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Toshiba TS3000 Series, Instruction Manual

The Toshiba TS3000 Series comes with an easy-to-use Instruction Manual, allowing users to make the most of their device's features. Download the comprehensive manual for free from manualshive.com, ensuring hassle-free access to all the information needed to unleash the full potential of your TS3000 Series product.

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OPERATOR’S MANUAL

series  Robot Controller

 

[Error time display] 

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Caution 

When the ESC key is pressed, the system quits the error display and returns to 

the previous display.    Error display is possible, irrespective of the mode 

currently selected. 

 STE 80720 

– 11-3  – 

Summary of Contents for TS3000 Series

Page 1: ...RATOR S MANUAL Notice Make sure that this instruction manual is delivered to the final user of Toshiba Machine s industrial robot Before operating the industrial robot read through and completely understand this manual After reading through this manual keep it nearby for future reference TOSHIBA MACHINE CO LTD ...

Page 2: ...ine Co Ltd All rights reserved No part of this document may be reproduced in any form without obtaining prior written permission from Toshiba Machine Co Ltd The information contained in this manual is subject to change without prior notice to effect improvements STE 80720 a ...

Page 3: ...nual This manual deals with the TS series robot controller operating procedures Read through this manual before operating the robot and refer to it as necessary Robot Language Manual This manual refers to the robot language called SCOL When you have to create a program based on this language read through the manual Interface Manual This manual describes the external signals for the robot Concernin...

Page 4: ...al when you perform the setting of communication I O and motion conditions Alarm Manual This manual describes the contents causes and remedies of alarms Refer to this manual when an alarm occurs This manual describes how to use various functions of the robot system to manually guide the robot edit programs compile data and perform automatic operation through the control panel TS3000 controller fro...

Page 5: ...s 1 or physical damage 2 1 Injuries refer to injuries burns and electric shocks etc which do not require hospitalization or long term medical treatment 2 Physical damage refers to damages due to destruction of assets or resources Explanation of symbols Symbol Meaning of symbol This means that the action is prohibited must not be done Details of the actions actually prohibited are indicated with pi...

Page 6: ...you are exposed to danger or that the equipment works abnormally press the EMERGENCY stop pushbutton switch to stop the equipment If the equipment is used as it is you will be injured or involved in a serious accident When this happens ask our after sale service agent for repair During operation be sure to close the equipment cover Should the cover be opened during operation you will be struck by ...

Page 7: ...tion where he can see the entire robot system and operate the EMERGENCY stop pushbutton switch at the time of an emergency Also he should keep anyone from entering the dangerous area Unless the operator or other person follows the instructions of the supervisor an accident will be caused If an abnormality has generated or the POWER LED lamp remains off after the main power switch of the equipment ...

Page 8: ...g range of the robot and peripheral equipment 3 Make sure that the emergency stop and other safety devices operate properly 4 Make sure that no abnormal noise or vibration is involved in the robot operation If the above prior inspection is skipped the equipment will be damaged or you will be involved in an accident Caution The speed of test operations is initially set at 25 of the maximum robot sp...

Page 9: ...ntries 1 12 1 3 6 Canceling an Entry 1 13 1 3 7 Use of Wild Cards 1 13 1 3 8 Format for Operating Instructions 1 14 1 4 Assigning Names 1 15 1 4 1 Assigning a File Name 1 15 1 4 2 Assigning a Point Name 1 16 1 4 3 Assigning a Name to Coordinate Data 1 17 1 4 4 Assigning a Name to Load Data 1 18 1 5 File 1 19 1 5 1 Kind of File 1 19 1 5 2 Batch File 1 21 1 5 3 Backup 1 21 Section 2 Basic Operation ...

Page 10: ...ting Up the Program Editor EDIT 4 1 4 2 Character Input 4 5 4 2 1 Character Input Mode Selection 4 5 4 2 2 Insert Mode INS 4 6 4 2 3 Replace Mode Replace 4 9 4 2 4 Input Correction BS 4 11 4 2 5 Character Deletion DEL 4 12 4 2 6 Moving the Cursor 4 13 4 3 Edit Command Input 4 14 4 3 1 List of Edit Commands 4 14 4 3 2 Command Menu Selection 4 15 4 3 3 Input Correction BS 4 16 4 3 4 Cancel ESC 4 17 ...

Page 11: ...ional Data TEACH 5 27 5 2 13 Move to Teach Point M TO 5 29 5 2 14 Cut of Positional Data CUT 5 31 5 2 15 Paste of Positional Data PASTE 5 34 6 2 16 Move to Teach Point BYPAS 5 35 5 3 Detailed Positional Data Display Mode 5 39 5 3 1 Editing of Detailed Positional Data Name 5 42 5 3 2 Editing of Detailed Position Data Element 5 45 5 3 3 Call of Positional Data Directory Display DIR 5 48 5 4 Coordina...

Page 12: ...irectory Display TRANS 5 93 Section 6 Test Operation 6 1 6 1 Selecting Test Operation Mode 6 2 6 2 Selecting File SEL 6 4 6 3 Selecting Run Mode MODE 6 6 6 4 Speed Override OVRD 6 8 6 5 Executing Program Step STEP 6 10 6 6 Startup RUN 6 13 6 7 Stop 6 15 6 7 1 CYCLE Stop 6 15 7 7 2 STOP 6 17 6 7 3 BREAK 6 18 6 7 4 FEED HOLD 6 19 6 7 5 EMERGENCY Stop 6 21 6 8 Reset RESET 6 22 6 8 1 Program Reset 6 2...

Page 13: ... 7 1 Program Reset 7 17 7 7 2 Step Reset 7 19 7 7 3 Cycle Reset 7 21 7 7 4 Output Signal Reset 7 23 7 7 5 Execution File Reset 7 24 7 8 Direct Execution DO 7 26 7 9 Variable Monitor 7 28 7 10 Display of Line to be Executed 7 32 Section 8 External Automatic Operation 8 1 8 1 Selecting External Automatic Operation Mode 8 2 8 2 Selecting File 8 5 8 3 Selecting Run Mode 8 7 8 4 Speed Override 8 8 8 5 ...

Page 14: ...0 21 10 5 4 Setting and Canceling of the Tool Coordinate System TOOL 10 23 10 5 5 Search of Coordinate Data FIND 10 25 10 5 6 Coordinate Data Directory Display DIR 10 28 10 6 Working Time Display WK TM 10 29 10 7 Reproducing the Origin REORG 10 32 10 8 Joint Limit Setting J LIM 10 34 10 9 Date and Time Setting DATE 10 38 10 10 Version Display VER 10 41 10 11 Servo Encoder Data Display END 10 44 10...

Page 15: ...PERATOR S MANUAL series Robot Controller 11 3 Error Display 11 2 11 4 Error Reset 11 4 11 5 Error Reset by External Signal 11 5 11 6 Error History Display 11 6 11 7 Compile Error Display 11 8 STE 80720 n ...

Page 16: ...temporarily stop automatic operation Emergency stop Used to immediately stop automatic operation Teaching operation Used to manually guide the robot by jogging or inching Auxiliary signal operation Used to operate the pneumatic drive shaft for grip etc Δ Program editing Used to teach and edit programs Data editing Used to teach and edit positional data coordinate data and load data File operation ...

Page 17: ...on monitor Used to display the present position of the robot in each coordinate system External I O signal monitor Used to display the status of digital I O signals Working time monitor Used to display turn on time of power supply and operation time File selection Used to select a file to be executed Movement Used to move the robot to a taught point Operation is possible Δ Partial operation is pos...

Page 18: ...erform such operations as teaching guiding file management and program test run using the teach pendant The master mode should be selected by means of the MODE select key equipped on the control panel Utility UTILITY Used to perform such operations as coordinate selection position monitor and signal monitor using the teach pendant irrespective of the master mode currently selected Error display ER...

Page 19: ...erface Manual External automatic mode EXT Host mode RS232C Used to perform automatic programmed operation file uploading and downloading from the host computer through serial communication For details see the Communication Manual Host mode ETHERNET Used to perform automatic programmed operation and file uploading and downloading from the host computer through an ethernet communication channel This...

Page 20: ...RNAL Start RUN Used to start program execution by operating the control panel Speed override OVRD Used to set the speed override Stop STOP BREAK Used to stop or interrupt program execution Direct run DO Used to directly execute the SCOL command Reset RESET Used to reset the program execution step variables and digital output signals The TLS3000 does not have an internal automatic operation functio...

Page 21: ...peration File operation FILE Used to display a file directory copy delete and rename files Run mode selection MODE Used to select a run mode Speed override OVRD Used to set the speed override Direct run DO Used to directly execute the SCOL command Reset RESET Used to reset the program execution step variables and digital output signals Guide Used to select the guide mode guide coordinate and guide...

Page 22: ...ional data editing Used to edit positional data by teaching and numerical value input The work coordinate system is selected Data editor Coordinate data editing Used to edit coordinate data by teaching and numerical value input The work coordinate system is selected and the tool coordinate system is specified Load data editing Used to edit load data by numerical value input Edit STE 80720 1 7 ...

Page 23: ...OPERATOR S MANUAL series Robot Controller 1 3 General Operation The key seat array on the teach pendant is as shown below Guide keys X Y Z C T Cursor keys are expressed by in this manual STE 80720 1 8 ...

Page 24: ...the alphabet input ALPH mode Alphabets are classified by group Press an appropriate key until a desired alphabet is displayed After the alphabet is displayed press the EXE key right cursor key or any other group key and it is established Even if the ALPH mode is selected pressing the key once calls a number and you can input the number thus called Example When entering alphabet B Key operation Dis...

Page 25: ... to cancel an unsettled character or characters Used to determine an unsettled character or characters 1 3 2 Combined Key Operation Next page Press the ALT key and key Previous page Press the ALT key and key Delete DEL Press the ALT key and BS key Supplementary descriptions When the cursor is not located on the main display even though it has a plural number of pages page changeover is basically p...

Page 26: ...enu is displayed Example 1 When selecting the FILE command Title display area M O D E T E A C H I N G C O N T 1 2 3 4 5 6 7 8 1 2 3 L 9 9 9 9 O 1 0 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L R U N F I L E Command input area Menu display area F 1 F 2 F 3 F 4 F 5 Press the F5 key and the FILE display is called with new menu displayed Select a desired function key consecutively Supplemen...

Page 27: ... moves continuously as long as this key is kept pressed 1 3 5 Correcting Incorrect Entries Use the BS key to erase any characters which were incorrectly entered Example Correct OVERRIDE 80 Incorrect OVERRIDE 65__ Press the BS key OVERRIDE 6__ Press the BS key OVERRIDE __ Keep pressing the BS key until the incorrect characters are erased Then try again In the editor operation press the BS key while...

Page 28: ...ecifying files with the delete or copy USB RAM RAM USB command The wild cards are useful to simultaneously specify multiple files Using the wild cards correctly can save time and increase efficiency when specifying files The asterisk wild card is used to represent any character or characters in the file name or extension For instance designation of A refers to all files having a name starting with...

Page 29: ...s manual to explain how to use commands Title Command name 1 Function Explains the function and application 2 Operating procedures Explains the procedures and system response for various operations 3 Caution Explains the cautions and restrictions 4 Related functions Explains the related functions if any STE 80720 1 14 ...

Page 30: ...lphabetic characters A Z Numerals 0 9 The file name extension is used to identify the nature type of the file By using different extensions for the same file name you can express different types of files The following extensions are used for this controller File name extension Descriptions SYS Signifies a system file BAT Signifies a batch file PAR Signifies a parameter file LIB Signifies a library...

Page 31: ... of a point name must be an alphabetical character Alphabetic characters A Z Numerals 0 9 Cautions You cannot use an identifier reserved word used for the SCOL language to name a point For details see Appendix B of the Robot Language Manual The point name entered should consist of up ten 10 characters If it exceeds this limit the entry is invalid with an error saying illegal name displayed If a ch...

Page 32: ...e used for the coordinate name The first letter of a coordinate name must be an alphabetical character Alphabetic characters A Z Numerals 0 9 Cautions You cannot use an identifier reserved word used for the SCOL language to name a point For details see Appendix B of the Robot Language Manual The coordinate name entered should consist of up ten 10 characters If it exceeds this limit the entry is in...

Page 33: ...e must be an alphabetical character Alphabetic characters A Z Numerals 0 9 Cautions You cannot use an identifier reserved word used for the SCOL language to name a point For details see Appendix B of the Robot Language Manual The load name entered should consist of up ten 10 characters If it exceeds this limit the entry is invalid with an error saying illegal name displayed If a character other th...

Page 34: ...he installed robot such as the number of axes inching amount and speed limit for test mode The user MUST NOT change the values of these parameters 4 User parameter file USER PAR This file includes parameters relating to limit on the working envelope setting of communication mode etc which can be changed by the user 5 Library file SCOL LIB Some instruction words used for the robot language are cont...

Page 35: ...you select a program you wish to execute by means of an input signal to the controller It contains the program names which can be selected by means of the input signal 10 Ethernet parameter file ETHERNET PAR This file includes Ethernet related parameters 11 Conveyor parameter file CONVEYOR PAR This file includes the conveyor related parameters The following files are mandatory in the RAM drive MAC...

Page 36: ...BAT SELECT PRO1 Save the above automatic start files in the controller RAM drive beforehand When the controller has started up after its power was turned on the file PRO1 is selected as the file for execution The commands which are effective in the automatic start file are SELECT OVRD DATE TIME and SVON Notes SVON is a command that is effective in internal automatic INTERNAL only for TS3000 and ex...

Page 37: ...operating procedures for automatic operation It covers all operations from turning on the main power to turning off the main power Main power ON Servo power ON Finish of program creation Main power OFF Servo power OFF Automatic operation Finish of operation Test operation Editing Normal operation NO NO YES YES YES NO End Start STE 80720 2 1 ...

Page 38: ...o select the operation master mode 2 SERVO ON switch LED Used to turn on the servo power 3 SERVO OFF switch LED Used to turn off the servo power 4 RUN switch LED Used to start the internal automatic mode operation 5 STOP switch LED Used to stop the operation after the active block has been executed 6 SELECT switch LED Every time this switch is pressed content shown on the display changes LINE No o...

Page 39: ...or more alarms have occurred such alarm numbers are displayed at intervals of two 2 seconds When an alarm occurs this switch flashes 6 UF1 UF2 switches LEDs User function switches This switch input can be referred to by DIN and the lamp output by DOUT 7 EMERGENCY EMERGENCY stop pushbutton switch STE 80720 2 3 ...

Page 40: ...er enters a program reset status 1 Function The controller is started up by the system programs saved in the flash memory 2 Procedures a Step 1 Turning on the main power EMERGENCY TEACHING INTERNAL EXT Set the MAIN POWER switch on the controller to ON position and the POWER LED and SERVO OFF LED are illuminated The controller starts initializing the system The STOP LED on the control panel is illu...

Page 41: ...the RAM drive MACHINE PAR SCOL LIB EXTRNSEL PAR SERVO PAR AUTOSTR BAT ETHERNET PAR ROBOT PAR PALLET LIB CONVEYOR PAR USER PAR The asterisk marked files are not absolutely necessary to run the system However an error occurs when you try to execute a function dependent on a missing file STE 80720 2 5 ...

Page 42: ...ervo controlled axes are locked and any brake is released 2 Procedures EMERGENCY TE IN EXT ACHING TERNAL VO SERVO OFF RUN STOP UF2 UF1 POWER a Step 1 Turning on the servo power Press the SERVO ON switch on the control panel or teach pendant while holding the enable switch position 1 on the teach pendant When the main circuit power of the servo driver is turned on the SERVO ON LED on the control pa...

Page 43: ...er does not turn on by an external control signal when the contacts for the emergency stop and servo off external signals are open and when the control panel teach pendant connector is disconnected The teach pendant connector or dummy connector should be connected to the TP connector of the control panel For more information see the Interface Manual Although the servo power can be turned on contin...

Page 44: ...the main circuit power of the servo driver has turned off the SERVO OFF LED equipped on the control panel is illuminated with the SERVO ON LED turned off The SERVO ON LED on the teach pendant also goes out Lighting 3 Cautions DO NOT turn off the servo power while the robot is operating When you have to stop the robot urgently press the EMERGENCY stop switch instead Before you have to enter the rob...

