R7 / R7.2 USER MANUAL
Page 1
R7 / R7.2
USER MANUAL
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 2
This manual provides the information necessary to properly install, operate and service
Wittmann Robot Systems, and ensure correct and safe operation of our equipment.
Our robots must be installed and operated in accordance with these instructions by
authorized and qualified personnel only.
Improper installation and operation may result in injury to personnel and/or damaged
equipment.
Before installation, please read this manual completely, paying special attention to the
Safety Warnings marked
.
To ensure optimal use of our equipment, we recommend that you attend the training
courses regularly offered at our Service Centers.
Proper function of the equipment can be ensured only if maintenance is performed
according to the instructions given in this manual.
The descriptions in this manual refer to the robot and equipment according to the
specification sheet. These specifications are subject to change without notice.
This manual is for the sole use of the user of the robot and may not be distributed to
unauthorized persons. No part of this manual may be copied or reproduced without our
written consent.
The noise emission of this device does not exceed 70 dB(A).
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 3
Before starting up the robot for the first time, please review this manual thoroughly and
familiarize yourself with the operation of the robot. Improper use may injure personnel
and/or damage the robot, mold or molding machine.
Table of Contents
1 SAFETY ................................................................................................ 10
1.1 SAFETY REGULATIONS...........................................................................10
1.2 SAFETY FEATURES .................................................................................10
1.2.1 Safeguarding .......................................................................................10
1.2.2 Emergency STOP Buttons...................................................................10
1.2.3 Permit Key on Teachbox......................................................................10
2 INSTALLATION.................................................................................... 11
2.1 MECHANICAL INSTALLATION .................................................................11
2.1.1 Dimensional Drawing – Adapter Unit ...................................................11
2.1.2 Mounting of the Robot .........................................................................11
2.2 PNEUMATICS ............................................................................................12
2.2.1 Compressed Air Connection ................................................................12
2.2.2 Hoerbiger Axis .....................................................................................13
2.2.3 Schunk Axis .........................................................................................14
2.3 ELECTRICAL CONNECTIONS..................................................................15
2.3.1 Mains Power Supply ............................................................................15
2.3.1.1 Fault Current Safety Switches.......................................................15
2.3.2 Interface with the Injection Molding Machine .......................................16
2.3.3 Mold Safety Switches S5/S6................................................................17
2.3.4 Test Procedure for Mold Safety Switches S5 / S6 ...............................17
2.3.5 Vacuum switch SMC............................................................................18
2.3.5.1 Initial Settings ................................................................................18
2.3.5.2 Pressure Setting............................................................................19
2.3.5.2.1 Evaluation of the set value (n1) and of the hysteresis (H) ................................................. 19
2.3.5.2.2 Setting the set value (n1) and the hysteresis (H) at the sensor......................................... 19
2.3.5.2.3 Setting a value ................................................................................................................... 20
2.4 INITIALIZING SAFETY AREAS..................................................................21
2.4.1 General ................................................................................................21
2.4.2 Initial Reference Travel ........................................................................22
2.4.3 REF in Manual .....................................................................................22
2.4.4 Initializing Safety Area Switch Points...................................................23
2.4.4.1 Finding Switch Points ....................................................................23
2.4.4.2 Finding All Axis Switch Points .......................................................23
2.4.4.3 Initializing All Axis Positions ..........................................................24
2.4.4.4 Aborting Initialization .....................................................................24
2.4.5 Example: IMM-transom........................................................................25
2.4.6 Monitoring Safety Area ........................................................................26
2.5 SAFETY PACKAGE/SAFEGUARDING .....................................................27
2.5.1 Safety Package....................................................................................27
2.5.2 EXTERNAL Safety Package for Safety Door or Access Hatch .........28
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 4
2.5.3 Safety Guarding ...................................................................................30
2.6 ELECTRICAL INTERFACE ........................................................................31
2.6.1 Euromap 67 interface ..........................................................................31
2.6.1.1 Injection Molding Machine (IMM) Signals......................................32
2.6.1.2 Robot Signals ................................................................................33
2.6.2 Euromap 12 Interface ..........................................................................35
2.6.2.1 Injection Molding Machine (IMM) Signals......................................36
2.6.2.2 Robot Signals ................................................................................37
3 OPERATING INSTRUCTIONS FOR R7 CONTROL ........................... 38
3.1 BASIC OPERATION...................................................................................38
3.1.1 Introduction ..........................................................................................38
3.1.2 Robot Axes ..........................................................................................38
3.1.3 Emergency Stop Block ........................................................................39
3.1.4 Numerical Input....................................................................................40
3.1.5 Text Input .............................................................................................41
3.1.6 Operating Modes .................................................................................42
3.1.7 Operating Mode Reference..................................................................43
3.1.7.1 Reference travel in the operating mode Reference Missing .........43
3.1.7.2 Reference travel in the operating mode Manual ...........................44
3.1.8 Override ...............................................................................................45
3.1.9 Safety System......................................................................................47
3.1.9.1 Startup with Safety System ...........................................................47
3.1.9.1.1 Manual Setup Mode........................................................................................................... 47
3.1.9.1.2 Automatic Mode, Step Mode, Reference Travel ................................................................ 47
3.1.9.2 Selection of Operating Modes .......................................................47
3.1.9.2.1 Manual Setup Mode........................................................................................................... 47
3.1.9.2.2 Automatic Mode, Step Mode, Reference ........................................................................... 47
3.1.9.3 Monitoring of the Safety Gate........................................................48
3.1.9.4 Error Effect Analysis......................................................................48
3.1.10 User Administration and Passwords ..................................................49
3.1.10.1 Activate........................................................................................50
3.1.10.2 Users ...........................................................................................51
3.1.10.2.1 User (create, change) ...................................................................................................... 52
3.1.10.3 Profiles ........................................................................................53
3.1.10.4 Login............................................................................................54
3.1.10.5 Logout .........................................................................................55
3.1.10.6 Forgot Password .........................................................................55
3.1.11 Manual Functions...............................................................................56
3.1.11.1 Numerical Axes ...........................................................................56
3.1.11.2 Axis Release in Manual Mode (optional).....................................58
3.1.11.3 Pneumatic Axes ..........................................................................59
3.1.11.4 Digital (B-) Axes ..........................................................................60
3.1.11.5 Counters......................................................................................61
3.1.11.6 Placing Counters .........................................................................62
3.1.11.7 Conveyors ...................................................................................63
3.1.11.8 Peripheral Outputs ......................................................................64
3.1.11.9 Vacuums .....................................................................................65
3.1.11.10 Grippers.....................................................................................66
3.1.11.11 Cylinders ...................................................................................67
3.1.12 FILE Menu of the main screen...........................................................68
3.1.12.1 Properties ....................................................................................68
3.1.13 INIT Menu ..........................................................................................69
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 5
3.1.13.1 Stroke Limits................................................................................69
3.1.13.2 Lubrication Interval ......................................................................70
3.1.13.3 Setup: Robot Settings .................................................................71
3.1.13.4 Setup: Date / Time ......................................................................72
3.1.13.5 Setup: Screensaver Properties ...................................................73
3.1.13.6 Setup: Language .........................................................................74
3.1.13.7 Setup: Calibrate Touch................................................................74
3.1.14 View Menu .........................................................................................75
3.1.14.1 Operating Systems......................................................................75
3.1.14.2 Operating Data ............................................................................76
3.1.14.3 Axes positions .............................................................................77
3.1.14.4 I / O..............................................................................................78
3.1.14.5 Counters......................................................................................79
3.1.14.6 Placing Counters .........................................................................80
3.1.14.7 Conveyors ...................................................................................81
3.1.14.8 Cylinders .....................................................................................81
3.1.14.9 POs - Peripheral Outputs ............................................................82
3.1.14.10 PIs - Peripheral Inputs...............................................................82
3.1.14.11 AutoSwitches.............................................................................83
3.1.14.12 Stopwatches..............................................................................83
3.1.14.13 Vacuums ...................................................................................84
3.1.14.14 Grippers.....................................................................................85
3.1.14.15 Alarms .......................................................................................86
3.1.14.16 Error Buffer................................................................................87
3.1.14.16.1 Export the Error Buffer ................................................................................................... 87
3.1.14.17 Command Buffer .......................................................................89
3.1.14.17.1 Export the Command Buffer .......................................................................................... 89
3.1.14.18 Virtual Subpendant (Emergency Stop Block) ............................91
3.1.14.19 Memory State ............................................................................92
3.1.15 System Report ...................................................................................93
3.2 TEACH-MODE USING THE TEXT EDITOR ..............................................94
3.2.1 Operation of the Texteditors ................................................................94
3.2.1.1 Entering the Text Editor.................................................................94
3.2.1.2 Exit the Texteditor and transfer the program to the CPU ..............94
3.2.1.3 Editing Functions...........................................................................95
3.2.1.4 Online Editor..................................................................................96
3.2.1.5 Offline Editor..................................................................................96
3.2.1.6 Online Conversion.........................................................................97
3.2.2 Step Operation.....................................................................................98
3.2.2.1 Procedure Step .............................................................................98
3.2.3 Part Programs, PROGRAM Menu .......................................................99
3.2.3.1 Part Programs ...............................................................................99
3.2.3.2 Part Program ALL MODES .........................................................100
3.2.3.3 EOAT Change Program ..............................................................101
3.2.3.4 Manage Part Programs ...............................................................102
3.2.3.4.1 Edit a Part Program ......................................................................................................... 103
3.2.4 FILE Menu of the text editor...............................................................104
3.2.4.1 New .............................................................................................104
3.2.4.2 Open............................................................................................105
3.2.4.3 Import Macro ...............................................................................106
3.2.4.4 Load Program from CPU.............................................................108
3.2.4.5 Save (NAME.WIP).......................................................................108
3.2.4.6 Save As .......................................................................................109
3.2.4.7 Export Selection ..........................................................................110
3.2.4.8 Transfer program to CPU ............................................................112
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 6
3.2.4.9 Properties ....................................................................................113
3.2.4.10 Print ...........................................................................................114
3.2.4.11 Exit to Main................................................................................116
3.2.4.12 Properties Window of the File Dialogue ....................................117
3.2.4.13 Picture Viewer ...........................................................................118
3.2.4.13.1 Associate a picture with a Teachprogram...................................................................... 118
3.2.5 EDIT Menu.........................................................................................120
3.2.5.1 Selection Mode............................................................................120
3.2.5.2 Copy, Cut, Paste .........................................................................121
3.2.5.3 Search-Toolbar............................................................................123
3.2.5.4 Show Prefixes .............................................................................124
3.2.5.5 Show Default Names...................................................................125
3.2.5.6 Show Internal IDs ........................................................................125
3.2.5.7 Show Line Numbers ....................................................................126
3.2.5.8 Breakpoints .................................................................................126
3.2.6 Teachprogram Settings in the SETUP Menu.....................................127
3.2.6.1 Online / Offline Editor ..................................................................127
3.2.6.2 Positions......................................................................................127
3.2.6.2.1 Create / Edit Positions ..................................................................................................... 128
3.2.6.3 Axes Definition ............................................................................129
3.2.6.4 Labels and Subroutines...............................................................130
3.2.6.5 Cylinder Definition .......................................................................131
3.2.6.5.1 Create / Edit Cylinders ..................................................................................................... 132
3.2.6.6 Auto Switch Definition .................................................................133
3.2.6.7 Counter Names ...........................................................................135
3.2.6.8 Conveyor Names.........................................................................136
3.2.6.9 Peripheral Output Names............................................................137
3.2.6.10 Peripheral Input Names.............................................................138
3.2.6.11 Stacking Sensor Names............................................................139
3.2.6.12 Stopwatch Names .....................................................................140
3.2.6.13 Vacuum Names.........................................................................141
3.2.6.14 Gripper Names ..........................................................................142
3.2.6.15 Vacuum Reference States ........................................................143
3.2.6.16 Gripper Reference States..........................................................144
3.3 TEACH COMMANDS OF THE TEXTEDITOR .........................................145
3.3.1 Axes ...................................................................................................145
3.3.1.1 Move............................................................................................145
3.3.1.1.1 Absolute Movement ......................................................................................................... 146
3.3.1.1.2 Relative Motion ................................................................................................................ 146
3.3.1.1.3 Parallel Movement ........................................................................................................... 147
3.3.1.1.4 Curve ............................................................................................................................... 149
3.3.1.1.5 Stop.................................................................................................................................. 150
3.3.1.1.6 Mold Opening Synchronization (optional)........................................................................ 150
3.3.1.1.7 Ejector Synchronization (optional) ................................................................................... 152
3.3.1.1.8 Release (optional)............................................................................................................ 154
3.3.1.2 Stack Sensor ...............................................................................155
3.3.1.3 3D Motions ..................................................................................156
3.3.1.3.1 3D Absolute Motion.......................................................................................................... 157
3.3.1.3.2 3D Relative Motion........................................................................................................... 157
3.3.1.3.3 3D Curve.......................................................................................................................... 157
3.3.1.4 Speed ..........................................................................................158
3.3.1.4.1 VMAX............................................................................................................................... 158
3.3.1.4.2 VABS ............................................................................................................................... 158
3.3.1.4.3 AABS ............................................................................................................................... 159
3.3.1.4.4 R3D.................................................................................................................................. 160
3.3.1.4.5 V3D .................................................................................................................................. 160
3.3.1.5 Wait Sync ....................................................................................161
3.3.1.5.1 Wait Pathsync .................................................................................................................. 161
3.3.2 Placing Programs ..............................................................................162
3.3.2.1 Create New Placing Program......................................................164
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 7
3.3.2.2 Tab 1. - 1st Position, Name.........................................................165
3.3.2.3 Tab 2. - Placing Pattern...............................................................166
3.3.2.4 Tab Options.................................................................................167
3.3.2.5 Tab STS - Stacking Sensor.........................................................168
3.3.2.6 Tab Displacement .......................................................................169
3.3.3 Injection Molding Machine IMM .........................................................170
3.3.3.1 Injection Molding Machine IMM - Standard Functions ................170
3.3.3.1.1 MOLD CLOSE and FULLY MOLD OPEN........................................................................ 171
3.3.3.1.2 EJECTORS FORWARD/BACK and COREPULLERS PULL/SET .................................. 172
3.3.3.2 Injection Molding Machine IMM - Automatic Functions ...............173
3.3.3.2.1 MOLD CLOSE! WAIT ...................................................................................................... 174
3.3.3.2.2 EJECTORS FORWARD/BACK (WAIT) and CORE PULLERS PULL/SET (WAIT)........ 174
3.3.4 Peripherals.........................................................................................175
3.3.4.1 Conveyor .....................................................................................175
3.3.4.2 Peripheral Outputs PO ................................................................176
3.3.4.3 Cylinder function..........................................................................177
3.3.4.3.1 Applying cylinders in a teach program ............................................................................. 178
3.3.4.4 Vacuums .....................................................................................179
3.3.4.5 Grippers.......................................................................................180
3.3.4.6 Part Monitoring, Alternative Sequence with "Piece Lost" ............181
3.3.5 Counters ............................................................................................184
3.3.5.1 Counters - Basic Functions .........................................................184
3.3.5.1.1 Value................................................................................................................................ 186
3.3.5.1.2 Counter ............................................................................................................................ 187
3.3.5.1.3 Stopwatch ........................................................................................................................ 188
3.3.5.2 Counters - Advanced Functions ..................................................189
3.3.5.3 Reset Placing Counters...............................................................190
3.3.6 Program branching ............................................................................191
3.3.6.1 Jump............................................................................................191
3.3.6.2 Label............................................................................................192
3.3.6.3 If - Elseif - Else - Endif.................................................................192
3.3.6.3.1 Variant 1:.......................................................................................................................... 193
3.3.6.3.2 Variant 2:.......................................................................................................................... 193
3.3.6.3.3 Variant 3:.......................................................................................................................... 194
3.3.6.4 Call - Subr – Ret..........................................................................195
3.3.6.5 And ..............................................................................................197
3.3.6.6 Or ................................................................................................197
3.3.6.7 End ..............................................................................................198
3.3.6.8 Jump Conditions..........................................................................199
3.3.6.8.1 Jump condition: Counter .................................................................................................. 199
3.3.6.8.2 Jump Condition: PI-Peripheral Input ................................................................................ 200
3.3.6.8.3 Jump Condition: IMM - injection molding machine .......................................................... 200
3.3.6.8.4 Jump Condition: Vacuum................................................................................................. 201
3.3.6.8.5 Jump Condition: AutoSwitch ............................................................................................ 201
3.3.6.8.6 Jump Condition: Part program ......................................................................................... 201
3.3.6.8.7 Jump Condition: Area ...................................................................................................... 202
3.3.6.8.8 Jump condition: Position .................................................................................................. 202
3.3.6.8.9 Jump Condition: Mode ..................................................................................................... 203
3.3.6.8.10 Jump Condition: Stacking sensor .................................................................................. 203
3.3.6.8.11 Jump Condition: Start .................................................................................................... 204
3.3.6.8.12 Jump Condition: Cycle End Active................................................................................. 204
3.3.6.8.13 Jump Condition: Input .................................................................................................... 204
3.3.6.8.14 Jump Condition: Output ................................................................................................. 205
3.3.6.9 Start/Stop Part Program ..............................................................206
3.3.7 Wait functions ....................................................................................207
3.3.7.1 Wait .............................................................................................207
3.3.7.2 Wait Timer ...................................................................................207
3.3.7.3 Time ............................................................................................208
3.3.8 More Commands ...............................................................................209
3.3.8.1 More ............................................................................................209
3.3.8.2 Remark (REM) ............................................................................209
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 8
3.3.8.3 Cycle End ....................................................................................210
3.3.8.4 Blockstop lock/unlock ..................................................................211
3.3.8.5 Stopwatch....................................................................................212
3.3.8.6 Operating Mode...........................................................................214
3.3.9 AutoSwitches .....................................................................................215
3.3.9.1 The Teach command AutoSwitch ...............................................216
3.4 TOOLING EDITOR...................................................................................218
3.4.1 Introduction ........................................................................................218
3.4.2 Operation of the Tooling Editor ..........................................................218
3.4.2.1 Entering the Tooling Editors ........................................................218
3.4.2.2 Display and Editing Functions .....................................................218
3.4.2.3 Exit the Tooling Editor .................................................................219
3.4.3 FILE Menu of the Tooling Editor ........................................................220
3.4.3.1 Open............................................................................................220
3.4.3.2 Save (NAME.WIP).......................................................................221
3.4.3.3 Save As .......................................................................................222
3.4.3.4 Properties ....................................................................................224
3.4.3.5 Print .............................................................................................225
3.4.3.6 Exit to Main..................................................................................226
3.4.4 Filtering Rules for the Tooling Editor..................................................227
3.4.4.1 Time Commands (Time, PO with time, Conveyor with time), 3DParameters (V3D, R3D)..............................................................227
3.4.4.2 Speed Commands (VMAX, VABS, AABS)..................................228
3.4.4.3 Positions (predefined named positions) ......................................229
3.4.4.4 Placing Programs ........................................................................230
3.5 TEACH-MODE USING THE GRAPHIC EDITOR.....................................231
3.5.1 FILE Menu of the graphic editor.........................................................231
3.5.1.1 New .............................................................................................231
3.5.1.2 Properties ....................................................................................232
4 HOW TO TEACH A PROGRAM......................................................... 233
4.1 PROGRAMMING THE ROBOT................................................................233
4.1.1 Creating a New Program in the Teach Editor ....................................233
4.1.2 Verifying Your Program Using STEP Mode .......................................234
4.1.3 Storing Your Program on Smart Media Card / USB stick ..................234
4.2 PROGRAM EXAMPLE .............................................................................235
4.2.1 Function of Program ..........................................................................235
4.2.2 Sequence...........................................................................................235
4.2.3 Sketch of Sequence...........................................................................236
4.2.4 Sketch of Depositing Program ...........................................................236
4.2.5 Reference Travel of Robot.................................................................236
4.2.6 Robot Teach Program (ROBOT PRG.)..............................................237
4.2.6.1 Placing Program PLCPRG01 ......................................................238
4.2.7 Reference Program for the Robot (ROBOT REF.) ...........................238
5 TROUBLESHOOTING........................................................................ 239
5.1 SYSTEM ERRORS ..................................................................................239
5.2 TEACHBOX MESSAGES.........................................................................242
5.3 OPERATING ERRORS ............................................................................247
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 9
5.3.1 Operating Errors in Plain Text Messages ..........................................248
5.3.1.1 Axis Errors...................................................................................248
5.3.1.2 Vacuum Errors ............................................................................250
5.3.1.3 Gripper Errors..............................................................................250
5.3.1.4 Peripheral Equipment Output Messages.....................................251
5.3.1.5 If Messages .................................................................................251
5.3.1.6 Conveyor Belt Messages ............................................................251
5.3.1.7 Call Messages.............................................................................252
5.3.1.8 Ret Messages .............................................................................252
5.3.1.9 General Error Messages from Master .........................................252
5.3.1.10 System Error Messages ............................................................254
6 MAINTENANCE.................................................................................. 255
6.1 GENERAL ................................................................................................255
6.2 LUBRICATION INSTRUCTIONS FOR LINEAR GUIDES AND GEAR RACKS
.......................................................................................................................256
6.2.1 Lubrication Intervals for Standard Robots..........................................256
6.2.2 Lubrication Procedures ......................................................................256
6.2.3 Grease Specification..........................................................................256
6.3 DRIVE BELTS ..........................................................................................257
6.4 MOTOR BRAKES.....................................................................................257
6.5 MAINTENANCE SCHEDULE...................................................................258
6.6 AUTOMATIC LUBRICATION ...................................................................259
6.6.1 Description .........................................................................................259
6.6.2 System Maintenance .........................................................................260
6.6.2.1 Lubrication System Maintenance Procedure:..............................260
6.6.2.2 Suitable greases..........................................................................260
6.7 BUFFER BATTERIES OF MASTER CPU AND OF TEACHBOX CPU....261
6.7.1 Battery Replacement in Teachbox.....................................................261
6.7.2 Battery Replacement in Master CPU .................................................261
7 KEY TERMS ....................................................................................... 262
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 10
1 Safety
Wittmann Robots can be operated at high speeds so as to allow short removal and
cycle times. In order to minimize the risk of injury to personnel, the robot and
automation equipment must always be operated with the proper safeguards, in
accordance with legal regulations.
1.1 Safety Regulations
In many countries the obligation of robot vendors to supply systems meeting applicable
safety regulations and the responsibility of the operator of these devices are governed
by law or by safety standards of professional associations. Always comply to the
regulations applicable for you.
1.2 Safety Features
1.2.1 Safeguarding
The safeguarding required for operation of the robot is not included in our standard
scope of supply, since adaptation to specific site conditions is required. If such
safeguarding is provided by you, please note that it must be installed prior to startup of
the equipment in order to be included in the safety circuit of the system upon startup.
See Chapter 2.5 Safety Package/Safeguarding.
The user bears the legal responsibility for following safety regulations.
1.2.2 Emergency STOP Buttons
One emergency stop button is located on the control cabinet.
One emergency stop button is located on the teachbox.
When an emergency stop button is pressed, the power is turned off. The gripper and
vacuum valves and the vacuum pump are not disconnected, to avoid dropping parts
from the gripper. In addition, the controls and the teachbox will remain under power to
allow indication of error messages.
The emergency stop button can be released by turning it clockwise.
The emergency stop circuits of the robot and of the injection molding machine are
connected by the E12 interface. Therefore when the emergency stop button on the
molding machine is pressed the robot will also go into emergency stop and vice versa.
1.2.3 Permit Key on Teachbox
This key must be depressed for setting up for manual operation in order to be able to
carry out travel motions with the robot. For more precise operation, see Chapter 3.1.9.
Should this permit key be released during setup, the safety functions will interrupt all
travel motion of the robot.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 11
2 Installation
Installation and startup shall be performed by authorized personnel only, in order to
avoid injury to personnel or damage to equipment.
Our trained service engineers are available to assist you.
2.1 Mechanical Installation
2.1.1 Dimensional Drawing – Adapter Unit
Please see the accompanying drawing for the dimensions of the robot with the
dimensions for attachment of the gripper.
The robot is normally mounted on the fixed platen of the injection molding machine by
means of an adapter unit in accordance with VDMA 24466 or FHK-85-12-22.
If the adapter is supplied by us, a drawing for installation on the machine is enclosed.
2.1.2 Mounting of the Robot
The weight of the robot is shown on the robot identification plate on the Z beam.
Smaller robots up to type W 733 are equipped with lifting eyes on the main beam (Z
axis). Larger robots from W 741 on up have machined slots for lifting with a fork lift
(e.g., in low bays) or for slings or chains with a crane. Robots W 750 and W 770 are
also equipped with holes for the use of lifting rods.
Before lifting the transport pallet, the main carriage (Z axis) and kick stroke (X
axis) must be put into a balanced position:
Motor drives with posi stop motor or frequency converter:
1.
2.
Remove cooling fan cover of Z- and X-axis motor.
Move the carriage by turning the cooling fan until the
marks on the carriage and beam are aligned.
Robots with servo drives:
The main carriage and kick stroke can only be moved by applying voltage from an
external power supply in the X and Y axes. Because of the high accelerations of servo
drives, this operation is hazardous and therefore should be performed only by our
trained service engineers.
Before lifting the robot, the vertical axis must be secured against tipping.
When lifting with a fork lift, secure the robot against slipping.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 12
2.2 Pneumatics
2.2.1 Compressed Air Connection
This connection is made on the service unit with a 1/2" hose. A shutoff valve (ball cock
or quick connection coupling) should be installed at the point of connection of the main
compressed air line.
Required air pressure: 90 psi (6 bar)
The air–pressure switch will shut off the robot at 50 psi (3.5 bar).
Air consumption per robot cycle:
The air consumption depends on the optional equipment installed on your robot.
Air consumption of the robot may be calculated from the following table:
Consumption per stroke *
CNC Robots
W711
W713, W723
W621, W631, W721, W731
W632, W633, W732, W733
W643, W743
W653, W753, W663
W673, W733
*:
**:
C axis
0,3
0,2
1,3
1,1
1,1
6,4
6,6
A axis
0,4
0,2
0,4
1,3
1,3
8,3
4,5
Cons. per sec. **
Vacuum per circuit
0,4
0,4
0,4
0,4
0,4
0,4
0,4
In ft³ at 90 psi (6 bar)
For venturi vacuum circuits only
Example of calculation of compressed air consumption:
W733CNC:
1)
2)
3)
4)
with X , Y, Z axes motor driven
A and C axes pneumatic
2 vacuum circuits, operated 10 sec. each
A axis:
moved twice per cycle:
C axis:
moved twice per cycle:
2 vacuum circuits:
each one operated for 10 sec./cycle:
Total consumption:
2 x 1.3 =
2,6 dm³
2 x 1.1 =
2,2 dm³
2 x (10 x 0.4) =
8,0 dm³
2,6 + 2,2 + 8 =
12,8 dm³
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 13
2.2.2 Hoerbiger Axis
This description applies to all three-position Hoerbiger rotary units used for A and B
axes.
The three-position drive consists of two rack-and-pinion gears moved by two cylinders.
The first cylinder uses the “A“ and “B“ connections and moves the drive clockwise and
counter clockwise. The second cylinder uses the “C“ and “D“ connections and moves
two pistons that prevent rotation beyond 90°. The two cylinders are actuated by
separate valves.
In applications where only two positions are used, only the valve for connections "A"
and "B" are installed on the robot. In this case a direct compressed air line may be
placed on the "C" or "D" connection in order to select a 90° stop. Without a connection
to "C" or "D" the unit rotates from 0 to 180°. Unused connections must be protected
against dirt.
Summary of connections and their functions:
Connection
Motion
undef. -> 0°
undef. -> 180°
0° -> 90°
180° -> 90°
A
1
0
0
1
B
0
1
1
0
C
0
1
D
0
1
-
1 ... acted on by compressed air
0 ... compressed air discharged
- ... undef. condition
Regulation of speed:
A flow control is located before each connection of the rotary unit. The following table
shows how the rotary unit is adjusted by means of these flow controls. Generally, the
connection last actuated and the connection for the target position must always be
comparable. The flow control at whose connection the air is discharged (exhaust air
control) must always be adjusted.
Last position
Present position
Next position
any
any
any
any
0°
180°
180°
0°
0°
0°
180°
180°
90°
90°
90°
90°
90°
180°
90°
0°
180°
180°
0°
0°
Connection for
regulation of speed
A
A
B
B
D
A
C
B
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 14
2.2.3 Schunk Axis
This description applies to all three-position Schunk rotary units that are used for A und
B axes.
The three-position drive consists of a rack-and-pinion gear moved by two cylinders and
two short-stroke cylinders for the 90° positions. The first cylinder uses the "A"
connection and moves the drive clockwise. The second cylinder uses the "B"
connection and moves the drive counter clockwise. The "C" connection is used for the
short-stroke cylinders that prevent rotation beyond 90°.
In applications where only two positions are used, only the valve for the "A" and "B"
connections are installed on the robot. In this case the 90° and 180° positions can be
adjusted by adjusting screws.
Summary of connections and their functions:
Motion
undef. -> 0°
undef. -> 180°
0° -> 90°
180° -> 90°
A
0
1
1
0
Connection
B
1
0
0
1
C
0
1
1
1 ... acted on by compressed air
0 ... compressed air is discharged
- ... undef. condition
Regulation of speed:
A flow control is located before every connection of the rotary unit. The following table
shows how the rotary unit is adjusted by means of these flow controls. Generally, the
connection last actuated and the connection for the target position must always be
comparable. The flow control at whose connection the air is discharged (exhaust air
control) must always be adjusted.
Last position
Present position
Next position
any
any
any
any
0°
180°
180°
0°
0°
0°
180°
180°
90°
90°
90°
90°
90°
180°
90°
0°
180°
180°
0°
0°
Connection for
regulation of speed
B
B
A
A
B
B
A
A
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 15
2.3 Electrical Connections
2.3.1 Mains Power Supply
The required electrical voltage and power supply are indicated on the identification
plate of the robot. Power connection normally is made with cables and CEE plugs.
The power connection must be made by a qualified electrician in accordance with
federal, state and local regulations.
For personnel safety, proper installation of the earth ground must be verified.
After connection to the power supply, the direction of rotation must be checked (e.g.,
on the vacuum pump). The phasing must be clockwise.
2.3.1.1 Fault Current Safety Switches
Fault current (old: FI, new: RCD) safety switches may be used only under certain
conditions in conjunction with frequency converters:
•
In frequency converters with 3-phase input voltage, in the event of a
ground leak a part of the fault current may prevent release of an
FI / RCD safety switch.
•
Parasitic capacities in the converter can in principle cause leakage
currents, which may result in false tripping.
Alternative safety measures are for example grounding or protective isolation.
If a fault current safety switch is used in robots with 3-phase converters, it must be a
new RCD TYPE B or RCMA .
If a fault current safety switch is used in robots with single-phase converters, it must be
a new RCD TYPE B or RCD TYPE A .
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 16
2.3.2 Interface with the Injection Molding Machine
The robot is equipped with an electrical interface (plug type HAN 32A) according to
Euromap E67 / E12. In robots supplied as integrated systems, molding machines are
equipped with CAN-BUS controls and safety signals are executed by an emergency
stop. See wiring diagram at the end of this chapter and pin description (Section 2.6).
Connection of the interface plug to the machine and testing of all signals must be done
by a specialist in injection molding machines and robots. Preferably, this should be
done by one of our service engineers together with a qualified service engineer for the
injection molding machine.
The interface signal functions must be carefully tested, as improper operation may
cause malfunction or damage to the robot and molding machine.
In particular, the functions of the safety circuits must be thoroughly checked:
•
•
•
Emergency stop signals from and to the IMM
Function of mold safety interlock switches S5/S6
External safety circuits for access door to the protected area
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 17
2.3.3 Mold Safety Switches S5/S6
Proper adjustment of the cams for roller switches S5 and S6 is extremely important,
since they determine the closing and opening motions of the IMM. These roller switch
signals are independent of the mold closing and opening signals of the robot program
and are directly wired through the electrical interface to the IMM (redundant safety).
Function and Adjustment of Roller Switch S5:
The roller switch S5 is mounted on the vertical axis and is operated by the cam on the
vertical axis. Only when S5 is actuated is the closing/opening motion released. Adjust
the cam of S5 so that it actuates the switch only when the gripper and part are at a safe
position above the mold.
Function and Adjustment of Roller Switch S6:
The S6 switch is mounted to the main traversing carriage and is operated by the cam
on the Z beam. S6 overrides the function of S5, so that the robot arm can move down
outside the machine without interrupting closing or opening of the IMM.
Adjust the cam so that S6 is actuated only while providing a sufficient safe distance
outside the protective guarding of the machine (with the largest part on the gripper!).
After proper adjustment of the cams, double-check the function of the safety switches
S5 and S6. If neither switch is actuated (robot arm inside mold) check that even with a
closing signal from the robot the closing and opening motion of the IMM is interrupted
and impossible!
