME2 DAT X Alarm history data ALMHIST DAT X Home position calibrating data ABSO DAT X System Information SYSTEM SYS X Data That Can Be Saved File Name Saved Data Save Load OPER EDIT OPER EDIT ...

Page 308: ...ice is modified Select FD PC CARD Select DEVICE 1 Select DEVICE 2 Select the device to be modified 3 Operation Explanation FLOPPY DISK PC CARD DEVICE FC1 DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD DEVICE FC1 FC1 FC2 FC2 DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD DEVICE FC2 DATA EDIT DISPLAY UTILITY R1 S C L ...

Page 309: ...this time the format size corresponding to the foloppy type is automatically modified 2DD 720K 2HD 1 2MB 2HD floppy disk format can be changed To change line up the cursor and press SELECT Each time SELECT is pressed the 1 2MB and 1 4MB will be alter nately displayed When the format type is 2DD the format size is specified to 720KB Be aware that all preexisting data on a floppy disk are lost when ...

Page 310: ...C CARD under the top menu Select LOAD 1 Select JOB 2 Select the job to be loaded 3 Press ENTER 4 Select YES 5 FLOPPY DISK PC CARD FC2 FORMAT FLOPPY TYPE 2DD FORMAT SIZE 720KB DATA EDIT DISPLAY UTILITY R1 S C L EXEC Initialize NO YES Operation Explanation FLOPPY DISK PC CARD FC2 LOAD UN USED MEM 123 4 KB JOB 7 FILE GENERAL DATA 0 BATCH USER MEMORY 0 PARAMETER 1 I O DATA 0 SYSTEM DATA 0 BATCH CMOSAA...

Page 311: ...ST0004 TEST0005 TEST0006 TEST0007 DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 LOAD SINGLE NO 7 TEST0001 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 LOAD SINGLE NO 7 TEST0001 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 DATA EDIT DISPLAY UTILITY Load YES NO R1 S C L FLOPPY DISK PC CARD FC2 LOAD TRANSMITTED ...

Page 312: ...ion FLOPPY DISK PC CARD FC2 LOAD UN USED MEM 123 4 KB JOB 8 FILE GENERAL DATA 0 BATCH USER MEMORY 0 PARAMETER AAA 1 I O DATA 0 SYSTEM DATA A 0 BATCH CMOSAAA 0 ALL CMOS AREA 0 marked data cannot be loaded DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 LOAD BATCH PARAMETER ALL PRM ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD PRM COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC PRM CIO PRMTR CIO PR...

Page 313: ...fol lowing procedure Saving the Job Select FD PC CARD under the top menu Select SAVE 1 Select JOB 2 Select the job to be saved 3 Press ENTER 4 Select YES 5 FLOPPY DISK PC CARD FC2 LOAD BATCH PARAMETER ALL PRM ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD PRM COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC PRM CIO PRMTR CIO PRM FCTN DEF PRMTR FD PRM APPLI PRMTR AP PRM DATA EDIT DISPLAY UTILITY Load YES NO R1...

Page 314: ... MEMORY 0 PARAMETER AAA 1 I O DATA 0 SYSTEM DATA A 0 BATCH CMOS AAA 0 ALL CMOS AREA 0 marked data cannot be loaded DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 SAVE SINGLE NO 7 TEST0001 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 SAVE SINGLE NO 7 TEST0001 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 DATA ED...

Page 315: ...2 Select the file to be saved 3 Press ENTER 4 Select YES 5 FLOPPY DISK PC CARD FC2 SAVE SINGLE NO 7 TEST0001 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 DATA EDIT DISPLAY UTILITY Save YES NO R1 S C L FLOPPY DISK PC CARD FC2 SAVE TRANSMITTED FILE TEST0001 REST 50 BYTE STOP DATA EDIT DISPLAY UTILITY R1 S C L Operation Explanation FLOPPY DISK PC CARD FC2 SAVE UN USED MEM 123 4 KB JOB 8 FILE...