Page 45: ...Set the MAIN POWER switch on the controller to the OFF position and the POWER LED on the control panel goes out SERVO ON SERVO OFF RUN STOP UF2 UF1 POWER Go off LINE USER ALARM TP SELECT 3 Cautions DO NOT turn off the main power while the servo power is on or during file operation or any other processing Before turning off the main power make sure that the servo power is off and that no active pro...

Page 46: ...shown below 1 Keyswitch Used to select operation master mode 2 POWER Indicates that the main power is turned on 3 READY Indicates that the system was started properly after the main power was turned on 4 SVON Indicates that the servo power is turned on 5 RUN Turns on when a program is being executed 6 ALARM Indicates that an alarm has occurred STE 80720 2 10 ...

Page 47: ...rograms in the controller are reset 1 Power switch The TSL3000 does not include a no fuse breaker in the controller This must be provided by the customer For details see the Interface Manual 2 Procedures a Step 1 Turning ON the main power Set the no fuse breaker installed outside the controller to the ON side The controller front panel POWER LED turns on The controller starts system initialization...

Page 48: ...ss the emergency stop switch to turn off the servo power Be sure to always turn off the servo power when entering into the robot hazard zone 1 Function Set the main circuit power of the servo driver to ON The servo control axis is set to servo lock and if there is a brake the brake is released 2 Procedures a Step 1 Turning ON the servo power In TEACH mode hold the enable switch of the teach pendan...

Page 49: ...al mode only The servo power does not turn on using an external control signal when the emergency stop signal external signal and servo OFF signal contacts are open and when nothing is connected to the TP connector of the control panel Connect the teach pendant or a dummy connector to the TP connector For details see the Interface Manual The servo can be turned ON up to two times in succession you...

Page 50: ...ernal signal SVOFF is set to OFF The SVON LED on the controller front panel turns off The SERVO ON LED on the teach pendant also turns off Go off 3 Cautions Never turn off the servo power during robot operation To stop the robot immediately press the emergency stop switch Before entering into the robot movable area or if operators are not present for operations besides automatic operation be sure ...

Page 51: ...in power Set the no fuse breaker installed outside the controller to the OFF side The controller front panel POWER LED and READY LED turn off Go off 3 Cautions Do not set the main power to OFF while the servo power is ON or during file operations or other processes Before turning OFF the main power be sure to turn OFF the servo power and check that no processes are running STE 80720 2 15 ...

Page 52: ...ot is manually guided points are taught files are operated and the system is controlled 2 Procedures a Step 1 Teaching mode selection Change over the master mode select MODE switch on the control panel to select TEACHING EMERGENCY TEACHING INTERNAL EXT SERVO ON SERVO OFF RUN STOP UF2 UF1 POWER LINE USER ALARM TP SELECT TSL3000 TS3000 Select TEACHING STE 80720 3 1 ...

Page 53: ... menu is displayed on the bottom of the display The menu shown in the teaching mode is as follows EDIT Program editing DEDIT Data editing SEL Selection of program to be executed RUN Test operation start FILE File mode MODE Run mode selection OVRD Override setting RESET Reset DO Direct execution WATCH Variable monitor LDISP Display of line to be executed 3 Caution LDISP is not displayed during exec...

Page 54: ...joint or world coordinate system this operation is unnecessary b Step 2 Coordinate selection Each time the COORDINATE key on the teach pendant is pressed JOINT TOOL WORK and WORLD are selected in turn with the appropriate LED illuminated The initial setting is JOINT 3 Cautions For each coordinate system of the robot see the Language Manual Unless a tool base or work coordinate has been taught to t...

Page 55: ... direction This mode is useful for fine positioning of the robot from near the target position to the target position In the FREE mode any axis s servo lock is cancelled to move the robot by hand This mode is useful for delicate positioning of the robot to bring the robot near the workpiece or other object 1 Function Selects the manual guide mode 2 Procedures a Step 1 Teaching mode selection Press...

Page 56: ...fective When the INCHING mode is selected travel distance selection prevails Select the speed or travel distance according to the distance to the target position 2 Procedures a Step 1 Guide speed selection Each time the SPEED key on the teach pendant is pressed LOW MEDIUM and HIGH are selected in turn with the appropriate LED illuminated The initial setting is LOW STE 80720 3 5 ...

Page 57: ...ode and guide speed as necessary The guide coordinates guide mode and guide speed can be selected in any order Select them before pressing the guide key c Step 3 Guidance Press the guide key indicating axis and direction for a desired axis with the servo being turned on Then the robot moves as directed in the specified coordinate system 3 Cautions The guide key is effective only when it is pressed...

Page 58: ...to select TEACHING b Step 2 Guide mode selection Press the REMOTE key on the teach pendant to select FREE Make sure that the FREE LED is illuminated c Step 3 Servo lock cancel Press the minus key for an axis whose servo locked condition is to be canceled with the servo being turned on d Step 4 Guidance The axis whose servo locked condition was canceled enters a servo free status Now the robot can ...

Page 59: ...lock is canceled servo lock is effected on all axes The guide keys are operative only when they are pressed with the servo being turned on When operating the robot manually in a servo free status canceling the servo free guidance cannot be completed during the axis interference feed hold You can cancel the servo free status during the error history display STE 80720 3 8 ...

Page 60: ... panel to select TEACHING EMERGENCY TEACHING INTERNAL EXT SERVO ON SERVO OFF RUN STOP UF2 UF1 POWER SER ARM TP SELECT LINE U AL Select TEACHING TSL3000 TS3000 b Step 2 Menu selection Keep pressing the NEXT key until the EDIT menu appears on the display Then press the function key corresponding to EDIT M O D E T E A C H I N G C O N T 1 2 3 4 5 6 7 8 1 2 3 L 9 9 9 9 O 1 0 0 M F R E E S S T O P R E S...

Page 61: ...6 F e b 1 6 2 0 0 8 _ N A M E T I M E N E W Unless the F3 NEW key was pressed Press the EXE key and the selected file name is displayed on the command line It is also possible to rename the file For this purpose return the cursor by means of the BS key and enter a desired file name E D I T 0 0 1 2 5 6 A B C D 1 2 3 4 5 6 7 1 2 3 4 5 6 F e b 1 2 2 0 0 8 F I L E 0 0 0 2 0 1 2 1 2 3 4 5 6 F e b 1 3 2...

Page 62: ... file Cursor position Cursor line P R G R A M N A M C 1 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C S A V E D E D I T J U M P F I N D C H A N G If the memory size of the file you specified is especially large it may take about ten 10 seconds until Opening file name is displayed and you can start editing Wait for a while If the file name you specified is illegal the system...

Page 63: ...gram exists in the RAM drive the system interprets that you are going to create a new file and creates a new file of that name If you wish to edit an existing file you have to first load it into the RAM drive If you omit designation of a file name the file selected as the one for execution is taken as the file to be edited Even if the master mode key switch is changed from TEACHING during program ...

Page 64: ... and system returns to the character input mode Use this operation to return to the character input mode without menu selection ESC Each function Character input mode for entering characters Command select mode for selecting command menu 3 Cautions When the program editor has started up the character input mode becomes effective After the command menu has been selected the system automatically ret...

Page 65: ...ected this operation is unnecessary b Step 2 Designation of insert position Move the cursor to a position where you wish to insert characters using the cursor keys P R G R A M N A M C 5 L 1 P R O G A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C S A V E D E D I T J U M P F I N D C H A N G c Step 3 Insertion Press a key for a desired character and the character thus input is inserted at the...

Page 66: ... E D I T J U M P F I N D C H A N G Enter a line to be added through the keyboard and it is inserted just before the line where the cursor was located P R G R A M N A M C 7 L 4 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C M O V E D S A V E D E D I T J U M P F I N D C H A N G Press the EXE key and the line where the cursor was located is shifted to the next line P R G R A M N A ...

Page 67: ...invalid If you try to quit the program editing mode a warning saying Delete some data until rem 0 is displayed and you cannot finish the program editing Delete program contents then terminate the editing P R G R A M N A M C 6 L 1 P R O G R _ F i l e f u l l S A V E D E D I T J U M P F I N D C H A N G 4 Cautions When the program editor has started up the insert mode takes effect The insert mode is ...

Page 68: ...y selected this operation is unnecessary b Step 2 Designation of replaced character Move the cursor to a character to be replaced using the cursor keys P R G R A M N A M C 5 L 1 P R O G P A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C S A V E D E D I T J U M P F I N D C H A N G c Step 3 Replacement Press a key for a desired replacing character and the character thus input is replaced with...

Page 69: ...ies Robot Controller 3 Cautions When the program editor has started up the insert mode takes effect The insert mode is discriminated from the replace mode by the shape of the cursor Insert mode _ Replace mode STE 80720 4 10 ...

Page 70: ...t correction Press the BS key and one 1 character just before the cursor position is deleted with successive characters on the same line shifted left in turn P R G R A M N A M C 6 L 1 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C _ S A V E D E D I T J U M P F I N D C H A N G Press the BS key and the following displays appears P R G R A M N A M C 5 L 1 1 P R O G R A M T E S T ...

Page 71: ...E B M O V E C S A V E D E D I T J U M P F I N D C H A N G b Step 2 Deletion Press the ALT and BS keys and the character at the cursor position is deleted with successive characters on the same line shifted left in turn P R G R A M N A M C 5 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C S A V E D E D I T J U M P F I N D C H A N G 3 Caution When the character deletion is exec...

Page 72: ...PEED 50 SPEED 50 SPEED 50 MOVE PNT21 MOVE PNT21 MOVE PNT21 OPEN OPEN OPEN PROGRAM TE SPEED 50 MOVE PNT21 OPEN_ 3 Cautions When the cursor is moved from the top bottom right or left end of the display it scrolls the screen in an appropriate direction However the cursor cannot be moved past the top line bottom line top of a line or end of a line If the cursor is located after the line feed position ...

Page 73: ... to specified line FIND Searches a character string and moves the cursor to the top of the initially found character string CHANGE Searches the specified character string and replaces with another character string NOSAV Quits the editor without saving the data All changed data are deleted COPY Saves a block in buffer CUT Cuts a block saves in buffer PASTE Pastes the buffer contents data saved in t...

Page 74: ...t and execute a command When the NEXT key is pressed other commands not currently displayed are called P R G R A M N A M C 5 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C S A V E D E D I T J U M P F I N D C H A N G 3 Cautions For some commands you have to specify a position where you wish to execute a command using the cursor on the editing display before menu selection For...

Page 75: ...s necessary In the example below the jump command is being input P R G R A M N A M C 5 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C L i n e 1 0 _ S A V E D E D I T J U M P F I N D C H A N G Press the BS key and the following displays appears P R G R A M N A M C 5 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C L i n e 1 _ S A V E D E D I T J U M P F I...

Page 76: ...0 M O V E A M O V E B M O V E C L i n e 1 0 _ S A V E D E D I T J U M P F I N D C H A N G Press the ESC key and the following display appears P R G R A M N A M C 5 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O I E C L i n e _ S A V E D E D I T J U M P F I N D C H A N G Press the ESC key and the following display appears P R G R A M N A M C 5 L 1 P R O G R A M T E S T S P E E D 5 ...

Page 77: ...ils see Section 5 4 4 2 Jump to Specified Line JUMP 1 Function Displays the edit screen including the specified line and move the cursor to the top of the specified line 2 Procedures a Step 1 Execution of jump command Press JUMP to execute the jump command P R G R A M N A M C 1 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C L i n e _ S A V E D E D I T J U M P F I N D C H A N...

Page 78: ... c Step 3 Input through EXE key Press the EXE key and a screen including the specified line is displayed with the cursor moved to the head of the specified line P R G R A M N A M C 1 L 1 0 S P E E D 1 0 0 M O V E A S P E E D 7 5 M O V E B E N D S A V E D E D I T J U M P F I N D C H A N G 3 Caution If you have specified a line number greater than the number of the last line the cursor moves to the ...

Page 79: ...locks to be deleted Move the cursor to the first character of a desired start block P R G R A M N A M C 1 L 2 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C N O S A V C O P Y C U T P A S T E b Step 2 Execution of range selection Press CUT to execute the range selection P R G R A M N A M C 1 L 2 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C C U T R A N G N O S...

Page 80: ...Press CUT and the contents of the specified range of blocks are saved in the buffer with the specified range of blocks deleted The contents thus saved can be pasted at any desired position by pressing PASTE P R G R A M N A M C 5 L 1 P R O G R A M T E S T M O V E C M O V E D M O V E E M O V E F N O S A V C O P Y C U T P A S T E If the memory becomes full during setting a warning saying No more spac...

Page 81: ... E E D 5 0 M O V E A M O V E B M O V E C N O S A V C O P Y C U T P A S T E b Step 2 Execution of copy command Press COPY to execute the copy command P R G R A M N A M C 1 L 2 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C C O P Y R A N G N O S A V C O P Y C U T P A S T E c Step 3 Designation of end position Move the cursor so that the final character of the specified range is in...

Page 82: ...be pasted at any desired position by pressing PASTE P R G R A M N A M C 1 L 5 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C N O S A V C O P Y C U T P A S T E If the memory becomes full during copying a warning saying No more space in cut buffer is displayed P R G R A M N A M C 1 L 4 M O V E A M O V E B M O V E C M O V E D M O V E E N o m o r e i n c u t b u f f e r N O S A V C ...

Page 83: ...on where you wish to insert a block or blocks P R G R A M N A M C 1 L 4 M O V E F M O V E G M O V E C M O V E D M O V E E N O S A V C O P Y C U T P A S T E b Step 2 Execution of paste command Press PASTE to execute the paste command After pasting the cursor moves after the finally pasted block P R G R A M N A M C 1 L 4 M O V E D S P E E D 5 0 M O V E A M O V E B M O V E E N O S A V C O P Y C U T P...

Page 84: ... message saying No source block is displayed to terminate copying P R G R A M N A M C 1 L 2 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C N o s o u c e b l o c k N O S A V C O P Y C U T P A S T E 3 Caution Unless a block or blocks are specified in the internal buffer pasting is invalid STE 80720 4 25 ...

Page 85: ...top of the character string 2 Procedures a Step 1 Execution of find command Press FIND to execute the find command P R G R A M N A M C 5 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C P a t t e r n _ S A V E D E D I T J U M P F I N D C H A N G b Step 2 Input of searched character string Make sure that Pattern is displayed then enter a character string to be searched P R G R ...

Page 86: ... E D E D I T J U M P F I N D C H A N G Unless the specified character string exists a message of Not found is displayed and the character string search terminates P R G R A M N A M C 5 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C N o t f o u n d S A V E D E D I T J U M P F I N D C H A N G 3 Caution Unless the specified character string has been found until the final line t...

Page 87: ...ess CHANG to execute the change command P R G R A M N A M C 5 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C P a t t e r n _ S A V E D E D I T J U M P F I N D C H A N G b Step 2 Input of searched character string Make sure that Pattern is displayed on the last line of the display enter a character string to be searched and press the EXE key P R G R A M N A M C 5 L 1 P R O G ...

Page 88: ...specified character string exists a message of Not found is displayed and the character string replacement terminates P R G R A M N A M C 5 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E A M O V E B M O V E C N o t f o u n d S A V E D E D I T J U M P F I N D C H A N G d Step 4 Confirmation of replacement The cursor moves to the top of the character string initially found with the following messag...

Page 89: ...the new character string If the specified character string does not exist any more a message of Not found is displayed to cancel the character string replacement P R G R A M N A M C 5 L 1 P R O G R A M T E S T S P E E D 5 0 M O V E S A M O V E S B M O V E S C N o t f o u n d S A V E D E D I T J U M P F I N D C H A N G Press the ESC key to quit the replacement If any other key is pressed the system...

Page 90: ...ound until the final line the search continues from the top line to the cursor position If the memory becomes full at character string replacement the character string replacement is invalid When this happens a message of file full is displayed to cancel the character string replacement STE 80720 4 31 ...

Page 91: ...M O V E A S P E E D 1 0 0 M O V E S C S P E E D 7 5 M O V E D S A V E O K T H E N E X E S A V E D E D I T J U M P F I N D C H A N G b Press the EXE key and the program is saved and the system returns to the teaching mode display M O D E T E A C H I N G C O N T 1 2 3 4 5 6 7 8 1 2 3 L 9 9 9 9 O 1 0 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L R U N F I L E To cancel the save function pre...

