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YASKAWA motoman NX100 Operator'S Manual Download Page 295

8  Parameter

8.2  Motion Speed Setting Parameters

8-6

149235-1CD

RE-CSO-A031

S2C324, S2C325: OPERATION AFTER RESET FROM PATH 
DEVIATION

These parameters specify the method of restarting the manipulator that has deviated from the normal 
path such as an emergency stop or jog operation.

0: Move to the indicated step (initial setting).
1: After moving back to the deviated position, move to the indicated step.
2: Move back to the deviated position and stop.

S2C324

Parameter Setting 

Value

Movement When Restarting

0

Move to next step.

1

After moving back to the deviated position, move to the indicated 
step.

2

S2C325

Parameter Setting 

Value

Movement When Restarting

0

Move to the next step.

Emergency stop

Movement

when restarting

Move to next step.

Emergency stop (Servo OFF)

Move to the path deviated
position and then move to the
indicated step.

Emergency stop

Move to the path deviated
position and stop.
When restarting, move to
the indicated step.

JOG

Movement

when restarting

Move to next step.

295 of 493

Summary of Contents for motoman NX100

Page 1: ...duct and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator s manuals above correspond to specific usage Be sure to use the appropriate manual 1 of 493 ...

Page 2: ... property of Yaskawa and may not be sold or redistributed in any way You are welcome to copy this document to your computer or mobile device for easy access but you may not copy the PDF files to another website blog cloud storage site or any other means of storing or distributing online content Printed in the United States of America First Printing 2015 Yaskawa America Inc Motoman Robotics Divisio...

Page 3: ...ng this product The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product YASKAWA may modify this model without notice when necessary due to product improvements modifications or changes in specifications If such modification is made the manual number will also be revised If your copy of the manual is damaged or lost contact...

Page 4: ...le for providing adequately trained personnel to operate program and maintain the equipment NEVER ALLOW UNTRAINED PERSONNEL TO OPERATE PROGRAM OR REPAIR THE EQUIPMENT We recommend approved Yaskawa training courses for all personnel involved with the operation programming or repair of the equipment This equipment has been tested and found to comply with the limits for a Class A digital device pursu...

Page 5: ...t avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and damage to equipment It may also be used to alert against unsafe practices Always be sure to foll...

Page 6: ...e sure to use a lockout device to the safeguarding when going inside Also display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding View the manipulator from the front whenever possible Always follow the predetermined operating procedure Keep in mind the emergency response measures against the manipulator s unexpected motion toward ...

Page 7: ...e sure that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming pendant to the hook on the NX100 cabinet after use The programming pendant can be damaged if it is left in the P point maximum envelope of the manipulator on the floor or near fixtures Read and understa...

Page 8: ... each company or corporation The indications of R and TM are omitted Equipment Manual Designation Programming Pendant Character Keys The keys which have characters printed on them are denoted with ex ENTER Symbol Keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture ex page key The cursor key is an exception and a picture is not shown Axis Keys Nu...

Page 9: ... a response to your inquiry Please have the following information ready before you call Customer Support techsupport motoman com Please use e mail for routine inquiries only If you have an urgent or emergency need for service replacement parts or information you must contact Motoman Customer Support at the telephone number shown above System NX100 Arc Welding Robots ___________________________ Pri...

Page 10: ...Pendant Display 1 10 The Five Display Areas 1 10 General purpose Display Area 1 11 Main Menu Area 1 12 Status Display Area 1 12 Human Interface Display Area 1 14 Menu Area 1 14 1 2 5 Screen Descriptions 1 14 Denotation 1 14 Screen 1 15 1 2 6 Character Input 1 15 Operation 1 16 Alphanumeric Input 1 17 Symbol Input 1 17 1 3 Modes 1 18 1 3 1 Teach Mode 1 18 1 3 2 Play Mode 1 18 1 3 3 Remote Mode 1 18...

Page 11: ...2 7 2 3 4 Tool Coordinates 2 8 Selecting the Tool 2 9 2 3 5 User Coordinates 2 10 Selecting User Coordinates 2 11 Examples of User Coordinate Utilization 2 12 2 3 6 External Axis 2 12 2 3 7 Control Point Operation 2 13 2 3 8 Control Point Change 2 15 3 Teaching 3 1 Preparation for Teaching 3 1 3 1 1 Checking Emergency Stop Buttons 3 1 3 1 2 Setting the Teach Lock 3 1 3 1 3 Registering a Job 3 2 Re...

Page 12: ...ructions 3 30 Modifying Position Data 3 30 Modifying Interpolation Type 3 30 3 4 5 Undo Operation 3 31 3 4 6 Modifying Reference Point Instructions 3 31 Deleting Reference Point Instructions 3 31 Modifying Reference Point Instructions 3 32 3 4 7 Modifying Timer Instructions 3 32 Deleting Timer Instructions 3 32 Modifying Timer Instructions 3 33 3 5 Modifying Jobs 3 34 3 5 1 Calling Up a Job 3 34 3...

Page 13: ...er Type Variables 3 67 Registering Variable Name 3 68 Displaying Position Variables 3 69 Setting Position Variables 3 70 Setting Position Variables Using the Numeric Keys 3 71 Setting Position Variables Using the Axis Keys 3 73 Deleting Data Set of Position Variables 3 74 Checking Positions by Position Variables 3 75 Manipulator Types 3 76 3 9 5 Editing Local Variables 3 80 Setting the Number of L...

Page 14: ...15 4 3 3 Stop by Alarm 4 16 4 3 4 Others 4 17 Temporary Stop by Mode Change 4 17 Temporary Stop by the PAUSE Instruction 4 17 4 4 Modifying Play Speed 4 18 4 4 1 Speed Override 4 18 Setting Speed Overrides 4 20 Modifying Play Speed 4 21 Releasing Speed Override Settings 4 21 4 5 Playback with Reserved Start 4 22 4 5 1 Preparation for Reserved Start 4 22 Enabling Reserved Start 4 23 Registering Res...

Page 15: ...3 6 2 1 Function Overview 6 3 6 2 2 Setting the Shift Value 6 5 Registering Position Variables 6 5 Coordinate Systems 6 5 Setting the Shift Value 6 6 6 2 3 Registering Shift Instructions 6 7 SFTON Instruction 6 8 SFTOF Instruction 6 10 MSHIFT Instruction 6 10 6 2 4 Continuation of the Parallel Shift Function 6 13 6 2 5 Examples of Use 6 14 Example of Use of Shift Addition Subtraction 6 14 Example ...

Page 16: ... Position Variables 6 44 6 5 4 User coordinates Mirror shift Function 6 44 Object Job 6 44 Group Axes Specification 6 44 Position Variables 6 44 6 5 5 Notes on the Mirror Shift Function 6 45 6 5 6 Operation Procedures 6 46 Calling Up the JOB CONTENT Window 6 46 Mirror Shift Conversion 6 46 Explanation of the Mirror Shift Window 6 47 7 External Memory Devices 7 1 Memory Devices 7 1 7 1 1 Compact Fl...

Page 17: ...G ZONE 8 3 S1CxG044 LOW SPEED START 8 4 S1CxG045 to S1CxG048 JOG OPERATION LINK SPEED 8 4 S1CxG056 WORK HOME POSITION RETURN SPEED 8 4 S1CxG057 SEARCH MAX SPEED 8 5 S2C153 POSTURE CONTROL AT CARTESIAN OPERATION OF JOG 8 5 S2C154 OPERATION IN USER COORDINATE SYSTEM WHEN EXTERNAL REFERENCE POINT CONTROL FUNCTION USED 8 5 S2C238 CONTROLLED GROUP JOB TEACHING POSITION CHANGE 8 5 S2C324 S2C325 OPERATIO...

Page 18: ... 8 14 S2C163 LANGUAGE LEVEL 8 14 S2C166 INSTRUCTION INPUT LEARNING FUNCTION 8 15 S2C167 ADDRESS SETTING WHEN CONTROL POWER IS TURNED ON 8 15 S2C168 JOB LIST DISPLAY METHOD AT JOB SELECTION 8 15 S2C169 INITIAL OPERATION OF MANIPULATOR 8 15 S2C170 PLAYBACK EXECUTION AT CYCLE MODE 1 STEP 8 16 S2C171 EXTERNAL START 8 16 S2C172 PROGRAMMING PENDANT START 8 16 S2C173 SPEED DATA INPUT FORM 8 16 S2C174 RES...

Page 19: ...RENCE AREA 8 33 S3C801 to S3C804 ROBOT INTERFERENCE AREA 8 33 S3C805 A SIDE LENGTH OF WORK HOME POSITION CUBE 8 33 8 5 Parameters according to Status I O 8 34 S2C187 USER OUTPUT RELAY WHEN CONTROL POWER IS ON 8 34 S4C000 to S4C007 PARITY OF USER INPUT GROUPS 8 35 S4C008 to S4C015 PARITY OF USER OUTPUT GROUPS 8 36 S4C016 to S4C023 DATA OF USER INPUT GROUPS 8 37 S4C024 to S4C031 DATA OF USER OUTPUT ...

Page 20: ...8 45 S2C332 RELATIVE JOB OPERATION METHOD 8 46 S3C819 to S3C898 ANALOG OUTPUT FILTER CONSTANT When analog output corresponding to speed function is used 8 46 S3C899 CUT WIDTH CORRECTION VALUE When form cutting function is used 8 46 8 8 Hardware Control Parameters 8 47 S2C508 ANTICIPATOR FUNCTION 8 47 S2C646 to S2C648 COOLING FAN ALARM DETECTION8 48 S4C181 to S4C212 SETTING OF OPERATING RELAY NO 8 ...

Page 21: ... 8 10 Application Parameters 8 52 8 10 1 Arc Welding 8 52 AxP000 APPLICATION 8 52 AxP003 WELDING ASSIGNMENT OF WELDING START CONDITION FILE 8 52 AxP004 WELDING ASSIGNMENT OF WELDING END CONDITION FILES 8 52 AxP005 WELDING SPEED PRIORITY 8 52 AxP009 WORK CONTINUING 8 52 AxP010 WELDING INSTRUCTION OUTPUT 8 52 AxP011 AxP012 MANUAL WIRE OPERATION SPEED 8 53 AxP013 AxP014 WELDING CONTROL TIME 8 53 AxP0...

Page 22: ...1 9 3 8 Slope Up Down Function 9 12 9 3 9 Enhanced Welding Condition File Function 9 13 9 4 Registering Arc Welding Instructions 9 13 9 4 1 ARCON 9 13 Registering the ARCON Instruction 9 13 Setting Welding Start Conditions 9 14 9 4 2 ARCOF 9 21 Registering the ARCOF Instruction 9 21 Setting Welding End Conditions 9 22 9 4 3 ARCSET 9 30 Registering the ARCSET Instruction 9 30 9 4 4 ARCCTS 9 35 Regi...

Page 23: ...ry 9 68 Alarm History Windows 9 68 9 10 Notes on Arc Welding 9 70 Notes on Restarting 9 70 9 11 Weaving Condition File 9 71 9 11 1 Weaving Basic Coordinate System 9 71 9 11 2 WEAVING CONDITION Window 9 72 9 11 3 Editing the Weaving Condition Files 9 76 Displaying a Weaving File 9 76 Editing the Condition Data 9 77 Cases that Require the Registration of Reference Points 9 78 9 11 4 Prohibiting Weav...

Page 24: ...9 94 9 13 Power Source Condition File Initial Value 9 96 Contents of 24 Welder Condition Files 9 97 9 14 Table of Work Instructions 9 109 10 Table of Basic Instructions 10 1 Move Instructions 10 1 10 2 I O Instructions 10 5 10 3 Control Instructions 10 8 10 4 Shift Instructions 10 11 10 5 Operating Instructions 10 12 11 Error 11 1 Error Message List 11 1 11 1 1 System and General Operation 11 2 11...

Page 25: ...the front of the NX100 controller The emergency stop button is installed in the upper right corner of the cabinet door and the programming pendant hangs from a hook below the button For information on setup installation and connection of the NX100 system refer to the NX100 INSTRUCTIONS NX100 Front View Main power switch Door lock Door lock 25 of 493 ...

Page 26: ...ET B000 0 0002 SET B001 1 0003 MOVJ VJ 80 00 0004 MOVJ VJ 80 00 0005 DOUT OGH 13 B002 0006 DOUT OT 41 ON 0007 MOVL C00002 V 880 0 CV 1 CTP 0 662 0008 DOUT OT 44 ON 0009 TIMER T 3 0 0010 MOVL V 880 0 0011 MOVL V 880 0 0012 MOVL V 880 0 0013 MOVL V 880 0 Turn on servo power Menu area Mode switch General purpose display area Cursor key Enable switch Located on the back of the programming pendant When...

Page 27: ...which have a symbol printed on them are not denoted with but depicted with a small picture with the exception of the cursor key which is not shown with a picture Axis Keys and Numeric Keys The keys pictured in the following are referred to as the axis keys and Numeric keys when described Keys Pressed Simultaneously When two keys are to be pressed simultaneously the keys are shown with a sign betwe...

Page 28: ...oves the cursor in the direction of the arrow The size of the cursor and the range place where the cursor can move will vary depending on the window If the UP cursor button is pressed when the cursor is on the first line the cursor will move to the last line of the job Conversely if the cursor is on the last line of the job and the DOWN cursor button is pressed the cursor will jump to the first li...

Page 29: ...ile will be displayed For Input output instructions the input output condition will be displayed COORD Select the operation coordinate system when the manipulator is operated manually Five coordinate systems joint cartesian cylindrical tool and user can be used Each time this key is pressed the coordinate system is switched in the following order JOINT WLD CYL TOOL USER The selected coordinate sys...

Page 30: ...ith external axes Axis Key Moves specified axes on manipulator The manipulator axes only move while the key is held down Multiple axes can be operated simultaneously by pressing two or more keys at the same time The manipulator operates in the selected coordinate system at the selected manual speed Make sure that the selected coordinate system and the manual speed are the desired ones before start...

Page 31: ...ed Only move instructions are executed no weld commands INFORM LIST Displays instruction lists of commands available for job editing CANCEL Cancels data input and resets errors DELETE Deletes registered instructions and data Deletion completes when ENTER is pressed while this key lamp is lit INSERT Inserts new instructions or data Insertion completes when ENTER is pressed while this key lamp is li...

Page 32: ...ck operation is stopped by alarm occurrence HOLD signal or mode change HOLD Holds the manipulator motion This button is enabled in any mode The lamp on this button is lit only while the button is being pressed Although the lamp turns OFF when the button is released the manipulator stays stopped until a START command is input The HOLD lamp automatically lights in the following cases to indicate tha...

Page 33: ...utton is pressed In the play mode the servo power supply is turned ON if the safeguard ing is securely closed In the teach mode the SERVO ON lamp flashes and the servo power supply is turned ON when the Enable switch is ON The SERVO ON lamp is lit while the servo power is ON ASSIST Displays the menu to assist the operation for the currently displayed window Pressing this button with SHIFT or INTER...

Page 34: ...OT SYSTEM INFO CF FD CF SETUP PARAMETER SPOT WELDING CURR POS PLS POSITION DIAGNOSIS 3 CURR POS XYZ SEG PLUSE S L U R B T 7 8 0 X 0 Y 0 Z 0 Rx 0 Ry 0 Rz 0 0 0 000 S L U R B T 7 8 0 000 0 000 0 00 0 00 0 00 0 0 0 0 0 0 0 0 AXIS 0000_0000 TYPE 0000_0000 TOOL 0 F B PULSE MOTOR POS RESET S 0 S 0 1 0 JOB EDIT DISPLAY UTILITY Menu area Status display area Main menu area Human interface display area Main...

Page 35: ... with the displayed contents CANCEL Cancels the displayed contents and returns to the previous window COMPLETE Completes the setting operation displayed on the general purpose display area STOP Stops operation when loading saving or verifying with an external memory device RELEASE Releases the overrun and shock sensor function RESET Resets an alarm Cannot reset major alarms DIRECT PAGE Jumps to th...

Page 36: ...splays the active control group for systems equipped with station axes or several robot axes to Robot Axes to Base Axes to Station Axes Operation Coordinate System Displays the selected coordinate system Switched by pressing COORD Joint Coordinates Cartesian Coordinates Cylindrical Coordinates Tool Coordinates User Coordinates Short Cut Main Menu JOB DOUT MOVE END VARIABLE B001 IN OUT In Out ROBOT...

Page 37: ...Mode Management Mode Operation Cycle Displays the present operation cycle Step Cycle Continuous State Under Execution Displays the present system status STOP HOLD E STOP ALARM or RUN Stop Status Hold Status Emergency Stop Status Alarm Status Operating Status Mode NS3 00 or later Teach mode Play mode Page Displayed when the page can be switched Weak Battery of Memory Displayed when the battery of m...

Page 38: ... area is used to edit a job manage jobs and execute various utilities 1 2 5 Screen Descriptions Denotation The menu displayed in the programming pendant is denoted with The above menu items are denoted with DATA EDIT DISPLAY AND UTILITY The pull down menu commands are denoted in the same manner Turn on servo power HELP CLOSE 5 9 Cannot load macro job at current security mode Cannot insert modify d...

Page 39: ...hich characters are to be input and press SELECT to display the software keypad There are three types of software keypads the alphanumeric keypads each for upper case and lower case characters and the symbol keypad To switch between the alphanumeric keypads and the symbol keypad touch the button tab on the screen or press PAGE To switch the alphanumeric keypads between upper case and lower case ch...

Page 40: ...aracter CANCEL Clears all the characters being typed Pressing this second time cancels the software keypad BACK SPACE Deletes the last one character ENTER Enters the input characters Button Tab Switches the keypads displayed on the programming pendant Closes the software keypad Numeric Keys to Enters numbers S E LE C T CANCEL BACK SPACE ENTER PAGE GO BACK MAIN MENU 0 9 40 of 493 ...

Page 41: ...the cursor to the desired symbol and press SELECT to enter the symbol Note that only some symbols are available for naming jobs For Numbers and Upper case Characters For Numbers and Lower case Characters SP Space PAGE GO BACK Short Cut Main Menu RESULT Back Space Cancel CapsLock OFF Enter Space 1 2 3 4 5 6 7 8 9 0 Q W E R T Y U I O P A S D F G H J K L Z X C V B N M SYMBOL KEYBOARD JOB EDIT DISPLAY...

Page 42: ...art Cycle Change Call Master Job can be commanded by external input signals The operations by external input signals become enabled in the remote mode while START on the programming pendant becomes disabled The data transmission function optional function is also available in the remote mode The following table shows how each operation is input in each mode Note PP indicates the programming pendan...

Page 43: ... Operation Mode The operator can monitor the line operation and start and stop the manipulator Repairs etc can be performed if any abnormalities are detected Edit Mode Teaching robot jog operations and editing of jobs and various condition files can be per formed in addition to the operations enabled in the operation mode Management Mode The operator who performs setup and maintenance for the syst...

Page 44: ...ion Edit REAL Operation Edit STRING Operation Edit POSITION ROBOT Operation Edit POSITION BASE Operation Edit POSITION ST Operation Edit LOCAL VARIABLE Operation IN OUT EXTERNAL INPUT Operation EXTERNAL OUTPUT Operation UNIVERSAL INPUT Operation UNIVERSAL OUTPUT Operation Edit SPECIFIC INPUT Operation SPECIFIC OUTPUT Operation RIN Operation CPRIN Operation REGISTER Operation AUXILIARY RELAY Operat...

Page 45: ...OORDINATE Edit Edit HOME POSITION Management Management MANIPULATOR TYPE Management ROBOT CALIB Edit Edit ANALOG MONITOR Management Management OVERRUN S SENSOR 1 Edit Edit LIMIT RELEASE 1 Edit Management ARM CONTROL 1 Management Management SHIFT VALUE Operation SYSTEM INFO VERSION Operation MONITORING TIME Operation Management ALARM HISTORY Operation Management I O MSG HISTORY Operation Management...

Page 46: ...JOB NAME Edit Edit USER ID Edit Edit SET SPEED Management Management KEY ALLOCATION 1 Management Management RES START CNCT Management Management AUTO BACKUP SET 3 Management Management WRONG DATA LOG 4 Operation Management ARC WELDING ARC START COND Operation Edit ARC END COND Operation Edit ARC AUX COND Operation Edit POWER SOURCE COND Operation Edit ARC WELD DIAG Operation Edit WEAVING Operation...

Page 47: ... Edit I O ALLOCATION Management Management GUN CONDITION Management Management CLEARANCE SETTING Operation Edit SPOT POWER SOURCE COND Management Management GENERAL WEAVING Operation Edit GENERAL DIAGNOSIS Operation Edit ALL COMMON APPLICATION I O VARIABLE CUSTOMIZE Operation Operation Menu Security Mode Main Menu Sub Menu Security Mode DISPLAY EDIT 47 of 493 ...

Page 48: ...er JOB DOUT MOVE END VARIABLE B001 IN OUT In Out ROBOT SYSTEM INFO CF FD CF SETUP DISPLAY SETUP Aa ARC WELDING Short Cut Main Menu PARAMETER MONITORING TIME ALARM HISTORY I O MESSAGE HISTORY VERSION SECURITY DATA EDIT DISPLAY UTILITY Turn on servo power JOB DOUT MOVE END VARIABLE B001 IN OUT In Out ROBOT SYSTEM INFOR CF FD CF SETUP ARC WELDING Short Cut Main Menu PARAMETER SECURITY MODE SECURITY M...

Page 49: ...ut user ID as required At the factory the user ID number is preset as follows Edit Mode 00000000 Management Mode 99999999 5 Press ENTER The selected security mode s input ID is checked If the correct user ID is input the security mode is changed Operation Explanation 49 of 493 ...

Page 50: ...roup is classified into three units ROBOT as a manipulator itself BASE that moves the manipulator in parallel and STATION as jigs or tools other than ROBOT and BASE BASE and STATION are also called external axes Robot Base Station This is the axis for the manipulator itself This is any axis other than the ro bot and base It indicates the tilt or rotating axis of the fixture This is the axis that m...

Page 51: ...parallel to the L axis arm For vertical motion the tool tip of the manipulator moves parallel to the Z axis Tool Coordinates The effective direction of the tool mounted in the wrist flange of the manipulator is defined as the Z axis This axis controls the coordinates of the end point of the tool User Coordinates The XYZ cartesian coordinates are defined at any point and angle The tool tip of the m...

Page 52: ...edit job can be switched by pressing ROBOT or EX AXIS Check selected control group at status display area on the programming pendant Select Coordinate System Select coordinate system by pressing COORD button It switches Joint Cartesian Cylindrical Tool User in every pressing Check the selected coordinate on the status display area on the programming pendant Select Manual Speed Select manual speed ...

Page 53: ...g Axis Operation Make sure of safety around the manipulator Press axis key then axis moves according to the selected control group coordinates and manual speed See 2 3 Coordinate Systems and Axis Operation for details HIGH SPEED Pressing of HIGH SPEED with axis keys pressed allows the manipulator to move faster than usual speed The HIGH SPEED key is disabled when INCH is selected for manual speed ...

Page 54: ...backward U axis Upper arm moves up and down Wrist Axes R axis Wrist rolls right and left B axis Wrist moves up and down T axis Wrist turns right and left When two or more axis keys are pressed at the same time the manipulator will perform a compound movement However if two different directional keys for the same axis are pressed at the same time such as S S none of the axes operate When using a ma...

Page 55: ...l to X axis Y axis Moves parallel to Y axis Z axis Moves parallel to Z axis Wrist Axes Motion about TCP is executed See section 2 3 7 Control Point Operation and section 2 3 8 Control Point Change When two or more axis keys are pressed at the same time the manipulator will perform compound movement However if two different directional keys for the same axis are pressed at the same time such as X X...

Page 56: ...s r axis Moves perpendicular to Z axis Z axis Moves parallel to Z axis Wrist Axes Motion about TCP is executed See section 2 3 7 Control Point Operation and section 2 3 8 Control Point Change When two or more axis keys are pressed at the same time the manipulator will perform compound movement However if two different directional keys for the same axis are pressed at the same time such as Z Z none...

Page 57: ...gardless of the manipulator position or orientation These motions are best suited when the manipulator is required to move parallel while maintaining the tool orientation with the workpieces Axis Motion in Tool Coordinates Axis Name Axis Operation Key Motion Basic Axes X axis Moves parallel to X axis Y axis Moves parallel to Y axis Z axis Moves parallel to Z axis Wrist Axes Motion about TCP is exe...

Page 58: ...les with one manipulator set the following parameter S2C333 Tool number switch specifying parameter 1 Can be switched 0 Cannot be switched Operation Explanation 1 Press the COORD key and select the tool coordinates Every pressing of the COORD key changes coordinate system Joint Cartesian Cylindrical Tool User Check the change on the status display area 2 Press SHIFT COORD The TOOL NO SELECT window...

Page 59: ...ed Axis Motion in User Coordinates Axis Name Axis Key Motion Basic Axes X axis Moves parallel to X axis Y axis Moves parallel to Y axis Z axis Moves parallel to Z axis Wrist Axes Motion about TCP is executed See section 2 3 7 Control Point Operation and section 2 3 8 Control Point Change When two or more axis keys are pressed at the same time the manipulator will perform compound movement However ...

Page 60: ...the user coordinates Every pressing of the COORD key changes coordinate system Joint Cartesian Cylindrical Tool User Check the change on the status display area 2 Press SHIFT COORD The USER COORD SELECT window appears 3 Select the desired user number Short Cut Main Menu USER COORD SELECT NO NAME 00 01 02 03 04 05 06 07 DATA EDIT DISPLAY UTILITY For more information on registration of the user coor...