Page 316: ...PRMTR FD PRM APPLI PRMTR AP PRM DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 SAVE BATCH PARAMETER ALL PRM ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD PRM COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC PRM CIO PRMTR CIO PRM FCTN DEF PRMTR FD PRM APPLI PRMTR AP PRM DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 SAVE BATCH PARAMETER ALL PRM ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD...

Page 317: ...y 1 The floppy disk display is shown 2 The following display is shown Please insert the first floppy disk in the external mem ory unit Select FD PC CARD under the top menu Select SAVE 1 Select BATCH USER MEMORY 2 Select EXEC 3 Select YES 4 Insert the floppy disk 5 Operation Explanation FLOPPY DISK PC CARD FC2 SAVE UN USED MEM 123 4 KB JOB 8 FILE GENERAL DATA 0 BATCH USER MEMORY 0 PARAMETER AAA 1 I...

Page 318: ...5 If more data need to be saved when the first floppy disk is full a message appears to prompt the operator to supply another floppy disk Remove the current floppy disk insert another one and move the cursor to EXEC and press SELECT FLOPPY DISK PC CARD INSERT FLOPPY NO 1 USABLE MEMORY 100 EXEC DATA EDIT DISPLAY UTILITY Save YES NO R1 S C L FLOPPY DISK PC CARD FC2 SAVE TRANSMITTED FILE JOB1 HEX RES...

Page 319: ...en not overwriting the file move the cur sor to NO and press SELECT The save operation can be continued while replacing the new floppy disk n Verifying Data Follow the procedure below to verify data in the memory of the XRC with similar data saved at the external memory unit This function cannot be executed with BATCH CMOS or ALL CMOS AREA specified FLOPPY DISK PC CARD INSERT FLOPPY NO 2 USABLE ME...

Page 320: ...PC CARD FC2 VERIFY UN USED MEM 123 4 KB JOB 7 FILE GENERAL DATA 0 BATCH USER MEMORY 0 PARAMETER AAA 1 I O DATA 0 SYSTEM DATA A 0 BATCH CMOSAAA 0 ALL CMOS AREA 0 marked data cannot be loaded DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 VERIFY SINGLE NO 7 TEST0001 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 VERIFY SIN...

Page 321: ...p to be verified 2 Select the file to be verified 3 Press ENTER 4 Select YES 5 FLOPPY DISK PC CARD FC2 VERIFY SINGLE NO 7 TEST0001 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 DATA EDIT DISPLAY UTILITY Verify YES NO R1 S C L FLOPPY DISK PC CARD FC2 VERIFY TRANSMITTED FILE TEST0001 REST 50 BYTE STOP DATA EDIT DISPLAY UTILITY R1 S C L Operation Explanation FLOPPY DISK PC CARD FC2 VERIFY UN ...

Page 322: ... UTILITY R1 S C L FLOPPY DISK PC CARD FC2 VERIFY BATCH PARAMETER ALL PRM ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD PRM COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC PRM CIO PRMTR CIO PRM FCTN DEF PRMTR FD PRM APPLI PRMTR AP PRM DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 VERIFY BATCH PARAMETER ALL PRM ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD PRM COORD ORG PRMTR RO PRM SYS MATCH PRMTR S...

Page 323: ... is shown Select FD PC CARD under the top menu Select DELETE 1 Select JOB 2 Select the job to be deleted 3 Press ENTER 4 Select YES 5 Operation Explanation FLOPPY DISK PC CARD FC2 DELETE UN USED MEM 123 4 KB JOB 7 FILE GENERAL DATA 0 BATCH USER MEMORY 0 PARAMETER AAA 1 I O DATA 0 SYSTEM DATA A 0 BATCH CMOSAAA 0 ALL CMOS AREA 0 marked data cannot be loaded DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY ...

Page 324: ...ES 5 FLOPPY DISK PC CARD FC2 DELETE SINGLE NO 7 TEST0001 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 DELETE SINGLE NO 7 TEST0001 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 DATA EDIT DISPLAY UTILITY Delete YES NO R1 S C L Operation Explanation FLOPPY DISK PC CARD FC2 DELETE UN USED MEM 123 4 KB JOB 8 FILE GENERAL DATA 0...