Page 92: ... C U T P A S T E b Press the EXE key and editing of the program is aborted and the system returns to the teaching mode display M O D E T E A C H I N G C O N T 1 2 3 4 5 6 7 8 1 2 3 L 9 9 9 9 O 1 0 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L R U N F I L E To cancel the NOSAVE function press the ESC key and you can continue editing 3 Cautions The contents edited are canceled to keep the ...

Page 93: ...ction key M O D E T E A C H I N G C O N T 1 2 3 4 5 6 7 8 1 2 3 L 9 9 O 2 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L R U N F I L E c Step 3 Designation of file name Enter AUTOSTR BAT for the file name The extension is BAT To create a new file press INPUT and enter the name F I L E S E L E C T 0 0 1 2 5 6 A B C D 1 2 3 4 5 6 7 1 2 3 4 5 6 F e b 1 2 2 0 0 8 F I L E 0 0 0 2 0 1 2 1 2 3 4...

Page 94: ...5 0 S A V E D E D I T J U M P F I N D C H A N G f Step 6 Quit the editor Press SAVE to quit the editor This completes the creation of the batch file for batch processing 3 Execution of batch file If the AUTOSTR BAT file is stored in the RAM drive when the power is turned on the batch file is automatically executed after the startup process 4 Cautions The following commands are enabled in batch pro...

Page 95: ... startup procedures from the program editing menu see Section 4 This section describes the startup procedures from the basic menu 1 Procedures a Step 1 File selection screen display Call the basic display as shown below M O D E T E A C H I N G C O N T L O 2 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L C T F I L E Press DEDIT E D I T 0 0 1 0 1 0 P R G 1 1 0 0 0 S e p 0 1 2 0 0 8 P R G 2 ...

Page 96: ... 3 0 0 P O I N T 0 0 0 0 1 w w o r l d S A V E P R G F U L L T R A N S P Y L D For the new file no data is available and only the title is displayed as shown below P O I N T X Y Z w w o r l d S A V E P R G T R A N S P Y L D New data can be created using the INS key For details see Para 5 2 When the data editor has been started up by DEDIT of the basic menu the PRG menu as shown above is not displa...

Page 97: ...XT key is pressed the menu is changed over as follows N O S A V F I N D T E A C H M T O C U T P A S T E An inversely displayed section in the data is called the main cursor which indicates that this data is selected for editing Symbol shown in the 1st column signifies that there is positional data before the top data Symbol shown in the 1st column signifies that there is positional data after the ...

Page 98: ...mal point is displayed For the data indicted by the main cursor a full value is displayed including decimal fractions When you display values included in C data and subsequent data move the main cursor to the right The following display appears Z C T C O N F I G 1 0 0 1 0 0 0 F R E E 2 0 0 0 0 F R E E 3 0 0 0 0 R I G H T Y 4 0 0 0 0 L E F T Y 5 0 0 0 0 F R E E 1 0 0 0 0 0 w w o r l d S A V E P R G...

Page 99: ...olls down If the main cursor is on the top data it will not move any further Used to move the main cursor down If the main cursor is located on the last line of the screen the screen scrolls up If the main cursor is on the final data it will not move any further ALT Used to display a positional data directory in a coordinate system defined before ALT Used to display a positional data directory in ...

Page 100: ...ra 5 6 NOSAV Used to quit the editor without saving data All changed data are aborted When the data editor was started up from the program editor the program editor terminates also FIND Used to search a position name For details see Para 5 2 4 TEACH Used to teach a current positional of the robot in a positional data indicated by the main cursor For details see Para 5 2 M TO Used to move the robot...

Page 101: ... 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 5 w w o r l d S A V E P R G F U L L T R A N S P Y L D Press the EXE key and the following display is called The cursor is displayed on the command line P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0...

Page 102: ...Used to move the cursor right on the command line Numeral Alphabet Used to input characters on the command line EXE Used to change current position name to an entered one The system returns to the positional data directory display mode and the main cursor moves to the X data area INS Used to select the insert or replace mode for the command line BS Used to delete one 1 character just before the cu...

Page 103: ... I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 3 0 0 1 2 3 w w o r l d S A V E P R G F U L L T R A N S P Y L D 3 Cautions The main cursor moves to the X data area If the input name is illegal a message saying ILLEGAL NAME is displayed on the command line and no data is changed Press any key and the system returns to the name editing mode If the specified name already exists a message of DUPLICATE NAME is disp...

Page 104: ... 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 3 0 0 1 2 3 w w o r l d S A V E P R G F U L L T R A N S P Y L D b Step 2 Data input Press the EXE key and the following display is called The cursor is displayed on the command line P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 5 5 5 5 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0...

Page 105: ...he cursor right on the command line Numeral Used to input characters on the command line EXE Used to change current position element to an entered one The system returns to the position directory display mode with the main cursor moved to the next data column INS Used to select the insert or replace mode for the command line BS Used to delete one 1 character just before the cursor position on the ...

Page 106: ... O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 3 0 0 _ w w o r l d S A V E P R G F U L L T R A N S P Y L D The main cursor moves to the next data column When you have edited the CONFIG data however the cursor will not move If the input data is illegal a message saying ILLEGAL DATA is displayed on the command line and no data is changed Press any key and the system returns to the element editing mode 3 Cauti...

Page 107: ... 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 5 w w o r l d S A V E P R G F U L L T R A N S P Y L D b Step 2 Positional data name input Press the INS key and the display changes as shown below with the name input mode selected P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 ...

Page 108: ...0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 1 1 0 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 0 w w o r l d S A V E P R G F U L L T R A N S P Y L D 3 Cautions For the newly added positional data zero 0 is set for all elements When you have pressed the ESC key without specifying the name addition of the new data is canceled and the system returns ST...

Page 109: ... 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 5 w w o r l d S A V E P R G F U L L T R A N S P Y L D b Step 2 Deletion Press the ALT and BS keys at the same time and the following display appears with the specified data deleted P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N ...

Page 110: ...0 0 0 0 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 5 w w o r l d S A V E P R G F U L L T R A N S P Y L D Press SAVE and the system asks with a confirmation message if you wish to save the edited data P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 5 3 0 0 3 0 0 3 0 0...

Page 111: ...E L C T F I L E To cancel this function press the ESC key You can then continue editing 3 Cautions When the data editor was started up from the program editor the latter editor also terminates after saving the program in the file In the data change mode i e state where the cursor is on the command line the keys may be inoperative even if pressed When this happens select the data display mode first...

Page 112: ... 1 0 0 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 5 w w o r l d N O S A V F I N D T E A C H M T O C U T Press NOSAV and the system asks with a confirmation message if you wish to abort the edited data P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 ...

Page 113: ... E D I T S E L C T F I L E To cancel this function press the ESC key You can continue editing then 3 Cautions When the data editor was started up from the program editor the latter editor also terminates without saving the program in the file In the data change mode i e state where the cursor is on the command line the keys may be inoperative even if pressed When this happens select the data displ...

Page 114: ...P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 5 w w o r l d S A V E P R G F U L L T R A N S P Y L D Press PRG and the system returns to the following program editing display T E S T C 1 L 1 P R O G R A M T E S T M O V E P O I N T 0 0 0 0 1 M O V E P O I N T 0 0 0 0 2 E N D S ...

Page 115: ...3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 5 w w o r l d S A V E P R G F U L L T R A N S P Y L D Press FULL and the following detailed display is called P O I N T 0 0 0 0 5 5 1 0 X 3 0 0 0 0 0 C O N F I G F R E E Y 3 0 0 0 0 0 Z 3 0 0 0 0 0 C 3 0 0 0 0 0 T 3 0 0 0 0 0 P O I N T 0 0 0 0 5 w w o r l d S A V E P R G D I R T R A N S ...

Page 116: ...0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 5 w w o r l d S A V E P R G F U L L T R A N S P Y L D Press TRANS and the following coordinate data directory display appears T R A N S S E L E C T I O N 1 1 0 w o r l d 1 0 T R A N S 0 0 0 0 4 1 0 T R A N S 0 0 0 0 5 5 T R A N S 0 0 0 0 7 0 T R A N S 0 0 0 0 8 0 S A V E P R G W O R K T O O L 3 Caution On the coordinate data dir...

Page 117: ...r l d S A V E P R G F U L L T R A N S P Y L D Press PYLD and the following load data directory display appears P L O A D W E I G H T O F F S E T L O A D 0 0 0 0 0 3 1 0 0 0 0 0 1 0 0 0 0 0 L O A D 0 0 0 0 0 4 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 6 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 7 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 3 S A V E P R G P O I N T T R A N S F I N D 3 Cau...

Page 118: ... 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 5 w w o r l d N O S A V F I N D T E A C H M T O C U T Press FIND and the following display appears P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 F I N D _ w w o r l d b Step 2 Search data name input Ente...

Page 119: ...the command line ALT BS Used to delete one 1 character at the cursor position on the command line ESC This function works in a different manner according to the presence or absence of input character s Presence of input character s All input character s on the command line are cleared Absence of input character s The system returns to the positional data directory display c Step 3 Search execution...

Page 120: ...he specified name exists the system returns to the previous directory display with a message of ERR ILLEGAL NAME shown on the command line As the search is performed throughout the file the search start position is unrelated to the search operation STE 80720 5 26 ...

Page 121: ...Also both persons should try to prevent mis operation with each other 2 The operator should do the job in an attitude ready to press the EMERGENCY stop pushbutton switch at any time Also he should perform the job at a position from which he can evacuate immediately at the time of emergency after confirming the robot working range and shields nearby 3 The supervisor should keep watch on the job at ...

Page 122: ...rrent position is as shown below the following display appears X 100 0 Y 0 Z 0 C 0 T 0 CONFIG FREE P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 5 1 0 0 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 5 w w o r l d N O S A V F I N D T E A C H M T O C U T 3 Cautions The main cursor will...

Page 123: ... 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 5 w w o r l d N O S A V F I N D T E A C H M T O C U T Press M TO P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T ...

Page 124: ... the current teach point If you have released the MOVE key or enable switch while the robot was moving or if you have pressed the FEED HOLD key the robot will decelerate and stop If the FEED HOLD key is canceled while you were pressing the MOVE key in the feed hold mode the robot will resume an operation STE 80720 5 30 ...

Page 125: ... 0 0 P O I N T 0 0 0 0 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 4 w w o r l d N O S A V F I N D T E A C H M T O C U T Press CUT and the entire data at the main cursor position is displayed in a reversed image to indicate that it is selected The display is as shown below P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P ...

Page 126: ...the system to the positional data directory display mode Operation of the command menu is shown below Menu Descriptions CUT Used to save the data in the selection range in the cut buffer and delete that data b Step 2 Cut Move the main cursor by means of the key to change the selection range The following display then appears P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 4...

Page 127: ... I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 8 0 0 0 P O I N T 0 0 0 0 9 0 0 0 P O I N T 0 0 0 0 6 w w o r l d N O S A V F I N D T E A C H M T O C U T 3 Caution When this cut function is used cut data can be saved in the cut buffer and pasted at another position by means of the paste function stated in the next paragraph STE 80720 5 33 ...

Page 128: ...T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0 8 0 0 0 P O I N T 0 0 0 0 9 0 0 0 P O I N T 0 0 0 0 7 w w o r l d P A S T E b Step 2 Paste Press PASTE and the cut data is pasted The display is as shown below P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N ...

Page 129: ...ves to the target position 1 Parameter settings U23 Bypass function parameter Function enable SW 0 Disable 1 M to Bypass 2 Bypass 1 1 Retract position 2 0 0 0 0 200 0 0 0 0 0 0 0 Z Axis offset parameter 3 0 0 0 0 1 BYPASS function Enable Disable setting Function enable SW 1 0 M TO BYPASS disable 1 M TO BYPASS enable 2 M TO disable BYPASS enable 2 Retract position parameter for SCARA robot Retract ...

Page 130: ...0 0 2 0 0 2 0 0 P O I N T 5 5 5 5 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 3 0 0 1 2 3 w w o r l d N O S A V F I N D T E A C H M T O C U T M TO is displayed in the function menu 2 When BYPASS function Enable Disable setting U23 parameter 1 P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 5 5...

Page 131: ... cursor keys to select the point data where you want to perform the bypass operation P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 5 5 5 5 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 3 0 0 1 2 3 w w o r l d S A V E P R G T E A C H M T O B Y P A S 2 Press BYPAS to display the message BY_MOVIN...

Page 132: ...te from position P0a to P1a Move at P1 orientation CONFIG C Thrust movement from position P1a to P1 Move at P1 orientation CONFIG 4 When the MOVE key or enable switch is released the robot stops temporarily 5 Press the enable switch MOVE key again to restart the remaining bypass operation 6 Press the ESC key to end the bypass function STE 80720 5 38 ...

Page 133: ...l d S A V E P R G D I R T R A N S P Y L D Each time the NEXT key is pressed the menu is changed over as follows N O S A V F I N D T E A C H M T O An inversely displayed section in the data is called the main cursor which indicates that this data is selected for editing For the data of nnnn mmmm displayed on the 1st line nnnn signifies the number of order where it is defined in a selected coordinat...

Page 134: ...ailed positional data in a coordinate system defined after ALT Used to display the defined detailed positional data before current positional data ALT Used to display the defined detailed positional data after current positional data INS Used to create a new positional data just after a current positional data ALT BS Used to delete a current positional data and display in detail the positional dat...

Page 135: ... data editor display For details see Para 5 4 PLOAD Used to select the load data editor display For details see Para 5 6 NOSAV Used to quit the editor without saving data All changed data are aborted FIND Used to select the position name search mode TEACH Used to teach a current position of the robot in a positional data indicated by the main cursor M TO Used to move the robot to a position indica...

Page 136: ... 3 0 0 0 0 0 Z 3 0 0 0 0 0 C 3 0 0 0 0 0 T 3 0 0 0 0 0 P O I N T 0 0 0 0 5 w w o r l d S A V E P R G D I R T R A N S P Y L D Press the EXE key and the following display is called The cursor is displayed on the command line P O I N T 0 0 0 0 5 5 1 0 X 3 0 0 0 0 0 C O N F I G F R E E Y 3 0 0 0 0 0 Z 3 0 0 0 0 0 C 3 0 0 0 0 0 T 3 0 0 0 0 0 P O I N T 0 0 0 0 5 _ w w o r l d S A V E P R G D I R T R A N...

Page 137: ... Alphabet Used to input characters on the command line EXE Used to change current position name to an entered one The system returns to the detailed positional data display mode with the cursor moved to the X data area INS Used to select the insert or replace mode for the command line BS Used to delete one 1 character just before the cursor position on the command line ALT BS Used to delete one 1 ...

Page 138: ...E Y 3 0 0 0 0 0 Z 3 0 0 0 0 0 C 3 0 0 0 0 0 T 3 0 0 0 0 0 3 0 0 0 0 0 w w o r l d S A V E P R G D I R T R A N S P Y L D The main cursor moves to the X data area If the input name is illegal a message saying ILLEGAL NAME is displayed on the command line and no data is changed If the specified name already exists a message of DUPLICATE NAME is displayed on the command line and no data is changed STE...

Page 139: ... G F R E E Y 3 0 0 0 0 0 Z 3 0 0 0 0 0 C 3 0 0 0 0 0 T 3 0 0 0 0 0 3 0 0 0 0 0 w w o r l d S A V E P R G D I R T R A N S P Y L D Press the EXE key and the following display is called The cursor is displayed on the command line P O I N T 0 0 0 0 5 5 1 0 X 3 0 0 0 0 0 C O N F I G F R E E Y 3 0 0 0 0 0 Z 3 0 0 0 0 0 C 3 0 0 0 0 0 T 3 0 0 0 0 0 3 0 0 0 0 0 _ w w o r l d S A V E P R G D I R T R A N S P...

Page 140: ...te one 1 character just before the cursor position on the command line ALT BS Used to delete one 1 character at the cursor position on the command line ESC This function works in a different manner according to the presence or absence of input character s Presence of input character s All input character s on the command line are cleared Absence of input character s The system returns to the detai...

Page 141: ...ay appears P O I N T 0 0 0 0 5 5 1 0 X 1 0 0 0 0 0 C O N F I G F R E E Y 3 0 0 0 0 0 Z 3 0 0 0 0 0 C 3 0 0 0 0 0 T 3 0 0 0 0 0 3 0 0 0 0 0 w w o r l d S A V E P R G D I R T R A N S P Y L D 3 Caution When the CONFIG data is edited only the first character of the data can be edited The relationship between the input character and the set value is shown below Input character Set value F or 0 FREE R o...

