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Features II JS/JSR4400N SCARA Robot

JSG GANTRY Robot

JR2000N Desktop Robot

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Mechanical Initialization by Point Job: initMec

The command explained below is available for the JR2000N and JSR4400N Series only. It is not

available for the JS and JSG Series. If you are using the JSR4400N Series, this command is
activated only when [Axis] (specifications) is set to [ALL] (all Axes).

Mechanical initialization is performed when the robot is turned on. You can initialize only the desired
Axis using a point job command. With the

initMec

command, the robot Axes are able to return to the

absolute coordinates (x: 0, y: 0, z: 0, r: 0) even if a position error has occurred.

Command Category

Command

Parameter

Job

Move

initMec

Axis

Initialize the specified Axis.

The [Move] commands are deactivated at points where the (base) point type [CP Passing Point] is

set.

Axis Specification

Contents

all Initialize

all

Axes.

Initialize the X-Axis.

y Initialize

the

Y-Axis.

Initialize the Z-Axis.

Initialize the R-Axis.

Mechanical initialization is performed at low speed.

Содержание JSR4400N SCARASeries

Страница 1: ...this manual thoroughly in order to ensure proper use of this robot Be sure to read For Your Safety before you use the robot The information will help you protect yourself and others from possible dan...

Страница 2: ..._________________________ 19 OutputVariables sysOut1 genOut1 handOut1 ________________________________ 20 Down Timer downTimer1 downTimer10 ________________________________________ 21 Point Job Start...

Страница 3: ...ng for a Start Signal waitStart waitStartBZ _____________________________________ 54 Input from I O dataIn dataInBCD_________________________________________________ 56 PALLET CONTROL ________________...

Страница 4: ...ED out7SLED_______________________ 84 COM INPUT OUTPUT ___________________________________________________________ 85 COM Input Output outCOM eoutCOM inCOM setWTCOM cmpCOM ecmpCOM clrCOM shiftCOM_____...

Страница 5: ...cond symbol after the first the second is treated as a character e g eoutCOM port2 G01 Output G01 If there is any character from 0 9 and A F enter to output e g eoutCOM port2 300 Output 300 Variable A...

Страница 6: ...num str Returns 1 if the left value is larger than the right value Returns 0 if the left value is smaller than or the same as the right value num str Returns 1 if the left value is smaller than the ri...

Страница 7: ...e front of the JR2000N Series robot or on the operation box for the JSR4400N robot dataOut Output Data Output Bit Number Output Destination Output numeric data or a tag code assigned to a point to the...

Страница 8: ...er go Point Number Pallet loop resPallet Pallet Routine Number Reset the pallet counter Pallet incPallet Pallet Routine Number Increase the pallet counter number 1 callBase Call a user defined point j...

Страница 9: ...10 lineMoveY 20 lineMoveZ 0 lineMoveR 0 lineMoveStopIf Terminate the movement of an Axis made by lineMove if the conditions are met endLineMove End of lineMoveStopIf condition statements initMec Axis...

Страница 10: ...value The symbols can be used rem Output Data One line comment crem Output Data Comment at the end of a command line setProgNum Program Number Change the program number z Do not carry out this comman...

Страница 11: ...scription ld Boolean variable Input ON ldi Boolean variable Input OFF and Boolean variable Input serial ON ani Boolean variable Input serial OFF or Boolean variable Input parallel ON Calculate ori Boo...

Страница 12: ...ble Keeping variable num nv 1 99 Numerical variable num nkv 1 99 Numerical variable Keeping variable str sv 1 99 String variable Free Variable str skv 1 99 String variable Keeping variable sysIn1 15 J...

Страница 13: ...ine num palletCount 1 100 Pallet counter Corresponds to Pallet Routine Nos 1 100 Workpiece Adjustment num workAdj_X 1 100 workAdj_Y 1 100 workAdj_Z 1 100 workAdj_R 1 100 workAdj_Rotation 1 100 Adjustm...

Страница 14: ...num P_TagCode 1 last point number Tag code value of the specified point num prog_P_X 1 255 1 last point number X coordinate value of the specified point in the specified program num prog_P_Y 1 255 1 l...

Страница 15: ...coordinate mm num currentArmR Current R coordinate deg num currentCmdArmX Current command X coordinate mm num currentCmdArmY Current command Y coordinate mm num currentCmdArmZ Current command Z coordi...

