2Explanation of functions
Functions Related to Movement and Control
2-12
External device com-
munication function
The following methods are available for communicating with the external
devices
For controlling the controller and for interlock within a program
1) Via input/output signals
Parallel input/output : 256/256 max.
2) Via CC-Link (optional)
As a data link with an external device
3) Communication via RS-232C
(1 standard port)
4) Communication via Ethernet
The data link refers to a given function in order to exchange data, for
instance amount of compensation, with external devices (e.g., vision sen-
sors).
Refer to
Page 288, "M_Out/M_Outb/
M_Outw"
.
Page 376, "5.15 About the commu-
nication setting"
Separate manual "Ethernet Inter-
face".
Interrupt monitoring
function
With this function, it is possible to monitor signals, etc. during program
operation, and pause the current processing in order to execute an inter-
rupt routine if certain conditions are met. It is effective for monitoring that
workpieces are not dropped during transport.
Page 179, " Def Act (Define act)",
Page 155, " Act (Act)"
Inter-program jump
function
With this function, it is possible to call a program from within another pro-
gram using the CallP instruction.
Pallet calculation func-
tion
This function calculates the positions of workpieces arranged in the grid
and glass circuit boards in the cassette. It helps to reduce the required
teaching amount. The positions can be given in row-by-column format,
single row format, or arc format.
Page 98, "4.1.2 Pallet operation"
Page 189, "Def Plt (Define pal-
let)"
,
User-defined area func-
tion
With this function, it is possible to specify an arbitrary space consisting of
up to
32
areas, monitor whether the robot's hand tip is within these areas
in real time, output the status to an external device, and check the status
with a program, or use it to generate an error. Moreover, two functions
(Zone and Zone2) that have a similar function are available for use in a
robot program.
Page 367, "5.8 About user-defined
area"
,
Page 341, "Zone 2"
Page 342, "Zone3"
JOINT movement
range
XYZ operation range
Free plane limit
It is possible to restrict the robot movement range in the following three
ways
JOINT movement range:
It is possible to restrict the movement range of each axis.
XYZ operation range:
It is possible to restrict the movement range using the robot's XYZ coordi-
nate system.
Free plane limit:
It is possible to define an arbitrary plane and restrict the movement range
of the robot to be only in front of or only behind the plane.
Refer to "MEJAR" and "MEPAR"
parameter in
Refer to
Function
Explanation
Explanation page