Page 142: ...Y 3 0 0 0 0 0 Z 3 0 0 0 0 0 C 3 0 0 0 0 0 T 3 0 0 0 0 0 P O I N T 0 0 0 0 5 w w o r l d S A V E P R G D I R T R A N S P Y L D Press DIR and the following directory display is called P O I N T X Y Z P O I N T 0 0 0 0 3 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 4 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 5 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 6 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 7 5 0 0 5 0 0 5 0 0 P O I N T 0 ...

Page 143: ... section in the data is called the main cursor which indicates that this data is selected for editing Symbol shown in the 1st column signifies that there is coordinate data before the top data Symbol shown in the 1st column signifies that there is coordinate data after the final data Alphabet t displayed in the 1st column represents that the coordinate data on the same line is based on the tool co...

Page 144: ...p ALT Used to move the main cursor up on the screen basis ALT Used to move the main cursor down on the screen basis INS Used to create a new coordinate data ALT BS Used to delete a coordinate data indicated by the main cursor All positional data contained this coordinate are also deleted EXE The system proceeds to the detailed coordinate display where you can edit a coordinate data indicated by th...

Page 145: ...e system indicated by the main cursor TOOL Used to specify the tool coordinate system for a coordinate system indicated by the cursor and cancel the designation NOSAV Used to quit the editor without saving data All changed data are aborted FIND Used to search a coordinate name CUT Used to select the range select mode PASTE Used to paste the contents saved in the cut buffer i e data deleted by the ...

Page 146: ...owing display is called T R A N S S E L E C T I O N 3 1 1 w o r l d 1 0 w T R A N S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 t T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 2 S A V E P R G P Y L D W O R K T O O L b Step 2 Name input Press the INS key and the display changes as shown below with the name input mode selected The cursor is displayed on the command line T R A N S S E L E C T I...

Page 147: ...T R A N S 0 0 0 0 2 5 T R A N S 0 0 0 2 0 0 t T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 2 0 S A V E P R G P Y L D W O R K T O O L 3 Cautions For the newly added coordinate data zero 0 is set for all elements A data is added to just below the main cursor When you have pressed the ESC key without specifying the name addition of the new data is canceled and the system returns STE 80720 5 53 ...

Page 148: ... Y L D W O R K T O O L b Step 2 Delete Press the ALT and BS keys at the same time and the following display appears with the specified data deleted T R A N S S E L E C T I O N 3 1 0 w o r l d 1 0 w T R A N S 0 0 0 0 1 0 t T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 5 5 T R A N S 0 0 0 0 3 S A V E P R G P Y L D W O R K T O O L 3 Cautions When a coordinate data is deleted all posit...

Page 149: ...A N S S E L E C T I O N 3 1 1 w o r l d 1 0 w T R A N S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 t T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 2 S A V E P R G P Y L D W O R K T O O L Press the EXE key and the following detailed display is called T R A N S 0 0 0 0 2 3 1 1 X 5 0 0 0 0 0 Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 T R A N S 0 0 0 0 2 S A V E T E A C H D I R W O R K F I N D 3 Cautions A ...

Page 150: ... P Y L D W O R K T O O L Press PYLD and the following load data directory display appears L O A D W E I G H T O F F S E T L O A D 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0 0 L O A D 0 0 0 0 0 2 1 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 3 1 0 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 4 2 0 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 3 S A V E P R G P O I N T T R A N S F I N D 3 Caution On the...

Page 151: ...1 1 w o r l d 1 0 w T R A N S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 t T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 2 S A V E P R G P Y L D W O R K T O O L Press WORK and the data of TRANS00002 is set in the work coordinate system with the positional data directory display belonging to the TRANS00002 coordinate system called as shown below P O I N T X Y Z P 1 1 0 0 0 0 P 2 2 0 0 0 0 P ...

Page 152: ...L E C T I O N 3 1 1 w o r l d 1 0 w T R A N S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 t T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 2 S A V E P R G P Y L D W O R K T O O L Press TOOL and the data of TRANS00002 is set in the tool coordinate system and the following display appears T R A N S S E L E C T I O N 3 1 1 w o r l d 1 0 w T R A N S 0 0 0 0 1 0 t T R A N S 0 0 0 0 2 5 T R A N S 0...

Page 153: ...0 0 1 0 T R A N S 0 0 0 0 2 5 t T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 2 N O S A V F I N D C U T P A S T E Press FIND and the following display appears T R A N S S E L E C T I O N 3 1 1 w o r l d 1 0 w T R A N S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 t T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 F I N D _ b Step 2 Data name input Enter TRANS00008 and the display is changed over a...

Page 154: ...rsor position on the command line ALT BS Used to delete one 1 character at the cursor position on the command line ESC This function works in a different manner according to the presence or absence of input character s Presence of input character s All input character s on the command line are cleared Absence of input character s The system returns to the coordinate data directory display c Step 3...

Page 155: ...s the specified name exists the system returns to the previous directory display with a message of NOT FOUND shown on the command line As the search is performed throughout the file the search start position is unrelated to the search operation STE 80720 5 61 ...

Page 156: ...ed in the command menu T R A N S S E L E C T I O N 2 1 1 w o r l d 1 0 T R A N S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 1 N O S A V F I N D C U T P A S T E Press CUT and the entire data at the main cursor position is displayed by reversed image to indicate that it is selected The display is as shown below T R A N S S E L E C T I O N 2 1 1 w ...

Page 157: ...ot included in the selection range The main cursor indicates the data next to the selection range Keys operative in this mode and their operations are shown below Key Descriptions Used to widen the selection range upward Used to widen the selection range downward ALT Used to widen the selection range upward on the screen basis ALT Used to widen the selection range downward on the screen basis ESC ...

Page 158: ...0 4 N O S A V F I N D C U T P A S T E 3 Cautions All positional data belonging to relevant coordinate system are also deleted A world coordinate cannot be selected or deleted Data set in the tool coordinate system cannot be selected or deleted Data set in the work coordinate system cannot be selected or deleted When this cut function is used cut data can be saved in the cut buffer and pasted at an...

Page 159: ...soft key menu T R A N S S E L E C T I O N 3 8 w o r l d 1 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 5 5 T R A N S 0 0 0 0 6 0 T R A N S 0 0 0 0 7 0 T R A N S 0 0 0 0 5 N O S A V F I N D C U T P A S T E Press PASTE and the cut data is pasted The display is as shown below T R A N S S E L E C T I O N 3 1 1 w o r l d 1 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 5 5 T R A N S 0 0 0 0 1 0 T R A N S 0 0 0...

Page 160: ...Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 T R A N S 0 0 0 0 2 S A V E T E A C H D I R W O R K F I N D Each time the NEXT key is pressed the menu is changed over as follows N O S A V An inversely displayed section in the data is called the main cursor which indicates that this data is selected for editing For the data of nnnn mmmm displayed on the 1st line nnnn signifies the number of positional data contained...

Page 161: ...y the main cursor NEXT Used to toggle the menu resulting in the next menu ALT NEXT Used to toggle the menu resulting in the previous menu Operations of each menu are shown below Menu Descriptions SAVE Used to save a data and quit the data editor TEACH Used to teach a current position of the robot in a coordinate data indicated by the main cursor DIR Used to select the coordinate data directory dis...

Page 162: ... 0 0 0 0 2 3 1 1 X 5 0 0 0 0 0 Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 T R A N S 0 0 0 0 2 S A V E T E A C H D I R W O R K F I N D Press the EXE key and the following display is called The cursor is displayed on the command line T R A N S 0 0 0 0 2 3 1 1 X 5 0 0 0 0 0 Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 T R A N S 0 0 0 0 2 _ S A V E T E A C H D I R W O R K F I N D Current data is displayed as the initial value on...

Page 163: ...racters on the command line EXE Used to change current coordinate name to an entered one The system returns to the detailed coordinate data display mode with the cursor moved to the X data area INS Used to select the insert or replace mode for the command line BS Used to delete one 1 character just before the cursor position on the command line ALT BS Used to delete one 1 character at the cursor p...

Page 164: ... 0 0 0 0 0 Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 5 0 0 0 0 0 S A V E T E A C H D I R W O R K F I N D The main cursor moves to the X data area If the input name is illegal a message saying ILLEGAL NAME is displayed on the command line and no data is changed If the specified name already exists a message of DUPLICATE NAME is displayed on the command line and no data is changed STE 80720 5 70 ...

Page 165: ...s T R A N S 0 0 0 0 2 3 1 1 X 5 0 0 0 0 0 Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 5 0 0 0 0 0 S A V E T E A C H D I R W O R K F I N D Press the EXE key and the following display is called The cursor is displayed on the command line T R A N S 0 0 0 0 2 3 1 1 X 5 0 0 0 0 0 Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 5 0 0 0 0 0 _ S A V E T E A C H D I R W O R K F I N D Current data is displayed as the initial value on the ...

Page 166: ... on the command line EXE Used to change current coordinate element to an entered one The system returns to the display mode with the main cursor moved to the next data area INS Used to select the insert or replace mode for the command line BS Used to delete one 1 character just before the cursor position on the command line ALT BS Used to delete one 1 character at the cursor position on the comman...

Page 167: ... newly specified data The system returns to the detailed coordinate data directory display mode with the main cursor moved to the next data area The display is as shown below T R A N S 0 0 0 0 2 3 1 1 X 1 0 0 0 0 0 Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 0 0 0 0 S A V E T E A C H D I R W O R K F I N D STE 80720 5 73 ...

Page 168: ...etailed coordinate data display of TRANS00002 T R A N S 0 0 0 0 2 3 1 1 X 5 0 0 0 0 0 Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 T R A N S 0 0 0 0 2 S A V E T E A C H D I R W O R K F I N D Press TEACH and the display as shown below appears T R A N S 0 0 0 0 2 3 1 1 X 5 0 0 0 0 0 Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 T R A N S 0 0 0 0 2 1 P N T 2 P N T Teaching of coordinate data comes in the following two 2 types 1 1 ...

Page 169: ...1 point teaching mode Press 1PNT and the following display appears T R A N S 0 0 0 0 2 3 1 1 X 5 0 0 0 0 0 Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 1 p t e a c h C o o r d i n a t e c Step 3 Coordinate data register Guide the robot tool tip to the teach point and set the direction of the tool coordinate to the direction of the coordinate you wish to teach Keys operative in this mode and their operations are ...

Page 170: ...any time Also he should perform the job at a position from which he can evacuate immediately at the time of emergency after confirming the robot working range and shields nearby 3 The supervisor should keep watch on the job at a position where he can see the entire robot system and operate the EMERGENCY stop pushbutton switch at the time of an emergency Also he should keep anyone from entering the...

Page 171: ... g i n c Step 3 Coordinate data register Guide the robot tool tip to the origin of the coordinate system you wish to teach Keys operative in this mode and their operations are shown below Key Descriptions EXE Used to register the current position of the robot as the origin of a new coordinate system Used to select the current coordinate data for the origin ESC Used to cancel the 2 point teaching m...

Page 172: ... Also he should perform the job at a position from which he can evacuate immediately at the time of emergency after confirming the robot working range and shields nearby 3 The supervisor should keep watch on the job at a position where he can see the entire robot system and operate the EMERGENCY stop pushbutton switch at the time of an emergency Also he should keep anyone from entering the dangero...

Page 173: ...ing mode and return the system to the teaching mode select display Press the EXE key and the coordinate indicating the X axis plus direction which is located on the straight line connecting the origin of the new coordinate system as defined by origin setting with the current position of the robot is registered For instance when the current coordinates of the robot are X 100 000 Y 100 000 Z 100 000...

Page 174: ...A D 0 0 0 0 0 7 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 S A V E P R G P O I N T T R A N S F I N D Each time the NEXT key is pressed the menu is changed over as follows N O S A V C U T P A S T E An inversely displayed section in the data is called the main cursor which indicates that this data is selected for editing Symbol shown in the 1st column signifies that there is load data before the top data...

Page 175: ...in cursor down ALT Used to move the main cursor up on the screen basis ALT Used to move the main cursor down on the screen basis INS Used to create a new load data just after the main cursor line ALT BS Used to delete a load data indicated by the main cursor EXE Used to edit a data indicated by the main cursor NEXT Used to toggle the menu resulting in the next menu ALT NEXT Used to toggle the menu...

Page 176: ... Used to select the positional data display FIND Used to search a mode name NOSAV Used to quit the editor without saving data All changed data are aborted When the data editor was started up from the program editor the program editor terminates also CUT Used to select the range select mode PASTE Used to paste the contents saved in the cut buffer i e data deleted by the previous cut menu after a lo...

Page 177: ... 0 0 0 L O A D 0 0 0 0 0 7 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 S A V E P R G P O I N T T R A N S F I N D Press the EXE key and the following display is called The cursor is displayed on the command line L O A D W E I G H T O F F S E T L O A D 0 0 0 0 0 3 1 0 0 0 0 0 1 0 0 0 0 0 L O A D 0 0 0 0 0 4 2 0 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 6 5 0 0 0 0 0 0 0 0 L O...

Page 178: ...eft on the command line Used to move the cursor right on the command line Numeral Alphabet Used to input characters on the command line EXE Used to change current load name to an entered one The system returns to the load data display mode with the cursor moved to WEIGHT INS Used to select the insert or replace mode for the command line BS Used to delete one 1 character just before the cursor posi...

Page 179: ...0 L O A D 0 0 0 0 5 5 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 6 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 7 5 0 0 0 0 0 0 0 0 5 0 0 0 0 S A V E P R G P O I N T T R A N S F I N D The main cursor moves to the WEIGHT data area If the input name is illegal a message saying ILLEGAL NAME is displayed on the command line and no data is changed If the specified name already exists a message of DUPLICATE NAME is dis...

Page 180: ... L O A D 0 0 0 0 0 6 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 7 5 0 0 0 0 0 0 0 0 5 0 0 0 0 S A V E P R G P O I N T T R A N S F I N D Press the EXE key and the following display is called The cursor is displayed on the command line L O A D W E I G H T O F F S E T L O A D 0 0 0 0 0 3 1 0 0 0 0 0 1 0 0 0 0 0 L O A D 0 0 0 0 0 4 2 0 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 6...

Page 181: ...e command line Used to move the cursor right on the command line Numeral Used to input characters on the command line EXE Used to change current load element to an entered one The system returns to the display mode with the main cursor moved to the next data area INS Used to select the insert or replace mode for the command line BS Used to delete one 1 character just before the cursor position on ...

Page 182: ...th the main cursor moved to the next data area The display is as shown below L O A D W E I G H T O F F S E T L O A D 0 0 0 0 0 3 1 0 0 0 0 0 1 0 0 0 0 0 L O A D 0 0 0 0 0 4 2 0 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 1 0 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 6 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 7 5 0 0 0 0 0 0 0 0 0 0 0 0 S A V E P R G P O I N T T R A N S F I N D STE 80720 5 88 ...

Page 183: ...0 L O A D 0 0 0 0 0 4 2 0 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 6 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 7 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 S A V E P R G P O I N T T R A N S F I N D b Step 2 Data creation Press the INS key and the display changes as shown below with the name input mode selected L O A D W E I G H T O F F S E T L O A D 0 0 0 0 0 3 1 0 0 0 0 0 1 0 ...

Page 184: ... 0 0 L O A D 0 0 0 0 0 4 2 0 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 1 0 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 6 5 0 0 0 0 0 0 0 0 0 0 0 0 S A V E P R G P O I N T T R A N S F I N D 3 Cautions For the newly added load data zero 0 is set for all elements When you have pressed the ESC key without specifying the name addition of the new data is canceled and the system returns...

Page 185: ...0 0 0 L O A D 0 0 0 0 0 6 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 7 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 S A V E P R G P O I N T T R A N S F I N D Press the ALT and BS keys at the same time and the following display appears with the specified data deleted L O A D W E I G H T O F F S E T L O A D 0 0 0 0 0 3 1 0 0 0 0 0 1 0 0 0 0 0 L O A D 0 0 0 0 0 4 2 0 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 6 5 0 0 0 0 0...

Page 186: ... 0 L O A D 0 0 0 0 0 7 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 S A V E P R G P O I N T T R A N S F I N D Press POINT and the following positional data directory display is called P O I N T X Y Z P O I N T 0 0 0 0 1 1 0 0 1 0 0 1 0 0 P O I N T 0 0 0 0 2 2 0 0 2 0 0 2 0 0 P O I N T 0 0 0 0 3 3 0 0 3 0 0 3 0 0 P O I N T 0 0 0 0 4 4 0 0 4 0 0 4 0 0 P O I N T 0 0 0 0 5 5 0 0 5 0 0 5 0 0 P O I N T 0 0 0 0...