Page 61: ...orming arranging or stacking operations the incremental value for shift can be easily programmed by setting user coordinates on a pallet When performing conveyor tracking operations the moving direction of the conveyor is specified 2 3 6 External Axis External axis is enabled to operate in selecting BASE or STATION for control group Axis Name Axis Operation Key Motion BASE or STATION 1st axis The ...

Page 62: ...is Motion in Motion about TCP Axis Name Axis Key Motion Basic Axes TCP moves These movements differ depending on cartesian cylindrical tool and user coordinates Wrist Axes Wrist axes move with the TCP fixed These movements differ depending on cartesian cylindrical tool and user coordinates When two or more axis keys are pressed at the same time the manipulator will perform compound movement Howeve...

Page 63: ...rist axis rotations are based on the X Y or Z axis In tool coordinates wrist axis rotations are based on X Y or Z axis of the tool coordi nates In user coordinates wrist axis rotations are based on X Y or Z axis of the user coordi nates Z axis Y axis X axis Z axis Y axis X axis Z a x i s Y a x i s X a x i s Z axis X axis Y axis Z axis X axis Y axis 63 of 493 ...

Page 64: ...ectively When Tool 1 is selected to perform axis operation P1 Tool 1 s TCP is the target point of the operation Tool 2 follows Tool 1 and is not controlled by axis operation On the other hand Tool 2 is selected to perform axis operation P2 Tool 2 s TCP is the target point of axis operation In this case Tool 1 follows Tool 2 Example 2 TCP Change Operation with a Single Tool The two corners of the w...

Page 65: ... 2 Setting the Teach Lock For safety purposes always set the mode switch to TEACH before beginning to teach While the teach lock is set the mode of operation is tied to the teach mode and the machines cannot be played back using either START or external input Operation Explanation 1 Press E STOP button Press the emergency stop button on the NX100 or the programming pendant 2 Confirm the servo powe...

Page 66: ... the system Example Operation Explanation 1 Select JOB under the main menu The sub menu appears 2 Select CREATE NEW JOB The NEW JOB CREATE window appears 3 Input job name Move the cursor to JOB NAME and press SELECT Input job names using the character input operation For information on character input operation refer to section 1 2 6 Character Input 4 Press ENTER 0 0 1 WORK A JOB 1 Short Cut Main ...

Page 67: ...ve been registered switch the window to the teaching window as follows Operation Explanation 1 In the NEW JOB CREATE window move the cursor to the comment and press SELECT 2 Enter the comment For information on character input operation refer to section 1 2 6 Character Input 3 Press ENTER Operation Explanation 1 In the NEW JOB CREATE window press ENTER or select EXECUTE Job name comments and contr...

Page 68: ...form an operation In the case of MOVE instructions the instruction corresponding to the interpolation type is automatically displayed at the time position is taught Additional items Speed and time are set depending on the type of instruction Numerical or character data is added when needed to the tags which set conditions 0000 NOP 0001 SET B000 0 0002 SET B001 1 0003 MOVJ VJ 80 00 0004 MOVJ VJ 80 ...

Page 69: ...joint interpolation is used when the manipulator does not need to move in a specific path toward the next step position When the joint interpolation is used for teaching a robot axis the move instruction is MOVJ For safety purposes use the joint interpolation to teach the first step When MOTION TYPE is pressed the move instruction on the input buffer line changes Play Speed Setting Window Speeds a...

Page 70: ...ves automatically changing the wrist position as shown in the figure below Play Speed Setting Window same for circular and spline interpolation There are two types of displays and they can be switched depending on the application Operation Explanation 1 Move the cursor to the play speed 2 Set the play speed by pressing SHIFT the cursor key The play speed value increases or decreases MOVL V 660 Fas...

Page 71: ...en two steps at an identical point The step at the end point of the preceding circular move must coincide with the beginning point of the following circular move Play Speed The play speed set display is identical to that for the linear interpolation The speed taught at P2 is applied from P1 to P2 The speed taught at P3 is applied from P2 to P3 If a circular operation is taught at high speed the ac...

Page 72: ...ine interpolation the manipulator moves from P0 to P1 in a straight line Continuous Spline Curves The manipulator moves through a path created by combining parabolic curves This differs from the circular interpolation in that steps with identical points are not required at the junction between two spline curves When the parabolas overlap a composite motion path is created P2 P3 P4 P0 P1 Automatica...

Page 73: ...ove Instructions is called Inserting move instruction to distinguish it from the method shown in Registering Move Instructions For more details on this operation see section 3 4 2 Inserting Move Instructions The basic operations for registration and insertion are the same The only difference is pressing INSERT in the case of insertion For registration Registering Move Instructions the instruction ...

Page 74: ...Enable switch Grip the Enable switch to turn the servo power ON 5 Move the manipulator to the desired position using the axis key Use the axis operation key to move the manipulator to the desired position Short Cut Main Menu JOB DOUT MOVE END VARIABLE B001 IN OUT In Out ROBOT SYSTEM INFO CF FD CF ARC WELDING SETUP DISPLAY SETUP Aa JOB EDIT DISPLAY UTILITY JOB CONTENT SELECT JOB CREATE NEW JOB MAST...

Page 75: ... Using Multiple Tools with One Manipulator When multiple tools are to be used with one manipulator set parameter S2C333 to 1 See Selecting the Tool for details on this operation Operation Explanation 1 Press MOTION TYPE When MOTION TYPE is pressed MOVJ MOVL MOVC MOVS are displayed in order in the input buffer line 2 Select the desired interpolation type Short Cut Main Menu TOOL NO SELECT NO NAME 0...

Page 76: ...nation 1 Move the cursor to the instruction 2 Press SELECT The cursor moves to the input buffer line 3 Move the cursor to the play speed to be set 4 Press SHIFT the cursor key or simultaneously The joint speed moves up and down 5 Press ENTER The MOV instruction is registered The position level can be set at the same time that the move instruction is registered To make the setting so that the play ...

Page 77: ...L The position level is displayed The position initial value is 1 Short Cut Main Menu JOINT SPEED VJ 50 00 POS LEVEL UNUSED NWAIT UNUSED DETAIL EDIT MOVJ JOB EDIT DISPLAY UTILITY Short Cut Main Menu JOB EDIT DISPLAY UTILITY DETAIL EDIT MOVJ JOINT SPEED VJ 50 00 POS LEVEL PL 1 NWAIT UNUSED PL UNUSED Short Cut Main Menu DETAIL EDIT MOVJ JOINT SPEED VJ 50 00 POS LEVEL PL 1 NWAIT UNUSED JOB EDIT DISPL...

Page 78: ...ry as P3 or P6 add PL 0 EXAMPLE Passing points P2 P4 and P5 MOVL V 138 PL 3 Positioning point P3 and P6 MOVL V 138 PL 0 4 Press ENTER To change the position level select the level in the input buffer line type the value using the Numeric keys and press ENTER The position levels move instruction is registered 5 Press ENTER Operation Explanation Short Cut Main Menu JOB CONTENT JOB NAME TEST01 CONTRO...

Page 79: ...tion is displayed in the input buffer line 7 Change the reference point number in one of the following ways 1 Move the cursor to the reference point number and press SHIFT the cursor key to change the reference point number or 2 Press SELECT when the cursor is on the reference point number Then the data input buffer line appears Input the number and press ENTER 8 Press INSERT The INSERT key lamp l...

Page 80: ...alue Move the cursor to the timer value and change it by pressing SHIFT the cursor key The timer unit of adjustment is 0 01 seconds If you use the Numeric keys to input the timer value press SELECT when the cursor is on the timer value The data input line appears Input the value and press ENTER 6 Press INSERT The INSERT key lamp lights When registering before the END instruction pressing INSERT is...

Page 81: ...T Input the desired value using the Numeric keys and press ENTER 4 Press ENTER The DETAIL EDIT window is closed and the JOB CONTENT window appears again Modified content is displayed in the input buffer line 5 Press INSERT The INSERT key lamp lights When registering before the END instruction pressing INSERT is not needed 6 Press ENTER The TIMER instruction is registered Short Cut Main Menu DETAIL...

Page 82: ...to the first step line 2 Press FWD The manipulator moves to the first step position 3 Move the cursor to the last step line The cursor starts blinking When the cursor line position and the manipulator position are different in the JOB CONTENT window the cursor blinks 4 Press MODIFY The key lamp lights 5 Press ENTER The position data for the first step is registered on the line of the last step At ...

Page 83: ...ched even if FWD is pressed However at the end of a called job the manipulator moves the instruction next to the CALL instruction FWD Moves the manipulator ahead in step number sequence Only the move instruction is executed when FWD is pressed but when INTERLOCK FWD are pressed all instructions are executed BWD Moves the manipulator backward a step at a time in reverse step number sequence Only th...

Page 84: ... manipulator moves in a straight line to the first step of spline interpolation There must be three spline curve motion steps in a row to perform a spline curve operation Depending on the position where the FWD BWD operation is performed the alarm IRREGULAR DISTANCES BETWEEN TEACHING POINTS may occur Note that FWD BWD inching operations change the path of the manipulator and caution is therefore r...

Page 85: ...WD operation can be performed at a high speed by pressing HIGH SPEED Follow these procedures to select a manual speed Each time FAST is pressed the speed is changed to the next setting in the following sequence INCH SLW MED and FST Each time SLOW is pressed the speed is changed to the next setting in the following sequence FST MED SLW and INCH INCH SLOW MED FST FST MED SLOW INCH FWD BWD operation ...

Page 86: ...instruction line to be checked 2 Press REFP FWD The manipulator moves to the reference point of the cursor line Operation speeds greater than the maximum teaching speed are reduced to the maximum teaching speed Only machine lock is available among special operations for playback in the play mode Work instruction output such as arc output is not executed Always check safety conditions before pressi...

Page 87: ...o location where you want to insert the instruction Perform axis operations Set interpolation type Set play speed Set position level when necessary Press ENTER Insertion completed Begin move instruction deletion Move cursor to location of instruction to be deleted Press DELETE Deletion completed Press ENTER Press INSERT 87 of 493 ...

Page 88: ...cation Move step cursor to step to be modified Move to position to be modified using the axis operation keys Press MODIFY Press ENTER Modification completed Modifying position data Modifying interpolation type Perform axis operations to position to be modified Delete MOV instruction Press MOTION TYPE and select motion type Insert MOV Instruction Modification completed NOTE 88 of 493 ...

Page 89: ...p cursor to the REFP instruction to be modified Press DELETE Move step cursor to the REFP instruction to be deleted and move the manipulator to the position Press ENTER Deletion completed Deletions Modifications Perform axis operations Press REFP Press ENTER Modification completed Press MODIFY 89 of 493 ...

Page 90: ...n Modification Move edit cursor to the TIMER instruction to be modified Press DELETE Press ENTER Deletion completed Deletions Modification Press TIMER Enter timer value Press MODIFY Press ENTER Modification completed Move edit cursor to the TIMER instruction to be deleted 90 of 493 ...

Page 91: ...Select JOB under the main menu 2 Select JOB The JOB CONTENT window appears In any other than the teach mode set the mode switch to TEACH Operation Explanation 1 Select JOB under the main menu 2 Select SELECT JOB The JOB LIST window appears 3 Select the job name to be called NOTE Main Menu Short Cut JOB LIST TEST03 TEST TEST3A TEST01 TEST3A TEST02 JOB EDIT DISPLAY UTILITY 91 of 493 ...

Page 92: ...sertion Path after insertion 0006 MOVL V 276 0007 TIMER T 1 00 0008 DOUT OT 1 ON 0009 MOVJ VJ 100 0 The line immediately before where the move instruction is to be added Confirm the move instruction on the input buffer line and set desired interpolation type and play speed NOTE When the inserting position is immediately before the END instruction pressing INSERT is not needed NOTE 0006 MOVL V 276 ...

Page 93: ...y lamp will blink 3 Press ENTER The step indicated by cursor line is deleted NOTE Step where move instruction is to be deleted Path after deletion Path before deletion 0003 MOVL V 138 0004 MOVL V 558 0005 MOVJ VJ 50 00 Move instruction to be deleted If the manipulator position differs from the cursor position on the window the cursor blinks Stop the blinking by either of the following procedures P...

Page 94: ...e modified as a choice for modifying the position data Operation Explanation 1 Move the cursor to the move instruction to be modified Display the JOB CONTENT window and move the cursor to the move instruction for which interpolation type is to be changed 2 Press FWD Turn ON the servo power and press FWD to move the manipulator to the position of the move instruction 3 Press DELETE The key lamp wil...

Page 95: ...is executed in the play mode after editing the move instruction The undo operation works only for the last five edited instructions only Operation Explanation 1 Press ASSIST The assist menu appears 2 Select UNDO The last operation is undone 3 Select REDO The last UNDO operation is undone If the manipulator position differs from the cursor position an error message is displayed If this occurs follo...

Page 96: ...wer and use the axis operation keys to move the manipulator to the desired position 3 Press REFP 4 Press MODIFY The key lamp will light 5 Press ENTER The reference point instruction at the cursor line is changed Operation Explanation 1 Move the cursor to the timer instruction to be deleted 2 Press DELETE The key lamp will light 3 Press ENTER The timer instruction at the cursor line is deleted 0003...

Page 97: ... the cursor key to set the data To use the Numeric keys to input data move the cursor to the input buffer line timer value and press SELECT 4 Change the timer value 5 Press MODIFY This key lamp will light 6 Press ENTER The timer instruction at the cursor line is changed 0003 MOVJ VJ 50 00 0004 TIMER T 0 50 0005 MOVL VJ 138 0006 MOVL VJ 138 0003 MOVJ VJ 50 00 0004 TIMER T 0 50 0005 MOVL VJ 138 0006...

Page 98: ...d edited COMMAND POSITION Window The taught data is displayed JOB LIST Window The registered job is sorted alphabetically then displayed and the job is selected JOB CAPACITY Window The number of registered jobs amount of memory number of steps used etc is shown JOB HEADER Window Operation Explanation 1 Select JOB under the main menu 2 Select SELECT JOB The JOB LIST window appears 3 Select the desi...

Page 99: ...FF This can be changed in this window TO SAVE TO FD Displays DONE if the contents of the job are saved to a floppy disk since the date and time of the last editing oper ation and displays NOT DONE if they are not saved The job is marked as DONE only if it is saved as an independent job or as a related job If it is saved in a CMOS batch operation it is not marked as DONE CONTROL GROUP Displays the ...

Page 100: ...ers Instruction Area Displays instructions additional items and comments Line editing is possible Short Cut Main Menu Turn on servo power JOB CONTENT JOB NAME TEST01 CONTROL GROUP R1 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 NOP SET B000 0 SET B001 1 MOVJ VJ 80 00 MOVJ VJ 80 00 DOUT OGH 13 B002 DOUT OT 41 ON MOVL C00002 V 880 0 CV 1 CTP 0 662 DOUT OT 44 ON TIMER T 3 0 MOVL V...

Page 101: ...ays the interpolation type Speed Displays the play speed Command Position Displays the tool file number and position data that has been taught for this job Steps which have no position data such as move instructions which use position vari ables are marked with an asterisk Current Data Displays the current tool file number and position of the manipulator Short Cut Main Menu S L U R B T R1 S L U R ...

Page 102: ...number of jobs currently registered in the memory of NX100 USED MEMORY Displays the total amount of memory used in the NX100 STEPS Displays the total number of used steps EDITING BUFFER Displays editing buffer use Short Cut Main Menu JOB CAPACITY NUMBER OF JOBS USED MEMORY REST STEPS REMAIN STEPS EDITING BUFFER BYTES 9 2360 841408 50 45611 UNUSED BYTES JOB EDIT DISPLAY UTILITY 102 of 493 ...

Page 103: ...d instruction is displayed on the input buffer line with the same additional items as registered previously 3 6 1 Instruction Group The instructions are divided into eight groups by processing or each work By pressing INFORM LIST the instruction group list dialog box appears Short Cut Main Menu JOB CONTENT JOB NAME TEST01 CONTROL GROUP R1 0000 0001 0002 0003 0004 0005 NOP MOVJ VJ 25 00 PL 0 NWAIT ...

Page 104: ...painting etc ARCON WVON SVSPOT SPYON MOTION Move Instructions Moves the manipulator MOVJ REFP ARITH Operating Instructions Performs arithmetic calculation ADD SET SHIFT Shift Instructions Shifts the teaching point SFTON SFTOF SENS Option Sensor Instructions Option Instructions related to the sensor COMARCON OTHER Other Instructions Instructions for functions other than above SHCKSET SAME Specifies...

Page 105: ...d previously 4 Select the instruction 0000 NOP 0001 MOVJ VJ 25 00 PL 0 NWAIT ACC 20 DCC 20 0002 MOVJ VJ 25 00 Line before where instruction is to be added Short Cut Main Menu JOB CONTENT JOB NAME TEST01 CONTROL GROUP R1 0000 0001 0002 0003 0004 0005 NOP MOVJ VJ 25 00 PL 0 NWAIT ACC 20 DCC 20 MOVJ VJ 25 00 MOVJ VJ 12 50 ARCON ASF 1 END TOOL 00 STEP NO 0003 MOVJ VJ 50 JOB EDIT DISPLAY UTILITY IN OUT...

Page 106: ...ine is changed Adding modifying or deleting an item To add modify or delete an additional item move the cursor to the instruction on the input buffer line and press SELECT The DETAIL EDIT window appears To add an item move the cursor to UNUSED and press SELECT The selection dialog box appears Move the cursor to the desired item and press SELECT To delete an item move the cursor to the item to be d...

Page 107: ...The instruction displayed in the input buffer line is inserted When adding immediately before the END instruction pressing INSERT is not needed Operation Explanation Short Cut Main Menu OUTPUT NO TIME DETAIL EDIT PULSE DATA EDIT DISPLAY UTILITY PULSE OT 2 CONSTANT I I Short Cut Main Menu JOB CONTENT JOB NAME TEST01 CONTROL GROUP R1 0000 0001 0002 0003 0004 0005 0006 NOP MOVJ VJ 25 00 PL 0 NWAIT AC...

Page 108: ... 3 Select the instruction group The instruction list dialog box appears The selected instruction is displayed on the input buffer line with the same additional items as registered previously 4 Select the instruction to be modified 0020 MOVL V 138 0021 PULSE OT 2 T I001 0022 MOVJ VJ 100 00 The line desired to be deleted 0021 MOVL V 138 0022 MOVJ VJ 100 00 0023 DOUT OT 1 ON The following lines move ...

Page 109: ... or deleting an item To add modify or delete an additional item move the cursor to the instruction on the input buffer line and press SELECT The DETAIL EDIT window appears To add an item move the cursor to UNUSED and press SELECT The selection dialog box appears Move the cursor to the desired item and press SELECT To delete an item move the cursor to the item to be deleted and select UNUSED Operat...

Page 110: ...red press ENTER The DETAIL EDIT window closes and the JOB CONTENT window appears 6 Press MODIFY and ENTER The instruction is modified to the instruction displayed in the input buffer line Operation Explanation Short Cut Main Menu OUTPUT NO TIME DETAIL EDIT PULSE OT 2 DATA EDIT DISPLAY UTILITY PULSE OT 2 CONSTANT I I Short Cut Main Menu OUTPUT NO TIME DETAIL EDIT PULSE OT 2 DATA EDIT DISPLAY UTILIT...

Page 111: ...SHIFT the cursor key to increase or decrease the value To directly input the number press SELECT The input buffer line appears Type the number and press ENTER 5 Press ENTER The numeric data is modified 0017 TIMER T 1 00 0018 MOVJ VJ 12 50 0019 MOVJ VJ 50 00 0020 MOVL V 138 0021 PULSE OT 2 T I001 0022 MOVJ VJ 100 00 0023 DOUT OT 1 ON Number data to be modified PULSE OT 2 T I001 0017 TIMER T 1 00 00...

Page 112: ...ENT window appears 7 Press ENTER Contents of the input buffer line are registered on the cursor line of the instruction area 0017 TIMER T 1 00 0018 MOVJ VJ 12 50 0019 MOVJ VJ 50 00 0020 MOVL V 138 0021 WAIT IN 1 ON 0022 MOVJ VJ 100 00 0023 DOUT OT 1 ON Instruction line for which additional item is to be modified DETAIL EDIT IN 1 ON UNUSED JOB EDIT DISPLAY UTILITY WAIT WAIT TARGET CONDITION CONDITI...

Page 113: ... ENTER The DETAIL EDIT window closes and the JOB CONTENT window appears 7 Press ENTER Contents of the input buffer line are registered on the cursor line of the instruction area 0017 TIMER T 1 00 0018 MOVJ VJ 12 50 0019 MOVJ VJ 50 00 0020 MOVL V 138 0021 WAIT IN 1 ON 0022 MOVJ VJ 100 00 0023 DOUT OT 1 ON Instruction line for which additional item is to be added DETAIL EDIT OT 1 ON UNUSED JOB EDIT ...

Page 114: ...NT window appears 7 Press ENTER Contents of the input buffer line are registered on the cursor line of the instruction area NOTE 0017 TIMER T 1 00 0018 MOVJ VJ 12 50 0019 MOVJ VJ 50 00 0020 MOVL V 138 0021 WAIT IN 1 ON T 1 00 0022 MOVJ VJ 100 00 0023 DOUT OT 1 ON Instruction line for which additional item is to be deleted DETAIL EDIT IN 1 ON T 0 01 JOB EDIT DISPLAY UTILITY WAIT WAIT TARGET CONDITI...

Page 115: ... V 30 V 70 V 80 V 30 V 80 V 50 V 100 V The speed and interpolation are different going and returning V 100 V 50 V 30 V 70 V 80 V 30 V 80 V 50 The speed and interpolation are the same going and returning V 70 MOVL V 100 Move to at V 100 MOVL V 50 Move to at V 50 MOVL V 80 Move to at V 80 MOVL V 30 Move to at V 30 MOVL V 70 Move to at V 30 MOVL V 100 Move to at V 100 MOVL V 50 Move to at V 50 MOVL V...

Page 116: ...content order is reversed and inserted MOVJ VJ 50 00 TIMER T 1 00 MOVL V 100 0000 NOP 0001 TEST JOB 0002 MOVJ VJ 50 00 0003 TIMER T 1 00 0004 MOVL V 100 0005 MOVL V 100 0000 NOP 0001 TEST JOB 0002 MOVJ VJ 50 00 0003 TIMER T 1 00 0004 MOVL V 100 0005 MOVL V 100 0000 NOP 0001 TEST JOB 0002 MOVL V 100 0003 TIMER T 1 00 0004 MOVJ VJ 50 00 0005 MOVL V 100 116 of 493 ...

Page 117: ...TROL GROUP R1 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 NOP SET B000 0 SET B001 1 MOVJ VJ 80 00 MOVJ VJ 80 00 DOUT OGH 13 B002 DOUT OT 41 ON MOVL C00002 V 880 0 CV 1 CTP 0 662 DOUT OT 44 ON TIMER T 3 0 MOVL V 880 0 MOVL V 880 0 MOVL V 880 0 TOOL 00 STEP NO 0003 JOB EDIT DISPLAY UTILITY Move the cursor to instruction area Short Cut Main Menu Turn on servo power JOB CONTENT JO...

Page 118: ...ort Cut Main Menu JOB CONENT JOB NAMETEST01 CONTROL GROUPR1 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 NOP SET B000 0 SET B001 1 MOVJ VJ 80 00 MOVJ VJ 80 00 DOUT OGH 13 B002 WAIT IF IN 5 ON MOVL V 880 0 DOUT OT 44 ON TIMER T 3 0 MOVL V 880 0 MOVL V 880 0 MOVL V 880 00 MOVJ VJ 50 00 PL 1 TOOL 00 STEP NO 0003 JOB EDIT DISPLAY UTILITY COPY CUT PASTE REVERSEPASTE Short Cut Main M...

Page 119: ...og box appears When YES is selected the contents of the buffer are inserted to the job When NO is selected the pasting operation is cancelled Short Cut Main Menu JOB CONTENT JOB NAMETEST01 CONTROL GROUPR1 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 NOP SET B000 0 SET B001 1 MOVJ VJ 80 00 MOVJ VJ 80 00 DOUT OGH 13 B002 WAIT IF IN 5 ON MOVL V 880 0 DOUT OT 44 ON TIMER T 3 0 MOVL...

Page 120: ...dialog box appears When YES is selected the contents of the buffer are reverse pasted to the job When NO is selected the pasting operation is cancelled Short Cut Main Menu JOB CONTENT JOB NAME TEST01 CONTROL GROUP R1 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 NOP SET B000 0 SET B001 1 MOVJ VJ 80 00 MOVJ VJ 80 00 DOUT OGH 13 B002 WAIT IF IN 5 ON MOVL V 880 0 DOUT OT 44 ON TIME...

Page 121: ...e maximum teaching speed are reduced to the maximum teaching speed Only machine lock is available among special operations for playback in the play mode Work instruction output such as arc output is not executed Always check safety conditions before starting the manipulator in motion Operation Explanation 1 Select JOB under the main menu 2 Press JOB The test operation JOB CONTENT window appears 3 ...