2.3.4 Test Procedure for Mold Safety Switches S5 / S6
Switch to operation without robot (robot LED key does not light).
Close the mold slightly (Mold Open signal must be off).
Move the Y axis of the robot into the machine.
Move the Y axis only until it leaves the S5 switch.
The error message "Mold monitoring" must be displayed on the robot.
Acknowledge the error message with ESC.
Now try to close and open the mold.
This should not be possible and an error message must appear on the IMM.
Now raise the Y axis.
If this description does not exactly apply, please contact our Service Center.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 18
2.3.5 Vacuum switch SMC
2.3.5.1 Initial Settings
The basic settings normally only have to be carried out on a new pressure switch.
When a new robot is delivered, the basic settings have already been made. Anyway, if
you should encounter problems during operation, or if the switch was renewed, the
initial settings should be done as described.
Press and hold the SET key longer than 2
seconds to activate the initial settings mode.
Use the UP/DOWN keys to set the unit to
bar. Confirm by pressing the SET key.
Use the UP/DOWN keys to set the display
color to “switch on green”. Confirm by
pressing the SET key.
Use the UP/DOWN keys to set the operating
mode to “hysteresis”. Confirm by pressing
the SET key.
Use the UP/DOWN keys to set the output
type to “normally closed”. Confirm by
pressing the SET key.
Use the UP/DOWN keys to set the response
time to 2,5 ms. Confirm by pressing the SET
key.
Use the UP/DOWN keys to set auto preset
to “manual”. Confirm by pressing the SET
key. The vacuum switch will return to the
measuring mode.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 19
2.3.5.2 Pressure Setting
The set value for the pressure should be adapted with each change of the EOAT or the
product.
2.3.5.2.1 Evaluation of the set value (n1) and of the hysteresis (H)
• Switch on the vacuum circuit.
• Place all parts on all suction caps of the vacuum circuit.
• The display of the vacuum switch will toggle to green if set correctly.
The value displayed equals P1 in the drawing below (take a note).
• Remove one part from one suction cap of the vacuum circuit.
• The display of the vacuum switch will toggle to red if set correctly.
The value displayed equals P2 in the drawing below (take a note).
The set value (n1) has to be set between P1 and P2. It should be chosen be as close
to P1 as it still toggles safely with the set hysteresis (H). The hysteresis should be
chosen as small as possible.
Factory settings are -0,700 bar for the set value and 0,004 bar for the hysteresis.
2.3.5.2.2 Setting the set value (n1) and the hysteresis (H) at the sensor
Press the SET key (shortly) to enter
the pressure settings mode.
n1 and the current value for the set value
flash alternately.
Press one of the UP/DOWN keys to enter the mode to change the set value n1.
See also „Setting a value“.
After you have set n1,
press the SET key (shortly). H and the
current value for the hysteresis
flash alternately.
Press one of the UP/DOWN keys to enter the mode to change the hysteresis H.
See also „Setting a value“.
Press the SET key (shortly) to return to the measurement mode.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 20
2.3.5.2.3 Setting a value
•
After having pressed an UP/DOWN key in the pressure setting mode, the first
digit of the displayed value will start flashing:
•
Using the UP/DOWN keys it is now possible to change the flashing digit.
•
Press the SET key (shortly), to switch to the next digit:
The following settings are possible at the leftmost digit:
for a positive value
for a negative value
for +1
for –1
•
Press and hold the SET key longer than one second to confirm the value set,
and to return to the previous display.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 21
2.4 Initializing Safety Areas
2.4.1 General
The following forms of safety areas may be monitored:
Safety area
Safety area
4
3
1
2
Column
Fig. 9.1
The switch strip cams of the safety areas must be set so that the switch strip is
approached about 10 cm before the obstacle.
The number of safety area switch points must be configured on site.
Safety areas are not monitored in the NO_REFERENCE mode. The safety area
switches are ignored, because the safety areas have not yet been initialized.
Safety areas can only be deleted by an initial initialization.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 22
2.4.2 Initial Reference Travel
•
Carefully move all axes in the direction of reference position.
Safety areas are not monitored in the NO_REFERENCE mode. The safety area
switches are ignored because the safety areas have not yet been initialized.
•
Perform the initial reference using the reference key.
•
Operating mode will switch to MANUAL.
2.4.3 REF in Manual
•
If the safety areas have not yet been initialized, the REFERENCE operating mode
will not be entered after reference travel, and the following error message will be
displayed:
The number of safety area switch points to be initialized will be shown.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 23
2.4.4 Initializing Safety Area Switch Points
To initialize safety area switch points, proceed as follows.
2.4.4.1 Finding Switch Points
•
Move any desired axis (normally the Z axis) in the direction of a switch point.
•
When the switch point is recognized, the axis will stop.
The following error message will appear:
•
Closing the window with "ESC" only will make it possible to see all messages for
initialization later.
An axis that has several switch points at the same position can only be used for finding
a switch point if an already initialized safety area will not be violated.
2.4.4.2 Finding All Axis Switch Points
•
Move all axes that are monitored in a safety area in the direction of the switch point.
•
When the switch strip cam is reached, the axis will stop with an error message and
will be accepted for initialization.
An axis that is already on a switch strip cam must first be moved away from it. The axis
will only be accepted for initialization when the switch strip is approached again.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 24
2.4.4.3 Initializing All Axis Positions
•
In order to initialize the switch point and store the axis positions, all axes must now
be moved away from the switch strips again.
At this point in initialization, the axes can still be moved in both directions.
RISK OF COLLISION!
•
If all axes have been moved away from the switch strips, the safety area will be
recognized and immediately monitored.
•
If one safety area switch point has been initialized, the operation must be continued
until all switch points have been initialized.
•
Only then can the robot be put into the REFERENCE mode.
2.4.4.4 Aborting Initialization
If during initialization it is found that an axis is not to be monitored in this safety area
after all, initialization may be aborted.
An axis that has already been initialized must be moved back to the switch strip again
in order to abort initialization. The following error message will appear:
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 25
2.4.5 Example: IMM-transom
switch-cam
Proximity switch
SB 2
SB 1
If the obstacle shown above is to be defined as a safety area, proceed as follows (All
axis movements executed using medium manual speed):
initialize SR1 :
Z+
Y+
YZ-
until
until
until
until
"SR1 initialization"
"Y-axis initialization"
"Y-axis is initialized"
"Z- axis is initialized"
and
"Z-axis initialization"
and
"SR1 is initialized"
YZZ+
until
until
until
~0.0mm (Careful, no minus-value!)
clear of SR1
the travelled around the obstacle (SR2)
initialize SR2:
ZY+
YZ+
until
until
until
until
"SR2 initialization"
"Y-axis initialization"
"Y-axis is initialized"
"Z- axis is initialized"
and
"Z-axis initialization"
and
"SR2 is initialized"
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 26
2.4.6 Monitoring Safety Area
If a safety area is violated in manual travel or in automatic operation, the robot will stop
with the following error message.
After a safety area violation only the axis that has violated the safety area can be
moved. If the axis is on the switch strip at the time, it can only be moved away from the
strip.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 27
2.5 Safety Package/Safeguarding
As outlined in Chapter 1, the work envelope of the robot must be properly safeguarded
in accordance with legal regulations.
2.5.1 Safety Package
Our robots with R7 controls are equipped as a standard with a safety package.
The safety package includes:
•
Emergency Stop Disconnect Unit with two channels
•
Safety contactor(s) for hardware shutoff of the axis drive when the safety door
(hatch) is opened. In addition, the software monitors these contactors for proper
operation (redundant safety).
•
Remote control with 2 permit keys
•
Software safety package (monitoring of inputs and outputs)
•
Cable with plug for ease of connection of all necessary switching and display
elements for mounting on an access door or hatch
The robot can be operated only if all safety requirements have been met, i.e., all
protective devices have been properly installed prior to startup of the robot.
For a detailed description of the function of the safety package see Section 3.9.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 28
2.5.2 EXTERNAL Safety Package for Safety Door or Access Hatch
Lamp H302 red
Lamp H301 green
Control with
hard- and software for
the safety package
S301
Door switch1
Control panel
with permit keys
S302
Door switcht2
K309
Door interlock
switch
S303
Button for outside
acknowledgement
and Block Stop
S313
a) Step/Automatic/Reference
b) Manual/Setup
External safety package includes:
•
•
•
•
•
•
Door monitoring switch „Safety Door Open“ (S301)
Door interlock with contact for software monitoring of function
The door can be opened only when the robot motions have come to a complete stop (K309).
Door opening contact with roller switch and cam for confirmation of position:
Door open/closed (S301/S302)
Outside acknowledgment button (S304)
Selector switch for manual/automatic operation (S313)
Mounting panel with junction box, plug and 2 indicator lamps:
(H301): robot disabled
(H302): robot enabled (automatic operation possible)
These parts are required in order to confirm the function of the safety door in the safety
circuit of the robot program and are obtainable, as an option, with or without safety
door.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 29
Before starting up the robot, check the safety circuits as follows:
1)
2)
3)
4)
5)
6)
7)
8)
9)
10)
11)
12)
Install the complete safety package
Check K24V/X100:
If you can measure 24V between K24V and 0V the emergency stop circuit is
enabled.
Check of A24V on terminal X100 (robot disabled):
If a measurement between terminals A24V and 0V indicates 0V, the circuit is
working properly.
Open the safety door.
Close the safety door.
Press the outside acknowledgment button (lamp H301 lights).
Turn the selector switch to „Auto“ setting (lamp H302 lights).
Check A24V/X100 (robot enabled):
If a measurement between terminals A24V/X100 and 0V/X100 indicates 24V, the
circuit is working properly.
Turn the selector switch to „Manual“ (lamp H301 lights).
Check of both permit keys for remote control:
When one of the two permit keys is pressed in, the lamp H301 lights and
operation of the robot with safety door open is possible.
Turn selector switch to „Auto“ position (lamp H302 lights).
Teach the robot a „blank“ program and start automatic cycle:
It must not be possible to open the safety door during automatic operation.
Function of Safety Package:
A)
1)
2)
B)
1)
2)
3)
4)
Interruption of cycle in automatic operation
The selector switch is in the AUTO/STEP/REFERENCE position.
Pressing the „Block Stop“ key on the Teachbox or the button at the safety door
allows the robot to complete the last motion, then the door interlock magnet is
released and the safety door can be opened.
The safety package immediately interrupts the motion in both the hardware and
software upon forcible opening of the safety door.
To resume operation:
- Close doors
- Press outside acknowledgment button
- Press automatic start key. Cycle will resume with the next instruction in
the teach program.
Manual or setup operation
Set selector switch to MANUAL/SETUP.
The door interlock magnet will be released, the door can be opened, and the
safety area can be entered.
All motions can be performed by remote control by simultaneously pressing the
permit keys and the function keys. Before every new motion, the permit key must
be released one time and then pressed again.
A maximum drive speed of 250 mm/sec is possible In Manual/Setup Operation.
To resume operation in automatic mode:
- Close doors
- Press outside acknowledgment button
- Set selector switch to automatic operation
- Press automatic start key; this ensures that the system cannot inadvertently be
started by a third party if an operator is still in the protected area.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 30
Note:
According to applicable safety regulations, slow motions of the robot axes (max.
of 250 mm/sec or 10 in/sec) are not sufficient to allow access to the work
envelope of the robot and to avoid accidents. Access is allowed only if the
automatic mode is completely interrupted and this condition is secured by
hardware contactors that prevent any motion.
2.5.3 Safety Guarding
This consists of safety door and safety guarding elements.
These safety guarding elements are available as an option in the following sizes (width
* height):
- 1000 mm * 2000 mm
- 500 mm * 2000 mm
These provide complete safety guarding of the work envelope of the robot and/or the
entire automated system.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 31
2.6 Electrical Interface
This section is not applicable to robots with an integrated system, since here the
signals are transmitted to the injection molding machine via a CAN-BUS interface.
Robots equipped with a R7 control unit are available with 2 different interface versions
to communicate with the injection molding machine:
•
•
Euromap 67
Euromap 12
Both versions are described in the following chapters.
2.6.1 Euromap 67 interface
The Euromap 67 interface defines the connection plug between the injection molding
machine and the robot:
socket
pin
Robot Plug
Plug on Injection Molding machine
The robot-injection molding machine interface is designed according to the directives of
Euromap 67, which states:
Unless otherwise noted, the signals level signals, which are maintained during the
described function.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 32
2.6.1.1 Injection Molding Machine (IMM) Signals
Pin contact
no.
ZA1
ZC1
ZA1
ZC2
ZA3
ZC3
ZA4
ZC4
ZA5
ZA6
ZA7
ZA8
Optional
ZA9
ZB2
ZB3
ZB4
ZB5
ZB6
ZB7
Optional
Function
Emergency Stop Channel 1
The emergency stop switch of the injection molding machine is used to interrupt
the emergency stop circuit of the robot.
Emergency Stop Channel 2
The emergency stop switch of the injection molding machine is used to interrupt
the emergency stop circuit of the robot.
Safety system active Channel 1
For protecting against hazardous motions of the robot. The switch is closed
when the safety system of the injection molding machine is active.
Safety system active Channel 2
For protecting against hazardous motions of the robot. The switch is closed
when the safety system of the injection molding machine is active.
Reject
The signal is HIGH when the molded piece is a reject. The switch must be
closed when the tool is open and must remain HIGH at least until “close tool
enabled“ (see pin contact No. A6).
Mold closed
HIGH signal when tool closing has been completed; the signal “close tool
enabled“ is no longer necessary (see pin contact No. A6).
Mold open
HIGH Signal if the mold opening position is equal or more than the required
position. Inadvertent alteration to mold opening stroke smaller than that required
for the robot to approach must be impossible.
Mold at intermediate position
HIGH signal when the mold opening has reached the specified intermediate
position and remains HIGH until the mold is completely open. The signal may be
used in two ways:
1.) The mold stops in the intermediate position, whereupon a signal is sent to the
robot. Complete opening of the IMM takes place through the signal “complete
mold opening enabled“ (see pin A7).
2.) The IMM transmits the signal, but does not remain in the intermediate
position.
Signal is LOW when the intermediate position is not used.
Signal Voltage Robot 24V DC
Fully automatic mode injection molding machine
HIGH signal, when operating the injection molding machine together with the
robot is possible.
Ejector back position
HIGH signal when the ejector is back, regardless of the position of the movable
tool plate. The signal acknowledges “ejector back enabled“ (see pin contact
No.B3).
Ejector forward position
HIGH signal when the ejector is forward. The signal acknowledges “ejector
forward enabled“ (see pin contact No. B4).
Core pullers 1 free for robot to approach
HIGH signal when the core pullers, regardless of the position of the movable tool
plate, are in position for the robot to approach.
Core pullers 1 in position to remove molding
HIGH signal when the core pullers are in position for removal of the injection
molding.
Core pullers 2 free for robot to approach
HIGH signal when the core pullers, regardless of the position of the movable tool
plate, are in position for the robot to approach.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Pin contact
no.
ZB8
Optional
ZC5
ZC6
ZC7
ZC8
ZC9
Page 33
Function
Core pullers 2 in position to remove molding
HIGH signal when the core pullers are in position for removal of the injection
molding.
reserved for future EUROMAP signal
reserved for future EUROMAP signal
reserved for future EUROMAP signal
free
Signal Ground Robot 0V
2.6.1.2 Robot Signals
Pin contact
no.
A1
C1
A2
C2
A3
C3
A4
C4
A5
A6
A7
optional
A8
A9
B2
B3
B4
Function
Emergency stop of robot Channel 1
Opening of the switch contacts of the robot must shut off the control system of
the molding machine.
Emergency stop of robot Channel 2
Opening of the switch contacts of the robot must shut off the control system of
the molding machine.
Mold area free
Signaling is effected by the limit switch at the travel-in rail. The switch is opened
when the travel-in rail, in the region of the injection molding machine, leaves its
starting position before it is moved into the tool area. If the switch is open,
neither a closing nor opening motion of the tool may take place.
Even when the control system of the robot is shut off, the switch must work as
described.
reserved for future EUROMAP signal
free
Close mold enabled
HIGH Signal when the robot is far enough out of the tool that it can be closed
and when other robot control systems enable closing of the tool. The signal
remains HIGH for the duration of the tool-closing operation. In the event of a
LOW signal due to a disturbance, the tool-closing motion must be aborted.
Note: The signal “close tool enabled“ may not be linked with other OR signals in
any operating mode.
Complete mold opening enabled
HIGH Signal when the robot has removed the piece from the mold and permits
further opening of the mold. The contact must remain closed until the IMM gives
the signal “mold open“.
reserved for future EUROMAP signal
Signal Ground IMM 24V DC
Operation with robot
At operation with robot the signal is LOW.
Ejector back enabled
HIGH signal when the removal operation has been performed far enough for the
motion “ejector back“ to be carried out. The signal is HIGH for the duration of the
motion “ejector back“. The signal must be maintained at least until the signal
“ejector back“ from the molding machine (see pin contact No. ZB3).
Ejector forward enabled
HIGH signal, when the removal operation has been performed far enough for the
motion “ejector forward“ to be carried out. The signal is HIGH for the duration of
the motion “ejector forward.“ The signal must be maintained at least until the
signal “ejector forward“ from the molding machine (see pin contact No. ZB4).
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Pin contact
no.
B5
B6
B7
optional
B8
optional
C5
C6
C7
C8
C9
Page 34
Function
Enable movement of core pullers 1 to position for the robot to approach
freely. HIGH signal when the motion of the core pullers is to the position for the
robot to approach freely is enabled.
Enable movement of core pullers 1 to position for removal of the molding
HIGH signal when the motion of the core pullers is to the position for removal of
the molding is enabled.
Enable movement of core pullers 2 to position for the robot to approach
freely. HIGH signal when the motion of the core pullers is to the position for the
robot to approach freely is enabled.
Enable movement of core pullers 2 to position for removal of the molding
HIGH signal when the motion of the core pullers is to the position for removal of
the molding is enabled.
free
reserved for future EUROMAP signal
reserved for future EUROMAP signal
free
Signal Ground IMM 0V DC
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 35
2.6.2 Euromap 12 Interface
The interface consists of the plug connection between the injection molding machine
and the robot :
1
25
9 2
10 3
17 26
11
4
19 28
5
20 29
6
21 30
7
22 31
8
23 32
12
Socket
13
14
15
16
18 27
Pin
24
The robot-injection molding machine interface is designed according to the directives of
VDMA 24465, and/or according to Euromap 12, which state:
Unless otherwise noted, the signals are maintained during the described function and
should not be shorter than 0.5 sec.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 36
2.6.2.1 Injection Molding Machine (IMM) Signals
Pin contact
No.
1, 9
2
3, 11
4
5
6
7
8
10
11
12
13
14
15
16
Function
Emergency Stop
The emergency stop switch of the injection molding machine is used to interrupt
the emergency stop circuit of the robot.
Mold open
The signal is produced by closing the switch. Signal must be interlocked so that
it can be produced only when the minimum tool opening for insertion is reached.
Safety system active
For protecting against hazardous motions of the robot. The switch is closed
when the safety system of the injection molding machine is active.
Ejector back
Switch is closed when the ejector is back, regardless of the position of the
movable tool plate. The signal acknowledges “ejector back enabled“ (see pin
contact No. 21).
Ejector forward
Switch is closed when the ejector is forward. The signal acknowledges “ejector
forward enabled“ (see pin contact No. 22).
The signal may be an impulse.
Core pullers free for robot to travel in
Switch is closed when the core pullers, regardless of the position of the movable
tool plate, are in position for free travel-in of the robot.
Core pullers in position for removal of injection moldings
Switch is closed when the core pullers are in position for removal of the injection
molding.
The signal may be an impulse.
Reject
Switch is closed when the molded piece is a reject. The switch must be closed
when the tool is open and must remain closed at least until “close tool enabled“
(see pin contact No. 17).
Fully automatic mode injection molding machine
Switch is closed when the operating mode selector switch is on “fully automatic
mode.“
Reserved for SUVA Safety Package: IMM safety door closed +24V
Mold closed
Switch is closed when tool closing has been completed; the signal “close tool
enabled“ is no longer necessary (see pin contact No. 17).
Free
Mold at intermediate position
Switch is closed when the IMM has reached the specified intermediate position
and remains closed until the IMM is completely open. The signal may be used in
two ways:
1.) The mold stops in the intermediate position, whereupon a signal is sent to the
robot. Complete opening of the IMM takes place through the signal “complete
mold opening enabled“ (see pin 28).
2.) The IMM transmits the signal, but does not remain in the intermediate
position.
Switch is open when the intermediate position is not used.
(Option: Reserved for SUVA Safety Package: IMM safety door closed Channel
2)
No part available
Signal voltage of robot
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 37
2.6.2.2 Robot Signals
Pin contact
No.
17
18, 26
19, 27
20
21
22
23
24
25
28
29
30,31
32
Function
Close tool enabled
Switch closes when the robot is far enough out of the tool that it can be closed
and when other robot control systems enable closing of the tool. The switch is
closed for the duration of the tool-closing operation. In the event of contact
release due to a disturbance, the tool-closing motion must be aborted.
Note: The signal “close tool enabled“ may not be linked with other OR signals in
any operating mode.
Tool area free
Signaling is effected by the limit switch at the travel-in rail. The switch is opened
when the travel-in rail, in the region of the injection molding machine, leaves its
starting position before it is moved into the tool area. If the switch is open,
neither a closing nor opening motion of the tool may take place.
Even when the control system of the robot is shut off, the switch must work as
described.
Emergency stop of robot
Opening of the switch contacts of the robot must shut off the control system of
the molding machine.
Operation with robot
With the robot in operation the switch is open.
Ejector back enabled
Switch closes when the removal operation has been performed far enough for
the motion “ejector back“ to be carried out. The switch is closed for the duration
of the motion “ejector back“. The signal must be maintained at least until the
signal “ejector back“ from the molding machine (see pin contact No. 5).
Ejector forward enabled
Switch closes when the removal operation has been performed far enough for
the motion “ejector forward“ to be carried out. The switch is closed for the
duration of the motion “ejector forward.“ The signal must be maintained at least
until the signal “ejector forward“ from the molding machine (see pin contact No.
5).
Enable motion of core pullers for removal of injection moldings
Switch is closed when the motion of the core pullers is enabled.
Enable motion for free travel-in of robot
Option: Reserved for SUVA Safety Package: Robot safety door acknowledged
outside 1st channel
Complete mold opening enabled
Switch is closed when the robot has removed the piece from the mold and
permits further opening of the mold. The contact must remain closed until the
IMM gives the signal “mold open.“ If the contact is not used, it must remain open.
(Option: Reserved for SUVA Safety Package: Robot safety door
acknowledged outside Channel 2)
reserved for future EUROMAP signal
free
Signal voltage of molding machine
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 38
3 Operating Instructions for R7 Control
3.1 Basic Operation
3.1.1 Introduction
The R7 control unit is a high-performance control system with a teach programming
interface for the robot and peripheral equipment.
Before starting up the robot for the first time, please review the manual thoroughly and
familiarize yourself with the operation of the robot, to avoid improper use or
programming.
Improper use or programming may result in injury to personnel and damage to the
robot, gripper, mold or injection molding machine. Programming of the robot must be
carried out only by trained personnel who are fully familiar with the operation of the
robot.
We offer training sessions at our service centers. Please contact us.
3.1.2 Robot Axes
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 39
3.1.3 Emergency Stop Block
The buttons on the Emergency Stop Block are used for basic operation of the robot.
This buttons work regardless whether the Teachbox is connected or disconnected.
Depending on the mode of operation the LED of the corresponding button is lit.
Fig.: Emergency Stop Block
Reference travel
Performance of the reference travel. Possible in the mold area only
when a reference program has been programmed.
IMM: Operation with robot
Enables operation of IMM with robot. In shut-off state the IMM can be
operated without robot.
Automatic-Start
Start of automatic operation. The robot must be in reference position
and operation with robot must be activated.
Block Stop
Ends automatic operation after complete execution of the currently
processed instruction or group of instructions. Automatic operation may
be continued by pressing the Automatic Start button again.
Manual operation / Stop
Causes an immediate stop and switches to manual operation.
Control Voltage On
Press to switch on the control voltage after the mains switch has been
turned on, or after an emergency stop.
EMERGENCY STOP
Causes the robot to stop immediately. All outputs are disabled through
hardware, the EMERGENCY STOP circuit to the IMM is interrupted and
the LED of the
button is lit.
The error message EMERGENCY STOP appears on the display.
See also: 3.1.14.18 Virtual Sub Pendant
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 40
3.1.4 Numerical Input
This window is used to input numbers when necessary.
Fig.: Numerical Input
The title bar displays the name of the parameter. The minimum and maximum values
for the parameter are shown left and right of the current value and on the status bar at
the bottom of the window.
Input the digits using the numeric keys.
discards the changes.
and
move the Cursor to the desired direction.
deletes from the current cursor position to the right.
deletes from the current cursor position to the left.
discards the changes and closes the window.
confirms the value and closes the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 41
3.1.5 Text Input
This window is used to input text when necessary.
Fig.: Text Input
The name of the parameter is shown on the status bar at the bottom of the window.
Input is done using the alphanumeric keys that are positioned like on a typewriter.
discards the changes.
and
move the Cursor to the desired direction.
deletes from the current cursor position to the right.
deletes from the current cursor position to the left.
discards the changes and closes the window.
confirms the value and closes the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 42
3.1.6 Operating Modes
Operation of the robot requires knowledge about the various operating modes of the
robot.
These divide to the following:
Reference Missing
Status of the control unit after activation. All manual functions are
available, but the numerical axis positions shown on the Teachbox display
are invalid. In order to be able to use all functions of the robot, a reference
travel must be performed.
Manual
All functions of the robot are available; the Teachbox displays valid
position values. In order to be able to start automatic operation, a
reference travel must be performed.
Reference
All axes, vacuum and gripper circuits are in their respective reference
positions. The teached reference programs have been executed. It is
possible to start automatic operation.
Automatic
The Teachprogram loaded to the Master CPU is being executed.
Blockstop
End of automatic operation after complete performance of the currently
processed instruction or group of instructions. Automatic operation can be
resumed at the next program line by pressing the button
.
See also:
3.1.7 Operating Mode Reference
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 43
3.1.7 Operating Mode Reference
The Reference travel brings the robot and any peripheral equipment present into a
defined home position in order to enable operating mode Automatic. The reference
positions of the gripper and vacuum circuits are selectable.
As long as no reference travel has been successfully executed after powering up the
unit, only the operating mode
Reference Missing will be available.
Depending on the current operating mode of the robot, two different types of reference
travel are executed when the button
•
•
is pressed:
Reference travel in the operating mode Reference Missing
Reference travel in the operating mode Manual
3.1.7.1 Reference travel in the operating mode Reference Missing
In the operating mode
Reference Missing no reference travel can be executed in
the mold area. First, the axes have to be moved out of the mold area using manual
functions; furthermore the B-axis (if present) must be moved to its 0-position.
Press and hold the button
robot.
to start the initial standard reference travel for the
The axes will be traveled to their reference positions using the sequence Y-X-Z-C-A.
Pneumatic axes simply travel to their 0-position limit switch.
Also the numerical axes travel to their 0-position limit switch at first. Axes with an
incremental encoder then travel to the reference mark of the encoder. After that the
respective axis travels to its configured reference position. In standard configuration
this is 10.0 mm (0.04") in plus direction from the 0-position limit switch. After reaching
this reference position the numerical position of the axis is set to zero.
If the button is released before the reference position of the robot is reached, the
movement is stopped immediately.
When the button
is pressed again, the sequence is restarted with the Y-axis.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 44
When all axes have reached their reference position, the robot switches to operating
mode Manual.
The Icon
of the button
is shown at the status bar in the upper left corner of the display; the LED
is lit.
If no corresponding reference travel (ROBOT-REF) has been programmed, now the
grippers have to be brought to their defined reference position. At last the reference
travel in the operating mode Manual has to be carried out, in order to enable automatic
operation.
3.1.7.2 Reference travel in the operating mode Manual
Press and hold the button
to start the reference travel.
If reference teachprograms for the robot (ROBOT-REF) and the peripheral equipment
(PERI-REF) are programmed, at first these sequences are carried out simultaneously
(!). This makes it possible to reference the robot from inside the mold area, and to bring
peripheral equipment to its home position at the same time. Furthermore the vacuum
and gripper circuits can be switched to their reference states by the reference
teachprograms.
If no reference travel for the robot has been programmed, or if after carrying out the
reference teachprograms individual axes have not yet reached their 0-position, these
axes are moved into their reference position in the sequence Y-X-Z-C-A.
When the button
is released, the movement is stopped immediately. When the
button is pressed again, the reference travel will start from the beginning.
When the reference position is obtained, the robot switches to operating mode
Reference.
The Icon
of the button
is shown at the status bar in the upper left corner of the display; the LED
is lit.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 45
3.1.8 Override
This function is used to set the travel speeds of the motor axes in connection with the
maximum speed (VMAX) set in the teach program. If no speed initialization was carried
out with the VMAX instruction in the teach program, Vmax is automatically set to 50%.
The key
can be used in every operating mode to open the override window.
Here you can use the sliders to change the Overrides for the numerical axes of the
robot.
Fig.: Sliders
When the option locked is activated with a all sliders are moved together. When the
option locked is deactivated, the overrides of the axes can be altered individually.
The keys
and
The key
can be used to set the Overrides of all axes to 30% simultaneously.
are used to change the Overrides in steps of 1%.
is used to exit the override window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 46
Preferably the speeds of the numerical axes should be set in the Teachprogramm
using VMAX and VABS commands. This should happen in a way that the Overrides of
the axes can be set to 100% when the robot is executing the standard production
cycle.
The Overrides are automatically reduced to 30%, when:
- a new teachprogram is started.
- the robot is being powered up.
Example:
In the teach program a maximum speed of 80% of the maximum design speed (design
Vmax) was programmed for the Z axis (Vmax=80%).
The manual override is set at 50% (of Vmax).
Therefore the drive speed is 40% of the maximum design speed.
Fig.: VMAX and Override
Refer to: VMAX, VABS
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 47
3.1.9 Safety System
3.1.9.1 Startup with Safety System
3.1.9.1.1 Manual Setup Mode
In order to be able to travel in the manual mode after the control unit has been
activated, the selector switch must be in the MANUAL SETUP position, and one of the
permit keys
on the teachbox must be actuated.
3.1.9.1.2 Automatic Mode, Step Mode, Reference Travel
After the control unit has been activated, safety must be ensured, since otherwise the
AUTOMATIC, STEP and REFERENCE TRAVEL modes cannot be used with the robot.
To ensure safety:
1.) Open safety door
2.) Close safety door
3.) Press outside acknowledgment key
4.) Set selector switch to position Auto-Step-Reference
The period between opening and acknowledgment outside may be as long as desired
(no time monitoring features are in place).
3.1.9.2 Selection of Operating Modes
3.1.9.2.1 Manual Setup Mode
If the selection switch is in the position MANUAL SET UP, each axis may be moved by
located on the manual control unit. If you release the
pressing the permit key
key the selected function will be stopped immediately (software axis stop function;
power supply 24 V for outputs will be disconnected through hardware).
During each change of function (e.g., X axis to Y axis) the permit key must be released
and then pressed again. In order to enter the teach mode, you must first perform
referencing (ensure safety - set selector switch to position Auto - Stepping Reference). Then call up the teach mode and set the selector switch to position
MANUAL SET UP. Now the safety door can be opened and it will be possible to teach
the positions inside the protective guarding using the permit key.
3.1.9.2.2 Automatic Mode, Step Mode, Reference
In order to travel to the reference position, all doors must be checked for safety. The
selector switch must be set to AUTOMATIC - STEPPING - REFERENCE position. This
applies to the automatic and stepping modes as well. Should it be necessary to access
the machine during the automatic cycle, press the
key first in order to unlock
the door. The door will be unlocked when all axes have completed their motions. If the
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 48
door is not opened, automatic operation can be continued with the
key.
However, if the door is opened, safety must be ensured after the intervention and the
removal cycle will be continued with the
key. If Safety ensured is shown on the
input, the reference position may be approached and automatic operation started.
Safety must also be ensured for the STEP mode.
3.1.9.3 Monitoring of the Safety Gate
The safety gate monitoring system is active only when the selector switch is in the
AUTOMATIC - STEP - REFERENCE position.
Safety Gate:
The safety gates are electrically monitored by a safety module which ensures that the
robot can be used only in manual operation when someone is within the safeguarded
area, and that no one can accidentally enter the hazardous area of the plant while the
robot is used in the automatic mode. In addition, it is verified that no switches have
been bridged or "illegal" interventions made in the safety circuits.
3.1.9.4 Error Effect Analysis
-
Safety gate is forced open during automatic operation
-> The safety contactor circuit disconnects all outputs from the power supply by
means of hardware. At the same time, the automatic cycle is interrupted by the
software and shift to manual operation is made.