Page 325: ...iles can be loaded saved or verified FLOPPY DISK PC CARD FC2 DELETE BATCH PARAMETER ALL PRM ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD PRM COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC PRM CIO PRMTR CIO PRM FCTN DEF PRMTR FD PRM APPLI PRMTR AP PRM DATA EDIT DISPLAY UTILITY R1 S C L FLOPPY DISK PC CARD FC2 DELETE BATCH PARAMETER ALL PRM ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD PRM COORD ORG PRMTR RO PR...

Page 326: ...ction mode Only the selected job is loaded saved and collated The selected job and the data file and related job are loaded saved and collated JOB CONTENT J TEST S 000 R1 TOOL 0000 NOP 0001 MOVJ VJ 50 00 0002 MOVL V 276 0003 WVON WEV 1 0004 ARCON ASF 1 0005 MOVL V 138 0006 MOVL V 138 MOVJ VJ 100 00 TOOL TOOL NO 00 NAME STANDARD X 12345 678 mm Rx 123 45 deg Y 0 000 mm Ry 0 00 deg Z 50 000 mm Rz 0 0...

Page 327: ...ll down menu is displayed 2 All jobs are selected When EDIT à CANCEL SELECT is selected the selected item batch operation is cancelled Select EDIT under the menu in either the floppy disk job list display or the file select dis play 1 Select SELECT ALL 2 Operation Explanation FLOPPY DISK PC CARD FC2 VERIFY RELATED NO 7 TEST0001 TEST0002 TEST0003 TEST0004 TEST0005 TEST0006 TEST0007 DATA EDIT DISPLA...

Page 328: ...28 8 WELD REQUEST level pulse Outputs the start instruction to the welder WELD ERROR RESET level Resets the welding alarm status of the welder GUN PRESSURE level Outputs gun pressure instruction to the wlding gun STROKE CHANGE level Select the stroke of the gun In case of single solenoid Change by 1 signal In case of double solenoid Change by 2 signal Spot Welding System I O Diagram See 14 I O SIG...

Page 329: ...8 2 ...

Page 330: ...aneously in the tach mode to turn the welding ON OFF signal ON or OFF Registers the STROKE SHORT instruction the short open stroke change instruction when a double stroke gun is used Press the INTERLOCK and the SHORT OPEN simultaneously to change the stroke signal to the short open status Registers the STROKE LONG instruction the full open stroke change instruction when a double stroke gun is used...

Page 331: ...9 2 ...

Page 332: ...ispay or manual spot wleidng condtiion display is called up These values which is set on manual spot welding dispaly become the initial values for regis tration of the SPOT instruction the spot welding instruction 10 1 2 Dry Spotting To perform dry spotting press the INTERLOCK and the GUN CLOSE simultaneously Also when the number of the gun to be operated and the dry spot instruction GUNCL are reg...

Page 333: ...rs A user message is displayed when the welding ON OFF signal turns ON in the teach mode During manual spot welding the welding current flows only when this message is displayed The output destination must be allocated on the spot output allocation information display before this function can be used 10 1 5 Resetting Alarms The alarm reset signal to all connected welders remains ON while the INTER...

Page 334: ...r automatic tip dressing or automatic tip replacement Specific Keys Instructions GUN CLOSE GUNCL instruction SPOT SPOT instruction SHORT OPEN FULL OPEN STROKE instruction Select JOB under the top menu Select JOB Move the cursor to the address area Be sure to use this instruction in the short open status with a double stroke gun other than X double stroke mechanical stopper type gun The instruction...

Page 335: ...e dis played so select GUNCL 2 The GUNCL instruction is registered n Examples The gun pressure signal is turned ON 0 5 seconds before the manipulator reaches the step 5 position and then turns OFF after 2 seconds 1 5 seconds after reaching there and moves to the execution of step 6 In the job content display move the cursor to the line before the place where the GUNCL instruction is to be register...