Страница 16: ...the top character code Other codes are ignored num len a Return the string length non multibyte num strPos a b Return the first part string position in a matching b str strMid a n m Return the string...

Страница 17: ...o a 1 byte signed integer 1 byte Signed Integer num val2SIBE a Convert the top 2 characters to a 2 byte signed integer using the Big Endian byte order 2 byte Signed Integer Big Endian num val2SILE a C...

Страница 18: ...ata compare command cmpCOM timeout Timeout 11 FisCOM3 COM3 receive data existence Exists 12 FltCOM3 Result of COM3 receive data compare command cmpCOM Constant Receive data 13 FeqCOM3 Result of COM3 r...

Страница 19: ...eive data 03 FeqCOM1 Result of COM1 receive data compare command cmpCOM Constant Receive data 04 FgtCOM1 Result of COM1 receive data compare command cmpCOM Constant Receive data 05 FtimeOutCOM1 COM1 r...

Страница 20: ...69 FmdSW2 Select key switch 2 ON 71 Fsensor1 Initial X position sensor ON 72 Fsensor2 Initial Y position sensor ON 73 Fsensor3 Initial Z position sensor ON 74 Fsensor4 Initial R position sensor ON 76...

Страница 21: ...rror Result of the position error detect command Position error 36 FdataInBCDError State of dataInBCD command error Error 63 FemgSW EMG direct input ON Pressed 64 Fios IOS direct input Circuit open Di...

Страница 22: ...ing variable Variables which hold their values even if the robot is turned off are collectively referred to as keeping variables in the operation manuals mv 1 99 and mkv 1 99 Boolean variable A Boolea...

Страница 23: ...only Input Variable handIn1 handIn4 I O H Boolean variable for reference only Some of the sysIn1 sysIn15 and 16 I O SYS pins have pre assigned functions e g sysIn1 Start When this signal is turned on...

Страница 24: ...4 I O H Boolean variable Some of the sysOut1 sysOut14 15 and 16 I O SYS pins have pre assigned functions e g sysIn1 Ready for Start When this signal is turned on the robot can start operation If you w...

Страница 25: ...r Description Special Variable downTimer1 downTimer 10 The assigned value is decreased automatically by msec For example create the following point job data and set it to a point as Job while CP Movin...

Страница 26: ...Job because the robot Axis or Arm has already reached the point job start position Also since this variable acts only on the set point the point job start position of the next point does not change e...

Страница 27: ...to Pallet 1 100 Pallet palletCount 1 100 Pallet counter Corresponds to Pallet 1 100 z palletFlag 1 100 does not become 1 true even if a value which fills the counter is assigned to palletCount 1 100 F...

Страница 28: ...to P2 if ld palletCount 3 5 or palletCount 3 11 else reset handOut1 endIf loopPallet 3 1 If palletCount 3 is other than 5 P2 5 and 11 P2 11 Place release a workpiece Add 1 to the counter of Pallet 3 I...

Страница 29: ...s to Workpiece Adjustment 1 100 Workpiece Adjustment workAdj_Rotation 1 100 Workpiece adjustment amount by the rotating angle Corresponds to Workpiece Adjustment 1 100 For example you can perform a li...

Страница 30: ...26 Point job data set in P2 Workpiece Adjustment is set to this point set handOut1 Start dispensing Point job data set in P3 reset handOut1 Stop dispensing z The Workpiece Adjustment set to a CP Start...

Страница 31: ...a set in the Job before Moving includes these variables the P2 coordinates are retained even at P1 These variables hold the original coordinate values of a point The values do not change even when the...

Страница 32: ...en additional function data Workpiece Adjustment and the variable jobStartHight are used Category Identifier Description P_X 1 Last point number X coordinate value of given point in current program P_...

Страница 33: ...the variable jobStartHight are used Category Identifier Description prog_P_X 1 255 1 Last point number X coordinate value of the designated point in the designated program prog_P_Y 1 255 1 Last point...

Страница 34: ...ntArmZ Current Z coordinate mm num currentArmR Current R coordinate deg num currentCmdArmX Current command X coordinate mm num currentCmdArmY Current command Y coordinate mm num currentCmdArmZ Current...