Page 122: ...s by a specified percentage 1 to 200 This is called relative modification The speed of the entire job or specified section can be changed Type of Play Speed Explanation VJ Joint Speed Normal robot axes V TCP Speed VR Posture Angle Speed VE Base Axis Speed Operation Explanation 1 Select JOB under the main menu 2 Select JOB The JOB CONTENT window appears 0005 MOVJ VJ 25 00 0006 MOVL V 138 0007 MOVJ ...

Page 123: ...O CONFIRM SPEED KIND Selects the speed type When SELECT is pressed when the cursor is on this item selection dialog box appears Select the speed type to be changed SPEED Specifies the speed value When SELECT is pressed when the cursor is on this item the mode changes to number input mode Input the speed value and press ENTER 9 Select EXECUTE The speed begins to change If MODIFICATION TYPE is set t...

Page 124: ...truction area 4 Press SHIFT SELECT in the weaving time measure start line 5 Move the cursor to the end line The line numbers of the selected lines are highlighted 6 Select EDIT under the menu 7 Select TRT The TRT window appears 8 Set the desired items START LINE NO Displays the first line number of the section to be measured and modified END LINE NO Displays the last line number of the section to ...

Page 125: ...pecific speed data such as SPEED or ARCON instructions including speed data of the welding condition file exist in the specified section the speed data for those steps are not changed Therefore in such cases the set time and the actual time required are not same If the speed data is limited by the maximum value the following message is displayed NOTE Limited to maximum speed 125 of 493 ...

Page 126: ...d by the ratio to maximum speed at each speed Joint Speed MAX 100 0 Linear Speed MAX 9000 cm min e g Joint Speed 50 Linear Speed 4500 cm min Linear Speed 10 Linear Speed 900 cm min 6 Press ENTER The instruction on the cursor line is replaced with one on the input buffer line Short Cut Main Job JOB CONTENT 0001 0002 0003 0004 0005 0006 0007 NOP CAR TYPE A JOB JUMP JOB JOB 01 MOVJ VJ 50 00 MOVJ VJ 5...

Page 127: ...n each condition file The patterns are listed by condition numbers This number is specified by the work instruction in a job Refer to NX100 Operator s Manual of each application for information regarding the contents and editing methods of the condition file NOTE Condition Number 4 Condition Number 3 Condition Number 2 Application A Application B Application C Condition Files Condition Number 2 Co...

Page 128: ... Format Variable No pcs Functions Byte Type B000 to B099 100 Range of storable values is from 0 to 255 Can store I O status Can perform logical operations AND OR etc Integer Type I000 to I099 100 Range of storable values is from 32768 to 32767 Double Precision Integer Type D000 to D099 100 Range of storable values is from 2147483648 to 2147483647 Real Type R000 to R099 100 Range of storable values...

Page 129: ...mm s V 100 0 mm s Note that depending on the unit being used the value of the variable and the value of the actual speed on occasion might not match Play Speed VJ MOVL VJ I000 The unit for VJ is 0 01 For example if I000 were set as 1000 the following would be true I000 1000 unit for VJ is 0 01 VJ 10 00 Timer T TIMER T I000 The unit for T is 0 01 seconds For example if I000 were set as 1000 the fol...

Page 130: ...u area and select EDIT SEARCH Then input the variable No with the Numeric keys and press ENTER 4 Move the cursor to the data of the variable 5 Press SELECT The number can be directly typed 6 Input the desired number 7 Press ENTER Input value is set to the variable on the cursor position Short Cut Main Menu BYTE VARIABLE NO CONTENT NAME WORK NUM B000 B001 B002 B003 B004 B005 B006 B007 B008 B009 B01...

Page 131: ...put the variable No with the Numeric keys and press ENTER 4 Move the cursor to the data of the variable 5 Press SELECT The characters can be directly typed 6 Input the desired characters For information on character input operation refer to section 1 2 6 Character Input 7 Press ENTER The input characters are set to the variable on the cursor position Short Cut Main Menu STRING VARIABLE NO CONTENT ...

Page 132: ... either of following operations Select the variable number input desired variable number and press ENTER The cursor moves to the variable number to be input Move the cursor to the menu area and select EDIT SEARCH Input desired variable number and press ENTER The cursor moves to the variable number to be input 4 Select NAME The input buffer line appears 5 Input name 6 Press ENTER The variable name ...

Page 133: ... not displayed move the cursor with either of the following operations Press DIRECT PAGE Then input the variable No using the Numeric keys and press ENTER Move the cursor to the menu area and select EDIT SEARCH Then input the variable No with the Numeric keys and press ENTER Short Cut Main Menu POSITION VARIABLE NAME SHIFT DATA TOOL 01 P000 R1 ROBOT 330 000 0 000 10 000 0 00 0 00 0 00 X Y Z Rx Ry ...

Page 134: ...h mode Turn the servo power ON when setting the variables with the axis keys Types of Position Variables and Setting Methods Type Pxxx Robot BPxxx Base EXxxx Station Pulse Type XYZ Type Pulse Type XYZ Type Pulse Type Setting Method Select coordinates from base robot user tool NOTE Z axis X axis Y axis Using the numeric keys Using the axis keys 45000 Y L Y L X S X S Z U Z U Y B Y B X R X R Z T Z T ...

Page 135: ... type The selection dialog box appears If the position variable was set before confirmation dialog box appears for data clear If YES is selected the data is cleared 4 Select PULSE 5 Move the cursor to desired data to be input and press SELECT 6 Input the value 7 Press ENTER The value is set in the cursor position Short Cut Main Menu POSITION VARIABLE NAME TOOL P000 S L U R B T DATA EDIT DISPLAY UT...

Page 136: ...able data type The selection dialog box appears 4 Select desired coordinates except PULSE 5 Move the cursor to desired data to be input and press SELECT 6 Input the value 7 Press ENTER The value is set in the cursor position Setting of TYPE Each time SELECT is pressed when the cursor is on the setting data in the input buffer line the settings alternate NAME P000 PULSE BASE ROBOT USER TOOL MASTER ...

Page 137: ...xis displayed on the status line changes B1 B2 B3 B4 S1 S2 S3 S12 4 Move the manipulator with the axis keys Move the manipulator or the external axis to the desired position to be set to position variable 5 Press MODIFY 6 Press ENTER Operation Explanation 1 Select VARIABLE under the main menu 2 Select desired position variable type When there are two or more robot base or a station specify the axi...

Page 138: ...ble type 3 Select DATA under the menu The pull down menu appears 4 Select CLEAR DATA The position variable data on the displayed page are deleted CLEAR DATA NAME TOOL 00 P000 R1 ROBOT 330 000 0 000 10 000 0 00 0 00 0 00 X Y Z Rx Ry Rz TYPE FRONT S 180 UP R 180 FLIP T 180 DATA EDIT DISPLAY UTILITY Short Cut Main Menu POSITION VARIABLE NAME TOOL P000 S L U R B T DATA EDIT DISPLAY UTILITY PAGE 138 of...

Page 139: ...ith following operation Robot Each time SHIFT ROBOT is pressed the axis displayed on the status line changes R1 R2 R3 R4 Base or Station Each time SHIFT EX AXIS is pressed the axis displayed on the status line changes B1 B2 B3 B4 S1 S2 S3 S12 3 Press FWD Selected axis moves to the position specified by the variable The selected axis manipulator base or station moves directly to the set variable po...

Page 140: ... Relationship Between the S axis and TCP Upper Arm Lower Arm Type Comprised of the L and U axes S axis Angle These six types are described in the following Flip No Flip This shows the R axis position When the R axis is in the position at A as shown in the following diagram it is known as Flip when it is in the B position it is called No Flip However in a manipulator in which the R axis can move mo...

Page 141: ...f the R B and T axis For manipulators with wrist axes three axes this specifies whether the T axis angle is less than 180 or greater than 180 R 180 R 180 180 θ R 180 180 θ R 360 360 θ R 180 θ R is the angle when the R axis home position is 0 T 180 T 180 180 θ T 180 180 θ T 360 360 θ T 180 θ T is the angle when the T axis home position is 0 0 180 180 0 360 360 NOTE 0 180 180 0 360 360 NOTE 141 of 4...

Page 142: ...xis and U axis from the right hand side When viewed from the right hand side the right of the S axis rotation center is called the front and the left is called the back The diagram above shows the S axis at 0 and at 180 This is the configuration when the L axis and the U axis are viewed from the right hand side S axis 0 S axis 180 Right hand side S axis 0 Back Front Front Back 142 of 493 ...

Page 143: ... from the right hand side S axis Angle This designation is required for the manipulators which have working envelopes greater than 180 This specifies whether the S axis angle is less than 180 or greater than 180 Upper Arm Lower Arm S 180 S 180 180 θ S 180 180 θ S 360 360 θ S 180 θ S is the angle when the S axis home position is 0 Right hand side 0 180 180 0 360 360 NOTE 143 of 493 ...

Page 144: ...riables The number is set in the JOB HEADER window When the number is set the area for the value is saved in memory Local Variables Data Format Variable No Functions Byte Type LB000 to LB Range of storable values is from 0 to 255 Can store I O status Can perform logical operations AND OR etc Integer Type Ll000 to LI Range of storable values is from 32768 to 32767 Double Precision Integer Type LD00...

Page 145: ... assured when the defined job is called when the job is executed by a CALL or JUMP instruction or the job is selected by the menu Once the job is completed by the execution of a RET END or JUMP instruction the local variable data that was set is disabled However if a job which uses local variables itself calls a separate job then is returned to by use of a RET instruction the data that was present...

Page 146: ...w appears Scroll the window using the cursor 5 Select the number of local variables to be set The input buffer line appears 6 Input the number of variables 7 Press ENTER The number of local variables are set NOTE Short Cut Main Menu JOB HEADER JOB NAME TEST01 BYTE LB INT LI DOUBLE LD REAL LR CHARACTER LS This job is test job 2003 05 20 12 00 24 BYTE 30 LINE 20 STEP OFF NOT DONE R1 ROBOT LP COMMENT...

Page 147: ... appears 3 Select EDIT under the menu The pull down menu appears 4 Select SEARCH The selection dialog box appears 5 Select the searching type Short Cut Main Menu JOB CONTENT JOB NAMETEST01 CONTROL GROUPR1 0000 0001 0002 0003 0004 0005 0006 NOP TEST MOVJ VJ 50 00 MOVJ VJ 12 50 MOVL V 276 TIMER T 1 00 DOUT OT 1 ON MOVJ VJ 100 00 TOOL 00 STEP NO 0003 JOB EDIT DISPLAY UTILITY TOP LINE END LINE SEARCH ...

Page 148: ...buffer line appears 2 Input desired step number 3 Press ENTER The cursor is moved to the input step and the window appears Short Cut Main Menu MOVJ VJ 100 00 JOB CONTENT JOB NAME TEST01 CONTROL GROUP R1 0100 0101 0102 0103 0104 0105 0106 0107 MOVJ VJ 100 00 TIMER T 1 00 MOVL V 138 MOVL V 138 MOVJ VJ 50 00 MOVJ VJ 100 00 DOUT OT 1 ON TIMER T 0 50 TOOL 00 STEP NO 0003 JOB EDIT DISPLAY UTILITY Short ...

Page 149: ... cursor is on its line number 4 Use the cursor to continue searching It is possible to continue searching by pressing the cursor key To end searching select EDIT END SEARCH on the menu and press SELECT Short Cut Main Menu START JOB CONTENT JOB NAME TEST01 CONTROL GROUP R1 0099 0100 0101 0102 0103 0104 0105 0106 START MOVJ VJ 100 00 TIMER T 1 00 MOVL V 138 MOVL V 138 MOVJ VJ 50 00 MOVJ VJ 100 00 DO...

Page 150: ... 0000 0001 0002 0003 0004 0005 0006 0007 NOP This job is test job MOVJ VJ 50 00 MOVJ VJ 12 50 MOVL V 276 TIMER T 1 00 DOUT OT 1 ON MOVL V 138 TOOL 00 STEP NO 0003 JOB EDIT DISPLAY UTILITY IN OUT CONTROL DEVICE MOTION ARITH SHIFT OTHER Short Cut Main Menu ARCON ASF 1 JOB CONTENT JOB NAME TEST01 CONTROL GROUP R1 0010 0011 0012 0013 0014 0015 0016 0017 ARCON ASF 1 MOVJ VJ 100 00 TIMER T 1 00 MOVL V 1...

Page 151: ... test job MOVJ VJ 50 00 MOVJ VJ 12 50 MOVL V 276 TIMER T 1 00 DOUT OT 1 ON MOVL V 138 TOOL 00 STEP NO 0003 JOB EDIT DISPLAY UTILITY IN OUT CONTROL DEVICE MOTION ARITH SHIFT OTHER SAME PRIOR Short Cut Main Menu JOB CONTENT JOB NAME TEST01 CONTROL GROUP R1 0000 0001 0002 0003 0004 0005 0006 0007 NOP This job is test job MOVJ VJ 50 00 MOVJ VJ 12 50 MOVL V 276 TIMER T 1 00 DOUT OT 1 ON MOVL V 138 tool...

Page 152: ...END SEARCH on the menu and press SELECT or press CANCEL Operation Explanation Short Cut Main Menu JOB CONTENT JOB NAMETEST01 CONTROL GROUPR1 0010 0011 0012 0013 0014 0015 0016 0017 DOUT OT 1 ON MOVJ VJ 100 00 TIMER T 1 00 MOVL V 138 MOVL V 138 MOVJ VJ 50 00 MOVJ VJ 100 00 DOUT OT 1 ON TOOL 00 STEP NO 0003 JOB EDIT DISPLAY UTILITY TOP LINE END LINE END SEARCH ENABLE SPEEDTAG ENABLE POS LVLTAG 152 o...

Page 153: ... the act of executing a taught job Before playback operation first call the job to be executed Calling a Job Operation Explanation 1 Select JOB under the main menu 2 Select SELECT JOB The JOB LIST window appears 3 Select the desired job Main Menu Short Cut JOB LIST TEST03 TEST TEST3A TEST01 TEST3A TEST02 JOB EDIT DISPLAY UTILITY 153 of 493 ...

Page 154: ...to register a master job in the teach mode Only one job can be registered as the master job Registering a master job automatically releases the previously registered master job Operation Explanation 1 Select JOB under the main menu 2 Select MASTER JOB The MASTER JOB window appears 3 Press SELECT The selection dialog box appears NOTE Main Menu Short Cut MASTER JOB MASTER JOB JOB EDIT DISPLAY UTILIT...

Page 155: ...er the menu The pull down menu appears 2 Select MASTER JOB The master job is called and the JOB CONTENT window appears Operation Explanation Main Menu Short Cut JOB LIST TEST03 TEST TEST3A TEST01 TEST3A TEST02 JOB EDIT DISPLAY UTILITY MASTER JOB MASTER JOB TEST01 JOB EDIT DISPLAY UTILITY Short Cut Main Menu JOB CONTENT JOB NAME TEST01 CONTROL GROUP R1 STEP NO 0003 TOOL 00 0000 0001 0002 0003 0004 ...

Page 156: ...rs 3 Press SELECT The selection dialog box appears 4 Select CALL MASTER JOB The master job is called and the JOB CONTENT window during the teach mode or the PLAYBACK window during the play mode appears Main Menu Short Cut MASTER JOB MASTER JOB TEST01 JOB EDIT DISPLAY UTILITY Main Menu Short Cut MASTER JOB MASTER JOB JOB EDIT DISPLAY UTILITY CALL MASTER JOB SETTING MASTER JOB CANCEL MASTER JOB 156 ...

Page 157: ...etting can be made for display or no display Start No First step in the measurement Measurement starts when the start button lamp lights and the playback starts Motion Time Displays the weaving time of the manipulator Playback Time Displays the time from beginning to the end of the measurement Measurement ends when the manipulator stops and the start button lamp goes off Short Cut Main Menu JOB CO...

Page 158: ... Executes one step instruction at a time The operation cycle can be changed using the following Operation Explanation 1 Select DISPLAY under the menu 2 Select CYCLE TIME The cycle time is displayed Doing the same operation one more time will delete the cycle time display Operation Explanation 1 Select JOB under the main menu and then select CYCLE 2 Select the operation cycle to be changed The oper...

Page 159: ...E SWITCH IN PLAY MODE CYCLE SWITCH IN LOCAL MODE CYCLE SWITCH IN REMOTE MODE SET CYCLE ON POWER ON PERMIT PROHIBIT PERMIT cm min 1 CYCLE 1 CYCLE 1 CYCLE 1 CYCLE 1 CYCLE DATA EDIT DISPLAY UTILITY Short Cut Main Menu OPERATING CONDITION MASTER JOB CHANGE RESERVED START RESERVED START JOB CHANGE SPEED DATA INPUT FORM CYCLE SWITCH IN TEACH MODE CYCLE SWITCH IN PLAY MODE CYCLE SWITCH IN LOCAL MODE CYCL...

Page 160: ...anipulator start the playback operation by following the procedures below Mode Switch on Programming Pendant Job is started up by peripheral device PLAY START button on programming pendant REMOTE Peripheral device Operation Explanation 1 Set the mode switch on the programming pendant to PLAY The remote mode is disabled and the play mode is enabled so the machines are to be started up by the progra...

Page 161: ... operations Settings for special operations are done in the SPECIAL PLAY window When displaying the PLAYBACK window move the cursor to the menu area and select UTILITY SETUP SPECIAL RUN The SPECIAL PLAY window appears Operation Explanation 1 Press Servo ON Ready NX100 servo power is ON and the Servo ON lamp on the programming pendant lights Operation Explanation 1 Press START The start button lamp...

Page 162: ...TART allows the manipulator to move at the taught speed Limited Speed Operations The manipulator operates within the limited speed for the teach mode Usually the limited speed is set to 250mm s However operation is performed at actual playback speeds for steps in which the set speed is under this limit Operation Explanation 1 Select LOW SPEED START on the SPECIAL PLAY window The setting alternates...

Page 163: ...g the manipulator to check the status of input and output Be careful of steps programmed at lower speeds than the dry run speed because they are executed at greater speeds than programmed Operation Explanation 1 Select the DRY RUN SPEED under the SPECIAL PLAY window The setting alternates between VALID and INVALID 2 Select COMPLETE The window returns to the PLAYBACK window Operation Explanation 1 ...

Page 164: ...ing operation Operation Explanation 1 Select CHECK RUN under the SPECIAL PLAY window The setting alternates between VALID and INVALID 2 Select COMPLETE The window returns to the PLAYBACK window Operation Explanation 1 Select WEAV PROHIBIT IN CHK RUN under the SPECIAL PLAY window The setting alternates between VALID and INVALID 2 Select COMPLETE The window returns to the PLAYBACK window Operation E...

Page 165: ...s while it is held down At the same time START lamp goes OFF Operation Explanation 1 Press HOLD on the programming pendant The manipulator stops The HOLD lamp lights while the HOLD button is held down Operation Explanation 1 Press START on the programming pendant The manipulator restarts its operation from the position where it was stopped Operation Explanation 1 Turn ON the hold signal from an ex...

Page 166: ... an external input system input Hold is released To continue the operation press START or turn ON the external input signal system input The manipulator restarts its operation beginning from the position where it was stopped Operation Explanation 1 Press the emergency stop button The servo power turns OFF and the manipulator stops immediately On the front door of the NX100 On the programming penda...

Page 167: ...witch of the programming pendant Prior to restarting after an emergency stop confirm the position for the next operation and make sure there is no interference with the workpiece or fixture The application of an emergency stop during high speed operations on continuous steps can result in the manipulator stopping two or three steps prior to the step that is being displayed There is a risk of inter...

Page 168: ...all alarms can be viewed on the window Scroll down the viewing area of the window when necessary The following operations are available in the alarm status window change mode change alarm reset and emergency stop To display the ALARM window again when the window is changed during alarm occurrence select SYSTEM INFO and then ALARM HISTORY Short Cut Main Menu ALARM OCCUR TIMES 3 ALARM 4100 1 ALARM 4...

Page 169: ...tart the operation perform a start operation The manipulator restarts from the next instruction Operation Explanation 1 Press SELECT Select RESET under the ALARM window to release the alarm status When using an external input signal system input turn ON the ALARM RESET setting Operation Explanation 1 Turn OFF the main power supply and remove the cause of the alarm If a severe alarm such as hardwar...

Page 170: ...back The job can be played back at various speeds until the play speed is properly adjusted Speed can be increased or decreased by a ratio of the current play speed The ratio settings range from 10 to 150 in increments of 1 Therefore it is convenient when for example all play speed settings are to be increased by 150 at the same time The operation flow override of play speeds is as shown in the fo...

Page 171: ...e ratio Start playback Adjust the ratio during playback if needed Reset and playback 1cycle completed Modify YES Call job to perform speed override Set speed override Speed data modify ON specify the ratio Start playback Modify play speed simultaneously End Changes experimentally without modifying registered speed Modifies play speed NO YES 1cycle completed NO 171 of 493 ...

Page 172: ...he play speed temporarily for example to experiment with various speeds select OFF 4 Line up the cursor with the override ratio and move the cursor up and down to change the ratio If you want to input the ratio number directly move the cursor to the override ratio and press SELECT The number input line appears Input the override ratio using the Numeric keys Short Cut Main Menu PLAYBACK JOB NAME TE...

Page 173: ...nimum speed is limited by the manipulator When the safety speed operation is commanded with the setting of MODIFY ON the manipulator operates at safety speed However the play speed in memory is modified as set using speed override Play speed set by the SPEED instruction is not modified Operation Explanation 1 Select UTILITY under the menu in the PLAYBACK window 2 Select SPEED OVERRIDE The setting ...

Page 174: ...ation 1 Job 2 is registered to process workpiece 2 at Station 2 Job 3 is registered to process workpiece 3 at Station 3 To play back the jobs prepare workpiece 1 and press the start button on Station 1 The manipulator executes Job 1 Prepare workpieces 2 and 3 while Job 1 is being executed and press the start buttons on Stations 2 and 3 Even if Job 1 is being executed at that time jobs on different...

Page 175: ...alternate Select PERMIT When reserved start is enabled the external start and the programming pendant start are prohibited even if setting is PERMIT Regardless of the operation cycle selected it is automatically set to 1 CYCLE NOTE Short Cut Main Menu OPERATING CONDITION EXTERNAL START EXTERNAL MODE SWITCH EXTERNAL CYCLE SWITCH PP CYCLE SWITCH EXTERNAL SERVO ON CHECK MACHINE LOCK MASTER CALLING UP...

Page 176: ... 1 Select SETUP under the main menu 2 Select RES START CNCT The RESERVED START CNCT window appears 3 Select START IN or START OUT for each station The number can now be entered 4 Input signal number and press ENTER The input output signal number is registered NOTE Short Cut Main Menu RESERVED START CNCT 1 2 3 4 5 6 START IN START OUT NO DATA EDIT DISPLAY UTILITY RESERVED START CNCT 1 2 3 4 5 6 STA...

Page 177: ...ow appears indicates that the input output number is registered indicates that the input output number is not registered 3 Select job name for each station The selection dialog box appears 4 Select SETTING START JOB The JOB LIST window appears 5 Select a job The starting job is registered NOTE Short Cut Main Menu RESERVED START JOB NO JOB NAME CONNECTION 1 2 3 4 5 6 DATA EDIT DISPLAY UTILITY RESER...

Page 178: ...ration Explanation 1 Select JOB under the main menu 2 Select RES START JOB The RESERVED START JOB window appears 3 Select job name for each station The selection dialog box appears 4 Select CANCEL START JOB Registered job is deleted NOTE Short Cut Main Menu RESERVED START JOB NO JOB NAME CONNECTION 1 2 3 4 5 6 JOB1 JOB2 JOB3 JOB4 DATA EDIT DISPLAY UTILITY SETTING START JOB CANCEL START JOB Short C...

Page 179: ...tation prepare it before pressing the start button If the start button of another station is pressed during execution of a job at one station the job on the station is reserved and prepares to start Jobs are reserved and executed in the order that the start buttons are pressed When a job is reserved the start button lamp on the station blinks No station job is reserved when it is being executed ev...

Page 180: ...ation status is displayed STARTING Indicates the station currently working STOP Indicates any station where work has been temporarily stopped by a hold operation RESERVE1 RESERVE2 Indicates the order in which jobs have been reserved for start START IN Input signal status is displayed Input signal ON Input signal OFF Short Cut Main Menu RESERVATION STATUS NO JOB NAME STATUS START IN 1 2 3 4 5 6 JOB...

Page 181: ...en RESET ALL is selected job reservation stated to STOP and RESERVE is reset The confirmation dialog box appears 3 Select YES All job reservations are reset automatically in the following conditions When the reserved start sets to PROHIBIT When RESERVED START is set to PROHIBIT on the OPERATING CONDITION window When another job is called or an edit operation is performed NOTE Short Cut Main Menu R...

Page 182: ... button is held down Operation Explanation 1 Press the start button on the suspended station The manipulator restarts its operation from the position where it was stopped Operation Explanation 1 Input ON signal to the external input system input specified for hold operation The manipulator stops temporarily The hold lamp for the external output signal lights The HOLD lamp on the programming pendan...

Page 183: ...Press the hold button on the suspended station Hold is released Press the start button on the station then the manipulator restarts its operation from the position where it was stopped Pressing the start button on a station that is not in Hold status does not start manipulator operation The job registered for the station is reserved or the reservation if it has been made is canceled External holdi...