Page 336: ...move operation mode In the case of double stroke specifies the open status before and after welding Under two gun control this instruction is completed when the gun with the slower welding sequence completes welding See 13 SPOT GUN MOTION CONTROL for information on the welding sequence executed by this instruction Setting Data Before Welding After Welding 0 Single Gun 1 Short Open Short Open 2 Sho...

Page 337: ... SPOT instruction By omitting this item the SPOT instruction is executed as usual after reaching the move instruction n Operation 1 When the number key SPOT is pressed the SPOT instruction is displayed in the input buffer line 2 The SPOT instruction is registered n Examples The sequence of the SPOT instruction is started from the short open 0 5 seconds before the manipulator reaches the position o...

Page 338: ...he ATT other than when absolutely necessary When the ATT function is set the gun is closed during the robot move operation Set the ATT value after setting the ATT minimum value 0 01 seconds and doing the operation confirmation For details on the stroke change sequence of an X double stroke mechanical stopper type gun to be executed by this instruction see 13 SPOT GUN MOTION CONTROL When using an X...

Page 339: ...ouble stroke gun short open or full open status at any time other than welding Waits until a signal to verify full open or short open is turned ON This instruction can control only one gun at a time Two guns cannot controlled at the same time n Additional items GUN X Specified a gun characteristic file number of which stroke is verified LONG or SHORT Specifies the stroke status to be verified by a...

Page 340: ...ep 5 Then the STRWAIT instruction verifies that the stroke has become full open status and the manipulator moves to step 6 to avoid interference In the job content display move the cursor to the line before the place where the STRWAIT instruction is to be registered Press INSTRUCTION LIST 1 Additional item and number data modification Press ADD then ENTER 2 Operation Explanation STRWAIT GUN 1 LONG...

Page 341: ...10 2 Registering Work Instructions 10 10 ...

Page 342: ...mber value and press ENTER ƒ ƒ ƒ ƒWELDING CONDITION WTM Specifies the manual spot welding condition number Press SELECT to display the number input status input the number value and press ENTER ACTION MODE Specifies the gun operation mode The gun open status before and after welding is displayed To modify the open status press SELECT to display the select dialog Select the desired open status Pres...

Page 343: ...lay 11 2 EDIT DISPLAY DATA UTILITY MANUAL SPOT TWO GUN CONTROL OFF GUN NO 1 WELDING COND WTM 1 ACTION MODE MODE2 MODE0 SINGLE MODE1 OPEN OPEN MODE2 OPEN F OPEN MODE3 F OPEN OPEN MODE4 F OPEN F OPEN MODE1 OPEN OPEN R1 S C L ...

Page 344: ...put start timing In the start timing there are PULSE LEVEL and START SIGNAL Select SPOT WELDING under the top menu Select WELDER CONDITION 1 Select the item to be set Operation Explanation EDIT DISPLAY DATA UTILITY WELDER CONDITION WELDER NO 1 WELD INST OUTPUT TYPE PULSE WELD COND OUTPUT TIME 1 00 sec WELD COND OUTPUT TYPE BINARY WELD COND MAX NUM 255 WELD END WAIT TIME 0 00 sec STICK DETECT DELAY...

Page 345: ...E is DISCRETE the number of welding condi tions cannot be set Press SELECT to display the number input status input the number value and press ENTER WELD END WAIT TIME Specifies how many seconds to monitor the welding complete signal after the weld ing command is output from the SPOT instruction execution An alarm occurs if the welding complete signal is not received within the set time Press SELE...

Page 346: ...imes current re conduction at welding error occurence after execution of the SPOT instruction An alarm occurs if the welding erroneous status lasts after current re conduction is performed at the set number Press SELECT to display the number input status input the number value and press ENTER ...

Page 347: ...n 4 X double stroke cilinder type gun To modify the gun type press SELECT to display the select dialog and select the desired gun type For any gun type except single gun the new set item is displayed ƒ ƒ ƒ ƒWELDER NO Select SPOT WELDING under the top menu Select GUN CONDITION 1 Select the item to be set Operation Explanation EDIT DISPLAY DATA UTILITY GUN CONDITION GUN NO 1 GUN TYPE SINGLE WELDER N...