-
The safety gate is opened during the block stop mode
-> The safety contactor circuit disconnects all outputs from the power supply by
means of hardware. At the same time, the software does not permit start of a
new function. Hence a defective output or a faulty program will not lead to an
undesirable motion.
-
In the MANUAL SETUP MODE (safety gate not monitored) an axis motion can
be executed only with the permit key. If this key is pressed for a longer period
(30 sec.) without a motion being performed, no new travel instruction may be
executed (by the software). The entire system will go into a failure state (time
monitoring permit key).
-
In addition, in an unsafe state all motor axes will be disconnected
by means of hardware from the frequency converter/servo module
feeder line through contactor disconnects.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 49
3.1.10 User Administration and Passwords
User management makes it possible to assign different rights of access to fifteen
different users for operation of the robot. For example, operators may be authorized
only for robot operation, shift supervisors for manual functions as well, while machine
programmers could also be allowed to load and change programs, and so forth.
User's rights may be freely specified in 8 different user profiles. The seventh profile
defines what can be accessed without entering a password. The eighth profile (profile
0) is permanently defined and is reserved for the administrator (Admin) of the system.
The administrator is assigned all rights; as sole user authorized to do so, he may also
create profiles and change passwords. Each user receives a personal password and is
assigned one of the six user profiles.
Write down the passwords, especially the administrator password and keep them in a
suitable safe place.
If you lose the administrator password the functions reserved for the administrator
(Changes in the password system) will be no longer accessible! In this case please
contact our nearest service center.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 50
3.1.10.1 Activate
To enable administration of users and passwords, the function has to be activated first.
Tap the menu Init and User Administration to do so.
You then will have to login as administrator using the following window
The user name for the administrator is always ADMIN,
the password for the administrator is 1234 at delivery.
You can enter the password after tapping the input field using the dialogue for
numerical input.
discards the entries and closes the window.
confirms the entries and activates the user administration.
After initial activation of the user administration the password of the administrator must
be changed in order to avoid unauthorized access.
After activation of the user administration only the buttons for changing the mode of
operation and the functions activated in profile 7 can be accessed. To access other
functions a user must login.
After initial activation of the user administration it is necessary to create users and
profiles to enable the use of the appliance!
The administrator must login to deactivate the user administration!
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 51
3.1.10.2 Users
Creating, changing and deleting of users is only possible if you login as administrator.
In the menu Init select User Administration, and switch to the tab Users.
Here you can assign User Profiles to existing users by activating the desired option in
the line with the user by tapping the option.
is used to create a new user.
is used to delete the highlighted user.
is used to edit the highlighted user
is used to save the displayed user data to a file inside the teachbox. This way the
user data can be exported to a different robot.
is used to load the user data saved to the teachbox previously, and to import and
use it on the current robot.
is used to deactivate the user administration.
discards the entries and closes the window.
confirms the new user data.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 52
3.1.10.2.1 User (create, change)
Here you can create a user or change the data of a user.
Fig.: Window to edit a user
After tapping the respective input field, the desired value can be entered using the
dialogue either for text input or numerical input.
discards the entries and closes the window.
confirms the new profile data.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 53
3.1.10.3 Profiles
You have to login as administrator to access the user profiles.
In the menu Init select User Administration and switch to the tab Profiles.
Here you can set up user profiles 1 to 7 to suit your needs.
is used to lock the highlighted function in the respective profile. This will be
indicated by an x in the table.
is used to give a "read only" permission for the highlighted function in the
respective profile. This will be indicated by an r in the table.
is used to give a "read and write" permission for the highlighted function in the
respective profile. This will be indicated by an r/w in the table.
is used to save the displayed profile data to a file inside the teachbox. This way the
profile data can be exported to a different robot.
is used to load the profile data saved to the teachbox previously, and to import and
use it on the current robot.
is used to deactivate the user administration.
discards the entries and closes the window.
confirms the new profile data.
Profile 7 is used to permit functions for use without password!
If for the Graphic Editor or the Text Editor a "read and write" permission is given,
automatically a "read and write" permission is given for the Manual Functions.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 54
3.1.10.4 Login
With user administration activated in the logged out state (e.g. after powering up the
unit) only the buttons to change the mode of operation, the help function and the
functions activated in profile 7 are available. All other functions are deactivated.
The icon
will be displayed in the status bar.
Each user has to login with name and password to access the functions attached to his
profile. Tap the menu Init and there Login to do so.
You then can login using the following window:
Enter your user name after tapping the input field Insert Username using the dialogue
for Text Input.
Enter your user password after tapping the input field Insert Userpassword using the
dialogue for Text Input.
discards the entries and closes the window.
will confirm the entries and log you in.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 55
3.1.10.5 Logout
With user administration activated, one should logout when leaving the Teachbox, in
order to avoid misuse of the appliance.
Tap the menu Init and Logout to do so.
The Icon
will be displayed in the status bar.
Only the buttons to change the mode of operation, the help function and the functions
activated in profile 7 will be available. All other functions will be deactivated.
3.1.10.6 Forgot Password
In case you forgot the administrator password, you can press the button Forgot
Password in the Login window to get the passwords encrypted to a code:
With this code you can contact our local service center to help you.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 56
3.1.11 Manual Functions
3.1.11.1 Numerical Axes
This function is used to manually move the selected numerical axis in the operating
Manual,
Reference and
Reference Missing. Furthermore the
modes
current position of the axis is displayed in all operating modes.
Whether the numerical axes can be moved using variable or fixed manual speeds is
being set in the Init Menu Setup: Robot Settings.
Fig.: Numerical axis with variable manual speed
Fig.: Numerical axis with fixed manual speeds
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 57
moves the axis into plus direction with variable speed.
moves the axis into plus direction with high manual speed.
moves the axis into plus direction with low manual speed.
moves the axis about 0,1mm into plus direction.
moves the axis about 0,1mm into minus direction.
moves the axis into minus direction with low manual speed.
moves the axis into minus direction with high manual speed.
moves the axis into minus direction with variable speed.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 58
3.1.11.2 Axis Release in Manual Mode (optional)
When horizontal, numerical axes are equipped with the optional feature of Axis
Release, it can also be activated in operating mode Manual. Releasing an axes in
manual mode will open the brakes of the respective axes, which results in the
possibility to shift those axes by hand.
Activation is done in the View Menu Axes Positions:
Fig.: View Menu Axes Positions with Release
With a
at the option Release the respective axis will be released immediately.
The release can be switched off manually tapping the option Release again.
Additionally the release will be switched off automatically, if any other drive command
is sent to the axis.
is used to release all releasable axes.
is used to deactivate all releases.
See also: 3.3.1.1.8 Teach command Axis Release
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 59
3.1.11.3 Pneumatic Axes
This function is used to manually move the selected pneumatic axis in the operating
modes
Manual,
Reference and
Reference Missing. Furthermore the
current position of the axis is displayed in all operating modes.
Fig.: Window for pneumatic axes
moves the axis directly to the endposition in plus direction.
moves the axis to the next intermediate position in plus direction.
moves the axis to the next intermediate position in minus direction.
moves the axis directly to the endposition in minus direction.
The number of positions depends on the type and equipment of the selected axis.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 60
3.1.11.4 Digital (B-) Axes
This function is used to manually move the selected digital axis in the operating modes
Manual,
Reference and
Reference Missing. Furthermore the current
position of the axis is displayed in all operating modes.
Fig.: Window for digital axes
moves the axis 90° into plus direction.
moves the axis 60° into plus direction.
moves the axis 15° into plus direction.
moves the axis 15° into minus direction.
moves the axis 60° into minus direction.
moves the axis 90° into minus direction.
When traveling a digital axis, the respective button should be held until the control unit
has finished the selected movement. Otherwise the axis may stop between two
positions and cause an error message.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 61
3.1.11.5 Counters
This function is used to display, reset or set the 64 counters of the teachprogram in any
mode of operation.
Fig.: Counter window
is used to set the selected counter to a desired value. The numeric value is
entered using the dialogue for numerical input.
is used to reset the selected counter to zero.
is used to reset all 64 counters to zero.
Depending upon the application of the counter in the teach program, modifying
counters (especially in automatic mode) can result in serious changes in execution of
the program, as well as in damage due to collisions! Therefore, counters should
(especially in automatic mode) be modified only with caution by persons who are
familiar with the effects of such modification on the teach program.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 62
3.1.11.6 Placing Counters
This function is used to display the current values of the counters of the 16 placing
programs of the teach program in all operating modes. In operating modes
Manual,
Reference and
reset the counters to zero.
Reference Missing it is furthermore possible to
Fig.: Window for placing counters
Name
Shows the name of the respective placing program.
Used Axes
This shows which axes are used in the respective placing program.
1. - 2. - 3.
This shows the current values of the placing counters of the respective placing
program.
Part Counter
This shows the current value of the part counter of the respective placing program.
is used to reset the counters of the selected placing program.
is used to reset the counters of all 16 placing programs.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 63
3.1.11.7 Conveyors
This function is used to manually switch the conveyors during operating modes
Manual,
Reference and
Reference Missing. Furthermore the current
states of the conveyors are displayed in all operating modes.
Fig.: Window for conveyor belts
means the respective conveyor is OFF.
means the respective conveyor is ON.
is used to switch the selected conveyor on.
is used to switch the selected conveyor off.
or
switches all conveyors to the state of the selected one.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 64
3.1.11.8 Peripheral Outputs
This function is used to manually switch the peripheral outputs during operating modes
Manual,
Reference and
Reference Missing. Furthermore the current
states of the peripheral outputs are displayed in all operating modes.
Fig.: Window for peripheral outputs
means the respective peripheral output is OFF (LOW).
means the respective peripheral output is ON (HIGH).
is used to switch the selected peripheral output on.
is used to switch the selected peripheral output off.
or
switches all peripheral outputs to the state of the selected one.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 65
3.1.11.9 Vacuums
This function is used to manually switch the vacuum circuits during operating modes
Manual,
Reference and
Reference Missing. Furthermore the current
states of the vacuum circuits are displayed in all operating modes.
Fig.: Window for vacuum circuits
means the respective vacuum is OFF.
means the respective vacuum is ON.
is used to switch the selected vacuum on.
is used to switch the selected vacuum off.
or
switches all vacuum circuits to the state of the selected one.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 66
3.1.11.10 Grippers
This function is used to manually switch the grippers during operating modes
Manual,
Reference and
Reference Missing. Furthermore the current
states of the grippers are displayed in all operating modes.
Fig.: Window for grippers
means the respective gripper is OPEN.
means the respective gripper is CLOSED.
indicates that the gripper is RELEASED.
indicates that the state of the gripper is UNKOWN.
is used to switch the selected gripper on.
is used to switch the selected gripper off.
is used to release the selected gripper.
,
or
switches all grippers to the state of the selected one.
The state RELEASED is only available at gripper circuits equipped with the required
valves.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 67
3.1.11.11 Cylinders
This function is used to manually switch the Cylinders defined within the teach program
during operating modes
Manual,
Reference and
Reference Missing.
Furthermore the current states of the cylinders are displayed in all operating modes.
Fig.: Window for cylinders
indicates that the cylinder is in OFF position.
indicates that the cylinder is in ON position.
indicates that the cylinder is RELEASED.
indicates that the state of the cylinder is UNKOWN.
is used to switch the selected cylinder to its ON position.
is used to switch the selected cylinder to its OFF position.
is used to release the selected cylinder.
,
or
switches all cylinders to the state of the selected one.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 68
3.1.12 FILE Menu of the main screen
3.1.12.1 Properties
Here the properties of the teachprogram in the Master CPU are displayed. That is the
program which is executed when the robot is in automatic operation.
Fig.: Window for properties of the CPU program
Name of Teachprogram
Shows the name of the teachprogram in the Master CPU. This name is not necessarily
the same as the file name of the program.
CPU = Teachbox or CPU <> Teachbox
Displays whether the teachprograms in the Master CPU and the Teachbox are equal or
unequal.
Tooldata
Displays the tooldata text of the teachprogram in the Master CPU. The text for tooldata
can only be edited in the properties window of the text editor or graphical editor.
Size
Displays the size of the teachprogram in the Master CPU. The maximum size of a
teachprogram is limited to 32.768 bytes.
Number Part Programs
Shows the number of part programs of the teachprogram in the Master CPU: ROBOTPRG, PERI-PRG, ROBOT-REF, PERI-REF, ALLMODE-PRG and up to 11 additional
part programs.
Number Placing Programs
Shows the number of placing programs used in the teachprogram in the Master CPU.
The maximum number of placing programs available in a teachprogram is limited to 16.
If a picture has been associated with the selected teachprogram,
open the picture viewer.
can be used to
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 69
3.1.13 INIT Menu
The INIT menu is used to adjust robot settings.
3.1.13.1 Stroke Limits
The stroke limits are software limit switches to limit the maximum travel range of an
Reference Missing the stroke limits are not active, the
axis. In operating mode
axes travel is limited by the hardware limit switches. If a stroke limit is reached in
manual mode, the robot will stop at the position value of the stroke limit without an error
message. In automatic mode the error message "Illegal Set Position" will be shown.
The stroke limits can be entered directly using the Teachbox, or can be determined by
approaching the respective limit switches.
Direct entry using the Teachbox
Fig.: Window for stroke limits
After tapping the respective input field, the desired axis value can be input using the
dialogue for numerical input. The title bar of the dialog box will show which axis value is
to be entered while doing so.
discards the entries and closes the windows.
changes the stroke limits to the entered values.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 70
Approach the endposition limit switches of an axis
•
Enter the maximum value (99999.9) as the stroke limit for the axis
•
Approach the limit switch end position (+) in the
maximum speed until the axis stops automatically.
•
The error message "Limit Switch End Position" will appear and the stroke limit
is adjusted to the current position.
•
Acknowledge the error message with
•
Now move the axis away from the end position again.
•
Move the axis back to the end position until no error message appears at the
automatic stop.
manual mode at
.
3.1.13.2 Lubrication Interval
This function was introduced in order to call the user's attention to regular lubrication of
the guides.
Fig.: Window for lubrication
In the line Conf.Interval the configured lubrication interval in kilometers is shown.
At the axes the distances travelled since the last lubrication are shown.
If the distance travelled by one axis exceeds the configured interval, the symbol
will be shown in the status bar, to remind that lubrication is needed.
After the robot has been lubricated, the travelled distances can be reset to zero using
the button
.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 71
3.1.13.3 Setup: Robot Settings
Fig.: Window for robot settings
Set Service Signal when Lubrication Interval is reached
This is used to configure whether or not an output is to be switched on once the
lubricating interval has been exceeded. Any desired signal transmitter (horn, lamp, etc.)
may be connected to this output.
Switch POs in Editor On
This function is used to configure whether or not peripheral outputs and conveyors are
turned on or off during teaching when the corresponding function is programmed. I.e., if
this option is activated and the command to turn on peripheral output 2 is entered in the
editor, output 2 will in fact be turned on immediately. This will not happen if the option
Switch POs in Editor On is deactivated.
Step speed
Speed setting in percent of the configured maximum axis speed used for axes
movements in step mode and while executing programmed reference travels. After
tapping the input field the desired value can be entered using the dialogue for
numerical input. Value range is from 1 to 30%.
Clear Counters
This is to determine when the counters and placing programs of the teach programs
are to be cleared automatically. If the option Clear Counters with New Teach Program
is deactivated, the request Clear all Placing programs and Counters? is shown every
time a new or changed teach program is being transferred.
Axes Speeds
This is to determine if numerical axes use variable or fixed speeds for manual
movements.
discards the entries and closes the windows.
changes the stroke limits to the entered values.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 72
3.1.13.4 Setup: Date / Time
Here you can set date and time.
Fig.: Window for date and time settings
discards the entries and closes the windows.
changes the stroke limits to the entered values.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 73
3.1.13.5 Setup: Screensaver Properties
Fig.: Window for the properties of the screensaver
Start screensaver after inserted time
This is used to activate or deactivate the screensaver.
Activation Timeout
This is the time to pass after the last touching of the touchscreen, before the
screensaver starts. After touching either the minutes or seconds field, values are input
using the dialogue for numerical input.
Switch Time
This is the time the screensaver uses to show each picture. After touching either the
minutes or seconds field, values are input using the dialogue for numerical input.
is used to start the screensaver immediately for testing purposes.
discards the entries and closes the window.
confirms the entries and closes the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 74
3.1.13.6 Setup: Language
This is to change the display language of the Teachbox.
Fig.: Window for language setting
First select the desired language from the list by tapping it.
Then press
to load the selected language.
During the loading process a window with a progress bar is shown.
is used to close the window without changing the language.
3.1.13.7 Setup: Calibrate Touch
This function is used to calibrate the touchscreen of the Teachbox. This is necessary
for the Teachbox to correctly calculate digital X/Y coordinates from the two analogue
resistance values supplied by the touchscreen. Only then it is possible for the
Teachbox to react correctly when the touchscreen is tapped on.
Calibrating the touchscreen is only necessary when pressed buttons are not interpreted
correctly.
After calling the function please follow the instructions on the screen. Tap the center of
the displayed crosses as exactly as possible.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 75
3.1.14 View Menu
The VIEW menu is used to display information out of the robot control unit.
3.1.14.1 Operating Systems
This window displays the versions of software and operating systems loaded to Master
CPU and Teachbox.
Fig.: Window for Operating Systems
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 76
3.1.14.2 Operating Data
This window displays operational data of the robot.
Fig.: Window for Operating Data
Cycletime
Displays the time between the last but one and the last positive slope of the signal
"Mold Open" from the IMM. This is the time needed to produce one part (round).
Cyclecounter
The cycle counter counts the positive slopes of the signal "Mold Open" from the IMM
during automatic operation of the robot. The cycle counter is only reset by using the
boot medium.
Withdrawaltime
Displays the time between the positive slope of the signal "Ejector is forward" of the
IMM and the moment when the robot is travelling onto the bar of the S5 rollerswitch of
the Y-arm. This is the time the robot needs to get out of the mold with the part on the
gripper.
Mold open time
Displays the time between the positive slope of the signal "Mold Open" of the IMM and
the positive slope of the permit signal "Close mold" of the robot to the IMM. This is the
time the IMM has to wait for the robot before it can mold the next part.
Operating Hours
Displays the overall time the robot worked in automatic mode. The operating hours are
only reset by using the boot medium.
Lubrication
In the first line the lubrication interval is displayed, in the following lines the kilometers
travelled by the linear axes since the last lubrication are shown.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 77
3.1.14.3 Axes positions
This window displays the current positions of the robot axes and their drive type.
Fig.: Window for axes positions
The number and type of the axes shown is depending on the configuration of the actual
robot.
The positions are shown in millimeters for linear axes and in degrees for rotary axes.
The resolution of the values displayed is always one tenth.
is used to close the window.
See also: 3.1.11.2 Axis Release in Manual Mode
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 78
3.1.14.4 I / O
This window displays the current states of the inputs and outputs of the robot control
unit.
Fig.: Window for inputs and outputs
Tap one of the tabs Input or Output to select if either the inputs or the outputs are to
be shown.
All 512 theoretically possible inputs and outputs of a robot are shown. If any input or
output is displayed in this window, it does not indicate that this input or output is really
existent on the actual robot. If (NC) is displayed right next to the name, the respective
input or output is not configured on the current robot.
indicates that the input/output is OFF (LOW).
indicates that the input/output is ON (HIGH).
The four buttons on the right are shortcuts to certain function groups:
inputs and outputs of the IMM interface
peripheral inputs and peripheral outputs
inputs and outputs of the grippers
inputs and outputs of the vacuum circuits
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 79
3.1.14.5 Counters
This window displays the current values of the 64 counters of the teach program.
Fig.: Window for counters
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 80
3.1.14.6 Placing Counters
This window displays the current counter values of the 16 placing programs of the
teach program.
Fig.: Window for placing counters
Name
Shows the name of the respective placing program.
Used Axes
This shows which axes are used in the respective placing program.
1. - 2. - 3.
This shows the current values of the placing counters of the respective placing
program.
Part Counter
This shows the current value of the part counter of the respective placing program.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 81
3.1.14.7 Conveyors
This window shows the current state of operation of the conveyor belts.
Fig.: Window for conveyors
indicates that the respective Conveyor is OFF.
indicates that the respective Conveyor is ON.
is used to close the window.
3.1.14.8 Cylinders
This window shows the current state of the cylinders defined in the teach program.
Fig.: Window for cylinders
indicates that the cylinder is in OFF position.
indicates that the cylinder is in ON position.
indicates that the cylinder is RELEASED.
indicates that the state of the cylinder is UNKOWN.
The state RELEASED is only available at gripper circuits equipped with the required
valves.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 82
3.1.14.9 POs - Peripheral Outputs
This window displays the current states of the peripheral outputs of the robot control
unit.
Fig.: Window for peripheral outputs
indicates that the peripheral output is OFF (LOW).
indicates that the peripheral output is ON (HIGH).
is used to close the window.
3.1.14.10 PIs - Peripheral Inputs
This window displays the current states of the peripheral inputs of the robot control unit.
Fig.: Window for peripheral inputs
indicates that the peripheral input is OFF (LOW).
indicates that the peripheral input is ON (HIGH).
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 83
3.1.14.11 AutoSwitches
This window displays the current states of the 32 AutoSwitches.
Fig.: Window for AutoSwitches
indicates that the AutoSwitch is OFF.
indicates that the AutoSwitch is ON.
is used to close the window.
3.1.14.12 Stopwatches
This window displays the values measured by the four stopwatches available in the
teach program.
Fig.: Window for stopwatches
The minimum value, maximum value and average value calculated from the
measurements done, as well as the current value are displayed for each stopwatch.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 84
3.1.14.13 Vacuums
This window shows the current state of operation of the vacuum circuits.
Fig.: Window for vacuum circuits
indicates that the vacuum circuit is OFF.
indicates that the vacuum circuit is ON.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 85
3.1.14.14 Grippers
This window shows the current state of the grippers.
Fig.: Window for grippers
indicates that the gripper is OPEN.
indicates that the gripper is CLOSED.
indicates that the gripper is RELEASED.
indicates that the state of the gripper is UNKOWN.
The state RELEASED is only available at gripper circuits equipped with the required
valves.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 86
3.1.14.15 Alarms
This window displays all operational errors occurring in the Master CPU in plain text,
each with a specific error number.
Fig.: Error Window
The error messages are displayed in two colors:
Red
Error and cause currently exist. The error is active. The cause of the error has to be
eliminated, before the error can be confirmed. The icon
status bar if one or more errors are active.
will be displayed in the
Green
The error occurred, but the cause no longer exists. The error is inactive and can be
confirmed.
is used to confirm inactive errors.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 87
3.1.14.16 Error Buffer
This window displays the last 370 operational errors that occurred on the Master CPU
in chronological order.
Fig.: Error Buffer
is used to reload the list from the Master CPU.
is used to close the window.
3.1.14.16.1 Export the Error Buffer
The contents of the error buffer can be stored to a UNICODE text file *.TXT on the USB
stick / Smart Media Card. Path and name of the file are selectable. The default folder is
D:\ROBOT\LOG\ERRORS. The generated file can be opened, displayed and printed
with a PC, or can be forwarded to our service department if needed.
Press
to open the dialogue for exporting the error buffer:
Fig.: Dialogue for exporting the error buffer
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 88
The display of the contents of the current folder uses the following icons:
for a sub-folder
for a text file *.TXT
After tapping the field Filename you can use the dialogue for text input to input the
desired filename. By tapping on it in the display of the current folder, you can also use
the name of an existing file.
is used to step up one folder.
opens the standard folder for this file operation.
could be used to create a new folder.
is used to delete the selected file or folder.
is used to rename the selected file or folder.
is used to optimize the display of the contents of the current folder for either short
or long file names.
is used to open the selected folder.
is used to save the file to the current folder, applying the name from the field
Filename.
is used to abort the function and to close the window.
Before the file is actually stored, the Teachbox checks if a file with the same name is
already stored in the selected folder, and a check back message may appear.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 89
3.1.14.17 Command Buffer
This window displays the last "operational" commands executed by the Master CPU in
chronological order.
Fig.: Command Buffer
is used to reload the list from the Master CPU.
is used to close the window.
3.1.14.17.1 Export the Command Buffer
The contents of the command buffer can be stored to an UNICODE text file *.TXT on
the USB stick / Smart Media Card. Path and name of the file are selectable. The
default folder is D:\ROBOT\LOG\COMMANDS. The generated file can be opened,
displayed and printed with a PC, or can be forwarded to our service department if
needed.
Press
to open the dialogue for exporting the command buffer:
Fig.: Dialogue for exporting the command buffer
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 90
The display of the contents of the current folder uses the following icons:
for a sub-folder
for a text file *.TXT
After tapping the field Filename you can use the dialogue for text input to input the
desired filename. By tapping on it in the display of the current folder, you can also use
the name of an existing file.
is used to step up one folder.
opens the standard folder for this file operation.
could be used to create a new folder.
is used to delete the selected file or folder.
is used to rename the selected file or folder.
is used to optimize the display of the contents of the current folder for either short
or long file names.
is used to open the selected folder.
is used to save the file to the current folder, applying the name from the field
Filename.
is used to abort the function and to close the window.
Before the file is actually stored, the Teachbox checks if a file with the same name is
already stored in the selected folder, and a check back message may appear.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 91
3.1.14.18 Virtual Subpendant (Emergency Stop Block)
The buttons on the Emergency Stop Block are used for basic operation of the robot.
The virtual Subpendant allows access to the buttons of the Emergency Stop Block on
the touchscreen of the Teachbox. This is especially helpful with Demo-Teachboxes,
because they are operated with a power supply only (without robot and Emergency
Stop Block).
Fig.: Virtual Subpendant (Emergency Stop Block)
Reference travel
Performance of the reference travel. Possible in the mold area only when a reference
program has been programmed.
IMM: Operation with robot
Enables operation of IMM with robot. In shut-off state the IMM can be operated without
robot.
Automatic-Start
Start of automatic operation. The robot must be in reference position and operation
with robot must be activated.
Block Stop
Ends automatic operation after complete performance of the currently processed
instruction or group of instructions. Automatic operation may be continued by pressing
the Automatic Start button again.
Manual operation / Stop
Causes an immediate stop and switches to manual operation.
See also: 3.1.3 Emergency Stop Block
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 92
3.1.14.19 Memory State
This window displays information about the memory load of the Teachbox. For service
purposes only.
Fig.: Window for Memory State
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 93
3.1.15 System Report
The System Report is useful for simple and effective transmission of all data out of the
robot control unit, that might be helpful for the service department to do a remote
diagnosis in case of a problem.
The following information will be stored in a file:
•
•
•
•
•
•
•
•
•
Version information of software and operating systems
Current operating mode of the robot
Currently logged-in user (with user administration activated)
Loaded Teachprograms
Contents of the error buffer
Contents of the command buffer
Stroke limits
User errors
Configuration data
Open the Help menu "?" to find and start the function System Report.
The dialogue for text input will appear, and a comment about the report can be entered.
After this the System Report will be stored on the storage medium (Smart Media Card,
USB-Stick) using the following file name and path: ..\robot\R7System.log
After a successful completion of the storage process, a window like this will appear:
is used to close the window.
The System Report can now be loaded from the storage medium to a PC, and can be
forwarded via email for example.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 94
3.2 Teach-Mode using the Text Editor
Teach-Mode is used to create a Teachprogram for the robot and the attached
peripheral equipment. This program contains all procedures and movements necessary
for automatic operation and reference travel. In general the text editor is used for this,
in order to be able to use the full functionality of the R7 control unit.
For more basic applications you can also use the graphical editor.
3.2.1 Operation of the Texteditors
3.2.1.1 Entering the Text Editor
The text editor can be called up in all operating modes using the button
.
If the text editor is entered in the operating mode
Reference Missing, the Offline
Editor will be activated automatically, because no valid positions are available for the
numerical axis in this operating mode.
If the text editor is entered in one of the operating modes
Automatic or
Blockstop, only times, speeds and positions of numerical axes (+/- 10mm) can
be adapted. Adding or deleting of commands will not be possible, except the Offline
Editor is activated
Only if the text editor is entered in one of the operating modes
Manual or
Reference, the full functionality of the Online Editor will be available.
See also:
3.2.3 Part Programs
3.2.1.2 Exit the Texteditor and transfer the program to the CPU
Exit the Text Editor by using the button
File menu.
or by using the option Exit to Main of the
Refer to: 3.2.4.11 File Menu: Exit to Main.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 95
3.2.1.3 Editing Functions
The most common editing functions of the text editor can be accessed using the
buttons on the bottom of the editor window.:
takes you to the first line of the Teachprogram.
takes you to the last line of the Teachprogram.
deletes the highlighted line(s).
adds an empty line before the highlighted one.
opens a window to edit the highlighted command.
See also:
3.1.6 Selection Mode
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 96
3.2.1.4 Online Editor
Teaching in the online editor is the most commonly used method to program a
teachprogram. The entire program is created by approaching the various axis
positions. It can be tested and optimized immediately.
3.2.1.5 Offline Editor
The offline editor can be turned on in the teach editor using the option OfflineEditor of
the Setup menu. This puts the teachbox offline, but the Emergency-Stop-Block with the
buttons for basic operation of the appliance remains active.
The teach program is created or edited without travelling the robot, while the robot
processes another program in the Master CPU. However, no axis positions can be
entered.
The turned-on offline editor is indicated by a flashing
on the status bar at the
upper left of the display. If a numerical axis is selected, the characters "?????.?" are
shown instead of the current axis position. Upon acknowledgment with
the axis
command is added to the teach program with the undefined position . Predefined
positions are taken over correctly.
For a program edited or created offline, all axis instructions created offline must be
converted online, before the program can be transferred to the master CPU and before
it can be executed.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 97
3.2.1.6 Online Conversion
The Online Conversion is started by selecting the option OnlineEditor in the Setup
menu. If the teach program contains instructions with undefined positions, messages
will appear accordingly:
Fig.: Messages in case of undefined axis positions
Every single instruction to be adapted has to be selected. Then the corresponding axis
key has to be pressed and the robot must be moved to the required position.
Upon acknowledgment with
is added to the teach program.
this instruction is converted online and the position
Once all axis positions have been converted online, the online conversion has to be
completed by selecting the option Switch Online in the Setup menu.
After a successful conversion the following notice will appear:
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 98
3.2.2 Step Operation
To test a program or a program section, you can use Step Operation run through
individual instructions or the complete program. Step operation may be carried out in
various operating modes:
•
•
Step operation in Block Stop mode
Step operation in Reference and Manual modes
To do this, the one must be in the editor, and the program in the editor must be already
transferred to the CPU. The highlighted instruction is executed by holding down the
key. Execution of the instruction may be aborted at any time by releasing the key.
Step Operation in Block Stop Mode
The program is stepped through chronologically according to the automatic sequence.
All travel instructions of the numerical axes are executed at the full speed of the
automatic sequence.
Step Operation in Reference and Manual Modes
The speeds of travel motions of the numerical axes can be set from 1 to 30% of the
maximum speed.
For safety reasons, a newly created program must be run through in Step operation
before the first automatic operation.
The branch to the alternative sequence when a monitoring triggers will not be executed
in step operation.
3.2.2.1 Procedure Step
By tapping the menu point Edit-Debug-Step is Procedure Step the user can activate
or deactivate Procedure Step.
Procedure Step means, that when a CALL command is being stepped, not only the
CALL command is executed, but the whole subroutine called up by the CALL
command.
In this case the cursor remains on the CALL command, until the execution of the
subroutine is finished.
A subroutine may only be tested using a procedure step, when it has already been
tested with "normal" step operation.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 99
3.2.3 Part Programs, PROGRAM Menu
3.2.3.1 Part Programs
Part Programs A complete standard teachprogram includes the following part
programs:
•
•
•
•
•
Robot Program (ROBOT-PRG)
Peripheral Program (PERI-PRG)
Robot Reference Program (ROBOT-REF)
Peripheral Reference Program (PERI-REF)
All Modes Program (ALLMODE-PRG)
Furthermore the user can activate up to 11 additional part programs.
After opening the editor the robot program ROBOT-PRG will be displayed for editing.
To switch the editor to a different part program, simply select the desired program from
the Menu Program. The status field on the bottom left corner of the editor window
indicates, which part program is currently shown in the editor.
Fig.: Indication of current part program
Robot Program (ROBOT-PRG)
This program is used to program all movements and procedures the robot has to
execute together with the IMM in
Automatic mode.
Peripheral Program (PERI-PRG)
This program is used to control all sequences (in peripheral equipment) that have to be
executed independently from the movements of the robot. The program must be
started in the robot program or in one of the 11 additional part programs. After that it
will be executed in parallel to (at the same time as) the other part programs running in
Automatic mode. After execution of the last command line of a peripheral
program, or an END command within, the execution of the peripheral program will be
stopped. If the peripheral program should be executed permanently (cyclicly) this
feature has to be programmed accordingly (using a Jump command).