Page 184: ...e playback of Job C is being executed and the Job C is called from Job B Also the Job B is called from Job A Job A Job B Job C Job D Stack Level 1 Job call Return Stack Level 2 Stack Level 3 Stack Level 4 Job call Job call Job call Return Return SUPPLE MENT PLAYBACK JOB NAME TEST01 CONTROL GROUP R1 0001 0002 0003 0004 0005 0006 0007 MOVJ VJ 100 00 MOVL V 1500 MOVJ VJ 100 00 MOVL V 1500 MOVJ VJ 100...

Page 185: ...ons It is not possible to add delete or modify move instructions which have position data See section 3 4 Modifying Steps for details The following MOV instruction edit operations are explained in this section For move instructions Insertion deletion or modification of additional items Modification of interpolation type or play speed for move instructions Setting modification or deletion of UNTIL ...

Page 186: ... JOB under the pull down menu 5 Input the new job name The name of the copy source job is displayed on the input area It is possible to partially change this name to enter a new name DATA EDIT DISPLAY UTILITY JOB CONTENT JOB NAME TEST01 0000 NOP 0001 SET B000 0 0002 SET B001 1 0003 MOVJ VJ 80 00 0004 MOVJ VJ 80 00 0005 DOUT OGH 13 B002 TOOL 00 CONTROL GROUP R1 STEP NO 0003 JOB EDIT DISPLAY UTILITY...

Page 187: ... and the process is cancelled Operation Explanation JOB EDIT DISPLAY UTILITY Main Menu ShortCut JOB CONTENT JOB NAME JOB A 0000 NOP 0001 SET B000 0 0002 SET B001 1 0003 MOVJ VJ 80 00 0004 MOVJ VJ 80 00 0005 DOUT OGH 13 B002 0006 WAIT IF IN 5 ON 0007 MOVL V 880 0 0008 MOVL V 880 0 0009 MOVL V 880 0 0010 DOUT OGH 14 B003 0011 DOUT OT 5 ON 0012 DOUT OT 6 ON YES Copy NO TOOL 00 CONTROL GROUP R1 STEP N...

Page 188: ...source job 4 Select JOB under the menu 5 Select COPY JOB under the pull down menu 6 Input the new job name The name of the copy source job is displayed on the input area It is possible to partially change this name to enter a new name JOB UTILITY EDIT DISPLAY Main Menu ShortCut Set tool mass data TEST03 TEST TEST3A TEST01 JOB LIST TEST3A TEST02 JOB UTILITY EDIT DISPLAY TEST03 TEST TEST3A TEST01 TE...

Page 189: ... and the process is cancelled Operation Explanation JOB EDIT DISPLAY UTILITY Main Menu ShortCut JOB CONTENT JOB NAME JOB A 0000 NOP 0001 SET B000 0 0002 SET B001 1 0003 MOVJ VJ 80 00 0004 MOVJ VJ 80 00 0005 DOUT OGH 13 B002 0006 WAIT IF IN 5 ON 0007 MOVL V 880 0 0008 MOVL V 880 0 0009 MOVL V 880 0 0010 DOUT OGH 14 B003 0011 DOUT OT 5 ON 0012 DOUT OT 6 ON YES Copy NO TOOL 00 CONTROL GROUP R1 STEP N...

Page 190: ...s When YES is selected the edit job is deleted When deletion is completed the JOB LIST window appears When NO is selected the job deletion is cancelled JOB EDIT DISPLAY UTILITY JOB A 0000 NOP 0001 SET B000 0 0002 SET B001 1 0003 MOVJ VJ 80 00 0004 MOVJ VJ 80 00 0005 DOUT OGH 13 B002 CONTROL GROUP R1 CREATE NEW JOB SELECT JOB CALL MASTER JOB RENAME JOB DELETE JOB COPY JOB TOOL 00 STEP NO 0003 JOB E...

Page 191: ...wn menu The confirmation dialog box appears If NO or CANCEL is selected the job deletion is cancelled and the JOB LIST window appears 6 Select YES To select all the registered jobs at a time select EDIT from the menu and then select SELECT ALL JOB UTILITY EDIT DISPLAY Main Menu ShortCut TEST03 TEST TEST3A TEST01 JOB LIST TEST3A TEST02 JOB UTILITY EDIT DISPLAY TEST03 TEST TEST3A TEST01 TEST3A TEST0...

Page 192: ...lect JOB The JOB CONTENT window appears 3 Select JOB from the menu The pull down menu appears 4 Select RENAME JOB under the pull down menu JOB EDIT DISPLAY UTILITY JOB CONTENT JOB NAME JOB A 0000 NOP 0001 SET B000 0 0002 SET B001 1 0003 MOVJ VJ 80 00 0004 MOVJ VJ 80 00 0005 DOUT OGH 13 B002 TOOL 00 CONTROL GROUP R1 STEP NO 0003 JOB EDIT DISPLAY UTILITY JOB NAME JOB A 0000 NOP 0001 SET B000 0 0002 ...

Page 193: ...ut operations SUPPLE MENT JOB EDIT DISPLAY UTILITY Main Menu ShortCut JOB CONTENT JOB NAME JOB A 0000 NOP 0001 SET B000 0 0002 SET B001 1 0003 MOVJ VJ 80 00 0004 MOVJ VJ 80 00 0005 DOUT OGH 13 B002 0006 WAIT IF IN 5 ON 0007 MOVL V 880 0 0008 MOVL V 880 0 0009 MOVL V 880 0 0010 DOUT OGH 14 B003 0011 DOUT OT 5 ON 0012 DOUT OT 6 ON JOB B TOOL 00 CONTROL GROUP R1 STEP NO 0003 JOB EDIT DISPLAY UTILITY ...

Page 194: ...SELECT JOB The JOB LIST window appears 3 Move the cursor to the name to be changed 4 Select JOB from the menu 5 Select RENAME JOB under the pull down menu 6 Enter the job name and press ENTER The confirmation dialog box appears 7 Select YES JOB UTILITY EDIT DISPLAY Main Menu ShortCut TEST03 TEST TEST3A TEST01 JOB LIST TEST3A TEST02 JOB UTILITY EDIT DISPLAY TEST03 TEST TEST3A TEST01 TEST3A TEST02 C...

Page 195: ...s are displayed on the input area It is possible to partially change comments to enter new comments 7 Press ENTER The input area comment is registered and is displayed in the COMM area on the JOB HEADER window DATA EDIT DISPLAY UTILITY JOB HEADER JOB NAME TEST COMM DATE CAPACITY LINES STEPS EDIT LOCK TO SAVE TO FD GROUP SET 2003 05 20 12 00 1024 BYTES 30 LINES 20 STEPS OFF NOT DONE R1 THIS JOB IS ...

Page 196: ...Edit lock is set and cancelled on the JOB HEADER window Operation Explanation 1 Select JOB under the main menu 2 Select JOB 3 Select DISPLAY under the pull down menu 4 Select JOB HEADER The JOB HEADER window appears 5 Select EDIT LOCK and set the edit prohibit Each time SELECT is pressed the setting alternates between ON edit disabled and OFF edit enabled DATA EDIT DISPLAY UTILITY JOB HEADER JOB N...

Page 197: ...n menu 2 Select TEACHING COND The TEACHING CONDITION window appears 3 Select STEP ONLY CHANGING 4 Press SELECT Each time SELECT is pressed the setting alternates between PROHIBIT and PERMIT DATA EDIT DISPLAY UTILITY Main Menu ShortCut TEACHING CONDITION RECT CYLINDRICAL LANGUAGE LEVEL INSTRUCTION INPUT LEARNING MOVE INSTRUCTION SET STEP ONLY CHANGING RECT SUBSET VALID STEP PROHIBIT TEACHING CONDIT...

Page 198: ...N 0010 WVON WEV 2 0011 CALL JOB JOB C Direct open Direct open Direct open Direct open In the 8th line In the 9th line In the 10th line In the 11th line COMMAND POS window USER OUTPUT window WEAVING CONDITION window JOB CONTENT window for JOB C DATA EDIT DISPLAY UTILITY Main Menu ShortCut COMMAND POS INTR SPD 558 cm min CMD TOOL CURR TOOL R1 S L U R B T R1 S L U R B T 0 0 0 0 0 0 Turn on servo powe...

Page 199: ... key is pressed once more the key lamp turns OFF and the window returns to the former JOB CONTENT window The direct open function cannot be used again while a directly opened window is shown If another window is selected while the direct open function is effective the function is automatically cancelled and the lamp on the direct open key goes out Once another JOB CONTENT window is opened by the d...

Page 200: ...hree dimensional coordinate displacement The parallel shift function is relevant to the actual operation of the manipulator because it can be used to reduce the amount of work involved in teaching by shifting a taught path or position In the example in the figure below the taught position A is shifted in increments of the distance L this is actually a three dimensional XYZ displacement that can be...

Page 201: ...instruction can be set using the method indicated above but the method shown in the following in which just the part to be shifted is made into a separate job can also be used SFTON P CALL JOB Job to perform the shifting SFTOF Line Step Instruction 0000 NOP 0001 001 MOVJ VJ 50 00 0002 002 MOVL V 138 0003 SFTON P UF 1 0004 003 MOVL V 138 0005 004 MOVL V 138 0006 005 MOVL V 138 0007 SFTOF 0008 006 M...

Page 202: ...om the taught position by the amount registered for the specified position variable The POSITION VARIABLE window is shown in the following Coordinate Systems The shift value for parallel shift is X Y and Z increment in each coordinates There are four coordinates base coordinates robot coordinates tool coordinates and user coordinates In systems with no servo track the base coordinates and robot co...

Page 203: ...o calculate the shift value per pitch DATA EDIT DISPLAY UTILITY DATA EDIT DISPLAY UTILITY DATA EDIT DISPLAY UTILITY Main Menu ShortCut POSITION VARIABLE P000 R1 X Y Z Rx Ry Rz ROBOT 100 000 0 000 100 000 0 00 0 00 0 00 CUR POS COORDINATE USER COORD 01 TOOL 00 Differences are assumed to be shift amounts Position to be shifted Move the manipulator using the programming pendant R1 X Y Z 5 360 mm 66 0...

Page 204: ...e position data window for the user coordinates is used 6 2 3 Registering Shift Instructions To register the instruction move the cursor to the address area in the JOB CONTENT window during teach mode as follows Operation Explanation 1 Select JOB under the main menu 2 Select JOB The JOB CONTENT window appears 3 Move the cursor to the address area Shift value Teaching posture Shift without changing...

Page 205: ...required When Nothing is to be Changed Proceed to Step 6 When Editing Additional Items Adding or modifying additional items To change the position variable number move the cursor to the position variable number and press SHIFT the cursor key to increase or decrease the value To directly input the value using the Numeric keys press SELECT to display the input buffer line After the number is input p...

Page 206: ... be added and press SELECT After the coordinate system addition is completed press ENTER The DETAIL EDIT window closes and the JOB CONTENT window appears 6 Press INSERT and then ENTER The instruction displayed in the input buffer line is registered Operation Explanation SFTON P001 DATA EDIT DISPLAY UTILITY Main Menu ShortCut DETAIL EDIT SFTON P VAR RESULT P000 COORDINATE BF DATA EDIT DISPLAY UTILI...

Page 207: ... calculate the optimum shift value for an operation to reach the target shift position and posture With an MSHIFT instruction the shift value between the reference position and target position shift position when parallel shift is performed is determined in the specified coordinate system and set as the specified position variable Operation Explanation 1 Move the cursor to the line immediately bef...

Page 208: ...tep 6 When Editing Additional Items Adding or modifying additional items To change the position variable number move the cursor to the position variable number and press SHIFT the cursor key to increase or decrease the value To directly input the value using the Numeric keys press SELECT to display the input buffer line After the number is input press ENTER to modify the number value in the input ...

Page 209: ...tem modification is complete press ENTER The DETAIL EDIT window closes and the JOB CONTENT window appears 6 Press INSERT and then ENTER The instruction displayed in the input buffer line is registered Operation Explanation MSHIFT PX000 BF PX001 PX002 DATA EDIT DISPLAY UTILITY Main Menu ShortCut DETAIL EDIT MSHIFT P VAR RESULT P000 COORDINATE BF P VAR BASE PX001 P VAR DEST PX002 DATA EDIT DISPLAY U...

Page 210: ...stering a new job deleting a job or modifying a selected job Restart after the alarm occurs When control power is turned OFF If the shift function is cancelled through a job editing operation after execution of a parallel shift instruction the job must be started again from the beginning Because no shift is performed when the operation is restarted there is a possibility of interference between th...

Page 211: ...e MOVL MOVL SFTON P000 UF 1 MOVL Releasing workpiece SFTOF ADD P000 P001 MOVL MOVL INC B000 JUMP A IF B00 6 SFTON P000 UF 1 SFTOF SUB P000 P001 Make the first shift value zero Step 1 Step 2 Step 3 Step 4 Shift start Shift position Step 5 Shift end Add the shift value for the next operation Step 6 Step 7 Since the shift data is retained in memory the same data can be used with subtraction instead o...

Page 212: ...20 00 Move the manipulator to the reference position 0002 GETS PX000 PX000 Set the reference position as position variable P000 0003 MOVJ VJ 20 00 Move the manipulator to the target position 0004 GETS PX001 PX000 Set the target position as position variable P001 0005 MSHlFT PX010 BF PX000 PX001 Set shift value and set it as position variable P010 0006 END 212 of 493 ...

Page 213: ...ope OV is displayed for steps which result in a position outside the P point maximum envelope of the manipulator When the position is corrected OV display disappears Position Variable Position variables are not subject to parallel shift job conversion Not Converted Job The following jobs cannot be converted If conversion is attempted no operation is performed Jobs without any group axes Concurrent...

Page 214: ...oordinates Base coordinates robot coordinates tool coordinates user coordinates pulse coordinates R B Shift is performed on basis of selected coordinates Base Coordinates The base axis is shifted by the specified amount and the TCP of the manipulator is shifted by the specified amount in the base coordinates Robot Coordinates The base axis is shifted by the specified amount The TCP of the manipula...

Page 215: ...s tool coordinates user coordinates pulse coordinates R B S The manipulator is shifted in the selected coordinates as in to above The station axis is shifted on the basis of pulse values regardless of the coordinates R R Two manipulators are shifted in the selected coordinates Base coordinates robot coordinates tool coordinates user coordinates master tool coordinates 1 pulse coordinates R B R B T...

Page 216: ...is is shifted by B and the TCP of the manipulator is shifted by A in the base coordinates Robot Coordinates The base axis is shifted by B The TCP of the manipulator is shifted by A in the robot coordinates These shifts are carried out independently A B Base Base coordinates Base coordinates A B Robot coordinates 216 of 493 ...

Page 217: ...or is shifted by A in the tool coordinates These shifts are carried out independently User Coordinates The base axis is shifted by B and the TCP of the manipulator is shifted by A in the user coordinates These shifts are carried out independently Base coordinates A B Tool coordinates Base coordinates User coordinates A B A B Base coordinates User coordinates 217 of 493 ...

Page 218: ... conversion in the master tool coordinates Only steps taken at the slave from the standpoint of the SMOV instruction are subject to conversion i e the steps of R2 in the figure below R1 Master R2 Slave Y axis Z axis X axis Master tool coordinates 0001 MOV MOV 0002 MOV MOV 0003 SMOV MOV 0004 SMOV MOV 0005 SMOV MOV 0006 MOV MOV 1 2 3 4 5 6 Motion path after conversion Displays R2 Displays R1 218 of ...

Page 219: ...opied and converted To change the job perform the following procedure Move the cursor to the converted job name indication and press SELECT The character input line appears The source job name is displayed in the input line To enter job name without using the source job name press CANCEL and then input a job name COORDINATES Selects the conversion coordinates Move the cursor to the coordinates nam...

Page 220: ...r than above two methods Operation Explanation 1 Select JOB under the main menu 2 Select JOB The JOB CONTENT window appears 3 Select UTILITY under the pull down menu 4 Select PARALLEL SHIFT JOB The PARALLEL SHIFT JOB window appears 5 Specify the conversion items Specify each item 6 Select the shift value to be set The number can be entered SUPPLE MENT DATA EDIT DISPLAY UTILITY Main Menu ShortCut P...

Page 221: ...CEL is selected the display goes back to the JOB CONTENT window without executing conversion Operation Explanation DATA EDIT DISPLAY UTILITY Main Menu ShortCut PARALLEL SHIFT JOB SOURCE JOB STEP SECTION DESTINATION JOB COORDINATES BASE POINT SHIFT VALUE R1 X Y Z 200 000 0 0 JOB1 001 010 JOB2 ROBOT TEACH SETTING EXECUTE CANCEL DATA EDIT DISPLAY UTILITY Main Menu ShortCut PARALLEL SHIFT JOB SOURCE J...

Page 222: ...RALLEL SHIFT JOB window Select TEACH SETTING in the item of BASE POINT The BASE POINT window appears 7 Select BASE POINT SRC 8 Move the manipulator to the original base point by the axis keys DATA EDIT DISPLAY UTILITY Main Menu ShortCut PARALLEL SHIFT JOB SOURCE JOB STEP SECTION DESTINATION JOB COORDINATES BASE POINT SHIFT VALUE R1 S L U R B T 0 0 0 0 0 0 JOB1 001 010 PULSE TEACH SETTING EXECUTE C...

Page 223: ...n Explanation DATA EDIT DISPLAY UTILITY Main Menu ShortCut PARALLEL SHIFT JOB BASE POINT SRC BASE POINT DEST EXECUTE CANCEL 230 000 40 000 20 000 R1 X R1 Y R1 Z 0 000 0 000 0 000 R1 X R1 Y R1 Z DATA EDIT DISPLAY UTILITY Main Menu ShortCut PARALLEL SHIFT JOB BASE POINT SRC BASE POINT DEST EXECUTE CANCEL 230 000 40 000 20 000 R1 X R1 Y R1 Z 460 000 60 000 100 000 R1 X R1 Y R1 Z DATA EDIT DISPLAY UTI...

Page 224: ...B CONTENT window appears when the conversion is completed When CANCEL is selected the display goes back to the JOB CONTENT window without executing conversion Operation Explanation DATA EDIT DISPLAY UTILITY Main Menu ShortCut PARALLEL SHIFT JOB SOURCE JOB STEP SECTION DESTINATION JOB COORDINATES BASE POINT SHIFT VALUE R1 X Y Z 230 000 20 000 80 000 JOB1 001 010 JOB2 YES Overwrite NO EXECUTE CANCEL...

Page 225: ...lated jobs are not converted RELATIVE RELATIVE JOB CONVERSION Both the selected job and all the related jobs the jobs called by JUMP or CALL instructions are converted For details of each conversion mode refer to Jobs Targeted for Conversion COORDINATES Selects the conversion coordinates Move the cursor to the coordinates name and press SELECT The selection dialog box appears Select the desired co...

Page 226: ...rsion Only the selected job is converted even if the selected job includes jobs called by JUMP or CALL instructions Related jobs are not converted Related Job Conversion Both the selected job and all the related jobs the jobs called by JUMP or CALL instructions are converted SELECTED JOB EDIT JOB JOB JOB JOB JOB JOB JOB Converted Related jobs are not converted SELECTED JOB EDIT JOB JOB JOB JOB JOB...

Page 227: ...r the system with multiple stations as described in the following Common Shift All the manipulators or all the bases or all the stations are converted by the same shift value Individual Shift Each manipulator or each base or each station is converted separately by different shift values Coordinated job with R1 R2 The system with multiple stations Coordinated job with R1 R2 The system with multiple...

Page 228: ...1 Use P011 for R2 Example 2 When selecting EX005 for multiple jobs with four stations Use EX005 for S1 Use EX006 for S2 Use EX007 for S3 Use EX008 for S4 Be sure to use the variables of which numbers are consecutive after the selected number The variables of which numbers are not consecutive are unable to be selected NOTE P010 JOB R2 P011 JOB R1 EX005 EX006 EX007 EX008 JOB S1 JOB S2 JOB S3 JOB S4 ...

Page 229: ...ase Job with R S Use one variable for a job with one manipulator In case of related job conversion Different shift values can be set for each manipulator base and station R1 R2 P001 For R1 P002 For R2 BP001 For base R1 P002 For base R2 Variables JOB Ro P001 For R1 BP001 For base R1 Variables JOB Job without group axes P001 For R1 P002 For R2 BP001 For base R1 P002 For base R2 EX001 For S1 EX002 Fo...

Page 230: ...menu 4 Select JOB The JOB CONTENT window appears 5 Select UTILITY under the pull down menu 6 Select PARALLEL SHIFT JOB The PARALLEL SHIFT JOB window appears 7 Specify the conversion items Specify each item 8 Select EXECUTE Select EXECUTE then the parallel shift job conversion is executed The JOB CONTENT window appears when the conversion is completed When CANCEL is selected the display goes back t...

Page 231: ...ing table Data Input Range Number of Steps for Adjustment Up to 10 steps can be adjusted at the same time Position Adjustment Range X Y Z Unit mm valid to two decimal places maximum 10 mm Posture Angle Adjustment Range Rx Ry Rz Unit deg valid to two decimal places maximum 10 deg Valid from NS3 00 Speed Adjustment Range V Unit valid to two decimal places maximum 50 PL Adjustment Range 0 to 8 Adjust...

Page 232: ...ordinates for adjustment are user coordinates an error occurs if teaching has not been performed in the user coordinates If an attempt is made to adjust PL when there is no PL in the step subject to the adjustment an error occurs Position variable and reference point steps cannot be adjusted An error occurs if adjustment is attempted An attempt to adjust the speed at a step that has no speed tag w...

Page 233: ...rs when adjustment is not executed DONE appears when the execution of adjustment is completed INPUT COORD Set the desired coordinates Line up the cursor and press SELECT to display the selection dialog box Move the cursor to the desired coordinate system and press SELECT to set the input coordinates PAM JOB STATUS STEP ROBOT NOT DONE X mm Y mm Z mm Rx deg Ry deg Rz deg V PL 000 000 000 000 000 000...

Page 234: ...he direction and amount of the Rx Ry and Rz posture angles Line up the cursor with the data to be adjusted and press SELECT to display the number input buffer line Input the number data and press ENTER to set the adjusted data V Coordinate Adjustment Set the speed Line up the cursor and press SELECT to display the number input buffer line Input the number data and press ENTER to set the adjusted d...

Page 235: ...00 0 00 0 00 0 00 0 00 0 00 0 00 5 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 TEST R1 JOB STATUS INPUT COORD DATA EDIT DISPLAY COMPLETE UTILITY Main Menu CANCEL ShortCut ROBOT NOT DONE PAM STEP X mm Y...

Page 236: ...0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 5 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 5 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 TEST R1 JOB STATUS ROBOT NOT DONE INPUT COORD DATA EDIT DISPLAY S...

Page 237: ...r if the line where the data is to be copied does not have a speed value or PL value it cannot be copied PAM STEP X mm Y mm Z mm Rx deg Ry deg Rz deg V PL 007 008 009 010 011 012 013 014 015 016 10 00 10 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 5 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 5 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0...

Page 238: ...S The status does not change and the job is not undone when selecting NO STEP X mm Y mm Z mm Rx deg Ry deg Rz deg V PL 000 000 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 TEST R1 PAM JOB STATUS ROBOT DONE INPUT COORD DATA EDIT DISPLAY UTILITY INPUT COORD PAM STEP X mm Y mm Z mm Rx deg Ry deg Rz deg V PL 000 000 000 000 000 000 000 000 000 000 0 00 0 00 0 00 0 00 0 00 0 00...

Page 239: ...e pulse mirror shift function the robot coordinates mirror shift function and the user coordinates mirror shift function 6 5 2 Pulse Mirror shift Function With the pulse mirror shift function the mirror shift is performed by reversing the sign for the axes which are specified with the parameter in advance Parameter Setting Using the following parameter specify the axes for which the sign is to be ...

Page 240: ...guration Position Variables Position variables are not converted by the mirror shift function 6 5 3 Robot coordinates Mirror shift Function With the robot coordinates mirror shift function the mirror shift is performed on the X Z coordinate of the robot coordinates Object Job Jobs without group axes cannot be converted Group Axes Specification When specifying the group axes for the converted job i...

Page 241: ...must be the same Robot Axis Same model Base Axis Same configuration Station Axis Same configuration Position Variables Position variables are not converted by the mirror shift function Mirror shift conversion for the base axis is not performed with the robot coordinates mirror shift function With the robot coordinates mirror shift function mirror shift conversion for the station axis is performed ...

Page 242: ...he user coordinates specified on the center of the T axis rotation Using the Robot coordinates Mirror shift Function When the robot coordinates mirror shift function is performed the mirror shift is performed on the X Z coordinate of the robot coordinates The path of the converted job is as follows Using the User coordinates Mirror shift Function To use the user coordinates mirror shift function s...

Page 243: ...For Another Job Mirror Shift Conversion Operation Explanation 1 Select JOB under the main menu 2 Select JOB Operation Explanation 1 Select JOB under the main menu 2 Select SELECT JOB The JOB LIST window appears 3 Select desired job Operation Explanation 1 Display the JOB CONTENT window 2 Select UTILITY under the pull down menu The MIRROR SHIFT window appears 3 Select MIRROR SHIFT The MIRROR SHIFT ...

Page 244: ... the same control group as the conversion source job is automatically set To change it move the cursor to the control group and press SELECT to call up the selection dialog box COORDINATES Specifies the coordinates used for conversion PULSE Executes the pulse mirror shift conversion ROBOT Executes the mirror shift conversion on the basis of the cartesian coordinates USER Executes the mirror shift ...