Page 187: ...0 0 0 0 0 L O A D 0 0 0 0 0 6 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 7 5 0 0 0 0 0 0 0 0 L O A D 0 0 0 0 0 5 S A V E P R G P O I N T T R A N S F I N D Press TRANS and the following coordinate data directory display appears T R A N S S E L E C T I O N 1 1 1 w o r l d 1 0 T R A N S 0 0 0 0 1 1 0 T R A N S 0 0 0 0 2 5 T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 0 w o r l d S A V E P R G P Y L D W O R K T ...

Page 188: ...t the robot will not collide with the obstacle at all 2 If the robot motion becomes abnormal during program execution press the EMERGENCY stop pushbutton switch immediately to stop the robot NEVER restart the automatic operation until the cause of the abnormality is identified 3 The speed of automatic operation is initially set at 100 of the maximum robot speed 4 When performing automatic operatio...

Page 189: ... MODE switch equipped on the control panel to TEACHING EMERGENCY TEACHING INTERNAL EXT SERVO ON SERVO OFF RUN S UF TOP 2 UF1 PO NE SER ARM TP LECT WER LI U AL SE TS3000 TSL3000 Select TEACHING b Step 2 Selection of test operation mode When the teaching mode is selected the test operation display of the teaching mode is called as shown below M O D E T E A C H I N G C O N T L O 2 0 M F R E E S S T O...

Page 190: ...6 S Execution status RUN A program is currently executed STOP RESET A program is stopped in the initialize mode This is the same as the program reset STOP RETRY A program is stopped in the restart mode It is restarted from the interrupted motion STOP CONT A program is stopped in the continue mode It is restarted from the current program step 7 Bottom line Function key menu display field EDIT Progr...

Page 191: ...cursor keys then press the EXE key NAME and TIME in the menu are used to sort the file directory by name and time respectively To directly enter the file name through the keyboard press the INPUT function key and input the file name you wish to execute If the file name contains an extension be sure to input the extension also F I L E S E L E C T 0 0 1 0 2 0 A B C 2 5 7 F e b 0 5 2 0 0 8 F I L E 0 ...

Page 192: ...D E T E A C H I N G C O N T T E S T P R O L O 2 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L R U N F I L E 3 Cautions Once the execution file has been selected it remains effective until another file is selected If a compile error has occurred however selection of the execution file is canceled When another file has been selected the execution environment of automatic operation is reset...

Page 193: ...O L O 2 0 M F R E E S S T O P R E S E T M O D E O V R D R E S E T D O W A T C H b Step 2 Mode selection Select a desired run mode from the menu M O D E T E A C H I N G C O N T T E S T P R O L O 2 0 M F R E E S S T O P R E S E T M O D E C Y C L E C O N T C Y C L E S E G S T E P CONT Repeats program execution continuously CYCLE Stops program execution at the end of the program SEG Stops program exec...

Page 194: ... C Y C L E T E S T P R O L O 2 0 M F R E E S S T O P R E S E T M O D E O V R D R E S E T D O W A T C H 3 Cautions The run mode can be selected even while the program is being executed The execution mode selected is also operative in both the internal automatic mode and external automatic mode The selected run mode remains valid until another run mode is selected If the stop command is executed in ...

Page 195: ...g function key then M O D E T E A C H I N G C O N T T E S T P R O L O 2 0 M F R E E S S T O P R E S E T M O D E O V R D R E S E T D O W A T C H b Step 2 Input of speed override Set an override of 1 100 on the speed by means of the appropriate function key M O D E T E A C H I N G C O N T T E S T P R O L O 2 0 M F R E E S S T O P R E S E T O V E R R I D E 1 2 5 1 0 5 1 0 1 5 2 0 2 5 The maximum over...

Page 196: ...specified speed override is also operative in both the internal automatic mode and external automatic mode The selected override remains valid until another override is specified 4 Related matter The speed can be limited by the external signal low speed command When this happens the motion speed can be specified by the user parameter If the override speed set exceeds this low speed it is clamped t...

Page 197: ...cedures a Step 1 Setting of running conditions Set the conditions for executing the file selection and speed override setting b Step 2 Command selection Press the NEXT key repeatedly until MODE is displayed in the menu Press the corresponding function key then M O D E T E A C H I N G C O N T T E S T P R O L O 2 0 M F R E E S S T O P R E S E T M O D E O V R D R E S E T D O W A T C H STE 80720 6 10 ...

Page 198: ...gh EXE key Make sure that your entry is correct and press the EXE key The step operation mode is selected then M O D E T E A C H I N G S T E P T E S T P R O O K L O 2 0 M F R E E S S T O P R E S E T M O D E O V R D R E S E T D O W A T C H e Step 5 Execution of RUN Select RUN from the menu by means of the NEXT key then press the EXE key M O D E T E A C H I N G S T E P T E S T P R O L O 2 0 M F R E ...

Page 199: ...ecuted M O D E T E A C H I N G S T E P T E S T P R O L O 2 0 M F R E E S S T O P C O N T M O V E A 2 3 Cautions To stop the step operation press the ESC key to quit To execute a step in another run mode select the run mode again During step execution a step to be executed is displayed in the command filed of the teach pendant If a step operation is executed using a multitask program tasks are not ...

Page 200: ... 2 Procedures a Step 1 Setting of running conditions Set the conditions for executing the file selection run mode selection speed override setting b Step 2 Command selection Press the NEXT key repeatedly until RUN is displayed in the menu Press the corresponding function key then M O D E T E A C H I N G C O N T T E S T P R O L O 2 0 M F R E E S S T O P R E S E T R U N E D I T D E D I T S E L R U N...

Page 201: ...TS3000 the STOP LED turns off at the same time During the program execution the display of the teach pendant is as shown below with RUN indicated under S execution status M O D E T E A C H I N G C O N T T E S T P R O L 1 7 O 2 0 M F R E E S R U N M O D E O V R D B R E A K S T O P W A T C H 3 Cautions To execute a program from the top execute RESET and PROG followed by RUN STE 80720 6 14 ...

Page 202: ... Step 1 Command selection Press the NEXT key repeatedly until MODE is displayed in the menu and press the corresponding function key M O D E T E A C H I N G C O N T T E S T P R O L 1 8 0 O 2 0 M F R E E S R U N M O D E O V R D B R E A K S T O P W A T C H b Step 2 Mode selection Select CYCLE from the menu M O D E T E A C H I N G C O N T T E S T P R O L 1 8 8 O 2 0 M F R E E S R U N M O D E C Y C L ...

Page 203: ...anel turns off In the TS3000 the STOP LED turns on at the same time Also STOP CONT is indicated for S execution status on the teach pendant display M O D E T E A C H I N G C Y C L E T E S T P R O L 2 1 5 O 2 0 M F R E E S S T O P C O N T E D I T D E D I T S E L R U N F I L E 3 Cautions The cycle stop external control signal are inoperative in the cycle operation mode The SCOL program execution uni...

Page 204: ... F R E E S R U N M O D E O V R D B R E A K S T O P W A T C H After STOP is input when the currently executed command has completed the automatic operation stops In the TS3000 when STOP is input the STOP LED on the controller front panel turns on At the same time the RUN LED on the controller front panel turns off with STOP CONT shown under S execution status on the teach pendant display M O D E T ...

Page 205: ...he TS3000 when BREAK is input the STOP LED on the controller front panel turns on M O D E T E A C H I N G C O N T T E S T P R O L 1 7 O 2 0 M F R E E S R U N M O D E O V R D B R E A K S T O P W A T C H When automatic operation is stopped the RUN LED on the controller front panel turns off STOP RETRY is shown under S execution status on the teach pendant display M O D E T E A C H I N G C O N T T E ...

Page 206: ...and stops In the TS3000 when FEED HOLD is input the STOP LED on the controller front panel turns on When automatic operation is stopped the RUN LED on the controller front panel turns off The display of the teach pendant is as shown below with STOP RETRY indicated under S execution status M O D E T E A C H I N G C O N T T E S T P R O L 1 7 O 2 0 M F R E E S S T O P R E T R Y E D I T D E D I T S E ...

Page 207: ... I N G C O N T T E S T P R O L 1 9 O 2 0 M F R E E S R U N M O D E O V R D B R E A K S T O P W A T C H 3 Cautions In the feed hold mode automatic operation step execution direct execution home return and manual guidance are invalid When the FEED HOLD switch is pressed again feed hold is canceled If the feed hold was commanded during program execution program execution can be restarted by canceling...

Page 208: ...s turned off and the LED of the SERVO ON switch of the teach pendant turns off Also the SERVO ON SVON in the TSL3000 LED on the controller front panel turns off In the TS3000 the SERVO OFF LED turns on at the same time 3 Cautions All of the EMERGENCY stop switches on the control panel and teach pendant and emergency stop external control signal are operative At the time of an emergency use whichev...

Page 209: ... Function Resets all execution conditions execution steps variables for a current file and allows execution of that program from the top This function is useful to execute a current file from the top of the program 2 Procedures a Step 1 Command selection Press the NEXT key repeatedly until RESET is displayed in the menu and press the corresponding function key M O D E T E A C H I N G C O N T T E S...

Page 210: ...2 Run Make sure that your entry is correct and press the EXE key STOP RESET is shown under S execution status on the teach pendant display M O D E T E A C H I N G C O N T T E S T P R O L O 2 0 M F R E E S S T O P R E S E T M O D E O V R D R E S E T D O W A T C H 3 Cautions All variables used in the program are reset If you do not wish to the variables use the step reset function instead STE 80720 ...

Page 211: ...ute the remaining counts 2 Procedures a Step 1 Command selection Press the NEXT key repeatedly until RESET is displayed in the menu and press the corresponding function key M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T M O D E O V R D R E S E T D O W A T C H Select STEP M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T R E...

Page 212: ...and press the EXE key M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T M O D E O V R D R E S E T D O W A T C H 3 Caution When you do not wish to execute the setting of initial conditions at the head of the program use the cycle reset instead STE 80720 6 25 ...

Page 213: ...te the setting of the initial condition 2 Procedures a Step 1 Command selection Press the NEXT key repeatedly until RESET is displayed in the menu and press the corresponding function key M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T M O D E O V R D R E S E T D O W A T C H Select CYCLE M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T...

Page 214: ...ogram the execution conditions etc remain unchanged M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T M O D E O V R D R E S E T D O W A T C H 3 Cautions Use label RCYCLE in a desired step of the main program Also specify the GOTO RCYCLE command just before the END command not to execute the END command of the main program STE 80720 6 27 ...

Page 215: ... selection Press the NEXT key repeatedly until RESET is displayed in the menu and press the corresponding function key M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T M O D E O V R D R E S E T D O W A T C H Select SIG M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T R E S E T S I G P R O G C Y C L E S T E P S I G S E L STE ...

Page 216: ...ure that your entry is correct and press the EXE key The system sets off all user output signals and waits for entry of another command M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T M O D E O V R D R E S E T D O W A T C H STE 80720 6 29 ...

Page 217: ... 1 Command selection Press the NEXT key repeatedly until RESET is displayed in the menu and press the corresponding function key M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T M O D E O V R D R E S E T D O W A T C H Select SEL M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T R E S E T S E L P R O G C Y C L E S T E P S I G ...

Page 218: ... The execution file name is cleared and STOP RESET is indicated under S execution status on the display M O D E T E A C H I N G C O N T L O 2 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L F I L E 3 Cautions All variables used in the program are reset To start an operation select the execution file again STE 80720 6 31 ...

Page 219: ... a Step 1 Command selection Press the NEXT key repeatedly until DO is displayed in the menu and press the corresponding function key M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T M O D E O V R D R E S E T D O W A T C H b Step 2 Input of SCOL command Enter the SCOL command you wish to execute through the keyboard For details of the SCOL command see the Robot ...

Page 220: ... C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T D O M O V E A D O U T To execute the operation continuously enter a command again and press the EXE key d Step 4 Finish To terminate the direct operation press the ESC key M O D E T E A C H I N G C O N T T E S T P R O L 2 1 5 O 2 0 M F R E E S S T O P C O N T M O D E O V R D R E S E T D O W A T C H 3 Caution This function is ...

Page 221: ...e menu and press the corresponding function key During stop M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T M O D E O V R D R E S E T D O W A T C H During run M O D E T E A C H I N G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S R U N M O D E O V R D B R E A K S T O P W A T C H Press the WATCH function key and the variable monitor display appears N A M E _ C H...

Page 222: ...G N A M E _ C H G C H G R Unless the specified variable exists in the program is displayed Up to thirty 30 variable names can be registered c Step 3 Changeover of monitor variable display Monitor variable display can be changed over in the following manner Display of the next variable and after Press the key Display of the previous variable and before Press the key Display of already registered va...

Page 223: ...Step 5 Change of variable CHG R It is possible to change the initial value in the program By this operation a statement itself in the program is rewritten 1 Press the CHG R key and the following display is called 2 A reversed indication can be shifted up or down by means of the or keys respectively When the cursor is set to an element you wish to change relevant value of the selected element is di...

Page 224: ...ess the ESC key and the system returns to the previous display of each mode CAUTION Unless any program is selected displayed value may not be correct The CHG R function cannot be executed for the global variable yet to be initialized such as position type array variable which is not taught the robot If you are about to execute this the error message saying Can not RESTORE is displayed The position...

Page 225: ...L D I S P b Step 2 Change of the monitor variable display Press the F1 key to change between the SCROLL screen and CURRENT screen SCROLL screen when program is stopped P R O G R A M L I N E D I S P L A Y S C R O L L 0 0 0 1 P R O G R A M T E S T 0 0 0 2 S P E E D 5 0 0 0 0 3 M O V E A 0 0 0 4 M O V E B 0 0 0 5 M O V E C C U R R E J U M P R U N During program execution C U R R E J U M P B R E A K S...

Page 226: ...0 3 M O V E A 0 0 0 4 M O V E B 0 0 0 5 M O V E C S C R L L R U N During program execution C U R R E B R E A K S T O P In this screen the block that is currently being executed is highlighted for indicating which part of the program is being executed For details on the BREAK function and STOP function see Stop in Para 6 7 3 Caution LDISP is not displayed in the STEP mode STE 80720 6 39 ...

Page 227: ...ile reset function described in Para 6 8 However as you can guide the robot even when the execution file has already been selected you do not particularly need to reset the file You can also finish test operation in operation mode other than TEACHING by means of the MODE select switch on the control panel STE 80720 6 40 ...

Page 228: ...eforehand Also select the teaching mode by means of the MODE select switch CAUTION 1 Make sure that no obstacle stands in the robot working range If any obstacle exists perform automatic operation at a slow speed and make sure that the robot will not collide with the obstacle at all 2 If the robot motion becomes abnormal during program execution press the EMERGENCY stop pushbutton switch immediate...

Page 229: ...atic mode Change over the MODE switch equipped on the control panel to INTERNAL EMERGENCY TEACHING INTERNAL EXT SERVO ON SERVO OFF UF1 POWER SELECT RUN STOP UF2 LINE USER ALARM TP Select INTERNAL When the internal automatic mode is selected the following screen appears M O D E I N T E R N A L C O N T L O 1 0 0 M F R E E S S T O P R E S E T S E L M O D E O V R D R E S E T Each time the NEXT key is ...

Page 230: ...rogram is currently executed STOP RESET A program is stopped in the initialize mode This is the same as the program reset STOP RETRY A program is stopped in the restart mode It is restarted from the interrupted motion STOP CONT A program is stopped in the continue mode It is restarted from the current program step 7 Bottom line Function key menu display field SEL Selection of program to be execute...

Page 231: ... T b Step 2 Input of file name When the file directory is displayed inversely display and select a desired file name using the up and down cursor keys then press the EXE key NAME and TIME in the menu are used to sort the file directory by name and time respectively To directly enter the file name through the keyboard press the INPUT function key and input the file name you wish to execute If the f...

Page 232: ... O L O 1 0 0 M F R E E S S T O P R E S E T S E L M O D E O V R D R E S E T 3 Cautions Once the execution file has been selected it remains effective until another file is selected If a compile error has occurred however selection of the execution file is canceled When another file has been selected the execution environment of automatic operation is reset To reset the execution environment without...