Страница 35: ...rrentArmR This variable holds the current R Axis rotation angle R Axis coordinate Absolute coordinates in degrees currentCmdArmX currentCmdArmY currentCmdArmZ This variable holds the current designate...

Страница 36: ...rPlusLLCD string a string b This variable adjusts the strings on the teaching pendant LCD left priority Items on the left are displayed in full if there is an overlap getSystemPTPmoveTime This variabl...

Страница 37: ...Conversion from radian to degree x 180 num sqrt x Square root num sin x Sine num cos x Cosine num tan x Tangent num atan x Arctangent num atan2 x y Arctangent num int x Maximum integer that does not...

Страница 38: ...ng using the Big Endian byte order 2 byte Signed Integer Big Endian str str2SILE x Round a numeric value to a 2 byte signed integer to convert it to a 2 byte string using the Little Endian byte order...

Страница 39: ...signed integer using the Big Endian byte order 4 byte Signed Integer Big Endian num val4SILE a Convert the top 4 characters to a 4 byte signed integer using the Little Endian byte order 4 byte Signed...

Страница 40: ...a designated output destination ON OFF Output Control invPulse Output Destination Pulse Width Output OFF pulse inverting pulse of a specified width to a specified output destination For example connec...

Страница 41: ...sOut15 OFF Output sysOut16 ON Open the hand tool set sysOut15 reset sysOut16 Output sysOut15 ON Output sysOut16 OFF Close the hand tool z The set command continues to output an ON signal unless the co...

Страница 42: ...inds of point job data have different results pulse genOut1 100 pulse genOut2 200 set genOut3 set genOut1 delay 100 reset genOut1 set genOut2 delay 200 reset genOut2 set genOut3 genOut1 genOut1 genOut...

Страница 43: ...lay Time ON output after specified delay time ON OFF Output Control delayReset Output Destination Delay Time OFF output after specified delay time The delaySet and delayReset commands move on to the n...

Страница 44: ...and Parameter Job set Output Destination BZ Sound a buzzer reset Output Destination BZ Stop a buzzer ON OFF Output Control onoffBZ ON Time OFF Time Sound and stop a buzzer If the set or onoffBZ comman...

Страница 45: ...he front body JR2000N or the operation box JSR4400N using a point job command Command Category Command Parameter Job set Output Destination GLED Turn on the LED Green reset Output Destination GLED Tur...

Страница 46: ...n the front body JR2000N or the operation box JSR4400N using a point job command Command Category Command Parameter Job set Output Destination RLED Turn on the LED Red reset Output Destination RLED Tu...

Страница 47: ...output value value to be output the output width the number of I O pins to be used for output also referred to as Output Bit No and the output destination the smallest number between I Os to be used...

Страница 48: ...urn on the power to the robot s motor or turn on and off the designated Axis servomotor by using a point job command If an Axis servomotor is off the Axis cannot be controlled by the robot When the X...

Страница 49: ...hen else and endIf commands Example 1 If genIn2 is on raise the Z Axis by 10mm and output a pulse to genOut1 If genIn2 is not on lower the Z Axis by 10mm and output a pulse to genOut2 The Example 1 ab...

Страница 50: ...to Label 1 when start instructions come End of If Branch z It is not necessary for both the then and else commands to exist at the same time However the if command without the endIf command is recogn...

Страница 51: ...conditions are met e g A workpiece exists Sensor genIn2 ON A workpiece does not exist Sensor genIn2 OFF waitCond ld genIn2 endWait Stand by at the point until the following conditions are met genIn2...

Страница 52: ...time ld genIn2 timeUp set genOut2 waitStartBZ reset genOut2 endWait Declare a local variable wtime If genIn3 ON then Assign 3000 to wtime If not Assign 1000 to wtime Wait for 3 or 1sec until the follo...

Страница 53: ...n I O SYS output sysOut I O 1 input genIn I O 1 output genOut I O H input handIn I O H output handOut system flag sysFlag internal relay mv keep relay mkv and pallet flag can be given as command param...

Страница 54: ...ion 1 and count value is 10 or greater Condition 2 End of condition line z count is a variable ani Series OFF input waitCond ldi genIn1 ani count 10 endWait Wait in place until the following condition...