Page 245: ...tional function requirement Compact Flash Standard Compact Flash CF card No requirement Programming pendant is equipped with a slot FC1 Option 1 2DD floppy disk personal computer FC1 emulator FC1 or personal computer with FC1 emulator FC2 Option 1 2DD floppy disk 2HD floppy disk FC2 PC Option 1 Personal computer MOTOCOM32 host Via RS 232C Data transmission function and MOTOCOM32 Via Ethernet Ether...

Page 246: ...usly Recommended Compact Flash Cards 512 MB or more CF cards in the same series can be used as external memory devices However FAT32 formatted CF cards such as high capacity CF cards cannot be used for upgrading Pendant OS version No Manufacturer Model Remarks 1 Hagiwara Sys Com MCF10P 128MS A00A II YE 128MB 2 Hagiwara Sys Com MCF10P 256MS YE2 256MB 3 Hagiwara Sys Com MCF10P 512MS 512MB 4 Hagiwara...

Page 247: ...refer to instruction manuals for each medium Removing the CF or disconnecting the control power supply while writing data to the CF reading data from the CF may cause data corruption in the CF Please DO NOT remove the CF or disconnect the control power supply while the remaining bytes indication is switching to the file list window after the data of the external memory device is saved loaded or ve...

Page 248: ...ot After inserting the card be sure to close the cover of the slot before starting operation Installing the Compact Flash Insertion slot for the Compact Flash HOLD START PLAY TEACH REMOTE T Z T Z B Y R X B Y R X HIGH SPEED FAST SLOW MANUAL SPEED U Z U Z L Y S X L Y S X SERVO ON M O T O M A N SELECT SERVO ON READY MAIN MENU SHORT CUT GO BACK PAGE AREA LAYOUT Multi CANCEL ASSIST DIRECT OPEN INFORM L...

Page 249: ...RAL DATA 1 BATCH USER MEMORY includes JOB and FILE GENERAL DATA 2 PARAMETER BATCH includes all PARAMETER 3 BATCH CMOS includes BATCH USER MEMORY PARAMETER SYSTEM DATA and I O DATA 4 ALL CMOS AREA data cannot be loaded in edit mode and management mode PARAMETER I O DATA SYSTEM DATA PARAMETER BATCH BATCH CMOS and ALL CMOS AREA are used for backup If those data are loaded by other controllers uninten...

Page 250: ...tart condition data ARCSRT CND Arc end condition data ARCEND CND Welding condition auxiliary data ARCSUP DAT Power Source characteristic data WELDER DAT Power Source characteristic definition data WELDUDEF DAT Shock detection level data SHOCKLVL CND Motor gun pressure power data SPRESS CND Motor gun dry spot pressure data SPRESSCL CND Spot gun characteristic data SGUN DAT Spot gun condition auxili...

Page 251: ... X Operation control parameter AMC PRM X Servo power block parameter SVP PRM X Motion function parameter MF PRM X SERVOPACK parameter SVS PRM X Converter parameter SVC PRM X I O DATA Concurrent I O program CIOPRG LST X I O name data IONAME DAT X Pseudo input signals PSEUDOIN DAT X SYSTEM DATA User word registration UWORD DAT X SV monitor signals SVMON DAT X Variable name VARNAME DAT X Second home ...

Page 252: ...ta is loaded saved in the FD CF menu of the normal mode Save Perform in the normal mode the editing mode or higher Load Perform in the normal mode the management mode For details refer to the following pages Target Area The collected data including Job File Data File Parameter File System Data and I O Data which can be individually loaded saved in the FD CF menu Because the setting information of ...

Page 253: ...the file does not need to be deleted because another folder can be created to save the data Whether the job after editing is saved or not can be judged by checking TO SAVE TO FD in the JOB HEADER window However the status of TO SAVE TO FD does not change after saving BATCH USER MEMORY and BATCH CMOS Example of JOB Example of FILE GENERAL DATA SUPPLE MENT DATA UTILITY EDIT DISPLAY Main Menu ShortCu...

Page 254: ...s when using the Compact Flash as a device 3 The settings of CREATE NEW FOLDER DELETE FOLDER and ROOT FOLDER can be set SELECT SUB MENU Select an operation to be performed from LOAD SAVE VERIFY and DELETE SELECT DATA CATEGORY Select the target data category SELECT DATA Select the target data BATCH USER MEMORY BATCH CMOS and ALL CMOS AREA do not require this operation 4 Individual selection batch s...

Page 255: ...ds the restricted number of characters mentioned above as created in PC etc Maximum path length 64 one byte characters ERROR 3360 INVALID FOLDER appears when selecting the folder of which name exceeds the maximum path length Selecting a Folder Operation Explanation 1 Select FD PC CARD under the main menu 2 Select FOLDER The FOLDER LIST window appears 3 Move the cursor to a folder and press SELECT ...

Page 256: ... screen and press ENTER A folder is created Operation Explanation 1 Change the security to management mode Select FD PC CARD under the main menu 2 Select FOLDER The FOLDER LIST window appears 3 Move the cursor to a folder and press SELECT Select the higher level folder where a folder to be deleted is contained When deleting a folder in top level this step is unnecessary 4 Delete the files and subf...

Page 257: ...under the main menu 2 Select FOLDER The FOLDER LIST window appears 3 Move the cursor to a folder and press SELECT Select a folder that is to be set as a root folder 4 Select DISPLAY ROOT FOLDER under the pull down menu The INITIAL FOLDER SETTING window appears A folder currently selected appears in CURRENT FOLDER and the initial folder appears in ROOT FOLDER FOLDER LIST TARGET FOLDER FOLDER 1 FOLD...

Page 258: ...tial folder that has been set becomes a current folder When the initial folder is missing due to exchange of the Compact Flash etc ERROR 3360 INVALID FOLDER appears when selecting LOAD SAVE VERIFY DELETE or FOLDER menu from FD PC CARD and simultaneously the initial folder becomes invalid Set ON in AUTO CHANGE when the initial folder setting needs to be valid Operation Explanation ROOT ENTRY AUTO C...

Page 259: ...appears 3 Select JOB The JOB LIST window appears 4 Select a job to be saved The selected job is marked with NOTE DATA UTILITY EDIT DISPLAY FLOPPY DISK Compact Flash CF SAVE UN USED MEMORY 55 91 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY AA36 AA5 AA8 N1 TEST3 TEST3A TEST3A TEST3A 3 TEST3A 6 TES...

Page 260: ...External Memory Devices 7 3 Operation Flow 7 16 149235 1CD RE CSO A031 5 Press ENTER The confirmation dialog box appears 6 Select YES The selected job is saved Operation Explanation YES Save NO 260 of 493 ...

Page 261: ...TA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF SAVE FOLDER TOOL DATA WEAVING DATA USER COORDINATE DATA VARIABLE DATA ARC START COND DATA ARC END COND DATA ARC AUXILIARY COND DATA POWER SOURCE COND DATA USER DEF PWR SRC COND DATA SHOCK DETECTION LEVEL TOOL WEAV UFRAME VAR ARCSRT ARCEND ARCSUP WELDER WELDUDEF SHOCKLVL C...

Page 262: ...ternal Memory Devices 7 3 Operation Flow 7 18 149235 1CD RE CSO A031 5 Press ENTER The confirmation dialog box appears 6 Select YES The selected files are saved Operation Explanation YES Save NO 262 of 493 ...

Page 263: ...TEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF SAVE FOLDER BATCH PARAMETER ROBOT MATCH PRMTR SYS DEF PRMTR COORD ORG PRMTR SYS MATCH PRMTR CIO PRMTR FCTN DEF PRMTR APPLI PRMTR TRANSMISSION USER SENSOR PRMTR SERVO PRMTR ALL RC SD RO SC CIO FD AP RS SE SV PRM PRM PRM PRM PRM PRM PRM PRM PRM PRM PRM DATA UTILITY ED...

Page 264: ...rnal Memory Devices 7 3 Operation Flow 7 20 149235 1CD RE CSO A031 5 Press ENTER The confirmation dialog box appears 6 Select YES The selected parameters are saved Operation Explanation YES Save NO 264 of 493 ...

Page 265: ...dialog box appears 6 Select YES The selected I O data are saved DATA UTILITY EDIT DISPLAY FLOPPY DISK Compact Flash CF SAVE UN USED MEMORY 55 91 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY FLOPPY DISK Compact Flash CF SAVE FOLDER C IO PRGM IO NAME DATA SIMULATED IN DATA CIOPRG IONAME PSEUDOIN L...

Page 266: ...CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF SAVE FOLDER USER WORD SV MONITOR SIGNAL SECOND HOME POSITION ALARM HISTORY DATA HOME POS CALIB DATA SYSTEM INFORMATION OPERATION ORG POS DATA I O MESSAGE HISTORY DATA KEY ALLOCATION DATA UWORD SVMON HOME2 ALMHIST ABSO SYSTEM OPEORG IOMSGHST KEYALLOC DAT DAT DAT DAT DAT SYS DAT DAT DAT DATA UTILITY ...

Page 267: ... are saved BATCH USER MEMORY BATCH CMOS and ALL CMOS AREA can be overwritten As for JOB FILE GENERAL DATA PARAMETER SYSTEM DATA and I O DATA those data cannot be overwritten In that case delete the file of the same name in the folder beforehand or create a new folder so that the data can be stored inside Operation Explanation YES Save NO SUPPLE MENT 267 of 493 ...

Page 268: ...appears 3 Move the cursor to BATCH USER MEMORY and select 4 Select EXECUTE The confirmation dialog box appears 5 Select YES All user s programs are saved DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF SAVE UN USED MEMORY 55 91 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 YES Save NO 268 of 493 ...

Page 269: ...ow appears 3 Move the cursor to BATCH CMOS and select 4 Select EXECUTE The confirmation dialog box appears 5 Select YES All CMOS data are saved DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF SAVE UN USED MEMORY 55 91 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 YES Save NO 269 of 493 ...

Page 270: ...w appears 3 Move the cursor to ALL CMOS AREA and select 4 Select EXECUTE The confirmation dialog box appears 5 Select YES All data in CMOS area are saved DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF SAVE UN USED MEMORY 55 91 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 YES Save NO 270 of 493 ...

Page 271: ...or loss of critical system information Take extra care for the saved data Operation Explanation 1 Select FD PC CARD under the main menu 2 Select LOAD The following window appears 3 Select JOB The job selection window appears NOTE DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF LOAD UN USED MEMORY 55 32 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DAT...

Page 272: ...YES The selected jobs are loaded Operation Explanation DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF LOAD SINGLE NO 33 FOLDER AA36 AA5 AA8 N1 TEST3 TEST3A TEST3A TEST3A 3 TEST3A 6 TEST3A 9 TEST3A C AA37 AA6 AA9 TEST TEST3A TEST3A TEST3A 1 TEST3A 4 TEST3A 7 TEST3A A TEST3A D AA35 AA4 AA7 N TEST2 TEST3A TEST3A TEST3A 2 TEST3A 5 TEST3A 8 TEST3A B YES Load NO 272 of 493 ...

Page 273: ...OS ALL CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF LOAD FOLDER TOOL DATA WEAVING DATA USER COORDINATE DATA VARIABLE DATA ARC START COND DATA ARC END COND DATA ARC AUXILIARY COND DATA POWER SOURCE COND DATA USER DEF PWR SRC COND DATA SHOCK DETECTION LEVEL TOOL WEAV UFRAME VAR ARCSRT ARCEND ARCSUP WELDER WELDUDEF SHOCKLVL CND CND CND DAT CND C...

Page 274: ...ternal Memory Devices 7 3 Operation Flow 7 30 149235 1CD RE CSO A031 5 Press ENTER The confirmation dialog box appears 6 Select YES The selected files are loaded Operation Explanation YES Load NO 274 of 493 ...

Page 275: ...STEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF LOAD FOLDER BATCH PARAMETER ROBOT MATCH PRMTR SYS DEF PRMTR COORD ORG PRMTR SYS MATCH PRMTR CIO PRMTR FCTN DEF PRMTR APPLI PRMTR TRANSMISSION USER SENSOR PRMTR SERVO PRMTR ALL RC SD RO SC CIO FD AP RS SE SV PRM PRM PRM PRM PRM PRM PRM PRM PRM PRM PRM DATA UTILITY E...

Page 276: ...nal Memory Devices 7 3 Operation Flow 7 32 149235 1CD RE CSO A031 5 Press ENTER The confirmation dialog box appears 6 Select YES The selected parameters are loaded Operation Explanation YES Load NO 276 of 493 ...

Page 277: ...dialog box appears 6 Select YES The selected I O data are loaded DATA UTILITY EDIT DISPLAY FLOPPY DISK Compact Flash CF LOAD UN USED MEMORY 55 32 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY FLOPPY DISK Compact Flash CF LOAD FOLDER C IO PRGM IO NAME DATA SIMULATED IN DATA CIOPRG IONAME PSEUDOIN ...

Page 278: ... CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF LOAD FOLDER USER WORD SV MONITOR SIGNAL SECOND HOME POSITION ALARM HISTORY DATA HOME POS CALIB DATA SYSTEM INFORMATION OPERATION ORG POS DATA I O MESSAGE HISTORY DATA KEY ALLOCATION DATA UWORD SVMON HOME2 ALMHIST ABSO SYSTEM OPEORG IOMSGHST KEYALLOC DAT DAT DAT DAT DAT SYS DAT DAT DAT DATA UTILITY...

Page 279: ...nal Memory Devices 7 3 Operation Flow 7 35 149235 1CD RE CSO A031 5 Press ENTER The confirmation dialog box appears 6 Select YES The selected system data are loaded Operation Explanation YES Load NO 279 of 493 ...

Page 280: ...appears 3 Move the cursor to BATCH USER MEMORY and select 4 Select EXECUTE The confirmation dialog box appears 5 Select YES All user s programs are loaded DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF LOAD UN USED MEMORY 55 32 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 YES Load NO 280 of 493...

Page 281: ...ow appears 3 Move the cursor to BATCH CMOS and select 4 Select EXECUTE The confirmation dialog box appears 5 Select YES All CMOS data are loaded DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF LOAD UN USED MEMORY 55 32 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 YES Load NO 281 of 493 ...

Page 282: ...ppears 3 Select JOB The job selection window appears NOTE DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF VERIFY UN USED MEMORY 54 73 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF VERIFY SINGLE NO 33 FOLDER AA36 AA5 AA8 N1 ...

Page 283: ...S The selected jobs are verified Operation Explanation DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF VERIFY SINGLE NO 33 FOLDER AA36 AA5 AA8 N1 TEST3 TEST3A TEST3A TEST3A 3 TEST3A 6 TEST3A 9 TEST3A C AA37 AA6 AA9 TEST TEST3A TEST3A TEST3A 1 TEST3A 4 TEST3A 7 TEST3A A TEST3A D AA35 AA4 AA7 N TEST2 TEST3A TEST3A TEST3A 2 TEST3A 5 TEST3A 8 TEST3A B YES Verify NO 283 of 493...

Page 284: ...ied DATA UTILITY EDIT DISPLAY FLOPPY DISK Compact Flash CF VERIFY UN USED MEMORY 54 73 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY FLOPPY DISK Compact Flash CF VERIFY FOLDER TOOL DATA WEAVING DATA USER COORDINATE DATA VARIABLE DATA ARC START COND DATA ARC END COND DATA ARC AUXILIARY COND DATA P...

Page 285: ...T DISPLAY FLOPPY DISK Compact Flash CF DELETE UN USED MEMORY 54 14 MB FOLDER JOB FILE GENERAL DATA BATCH USER MEMORY PARAMETER SYSTEM DATA I O DATA BATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY FLOPPY DISK Compact Flash CF DELETE SINGLE NO 33 FOLDER AA36 AA5 AA8 N1 TEST3 TEST3A TEST3A TEST3A 3 TEST3A 6 AA37 AA6 AA9 TEST TEST3A TEST3A TEST3A 1 TEST3A 4 TEST3A 7 AA35 AA4 AA7 N ...

Page 286: ...ATCH CMOS ALL CMOS AREA 57 0 0 0 0 0 0 0 DATA UTILITY EDIT DISPLAY FLOPPY DISK Compact Flash CF DELETE FOLDER TOOL DATA WEAVING DATA USER COORDINATE DATA VARIABLE DATA ARC START COND DATA ARC END COND DATA ARC AUXILIARY COND DATA POWER SOURCE COND DATA USER DEF PWR SRC COND DATA TOOL WEAV UFRAME VAR ARCSRT ARCEND ARCSUP WELDER WELDUDEF CND CND CND DAT CND CND DAT DAT DAT DATA UTILITY EDIT DISPLAY ...

Page 287: ...file selection window move the cursor to a job or a file to be selected 2 Press SELECT Move the cursor to a file needed and press SELECT again To cancel the selected items select EDIT and then CANCEL SELECT The selected jobs are marked with DATA UTILITY EDIT DISPLAY Main Menu ShortCut FLOPPY DISK Compact Flash CF LOAD SINGLE NO 33 FOLDER AA36 AA5 AA8 N1 TEST3 TEST3A TEST3A TEST3A 3 TEST3A 6 TEST3A...

Page 288: ... are selected FLOPPY DISK Compact Flash CF LOAD FOLDER SINGLE NO 33 AA35 AA4 AA7 N AA36 AA5 AA8 N1 AA37 AA6 AA9 TEST FOLDER UTILITY EDIT DISPLAY SELECT ALL SELECT MARKER CANCEL SELECT FOLDER UTILITY EDIT DISPLAY AA35 AA4 AA7 N TEST2 TEST3A TEST3A TEST3A 2 TEST3A 5 TEST3A 8 TEST3A B AA36 AA5 AA8 N1 TEST3 TEST3A TEST3A TEST3A 3 TEST3A 6 TEST3A 9 TEST3A C AA37 AA6 AA9 TEST TEST3A TEST3A TEST3A 1 TEST...

Page 289: ...EL SELECT FLOPPY DISK Compact Flash CF LOAD FOLDER SINGLE NO 33 AA35 AA4 AA7 AA36 AA5 AA8 AA37 AA6 AA9 FOLDER UTILITY EDIT DISPLAY SELECT ALL SELECT MARKER CANCEL SELECT FOLDER UTILITY EDIT DISPLAY AA35 AA4 AA7 N TEST2 TEST3A TEST3A TEST3A 2 TEST3A 5 TEST3A 8 TEST3A B AA36 AA5 AA8 N1 TEST3 TEST3A TEST3A TEST3A 3 TEST3A 6 TEST3A 9 TEST3A C AA37 AA6 AA9 TEST TEST3A TEST3A TEST3A 1 TEST3A 4 TEST3A 7 ...

Page 290: ...is interference or cubic interference Parameter according to Status I O Sets the parity check or I O setting for user input output signals Parameter according to Coordinated or Synchronized Operation Makes the settings for coordinated or synchronized operations between manipulators or between manipulators and stations Parameter for Other Functions or Applications Makes the settings for other funct...

Page 291: ...PEED FOR REGISTRATION Units 0 01 The value set in these parameters is registered as the joint speed for each speed level when teaching the position data with the programming pendant The percentage corresponding to the set value at each level is registered as 100 of the value set in the playback speed limit Values greater than those set as speed limit values cannot be set S1CxG010 to S1CxG017 LINEA...

Page 292: ...th the MOVE instruction MOVJ joint movement or MOVL linear movement Example MOVL V 100 0 PL 1 The value set in this parameter specifies the range to enter in relation to the teaching point for that step positioning After entering the specified positioning zone the manipulator starts moving to the next step The system is also set up so inward turning operation is carried out in the moving section w...

Page 293: ...s between 250 and 155 Position Level Position levels are divided into nine stages of 0 to 8 with the MOV instruction e g MOVL V 500 PL 1 PL Position Level The functions at each level are as follows 0 Complete positioning to the target point 1 to 8 Inward turning operation Following are explanations of the respective processing details and their relations with the parameter Level 0 Determines posit...

Page 294: ...N IN USER COORDINATE SYSTEM WHEN EXTERNAL REFERENCE POINT CONTROL FUNCTION USED This parameter specifies the TCP or reference point of motion about TCP when the external reference point control function is used and the user coordinate system is selected by the programming pendant 0 When manipulator TCP is selected 1 When external reference point is selected S2C238 CONTROLLED GROUP JOB TEACHING POS...

Page 295: ...tep 2 Move back to the deviated position and stop S2C324 Parameter Setting Value Movement When Restarting 0 Move to next step 1 After moving back to the deviated position move to the indicated step 2 S2C325 Parameter Setting Value Movement When Restarting 0 Move to the next step Emergency stop Movement when restarting Move to next step Emergency stop Servo OFF Move to the path deviated position an...

Page 296: ...ves in a straight line at low speed operation SICxG044 It is linear movement After resetting from deviation the speed becomes the same as taught speed The initial setting prior to shipping is 0 The manipulator moves in a straight line from the present position to the indicated step 0 Return to the feedback position 1 Return to the current value reference position S2C325 Parameter Setting Value Mov...

Page 297: ... the base coordinate As the figure below left shows when tool position viewed from outside is not significantly changed and that position is mainly taught at teaching this setting is required 1 Rotating position by circular arc path Interpolation is performed depending on the position change corresponding to circular arc path As the figure below right shows when tool position corresponding to circ...

Page 298: ...tart instruction such as ARCON instruction this parameter specifies the delay time for motion completion of the work start instruction step only S2C560 BASE AXIS OPERATION KEY ALLOCATION SETTING Axis number order X First axis Y Second axis Z Third axis Specified X X direction RECT X Y Y direction RECT Y Z Z direction RECT Z Parameter Setting and Jog Operation Key Allocation Coordinates Parameter S...

Page 299: ...K These parameters specify the necessary data for position correcting function PAM during playback operation S3C806 Specifies the limit of position correcting range Units μm S3C807 Specifies the limit of speed correcting range Units 0 01 S3C808 Specifies the correcting coordinates 0 Base 1 Robot 2 Tool 3 User 1 to 26 User 24 299 of 493 ...

Page 300: ...ected when cartesian cylindrical mode is selected by operation coordinate mode selection at axis operation of programming pendant This specification can be done on the TEACHING CONDITION window S2C149 COORDINATE SWITCHING PROHIBITED This parameter prohibits switching coordinates during JOG operation by the programming pendant 0 Operation Mode 1 Editing Mode 2 Management Mode 0 Cylindrical mode 1 C...

Page 301: ...nged but additional data such as speed cannot be changed This specification can be done on the TEACHING CONDITION window S2C156 MANUAL SPEED STORING FOR EACH COORDINATE This parameter specifies whether to assign different manual speeds for the joint coordinates and other coordinates If NOT STORED is selected manual speed is not affected by changing the coordinates If STORED is selected manual spee...

Page 302: ...ER JOB CHANGING OPERATION This parameter specifies whether to permit or prohibit master job changing operation If PROHIBIT is specified the master job cannot be changed or registered easily The specification can be done on the OPERATING CONDITION window 0 Permitted 1 Prohibited Line Instruction 10 11 12 13 MOVL V 100 TIMER T 1 00 DOUT OT 1 ON MOVL V 50 Cursor position Line Instruction 10 11 12 13 ...

Page 303: ...VEL This parameter specifies the level of the robot language INFORM III The levels simplify the instruction registering operation With NX100 all robot instructions can be executed regardless of specification of instruction sets The specification can be done on the TEACHING CONDITION window 0 Contracted Level Only frequently used robot instructions are selected to reduce the number of instructions ...

Page 304: ...indow at job selection S2C169 INITIAL OPERATION OF MANIPULATOR This parameter specifies the operation speed level of the first section when starting Specify the operation speed with the low speed start S1CxG044 When starting at low speed the manipulator stops after reaching the indicated step regardless of the cycle setting Once the manipulator is paused during the low speed operation it moves at ...

Page 305: ... S2C173 SPEED DATA INPUT FORM This parameter specifies the units for speed data input and display mm s in units of 0 1 mm s cm min in units of 1cm min inch min in units of 1 inch min mm min in units of 1 mm min The specification can be done on the OPERATING CONDITION window Parameter Setting Value Operation Units 0 MOVL DOUT TIMER DOUT MOVL Stops at every instruction 1 MOVL DOUT TIMER DOUT MOVL St...

Page 306: ...is accepted or not The specification can be done on the OPERATING CONDITION window S2C180 PROGRAMMING PENDANT CYCLE SWITCHING This parameter specifies whether cycle switching from the programming pendant is accepted or not The specification can be done on the OPERATING CONDITION window S2C181 SERVO ON FROM EXTERNAL PP PROHIBITION This parameter specifies whether a servo ON instruction is accepted ...

Page 307: ...ollowing operations are prohibited Modification of a step When the tool number of the teaching step differs from the currently selected tool number the step cannot be modified Deletion of a step Even if the teaching step position coincides with the current position the step cannot be deleted when the tool number of the teaching step differs from the currently selected tool number Addition of a ste...

Page 308: ...e for when the power is turned ON The setting can be made on the OPERATING CONDITION window S2C231 TEACH MODE FIRST CYCLE MODE This parameter sets the cycle that changes from the play mode to the teach mode The setting can be made on the OPERATING CONDITION window S2C232 PLAY MODE FIRST CYCLE MODE This parameter sets the cycle that changes from the teach mode to the play mode The setting can be ma...

Page 309: ...N S2C297 1 DOUT OT OUTPUT 1 ON S2C297 Parameter Setting Value Valid Invalid 0 Function invalid 1 Function valid Select IN OUT UNIVERSAL INPUT OUTPUT to edit signal names on the window Up to 16 characters can be entered as a signal name However when this function is valid if the content below is entered the error message shows and the name cannot be registered The name already registered Letters be...