Page 233: ...D E I N T E R N A L C O N T T E S T P R O L O 1 0 0 M F R E E S S T O P R E S E T S E L M O D E O V R D R E S E T b Step 2 Mode selection Select a desired run mode from the menu M O D E I N T E R N A L C O N T T E S T P R O L O 1 0 0 M F R E E S S T O P R E S E T M O D E C Y C L E C O N T C Y C L E S E G CONT Repeats program execution continuously CYCLE Stops program execution at the end of the pr...

Page 234: ... L C O N T T E S T P R O L O 1 0 0 M F R E E S S T O P R E S E T S E L M O D E O V R D R E S E T 3 Cautions The run mode can be selected even while the program is being executed The execution mode selected is also operative in both the test operation mode and external automatic mode The selected run mode remains valid until another run mode is selected If the stop command is executed in the progra...

Page 235: ... key repeatedly until OVRD is displayed in the menu Press the corresponding function key then M O D E I N T E R N A L C O N T T E S T P R O L O 1 0 0 M F R E E S S T O P R E S E T S E L M O D E O V R D R E S E T b Step 2 Input of speed override Set an override of 1 100 on the speed by means of the appropriate function key M O D E I N T E R N A L C O N T T E S T P R O L O 1 0 0 M F R E E S S T O P ...

Page 236: ... E R N A L C O N T T E S T P R O L O 9 0 M F R E E S S T O P R E S E T S E L M O D E O V R D R E S E T If zero 0 is specified for the speed override a relevant message is displayed and the entry becomes invalid 3 Caution The specified speed override is also operative in both the test operation mode and external automatic mode The selected override remains valid until another override is specified ...

Page 237: ... Switch Press the RUN switch on the controller front panel When program execution has started the STOP LED goes out with the RUN LED illuminated RUN is selected for S execution status on the teach pendant display M O D E I N T E R N A L C O N T T E S T P R O L 7 O 1 0 0 M F R E E S R U N M O D E O V R D B R E A K S T O P W A T C H 3 Cautions The startup command external control signal is inoperati...

Page 238: ...ront panel goes out with the STOP LED illuminated M O D E I N T E R N A L C Y C L E T E S T P R O L 2 6 8 O 1 0 0 M F R E E S S T O P C O N T S E L M O D E O V R D R E S E T b Step 2 Cancel of cycle stop The run mode on the display returns to the previous run mode To resume the operation press the RUN switch 3 Cautions The cycle stop external control signal is inoperative in the internal automatic...

Page 239: ... on the control panel is illuminated When the currently executed command has completed the automatic operation stops at the same time that the RUN LED on the control panel turns off with STOP CONT shown under S execution status on the teach pendant display M O D E I N T E R N A L C O N T T E S T P R O L 2 6 8 O 1 0 0 M F R E E S S T O P C O N T S E L M O D E O V R D R E S E T 3 Cautions In the int...

Page 240: ... function key corresponding to the BREAK menu The robot immediately slows down and stops to stop the automatic operation The RUN LED on the control panel turns off with the STOP LED illuminated STOP RETRY is shown under S execution status on the teach pendant display M O D E I N T E R N A L C O N T T E S T P R O L 2 6 8 O 1 0 0 M F R E E S S T O P R E T R Y S E L M O D E O V R D R E S E T To resta...

Page 241: ... goes out with the STOP LED illuminated The display of the teach pendant is as shown below with STOP RETRY indicated under S execution status M O D E I N T E R N A L C O N T T E S T P R O L 6 8 O 1 0 0 M F R E E S S T O P R E T R Y S E L M O D E O V R D R E S E T b Step 2 Cancel of feed hold While the FEED HOLD switch LED is turned on press the FEED HOLD switch again The FEED HOLD switch LED turns...

Page 242: ...n and direct execution are invalid When the FEED HOLD switch is pressed again feed hold is canceled If the feed hold was commanded during program execution program execution can be restarted by canceling the feed hold When master mode transition file selection and execution condition reset are carried out the servo power turns off and the feed hold is released The program will not be restarted dur...

Page 243: ...ON switch LED on the control panel goes out with the SERVO OFF switch LED illuminated The servo ON switch LED on the teach pendant goes out 3 Cautions All of the EMERGENCY stop switches on the control panel and teach pendant and emergency stop external control signal are operative At the time of an emergency use whichever key you can get at quickest The EMERGENCY stop switches on the control panel...

Page 244: ...urrent file and allows execution of that program from the top This function is useful to execute a current file from the top of the program 2 Procedures a Step 1 Command selection Press the NEXT key repeatedly until RESET is displayed in the menu and press the corresponding function key M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T S E L M O D E O V R D R ...

Page 245: ...STOP RESET is shown under S execution status on the teach pendant display M O D E I N T E R N A L C O N T T E S T P R O L O 1 0 0 M F R E E S S T O P R E S E T S E L M O D E O V R D R E S E T 3 Cautions All variables used in the program are reset If you do not wish to the variables use the step reset function instead STE 80720 7 18 ...

Page 246: ...ress the NEXT key repeatedly until RESET is displayed in the menu and press the corresponding function key M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T S E L M O D E O V R D R E S E T Select STEP by pressing the corresponding function key M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T R E S E T S T E P P R O G C Y ...

Page 247: ...s correct and press the EXE key M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T S E L M O D E O V R D R E S E T 3 Caution When you do not wish to execute the setting of initial conditions at the head of the program use the cycle reset instead STE 80720 7 20 ...

Page 248: ...cute the setting of the initial condition 2 Procedures a Step 1 Command selection Press the NEXT key repeatedly until RESET is displayed in the menu and press the corresponding function key M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T S E L M O D E O V R D R E S E T Select CYCLE M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O...

Page 249: ... EXE key M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T S E L M O D E O V R D R E S E T 3 Caution Use label RCYCLE in a desired step of the main program Also specify the GOTO RCYCLE command just before the END command not to execute the END command of the main program STE 80720 7 22 ...

Page 250: ...ng function key M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T S E L M O D E O V R D R E S E T Select SIG M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T R E S E T S I G P R O G C Y C L E S T E P S I G S E L b Step 2 Input through EXE key Make sure that your entry is correct and press the EXE key M O D E I N T E R N A...

Page 251: ... Press the NEXT key repeatedly until RESET is displayed in the menu M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T S E L M O D E O V R D R E S E T Select SEL by pressing the corresponding function key M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T R E S E T S E L P R O G C Y C L E S T E P S I G S E L STE 80720 7 24 ...

Page 252: ...y The execution file name is cleared and STOP RESET is indicated under S execution status on the display M O D E T E A C H I N G C O N T L O 1 0 0 M F R E E S S T O P R E S E T S E L M O D E O V R D R E S E T 3 Cautions All variables used in the program are reset To start an operation select the execution file again STE 80720 7 25 ...

Page 253: ...ocedures a Step 1 Selection of command Press the NEXT key to display DO on the menu and then press the corresponding function key M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T S E L M O D E O V R D R E S E T b Step 2 SCOL command input Enter the SCOL command to be executed from the keyboard For details on the SCOL command see the Robot Language Manual M O ...

Page 254: ...E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T D O M O V E A D O U T To execute another command enter the command again and press the EXE key d Step 4 Exit To exit direct execution press the ESC key M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S S T O P C O N T S E L M O D E O V R D R E S E T 3 Caution The direction execution function is disabled...

Page 255: ...ayed in the menu and press the corresponding function key During stop M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T W A T C H L D I S P During run M O D E I N T E R N A L C O N T T E S T P R O L 2 8 O 2 0 M F R E E S R U N M O D E O V R D B R E A K S T O P W A T C H Press the WATCH function key and the variable monitor display appears N A M E _ C H G C H G R...

Page 256: ...ed variable exists in the program is displayed Up to thirty 30 variable names can be registered c Step 3 Changeover of monitor variable display Monitor variable display can be changed over in the following manner Display of the next variable and after Press the key Display of the previous variable and before Press the key Display of an already registered variable Enter the already registered varia...

Page 257: ...isplay is called 2 A reversed indication can be shifted up or down by means of the or key respectively When the cursor is set to an element you wish to change the relevant value of the selected element is displayed as CHANGE RESTORE Change the value and press the EXE key then the value is updated Variable name CONFIG C H A N G E R E S T O R E C H G C H G R f Step 6 Deletion of registered monitor v...

Page 258: ...he CHG R function cannot be executed for the global variable yet to be initialized such as position type array variable which is not taught the robot If you are about to execute this the error message saying Can not RESTORE is displayed The position type data can be changed in the range of 3 mm or 3 deg STE 80720 7 31 ...

Page 259: ...T C H L D I S P b Step 2 Change the monitor variable display Press the F1 key to change between the SCROLL screen and CURRENT screen SCROLL screen when program is stopped P R O G R A M L I N E D I S P L A Y S C R O L L 0 0 0 1 P R O G R A M T E S T 0 0 0 2 S P E E D 5 0 0 0 0 3 M O V E A 0 0 0 4 M O V E B 0 0 0 5 M O V E C C U R R E J U M P R U N During program execution C U R R E J U M P B R E A ...

Page 260: ...0 3 M O V E A 0 0 0 4 M O V E B 0 0 0 5 M O V E C S C R L L R U N During program execution S C R L L B R E A K S T O P In this screen the block that is currently being executed is highlighted for indicating which part of the program is being executed For details on the BREAK function and STOP function see Stop in Para 7 6 3 Caution LDISP is not displayed in the STEP mode STE 80720 7 33 ...

Page 261: ...lect switch CAUTION 1 Make sure that no obstacle stands in the robot working range If any obstacle exists perform automatic operation at a slow speed and make sure that the robot will not collide with the obstacle at all 2 If the robot motion becomes abnormal during program execution press the EMERGENCY stop pushbutton switch immediately to stop the robot NEVER restart the automatic operation unti...

Page 262: ...iven from the host computer 2 Procedures a Step 1 Selection of external automatic mode External signal mode Press the MODE switch equipped on the control panel to select EXT EMERGENCY TEACHING INTERNAL EXT TSL3000 TS3000 Select EXT When the external automatic mode is selected the following screen appears EX SIG M O D E E X S I G C O N T L O 1 0 0 M F R E E S S T O P R E S E T L D I S P W A T C H S...

Page 263: ...G External control signal mode EX 232C Host mode Control by host computer EX ETHER Host mode Control by host computer CONT Continuous operation CYCLE Cycle operation 2 Right side on the 1st line Displays active file name 3 L No of execution steps 4 O Speed override 5 M Machine status FREE Machine lock OFF status 6 S Execution status RUN A program is currently executed STOP RESET A program is stopp...

Page 264: ...face Manual For the data communication function with the host computer see the Communication Manual In the external automatic mode only the MODE select switch STOP switch SERVO ON switch SERVO OFF switch and EMERGENCY stop pushbutton switch provided on the control panel are operative The mode can be changed through USER PAR EX 232C and EX ETHER are controlled by the host computer Enter U00 to chan...

Page 265: ...e selected by the external signal For the externally selected file and external signals see the User Parameter Manual and Interface Manual respectively c File selection by internal automatic mode or test operation mode TS3000 Select in advance a file you wish to execute in the internal automatic mode or test operation mode Select the either mode by means of the MODE select switch on the control pa...

Page 266: ...aution In the external control mode an execution file cannot be selected through the teach pendant using a command Internal automatic is a TS3000 function EX ETHER is provided as standard in the TS3000 and as an option in the TSL3000 STE 80720 8 6 ...

Page 267: ...etails of sending the internal command see the Communication Manual 3 Cautions In the external control signal mode the run mode is selected by the cycle operation mode signal In the EX 232C mode and EX ETHER mode the cycle operation mode signal is ineffective If the external automatic mode has replaced the internal automatic in the EX 232C mode and EX ETHER mode the operation mode effective then i...

Page 268: ...utomatic start file Create in the RAM drive an automatic start file which designates the speed override by the OVRD command then turn on the controller power For the automatic start file see Section 4 3 Cautions A speed override which was set in the internal automatic mode or test operation mode remains effective as it is Just after the controller power is turned on the override is 100 You can spe...

Page 269: ... program through data communication For the data communication see the Communication Manual M O D E E X S I G C O N T T E S T L 1 4 O 1 0 0 M F R E E S R U N B R E A K S T O P W A T C H 3 Cautions Startup can be performed using the startup signal or data communication In the external control signal mode only the startup signal is effective In the host mode only the startup by data communication ta...

Page 270: ...control signal mode the cycle operation mode is selected by the input of cycle operation mode signal When the program has been executed to the end in the cycle operation mode the automatic operation stops with the cycle end signal output In the EX 232C mode and EX ETHER mode the operation mode cannot be changed over by the external control signal If the program is started in the continuous operati...

Page 271: ...nual STOP switch on controller front panel TS3000 Press the STOP switch Teach pendant Press the function key corresponding to the STOP menu After STOP is input when the currently executed command has completed the automatic operation stops In the TS3000 when STOP is input the STOP LED on the controller front panel turns on At the same time the RUN LED on the controller front panel turns off In the...

Page 272: ... Press the function key corresponding to the BREAK menu Stop signal only in the external control signal mode Input the break signal For details see the Interface Manual The robot immediately slows down and stops to stop the automatic operation In the TS3000 when BREAK is input the STOP LED on the controller front panel turns on The RUN LED on the controller front panel turns off when the automatic...

Page 273: ...e RUN LED on the controller front panel goes out The display of the teach pendant is as shown below with STOP RETRY indicated under S execution status M O D E E X S I G C O N T T E S T L 1 2 3 O 1 0 0 M F R E E S S T O P R E T R Y L D I S P W A T C H b Step 2 Cancel of feed hold While the FEED HOLD switch LED is turned on press the FEED HOLD switch again The FEED HOLD switch LED turns off and the ...

Page 274: ...E E S R U N B R E A K S T O P W A T C H 3 Cautions If the feed hold was commanded during program execution program execution can be restarted by canceling the feed hold If you should change the master mode select a file or reset the execution conditions the program will not restart STE 80720 8 14 ...

Page 275: ...s turned off and the LED of the SERVO ON switch of the teach pendant turns off Also the SERVO ON SVON in the TSL3000 LED on the controller front panel turns off In the TS3000 the SERVO OFF LED turns on at the same time 3 Cautions All of the EMERGENCY stop switches on the control panel and teach pendant and emergency stop external control signal are operative At the time of an emergency use whichev...

Page 276: ...e initial condition Also specify the GOTO RCYCLE command just before the END command not to execute the END command of the main program 1 4 Output signal reset Sets off all user external output signals DOUT 1 DOUT 164 The hand signals 201 204 will not turn off 2 Procedures External control signal mode Turn on the input signal corresponding to the program reset step reset cycle reset or output sign...

Page 277: ...o the variables use the step reset function instead If you do not wish to execute the setting of initial conditions at the head of the program use the cycle reset instead In the cycle reset mode use label RCYCLE in a desired step of the main program EX ETHER function is provided as standard in TS3000 and as an option in TSL3000 STE 80720 8 17 ...

Page 278: ...ATCH is displayed in the menu and press the corresponding function key During stop M O D E E X S I G C O N T T E S T P R O L 2 8 O 2 0 M F R E E S S T O P C O N T L D I S P W A T C H During run M O D E E X S I G C O N T T E S T P R O L 2 8 O 1 0 0 M F R E E S R U N B R E A K S T O P W A T C H Press the WATCH function key and the variable monitor display appears N A M E _ C H G C H G R STE 80720 8 ...

Page 279: ...ed variable exists in the program is displayed Up to thirty 30 variable names can be registered c Step 3 Changeover of monitor variable display Monitor variable display can be changed over in the following manner Display of the next variable and after Press the key Display of the previous variable and before Press the key Display of an already registered variable Enter the already registered varia...

Page 280: ...isplay is called 2 A reversed indication can be shifted up or down by means of the or key respectively When the cursor is set to an element you wish to change the relevant value of the selected element is displayed as CHANGE RESTORE Change the value and press the EXE key then the value is updated Variable name CONFIG C H A N G E R E S T O R E C H G C H G R f Step 6 Deletion of registered monitor v...

Page 281: ...he CHG R function cannot be executed for the global variable yet to be initialized such as position type array variable which is not taught the robot If you are about to execute this the error message saying Can not RESTORE is displayed The position type data can be changed in the range of 3 mm or 3 deg STE 80720 8 21 ...