Robot Reference Program (ROBOT-REF)
This program is used to control all movements and procedures executed by the robot
during the reference travel in operating mode
Manual.
Peripheral Reference Program (PERI-REF)
This program is used to control all movements and procedures executed by peripheral
equipment during the reference travel in operating mode
Manual. This program
will be executed in parallel to the robot reference program. The two reference programs
can perform coordinated sequences using handshakes with counters.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 100
All Modes Program (ALLMODE-PRG)
This program is used to control movements and procedures, that have to be executed
not only in operating mode
Automatic, but also in the operating modes
Manual,
Reference and
Blockstop. The program has to be started
manually or has to be started by the robot program, peripheral program or by one of
the additional part programs.
11 additional Part Programs
Like the peripheral program the additional part programs are used to control all
sequences (in peripheral equipment) that have to be executed independantly from the
movements of the robot. The programs must be started in the robot program or in one
of the other additional part programs. After that they will be executed in parallel to (at
the same time as) the other part programs running in
Automatic mode. After execution of the last command line of an additional part
program, or an END command within, the execution of the additional part program will
be stopped. If the additional part program should be executed permanently (cyclicly)
this feature has to be programmed accordingly (using a Jump command).
3.2.3.2 Part Program ALL MODES
The ALL MODES program (ALLMODE-PRG) is executed by the R7 control unit in the
background, regardless of the current mode of operation the robot is in. Meaning this
program isnot only executed in the operating mode
operating modes
Manual,
Reference and
Automatic, but also in the
Blockstop.
The ALL MODES program can not be executed in the operating mode
Reference Missing.
The ALL MODES program does not start automatically. Like the peripheral program, it
has to be started either from a different part program using the respective Teach
commands; or it is started manually using the function "START/STOP ALLMODEPRG." of the INIT menu.
is
Once the ALL MODES program is activated, it is executed cyclicly. The Icon
shown in the status bar of the Teachbox right next to the operating mode, to indicate
that the ALL MODES program is running. Changes of the mode of operation will not
interrupt the ALL MODES program. Only the respective
STOP-command, or an emergency stop or powering down the robot will stop the ALL
MODES program.
Even more flexibility can be added to ALL MODES programs using the event Mode.
This gives the possibility to react on the actual robot mode.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 101
3.2.3.3 EOAT Change Program
The EOAT Change Program is used for moving to an EOAT changing position, or to
change the EOAT automatically.
The EOAT Change Program has to be programmed in the text editor. All functions of
the robot can be used.
When the button
is pressed and held in the main screen or tooling editor during
operating modes Manual or Reference, first a reference travel (according to the
reference program) will be executed. After this the EOAT Change Program will run.
should be released and pressed again during execution of the EOAT
If the button
Change Program, the EOAT Change Program will not start all over, but will continue
working at the current program line.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 102
3.2.3.4 Manage Part Programs
This function is used to manage the part programs of the teachprogram.
Fig.: Window to manage part programs
The Part Program Information Table shows information about the part program
selected in the list of Existing Part Programs.
is used to create a new part program.
is used to edit the settings of the part program selected in the list of Existing Part
Programs.
is used to delete an additional part program selected in the list of Existing Part
Programs. The standard programs ROBOT_PRG, PERI-PRG, ROBOT-REF, PERIREF and ALLMODE-PRG can not be deleted.
is used to close the window, and to discard the entries.
is used to confirm the entries, and to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 103
3.2.3.4.1 Edit a Part Program
This function is used to create a new additional part program, or to edit the settings for
an existing part program.
Fig.: Window to edit part program settings
After tapping the field Partprogram name you can change the name of an additional
part program using the dialogue for text input. The names of the standard programs
ROBOT_PRG, PERI-PRG, ROBOT-REF, PERI-REF and ALLMODE-PRG can not be
altered.
The button Teachable Axes is used to open the dialogue for axes definition. Her you
can assign axes to the part program.
With a at Use part program as End-Of Arm-Tooling change program the program
becomes the EOAT change program, and its name is changed to the standard name
EOAT Change.
is used to close the window, and to discard the entries.
is used to confirm the entries, and to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 104
3.2.4 FILE Menu of the text editor
3.2.4.1 New
This function is used to create a new empty teachprogram in the Teachbox.
Fig.: Options window for a new teachprogram
The window Options for new Teachprogram is used to select which elements from
the existing program are kept with the new teachprogram. This is possible for:
•
•
•
•
•
Names
Positions
Axis Definitions
Cylinders
Reference settings for vacuum and gripper circuits
The different elements are selected or deselected by tapping the respective option. A
means, that the element is selected to be taken over to the new program.
is used to select all elements.
is used to deselect all elements.
is used to cancel the process.
is used to create a new empty teachprogram.
The program currently loaded in the teachbox will be irretrievably deleted. The program
in the Master CPU remains unchanged.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 105
3.2.4.2 Open
This function is used to load a teachprogram *.WIP from a storage medium to the
Teachbox.
Fig.: Window to open a file
The field Search in displays the path of the current folder. By touching the field you
can select one of the standard folders C:\PUBLIC (internal storage medium of the
Teachbox) or D:\ROBOT\TEACHPRG (USB-Stick / Smart Media Card).
The display of the contents of the current folder uses the following icons:
for a sub-folder
for a teachprogram file *.WIP
is used to step up one folder.
opens the standard folder for this file operation.
could be used to create a new folder.
is used to delete the selected file or folder.
is used to rename the selected file or folder.
is used to open the properties window of the selected program.
can be used to optimize the display of the contents of the folder for either long or
short file names.
is used to open the selected folder.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 106
is used to load the selected program to the Teachbox.
is used to abort the function and close the window.
The program stored in the teachbox will be irretrievably deleted by loading another
teach program.
Before the program can be executed, it has to be transferred to the Master CPU.
Every newly loaded teach program must be run through at least once in step mode
before automatic operation.
The file name of a stored teach program is not necessarily the same as the teach
program name.
3.2.4.3 Import Macro
A macro is a file *.WIM which contains one or more program lines, that were exported
from a (different) teachprogram previously.
The function Import macro is used to insert a macro *.WIM from a storage medium to
the teachprogram before the current position of the cursor.
Abb.: Window to import a Macro
The field Search in displays the path of the current folder. By touching the field you
can select one of the standard folders C:\PUBLIC (internal storage medium of the
Teachbox) or D:\ROBOT\TEACHPRG (USB-Stick / Smart Media Card).
The display of the contents of the current folder uses the following icons:
for a sub-folder
for a macro file *.WIM
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 107
is used to step up one folder.
opens the standard folder for this file operation.
could be used to create a new folder.
is used to delete the selected file or folder.
is used to rename the selected file or folder.
can be used to optimize the display of the contents of the folder for either long or
short file names.
is used to open the selected folder.
is used to load the selected macro to the Teachbox, and to insert it to
teachprogram before the selected line.
is used to abort the function and close the window.
If labels or subroutines whose names already exist in the teach program are loaded,
they are automatically renamed to LABEL_xxx or SUBR_xxx. "xxx" represents a 3 digit
number.
If an associated JUMP instruction is loaded together with an already existing label, the
JUMP instruction will also be changed to the new label name. The same applies to
CALL instructions that are loaded together with their subroutines.
If a placing program, which has the same name as an existing placing program in the
teach program but otherwise differs from the latter in some way, it will automatically be
renamed with the name of the first unused placing program.
If a macro that does not correspond to configured robot hardware (e.g., an axis not
present) is loaded, a flag will appear and the offline editor will be activated. The
corresponding instructions will now have to be changed or removed manually, after
which the program can be switched back ONLINE again with the function ONLINE
EDITOR of the Setup menu.
If an axis instruction with a reference to a previously defined position, which has the
same name as a previously defined position existing in the teach program but
otherwise differs in some way from the latter, is loaded, it will be automatically renamed
to POSITION_xxx. "xxx" represents a 3 digit number.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 108
When a macro is loaded, axis positions of configured axes will be transferred without
comment. However, this does not mean that they can be approached without risk.
Programs expanded by macros must therefore always be tested in STEP mode.
When a macro is loaded, instructions with configured peripheral input/outputs are
accepted without comment. However, this does not mean that these instruction
sequences are compatible with the attached peripheral, especially when the macro
comes from another control system.
3.2.4.4 Load Program from CPU
This function is used to load the teachprogram from the Master CPU to the Teachbox.
The teach program loaded in the Teachbox including all names, cylinder definitions and
position definitions will be irreversibly deleted.
3.2.4.5 Save (NAME.WIP)
This function is used to save the teachprogram from the Teachbox a storage medium
as a *.WIP file. Both name and path of the file will be the ones used before. The name
of the target file is shown in brackets right next to the menu entry Save. If no name is
displayed, Save will call the function Save as instead.
The previous version of the program stored on the storage medium with the same name
will be deleted irretrievably.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 109
3.2.4.6 Save As
This function is used to save the teachprogram from the Teachbox to a storage
medium as a *.WIP file. Path and name of the file are selectable.
Fig.: Window to save a teachprogram
The field Save in displays the path of the current folder. By touching the field you can
select one of the standard folders C:\PUBLIC (internal storage medium of the
Teachbox) or D:\ROBOT\TEACHPRG (USB-Stick / Smart Media Card).
The display of the contents of the current folder uses the following icons:
for a sub-folder
for a teachprogram file *.WIP
The field Filename suggests the last filename used or the teachprogram name as
filename. After tapping the field you can use the dialogue for text input to change the
filename as desired. The extension will always be WIP. By tapping it in the display of
the current folder, you can also use the name of an existing file.
is used to step up one folder.
opens the standard folder for this file operation.
is used to create a new folder.
is used to delete the selected file or folder.
is used to rename the selected file or folder.
is used to open the properties window of the selected program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 110
can be used to optimize the display of the contents of the folder for either long or
short file names.
is used to open the selected folder.
is used to save the teachprogram to the current folder, applying the name from
the field Filename.
is used to abort the function and close the window.
Before storing is executed, a check is made to see whether a program of the same
name is already stored in the selected folder, and a checkback message may appear.
3.2.4.7 Export Selection
This function is used to save previously selected lines from the teachprogram to a
storage medium as a macro *.WIM. Path and name of the file are selectable.
Fig.: Window to save a macro
The field Save in displays the path of the current folder. By touching the field you can
select one of the standard folders C:\PUBLIC (internal storage medium of the
Teachbox) or D:\ROBOT\TEACHPRG (USB-Stick / Smart Media Card).
The display of the contents of the current folder uses the following icons:
for a sub-folder
for a macro file *.WIM
After tapping the field Filename you can use the dialogue for text input to enter the
desired filename. The extension will always be WIM. By tapping it in the display of the
current folder, you can also use the name of an existing file.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 111
is used to step up one folder.
opens the standard folder for this file operation.
could be used to create a new folder.
is used to delete the selected file or folder.
is used to rename the selected file or folder.
can be used to optimize the display of the contents of the folder for either long or
short file names.
is used to open the selected folder.
is used to save the macro to the current folder, applying the name from the field
Filename.
is used to abort the function and close the window.
Before storing is executed, a check is made to see whether a macro of the same name
is already stored in the selected folder, and a checkback message may appear.
See also:
3.2.4.3 File Menu: Import Macro
3.2.5.1 Edit Menu: Selection Mode
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 112
3.2.4.8 Transfer program to CPU
This is used to transfer the teachprogram from the Teachbox to the Master CPU. This
is necessary to enable execution of the program.
A progress bar is shown during the process.
With the appropriate setting of the option Clear counters in the Init Menu
Setup: Robot Settings a request about resetting counters and placing programs will
pop up:
The program previously stored in the Master CPU will be irretrievably overwritten.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 113
3.2.4.9 Properties
Here the properties of the teachprogram in the text editor of the Teachbox are
displayed. That is the program which can be edited. Before this program can be
executed in automatic operation, it has to be transferred to the Master CPU.
Fig.: Window for properties of the program in the texteditor
Name of Teachprogram
Shows the name of the teachprogram in the text editor. This name is not necessarily
the same as the file name of the program. After tapping the input field, the name can
be edited using the dialogue for text input.
CPU = Teachbox or CPU <> Teachbox
Displays whether the teachprograms in the Master CPU and the Teachbox are equal or
unequal.
Tooldata
Displays the tooldata text of the teachprogram in the text editor. After tapping the input
field, the tooldata text can be edited using the dialogue for text input.
Size
Displays the size of the teachprogram in the text editor. The maximum size of a
teachprogram is limited to 32.768 bytes.
Number Part Programs
Shows the number of part programs of the teachprogram in the text editor: ROBOTPRG, PERI-PRG, ROBOT-REF, PERI-REF, ALLMODE-PRG and up to 11 additional
part programs.
Number Placing Programs
Shows the number of placing programs used in the teachprogram in the text editor.
The maximum number of placing programs available in a teachprogram is limited to 16.
can be used to open the picture viewer. There you can either associate a picture
with the teachprogram, or watch the picture associated with the teachprogram.
is used to discard the entries and to close the window.
is used to confirm the entries and to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 114
3.2.4.10 Print
This function is used to print the teachprogram loaded in the Teachbox to either a
UNICODE-textfile *.TXT or an HTML-file *.HTM on the USB stick / Smart Media Card.
Path and name of the file are selectable. The default folder is D:\ROBOT\PRINT. The
generated file can be opened, displayed and printed with a PC.
Fig.: Window to print a teachprogram to a file
The button right next to the field for the filename is used to select the type of file for
printing:
activates printing to a textfile
activates printing to an HTML-file
The field Save in displays the path of the current folder.
The display of the contents of the current folder uses the following icons:
for a sub-folder
for a textfile *.TXT
for an HTML-file *.HTM
Only files of the same type as selected for the printout will be displayed.
The field Filename suggests the last filename used or the teachprogram name as
filename. After tapping the field you can use the dialogue for text input to change the
filename as desired. By tapping it in the display of the current folder, you can also use
the name of an existing file.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 115
is used to step up one folder.
opens the standard folder for this file operation.
could be used to create a new folder.
is used to delete the selected file or folder.
is used to rename the selected file or folder.
can be used to optimize the display of the contents of the folder for either long or
short file names.
is used to open the selected folder.
is used to save the printout to the current folder, applying the name from the field
Filename.
is used to abort the function and close the window.
Before storing is executed, a check is made to see whether a file of the same name is
already stored in the selected folder, and a checkback message may appear.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 116
3.2.4.11 Exit to Main
This function can also be called with the button
, and is used to exit the editor.
If the teachprogram in the editor is different than the one in the Master CPU, then it is
possible to select whether or not the program shall be transferred from the Teachbox to
the Master CPU:
This is necessary to enable execution of the program.
A progress bar will be shown during the process.
With the appropriate setting of the option Clear counters in the Init Menu
Setup: Robot Settings a request about resetting counters and placing programs will
pop up:
The program previously stored in the Master CPU will be irretrievably overwritten, if the
program from the Teachbox is transferred to the Master CPU.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 117
3.2.4.12 Properties Window of the File Dialogue
Here the properties of the teachprogram selected in the file dialogue are displayed.
Fig.: Window for properties of a stored program
Name of Teachprogram
Shows the name of the selected teachprogram. This name is not necessarily the same
as the file name of the program.
CPU = Teachbox or CPU <> Teachbox
Displays whether the selected teachprogram and the one in the Master CPU are equal
or unequal.
Tooldata
Displays the tooldata text of the selected teachprogram. The text for tooldata can only
be edited in the properties window of the text editor or graphical editor.
Size
Displays the size of the selected teachprogram. The maximum size of a teachprogram
is limited to 32.768 bytes.
Number Part Programs
Shows the number of part programs of the selected teachprogram: ROBOT-PRG,
PERI-PRG, ROBOT-REF, PERI-REF, ALLMODE-PRG and up to 11 additional part
programs.
Number Placing Programs
Shows the number of placing programs used in the selected teachprogram. The
maximum number of placing programs available in a teachprogram is limited to 16.
If a picture has been associated with the selected teachprogram,
open the picture viewer.
can be used to
is used to exit the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 118
3.2.4.13 Picture Viewer
Here the picture associated with the teachprogram can be viewed, provided that the
storage medium containing the associated picture is available.
The picture viewer can be accessed in the properties windows of the teachprogram
using the button
.
Fig.: Picture viewer showing a picture
If the picture is to big, it can be moved horizontally and vertically using the sliders.
Associating a picture to a teachprogram is only possible, if the respective properties
window has been opened with the menu File / Properties inside one of the editors.
is used to return to the properties window.
3.2.4.13.1 Associate a picture with a Teachprogram
In order to be able to associate a picture to a teachprogram, first the properties window
must be opened with the menu File / Properties inside one of the editors. Now the
is used to open the picture viewer.
Here the button
opens the file dialogue for selecting a picture.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 119
Fig.: Dialogue for selecting a picture
The following file formats are supported:
•
•
•
•
BMP files with 256 colors
BMP files with 24 bits color depth
GIF files with 256 arbitrary colors
JPG files (not all compression rates and color depths)
The icons used by the display of the contents of the current folder include the following:
for a sub-folder
for supported picture files
is used to step up one folder.
opens the standard folder for this file operation.
could be used to create a new folder.
is used to delete the selected file or folder.
is used to rename the selected file or folder.
can be used to optimize the display of the contents of the folder for either long or
short file names.
is used to open the selected folder.
associates the selected picture with the teachprogram.
is used to abort the function and to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 120
3.2.5 EDIT Menu
3.2.5.1 Selection Mode
The option Selection Mode On/Off is used to switch on or switch off the selection
mode of the text editor. The selection mode is needed to mark several program lines.
When the selection mode is off, single program lines can be selected by tapping on
them in the editor window. The currently selected line is displayed on a grey
background.
Fig.: a single selected line
If the selection mode is activated now, the selection can be expanded to several lines,
by tapping the last line to be included to the selection.
Fig.: several selected lines
The block of lines being selected this way, can now either be moved or copied via the
clipboard, or can be exported to the Smart Media Card / USB stick as a macro.
could be used to delete the selected lines.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 121
3.2.5.2 Copy, Cut, Paste
Using these functions of the Edit menu you can copy or move previously selected
program lines to a different location in the program via the clipboard.
Copy
The function Copy copies the selected lines to the clipboard.
Program
Clipboard
Fig.: Copy
Cut
The function Cut moves the selected lines to the clipboard and deletes them at their
original position in the program.
Program
Clipboard
Fig.: Cut
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 122
Paste
The function Paste copies the lines, that were previously put to the clipboard, from the
clipboard to back to the program just before the selected line. In the example shown
below, the block of lines 2 has been previously cut out between blocks 1 and 3, and is
now inserted behind block 3.
Program
Clipboard
Fig.: Paste
If labels or subroutines are copied, they are automatically renamed to LABEL_xxx or
SUBR_xxx. "xxx" represents a 3 digit number.
If an associated JUMP instruction is copied together with its label, the JUMP instruction
will also be changed to the new label name. The same applies to CALL instructions
that are copied together with their subroutines.
If a placing program is copied, it will automatically be renamed with the name of the
first unused placing program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 123
3.2.5.3 Search-Toolbar
Use the option Show Search-Toolbar of the EDIT menu to activate or deactivate the
display of the Search-Toolbar of the text editor. The Search-Toolbar is used to search
for arbitrary text in the Teachprogram.
Fig.: Search-Toolbar
After tapping the input field use the dialogue for text input to input the desired search
text.
Use
to access a list with previously used search texts.
Use
to find the next occurrence of the search text before the current cursor
position in the Teachprogram.
to find the next occurrence of the search text after the current cursor
Use
position in the Teachprogram.
Use
Use
to remove the Search-Toolbar from the display.
to open the window for the settings of the Search Toolbar.
Fig.: Window for the settings of the Search Toolbar
Search through entire program
The search will not stop at the end or begin of the program, but will continue until it
reaches the starting position of the search again.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 124
In all part programs
The search will not only be performed in the current part program, but in all part
programs.
Start search at begin of program
The search will not start at the current cursor position, but at the begin of the program.
Direction upwards / downwards
The search will be performed in the selected direction.
Press
to recall the standard settings.
3.2.5.4 Show Prefixes
Use the option Debug - Show Prefixes of the EDIT menu to activate or deactivate the
display of prefixes before the names of elements in Teachcommands. Displaying
prefixes can increase the readability of a teachprogram, especially if the user has given
similar or equal names to different kinds of elements.
Example:
As they deal with the same function, an Autoswitch, a peripheral output and a counter
have been given the same custom name "EXAMPLE".
Without prefixes a snippet of that Teachprogram would be displayed by the text editor
like this:
IF EXAMPLE = ON
EXAMPLE: ON
EXAMPLE = EXAMPLE + 1
ENDIF
With prefixes, the same snippet would result in this display:
IF ASW_EXAMPLE = ON
PO_EXAMPLE: ON
CNT_EXAMPLE = CNT_EXAMPLE + 1
ENDIF
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 125
3.2.5.5 Show Default Names
Use the option Debug - Show Default Names of the EDIT menu to activate or
deactivate the display of standard names in parentheses after the current names of
elements in Teachcommands. Displaying standard names can increase the readability
of a teachprogram, especially if the user has given similar or equal names to different
kinds of elements.
Example:
As they deal with the same function, an Autoswitch, a peripheral output and a counter
have been given the same custom name "EXAMPLE".
Without standard names a snippet of that Teachprogram would be displayed by the
text editor like this:
IF EXAMPLE = ON
EXAMPLE: ON
EXAMPLE = EXAMPLE + 1
ENDIF
With standard names, the same snippet would result in this display:
IF EXAMPLE(Autosw-01) = ON
EXAMPLE(PO-001): ON
EXAMPLE(Counter-001) = EXAMPLE(Counter-001) + 1
ENDIF
3.2.5.6 Show Internal IDs
Use the option Debug - Show Internal IDs of the EDIT menu to activate or deactivate
the display of internal IDs in parentheses after the current names of Placing Programs.
Example:
Without internal ID a Placing Program with the name EXAMPLE will be displayed in the
text editor like this:
Placing Program: EXAMPLE
With internal ID the same Placing Program will be displayed in the text editor like this:
Placing Program: EXAMPLE(ID 000)
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 126
3.2.5.7 Show Line Numbers
Use the option Debug - Show Line Numbers of the EDIT menu to activate or
deactivate the display of line numbers left of the teach commands in the text editor.
3.2.5.8 Breakpoints
By tapping the menu option Edit - Debug - Toggle Breakpoint the user can activate
or deactivate up to 8 Breakpoints in the teachprogram. This is also possible during
automatic mode.
An active breakpoint is indicated with a
left to the program line in the text editor.
A breakpoint at a line in the teachprogram causes the program to stop at this line,
when the program is executed in automatic mode. The program pointer is halted at the
respective line, but the command in the line is not executed; the robot switches to
operating mode
Blockstop.
This can be useful when testing complex sequences, for example to find out if a
conditional routine is being executed or not.
Use Edit - Debug - Remove all Breakpoints to deactivate all breakpoints in all part
programs.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 127
3.2.6 Teachprogram Settings in the SETUP Menu
3.2.6.1 Online / Offline Editor
This is to switch between Offline and Online Editor.
The Offline Editor is used to edit a teachprogram without the robot.
See also:
3.2.1.4 Online Editor
3.2.1.5 Offline Editor
3.2.1.6 Online Conversion
3.2.6.2 Positions
Up to 255 different axis positions for the robot can be predefined here in each part
program. This is especially advisable for positions that are approached fairly often at
various locations in the teach program. In addition, offline teaching is made easier.
The predefined positions can be called up later using the selection field Position in the
windows of the axis commands.
If no positions have been defined previously, the editor will directly jump to the function
to Create New Positions. If any positions are defined already, the dialogue Positions
will be shown.
Fig.: Dialogue for Positions
is used to create a new position.
is used to edit the selected position.
is used to delete the selected position, if it is not applied in the teach program.
After activating an axis with a
selected position.
this selected axis can be moved to its target within the
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 128
is used to close the window.
3.2.6.2.1 Create / Edit Positions
Here you can edit an existing position or create a new one.
Fig.: Window to edit positions
Each single axis is activated with a
on the desired position.
and is moved one after the other until the robot is
The desired name for the position can be entered after tapping the field Position name
using the dialogue for text input.
discards the entries and closes the window.
confirms the position and closes the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 129
3.2.6.3 Axes Definition
Here you can assign the axes controlled by the robot control unit to the different part
programs for automatic operation.
Fig.: Window for axes definition
Using the selection field Part Program the respective axis can be assigned to a
specific part program. The movements of that axis are then controlled by this part
program only.
With a at the option Included in path the respective (numerical) axis is included to
the path calculation. This enables the axis to be moved coordinated together with the
other path axes using 3D and Curve movements.
discards the entries and closes the window.
confirms the settings and closes the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 130
3.2.6.4 Labels and Subroutines
This displays a list of all the labels and subroutines that exist in the respective part
program.
Fig.: Window for labels and subroutines
For each label (subroutine) the line number is displayed and the number of references
to it.
is used to rename the selected label (subroutine). The desired name is entered
using the dialogue for text input. Commands accessing the renamed label (subroutine),
are changed accordingly automatically.
is used to close the window.
See also:
3.3.6.2 Label
3.3.6.4 Call - Subr - Ret
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 131
3.2.6.5 Cylinder Definition
The cylinder function is useful to ease the teaching of pneumatic cylinders by
combining two peripheral outputs to a cylinder. Additionally you can use two peripheral
inputs and a time limit to monitor the correct function of the pneumatic cylinder. Does
the cylinder not approach the respective target position within the set time limit, an
error message will be displayed on the teachbox.
Up to 255 such cylinders are possible in one teach program.
A cylinder consists of:
• 1 to 2 peripheral outputs (O1, O2).
O2 is optional, and negates the status of O1.
• 0 to 2 peripheral inputs (I1, I2) for acknowledging or
monitoring the action controlled by O1/O2 (optional),
where I1 always acknowledges O1 and I2 always acknowledges O2.
• A limit for the time that is allowed to elapse between
setting of Ox and acknowledgment of Ix.
Only if inputs are used.
If no cylinders have been defined previously, the editor will directly jump to the function
to edit cylinders. If any cylinders are defined already, the dialogue Cylinder Definition
will be shown.
Fig.: Dialogue Cylinder Definition
is used to create a new cylinder.
is used to edit the selected cylinder.
is used to delete the selected cylinder, if it is not applied in the teach program.
is used to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 132
3.2.6.5.1 Create / Edit Cylinders
This is to edit an existing cylinder or to create a new one.
Fig.: Window to edit a cylinder
After tapping the respective input fields you can pick the desired peripheral outputs and
peripheral inputs from selection windows.
If any conflict happens to occur because of some PO or PI being already used by the
current or any other cylinder, the icon
will be shown next to the affected input or
output. The status field on the left bottom of the window will contain a description of the
conflict.
If inputs for position feedback are defined, it is possible to enter a time limit for the
movements of the cylinder after tapping the input field Timeout. The desired time is
entered using the dialogue for numerical input. If no inputs are defined, the timeout
must be set to zero.
A name for the cylinder can be entered after tapping the input field Name using the
dialogue for text input.
discards the entries and closes the window.
confirms the cylinder and closes the window.
See also:
3.3.4.3.1 Applying cylinders in a teach program
3.3.4.3 Cylinder function
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 133
3.2.6.6 Auto Switch Definition
Here the basic settings for the AutoSwitches can be done:
Fig.: Setup Menu - AutoSwitch Definition
and
are used to define if the selected AutoSwitch has to act like a switch
(maintained contact) or like a key (momentary contact).
is used to reset the selected AutoSwitch to the factory settings.
is used to reset all AutoSwitches to the factory settings.
is used to open the setup window of the selected AutoSwitch:
Fig.: Setup window of an AutoSwitch
Current Name
This is the name of the AutoSwitch. That name is not only displayed on the AutoSwitch,
but also used as an identifier for the AutoSwitch in the Teach program. After tapping
the input field, the name can be altered using the dialogue for text input.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 134
Current Type
Activating the desired option selects whether the AutoSwitch has to act like a switch
(maintained contact) or like a key (momentary contact).
Current Image
This is the picture that will be shown on the AutoSwitch. Tapping the input field will
display a list with the available pictures already stored in the Teachbox:
Fig.: selection list for AutoSwitch pictures
Tap on the name of the desired picture to select it.
can be used to import pictures from the Smart Media Card / USB stick for display
on the AutoSwitches. Once imported, the pictures are available for all AutoSwitches in
all Teach programs permanently.
Imported pictures not exceed a width of 190 pixels and a height of 64 pixels. The
recommended size is 50 x 50 pixels - as the standard picture. The following file
formats are supported:
•
•
•
•
BMP files with 256 colors (recommended)
BMP files with 24 bits color depth
GIF files with 256 arbitrary colors
JPG files (not all compression rates and color depths)
can be used to remove the current picture from the memory of the Teachbox.
discards the entries and closes the window.
confirms the settings and closes the window.
An AutoSwitch will be displayed only if it is actually used in the Teach program in the
Master CPU.
See also:
3.3.9 AutoSwitches
3.3.6.8.5 Jump condition AutoSwitch
3.1.14.11 View Menu: AutoSwitch
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 135
3.2.6.7 Counter Names
Here you can rename the 64 counters of the teachprogram. The name of a counter
should describe its function as good as possible, in order to ease reading the
teachprogram.
The names are always valid for the teachprogram loaded in the Teachbox. This means
the names of the counters can be different in every program.
Fig.: Window for counter names
is used to rename the selected counter. The name is entered using the dialogue
for text input.
renames the selected counter to its standard name.
renames all 64 counters to their standard names.
For easier distinction of different kinds of elements you can activate the display of
prefixes or default names.
is used to close the window.
See also:
3.3.5 Counters
3.3.6.8.1 Condition: Counters
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 136
3.2.6.8 Conveyor Names
Here you can rename the conveyors controlled by the robot control unit. The name of a
conveyor should describe its function as good as possible, in order to ease reading the
teachprogram.
The names are always valid for the teachprogram loaded in the Teachbox. This means
the names of the conveyors can be different in every program.
Fig.: Window for conveyor names
is used to rename the selected conveyor. The name is entered using the dialogue
for text input.
renames the selected conveyor to its standard name.
renames all conveyors to their standard names.
For easier distinction of different kinds of elements you can activate the display of
prefixes or default names.
is used to close the window.
See also:
3.3.4.1 Conveyor
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 137
3.2.6.9 Peripheral Output Names
Here you can rename the peripheral outputs controlled by the robot control unit. The
name of a peripheral output should describe its function as good as possible, in order
to ease reading the teachprogram.
The names are always valid for the teachprogram loaded in the Teachbox. This means
the names of the peripheral outputs can be different in every program.
Fig.: Window for PO names
is used to rename the selected peripheral output. The name is entered using the
dialogue for text input.
renames the selected peripheral output to its standard name.
renames all peripheral outputs to their standard names.
For easier distinction of different kinds of elements you can activate the display of
prefixes or default names.
is used to close the window.
See also:
3.3.4.2 Peripheral Outputs
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 138
3.2.6.10 Peripheral Input Names
Here you can rename the peripheral inputs used by the robot control unit. The name of
a peripheral input should describe its function as good as possible, in order to ease
reading the teachprogram.
The names are always valid for the teachprogram loaded in the Teachbox. This means
the names of the peripheral inputs can be different in every program.
Fig.: Window for PI names
is used to rename the selected peripheral input. The name is entered using the
dialogue for text input.
renames the selected peripheral input to its standard name.
renames all peripheral inputs to their standard names.
For easier distinction of different kinds of elements you can activate the display of
prefixes or default names.
is used to close the window.
See also:
3.3.6.8.2 Condition: Peripheral Inputs
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 139
3.2.6.11 Stacking Sensor Names
Here you can rename the stacking sensors used by the robot control unit. The name of
a stacking sensor should describe its function as good as possible, in order to ease
reading the teachprogram.
The names are always valid for the teachprogram loaded in the Teachbox. This means
the names of the stacking sensors can be different in every program.
Fig.: Window for stacking sensor names
is used to rename the selected stacking sensor. The name is entered using the
dialogue for text input.
renames the selected stacking sensor to its standard name.
renames all stacking sensors to their standard names.
For easier distinction of different kinds of elements you can activate the display of
prefixes or default names.
is used to close the window.
See also:
3.3.6.8.10 Condition: Stacking Sensor
3.3.1.2 Axis Command: Stacking Sensor
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 140
3.2.6.12 Stopwatch Names
Here you can rename the 4 stopwatches of the teachprogram. The name of a
stopwatch should describe its function as good as possible, in order to ease reading
the teachprogram.
The names are always valid for the teachprogram loaded in the Teachbox. This means
the names of the stopwatches can be different in every program.
Fig.: Window for stopwatch names
is used to rename the selected stopwatch. The name is entered using the dialogue
for text input.
renames the selected stopwatch to its standard name.
renames all 4 stopwatches to their standard names.