Page 310: ... 1 SET WORK KIND 128 S2C298 Parameter Setting Value Valid Invalid 0 Function invalid 1 Function valid Select VARIABLE from the menu to select each variable and edit the variable name Up to 16 characters can be entered as a variable name However when this function is valid if the content below is entered the error message shows and the name cannot be registered The name already registered Letters b...

Page 311: ...variables can be checked and edited on this window In addition the data list of registered signals variables can be loaded saved verified or deleted with an external memory unit Only when this function is valid I O VARIABLE CUSTOMIZE file name USRIOVAR DAT is displayed and can be selected To display the I O VARIABLE CUSTOMIZE file name USRIOVAR DAT select FD CF LOAD SAVE VERIFY DELETE SYSTEM DATA ...

Page 312: ...es whether tool number switching is permitted or not If PERMIT is selected 24 types of tools from number 0 to 23 can be switched If NOT PERMIT is selected only number 0 can be used S2C335 POSITION TEACHING BUZZER This parameter specifies whether the buzzer sound at position teaching is used or not S2C317 CONTROL POWER ON TIME S2C318 SERVO POWER ON TIME S2C319 PLAYBACK TIME S2C320 WORK TIME S2C321 ...

Page 313: ... the synchronizing side is to be linked when the manipulator and the station at the synchronized side are performing FWD BWD or test run by using the twin synchronous function 0 Not operating 1 Linking 0 Does not operate the synchronizing side while teaching the synchronized side 1 Links the synchronizing side while teaching the synchronized side Synchronizing side Synchronizing side 313 of 493 ...

Page 314: ... the Playback Resumes 0 Resumes where the cursor is located in the job displayed at the moment 1 Resumes where the cursor has been located when the playback suspended OR where the cursor is located in the job displayed at the moment Example Suspended at step 0003 during the playback of job A Displays job B Starts operation On the playback operation continuation window When YES selected the playbac...

Page 315: ...maximum envelope of the manipulator or set the interference area for axis interference or cubic interference S1CxG200 to S1CxG215 PULSE SOFT LIMIT Soft limit is set independently for each axis by pulse value setting Set current value pulse value of the axis at the soft limit set up position Mechanical operation limit Limit switch Soft limit Operation area 315 of 493 ...

Page 316: ...e type function to limit the range of movement of the manipulator If the TCP reaches the soft limit during operation the manipulator automatically stops and no longer moves in that same direction An alarm occurs if this soft limit is exceeded during playback This soft limit is classified into two types Cube Soft Limit Soft limit is set with the absolute value on the base coordinates Pulse Soft Lim...

Page 317: ...5 Station Axis 7 16 Station Axis 8 17 Station Axis 9 18 Station Axis 10 19 Station Axis 11 20 Station Axis 12 2 Checking method Designates whether checking is performed by command or feedback Checking method The checking method differs according to ON OFF status of servo power supply During the servo float function operation checking is performed by feedback regardless of the checking method desig...

Page 318: ...d stations For a system with one manipulator use robot 1 S axis Interference Area Position is controlled by the pulse value of the S axis Cubic Interference Area Up to 32 cubic areas can be set The edges of the cubes are set parallel to the robot coordinates or the user coordinates Axis Interference Area Up to 32 areas can be set Each operation area maximum and minimum value are set for the robot ...

Page 319: ...es 3 User coordinates Precaution When Setting the Interference Area It will be necessary to consider the following when setting the cubic interference and S axis interference areas The manipulator is processed to decelerate to stop from the point where it enters in the area Therefore set the areas in consideration of the amount of the manipulator movement in the deceleration section shown in the f...

Page 320: ...en the NX100 I O signal and manipulator operation is shown below In wait status with the entrance prohibit signal the manipulator just barely enters the area for speed reduction processing and then stops SUPPLE MENT Start Is the TCP within the cube Is the CUBE ENTRANCE PROHIBIT signal ON WAIT reset OPERATING IN CUBE signal output Has it left the check cube Outputs WAIT signal Manipulator stops Yes...

Page 321: ...ample Where Two Manipulators are Operated in the Same Area S3C801 ROBOT1 SPHERE RADIUS S3C802 ROBOT2SPHERERADIUS S3C803 ROBOT3 SPHERE RADIUS S3C804 ROBOT4 SPHERE RADIUS SUPPLE MENT Operating inside CUBE1 Operating inside CUBE2 Interference waiting Inside CUBE1 entrance prohibit Inside CUBE2 entrance prohibit NX100 Operating inside CUBE1 Operating inside CUBE2 Inside CUBE1 entrance prohibit Inside ...

Page 322: ...NCE AREA These parameters specify auxiliary functions of S2C003 to S2C034 parameters For details see the explanation of the S2C003 to S2C050 parameters S3C801 to S3C804 ROBOT INTERFERENCE AREA These parameters specify auxiliary functions of S2C188 to S2C193 parameters For details see the explanation of the S2C188 to S2C193 parameters S3C805 A SIDE LENGTH OF WORK HOME POSITION CUBE Units 1μm This p...

Page 323: ...ing for user input output signals S2C187 USER OUTPUT RELAY WHEN CONTROL POWER IS ON This parameter specifies the state of the user output relays when the control power is turned ON Since the power OFF state including peripheral devices cannot be completely reproduced take note when restarting 0 Reset to the power OFF state 1 Initialized all user relays OFF 323 of 493 ...

Page 324: ... DIN WAIT Parity bits are set as the highest level bits of each input group and are written in even parity If an error is detected during parity check an alarm occurs and the manipulator stops Remains unchanged if no parity check is specified d15 d0 IG 01 IG 02 IG 03 IG 04 IG 05 IG 06 IG 07 IG 08 IG 09 IG 10 IG 11 IG 12 IG 13 IG 14 IG 15 IG 16 S4C000 d15 d0 IG 17 IG 18 IG 19 IG 20 IG 21 IG 22 IG 2...

Page 325: ...o ON and 10000010 130 will be output to OG 1 As in the case of a variable such as DOUT OG 1 B003 parity bits are added to the contents of the variable data However if the contents of the variable exceed 127 as in the case of DOUT OG 1 128 an alarm will occur Remains unchanged if no parity check is specified d15 d0 OG 01 OG 02 OG 03 OG 04 OG 05 OG 06 OG 07 OG 08 OG 09 OG 10 OG 11 OG 12 OG 13 OG 14 ...

Page 326: ...wn below IF Sentence JUMP CALL RET PAUSE Pattern Jump Pattern Job Call DIN WAIT d15 d0 IG 01 IG 02 IG 03 IG 04 IG 05 IG 06 IG 07 IG 08 IG 09 IG 10 IG 11 IG 12 IG 13 IG 14 IG 15 IG 16 S4C016 d15 d0 IG 17 IG 18 IG 19 IG 20 IG 21 IG 22 IG 23 IG 24 IG 25 IG 26 IG 27 IG 28 IG 29 IG 30 IG 31 IG 32 S4C017 d15 d0 IG 33 IG 34 IG 35 IG 36 IG 37 IG 38 IG 39 IG 40 IG 41 IG 42 IG 43 IG 44 IG 45 IG 46 IG 47 IG ...

Page 327: ...OG 07 OG 08 OG 09 OG 10 OG 11 OG 12 OG 13 OG 14 OG 15 OG 16 S4C024 d15 d0 OG 17 OG 18 OG 19 OG 20 OG 21 OG 22 OG 23 OG 24 OG 25 OG 26 OG 27 OG 28 OG 29 OG 30 OG 31 OG 32 S4C025 d15 d0 OG 33 OG 34 OG 35 OG 36 OG 37 OG 38 OG 39 OG 40 OG 41 OG 42 OG 43 OG 44 OG 45 OG 46 OG 47 OG 48 S4C026 BCD DATA SPECIFICATION AT BIT ON 1 BCD DATA SPECIFICATION AT BIT ON 1 BCD DATA SPECIFICATION AT BIT ON 1 SUPPLE M...

Page 328: ...ecifies the user output number to output the manipulator drop allowable range error alarm occurrence externally When this function is not used set 0 INITIAL VALUE SPECIFICATION AT BIT ON 1 INITIAL VALUE SPECIFICATION AT BIT ON 1 INITIAL VALUE SPECIFICATION AT BIT ON 1 d15 d0 OG 01 OG 02 OG 03 OG 04 OG 05 OG 06 OG 07 OG 08 OG 09 OG 10 OG 11 OG 12 OG 13 OG 14 OG 15 OG 16 S4C032 d15 d0 OG 17 OG 18 OG...

Page 329: ...ter specifies whether the speed inputting for move instructions of the master robot in a coordinated job is permitted or not S2C165 MOV INSTRUCTION INTERPOLATION INPUT This parameter specifies which interpolation is permitted for move instructions for the master robot in a coordinated job More than one instruction can be specified Example 0 Not Provided 1 Provided SMOVL V 100 SMOV L V 100 MOVL Mas...

Page 330: ...START instruction S2C194 STATION AXIS CURRENT VALUE DISPLAY FUNCTION This parameter specifies whether the function to display the current value of the station axis in the following units is valid invalid Rotary axis Angle deg Servo track Distance mm 0 The job of the task that is currently displayed operates 1 Jobs of all the tasks operate 0 Master job 1 Root job 0 Invalid 1 Valid Operating 0 One o...

Page 331: ... POSTURE CONTROL OF SYNCHRONIZED MANIPULATOR When Twin Synchronous Function Used This parameter specifies the posture control method for synchronized manipulator performing compensation during playback by using the twin synchronous function 0 Display angle deg 1 Display in distance mm 0 Change posture according to station movement 1 Fixed in relation to the ground d7 d0 2 1 4 8 16 32 d6 d5 d4 d3 d...

Page 332: ...endent control function the job execution of the control group whose servo power supply is turned OFF is interrupted The jobs of other control groups continue their execution For the jobs without control group specification such as master job the conditions for execution can be set by the parameter S2C550 EXECUTION OF BWD OPERATION This parameter prohibits step back operation of a job without a st...

Page 333: ...this procedure the job of subtask 2 controls only the R2 robot axis If the teaching position of the station in the subtask 2 differs from the station current position controlled by the subtask 1 job the difference is automatically offset so that R2 keeps the taught position in relation to the station Difference between the taught and the station current positions is always monitored If the differe...

Page 334: ...er sets which axis to be shifted mirror shift invert the sign S1CxG049 Minimum diameter Set the minimum diameter of a figure in the units of μm that can be processed by small circle cutting machine S1CxG050 Maximum diameter Set the maximum diameter of a figure in the units of μm that can be processed by small circle cutting machine S1CxG051 Maximum speed Set the maximum cutting speed at operation ...

Page 335: ...d S3C819 to S3C898 ANALOG OUTPUT FILTER CONSTANT When analog output corresponding to speed function is used By setting a constant to filter a filter processing can be performed for the output analog signal S3C899 CUT WIDTH CORRECTION VALUE When form cutting function is used This parameter specifies the path correction value for pattern cutting operation A value 1 2 of the cut width is set in units...

Page 336: ... be adjusted Setting the time to a negative value advances the signal output This setting is effective when adjusting timing deviation due to delayed motion of peripheral devices Setting the time to a positive value delays the signal output This setting is effective when adjusting timing deviation due to delayed robot motion Advanced Signal Output Signal output is carried out before the step is re...

Page 337: ...al values for output No 1 to 1024 in the parameters the following must be taken into consideration Avoid setting duplicate numbers The signal turned ON or OFF with the programming pendant is operated again or remains unchanged until the instruction is executed S4C213 to S4C244 OPERATING METHOD OF RELAYS These parameters specify the operating method of output signals by the programming pendant The ...

Page 338: ...ERVOPACK 1 Power ON unit 1 SERVOPACK 1 Power ON unit 2 SERVOPACK 1 Power ON unit 3 SERVOPACK 1 Power ON unit 4 SERVOPACK 1 Power ON unit 5 SERVOPACK 1 Power ON unit 6 SERVOPACK 2 Power ON unit 1 SERVOPACK 2 Power ON unit 2 SERVOPACK 3 Power ON unit 1 SERVOPACK 3 Power ON unit 2 SERVOPACK 3 Power ON unit 3 SERVOPACK 3 Power ON unit 4 SERVOPACK 2 Power ON unit 3 SERVOPACK 2 Power ON unit 4 SERVOPACK...

Page 339: ...NG TIMER TIMER A Units 0 1 seconds This timer monitors the sequence It specifies the response waiting time for invalid or missing responses RS035 TEXT TERMINATION MONITORING TIMER TIMER B This timer monitors text reception Specify the monitoring time to wait for text termination character RS036 NUMBER OF ENQ RE TRANSMISSION RETRIES This parameter specifies the number of re transmission attempts of...

Page 340: ...onses RS055 TEXT TERMINATION MONITORING TIMER TIMER B This timer monitors text reception Specify the monitoring time to wait for text termination character RS056 NUMBER OF ENQ RE TRANSMISSION RETRIES This parameter specifies the number of re transmission attempts of the control characters for invalid or missing responses RS057 NUMBER OF DATA RE TRANSMISSION RETRIES This parameter specifies the num...

Page 341: ... welding END condition file to be assigned to Power Source 2 Condition files of a lower number are automatically assigned to Power Source 1 For a system with one Power Source set 13 maximum value AxP005 WELDING SPEED PRIORITY This parameter specifies whether the welding speed is specified by the ARCON instruction by the welding start condition file or by the additional times of the MOV instruction...

Page 342: ...output number for the tool open close operation by specific keys 8 10 2 Handling Application AxP002 AxP004 f1 KEY FUNCTION These parameters set the output signal to assign for f1 key 0 Not specified 1 to 4 Specific outputs for HAND 1 to HAND4 1 5 User output No is specified by AxP004 AxP003 AxP005 f2 KEY FUNCTION These parameters set the output signal to assign for f2 key 0 Not specified 1 to 4 Sp...

Page 343: ...the GUNCL or SPOT instruction with NWAIT specified in the previous move instruction but the time is not specified by ATT in the GUNCL or SPOT instruction this parameter specifies the anticipate condition time The initial setting is 0 with which the each instruction is executed as soon as the taught position of the previous move instruction is reached as normal operation AxP015 WELDING ERROR RESET ...

Page 344: ...REFP FWD Moves the manipulator to the registered reference point Registers a welding start instruction ARCON Registers a welding end instruction ARCOFF INTERLOCK 5 GAS ARCOFF Used to turn ON OFF the user available signal for the gas flow control Refert to section 9 3 2 Gas Flow Control Function This function is available for the standard software version NS3 97 00A 00 or later 8 9 5 6 2 3 CUR VOL ...

Page 345: ... increase the current voltage value and press CUR VOL to decrease the current voltage value Refer to section 9 6 Changing Welding Conditions During Playback in this manual When WELD ON OFF is pressed during teach mode the LED is lit with a beep sound turning ON the system output signal 50065 PERMISSIBLE WORK IN TEST RUN Welding can be executed during teach mode by the system output signal Refer to...

Page 346: ...eral Descriptions of Instructions and Functions 9 2 1 Welding Teaching Operation The following figure is an example of workpiece welding This section outlines the manipulator arc welding procedure and the reference job robot program Step1 Step 2 Step 3 Step 4 Step 5 Step 6 Welding line Teaching point Step 346 of 493 ...

Page 347: ...med Fine Control of Welding Condition Execute welding and perform the fine control of the welding condition from the bead externals Production Automatic Drive The teaching operation is completed Actual production using the manipulator is performed Reference Job NOP MOVJ VJ 10 00 MOVJ VJ 80 00 MOVL V 800 ARCON AC 200 AVP 100 MOVL V 50 ARCOF AEF 1 MOVL V 800 MOVJ VJ 50 00 END Moves to the taught pos...

Page 348: ...rc welding usage functions are also available Welding Condition Slope Up Down Function Changing Welding Conditions During Playback Arc Welding Operation Maintenance Function Welding Condition File Function Enhanced Welding Condition File Function Weaving Function Power Source Characteristic File Function Step 1 Step 2 Step 3 Step 4 Step5 Step 6 Torch Wire inching function Gas check function Step1 ...

Page 349: ...s not cause any changes in the job contents The Gas Flow Control function is enabled in the teach mode only One signal from user available signals and user outputs 11283 for arc 1 11273 for arc 2 11263 for arc 3 and 11253 for arc 4 turns ON while the INTERLOCK 5 GAS ARCOFF keys are pressed simultaneously The term wire inching refers to gradually feeding or retracting the welding wire through the t...

Page 350: ...mode is management mode Welding cannot be executed even while the LED is lit unless the security mode is management mode This function is available for the standard software version NS3 97 00A 00 or later This function is a parameter option function During a test run of the teach mode the manipulator may not move at the actual welding speed due to the speed limit in some cases e g at a welding pos...

Page 351: ... is performed the ARCON process is repeated according to the retry condition defined in the Arc Auxiliary Condition File The manipulator repeats the ARCON procedure as it slightly shifts its position near the arc starting point After that the manipulator returns to the starting point when an arc starts and continues working Arc Start Failure The Retry Procedure Returns toward the previous step and...

Page 352: ...tion where welding is repeated after a restart can be set as desired 0 to 99 9mm With the arc OFF the controller outputs an error signal and the message RESTARTING FOR ARC but continues manipulator s movement After exiting the arc section the controller outputs the message END OF ARC RESTARTING and continues the operation With the arc ON trial the manipulator automatically returns for the specifie...

Page 353: ...he anti stick condition specified Time required for the anti stick process differs depending on the Power Sources The anti stick process times for different Power Sources is registered in the Power Source characteristic file The wire check is performed after the anti stick process time has elapsed Wire stick Wire stick refers to the contact of the wire to the workpiece as observed after the arc OF...

Page 354: ...ber of times the manipulator stops and outputs the wire stick signal This function is specified in the arc end condition file or the ARCOF instruction s additional items When it is used the voltage and number of attempts are set in the arc auxiliary condition file Manipulator Stopped by Wire Stick If a wire stick occurs at the end of welding the manipulator immediately stops in the hold status Whi...

Page 355: ...n in this example if the welding condition is gradually decreased before the end of welding tearing and dropping of metal can be prevented Reference Job NOP MOVL V 500 ARCON AC 210 AVP 100 MOVC V 80 MOVC V 80 MOVC V 80 MOVC V 80 ARCCTE AC 180 AVP 100 DIS 20 0 MOVC V 80 ARCOF AC 160 AVP 80 T 0 30 END Moves to welding start point P1 Arc starts Moves to taught point Pn 1 Gradually decreases the curre...

Page 356: ... with polarity ratio control can be used 9 4 Registering Arc Welding Instructions 9 4 1 ARCON This is the instruction to turn ON the arc start signal to the Power Source to start welding The function key ARCON can be used for registration Function key to register the welding start instruction ARCON Registering the ARCON Instruction Enhanced Welding Condition File Parameter setting is necessary to ...

Page 357: ...the welding condition must be set using the welding condition set instruction ARCSET before the ARCON instruction is executed Refer to section 9 4 3 ARCSET With Additional Items to Specify Conditions Operation Explanation 1 Select the ARCON instruction in the instruction area The ARCON instruction appears in the input buffer line 2 Press SELECT The DETAIL EDIT window appears Select UNUSED JOB EDIT...

Page 358: ...n Set each welding condition 8 Press ENTER The set contents are displayed in the input buffer line Operation Explanation DETAIL EDIT ARCON SET METHOD ASF AC UNUSED DETAIL EDIT ARCON SET METHOD ASF 1 DETAIL EDIT ARCON SET METHOD ASF AC UNUSED DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power DETAIL EDIT ARCON ARCON AC 180 AVP 100 V 80 RETRY REPLAY AC 180 AVP 100 T 0 30 V 80 RETRY REP...

Page 359: ...000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON AC 200 AVP 100 V 80 RETRY REPLAY 0004 MOVL V 50 0005 MOVL V 50 0006 MOVL V 50 0007 ARCOF 0008 MOVL V 800 0009 MOVJ VJ 80 00 0010 END ARCON AC 200 AVP 100 V 80 RETRY REPLAY TOOL 00 CONTROL GROUP R1 STEP NO 0003 JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 ...

Page 360: ...N instruction additional items the DETAIL EDIT window appears JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 END ARCON TOOL 00 CONTROL GROUP R1 STEP NO 0003 DETAIL EDIT ARCON ARCON SET METHOD UNUSED DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power DETAIL EDIT ARCON SET METHOD ASF AC UNUSED...

Page 361: ...0 30 V 80 RETRY DETAIL EDIT ARCON WELDING CURR WELDING VOLT TIMER SPEED RETRY ASF AC UNUSED DETAIL EDIT ARCON SET METHOD ASF 1 DETAIL EDIT ARCON SET METHOD ASF 10 ARCON ASF 10 JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON ASF 10 0004 MOVL V 50 0005 MOVL V 50 0006 MOVL V 50 0007 ARCOF 0008 MOVL V 80...

Page 362: ...e 2 Press SELECT The DETAIL EDIT window appears 3 Select ASF or AC The selection dialog box appears 4 Select UNUSED 5 Press ENTER The set contents are displayed in the input buffer line NOTE JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON ASF 10 T 0 30 RETRY REPLAY 0004 MOVL V 50 0005 MOVL V 50 0006 ...

Page 363: ... CONTENT window when the set contents are not to be registered Operation Explanation JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 MOVL V 50 0006 MOVL V 50 0007 ARCOF 0008 MOVL V 800 0009 MOVJ VJ 80 00 0010 END ARCON TOOL 00 CONTROL GROUP R1 STEP NO 0003 363 of 493 ...

Page 364: ...instruction using INFORM LIST select DEVICE from the instruction group list Operation Explanation 1 Press ARCOF 2 Press ENTER 5 ARCOFF GAS SUPPLE MENT DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power DETAIL EDIT ARCOF ARCOF SET METHOD UNUSED JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 A...

Page 365: ...g is completed before the ARCOF instruction is executed the welding condition needs to be set using the welding condition setting instruction Refer to section 9 4 3 ARCSET With Additional Items to Specify Conditions Operation Explanation 1 Select the ARCOF instruction in the instruction area The ARCOF instruction appears in the input buffer line 2 Press SELECT The DETAIL EDIT window appears JOB ED...

Page 366: ...R The set contents are displayed in the input buffer line Operation Explanation DATA EDIT DISPLAY UTILITY DETAIL EDIT ARCOF SET METHOD AEF AC UNUSED DATA EDIT DISPLAY UTILITY DETAIL EDIT ARCOF SET METHOD AEF 1 DATA EDIT DISPLAY UTILITY DETAIL EDIT ARCOF SET METHOD AEF AC UNUSED DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power DETAIL EDIT ARCOF ARCOF AC 180 AVP 100 T 0 30 ANTSTK AC ...

Page 367: ... A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 MOVL V 50 0006 MOVL V 50 0007 ARCOF AC 200 AVP 100 T 0 30 ANTSTK 0008 MOVL V 800 0009 MOVJ VJ 80 00 0010 END ARCOF AC 200 AVP 100 T 0 30 ANTSTK TOOL 00 CONTROL GROUP R1 STEP NO 0003 JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003...

Page 368: ...ndow appears 3 Select UNUSED The selection dialog box appears JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 MOVL V 50 0006 MOVL V 50 0007 END ARCOF TOOL 00 CONTROL GROUP R1 STEP NO 0003 DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power DETAIL EDIT ARCOF ARCOF SET ...

Page 369: ...e number using the Numeric keys and press ENTER 6 Press ENTER The set contents are displayed in the input buffer line Operation Explanation DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power DETAIL EDIT ARCOF ARCOF AC 180 AVP 100 T 0 30 ANTSTK AC 180 AVP 100 T 0 30 ANTSTK WELDING CURR WELDING VOLT TIMER ANTI STICKING AC 180 AVP 100 T 0 30 ANTSTK AEF AC UNUSED DATA EDIT DISPLAY UTILIT...

Page 370: ... CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 MOVL V 50 0006 MOVL V 50 0007 ARCOF AEF 10 0008 MOVL V 800 0009 MOVJ VJ 80 00 0010 END ARCOF AEF 10 TOOL 00 CONTROL GROUP R1 STEP NO 0003 JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 ...

Page 371: ... are displayed in the input buffer line JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 MOVL V 50 0006 MOVL V 50 0007 ARCOF AC 200 AVP 100 T 0 30 ANTSTK 0008 MOVL V 800 0009 MOVJ VJ 80 00 0010 END ARCOF AC 200 AVP 100 T 0 30 ANTSTK TOOL 00 CONTROL GROUP R1 STEP NO 0003 DATA EDIT D...

Page 372: ... A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 MOVL V 50 0006 MOVL V 50 0007 ARCOF 0008 MOVL V 800 0009 MOVJ VJ 80 00 0010 END TOOL 00 CONTROL GROUP R1 STEP NO 0003 ARCOF JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 MOVL V 50 0006 MOVL V 50 0007 A...

Page 373: ...n With Additional Items to Specify Conditions Operation Explanation 1 Move the cursor to the address area 2 Press INFORM LIST The instruction list dialog box appears 3 Select DEVICE 4 Select the ARCSET instruction The ARCSET instruction appears in the input buffer line IN OUT CONTROL DEVICE MOTION ARITH SHIFT OTHER SAME PRIOR ARCON ARCOF VWELD AWELD ARCSET WVON WVOF ARCCTS ARCCTE JOB EDIT DISPLAY ...