Page 282: ...CO N T L D I S P b Step 2 Change the monitor variable display Press the F1 key to change between the SCROLL screen and CURRENT screen SCROLL screen when program is stopped P R O G R A M L I N E D I S P L A Y S C R O L L 0 0 0 1 P R O G R A M T E S T 0 0 0 2 S P E E D 5 0 0 0 0 3 M O V E A 0 0 0 4 M O V E B 0 0 0 5 M O V E C C U R R E J U M P During program execution C U R R E B R E A K S T O P The...

Page 283: ...0 0 3 M O V E A 0 0 0 4 M O V E B 0 0 0 5 M O V E C S C R L L R U N During program execution S C R L L B R E A K S T O P In this screen the block that is currently being executed is highlighted for indicating which part of the program is being executed For details on the BREAK function and STOP function see Stop in Para 8 6 3 Caution LDISP is not displayed in STEP mode STE 80720 8 23 ...

Page 284: ...edures a Step 1 File mode selection Press the NEXT key repeatedly until FILE is displayed in the menu Press the corresponding function key then M O D E T E A C H I N G C O N T 1 2 3 4 5 6 7 8 1 2 3 L 9 9 9 9 O 1 0 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L R U N F I L E Press the FILE and the following display appears F I L E O P E R A T I O N D I R C O P Y D E L R E N STE 80720 9 1 ...

Page 285: ...isplayed R A M A B C D 1 2 3 4 5 6 7 1 2 3 4 5 6 F e b 1 2 2 0 0 8 F I L E 0 0 0 2 0 1 2 1 2 3 4 5 6 F e b 1 3 2 0 0 8 F I L E 0 0 0 3 0 1 2 1 2 3 4 5 6 F e b 1 4 2 0 0 8 F I L E 0 0 0 4 0 1 2 1 2 3 4 5 6 F e b 1 5 2 0 0 8 F I L E 0 0 0 5 0 1 2 1 2 3 4 5 6 F e b 1 6 2 0 0 8 N A M E T I M E U S B 3 2 1 5 4 Press the USB and the following menu is selected to display a directory of files contained in...

Page 286: ...ALT Used to display the contents of the just succeeding page F1 Used to sort the data by file name F2 Used to sort the data by date ESC Used to return the system to the previous display 3 Cautions If a USB drive is selected in any of the operation processes the USB drive will not be recognized unless there is a TS3000 folder directory in the drive Therefore before performing any file operations ch...

Page 287: ...milar file 2 Procedures a Step 1 File mode selection Press the NEXT key repeatedly until FILE is displayed in the menu Press the corresponding function key then M O D E T E A C H I N G C O N T 1 2 3 4 5 6 7 8 1 2 3 L 9 9 9 9 O 1 0 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L R U N F I L E Press the FILE and the following display appears F I L E O P E R A T I O N D I R C O P Y D E L R E ...

Page 288: ...t a desired source file name using the cursor then press the EXE key The file name thus selected is displayed on the command line If it is OK press the EXE key It is also possible to change the file name by deleting one 1 character by means of the BS key or all characters by means of the ESC key A B C d Step 4 Input of copied file name Select a file name where you wish to copy the source file If y...

Page 289: ...a file name If you further press the same key the system returns to the source file name input mode A B C D Make sure that the input file name is correct then press the EXE key e Step 5 Input through EXE key When the confirmation message appears make sure of the input file name again Then press the EXE key C o p y R A B C R A B C D O K T H E N E X E R represents RAM and U represents USB f Step 6 I...

Page 290: ...B C D I L L G A L O P E R A N D H I T A N Y K E Y 3 Cautions If the size of the copying data exceeds the memory capacity as a result of the copy operation an error message of RAM file I O error is displayed If the number of files registered in the RAM drive exceeds the limit by the copy operation the system waits for key input displaying an error message of MTX file I O error or RAM file I O error...

Page 291: ...key repeatedly until FILE is displayed in the menu Press the corresponding function key then M O D E T E A C H I N G C O N T 1 2 3 4 5 6 7 8 1 2 3 L 9 9 9 9 O 1 0 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L R U N F I L E Press the FILE and the following display appears F I L E O P E R A T I O N D I R C O P Y D E L R E N STE 80720 9 8 ...

Page 292: ...fore change using the cursor then press the EXE key The file name thus selected is displayed on the command line If it is OK press the EXE key It is also possible to change the file name by deleting one 1 character by means of the BS key or all characters by means of the ESC key A B C d Step 4 Input of file name after change Select a file name after change If you press the ESC key without any char...

Page 293: ...ey e Step 5 Input through EXE key When the confirmation message appears make sure of the input file name again Then press the EXE key R e n a m e R A B C R A B C D O K T H E N E X E f Step 6 Input through ANY key When the file has been renamed the following message appears When you press any key on the teach pendant the system returns to Step 2 and you can continue renaming R e n a m e R A B C R A...

Page 294: ... G A L O P E R A N D H I T A N Y K E Y 3 Cautions Unless the file name before change exists an error message of File name Not found is displayed and this operation becomes invalid If you try to rename a file selected as the execution file an error message saying File name file already selected is displayed and this operation is ineffective If the file name after change is identical with the file s...

Page 295: ... Procedures a Step 1 File mode selection Press the NEXT key repeatedly until FILE is displayed in the menu Press the corresponding function key then M O D E T E A C H I N G C O N T 1 2 3 4 5 6 7 8 1 2 3 L 9 9 9 9 O 1 0 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L R U N F I L E Press the FILE and the following display appears F I L E O P E R A T I O N D I R C O P Y D E L R E N STE 80720 ...

Page 296: ...N A M E T I M E I N P U T U S B c Step 3 Input of file name to be deleted Select a file name you wish to delete and press the EXE key If there are many files to be deleted use wild cards or execute this function over a few times The file name thus selected is displayed on the command line When you press the ESC key a file name can be deleted If you further press the same key you can select a file ...

Page 297: ...Y When you use the wild card the system waits for your answer displaying a message of Are you sure A r e y o u s u r e O K T H E N E X E When you wish to delete all files press the EXE key When you do not wish to delete them press the ESC key 3 Cautions If you use the wild card for the RAM drive you will clear the reserved files too A file selected as the execution file cannot be deleted When this...

Page 298: ...the system returns to the previous display quitting the utility mode 10 1 Selecting Utility Mode 1 Function Selects the utility mode 2 Procedures a Step 1 Utility mode selection Press the UTILITY key equipped on the teach pendant and the following display appears R O B O T U T I L I T Y A U X I O P O S T R A N S W K T M Each time the NEXT key is pressed the menu is changed over as follows R E O R ...

Page 299: ...t signals POS Used to display the robot positions TRANS Used to select the work coordinate system or tool coordinate system WK TM Used to display and set the robot working time REORG Used to reproduce the origin or home point Note This function is intended for the maintenance For details see the Maintenance Manual provided separately J LIM Used to display the joint limit set values and set a joint...

Page 300: ... the instructions of our service engineers VER Used to display the system version CONV Used to display each status of the conveyor synchronization function Note For details see the Conveyor Synchronous Function Instruction Manual provided separately ETHER Used to display the Ethernet status Note For details see the Communication Manual provided separately ETHER function is provided as standard in ...

Page 301: ...ports Auxiliary signals having two 2 output signal ports are set for the double solenoid and those having one 1 output signal port are intended for the single solenoid Those having no output signal ports are not intended for anything Ports inversely displayed are ON and ports not inversely displayed are OFF On the above display only 1 is ON It is possible to display messages for respective signals...

Page 302: ...lity display Operation of each command menu is shown below Menu Descriptions AUXn Each time this key is pressed the solenoid state changes from ON to OFF or vice versa For the double solenoid the state of two 2 ports are changed over alternately 3 Cautions The output signal port and solenoid type corresponding to each command menu should be defined in the user parameter file in advance For more in...

Page 303: ... O U T S Y S For the display contents see Step 2 below Keys operative in this mode and their operations are shown below Key Descriptions Used to move the cursor to the left When the cursor is located on the left end it will not move at all This key is effective when the ON menu or OFF menu is displayed Used to move the cursor to the right When the cursor is located on the right end it will not mov...

Page 304: ...cursor OFF Used to set OFF the bit indicated by the cursor DIN Used to move to DIN display user external input DOUT Used to move to DOUT display user external output SYS Used to move to SYS system display b Step 2 Change of display Press the ALT keys or the NEXT key or ALT ALT NEXT at the same time and the display items are changed over Display contents of each page are shown below 1 DIN User exte...

Page 305: ...ld bus input 1 I O M o n i t o r F i e l d b u s 1 I N 4 5 1 1 0 1 1 2 0 D I N 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 4 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 6 0 0 0 0 D I N D O U T S Y S Page 5 field bus input 2 I O M o n i t o r F i e l d b u s 2 I N 5 5 1 1 0 1 1 2 0 D I N 4 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4 2 0 0 0 0 0 0 0 0 0 0 ...

Page 306: ... D O U T 1 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 D O U T 1 4 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 D O U T 1 6 0 0 0 0 0 O N O F F D I N D O U T S Y S Page 3 system output I O M o n i t o r S y s t e m O U T 3 5 1 1 0 1 1 2 0 D O U T 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 D O U T 2 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 D O U T 2 4 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 D O U T 2 6 ...

Page 307: ... signal at the head of the signal string is displayed at the left end of the line The number of signals is 64 For the page where ON or OFF is displayed data indicated by the cursor can be set ON or OFF 3 SYS System Page 1 HAND I O M o n i t o r H a n d 1 4 1 5 8 D O U T 2 0 0 0 0 0 0 0 0 0 D I N 2 0 0 0 0 0 0 0 0 0 O N O F F D I N D O U T S Y S The I O signal status is represented by 1 for open co...

Page 308: ...Y S Page 4 1 MOTOR BRAKE CONTROL M O T O R B R A K E C O N T R O L 4 4 A x i s 1 L O C K A x i s 5 L O C K A x i s 2 L O C K A x i s 6 L O C K A x i s 3 L O C K A x i s 4 L O C K D I N D O U T S Y S You cannot edit data on this display Page 4 2 MOTOR BRAKE CONTROL M O T O R B R A K E C O N T R O L 4 4 A x i s 1 F R E E A x i s 5 L O C K A x i s 2 L O C K A x i s 6 L O C K A x i s 3 L O C K A x i s...

Page 309: ...information is enabled when the MOTOR BRAKE CONTROL screen is displayed and the conditions are satisfied When exiting the MOTOR BRAKE CONTROL screen the motor brakes of each axis are locked when the servo is turned off When the servo is turned on the motor brake is applied for the current axes ...

Page 310: ...0 0 m m J 4 0 0 0 0 d e g J 5 0 0 0 0 d e g J O I N T W O R L D W O R K P C M D P F B K Coordinate value of respective joints are displayed The key operative in this mode and its operation are shown below Key Descriptions ESC Used to return the system to the utility display Operations of each menu are shown below Menu Descriptions JOINT Used to call the position display in the joint coordinate sys...

Page 311: ... 0 d e g J 2 0 0 0 0 d e g J 3 0 0 0 0 m m J 4 0 0 0 0 d e g J 5 0 0 0 0 d e g J O I N T W O R L D W O R K P C M D P F B K Coordinates of respective joints are displayed Position display in world coordinate system W O R L D X 0 0 0 0 W O R K w o r l d Y 0 0 0 0 T O O L Z 0 0 0 0 B A S E w o r l d C 0 0 0 0 T 0 0 0 0 J O I N T W O R L D W O R K P C M D P F B K A work coordinate of each axis is disp...

Page 312: ...K TOOL and BASE coordinate systems COORD is selected Position command display P O S I T I O N C O M M A N D E 1 0 E 2 0 E 3 0 E 4 0 E 5 0 J O I N T W O R L D W O R K P C M D P F B K Values of position command from each axis servo are displayed Position feedback display P O S I T I O N F E E D B A C K E 1 0 E 6 0 E 2 0 E 7 0 E 3 0 E 8 0 E 4 0 E 5 0 J O I N T W O R L D W O R K P C M D P F B K Values...

Page 313: ...is defined in the selected program The defined coordinate data are displayed by every one data in the line An inversely displayed section in the data is called the main cursor which indicates that this data is selected for editing Symbol shown in the 1st column signifies that there is coordinate data before the top data Symbol shown in the 1st column signifies that there is coordinate data after t...

Page 314: ...creen basis ALT Used to move the main cursor down on the screen basis ESC Used to quit coordinate selection and return to the utility screen Operations of each menu are shown below Menu Descriptions END Used to quit coordinate selection and return to the utility screen FULL Used to select the detailed display indicated by the main cursor WORK Used to specify the coordinate indicated by the cursor ...

Page 315: ...on The coordinate data directory screen is displayed as shown below T R A N S S E L E C T I O N 1 1 1 w o r l d 1 0 T R A N S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 w o r l d E N D F U L L F I N D W O R K T O O L Press the END key and the following detailed display is called R O B O T U T I L I T Y A U X I O P O S T R A N S W K T M 3 Caution When pressing the...

Page 316: ... I O N 3 1 1 w o r l d 1 0 T R A N S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 2 E N D F U L L F I N D W O R K T O O L For nnnn mmmm in the first column nnnn signifies the number of positional data belonging to a selected coordinate system mmmm signifies the total number of positional data in all coordinate systems Press the FULL key and the fo...

Page 317: ...rectory display WORK Used to specify the coordinate system displayed to the work coordinate system and cancel the designation TOOL Used to specify the coordinate system displayed to the tool coordinate system and cancel the designation FIND Used to search a coordinate name 3 Cautions The world coordinate system cannot be displayed in detail Each menu END WORK TOOL FIND is process in the same manne...

Page 318: ...n cursor to TRANS00002 and the following display is called T R A N S S E L E C T I O N 3 1 1 w o r l d 1 0 T R A N S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 2 E N D F U L L F I N D W O R K T O O L Press the WORK key The data of TRANS00002 is set as the work coordinate Alphabet w is displayed in the first column which shows the data has alread...

Page 319: ...ed When this operation is done for the coordinate already set in the work coordinate system setting of the work coordinate system is canceled When another coordinate system was set as the work coordinate system the previous coordinate system is canceled A coordinate system set as the work coordinate is identified by w is displayed in the first column of the directory display ...

Page 320: ...stem a Step 1 Command selection Move the main cursor to TRANS00003 and the following display appears T R A N S S E L E C T I O N 4 1 1 w o r l d 1 0 T R A N S 0 0 0 0 1 0 w T R A N S 0 0 0 0 2 5 T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 3 E N D F U L L F I N D W O R K T O O L Press TOOL and the data of TRANS00003 is set in the tool coordinate system and the following display ap...

Page 321: ...inate system is canceled When this operation is done for the coordinate system already set as the tool coordinate system setting of the tool coordinate system is canceled If another coordinate was already set as the tool coordinate it is canceled by this function A coordinate set as the tool coordinate is identified by t in the 1st column of the display ...

Page 322: ...S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 w o r l d E N D F U L L F I N D W O R K T O O L Press FIND and the following display appears T R A N S S E L E C T I O N 1 1 1 w o r l d 1 0 T R A N S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 F I N D _ b Step 2 Data name input Enter TRANS00008 and the display is changed over as show...

Page 323: ...1 character just before the cursor position on the command line ALT BS Used to delete one 1 character at the cursor position on the command line ESC This function works in a different manner according to the presence or absence of input character s Presence of input character s All input character s on the command line are cleared Absence of input character s The system returns to the coordinate d...

Page 324: ...simply moves to the data position and the data is not displayed at the head of the screen Unless the specified name exists the system returns to the previous directory display with a message of NOT FOUND shown on the command line As the search is performed throughout the file the search start position is unrelated to the search operation ...

Page 325: ... 1 X 5 0 0 0 0 0 Y 0 0 0 0 Z 0 0 0 0 C 0 0 0 0 T R A N S 0 0 0 0 2 E N D D I R F I N D W O R K T O O L Press DIR and the following load data directory display appears T R A N S S E L E C T I O N 3 1 1 w o r l d 1 0 T R A N S 0 0 0 0 1 0 T R A N S 0 0 0 0 2 5 T R A N S 0 0 0 0 3 0 T R A N S 0 0 0 0 4 4 T R A N S 0 0 0 0 2 E N D F U L L F I N D W O R K T O O L 3 Caution The position of the main curs...