For easier distinction of different kinds of elements you can activate the display of
prefixes or default names.
is used to close the window.
See also:
3.3.8.5 Stopwatch
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 141
3.2.6.13 Vacuum Names
Here you can rename the vacuum circuits controlled by the robot control unit. The
name of a vacuum circuit should describe its function as good as possible, in order to
ease reading the teachprogram.
The names are always valid for the teachprogram loaded in the Teachbox. This means
the names of the vacuum circuits can be different in every program.
Fig.: Window for vacuum names
is used to rename the selected vacuum circuit. The name is entered using the
dialogue for text input.
renames the selected vacuum circuit to its standard name.
renames all vacuum circuits to their standard names.
For easier distinction of different kinds of elements you can activate the display of
prefixes or default names.
is used to close the window.
See also:
3.3.4.4 Vacuum
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 142
3.2.6.14 Gripper Names
Here you can rename the grippers controlled by the robot control unit. The name of a
gripper should describe its function as good as possible, in order to ease reading the
teachprogram.
The names are always valid for the teachprogram loaded in the Teachbox. This means
the names of the grippers can be different in every program.
Fig.: Window for gripper names
is used to rename the selected gripper. The name is entered using the dialogue for
text input.
renames the selected gripper to its standard name.
renames all grippers to their standard names.
For easier distinction of different kinds of elements you can activate the display of
prefixes or default names.
is used to close the window.
See also:
3.3.4.5 Gripper
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 143
3.2.6.15 Vacuum Reference States
This is to set the state that the vacuum circuits must be in to enable operating mode
Reference. The vacuum circuits have to be switched to the state by either the
reference program or manually. If at the end of the reference travel one of the vacuum
circuits happens not to be in the state set here, an error message will be shown;
switching to operating mode Reference will not be possible in this case.
Fig.: Window for vacuum reference states
means the reference state of the vacuum circuit is OPEN.
means the reference state of the vacuum circuit is CLOSED.
means the reference state of the vacuum circuit is RELEASED.
means the reference state of the vacuum circuit is not checked.
changes the reference state of the selected vacuum to CLOSED.
changes the reference state of the selected vacuum to OPEN.
set the reference state of the selected vacuum to RELEASED.
sets the reference state of the vacuum to NOT CHECKED.
,
or
are used to set the reference states of all vacuum circuits to the state
of the selected one.
discards the entries and closes the window.
confirms the settings and closes the window.
See also:
3.3.4.4 Vacuum
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 144
3.2.6.16 Gripper Reference States
This is to set the state that the grippers must be in to enable operating mode
Reference. The grippers have to be switched to the state by either the reference
program or manually. If at the end of the reference travel one of the grippers happens
not to be in the state set here, an error message will be shown; switching to operating
mode Reference will not be possible in this case.
Fig.: Window for gripper reference states
means the reference state of the gripper is OPEN.
means the reference state of the gripper is CLOSED.
means the reference state of the gripper is RELEASED.
means the reference state of the gripper is not checked.
changes the reference state of the selected gripper to CLOSED.
changes the reference state of the selected gripper to OPEN.
changes the reference state of the selected gripper to RELEASED.
sets the reference state of the selected gripper to NOT CHECKED.
,
,
or
the selected one.
are used to set the reference states of all grippers to the state of
discards the entries and closes the window.
confirms the settings and closes the window.
See also:
3.3.4.5 Grippers
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 145
3.3 Teach Commands Of The Texteditor
3.3.1 Axes
3.3.1.1 Move
This tab provides teach commands to teach movements of the selected axes.
What kinds of movements are available is depending on the kind of drive of the axis.
After selecting the kind of movement, the axis is moved to the desired target position
using the drive keys.
Fig.: Buttons for moving axes
If there are predefined positions available, alternatively one of these positions can be
picked from the selection list. In this case the axis is taken to the selected positions
using the buttons shown below. The axis will stop automatically when it has reached
the position.
Fig.: Buttons to move axes to predefined positions
Whether the numerical axes can be moved using variable or fixed manual speeds is
being set in the Init Menu Setup: Robot Settings.
is used to confirm and write the command to the teach program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 146
3.3.1.1.1 Absolute Movement
Absolute
This instruction is used to approach a particular position with the corresponding axis.
3.3.1.1.2 Relative Motion
Relative
If a position was approached with a numerical axis, this function can be used to move
the axis relative to this position. This instruction is identified by the letter "R" after the
position entry.
Example:
Z: 500.0
X: 100.0
Z: 100.0R
With the Z axis, move to position 500.0 mm, and with the X axis, to position 100.0 mm.
Starting from this position, move the Z axis to position Z = 600.0 mm. Now if the first Z
position is modified, the second Z position will also shift by the same value, but the
distance between the two positions will remain constant and exactly 100.0 mm.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 147
3.3.1.1.3 Parallel Movement
A parallel movement is the simultaneous motion of several axes.
As a parallel command simply causes command processing to acknowledge the
command before its execution is finished, for a coordinated ending of all previously
started commands you have to use a WAIT SYNC command after every parallel
movement. This ensures that all previously started commands have to be finished
before the next command is executed.
The Parallel command is not available for main axes with an individual Servo-inverter.
In that case you have to use 3D movements to execute parallel movements with
several main axes X, Y, Z.
Two kinds of parallel movements are available:
•
•
Synchronous
Parallel At
3.3.1.1.3.1 Synchronous
Synchronous
When this instruction is started, the following travel instruction (any axis) is also started
simultaneously.
Synchronous parallel motion is identified by the symbol "*" after the position to be
approached.
Example:
C: 0.0*
A: 0.0
WAIT SYNC
The A and C axes are started simultaneously and are moved to their 0 position. The
instruction WAIT SYNC ensures that both axis motions are completed before the
program is continued.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 148
3.3.1.1.3.2 Parallel at
Parallel
This function is used to drive the axis concerned alone to an intermediate position
(Intermediate Pos.). When this intermediate position has been crossed, the next travel
instruction is started, while the axis continues traveling to its target position (Final
position) in parallel.
Fig.: Parallel at
To teach this command, first the Intermediate Pos. is activated by tapping it. Now the
axis is moved to the position, where when passing it in automatic mode, the next
instructions shall be started.
The next step is to activate the Final position by tapping it, and to move the axis to its
target position.
Now the command can be added to the teach program using
.
is used to exit without changing the teach program.
Example:
Z: 500.0* 200.0
C: 90.0
WAIT SYNC
The Z axis will travel to the position 500.0, and from position Z = 200.0 the instruction
C: 90 will be processed in parallel. The instruction WAIT SYNC ensures that both axis
motions will be carried to the end before processing of the program is continued with
the next instruction.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 149
3.3.1.1.4 Curve
Curve
In this function, the relevant position of a numerical axis (servo) is not approached, but
is detoured by an adjustable radius R3D. The function is identified by the symbol "*"
before the respective axis.
Example:
*Z: 500.0
Y: 200.0
The position with the coordinates Z = 500.0 and Y = 200.0 is approached in one
motion. The Y axis is started around R3D before reaching the position Z = 500.
The curved movement can also be used to start a parallel motion of a pneumatic axis
during the motion of a servo axis when the servo axis moves past a given position.
Example:
*Z: 500.0
C: 90.0*
Z: 1000.0
WAIT SYNC
The Z axis travels in one motion to the position 1000.0. When the Z axis travels past
the position 500.0, pivoting of the C axis is started in parallel. Parallel travels have to
be completed with a WAIT SYNC command.
Similarly, peripheral outputs for example can also be switched when a given position is
passed, without the motion of the axis concerned being affected.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 150
3.3.1.1.5 Stop
Stop
Processing of this instruction in automatic mode produces an immediate stop of the
selected numerical axis.
See also:
3.3.4.6 Vacuum Monitoring
3.3.1.1.6 Mold Opening Synchronization (optional)
Mold Opening Synchronization (MOS) enables the robot to enter the mold during its
opening movement, thus saving valuable time.
A way measuring system the opening width of the mold of the IMM is necessary for this
feature.
The command WAIT MOLDPOSITION is used to wait until the mold has opened wide
enough for the robot to enter.
Now the (normally) X-axis can follow the moveable plate of the mold with a teachable
distance using the MOS command. The MOS command behaves like a Synchronous
command (the respective axis is taken out of the pre-calculated path), enabling the
robot to enter the mold with the Y-axis simultaneously. The MOS command is
terminated by the signal Mold Is Open of the IMM.
Finally a WAIT SYNC command must be introduced to end the parallel movement.
This also includes the MOS-axis to the pre-calculated path again.
The two commands for mold opening synchronization are added to the program like
this:
WAIT MOLD POSITION
This is used to wait until the mold is opened wide enough for the robot to enter. After
accessing the command with
Mold Position you have to pick one of the
operators <=, >=, <, >, <>, = to select whether you want to wait until the actual position
of the mold is equal, below or above the selected value. Move the Mold of the IMM to
the desired position to select the value for the command.
Press
to add the command to the teach program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 151
RELATIVE TO MOLD
This axis command lets a robot axis (most likely X) follow the mold in a teachable
distance.
To teach the command open the mold, and access the command with
R to mold. Now move the robot to the desired distance from the moving
plate of the mold, that the robot should use to follow.
Press
to add the command to the teach program.
Example:
...
X: 50.0
WAIT MOLDPOSITION > 400.0
X: 100.0 R TO MOLD
Y: 800.0
WAIT SYNC
...
travel X to the waiting position over the mold.
wait until the mold is opened sufficiently for the robot to enter
let the X-axis follow the mold with the chosen distance; and at the
same time execute the next commands
(like "synchronous").
travel Y to 800.0 mm (while X is following the mold).
wait until all axes (X and Y) have finished their movements.
The distance displayed within the MOS command does not show the actual value of
the distance between EOAT and mold plate, but shows the calculated difference
between the value measured by the measurement system for the width of the mold
opening and the value of the axis position.
The value displayed within the command WAIT MOLDPOSITION only relates to the
actual value of the width of mold opening, if the MOS-Offset has been adjusted for the
mold currently in use.
The measured value of the mold position must not change, when one of the signals
Mold Is Open or Mold Is Closed is active. This would trigger the error message Mold
Monitoring.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 152
3.3.1.1.7 Ejector Synchronization (optional)
Ejector synchronization enables the robot to take out long parts by traveling
synchronously with the ejector.
The EOAT is moved to the piece and the piece is being fixed on the gripper already
before the ejector starts moving forward.
The +EJ-FORWARD command is used to start the ejector and to move the respective
axis synchronously. For this the EOAT is mounted on the Y-tube using a horizontally
moveable mounting plate. During normal operation the moveable plate for the EOAT is
fixed by a pneumatic cylinder. The +EJ-FORWARD command reduces the pressure in
the pneumatic cylinder; thus the EOAT can be pushed back by the ejector. The way of
the EOAT being pushed back is measured using a linear potentiometer and an
analogue input card. The control now tries to keep the EOAT on about 50% of its
maximum actuation, by moving the (X-) axis backward as needed.
From the Intermediate Position given by the +EJ-FORWARD command to the End
Position given by the +EJ-FORWARD command the axis is traveled using the last
measured velocity of the ejector. Regarding the braking ramp of the ejector, the
Intermediate Position should be placed in a way to let the robot continue its travel with
sufficient speed.
The permit for Ejector Forward must be turned off in the Teach program by the user.
Mini EJS does neither use an input card nor a measurement system. Here only the
brake of the respective axis remains open and the torque is set to zero inside the
controller. The result is that the ejector pushes the axis to the intermediate position
mechanically.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 153
The sequence for teaching (shown for the X-axis) is:
1) Use
Absolute to select the X-axis.
2) Travel to the part removal position.
3) Confirm the command with
.
4) Program everything that is necessary to take the part
(switch on vacuums, close grippers).
5) Use
& Ejector Forward to select ejector synchronization.
The following window will appear:
Fig.: Window for ejector synchronization
6) Activate the option Intermediate Pos. and move the X-axis to the end position
of the ejector.
7) Activate the option Final position and move the X-axis to the final kick stroke
position in the mold, from which the vertical arm can be moved up and out of
the mold.
8) Press
to add the command to the program.
Example:
...
Vacuum-01 = ON
Y: 1000.0
X: 600.0
WAIT Vacuum-01 = ON
X: 100.0 +EJ-FORWARD 300.0
PERMIT IMM:EJECTORS FORWARD!=OFF
...
traveling to the part
fix the part
travel synchronously with the ejector
switch off Ejector Forward
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 154
3.3.1.1.8 Release (optional)
Release
The use of this function requires that the respective axis is equipped with a suitable
gearbox.
and
on or off.
are used to determine whether the command shall switch the axis release
is used to add the command to the Teach program.
When the release is activated, the respective axis can be moved by auxiliary force.
After deactivating the axis release, the position of the axis will be controlled actively
again.
Example:
X: RELEASE = ON
FUNCTION IMM: EJECTORS FORWARD! WAIT
X: RELEASE = OFF
Here the X-axis is pushed by the ejector. The ejector is started after the axis has been
released. When the ejector has arrived at its most forward position, the axis release is
being deactivated again.
See also: 3.1.11.2 Axis Release in Manual Mode
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 155
3.3.1.2 Stack Sensor
This function makes it possible to react to obstacles in travel of an axis by means of a
stack sensor. The axis is travelled until either the stack sensor is actuated or a
teachable maximum position is reached.
Fig.: Stack Sensor
At first the desired Stack Sensor is selected from the list box on the upper left of the
tab.
From Position: is the position that is first approached absolutely at the current speed;
this is where travel to the stack sensor starts.
To Position: is the position at which stack sensor travel ends when the stack sensor is
not activated during travel.
Each position has to be selected by tapping on it, and has to be approached with the
axis using the drive keys. Alternatively predefined positions can be selected.
Vabs: Absolute speed in mm/s, by which travel to the stack sensor is carried out
between From Position and To Position. (is not affected by the override)
Current: shows the current position of the axis.
discards the changes and closes the window.
writes the command to the teach program and closes the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 156
3.3.1.3 3D Motions
In 3D travel motions, a position is approached simultaneously with all 3 main axes (X,
Y and Z). This function can be selected only with robots having 3 inverters for the main
axes (=servo drive).
3D-motions can be executed as
• 3D-Absolute Motion
• 3D-Curve
• 3D-Relative Motion
Fig. 3D-Motions
After selecting the type of motion, the positon is approached with the 3 single axes.
Every single axis is activated with a and they are moved one after the other, using the
drive keys, until the desired target position is reached.
Fig. Drive keys for numerical axes
When all axes are on target position, the selected command is added to the
teachprogram using
.
is used to close the window, without changing the teachprogram.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 157
3.3.1.3.1 3D Absolute Motion
Absolute
In automatic operation, in processing of this instruction, the 3 numerical axes X, Y and
Z are moved simultaneously to the indicated position in a straight movement.
3.3.1.3.2 3D Relative Motion
Relative
In automatic operation, in processing of this instruction, the 3 numerical axes X, Y and
Z are moved simultaneously to the indicated position in a straight movement.
This function is identified in the teach program by the letter "R" after the axis
coordinates.
The axis coordinates in this instruction are added to the axis coordinates of the starting
position of the axes, i.e., motion is executed relative to this starting position.
The position to which the relative motion is to refer must already have been taught
before this function is entered.
If the starting position is changed, the position that is approached with the
3D relative motion is also changed. The distances between the two points remain the
same.
3.3.1.3.3 3D Curve
Curve
This function is identified in the teach program by the symbol "*" in front of the axis
coordinates.
In automatic operation, when this instruction is processed, the indicated position is
bypassed by the adjustable radius R3D and switched to the next instruction.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 158
3.3.1.4 Speed
This tab provides teach commands to set speed and acceleration for subsequently
teached movements of the specific axis.
3.3.1.4.1 VMAX
Vmax
This function is used to set the maximum speed as a percentage of the configured
maximum speed of a numerical axis. The actual axis speed in automatic operation is in
addition affected by the Override. The Vmax instruction remains effective until the next
Vmax or Vabs instruction, and affects all subsequently taught motions of the axis
concerned.
The value of VMAX can be altered by moving the slider, or can be input using the
numerical Input after tapping the input field.
is used to confirm and write the command to the teach program.
3.3.1.4.2 VABS
Vabs
This function permits Override-independent speed setting in mm/s of a numerical axis
for adaptation to secondary motions (for example, ejector motion in piece transfer). The
Vabs instruction is effective until the next Vmax or Vabs instruction, and affects all
subsequently taught motions of the axis concerned.
The value of VABS can be altered by moving the slider, or can be input using the
numerical Input after tapping the input field.
is used to confirm and write the command to the teach program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 159
3.3.1.4.3 AABS
Aabs
This function permits the maximum acceleration or retardation in mm/s² of a numerical
axis with servo drive to be adjusted when the configured acceleration (deceleration) is
too big for the application.
This instruction is effective until the next Aabs instruction and affects all subsequently
taught motions of the axis concerned.
The value of AABS can be altered by moving the slider, or can be input using the
numerical Input after tapping the input field.
is used to confirm and write the command to the teach program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 160
3.3.1.4.4 R3D
R3D
R3D is the radius for curve motions motion in mm. This is the distance before the
taught end position at which the motion of the next axis instruction is started.
The parameter has to be taught in the program routine before the 3D motion to be
affected.
The value of R3D can be altered either by using the slider, or by typing the value using
the numerical input dialogue after tapping the input field.
is used to confirm and write the command to the teachprogram.
3.3.1.4.5 V3D
V3D
This parameter limits the resulting path speed of a 3D motion. The path speed is the
geometrical sum of the speeds of the 3 single axes. The value of R3D is given in mm/s.
V3D as a limiter overrules the settings performed with VMAX, VABS and the Override.
A limit set with V3D is valid until the next V3D command in the teachprogram. Without
a V3D command, the path speed in a teachprogram remains unlimited.
The parameter has to be taught in the program routine before the 3D motion to be
affected.
The value of V3D can be altered either by using the slider, or by typing the value using
the numerical input dialogue after tapping the input field.
is used to confirm and write the command to the teachprogram.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 161
3.3.1.5 Wait Sync
Sync
This instruction is used to terminate parallel motions.
Program processing is stopped until all active axis motions have been completed.
3.3.1.5.1 Wait Pathsync
Pathsync
WAIT PATHSYNC is a version of WAIT SYNC especially designed for axes traveling
on a pre-calculated path, and therefore is only available at robots that are equipped
with servo driven main axes (X, Y, Z). The pre-calculation of the path-axes (X, Y, Z) is
stopped until the last path-movement is active and all other axes are no longer active.
If at the beginning of the braking ramp of the path axes still any other axis is not in its
target position, the path axes will stop at their respective last target positions. The precalculation only be continued after all other axes have reached their target positions.
Careful: Movements of additional axes (A, B, C), which are teached between the last
path axis command (X, Y, Z) and WAIT PATHSYNC, will not be monitored by this
WAIT PATH SYNC!
Example:
*Y: 200.0
C: 90.0*
*Y: 0.0
*X: 0.0
*Z:2000.0
WAIT PATHSYNC
*Z: 0.0
At Y=200 the synchronous movement to C=90 is started. If the C-Axes reaches its
position prior to Z=2000 the robot will continue traveling to Z=0 without stopping. If the
C-Axes does not reach its position the robot stops at Z=2000 and waits until C reaches
its position. Only after that the robot will continue to Z=0 .
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 162
3.3.2 Placing Programs
The placing function is used for the automatic calculation of several placing positions.
This makes it possible to fill a crate without programming each placing position
separately.
The R7 Control offers the following possibilities for this:
•
•
•
•
•
•
•
16 freely definable placing programs
up to 6 different placing sequences
up to 6 different axis sequences
approach of placing positions with 3D function
programmable crate height in 3D approach
programmable displacement
depositing on stack sensors with adjustable speed
Because of the automatic robot equipment check, only those functions that the robot is
able to execute may be programmed. This means that no 3D motion can be executed if
only one frequency converter is available.
The depositing program function is called up with the button
selecting one of the existing placing programs will be displayed.
. The dialogue for
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 163
Fig.: Dialogue to select a placing program
In the selection list on the left side of the window you can select one of the existing
placing programs. The table Placing Program Information shows how many parts are
placed in the different axis directions by the selected placing program. If no placing
programs have been defined in the current teachprogram yet, the message "No placing
programs available" will be displayed instead of the selection list.
is used to create a new placing program.
is used to edit the selected placing program.
can be used to delete the selected placing program, if it is not used in the
teachprogram.
can be used to create a copy of the selected placing program. The dialogue for
text input will appear. Here you can input a name for the copy of the placing program,
or confirm the suggested standard name with
.
When a new placing program is created, first the dialogue for axes selection is
displayed.
Editing of the other parameters of the placing program is done using five tabs:
1. ........................... Position of the first part, Name
2. ........................... Number and distances of the other parts
Options .................. Axis sequence, placing sequence, 3D, box height
STS ....................... Stacking Sensor
Displacement ........ Displacement
See also:
3.3.5.3 Reset Placing Counters
3.1.14.6 VIEW Menu: Placing Counters
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 164
3.3.2.1 Create New Placing Program
When creating a new placing program, this window is used to select the axes available
for the new placing program.
Fig.: Window for axes selection
The up to 3 axes available for the placing program must be activated with a
.
is used to confirm the entries, the tab for the first placing position will be
displayed next.
is used to cancel the process and to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 165
3.3.2.2 Tab 1. - 1st Position, Name
This tab is used to determine the placing position of the first part in the placing
sequence, furthermore the name of the placing program can be changed here.
Fig.: Tab for the 1st position
The desired name for the placing program can be entered after tapping the input field
Name of placing program using the dialogue for text input.
After selecting one of the 3 axes, the selected axis can be moved to its position for the
1st placing position that was programmed earlier.
If the axes Positions for the first placing position have to be altered, first the button
has to be pressed. Now the currently selected axis can be moved to its desired
position, until all axes of the robot are on their position for the first placing position.
The selection field on the right bottom of the window can be used to recall a predefined
position for the first placing position.
When all parameters on this tab are entered, either the next tab is opened by tapping,
or the placing program is added to the teachprogram by pressing
.
is used to cancel the process, and to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 166
3.3.2.3 Tab 2. - Placing Pattern
This tab is used to determine the placing pattern.
Fig.: Tab for the placing pattern
In order to determine the placing pattern, the number of pieces to be placed in the axial
direction for each axis and the position of either the second or the last piece have to be
specified. The second or last position is calculated as a distance relative to the first
placing position (this is indicated by the letter R after numerical positions)
When the first position is changed, the entire placing program will be shifted and the
placing pattern remains intact.
After choosing one of the 3 axes, the user has to select, if the position of the second
piece or the position of the last piece in the respective axial direction will be given.
Now the axis is moved to its desired position using the drive buttons.
At last the number of pieces to place in the respective axis direction is entered using
the dialogue for numerical input after tapping the field Number of parts.
When all parameters on this tab are entered, either the next tab is opened by tapping,
or the placing program is added to the teachprogram by pressing
.
is used to cancel the process, and to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 167
3.3.2.4 Tab Options
This tab is used to set options about approach and placing order for the placing
program.
Fig.: Tab for approach and placing order
Axis Order
This sequence will be used during automatic operation to travel the axes in order to the
reach the current placing position.
Placing Order
This is to determine the sequence of the placing process.
Fig.: Example - Placing Order ZXY
3D
A at this option activates the 3D approach. The axes are positioned simultaneously
by means of a 3D motion. The parameters Box Height and Axis Sequence allow the 3D
motion to end, displaced about the box height in the direction of the last axis in the axis
sequence, and this axis then travels into position alone. Otherwise, the robot would
"move through" the wall of the crate.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 168
Box Height(only with 3D approach)
This value depends upon the dimensions of the crates. Select the axis to be moved
into the crate. This has already been done in the Axis Sequence parameter; select an
axis sequence in which this axis is the last to be moved (e.g., ZXY for the Y axis).
Move the selected axis toward a position outside the crate, that can be approached
with a 3D motion.
When all parameters on this tab are entered, either the next tab is opened by tapping,
or the placing program is added to the teachprogram by pressing
.
is used to cancel the process, and to close the window.
3.3.2.5 Tab STS - Stacking Sensor
On this tab the user can activate that the last axis of the axis sequence uses a stacking
sensor to approach the placing position. This might be helpful, when the height of the
stack is not fixed.
Fig.: Tab for placement using a stacking sensor
With selection field at the right top of the tab the user can select which stacking sensor
is to be used. By selecting "000 - none -" the stacking sensor function is deactivated, the
axis will travel directly to the calculated numerical position.
Offset
This is the distance from the calculated placing position from which travel by means of
the stack sensor is to begin. After pressing
respective axis using the drive buttons.
the Offset is set by travelling the
Vabs
Absolute speed for the stacking sensor travel. After tapping the input field, the desired
value is entered using the dialogue for numerical input.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 169
When all parameters on this tab are entered, either the next tab is opened by tapping,
or the placing program is added to the teachprogram by pressing
.
is used to cancel the process, and to close the window.
3.3.2.6 Tab Displacement
Certain pieces cannot be stacked one over the other (or side by side), but may have to
be deposited displaced in relation to the previous layer. The placing program uses the
parameter Displacement to achieve this.
Fig.: Tab for displacement
With every layer change of the last axis in the placing order, the displacement value set
for the respective axis will be added to the placing positions of the axis.
The displacement value is set after activating the respective axis by moving the axis
with the drive buttons.
When all parameters on this tab are entered, either the next tab is opened by tapping,
or the placing program is added to the teachprogram by pressing
.
is used to cancel the process, and to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 170
3.3.3 Injection Molding Machine IMM
3.3.3.1 Injection Molding Machine IMM - Standard Functions
Here you can program signals to the IMM.
Fig.: Window for IMM Signals
First pick the desired signal from the selection list.
and
are used to select if the chosen signal is to be turned on or off.
When the robot is equipped with 2 interfaces for injection molding machines, one of the
options IMM 1 or IMM 2 has to be tapped in order to select which Injection Molding
Machine is the targeted by the signal.
is used to add the command to the Teach program.
is used to cancel the entry.
If a signal has been enabled in the teach program, it also has to be disabled again.
These signals are only permits (inhibits) to the injection molding machine. The actual
control of the movements is done by the IMM.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 171
3.3.3.1.1 MOLD CLOSE and FULLY MOLD OPEN
Use the signals MOLD CLOSE and FULLY MOLD OPEN to teach the permits for the
movements of the mold of the injection molding machine. The signal FULLY MOLD
OPEN is only available with the extended E67 / E12 interface; here the mold is
automatically only opened to an intermediate position. The robot does not control the
standard opening of the mold - the IMM opens the mold when the part is finished.
Furthermore the IMM utilizes E67 / E12 signals to send feedback about the position of
the mold. This is done using the signals MOLD OPEN and MOLD CLOSED. Only when
the mold is fully open, it is possible for the robot to enter the mold.
The extended E67 / E12 interface additionally supplies the feedback signal MOLD
INTERMEDIATE POSITION. Here the robot can already enter the mold, when it is
opened to the intermediate position. The robot then has to permit the mold to fully
open.
Example for standard E67 / E12
WAIT IMM1: MOLD CLOSED = OFF
PERMIT IMM1: MOLD CLOSE! = OFF
WAIT IMM1: MOLD OPEN = ON
wait until the mold is not closed
switch off permission
wait until the mold is fully open
enter the mold area,
remove the part,
exit the mold area, then ...
PERMIT IMM1: MOLD CLOSE! = ON
WAIT IMM1: MOLD OPEN = OFF
close the mold
wait until the mold is not fully open
while the mold is closing, the robot already could perform something different, e.g. travel in direction of the placing area
...
WAIT IMM1: MOLD CLOSED = ON
wait until the mold is closed
Example for extended E67 / E12
WAIT IMM1: MOLD CLOSED = OFF
PERMIT IMM1: MOLD CLOSE! = OFF
WAIT IMM1: MOLD INTERMEDIATE POS = ON
wait until the mold is not closed
switch off permission
wait ...
enter the mold area; fix the part on the EOAT
PERMIT IMM1: FULLY MOLD OPEN = ON
WAIT IMM1: MOLD OPEN = ON
PERMIT IMM1: FULLY MOLD OPEN = OFF
open the mold completely
wait until the mold is fully open
switch off permission
exit the mold area
PERMIT IMM1: MOLD CLOSE! = ON
WAIT IMM1: MOLD OPEN = OFF
close the mold
wait until the mold is not fully open
while the mold is closing, the robot already could perform something different, e.g. travel in direction of the placing area
...
WAIT IMM1: MOLD CLOSED= ON
wait until the mold is closed
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 172
3.3.3.1.2 EJECTORS FORWARD/BACK and COREPULLERS PULL/SET
Using the commands EJECTORS FORWARD/BACK and COREPULLERS PULL/SET
the movements of the ejectors and core pullers of the IMM are teached. The most
basic way to do so, is to switch on the permit for the desired movement, then wait until
the target position is reached using a WAIT command, and then to switch off the permit
again.
The following example moves the ejectors forward:
PERMIT IMM1: EJECTORS FORWARD! = ON
WAIT IMM1: EJECTORS FORWARD = ON
PERMIT IMM1: EJECTORS FORWARD! = OFF
switch on permission
wait ...
switch off permission
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 173
3.3.3.2 Injection Molding Machine IMM - Automatic Functions
The automatic functions simplify programming the movements of the IMM.
Fig.: Window for IMM signals
First pick the desired movement from the selection list.
The permits are toggled correctly by the commands automatically. When the option
Wait for completion of the command is activated, the command will wait until the
movement is finished. In that case command will have the extension WAIT added in the
Teach program.
When the robot is equipped with 2 interfaces for injection molding machines, one of the
options IMM 1 or IMM 2 has to be tapped in order to select which Injection Molding
Machine is the targeted by the signal.
is used to add the command to the Teach program.
is used to cancel the entry.
These signals are only permits (inhibits) to the injection molding machine. The actual
control of the movements is done by the IMM.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 174
3.3.3.2.1 MOLD CLOSE! WAIT
The command
PERMIT IMM1: MOLD CLOSE! WAIT
eases programming the closing movement of the mold. The command equals the
following sequence of "standard" commands:
PERMIT IMM: MOLD CLOSE! = ON
WAIT IMM1: MOLD OPEN = OFF
WAIT IMM1: MOLD CLOSED = ON
3.3.3.2.2 EJECTORS FORWARD/BACK (WAIT) and
CORE PULLERS PULL/SET (WAIT)
The automatic functions will ease the programming of the movements of the ejectors
and core pullers essentially. The respective permits are simply toggled by the
commands automatically.
The automatic function for "ejector back" will look like this:
PERMIT IMM1: EJECTOR BACK!
This equals the following sequence of "standard" commands:
PERMIT IMM1: EJECTOR FORWARD! = OFF
PERMIT IMM1: EJECTOR BACK! = ON
If additionally the option Wait for completion of command is activated, the extension
WAIT is added to the command, and the command will wait for the respective
movement to be finished.
The Wait function for "ejectors back" will look like this:
PERMIT IMM1: EJECTOR BACK! WAIT
This equals the following sequence of "standard" commands:
PERMIT IMM1: EJECTOR FORWARD! = OFF
PERMIT IMM1: EJECTOR BACK! = ON
WAIT IMM1: EJECTOR BACK = ON
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 175
3.3.4 Peripherals
3.3.4.1 Conveyor
This command is used to control a conveyor.
Fig.: window for conveyors
and
are used to select if the command shall switch the conveyor on or off.
When the option Time is activated with a , the selected state is only kept for the
selected time, without interrupting the teach program. The value for the time is input
using the numerical input dialogue after tapping the input field.
is used to add the command to the teach program.
is used to cancel the input.
See also:
3.2.6.8 Setup Menu: Conveyor Names
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 176
3.3.4.2 Peripheral Outputs PO
This command is used to control peripheral outputs (POs).
Fig.: window for peripheral outputs
First, the desired peripheral output is selected.
and
are used to select whether the command shall switch the selected
peripheral output on or off.
When the option Time is activated with a , the selected state is only kept for the
selected time, without interrupting the teach program. The value for the time is input
using the numerical input dialogue after tapping the input field.
is used to add the command to the teach program.
is used to cancel the input.
Part monitoring can be activated for peripheral outputs. In monitoring, outputs and
inputs having the same number will always correspond to one another. As an example,
monitoring for peripheral output 1 will be performed through peripheral input 1.
Peripheral outputs will remain set when shifting to manual, block stop or in the event of
an error.
See also:
3.3.4.6 Monitoring
3.3.4.3 Cylinders
3.2.6.9 Setup Menu: PO-Names
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 177
3.3.4.3 Cylinder function
This function is useful to ease the teaching of pneumatic cylinders of some peripheral
equipment, by combining two peripheral outputs to a cylinder. Additionally you can use
two peripheral inputs and a time limit to monitor the correct function of the pneumatic
cylinder. If the cylinder does not reach the respective target position within the set time
limit, an error message will be displayed on the teachbox.