Page 374: ...nation DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power DETAIL EDIT ARCSET ARCCTS AC 200 AVP 100 AC 200 AVP 100 UNUSED UNUSED UNUSED WELDING CURR WELDING VOLT SPEED ANALOG OUTPUT3 ANALOG OUTPUT4 ARCSET AC 200 AVP 100 AC 134 AVP 100 UNUSED UNUSED UNUSED DATA EDIT DISPLAY UTILITY DETAIL EDIT ARCSET WELDING CURR WELDING VOLT SPEED ANALOG OUTPUT3 ANALOG OUTPUT4 AC 134 AVP 100 UNUSED UN...

Page 375: ...AY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT ARCSET AC 134 AVP 100 JOB NAME WORK A 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 ARCCTS AC 134 AVP 100 0006 END TOOL 00 CONTROL GROUP R1 STEP NO 0003 JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power ARCSET AC 200 AVP 100 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 ...

Page 376: ... DISPLAY UTILITY Main Menu ShortCut Turn on servo power JOB CONTENT JOB NAME WORK A ARCSET TOOL 00 CONTROL GROUP R1 STEP NO 0003 0007 MOVL V 100 0008 ARCSET 0009 MOVL V 100 0010 ARCOF AC 100 AVP 100 ANTSTK 0011 MOVJ VJ 5 00 0012 MOVJ VJ 5 00 0013 MOVJ VJ 5 00 0014 END UNUSED UNUSED UNUSED UNUSED UNUSED DATA EDIT DISPLAY UTILITY DETAIL EDIT ARCSET WELDING CURR WELDING VOLT SPEED ANALOG OUTPUT3 ANAL...

Page 377: ...ENTER The set contents are displayed in the input buffer line Press ENTER The set contents are registered in the job Press CANCEL to return to the JOB CONTENT window when the set contents are not to be registered Operation Explanation DATA EDIT DISPLAY UTILITY DETAIL EDIT ARCSET SET METHOD CONDITION SET ASF 10 ACOND 1 ARCSET ASF 10 ACOND 1 JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo ...

Page 378: ... moves toward the move end point specified by the move instruction The aimed current and voltage values are 150A and 16 0V respectively The slope up down section length is 100mm from the move start point Gradually Decreasing Current or Voltage Gradually Increasing Current or Voltage ARCCTS AC 150 Aimed welding current value AV 16 0 Aimed welding voltage value DIS 100 0 Slope up down section length...

Page 379: ...VON WVOF ARCCTS ARCCTE IN OUT CONTROL DEVICE MOTION ARITH SHIFT JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power SHIFT ARCCTS AC 200 AVP 100 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 END JOB CONTENT JOB NAME WORK A TOOL 00 CONTROL GROUP R1 STEP NO 0003 OTHER SAME PRIOR ARCON ARCOF VWELD AWELD ARCSET WVON WVOF ARCCTS ARCCTE IN OUT CONTROL DEVICE MOTIO...

Page 380: ... press SELECT to select UNUSED 7 Press ENTER The set contents are displayed in the input buffer line Operation Explanation DEITAL EDIT ARCCTS AC 134 AVP 100 UNUSED UNUSED UNUSED DATA EDIT DISPLAY UTILITY WELDING CURR WELDING VOLT SPEED ANALOG OUTPUT3 ANALOG OUTPUT4 DATA EDIT DISPLAY UTILITY DETAIL EDIT ARCCTS AC 134 AVP 100 UNUSED UNUSED AC UNUSED DATA EDIT DISPLAY UTILITY WELDING CURR WELDING VOL...

Page 381: ...ts are not to be registered Operation Explanation ARCCTS AC 134 AVP 100 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 ARCCTS AC 134 AVP 100 0006 END JOB CONTENT JOB NAME WORK A TOOL 00 CONTROL GROUP R1 STEP NO 0003 ARCCTS AC 200 AVP 100 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 END JOB CONTENT JOB NAME WORK A TOOL 00 CONTROL GROUP R1 ST...

Page 382: ...tor moves toward the move end point specified by the move instruction The aimed current and voltage values are 150A and 16 0V respectively The slope up down section length is 100mm from the move end point Gradually Decreasing Current or Voltage Gradually Increasing Current or Voltage ARCCTE AC 150 Aimed welding current value AV 16 0 Aimed welding current value DIS 100 0 Slope up down section lengt...

Page 383: ...T WVON WVOF ARCCTS ARCCTE IN OUT CONTROL DEVICE MOTION ARITH SHIFT ARCCTE AC 200 AVP 100 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 END JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power TOOL 00 JOB CONTENT STEP NO 0003 JOB NAME WORK A CONTROL GROUP R1 OTHER SAME PRIOR ARCON ARCOF VWELD AWELD ARCSET WVON WVOF ARCCTS ARCCTE IN OUT CONTROL DEVICE MOTION A...

Page 384: ...and press SELECT to select UNUSED 7 Press ENTER The set contents are displayed in the input buffer line Operation Explanation DEITAL EDIT ARCCTE AC 134 AVP 100 UNUSED UNUSED UNUSED DATA EDIT DISPLAY UTILITY WELDING CURR WELDING VOLT SPEED ANALOG OUTPUT3 ANALOG OUTPUT4 DETAIL EDIT ARCCTE AC 134 AVP 100 UNUSED UNUSED AC UNUSED DATA EDIT DISPLAY UTILITY WELDING CURR WELDING VOLT SPEED ANALOG OUTPUT3 ...

Page 385: ... 0 the change is performed equally in the entire section of the move instruction A pair of ARCCTS and ARCCTE instructions can be used on one move instruction In that case the ARCCTS instruction is executed first and the ARCCTE instruction is executed in the remaining part of the move section If the remaining part of the move section is 0mm the ARCCTE instruction is not executed Operation Explanati...

Page 386: ...4 files for each Power Source This file stores other conditions Retry Func Restart Func and Wire Anti stick Func for each Power Source up to 4 Power Sources can be connected The arc start condition file is set using the ARCON instruction and the arc end condition file is set using the ARCOF instruction Various function defined in the arc auxiliary condition file are referred to by ARCON ARCOF inst...

Page 387: ...files of the same type Change the setting of the welding condition files in the management mode In the operation mode or editing mode the setting status can be only referred to Operation Explanation 1 While pressing MAIN MENU turn ON the power 2 Change the security mode to the management mode 3 Select SYSTEM from the main menu 4 Select SETUP The SETUP window appears 5 Select OPTION FUNCTION The OP...

Page 388: ...s Selecting YES changes the file type and initializes the related files welding start end condition files Selecting NO does not change the file type or initialize the related files 8 Select YES 9 Turn ON the power supply again Operation Explanation DATA EDIT DISPLAY UTILITY OPTION FUNCTION ARC WELDING STANDARD ENHANCED Modify NO YES DATA EDIT DISPLAY UTILITY OPTION FUNCTION ARC WELDING STANDARD 38...

Page 389: ...PLAY ARC FAILURE RESTART ARC AUX COND NO RESTART Selects whether the restart motion specified in the arc auxiliary condition file is executed or not WELDER CONTROL PRMTR 0000 to 9999 10000 NOT USED At the beginning of welding the value 0 to 9999 specified in the WELDER CONTROL PRMTR is output to the following system register At the end of welding the same welder control parameter can be specified ...

Page 390: ...re stick monitoring time at the end of welding WELDER CONTROL PRMTR 0000 to 9999 10000 NOT USED At the beginning of welding the value 0 to 9999 specified in the WELDER CONTROL PRMTR is output to the following system register At the end of welding the same welder control parameter can be specified overwriting the same system register System register for each application WELDER CONTROL PRMTR M468 de...

Page 391: ...LAY DISTANCE 0 to 99 9 mm Manipulator moving distance for an arc retry process at the replay mode SPEED 1 to 600 cm min Speed of the manipulator when it returns to the welding start point at arc retry CURRENT 1 to 999A Welding current output when the manipulator returns to the welding start point at arc retry VOLTAGE 0 to 50 0V 50 to 150 Welding voltage output when the manipulator returns to the w...

Page 392: ...ough the arc section the controller outputs the End of Arc Restarting message and resumes a normal welding operation The message is reset when OUT 1021 is turned ON and OFF AUTO RESTART The manipulator automatically restarts SEMI AUTO RESTART The manipulator stops and waits for manual intervention The manipulator restarts as the operator presses START again The restart status is reset when OUT 102...

Page 393: ...se process duration NO RESTART Arc restart function is not used The manipulator moves with the wire shortage alarm ALARM AT ARC END The manipulator continues the welding operation until it reaches the welding end point where it stops with an alarm SEMI AUTO RESTART The manipulator stops and waits for manual intervention The manipulator restarts as the operator presses START again The restart statu...

Page 394: ...0 to 10 00 seconds The duration which the manipulator pauses at the beginning of welding while retaining the specified START CONDITION ROBOT MOVE DISTANCE 0 to 25 5mm The distance which the manipulator moves at the beginning of welding while retaining the specified START CONDITION SPEED 1 to 600 cm min Set manipulator speed during welding However if a move instruction specifies a particular speed ...

Page 395: ...he same welder control parameter can be specified overwriting the same system register System register for each application WELDER CONTROL PRMTR M468 device 1 M478 device 2 M488 device 3 M498 device 4 Set the value to 10000 when WELDER CONTROL PRMTR is not used The timing chart at execution of the Enhanced arc start condition file is shown below 12 13 ARCON executed Arc start confirmation signal M...

Page 396: ...retained ANTI STICK Specifies whether the automatic wire anti stick function is used or not MONITORING 0 to 9 9 seconds Specifies wire stick monitoring time at the end of welding WELDER CONTROL PRMTR 0000 to 9999 10000 NOT USED At the beginning of welding the value 0 to 9999 specified in the WELDER CONTROL PRMTR is output to the following system register At the end of welding the same welder contr...

Page 397: ...ondition 1 Arc start confirmation signal Manipulator move section Current voltage and analog output specifications ARCOF executed Crater condition 2 Manipulator pause time of crater condition 2 Manipulator retreat motion section Wire stick monitoring time Manipulator pause time of crater condition 1 Wire stick release time Crater condition 1 Arc start confirmation signal Manipulator move section C...

Page 398: ...TER ARC WELDING Set tool mass data JOB EDIT DISPLAY UTILITY Main Menu ShortCut DOUT MOVE END In Out B001 JOB IN OUT SYSTEM INFO VARIABLE ROBOT PARAMETER ARC END COND POWER SOURCE COND ARC WELD DIAG ARC START COND ARC AUX COND WEAVING ARC WELDING Set tool mass data DOUT MOVE END In Out B001 JOB EDIT DISPLAY UTILITY Main Menu ShortCut JOB IN OUT SYSTEM INFO VARIABLE ROBOT PARAMETER WEAVING ARC END C...

Page 399: ...FT the page key calls the previous file number Using the Numeric keys Press DIRECT PAGE Type the desired file number using the Numeric keys and press ENTER For Arc Auxiliary Condition Files Pressing the page key calls the next file number The file number is called in the order of 1 2 3 1 Pressing SHIFT the page key calls the previous file number The file number is called in the order of 1 3 2 1 Op...

Page 400: ...Operation Explanation 1 Select COMM 2 Input characters Operation Explanation 1 Select RETRY Each time SELECT is pressed the indication alternates between ON and OFF Operation Explanation 1 Select MODE Each time SELECT is pressed the indication alternates between REPLAY and SHIFT Operation Explanation 1 Select an item to be edited 2 Input the number using the Numeric keys 400 of 493 ...

Page 401: ... at the ARCON instruction or arc start condition file speed When the move instruction and ARCON instruction specify different speeds Priority is given to one according to the parameter values described below To switch the priorities change the parameter setting Operation Explanation 1 Select COMM 2 Input characters Operation Explanation 1 Select ANTI STICK Each time SELECT is pressed the indicatio...

Page 402: ...nges with the welding current and voltage The changed data of the current and voltage values can be reflected in the associated instructions or welding condition files When CUR VOL is pressed the welding current and voltage increase When CUR VOL is pressed the welding current and voltage decrease Each time the key is pressed the current changes in increments of 1A and the voltage changes in increm...

Page 403: ...voltage condition to be modified 4 Adjust the value using CUR VOL or CUR VOL The current and voltage can be independently changed Units of Increase Decrease If the key is pressed once the current value increases decreases in units of 1A and the voltage value increases decreases in units of 0 1V or in percentages of 1 DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power ARC COND ADJUSTM...

Page 404: ... SELECT is pressed the setting alternates between No change data and Change data To rewrite the modified condition file or additional item data set Change data The data are rewritten when the execution of the instruction which includes the changed condition data ends If No change data is set before execution ends the data is not rewritten Operation Explanation DATA EDIT DISPLAY UTILITY ARC COND AD...

Page 405: ... current and voltage values are determined according to the voltage and current characteristics of the Power Source Example When using a Power Source with the current characteristics as shown in the following table When the data points are interpolated on the graph it can be observed that the maximum reference value 14 0V is reached when the welding current specified by the ARCON instruction is 39...

Page 406: ...hile the slope up down instruction ARCCTS or ARCCTE is executed Even if Change data is set on the ARC COND ADJUSTMENT window rewriting cannot be done after the ARCCTS or ARCCTE instruction No Rewriting ARCON ASF 1 ARCCTE AC 150 AVP 100 MOVL ARCSET AC 200 MOVL Refer to section 9 3 8 Slope Up Down Function for details regarding the ARCCTS and ARCCTE instructions SUPPLE MENT 406 of 493 ...

Page 407: ...IFY COMARC COND under the pull down menu MODIFY COMARC COND is shown after editing the data NOTE JOB EDIT DISPLAY UTILITY Main Menu ShortCut ARC WELD DIAG JOB DOUT MOVE END IN OUT In Out SYSTEM INFO ARC WELDING VARIABLE B001 ROBOT PARAMETER WEAVING ARC END COND POWER SOURCE COND ARC WELD DIAG ARC START COND ARC AUX COND ARC MONITOR ARC MONITOR SAMPL DATA EDIT DIPSLAY UTILITY Main Menu ShortCut JOB...

Page 408: ...1CD RE CSO A031 Edited contents are destroyed if the following operations are performed before executing DATA REGISTRATION 1 Changing the pages while editing 2 Changing to the teach mode while editing 3 Switching to another file edit menu 4 Turning OFF while editing SUPPLE MENT 408 of 493 ...

Page 409: ...IP REPLACE NOZZLE CLEAN 0 to 999 minutes In the SETTING fields specify the optimum timings for contact tip replacement and nozzle cleaning The initial values are 180 minutes for contact tip replacement 30 minutes for nozzle cleaning The ACCUM fields display an accumulated service duration RETRY RESTART ARC ANTI STICK In each of the SETTING fields specify a reference value for the number of times e...

Page 410: ...ABLE B001 ROBOT PARAMETER ARC WELDING JOB EDIT DIPSLAY UTILITY Main Menu ShortCut Set tool mass data JOB DOUT MOVE END IN OUT In Out SYSTEM INFO VARIABLE B001 ROBOT PARAMETER WEAVING ARC END COND POWER SOURCE COND ARC WELD DIAG ARC START COND ARC AUX COND ARC WELDING DATA EDIT DISPLAY UTILITY DATA EDIT DISPLAY UTILITY ARC WELD DIAGNOSIS NO 1 1 WORK CONTINUE TIP REPLACE NOZZLE CLEAN CONT 72 min 12 ...

Page 411: ...the alarm code occurrence date time and detailed information are displayed 3 cont d Setting the Control Value Move the cursor to the setting value to be changed and press SELECT Input the desired value using the Numeric keys and press ENTER The accumulated value can be cleared by either of the following ARC WELD DIAGNOSIS window External input signal system input signal Operation Explanation DATA ...

Page 412: ...EM USER ALARM USER and OFF LINE ALARM JOB EDIT DISPLAY UTILITY Main Menu ShortCut Set tool mass data JOB DOUT MOVE END IN OUT In Out SYSTEM INFO VARIABLE B001 ROBOT PARAMETER CF FD PC CARD MONITORING TIME ALARM HISTORY IO MSG HISTORY VERSION SECURITY ARC WELDING DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power MAJOR ALARM CODE DATE CLOCK 01 1030 1998 05 12 12 00 02 0060 1998 06 15 ...

Page 413: ...anipulator to the stopped position before restarting for safe operation It is possible to move the manipulator to the stopped position automatically at restarting and start welding again by the parameter setting S2C323 S2C324 FWD or BWD can be used for moving to the stopped position S2C324 Restart Operation after E Stop Set 2 S2C325 Restart Operation after Jog Operation Set 2 Refer to NX100 Concur...

Page 414: ...l Direction Z direction of the robot axis Horizontal Direction The direction to the approach point from the wall Direction of Travel The direction in which the manipulator moves from the weaving start point to the end point The approach point is a point indicated by a step immediately before the step where weaving starts Horizontal direction Weaving Basic Coordinate System Direction of travel Wall...

Page 415: ...tion Files The number of weaving condition files Standard software version Ver 4 00 00A 00 or greater 255 Version previous to above mentioned Version 16 NOTE DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power WEAVING CONDITION COND NO 1 255 MODE SMOOTH SPEED TYPE FREQUENCY PATTERN AMPLITUDE VERTICAL HORIZONTAL ANGLE TRAVEL ANGLE TIMER MODE POINT1 POINT2 POINT3 POINT4 MOTION TIME SECT...

Page 416: ...y is determined by the amplitude as illustrated in the graph below Specify a frequency within the allowable range PATTERN AMPLITUDE Specifies the amplitude size at weaving when MODE is set to SINGLE VERTICAL HORIZONTAL If MODE is set to TRIANGLE or L TYPE the data for the triangle must be set to define the weaving pattern 1 2 3 4 5 0 60 50 40 30 20 10 Amplitude mm Frequency Hz Maximum Frequencies ...

Page 417: ...ied for each section Angle Angle 0 1 to 180 0 MODE SINGLE Wall direction Horizontal direction Wall direction Angle Horizontal direction MODE TRIANGLE L TYPE Vertical distance Horizontal distance Angle 0 1 to 180 0 Travel angle View A 0 Direction of travel Travel angle View A S i n g l e o s c i l l a t i o n T r i a n g l e o s c i l l a t i o n L t y p e o s c i l l a t i o n Wall direction Horiz...

Page 418: ...ver weaving when this timer specified here expires INPUT SIGNAL Finishes hover weaving when the set input signal is input Reference Job NOP MOVJ VJ 10 00 MOVJ VJ 25 00 REFP 3 ARCON ASF 1 WVON WEV 1 MOVL V 60 WVOF ARCOF MOVJ VJ 25 00 MOVJ VJ 25 00 END Welding start point Reference point for defining the direction of travel Teaching by interpolation instruction not by joint interpolation The same po...

Page 419: ...nd points are the same therefore there are following limitations Arc retry function and arc restart function are not available Operation Explanation 1 Select ARC WELDING under the main menu Weaving start point Weaving end point Hover Weaving REFP 3 Direction of Travel Horizontal direction Wall direction NOTE JOB EDIT DISPLAY UTILITY Main Menu ShortCut Set tool mass data JOB DOUT MOVE END IN OUT In...

Page 420: ...YPE FREQUENCY PATTERN AMPLITUDE VERTICAL HORIZONTAL ANGLE TRAVEL ANGLE TIMER MODE POINT1 POINT2 POINT3 SINGLE ON FREQUENCY 3 5 Hz 2 000 mm 10 000 mm 10 000 mm 45 00 deg 5 00 deg WEAV STOP WEAV STOP WEAV STOP DIRECT PAGE PAGE GO BACK PAGE GO BACK PAGE GO BACK DATA EDIT DISPLAY UTILITY WEAVING CONDITION COND NO 1 255 MODE SMOOTH SPEED TYPE FREQUENCY PATTERN AMPLITUDE VERTICAL HORIZONTAL ANGLE TRAVEL...

Page 421: ...zontal direction is a point at the right or left side of the wall Example 1 REFP1 is registered because the wall direction is not parallel to the Z axis of the robot coordinates For information on registering REFP refer to Registering Reference Point Instructions REFP1 REFP2 On the wall surface or its expansion plane At the right or left side of the wall Horizontal direction Direction of travel Wa...

Page 422: ...procedure below to prohibit weaving Method to Prohibit Weaving During a CHECK operation Operation Explanation 1 Press AREA on the PLAYBACK window 2 Select UTILITY 3 Select SETUP SPECIAL RUN The SPECIAL PLAY window appears Example 0010 0012 0013 MOVL V 120 REFP 2 WVON WEV 1 MOVL V 50 WVOF 0009 MOVJ VJ 25 00 Approach point Approach point Wall REFP2 0011 0014 AREA UTILITY EDIT DISPLAY UTILITY PARALLE...

Page 423: ...ECIAL TEACH window appears 4 Select WEAV PROHIBIT IN TEST RUN NEXT Operation Explanation DATA EDIT DISPLAY UTILITY SPECIAL PLAY LOW SPEED START SPEED LIMIT DRY RUN SPEED MACHINE LOCK CHECK RUN WEAV PROHIBIT IN CHK RUN INVALID INVALID INVALID INVALID INVALID VALID AREA UTILITY EDIT DISPLAY UTILITY PARALLEL SHIFT JOB SETUP SPECIAL RUN MIRROR SHIFT PAM DATA EDIT DISPLAY UTILITY Main Menu ShortCut Tur...

Page 424: ...LIST The instruction list dialog box appears 3 Select DEVICE 4 Select the WVON instruction The WVON instruction appears in the input buffer line IN OUT CONTROL DEVICE MOTION ARITH SHIFT OTHER SAME PRIOR IN OUT CONTROL DEVICE MOTION ARITH SHIFT OTHER SAME PRIOR ARCON ARCOF VWELD AWELD ARCSET WVON WVOF ARCCTS ARCCTE JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power WVON WEV 1 0000 NOP ...

Page 425: ...set contents are not to be registered press CANCEL to return to the JOB CONTENT window Operation Explanation DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power DETAIL EDIT WVON WVON WEV 1 WEV 1 WEV 1 UNUSED WEAVING FILE SET METHOD DIRECTION WVON WEV 1 JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power WVON WEV 1 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004...

Page 426: ...T CONTROL DEVICE MOTION ARITH SHIFT OTHER SAME PRIOR IN OUT CONTROL DEVICE MOTION ARITH SHIFT OTHER SAME PRIOR ARCON ARCOF VWELD AWELD ARCSET WVON WVOF ARCCTS ARCCTE JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power WVOF 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 MOVL V 50 0005 MOVL V 50 0006 ARCOF 0007 END IN OUT CONTROL DEVICE MOTION ARITH SHIFT OTHER SAME PRIOR AR...

Page 427: ...n JOB EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power WVOF 0000 NOP 0001 MOVJ VJ 80 00 0002 MOVL V 800 0003 ARCON 0004 WVON WEV 1 0005 MOVL V 50 0006 MOVL V 50 0007 ARCOF 0008 END IN OUT CONTROL DEVICE MOTION ARITH SHIFT OTHER SAME PRIOR ARCON ARCOF VWELD AWELD ARCSET WVON WVOF ARCCTS ARCCTE JOB CONTENT JOB NAME WORK A CONTROL GROUP R1 427 of 493 ...

Page 428: ...eference value is in the range between 0 and 14V or between 0 and 14 depending on Power Sources How the output of the welding current or voltage changes with the reference value depends on the Power Source model and this relationship between the reference value and output value is called an output characteristics Each Power Source condition data file contains the output values measured values asso...

Page 429: ...an be set only by reading from either the user registered file or initial value file to the execution file When it is necessary to make adjustments to the data refer to section 9 12 4 Editing the Power Source Condition Files 9 12 2 Specifying Welding Voltage when Synergic Power Supply is Used When a synergic power supply is used the NX100 requests the user to specify the welding voltage by a ratio...

Page 430: ...hout calculating the voltage output This method can be also applied to condition data files and instructions other than ARCON Another advantage is that a single welding job can be used with more than one Power Source with a synergic power supply by changing the welder condition data file ARCON AC 250 Welding current 250A AVP 100 100 of proper output assuming the use of synergic power supply ARCON ...

Page 431: ... can be input by the unit of for MEASURE in the POWER SOURCE CONDITION window for current voltage output shown in the next page When A V is displayed Measured values of voltage can be input by the unit of V for MEASURE in the POWER SOURCE CONDITION window for current voltage output shown in the next page To switch between A and A V in the POWER SOURCE CONDITION window select DATA READING to read t...

Page 432: ... 0 and 14 00V If the range is negative the reference value is in the range between 0 and 14 00V ADJUST 0 80 to 1 20 A correction value to adjust the welding current voltage output REF V 0 to 14 00V Welding current voltage reference values MEASURE 0 to 999A 0 to 50 0V or 50 to 150 The welding current voltage output values measured at the reference values as given under DATA EDIT DISPLAY UTILITY Mai...

Page 433: ...n the SETTING status changes from NONE to DONE Operation Explanation 1 Select ARC WELDING under the main menu 2 Select POWER SOURCE CONDITION The POWER SOURCE CONDITION window appears NOTE DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power POWER SOURCE CONDITION POWER SOURCE NO 1 1 SETTING POWER SOURCE NAME COMM POWER SUPPLY SHIELDING GAS WIRE DIA WIRE STICKOUT WIRE ANTI STICKING ARC...