Page 348: ...y starts moving Valid when full open is not observed Press SELECT to display the number input status input the number value and press ENTER ˆ ˆ ˆ ˆOPEN STROKE OUT DELAY TIME Specifies the timing to change the stroke change signal to the short open status after the gun presssure instruction is output ON when a mechanical stopper type gun is used Used when changing from the full open status to the s...

Page 349: ...11 3 Spot Gun Condition Data File 11 8 ...

Page 350: ...r input status will be displayed so enter the desired gun number value and press ENTER 3 The number input status will be displayed input the desired tip replacement value and press ENTER Select SPOT WELDING under the top menu Select WELD DIAGNOSIS 1 Select GUN NO 2 Select TOLERANCE 3 Operation Explanation SPOT WELD DIAGNOSIS GUN NO 1 CURRENT TOLERANCE TIP HIT COUNT 2000 200 EDIT DISPLAY DATA UTILI...

Page 351: ...eared Select SPOT WELDING under the top menu Select WELD DIAGNOSIS 1 Select DATA under the menu Sekect CLEAR CURRENT POS 2 Select YES 3 Operation Explanation SPOT WELD DIAGNOSIS GUN NO 1 CURRENT TOLERANCE TIP HIT COUNT 2000 100 EDIT DISPLAY DATA UTILITY Clear data YES NO R1 S C L SPOT WELD DIAGNOSIS GUN NO 1 CURRENT TOLERANCE TIP HIT COUNT 0 100 EDIT DISPLAY DATA UTILITY R1 S C L ...

Page 352: ...TROL The motion control described as 13 1 Gun Motion Control can be executed about guns for each stroke methods The following gun types is available X C signal stroke method X type double stroke method C type double stroke method ...

Page 353: ...ion Control 13 2 13 1 Gun Motion Control n X type gun Singale stroke Double stroke SHORT OPEN WELD SHORT OPEN SHORT OPEN WELD SHORT OPEN FULL OPEN WELD SHORT OPEN SHORT OPEN WELD FULL OPEN FULL OPEN WELD FULL OPEN ...

Page 354: ...n Control 13 3 Stroke change n C type gun Single stroke Double stroke FULL OPEN WELD SHORT OPEN WELD SHORT OPEN SHORT OPEN WELD SHORT OPEN FULL OPEN WELD SHORT OPEN SHORT OPEN WELD FULL OPEN FULL OPEN WELD FULL OPEN ...

Page 355: ...elding Conditions Output Pressure Instruction Output Complete of Welding Input Gun Short Open Detection Input Manipulator starts moving by welding completion Input signal when GUN OPEN is not specified in spot input allocation information display Turns ON OFF welding instruction welding condition and pressure instruction simultaniously However strictly saying output welding instruction immediately...

Page 356: ...ever strictly saying output welding instruction immediately after welding condition output Anticipater Designation Gun Full Open Detection Input Stroke Change 1 Output X Mechanical Stopper Type Gun Short Open Detection Input Stroke change is of a double solenoid method Stroke Change 1 2 when an x gun double stroke mechanical stopper type is used OFF OFF Gun Pressure Detection Input X Mechanical St...

Page 357: ...n Detection Input Full Open When FULL OPEN MONITOR is OFF in spot gun condition data file operation starts in elapse of CHANGE TIME OPEN FULL OPEN of gun condition data file after stroke change Output is output Gun Short Open Detection Input Stroke Change Output is output for the time set to STRK CHANGE OUT TIME STOPPER of spot gun condition data file Full Open Stopper Stroke Change Output Time Gu...

Page 358: ...n and pressure instruction simultaniously However strictly saying output welding instruction immediately after welding condition output X X ƒ ƒ ƒ Stopper Type Stroke Change Output Time When GUN PRESSURE DETECTION is OFF Stroke Change Output is output in elapse of OPEN STRK OUT DLY STOPPER time after pressure instruction is output X X Signal Control Order ƒ Manipulator Movement Welding Instruction ...