Страница 55: ...so OFF Condition 2 anb Both Conditions 1 and 2 are true endWait End of condition line orb Block parallel connection waitCond Waits in place until the following conditions are met ld count 10 or flag C...

Страница 56: ...lay Time Stand by in place for the specified delay time z The delay command is deactivated at points where the base point type CP Passing Point is set delay Delay for the specified period of time Exam...

Страница 57: ...ressions as well as numeric values Example declare num wtime if ld genIn1 then wtime 100 else wtime 200 endIf set genOut1 delay wtime reset genOut1 Declare the local variable wtime If genIn1 ON then A...

Страница 58: ...es Output an OFF signal to genOut1 if a start signal comes waitStartBZ Wait for start with buzzer Example If genIn1 does not come on within 2 seconds it is recognized as an error genOut2 connected to...

Страница 59: ...waitCondTime 200 ld genIn4 timeUp waitStartBZ endWait endIf endWait Be sure not to use more than 9 indents If the point job data includes more than 9 indents it will be recognized as an error and the...

Страница 60: ...h the smallest number between I Os to be used for input If genIn3 genIn10 are used the input source is 3 z The dataIn and dataInBCD commands require the serial I O pins for input Example declare numer...

Страница 61: ...s you set the point job data to update the counter If you select Auto Increment you do not need to set a point job command to control the pallet operation The tool unit will automatically move to the...

Страница 62: ...lowing example of point job data the tool unit picks up the workpiece from P1 set genOut1 and places it at P2 reset genOut1 on the Increment by Point Job pallet shown on the previous page Point Job Da...

Страница 63: ...elect the additional function data PTP Condition If you use the incPallet command another job e g pulse output can be performed each time the tool unit shifts to P1 reset genOut1 incPallet 10 if ld pa...

Страница 64: ...Start Point and the newly added job will be performed instead e g At Points P1 and P2 where the user defined point type shown to the right is set the following point job data will be performed at each...

Страница 65: ...ob Execute Flow Control callBase Call and execute the job command string set under the user defined point type at the point where the user defined point type is set z The callBase command is deactivat...

Страница 66: ...Job Point Job Number Call a subroutine of the point job data for the given number z The callJob command is deactivated at points where the base point type CP Passing Point is set set genOut1 downZ 20...

Страница 67: ...xecution Flow callJob callJob Nest level 1 Nest level 2 Point job data numbers can also be given using expressions Example declare num ejob waitCondTime 200 ld genIn1 timeUp if ld genIn2 then ejob 9 e...

Страница 68: ...mmand Category Command Parameter Job Execute Flow Control returnJob End a point job The following example shows point job data using the returnJob command if Condition 1 then Process 1 if Condition 2...

Страница 69: ...an be called by the callProg command After the called program No 17 in this example is complete the next command line of the callProg command endWait in this example in the calling point job data is p...

Страница 70: ...menu There are the following three position data types Absolute The position data value is equal to the robot s absolute coordinates Default Relative The position data is equal to the distance from th...

Страница 71: ...ling point At the current point calling point the tool unit performs the Job on Start of Cycle set to the work home position of the subprogram and then shifts to SP1 Subprogram Point 1 z When a progra...

Страница 72: ...rn to the work home If Relative or Moving Amount is set in a program the robot Axis or Arm will also not return to the work home The robot Axis or Arm returns to the work home only when Absolute is se...

Страница 73: ...as a subroutine z The callPoints command is deactivated at points where the base point type CP Passing Point is set For example set the point job data shown below to P1 if ld genIn1 then callPoints c...

Страница 74: ...pe CP Passing Point is set The following example shows point job data using the endProg command waitCondTime 500 ld genIn2 timeUp movetoZ 0 10 endProg endWait By the endProg command a program is termi...

Страница 75: ...ategory Command Parameter Job Execute Flow Control returnFunc Return Value Expression Assign the specified expression as a return value and end the function z The returnFunc command cannot be used in...

Страница 76: ...on during the CP drive z The goPoint goRPoint and goCRPoint commands are deactivated at points where the base point type CP Passing Point is set z The point number and relative point number for the go...

Страница 77: ...t operation from the same point Jumps to a relatively specified point number goCRPoint PTP3 1 This command is used to jump to the specified point during the CP drive After a cycle of operation from CP...