Up to 255 cylinders can be defined. Mapping of the peripheral outputs and inputs, also
setting the time limit is done using the cylinder definition.
After selecting the function, first the desired cylinder is selected from the list.
,
and
are used to select if the command has to move the cylinder to either
one of its final positions or to release it. Release means, that both outputs are switched
off.
In case of cylinders that are equipped with position endswitches, in automatic operation
the next command is not executed before the desired target position of the gripper is
approached. The option Parallel enables to move several cylinders simultaneously in
that case.
This allows to start additional functions during the motion of the cylinder already.
In order to prevent uncontrolled motions, the instruction WAIT SYNC has to be entered
after every parallel motion. This will ensure that all motions have been completed
before the next instruction is started.
is used to add the command to the teach program.
is used to cancel the input.
Peripheral outputs will remain set when shifting to manual, block stop or in the event of
an error.
See also:
3.2.6.5 Setup Menu: Cylinder Definition
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 178
3.3.4.3.1 Applying cylinders in a teach program
Without using the cylinder function, moving a pneumatic cylinder forward and backward
will be programmed somehow like this:
PO-002: OFF
PO-001: ON
WAIT PI-001 =ON
switch off the valve for "backward"
switch on the valve for "forward"
wait until the limit switch "cylinder forward" is actuated
...
PO-001: OFF
PO-002: ON
WAIT PI-002 =ON
switch off the valve for "forward"
switch on the valve for "backward"
wait until the limit switch "cylinder backward" is actuated
Using the cylinder function simplifies the example like this:
CYL-01: ON
switch off the valve for "backward"
switch on the valve for "forward"
wait until the limit switch "cylinder forward" is actuated
...
CYL-01: OFF
switch off the valve for "forward"
switch on the valve for "backward"
wait until the limit switch "cylinder backward" is actuated
If also the time limit is set correctly at the cylinder definition, one benefits a monitoring
function with error message for time limit exceeded without additional programming.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 179
3.3.4.4 Vacuums
This command is used to control vacuum circuits.
Fig.: window for vacuum circuits
First, the desired vacuum circuit is selected.
and
are used to select whether the command shall switch the selected
vacuum circuit on or off.
is used to add the command to the teach program.
is used to cancel the input.
See also:
3.3.4.6 Monitoring
3.2.6.13 Setup Menu: Vacuum Names
3.2.6.15 Setup Menu: Vacuum Reference States
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 180
3.3.4.5 Grippers
This command is used to control gripper circuits.
Fig.: window for gripper circuits
First, the desired gripper circuit is selected.
,
and
are used to select whether the command shall switch the selected
gripper circuit to opened, closed or released.
The state RELEASED is only available at gripper circuits equipped with the required
valves.
In case of gripper circuits that are equipped with position feedback, in automatic
operation the next command is not executed before the desired target position of the
gripper is approached. The option Parallel enables to move several grippers
simultaneously in that case.
This allows starting additional functions during the closing or opening motion.
In order to prevent uncontrolled motions, the instruction WAIT SYNC has to be entered
after every parallel motion. This will ensure that all motions have been completed
before the next instruction is started.
is used to add the command to the teach program.
is used to cancel the input.
See also:
3.3.4.6 Monitoring
3.2.6.14 Setup Menu: Gripper Names
3.2.6.16 Setup Menu: Gripper Reference States
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 181
3.3.4.6 Part Monitoring, Alternative Sequence with "Piece Lost"
The alternative sequence is used for selective interception of the error "piece lost" in
order to avoid damage to the mold by parts that have not been removed (e.g., by
getting caught in the mold). The alternative sequence will be executed if piece
monitoring for the relevant vacuum, gripper or peripheral circuit has been activated.
Piece monitoring is a background function which from its activation (M-STOP) until its
deactivation (M-OFF or shutdown of the monitored circuit) will constantly monitor
whether there is a piece in the selected gripper/vacuum/peripheral circuit. If a piece is
lost, operation will switch to the alternative sequence.
This function can be activated for
•
•
•
Grippers
Vacuums
Peripheral outputs
Alternative Sequence STOP:
After selecting the tab
M-ON STOP ALT will be displayed in the edit line. You
can select the gripper, vacuum circuit or peripheral output to be monitored from the list
provided by the tab.
is used to add the command to the teach program.
If a molded part is lost in the automatic mode, the robot will stop, all signals to the
molding machine will be reset and the relevant error message will be shown on the
display. Since the robot switches to manual operation in the course of this process, it is
necessary to approach the reference point prior to the next start of the automatic mode.
Example:
VAC1:M-ON STOP
When a piece is lost, automatic operation will be interrupted by the error message
"vacuum 1 part lost."
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 182
Arbitrarily Defined Alternative Sequence
In order to avoid interruption of automatic operation due to a lost piece, an alternative
sequence may be programmed.
After selecting the tab
in the relevant command window, the alternative
sequence is activated with a at the Option Alternative. The teachbox now expects a
target label to be input, at which the program is to be continued in the event of a lost
piece.
is used to add the command to the teach program.
If a molded part was lost in the automatic mode or in the stepping mode (operating
mode BLOCK STOP), the numerical axes will be stopped, the pneumatic axes will
complete their travel motion, and only then will the alternative sequence be started at
the indicated label.
An alternative sequence may be provided with any desired number of instructions.
The respective sequence has to be made dependant on the actual position, in order to
avoid collisions.
It is possible to assign a separate alternative sequence to each of the vacuum, gripper
and peripheral circuits; however, it is likewise possible to use a single alternative
sequence for all circuits.
An alternative subroutine has to be ended with an unconditional jump and the IMM
signals have to be switched according to the relevant needs in the alternative program.
In the alternative subroutine, the monitoring system of the addressed circuit or the
circuit itself should be turned off, otherwise the program will jump back to this
subroutine after having completed the alternative sequence.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 183
Example:
START
...
Removal process
...
VAC_01: ON
VAC_01:M-ON ALT : APROG
...
Depositing
...
JMP START
APROG:
VAC_01: OFF
...
WAIT START
...
JMP START
If a molded part is lost, program execution will continue at the APROG (alternative
program) label. Automatic operation will be resumed after the
key is pressed.
In order to avoid collisions after an alternative routine, the Y-axis should possibly be
moved to its initial position before the other axes are traveled.
If an alternative program is used by several monitorings, all monitorings must be
disabled again at the beginning of the alternative program! Otherwise multiple call-ups
of the alternative program may occur, and instructions at the beginning of the
alternative program will be processed more than once!
See also:
3.3.6.8.8 Jump Condition Position
3.3.6.8.7 Jump Condition Area
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 184
3.3.5 Counters
3.3.5.1 Counters - Basic Functions
The primary use of counters is to program repeat functions or to carry out an event
count. Furthermore counters can be used like variables to save e.g. states and
settings. Counters are also useful to interchange parameters and to do handshakes
between part programs. Incorporating Stopwatches allows to do loops with timeouts.
Fig: window for counters
64 freely usable counters are available. After entering the counter menu (or after
tapping the field Counter) first select the counter to be modified. In the following this
counter will also be designated as CNT-xxx.
Now, the kind of value to change counter CNT-xxx with, is selected:
VALUE ... a number ranging from -2147483648 to 2147483647
COUNTER ... the value of a (second) counter CNT-yyy
STOPWATCH ... the result of a time measurement done by a Stopwatch in 1/10s of
seconds
The other input possibilities depend upon the type of value, and are described in detail
for each type of value.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 185
Example:
CNT-01 = 0
START:
Removal process
CNT-01 = CNT-01 + 1
JMP QUALI CNT-01 = 11
Depositing
JMP START
QUALI:
Quality Control
CNT-01 = 0
JMP START
Every 11th piece removed is to be sent to a quality control station. Since this piece has
to travel along a path different from that of the 10 pieces before it, a special sequence
is created, which is dependent upon the current counter reading and will be executed
for every 11th piece only.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 186
3.3.5.1.1 Value
Value
Fig: Window for Counters - Value
Tap Assign(=), Increment(+) or Decrement(-) to choose the kind of calculation:
CNT-xx = VALUE
CNT-xx = CNT-xx + VALUE
CNT-xx = CNT-xx - VALUE
After tapping the input field "Enter value" the desired value for VALUE can be entered
using the dialogue for numerical input.
The buttons on the right side of the window can be used to call the most common
cases:
CNT-xx = 0
CNT-xx = CNT-xx + 1
CNT-xx = CNT-xx – 1
Use
to add the command to the teach program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 187
3.3.5.1.2 Counter
Counter
Fig: window for counters - counter
Now, select the second "right" counter CNT-yy from the list.
Tap Assign(=), Increment(+) or Decrement(-) to choose the kind of calculation:
CNT-xx = CNT-yy
CNT-xx = CNT-xx + CNT-yy
CNT-xx = CNT-xx - CNT-yy
Use
to add the command to the teach program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 188
3.3.5.1.3 Stopwatch
Stopwatch
Fig: window for counters - Stopwatch
Select the desired Stopwatch z from the list. (z = 1-4)
Use the buttons on the right side of the window to select the desired value of the
chosen Stopwatch:
CNT-xx = STOPWATCH-z ACTUAL
CNT-xx = STOPWATCH-z MIN
CNT-xx = STOPWATCH-z AVERAGE
CNT-xx = STOPWATCH-z MAX
Use
to add the command to the teach program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 189
3.3.5.2 Counters - Advanced Functions
Using the advanced counter functions, it will be possible to do more complex
calculations in a Teach program.
Fig: Window for counters - advanced functions
64 freely usable counters are available. After tapping the field Counter first select the
counter to be modified. In the following this counter will also be designated as CNT-xx.
Tapping the field Operator will open a window to select one of the operators +
(Addition), - (Subtraction), * (Multiplication), DIV (Division) and REM (Division
Remainder).
After tapping one of the fields Left Operand or Right Operand, the values to be
placed right and left of the operator are chosen. Possible are:
Counter ... the value of a counter ZLR-yy
Row Counters X/Y/Z ... the value of one of the row counters of a placing program
Part Counter ... the value of the part counter of a placing program
Value ... a number ranging from -2147483648 to 2147483647
Stopwatch ... the result of a time measurement done by a Stopwatch in 1/10s of
seconds
According to the kind of operator chosen, a dialogue field for completion of the entry
will open after tapping the operator.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 190
3.3.5.3 Reset Placing Counters
The placing counters are required in the placing program in order to memorize how
many pieces have been already placed for each axis and to approach the next placing
position. Once the placing program is finished (the last piece has been placed), the
associated placing counters for the axes X, Y and Z are reset to zero prior to a new
start of the placing program.
The reading of the number of pieces previously deposited by the respective placing
program is in the part counter. After the placing program has been completed (last
piece has been placed), the value of the part counter remains unchanged until the first
part of the sequence has been placed again.
The teach program function PLCACINGP XX RESET can be used to clear the placing
counters and part counter of the placing program XX at any time.
Fig.: Window for placing counters
After calling the function, the desired placing program is picked from the selection list
Select placing program. Then the command is added to the teachprogram by
pressing
.
is used to close the window without changing the teachprogram.
Example:
SUBR NEW_BOX
CONV01: ON 5.0 s
PLACINGP01 RESET
RET
The subroutine NEW_BOX executes a box change, when called. The placing program
is being reset, and will continue with the first part in the new box.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 191
3.3.6 Program branching
3.3.6.1 Jump
JMP
Basically a teachprogram is executed command after command, from top to bottom,
starting at program line no. 0001. If the robot has to be able to react on certain events,
a change in this sequence of execution will be required.
Using the JMP (Jump-) command it is possible not to continue with the next program
line, but to jump to a different location somewhere in the program, and to continue the
execution of the program from there on. The JMP command requires a Label as a
target to jump to.
You can either type in the name of a new label after tapping the input field Enter label,
or choose an existing label from the selection field Select label.
If the jump command is not combined with a condition, the jump to the label will be
executed with every execution of the command. This unconditional jump is referred to
as absolute jump.
is used to generate such an absolute jump.
Example:
JMP START
is used to generate a conditional jump, that is only executed when the selected
jump condition is true.
Example:
JMP QUALI CNT01 = 15
The label QUALI is only jumped to, if counter CNT01 equals 15.
is used to confirm all parameters and to add the command to the teach program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 192
3.3.6.2 Label
Label
A label is the target for Jump commands.
Tap the input field Input label to enter the alphanumeric name of the label using the
Text input dialogue. The name can be up to 12 characters long.
Example:
BOX_01:
is used to add the label to the program.
A label with a certain name may only exist once in a teachprogram, but it can be
targeted by any number of Jump commands.
3.3.6.3 If - Elseif - Else - Endif
jump condition
jump condition
Basically a teachprogram is executed command after command, from top to bottom,
starting at program line no. 0001. If the robot has to be able to react on certain events,
a change in this sequence of execution will be required.
Using the IF - ELSEIF - ELSE - ENDIF commands it is possible to execute or not
execute program parts if jump conditions are true or not true.
You must not exit the program part between IF and ENDIF using a jump command.
There are 3 possible variants.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 193
3.3.6.3.1 Variant 1:
The instruction IF defines a condition for the execution of an alternative program
sequence. This sequence is programmed in the program lines after the instruction IF.
The END IF instruction is programmed at the end of the alternative sequence.
If the jump condition is false, the instructions between IF and END IF will not be carried
out. The program routine will be continued with the first instruction after END IF.
If the jump condition is true, first the instructions between IF and END IF will be carried
out. Only then will the program routine be continued after END IF.
Example:
3.3.6.3.2 Variant 2:
The instruction IF is used to specify a condition for the execution of two alternative
program sequences.
Sequence 1 is to be executed only when the condition is true. Sequence 2 is to be
executed only when the condition is false.
Sequence 1 is programmed in the program lines after the instruction IF. Then the
instruction ELSE and, following that, sequence 2 is programmed. At the end of
sequence 2, the instruction END IF is programmed.
If the jump condition is false, the instructions between IF and ELSE will not be carried
out, and the program routine will be continued with the first instruction after ELSE (=
sequence 2).
If the jump condition is true, first the instructions between IF and ELSE will be carried
out (= sequence 1), and then the program routine after END IF will be continued.
Example:
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 194
3.3.6.3.3 Variant 3:
The commands IF and ELSEIF are used to define conditions for the execution of
various program routines; where only one of them has to be executed at a time.
In automatic mode the conditions of the IF command and of the ELSEIF commands are
checked one after the other, following their sequence in the program. The program
routine attached to the first true condition will be executed, after that the execution of
the program will continue behind the ENDIF.
The optional ELSE command is used to define a routine, which will only be executed if
none of the conditions of the IF and ELSEIF commands had been true.
This variant may especially be helpful creating sequencers, where in dependence of
the value of a counter a different step of a sequence has to be executed.
Example:
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 195
3.3.6.4 Call - Subr – Ret
Subroutine Name
Return
Basically a teachprogram is executed command after command, from top to bottom,
starting at program line no. 0001. If the robot has to be able to react on certain events,
a change in this sequence of execution will be required.
Using CALL-SUBR-RET commands it is possible to structure a Teachprogram with
subroutines, and to call these subroutines conditional (based on the
jump conditions) or unconditional.
Subroutine callups permit branching into a sequence of instructions. After their
execution, the process will jump back to an instruction located directly after the related
callup. In this way, program sections that are needed more often have to be
programmed only once.
When programming subroutines, the following rules have to be kept in mind in order to
ensure proper execution:
•
•
•
Subroutines must always be terminated with the instruction RET.
A subroutine must not be exited with the instruction JUMP.
A subroutine routine must never be processed without callup with the instruction
CALL.
Instruction CALL
The instruction CALL Name is used to call up the subroutine Name. Execution of the
program will be continued at the subroutine.
Instruction SUBROUTINE
The instruction SUBR Name is used to define the start of a subroutine.
Instruction RETURN
RET is used to terminate a subroutine and to return to the main program. Return is
made to the line after the CALL instruction by which the subroutine was called up.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 196
Example
CALL INIT
START:
CALL REMOVAL
CALL PLACE
JMP START
SUBR INIT
...
RET
SUBR REMOVAL
...
RET
SUBR PLACE
...
RET
This example shows the possibility for structured programming. The first 5 lines form
the main routine, that simply calls the subroutines one after the other, using a
sequence of CALL-commands. The subroutine INIT is only called once when the
program is started, during the further cycles only the subroutines REMOVAL and
PLACE are executed. By using conditional CALL commands, routines for events like
reject part or quality control can be added to the program easily. The advantage of this
programming method is the short main routine, which gives a quick overview of the
general sequence and the functions of the program. The details of the functions are
programmed in the subroutines.
Subroutines can callup other subroutines, i.e. they can be nested. Maximum nesting
level is 10.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 197
3.3.6.5 And
Jump Condition
The AND and OR functions allow to execute IF, JMP, CALL and WAIT commands on
the basis of several jump conditions.
First, program the IF or JMP command with the first jump condition. Then, using the
AND/OR function, program the other jump conditions in the following program lines.
Example:
JMP Label Counter-001 = 1
AND Counter-002 = 1
The Jump is only executed when both counters Counter-001 and Counter-002 have the
value 1.
AND and OR instructions must be programmed in the line(s) directly after the
instruction to which they refer. Otherwise logical operation will not take place.
3.3.6.6 Or
Jump condition
The AND and OR functions allow to execute IF, JMP, CALL and WAIT commands on
the basis of several jump conditions.
First, program the IF or JMP command with the first jump condition. Then, using the
AND/OR function, program the other jump conditions in the following program lines.
Example:
JMP Label Counter-001 = 1
OR Counter-002 = 1
The Jump is executed when at least one of the counters Counter-001 or Counter-002
has the value 1.
AND and OR instructions must be programmed in the line(s) directly after the
instruction to which they refer. Otherwise logical operation will not take place.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 198
3.3.6.7 End
End
Every program should be terminated with the instruction END, in order to avoid
unintended processing of additional subroutines.
The robot program and the all modes program will continue their automatic processing
at program line 0001 after processing the END command.
Reference programs, the peripheral program, the additional part programs and also the
EOAT Change program will terminate at the END command.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 199
3.3.6.8 Jump Conditions
Using jump conditions the commands JMP, IF, CALL, WAIT, OR and AND can make
the robot react on internal and external events.
After calling up the above mentioned commands, the following tabs are available to
access the desired event:
•
•
•
•
•
•
Counter
PI
IMM
Vacuum
AutoSwitch
Misc part program, area, position, mode, stacking
•
•
Input
Output
sensor, start, cycle end active
3.3.6.8.1 Jump condition: Counter
The branch is executed dependant on the result of a comparison. The operands for the
comparison can be counters, placing counters, part counters and constant values.
After selecting the event, the desired operands for the left and the right side of the
comparison are picked from the respective lists.
If counters are chosen, a window to select one of the 64 counters is shown.
If pacing counters or part counters are chosen, a window with the available placing
programs is shown.
If value is chosen as an operand, it can be input after tapping the Input value field,
using the dialogue for numerical input.
Additionally, one of the operators <=, >=, <, >, <>, = must be chosen. This is to define
how the numerical value of the left operand must relate to the numerical value of the
right operand in order to trigger the branch.
Example:
IF PLCPRG01-PC = 12
CONVEYOR_01 ON 5.0 S
ENDIF
...
The conveyor is switched on if 12 parts have been placed by the placing program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 200
3.3.6.8.2 Jump Condition: PI-Peripheral Input
The branch will be executed if a selectable signal of the peripherals is ON or OFF.
After selecting the event, a list with the available signals is displayed. Select the
desired signal by tapping it.
and
are used to specify if the branch has to be executed when the signal is
ON or OFF.
With a at Latch the latch function is activated. At the displayed command an
exclamation mark is added after the peripheral input:
JMP LABEL PIxxx! = ON
With this function activated, the control also triggers on very short ON-impulses of the
input, and memorizes them until the next request occurs in the respective part
program.
3.3.6.8.3 Jump Condition: IMM - injection molding machine
The branch will be executed dependant on one of the signals of the IMM.
After selecting the event, a list with the available signals is displayed. Select the
desired signal by tapping it.
and
are used to determine if the branch has to be executed when the signal is
ON or OFF.
When a signal of the IMM interface is ON, the condition described by the signal is true.
When waiting for the mold to open, both signals should be tested :
WAIT MOLD CLOSED =OFF
WAIT MOLD OPEN = ON
This way a possible failure of the interface can be detected, and crashing the closed
mold can be avoided.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 201
3.3.6.8.4 Jump Condition: Vacuum
The branch will be executed depending on the feedback signal of the vacuum monitor
of one of the vacuum circuits. The signal of a vacuum monitor is on, when all parts of
all suction cups of the respective vacuum circuit are completely sucked on.
This serves to ensure, upon pickup of a piece, that the piece is really held tightly on the
cup before further motions are carried out.
After selecting the event, a list with the available vacuum circuits is displayed. Select
the desired vacuum circuit by tapping it.
and
are used to specify if the branch has to be executed when the signal is
ON or OFF.
3.3.6.8.5 Jump Condition: AutoSwitch
The branch will be executed depending on the selectable ON / OFF state of an
AutoSwitch.
After selecting the event, a list with the 32 AutoSwitches is displayed. Select the
desired AutoSwitch by tapping it.
and
are used to specify if the branch has to be executed whether the
AutoSwitch is ON or OFF.
When AutoSwitches are configured as keys, in many cases the use of the latch
function may prove as useful. With the latch function activated, the control unit will
trigger on even very short ON impulses, memorizing them until the next request occurs
in the respective part program.
The latch function is activated with a at the option latch. At the displayed command
an exclamation mark is added after the AutoSwitch:
3.3.6.8.6 Jump Condition: Part program
The branch will be executed if a peripheral program is running or ready.
After selecting the event, a list with the available peripheral programs is displayed.
Select the desired program by tapping it.
and
are used to specify if the branch has to be executed when the program is
running or not.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 202
3.3.6.8.7 Jump Condition: Area
The branch will be executed dependant on the roller switch S6 of the Z-axis. The jump
conditions Mold Area and Placing Area are used to execute different reference travels
and alternative routines.
Mold Area
The roller switch of the Z-axis(S6) is not actuated. The robot is above or inside the
IMM.
Placing Area
The roller switch of the Z-axis(S6) is actuated. The robot is outside the IMM.
3.3.6.8.8 Jump condition: Position
The branch will be executed in accordance with the actual position of one of the robot
axes.
After selecting the event, the desired axis is picked from the list with of available axes.
It is now possible to move the chosen axes to the desired target position by using the
drive buttons on the right side of the window.
At last, you have to select one of the operators <=, >=, <, >, <>, = to define how the
actual position of the axis has to relate to the target position given within the command
for triggering the branch.
Example:
JMP INPERI Z >= 1000.0
AND Z =< 1500.0
AND Y > 350.0
...
Could be part of a reference program. It only jumps to the label INPERI if the Z-axis is
positioned within the range from 1000 to 1500 mm, and at the same time the Y-arm
holds a position bigger than 350 mm.
The operator = should possibly not be used together with numerical axes.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 203
3.3.6.8.9 Jump Condition: Mode
The jump condition Mode is available in an All Modes Program only.
The branch is executed dependant on the mode of operation of the robot.
After selecting the event, the desired mode of operation is chosen from the list Select
mode.
Then select one of the operators <=, >=, <, >, <>, = to define how the attached value of
the actual has to relate to the mode of operation given within the command in order to
trigger the branch.
The attached values of the different modes of operation are:
0 ...
Reference missing
1 ...
Manual
2 ...
Reference
3 ...
Blockstop
4 ...
Automatic
Example:
IF MODE < BLOCK STOP
...
ENDIF
The program part between IF and ENDIF will only be executed during operation modes
Reference missing, Manual and Reference.
3.3.6.8.10 Jump Condition: Stacking sensor
The branch will be executed if the signal of one of the up to 8 stacking sensors is ON or
OFF.
After selecting the event, a list with the available stacking sensors is displayed. Select
the desired stacking sensors by tapping it.
and
are used to specify if the branch has to be executed when the stacking
sensor is actuated or not.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 204
3.3.6.8.11 Jump Condition: Start
The branch is executed when the automatic start button
is pressed.
3.3.6.8.12 Jump Condition: Cycle End Active
The branch will be executed, if earlier during automatic mode, with the Cycle End
function activated, the command for closing the mold has been processed (without
actually closing the mold).
3.3.6.8.13 Jump Condition: Input
The branch will be executed if a selectable input signal of the robot is ON or OFF.
After selecting the event, a list with the available signals is displayed. Select the
desired signal by tapping it.
For keys on the right side of the window help you to access certain groups of input
signals:
signals of the injection molding machine
signals of the peripheral inputs
signals of the grippers
signals of the vacuums
and
are used to specify if the branch has to be executed when the signal is
ON or OFF.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 205
3.3.6.8.14 Jump Condition: Output
The branch will be executed if a selectable output signal of the robot is ON or OFF.
After selecting the event, a list with the available signals is displayed. Select the
desired signal by tapping it.
For keys on the right side of the window help you to access certain groups of output
signals:
signals of the injection molding machine
signals of the peripheral outputs
signals of the grippers
signals of the vacuums
and
are used to specify if the branch has to be executed when the signal is
ON or OFF.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 206
3.3.6.9 Start/Stop Part Program
The commands START part program and STOP part program are used to start or stop
the peripheral program, all modes program or one of the 11 additional part programs
from another part program.
Fig.: Window for the Start/Stop part program commands
First pick the desired part program from the selection list Select part program.
or
to determine whether the command shall start or stop the
Then use
selected part program.
is used to add the command to the teachprogram.
is used to discard the entries and to close the window.
Example:
START PERI. PRG.
Starts the peripheral program
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 207
3.3.7 Wait functions
3.3.7.1 Wait
jump condition
The WAIT command is used to halt the execution of the program until the event
defined by the jump condition occurs.
3.3.7.2 Wait Timer
Timer
The command WAIT TIMER is used to link waiting for events with a time (limit).
First the time is set with the command WAIT TIMER, then the other jump conditions are
added using OR and AND commands.
After opening the menu and tapping the input field Time the desired value for the time
can be entered using the dialogue for numerical input.
is used to add the command to the Teach program.
Example:
WAIT TIMER = 3.0 s
OR Vacuum-01 = ON
This waits for a part to be sucked on. If the set underpressure is not achieved within the
time limit of 3 seconds, the wait command terminates, and the execution of the
program is continued without the part. Afterwards a service routine for that case could
easily be triggered using a command like
JMP label Vacuum-01 = OFF.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 208
3.3.7.3 Time
delay time
If a certain delay in the sequence is required, this can be achieved by means of the
time function. The time function can be used to program time delays from 0.0 to 6553.5
seconds.
After calling up the function, the desired delay time can either be adjusted using the
slider, or after tapping the field input time the desired time can be input using the
dialogue for numerical input.
In the automatic mode, processing of a program will be halted at a time function until
the time has elapsed. Only then will the next instruction be started.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 209
3.3.8 More Commands
3.3.8.1 More
This key opens a window with some additional teach commands.
Those commands are:
•
•
•
•
•
Remark (REM)
Cycle end
Block stop
Stopwatch
Operating Mode
3.3.8.2 Remark (REM)
Remark
In order to facilitate future editing, every program should be provided with a sufficient
number of remarks. Remarks are shown in the teach program preceded by "REM":
045 REM THIS IS A REMARK
After calling up the function and tapping the input field "Enter remark" use the dialogue
for text input to enter the desired text.
Use
to add the command to the teach program.
As even remarks take time for being processed, they should be placed outside of the
program flow, especially in time critical routines. This can for example be achieved if
the remark is placed in the line(s) before the Label of routines that are approached
using a JMP command.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 210
3.3.8.3 Cycle End
Cycle End
This instruction is used for selective stopping of automatic operation at the end of
production, without a part remaining inside the mold or on the EOAT.
Activate this function in automatic operation by actuating the
(REFERENCE) key.
The control lamp of the key will begin to flash in confirmation of this function.
The exact sequence is like this:
Automatic operation
During normal automatic operation the command CYCLE END is being ignored, the
jump condition Cycle End Active will be FALSE.
The button REFERENCE is being actuated during automatic operation
The LED of the button REFERENCE starts flashing. By pressing the button
AUTOMATIC the cycle end function could be aborted. The jump condition Cycle End
Active continues to be FALSE. The robot remains in normal automatic operation until
the mold is not closed and the command for closing the mold is being executed.
At the command PERMIT IMM:MOLD CLOSE! = ON
The permission signal MOLD CLOSE is not being switched on, the mold stays open.
The jump condition Cycle End Active will be TRUE from here on. The cycle end can no
longer be aborted.
After the command PERMIT IMM:MOLD CLOSE! = ON
Commands waiting on the mold not-being-open have to be ignored using the jump
condition Cycle End Active, in order to be able to deposit the last piece. The jump
condition can also be used for triggering a special sequence (e.g. moving to the
reference position) during cycle end.
At the command CYCLE END
The robot switches to operating mode manual.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 211
3.3.8.4 Blockstop lock/unlock
Blockstop
Normally, if you press the block stop key
in automatic operation the currently
processed instruction (axis motion) will be completed and the robot will be halted and
shifted into the block stop mode. The LED of the key will flash during this process.
The instruction LOCK BLOCK STOP allows a block stop to be carried out only after the
UNLOCK BLOCK STOP instruction has been reached and all instructions found before
it in the routine have been processed.
Thus an entire motion sequence (e.g., travel out of the mold area) can be completed
with a block stop.
After calling up the function, use the keys
desired command.
Use
(lock) and
(unlock) to select the
to add the command to the teach program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 212
3.3.8.5 Stopwatch
The Stopwatch function allows measurement of times that go by during the processing
of arbitrary parts of a teach program. Four such software timers with a resolution of 0,1
seconds are available.
After calling up the function, first the select the desired stopwatch, then use the keys on
the right side of the window to select the desired command.
STOPWATCH-xx START
Starts the selected stopwatch. The actual value of the stopwatch is incremented ins
steps of 0,1 seconds starting from zero while processing the program.
STOPWATCH-xx STOP
Stops the selected stopwatch. The measured value is used to recalculate the minimum,
average and maximum values for the Info menu Stopwatch.
STOPWATCH-xx RESET
Resets the calculation of the minimum, average and maximum values of the selected
stopwatch.
Use
to add the command to the teach program.
The actual measured value can be loaded to a Counter for further processing, even
while the stopwatch is running.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 213
Example:
VAC-01 = ON
Enter the IMM, use the ejectors to push the part to the vacuum suction cap(s)
STOPWATCH01 START
WAIT_VAC:
CNT-01 = STOPPUHR01 ACTUAL
JMP TIMEOUT_VAC CNT01 > 50
JMP WAIT_VAC VAC-01 = OFF
Standard sequence with part on the EOAT
JMP ...
TIMEOUT_VAC:
Alternative sequence if the vacuum switch does not detect a part on the suction caps within timeout
JMP ...
Instead of WAIT VACUUM here a jump back to WAIT_VAC occurs until either the part
is sucked on, or the time set for timeout is over . If the part is sucked on within time
(here 5 seconds), the standard sequence is continued. During each run in the
jumpback loop, the actual value of the stopwatch is loaded to CNT01. If the value is
bigger than 50 tenths of a second the alternative routine after the label TIMEOUT_VAC
is jumped to.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 214
3.3.8.6 Operating Mode
Operating Mode
The commands OPERATING MODE BLOCK STOP and OPERATING MODE
MANUAL can be used to interrupt the automatic execution of the teach program, and to
switch from operating mode
Automatic to operating modes
Block Stop or
Manual. This is useful to stop the robot, especially if the teach program is able to
detect error conditions.
The command OPERATING MODE REFERENCE can be used in the Robot Reference
Teachprogram ROBOT-REF to switch the operation mode from
Manual to
Reference. This opens the possibility to start automatic execution of the Teachprogram
at any desired position within the working range of the robot.
When the operating mode is set to Reference by the command OPERATING
MODE REFERENCE, no verification of any kind is performed about axes
positions or vacuum and gripper states. Also the standard reference travel will
not be executed. This implies that if the command OPERATING MODE
REFERENCE is used, any mistake in the Reference Teachprogram will almost
certainly lead to collisions and damage during automatic operation.
After selecting the function use
,
or
to choose the desired command.
is used to add the command to the teach program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 215
3.3.9 AutoSwitches
AutoSwitches are virtual switches and keys, that are displayed on the main screen of
the Teachbox, when they are used in the Teach program. They serve as a replacement
for real switches, which would have to be connected using peripheral inputs in order to
use them in a Teach program. The AutoSwitches can be accessed directly by means of
their jump condition.
Fig.: Main screen with AutoSwitches
Up to 32 AutoSwitches are possible in one Teach program. If all the AutoSwitches
used can not be displayed in one line, a scroll bar for shifting to the desired line is
shown.
in the bottom right corner is used to select whether the AutoSwitches
The button
are displayed or not.