Page 326: ...is displayed in the menu Press the WK TM key and the following working time display appears W O R K T I M E U T I L I T Y P O W E R O N T I M E 1 2 3 4 5 H 1 2 M P R O G R A M R U N T I M E 0 0 0 0 0 H 0 0 M H O U R 0 9 9 9 9 9 POWER ON TIME displays the total power ON time in hours and minutes H M PROGRAM RUN TIME indicates the total program run time in hours and minutes H M Each time can be chan...

Page 327: ...cters on the command line EXE Used to change the data indicated by main the cursor to the input value BS Used to delete one 1 character just before the cursor position on the command line ALT BS Used to delete one 1 character at the cursor position on the command line ESC Used to return the system to the utility display b Step 2 Data input Move the main cursor to a data you wish to change and ente...

Page 328: ...y the main cursor is replaced with the new value you entered The display is as shown below W O R K T I M E U T I L I T Y P O W E R O N T I M E 0 0 1 0 0 H 1 2 M P R O G R A M R U N T I M E 0 0 0 0 0 H 0 0 M M I N I T E 0 5 9 3 Caution The input range of each data is as follows Hour 0 99999 Minute 0 59 ...

Page 329: ...pears Page 1 U S E R H O M E 1 H O M E 2 J 1 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 d e g J 2 0 0 d e g J 3 0 0 m m J 4 0 0 d e g J 5 0 0 m m S E T T E A C H Page 2 S Y S T E M H O M E 3 H O M E 4 J 1 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 d e g J 2 0 0 d e g J 3 0 0 m m J 4 0 0 d e g J 5 0 0 m m S E T T E A C H The origin coordinate of each axis is displayed The origin coordinate as specified by the ZEROP func...

Page 330: ...S MANUAL series Robot Controller This function is intended for reproducing the machine origin DO NOT use it at other than origin reproduction 3 Caution For details of the display contents and setting see the Maintenance Manual ...

Page 331: ...0 0 0 0 d e g J 5 0 0 0 0 0 0 0 0 d e g Both minus and plus limit coordinates of each joint are displayed Keys operative in this mode and their operations are shown below Key Descriptions Used to move the main cursor up If it is located at the top the cursor will not move at all Used to move the main cursor down If it is located at the bottom the cursor will not move at all Used to move the cursor...

Page 332: ...r as shown below L I M I T L I M I T J 1 1 1 0 0 0 0 1 1 0 0 0 0 d e g J 2 1 3 7 0 0 0 1 3 7 0 0 0 d e g J 3 0 0 0 0 2 0 0 5 0 0 m m J 4 2 8 0 0 0 0 2 8 0 0 0 0 d e g J 5 0 0 0 0 0 0 0 0 d e g 1 1 0 0 0 0 Enter the data to be changed and the following display appears L I M I T L I M I T J 1 1 1 0 0 0 0 1 1 0 0 0 0 d e g J 2 1 3 7 0 0 0 1 3 7 0 0 0 d e g J 3 0 0 0 0 2 0 0 5 0 0 m m J 4 2 8 0 0 0 0 ...

Page 333: ... the command line ALT BS Used to delete one 1 character at the cursor position on the command line ESC This function works in a different manner according to the presence or absence of input character s Presence of input character s All input character s on the command line are cleared Absence of input character s The system returns to the joint limit display Press the EXE key and the data at the ...

Page 334: ...ues are used to limit the automatic operation range and teaching range of the robot for each joint They are factory set to the maximum working range for each axis Each joint set values are registered in the user parameter file file name USER PAR If any set value has been changed relevant data in the user parameter file in the RAM drive is also updated automatically ...

Page 335: ...es a Step 1 Command selection Press the NEXT key repeatedly until DATE is displayed in the menu Press the DATE key and the following date and time setting display appears D A T E U T I L I T Y D A T E A u g 0 1 2 0 0 8 T I M E 1 2 0 0 M O N T H 1 1 2 DATE displays the current date by month day year TIME indicates the current time in hours and minutes ...

Page 336: ...cleared Numeral Used to input characters on the command line EXE Used to change the data indicated by the main cursor to the input value BS Used to delete one 1 character just before the main cursor position on the command line ALT BS Used to delete one 1 character at the main cursor position on the command line ESC Used to return the system to the utility display b Step 2 Data input Move the main...

Page 337: ...ller has a built in calendar which is backed up by a battery setting is usually unnecessary Set the data again only when the date or time is incorrect The input range of each data is as follows Year 0 99 2000 2099 Month 1 12 Day 1 31 Hour 0 23 Minute 0 59 If only an asterisk mark is input as the data the display is initialized as shown below Use this mark if the calendar display is illegal in the ...

Page 338: ...0 F F F F S Y S R O B O T S E Q A M P The data is displayed in the order of the system version name date of creation and check sum value from the left The date of creation is shown in the order of year month day hour and minute A check sum value is expressed in the hexadecimal notation Page 1 contains the versions of boot ROM main communication standard sequence communication option Page 2 contain...

Page 339: ... USER PAR PROGRAM NAME Displays a sequence file name during run COMMON Displays TYPE N or TYPE P viewing the flag FIELDBUS Displays the name of the FIELDBUS board mounted on the robot controller Servo amplifier information display S E R V O A M P I N F O R M A T I O N A s l o t A x i s 1 E x t 1 N o n e B s l o t A x i s 2 E x t 2 N o n e C s l o t A x i s 3 E x t 3 N o n e D s l o t A x i s 4 E x...

Page 340: ...tions ALT or NEXT or Used to display the next page If the cursor is located at the final page the top page is selected ALT or ALT NEXT or Used to display the previous page If the cursor is located at the top page the final page is selected ESC Used to return the system to the utility display Operations of each menu are shown below Menu Descriptions SYS Displays the system version ROBOT Displays in...

Page 341: ...0 0 0 0 0 0 0 0 0 0 E 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 E 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 E 4 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 E 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 E R R O R R E S E T Each axis encoder data is displayed This function is intended for the maintenance only To make valid any change in the data therefore subsequent input of combined keys is necessary The key operative in this mode and its oper...

Page 342: ...i t o r X P L C I n p u t 1 4 F 8 7 0 X 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 X 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 X 0 2 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 X 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 X Y G H Y display P L C M o n i t o r Y P L C o u t p u t 1 4 F 8 7 0 Y 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Y 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Y 1 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Y 1 3 0 0 0 0 0 0 0 0 0 0 ...

Page 343: ... Key Descriptions ALT or NEXT or Used to display the next page If the cursor is located at the final page the top page is selected ALT or ALT NEXT or Used to display the previous page If the cursor is located at the top page the final page is selected ESC Used to return the system to the utility display Operations of each menu are shown below Menu Descriptions X Moves to the X display on the PLC m...

Page 344: ... 1 5 0 0 0 0 0 E 3 5 3 0 1 E 4 2 1 0 0 0 0 E 5 0 Zero position of each axis encoder is displayed This function is intended for the maintenance only To make valid any change in the data therefore subsequent input of combined keys is necessary This function is used to establish the machine zero position or origin If the operation is done incorrectly the zero position will shift causing a very danger...

Page 345: ...O R Q U E P E A K L I M I T J 1 1 0 2 2 1 0 1 3 0 0 0 J 2 2 1 1 8 5 7 3 0 0 0 J 3 3 4 5 1 5 5 8 3 0 0 0 J 4 2 5 1 2 6 0 3 0 0 0 J 5 0 0 0 0 3 0 0 0 T O R Q U T H E R M L O A D The key operative in this mode and its operation are shown below Key Descriptions ESC Used to return the system to the utility display Operations of each command menu are shown below Menu Descriptions TORQU Used to display t...

Page 346: ... 0 J 5 0 0 0 0 3 0 0 0 T O R Q U T H E R M L O A D The current motor torque of each axis is displayed 100 Rated torque In the PEAK column the maximum value from the power ON to the current time is displayed Under the LIMIT column the ratio of the maximum torque to the rated torque is displayed Electronic thermal total value display T H E R M A L 1 0 0 E r r J 1 1 0 2 J 2 0 0 J 3 0 0 J 4 2 5 J 5 0 ...

Page 347: ... 2 5 1 2 0 1 2 1 J 5 0 0 0 0 0 0 T O R Q U T H E R M L O A D The current motor factor of each axis is displayed 100 Rated load The displayed values are the running averages for the duration of the past one 1 minute fifteen 15 minutes and two 2 hours When the load factor under the column of 1 Min or 15 Min reaches the specified value the alarm saying Axis Motor overload is generated ...

Page 348: ... 0 6 F I R M W A R E S 1 S 6 0 0 0 0 0 0 0 1 0 0 2 0 b Step 2 Display change The display items can be changed by pressing ALT key key the NEXT key or ALT key key ALT key NEXT key The information displayed on each page is shown below Page 1 E T H E R N E T S T A T U S 1 3 I P A D D R E S S 1 9 2 1 6 8 0 1 2 4 S U B N E T M A S K 2 5 5 2 5 5 2 5 5 0 M A C A D D R E S S 0 0 0 0 4 8 1 4 0 2 0 6 F I R ...

Page 349: ...L I S E N I P 1 S C O L T C P C C L O S E D I P 2 S C O L T C P S C L O S E D I P 3 S Y S T E M T C P S C L O S E D IP0 to IP3 This indicates the Ethernet channel number App Name of application using the channel The connection in the control status from robot language uses simple protocol when HOST is shown and uses non protocol communication when SCOL is shown Mode Protocol type open status TCP S...

Page 350: ...etween the controller and external device is connected correctly Use a cross connect cable if connecting the robot controller directly to the external device and use a straight cable if the connection passes through a hub After making any parameter settings turn the power off and then on again to enable the new settings ...

Page 351: ...PAYLD The PAYLOAD setting screen during manual guidance appears as shown below P A Y L O A D f o r M a n u a l O p e r a t i o n M a s s k g 0 0 0 0 O f f s e t m m 0 0 0 The keys enabled in this mode and their operations are shown in the table below Key Operation description Used to move the main cursor up The cursor does not move when it is at the top edge Used to move the main cursor down The c...

Page 352: ...he EXE key The current data is displayed in the command line The screen appears as shown below P A Y L O A D f o r M a n u a l O p e r a t i o n M a s s k g 0 0 0 0 O f f s e t m m 0 0 0 0 0 0 0 Enter the data that will be changed The screen appears as shown below P A Y L O A D f o r M a n u a l O p e r a t i o n M a s s k g 0 0 0 0 O f f s e t m m 0 0 0 1 0 0 0 0 ...

Page 353: ...mode for the command line BS Used to erase the character just before the command line cursor position ALT BS Used to erase the character at the command line cursor position ESC Operation varies depending on whether there are entered characters When characters are entered All characters entered in the command line are erased When no characters are entered Used to return to the PAYLOAD setting value...

Page 354: ... in kg units and the offset is indicated in mm units The PAYLOAD setting value for manual guidance is stored in the user parameter file file name USER PAR If the PAYLOAD setting value for manual guidance is changed the information in the user parameter file on the RAM drive is also automatically updated ...

Page 355: ...ory Settings FCTRY F A C T O R Y S E T T I N G U T I L I T Y W A R N I N G T H I S F U N C T I O N I S U T I L I T Y O N L Y F O R F A C T O R Y I N I T I A L I Z A T I O N 3 Caution This screen is used to perform initialization to the factory settings The user must not use this display ...

Page 356: ...2 Procedures a Step 1 Command selection Press the NEXT key repeatedly until BCKUP is displayed in the menu and then press BCKUP U T L I T Y E T H E R B C K U P The BACKUP screen appears as shown below R A M D I S K B A C K U P S T A T U S E M P T Y B A C K U P D A T E 0 4 0 3 1 5 1 6 2 5 S A V E L O A D b Step 2 Save Press the ALT key and the 0 key at the same time to enable the function key Press...

Page 357: ...he screen The backup process is complete when this message no longer appears R A M D I S K B A C K U P S T A T U S E M P T Y B A C K U P D A T E 0 4 0 3 1 5 1 6 2 5 S a v i n g S A V E L O A D The status when writing to the flash memory is shown below STATUS Indicates the backup status EMPTY Empty 3 FILES 1024 BYTES In the above example 1024 bytes are used in three files BACKUP DATE Indicates the ...

Page 358: ... M S A V E L O A D Press the EXE R A M D I S K B A C K U P P u s h E X E L O A D T h e n S T A R T S A V E L O A D Press the EXE key to start reloading R A M D I S K B A C K U P S T A T U S E M P T Y B A C K U P D A T E 0 4 0 3 1 5 1 6 2 5 L o a d i n g S A V E L O A D During the reloading process Loading is displayed on the screen The reloading process is complete when this message no longer appe...

Page 359: ...4 or 8 the fault external control signal turns on At the time of emergency stop the buzzer will not sound and the fault signal will not turn on To reset the alarm buzzer press the STOP pushbutton switch on the control panel or execute the reset operation stated in Para 11 4 TSL3000 When an error occurs the buzzer sounds intermittently and the ALARM LED on the controller front panel turns on If the...

Page 360: ...T A L A R M 1 1 8 0 0 1 U n d e f i n e d i n t H I S T 8 0 1 5 R E S E T 1 1 6 0 b Step 2 Error display Keys operative in this mode and their operations are shown below Key Descriptions ALT Used to display the previous page If errors which have not yet been reset are covered on two or more pages ALT Used to display the next page If errors which have not yet been reset are covered on two or more p...

Page 361: ... A L A R M 1 1 8 0 0 1 S e p 0 6 2 0 0 7 1 9 4 9 H I S T 8 0 1 5 R E S E T 1 1 6 0 3 Caution When the ESC key is pressed the system quits the error display and returns to the previous display Error display is possible irrespective of the mode currently selected STE 80720 11 3 ...

Page 362: ... d e f i n e d i n t H I S T 8 0 1 5 R E S E T 1 1 6 0 b Step 2 Reset input Press the function key corresponding to the RESET menu After the error has been reset another error if any is displayed in its place 3 Cautions The soft limit and emergency stop are automatically reset after a relevant error has been corrected Even if the reset operation is performed if the cause of the error is not remove...

Page 363: ...Function Resets all errors whose causes have been cleared 2 Procedures a Use the master key to switch to EXT SIG mode b Set the ALARM_RST signal to ON to reset the error 3 Caution This function can be executed irrespective of presence or absence of the teach pendant STE 80720 11 5 ...

Page 364: ...0 1 U n d e f i n e d i n t H I S T 8 0 1 5 R E S E T 1 1 6 0 b Step 2 Input of history Press the function key corresponding to the HIST menu and the following error history display appears Error message display A L A R M H I S T O R Y 0 1 4 2 8 0 0 1 U n d e f i n e d i n t 8 0 0 2 M e m o r y C h e c k e r r o r 8 0 0 4 W a t c h d o g e r r o r 8 0 0 7 A x i s 1 s o f t W a t c h d o g e r r o ...

Page 365: ...d to clear the error history Error time display A L A R M H I S T O R Y 0 1 4 2 8 0 0 1 S e p 0 8 2 0 0 7 1 9 5 9 8 0 0 2 S e p 0 7 2 0 0 7 1 9 4 9 8 0 0 4 S e p 0 6 2 0 0 7 1 9 3 9 8 0 0 7 S e p 0 5 2 0 0 7 1 9 2 9 8 0 0 8 S e p 0 5 2 0 0 7 1 9 2 9 8 0 0 9 S e p 0 5 2 0 0 7 1 9 2 9 C U R R E C L E A R d Step 4 Error display Press the function key corresponding to the CURRE menu and the display of...

Page 366: ...ep 1 Input of error display Press the ERROR key on the teach pendant and the following display appears C U R R E N T A L A R M 1 1 1 1 6 0 C o m p i l e E r r o r H I S T 8 0 1 5 R E S E T 1 1 6 0 b Step 2 Input of compile error detailed display Press the function key corresponding to the 1 160 menu compile error detailed display menu Compile error message detailed display A L A R M D E T A I L E ...

Page 367: ... occurrence line number Error occurrence block Line number from top line TOP Error number For details about specific errors refer to the Appendix Compile Error and Compile Warning Messages in the Robot Language Manual c Step 3 Error display Press the function key corresponding to the CURRE menu and the display of error or errors currently generated is shown STE 80720 11 9 ...

Page 368: ...OPERATOR S MANUAL series Robot Controller STE 80720 Z ...

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