Страница 78: ...In2 is not ON go to the next job Label 1 if ld genIn2 then waitStartBZ jump L1 endIf Destination mark If the following condition is true go to then If not go to the next command after endIf genIn2 ON...

Страница 79: ...for exitFor next The for command specifies the number of repetitions declare num ival for ival 1 to 8 step 1 Contents to be repeated next Declare a local variable ival The initial value of the variabl...

Страница 80: ...s the same value 5 or 10 as the variable loop do exitDo loop The do exitDo loop command lines are repeated until the exitDo command exists do Contents to be repeated loop Without a condition to exit f...

Страница 81: ...ce Move movetoZ Distance Speed Raise or lower the Z Axis to the specified Z coordinates absolute coordinates z The Move commands are deactivated at points where the base point type CP Passing Point is...

Страница 82: ...nt from the Z coordinates of P1 P_Z 1 Variable which has the Z coordinate value of P1 in the current program point_Z Variable which has the Z coordinate value of the current point z If you assign a va...

Страница 83: ...by the entered distance in CP drive z The Move commands are deactivated at points where the base point type CP Passing Point is set To set each Axis distance enter the distance from the current point...

Страница 84: ...the specified distance in that direction 1 The robot Axis has completed moving in that direction with conditions If the Robot Axis Exceeds the Move Area Limit defined by the lineMove Command If the Ar...

Страница 85: ...the robot is turned on You can initialize only the desired Axis using a point job command With the initMec command the robot Axes are able to return to the absolute coordinates x 0 y 0 z 0 r 0 even if...

Страница 86: ...sition coordinates After a position error has been detected the robot Axis goes to the next point Command Category Command Parameter Job Move checkPos Detect a position error z The Move commands are d...

Страница 87: ...splay Line Display Column Display Data Display the evaluation of the entered string expression at the specified position on the LCD display z Rows or columns can be specified using variables or expres...

Страница 88: ...the out7SLED command to the program number previously displayed LCD Control 7Seg LED out7SLED Output Type Output Value Output the specified number to 7 segment LED Select from the following four outpu...

Страница 89: ...e the received data on COM with a string expression The result is entered into the system flag sysFlag1 20 clrCOM Input Output Clear the COM port receive buffer COM Input Output shiftCOM Input Output...

Страница 90: ...TCOM command is not set the robot stands by for 0 1sec z If point job data including any COM input command is set at a CP Passing Point the robot stands by for 0sec to receive data COM Receive Data Co...

Страница 91: ...cter Xth Character Wait Time Timeout period X X 1 X Specified number of characters Turn sysFlag 3 on Turn sysFlag 5 on Turn sysFlag 2 on Turn sysFlag 4 on Go to the next command Received Timeout X 1 I...

Страница 92: ...s stored Each COM port has an 8 kbyte receive buffer Newly received data will not overwrite the existing data but will be written after the existing data A receive buffer will be cleared by turning of...

Страница 93: ...he robot using point job commands instead of communicating with a PC for C T data transmission it is necessary to stop the PC communication transaction operated by the system If the stopPC command is...

Страница 94: ...n of string expression to the left hand operand When this command is input only an expression is displayed Command Category Command Parameter Job declare Variable Type Variable Name Local variable dec...

Страница 95: ...allJob 24 if ld count 10 then exitDo endIf loop Numeric local variable count declaration Set the initial value 0 to the variable count Repeat the commands between do and loop Add 1 to the variable cou...

Страница 96: ...e g if ld genIn1 rem genIn1 Obstacle sensor then waitStartBZ If genIn1 is true genIn1 Obstacle sensor Comment Sound a buzzer and stand by until a start signal comes e g if ld genIn1 crem genIn1 Obstac...

Страница 97: ...umber will automatically change to Program 2 after running Program 1 Accordingly you can change the program numbers from 2 to 3 and from 3 to 1 If you set a setProgNum command to the point job data pe...

Страница 98: ...command to Job on Start of Cycle Job and Sequencer on Run Mode menu and a setSeqNum01 command to Job on End of Cycle Job and Sequencer on Run Mode menu the sequencer data No 2 will be executed during...

Страница 99: ...cifications of the robot or the contents of this manual may be modified without prior notice to improve its quality No part of this manual may be reproduced in any form including photocopying reprinti...

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