Page 359: ... saying output welding instruction immediately after welding condition output Anticipater Designation Stroke Change Output Gun Short Open Detection Input Gun Full Open Detection Input X X ƒ ƒ ƒ When FULL OPEN MONITOR is OFF manipulator starts moving after elapse of CHANGE TIME OPEN FULL OPEN of gun condition file X X Signal Control Order ƒ Manipulator Movement Welding Instruction Output Welding Co...

Page 360: ...ecified Process Timing C double gun X double cylinder gun with double solenoid specifications Set signal numbers for stroke change 1 and 2 in the spot I O allocation information display The inverse signal of stroke change 1 is output as stroke change 2 signal SUPPLE MENT Stroke Change Response Time X X Signal Control Order ƒ Manipulator Movement Pressure Instruction Output Stroke Change 1 Output ƒ...

Page 361: ...ed after elapse of stopper type stroke full open output delay time Stroke Change Response Time Stopper Type Stroke Full Open Output Delay Time when pressure detection OFF Stopper Type Stroke Change Output Time X X Signal Control Order ƒ Manipulator Movement Pressure Instruction Output Stroke Change 1 Output ƒ Stroke Change 2 Output Gun Pressure Detection Input Gun Short Open Detection Input Gun Fu...

Page 362: ...3 binary or discrete is for discrete 8 4 Can handle up to 255 conditions for 16 5 binary 32 6 64 7 128 8 WELD REQUEST level pulse Outputs the start instruction to the welder WELD ERROR RESET level Resets the welding alarm status of the welder GUN PRESSURE level Outputs gun pressure instruction to the wlding gun STROKE CHANGE level Select the stroke of the gun In case of single solenoid Change by 1...

Page 363: ...he desired number value and press ENTER Select SPOT WELDING under the top menu Select I O ALLOCATION 1 Select the signal number to be specified 2 Operation Explanation INPUT ALLOCATION WELDER NO 1 SIG NAME UNIV IN NO WELD COMPLETE 17 WELDING ERROR 18 STICK DETECTION 19 GUN FULL OPEN DETECTION GUN OPEN DETECTION 20 GUN PRESSURE DETECTION 21 TIP REPLACE COMPLETE 22 R1 S C L EDIT DISPLAY DATA UTILITY...

Page 364: ...IV IN NO WELD COMPLETE 17 WELDING ERROR 18 STICK DETECTION 19 GUN FULL OPEN DETECTION GUN OPEN DETECTION 20 GUN PRESSURE DETECTION 21 TIP REPLACE COMPLETE 22 EDIT DISPLAY DATA UTILITY R1 S C L ALLOCATE OUTPUT DISPLAY OUTPUT ALLOCATION WELDER NO 1 SIG NAME UNIV OUT NO WELDING ERROR RESET 10 WELDING CONDITION START 11 WELDING CONDITION END 14 WELDING CONDITION PARITY WELDING COMMAND TIP CHANGE REQUE...

Page 365: ...outout during welding condition output Odd even parity is set in the parameter When the stroke switching signal is the double solenoid type X type 2 step stroke gun mechanical stopper type allocate two guns and when it is the single solenoid type other guns allocate one gun Select IN OUT under the top menu Select PSEUDO INPUT SIG 1 Move the cursor to ON and OFF and press INTERLOCK SELECT 2 NOTE Op...

Page 366: ...ot stops The servo power stays on Cool Water Flow Switch IN9 GUN COOL WTR ERR Specifies a gun cool water error An alarm occurs and the robot stops The servo power stays on Cool Water Flow Switch IN10 TRANSTHERMO ERROR Specifies an error from the gun transformer is transmitted directly to the robot controller It is normally ON NC and when OFF an alarm occurs The servo power stays on Gun Trans forme...

Page 367: ...arity Bit Specification is the most significant bit Welder OUT11 used from 4 bit OUT11 OUT12 OUT13 OUT14 NOT USED WELD COMMAND The start instruction is output to the welder It is not necessary for welders which assume the welding condition signal is a start instruction Welder NOT USED WELD ERR RESET Resets the welder after welder error status Programming pendant operation output Welder OUT10 WELD ...

