YASKAWA Motoman UP6, Instructions Manual

Page: 303 / 561

6.3 Programming Pendant
6-5
6.3
Programming Pendant
Programing
Functions Programming Interactive programming
Language Robot language: INFORM II
Robot Motion Con-
trol Joint coordinates, Linear/Circular interpolations, Tool coordi-
nates
Speed Setting Percentage for joint coordinates, 0.1mm/s units for interpola-
tions, Angular velocity for T.C.P. fixed motion
Program Control
Instructions Jumps, Calls, Timer, Robot stop, Execution of some instruc-
tions during robot motion
Operation Instruc-
tions Preparing the operation instructions for each application
(Arc-ON, Arc-OFF, etc.)
Variable Global variable, Local variable
Variable Type Byte type, Integer type, Double precision type, Real number
type, Position type
I/O Instructions Discrete I/O, Pattern I/O processing
Material Reinforced thermoplastic enclosure with a detachable sus-
pending strap
Dimensions 200(W)
×
348(H)
×
61.8(D) mm
Displayed
Units 40 characters 12 lines
Multilingual function (English, Japanese, Hankul)
Backlight
Others 3 position deadman switch, RS-232C
×
1 port