Page 434: ...ration file list 1 to 4 appears DATA EDIT DISPLAY UTILITY READING WRITING PAGE GO BACK PAGE GO BACK DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power MAKER INITIAL VALUE NO NAME POWER DIA GAS 01 02 03 04 05 06 07 08 09 10 11 12 13 14 MAG MAG CO2 MAG CO2 MAG CO2 MAG CO2 MAG CO2 CO2 CO2 CO2 1 2 1 2 1 2 1 2 1 2 1 2 0 9 0 9 0 9 0 9 1 2 1 2 0 9 0 9 A A V A A A V A V A A A V A V A A V A A...

Page 435: ...hortCut Turn on servo power MAKER INITIAL VALUE NO NAME POWER DIA GAS 01 02 03 04 05 06 07 08 09 10 11 12 13 14 CO2 CO2 CO2 MAG CO2 MAG CO2 MAG CO2 MAG CO2 CO2 CO2 CO2 1 2 1 2 1 2 1 2 1 2 1 2 0 9 0 9 0 9 0 9 1 2 1 2 0 9 0 9 A A V A A A V A A V MOTOWELD E350 MOTOWELD E350 MOTOWELD S350AJ2 MOTOWELD S350AJ2 MOTOWELD S350AJ2 MOTOWELD S350AJ2 MOTOWELD S350AJ2 MOTOWELD S350AJ2 MOTOWELD S350AJ2 MOTOWELD ...

Page 436: ...meric keys Operation Explanation 1 Select RANGE Each time SELECT is pressed the indication alternates between positive and negative SETTING POWER SOURCE NAME COMM POWER SUPPLY SHIELDING GAS WIRE DIA WIRE STICKOUT ANTI STICKING ARC FAILURE STOP DONE MOTOWELD E350 STC CONTROL NONE A CO2 0 1 mm 15 mm 0 1 sec 1 50 sec CURRENT OUTPUT CHAR WELDING VOLTAGE OUTPUT CHAR RANGE ADJUST 1 00 1 00 CURRENT OUTPU...

Page 437: ...sor to SETTING and press SELECT to complete save the setting Notes on Power Source Data Condition File Modification When changing POWER SUPPLY in Power Source condition file the welding condition files Arc Start Condition File Arc End Condition File and Arc Auxiliary Condition File are formatted Operation Explanation 1 Select ARC WELDING under the main menu 50 99 100 101 0 00 7 20 7 50 7 80 30 62 ...

Page 438: ...G POWER SOURCE NAME COMM POWER SUPPLY SHIELDING GAS WIRE DIA WIRE STICKOUT ANTI STICKING ARC FAILURE STOP DONE MOTOWELD E350 STC CONTROL NONE A CO2 0 1 mm 15 mm 0 1 sec 1 50 sec 50 0 00 30 0 00 01 CURRENT OUTPUT CHAR WELDING VOLTAGE OUTPUT CHAR RANGE ADJUST 1 00 1 00 NO REF V MEASURE A REF V MEASURE WRITING READING DATA EDIT DISPLAY UTILITY Main Menu ShortCut Turn on servo power USER INITIAL VALUE...

Page 439: ...ic MAG 1 2 7 MOTOWELD S350 AJ2 3 without STC Independent CO2 1 2 8 MOTOWELD S350 AJ2 3 without STC Independent MAG 1 2 9 MOTOWELD S350 AJ2 3 without STC Synergic CO2 0 9 or 1 0 10 MOTOWELD S350 AJ2 3 without STC Synergic MAG 0 9 or 1 0 11 MOTOWELD S350 AJ2 3 without STC Independent CO2 0 9 or 1 0 12 MOTOWELD S350 AJ2 3 without STC Independent MAG 0 9 or 1 0 13 MOTOWELD S350 AJ2 3 with STC Synergic...

Page 440: ... STOP 0 6 sec POWER SOURCE NO 2 POWER SOURCE NAME MOTOWELD E series 350A class COMMENT COMBINATION GAS AND WIRE POWER SUPPLY independent SHIELDING GAS MAG WIRE DIA 1 2 mm WIRE STICKOUT 15 mm WIRE ANTI STICKING 0 1 sec ARC FAILURE STOP 0 6 sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA REF V M...

Page 441: ...N GAS AND WIRE POWER SUPPLY independent SHIELDING GAS MAG WIRE DIA 1 2 mm WIRE STICKOUT 15 mm WIRE ANTI STICKING 0 1 sec ARC FAILURE STOP 0 6 sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA REF V MEA A REF V MEA V 0 00 30 0 00 50 0 00 30 0 00 12 0 1 35 77 7 20 99 1 35 77 2 25 17 5 2 70 124 7 5...

Page 442: ...NTROL POWER SUPPLY A synergic SHIELDING GAS MAG WIRE DIA 1 2mm WIRE STICKOUT 15mm WIRE ANTI STICKING 0 3sec ARC FAILURE STOP 0 6sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA REF V MEA A REF V MEA 1 00 100 3 00 85 1 00 95 3 00 85 2 00 145 5 00 95 2 00 150 5 00 95 3 50 185 7 00 100 3 50 200 7 ...

Page 443: ...PLY independent SHIELDING GAS MAG WIRE DIA 1 2mm WIRE STICKOUT 15mm WIRE ANTI STICKING 0 3sec ARC FAILURE STOP 0 6sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA V REF V MEA A REF V MEA V 1 00 100 2 00 18 0 1 00 95 1 20 16 0 2 00 145 3 10 20 0 2 00 150 2 00 18 0 3 50 185 4 90 23 0 3 50 200 3 6...

Page 444: ...TROL POWER SUPPLY A synergic SHIELDING GAS MAG WIRE DIA 0 9mm WIRE STICKOUT 10mm WIRE ANTI STICKING 0 3sec ARC FAILURE STOP 0 6sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA REF V MEA A REF V MEA 1 00 60 3 00 85 1 00 55 3 00 85 2 00 80 5 00 95 2 00 80 5 00 95 3 00 100 7 00 100 3 50 110 7 00 1...

Page 445: ...PPLY independent SHIELDING GAS MAG WIRE DIA 0 9mm WIRE STICKOUT 10mm WIRE ANTI STICKING 0 3sec ARC FAILURE STOP 0 6sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA V REF V MEA A REF V MEA V 1 00 60 2 50 19 0 1 00 55 1 90 17 5 2 00 80 3 50 21 0 2 00 80 2 10 18 0 3 00 100 4 50 23 0 3 50 110 3 20 ...

Page 446: ...TROL POWER SUPPLY A synergic SHIELDING GAS MAG WIRE DIA 1 2mm WIRE STICKOUT 15mm WIRE ANTI STICKING 0 3sec ARC FAILURE STOP 0 6sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA REF V MEA A REF V MEA 1 00 100 3 00 85 1 00 95 3 00 85 2 00 140 5 00 95 2 00 150 5 00 95 3 50 190 7 00 100 3 50 190 7 0...

Page 447: ...LY independent SHIELDING GAS MAG WIRE DIA 1 2mm WIRE STICKOUT 15mm WIRE ANTI STICKING 0 3sec ARC FAILURE STOP 0 6sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA V REF V MEA A REF V MEA V 1 00 100 2 10 18 0 1 00 95 1 30 16 0 2 00 140 3 20 20 0 2 00 150 2 10 18 0 3 50 190 5 00 23 0 3 50 190 3 70...

Page 448: ...OL POWER SUPPLY A synergic SHIELDING GAS MAG WIRE DIA 0 9mm WIRE STICKOUT 10mm WIRE ANTI STICKING 0 3sec ARC FAILURE STOP 0 6sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA REF V MEA A REF V MEA 1 00 60 3 00 85 1 00 60 3 00 85 2 00 80 5 00 95 2 00 75 5 00 95 3 50 105 7 00 100 3 50 110 7 00 100...

Page 449: ...Y independent SHIELDING GAS MAG WIRE DIA 0 9mm WIRE STICKOUT 10mm WIRE ANTI STICKING 0 3sec ARC FAILURE STOP 0 6sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA V REF V MEA A REF V MEA V 1 00 60 2 80 19 0 1 00 60 2 10 17 5 2 00 80 3 80 21 0 2 00 75 2 30 18 0 3 50 105 4 80 23 0 3 50 110 3 40 20 ...

Page 450: ...LY A synergic SHIELDING GAS CO2 WIRE DIA 1 2mm WIRE STICKOUT 15mm WIRE ANTI STICKING 0 3sec ARC FAILURE STOP 0 6sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA REF V MEA A REF V MEA 2 80 100 4 80 88 1 40 50 5 00 75 3 90 150 7 00 100 2 80 100 7 50 100 5 80 200 9 20 112 4 30 150 10 00 125 7 60 2...

Page 451: ...POWER SUPPLY A synergic SHIELDING GAS MAG WIRE DIA 1 2mm WIRE STICKOUT 15mm WIRE ANTI STICKING 0 3sec ARC FAILURE STOP 1 5sec CURRENT VOLTAGE CURRENT VOLTAGE RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 RANGE positive ADJ 1 00 REF V MEA A REF V MEA REF V MEA A REF V MEA 1 40 100 3 00 85 1 70 100 3 00 85 3 10 160 7 00 100 2 80 160 7 00 100 4 00 200 11 00 115 3 70 200 11 0...

Page 452: ...e Additional Item WELD1 WELD2 WELD3 WELD4 Displayed only when using multiple manipulators AC welding current ASF arc start condition file number AC 1 to 999A ASF 1 to 396 AV welding voltage AVP percentage against proper welding voltage AV independent 0 1 to 50 0V AVP synergic 50 to 150 T manipulator stopping time 0 01 to 655 35 sec V manipulator moving speed 0 1 to 1500 0 mm sec 1 to 9000 cm min R...

Page 453: ...ifies use of wire anti stick function Example ARCOF AC 180 AVP 80 T 0 30 ANTSTK ARCOF AC 180 AV20 0 T 0 30 ARCOF AEF 1 ARCOF ARCSET Function Changes the welding conditions individually Additional Item WELD1 WELD2 WELD3 WELD4 Displayed only when using multiple manipulators AC welding current ASF arc start condition file number 1 to 999A ASF 1 to 396 AV welding voltage AVP percentage against proper ...

Page 454: ...2 0 AN3 10 0 DIS 5 0 ARCCTE Function Changes the welding conditions gradually during execution of welding Additional Item WELD1 WELD2 WELD3 WELD4 Displayed only when using multiple manipulators AC welding current 1 to 999A AV welding voltage AVP percentage against proper welding voltage AV independent 0 1 to 50 0V AVP synergic 50 to 150 AN 3 analog output 3 14 00 to 14 00V AN4 analog output 4 14 0...

Page 455: ...using multiple manipulators voltage reference value 14 00 to 14 00V Example VWELD 2 5 WVON Function Starts weaving Additional Item RB1 RB2 RB3 RB4 Displayed only when using multiple manipulators WEV weaving condition file number 1 to 255 Example WVON WEV 1 WVOF Function Ends weaving Additional Item RB1 RB2 RB3 RB4 Displayed only when using multiple manipulators None Example WVOF Arc Welding Instru...

Page 456: ...structions MOVJ Function Moves to a taught point with joint interpolation type Additional Item Position data Base axis position data Station axis position data These data do not appear on the screen VJ play speed VJ 0 01 to 100 00 PL position level PL 0 to 8 NWAIT UNTIL statement ACC acceleration adjustment ratio ACC 20 to 100 DEC deceleration adjustment ratio DEC 20 to 100 Example MOVJ VJ 50 00 P...

Page 457: ...o 8 CR corner radius CR 1 0 to 6553 5mm NWAIT UNTIL statement ACC acceleration adjustment ratio ACC 20 to 100 DEC deceleration adjustment ratio DEC 20 to 100 Example MOVL V 138 PL 0 NWAIT UNTIL IN 16 ON MOVC Function Moves to a taught point with circular interpolation type Additional Item Position data Base axis position data Station axis position data These data do not appear on the screen V play...

Page 458: ...00 DEC deceleration adjustment ratio DEC 20 to 100 Example MOVS V 120 PL 0 IMOV Function Moves the specified increment from the current position with linear interpolation type Additional Item P variable number BP variable number EX variable number V play speed VR play speed of the posture VE play speed of external axis Same as MOVL PL position level PL 0 to 8 NWAIT BF RF TF UF user coordinate numb...

Page 459: ...umber wall point 1 for weaving 1 wall point 2 for weaving 2 Position data Base axis position data Station axis position data These data do not appear on the screen Example REFP 1 SPEED Function Sets play speed Additional Item VJ joint speed V TCP speed VR play speed of the posture VE play speed of external axis VJ Same as MOVJ V VR VE Same as MOVL Example SPEED VJ 50 00 459 of 493 ...

Page 460: ...dressed output signals OT xx 1 OGH xx 4 per group OG xx 8 per group OGH xx is not subject to parity check only the binary specification is allowed FINE With a high degree of accuracy Example DOUT OT 12 ON PULSE Function Outputs a pulse signal as an external output signal Additional Item OT output number OGH output group number OG output group number T time seconds 0 01 to 655 35 s 0 30 s unless ot...

Page 461: ...oup IGH xx and OGH xx are not subject to parity check only the binary specification is allowed Example DIN B016 IN 16 DIN B002 IG 2 WAIT Function Waits until the external input signal status matches the specified status Additional Item IN input number IGH input group number IG input group number OT user output number OGH output group number SIN system input number SOUT system output number status ...

Page 462: ...Additional Item AO output port number 1 to 40 BV basic voltage 14 00 to 14 00 V basic speed 0 1 to 150 0 mm s 1 to 9000 cm min OFV offset voltage 14 00 to 14 00 Example ARATION AO 1 BV 10 00 V 200 0 OFV 2 00 ARATIOF Function Ends the analog output corresponding to the speed Additional Item AO output port number 1 to 40 Example ARATIOF AO 1 462 of 493 ...

Page 463: ...icates a jump destination Additional Item jump destination 8 characters or less Example 123 CALL Function Calls the specified job Additional Item JOB job name IG input group number B variable number I variable number D variable number UF user coordinates number IF statement Example CALL JOB TEST1 IF IN 24 ON CALL IG 2 The job is called by the patterns of input signal In this example Job 0 cannot b...

Page 464: ...s a certain action Format Item1 Item2 Additional Item Item1 Item2 Example JUMP 12 IF IN 12 OFF UNTIL statement Function Monitors the specified input signal during an action and stops the action when the specified signal status is observed Described after an instruction that specifies a certain action Additional Item IN input number status Example MOVL V 300 UNTIL IN 10 ON PAUSE Function Instructs ...

Page 465: ...of a move instruction Additional Item Example MOVL V 100 NWAIT DOUT OT 1 ON CWAIT DOUT OT 1 OFF MOVL V 100 ADVINIT Function Initializes the prereading instruction processing Used to adjust the access timing for variable data Additional Item Example ADVINIT ADVSTOP Function Stops the prereading instruction processing Used to adjust the access timing for variable data Additional Item Example ADVINIT...

Page 466: ... SFTOF Function Stops a shift operation Additional Item Example SFTOF MSHIFT Function Obtains the shift value in the specified coordinate system from Data 2 and 3 and stores the obtained element values in Data 1 Format MSHIFT Data1 Coordinate Data2 Data3 Additional Item Data1 PX variable number Coordinat e BF RF TF UF user coordinate number MTF BF base coordinates RF robot coordinates TF tool coor...

Page 467: ... B variable number I variable number D variable number R variable number P variable number BP variable number EX variable number Example ADD I012 I013 SUB Function Subtracts Data2 from Data1 and stores the result in Data1 Format SUB Data1 Data2 Additional Item Data1 B variable number I variable number D variable number R variable number P variable number BP variable number EX variable number Data1...

Page 468: ...tant B variable number I variable number D variable number R variable number Example MUL I012 I013 MUL P000 3 2 Multiply the Z axis data by 2 DIV Function Divides Data1 by Data2 and stores the result in Data1 Format DIV Data1 Data2 Data1 can be an element in a position variable Pxxx 0 all axis data Pxxx 1 X axis data Pxxx 2 Y axis data Pxxx 3 Z axis data Pxxx 4 Tx axis data Pxxx 5 Ty axis data Pxx...

Page 469: ...2 Additional Item Data1 B variable number Data2 B variable number Constant Example AND B012 B020 OR Function Obtains the OR of Data1 and Data2 and stores the result in Data1 Format OR Data1 Data2 Additional Item Data1 B variable number Data2 B variable number Constant Example OR B012 B020 NOT Function Obtains the NOT of Data2 and stores the result in Data1 Format NOT Data1 Data2 Additional Item Da...

Page 470: ...umber D variable number R variable number S variable number EXPRESS Example SET I012 I020 SETE Function Sets data to an element in a position variable Additional Item Data 1 P variable number element number BP variable number element number EX variable number element number Data 2 D variable number double precision integer type constant Example SETE P012 3 D005 GETE Function Extracts an element in...

Page 471: ...RNO Constant B variable number System variable Example GETS B000 B000 GETS I001 I 1 GETS PX003 PX001 CNVRT Function Converts the position variable Data2 into a position variable of the specified coordinate system and stores the converted variable in Data1 Format CNVRT Data1 Data2 coordinate Additional Item Data1 PX variable number Data2 PX variable number BF RF TF UF user coordinate number MTF BF ...

Page 472: ...le number in Data1 and of all the variable numbers that follow STACK Clears all variables in the job call stack Example CLEAR B000 ALL CLEAR STACK SIN Function Obtains the sine of Data2 and stores the result in Data1 Format SIN Data1 Data2 Additional Item Data1 R variable number Data1 must always be a real type variable Data2 constant R variable number Example SIN R000 R001 Sets the sine of R001 t...

Page 473: ...xample SQRT R000 R001 Sets the square root of R001 to R000 MFRAME Function Creates a user coordinate using the position data for the given three points as definition points Data1 indicates the definition point ORG position data Data2 the definition point XX position data and Data3 the definition point XY position data Format MFRAME user coordinate Data1 Data2 Data3 Additional Item UF user coordina...

Page 474: ...FILE WEV 1 1 D000 GETFILE Function Stores the contents data of a condition file in Data1 The contents data of a condition file to be obtained is specified by the element number Additional Item Data1 D variable number Contents data of a condition file WEV condition file number element number Example GETFILE D000 WEV 1 1 GETPOS Function Stores the position data of Data2 step number in Data1 Addition...

Page 475: ...nt B variable number Example CHR S000 65 MID Function Obtains the character string ASCII of any length Data 3 4 from the character string ASCII of Data2 and stores the result in Data1 Format MID Data1 Data2 Data3 Data4 Additional Item Data1 S variable number Data2 Character string S variable number Data3 Constant B variable number I variable number D variable number Data4 Constant B variable numbe...

Page 476: ...1 CAT Function Combines the character string ASCII of Data2 and Data3 and stores the result in Data1 Format CAT Data1 Data2 Data3 Additional Item Data1 S variable number Data2 Character string S variable number Data3 Character string S variable number Example CAT S000 ABC DEF 476 of 493 ...

Page 477: ...ment computer PLC etc When an error occurs confirm the content of the error then release the error To release the error perform either of the following operations Press CANCEL on programming pendant Input alarm error reset signal system input An error is different from an alarm because it does not stop the robot even if it occurred while the robot was operated during playback NOTE Main Menu ShortC...

Page 478: ...d current tool different The tool number registered with teaching position data does not match the tool number selected at the programing pendant 80 Same position in the 3 points 100 On overrun recovery status 110 Turn ON servo power 120 Set to PLAY mode 130 No start using external signal 140 No start using P P 180 TEACH mode select signal ON 190 Set variable number 200 Defined group axis 210 Unde...

Page 479: ...ibration data 510 Undefined axis 520 Cannot select two coordinated combination 530 Start reservation mode 550 Start reserved JOB change prohibit is set 560 Cannot teach position while soft limit released 590 Register group axis combination SYNCHRO was pressed for coordinated job which was not registered as group 600 Out of setting data range 610 Cannot use the user coordinate 620 Select JOB robot ...

Page 480: ...ation is not connection 810 Servo power supply is limited 820 Modification range over 930 Undefined conveyor calibration data 940 Forced pressure signal ON 950 Negative correction distance 960 I O axis mode requesting 970 ERRSVCPU signal error Error No Data Error Message Contents 480 of 493 ...

Page 481: ...haracter 2020 Name not entered 2030 Undefined JOB name 2040 Defined JOB name 2050 Address not found 2070 Set robot exactly to taught position 2080 Press INSERT or MODIFY 2090 Only modifying move instruction possible 2100 JOB cannot be edited 2110 Over soft limit 2120 Cannot insert alter delete with servo off 2150 Inserting is not possible from this point 2160 Cannot modify or delete this position ...

Page 482: ...struction file memories 4 Lack of memory pool 5 Lack of pass condition file for multilayer 2290 Undefined master JOB 2291 Undefined SUB Master JOB 1 Sub master 1 2 Sub master 2 3 Sub master 3 4 Sub master 4 5 Sub master 5 6 Sub master 6 7 Sub master 7 8 Sub master 8 2292 Undefined MASTER START JOB 2293 Undefined SUB START JOB 1 Sub master 1 2 Sub master 2 3 Sub master 3 4 Sub master 4 5 Sub master...

Page 483: ...ative JOB not permitted 2470 Wrong JOB type 2480 Wrong JOB coordinates setting 2500 Cannot convert the JOB 2510 Cannot correct position in the JOB 2520 Enter JOB name 2530 Illegal step number 2540 Enter step number 2550 Duplicated step number 2551 Duplicated line number 2560 Cannot correct steps of position variables and REFP 2570 The step does not contain speed 2580 The step dose not contain PL C...

Page 484: ...se type 2730 Cannot use robot macro JOB 2740 Cannot use concurrent macro JOB 2750 Cannot use JOB with group axis specification 2760 Cannot insert modify delete for group axis detachment 2761 Axis is separated Cannot add modify or delete 2770 Cannot reverse data of SVSPOTMOV instruction 2780 Arithmetic error Error No Data Error Message Contents 484 of 493 ...

Page 485: ... of memory on floppy disk or Compact Flash 3070 Number of files on floppy disk or Compact Flash is full 3080 I O error on floppy disk or Compact Flash 3090 Transmission error with floppy disk or Compact Flash 1 Framing error 2 Overrun error 3 Parity error 4 Data code error 5 Data read error 6 Data write error 7 Data time out 8 Serial I O error 9 Error other than described above 3110 Syntax error 3...

Page 486: ...xceed the range of the data 4 Specification error of channel No 5 Specification error of relay No 6 Timer value error 7 Specification error of timer No 3160 Cannot load illegal system data 3170 Condition file data error 1 Format error 2 Specified file No is omitted 3 Specified tool No is omitted 4 User file is not registered Error No Data Error Message Contents 486 of 493 ...

Page 487: ...ng for the format 8 Record on the JOB attribute data ATTR is wrong for the format 9 Control group GROUP record is wrong for the format 10 Local variable LVARS record is wrong for the format 11 JOB argument JARGS record is wrong for the format 12 Record on the teaching coordinates for relative job FRAME is wrong for the format 13 Position data coordinates do not match relative job coordinates 3200 ...

Page 488: ...nregistered 18 Input format error 19 Data size over 20 MIN value over 21 MAX value over 22 Operation expression error 23 Job call argument setting error 24 Macro job call argument setting error 25 Position vector setting error 26 System error 27 Soft key designate error 28 Numerical input buffer overflow 29 Real type data precision error 30 Element format error 35 BOOL TYPE data error 36 CHAR data...

Page 489: ...ata error 48 STRING data error 49 COMMENT data error 58 Invalid instruction tag detection 3230 Syntax not matched 3240 Undefined application 3250 Cannot load this file 3260 Excess input data 3270 Cannot verify this file 3280 Wrong welding condition STANDARD ENHANCED 3290 Serial port not defined 3300 Serial port being used 3310 Protocol being used 3350 Not enough memory 3360 Invalid folder 3370 Inc...

Page 490: ... memory 2 Not accessible to Compact Flash 3470 Database not found 3480 Database access error 3490 Same database exists 3500 Check Compact Flash insertion 3510 Cannot delete folder Check attribute and inside file 3520 Same folder exists 3530 Cannot load at current security mode Error No Data Error Message Contents 490 of 493 ...

Page 491: ...X Line No 4070 Excess AND OR STR instructions XXX Line No 4080 Syntax error in CNT instructions XXX Line No 4090 Enter STR NOT at head of block Need STR NOT XXX Line No 4120 Concurrent I O memory is full Exceeds memory capacity 10000 steps 4130 END instruction not found END instruction not found 4140 Wrong ladder program Position and number of PART instruction are wrong 4150 Wrong use of GSTR GOUT...

Page 492: ... Error Message Contents 8010 Too many axes 8020 Too many I O points 8030 Too many boards XFB01B MASTER 8031 Too many boards MSC01B 8040 Memory error ControlNet output condition 8041 Memory error UNIWIRE CONNECT DAT 8050 Robot model is not registered 8060 Cannot get UNIWIRE connection data 492 of 493 ...

Page 493: ...8 Fax 86 10 6788 2878 YASKAWA SHOUGANG ROBOT Co Ltd 426 Udyog Vihar Phase IV Gurgaon Haryana India Fax 91 124 475 8542 Phone 91 124 475 8500 YASKAWA India Private Ltd Robotics Division YASKAWA Electric China Co Ltd 22 F One Corporate Avenue No 222 Hubin Road Huangpu District Shanghai 200021 China Phone 86 21 5385 2200 Fax 㧗86 21 5385 3299 YASKAWA Electric Thailand Co Ltd 252 125 126 27th Floor Tow...

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