Settings in the Setup Menu
The basic settings for the AutoSwitches are made using the Setup menu AutoSwitch
Definition.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 216
3.3.9.1 The Teach command AutoSwitch
The Teach command AutoSwitch is used to switch on or off an AutoSwitch that is
configured as a switch from within a Teach program.
After calling the function and selecting the desired AutoSwitch, the buttons
and
are used to define if the AutoSwitch shall be switched on or off.
discards the entries.
adds the command to the Teach program.
See also:
3.2.6.6 Setup Menu: AutoSwitch Definition
3.3.6.8.5 Jump condition AutoSwitch
3.1.14.11 View Menu: AutoSwitch
Example: Part for quality control
The Autosw-01 has been renamed to CHECKPART and has been configured as key.
...
START:
...
Removal from IMM
...
JMP CONTROL CHECKPART!=ON
...
Placement, etc.
...
JMP START
CONTROL:
...
Deliver the part to the control station
...
JMP START
-
cycle start (label START)
Branch to the label CONTROL, if the key CHECKPART has
been pressed previously (latch!)
Jump to the cycle start
Label CONTROL
Jump to the cycle start
After the key CHECKPART has been pressed shortly, the next part is delivered to the
quality control station.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 217
Example: start-up-parts
The Autosw-01 has been renamed to STARTUP, and has been configured as switch.
...
STARTUP=ON
...
STARTUPCYCLE:
PERMIT IMM:MOLD CLOSE! = ON
WAIT IMM:MOLD OPEN = OFF
WAIT IMM:MOLD CLOSED = ON
JMP START STARTUP=OFF
Switch on the switch STARTUP
Start of the startup cycle - IMM "without" robot
If the switch STARTUP is off, and the mold is closed, branch to
the start of the normal cycle
WAIT IMM:MOLD CLOSED = OFF
WAIT IMM:MOLD OPEN = ON
FUNCTION IMM:EJECTORS FORWARD! WAIT
FUNCTION IMM:EJECTORS BACK! WAIT
JMP STARTUPCYCLE
Jump to the start of the startup cycle
START:
Start of the "normal" cycle (label START)
...
Robot moves over the IMM, waits for the mold to open, etc. ...
...
The robot and the IMM are started together. The robot automatically switches on the
AutoSwitch STARTUP at the beginning of the program. The sequence between the
label STARTUPCYCLE and JMP STARTUPCYCLE toggled the permits for the IMM in
a way to let the machine produce parts "without" the robots (and let them fall down).
When the switch STARTUP has been switched off, the normal production cycle at the
label START will be executed after closing the mold.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 218
3.4 Tooling Editor
3.4.1 Introduction
The Tooling Editor gives the possibility to display (more complex) Teach programs in a
way that makes it easy to do simple program changes and adaptations.
Therefore only those commands are displayed, which have been selected for possible
editing in the Teach Program earlier. This filtering is done in the Text Editor by adding
REM lines, that also contain the description texts for display in the Tooling Editor.
3.4.2 Operation of the Tooling Editor
3.4.2.1 Entering the Tooling Editors
The Tooling editor is entered from the main screen of the Teachbox using the button
.
This is not only possible in Manual and Reference modes, but also when the robot is
working in Automatic mode. In Automatic mode the same limitations as in the Text
Editor apply; meaning that positions of numerical axes can only be changed within +/10mm.
3.4.2.2 Display and Editing Functions
The Tooling Editor always shows the Teach program currently loaded in the Master
CPU.
5 Buttons on the right side of the screen can be used to select what types of
commands are to be displayed:
displays commands containing positions only.
displays speed commands only.
displays commands with time functions only.
displays placing programs only.
displays all command types.
The entries in the display are sorted by type and name. This is not the same order as in
the program sequence.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 219
The entries filtered from the Teach program are displayed in fields:
Fig.: Entries in the Tooling Editor
The comments that triggered the display of the command are shown in the upper part
of the entry. These comments should contain an explanation of the function of the
filtered command in the program sequence. The quality of those explanations depends
on the skills of the author of the respective Teach program.
The lower part of the entry shows the filtered command with its name and changeable
values. After tapping the respective display field, the values can be altered using the
dialogues known from the Text Editor:
3.3.1.1 Move
3.3.1.4 Speed
3.3.7.3 Time
3.3.4.1 Conveyor
3.3.4.2 Peripheral Outputs PO
3.3.2 Placing Programs
Changes are transferred to the Teach program in the Master CPU immediately
If the alterations are intended to be permanent ones, the Teach program has to be
stored to the Smart Media Card / USB stick using the functions of the File menu.
3.4.2.3 Exit the Tooling Editor
Exit the Tooling Editor by using the button
Exit to Main of the File menu.
or by using the option
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 220
3.4.3 FILE Menu of the Tooling Editor
3.4.3.1 Open
This function is used in the Tooling Editor to load a teachprogram *.WIP from a storage
medium to the robot (Teachbox and Master CPU).
Fig.: Window to open a file in the Tooling Editor
The field Search in displays the path of the current folder. By touching the field you
can select one of the standard folders C:\PUBLIC (internal storage medium of the
Teachbox) or D:\ROBOT\TEACHPRG (USB-Stick / Smart Media Card).
The display of the contents of the current folder uses the following icons:
for a sub-folder
for a teachprogram file *.WIP
is used to step up one folder.
opens the standard folder for this file operation.
could be used to create a new folder.
is used to delete the selected file or folder.
is used to rename the selected file or folder.
is used to open the properties window of the selected program.
can be used to optimize the display of the contents of the folder for either long or
short file names.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 221
is used to open the selected folder.
is used to load the selected program to the robot.
is used to abort the function and close the window.
The program stored in the robot will be irretrievably deleted by loading another teach
program.
Every newly loaded teach program must be run through at least once in step mode
before automatic operation.
The file name of a teach program is not necessarily the same as the teach program
name.
Alternatively this dialogue can be opened using the button
.
3.4.3.2 Save (NAME.WIP)
This function is used to save the teachprogram from the Teachbox a storage medium
as a *.WIP file. Both name and path of the file will be the ones used before. The name
of the target file is shown in brackets right next to the menu entry Save. If no name is
displayed, Save will call the function Save as instead.
The previous version of the program stored on the storage medium with the same name
will be deleted irretrievably.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 222
3.4.3.3 Save As
This function is used to save the teachprogram from the Teachbox to a storage
medium as a *.WIP file. Path and name of the file are selectable.
Fig.: Window to save a teachprogram
The field Save in displays the path of the current folder. By touching the field you can
select one of the standard folders C:\PUBLIC (internal storage medium of the
Teachbox) or D:\ROBOT\TEACHPRG (USB-Stick / Smart Media Card).
The display of the contents of the current folder uses the following icons:
for a sub-folder
for a teachprogram file *.WIP
The field Filename suggests the last filename used or the teachprogram name as
filename. After tapping the field you can use the dialogue for text input to change the
filename as desired. The extension will always be WIP. By tapping it in the display of
the current folder, you can also use the name of an existing file.
is used to step up one folder.
opens the standard folder for this file operation.
is used to create a new folder.
is used to delete the selected file or folder.
is used to rename the selected file or folder.
is used to open the properties window of the selected program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 223
can be used to optimize the display of the contents of the folder for either long or
short file names.
is used to open the selected folder.
is used to save the teachprogram to the current folder, applying the name from
the field Filename.
is used to abort the function and close the window.
Before storing is executed, a check is made to see whether a program of the same
name is already stored in the selected folder, and a checkback message may appear.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 224
3.4.3.4 Properties
Here the properties of the teachprogram in the Master CPU are displayed. That is the
program which is executed when the robot is in automatic operation.
Fig.: Window for properties of the CPU program
Name of Teachprogram
Shows the name of the teachprogram in the Master CPU. This name is not necessarily
the same as the file name of the program. After tapping the input field, the name can
be edited using the dialogue for text input.
CPU = Teachbox or CPU <> Teachbox
Displays whether the teachprograms in the Master CPU and the Teachbox are equal or
unequal.
Tooldata
Displays the tooldata text of the teachprogram in the Master CPU. The text for tooldata
can only be edited in the properties window of the text editor or graphical editor.
Size
Displays the size of the teachprogram in the Master CPU. The maximum size of a
teachprogram is limited to 32.768 bytes.
Number Part Programs
Shows the number of part programs of the teachprogram in the Master CPU: ROBOTPRG, PERI-PRG, ROBOT-REF, PERI-REF, ALLMODE-PRG and up to 11 additional
part programs.
Number Placing Programs
Shows the number of placing programs used in the teachprogram in the Master CPU.
The maximum number of placing programs available in a teachprogram is limited to 16.
If a picture has been associated with the selected teachprogram,
open the picture viewer.
can be used to
is used to discard the entries and to close the window.
is used to confirm the entries and to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 225
3.4.3.5 Print
This function is used to print the teachprogram loaded in the Teachbox to either a
UNICODE-textfile *.TXT or an HTML-file *.HTM on the USB stick / Smart Media Card.
Path and name of the file are selectable. The default folder is D:\ROBOT\PRINT. The
generated file can be opened, displayed and printed with a PC.
Fig.: Window to print a teachprogram to a file
The button right next to the field for the filename is used to select the type of file for
printing:
activates printing to a textfile
activates printing to an HTML-file
The field Save in displays the path of the current folder.
The display of the contents of the current folder uses the following icons:
for a sub-folder
for a textfile *.TXT
for an HTML-file *.HTM
Only files of the same type as selected for the printout will be displayed.
The field Filename suggests the last filename used or the teachprogram name as
filename. After tapping the field you can use the dialogue for text input to change the
filename as desired. By tapping it in the display of the current folder, you can also use
the name of an existing file.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 226
is used to step up one folder.
opens the standard folder for this file operation.
could be used to create a new folder.
is used to delete the selected file or folder.
is used to rename the selected file or folder.
can be used to optimize the display of the contents of the folder for either long or
short file names.
is used to open the selected folder.
is used to save the printout to the current folder, applying the name from the field
Filename.
is used to abort the function and close the window.
Before storing is executed, a check is made to see whether a file of the same name is
already stored in the selected folder, and a checkback message may appear.
3.4.3.6 Exit to Main
Exit the Tooling Editor by using the button
Exit to Main of the File menu.
or by using the option
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 227
3.4.4 Filtering Rules for the Tooling Editor
The Tooling Editor filters position-, speed- and time-commands out of the current
Master Teach program. The user can control the behavior of the filter using comments
(REM) in the Teach program.
3.4.4.1 Time Commands (Time, PO with time, Conveyor with time),
3D-Parameters (V3D, R3D)
In the line(s) directly before each of such Teach commands at least one comment must
be placed, in order to display that command in the Tooling Editor.
Example:
Fig.: Time commands and comments in the Text Editor
Fig.: Display in the Tooling Editor
• The Time command in line 0002 is displayed, because it is preceded by a comment
in line 0001.
• The PO-with-time command in line 0004 is not displayed, because there is no
comment in line 0003.
• The Conveyor-with-time command in line 0011 is displayed, because it is preceded
by comments in the 4 previous lines. All 4 comments are joined in the display of the
Tooling Editor. An empty comment forces a line change.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 228
3.4.4.2 Speed Commands (VMAX, VABS, AABS)
All entries of the same type between two comments will be shown, when filtering speed
commands. The first comment must be placed in the line directly before the first of
those speed commands. Only the first occurrence of a command of a specific type will
be displayed for each axis.
Example:
Fig.: Speed commands and comments in the Text Editor
Fig.: Display in the Tooling Editor
• The VMAX command in line 0002 is not being displayed, because in the line before
it no comment has been placed.
• The comment in line 0005 results in displaying the VMAX commands in lines 0006
and 0008.
• The comment in line 0010 results in displaying the VABS command in line 0011.
The VMAX command in line 0012 is not being displayed, because it is not of the
same type as the first speed command in line 0011.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 229
3.4.4.3 Positions (predefined named positions)
A comment must be placed in the line directly before a Teach command which contains
the predefined position, in order to display that position in the Tooling Editor. Each
position is only displayed once for each part program. The different comments placed
before the lines containing commands with the same position will be displayed
together. All Teach commands containing predefined positions can be displayed. If a
Teach command contains two predefined positions (e.g. axis command for stacking
sensor), only the first position will be displayed.
Example:
Fig.: Commands containing positions and comments in the Text Editor
Fig.: Display in the Tooling Editor
• Position-001 is filtered three times (lines 0002, 0004 and 0006), because each
occurrence is preceded by a comment. The comments are joined in the display of
the Tooling Editor.
• Position-002 in line 0010 is not displayed, because there is no comment in the
previous line.
• The command in line 0013 is not displayed, because it does not contain a
predefined named position.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 230
3.4.4.4 Placing Programs
In the line directly before at least one occurrence of a Placing Program a comment
must be placed in order to display it in the Tooling Editor. Each placing program is only
displayed once for each part program. The different comments placed before the lines
containing the same placing program will be displayed together.
Example:
Fig.: Placing programs and comments in the text editors
Abb.: Display in the Tooling Editor
• The placing program LAST in line 0003 is being displayed, because a comment is
placed in the previous line.
• The placing program FIRST is filtered twice, the related comments are displayed
together.
• The entries are sorted alphabetically by name when being displayed in the tooling
editor. The sequence of the occurrences in the Teach program has no influence on
the sequence in the display of the Tooling Editor.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 231
3.5 Teach-Mode using the Graphic Editor
3.5.1 FILE Menu of the graphic editor
3.5.1.1 New
This function creates a new empty graphical program in the Teachbox.
The following message will be shown:
is used to abort the process.
will create a new empty graphical program.
The graphical program currently loaded in the Teachbox will be irretrievably deleted.
The program in the Master CPU remains unchanged.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 232
3.5.1.2 Properties
Here the properties of the teachprogram in the graphic editor of the Teachbox are
displayed. That is the program which can be edited. Before this program can be
executed in automatic operation, it has to be transferred to the Master CPU.
Fig.: Window for properties of the program in the graphiceditor
Name of Teachprogram
Shows the name of the teachprogram in the graphic editor. This name is not
necessarily the same as the file name of the program. After tapping the input field, the
name can be edited using the dialogue for text input.
CPU = Teachbox or CPU <> Teachbox
Displays whether the teachprograms in the Master CPU and the Teachbox are equal or
unequal.
Tooldata
Displays the tooldata text of the teachprogram in the graphic editor. After tapping the
input field, the tooldata text can be edited using the dialogue for text input.
Size
Displays the size of the teachprogram in the graphic editor. The maximum size of a
teachprogram is limited to 32.768 bytes.
Number Part Programs
Shows the number of part programs of the teachprogram in the graphic editor:
ROBOT-PRG, PERI-PRG, ROBOT-REF, PERI-REF, ALLMODE-PRG and up to 11
additional part programs.
Number Placing Programs
Shows the number of placing programs used in the teachprogram in the graphic editor.
The maximum number of placing programs available in a teachprogram is limited to 16.
can be used to open the picture viewer. There you can either associate a picture
with the teachprogram, or watch the picture associated with the teachprogram.
is used to close the window without confirming the entries.
is used to confirm the entries and to close the window.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 233
4 How to Teach a Program
Before teaching the robot a program for the first time, please read the safety
instructions and the operating manual completely.
Familiarity with the operating functions of the R7 control is essential for creating a
teach program.
4.1 Programming the Robot
The robot is programmed simply by manually moving the robot through the motions
and functions that you want it to make in automatic mode. The instruction sequence
created in this way is stored in a teach program and is then processed step by step in
automatic operation. When the last instruction is reached, the program sequence is
begun again at the first instruction.
A program may be created completely new (as described below) or may be a revision
of an existing program. Once you are familiar with programming, revising an existing
program and saving it with a new name is a much quicker way to create programs.
4.1.1 Creating a New Program in the Teach Editor
1) Enter the Teach Editor by pressing
.
2) To start with a blank program, the program stored in the editor must first be
deleted. This can be done by selecting the option New in the menu File. In the
dialogue Options for new teachprogram certain elements of the existing program
can be selected to be kept with the new program.
3) Starting from the reference position, move the robot manually to trace the
movements that you want the robot to make. Manual movements are made by
selecting the desired axis (labeled on the robot) with the buttons
. After selecting the kind of motion, the axis can be moved to the desired
position using the drive keys. (+ direction is away from reference position and direction is toward reference position.)
and the instruction will be
When you reach the desired position, press
stored as a line in the program. (Only the instruction active when you press the
key will become a line in the teach program – all other motions made will be
ignored.)
4) Repeat the process for the remainder of the motions and functions that you want
the robot to reproduce. Remember to enter a travel speed (Vmax ) for each axis to
program speeds other than 50% (the default value).
5) The program is complete once you have programmed all of the motions and
functions desired and the robot is in a suitable position to restart from the
beginning of the program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 234
Caution!
After placing the parts the Y and X axes must be positioned suitable for traveling
over the IMM, since the first motion in the program is typically a Z-axis (traverse)
motion towards the molding machine.
4.1.2 Verifying Your Program Using STEP Mode
1) Bring the cursor back up to the beginning of the program using the button
.
key.
2) Move the robot to reference position with the
3) Test the program one line at a time in the STEP mode.
Each time the
key is held down, the next instruction will be executed.
key will cause the robot to be halted immediately, in order to
4) Releasing the
avoid collisions or other program errors. A flag will appear.
Correct the program line if necessary and then continue to step through the
program.
key and the cursor will
5) When the end of the program is reached, press the
jump back up to the beginning of the program.
It is important to continue stepping through the program a second time to
verify that there is no problem with the robot’s position at the end of the
program.
4.1.3 Storing Your Program on Smart Media Card / USB stick
1) Insert a Smart Media Card / USB stick to the reader on the teachbox.
2) Press the button
to enter the text editor again.
3) Use the option Save as in the menu File to callup the function for saving programs
on the Smart Media Card / USB stick. The teach programs *.WIP already stored on
the card will be displayed.
4) Enter the desired name for the program using the dialogue for text input and
confirm with
5) Press
6) Use
.
to store the program and to exit the function.
to exit the editor, press
to transfer your new program
into the CPU. Decide to reset all counters and placing programs or not.
7) You are now ready to run the program in full AUTOMATIC mode.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 235
4.2 Program Example
The following example will help you to further understand and practice the teach
programming of the system.
Please note that this is only an example. At a minimum, axis positions, IMM interface
signals and program functions must be adjusted to your specific application!
The program example is based on a robot with 3 inverters, 2 vacuum circuits and 2
gripper circuits.
4.2.1 Function of Program
Plastic housings are to be injection molded.
The robot’s job is first to move into waiting position above the injection molding
machine. When the mold opens, the robot removes the molded part. The molded part
is stacked in a crate by means of a depositing program. When the crate is full, it is
carried away on a conveyor belt, and at the same time a new crate is put into position.
4.2.2 Sequence
•
The first part is placed in the mold by hand and the mold is closed. Then the robot
is started in automatic operation.
•
The robot travels to the waiting position above the mold, and waits for the „Mold
Open“ signal from the machine.
•
The molded part is removed from the mold using vacuum circuit 1.
•
The robot travels back and up out of the mold and turns on the „Mold Close“
signal.
•
The removed part is placed in a crate using a placing program.
•
When the crate is full, the conveyor is indexed for 5 seconds.
•
The presence of the removed part is sensed during the entire cycle by the vacuum
sensor. If the part is lost, a STOP of the robot is released.
•
The robot moves to reference position through a taught sequence.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 236
4.2.3 Sketch of Sequence
The ejector presses the parts on the vacuum cup.
Fig.: Sequence
1 ... Reference position
2 ... Waiting position over the mold
3 ... Part removal position inside the mold
4 ... Placing positions in the box on the conveyor
4.2.4 Sketch of Depositing Program
The numbers below indicate the sequence of part depositing. Three layers are stacked
in the vertical (Y) direction.
4.2.5 Reference Travel of Robot
The robot reference program must include axis motions in the mold, in order to allow
reference positioning in the mold area. In reference position, all vacuum circuits are
switched off and all grippers are opened.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 237
4.2.6 Robot Teach Program (ROBOT PRG.)
0001 CALL CONVEYOR
0002 PERMIT IMM1: MOLD CLOSE! = ON
0003 WAIT IMM1: MOLD OPEN = OFF
0004 WAIT IMM1: MOLD CLOSED = ON
0005 START:
0006 Z: VMAX = 60%
0007 X: VMAX = 60%
0008 Z: 2100.0
0009 X:
250.0
0010 Y: VMAX = 100%
0011 X: VMAX = 80%
0012 WAIT IMM1: MOLD CLOSED = OFF
0013 PERMIT IMM1: MOLD CLOSE! = OFF
0014 WAIT IMM1: MOLD OPEN = ON
0015 VAC-01 = ON
0016 Y:
700.0
0017 X:
325.0
0018 PERMIT IMM1: EJECTORS FORWARD! = ON
0019 WAIT IMM1: EJECTORS FORWARD = ON
0020 PERMIT IMM1: EJECTORS FORWARD! = OFF
0021 WAIT VAC-01 = ON
0022 X:
50.0
0023 VAC-01 = M-ON STOP
0024 PERMIT IMM1: EJECTORS BACK! = ON
0025 WAIT IMM1: EJECTORS BACK = ON
0026 PERMIT IMM1: EJECTORS BACK! = OFF
0027 Y:
0.0
0028 PERMIT IMM1: MOLD CLOSE! = ON
0029 WAIT IMM1: MOLD OPEN = OFF
0030 X: VMAX = 60%
0031 Y: VMAX = 40%
0032*Z: 1750.0
0033 C:
90.0*
0034 Z:
600.0
0035 WAIT IMM1: MOLD CLOSED = ON
0036 WAIT SYNC
0037 PLCPRG: PLACINGP01
0038 VAC-01 = OFF
0039 TIME = 1.0s
0040*Y:
600.0
0041 C:
0.0*
0042 Y:
0.0
0043 X:
0.0
0044 WAIT SYNC
0045 CALL CONVEYOR PLACINGP01-PC = 24
0046 JMP START
0047
0048
0049
0050
0051
SUBR CONVEYOR
CONV01: ON 5.0 s
PLACINGP01 RESET
RET
Clear the conveyor using the subroutine
CONVEYOR (line 0048).
Permit closing of the mold,
and check that both IMM signals have the state
for „Mold is closed“.
Label for the start of a new cycle.
Speed settings for the travel to the IMM.
Move to the waiting position over the IMM.
Speed settings for the removal process.
Wait for the mold to open,
switch off the permission to „Close the mold“,
and wait until the mold is completely open.
Switch on the vacuum,
and move to the removal position.
Eject the part using the ejectors.
Wait until the part is sucked on to the EOAT.
Remove the part.
Activate the vacuum monitoring.
Move the ejectors back.
Move out of the mold of the IMM.
Permit closing of the mold,
and check for the movement to start.
Speed settings for placing.
Travel free from the IMM,
and then start turning the C-axis in parallel to
the movement to the first placing position.
Check if the mold has fully closed.
Wait for the C-axis to finish.
Placing Program.
Switch off the vacuum,
and wait for the part to drop off.
Move the axes from the placing position to a
position suitable to travel to and over the IMM.
Wait for the C-axis to finish.
When the crate is full, perform a box change
using the subroutine CONVEYOR (line 0048).
Start a new cycle.
(Label START in line 0005)
Subroutine for the conveyor.
Switch the conveyor on for 5 seconds.
Reset the Placing Program.
Continue in the „main routine“ after the CALL
command that called the subroutine.
0052 -
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 238
4.2.6.1 Placing Program PLCPRG01
Name of placing program: PLACINGP01
Drive: 1D
Sequence of axes movement: ZXY
Sequence of placing: ZXY
Stacking sensor: No
Axis:
X
Start position:
100.0
relative endposition:
100.0
Number of Parts:
2
Displacement:
0.0
Y
1000.0
-300.0
3
0.0
Z
600.0
-400.0
4
0.0
4.2.7 Reference Program for the Robot (ROBOT REF.)
0001 JMP IN_MOLD MOLD AREA 1
Branch to the reference travel from inside and over the
mold (Label IN_MOLD in line 0004).
0002 JMP PLACING PLACING AREA
Branch to the reference travel from the placing area
(Label PLACING in line 0014).
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
IN_MOLD:
IF I(ROLLER SWITCH S5) = OFF
X:
50.0
ENDIF
Y:
0.0
X:
0.0
C:
0.0
Z:
0.0
JMP ALL_OFF
0013
0014
0015
0016
0017
0018
0019
0020
0021
0022
0023
0024
0025
PLACING:
Y:
0.0
X:
0.0
Z:
0.0
C:
0.0
ALL_OFF:
VAC-01 = OFF
VAC-02 = OFF
GRP01 = OPEN
GRP02 = OPEN
END
Reference travel from inside and over the mold.
If inside the mold,
first position the X-axis suitable for exiting.
Move the axes to their reference positions.
Jump to the part of the program that switches off all
vacuum and gripper circuits
(Label ALL_OFF in line 20).
Reference travel from the placing area.
Move the axes to their reference positions.
Switch off all vacuum and gripper circuits.
The program ends here. The robot will complete the
sequence by executing a standard reference travel.
0026 -
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 239
5 Troubleshooting
There are three types of errors that may occur:
z System errors
z Teachbox errors
z Operating errors
5.1 System Errors
System errors may occur due to interferences from external sources or due to a fault in
the control system hardware. This type of error is indicated by flashing of the
characters „Er“ in the LED display of the master CPU module. The related system error
code is shown in plain text.
System error codes:
Code
Message
Meaning
Cause/Remedy
Possible causes:
- Processor fault
Remedy:
- Eliminate program error
- Replace central unit
Possible causes:
- Program storage module is
missing, not programmed or defective
- Program in user program memory
(RAM) cannot be run
- Battery buffer failure
- Software error that overwrites
user program
Remedy:
- Reprogram program memory
module, in case of repetition
replace
- Replace buffer battery
- Eliminate program error
Cause/Remedy: see POINTER
02
RUNTIME
The program was aborted because
time was exceeded.
03
POINTER
Faulty program pointers were found
before execution of user program.
04
CHKSUM
05
WATCHDOG
An incorrect checksum was found
before execution of user program.
The program was aborted by the
Watchdog logic.
Possible causes:
- Interrupts of user program locked
for lengthy period
(STI instruction forgotten)
- Faulty programming of a
hardware interrupt
- INB, OUTB, INW, OUTW
instructions used incorrectly
- Processor defective
Remedy:
- Eliminate program error
- Replace central unit
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Code
Message
Meaning
06
ERROR
BOOTING
An error occurred while booting
from the boot media.
07
PROM
DEFECT
An error occurred in programming
of the program storage module.
08
RESET
09
WD DEFECT
13
PROG END
14
PROG MEMO
15
STOP BRKPT
16
CPU STOP
17
INT ERROR
The CPU has received the RESET
instruction and is waiting for further
instructions.
The user program is not being
processed.
The hardware-monitoring circuit
(watchdog logic) is defective.
After being turned on the CPU
checks the functions of the
watchdog logic. If an error occurs in
this check the CPU runs in an
endless loop in which it no longer
accepts any instructions.
Programming of a program
storage/memory module has been
successfully ended.
The CPU is programming the
program storage module.
The CPU was stopped by a
breakpoint in the program.
The CPU was stopped by the PG
software (F6 STOP in status test).
The CPU executed an incorrect
interrupt and aborted the user
program, or ran into an unknown
instruction during execution of the
program.
Page 240
Cause/Remedy
Possible causes:
- Media is defective
- Some of the files required for
booting are missing on the
boot media
- The boot media was removed
from the drive while booting.
Remedy:
- Try booting with a good boot
media containing all necessary
files.
Causes:
- Program storage module is
defective
- User programs is too big
- Program storage module is
missing
Remedy:
- Replace program storage module
Remedy: Replace CPU
Causes:
- A nonexistent operating system
instruction was used
- Stack error (unlike number of
PUSH and POP instructions)
- The user program was aborted
by a software error
Remedy:
- Eliminate program error
18
SINGLE STEP
19
READY
20
LOAD
21
ILLEGAL
MODULE
MEMORY
FULL
22
23
NOT LINKED
The CPU is in SINGLE STEP mode
and is waiting for further
instructions.
A module or project was sent to the
CPU, and it is now ready to execute
the program.
Program processing has stopped
and the CPU is receiving a module
or project.
The CPU has received a module
that does not belong to the project.
In recording a module/project in the
CPU it was found that the user
program memory was too small.
When the CPU was started it was
found that a module in the project
was missing or did not belong to
the project.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Code
Message
Meaning
24
DIV BY 0
An error occurred in a division.
25
DIAS ERROR
An error occurred upon access to a
DIAS module.
26
WAIT
CPU is busy.
27
OP PROG
Operating system reprogrammed.
28
Operating system reinstalled.
32
OP
INSTALLED
NO MEMORY
34
MEM ERROR
35
MAX. IO´s
37
CHK USERPA
The operating system recorded
does not correspond to the
hardware configuration.
The maximum number of
addressable DIAS modules was
exceeded.
Process image checksum faulty.
38
ERROR RAM
DISK
PR PRO&LIST
OK
MEMORY TOO
SMALL
39
40
No external program storage
module present.
RAM disk error.
Page 241
Cause/Remedy
Possible causes:
- Division by 0
- Result of division does not fit
in the result register
Remedy: Eliminate program error
Possible causes:
- Access to a DIAS module not
present
- DIAS bus error
Remedy:
- Check DIAS bus
- Check terminal resistors
Possible causes:
- An attempt was made to program
an external program storage module even
though none was installed in the CPU
Possible causes:
- Program error
Reformat RAM disk
Program images successfully
stored in PROM.
Not enough memory for images.
The following displays are also possible and do not indicate error:
Code
Message
00
RUN RAM
01
RUN ROM
Meaning
The user program is being
executed in the RAM.
The display is not affected.
The user program that is in the
program storage module was
loaded into the RAM and is being
executed.
The display is not affected.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 242
5.2 Teachbox Messages
Teachbox messages appear when operating the robot and point out an operating error
or a program error but may also appear only to convey information.
The numbers of teachbox messages are distinctive, and identify individual errors.
To acknowledge such a message, either press
the message with the appropriate soft keys.
No.
Message
2
Error during transfer!
3
Transfer successfully completed!
5
CPU in control cabinet is offline.
Connection failed!
6
7
8
9
10
Function not available in Automatic mode!
Function not available in Block Stop mode!
Password not confirmed!
Program different from CPU.
OfflineEditor is on!
Error during transfer!
OfflineEditor is on!
11
Program different from CPU.
OfflineEditor is on!
12
OfflineEditor is on!
14
15
File already exist!
Overwrite file?
User is not registered!
Incorrect password!
16
Maximum line number reached!
13
20
21
22
Offline program not transferable!
Leave Editor?
Teachbox program different from CPU.
Transfer program?
Leave Editor?
Maximum label number reached!
Program access locked!
23
Clear all placing programs and counters?
26
27
No Access!
Maximum teach program size reached!
30
Online not possible!
31
Program changed to online!
18
19
or answer the question asked in
Cause
No connection to master
CPU
Confirmation, OK
Going online,
connection to master CPU
failed
Remedy
Go online again
Go online again
Incorrect password entered
No connection to CPU in
teaching, teach offline
The teach program in the
Teachbox is different from
the one in the Master CPU.
The robot is in automatic
mode – online changes are
not possible.
When no reference teach
editor started
Too many lines entered in
Teach editor
Teach program transferred
to CPU
Too many labels defined
Upon exit from Editor query
whether these values should
be reset
When no reference in teach
editor online not possible
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
No.
Message
60
No init flag from master!
Online not possible!
This name is already in use.
Enter a new name!
Not configured!
Incompatible master version!
Online not possible!
Incompatible configuration!
Online not possible!
Configuration part missing!
Online not possible!
Configuration pointer error!
Online not possible!
Configuration checksum error!
Online not possible!
Configuration too large!
Online not possible!
No configuration on media!
Online not possible!
Loading configuration failed!
Online not possible!
Brake configuration error!
Online not possible!
Placing program part count too large!
Program from another Robot!
Load it anyway?
Wrong version.
Loading Program failed!
Function interrupted!
61
Command must be adjusted!
63
Step command not available!
64
Illegal master status!
65
Too many call commands!
66
Ret without call command!
67
Too many if commands!
68
69
Else without if command!
ENDIF without IF command!
Activate user profiles?
Are you sure?
Deactivate user profiles?
Are you sure?
Block Stop active!
Function not available!
32
33
39
41
42
43
44
45
46
47
48
49
51
56
57
77
78
80
81
Allmode program running!
Transfer not possible!
82
Maximum number of placing programs reached!
83
Maximum number of positions reached!
90
In Mode Reference Missing not possible!
92
This program can not be loaded in Graphic Editor!
93
Push Dead-Man-Key!