Page 368: ...ter Normal OFF NO Signal Func tion This signal can be used during the low water cooling signal in the spot input allocation display if the set general purpose input external input is on To reset the alarm turn the signal off and it will return to the alarm reset operation TRAN STHERMO ERROR When a gun transformer error occurs this input turns off and an alarm occurs The servo power stays on This f...

Page 369: ...ION PLAY MODE SELECTION 2016 TEACH MODE SELEC TION TEACH MODE SELEC TION TEACH MODE SELEC TION 2017 IN128 MOTOR FAN IN128 MOTOR FAN IN128 MOTOR FAN 2020 INTERFERENCE 1 ENTRANCE PROHIB ITED INTERFERENCE 1 ENTRANCE PROHIB ITED INTERFERENCE 1 ENTRANCE PROHIB ITED 2021 INTERFERENCE 2 ENTRANCE PROHIB ITED INTERFERENCE 2 ENTRANCE PROHIB ITED INTERFERENCE 2 ENTRANCE PROHIB ITED 2022 WELD ON OFF 2023 WELD...

Page 370: ...ARM BATTERY ALARM 3015 REMOTE MODE SELECTED REMOTE MODE SELECTED REMOTE MODE SELECTED 3016 PLAY MODE SELECTED PLAY MODE SELECTED PLAY MODE SELECTED 3017 TEACH MODE SELECTED TEACH MODE SELECTED TEACH MODE SELECTED 3020 IN CUBE 1 IN CUBE 1 IN CUBE 1 3021 IN CUBE 2 IN CUBE 2 IN CUBE 2 3022 TASK ORIGIN TASK ORIGIN TASK ORIGIN 3023 INTERMEDIATE START OK INTERMEDIATE START OK INTERMEDIATE START OK 3024 ...

Page 371: ...N9 TMR COOL WTR ERR 2041 IN10 GUN COOL WTR ERR 2042 IN11 TRANSTHERMO ERR 2043 IN12 AIR PRESS LOW 2044 IN13 WELD COMPLETE 2045 IN14 WELD ERR 2046 IN15 GUN OPEN DETECT 2047 IN16 TIP REPL COMPLETE 2050 IN17 IN17 2051 IN18 IN18 2052 IN19 IN19 2053 IN20 IN20 2054 IN21 IN21 2055 IN22 IN22 2056 IN23 IN23 2057 IN24 IN24 2060 IN25 IN25 2061 IN26 IN26 2062 IN27 IN27 2063 IN28 IN28 2064 IN29 IN29 2065 IN30 I...

Page 372: ...D 1 3043 OUT12 WELD COND 2 3044 OUT13 WELD COND 3 3045 OUT14 WELD COND 4 3046 OUT15 GUN PRESS COMMAND 3047 OUT16 TIP CHANGE REQUEST 3050 OUT17 OUT17 3051 OUT18 OUT18 3052 OUT19 OUT19 3053 OUT20 OUT20 3054 OUT21 OUT21 3055 OUT22 OUT22 3056 OUT23 OUT23 3057 OUT24 OUT24 3060 OUT25 OUT25 3061 OUT26 OUT26 3062 OUT27 OUT27 3063 OUT28 OUT28 3064 OUT29 OUT29 3065 OUT30 OUT30 3066 OUT31 OUT31 3067 OUT32 OU...

Page 373: ...14 5 Spot Welding Specific Signal Allocation List 14 12 ...

Page 374: ... Format GUN gun 1 No 1 8 MODE gun 1 operation mode specifica tion 0 4 WTM gun 1 welding condition 1 255 GUN gun 2 No 1 8 MODE gun 2 operation mode specifica tion 0 4 WTM gun 2 welding condition 1 255 ATT anticipator condition sec 0 655 35 Example MOVL V 1000 NWAIT SPOT GUN 1 MODE 2 WTM 2 ATT 0 5 MOVL V 1000 STROKE Function Alernates short open and full open of a double stroke gun at any time than ...