Cause
Page 243
Remedy
Master CPU not initialized
Teachbox and master
incompatible
Configuration incompatible
Program in the CPU is from
another control system
Wrong version of teach
program
Function not ended
Online change
Re-enter instruction
Instruction cannot be
stepped
Handshake between
teachbox and master failed
Too many nested call
instructions stored
Boot correct versions
of program
Load correct
configuration
Load correct
configuration
Load correct
configuration
Load correct
configuration
Load correct
configuration
Load correct
configuration
Load correct
configuration
Load correct
configuration
Load program with
correct version
Try function again,
turn control off/on
Too many nested if
instructions stored
Activating password system
Deactivating password
system
Robot is not in manual mode
transfer not possible
because the all modes
program is active
All available placing
programs are used
Teachprogram is no
Graphics program
Operation with 2
Teachboxes.
switch to manual
mode
stop the all modes
program
re-think your
teachprogram
teach the movements
in the „conventional“
way
Perform a reference
travel
edit the program in the
Texteditor
Press one of the dead
man keys on the
respective Teachbox
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
No.
Message
Cause
Page 244
Remedy
150
Checksum error in teach program!
151
Last NOP not deleteable!
152
Are you sure you want to delete this file?
153
Are you sure you want to delete this directory?
154
Overwrite existing Reference Program?
155
Do you want to replace this file?
156 Are you sure you want to delete this part program?
157 Are you sure you want to delete this placing program?
Graphic program not saved.
158
Do you want to save changes now?
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
180
185
188
191
192
193
194
198
199
200
202
203
Graphic program changed in TextEditor.
Do you want to remove changes?
Attention:
Changed position values will NOT be restored!
Position undefined!
Invalid teach command!
Monitoring not configured!
Corresponding output not configured!
Corresponding input not configured!
Value out of range!
Are you sure you want to delete this user?
What do you want to do?
A password must be entered for this user!
Not enough free memory!
An error occurred during writing data to file.
Writing to file failed!
An error occurred during reading data from file.
Reading from file failed!
Are you sure you want to export data to file?
Are you sure you want to import data from file?
Please wait...
Step not possible.
Allmode program running!
Allmode program is running.
Do you want to replace the current
allmode program in the teachbox
with the allmode program currently in the master?
Allmode program is running. Transfer not possible!
Property not allowed for this axis!
GraphicEditor program and TextEditor program
are different. Should TextEditor overtake
the GraphicEditor program?
Master teach program corrupted!
This GraphicEditor program is different
to the CPU program.
GraphicEditor program was different to CPU program.
Loaded GraphicEditor program from CPU.
The generated text program contains error
due to a wrong robot configuration!
Use the TextEditor for detailed information!
No errors in program syntax
and configuration settings found!
Current GraphicEditor program will be closed!
New GraphicEditor program will be created!
Name is already in use!
Name is reserved!
Search completed.
Search completed. String not found.
An attempt was made to load
a graphical teach program,
that had been changed in the
text editor previously,
Changes in the sequence
will be „repaired“ during
restoration, positions remain
unchanged.
Use a different name
Use a different name
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
No.
Message
209
210
To start step in the GraphicEditor
the robot must be in reference position.
Do you want to step the reject sequence?
Do you want to step the quality check sequence?
Attention!
Only a competent person is allowed
to do the offset-adjustment!
Continue?
Do you really want to delete the selected image?
This affects all autoswitches
which have this image assigned!
Are you sure you want do delete this cylinder?
Mold opening synchronization not configured!
211
Only switches are teachable!
204
205
206
207
208
212
213
214
215
216
217
218
Cause
Page 245
Remedy
A teach command tried to
switch an Autoswitch that is
configured as „key“
Current robot mode does not allow
to load a new teach program!
Found syntax errors in selected program.
Failed to load program!
To start step, the robot must be in reference position.
Do you want to link this teach program to the current
End-Of-Arm-Tooling RF-Id?
This user is still in use.
Are you sure you want to delete this user?
Are you sure that you want to delete this assignment?
The stored teachprogram is not affected anyway.
Switching on all peripheral outputs
can cause problems at complex systems.
Are you sure that you want
to switch on all peripheral outputs?
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
No.
999
998
997
996
995
994
993
992
Error Message
UNDEFINED LABEL:
xxxxx
EXIT EDITOR ?
xxxxx
LABEL FROM OTHER PROGRAM
PRESS ESC TO CONTINUE
xxxxx
LABEL ALREADY DEFINED
PRESS ESC TO CONTINUE
#nn: Error on verification of configured modules.
CPU in control cabinet is offline.
Connection failed!
DO YOU REALLY WANT TO DELETE
filename
FILE?
POSITION NAME AXIS NOT CONFIG.
position name
PRESS ESC TO CONTINUE
POSITION NAME AXIS VALUE UNDEFINED
position name
PRESS ESC TO CONTINUE
ADJUST CYLINDER
cylinder name
PRESS ESC TO CONTINUE
991
CPU Error State: xx
CPU in control cabinet is offline.
Connection failed!
990
Robot Initializes Converter: nn
CPU in control cabinet is offline.
Connection failed!
Cause
Page 246
Remedy
The respective module
can not be found on
the bus system
Changing online
Changing online
Changing online
The Master CPU is
showing the error
message no. xx. Refer
to 5.1 system errors
The Master CPU is
currently initializing the
inverters with CAN Bus Wait for completion
connection. nn stands
for the axis letter.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 247
5.3 Operating Errors
These errors are the result of operational causes. If such an error occurs, the relevant
text error message will be displayed on the teachbox. Multiple errors are listed
according to their priority:
Every error message is preceded by an error code with the following meaning:
Error group – Error number – Supplementary number
In addition, the error icon
is displayed on the right in the status line.
The majority of these errors cause an immediate stop of the robot and a switch to
MANUAL mode. In order to continue automatic operation, first clear the errors by
pressing the
key, after their causes have been eliminated. The robot must be
moved to reference position before restarting automatic operation.
Errors whose cause is still present are displayed in red. If the cause of error is
eliminated or is no longer active, the display color changes to green.
Errors whose cause is still present cannot be acknowledged.
Pressing
closes the window, but cannot acknowledge or delete errors.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 248
5.3.1 Operating Errors in Plain Text Messages
5.3.1.1 Axis Errors
Group
No. Supplement Message
Cause/Remedy
004
000
0-11
xx:CONTOURING ERROR
004
001
0-11
xx :ENDSWITCH 0-POSITION
004
002
0-11
xx :ENDSWITCH END-POSITION
Actual speed of axis lags behind
internal calculations; can be
caused by mechanical friction in
guides/bearings or by too high a
payload. May also indicate a
defective converter or servo
module.
When the axis was moved the
end switch was moved in –
direction.
When the axis was moved the
end switch was moved in +
direction.
004
004
003
004
0-11
0-11
xx :MOTOR TEMPERATURE
xx :FREQ. INVERTER FAULT
141
aa
ee
xx :FREQ. INVERTER FAULT ee
004
004
005
006
0-11
0-11
xx :ENDSWITCH MONITORING
xx :ENCODER FAULT
004
007 0-11
xx :STROKE LIMIT
004
010
xx : AXISPOSITION NOT ALLOWED
0-11
There may be many causes of
converter fault. The display on
the Inverter should be read and
our nearest service facility
should be contacted.
The error messages of the
controller can be confirmed be
sending a drive command
(selecting the axis emits the
release signal). If for example 3
errors are active at the
controller, the axis has to be
selected 3 times.
However, this error may also
indicate a mechanical defect or
sluggishness of
guides/bearings.
Only on robots equipped with
CAN-BUS controlled inverters.
aa shows the axis number; The
key is shown at the end of this
table. ee shows the error code of
the inverter. In case please
contact our service department
for further information. For
possible causes refer to axis
error no. 4-4-xx
This error indicates that the
incremental encoders do not
count as provided. The reason
for this could be a cable failure in
the incremental transmitter line
or a defect in the scoring logic.
Another cause might be
increased mechanical friction
between guide shaft and
bearing. In this case this error
occurs mainly at very low
speeds, especially in the first
acceleration or last braking
phase.
The axis reported an actual
position outside its stroke limits.
The pneumatic axis has stopped
between valid positions, none of
the position limit switches is
actuated.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 249
Group
No. Supplement Message
Cause/Remedy
004
012
004
013 0-11
Xx :UNCONTROLLED SPEED
004
015
0-11
xx :ROLLER SWITCH CORRUPT
There is an invalid set position in
the teach program for the robot
or the stroke limit was set too
low. With activated safety areas
this message appears when the
robot would leave the safety
areas.
The numerical axis has left its
set position during standstill.
Brake or axes contactors might
be defective.
Roller switches are important for
mold monitoring and hence for
perfect operation of the robot;
therefore they are continuously
checked for their proper
switching instant. If the number
of error messages increases this
means that there are delayed
switch impulses – a sign of wear.
Roller switches should be
replaced.
004
004
016
017
0-11
0-11
xx :OUT OFSAFETY AREA
xx :AXIS NOT IN 0 POSITION
004
019
0-11
xx :POSITION MONITORING
004
004
020 0-11
021 0-11
xx :LATCH NOT OPEN
Xx :EJECTOR TOO FAST
004
022
xx :TIME MONITORING
004
024 0-11
Xx :COLLISION MONITORING
004
025 0-11
Xx :MANUAL MOVEMENT DENIED
0-11
0-11
xx :ILLEGAL SET POSITION
Before start of reference travel
the B axis is checked to see
whether it is in 0 position. If not,
reference travel is aborted by
this error message.
Position monitoring compares
internally the listed end position
with the actual position. If they
do not coincide this error
message appears.
At EJS. The limit for the
maximum actuation of the
gripper plate has been
exceeded. The ejector is moving
too fast.
A pneumatic axis has not
reached its set position within ten
seconds.
One of the (partly optional)
collision monitorings has been
triggered: Mold Monitoring,
Roller Switch Monitoring, Safety
Areas, Collision Monitoring
AND/OR, Carrier Monitoring.
According to the configuration of
the robot.
Either the dead-man-key has not
been released and pressed
again, when switching between
axes in manual mode of the
safety package;
or somebody tried to move
further towards the obstacle, with
the axis already positioned in
violation of a safety area.
The supplementary number indicates the axis, xx stands for the axis designation.
000 ... X, 001 ... Y, 002 ... Z, 003 ... A, 004 ... B, 005 ... C, 6 ... X2, 7 ... Y2, etc.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 250
5.3.1.2 Vacuum Errors
Group
No. Supplement Message
Cause/Remedy
006
000
0..n
VACUUM xx PART LOST
006
001
0..n
VACUUM xx NOT OFF
This error message appears when
the vacuum monitoring for circuit
xx is activated without an alternate
sequence having been defined
and this circuit receives no parts
return message. Activation takes
place by the teach program
instruction M-ON STOP.
In the vacuum reference position
OFF was chosen, and in the
reference position of this vacuum
circuit it is switched on.
006
002
0..n
VACUUM xx NOT ON
006
003
0..n
VACUUM PUMP THERMOMONITORING
In the vacuum reference position
ON was chosen, and in the
reference position of this vacuum
circuit it is switched off.
Thermal contact of vacuum pump
responded to increased
temperature of motor.
xx indicates the vacuum number, e.g., 01
Supplementary numbers:
000 = VACUUM 01
001 = VACUUM 02, etc.
5.3.1.3 Gripper Errors
Group
No. Supplement Message
Cause/Remedy
007
000
0..n
GRIPPER xx PART LOST
007
001
0..n
GRIPPERxx NOT OPEN
007
002
0..n
GRIPPER xx NOT CLOSED
This error message appears when
the gripper monitoring for circuit xx
has been activated without an
alternate sequence having been
defined and this circuit receives no
parts return message. Activation
takes place by the teach program
instruction M-ON STOP.
The position OPEN (= standard)
was chosen in the gripper
reference position and here this
gripper is closed.
The position CLOSED was chosen
in the gripper reference position
and here this gripper is opened.
007
007
003
005
0..n
0...n
GRIPPER xx TIME MONITORING
GRIPPER xx NOT PRESSURELESS
The reference state of the gripper
is „pressureless“, but the gripper is
actually „open“ or „closed“ at the
end of the reference travel.
xx indicates the gripper number, e.g., 01
Supplementary numbers:
000 = GRIPPER 01
001 = GRIPPER 02, etc.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 251
5.3.1.4 Peripheral Equipment Output Messages
Group
No. Supplement Message
Cause/Remedy
009
000
This error message is displayed when parts
monitoring for peripheral input/output NN was
activated without an alternate sequence having
been defined and this input receives no parts
return message. Activation takes place by the
teach program instruction M-ON STOP.
0..n
xx MONITORING
xx shows the PO names: e.g., PO-001
Supplementary numbers:
000 = PO-001
001 = PO-002, etc.
5.3.1.5 If Messages
Group
No. Supplement Message
Cause/Remedy
016
000
000
TOO MANY IFCOMMANDS
016
001
000
ELSE WITHOUT IFCOMMAND
016
002
000
ENDIF WITHOUT IFCOMMAND
016
003
000
ENDIF-COMMAND
MISSING
This error appears when the nesting depth of IF
branches becomes too big. The cause of this
could be a teach program error or too frequent
calling of IF instructions without previous
encounter of ENDIF instructions.
This is a teach program error. The cause is that
the program routine has found the ELSE
instruction without previous execution of an IF
instruction.
This is a teach program error. The cause is that
the program routine has found the ENDIF
instruction without previous execution of an
IF...ELSE instruction.
This is a teach program error. The program
routine has reached an END instruction or the
end of the program even though an IF...ELSE
condition was not closed with the ENDIF
instruction.
5.3.1.6 Conveyor Belt Messages
Group
No. Supplement Message
Cause/Remedy
019
000
The thermal contact of the conveyor belt
responded to increased temperature of
motor.
0..n
CONV. xx TEMPERATURE
MONITORING
xx shows the belt number: e.g., 01
Supplementary numbers:
000 = CONVEYOR BELT 01
001 = CONVEYOR BELT 02, etc.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 252
5.3.1.7 Call Messages
Group
No. Supplement Message
Cause/Remedy
026
000
000
TOO MANY CALL-COMMANDS
026
001
000
SUBROUTINE NOT CLOSED
This error appears when the nesting depth
of subprogram calls becomes too big.
The cause could be a teach program error
or too frequent calling of CALL instructions
without previous encounter of RET
instructions.
Execution of the teach program
encounters an END instruction or the end
of the program, even though a subroutine
was called and therefore the program is
not on the main level. Remedy by
inserting a RET instruction to end
subroutine.
5.3.1.8 Ret Messages
Group
No. Supplement Message
Cause/Remedy
027
000
This is a teach program error. Cause is that the
program execution encountered instruction RET
without previously executing a CALL instruction.
000
RET WITHOUT CALLCOMMAND
5.3.1.9 General Error Messages from Master
Group
No. Supplement Message
Cause/Remedy
124
000
000
EMERGENCY STOP
124
001
000
AIR PRESSURE TOO LOW
124
002
000
PHASE MONITORING
124
003
000
CHECKSUM ERROR IN TEACH
PROGRAM
124
004
000
PARALLELFUNCTON NOT
ALLOWED
124
005
000
OPERATION WITHOUT ROBOT
124
006
000
IMM IN MANUAL MODE
124
007
000
MOLD MONITORING
124
008
000
IMM SAFETY DOOR OPEN
Emergency stop button was actuated
either at the IMM or at the robot.
After resetting the emergency stop
switch, The key at the control cabinet
must be pressed to switch on the
control-voltage again.
Operating pressure dropped below 3.5
to 4 bar.
Phase monitoring F12 in the control
cabinet reports voltage fluctuations and
asymmetries in supply exceeding a
given adjustable range.
The automatic program is no longer
valid or was destroyed. Load valid
program from disk into control.
This error message appears with robots
with 1 or 2 converters if it is attempted to
move more axes simultaneously than
there are converters. Remedy by
entering the instruction WAIT SYNC
after start of a parallel function and
before start of next numeric axis.
In order to change to automatic
operation, press the operation-withrobot key. A switch to operation without
robot was made during operation.
The injection molding machine was in
manual operation when the
AUTOMATIC key was pressed.
Mold safety ensures that the robot does
not travel into a closed mold or that the
mold does not close while the robot is in
the mold area. Mold safety is realized
with the roller switches S5 (Y axis) and
S6 (Z axis).
The safety door of the injection molding
machine was opened during automatic
operation.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Group
No. Supplement Message
124
009
000
124
010
000
124
011
000
124
012
000
124
013
011
124
013
012
124
014
090
124
014
091
124
014
092
124
014
093
124
014
094
124
014
095
124
014
096
124
124
014
015
098
000
124
016
000
124
017
000
124
018
000
124
124
019
020
000
000
BM IN MANUAL MODE
SR: x VIOLATED
124
124
021
022
000
000
SR: x INITIALIZATION
SR: x INIT ABORTED
124
124
023
024
000
000
SR: x IS INITIALIZED
SR: n AXIS INITIALIZATION
Page 253
Cause/Remedy
The door of the safety package could
not be locked mechanically. The door
contact may have become bent, not
allowing the bolt to lock.
The internal safety package of the robot
DOOR NOT SEQUENCED
reports that the safety requirements for
operation have not been met.
(See also Chapter 3).
The permit key on the teachbox must be
DEAD-MAN-KEY TIME
pressed and released at regular
MONITORING
intervals.
For safety reasons, standard reference
REFERENCE IN MOLD NOT
travel may not be carried out in the mold
ALLOWED
area. Error message appears when the
robot is in the mold area and the
operator did not teach reference travel.
Note that in the NO REF. mode
reference travel cannot be carried out
in the mold area.
Initialization of inverter(s) with CAN-Bus
GENERAL FAILURE
connection has failed.
The loaded configuration file does not
GENERAL FAILURE
comply with the actual robot hardware
or is not compatible with the Master
software version. Or no configuration is
present.
A counter function attempted to perform
TEACHPROGRAM ERROR
a division by zero.
An addition, subtraction or multiplication
TEACHPROGRAM ERROR
within a counter function caused an
overflow.
Command not allowed; axis in the part
TEACHPROGRAM ERROR
program not allowed; a non-path-axiscommand has been used for a pathaxis.
A conflict between a path-movement
TEACHPROGRAM ERROR
and EJS, MOS or axis release has
occurred.
Internal error during step operation.
TEACHPROGRAM ERROR
Confirm the error message and try
again.
The same vacuum-, gripper- or
TEACHPROGRAM ERROR
peripheral-output-monitoring is active at
the same time in more than one part
program.
An axis used by a placing program is
TEACHPROGRAM ERROR
not available in the part program.
The same label exists more than once.
TEACHPROGRAM ERROR
The permit key on the teachbox must be
RELEASE DEAD-MAN-KEY
pressed and released at regular
intervals.
A communication problem with an
COMMUNICATION FAILED
inverter with CAN bus connection has
occurred.
Time out at communication with an
TEACHBOX COMMUNICATION
emergency stop block or with a
FAILED
Teachbox. In most cases normal
operation is possible after confirming the
error message.
SAFETY SYSTEM NOT ENABLED The internal safety package of the robot
reports that the safety requirements for
operation have not been met (see also
Chapter 3). Also check EMERGENCY
OFF of robot and IMM.
DOOR NOT LATCHED
A robot axis tried to enter safety area
no. x. Move the axis back out of the
safety area.
An already initialized axis was moved on
the cam again. Initialize safety area x
again
Initialization of safety area x is finished
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Group
No. Supplement Message
124
124
025
026
000
000
SR: x AXIS IS INITIALIZED
y SR NOT INITIALIZED
124
124
027
028
000
000
SR: x ALREADY DEFINED
CHECK CENTRAL LUBRICATION
124
029
000
CENTRAL LUBRICATION FAILED
124
030
000
124
031
000
AUTOMATIC-MODE NOT
POSSIBLE
PRESSURE SENSOR CENT.
LUB. FAULT
Page 254
Cause/Remedy
After a URINIT, battery change, BOOTprocedure a reference travel on a robot
equipped with safety areas was
executed without initializing the safety
areas again. y is the number of not
initialized safety areas. Refer to Chapter
2
Stop the robot as soon as possible and
check the central lubrication system.
(Run out of grease ?)
Check and repair the central lubrication
system (Run out of grease?)
Check and repair the central lubrication
system (Run out of grease?)
5.3.1.10 System Error Messages
Group
No. Supplement Message
Cause/Remedy
127
127
000
000
098
099
SYSTEM ERROR 98
SYSTEM ERROR 99
Internal memory error
Too many parallel or background functions
are active in the teach program at the
same time.
Those include:
Parallel movements (axes, grippers,
cylinders),
monitorings (grippers, vacuum circuits,
peripheral outputs);
functions with time (conveyors, peripheral
outputs, cylinders)
127
002
000
127
003
000
ERROR BUFFER WAS
DELETED
EXTERNAL TEACH PROGRAM
CHANGE
127
004
000
PATH AXES STOPPED
127
005
000
PROGRAM INTERPRETER
STOPPED
127
006
000
COUNTER NUMBER TOO
HIGH
127
007
000
COMMAND NOT ALLOWED
127
008
000
UNKNOWN COMMAND
127
009
000
BUFFER FULL
Upon integration. A teach program from
the tool catalog of the IMM was rerecorded
in the master SPS of the robot. In order to
see this in the editor of the teachbox as
well, it must first be loaded from the SPS.
Path movement was stopped because of
an error
The Teach program in the Master-CPU is
corrupted. Check Program in the
Teachbox and try to transfer again.
The Teach program in the Master-CPU is
corrupted. Check Program in the
Teachbox and try to transfer again.
The Teach program in the Master-CPU is
corrupted. Check Program in the
Teachbox and try to transfer again.
The Teach program in the Master-CPU is
corrupted. Check Program in the
Teachbox and try to transfer again.
Too many monitoring functions active in
the Teach program.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 255
6 Maintenance
Following the recommended maintenance schedule is required to ensure trouble-free
operation of the robot. The robot warranty does not cover neglected or poorly
maintained equipment.
Maintenance must be performed by qualified personnel only.
6.1 General
The user of the robot is responsible for maintenance and monitoring of the safety
devices and systems.
In particular, the safety systems marked
must be checked according to the
instructions to ensure a safe and fully functioning robot system.
Before entering the work envelope of the robot to perform maintenance work, lock out
the main power disconnect switch and turn off the compressed air supply to the robot.
IMPORTANT! Robots with pneumatic linear axes often use 5-way or 3-way valves,
which can leave trapped high-pressure air in a cylinder even with air pressure
removed. This can result in uncontrolled axis motions if one side of the cylinder is
exhausted during a maintenance procedure. For this reason, it is recommended that all
pneumatic axes be blocked to prevent unintended hazardous motions.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 256
6.2 Lubrication Instructions for Linear Guides and Gear Racks
6.2.1 Lubrication Intervals for Standard Robots
The lubrication intervals are calculated automatically by the control system and are
displayed with a message “lube interval reached“ and the lubrication flag
on the
upper right-hand corner of your screen. Generally, it is necessary to lubricate the tracks
and the bearings after a distance of 4000 km; the axis that completes this distance first
is the one that determines the beginning of the lubrication interval.
6.2.2 Lubrication Procedures
Remove old grease from the shaft and the bearing
wiper rings with a rag. Apply fresh grease to the
shaft with a brush.
Remove old grease from the bearing wipers with a
rag. Use a grease gun to fill the bearing until grease
begins to come out of the bearing wipers.
Remove old grease with a rag and apply fresh
grease to the entire length of the gear rack using a
spatula or a brush.
LINEAR SHAFTS:
LINEAR RAILS:
GEAR RACKS:
6.2.3 Grease Specification
GREASE:
MANUFACTURER:
SHELL
MOBIL
ESSO
KLÜBER
TYPE:
ALVANIA G2
DARINA GREASE 2
MOLYKOTE LONG TERM 2PLUS
MOBILGREASE 28
MOBILUX 3
UNIREX N3
ISOFLEX NBU 15
ISOFLEX NCA 15
As well as all BEARING GREASE TYPES KP2K PER DIN 51825
CONSISTENCY CLASS NGLI 2 PER DIN 51818
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 257
6.3 Drive Belts
Drive belts have to be visually checked for wear and tear or cracks every 6 month. If
any such are found, the drive belt has to be refitted immediately, in order to prevent
damages and idle times.
For safety reasons we recommend to refit the drive belts every 2 years during a
general maintenance session.
The refit of a drive belt may only be carried out by trained personal equipped with the
proper tools, because also the tension of the belt has to be set correctly.
Our skilled technicians are available to perform the refit.
6.4 Motor Brakes
When entering the protective gate (operating mode BlockStop or Manual), please
check if any sagging is visible at the axes.
If this should be the case, the brake of the respective motor must be renewed
immediately.
A brake refit may only be carried out by trained personal. Before starting to work on a
vertical axis ensure that the axis is inhibited from falling down by suitable precautions.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 258
6.5 Maintenance Schedule
Description of Service
1) Safety Systems and Devices
Emergency Stop Buttons:
INTERVAL IN
OPERATING HOURS
PER CYCLE TIME
<10 s
10-30 s
>30 s
150
150
150
150
150
150
150
300
500
See 6.2
See 6.2
See 6.2
150
150
150
150
300
500
150
150
150
300
600
800
300
600
800
300
600
800
500
800
1000
500
800
1000
800
1200
2000
800
1200
2000
When the device is at a standstill, activate the Emergency Stop switch
and check to see if „EMERGENCY STOP“ is indicated on the hand set.
The injection-molding machine must also indicate Emergency Stop.
Function of Permit Keys on the Teachbox:
Switch robot to manual operation, set selector switch at the safety door
to Set-up Mode. When the permit key is pressed, the “robot enabled“
light must go on. This function must be tested with both permit keys.
Safety Roller Switches S5+S6:
Switch to operation without robot (robot LED key does not light ).
Close mold slightly (Mold Open signal must be out). Now try to ride
into the mold area with the Y axis. The Y axis should ride only until
leaving S5. The error message “mold monitoring“ must be displayed
on the robot. Acknowledge message with ESC. Now try to close and
open the mold. This should not be possible, and an error message
should appear on the IMM. Now raise the Y axis.
2) Guides and Gear Racks
3) Other Components
Function of Vacuum Switches:
The vacuum switch inputs should be checked using the Input
Display screen on the teachbox. The input must only be on when a
complete set of parts is on the vacuum cups. Be sure that the input
switches back off when just one part is removed.
Air Filter:
Drain the filter bowl and check and fill the oiler as required.
IMPORTANT: Use only oil in accordance with ISO VG 32 KL1.
Control Cabinet Cooling Fan:
Clean the cooling fan filters and check that the fan is operating
whenever the control cabinet is powered up. (In high dust
environments clean the filter more often than specified.)
Drive Belts:
Visually check belt alignment and tension while the axis is moved
through first full stroke. Inspect the belt for damage and “neckeddown“ areas which indicate approaching belt failure.
Rack and Pinion Clearance:
Check for minimum rack to pinion clearance of 0.1 mm (0.004“).
Cleaning motor contactors: (for robots with 1-2 freq. converter only)
With the robot turned off, press each motor contactor manually
about five times to clean contacts.
Gearbox Gaskets and Drain Plugs:
Check for leaks.
Cable Chains:
Inspect for proper alignment of cables in cable chain (IMPORTANT:
Loose cable clamps can cause cable binding and chafing)
Motor Brakes:
Asynchronous Servo: Check for 0.2 mm (0.008“) air gap with a feeler
gauge.
Synchronous Servo: Visually check, if vertical axes sag during
standstill.
Screws:
Check robot screws and bolts for tightness.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 259
6.6 Automatic Lubrication
6.6.1 Description
The optional, automatic system lubricates all linear bearings and the respective
sprockets and racks of the robot. The system measures the X, Y, and Z-axis travel
distances to determine when grease should be applied. When the lubrication interval
(50 km) is reached, a fixed quantity of grease is injected into each bearing through the
grease distributors.
The grease-pump is equipped with a pressure sensor. If the given pressure is not
reached within 15 seconds after switching on the pump, or if the pressure doesn’t drop
below the given value within 15 seconds after switching off the pump, the error
message „CHECK CENTRAL LUBRICATION“ will be displayed on the Teachbox. This
will not interrupt the automatic execution of the robot teachprogram, but can be
confirmed with
. The lubrication system should be checked as soon as possible,
and the cause of the error should be fixed. Possible causes for the error are:
Lack of grease in the container
Leaking, unplugged or burst hoses
Functional breakdown of the pump
If the cause of the error is not fixed before the next lubrication interval, the error
message “CHECK CENTRAL LUBRICATION” will be displayed again, and can be
confirmed with
again.
Should the cause of the error again not be fixed until the 3rd lubrication interval, the
error message “CENTRAL LUBRICATION FAILED” will be displayed, and the robot will
switch to block stop. Now the cause of the error must be fixed.. After the cause of the
inside the menu
error was fixed, the grease pump can be started by pressing
INIT/LUBRICATION INTERVAL a number of times until lubrication was executed
correctly without error message. This enables the start of automatic mode again.
During filling of the grease pump container, extra precaution must be taken to avoid air
bubbles in the grease and to use only the specified greases.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 260
6.6.2 System Maintenance
It is important to remember that the automatic lubrication system does not
eliminate maintenance requirements for the robot! It just reduces the frequency of
the maintenance intervals. Lubrication system maintenance is crucial in detecting
system faults, such as:
•
•
•
•
•
Burst Hoses
Plugged Tubes
Air Pockets
Faulty Lubrication Pump or Solenoid Valve
Faulty Injectors
6.6.2.1 Lubrication System Maintenance Procedure:
1.
2.
Inspect the system for burst, leaking, or disconnected tubes and hoses.
Check that some grease build-up is present on all linear bearings wipers to verify
that grease is reaching all bearings. Clean the grease off of the wipers to "reset"
this test for next time.
Refill the grease pump as needed, being careful not to leave any air pockets. Use only the
specified greases!
6.6.2.2 Suitable greases
Manufacturer
ARAL
BP
ESSO
Fuchs – DEA
Mobil
Type
Aralub MFL 00
Energrease PR – EP 00
Grease TCL 435
Renolit G-FHT 00
Mobilux EP 004
Specification
GP 00 K-30
GLP 00 G-30
GP 00/000 G-40
KP 00 P-30
GP 00 G-20
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 261
6.7 Buffer Batteries of Master CPU and of Teachbox CPU
The memories of the master and teachbox control systems for the system software and
the teach programs are buffered with batteries in case of loss of supply voltage (e.g.,
robot turned off at main switch). Without these batteries the robot would have to be
rebooted after every time it is turned off and on again, the teach program would have to
be reloaded from disk, the stroke limitations and safety areas would have to be
reinitialized, etc.
As a precaution, the batteries of both control systems should therefore be replaced
every 3 years (before they are actually dead).
6.7.1 Battery Replacement in Teachbox
•
Unscrew 4 screws on back of keyboard.
•
In Emergency Off condition carefully lift up the keyboard and tilt it on its side.
•
Unplug the old battery and remove it from its mounting.
•
Plug in the new battery and snap into the mounting.
•
Reinstall the keyboard and fasten with the 4 screws.
6.7.2 Battery Replacement in Master CPU
The master CPU “DCP643“ is located at the upper left of the control cabinet.
•
Pull the gray insert strips (with the label “Battery“) toward the left from the module
(may stick a little).
•
Remove the old battery on the transparent plastic strip from its mounting.
•
Insert the new battery. If possible, touch the battery only on the plastic strip.
•
Push the insert strip onto the module from the left.
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008
R7 / R7.2 USER MANUAL
Page 262
7 Key Terms
For better understanding of these operating instructions, some key terms are explained
below:
Term
Explanation
EJ
BM
DIAS BUS
Ejector
Blow machine
DIAS – Decentralized Intelligent Automation System
CNC
CNC - Computer Numerically Controlled – microprocessor
control system
Central Processor Unit
Interface standard between IMM and robot
Various letters/symbols indicating particular operating
conditions
Core puller
In the case of servo devices, in automatic operation the motor
will be triggered continuously after a numerical axis has been
positioned, so as to hold the position.
Liquid Crystal Display
Control system in control cabinet
Microsoft Disk Operating System – standard operating system
for IBM-PCs and compatibles
Additional keypad for full operator control of the robot without
manual control unit
No communication between partial subgroup control units
Communication between all partial subgroup control units is
functioning
Adjustment - speed adjustment
Peripheral outputs
Peripheral inputs
Control on the robot
Injection molding machine
Key of uppermost row of keys on the teachbox, whose
assignment varies depending on the current function.
Shows current assignment of soft keys.
Operating mode for programming of sequence programs
Manual control unit
Programming of robot
Programming of sequence programs
Sequence program
Tool / Mold
CPU
Euromap 12
Flag
CP
Position control
LCD Display
Master
MS-DOS
Emergency Stop
keypad
Offline
Online
Override
PO
PI
Robot
IMM
Soft key
Soft key line
Teach mode
Teachbox
Teaching
Teaching
Teach program
T/M
R72_V7_16A2_PDF_ENG.DOC / 05.06.2008