Page 375: ...15 1 Table of Work Instructions 15 2 ...

Page 376: ...near motion type Format Position data Base axis position data Station axis position data These data do not appear on the display V play speed VR play speed of the posture VE play speed of external axis V 0 1 to 1500 0 mm sec 0 6 to 9000 0 cm min VR 0 1 to 180 0 deg sec VE 0 01 to 100 00 PL positioning level PL 0 to 4 NWAIT UNTIL statement Example MOVL V 138 PL 0 NWAIT UNTIL IN 16 ON MOVC Function ...

Page 377: ... VE play speed of external axis Same with MOVL PL positioning level PL 0 to 4 NWAIT UNTIL statement BF RF TF UF user coordinate number BF base coordi nates RF robot coordi nates TF tool coordi nates UF user coordi nates Example IMOV P000 V 138 PL 1 RF REFP Function Defines a reference point e g wall point for weaving Format Position data Base axis position data Station axis position data These dat...

Page 378: ...variables Format B variable number IN input number IGH input group number IG input group number OT output number OGH output group number OG output group number SIN specific input number SOUT specific output number Number of addressed input signals IN xx 1 IGH xx 4 per group IG xx 8 per group Number of addressed output signals OT xx 1 OGH xx 4 per group OG xx 8 per group IGH xx and OGH xx are not s...

Page 379: ...ob name IG input group number B variable number I variable number D variable number IF statement Example CALL JOB TEST1 IF IN 24 ON CALL IG 2 The job is called by the patterns of input signal In this example Job 0 cannot be called RET Function Returns to the called job Format IF statement Example RET IF IN 12 OFF END Function Declares the end of a job Format Example END NOP Function No operation F...

Page 380: ...s a pause Format IF statement Example PAUSE IF IN 12 OFF comment Function Dispalys a comment entered on the job header display Format comment Example Draws 100mm size square Shift Instructions SFTON Function Starts a shift operation Format P variable number BF RF TF UF user coordinate number EX variable number BF base coordi nates RF robot coordi nates TF tool coordinates UF user coordi nates Exam...

Page 381: ...PX000 RF PX001 PX002 Operating Instruction ADD Function Adds Data1 and Data2 and stores the result in Data1 Format ADD Data1 data2 Format Data1 Data1 must always be a variable Data2 Example ADD I012 I013 SUB Function Subtracts Data2 from Data1 and stores the result in Data1 Format SUB Data1 data2 Format Data1 Data1 must always be a variable Data2 Example SUB I012 I013 MUL Function Multiplies Data1...

Page 382: ... variable number I variable number Example DEC I043 AND Function Obtains the AND of Data1 and Data2 and stores the result in Data1 Format AND Data1 data2 Format Data1 B variable number Data2 B variable number Example AND B012 B020 OR Function Obtains the OR of Data1 and Data2 and stores the result in Data1 Format OR Data1 data2 Format Data1 B variable number Data2 B variable number Example OR B012...

Page 383: ...e GETE D006 P012 4 GETS Function Sets a status variable to the specified variable Format B variable number I variable number D variable number R variable number PX variable number B variable number I variable number D variable number R variable number PX variable number Status variable Example GETS B000 B000 GETS I001 I 1 GETS PX003 PX001 CNVRT Function Converts the position variable Data2 into a ...

Page 384: ...Example SIN R000 R001 Sets the sine of R001 to R000 COS Function Obtains the cosine of Data2 and stores the result in Data1 Format COS Data1 data2 Format Data1 R variable number Data1 must always be a real type variable Data2 constant R variable number Example COS R000 R001 Sets the cosine of R001 to R000 ATAN Function Obtains the arc tangent of Data2 and stores the result in Data1 Format ATAN Dat...

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Page 387: ...pei Taiwan BEIJING OFFICE Room No 301 Office Building of Beijing Intemational Club 21 Jianguomenwai Avenue Beijing 100020 China SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China YASKAWA JASON HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong TAIPEI OFFICE Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road Taipei Taiwan BEIJING YASKAWA BEIKE AUTOMATI...

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